+ python -m lidar_slam --no-model /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c Lidar SLAM 0.0.15 ===================================================== The recording path: /working/197d2497-ff6d-4d0f-ba1b-d7e88356d32c 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 0.019072329 Adjusted end_distance from 9.223372036854776e+18 to 452.009072329 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019072329 meters Centerline goodness : 0.600627 Centerline is valid? [0, False] SLAMing on 0.049072329 meters Centerline goodness : 0.594216 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99997056e-01 -2.01228840e-03 -1.35592367e-03 5.31423107e-03] [ 2.00989474e-03 9.99996424e-01 -1.76438659e-03 8.32436612e-03] [ 1.35946927e-03 1.76165613e-03 9.99997524e-01 -5.79250828e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079072329 meters Centerline goodness : 0.545921 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99993268e-01 -3.03854070e-03 -2.05708619e-03 5.23019434e-03] [ 3.02819863e-03 9.99982854e-01 -5.01212032e-03 1.70366001e-02] [ 2.07228045e-03 5.00585731e-03 9.99985323e-01 9.63949137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.109072329 meters Centerline goodness : 0.464173 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.00 [[ 9.99934890e-01 -1.13330899e-02 -1.33321254e-03 3.52383655e-02] [ 1.13223239e-02 9.99905298e-01 -7.82310350e-03 4.17846424e-02] [ 1.42174621e-03 7.80749907e-03 9.99968510e-01 -9.72771264e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139072329 meters Centerline goodness : 0.473911 Centerline is valid? [False, False] Translation: X:0.04, Y:0.05, Z:-0.00 [[ 0.99990525 -0.01339015 -0.00319205 0.04249749] [ 0.01335495 0.99985243 -0.01080572 0.05124441] [ 0.00333627 0.01076207 0.99993652 -0.00392595] [ 0. 0. 0. 1. ]] SLAMing on 0.169072329 meters Centerline goodness : 0.491441 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-0.01 [[ 0.99981576 -0.01860345 -0.00472821 0.07511211] [ 0.01854452 0.9997534 -0.01221601 0.07750803] [ 0.00495431 0.01212607 0.9999142 -0.01068754] [ 0. 0. 0. 1. ]] SLAMing on 0.199072329 meters Centerline goodness : 0.506058 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-0.01 [[ 0.99983196 -0.01679743 -0.00734138 0.08295543] [ 0.01670913 0.99978924 -0.01192774 0.08931934] [ 0.00754019 0.01180306 0.99990191 -0.01299383] [ 0. 0. 0. 1. ]] SLAMing on 0.229072329 meters Centerline goodness : 0.518385 Centerline is valid? [False, False] Translation: X:0.09, Y:0.10, Z:-0.01 [[ 0.99983772 -0.01492292 -0.010092 0.08967022] [ 0.0148064 0.99982397 -0.01152417 0.10198981] [ 0.01026219 0.01137288 0.99988267 -0.01325796] [ 0. 0. 0. 1. ]] SLAMing on 0.259072329 meters Centerline goodness : 0.532882 Centerline is valid? [False, False] Translation: X:0.10, Y:0.11, Z:-0.01 [[ 0.99982558 -0.01341458 -0.01299489 0.09590274] [ 0.01326741 0.9998476 -0.01134654 0.11466597] [ 0.01314512 0.01117215 0.99985118 -0.01239298] [ 0. 0. 0. 1. ]] SLAMing on 0.289072329 meters Centerline goodness : 0.560395 Centerline is valid? [False, False] Translation: X:0.11, Y:0.14, Z:-0.01 [[ 0.99962024 -0.02282697 -0.01543702 0.11314221] [ 0.02265857 0.99968278 -0.01099673 0.14342213] [ 0.01568315 0.01064277 0.99982037 -0.01446949] [ 0. 0. 0. 1. ]] SLAMing on 0.319072329 meters Centerline goodness : 0.572324 Centerline is valid? [False, False] Translation: X:0.12, Y:0.15, Z:-0.02 [[ 0.9995452 -0.02496493 -0.01691597 0.11853123] [ 0.02472009 0.9995888 -0.01453119 0.15438161] [ 0.01727179 0.01410642 0.99975132 -0.01638998] [ 0. 0. 0. 1. ]] SLAMing on 0.34907232899999996 meters Centerline goodness : 0.579997 Centerline is valid? [False, False] Translation: X:0.12, Y:0.17, Z:-0.02 [[ 0.99945763 -0.02722858 -0.01852169 0.12376423] [ 0.02689481 0.99947553 -0.018037 0.16526464] [ 0.0190031 0.01752908 0.99966575 -0.0179151 ] [ 0. 0. 0. 1. ]] SLAMing on 0.379072329 meters Centerline goodness : 0.594084 Centerline is valid? [False, False] Translation: X:0.14, Y:0.19, Z:-0.02 [[ 0.99929482 -0.03350227 -0.01695459 0.14203242] [ 0.03327512 0.99935496 -0.01350665 0.18929446] [ 0.01739615 0.01293296 0.99976503 -0.02474492] [ 0. 0. 0. 1. ]] SLAMing on 0.409072329 meters Centerline goodness : 0.598429 Centerline is valid? [False, False] Translation: X:0.15, Y:0.20, Z:-0.02 [[ 0.99924479 -0.03377052 -0.01921974 0.14695533] [ 0.03348939 0.99932999 -0.01476614 0.19994157] [ 0.01970553 0.01411133 0.99970624 -0.02457025] [ 0. 0. 0. 1. ]] SLAMing on 0.439072329 meters Centerline goodness : 0.599050 Centerline is valid? [False, False] Translation: X:0.15, Y:0.21, Z:-0.02 [[ 0.99920043 -0.03389386 -0.02120616 0.15162705] [ 0.03356095 0.99931079 -0.01586234 0.20986795] [ 0.02172918 0.01513796 0.99964928 -0.02471777] [ 0. 0. 0. 1. ]] SLAMing on 0.46907232899999995 meters Centerline goodness : 0.604409 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.03 [[ 0.99908981 -0.03702168 -0.02118813 0.17350628] [ 0.03679892 0.99926424 -0.01080864 0.23215379] [ 0.02157269 0.0100191 0.99971708 -0.0287184 ] [ 0. 0. 0. 1. ]] SLAMing on 0.499072329 meters Centerline goodness : 0.611668 Centerline is valid? [False, False] Translation: X:0.18, Y:0.24, Z:-0.03 [[ 0.99905324 -0.03674413 -0.02329136 0.17858244] [ 0.03648765 0.99926973 -0.01134291 0.24144013] [ 0.02369114 0.01048232 0.99966437 -0.02927494] [ 0. 0. 0. 1. ]] SLAMing on 0.529072329 meters Centerline goodness : 0.602316 Centerline is valid? [False, False] Translation: X:0.18, Y:0.25, Z:-0.03 [[ 0.99900507 -0.03695063 -0.02497043 0.18337082] [ 0.03664895 0.99925085 -0.01243343 0.25006765] [ 0.02541115 0.01150592 0.99961087 -0.03042091] [ 0. 0. 0. 1. ]] SLAMing on 0.559072329 meters Centerline goodness : 0.608877 Centerline is valid? [False, False] Translation: X:0.19, Y:0.27, Z:-0.03 [[ 0.99886397 -0.03858135 -0.02796875 0.19228036] [ 0.03814267 0.99914336 -0.01605224 0.26812029] [ 0.0285641 0.0149672 0.9994799 -0.03203427] [ 0. 0. 0. 1. ]] SLAMing on 0.589072329 meters Centerline goodness : 0.612444 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.998811 -0.03881451 -0.02949608 0.19574599] [ 0.03832306 0.99911996 -0.01704823 0.27552836] [ 0.03013185 0.01589758 0.9994195 -0.03175418] [ 0. 0. 0. 1. ]] SLAMing on 0.619072329 meters Centerline goodness : 0.629340 Centerline is valid? [False, False] Translation: X:0.20, Y:0.28, Z:-0.03 [[ 0.99874313 -0.03929096 -0.03111879 0.19854866] [ 0.03873568 0.99908281 -0.01825038 0.28251439] [ 0.03180732 0.01702204 0.99934906 -0.03018348] [ 0. 0. 0. 1. ]] SLAMing on 0.649072329 meters Centerline goodness : 0.627593 Centerline is valid? [False, False] Translation: X:0.21, Y:0.29, Z:-0.04 [[ 0.99880363 -0.04232919 -0.02448549 0.21119344] [ 0.04210299 0.99906637 -0.00968153 0.28909703] [ 0.02487244 0.00863903 0.9996533 -0.03807545] [ 0. 0. 0. 1. ]] SLAMing on 0.6790723289999999 meters Centerline goodness : 0.647280 Centerline is valid? [False, False] Translation: X:0.23, Y:0.30, Z:-0.04 [[ 0.9987546 -0.04539806 -0.02069461 0.23128669] [ 0.04532724 0.99896466 -0.00387835 0.30479046] [ 0.02084926 0.00293549 0.99977832 -0.04317347] [ 0. 0. 0. 1. ]] SLAMing on 0.709072329 meters Centerline goodness : 0.651846 Centerline is valid? [False, False] Translation: X:0.24, Y:0.31, Z:-0.04 [[ 0.99871426 -0.04545973 -0.02243308 0.23540742] [ 0.04536735 0.99895973 -0.00461019 0.31161751] [ 0.02261932 0.00358653 0.99973772 -0.04322208] [ 0. 0. 0. 1. ]] SLAMing on 0.739072329 meters Centerline goodness : 0.657745 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:-0.04 [[ 0.99837835 -0.04923291 -0.02857967 0.24896087] [ 0.04891838 0.99873539 -0.01160254 0.32731838] [ 0.02911475 0.01018566 0.99952418 -0.03661427] [ 0. 0. 0. 1. ]] SLAMing on 0.769072329 meters Centerline goodness : 0.659347 Centerline is valid? [False, False] Translation: X:0.25, Y:0.33, Z:-0.04 [[ 0.99820788 -0.05169146 -0.03015009 0.25342922] [ 0.05127602 0.99858079 -0.01439373 0.33351857] [ 0.03085133 0.01282196 0.99944174 -0.03729839] [ 0. 0. 0. 1. ]] SLAMing on 0.799072329 meters Centerline goodness : 0.659695 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.04 [[ 0.99802632 -0.05415738 -0.03178744 0.25732146] [ 0.05363347 0.9984141 -0.01710966 0.33954706] [ 0.03266365 0.01537102 0.9993482 -0.03709842] [ 0. 0. 0. 1. ]] SLAMing on 0.8290723289999999 meters Centerline goodness : 0.666065 Centerline is valid? [False, False] Translation: X:0.26, Y:0.34, Z:-0.04 [[ 0.99787249 -0.05574754 -0.0338038 0.26087985] [ 0.05513274 0.99830099 -0.01885527 0.34427446] [ 0.0347975 0.01695145 0.99925061 -0.03543416] [ 0. 0. 0. 1. ]] SLAMing on 0.859072329 meters Centerline goodness : 0.677977 Centerline is valid? [False, False] Translation: X:0.28, Y:0.36, Z:-0.04 [[ 0.99755317 -0.06256138 -0.03120485 0.28045525] [ 0.06210569 0.99795129 -0.01536561 0.35631963] [ 0.03210221 0.01339002 0.99939489 -0.03603536] [ 0. 0. 0. 1. ]] SLAMing on 0.889072329 meters Centerline goodness : 0.681933 Centerline is valid? [False, False] Translation: X:0.29, Y:0.36, Z:-0.03 [[ 0.99726884 -0.06556229 -0.03400657 0.28516314] [ 0.06497291 0.99772182 -0.01815727 0.36214047] [ 0.03511953 0.01589817 0.99925666 -0.03394772] [ 0. 0. 0. 1. ]] SLAMing on 0.9190723289999999 meters Centerline goodness : 0.687337 Centerline is valid? [False, False] Translation: X:0.29, Y:0.37, Z:-0.03 [[ 0.99692568 -0.06956835 -0.03604754 0.2897202 ] [ 0.06880438 0.99738715 -0.02201892 0.36718348] [ 0.03748518 0.019471 0.99910747 -0.03312868] [ 0. 0. 0. 1. ]] SLAMing on 0.9490723289999999 meters Centerline goodness : 0.695080 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99650763 -0.0778566 -0.03018094 0.31978003] [ 0.0771499 0.99673267 -0.02391399 0.37542073] [ 0.03194419 0.02150202 0.99925834 -0.0397168 ] [ 0. 0. 0. 1. ]] SLAMing on 0.979072329 meters Centerline goodness : 0.701765 Centerline is valid? [False, False] Translation: X:0.32, Y:0.38, Z:-0.04 [[ 0.99614079 -0.08186292 -0.03165405 0.32408129] [ 0.08098457 0.9963191 -0.02810256 0.3792194 ] [ 0.03383809 0.02543062 0.99910373 -0.03936519] [ 0. 0. 0. 1. ]] SLAMing on 1.0090723289999999 meters Centerline goodness : 0.711737 Centerline is valid? [False, False] Translation: X:0.35, Y:0.39, Z:-0.04 [[ 0.99592026 -0.08559906 -0.02855926 0.35455533] [ 0.08490812 0.99608532 -0.02458944 0.38939274] [ 0.03055229 0.0220642 0.99928961 -0.04312554] [ 0. 0. 0. 1. ]] SLAMing on 1.0390723290000001 meters Centerline goodness : 0.712689 Centerline is valid? [False, False] Translation: X:0.36, Y:0.39, Z:-0.04 [[ 0.99575189 -0.08689489 -0.03045404 0.35910099] [ 0.08611448 0.99594421 -0.02606572 0.39393985] [ 0.0325955 0.02333246 0.99919624 -0.04276099] [ 0. 0. 0. 1. ]] SLAMing on 1.069072329 meters Centerline goodness : 0.713953 Centerline is valid? [False, False] Translation: X:0.36, Y:0.40, Z:-0.04 [[ 0.99556419 -0.0884631 -0.03203487 0.36396345] [ 0.08758621 0.99576851 -0.0278159 0.39837199] [ 0.03435999 0.0248867 0.99909962 -0.04369644] [ 0. 0. 0. 1. ]] SLAMing on 1.0990723290000002 meters Centerline goodness : 0.711232 Centerline is valid? [False, False] Translation: X:0.37, Y:0.40, Z:-0.05 [[ 0.99541064 -0.08973468 -0.03324673 0.36887865] [ 0.08877697 0.99562211 -0.02924477 0.40223052] [ 0.03572545 0.02615901 0.99901922 -0.04567398] [ 0. 0. 0. 1. ]] SLAMing on 1.129072329 meters Centerline goodness : 0.714036 Centerline is valid? [False, False] Translation: X:0.39, Y:0.41, Z:-0.05 [[ 0.9948899 -0.09599796 -0.03128063 0.39122551] [ 0.09523584 0.99514054 -0.02500866 0.41048085] [ 0.0335294 0.02190183 0.99919772 -0.0519646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1590723289999998 meters Centerline goodness : 0.714036 Centerline is valid? [False, False] Translation: X:0.39, Y:0.41, Z:-0.05 [[ 0.9948899 -0.09599796 -0.03128063 0.39122551] [ 0.09523584 0.99514054 -0.02500866 0.41048085] [ 0.0335294 0.02190183 0.99919772 -0.0519646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.189072329 meters Centerline goodness : 0.713793 Centerline is valid? [False, False] Translation: X:0.40, Y:0.41, Z:-0.05 [[ 0.99480392 -0.09633008 -0.03294948 0.39586067] [ 0.09551967 0.99510477 -0.02534718 0.41277111] [ 0.03522988 0.02206815 0.99913555 -0.05264679] [ 0. 0. 0. 1. ]] SLAMing on 1.2190723289999998 meters Centerline goodness : 0.714797 Centerline is valid? [False, False] Translation: X:0.40, Y:0.41, Z:-0.05 [[ 0.99470716 -0.09672559 -0.03466731 0.4010738 ] [ 0.095863 0.99506169 -0.02573951 0.41474162] [ 0.03698579 0.02227996 0.99906739 -0.05386801] [ 0. 0. 0. 1. ]] SLAMing on 1.249072329 meters Centerline goodness : 0.714727 Centerline is valid? [False, False] Translation: X:0.42, Y:0.42, Z:-0.05 [[ 0.99419277 -0.10021064 -0.03922459 0.41648786] [ 0.09897084 0.99456364 -0.03237174 0.42092626] [ 0.04225534 0.02830166 0.99870591 -0.04979981] [ 0. 0. 0. 1. ]] SLAMing on 1.279072329 meters Centerline goodness : 0.714429 Centerline is valid? [False, False] Translation: X:0.42, Y:0.42, Z:-0.05 [[ 0.99379925 -0.10382002 -0.0398053 0.41975877] [ 0.10238685 0.99407479 -0.03649996 0.42351918] [ 0.04335887 0.03219809 0.99854058 -0.04998567] [ 0. 0. 0. 1. ]] SLAMing on 1.3090723290000001 meters Centerline goodness : 0.714135 Centerline is valid? [False, False] Translation: X:0.42, Y:0.43, Z:-0.05 [[ 0.9933997 -0.10727097 -0.04061984 0.42316038] [ 0.10564578 0.99358907 -0.04024575 0.42613224] [ 0.04467663 0.0356888 0.99836382 -0.05001325] [ 0. 0. 0. 1. ]] SLAMing on 1.339072329 meters Centerline goodness : 0.715276 Centerline is valid? [False, False] Translation: X:0.43, Y:0.43, Z:-0.05 [[ 0.99328461 -0.10772048 -0.04221341 0.42749515] [ 0.10603004 0.99354068 -0.04042944 0.4264346 ] [ 0.04629582 0.03568205 0.99829028 -0.0506108 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3690723289999998 meters Centerline goodness : 0.717497 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99268105 -0.11422355 -0.03920868 0.44563072] [ 0.11288421 0.99299746 -0.03483094 0.43122897] [ 0.04291264 0.03014998 0.9986238 -0.05429265] [ 0. 0. 0. 1. ]] SLAMing on 1.399072329 meters Centerline goodness : 0.715931 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99215161 -0.11832717 -0.04042099 0.44835863] [ 0.11677462 0.99239898 -0.03883231 0.43370321] [ 0.04470866 0.03380739 0.99842786 -0.05268123] [ 0. 0. 0. 1. ]] SLAMing on 1.4290723289999998 meters Centerline goodness : 0.717260 Centerline is valid? [False, False] Translation: X:0.45, Y:0.43, Z:-0.05 [[ 0.99160365 -0.12262384 -0.04105588 0.45113338] [ 0.12086768 0.991744 -0.04283495 0.43304889] [ 0.04596951 0.03751296 0.99823824 -0.0523886 ] [ 0. 0. 0. 1. ]] SLAMing on 1.459072329 meters Centerline goodness : 0.714873 Centerline is valid? [False, False] Translation: X:0.47, Y:0.43, Z:-0.06 [[ 0.98997762 -0.13661165 -0.03579895 0.46877492] [ 0.1349614 0.98982591 -0.04505651 0.43290051] [ 0.04158997 0.03977346 0.9983428 -0.05550351] [ 0. 0. 0. 1. ]] SLAMing on 1.4890723289999999 meters Centerline goodness : 0.716346 Centerline is valid? [False, False] Translation: X:0.48, Y:0.43, Z:-0.06 [[ 0.9892411 -0.14297721 -0.03097681 0.48325907] [ 0.14176341 0.98915656 -0.0383722 0.43282753] [ 0.03612726 0.03356798 0.99878327 -0.06129637] [ 0. 0. 0. 1. ]] SLAMing on 1.519072329 meters Centerline goodness : 0.715671 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.07 [[ 0.9885065 -0.14885326 -0.02641242 0.49789028] [ 0.14801333 0.98848882 -0.03133532 0.43337454] [ 0.03077275 0.02706577 0.99915989 -0.06680074] [ 0. 0. 0. 1. ]] SLAMing on 1.549072329 meters Centerline goodness : 0.715956 Centerline is valid? [False, False] Translation: X:0.50, Y:0.43, Z:-0.06 [[ 0.98754934 -0.15172763 -0.04153338 0.50337994] [ 0.15050928 0.98812068 -0.03105618 0.42619597] [ 0.04575207 0.02441835 0.99865434 -0.06338571] [ 0. 0. 0. 1. ]] SLAMing on 1.5790723290000002 meters Centerline goodness : 0.714021 Centerline is valid? [False, False] Translation: X:0.51, Y:0.42, Z:-0.07 [[ 0.98687104 -0.15591594 -0.04213996 0.50831599] [ 0.15451544 0.98738131 -0.03468618 0.42356188] [ 0.04701634 0.02771951 0.99850944 -0.06531787] [ 0. 0. 0. 1. ]] SLAMing on 1.609072329 meters Centerline goodness : 0.718031 Centerline is valid? [False, False] Translation: X:0.51, Y:0.42, Z:-0.07 [[ 0.9861867 -0.1599738 -0.0429439 0.51310532] [ 0.1583975 0.98664722 -0.03791435 0.42007596] [ 0.04843578 0.03058842 0.99835781 -0.06673252] [ 0. 0. 0. 1. ]] SLAMing on 1.6390723289999998 meters Centerline goodness : 0.717754 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.06 [[ 0.98471153 -0.16824565 -0.04512869 0.51849432] [ 0.16676597 0.9853826 -0.03478865 0.41244615] [ 0.05032207 0.02673085 0.99837526 -0.06389287] [ 0. 0. 0. 1. ]] SLAMing on 1.669072329 meters Centerline goodness : 0.718554 Centerline is valid? [False, False] Translation: X:0.52, Y:0.41, Z:-0.06 [[ 0.98391532 -0.17203718 -0.0481026 0.52389439] [ 0.17072134 0.9848542 -0.03027273 0.41034763] [ 0.05258209 0.02157366 0.99838354 -0.06111735] [ 0. 0. 0. 1. ]] SLAMing on 1.6990723289999998 meters Centerline goodness : 0.719061 Centerline is valid? [False, False] Translation: X:0.55, Y:0.41, Z:-0.07 [[ 0.98271548 -0.17935568 -0.04584559 0.54503566] [ 0.17837261 0.98365203 -0.02473649 0.40932056] [ 0.04953274 0.01613134 0.99864222 -0.06576779] [ 0. 0. 0. 1. ]] SLAMing on 1.729072329 meters Centerline goodness : 0.718604 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.06 [[ 0.98229969 -0.1772056 -0.06070832 0.54856464] [ 0.17583369 0.98404173 -0.02728338 0.40345997] [ 0.06457429 0.01612589 0.9977826 -0.06079842] [ 0. 0. 0. 1. ]] SLAMing on 1.7590723289999999 meters Centerline goodness : 0.719450 Centerline is valid? [False, False] Translation: X:0.55, Y:0.40, Z:-0.06 [[ 0.98164352 -0.18066484 -0.06112465 0.55340951] [ 0.1790815 0.98336121 -0.03050496 0.40127979] [ 0.06561878 0.0189987 0.99766388 -0.06260295] [ 0. 0. 0. 1. ]] SLAMing on 1.7890723290000001 meters Centerline goodness : 0.717816 Centerline is valid? [False, False] Translation: X:0.56, Y:0.40, Z:-0.06 [[ 0.98099366 -0.18407612 -0.06137928 0.55779165] [ 0.18227852 0.98266753 -0.03374996 0.39944997] [ 0.06652799 0.02192037 0.99754375 -0.06431791] [ 0. 0. 0. 1. ]] SLAMing on 1.819072329 meters Centerline goodness : 0.719917 Centerline is valid? [False, False] Translation: X:0.57, Y:0.40, Z:-0.06 [[ 0.98042202 -0.18612139 -0.06427661 0.57008621] [ 0.18399178 0.98220643 -0.03765029 0.39821023] [ 0.07014043 0.02508681 0.99722163 -0.06226718] [ 0. 0. 0. 1. ]] SLAMing on 1.8490723289999997 meters Centerline goodness : 0.720638 Centerline is valid? [False, False] Translation: X:0.57, Y:0.40, Z:-0.06 [[ 0.98036741 -0.18592606 -0.0656601 0.57347116] [ 0.18379219 0.98226019 -0.03722042 0.39745945] [ 0.07141555 0.02442187 0.99714763 -0.06224937] [ 0. 0. 0. 1. ]] SLAMing on 1.879072329 meters Centerline goodness : 0.721699 Centerline is valid? [False, False] Translation: X:0.58, Y:0.40, Z:-0.06 [[ 0.98028202 -0.18582785 -0.06719499 0.57738134] [ 0.18369331 0.98229773 -0.03671432 0.39605384] [ 0.07282803 0.02364712 0.99706414 -0.06236171] [ 0. 0. 0. 1. ]] SLAMing on 1.9090723289999998 meters Centerline goodness : 0.719335 Centerline is valid? [False, False] Translation: X:0.58, Y:0.39, Z:-0.06 [[ 0.98017389 -0.18577983 -0.06888404 0.58308675] [ 0.1836581 0.98233049 -0.03600709 0.39311839] [ 0.07435628 0.0226421 0.99697466 -0.06401466] [ 0. 0. 0. 1. ]] SLAMing on 1.939072329 meters Centerline goodness : 0.717258 Centerline is valid? [False, False] Translation: X:0.60, Y:0.39, Z:-0.06 [[ 0.97913029 -0.19032281 -0.07128186 0.6006906 ] [ 0.1874667 0.98124521 -0.04487842 0.38741135] [ 0.07848637 0.03057884 0.9964461 -0.05770228] [ 0. 0. 0. 1. ]] SLAMing on 1.9690723289999998 meters Centerline goodness : 0.719149 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-0.06 [[ 0.97834783 -0.19421893 -0.07151591 0.60328448] [ 0.19110047 0.98038646 -0.04819745 0.3848491 ] [ 0.07947409 0.03348715 0.9962743 -0.0572248 ] [ 0. 0. 0. 1. ]] SLAMing on 1.999072329 meters Centerline goodness : 0.720040 Centerline is valid? [False, False] Translation: X:0.62, Y:0.38, Z:-0.06 [[ 0.97779294 -0.19874264 -0.06650063 0.61826051] [ 0.19642362 0.97970994 -0.03982695 0.38142125] [ 0.07306664 0.02588022 0.99699121 -0.06308009] [ 0. 0. 0. 1. ]] SLAMing on 2.029072329 meters Centerline goodness : 0.717347 Centerline is valid? [False, False] Translation: X:0.64, Y:0.38, Z:-0.07 [[ 0.97654075 -0.20564096 -0.06387455 0.6384159 ] [ 0.20384872 0.97842969 -0.0334819 0.37785439] [ 0.069382 0.01967569 0.99739611 -0.06678756] [ 0. 0. 0. 1. ]] SLAMing on 2.059072329 meters Centerline goodness : 0.717706 Centerline is valid? [False, False] Translation: X:0.64, Y:0.37, Z:-0.07 [[ 0.97636204 -0.20587296 -0.06582922 0.64478822] [ 0.20410845 0.97840651 -0.03256454 0.37455544] [ 0.0711119 0.01835848 0.99729939 -0.06882975] [ 0. 0. 0. 1. ]] SLAMing on 2.089072329 meters Centerline goodness : 0.717225 Centerline is valid? [False, False] Translation: X:0.65, Y:0.37, Z:-0.07 [[ 0.97554912 -0.20957888 -0.06618619 0.64922553] [ 0.20759197 0.97756498 -0.03566916 0.37172928] [ 0.0721768 0.02105729 0.99716954 -0.0701122 ] [ 0. 0. 0. 1. ]] SLAMing on 2.119072329 meters Centerline goodness : 0.716770 Centerline is valid? [False, False] Translation: X:0.66, Y:0.37, Z:-0.07 [[ 0.9747487 -0.21309775 -0.06674072 0.65615861] [ 0.21090174 0.97675023 -0.03846352 0.36756577] [ 0.07338551 0.02341654 0.9970287 -0.07340694] [ 0. 0. 0. 1. ]] SLAMing on 2.149072329 meters Centerline goodness : 0.722821 Centerline is valid? [False, False] Translation: X:0.68, Y:0.36, Z:-0.07 [[ 0.97230831 -0.22269904 -0.07086392 0.68085016] [ 0.21946862 0.97430635 -0.05060305 0.36024719] [ 0.08031242 0.03364935 0.9962016 -0.06856262] [ 0. 0. 0. 1. ]] SLAMing on 2.1790723290000003 meters Centerline goodness : 0.722793 Centerline is valid? [False, False] Translation: X:0.70, Y:0.36, Z:-0.07 [[ 0.97094899 -0.23012363 -0.06558339 0.69626699] [ 0.22752471 0.97274259 -0.04477002 0.35654066] [ 0.07409839 0.02854756 0.99684225 -0.07462827] [ 0. 0. 0. 1. ]] SLAMing on 2.209072329 meters Centerline goodness : 0.727493 Centerline is valid? [False, False] Translation: X:0.73, Y:0.35, Z:-0.08 [[ 0.96831636 -0.24087943 -0.06588271 0.72814298] [ 0.23924368 0.97043864 -0.03180103 0.3526166 ] [ 0.07159534 0.01503144 0.99732049 -0.07607471] [ 0. 0. 0. 1. ]] SLAMing on 2.239072329 meters Centerline goodness : 0.732730 Centerline is valid? [False, False] Translation: X:0.74, Y:0.35, Z:-0.08 [[ 0.96754071 -0.24526576 -0.06090715 0.7431171 ] [ 0.24426961 0.96942472 -0.02341111 0.34921569] [ 0.06478684 0.00777344 0.99786885 -0.08077709] [ 0. 0. 0. 1. ]] SLAMing on 2.269072329 meters Centerline goodness : 0.734785 Centerline is valid? [False, False] Translation: X:0.75, Y:0.34, Z:-0.07 [[ 0.96680499 -0.24376254 -0.0766025 0.7464455 ] [ 0.24275533 0.9698303 -0.02233914 0.34171226] [ 0.07973687 0.00300193 0.99681143 -0.07365175] [ 0. 0. 0. 1. ]] SLAMing on 2.299072329 meters Centerline goodness : 0.738936 Centerline is valid? [False, False] Translation: X:0.73, Y:0.33, Z:-0.06 [[ 0.96534705 -0.24942735 -0.07675336 0.7304011 ] [ 0.24713095 0.96822716 -0.03824201 0.32949224] [ 0.08385329 0.01794868 0.99631645 -0.06331197] [ 0. 0. 0. 1. ]] SLAMing on 2.329072329 meters Centerline goodness : 0.738156 Centerline is valid? [False, False] Translation: X:0.74, Y:0.32, Z:-0.07 [[ 0.96451526 -0.25243662 -0.07736963 0.73823331] [ 0.24995372 0.96741413 -0.04041083 0.32393577] [ 0.08504964 0.01963804 0.99618317 -0.06684347] [ 0. 0. 0. 1. ]] SLAMing on 2.359072329 meters Centerline goodness : 0.745454 Centerline is valid? [False, False] Translation: X:0.74, Y:0.32, Z:-0.07 [[ 0.96360349 -0.25570728 -0.07798784 0.74444549] [ 0.25303481 0.96651961 -0.04258192 0.31878522] [ 0.08626528 0.02129845 0.99604452 -0.06901584] [ 0. 0. 0. 1. ]] SLAMing on 2.389072329 meters Centerline goodness : 0.737816 Centerline is valid? [False, False] Translation: X:0.76, Y:0.31, Z:-0.07 [[ 0.96129345 -0.26216263 -0.08476824 0.76155318] [ 0.26035729 0.9649855 -0.0318915 0.30768248] [ 0.09016089 0.00858706 0.99589019 -0.07238026] [ 0. 0. 0. 1. ]] SLAMing on 2.419072329 meters Centerline goodness : 0.737418 Centerline is valid? [False, False] Translation: X:0.77, Y:0.30, Z:-0.07 [[ 0.96015493 -0.26575247 -0.08647627 0.76778741] [ 0.26429583 0.96403252 -0.02808954 0.30261006] [ 0.0908308 0.004115 0.99585784 -0.0714716 ] [ 0. 0. 0. 1. ]] SLAMing on 2.449072329 meters Centerline goodness : 0.729980 Centerline is valid? [False, False] Translation: X:0.77, Y:0.30, Z:-0.07 [[ 0.95902821 -0.26965944 -0.08688317 0.7707612 ] [ 0.26825632 0.96295037 -0.02766099 0.29703236] [ 0.09112323 0.00322071 0.99583442 -0.06974865] [ 0. 0. 0. 1. ]] SLAMing on 2.479072329 meters Centerline goodness : 0.728155 Centerline is valid? [False, False] Translation: X:0.77, Y:0.29, Z:-0.07 [[ 0.95821197 -0.27262973 -0.08661903 0.77277926] [ 0.27121345 0.96211342 -0.02794709 0.2907012 ] [ 0.09095654 0.00328699 0.99584944 -0.06907687] [ 0. 0. 0. 1. ]] SLAMing on 2.509072329 meters Centerline goodness : 0.730000 Centerline is valid? [False, False] Translation: X:0.78, Y:0.28, Z:-0.08 [[ 0.95726771 -0.27559923 -0.08765615 0.78239507] [ 0.2746808 0.96126955 -0.02261202 0.27509254] [ 0.09049304 -0.0024317 0.99589412 -0.07600999] [ 0. 0. 0. 1. ]] SLAMing on 2.539072329 meters Centerline goodness : 0.725608 Centerline is valid? [False, False] Translation: X:0.78, Y:0.27, Z:-0.08 [[ 0.95673596 -0.27765975 -0.08695612 0.7836388 ] [ 0.2766581 0.96067836 -0.02360908 0.26926957] [ 0.09009216 -0.00146946 0.99593235 -0.07629908] [ 0. 0. 0. 1. ]] SLAMing on 2.569072329 meters Centerline goodness : 0.725201 Centerline is valid? [False, False] Translation: X:0.79, Y:0.26, Z:-0.08 [[ 0.95638994 -0.27836287 -0.08850082 0.78957071] [ 0.27763265 0.96046415 -0.02070581 0.26462343] [ 0.09076559 -0.00476788 0.99586087 -0.0773474 ] [ 0. 0. 0. 1. ]] SLAMing on 2.599072329 meters Centerline goodness : 0.712536 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.07 [[ 0.95589569 -0.27420253 -0.10524448 0.79780681] [ 0.27432709 0.96154061 -0.01357586 0.25352446] [ 0.10491938 -0.0158943 0.99435371 -0.07420612] [ 0. 0. 0. 1. ]] SLAMing on 2.629072329 meters Centerline goodness : 0.699909 Centerline is valid? [False, False] Translation: X:0.80, Y:0.25, Z:-0.08 [[ 0.95586758 -0.27396609 -0.10611194 0.80264446] [ 0.2742985 0.96157298 -0.01173612 0.24990585] [ 0.10524967 -0.01788817 0.99428493 -0.07654069] [ 0. 0. 0. 1. ]] SLAMing on 2.659072329 meters Centerline goodness : 0.689434 Centerline is valid? [False, False] Translation: X:0.81, Y:0.24, Z:-0.08 [[ 0.95579589 -0.27475918 -0.10469766 0.80627612] [ 0.2749886 0.96136593 -0.01252308 0.24053855] [ 0.1040936 -0.01682115 0.99442525 -0.08159785] [ 0. 0. 0. 1. ]] SLAMing on 2.689072329 meters Centerline goodness : 0.690809 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.08 [[ 0.95604564 -0.27369734 -0.10519746 0.81008875] [ 0.27416749 0.96162734 -0.01024948 0.23451224] [ 0.103966 -0.01904275 0.99439853 -0.08365793] [ 0. 0. 0. 1. ]] SLAMing on 2.719072329 meters Centerline goodness : 0.693998 Centerline is valid? [False, False] Translation: X:0.81, Y:0.23, Z:-0.08 [[ 0.95631544 -0.27254235 -0.10574239 0.81308414] [ 0.27328004 0.96190345 -0.00773105 0.2284892 ] [ 0.10382101 -0.02150396 0.9943635 -0.08472163] [ 0. 0. 0. 1. ]] SLAMing on 2.749072329 meters Centerline goodness : 0.688779 Centerline is valid? [False, False] Translation: X:0.82, Y:0.22, Z:-0.08 [[ 0.95698561 -0.26996068 -0.1063004 0.8152062 ] [ 0.27119825 0.96251911 -0.00291149 0.21758811] [ 0.10310215 -0.02604223 0.9943298 -0.08456395] [ 0. 0. 0. 1. ]] SLAMing on 2.779072329 meters Centerline goodness : 0.682769 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.09 [[ 0.95722659 -0.26891945 -0.10676883 0.81714507] [ 0.27035541 0.96276 -0.00106309 0.21366313] [ 0.10307864 -0.02784791 0.9942833 -0.08511649] [ 0. 0. 0. 1. ]] SLAMing on 2.809072329 meters Centerline goodness : 0.718909 Centerline is valid? [False, False] Translation: X:0.82, Y:0.21, Z:-0.09 [[ 9.57392230e-01 -2.68075070e-01 -1.07405192e-01 8.20849892e-01] [ 2.69677215e-01 9.62950691e-01 4.07764855e-04 2.10626998e-01] [ 1.03316592e-01 -2.93551238e-02 9.94215248e-01 -8.72225637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.839072329 meters Centerline goodness : 0.664104 Centerline is valid? [False, False] Translation: X:0.83, Y:0.21, Z:-0.09 [[ 0.95752637 -0.26735656 -0.1079987 0.82530216] [ 0.26910815 0.96310844 0.00171102 0.20731052] [ 0.10355701 -0.03070168 0.99414956 -0.09012645] [ 0. 0. 0. 1. ]] SLAMing on 2.869072329 meters Centerline goodness : 0.650979 Centerline is valid? [False, False] Translation: X:0.83, Y:0.20, Z:-0.09 [[ 0.95782647 -0.26600229 -0.10867954 0.83177894] [ 0.26809626 0.96337986 0.00486249 0.19863522] [ 0.10340625 -0.033794 0.99406494 -0.09459687] [ 0. 0. 0. 1. ]] SLAMing on 2.899072329 meters Centerline goodness : 0.649817 Centerline is valid? [False, False] Translation: X:0.83, Y:0.19, Z:-0.09 [[ 0.95814615 -0.2646657 -0.10912389 0.83319733] [ 0.26699417 0.96367242 0.00704154 0.19396648] [ 0.10329603 -0.03588227 0.99400322 -0.09461459] [ 0. 0. 0. 1. ]] SLAMing on 2.929072329 meters Centerline goodness : 0.707078 Centerline is valid? [False, False] Translation: X:0.84, Y:0.19, Z:-0.10 [[ 0.95905183 -0.26064208 -0.11083907 0.83691533] [ 0.26366117 0.96452429 0.01325438 0.18822542] [ 0.10345233 -0.04193559 0.99374998 -0.0951583 ] [ 0. 0. 0. 1. ]] SLAMing on 2.959072329 meters Centerline goodness : 0.712841 Centerline is valid? [False, False] Translation: X:0.84, Y:0.18, Z:-0.10 [[ 0.9600352 -0.25620905 -0.11264693 0.84025185] [ 0.25996533 0.96541543 0.01977589 0.18254495] [ 0.10368432 -0.04826985 0.99343826 -0.09519253] [ 0. 0. 0. 1. ]] SLAMing on 2.989072329 meters Centerline goodness : 0.706132 Centerline is valid? [False, False] Translation: X:0.84, Y:0.18, Z:-0.09 [[ 0.96087514 -0.25299839 -0.11274205 0.83985481] [ 0.25706773 0.96612183 0.02290821 0.17539255] [ 0.10312682 -0.05099428 0.99336018 -0.09454197] [ 0. 0. 0. 1. ]] SLAMing on 3.019072329 meters Centerline goodness : 0.705510 Centerline is valid? [False, False] Translation: X:0.84, Y:0.17, Z:-0.10 [[ 0.96102728 -0.25219588 -0.1132422 0.84294239] [ 0.25644395 0.96625061 0.02441851 0.17216674] [ 0.1032621 -0.05250713 0.99326731 -0.09612451] [ 0. 0. 0. 1. ]] SLAMing on 3.049072329 meters Centerline goodness : 0.705510 Centerline is valid? [False, False] Translation: X:0.84, Y:0.17, Z:-0.10 [[ 0.96102728 -0.25219588 -0.1132422 0.84294239] [ 0.25644395 0.96625061 0.02441851 0.17216674] [ 0.1032621 -0.05250713 0.99326731 -0.09612451] [ 0. 0. 0. 1. ]] SLAMing on 3.079072329 meters Centerline goodness : 0.700818 Centerline is valid? [False, False] Translation: X:0.85, Y:0.17, Z:-0.10 [[ 0.96105811 -0.2518313 -0.1137906 0.84769261] [ 0.25622577 0.96627895 0.02556074 0.1687653 ] [ 0.10351647 -0.05372144 0.99317589 -0.0990942 ] [ 0. 0. 0. 1. ]] SLAMing on 3.109072329 meters Centerline goodness : 0.691550 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.11 [[ 0.96030531 -0.25302373 -0.11744231 0.86161168] [ 0.25814379 0.96562816 0.03039799 0.16088321] [ 0.10571419 -0.05950836 0.99261436 -0.10607362] [ 0. 0. 0. 1. ]] SLAMing on 3.139072329 meters Centerline goodness : 0.687480 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.11 [[ 0.96003938 -0.25343441 -0.11872399 0.86651083] [ 0.25882695 0.96538718 0.03219005 0.15827267] [ 0.10645656 -0.06163268 0.99240537 -0.10676597] [ 0. 0. 0. 1. ]] SLAMing on 3.169072329 meters Centerline goodness : 0.685181 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:-0.10 [[ 0.95931328 -0.25513929 -0.12092136 0.87158081] [ 0.26106915 0.96465721 0.03576823 0.15400568] [ 0.10752178 -0.06588177 0.99201747 -0.10388843] [ 0. 0. 0. 1. ]] SLAMing on 3.199072329 meters Centerline goodness : 0.682517 Centerline is valid? [False, False] Translation: X:0.88, Y:0.15, Z:-0.10 [[ 0.95899196 -0.25577348 -0.12212429 0.87520185] [ 0.2620175 0.96431967 0.03787353 0.15027286] [ 0.10807981 -0.06831911 0.99179194 -0.1030034 ] [ 0. 0. 0. 1. ]] SLAMing on 3.229072329 meters Centerline goodness : 0.686082 Centerline is valid? [False, False] Translation: X:0.88, Y:0.14, Z:-0.10 [[ 0.95799155 -0.25959196 -0.12191886 0.87858866] [ 0.26579845 0.96330036 0.03746456 0.14212802] [ 0.10771899 -0.06829658 0.99183275 -0.10234234] [ 0. 0. 0. 1. ]] SLAMing on 3.259072329 meters Centerline goodness : 0.686275 Centerline is valid? [False, False] Translation: X:0.87, Y:0.13, Z:-0.10 [[ 0.95743662 -0.25619563 -0.13296207 0.87342779] [ 0.26376591 0.96364805 0.04254388 0.13128247] [ 0.11722908 -0.07580393 0.99020761 -0.09951046] [ 0. 0. 0. 1. ]] SLAMing on 3.289072329 meters Centerline goodness : 0.682059 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.10 [[ 0.95713442 -0.25671626 -0.13412855 0.87833169] [ 0.26462548 0.96331926 0.04460228 0.12684662] [ 0.11775848 -0.07818421 0.98995968 -0.09990642] [ 0. 0. 0. 1. ]] SLAMing on 3.319072329 meters Centerline goodness : 0.676232 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.10 [[ 0.95674706 -0.25743341 -0.13551054 0.8842665 ] [ 0.26567711 0.96294327 0.04643194 0.12316591] [ 0.11853583 -0.08042567 0.98968731 -0.10091158] [ 0. 0. 0. 1. ]] SLAMing on 3.349072329 meters Centerline goodness : 0.677871 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.10 [[ 0.95487331 -0.25691266 -0.14903973 0.88501488] [ 0.26649 0.96264339 0.04796652 0.11388855] [ 0.13114891 -0.08551955 0.98766714 -0.0962174 ] [ 0. 0. 0. 1. ]] SLAMing on 3.379072329 meters Centerline goodness : 0.665617 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.10 [[ 0.95454387 -0.25729579 -0.15048214 0.88914034] [ 0.26721486 0.96236214 0.04955125 0.11201759] [ 0.13206899 -0.0875099 0.98737014 -0.09576776] [ 0. 0. 0. 1. ]] SLAMing on 3.409072329 meters Centerline goodness : 0.668764 Centerline is valid? [False, False] Translation: X:0.89, Y:0.11, Z:-0.09 [[ 0.95475321 -0.25509714 -0.15287826 0.89384522] [ 0.26593179 0.96242985 0.05485494 0.10900152] [ 0.13314127 -0.09302812 0.98672143 -0.09478305] [ 0. 0. 0. 1. ]] SLAMing on 3.439072329 meters Centerline goodness : 0.658810 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.09 [[ 0.95438133 -0.25558808 -0.15437296 0.89937325] [ 0.26686659 0.96204397 0.05704056 0.10423651] [ 0.13393469 -0.09563543 0.98636472 -0.09481278] [ 0. 0. 0. 1. ]] SLAMing on 3.469072329 meters Centerline goodness : 0.650643 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.10 [[ 0.95424496 -0.25559741 -0.1551983 0.90428324] [ 0.26713714 0.96188957 0.05836268 0.10067641] [ 0.13436628 -0.09715153 0.98615784 -0.09658223] [ 0. 0. 0. 1. ]] SLAMing on 3.499072329 meters Centerline goodness : 0.650446 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.10 [[ 0.95345028 -0.25928691 -0.15395731 0.90496473] [ 0.27023901 0.96123753 0.05471095 0.09913575] [ 0.13380371 -0.09376945 0.98656163 -0.09781202] [ 0. 0. 0. 1. ]] SLAMing on 3.529072329 meters Centerline goodness : 0.647767 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.10 [[ 0.9533177 -0.25918533 -0.15494619 0.90963896] [ 0.27041646 0.9611095 0.0560667 0.09597631] [ 0.13438859 -0.09534938 0.98633068 -0.09910692] [ 0. 0. 0. 1. ]] SLAMing on 3.559072329 meters Centerline goodness : 0.657811 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.10 [[ 0.95204032 -0.26371607 -0.15515494 0.9148716 ] [ 0.2745751 0.96010841 0.0529184 0.09596941] [ 0.13501013 -0.09298214 0.98647179 -0.1009448 ] [ 0. 0. 0. 1. ]] SLAMing on 3.589072329 meters Centerline goodness : 0.657764 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.10 [[ 0.95094672 -0.25990992 -0.16777115 0.91077163] [ 0.27245648 0.96052049 0.05628377 0.08969336] [ 0.14651892 -0.0992332 0.98421795 -0.09771514] [ 0. 0. 0. 1. ]] SLAMing on 3.6190723289999998 meters Centerline goodness : 0.646347 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.10 [[ 0.94957627 -0.26458744 -0.16822125 0.91648092] [ 0.27677203 0.95945994 0.05323408 0.08964204] [ 0.14731648 -0.09710876 0.9843108 -0.09919844] [ 0. 0. 0. 1. ]] SLAMing on 3.649072329 meters Centerline goodness : 0.644905 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.10 [[ 0.94947401 -0.26449181 -0.16894731 0.9190441 ] [ 0.27690377 0.95936379 0.05427172 0.08716903] [ 0.1477275 -0.09831173 0.98412976 -0.09912989] [ 0. 0. 0. 1. ]] SLAMing on 3.679072329 meters Centerline goodness : 0.645582 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.10 [[ 0.94949763 -0.26409948 -0.16942759 0.92112358] [ 0.27673193 0.95934646 0.05544201 0.0841265 ] [ 0.14789755 -0.09952808 0.98398195 -0.09925048] [ 0. 0. 0. 1. ]] SLAMing on 3.709072329 meters Centerline goodness : 0.646846 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.10 [[ 0.94834868 -0.26839264 -0.16911583 0.92341697] [ 0.28068053 0.95833346 0.05306049 0.08083533] [ 0.14782831 -0.09778737 0.98416687 -0.0985147 ] [ 0. 0. 0. 1. ]] SLAMing on 3.739072329 meters Centerline goodness : 0.610603 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.10 [[ 0.94791613 -0.26909122 -0.17042569 0.92751811] [ 0.2817295 0.95794729 0.05445615 0.07824805] [ 0.14860516 -0.09963381 0.98386463 -0.09799042] [ 0. 0. 0. 1. ]] SLAMing on 3.769072329 meters Centerline goodness : 0.649053 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.10 [[ 0.9467779 -0.27360004 -0.1695719 0.92775645] [ 0.28570769 0.95694859 0.05119103 0.07730684] [ 0.14826572 -0.09691453 0.98418741 -0.09717074] [ 0. 0. 0. 1. ]] SLAMing on 3.799072329 meters Centerline goodness : 0.632613 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.10 [[ 0.94648698 -0.27407428 -0.17042794 0.93098431] [ 0.28653205 0.95660865 0.05290817 0.07299204] [ 0.14853207 -0.09890996 0.9839487 -0.09664472] [ 0. 0. 0. 1. ]] SLAMing on 3.829072329 meters Centerline goodness : 0.632210 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94490454 -0.27901096 -0.17119663 0.93754946] [ 0.29136311 0.95523374 0.05134239 0.06823835] [ 0.14920771 -0.09839404 0.9838982 -0.09675667] [ 0. 0. 0. 1. ]] SLAMing on 3.859072329 meters Centerline goodness : 0.624692 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94355122 -0.28385778 -0.17069229 0.93974742] [ 0.29568441 0.95408625 0.04785558 0.06789645] [ 0.14927098 -0.09562524 0.98416157 -0.09697245] [ 0. 0. 0. 1. ]] SLAMing on 3.8890723289999998 meters Centerline goodness : 0.620185 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.10 [[ 0.94214404 -0.28870426 -0.17033632 0.94278929] [ 0.30003356 0.95289269 0.04444537 0.06722622] [ 0.14948066 -0.09298055 0.98438313 -0.09754583] [ 0. 0. 0. 1. ]] SLAMing on 3.919072329 meters Centerline goodness : 0.619142 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.10 [[ 0.93942151 -0.29781081 -0.16969371 0.95062822] [ 0.3082344 0.95054376 0.03818534 0.06365499] [ 0.14992929 -0.08817757 0.98475678 -0.10009951] [ 0. 0. 0. 1. ]] SLAMing on 3.949072329 meters Centerline goodness : 0.605583 Centerline is valid? [False, False] Translation: X:0.95, Y:0.06, Z:-0.10 [[ 0.93811858 -0.30208117 -0.16935318 0.95469635] [ 0.3121009 0.94938922 0.03539969 0.06061782] [ 0.15008851 -0.08606439 0.98491947 -0.10118926] [ 0. 0. 0. 1. ]] SLAMing on 3.979072329 meters Centerline goodness : 0.628928 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93552692 -0.31087785 -0.16776276 0.9619558 ] [ 0.31998329 0.94696106 0.02958797 0.05234997] [ 0.14966655 -0.08136162 0.98538328 -0.1035031 ] [ 0. 0. 0. 1. ]] SLAMing on 4.009072328999999 meters Centerline goodness : 0.624024 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93421004 -0.31513268 -0.16716158 0.96416778] [ 0.32384199 0.94572693 0.0269618 0.04906427] [ 0.14959267 -0.07932192 0.98556079 -0.10320811] [ 0. 0. 0. 1. ]] SLAMing on 4.039072329 meters Centerline goodness : 0.627726 Centerline is valid? [False, False] Translation: X:0.96, Y:0.05, Z:-0.10 [[ 0.93283431 -0.31964956 -0.16626577 0.96450015] [ 0.32785702 0.94442858 0.02375774 0.04804062] [ 0.149432 -0.07667343 0.98579474 -0.10213965] [ 0. 0. 0. 1. ]] SLAMing on 4.069072329 meters Centerline goodness : 0.601613 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.10 [[ 0.9307876 -0.32740009 -0.16261493 0.97889441] [ 0.33627384 0.94129799 0.02963116 0.04537657] [ 0.14336786 -0.08226346 0.98624458 -0.10373611] [ 0. 0. 0. 1. ]] SLAMing on 4.099072329 meters Centerline goodness : 0.609033 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.10 [[ 0.92942818 -0.33156918 -0.16194177 0.98095561] [ 0.33999294 0.94005187 0.0265947 0.0429108 ] [ 0.14341568 -0.07977693 0.98644188 -0.10368335] [ 0. 0. 0. 1. ]] SLAMing on 4.1290723289999995 meters Centerline goodness : 0.592513 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.10 [[ 0.92683281 -0.33978134 -0.15977978 0.98371933] [ 0.34714943 0.93759987 0.01984323 0.03978358] [ 0.14306715 -0.07385882 0.98695322 -0.1043649 ] [ 0. 0. 0. 1. ]] SLAMing on 4.159072329 meters Centerline goodness : 0.609694 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.11 [[ 0.92422891 -0.34780595 -0.15758152 0.98763613] [ 0.35420918 0.93506682 0.0136346 0.03447197] [ 0.14260705 -0.06841832 0.98741185 -0.10576039] [ 0. 0. 0. 1. ]] SLAMing on 4.189072329 meters Centerline goodness : 0.611201 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.11 [[ 0.91974557 -0.36092136 -0.15428501 0.99337833] [ 0.36597226 0.93061397 0.00468551 0.02502859] [ 0.14188869 -0.06077351 0.98801527 -0.10752595] [ 0. 0. 0. 1. ]] SLAMing on 4.219072329 meters Centerline goodness : 0.610035 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.11 [[ 0.91808354 -0.36572812 -0.15285798 0.99434047] [ 0.37034043 0.92889429 0.00183628 0.0212221 ] [ 0.14131732 -0.05829535 0.98824646 -0.10759172] [ 0. 0. 0. 1. ]] SLAMing on 4.249072329 meters Centerline goodness : 0.606800 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.11 [[ 0.91620121 -0.37117136 -0.15102043 0.99403587] [ 0.37528209 0.92690962 -0.00137995 0.01739857] [ 0.14049449 -0.05541095 0.98852968 -0.10700814] [ 0. 0. 0. 1. ]] SLAMing on 4.279072329 meters Centerline goodness : 0.629142 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.11 [[ 0.90928506 -0.39154742 -0.14103655 1.00158888] [ 0.39513518 0.91861877 -0.00278148 0.00703688] [ 0.1306479 -0.05319935 0.99000048 -0.10728362] [ 0. 0. 0. 1. ]] SLAMing on 4.309072329 meters Centerline goodness : 0.655208 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.10 [[ 0.90435322 -0.40443413 -0.13630222 1.00108053] [ 0.40661296 0.91351197 -0.01271936 0.00131112] [ 0.12965785 -0.04391945 0.99058565 -0.10481339] [ 0. 0. 0. 1. ]] SLAMing on 4.339072329 meters Centerline goodness : 0.663802 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.10 [[ 0.89873479 -0.41845708 -0.13103223 1.00147244] [ 0.4191932 0.90759906 -0.02325951 -0.00649496] [ 0.12865784 -0.03402369 0.99110522 -0.10273058] [ 0. 0. 0. 1. ]] SLAMing on 4.369072329 meters Centerline goodness : 0.664046 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.10 [[ 0.89165849 -0.43522626 -0.12459229 1.0039351 ] [ 0.43427816 0.90005457 -0.03611438 -0.01419899] [ 0.12785779 -0.02190602 0.99155056 -0.10206407] [ 0. 0. 0. 1. ]] SLAMing on 4.399072329 meters Centerline goodness : 0.665930 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.10 [[ 0.87223871 -0.47455732 -0.1183004 1.01655641] [ 0.47343912 0.87995408 -0.03919453 -0.03589328] [ 0.12269897 -0.02182105 0.99220401 -0.10202882] [ 0. 0. 0. 1. ]] SLAMing on 4.429072329 meters Centerline goodness : 0.682185 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.05, Z:-0.11 [[ 0.86179736 -0.49482662 -0.11158824 1.00669554] [ 0.49344801 0.86877948 -0.04160853 -0.05068353] [ 0.11753458 -0.01920487 0.99288307 -0.1105128 ] [ 0. 0. 0. 1. ]] SLAMing on 4.459072329 meters Centerline goodness : 0.689089 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.07, Z:-0.12 [[ 0.84924482 -0.51727616 -0.1058707 0.99430672] [ 0.51557071 0.85566261 -0.04503714 -0.06720199] [ 0.11388623 -0.01633627 0.99335948 -0.11742823] [ 0. 0. 0. 1. ]] SLAMing on 4.489072329 meters Centerline goodness : 0.709542 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.10, Z:-0.12 [[ 0.81729822 -0.56775608 -0.09836993 0.98744045] [ 0.56595623 0.82303352 -0.04805602 -0.10336184] [ 0.10824585 -0.01639697 0.99398892 -0.11959693] [ 0. 0. 0. 1. ]] SLAMing on 4.519072329 meters Centerline goodness : 0.717006 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.13, Z:-0.12 [[ 0.79862344 -0.5945448 -0.09336536 0.95624515] [ 0.59249766 0.80393492 -0.05133388 -0.12700523] [ 0.10557996 -0.01432231 0.99430767 -0.1230349 ] [ 0. 0. 0. 1. ]] SLAMing on 4.549072329 meters Centerline goodness : 0.720573 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.15, Z:-0.13 [[ 0.77827529 -0.62161777 -0.0887633 0.92487373] [ 0.61928553 0.78322785 -0.05513235 -0.15054143] [ 0.10379314 -0.01206169 0.99452577 -0.12655004] [ 0. 0. 0. 1. ]] SLAMing on 4.579072329 meters Centerline goodness : 0.718991 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.13 [[ 0.73340362 -0.67476844 -0.08250261 0.90833937] [ 0.67224742 0.73793438 -0.05946647 -0.19324204] [ 0.10100761 -0.01184924 0.99481509 -0.13045365] [ 0. 0. 0. 1. ]] SLAMing on 4.609072329 meters Centerline goodness : 0.737299 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.22, Z:-0.14 [[ 0.70843664 -0.7015164 -0.0774098 0.84910034] [ 0.69870518 0.71259435 -0.06340638 -0.22317752] [ 0.0996424 -0.00916722 0.99498108 -0.13800698] [ 0. 0. 0. 1. ]] SLAMing on 4.639072329 meters Centerline goodness : 0.752348 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:-0.15 [[ 0.68201006 -0.72798987 -0.06995014 0.77612685] [ 0.72467558 0.68557987 -0.06946611 -0.25555286] [ 0.09852703 -0.00331457 0.99512885 -0.14781694] [ 0. 0. 0. 1. ]] SLAMing on 4.669072329 meters Centerline goodness : 0.769736 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.31, Z:-0.16 [[ 0.62527341 -0.7784315 -0.05547574 0.73410272] [ 0.77466241 0.62770992 -0.07667079 -0.31112627] [ 0.09450563 0.00496524 0.99551195 -0.15713454] [ 0. 0. 0. 1. ]] SLAMing on 4.699072329 meters Centerline goodness : 0.763492 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.35, Z:-0.17 [[ 0.59669742 -0.80108826 -0.04700832 0.66678555] [ 0.79677429 0.59841237 -0.08398429 -0.34518557] [ 0.09540919 0.01265819 0.99535765 -0.16987069] [ 0. 0. 0. 1. ]] SLAMing on 4.729072329 meters Centerline goodness : 0.762683 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.38, Z:-0.18 [[ 0.56902347 -0.82132967 -0.0403715 0.58457247] [ 0.81638207 0.57012237 -0.09209123 -0.37919985] [ 0.09865396 0.0194435 0.99493183 -0.18428864] [ 0. 0. 0. 1. ]] SLAMing on 4.759072329 meters Centerline goodness : 0.772162 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.43, Z:-0.20 [[ 0.52275877 -0.85165647 -0.03747698 0.51738786] [ 0.84655526 0.52379765 -0.09476403 -0.43354419] [ 0.10033675 0.01781239 0.99479408 -0.20273071] [ 0. 0. 0. 1. ]] SLAMing on 4.789072329 meters Centerline goodness : 0.766199 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.47, Z:-0.22 [[ 0.50763173 -0.86087536 -0.03469347 0.40869537] [ 0.8552748 0.50837195 -0.10031443 -0.46808824] [ 0.10399541 0.02125034 0.99435073 -0.22211779] [ 0. 0. 0. 1. ]] SLAMing on 4.819072329 meters Centerline goodness : 0.759697 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.50, Z:-0.24 [[ 0.49681998 -0.86729706 -0.031076 0.29516221] [ 0.86105197 0.49708442 -0.1072221 -0.50251207] [ 0.10844081 0.02651203 0.99374932 -0.24134092] [ 0. 0. 0. 1. ]] SLAMing on 4.849072329 meters Centerline goodness : 0.756537 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.55, Z:-0.26 [[ 0.4884226 -0.87216623 -0.02773851 0.1899292 ] [ 0.86511431 0.48814071 -0.11530773 -0.55436349] [ 0.1141078 0.03232192 0.99294245 -0.25949211] [ 0. 0. 0. 1. ]] SLAMing on 4.8790723289999995 meters Centerline goodness : 0.752802 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.59, Z:-0.28 [[ 0.49446167 -0.86891726 -0.022146 0.05807679] [ 0.86126074 0.49322221 -0.12231837 -0.58891777] [ 0.11720745 0.04140827 0.99224381 -0.27767282] [ 0. 0. 0. 1. ]] SLAMing on 4.909072329 meters Centerline goodness : 0.733676 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.62, Z:-0.30 [[ 0.50741025 -0.86154339 -0.01666782 -0.06855484] [ 0.85340494 0.50510719 -0.12871186 -0.62187567] [ 0.11930989 0.05108532 0.99154195 -0.29517013] [ 0. 0. 0. 1. ]] SLAMing on 4.939072329 meters Centerline goodness : 0.769399 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.67, Z:-0.31 [[ 0.54758845 -0.83664906 -0.01285439 -0.21161886] [ 0.82862186 0.54434241 -0.13067957 -0.67203265] [ 0.11633013 0.06090719 0.99134132 -0.31174954] [ 0. 0. 0. 1. ]] SLAMing on 4.969072329 meters Centerline goodness : 0.773804 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.70, Z:-0.32 [[ 0.57715024 -0.81658009 -0.00972384 -0.36900318] [ 0.80853685 0.57305736 -0.13369149 -0.70407072] [ 0.11474213 0.069298 0.99097529 -0.32374629] [ 0. 0. 0. 1. ]] SLAMing on 4.999072329 meters Centerline goodness : 0.773804 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.72, Z:-0.33 [[ 0.5796114 -0.81486897 -0.00625938 -0.52724246] [ 0.80655308 0.57475864 -0.13829182 -0.72261667] [ 0.11628735 0.075107 0.99037174 -0.33445743] [ 0. 0. 0. 1. ]] SLAMing on 5.029072329 meters Centerline goodness : 0.767785 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.75, Z:-0.34 [[ 0.61301156 -0.7900659 -0.00356244 -0.69874846] [ 0.78192162 0.60732615 -0.14054725 -0.7543382 ] [ 0.11320516 0.08337154 0.99006756 -0.34435462] [ 0. 0. 0. 1. ]] SLAMing on 5.059072329 meters Centerline goodness : 0.563680 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.78, Z:-0.35 [[ 0.64949761 -0.76035904 -0.00264443 -0.86058285] [ 0.75252082 0.64329267 -0.14102114 -0.78385685] [ 0.10892784 0.08960291 0.99000305 -0.35197822] [ 0. 0. 0. 1. ]] SLAMing on 5.0890723289999995 meters Centerline goodness : 0.812075 Centerline is valid? [False, False] Translation: X:-1.03, Y:-0.82, Z:-0.36 [[ 0.72656283 -0.68707687 -0.00564199 -1.03364636] [ 0.67963745 0.71985434 -0.14107679 -0.81949079] [ 0.10099201 0.09866664 0.98998258 -0.35621036] [ 0. 0. 0. 1. ]] SLAMing on 5.119072329 meters Centerline goodness : 0.815763 Centerline is valid? [False, False] Translation: X:-1.17, Y:-0.84, Z:-0.36 [[ 0.76688167 -0.64174652 -0.0073429 -1.17253619] [ 0.63461703 0.75996833 -0.14039003 -0.84243084] [ 0.09567518 0.10300261 0.99006905 -0.35655287] [ 0. 0. 0. 1. ]] SLAMing on 5.149072329 meters Centerline goodness : 0.816579 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.86, Z:-0.35 [[ 0.80611321 -0.59168049 -0.00978184 -1.29881653] [ 0.58493539 0.79920932 -0.1382572 -0.86403035] [ 0.08962182 0.10572921 0.99034805 -0.35457351] [ 0. 0. 0. 1. ]] SLAMing on 5.179072329 meters Centerline goodness : 0.819986 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.88, Z:-0.35 [[ 0.84306369 -0.53766199 -0.01277452 -1.40565879] [ 0.53123067 0.83621435 -0.13615997 -0.8818448 ] [ 0.08389027 0.10800531 0.9906045 -0.35283675] [ 0. 0. 0. 1. ]] SLAMing on 5.209072329 meters Centerline goodness : 0.824762 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.90, Z:-0.35 [[ 0.90688644 -0.42091117 -0.01976767 -1.50535745] [ 0.41526195 0.90070763 -0.12760591 -0.8970027 ] [ 0.07151564 0.10751531 0.99162794 -0.35203819] [ 0. 0. 0. 1. ]] SLAMing on 5.239072329 meters Centerline goodness : 0.822846 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.90, Z:-0.35 [[ 0.93309603 -0.35858767 -0.02732541 -1.53498532] [ 0.35336505 0.92831526 -0.11560238 -0.901119 ] [ 0.06682018 0.09821228 0.99291964 -0.34880013] [ 0. 0. 0. 1. ]] SLAMing on 5.269072329 meters Centerline goodness : 0.816408 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.90, Z:-0.34 [[ 0.96990482 -0.24026204 -0.03948152 -1.55245761] [ 0.23537749 0.96669685 -0.10047207 -0.89801414] [ 0.06230628 0.08815528 0.99415621 -0.34192402] [ 0. 0. 0. 1. ]] SLAMing on 5.2990723289999995 meters Centerline goodness : 0.808686 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.90, Z:-0.34 [[ 0.98201139 -0.18370847 -0.04364432 -1.5404969 ] [ 0.17914169 0.97949645 -0.09216814 -0.89616264] [ 0.05968153 0.08269164 0.99478651 -0.33961129] [ 0. 0. 0. 1. ]] SLAMing on 5.329072329 meters Centerline goodness : 0.807330 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.89, Z:-0.33 [[ 0.99021112 -0.13039141 -0.04979971 -1.5049069 ] [ 0.12575576 0.98823827 -0.08700923 -0.89105231] [ 0.06055924 0.07989491 0.994962 -0.33132289] [ 0. 0. 0. 1. ]] SLAMing on 5.359072329 meters Centerline goodness : 0.810166 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.89, Z:-0.32 [[ 0.99556988 -0.07629741 -0.05494826 -1.44640137] [ 0.07156941 0.99394247 -0.08340375 -0.88648156] [ 0.0609789 0.07910165 0.99499975 -0.32275834] [ 0. 0. 0. 1. ]] SLAMing on 5.389072329 meters Centerline goodness : 0.824618 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.88, Z:-0.32 [[ 0.99898778 0.00402679 -0.04480172 -1.45874384] [-0.0074155 0.9971007 -0.0757311 -0.87665419] [ 0.04436687 0.07598667 0.99612128 -0.31866047] [ 0. 0. 0. 1. ]] SLAMing on 5.419072329 meters Centerline goodness : 0.827324 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.87, Z:-0.32 [[ 0.99873894 0.03471208 -0.03627117 -1.4517471 ] [-0.0367377 0.99771175 -0.05675925 -0.87451474] [ 0.03421794 0.05802019 0.99772882 -0.31738611] [ 0. 0. 0. 1. ]] SLAMing on 5.449072329 meters Centerline goodness : 0.823926 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.87, Z:-0.32 [[ 0.99787112 0.05921897 -0.02731911 -1.44469392] [-0.06037582 0.99722011 -0.04366704 -0.87084952] [ 0.02465725 0.04522349 0.99867255 -0.31652482] [ 0. 0. 0. 1. ]] SLAMing on 5.479072329 meters Centerline goodness : 0.825201 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.86, Z:-0.31 [[ 0.99464376 0.09939735 -0.02835431 -1.40643586] [-0.1003389 0.99437296 -0.03397813 -0.86077908] [ 0.02481743 0.03664117 0.99902028 -0.31019639] [ 0. 0. 0. 1. ]] SLAMing on 5.509072329 meters Centerline goodness : 0.823230 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.86, Z:-0.31 [[ 0.99330602 0.11185942 -0.02882034 -1.40043062] [-0.11253673 0.99338003 -0.0230566 -0.85959396] [ 0.02605045 0.02614561 0.99931866 -0.31271992] [ 0. 0. 0. 1. ]] SLAMing on 5.539072329 meters Centerline goodness : 0.819583 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.86, Z:-0.32 [[ 0.99224171 0.12083136 -0.02926035 -1.39373277] [-0.12131868 0.99249276 -0.01548853 -0.85655833] [ 0.02716918 0.01891819 0.99945182 -0.31676949] [ 0. 0. 0. 1. ]] SLAMing on 5.569072329 meters Centerline goodness : 0.817921 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.85, Z:-0.32 [[ 0.99101397 0.13044915 -0.02956918 -1.38677686] [-0.130724 0.99139003 -0.00755236 -0.84921545] [ 0.02832939 0.01134989 0.9995342 -0.31995737] [ 0. 0. 0. 1. ]] SLAMing on 5.599072329 meters Centerline goodness : 0.818528 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.85, Z:-0.32 [[ 0.99061287 0.13337775 -0.02994196 -1.38330932] [-0.13358842 0.99102357 -0.00514032 -0.84699205] [ 0.02898758 0.00909197 0.99953842 -0.32161707] [ 0. 0. 0. 1. ]] SLAMing on 5.6290723289999995 meters Centerline goodness : 0.817392 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.84, Z:-0.32 [[ 0.99065354 0.13302642 -0.03015853 -1.38190678] [-0.13327344 0.99105912 -0.00632515 -0.84349874] [ 0.02904747 0.01028537 0.99952512 -0.3227294 ] [ 0. 0. 0. 1. ]] SLAMing on 5.659072329 meters Centerline goodness : 0.818610 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.84, Z:-0.33 [[ 0.99038424 0.13477527 -0.03121999 -1.37505241] [-0.13503012 0.99082213 -0.00619416 -0.83565546] [ 0.03009864 0.01035024 0.99949334 -0.32688432] [ 0. 0. 0. 1. ]] SLAMing on 5.689072329 meters Centerline goodness : 0.822625 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.33 [[ 0.99042098 0.13442066 -0.03158128 -1.37291226] [-0.13472809 0.99085185 -0.00780733 -0.83060672] [ 0.0302429 0.01198743 0.99947069 -0.32864636] [ 0. 0. 0. 1. ]] SLAMing on 5.719072329 meters Centerline goodness : 0.799370 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.83, Z:-0.33 [[ 0.99009309 0.13664349 -0.03231452 -1.36759832] [-0.13691213 0.99056353 -0.00624142 -0.82638284] [ 0.03115674 0.01060383 0.99945826 -0.33186175] [ 0. 0. 0. 1. ]] SLAMing on 5.749072329 meters Centerline goodness : 0.812903 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.81, Z:-0.34 [[ 0.98942413 0.14112951 -0.03350149 -1.35780739] [-0.14129604 0.98996386 -0.00264441 -0.81494289] [ 0.03279206 0.00735007 0.99943517 -0.33660454] [ 0. 0. 0. 1. ]] SLAMing on 5.779072329 meters Centerline goodness : 0.811569 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.81, Z:-0.34 [[ 9.88987756e-01 1.44117578e-01 -3.36651379e-02 -1.35475135e+00] [-1.44221751e-01 9.89545164e-01 -6.74097104e-04 -8.08867540e-01] [ 3.32160252e-02 5.52191892e-03 9.99432941e-01 -3.38249777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809072329 meters Centerline goodness : 0.808434 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.80, Z:-0.34 [[ 9.88549844e-01 1.47044554e-01 -3.38689381e-02 -1.35146544e+00] [-1.47097267e-01 9.89121582e-01 9.43701421e-04 -8.02188542e-01] [ 3.36392638e-02 4.04913233e-03 9.99425837e-01 -3.40058845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8390723289999995 meters Centerline goodness : 0.805098 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.80, Z:-0.34 [[ 0.98808739 0.15011213 -0.03390667 -1.34864942] [-0.1501078 0.98866598 0.002688 -0.79623856] [ 0.03392587 0.00243367 0.99942139 -0.34182748] [ 0. 0. 0. 1. ]] SLAMing on 5.869072329 meters Centerline goodness : 0.801733 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.78, Z:-0.35 [[ 9.87395380e-01 1.54365407e-01 -3.49525942e-02 -1.34058581e+00] [-1.54420168e-01 9.88004607e-01 1.14361341e-03 -7.82620157e-01] [ 3.47098585e-02 4.26818688e-03 9.99388317e-01 -3.50509518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899072329 meters Centerline goodness : 0.798871 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.78, Z:-0.35 [[ 0.98697994 0.15696215 -0.03512083 -1.33669735] [-0.15697792 0.98759938 0.00232527 -0.77558759] [ 0.03505029 0.0032182 0.99938037 -0.35334641] [ 0. 0. 0. 1. ]] SLAMing on 5.929072329 meters Centerline goodness : 0.797447 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.77, Z:-0.36 [[ 0.98658903 0.15932907 -0.0354449 -1.33234943] [-0.15932265 0.98722194 0.0030239 -0.76640392] [ 0.03547377 0.00266383 0.99936706 -0.35620698] [ 0. 0. 0. 1. ]] SLAMing on 5.959072329 meters Centerline goodness : 0.795881 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.76, Z:-0.36 [[ 0.98619198 0.16171993 -0.03566557 -1.32842345] [-0.16169009 0.9868345 0.00373863 -0.7558874 ] [ 0.03580063 0.00207977 0.99935679 -0.35853735] [ 0. 0. 0. 1. ]] SLAMing on 5.989072329 meters Centerline goodness : 0.783589 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.73, Z:-0.36 [[ 0.98516658 0.16742373 -0.03763122 -1.31571378] [-0.16719364 0.98588113 0.00920277 -0.73370638] [ 0.03864067 -0.00277456 0.99924932 -0.36009006] [ 0. 0. 0. 1. ]] SLAMing on 6.019072329 meters Centerline goodness : 0.785161 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.72, Z:-0.36 [[ 0.98475339 0.16981101 -0.037749 -1.31346649] [-0.16954961 0.98547046 0.01004485 -0.72459438] [ 0.03890625 -0.00349138 0.99923677 -0.36060185] [ 0. 0. 0. 1. ]] SLAMing on 6.0490723289999995 meters Centerline goodness : 0.786254 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.72, Z:-0.36 [[ 9.84885386e-01 1.68959036e-01 -3.81263772e-02 -1.31229863e+00] [-1.68806633e-01 9.85622853e-01 7.20502681e-03 -7.15252188e-01] [ 3.87955831e-02 -6.60140239e-04 9.99246950e-01 -3.60841026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079072329 meters Centerline goodness : 0.788602 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.69, Z:-0.36 [[ 0.98483743 0.17107851 -0.02876431 -1.30112478] [-0.1711076 0.98525126 0.00146543 -0.69302099] [ 0.02859078 0.00347858 0.99958515 -0.36417189] [ 0. 0. 0. 1. ]] SLAMing on 6.109072329 meters Centerline goodness : 0.788470 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.68, Z:-0.36 [[ 9.83798510e-01 1.77035821e-01 -2.82632346e-02 -1.30032823e+00] [-1.76937026e-01 9.84204014e-01 5.97892065e-03 -6.83350576e-01] [ 2.88752720e-02 -8.81240573e-04 9.99582634e-01 -3.62484640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139072329 meters Centerline goodness : 0.794818 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.67, Z:-0.36 [[ 0.98274243 0.18288044 -0.0277861 -1.29927155] [-0.18267148 0.98312413 0.009903 -0.67040306] [ 0.02912825 -0.00465637 0.99956484 -0.36067021] [ 0. 0. 0. 1. ]] SLAMing on 6.169072329 meters Centerline goodness : 0.799979 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.64, Z:-0.36 [[ 0.98182259 0.18813608 -0.02508413 -1.3011566 ] [-0.18776315 0.9820758 0.01649607 -0.64101966] [ 0.02773802 -0.01148634 0.99954923 -0.358477 ] [ 0. 0. 0. 1. ]] SLAMing on 6.199072329 meters Centerline goodness : 0.801948 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.63, Z:-0.36 [[ 0.98147402 0.18992923 -0.02521165 -1.30011505] [-0.18956043 0.98173354 0.01631227 -0.62886901] [ 0.02784929 -0.01123094 0.99954904 -0.35712023] [ 0. 0. 0. 1. ]] SLAMing on 6.229072329 meters Centerline goodness : 0.807921 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.60, Z:-0.36 [[ 0.98196671 0.18826381 -0.01726623 -1.28557082] [-0.18811943 0.98209874 0.0096513 -0.5972356 ] [ 0.01877414 -0.00622914 0.99980435 -0.35869947] [ 0. 0. 0. 1. ]] SLAMing on 6.259072329 meters Centerline goodness : 0.810943 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.58, Z:-0.36 [[ 0.98181751 0.18897748 -0.0179415 -1.28387051] [-0.18884433 0.98196705 0.00886179 -0.58360286] [ 0.01929264 -0.00531251 0.99979977 -0.35666288] [ 0. 0. 0. 1. ]] SLAMing on 6.289072329 meters Centerline goodness : 0.809676 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.57, Z:-0.36 [[ 0.98194633 0.18813104 -0.01970073 -1.27912904] [-0.18803238 0.98213955 0.00676246 -0.56937326] [ 0.0206211 -0.002936 0.99978305 -0.35594564] [ 0. 0. 0. 1. ]] SLAMing on 6.319072329 meters Centerline goodness : 0.806960 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.54, Z:-0.36 [[ 9.83407376e-01 1.79776848e-01 -2.42943968e-02 -1.26344592e+00] [-1.79800667e-01 9.83702311e-01 1.21833358e-03 -5.40191284e-01] [ 2.41174824e-02 3.17003052e-03 9.99704105e-01 -3.57149556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349072329 meters Centerline goodness : 0.805719 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.53, Z:-0.36 [[ 0.9836902 0.17799964 -0.0258789 -1.25786114] [-0.17811154 0.98400813 -0.00206692 -0.52675771] [ 0.02509714 0.00664254 0.99966295 -0.35860983] [ 0. 0. 0. 1. ]] SLAMing on 6.3790723289999995 meters Centerline goodness : 0.806039 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.51, Z:-0.36 [[ 0.98381597 0.1770762 -0.02738881 -1.25310905] [-0.17725624 0.98415546 -0.00427201 -0.51345786] [ 0.02619838 0.00905771 0.99961573 -0.35877251] [ 0. 0. 0. 1. ]] SLAMing on 6.409072329 meters Centerline goodness : 0.805325 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.50, Z:-0.36 [[ 0.98388114 0.17649673 -0.02875423 -1.24904232] [-0.17673788 0.98423934 -0.00605283 -0.50126595] [ 0.02723274 0.01103723 0.99956819 -0.3584109 ] [ 0. 0. 0. 1. ]] SLAMing on 6.439072329 meters Centerline goodness : 0.807386 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.48, Z:-0.35 [[ 0.98451985 0.17194438 -0.03399693 -1.23661141] [-0.17241741 0.98495699 -0.01148782 -0.47774545] [ 0.03151025 0.01717165 0.99935591 -0.35424822] [ 0. 0. 0. 1. ]] SLAMing on 6.469072329 meters Centerline goodness : 0.789695 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.47, Z:-0.35 [[ 0.98483638 0.16988854 -0.03514523 -1.23333592] [-0.17049525 0.98524384 -0.01503162 -0.46747363] [ 0.03207292 0.02079578 0.99926916 -0.35461469] [ 0. 0. 0. 1. ]] SLAMing on 6.499072329 meters Centerline goodness : 0.793638 Centerline is valid? [False, False] Translation: X:-1.23, Y:-0.46, Z:-0.35 [[ 0.9851832 0.16760139 -0.03638458 -1.23001059] [-0.16834935 0.98555284 -0.01854999 -0.45729216] [ 0.03274992 0.02440046 0.99916568 -0.35478328] [ 0. 0. 0. 1. ]] SLAMing on 6.529072329 meters Centerline goodness : 0.807673 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.45, Z:-0.35 [[ 0.98594406 0.16285449 -0.03731931 -1.21535541] [-0.16342106 0.98647531 -0.01264995 -0.44813329] [ 0.03475448 0.01857091 0.99922332 -0.35372178] [ 0. 0. 0. 1. ]] SLAMing on 6.559072329 meters Centerline goodness : 0.811080 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.43, Z:-0.35 [[ 0.98909018 0.14460268 -0.02811898 -1.20473284] [-0.14474112 0.98946519 -0.00294143 -0.43074077] [ 0.02739741 0.00697931 0.99960026 -0.35341773] [ 0. 0. 0. 1. ]] SLAMing on 6.5890723289999995 meters Centerline goodness : 0.811002 Centerline is valid? [False, False] Translation: X:-1.20, Y:-0.42, Z:-0.36 [[ 0.99087249 0.13281145 -0.02308323 -1.19725596] [-0.13287619 0.99113181 -0.00128664 -0.42381379] [ 0.02270764 0.00434211 0.99973272 -0.35527442] [ 0. 0. 0. 1. ]] SLAMing on 6.619072329 meters Centerline goodness : 0.811885 Centerline is valid? [False, False] Translation: X:-1.19, Y:-0.42, Z:-0.36 [[ 0.9929648 0.11684761 -0.01917119 -1.18771748] [-0.11694589 0.99312989 -0.00408411 -0.4180139 ] [ 0.01856226 0.00629737 0.99980787 -0.35762883] [ 0. 0. 0. 1. ]] SLAMing on 6.649072329 meters Centerline goodness : 0.808693 Centerline is valid? [False, False] Translation: X:-1.16, Y:-0.41, Z:-0.36 [[ 0.99679054 0.0767302 -0.02282747 -1.15599522] [-0.07689209 0.99701952 -0.00629924 -0.41210113] [ 0.02227609 0.00803427 0.99971957 -0.36082196] [ 0. 0. 0. 1. ]] SLAMing on 6.679072329 meters Centerline goodness : 0.808696 Centerline is valid? [False, False] Translation: X:-1.14, Y:-0.41, Z:-0.36 [[ 0.99819713 0.05421579 -0.02575132 -1.13963259] [-0.05431112 0.99851951 -0.00301654 -0.40977225] [ 0.02554965 0.00440969 0.99966383 -0.36328326] [ 0. 0. 0. 1. ]] SLAMing on 6.709072329 meters Centerline goodness : 0.808433 Centerline is valid? [False, False] Translation: X:-1.12, Y:-0.41, Z:-0.37 [[ 9.99128481e-01 3.21011840e-02 -2.66794214e-02 -1.12198218e+00] [-3.20745772e-02 9.99484463e-01 1.42473363e-03 -4.06393439e-01] [ 2.67114028e-02 -5.67760792e-04 9.99643026e-01 -3.66432243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739072329 meters Centerline goodness : 0.808477 Centerline is valid? [False, False] Translation: X:-1.10, Y:-0.40, Z:-0.37 [[ 0.99959795 0.01052359 -0.02632837 -1.10289478] [-0.01038302 0.99993113 0.00547006 -0.40195138] [ 0.02638412 -0.0051945 0.99963838 -0.36979367] [ 0. 0. 0. 1. ]] SLAMing on 6.769072329 meters Centerline goodness : 0.807421 Centerline is valid? [False, False] Translation: X:-1.07, Y:-0.40, Z:-0.37 [[ 0.99922155 -0.02649004 -0.02923291 -1.07311767] [ 0.02672524 0.99961328 0.00768427 -0.39653694] [ 0.02901805 -0.00845955 0.99954309 -0.37088226] [ 0. 0. 0. 1. ]] SLAMing on 6.7990723289999995 meters Centerline goodness : 0.804807 Centerline is valid? [False, False] Translation: X:-1.05, Y:-0.40, Z:-0.37 [[ 0.99836775 -0.04413785 -0.03624468 -1.04723898] [ 0.04460604 0.99893002 0.01221161 -0.39777954] [ 0.03566691 -0.01380841 0.99926833 -0.36758328] [ 0. 0. 0. 1. ]] SLAMing on 6.829072329 meters Centerline goodness : 0.805031 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.40, Z:-0.36 [[ 0.99725124 -0.06146338 -0.04137899 -1.0239042 ] [ 0.06219473 0.99792558 0.0166241 -0.40071068] [ 0.04027138 -0.01915196 0.99900521 -0.36377497] [ 0. 0. 0. 1. ]] SLAMing on 6.859072329 meters Centerline goodness : 0.805031 Centerline is valid? [False, False] Translation: X:-1.02, Y:-0.40, Z:-0.36 [[ 0.99725124 -0.06146338 -0.04137899 -1.0239042 ] [ 0.06219473 0.99792558 0.0166241 -0.40071068] [ 0.04027138 -0.01915196 0.99900521 -0.36377497] [ 0. 0. 0. 1. ]] SLAMing on 6.889072329 meters Centerline goodness : 0.809746 Centerline is valid? [False, False] Translation: X:-0.99, Y:-0.40, Z:-0.36 [[ 0.99469284 -0.09378056 -0.04232444 -0.98701691] [ 0.09467255 0.99531584 0.01958271 -0.40141732] [ 0.04028971 -0.02348575 0.99891199 -0.35899696] [ 0. 0. 0. 1. ]] SLAMing on 6.919072329 meters Centerline goodness : 0.812088 Centerline is valid? [False, False] Translation: X:-0.98, Y:-0.40, Z:-0.36 [[ 0.99371221 -0.10243407 -0.045203 -0.98015823] [ 0.1032309 0.99453423 0.0156541 -0.40085459] [ 0.04335242 -0.02022202 0.99885516 -0.35586427] [ 0. 0. 0. 1. ]] SLAMing on 6.949072329 meters Centerline goodness : 0.810994 Centerline is valid? [False, False] Translation: X:-0.97, Y:-0.40, Z:-0.35 [[ 0.99281615 -0.10991297 -0.04727817 -0.97477614] [ 0.11056424 0.99380382 0.01138026 -0.39971982] [ 0.04573439 -0.01652578 0.99881693 -0.3539138 ] [ 0. 0. 0. 1. ]] SLAMing on 6.979072329 meters Centerline goodness : 0.807905 Centerline is valid? [False, False] Translation: X:-0.95, Y:-0.39, Z:-0.35 [[ 0.99007254 -0.12762128 -0.05889967 -0.94740645] [ 0.12818328 0.99173325 0.00584852 -0.39385672] [ 0.05766637 -0.01334041 0.99824677 -0.3458298 ] [ 0. 0. 0. 1. ]] SLAMing on 7.009072328999999 meters Centerline goodness : 0.808972 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.39, Z:-0.35 [[ 0.98933834 -0.13258359 -0.06025985 -0.94146128] [ 0.13292643 0.99112445 0.00169892 -0.39261954] [ 0.05949976 -0.00969093 0.99818128 -0.34765345] [ 0. 0. 0. 1. ]] SLAMing on 7.039072329 meters Centerline goodness : 0.808474 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.39, Z:-0.35 [[ 0.98866675 -0.13698912 -0.06141684 -0.93519615] [ 0.1371218 0.99055203 -0.00206931 -0.39199149] [ 0.06112005 -0.00637573 0.99811006 -0.35048499] [ 0. 0. 0. 1. ]] SLAMing on 7.069072329 meters Centerline goodness : 0.810283 Centerline is valid? [False, False] Translation: X:-0.92, Y:-0.39, Z:-0.35 [[ 0.98788117 -0.1396457 -0.06774855 -0.91680086] [ 0.13951342 0.99019749 -0.00670343 -0.39145249] [ 0.06802055 -0.00282964 0.99767991 -0.35013886] [ 0. 0. 0. 1. ]] SLAMing on 7.099072329 meters Centerline goodness : 0.807224 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.35 [[ 0.9882985 -0.13579766 -0.06946276 -0.9138277 ] [ 0.13598298 0.990709 -0.00207573 -0.39280981] [ 0.06909926 -0.00739431 0.99758239 -0.35019279] [ 0. 0. 0. 1. ]] SLAMing on 7.1290723289999995 meters Centerline goodness : 0.814036 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.35 [[ 0.98876572 -0.13159553 -0.07088698 -0.91223181] [ 0.13205318 0.99124102 0.00178838 -0.39105008] [ 0.07003074 -0.01112914 0.99748275 -0.34944261] [ 0. 0. 0. 1. ]] SLAMing on 7.159072329 meters Centerline goodness : 0.816964 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.34 [[ 0.99014546 -0.11789495 -0.07558269 -0.90905524] [ 0.11901558 0.99283706 0.01048202 -0.38564823] [ 0.07380552 -0.01937424 0.99708444 -0.34002756] [ 0. 0. 0. 1. ]] SLAMing on 7.189072329 meters Centerline goodness : 0.816355 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.39, Z:-0.34 [[ 0.99109345 -0.10858403 -0.0770927 -0.90837594] [ 0.11036545 0.99370516 0.01922311 -0.38580434] [ 0.0745201 -0.02756027 0.9968386 -0.33888548] [ 0. 0. 0. 1. ]] SLAMing on 7.219072328999999 meters Centerline goodness : 0.817689 Centerline is valid? [False, False] Translation: X:-0.91, Y:-0.38, Z:-0.34 [[ 0.99169917 -0.10258901 -0.07751295 -0.90832692] [ 0.10462533 0.99425324 0.02267231 -0.38219484] [ 0.07474158 -0.03059393 0.99673352 -0.33986691] [ 0. 0. 0. 1. ]] SLAMing on 7.249072329 meters Centerline goodness : 0.813513 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.38, Z:-0.34 [[ 0.99267565 -0.08599396 -0.08485333 -0.89307943] [ 0.08889589 0.99555752 0.03102823 -0.37587095] [ 0.08180813 -0.03834408 0.99591022 -0.33697963] [ 0. 0. 0. 1. ]] SLAMing on 7.279072329 meters Centerline goodness : 0.812397 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.37, Z:-0.34 [[ 0.9930204 -0.08127207 -0.0854712 -0.89137552] [ 0.08434678 0.99589007 0.03299388 -0.37075178] [ 0.08243844 -0.03997281 0.99579419 -0.33966265] [ 0. 0. 0. 1. ]] SLAMing on 7.309072329 meters Centerline goodness : 0.812478 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.37, Z:-0.34 [[ 0.99298066 -0.07532232 -0.09119183 -0.87925122] [ 0.07875449 0.99629211 0.03463749 -0.36639134] [ 0.08824472 -0.04157612 0.99523077 -0.33806757] [ 0. 0. 0. 1. ]] SLAMing on 7.3390723289999995 meters Centerline goodness : 0.812339 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.36, Z:-0.34 [[ 0.99320465 -0.07114782 -0.09210053 -0.8763891 ] [ 0.07484731 0.99649517 0.03735308 -0.36367468] [ 0.08912014 -0.04399273 0.99504886 -0.3405366 ] [ 0. 0. 0. 1. ]] SLAMing on 7.369072329 meters Centerline goodness : 0.813680 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.35, Z:-0.34 [[ 0.99380481 -0.07002407 -0.08630546 -0.85929898] [ 0.07326032 0.99670149 0.03491512 -0.35148618] [ 0.08357588 -0.04102158 0.99565672 -0.3427647 ] [ 0. 0. 0. 1. ]] SLAMing on 7.399072329 meters Centerline goodness : 0.811001 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.34, Z:-0.34 [[ 0.9941874 -0.07386004 -0.07833335 -0.8467642 ] [ 0.07632949 0.99666055 0.02900974 -0.34343057] [ 0.0759291 -0.03482027 0.99650505 -0.34349579] [ 0. 0. 0. 1. ]] SLAMing on 7.429072329 meters Centerline goodness : 0.812348 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.99430703 -0.08027111 -0.07007198 -0.83383084] [ 0.08190251 0.99642487 0.02072324 -0.33695821] [ 0.06815799 -0.02634434 0.99732666 -0.34470469] [ 0. 0. 0. 1. ]] SLAMing on 7.459072329 meters Centerline goodness : 0.812895 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.99388123 -0.08324672 -0.07259535 -0.82905263] [ 0.08510449 0.99610932 0.02287912 -0.3388386 ] [ 0.07040829 -0.02891732 0.99709902 -0.34008958] [ 0. 0. 0. 1. ]] SLAMing on 7.489072329 meters Centerline goodness : 0.814697 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.34 [[ 0.9936265 -0.0852555 -0.07374196 -0.82904655] [ 0.08718319 0.99591922 0.02332369 -0.33783063] [ 0.07145256 -0.02960409 0.99700458 -0.33530049] [ 0. 0. 0. 1. ]] SLAMing on 7.519072329 meters Centerline goodness : 0.816780 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.34, Z:-0.33 [[ 0.99339128 -0.08666715 -0.07525006 -0.82652124] [ 0.08874395 0.99574813 0.02470186 -0.33922759] [ 0.07278927 -0.0312166 0.99685869 -0.33249646] [ 0. 0. 0. 1. ]] SLAMing on 7.5490723289999995 meters Centerline goodness : 0.814652 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.34, Z:-0.33 [[ 0.99292546 -0.09128443 -0.07593537 -0.82364741] [ 0.09317513 0.99541252 0.02173293 -0.34136077] [ 0.07360314 -0.02865446 0.99687587 -0.33222763] [ 0. 0. 0. 1. ]] SLAMing on 7.579072329 meters Centerline goodness : 0.815986 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.35, Z:-0.33 [[ 0.99183242 -0.10092845 -0.07798647 -0.81529644] [ 0.10252795 0.99458866 0.01677531 -0.34968852] [ 0.07587135 -0.02463409 0.99681327 -0.33252564] [ 0. 0. 0. 1. ]] SLAMing on 7.609072329 meters Centerline goodness : 0.816810 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.35, Z:-0.33 [[ 0.99124231 -0.10560571 -0.07928507 -0.81027506] [ 0.10709175 0.99414018 0.01471903 -0.35410089] [ 0.07726606 -0.02308091 0.99674331 -0.33266526] [ 0. 0. 0. 1. ]] SLAMing on 7.639072329 meters Centerline goodness : 0.813647 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.36, Z:-0.33 [[ 0.99058299 -0.11050999 -0.08082623 -0.80459826] [ 0.11189189 0.99363848 0.01275846 -0.35845906] [ 0.07890212 -0.02168211 0.99664655 -0.33288167] [ 0. 0. 0. 1. ]] SLAMing on 7.669072329 meters Centerline goodness : 0.813033 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.37, Z:-0.33 [[ 0.98897781 -0.11956746 -0.08732987 -0.79178818] [ 0.12127823 0.99251213 0.0145349 -0.3674048 ] [ 0.08493805 -0.0249659 0.99607341 -0.32882882] [ 0. 0. 0. 1. ]] SLAMing on 7.699072329 meters Centerline goodness : 0.813860 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.37, Z:-0.32 [[ 0.98863425 -0.12101641 -0.08920397 -0.78962742] [ 0.12297335 0.99226847 0.0167581 -0.37177969] [ 0.08648628 -0.02753734 0.99587239 -0.3244318 ] [ 0. 0. 0. 1. ]] SLAMing on 7.729072329 meters Centerline goodness : 0.816636 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.38, Z:-0.32 [[ 0.98839193 -0.12241392 -0.08997898 -0.7908205 ] [ 0.1244976 0.99205843 0.01790041 -0.3755682 ] [ 0.08707315 -0.02889479 0.99578279 -0.31939239] [ 0. 0. 0. 1. ]] SLAMing on 7.759072328999999 meters Centerline goodness : 0.820133 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.38, Z:-0.31 [[ 0.9884046 -0.12705831 -0.08314166 -0.77603696] [ 0.12880302 0.99154197 0.01594681 -0.38211897] [ 0.08041227 -0.0264708 0.99641014 -0.31494286] [ 0. 0. 0. 1. ]] SLAMing on 7.789072329 meters Centerline goodness : 0.821469 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.38, Z:-0.31 [[ 0.98787969 -0.12809329 -0.08766887 -0.76476009] [ 0.12961909 0.99149227 0.01191482 -0.38451046] [ 0.0853968 -0.02313396 0.99607841 -0.31105575] [ 0. 0. 0. 1. ]] SLAMing on 7.819072329 meters Centerline goodness : 0.821079 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.39, Z:-0.31 [[ 0.98829665 -0.12361426 -0.08938254 -0.7609342 ] [ 0.12568771 0.99190778 0.0179318 -0.39102612] [ 0.08644261 -0.02895623 0.99583594 -0.3115651 ] [ 0. 0. 0. 1. ]] SLAMing on 7.849072329 meters Centerline goodness : 0.820707 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.31 [[ 0.98872719 -0.11808346 -0.09205894 -0.75365587] [ 0.12065372 0.99243156 0.02285342 -0.39019075] [ 0.08866358 -0.03370305 0.99549127 -0.31439744] [ 0. 0. 0. 1. ]] SLAMing on 7.8790723289999995 meters Centerline goodness : 0.819905 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.39, Z:-0.32 [[ 0.98909786 -0.11336216 -0.09399169 -0.74923247] [ 0.11640783 0.99281899 0.02756231 -0.39032428] [ 0.09019222 -0.03820319 0.99519138 -0.31559966] [ 0. 0. 0. 1. ]] SLAMing on 7.909072329 meters Centerline goodness : 0.817419 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.39, Z:-0.32 [[ 0.98914615 -0.11183296 -0.09530623 -0.74416354] [ 0.11500389 0.99295792 0.02843705 -0.38958621] [ 0.09145488 -0.03908899 0.99504174 -0.31832944] [ 0. 0. 0. 1. ]] SLAMing on 7.939072329 meters Centerline goodness : 0.816586 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.40, Z:-0.32 [[ 0.98957605 -0.10597855 -0.09750786 -0.73496149] [ 0.1096366 0.99342577 0.03294022 -0.39532905] [ 0.09337586 -0.04328728 0.99468948 -0.32286657] [ 0. 0. 0. 1. ]] SLAMing on 7.969072328999999 meters Centerline goodness : 0.819543 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.40, Z:-0.32 [[ 0.98934366 -0.1029902 -0.10291812 -0.72351127] [ 0.10682911 0.99374617 0.03249759 -0.39593906] [ 0.09892755 -0.04314594 0.99415882 -0.31855187] [ 0. 0. 0. 1. ]] SLAMing on 7.999072329 meters Centerline goodness : 0.817773 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.98945888 -0.10192694 -0.10286899 -0.72369489] [ 0.10575837 0.99386089 0.03249145 -0.39466505] [ 0.09892571 -0.04302821 0.99416411 -0.31872836] [ 0. 0. 0. 1. ]] SLAMing on 8.029072329 meters Centerline goodness : 0.824861 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.99078858 -0.09217347 -0.0992071 -0.71846934] [ 0.09541478 0.99503157 0.02842895 -0.39020892] [ 0.0960938 -0.0376329 0.99466062 -0.31724079] [ 0. 0. 0. 1. ]] SLAMing on 8.059072329 meters Centerline goodness : 0.823902 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.32 [[ 0.99115709 -0.08732013 -0.09991404 -0.71867366] [ 0.09100411 0.99530627 0.03291928 -0.39009598] [ 0.09657055 -0.04172076 0.99445136 -0.31580324] [ 0. 0. 0. 1. ]] SLAMing on 8.089072329 meters Centerline goodness : 0.823897 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.39, Z:-0.31 [[ 0.99210286 -0.0812333 -0.09556711 -0.71518098] [ 0.08398783 0.9961492 0.0251559 -0.38631313] [ 0.09315561 -0.03298371 0.99510507 -0.31411417] [ 0. 0. 0. 1. ]] SLAMing on 8.119072329 meters Centerline goodness : 0.827991 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.38, Z:-0.31 [[ 0.99292017 -0.07980715 -0.08797926 -0.7015774 ] [ 0.08222982 0.99631809 0.02425961 -0.38332894] [ 0.08571924 -0.03132238 0.99582685 -0.31473284] [ 0. 0. 0. 1. ]] SLAMing on 8.149072329 meters Centerline goodness : 0.823155 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.38, Z:-0.32 [[ 0.99334144 -0.07385208 -0.08842319 -0.69579063] [ 0.0764305 0.99673236 0.02613372 -0.38332612] [ 0.08620423 -0.03271794 0.99574011 -0.3222248 ] [ 0. 0. 0. 1. ]] SLAMing on 8.179072329 meters Centerline goodness : 0.824408 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.38, Z:-0.33 [[ 0.99365198 -0.06877954 -0.0890231 -0.6897571 ] [ 0.07154035 0.99703902 0.02819861 -0.38171742] [ 0.08682002 -0.03438835 0.99563032 -0.32983558] [ 0. 0. 0. 1. ]] SLAMing on 8.209072329 meters Centerline goodness : 0.821375 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.38, Z:-0.33 [[ 0.99459231 -0.06072107 -0.08425607 -0.68462174] [ 0.06266832 0.99782056 0.02065957 -0.37661521] [ 0.08281797 -0.02582803 0.99622994 -0.33164957] [ 0. 0. 0. 1. ]] SLAMing on 8.239072328999999 meters Centerline goodness : 0.824526 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.37, Z:-0.33 [[ 0.99495106 -0.05458437 -0.08421955 -0.68682556] [ 0.05684304 0.99807862 0.02465646 -0.37343756] [ 0.08271187 -0.02931927 0.99614212 -0.33004592] [ 0. 0. 0. 1. ]] SLAMing on 8.269072329 meters Centerline goodness : 0.824327 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.37, Z:-0.33 [[ 0.99611478 -0.04148687 -0.07767998 -0.68714162] [ 0.04333576 0.99881236 0.02226822 -0.36765928] [ 0.07666388 -0.02554802 0.99672963 -0.32718542] [ 0. 0. 0. 1. ]] SLAMing on 8.299072329 meters Centerline goodness : 0.822726 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.37, Z:-0.33 [[ 0.99658032 -0.03721619 -0.07377408 -0.67712838] [ 0.03850815 0.99912749 0.01616759 -0.36694243] [ 0.07310801 -0.0189532 0.99714392 -0.32624824] [ 0. 0. 0. 1. ]] SLAMing on 8.329072329 meters Centerline goodness : 0.825218 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.37, Z:-0.33 [[ 0.99696369 -0.03324221 -0.07041562 -0.6660245 ] [ 0.03402372 0.99937171 0.00992792 -0.36730199] [ 0.07004135 -0.01229358 0.99746833 -0.32576935] [ 0. 0. 0. 1. ]] SLAMing on 8.359072329 meters Centerline goodness : 0.826253 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.37, Z:-0.32 [[ 0.99687076 -0.02476751 -0.07506841 -0.6519299 ] [ 0.02579609 0.99958575 0.0127632 -0.36879647] [ 0.0747212 -0.01465973 0.9970967 -0.32459787] [ 0. 0. 0. 1. ]] SLAMing on 8.389072329 meters Centerline goodness : 0.821931 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.37, Z:-0.33 [[ 0.99683371 -0.02195761 -0.0764226 -0.64629595] [ 0.02318598 0.99961526 0.01522331 -0.36827397] [ 0.07605893 -0.01694704 0.9969593 -0.32736173] [ 0. 0. 0. 1. ]] SLAMing on 8.419072329 meters Centerline goodness : 0.820304 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.37, Z:-0.33 [[ 0.9965648 -0.01517238 -0.08141492 -0.63201224] [ 0.01655636 0.99972923 0.01635102 -0.3695462 ] [ 0.08114479 -0.01764278 0.99654616 -0.32508995] [ 0. 0. 0. 1. ]] SLAMing on 8.449072329 meters Centerline goodness : 0.830554 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.37, Z:-0.32 [[ 0.99620493 -0.01312755 -0.08604307 -0.61860932] [ 0.01427636 0.9998168 0.01274991 -0.37291042] [ 0.08585993 -0.0139299 0.99620983 -0.32185239] [ 0. 0. 0. 1. ]] SLAMing on 8.479072329 meters Centerline goodness : 0.819922 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.38, Z:-0.32 [[ 0.99668036 -0.01189476 -0.08054058 -0.60495592] [ 0.01236749 0.99990908 0.00537309 -0.37615447] [ 0.08046934 -0.00635134 0.99673685 -0.3248909 ] [ 0. 0. 0. 1. ]] SLAMing on 8.509072329 meters Centerline goodness : 0.824667 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.38, Z:-0.33 [[ 9.97155842e-01 -8.03789403e-03 -7.49374399e-02 -5.92986110e-01] [ 7.97007197e-03 9.99967514e-01 -1.20405889e-03 -3.81473475e-01] [ 7.49446835e-02 6.03377569e-04 9.97187510e-01 -3.26235928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539072329 meters Centerline goodness : 0.825576 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.38, Z:-0.33 [[ 9.97845409e-01 -1.00908218e-03 -6.56012264e-02 -5.81353188e-01] [ 1.05005892e-03 9.99999275e-01 5.90157022e-04 -3.80973403e-01] [ 6.56005833e-02 -6.57770629e-04 9.97845745e-01 -3.29864651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569072328999999 meters Centerline goodness : 0.825450 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:-0.33 [[ 0.99834781 0.00652136 -0.05708871 -0.56899628] [-0.00639847 0.9999768 0.00233513 -0.37771429] [ 0.05710261 -0.00196599 0.99836638 -0.33320368] [ 0. 0. 0. 1. ]] SLAMing on 8.599072329 meters Centerline goodness : 0.824351 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.38, Z:-0.33 [[ 0.99815519 0.01690252 -0.05831406 -0.56512218] [-0.01623972 0.99979824 0.01182135 -0.37848408] [ 0.0585021 -0.01085254 0.99822829 -0.33379898] [ 0. 0. 0. 1. ]] SLAMing on 8.629072329 meters Centerline goodness : 0.821822 Centerline is valid? [False, False] Translation: X:-0.55, Y:-0.38, Z:-0.33 [[ 0.99781296 0.02060374 -0.06280754 -0.55065023] [-0.02003589 0.99975262 0.00965768 -0.38199491] [ 0.06299099 -0.00837816 0.99797893 -0.33270063] [ 0. 0. 0. 1. ]] SLAMing on 8.659072329 meters Centerline goodness : 0.825368 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.39, Z:-0.33 [[ 0.99744406 0.02348341 -0.06748246 -0.53597136] [-0.02307535 0.99971047 0.00682009 -0.38713378] [ 0.06762308 -0.00524548 0.99769715 -0.33146162] [ 0. 0. 0. 1. ]] SLAMing on 8.689072329 meters Centerline goodness : 0.825329 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.39, Z:-0.33 [[ 0.99707674 0.02595633 -0.07186268 -0.523052 ] [-0.02575185 0.99966125 0.00377062 -0.39145439] [ 0.07193621 -0.001909 0.99740741 -0.3293536 ] [ 0. 0. 0. 1. ]] SLAMing on 8.719072329 meters Centerline goodness : 0.826419 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.39, Z:-0.33 [[ 0.99738465 0.02889572 -0.06624872 -0.51075106] [-0.02912835 0.99957243 -0.00254809 -0.3928345 ] [ 0.06614677 0.00447114 0.99779989 -0.33212328] [ 0. 0. 0. 1. ]] SLAMing on 8.749072329 meters Centerline goodness : 0.828330 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.40, Z:-0.33 [[ 0.99751638 0.03418519 -0.06158279 -0.49221672] [-0.03381937 0.99940363 0.0069732 -0.39926857] [ 0.06178445 -0.00487319 0.99807762 -0.33080397] [ 0. 0. 0. 1. ]] SLAMing on 8.779072329 meters Centerline goodness : 0.828330 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.40, Z:-0.33 [[ 0.99751638 0.03418519 -0.06158279 -0.49221672] [-0.03381937 0.99940363 0.0069732 -0.39926857] [ 0.06178445 -0.00487319 0.99807762 -0.33080397] [ 0. 0. 0. 1. ]] SLAMing on 8.809072329 meters Centerline goodness : 0.828197 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.40, Z:-0.33 [[ 0.99772064 0.03615546 -0.05697642 -0.47255953] [-0.0355539 0.99930117 0.01153684 -0.40084031] [ 0.05735372 -0.00948481 0.99830886 -0.32935701] [ 0. 0. 0. 1. ]] SLAMing on 8.839072329 meters Centerline goodness : 0.828338 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.41, Z:-0.32 [[ 0.99738433 0.03949065 -0.06053917 -0.46709668] [-0.03886724 0.99917888 0.01144142 -0.40682916] [ 0.06094129 -0.0090585 0.99810025 -0.32280665] [ 0. 0. 0. 1. ]] SLAMing on 8.869072329 meters Centerline goodness : 0.828136 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.41, Z:-0.32 [[ 9.97686009e-01 4.04034291e-02 -5.46826334e-02 -4.57293482e-01] [-4.03105153e-02 9.99183273e-01 2.80150137e-03 -4.08152373e-01] [ 5.47511629e-02 -5.90733594e-04 9.98499855e-01 -3.24326828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899072329 meters Centerline goodness : 0.829738 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.41, Z:-0.33 [[ 0.99801084 0.04149068 -0.0474645 -0.44515885] [-0.04174188 0.99911912 -0.00431298 -0.40862842] [ 0.04724374 0.00628566 0.99886361 -0.32849982] [ 0. 0. 0. 1. ]] SLAMing on 8.929072329 meters Centerline goodness : 0.831332 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.33 [[ 0.99818377 0.04510552 -0.03993302 -0.43220429] [-0.04545735 0.99893467 -0.00794646 -0.41055875] [ 0.03953205 0.00974727 0.99917076 -0.33301662] [ 0. 0. 0. 1. ]] SLAMing on 8.959072329 meters Centerline goodness : 0.830613 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.41, Z:-0.33 [[ 0.9981289 0.04598962 -0.04029463 -0.43064961] [-0.04631786 0.99890044 -0.00725028 -0.4118396 ] [ 0.03991689 0.00910307 0.99916154 -0.33378489] [ 0. 0. 0. 1. ]] SLAMing on 8.989072328999999 meters Centerline goodness : 0.829556 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.41, Z:-0.34 [[ 0.99818505 0.04985526 -0.03377964 -0.41610917] [-0.05028307 0.99866369 -0.01193513 -0.4110043 ] [ 0.03313947 0.01361201 0.99935804 -0.33944715] [ 0. 0. 0. 1. ]] SLAMing on 9.019072329 meters Centerline goodness : 0.825567 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.34 [[ 0.99788966 0.05480643 -0.03482079 -0.40993449] [-0.05509529 0.99845375 -0.00739027 -0.41145826] [ 0.03436191 0.00929314 0.99936625 -0.34347859] [ 0. 0. 0. 1. ]] SLAMing on 9.049072329 meters Centerline goodness : 0.828128 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.34 [[ 0.99785609 0.05514542 -0.03524494 -0.40851599] [-0.05544163 0.9984339 -0.00748218 -0.40983115] [ 0.03477713 0.00942017 0.99935069 -0.34384854] [ 0. 0. 0. 1. ]] SLAMing on 9.079072329 meters Centerline goodness : 0.825122 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.41, Z:-0.35 [[ 0.99776182 0.05635845 -0.03598729 -0.40512259] [-0.05662392 0.99837507 -0.00639984 -0.40976495] [ 0.03556813 0.00842326 0.99933176 -0.34565759] [ 0. 0. 0. 1. ]] SLAMing on 9.109072329 meters Centerline goodness : 0.822455 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99769977 0.05692356 -0.03680856 -0.40177497] [-0.05718461 0.99834512 -0.00607771 -0.40867347] [ 0.03640168 0.00816861 0.99930385 -0.34726927] [ 0. 0. 0. 1. ]] SLAMing on 9.139072329 meters Centerline goodness : 0.820670 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99763516 0.05765136 -0.03742192 -0.39887763] [-0.05789442 0.99830787 -0.00544334 -0.40906717] [ 0.03704478 0.00759699 0.99928473 -0.34905582] [ 0. 0. 0. 1. ]] SLAMing on 9.169072329 meters Centerline goodness : 0.819140 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.41, Z:-0.35 [[ 0.99757837 0.05825214 -0.0380011 -0.39587533] [-0.05848231 0.99827606 -0.00497276 -0.40948064] [ 0.03764592 0.00718311 0.99926532 -0.35110556] [ 0. 0. 0. 1. ]] SLAMing on 9.199072329 meters Centerline goodness : 0.820746 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.41, Z:-0.35 [[ 0.99755051 0.05843849 -0.03844364 -0.39400006] [-0.05866987 0.99826533 -0.00491716 -0.40935622] [ 0.03808961 0.00716059 0.99924867 -0.35224844] [ 0. 0. 0. 1. ]] SLAMing on 9.229072329 meters Centerline goodness : 0.821150 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.41, Z:-0.36 [[ 0.99799586 0.05552943 -0.0303438 -0.38147876] [-0.05558802 0.9984532 -0.00108983 -0.4056202 ] [ 0.03023635 0.0027744 0.99953893 -0.35610714] [ 0. 0. 0. 1. ]] SLAMing on 9.259072329 meters Centerline goodness : 0.822617 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.40, Z:-0.35 [[ 9.98217603e-01 5.46894519e-02 -2.38889394e-02 -3.65764516e-01] [-5.47108935e-02 9.98502208e-01 -2.44401576e-04 -4.01289571e-01] [ 2.38397925e-02 1.55095117e-03 9.99714589e-01 -3.53810321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289072329 meters Centerline goodness : 0.822682 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.40, Z:-0.35 [[ 9.98403149e-01 5.36393217e-02 -1.77193610e-02 -3.49578035e-01] [-5.36436411e-02 9.98560116e-01 2.31789811e-04 -3.96765547e-01] [ 1.77062803e-02 7.19111366e-04 9.99842973e-01 -3.51475844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319072328999999 meters Centerline goodness : 0.821096 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:-0.35 [[ 0.99847585 0.05207331 -0.01828541 -0.34874554] [-0.05212567 0.99863765 -0.0023984 -0.38987786] [ 0.01813561 0.00334788 0.99982993 -0.35061527] [ 0. 0. 0. 1. ]] SLAMing on 9.349072329 meters Centerline goodness : 0.821114 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.39, Z:-0.35 [[ 0.99855079 0.05031043 -0.01910945 -0.34519072] [-0.05040794 0.99871786 -0.004655 -0.38597051] [ 0.01885075 0.00561153 0.99980656 -0.3528473 ] [ 0. 0. 0. 1. ]] SLAMing on 9.379072329 meters Centerline goodness : 0.818432 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.38, Z:-0.36 [[ 0.99863646 0.04809104 -0.02030923 -0.3405995 ] [-0.04824467 0.99881001 -0.00714287 -0.38214672] [ 0.01994156 0.00811294 0.99976823 -0.35555872] [ 0. 0. 0. 1. ]] SLAMing on 9.409072328999999 meters Centerline goodness : 0.818211 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.38, Z:-0.36 [[ 0.99910483 0.03740926 -0.01975037 -0.32752301] [-0.03752995 0.99927881 -0.00577556 -0.37808879] [ 0.01952007 0.00651162 0.99978826 -0.35693477] [ 0. 0. 0. 1. ]] SLAMing on 9.439072329 meters Centerline goodness : 0.818821 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.38, Z:-0.36 [[ 9.99426354e-01 3.04182549e-02 -1.48893776e-02 -3.18499767e-01] [-3.04331335e-02 9.99536505e-01 -7.73669142e-04 -3.77674611e-01] [ 1.48589428e-02 1.22635575e-03 9.99888848e-01 -3.57908357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469072329 meters Centerline goodness : 0.820658 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.38, Z:-0.36 [[ 0.99970749 0.02302689 -0.00739616 -0.3110324 ] [-0.0230119 0.99973297 0.00210552 -0.37581081] [ 0.00744267 -0.0019347 0.99997043 -0.35878772] [ 0. 0. 0. 1. ]] SLAMing on 9.499072329 meters Centerline goodness : 0.823942 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.37, Z:-0.36 [[ 9.99862615e-01 1.65754579e-02 7.80592539e-05 -3.03673044e-01] [-1.65756286e-02 9.99844836e-01 5.96256705e-03 -3.74414883e-01] [ 2.07851370e-05 -5.96304176e-03 9.99982221e-01 -3.59417252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529072329 meters Centerline goodness : 0.822410 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.36 [[ 0.99996753 0.00511056 0.00623032 -0.29312426] [-0.00514143 0.99997453 0.00494972 -0.3721234 ] [-0.00620487 -0.00498159 0.99996834 -0.36207869] [ 0. 0. 0. 1. ]] SLAMing on 9.559072329 meters Centerline goodness : 0.822784 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.36 [[ 0.99998311 0.00127646 0.00566986 -0.29050904] [-0.00128433 0.99999822 0.00138316 -0.37341838] [-0.00566808 -0.00139042 0.99998297 -0.36411495] [ 0. 0. 0. 1. ]] SLAMing on 9.589072329 meters Centerline goodness : 0.821133 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.37, Z:-0.37 [[ 0.9999841 -0.00260202 0.00500276 -0.28740987] [ 0.00261351 0.99999396 -0.00229058 -0.37433041] [-0.00499677 0.00230361 0.99998486 -0.36649397] [ 0. 0. 0. 1. ]] SLAMing on 9.619072329 meters Centerline goodness : 0.818020 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.37, Z:-0.37 [[ 9.99943517e-01 -1.05954008e-02 -8.36450402e-04 -2.73745816e-01] [ 1.05922047e-02 9.99936917e-01 -3.73720678e-03 -3.69288158e-01] [ 8.75994840e-04 3.72813584e-03 9.99992667e-01 -3.65894066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649072329 meters Centerline goodness : 0.818565 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.37, Z:-0.37 [[ 9.99971354e-01 -7.46470774e-03 -1.25304508e-03 -2.73097419e-01] [ 7.46430217e-03 9.99972088e-01 -3.28031598e-04 -3.66948975e-01] [ 1.25545876e-03 3.18669094e-04 9.99999161e-01 -3.65747094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679072329 meters Centerline goodness : 0.819731 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:-0.36 [[ 9.99986661e-01 -4.91490685e-03 -1.58800098e-03 -2.74201704e-01] [ 4.91642400e-03 9.99987460e-01 9.52896258e-04 -3.56071760e-01] [ 1.58329767e-03 -9.60690834e-04 9.99998285e-01 -3.62931281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709072329 meters Centerline goodness : 0.820095 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.36 [[ 0.99999103 -0.00354722 -0.00231416 -0.27129964] [ 0.00355085 0.99999247 0.00156576 -0.35211677] [ 0.00230858 -0.00157397 0.9999961 -0.36435574] [ 0. 0. 0. 1. ]] SLAMing on 9.739072328999999 meters Centerline goodness : 0.820201 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.36 [[ 9.99990277e-01 -3.52798022e-03 -2.64575622e-03 -2.70256052e-01] [ 3.52944385e-03 9.99993621e-01 5.48733877e-04 -3.48318127e-01] [ 2.64380342e-03 -5.58066589e-04 9.99996349e-01 -3.64599930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769072329 meters Centerline goodness : 0.816708 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.35, Z:-0.37 [[ 9.99990870e-01 -2.65528617e-03 -3.34804666e-03 -2.66751795e-01] [ 2.65704023e-03 9.99996335e-01 5.19566170e-04 -3.45656909e-01] [ 3.34665479e-03 -5.28457321e-04 9.99994260e-01 -3.67111276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799072329 meters Centerline goodness : 0.816562 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.34, Z:-0.37 [[ 9.99990993e-01 -7.79945992e-04 -4.17205344e-03 -2.61424681e-01] [ 7.80758098e-04 9.99999677e-01 1.93028524e-04 -3.39133236e-01] [ 4.17190154e-03 -1.96284150e-04 9.99991278e-01 -3.71696028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829072329 meters Centerline goodness : 0.815044 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.34, Z:-0.37 [[ 0.99998538 0.00295279 -0.00453012 -0.25989593] [-0.00293745 0.99998994 0.00338903 -0.33637616] [ 0.00454008 -0.00337568 0.999984 -0.37280159] [ 0. 0. 0. 1. ]] SLAMing on 9.859072329 meters Centerline goodness : 0.814981 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.33, Z:-0.37 [[ 0.9999653 0.00669816 -0.00495259 -0.2582852 ] [-0.00666661 0.99995755 0.00636017 -0.33187262] [ 0.00499498 -0.00632693 0.99996751 -0.37361467] [ 0. 0. 0. 1. ]] SLAMing on 9.889072329 meters Centerline goodness : 0.816009 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.32, Z:-0.37 [[ 0.99985195 0.01621083 -0.0057688 -0.2555701 ] [-0.01612424 0.99976116 0.01475228 -0.32130947] [ 0.00600657 -0.01465707 0.99987454 -0.37439892] [ 0. 0. 0. 1. ]] SLAMing on 9.919072329 meters Centerline goodness : 0.814354 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.32, Z:-0.37 [[ 0.99978317 0.01991048 -0.00609863 -0.25491499] [-0.01980072 0.99964975 0.01755878 -0.31646097] [ 0.0064461 -0.01743421 0.99982723 -0.37389958] [ 0. 0. 0. 1. ]] SLAMing on 9.949072329 meters Centerline goodness : 0.817349 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.31, Z:-0.37 [[ 0.99977738 0.02014008 -0.00629012 -0.25476133] [-0.02003606 0.99966827 0.01618356 -0.31040094] [ 0.00661397 -0.01605393 0.99984925 -0.37283015] [ 0. 0. 0. 1. ]] SLAMing on 9.979072329 meters Centerline goodness : 0.817974 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972953 0.02209502 -0.00725773 -0.2527306 ] [-0.02201975 0.99970456 0.01029193 -0.30239059] [ 0.00748299 -0.01012934 0.9999207 -0.36392931] [ 0. 0. 0. 1. ]] SLAMing on 10.009072329 meters Centerline goodness : 0.821005 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972945 0.02205583 -0.0073872 -0.2528889 ] [-0.02198472 0.99971248 0.00957183 -0.30076883] [ 0.00759619 -0.00940684 0.9999269 -0.36308857] [ 0. 0. 0. 1. ]] SLAMing on 10.039072329 meters Centerline goodness : 0.822332 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.30, Z:-0.36 [[ 0.99972629 0.02213959 -0.00756231 -0.25268197] [-0.02207239 0.99971714 0.00885707 -0.2985145 ] [ 0.00775627 -0.00868773 0.99993218 -0.36251254] [ 0. 0. 0. 1. ]] SLAMing on 10.069072328999999 meters Centerline goodness : 0.821222 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.29, Z:-0.36 [[ 0.99972241 0.02226873 -0.00769467 -0.2525255 ] [-0.02220827 0.9997225 0.00785554 -0.29402802] [ 0.00786747 -0.00768248 0.99993954 -0.36184919] [ 0. 0. 0. 1. ]] SLAMing on 10.099072329 meters Centerline goodness : 0.822433 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.29, Z:-0.36 [[ 0.99949962 0.03056968 -0.00812373 -0.25010212] [-0.03044629 0.99942533 0.01490109 -0.28590293] [ 0.00857459 -0.0146463 0.99985597 -0.36285685] [ 0. 0. 0. 1. ]] SLAMing on 10.129072329 meters Centerline goodness : 0.820423 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99932973 0.03550226 -0.00892582 -0.24590665] [-0.0353263 0.99919227 0.01915361 -0.28253242] [ 0.00959861 -0.01882545 0.99977671 -0.36555841] [ 0. 0. 0. 1. ]] SLAMing on 10.159072328999999 meters Centerline goodness : 0.816549 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99888738 0.04573399 -0.01150642 -0.24800223] [-0.04556136 0.99885127 0.01484262 -0.27676032] [ 0.01217201 -0.01430185 0.99982363 -0.37098427] [ 0. 0. 0. 1. ]] SLAMing on 10.189072329 meters Centerline goodness : 0.817165 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.28, Z:-0.37 [[ 0.99886005 0.04619663 -0.01201942 -0.24639259] [-0.04602054 0.99883472 0.01453631 -0.27520535] [ 0.01267695 -0.0139666 0.9998221 -0.37138611] [ 0. 0. 0. 1. ]] SLAMing on 10.219072329 meters Centerline goodness : 0.818503 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.27, Z:-0.37 [[ 0.99870542 0.04850402 -0.01532484 -0.23953255] [-0.04829997 0.99874278 0.01341561 -0.2749575 ] [ 0.01595629 -0.01265805 0.99979256 -0.36813272] [ 0. 0. 0. 1. ]] SLAMing on 10.249072329 meters Centerline goodness : 0.818549 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.27, Z:-0.37 [[ 0.9987059 0.04982493 -0.01019812 -0.2311727 ] [-0.04978327 0.99875079 0.00429931 -0.27170512] [ 0.01039959 -0.00378605 0.99993876 -0.36796113] [ 0. 0. 0. 1. ]] SLAMing on 10.279072329 meters Centerline goodness : 0.819656 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.27, Z:-0.37 [[ 0.99851821 0.05430715 -0.0034814 -0.22511758] [-0.05431105 0.99852353 -0.00103378 -0.26719568] [ 0.00342012 0.00122133 0.99999341 -0.36675621] [ 0. 0. 0. 1. ]] SLAMing on 10.309072329 meters Centerline goodness : 0.819837 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.26, Z:-0.37 [[ 0.99850411 0.05455272 -0.00368132 -0.2250499 ] [-0.05455979 0.9985088 -0.00184766 -0.26254436] [ 0.00357503 0.00204575 0.99999152 -0.36552773] [ 0. 0. 0. 1. ]] SLAMing on 10.339072329 meters Centerline goodness : 0.819752 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99827641 0.05857161 -0.00368517 -0.22467573] [-0.0585666 0.99828244 0.0014552 -0.25933916] [ 0.00376407 -0.00123687 0.99999215 -0.3650114 ] [ 0. 0. 0. 1. ]] SLAMing on 10.369072329 meters Centerline goodness : 0.817529 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99841284 0.05614544 -0.00441469 -0.22132161] [-0.05615362 0.9984206 -0.00175134 -0.25846088] [ 0.00430938 0.00199646 0.99998872 -0.36748868] [ 0. 0. 0. 1. ]] SLAMing on 10.399072329 meters Centerline goodness : 0.813624 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.26, Z:-0.37 [[ 0.99855856 0.05342131 -0.00519309 -0.21805601] [-0.05344652 0.99855897 -0.00484287 -0.25939418] [ 0.00492689 0.00511344 0.99997479 -0.37003943] [ 0. 0. 0. 1. ]] SLAMing on 10.429072329 meters Centerline goodness : 0.813675 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99861954 0.05216802 -0.006124 -0.21314221] [-0.05220526 0.99861781 -0.00608855 -0.26066524] [ 0.00579791 0.00639985 0.99996271 -0.37392607] [ 0. 0. 0. 1. ]] SLAMing on 10.459072329 meters Centerline goodness : 0.811484 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99861609 0.05218239 -0.00655043 -0.2122482 ] [-0.05222109 0.99861822 -0.00588321 -0.26121479] [ 0.00623438 0.00621714 0.99996124 -0.37384324] [ 0. 0. 0. 1. ]] SLAMing on 10.489072328999999 meters Centerline goodness : 0.809797 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99859823 0.05245191 -0.00709781 -0.21135328] [-0.05249289 0.99860494 -0.00571586 -0.26095526] [ 0.0067881 0.00608043 0.99995847 -0.37327702] [ 0. 0. 0. 1. ]] SLAMing on 10.519072329 meters Centerline goodness : 0.810220 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.26, Z:-0.37 [[ 0.99857815 0.05276446 -0.00758843 -0.21071343] [-0.05280661 0.9985898 -0.00546563 -0.26133492] [ 0.00728934 0.00585858 0.99995627 -0.37253445] [ 0. 0. 0. 1. ]] SLAMing on 10.549072329 meters Centerline goodness : 0.808104 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.27, Z:-0.37 [[ 9.98580960e-01 5.31795154e-02 -2.82921765e-03 -1.91780319e-01] [-5.31799573e-02 9.98584942e-01 -8.11219868e-05 -2.66120460e-01] [ 2.82090011e-03 2.31464545e-04 9.99995994e-01 -3.73576697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579072328999999 meters Centerline goodness : 0.811291 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 0.99868098 0.05115985 0.00435588 -0.17854348] [-0.05118807 0.99866699 0.00663551 -0.26971113] [-0.00401061 -0.00684973 0.9999685 -0.37849232] [ 0. 0. 0. 1. ]] SLAMing on 10.609072329 meters Centerline goodness : 0.808838 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 0.99885913 0.04757807 0.00409542 -0.17870487] [-0.04758942 0.99886328 0.00271955 -0.26965558] [-0.00396137 -0.00291135 0.99998792 -0.37767716] [ 0. 0. 0. 1. ]] SLAMing on 10.639072329 meters Centerline goodness : 0.808428 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.27, Z:-0.38 [[ 9.99029819e-01 4.38611915e-02 3.95179428e-03 -1.79422170e-01] [-4.38617977e-02 9.99037606e-01 6.68313626e-05 -2.74715158e-01] [-3.94505979e-03 -2.40099325e-04 9.99992189e-01 -3.76711457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669072329 meters Centerline goodness : 0.809883 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.28, Z:-0.38 [[ 0.99918236 0.04028255 0.0034547 -0.1784529 ] [-0.04027203 0.99918406 -0.00306202 -0.27755063] [-0.00357523 0.00292039 0.99998934 -0.37709323] [ 0. 0. 0. 1. ]] SLAMing on 10.699072329 meters Centerline goodness : 0.809883 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.28, Z:-0.38 [[ 0.99918236 0.04028255 0.0034547 -0.1784529 ] [-0.04027203 0.99918406 -0.00306202 -0.27755063] [-0.00357523 0.00292039 0.99998934 -0.37709323] [ 0. 0. 0. 1. ]] SLAMing on 10.729072329 meters Centerline goodness : 0.806680 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.29, Z:-0.38 [[ 0.99943461 0.0335266 0.00253521 -0.1756666 ] [-0.03350461 0.99940437 -0.00826754 -0.28587097] [-0.00281088 0.00817792 0.99996261 -0.37935171] [ 0. 0. 0. 1. ]] SLAMing on 10.759072329 meters Centerline goodness : 0.805756 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.38 [[ 0.99954857 0.02997395 0.00205375 -0.17459863] [-0.02994926 0.99948924 -0.0111488 -0.28931372] [-0.00238687 0.01108226 0.99993574 -0.37984014] [ 0. 0. 0. 1. ]] SLAMing on 10.789072329 meters Centerline goodness : 0.802347 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.38 [[ 0.99971471 0.02380409 0.00196546 -0.16535284] [-0.02379611 0.99970889 -0.00398529 -0.29398398] [-0.00205976 0.00393738 0.99999013 -0.37831322] [ 0. 0. 0. 1. ]] SLAMing on 10.819072328999999 meters Centerline goodness : 0.802729 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.30, Z:-0.38 [[ 0.99978187 0.01930823 0.00796296 -0.1532638 ] [-0.01933 0.9998096 0.00266626 -0.29936697] [-0.00790996 -0.0028196 0.99996474 -0.38257708] [ 0. 0. 0. 1. ]] SLAMing on 10.849072329 meters Centerline goodness : 0.799287 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.38 [[ 9.99857095e-01 1.51090464e-02 7.58327762e-03 -1.53407425e-01] [-1.51139574e-02 9.99885603e-01 5.90717282e-04 -3.07087848e-01] [-7.57348495e-03 -7.05246201e-04 9.99971072e-01 -3.81465016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879072329 meters Centerline goodness : 0.799877 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.38 [[ 0.99990453 0.01188498 0.00704857 -0.15142345] [-0.01187001 0.99992721 -0.00216196 -0.31023 ] [-0.00707376 0.00207808 0.99997282 -0.38276346] [ 0. 0. 0. 1. ]] SLAMing on 10.909072328999999 meters Centerline goodness : 0.797503 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.31, Z:-0.39 [[ 0.9999373 0.00912013 0.00649699 -0.14864065] [-0.00909144 0.99994885 -0.00443298 -0.31406676] [-0.00653709 0.00437363 0.99996907 -0.3850446 ] [ 0. 0. 0. 1. ]] SLAMing on 10.939072329 meters Centerline goodness : 0.798016 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.32, Z:-0.39 [[ 0.99995963 0.00687229 0.00578913 -0.14505323] [-0.00683468 0.99995557 -0.00649228 -0.31696711] [-0.00583349 0.00645245 0.99996217 -0.38784146] [ 0. 0. 0. 1. ]] SLAMing on 10.969072329 meters Centerline goodness : 0.797092 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99994759 0.00878247 0.00526212 -0.14196496] [-0.00875977 0.9999523 -0.00432059 -0.32021517] [-0.00529982 0.00427427 0.99997682 -0.39036238] [ 0. 0. 0. 1. ]] SLAMing on 10.999072329 meters Centerline goodness : 0.794325 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99994379 0.00941215 0.0048818 -0.14090522] [-0.00939131 0.99994676 -0.00427538 -0.31853327] [-0.00492178 0.00422929 0.99997894 -0.39055331] [ 0. 0. 0. 1. ]] SLAMing on 11.029072329 meters Centerline goodness : 0.794824 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99992081 0.01185529 0.00422185 -0.13743635] [-0.01184476 0.9999267 -0.00250955 -0.31838004] [-0.0042513 0.00245934 0.99998794 -0.39276464] [ 0. 0. 0. 1. ]] SLAMing on 11.059072329 meters Centerline goodness : 0.793856 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.32, Z:-0.39 [[ 0.99991762 0.01218133 0.00404499 -0.13678472] [-0.01217304 0.99992377 -0.00206776 -0.32027631] [-0.00406987 0.00201835 0.99998968 -0.39319513] [ 0. 0. 0. 1. ]] SLAMing on 11.089072329 meters Centerline goodness : 0.795598 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.39 [[ 0.99994693 0.00965531 0.00359364 -0.13469677] [-0.0096366 0.99994011 -0.00518858 -0.32072765] [-0.00364353 0.00515368 0.99998008 -0.39453581] [ 0. 0. 0. 1. ]] SLAMing on 11.119072329 meters Centerline goodness : 0.796687 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994312 0.0100542 0.00356044 -0.13410611] [-0.01003862 0.99994008 -0.00436642 -0.32380648] [-0.00360412 0.00433043 0.99998413 -0.39533204] [ 0. 0. 0. 1. ]] SLAMing on 11.149072329 meters Centerline goodness : 0.798839 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994328 0.01009118 0.00340522 -0.13366949] [-0.01007574 0.99993902 -0.00452016 -0.32224926] [-0.00345063 0.0044856 0.99998399 -0.39544476] [ 0. 0. 0. 1. ]] SLAMing on 11.179072329 meters Centerline goodness : 0.798828 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994729 0.00978171 0.00312068 -0.1328294 ] [-0.00976568 0.99993926 -0.00511044 -0.31824899] [-0.00317048 0.00507969 0.99998207 -0.39570127] [ 0. 0. 0. 1. ]] SLAMing on 11.209072329 meters Centerline goodness : 0.797670 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99994894 0.00971233 0.00279205 -0.13172524] [-0.00969816 0.99994024 -0.00504631 -0.31835826] [-0.00284089 0.00501897 0.99998337 -0.39635323] [ 0. 0. 0. 1. ]] SLAMing on 11.239072328999999 meters Centerline goodness : 0.797952 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99995154 0.00947943 0.00265547 -0.13108678] [-0.00946638 0.99994326 -0.00488458 -0.31971001] [-0.00270162 0.0048592 0.99998454 -0.39701855] [ 0. 0. 0. 1. ]] SLAMing on 11.269072329 meters Centerline goodness : 0.796699 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.32, Z:-0.40 [[ 0.99997671 0.00654255 0.00194474 -0.12785143] [-0.00652667 0.99994618 -0.00806487 -0.31946934] [-0.0019974 0.00805199 0.99996559 -0.39933279] [ 0. 0. 0. 1. ]] SLAMing on 11.299072329 meters Centerline goodness : 0.794517 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.32, Z:-0.40 [[ 0.99999305 0.00350868 0.00125672 -0.12473932] [-0.00349422 0.9999297 -0.01133065 -0.31866405] [-0.00129638 0.01132618 0.99993502 -0.40149143] [ 0. 0. 0. 1. ]] SLAMing on 11.329072328999999 meters Centerline goodness : 0.796687 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.40 [[ 0.99999354 -0.00343439 0.00106411 -0.1131474 ] [ 0.00344026 0.99997862 -0.00556171 -0.31658187] [-0.00104499 0.00556534 0.99998397 -0.40141063] [ 0. 0. 0. 1. ]] SLAMing on 11.359072329 meters Centerline goodness : 0.797472 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.32, Z:-0.40 [[ 9.99990931e-01 -4.19587390e-03 7.29592051e-04 -1.12628824e-01] [ 4.20017906e-03 9.99973161e-01 -6.00292298e-03 -3.15646100e-01] [-7.04384962e-04 6.00593296e-03 9.99981716e-01 -4.01292682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389072329 meters Centerline goodness : 0.799248 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99989951 -0.01359597 0.00401426 -0.10220263] [ 0.01360737 0.99990342 -0.00282599 -0.31362714] [-0.00397545 0.00288033 0.99998795 -0.40325677] [ 0. 0. 0. 1. ]] SLAMing on 11.419072329 meters Centerline goodness : 0.797705 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99988564 -0.01465581 0.00373038 -0.10182111] [ 0.01466733 0.99988768 -0.00308079 -0.3147409 ] [-0.00368481 0.00313516 0.9999883 -0.40329038] [ 0. 0. 0. 1. ]] SLAMing on 11.449072329 meters Centerline goodness : 0.797457 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.32, Z:-0.40 [[ 0.99986851 -0.01580606 0.00362458 -0.10174306] [ 0.01581896 0.99986854 -0.00355861 -0.31504114] [-0.00356786 0.00361548 0.9999871 -0.40334025] [ 0. 0. 0. 1. ]] SLAMing on 11.479072329 meters Centerline goodness : 0.800110 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99975632 -0.02172401 0.00391918 -0.1031195 ] [ 0.0217608 0.99971708 -0.00960325 -0.30962386] [-0.00370945 0.0096862 0.99994621 -0.40190417] [ 0. 0. 0. 1. ]] SLAMing on 11.509072329 meters Centerline goodness : 0.799221 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99973297 -0.02280655 0.00372127 -0.1030402 ] [ 0.02284347 0.99968701 -0.01020119 -0.30887141] [-0.00348745 0.01028348 0.99994104 -0.40160465] [ 0. 0. 0. 1. ]] SLAMing on 11.539072329 meters Centerline goodness : 0.800457 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.31, Z:-0.40 [[ 0.99971035 -0.02381225 0.00349124 -0.10277924] [ 0.02384819 0.99965896 -0.0106406 -0.30872406] [-0.00323668 0.01072078 0.99993729 -0.40146362] [ 0. 0. 0. 1. ]] SLAMing on 11.569072328999999 meters Centerline goodness : 0.802007 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.31, Z:-0.41 [[ 0.99943744 -0.0326808 0.00753515 -0.08899045] [ 0.03274039 0.99943246 -0.00792604 -0.30628973] [-0.00727185 0.00816828 0.9999402 -0.40644766] [ 0. 0. 0. 1. ]] SLAMing on 11.599072329 meters Centerline goodness : 0.803112 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.31, Z:-0.41 [[ 0.9994076 -0.03364716 0.00723284 -0.08839611] [ 0.0337086 0.99939515 -0.00854806 -0.30528192] [-0.00694085 0.0087868 0.99993731 -0.40658326] [ 0. 0. 0. 1. ]] SLAMing on 11.629072329 meters Centerline goodness : 0.801974 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.30, Z:-0.41 [[ 0.9993786 -0.03454254 0.00701629 -0.08792587] [ 0.03460706 0.99935781 -0.00929119 -0.30356277] [-0.00669085 0.00952823 0.99993222 -0.40674018] [ 0. 0. 0. 1. ]] SLAMing on 11.659072328999999 meters Centerline goodness : 0.803249 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.30, Z:-0.41 [[ 0.9992962 -0.03687819 0.00686318 -0.08732262] [ 0.03695805 0.99924599 -0.01189792 -0.29717307] [-0.00641923 0.0121432 0.99990566 -0.40714628] [ 0. 0. 0. 1. ]] SLAMing on 11.689072329 meters Centerline goodness : 0.805220 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99927252 -0.03751823 0.00684139 -0.08722596] [ 0.03760513 0.99920747 -0.01304945 -0.29342492] [-0.00634638 0.01329723 0.99989145 -0.40726504] [ 0. 0. 0. 1. ]] SLAMing on 11.719072329 meters Centerline goodness : 0.803166 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99937741 -0.03464531 0.00667019 -0.08709371] [ 0.03471039 0.99934836 -0.00990129 -0.29188965] [-0.00632281 0.01012665 0.99992873 -0.4076926 ] [ 0. 0. 0. 1. ]] SLAMing on 11.749072329 meters Centerline goodness : 0.805693 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.29, Z:-0.41 [[ 0.99936593 -0.0350209 0.00642501 -0.08622101] [ 0.03509015 0.99932358 -0.01100285 -0.28760497] [-0.00603534 0.01122133 0.99991883 -0.408257 ] [ 0. 0. 0. 1. ]] SLAMing on 11.779072329 meters Centerline goodness : 0.804715 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.28, Z:-0.41 [[ 0.99930345 -0.03688168 0.00568819 -0.08213237] [ 0.03695594 0.99922495 -0.01355574 -0.28152154] [-0.00518382 0.01375651 0.99989194 -0.41174412] [ 0. 0. 0. 1. ]] SLAMing on 11.809072329 meters Centerline goodness : 0.804916 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.28, Z:-0.42 [[ 0.99910556 -0.04108854 0.00999014 -0.06835938] [ 0.04115484 0.99913148 -0.00652407 -0.28176248] [-0.0097134 0.00692938 0.99992881 -0.41787491] [ 0. 0. 0. 1. ]] SLAMing on 11.839072329 meters Centerline goodness : 0.803190 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.28, Z:-0.42 [[ 0.99855228 -0.05304991 0.00889059 -0.04746618] [ 0.05301946 0.9985869 0.0036261 -0.27929218] [-0.00907039 -0.00314948 0.9999539 -0.41741084] [ 0. 0. 0. 1. ]] SLAMing on 11.869072329 meters Centerline goodness : 0.803754 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.28, Z:-0.41 [[ 0.99853964 -0.05372364 -0.00568823 -0.04786229] [ 0.0537689 0.99852033 0.00812745 -0.28279722] [ 0.00524318 -0.00842144 0.99995079 -0.40685172] [ 0. 0. 0. 1. ]] SLAMing on 11.899072329 meters Centerline goodness : 0.806297 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.29, Z:-0.40 [[ 0.99830007 -0.05632896 -0.01496714 -0.05728836] [ 0.0565298 0.99831163 0.01335206 -0.28710508] [ 0.01418976 -0.01417545 0.99979883 -0.39954847] [ 0. 0. 0. 1. ]] SLAMing on 11.929072329 meters Centerline goodness : 0.804929 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.29, Z:-0.40 [[ 0.99722847 -0.07409807 -0.00669743 -0.05394554] [ 0.07415532 0.99720833 0.00874799 -0.28842369] [ 0.00603052 -0.0092204 0.99993931 -0.39876349] [ 0. 0. 0. 1. ]] SLAMing on 11.959072329 meters Centerline goodness : 0.806799 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.29, Z:-0.39 [[ 0.99673826 -0.07946835 -0.0140578 -0.06743657] [ 0.07959883 0.99678654 0.00897896 -0.29425464] [ 0.01329908 -0.01006866 0.99986087 -0.39186991] [ 0. 0. 0. 1. ]] SLAMing on 11.989072328999999 meters Centerline goodness : 0.807296 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.39 [[ 0.99623665 -0.08536277 -0.01502429 -0.0651544 ] [ 0.08547132 0.99631786 0.00673658 -0.29805838] [ 0.01439392 -0.00799538 0.99986444 -0.38928728] [ 0. 0. 0. 1. ]] SLAMing on 12.019072329 meters Centerline goodness : 0.806953 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.30, Z:-0.39 [[ 0.99470966 -0.10146331 -0.01605908 -0.0681622 ] [ 0.10157631 0.99480727 0.00638291 -0.30385053] [ 0.01532806 -0.00798036 0.99985067 -0.38968808] [ 0. 0. 0. 1. ]] SLAMing on 12.049072329 meters Centerline goodness : 0.805887 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.31, Z:-0.39 [[ 0.99411419 -0.10547394 -0.02474329 -0.07913313] [ 0.1056293 0.99439273 0.00505461 -0.3083765 ] [ 0.02407142 -0.00763847 0.99968106 -0.38665489] [ 0. 0. 0. 1. ]] SLAMing on 12.079072328999999 meters Centerline goodness : 0.806289 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.31, Z:-0.39 [[ 0.99354273 -0.11050528 -0.02571815 -0.07551388] [ 0.11060685 0.99386095 0.00255633 -0.31227494] [ 0.02527778 -0.00538442 0.99966597 -0.3866123 ] [ 0. 0. 0. 1. ]] SLAMing on 12.109072329 meters Centerline goodness : 0.803855 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.32, Z:-0.38 [[ 0.99275025 -0.11531927 -0.03388819 -0.08769131] [ 0.11535123 0.99332425 -0.00101694 -0.31704983] [ 0.03377923 -0.00289948 0.99942511 -0.3840462 ] [ 0. 0. 0. 1. ]] SLAMing on 12.139072329 meters Centerline goodness : 0.802178 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.9916261 -0.12456575 -0.03407407 -0.08693547] [ 0.12441263 0.99220871 -0.00658598 -0.32528371] [ 0.03462898 0.00229158 0.99939761 -0.38099443] [ 0. 0. 0. 1. ]] SLAMing on 12.169072329 meters Centerline goodness : 0.805346 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.99112351 -0.12854623 -0.03391237 -0.08723838] [ 0.12828937 0.99168979 -0.00965361 -0.32765109] [ 0.03487148 0.00521733 0.99937819 -0.37935408] [ 0. 0. 0. 1. ]] SLAMing on 12.199072329 meters Centerline goodness : 0.807012 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.33, Z:-0.38 [[ 0.99111466 -0.12851877 -0.03427317 -0.08733417] [ 0.12831659 0.99170063 -0.00804385 -0.33280836] [ 0.03502251 0.00357456 0.99938013 -0.37812144] [ 0. 0. 0. 1. ]] SLAMing on 12.229072329 meters Centerline goodness : 0.803810 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.34, Z:-0.38 [[ 0.99130226 -0.12831776 -0.02922968 -0.07071712] [ 0.12841486 0.99171946 0.00146154 -0.34421178] [ 0.0288001 -0.00520236 0.99957165 -0.38102961] [ 0. 0. 0. 1. ]] SLAMing on 12.259072329 meters Centerline goodness : 0.805475 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.38 [[ 0.9914033 -0.12741735 -0.02973752 -0.06911357] [ 0.12755789 0.99182697 0.00287004 -0.34757055] [ 0.02912878 -0.00663862 0.99955362 -0.38164176] [ 0. 0. 0. 1. ]] SLAMing on 12.289072329 meters Centerline goodness : 0.805649 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.35, Z:-0.38 [[ 0.99151981 -0.12640798 -0.03015766 -0.06754153] [ 0.12658443 0.99194774 0.00400755 -0.3501215 ] [ 0.02940824 -0.00779106 0.99953712 -0.38253164] [ 0. 0. 0. 1. ]] SLAMing on 12.319072328999999 meters Centerline goodness : 0.804643 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99211807 -0.12145944 -0.03081122 -0.0668699 ] [ 0.12179993 0.99250998 0.00941891 -0.35512518] [ 0.02943642 -0.01309748 0.99948084 -0.38283268] [ 0. 0. 0. 1. ]] SLAMing on 12.349072329 meters Centerline goodness : 0.804490 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99334678 -0.11054995 -0.03226261 -0.06573276] [ 0.11123991 0.99358351 0.02043236 -0.36182758] [ 0.0297968 -0.02388531 0.99927056 -0.3827472 ] [ 0. 0. 0. 1. ]] SLAMing on 12.379072329 meters Centerline goodness : 0.803451 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.36, Z:-0.38 [[ 0.99391333 -0.10514098 -0.03288879 -0.06543786] [ 0.1059909 0.9940462 0.02526032 -0.36241313] [ 0.03003709 -0.02859248 0.99913975 -0.38264339] [ 0. 0. 0. 1. ]] SLAMing on 12.409072328999999 meters Centerline goodness : 0.805304 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.36, Z:-0.38 [[ 0.99558363 -0.08634163 -0.03685597 -0.07761805] [ 0.08748255 0.99569741 0.03055288 -0.36393616] [ 0.0340594 -0.0336422 0.99885342 -0.37962702] [ 0. 0. 0. 1. ]] SLAMing on 12.439072329 meters Centerline goodness : 0.804426 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.37, Z:-0.38 [[ 0.99604823 -0.08062972 -0.03723934 -0.0773825 ] [ 0.08195836 0.99599809 0.03564585 -0.36537603] [ 0.03421619 -0.03855706 0.99867042 -0.37997235] [ 0. 0. 0. 1. ]] SLAMing on 12.469072329 meters Centerline goodness : 0.805162 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.37, Z:-0.38 [[ 0.99662237 -0.07079643 -0.04161402 -0.08872234] [ 0.07219511 0.99684025 0.03312667 -0.36747139] [ 0.03913728 -0.03601911 0.99858445 -0.37686216] [ 0. 0. 0. 1. ]] SLAMing on 12.499072329 meters Centerline goodness : 0.803002 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.37, Z:-0.38 [[ 0.9977488 -0.05294847 -0.04115558 -0.09225203] [ 0.05418069 0.99809752 0.0294245 -0.37312798] [ 0.0395193 -0.0315881 0.99871939 -0.37747773] [ 0. 0. 0. 1. ]] SLAMing on 12.529072329 meters Centerline goodness : 0.802535 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99803937 -0.04710805 -0.04120969 -0.09179951] [ 0.0485467 0.99822023 0.03463523 -0.37582489] [ 0.03950475 -0.03656792 0.99855003 -0.37882314] [ 0. 0. 0. 1. ]] SLAMing on 12.559072329 meters Centerline goodness : 0.801164 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99829088 -0.04166852 -0.04097624 -0.09237464] [ 0.04327652 0.99829493 0.03917104 -0.37705953] [ 0.03927417 -0.0408774 0.998392 -0.37966038] [ 0. 0. 0. 1. ]] SLAMing on 12.589072329 meters Centerline goodness : 0.801164 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.99829088 -0.04166852 -0.04097624 -0.09237464] [ 0.04327652 0.99829493 0.03917104 -0.37705953] [ 0.03927417 -0.0408774 0.998392 -0.37966038] [ 0. 0. 0. 1. ]] SLAMing on 12.619072329 meters Centerline goodness : 0.796898 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.38, Z:-0.38 [[ 0.9987146 -0.03083949 -0.04022532 -0.09353814] [ 0.03277058 0.99829682 0.04826544 -0.38062611] [ 0.03866833 -0.04952161 0.99802423 -0.38174815] [ 0. 0. 0. 1. ]] SLAMing on 12.649072329 meters Centerline goodness : 0.797250 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.38, Z:-0.38 [[ 0.99873758 -0.02533207 -0.04337663 -0.10265339] [ 0.02712496 0.99878035 0.04125592 -0.3813116 ] [ 0.04227863 -0.04238043 0.9982066 -0.38118825] [ 0. 0. 0. 1. ]] SLAMing on 12.679072329 meters Centerline goodness : 0.796670 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.38, Z:-0.38 [[ 0.99874595 -0.02411372 -0.04387539 -0.1013177 ] [ 0.02598467 0.99875493 0.04258387 -0.38418012] [ 0.04279391 -0.04367056 0.99812903 -0.38129943] [ 0. 0. 0. 1. ]] SLAMing on 12.709072329 meters Centerline goodness : 0.793962 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.39, Z:-0.38 [[ 0.99868727 -0.01893471 -0.04759426 -0.1231822 ] [ 0.02116715 0.99867774 0.04684795 -0.3924215 ] [ 0.04664428 -0.04779389 0.99776754 -0.37858622] [ 0. 0. 0. 1. ]] SLAMing on 12.739072328999999 meters Centerline goodness : 0.795069 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.40, Z:-0.38 [[ 0.99875743 -0.0159124 -0.04722712 -0.12565442] [ 0.01829742 0.99855613 0.05050609 -0.39656768] [ 0.04635526 -0.05130746 0.9976065 -0.37621522] [ 0. 0. 0. 1. ]] SLAMing on 12.769072329 meters Centerline goodness : 0.796458 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.40, Z:-0.38 [[ 0.99875466 -0.01496291 -0.04759457 -0.12506737] [ 0.01742284 0.99851081 0.05169721 -0.39854708] [ 0.04675015 -0.05246206 0.99752802 -0.37555174] [ 0. 0. 0. 1. ]] SLAMing on 12.799072329 meters Centerline goodness : 0.796426 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.41, Z:-0.37 [[ 0.99883 -0.01028019 -0.04725418 -0.1274963 ] [ 0.01298097 0.99827792 0.05720744 -0.40585912] [ 0.0465847 -0.05775391 0.99724338 -0.37261579] [ 0. 0. 0. 1. ]] SLAMing on 12.829072328999999 meters Centerline goodness : 0.797051 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.41, Z:-0.37 [[ 0.99882899 -0.00909975 -0.04751666 -0.12662415] [ 0.01189067 0.99819971 0.05878727 -0.40914824] [ 0.04689617 -0.05928343 0.99713902 -0.37238077] [ 0. 0. 0. 1. ]] SLAMing on 12.859072329 meters Centerline goodness : 0.794865 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.41, Z:-0.37 [[ 0.99903913 -0.00727948 -0.04321836 -0.10743323] [ 0.01003129 0.99791224 0.06380069 -0.41344247] [ 0.04266369 -0.06417292 0.9970264 -0.37135105] [ 0. 0. 0. 1. ]] SLAMing on 12.889072329 meters Centerline goodness : 0.796006 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.42, Z:-0.37 [[ 0.99888111 -0.00223518 -0.04723903 -0.09815929] [ 0.00531672 0.99785751 0.06520834 -0.41912735] [ 0.04699207 -0.06538653 0.9967529 -0.36774204] [ 0. 0. 0. 1. ]] SLAMing on 12.919072329 meters Centerline goodness : 0.796517 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.42, Z:-0.37 [[ 9.98700353e-01 -2.23298256e-04 -5.09662114e-02 -8.86807345e-02] [ 3.44898846e-03 9.97994188e-01 6.32115973e-02 -4.21171449e-01] [ 5.08498677e-02 -6.33052264e-02 9.96697918e-01 -3.65909200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949072329 meters Centerline goodness : 0.795635 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.42, Z:-0.37 [[ 9.98573135e-01 8.85999756e-05 -5.34011798e-02 -8.22017705e-02] [ 3.21566062e-03 9.98084173e-01 6.17870719e-02 -4.23620164e-01] [ 5.33043468e-02 -6.18706302e-02 9.96659757e-01 -3.66036286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979072329 meters Centerline goodness : 0.796143 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.43, Z:-0.37 [[ 0.99849141 -0.00149544 -0.0548878 -0.0777152 ] [ 0.00478638 0.99819439 0.05987522 -0.4266861 ] [ 0.05469915 -0.06004761 0.99669568 -0.36694478] [ 0. 0. 0. 1. ]] SLAMing on 13.009072329 meters Centerline goodness : 0.795976 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.44, Z:-0.37 [[ 0.99862346 -0.00270457 -0.05238199 -0.05489982] [ 0.00617552 0.99778631 0.06621438 -0.43959915] [ 0.05208695 -0.06644672 0.99642952 -0.36731156] [ 0. 0. 0. 1. ]] SLAMing on 13.039072329 meters Centerline goodness : 0.796006 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.45, Z:-0.37 [[ 0.9988082 -0.00481351 -0.04856968 -0.03519336] [ 0.00815121 0.99760009 0.06875771 -0.44532932] [ 0.04812215 -0.06907167 0.99645038 -0.3663644 ] [ 0. 0. 0. 1. ]] SLAMing on 13.069072328999999 meters Centerline goodness : 0.796275 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.45, Z:-0.36 [[ 0.99897869 -0.00653853 -0.04470824 -0.01626694] [ 0.00974267 0.99736932 0.07182987 -0.4504202 ] [ 0.04412096 -0.07219208 0.99641439 -0.3642586 ] [ 0. 0. 0. 1. ]] SLAMing on 13.099072329 meters Centerline goodness : 0.795441 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.46, Z:-0.36 [[ 0.99911476 -0.01205105 -0.04030475 -0.0095465 ] [ 0.01531041 0.99655059 0.08156292 -0.46261108] [ 0.0391828 -0.0821078 0.99585291 -0.36182268] [ 0. 0. 0. 1. ]] SLAMing on 13.129072329 meters Centerline goodness : 0.796651 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.47, Z:-0.36 [[ 0.99905954 -0.01586177 -0.04035382 -0.00970402] [ 0.01901043 0.99670291 0.07887915 -0.46736389] [ 0.03896961 -0.07957211 0.99606709 -0.36100181] [ 0. 0. 0. 1. ]] SLAMing on 13.159072328999999 meters Centerline goodness : 0.796305 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.48, Z:-0.36 [[ 0.99890304 -0.02322245 -0.04066244 -0.00922837] [ 0.02617943 0.9969319 0.07376607 -0.47529002] [ 0.03882466 -0.07474967 0.99644625 -0.35952759] [ 0. 0. 0. 1. ]] SLAMing on 13.189072329 meters Centerline goodness : 0.795487 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.36 [[ 0.99865308 -0.02569107 -0.04507756 -0.02143896] [ 0.02840911 0.99774984 0.06073046 -0.47518422] [ 0.04341589 -0.06192928 0.99713581 -0.35566483] [ 0. 0. 0. 1. ]] SLAMing on 13.219072329 meters Centerline goodness : 0.795416 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.48, Z:-0.36 [[ 0.99839326 -0.03354922 -0.04566559 -0.01915468] [ 0.03605631 0.99782229 0.05523247 -0.48211434] [ 0.04371314 -0.05679026 0.99742871 -0.35524222] [ 0. 0. 0. 1. ]] SLAMing on 13.249072328999999 meters Centerline goodness : 0.796555 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.49, Z:-0.35 [[ 0.99825194 -0.03734195 -0.04581091 -0.01847659] [ 0.03973866 0.99782609 0.05257309 -0.48611653] [ 0.04374814 -0.05430165 0.99756575 -0.35474986] [ 0. 0. 0. 1. ]] SLAMing on 13.279072329 meters Centerline goodness : 0.796780 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.49, Z:-0.35 [[ 0.99788692 -0.04121811 -0.05022715 -0.00780212] [ 0.04348059 0.99804852 0.04481729 -0.48815252] [ 0.04828184 -0.04690649 0.99773175 -0.35123222] [ 0. 0. 0. 1. ]] SLAMing on 13.309072329 meters Centerline goodness : 0.795727 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.49, Z:-0.35 [[ 9.97932636e-01 -4.39414822e-02 -4.68998913e-02 -4.49426051e-04] [ 4.54398815e-02 9.98474237e-01 3.13753986e-02 -4.87802717e-01] [ 4.54496516e-02 -3.34416598e-02 9.98406723e-01 -3.49717536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339072329 meters Centerline goodness : 0.798231 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.49, Z:-0.35 [[ 9.97787402e-01 -4.71387731e-02 -4.68853457e-02 -5.12664889e-04] [ 4.85523531e-02 9.98385445e-01 2.94817353e-02 -4.94683095e-01] [ 4.54199139e-02 -3.16928980e-02 9.98465118e-01 -3.48843487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369072329 meters Centerline goodness : 0.797606 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.50, Z:-0.35 [[ 0.99762473 -0.05005014 -0.0473273 0.00175293] [ 0.05136744 0.99831372 0.02703908 -0.49792544] [ 0.04589418 -0.02940594 0.9985134 -0.34976025] [ 0. 0. 0. 1. ]] SLAMing on 13.399072329 meters Centerline goodness : 0.795989 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.50, Z:-0.35 [[ 0.99746656 -0.05261214 -0.04787934 0.00496149] [ 0.05385389 0.99823521 0.02502465 -0.50165101] [ 0.04647824 -0.02753974 0.9985396 -0.35154847] [ 0. 0. 0. 1. ]] SLAMing on 13.429072329 meters Centerline goodness : 0.795963 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99720811 -0.05672396 -0.04856315 0.01016502] [ 0.05786371 0.99807331 0.02239326 -0.50809552] [ 0.04719935 -0.02514079 0.99856906 -0.35493616] [ 0. 0. 0. 1. ]] SLAMing on 13.459072329 meters Centerline goodness : 0.794747 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99711917 -0.0587725 -0.04794943 0.00786197] [ 0.0598193 0.99799467 0.0206954 -0.51123842] [ 0.04663695 -0.02350408 0.99863535 -0.35330218] [ 0. 0. 0. 1. ]] SLAMing on 13.489072328999999 meters Centerline goodness : 0.792587 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.51, Z:-0.35 [[ 0.99691235 -0.06209866 -0.04805755 0.0087162 ] [ 0.06300763 0.99785723 0.01763495 -0.51363323] [ 0.04685946 -0.02060849 0.99868888 -0.35329606] [ 0. 0. 0. 1. ]] SLAMing on 13.519072329 meters Centerline goodness : 0.793485 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.52, Z:-0.35 [[ 0.99674554 -0.06419186 -0.04876198 0.0118793 ] [ 0.06502386 0.99776066 0.01567059 -0.51703383] [ 0.04764686 -0.01879029 0.99868749 -0.35448321] [ 0. 0. 0. 1. ]] SLAMing on 13.549072329 meters Centerline goodness : 0.797109 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.52, Z:-0.36 [[ 0.99660196 -0.06614068 -0.04909122 0.01385073] [ 0.06692181 0.99765371 0.01444085 -0.5243693 ] [ 0.04802091 -0.01767705 0.9986899 -0.35514413] [ 0. 0. 0. 1. ]] SLAMing on 13.579072328999999 meters Centerline goodness : 0.793562 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.53, Z:-0.36 [[ 0.99649768 -0.06724402 -0.04970532 0.01756198] [ 0.06799634 0.99759286 0.01360085 -0.52734507] [ 0.04867109 -0.016933 0.99867132 -0.35740571] [ 0. 0. 0. 1. ]] SLAMing on 13.609072329 meters Centerline goodness : 0.794425 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.53, Z:-0.36 [[ 0.99653653 -0.06653513 -0.04988009 0.01823755] [ 0.06734815 0.99761979 0.01479807 -0.53065951] [ 0.04877678 -0.01810615 0.99864558 -0.35770974] [ 0. 0. 0. 1. ]] SLAMing on 13.639072329 meters Centerline goodness : 0.794698 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.99661175 -0.06520572 -0.05013222 0.01861648] [ 0.06611821 0.99767099 0.01676224 -0.53523395] [ 0.04892247 -0.0200201 0.99860192 -0.35736387] [ 0. 0. 0. 1. ]] SLAMing on 13.669072329 meters Centerline goodness : 0.797270 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.9966444 -0.06453826 -0.05034634 0.01894731] [ 0.06550896 0.9976919 0.01787288 -0.53840844] [ 0.04907665 -0.02111104 0.99857188 -0.35706532] [ 0. 0. 0. 1. ]] SLAMing on 13.699072329 meters Centerline goodness : 0.794536 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.54, Z:-0.36 [[ 0.99657356 -0.06533131 -0.05072443 0.02172736] [ 0.06628651 0.99764923 0.01738125 -0.54129003] [ 0.04946965 -0.02068404 0.99856143 -0.35877207] [ 0. 0. 0. 1. ]] SLAMing on 13.729072329 meters Centerline goodness : 0.792331 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.55, Z:-0.36 [[ 0.99640052 -0.06704124 -0.05187938 0.02511756] [ 0.06796727 0.99755448 0.0162943 -0.54964276] [ 0.05066012 -0.01976175 0.99852042 -0.35870636] [ 0. 0. 0. 1. ]] SLAMing on 13.759072329 meters Centerline goodness : 0.793494 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.55, Z:-0.36 [[ 0.99620367 -0.06945775 -0.05247722 0.02785784] [ 0.07029108 0.99742541 0.01420253 -0.55338941] [ 0.05135564 -0.0178373 0.99852112 -0.35962925] [ 0. 0. 0. 1. ]] SLAMing on 13.789072329 meters Centerline goodness : 0.793390 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.56, Z:-0.36 [[ 0.99597323 -0.07247743 -0.05276701 0.02946132] [ 0.0731825 0.99725166 0.0115522 -0.55669965] [ 0.05178472 -0.0153673 0.99854003 -0.35995484] [ 0. 0. 0. 1. ]] SLAMing on 13.819072328999999 meters Centerline goodness : 0.795119 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.57, Z:-0.36 [[ 0.99574639 -0.07561466 -0.05264545 0.02970505] [ 0.07625124 0.99703659 0.01018724 -0.56592432] [ 0.05171913 -0.01415819 0.9985613 -0.35946237] [ 0. 0. 0. 1. ]] SLAMing on 13.849072329 meters Centerline goodness : 0.793882 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.57, Z:-0.36 [[ 0.99581157 -0.07913846 -0.04578679 0.04355296] [ 0.07992686 0.99667788 0.01564947 -0.57231112] [ 0.0443962 -0.01924352 0.99882865 -0.36357209] [ 0. 0. 0. 1. ]] SLAMing on 13.879072329 meters Centerline goodness : 0.794365 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.58, Z:-0.36 [[ 0.99551762 -0.08288821 -0.04554362 0.04360451] [ 0.08354951 0.99642128 0.01281027 -0.57599224] [ 0.04431881 -0.016558 0.99888021 -0.36319164] [ 0. 0. 0. 1. ]] SLAMing on 13.909072328999999 meters Centerline goodness : 0.795057 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.59, Z:-0.37 [[ 0.99513823 -0.091234 -0.03709809 0.05525599] [ 0.09178854 0.99568665 0.01352654 -0.58909161] [ 0.03570399 -0.01686596 0.99922008 -0.36588957] [ 0. 0. 0. 1. ]] SLAMing on 13.939072329 meters Centerline goodness : 0.796114 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.60, Z:-0.37 [[ 0.99477511 -0.09517082 -0.0369459 0.05591807] [ 0.09564235 0.99535266 0.01120812 -0.59608308] [ 0.03570751 -0.01468315 0.99925441 -0.36566695] [ 0. 0. 0. 1. ]] SLAMing on 13.969072329 meters Centerline goodness : 0.794764 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.60, Z:-0.37 [[ 0.99438991 -0.09914816 -0.03685584 0.05732761] [ 0.0995418 0.99499269 0.00899906 -0.60382641] [ 0.03577905 -0.01261727 0.99928007 -0.36614101] [ 0. 0. 0. 1. ]] SLAMing on 13.999072328999999 meters Centerline goodness : 0.793923 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.37 [[ 0.99332718 -0.10935938 -0.0366283 0.06178493] [ 0.10950085 0.99398494 0.00187263 -0.61708492] [ 0.03620319 -0.00587097 0.9993272 -0.36885882] [ 0. 0. 0. 1. ]] SLAMing on 14.029072329 meters Centerline goodness : 0.796335 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.62, Z:-0.37 [[ 9.92954526e-01 -1.12725148e-01 -3.65287481e-02 6.28387320e-02] [ 1.12803248e-01 9.93617341e-01 7.75812950e-05 -6.24353744e-01] [ 3.62868522e-02 -4.19759614e-03 9.99332600e-01 -3.68959475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059072329 meters Centerline goodness : 0.796953 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.63, Z:-0.37 [[ 0.9926606 -0.11723899 -0.02966386 0.07468147] [ 0.11745829 0.99306114 0.00575572 -0.63379431] [ 0.02878324 -0.00919774 0.99954336 -0.37213939] [ 0. 0. 0. 1. ]] SLAMing on 14.089072329 meters Centerline goodness : 0.796520 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.64, Z:-0.37 [[ 0.99228989 -0.12042135 -0.02931693 0.07414838] [ 0.12058733 0.99269485 0.00395447 -0.64041185] [ 0.02862656 -0.00745924 0.99956234 -0.37074926] [ 0. 0. 0. 1. ]] SLAMing on 14.119072329 meters Centerline goodness : 0.799092 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.66, Z:-0.37 [[ 0.99193837 -0.12514878 -0.01990129 0.08345093] [ 0.12530113 0.99209682 0.00659698 -0.65689667] [ 0.0189184 -0.00903745 0.99978019 -0.37209138] [ 0. 0. 0. 1. ]] SLAMing on 14.149072329 meters Centerline goodness : 0.796701 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.66, Z:-0.37 [[ 0.99155152 -0.12819535 -0.01978706 0.08392271] [ 0.12830924 0.99172357 0.00459296 -0.66286683] [ 0.0190345 -0.00709302 0.99979367 -0.37127121] [ 0. 0. 0. 1. ]] SLAMing on 14.179072329 meters Centerline goodness : 0.797932 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.67, Z:-0.37 [[ 0.99117564 -0.13107943 -0.0197239 0.08454862] [ 0.13115651 0.9913581 0.00266099 -0.6689867 ] [ 0.01920465 -0.00522442 0.99980192 -0.37058274] [ 0. 0. 0. 1. ]] SLAMing on 14.209072329 meters Centerline goodness : 0.799510 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.68, Z:-0.37 [[ 0.99085665 -0.1333775 -0.02033585 0.08907172] [ 0.13344564 0.99105406 0.00202526 -0.68333393] [ 0.0198838 -0.00472048 0.99979115 -0.37213632] [ 0. 0. 0. 1. ]] SLAMing on 14.239072328999999 meters Centerline goodness : 0.799721 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.69, Z:-0.37 [[ 0.99095745 -0.13257798 -0.0206497 0.09034788] [ 0.13269015 0.99114886 0.00415367 -0.69065211] [ 0.01991625 -0.00685612 0.99977814 -0.37249687] [ 0. 0. 0. 1. ]] SLAMing on 14.269072329 meters Centerline goodness : 0.799877 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.70, Z:-0.37 [[ 0.99110751 -0.13136232 -0.02120964 0.09210233] [ 0.13154353 0.99128291 0.00738162 -0.70205657] [ 0.02005509 -0.01010597 0.9997478 -0.37233225] [ 0. 0. 0. 1. ]] SLAMing on 14.299072329 meters Centerline goodness : 0.798619 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.71, Z:-0.37 [[ 0.99120788 -0.13055491 -0.02150251 0.09223649] [ 0.13077488 0.9913698 0.00915699 -0.70763403] [ 0.02012145 -0.01188847 0.99972686 -0.37125702] [ 0. 0. 0. 1. ]] SLAMing on 14.329072328999999 meters Centerline goodness : 0.799628 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.71, Z:-0.37 [[ 0.99095892 -0.13231513 -0.02220638 0.09429957] [ 0.13251134 0.99115232 0.00760351 -0.7124825 ] [ 0.02100385 -0.01047736 0.99972449 -0.37071918] [ 0. 0. 0. 1. ]] SLAMing on 14.359072329 meters Centerline goodness : 0.800988 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.72, Z:-0.37 [[ 9.91373255e-01 -1.29568767e-01 -1.97738416e-02 9.80435143e-02] [ 1.29552830e-01 9.91570318e-01 -2.09025675e-03 -7.23079133e-01] [ 1.98779863e-02 -4.89532496e-04 9.99802293e-01 -3.66470727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389072329 meters Centerline goodness : 0.799062 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.73, Z:-0.37 [[ 9.91508816e-01 -1.28487550e-01 -2.00304009e-02 9.82497308e-02] [ 1.28510918e-01 9.91708087e-01 -1.21499489e-04 -7.28731278e-01] [ 1.98799217e-02 -2.45365739e-03 9.99799364e-01 -3.65780570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419072328999999 meters Centerline goodness : 0.801695 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.73, Z:-0.37 [[ 0.99163146 -0.12748229 -0.02037948 0.09874808] [ 0.12753816 0.99183259 0.00146069 -0.7328556 ] [ 0.02002682 -0.00404763 0.99979125 -0.36537631] [ 0. 0. 0. 1. ]] SLAMing on 14.449072329 meters Centerline goodness : 0.800215 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.74, Z:-0.37 [[ 0.991743 -0.12655991 -0.02069826 0.09923032] [ 0.12664144 0.99194496 0.00267153 -0.73565086] [ 0.02019343 -0.00527073 0.9997822 -0.36513165] [ 0. 0. 0. 1. ]] SLAMing on 14.479072329 meters Centerline goodness : 0.800215 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.74, Z:-0.37 [[ 0.991743 -0.12655991 -0.02069826 0.09923032] [ 0.12664144 0.99194496 0.00267153 -0.73565086] [ 0.02019343 -0.00527073 0.9997822 -0.36513165] [ 0. 0. 0. 1. ]] SLAMing on 14.509072329 meters Centerline goodness : 0.801385 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.74, Z:-0.36 [[ 0.99277063 -0.11836341 -0.01991441 0.10806651] [ 0.11836494 0.99296955 -0.00110575 -0.74221094] [ 0.01990528 -0.00125941 0.99980108 -0.36244588] [ 0. 0. 0. 1. ]] SLAMing on 14.539072329 meters Centerline goodness : 0.802519 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.75, Z:-0.36 [[ 9.93020872e-01 -1.15812383e-01 -2.22944088e-02 1.12011313e-01] [ 1.15853694e-01 9.93266128e-01 5.66034718e-04 -7.46651533e-01] [ 2.20787273e-02 -3.14497391e-03 9.99751289e-01 -3.61275798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569072328999999 meters Centerline goodness : 0.802881 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.75, Z:-0.36 [[ 0.99315419 -0.11459257 -0.02265618 0.11236877] [ 0.11466962 0.99340141 0.00212719 -0.75071513] [ 0.02226292 -0.0047106 0.99974105 -0.3607017 ] [ 0. 0. 0. 1. ]] SLAMing on 14.599072329 meters Centerline goodness : 0.803345 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.76, Z:-0.36 [[ 0.99347774 -0.11148892 -0.02392089 0.11482028] [ 0.11165389 0.99373097 0.00567115 -0.75846377] [ 0.02313866 -0.00830502 0.99969777 -0.36051856] [ 0. 0. 0. 1. ]] SLAMing on 14.629072329 meters Centerline goodness : 0.800605 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.76, Z:-0.36 [[ 9.94133018e-01 -1.05948627e-01 -2.17814138e-02 1.24457878e-01] [ 1.05960123e-01 9.94370181e-01 -6.28920960e-04 -7.59856047e-01] [ 2.17254217e-02 -1.68273019e-03 9.99762559e-01 -3.59798822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659072328999999 meters Centerline goodness : 0.803131 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.76, Z:-0.36 [[ 9.94262049e-01 -1.04627953e-01 -2.22703871e-02 1.24725518e-01] [ 1.04659321e-01 9.94508103e-01 2.44439561e-04 -7.60829130e-01] [ 2.21225053e-02 -2.57384057e-03 9.99751954e-01 -3.59063798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689072329 meters Centerline goodness : 0.803605 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.76, Z:-0.36 [[ 9.95454457e-01 -9.32032600e-02 -1.95851298e-02 1.33921708e-01] [ 9.32037064e-02 9.95646661e-01 -8.91988108e-04 -7.63013475e-01] [ 1.95830052e-02 -9.37473146e-04 9.99807795e-01 -3.59002255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719072329 meters Centerline goodness : 0.804498 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.76, Z:-0.36 [[ 0.99587772 -0.08838002 -0.02040921 0.13502001] [ 0.08847315 0.99607167 0.00370487 -0.76433646] [ 0.0200016 -0.00549527 0.99978485 -0.35918558] [ 0. 0. 0. 1. ]] SLAMing on 14.749072328999999 meters Centerline goodness : 0.800995 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.76, Z:-0.36 [[ 9.96621004e-01 -7.98424056e-02 -1.92812069e-02 1.46432880e-01] [ 7.98534011e-02 9.96806598e-01 -2.00192762e-04 -7.63686040e-01] [ 1.92356181e-02 -1.34015363e-03 9.99814080e-01 -3.59887138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779072329 meters Centerline goodness : 0.801762 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.76, Z:-0.36 [[ 9.97865592e-01 -6.35192790e-02 -1.51513078e-02 1.49409996e-01] [ 6.35043523e-02 9.97980487e-01 -1.46474719e-03 -7.62540402e-01] [ 1.52137492e-02 4.99446835e-04 9.99884139e-01 -3.63224528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809072329 meters Centerline goodness : 0.800627 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.76, Z:-0.36 [[ 0.99847772 -0.05404088 -0.01103767 0.15846454] [ 0.05399766 0.99853232 -0.00417771 -0.76104724] [ 0.01124724 0.00357534 0.99993036 -0.36417245] [ 0. 0. 0. 1. ]] SLAMing on 14.839072329 meters Centerline goodness : 0.801119 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.76, Z:-0.36 [[ 0.99895115 -0.04447085 -0.01090656 0.16725345] [ 0.04439257 0.99898736 -0.00731816 -0.75962046] [ 0.01122096 0.00682631 0.99991374 -0.36125575] [ 0. 0. 0. 1. ]] SLAMing on 14.869072329 meters Centerline goodness : 0.802949 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.76, Z:-0.36 [[ 0.99955418 -0.02721927 -0.01226975 0.18600564] [ 0.02708333 0.99957141 -0.01111262 -0.75692916] [ 0.01256697 0.01077536 0.99986297 -0.35776206] [ 0. 0. 0. 1. ]] SLAMing on 14.899072329 meters Centerline goodness : 0.802777 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.75, Z:-0.36 [[ 0.99979802 -0.0189693 -0.00664001 0.20001351] [ 0.01888293 0.99973928 -0.0128381 -0.75407361] [ 0.0068818 0.01271012 0.99989554 -0.36311135] [ 0. 0. 0. 1. ]] SLAMing on 14.929072329 meters Centerline goodness : 0.803219 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.75, Z:-0.37 [[ 0.99993877 -0.01094674 -0.00162143 0.21583738] [ 0.01092207 0.99983502 -0.01451344 -0.75043853] [ 0.00178004 0.01449485 0.99989336 -0.36948519] [ 0. 0. 0. 1. ]] SLAMing on 14.959072329 meters Centerline goodness : 0.801932 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.74, Z:-0.37 [[ 9.99990019e-01 2.11584762e-04 -4.46283191e-03 2.51311297e-01] [-3.04181722e-04 9.99784483e-01 -2.07580133e-02 -7.40855440e-01] [ 4.45747802e-03 2.07591636e-02 9.99774569e-01 -3.72493411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989072328999999 meters Centerline goodness : 0.798428 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.73, Z:-0.37 [[ 0.9999671 0.00530789 -0.00613475 0.28167573] [-0.00548917 0.9995372 -0.02992069 -0.73440667] [ 0.00597309 0.02995338 0.99953345 -0.37167688] [ 0. 0. 0. 1. ]] SLAMing on 15.019072329 meters Centerline goodness : 0.802478 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.99995565 0.00904927 -0.00260984 0.30215755] [-0.00912556 0.99948154 -0.0308767 -0.73087719] [ 0.00232908 0.03089915 0.99951979 -0.37296979] [ 0. 0. 0. 1. ]] SLAMing on 15.049072329 meters Centerline goodness : 0.803388 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.9999123 0.01297229 -0.00266818 0.30208397] [-0.0130399 0.99954739 -0.0271106 -0.73032546] [ 0.00231529 0.02714302 0.99962888 -0.37231825] [ 0. 0. 0. 1. ]] SLAMing on 15.079072328999999 meters Centerline goodness : 0.802883 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.73, Z:-0.37 [[ 0.99985547 0.01682864 -0.00241546 0.30103506] [-0.01688246 0.99956153 -0.02432537 -0.72619089] [ 0.00200504 0.02436264 0.99970118 -0.37135934] [ 0. 0. 0. 1. ]] SLAMing on 15.109072329 meters Centerline goodness : 0.803572 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.99982664 0.01851975 -0.0019279 0.29952681] [-0.01855878 0.99956991 -0.022706 -0.72342847] [ 0.00150656 0.02273784 0.99974033 -0.37054359] [ 0. 0. 0. 1. ]] SLAMing on 15.139072329 meters Centerline goodness : 0.802547 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.99983473 0.0180515 -0.00215583 0.30069597] [-0.01809828 0.99954528 -0.0241182 -0.71841699] [ 0.00171948 0.02415323 0.99970679 -0.37164809] [ 0. 0. 0. 1. ]] SLAMing on 15.169072328999999 meters Centerline goodness : 0.798002 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.72, Z:-0.37 [[ 0.9997707 0.02127428 -0.00243897 0.30195223] [-0.02132046 0.99955626 -0.02080175 -0.71668959] [ 0.00199535 0.02084898 0.99978065 -0.37230947] [ 0. 0. 0. 1. ]] SLAMing on 15.199072329 meters Centerline goodness : 0.800152 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.71, Z:-0.37 [[ 0.99979849 0.01987541 -0.00281908 0.30346557] [-0.0199358 0.99952931 -0.02331768 -0.71016123] [ 0.00235431 0.02336918 0.99972413 -0.37323031] [ 0. 0. 0. 1. ]] SLAMing on 15.229072329 meters Centerline goodness : 0.799554 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.71, Z:-0.37 [[ 0.99988661 0.01436139 -0.00452871 0.27917095] [-0.01448746 0.99946985 -0.02915707 -0.70638406] [ 0.00410758 0.02921938 0.99956458 -0.37086222] [ 0. 0. 0. 1. ]] SLAMing on 15.259072329 meters Centerline goodness : 0.800815 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.71, Z:-0.37 [[ 0.99990149 0.01303759 -0.00519967 0.28125049] [-0.01318891 0.9994564 -0.03021506 -0.70608364] [ 0.00480291 0.03028066 0.9995299 -0.37170482] [ 0. 0. 0. 1. ]] SLAMing on 15.289072329 meters Centerline goodness : 0.801128 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99983002e-01 5.83056083e-03 -3.42845800e-05 2.71148055e-01] [-5.82880050e-03 9.99497973e-01 -3.11420412e-02 -7.01064828e-01] [-1.47308197e-04 3.11417116e-02 9.99514968e-01 -3.75201776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319072328999999 meters Centerline goodness : 0.801462 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99975766e-01 1.00245113e-03 6.88935662e-03 2.72787266e-01] [-8.61986396e-04 9.99792312e-01 -2.03614693e-02 -6.99625429e-01] [-6.90833716e-03 2.03550373e-02 9.99768947e-01 -3.77311761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349072329 meters Centerline goodness : 0.800931 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.70, Z:-0.38 [[ 9.99977153e-01 -1.00075986e-04 6.75898448e-03 2.72784424e-01] [ 2.45080766e-04 9.99769759e-01 -2.14562147e-02 -6.96715298e-01] [-6.75528103e-03 2.14573810e-02 9.99746941e-01 -3.76788341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379072329 meters Centerline goodness : 0.801780 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99996584 -0.00395872 0.00725568 0.281258 ] [ 0.00406702 0.99987962 -0.01497371 -0.69652778] [-0.00719553 0.01500271 0.99986156 -0.37304176] [ 0. 0. 0. 1. ]] SLAMing on 15.409072328999999 meters Centerline goodness : 0.803749 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99993025 -0.00947041 0.00705788 0.28162219] [ 0.00960908 0.99975619 -0.01988026 -0.69721172] [-0.00686788 0.01994669 0.99977746 -0.37265584] [ 0. 0. 0. 1. ]] SLAMing on 15.439072329 meters Centerline goodness : 0.803981 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99987977 -0.01387969 0.00691395 0.28244716] [ 0.01404349 0.99960766 -0.0242344 -0.69737434] [-0.00657487 0.02432858 0.9996824 -0.37329587] [ 0. 0. 0. 1. ]] SLAMing on 15.469072329 meters Centerline goodness : 0.803873 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.70, Z:-0.37 [[ 0.99980631 -0.01847976 0.00677113 0.28342256] [ 0.01866816 0.99940779 -0.02890627 -0.69618573] [-0.00623294 0.02902707 0.99955919 -0.37407619] [ 0. 0. 0. 1. ]] SLAMing on 15.499072328999999 meters Centerline goodness : 0.803674 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.70, Z:-0.38 [[ 0.99976137 -0.02097373 0.00610839 0.28683876] [ 0.02115157 0.99930571 -0.03067105 -0.69575105] [-0.00546086 0.03079293 0.99951087 -0.37645306] [ 0. 0. 0. 1. ]] SLAMing on 15.529072329 meters Centerline goodness : 0.801919 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99436381e-01 -3.35562364e-02 -9.48209164e-04 2.98947728e-01] [ 3.35332951e-02 9.99270111e-01 -1.82965404e-02 -6.94907526e-01] [ 1.56148011e-03 1.82544315e-02 9.99832155e-01 -3.74794400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559072329 meters Centerline goodness : 0.799022 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.38 [[ 0.99940618 -0.03443185 -0.00131418 0.30028875] [ 0.03440118 0.99923204 -0.01875862 -0.69397429] [ 0.00195907 0.01870228 0.99982318 -0.37556358] [ 0. 0. 0. 1. ]] SLAMing on 15.589072329 meters Centerline goodness : 0.799066 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99294053e-01 -3.75600514e-02 -7.99055267e-04 2.97271272e-01] [ 3.75338051e-02 9.99058553e-01 -2.17536293e-02 -6.90063778e-01] [ 1.61537043e-03 2.17082808e-02 9.99763042e-01 -3.72611069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619072329 meters Centerline goodness : 0.800207 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99276278e-01 -3.80313776e-02 -7.31742684e-04 2.96306620e-01] [ 3.80057666e-02 9.99030675e-01 -2.22097088e-02 -6.89444255e-01] [ 1.57569921e-03 2.21658247e-02 9.99753066e-01 -3.71282718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649072329 meters Centerline goodness : 0.800136 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99261673e-01 -3.84135224e-02 -7.14850932e-04 2.95804543e-01] [ 3.83875298e-02 9.99006648e-01 -2.26299696e-02 -6.88993154e-01] [ 1.58343768e-03 2.25858200e-02 9.99743654e-01 -3.70488273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679072329 meters Centerline goodness : 0.799716 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.69, Z:-0.37 [[ 9.99247781e-01 -3.87707910e-02 -8.35904799e-04 2.96085703e-01] [ 3.87412030e-02 9.98982758e-01 -2.30774363e-02 -6.88264461e-01] [ 1.72978494e-03 2.30276931e-02 9.99733331e-01 -3.70472301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709072329 meters Centerline goodness : 0.799970 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.37 [[ 0.99917911 -0.04049477 -0.00113039 0.29904 ] [ 0.04045275 0.99885505 -0.02553767 -0.68215276] [ 0.00216324 0.02547098 0.99967322 -0.37351289] [ 0. 0. 0. 1. ]] SLAMing on 15.739072328999999 meters Centerline goodness : 0.801701 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.37 [[ 0.99929536 -0.03750654 -0.00143039 0.30030946] [ 0.0374654 0.99904936 -0.02228739 -0.68046891] [ 0.00226495 0.02221809 0.99975058 -0.37471716] [ 0. 0. 0. 1. ]] SLAMing on 15.769072329 meters Centerline goodness : 0.801972 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.68, Z:-0.38 [[ 0.99941005 -0.0343042 -0.00166756 0.30103973] [ 0.03426649 0.9992329 -0.01895845 -0.67849912] [ 0.00231664 0.01889012 0.99981888 -0.37537927] [ 0. 0. 0. 1. ]] SLAMing on 15.799072329 meters Centerline goodness : 0.801514 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99949365 -0.0317696 -0.00177113 0.30010575] [ 0.03173399 0.99934449 -0.01742242 -0.67037816] [ 0.00232348 0.01735739 0.99984665 -0.37406814] [ 0. 0. 0. 1. ]] SLAMing on 15.829072328999999 meters Centerline goodness : 0.799839 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99959181 -0.02850364 -0.00193542 0.29963483] [ 0.02847322 0.9994929 -0.01425542 -0.66797855] [ 0.00234077 0.0141945 0.99989651 -0.37311461] [ 0. 0. 0. 1. ]] SLAMing on 15.859072329 meters Centerline goodness : 0.799737 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.67, Z:-0.37 [[ 0.99967795 -0.02528236 -0.00219159 0.29992827] [ 0.02525654 0.99961938 -0.01109948 -0.66585087] [ 0.00247138 0.01104055 0.999936 -0.37297168] [ 0. 0. 0. 1. ]] SLAMing on 15.889072329 meters Centerline goodness : 0.799792 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.66, Z:-0.37 [[ 0.99972824 -0.02316771 -0.00259094 0.30200607] [ 0.02314006 0.99967984 -0.01023539 -0.65823906] [ 0.00282724 0.01017265 0.99994426 -0.3747321 ] [ 0. 0. 0. 1. ]] SLAMing on 15.919072328999999 meters Centerline goodness : 0.800859 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.65, Z:-0.38 [[ 0.99978836 -0.0203698 -0.00288165 0.30355831] [ 0.02034691 0.99976288 -0.00775857 -0.65494855] [ 0.00303901 0.00769829 0.99996575 -0.37611427] [ 0. 0. 0. 1. ]] SLAMing on 15.949072329 meters Centerline goodness : 0.799344 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.65, Z:-0.38 [[ 0.99984693 -0.01723229 0.00302611 0.31773726] [ 0.01727431 0.99974627 -0.01445671 -0.64766533] [-0.00277622 0.01450677 0.99989092 -0.3818302 ] [ 0. 0. 0. 1. ]] SLAMing on 15.979072329 meters Centerline goodness : 0.798291 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.63, Z:-0.39 [[ 0.99988006 -0.0129048 0.00856288 0.33475086] [ 0.01305493 0.99975786 -0.01771407 -0.63375657] [-0.00833221 0.01782373 0.99980643 -0.38639625] [ 0. 0. 0. 1. ]] SLAMing on 16.009072329 meters Centerline goodness : 0.798412 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.63, Z:-0.39 [[ 0.99991551 -0.00986389 0.00846577 0.33506847] [ 0.00999206 0.99983404 -0.01523322 -0.62894523] [-0.0083141 0.01531652 0.99984813 -0.38657548] [ 0. 0. 0. 1. ]] SLAMing on 16.039072329 meters Centerline goodness : 0.798984 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.62, Z:-0.39 [[ 0.999941 -0.0068526 0.00842869 0.3351409 ] [ 0.00696044 0.99989344 -0.01283185 -0.62395397] [-0.00833986 0.01288976 0.99988214 -0.38651214] [ 0. 0. 0. 1. ]] SLAMing on 16.069072329 meters Centerline goodness : 0.799121 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.62, Z:-0.39 [[ 0.99991945 -0.00505223 0.01164378 0.35715731] [ 0.00521477 0.99988879 -0.01397178 -0.61764288] [-0.01157189 0.01403137 0.99983459 -0.38801512] [ 0. 0. 0. 1. ]] SLAMing on 16.099072329 meters Centerline goodness : 0.799332 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.61, Z:-0.39 [[ 0.99992987 -0.00275623 0.01151798 0.35763608] [ 0.00291477 0.99990093 -0.01377044 -0.60554643] [-0.01147888 0.01380305 0.99983884 -0.38787094] [ 0. 0. 0. 1. ]] SLAMing on 16.129072329 meters Centerline goodness : 0.800046 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.60, Z:-0.39 [[ 0.99993966 -0.00103014 0.01093666 0.36061648] [ 0.00116717 0.99992081 -0.01253026 -0.6001805 ] [-0.01092288 0.01254227 0.99986168 -0.39006245] [ 0. 0. 0. 1. ]] SLAMing on 16.159072329 meters Centerline goodness : 0.799532 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.60, Z:-0.39 [[ 9.99948226e-01 3.35980518e-04 1.01702168e-02 3.64136360e-01] [-2.18713462e-04 9.99933511e-01 -1.15293551e-02 -5.95139571e-01] [-1.01734142e-02 1.15265338e-02 9.99881813e-01 -3.92495091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189072329 meters Centerline goodness : 0.799933 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.58, Z:-0.40 [[ 9.99951363e-01 -5.58161397e-04 9.84679852e-03 3.91115151e-01] [ 7.20834098e-04 9.99863200e-01 -1.65245586e-02 -5.84028896e-01] [-9.83622811e-03 1.65308528e-02 9.99814973e-01 -3.96402616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219072329 meters Centerline goodness : 0.798423 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.58, Z:-0.40 [[ 0.99995198 -0.00121948 0.00972415 0.3917087 ] [ 0.00139703 0.99983206 -0.01827273 -0.57929217] [-0.00970024 0.01828544 0.99978575 -0.39644515] [ 0. 0. 0. 1. ]] SLAMing on 16.249072329 meters Centerline goodness : 0.799840 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.57, Z:-0.40 [[ 0.99995188 -0.00192458 0.00961988 0.39181667] [ 0.00211523 0.99980078 -0.01984769 -0.57450394] [-0.00957977 0.01986708 0.99975673 -0.39611282] [ 0. 0. 0. 1. ]] SLAMing on 16.279072328999998 meters Centerline goodness : 0.798872 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.57, Z:-0.40 [[ 9.99959980e-01 -2.70199990e-04 8.94232073e-03 3.94268719e-01] [ 4.33853104e-04 9.99832372e-01 -1.83040901e-02 -5.70474875e-01] [-8.93587598e-03 1.83072372e-02 9.99792476e-01 -3.97323936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309072329 meters Centerline goodness : 0.801969 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.56, Z:-0.39 [[ 0.99994462 0.00497816 0.00927213 0.39212392] [-0.00484214 0.99988118 -0.01463518 -0.55714974] [-0.00934388 0.01458947 0.99984991 -0.39462926] [ 0. 0. 0. 1. ]] SLAMing on 16.339072329 meters Centerline goodness : 0.803007 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.55, Z:-0.39 [[ 0.99992618 0.00802105 0.00912643 0.39226816] [-0.00790509 0.99988846 -0.01267172 -0.54959839] [-0.00922705 0.01259864 0.99987806 -0.39409678] [ 0. 0. 0. 1. ]] SLAMing on 16.369072328999998 meters Centerline goodness : 0.802354 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.39 [[ 0.99989684 0.01111536 0.0090976 0.39219428] [-0.01102124 0.99988589 -0.0103314 -0.54423265] [-0.0092114 0.01023006 0.99990524 -0.39367044] [ 0. 0. 0. 1. ]] SLAMing on 16.399072329 meters Centerline goodness : 0.802354 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.39 [[ 0.99989722 0.01109532 0.00907937 0.39221019] [-0.01100139 0.99988611 -0.0103312 -0.5441678 ] [-0.00919296 0.01023025 0.99990541 -0.39362733] [ 0. 0. 0. 1. ]] SLAMing on 16.429072329 meters Centerline goodness : 0.802856 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.54, Z:-0.40 [[ 0.99988676 0.01224735 0.00874443 0.39476651] [-0.01215829 0.9998744 -0.01016672 -0.53735018] [-0.00886784 0.01005925 0.99991008 -0.3958139 ] [ 0. 0. 0. 1. ]] SLAMing on 16.459072328999998 meters Centerline goodness : 0.803647 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.53, Z:-0.40 [[ 0.99989572 0.01162167 0.00857269 0.39536965] [-0.01152464 0.99986995 -0.01128164 -0.53458597] [-0.00870269 0.01118166 0.99989961 -0.3961456 ] [ 0. 0. 0. 1. ]] SLAMing on 16.489072329 meters Centerline goodness : 0.804401 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.53, Z:-0.40 [[ 0.99990379 0.01088021 0.00860375 0.39551522] [-0.01077224 0.99986388 -0.01249738 -0.53141471] [-0.00873856 0.0124035 0.99988489 -0.39638924] [ 0. 0. 0. 1. ]] SLAMing on 16.519072329 meters Centerline goodness : 0.803880 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.52, Z:-0.40 [[ 0.99992864 0.00844225 0.00845276 0.39610825] [-0.00830841 0.9998415 -0.01574598 -0.52304679] [-0.00858435 0.01567463 0.99984029 -0.39650199] [ 0. 0. 0. 1. ]] SLAMing on 16.549072329 meters Centerline goodness : 0.805502 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.52, Z:-0.40 [[ 0.99996804 0.00323482 0.00731102 0.37425017] [-0.00320253 0.99998509 -0.00442402 -0.51914672] [-0.00732522 0.00440047 0.99996349 -0.39510026] [ 0. 0. 0. 1. ]] SLAMing on 16.579072329 meters Centerline goodness : 0.802355 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.51, Z:-0.40 [[ 0.99997173 0.00238282 0.00713172 0.37485348] [-0.00234092 0.99997999 -0.00587746 -0.51433262] [-0.00714558 0.0058606 0.9999573 -0.39530803] [ 0. 0. 0. 1. ]] SLAMing on 16.609072329 meters Centerline goodness : 0.804252 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.51, Z:-0.39 [[ 0.99996683 0.00387051 0.00716709 0.37424504] [-0.00384083 0.99998401 -0.00415105 -0.5106656 ] [-0.00718304 0.00412339 0.9999657 -0.39469877] [ 0. 0. 0. 1. ]] SLAMing on 16.639072329 meters Centerline goodness : 0.803176 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 0.99997241 0.00227905 0.00707071 0.37424923] [-0.00223053 0.99997397 -0.00686237 -0.50224475] [-0.00708616 0.00684641 0.99995146 -0.3942371 ] [ 0. 0. 0. 1. ]] SLAMing on 16.669072329 meters Centerline goodness : 0.803935 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 0.99997338 0.00158096 0.00712386 0.37375709] [-0.00152582 0.9999689 -0.00773817 -0.50067513] [-0.00713588 0.00772709 0.99994468 -0.39366071] [ 0. 0. 0. 1. ]] SLAMing on 16.699072329 meters Centerline goodness : 0.803538 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 9.99973562e-01 9.60063969e-04 7.20790696e-03 3.73241657e-01] [-9.00555317e-04 9.99965524e-01 -8.25473498e-03 -5.00301629e-01] [-7.21558353e-03 8.24802562e-03 9.99939951e-01 -3.93182802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729072329 meters Centerline goodness : 0.804142 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.50, Z:-0.39 [[ 9.99972802e-01 1.75584368e-04 7.37327975e-03 3.72480493e-01] [-1.07721205e-04 9.99957643e-01 -9.20332039e-03 -4.98638530e-01] [-7.37458339e-03 9.20227581e-03 9.99930464e-01 -3.92534026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759072329 meters Centerline goodness : 0.803773 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.49, Z:-0.39 [[ 9.99973842e-01 8.49366476e-04 7.18295055e-03 3.73159886e-01] [-7.84840162e-04 9.99959359e-01 -8.98131274e-03 -4.89914394e-01] [-7.19028705e-03 8.97544033e-03 9.99933868e-01 -3.92715309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789072329 meters Centerline goodness : 0.805339 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.49, Z:-0.39 [[ 0.999966 0.00389708 0.00726782 0.37334259] [-0.00385052 0.99997205 -0.00640948 -0.4854218 ] [-0.00729259 0.00638127 0.99995305 -0.39311712] [ 0. 0. 0. 1. ]] SLAMing on 16.819072329 meters Centerline goodness : 0.803120 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.40 [[ 0.99996298 0.0056247 0.0065111 0.37676163] [-0.00559185 0.9999716 -0.0050524 -0.4805438 ] [-0.00653933 0.0050158 0.99996604 -0.39541721] [ 0. 0. 0. 1. ]] SLAMing on 16.849072329 meters Centerline goodness : 0.803660 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.40 [[ 0.99995233 0.00755901 0.00618068 0.3792868 ] [-0.00753251 0.99996238 -0.00430071 -0.47329019] [-0.00621296 0.00425395 0.99997165 -0.39748154] [ 0. 0. 0. 1. ]] SLAMing on 16.879072329 meters Centerline goodness : 0.803530 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.40 [[ 0.99993363 0.0093879 0.00667796 0.37697088] [-0.00936982 0.99995237 -0.00273339 -0.47036072] [-0.0067033 0.00267064 0.99997397 -0.39588238] [ 0. 0. 0. 1. ]] SLAMing on 16.909072329 meters Centerline goodness : 0.803633 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.46, Z:-0.40 [[ 0.99994154 0.00861692 0.00653154 0.3772254 ] [-0.0085873 0.99995278 -0.0045483 -0.46495896] [-0.00657042 0.00449195 0.99996833 -0.39565903] [ 0. 0. 0. 1. ]] SLAMing on 16.939072329 meters Centerline goodness : 0.805446 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.46, Z:-0.40 [[ 0.99992317 0.01047141 0.00663341 0.37746056] [-0.01044554 0.99993775 -0.00392153 -0.45559851] [-0.00667406 0.00385194 0.99997031 -0.39586634] [ 0. 0. 0. 1. ]] SLAMing on 16.969072329 meters Centerline goodness : 0.803822 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.45, Z:-0.40 [[ 0.999932 0.00974969 0.00639878 0.37824313] [-0.00971315 0.99993649 -0.00571659 -0.44926608] [-0.00645411 0.00565404 0.99996319 -0.39603715] [ 0. 0. 0. 1. ]] SLAMing on 16.999072329 meters Centerline goodness : 0.804294 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.45, Z:-0.40 [[ 0.99990579 0.01182584 0.00696813 0.37637494] [-0.01179929 0.99992301 -0.00384 -0.44516629] [-0.007013 0.00375742 0.99996835 -0.39510175] [ 0. 0. 0. 1. ]] SLAMing on 17.029072328999998 meters Centerline goodness : 0.805059 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.44, Z:-0.40 [[ 0.99992524 0.0101863 0.00676389 0.37776234] [-0.01014029 0.99992545 -0.00680143 -0.43619051] [-0.00683267 0.00673234 0.99995399 -0.39597943] [ 0. 0. 0. 1. ]] SLAMing on 17.059072329 meters Centerline goodness : 0.805202 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.43, Z:-0.40 [[ 0.99993241 0.00939862 0.00684458 0.37753 ] [-0.00934343 0.99992394 -0.00805093 -0.43278348] [-0.00691972 0.00798643 0.99994417 -0.39580044] [ 0. 0. 0. 1. ]] SLAMing on 17.089072329 meters Centerline goodness : 0.808617 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.43, Z:-0.39 [[ 0.99994154 0.00818313 0.00706779 0.37635951] [-0.00811349 0.99991879 -0.00982756 -0.42839686] [-0.00714763 0.00976964 0.99992673 -0.39473527] [ 0. 0. 0. 1. ]] SLAMing on 17.119072328999998 meters Centerline goodness : 0.808527 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.42, Z:-0.39 [[ 9.99997353e-01 2.05063461e-04 2.29183728e-03 3.75737822e-01] [-1.99358050e-04 9.99996882e-01 -2.48940002e-03 -4.18987230e-01] [-2.29234062e-03 2.48893653e-03 9.99994275e-01 -3.92648356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149072329 meters Centerline goodness : 0.810546 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.42, Z:-0.39 [[ 9.99997273e-01 -6.39777404e-04 2.24591487e-03 3.76143629e-01] [ 6.47831022e-04 9.99993357e-01 -3.58700240e-03 -4.16010776e-01] [-2.24360506e-03 3.58844760e-03 9.99991045e-01 -3.93084772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179072329 meters Centerline goodness : 0.811154 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99999624 -0.00143301 0.00233845 0.37622161] [ 0.00144328 0.9999893 -0.00439578 -0.41423305] [-0.00233213 0.00439914 0.9999876 -0.39352128] [ 0. 0. 0. 1. ]] SLAMing on 17.209072328999998 meters Centerline goodness : 0.809169 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99999367 -0.00248383 0.002548 0.37568738] [ 0.00249727 0.99998291 -0.00528546 -0.4129808 ] [-0.00253483 0.00529179 0.99998279 -0.39354494] [ 0. 0. 0. 1. ]] SLAMing on 17.239072329 meters Centerline goodness : 0.810246 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99998396 -0.00493369 0.00278062 0.37514339] [ 0.00495396 0.99996085 -0.00733179 -0.4093966 ] [-0.00274433 0.00734545 0.99996926 -0.39372133] [ 0. 0. 0. 1. ]] SLAMing on 17.269072329 meters Centerline goodness : 0.809805 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.41, Z:-0.39 [[ 0.99998009 -0.00564945 0.002811 0.37509073] [ 0.00567269 0.99994924 -0.00832707 -0.40647882] [-0.00276382 0.00834285 0.99996138 -0.39366832] [ 0. 0. 0. 1. ]] SLAMing on 17.299072329 meters Centerline goodness : 0.811143 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.39 [[ 0.99995286 -0.00938544 -0.00248755 0.38562617] [ 0.00937079 0.99993907 -0.00583508 -0.39953162] [ 0.00254216 0.0058115 0.99997988 -0.38989802] [ 0. 0. 0. 1. ]] SLAMing on 17.329072329 meters Centerline goodness : 0.812580 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99997582 -0.00655442 -0.00232553 0.38478156] [ 0.00654871 0.99997554 -0.00245544 -0.39906049] [ 0.00234156 0.00244015 0.99999428 -0.38958992] [ 0. 0. 0. 1. ]] SLAMing on 17.359072329 meters Centerline goodness : 0.810572 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.9999733 -0.00691274 -0.00236907 0.38484834] [ 0.00690524 0.99997117 -0.00316018 -0.39705286] [ 0.00239085 0.00314373 0.9999922 -0.38950063] [ 0. 0. 0. 1. ]] SLAMing on 17.389072329 meters Centerline goodness : 0.810459 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.40, Z:-0.39 [[ 0.99997236 -0.00703199 -0.00241421 0.38527032] [ 0.0070237 0.99996947 -0.00342388 -0.39622145] [ 0.00243821 0.00340682 0.99999122 -0.3899894 ] [ 0. 0. 0. 1. ]] SLAMing on 17.419072329 meters Centerline goodness : 0.811342 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99996577 -0.0079742 -0.00220684 0.38450246] [ 0.00796523 0.99996009 -0.00404603 -0.39575156] [ 0.00223902 0.00402832 0.99998938 -0.38973549] [ 0. 0. 0. 1. ]] SLAMing on 17.449072329 meters Centerline goodness : 0.812247 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99996184 -0.00851161 -0.00196783 0.38369147] [ 0.00850295 0.9999543 -0.00436992 -0.39524516] [ 0.00200493 0.00435302 0.99998852 -0.38935763] [ 0. 0. 0. 1. ]] SLAMing on 17.479072329 meters Centerline goodness : 0.813786 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 0.99995878 -0.00890014 -0.00179545 0.38333358] [ 0.00889151 0.99994915 -0.00475832 -0.39417135] [ 0.00183771 0.00474216 0.99998707 -0.38932937] [ 0. 0. 0. 1. ]] SLAMing on 17.509072329 meters Centerline goodness : 0.811168 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 0.99995693 -0.00908473 -0.00189731 0.38389169] [ 0.00907524 0.99994654 -0.00495546 -0.39303481] [ 0.00194223 0.00493802 0.99998592 -0.38977406] [ 0. 0. 0. 1. ]] SLAMing on 17.539072329 meters Centerline goodness : 0.812025 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 0.99995468 -0.00927462 -0.0021493 0.38515678] [ 0.00926363 0.99994424 -0.00506898 -0.39204281] [ 0.00219619 0.00504884 0.99998484 -0.39077844] [ 0. 0. 0. 1. ]] SLAMing on 17.569072329 meters Centerline goodness : 0.811195 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 0.99995549 -0.00918808 -0.00214311 0.38525099] [ 0.00917791 0.99994679 -0.00470986 -0.3935677 ] [ 0.00218627 0.00468998 0.99998661 -0.39100801] [ 0. 0. 0. 1. ]] SLAMing on 17.599072329 meters Centerline goodness : 0.812190 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99995618 -0.00913899 -0.0020312 0.38485493] [ 0.00913025 0.9999492 -0.00427112 -0.39569888] [ 0.00207013 0.00425239 0.99998882 -0.39090364] [ 0. 0. 0. 1. ]] SLAMing on 17.629072329 meters Centerline goodness : 0.814311 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 0.99995564 -0.00921119 -0.00196566 0.38415607] [ 0.00920298 0.99994906 -0.00414458 -0.39667704] [ 0.00200373 0.00412631 0.99998948 -0.39013859] [ 0. 0. 0. 1. ]] SLAMing on 17.659072329 meters Centerline goodness : 0.815054 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.40, Z:-0.39 [[ 9.99980159e-01 -6.14619570e-03 -1.38019673e-03 3.81746274e-01] [ 6.14493850e-03 9.99980703e-01 -9.13286403e-04 -3.95957428e-01] [ 1.38578333e-03 9.04787059e-04 9.99998630e-01 -3.88766116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689072329 meters Centerline goodness : 0.817159 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 9.99986723e-01 -4.75542874e-03 -1.98510748e-03 3.84358226e-01] [ 4.75580497e-03 9.99988674e-01 1.84850612e-04 -3.93176550e-01] [ 1.98420595e-03 -1.94288941e-04 9.99998013e-01 -3.90172095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719072329 meters Centerline goodness : 0.817190 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.39, Z:-0.39 [[ 9.99996946e-01 -7.53252978e-04 -2.35363853e-03 3.84846648e-01] [ 7.62014574e-04 9.99992776e-01 3.72389852e-03 -3.90793029e-01] [ 2.35081649e-03 -3.72568066e-03 9.99990296e-01 -3.89652302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749072329 meters Centerline goodness : 0.815637 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.39, Z:-0.39 [[ 9.99996141e-01 -3.94143501e-04 -2.74995201e-03 3.85839442e-01] [ 4.05148043e-04 9.99991909e-01 4.00231250e-03 -3.91725379e-01] [ 2.74835227e-03 -4.00341120e-03 9.99988210e-01 -3.89873291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779072328999998 meters Centerline goodness : 0.815251 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 9.99975893e-01 8.59669697e-04 -6.89021664e-03 3.65172658e-01] [-8.56158819e-04 9.99999502e-01 5.12478838e-04 -3.89487362e-01] [ 6.89065377e-03 -5.06567363e-04 9.99976131e-01 -3.88118474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809072329 meters Centerline goodness : 0.816383 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.39, Z:-0.39 [[ 0.99996382 0.00501689 -0.0068693 0.36477019] [-0.00498557 0.99997714 0.00456873 -0.38954928] [ 0.00689206 -0.00453432 0.99996597 -0.38759976] [ 0. 0. 0. 1. ]] SLAMing on 17.839072329 meters Centerline goodness : 0.818871 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99995935 0.00511012 -0.00742853 0.36599618] [-0.00508127 0.99997949 0.00389776 -0.38590287] [ 0.0074483 -0.00385985 0.99996481 -0.38734557] [ 0. 0. 0. 1. ]] SLAMing on 17.869072328999998 meters Centerline goodness : 0.817858 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.39 [[ 0.99995497 0.005211 -0.00793085 0.36732367] [-0.00518362 0.99998055 0.00346858 -0.38331998] [ 0.00794877 -0.00342732 0.99996253 -0.38751495] [ 0. 0. 0. 1. ]] SLAMing on 17.899072329 meters Centerline goodness : 0.816318 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.38, Z:-0.39 [[ 0.99994893 0.00569598 -0.00834839 0.36834968] [-0.00566644 0.99997762 0.00355678 -0.38314363] [ 0.00836847 -0.0035093 0.99995883 -0.38758061] [ 0. 0. 0. 1. ]] SLAMing on 17.929072329 meters Centerline goodness : 0.816602 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994657 0.00594215 -0.00845827 0.36831702] [-0.00590889 0.99997473 0.00395157 -0.38524164] [ 0.00848154 -0.00390138 0.99995642 -0.38730436] [ 0. 0. 0. 1. ]] SLAMing on 17.959072328999998 meters Centerline goodness : 0.815057 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994441 0.00626026 -0.00848496 0.36816618] [-0.00622161 0.99997018 0.00457475 -0.38802075] [ 0.00851335 -0.0045217 0.99995354 -0.38713161] [ 0. 0. 0. 1. ]] SLAMing on 17.989072329 meters Centerline goodness : 0.816243 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99994246 0.00647557 -0.00855266 0.36853337] [-0.00642863 0.99996419 0.00550434 -0.39099525] [ 0.008588 -0.00544905 0.99994828 -0.38766397] [ 0. 0. 0. 1. ]] SLAMing on 18.019072329 meters Centerline goodness : 0.815465 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99993962 0.00655996 -0.00881566 0.36957138] [-0.00650874 0.99996185 0.00582543 -0.39103211] [ 0.00885354 -0.0057677 0.99994417 -0.38831027] [ 0. 0. 0. 1. ]] SLAMing on 18.049072328999998 meters Centerline goodness : 0.815825 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.39, Z:-0.39 [[ 0.99993819 0.00650509 -0.00901629 0.37031308] [-0.00645132 0.99996131 0.00598004 -0.39105964] [ 0.00905485 -0.0059215 0.99994147 -0.38875701] [ 0. 0. 0. 1. ]] SLAMing on 18.079072329 meters Centerline goodness : 0.811472 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.40, Z:-0.39 [[ 0.99995266 0.00291206 -0.00928419 0.37113957] [-0.00287956 0.99998969 0.00351185 -0.39601538] [ 0.00929432 -0.00348495 0.99995073 -0.38942227] [ 0. 0. 0. 1. ]] SLAMing on 18.109072329 meters Centerline goodness : 0.810685 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.40, Z:-0.39 [[ 9.99956769e-01 -7.54806979e-04 -9.26769436e-03 3.70703298e-01] [ 7.60605397e-04 9.99999517e-01 6.22150565e-04 -4.00949996e-01] [ 9.26722028e-03 -6.29172727e-04 9.99956860e-01 -3.89026412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139072329 meters Centerline goodness : 0.812713 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.39 [[ 0.99994783 -0.00464701 -0.00909608 0.36944368] [ 0.00462551 0.99998646 -0.00238374 -0.40590156] [ 0.00910703 0.00234154 0.99995579 -0.38791567] [ 0. 0. 0. 1. ]] SLAMing on 18.169072329 meters Centerline goodness : 0.812058 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.39 [[ 0.99992278 -0.00871558 -0.00885895 0.36821454] [ 0.00866463 0.99994579 -0.00577376 -0.40898528] [ 0.00890879 0.00569655 0.99994409 -0.38683565] [ 0. 0. 0. 1. ]] SLAMing on 18.199072329 meters Centerline goodness : 0.813208 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.38 [[ 0.99986743 -0.01405828 -0.00821488 0.36511423] [ 0.01397571 0.9998521 -0.01002294 -0.41060928] [ 0.00835457 0.0099068 0.99991602 -0.3843884 ] [ 0. 0. 0. 1. ]] SLAMing on 18.229072329 meters Centerline goodness : 0.811551 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.41, Z:-0.38 [[ 0.99986987 -0.01393775 -0.00812314 0.3650715 ] [ 0.01386375 0.99986253 -0.00909519 -0.41360373] [ 0.00824879 0.00898139 0.99992564 -0.38474119] [ 0. 0. 0. 1. ]] SLAMing on 18.259072329 meters Centerline goodness : 0.810909 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.42, Z:-0.39 [[ 0.99987577 -0.01346869 -0.00818786 0.36560642] [ 0.01340685 0.99988154 -0.00756091 -0.41894754] [ 0.00828873 0.0074502 0.99993789 -0.38555554] [ 0. 0. 0. 1. ]] SLAMing on 18.289072329 meters Centerline goodness : 0.810909 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.42, Z:-0.39 [[ 0.99987577 -0.01346869 -0.00818786 0.36560642] [ 0.01340685 0.99988154 -0.00756091 -0.41894754] [ 0.00828873 0.0074502 0.99993789 -0.38555554] [ 0. 0. 0. 1. ]] SLAMing on 18.319072329 meters Centerline goodness : 0.809308 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.43, Z:-0.39 [[ 0.99977295 -0.0193591 -0.00890361 0.36842318] [ 0.0192477 0.99973745 -0.01243218 -0.42824757] [ 0.00914195 0.01225798 0.99988308 -0.38703276] [ 0. 0. 0. 1. ]] SLAMing on 18.349072329 meters Centerline goodness : 0.808358 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.43, Z:-0.39 [[ 0.99977802 -0.01914626 -0.00879378 0.36827499] [ 0.01904997 0.99975905 -0.01090561 -0.43402012] [ 0.00900046 0.01073567 0.99990186 -0.38747532] [ 0. 0. 0. 1. ]] SLAMing on 18.379072329 meters Centerline goodness : 0.807175 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.44, Z:-0.39 [[ 0.99977787 -0.01916104 -0.00877883 0.36806076] [ 0.01908081 0.99977622 -0.00913403 -0.43924119] [ 0.00895189 0.00896449 0.99991975 -0.38754636] [ 0. 0. 0. 1. ]] SLAMing on 18.409072329 meters Centerline goodness : 0.807481 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.44, Z:-0.39 [[ 0.99983376 -0.01591414 -0.00889896 0.36807179] [ 0.01587635 0.99986471 -0.0043022 -0.44384324] [ 0.00896623 0.0041602 0.99995115 -0.38786754] [ 0. 0. 0. 1. ]] SLAMing on 18.439072329 meters Centerline goodness : 0.805013 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.45, Z:-0.39 [[ 0.99984029 -0.01542359 -0.009028 0.36817581] [ 0.01539855 0.99987741 -0.00283651 -0.4486627 ] [ 0.00907064 0.00269704 0.99995522 -0.38776417] [ 0. 0. 0. 1. ]] SLAMing on 18.469072329 meters Centerline goodness : 0.805070 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.46, Z:-0.39 [[ 0.99972541 -0.02143442 -0.00946966 0.36802915] [ 0.02136278 0.99974289 -0.00760229 -0.45959985] [ 0.00963017 0.0073979 0.99992626 -0.38617455] [ 0. 0. 0. 1. ]] SLAMing on 18.499072329 meters Centerline goodness : 0.804874 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.46, Z:-0.39 [[ 0.99964572 -0.0248246 -0.00960098 0.3677009 ] [ 0.02472337 0.99963895 -0.01052288 -0.46348861] [ 0.00985874 0.01028178 0.99989854 -0.38508864] [ 0. 0. 0. 1. ]] SLAMing on 18.529072328999998 meters Centerline goodness : 0.805492 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.47, Z:-0.38 [[ 0.99965459 -0.02453008 -0.00943231 0.36669455] [ 0.02443981 0.99965551 -0.00956871 -0.46672044] [ 0.00966379 0.00933488 0.99990973 -0.38416912] [ 0. 0. 0. 1. ]] SLAMing on 18.559072329 meters Centerline goodness : 0.804869 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.47, Z:-0.39 [[ 9.99719291e-01 -2.35915750e-02 -2.18567314e-03 3.78391948e-01] [ 2.35934089e-02 9.99721303e-01 8.17120911e-04 -4.73602604e-01] [ 2.16578683e-03 -8.68459018e-04 9.99997278e-01 -3.87854447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589072329 meters Centerline goodness : 0.799334 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.39 [[ 0.99976672 -0.02138948 -0.00299927 0.38245295] [ 0.02140089 0.99976366 0.00382475 -0.47808451] [ 0.00291675 -0.00388805 0.99998819 -0.39097835] [ 0. 0. 0. 1. ]] SLAMing on 18.619072328999998 meters Centerline goodness : 0.798825 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.48, Z:-0.39 [[ 0.99979253 -0.02007654 -0.00344062 0.3849209 ] [ 0.02009682 0.99978026 0.00596282 -0.48336766] [ 0.00332015 -0.00603072 0.9999763 -0.39303663] [ 0. 0. 0. 1. ]] SLAMing on 18.649072329 meters Centerline goodness : 0.794648 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99980641 -0.01932525 -0.00369868 0.3858981 ] [ 0.01935249 0.99978477 0.00747653 -0.48850747] [ 0.0035534 -0.00754667 0.99996521 -0.39368035] [ 0. 0. 0. 1. ]] SLAMing on 18.679072329 meters Centerline goodness : 0.793395 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99977289 -0.02080921 -0.00459888 0.38813699] [ 0.02083705 0.99976434 0.00609021 -0.49424275] [ 0.00447107 -0.00618465 0.99997088 -0.39363708] [ 0. 0. 0. 1. ]] SLAMing on 18.709072328999998 meters Centerline goodness : 0.791978 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99977951 -0.0203994 -0.00497905 0.38828846] [ 0.02043097 0.99977094 0.00637484 -0.49463454] [ 0.00484787 -0.00647516 0.99996728 -0.39256964] [ 0. 0. 0. 1. ]] SLAMing on 18.739072329 meters Centerline goodness : 0.791408 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99984429 -0.01698103 -0.00480031 0.38607858] [ 0.01702809 0.99980561 0.00993947 -0.49536191] [ 0.0046306 -0.01001966 0.99993908 -0.39037239] [ 0. 0. 0. 1. ]] SLAMing on 18.769072329 meters Centerline goodness : 0.791337 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99985721 -0.01598834 -0.00547163 0.38745807] [ 0.01604418 0.99981804 0.01031892 -0.49437041] [ 0.00530565 -0.01040523 0.99993179 -0.39005537] [ 0. 0. 0. 1. ]] SLAMing on 18.799072328999998 meters Centerline goodness : 0.787511 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 9.99990457e-01 -4.33531511e-03 -5.40023553e-04 3.87458991e-01] [ 4.33779924e-03 9.99979607e-01 4.68710994e-03 -4.95682184e-01] [ 5.19692442e-04 -4.68940773e-03 9.99988870e-01 -3.90971684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829072329 meters Centerline goodness : 0.785773 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99999492 -0.0028996 -0.00132667 0.38930452] [ 0.00290668 0.99998139 0.00536408 -0.4961004 ] [ 0.00131109 -0.00536791 0.99998473 -0.39100748] [ 0. 0. 0. 1. ]] SLAMing on 18.859072329 meters Centerline goodness : 0.783387 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99999278 0.00339761 -0.00170409 0.39021376] [-0.0033795 0.99993891 0.01052419 -0.49696505] [ 0.00173975 -0.01051836 0.99994317 -0.39076926] [ 0. 0. 0. 1. ]] SLAMing on 18.889072329 meters Centerline goodness : 0.781267 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99998652 0.00476403 -0.00206253 0.39123161] [-0.00474163 0.99993119 0.01072971 -0.49471777] [ 0.0021135 -0.01071978 0.99994031 -0.39071918] [ 0. 0. 0. 1. ]] SLAMing on 18.919072329 meters Centerline goodness : 0.779716 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99995538 0.00916226 -0.00230137 0.39161831] [-0.00912673 0.9998458 0.01500284 -0.49464448] [ 0.00243847 -0.01498116 0.9998848 -0.39039401] [ 0. 0. 0. 1. ]] SLAMing on 18.949072329 meters Centerline goodness : 0.774600 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.50, Z:-0.39 [[ 0.99983321 0.01806418 -0.00269052 0.39279551] [-0.01799521 0.9995555 0.02376904 -0.49547469] [ 0.00311869 -0.02371666 0.99971386 -0.39032019] [ 0. 0. 0. 1. ]] SLAMing on 18.979072329 meters Centerline goodness : 0.773263 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.49, Z:-0.39 [[ 0.99970492 0.02273293 -0.00856058 0.38311062] [-0.02258881 0.99960748 0.01657198 -0.49118878] [ 0.00893395 -0.01637372 0.99982603 -0.38739546] [ 0. 0. 0. 1. ]] SLAMing on 19.009072329 meters Centerline goodness : 0.773082 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.49, Z:-0.39 [[ 0.99967925 0.02370952 -0.00890214 0.38388939] [-0.02356127 0.99958779 0.01640497 -0.48915538] [ 0.00928743 -0.01618996 0.9998258 -0.3870947 ] [ 0. 0. 0. 1. ]] SLAMing on 19.039072329 meters Centerline goodness : 0.771417 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99957592 0.02839326 -0.00646534 0.39456399] [-0.02832865 0.99954989 0.00987431 -0.48816954] [ 0.0067428 -0.00968697 0.99993035 -0.38723828] [ 0. 0. 0. 1. ]] SLAMing on 19.069072329 meters Centerline goodness : 0.770185 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.49, Z:-0.39 [[ 0.99940374 0.03399021 -0.00606926 0.39355395] [-0.03390418 0.99933044 0.0137545 -0.48559699] [ 0.00653271 -0.01354052 0.99988698 -0.38576158] [ 0. 0. 0. 1. ]] SLAMing on 19.099072329 meters Centerline goodness : 0.771714 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.48, Z:-0.39 [[ 0.99936803 0.03501506 -0.00612181 0.39381211] [-0.03493032 0.99929937 0.01344062 -0.48167581] [ 0.00658814 -0.01321828 0.99989093 -0.38542549] [ 0. 0. 0. 1. ]] SLAMing on 19.129072329 meters Centerline goodness : 0.770217 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.48, Z:-0.39 [[ 0.99922098 0.03897799 -0.0061759 0.39432456] [-0.0388683 0.9991 0.01698366 -0.4795009 ] [ 0.00683233 -0.01673039 0.99983669 -0.38544771] [ 0. 0. 0. 1. ]] SLAMing on 19.159072329 meters Centerline goodness : 0.772030 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99902795 0.04363512 -0.00625495 0.39566363] [-0.04350166 0.99885144 0.02008509 -0.47354791] [ 0.00712418 -0.01979347 0.99977871 -0.38601424] [ 0. 0. 0. 1. ]] SLAMing on 19.189072329 meters Centerline goodness : 0.763157 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99901686 0.04383419 -0.00662423 0.39682581] [-0.04370006 0.99886033 0.01919223 -0.46975184] [ 0.00745796 -0.01888388 0.99979387 -0.38628195] [ 0. 0. 0. 1. ]] SLAMing on 19.219072329 meters Centerline goodness : 0.763497 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.47, Z:-0.39 [[ 0.99901012 0.04392892 -0.00700281 0.39778771] [-0.04379453 0.99887276 0.01831004 -0.46657105] [ 0.00779925 -0.01798523 0.99980783 -0.38628416] [ 0. 0. 0. 1. ]] SLAMing on 19.249072329 meters Centerline goodness : 0.767202 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.46, Z:-0.39 [[ 0.99899358 0.04425744 -0.00728726 0.39910868] [-0.04412842 0.99888115 0.01700408 -0.46150964] [ 0.00803166 -0.01666539 0.99982886 -0.386728 ] [ 0. 0. 0. 1. ]] SLAMing on 19.279072328999998 meters Centerline goodness : 0.767463 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.46, Z:-0.39 [[ 0.99901167 0.04382681 -0.00740922 0.39951181] [-0.0437046 0.99891761 0.01592223 -0.45824496] [ 0.00809902 -0.01558268 0.99984578 -0.38682742] [ 0. 0. 0. 1. ]] SLAMing on 19.309072329 meters Centerline goodness : 0.766508 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99905115 0.04294248 -0.00726181 0.39936605] [-0.04283857 0.99898523 0.01390578 -0.4518497 ] [ 0.00785159 -0.0135815 0.99987694 -0.38670655] [ 0. 0. 0. 1. ]] SLAMing on 19.339072329 meters Centerline goodness : 0.769346 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99907249 0.04244979 -0.00722319 0.39923533] [-0.04235417 0.99901921 0.01291283 -0.44910306] [ 0.00776425 -0.01259492 0.99989054 -0.38655107] [ 0. 0. 0. 1. ]] SLAMing on 19.369072328999998 meters Centerline goodness : 0.767661 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.45, Z:-0.39 [[ 0.99909013 0.04203073 -0.00723442 0.39939274] [-0.04194244 0.99904854 0.01195207 -0.44597692] [ 0.00772989 -0.01163776 0.9999024 -0.38656031] [ 0. 0. 0. 1. ]] SLAMing on 19.399072329 meters Centerline goodness : 0.768536 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.44, Z:-0.39 [[ 0.99911297 0.04148851 -0.00721001 0.39940906] [-0.0414086 0.99908283 0.0109006 -0.44278982] [ 0.00765564 -0.01059237 0.99991459 -0.38653753] [ 0. 0. 0. 1. ]] SLAMing on 19.429072329 meters Centerline goodness : 0.768269 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.44, Z:-0.39 [[ 0.99917767 0.03991386 -0.00713155 0.39920858] [-0.03985199 0.99916844 0.00861624 -0.43651191] [ 0.00746953 -0.00832494 0.99993745 -0.38628382] [ 0. 0. 0. 1. ]] SLAMing on 19.459072328999998 meters Centerline goodness : 0.766309 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99934147 0.0355113 -0.00745482 0.39999605] [-0.03548718 0.99936454 0.0033433 -0.4319049 ] [ 0.0075688 -0.00307655 0.99996662 -0.38651634] [ 0. 0. 0. 1. ]] SLAMing on 19.489072329 meters Centerline goodness : 0.767074 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99937279 0.03462474 -0.00742691 0.40026549] [-0.03460675 0.99939779 0.00253735 -0.4304233 ] [ 0.00751029 -0.00227874 0.9999692 -0.38706601] [ 0. 0. 0. 1. ]] SLAMing on 19.519072329 meters Centerline goodness : 0.766450 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99955324 0.02896459 -0.00737342 0.40106016] [-0.0289884 0.99957481 -0.003143 -0.42701777] [ 0.00727925 0.00335533 0.99996788 -0.38875322] [ 0. 0. 0. 1. ]] SLAMing on 19.549072328999998 meters Centerline goodness : 0.772358 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.9995929 0.02759259 -0.00725821 0.40068197] [-0.02762117 0.99961098 -0.00386697 -0.42694693] [ 0.00714868 0.00406588 0.99996618 -0.38886838] [ 0. 0. 0. 1. ]] SLAMing on 19.579072329 meters Centerline goodness : 0.773289 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.43, Z:-0.39 [[ 0.99963243 0.0261298 -0.00722776 0.40044145] [-0.02616474 0.9996462 -0.0047824 -0.42596089] [ 0.00710024 0.00496976 0.99996244 -0.3889175 ] [ 0. 0. 0. 1. ]] SLAMing on 19.609072329 meters Centerline goodness : 0.774617 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99806338e-01 1.96792085e-02 -1.26042795e-04 4.06656950e-01] [-1.96791553e-02 9.99806262e-01 4.10360337e-04 -4.22475048e-01] [ 1.34093943e-04 -4.07800450e-04 9.99999908e-01 -3.90544001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639072329 meters Centerline goodness : 0.774333 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99821893e-01 1.88727489e-02 4.60294700e-05 4.06128775e-01] [-1.88727111e-02 9.99821638e-01 -7.15543059e-04 -4.19785603e-01] [-5.95255245e-05 7.14546914e-04 9.99999743e-01 -3.90252786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669072329 meters Centerline goodness : 0.778848 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99832802e-01 1.82848781e-02 1.76111601e-04 4.05796681e-01] [-1.82845614e-02 9.99831449e-01 -1.65754227e-03 -4.17524221e-01] [-2.06389876e-04 1.65404500e-03 9.99998611e-01 -3.90136303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699072329 meters Centerline goodness : 0.777483 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.42, Z:-0.39 [[ 9.99841630e-01 1.77954274e-02 1.91643439e-04 4.05824580e-01] [-1.77948760e-02 9.99838350e-01 -2.57227936e-03 -4.15180790e-01] [-2.37387270e-04 2.56846172e-03 9.99996673e-01 -3.90156195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729072329 meters Centerline goodness : 0.780081 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.39 [[ 9.99836933e-01 1.80559715e-02 -2.98602004e-04 4.09327373e-01] [-1.80568943e-02 9.99831017e-01 -3.44762351e-03 -4.08813761e-01] [ 2.36301353e-04 3.45245314e-03 9.99994012e-01 -3.92898916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759072329 meters Centerline goodness : 0.776843 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.39 [[ 9.99769373e-01 2.14749649e-02 -1.66185012e-04 4.09665229e-01] [-2.14749838e-02 9.99769380e-01 -1.12843843e-04 -4.06894021e-01] [ 1.63723368e-04 1.16386639e-04 9.99999980e-01 -3.93604407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789072329 meters Centerline goodness : 0.781159 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.40, Z:-0.39 [[ 9.99773710e-01 2.12652796e-02 -5.62974337e-04 4.11332487e-01] [-2.12659967e-02 9.99773008e-01 -1.30001985e-03 -4.01898429e-01] [ 5.35201261e-04 1.31169788e-03 9.99998997e-01 -3.94478302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819072329 meters Centerline goodness : 0.779835 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.40 [[ 9.99695443e-01 2.46689172e-02 -6.82756574e-04 4.13151638e-01] [-2.46685698e-02 9.99695553e-01 5.12559171e-04 -3.94194150e-01] [ 6.95192990e-04 -4.95560439e-04 9.99999636e-01 -3.95766598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849072329 meters Centerline goodness : 0.785977 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.40 [[ 9.99598936e-01 2.83151749e-02 -4.67883168e-04 4.12672923e-01] [-2.83132811e-02 9.99592427e-01 3.65203200e-03 -3.91692884e-01] [ 5.71100396e-04 -3.63732000e-03 9.99993222e-01 -3.95342623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879072329 meters Centerline goodness : 0.784622 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.39, Z:-0.39 [[ 9.99592463e-01 2.85429167e-02 -4.58580631e-04 4.12907595e-01] [-2.85418133e-02 9.99590055e-01 2.25532244e-03 -3.86434093e-01] [ 5.22766119e-04 -2.24131459e-03 9.99997352e-01 -3.94981943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909072329 meters Centerline goodness : 0.791230 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.38, Z:-0.39 [[ 9.99449376e-01 3.31804793e-02 3.78815105e-05 4.13066997e-01] [-3.31803966e-02 9.99442720e-01 3.64845654e-03 -3.76931012e-01] [ 8.31971367e-05 -3.64770453e-03 9.99993344e-01 -3.94168552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939072329 meters Centerline goodness : 0.793033 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.37, Z:-0.39 [[ 9.99237111e-01 3.90481024e-02 6.64080586e-04 4.10891478e-01] [-3.90525353e-02 9.99195645e-01 9.10835145e-03 -3.73761125e-01] [-3.07882589e-04 -9.12733683e-03 9.99958298e-01 -3.92570113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969072329 meters Centerline goodness : 0.796073 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.36, Z:-0.39 [[ 9.98902259e-01 4.68405763e-02 4.86433777e-04 4.14046595e-01] [-4.68426673e-02 9.98794387e-01 1.46811680e-02 -3.64022558e-01] [ 2.01827046e-04 -1.46878378e-02 9.99892108e-01 -3.94386747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999072329 meters Centerline goodness : 0.799035 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.40 [[ 9.98720123e-01 5.05778239e-02 -5.98938779e-07 4.16156795e-01] [-5.05702238e-02 9.98570254e-01 1.73233790e-02 -3.59423573e-01] [ 8.76776897e-04 -1.73011769e-02 9.99849939e-01 -3.95333822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029072328999998 meters Centerline goodness : 0.798652 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.40 [[ 9.98514301e-01 5.44900323e-02 -1.63485921e-04 4.17796343e-01] [-5.44752446e-02 9.98304805e-01 2.04930133e-02 -3.56400266e-01] [ 1.27987374e-03 -2.04536609e-02 9.99789983e-01 -3.96579010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059072329 meters Centerline goodness : 0.800352 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.40 [[ 9.98458728e-01 5.54938572e-02 -7.74728812e-04 4.21066279e-01] [-5.54666396e-02 9.98253128e-01 2.03505185e-02 -3.52171969e-01] [ 1.90270423e-03 -2.02761812e-02 9.99792607e-01 -3.98755976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089072329 meters Centerline goodness : 0.802157 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.40 [[ 9.98261310e-01 5.89385861e-02 -7.74921802e-04 4.21976671e-01] [-5.89075281e-02 9.98023204e-01 2.18994979e-02 -3.44346253e-01] [ 2.06411538e-03 -2.18157727e-02 9.99759877e-01 -3.98665789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119072328999998 meters Centerline goodness : 0.804444 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.34, Z:-0.40 [[ 0.99827985 0.0586184 -0.00110819 0.42267356] [-0.05858454 0.99808172 0.02001854 -0.33770204] [ 0.00227952 -0.01991918 0.99979899 -0.39813282] [ 0. 0. 0. 1. ]] SLAMing on 20.149072329 meters Centerline goodness : 0.805752 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.33, Z:-0.40 [[ 0.99830638 0.05815918 -0.00137453 0.42306829] [-0.05812479 0.99814469 0.0181295 -0.33083619] [ 0.00242637 -0.0180189 0.9998347 -0.39731525] [ 0. 0. 0. 1. ]] SLAMing on 20.179072329 meters Centerline goodness : 0.807544 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.40 [[ 0.99834081 0.05755651 -0.00169465 0.42345266] [-0.05752155 0.99821228 0.01623301 -0.32463147] [ 0.00262593 -0.0161086 0.9998668 -0.39657785] [ 0. 0. 0. 1. ]] SLAMing on 20.209072328999998 meters Centerline goodness : 0.807544 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.32, Z:-0.40 [[ 0.99834081 0.05755651 -0.00169465 0.42345266] [-0.05752155 0.99821228 0.01623301 -0.32463147] [ 0.00262593 -0.0161086 0.9998668 -0.39657785] [ 0. 0. 0. 1. ]] SLAMing on 20.239072329 meters Centerline goodness : 0.810571 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.32, Z:-0.40 [[ 0.99840226 0.05646507 -0.00215222 0.42507543] [-0.05643041 0.99831229 0.01371805 -0.31637987] [ 0.00292318 -0.01357468 0.99990359 -0.39707115] [ 0. 0. 0. 1. ]] SLAMing on 20.269072329 meters Centerline goodness : 0.810390 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.31, Z:-0.40 [[ 0.99842583 0.05602989 -0.00255073 0.42659988] [-0.05599275 0.99834861 0.01284033 -0.31341275] [ 0.00326596 -0.01267729 0.99991431 -0.39794484] [ 0. 0. 0. 1. ]] SLAMing on 20.299072328999998 meters Centerline goodness : 0.811355 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.31, Z:-0.40 [[ 0.99845333 0.05551524 -0.00300209 0.42804794] [-0.05547618 0.99839002 0.01182183 -0.31029703] [ 0.00365354 -0.01163701 0.99992561 -0.39863669] [ 0. 0. 0. 1. ]] SLAMing on 20.329072329 meters Centerline goodness : 0.812755 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.30, Z:-0.40 [[ 0.99863147 0.05212611 -0.00424822 0.43247918] [-0.05209287 0.9986134 0.00759075 -0.30340884] [ 0.00463801 -0.00735906 0.99996217 -0.40127995] [ 0. 0. 0. 1. ]] SLAMing on 20.359072329 meters Centerline goodness : 0.814797 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.30, Z:-0.40 [[ 0.9988063 0.0485706 -0.00518299 0.43538389] [-0.04855427 0.99881531 0.00323317 -0.29891158] [ 0.00533389 -0.00297765 0.99998134 -0.40260349] [ 0. 0. 0. 1. ]] SLAMing on 20.389072329 meters Centerline goodness : 0.816681 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.30, Z:-0.41 [[ 9.98968497e-01 4.53948598e-02 1.11735838e-03 4.48999560e-01] [-4.54033434e-02 9.98924938e-01 9.35439945e-03 -2.99123040e-01] [-6.91515498e-04 -9.39548217e-03 9.99955622e-01 -4.08118713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419072329 meters Centerline goodness : 0.818339 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.41 [[ 9.99026780e-01 4.40932139e-02 1.13153591e-03 4.48391834e-01] [-4.40999636e-02 9.99003536e-01 6.86503996e-03 -2.91180802e-01] [-8.27706699e-04 -6.90825947e-03 9.99975795e-01 -4.06768236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449072329 meters Centerline goodness : 0.820608 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.29, Z:-0.41 [[ 9.99053156e-01 4.34981382e-02 8.38323970e-04 4.48768830e-01] [-4.35021465e-02 9.99037781e-01 5.57447516e-03 -2.87183121e-01] [-5.95038028e-04 -5.60566589e-03 9.99984111e-01 -4.06219655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479072329 meters Centerline goodness : 0.820980 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.41 [[ 9.99074814e-01 4.30055438e-02 1.97529366e-04 4.50682514e-01] [-4.30059917e-02 9.99066509e-01 4.07376441e-03 -2.81971149e-01] [-2.21505206e-05 -4.07849037e-03 9.99991683e-01 -4.06751309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509072329 meters Centerline goodness : 0.822445 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.41 [[ 9.99196589e-01 4.00669294e-02 -9.04562229e-04 4.54495354e-01] [-4.00664596e-02 9.99196876e-01 5.31616558e-04 -2.79102408e-01] [ 9.25135996e-04 -4.94946845e-04 9.99999450e-01 -4.08744203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539072329 meters Centerline goodness : 0.825046 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.41 [[ 9.99245322e-01 3.87981036e-02 -1.86910122e-03 4.58819277e-01] [-3.87999665e-02 9.99246526e-01 -9.70913763e-04 -2.78083050e-01] [ 1.83002329e-03 1.04270210e-03 9.99997782e-01 -4.11876531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569072329 meters Centerline goodness : 0.826880 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.41 [[ 0.99927038 0.03813743 -0.00205896 0.45957045] [-0.03814127 0.99927063 -0.00185988 -0.27559926] [ 0.00198653 0.00193706 0.99999615 -0.41238192] [ 0. 0. 0. 1. ]] SLAMing on 20.599072329 meters Centerline goodness : 0.824301 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.41 [[ 0.99928077 0.03785617 -0.00220372 0.45982003] [-0.03786196 0.99927947 -0.00264718 -0.27227788] [ 0.00210192 0.00272872 0.99999407 -0.41197914] [ 0. 0. 0. 1. ]] SLAMing on 20.629072329 meters Centerline goodness : 0.825034 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99928671 0.03748835 0.00454951 0.47040521] [-0.03752286 0.9992657 0.00775172 -0.27326481] [-0.00425557 -0.0079169 0.99995961 -0.41596079] [ 0. 0. 0. 1. ]] SLAMing on 20.659072329 meters Centerline goodness : 0.824858 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99929832 0.03722849 0.00411153 0.47110314] [-0.03725603 0.99928235 0.00683888 -0.26976587] [-0.00385398 -0.00698726 0.99996816 -0.41532264] [ 0. 0. 0. 1. ]] SLAMing on 20.689072329 meters Centerline goodness : 0.825650 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.42 [[ 0.99928426 0.03767087 0.00344581 0.47327622] [-0.03769327 0.999267 0.00668403 -0.2689168 ] [-0.00319149 -0.00680913 0.99997172 -0.41637942] [ 0. 0. 0. 1. ]] SLAMing on 20.719072329 meters Centerline goodness : 0.827615 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99931647 0.0368657 0.00274124 0.47725137] [-0.03688025 0.99930476 0.00546206 -0.26867571] [-0.00253797 -0.00555943 0.99998133 -0.41955694] [ 0. 0. 0. 1. ]] SLAMing on 20.749072329 meters Centerline goodness : 0.827763 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99940195 0.03452201 0.00199104 0.48061441] [-0.03452634 0.99940139 0.00218723 -0.26668802] [-0.00191434 -0.00225467 0.99999563 -0.42156832] [ 0. 0. 0. 1. ]] SLAMing on 20.779072328999998 meters Centerline goodness : 0.828315 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.27, Z:-0.42 [[ 0.99937681 0.03527234 0.00135859 0.48313909] [-0.03527574 0.99937432 0.00256895 -0.26613594] [-0.00126713 -0.00261527 0.99999578 -0.42304233] [ 0. 0. 0. 1. ]] SLAMing on 20.809072329 meters Centerline goodness : 0.830174 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99357978e-01 3.58240240e-02 5.21229155e-04 4.86054556e-01] [-3.58251474e-02 9.99355346e-01 2.33481849e-03 -2.62035650e-01] [-4.37250549e-04 -2.35199260e-03 9.99997138e-01 -4.23982439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839072329 meters Centerline goodness : 0.831608 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99352793e-01 3.59721066e-02 -4.59982735e-05 4.87449003e-01] [-3.59719397e-02 9.99350747e-01 2.02569420e-03 -2.59749958e-01] [ 1.18836897e-04 -2.02272851e-03 9.99997947e-01 -4.23985612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869072328999998 meters Centerline goodness : 0.831158 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99224071e-01 3.93856132e-02 1.69902020e-04 4.86263822e-01] [-3.93859638e-02 9.99210500e-01 5.20802625e-03 -2.57572025e-01] [ 3.53534250e-05 -5.21067695e-03 9.99986424e-01 -4.22457319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899072329 meters Centerline goodness : 0.831589 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99214382e-01 3.96306861e-02 -1.64897553e-04 4.87030717e-01] [-3.96294018e-02 9.99202409e-01 4.90474811e-03 -2.56041540e-01] [ 3.59144565e-04 -4.89436006e-03 9.99987958e-01 -4.22109466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929072329 meters Centerline goodness : 0.831520 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.26, Z:-0.42 [[ 9.99205495e-01 3.98507148e-02 -5.46944439e-04 4.87771014e-01] [-3.98476864e-02 9.99194547e-01 4.73481603e-03 -2.55431340e-01] [ 7.35189705e-04 -4.70925972e-03 9.99988641e-01 -4.21877740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959072328999998 meters Centerline goodness : 0.833522 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.25, Z:-0.42 [[ 9.99311693e-01 3.70690098e-02 -1.42425500e-03 4.90372909e-01] [-3.70676546e-02 9.99312291e-01 9.66374121e-04 -2.53473421e-01] [ 1.45909805e-03 -9.12915167e-04 9.99998519e-01 -4.22525062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989072329 meters Centerline goodness : 0.835688 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.25, Z:-0.43 [[ 9.99330144e-01 3.65361631e-02 -2.09090882e-03 4.94462097e-01] [-3.65364427e-02 9.99332317e-01 -9.56261351e-05 -2.53862391e-01] [ 2.08601894e-03 1.71956450e-04 9.99997809e-01 -4.25799470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019072329 meters Centerline goodness : 0.836325 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 9.99318030e-01 3.68457868e-02 -2.42119542e-03 4.95769282e-01] [-3.68458347e-02 9.99320961e-01 2.48446009e-05 -2.53309035e-01] [ 2.42046675e-03 6.43833085e-05 9.99997069e-01 -4.26512003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049072328999998 meters Centerline goodness : 0.836080 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 9.99290822e-01 3.75320538e-02 -3.03293339e-03 4.98078980e-01] [-3.75309386e-02 9.99295376e-01 4.23796948e-04 -2.51924206e-01] [ 3.04670228e-03 -3.09667563e-04 9.99995311e-01 -4.27523334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079072329 meters Centerline goodness : 0.835855 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99913643 0.04143316 -0.00311378 0.4986589 ] [-0.04141952 0.99913248 0.00432571 -0.25048723] [ 0.0032903 -0.004193 0.9999858 -0.42756026] [ 0. 0. 0. 1. ]] SLAMing on 21.109072329 meters Centerline goodness : 0.835484 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99912349 0.04170961 -0.00354464 0.49985188] [-0.04169356 0.99912037 0.00448802 -0.25030648] [ 0.00372872 -0.0043363 0.99998365 -0.42784378] [ 0. 0. 0. 1. ]] SLAMing on 21.139072328999998 meters Centerline goodness : 0.834950 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99910208 0.0421819 -0.00396619 0.50123575] [-0.04216237 0.99909882 0.00488635 -0.2510228 ] [ 0.00416873 -0.00471474 0.9999802 -0.42844658] [ 0. 0. 0. 1. ]] SLAMing on 21.169072329 meters Centerline goodness : 0.835358 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.9990802 0.04266217 -0.00432368 0.50260292] [-0.04263943 0.99907689 0.00522025 -0.25167894] [ 0.0045424 -0.00503109 0.99997703 -0.42918428] [ 0. 0. 0. 1. ]] SLAMing on 21.199072329 meters Centerline goodness : 0.836089 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.25, Z:-0.43 [[ 0.99903498 0.04365311 -0.00484935 0.50461211] [-0.04362661 0.99903308 0.00544201 -0.25152031] [ 0.00508222 -0.0052252 0.99997343 -0.42995137] [ 0. 0. 0. 1. ]] SLAMing on 21.229072329 meters Centerline goodness : 0.837920 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.43 [[ 0.99902016 0.04394696 -0.00523343 0.50567996] [-0.04391921 0.999021 0.00530545 -0.2505427 ] [ 0.00546147 -0.0050704 0.99997223 -0.43009843] [ 0. 0. 0. 1. ]] SLAMing on 21.259072329 meters Centerline goodness : 0.837126 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.43 [[ 0.99900449 0.0442476 -0.00567228 0.50688158] [-0.04421961 0.99900947 0.00496971 -0.24851454] [ 0.00588656 -0.00471394 0.99997156 -0.43012553] [ 0. 0. 0. 1. ]] SLAMing on 21.289072329 meters Centerline goodness : 0.838381 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.9987835 0.04893712 -0.00605557 0.50882605] [-0.04888427 0.99876753 0.00858732 -0.244696 ] [ 0.00646834 -0.00828085 0.99994479 -0.4305058 ] [ 0. 0. 0. 1. ]] SLAMing on 21.319072329 meters Centerline goodness : 0.836251 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.99872691 0.05000077 -0.00667027 0.5116937 ] [-0.04994069 0.99871264 0.00888794 -0.24251539] [ 0.00710609 -0.00854351 0.99993825 -0.43198557] [ 0. 0. 0. 1. ]] SLAMing on 21.349072329 meters Centerline goodness : 0.837101 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.43 [[ 0.99870256 0.05041029 -0.0072112 0.51360416] [-0.05034659 0.99869341 0.00875755 -0.2412155 ] [ 0.00764325 -0.00838313 0.99993565 -0.43286719] [ 0. 0. 0. 1. ]] SLAMing on 21.379072329 meters Centerline goodness : 0.835756 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99862391 0.05186226 -0.00778433 0.51676115] [-0.05178882 0.99861422 0.00935741 -0.24128077] [ 0.00825884 -0.00894139 0.99992592 -0.43488771] [ 0. 0. 0. 1. ]] SLAMing on 21.409072329 meters Centerline goodness : 0.837640 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99860019 0.05225096 -0.00821594 0.51771191] [-0.05217474 0.99859528 0.00923357 -0.24060619] [ 0.00868687 -0.00879198 0.99992362 -0.43469829] [ 0. 0. 0. 1. ]] SLAMing on 21.439072329 meters Centerline goodness : 0.839056 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.24, Z:-0.43 [[ 0.99858685 0.05244524 -0.0085904 0.51839972] [-0.05237058 0.99858985 0.00869693 -0.23847605] [ 0.00903439 -0.00823476 0.99992528 -0.43417888] [ 0. 0. 0. 1. ]] SLAMing on 21.469072329 meters Centerline goodness : 0.838906 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99835222 0.05672786 -0.00864844 0.51882158] [-0.05662256 0.9983239 0.01196971 -0.23487955] [ 0.00931296 -0.01146029 0.99989096 -0.43340399] [ 0. 0. 0. 1. ]] SLAMing on 21.499072329 meters Centerline goodness : 0.839438 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99833024 0.05703285 -0.00916408 0.52009574] [-0.05692689 0.99831286 0.01143548 -0.23187647] [ 0.00980081 -0.01089471 0.99989262 -0.43324885] [ 0. 0. 0. 1. ]] SLAMing on 21.529072328999998 meters Centerline goodness : 0.837705 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99831353 0.05725351 -0.00959875 0.5215373 ] [-0.05714654 0.99830441 0.01107112 -0.22994701] [ 0.01021633 -0.01050391 0.99989264 -0.4337246 ] [ 0. 0. 0. 1. ]] SLAMing on 21.559072329 meters Centerline goodness : 0.836371 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.43 [[ 0.99829123 0.05757244 -0.01000197 0.52311592] [-0.0574608 0.99828591 0.01111274 -0.22951648] [ 0.01062461 -0.01051903 0.99988823 -0.4345739 ] [ 0. 0. 0. 1. ]] SLAMing on 21.589072329 meters Centerline goodness : 0.836834 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.9982192 0.05869857 -0.01062567 0.52652126] [-0.05856989 0.99821068 0.01204192 -0.23076911] [ 0.0113135 -0.01139813 0.99987104 -0.4372291 ] [ 0. 0. 0. 1. ]] SLAMing on 21.619072328999998 meters Centerline goodness : 0.838498 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.99819569 0.05901956 -0.01104749 0.5280246 ] [-0.05888413 0.99819019 0.01220701 -0.23068108] [ 0.01174795 -0.01153447 0.99986446 -0.43797231] [ 0. 0. 0. 1. ]] SLAMing on 21.649072329 meters Centerline goodness : 0.838311 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.23, Z:-0.44 [[ 0.9981835 0.05915063 -0.0114414 0.52904177] [-0.05901791 0.99818941 0.01160938 -0.227716 ] [ 0.01210738 -0.01091304 0.99986715 -0.43779902] [ 0. 0. 0. 1. ]] SLAMing on 21.679072329 meters Centerline goodness : 0.839456 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.44 [[ 0.99826518 0.05847284 -0.00689599 0.54816592] [-0.05835795 0.99817027 0.01582622 -0.22804984] [ 0.00780878 -0.01539632 0.99985098 -0.43901323] [ 0. 0. 0. 1. ]] SLAMing on 21.709072328999998 meters Centerline goodness : 0.842133 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.23, Z:-0.44 [[ 0.99826872 0.05838447 -0.00712878 0.54834084] [-0.05826873 0.9981808 0.01548701 -0.22716735] [ 0.00802001 -0.01504481 0.99985466 -0.43847431] [ 0. 0. 0. 1. ]] SLAMing on 21.739072329 meters Centerline goodness : 0.840338 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99845973 0.05493851 -0.00774188 0.54939517] [-0.05485148 0.9984335 0.01103872 -0.22438974] [ 0.00833621 -0.01059706 0.9999091 -0.43812069] [ 0. 0. 0. 1. ]] SLAMing on 21.769072329 meters Centerline goodness : 0.843047 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99860081 0.05219084 -0.00851661 0.55193721] [-0.05212784 0.99861257 0.00745869 -0.22237048] [ 0.00889407 -0.0070043 0.99993592 -0.43915257] [ 0. 0. 0. 1. ]] SLAMing on 21.799072328999998 meters Centerline goodness : 0.843155 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99859453 0.05226195 -0.00881192 0.55288272] [-0.05219979 0.99861112 0.0071422 -0.22120842] [ 0.00917295 -0.00667219 0.99993567 -0.43942485] [ 0. 0. 0. 1. ]] SLAMing on 21.829072329 meters Centerline goodness : 0.843274 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99859773 0.05216302 -0.00903291 0.55344035] [-0.05210202 0.99861819 0.00686165 -0.22020524] [ 0.00937835 -0.00638139 0.99993566 -0.43946599] [ 0. 0. 0. 1. ]] SLAMing on 21.859072329 meters Centerline goodness : 0.844948 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.22, Z:-0.44 [[ 0.99876682 0.04870473 -0.00962797 0.55446856] [-0.04868298 0.9988112 0.00248074 -0.21693436] [ 0.00973735 -0.00200896 0.99995057 -0.43907955] [ 0. 0. 0. 1. ]] SLAMing on 21.889072328999998 meters Centerline goodness : 0.846356 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99886741 0.04732175 -0.00495397 0.57267773] [-0.04728498 0.99885481 0.00729309 -0.21881975] [ 0.00529342 -0.00705059 0.99996113 -0.44069029] [ 0. 0. 0. 1. ]] SLAMing on 21.919072329 meters Centerline goodness : 0.846939 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99904378 0.04338494 -0.00541081 0.57295477] [-0.04337171 0.99905578 0.00253824 -0.21588794] [ 0.00551582 -0.00230114 0.99998214 -0.43974631] [ 0. 0. 0. 1. ]] SLAMing on 21.949072329 meters Centerline goodness : 0.846389 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.22, Z:-0.44 [[ 0.99905661 0.04307457 -0.00552008 0.57284291] [-0.04306242 0.99906973 0.00230133 -0.21557341] [ 0.00561407 -0.00206145 0.99998212 -0.43930871] [ 0. 0. 0. 1. ]] SLAMing on 21.979072329 meters Centerline goodness : 0.851156 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 9.99160669e-01 4.04185877e-02 -6.65543309e-03 5.75397492e-01] [-4.04204115e-02 9.99182751e-01 -1.39703193e-04 -2.13565940e-01] [ 6.64434735e-03 4.08601280e-04 9.99977843e-01 -4.39906596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009072329 meters Centerline goodness : 0.849486 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.9992259 0.03859165 -0.00763484 0.57828899] [-0.03860568 0.99925308 -0.00169855 -0.21274516] [ 0.00756359 0.00199198 0.99996941 -0.44131068] [ 0. 0. 0. 1. ]] SLAMing on 22.039072329 meters Centerline goodness : 0.848977 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99923421 0.0383646 -0.00769065 0.57846008] [-0.03837791 0.99926203 -0.00159105 -0.21371026] [ 0.00762393 0.00188498 0.99996916 -0.44149052] [ 0. 0. 0. 1. ]] SLAMing on 22.069072329 meters Centerline goodness : 0.849612 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99924092 0.03815719 -0.00784949 0.57864079] [-0.03817008 0.99927013 -0.00149967 -0.21460493] [ 0.00778654 0.00179814 0.99996807 -0.44139421] [ 0. 0. 0. 1. ]] SLAMing on 22.099072329 meters Centerline goodness : 0.849612 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99924092 0.03815719 -0.00784949 0.57864079] [-0.03817008 0.99927013 -0.00149967 -0.21460493] [ 0.00778654 0.00179814 0.99996807 -0.44139421] [ 0. 0. 0. 1. ]] SLAMing on 22.129072329 meters Centerline goodness : 0.849189 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99932417 0.03562517 -0.00905782 0.58063027] [-0.03565885 0.99935759 -0.00358479 -0.21271127] [ 0.00892429 0.00390536 0.99995255 -0.44134059] [ 0. 0. 0. 1. ]] SLAMing on 22.159072329 meters Centerline goodness : 0.847947 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99932604 0.03550816 -0.00930814 0.58149051] [-0.03554273 0.99936176 -0.00357514 -0.21275025] [ 0.00917525 0.00390357 0.99995029 -0.44184286] [ 0. 0. 0. 1. ]] SLAMing on 22.189072329 meters Centerline goodness : 0.847976 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.44 [[ 0.99943487 0.0320918 -0.01000238 0.58416526] [-0.03216575 0.99945573 -0.00732187 -0.21043935] [ 0.00976196 0.00763946 0.99992317 -0.44346998] [ 0. 0. 0. 1. ]] SLAMing on 22.219072329 meters Centerline goodness : 0.848219 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.44 [[ 0.99942783 0.03225576 -0.01017756 0.5850559 ] [-0.03232795 0.99945273 -0.00700979 -0.21102047] [ 0.00994589 0.0073348 0.99992364 -0.44420864] [ 0. 0. 0. 1. ]] SLAMing on 22.249072329 meters Centerline goodness : 0.845640 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.44 [[ 0.99942091 0.03238871 -0.01043118 0.58598531] [-0.032461 0.99944962 -0.00683709 -0.21137375] [ 0.01020399 0.00717174 0.99992222 -0.44472821] [ 0. 0. 0. 1. ]] SLAMing on 22.279072328999998 meters Centerline goodness : 0.847859 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.45 [[ 0.99940879 0.03266907 -0.01071464 0.58716662] [-0.03274037 0.99944244 -0.00654765 -0.21159135] [ 0.01049476 0.00689458 0.99992116 -0.44546806] [ 0. 0. 0. 1. ]] SLAMing on 22.309072329 meters Centerline goodness : 0.846580 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.21, Z:-0.45 [[ 0.9994006 0.0328175 -0.01102092 0.58809688] [-0.03289154 0.9994371 -0.00660574 -0.21055136] [ 0.01079794 0.00696428 0.99991745 -0.44572082] [ 0. 0. 0. 1. ]] SLAMing on 22.339072329 meters Centerline goodness : 0.848481 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.99944445 0.03306198 -0.00420591 0.60069126] [-0.03304933 0.99944909 0.00304349 -0.21014313] [ 0.00430422 -0.0029028 0.99998652 -0.44988809] [ 0. 0. 0. 1. ]] SLAMing on 22.369072328999998 meters Centerline goodness : 0.847134 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.9994485 0.03290304 -0.00448209 0.60079625] [-0.03289201 0.99945575 0.00251288 -0.20872376] [ 0.00456233 -0.00236407 0.9999868 -0.44900205] [ 0. 0. 0. 1. ]] SLAMing on 22.399072329 meters Centerline goodness : 0.846596 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.99953784 0.02997721 -0.00504693 0.60272213] [-0.02998463 0.99954938 -0.00140248 -0.20616524] [ 0.00500262 0.00155316 0.99998628 -0.44955077] [ 0. 0. 0. 1. ]] SLAMing on 22.429072329 meters Centerline goodness : 0.846230 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.45 [[ 0.999529 0.03022623 -0.00530626 0.60360181] [-0.03023578 0.9995413 -0.00172939 -0.20521754] [ 0.00525156 0.00188901 0.99998443 -0.44974697] [ 0. 0. 0. 1. ]] SLAMing on 22.459072328999998 meters Centerline goodness : 0.848739 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.45 [[ 0.99952498 0.03029854 -0.00564035 0.60458056] [-0.03031082 0.99953831 -0.00210407 -0.20329155] [ 0.005574 0.00227404 0.99998188 -0.44996275] [ 0. 0. 0. 1. ]] SLAMing on 22.489072329 meters Centerline goodness : 0.847719 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99950029 0.03097548 -0.00630062 0.60727211] [-0.0309883 0.99951785 -0.00194749 -0.20100419] [ 0.00623725 0.00214176 0.99997825 -0.45136036] [ 0. 0. 0. 1. ]] SLAMing on 22.519072329 meters Centerline goodness : 0.844998 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99949678 0.0310105 -0.00667424 0.60862213] [-0.03102756 0.99951548 -0.00246924 -0.19833115] [ 0.00659444 0.00267508 0.99997468 -0.45191256] [ 0. 0. 0. 1. ]] SLAMing on 22.549072328999998 meters Centerline goodness : 0.842640 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.45 [[ 0.99948736 0.03119624 -0.00719847 0.61051088] [-0.0312153 0.99950943 -0.00255213 -0.19714513] [ 0.00711533 0.00277552 0.99997083 -0.45290353] [ 0. 0. 0. 1. ]] SLAMing on 22.579072329 meters Centerline goodness : 0.841048 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.46 [[ 0.99949487 0.03071036 -0.00817753 0.61536601] [-0.03073744 0.99952235 -0.00320626 -0.19801467] [ 0.00807515 0.003456 0.99996142 -0.45635807] [ 0. 0. 0. 1. ]] SLAMing on 22.609072329 meters Centerline goodness : 0.839767 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.46 [[ 0.99947902 0.03115063 -0.00844544 0.61618507] [-0.03117441 0.99951032 -0.00269786 -0.19962814] [ 0.00835727 0.00295973 0.9999607 -0.45664188] [ 0. 0. 0. 1. ]] SLAMing on 22.639072328999998 meters Centerline goodness : 0.839636 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.46 [[ 0.99960198 0.02695493 -0.00832604 0.6265455 ] [-0.02690715 0.99962112 0.0057978 -0.20144968] [ 0.00847916 -0.00557147 0.99994853 -0.45663682] [ 0. 0. 0. 1. ]] SLAMing on 22.669072329 meters Centerline goodness : 0.841661 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.9996583 0.02605869 -0.00205467 0.6403736 ] [-0.02603895 0.99961942 0.00911002 -0.20172074] [ 0.00229128 -0.00905341 0.99995639 -0.45366626] [ 0. 0. 0. 1. ]] SLAMing on 22.699072329 meters Centerline goodness : 0.843019 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99966118 0.02594307 -0.00211538 0.63943179] [-0.02592409 0.99962732 0.00855379 -0.20005487] [ 0.0023365 -0.00849606 0.99996118 -0.4518784 ] [ 0. 0. 0. 1. ]] SLAMing on 22.729072329 meters Centerline goodness : 0.841862 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99965765 0.02605972 -0.00233878 0.6393391 ] [-0.02603967 0.99962704 0.00822945 -0.19851681] [ 0.00255237 -0.00816573 0.9999634 -0.45080644] [ 0. 0. 0. 1. ]] SLAMing on 22.759072329 meters Centerline goodness : 0.836319 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.45 [[ 0.99961126 0.02772683 -0.00292558 0.64257787] [-0.02769797 0.99957136 0.00948288 -0.1994303 ] [ 0.00318725 -0.00939816 0.99995076 -0.45311671] [ 0. 0. 0. 1. ]] SLAMing on 22.789072329 meters Centerline goodness : 0.835225 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 0.99967174 0.02534869 -0.00372227 0.64604601] [-0.02532426 0.99965836 0.00646833 -0.19985734] [ 0.00388496 -0.00637195 0.99997215 -0.45535115] [ 0. 0. 0. 1. ]] SLAMing on 22.819072329 meters Centerline goodness : 0.835606 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 0.99973013 0.02278035 -0.00455153 0.64945622] [-0.0227647 0.99973486 0.00346048 -0.20119197] [ 0.00462915 -0.00335594 0.99998365 -0.45752233] [ 0. 0. 0. 1. ]] SLAMing on 22.849072329 meters Centerline goodness : 0.835241 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.46 [[ 9.99779066e-01 2.03380054e-02 -5.30893386e-03 6.52621995e-01] [-2.03341055e-02 9.99792931e-01 7.87541107e-04 -2.03057973e-01] [ 5.32385156e-03 -6.79414691e-04 9.99985597e-01 -4.59529620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879072329 meters Centerline goodness : 0.833326 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.99976101 0.02114614 -0.00554674 0.65312828] [-0.0211337 0.99977403 0.00229228 -0.20743106] [ 0.00559396 -0.00217451 0.99998199 -0.45955891] [ 0. 0. 0. 1. ]] SLAMing on 22.909072329 meters Centerline goodness : 0.832314 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.9997546 0.02140981 -0.00568874 0.6528989 ] [-0.0213951 0.99976762 0.00263562 -0.2081001 ] [ 0.00574385 -0.00251326 0.99998035 -0.45863717] [ 0. 0. 0. 1. ]] SLAMing on 22.939072329 meters Centerline goodness : 0.831960 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 0.99974309 0.02188717 -0.0058919 0.65305215] [-0.02186798 0.99975541 0.00330203 -0.20975721] [ 0.00596273 -0.00317234 0.99997719 -0.4581282 ] [ 0. 0. 0. 1. ]] SLAMing on 22.969072329 meters Centerline goodness : 0.831636 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.46 [[ 9.99805556e-01 1.87230907e-02 -6.18837849e-03 6.53631777e-01] [-1.87253507e-02 9.99824618e-01 -3.07466341e-04 -2.10001648e-01] [ 6.18153644e-03 4.23286113e-04 9.99980805e-01 -4.57821324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999072329 meters Centerline goodness : 0.829102 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 0.99982833 0.01711535 -0.00709794 0.65778064] [-0.0171255 0.99985241 -0.00137276 -0.21679608] [ 0.00707339 0.00149408 0.99997387 -0.46076846] [ 0. 0. 0. 1. ]] SLAMing on 23.029072328999998 meters Centerline goodness : 0.828277 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 9.99808917e-01 1.80614687e-02 -7.47742258e-03 6.59960416e-01] [-1.80601097e-02 9.99836872e-01 2.49235528e-04 -2.20880550e-01] [ 7.48070437e-03 -1.14144831e-04 9.99972013e-01 -4.62819685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059072329 meters Centerline goodness : 0.828108 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.22, Z:-0.46 [[ 0.99978567 0.01911105 -0.00796101 0.66245047] [-0.01909697 0.99981594 0.00184125 -0.22433794] [ 0.00799473 -0.00168882 0.99996662 -0.46486085] [ 0. 0. 0. 1. ]] SLAMing on 23.089072329 meters Centerline goodness : 0.826185 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.23, Z:-0.47 [[ 0.99975638 0.02040135 -0.00842439 0.66441615] [-0.02036846 0.99978465 0.00397114 -0.23036636] [ 0.0085036 -0.00379858 0.99995663 -0.4662661 ] [ 0. 0. 0. 1. ]] SLAMing on 23.119072328999998 meters Centerline goodness : 0.826555 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.47 [[ 0.99974262 0.0209697 -0.00865798 0.66514364] [-0.0209279 0.99976902 0.00489166 -0.23320041] [ 0.00875855 -0.0047092 0.99995055 -0.46657607] [ 0. 0. 0. 1. ]] SLAMing on 23.149072329 meters Centerline goodness : 0.825534 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.47 [[ 0.99979934 0.01795663 -0.00887903 0.6658384 ] [-0.01794568 0.9998381 0.00131085 -0.23317704] [ 0.00890113 -0.00115125 0.99995972 -0.46657505] [ 0. 0. 0. 1. ]] SLAMing on 23.179072329 meters Centerline goodness : 0.825536 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.47 [[ 0.99984221 0.01742968 -0.00342821 0.68293899] [-0.01739799 0.99980754 0.0090661 -0.24167629] [ 0.00358557 -0.00900503 0.99995303 -0.47131649] [ 0. 0. 0. 1. ]] SLAMing on 23.209072328999998 meters Centerline goodness : 0.824336 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.47 [[ 0.99989724 0.01384693 -0.00371224 0.68322313] [-0.01382722 0.99989044 0.00528274 -0.24240956] [ 0.00378498 -0.00523087 0.99997916 -0.47077605] [ 0. 0. 0. 1. ]] SLAMing on 23.239072329 meters Centerline goodness : 0.825214 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.47 [[ 0.99993146 0.01090064 -0.0042716 0.68502853] [-0.01089062 0.99993791 0.00236064 -0.24421585] [ 0.00429707 -0.00231396 0.99998809 -0.47144094] [ 0. 0. 0. 1. ]] SLAMing on 23.269072329 meters Centerline goodness : 0.822406 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 9.99962620e-01 7.42980713e-03 -4.42231543e-03 6.85370803e-01] [-7.42980927e-03 9.99972398e-01 1.59466957e-05 -2.49826847e-01] [ 4.42231184e-03 1.69108605e-05 9.99990221e-01 -4.71637423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299072328999998 meters Centerline goodness : 0.821651 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 0.99997903 0.00430401 -0.00483967 0.68720524] [-0.00431829 0.99998634 -0.00294544 -0.25092254] [ 0.00482693 0.00296627 0.99998395 -0.47278747] [ 0. 0. 0. 1. ]] SLAMing on 23.329072329 meters Centerline goodness : 0.821214 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.47 [[ 0.99997756 0.00446064 -0.0049975 0.68779084] [-0.00447019 0.9999882 -0.00190222 -0.2541856 ] [ 0.00498896 0.00192452 0.9999857 -0.473322 ] [ 0. 0. 0. 1. ]] SLAMing on 23.359072329 meters Centerline goodness : 0.817831 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.26, Z:-0.48 [[ 9.99999717e-01 -7.52436265e-04 -1.48830913e-05 7.03143874e-01] [ 7.52486177e-04 9.99992873e-01 3.69962590e-03 -2.60692262e-01] [ 1.20992525e-05 -3.69963606e-03 9.99993156e-01 -4.78829841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389072328999998 meters Centerline goodness : 0.817248 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.48 [[ 9.99999159e-01 -1.29319990e-03 -9.99198138e-05 7.02982076e-01] [ 1.29360974e-03 9.99990273e-01 4.21669985e-03 -2.65277017e-01] [ 9.44658061e-05 -4.21682556e-03 9.99991105e-01 -4.78718137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419072329 meters Centerline goodness : 0.815926 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.27, Z:-0.48 [[ 9.99988137e-01 -4.86287089e-03 -2.78767421e-04 7.03798738e-01] [ 4.86314695e-03 9.99987677e-01 9.98315899e-04 -2.67809378e-01] [ 2.73909304e-04 -9.99659744e-04 9.99999463e-01 -4.79239003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449072329 meters Centerline goodness : 0.818774 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99965024e-01 -8.34292601e-03 -5.87852235e-04 7.05036562e-01] [ 8.34161046e-03 9.99962775e-01 -2.20588643e-03 -2.70135147e-01] [ 6.06233900e-04 2.20090564e-03 9.99997394e-01 -4.79888007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479072329 meters Centerline goodness : 0.817586 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 9.99964718e-01 -8.36916171e-03 -7.21556980e-04 7.05739524e-01] [ 8.36860202e-03 9.99964682e-01 -7.75219410e-04 -2.75439315e-01] [ 7.28019433e-04 7.69153635e-04 9.99999439e-01 -4.80912924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509072329 meters Centerline goodness : 0.815417 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99998809 -0.00476025 -0.00107481 0.70628435] [ 0.00476431 0.9999814 0.00380751 -0.27775504] [ 0.00105667 -0.00381258 0.99999217 -0.48108121] [ 0. 0. 0. 1. ]] SLAMing on 23.539072329 meters Centerline goodness : 0.815672 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99999033 -0.00416537 -0.00141063 0.70684194] [ 0.00417078 0.99998388 0.00385209 -0.27469902] [ 0.00139457 -0.00385793 0.99999159 -0.48052861] [ 0. 0. 0. 1. ]] SLAMing on 23.569072329 meters Centerline goodness : 0.815482 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99999117 -0.00382068 -0.00175253 0.70782661] [ 0.00382771 0.99998458 0.00402431 -0.27442295] [ 0.00173713 -0.00403099 0.99999037 -0.48083478] [ 0. 0. 0. 1. ]] SLAMing on 23.599072329 meters Centerline goodness : 0.815867 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999214 -0.00337927 -0.00207415 0.70921073] [ 0.00338859 0.9999841 0.0045064 -0.27549858] [ 0.00205889 -0.00451339 0.9999877 -0.48186326] [ 0. 0. 0. 1. ]] SLAMing on 23.629072329 meters Centerline goodness : 0.813812 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999289 -0.00294124 -0.0023594 0.71063453] [ 0.00295321 0.9999827 0.00508784 -0.27713702] [ 0.0023444 -0.00509477 0.99998427 -0.48306936] [ 0. 0. 0. 1. ]] SLAMing on 23.659072329 meters Centerline goodness : 0.813507 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999295 -0.00287002 -0.00241937 0.71104682] [ 0.00288275 0.99998193 0.0052758 -0.27860764] [ 0.00240418 -0.00528273 0.99998316 -0.48355134] [ 0. 0. 0. 1. ]] SLAMing on 23.689072329 meters Centerline goodness : 0.813786 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.28, Z:-0.48 [[ 0.99999169 -0.00322801 -0.00249046 0.71070912] [ 0.00323968 0.99998371 0.00469888 -0.27706939] [ 0.00247525 -0.00470691 0.99998586 -0.48283409] [ 0. 0. 0. 1. ]] SLAMing on 23.719072329 meters Centerline goodness : 0.813822 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998991 -0.00356787 -0.00272974 0.71070836] [ 0.00357879 0.99998558 0.00400421 -0.274489 ] [ 0.00271541 -0.00401393 0.99998826 -0.48203171] [ 0. 0. 0. 1. ]] SLAMing on 23.749072329 meters Centerline goodness : 0.811968 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998863 -0.00371932 -0.00298344 0.7109419 ] [ 0.00373004 0.99998658 0.00359616 -0.27243118] [ 0.00297002 -0.00360725 0.99998908 -0.48147731] [ 0. 0. 0. 1. ]] SLAMing on 23.779072328999998 meters Centerline goodness : 0.811221 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99998579 -0.00419292 -0.00329154 0.71133937] [ 0.00420351 0.99998599 0.0032169 -0.2714306 ] [ 0.00327801 -0.00323069 0.99998941 -0.48116907] [ 0. 0. 0. 1. ]] SLAMing on 23.809072329 meters Centerline goodness : 0.809827 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99965409e-01 -7.33527425e-03 -3.92098025e-03 7.14206044e-01] [ 7.33438141e-03 9.99973074e-01 -2.42039226e-04 -2.70595117e-01] [ 3.92265009e-03 2.13272889e-04 9.99992284e-01 -4.82941735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839072329 meters Centerline goodness : 0.809320 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 9.99963024e-01 -7.62027774e-03 -3.98521887e-03 7.14811321e-01] [ 7.62048982e-03 9.99970963e-01 3.80338308e-05 -2.72316191e-01] [ 3.98481332e-03 -6.84017443e-05 9.99992058e-01 -4.83838710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869072328999998 meters Centerline goodness : 0.806768 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 9.99949570e-01 -9.04947372e-03 -4.35475085e-03 7.15584366e-01] [ 9.04738442e-03 9.99958947e-01 -4.99235665e-04 -2.72720432e-01] [ 4.35908989e-03 4.59811384e-04 9.99990393e-01 -4.84462537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899072329 meters Centerline goodness : 0.806163 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 9.99945785e-01 -9.44075238e-03 -4.39313637e-03 7.15547638e-01] [ 9.43702880e-03 9.99955094e-01 -8.67549062e-04 -2.71479629e-01] [ 4.40112940e-03 8.26043873e-04 9.99989974e-01 -4.84309139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929072329 meters Centerline goodness : 0.807007 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.99996356 -0.00705085 -0.0048127 0.7155942 ] [ 0.00706264 0.99997209 0.00243745 -0.27223117] [ 0.00479538 -0.00247136 0.99998545 -0.48383262] [ 0. 0. 0. 1. ]] SLAMing on 23.959072328999998 meters Centerline goodness : 0.805865 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.99996035 -0.00736401 -0.00500783 0.71577103] [ 0.00737448 0.99997065 0.0020754 -0.27090505] [ 0.0049924 -0.00211225 0.99998531 -0.4834656 ] [ 0. 0. 0. 1. ]] SLAMing on 23.989072329 meters Centerline goodness : 0.805085 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.9999536 -0.00810783 -0.00520259 0.71581685] [ 0.00811328 0.99996656 0.0010266 -0.26757115] [ 0.0051941 -0.00106877 0.99998594 -0.48294131] [ 0. 0. 0. 1. ]] SLAMing on 24.019072329 meters Centerline goodness : 0.805085 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.27, Z:-0.48 [[ 0.9999536 -0.00810783 -0.00520259 0.71581685] [ 0.00811328 0.99996656 0.0010266 -0.26757115] [ 0.0051941 -0.00106877 0.99998594 -0.48294131] [ 0. 0. 0. 1. ]] SLAMing on 24.049072328999998 meters Centerline goodness : 0.804237 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.27, Z:-0.48 [[ 0.99997059 -0.00575491 -0.00506879 0.71432345] [ 0.00577373 0.99997646 0.00370671 -0.26742512] [ 0.00504734 -0.00373586 0.99998028 -0.48178944] [ 0. 0. 0. 1. ]] SLAMing on 24.079072329 meters Centerline goodness : 0.805040 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99997017 -0.00540238 -0.00552108 0.7163002 ] [ 0.00542223 0.99997887 0.0035866 -0.26476764] [ 0.00550159 -0.00361643 0.99997833 -0.48304449] [ 0. 0. 0. 1. ]] SLAMing on 24.109072329 meters Centerline goodness : 0.805022 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99996956 -0.0050653 -0.00593497 0.7181433 ] [ 0.00508462 0.99998181 0.00324372 -0.26145172] [ 0.00591843 -0.0032738 0.99997713 -0.48417075] [ 0. 0. 0. 1. ]] SLAMing on 24.139072328999998 meters Centerline goodness : 0.805098 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.26, Z:-0.48 [[ 0.99998049 -0.00197564 -0.00592642 0.71781385] [ 0.00200688 0.9999841 0.00526998 -0.25576916] [ 0.00591591 -0.00528177 0.99996855 -0.48375283] [ 0. 0. 0. 1. ]] SLAMing on 24.169072329 meters Centerline goodness : 0.803725 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.48 [[ 0.99997727 -0.00151739 -0.00656961 0.71993781] [ 0.00154813 0.99998787 0.0046767 -0.25108152] [ 0.00656244 -0.00468677 0.99996748 -0.48440857] [ 0. 0. 0. 1. ]] SLAMing on 24.199072329 meters Centerline goodness : 0.802751 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.25, Z:-0.48 [[ 0.99997599 -0.0015586 -0.00675222 0.72037947] [ 0.00158054 0.99999349 0.00324496 -0.24537748] [ 0.00674712 -0.00325556 0.99997194 -0.48404968] [ 0. 0. 0. 1. ]] SLAMing on 24.229072329 meters Centerline goodness : 0.799739 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.24, Z:-0.48 [[ 0.99997123 0.00262085 -0.00711783 0.72179344] [-0.00258287 0.99998241 0.00533924 -0.23548185] [ 0.0071317 -0.00532071 0.99996041 -0.48425804] [ 0. 0. 0. 1. ]] SLAMing on 24.259072329 meters Centerline goodness : 0.802046 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.23, Z:-0.48 [[ 0.99995291 0.00633554 -0.00735159 0.72263006] [-0.00627441 0.99994579 0.00830971 -0.23124749] [ 0.00740383 -0.00826319 0.99993845 -0.48467716] [ 0. 0. 0. 1. ]] SLAMing on 24.289072329 meters Centerline goodness : 0.800249 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.22, Z:-0.49 [[ 0.99994174 0.00722874 -0.00801664 0.72541482] [-0.0071643 0.99994203 0.00803759 -0.22471433] [ 0.00807428 -0.00797969 0.99993556 -0.48613896] [ 0. 0. 0. 1. ]] SLAMing on 24.319072329 meters Centerline goodness : 0.800295 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.49 [[ 0.99991796 0.00978988 -0.00825965 0.72625315] [-0.00971617 0.99991303 0.00891751 -0.21487619] [ 0.00834623 -0.00883653 0.99992613 -0.48617714] [ 0. 0. 0. 1. ]] SLAMing on 24.349072329 meters Centerline goodness : 0.801901 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.49 [[ 0.99992161 0.00915984 -0.00853628 0.72655109] [-0.00909781 0.99993214 0.007277 -0.20988751] [ 0.00860236 -0.00719877 0.99993709 -0.4856144 ] [ 0. 0. 0. 1. ]] SLAMing on 24.379072329 meters Centerline goodness : 0.800034 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.48 [[ 0.99992899 0.00828397 -0.00856705 0.72597441] [-0.00823677 0.99995078 0.00553045 -0.20524715] [ 0.00861244 -0.00545949 0.99994801 -0.48460352] [ 0. 0. 0. 1. ]] SLAMing on 24.409072329 meters Centerline goodness : 0.799297 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.48 [[ 0.99993466 0.00742188 -0.00869486 0.72568203] [-0.00738821 0.99996511 0.0038983 -0.20066898] [ 0.00872349 -0.0038338 0.9999546 -0.48372209] [ 0. 0. 0. 1. ]] SLAMing on 24.439072329 meters Centerline goodness : 0.801426 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.48 [[ 9.99953168e-01 5.01306187e-03 -8.27837621e-03 7.23413552e-01] [-5.01026800e-03 9.99987384e-01 3.58195352e-04 -1.89795497e-01] [ 8.28006743e-03 -3.16701693e-04 9.99965670e-01 -4.81896981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469072329 meters Centerline goodness : 0.801594 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.48 [[ 0.99995824 0.00402285 -0.00820565 0.72265965] [-0.00403278 0.99999115 -0.00119447 -0.18506228] [ 0.00820077 0.00122752 0.99996562 -0.48100617] [ 0. 0. 0. 1. ]] SLAMing on 24.499072329 meters Centerline goodness : 0.800055 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.48 [[ 0.99995895 0.0034221 -0.0083893 0.72290618] [-0.00344106 0.99999156 -0.0022464 -0.18140032] [ 0.00838154 0.00227517 0.99996229 -0.48073274] [ 0. 0. 0. 1. ]] SLAMing on 24.529072328999998 meters Centerline goodness : 0.801046 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.48 [[ 0.99995893 0.0028168 -0.0086136 0.72323575] [-0.00284588 0.99999029 -0.00336564 -0.1777186 ] [ 0.00860403 0.00339002 0.99995724 -0.48043092] [ 0. 0. 0. 1. ]] SLAMing on 24.559072329 meters Centerline goodness : 0.800731 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.48 [[ 0.9999559 0.00200711 -0.00917429 0.72528174] [-0.00205578 0.99998385 -0.00529906 -0.1682988 ] [ 0.00916351 0.00531768 0.99994387 -0.48140588] [ 0. 0. 0. 1. ]] SLAMing on 24.589072329 meters Centerline goodness : 0.801826 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.16, Z:-0.48 [[ 0.99994596 0.00508065 -0.00906986 0.72492174] [-0.00510354 0.99998385 -0.00250202 -0.16490183] [ 0.009057 0.00254817 0.99995574 -0.48134635] [ 0. 0. 0. 1. ]] SLAMing on 24.619072328999998 meters Centerline goodness : 0.801888 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.48 [[ 0.99994193 0.00498716 -0.00955339 0.7264343 ] [-0.00502228 0.99998071 -0.00365557 -0.15873723] [ 0.00953497 0.00370334 0.99994768 -0.4816872 ] [ 0. 0. 0. 1. ]] SLAMing on 24.649072329 meters Centerline goodness : 0.804785 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.48 [[ 0.99992794 0.00757386 -0.00931402 0.72520782] [-0.00760281 0.99996636 -0.00307684 -0.14793714] [ 0.00929041 0.00314743 0.99995189 -0.479989 ] [ 0. 0. 0. 1. ]] SLAMing on 24.679072329 meters Centerline goodness : 0.806122 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.48 [[ 0.99991471 0.00845423 -0.00995534 0.72795433] [-0.00848849 0.99995818 -0.0034046 -0.141278 ] [ 0.00992614 0.00348881 0.99994465 -0.48131753] [ 0. 0. 0. 1. ]] SLAMing on 24.709072328999998 meters Centerline goodness : 0.808429 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.48 [[ 9.99879394e-01 1.19007893e-02 -9.97839010e-03 7.27934791e-01] [-1.19109238e-02 9.99928605e-01 -9.56826742e-04 -1.35909497e-01] [ 9.96629070e-03 1.07556319e-03 9.99949757e-01 -4.80950417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739072329 meters Centerline goodness : 0.808681 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.48 [[ 0.99986638 0.01246076 -0.0105809 0.7304105 ] [-0.01248166 0.99992027 -0.00191187 -0.12831525] [ 0.01055623 0.00204368 0.99994219 -0.48189367] [ 0. 0. 0. 1. ]] SLAMing on 24.769072329 meters Centerline goodness : 0.812804 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.48 [[ 9.99811222e-01 1.59464892e-02 -1.11008989e-02 7.33324225e-01] [-1.59579717e-02 9.99872215e-01 -9.46560102e-04 -1.16575439e-01] [ 1.10843860e-02 1.12352924e-03 9.99937935e-01 -4.83249813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799072328999998 meters Centerline goodness : 0.812401 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.48 [[ 0.99979801 0.0162987 -0.01175955 0.7356368 ] [-0.01632262 0.99986489 -0.00194144 -0.10996219] [ 0.01172631 0.00213299 0.99992897 -0.48393023] [ 0. 0. 0. 1. ]] SLAMing on 24.829072329 meters Centerline goodness : 0.814120 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.48 [[ 9.99732779e-01 1.98626538e-02 -1.18256234e-02 7.35785899e-01] [-1.98537916e-02 9.99802519e-01 8.66337144e-04 -1.05693301e-01] [ 1.18404958e-02 -6.31322178e-04 9.99929700e-01 -4.83640351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859072329 meters Centerline goodness : 0.814644 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.10, Z:-0.48 [[ 9.99712180e-01 2.04135355e-02 -1.26033406e-02 7.37914581e-01] [-2.04118930e-02 9.99791622e-01 2.58958834e-04 -9.88190943e-02] [ 1.26060006e-02 -1.62626162e-06 9.99920541e-01 -4.83759259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889072328999998 meters Centerline goodness : 0.813837 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.09, Z:-0.49 [[ 0.99971824 0.02336629 -0.00417822 0.74482118] [-0.02338609 0.99971521 -0.00475344 -0.08585234] [ 0.00406596 0.00484982 0.99997997 -0.48573931] [ 0. 0. 0. 1. ]] SLAMing on 24.919072329 meters Centerline goodness : 0.815174 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.08, Z:-0.49 [[ 0.9997315 0.02275491 -0.00437426 0.74506689] [-0.02278226 0.99972055 -0.00630863 -0.08049932] [ 0.00422949 0.00640659 0.99997053 -0.48516934] [ 0. 0. 0. 1. ]] SLAMing on 24.949072329 meters Centerline goodness : 0.814382 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.07, Z:-0.49 [[ 0.99974955 0.02186515 -0.00477094 0.74655484] [-0.0219039 0.99972625 -0.00822511 -0.07264031] [ 0.00458979 0.00832755 0.99995479 -0.48580309] [ 0. 0. 0. 1. ]] SLAMing on 24.979072329 meters Centerline goodness : 0.813465 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.49 [[ 9.99839759e-01 1.78849761e-02 7.63676917e-04 7.60405181e-01] [-1.78838654e-02 9.99839038e-01 -1.43723852e-03 -7.07605023e-02] [-7.89258970e-04 1.42335072e-03 9.99998676e-01 -4.91953442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009072329 meters Centerline goodness : 0.813863 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.49 [[ 9.99855771e-01 1.69699833e-02 6.76580570e-04 7.60131751e-01] [-1.69682328e-02 9.99852868e-01 -2.51418940e-03 -6.78861412e-02] [-7.19146776e-04 2.50234640e-03 9.99996611e-01 -4.91453776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039072329 meters Centerline goodness : 0.816132 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.49 [[ 9.99937067e-01 1.11966647e-02 7.05363891e-04 7.59234067e-01] [-1.11898679e-02 9.99896908e-01 -8.99774343e-03 -5.98650773e-02] [-8.06035889e-04 8.98928424e-03 9.99959271e-01 -4.90426378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069072329 meters Centerline goodness : 0.814711 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.49 [[ 9.99973921e-01 7.22139422e-03 9.67102098e-05 7.61258289e-01] [-7.21941108e-03 9.99881447e-01 -1.36004193e-02 -5.55398389e-02] [-1.94912734e-04 1.35993664e-02 9.99907505e-01 -4.91195420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099072329 meters Centerline goodness : 0.814685 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.50 [[ 0.99998278 0.00305222 0.00501243 0.77537314] [-0.00301999 0.9999748 -0.00642443 -0.05474419] [-0.00503191 0.00640919 0.9999668 -0.49756977] [ 0. 0. 0. 1. ]] SLAMing on 25.129072329 meters Centerline goodness : 0.815771 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.05, Z:-0.50 [[ 0.99998497 0.00231124 0.0049719 0.77524547] [-0.00227426 0.9999698 -0.00743169 -0.05162747] [-0.00498892 0.00742027 0.99996002 -0.49731684] [ 0. 0. 0. 1. ]] SLAMing on 25.159072329 meters Centerline goodness : 0.814745 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.50 [[ 9.99941815e-01 -2.21116309e-03 1.05583306e-02 7.85402503e-01] [ 2.21270546e-03 9.99997543e-01 -1.34401330e-04 -4.48467406e-02] [-1.05580075e-02 1.57755985e-04 9.99944250e-01 -5.01519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189072329 meters Centerline goodness : 0.818995 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.04, Z:-0.50 [[ 0.99993993 -0.00290625 0.01056798 0.78486793] [ 0.00292199 0.99999465 -0.00147367 -0.04026543] [-0.01056364 0.00150446 0.99994307 -0.50056564] [ 0. 0. 0. 1. ]] SLAMing on 25.219072329 meters Centerline goodness : 0.813227 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.50 [[ 0.99988301 -0.00496745 0.01446712 0.80241276] [ 0.00489086 0.99997386 0.00532459 -0.03840923] [-0.01449319 -0.00525321 0.99988117 -0.50495912] [ 0. 0. 0. 1. ]] SLAMing on 25.249072329 meters Centerline goodness : 0.806405 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.03, Z:-0.51 [[ 0.99989606 -0.0105504 0.00982613 0.84480992] [ 0.01042784 0.99986822 0.01244187 -0.03170358] [-0.00995611 -0.01233811 0.99987432 -0.50855836] [ 0. 0. 0. 1. ]] SLAMing on 25.279072328999998 meters Centerline goodness : 0.801709 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:-0.51 [[ 0.99990535 -0.01023683 0.00919274 0.84781155] [ 0.01012553 0.99987584 0.01207351 -0.02813312] [-0.00931519 -0.01197929 0.99988486 -0.51110577] [ 0. 0. 0. 1. ]] SLAMing on 25.309072329 meters Centerline goodness : 0.801213 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.52 [[ 0.99987146 -0.01245495 0.01009626 0.87016044] [ 0.01228305 0.99978152 0.01691272 -0.02384838] [-0.0103047 -0.01678654 0.99980599 -0.51628511] [ 0. 0. 0. 1. ]] SLAMing on 25.339072329 meters Centerline goodness : 0.795833 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.52 [[ 0.99982288 -0.01187701 0.01459971 0.88734727] [ 0.01154622 0.99967936 0.02253599 -0.01170863] [-0.01486268 -0.02236343 0.99963942 -0.51746958] [ 0. 0. 0. 1. ]] SLAMing on 25.369072328999998 meters Centerline goodness : 0.793966 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.52 [[ 0.99977172 -0.01120242 0.01819404 0.90627693] [ 0.01067374 0.99952534 0.02889928 -0.00562284] [-0.01850914 -0.02869849 0.99941673 -0.51943457] [ 0. 0. 0. 1. ]] SLAMing on 25.399072329 meters Centerline goodness : 0.792067 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.52 [[ 0.99978395 -0.01123658 0.01748715 0.9075879 ] [ 0.0107725 0.99959315 0.02641003 0.0024656 ] [-0.0177768 -0.02621594 0.99949823 -0.51759614] [ 0. 0. 0. 1. ]] SLAMing on 25.429072329 meters Centerline goodness : 0.792356 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:-0.52 [[ 0.99980659 -0.01066975 0.01652106 0.91115382] [ 0.01028789 0.99968187 0.02302864 0.01416941] [-0.01676151 -0.02285422 0.99959829 -0.51727628] [ 0. 0. 0. 1. ]] SLAMing on 25.459072328999998 meters Centerline goodness : 0.790765 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.52 [[ 0.99982171 -0.01033474 0.015803 0.91362908] [ 0.00998695 0.99970961 0.02193077 0.01920305] [-0.01602506 -0.02176904 0.99963459 -0.51821828] [ 0. 0. 0. 1. ]] SLAMing on 25.489072329 meters Centerline goodness : 0.789608 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:-0.52 [[ 0.99983488 -0.01001505 0.01516282 0.91582943] [ 0.0096988 0.99973685 0.02078861 0.0250384 ] [-0.01536703 -0.02063812 0.99966891 -0.51900489] [ 0. 0. 0. 1. ]] SLAMing on 25.519072329 meters Centerline goodness : 0.787962 Centerline is valid? [False, False] Translation: X:0.92, Y:0.03, Z:-0.52 [[ 0.99986409 -0.00646181 0.01516709 0.91576428] [ 0.00609916 0.99969728 0.0238358 0.02852866] [-0.01531652 -0.02374005 0.99960083 -0.51915841] [ 0. 0. 0. 1. ]] SLAMing on 25.549072328999998 meters Centerline goodness : 0.784869 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.51 [[ 0.99988003 -0.00355959 0.01507489 0.91465064] [ 0.00320755 0.99972306 0.02331332 0.04054743] [-0.0151537 -0.02326217 0.99961454 -0.51416914] [ 0. 0. 0. 1. ]] SLAMing on 25.579072329 meters Centerline goodness : 0.785241 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.51 [[ 0.99989177 -0.00334121 0.01432799 0.91658137] [ 0.00303011 0.99976037 0.02168013 0.04756395] [-0.014397 -0.02163437 0.99966228 -0.51336656] [ 0. 0. 0. 1. ]] SLAMing on 25.609072329 meters Centerline goodness : 0.784127 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.51 [[ 0.99990741 -0.00255821 0.01336543 0.91972366] [ 0.00228301 0.99978589 0.02056582 0.05414445] [-0.01341518 -0.0205334 0.99969916 -0.51351963] [ 0. 0. 0. 1. ]] SLAMing on 25.639072328999998 meters Centerline goodness : 0.785104 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.52 [[ 0.99991888 0.00165235 0.01262921 0.92442515] [-0.00194152 0.99973544 0.02291891 0.06221519] [-0.01258799 -0.02294157 0.99965755 -0.51705295] [ 0. 0. 0. 1. ]] SLAMing on 25.669072329 meters Centerline goodness : 0.783544 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99992669 0.00253208 0.01184097 0.92780221] [-0.00279891 0.9997413 0.02257221 0.06556444] [-0.01178075 -0.0226037 0.99967509 -0.51895773] [ 0. 0. 0. 1. ]] SLAMing on 25.699072329 meters Centerline goodness : 0.783704 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99993112 0.00285886 0.01138338 0.9295686 ] [-0.00310566 0.99975922 0.0217223 0.06928694] [-0.01131854 -0.02175615 0.99969923 -0.51927652] [ 0. 0. 0. 1. ]] SLAMing on 25.729072328999997 meters Centerline goodness : 0.784153 Centerline is valid? [False, False] Translation: X:0.93, Y:0.07, Z:-0.52 [[ 0.99993304 0.00365837 0.01097864 0.93155461] [-0.00388808 0.99977243 0.02097556 0.07392222] [-0.0108994 -0.02101684 0.99971971 -0.51965494] [ 0. 0. 0. 1. ]] SLAMing on 25.759072329 meters Centerline goodness : 0.786435 Centerline is valid? [False, False] Translation: X:0.93, Y:0.08, Z:-0.52 [[ 0.99991312 0.00774557 0.01066578 0.93187094] [-0.00798113 0.99972119 0.02222277 0.08166545] [-0.01049068 -0.02230596 0.99969615 -0.51635165] [ 0. 0. 0. 1. ]] SLAMing on 25.789072329 meters Centerline goodness : 0.789090 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.52 [[ 0.99991639 0.00836374 0.00986192 0.9340288 ] [-0.00857184 0.99973742 0.02125111 0.08587638] [-0.00968159 -0.02133386 0.99972553 -0.51565539] [ 0. 0. 0. 1. ]] SLAMing on 25.819072329 meters Centerline goodness : 0.786773 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.9999189 0.00886296 0.00914517 0.93616578] [-0.0090499 0.99974671 0.02060626 0.089162 ] [-0.00896022 -0.02068735 0.99974584 -0.51555091] [ 0. 0. 0. 1. ]] SLAMing on 25.849072329 meters Centerline goodness : 0.787949 Centerline is valid? [False, False] Translation: X:0.93, Y:0.09, Z:-0.52 [[ 0.99985942 0.01346476 0.00999184 0.93434227] [-0.01365614 0.99971972 0.01933903 0.09107393] [-0.00972864 -0.01947276 0.99976305 -0.51703629] [ 0. 0. 0. 1. ]] SLAMing on 25.879072329 meters Centerline goodness : 0.787487 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99989638 0.01082046 0.00949414 0.93649939] [-0.01095934 0.99983187 0.01470088 0.09488901] [-0.00933347 -0.01480341 0.99984686 -0.51619905] [ 0. 0. 0. 1. ]] SLAMing on 25.909072329 meters Centerline goodness : 0.787487 Centerline is valid? [False, False] Translation: X:0.94, Y:0.10, Z:-0.52 [[ 0.99992914 0.00796908 0.00884409 0.93863333] [-0.00807002 0.99990203 0.01143709 0.09774768] [-0.00875208 -0.01150765 0.99989548 -0.51710181] [ 0. 0. 0. 1. ]] SLAMing on 25.939072329 meters Centerline goodness : 0.796057 Centerline is valid? [False, False] Translation: X:0.94, Y:0.10, Z:-0.52 [[ 0.99990824 0.01060965 0.00842334 0.93986853] [-0.01071808 0.99985892 0.01293264 0.09742365] [-0.00828494 -0.01302174 0.99988089 -0.51807208] [ 0. 0. 0. 1. ]] SLAMing on 25.969072329 meters Centerline goodness : 0.792878 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99982302 0.01643806 0.00915023 0.93788143] [-0.01658478 0.99973128 0.01619615 0.09457179] [-0.00888153 -0.01634504 0.99982696 -0.5177515 ] [ 0. 0. 0. 1. ]] SLAMing on 25.999072329 meters Centerline goodness : 0.795739 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99978702 0.01837387 0.00939783 0.9367667 ] [-0.01853226 0.9996828 0.0170544 0.09265642] [-0.0090815 -0.01722493 0.9998104 -0.51707254] [ 0. 0. 0. 1. ]] SLAMing on 26.029072328999998 meters Centerline goodness : 0.798937 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.52 [[ 0.99975968 0.01961737 0.00978498 0.93548099] [-0.01978496 0.99965396 0.01733559 0.09034723] [-0.00944152 -0.01752502 0.99980185 -0.5165257 ] [ 0. 0. 0. 1. ]] SLAMing on 26.059072329 meters Centerline goodness : 0.799929 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.51 [[ 0.99983022 0.01603415 0.00907941 0.93634573] [-0.01614953 0.99978792 0.01277944 0.09097207] [-0.00887258 -0.01292389 0.99987712 -0.51449192] [ 0. 0. 0. 1. ]] SLAMing on 26.089072329 meters Centerline goodness : 0.805446 Centerline is valid? [False, False] Translation: X:0.94, Y:0.09, Z:-0.51 [[ 0.99988625 0.01256387 0.00834526 0.93752038] [-0.01263615 0.99988261 0.00866593 0.09009681] [-0.0082354 -0.00877039 0.99992763 -0.51297874] [ 0. 0. 0. 1. ]] SLAMing on 26.119072328999998 meters Centerline goodness : 0.809510 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.51 [[ 0.9999262 0.00891227 0.00825606 0.93695586] [-0.00896214 0.9999417 0.00602347 0.08229487] [-0.00820189 -0.00609701 0.99994778 -0.51187719] [ 0. 0. 0. 1. ]] SLAMing on 26.149072329 meters Centerline goodness : 0.814663 Centerline is valid? [False, False] Translation: X:0.94, Y:0.08, Z:-0.51 [[ 0.99995512 0.0052894 0.0078603 0.93749272] [-0.00530927 0.99998276 0.00250929 0.07911304] [-0.00784689 -0.0025509 0.99996596 -0.51112612] [ 0. 0. 0. 1. ]] SLAMing on 26.179072329 meters Centerline goodness : 0.817920 Centerline is valid? [False, False] Translation: X:0.94, Y:0.07, Z:-0.51 [[ 9.99970994e-01 2.01437970e-03 7.34534914e-03 9.38777239e-01] [-2.01151955e-03 9.99997898e-01 -3.96749257e-04 7.45557210e-02] [-7.34613290e-03 3.81962436e-04 9.99972944e-01 -5.11087653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209072328999998 meters Centerline goodness : 0.827539 Centerline is valid? [False, False] Translation: X:0.94, Y:0.06, Z:-0.51 [[ 0.99996275 -0.00461505 0.00729403 0.93815237] [ 0.00465365 0.99997521 -0.00528359 0.06148914] [-0.00726946 0.00531734 0.99995944 -0.51037475] [ 0. 0. 0. 1. ]] SLAMing on 26.239072329 meters Centerline goodness : 0.831563 Centerline is valid? [False, False] Translation: X:0.94, Y:0.05, Z:-0.51 [[ 0.99994082 -0.00803471 0.00733484 0.93820277] [ 0.00808938 0.99993949 -0.00745441 0.05417899] [-0.00727451 0.0075133 0.99994531 -0.51074476] [ 0. 0. 0. 1. ]] SLAMing on 26.269072329 meters Centerline goodness : 0.836150 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.51 [[ 0.99993844 -0.00817226 0.00750568 0.93783539] [ 0.00820816 0.99995496 -0.00476455 0.04368917] [-0.0074664 0.00482586 0.99996048 -0.51292948] [ 0. 0. 0. 1. ]] SLAMing on 26.299072328999998 meters Centerline goodness : 0.843626 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.51 [[ 0.99986223 -0.01482466 0.00746625 0.93796549] [ 0.01488071 0.99986108 -0.00750876 0.02811472] [-0.0073539 0.00761883 0.99994394 -0.51492257] [ 0. 0. 0. 1. ]] SLAMing on 26.329072329 meters Centerline goodness : 0.843449 Centerline is valid? [False, False] Translation: X:0.94, Y:0.02, Z:-0.52 [[ 0.99980958 -0.01802594 0.00747408 0.93870134] [ 0.01809305 0.99979571 -0.00900965 0.01985372] [-0.00731014 0.00914316 0.99993148 -0.51640708] [ 0. 0. 0. 1. ]] SLAMing on 26.359072329 meters Centerline goodness : 0.847186 Centerline is valid? [False, False] Translation: X:0.94, Y:0.01, Z:-0.52 [[ 0.99974993 -0.02109206 0.00742959 0.93972535] [ 0.02116829 0.9997225 -0.01033571 0.01077636] [-0.00720953 0.0104904 0.99991898 -0.51808826] [ 0. 0. 0. 1. ]] SLAMing on 26.389072328999998 meters Centerline goodness : 0.850861 Centerline is valid? [False, False] Translation: X:0.94, Y:0.00, Z:-0.52 [[ 0.9996778 -0.02426466 0.00745146 0.94055845] [ 0.02435035 0.99963581 -0.01163258 0.00159865] [-0.00716648 0.01181028 0.99990457 -0.51984864] [ 0. 0. 0. 1. ]] SLAMing on 26.419072329 meters Centerline goodness : 0.852638 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.02, Z:-0.52 [[ 0.99952133 -0.03021369 0.00665175 0.94333546] [ 0.03029846 0.99945589 -0.01303583 -0.01613769] [-0.00625427 0.01323113 0.9998929 -0.52442138] [ 0. 0. 0. 1. ]] SLAMing on 26.449072329 meters Centerline goodness : 0.850008 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.53 [[ 0.99954288 -0.02951394 0.0065544 0.94453592] [ 0.02957322 0.99952083 -0.00913937 -0.02713922] [-0.00628152 0.00932903 0.99993675 -0.52831262] [ 0. 0. 0. 1. ]] SLAMing on 26.479072328999997 meters Centerline goodness : 0.845601 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:-0.53 [[ 0.99957431 -0.0285005 0.00623807 0.94640262] [ 0.02853539 0.99957723 -0.00557682 -0.03753467] [-0.00607649 0.00575245 0.99996499 -0.53155343] [ 0. 0. 0. 1. ]] SLAMing on 26.509072329 meters Centerline goodness : 0.838157 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.54 [[ 0.99953755 -0.02996799 0.00515735 0.95061933] [ 0.02998448 0.9995454 -0.00315043 -0.05557255] [-0.00506059 0.00330361 0.99998174 -0.53668949] [ 0. 0. 0. 1. ]] SLAMing on 26.539072329 meters Centerline goodness : 0.836132 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.54 [[ 9.99572613e-01 -2.88201342e-02 4.89807203e-03 9.52427620e-01] [ 2.88203371e-02 9.99584607e-01 2.91732848e-05 -6.53827246e-02] [-4.89687819e-03 1.12003271e-04 9.99988004e-01 -5.39272499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569072329 meters Centerline goodness : 0.833137 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.07, Z:-0.54 [[ 0.99960723 -0.02762042 0.00474255 0.95408953] [ 0.02760577 0.999614 0.00312695 -0.07498945] [-0.00482708 -0.0029948 0.99998387 -0.54171726] [ 0. 0. 0. 1. ]] SLAMing on 26.599072329 meters Centerline goodness : 0.829808 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.55 [[ 0.99958304 -0.02865652 0.00354246 0.95909049] [ 0.02863961 0.99957859 0.0047343 -0.09160276] [-0.00367664 -0.00463087 0.99998252 -0.5454703 ] [ 0. 0. 0. 1. ]] SLAMing on 26.629072329 meters Centerline goodness : 0.827226 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.55 [[ 0.99960157 -0.02800662 0.00351035 0.95994976] [ 0.02798038 0.99958172 0.00731258 -0.10136366] [-0.00371368 -0.00721144 0.9999671 -0.54716403] [ 0. 0. 0. 1. ]] SLAMing on 26.659072329 meters Centerline goodness : 0.824988 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.55 [[ 0.99952545 -0.03064466 0.00312714 0.96217686] [ 0.03062605 0.99951388 0.00583522 -0.10867956] [-0.00330444 -0.00573668 0.99997809 -0.54880218] [ 0. 0. 0. 1. ]] SLAMing on 26.689072329 meters Centerline goodness : 0.823625 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:-0.55 [[ 0.99946096 -0.03274223 0.00239622 0.96530899] [ 0.03272127 0.99942992 0.00831571 -0.12638785] [-0.00266713 -0.00823283 0.99996255 -0.55369009] [ 0. 0. 0. 1. ]] SLAMing on 26.719072329 meters Centerline goodness : 0.820827 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:-0.56 [[ 0.99937406 -0.03532505 0.00190678 0.96809745] [ 0.0353116 0.99935404 0.00667731 -0.13227164] [-0.00214143 -0.0066058 0.99997589 -0.55560394] [ 0. 0. 0. 1. ]] SLAMing on 26.749072329 meters Centerline goodness : 0.818778 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.56 [[ 0.9994153 -0.03415738 0.00152979 0.9702667 ] [ 0.0341412 0.99937106 0.00958458 -0.14060912] [-0.00185622 -0.00952675 0.9999529 -0.55795317] [ 0. 0. 0. 1. ]] SLAMing on 26.779072328999998 meters Centerline goodness : 0.816258 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.56 [[ 9.99385379e-01 -3.50551571e-02 1.91359319e-05 9.76511772e-01] [ 3.50528110e-02 9.99324518e-01 1.10367053e-02 -1.55481751e-01] [-4.06016444e-04 -1.10292511e-02 9.99939094e-01 -5.62141180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809072329 meters Centerline goodness : 0.815780 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.56 [[ 9.99293356e-01 -3.75841928e-02 -4.66523190e-04 9.79411488e-01] [ 3.75869166e-02 9.99249313e-01 9.38266473e-03 -1.61482360e-01] [ 1.13533098e-04 -9.39356969e-03 9.99955873e-01 -5.64189446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839072329 meters Centerline goodness : 0.814414 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.57 [[ 9.99190608e-01 -4.02152847e-02 -9.26958278e-04 9.82100686e-01] [ 4.02211950e-02 9.99161710e-01 7.62449452e-03 -1.67333062e-01] [ 6.19560000e-04 -7.65560669e-03 9.99970503e-01 -5.65968008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869072328999998 meters Centerline goodness : 0.817047 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.57 [[ 9.99226960e-01 -3.92955284e-02 -1.15938244e-03 9.83664834e-01] [ 3.93053379e-02 9.99175040e-01 1.02141643e-02 -1.75954908e-01] [ 7.57055013e-04 -1.02518383e-02 9.99947162e-01 -5.67714948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899072329 meters Centerline goodness : 0.813678 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.57 [[ 0.9991189 -0.04176111 -0.00417482 0.99514187] [ 0.04178869 0.99910366 0.00675161 -0.18767301] [ 0.00388912 -0.00692013 0.99996849 -0.57032912] [ 0. 0. 0. 1. ]] SLAMing on 26.929072329 meters Centerline goodness : 0.812786 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.19, Z:-0.57 [[ 0.99916766 -0.04053855 -0.0045405 0.99727317] [ 0.04057899 0.99913397 0.00920109 -0.19468924] [ 0.00416357 -0.00937768 0.99994736 -0.57227477] [ 0. 0. 0. 1. ]] SLAMing on 26.959072328999998 meters Centerline goodness : 0.811823 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.20, Z:-0.57 [[ 0.99921537 -0.03929854 -0.00492624 0.99936341] [ 0.039353 0.99915926 0.01149428 -0.20083755] [ 0.00447039 -0.01167913 0.9999218 -0.57409006] [ 0. 0. 0. 1. ]] SLAMing on 26.989072329 meters Centerline goodness : 0.810579 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.21, Z:-0.58 [[ 0.99929884 -0.03699981 -0.00573133 1.00320276] [ 0.03708263 0.99919828 0.01508871 -0.21002005] [ 0.00516845 -0.01529066 0.99986973 -0.57700434] [ 0. 0. 0. 1. ]] SLAMing on 27.019072329 meters Centerline goodness : 0.811662 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.58 [[ 0.99933147 -0.03603128 -0.00619275 1.00518669] [ 0.03612887 0.99921183 0.01644455 -0.21284646] [ 0.00559535 -0.01665729 0.9998456 -0.5783691 ] [ 0. 0. 0. 1. ]] SLAMing on 27.049072328999998 meters Centerline goodness : 0.810575 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.58 [[ 0.99935813 -0.03520157 -0.00664683 1.00702908] [ 0.03531292 0.99922389 0.0174535 -0.21462748] [ 0.00602728 -0.01767702 0.99982558 -0.57949208] [ 0. 0. 0. 1. ]] SLAMing on 27.079072329 meters Centerline goodness : 0.811395 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99939013 -0.03415318 -0.00727477 1.00953551] [ 0.03428321 0.99923962 0.01856974 -0.21585157] [ 0.00663503 -0.01880781 0.9998011 -0.58100876] [ 0. 0. 0. 1. ]] SLAMing on 27.109072329 meters Centerline goodness : 0.810295 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99943981 -0.03247418 -0.00809252 1.01310359] [ 0.03263198 0.99926335 0.02019664 -0.21775974] [ 0.00743069 -0.0204494 0.99976328 -0.58333301] [ 0. 0. 0. 1. ]] SLAMing on 27.139072328999998 meters Centerline goodness : 0.809277 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.58 [[ 0.99945826 -0.03180271 -0.00847213 1.01497275] [ 0.03197408 0.99926964 0.02092457 -0.21925929] [ 0.00780049 -0.02118412 0.99974516 -0.58473502] [ 0. 0. 0. 1. ]] SLAMing on 27.169072329 meters Centerline goodness : 0.809742 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.22, Z:-0.59 [[ 0.99937877 -0.0340334 -0.00915392 1.01881299] [ 0.03419333 0.99925452 0.0179228 -0.2187579 ] [ 0.00853713 -0.01822467 0.99979747 -0.58714038] [ 0. 0. 0. 1. ]] SLAMing on 27.199072329 meters Centerline goodness : 0.810148 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.22, Z:-0.59 [[ 0.99930642 -0.03592713 -0.00979356 1.02305219] [ 0.03607536 0.99923035 0.01540369 -0.21839875] [ 0.00923261 -0.01574631 0.99983339 -0.59023147] [ 0. 0. 0. 1. ]] SLAMing on 27.229072328999997 meters Centerline goodness : 0.811251 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.59 [[ 0.9993366 -0.03489852 -0.01041417 1.02640012] [ 0.03506461 0.99925348 0.01621567 -0.21775797] [ 0.0098405 -0.01657008 0.99981428 -0.59297758] [ 0. 0. 0. 1. ]] SLAMing on 27.259072329 meters Centerline goodness : 0.810569 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.22, Z:-0.59 [[ 0.99933732 -0.03476309 -0.01079087 1.02769039] [ 0.0349337 0.9992608 0.0160463 -0.215897 ] [ 0.01022508 -0.01641263 0.99981302 -0.59363696] [ 0. 0. 0. 1. ]] SLAMing on 27.289072329 meters Centerline goodness : 0.808901 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.59 [[ 0.99933819 -0.03462154 -0.01115942 1.02893454] [ 0.03479777 0.99926621 0.01600482 -0.21460302] [ 0.01059712 -0.01638255 0.99980964 -0.5942482 ] [ 0. 0. 0. 1. ]] SLAMing on 27.319072329 meters Centerline goodness : 0.809339 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.59 [[ 0.99933516 -0.03464429 -0.01135861 1.02962391] [ 0.03482303 0.99926643 0.01593578 -0.213689 ] [ 0.01079819 -0.01632073 0.9998085 -0.59460208] [ 0. 0. 0. 1. ]] SLAMing on 27.349072329 meters Centerline goodness : 0.811300 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.60 [[ 0.99919566 -0.03829521 -0.01189594 1.0315655 ] [ 0.0384347 0.99919229 0.01172752 -0.21118106] [ 0.01143723 -0.01217531 0.99986047 -0.59505751] [ 0. 0. 0. 1. ]] SLAMing on 27.379072329 meters Centerline goodness : 0.811863 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.60 [[ 0.99919755 -0.03818957 -0.01207529 1.0324043 ] [ 0.03833607 0.99919112 0.01214315 -0.21285811] [ 0.01160178 -0.01259632 0.99985335 -0.59569518] [ 0. 0. 0. 1. ]] SLAMing on 27.409072329 meters Centerline goodness : 0.812018 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.60 [[ 0.99906556 -0.04131492 -0.01269198 1.03546189] [ 0.04142665 0.99910393 0.00867024 -0.21222992] [ 0.0123224 -0.00918793 0.99988186 -0.59734229] [ 0. 0. 0. 1. ]] SLAMing on 27.439072329 meters Centerline goodness : 0.812309 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.60 [[ 0.9989233 -0.04445154 -0.0132777 1.03846638] [ 0.04452458 0.99899446 0.00525646 -0.21151036] [ 0.01303069 -0.00584198 0.99989803 -0.59904276] [ 0. 0. 0. 1. ]] SLAMing on 27.469072329 meters Centerline goodness : 0.813899 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.21, Z:-0.60 [[ 0.99874739 -0.0495142 -0.00721121 1.05223385] [ 0.0495891 0.99871337 0.01060769 -0.2127092 ] [ 0.0066767 -0.010952 0.99991773 -0.60393413] [ 0. 0. 0. 1. ]] SLAMing on 27.499072329 meters Centerline goodness : 0.813416 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.21, Z:-0.60 [[ 0.99872891 -0.04986615 -0.00734327 1.05235856] [ 0.04994473 0.9986921 0.01093711 -0.2139615 ] [ 0.00678827 -0.01128996 0.99991322 -0.60383738] [ 0. 0. 0. 1. ]] SLAMing on 27.529072328999998 meters Centerline goodness : 0.814472 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.61 [[ 9.98567587e-01 -5.34713534e-02 -1.89409629e-03 1.06772060e+00] [ 5.34963199e-02 9.98415428e-01 1.74578839e-02 -2.17367920e-01] [ 9.57598279e-04 -1.75342042e-02 9.99845805e-01 -6.09203450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559072329 meters Centerline goodness : 0.815666 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.22, Z:-0.61 [[ 9.98342370e-01 -5.75260239e-02 -1.80798509e-03 1.06804306e+00] [ 5.75451719e-02 9.98252554e-01 1.34309754e-02 -2.17177153e-01] [ 1.03219512e-03 -1.35127526e-02 9.99908166e-01 -6.08987773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589072329 meters Centerline goodness : 0.815890 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.22, Z:-0.61 [[ 0.99784886 -0.06553946 0.00149402 1.08895338] [ 0.06551397 0.99776334 0.01327556 -0.22076517] [-0.00236075 -0.01314912 0.99991076 -0.61155184] [ 0. 0. 0. 1. ]] SLAMing on 27.619072328999998 meters Centerline goodness : 0.816738 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.62 [[ 0.99748227 -0.07077428 0.00448648 1.10954238] [ 0.07069209 0.99736341 0.01639705 -0.22496731] [-0.00563514 -0.01603861 0.99985549 -0.61572952] [ 0. 0. 0. 1. ]] SLAMing on 27.649072329 meters Centerline goodness : 0.816096 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.23, Z:-0.62 [[ 0.99693019 -0.07775185 0.00921163 1.1242808 ] [ 0.0775483 0.99677353 0.02070746 -0.22894169] [-0.01079195 -0.01992954 0.99974314 -0.62159396] [ 0. 0. 0. 1. ]] SLAMing on 27.679072329 meters Centerline goodness : 0.818702 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.24, Z:-0.61 [[ 9.96505723e-01 -8.34996493e-02 -2.03781375e-03 1.12051139e+00] [ 8.35244226e-02 9.96243749e-01 2.28487099e-02 -2.39636048e-01] [ 1.22299939e-04 -2.29390774e-02 9.99736857e-01 -6.14920220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709072328999998 meters Centerline goodness : 0.818389 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.61 [[ 0.9965555 -0.08158355 -0.01487473 1.11691659] [ 0.08200021 0.99618177 0.02996411 -0.24627559] [ 0.01237335 -0.03108063 0.99944029 -0.60706072] [ 0. 0. 0. 1. ]] SLAMing on 27.739072329 meters Centerline goodness : 0.822757 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.25, Z:-0.60 [[ 0.9964938 -0.07873603 -0.02829744 1.11325751] [ 0.07973819 0.99615732 0.03622717 -0.251439 ] [ 0.02533632 -0.03835654 0.99894286 -0.59818676] [ 0. 0. 0. 1. ]] SLAMing on 27.769072329 meters Centerline goodness : 0.822498 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.26, Z:-0.60 [[ 0.996407 -0.0795053 -0.02918886 1.11487946] [ 0.08059819 0.99600681 0.03839748 -0.25577772] [ 0.0260195 -0.04061209 0.99883614 -0.59592028] [ 0. 0. 0. 1. ]] SLAMing on 27.799072328999998 meters Centerline goodness : 0.821975 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99640214 -0.07950581 -0.02935299 1.11534372] [ 0.08062412 0.99597684 0.03911379 -0.25841251] [ 0.02612512 -0.04133962 0.99880354 -0.59553939] [ 0. 0. 0. 1. ]] SLAMing on 27.829072329 meters Centerline goodness : 0.821975 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99640214 -0.07950581 -0.02935299 1.11534372] [ 0.08062412 0.99597684 0.03911379 -0.25841251] [ 0.02612512 -0.04133962 0.99880354 -0.59553939] [ 0. 0. 0. 1. ]] SLAMing on 27.859072329 meters Centerline goodness : 0.823067 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.9963767 -0.07960554 -0.02994045 1.11705369] [ 0.08078097 0.99591504 0.04034431 -0.26154678] [ 0.02660652 -0.04261675 0.99873716 -0.59534561] [ 0. 0. 0. 1. ]] SLAMing on 27.889072328999998 meters Centerline goodness : 0.822324 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99611232 -0.08288501 -0.02983825 1.11735754] [ 0.0839619 0.99578723 0.03685364 -0.26214117] [ 0.02665793 -0.03921564 0.99887511 -0.59518897] [ 0. 0. 0. 1. ]] SLAMing on 27.919072329 meters Centerline goodness : 0.822829 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.60 [[ 0.99583466 -0.08617495 -0.02978621 1.11813927] [ 0.08715572 0.9956358 0.03336517 -0.26270145] [ 0.02678098 -0.03582223 0.99899927 -0.59553479] [ 0. 0. 0. 1. ]] SLAMing on 27.949072329 meters Centerline goodness : 0.822164 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.60 [[ 0.99558524 -0.08908728 -0.02955483 1.11849456] [ 0.08998706 0.99547107 0.03065425 -0.26527187] [ 0.02669007 -0.03317847 0.999093 -0.59549869] [ 0. 0. 0. 1. ]] SLAMing on 27.979072328999997 meters Centerline goodness : 0.824568 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99560393 -0.0887003 -0.0300845 1.1195408 ] [ 0.08965002 0.99546421 0.03184152 -0.26711275] [ 0.02712369 -0.03439862 0.99904006 -0.59483461] [ 0. 0. 0. 1. ]] SLAMing on 28.009072329 meters Centerline goodness : 0.827002 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99563357 -0.08829547 -0.03029348 1.11930731] [ 0.08927776 0.9954676 0.03276801 -0.26843408] [ 0.02726291 -0.03532947 0.99900379 -0.59346059] [ 0. 0. 0. 1. ]] SLAMing on 28.039072329 meters Centerline goodness : 0.829712 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.99572095 -0.08728069 -0.0303623 1.11820581] [ 0.08829947 0.99551328 0.03400752 -0.27013034] [ 0.02725787 -0.03654298 0.99896027 -0.59138058] [ 0. 0. 0. 1. ]] SLAMing on 28.069072329 meters Centerline goodness : 0.830174 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.59 [[ 0.9957791 -0.08655041 -0.03054526 1.1186629 ] [ 0.08760003 0.99554484 0.03488132 -0.27148774] [ 0.02739018 -0.03740986 0.99892456 -0.59126749] [ 0. 0. 0. 1. ]] SLAMing on 28.099072329 meters Centerline goodness : 0.831148 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.59 [[ 0.99606048 -0.08182496 -0.03417879 1.10842816] [ 0.08284364 0.99612486 0.02953304 -0.27339983] [ 0.0316298 -0.03224819 0.99897928 -0.58566558] [ 0. 0. 0. 1. ]] SLAMing on 28.129072329 meters Centerline goodness : 0.832094 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.59 [[ 0.99606991 -0.08152521 -0.03461761 1.10947679] [ 0.08258277 0.99612337 0.03030367 -0.27454221] [ 0.0320129 -0.03304339 0.99894109 -0.58544186] [ 0. 0. 0. 1. ]] SLAMing on 28.159072329 meters Centerline goodness : 0.833506 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99607925 -0.08119703 -0.03511642 1.11044004] [ 0.08229678 0.99612268 0.03109418 -0.27525074] [ 0.03245551 -0.03386223 0.99889939 -0.5849684 ] [ 0. 0. 0. 1. ]] SLAMing on 28.189072329 meters Centerline goodness : 0.835277 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.27, Z:-0.58 [[ 0.99602773 -0.08162406 -0.03558487 1.11090394] [ 0.08274147 0.99608418 0.03114717 -0.27473577] [ 0.03290317 -0.03396779 0.99888116 -0.58387218] [ 0. 0. 0. 1. ]] SLAMing on 28.219072329 meters Centerline goodness : 0.833517 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99597106 -0.08199381 -0.03631339 1.11216329] [ 0.08315296 0.99603408 0.03164966 -0.27502971] [ 0.0335743 -0.03454171 0.99883914 -0.58288147] [ 0. 0. 0. 1. ]] SLAMing on 28.249072329 meters Centerline goodness : 0.834651 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99590727 -0.08249155 -0.03693043 1.11282663] [ 0.08372293 0.99593791 0.03313826 -0.27789178] [ 0.03404679 -0.03609455 0.99876824 -0.58066625] [ 0. 0. 0. 1. ]] SLAMing on 28.279072328999998 meters Centerline goodness : 0.834134 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99585118 -0.0829268 -0.03746419 1.11345239] [ 0.08420529 0.99587017 0.03394209 -0.27893392] [ 0.03449476 -0.03695596 0.99872137 -0.57913002] [ 0. 0. 0. 1. ]] SLAMing on 28.309072329 meters Centerline goodness : 0.836036 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.28, Z:-0.58 [[ 0.99577755 -0.08346675 -0.03821483 1.11482058] [ 0.0848021 0.9957911 0.03476616 -0.27955295] [ 0.03515216 -0.03786006 0.99866458 -0.57792111] [ 0. 0. 0. 1. ]] SLAMing on 28.339072329 meters Centerline goodness : 0.834342 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.58 [[ 0.99568544 -0.08411192 -0.03918797 1.11730738] [ 0.08551284 0.99570234 0.0355584 -0.28020741] [ 0.03602867 -0.03875605 0.99859897 -0.5776034 ] [ 0. 0. 0. 1. ]] SLAMing on 28.369072328999998 meters Centerline goodness : 0.833627 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.58 [[ 0.99523576 -0.08892033 -0.03998685 1.12076861] [ 0.09021593 0.99541272 0.03185297 -0.27991659] [ 0.03697104 -0.03530867 0.99869237 -0.57826814] [ 0. 0. 0. 1. ]] SLAMing on 28.399072329 meters Centerline goodness : 0.835390 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.9948074 -0.08726023 -0.05238214 1.11664986] [ 0.08892468 0.9955765 0.03032883 -0.28220951] [ 0.04950393 -0.03482941 0.99816646 -0.57147892] [ 0. 0. 0. 1. ]] SLAMing on 28.429072329 meters Centerline goodness : 0.834518 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99448156 -0.09076476 -0.05261362 1.11865727] [ 0.09225229 0.99538125 0.02656467 -0.2809447 ] [ 0.04995948 -0.0312718 0.99826155 -0.5726659 ] [ 0. 0. 0. 1. ]] SLAMing on 28.459072328999998 meters Centerline goodness : 0.837312 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99427369 -0.09209959 -0.05419873 1.12212402] [ 0.09366721 0.99523396 0.02712612 -0.28046017] [ 0.05144212 -0.03204743 0.99816165 -0.57165205] [ 0. 0. 0. 1. ]] SLAMing on 28.489072329 meters Centerline goodness : 0.837608 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99422848 -0.0924884 -0.05436563 1.1212144 ] [ 0.09404392 0.99520778 0.02678094 -0.27827514] [ 0.05162817 -0.03173913 0.99816189 -0.56978592] [ 0. 0. 0. 1. ]] SLAMing on 28.519072329 meters Centerline goodness : 0.838703 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99442592 -0.08959634 -0.05558407 1.12220564] [ 0.09142718 0.99531928 0.03131467 -0.27805906] [ 0.05251822 -0.03622201 0.99796283 -0.56759448] [ 0. 0. 0. 1. ]] SLAMing on 28.549072328999998 meters Centerline goodness : 0.842213 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99440419 -0.08958348 -0.05599206 1.12149176] [ 0.09142235 0.99532374 0.03118662 -0.27534207] [ 0.05293642 -0.03613104 0.99794403 -0.56542464] [ 0. 0. 0. 1. ]] SLAMing on 28.579072329 meters Centerline goodness : 0.839273 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.56 [[ 0.99437148 -0.09011469 -0.05571983 1.11992963] [ 0.09186294 0.99533017 0.02964879 -0.27122793] [ 0.05278784 -0.0346005 0.99800614 -0.56449968] [ 0. 0. 0. 1. ]] SLAMing on 28.609072329 meters Centerline goodness : 0.839240 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99434861 -0.0900178 -0.05628183 1.12225347] [ 0.0917872 0.9953362 0.02968095 -0.27114442] [ 0.05334753 -0.03467916 0.99797365 -0.56602159] [ 0. 0. 0. 1. ]] SLAMing on 28.639072328999998 meters Centerline goodness : 0.840306 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99409849 -0.09268771 -0.05636653 1.12460383] [ 0.09424121 0.99522144 0.02555149 -0.26879285] [ 0.05372887 -0.03071275 0.99808313 -0.56868369] [ 0. 0. 0. 1. ]] SLAMing on 28.669072329 meters Centerline goodness : 0.838752 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99401533 -0.09335218 -0.05673533 1.12613451] [ 0.09489253 0.99517142 0.02508508 -0.26845728] [ 0.05411963 -0.03031871 0.99807407 -0.56951738] [ 0. 0. 0. 1. ]] SLAMing on 28.699072329 meters Centerline goodness : 0.839592 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99383122 -0.09448417 -0.05807113 1.12890461] [ 0.09609156 0.99504494 0.02553406 -0.26698159] [ 0.05537082 -0.03095669 0.99798585 -0.56858469] [ 0. 0. 0. 1. ]] SLAMing on 28.729072328999997 meters Centerline goodness : 0.839239 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.57 [[ 0.99367206 -0.09537197 -0.05932978 1.13063555] [ 0.09705939 0.99493276 0.02623492 -0.26570438] [ 0.05652707 -0.03182742 0.99789363 -0.56638751] [ 0. 0. 0. 1. ]] SLAMing on 28.759072329 meters Centerline goodness : 0.841375 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.993459 -0.09688943 -0.06042897 1.13027801] [ 0.09862994 0.99477099 0.02651055 -0.26223025] [ 0.05754439 -0.03229724 0.99782039 -0.56198667] [ 0. 0. 0. 1. ]] SLAMing on 28.789072329 meters Centerline goodness : 0.838767 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99348925 -0.09646094 -0.06061682 1.13119226] [ 0.09822118 0.99480486 0.02675612 -0.262343 ] [ 0.05772098 -0.03253577 0.99780244 -0.56264561] [ 0. 0. 0. 1. ]] SLAMing on 28.819072328999997 meters Centerline goodness : 0.839976 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99355896 -0.09576888 -0.06057154 1.13179763] [ 0.09753795 0.99486684 0.02695026 -0.26338923] [ 0.05767962 -0.0326847 0.99779997 -0.56374176] [ 0. 0. 0. 1. ]] SLAMing on 28.849072329 meters Centerline goodness : 0.841528 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99359859 -0.09525212 -0.06073608 1.13266616] [ 0.09704166 0.99490797 0.02722205 -0.26464634] [ 0.05783385 -0.03294172 0.99778259 -0.56442245] [ 0. 0. 0. 1. ]] SLAMing on 28.879072329 meters Centerline goodness : 0.841026 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.27, Z:-0.56 [[ 0.9935793 -0.09510421 -0.06128098 1.13409788] [ 0.09695065 0.99489834 0.02789027 -0.26524969] [ 0.05831586 -0.03365243 0.99773081 -0.56439485] [ 0. 0. 0. 1. ]] SLAMing on 28.909072329 meters Centerline goodness : 0.842158 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.56 [[ 0.99344795 -0.09606334 -0.06191127 1.13497957] [ 0.09792062 0.99480891 0.02769084 -0.26295862] [ 0.05892981 -0.0335718 0.99769745 -0.56340692] [ 0. 0. 0. 1. ]] SLAMing on 28.939072329 meters Centerline goodness : 0.841661 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99338914 -0.09601496 -0.06292179 1.13827091] [ 0.09793675 0.99479307 0.02819827 -0.26245752] [ 0.0598867 -0.03417421 0.99762002 -0.56453218] [ 0. 0. 0. 1. ]] SLAMing on 28.969072329 meters Centerline goodness : 0.839471 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99313406 -0.09902477 -0.06228024 1.13770133] [ 0.10065756 0.99464019 0.02364206 -0.26029561] [ 0.05960528 -0.02974872 0.99777864 -0.56535272] [ 0. 0. 0. 1. ]] SLAMing on 28.999072329 meters Centerline goodness : 0.838434 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99313867 -0.09863632 -0.06282091 1.14044387] [ 0.10030527 0.9946676 0.02398386 -0.26166669] [ 0.06012025 -0.03012056 0.99773659 -0.56732427] [ 0. 0. 0. 1. ]] SLAMing on 29.029072328999998 meters Centerline goodness : 0.838464 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99331312 -0.09716703 -0.0623507 1.14012644] [ 0.09886064 0.99479541 0.02467099 -0.26417097] [ 0.05962898 -0.03067004 0.99774933 -0.56838043] [ 0. 0. 0. 1. ]] SLAMing on 29.059072329 meters Centerline goodness : 0.840622 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.57 [[ 0.99336662 -0.09664214 -0.06231411 1.13921897] [ 0.09835105 0.99483874 0.02495916 -0.26402027] [ 0.05958039 -0.03092226 0.99774445 -0.56719579] [ 0. 0. 0. 1. ]] SLAMing on 29.089072329 meters Centerline goodness : 0.840200 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99369218 -0.09310745 -0.06250482 1.13626314] [ 0.09506141 0.9950476 0.02904484 -0.26276443] [ 0.05949098 -0.03480343 0.99762194 -0.56328715] [ 0. 0. 0. 1. ]] SLAMing on 29.119072328999998 meters Centerline goodness : 0.840055 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99395849 -0.0896304 -0.06334761 1.1373474 ] [ 0.09186749 0.99521343 0.0333256 -0.26309864] [ 0.06005741 -0.03894384 0.99743495 -0.56279575] [ 0. 0. 0. 1. ]] SLAMing on 29.149072329 meters Centerline goodness : 0.840886 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.99401465 -0.08915559 -0.06313596 1.13658807] [ 0.09133753 0.99528772 0.03255483 -0.26126963] [ 0.059936 -0.03812666 0.99747383 -0.56295414] [ 0. 0. 0. 1. ]] SLAMing on 29.179072329 meters Centerline goodness : 0.841399 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.26, Z:-0.56 [[ 0.9941574 -0.08792572 -0.06261103 1.13565401] [ 0.09007228 0.99541054 0.0323239 -0.26071777] [ 0.05948158 -0.03777456 0.99751442 -0.56381767] [ 0. 0. 0. 1. ]] SLAMing on 29.209072328999998 meters Centerline goodness : 0.843849 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99458045 -0.08427867 -0.06088381 1.13195379] [ 0.08629881 0.99577607 0.03134541 -0.25914914] [ 0.0579849 -0.03642974 0.99765256 -0.56556656] [ 0. 0. 0. 1. ]] SLAMing on 29.239072329 meters Centerline goodness : 0.845814 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99480958 -0.08226039 -0.05989271 1.12892991] [ 0.08420509 0.9959754 0.03070011 -0.25749952] [ 0.05712626 -0.03558404 0.99773261 -0.56556257] [ 0. 0. 0. 1. ]] SLAMing on 29.269072329 meters Centerline goodness : 0.847136 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.25, Z:-0.57 [[ 0.9950077 -0.08050227 -0.0589835 1.12586075] [ 0.08236153 0.99615701 0.02979565 -0.2547788 ] [ 0.05635821 -0.03450487 0.99781419 -0.56506903] [ 0. 0. 0. 1. ]] SLAMing on 29.299072328999998 meters Centerline goodness : 0.848481 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.26, Z:-0.57 [[ 0.99536309 -0.07559491 -0.05947885 1.12653826] [ 0.07773372 0.99637691 0.03450397 -0.25562271] [ 0.05665503 -0.03896749 0.99763307 -0.56532783] [ 0. 0. 0. 1. ]] SLAMing on 29.329072329 meters Centerline goodness : 0.848905 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.57 [[ 0.9956798 -0.07260145 -0.05788586 1.12206277] [ 0.07462971 0.99664239 0.03368031 -0.25381228] [ 0.05524626 -0.0378548 0.99775491 -0.5654813 ] [ 0. 0. 0. 1. ]] SLAMing on 29.359072329 meters Centerline goodness : 0.848239 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.25, Z:-0.57 [[ 0.99578356 -0.07153648 -0.05742505 1.12124008] [ 0.07353595 0.99673 0.03349297 -0.25423272] [ 0.05484131 -0.03757455 0.99778785 -0.56622451] [ 0. 0. 0. 1. ]] SLAMing on 29.389072328999998 meters Centerline goodness : 0.850583 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99589706 -0.0700968 -0.05723182 1.12112464] [ 0.07212009 0.99681337 0.03408517 -0.25502688] [ 0.05466018 -0.03807289 0.99777889 -0.5670288 ] [ 0. 0. 0. 1. ]] SLAMing on 29.419072329 meters Centerline goodness : 0.852416 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99609808 -0.06764921 -0.05667631 1.11936537] [ 0.0697559 0.99691236 0.03605368 -0.25710202] [ 0.05406231 -0.03986651 0.99774141 -0.56602485] [ 0. 0. 0. 1. ]] SLAMing on 29.449072329 meters Centerline goodness : 0.849280 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99612877 -0.06734774 -0.05649558 1.11909108] [ 0.06945589 0.99692731 0.03621902 -0.2576901 ] [ 0.05388272 -0.04000276 0.99774567 -0.56585811] [ 0. 0. 0. 1. ]] SLAMing on 29.479072328999997 meters Centerline goodness : 0.852674 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99614174 -0.06723477 -0.05640145 1.11873776] [ 0.06935587 0.99692289 0.03653102 -0.25914584] [ 0.05377174 -0.04030185 0.99773963 -0.56554391] [ 0. 0. 0. 1. ]] SLAMing on 29.509072329 meters Centerline goodness : 0.852352 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.57 [[ 0.99615288 -0.06710884 -0.05635466 1.11865695] [ 0.0692643 0.99690429 0.03720607 -0.26202215] [ 0.05368335 -0.0409663 0.99771732 -0.56552295] [ 0. 0. 0. 1. ]] SLAMing on 29.539072329 meters Centerline goodness : 0.851618 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99592716 -0.07041419 -0.05631103 1.12004282] [ 0.0724355 0.99676942 0.03469599 -0.26692923] [ 0.05368602 -0.0386336 0.99781023 -0.56621609] [ 0. 0. 0. 1. ]] SLAMing on 29.569072328999997 meters Centerline goodness : 0.850184 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99592259 -0.07043441 -0.05636654 1.12031784] [ 0.07250555 0.99673311 0.03558159 -0.27078155] [ 0.05367623 -0.0395234 0.99777591 -0.56635686] [ 0. 0. 0. 1. ]] SLAMing on 29.599072329 meters Centerline goodness : 0.848380 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.27, Z:-0.57 [[ 0.99591739 -0.07045343 -0.05643465 1.12041081] [ 0.07257296 0.99669756 0.03643 -0.27424561] [ 0.05368166 -0.0403769 0.99774144 -0.56634575] [ 0. 0. 0. 1. ]] SLAMing on 29.629072329 meters Centerline goodness : 0.848077 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.99591459 -0.07053087 -0.05638734 1.1202701 ] [ 0.07268498 0.99666438 0.03710795 -0.27734231] [ 0.053582 -0.04105486 0.99771913 -0.56631861] [ 0. 0. 0. 1. ]] SLAMing on 29.659072329 meters Centerline goodness : 0.845133 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.28, Z:-0.57 [[ 0.9955358 -0.07528953 -0.0569207 1.12232952] [ 0.07736604 0.9963812 0.03519957 -0.28217281] [ 0.05406456 -0.03944616 0.997758 -0.56506961] [ 0. 0. 0. 1. ]] SLAMing on 29.689072329 meters Centerline goodness : 0.846222 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99545089 -0.07598908 -0.05747334 1.12466109] [ 0.07816266 0.99626987 0.03656418 -0.28703742] [ 0.05448048 -0.04089011 0.99767724 -0.56524818] [ 0. 0. 0. 1. ]] SLAMing on 29.719072329 meters Centerline goodness : 0.846222 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99545089 -0.07598908 -0.05747334 1.12466109] [ 0.07816266 0.99626987 0.03656418 -0.28703742] [ 0.05448048 -0.04089011 0.99767724 -0.56524818] [ 0. 0. 0. 1. ]] SLAMing on 29.749072329 meters Centerline goodness : 0.844869 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.29, Z:-0.57 [[ 0.99520104 -0.07953141 -0.05700569 1.12467405] [ 0.08150431 0.99612125 0.0331588 -0.28944763] [ 0.05414741 -0.03764588 0.99782305 -0.5655348 ] [ 0. 0. 0. 1. ]] SLAMing on 29.779072328999998 meters Centerline goodness : 0.844375 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99484415 -0.08302212 -0.05824471 1.13054042] [ 0.08496415 0.99587979 0.03169436 -0.2953983 ] [ 0.05537339 -0.03647966 0.99779909 -0.56781433] [ 0. 0. 0. 1. ]] SLAMing on 29.809072329 meters Centerline goodness : 0.842833 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99453108 -0.08683428 -0.05803227 1.13128852] [ 0.08854333 0.99569117 0.02755316 -0.2950704 ] [ 0.05538966 -0.03254085 0.99793441 -0.56869285] [ 0. 0. 0. 1. ]] SLAMing on 29.839072329 meters Centerline goodness : 0.842307 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.30, Z:-0.57 [[ 0.99423518 -0.09023094 -0.05792046 1.13241705] [ 0.09174427 0.99549291 0.02401782 -0.29565648] [ 0.05549225 -0.02919323 0.99803225 -0.56958031] [ 0. 0. 0. 1. ]] SLAMing on 29.869072328999998 meters Centerline goodness : 0.839600 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:-0.57 [[ 0.99385908 -0.09357559 -0.05905706 1.13769279] [ 0.0950416 0.99521861 0.02251692 -0.30081682] [ 0.05666765 -0.02799152 0.99800063 -0.5713492 ] [ 0. 0. 0. 1. ]] SLAMing on 29.899072329 meters Centerline goodness : 0.837829 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.30, Z:-0.57 [[ 0.993538 -0.09698229 -0.05896338 1.13868346] [ 0.09826568 0.99497375 0.01926382 -0.30202629] [ 0.05679877 -0.02493341 0.99807426 -0.5717202 ] [ 0. 0. 0. 1. ]] SLAMing on 29.929072329 meters Centerline goodness : 0.836504 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.57 [[ 0.99354015 -0.09630797 -0.06002291 1.1422936 ] [ 0.09775906 0.99497306 0.02172021 -0.30686433] [ 0.05762935 -0.02744769 0.99796066 -0.57247238] [ 0. 0. 0. 1. ]] SLAMing on 29.959072328999998 meters Centerline goodness : 0.835242 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.57 [[ 0.99336734 -0.09789375 -0.06031702 1.14515379] [ 0.09923422 0.99487032 0.01963704 -0.30891636] [ 0.05808526 -0.02549231 0.99798609 -0.57452976] [ 0. 0. 0. 1. ]] SLAMing on 29.989072329 meters Centerline goodness : 0.835005 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99351545 -0.09616191 -0.06066242 1.1490675 ] [ 0.09760376 0.99499817 0.02126395 -0.31671296] [ 0.05831422 -0.02704695 0.99793182 -0.57793788] [ 0. 0. 0. 1. ]] SLAMing on 30.019072329 meters Centerline goodness : 0.835117 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99353942 -0.09543059 -0.06142007 1.15176164] [ 0.09696786 0.99503207 0.02254786 -0.31974439] [ 0.05896318 -0.02835796 0.99785729 -0.57892945] [ 0. 0. 0. 1. ]] SLAMing on 30.049072328999998 meters Centerline goodness : 0.834396 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99358797 -0.09447089 -0.06211442 1.15429758] [ 0.09610497 0.99508515 0.02386168 -0.32188995] [ 0.0595549 -0.02967818 0.99778375 -0.57997547] [ 0. 0. 0. 1. ]] SLAMing on 30.079072329 meters Centerline goodness : 0.834365 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.58 [[ 0.99362215 -0.09401991 -0.06225172 1.15460676] [ 0.0956754 0.99511928 0.02416266 -0.32228747] [ 0.05967611 -0.02996451 0.99776795 -0.57995499] [ 0. 0. 0. 1. ]] SLAMing on 30.109072329 meters Centerline goodness : 0.832489 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99400951 -0.08917331 -0.06319186 1.15656883] [ 0.09117797 0.99539526 0.0295779 -0.32573372] [ 0.06026332 -0.03516242 0.997563 -0.58043458] [ 0. 0. 0. 1. ]] SLAMing on 30.139072328999998 meters Centerline goodness : 0.831640 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99405626 -0.08817414 -0.06385517 1.15910888] [ 0.09022637 0.99546945 0.0299963 -0.32619979] [ 0.06092097 -0.03557943 0.99750827 -0.58206646] [ 0. 0. 0. 1. ]] SLAMing on 30.169072329 meters Centerline goodness : 0.831229 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.33, Z:-0.58 [[ 0.99432762 -0.08408157 -0.06513734 1.16279467] [ 0.08649124 0.99563419 0.0350973 -0.32959445] [ 0.06190193 -0.04053202 0.9972589 -0.58344628] [ 0. 0. 0. 1. ]] SLAMing on 30.199072329 meters Centerline goodness : 0.829718 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99441017 -0.08229266 -0.06615378 1.16714736] [ 0.08476864 0.99576697 0.03553067 -0.32962979] [ 0.06294984 -0.04093982 0.99717664 -0.58679985] [ 0. 0. 0. 1. ]] SLAMing on 30.229072328999997 meters Centerline goodness : 0.828171 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.9944615 -0.08172334 -0.06608804 1.16695452] [ 0.08419091 0.99581877 0.03545239 -0.32931532] [ 0.06291443 -0.04082005 0.99718378 -0.58695013] [ 0. 0. 0. 1. ]] SLAMing on 30.259072329 meters Centerline goodness : 0.827453 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99450268 -0.08131352 -0.06597372 1.16627039] [ 0.08376394 0.99586148 0.03526342 -0.32840519] [ 0.06283329 -0.04059579 0.99719805 -0.58653433] [ 0. 0. 0. 1. ]] SLAMing on 30.289072329 meters Centerline goodness : 0.828841 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.33, Z:-0.59 [[ 0.99453507 -0.08088239 -0.06601538 1.16570049] [ 0.08332369 0.99590415 0.03510116 -0.32731733] [ 0.06290592 -0.04040998 0.99720102 -0.58577793] [ 0. 0. 0. 1. ]] SLAMing on 30.319072328999997 meters Centerline goodness : 0.825639 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.32, Z:-0.59 [[ 0.9945893 -0.08034955 -0.06584886 1.16461276] [ 0.08271955 0.9959897 0.03408791 -0.32357325] [ 0.06284584 -0.03935046 0.99724718 -0.58539144] [ 0. 0. 0. 1. ]] SLAMing on 30.349072329 meters Centerline goodness : 0.827626 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.32, Z:-0.59 [[ 0.99451682 -0.08053032 -0.06671697 1.16629638] [ 0.08290195 0.99599206 0.03357197 -0.32057485] [ 0.06374601 -0.03891885 0.99720698 -0.58523821] [ 0. 0. 0. 1. ]] SLAMing on 30.379072329 meters Centerline goodness : 0.824593 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.32, Z:-0.58 [[ 0.99439723 -0.08135678 -0.06749241 1.16771947] [ 0.08369821 0.9959572 0.03261699 -0.31683902] [ 0.06456594 -0.03808324 0.9971865 -0.58494924] [ 0. 0. 0. 1. ]] SLAMing on 30.409072329 meters Centerline goodness : 0.824534 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.59 [[ 0.99408416 -0.08384599 -0.06904005 1.17144808] [ 0.0861142 0.99581661 0.03055518 -0.30999023] [ 0.0661893 -0.03631975 0.99714585 -0.58525099] [ 0. 0. 0. 1. ]] SLAMing on 30.439072329 meters Centerline goodness : 0.823027 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.59 [[ 0.99391111 -0.084804 -0.07034908 1.1749165 ] [ 0.08710687 0.99573702 0.03033445 -0.30827158] [ 0.0674767 -0.03627763 0.9970611 -0.58553728] [ 0. 0. 0. 1. ]] SLAMing on 30.469072329 meters Centerline goodness : 0.824338 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.31, Z:-0.58 [[ 0.99375725 -0.08593309 -0.07114803 1.17648412] [ 0.08822486 0.99565725 0.02971542 -0.30649479] [ 0.06828551 -0.03580694 0.99702304 -0.58494336] [ 0. 0. 0. 1. ]] SLAMing on 30.499072329 meters Centerline goodness : 0.824727 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.30, Z:-0.58 [[ 0.99344067 -0.08864601 -0.07223242 1.17721631] [ 0.09083252 0.99548466 0.02756348 -0.30024522] [ 0.06946288 -0.03394373 0.99700689 -0.5823019 ] [ 0. 0. 0. 1. ]] SLAMing on 30.529072328999998 meters Centerline goodness : 0.823012 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.30, Z:-0.58 [[ 0.99323817 -0.09018625 -0.07310522 1.17791294] [ 0.09232298 0.99537937 0.02638889 -0.29573448] [ 0.07038752 -0.03295974 0.99697505 -0.58047593] [ 0. 0. 0. 1. ]] SLAMing on 30.559072329 meters Centerline goodness : 0.824653 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.29, Z:-0.58 [[ 0.99316445 -0.09538427 -0.06727713 1.19431677] [ 0.09711518 0.99500881 0.02293729 -0.28704823] [ 0.06475348 -0.02931413 0.99747064 -0.57959266] [ 0. 0. 0. 1. ]] SLAMing on 30.589072329 meters Centerline goodness : 0.823357 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.28, Z:-0.58 [[ 0.99288224 -0.09748338 -0.06842403 1.19572028] [ 0.09914216 0.99484588 0.02127245 -0.28082441] [ 0.06599766 -0.02790474 0.99742951 -0.57784444] [ 0. 0. 0. 1. ]] SLAMing on 30.619072328999998 meters Centerline goodness : 0.822870 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.58 [[ 0.99236945 -0.10108616 -0.07060079 1.20011871] [ 0.10256099 0.9945714 0.01757756 -0.26707511] [ 0.06844067 -0.02468432 0.99734977 -0.57757776] [ 0. 0. 0. 1. ]] SLAMing on 30.649072329 meters Centerline goodness : 0.821011 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.26, Z:-0.58 [[ 0.99216195 -0.10255248 -0.07139778 1.2016216 ] [ 0.10387859 0.99447527 0.0151052 -0.25997912] [ 0.06945426 -0.0224035 0.99733354 -0.57774231] [ 0. 0. 0. 1. ]] SLAMing on 30.679072329 meters Centerline goodness : 0.820911 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.25, Z:-0.58 [[ 0.99222972 -0.10071251 -0.07305595 1.20445971] [ 0.10221963 0.99461343 0.01718321 -0.25461795] [ 0.07093186 -0.02451744 0.99717981 -0.57761876] [ 0. 0. 0. 1. ]] SLAMing on 30.709072328999998 meters Centerline goodness : 0.823411 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.25, Z:-0.58 [[ 0.99238874 -0.09814126 -0.07438338 1.20562542] [ 0.09983022 0.99481671 0.01932992 -0.24847226] [ 0.07210077 -0.0266085 0.99704236 -0.57653147] [ 0. 0. 0. 1. ]] SLAMing on 30.739072329 meters Centerline goodness : 0.824328 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.23, Z:-0.57 [[ 0.9930524 -0.09658584 -0.06721693 1.2144183 ] [ 0.09820107 0.99494186 0.02114821 -0.22745936] [ 0.06483432 -0.02760205 0.99751423 -0.57415975] [ 0. 0. 0. 1. ]] SLAMing on 30.769072329 meters Centerline goodness : 0.824426 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.22, Z:-0.57 [[ 0.99345999 -0.09072628 -0.06932525 1.21672984] [ 0.0927659 0.99532763 0.02678435 -0.21960543] [ 0.06657129 -0.0330402 0.99723448 -0.5732237 ] [ 0. 0. 0. 1. ]] SLAMing on 30.799072328999998 meters Centerline goodness : 0.825181 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.21, Z:-0.57 [[ 0.9938072 -0.08507014 -0.07148644 1.22003814] [ 0.08751171 0.99565769 0.0317407 -0.21083627] [ 0.06847584 -0.03780004 0.99693642 -0.57360697] [ 0. 0. 0. 1. ]] SLAMing on 30.829072329 meters Centerline goodness : 0.825531 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.19, Z:-0.57 [[ 0.99421795 -0.07761559 -0.07420565 1.22544058] [ 0.08012372 0.99628903 0.03143802 -0.18867223] [ 0.0714902 -0.03720187 0.9967473 -0.57351979] [ 0. 0. 0. 1. ]] SLAMing on 30.859072329 meters Centerline goodness : 0.825142 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.18, Z:-0.57 [[ 0.99443339 -0.07426 -0.07475085 1.22686647] [ 0.07689425 0.99649305 0.03299811 -0.17993069] [ 0.07203826 -0.03856233 0.99665613 -0.5745455 ] [ 0. 0. 0. 1. ]] SLAMing on 30.889072328999998 meters Centerline goodness : 0.827871 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.17, Z:-0.57 [[ 0.99463303 -0.0712377 -0.07503545 1.22712551] [ 0.07396474 0.99667389 0.03421068 -0.17085636] [ 0.07234879 -0.03957705 0.99659385 -0.57479315] [ 0. 0. 0. 1. ]] SLAMing on 30.919072329 meters Centerline goodness : 0.829625 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.16, Z:-0.57 [[ 0.9948052 -0.06841355 -0.0753803 1.22730388] [ 0.07121549 0.99684217 0.03512896 -0.16066338] [ 0.07273897 -0.04031472 0.99653588 -0.57476331] [ 0. 0. 0. 1. ]] SLAMing on 30.949072329 meters Centerline goodness : 0.835779 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:-0.57 [[ 0.99515123 -0.06407973 -0.07461787 1.2235845 ] [ 0.06678648 0.99717547 0.03436057 -0.1359861 ] [ 0.0722053 -0.03917743 0.99662005 -0.57193003] [ 0. 0. 0. 1. ]] SLAMing on 30.979072328999997 meters Centerline goodness : 0.837242 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.12, Z:-0.57 [[ 0.99530262 -0.06162552 -0.07466591 1.22235519] [ 0.06434469 0.99732861 0.03457449 -0.1246135 ] [ 0.07233578 -0.03921643 0.99660905 -0.570583 ] [ 0. 0. 0. 1. ]] SLAMing on 31.009072329 meters Centerline goodness : 0.839353 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.57 [[ 0.9954422 -0.05911899 -0.07483168 1.22173957] [ 0.06187615 0.99746726 0.03507714 -0.11368706] [ 0.07256842 -0.03954756 0.99657906 -0.56982126] [ 0. 0. 0. 1. ]] SLAMing on 31.039072329 meters Centerline goodness : 0.841607 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.09, Z:-0.57 [[ 0.99547013 -0.05734978 -0.07583022 1.22455701] [ 0.05984757 0.99772337 0.03108596 -0.08943141] [ 0.07387481 -0.0354834 0.99663606 -0.56966844] [ 0. 0. 0. 1. ]] SLAMing on 31.069072328999997 meters Centerline goodness : 0.842494 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.08, Z:-0.57 [[ 0.99557728 -0.0546632 -0.07640557 1.22747806] [ 0.05725563 0.99784144 0.03215994 -0.07918774] [ 0.07448267 -0.03639235 0.99655804 -0.57214704] [ 0. 0. 0. 1. ]] SLAMing on 31.099072329 meters Centerline goodness : 0.842972 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.07, Z:-0.57 [[ 0.99568666 -0.05176407 -0.07699708 1.22952104] [ 0.05443857 0.99797 0.03305027 -0.0680745 ] [ 0.07512996 -0.03709932 0.99648338 -0.57349083] [ 0. 0. 0. 1. ]] SLAMing on 31.129072329 meters Centerline goodness : 0.846127 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.06, Z:-0.57 [[ 0.99576381 -0.04906569 -0.0777624 1.23079839] [ 0.05175175 0.99811756 0.03291038 -0.05510524] [ 0.07600124 -0.0367953 0.99642858 -0.57247126] [ 0. 0. 0. 1. ]] SLAMing on 31.159072329 meters Centerline goodness : 0.846147 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.57 [[ 0.99634457 -0.04560895 -0.07223097 1.24422562] [ 0.0478677 0.99840743 0.0298543 -0.02667395] [ 0.07075432 -0.0332027 0.99694102 -0.57195575] [ 0. 0. 0. 1. ]] SLAMing on 31.189072329 meters Centerline goodness : 0.842286 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.57 [[ 0.99644549 -0.04348715 -0.07214748 1.27627093] [ 0.04564741 0.99854904 0.0285679 -0.01336018] [ 0.07080046 -0.0317597 0.99698476 -0.56773966] [ 0. 0. 0. 1. ]] SLAMing on 31.219072329 meters Centerline goodness : 0.839942 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.57 [[ 9.96400003e-01 -4.28002252e-02 -7.31790567e-02 1.27893582e+00] [ 4.47498967e-02 9.98680003e-01 2.52130631e-02 3.99247846e-04] [ 7.20033358e-02 -2.83970513e-02 9.97000064e-01 -5.65460028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249072329 meters Centerline goodness : 0.832893 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.56 [[ 0.99643574 -0.03990201 -0.07432117 1.28243445] [ 0.04167789 0.99887776 0.02249852 0.02436337] [ 0.07334003 -0.02551588 0.99698053 -0.5638501 ] [ 0. 0. 0. 1. ]] SLAMing on 31.279072328999998 meters Centerline goodness : 0.830442 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.57 [[ 0.99655658 -0.03673475 -0.07433396 1.28366999] [ 0.03863793 0.99895707 0.02432854 0.03369395] [ 0.07336273 -0.02711687 0.9969366 -0.56570399] [ 0. 0. 0. 1. ]] SLAMing on 31.309072329 meters Centerline goodness : 0.825929 Centerline is valid? [False, False] Translation: X:1.28, Y:0.04, Z:-0.57 [[ 0.99666098 -0.03360427 -0.07441532 1.28468679] [ 0.03563882 0.99902168 0.02618313 0.04292301] [ 0.07346265 -0.02874778 0.99688355 -0.5672337 ] [ 0. 0. 0. 1. ]] SLAMing on 31.339072329 meters Centerline goodness : 0.823831 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.57 [[ 0.99658551 -0.03425585 -0.07512555 1.28626964] [ 0.03607175 0.99908567 0.02294909 0.0556895 ] [ 0.07427072 -0.02558064 0.99690997 -0.5657032 ] [ 0. 0. 0. 1. ]] SLAMing on 31.369072328999998 meters Centerline goodness : 0.817410 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.56 [[ 0.99663443 -0.03283342 -0.07511176 1.2856686 ] [ 0.03443285 0.99920489 0.02009876 0.07703197] [ 0.07439213 -0.02261743 0.99697255 -0.56234626] [ 0. 0. 0. 1. ]] SLAMing on 31.399072329 meters Centerline goodness : 0.816457 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.57 [[ 0.99714297 -0.03661031 -0.06607256 1.29470271] [ 0.0377961 0.99914447 0.01678652 0.09078228] [ 0.06540147 -0.01923585 0.99767361 -0.56576345] [ 0. 0. 0. 1. ]] SLAMing on 31.429072329 meters Centerline goodness : 0.811105 Centerline is valid? [False, False] Translation: X:1.30, Y:0.11, Z:-0.58 [[ 0.99769811 -0.03928587 -0.05527296 1.30327455] [ 0.04042849 0.99898805 0.01970796 0.11392158] [ 0.05444278 -0.0218972 0.99827676 -0.57918606] [ 0. 0. 0. 1. ]] SLAMing on 31.459072328999998 meters Centerline goodness : 0.810001 Centerline is valid? [False, False] Translation: X:1.31, Y:0.13, Z:-0.58 [[ 0.99763578 -0.03974725 -0.05606253 1.30502658] [ 0.04072989 0.99903404 0.01649463 0.12623142] [ 0.05535276 -0.01873905 0.998291 -0.57703451] [ 0. 0. 0. 1. ]] SLAMing on 31.489072329 meters Centerline goodness : 0.809626 Centerline is valid? [False, False] Translation: X:1.31, Y:0.14, Z:-0.57 [[ 0.99757507 -0.04017928 -0.05682962 1.3066605 ] [ 0.04098923 0.99907294 0.01315867 0.13824477] [ 0.05624823 -0.01545617 0.99829717 -0.57435848] [ 0. 0. 0. 1. ]] SLAMing on 31.519072329 meters Centerline goodness : 0.806887 Centerline is valid? [False, False] Translation: X:1.31, Y:0.15, Z:-0.58 [[ 0.99794505 -0.04537589 -0.04524055 1.31107033] [ 0.04610247 0.99882186 0.01514797 0.15164877] [ 0.0444999 -0.01720255 0.99886127 -0.58333278] [ 0. 0. 0. 1. ]] SLAMing on 31.549072328999998 meters Centerline goodness : 0.804774 Centerline is valid? [False, False] Translation: X:1.31, Y:0.16, Z:-0.58 [[ 0.99788811 -0.04632448 -0.04553421 1.31087166] [ 0.04689503 0.99883313 0.01154235 0.16297251] [ 0.04494638 -0.0136533 0.9988961 -0.57975156] [ 0. 0. 0. 1. ]] SLAMing on 31.579072329 meters Centerline goodness : 0.801886 Centerline is valid? [False, False] Translation: X:1.32, Y:0.18, Z:-0.58 [[ 0.99825597 -0.04464433 -0.03862507 1.32062209] [ 0.04480863 0.99898981 0.00339824 0.18470985] [ 0.03843434 -0.00512305 0.999248 -0.57644884] [ 0. 0. 0. 1. ]] SLAMing on 31.609072329 meters Centerline goodness : 0.799267 Centerline is valid? [False, False] Translation: X:1.32, Y:0.20, Z:-0.57 [[ 9.98207853e-01 -4.54682350e-02 -3.89065884e-02 1.32078764e+00] [ 4.55208439e-02 9.98963280e-01 4.66929934e-04 1.95052165e-01] [ 3.88450227e-02 -2.23715386e-03 9.99242743e-01 -5.73985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639072328999998 meters Centerline goodness : 0.799267 Centerline is valid? [False, False] Translation: X:1.32, Y:0.20, Z:-0.57 [[ 9.98207853e-01 -4.54682350e-02 -3.89065884e-02 1.32078764e+00] [ 4.55208439e-02 9.98963280e-01 4.66929934e-04 1.95052165e-01] [ 3.88450227e-02 -2.23715386e-03 9.99242743e-01 -5.73985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669072329 meters Centerline goodness : 0.798410 Centerline is valid? [False, False] Translation: X:1.32, Y:0.21, Z:-0.57 [[ 9.98162528e-01 -4.62002136e-02 -3.92059632e-02 1.32139669e+00] [ 4.61600353e-02 9.98932193e-01 -1.92988847e-03 2.05021451e-01] [ 3.92532601e-02 1.16593707e-04 9.99229287e-01 -5.72829761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699072329 meters Centerline goodness : 0.795547 Centerline is valid? [False, False] Translation: X:1.32, Y:0.23, Z:-0.57 [[ 0.99805686 -0.04812193 -0.03958272 1.32337746] [ 0.04782528 0.99882033 -0.00840811 0.22567545] [ 0.03994064 0.00649871 0.99918092 -0.56902002] [ 0. 0. 0. 1. ]] SLAMing on 31.729072328999997 meters Centerline goodness : 0.797022 Centerline is valid? [False, False] Translation: X:1.32, Y:0.23, Z:-0.57 [[ 0.99802196 -0.04869003 -0.03976734 1.3242171 ] [ 0.04832114 0.99877991 -0.01018584 0.2340125 ] [ 0.04021477 0.00824409 0.99915705 -0.56897089] [ 0. 0. 0. 1. ]] SLAMing on 31.759072329 meters Centerline goodness : 0.795219 Centerline is valid? [False, False] Translation: X:1.32, Y:0.24, Z:-0.57 [[ 0.99797805 -0.04939683 -0.03999717 1.32477065] [ 0.04893023 0.99872319 -0.01256254 0.24333872] [ 0.04056665 0.01058006 0.99912082 -0.56766361] [ 0. 0. 0. 1. ]] SLAMing on 31.789072329 meters Centerline goodness : 0.792457 Centerline is valid? [False, False] Translation: X:1.36, Y:0.27, Z:-0.56 [[ 0.99882665 -0.02981182 -0.03816523 1.35531601] [ 0.02925486 0.99945838 -0.01506979 0.26661087] [ 0.03859381 0.01393559 0.9991578 -0.55797632] [ 0. 0. 0. 1. ]] SLAMing on 31.819072328999997 meters Centerline goodness : 0.793643 Centerline is valid? [False, False] Translation: X:1.38, Y:0.28, Z:-0.55 [[ 0.999062 -0.01990144 -0.03845839 1.37539493] [ 0.01912481 0.99960779 -0.02045769 0.27927137] [ 0.03885044 0.019703 0.99905077 -0.54722097] [ 0. 0. 0. 1. ]] SLAMing on 31.849072329 meters Centerline goodness : 0.791970 Centerline is valid? [False, False] Translation: X:1.38, Y:0.29, Z:-0.54 [[ 0.99902572 -0.01853213 -0.04005212 1.38047155] [ 0.0176079 0.99957329 -0.02330647 0.28627154] [ 0.04046694 0.02257853 0.99892574 -0.54189756] [ 0. 0. 0. 1. ]] SLAMing on 31.879072329 meters Centerline goodness : 0.791905 Centerline is valid? [False, False] Translation: X:1.39, Y:0.28, Z:-0.55 [[ 0.99917544 -0.01983406 -0.03542675 1.39433459] [ 0.01942593 0.99974133 -0.01182779 0.28184606] [ 0.03565218 0.01112984 0.99930228 -0.54710278] [ 0. 0. 0. 1. ]] SLAMing on 31.909072329 meters Centerline goodness : 0.792204 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.56 [[ 0.99957539 -0.01900169 -0.02209032 1.40478765] [ 0.01876692 0.9997657 -0.01078687 0.27483985] [ 0.02229011 0.01036773 0.99969778 -0.55698464] [ 0. 0. 0. 1. ]] SLAMing on 31.939072329 meters Centerline goodness : 0.795002 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.56 [[ 0.9995104 -0.02072736 -0.02343785 1.41223251] [ 0.02040235 0.99969351 -0.01402214 0.27276112] [ 0.02372131 0.01353708 0.99962695 -0.55910993] [ 0. 0. 0. 1. ]] SLAMing on 31.969072329 meters Centerline goodness : 0.791764 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.56 [[ 0.99943791 -0.02241042 -0.02493277 1.42015945] [ 0.02197839 0.99960581 -0.01746908 0.27137939] [ 0.02531443 0.01691128 0.99953649 -0.56103224] [ 0. 0. 0. 1. ]] SLAMing on 31.999072329 meters Centerline goodness : 0.793836 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.56 [[ 0.99934252 -0.02530257 -0.02596758 1.42453464] [ 0.02474842 0.99946369 -0.02144405 0.271047 ] [ 0.02649625 0.02078729 0.99943276 -0.56114191] [ 0. 0. 0. 1. ]] SLAMing on 32.029072328999995 meters Centerline goodness : 0.794618 Centerline is valid? [False, False] Translation: X:1.44, Y:0.27, Z:-0.57 [[ 0.99944984 -0.02539631 -0.02133155 1.44008033] [ 0.02519118 0.99963431 -0.00983076 0.2687509 ] [ 0.02157342 0.00928798 0.99972412 -0.56722593] [ 0. 0. 0. 1. ]] SLAMing on 32.059072328999996 meters Centerline goodness : 0.792887 Centerline is valid? [False, False] Translation: X:1.46, Y:0.27, Z:-0.57 [[ 9.99528617e-01 -2.57050065e-02 -1.67867985e-02 1.45648415e+00] [ 2.57021688e-02 9.99669571e-01 -3.84799279e-04 2.68527472e-01] [ 1.67911429e-02 -4.68392380e-05 9.99859018e-01 -5.69929896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089072329 meters Centerline goodness : 0.793389 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99951453 -0.02562147 -0.01772668 1.4577059 ] [ 0.02553848 0.99966187 -0.00489265 0.27763542] [ 0.01784605 0.00443757 0.9998309 -0.56080157] [ 0. 0. 0. 1. ]] SLAMing on 32.119072329 meters Centerline goodness : 0.793723 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99943497 -0.02774502 -0.01897273 1.46296677] [ 0.02754139 0.99956111 -0.01091118 0.28237048] [ 0.01926713 0.01038248 0.99976046 -0.5566581 ] [ 0. 0. 0. 1. ]] SLAMing on 32.14907232899999 meters Centerline goodness : 0.794453 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.56 [[ 0.99945082 -0.02700572 -0.01920286 1.4648618 ] [ 0.0268179 0.9995906 -0.00997156 0.28040229] [ 0.01946428 0.0094511 0.99976588 -0.5584076 ] [ 0. 0. 0. 1. ]] SLAMing on 32.17907232899999 meters Centerline goodness : 0.796725 Centerline is valid? [False, False] Translation: X:1.47, Y:0.28, Z:-0.56 [[ 0.99936441 -0.02933739 -0.02025096 1.47025381] [ 0.029062 0.99948288 -0.01376153 0.2793555 ] [ 0.02064422 0.01316425 0.99970021 -0.55896142] [ 0. 0. 0. 1. ]] SLAMing on 32.209072328999994 meters Centerline goodness : 0.796005 Centerline is valid? [False, False] Translation: X:1.47, Y:0.28, Z:-0.56 [[ 0.99924879 -0.03228946 -0.02142984 1.47417917] [ 0.03188078 0.99930829 -0.01914592 0.28160548] [ 0.02203323 0.01844833 0.99958701 -0.55590321] [ 0. 0. 0. 1. ]] SLAMing on 32.239072328999995 meters Centerline goodness : 0.796120 Centerline is valid? [False, False] Translation: X:1.48, Y:0.28, Z:-0.57 [[ 0.99955887 -0.02874579 -0.00746613 1.48057376] [ 0.02864234 0.99949703 -0.01361231 0.27647468] [ 0.00785367 0.01339246 0.99987947 -0.56710617] [ 0. 0. 0. 1. ]] SLAMing on 32.269072329 meters Centerline goodness : 0.797487 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966343 -0.02504623 -0.00676064 1.47873634] [ 0.02499099 0.99965457 -0.00813528 0.2721554 ] [ 0.00696206 0.00796358 0.99994405 -0.56962238] [ 0. 0. 0. 1. ]] SLAMing on 32.299072329 meters Centerline goodness : 0.800318 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966663 -0.02487351 -0.00692435 1.47908362] [ 0.024816 0.99965782 -0.00827069 0.27238913] [ 0.0071277 0.0080961 0.99994182 -0.56893668] [ 0. 0. 0. 1. ]] SLAMing on 32.329072329 meters Centerline goodness : 0.801701 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99966472 -0.02491259 -0.00705765 1.478902 ] [ 0.02484979 0.99965202 -0.00885033 0.27379335] [ 0.00727568 0.00867198 0.99993593 -0.5672701 ] [ 0. 0. 0. 1. ]] SLAMing on 32.35907232899999 meters Centerline goodness : 0.799674 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99967414 -0.02442148 -0.0074301 1.4806217 ] [ 0.02435632 0.99966516 -0.00873732 0.27457424] [ 0.00764099 0.00855351 0.99993422 -0.56790949] [ 0. 0. 0. 1. ]] SLAMing on 32.389072328999994 meters Centerline goodness : 0.801703 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.57 [[ 0.99969311 -0.02357668 -0.00760434 1.48267959] [ 0.02351352 0.99968914 -0.00829092 0.27352864] [ 0.00779745 0.00810958 0.99993672 -0.56912542] [ 0. 0. 0. 1. ]] SLAMing on 32.419072328999995 meters Centerline goodness : 0.801881 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99962008 -0.02620733 -0.00853666 1.48658514] [ 0.0260871 0.99956298 -0.01390388 0.27715564] [ 0.00889731 0.0136759 0.99986689 -0.56587112] [ 0. 0. 0. 1. ]] SLAMing on 32.449072328999996 meters Centerline goodness : 0.800392 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99962677 -0.02587738 -0.0087566 1.48749057] [ 0.02575196 0.99956829 -0.01414448 0.27745868] [ 0.00911884 0.0139137 0.99986162 -0.56524782] [ 0. 0. 0. 1. ]] SLAMing on 32.479072329 meters Centerline goodness : 0.801165 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.56 [[ 0.99963269 -0.02560672 -0.00887611 1.48803203] [ 0.02547965 0.99957526 -0.01414486 0.27718512] [ 0.00923455 0.0139135 0.99986056 -0.56493166] [ 0. 0. 0. 1. ]] SLAMing on 32.509072329 meters Centerline goodness : 0.801211 Centerline is valid? [False, False] Translation: X:1.49, Y:0.28, Z:-0.57 [[ 0.99964626 -0.02500487 -0.00906181 1.48957464] [ 0.02488045 0.99959803 -0.013592 0.27594938] [ 0.00939803 0.01336173 0.99986656 -0.56596544] [ 0. 0. 0. 1. ]] SLAMing on 32.53907232899999 meters Centerline goodness : 0.801381 Centerline is valid? [False, False] Translation: X:1.49, Y:0.27, Z:-0.57 [[ 0.99966035 -0.02433182 -0.00933487 1.49143367] [ 0.0242101 0.99962317 -0.01293812 0.2749859 ] [ 0.00964616 0.01270773 0.99987272 -0.56731698] [ 0. 0. 0. 1. ]] SLAMing on 32.569072328999994 meters Centerline goodness : 0.799687 Centerline is valid? [False, False] Translation: X:1.49, Y:0.27, Z:-0.57 [[ 0.99967158 -0.0237288 -0.00967865 1.49331776] [ 0.02360554 0.99964123 -0.01265671 0.27461944] [ 0.0099755 0.01242408 0.99987306 -0.56809094] [ 0. 0. 0. 1. ]] SLAMing on 32.599072328999995 meters Centerline goodness : 0.800150 Centerline is valid? [False, False] Translation: X:1.50, Y:0.28, Z:-0.56 [[ 0.99958701 -0.02650926 -0.01109335 1.49801748] [ 0.02629443 0.99947208 -0.01908323 0.27834515] [ 0.01159337 0.01878366 0.99975635 -0.56310536] [ 0. 0. 0. 1. ]] SLAMing on 32.629072328999996 meters Centerline goodness : 0.797612 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99960842 -0.02698304 -0.00741062 1.52250062] [ 0.02689414 0.99956811 -0.01184491 0.27537917] [ 0.00772703 0.01164097 0.99990239 -0.5683668 ] [ 0. 0. 0. 1. ]] SLAMing on 32.659072329 meters Centerline goodness : 0.797100 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99961614 -0.02660888 -0.00771588 1.52373888] [ 0.02651813 0.99958062 -0.01163476 0.27583113] [ 0.00802223 0.01142568 0.99990254 -0.56882441] [ 0. 0. 0. 1. ]] SLAMing on 32.689072329 meters Centerline goodness : 0.797506 Centerline is valid? [False, False] Translation: X:1.52, Y:0.28, Z:-0.57 [[ 0.99962308 -0.02624528 -0.00805445 1.52499196] [ 0.02615122 0.99959105 -0.01156931 0.27600811] [ 0.0083548 0.01135432 0.99990063 -0.56880118] [ 0. 0. 0. 1. ]] SLAMing on 32.71907232899999 meters Centerline goodness : 0.797394 Centerline is valid? [False, False] Translation: X:1.53, Y:0.27, Z:-0.57 [[ 0.9996487 -0.02498595 -0.00884137 1.52914195] [ 0.02489409 0.99963649 -0.01035256 0.274935 ] [ 0.00909682 0.01012883 0.99990732 -0.57180043] [ 0. 0. 0. 1. ]] SLAMing on 32.74907232899999 meters Centerline goodness : 0.792140 Centerline is valid? [False, False] Translation: X:1.53, Y:0.27, Z:-0.58 [[ 0.99967133 -0.02388902 -0.00930253 1.53239669] [ 0.0238071 0.99967767 -0.00881899 0.27186263] [ 0.00951021 0.00859462 0.99991784 -0.57504118] [ 0. 0. 0. 1. ]] SLAMing on 32.779072328999995 meters Centerline goodness : 0.792153 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.57 [[ 0.99959397 -0.02644585 -0.01060704 1.53781722] [ 0.02630343 0.99956487 -0.01334917 0.27210563] [ 0.01095546 0.01306475 0.99985463 -0.57414716] [ 0. 0. 0. 1. ]] SLAMing on 32.809072328999996 meters Centerline goodness : 0.790849 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99961913 -0.02535506 -0.01089582 1.54073035] [ 0.02523036 0.99961627 -0.01143402 0.2680406 ] [ 0.01118155 0.01115476 0.99987526 -0.57797502] [ 0. 0. 0. 1. ]] SLAMing on 32.839072329 meters Centerline goodness : 0.788400 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99963309 -0.02463494 -0.01126044 1.54303727] [ 0.02452024 0.99964716 -0.0102132 0.26548054] [ 0.01150807 0.00993334 0.99988444 -0.58030536] [ 0. 0. 0. 1. ]] SLAMing on 32.869072329 meters Centerline goodness : 0.790683 Centerline is valid? [False, False] Translation: X:1.54, Y:0.27, Z:-0.58 [[ 0.99962904 -0.02466548 -0.01155014 1.54328814] [ 0.02454019 0.99963979 -0.01086625 0.26676476] [ 0.011814 0.01057877 0.99987425 -0.57861652] [ 0. 0. 0. 1. ]] SLAMing on 32.89907232899999 meters Centerline goodness : 0.789105 Centerline is valid? [False, False] Translation: X:1.54, Y:0.26, Z:-0.58 [[ 0.99972062 -0.02079668 -0.01123262 1.5423608 ] [ 0.02073519 0.99976952 -0.0055632 0.2642045 ] [ 0.01134572 0.00532874 0.99992144 -0.58069919] [ 0. 0. 0. 1. ]] SLAMing on 32.92907232899999 meters Centerline goodness : 0.789546 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:-0.58 [[ 0.99965016 -0.0230295 -0.01300781 1.54889409] [ 0.0228868 0.99967738 -0.0110147 0.26732969] [ 0.01325727 0.01071314 0.99985473 -0.57787927] [ 0. 0. 0. 1. ]] SLAMing on 32.959072328999994 meters Centerline goodness : 0.787600 Centerline is valid? [False, False] Translation: X:1.55, Y:0.27, Z:-0.58 [[ 0.9995709 -0.02557948 -0.01427282 1.55442199] [ 0.02536474 0.99956529 -0.01502854 0.26773023] [ 0.01465104 0.01466006 0.99978519 -0.57834141] [ 0. 0. 0. 1. ]] SLAMing on 32.989072328999995 meters Centerline goodness : 0.786755 Centerline is valid? [False, False] Translation: X:1.56, Y:0.26, Z:-0.58 [[ 0.99959531 -0.02435194 -0.01470339 1.55794547] [ 0.02416106 0.99962326 -0.01302259 0.26391702] [ 0.01501497 0.01266207 0.99980709 -0.58255579] [ 0. 0. 0. 1. ]] SLAMing on 33.019072329 meters Centerline goodness : 0.788645 Centerline is valid? [False, False] Translation: X:1.56, Y:0.27, Z:-0.58 [[ 0.99950008 -0.02734557 -0.01586883 1.56221383] [ 0.02706686 0.99948008 -0.01752006 0.26526765] [ 0.01633967 0.01708178 0.99972057 -0.58166801] [ 0. 0. 0. 1. ]] SLAMing on 33.049072329 meters Centerline goodness : 0.786722 Centerline is valid? [False, False] Translation: X:1.57, Y:0.27, Z:-0.58 [[ 0.99939269 -0.03049477 -0.01686175 1.56575082] [ 0.03012385 0.99930775 -0.02183069 0.26655382] [ 0.0175158 0.02130949 0.99961948 -0.58077942] [ 0. 0. 0. 1. ]] SLAMing on 33.079072329 meters Centerline goodness : 0.787650 Centerline is valid? [False, False] Translation: X:1.57, Y:0.26, Z:-0.59 [[ 0.99963766 -0.02644932 -0.00499828 1.57411146] [ 0.02635821 0.99949954 -0.01749066 0.26206819] [ 0.0054584 0.01735258 0.99983453 -0.59212489] [ 0. 0. 0. 1. ]] SLAMing on 33.10907232899999 meters Centerline goodness : 0.785591 Centerline is valid? [False, False] Translation: X:1.58, Y:0.26, Z:-0.59 [[ 0.99965682 -0.02555895 -0.00574223 1.5772349 ] [ 0.02546274 0.99954374 -0.01624706 0.26020769] [ 0.00615487 0.01609527 0.99985152 -0.5942828 ] [ 0. 0. 0. 1. ]] SLAMing on 33.139072328999994 meters Centerline goodness : 0.783048 Centerline is valid? [False, False] Translation: X:1.58, Y:0.25, Z:-0.60 [[ 0.99968863 -0.02392447 -0.00708961 1.58336051] [ 0.02383869 0.99964443 -0.01194663 0.25381387] [ 0.00737291 0.0117739 0.9999035 -0.60260189] [ 0. 0. 0. 1. ]] SLAMing on 33.169072328999995 meters Centerline goodness : 0.778546 Centerline is valid? [False, False] Translation: X:1.59, Y:0.25, Z:-0.61 [[ 0.99971268 -0.02262872 -0.00790556 1.5876757 ] [ 0.0225516 0.99969851 -0.00971175 0.24976929] [ 0.00812294 0.00953068 0.99992159 -0.60689343] [ 0. 0. 0. 1. ]] SLAMing on 33.199072328999996 meters Centerline goodness : 0.775665 Centerline is valid? [False, False] Translation: X:1.59, Y:0.24, Z:-0.61 [[ 0.99973949 -0.02110447 -0.00869186 1.59235162] [ 0.02104293 0.99975327 -0.00711235 0.24493995] [ 0.00883982 0.0069276 0.99993693 -0.6119321 ] [ 0. 0. 0. 1. ]] SLAMing on 33.229072329 meters Centerline goodness : 0.775317 Centerline is valid? [False, False] Translation: X:1.60, Y:0.24, Z:-0.61 [[ 0.99967457 -0.0232741 -0.01044415 1.59943182] [ 0.02316442 0.9996765 -0.01050231 0.24380132] [ 0.0106852 0.01025696 0.9998903 -0.61318799] [ 0. 0. 0. 1. ]] SLAMing on 33.259072329 meters Centerline goodness : 0.772859 Centerline is valid? [False, False] Translation: X:1.61, Y:0.24, Z:-0.62 [[ 0.99963129 -0.02403941 -0.01262527 1.61001272] [ 0.02389779 0.9996511 -0.01125055 0.23746324] [ 0.01289132 0.01094469 0.999857 -0.61933463] [ 0. 0. 0. 1. ]] SLAMing on 33.28907232899999 meters Centerline goodness : 0.773747 Centerline is valid? [False, False] Translation: X:1.61, Y:0.23, Z:-0.62 [[ 0.99965307 -0.02256581 -0.01358422 1.61455229] [ 0.02243865 0.99970364 -0.00944174 0.23330194] [ 0.01379325 0.00913365 0.99986315 -0.62237126] [ 0. 0. 0. 1. ]] SLAMing on 33.319072328999994 meters Centerline goodness : 0.770368 Centerline is valid? [False, False] Translation: X:1.62, Y:0.23, Z:-0.62 [[ 0.99967036 -0.02126853 -0.01438134 1.61817631] [ 0.02115702 0.99974525 -0.00786196 0.22943265] [ 0.01454489 0.0075551 0.99986567 -0.62455578] [ 0. 0. 0. 1. ]] SLAMing on 33.349072328999995 meters Centerline goodness : 0.771956 Centerline is valid? [False, False] Translation: X:1.62, Y:0.23, Z:-0.63 [[ 0.99968315 -0.02014142 -0.01509738 1.62095386] [ 0.02004149 0.99977642 -0.00674133 0.22555368] [ 0.01522978 0.00643662 0.9998633 -0.62528048] [ 0. 0. 0. 1. ]] SLAMing on 33.379072328999996 meters Centerline goodness : 0.774806 Centerline is valid? [False, False] Translation: X:1.62, Y:0.22, Z:-0.63 [[ 0.99970578 -0.01859929 -0.01556981 1.62374698] [ 0.0185444 0.99982133 -0.00366231 0.21553098] [ 0.01563515 0.0033725 0.99987208 -0.62855462] [ 0. 0. 0. 1. ]] SLAMing on 33.409072329 meters Centerline goodness : 0.774094 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.63 [[ 0.99963736 -0.02056955 -0.01737907 1.63037702] [ 0.02045063 0.99976641 -0.00699303 0.2125018 ] [ 0.01751886 0.00663508 0.99982452 -0.6284452 ] [ 0. 0. 0. 1. ]] SLAMing on 33.439072329 meters Centerline goodness : 0.774156 Centerline is valid? [False, False] Translation: X:1.63, Y:0.21, Z:-0.63 [[ 0.99965631 -0.01925406 -0.01779146 1.6332163 ] [ 0.01917541 0.99980564 -0.00458074 0.20503328] [ 0.0178762 0.00423801 0.99983123 -0.6316037 ] [ 0. 0. 0. 1. ]] SLAMing on 33.46907232899999 meters Centerline goodness : 0.775992 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.63 [[ 0.99959632 -0.021054 -0.01907685 1.6385809 ] [ 0.02094939 0.99976447 -0.00566727 0.19440733] [ 0.01919167 0.00526533 0.99980196 -0.63367796] [ 0. 0. 0. 1. ]] SLAMing on 33.49907232899999 meters Centerline goodness : 0.775041 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.64 [[ 0.99960928 -0.02006131 -0.01946354 1.6403169 ] [ 0.0199968 0.99979391 -0.00350362 0.1869657 ] [ 0.01952982 0.00311304 0.99980443 -0.63532344] [ 0. 0. 0. 1. ]] SLAMing on 33.529072328999995 meters Centerline goodness : 0.775041 Centerline is valid? [False, False] Translation: X:1.64, Y:0.19, Z:-0.64 [[ 0.99960928 -0.02006131 -0.01946354 1.6403169 ] [ 0.0199968 0.99979391 -0.00350362 0.1869657 ] [ 0.01952982 0.00311304 0.99980443 -0.63532344] [ 0. 0. 0. 1. ]] SLAMing on 33.559072328999996 meters Centerline goodness : 0.774504 Centerline is valid? [False, False] Translation: X:1.64, Y:0.18, Z:-0.64 [[ 9.99618326e-01 -1.91868173e-02 -1.98763157e-02 1.64199827e+00] [ 1.91639048e-02 9.99815454e-01 -1.34260733e-03 1.79223277e-01] [ 1.98984080e-02 9.61187067e-04 9.99801545e-01 -6.37008992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589072329 meters Centerline goodness : 0.776157 Centerline is valid? [False, False] Translation: X:1.64, Y:0.17, Z:-0.64 [[ 9.99544707e-01 -2.21423223e-02 -2.04962494e-02 1.64430209e+00] [ 2.21083129e-02 9.99753805e-01 -1.88443725e-03 1.66492097e-01] [ 2.05329292e-02 1.43044178e-03 9.99788154e-01 -6.39568235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619072329 meters Centerline goodness : 0.775214 Centerline is valid? [False, False] Translation: X:1.65, Y:0.16, Z:-0.64 [[ 0.99945836 -0.02495902 -0.02144835 1.64804815] [ 0.02487323 0.99968155 -0.00425714 0.16099254] [ 0.02154777 0.00372134 0.99976089 -0.6408276 ] [ 0. 0. 0. 1. ]] SLAMing on 33.64907232899999 meters Centerline goodness : 0.774776 Centerline is valid? [False, False] Translation: X:1.65, Y:0.16, Z:-0.64 [[ 0.99936024 -0.02771677 -0.02260303 1.65244146] [ 0.02757198 0.99959741 -0.0066929 0.1560444 ] [ 0.02277943 0.0060654 0.99972212 -0.64226541] [ 0. 0. 0. 1. ]] SLAMing on 33.67907232899999 meters Centerline goodness : 0.775340 Centerline is valid? [False, False] Translation: X:1.65, Y:0.15, Z:-0.64 [[ 0.9992505 -0.03133555 -0.02272723 1.65360023] [ 0.031128 0.99947093 -0.00942925 0.15178572] [ 0.02301068 0.00871473 0.99969724 -0.64265566] [ 0. 0. 0. 1. ]] SLAMing on 33.709072328999994 meters Centerline goodness : 0.776325 Centerline is valid? [False, False] Translation: X:1.65, Y:0.15, Z:-0.64 [[ 0.99916704 -0.03405826 -0.0224782 1.65368991] [ 0.033782 0.99935034 -0.01255721 0.14736662] [ 0.02289127 0.01178739 0.99966847 -0.64285351] [ 0. 0. 0. 1. ]] SLAMing on 33.739072328999995 meters Centerline goodness : 0.778213 Centerline is valid? [False, False] Translation: X:1.65, Y:0.14, Z:-0.64 [[ 0.99911245 -0.03672989 -0.02062089 1.65164216] [ 0.03636119 0.99917697 -0.01797897 0.13894452] [ 0.02126428 0.01721321 0.9996257 -0.64496628] [ 0. 0. 0. 1. ]] SLAMing on 33.769072329 meters Centerline goodness : 0.778919 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99912201 -0.03651067 -0.0205468 1.65108048] [ 0.03615528 0.99919452 -0.01741016 0.13465077] [ 0.0211659 0.016652 0.99963729 -0.64408087] [ 0. 0. 0. 1. ]] SLAMing on 33.799072329 meters Centerline goodness : 0.782503 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99924337 -0.03288424 -0.02076803 1.650469 ] [ 0.03267104 0.99941076 -0.01052327 0.12779629] [ 0.02110185 0.0098368 0.99972894 -0.64155438] [ 0. 0. 0. 1. ]] SLAMing on 33.829072329 meters Centerline goodness : 0.784400 Centerline is valid? [False, False] Translation: X:1.65, Y:0.13, Z:-0.64 [[ 0.99928831 -0.03125587 -0.0211174 1.65017748] [ 0.03112481 0.99949433 -0.00650684 0.12505406] [ 0.0213101 0.00584494 0.99975583 -0.63927248] [ 0. 0. 0. 1. ]] SLAMing on 33.85907232899999 meters Centerline goodness : 0.785121 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:-0.64 [[ 0.99933774 -0.0296916 -0.02103568 1.64881392] [ 0.02960945 0.99955269 -0.00420621 0.12207045] [ 0.02115116 0.00358057 0.99976988 -0.63707663] [ 0. 0. 0. 1. ]] SLAMing on 33.889072328999994 meters Centerline goodness : 0.786214 Centerline is valid? [False, False] Translation: X:1.65, Y:0.12, Z:-0.64 [[ 0.99938151 -0.02844565 -0.02067491 1.64815884] [ 0.02839035 0.99959252 -0.00296331 0.11897141] [ 0.02075078 0.00237451 0.99978186 -0.6368489 ] [ 0. 0. 0. 1. ]] SLAMing on 33.919072328999995 meters Centerline goodness : 0.789403 Centerline is valid? [False, False] Translation: X:1.64, Y:0.11, Z:-0.64 [[ 0.99938524 -0.02976563 -0.0185245 1.64441856] [ 0.02959295 0.99951663 -0.0095269 0.11224742] [ 0.01879912 0.00897285 0.99978302 -0.63844756] [ 0. 0. 0. 1. ]] SLAMing on 33.949072328999996 meters Centerline goodness : 0.790483 Centerline is valid? [False, False] Translation: X:1.65, Y:0.11, Z:-0.64 [[ 0.99941351 -0.02858102 -0.01886144 1.64723647] [ 0.0284533 0.99957057 -0.00700581 0.10551984] [ 0.01905357 0.00646504 0.99979756 -0.6421816 ] [ 0. 0. 0. 1. ]] SLAMing on 33.979072329 meters Centerline goodness : 0.788945 Centerline is valid? [False, False] Translation: X:1.65, Y:0.10, Z:-0.64 [[ 0.99943222 -0.02764318 -0.01926395 1.64956972] [ 0.02754874 0.99960719 -0.00515057 0.10120362] [ 0.01939876 0.00461695 0.99980117 -0.64464626] [ 0. 0. 0. 1. ]] SLAMing on 34.009072329 meters Centerline goodness : 0.789891 Centerline is valid? [False, False] Translation: X:1.65, Y:0.10, Z:-0.65 [[ 9.99529586e-01 -2.37007274e-02 -1.94649114e-02 1.64972590e+00] [ 2.37156435e-02 9.99718601e-01 5.35799923e-04 9.62268373e-02] [ 1.94467352e-02 -9.97170776e-04 9.99810397e-01 -6.46341433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.03907232899999 meters Centerline goodness : 0.789158 Centerline is valid? [False, False] Translation: X:1.65, Y:0.09, Z:-0.65 [[ 0.99953313 -0.02294328 -0.02017738 1.65178048] [ 0.02299966 0.99973218 0.0025667 0.09095718] [ 0.02011309 -0.00302957 0.99979312 -0.64760502] [ 0. 0. 0. 1. ]] SLAMing on 34.069072328999994 meters Centerline goodness : 0.789335 Centerline is valid? [False, False] Translation: X:1.65, Y:0.09, Z:-0.65 [[ 0.9995454 -0.02225466 -0.02034034 1.65329743] [ 0.02234103 0.99974229 0.00402896 0.08642393] [ 0.02024544 -0.00448155 0.999785 -0.64946108] [ 0. 0. 0. 1. ]] SLAMing on 34.099072328999995 meters Centerline goodness : 0.790128 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.65 [[ 0.99955764 -0.02133554 -0.02071986 1.65559995] [ 0.02145344 0.9997548 0.00548485 0.08227461] [ 0.02059776 -0.00592693 0.99977028 -0.65152713] [ 0. 0. 0. 1. ]] SLAMing on 34.129072328999996 meters Centerline goodness : 0.789717 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.65 [[ 0.99956979 -0.02059964 -0.02087774 1.65739049] [ 0.02074439 0.99976209 0.0067407 0.07776921] [ 0.02073391 -0.00717089 0.99975931 -0.65359041] [ 0. 0. 0. 1. ]] SLAMing on 34.159072329 meters Centerline goodness : 0.789448 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99957522 -0.01994933 -0.02124624 1.65947253] [ 0.02011091 0.99977023 0.00741916 0.07716338] [ 0.02109335 -0.00784329 0.99974674 -0.65524541] [ 0. 0. 0. 1. ]] SLAMing on 34.189072329 meters Centerline goodness : 0.790982 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99957304 -0.01964322 -0.02163042 1.66087715] [ 0.0198059 0.99977695 0.00733263 0.07861794] [ 0.02148156 -0.00775791 0.99973914 -0.65566839] [ 0. 0. 0. 1. ]] SLAMing on 34.21907232899999 meters Centerline goodness : 0.791188 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99956673 -0.01945003 -0.02209189 1.66205071] [ 0.01961042 0.99978272 0.00706693 0.08046984] [ 0.02194964 -0.00749709 0.99973097 -0.65550108] [ 0. 0. 0. 1. ]] SLAMing on 34.24907232899999 meters Centerline goodness : 0.791138 Centerline is valid? [False, False] Translation: X:1.66, Y:0.08, Z:-0.66 [[ 0.99956386 -0.01931883 -0.02233531 1.66308458] [ 0.01946973 0.99978894 0.00655839 0.08355501] [ 0.02220389 -0.00699039 0.99972902 -0.65576844] [ 0. 0. 0. 1. ]] SLAMing on 34.279072328999995 meters Centerline goodness : 0.790594 Centerline is valid? [False, False] Translation: X:1.66, Y:0.09, Z:-0.66 [[ 0.99955956 -0.01908438 -0.02272619 1.6643565 ] [ 0.0192324 0.99979511 0.00631227 0.08514235] [ 0.02260107 -0.00674657 0.9997218 -0.65592064] [ 0. 0. 0. 1. ]] SLAMing on 34.309072328999996 meters Centerline goodness : 0.790609 Centerline is valid? [False, False] Translation: X:1.66, Y:0.09, Z:-0.66 [[ 0.99955045 -0.01916594 -0.02305583 1.66487807] [ 0.01929856 0.9997984 0.00554315 0.08812176] [ 0.02294494 -0.0059856 0.99971881 -0.65511079] [ 0. 0. 0. 1. ]] SLAMing on 34.339072329 meters Centerline goodness : 0.790688 Centerline is valid? [False, False] Translation: X:1.67, Y:0.09, Z:-0.66 [[ 0.99980123 -0.01697746 -0.01045326 1.67098541] [ 0.0170645 0.99981998 0.0082951 0.09185849] [ 0.01031055 -0.00847183 0.99991096 -0.66149954] [ 0. 0. 0. 1. ]] SLAMing on 34.369072329 meters Centerline goodness : 0.787855 Centerline is valid? [False, False] Translation: X:1.68, Y:0.09, Z:-0.67 [[ 9.99892005e-01 -1.46787110e-02 7.16898650e-04 1.67941481e+00] [ 1.46724988e-02 9.99860236e-01 8.01408704e-03 9.30050516e-02] [-8.34434922e-04 -8.00270286e-03 9.99967630e-01 -6.69153594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.39907232899999 meters Centerline goodness : 0.786017 Centerline is valid? [False, False] Translation: X:1.68, Y:0.09, Z:-0.67 [[ 9.99891861e-01 -1.46959129e-02 5.44834809e-04 1.67988927e+00] [ 1.46911701e-02 9.99861078e-01 7.87370199e-03 9.40562553e-02] [-6.60470358e-04 -7.86484627e-03 9.99968854e-01 -6.69201793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.42907232899999 meters Centerline goodness : 0.785667 Centerline is valid? [False, False] Translation: X:1.68, Y:0.10, Z:-0.67 [[ 9.99837579e-01 -1.80151722e-02 -5.17918809e-04 1.68339573e+00] [ 1.80167252e-02 9.99832663e-01 3.16915394e-03 9.93316538e-02] [ 4.60739288e-04 -3.17797040e-03 9.99994844e-01 -6.69614434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459072328999994 meters Centerline goodness : 0.784352 Centerline is valid? [False, False] Translation: X:1.70, Y:0.10, Z:-0.68 [[ 0.99980063 -0.01978275 0.00271061 1.70415538] [ 0.01975297 0.99974866 0.01060394 0.0991743 ] [-0.0029197 -0.01054828 0.9999401 -0.67580878] [ 0. 0. 0. 1. ]] SLAMing on 34.489072328999995 meters Centerline goodness : 0.784708 Centerline is valid? [False, False] Translation: X:1.72, Y:0.10, Z:-0.68 [[ 0.99975895 -0.021169 0.00582394 1.72481176] [ 0.02105989 0.99961259 0.01819767 0.10033288] [-0.00620691 -0.01807063 0.99981745 -0.68157838] [ 0. 0. 0. 1. ]] SLAMing on 34.519072329 meters Centerline goodness : 0.783799 Centerline is valid? [False, False] Translation: X:1.73, Y:0.10, Z:-0.68 [[ 0.99976405 -0.02106475 0.0053021 1.72637337] [ 0.02096765 0.99962262 0.01774732 0.10379814] [-0.00567394 -0.01763196 0.99982845 -0.68190844] [ 0. 0. 0. 1. ]] SLAMing on 34.549072329 meters Centerline goodness : 0.780115 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.99974445 -0.02168215 0.006397 1.75565539] [ 0.02153611 0.99952426 0.02207829 0.10742727] [-0.00687266 -0.02193488 0.99973578 -0.68743545] [ 0. 0. 0. 1. ]] SLAMing on 34.579072329 meters Centerline goodness : 0.779576 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.99971348 -0.02341284 0.00498051 1.75947826] [ 0.0233047 0.99951279 0.0207623 0.11047404] [-0.00546418 -0.02064028 0.99977203 -0.68884422] [ 0. 0. 0. 1. ]] SLAMing on 34.60907232899999 meters Centerline goodness : 0.779006 Centerline is valid? [False, False] Translation: X:1.76, Y:0.11, Z:-0.69 [[ 0.9996782 -0.02511674 0.0035565 1.76394441] [ 0.02504332 0.99949872 0.01936836 0.11343262] [-0.00404119 -0.01927306 0.99980609 -0.69110728] [ 0. 0. 0. 1. ]] SLAMing on 34.639072328999994 meters Centerline goodness : 0.778443 Centerline is valid? [False, False] Translation: X:1.77, Y:0.12, Z:-0.69 [[ 9.99575763e-01 -2.91196239e-02 5.83746042e-04 1.77018987e+00] [ 2.91020055e-02 9.99374127e-01 2.01103785e-02 1.17804874e-01] [-1.16898735e-03 -2.00848588e-02 9.99797595e-01 -6.90718911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669072328999995 meters Centerline goodness : 0.778568 Centerline is valid? [False, False] Translation: X:1.77, Y:0.12, Z:-0.69 [[ 9.99509334e-01 -3.12619363e-02 -1.94470295e-03 1.77464387e+00] [ 3.12992010e-02 9.99230620e-01 2.36331947e-02 1.19209754e-01] [ 1.20438731e-03 -2.36824664e-02 9.99718806e-01 -6.88408570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699072328999996 meters Centerline goodness : 0.780466 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.69 [[ 0.99942684 -0.03355555 -0.00447332 1.77853418] [ 0.03366507 0.99906303 0.02719803 0.12023678] [ 0.00355648 -0.02733304 0.99962006 -0.68521592] [ 0. 0. 0. 1. ]] SLAMing on 34.729072329 meters Centerline goodness : 0.779896 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.68 [[ 0.9993043 -0.03675208 -0.0063399 1.78114155] [ 0.03692079 0.99889906 0.02894017 0.12101431] [ 0.00526931 -0.02915411 0.99956104 -0.68199013] [ 0. 0. 0. 1. ]] SLAMing on 34.759072329 meters Centerline goodness : 0.778585 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:-0.68 [[ 0.99911793 -0.04112595 -0.00848638 1.7847649 ] [ 0.04136209 0.99869873 0.02983335 0.1210225 ] [ 0.00724841 -0.03015805 0.99951886 -0.6794139 ] [ 0. 0. 0. 1. ]] SLAMing on 34.78907232899999 meters Centerline goodness : 0.779317 Centerline is valid? [False, False] Translation: X:1.79, Y:0.12, Z:-0.68 [[ 0.9985046 -0.05318556 -0.01264341 1.79274786] [ 0.05352059 0.99817888 0.02782946 0.12091044] [ 0.01114026 -0.02846452 0.99953272 -0.67621476] [ 0. 0. 0. 1. ]] SLAMing on 34.819072328999994 meters Centerline goodness : 0.779751 Centerline is valid? [False, False] Translation: X:1.80, Y:0.12, Z:-0.67 [[ 0.99808086 -0.06007002 -0.01503943 1.79722327] [ 0.06044853 0.9978294 0.02612383 0.12107539] [ 0.01343753 -0.02698281 0.99954558 -0.67377471] [ 0. 0. 0. 1. ]] SLAMing on 34.849072328999995 meters Centerline goodness : 0.779489 Centerline is valid? [False, False] Translation: X:1.80, Y:0.13, Z:-0.67 [[ 0.99757333 -0.06785742 -0.01558306 1.79947744] [ 0.06812327 0.99752838 0.0172148 0.12533585] [ 0.01437639 -0.01823459 0.99973037 -0.67212059] [ 0. 0. 0. 1. ]] SLAMing on 34.879072328999996 meters Centerline goodness : 0.778664 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.66 [[ 0.99710443 -0.06810637 -0.03382731 1.80696704] [ 0.06881859 0.99742151 0.02035498 0.12150883] [ 0.03235378 -0.02262398 0.99922039 -0.66127718] [ 0. 0. 0. 1. ]] SLAMing on 34.909072329 meters Centerline goodness : 0.777167 Centerline is valid? [False, False] Translation: X:1.81, Y:0.12, Z:-0.66 [[ 0.99701165 -0.06884476 -0.03504525 1.80934713] [ 0.06961126 0.99735015 0.02114126 0.12335375] [ 0.03349692 -0.02351763 0.99916209 -0.66071791] [ 0. 0. 0. 1. ]] SLAMing on 34.939072329 meters Centerline goodness : 0.777603 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.66 [[ 0.99704217 -0.06807083 -0.03568296 1.81050402] [ 0.06886908 0.997391 0.02163905 0.12553236] [ 0.03411687 -0.0240325 0.99912886 -0.66082085] [ 0. 0. 0. 1. ]] SLAMing on 34.96907232899999 meters Centerline goodness : 0.778454 Centerline is valid? [False, False] Translation: X:1.81, Y:0.13, Z:-0.65 [[ 0.99708899 -0.06710155 -0.03620661 1.8120104 ] [ 0.06775456 0.99755514 0.01711921 0.13449416] [ 0.03496936 -0.01952254 0.99919769 -0.65280718] [ 0. 0. 0. 1. ]] SLAMing on 34.99907232899999 meters Centerline goodness : 0.778234 Centerline is valid? [False, False] Translation: X:1.81, Y:0.14, Z:-0.65 [[ 0.99708493 -0.06685247 -0.03677475 1.81253645] [ 0.06739234 0.9976333 0.01364064 0.14126825] [ 0.0357758 -0.01607921 0.99923048 -0.64641671] [ 0. 0. 0. 1. ]] SLAMing on 35.029072328999995 meters Centerline goodness : 0.777553 Centerline is valid? [False, False] Translation: X:1.81, Y:0.15, Z:-0.64 [[ 0.99710713 -0.06610631 -0.03751439 1.8141458 ] [ 0.06652097 0.99773578 0.00991377 0.14889601] [ 0.03677408 -0.01238058 0.99924691 -0.63949066] [ 0. 0. 0. 1. ]] SLAMing on 35.059072328999996 meters Centerline goodness : 0.775275 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.63 [[ 0.99715932 -0.06484525 -0.03831942 1.8168071 ] [ 0.06512197 0.99785917 0.00601665 0.15721812] [ 0.03784723 -0.00849499 0.99924743 -0.63243674] [ 0. 0. 0. 1. ]] SLAMing on 35.089072329 meters Centerline goodness : 0.776814 Centerline is valid? [False, False] Translation: X:1.82, Y:0.16, Z:-0.63 [[ 0.99720848 -0.06362701 -0.03907503 1.81918954] [ 0.06380834 0.99795635 0.00340982 0.16473468] [ 0.03877822 -0.00589362 0.99923046 -0.62802278] [ 0. 0. 0. 1. ]] SLAMing on 35.119072329 meters Centerline goodness : 0.775659 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99751843 -0.05747788 -0.04066057 1.82556791] [ 0.05780662 0.99830357 0.00695498 0.17067281] [ 0.04019184 -0.00928817 0.99914881 -0.62988873] [ 0. 0. 0. 1. ]] SLAMing on 35.14907232899999 meters Centerline goodness : 0.775197 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99755112 -0.05611347 -0.04174972 1.83083597] [ 0.05647115 0.99837653 0.00743685 0.17235377] [ 0.04126464 -0.00977629 0.99910042 -0.6326621 ] [ 0. 0. 0. 1. ]] SLAMing on 35.17907232899999 meters Centerline goodness : 0.773759 Centerline is valid? [False, False] Translation: X:1.83, Y:0.17, Z:-0.63 [[ 0.99756345 -0.05531204 -0.04251752 1.83452611] [ 0.05568762 0.99841855 0.00769962 0.17423645] [ 0.0420244 -0.01004855 0.99906605 -0.63482379] [ 0. 0. 0. 1. ]] SLAMing on 35.209072328999994 meters Centerline goodness : 0.772061 Centerline is valid? [False, False] Translation: X:1.84, Y:0.18, Z:-0.63 [[ 0.9975158 -0.0557649 -0.04304077 1.8356605 ] [ 0.05606348 0.99841059 0.00576055 0.18296171] [ 0.04265112 -0.00815926 0.99905671 -0.63380212] [ 0. 0. 0. 1. ]] SLAMing on 35.239072328999995 meters Centerline goodness : 0.773844 Centerline is valid? [False, False] Translation: X:1.84, Y:0.19, Z:-0.63 [[ 0.99747807 -0.0562451 -0.04328963 1.83564568] [ 0.05649203 0.9983929 0.00450097 0.18783842] [ 0.0429669 -0.00693514 0.99905243 -0.6325511 ] [ 0. 0. 0. 1. ]] SLAMing on 35.269072329 meters Centerline goodness : 0.773808 Centerline is valid? [False, False] Translation: X:1.83, Y:0.20, Z:-0.63 [[ 0.99740992 -0.05747 -0.04325093 1.83456175] [ 0.05761469 0.99833667 0.00210541 0.19552007] [ 0.04305799 -0.00459185 0.99906202 -0.63045745] [ 0. 0. 0. 1. ]] SLAMing on 35.299072329 meters Centerline goodness : 0.773498 Centerline is valid? [False, False] Translation: X:1.84, Y:0.20, Z:-0.63 [[ 9.97139331e-01 -6.15697711e-02 -4.38442431e-02 1.83667243e+00] [ 6.14794565e-02 9.98102536e-01 -3.40661779e-03 2.01169383e-01] [ 4.39707949e-02 7.01352352e-04 9.99032571e-01 -6.28951326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.32907232899999 meters Centerline goodness : 0.774194 Centerline is valid? [False, False] Translation: X:1.84, Y:0.21, Z:-0.63 [[ 0.99684996 -0.06592894 -0.04408553 1.83779397] [ 0.06561127 0.99780806 -0.00861597 0.20610898] [ 0.04455694 0.00569632 0.99899061 -0.62796506] [ 0. 0. 0. 1. ]] SLAMing on 35.35907232899999 meters Centerline goodness : 0.773557 Centerline is valid? [False, False] Translation: X:1.83, Y:0.21, Z:-0.63 [[ 0.99680018 -0.06724364 -0.04321681 1.83472134] [ 0.06690492 0.99771658 -0.00923867 0.20721897] [ 0.04373937 0.00631769 0.999023 -0.62773631] [ 0. 0. 0. 1. ]] SLAMing on 35.389072328999994 meters Centerline goodness : 0.770279 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99637228 -0.07662108 -0.03703372 1.84629963] [ 0.07640744 0.99705103 -0.00715228 0.20973633] [ 0.03747253 0.00429668 0.99928842 -0.63087768] [ 0. 0. 0. 1. ]] SLAMing on 35.419072328999995 meters Centerline goodness : 0.770202 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99638539 -0.07624364 -0.03745741 1.8480006 ] [ 0.07602937 0.9970802 -0.00711388 0.21032885] [ 0.03789043 0.0042403 0.9992729 -0.63141394] [ 0. 0. 0. 1. ]] SLAMing on 35.449072328999996 meters Centerline goodness : 0.770202 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99638539 -0.07624364 -0.03745741 1.8480006 ] [ 0.07602937 0.9970802 -0.00711388 0.21032885] [ 0.03789043 0.0042403 0.9992729 -0.63141394] [ 0. 0. 0. 1. ]] SLAMing on 35.479072329 meters Centerline goodness : 0.770748 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96712957e-01 -7.18513458e-02 -3.74254614e-02 1.84798868e+00] [ 7.18010660e-02 9.97415352e-01 -2.68754253e-03 2.09562468e-01] [ 3.75218333e-02 -8.47955453e-06 9.99295808e-01 -6.32697784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509072329 meters Centerline goodness : 0.771145 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96712278e-01 -7.17661206e-02 -3.76066282e-02 1.84828032e+00] [ 7.16768559e-02 9.97420976e-01 -3.71827050e-03 2.13046066e-01] [ 3.77764856e-02 1.01052099e-03 9.99285703e-01 -6.31208207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.53907232899999 meters Centerline goodness : 0.770946 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96713581e-01 -7.16672230e-02 -3.77603766e-02 1.84868335e+00] [ 7.15675864e-02 9.97427790e-01 -3.98551557e-03 2.14084725e-01] [ 3.79488798e-02 1.26999849e-03 9.99278875e-01 -6.30813701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569072328999994 meters Centerline goodness : 0.771032 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96719525e-01 -7.14094133e-02 -3.80904632e-02 1.84949899e+00] [ 7.13017365e-02 9.97446035e-01 -4.17960835e-03 2.14765416e-01] [ 3.82916449e-02 1.44998108e-03 9.99265554e-01 -6.30267643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.599072328999995 meters Centerline goodness : 0.772083 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 0.99670148 -0.0715481 -0.0383019 1.84920276] [ 0.07141524 0.99743499 -0.00482767 0.21654179] [ 0.03854906 0.0020764 0.99925455 -0.6284882 ] [ 0. 0. 0. 1. ]] SLAMing on 35.629072328999996 meters Centerline goodness : 0.771373 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 0.99669248 -0.0715552 -0.03852209 1.84946933] [ 0.07142337 0.99743459 -0.00478944 0.21667853] [ 0.03876597 0.00202223 0.99924627 -0.6281747 ] [ 0. 0. 0. 1. ]] SLAMing on 35.659072329 meters Centerline goodness : 0.772961 Centerline is valid? [False, False] Translation: X:1.85, Y:0.22, Z:-0.63 [[ 9.96693754e-01 -7.14532835e-02 -3.86780214e-02 1.85008709e+00] [ 7.13293246e-02 9.97442318e-01 -4.57718424e-03 2.16186938e-01] [ 3.89061501e-02 1.80317380e-03 9.99241242e-01 -6.28554329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689072329 meters Centerline goodness : 0.774037 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96704072e-01 -7.13143460e-02 -3.86685499e-02 1.85065944e+00] [ 7.12118126e-02 9.97453098e-01 -4.02424516e-03 2.13234514e-01] [ 3.88570513e-02 1.25732401e-03 9.99243989e-01 -6.29531077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.71907232899999 meters Centerline goodness : 0.773592 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96715087e-01 -7.12403672e-02 -3.85207071e-02 1.85062810e+00] [ 7.11496422e-02 9.97458706e-01 -3.72274022e-03 2.11677383e-01] [ 3.86880240e-02 9.69776818e-04 9.99250868e-01 -6.29983150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.74907232899999 meters Centerline goodness : 0.772206 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96718843e-01 -7.11079066e-02 -3.86679911e-02 1.85088073e+00] [ 7.10108996e-02 9.97468001e-01 -3.87813541e-03 2.10793631e-01] [ 3.88458499e-02 1.11956180e-03 9.99244588e-01 -6.29184786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779072328999995 meters Centerline goodness : 0.774655 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96720147e-01 -7.11507754e-02 -3.85553590e-02 1.85044605e+00] [ 7.10490400e-02 9.97464786e-01 -4.00420304e-03 2.10552293e-01] [ 3.87425151e-02 1.25174860e-03 9.99248443e-01 -6.28686180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809072328999996 meters Centerline goodness : 0.772303 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96725787e-01 -7.09014923e-02 -3.88675289e-02 1.85084596e+00] [ 7.07835860e-02 9.97481978e-01 -4.40304410e-03 2.11560646e-01] [ 3.90818420e-02 1.63744452e-03 9.99234671e-01 -6.27190325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839072329 meters Centerline goodness : 0.772411 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96729810e-01 -7.05746099e-02 -3.93561877e-02 1.85189936e+00] [ 7.04476122e-02 9.97504846e-01 -4.60614307e-03 2.12499757e-01] [ 3.95830647e-02 1.81853066e-03 9.99214629e-01 -6.26316358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869072329 meters Centerline goodness : 0.774446 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 0.99672601 -0.07051207 -0.03956411 1.85207576] [ 0.07037762 0.99750896 -0.00478247 0.21338733] [ 0.03980277 0.00198238 0.99920559 -0.62565032] [ 0. 0. 0. 1. ]] SLAMing on 35.89907232899999 meters Centerline goodness : 0.775390 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96733733e-01 -7.03293942e-02 -3.96943598e-02 1.85239753e+00] [ 7.02006554e-02 9.97522148e-01 -4.62954942e-03 2.13229933e-01] [ 3.99215964e-02 1.82785800e-03 9.99201143e-01 -6.25512770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.92907232899999 meters Centerline goodness : 0.775571 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:-0.63 [[ 9.96748997e-01 -7.00865652e-02 -3.97405405e-02 1.85303009e+00] [ 6.99767793e-02 9.97539994e-01 -4.14859126e-03 2.11916687e-01] [ 3.99335391e-02 1.35418915e-03 9.99201420e-01 -6.26358885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959072328999994 meters Centerline goodness : 0.773024 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99649078 -0.07320259 -0.04058944 1.85679762] [ 0.07292355 0.99730287 -0.00831511 0.21376294] [ 0.04108865 0.005326 0.99914131 -0.62618926] [ 0. 0. 0. 1. ]] SLAMing on 35.989072328999995 meters Centerline goodness : 0.774307 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99649916 -0.07313961 -0.04049714 1.85692857] [ 0.07287541 0.99730925 -0.00796401 0.21273374] [ 0.04097065 0.00498488 0.99914792 -0.62690919] [ 0. 0. 0. 1. ]] SLAMing on 36.019072329 meters Centerline goodness : 0.774634 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99652207 -0.07269692 -0.04072987 1.85834916] [ 0.07246603 0.99734548 -0.00711885 0.21021136] [ 0.04113927 0.00414256 0.99914483 -0.62833959] [ 0. 0. 0. 1. ]] SLAMing on 36.049072329 meters Centerline goodness : 0.774738 Centerline is valid? [False, False] Translation: X:1.86, Y:0.21, Z:-0.63 [[ 0.99654962 -0.07227155 -0.04081276 1.85954004] [ 0.07208191 0.99738005 -0.00610127 0.20767176] [ 0.04114678 0.00313836 0.99914818 -0.63015922] [ 0. 0. 0. 1. ]] SLAMing on 36.07907232899999 meters Centerline goodness : 0.777183 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.63 [[ 0.99655894 -0.07212555 -0.04084336 1.86014907] [ 0.07197199 0.997393 -0.00521963 0.20482085] [ 0.04111335 0.0022621 0.99915193 -0.63154389] [ 0. 0. 0. 1. ]] SLAMing on 36.10907232899999 meters Centerline goodness : 0.777694 Centerline is valid? [False, False] Translation: X:1.86, Y:0.20, Z:-0.63 [[ 9.96576387e-01 -7.19327730e-02 -4.07575870e-02 1.86052528e+00] [ 7.18206928e-02 9.97408677e-01 -4.20940944e-03 2.01436353e-01] [ 4.09547654e-02 1.26775992e-03 9.99160197e-01 -6.32947972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139072328999994 meters Centerline goodness : 0.778476 Centerline is valid? [False, False] Translation: X:1.88, Y:0.20, Z:-0.64 [[ 0.99658965 -0.0743229 -0.03584933 1.87569419] [ 0.07453575 0.99720757 0.00463601 0.19669087] [ 0.03540466 -0.00729225 0.99934645 -0.6366307 ] [ 0. 0. 0. 1. ]] SLAMing on 36.169072328999995 meters Centerline goodness : 0.778272 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.63 [[ 0.99657366 -0.07452802 -0.03586812 1.87466609] [ 0.07471858 0.99719664 0.00400007 0.19704435] [ 0.03546945 -0.00666638 0.99934853 -0.63435752] [ 0. 0. 0. 1. ]] SLAMing on 36.199072328999996 meters Centerline goodness : 0.778093 Centerline is valid? [False, False] Translation: X:1.87, Y:0.20, Z:-0.63 [[ 0.99656684 -0.07470854 -0.03568148 1.87317624] [ 0.07488148 0.99718618 0.00353338 0.19618764] [ 0.03531711 -0.00619313 0.99935697 -0.63215102] [ 0. 0. 0. 1. ]] SLAMing on 36.229072329 meters Centerline goodness : 0.779234 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99657172 -0.07468517 -0.035594 1.87276672] [ 0.07485788 0.99718792 0.00354257 0.19486149] [ 0.03522932 -0.00619492 0.99936005 -0.63148925] [ 0. 0. 0. 1. ]] SLAMing on 36.259072329 meters Centerline goodness : 0.776530 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99657645 -0.0746641 -0.03550573 1.87238143] [ 0.07484077 0.99718874 0.00367113 0.19333225] [ 0.03513181 -0.00631584 0.99936273 -0.63101283] [ 0. 0. 0. 1. ]] SLAMing on 36.28907232899999 meters Centerline goodness : 0.777686 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.996583 -0.0746038 -0.0354485 1.87223158] [ 0.07479179 0.99719113 0.00400536 0.19137186] [ 0.03505011 -0.00664293 0.99936348 -0.63099002] [ 0. 0. 0. 1. ]] SLAMing on 36.319072328999994 meters Centerline goodness : 0.776598 Centerline is valid? [False, False] Translation: X:1.87, Y:0.19, Z:-0.63 [[ 0.99658919 -0.0745565 -0.03537381 1.8721542 ] [ 0.07477978 0.99718739 0.00502963 0.18616741] [ 0.03489933 -0.00765772 0.99936149 -0.63158525] [ 0. 0. 0. 1. ]] SLAMing on 36.349072328999995 meters Centerline goodness : 0.776529 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658918 -0.07456557 -0.03535511 1.87205363] [ 0.07480424 0.99718321 0.00547482 0.18413483] [ 0.03484729 -0.00810086 0.99935982 -0.63173565] [ 0. 0. 0. 1. ]] SLAMing on 36.379072328999996 meters Centerline goodness : 0.775226 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658874 -0.07454405 -0.03541286 1.87207239] [ 0.07478883 0.99718346 0.00563662 0.18305246] [ 0.03489294 -0.00826588 0.99935687 -0.63146217] [ 0. 0. 0. 1. ]] SLAMing on 36.409072329 meters Centerline goodness : 0.775911 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99657974 -0.07461015 -0.03552668 1.87198599] [ 0.07485095 0.99717959 0.00549517 0.18292518] [ 0.03501649 -0.00813558 0.99935362 -0.63073594] [ 0. 0. 0. 1. ]] SLAMing on 36.439072329 meters Centerline goodness : 0.778093 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99661094 -0.0738973 -0.0361362 1.87378847] [ 0.07413455 0.99723433 0.00526859 0.18356402] [ 0.03564692 -0.00792968 0.99933299 -0.62990456] [ 0. 0. 0. 1. ]] SLAMing on 36.46907232899999 meters Centerline goodness : 0.775157 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99660356 -0.07394444 -0.03624304 1.87378304] [ 0.07416597 0.99723434 0.0048047 0.1841752 ] [ 0.03578753 -0.00747638 0.99933145 -0.62902578] [ 0. 0. 0. 1. ]] SLAMing on 36.49907232899999 meters Centerline goodness : 0.776100 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99660377 -0.07392859 -0.03626972 1.87385949] [ 0.07414483 0.99723664 0.00465168 0.18435402] [ 0.0358256 -0.00732509 0.99933121 -0.62877766] [ 0. 0. 0. 1. ]] SLAMing on 36.529072328999995 meters Centerline goodness : 0.776951 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658809 -0.07422838 -0.03608783 1.87334589] [ 0.07444021 0.99721505 0.0045601 0.18453679] [ 0.03564884 -0.00723093 0.99933822 -0.62898525] [ 0. 0. 0. 1. ]] SLAMing on 36.559072328999996 meters Centerline goodness : 0.776437 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99658505 -0.0743928 -0.03583221 1.87277006] [ 0.07460557 0.99720234 0.00463601 0.18355957] [ 0.03538708 -0.00729346 0.99934707 -0.62914367] [ 0. 0. 0. 1. ]] SLAMing on 36.589072329 meters Centerline goodness : 0.776059 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99650858 -0.0760276 -0.03450304 1.87209955] [ 0.07614001 0.99709522 0.00195403 0.18315122] [ 0.03425426 -0.00457427 0.99940268 -0.62890492] [ 0. 0. 0. 1. ]] SLAMing on 36.619072329 meters Centerline goodness : 0.775483 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99649992 -0.07629395 -0.03416343 1.87125463] [ 0.07641412 0.99707369 0.00222387 0.18123348] [ 0.03389379 -0.00482666 0.99941379 -0.62925387] [ 0. 0. 0. 1. ]] SLAMing on 36.64907232899999 meters Centerline goodness : 0.774530 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.9964597 -0.07694838 -0.03386766 1.86999788] [ 0.07707514 0.99702227 0.00245144 0.18028587] [ 0.03357818 -0.00505311 0.99942332 -0.62960214] [ 0. 0. 0. 1. ]] SLAMing on 36.67907232899999 meters Centerline goodness : 0.773895 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99643875 -0.07722054 -0.0338646 1.86976998] [ 0.07734226 0.99700195 0.00229725 0.18105533] [ 0.03358568 -0.00490823 0.99942379 -0.62951019] [ 0. 0. 0. 1. ]] SLAMing on 36.709072328999994 meters Centerline goodness : 0.773554 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99644218 -0.07713953 -0.03394805 1.87037883] [ 0.07726848 0.99700719 0.00250098 0.1811296 ] [ 0.03365352 -0.00511519 0.99942047 -0.63022458] [ 0. 0. 0. 1. ]] SLAMing on 36.739072328999995 meters Centerline goodness : 0.773308 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 0.99644518 -0.07718832 -0.03374851 1.87037757] [ 0.07732972 0.99700135 0.00290264 0.17981587] [ 0.03342326 -0.00550209 0.99942614 -0.63125088] [ 0. 0. 0. 1. ]] SLAMing on 36.769072329 meters Centerline goodness : 0.773562 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 9.96125214e-01 -8.14159709e-02 -3.32565547e-02 1.87014252e+00] [ 8.14271691e-02 9.96678773e-01 -1.01976274e-03 1.77380557e-01] [ 3.32291271e-02 -1.69217572e-03 9.99446328e-01 -6.31161061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799072329 meters Centerline goodness : 0.774468 Centerline is valid? [False, False] Translation: X:1.87, Y:0.18, Z:-0.63 [[ 9.96092342e-01 -8.20923231e-02 -3.25714033e-02 1.86780005e+00] [ 8.21028210e-02 9.96623345e-01 -1.01728483e-03 1.75338714e-01] [ 3.25449322e-02 -1.66089447e-03 9.99468893e-01 -6.30597089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82907232899999 meters Centerline goodness : 0.773905 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99597866 -0.0851813 -0.02776058 1.88361308] [ 0.08539022 0.99632686 0.00642695 0.17274945] [ 0.02711115 -0.00877158 0.99959394 -0.63403696] [ 0. 0. 0. 1. ]] SLAMing on 36.85907232899999 meters Centerline goodness : 0.775764 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99589409 -0.08632058 -0.02727111 1.88035809] [ 0.08650744 0.99623463 0.00574616 0.17262009] [ 0.02667241 -0.00808172 0.99961156 -0.63142126] [ 0. 0. 0. 1. ]] SLAMing on 36.889072328999994 meters Centerline goodness : 0.776026 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99588718 -0.086376 -0.02734788 1.88032928] [ 0.08656686 0.99622874 0.00587127 0.17151688] [ 0.02673761 -0.00821454 0.99960873 -0.63115105] [ 0. 0. 0. 1. ]] SLAMing on 36.919072328999995 meters Centerline goodness : 0.775492 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99592295 -0.08592744 -0.02745828 1.88169916] [ 0.08615023 0.99625732 0.00703447 0.16766384] [ 0.02675106 -0.00937133 0.9995982 -0.63308493] [ 0. 0. 0. 1. ]] SLAMing on 36.949072328999996 meters Centerline goodness : 0.776862 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99593638 -0.08571115 -0.02764652 1.88240701] [ 0.08593903 0.99627467 0.00716015 0.16699106] [ 0.02692983 -0.00950697 0.99959212 -0.63319866] [ 0. 0. 0. 1. ]] SLAMing on 36.979072329 meters Centerline goodness : 0.775683 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99592972 -0.08574124 -0.02779254 1.88239322] [ 0.08595629 0.99627681 0.00663547 0.16827064] [ 0.02712013 -0.0089974 0.99959169 -0.63217712] [ 0. 0. 0. 1. ]] SLAMing on 37.009072329 meters Centerline goodness : 0.775260 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99626824 -0.08156731 -0.02822015 1.88207844] [ 0.08187565 0.99659291 0.00994698 0.17062276] [ 0.02731265 -0.0122204 0.99955224 -0.63079735] [ 0. 0. 0. 1. ]] SLAMing on 37.03907232899999 meters Centerline goodness : 0.773835 Centerline is valid? [False, False] Translation: X:1.88, Y:0.17, Z:-0.63 [[ 0.99662581 -0.07698697 -0.02846041 1.8828912 ] [ 0.07742498 0.99689097 0.01462088 0.16948262] [ 0.02724631 -0.01677509 0.99948799 -0.63235463] [ 0. 0. 0. 1. ]] SLAMing on 37.069072328999994 meters Centerline goodness : 0.773825 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.63 [[ 0.99667438 -0.07599456 -0.02941109 1.88647607] [ 0.07644711 0.99696704 0.01457947 0.17118778] [ 0.02821393 -0.01677938 0.99946107 -0.63321934] [ 0. 0. 0. 1. ]] SLAMing on 37.099072328999995 meters Centerline goodness : 0.771474 Centerline is valid? [False, False] Translation: X:1.89, Y:0.17, Z:-0.64 [[ 0.99680156 -0.0739088 -0.03039962 1.8919735 ] [ 0.07439771 0.99711162 0.01527733 0.17295832] [ 0.02918269 -0.01749013 0.99942107 -0.63602498] [ 0. 0. 0. 1. ]] SLAMing on 37.129072328999996 meters Centerline goodness : 0.769378 Centerline is valid? [False, False] Translation: X:1.89, Y:0.18, Z:-0.64 [[ 0.99681231 -0.07349774 -0.03103718 1.89389384] [ 0.07398202 0.99715045 0.01475266 0.17563398] [ 0.02986445 -0.01700183 0.99940935 -0.63579909] [ 0. 0. 0. 1. ]] SLAMing on 37.159072329 meters Centerline goodness : 0.770902 Centerline is valid? [False, False] Translation: X:1.89, Y:0.18, Z:-0.63 [[ 0.99678513 -0.07370776 -0.03140958 1.89408709] [ 0.07416091 0.99715473 0.01351328 0.18002247] [ 0.03032418 -0.0157992 0.99941524 -0.63417316] [ 0. 0. 0. 1. ]] SLAMing on 37.189072329 meters Centerline goodness : 0.771525 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:-0.63 [[ 0.99675187 -0.07393037 -0.03193743 1.8944117 ] [ 0.07434445 0.9971607 0.01197667 0.18529139] [ 0.03096131 -0.01431214 0.99941811 -0.63189828] [ 0. 0. 0. 1. ]] SLAMing on 37.21907232899999 meters Centerline goodness : 0.770138 Centerline is valid? [False, False] Translation: X:1.90, Y:0.19, Z:-0.63 [[ 0.99671419 -0.07417582 -0.03253882 1.89530738] [ 0.07453384 0.99716905 0.0099298 0.19264587] [ 0.03171015 -0.01232241 0.99942114 -0.62968958] [ 0. 0. 0. 1. ]] SLAMing on 37.24907232899999 meters Centerline goodness : 0.769701 Centerline is valid? [False, False] Translation: X:1.90, Y:0.19, Z:-0.63 [[ 0.99670482 -0.07440668 -0.03229795 1.89506776] [ 0.07475347 0.99715521 0.00966431 0.19309238] [ 0.03148698 -0.01204685 0.99943156 -0.63012921] [ 0. 0. 0. 1. ]] SLAMing on 37.279072328999995 meters Centerline goodness : 0.768380 Centerline is valid? [False, False] Translation: X:1.89, Y:0.19, Z:-0.63 [[ 0.9966927 -0.07475554 -0.03186338 1.894418 ] [ 0.07509811 0.99712905 0.009692 0.19248036] [ 0.03104737 -0.01205283 0.99944524 -0.63107063] [ 0. 0. 0. 1. ]] SLAMing on 37.309072328999996 meters Centerline goodness : 0.769865 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 0.99635259 -0.07919591 -0.03177293 1.89478722] [ 0.07937745 0.99683451 0.00449162 0.19578301] [ 0.03131663 -0.00699729 0.99948502 -0.63004435] [ 0. 0. 0. 1. ]] SLAMing on 37.339072329 meters Centerline goodness : 0.769865 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 0.99635259 -0.07919591 -0.03177293 1.89478722] [ 0.07937745 0.99683451 0.00449162 0.19578301] [ 0.03131663 -0.00699729 0.99948502 -0.63004435] [ 0. 0. 0. 1. ]] SLAMing on 37.369072329 meters Centerline goodness : 0.771378 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95953724e-01 -8.41545874e-02 -3.15306963e-02 1.89430097e+00] [ 8.41607077e-02 9.96451547e-01 -1.13535818e-03 2.00434116e-01] [ 3.15143567e-02 -1.52288150e-03 9.99502139e-01 -6.28526747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39907232899999 meters Centerline goodness : 0.770306 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95909298e-01 -8.48181779e-02 -3.11536168e-02 1.89283214e+00] [ 8.48120910e-02 9.96395806e-01 -1.51914072e-03 2.01371090e-01] [ 3.11701839e-02 -1.12927702e-03 9.99513454e-01 -6.28202054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42907232899999 meters Centerline goodness : 0.770839 Centerline is valid? [False, False] Translation: X:1.89, Y:0.20, Z:-0.63 [[ 9.95858665e-01 -8.55825030e-02 -3.06782455e-02 1.89095306e+00] [ 8.55642408e-02 9.96330825e-01 -1.90999128e-03 2.02170377e-01] [ 3.07291435e-02 -7.22879421e-04 9.99527487e-01 -6.27739378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459072328999994 meters Centerline goodness : 0.771703 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95841252e-01 -8.55932080e-02 -3.12090366e-02 1.89139007e+00] [ 8.55167870e-02 9.96329568e-01 -3.77774543e-03 2.07633158e-01] [ 3.14178353e-02 1.09313821e-03 9.99505740e-01 -6.24412573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489072328999995 meters Centerline goodness : 0.769618 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95822472e-01 -8.58222894e-02 -3.11791524e-02 1.89108432e+00] [ 8.57329527e-02 9.96309328e-01 -4.19339972e-03 2.09181058e-01] [ 3.14239675e-02 1.50280088e-03 9.99505015e-01 -6.24069937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519072329 meters Centerline goodness : 0.770392 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.62 [[ 9.95834762e-01 -8.55820436e-02 -3.14458267e-02 1.89238091e+00] [ 8.54959063e-02 9.96330184e-01 -4.07614391e-03 2.10008877e-01] [ 3.16792711e-02 1.37067634e-03 9.99497146e-01 -6.24993489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549072329 meters Centerline goodness : 0.771165 Centerline is valid? [False, False] Translation: X:1.89, Y:0.21, Z:-0.63 [[ 9.95860495e-01 -8.51670280e-02 -3.17561291e-02 1.89411730e+00] [ 8.50923685e-02 9.96366206e-01 -3.69756382e-03 2.10208979e-01] [ 3.19556444e-02 9.80053501e-04 9.99488807e-01 -6.26467709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57907232899999 meters Centerline goodness : 0.769121 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95926577e-01 -8.41026074e-02 -3.25116178e-02 1.89801386e+00] [ 8.40496089e-02 9.96457068e-01 -2.99580061e-03 2.10650201e-01] [ 3.26483860e-02 2.51008690e-04 9.99466868e-01 -6.29092449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60907232899999 meters Centerline goodness : 0.769813 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95934780e-01 -8.39392712e-02 -3.26819992e-02 1.89885384e+00] [ 8.38881800e-02 9.96470856e-01 -2.93376731e-03 2.10734766e-01] [ 3.28129180e-02 1.80207470e-04 9.99461495e-01 -6.29596518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639072328999994 meters Centerline goodness : 0.768388 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95944749e-01 -8.37651172e-02 -3.28247232e-02 1.89970576e+00] [ 8.37158003e-02 9.96485520e-01 -2.87632797e-03 2.11228260e-01] [ 3.29502973e-02 1.16715764e-04 9.99456985e-01 -6.30177660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669072328999995 meters Centerline goodness : 0.768153 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95941167e-01 -8.37058841e-02 -3.30834704e-02 1.90033640e+00] [ 8.36477225e-02 9.96490439e-01 -3.14062307e-03 2.12223154e-01] [ 3.32302506e-02 3.60518856e-04 9.99447658e-01 -6.29884822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699072328999996 meters Centerline goodness : 0.769694 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95946001e-01 -8.35081142e-02 -3.34358686e-02 1.90129566e+00] [ 8.34458842e-02 9.96506995e-01 -3.25474571e-03 2.13248111e-01] [ 3.35908746e-02 4.51465359e-04 9.99435565e-01 -6.29730576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729072329 meters Centerline goodness : 0.770568 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95948716e-01 -8.34586014e-02 -3.34786169e-02 1.90151673e+00] [ 8.33967307e-02 9.96511149e-01 -3.24266566e-03 2.13150850e-01] [ 3.36324433e-02 4.37521501e-04 9.99434174e-01 -6.29758788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759072329 meters Centerline goodness : 0.771508 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95966696e-01 -8.31491888e-02 -3.37128007e-02 1.90270412e+00] [ 8.30888012e-02 9.96537039e-01 -3.19070694e-03 2.13972923e-01] [ 3.38613593e-02 3.76681653e-04 9.99426469e-01 -6.30425132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.78907232899999 meters Centerline goodness : 0.773143 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95978269e-01 -8.29429991e-02 -3.38784017e-02 1.90339205e+00] [ 8.28827152e-02 9.96554227e-01 -3.18235687e-03 2.14152886e-01] [ 3.40256187e-02 3.61624368e-04 9.99420896e-01 -6.30488351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819072328999994 meters Centerline goodness : 0.773397 Centerline is valid? [False, False] Translation: X:1.90, Y:0.21, Z:-0.63 [[ 9.95984219e-01 -8.27986691e-02 -3.40560793e-02 1.90383212e+00] [ 8.27361321e-02 9.96566209e-01 -3.24388270e-03 2.14344279e-01] [ 3.42077270e-02 4.13187702e-04 9.99414659e-01 -6.30190816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.849072328999995 meters Centerline goodness : 0.772723 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 9.95962395e-01 -8.30463045e-02 -3.40913386e-02 1.90333763e+00] [ 8.29637655e-02 9.96545201e-01 -3.83105055e-03 2.16036416e-01] [ 3.42917145e-02 9.87236456e-04 9.99411379e-01 -6.29133044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879072328999996 meters Centerline goodness : 0.769956 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 0.99592426 -0.08329657 -0.03459109 1.90346662] [ 0.08316743 0.99652224 -0.00515804 0.22023846] [ 0.03490043 0.00226017 0.99938824 -0.62665532] [ 0. 0. 0. 1. ]] SLAMing on 37.909072329 meters Centerline goodness : 0.771979 Centerline is valid? [False, False] Translation: X:1.90, Y:0.22, Z:-0.63 [[ 0.99592303 -0.08329513 -0.03462992 1.90387229] [ 0.08316879 0.99652255 -0.00507551 0.22039068] [ 0.03493226 0.00217469 0.99938732 -0.62721429] [ 0. 0. 0. 1. ]] SLAMing on 37.939072329 meters Centerline goodness : 0.769413 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.95970922e-01 -8.25391029e-02 -3.50602251e-02 1.90647793e+00] [ 8.24396108e-02 9.96586887e-01 -4.27642440e-03 2.19071832e-01] [ 3.52935328e-02 1.36884305e-03 9.99376052e-01 -6.29303170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96907232899999 meters Centerline goodness : 0.769164 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96026805e-01 -8.17164245e-02 -3.53981605e-02 1.90927203e+00] [ 8.16574450e-02 9.96655599e-01 -3.11112103e-03 2.16844565e-01] [ 3.55340045e-02 2.08236594e-04 9.99368446e-01 -6.32246017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99907232899999 meters Centerline goodness : 0.771683 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96060094e-01 -8.12405165e-02 -3.55565515e-02 1.91109490e+00] [ 8.12110870e-02 9.96694331e-01 -2.27354495e-03 2.15684923e-01] [ 3.56237173e-02 -6.22998795e-04 9.99365080e-01 -6.34643887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.029072328999995 meters Centerline goodness : 0.773187 Centerline is valid? [False, False] Translation: X:1.91, Y:0.22, Z:-0.63 [[ 9.96024284e-01 -8.16761268e-02 -3.55617146e-02 1.90995860e+00] [ 8.16138776e-02 9.96658883e-01 -3.20100758e-03 2.17995535e-01] [ 3.57043447e-02 2.85951863e-04 9.99362356e-01 -6.32597129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059072328999996 meters Centerline goodness : 0.772070 Centerline is valid? [False, False] Translation: X:1.92, Y:0.22, Z:-0.64 [[ 0.99615293 -0.08216321 -0.03047197 1.92494855] [ 0.08238495 0.99658196 0.00609205 0.21730972] [ 0.02986727 -0.00857904 0.99951706 -0.63503616] [ 0. 0. 0. 1. ]] SLAMing on 38.089072329 meters Centerline goodness : 0.771559 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.64 [[ 0.99618049 -0.08360757 -0.02518324 1.93848378] [ 0.08398368 0.99636502 0.01426511 0.2166449 ] [ 0.02389903 -0.0163256 0.99958107 -0.63557088] [ 0. 0. 0. 1. ]] SLAMing on 38.119072329 meters Centerline goodness : 0.772699 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.64 [[ 0.99618529 -0.08356693 -0.02512842 1.93863812] [ 0.08394242 0.99636832 0.01427721 0.21593622] [ 0.02384406 -0.01633209 0.99958227 -0.63568916] [ 0. 0. 0. 1. ]] SLAMing on 38.14907232899999 meters Centerline goodness : 0.772000 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99621844 -0.08315552 -0.02517877 1.93996877] [ 0.08354767 0.99639173 0.01494341 0.21419768] [ 0.02384529 -0.01699053 0.99957127 -0.63744475] [ 0. 0. 0. 1. ]] SLAMing on 38.17907232899999 meters Centerline goodness : 0.774039 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.64 [[ 0.99598099 -0.08569945 -0.02602828 1.94533639] [ 0.08602405 0.99622533 0.01161666 0.21411404] [ 0.0249345 -0.01380903 0.99959371 -0.63959676] [ 0. 0. 0. 1. ]] SLAMing on 38.209072328999994 meters Centerline goodness : 0.772123 Centerline is valid? [False, False] Translation: X:1.95, Y:0.21, Z:-0.64 [[ 0.99599426 -0.08552525 -0.02609324 1.94595085] [ 0.08586233 0.99623375 0.01208179 0.21271658] [ 0.02496167 -0.01427382 0.9995865 -0.64030794] [ 0. 0. 0. 1. ]] SLAMing on 38.239072328999995 meters Centerline goodness : 0.771512 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99594678 -0.08614051 -0.02588109 1.9445619 ] [ 0.08647432 0.99618101 0.01206605 0.21188312] [ 0.02474287 -0.01425519 0.99959221 -0.63961678] [ 0. 0. 0. 1. ]] SLAMing on 38.269072329 meters Centerline goodness : 0.773533 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99593552 -0.08627416 -0.0258691 1.94425146] [ 0.08660714 0.99616981 0.01203807 0.21141285] [ 0.02473144 -0.01422959 0.99959285 -0.6391915 ] [ 0. 0. 0. 1. ]] SLAMing on 38.299072329 meters Centerline goodness : 0.772074 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99592353 -0.08643173 -0.02580449 1.94376589] [ 0.0867586 0.99615917 0.01182602 0.21112793] [ 0.02468323 -0.01401657 0.99959706 -0.6384268 ] [ 0. 0. 0. 1. ]] SLAMing on 38.32907232899999 meters Centerline goodness : 0.773566 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.64 [[ 0.99590286 -0.08669729 -0.02571129 1.94306288] [ 0.08700912 0.99614381 0.01126599 0.21200944] [ 0.02463542 -0.01345695 0.99960593 -0.63734624] [ 0. 0. 0. 1. ]] SLAMing on 38.35907232899999 meters Centerline goodness : 0.775892 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99586023 -0.087267 -0.02543383 1.94118646] [ 0.08753652 0.99611426 0.00968138 0.21450549] [ 0.02449014 -0.01186769 0.99962963 -0.63424509] [ 0. 0. 0. 1. ]] SLAMing on 38.389072328999994 meters Centerline goodness : 0.775501 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99585403 -0.08740616 -0.02519756 1.94052886] [ 0.0876686 0.99610436 0.00950398 0.21378875] [ 0.02426869 -0.01167361 0.99963731 -0.63378263] [ 0. 0. 0. 1. ]] SLAMing on 38.419072328999995 meters Centerline goodness : 0.775993 Centerline is valid? [False, False] Translation: X:1.94, Y:0.22, Z:-0.63 [[ 0.99553309 -0.09080403 -0.02585526 1.94336284] [ 0.09095095 0.99584493 0.00456173 0.21573548] [ 0.02533361 -0.00689291 0.99965529 -0.63200523] [ 0. 0. 0. 1. ]] SLAMing on 38.449072328999996 meters Centerline goodness : 0.776382 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99550542 -0.09123842 -0.0253873 1.94201029] [ 0.0913941 0.99580205 0.00503848 0.21267961] [ 0.02482102 -0.00733608 0.99966499 -0.6323434 ] [ 0. 0. 0. 1. ]] SLAMing on 38.479072329 meters Centerline goodness : 0.777809 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99548656 -0.09142732 -0.02544691 1.94170469] [ 0.09158023 0.99578561 0.0049074 0.21246073] [ 0.024891 -0.00721568 0.99966413 -0.63165571] [ 0. 0. 0. 1. ]] SLAMing on 38.509072329 meters Centerline goodness : 0.778587 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99547564 -0.09154395 -0.02545492 1.94140486] [ 0.09169802 0.99577456 0.00495012 0.21192034] [ 0.02489421 -0.00726189 0.99966372 -0.6312805 ] [ 0. 0. 0. 1. ]] SLAMing on 38.53907232899999 meters Centerline goodness : 0.778158 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99544305 -0.09199683 -0.02509427 1.93989966] [ 0.09215412 0.99573127 0.0051831 0.20920685] [ 0.02451032 -0.00747202 0.99967165 -0.63070621] [ 0. 0. 0. 1. ]] SLAMing on 38.569072328999994 meters Centerline goodness : 0.777646 Centerline is valid? [False, False] Translation: X:1.94, Y:0.21, Z:-0.63 [[ 0.99543515 -0.09216109 -0.02480332 1.93922776] [ 0.09232437 0.99571369 0.00551821 0.20682011] [ 0.02418844 -0.00778297 0.99967712 -0.63087658] [ 0. 0. 0. 1. ]] SLAMing on 38.599072328999995 meters Centerline goodness : 0.776808 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99543739 -0.09219717 -0.02457832 1.93910003] [ 0.092375 0.995705 0.0061984 0.20374888] [ 0.02390128 -0.00844054 0.99967869 -0.63182954] [ 0. 0. 0. 1. ]] SLAMing on 38.629072328999996 meters Centerline goodness : 0.776469 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99511879 -0.09541019 -0.02520909 1.94288361] [ 0.09550775 0.99542505 0.0026921 0.20292563] [ 0.02483691 -0.00508662 0.99967858 -0.63292255] [ 0. 0. 0. 1. ]] SLAMing on 38.659072329 meters Centerline goodness : 0.777638 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99513653 -0.09518257 -0.02536865 1.9436535 ] [ 0.09528544 0.99544584 0.00287473 0.20246293] [ 0.02497949 -0.00527802 0.99967403 -0.63322712] [ 0. 0. 0. 1. ]] SLAMing on 38.689072329 meters Centerline goodness : 0.780928 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99513812 -0.09514582 -0.02544392 1.94368807] [ 0.09524561 0.99545004 0.00273649 0.2023769 ] [ 0.02506779 -0.00514661 0.99967251 -0.6326392 ] [ 0. 0. 0. 1. ]] SLAMing on 38.71907232899999 meters Centerline goodness : 0.781974 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99511596 -0.09545752 -0.02514148 1.94200131] [ 0.09554275 0.99542288 0.00220825 0.20177863] [ 0.02481561 -0.00459955 0.99968146 -0.63053393] [ 0. 0. 0. 1. ]] SLAMing on 38.74907232899999 meters Centerline goodness : 0.782027 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 9.95104484e-01 -9.55947309e-02 -2.50741482e-02 1.94141206e+00] [ 9.56724286e-02 9.95411031e-01 1.91484419e-03 2.01420050e-01] [ 2.47760346e-02 -4.30437469e-03 9.99683760e-01 -6.29436068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.779072328999995 meters Centerline goodness : 0.781819 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 9.95098125e-01 -9.56302429e-02 -2.51908363e-02 1.94133471e+00] [ 9.57027255e-02 9.95408534e-01 1.68485024e-03 2.01477806e-01] [ 2.49140508e-02 -4.08742301e-03 9.99681241e-01 -6.28567355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809072328999996 meters Centerline goodness : 0.781873 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99545781 -0.09180079 -0.02522629 1.94038763] [ 0.09198162 0.99574201 0.0061015 0.20044055] [ 0.02455875 -0.00839414 0.99966315 -0.62923569] [ 0. 0. 0. 1. ]] SLAMing on 38.839072329 meters Centerline goodness : 0.781015 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99548499 -0.09136267 -0.025739 1.94221482] [ 0.09154711 0.9957822 0.00607828 0.20107153] [ 0.02507511 -0.00840717 0.99965022 -0.6294805 ] [ 0. 0. 0. 1. ]] SLAMing on 38.869072329 meters Centerline goodness : 0.780296 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99551328 -0.0910124 -0.02588553 1.94344086] [ 0.0912104 0.99580996 0.00657165 0.19991384] [ 0.02517897 -0.0089032 0.99964331 -0.63068027] [ 0. 0. 0. 1. ]] SLAMing on 38.89907232899999 meters Centerline goodness : 0.778925 Centerline is valid? [False, False] Translation: X:1.94, Y:0.20, Z:-0.63 [[ 0.99553462 -0.09081358 -0.02576274 1.94399504] [ 0.09102773 0.99582188 0.00726232 0.19703873] [ 0.02499558 -0.00957502 0.99964171 -0.6319316 ] [ 0. 0. 0. 1. ]] SLAMing on 38.92907232899999 meters Centerline goodness : 0.778433 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.63 [[ 0.99517236 -0.09479888 -0.02539984 1.94452027] [ 0.09491912 0.99547859 0.00356782 0.19415176] [ 0.02494677 -0.00596152 0.99967101 -0.63218861] [ 0. 0. 0. 1. ]] SLAMing on 38.959072328999994 meters Centerline goodness : 0.779566 Centerline is valid? [False, False] Translation: X:1.94, Y:0.19, Z:-0.63 [[ 0.99515034 -0.09510126 -0.02513078 1.94346423] [ 0.09522085 0.99544965 0.00360299 0.19269897] [ 0.02467378 -0.00597849 0.99967768 -0.63161948] [ 0. 0. 0. 1. ]] SLAMing on 38.989072328999995 meters Centerline goodness : 0.780310 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.62 [[ 0.99521138 -0.08823823 -0.04205151 1.94965691] [ 0.08860846 0.9960418 0.0070197 0.18575438] [ 0.04126566 -0.01071221 0.99909078 -0.62062604] [ 0. 0. 0. 1. ]] SLAMing on 39.019072329 meters Centerline goodness : 0.780890 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.62 [[ 0.99518313 -0.08844315 -0.04228891 1.94937639] [ 0.08879482 0.99602868 0.00650753 0.18676691] [ 0.04154542 -0.01023122 0.99908423 -0.61906531] [ 0. 0. 0. 1. ]] SLAMing on 39.049072329 meters Centerline goodness : 0.781705 Centerline is valid? [False, False] Translation: X:1.95, Y:0.19, Z:-0.61 [[ 0.99506487 -0.08930837 -0.0432425 1.94893178] [ 0.08980759 0.99591151 0.00973919 0.18503818] [ 0.04219591 -0.01357463 0.99901713 -0.61481079] [ 0. 0. 0. 1. ]] SLAMing on 39.07907232899999 meters Centerline goodness : 0.781956 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.61 [[ 0.9950103 -0.08973304 -0.04361748 1.95035116] [ 0.09023734 0.99587276 0.00973004 0.18392301] [ 0.04256435 -0.01361742 0.99900092 -0.61489818] [ 0. 0. 0. 1. ]] SLAMing on 39.10907232899999 meters Centerline goodness : 0.782197 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 0.9949777 -0.090105 -0.04359443 1.95193426] [ 0.09054432 0.99585862 0.00820596 0.18236314] [ 0.04267449 -0.01211197 0.99901561 -0.6161849 ] [ 0. 0. 0. 1. ]] SLAMing on 39.139072328999994 meters Centerline goodness : 0.783404 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 0.99473658 -0.09344465 -0.04203856 1.9527077 ] [ 0.09361732 0.99560593 0.00215357 0.18034714] [ 0.0416526 -0.00607777 0.99911367 -0.62009093] [ 0. 0. 0. 1. ]] SLAMing on 39.169072328999995 meters Centerline goodness : 0.783906 Centerline is valid? [False, False] Translation: X:1.95, Y:0.18, Z:-0.62 [[ 9.94589588e-01 -9.51811074e-02 -4.16186012e-02 1.95286141e+00] [ 9.52255370e-02 9.95455300e-01 -9.18104025e-04 1.78810693e-01] [ 4.15168433e-02 -3.05001694e-03 9.99133149e-01 -6.20023695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199072328999996 meters Centerline goodness : 0.783606 Centerline is valid? [False, False] Translation: X:1.96, Y:0.18, Z:-0.62 [[ 9.94512606e-01 -9.54238509e-02 -4.28831579e-02 1.95686125e+00] [ 9.54779277e-02 9.95431234e-01 -7.90030256e-04 1.76760716e-01] [ 4.27626225e-02 -3.30870000e-03 9.99079782e-01 -6.21142135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229072329 meters Centerline goodness : 0.786527 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 9.94533319e-01 -9.49240791e-02 -4.35074328e-02 1.95819013e+00] [ 9.50961638e-02 9.95466281e-01 1.89814421e-03 1.72033652e-01] [ 4.31300028e-02 -6.02515762e-03 9.99051300e-01 -6.20295422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259072329 meters Centerline goodness : 0.786527 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 9.94533319e-01 -9.49240791e-02 -4.35074328e-02 1.95819013e+00] [ 9.50961638e-02 9.95466281e-01 1.89814421e-03 1.72033652e-01] [ 4.31300028e-02 -6.02515762e-03 9.99051300e-01 -6.20295422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.28907232899999 meters Centerline goodness : 0.788520 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99453843 -0.09430191 -0.0447264 1.95922252] [ 0.09464051 0.99549627 0.00550967 0.17018859] [ 0.04400539 -0.00971251 0.99898408 -0.61751128] [ 0. 0. 0. 1. ]] SLAMing on 39.319072328999994 meters Centerline goodness : 0.788541 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99452345 -0.09391683 -0.04585555 1.96071423] [ 0.09444256 0.99548563 0.00943151 0.16920419] [ 0.04476276 -0.01371058 0.99890356 -0.61602625] [ 0. 0. 0. 1. ]] SLAMing on 39.349072328999995 meters Centerline goodness : 0.790800 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.61 [[ 0.99448318 -0.09399539 -0.04656257 1.96164564] [ 0.09459319 0.99545742 0.01080109 0.16854478] [ 0.0453358 -0.015146 0.99885698 -0.61480007] [ 0. 0. 0. 1. ]] SLAMing on 39.379072328999996 meters Centerline goodness : 0.790584 Centerline is valid? [False, False] Translation: X:1.96, Y:0.17, Z:-0.62 [[ 0.99442699 -0.09452143 -0.04669749 1.96292806] [ 0.09507269 0.99542284 0.00972352 0.16778466] [ 0.04556466 -0.01410898 0.99886175 -0.6154681 ] [ 0. 0. 0. 1. ]] SLAMing on 39.409072329 meters Centerline goodness : 0.789458 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99454607 -0.09479804 -0.04349074 1.96217814] [ 0.09497762 0.99547724 0.00207693 0.16403258] [ 0.04309715 -0.00619625 0.99905167 -0.62266076] [ 0. 0. 0. 1. ]] SLAMing on 39.439072329 meters Centerline goodness : 0.789835 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 9.94679649e-01 -9.40930187e-02 -4.19392284e-02 1.96102106e+00] [ 9.41221911e-02 9.95559826e-01 -1.28284058e-03 1.62008203e-01] [ 4.18737173e-02 -2.67139665e-03 9.99119340e-01 -6.24934135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.46907232899999 meters Centerline goodness : 0.794359 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 9.95039423e-01 -9.02413555e-02 -4.18693795e-02 1.96054840e+00] [ 9.03805704e-02 9.95906260e-01 1.44018648e-03 1.58078466e-01] [ 4.15680128e-02 -5.21722073e-03 9.99122055e-01 -6.24344602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.49907232899999 meters Centerline goodness : 0.798272 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99525986 -0.08720213 -0.04305357 1.96240594] [ 0.08754591 0.99614143 0.00616153 0.15693565] [ 0.04235014 -0.00990148 0.99905377 -0.62372134] [ 0. 0. 0. 1. ]] SLAMing on 39.529072328999995 meters Centerline goodness : 0.796523 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.62 [[ 0.99545765 -0.08437191 -0.04410732 1.96361541] [ 0.08490732 0.99633451 0.01040631 0.15591961] [ 0.04306764 -0.01410407 0.9989726 -0.62260049] [ 0. 0. 0. 1. ]] SLAMing on 39.559072328999996 meters Centerline goodness : 0.799008 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.62 [[ 0.99565717 -0.08204822 -0.04398747 1.96243251] [ 0.08265774 0.99650309 0.01221865 0.15488971] [ 0.04283113 -0.01580149 0.99895736 -0.62134581] [ 0. 0. 0. 1. ]] SLAMing on 39.589072329 meters Centerline goodness : 0.799099 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.62 [[ 0.99614435 -0.07653486 -0.0428818 1.96204852] [ 0.0771899 0.99692046 0.01383138 0.15226223] [ 0.04169116 -0.01708809 0.99898441 -0.62490825] [ 0. 0. 0. 1. ]] SLAMing on 39.619072329 meters Centerline goodness : 0.801579 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.63 [[ 0.99634248 -0.0741719 -0.04242865 1.96171829] [ 0.07478625 0.99711382 0.01307822 0.15210768] [ 0.04133616 -0.01620347 0.9990139 -0.6262041 ] [ 0. 0. 0. 1. ]] SLAMing on 39.64907232899999 meters Centerline goodness : 0.801797 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.63 [[ 0.99656608 -0.07115164 -0.0423496 1.96371808] [ 0.07176402 0.99733537 0.01311803 0.15255654] [ 0.04130338 -0.01611216 0.99901673 -0.63006594] [ 0. 0. 0. 1. ]] SLAMing on 39.67907232899999 meters Centerline goodness : 0.802381 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.64 [[ 0.99704518 -0.06519052 -0.04063386 1.96343425] [ 0.06571737 0.9977689 0.01176643 0.15413638] [ 0.03977614 -0.01440201 0.99910482 -0.63614601] [ 0. 0. 0. 1. ]] SLAMing on 39.709072328999994 meters Centerline goodness : 0.801747 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.64 [[ 0.99726342 -0.06194206 -0.04035897 1.96531149] [ 0.0624579 0.99797964 0.01164716 0.15443031] [ 0.03955598 -0.01413603 0.99911736 -0.64043315] [ 0. 0. 0. 1. ]] SLAMing on 39.739072328999995 meters Centerline goodness : 0.801474 Centerline is valid? [False, False] Translation: X:1.96, Y:0.15, Z:-0.64 [[ 0.99772256 -0.05530348 -0.03861629 1.96344763] [ 0.05574749 0.99838951 0.0105167 0.15315031] [ 0.03797249 -0.01264551 0.99919877 -0.64448966] [ 0. 0. 0. 1. ]] SLAMing on 39.769072329 meters Centerline goodness : 0.803260 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99810062 -0.05676449 -0.02393625 1.96150368] [ 0.05706238 0.99829909 0.01195075 0.15625591] [ 0.02321715 -0.01329391 0.99964205 -0.65209378] [ 0. 0. 0. 1. ]] SLAMing on 39.799072329 meters Centerline goodness : 0.802536 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99830176 -0.05268972 -0.02484716 1.96209863] [ 0.05311772 0.99844538 0.01689148 0.15554382] [ 0.02391852 -0.01818262 0.99954855 -0.6505031 ] [ 0. 0. 0. 1. ]] SLAMing on 39.82907232899999 meters Centerline goodness : 0.802382 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.9984539 -0.04916259 -0.02593953 1.96298994] [ 0.04973036 0.99852655 0.02171694 0.15520023] [ 0.02483365 -0.02297334 0.99942759 -0.64874959] [ 0. 0. 0. 1. ]] SLAMing on 39.85907232899999 meters Centerline goodness : 0.801395 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.65 [[ 0.99869821 -0.04390049 -0.02597374 1.96272682] [ 0.04454669 0.99869828 0.02484638 0.1550376 ] [ 0.02484916 -0.02597108 0.9993538 -0.64896869] [ 0. 0. 0. 1. ]] SLAMing on 39.889072328999994 meters Centerline goodness : 0.800192 Centerline is valid? [False, False] Translation: X:1.96, Y:0.16, Z:-0.64 [[ 0.99877386 -0.04029802 -0.02875482 1.96113376] [ 0.04051693 0.99915383 0.00707082 0.16056645] [ 0.02844554 -0.00822721 0.99956149 -0.63910164] [ 0. 0. 0. 1. ]] SLAMing on 39.919072328999995 meters Centerline goodness : 0.800971 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 0.99870145 -0.04117876 -0.02999527 1.9689526 ] [ 0.0413335 0.99913501 0.00455674 0.15821451] [ 0.02978168 -0.00579063 0.99953965 -0.64194749] [ 0. 0. 0. 1. ]] SLAMing on 39.949072328999996 meters Centerline goodness : 0.799269 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98665170e-01 -4.24682317e-02 -2.93994389e-02 1.96810297e+00] [ 4.25119267e-02 9.99095587e-01 8.62523109e-04 1.57725993e-01] [ 2.93362198e-02 -2.11119858e-03 9.99567371e-01 -6.42393474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979072329 meters Centerline goodness : 0.797384 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98634886e-01 -4.31014635e-02 -2.95064042e-02 1.96889624e+00] [ 4.31126853e-02 9.99070183e-01 -2.56061991e-04 1.56811572e-01] [ 2.94900053e-02 -1.01638788e-03 9.99564558e-01 -6.42843056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009072329 meters Centerline goodness : 0.800142 Centerline is valid? [False, False] Translation: X:1.97, Y:0.16, Z:-0.64 [[ 9.98568635e-01 -4.41007729e-02 -3.02622465e-02 1.97006310e+00] [ 4.41579155e-02 9.99023816e-01 1.22221717e-03 1.55431908e-01] [ 3.01788043e-02 -2.55678546e-03 9.99541246e-01 -6.41487583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03907232899999 meters Centerline goodness : 0.799989 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.64 [[ 0.99838388 -0.04687298 -0.03213348 1.97157803] [ 0.04710862 0.99886787 0.00661524 0.15295538] [ 0.03178703 -0.00811831 0.99946169 -0.63622288] [ 0. 0. 0. 1. ]] SLAMing on 40.069072328999994 meters Centerline goodness : 0.802531 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99825389 -0.04901232 -0.03296922 1.97275232] [ 0.0492891 0.99875537 0.00763495 0.15173524] [ 0.03255398 -0.00924665 0.9994272 -0.63447586] [ 0. 0. 0. 1. ]] SLAMing on 40.099072328999995 meters Centerline goodness : 0.803721 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99804141 -0.05373941 -0.03202219 1.97101306] [ 0.05383994 0.99854697 0.00228464 0.14710755] [ 0.03185288 -0.00400424 0.99948455 -0.63356577] [ 0. 0. 0. 1. ]] SLAMing on 40.129072328999996 meters Centerline goodness : 0.803721 Centerline is valid? [False, False] Translation: X:1.97, Y:0.15, Z:-0.63 [[ 0.99804141 -0.05373941 -0.03202219 1.97101306] [ 0.05383994 0.99854697 0.00228464 0.14710755] [ 0.03185288 -0.00400424 0.99948455 -0.63356577] [ 0. 0. 0. 1. ]] SLAMing on 40.159072329 meters Centerline goodness : 0.805269 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97682695e-01 -6.02994805e-02 -3.15152938e-02 1.97027323e+00] [ 6.02651680e-02 9.98180322e-01 -2.03836150e-03 1.42311016e-01] [ 3.15808582e-02 1.34363520e-04 9.99501191e-01 -6.32029440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189072329 meters Centerline goodness : 0.806583 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97450077e-01 -6.37223216e-02 -3.21373646e-02 1.97217354e+00] [ 6.37093678e-02 9.97967473e-01 -1.42794808e-03 1.40408056e-01] [ 3.21630368e-02 -6.23144259e-04 9.99482441e-01 -6.31293110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.21907232899999 meters Centerline goodness : 0.809015 Centerline is valid? [False, False] Translation: X:1.97, Y:0.14, Z:-0.63 [[ 9.97207886e-01 -6.71670238e-02 -3.26346892e-02 1.97289879e+00] [ 6.71619135e-02 9.97741302e-01 -1.25400218e-03 1.38203825e-01] [ 3.26452048e-02 -9.41307309e-04 9.99466560e-01 -6.29387963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.24907232899999 meters Centerline goodness : 0.807317 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.63 [[ 9.96766976e-01 -7.33548554e-02 -3.27820100e-02 1.97320843e+00] [ 7.33110705e-02 9.97305896e-01 -2.53723570e-03 1.33049073e-01] [ 3.28798104e-02 1.25748512e-04 9.99459305e-01 -6.26764271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.279072328999995 meters Centerline goodness : 0.808669 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.63 [[ 0.99650072 -0.07693488 -0.03267009 1.97285715] [ 0.07682348 0.99703385 -0.0046533 0.13020271] [ 0.03293118 0.00212719 0.99945536 -0.62514632] [ 0. 0. 0. 1. ]] SLAMing on 40.309072328999996 meters Centerline goodness : 0.812589 Centerline is valid? [False, False] Translation: X:1.97, Y:0.13, Z:-0.62 [[ 0.99625599 -0.08014398 -0.0324182 1.9719956 ] [ 0.07998399 0.99677684 -0.00620412 0.1265554 ] [ 0.03281094 0.00358795 0.99945514 -0.62315743] [ 0. 0. 0. 1. ]] SLAMing on 40.339072329 meters Centerline goodness : 0.817035 Centerline is valid? [False, False] Translation: X:1.97, Y:0.12, Z:-0.62 [[ 0.99569613 -0.08682413 -0.03241593 1.97063811] [ 0.08662983 0.99621343 -0.0073537 0.12033812] [ 0.03293167 0.00451386 0.99944741 -0.61809674] [ 0. 0. 0. 1. ]] SLAMing on 40.369072329 meters Centerline goodness : 0.820548 Centerline is valid? [False, False] Translation: X:1.97, Y:0.12, Z:-0.62 [[ 0.995388 -0.09017298 -0.03273471 1.97037625] [ 0.08996307 0.9959143 -0.0078327 0.11734853] [ 0.03330726 0.00485166 0.99943338 -0.61527092] [ 0. 0. 0. 1. ]] SLAMing on 40.39907232899999 meters Centerline goodness : 0.821323 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.61 [[ 0.99515755 -0.09260604 -0.03294801 1.97080591] [ 0.0923922 0.99569089 -0.00795772 0.11380699] [ 0.03354296 0.00487505 0.99942539 -0.61376954] [ 0. 0. 0. 1. ]] SLAMing on 40.42907232899999 meters Centerline goodness : 0.823087 Centerline is valid? [False, False] Translation: X:1.97, Y:0.11, Z:-0.61 [[ 0.99466284 -0.09771416 -0.03313275 1.97220241] [ 0.09744807 0.99519473 -0.00955675 0.10748872] [ 0.03390737 0.00627702 0.99940527 -0.6126299 ] [ 0. 0. 0. 1. ]] SLAMing on 40.459072328999994 meters Centerline goodness : 0.821872 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.61 [[ 0.99438996 -0.10004093 -0.03435718 1.97672734] [ 0.09976967 0.99496497 -0.00952527 0.10455401] [ 0.03513711 0.00604403 0.99936422 -0.61389706] [ 0. 0. 0. 1. ]] SLAMing on 40.489072328999995 meters Centerline goodness : 0.824585 Centerline is valid? [False, False] Translation: X:1.98, Y:0.10, Z:-0.61 [[ 0.99421603 -0.10163322 -0.03471572 1.97865548] [ 0.10136285 0.99480449 -0.00946574 0.10090136] [ 0.03549739 0.00589211 0.9993524 -0.61421842] [ 0. 0. 0. 1. ]] SLAMing on 40.519072329 meters Centerline goodness : 0.829358 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99384308 -0.10512377 -0.0349988 1.97922285] [ 0.10484001 0.9944403 -0.00985174 0.09459362] [ 0.03583987 0.00612181 0.99933879 -0.61198442] [ 0. 0. 0. 1. ]] SLAMing on 40.549072329 meters Centerline goodness : 0.830570 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99371201 -0.10623899 -0.03535144 1.98009305] [ 0.10595221 0.994322 -0.00989436 0.09159006] [ 0.03620188 0.00608658 0.99932596 -0.61119425] [ 0. 0. 0. 1. ]] SLAMing on 40.57907232899999 meters Centerline goodness : 0.831477 Centerline is valid? [False, False] Translation: X:1.98, Y:0.09, Z:-0.61 [[ 0.99370384 -0.10613764 -0.03588139 1.98232994] [ 0.10587395 0.99433722 -0.00917632 0.0883076 ] [ 0.03665216 0.00531964 0.99931393 -0.61205731] [ 0. 0. 0. 1. ]] SLAMing on 40.60907232899999 meters Centerline goodness : 0.834539 Centerline is valid? [False, False] Translation: X:1.98, Y:0.08, Z:-0.61 [[ 0.99374591 -0.1057727 -0.03579401 1.98227547] [ 0.10552311 0.99437794 -0.00879688 0.08298521] [ 0.03652325 0.00496477 0.99932047 -0.61160591] [ 0. 0. 0. 1. ]] SLAMing on 40.639072328999994 meters Centerline goodness : 0.836540 Centerline is valid? [False, False] Translation: X:1.98, Y:0.08, Z:-0.61 [[ 0.9937616 -0.10548238 -0.03621267 1.9839846 ] [ 0.10525446 0.99441193 -0.00814892 0.08074038] [ 0.03686988 0.00428654 0.99931088 -0.61236473] [ 0. 0. 0. 1. ]] SLAMing on 40.669072328999995 meters Centerline goodness : 0.838093 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.61 [[ 0.99380191 -0.10502532 -0.03643408 1.98555588] [ 0.10480693 0.99446154 -0.00785824 0.07850129] [ 0.0370576 0.00399099 0.99930516 -0.61359544] [ 0. 0. 0. 1. ]] SLAMing on 40.699072328999996 meters Centerline goodness : 0.833796 Centerline is valid? [False, False] Translation: X:1.99, Y:0.08, Z:-0.61 [[ 0.99379728 -0.10510317 -0.0363359 1.98615466] [ 0.10486344 0.99445076 -0.00844688 0.07625471] [ 0.03702206 0.00458418 0.99930393 -0.61430133] [ 0. 0. 0. 1. ]] SLAMing on 40.729072329 meters Centerline goodness : 0.836992 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 0.99390989 -0.10401915 -0.03637497 1.98806163] [ 0.10382036 0.99456915 -0.00731692 0.07060499] [ 0.03693852 0.0034959 0.99931142 -0.61638289] [ 0. 0. 0. 1. ]] SLAMing on 40.759072329 meters Centerline goodness : 0.837977 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 9.93967287e-01 -1.03263822e-01 -3.69542386e-02 1.99008629e+00] [ 1.03136975e-01 9.94652894e-01 -5.32767365e-03 6.80939737e-02] [ 3.73067963e-02 1.48418493e-03 9.99302757e-01 -6.17090852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.78907232899999 meters Centerline goodness : 0.842554 Centerline is valid? [False, False] Translation: X:1.99, Y:0.07, Z:-0.62 [[ 9.94073801e-01 -1.02047514e-01 -3.74644314e-02 1.99147226e+00] [ 1.01992778e-01 9.94779416e-01 -3.37435977e-03 6.55757053e-02] [ 3.76131903e-02 -4.66738786e-04 9.99292265e-01 -6.17256087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819072328999994 meters Centerline goodness : 0.843949 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94195102e-01 -1.00922759e-01 -3.72920324e-02 1.99119937e+00] [ 1.00920490e-01 9.94892587e-01 -1.94807742e-03 6.19181487e-02] [ 3.72981719e-02 -1.82676115e-03 9.99302511e-01 -6.17009093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.849072328999995 meters Centerline goodness : 0.843197 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94281776e-01 -1.00031045e-01 -3.73836837e-02 1.99230491e+00] [ 1.00048196e-01 9.94981584e-01 -1.41636990e-03 6.00081645e-02] [ 3.73377578e-02 -2.33189935e-03 9.99299982e-01 -6.18126738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879072328999996 meters Centerline goodness : 0.843334 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94334967e-01 -9.95103750e-02 -3.73585105e-02 1.99222291e+00] [ 9.95301633e-02 9.95033651e-01 -1.33436872e-03 5.87970909e-02] [ 3.73057587e-02 -2.39148918e-03 9.99301036e-01 -6.18033336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909072329 meters Centerline goodness : 0.844314 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 9.94423716e-01 -9.84608644e-02 -3.77747310e-02 1.99377685e+00] [ 9.85296701e-02 9.95134113e-01 -4.03502902e-05 5.80605167e-02] [ 3.75948963e-02 -3.68180650e-03 9.99286279e-01 -6.18904152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939072329 meters Centerline goodness : 0.845582 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 0.99465804 -0.09569703 -0.03869712 1.99469008] [ 0.09588414 0.99538797 0.00300437 0.05921726] [ 0.03823114 -0.00669876 0.99924647 -0.61813778] [ 0. 0. 0. 1. ]] SLAMing on 40.96907232899999 meters Centerline goodness : 0.841639 Centerline is valid? [False, False] Translation: X:1.99, Y:0.06, Z:-0.62 [[ 0.99476061 -0.09452741 -0.03893443 1.9946288 ] [ 0.09472759 0.99549768 0.00332509 0.06030929] [ 0.03844482 -0.00699584 0.99923624 -0.61783927] [ 0. 0. 0. 1. ]] SLAMing on 40.99907232899999 meters Centerline goodness : 0.841404 Centerline is valid? [False, False] Translation: X:2.00, Y:0.06, Z:-0.62 [[ 0.99504992 -0.09159174 -0.03855662 1.99551329] [ 0.09175194 0.995779 0.00240254 0.06224573] [ 0.03817382 -0.00592829 0.99925353 -0.621597 ] [ 0. 0. 0. 1. ]] SLAMing on 41.029072328999995 meters Centerline goodness : 0.840132 Centerline is valid? [False, False] Translation: X:2.00, Y:0.06, Z:-0.62 [[ 9.95179004e-01 -9.02880652e-02 -3.82990236e-02 1.99595242e+00] [ 9.04026860e-02 9.95904487e-01 1.26806797e-03 6.38620050e-02] [ 3.80276780e-02 -4.72428922e-03 9.99265519e-01 -6.23804965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059072328999996 meters Centerline goodness : 0.839247 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 9.95335217e-01 -8.84300464e-02 -3.85737366e-02 1.99738988e+00] [ 8.85628831e-02 9.96069059e-01 1.74531572e-03 6.59010220e-02] [ 3.82677672e-02 -5.15337552e-03 9.99254232e-01 -6.25796374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089072329 meters Centerline goodness : 0.840465 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99547034 -0.08640085 -0.03966985 1.9990423 ] [ 0.08663145 0.99623188 0.0041279 0.06847842] [ 0.03916372 -0.00754586 0.99920432 -0.62553144] [ 0. 0. 0. 1. ]] SLAMing on 41.119072329 meters Centerline goodness : 0.840591 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99572478 -0.08231818 -0.04190331 2.00312045] [ 0.08282924 0.99650731 0.01060678 0.07479667] [ 0.04088382 -0.01403226 0.99906537 -0.6258966 ] [ 0. 0. 0. 1. ]] SLAMing on 41.14907232899999 meters Centerline goodness : 0.840591 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.63 [[ 0.99572478 -0.08231818 -0.04190331 2.00312045] [ 0.08282924 0.99650731 0.01060678 0.07479667] [ 0.04088382 -0.01403226 0.99906537 -0.6258966 ] [ 0. 0. 0. 1. ]] SLAMing on 41.17907232899999 meters Centerline goodness : 0.840757 Centerline is valid? [False, False] Translation: X:2.00, Y:0.08, Z:-0.63 [[ 0.99572413 -0.08188681 -0.04275513 2.0043338 ] [ 0.08243035 0.99653495 0.01110554 0.07803858] [ 0.04169758 -0.01458238 0.99902386 -0.62544767] [ 0. 0. 0. 1. ]] SLAMing on 41.209072328999994 meters Centerline goodness : 0.838791 Centerline is valid? [False, False] Translation: X:2.01, Y:0.08, Z:-0.63 [[ 0.99568137 -0.08218787 -0.0431713 2.00580088] [ 0.08271563 0.99651702 0.0105811 0.08074489] [ 0.0421513 -0.01410635 0.99901165 -0.62629712] [ 0. 0. 0. 1. ]] SLAMing on 41.239072328999995 meters Centerline goodness : 0.839295 Centerline is valid? [False, False] Translation: X:2.01, Y:0.09, Z:-0.63 [[ 0.99546282 -0.08395809 -0.04477509 2.01081764] [ 0.08454404 0.99635505 0.01135397 0.08617869] [ 0.04365862 -0.01508792 0.99893257 -0.628285 ] [ 0. 0. 0. 1. ]] SLAMing on 41.269072329 meters Centerline goodness : 0.839029 Centerline is valid? [False, False] Translation: X:2.02, Y:0.09, Z:-0.63 [[ 0.9952784 -0.08513145 -0.04662119 2.01502806] [ 0.08586874 0.99620748 0.01404338 0.08969062] [ 0.04524885 -0.01798037 0.99881392 -0.62797598] [ 0. 0. 0. 1. ]] SLAMing on 41.299072329 meters Centerline goodness : 0.838958 Centerline is valid? [False, False] Translation: X:2.02, Y:0.09, Z:-0.63 [[ 0.99500032 -0.08701737 -0.04901358 2.01995754] [ 0.08793474 0.99598324 0.01687809 0.09381112] [ 0.04734802 -0.0211037 0.9986555 -0.62700695] [ 0. 0. 0. 1. ]] SLAMing on 41.32907232899999 meters Centerline goodness : 0.836701 Centerline is valid? [False, False] Translation: X:2.03, Y:0.10, Z:-0.63 [[ 0.99421569 -0.09421464 -0.0515631 2.02703774] [ 0.0951038 0.99535335 0.01506567 0.10140217] [ 0.0499041 -0.01988237 0.99855609 -0.62789192] [ 0. 0. 0. 1. ]] SLAMing on 41.35907232899999 meters Centerline goodness : 0.830892 Centerline is valid? [False, False] Translation: X:2.03, Y:0.10, Z:-0.63 [[ 0.99373045 -0.09913813 -0.05168576 2.02885174] [ 0.09979281 0.99495557 0.01023725 0.10434667] [ 0.05041014 -0.01533094 0.99861093 -0.62892573] [ 0. 0. 0. 1. ]] SLAMing on 41.389072328999994 meters Centerline goodness : 0.830458 Centerline is valid? [False, False] Translation: X:2.03, Y:0.11, Z:-0.63 [[ 0.99330382 -0.10293238 -0.05246379 2.03250372] [ 0.1034826 0.9946001 0.00787408 0.10665415] [ 0.05137 -0.01325044 0.99859178 -0.63070699] [ 0. 0. 0. 1. ]] SLAMing on 41.419072328999995 meters Centerline goodness : 0.833187 Centerline is valid? [False, False] Translation: X:2.04, Y:0.11, Z:-0.63 [[ 0.9927309 -0.10639466 -0.05626316 2.04055126] [ 0.10720211 0.99417045 0.01152481 0.11264923] [ 0.05470899 -0.01747256 0.99834946 -0.63019727] [ 0. 0. 0. 1. ]] SLAMing on 41.449072328999996 meters Centerline goodness : 0.832003 Centerline is valid? [False, False] Translation: X:2.04, Y:0.12, Z:-0.63 [[ 0.99254052 -0.10691296 -0.05859131 2.0437638 ] [ 0.10804091 0.99401076 0.01642484 0.11606757] [ 0.05648436 -0.02263258 0.99814692 -0.62771048] [ 0. 0. 0. 1. ]] SLAMing on 41.479072329 meters Centerline goodness : 0.832891 Centerline is valid? [False, False] Translation: X:2.05, Y:0.12, Z:-0.62 [[ 0.99222972 -0.10836713 -0.06112899 2.04681553] [ 0.10979064 0.99374496 0.02041993 0.11988871] [ 0.05853378 -0.02697266 0.99792097 -0.62433137] [ 0. 0. 0. 1. ]] SLAMing on 41.509072329 meters Centerline goodness : 0.825467 Centerline is valid? [False, False] Translation: X:2.05, Y:0.13, Z:-0.63 [[ 0.99148268 -0.11372696 -0.06346869 2.05413314] [ 0.11511951 0.99317522 0.01872098 0.12559308] [ 0.06090645 -0.02586801 0.99780822 -0.62695329] [ 0. 0. 0. 1. ]] SLAMing on 41.53907232899999 meters Centerline goodness : 0.823169 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-0.63 [[ 0.99102648 -0.11776914 -0.06322136 2.05595707] [ 0.1188998 0.99280158 0.014417 0.12659502] [ 0.06106839 -0.02180464 0.99789539 -0.62874886] [ 0. 0. 0. 1. ]] SLAMing on 41.569072328999994 meters Centerline goodness : 0.826526 Centerline is valid? [False, False] Translation: X:2.06, Y:0.13, Z:-0.63 [[ 0.99065626 -0.12067797 -0.06353734 2.05714866] [ 0.12170907 0.99248582 0.01260176 0.12752672] [ 0.06153916 -0.02021708 0.9978999 -0.62852619] [ 0. 0. 0. 1. ]] SLAMing on 41.599072328999995 meters Centerline goodness : 0.827788 Centerline is valid? [False, False] Translation: X:2.06, Y:0.14, Z:-0.63 [[ 0.99053383 -0.12540638 -0.05582089 2.06399352] [ 0.12649935 0.99182973 0.0164832 0.13624537] [ 0.05329772 -0.02338848 0.99830473 -0.62552901] [ 0. 0. 0. 1. ]] SLAMing on 41.629072328999996 meters Centerline goodness : 0.828056 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.62 [[ 0.99064614 -0.12351078 -0.05801131 2.065143 ] [ 0.1249098 0.99194309 0.02112941 0.13976783] [ 0.05493421 -0.02817795 0.9980923 -0.62199659] [ 0. 0. 0. 1. ]] SLAMing on 41.659072329 meters Centerline goodness : 0.822817 Centerline is valid? [False, False] Translation: X:2.07, Y:0.14, Z:-0.62 [[ 0.99081868 -0.12089895 -0.06051264 2.07022414] [ 0.12257203 0.99215141 0.02473191 0.14415741] [ 0.05704764 -0.03192199 0.99786099 -0.62337135] [ 0. 0. 0. 1. ]] SLAMing on 41.689072329 meters Centerline goodness : 0.817163 Centerline is valid? [False, False] Translation: X:2.07, Y:0.15, Z:-0.63 [[ 0.99086587 -0.12095581 -0.0596198 2.07287793] [ 0.12224529 0.99232815 0.01846414 0.15341005] [ 0.05692906 -0.02558372 0.99805038 -0.63087696] [ 0. 0. 0. 1. ]] SLAMing on 41.71907232899999 meters Centerline goodness : 0.815872 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99082294 -0.12137959 -0.05947184 2.07672355] [ 0.1224439 0.99236837 0.0145776 0.15646248] [ 0.05724855 -0.02172578 0.99812354 -0.63661137] [ 0. 0. 0. 1. ]] SLAMing on 41.74907232899999 meters Centerline goodness : 0.815293 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99079319 -0.12135081 -0.0600236 2.08094657] [ 0.1223499 0.99239863 0.01324602 0.15844111] [ 0.05795992 -0.02046795 0.99810907 -0.64090257] [ 0. 0. 0. 1. ]] SLAMing on 41.779072328999995 meters Centerline goodness : 0.818537 Centerline is valid? [False, False] Translation: X:2.08, Y:0.16, Z:-0.64 [[ 0.99098473 -0.11860962 -0.06229785 2.08174476] [ 0.11997211 0.99260316 0.01859206 0.16316862] [ 0.05963184 -0.02589846 0.99788442 -0.63696299] [ 0. 0. 0. 1. ]] SLAMing on 41.809072328999996 meters Centerline goodness : 0.817302 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.63 [[ 0.99118024 -0.11550784 -0.06495897 2.08275566] [ 0.11736232 0.99276214 0.02548378 0.16695233] [ 0.06154523 -0.03288276 0.99756248 -0.63250378] [ 0. 0. 0. 1. ]] SLAMing on 41.839072329 meters Centerline goodness : 0.817498 Centerline is valid? [False, False] Translation: X:2.08, Y:0.17, Z:-0.63 [[ 0.9915736 -0.11191554 -0.0652434 2.0811528 ] [ 0.11394262 0.99308668 0.02821212 0.17130654] [ 0.06163498 -0.03540839 0.99747049 -0.63095195] [ 0. 0. 0. 1. ]] SLAMing on 41.869072329 meters Centerline goodness : 0.815002 Centerline is valid? [False, False] Translation: X:2.08, Y:0.18, Z:-0.63 [[ 0.99160044 -0.11134035 -0.06581706 2.08229454] [ 0.11336649 0.99316187 0.02788444 0.17583409] [ 0.06226233 -0.03511167 0.99744201 -0.63147659] [ 0. 0. 0. 1. ]] SLAMing on 41.89907232899999 meters Centerline goodness : 0.812498 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99166669 -0.11135893 -0.06477938 2.08623783] [ 0.11295957 0.99336513 0.02158358 0.18189991] [ 0.06194605 -0.02872117 0.99766617 -0.64012867] [ 0. 0. 0. 1. ]] SLAMing on 41.92907232899999 meters Centerline goodness : 0.811504 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99176459 -0.11108319 -0.06374583 2.08597337] [ 0.11251462 0.99346239 0.01931164 0.1834301 ] [ 0.06118388 -0.02632494 0.9977793 -0.64263999] [ 0. 0. 0. 1. ]] SLAMing on 41.959072328999994 meters Centerline goodness : 0.812437 Centerline is valid? [False, False] Translation: X:2.09, Y:0.18, Z:-0.64 [[ 0.99188971 -0.11018853 -0.06335056 2.08567283] [ 0.11159966 0.99356824 0.01917469 0.18458666] [ 0.06083027 -0.02608907 0.99780711 -0.64341525] [ 0. 0. 0. 1. ]] SLAMing on 41.989072328999995 meters Centerline goodness : 0.812568 Centerline is valid? [False, False] Translation: X:2.08, Y:0.19, Z:-0.64 [[ 0.99179354 -0.11116069 -0.06315758 2.08356353] [ 0.11239346 0.99353004 0.01630246 0.19289744] [ 0.06093676 -0.02326717 0.99787041 -0.63970885] [ 0. 0. 0. 1. ]] SLAMing on 42.019072329 meters Centerline goodness : 0.811116 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:-0.64 [[ 0.9917394 -0.11148689 -0.06343219 2.08353346] [ 0.11264447 0.99352267 0.01496407 0.19795832] [ 0.06135302 -0.02198575 0.99787396 -0.63829951] [ 0. 0. 0. 1. ]] SLAMing on 42.049072329 meters Centerline goodness : 0.811546 Centerline is valid? [False, False] Translation: X:2.08, Y:0.20, Z:-0.64 [[ 0.99167729 -0.1118129 -0.06382812 2.08361353] [ 0.11287451 0.99352071 0.01326463 0.20339381] [ 0.0619314 -0.0203588 0.99787275 -0.63608751] [ 0. 0. 0. 1. ]] SLAMing on 42.07907232899999 meters Centerline goodness : 0.808381 Centerline is valid? [False, False] Translation: X:2.09, Y:0.21, Z:-0.63 [[ 0.99164352 -0.11169726 -0.06455115 2.08503091] [ 0.11253779 0.9936018 0.00952378 0.21391106] [ 0.06307436 -0.01670864 0.99786895 -0.63088653] [ 0. 0. 0. 1. ]] SLAMing on 42.10907232899999 meters Centerline goodness : 0.805990 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:-0.63 [[ 0.99162733 -0.1116714 -0.06484392 2.08591877] [ 0.11245819 0.99361923 0.00860172 0.21760628] [ 0.06346959 -0.01582193 0.99785835 -0.63043768] [ 0. 0. 0. 1. ]] SLAMing on 42.139072328999994 meters Centerline goodness : 0.803711 Centerline is valid? [False, False] Translation: X:2.09, Y:0.22, Z:-0.63 [[ 0.99163965 -0.11119622 -0.06546909 2.08918426] [ 0.11192484 0.99368794 0.00755723 0.22391954] [ 0.06421551 -0.01482166 0.99782598 -0.63185101] [ 0. 0. 0. 1. ]] SLAMing on 42.169072328999995 meters Centerline goodness : 0.804771 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:-0.63 [[ 0.99163518 -0.11102373 -0.06582861 2.09094192] [ 0.11171581 0.99371613 0.00691579 0.22707186] [ 0.06464713 -0.01421204 0.99780698 -0.63243182] [ 0. 0. 0. 1. ]] SLAMing on 42.199072328999996 meters Centerline goodness : 0.803042 Centerline is valid? [False, False] Translation: X:2.09, Y:0.23, Z:-0.63 [[ 0.9916122 -0.1110577 -0.0661168 2.09216635] [ 0.11170094 0.99372314 0.00610151 0.23105231] [ 0.06502417 -0.01343564 0.99779324 -0.63278467] [ 0. 0. 0. 1. ]] SLAMing on 42.229072329 meters Centerline goodness : 0.802086 Centerline is valid? [False, False] Translation: X:2.10, Y:0.24, Z:-0.63 [[ 0.99160514 -0.11041527 -0.06728824 2.09571124] [ 0.11098809 0.99381003 0.00482341 0.23674601] [ 0.06633915 -0.01225112 0.99772192 -0.63190025] [ 0. 0. 0. 1. ]] SLAMing on 42.25907232899999 meters Centerline goodness : 0.801537 Centerline is valid? [False, False] Translation: X:2.10, Y:0.24, Z:-0.63 [[ 0.99247207 -0.10140805 -0.06867027 2.0987562 ] [ 0.10246704 0.99466318 0.0120695 0.24354997] [ 0.06707984 -0.01901508 0.9975664 -0.63366379] [ 0. 0. 0. 1. ]] SLAMing on 42.28907232899999 meters Centerline goodness : 0.800850 Centerline is valid? [False, False] Translation: X:2.10, Y:0.25, Z:-0.64 [[ 0.99307833 -0.10225372 -0.05778936 2.10137824] [ 0.10311076 0.994597 0.01204066 0.25239096] [ 0.05624592 -0.01791603 0.99825619 -0.63537122] [ 0. 0. 0. 1. ]] SLAMing on 42.319072328999994 meters Centerline goodness : 0.803912 Centerline is valid? [False, False] Translation: X:2.10, Y:0.26, Z:-0.63 [[ 0.99346914 -0.09821517 -0.05807625 2.10081603] [ 0.09922506 0.99495552 0.01476175 0.25729951] [ 0.05633345 -0.02042797 0.99820301 -0.63427942] [ 0. 0. 0. 1. ]] SLAMing on 42.349072328999995 meters Centerline goodness : 0.803062 Centerline is valid? [False, False] Translation: X:2.11, Y:0.27, Z:-0.63 [[ 0.99414055 -0.09085035 -0.05857281 2.11308436] [ 0.09169381 0.99571648 0.01187139 0.26853034] [ 0.05724339 -0.0171726 0.99821255 -0.62814679] [ 0. 0. 0. 1. ]] SLAMing on 42.379072328999996 meters Centerline goodness : 0.804700 Centerline is valid? [False, False] Translation: X:2.12, Y:0.27, Z:-0.63 [[ 0.99416642 -0.08997383 -0.05947976 2.11648021] [ 0.09076468 0.99581461 0.01072546 0.27291619] [ 0.0582658 -0.01606155 0.99817189 -0.62726712] [ 0. 0. 0. 1. ]] SLAMing on 42.409072329 meters Centerline goodness : 0.805057 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:-0.63 [[ 0.99418665 -0.08902114 -0.06056522 2.12033486] [ 0.08977385 0.99591379 0.00981713 0.27686566] [ 0.05944381 -0.01519723 0.99811596 -0.62653726] [ 0. 0. 0. 1. ]] SLAMing on 42.439072329 meters Centerline goodness : 0.803321 Centerline is valid? [False, False] Translation: X:2.12, Y:0.28, Z:-0.63 [[ 0.99418776 -0.08843224 -0.06140384 2.12306192] [ 0.08915935 0.99597489 0.00919891 0.27974962] [ 0.0603432 -0.01462017 0.99807061 -0.62602549] [ 0. 0. 0. 1. ]] SLAMing on 42.46907232899999 meters Centerline goodness : 0.802024 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.62 [[ 0.99381405 -0.09190575 -0.06234555 2.12678034] [ 0.09237282 0.99571366 0.00464501 0.28207243] [ 0.06165141 -0.01037531 0.99804382 -0.62483893] [ 0. 0. 0. 1. ]] SLAMing on 42.49907232899999 meters Centerline goodness : 0.801580 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.63 [[ 0.99383422 -0.09138518 -0.06278766 2.12885142] [ 0.09187901 0.99575754 0.00501726 0.28184389] [ 0.06206278 -0.0107552 0.9980143 -0.62587155] [ 0. 0. 0. 1. ]] SLAMing on 42.529072328999995 meters Centerline goodness : 0.801361 Centerline is valid? [False, False] Translation: X:2.13, Y:0.28, Z:-0.63 [[ 0.9938671 -0.0908034 -0.0631104 2.13091357] [ 0.09135528 0.99580083 0.00590877 0.27948775] [ 0.06230886 -0.011638 0.99798906 -0.62765437] [ 0. 0. 0. 1. ]] SLAMing on 42.559072328999996 meters Centerline goodness : 0.797034 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:-0.63 [[ 9.93526619e-01 -9.39282298e-02 -6.38932244e-02 2.13530157e+00] [ 9.42301631e-02 9.95548950e-01 1.72201093e-03 2.79198169e-01] [ 6.34470870e-02 -7.73153266e-03 9.97955255e-01 -6.27316649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589072329 meters Centerline goodness : 0.800805 Centerline is valid? [False, False] Translation: X:2.14, Y:0.28, Z:-0.63 [[ 9.93153640e-01 -9.79914768e-02 -6.35886677e-02 2.13572387e+00] [ 9.80657083e-02 9.95178011e-01 -1.96022160e-03 2.75248958e-01] [ 6.34741288e-02 -4.28906652e-03 9.97974268e-01 -6.26738946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619072329 meters Centerline goodness : 0.800226 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:-0.62 [[ 0.99311602 -0.0985061 -0.0633808 2.13376639] [ 0.09854966 0.99512913 -0.00244622 0.27428429] [ 0.06331304 -0.00381677 0.99798642 -0.62432447] [ 0. 0. 0. 1. ]] SLAMing on 42.64907232899999 meters Centerline goodness : 0.803177 Centerline is valid? [False, False] Translation: X:2.13, Y:0.27, Z:-0.62 [[ 0.99305597 -0.09920288 -0.06323471 2.13135539] [ 0.0991835 0.99506317 -0.00345325 0.2745517 ] [ 0.0632651 -0.00284257 0.99799271 -0.6207673 ] [ 0. 0. 0. 1. ]] SLAMing on 42.67907232899999 meters Centerline goodness : 0.803850 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:-0.62 [[ 0.99290818 -0.10319859 -0.05902023 2.14726936] [ 0.10355029 0.99461992 0.0029237 0.27100266] [ 0.05840098 -0.00901452 0.99825251 -0.6212076 ] [ 0. 0. 0. 1. ]] SLAMing on 42.709072328999994 meters Centerline goodness : 0.801857 Centerline is valid? [False, False] Translation: X:2.15, Y:0.27, Z:-0.62 [[ 9.92480064e-01 -1.07274554e-01 -5.89533053e-02 2.14818677e+00] [ 1.07398282e-01 9.94215497e-01 -1.07492032e-03 2.69368002e-01] [ 5.87276013e-02 -5.26464670e-03 9.98260163e-01 -6.20463836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739072328999995 meters Centerline goodness : 0.801094 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:-0.62 [[ 9.92495394e-01 -1.07163540e-01 -5.88971080e-02 2.14874749e+00] [ 1.07358426e-01 9.94220371e-01 1.45500188e-04 2.64208588e-01] [ 5.85411122e-02 -6.46750910e-03 9.98264048e-01 -6.22060418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769072329 meters Centerline goodness : 0.797796 Centerline is valid? [False, False] Translation: X:2.15, Y:0.26, Z:-0.62 [[ 0.99206946 -0.11107023 -0.0588353 2.15033697] [ 0.11112574 0.9938036 -0.0023378 0.25853248] [ 0.05873039 -0.00421886 0.99826497 -0.623674 ] [ 0. 0. 0. 1. ]] SLAMing on 42.799072329 meters Centerline goodness : 0.795598 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:-0.63 [[ 9.92064851e-01 -1.11114177e-01 -5.88300253e-02 2.15053578e+00] [ 1.11240007e-01 9.93792914e-01 -1.14195235e-03 2.53971327e-01] [ 5.85917494e-02 -5.41136165e-03 9.98267361e-01 -6.25008604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.82907232899999 meters Centerline goodness : 0.794037 Centerline is valid? [False, False] Translation: X:2.15, Y:0.25, Z:-0.63 [[ 0.9915632 -0.1157888 -0.05826978 2.14971445] [ 0.11576199 0.99326953 -0.00384689 0.24793731] [ 0.05832302 -0.00293099 0.99829346 -0.62568922] [ 0. 0. 0. 1. ]] SLAMing on 42.85907232899999 meters Centerline goodness : 0.795568 Centerline is valid? [False, False] Translation: X:2.15, Y:0.24, Z:-0.63 [[ 0.99151593 -0.11646194 -0.05773019 2.14747277] [ 0.11645713 0.9931897 -0.00345909 0.24376086] [ 0.05773989 -0.00329335 0.99832623 -0.6250048 ] [ 0. 0. 0. 1. ]] SLAMing on 42.889072328999994 meters Centerline goodness : 0.797088 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:-0.62 [[ 0.99146822 -0.11715267 -0.0571492 2.14484182] [ 0.11714725 0.99310854 -0.00345646 0.24020004] [ 0.05716029 -0.0032679 0.99835967 -0.62335079] [ 0. 0. 0. 1. ]] SLAMing on 42.919072328999995 meters Centerline goodness : 0.795422 Centerline is valid? [False, False] Translation: X:2.14, Y:0.24, Z:-0.62 [[ 0.99138052 -0.11818601 -0.05653965 2.141211 ] [ 0.11815654 0.99298742 -0.00387567 0.23588689] [ 0.05660121 -0.00283826 0.99839283 -0.62000178] [ 0. 0. 0. 1. ]] SLAMing on 42.949072328999996 meters Centerline goodness : 0.793492 Centerline is valid? [False, False] Translation: X:2.14, Y:0.23, Z:-0.62 [[ 0.99141976 -0.11771719 -0.05682885 2.14245331] [ 0.11773061 0.99304066 -0.00312355 0.23301286] [ 0.05680105 -0.00359375 0.99837905 -0.62056058] [ 0. 0. 0. 1. ]] SLAMing on 42.979072329 meters Centerline goodness : 0.793875 Centerline is valid? [False, False] Translation: X:2.14, Y:0.23, Z:-0.62 [[ 9.91490004e-01 -1.16916485e-01 -5.72547685e-02 2.14491522e+00] [ 1.17009632e-01 9.93129265e-01 -1.73438981e-03 2.29283369e-01] [ 5.70641650e-02 -4.97972924e-03 9.98358094e-01 -6.22777927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.00907232899999 meters Centerline goodness : 0.794439 Centerline is valid? [False, False] Translation: X:2.15, Y:0.23, Z:-0.63 [[ 9.91559469e-01 -1.16087066e-01 -5.77374403e-02 2.14765116e+00] [ 1.16269901e-01 9.93217636e-01 -1.93989838e-04 2.25267923e-01] [ 5.73683637e-02 -6.52077398e-03 9.98331784e-01 -6.25288987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.03907232899999 meters Centerline goodness : 0.789774 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99165587 -0.11476257 -0.05872134 2.15198832] [ 0.11509397 0.99335199 0.00228165 0.21946996] [ 0.05806911 -0.00902109 0.99827181 -0.62899561] [ 0. 0. 0. 1. ]] SLAMing on 43.069072328999994 meters Centerline goodness : 0.789774 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99165587 -0.11476257 -0.05872134 2.15198832] [ 0.11509397 0.99335199 0.00228165 0.21946996] [ 0.05806911 -0.00902109 0.99827181 -0.62899561] [ 0. 0. 0. 1. ]] SLAMing on 43.099072328999995 meters Centerline goodness : 0.789234 Centerline is valid? [False, False] Translation: X:2.15, Y:0.22, Z:-0.63 [[ 0.99170541 -0.11405225 -0.05926598 2.15391519] [ 0.11441418 0.99342936 0.00273861 0.21789097] [ 0.05856422 -0.00949677 0.99823847 -0.62904157] [ 0. 0. 0. 1. ]] SLAMing on 43.129072328999996 meters Centerline goodness : 0.790507 Centerline is valid? [False, False] Translation: X:2.15, Y:0.21, Z:-0.63 [[ 0.99223016 -0.109139 -0.05973269 2.15395354] [ 0.1097714 0.99392931 0.00740039 0.21422949] [ 0.0585624 -0.01389983 0.99818698 -0.62818655] [ 0. 0. 0. 1. ]] SLAMing on 43.159072329 meters Centerline goodness : 0.791032 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.63 [[ 0.99227033 -0.10845697 -0.06030481 2.15538469] [ 0.10905376 0.99401337 0.00668501 0.21634438] [ 0.05921875 -0.0132098 0.99815762 -0.62630402] [ 0. 0. 0. 1. ]] SLAMing on 43.189072329 meters Centerline goodness : 0.789689 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.62 [[ 0.99230582 -0.10762172 -0.06121055 2.15765968] [ 0.1081716 0.99411571 0.00573209 0.21897342] [ 0.06023347 -0.01230923 0.99810842 -0.62406012] [ 0. 0. 0. 1. ]] SLAMing on 43.21907232899999 meters Centerline goodness : 0.788809 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.64 [[ 0.99327932 -0.10620513 -0.04600713 2.15589468] [ 0.10666014 0.99426692 0.00754372 0.22417797] [ 0.04494219 -0.01240015 0.99891263 -0.63548077] [ 0. 0. 0. 1. ]] SLAMing on 43.24907232899999 meters Centerline goodness : 0.788691 Centerline is valid? [False, False] Translation: X:2.16, Y:0.22, Z:-0.64 [[ 0.99362439 -0.10273727 -0.0464286 2.15873687] [ 0.10322643 0.99462361 0.00825747 0.22479605] [ 0.04533063 -0.01299748 0.99888748 -0.63879115] [ 0. 0. 0. 1. ]] SLAMing on 43.279072328999995 meters Centerline goodness : 0.786448 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99384744 -0.1006963 -0.04612512 2.1594138 ] [ 0.10113053 0.9948473 0.00717363 0.22553875] [ 0.0451651 -0.01179415 0.99890991 -0.64074126] [ 0. 0. 0. 1. ]] SLAMing on 43.309072328999996 meters Centerline goodness : 0.784571 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99406902 -0.09868226 -0.04570126 2.1605513 ] [ 0.09900628 0.99507486 0.00487609 0.22811923] [ 0.04499499 -0.00937188 0.99894325 -0.64401171] [ 0. 0. 0. 1. ]] SLAMing on 43.339072329 meters Centerline goodness : 0.783088 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99426724 -0.09686607 -0.04527284 2.15996135] [ 0.09715667 0.99525999 0.00425799 0.22824491] [ 0.04464579 -0.00863214 0.99896558 -0.64429929] [ 0. 0. 0. 1. ]] SLAMing on 43.369072329 meters Centerline goodness : 0.783088 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 0.99426724 -0.09686607 -0.04527284 2.15996135] [ 0.09715667 0.99525999 0.00425799 0.22824491] [ 0.04464579 -0.00863214 0.99896558 -0.64429929] [ 0. 0. 0. 1. ]] SLAMing on 43.39907232899999 meters Centerline goodness : 0.781582 Centerline is valid? [False, False] Translation: X:2.16, Y:0.23, Z:-0.64 [[ 9.93911420e-01 -1.00024280e-01 -4.62085813e-02 2.16343369e+00] [ 1.00045801e-01 9.94981108e-01 -1.85257272e-03 2.32368761e-01] [ 4.61619676e-02 -2.78168133e-03 9.98930095e-01 -6.39902632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42907232899999 meters Centerline goodness : 0.780480 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99361028 -0.1025666 -0.04710316 2.16773096] [ 0.10224556 0.99471682 -0.00918165 0.238222 ] [ 0.04779603 0.00430689 0.99884783 -0.63274574] [ 0. 0. 0. 1. ]] SLAMing on 43.459072328999994 meters Centerline goodness : 0.781186 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99356309 -0.10273384 -0.04772983 2.16860482] [ 0.10248681 0.99470532 -0.00760072 0.23809785] [ 0.04825797 0.00266011 0.99883136 -0.63203393] [ 0. 0. 0. 1. ]] SLAMing on 43.489072328999995 meters Centerline goodness : 0.779377 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 9.93386493e-01 -1.04063739e-01 -4.85181879e-02 2.17017999e+00] [ 1.03845315e-01 9.94568771e-01 -7.00792879e-03 2.38097340e-01] [ 4.89839457e-02 1.92319530e-03 9.98797714e-01 -6.31488913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519072329 meters Centerline goodness : 0.776758 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99260599 -0.11084921 -0.04945503 2.17371285] [ 0.11049658 0.99382802 -0.00981675 0.23706658] [ 0.05023797 0.00427955 0.99872811 -0.63175803] [ 0. 0. 0. 1. ]] SLAMing on 43.549072329 meters Centerline goodness : 0.777630 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.63 [[ 0.99208629 -0.11456865 -0.05136952 2.17822629] [ 0.11424059 0.9934097 -0.00928734 0.236561 ] [ 0.05209501 0.00334536 0.99863653 -0.63146009] [ 0. 0. 0. 1. ]] SLAMing on 43.57907232899999 meters Centerline goodness : 0.777267 Centerline is valid? [False, False] Translation: X:2.17, Y:0.24, Z:-0.63 [[ 0.99193021 -0.116191 -0.05073573 2.17496584] [ 0.11586731 0.9932213 -0.00928513 0.23629886] [ 0.05147066 0.00333159 0.99866895 -0.63145759] [ 0. 0. 0. 1. ]] SLAMing on 43.60907232899999 meters Centerline goodness : 0.778602 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.63 [[ 0.99153397 -0.11868062 -0.0526811 2.17989479] [ 0.1183898 0.9929298 -0.00861822 0.23688193] [ 0.05333145 0.00230836 0.9985742 -0.63196653] [ 0. 0. 0. 1. ]] SLAMing on 43.639072328999994 meters Centerline goodness : 0.778665 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.63 [[ 0.99143379 -0.11983817 -0.05194086 2.17722352] [ 0.11953725 0.99279007 -0.00887299 0.23388375] [ 0.0526297 0.00258811 0.99861074 -0.63126106] [ 0. 0. 0. 1. ]] SLAMing on 43.669072328999995 meters Centerline goodness : 0.778180 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.9915505 -0.12423367 -0.03733092 2.18144335] [ 0.12387081 0.99222712 -0.01188974 0.23072386] [ 0.03851786 0.00716506 0.99923222 -0.63762675] [ 0. 0. 0. 1. ]] SLAMing on 43.699072328999996 meters Centerline goodness : 0.776907 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99148439 -0.12489381 -0.03688145 2.17953783] [ 0.12451537 0.99214026 -0.01239453 0.2311556 ] [ 0.03813957 0.00769668 0.99924278 -0.63656446] [ 0. 0. 0. 1. ]] SLAMing on 43.729072329 meters Centerline goodness : 0.777574 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99143517 -0.12530838 -0.03679828 2.17869707] [ 0.12490996 0.99208366 -0.01294257 0.23302532] [ 0.03812879 0.00823525 0.9992389 -0.63570776] [ 0. 0. 0. 1. ]] SLAMing on 43.75907232899999 meters Centerline goodness : 0.778003 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99139878 -0.12553998 -0.03698895 2.17909538] [ 0.12514916 0.99205655 -0.01270758 0.23423604] [ 0.03829043 0.00796914 0.99923487 -0.63672095] [ 0. 0. 0. 1. ]] SLAMing on 43.78907232899999 meters Centerline goodness : 0.776216 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99142859 -0.1252559 -0.0371526 2.18015186] [ 0.12488506 0.99209683 -0.01214885 0.23334327] [ 0.03838069 0.00740491 0.99923575 -0.63792166] [ 0. 0. 0. 1. ]] SLAMing on 43.819072328999994 meters Centerline goodness : 0.774313 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99142951 -0.12522752 -0.03722357 2.18059401] [ 0.12485959 0.99210113 -0.01205931 0.23369035] [ 0.03843971 0.00730823 0.9992342 -0.63846683] [ 0. 0. 0. 1. ]] SLAMing on 43.849072328999995 meters Centerline goodness : 0.774963 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 0.99185015 -0.12193208 -0.03695733 2.17806272] [ 0.12172708 0.99253331 -0.00775565 0.2323285 ] [ 0.03762705 0.00319374 0.99928675 -0.63896109] [ 0. 0. 0. 1. ]] SLAMing on 43.879072328999996 meters Centerline goodness : 0.774180 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 9.92258379e-01 -1.18607429e-01 -3.68183083e-02 2.17551839e+00] [ 1.18539293e-01 9.92941160e-01 -4.03580992e-03 2.32588834e-01] [ 3.70370908e-02 -3.59850035e-04 9.99313827e-01 -6.38274964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909072329 meters Centerline goodness : 0.773319 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92248269e-01 -1.18747763e-01 -3.66379855e-02 2.17553404e+00] [ 1.18651784e-01 9.92924370e-01 -4.79065286e-03 2.35374912e-01] [ 3.69476280e-02 4.06354648e-04 9.99317121e-01 -6.38453417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939072329 meters Centerline goodness : 0.773530 Centerline is valid? [False, False] Translation: X:2.18, Y:0.23, Z:-0.64 [[ 9.92300508e-01 -1.18230043e-01 -3.68965890e-02 2.17750972e+00] [ 1.18149721e-01 9.92986231e-01 -4.35749059e-03 2.34327897e-01] [ 3.71529911e-02 -3.53815722e-05 9.99309589e-01 -6.40108901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96907232899999 meters Centerline goodness : 0.771247 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92345396e-01 -1.17698711e-01 -3.73848730e-02 2.18000441e+00] [ 1.17604319e-01 9.93049309e-01 -4.72165428e-03 2.37811156e-01] [ 3.76807549e-02 2.88889348e-04 9.99289786e-01 -6.41447839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99907232899999 meters Centerline goodness : 0.771247 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92345396e-01 -1.17698711e-01 -3.73848730e-02 2.18000441e+00] [ 1.17604319e-01 9.93049309e-01 -4.72165428e-03 2.37811156e-01] [ 3.76807549e-02 2.88889348e-04 9.99289786e-01 -6.41447839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.029072328999995 meters Centerline goodness : 0.770162 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 9.92777508e-01 -1.13852612e-01 -3.78206534e-02 2.17971084e+00] [ 1.13874567e-01 9.93493878e-01 -1.58020328e-03 2.43033226e-01] [ 3.77544979e-02 -2.73802026e-03 9.99283294e-01 -6.41385987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059072328999996 meters Centerline goodness : 0.767857 Centerline is valid? [False, False] Translation: X:2.18, Y:0.24, Z:-0.64 [[ 0.99318305 -0.11028633 -0.03774074 2.17793252] [ 0.11045804 0.99387767 0.00248878 0.24313298] [ 0.0372352 -0.00664058 0.99928447 -0.64175036] [ 0. 0. 0. 1. ]] SLAMing on 44.089072329 meters Centerline goodness : 0.769408 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93165619e-01 -1.10386637e-01 -3.79057313e-02 2.17806469e+00] [ 1.10531263e-01 9.93871134e-01 1.73476360e-03 2.46000184e-01] [ 3.74819174e-02 -5.91267591e-03 9.99279814e-01 -6.40931252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119072329 meters Centerline goodness : 0.769931 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93147767e-01 -1.10483904e-01 -3.80896316e-02 2.17849489e+00] [ 1.10585489e-01 9.93866455e-01 5.64091126e-04 2.50011201e-01] [ 3.77936841e-02 -4.77238639e-03 9.99274167e-01 -6.39939132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14907232899999 meters Centerline goodness : 0.768030 Centerline is valid? [False, False] Translation: X:2.18, Y:0.25, Z:-0.64 [[ 9.93130268e-01 -1.10669294e-01 -3.80076042e-02 2.17853492e+00] [ 1.10754301e-01 9.93847809e-01 1.31913893e-04 2.51805413e-01] [ 3.77591753e-02 -4.34051333e-03 9.99277441e-01 -6.40220303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17907232899999 meters Centerline goodness : 0.767190 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92777406e-01 -1.13649638e-01 -3.84289221e-02 2.18220276e+00] [ 1.13564505e-01 9.93520890e-01 -4.39811621e-03 2.56430109e-01] [ 3.86797813e-02 2.18889022e-06 9.99251657e-01 -6.40471456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.209072328999994 meters Centerline goodness : 0.767918 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92742612e-01 -1.14084381e-01 -3.80376130e-02 2.18179753e+00] [ 1.13990351e-01 9.93471027e-01 -4.63879301e-03 2.58027717e-01] [ 3.83184803e-02 2.69206641e-04 9.99265541e-01 -6.41836312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239072328999995 meters Centerline goodness : 0.768262 Centerline is valid? [False, False] Translation: X:2.18, Y:0.26, Z:-0.64 [[ 9.92697233e-01 -1.14544924e-01 -3.78373283e-02 2.18067858e+00] [ 1.14407774e-01 9.93417074e-01 -5.77741890e-03 2.60719001e-01] [ 3.82500220e-02 1.40634323e-03 9.99267211e-01 -6.40176080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269072329 meters Centerline goodness : 0.768421 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.99329436 -0.1107546 -0.03316229 2.19341519] [ 0.11102477 0.99379695 0.0064135 0.26614329] [ 0.03224626 -0.01005233 0.9994294 -0.63917735] [ 0. 0. 0. 1. ]] SLAMing on 44.299072329 meters Centerline goodness : 0.767617 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.99366486 -0.10737829 -0.03316704 2.19091177] [ 0.10773918 0.99413581 0.00928741 0.26932179] [ 0.03197528 -0.01280196 0.99940667 -0.63705898] [ 0. 0. 0. 1. ]] SLAMing on 44.32907232899999 meters Centerline goodness : 0.767276 Centerline is valid? [False, False] Translation: X:2.19, Y:0.27, Z:-0.64 [[ 0.9936998 -0.10683931 -0.03385366 2.19298944] [ 0.10717834 0.99420468 0.00835812 0.27379933] [ 0.0327645 -0.01193385 0.99939185 -0.63620348] [ 0. 0. 0. 1. ]] SLAMing on 44.35907232899999 meters Centerline goodness : 0.766282 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94610229e-01 -1.00003614e-01 -2.73819229e-02 2.19854916e+00] [ 1.00019724e-01 9.94985146e-01 -7.84104704e-04 2.73310219e-01] [ 2.73230198e-02 -1.95885380e-03 9.99624737e-01 -6.44119351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.389072328999994 meters Centerline goodness : 0.764279 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.65 [[ 9.94352008e-01 -1.02319391e-01 -2.81926787e-02 2.20461847e+00] [ 1.02242747e-01 9.94750820e-01 -4.15063327e-03 2.73751152e-01] [ 2.84693805e-02 1.24469362e-03 9.99593890e-01 -6.46728183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419072328999995 meters Centerline goodness : 0.762540 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94401726e-01 -1.01766148e-01 -2.84404521e-02 2.20654669e+00] [ 1.01709428e-01 9.94808210e-01 -3.43765541e-03 2.72329451e-01] [ 2.86426322e-02 5.25748355e-04 9.99589577e-01 -6.48647395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449072328999996 meters Centerline goodness : 0.763018 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94402290e-01 -1.01663950e-01 -2.87841565e-02 2.20731539e+00] [ 1.01595555e-01 9.94818403e-01 -3.83251390e-03 2.73829509e-01] [ 2.90246371e-02 8.86718242e-04 9.99578303e-01 -6.48058123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479072329 meters Centerline goodness : 0.765284 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:-0.65 [[ 9.94753202e-01 -9.80211876e-02 -2.92901636e-02 2.20584912e+00] [ 9.80324345e-02 9.95182661e-01 -1.05524090e-03 2.78123678e-01] [ 2.92524989e-02 -1.82168178e-03 9.99570394e-01 -6.45059599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.50907232899999 meters Centerline goodness : 0.763958 Centerline is valid? [False, False] Translation: X:2.20, Y:0.28, Z:-0.65 [[ 0.99511021 -0.09441646 -0.02900343 2.20357139] [ 0.09455087 0.99551458 0.00329512 0.27648712] [ 0.02856223 -0.0060213 0.99957388 -0.64514371] [ 0. 0. 0. 1. ]] SLAMing on 44.53907232899999 meters Centerline goodness : 0.764914 Centerline is valid? [False, False] Translation: X:2.21, Y:0.28, Z:-0.64 [[ 9.94759899e-01 -9.80527213e-02 -2.89552640e-02 2.20509843e+00] [ 9.80616804e-02 9.95179716e-01 -1.11385590e-03 2.76827714e-01] [ 2.89249080e-02 -1.73138266e-03 9.99580088e-01 -6.44475647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.569072328999994 meters Centerline goodness : 0.761269 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.65 [[ 9.94767216e-01 -9.80834768e-02 -2.85975010e-02 2.20482842e+00] [ 9.81122587e-02 9.95175274e-01 -3.98369409e-04 2.73411748e-01] [ 2.84985994e-02 -2.40948059e-03 9.99590928e-01 -6.45709198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.599072328999995 meters Centerline goodness : 0.763199 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94783222e-01 -9.79096064e-02 -2.86365302e-02 2.20547620e+00] [ 9.79548389e-02 9.95190845e-01 1.77616981e-04 2.71326515e-01] [ 2.84814223e-02 -2.98177710e-03 9.99589875e-01 -6.46702483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629072328999996 meters Centerline goodness : 0.764612 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94787313e-01 -9.78469623e-02 -2.87084410e-02 2.20573051e+00] [ 9.78878804e-02 9.95197449e-01 2.00017007e-05 2.71277417e-01] [ 2.85686101e-02 -2.83010587e-03 9.99587828e-01 -6.46260981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659072329 meters Centerline goodness : 0.764224 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94753178e-01 -9.81345459e-02 -2.89089059e-02 2.20498666e+00] [ 9.81541900e-02 9.95170942e-01 -7.42191908e-04 2.72665441e-01] [ 2.88421378e-02 -2.09923249e-03 9.99581775e-01 -6.43789623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689072329 meters Centerline goodness : 0.763530 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94726875e-01 -9.84512172e-02 -2.87367551e-02 2.20384869e+00] [ 9.84603623e-02 9.95140365e-01 -1.10004538e-03 2.72808721e-01] [ 2.87054058e-02 -1.73518661e-03 9.99586409e-01 -6.42603312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71907232899999 meters Centerline goodness : 0.761607 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94717796e-01 -9.85464196e-02 -2.87247243e-02 2.20347131e+00] [ 9.85436115e-02 9.95131577e-01 -1.51681023e-03 2.72577402e-01] [ 2.87343564e-02 -1.32183994e-03 9.99586209e-01 -6.41268204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74907232899999 meters Centerline goodness : 0.759181 Centerline is valid? [False, False] Translation: X:2.20, Y:0.27, Z:-0.64 [[ 9.94720453e-01 -9.85583424e-02 -2.85914931e-02 2.20330315e+00] [ 9.85614337e-02 9.95130113e-01 -1.30459951e-03 2.71346585e-01] [ 2.85808350e-02 -1.52030674e-03 9.99590328e-01 -6.41499656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.779072328999995 meters Centerline goodness : 0.757062 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.64 [[ 9.94792673e-01 -9.76901737e-02 -2.90545475e-02 2.20625642e+00] [ 9.77281596e-02 9.95213140e-01 -1.13142782e-04 2.68663929e-01] [ 2.89265204e-02 -2.72689384e-03 9.99577821e-01 -6.44190426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809072328999996 meters Centerline goodness : 0.756657 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.65 [[ 9.94835917e-01 -9.71865777e-02 -2.92620592e-02 2.20777478e+00] [ 9.72493911e-02 9.95259778e-01 7.27747436e-04 2.66644823e-01] [ 2.90526233e-02 -3.56970673e-03 9.99571509e-01 -6.45805397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839072329 meters Centerline goodness : 0.757682 Centerline is valid? [False, False] Translation: X:2.21, Y:0.27, Z:-0.64 [[ 9.94476057e-01 -1.00618604e-01 -2.98876039e-02 2.21067473e+00] [ 1.00551903e-01 9.94924822e-01 -3.73019207e-03 2.68261108e-01] [ 3.01112457e-02 7.04331254e-04 9.99546305e-01 -6.44832414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869072329 meters Centerline goodness : 0.757080 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94378454e-01 -1.01719915e-01 -2.94032246e-02 2.20794313e+00] [ 1.01665818e-01 9.94813024e-01 -3.33287063e-03 2.63433115e-01] [ 2.95897301e-02 3.24831850e-04 9.99562075e-01 -6.43934267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89907232899999 meters Centerline goodness : 0.756312 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94348031e-01 -1.02135860e-01 -2.89872227e-02 2.20631585e+00] [ 1.02090901e-01 9.94770458e-01 -3.03061989e-03 2.60831439e-01] [ 2.91451677e-02 5.41592304e-05 9.99575188e-01 -6.43414726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92907232899999 meters Centerline goodness : 0.759269 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94319589e-01 -1.02472404e-01 -2.87742995e-02 2.20510251e+00] [ 1.02429965e-01 9.94735847e-01 -2.94893186e-03 2.59346233e-01] [ 2.89250114e-02 -1.51697746e-05 9.99581584e-01 -6.42658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.959072328999994 meters Centerline goodness : 0.759269 Centerline is valid? [False, False] Translation: X:2.21, Y:0.26, Z:-0.64 [[ 9.94319589e-01 -1.02472404e-01 -2.87742995e-02 2.20510251e+00] [ 1.02429965e-01 9.94735847e-01 -2.94893186e-03 2.59346233e-01] [ 2.89250114e-02 -1.51697746e-05 9.99581584e-01 -6.42658034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989072328999995 meters Centerline goodness : 0.758744 Centerline is valid? [False, False] Translation: X:2.20, Y:0.26, Z:-0.64 [[ 9.94319450e-01 -1.02505409e-01 -2.86613231e-02 2.20471783e+00] [ 1.02472878e-01 9.94732387e-01 -2.60541212e-03 2.57634764e-01] [ 2.87774152e-02 -3.46396320e-04 9.99585784e-01 -6.42544383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019072329 meters Centerline goodness : 0.758084 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:-0.64 [[ 9.94280774e-01 -1.02960908e-01 -2.83688959e-02 2.20362518e+00] [ 1.02960410e-01 9.94684351e-01 -1.48219036e-03 2.52233873e-01] [ 2.83707045e-02 -1.44715977e-03 9.99596423e-01 -6.43412761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049072329 meters Centerline goodness : 0.756983 Centerline is valid? [False, False] Translation: X:2.20, Y:0.25, Z:-0.64 [[ 9.94269129e-01 -1.03195538e-01 -2.79209536e-02 2.20252813e+00] [ 1.03211704e-01 9.94659035e-01 -8.65393266e-04 2.48675823e-01] [ 2.78611335e-02 -2.02133540e-03 9.99609760e-01 -6.43807436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.07907232899999 meters Centerline goodness : 0.757611 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:-0.64 [[ 9.94229625e-01 -1.03728860e-01 -2.73454900e-02 2.20062421e+00] [ 1.03752420e-01 9.94602997e-01 -5.59738235e-04 2.44744773e-01] [ 2.72559674e-02 -2.28065242e-03 9.99625885e-01 -6.43336006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.10907232899999 meters Centerline goodness : 0.757788 Centerline is valid? [False, False] Translation: X:2.20, Y:0.24, Z:-0.64 [[ 9.94175210e-01 -1.04429678e-01 -2.66475802e-02 2.19801932e+00] [ 1.04457336e-01 9.94529305e-01 -3.55796667e-04 2.41374712e-01] [ 2.65389552e-02 -2.42981102e-03 9.99644827e-01 -6.42430497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.139072328999994 meters Centerline goodness : 0.756412 Centerline is valid? [False, False] Translation: X:2.21, Y:0.24, Z:-0.65 [[ 0.9938322 -0.10868433 -0.02202882 2.21498884] [ 0.10883224 0.9940442 0.00562689 0.23753923] [ 0.02128607 -0.00798963 0.9997415 -0.6451219 ] [ 0. 0. 0. 1. ]] SLAMing on 45.169072328999995 meters Centerline goodness : 0.756920 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.99383135 -0.10870494 -0.02196563 2.21510136] [ 0.10886887 0.99403547 0.00640713 0.2344969 ] [ 0.02113813 -0.00875898 0.9997382 -0.64603133] [ 0. 0. 0. 1. ]] SLAMing on 45.199072328999996 meters Centerline goodness : 0.755192 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.99383595 -0.10871307 -0.02171583 2.21519865] [ 0.10890074 0.99402318 0.00765123 0.23014394] [ 0.02075425 -0.00996894 0.99973491 -0.64792922] [ 0. 0. 0. 1. ]] SLAMing on 45.229072329 meters Centerline goodness : 0.756642 Centerline is valid? [False, False] Translation: X:2.22, Y:0.23, Z:-0.65 [[ 0.993376 -0.11289757 -0.02140688 2.21545603] [ 0.11302195 0.99358143 0.00468817 0.22553956] [ 0.0207402 -0.00707656 0.99975985 -0.6484016 ] [ 0. 0. 0. 1. ]] SLAMing on 45.25907232899999 meters Centerline goodness : 0.755286 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99332012 -0.11345865 -0.02103012 2.21354484] [ 0.11357984 0.99351796 0.00465704 0.22357566] [ 0.02036542 -0.00701453 0.999768 -0.64710085] [ 0. 0. 0. 1. ]] SLAMing on 45.28907232899999 meters Centerline goodness : 0.756046 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99325234 -0.11415305 -0.02046617 2.21108617] [ 0.11426883 0.99343933 0.00457611 0.22154896] [ 0.01980952 -0.00688388 0.99978007 -0.64572438] [ 0. 0. 0. 1. ]] SLAMing on 45.319072328999994 meters Centerline goodness : 0.756150 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 0.99320713 -0.11462843 -0.01999805 2.20938197] [ 0.11474515 0.99338343 0.00478623 0.21877377] [ 0.01931709 -0.00704839 0.99978856 -0.64505705] [ 0. 0. 0. 1. ]] SLAMing on 45.349072328999995 meters Centerline goodness : 0.756662 Centerline is valid? [False, False] Translation: X:2.21, Y:0.22, Z:-0.65 [[ 9.92766451e-01 -1.18412619e-01 -1.98299277e-02 2.21051879e+00] [ 1.18461619e-01 9.92957767e-01 1.31068351e-03 2.15479016e-01] [ 1.95350792e-02 -3.65028795e-03 9.99802509e-01 -6.45155498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379072328999996 meters Centerline goodness : 0.755095 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 9.92787983e-01 -1.18261500e-01 -1.96529394e-02 2.21078054e+00] [ 1.18326359e-01 9.92972395e-01 2.16669713e-03 2.12003485e-01] [ 1.92585895e-02 -4.47653164e-03 9.99804515e-01 -6.46385412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409072329 meters Centerline goodness : 0.756733 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 0.99280195 -0.11815674 -0.0195772 2.2109959 ] [ 0.11823373 0.99298179 0.00281891 0.20918554] [ 0.01910673 -0.0051133 0.99980437 -0.64708497] [ 0. 0. 0. 1. ]] SLAMing on 45.439072329 meters Centerline goodness : 0.755550 Centerline is valid? [False, False] Translation: X:2.21, Y:0.21, Z:-0.65 [[ 0.99278039 -0.11837374 -0.01935851 2.21028099] [ 0.11845592 0.99295431 0.00315122 0.20736803] [ 0.01884909 -0.0054216 0.99980764 -0.64711365] [ 0. 0. 0. 1. ]] SLAMing on 45.46907232899999 meters Centerline goodness : 0.754485 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.99240167 -0.12214477 -0.01481815 2.22431308] [ 0.12231989 0.99242354 0.01154792 0.20302472] [ 0.01329536 -0.01327273 0.99982352 -0.65015854] [ 0. 0. 0. 1. ]] SLAMing on 45.49907232899999 meters Centerline goodness : 0.756237 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.99231427 -0.12292139 -0.01423829 2.22156863] [ 0.12308736 0.99233 0.0114313 0.20084938] [ 0.01272393 -0.013096 0.99983328 -0.64838848] [ 0. 0. 0. 1. ]] SLAMing on 45.529072328999995 meters Centerline goodness : 0.756640 Centerline is valid? [False, False] Translation: X:2.22, Y:0.20, Z:-0.65 [[ 0.9918014 -0.12706366 -0.01359453 2.22106333] [ 0.12718004 0.99184686 0.00806544 0.19586253] [ 0.01245887 -0.00972826 0.99987506 -0.64780538] [ 0. 0. 0. 1. ]] SLAMing on 45.559072328999996 meters Centerline goodness : 0.755647 Centerline is valid? [False, False] Translation: X:2.22, Y:0.19, Z:-0.65 [[ 0.9918255 -0.12689403 -0.0134198 2.22143136] [ 0.12702162 0.991858 0.00912265 0.19081749] [ 0.01215293 -0.01075269 0.99986833 -0.64900168] [ 0. 0. 0. 1. ]] SLAMing on 45.589072329 meters Centerline goodness : 0.756118 Centerline is valid? [False, False] Translation: X:2.22, Y:0.19, Z:-0.65 [[ 0.99185969 -0.12663563 -0.01333348 2.2219146 ] [ 0.12677498 0.99187926 0.01018064 0.18608428] [ 0.01193597 -0.01178811 0.99985928 -0.6500237 ] [ 0. 0. 0. 1. ]] SLAMing on 45.619072329 meters Centerline goodness : 0.753964 Centerline is valid? [False, False] Translation: X:2.22, Y:0.18, Z:-0.65 [[ 0.99185518 -0.12669964 -0.01305783 2.22142202] [ 0.12684471 0.99186213 0.01095123 0.18219988] [ 0.01156405 -0.01251835 0.99985477 -0.65044905] [ 0. 0. 0. 1. ]] SLAMing on 45.64907232899999 meters Centerline goodness : 0.754565 Centerline is valid? [False, False] Translation: X:2.22, Y:0.18, Z:-0.65 [[ 0.99131537 -0.13088688 -0.0127458 2.22092381] [ 0.13098847 0.99135561 0.00748862 0.178026 ] [ 0.01165545 -0.00909314 0.99989073 -0.64872236] [ 0. 0. 0. 1. ]] SLAMing on 45.67907232899999 meters Centerline goodness : 0.755945 Centerline is valid? [False, False] Translation: X:2.22, Y:0.17, Z:-0.65 [[ 0.99124288 -0.13147929 -0.01227817 2.21875606] [ 0.13158088 0.99127423 0.00786607 0.17405053] [ 0.01113681 -0.00941276 0.99989368 -0.64743264] [ 0. 0. 0. 1. ]] SLAMing on 45.709072328999994 meters Centerline goodness : 0.756983 Centerline is valid? [False, False] Translation: X:2.22, Y:0.16, Z:-0.64 [[ 0.99166487 -0.12571566 -0.02821985 2.22370955] [ 0.12608717 0.99194912 0.01178884 0.16365081] [ 0.02651062 -0.01524874 0.99953222 -0.63999987] [ 0. 0. 0. 1. ]] SLAMing on 45.739072328999995 meters Centerline goodness : 0.757515 Centerline is valid? [False, False] Translation: X:2.22, Y:0.15, Z:-0.64 [[ 0.99143099 -0.12444638 -0.03972017 2.2212095 ] [ 0.12506558 0.9920567 0.0134949 0.14815126] [ 0.03772527 -0.01834689 0.99911971 -0.63537598] [ 0. 0. 0. 1. ]] SLAMing on 45.769072329 meters Centerline goodness : 0.758637 Centerline is valid? [False, False] Translation: X:2.22, Y:0.14, Z:-0.63 [[ 0.99143139 -0.11871669 -0.05449911 2.22447498] [ 0.11970959 0.99269076 0.0153192 0.13742095] [ 0.05228211 -0.021712 0.9983963 -0.62763595] [ 0. 0. 0. 1. ]] SLAMing on 45.799072329 meters Centerline goodness : 0.760111 Centerline is valid? [False, False] Translation: X:2.22, Y:0.13, Z:-0.63 [[ 0.99111652 -0.12162584 -0.053807 2.22306663] [ 0.12246224 0.99239422 0.01251836 0.13442151] [ 0.0518752 -0.01899648 0.99847288 -0.62592211] [ 0. 0. 0. 1. ]] SLAMing on 45.82907232899999 meters Centerline goodness : 0.762533 Centerline is valid? [False, False] Translation: X:2.22, Y:0.13, Z:-0.63 [[ 0.99089795 -0.12372549 -0.05304006 2.22419296] [ 0.12441814 0.99217999 0.00994958 0.12643095] [ 0.05139427 -0.01645816 0.99854282 -0.62716214] [ 0. 0. 0. 1. ]] SLAMing on 45.85907232899999 meters Centerline goodness : 0.760985 Centerline is valid? [False, False] Translation: X:2.22, Y:0.12, Z:-0.63 [[ 0.99060638 -0.12621945 -0.0526085 2.22413164] [ 0.12677076 0.99190544 0.00726434 0.12312659] [ 0.05126576 -0.01386532 0.99858879 -0.62662933] [ 0. 0. 0. 1. ]] SLAMing on 45.889072328999994 meters Centerline goodness : 0.759966 Centerline is valid? [False, False] Translation: X:2.23, Y:0.12, Z:-0.63 [[ 0.99047771 -0.12673038 -0.05378963 2.22733544] [ 0.12737465 0.99181644 0.00870949 0.1189092 ] [ 0.05224569 -0.015478 0.99851431 -0.62672347] [ 0. 0. 0. 1. ]] SLAMing on 45.919072328999995 meters Centerline goodness : 0.763564 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.99050037 -0.12644519 -0.05404277 2.22548092] [ 0.12728334 0.99178957 0.01234528 0.11176602] [ 0.05203805 -0.01910674 0.9984623 -0.62206947] [ 0. 0. 0. 1. ]] SLAMing on 45.949072328999996 meters Centerline goodness : 0.763547 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.9906182 -0.12525134 -0.05465979 2.22587713] [ 0.12621996 0.99189439 0.01463039 0.10875055] [ 0.05238426 -0.02139229 0.99839785 -0.62055656] [ 0. 0. 0. 1. ]] SLAMing on 45.979072329 meters Centerline goodness : 0.762484 Centerline is valid? [False, False] Translation: X:2.23, Y:0.11, Z:-0.62 [[ 0.9907549 -0.12431208 -0.05432527 2.22548877] [ 0.12528946 0.99200745 0.01495874 0.10583671] [ 0.05203152 -0.02162683 0.99841124 -0.62065975] [ 0. 0. 0. 1. ]] SLAMing on 46.00907232899999 meters Centerline goodness : 0.765596 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.62 [[ 0.99122 -0.11591829 -0.06360706 2.22156291] [ 0.11711992 0.99299702 0.01548714 0.09424419] [ 0.06136638 -0.02280082 0.99785484 -0.62410315] [ 0. 0. 0. 1. ]] SLAMing on 46.03907232899999 meters Centerline goodness : 0.766648 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99152473 -0.114539 -0.06131506 2.21840589] [ 0.11547317 0.99323927 0.01190359 0.0913991 ] [ 0.0595371 -0.01888295 0.99804748 -0.6264059 ] [ 0. 0. 0. 1. ]] SLAMing on 46.069072328999994 meters Centerline goodness : 0.767675 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99184247 -0.11264233 -0.05966755 2.21532756] [ 0.1134571 0.99348808 0.01043704 0.08817173] [ 0.05810334 -0.0171216 0.99816374 -0.62713461] [ 0. 0. 0. 1. ]] SLAMing on 46.099072328999995 meters Centerline goodness : 0.768167 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.63 [[ 0.99208805 -0.11070346 -0.05921187 2.21405069] [ 0.11158047 0.99368646 0.0117057 0.0859359 ] [ 0.05754217 -0.01821997 0.9981768 -0.626988 ] [ 0. 0. 0. 1. ]] SLAMing on 46.129072328999996 meters Centerline goodness : 0.769246 Centerline is valid? [False, False] Translation: X:2.21, Y:0.09, Z:-0.62 [[ 0.99273831 -0.11042209 -0.04772421 2.2140587 ] [ 0.11121751 0.99369266 0.01433775 0.08772879] [ 0.04583999 -0.0195414 0.99875764 -0.62461876] [ 0. 0. 0. 1. ]] SLAMing on 46.159072329 meters Centerline goodness : 0.768312 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99306734 -0.10697392 -0.04872196 2.21639233] [ 0.10800251 0.99396933 0.0189847 0.08612956] [ 0.04639726 -0.02411518 0.99863194 -0.62557926] [ 0. 0. 0. 1. ]] SLAMing on 46.189072329 meters Centerline goodness : 0.767504 Centerline is valid? [False, False] Translation: X:2.22, Y:0.09, Z:-0.63 [[ 0.99326095 -0.10544436 -0.04810585 2.21555855] [ 0.10642179 0.99415406 0.01822369 0.08519287] [ 0.04590304 -0.02322039 0.99867599 -0.62667649] [ 0. 0. 0. 1. ]] SLAMing on 46.21907232899999 meters Centerline goodness : 0.769939 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.99348 -0.10414525 -0.04638155 2.21341864] [ 0.10495059 0.99436014 0.01527385 0.08311375] [ 0.04452926 -0.02004203 0.99880702 -0.6290447 ] [ 0. 0. 0. 1. ]] SLAMing on 46.24907232899999 meters Centerline goodness : 0.772579 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.99365651 -0.10286376 -0.04545089 2.21330826] [ 0.10363091 0.99450494 0.01485137 0.07953144] [ 0.04367347 -0.01946728 0.99885617 -0.63144902] [ 0. 0. 0. 1. ]] SLAMing on 46.279072328999995 meters Centerline goodness : 0.771060 Centerline is valid? [False, False] Translation: X:2.21, Y:0.08, Z:-0.63 [[ 0.9935741 -0.10340187 -0.04602783 2.21335154] [ 0.10424114 0.99441983 0.01621693 0.07863554] [ 0.04409413 -0.02091071 0.99880852 -0.62931605] [ 0. 0. 0. 1. ]] SLAMing on 46.309072328999996 meters Centerline goodness : 0.769839 Centerline is valid? [False, False] Translation: X:2.22, Y:0.08, Z:-0.63 [[ 0.99347913 -0.10380036 -0.04716668 2.21615598] [ 0.10476287 0.99432685 0.01840787 0.07737908] [ 0.04498836 -0.02322915 0.9987174 -0.62914839] [ 0. 0. 0. 1. ]] SLAMing on 46.339072329 meters Centerline goodness : 0.769124 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99315668 -0.10759372 -0.0454246 2.21384023] [ 0.10824399 0.99405072 0.01209973 0.07429197] [ 0.0438525 -0.01693387 0.99889449 -0.62951959] [ 0. 0. 0. 1. ]] SLAMing on 46.369072329 meters Centerline goodness : 0.770076 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99293907 -0.11010124 -0.04415561 2.2143893 ] [ 0.11054178 0.993842 0.00765523 0.07144317] [ 0.04304085 -0.01248222 0.99899534 -0.63289781] [ 0. 0. 0. 1. ]] SLAMing on 46.39907232899999 meters Centerline goodness : 0.772217 Centerline is valid? [False, False] Translation: X:2.21, Y:0.07, Z:-0.63 [[ 0.99264091 -0.11306616 -0.04335966 2.21404097] [ 0.11334108 0.99354837 0.00392757 0.06851627] [ 0.04263584 -0.0088131 0.99905181 -0.63339336] [ 0. 0. 0. 1. ]] SLAMing on 46.42907232899999 meters Centerline goodness : 0.773255 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.63 [[ 0.99226488 -0.11558935 -0.04527155 2.21589314] [ 0.11610666 0.99319633 0.00896026 0.06354359] [ 0.04392782 -0.01414728 0.99893453 -0.62809392] [ 0. 0. 0. 1. ]] SLAMing on 46.459072328999994 meters Centerline goodness : 0.774085 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.9920699 -0.11650575 -0.04715645 2.21682965] [ 0.11728976 0.99299613 0.01420548 0.06185193] [ 0.04517115 -0.0196238 0.9987865 -0.62269655] [ 0. 0. 0. 1. ]] SLAMing on 46.489072328999995 meters Centerline goodness : 0.774115 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.99189583 -0.11737533 -0.04863832 2.21934094] [ 0.11834524 0.9928173 0.01755586 0.06066373] [ 0.04622834 -0.0231697 0.99866216 -0.62085393] [ 0. 0. 0. 1. ]] SLAMing on 46.519072329 meters Centerline goodness : 0.775439 Centerline is valid? [False, False] Translation: X:2.22, Y:0.06, Z:-0.62 [[ 0.99142007 -0.12225352 -0.04626355 2.21715026] [ 0.12280053 0.99238909 0.00916156 0.05751103] [ 0.04479141 -0.01476415 0.99888726 -0.62261175] [ 0. 0. 0. 1. ]] SLAMing on 46.549072329 meters Centerline goodness : 0.776526 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.62 [[ 0.99108902 -0.1252748 -0.04526345 2.21786567] [ 0.12561322 0.99206816 0.00470021 0.05388962] [ 0.04431561 -0.01034401 0.99896403 -0.62494252] [ 0. 0. 0. 1. ]] SLAMing on 46.57907232899999 meters Centerline goodness : 0.779144 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.63 [[ 9.90675705e-01 -1.28574528e-01 -4.50581667e-02 2.21960622e+00] [ 1.28802680e-01 9.91667835e-01 2.18523470e-03 5.05729871e-02] [ 4.44017691e-02 -7.96847157e-03 9.98981975e-01 -6.26048258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60907232899999 meters Centerline goodness : 0.779193 Centerline is valid? [False, False] Translation: X:2.22, Y:0.05, Z:-0.62 [[ 0.99003167 -0.13288147 -0.04668847 2.22258951] [ 0.13327444 0.9910645 0.00539338 0.04504471] [ 0.0455546 -0.011562 0.99889494 -0.62238822] [ 0. 0. 0. 1. ]] SLAMing on 46.639072328999994 meters Centerline goodness : 0.779902 Centerline is valid? [False, False] Translation: X:2.22, Y:0.04, Z:-0.62 [[ 0.98977272 -0.13453245 -0.04744446 2.22229066] [ 0.13502732 0.99081447 0.00736996 0.04299514] [ 0.04601716 -0.01370088 0.99884669 -0.61848436] [ 0. 0. 0. 1. ]] SLAMing on 46.669072328999995 meters Centerline goodness : 0.780384 Centerline is valid? [False, False] Translation: X:2.23, Y:0.04, Z:-0.62 [[ 0.9895713 -0.13552944 -0.04878956 2.22506102] [ 0.13613108 0.99064801 0.00921177 0.04088529] [ 0.04708481 -0.01575748 0.9987666 -0.61736596] [ 0. 0. 0. 1. ]] SLAMing on 46.699072328999996 meters Centerline goodness : 0.781321 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.9891602 -0.13265118 -0.06297438 2.22839856] [ 0.13351106 0.99100054 0.00962985 0.03303737] [ 0.06113024 -0.01793324 0.99796868 -0.61511376] [ 0. 0. 0. 1. ]] SLAMing on 46.729072329 meters Centerline goodness : 0.783385 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98879469 -0.13547889 -0.06269403 2.23079568] [ 0.13613912 0.9906693 0.00636208 0.03185055] [ 0.06124712 -0.0148259 0.99801252 -0.61785119] [ 0. 0. 0. 1. ]] SLAMing on 46.75907232899999 meters Centerline goodness : 0.785887 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98832655 -0.13888547 -0.06262157 2.23293799] [ 0.13938542 0.99023142 0.00366573 0.0304248 ] [ 0.06150073 -0.01235148 0.99803061 -0.61922198] [ 0. 0. 0. 1. ]] SLAMing on 46.78907232899999 meters Centerline goodness : 0.786769 Centerline is valid? [False, False] Translation: X:2.23, Y:0.03, Z:-0.62 [[ 0.98802927 -0.14080721 -0.06301981 2.23476467] [ 0.1413487 0.98995098 0.00419565 0.02775231] [ 0.06179574 -0.01305319 0.99800346 -0.61915035] [ 0. 0. 0. 1. ]] SLAMing on 46.819072328999994 meters Centerline goodness : 0.788269 Centerline is valid? [False, False] Translation: X:2.23, Y:0.02, Z:-0.61 [[ 0.98751416 -0.14420262 -0.06341446 2.233337 ] [ 0.14483459 0.98944082 0.00546019 0.0233186 ] [ 0.06195748 -0.01457663 0.99797234 -0.61351174] [ 0. 0. 0. 1. ]] SLAMing on 46.849072328999995 meters Centerline goodness : 0.788398 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98734858 -0.14483865 -0.06453336 2.23569394] [ 0.14562518 0.9893104 0.00763076 0.02148953] [ 0.0627383 -0.01693191 0.99788637 -0.61260719] [ 0. 0. 0. 1. ]] SLAMing on 46.879072328999996 meters Centerline goodness : 0.788398 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98734858 -0.14483865 -0.06453336 2.23569394] [ 0.14562518 0.9893104 0.00763076 0.02148953] [ 0.0627383 -0.01693191 0.99788637 -0.61260719] [ 0. 0. 0. 1. ]] SLAMing on 46.909072329 meters Centerline goodness : 0.790334 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98713315 -0.14594833 -0.06532404 2.23846678] [ 0.14683088 0.98912163 0.0088938 0.01866789] [ 0.06331538 -0.01837096 0.99782447 -0.61290267] [ 0. 0. 0. 1. ]] SLAMing on 46.939072329 meters Centerline goodness : 0.792246 Centerline is valid? [False, False] Translation: X:2.24, Y:0.02, Z:-0.61 [[ 0.98711002 -0.14637128 -0.06472441 2.23766583] [ 0.14716576 0.98908221 0.00765666 0.01682017] [ 0.06289705 -0.01708318 0.9978738 -0.61307917] [ 0. 0. 0. 1. ]] SLAMing on 46.96907232899999 meters Centerline goodness : 0.792907 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.61 [[ 0.98713635 -0.14610253 -0.06492986 2.23978143] [ 0.14692658 0.98911442 0.0080772 0.01484518] [ 0.06304296 -0.01751322 0.99785714 -0.61496989] [ 0. 0. 0. 1. ]] SLAMing on 46.99907232899999 meters Centerline goodness : 0.792528 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98723766 -0.14543064 -0.06489787 2.24129958] [ 0.14627424 0.98920827 0.00841689 0.01286293] [ 0.06297344 -0.01780235 0.99785641 -0.61691395] [ 0. 0. 0. 1. ]] SLAMing on 47.029072328999995 meters Centerline goodness : 0.793127 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98722446 -0.14548465 -0.06497749 2.24291723] [ 0.14634916 0.98919453 0.0087239 0.01079154] [ 0.06300619 -0.01812185 0.9978486 -0.61835995] [ 0. 0. 0. 1. ]] SLAMing on 47.059072328999996 meters Centerline goodness : 0.794544 Centerline is valid? [False, False] Translation: X:2.24, Y:0.01, Z:-0.62 [[ 0.98678115 -0.1490561 -0.06360219 2.24226782] [ 0.14965361 0.98872727 0.00470937 0.00693391] [ 0.06218326 -0.01416541 0.99796422 -0.61942402] [ 0. 0. 0. 1. ]] SLAMing on 47.089072329 meters Centerline goodness : 0.797272 Centerline is valid? [False, False] Translation: X:2.24, Y:0.00, Z:-0.62 [[ 0.98653362 -0.15066495 -0.06365126 2.24342022] [ 0.15124753 0.98848609 0.00440778 0.0042471 ] [ 0.06225429 -0.01397552 0.99796247 -0.61951145] [ 0. 0. 0. 1. ]] SLAMing on 47.119072329 meters Centerline goodness : 0.797356 Centerline is valid? [False, False] Translation: X:2.25, Y:0.00, Z:-0.62 [[ 9.86517878e-01 -1.50540713e-01 -6.41869958e-02 2.24516130e+00] [ 1.51250225e-01 9.88475343e-01 6.31387202e-03 1.43516815e-03] [ 6.24967679e-02 -1.59370452e-02 9.97917915e-01 -6.19601875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14907232899999 meters Centerline goodness : 0.798800 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.00, Z:-0.61 [[ 0.98684176 -0.14806176 -0.06496958 2.24309984] [ 0.14916656 0.98873345 0.01247014 -0.0026804 ] [ 0.06239125 -0.02199734 0.99780932 -0.61435654] [ 0. 0. 0. 1. ]] SLAMing on 47.17907232899999 meters Centerline goodness : 0.799691 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.00, Z:-0.61 [[ 0.98695024 -0.14737 -0.06489461 2.24212057] [ 0.14851412 0.98882288 0.01314771 -0.00385614] [ 0.06223169 -0.0226139 0.99780551 -0.61329472] [ 0. 0. 0. 1. ]] SLAMing on 47.209072328999994 meters Centerline goodness : 0.799421 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98704121 -0.14748604 -0.0632259 2.24137022] [ 0.14839059 0.98887995 0.00983206 -0.00780938] [ 0.06107273 -0.01908677 0.99795081 -0.61667968] [ 0. 0. 0. 1. ]] SLAMing on 47.239072328999995 meters Centerline goodness : 0.802962 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98719992 -0.14690024 -0.06210188 2.2405219 ] [ 0.14766597 0.98900573 0.00790078 -0.01071692] [ 0.06025849 -0.01696999 0.99803854 -0.61867164] [ 0. 0. 0. 1. ]] SLAMing on 47.269072329 meters Centerline goodness : 0.804951 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.62 [[ 0.98730818 -0.14638468 -0.06159608 2.24034409] [ 0.14713406 0.98908591 0.00778678 -0.01322368] [ 0.05978395 -0.01675084 0.99807078 -0.61968157] [ 0. 0. 0. 1. ]] SLAMing on 47.299072329 meters Centerline goodness : 0.802854 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98717809 -0.14779423 -0.06030164 2.23684317] [ 0.14840822 0.98890912 0.00580894 -0.01685018] [ 0.05877431 -0.01468372 0.9981633 -0.61751943] [ 0. 0. 0. 1. ]] SLAMing on 47.32907232899999 meters Centerline goodness : 0.801407 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98704006 -0.14831636 -0.06127128 2.23913289] [ 0.14906354 0.98879698 0.00778376 -0.01865685] [ 0.0594304 -0.0168162 0.9980908 -0.61680107] [ 0. 0. 0. 1. ]] SLAMing on 47.35907232899999 meters Centerline goodness : 0.800914 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.61 [[ 0.98697999 -0.14847822 -0.06184435 2.23937766] [ 0.14932792 0.98874375 0.00932603 -0.01955362] [ 0.0597635 -0.01843969 0.99804223 -0.61492053] [ 0. 0. 0. 1. ]] SLAMing on 47.389072328999994 meters Centerline goodness : 0.797092 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98728407 -0.146575 -0.06152995 2.2390617 ] [ 0.14740525 0.98903382 0.00915366 -0.02007996] [ 0.0595135 -0.0181071 0.99806326 -0.61637046] [ 0. 0. 0. 1. ]] SLAMing on 47.419072328999995 meters Centerline goodness : 0.798197 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98758863 -0.1448385 -0.06074954 2.24106937] [ 0.14551853 0.98933147 0.00689977 -0.02153999] [ 0.05910208 -0.01565432 0.99812919 -0.62224516] [ 0. 0. 0. 1. ]] SLAMing on 47.449072328999996 meters Centerline goodness : 0.799088 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.63 [[ 0.98789708 -0.14316523 -0.05969153 2.24274694] [ 0.14367982 0.98961446 0.0043975 -0.02416504] [ 0.05844203 -0.01292074 0.99820718 -0.62826747] [ 0. 0. 0. 1. ]] SLAMing on 47.479072329 meters Centerline goodness : 0.799066 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.63 [[ 0.98810324 -0.14179303 -0.05955445 2.24416191] [ 0.1423228 0.989809 0.00472838 -0.0264367 ] [ 0.05827708 -0.01314808 0.99821386 -0.63078762] [ 0. 0. 0. 1. ]] SLAMing on 47.50907232899999 meters Centerline goodness : 0.803061 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.62 [[ 0.98869638 -0.1364442 -0.06214866 2.24300481] [ 0.13773407 0.99032427 0.01694591 -0.02705374] [ 0.05923516 -0.02531435 0.99792303 -0.62222997] [ 0. 0. 0. 1. ]] SLAMing on 47.53907232899999 meters Centerline goodness : 0.803607 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.03, Z:-0.62 [[ 0.98896909 -0.13352866 -0.06411105 2.24348456] [ 0.13527596 0.99052411 0.02371488 -0.02536934] [ 0.06033692 -0.03212597 0.99766095 -0.61783087] [ 0. 0. 0. 1. ]] SLAMing on 47.569072328999994 meters Centerline goodness : 0.802225 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.62 [[ 0.98927825 -0.13082822 -0.06490391 2.24448609] [ 0.13274309 0.99080662 0.02610598 -0.02381696] [ 0.06089182 -0.03444162 0.99754998 -0.61808364] [ 0. 0. 0. 1. ]] SLAMing on 47.599072328999995 meters Centerline goodness : 0.802510 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.62 [[ 0.9895311 -0.1294197 -0.06386506 2.24562212] [ 0.13108324 0.99111449 0.02256649 -0.02329623] [ 0.06037704 -0.03070188 0.99770337 -0.62395093] [ 0. 0. 0. 1. ]] SLAMing on 47.629072328999996 meters Centerline goodness : 0.800378 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.98988446 -0.12833007 -0.06049918 2.24684051] [ 0.12921464 0.99155644 0.01092679 -0.02495808] [ 0.05858612 -0.01863364 0.99810844 -0.63751951] [ 0. 0. 0. 1. ]] SLAMing on 47.659072329 meters Centerline goodness : 0.800981 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.98999158 -0.12762798 -0.06023099 2.24652528] [ 0.12845876 0.99166329 0.01011284 -0.02465603] [ 0.05843818 -0.01774883 0.99813324 -0.63847865] [ 0. 0. 0. 1. ]] SLAMing on 47.689072329 meters Centerline goodness : 0.802360 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99014424 -0.12569213 -0.06177269 2.24854376] [ 0.12682462 0.99181545 0.01475202 -0.02375029] [ 0.0594129 -0.02244093 0.99798122 -0.63685286] [ 0. 0. 0. 1. ]] SLAMing on 47.71907232899999 meters Centerline goodness : 0.804727 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.63 [[ 0.99071622 -0.12523112 -0.05290124 2.2533157 ] [ 0.12655417 0.99170597 0.02243455 -0.01633417] [ 0.04965297 -0.02892114 0.99834771 -0.63279779] [ 0. 0. 0. 1. ]] SLAMing on 47.74907232899999 meters Centerline goodness : 0.804329 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.63 [[ 0.99101276 -0.12255224 -0.05361576 2.25444984] [ 0.12401977 0.99196612 0.02494613 -0.01537496] [ 0.05012781 -0.03137135 0.99824999 -0.6332448 ] [ 0. 0. 0. 1. ]] SLAMing on 47.779072328999995 meters Centerline goodness : 0.805729 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.9914563 -0.11975234 -0.05170864 2.25471857] [ 0.12093655 0.99245053 0.0204034 -0.01708384] [ 0.04887491 -0.02648254 0.99845376 -0.64106557] [ 0. 0. 0. 1. ]] SLAMing on 47.809072328999996 meters Centerline goodness : 0.804910 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99147159 -0.12012598 -0.05053539 2.25231414] [ 0.12107554 0.9925118 0.01615703 -0.01733196] [ 0.04821609 -0.02213784 0.99859157 -0.64195876] [ 0. 0. 0. 1. ]] SLAMing on 47.839072329 meters Centerline goodness : 0.801606 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.64 [[ 0.99143803 -0.12020764 -0.0509977 2.25335536] [ 0.12119095 0.99248977 0.01663739 -0.01662222] [ 0.04861475 -0.0226754 0.99856018 -0.64191366] [ 0. 0. 0. 1. ]] SLAMing on 47.869072329 meters Centerline goodness : 0.803725 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99111461 -0.12127265 -0.05463317 2.25838039] [ 0.12276766 0.99212348 0.02488191 -0.01288059] [ 0.05118535 -0.03136801 0.99819643 -0.63643758] [ 0. 0. 0. 1. ]] SLAMing on 47.89907232899999 meters Centerline goodness : 0.803900 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99096635 -0.12187164 -0.05597315 2.26151997] [ 0.1235459 0.99195824 0.02748201 -0.01149131] [ 0.05217375 -0.034149 0.99805398 -0.63593018] [ 0. 0. 0. 1. ]] SLAMing on 47.92907232899999 meters Centerline goodness : 0.805112 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.01, Z:-0.64 [[ 0.99088093 -0.12251088 -0.05608985 2.26294791] [ 0.12415042 0.99190328 0.02673114 -0.01124441] [ 0.05236085 -0.03345095 0.99806782 -0.63726367] [ 0. 0. 0. 1. ]] SLAMing on 47.959072328999994 meters Centerline goodness : 0.804486 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.99065167 -0.12478839 -0.05511011 2.26639228] [ 0.12608091 0.99180561 0.02062126 -0.01246054] [ 0.05208522 -0.02737682 0.99826732 -0.64441475] [ 0. 0. 0. 1. ]] SLAMing on 47.989072328999995 meters Centerline goodness : 0.803524 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.9903891 -0.12702838 -0.05471029 2.26576438] [ 0.12818401 0.99158441 0.01814436 -0.01221925] [ 0.05194502 -0.02498296 0.9983374 -0.64401264] [ 0. 0. 0. 1. ]] SLAMing on 48.019072329 meters Centerline goodness : 0.803364 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.9901399 -0.12858733 -0.05557232 2.26667024] [ 0.12981 0.99135746 0.01896728 -0.01120505] [ 0.05265308 -0.02599411 0.99827449 -0.64184953] [ 0. 0. 0. 1. ]] SLAMing on 48.049072329 meters Centerline goodness : 0.801213 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.01, Z:-0.64 [[ 0.98988673 -0.1289776 -0.05906811 2.27247448] [ 0.13070435 0.99107113 0.02635136 -0.00631376] [ 0.05514197 -0.03380532 0.99790609 -0.63875873] [ 0. 0. 0. 1. ]] SLAMing on 48.07907232899999 meters Centerline goodness : 0.800305 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.64 [[ 0.98984238 -0.12912802 -0.05948123 2.27268162] [ 0.13088516 0.99103949 0.02664232 -0.00377086] [ 0.05550798 -0.03415691 0.99787382 -0.63803603] [ 0. 0. 0. 1. ]] SLAMing on 48.10907232899999 meters Centerline goodness : 0.799767 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.00, Z:-0.64 [[ 9.89958787e-01 -1.28248499e-01 -5.94468039e-02 2.27499811e+00] [ 1.29896862e-01 9.91219036e-01 2.47311229e-02 -7.04308968e-04] [ 5.57530743e-02 -3.22047457e-02 9.97925072e-01 -6.42442356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.139072328999994 meters Centerline goodness : 0.797704 Centerline is valid? [False, False] Translation: X:2.28, Y:0.00, Z:-0.65 [[ 9.89992950e-01 -1.27798385e-01 -5.98458964e-02 2.27775549e+00] [ 1.29439237e-01 9.91287625e-01 2.43788614e-02 2.74310230e-04] [ 5.62089174e-02 -3.18813081e-02 9.97909886e-01 -6.45374033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169072328999995 meters Centerline goodness : 0.799397 Centerline is valid? [False, False] Translation: X:2.28, Y:0.00, Z:-0.65 [[ 9.90042489e-01 -1.27150298e-01 -6.04042346e-02 2.27966168e+00] [ 1.28827732e-01 9.91358762e-01 2.47228760e-02 2.01058144e-03] [ 5.67387461e-02 -3.22584382e-02 9.97867781e-01 -6.46792297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199072328999996 meters Centerline goodness : 0.794273 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.65 [[ 0.99024918 -0.12945976 -0.05144639 2.28744157] [ 0.13118585 0.99085048 0.03171108 0.00886115] [ 0.04687038 -0.03815091 0.99817217 -0.65307199] [ 0. 0. 0. 1. ]] SLAMing on 48.229072329 meters Centerline goodness : 0.791386 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.65 [[ 0.99040676 -0.12770308 -0.05278608 2.28999812] [ 0.12963427 0.99094649 0.03492861 0.01047081] [ 0.04784769 -0.04143642 0.9979948 -0.65321861] [ 0. 0. 0. 1. ]] SLAMing on 48.25907232899999 meters Centerline goodness : 0.790871 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.66 [[ 0.99048449 -0.1267134 -0.05370463 2.29319522] [ 0.1287437 0.99101741 0.03618788 0.01185962] [ 0.04863674 -0.04275766 0.99790092 -0.65522221] [ 0. 0. 0. 1. ]] SLAMing on 48.28907232899999 meters Centerline goodness : 0.790521 Centerline is valid? [False, False] Translation: X:2.29, Y:0.01, Z:-0.66 [[ 0.99044934 -0.12701792 -0.0536335 2.29421809] [ 0.12898411 0.99103122 0.03493152 0.01257965] [ 0.04871554 -0.04151577 0.99794952 -0.65684574] [ 0. 0. 0. 1. ]] SLAMing on 48.319072328999994 meters Centerline goodness : 0.789348 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.99025813 -0.12850459 -0.0536229 2.29603836] [ 0.13035787 0.99093047 0.0326134 0.01338748] [ 0.04894559 -0.03928585 0.99802853 -0.65896075] [ 0. 0. 0. 1. ]] SLAMing on 48.349072328999995 meters Centerline goodness : 0.789117 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98960764 -0.1332818 -0.05396922 2.2987115 ] [ 0.13497149 0.99042613 0.02896172 0.01443099] [ 0.04959246 -0.03594504 0.99812251 -0.65971758] [ 0. 0. 0. 1. ]] SLAMing on 48.379072328999996 meters Centerline goodness : 0.786487 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98934404 -0.13481551 -0.05498319 2.30039022] [ 0.13660233 0.99016759 0.03013199 0.01410982] [ 0.05038031 -0.03732173 0.99803252 -0.65787913] [ 0. 0. 0. 1. ]] SLAMing on 48.409072329 meters Centerline goodness : 0.787548 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.66 [[ 0.98915708 -0.13580862 -0.0558953 2.30126949] [ 0.1377233 0.98995551 0.03194337 0.01328664] [ 0.05099567 -0.03929509 0.99792552 -0.65529246] [ 0. 0. 0. 1. ]] SLAMing on 48.439072329 meters Centerline goodness : 0.787219 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.98882402 -0.13790604 -0.0566478 2.30103701] [ 0.13995215 0.98957848 0.03387967 0.01146007] [ 0.05138523 -0.04142901 0.99781922 -0.65074939] [ 0. 0. 0. 1. ]] SLAMing on 48.46907232899999 meters Centerline goodness : 0.787688 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.9886626 -0.13916964 -0.05637449 2.30062828] [ 0.14112813 0.98946187 0.0323737 0.01000692] [ 0.05127497 -0.03996269 0.99788469 -0.65011636] [ 0. 0. 0. 1. ]] SLAMing on 48.49907232899999 meters Centerline goodness : 0.786536 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.98842578 -0.14082511 -0.05641605 2.30256316] [ 0.14270727 0.98928459 0.0308323 0.00846532] [ 0.05146956 -0.03852642 0.99793116 -0.65144502] [ 0. 0. 0. 1. ]] SLAMing on 48.529072328999995 meters Centerline goodness : 0.790229 Centerline is valid? [False, False] Translation: X:2.30, Y:0.01, Z:-0.65 [[ 0.987731 -0.14604137 -0.05531168 2.3019197 ] [ 0.14763183 0.98870504 0.02582991 0.00524781] [ 0.05091471 -0.03367877 0.99813498 -0.65072778] [ 0. 0. 0. 1. ]] SLAMing on 48.559072328999996 meters Centerline goodness : 0.789802 Centerline is valid? [False, False] Translation: X:2.30, Y:0.00, Z:-0.65 [[ 0.98730956 -0.14866749 -0.0558373 2.30278285] [ 0.15028894 0.98829925 0.02603517 0.00389612] [ 0.05131338 -0.0340965 0.99810038 -0.64857401] [ 0. 0. 0. 1. ]] SLAMing on 48.589072329 meters Centerline goodness : 0.789614 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98694801 -0.1505598 -0.05714341 2.30526421] [ 0.152319 0.98794125 0.02776699 0.00347872] [ 0.05227374 -0.0361086 0.99797977 -0.64660094] [ 0. 0. 0. 1. ]] SLAMing on 48.619072329 meters Centerline goodness : 0.789085 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.64 [[ 0.98679519 -0.15114538 -0.0582266 2.3067839 ] [ 0.1530258 0.98778799 0.02929139 0.00280376] [ 0.05308828 -0.03781477 0.99787358 -0.64472682] [ 0. 0. 0. 1. ]] SLAMing on 48.64907232899999 meters Centerline goodness : 0.789257 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.64 [[ 9.86857220e-01 -1.50863226e-01 -5.79060750e-02 2.30527635e+00] [ 1.52753354e-01 9.87817658e-01 2.97100403e-02 9.06995979e-04] [ 5.27184909e-02 -3.81649150e-02 9.97879852e-01 -6.43010114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67907232899999 meters Centerline goodness : 0.787766 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.00, Z:-0.64 [[ 9.86920713e-01 -1.50430974e-01 -5.79484976e-02 2.30606910e+00] [ 1.52302827e-01 9.87898222e-01 2.93419653e-02 -3.86091698e-04] [ 5.28332773e-02 -3.77839133e-02 9.97888281e-01 -6.43777469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.709072328999994 meters Centerline goodness : 0.788778 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 9.87098166e-01 -1.49104358e-01 -5.83532420e-02 2.30797374e+00] [ 1.50971222e-01 9.88113091e-01 2.89863675e-02 9.86714234e-04] [ 5.33376086e-02 -3.74220505e-02 9.97875087e-01 -6.45955321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739072328999995 meters Centerline goodness : 0.787045 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98716385 -0.14828434 -0.05932352 2.30976665] [ 0.15023548 0.98819857 0.0298813 0.00301652] [ 0.05419248 -0.03841024 0.99779148 -0.64617164] [ 0. 0. 0. 1. ]] SLAMing on 48.769072329 meters Centerline goodness : 0.787045 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98716385 -0.14828434 -0.05932352 2.30976665] [ 0.15023548 0.98819857 0.0298813 0.00301652] [ 0.05419248 -0.03841024 0.99779148 -0.64617164] [ 0. 0. 0. 1. ]] SLAMing on 48.799072329 meters Centerline goodness : 0.787407 Centerline is valid? [False, False] Translation: X:2.31, Y:0.00, Z:-0.65 [[ 0.98740431 -0.14598222 -0.06100748 2.31434593] [ 0.14816409 0.98841561 0.03289363 0.00471225] [ 0.05549886 -0.04151842 0.99759516 -0.64848717] [ 0. 0. 0. 1. ]] SLAMing on 48.82907232899999 meters Centerline goodness : 0.785901 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.65 [[ 0.98772585 -0.14334554 -0.0620459 2.31713597] [ 0.14567008 0.98872459 0.03469751 0.0060896 ] [ 0.05637257 -0.04330986 0.99746999 -0.65046756] [ 0. 0. 0. 1. ]] SLAMing on 48.85907232899999 meters Centerline goodness : 0.783282 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.66 [[ 0.98868564 -0.13672887 -0.0616922 2.31756653] [ 0.1390323 0.98967926 0.03471287 0.00949503] [ 0.05630924 -0.04289732 0.9974914 -0.65594177] [ 0. 0. 0. 1. ]] SLAMing on 48.889072328999994 meters Centerline goodness : 0.785604 Centerline is valid? [False, False] Translation: X:2.32, Y:0.01, Z:-0.66 [[ 0.98929143 -0.13217778 -0.0618992 2.31788861] [ 0.13453649 0.99026854 0.03561113 0.0113418 ] [ 0.05658983 -0.04355749 0.99744691 -0.65826955] [ 0. 0. 0. 1. ]] SLAMing on 48.919072328999995 meters Centerline goodness : 0.783625 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:-0.66 [[ 0.99066772 -0.12118856 -0.06237631 2.31815073] [ 0.12375294 0.9915455 0.03902232 0.01690644] [ 0.05711989 -0.04637741 0.99728955 -0.662834 ] [ 0. 0. 0. 1. ]] SLAMing on 48.949072328999996 meters Centerline goodness : 0.782902 Centerline is valid? [False, False] Translation: X:2.32, Y:0.02, Z:-0.67 [[ 0.99148785 -0.12034973 -0.04967674 2.31957674] [ 0.12223794 0.99181486 0.03689403 0.02364068] [ 0.04482994 -0.04265237 0.99808369 -0.66731921] [ 0. 0. 0. 1. ]] SLAMing on 48.979072329 meters Centerline goodness : 0.783029 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.67 [[ 0.99212964 -0.1147926 -0.05001438 2.31889086] [ 0.11679468 0.99238496 0.03912906 0.02684958] [ 0.04514179 -0.04466252 0.9979817 -0.66820579] [ 0. 0. 0. 1. ]] SLAMing on 49.00907232899999 meters Centerline goodness : 0.781875 Centerline is valid? [False, False] Translation: X:2.32, Y:0.03, Z:-0.67 [[ 0.99283455 -0.1079363 -0.05127687 2.32064749] [ 0.11018025 0.99297436 0.04315364 0.03014109] [ 0.04625878 -0.04849412 0.9977517 -0.6699104 ] [ 0. 0. 0. 1. ]] SLAMing on 49.03907232899999 meters Centerline goodness : 0.776812 Centerline is valid? [False, False] Translation: X:2.33, Y:0.04, Z:-0.68 [[ 0.99437061 -0.09776092 -0.04086425 2.32509397] [ 0.09967643 0.99387078 0.04780676 0.04252991] [ 0.03594015 -0.05161084 0.99802035 -0.6759391 ] [ 0. 0. 0. 1. ]] SLAMing on 49.069072328999994 meters Centerline goodness : 0.775946 Centerline is valid? [False, False] Translation: X:2.33, Y:0.05, Z:-0.68 [[ 0.99498794 -0.09111929 -0.0411858 2.32531195] [ 0.09309239 0.994459 0.04883748 0.04750292] [ 0.03650756 -0.05242678 0.99795723 -0.67876006] [ 0. 0. 0. 1. ]] SLAMing on 49.099072328999995 meters Centerline goodness : 0.776232 Centerline is valid? [False, False] Translation: X:2.32, Y:0.05, Z:-0.68 [[ 0.99547656 -0.0857286 -0.04095157 2.3248843 ] [ 0.08765121 0.99500769 0.04771759 0.05189253] [ 0.03665637 -0.0510912 0.99802104 -0.68200038] [ 0. 0. 0. 1. ]] SLAMing on 49.129072328999996 meters Centerline goodness : 0.776463 Centerline is valid? [False, False] Translation: X:2.32, Y:0.06, Z:-0.68 [[ 0.99580321 -0.0819898 -0.04066488 2.32446133] [ 0.08381903 0.99544049 0.04552572 0.05565806] [ 0.03674682 -0.04874315 0.99813515 -0.68475569] [ 0. 0. 0. 1. ]] SLAMing on 49.159072329 meters Centerline goodness : 0.774415 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:-0.69 [[ 0.99626177 -0.07612379 -0.04083683 2.32538522] [ 0.07791873 0.99597381 0.04432649 0.0618995 ] [ 0.03729811 -0.04734275 0.99818211 -0.68893943] [ 0. 0. 0. 1. ]] SLAMing on 49.189072329 meters Centerline goodness : 0.773004 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:-0.69 [[ 0.99645796 -0.07870934 -0.02960354 2.32778601] [ 0.07988394 0.9959671 0.04084229 0.06910364] [ 0.02626948 -0.04306247 0.99872696 -0.68945487] [ 0. 0. 0. 1. ]] SLAMing on 49.21907232899999 meters Centerline goodness : 0.772386 Centerline is valid? [False, False] Translation: X:2.33, Y:0.07, Z:-0.69 [[ 0.99657095 -0.07641005 -0.03174656 2.33205257] [ 0.07779338 0.99595791 0.04490021 0.07239838] [ 0.02818741 -0.04721592 0.99848692 -0.68978342] [ 0. 0. 0. 1. ]] SLAMing on 49.24907232899999 meters Centerline goodness : 0.769718 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99683107 -0.07144677 -0.034974 2.33574983] [ 0.07321609 0.99594726 0.05223458 0.07890133] [ 0.03110027 -0.05462971 0.99802223 -0.68708309] [ 0. 0. 0. 1. ]] SLAMing on 49.279072328999995 meters Centerline goodness : 0.767329 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99695503 -0.06928145 -0.03578751 2.33727284] [ 0.0711401 0.99602651 0.05357503 0.08130397] [ 0.03193355 -0.05595782 0.99792233 -0.68764772] [ 0. 0. 0. 1. ]] SLAMing on 49.309072328999996 meters Centerline goodness : 0.769948 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.9970393 -0.06803839 -0.03582476 2.33711821] [ 0.06985811 0.99618693 0.05226326 0.08313877] [ 0.03213225 -0.05461118 0.99799055 -0.68825353] [ 0. 0. 0. 1. ]] SLAMing on 49.339072329 meters Centerline goodness : 0.765963 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.69 [[ 0.99713934 -0.06637227 -0.03616425 2.33982601] [ 0.06820573 0.9963114 0.05207278 0.0848037 ] [ 0.03257466 -0.05439043 0.99798826 -0.69170337] [ 0. 0. 0. 1. ]] SLAMing on 49.369072329 meters Centerline goodness : 0.761761 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.69 [[ 0.99725453 -0.06438358 -0.0365808 2.34105958] [ 0.06624058 0.99644521 0.05204923 0.0882524 ] [ 0.03309965 -0.05432947 0.99797431 -0.69313825] [ 0. 0. 0. 1. ]] SLAMing on 49.39907232899999 meters Centerline goodness : 0.762674 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.69 [[ 0.99718192 -0.06500245 -0.03745527 2.34170529] [ 0.06692259 0.9963749 0.05252077 0.09038442] [ 0.03390551 -0.05487937 0.99791717 -0.69138456] [ 0. 0. 0. 1. ]] SLAMing on 49.42907232899999 meters Centerline goodness : 0.760978 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99721057 -0.07056708 -0.02431813 2.3430406 ] [ 0.07175737 0.99605755 0.05215593 0.09510475] [ 0.02054176 -0.05375545 0.99834282 -0.69725841] [ 0. 0. 0. 1. ]] SLAMing on 49.459072328999994 meters Centerline goodness : 0.759542 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.997153 -0.07092989 -0.02558991 2.34636403] [ 0.0721668 0.99607882 0.05117562 0.09825699] [ 0.02185968 -0.05287667 0.99836176 -0.69888167] [ 0. 0. 0. 1. ]] SLAMing on 49.489072328999995 meters Centerline goodness : 0.759468 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99718941 -0.07027794 -0.02596709 2.34702594] [ 0.07151369 0.99617561 0.05019906 0.0993528 ] [ 0.0223399 -0.05191497 0.99840161 -0.69922164] [ 0. 0. 0. 1. ]] SLAMing on 49.519072329 meters Centerline goodness : 0.760780 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99732748 -0.06831841 -0.02589397 2.34616561] [ 0.06956265 0.99629048 0.0506589 0.09999222] [ 0.02233698 -0.05232477 0.99838028 -0.69854047] [ 0. 0. 0. 1. ]] SLAMing on 49.549072329 meters Centerline goodness : 0.761294 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.9974309 -0.06665106 -0.02625313 2.34564469] [ 0.06793929 0.99634961 0.05168863 0.10046616] [ 0.0227122 -0.05333945 0.99831812 -0.69713696] [ 0. 0. 0. 1. ]] SLAMing on 49.57907232899999 meters Centerline goodness : 0.759568 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99763908 -0.06312499 -0.02704639 2.34637819] [ 0.06454568 0.99637882 0.05534531 0.10106029] [ 0.02345477 -0.05696037 0.99810089 -0.6964111 ] [ 0. 0. 0. 1. ]] SLAMing on 49.60907232899999 meters Centerline goodness : 0.758527 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.9980577 -0.05527399 -0.02873335 2.34787131] [ 0.0569996 0.99637309 0.06317994 0.10422028] [ 0.02513693 -0.06469501 0.99758844 -0.69523484] [ 0. 0. 0. 1. ]] SLAMing on 49.639072328999994 meters Centerline goodness : 0.756793 Centerline is valid? [False, False] Translation: X:2.35, Y:0.11, Z:-0.70 [[ 0.99818829 -0.0531632 -0.02817464 2.34663781] [ 0.0548271 0.99656876 0.06200558 0.10524175] [ 0.02478155 -0.06343798 0.99767805 -0.69590047] [ 0. 0. 0. 1. ]] SLAMing on 49.669072328999995 meters Centerline goodness : 0.757137 Centerline is valid? [False, False] Translation: X:2.34, Y:0.11, Z:-0.70 [[ 0.99832667 -0.0511677 -0.02693946 2.34495519] [ 0.05267927 0.99688112 0.05876162 0.10503085] [ 0.02384875 -0.06008244 0.99790848 -0.69810704] [ 0. 0. 0. 1. ]] SLAMing on 49.699072328999996 meters Centerline goodness : 0.757112 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99847605 -0.04886021 -0.02565638 2.34332565] [ 0.05023484 0.99716677 0.05599018 0.10409393] [ 0.022848 -0.0571937 0.99810162 -0.70037716] [ 0. 0. 0. 1. ]] SLAMing on 49.729072329 meters Centerline goodness : 0.759060 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99866911 -0.04545956 -0.02436061 2.34172977] [ 0.04671993 0.99745044 0.05394325 0.10237151] [ 0.02184626 -0.05500958 0.99824681 -0.70284672] [ 0. 0. 0. 1. ]] SLAMing on 49.75907232899999 meters Centerline goodness : 0.760193 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99866614 -0.04543305 -0.02453107 2.34229795] [ 0.04669967 0.99745914 0.05379962 0.10151915] [ 0.02202446 -0.05487345 0.99825038 -0.70298318] [ 0. 0. 0. 1. ]] SLAMing on 49.78907232899999 meters Centerline goodness : 0.760855 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.70 [[ 0.99868424 -0.04463778 -0.02524398 2.34495958] [ 0.04596113 0.99745384 0.05452908 0.10119811] [ 0.02274564 -0.05561757 0.99819303 -0.70432723] [ 0. 0. 0. 1. ]] SLAMing on 49.819072328999994 meters Centerline goodness : 0.762339 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99869112 -0.04393323 -0.0261901 2.34673043] [ 0.04531135 0.99748069 0.05458154 0.10228926] [ 0.02372617 -0.05569681 0.99816578 -0.70295847] [ 0. 0. 0. 1. ]] SLAMing on 49.849072328999995 meters Centerline goodness : 0.762800 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99852406 -0.04712322 -0.027002 2.34908815] [ 0.04844031 0.99755375 0.05039885 0.10358853] [ 0.02456099 -0.05163245 0.99836409 -0.70192635] [ 0. 0. 0. 1. ]] SLAMing on 49.879072328999996 meters Centerline goodness : 0.762992 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.70 [[ 0.99855987 -0.04708601 -0.02571193 2.34703128] [ 0.04826192 0.99771844 0.0472092 0.10055 ] [ 0.02343037 -0.04838212 0.99855405 -0.70285903] [ 0. 0. 0. 1. ]] SLAMing on 49.909072329 meters Centerline goodness : 0.761702 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99866693 -0.04634391 -0.02272908 2.34148375] [ 0.0472737 0.99798864 0.04223602 0.09396676] [ 0.02072598 -0.0432542 0.99884909 -0.70364216] [ 0. 0. 0. 1. ]] SLAMing on 49.939072329 meters Centerline goodness : 0.763561 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99868677 -0.04587324 -0.02281193 2.34126113] [ 0.04683751 0.99794597 0.04370456 0.09140668] [ 0.02076021 -0.04471562 0.99878402 -0.70253833] [ 0. 0. 0. 1. ]] SLAMing on 49.96907232899999 meters Centerline goodness : 0.762986 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99866399 -0.04596665 -0.02360731 2.34199214] [ 0.04701079 0.9978455 0.04576403 0.08984425] [ 0.02145283 -0.04681269 0.99867329 -0.70060915] [ 0. 0. 0. 1. ]] SLAMing on 49.99907232899999 meters Centerline goodness : 0.761198 Centerline is valid? [False, False] Translation: X:2.34, Y:0.09, Z:-0.70 [[ 0.99863695 -0.04622077 -0.02424608 2.3424282 ] [ 0.04734209 0.99772885 0.04791523 0.08806851] [ 0.02197633 -0.04899778 0.99855709 -0.69854791] [ 0. 0. 0. 1. ]] SLAMing on 50.029072328999995 meters Centerline goodness : 0.760163 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.99859874 -0.04757505 -0.02317674 2.34034348] [ 0.0485933 0.99777927 0.0455546 0.08380952] [ 0.02095801 -0.046617 0.99869295 -0.69798906] [ 0. 0. 0. 1. ]] SLAMing on 50.059072328999996 meters Centerline goodness : 0.758348 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.99855297 -0.04904574 -0.02205638 2.33920556] [ 0.04992863 0.99789275 0.04143902 0.08058658] [ 0.0199775 -0.0424803 0.99889755 -0.69944871] [ 0. 0. 0. 1. ]] SLAMing on 50.089072329 meters Centerline goodness : 0.759618 Centerline is valid? [False, False] Translation: X:2.34, Y:0.08, Z:-0.70 [[ 0.9984829 -0.05071844 -0.02143673 2.33900993] [ 0.05151426 0.99793511 0.03836404 0.07716509] [ 0.0194467 -0.03941013 0.99903387 -0.70054922] [ 0. 0. 0. 1. ]] SLAMing on 50.119072329 meters Centerline goodness : 0.758759 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.70 [[ 0.99832552 -0.05383923 -0.02115427 2.33764035] [ 0.05459933 0.9978164 0.03716657 0.07232445] [ 0.01910705 -0.03825934 0.99908515 -0.69773987] [ 0. 0. 0. 1. ]] SLAMing on 50.14907232899999 meters Centerline goodness : 0.759116 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99822482 -0.05535509 -0.02197783 2.33800839] [ 0.05618296 0.99765728 0.03903105 0.07040012] [ 0.01976577 -0.04019654 0.99899627 -0.69457837] [ 0. 0. 0. 1. ]] SLAMing on 50.17907232899999 meters Centerline goodness : 0.756853 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99811704 -0.05672871 -0.02332866 2.34011101] [ 0.05766673 0.9974637 0.04172187 0.06856601] [ 0.02090267 -0.04298859 0.99885688 -0.6920985 ] [ 0. 0. 0. 1. ]] SLAMing on 50.209072328999994 meters Centerline goodness : 0.757774 Centerline is valid? [False, False] Translation: X:2.34, Y:0.07, Z:-0.69 [[ 0.99798644 -0.05876919 -0.02385893 2.34014738] [ 0.0597419 0.99731551 0.04233992 0.06668973] [ 0.0213066 -0.04368005 0.99881834 -0.68942701] [ 0. 0. 0. 1. ]] SLAMing on 50.239072328999995 meters Centerline goodness : 0.757778 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99758893 -0.0656463 -0.02251432 2.33777925] [ 0.06640514 0.99718574 0.03479883 0.06233742] [ 0.02016655 -0.03620999 0.9991407 -0.68814641] [ 0. 0. 0. 1. ]] SLAMing on 50.269072329 meters Centerline goodness : 0.758301 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99734097 -0.06962156 -0.02153665 2.33655096] [ 0.07022422 0.99712055 0.02862114 0.05963915] [ 0.01948198 -0.03005743 0.9993583 -0.68859667] [ 0. 0. 0. 1. ]] SLAMing on 50.299072329 meters Centerline goodness : 0.759347 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99708973 -0.07331434 -0.02090633 2.33651257] [ 0.07381951 0.99697033 0.024512 0.05726087] [ 0.01904591 -0.02598396 0.99948091 -0.68927019] [ 0. 0. 0. 1. ]] SLAMing on 50.32907232899999 meters Centerline goodness : 0.758911 Centerline is valid? [False, False] Translation: X:2.34, Y:0.06, Z:-0.69 [[ 0.99684413 -0.0765728 -0.02093779 2.33651268] [ 0.07703525 0.99678003 0.02225162 0.05537026] [ 0.01916651 -0.02379435 0.99953313 -0.68797878] [ 0. 0. 0. 1. ]] SLAMing on 50.35907232899999 meters Centerline goodness : 0.760280 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99651555 -0.08031447 -0.02250225 2.33778092] [ 0.08089721 0.9963752 0.02630794 0.05090072] [ 0.02030777 -0.02803664 0.99940059 -0.68193966] [ 0. 0. 0. 1. ]] SLAMing on 50.389072328999994 meters Centerline goodness : 0.759789 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99638747 -0.08161167 -0.02348518 2.33833849] [ 0.08228055 0.99618479 0.02908237 0.04840294] [ 0.02102211 -0.03090968 0.99930109 -0.6783435 ] [ 0. 0. 0. 1. ]] SLAMing on 50.419072328999995 meters Centerline goodness : 0.762654 Centerline is valid? [False, False] Translation: X:2.34, Y:0.05, Z:-0.68 [[ 0.99625044 -0.08322924 -0.02362099 2.33783942] [ 0.08391076 0.99603658 0.02949788 0.04574544] [ 0.02107228 -0.03136933 0.99928571 -0.67600333] [ 0. 0. 0. 1. ]] SLAMing on 50.449072328999996 meters Centerline goodness : 0.765065 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99579963 -0.0835541 -0.03744086 2.34107399] [ 0.08460874 0.99603395 0.02752683 0.03681603] [ 0.03499238 -0.03057903 0.99891964 -0.67363417] [ 0. 0. 0. 1. ]] SLAMing on 50.479072329 meters Centerline goodness : 0.765624 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99546772 -0.08743844 -0.03739706 2.34217538] [ 0.08836385 0.99580269 0.02385019 0.03516302] [ 0.03515467 -0.02704665 0.99901583 -0.67385237] [ 0. 0. 0. 1. ]] SLAMing on 50.50907232899999 meters Centerline goodness : 0.764791 Centerline is valid? [False, False] Translation: X:2.34, Y:0.04, Z:-0.67 [[ 0.99510016 -0.0915746 -0.03727961 2.34265729] [ 0.09235435 0.99553017 0.01975753 0.03513828] [ 0.03530369 -0.02310365 0.99910954 -0.67348224] [ 0. 0. 0. 1. ]] SLAMing on 50.53907232899999 meters Centerline goodness : 0.762299 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99474664 -0.09516795 -0.03771175 2.34280566] [ 0.09596032 0.9951885 0.01978567 0.03349777] [ 0.03564733 -0.02330056 0.99909276 -0.67047192] [ 0. 0. 0. 1. ]] SLAMing on 50.569072328999994 meters Centerline goodness : 0.762591 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99431393 -0.09969178 -0.03743473 2.34255998] [ 0.10035592 0.99481811 0.01629771 0.03100261] [ 0.035616 -0.01996184 0.99916617 -0.6696467 ] [ 0. 0. 0. 1. ]] SLAMing on 50.599072328999995 meters Centerline goodness : 0.760600 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99393945 -0.10337102 -0.03740066 2.3425592 ] [ 0.10397592 0.99447262 0.01460185 0.02892162] [ 0.03568452 -0.01840212 0.99919366 -0.66789497] [ 0. 0. 0. 1. ]] SLAMing on 50.629072328999996 meters Centerline goodness : 0.760285 Centerline is valid? [False, False] Translation: X:2.34, Y:0.03, Z:-0.67 [[ 0.99353252 -0.107174 -0.0375081 2.34397106] [ 0.10772356 0.9940966 0.0129453 0.02665899] [ 0.03589928 -0.01690208 0.99921247 -0.66736285] [ 0. 0. 0. 1. ]] SLAMing on 50.659072329 meters Centerline goodness : 0.755692 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.66 [[ 0.99254919 -0.11613257 -0.03686907 2.34353867] [ 0.11647779 0.9931661 0.00735025 0.02234846] [ 0.03576351 -0.01158991 0.99929307 -0.66424295] [ 0. 0. 0. 1. ]] SLAMing on 50.68907232899999 meters Centerline goodness : 0.755692 Centerline is valid? [False, False] Translation: X:2.34, Y:0.02, Z:-0.66 [[ 0.99254919 -0.11613257 -0.03686907 2.34353867] [ 0.11647779 0.9931661 0.00735025 0.02234846] [ 0.03576351 -0.01158991 0.99929307 -0.66424295] [ 0. 0. 0. 1. ]] SLAMing on 50.71907232899999 meters Centerline goodness : 0.757917 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99205806 -0.12013523 -0.03726021 2.34517984] [ 0.12045177 0.99269879 0.00636215 0.02001664] [ 0.03622385 -0.01079968 0.99928534 -0.66290911] [ 0. 0. 0. 1. ]] SLAMing on 50.74907232899999 meters Centerline goodness : 0.755714 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99154389 -0.12409723 -0.03795522 2.34726655] [ 0.12442361 0.99220886 0.00635222 0.01842248] [ 0.03687121 -0.01102103 0.99925925 -0.6611955 ] [ 0. 0. 0. 1. ]] SLAMing on 50.779072328999995 meters Centerline goodness : 0.756312 Centerline is valid? [False, False] Translation: X:2.35, Y:0.02, Z:-0.66 [[ 0.99104211 -0.12771137 -0.03905549 2.35054645] [ 0.12808851 0.99173586 0.00730133 0.01709835] [ 0.03780027 -0.01223849 0.99921037 -0.65989884] [ 0. 0. 0. 1. ]] SLAMing on 50.809072328999996 meters Centerline goodness : 0.753470 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.99002671 -0.12944763 -0.05559162 2.35611022] [ 0.13015888 0.99144902 0.0093548 0.01233291] [ 0.0539053 -0.01649725 0.99840977 -0.65167108] [ 0. 0. 0. 1. ]] SLAMing on 50.839072329 meters Centerline goodness : 0.754543 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.98975167 -0.13115029 -0.05649099 2.35999017] [ 0.13195437 0.99119771 0.01073085 0.0113426 ] [ 0.05458639 -0.01807511 0.99834544 -0.65252228] [ 0. 0. 0. 1. ]] SLAMing on 50.869072329 meters Centerline goodness : 0.757487 Centerline is valid? [False, False] Translation: X:2.36, Y:0.01, Z:-0.65 [[ 0.98958117 -0.1322642 -0.05687954 2.36284887] [ 0.13310374 0.99103863 0.01121702 0.01045352] [ 0.05488622 -0.01867103 0.99831803 -0.65399389] [ 0. 0. 0. 1. ]] SLAMing on 50.89907232899999 meters Centerline goodness : 0.757823 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.66 [[ 0.98923178 -0.13440796 -0.05792232 2.36829075] [ 0.13529009 0.99073849 0.01156921 0.00952275] [ 0.05583088 -0.01928095 0.99825405 -0.656712 ] [ 0. 0. 0. 1. ]] SLAMing on 50.92907232899999 meters Centerline goodness : 0.761302 Centerline is valid? [False, False] Translation: X:2.37, Y:0.01, Z:-0.66 [[ 0.98914883 -0.13476097 -0.05851556 2.37075655] [ 0.13573994 0.99065826 0.01307225 0.00945452] [ 0.05620729 -0.02087329 0.9982009 -0.6574646 ] [ 0. 0. 0. 1. ]] SLAMing on 50.959072328999994 meters Centerline goodness : 0.761763 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98920064 -0.13375575 -0.05992901 2.37524943] [ 0.13498348 0.99070353 0.01691091 0.00995613] [ 0.05710995 -0.02481771 0.99805938 -0.65887956] [ 0. 0. 0. 1. ]] SLAMing on 50.989072328999995 meters Centerline goodness : 0.764688 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98913717 -0.13337229 -0.06180203 2.3811508 ] [ 0.13485662 0.99065336 0.0204846 0.011338 ] [ 0.05849231 -0.02859649 0.99787819 -0.66091996] [ 0. 0. 0. 1. ]] SLAMing on 51.019072329 meters Centerline goodness : 0.767746 Centerline is valid? [False, False] Translation: X:2.38, Y:0.01, Z:-0.66 [[ 0.98899573 -0.13408662 -0.06251581 2.38466831] [ 0.13563578 0.99053164 0.02121327 0.01179063] [ 0.05907947 -0.02945922 0.99781851 -0.66264159] [ 0. 0. 0. 1. ]] SLAMing on 51.049072329 meters Centerline goodness : 0.767996 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:-0.66 [[ 0.98881391 -0.13506772 -0.06327525 2.38862443] [ 0.13666264 0.99038267 0.02157538 0.01269573] [ 0.05975257 -0.0299814 0.99776287 -0.66488795] [ 0. 0. 0. 1. ]] SLAMing on 51.07907232899999 meters Centerline goodness : 0.768784 Centerline is valid? [False, False] Translation: X:2.39, Y:0.01, Z:-0.67 [[ 0.98864522 -0.13598999 -0.06393235 2.39272298] [ 0.13760582 0.9902522 0.02156899 0.01356115] [ 0.06037598 -0.03012154 0.99772112 -0.667757 ] [ 0. 0. 0. 1. ]] SLAMing on 51.10907232899999 meters Centerline goodness : 0.770346 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.67 [[ 0.98849314 -0.13683785 -0.06447257 2.39654204] [ 0.13846947 0.99013251 0.02153651 0.01364149] [ 0.06088938 -0.03021618 0.99768706 -0.67046237] [ 0. 0. 0. 1. ]] SLAMing on 51.139072328999994 meters Centerline goodness : 0.773381 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.67 [[ 0.98817544 -0.13872801 -0.06529813 2.40015793] [ 0.14039757 0.98985755 0.02169223 0.01403018] [ 0.06162653 -0.03060343 0.99762999 -0.67169668] [ 0. 0. 0. 1. ]] SLAMing on 51.169072328999995 meters Centerline goodness : 0.775504 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.9880742 -0.14314281 -0.05674066 2.40928226] [ 0.14481263 0.98910475 0.02647825 0.01721627] [ 0.05233229 -0.03437924 0.99803777 -0.67866863] [ 0. 0. 0. 1. ]] SLAMing on 51.199072328999996 meters Centerline goodness : 0.777541 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.98801446 -0.14327075 -0.05745366 2.40905334] [ 0.14505224 0.9890244 0.02811736 0.01805198] [ 0.05279468 -0.03611414 0.99795215 -0.67606742] [ 0. 0. 0. 1. ]] SLAMing on 51.229072329 meters Centerline goodness : 0.779940 Centerline is valid? [False, False] Translation: X:2.41, Y:0.02, Z:-0.68 [[ 0.98804406 -0.14228332 -0.05936653 2.41415471] [ 0.14436671 0.98899374 0.03239814 0.01785941] [ 0.05410341 -0.04058134 0.99771037 -0.67719929] [ 0. 0. 0. 1. ]] SLAMing on 51.25907232899999 meters Centerline goodness : 0.782797 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98798296 -0.14269907 -0.05938553 2.41572236] [ 0.14477608 0.98893845 0.03225876 0.01704673] [ 0.05412534 -0.04046871 0.99771375 -0.6786071 ] [ 0. 0. 0. 1. ]] SLAMing on 51.28907232899999 meters Centerline goodness : 0.782965 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98784692 -0.14352847 -0.0596494 2.41792766] [ 0.14561043 0.98881988 0.03213797 0.01592796] [ 0.0543698 -0.04043297 0.99770191 -0.67995055] [ 0. 0. 0. 1. ]] SLAMing on 51.319072328999994 meters Centerline goodness : 0.783585 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98743327 -0.14580796 -0.06095545 2.42138132] [ 0.14800583 0.98842827 0.03322387 0.01616142] [ 0.05540578 -0.04182811 0.99758739 -0.67940473] [ 0. 0. 0. 1. ]] SLAMing on 51.349072328999995 meters Centerline goodness : 0.783123 Centerline is valid? [False, False] Translation: X:2.42, Y:0.02, Z:-0.68 [[ 0.98718036 -0.14715925 -0.06179881 2.42255163] [ 0.14942335 0.98819731 0.03374534 0.01744261] [ 0.05610348 -0.04254693 0.997518 -0.67790416] [ 0. 0. 0. 1. ]] SLAMing on 51.379072328999996 meters Centerline goodness : 0.783898 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98696384 -0.14821274 -0.06273241 2.42545596] [ 0.15057033 0.98799139 0.03466406 0.01845658] [ 0.05684142 -0.04365781 0.99742822 -0.67841345] [ 0. 0. 0. 1. ]] SLAMing on 51.409072329 meters Centerline goodness : 0.781590 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98676167 -0.14939872 -0.06309855 2.42678133] [ 0.1517255 0.98784373 0.03382509 0.01931748] [ 0.05727808 -0.04295097 0.99743393 -0.67874149] [ 0. 0. 0. 1. ]] SLAMing on 51.43907232899999 meters Centerline goodness : 0.783783 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98662468 -0.15003913 -0.06371812 2.43026137] [ 0.15241771 0.9877227 0.03424494 0.01937994] [ 0.05779775 -0.04349867 0.99738021 -0.6808679 ] [ 0. 0. 0. 1. ]] SLAMing on 51.46907232899999 meters Centerline goodness : 0.782784 Centerline is valid? [False, False] Translation: X:2.43, Y:0.02, Z:-0.68 [[ 0.98619038 -0.15264213 -0.06425666 2.43233513] [ 0.15505276 0.98730918 0.03433983 0.01963566] [ 0.05819948 -0.04382878 0.9973424 -0.68055859] [ 0. 0. 0. 1. ]] SLAMing on 51.49907232899999 meters Centerline goodness : 0.788909 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98596302 -0.1535769 -0.06550619 2.43619661] [ 0.15612671 0.98709039 0.03573526 0.02018573] [ 0.05917242 -0.04546091 0.99721208 -0.6812918 ] [ 0. 0. 0. 1. ]] SLAMing on 51.529072328999995 meters Centerline goodness : 0.790097 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98575539 -0.15463294 -0.06614358 2.43728546] [ 0.15724149 0.98689615 0.03620911 0.02108274] [ 0.05967773 -0.04609384 0.99715291 -0.68042078] [ 0. 0. 0. 1. ]] SLAMing on 51.559072328999996 meters Centerline goodness : 0.790804 Centerline is valid? [False, False] Translation: X:2.44, Y:0.02, Z:-0.68 [[ 0.98546049 -0.15593753 -0.06746189 2.43898306] [ 0.15869092 0.98661383 0.03755459 0.02348184] [ 0.06070266 -0.04771416 0.99701482 -0.67849497] [ 0. 0. 0. 1. ]] SLAMing on 51.589072329 meters Centerline goodness : 0.792738 Centerline is valid? [False, False] Translation: X:2.44, Y:0.03, Z:-0.68 [[ 0.98537617 -0.15589813 -0.06877186 2.44227052] [ 0.15885731 0.98649661 0.03985975 0.02531293] [ 0.06162914 -0.05020176 0.99683581 -0.67907791] [ 0. 0. 0. 1. ]] SLAMing on 51.619072329 meters Centerline goodness : 0.789441 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98524442 -0.15612522 -0.07013099 2.44571804] [ 0.15926413 0.98635842 0.04161742 0.02764338] [ 0.06267677 -0.05217268 0.99666927 -0.67985546] [ 0. 0. 0. 1. ]] SLAMing on 51.64907232899999 meters Centerline goodness : 0.791981 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98497126 -0.15755479 -0.07076798 2.44807326] [ 0.16063553 0.98619684 0.04015005 0.03181115] [ 0.06346533 -0.05091449 0.99668444 -0.68137173] [ 0. 0. 0. 1. ]] SLAMing on 51.67907232899999 meters Centerline goodness : 0.789287 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.68 [[ 0.98487534 -0.1579501 -0.07122027 2.45072263] [ 0.16101888 0.98615676 0.03959496 0.03347823] [ 0.06398032 -0.05046391 0.99667443 -0.683649 ] [ 0. 0. 0. 1. ]] SLAMing on 51.709072328999994 meters Centerline goodness : 0.792158 Centerline is valid? [False, False] Translation: X:2.45, Y:0.03, Z:-0.69 [[ 0.98478465 -0.15826586 -0.0717712 2.45381176] [ 0.16136028 0.98610265 0.03955278 0.03495387] [ 0.06451391 -0.05053199 0.99663658 -0.68606308] [ 0. 0. 0. 1. ]] SLAMing on 51.739072328999995 meters Centerline goodness : 0.792570 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98463792 -0.15872565 -0.07276222 2.45724762] [ 0.16192242 0.98597884 0.04033438 0.03671258] [ 0.06533991 -0.0514966 0.99653339 -0.68764794] [ 0. 0. 0. 1. ]] SLAMing on 51.769072329 meters Centerline goodness : 0.791758 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98440577 -0.15894217 -0.07538348 2.46383779] [ 0.16250073 0.98574237 0.04365186 0.03972638] [ 0.06737057 -0.05522101 0.9961987 -0.68918902] [ 0. 0. 0. 1. ]] SLAMing on 51.799072329 meters Centerline goodness : 0.791861 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.69 [[ 0.98431413 -0.15932243 -0.07577632 2.46408071] [ 0.16292594 0.98565741 0.04398426 0.04126616] [ 0.06768181 -0.05564026 0.99615427 -0.68844615] [ 0. 0. 0. 1. ]] SLAMing on 51.82907232899999 meters Centerline goodness : 0.791437 Centerline is valid? [False, False] Translation: X:2.47, Y:0.04, Z:-0.69 [[ 0.98418801 -0.15984448 -0.0763132 2.46509655] [ 0.16350371 0.98554539 0.04434877 0.0423583 ] [ 0.06812122 -0.05612502 0.99609712 -0.6881043 ] [ 0. 0. 0. 1. ]] SLAMing on 51.85907232899999 meters Centerline goodness : 0.791530 Centerline is valid? [False, False] Translation: X:2.47, Y:0.04, Z:-0.69 [[ 0.98386442 -0.1616038 -0.07677902 2.46625974] [ 0.16525239 0.98527932 0.04377579 0.04413149] [ 0.06857444 -0.05575736 0.99608667 -0.68779433] [ 0. 0. 0. 1. ]] SLAMing on 51.889072328999994 meters Centerline goodness : 0.793221 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98380959 -0.16163649 -0.07741021 2.46642995] [ 0.16537835 0.98522081 0.04460885 0.04524821] [ 0.06905573 -0.05668858 0.99600086 -0.68635588] [ 0. 0. 0. 1. ]] SLAMing on 51.919072328999995 meters Centerline goodness : 0.791882 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98392641 -0.16023311 -0.07883005 2.46822444] [ 0.16429913 0.98523787 0.04808469 0.04641853] [ 0.0699616 -0.0602635 0.99572772 -0.68531543] [ 0. 0. 0. 1. ]] SLAMing on 51.949072328999996 meters Centerline goodness : 0.794015 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.68 [[ 0.98398181 -0.15931657 -0.07998773 2.46863478] [ 0.16365438 0.98520211 0.05093178 0.04790255] [ 0.07068981 -0.06320629 0.99549381 -0.68317293] [ 0. 0. 0. 1. ]] SLAMing on 51.979072329 meters Centerline goodness : 0.793491 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.68 [[ 0.98387451 -0.15959825 -0.08074244 2.47086984] [ 0.16397802 0.98515293 0.0508421 0.05118031] [ 0.07142934 -0.06326223 0.99543746 -0.68451404] [ 0. 0. 0. 1. ]] SLAMing on 52.00907232899999 meters Centerline goodness : 0.794339 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98379416 -0.16023232 -0.08046527 2.47147099] [ 0.16446452 0.9851644 0.04901554 0.05229074] [ 0.07141764 -0.06145488 0.99555151 -0.68607824] [ 0. 0. 0. 1. ]] SLAMing on 52.03907232899999 meters Centerline goodness : 0.796153 Centerline is valid? [False, False] Translation: X:2.47, Y:0.05, Z:-0.69 [[ 0.98369518 -0.16101147 -0.08011932 2.47210358] [ 0.1650494 0.98518456 0.046584 0.05357855] [ 0.07143176 -0.0590481 0.99569615 -0.68790298] [ 0. 0. 0. 1. ]] SLAMing on 52.069072328999994 meters Centerline goodness : 0.795006 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98329715 -0.16300273 -0.0809742 2.47563151] [ 0.16703651 0.98488717 0.0457828 0.05541977] [ 0.07228773 -0.05854375 0.99566416 -0.68950209] [ 0. 0. 0. 1. ]] SLAMing on 52.099072328999995 meters Centerline goodness : 0.794364 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.70 [[ 0.98309005 -0.16917036 -0.07010956 2.4808937 ] [ 0.17272207 0.98379541 0.04810076 0.05982109] [ 0.06083624 -0.05939685 0.99637893 -0.69532141] [ 0. 0. 0. 1. ]] SLAMing on 52.129072328999996 meters Centerline goodness : 0.795761 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98289714 -0.16949209 -0.07201146 2.48194395] [ 0.17339139 0.98348816 0.05183114 0.06127136] [ 0.06203745 -0.06343084 0.99605616 -0.69148097] [ 0. 0. 0. 1. ]] SLAMing on 52.159072329 meters Centerline goodness : 0.797167 Centerline is valid? [False, False] Translation: X:2.48, Y:0.06, Z:-0.69 [[ 0.98296343 -0.16814496 -0.07423055 2.48410558] [ 0.17246813 0.98340826 0.05623998 0.06332507] [ 0.06354247 -0.06808425 0.995654 -0.68906713] [ 0. 0. 0. 1. ]] SLAMing on 52.18907232899999 meters Centerline goodness : 0.795191 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.69 [[ 0.98332202 -0.16485399 -0.0768178 2.48951413] [ 0.16964 0.98364261 0.06057634 0.06866563] [ 0.065575 -0.07259742 0.99520326 -0.69160521] [ 0. 0. 0. 1. ]] SLAMing on 52.21907232899999 meters Centerline goodness : 0.795492 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.69 [[ 0.98330621 -0.16502131 -0.07666067 2.49117971] [ 0.16964433 0.98378078 0.05827667 0.07075803] [ 0.06580041 -0.07030886 0.99535269 -0.69452737] [ 0. 0. 0. 1. ]] SLAMing on 52.24907232899999 meters Centerline goodness : 0.793798 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.70 [[ 0.98333454 -0.16526995 -0.07575636 2.49219746] [ 0.16958515 0.98400465 0.05455029 0.07211528] [ 0.06552909 -0.06648834 0.99563308 -0.69845852] [ 0. 0. 0. 1. ]] SLAMing on 52.279072328999995 meters Centerline goodness : 0.795170 Centerline is valid? [False, False] Translation: X:2.49, Y:0.07, Z:-0.70 [[ 0.98328189 -0.16569614 -0.07550833 2.49351711] [ 0.16985862 0.98407037 0.05247434 0.07356884] [ 0.06561072 -0.06442281 0.99576349 -0.7010097 ] [ 0. 0. 0. 1. ]] SLAMing on 52.309072328999996 meters Centerline goodness : 0.796869 Centerline is valid? [False, False] Translation: X:2.50, Y:0.08, Z:-0.70 [[ 0.98323233 -0.16481668 -0.07803622 2.49869806] [ 0.16935875 0.98398237 0.05564453 0.07870759] [ 0.06761512 -0.06792762 0.99539642 -0.70231571] [ 0. 0. 0. 1. ]] SLAMing on 52.339072329 meters Centerline goodness : 0.798328 Centerline is valid? [False, False] Translation: X:2.50, Y:0.08, Z:-0.70 [[ 0.98322362 -0.16373293 -0.0803918 2.50138077] [ 0.16870939 0.98386481 0.05955825 0.08144806] [ 0.06934302 -0.07212193 0.9949824 -0.70035695] [ 0. 0. 0. 1. ]] SLAMing on 52.369072329 meters Centerline goodness : 0.800472 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98336503 -0.1613573 -0.08340881 2.50357419] [ 0.16700099 0.98376047 0.06577241 0.08631161] [ 0.07144143 -0.07860764 0.99434248 -0.69706704] [ 0. 0. 0. 1. ]] SLAMing on 52.39907232899999 meters Centerline goodness : 0.804287 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98328779 -0.16173993 -0.08357817 2.50336815] [ 0.16732927 0.98376723 0.06483015 0.08829417] [ 0.07173584 -0.07773176 0.99439014 -0.69657448] [ 0. 0. 0. 1. ]] SLAMing on 52.42907232899999 meters Centerline goodness : 0.804667 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98312302 -0.16271402 -0.08362584 2.50452878] [ 0.16818543 0.98373118 0.06313974 0.0893827 ] [ 0.07199163 -0.07613877 0.99449489 -0.6977568 ] [ 0. 0. 0. 1. ]] SLAMing on 52.459072328999994 meters Centerline goodness : 0.805248 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98273204 -0.1653596 -0.0830298 2.50374064] [ 0.17048028 0.98360044 0.05887833 0.09073589] [ 0.07193205 -0.07201657 0.99480621 -0.69746061] [ 0. 0. 0. 1. ]] SLAMing on 52.489072328999995 meters Centerline goodness : 0.807540 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.70 [[ 0.98237963 -0.1672679 -0.08337699 2.50482802] [ 0.17233852 0.98333944 0.05781852 0.09089772] [ 0.0723167 -0.07116881 0.99483933 -0.69698624] [ 0. 0. 0. 1. ]] SLAMing on 52.519072329 meters Centerline goodness : 0.808866 Centerline is valid? [False, False] Translation: X:2.51, Y:0.09, Z:-0.69 [[ 0.98110065 -0.17366665 -0.08533119 2.50721421] [ 0.17878022 0.98227045 0.05641278 0.09351643] [ 0.07402129 -0.07060214 0.99475433 -0.69257574] [ 0. 0. 0. 1. ]] SLAMing on 52.549072329 meters Centerline goodness : 0.810400 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98047008 -0.17645059 -0.086854 2.51014376] [ 0.18166633 0.98174826 0.05628228 0.09520008] [ 0.07533772 -0.07096154 0.99462993 -0.69138341] [ 0. 0. 0. 1. ]] SLAMing on 52.57907232899999 meters Centerline goodness : 0.810400 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98047008 -0.17645059 -0.086854 2.51014376] [ 0.18166633 0.98174826 0.05628228 0.09520008] [ 0.07533772 -0.07096154 0.99462993 -0.69138341] [ 0. 0. 0. 1. ]] SLAMing on 52.60907232899999 meters Centerline goodness : 0.807396 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.69 [[ 0.98001486 -0.17840733 -0.08798698 2.51271354] [ 0.18368944 0.98138472 0.05605554 0.09612743] [ 0.07634836 -0.07109754 0.99454315 -0.69087283] [ 0. 0. 0. 1. ]] SLAMing on 52.639072328999994 meters Centerline goodness : 0.809353 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.69 [[ 0.97965723 -0.17986713 -0.08899176 2.51503579] [ 0.18522263 0.9810971 0.05604523 0.09589153] [ 0.07722886 -0.0713884 0.99445432 -0.69028997] [ 0. 0. 0. 1. ]] SLAMing on 52.669072328999995 meters Centerline goodness : 0.811612 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.69 [[ 0.97928296 -0.18154475 -0.08970169 2.51506152] [ 0.1870173 0.98070988 0.05685643 0.09468333] [ 0.07764935 -0.0724543 0.99434448 -0.68721387] [ 0. 0. 0. 1. ]] SLAMing on 52.699072328999996 meters Centerline goodness : 0.810582 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.69 [[ 0.97915397 -0.18188799 -0.09041158 2.51568136] [ 0.18747507 0.98057636 0.05764638 0.09443799] [ 0.07817027 -0.0733946 0.9942347 -0.68569428] [ 0. 0. 0. 1. ]] SLAMing on 52.729072329 meters Centerline goodness : 0.810865 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97877725 -0.18353169 -0.09116587 2.51691825] [ 0.18919118 0.98023621 0.05782444 0.09405763] [ 0.07875147 -0.07384502 0.99415548 -0.68421377] [ 0. 0. 0. 1. ]] SLAMing on 52.75907232899999 meters Centerline goodness : 0.812491 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.9784066 -0.18513695 -0.09189575 2.518529 ] [ 0.19083622 0.97992986 0.05761084 0.09432225] [ 0.0793855 -0.07390387 0.99410068 -0.68362283] [ 0. 0. 0. 1. ]] SLAMing on 52.78907232899999 meters Centerline goodness : 0.810459 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.9781932 -0.18583877 -0.09274705 2.52095606] [ 0.19163114 0.97975387 0.05796434 0.09448402] [ 0.08009726 -0.07447354 0.99400107 -0.68406006] [ 0. 0. 0. 1. ]] SLAMing on 52.819072328999994 meters Centerline goodness : 0.809074 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97808789 -0.18609156 -0.09334885 2.52269871] [ 0.19198366 0.97964514 0.05863169 0.09429675] [ 0.08053788 -0.0752684 0.99390559 -0.68436195] [ 0. 0. 0. 1. ]] SLAMing on 52.849072328999995 meters Centerline goodness : 0.809972 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97760009 -0.18900662 -0.0925989 2.52097872] [ 0.19456955 0.97933491 0.05518895 0.09441511] [ 0.08025426 -0.07196965 0.99417283 -0.68241901] [ 0. 0. 0. 1. ]] SLAMing on 52.879072328999996 meters Centerline goodness : 0.810025 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97747037 -0.18914322 -0.09368306 2.52319468] [ 0.19489381 0.97919454 0.05651949 0.09361879] [ 0.08104366 -0.07350438 0.99399649 -0.6818774 ] [ 0. 0. 0. 1. ]] SLAMing on 52.909072329 meters Centerline goodness : 0.810755 Centerline is valid? [False, False] Translation: X:2.52, Y:0.09, Z:-0.68 [[ 0.97713265 -0.19016832 -0.09511992 2.52459453] [ 0.19611903 0.97888541 0.05762528 0.0943039 ] [ 0.082153 -0.07496237 0.99379652 -0.67940042] [ 0. 0. 0. 1. ]] SLAMing on 52.93907232899999 meters Centerline goodness : 0.810540 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.97675345 -0.1914696 -0.09639546 2.52607938] [ 0.1975915 0.97853813 0.05848694 0.094939 ] [ 0.08312816 -0.07617425 0.99362327 -0.67734276] [ 0. 0. 0. 1. ]] SLAMing on 52.96907232899999 meters Centerline goodness : 0.808038 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.68 [[ 0.97565734 -0.19660699 -0.09715167 2.52887076] [ 0.20254133 0.97770209 0.0554583 0.09623571] [ 0.0840819 -0.07378553 0.99372327 -0.67663057] [ 0. 0. 0. 1. ]] SLAMing on 52.99907232899999 meters Centerline goodness : 0.808353 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.68 [[ 0.97508198 -0.19939814 -0.09723944 2.53133011] [ 0.2051124 0.97731772 0.05271596 0.09602566] [ 0.08452237 -0.0713474 0.99386393 -0.67781959] [ 0. 0. 0. 1. ]] SLAMing on 53.029072328999995 meters Centerline goodness : 0.808352 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.9745238 -0.20228968 -0.09686196 2.53238077] [ 0.20772236 0.97692758 0.04963784 0.09486139] [ 0.0845859 -0.06849366 0.99405928 -0.67806462] [ 0. 0. 0. 1. ]] SLAMing on 53.059072328999996 meters Centerline goodness : 0.814522 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.68 [[ 0.97396817 -0.20511418 -0.09650997 2.53146509] [ 0.21039555 0.97643443 0.04805749 0.09151676] [ 0.08437839 -0.06711174 0.99417116 -0.67522178] [ 0. 0. 0. 1. ]] SLAMing on 53.089072329 meters Centerline goodness : 0.815626 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97383508 -0.20497646 -0.09813201 2.53204011] [ 0.21060255 0.9762518 0.05078373 0.09050922] [ 0.08539208 -0.07012183 0.99387681 -0.67130844] [ 0. 0. 0. 1. ]] SLAMing on 53.119072329 meters Centerline goodness : 0.816360 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97364257 -0.20506375 -0.09984493 2.53201725] [ 0.21109833 0.9759682 0.05407006 0.09057235] [ 0.08635767 -0.07372201 0.9935328 -0.66690349] [ 0. 0. 0. 1. ]] SLAMing on 53.14907232899999 meters Centerline goodness : 0.814951 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97339265 -0.20545992 -0.10145428 2.53412069] [ 0.21174675 0.97574425 0.055556 0.09082987] [ 0.0875789 -0.07556041 0.99328775 -0.66501926] [ 0. 0. 0. 1. ]] SLAMing on 53.17907232899999 meters Centerline goodness : 0.815107 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.67 [[ 0.97285763 -0.20839202 -0.10060222 2.53433834] [ 0.21428175 0.97540367 0.05168176 0.09021573] [ 0.08735771 -0.07183621 0.99358351 -0.66538343] [ 0. 0. 0. 1. ]] SLAMing on 53.209072328999994 meters Centerline goodness : 0.811922 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97296607 -0.2077918 -0.10079479 2.53810141] [ 0.21368843 0.97553712 0.05161954 0.08818233] [ 0.08760294 -0.07176274 0.99356723 -0.66896196] [ 0. 0. 0. 1. ]] SLAMing on 53.239072328999995 meters Centerline goodness : 0.814619 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97267903 -0.20965593 -0.09969904 2.53733007] [ 0.21516012 0.97539948 0.04797886 0.08749311] [ 0.08718734 -0.06811929 0.99386022 -0.66926064] [ 0. 0. 0. 1. ]] SLAMing on 53.269072329 meters Centerline goodness : 0.817188 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.67 [[ 0.97263675 -0.20990872 -0.09957955 2.53832221] [ 0.21536257 0.97537872 0.04749015 0.0855597 ] [ 0.08715917 -0.06763637 0.99389567 -0.66979718] [ 0. 0. 0. 1. ]] SLAMing on 53.299072329 meters Centerline goodness : 0.819108 Centerline is valid? [False, False] Translation: X:2.54, Y:0.08, Z:-0.67 [[ 0.972562 -0.20925025 -0.10167349 2.54148375] [ 0.2151668 0.97524038 0.05108278 0.08262694] [ 0.08846701 -0.07155793 0.99350544 -0.66774791] [ 0. 0. 0. 1. ]] SLAMing on 53.32907232899999 meters Centerline goodness : 0.817618 Centerline is valid? [False, False] Translation: X:2.54, Y:0.08, Z:-0.67 [[ 0.97244163 -0.20900232 -0.10332139 2.54311837] [ 0.21521782 0.97512268 0.05307582 0.08306818] [ 0.08965806 -0.07384975 0.99323091 -0.6656354 ] [ 0. 0. 0. 1. ]] SLAMing on 53.35907232899999 meters Centerline goodness : 0.818487 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.66 [[ 0.97234918 -0.2087213 -0.10474968 2.54526348] [ 0.21514736 0.97507537 0.05421847 0.0839408 ] [ 0.09082228 -0.0752559 0.99301957 -0.66474401] [ 0. 0. 0. 1. ]] SLAMing on 53.389072328999994 meters Centerline goodness : 0.818027 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97257208 -0.20779137 -0.10452895 2.54683997] [ 0.21409498 0.975369 0.05309094 0.08371228] [ 0.09092245 -0.07401389 0.99310375 -0.66722522] [ 0. 0. 0. 1. ]] SLAMing on 53.419072328999995 meters Centerline goodness : 0.816353 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97268019 -0.20733485 -0.10442947 2.54713099] [ 0.21358758 0.97550519 0.05263055 0.08296681] [ 0.09095934 -0.07349753 0.99313872 -0.66752453] [ 0. 0. 0. 1. ]] SLAMing on 53.449072328999996 meters Centerline goodness : 0.814940 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97291446 -0.20590792 -0.10506847 2.54926674] [ 0.21231716 0.97571543 0.05385923 0.08190621] [ 0.09142689 -0.07470826 0.99300544 -0.66853859] [ 0. 0. 0. 1. ]] SLAMing on 53.479072329 meters Centerline goodness : 0.812900 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97316611 -0.20484551 -0.10481426 2.54987315] [ 0.21113107 0.97603301 0.05275642 0.08284281] [ 0.09149526 -0.07347031 0.9930915 -0.67019023] [ 0. 0. 0. 1. ]] SLAMing on 53.50907232899999 meters Centerline goodness : 0.810392 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97314247 -0.20440687 -0.1058847 2.55286751] [ 0.21077245 0.97610947 0.05277571 0.08340256] [ 0.09256734 -0.07367586 0.99297692 -0.67106371] [ 0. 0. 0. 1. ]] SLAMing on 53.53907232899999 meters Centerline goodness : 0.813023 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97319997 -0.2039758 -0.10618702 2.55271487] [ 0.21038014 0.97618392 0.05296362 0.08393913] [ 0.09285477 -0.07388383 0.99293463 -0.67018667] [ 0. 0. 0. 1. ]] SLAMing on 53.569072328999994 meters Centerline goodness : 0.812802 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.67 [[ 0.97341403 -0.20274629 -0.10657896 2.55320723] [ 0.20925942 0.97637624 0.05385104 0.08435563] [ 0.09314307 -0.07472201 0.9928449 -0.67022887] [ 0. 0. 0. 1. ]] SLAMing on 53.599072328999995 meters Centerline goodness : 0.816303 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.67 [[ 0.97360849 -0.20162786 -0.10692388 2.55422236] [ 0.2081421 0.97662759 0.05362297 0.08547009] [ 0.09361293 -0.07446314 0.99282016 -0.67073752] [ 0. 0. 0. 1. ]] SLAMing on 53.629072328999996 meters Centerline goodness : 0.815222 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97358237 -0.20117484 -0.10800951 2.5572119 ] [ 0.20786457 0.97663137 0.05462138 0.08611186] [ 0.09449703 -0.07562977 0.9926482 -0.67177855] [ 0. 0. 0. 1. ]] SLAMing on 53.659072329 meters Centerline goodness : 0.815420 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97356596 -0.20118542 -0.1081376 2.55711881] [ 0.20784975 0.97665512 0.05425187 0.086688 ] [ 0.09469845 -0.07529415 0.99265452 -0.67117987] [ 0. 0. 0. 1. ]] SLAMing on 53.68907232899999 meters Centerline goodness : 0.816764 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97354397 -0.20131581 -0.10809292 2.55723993] [ 0.20792709 0.97666766 0.05372709 0.08661121] [ 0.09475475 -0.07478113 0.99268793 -0.67114564] [ 0. 0. 0. 1. ]] SLAMing on 53.71907232899999 meters Centerline goodness : 0.815950 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.67 [[ 0.97336708 -0.20191915 -0.10855956 2.55935257] [ 0.20853767 0.97655464 0.05341416 0.08507263] [ 0.095229 -0.07463034 0.99265389 -0.67140313] [ 0. 0. 0. 1. ]] SLAMing on 53.74907232899999 meters Centerline goodness : 0.816428 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97317119 -0.20247979 -0.10926928 2.56209007] [ 0.20922431 0.97636751 0.05414497 0.08396748] [ 0.09572371 -0.07555412 0.99253642 -0.67216858] [ 0. 0. 0. 1. ]] SLAMing on 53.779072328999995 meters Centerline goodness : 0.815931 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97285842 -0.2035332 -0.11009418 2.56356933] [ 0.21039672 0.97608547 0.0546843 0.08333409] [ 0.09633126 -0.07636353 0.99241569 -0.67098936] [ 0. 0. 0. 1. ]] SLAMing on 53.809072328999996 meters Centerline goodness : 0.813463 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97245533 -0.20482457 -0.11125437 2.56364624] [ 0.21196136 0.97564267 0.05651339 0.08252507] [ 0.09696918 -0.07853838 0.9921838 -0.66695576] [ 0. 0. 0. 1. ]] SLAMing on 53.839072329 meters Centerline goodness : 0.813343 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97235447 -0.20516219 -0.11151353 2.56432668] [ 0.21233859 0.97555003 0.05669628 0.08176437] [ 0.0971551 -0.0788075 0.99214428 -0.66656482] [ 0. 0. 0. 1. ]] SLAMing on 53.869072329 meters Centerline goodness : 0.811998 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97194417 -0.20762537 -0.1105271 2.56345822] [ 0.21442516 0.97527166 0.05354478 0.08112164] [ 0.09667669 -0.07574232 0.9924297 -0.66634529] [ 0. 0. 0. 1. ]] SLAMing on 53.89907232899999 meters Centerline goodness : 0.811843 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.67 [[ 0.97150403 -0.21035833 -0.10922128 2.56306855] [ 0.21667947 0.97498609 0.049519 0.07958086] [ 0.09607249 -0.07177392 0.99278325 -0.66709614] [ 0. 0. 0. 1. ]] SLAMing on 53.92907232899999 meters Centerline goodness : 0.811768 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.67 [[ 0.97066516 -0.2147321 -0.10816319 2.5633477 ] [ 0.22066929 0.97425617 0.0461517 0.07495587] [ 0.09546841 -0.06866614 0.9930613 -0.66638758] [ 0. 0. 0. 1. ]] SLAMing on 53.959072328999994 meters Centerline goodness : 0.813723 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.66 [[ 0.97018187 -0.21646427 -0.10904291 2.56430047] [ 0.22258395 0.97376356 0.0473382 0.07315625] [ 0.09593498 -0.07019787 0.99290923 -0.66384654] [ 0. 0. 0. 1. ]] SLAMing on 53.989072328999995 meters Centerline goodness : 0.811376 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.96960705 -0.21842427 -0.1102407 2.56618041] [ 0.22474298 0.97321386 0.04842904 0.07186939] [ 0.0967097 -0.07173296 0.99272434 -0.66155165] [ 0. 0. 0. 1. ]] SLAMing on 54.019072329 meters Centerline goodness : 0.811527 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.96848015 -0.22334964 -0.11027759 2.56797142] [ 0.22952352 0.97218092 0.04672493 0.06780124] [ 0.09677377 -0.07056347 0.99280191 -0.65970015] [ 0. 0. 0. 1. ]] SLAMing on 54.049072329 meters Centerline goodness : 0.810527 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.66 [[ 0.9677778 -0.22644649 -0.11012774 2.56954701] [ 0.23238731 0.971613 0.04432055 0.06581068] [ 0.09696531 -0.06848474 0.99292878 -0.6594216 ] [ 0. 0. 0. 1. ]] SLAMing on 54.07907232899999 meters Centerline goodness : 0.811358 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96751204 -0.22762527 -0.1100327 2.57082292] [ 0.23350427 0.97137299 0.04370656 0.06272097] [ 0.09693408 -0.06797973 0.99296654 -0.65936393] [ 0. 0. 0. 1. ]] SLAMing on 54.10907232899999 meters Centerline goodness : 0.811340 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96735534 -0.22862493 -0.10933562 2.5694339 ] [ 0.23439515 0.97118828 0.04303769 0.05908283] [ 0.09634599 -0.06726048 0.99307275 -0.65736495] [ 0. 0. 0. 1. ]] SLAMing on 54.139072328999994 meters Centerline goodness : 0.811582 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96746585 -0.22786482 -0.10994294 2.57016348] [ 0.2337985 0.97127436 0.04432122 0.05805432] [ 0.09668551 -0.06858376 0.99294923 -0.65647351] [ 0. 0. 0. 1. ]] SLAMing on 54.169072328999995 meters Centerline goodness : 0.811571 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96771614 -0.22644711 -0.11066701 2.57160874] [ 0.23253992 0.97152246 0.04548942 0.05801784] [ 0.09721454 -0.06975534 0.99281596 -0.65676347] [ 0. 0. 0. 1. ]] SLAMing on 54.199072328999996 meters Centerline goodness : 0.810157 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96812206 -0.22477796 -0.11051942 2.57170109] [ 0.23085875 0.97192097 0.04553979 0.05833845] [ 0.0971798 -0.06960245 0.99283009 -0.65784036] [ 0. 0. 0. 1. ]] SLAMing on 54.229072329 meters Centerline goodness : 0.808636 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96927607 -0.22038988 -0.10923463 2.57207872] [ 0.22624338 0.97306293 0.04429977 0.05956455] [ 0.09652895 -0.06765231 0.99302836 -0.66342273] [ 0. 0. 0. 1. ]] SLAMing on 54.25907232899999 meters Centerline goodness : 0.808193 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.66 [[ 0.96973641 -0.21832789 -0.10928965 2.57263012] [ 0.22418902 0.9735327 0.04442251 0.06051862] [ 0.09669838 -0.06757966 0.99301682 -0.6649361 ] [ 0. 0. 0. 1. ]] SLAMing on 54.28907232899999 meters Centerline goodness : 0.810976 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.67 [[ 0.97051566 -0.21445805 -0.11003223 2.57351849] [ 0.22062535 0.97421668 0.04718385 0.06155274] [ 0.09707628 -0.07006856 0.99280743 -0.66619926] [ 0. 0. 0. 1. ]] SLAMing on 54.319072328999994 meters Centerline goodness : 0.808807 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.67 [[ 0.97144555 -0.20940783 -0.11154331 2.57677937] [ 0.21604478 0.97504861 0.05103783 0.06298282] [ 0.09807243 -0.07367882 0.9924481 -0.66898331] [ 0. 0. 0. 1. ]] SLAMing on 54.349072328999995 meters Centerline goodness : 0.803708 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.67 [[ 0.97244338 -0.20460236 -0.11176649 2.57677972] [ 0.2114616 0.97593229 0.05329313 0.06424275] [ 0.09817263 -0.07545887 0.99230444 -0.67089367] [ 0. 0. 0. 1. ]] SLAMing on 54.379072328999996 meters Centerline goodness : 0.802672 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.68 [[ 0.97444526 -0.20195331 -0.09834278 2.57705226] [ 0.20749493 0.97697164 0.04972191 0.07095773] [ 0.08603661 -0.06885691 0.99390967 -0.6761597 ] [ 0. 0. 0. 1. ]] SLAMing on 54.409072329 meters Centerline goodness : 0.801288 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.68 [[ 0.97559723 -0.19619974 -0.09856824 2.57946621] [ 0.20193984 0.97801663 0.05199786 0.07180167] [ 0.08619942 -0.07063382 0.99377086 -0.68129585] [ 0. 0. 0. 1. ]] SLAMing on 54.43907232899999 meters Centerline goodness : 0.798565 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.9775655 -0.18573453 -0.09933975 2.58000133] [ 0.19195134 0.97974141 0.0571091 0.07600978] [ 0.08672014 -0.07489629 0.99341339 -0.68557459] [ 0. 0. 0. 1. ]] SLAMing on 54.46907232899999 meters Centerline goodness : 0.797053 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.97852831 -0.18012755 -0.10018193 2.58051038] [ 0.18672458 0.98052635 0.06084407 0.0784218 ] [ 0.08727133 -0.07824407 0.99310703 -0.68689599] [ 0. 0. 0. 1. ]] SLAMing on 54.49907232899999 meters Centerline goodness : 0.797053 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.69 [[ 0.97852831 -0.18012755 -0.10018193 2.58051038] [ 0.18672458 0.98052635 0.06084407 0.0784218 ] [ 0.08727133 -0.07824407 0.99310703 -0.68689599] [ 0. 0. 0. 1. ]] SLAMing on 54.529072328999995 meters Centerline goodness : 0.795292 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.69 [[ 0.97944615 -0.18135458 -0.08829357 2.58194386] [ 0.1868523 0.98064298 0.05852831 0.08622752] [ 0.07597009 -0.07382318 0.99437351 -0.68876282] [ 0. 0. 0. 1. ]] SLAMing on 54.559072328999996 meters Centerline goodness : 0.795385 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.69 [[ 0.98023097 -0.17736077 -0.08769493 2.58107764] [ 0.1827927 0.98142078 0.05831028 0.08833357] [ 0.07572367 -0.07318753 0.9944393 -0.69133769] [ 0. 0. 0. 1. ]] SLAMing on 54.589072329 meters Centerline goodness : 0.792840 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.70 [[ 0.98158289 -0.17041449 -0.08633618 2.58056407] [ 0.17566705 0.9827771 0.05736078 0.09102641] [ 0.07507411 -0.07147079 0.99461339 -0.69772355] [ 0. 0. 0. 1. ]] SLAMing on 54.619072329 meters Centerline goodness : 0.793057 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.70 [[ 0.9821931 -0.16734656 -0.08539232 2.57908826] [ 0.17245276 0.98340415 0.05635887 0.09197499] [ 0.0745437 -0.07008143 0.99475214 -0.6998655 ] [ 0. 0. 0. 1. ]] SLAMing on 54.64907232899999 meters Centerline goodness : 0.792602 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98297417 -0.16860305 -0.07303969 2.58096272] [ 0.17267101 0.98352714 0.05347045 0.09731306] [ 0.06282123 -0.06517191 0.99589463 -0.70269639] [ 0. 0. 0. 1. ]] SLAMing on 54.67907232899999 meters Centerline goodness : 0.792681 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98360447 -0.16465968 -0.0735489 2.58113541] [ 0.16894766 0.98400758 0.05644269 0.0977727 ] [ 0.06307884 -0.0679432 0.99569312 -0.70316003] [ 0. 0. 0. 1. ]] SLAMing on 54.709072328999994 meters Centerline goodness : 0.793028 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98443186 -0.15880923 -0.07532294 2.58247066] [ 0.16362452 0.98452595 0.06273495 0.10076291] [ 0.0641945 -0.07408296 0.99518379 -0.70304636] [ 0. 0. 0. 1. ]] SLAMing on 54.739072328999995 meters Centerline goodness : 0.792719 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98455034 -0.15808234 -0.0753034 2.58261707] [ 0.16286194 0.98468595 0.06220593 0.10201061] [ 0.06431654 -0.07350893 0.99521848 -0.70363783] [ 0. 0. 0. 1. ]] SLAMing on 54.769072329 meters Centerline goodness : 0.793807 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.98453989 -0.15832166 -0.0749364 2.58326025] [ 0.16294566 0.98479614 0.06021023 0.10280828] [ 0.06426449 -0.07148994 0.99536891 -0.70545699] [ 0. 0. 0. 1. ]] SLAMing on 54.799072329 meters Centerline goodness : 0.793611 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.9843761 -0.16008534 -0.07332376 2.58163166] [ 0.16429618 0.98484851 0.05549935 0.10220759] [ 0.06332816 -0.06667905 0.99576275 -0.7066172 ] [ 0. 0. 0. 1. ]] SLAMing on 54.82907232899999 meters Centerline goodness : 0.792190 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.71 [[ 0.98415835 -0.16118653 -0.07383252 2.58268221] [ 0.16545322 0.98463608 0.05583036 0.10165467] [ 0.06369906 -0.06716175 0.99570665 -0.70569931] [ 0. 0. 0. 1. ]] SLAMing on 54.85907232899999 meters Centerline goodness : 0.793242 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.9839055 -0.16224167 -0.07488402 2.58370666] [ 0.16667522 0.98434555 0.05729924 0.10145301] [ 0.06441542 -0.06885835 0.99554467 -0.70346833] [ 0. 0. 0. 1. ]] SLAMing on 54.889072328999994 meters Centerline goodness : 0.791976 Centerline is valid? [False, False] Translation: X:2.58, Y:0.10, Z:-0.70 [[ 0.98362293 -0.16343711 -0.07598847 2.58446953] [ 0.16806075 0.98400815 0.05902161 0.10153681] [ 0.06512695 -0.07082568 0.99536034 -0.70072184] [ 0. 0. 0. 1. ]] SLAMing on 54.919072328999995 meters Centerline goodness : 0.790091 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98307666 -0.16584472 -0.07781908 2.58871437] [ 0.17075592 0.98340153 0.06135014 0.10149223] [ 0.06635281 -0.07359996 0.99507806 -0.69965657] [ 0. 0. 0. 1. ]] SLAMing on 54.949072328999996 meters Centerline goodness : 0.791344 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98276302 -0.16782462 -0.07753547 2.58946164] [ 0.17256009 0.98322967 0.05901207 0.10152641] [ 0.0663315 -0.07137441 0.99524159 -0.70031006] [ 0. 0. 0. 1. ]] SLAMing on 54.979072329 meters Centerline goodness : 0.793881 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98242466 -0.17021848 -0.07659926 2.5886757 ] [ 0.17464828 0.98307254 0.05537467 0.10116988] [ 0.06587684 -0.06777937 0.99552308 -0.70051726] [ 0. 0. 0. 1. ]] SLAMing on 55.00907232899999 meters Centerline goodness : 0.794804 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98200512 -0.17300513 -0.07573083 2.58748386] [ 0.17714365 0.98282084 0.05180079 0.10060337] [ 0.06546804 -0.06428388 0.99578186 -0.69985985] [ 0. 0. 0. 1. ]] SLAMing on 55.03907232899999 meters Centerline goodness : 0.795653 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98134735 -0.17674837 -0.07561342 2.58892338] [ 0.18075014 0.98226825 0.04978417 0.09969316] [ 0.0654734 -0.0625227 0.99589364 -0.69976591] [ 0. 0. 0. 1. ]] SLAMing on 55.069072328999994 meters Centerline goodness : 0.797599 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98101444 -0.1783264 -0.07622575 2.58995058] [ 0.18238734 0.98195089 0.05007298 0.09962163] [ 0.06592061 -0.06302493 0.99583248 -0.69851442] [ 0. 0. 0. 1. ]] SLAMing on 55.099072328999995 meters Centerline goodness : 0.799760 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98085245 -0.17891074 -0.07693774 2.59169548] [ 0.18309946 0.98175491 0.05130183 0.09839261] [ 0.06635555 -0.06440678 0.99571517 -0.69790715] [ 0. 0. 0. 1. ]] SLAMing on 55.129072328999996 meters Centerline goodness : 0.802190 Centerline is valid? [False, False] Translation: X:2.59, Y:0.10, Z:-0.70 [[ 0.98047133 -0.18116525 -0.07651872 2.59076546] [ 0.18523851 0.98142395 0.04993724 0.09552727] [ 0.06605041 -0.06313624 0.99581683 -0.69552691] [ 0. 0. 0. 1. ]] SLAMing on 55.159072329 meters Centerline goodness : 0.801273 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.98029394 -0.18223513 -0.07625063 2.59059284] [ 0.18621287 0.98130003 0.04873416 0.09369436] [ 0.06594367 -0.06197265 0.99589699 -0.69485456] [ 0. 0. 0. 1. ]] SLAMing on 55.18907232899999 meters Centerline goodness : 0.801872 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.70 [[ 0.98013748 -0.18299422 -0.07644363 2.59186203] [ 0.18697379 0.98116354 0.04856859 0.09236507] [ 0.06611593 -0.06189685 0.99589029 -0.69501758] [ 0. 0. 0. 1. ]] SLAMing on 55.21907232899999 meters Centerline goodness : 0.801912 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.97991335 -0.18430865 -0.07615873 2.59163842] [ 0.18822336 0.98096064 0.04783496 0.08876593] [ 0.06589232 -0.06120897 0.99594762 -0.69330094] [ 0. 0. 0. 1. ]] SLAMing on 55.24907232899999 meters Centerline goodness : 0.802757 Centerline is valid? [False, False] Translation: X:2.59, Y:0.09, Z:-0.69 [[ 0.97980405 -0.1846379 -0.07676502 2.59401347] [ 0.1886638 0.98082163 0.04893775 0.08640013] [ 0.06625702 -0.06243219 0.99584749 -0.69359051] [ 0. 0. 0. 1. ]] SLAMing on 55.279072328999995 meters Centerline goodness : 0.801996 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97967758 -0.18514671 -0.07715262 2.59537634] [ 0.18923811 0.98068046 0.04954559 0.0845979 ] [ 0.06648886 -0.06313892 0.99578748 -0.69331603] [ 0. 0. 0. 1. ]] SLAMing on 55.309072328999996 meters Centerline goodness : 0.801662 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97964394 -0.18522592 -0.07738932 2.59629803] [ 0.18937994 0.98061696 0.05025543 0.08265706] [ 0.06658067 -0.06388841 0.99573354 -0.69309737] [ 0. 0. 0. 1. ]] SLAMing on 55.339072329 meters Centerline goodness : 0.802091 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.69 [[ 0.97988461 -0.1843842 -0.07634544 2.59587486] [ 0.18837931 0.98087948 0.04887406 0.07800751] [ 0.06587407 -0.06227284 0.99588288 -0.69403092] [ 0. 0. 0. 1. ]] SLAMing on 55.369072329 meters Centerline goodness : 0.803776 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.69 [[ 0.98003579 -0.18418286 -0.07487676 2.59348391] [ 0.18794254 0.98107093 0.04666292 0.07503682] [ 0.0648649 -0.05980386 0.99610042 -0.69408298] [ 0. 0. 0. 1. ]] SLAMing on 55.39907232899999 meters Centerline goodness : 0.806080 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98019084 -0.18353768 -0.07443008 2.59320167] [ 0.18726527 0.98120381 0.04659184 0.07277465] [ 0.06447972 -0.05960707 0.99613722 -0.69441462] [ 0. 0. 0. 1. ]] SLAMing on 55.42907232899999 meters Centerline goodness : 0.805476 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98027347 -0.18294508 -0.07479984 2.59319171] [ 0.18677014 0.98124204 0.04775961 0.07117432] [ 0.06465936 -0.06078786 0.99605422 -0.69314716] [ 0. 0. 0. 1. ]] SLAMing on 55.459072328999994 meters Centerline goodness : 0.805078 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98043572 -0.18187407 -0.07528363 2.59280838] [ 0.18585807 0.9813159 0.04975821 0.06900761] [ 0.0648273 -0.0627768 0.99591992 -0.69099304] [ 0. 0. 0. 1. ]] SLAMing on 55.489072328999995 meters Centerline goodness : 0.803343 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98043344 -0.18190445 -0.07523985 2.59336246] [ 0.18587175 0.98132418 0.04954348 0.0673726 ] [ 0.0648225 -0.06255905 0.99593394 -0.69124137] [ 0. 0. 0. 1. ]] SLAMing on 55.519072329 meters Centerline goodness : 0.805458 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.69 [[ 0.98038541 -0.18256765 -0.0742529 2.59169669] [ 0.18629623 0.98137899 0.04678668 0.06540973] [ 0.0643285 -0.05970202 0.99614131 -0.69101058] [ 0. 0. 0. 1. ]] SLAMing on 55.549072329 meters Centerline goodness : 0.807209 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98064145 -0.18154954 -0.07336285 2.59185873] [ 0.18512066 0.98167703 0.04517236 0.06149392] [ 0.0638176 -0.05787887 0.99628176 -0.69289743] [ 0. 0. 0. 1. ]] SLAMing on 55.57907232899999 meters Centerline goodness : 0.806895 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98079462 -0.18073036 -0.07333797 2.59159179] [ 0.18433833 0.9817959 0.04578414 0.05991822] [ 0.06372833 -0.05842383 0.99625567 -0.69255539] [ 0. 0. 0. 1. ]] SLAMing on 55.60907232899999 meters Centerline goodness : 0.808083 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98090392 -0.18012682 -0.07336091 2.5911564 ] [ 0.1837734 0.98187402 0.04637615 0.05895523] [ 0.06367758 -0.05897233 0.9962266 -0.69187781] [ 0. 0. 0. 1. ]] SLAMing on 55.639072328999994 meters Centerline goodness : 0.806062 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98116299 -0.17863944 -0.07353327 2.59071437] [ 0.18233839 0.98210913 0.047057 0.0585808 ] [ 0.06381146 -0.05957852 0.99618196 -0.69115917] [ 0. 0. 0. 1. ]] SLAMing on 55.669072328999995 meters Centerline goodness : 0.805177 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98120497 -0.17833706 -0.07370689 2.59112179] [ 0.18205312 0.98215682 0.0471662 0.05854849] [ 0.06398024 -0.05969828 0.99616396 -0.69121053] [ 0. 0. 0. 1. ]] SLAMing on 55.699072328999996 meters Centerline goodness : 0.805230 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.69 [[ 0.98125728 -0.17802887 -0.07375547 2.59242782] [ 0.18173641 0.98222377 0.04699303 0.05791182] [ 0.06407826 -0.05951631 0.99616855 -0.69255782] [ 0. 0. 0. 1. ]] SLAMing on 55.729072329 meters Centerline goodness : 0.806108 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.70 [[ 0.9813054 -0.17838399 -0.07224165 2.59232468] [ 0.18174161 0.98241102 0.04287866 0.05562687] [ 0.06332213 -0.05520638 0.99646503 -0.69584113] [ 0. 0. 0. 1. ]] SLAMing on 55.75907232899999 meters Centerline goodness : 0.805968 Centerline is valid? [False, False] Translation: X:2.59, Y:0.05, Z:-0.70 [[ 0.98126236 -0.1786332 -0.07221053 2.59283083] [ 0.18198061 0.98237278 0.04274077 0.05410007] [ 0.06330274 -0.05508083 0.99647321 -0.69597074] [ 0. 0. 0. 1. ]] SLAMing on 55.78907232899999 meters Centerline goodness : 0.808629 Centerline is valid? [False, False] Translation: X:2.59, Y:0.05, Z:-0.70 [[ 0.98123874 -0.17835572 -0.07321053 2.59476008] [ 0.1819105 0.98227992 0.04510806 0.05285381] [ 0.06386796 -0.05757954 0.99629588 -0.69526103] [ 0. 0. 0. 1. ]] SLAMing on 55.819072328999994 meters Centerline goodness : 0.811479 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98101951 -0.17876662 -0.07512129 2.59578499] [ 0.18276285 0.98187734 0.05014604 0.05270425] [ 0.06479546 -0.06292363 0.99591273 -0.69072756] [ 0. 0. 0. 1. ]] SLAMing on 55.849072328999995 meters Centerline goodness : 0.811525 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98069798 -0.1802177 -0.07584893 2.59814466] [ 0.1842894 0.98157004 0.05057345 0.05233268] [ 0.06533681 -0.06357543 0.99583596 -0.6907253 ] [ 0. 0. 0. 1. ]] SLAMing on 55.879072328999996 meters Centerline goodness : 0.812981 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.98019176 -0.18307632 -0.07554589 2.59938845] [ 0.1869693 0.98118762 0.0480972 0.05130605] [ 0.06531923 -0.06126924 0.99598167 -0.69132601] [ 0. 0. 0. 1. ]] SLAMing on 55.909072329 meters Centerline goodness : 0.812569 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.97956224 -0.18660326 -0.07508017 2.60169698] [ 0.19025983 0.98070839 0.0448582 0.05013175] [ 0.06526107 -0.05822614 0.99616801 -0.69326391] [ 0. 0. 0. 1. ]] SLAMing on 55.93907232899999 meters Centerline goodness : 0.812489 Centerline is valid? [False, False] Translation: X:2.60, Y:0.05, Z:-0.69 [[ 0.97796856 -0.19527394 -0.07379424 2.60113123] [ 0.19847221 0.97933993 0.03875666 0.04655094] [ 0.06470148 -0.0525489 0.99652011 -0.69056977] [ 0. 0. 0. 1. ]] SLAMing on 55.96907232899999 meters Centerline goodness : 0.811975 Centerline is valid? [False, False] Translation: X:2.61, Y:0.05, Z:-0.69 [[ 0.97710086 -0.1988956 -0.075594 2.60551861] [ 0.20232891 0.97846818 0.04078025 0.045426 ] [ 0.06585531 -0.05514127 0.99630443 -0.6887267 ] [ 0. 0. 0. 1. ]] SLAMing on 55.99907232899999 meters Centerline goodness : 0.810811 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.68 [[ 0.97528431 -0.2063098 -0.07909979 2.61065822] [ 0.21025411 0.97660147 0.0451971 0.04416381] [ 0.06792436 -0.06071108 0.99584158 -0.68120777] [ 0. 0. 0. 1. ]] SLAMing on 56.029072328999995 meters Centerline goodness : 0.808657 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.68 [[ 0.97416274 -0.21093264 -0.08071165 2.61490978] [ 0.21504932 0.9755116 0.04616182 0.04365848] [ 0.06899812 -0.06232611 0.99566797 -0.67931989] [ 0. 0. 0. 1. ]] SLAMing on 56.059072328999996 meters Centerline goodness : 0.806551 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.68 [[ 0.97299097 -0.21603785 -0.08134018 2.61935798] [ 0.22006848 0.97447982 0.04426004 0.04307042] [ 0.06970252 -0.06096503 0.99570318 -0.67994717] [ 0. 0. 0. 1. ]] SLAMing on 56.089072329 meters Centerline goodness : 0.805704 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:-0.68 [[ 0.9717899 -0.22127595 -0.08161705 2.62402149] [ 0.22513304 0.97344665 0.04143347 0.04233557] [ 0.07028162 -0.05863932 0.99580215 -0.68161618] [ 0. 0. 0. 1. ]] SLAMing on 56.119072329 meters Centerline goodness : 0.803523 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.68 [[ 0.96946774 -0.23149959 -0.08087178 2.62693371] [ 0.23485742 0.97141058 0.03469114 0.0403231 ] [ 0.07052872 -0.05262528 0.99612061 -0.68061259] [ 0. 0. 0. 1. ]] SLAMing on 56.14907232899999 meters Centerline goodness : 0.803747 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.68 [[ 0.96842373 -0.22977775 -0.09673501 2.63153856] [ 0.23414163 0.97152369 0.03632385 0.03636116] [ 0.08563394 -0.05782658 0.99464713 -0.67534329] [ 0. 0. 0. 1. ]] SLAMing on 56.17907232899999 meters Centerline goodness : 0.804077 Centerline is valid? [False, False] Translation: X:2.63, Y:0.04, Z:-0.67 [[ 0.96774735 -0.23237631 -0.09729497 2.63167553] [ 0.23684398 0.97084103 0.03704897 0.03525637] [ 0.08584865 -0.05889777 0.99456577 -0.67209511] [ 0. 0. 0. 1. ]] SLAMing on 56.209072328999994 meters Centerline goodness : 0.805423 Centerline is valid? [False, False] Translation: X:2.63, Y:0.03, Z:-0.67 [[ 0.96721292 -0.23409537 -0.09848107 2.63318701] [ 0.23877775 0.97030533 0.03863623 0.03493327] [ 0.08651214 -0.06088455 0.99438862 -0.66961534] [ 0. 0. 0. 1. ]] SLAMing on 56.239072328999995 meters Centerline goodness : 0.804556 Centerline is valid? [False, False] Translation: X:2.64, Y:0.04, Z:-0.67 [[ 0.96583613 -0.23889453 -0.10044884 2.63705792] [ 0.24385311 0.96897847 0.04020438 0.03511513] [ 0.08772816 -0.0633256 0.99412959 -0.66633752] [ 0. 0. 0. 1. ]] SLAMing on 56.269072329 meters Centerline goodness : 0.802997 Centerline is valid? [False, False] Translation: X:2.64, Y:0.03, Z:-0.67 [[ 0.96517573 -0.24117476 -0.10134371 2.64097014] [ 0.24621322 0.96837445 0.04037295 0.03492464] [ 0.08840173 -0.06391915 0.99403193 -0.66715408] [ 0. 0. 0. 1. ]] SLAMing on 56.299072329 meters Centerline goodness : 0.802903 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96476687 -0.24254159 -0.10197283 2.64537012] [ 0.24761515 0.96802164 0.04025966 0.03441012] [ 0.08894726 -0.06409121 0.99397218 -0.66962024] [ 0. 0. 0. 1. ]] SLAMing on 56.32907232899999 meters Centerline goodness : 0.805368 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96464198 -0.24280267 -0.10253152 2.64991203] [ 0.24790786 0.96794924 0.04019903 0.03294624] [ 0.08948487 -0.06419604 0.99391716 -0.67290253] [ 0. 0. 0. 1. ]] SLAMing on 56.35907232899999 meters Centerline goodness : 0.805090 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96503369 -0.24093169 -0.1032565 2.65201744] [ 0.24623083 0.96830546 0.0418916 0.03263662] [ 0.08989082 -0.06585174 0.9937722 -0.67433454] [ 0. 0. 0. 1. ]] SLAMing on 56.389072328999994 meters Centerline goodness : 0.805090 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96503369 -0.24093169 -0.1032565 2.65201744] [ 0.24623083 0.96830546 0.0418916 0.03263662] [ 0.08989082 -0.06585174 0.9937722 -0.67433454] [ 0. 0. 0. 1. ]] SLAMing on 56.419072328999995 meters Centerline goodness : 0.804377 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96528396 -0.23979129 -0.10357129 2.65068817] [ 0.24519126 0.96852884 0.04281504 0.03318619] [ 0.09004511 -0.06672345 0.99370009 -0.67266439] [ 0. 0. 0. 1. ]] SLAMing on 56.449072328999996 meters Centerline goodness : 0.804169 Centerline is valid? [False, False] Translation: X:2.65, Y:0.03, Z:-0.67 [[ 0.96589759 -0.2366225 -0.10512677 2.65279873] [ 0.24248288 0.96902607 0.04680307 0.03350059] [ 0.09079592 -0.07069842 0.99335685 -0.67298717] [ 0. 0. 0. 1. ]] SLAMing on 56.479072329 meters Centerline goodness : 0.803863 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.67 [[ 0.96697334 -0.23167614 -0.10624843 2.65263061] [ 0.2379039 0.96999638 0.05008743 0.03551424] [ 0.09145653 -0.07371013 0.9930773 -0.67308134] [ 0. 0. 0. 1. ]] SLAMing on 56.50907232899999 meters Centerline goodness : 0.803673 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.67 [[ 0.96730754 -0.23039294 -0.10599626 2.65220054] [ 0.23651389 0.97038295 0.0491743 0.03714555] [ 0.09152756 -0.07263626 0.99314988 -0.67437039] [ 0. 0. 0. 1. ]] SLAMing on 56.53907232899999 meters Centerline goodness : 0.803694 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.68 [[ 0.967773 -0.2285366 -0.10576594 2.65374806] [ 0.23454064 0.97091296 0.048153 0.03864644] [ 0.0916848 -0.07140759 0.99322447 -0.6781951 ] [ 0. 0. 0. 1. ]] SLAMing on 56.569072328999994 meters Centerline goodness : 0.806568 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96879338 -0.22930202 -0.09412744 2.65889032] [ 0.23425259 0.97112054 0.04528384 0.04576958] [ 0.08102541 -0.06592028 0.99452974 -0.68378983] [ 0. 0. 0. 1. ]] SLAMing on 56.599072328999995 meters Centerline goodness : 0.807053 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96921263 -0.22743683 -0.09433648 2.65747993] [ 0.23242729 0.97154155 0.04565719 0.04724942] [ 0.08126769 -0.0661779 0.99449286 -0.68298928] [ 0. 0. 0. 1. ]] SLAMing on 56.629072328999996 meters Centerline goodness : 0.806547 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.96988403 -0.22414264 -0.09531554 2.6584888 ] [ 0.22941034 0.97212962 0.04832087 0.04822348] [ 0.0818283 -0.06873201 0.99427362 -0.68368657] [ 0. 0. 0. 1. ]] SLAMing on 56.659072329 meters Centerline goodness : 0.806415 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.97101125 -0.21886495 -0.09610038 2.65780931] [ 0.22440521 0.97315542 0.05109621 0.04995297] [ 0.08233743 -0.07118042 0.9940593 -0.68404516] [ 0. 0. 0. 1. ]] SLAMing on 56.68907232899999 meters Centerline goodness : 0.805342 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.68 [[ 0.97128446 -0.21760941 -0.09619063 2.6564816 ] [ 0.22315839 0.97343891 0.05115682 0.05130589] [ 0.0825035 -0.07115357 0.99404745 -0.68321915] [ 0. 0. 0. 1. ]] SLAMing on 56.71907232899999 meters Centerline goodness : 0.804260 Centerline is valid? [False, False] Translation: X:2.66, Y:0.05, Z:-0.69 [[ 0.97208908 -0.21888803 -0.08444441 2.66198325] [ 0.22379342 0.97315591 0.05370357 0.05463429] [ 0.0704225 -0.07110276 0.99497993 -0.69074058] [ 0. 0. 0. 1. ]] SLAMing on 56.74907232899999 meters Centerline goodness : 0.807541 Centerline is valid? [False, False] Translation: X:2.66, Y:0.06, Z:-0.69 [[ 0.97250984 -0.21697385 -0.08453974 2.66124434] [ 0.22189865 0.97357826 0.05391073 0.05564684] [ 0.07060883 -0.07118797 0.99496064 -0.69087761] [ 0. 0. 0. 1. ]] SLAMing on 56.779072328999995 meters Centerline goodness : 0.809175 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:-0.70 [[ 0.97378759 -0.2102303 -0.08683863 2.66630236] [ 0.21565801 0.9747066 0.05864022 0.06009962] [ 0.07231423 -0.07583056 0.99449504 -0.6957475 ] [ 0. 0. 0. 1. ]] SLAMing on 56.809072328999996 meters Centerline goodness : 0.811610 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:-0.70 [[ 0.974378 -0.2070398 -0.08787516 2.66714936] [ 0.21269805 0.97522853 0.06073596 0.06264479] [ 0.0731236 -0.07787066 0.99427818 -0.69638491] [ 0. 0. 0. 1. ]] SLAMing on 56.839072329 meters Centerline goodness : 0.813266 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97494748 -0.20393246 -0.08881983 2.6678066 ] [ 0.20983104 0.97570544 0.06300653 0.06503609] [ 0.07381292 -0.08006521 0.99405292 -0.6968581 ] [ 0. 0. 0. 1. ]] SLAMing on 56.869072329 meters Centerline goodness : 0.813575 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.9756729 -0.2001553 -0.08944416 2.66772525] [ 0.20619001 0.9764042 0.0641912 0.06880297] [ 0.07448545 -0.08107211 0.99392114 -0.69791205] [ 0. 0. 0. 1. ]] SLAMing on 56.89907232899999 meters Centerline goodness : 0.812987 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97565281 -0.20031588 -0.08930363 2.66782577] [ 0.20622365 0.97649727 0.06264896 0.07050777] [ 0.07465517 -0.07954016 0.99403218 -0.69879307] [ 0. 0. 0. 1. ]] SLAMing on 56.92907232899999 meters Centerline goodness : 0.809344 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97553079 -0.20089259 -0.08934113 2.66893546] [ 0.20672243 0.97646068 0.06156598 0.07201655] [ 0.07486995 -0.07852833 0.99409647 -0.70002851] [ 0. 0. 0. 1. ]] SLAMing on 56.959072328999994 meters Centerline goodness : 0.810033 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.70 [[ 0.97534031 -0.20145791 -0.09014432 2.67109905] [ 0.20736678 0.97631169 0.06176163 0.07392691] [ 0.07556658 -0.07893155 0.99401182 -0.70060752] [ 0. 0. 0. 1. ]] SLAMing on 56.989072328999995 meters Centerline goodness : 0.806438 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97517682 -0.20067271 -0.09359827 2.67752152] [ 0.20727947 0.97597653 0.06711961 0.07838188] [ 0.07788064 -0.08485449 0.99334502 -0.70089944] [ 0. 0. 0. 1. ]] SLAMing on 57.019072329 meters Centerline goodness : 0.806451 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97498814 -0.20096941 -0.09491801 2.68054915] [ 0.20780254 0.97576646 0.06854131 0.08061272] [ 0.07884311 -0.08655117 0.99312268 -0.70141417] [ 0. 0. 0. 1. ]] SLAMing on 57.049072329 meters Centerline goodness : 0.805096 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97480853 -0.20161181 -0.09539921 2.68195372] [ 0.20847929 0.9756293 0.06843877 0.08184434] [ 0.0792762 -0.08660345 0.99308364 -0.70176749] [ 0. 0. 0. 1. ]] SLAMing on 57.07907232899999 meters Centerline goodness : 0.804175 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.70 [[ 0.97465883 -0.20201331 -0.096077 2.68464445] [ 0.20898845 0.97547821 0.06903694 0.08291746] [ 0.07977464 -0.08736645 0.99297689 -0.70309521] [ 0. 0. 0. 1. ]] SLAMing on 57.10907232899999 meters Centerline goodness : 0.803026 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97407519 -0.20412927 -0.0975129 2.68798855] [ 0.21127359 0.97495055 0.06953346 0.08649059] [ 0.08087644 -0.08833272 0.99280226 -0.70327803] [ 0. 0. 0. 1. ]] SLAMing on 57.139072328999994 meters Centerline goodness : 0.802516 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97369856 -0.20568952 -0.09799453 2.68914879] [ 0.21281064 0.97467472 0.06870822 0.08795807] [ 0.08138023 -0.08775537 0.99281229 -0.70299596] [ 0. 0. 0. 1. ]] SLAMing on 57.169072328999995 meters Centerline goodness : 0.805468 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97336894 -0.20705166 -0.09839981 2.69053469] [ 0.21414603 0.97443672 0.06793057 0.08847115] [ 0.08181925 -0.08719343 0.99282572 -0.70308092] [ 0. 0. 0. 1. ]] SLAMing on 57.199072328999996 meters Centerline goodness : 0.806882 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97297386 -0.2085276 -0.09918723 2.69119103] [ 0.21573321 0.97405264 0.06841512 0.0898472 ] [ 0.08234714 -0.0879641 0.99271409 -0.70144254] [ 0. 0. 0. 1. ]] SLAMing on 57.229072329 meters Centerline goodness : 0.803317 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.70 [[ 0.97280224 -0.20878215 -0.10032856 2.69118022] [ 0.21622305 0.97383085 0.07000762 0.09179243] [ 0.08308671 -0.08979691 0.99248834 -0.69892693] [ 0. 0. 0. 1. ]] SLAMing on 57.25907232899999 meters Centerline goodness : 0.804100 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.70 [[ 0.97299583 -0.21316034 -0.08855384 2.6932473 ] [ 0.21945839 0.97319928 0.06871086 0.09794141] [ 0.0715341 -0.08628927 0.99369866 -0.69964824] [ 0. 0. 0. 1. ]] SLAMing on 57.28907232899999 meters Centerline goodness : 0.802986 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.70 [[ 0.9730404 -0.21273394 -0.08908789 2.6939911 ] [ 0.21908163 0.97328093 0.06875663 0.09923354] [ 0.07208067 -0.0864205 0.99364776 -0.6996522 ] [ 0. 0. 0. 1. ]] SLAMing on 57.319072328999994 meters Centerline goodness : 0.803347 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.70 [[ 0.97341611 -0.21107494 -0.08892939 2.69683529] [ 0.21724858 0.97384436 0.06655981 0.10107094] [ 0.07255428 -0.08411017 0.99381153 -0.70445188] [ 0. 0. 0. 1. ]] SLAMing on 57.349072328999995 meters Centerline goodness : 0.803701 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.71 [[ 0.97365832 -0.21016879 -0.08842263 2.69588437] [ 0.21621629 0.97415131 0.0654197 0.10191598] [ 0.07238784 -0.08281485 0.99393244 -0.70513825] [ 0. 0. 0. 1. ]] SLAMing on 57.379072328999996 meters Centerline goodness : 0.802812 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.70 [[ 0.97379553 -0.20941458 -0.08870065 2.69535138] [ 0.21546784 0.97433271 0.06518722 0.10378481] [ 0.07277279 -0.08259116 0.99392295 -0.70458654] [ 0. 0. 0. 1. ]] SLAMing on 57.409072329 meters Centerline goodness : 0.800741 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97422297 -0.20638665 -0.09107228 2.69703163] [ 0.21293293 0.97461805 0.06913186 0.10854003] [ 0.0744928 -0.08674213 0.99344181 -0.70333126] [ 0. 0. 0. 1. ]] SLAMing on 57.43907232899999 meters Centerline goodness : 0.800811 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97424518 -0.20588943 -0.09195577 2.69705656] [ 0.21257857 0.97463343 0.0700002 0.11104541] [ 0.07521086 -0.08774519 0.99329961 -0.70196042] [ 0. 0. 0. 1. ]] SLAMing on 57.46907232899999 meters Centerline goodness : 0.799593 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.70 [[ 0.97432193 -0.20533328 -0.09238515 2.69648822] [ 0.21207714 0.97472661 0.07022335 0.11281851] [ 0.07563108 -0.08801293 0.99324401 -0.70090281] [ 0. 0. 0. 1. ]] SLAMing on 57.49907232899999 meters Centerline goodness : 0.798673 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97434107 -0.20533712 -0.09217453 2.6961333 ] [ 0.211938 0.97487317 0.06858995 0.11653365] [ 0.07577442 -0.08636529 0.99337771 -0.70184052] [ 0. 0. 0. 1. ]] SLAMing on 57.529072328999995 meters Centerline goodness : 0.798146 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97415379 -0.20623867 -0.0921412 2.69652323] [ 0.21273111 0.97479719 0.06720049 0.11844978] [ 0.07595964 -0.08506491 0.99347576 -0.70226086] [ 0. 0. 0. 1. ]] SLAMing on 57.559072328999996 meters Centerline goodness : 0.794315 Centerline is valid? [False, False] Translation: X:2.70, Y:0.12, Z:-0.70 [[ 0.97378048 -0.20706577 -0.09420908 2.70194595] [ 0.21381527 0.97449013 0.06820563 0.12287159] [ 0.07768277 -0.08656065 0.99321329 -0.70423022] [ 0. 0. 0. 1. ]] SLAMing on 57.589072329 meters Centerline goodness : 0.792231 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.97354631 -0.20787833 -0.09483772 2.70217611] [ 0.21469045 0.97429137 0.06829598 0.12519749] [ 0.07820232 -0.08685005 0.99314725 -0.70302015] [ 0. 0. 0. 1. ]] SLAMing on 57.61907232899999 meters Centerline goodness : 0.792039 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.9733017 -0.20839442 -0.09620585 2.70404323] [ 0.21539219 0.97407892 0.06911197 0.12723657] [ 0.07930955 -0.08798878 0.9929592 -0.7019726 ] [ 0. 0. 0. 1. ]] SLAMing on 57.64907232899999 meters Centerline goodness : 0.791387 Centerline is valid? [False, False] Translation: X:2.70, Y:0.13, Z:-0.70 [[ 0.9730678 -0.20920804 -0.09680415 2.70451228] [ 0.21624614 0.97390156 0.06894457 0.12939555] [ 0.07985395 -0.08802126 0.99291269 -0.70109525] [ 0. 0. 0. 1. ]] SLAMing on 57.67907232899999 meters Centerline goodness : 0.788557 Centerline is valid? [False, False] Translation: X:2.71, Y:0.13, Z:-0.70 [[ 0.97249612 -0.21098134 -0.09868215 2.70759372] [ 0.21822817 0.97342479 0.06943089 0.13398448] [ 0.08141103 -0.0890565 0.9926939 -0.70035603] [ 0. 0. 0. 1. ]] SLAMing on 57.709072328999994 meters Centerline goodness : 0.785594 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97216534 -0.21222119 -0.09928098 2.70856025] [ 0.2194855 0.97317444 0.06897553 0.13592654] [ 0.08197964 -0.08884636 0.99266594 -0.69980783] [ 0. 0. 0. 1. ]] SLAMing on 57.739072328999995 meters Centerline goodness : 0.784734 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97192991 -0.21311338 -0.09967415 2.7097008 ] [ 0.22035972 0.97302293 0.06832257 0.13740176] [ 0.08242478 -0.08836892 0.99267169 -0.69992224] [ 0. 0. 0. 1. ]] SLAMing on 57.769072329 meters Centerline goodness : 0.783620 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97152491 -0.21465037 -0.10032227 2.71090547] [ 0.2219169 0.97270198 0.0678509 0.13938967] [ 0.08301945 -0.08818205 0.99263875 -0.69929068] [ 0. 0. 0. 1. ]] SLAMing on 57.799072329 meters Centerline goodness : 0.783612 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97119651 -0.21568757 -0.101273 2.71208123] [ 0.22305672 0.97242749 0.06804759 0.14090577] [ 0.08380363 -0.0886772 0.99252874 -0.69805967] [ 0. 0. 0. 1. ]] SLAMing on 57.82907232899999 meters Centerline goodness : 0.781409 Centerline is valid? [False, False] Translation: X:2.71, Y:0.14, Z:-0.70 [[ 0.97083024 -0.2169273 -0.10213317 2.71266308] [ 0.22439134 0.97210706 0.0682377 0.14304493] [ 0.08448176 -0.08916502 0.99242754 -0.69664591] [ 0. 0. 0. 1. ]] SLAMing on 57.85907232899999 meters Centerline goodness : 0.780587 Centerline is valid? [False, False] Translation: X:2.71, Y:0.15, Z:-0.70 [[ 0.97045728 -0.21812594 -0.10312 2.71357846] [ 0.22567956 0.97180961 0.06822622 0.14567007] [ 0.0853311 -0.08948271 0.99232628 -0.69533628] [ 0. 0. 0. 1. ]] SLAMing on 57.889072328999994 meters Centerline goodness : 0.777617 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.69 [[ 0.96975777 -0.2201538 -0.10536681 2.71680094] [ 0.22793054 0.97127103 0.06841246 0.15115293] [ 0.08727847 -0.09035983 0.9920774 -0.69403404] [ 0. 0. 0. 1. ]] SLAMing on 57.919072328999995 meters Centerline goodness : 0.776385 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.69 [[ 0.96951009 -0.22111323 -0.10563679 2.71821631] [ 0.22882143 0.97113651 0.06733974 0.15306226] [ 0.08769803 -0.08945851 0.99212208 -0.69487675] [ 0. 0. 0. 1. ]] SLAMing on 57.949072328999996 meters Centerline goodness : 0.774682 Centerline is valid? [False, False] Translation: X:2.72, Y:0.15, Z:-0.70 [[ 0.96936756 -0.22190306 -0.10528798 2.71885811] [ 0.22941613 0.97112408 0.06546948 0.15421248] [ 0.08771982 -0.08761875 0.99228433 -0.69609224] [ 0. 0. 0. 1. ]] SLAMing on 57.979072329 meters Centerline goodness : 0.776412 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.70 [[ 0.96930272 -0.22215637 -0.10535077 2.72017829] [ 0.22957276 0.97116454 0.06431 0.15510678] [ 0.08802606 -0.08652153 0.99235348 -0.69720942] [ 0. 0. 0. 1. ]] SLAMing on 58.00907232899999 meters Centerline goodness : 0.774691 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.70 [[ 0.96898579 -0.22232556 -0.10787906 2.72281113] [ 0.23021707 0.97082353 0.06709531 0.15908777] [ 0.08981452 -0.08985 0.99189734 -0.6951457 ] [ 0. 0. 0. 1. ]] SLAMing on 58.03907232899999 meters Centerline goodness : 0.773419 Centerline is valid? [False, False] Translation: X:2.72, Y:0.16, Z:-0.69 [[ 0.96861013 -0.22318088 -0.10947474 2.72339919] [ 0.23137254 0.970432 0.06876401 0.16197916] [ 0.09089098 -0.09193497 0.99160818 -0.69244061] [ 0. 0. 0. 1. ]] SLAMing on 58.069072328999994 meters Centerline goodness : 0.772296 Centerline is valid? [False, False] Translation: X:2.72, Y:0.17, Z:-0.69 [[ 0.96825427 -0.22406026 -0.11081818 2.72423273] [ 0.23245782 0.97011179 0.06961656 0.16509263] [ 0.09190772 -0.09316708 0.99139945 -0.69068526] [ 0. 0. 0. 1. ]] SLAMing on 58.099072328999995 meters Centerline goodness : 0.769726 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.69 [[ 0.96816153 -0.2240167 -0.11171293 2.72724733] [ 0.23235947 0.97024064 0.0681335 0.17026838] [ 0.09312539 -0.09192179 0.99140206 -0.69307832] [ 0. 0. 0. 1. ]] SLAMing on 58.129072328999996 meters Centerline goodness : 0.769733 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.69 [[ 0.96825358 -0.22410934 -0.11072488 2.72676202] [ 0.23211809 0.97047755 0.06553263 0.17183048] [ 0.09276954 -0.08915345 0.99168819 -0.69475802] [ 0. 0. 0. 1. ]] SLAMing on 58.159072329 meters Centerline goodness : 0.768886 Centerline is valid? [False, False] Translation: X:2.73, Y:0.17, Z:-0.70 [[ 0.96836684 -0.22392407 -0.11010755 2.72622189] [ 0.23172898 0.97067641 0.06394519 0.17329657] [ 0.09255994 -0.08743751 0.99186054 -0.69568781] [ 0. 0. 0. 1. ]] SLAMing on 58.18907232899999 meters Centerline goodness : 0.767235 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.70 [[ 0.96857258 -0.22172775 -0.11271185 2.72909349] [ 0.23001609 0.97090243 0.06664137 0.17878216] [ 0.09465597 -0.09047254 0.99139042 -0.69516444] [ 0. 0. 0. 1. ]] SLAMing on 58.21907232899999 meters Centerline goodness : 0.765743 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.69 [[ 0.96859868 -0.22072675 -0.11443908 2.73089028] [ 0.22939405 0.970889 0.06894145 0.18206247] [ 0.09589042 -0.09302824 0.9910352 -0.6944994 ] [ 0. 0. 0. 1. ]] SLAMing on 58.24907232899999 meters Centerline goodness : 0.764631 Centerline is valid? [False, False] Translation: X:2.73, Y:0.18, Z:-0.69 [[ 0.96856703 -0.22044737 -0.11524267 2.73148296] [ 0.22920757 0.97092 0.0691249 0.18477402] [ 0.09665301 -0.09336659 0.9909293 -0.69384824] [ 0. 0. 0. 1. ]] SLAMing on 58.279072328999995 meters Centerline goodness : 0.765961 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96862929 -0.21999776 -0.11557807 2.73144976] [ 0.22876575 0.97104073 0.06889212 0.18678205] [ 0.0970749 -0.09317123 0.99090645 -0.6934411 ] [ 0. 0. 0. 1. ]] SLAMing on 58.309072328999996 meters Centerline goodness : 0.765961 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96862929 -0.21999776 -0.11557807 2.73144976] [ 0.22876575 0.97104073 0.06889212 0.18678205] [ 0.0970749 -0.09317123 0.99090645 -0.6934411 ] [ 0. 0. 0. 1. ]] SLAMing on 58.339072329 meters Centerline goodness : 0.761465 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96907546 -0.21759338 -0.11638673 2.73182748] [ 0.22659935 0.97142659 0.07059115 0.18971019] [ 0.097701 -0.09478131 0.99069219 -0.69350035] [ 0. 0. 0. 1. ]] SLAMing on 58.36907232899999 meters Centerline goodness : 0.761837 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96904541 -0.21715964 -0.11744229 2.73380951] [ 0.2263297 0.9714427 0.07123169 0.19201632] [ 0.0986198 -0.09560742 0.99052176 -0.69393789] [ 0. 0. 0. 1. ]] SLAMing on 58.39907232899999 meters Centerline goodness : 0.764396 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.69 [[ 0.96902781 -0.21708551 -0.11772415 2.73442073] [ 0.22625224 0.97148304 0.07092697 0.19395032] [ 0.0989698 -0.09536556 0.99051017 -0.69429128] [ 0. 0. 0. 1. ]] SLAMing on 58.42907232899999 meters Centerline goodness : 0.764375 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96895838 -0.2175633 -0.11741324 2.73510834] [ 0.22648097 0.97158833 0.0687203 0.19738004] [ 0.09912632 -0.09317898 0.9907026 -0.69621257] [ 0. 0. 0. 1. ]] SLAMing on 58.459072328999994 meters Centerline goodness : 0.762443 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96895592 -0.21772132 -0.11714034 2.73533099] [ 0.22647242 0.97168929 0.06730657 0.19869196] [ 0.09916994 -0.09174616 0.99083196 -0.69705427] [ 0. 0. 0. 1. ]] SLAMing on 58.489072328999995 meters Centerline goodness : 0.760669 Centerline is valid? [False, False] Translation: X:2.74, Y:0.20, Z:-0.70 [[ 0.96903722 -0.21734154 -0.11717304 2.73544648] [ 0.22603901 0.97182845 0.06675192 0.19994363] [ 0.09936413 -0.09117077 0.99086561 -0.69730834] [ 0. 0. 0. 1. ]] SLAMing on 58.519072329 meters Centerline goodness : 0.759710 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.70 [[ 0.96920756 -0.21639492 -0.11751568 2.73446493] [ 0.22520387 0.97196559 0.06757296 0.20109926] [ 0.09959876 -0.09195721 0.99076938 -0.69575458] [ 0. 0. 0. 1. ]] SLAMing on 58.549072329 meters Centerline goodness : 0.763037 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983457 -0.21888715 -0.10728149 2.73546726] [ 0.2269122 0.97145002 0.06925112 0.20853419] [ 0.08906042 -0.09150561 0.99181398 -0.69349386] [ 0. 0. 0. 1. ]] SLAMing on 58.57907232899999 meters Centerline goodness : 0.761762 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96986736 -0.21833472 -0.10810762 2.73553145] [ 0.22651297 0.97148162 0.07010944 0.21015201] [ 0.08971724 -0.09248464 0.99166396 -0.69200303] [ 0. 0. 0. 1. ]] SLAMing on 58.60907232899999 meters Centerline goodness : 0.761218 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983114 -0.21848255 -0.10813384 2.73544082] [ 0.22662297 0.97148816 0.06966185 0.21137936] [ 0.08983085 -0.09206585 0.99169264 -0.69165851] [ 0. 0. 0. 1. ]] SLAMing on 58.639072328999994 meters Centerline goodness : 0.761553 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96983944 -0.21838666 -0.10825312 2.73616086] [ 0.22654075 0.97150517 0.06969211 0.21112432] [ 0.08994864 -0.0921139 0.9916775 -0.69200629] [ 0. 0. 0. 1. ]] SLAMing on 58.669072328999995 meters Centerline goodness : 0.757389 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96939189 -0.22131457 -0.10629781 2.73649066] [ 0.22878064 0.9713746 0.06395938 0.21194673] [ 0.08909985 -0.08632058 0.99227515 -0.69506335] [ 0. 0. 0. 1. ]] SLAMing on 58.699072328999996 meters Centerline goodness : 0.755786 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96895296 -0.22312124 -0.10652264 2.73861843] [ 0.23039834 0.97114447 0.06160372 0.21258674] [ 0.08970378 -0.08423375 0.99240007 -0.69584482] [ 0. 0. 0. 1. ]] SLAMing on 58.729072329 meters Centerline goodness : 0.756088 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.70 [[ 0.96860966 -0.22429327 -0.10718147 2.7402339 ] [ 0.23159252 0.97088587 0.06120075 0.21289257] [ 0.09033405 -0.08410206 0.99235407 -0.69551787] [ 0. 0. 0. 1. ]] SLAMing on 58.75907232899999 meters Centerline goodness : 0.757007 Centerline is valid? [False, False] Translation: X:2.74, Y:0.21, Z:-0.69 [[ 0.96828151 -0.22419622 -0.11030402 2.74213533] [ 0.23221367 0.97042088 0.06603122 0.21445708] [ 0.09223738 -0.08955091 0.99170202 -0.69144184] [ 0. 0. 0. 1. ]] SLAMing on 58.78907232899999 meters Centerline goodness : 0.755782 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:-0.69 [[ 0.9681477 -0.22476915 -0.11031253 2.7407495 ] [ 0.23268724 0.97038096 0.06494191 0.21751629] [ 0.09244824 -0.08854167 0.99177301 -0.6897213 ] [ 0. 0. 0. 1. ]] SLAMing on 58.819072328999994 meters Centerline goodness : 0.756436 Centerline is valid? [False, False] Translation: X:2.74, Y:0.22, Z:-0.69 [[ 0.96807317 -0.22514931 -0.11019128 2.73980056] [ 0.23299867 0.97034824 0.06431114 0.21865747] [ 0.09244431 -0.08793231 0.99182758 -0.68865156] [ 0. 0. 0. 1. ]] SLAMing on 58.849072328999995 meters Centerline goodness : 0.755617 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96889471 -0.22550707 -0.10192943 2.73044341] [ 0.23222102 0.97084056 0.05951478 0.21607805] [ 0.08553622 -0.08133371 0.99300976 -0.69163188] [ 0. 0. 0. 1. ]] SLAMing on 58.879072328999996 meters Centerline goodness : 0.757558 Centerline is valid? [False, False] Translation: X:2.73, Y:0.21, Z:-0.69 [[ 0.96909128 -0.22651951 -0.09772918 2.72591184] [ 0.23271462 0.97085275 0.05734844 0.21489513] [ 0.08189011 -0.07831888 0.99355934 -0.69294825] [ 0. 0. 0. 1. ]] SLAMing on 58.909072329 meters Centerline goodness : 0.757106 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96908135 -0.22657016 -0.09771029 2.72629399] [ 0.2327487 0.97085544 0.05716436 0.21535327] [ 0.08191083 -0.07813886 0.99357181 -0.69328677] [ 0. 0. 0. 1. ]] SLAMing on 58.93907232899999 meters Centerline goodness : 0.757998 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.9689702 -0.22702937 -0.09774664 2.72538522] [ 0.233132 0.97081977 0.05619999 0.21828859] [ 0.08213532 -0.07724399 0.99362325 -0.69211034] [ 0. 0. 0. 1. ]] SLAMing on 58.96907232899999 meters Centerline goodness : 0.757737 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96883986 -0.22648078 -0.10027857 2.72811077] [ 0.23300767 0.97069084 0.05887894 0.22044127] [ 0.08400454 -0.08040994 0.99321573 -0.69015214] [ 0. 0. 0. 1. ]] SLAMing on 58.99907232899999 meters Centerline goodness : 0.756779 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96878411 -0.22670614 -0.10030789 2.72769687] [ 0.23318461 0.97068486 0.0582738 0.22182424] [ 0.08415632 -0.07984498 0.99324845 -0.68925399] [ 0. 0. 0. 1. ]] SLAMing on 59.029072328999995 meters Centerline goodness : 0.757752 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96868674 -0.22728228 -0.0999438 2.72635041] [ 0.23365665 0.9706249 0.0573748 0.22171805] [ 0.08396766 -0.07893074 0.99333749 -0.68753755] [ 0. 0. 0. 1. ]] SLAMing on 59.059072328999996 meters Centerline goodness : 0.760269 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96865372 -0.22745987 -0.09985975 2.72603763] [ 0.23379071 0.97061855 0.05693454 0.22238231] [ 0.0839754 -0.07849614 0.99337127 -0.68702489] [ 0. 0. 0. 1. ]] SLAMing on 59.089072329 meters Centerline goodness : 0.761158 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96863031 -0.22755958 -0.09985968 2.72617591] [ 0.23386571 0.9706177 0.05664012 0.22314736] [ 0.08403657 -0.07821709 0.99338811 -0.68699465] [ 0. 0. 0. 1. ]] SLAMing on 59.11907232899999 meters Centerline goodness : 0.760588 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.9685646 -0.2279355 -0.09963944 2.72578361] [ 0.23422042 0.97053535 0.05658556 0.223157 ] [ 0.08380574 -0.07814436 0.99341334 -0.68743481] [ 0. 0. 0. 1. ]] SLAMing on 59.14907232899999 meters Centerline goodness : 0.761250 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96853203 -0.22806397 -0.09966207 2.72568716] [ 0.2343375 0.97051637 0.05642625 0.22313497] [ 0.08385487 -0.07800519 0.99342013 -0.6870094 ] [ 0. 0. 0. 1. ]] SLAMing on 59.17907232899999 meters Centerline goodness : 0.762022 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96852494 -0.22806849 -0.09972063 2.72584333] [ 0.234336 0.97052403 0.05630047 0.22288281] [ 0.08394091 -0.07789654 0.99342139 -0.68658283] [ 0. 0. 0. 1. ]] SLAMing on 59.209072328999994 meters Centerline goodness : 0.762237 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96850862 -0.22814915 -0.09969466 2.72569405] [ 0.23439861 0.97052001 0.05610888 0.22271098] [ 0.08395446 -0.07771022 0.99343483 -0.68601883] [ 0. 0. 0. 1. ]] SLAMing on 59.239072328999995 meters Centerline goodness : 0.762527 Centerline is valid? [False, False] Translation: X:2.73, Y:0.22, Z:-0.69 [[ 0.96847245 -0.22831326 -0.09967027 2.72524374] [ 0.23452858 0.97051081 0.05572355 0.22347613] [ 0.08400865 -0.07734225 0.99345897 -0.6852561 ] [ 0. 0. 0. 1. ]] SLAMing on 59.269072329 meters Centerline goodness : 0.762898 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96920525 -0.22506455 -0.09993564 2.72228029] [ 0.23158985 0.97100924 0.05922153 0.22405828] [ 0.08370977 -0.0805419 0.99322992 -0.68431368] [ 0. 0. 0. 1. ]] SLAMing on 59.299072329 meters Centerline goodness : 0.762818 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96918481 -0.22514871 -0.09994427 2.7224185 ] [ 0.23166639 0.97099712 0.05912091 0.22423433] [ 0.0837346 -0.08045281 0.99323505 -0.68437606] [ 0. 0. 0. 1. ]] SLAMing on 59.32907232899999 meters Centerline goodness : 0.762780 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96883159 -0.22676693 -0.09971009 2.71554434] [ 0.23183277 0.97183114 0.04240038 0.22411663] [ 0.08728637 -0.06419489 0.99411272 -0.6805258 ] [ 0. 0. 0. 1. ]] SLAMing on 59.35907232899999 meters Centerline goodness : 0.761085 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96793677 -0.23074759 -0.09926712 2.7173047 ] [ 0.23543031 0.97113961 0.03821541 0.22463651] [ 0.08758412 -0.06036059 0.99432672 -0.6804545 ] [ 0. 0. 0. 1. ]] SLAMing on 59.389072328999994 meters Centerline goodness : 0.759626 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.9679248 -0.23086669 -0.0991068 2.71732979] [ 0.23557393 0.97108953 0.03860106 0.22228852] [ 0.08732988 -0.0607099 0.99432781 -0.68074283] [ 0. 0. 0. 1. ]] SLAMing on 59.419072328999995 meters Centerline goodness : 0.768797 Centerline is valid? [False, False] Translation: X:2.72, Y:0.22, Z:-0.68 [[ 0.96784136 -0.23139243 -0.09869476 2.71582686] [ 0.23606503 0.97097532 0.03847382 0.22133505] [ 0.08692763 -0.06053493 0.99437373 -0.67999171] [ 0. 0. 0. 1. ]] SLAMing on 59.449072328999996 meters Centerline goodness : 0.764494 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.68 [[ 0.96754809 -0.23294094 -0.09792451 2.71133137] [ 0.23746102 0.97068451 0.0372 0.22259187] [ 0.08638841 -0.05924604 0.99449834 -0.67659422] [ 0. 0. 0. 1. ]] SLAMing on 59.479072329 meters Centerline goodness : 0.762330 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96740724 -0.23361774 -0.09770353 2.70949152] [ 0.23807456 0.97055713 0.03659737 0.22312006] [ 0.08627707 -0.05866529 0.99454243 -0.67483536] [ 0. 0. 0. 1. ]] SLAMing on 59.50907232899999 meters Centerline goodness : 0.763483 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96727888 -0.23434439 -0.09723304 2.70751891] [ 0.23875873 0.97039646 0.03640023 0.222013 ] [ 0.08582441 -0.05842441 0.99459578 -0.67371791] [ 0. 0. 0. 1. ]] SLAMing on 59.53907232899999 meters Centerline goodness : 0.762426 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96626465 -0.23873288 -0.09663975 2.70798814] [ 0.24274723 0.96956189 0.03199263 0.22247363] [ 0.08606053 -0.05437238 0.99480512 -0.67249818] [ 0. 0. 0. 1. ]] SLAMing on 59.569072328999994 meters Centerline goodness : 0.764657 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96433673 -0.24685469 -0.0954853 2.71110742] [ 0.25017141 0.96789675 0.02429302 0.22125399] [ 0.08642307 -0.04731434 0.99513437 -0.67283986] [ 0. 0. 0. 1. ]] SLAMing on 59.599072328999995 meters Centerline goodness : 0.766427 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96332921 -0.25097755 -0.0949058 2.71249638] [ 0.25392295 0.96701451 0.02015118 0.22190302] [ 0.08671779 -0.04351098 0.99528228 -0.67284296] [ 0. 0. 0. 1. ]] SLAMing on 59.629072328999996 meters Centerline goodness : 0.762190 Centerline is valid? [False, False] Translation: X:2.71, Y:0.22, Z:-0.67 [[ 0.96307151 -0.25218609 -0.0943157 2.71038821] [ 0.25510207 0.96670608 0.02005716 0.2203082 ] [ 0.08611742 -0.04337661 0.99534027 -0.67261037] [ 0. 0. 0. 1. ]] SLAMing on 59.659072329 meters Centerline goodness : 0.762701 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96278484 -0.24610527 -0.11170296 2.71750624] [ 0.24996261 0.96801159 0.0217313 0.21464882] [ 0.10278157 -0.04884413 0.993504 -0.66350218] [ 0. 0. 0. 1. ]] SLAMing on 59.68907232899999 meters Centerline goodness : 0.765624 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96228848 -0.2473866 -0.11314037 2.72143842] [ 0.25139171 0.96762636 0.02239299 0.21277678] [ 0.10393788 -0.04999106 0.99332664 -0.66335445] [ 0. 0. 0. 1. ]] SLAMing on 59.71907232899999 meters Centerline goodness : 0.767768 Centerline is valid? [False, False] Translation: X:2.72, Y:0.21, Z:-0.66 [[ 0.96213702 -0.24824107 -0.1125554 2.71956122] [ 0.25221285 0.96741453 0.02231171 0.20896306] [ 0.10334904 -0.04985484 0.99339492 -0.66209811] [ 0. 0. 0. 1. ]] SLAMing on 59.74907232899999 meters Centerline goodness : 0.770840 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96148615 -0.24275128 -0.12890381 2.7263257 ] [ 0.24781199 0.96849718 0.0245444 0.19887781] [ 0.11888479 -0.055543 0.99135331 -0.65414517] [ 0. 0. 0. 1. ]] SLAMing on 59.779072328999995 meters Centerline goodness : 0.767969 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96144795 -0.24290609 -0.12889714 2.72601396] [ 0.24797576 0.96845352 0.02461287 0.19834216] [ 0.11885228 -0.05562736 0.99135248 -0.65378492] [ 0. 0. 0. 1. ]] SLAMing on 59.809072328999996 meters Centerline goodness : 0.768846 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96106975 -0.24320003 -0.13114373 2.72945682] [ 0.2486403 0.96823089 0.02658835 0.19874431] [ 0.12051113 -0.05816088 0.99100675 -0.65236073] [ 0. 0. 0. 1. ]] SLAMing on 59.839072329 meters Centerline goodness : 0.766165 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.65 [[ 0.96106366 -0.24312598 -0.13132559 2.72972329] [ 0.24856492 0.96825284 0.02649364 0.19906046] [ 0.12071508 -0.058105 0.99098521 -0.65192683] [ 0. 0. 0. 1. ]] SLAMing on 59.86907232899999 meters Centerline goodness : 0.769859 Centerline is valid? [False, False] Translation: X:2.73, Y:0.20, Z:-0.66 [[ 0.9616242 -0.24135238 -0.13049114 2.73187358] [ 0.24663788 0.96876578 0.02574146 0.19560487] [ 0.12020258 -0.05693767 0.99111525 -0.65510039] [ 0. 0. 0. 1. ]] SLAMing on 59.89907232899999 meters Centerline goodness : 0.768526 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.66 [[ 0.96152114 -0.24247378 -0.12916485 2.73099837] [ 0.24731917 0.96866927 0.02265102 0.19434743] [ 0.11962574 -0.05372438 0.9913644 -0.655383 ] [ 0. 0. 0. 1. ]] SLAMing on 59.92907232899999 meters Centerline goodness : 0.766490 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.66 [[ 0.96153306 -0.24202462 -0.12991638 2.73352988] [ 0.24697835 0.96874245 0.02323286 0.19271021] [ 0.12023259 -0.05442569 0.99125273 -0.6558887 ] [ 0. 0. 0. 1. ]] SLAMing on 59.959072328999994 meters Centerline goodness : 0.766933 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96167455 -0.2411389 -0.13051473 2.73447195] [ 0.24626304 0.96889547 0.02441491 0.19029135] [ 0.12056775 -0.05562015 0.99114571 -0.65481834] [ 0. 0. 0. 1. ]] SLAMing on 59.989072328999995 meters Centerline goodness : 0.769789 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96179893 -0.24048114 -0.13081149 2.7344699 ] [ 0.24565846 0.96904033 0.02475409 0.18947176] [ 0.12080871 -0.0559434 0.99109817 -0.65380811] [ 0. 0. 0. 1. ]] SLAMing on 60.019072329 meters Centerline goodness : 0.768038 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.9621024 -0.23928668 -0.13077023 2.73476291] [ 0.24450951 0.96931884 0.02522058 0.18852656] [ 0.1207231 -0.05623934 0.99109186 -0.65408994] [ 0. 0. 0. 1. ]] SLAMing on 60.049072329 meters Centerline goodness : 0.766012 Centerline is valid? [False, False] Translation: X:2.73, Y:0.19, Z:-0.65 [[ 0.96237246 -0.23839704 -0.13040746 2.73471462] [ 0.2435818 0.96955468 0.02513237 0.18771962] [ 0.12044568 -0.05595158 0.9911419 -0.65477463] [ 0. 0. 0. 1. ]] SLAMing on 60.07907232899999 meters Centerline goodness : 0.768739 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96283743 -0.23718414 -0.12918111 2.73537206] [ 0.24204384 0.96999059 0.02308758 0.18531772] [ 0.11982845 -0.05349708 0.99135221 -0.65714169] [ 0. 0. 0. 1. ]] SLAMing on 60.10907232899999 meters Centerline goodness : 0.766800 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96304419 -0.23582009 -0.1301337 2.73852022] [ 0.24091944 0.97023038 0.02471502 0.18390548] [ 0.12043137 -0.05515339 0.99118837 -0.65850255] [ 0. 0. 0. 1. ]] SLAMing on 60.139072328999994 meters Centerline goodness : 0.768170 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96331419 -0.23466791 -0.13021808 2.73809707] [ 0.23981885 0.97049128 0.02517118 0.18331061] [ 0.12046864 -0.0554765 0.99116581 -0.6577789 ] [ 0. 0. 0. 1. ]] SLAMing on 60.169072328999995 meters Centerline goodness : 0.769409 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96441577 -0.23011252 -0.13019392 2.73726437] [ 0.23551029 0.9714829 0.02749331 0.18187201] [ 0.12015461 -0.05717699 0.99110729 -0.6577834 ] [ 0. 0. 0. 1. ]] SLAMing on 60.199072328999996 meters Centerline goodness : 0.769409 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96441577 -0.23011252 -0.13019392 2.73726437] [ 0.23551029 0.9714829 0.02749331 0.18187201] [ 0.12015461 -0.05717699 0.99110729 -0.6577834 ] [ 0. 0. 0. 1. ]] SLAMing on 60.229072329 meters Centerline goodness : 0.769399 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96478442 -0.2287447 -0.12987254 2.73740486] [ 0.23406854 0.97184179 0.02711909 0.1815234 ] [ 0.12001221 -0.05656315 0.99115976 -0.65863646] [ 0. 0. 0. 1. ]] SLAMing on 60.25907232899999 meters Centerline goodness : 0.770095 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96518292 -0.22716411 -0.12968577 2.73759501] [ 0.23250109 0.97220977 0.02741171 0.18066633] [ 0.11985482 -0.0566094 0.99117617 -0.65941757] [ 0. 0. 0. 1. ]] SLAMing on 60.28907232899999 meters Centerline goodness : 0.769378 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96617004 -0.22948412 -0.11769662 2.74009952] [ 0.23395925 0.97191081 0.02554293 0.18601574] [ 0.10852892 -0.05221502 0.99272104 -0.66172484] [ 0. 0. 0. 1. ]] SLAMing on 60.319072328999994 meters Centerline goodness : 0.768704 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96657568 -0.22762946 -0.11796733 2.74100798] [ 0.23219545 0.97231237 0.02634232 0.18610404] [ 0.10870481 -0.05285333 0.99266802 -0.6625553 ] [ 0. 0. 0. 1. ]] SLAMing on 60.349072328999995 meters Centerline goodness : 0.771539 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96700407 -0.22601221 -0.11756535 2.74014693] [ 0.23053354 0.97271112 0.02621763 0.185659 ] [ 0.10843162 -0.05245531 0.99271901 -0.66261361] [ 0. 0. 0. 1. ]] SLAMing on 60.379072328999996 meters Centerline goodness : 0.769600 Centerline is valid? [False, False] Translation: X:2.74, Y:0.19, Z:-0.66 [[ 0.96781438 -0.22315134 -0.1163564 2.73803647] [ 0.22751323 0.97344133 0.02548924 0.18545389] [ 0.10757817 -0.05114147 0.9928804 -0.66344346] [ 0. 0. 0. 1. ]] SLAMing on 60.409072329 meters Centerline goodness : 0.770941 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96804812 -0.22225063 -0.11613565 2.73816604] [ 0.22656152 0.97367154 0.02517177 0.18498211] [ 0.10748354 -0.05067935 0.99291434 -0.66386395] [ 0. 0. 0. 1. ]] SLAMing on 60.43907232899999 meters Centerline goodness : 0.769964 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96813301 -0.22173053 -0.11642183 2.73905458] [ 0.2260824 0.97377588 0.02544189 0.18421525] [ 0.10772753 -0.05095207 0.99287394 -0.66390651] [ 0. 0. 0. 1. ]] SLAMing on 60.46907232899999 meters Centerline goodness : 0.769164 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96798077 -0.22186842 -0.11742075 2.74042797] [ 0.22642889 0.97365701 0.02686974 0.18303571] [ 0.10836598 -0.05259684 0.99271868 -0.66231809] [ 0. 0. 0. 1. ]] SLAMing on 60.49907232899999 meters Centerline goodness : 0.769202 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96781372 -0.22233695 -0.11791046 2.7418845 ] [ 0.22695752 0.97352602 0.02715444 0.18173087] [ 0.10875147 -0.0530411 0.99265289 -0.66189906] [ 0. 0. 0. 1. ]] SLAMing on 60.529072328999995 meters Centerline goodness : 0.766699 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.9677559 -0.22249902 -0.11807921 2.74427962] [ 0.22713083 0.9734853 0.02716547 0.17975141] [ 0.10890408 -0.05310897 0.99263253 -0.66330215] [ 0. 0. 0. 1. ]] SLAMing on 60.559072328999996 meters Centerline goodness : 0.769419 Centerline is valid? [False, False] Translation: X:2.74, Y:0.18, Z:-0.66 [[ 0.96699589 -0.22613013 -0.11740572 2.74370346] [ 0.23049571 0.97275566 0.02486281 0.17592278] [ 0.10858485 -0.05110375 0.99277275 -0.66098655] [ 0. 0. 0. 1. ]] SLAMing on 60.589072329 meters Centerline goodness : 0.770610 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.66 [[ 0.96644939 -0.22811494 -0.11806421 2.74500118] [ 0.23255583 0.97225837 0.02512855 0.1742168 ] [ 0.10905672 -0.05174199 0.99268797 -0.65944215] [ 0. 0. 0. 1. ]] SLAMing on 60.61907232899999 meters Centerline goodness : 0.771723 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.66 [[ 0.96556606 -0.23160919 -0.1184878 2.74548112] [ 0.23598382 0.97145726 0.02413363 0.17324204] [ 0.10951626 -0.05126382 0.99266218 -0.65697515] [ 0. 0. 0. 1. ]] SLAMing on 60.64907232899999 meters Centerline goodness : 0.771356 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96463322 -0.23541093 -0.11859361 2.74561418] [ 0.23961743 0.97061007 0.02235127 0.17191339] [ 0.10984642 -0.04997787 0.99269128 -0.65447549] [ 0. 0. 0. 1. ]] SLAMing on 60.67907232899999 meters Centerline goodness : 0.773215 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96309343 -0.24129456 -0.1192811 2.74947065] [ 0.24533793 0.9692263 0.02024052 0.16908415] [ 0.11072645 -0.04875769 0.99265419 -0.65346781] [ 0. 0. 0. 1. ]] SLAMing on 60.709072328999994 meters Centerline goodness : 0.773148 Centerline is valid? [False, False] Translation: X:2.75, Y:0.17, Z:-0.65 [[ 0.96249433 -0.24386789 -0.11888276 2.75066344] [ 0.24767334 0.96867389 0.01813319 0.1669204 ] [ 0.11073652 -0.04689718 0.9927427 -0.65342829] [ 0. 0. 0. 1. ]] SLAMing on 60.739072328999995 meters Centerline goodness : 0.773007 Centerline is valid? [False, False] Translation: X:2.75, Y:0.16, Z:-0.65 [[ 0.9617568 -0.24682687 -0.11874492 2.75094336] [ 0.25043142 0.96799845 0.01622039 0.16479563] [ 0.11094127 -0.04533753 0.9927923 -0.65149735] [ 0. 0. 0. 1. ]] SLAMing on 60.769072329 meters Centerline goodness : 0.772670 Centerline is valid? [False, False] Translation: X:2.75, Y:0.16, Z:-0.65 [[ 0.96059165 -0.25069136 -0.12007303 2.75336327] [ 0.25439457 0.96696273 0.01632419 0.16097596] [ 0.11201381 -0.04622681 0.99263084 -0.64784851] [ 0. 0. 0. 1. ]] SLAMing on 60.799072329 meters Centerline goodness : 0.773639 Centerline is valid? [False, False] Translation: X:2.76, Y:0.16, Z:-0.65 [[ 0.96009919 -0.25172568 -0.12183485 2.75698653] [ 0.25570602 0.96658774 0.01796033 0.15903809] [ 0.11324299 -0.0483976 0.99238788 -0.64657293] [ 0. 0. 0. 1. ]] SLAMing on 60.82907232899999 meters Centerline goodness : 0.773627 Centerline is valid? [False, False] Translation: X:2.76, Y:0.16, Z:-0.64 [[ 0.95894865 -0.2552029 -0.12364858 2.76183478] [ 0.25934326 0.96561068 0.01836023 0.15597766] [ 0.11471081 -0.04967395 0.9921562 -0.6449869 ] [ 0. 0. 0. 1. ]] SLAMing on 60.85907232899999 meters Centerline goodness : 0.773857 Centerline is valid? [False, False] Translation: X:2.76, Y:0.15, Z:-0.65 [[ 0.95837511 -0.25723565 -0.12388286 2.7643784 ] [ 0.26123121 0.96512853 0.01688714 0.15491321] [ 0.11521891 -0.04854628 0.99215314 -0.64548137] [ 0. 0. 0. 1. ]] SLAMing on 60.889072328999994 meters Centerline goodness : 0.773256 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.65 [[ 0.95797694 -0.25828417 -0.12477769 2.7690103 ] [ 0.26226261 0.96485888 0.01629904 0.15322174] [ 0.11618308 -0.04833862 0.99205084 -0.64699185] [ 0. 0. 0. 1. ]] SLAMing on 60.919072328999995 meters Centerline goodness : 0.774780 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.65 [[ 0.95696103 -0.2619387 -0.12495483 2.77189187] [ 0.26573067 0.96393958 0.01441176 0.1487677 ] [ 0.11667391 -0.04699582 0.99205776 -0.6459583 ] [ 0. 0. 0. 1. ]] SLAMing on 60.949072328999996 meters Centerline goodness : 0.772687 Centerline is valid? [False, False] Translation: X:2.77, Y:0.15, Z:-0.64 [[ 0.95640483 -0.26342891 -0.12607542 2.77315977] [ 0.26742733 0.96345161 0.01560796 0.14651874] [ 0.11735597 -0.04864354 0.99189787 -0.64325326] [ 0. 0. 0. 1. ]] SLAMing on 60.979072329 meters Centerline goodness : 0.773599 Centerline is valid? [False, False] Translation: X:2.78, Y:0.15, Z:-0.64 [[ 0.95590787 -0.2644091 -0.12778096 2.77554602] [ 0.26868743 0.96307426 0.01717651 0.14528293] [ 0.11852093 -0.0507523 0.99165367 -0.64094062] [ 0. 0. 0. 1. ]] SLAMing on 61.00907232899999 meters Centerline goodness : 0.772771 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95571433 -0.26433487 -0.1293723 2.77924845] [ 0.26891584 0.96297619 0.01900356 0.14438683] [ 0.11955914 -0.05295223 0.99141398 -0.64100185] [ 0. 0. 0. 1. ]] SLAMing on 61.03907232899999 meters Centerline goodness : 0.772114 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95558069 -0.26474557 -0.12951961 2.77998279] [ 0.26933939 0.96285751 0.01901846 0.14289443] [ 0.11967388 -0.0530584 0.99139446 -0.64052567] [ 0. 0. 0. 1. ]] SLAMing on 61.069072328999994 meters Centerline goodness : 0.770970 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95572525 -0.26395206 -0.13007136 2.78288913] [ 0.26861058 0.96305435 0.01935659 0.14271619] [ 0.12015658 -0.05343812 0.99131567 -0.64241075] [ 0. 0. 0. 1. ]] SLAMing on 61.099072328999995 meters Centerline goodness : 0.770056 Centerline is valid? [False, False] Translation: X:2.78, Y:0.14, Z:-0.64 [[ 0.95595948 -0.26337447 -0.12951977 2.78322348] [ 0.26782921 0.96329909 0.01795469 0.14359721] [ 0.12003747 -0.05185313 0.99141427 -0.64396108] [ 0. 0. 0. 1. ]] SLAMing on 61.129072328999996 meters Centerline goodness : 0.771219 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95611359 -0.26226935 -0.13062 2.78687931] [ 0.26688183 0.96354507 0.01884095 0.14439362] [ 0.12091686 -0.0528742 0.99125347 -0.64586646] [ 0. 0. 0. 1. ]] SLAMing on 61.159072329 meters Centerline goodness : 0.772576 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95681687 -0.25976113 -0.13048231 2.78580934] [ 0.26441424 0.96421417 0.0193946 0.14407502] [ 0.12077493 -0.05305846 0.99126092 -0.6455782 ] [ 0. 0. 0. 1. ]] SLAMing on 61.18907232899999 meters Centerline goodness : 0.773805 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95738965 -0.25743764 -0.13088513 2.78608015] [ 0.2622672 0.96477091 0.02080875 0.14355028] [ 0.12091721 -0.05424896 0.99117914 -0.6455902 ] [ 0. 0. 0. 1. ]] SLAMing on 61.21907232899999 meters Centerline goodness : 0.774212 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95811177 -0.25407762 -0.13216048 2.78815276] [ 0.25933082 0.96549295 0.02389339 0.14309192] [ 0.12152924 -0.05716583 0.99094032 -0.6462398 ] [ 0. 0. 0. 1. ]] SLAMing on 61.24907232899999 meters Centerline goodness : 0.773982 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95844945 -0.25267054 -0.13240938 2.7876707 ] [ 0.25798293 0.96584269 0.02434575 0.14375151] [ 0.12173518 -0.05749353 0.99089608 -0.64561863] [ 0. 0. 0. 1. ]] SLAMing on 61.279072328999995 meters Centerline goodness : 0.775668 Centerline is valid? [False, False] Translation: X:2.79, Y:0.14, Z:-0.65 [[ 0.95915193 -0.24936205 -0.13358947 2.78922625] [ 0.25506113 0.96654455 0.02711917 0.14428348] [ 0.12235768 -0.06008488 0.99066564 -0.6459808 ] [ 0. 0. 0. 1. ]] SLAMing on 61.309072328999996 meters Centerline goodness : 0.775028 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.95982836 -0.2533127 -0.12067392 2.79134979] [ 0.258377 0.96563567 0.02809053 0.14930062] [ 0.10941135 -0.05814145 0.99229468 -0.65198921] [ 0. 0. 0. 1. ]] SLAMing on 61.339072329 meters Centerline goodness : 0.774349 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.96015722 -0.25205287 -0.12069571 2.79164977] [ 0.25708758 0.96598586 0.02787991 0.15039821] [ 0.10956314 -0.05779846 0.99229797 -0.65281857] [ 0. 0. 0. 1. ]] SLAMing on 61.36907232899999 meters Centerline goodness : 0.772347 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.65 [[ 0.96051258 -0.25072954 -0.12062459 2.79303911] [ 0.2556479 0.96639459 0.02693772 0.15102601] [ 0.10981687 -0.05671144 0.99233264 -0.65464329] [ 0. 0. 0. 1. ]] SLAMing on 61.39907232899999 meters Centerline goodness : 0.773167 Centerline is valid? [False, False] Translation: X:2.79, Y:0.15, Z:-0.66 [[ 0.96085681 -0.24961107 -0.12020194 2.7949207 ] [ 0.25437288 0.96676197 0.0258018 0.15177442] [ 0.10976625 -0.05536795 0.99241411 -0.65793672] [ 0. 0. 0. 1. ]] SLAMing on 61.42907232899999 meters Centerline goodness : 0.774502 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96099206 -0.24903527 -0.12031498 2.79529861] [ 0.25381483 0.96690502 0.02593673 0.15212663] [ 0.10987399 -0.05546272 0.99239689 -0.6581593 ] [ 0. 0. 0. 1. ]] SLAMing on 61.459072328999994 meters Centerline goodness : 0.774914 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96124495 -0.2470787 -0.12231215 2.80031445] [ 0.25229863 0.96721592 0.02896143 0.15289637] [ 0.11114651 -0.05869822 0.99206904 -0.65971444] [ 0. 0. 0. 1. ]] SLAMing on 61.489072328999995 meters Centerline goodness : 0.777812 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96109891 -0.24725202 -0.12310696 2.80154678] [ 0.25260275 0.9671144 0.02969162 0.15330747] [ 0.1117172 -0.05963374 0.99194913 -0.65888184] [ 0. 0. 0. 1. ]] SLAMing on 61.519072329 meters Centerline goodness : 0.779147 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96101231 -0.24723613 -0.12381292 2.8021309 ] [ 0.25274266 0.96704665 0.03069093 0.15318209] [ 0.11214496 -0.06078717 0.99183085 -0.65755585] [ 0. 0. 0. 1. ]] SLAMing on 61.549072329 meters Centerline goodness : 0.780117 Centerline is valid? [False, False] Translation: X:2.80, Y:0.15, Z:-0.66 [[ 0.96074029 -0.24767947 -0.12503188 2.803296 ] [ 0.25333056 0.96687419 0.03127197 0.15482679] [ 0.11314468 -0.06171864 0.99165977 -0.65569329] [ 0. 0. 0. 1. ]] SLAMing on 61.57907232899999 meters Centerline goodness : 0.779713 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.96066738 -0.24774723 -0.12545714 2.80612695] [ 0.25340987 0.96685778 0.0311362 0.15547673] [ 0.11358531 -0.06170361 0.99161033 -0.65766259] [ 0. 0. 0. 1. ]] SLAMing on 61.60907232899999 meters Centerline goodness : 0.778869 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.96028029 -0.24950289 -0.12494027 2.80680325] [ 0.25480789 0.96658065 0.0281921 0.15617795] [ 0.11373083 -0.05890808 0.99176365 -0.65836768] [ 0. 0. 0. 1. ]] SLAMing on 61.639072328999994 meters Centerline goodness : 0.783921 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.9597032 -0.2518508 -0.12466332 2.80930136] [ 0.25683059 0.96612351 0.02536563 0.15711888] [ 0.11405181 -0.05636083 0.99187481 -0.66028176] [ 0. 0. 0. 1. ]] SLAMing on 61.669072328999995 meters Centerline goodness : 0.783171 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.95943065 -0.25238001 -0.12568676 2.81003363] [ 0.2574835 0.96593565 0.02589543 0.15770331] [ 0.11486983 -0.05720714 0.99173195 -0.65829321] [ 0. 0. 0. 1. ]] SLAMing on 61.699072328999996 meters Centerline goodness : 0.780524 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.66 [[ 0.95911137 -0.25264695 -0.12757314 2.81224856] [ 0.25818755 0.96566939 0.02866733 0.15857221] [ 0.11595077 -0.06043296 0.99141479 -0.65661004] [ 0. 0. 0. 1. ]] SLAMing on 61.729072329 meters Centerline goodness : 0.782210 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.65 [[ 0.9587634 -0.25315974 -0.12916223 2.81354794] [ 0.25895957 0.96542214 0.03000061 0.15978718] [ 0.11710113 -0.06221129 0.99116955 -0.65421769] [ 0. 0. 0. 1. ]] SLAMing on 61.75907232899999 meters Centerline goodness : 0.779299 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.65 [[ 0.95813135 -0.25486529 -0.13049136 2.81618078] [ 0.26081331 0.96490939 0.03043497 0.16131075] [ 0.11815552 -0.06319458 0.9909822 -0.65329321] [ 0. 0. 0. 1. ]] SLAMing on 61.78907232899999 meters Centerline goodness : 0.779666 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.65 [[ 0.95768132 -0.25643691 -0.13071574 2.81815177] [ 0.26225148 0.96456057 0.02910449 0.16115339] [ 0.11861978 -0.06215322 0.9909926 -0.65376291] [ 0. 0. 0. 1. ]] SLAMing on 61.819072328999994 meters Centerline goodness : 0.781112 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.66 [[ 0.95746805 -0.25730439 -0.1305733 2.82044081] [ 0.26297832 0.96439674 0.02795231 0.16057308] [ 0.11873221 -0.06110139 0.99104454 -0.65566314] [ 0. 0. 0. 1. ]] SLAMing on 61.849072328999995 meters Centerline goodness : 0.781740 Centerline is valid? [False, False] Translation: X:2.83, Y:0.16, Z:-0.66 [[ 0.95699073 -0.25833198 -0.13203538 2.82665176] [ 0.26418247 0.96404873 0.02859507 0.15850545] [ 0.11990152 -0.06224665 0.99083247 -0.65767253] [ 0. 0. 0. 1. ]] SLAMing on 61.879072328999996 meters Centerline goodness : 0.782625 Centerline is valid? [False, False] Translation: X:2.83, Y:0.16, Z:-0.66 [[ 0.95646521 -0.25939819 -0.13374186 2.83032781] [ 0.26556082 0.9636212 0.0301932 0.15821214] [ 0.12104443 -0.06439534 0.99055615 -0.65699459] [ 0. 0. 0. 1. ]] SLAMing on 61.909072329 meters Centerline goodness : 0.783492 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95485944 -0.26316237 -0.13780065 2.83601429] [ 0.26994513 0.96231842 0.032755 0.15855894] [ 0.12398822 -0.06847503 0.98991822 -0.65195302] [ 0. 0. 0. 1. ]] SLAMing on 61.93907232899999 meters Centerline goodness : 0.784418 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95422167 -0.26483504 -0.13900863 2.83845968] [ 0.27175116 0.96180033 0.0330369 0.15841245] [ 0.12494921 -0.06930028 0.98973995 -0.65077011] [ 0. 0. 0. 1. ]] SLAMing on 61.96907232899999 meters Centerline goodness : 0.783783 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95351149 -0.26732002 -0.13912528 2.84018032] [ 0.27398426 0.96124008 0.03082418 0.15841572] [ 0.12549288 -0.06750935 0.98979494 -0.6505523 ] [ 0. 0. 0. 1. ]] SLAMing on 61.99907232899999 meters Centerline goodness : 0.784600 Centerline is valid? [False, False] Translation: X:2.84, Y:0.16, Z:-0.65 [[ 0.95316449 -0.26858344 -0.13906976 2.8425333 ] [ 0.27510282 0.96095808 0.02963126 0.15686158] [ 0.12568174 -0.06650195 0.98983917 -0.65171464] [ 0. 0. 0. 1. ]] SLAMing on 62.029072328999995 meters Centerline goodness : 0.785219 Centerline is valid? [False, False] Translation: X:2.84, Y:0.15, Z:-0.65 [[ 0.95192244 -0.27303154 -0.13891524 2.84287832] [ 0.27928693 0.9598182 0.02734653 0.15417733] [ 0.12586691 -0.06482898 0.98992663 -0.64872817] [ 0. 0. 0. 1. ]] SLAMing on 62.059072328999996 meters Centerline goodness : 0.783887 Centerline is valid? [False, False] Translation: X:2.84, Y:0.15, Z:-0.65 [[ 0.95140779 -0.2742773 -0.13998277 2.84446246] [ 0.28071263 0.9593799 0.02811815 0.15294745] [ 0.12658448 -0.06604676 0.98975461 -0.64675379] [ 0. 0. 0. 1. ]] SLAMing on 62.089072329 meters Centerline goodness : 0.781993 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.95027862 -0.27697089 -0.14232946 2.84901086] [ 0.28380514 0.95841917 0.02978829 0.15140398] [ 0.1281608 -0.06870101 0.989371 -0.64448964] [ 0. 0. 0. 1. ]] SLAMing on 62.11907232899999 meters Centerline goodness : 0.781993 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.95027862 -0.27697089 -0.14232946 2.84901086] [ 0.28380514 0.95841917 0.02978829 0.15140398] [ 0.1281608 -0.06870101 0.989371 -0.64448964] [ 0. 0. 0. 1. ]] SLAMing on 62.14907232899999 meters Centerline goodness : 0.782792 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.94935412 -0.28035738 -0.14186786 2.84917684] [ 0.28676582 0.9576335 0.02652255 0.15197888] [ 0.12842163 -0.06586215 0.98953022 -0.64349465] [ 0. 0. 0. 1. ]] SLAMing on 62.17907232899999 meters Centerline goodness : 0.781264 Centerline is valid? [False, False] Translation: X:2.85, Y:0.15, Z:-0.64 [[ 0.94887438 -0.28153162 -0.14274926 2.85240164] [ 0.28797274 0.95727906 0.02623923 0.15181759] [ 0.1292637 -0.06600563 0.98941101 -0.64404218] [ 0. 0. 0. 1. ]] SLAMing on 62.209072328999994 meters Centerline goodness : 0.780496 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94836415 -0.28232715 -0.14455729 2.85665578] [ 0.28904271 0.95692584 0.02733588 0.15125235] [ 0.13061295 -0.0677076 0.98911877 -0.6438235 ] [ 0. 0. 0. 1. ]] SLAMing on 62.239072328999995 meters Centerline goodness : 0.780237 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94812495 -0.28274129 -0.14531499 2.8578525 ] [ 0.28958988 0.95674368 0.02791486 0.15036838] [ 0.13113651 -0.06854853 0.98899156 -0.64264894] [ 0. 0. 0. 1. ]] SLAMing on 62.269072329 meters Centerline goodness : 0.780479 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94741988 -0.2845211 -0.14643539 2.86101642] [ 0.29155557 0.95612637 0.02859565 0.14768783] [ 0.13187467 -0.06978614 0.98880684 -0.64176363] [ 0. 0. 0. 1. ]] SLAMing on 62.299072329 meters Centerline goodness : 0.781624 Centerline is valid? [False, False] Translation: X:2.86, Y:0.15, Z:-0.64 [[ 0.94686336 -0.28560772 -0.14791218 2.8644272 ] [ 0.29287451 0.95569688 0.02946164 0.1468864 ] [ 0.13294474 -0.07121585 0.98856158 -0.64114503] [ 0. 0. 0. 1. ]] SLAMing on 62.32907232899999 meters Centerline goodness : 0.782180 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94619539 -0.28718122 -0.14913495 2.86698843] [ 0.29460189 0.95515442 0.02982897 0.14646053] [ 0.13388059 -0.07215948 0.98836683 -0.64006844] [ 0. 0. 0. 1. ]] SLAMing on 62.35907232899999 meters Centerline goodness : 0.780662 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94542195 -0.28900146 -0.15051745 2.87081475] [ 0.29654847 0.95455035 0.0298769 0.14637363] [ 0.13504202 -0.072882 0.98815579 -0.63990652] [ 0. 0. 0. 1. ]] SLAMing on 62.389072328999994 meters Centerline goodness : 0.781079 Centerline is valid? [False, False] Translation: X:2.87, Y:0.15, Z:-0.64 [[ 0.94400346 -0.29370567 -0.15031452 2.87202691] [ 0.30086606 0.95328906 0.0268251 0.1451135 ] [ 0.1354145 -0.07054752 0.98827423 -0.63822201] [ 0. 0. 0. 1. ]] SLAMing on 62.419072328999995 meters Centerline goodness : 0.780828 Centerline is valid? [False, False] Translation: X:2.87, Y:0.14, Z:-0.64 [[ 0.9437741 -0.29394035 -0.15129284 2.87355017] [ 0.30129757 0.95312706 0.02772332 0.14395458] [ 0.13605229 -0.07174871 0.98810014 -0.63695457] [ 0. 0. 0. 1. ]] SLAMing on 62.449072328999996 meters Centerline goodness : 0.784040 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94416468 -0.29170765 -0.15316564 2.87682432] [ 0.29967571 0.95352804 0.03128504 0.14219893] [ 0.13692164 -0.07543825 0.98770519 -0.63711232] [ 0. 0. 0. 1. ]] SLAMing on 62.479072329 meters Centerline goodness : 0.784103 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94447454 -0.29076903 -0.15303995 2.87614702] [ 0.29880024 0.9537831 0.03187818 0.14066716] [ 0.13669773 -0.0758365 0.9877057 -0.63643981] [ 0. 0. 0. 1. ]] SLAMing on 62.50907232899999 meters Centerline goodness : 0.784358 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94483744 -0.28916888 -0.15382971 2.87983423] [ 0.29746011 0.95414909 0.03342154 0.13733172] [ 0.13711201 -0.07733613 0.98753198 -0.63828602] [ 0. 0. 0. 1. ]] SLAMing on 62.53907232899999 meters Centerline goodness : 0.785068 Centerline is valid? [False, False] Translation: X:2.88, Y:0.14, Z:-0.64 [[ 0.94462074 -0.28966977 -0.15421766 2.88164356] [ 0.29799218 0.95398418 0.03338925 0.1360815 ] [ 0.13744935 -0.07749584 0.98747257 -0.6384241 ] [ 0. 0. 0. 1. ]] SLAMing on 62.569072328999994 meters Centerline goodness : 0.785862 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.64 [[ 0.94439782 -0.29024174 -0.15450724 2.88319267] [ 0.29858067 0.9538032 0.0333022 0.13492347] [ 0.13770381 -0.0775834 0.98743024 -0.63855064] [ 0. 0. 0. 1. ]] SLAMing on 62.599072328999995 meters Centerline goodness : 0.784821 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94359928 -0.29309934 -0.15399085 2.88501309] [ 0.30115105 0.95306171 0.03132754 0.13278912] [ 0.1375807 -0.07593515 0.98757552 -0.6391329 ] [ 0. 0. 0. 1. ]] SLAMing on 62.629072328999996 meters Centerline goodness : 0.786449 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94334199 -0.29374188 -0.1543425 2.88695787] [ 0.30183656 0.95284267 0.03139318 0.13097276] [ 0.13784262 -0.07620071 0.98751854 -0.63937313] [ 0. 0. 0. 1. ]] SLAMing on 62.659072329 meters Centerline goodness : 0.786864 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94330153 -0.29326834 -0.15548601 2.8899254 ] [ 0.30167979 0.95283642 0.03304637 0.12926402] [ 0.13846128 -0.07807968 0.98728519 -0.63966511] [ 0. 0. 0. 1. ]] SLAMing on 62.68907232899999 meters Centerline goodness : 0.787018 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94347524 -0.29200375 -0.15680654 2.89025176] [ 0.30091407 0.95297445 0.03592236 0.12743609] [ 0.13894316 -0.08107715 0.98697583 -0.63693963] [ 0. 0. 0. 1. ]] SLAMing on 62.71907232899999 meters Centerline goodness : 0.788473 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94349318 -0.29185234 -0.15698034 2.88977052] [ 0.3008388 0.95298119 0.0363712 0.12662837] [ 0.13898429 -0.08154175 0.98693177 -0.6356935 ] [ 0. 0. 0. 1. ]] SLAMing on 62.74907232899999 meters Centerline goodness : 0.789061 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94364895 -0.29121748 -0.1572229 2.8913831 ] [ 0.30030387 0.9531264 0.03698165 0.12547377] [ 0.1390836 -0.08211234 0.98687047 -0.63664028] [ 0. 0. 0. 1. ]] SLAMing on 62.779072328999995 meters Centerline goodness : 0.792497 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94425601 -0.29015699 -0.15552976 2.89234675] [ 0.29880944 0.95367207 0.03496434 0.12239164] [ 0.13817924 -0.07948905 0.98721223 -0.64056726] [ 0. 0. 0. 1. ]] SLAMing on 62.809072328999996 meters Centerline goodness : 0.793027 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94427591 -0.29101228 -0.15380138 2.89013648] [ 0.29910927 0.95368522 0.03190844 0.121157 ] [ 0.13739235 -0.07613379 0.98758645 -0.64070797] [ 0. 0. 0. 1. ]] SLAMing on 62.839072329 meters Centerline goodness : 0.794612 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.64 [[ 0.94484954 -0.28916494 -0.15376274 2.89053706] [ 0.29735592 0.95420526 0.03273805 0.12008127] [ 0.13725452 -0.07665479 0.98756531 -0.6417256 ] [ 0. 0. 0. 1. ]] SLAMing on 62.86907232899999 meters Centerline goodness : 0.794959 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.64 [[ 0.94529252 -0.29341257 -0.14258719 2.89400094] [ 0.30062985 0.95321938 0.0315358 0.12611658] [ 0.12666387 -0.07267652 0.98927973 -0.64218609] [ 0. 0. 0. 1. ]] SLAMing on 62.89907232899999 meters Centerline goodness : 0.797287 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.64 [[ 0.94583068 -0.29061647 -0.14472869 2.89783153] [ 0.29846944 0.95376272 0.03539308 0.1265961 ] [ 0.12775102 -0.07667295 0.98883817 -0.64322242] [ 0. 0. 0. 1. ]] SLAMing on 62.92907232899999 meters Centerline goodness : 0.795313 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.64 [[ 0.94585364 -0.29038327 -0.14504636 2.89739558] [ 0.29827519 0.95381887 0.0355171 0.12716714] [ 0.12803438 -0.07685771 0.98878718 -0.64214115] [ 0. 0. 0. 1. ]] SLAMing on 62.959072328999994 meters Centerline goodness : 0.799167 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.65 [[ 0.9463762 -0.28840565 -0.14558253 2.90108627] [ 0.29644997 0.95435084 0.03649495 0.12501376] [ 0.12841147 -0.07769589 0.98867277 -0.64508711] [ 0. 0. 0. 1. ]] SLAMing on 62.989072328999995 meters Centerline goodness : 0.796889 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.65 [[ 0.94671939 -0.28762247 -0.14489897 2.90048814] [ 0.29559195 0.95462115 0.03638488 0.12285665] [ 0.12785851 -0.07727724 0.98877724 -0.64543952] [ 0. 0. 0. 1. ]] SLAMing on 63.019072329 meters Centerline goodness : 0.799658 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94685239 -0.28720263 -0.14486267 2.90030095] [ 0.29518836 0.95473934 0.03655988 0.1216325 ] [ 0.127806 -0.07737859 0.9887761 -0.64493371] [ 0. 0. 0. 1. ]] SLAMing on 63.049072329 meters Centerline goodness : 0.800887 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94686347 -0.28705282 -0.145087 2.90077808] [ 0.2950777 0.95476682 0.03673506 0.12121887] [ 0.12797935 -0.07759502 0.98873672 -0.64467227] [ 0. 0. 0. 1. ]] SLAMing on 63.07907232899999 meters Centerline goodness : 0.800594 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.64 [[ 0.94587802 -0.2897758 -0.14609847 2.90336747] [ 0.29782797 0.95393477 0.03615178 0.12195525] [ 0.1288925 -0.07770738 0.98860927 -0.64360767] [ 0. 0. 0. 1. ]] SLAMing on 63.10907232899999 meters Centerline goodness : 0.800935 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94534154 -0.29109909 -0.14693773 2.90518999] [ 0.2992729 0.95346978 0.03648427 0.12184991] [ 0.12948015 -0.07846458 0.98847266 -0.64271798] [ 0. 0. 0. 1. ]] SLAMing on 63.139072328999994 meters Centerline goodness : 0.801249 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94496558 -0.29194931 -0.14766737 2.90680373] [ 0.30025074 0.95314424 0.03695337 0.12119714] [ 0.12995979 -0.0792569 0.9883465 -0.6419732 ] [ 0. 0. 0. 1. ]] SLAMing on 63.169072328999995 meters Centerline goodness : 0.801513 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94438499 -0.2940188 -0.14727506 2.9094447 ] [ 0.30210104 0.95261882 0.03538855 0.11848569] [ 0.1298921 -0.07791237 0.98846229 -0.64318437] [ 0. 0. 0. 1. ]] SLAMing on 63.199072328999996 meters Centerline goodness : 0.802549 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94353756 -0.29731443 -0.14608564 2.90923432] [ 0.30489284 0.95184776 0.03203446 0.11711618] [ 0.12952698 -0.07476618 0.98875314 -0.64286489] [ 0. 0. 0. 1. ]] SLAMing on 63.229072329 meters Centerline goodness : 0.801817 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.64 [[ 0.94267433 -0.30017234 -0.14581386 2.91140687] [ 0.30749761 0.95107373 0.0300662 0.11572444] [ 0.12965469 -0.07318005 0.98885507 -0.64325929] [ 0. 0. 0. 1. ]] SLAMing on 63.25907232899999 meters Centerline goodness : 0.804281 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.64 [[ 0.94089988 -0.30507632 -0.14709133 2.91294322] [ 0.31258918 0.94940101 0.03042567 0.11365724] [ 0.13036651 -0.07460667 0.98865485 -0.63839068] [ 0. 0. 0. 1. ]] SLAMing on 63.28907232899999 meters Centerline goodness : 0.801382 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.94031461 -0.30592406 -0.14906005 2.91638462] [ 0.31390782 0.94888782 0.03276861 0.11277838] [ 0.13141656 -0.07760391 0.98828504 -0.63670752] [ 0. 0. 0. 1. ]] SLAMing on 63.319072328999994 meters Centerline goodness : 0.802240 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.9386744 -0.31108433 -0.14871758 2.9184834 ] [ 0.31871387 0.94737765 0.02995077 0.11039388] [ 0.1315745 -0.07551238 0.98842604 -0.6353496 ] [ 0. 0. 0. 1. ]] SLAMing on 63.349072328999995 meters Centerline goodness : 0.802552 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.64 [[ 0.93770484 -0.31449265 -0.14766182 2.91939784] [ 0.32166386 0.94647271 0.0268657 0.10907633] [ 0.13130881 -0.07268957 0.98867296 -0.63576704] [ 0. 0. 0. 1. ]] SLAMing on 63.379072328999996 meters Centerline goodness : 0.803414 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.63 [[ 0.93702454 -0.31615153 -0.14843589 2.92171538] [ 0.32341291 0.94587287 0.02699263 0.10826657] [ 0.13186772 -0.07329884 0.98855358 -0.63498011] [ 0. 0. 0. 1. ]] SLAMing on 63.409072329 meters Centerline goodness : 0.802849 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93656928 -0.31647939 -0.15059475 2.92575738] [ 0.32424555 0.94551274 0.02950384 0.10860158] [ 0.1330519 -0.07646207 0.98815522 -0.63424608] [ 0. 0. 0. 1. ]] SLAMing on 63.43907232899999 meters Centerline goodness : 0.803607 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93588823 -0.31750862 -0.1526483 2.92905266] [ 0.32578243 0.94490395 0.03197409 0.10758349] [ 0.13408593 -0.07965431 0.98776321 -0.63198828] [ 0. 0. 0. 1. ]] SLAMing on 63.46907232899999 meters Centerline goodness : 0.804967 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93554882 -0.31833265 -0.15301219 2.93068216] [ 0.32671624 0.94456336 0.03250482 0.10624587] [ 0.13418236 -0.08040142 0.98768958 -0.63177357] [ 0. 0. 0. 1. ]] SLAMing on 63.49907232899999 meters Centerline goodness : 0.805642 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.63 [[ 0.93476936 -0.32096002 -0.15228564 2.92978226] [ 0.32903512 0.94382565 0.03047988 0.10524681] [ 0.13394827 -0.07859899 0.98786642 -0.63011141] [ 0. 0. 0. 1. ]] SLAMing on 63.529072328999995 meters Centerline goodness : 0.800882 Centerline is valid? [False, False] Translation: X:2.93, Y:0.10, Z:-0.63 [[ 0.93426146 -0.32196432 -0.15327915 2.9332833 ] [ 0.33022539 0.94338683 0.03118461 0.1047239 ] [ 0.1345612 -0.07975124 0.98769075 -0.63059784] [ 0. 0. 0. 1. ]] SLAMing on 63.559072328999996 meters Centerline goodness : 0.802275 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.63 [[ 0.93303372 -0.32541779 -0.15346442 2.93799208] [ 0.33338333 0.94235558 0.02866216 0.10627453] [ 0.13529088 -0.07790525 0.9877384 -0.63299892] [ 0. 0. 0. 1. ]] SLAMing on 63.589072329 meters Centerline goodness : 0.803196 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.64 [[ 0.93263741 -0.32609638 -0.15442994 2.94242719] [ 0.33414055 0.94208853 0.02862346 0.10720288] [ 0.13615267 -0.07829661 0.98758903 -0.63507496] [ 0. 0. 0. 1. ]] SLAMing on 63.61907232899999 meters Centerline goodness : 0.802137 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.64 [[ 0.93218379 -0.32626924 -0.15678574 2.94788153] [ 0.33475471 0.94181449 0.03040977 0.10776633] [ 0.13774131 -0.08083225 0.98716436 -0.6352355 ] [ 0. 0. 0. 1. ]] SLAMing on 63.64907232899999 meters Centerline goodness : 0.801058 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.63 [[ 0.93212116 -0.32585254 -0.1580198 2.95058355] [ 0.33467179 0.94178827 0.03208811 0.10675079] [ 0.13836521 -0.08279477 0.98691443 -0.63490808] [ 0. 0. 0. 1. ]] SLAMing on 63.67907232899999 meters Centerline goodness : 0.800181 Centerline is valid? [False, False] Translation: X:2.95, Y:0.11, Z:-0.63 [[ 0.93196866 -0.3259688 -0.15867819 2.95213912] [ 0.33497039 0.94165135 0.03297836 0.10527182] [ 0.13866962 -0.0838873 0.98677944 -0.63418633] [ 0. 0. 0. 1. ]] SLAMing on 63.709072328999994 meters Centerline goodness : 0.801400 Centerline is valid? [False, False] Translation: X:2.95, Y:0.10, Z:-0.63 [[ 0.93164926 -0.32665751 -0.15913683 2.95328699] [ 0.33579999 0.94133214 0.03364774 0.10324696] [ 0.13880932 -0.08478604 0.98668298 -0.63298588] [ 0. 0. 0. 1. ]] SLAMing on 63.739072328999995 meters Centerline goodness : 0.803144 Centerline is valid? [False, False] Translation: X:2.95, Y:0.10, Z:-0.63 [[ 0.93134584 -0.3276927 -0.15878417 2.95377957] [ 0.33683519 0.94095713 0.03378969 0.0990462 ] [ 0.13833646 -0.08495398 0.98673494 -0.63164939] [ 0. 0. 0. 1. ]] SLAMing on 63.769072329 meters Centerline goodness : 0.803189 Centerline is valid? [False, False] Translation: X:2.96, Y:0.10, Z:-0.63 [[ 0.93144568 -0.32728054 -0.15904838 2.95515053] [ 0.33655416 0.94102858 0.03459058 0.09682089] [ 0.13834824 -0.08574764 0.98666464 -0.63168307] [ 0. 0. 0. 1. ]] SLAMing on 63.799072329 meters Centerline goodness : 0.802301 Centerline is valid? [False, False] Translation: X:2.96, Y:0.10, Z:-0.63 [[ 0.93175548 -0.32595106 -0.15996135 2.95838998] [ 0.33552676 0.94133248 0.03626237 0.09522954] [ 0.13875706 -0.08745897 0.986457 -0.63289581] [ 0. 0. 0. 1. ]] SLAMing on 63.82907232899999 meters Centerline goodness : 0.801389 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.63 [[ 0.93199796 -0.32511442 -0.16025113 2.95871639] [ 0.33482081 0.94155248 0.03706692 0.09392247] [ 0.13883386 -0.08820171 0.98638006 -0.63238674] [ 0. 0. 0. 1. ]] SLAMing on 63.85907232899999 meters Centerline goodness : 0.798614 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.63 [[ 0.93277367 -0.32322718 -0.15955399 2.95903142] [ 0.33288132 0.94223154 0.03727947 0.09110581] [ 0.13828707 -0.08788585 0.98648506 -0.63391497] [ 0. 0. 0. 1. ]] SLAMing on 63.889072328999994 meters Centerline goodness : 0.795205 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.64 [[ 0.93308633 -0.32243828 -0.15932184 2.96266082] [ 0.33202766 0.9425428 0.0370231 0.08896237] [ 0.13822999 -0.08744501 0.98653223 -0.63757941] [ 0. 0. 0. 1. ]] SLAMing on 63.919072328999995 meters Centerline goodness : 0.794272 Centerline is valid? [False, False] Translation: X:2.96, Y:0.09, Z:-0.64 [[ 0.93280885 -0.32422559 -0.15730678 2.96211623] [ 0.33313838 0.94228932 0.03331144 0.08673454] [ 0.13742808 -0.08347813 0.9869878 -0.63917544] [ 0. 0. 0. 1. ]] SLAMing on 63.949072328999996 meters Centerline goodness : 0.795740 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93291031 -0.32486522 -0.15537353 2.962092 ] [ 0.33332574 0.94229617 0.03117499 0.08135133] [ 0.13628021 -0.08087347 0.98736376 -0.64063456] [ 0. 0. 0. 1. ]] SLAMing on 63.979072329 meters Centerline goodness : 0.794788 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93334852 -0.32332811 -0.155947 2.96239812] [ 0.33213316 0.94263974 0.03343488 0.07928034] [ 0.1361914 -0.08300156 0.98719939 -0.63975661] [ 0. 0. 0. 1. ]] SLAMing on 64.00907232899999 meters Centerline goodness : 0.794788 Centerline is valid? [False, False] Translation: X:2.96, Y:0.08, Z:-0.64 [[ 0.93334852 -0.32332811 -0.155947 2.96239812] [ 0.33213316 0.94263974 0.03343488 0.07928034] [ 0.1361914 -0.08300156 0.98719939 -0.63975661] [ 0. 0. 0. 1. ]] SLAMing on 64.03907232899999 meters Centerline goodness : 0.795781 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.65 [[ 0.93379814 -0.32563587 -0.14826435 2.97172324] [ 0.33479062 0.94140198 0.04095794 0.0817145 ] [ 0.12623898 -0.08788396 0.98809925 -0.64596355] [ 0. 0. 0. 1. ]] SLAMing on 64.069072329 meters Centerline goodness : 0.796064 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.65 [[ 0.93445022 -0.32361348 -0.14858367 2.97418507] [ 0.33290543 0.94202731 0.04193474 0.08043601] [ 0.12639923 -0.08865024 0.98801031 -0.64838329] [ 0. 0. 0. 1. ]] SLAMing on 64.099072329 meters Centerline goodness : 0.797613 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.65 [[ 0.93471507 -0.322985 -0.14828493 2.97801709] [ 0.33213872 0.9423345 0.04110436 0.07892008] [ 0.12645791 -0.08767203 0.98809008 -0.65257815] [ 0. 0. 0. 1. ]] SLAMing on 64.129072329 meters Centerline goodness : 0.799500 Centerline is valid? [False, False] Translation: X:2.98, Y:0.08, Z:-0.66 [[ 0.93492975 -0.32229356 -0.14843594 2.98258834] [ 0.33144549 0.94258182 0.04102914 0.07691643] [ 0.1266896 -0.08755779 0.98807053 -0.65655999] [ 0. 0. 0. 1. ]] SLAMing on 64.159072329 meters Centerline goodness : 0.801134 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93498277 -0.32202022 -0.14869499 2.98549633] [ 0.33128602 0.94260609 0.04175325 0.07371941] [ 0.12671541 -0.08829914 0.98800125 -0.65785111] [ 0. 0. 0. 1. ]] SLAMing on 64.189072329 meters Centerline goodness : 0.801355 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93500171 -0.32163906 -0.14939922 2.9857009 ] [ 0.33111966 0.94261067 0.0429523 0.07321516] [ 0.12701016 -0.08962949 0.9878436 -0.6563104 ] [ 0. 0. 0. 1. ]] SLAMing on 64.219072329 meters Centerline goodness : 0.801158 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93570714 -0.31845083 -0.1517933 2.9892775 ] [ 0.32872591 0.94322691 0.04756329 0.07261518] [ 0.12802896 -0.09440371 0.9872672 -0.6563777 ] [ 0. 0. 0. 1. ]] SLAMing on 64.249072329 meters Centerline goodness : 0.800778 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93712149 -0.31357684 -0.1532086 2.9891919 ] [ 0.32447262 0.94448839 0.05156749 0.07167623] [ 0.12853338 -0.098037 0.98684746 -0.65562571] [ 0. 0. 0. 1. ]] SLAMing on 64.27907232899999 meters Centerline goodness : 0.800504 Centerline is valid? [False, False] Translation: X:2.99, Y:0.07, Z:-0.66 [[ 0.93776886 -0.31199351 -0.15247823 2.9894168 ] [ 0.32270802 0.94513279 0.05082847 0.07083555] [ 0.12825402 -0.09687131 0.98699891 -0.65788695] [ 0. 0. 0. 1. ]] SLAMing on 64.30907232899999 meters Centerline goodness : 0.802258 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.93886124 -0.31466187 -0.13974073 2.99635371] [ 0.32415212 0.94464315 0.0507417 0.07279046] [ 0.11603865 -0.09293667 0.98888716 -0.66786152] [ 0. 0. 0. 1. ]] SLAMing on 64.33907232899999 meters Centerline goodness : 0.805927 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.9405043 -0.30981875 -0.13951347 2.99896569] [ 0.31928875 0.94628385 0.05100561 0.07136161] [ 0.11621685 -0.09251608 0.98890567 -0.67328441] [ 0. 0. 0. 1. ]] SLAMing on 64.36907232899999 meters Centerline goodness : 0.806736 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.9410938 -0.30766613 -0.14029971 2.99923002] [ 0.31735307 0.94686268 0.05232678 0.07196468] [ 0.11674538 -0.09376895 0.98872539 -0.67295233] [ 0. 0. 0. 1. ]] SLAMing on 64.39907232899999 meters Centerline goodness : 0.809046 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.94194612 -0.3040822 -0.1423781 3.00231999] [ 0.31440641 0.94762494 0.05617449 0.07244641] [ 0.11783938 -0.09767793 0.98821703 -0.67366365] [ 0. 0. 0. 1. ]] SLAMing on 64.429072329 meters Centerline goodness : 0.808772 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.67 [[ 0.94278638 -0.30071973 -0.1439496 3.00456494] [ 0.3115453 0.94838509 0.05920513 0.07247177] [ 0.11871551 -0.10066461 0.98781236 -0.67418749] [ 0. 0. 0. 1. ]] SLAMing on 64.459072329 meters Centerline goodness : 0.810432 Centerline is valid? [False, False] Translation: X:3.00, Y:0.07, Z:-0.68 [[ 0.94500069 -0.29392902 -0.1434553 3.0031768 ] [ 0.30482282 0.95048381 0.06052757 0.07108288] [ 0.11856113 -0.10092705 0.98780413 -0.67688848] [ 0. 0. 0. 1. ]] SLAMing on 64.489072329 meters Centerline goodness : 0.810759 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94640515 -0.29473066 -0.13210274 3.0078756 ] [ 0.30430778 0.9507499 0.05891857 0.07453893] [ 0.10823155 -0.09596073 0.98948344 -0.67900913] [ 0. 0. 0. 1. ]] SLAMing on 64.519072329 meters Centerline goodness : 0.812354 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94723083 -0.29195676 -0.13234426 3.00673373] [ 0.30165297 0.95153389 0.05990618 0.07416056] [ 0.10844004 -0.09666702 0.98939186 -0.67837316] [ 0. 0. 0. 1. ]] SLAMing on 64.549072329 meters Centerline goodness : 0.813371 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.68 [[ 0.94891584 -0.28587384 -0.1335473 3.00547908] [ 0.29608834 0.95302917 0.06377372 0.0746937 ] [ 0.10904323 -0.1000577 0.98898839 -0.67744519] [ 0. 0. 0. 1. ]] SLAMing on 64.579072329 meters Centerline goodness : 0.815752 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.94974425 -0.2881322 -0.12233436 3.00866268] [ 0.29710973 0.95279486 0.06251207 0.07983281] [ 0.09854781 -0.09571721 0.99051832 -0.67777924] [ 0. 0. 0. 1. ]] SLAMing on 64.609072329 meters Centerline goodness : 0.815236 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.9501912 -0.2865468 -0.12258717 3.00874796] [ 0.29552136 0.95330334 0.0622885 0.08109856] [ 0.09901419 -0.09541311 0.99050115 -0.67827458] [ 0. 0. 0. 1. ]] SLAMing on 64.639072329 meters Centerline goodness : 0.812907 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.68 [[ 0.95116702 -0.28354184 -0.12200546 3.00912253] [ 0.29223896 0.95445042 0.06017301 0.08279654] [ 0.0993866 -0.09288934 0.99070373 -0.68185169] [ 0. 0. 0. 1. ]] SLAMing on 64.66907232899999 meters Centerline goodness : 0.813796 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.69 [[ 0.95180917 -0.28113844 -0.12255808 3.01311467] [ 0.28987546 0.95517318 0.06013661 0.0834164 ] [ 0.10015748 -0.09276515 0.99063773 -0.68600794] [ 0. 0. 0. 1. ]] SLAMing on 64.69907232899999 meters Centerline goodness : 0.815079 Centerline is valid? [False, False] Translation: X:3.01, Y:0.08, Z:-0.69 [[ 0.95246159 -0.27894956 -0.12249107 3.01486335] [ 0.28764973 0.95585996 0.05991134 0.08391195] [ 0.10037206 -0.09229778 0.99065966 -0.68915463] [ 0. 0. 0. 1. ]] SLAMing on 64.72907232899999 meters Centerline goodness : 0.815065 Centerline is valid? [False, False] Translation: X:3.02, Y:0.08, Z:-0.69 [[ 0.95311327 -0.27647535 -0.12303037 3.01727605] [ 0.28528144 0.95652967 0.06054323 0.08471652] [ 0.10094349 -0.09280284 0.99055441 -0.69172697] [ 0. 0. 0. 1. ]] SLAMing on 64.75907232899999 meters Centerline goodness : 0.816954 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95410464 -0.27190639 -0.12550401 3.01827205] [ 0.281406 0.95737594 0.06513048 0.0870501 ] [ 0.10244513 -0.09745887 0.98995291 -0.69004234] [ 0. 0. 0. 1. ]] SLAMing on 64.78907232899999 meters Centerline goodness : 0.815833 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95500822 -0.27327105 -0.11524857 3.0221188 ] [ 0.28196921 0.95706754 0.06719438 0.09267328] [ 0.09193839 -0.09666773 0.99106139 -0.69013357] [ 0. 0. 0. 1. ]] SLAMing on 64.819072329 meters Centerline goodness : 0.816586 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95640549 -0.26795777 -0.11613428 3.02174439] [ 0.27695712 0.95835767 0.06960844 0.09436212] [ 0.09264605 -0.09873811 0.99079135 -0.6908274 ] [ 0. 0. 0. 1. ]] SLAMing on 64.849072329 meters Centerline goodness : 0.814894 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.95700887 -0.26595118 -0.11577561 3.02137345] [ 0.27486285 0.95899744 0.06909645 0.09424251] [ 0.09265223 -0.09794833 0.99086916 -0.69199458] [ 0. 0. 0. 1. ]] SLAMing on 64.879072329 meters Centerline goodness : 0.817767 Centerline is valid? [False, False] Translation: X:3.02, Y:0.09, Z:-0.69 [[ 0.957425 -0.2644462 -0.11578244 3.02084541] [ 0.27334269 0.95944161 0.06896066 0.09471671] [ 0.09285011 -0.09767294 0.99087782 -0.69207819] [ 0. 0. 0. 1. ]] SLAMing on 64.909072329 meters Centerline goodness : 0.818193 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.69 [[ 0.95777997 -0.26310957 -0.11589168 3.02041153] [ 0.27202294 0.95980978 0.06905577 0.0956839 ] [ 0.09306474 -0.09766543 0.99085843 -0.69225132] [ 0. 0. 0. 1. ]] SLAMing on 64.939072329 meters Centerline goodness : 0.817421 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.69 [[ 0.95821837 -0.26108265 -0.11684774 3.02181505] [ 0.27019242 0.96024549 0.07017591 0.09894248] [ 0.0938808 -0.09881522 0.99066743 -0.69332881] [ 0. 0. 0. 1. ]] SLAMing on 64.969072329 meters Centerline goodness : 0.818643 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95873163 -0.26500194 -0.10299335 3.02160381] [ 0.27265672 0.95963974 0.06891936 0.10192232] [ 0.08057275 -0.094157 0.99229154 -0.6960613 ] [ 0. 0. 0. 1. ]] SLAMing on 64.999072329 meters Centerline goodness : 0.818377 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95879241 -0.26468125 -0.10325186 3.02299187] [ 0.27234486 0.95974187 0.06873006 0.10185171] [ 0.08090358 -0.09401798 0.9922778 -0.6969893 ] [ 0. 0. 0. 1. ]] SLAMing on 65.02907232899999 meters Centerline goodness : 0.817523 Centerline is valid? [False, False] Translation: X:3.02, Y:0.10, Z:-0.70 [[ 0.95909668 -0.26356418 -0.10328352 3.02486823] [ 0.27117387 0.960122 0.06804754 0.10196698] [ 0.08122988 -0.09327196 0.99232154 -0.69949906] [ 0. 0. 0. 1. ]] SLAMing on 65.05907232899999 meters Centerline goodness : 0.816907 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95913001 -0.26323324 -0.10381663 3.02522542] [ 0.27092834 0.96016061 0.06847948 0.10298776] [ 0.08165457 -0.09380759 0.9922362 -0.69897757] [ 0. 0. 0. 1. ]] SLAMing on 65.08907232899999 meters Centerline goodness : 0.815597 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95926333 -0.26247835 -0.10449395 3.02529145] [ 0.27030811 0.96027366 0.06933998 0.10411529] [ 0.08214255 -0.09476086 0.99210533 -0.69813855] [ 0. 0. 0. 1. ]] SLAMing on 65.11907232899999 meters Centerline goodness : 0.814084 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95946008 -0.26151734 -0.10509534 3.02550259] [ 0.26948528 0.96043363 0.07032018 0.1047574 ] [ 0.08254715 -0.09579105 0.9919728 -0.69745743] [ 0. 0. 0. 1. ]] SLAMing on 65.14907232899999 meters Centerline goodness : 0.816240 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95990534 -0.25981203 -0.10525895 3.02626784] [ 0.26789016 0.96079471 0.07147298 0.1032064 ] [ 0.08256271 -0.09680513 0.99187306 -0.69808232] [ 0. 0. 0. 1. ]] SLAMing on 65.179072329 meters Centerline goodness : 0.814312 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95992678 -0.25945539 -0.10594095 3.02773079] [ 0.2676941 0.96076503 0.07259774 0.1028126 ] [ 0.08294848 -0.09804829 0.99171875 -0.69796016] [ 0. 0. 0. 1. ]] SLAMing on 65.209072329 meters Centerline goodness : 0.814644 Centerline is valid? [False, False] Translation: X:3.03, Y:0.10, Z:-0.70 [[ 0.95983411 -0.25947009 -0.10674149 3.02859934] [ 0.26786456 0.96064857 0.07350443 0.10342464] [ 0.08346885 -0.09914432 0.99156611 -0.69706494] [ 0. 0. 0. 1. ]] SLAMing on 65.239072329 meters Centerline goodness : 0.812243 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.70 [[ 0.95953225 -0.26009723 -0.10792267 3.03031399] [ 0.26870744 0.96032548 0.07464105 0.10563697] [ 0.08422696 -0.10062012 0.99135332 -0.69632914] [ 0. 0. 0. 1. ]] SLAMing on 65.269072329 meters Centerline goodness : 0.814174 Centerline is valid? [False, False] Translation: X:3.03, Y:0.11, Z:-0.70 [[ 0.95921341 -0.26083513 -0.10897095 3.03426945] [ 0.26957013 0.96006785 0.07484432 0.10717364] [ 0.08509747 -0.10116699 0.99122331 -0.69823038] [ 0. 0. 0. 1. ]] SLAMing on 65.299072329 meters Centerline goodness : 0.814154 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.70 [[ 0.95885934 -0.26173524 -0.1099247 3.03782926] [ 0.27057641 0.95977777 0.07493359 0.10799308] [ 0.08589052 -0.1015938 0.99111125 -0.69964411] [ 0. 0. 0. 1. ]] SLAMing on 65.329072329 meters Centerline goodness : 0.817211 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95794217 -0.26381533 -0.1129082 3.04604565] [ 0.2731613 0.95887183 0.0771214 0.11036527] [ 0.08791869 -0.10471999 0.99060791 -0.70200702] [ 0. 0. 0. 1. ]] SLAMing on 65.359072329 meters Centerline goodness : 0.817175 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95742854 -0.26517038 -0.11408447 3.04965517] [ 0.27469459 0.95838676 0.0777026 0.11194059] [ 0.08873262 -0.10573308 0.9904277 -0.70294799] [ 0. 0. 0. 1. ]] SLAMing on 65.389072329 meters Centerline goodness : 0.818792 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.70 [[ 0.95669253 -0.26720561 -0.11550133 3.05383477] [ 0.27692847 0.95770358 0.07819506 0.11347339] [ 0.08972188 -0.10679424 0.99022471 -0.70346685] [ 0. 0. 0. 1. ]] SLAMing on 65.41907232899999 meters Centerline goodness : 0.817609 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:-0.71 [[ 0.9561197 -0.26867259 -0.11683385 3.05867441] [ 0.27859557 0.95717141 0.07878705 0.1149457 ] [ 0.09066211 -0.10787924 0.99002144 -0.70521013] [ 0. 0. 0. 1. ]] SLAMing on 65.44907232899999 meters Centerline goodness : 0.819352 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.70 [[ 0.95491765 -0.27209149 -0.11873714 3.06351602] [ 0.28228188 0.9560419 0.07937774 0.11667498] [ 0.09191968 -0.10931655 0.98974778 -0.70482592] [ 0. 0. 0. 1. ]] SLAMing on 65.47907232899999 meters Centerline goodness : 0.818808 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.71 [[ 0.95429431 -0.27341954 -0.12068189 3.0683239 ] [ 0.28401615 0.95535977 0.08137898 0.1181871 ] [ 0.09304402 -0.11193511 0.98934996 -0.70524517] [ 0. 0. 0. 1. ]] SLAMing on 65.50907232899999 meters Centerline goodness : 0.817748 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.70 [[ 0.95285868 -0.27742635 -0.12286151 3.07294063] [ 0.28832936 0.95401897 0.08193892 0.1207543 ] [ 0.09448019 -0.11350079 0.98903542 -0.70387388] [ 0. 0. 0. 1. ]] SLAMing on 65.53907232899999 meters Centerline goodness : 0.819971 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.70 [[ 0.95215685 -0.27960609 -0.12336034 3.07446828] [ 0.29051096 0.95340893 0.08133134 0.12176455] [ 0.09487211 -0.11327772 0.98902348 -0.70342239] [ 0. 0. 0. 1. ]] SLAMing on 65.569072329 meters Centerline goodness : 0.820279 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.70 [[ 0.95164503 -0.28066536 -0.12489476 3.07883479] [ 0.29185744 0.95290091 0.08245661 0.12260111] [ 0.09586961 -0.11492088 0.98873768 -0.70422627] [ 0. 0. 0. 1. ]] SLAMing on 65.599072329 meters Centerline goodness : 0.821017 Centerline is valid? [False, False] Translation: X:3.08, Y:0.12, Z:-0.70 [[ 0.95100012 -0.28229765 -0.1261222 3.08158933] [ 0.29369974 0.95227732 0.08311656 0.12338894] [ 0.0966397 -0.11608592 0.98852659 -0.70363888] [ 0. 0. 0. 1. ]] SLAMing on 65.629072329 meters Centerline goodness : 0.821488 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.9494136 -0.2866229 -0.12830094 3.08808245] [ 0.29831819 0.95081456 0.08341422 0.1255199 ] [ 0.09808198 -0.1174691 0.9882211 -0.70418052] [ 0. 0. 0. 1. ]] SLAMing on 65.659072329 meters Centerline goodness : 0.819754 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.94847498 -0.28945814 -0.12887667 3.09082588] [ 0.30112668 0.95001615 0.08241378 0.12627481] [ 0.09857958 -0.11697561 0.98823012 -0.70435164] [ 0. 0. 0. 1. ]] SLAMing on 65.689072329 meters Centerline goodness : 0.819305 Centerline is valid? [False, False] Translation: X:3.09, Y:0.13, Z:-0.70 [[ 0.9474411 -0.29281931 -0.12888838 3.09154045] [ 0.30432163 0.94914676 0.08067696 0.12668285] [ 0.09871021 -0.11566019 0.9883719 -0.70314592] [ 0. 0. 0. 1. ]] SLAMing on 65.719072329 meters Centerline goodness : 0.820901 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94585746 -0.29718378 -0.13051994 3.09563085] [ 0.30887325 0.94768635 0.08054748 0.12765478] [ 0.09975456 -0.11650055 0.98816833 -0.70157179] [ 0. 0. 0. 1. ]] SLAMing on 65.749072329 meters Centerline goodness : 0.821259 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94514431 -0.29897582 -0.13158914 3.09733173] [ 0.31084813 0.94699618 0.08106587 0.12831503] [ 0.10037767 -0.11752318 0.98798412 -0.70008138] [ 0. 0. 0. 1. ]] SLAMing on 65.77907232899999 meters Centerline goodness : 0.820923 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94447064 -0.30064125 -0.13262745 3.09847281] [ 0.31271195 0.94632262 0.08176016 0.12899434] [ 0.10092788 -0.11869426 0.98778805 -0.69816515] [ 0. 0. 0. 1. ]] SLAMing on 65.80907232899999 meters Centerline goodness : 0.821941 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.9433432 -0.30365867 -0.13377223 3.10117099] [ 0.31588701 0.94525628 0.08188989 0.1296541 ] [ 0.10158246 -0.11950718 0.98762292 -0.69681703] [ 0. 0. 0. 1. ]] SLAMing on 65.83907232899999 meters Centerline goodness : 0.822202 Centerline is valid? [False, False] Translation: X:3.10, Y:0.13, Z:-0.70 [[ 0.94257831 -0.30570167 -0.13450877 3.10328785] [ 0.31803545 0.94452572 0.08200377 0.12989924] [ 0.1019783 -0.12007353 0.98751343 -0.69622885] [ 0. 0. 0. 1. ]] SLAMing on 65.86907232899999 meters Centerline goodness : 0.821059 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.70 [[ 0.94176106 -0.3078688 -0.13528823 3.1050726 ] [ 0.32028563 0.94377899 0.08184329 0.13050746] [ 0.1024852 -0.12040771 0.98742026 -0.69520176] [ 0. 0. 0. 1. ]] SLAMing on 65.89907232899999 meters Centerline goodness : 0.820496 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93986196 -0.31261344 -0.13759484 3.10970433] [ 0.32539377 0.94197249 0.08250283 0.13302587] [ 0.10381906 -0.12231377 0.98704658 -0.69310783] [ 0. 0. 0. 1. ]] SLAMing on 65.929072329 meters Centerline goodness : 0.820496 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93986196 -0.31261344 -0.13759484 3.10970433] [ 0.32539377 0.94197249 0.08250283 0.13302587] [ 0.10381906 -0.12231377 0.98704658 -0.69310783] [ 0. 0. 0. 1. ]] SLAMing on 65.959072329 meters Centerline goodness : 0.821981 Centerline is valid? [False, False] Translation: X:3.11, Y:0.13, Z:-0.69 [[ 0.93890782 -0.31476786 -0.139188 3.1138172 ] [ 0.32781151 0.94108436 0.08306524 0.13491893] [ 0.10484138 -0.12361803 0.986776 -0.69318829] [ 0. 0. 0. 1. ]] SLAMing on 65.989072329 meters Centerline goodness : 0.820046 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.9379534 -0.31728039 -0.13991632 3.11586295] [ 0.33036371 0.94023921 0.08252295 0.13617655] [ 0.1053719 -0.12362596 0.98671849 -0.69257825] [ 0. 0. 0. 1. ]] SLAMing on 66.019072329 meters Centerline goodness : 0.819775 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.93663937 -0.32116227 -0.13986241 3.11974246] [ 0.3339263 0.93924003 0.07950714 0.13730997] [ 0.10582968 -0.12117325 0.98697372 -0.69469644] [ 0. 0. 0. 1. ]] SLAMing on 66.049072329 meters Centerline goodness : 0.821388 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.70 [[ 0.93631199 -0.32189446 -0.1403703 3.12254421] [ 0.3347124 0.93896863 0.07940734 0.13738382] [ 0.10624252 -0.12133373 0.98690965 -0.69601616] [ 0. 0. 0. 1. ]] SLAMing on 66.079072329 meters Centerline goodness : 0.821041 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.70 [[ 0.93581862 -0.32313211 -0.14081604 3.12362854] [ 0.33599168 0.93852487 0.07925057 0.13775224] [ 0.10655095 -0.12147718 0.98685875 -0.69548708] [ 0. 0. 0. 1. ]] SLAMing on 66.109072329 meters Centerline goodness : 0.822499 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-0.69 [[ 0.93527647 -0.32436712 -0.14157648 3.12474148] [ 0.33732095 0.93805057 0.07921934 0.1389748 ] [ 0.10710975 -0.12184869 0.98675245 -0.69459944] [ 0. 0. 0. 1. ]] SLAMing on 66.139072329 meters Centerline goodness : 0.821596 Centerline is valid? [False, False] Translation: X:3.13, Y:0.14, Z:-0.69 [[ 0.93496679 -0.32454209 -0.14321148 3.12581749] [ 0.33785538 0.93773727 0.08063842 0.14099583] [ 0.10812419 -0.12377902 0.9864015 -0.69278469] [ 0. 0. 0. 1. ]] SLAMing on 66.16907232899999 meters Centerline goodness : 0.821647 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.93556523 -0.3214332 -0.14628189 3.12565088] [ 0.3356709 0.93809002 0.08551122 0.14514285] [ 0.10973944 -0.1291039 0.98554018 -0.68957907] [ 0. 0. 0. 1. ]] SLAMing on 66.19907232899999 meters Centerline goodness : 0.820852 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.93574251 -0.32097549 -0.14615296 3.12525925] [ 0.33511475 0.93835422 0.08479067 0.14644194] [ 0.10992752 -0.12832025 0.98562156 -0.6901051 ] [ 0. 0. 0. 1. ]] SLAMing on 66.22907232899999 meters Centerline goodness : 0.822048 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.69 [[ 0.9357281 -0.32148934 -0.14511211 3.12530431] [ 0.33521641 0.938541 0.08228454 0.14676098] [ 0.10974006 -0.12563992 0.98598769 -0.69202676] [ 0. 0. 0. 1. ]] SLAMing on 66.25907232899999 meters Centerline goodness : 0.824995 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.93655209 -0.31998383 -0.14311019 3.12378392] [ 0.33312398 0.93954171 0.07930817 0.14613047] [ 0.10908066 -0.12194966 0.98652404 -0.69513139] [ 0. 0. 0. 1. ]] SLAMing on 66.28907232899999 meters Centerline goodness : 0.824391 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93691277 -0.31866009 -0.1437018 3.12254163] [ 0.33194795 0.93989794 0.08001514 0.14763849] [ 0.1095674 -0.12266872 0.98638095 -0.69382935] [ 0. 0. 0. 1. ]] SLAMing on 66.319072329 meters Centerline goodness : 0.822756 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93744623 -0.31624487 -0.14554641 3.12386253] [ 0.33008084 0.94030503 0.08290414 0.14992719] [ 0.11064001 -0.12576025 0.98587177 -0.69360691] [ 0. 0. 0. 1. ]] SLAMing on 66.349072329 meters Centerline goodness : 0.823654 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.69 [[ 0.93855475 -0.31259388 -0.14628756 3.12348708] [ 0.32669117 0.94134831 0.08447627 0.15292855] [ 0.11130079 -0.12707646 0.98562859 -0.69499045] [ 0. 0. 0. 1. ]] SLAMing on 66.379072329 meters Centerline goodness : 0.830788 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.93918432 -0.31101974 -0.14560057 3.1224992 ] [ 0.32492379 0.94203896 0.08358906 0.15337981] [ 0.11116356 -0.12581463 0.98580594 -0.69644881] [ 0. 0. 0. 1. ]] SLAMing on 66.409072329 meters Centerline goodness : 0.825124 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.9398525 -0.30940784 -0.14472066 3.12096635] [ 0.32306217 0.94278284 0.08240964 0.15387627] [ 0.11094197 -0.12420668 0.98603478 -0.6977724 ] [ 0. 0. 0. 1. ]] SLAMing on 66.439072329 meters Centerline goodness : 0.828065 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.70 [[ 0.94127972 -0.30540008 -0.14395583 3.11757828] [ 0.3189887 0.94413529 0.08279344 0.15372105] [ 0.11062865 -0.12385207 0.98611458 -0.69797719] [ 0. 0. 0. 1. ]] SLAMing on 66.469072329 meters Centerline goodness : 0.828474 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94235589 -0.30762381 -0.13165472 3.11824656] [ 0.31986988 0.94368054 0.0845595 0.15792203] [ 0.09822748 -0.12179753 0.9876825 -0.69990442] [ 0. 0. 0. 1. ]] SLAMing on 66.499072329 meters Centerline goodness : 0.829988 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94294373 -0.30506824 -0.13338099 3.11879459] [ 0.3178549 0.94406176 0.08783879 0.15941905] [ 0.09912306 -0.12522284 0.98716456 -0.698874 ] [ 0. 0. 0. 1. ]] SLAMing on 66.52907232899999 meters Centerline goodness : 0.831982 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94380362 -0.3016669 -0.13502521 3.11884619] [ 0.3149642 0.94474637 0.09083965 0.16143727] [ 0.10016126 -0.1282629 0.98666932 -0.69812687] [ 0. 0. 0. 1. ]] SLAMing on 66.55907232899999 meters Centerline goodness : 0.834467 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94373361 -0.30192087 -0.13494689 3.11960347] [ 0.31508893 0.94481696 0.08966532 0.16255222] [ 0.10042828 -0.12714045 0.98678745 -0.6992297 ] [ 0. 0. 0. 1. ]] SLAMing on 66.58907232899999 meters Centerline goodness : 0.829167 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94366358 -0.30245245 -0.13424443 3.12014261] [ 0.31532154 0.94493283 0.08760289 0.16330899] [ 0.10035626 -0.12499782 0.98706847 -0.70121737] [ 0. 0. 0. 1. ]] SLAMing on 66.61907232899999 meters Centerline goodness : 0.825461 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.70 [[ 0.94341064 -0.30414021 -0.13219339 3.11823426] [ 0.31626081 0.94506037 0.08270429 0.16442554] [ 0.09977704 -0.1198317 0.98776764 -0.70267707] [ 0. 0. 0. 1. ]] SLAMing on 66.64907232899999 meters Centerline goodness : 0.827043 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94345885 -0.30376642 -0.13270778 3.11794293] [ 0.31597372 0.94513498 0.08294868 0.16530019] [ 0.10022974 -0.12019084 0.98767817 -0.701572 ] [ 0. 0. 0. 1. ]] SLAMing on 66.679072329 meters Centerline goodness : 0.827088 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94364717 -0.3028712 -0.13341309 3.11653581] [ 0.31527823 0.94526742 0.08407821 0.16618272] [ 0.10064618 -0.1214024 0.98748762 -0.69924857] [ 0. 0. 0. 1. ]] SLAMing on 66.709072329 meters Centerline goodness : 0.825378 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94443793 -0.29915043 -0.13618379 3.1174011 ] [ 0.31237684 0.94580628 0.08871967 0.16789545] [ 0.10226295 -0.12633088 0.98670299 -0.69686258] [ 0. 0. 0. 1. ]] SLAMing on 66.739072329 meters Centerline goodness : 0.825882 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94460562 -0.29841105 -0.13664211 3.11624343] [ 0.31175551 0.94595671 0.08929954 0.16862623] [ 0.10260956 -0.12695178 0.98658731 -0.69519059] [ 0. 0. 0. 1. ]] SLAMing on 66.769072329 meters Centerline goodness : 0.826577 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.69 [[ 0.94478682 -0.29776768 -0.13679284 3.11567834] [ 0.31112792 0.94616577 0.08927344 0.16934799] [ 0.10284596 -0.12690444 0.98656879 -0.6947869 ] [ 0. 0. 0. 1. ]] SLAMing on 66.799072329 meters Centerline goodness : 0.827746 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.70 [[ 0.94510457 -0.29686416 -0.13656143 3.11624851] [ 0.31016006 0.94651353 0.08895439 0.16918923] [ 0.10284987 -0.1264271 0.98662966 -0.69620986] [ 0. 0. 0. 1. ]] SLAMing on 66.829072329 meters Centerline goodness : 0.826752 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94558322 -0.29639809 -0.13424061 3.11347152] [ 0.30900029 0.94724744 0.08509466 0.16838613] [ 0.10193718 -0.12194447 0.98728839 -0.69783265] [ 0. 0. 0. 1. ]] SLAMing on 66.859072329 meters Centerline goodness : 0.826923 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94583626 -0.2956745 -0.13405356 3.11284114] [ 0.308215 0.94753564 0.08473327 0.16854795] [ 0.10196706 -0.12146111 0.98734488 -0.69794555] [ 0. 0. 0. 1. ]] SLAMing on 66.889072329 meters Centerline goodness : 0.827072 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94614656 -0.2945272 -0.13438908 3.11158788] [ 0.3071763 0.94781283 0.08540232 0.16892963] [ 0.10222238 -0.12208425 0.98724162 -0.69660916] [ 0. 0. 0. 1. ]] SLAMing on 66.91907232899999 meters Centerline goodness : 0.824348 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94720464 -0.29044365 -0.13581556 3.11094206] [ 0.30365803 0.94859837 0.08917918 0.16916311] [ 0.10293289 -0.12571242 0.98671232 -0.69521672] [ 0. 0. 0. 1. ]] SLAMing on 66.94907232899999 meters Centerline goodness : 0.825930 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94755157 -0.28949776 -0.13541445 3.1102058 ] [ 0.30261302 0.94897422 0.08873153 0.16897309] [ 0.10281725 -0.12505587 0.9868078 -0.69568332] [ 0. 0. 0. 1. ]] SLAMing on 66.97907232899999 meters Centerline goodness : 0.824078 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.70 [[ 0.94773631 -0.28924901 -0.13465103 3.1100665 ] [ 0.30213523 0.94924452 0.08745933 0.16806597] [ 0.10251923 -0.1235712 0.98702582 -0.69684864] [ 0. 0. 0. 1. ]] SLAMing on 67.00907232899999 meters Centerline goodness : 0.826523 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.70 [[ 0.94837572 -0.28814404 -0.13250098 3.10718615] [ 0.30052157 0.94996837 0.08512863 0.16455198] [ 0.10134244 -0.12055333 0.98752043 -0.69750018] [ 0. 0. 0. 1. ]] SLAMing on 67.03907232899999 meters Centerline goodness : 0.826811 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.70 [[ 0.94871977 -0.28694669 -0.13263637 3.10626076] [ 0.29945394 0.95020434 0.08624998 0.16288614] [ 0.1012825 -0.12154554 0.98740495 -0.69622231] [ 0. 0. 0. 1. ]] SLAMing on 67.069072329 meters Centerline goodness : 0.827018 Centerline is valid? [False, False] Translation: X:3.11, Y:0.17, Z:-0.69 [[ 0.94912067 -0.29045263 -0.12168493 3.1078969 ] [ 0.30160001 0.94955639 0.0859075 0.16596921] [ 0.09059464 -0.11823676 0.98884411 -0.6935803 ] [ 0. 0. 0. 1. ]] SLAMing on 67.099072329 meters Centerline goodness : 0.826527 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94924404 -0.28958172 -0.12279323 3.10752061] [ 0.30112132 0.94944957 0.08872131 0.16437366] [ 0.09089391 -0.12119384 0.98845857 -0.69056711] [ 0. 0. 0. 1. ]] SLAMing on 67.129072329 meters Centerline goodness : 0.827584 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94895949 -0.29086167 -0.12196464 3.10655619] [ 0.30209474 0.94934763 0.08647457 0.16313129] [ 0.0906347 -0.11890574 0.98876022 -0.69000187] [ 0. 0. 0. 1. ]] SLAMing on 67.159072329 meters Centerline goodness : 0.824927 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.69 [[ 0.94854953 -0.292921 -0.12021258 3.10551864] [ 0.30361241 0.94919124 0.08279797 0.16121828] [ 0.08985147 -0.11503601 0.98928936 -0.69057773] [ 0. 0. 0. 1. ]] SLAMing on 67.189072329 meters Centerline goodness : 0.828994 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.69 [[ 0.94809083 -0.29546207 -0.11758373 3.10411592] [ 0.30542028 0.94902121 0.07795635 0.1560098 ] [ 0.08855631 -0.10982216 0.98999842 -0.6910155 ] [ 0. 0. 0. 1. ]] SLAMing on 67.219072329 meters Centerline goodness : 0.826000 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.69 [[ 0.94790251 -0.29575326 -0.11836742 3.1047386 ] [ 0.30592748 0.94873932 0.07938563 0.1542566 ] [ 0.08882126 -0.11146168 0.98979143 -0.68901832] [ 0. 0. 0. 1. ]] SLAMing on 67.249072329 meters Centerline goodness : 0.828580 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.69 [[ 0.94757871 -0.29614714 -0.11996443 3.1055192 ] [ 0.30672055 0.94827902 0.08178875 0.15384559] [ 0.08953824 -0.11429683 0.98940342 -0.68591979] [ 0. 0. 0. 1. ]] SLAMing on 67.27907232899999 meters Centerline goodness : 0.826438 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.9472252 -0.29675476 -0.12124779 3.106028 ] [ 0.30763424 0.94783333 0.08350544 0.1538149 ] [ 0.09014206 -0.11639843 0.98910354 -0.6832597 ] [ 0. 0. 0. 1. ]] SLAMing on 67.30907232899999 meters Centerline goodness : 0.824490 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.94600292 -0.300871 -0.1206446 3.10681453] [ 0.31143755 0.94682478 0.08080521 0.15164356] [ 0.08991735 -0.11401523 0.98940154 -0.68190181] [ 0. 0. 0. 1. ]] SLAMing on 67.33907232899999 meters Centerline goodness : 0.822200 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.68 [[ 0.94473614 -0.29935676 -0.13363814 3.10781246] [ 0.31096508 0.94736352 0.07617794 0.14694667] [ 0.10379952 -0.11352484 0.98809806 -0.67744804] [ 0. 0. 0. 1. ]] SLAMing on 67.36907232899999 meters Centerline goodness : 0.820916 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.68 [[ 0.94302051 -0.30575776 -0.13124217 3.10836729] [ 0.31650109 0.94598437 0.07028965 0.14196355] [ 0.10266144 -0.10782287 0.98885533 -0.67734062] [ 0. 0. 0. 1. ]] SLAMing on 67.39907232899999 meters Centerline goodness : 0.820517 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.68 [[ 0.94240841 -0.30711978 -0.13245312 3.11067539] [ 0.31816915 0.9453032 0.07190448 0.14063144] [ 0.10312507 -0.10990588 0.98857772 -0.67575491] [ 0. 0. 0. 1. ]] SLAMing on 67.429072329 meters Centerline goodness : 0.818816 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94184693 -0.3081212 -0.13411068 3.11235532] [ 0.3196253 0.94461627 0.07442965 0.14001783] [ 0.10374978 -0.11296651 0.98816727 -0.67303175] [ 0. 0. 0. 1. ]] SLAMing on 67.459072329 meters Centerline goodness : 0.818694 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94122135 -0.30963266 -0.13501847 3.11185399] [ 0.32139038 0.94390792 0.07580272 0.13914438] [ 0.103974 -0.11474078 0.98793925 -0.66922884] [ 0. 0. 0. 1. ]] SLAMing on 67.489072329 meters Centerline goodness : 0.818090 Centerline is valid? [False, False] Translation: X:3.11, Y:0.14, Z:-0.67 [[ 0.94064652 -0.31093342 -0.13603136 3.11491001] [ 0.32290807 0.94331736 0.07669897 0.13803098] [ 0.10447247 -0.11607224 0.98773111 -0.66888507] [ 0. 0. 0. 1. ]] SLAMing on 67.519072329 meters Centerline goodness : 0.820334 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:-0.67 [[ 0.93939653 -0.31580046 -0.13343248 3.11551734] [ 0.32696194 0.94231592 0.07167008 0.13172781] [ 0.1031021 -0.11095396 0.98846304 -0.66959142] [ 0. 0. 0. 1. ]] SLAMing on 67.549072329 meters Centerline goodness : 0.817833 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:-0.67 [[ 0.93875589 -0.3178408 -0.13309621 3.11842287] [ 0.32881445 0.94178424 0.07016766 0.12910388] [ 0.10304577 -0.10963426 0.98861615 -0.67090237] [ 0. 0. 0. 1. ]] SLAMing on 67.579072329 meters Centerline goodness : 0.818538 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.67 [[ 0.93783686 -0.32053559 -0.13311259 3.119512 ] [ 0.33146546 0.94089324 0.06964601 0.1249422 ] [ 0.10292071 -0.10943882 0.98865083 -0.66861033] [ 0. 0. 0. 1. ]] SLAMing on 67.609072329 meters Centerline goodness : 0.818765 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.67 [[ 0.93745693 -0.3209926 -0.13467835 3.12193284] [ 0.33229214 0.94046347 0.071487 0.12345448] [ 0.10371327 -0.11176854 0.98830732 -0.66676993] [ 0. 0. 0. 1. ]] SLAMing on 67.639072329 meters Centerline goodness : 0.819513 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-0.66 [[ 0.93706434 -0.32173442 -0.13563693 3.12312168] [ 0.33327901 0.94001705 0.07275329 0.12225347] [ 0.10409379 -0.11337946 0.98808379 -0.66491902] [ 0. 0. 0. 1. ]] SLAMing on 67.66907232899999 meters Centerline goodness : 0.819305 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:-0.66 [[ 0.93640562 -0.32321255 -0.13666809 3.12726115] [ 0.33498208 0.93933704 0.07370842 0.11906619] [ 0.10455391 -0.11480234 0.98787089 -0.66491402] [ 0. 0. 0. 1. ]] SLAMing on 67.69907232899999 meters Centerline goodness : 0.821366 Centerline is valid? [False, False] Translation: X:3.13, Y:0.12, Z:-0.67 [[ 0.93634601 -0.32371969 -0.13587384 3.12848162] [ 0.33524979 0.93935119 0.07229742 0.11628936] [ 0.10422916 -0.11324708 0.9880847 -0.66625674] [ 0. 0. 0. 1. ]] SLAMing on 67.72907232899999 meters Centerline goodness : 0.823021 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93622394 -0.32444461 -0.1349831 3.12938642] [ 0.33567194 0.93934725 0.07036403 0.11344934] [ 0.10396678 -0.11118653 0.98834633 -0.66732165] [ 0. 0. 0. 1. ]] SLAMing on 67.75907232899999 meters Centerline goodness : 0.824666 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93548271 -0.32669067 -0.13470453 3.13283314] [ 0.33777386 0.93867866 0.06921849 0.10929302] [ 0.10383124 -0.11025237 0.98846522 -0.66843105] [ 0. 0. 0. 1. ]] SLAMing on 67.78907232899999 meters Centerline goodness : 0.825939 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93496567 -0.32773298 -0.13575818 3.13470234] [ 0.33904131 0.93814902 0.0701955 0.10800934] [ 0.10435603 -0.11165802 0.98825215 -0.66681032] [ 0. 0. 0. 1. ]] SLAMing on 67.819072329 meters Centerline goodness : 0.825939 Centerline is valid? [False, False] Translation: X:3.13, Y:0.11, Z:-0.67 [[ 0.93496567 -0.32773298 -0.13575818 3.13470234] [ 0.33904131 0.93814902 0.0701955 0.10800934] [ 0.10435603 -0.11165802 0.98825215 -0.66681032] [ 0. 0. 0. 1. ]] SLAMing on 67.849072329 meters Centerline goodness : 0.826975 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.66 [[ 0.93449578 -0.32849547 -0.13714357 3.13648742] [ 0.34011668 0.93765132 0.07162851 0.10717494] [ 0.10506321 -0.11358136 0.98795799 -0.66464739] [ 0. 0. 0. 1. ]] SLAMing on 67.879072329 meters Centerline goodness : 0.827838 Centerline is valid? [False, False] Translation: X:3.14, Y:0.11, Z:-0.66 [[ 0.93404325 -0.32919102 -0.13855138 3.13688432] [ 0.34121437 0.93708095 0.07383795 0.10533484] [ 0.10552707 -0.11624356 0.98759884 -0.66065466] [ 0. 0. 0. 1. ]] SLAMing on 67.909072329 meters Centerline goodness : 0.831245 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.93386774 -0.32928813 -0.13950048 3.13971083] [ 0.34151198 0.93690778 0.07465502 0.1045879 ] [ 0.10611607 -0.11735899 0.98740379 -0.66106673] [ 0. 0. 0. 1. ]] SLAMing on 67.939072329 meters Centerline goodness : 0.831422 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.93369016 -0.33002734 -0.13894117 3.1401826 ] [ 0.34205492 0.93680714 0.07342208 0.10314967] [ 0.10592979 -0.11607899 0.98757509 -0.66156843] [ 0. 0. 0. 1. ]] SLAMing on 67.969072329 meters Centerline goodness : 0.831353 Centerline is valid? [False, False] Translation: X:3.14, Y:0.10, Z:-0.66 [[ 0.9334987 -0.33040633 -0.13932634 3.14354897] [ 0.34247096 0.93666219 0.07333198 0.10183826] [ 0.10627237 -0.11617053 0.98752751 -0.66330462] [ 0. 0. 0. 1. ]] SLAMing on 67.999072329 meters Centerline goodness : 0.834539 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.66 [[ 0.93283328 -0.33210232 -0.13975018 3.14720634] [ 0.34415645 0.93609219 0.07271693 0.10055415] [ 0.10666959 -0.1159287 0.98751311 -0.66456613] [ 0. 0. 0. 1. ]] SLAMing on 68.02907232899999 meters Centerline goodness : 0.833231 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.66 [[ 0.93247991 -0.33283655 -0.14036041 3.14849311] [ 0.34495066 0.93581025 0.07258249 0.10114509] [ 0.1071926 -0.11609913 0.98743645 -0.66420131] [ 0. 0. 0. 1. ]] SLAMing on 68.05907232899999 meters Centerline goodness : 0.836384 Centerline is valid? [False, False] Translation: X:3.15, Y:0.10, Z:-0.67 [[ 0.93240872 -0.33257743 -0.14144341 3.15182252] [ 0.34490078 0.93577013 0.07333298 0.10212693] [ 0.10796963 -0.11716025 0.98722644 -0.66569769] [ 0. 0. 0. 1. ]] SLAMing on 68.08907232899999 meters Centerline goodness : 0.834073 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93182926 -0.33351393 -0.1430479 3.15616466] [ 0.34610036 0.93527879 0.07394681 0.10354916] [ 0.10912737 -0.11841473 0.98694943 -0.66654403] [ 0. 0. 0. 1. ]] SLAMing on 68.11907232899999 meters Centerline goodness : 0.833570 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93151489 -0.33408309 -0.14376541 3.15762469] [ 0.34678956 0.93500108 0.07422922 0.10388291] [ 0.10962208 -0.11900197 0.98682396 -0.66612887] [ 0. 0. 0. 1. ]] SLAMing on 68.14907232899999 meters Centerline goodness : 0.833538 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93118402 -0.33461696 -0.14466451 3.15963642] [ 0.34748479 0.93470708 0.07467931 0.10293435] [ 0.11022998 -0.1198089 0.98665859 -0.66537858] [ 0. 0. 0. 1. ]] SLAMing on 68.179072329 meters Centerline goodness : 0.834413 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.67 [[ 0.93093699 -0.33490326 -0.14558889 3.16214118] [ 0.34795696 0.93448008 0.07531885 0.1024026 ] [ 0.11082539 -0.12077577 0.986474 -0.66538413] [ 0. 0. 0. 1. ]] SLAMing on 68.209072329 meters Centerline goodness : 0.833651 Centerline is valid? [False, False] Translation: X:3.16, Y:0.10, Z:-0.66 [[ 0.9306401 -0.33536254 -0.14642735 3.16380264] [ 0.34857505 0.93421118 0.07579515 0.102474 ] [ 0.11137522 -0.12157893 0.9863134 -0.66482973] [ 0. 0. 0. 1. ]] SLAMing on 68.239072329 meters Centerline goodness : 0.834485 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.67 [[ 0.93046133 -0.335212 -0.14790073 3.16734892] [ 0.34877296 0.9340179 0.07725276 0.10290982] [ 0.11224588 -0.12346448 0.98598042 -0.66535541] [ 0. 0. 0. 1. ]] SLAMing on 68.269072329 meters Centerline goodness : 0.832574 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.66 [[ 0.92983827 -0.33646701 -0.14896555 3.1695199 ] [ 0.35023975 0.9334161 0.07788778 0.10202427] [ 0.11284018 -0.12459669 0.98577013 -0.66397722] [ 0. 0. 0. 1. ]] SLAMing on 68.299072329 meters Centerline goodness : 0.833760 Centerline is valid? [False, False] Translation: X:3.17, Y:0.10, Z:-0.66 [[ 0.92928562 -0.33730279 -0.15051597 3.17340975] [ 0.35144312 0.93284191 0.07933289 0.10094803] [ 0.1136484 -0.12662072 0.98541932 -0.66341154] [ 0. 0. 0. 1. ]] SLAMing on 68.329072329 meters Centerline goodness : 0.833340 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.9284519 -0.33913058 -0.15155037 3.17596348] [ 0.35346252 0.93204126 0.07977052 0.10043173] [ 0.11419857 -0.12763047 0.98522543 -0.66220171] [ 0. 0. 0. 1. ]] SLAMing on 68.359072329 meters Centerline goodness : 0.830395 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.92667791 -0.34394272 -0.15156337 3.18033485] [ 0.35799401 0.93052935 0.0771713 0.09955252] [ 0.11449165 -0.12577172 0.98543043 -0.66285803] [ 0. 0. 0. 1. ]] SLAMing on 68.389072329 meters Centerline goodness : 0.828519 Centerline is valid? [False, False] Translation: X:3.18, Y:0.10, Z:-0.66 [[ 0.92578714 -0.34595687 -0.15242056 3.18496406] [ 0.36008105 0.92975611 0.0767803 0.0985802 ] [ 0.11515127 -0.12596597 0.98532876 -0.66371278] [ 0. 0. 0. 1. ]] SLAMing on 68.41907232899999 meters Centerline goodness : 0.828837 Centerline is valid? [False, False] Translation: X:3.19, Y:0.10, Z:-0.66 [[ 0.92505507 -0.34728487 -0.15383868 3.19072183] [ 0.36169253 0.92906341 0.07758671 0.09734907] [ 0.11598119 -0.12741428 0.98504516 -0.6649211 ] [ 0. 0. 0. 1. ]] SLAMing on 68.44907232899999 meters Centerline goodness : 0.827031 Centerline is valid? [False, False] Translation: X:3.19, Y:0.09, Z:-0.66 [[ 0.92416884 -0.34874394 -0.15585125 3.19383545] [ 0.36373255 0.92804373 0.08020891 0.09419348] [ 0.11666441 -0.13081475 0.98451862 -0.66132868] [ 0. 0. 0. 1. ]] SLAMing on 68.47907232899999 meters Centerline goodness : 0.830436 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.66 [[ 0.92410498 -0.34768731 -0.15856711 3.19622808] [ 0.36356518 0.92771837 0.08461079 0.09333194] [ 0.11768752 -0.13583873 0.98371616 -0.65815632] [ 0. 0. 0. 1. ]] SLAMing on 68.50907232899999 meters Centerline goodness : 0.830578 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.65 [[ 0.92363801 -0.34838591 -0.15975007 3.19519357] [ 0.36460834 0.92717322 0.08608466 0.0937681 ] [ 0.1181253 -0.13775728 0.98339684 -0.65414656] [ 0. 0. 0. 1. ]] SLAMing on 68.53907232899999 meters Centerline goodness : 0.828940 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.65 [[ 0.92215175 -0.35240719 -0.15951592 3.19711515] [ 0.3682652 0.92599129 0.08319174 0.09497942] [ 0.11839298 -0.13545957 0.98368379 -0.654061 ] [ 0. 0. 0. 1. ]] SLAMing on 68.569072329 meters Centerline goodness : 0.826529 Centerline is valid? [False, False] Translation: X:3.20, Y:0.10, Z:-0.66 [[ 0.92120119 -0.35528867 -0.15861377 3.2006606 ] [ 0.37060286 0.92537472 0.07959364 0.09518828] [ 0.11849845 -0.13210447 0.98412729 -0.65732255] [ 0. 0. 0. 1. ]] SLAMing on 68.599072329 meters Centerline goodness : 0.827866 Centerline is valid? [False, False] Translation: X:3.20, Y:0.09, Z:-0.66 [[ 0.92032598 -0.35801176 -0.15756797 3.20318863] [ 0.37278501 0.92478781 0.07615015 0.09479892] [ 0.11845429 -0.12882194 0.98456767 -0.65971581] [ 0. 0. 0. 1. ]] SLAMing on 68.629072329 meters Centerline goodness : 0.829058 Centerline is valid? [False, False] Translation: X:3.21, Y:0.09, Z:-0.66 [[ 0.91954566 -0.35941458 -0.1589243 3.20646603] [ 0.37444863 0.92406426 0.07676895 0.09499872] [ 0.11926438 -0.13010154 0.98430158 -0.65909216] [ 0. 0. 0. 1. ]] SLAMing on 68.659072329 meters Centerline goodness : 0.828474 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.66 [[ 0.91895083 -0.36031505 -0.16031979 3.20661823] [ 0.37563554 0.92351673 0.07755507 0.09700421] [ 0.12011375 -0.13149111 0.98401361 -0.6562092 ] [ 0. 0. 0. 1. ]] SLAMing on 68.689072329 meters Centerline goodness : 0.828806 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.65 [[ 0.91896995 -0.35897175 -0.16319775 3.20987872] [ 0.37513752 0.92339796 0.08128992 0.09851126] [ 0.12151568 -0.1359246 0.98323875 -0.65477064] [ 0. 0. 0. 1. ]] SLAMing on 68.719072329 meters Centerline goodness : 0.827579 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.65 [[ 0.91881512 -0.35908747 -0.16381382 3.21035112] [ 0.37532169 0.92333572 0.08114669 0.10021651] [ 0.12211639 -0.13604168 0.98314813 -0.65431206] [ 0. 0. 0. 1. ]] SLAMing on 68.749072329 meters Centerline goodness : 0.828282 Centerline is valid? [False, False] Translation: X:3.21, Y:0.10, Z:-0.66 [[ 0.9187621 -0.35902751 -0.16424206 3.2141387 ] [ 0.3752701 0.92339247 0.08073842 0.10012121] [ 0.12267257 -0.13581453 0.9831103 -0.65693233] [ 0. 0. 0. 1. ]] SLAMing on 68.77907232899999 meters Centerline goodness : 0.826805 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91854088 -0.35990755 -0.16355188 3.21600242] [ 0.37581684 0.92333816 0.07879309 0.0989295 ] [ 0.12265547 -0.13384022 0.98338316 -0.6587865 ] [ 0. 0. 0. 1. ]] SLAMing on 68.80907232899999 meters Centerline goodness : 0.827042 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91837276 -0.35999172 -0.16430896 3.22005496] [ 0.37606004 0.92320167 0.07923087 0.09759266] [ 0.12316785 -0.13455351 0.98322176 -0.66037004] [ 0. 0. 0. 1. ]] SLAMing on 68.83907232899999 meters Centerline goodness : 0.826877 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91830156 -0.35958939 -0.16558294 3.22159306] [ 0.37610665 0.9229926 0.08141526 0.09546917] [ 0.12355577 -0.13704061 0.98282951 -0.65841311] [ 0. 0. 0. 1. ]] SLAMing on 68.86907232899999 meters Centerline goodness : 0.826387 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.91821216 -0.35930759 -0.16668676 3.22176231] [ 0.37615973 0.9228434 0.0828488 0.09531659] [ 0.12405757 -0.13877362 0.98252308 -0.65616156] [ 0. 0. 0. 1. ]] SLAMing on 68.89907232899999 meters Centerline goodness : 0.825166 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.91909374 -0.35588779 -0.16914662 3.22489378] [ 0.37366824 0.9234263 0.08749802 0.09312012] [ 0.12505496 -0.14362361 0.9816993 -0.65549256] [ 0. 0. 0. 1. ]] SLAMing on 68.929072329 meters Centerline goodness : 0.823517 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91930966 -0.35545846 -0.16887577 3.22530835] [ 0.37318375 0.92363215 0.08739306 0.09162807] [ 0.12491449 -0.14336297 0.98175528 -0.65606858] [ 0. 0. 0. 1. ]] SLAMing on 68.959072329 meters Centerline goodness : 0.822218 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91959638 -0.35455803 -0.16920729 3.22808356] [ 0.37237477 0.92392363 0.08776191 0.08998089] [ 0.12521792 -0.14371406 0.98166529 -0.65785004] [ 0. 0. 0. 1. ]] SLAMing on 68.989072329 meters Centerline goodness : 0.821592 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91980753 -0.35374522 -0.16975993 3.23091962] [ 0.37169576 0.92415516 0.08820153 0.08877521] [ 0.12568364 -0.14422748 0.98153047 -0.65924607] [ 0. 0. 0. 1. ]] SLAMing on 69.019072329 meters Centerline goodness : 0.821517 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.91987214 -0.35339282 -0.17014335 3.23224969] [ 0.37144202 0.92422462 0.08854193 0.08812455] [ 0.12596059 -0.14464564 0.98143343 -0.65950201] [ 0. 0. 0. 1. ]] SLAMing on 69.049072329 meters Centerline goodness : 0.819023 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92022733 -0.35229577 -0.17049734 3.23210242] [ 0.3705061 0.924515 0.08942733 0.08713112] [ 0.12612248 -0.14546378 0.9812917 -0.65874541] [ 0. 0. 0. 1. ]] SLAMing on 69.079072329 meters Centerline goodness : 0.819819 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92074005 -0.35095082 -0.17050302 3.23204607] [ 0.36921214 0.92499001 0.08986589 0.08610763] [ 0.12617509 -0.14569492 0.98125065 -0.65896373] [ 0. 0. 0. 1. ]] SLAMing on 69.109072329 meters Centerline goodness : 0.819097 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92117938 -0.34990031 -0.17028891 3.23183702] [ 0.36812438 0.92542382 0.08986205 0.08541326] [ 0.12614666 -0.14546657 0.98128818 -0.65950878] [ 0. 0. 0. 1. ]] SLAMing on 69.139072329 meters Centerline goodness : 0.819640 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92209843 -0.34756543 -0.17009633 3.23340255] [ 0.36571017 0.92641053 0.08955222 0.08534259] [ 0.12645378 -0.14478192 0.98134991 -0.66286314] [ 0. 0. 0. 1. ]] SLAMing on 69.16907232899999 meters Centerline goodness : 0.818817 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92228007 -0.3472044 -0.16984869 3.23295144] [ 0.36522418 0.92666697 0.0888799 0.08633853] [ 0.12653368 -0.144005 0.98145391 -0.66350853] [ 0. 0. 0. 1. ]] SLAMing on 69.19907232899999 meters Centerline goodness : 0.819630 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92376321 -0.34230234 -0.17172843 3.23328535] [ 0.36110312 0.9278852 0.0929171 0.08718757] [ 0.12753852 -0.14784507 0.98075265 -0.66324635] [ 0. 0. 0. 1. ]] SLAMing on 69.22907232899999 meters Centerline goodness : 0.821370 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92429411 -0.34098126 -0.17149981 3.2308059 ] [ 0.35975653 0.92839661 0.09303215 0.08799148] [ 0.12749763 -0.14768725 0.98078175 -0.66237671] [ 0. 0. 0. 1. ]] SLAMing on 69.25907232899999 meters Centerline goodness : 0.821643 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92483286 -0.33960419 -0.17132769 3.23094182] [ 0.35833005 0.92896142 0.09289921 0.0881138 ] [ 0.12760785 -0.1473081 0.98082443 -0.66370705] [ 0. 0. 0. 1. ]] SLAMing on 69.28907232899999 meters Centerline goodness : 0.822635 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92523983 -0.33956849 -0.16918779 3.22990398] [ 0.35749581 0.92964542 0.08919717 0.08828969] [ 0.1269961 -0.1430127 0.98153928 -0.66720318] [ 0. 0. 0. 1. ]] SLAMing on 69.319072329 meters Centerline goodness : 0.824419 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92523191 -0.33956964 -0.16922875 3.23048928] [ 0.35747039 0.9296793 0.08894561 0.08855924] [ 0.12712524 -0.14278958 0.98155505 -0.66771293] [ 0. 0. 0. 1. ]] SLAMing on 69.349072329 meters Centerline goodness : 0.826143 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.9252867 -0.33934507 -0.16937958 3.2304963 ] [ 0.35725793 0.9297675 0.08887729 0.08908134] [ 0.12732356 -0.14274917 0.98153522 -0.66761638] [ 0. 0. 0. 1. ]] SLAMing on 69.379072329 meters Centerline goodness : 0.826846 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.92610155 -0.33629115 -0.17100928 3.22990974] [ 0.35490777 0.93030978 0.09254287 0.08939521] [ 0.12797026 -0.14639662 0.98091368 -0.66555115] [ 0. 0. 0. 1. ]] SLAMing on 69.409072329 meters Centerline goodness : 0.828637 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92632639 -0.33559081 -0.17116727 3.2281659 ] [ 0.35428044 0.9305088 0.09294483 0.09020117] [ 0.12808122 -0.14673846 0.98084812 -0.66413806] [ 0. 0. 0. 1. ]] SLAMing on 69.439072329 meters Centerline goodness : 0.827055 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.92645153 -0.33528692 -0.17108549 3.22741263] [ 0.35392631 0.93067148 0.09266477 0.09075372] [ 0.1281551 -0.14640108 0.98088888 -0.66385475] [ 0. 0. 0. 1. ]] SLAMing on 69.469072329 meters Centerline goodness : 0.827236 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.67 [[ 0.9266271 -0.33513501 -0.17043106 3.22771535] [ 0.35350786 0.93095785 0.09137651 0.09095174] [ 0.12804066 -0.14492067 0.98112363 -0.66567909] [ 0. 0. 0. 1. ]] SLAMing on 69.499072329 meters Centerline goodness : 0.829271 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.67 [[ 0.92638948 -0.33703648 -0.1679552 3.22476109] [ 0.35444502 0.93105218 0.0866635 0.09217522] [ 0.12716629 -0.13981504 0.98197785 -0.66712223] [ 0. 0. 0. 1. ]] SLAMing on 69.52907232899999 meters Centerline goodness : 0.827717 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.67 [[ 0.92647191 -0.33665255 -0.16827017 3.22352749] [ 0.35414892 0.93113274 0.08700779 0.09316584] [ 0.12739047 -0.14020297 0.98189347 -0.66564181] [ 0. 0. 0. 1. ]] SLAMing on 69.55907232899999 meters Centerline goodness : 0.828585 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.92689059 -0.3349949 -0.16926979 3.22273781] [ 0.35291453 0.93139251 0.08921506 0.09349012] [ 0.12777002 -0.14243037 0.98152352 -0.66374514] [ 0. 0. 0. 1. ]] SLAMing on 69.58907232899999 meters Centerline goodness : 0.832120 Centerline is valid? [False, False] Translation: X:3.22, Y:0.09, Z:-0.66 [[ 0.92725355 -0.33328705 -0.17064756 3.22143648] [ 0.35176399 0.93155752 0.09199279 0.09484631] [ 0.12830801 -0.14532831 0.98102841 -0.66109639] [ 0. 0. 0. 1. ]] SLAMing on 69.61907232899999 meters Centerline goodness : 0.832752 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92703488 -0.33387568 -0.170685 3.22161713] [ 0.35226387 0.93144156 0.0912512 0.09597096] [ 0.12851655 -0.1447192 0.98109115 -0.66121972] [ 0. 0. 0. 1. ]] SLAMing on 69.64907232899999 meters Centerline goodness : 0.830839 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92652151 -0.33591045 -0.16947586 3.2207331 ] [ 0.35370903 0.93120458 0.08802243 0.09689067] [ 0.12824905 -0.14149982 0.98159563 -0.6618218 ] [ 0. 0. 0. 1. ]] SLAMing on 69.679072329 meters Centerline goodness : 0.832961 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92592652 -0.33797012 -0.16863058 3.22195115] [ 0.35532161 0.93083057 0.08544586 0.09770531] [ 0.12808836 -0.13903468 0.9819688 -0.66373122] [ 0. 0. 0. 1. ]] SLAMing on 69.709072329 meters Centerline goodness : 0.832931 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92568562 -0.33828874 -0.16931292 3.2228196 ] [ 0.35579761 0.93060766 0.08589203 0.09847882] [ 0.1285076 -0.13975015 0.98181245 -0.66310753] [ 0. 0. 0. 1. ]] SLAMing on 69.739072329 meters Centerline goodness : 0.832931 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92568562 -0.33828874 -0.16931292 3.2228196 ] [ 0.35579761 0.93060766 0.08589203 0.09847882] [ 0.1285076 -0.13975015 0.98181245 -0.66310753] [ 0. 0. 0. 1. ]] SLAMing on 69.769072329 meters Centerline goodness : 0.833854 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92536166 -0.33882193 -0.17001619 3.22245698] [ 0.35646775 0.93032772 0.08614563 0.10024958] [ 0.12898274 -0.14032115 0.9816687 -0.66139566] [ 0. 0. 0. 1. ]] SLAMing on 69.799072329 meters Centerline goodness : 0.833126 Centerline is valid? [False, False] Translation: X:3.22, Y:0.10, Z:-0.66 [[ 0.92453173 -0.34000145 -0.172163 3.22188579] [ 0.35820868 0.929486 0.08799046 0.10452821] [ 0.13010622 -0.14302025 0.98113077 -0.65718164] [ 0. 0. 0. 1. ]] SLAMing on 69.829072329 meters Centerline goodness : 0.833840 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:-0.66 [[ 0.92400829 -0.34112575 -0.17274812 3.22217367] [ 0.35938752 0.9290574 0.08770948 0.10653634] [ 0.13057296 -0.14312781 0.98105307 -0.65616829] [ 0. 0. 0. 1. ]] SLAMing on 69.859072329 meters Centerline goodness : 0.832113 Centerline is valid? [False, False] Translation: X:3.22, Y:0.11, Z:-0.66 [[ 0.92340729 -0.34270988 -0.17282628 3.22295882] [ 0.36081571 0.92862762 0.08638731 0.10875187] [ 0.13088547 -0.14212911 0.98115662 -0.65659398] [ 0. 0. 0. 1. ]] SLAMing on 69.88907232899999 meters Centerline goodness : 0.832519 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.921921 -0.34736072 -0.17147068 3.22674391] [ 0.36453725 0.92768818 0.08066749 0.11228367] [ 0.13105061 -0.1368765 0.98188113 -0.66143005] [ 0. 0. 0. 1. ]] SLAMing on 69.91907232899999 meters Centerline goodness : 0.832098 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.92129151 -0.34891754 -0.17169303 3.22799704] [ 0.36603223 0.92716596 0.07989794 0.11326177] [ 0.13131014 -0.13645448 0.9819052 -0.66148932] [ 0. 0. 0. 1. ]] SLAMing on 69.94907232899999 meters Centerline goodness : 0.833228 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.66 [[ 0.92068855 -0.34996133 -0.1727995 3.22799963] [ 0.36732253 0.92660103 0.08052758 0.11523776] [ 0.13193465 -0.13761397 0.98165964 -0.65904699] [ 0. 0. 0. 1. ]] SLAMing on 69.97907232899999 meters Centerline goodness : 0.834546 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.92015427 -0.34982769 -0.17588834 3.22753006] [ 0.36811651 0.92596686 0.08411665 0.12061853] [ 0.13344044 -0.1421477 0.98080971 -0.65421808] [ 0. 0. 0. 1. ]] SLAMing on 70.00907232899999 meters Centerline goodness : 0.835475 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.91965679 -0.35103758 -0.17607953 3.22758178] [ 0.36922168 0.92561974 0.08308698 0.12342731] [ 0.13381604 -0.14142389 0.98086317 -0.6541271 ] [ 0. 0. 0. 1. ]] SLAMing on 70.03907232899999 meters Centerline goodness : 0.833802 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.92001542 -0.35657876 -0.16255219 3.23118103] [ 0.37278355 0.92425009 0.08242689 0.12812378] [ 0.1208472 -0.13643079 0.98325103 -0.6611128 ] [ 0. 0. 0. 1. ]] SLAMing on 70.069072329 meters Centerline goodness : 0.834453 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.9195468 -0.3578286 -0.16245729 3.23259778] [ 0.37381801 0.92398149 0.08073599 0.12989797] [ 0.12121788 -0.13496999 0.983407 -0.66243765] [ 0. 0. 0. 1. ]] SLAMing on 70.099072329 meters Centerline goodness : 0.836087 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.91947959 -0.35800471 -0.16244972 3.23191575] [ 0.3739104 0.92400302 0.08005894 0.13173963] [ 0.12144255 -0.13435421 0.9834636 -0.66233469] [ 0. 0. 0. 1. ]] SLAMing on 70.129072329 meters Centerline goodness : 0.834990 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.66 [[ 0.91960465 -0.35729121 -0.16331037 3.23198397] [ 0.37340714 0.92413961 0.08082757 0.13409605] [ 0.1220426 -0.13531067 0.98325817 -0.66196779] [ 0. 0. 0. 1. ]] SLAMing on 70.159072329 meters Centerline goodness : 0.837103 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.9200936 -0.35495232 -0.16564003 3.23057089] [ 0.3718366 0.92444826 0.0844568 0.13791979] [ 0.1231475 -0.13929919 0.98256319 -0.65876276] [ 0. 0. 0. 1. ]] SLAMing on 70.189072329 meters Centerline goodness : 0.838489 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.92023158 -0.35438421 -0.16608935 3.23026194] [ 0.37139568 0.9245775 0.0849806 0.13877581] [ 0.12344669 -0.13988669 0.98244218 -0.65812015] [ 0. 0. 0. 1. ]] SLAMing on 70.219072329 meters Centerline goodness : 0.839023 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.92026176 -0.35447533 -0.16572727 3.23017187] [ 0.37134151 0.92466779 0.08423158 0.13932646] [ 0.12338465 -0.13905652 0.98256782 -0.65890256] [ 0. 0. 0. 1. ]] SLAMing on 70.249072329 meters Centerline goodness : 0.839269 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91985311 -0.3557101 -0.16534985 3.23306034] [ 0.37231007 0.92443536 0.08248921 0.14014973] [ 0.12351301 -0.13743937 0.9827792 -0.66205401] [ 0. 0. 0. 1. ]] SLAMing on 70.27907232899999 meters Centerline goodness : 0.838061 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91933206 -0.35692686 -0.16562539 3.23386384] [ 0.37351235 0.92399221 0.08201785 0.14125976] [ 0.1237622 -0.13726477 0.98277225 -0.66185898] [ 0. 0. 0. 1. ]] SLAMing on 70.30907232899999 meters Centerline goodness : 0.838593 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91873327 -0.35812095 -0.16636875 3.23425698] [ 0.37483673 0.92344191 0.08217335 0.14277125] [ 0.12420388 -0.13785651 0.9826337 -0.66039223] [ 0. 0. 0. 1. ]] SLAMing on 70.33907232899999 meters Centerline goodness : 0.839129 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.66 [[ 0.91816246 -0.35910898 -0.16738711 3.23413235] [ 0.37605591 0.92288833 0.08281959 0.14453269] [ 0.12473835 -0.13898875 0.98240647 -0.65807402] [ 0. 0. 0. 1. ]] SLAMing on 70.36907232899999 meters Centerline goodness : 0.837663 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.66 [[ 0.91729016 -0.36059777 -0.16896157 3.23442059] [ 0.37796776 0.92197194 0.08430958 0.14699329] [ 0.12537598 -0.14119838 0.98201012 -0.65506494] [ 0. 0. 0. 1. ]] SLAMing on 70.39907232899999 meters Centerline goodness : 0.836267 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.91675248 -0.3619515 -0.1689852 3.23498394] [ 0.37923175 0.92152413 0.08352575 0.14785353] [ 0.12549167 -0.14065699 0.98207304 -0.65492186] [ 0. 0. 0. 1. ]] SLAMing on 70.429072329 meters Centerline goodness : 0.837782 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91593737 -0.36415617 -0.16866836 3.23815801] [ 0.3811268 0.92093528 0.08136686 0.14976781] [ 0.1257024 -0.13881098 0.98230872 -0.6580094 ] [ 0. 0. 0. 1. ]] SLAMing on 70.459072329 meters Centerline goodness : 0.838050 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91552078 -0.36531844 -0.16841655 3.23879873] [ 0.38211197 0.92062836 0.0802114 0.1506093 ] [ 0.12574635 -0.13778918 0.98244694 -0.65869367] [ 0. 0. 0. 1. ]] SLAMing on 70.489072329 meters Centerline goodness : 0.837683 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91522741 -0.36585223 -0.16885181 3.23963454] [ 0.3827532 0.92033266 0.08054674 0.15103296] [ 0.12593163 -0.13834715 0.98234479 -0.65832413] [ 0. 0. 0. 1. ]] SLAMing on 70.519072329 meters Centerline goodness : 0.839704 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.66 [[ 0.91476116 -0.36531544 -0.17250116 3.24321953] [ 0.38337536 0.91963046 0.08545848 0.15313554] [ 0.12741802 -0.14430679 0.98129516 -0.65556381] [ 0. 0. 0. 1. ]] SLAMing on 70.549072329 meters Centerline goodness : 0.840446 Centerline is valid? [False, False] Translation: X:3.24, Y:0.16, Z:-0.65 [[ 0.91418975 -0.36636457 -0.17330351 3.24347419] [ 0.3845802 0.91910494 0.08569816 0.15520191] [ 0.12788734 -0.14499348 0.98113288 -0.65422524] [ 0. 0. 0. 1. ]] SLAMing on 70.579072329 meters Centerline goodness : 0.837898 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91369932 -0.36704665 -0.17444287 3.24751365] [ 0.38544871 0.91873175 0.08579781 0.1577414 ] [ 0.12877441 -0.14563219 0.98092223 -0.65621447] [ 0. 0. 0. 1. ]] SLAMing on 70.609072329 meters Centerline goodness : 0.835306 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91255394 -0.37045981 -0.17321902 3.25065753] [ 0.38812755 0.91800146 0.08142683 0.16005034] [ 0.12884995 -0.14153745 0.98151151 -0.66026121] [ 0. 0. 0. 1. ]] SLAMing on 70.63907232899999 meters Centerline goodness : 0.839782 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91217235 -0.37171071 -0.17254783 3.25129238] [ 0.38906819 0.91775113 0.07974207 0.15969226] [ 0.12871499 -0.13987139 0.98176802 -0.66106614] [ 0. 0. 0. 1. ]] SLAMing on 70.66907232899999 meters Centerline goodness : 0.837917 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91203061 -0.37181248 -0.173077 3.25323557] [ 0.3893073 0.91760944 0.08020438 0.15957207] [ 0.1289961 -0.14052899 0.98163721 -0.66166522] [ 0. 0. 0. 1. ]] SLAMing on 70.69907232899999 meters Centerline goodness : 0.839993 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91222484 -0.37001031 -0.17589261 3.25422686] [ 0.38850765 0.91753961 0.08475178 0.15983591] [ 0.1300294 -0.1456483 0.98075426 -0.65812128] [ 0. 0. 0. 1. ]] SLAMing on 70.72907232899999 meters Centerline goodness : 0.842523 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.66 [[ 0.91232843 -0.36916541 -0.17712633 3.25466565] [ 0.38808068 0.91755368 0.08653686 0.16095943] [ 0.1305765 -0.14768935 0.98037627 -0.65703094] [ 0. 0. 0. 1. ]] SLAMing on 70.75907232899999 meters Centerline goodness : 0.842514 Centerline is valid? [False, False] Translation: X:3.26, Y:0.16, Z:-0.66 [[ 0.91236483 -0.36842786 -0.1784694 3.25655037] [ 0.3877128 0.91758888 0.08780336 0.16272205] [ 0.13141233 -0.14930357 0.98002002 -0.65721232] [ 0. 0. 0. 1. ]] SLAMing on 70.78907232899999 meters Centerline goodness : 0.838274 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91275301 -0.36724226 -0.17892758 3.25711644] [ 0.38657688 0.91807773 0.08770179 0.16589036] [ 0.13206162 -0.14921934 0.97994557 -0.65875113] [ 0. 0. 0. 1. ]] SLAMing on 70.819072329 meters Centerline goodness : 0.840611 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91300156 -0.36684814 -0.17846733 3.25581176] [ 0.38600244 0.91839542 0.08690207 0.16663945] [ 0.13202372 -0.14823056 0.98010073 -0.65886755] [ 0. 0. 0. 1. ]] SLAMing on 70.849072329 meters Centerline goodness : 0.846010 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91364882 -0.36503032 -0.17888179 3.25815011] [ 0.38428301 0.91908388 0.08724329 0.16761818] [ 0.13256093 -0.14845096 0.97999485 -0.6616621 ] [ 0. 0. 0. 1. ]] SLAMing on 70.879072329 meters Centerline goodness : 0.845033 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.9154069 -0.36032245 -0.17943786 3.25869917] [ 0.37989878 0.92071659 0.08920698 0.16834054] [ 0.13306814 -0.14982891 0.97971637 -0.66436671] [ 0. 0. 0. 1. ]] SLAMing on 70.909072329 meters Centerline goodness : 0.848052 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.66 [[ 0.91613867 -0.3583976 -0.17955804 3.25641084] [ 0.37802952 0.92145121 0.08956192 0.17011436] [ 0.13335519 -0.14992938 0.97966197 -0.66373329] [ 0. 0. 0. 1. ]] SLAMing on 70.939072329 meters Centerline goodness : 0.848456 Centerline is valid? [False, False] Translation: X:3.26, Y:0.18, Z:-0.66 [[ 0.91709209 -0.36095914 -0.16926488 3.26028032] [ 0.37906889 0.92100284 0.08978051 0.17808718] [ 0.12348634 -0.14650004 0.9814728 -0.66482366] [ 0. 0. 0. 1. ]] SLAMing on 70.969072329 meters Centerline goodness : 0.848668 Centerline is valid? [False, False] Translation: X:3.26, Y:0.18, Z:-0.67 [[ 0.91827418 -0.35735688 -0.17049512 3.25963491] [ 0.37580623 0.92220727 0.09112311 0.1833311 ] [ 0.12466837 -0.14774913 0.98113607 -0.66610187] [ 0. 0. 0. 1. ]] SLAMing on 70.999072329 meters Centerline goodness : 0.846386 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91847728 -0.35682479 -0.17051557 3.26002293] [ 0.37513685 0.92258622 0.09003891 0.1854582 ] [ 0.12518721 -0.14666536 0.98123261 -0.66749058] [ 0. 0. 0. 1. ]] SLAMing on 71.02907232899999 meters Centerline goodness : 0.846714 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91884474 -0.35563946 -0.17101146 3.26236733] [ 0.37399941 0.92306403 0.08987349 0.1872753 ] [ 0.12589197 -0.14653797 0.98116147 -0.67003542] [ 0. 0. 0. 1. ]] SLAMing on 71.05907232899999 meters Centerline goodness : 0.850363 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.91986359 -0.35314226 -0.17070889 3.25946472] [ 0.37142018 0.92412394 0.08967712 0.18978323] [ 0.12608739 -0.14589544 0.98123213 -0.67008986] [ 0. 0. 0. 1. ]] SLAMing on 71.08907232899999 meters Centerline goodness : 0.849942 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.92066448 -0.35038358 -0.17207054 3.25967386] [ 0.36913251 0.92482808 0.09183801 0.19191933] [ 0.12695713 -0.14806883 0.98079433 -0.67010631] [ 0. 0. 0. 1. ]] SLAMing on 71.11907232899999 meters Centerline goodness : 0.849643 Centerline is valid? [False, False] Translation: X:3.26, Y:0.19, Z:-0.67 [[ 0.92092871 -0.34949356 -0.17246615 3.25806369] [ 0.36830853 0.92514881 0.09191574 0.19464957] [ 0.12743289 -0.1481686 0.98071756 -0.66928465] [ 0. 0. 0. 1. ]] SLAMing on 71.14907232899999 meters Centerline goodness : 0.849896 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92116886 -0.348747 -0.17269471 3.25726716] [ 0.36753775 0.92549747 0.09149013 0.1972554 ] [ 0.12792161 -0.14774968 0.98071713 -0.66936852] [ 0. 0. 0. 1. ]] SLAMing on 71.179072329 meters Centerline goodness : 0.851849 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92165236 -0.34748481 -0.17265933 3.25681397] [ 0.36610143 0.92618868 0.09024564 0.20203639] [ 0.12855613 -0.14638593 0.98083866 -0.6714165 ] [ 0. 0. 0. 1. ]] SLAMing on 71.209072329 meters Centerline goodness : 0.850447 Centerline is valid? [False, False] Translation: X:3.26, Y:0.20, Z:-0.67 [[ 0.92164874 -0.34765371 -0.17233834 3.25590725] [ 0.36604127 0.92634661 0.08885801 0.20434312] [ 0.12875322 -0.14497882 0.98102179 -0.6718207 ] [ 0. 0. 0. 1. ]] SLAMing on 71.239072329 meters Centerline goodness : 0.850824 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.67 [[ 0.92175291 -0.34731787 -0.17245832 3.2566354 ] [ 0.36557516 0.92663665 0.08774581 0.20668352] [ 0.12933051 -0.14392644 0.98110081 -0.6732611 ] [ 0. 0. 0. 1. ]] SLAMing on 71.269072329 meters Centerline goodness : 0.853057 Centerline is valid? [False, False] Translation: X:3.26, Y:0.21, Z:-0.67 [[ 0.9228819 -0.34399282 -0.17308363 3.25550347] [ 0.3624676 0.92775397 0.08882458 0.21002065] [ 0.130024 -0.14471181 0.9808936 -0.67406978] [ 0. 0. 0. 1. ]] SLAMing on 71.299072329 meters Centerline goodness : 0.854567 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.67 [[ 0.92406171 -0.34605949 -0.16233538 3.25752787] [ 0.36308292 0.92742616 0.08973026 0.21730212] [ 0.11950206 -0.1418575 0.98264729 -0.67463927] [ 0. 0. 0. 1. ]] SLAMing on 71.329072329 meters Centerline goodness : 0.851860 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.67 [[ 0.9251065 -0.34250029 -0.16392535 3.25693144] [ 0.36007736 0.92832917 0.09246218 0.22005768] [ 0.12050836 -0.14456317 0.98212994 -0.67408145] [ 0. 0. 0. 1. ]] SLAMing on 71.359072329 meters Centerline goodness : 0.856551 Centerline is valid? [False, False] Translation: X:3.26, Y:0.22, Z:-0.68 [[ 0.92692772 -0.33741142 -0.16419054 3.25521524] [ 0.3551131 0.93015578 0.09330009 0.22404489] [ 0.12124226 -0.14478865 0.98200639 -0.67621077] [ 0. 0. 0. 1. ]] SLAMing on 71.38907232899999 meters Centerline goodness : 0.856999 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.92765163 -0.33602597 -0.16293862 3.25385987] [ 0.35330126 0.93103676 0.09137162 0.22531623] [ 0.12099861 -0.14232745 0.98239617 -0.67848952] [ 0. 0. 0. 1. ]] SLAMing on 71.41907232899999 meters Centerline goodness : 0.852553 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.92929119 -0.33207269 -0.16169607 3.25152818] [ 0.34895969 0.93282604 0.08979261 0.22790111] [ 0.12101663 -0.13986889 0.982747 -0.68160591] [ 0. 0. 0. 1. ]] SLAMing on 71.44907232899999 meters Centerline goodness : 0.853189 Centerline is valid? [False, False] Translation: X:3.25, Y:0.23, Z:-0.68 [[ 0.93042714 -0.33431047 -0.15013943 3.25270962] [ 0.34945258 0.93274924 0.08866646 0.23412504] [ 0.11040031 -0.1349643 0.98468087 -0.68200076] [ 0. 0. 0. 1. ]] SLAMing on 71.47907232899999 meters Centerline goodness : 0.854023 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93155725 -0.33058945 -0.15136612 3.25300584] [ 0.34617625 0.93372749 0.0911865 0.23523142] [ 0.11118942 -0.13734481 0.98426283 -0.68232539] [ 0. 0. 0. 1. ]] SLAMing on 71.50907232899999 meters Centerline goodness : 0.852471 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93269421 -0.32688409 -0.15240833 3.25349991] [ 0.34289122 0.93469311 0.09367172 0.23648984] [ 0.11183522 -0.13962655 0.98386854 -0.6832806 ] [ 0. 0. 0. 1. ]] SLAMing on 71.53907232899999 meters Centerline goodness : 0.852992 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93499071 -0.31988401 -0.15318808 3.25088658] [ 0.33645621 0.93661025 0.09776737 0.23651245] [ 0.11220331 -0.14295266 0.98334885 -0.6827779 ] [ 0. 0. 0. 1. ]] SLAMing on 71.569072329 meters Centerline goodness : 0.851137 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93587915 -0.31721668 -0.15330948 3.24908449] [ 0.33391105 0.93742067 0.09872134 0.23672553] [ 0.11239942 -0.14358298 0.98323461 -0.68209894] [ 0. 0. 0. 1. ]] SLAMing on 71.599072329 meters Centerline goodness : 0.852726 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9364384 -0.31566258 -0.15310216 3.24756512] [ 0.33231114 0.93800093 0.09860813 0.23736318] [ 0.11248307 -0.14321799 0.98327828 -0.68182786] [ 0. 0. 0. 1. ]] SLAMing on 71.629072329 meters Centerline goodness : 0.852726 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9364384 -0.31566258 -0.15310216 3.24756512] [ 0.33231114 0.93800093 0.09860813 0.23736318] [ 0.11248307 -0.14321799 0.98327828 -0.68182786] [ 0. 0. 0. 1. ]] SLAMing on 71.659072329 meters Centerline goodness : 0.848603 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.9374511 -0.3132093 -0.15193868 3.24600535] [ 0.32948008 0.93918582 0.09681363 0.23918778] [ 0.11237572 -0.14081881 0.98363701 -0.68433997] [ 0. 0. 0. 1. ]] SLAMing on 71.689072329 meters Centerline goodness : 0.846842 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.69 [[ 0.93778317 -0.31243282 -0.15148749 3.24537652] [ 0.32852107 0.93962632 0.09579293 0.24040543] [ 0.11241278 -0.13959983 0.98380651 -0.68528533] [ 0. 0. 0. 1. ]] SLAMing on 71.719072329 meters Centerline goodness : 0.848178 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93799559 -0.31189612 -0.15127818 3.24487636] [ 0.32787633 0.93992016 0.09511683 0.24104868] [ 0.11252284 -0.1388197 0.98390431 -0.68553804] [ 0. 0. 0. 1. ]] SLAMing on 71.749072329 meters Centerline goodness : 0.847809 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93803213 -0.31218335 -0.1504569 3.24396646] [ 0.327863 0.94008803 0.09348982 0.24149486] [ 0.11225677 -0.13702571 0.98418615 -0.68598731] [ 0. 0. 0. 1. ]] SLAMing on 71.77907232899999 meters Centerline goodness : 0.844870 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.69 [[ 0.93782956 -0.31258652 -0.150882 3.24430245] [ 0.32832995 0.93992197 0.09352076 0.24182896] [ 0.11258398 -0.13724561 0.98411813 -0.68513565] [ 0. 0. 0. 1. ]] SLAMing on 71.80907232899999 meters Centerline goodness : 0.847008 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93728567 -0.31348921 -0.15238136 3.24427423] [ 0.3296054 0.939336 0.09491134 0.24302612] [ 0.11338362 -0.13918476 0.98375391 -0.6817932 ] [ 0. 0. 0. 1. ]] SLAMing on 71.83907232899999 meters Centerline goodness : 0.845240 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93688301 -0.31436056 -0.15306097 3.24488389] [ 0.3305827 0.93898593 0.09497637 0.24348037] [ 0.11386528 -0.13958105 0.98364212 -0.68057435] [ 0. 0. 0. 1. ]] SLAMing on 71.86907232899999 meters Centerline goodness : 0.842836 Centerline is valid? [False, False] Translation: X:3.25, Y:0.24, Z:-0.68 [[ 0.93661263 -0.31520319 -0.15298279 3.24536579] [ 0.33133903 0.93878647 0.09431016 0.24319762] [ 0.11389131 -0.13902126 0.98371838 -0.68046387] [ 0. 0. 0. 1. ]] SLAMing on 71.89907232899999 meters Centerline goodness : 0.840679 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93646071 -0.31637376 -0.15148921 3.24308271] [ 0.33203234 0.93877417 0.09196515 0.24128493] [ 0.1131188 -0.13642106 0.98417144 -0.67942029] [ 0. 0. 0. 1. ]] SLAMing on 71.929072329 meters Centerline goodness : 0.839339 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93645488 -0.31630656 -0.1516655 3.24281998] [ 0.33201629 0.93875699 0.09219817 0.24059898] [ 0.11321416 -0.13669484 0.98412249 -0.67843189] [ 0. 0. 0. 1. ]] SLAMing on 71.959072329 meters Centerline goodness : 0.839414 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93641741 -0.31621385 -0.15208954 3.24285912] [ 0.33203028 0.93871122 0.09261286 0.24009072] [ 0.11348269 -0.13722263 0.9840181 -0.67733846] [ 0. 0. 0. 1. ]] SLAMing on 71.989072329 meters Centerline goodness : 0.838413 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.68 [[ 0.93631539 -0.31636085 -0.15241161 3.24292072] [ 0.33226586 0.93859093 0.0929864 0.23943301] [ 0.1136349 -0.13770578 0.98393304 -0.67627317] [ 0. 0. 0. 1. ]] SLAMing on 72.019072329 meters Centerline goodness : 0.838899 Centerline is valid? [False, False] Translation: X:3.24, Y:0.24, Z:-0.67 [[ 0.93613975 -0.31765261 -0.15079517 3.24007396] [ 0.33311539 0.93847791 0.09106788 0.23591906] [ 0.11258999 -0.13548446 0.98436145 -0.67416257] [ 0. 0. 0. 1. ]] SLAMing on 72.049072329 meters Centerline goodness : 0.839145 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93577929 -0.31920128 -0.14975867 3.23853412] [ 0.33430234 0.93824407 0.08910668 0.23393982] [ 0.11206722 -0.13344886 0.98469911 -0.6728036 ] [ 0. 0. 0. 1. ]] SLAMing on 72.079072329 meters Centerline goodness : 0.838715 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93518037 -0.32125376 -0.1491097 3.23740434] [ 0.33608129 0.93776689 0.0874221 0.23219992] [ 0.11174546 -0.13186841 0.98494856 -0.67093785] [ 0. 0. 0. 1. ]] SLAMing on 72.109072329 meters Centerline goodness : 0.838853 Centerline is valid? [False, False] Translation: X:3.24, Y:0.23, Z:-0.67 [[ 0.93437992 -0.32394859 -0.14829525 3.23578562] [ 0.33852073 0.93701519 0.0860596 0.22812157] [ 0.11107602 -0.13061338 0.98519149 -0.66760977] [ 0. 0. 0. 1. ]] SLAMing on 72.13907232899999 meters Centerline goodness : 0.838530 Centerline is valid? [False, False] Translation: X:3.23, Y:0.23, Z:-0.67 [[ 0.93417508 -0.32463337 -0.14808813 3.23481719] [ 0.33918314 0.93677297 0.08608838 0.22558779] [ 0.1107778 -0.13065061 0.98522013 -0.66556298] [ 0. 0. 0. 1. ]] SLAMing on 72.16907232899999 meters Centerline goodness : 0.834560 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93387349 -0.32550268 -0.14808213 3.23403029] [ 0.34007127 0.93643681 0.08624169 0.22339572] [ 0.11059765 -0.1308973 0.98520762 -0.66333597] [ 0. 0. 0. 1. ]] SLAMing on 72.19907232899999 meters Centerline goodness : 0.832049 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93378969 -0.32574171 -0.14808496 3.23292717] [ 0.34042328 0.93621635 0.08724073 0.21922035] [ 0.11022162 -0.13187606 0.98511923 -0.66029436] [ 0. 0. 0. 1. ]] SLAMing on 72.22907232899999 meters Centerline goodness : 0.831561 Centerline is valid? [False, False] Translation: X:3.23, Y:0.22, Z:-0.66 [[ 0.93384886 -0.3257499 -0.14769328 3.2319546 ] [ 0.34036598 0.93624801 0.08712437 0.21720252] [ 0.10989678 -0.13163076 0.98518833 -0.65920868] [ 0. 0. 0. 1. ]] SLAMing on 72.25907232899999 meters Centerline goodness : 0.830267 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93398034 -0.32651281 -0.14515545 3.22992373] [ 0.34045879 0.93649234 0.08408277 0.21260929] [ 0.10848287 -0.12795111 0.98582959 -0.65978413] [ 0. 0. 0. 1. ]] SLAMing on 72.28907232899999 meters Centerline goodness : 0.829245 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93384299 -0.32753461 -0.14373014 3.22878047] [ 0.34101015 0.93652519 0.081441 0.21048068] [ 0.10793215 -0.12506654 0.98626011 -0.65979594] [ 0. 0. 0. 1. ]] SLAMing on 72.319072329 meters Centerline goodness : 0.829967 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93382437 -0.32799596 -0.14279602 3.2276786 ] [ 0.34118692 0.93659328 0.07990311 0.20865427] [ 0.1075339 -0.1233356 0.98652156 -0.65942301] [ 0. 0. 0. 1. ]] SLAMing on 72.349072329 meters Centerline goodness : 0.828352 Centerline is valid? [False, False] Translation: X:3.23, Y:0.21, Z:-0.66 [[ 0.93396737 -0.32759506 -0.14278106 3.22742609] [ 0.3408233 0.93669402 0.08027328 0.20738492] [ 0.10744503 -0.12363573 0.98649368 -0.65885143] [ 0. 0. 0. 1. ]] SLAMing on 72.379072329 meters Centerline goodness : 0.827829 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93438357 -0.32608645 -0.14350948 3.22693977] [ 0.33965636 0.93691561 0.08259963 0.20463099] [ 0.10752166 -0.12592365 0.98619589 -0.65653097] [ 0. 0. 0. 1. ]] SLAMing on 72.409072329 meters Centerline goodness : 0.827413 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93452573 -0.32534269 -0.14426984 3.22894145] [ 0.33920275 0.93692151 0.08437757 0.20282463] [ 0.10771789 -0.12778974 0.9859344 -0.65667258] [ 0. 0. 0. 1. ]] SLAMing on 72.439072329 meters Centerline goodness : 0.825054 Centerline is valid? [False, False] Translation: X:3.23, Y:0.20, Z:-0.66 [[ 0.93450291 -0.32565554 -0.14371074 3.22811107] [ 0.33935636 0.93693791 0.08357401 0.20021528] [ 0.1074317 -0.12686931 0.98608448 -0.65562941] [ 0. 0. 0. 1. ]] SLAMing on 72.469072329 meters Centerline goodness : 0.824979 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.65 [[ 0.93430325 -0.32726814 -0.14132585 3.22555292] [ 0.34035968 0.93682525 0.08070776 0.19457464] [ 0.10598455 -0.12350715 0.98666776 -0.65444767] [ 0. 0. 0. 1. ]] SLAMing on 72.499072329 meters Centerline goodness : 0.823502 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.66 [[ 0.93438922 -0.32682747 -0.14177655 3.22882082] [ 0.34007091 0.93685253 0.08160338 0.19248968] [ 0.10615349 -0.1244634 0.98652942 -0.6561688 ] [ 0. 0. 0. 1. ]] SLAMing on 72.52907232899999 meters Centerline goodness : 0.822844 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.66 [[ 0.93414089 -0.32816034 -0.14032671 3.22804555] [ 0.34103175 0.93665901 0.07979499 0.18733978] [ 0.10525273 -0.12239563 0.98688458 -0.65532227] [ 0. 0. 0. 1. ]] SLAMing on 72.55907232899999 meters Centerline goodness : 0.823737 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93420913 -0.32792876 -0.1404138 3.22855572] [ 0.34088271 0.93665524 0.0804732 0.18452979] [ 0.10512984 -0.12304344 0.98681712 -0.65459799] [ 0. 0. 0. 1. ]] SLAMing on 72.58907232899999 meters Centerline goodness : 0.824252 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93434561 -0.32717413 -0.14126347 3.23046199] [ 0.34042335 0.93666748 0.08225553 0.18202472] [ 0.10540501 -0.12494447 0.98654886 -0.6541681 ] [ 0. 0. 0. 1. ]] SLAMing on 72.61907232899999 meters Centerline goodness : 0.820445 Centerline is valid? [False, False] Translation: X:3.23, Y:0.18, Z:-0.65 [[ 0.93458004 -0.32693974 -0.14025174 3.22887079] [ 0.34003648 0.93682759 0.0820321 0.1760986 ] [ 0.10457215 -0.12435627 0.9867118 -0.65218878] [ 0. 0. 0. 1. ]] SLAMing on 72.64907232899999 meters Centerline goodness : 0.823285 Centerline is valid? [False, False] Translation: X:3.23, Y:0.17, Z:-0.65 [[ 0.93463126 -0.32727888 -0.13911485 3.2274848 ] [ 0.34008627 0.93693075 0.08063558 0.17271663] [ 0.10395066 -0.12267558 0.98698782 -0.65147852] [ 0. 0. 0. 1. ]] SLAMing on 72.679072329 meters Centerline goodness : 0.820849 Centerline is valid? [False, False] Translation: X:3.23, Y:0.17, Z:-0.65 [[ 0.93462576 -0.32780616 -0.13790506 3.22663909] [ 0.34024784 0.93704816 0.07856305 0.16975926] [ 0.10347023 -0.12034895 0.98732469 -0.65146781] [ 0. 0. 0. 1. ]] SLAMing on 72.709072329 meters Centerline goodness : 0.820884 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93526504 -0.32613884 -0.13752371 3.23016265] [ 0.33857342 0.93761932 0.07898135 0.16320904] [ 0.103186 -0.12043036 0.98734451 -0.65406294] [ 0. 0. 0. 1. ]] SLAMing on 72.739072329 meters Centerline goodness : 0.821982 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93555615 -0.32569373 -0.13659536 3.22841734] [ 0.3379775 0.93786376 0.07863068 0.15900886] [ 0.10249832 -0.11972958 0.98750135 -0.65278273] [ 0. 0. 0. 1. ]] SLAMing on 72.769072329 meters Centerline goodness : 0.822101 Centerline is valid? [False, False] Translation: X:3.23, Y:0.16, Z:-0.65 [[ 0.93569173 -0.32490098 -0.13755125 3.23146553] [ 0.33751497 0.93785476 0.08069749 0.15616682] [ 0.1027844 -0.12193358 0.98720189 -0.65307111] [ 0. 0. 0. 1. ]] SLAMing on 72.799072329 meters Centerline goodness : 0.821883 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.93568316 -0.32509291 -0.13715544 3.23053131] [ 0.33768405 0.93777255 0.08094521 0.15263331] [ 0.1023059 -0.12205427 0.98723668 -0.65139687] [ 0. 0. 0. 1. ]] SLAMing on 72.829072329 meters Centerline goodness : 0.818347 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.65 [[ 0.93573576 -0.32452447 -0.13813924 3.23456632] [ 0.33744154 0.93768801 0.08291201 0.14726942] [ 0.10262453 -0.12419765 0.98693624 -0.65160481] [ 0. 0. 0. 1. ]] SLAMing on 72.859072329 meters Centerline goodness : 0.817269 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.65 [[ 0.93587554 -0.32436989 -0.13755414 3.23352597] [ 0.33718923 0.93779898 0.08268306 0.14379315] [ 0.10217824 -0.12376282 0.98703717 -0.65043949] [ 0. 0. 0. 1. ]] SLAMing on 72.88907232899999 meters Centerline goodness : 0.817570 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.65 [[ 0.93642843 -0.32261061 -0.13792819 3.23597982] [ 0.33562245 0.93823319 0.08411927 0.14076325] [ 0.10227103 -0.12506347 0.9868636 -0.65195499] [ 0. 0. 0. 1. ]] SLAMing on 72.91907232899999 meters Centerline goodness : 0.814964 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.65 [[ 0.93804989 -0.31861218 -0.13619352 3.23430989] [ 0.33142784 0.93969635 0.08441777 0.13288959] [ 0.10108403 -0.12432641 0.98707901 -0.6531258 ] [ 0. 0. 0. 1. ]] SLAMing on 72.94907232899999 meters Centerline goodness : 0.813956 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.65 [[ 0.93878099 -0.31670997 -0.13559149 3.23340438] [ 0.32950574 0.94031973 0.0849987 0.12967825] [ 0.10057942 -0.12447334 0.98711203 -0.65338216] [ 0. 0. 0. 1. ]] SLAMing on 72.97907232899999 meters Centerline goodness : 0.813797 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94085912 -0.31024088 -0.13614226 3.23339645] [ 0.32350321 0.94203451 0.08897556 0.1245117 ] [ 0.10064685 -0.12775593 0.98668568 -0.65404617] [ 0. 0. 0. 1. ]] SLAMing on 73.00907232899999 meters Centerline goodness : 0.812127 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94182272 -0.30750658 -0.13568222 3.23167719] [ 0.32081736 0.94284867 0.09007002 0.12158598] [ 0.10023068 -0.1283592 0.98664975 -0.65378935] [ 0. 0. 0. 1. ]] SLAMing on 73.03907232899999 meters Centerline goodness : 0.811373 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.65 [[ 0.94285423 -0.30438956 -0.13554666 3.23206315] [ 0.31782121 0.94372856 0.09146625 0.11828552] [ 0.10007788 -0.12931895 0.98653993 -0.65499912] [ 0. 0. 0. 1. ]] SLAMing on 73.069072329 meters Centerline goodness : 0.810225 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.94495078 -0.29895963 -0.13300816 3.2300739 ] [ 0.31202997 0.94568391 0.09120989 0.10979365] [ 0.0985156 -0.12769139 0.98690911 -0.65832252] [ 0. 0. 0. 1. ]] SLAMing on 73.099072329 meters Centerline goodness : 0.810819 Centerline is valid? [False, False] Translation: X:3.23, Y:0.11, Z:-0.66 [[ 0.94583609 -0.29659103 -0.13201456 3.22959525] [ 0.30954509 0.94648673 0.09134935 0.10568349] [ 0.09785663 -0.12726597 0.98702961 -0.65986419] [ 0. 0. 0. 1. ]] SLAMing on 73.129072329 meters Centerline goodness : 0.810073 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.66 [[ 0.94673098 -0.29396374 -0.1314754 3.22928464] [ 0.30693232 0.9472532 0.09221679 0.10153589] [ 0.0974321 -0.12765854 0.98702091 -0.66068273] [ 0. 0. 0. 1. ]] SLAMing on 73.159072329 meters Centerline goodness : 0.809869 Centerline is valid? [False, False] Translation: X:3.23, Y:0.10, Z:-0.66 [[ 0.94767465 -0.29092384 -0.1314385 3.22976899] [ 0.3040819 0.94797701 0.09420074 0.09704731] [ 0.09719544 -0.12923972 0.98683846 -0.66130456] [ 0. 0. 0. 1. ]] SLAMing on 73.189072329 meters Centerline goodness : 0.810185 Centerline is valid? [False, False] Translation: X:3.23, Y:0.09, Z:-0.66 [[ 0.94852387 -0.28847379 -0.13071095 3.22745374] [ 0.30167636 0.94860183 0.09563439 0.09110871] [ 0.09640463 -0.1301439 0.9867972 -0.65976839] [ 0. 0. 0. 1. ]] SLAMing on 73.219072329 meters Centerline goodness : 0.810558 Centerline is valid? [False, False] Translation: X:3.23, Y:0.08, Z:-0.66 [[ 0.95009289 -0.28373022 -0.12969454 3.22621507] [ 0.29712298 0.94969511 0.0989805 0.07818893] [ 0.09508651 -0.13257589 0.98660133 -0.65849776] [ 0. 0. 0. 1. ]] SLAMing on 73.249072329 meters Centerline goodness : 0.809858 Centerline is valid? [False, False] Translation: X:3.23, Y:0.07, Z:-0.66 [[ 0.95063365 -0.28194493 -0.12962527 3.22721377] [ 0.29549574 0.95002088 0.10071043 0.07246762] [ 0.09475192 -0.13404244 0.98643535 -0.65849591] [ 0. 0. 0. 1. ]] SLAMing on 73.27907232899999 meters Centerline goodness : 0.810348 Centerline is valid? [False, False] Translation: X:3.23, Y:0.07, Z:-0.66 [[ 0.95097145 -0.28067578 -0.12990155 3.22896193] [ 0.29442974 0.95016873 0.10242316 0.06727412] [ 0.09468069 -0.13564838 0.98622263 -0.65841317] [ 0. 0. 0. 1. ]] SLAMing on 73.30907232899999 meters Centerline goodness : 0.808589 Centerline is valid? [False, False] Translation: X:3.23, Y:0.05, Z:-0.66 [[ 0.95119791 -0.27390733 -0.14211726 3.23158561] [ 0.28960372 0.95140833 0.1046512 0.05119469] [ 0.10654681 -0.14070169 0.9843022 -0.65792395] [ 0. 0. 0. 1. ]] SLAMing on 73.33907232899999 meters Centerline goodness : 0.808712 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.66 [[ 0.95109894 -0.27479428 -0.14106349 3.23340502] [ 0.29019885 0.95137111 0.10333271 0.04458272] [ 0.10580849 -0.1392161 0.98459303 -0.65907695] [ 0. 0. 0. 1. ]] SLAMing on 73.36907232899999 meters Centerline goodness : 0.810911 Centerline is valid? [False, False] Translation: X:3.23, Y:0.04, Z:-0.66 [[ 0.95098116 -0.27588726 -0.13971775 3.2341042 ] [ 0.2909544 0.95129022 0.10194338 0.03732141] [ 0.10478725 -0.13759773 0.98492969 -0.65951378] [ 0. 0. 0. 1. ]] SLAMing on 73.39907232899999 meters Centerline goodness : 0.808442 Centerline is valid? [False, False] Translation: X:3.24, Y:0.02, Z:-0.66 [[ 0.9514184 -0.2751249 -0.13823643 3.23548326] [ 0.29002197 0.9515374 0.1022929 0.02079987] [ 0.10339381 -0.13741495 0.98510246 -0.65801758] [ 0. 0. 0. 1. ]] SLAMing on 73.429072329 meters Centerline goodness : 0.811877 Centerline is valid? [False, False] Translation: X:3.24, Y:0.01, Z:-0.66 [[ 0.95181807 -0.27358973 -0.1385317 3.23800203] [ 0.28878697 0.95164471 0.10475896 0.01205637] [ 0.10317199 -0.13971762 0.98480177 -0.65737789] [ 0. 0. 0. 1. ]] SLAMing on 73.459072329 meters Centerline goodness : 0.810189 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.65 [[ 0.95243821 -0.27178628 -0.13781754 3.2390823 ] [ 0.28718089 0.95181059 0.10762778 -0.00559592] [ 0.10192444 -0.14208738 0.9845926 -0.65420066] [ 0. 0. 0. 1. ]] SLAMing on 73.489072329 meters Centerline goodness : 0.809994 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.01, Z:-0.65 [[ 0.95274698 -0.27111793 -0.1369973 3.23812211] [ 0.28649198 0.95191077 0.10857362 -0.01431516] [ 0.10097295 -0.14269181 0.98460322 -0.65201843] [ 0. 0. 0. 1. ]] SLAMing on 73.519072329 meters Centerline goodness : 0.810642 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.65 [[ 0.95310743 -0.26978559 -0.13712026 3.23968521] [ 0.2854103 0.95197532 0.11083301 -0.02303068] [ 0.10063395 -0.1447713 0.98433433 -0.65066427] [ 0. 0. 0. 1. ]] SLAMing on 73.549072329 meters Centerline goodness : 0.810642 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.02, Z:-0.65 [[ 0.95310743 -0.26978559 -0.13712026 3.23968521] [ 0.2854103 0.95197532 0.11083301 -0.02303068] [ 0.10063395 -0.1447713 0.98433433 -0.65066427] [ 0. 0. 0. 1. ]] SLAMing on 73.579072329 meters Centerline goodness : 0.808597 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.05, Z:-0.65 [[ 0.95288348 -0.26397216 -0.1494382 3.24298055] [ 0.28148971 0.95308178 0.1113493 -0.04534724] [ 0.11303371 -0.14816822 0.98248133 -0.64584634] [ 0. 0. 0. 1. ]] SLAMing on 73.609072329 meters Centerline goodness : 0.808576 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.05, Z:-0.65 [[ 0.95261355 -0.26543794 -0.14856016 3.24566469] [ 0.28273019 0.95280958 0.11053297 -0.05479457] [ 0.1122099 -0.14729765 0.98270664 -0.64608688] [ 0. 0. 0. 1. ]] SLAMing on 73.63907232899999 meters Centerline goodness : 0.808764 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.06, Z:-0.65 [[ 0.95226638 -0.26699107 -0.14800171 3.24930286] [ 0.284148 0.95244065 0.11007599 -0.06474841] [ 0.11157353 -0.14687605 0.98284219 -0.64627033] [ 0. 0. 0. 1. ]] SLAMing on 73.66907232899999 meters Centerline goodness : 0.806664 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.07, Z:-0.65 [[ 0.95192187 -0.26874373 -0.14704269 3.25121207] [ 0.28569725 0.95203899 0.10953926 -0.07497363] [ 0.11055239 -0.14628251 0.98304608 -0.64554279] [ 0. 0. 0. 1. ]] SLAMing on 73.69907232899999 meters Centerline goodness : 0.805553 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.10, Z:-0.64 [[ 0.95079507 -0.26648649 -0.15803062 3.25017648] [ 0.28542234 0.95180952 0.11221735 -0.10166476] [ 0.12051064 -0.15180117 0.981037 -0.63791041] [ 0. 0. 0. 1. ]] SLAMing on 73.72907232899999 meters Centerline goodness : 0.805143 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.11, Z:-0.64 [[ 0.95013124 -0.26898185 -0.1577954 3.25196261] [ 0.28788622 0.95106485 0.11223714 -0.11062883] [ 0.1198839 -0.15206713 0.9810726 -0.63518236] [ 0. 0. 0. 1. ]] SLAMing on 73.75907232899999 meters Centerline goodness : 0.802132 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.12, Z:-0.63 [[ 0.94943177 -0.27143999 -0.15779623 3.2548573 ] [ 0.29037185 0.95028462 0.11244258 -0.12011837] [ 0.11942992 -0.15257614 0.98104894 -0.63278853] [ 0. 0. 0. 1. ]] SLAMing on 73.78907232899999 meters Centerline goodness : 0.800531 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.14, Z:-0.63 [[ 0.94827419 -0.27431098 -0.1597797 3.26635213] [ 0.29328478 0.94964663 0.1102511 -0.14075426] [ 0.12149116 -0.15140923 0.98097663 -0.62502024] [ 0. 0. 0. 1. ]] SLAMing on 73.819072329 meters Centerline goodness : 0.799738 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.15, Z:-0.62 [[ 0.94771122 -0.27645618 -0.15942215 3.26849448] [ 0.29540807 0.94895959 0.11049782 -0.15118146] [ 0.12073737 -0.15181461 0.98100704 -0.62252427] [ 0. 0. 0. 1. ]] SLAMing on 73.849072329 meters Centerline goodness : 0.800966 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.16, Z:-0.62 [[ 0.94715287 -0.27852588 -0.15913761 3.27083828] [ 0.29745285 0.94830488 0.11063295 -0.16063834] [ 0.12009684 -0.15212225 0.98103801 -0.62041537] [ 0. 0. 0. 1. ]] SLAMing on 73.879072329 meters Centerline goodness : 0.800080 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.18, Z:-0.62 [[ 0.94580204 -0.28360385 -0.15820039 3.27439653] [ 0.3023692 0.94676964 0.11045414 -0.17985431] [ 0.11845411 -0.15230267 0.98120972 -0.61563893] [ 0. 0. 0. 1. ]] SLAMing on 73.909072329 meters Centerline goodness : 0.798644 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.19, Z:-0.61 [[ 0.94501457 -0.28626967 -0.15810483 3.27720775] [ 0.30501537 0.94592767 0.11039235 -0.1889926 ] [ 0.11795375 -0.15254678 0.98123208 -0.61322618] [ 0. 0. 0. 1. ]] SLAMing on 73.939072329 meters Centerline goodness : 0.800017 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.20, Z:-0.61 [[ 0.94357987 -0.2915281 -0.15706178 3.28138796] [ 0.30997472 0.94445254 0.10920193 -0.20497385] [ 0.11650196 -0.15172593 0.98153275 -0.61028509] [ 0. 0. 0. 1. ]] SLAMing on 73.969072329 meters Centerline goodness : 0.799551 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.21, Z:-0.61 [[ 0.94286188 -0.29428101 -0.15623753 3.28273319] [ 0.31247915 0.9437476 0.10815379 -0.2122631 ] [ 0.11562118 -0.15079505 0.98178032 -0.60883554] [ 0. 0. 0. 1. ]] SLAMing on 73.999072329 meters Centerline goodness : 0.798866 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.22, Z:-0.61 [[ 0.9421005 -0.29700015 -0.15568414 3.28467972] [ 0.31501843 0.94299796 0.107323 -0.22008472] [ 0.11493488 -0.15015243 0.98195938 -0.60705544] [ 0. 0. 0. 1. ]] SLAMing on 74.02907232899999 meters Centerline goodness : 0.799022 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.23, Z:-0.61 [[ 0.94122847 -0.30042777 -0.15437658 3.28508586] [ 0.31805374 0.9421695 0.1056336 -0.22772829] [ 0.11371364 -0.1485254 0.98234893 -0.60528333] [ 0. 0. 0. 1. ]] SLAMing on 74.05907232899999 meters Centerline goodness : 0.799309 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.24, Z:-0.60 [[ 0.93978472 -0.30585612 -0.15250151 3.28796572] [ 0.3229606 0.94073629 0.10349727 -0.24306461] [ 0.11180843 -0.14651713 0.98286907 -0.60275618] [ 0. 0. 0. 1. ]] SLAMing on 74.08907232899999 meters Centerline goodness : 0.800534 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.25, Z:-0.60 [[ 0.93925492 -0.30885241 -0.149701 3.28493758] [ 0.3252641 0.94021509 0.10098938 -0.2497387 ] [ 0.10956033 -0.14354713 0.98356024 -0.60172432] [ 0. 0. 0. 1. ]] SLAMing on 74.11907232899999 meters Centerline goodness : 0.798504 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.25, Z:-0.60 [[ 0.93873678 -0.31129094 -0.14788919 3.28257149] [ 0.3272858 0.93966403 0.09957667 -0.25464857] [ 0.10796884 -0.14187832 0.98397829 -0.59995089] [ 0. 0. 0. 1. ]] SLAMing on 74.14907232899999 meters Centerline goodness : 0.796888 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.27, Z:-0.60 [[ 0.93847166 -0.31319573 -0.1455314 3.28031097] [ 0.32880734 0.93917741 0.09915401 -0.26584755] [ 0.10562519 -0.14090502 0.98437244 -0.59748839] [ 0. 0. 0. 1. ]] SLAMing on 74.179072329 meters Centerline goodness : 0.797647 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.27, Z:-0.60 [[ 0.93871965 -0.31266191 -0.14507909 3.27487244] [ 0.32708489 0.94081232 0.0888125 -0.27294478] [ 0.10872391 -0.13082322 0.985426 -0.59644664] [ 0. 0. 0. 1. ]] SLAMing on 74.209072329 meters Centerline goodness : 0.798614 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.28, Z:-0.60 [[ 0.93853696 -0.31426721 -0.14277428 3.26536771] [ 0.32716057 0.94177481 0.07762841 -0.28011357] [ 0.11006516 -0.11956725 0.98670631 -0.59703417] [ 0. 0. 0. 1. ]] SLAMing on 74.239072329 meters Centerline goodness : 0.797848 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.29, Z:-0.60 [[ 0.93886003 -0.31560485 -0.13760603 3.25966439] [ 0.32717597 0.94228548 0.07109124 -0.29406266] [ 0.10722743 -0.11176611 0.9879325 -0.60031098] [ 0. 0. 0. 1. ]] SLAMing on 74.269072329 meters Centerline goodness : 0.797725 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.30, Z:-0.60 [[ 0.93819775 -0.31771401 -0.13726903 3.25921147] [ 0.32917659 0.94164259 0.07037054 -0.29872239] [ 0.10690066 -0.11120723 0.98803097 -0.59735121] [ 0. 0. 0. 1. ]] SLAMing on 74.299072329 meters Centerline goodness : 0.795931 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.31, Z:-0.60 [[ 0.93893281 -0.31800493 -0.13144593 3.24887122] [ 0.32839921 0.94220748 0.06632515 -0.30630675] [ 0.10275761 -0.1054416 0.98910209 -0.5990306 ] [ 0. 0. 0. 1. ]] SLAMing on 74.329072329 meters Centerline goodness : 0.795554 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.60 [[ 0.93882165 -0.32075031 -0.12543184 3.23815765] [ 0.32997184 0.94202966 0.06081707 -0.31874065] [ 0.09865342 -0.09848536 0.9902364 -0.59776423] [ 0. 0. 0. 1. ]] SLAMing on 74.359072329 meters Centerline goodness : 0.798096 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.32, Z:-0.60 [[ 0.9374998 -0.32543596 -0.12322969 3.23692626] [ 0.33409976 0.94080081 0.05719428 -0.32357364] [ 0.09732152 -0.09479064 0.99072865 -0.59633416] [ 0. 0. 0. 1. ]] SLAMing on 74.38907232899999 meters Centerline goodness : 0.795602 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.33, Z:-0.60 [[ 0.93430092 -0.33542119 -0.12072457 3.24237405] [ 0.34317606 0.93794516 0.04989067 -0.33440428] [ 0.09649864 -0.08804268 0.99143154 -0.59618787] [ 0. 0. 0. 1. ]] SLAMing on 74.41907232899999 meters Centerline goodness : 0.796218 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.34, Z:-0.60 [[ 0.93310728 -0.33899369 -0.11997536 3.24466442] [ 0.34647596 0.93684938 0.04761986 -0.33997189] [ 0.09625601 -0.08600301 0.99163414 -0.59574785] [ 0. 0. 0. 1. ]] SLAMing on 74.44907232899999 meters Centerline goodness : 0.797486 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.36, Z:-0.60 [[ 0.93256774 -0.34203011 -0.11546783 3.21255674] [ 0.34833343 0.93655496 0.03909766 -0.35649275] [ 0.09476939 -0.07668252 0.99254146 -0.5982428 ] [ 0. 0. 0. 1. ]] SLAMing on 74.47907232899999 meters Centerline goodness : 0.797197 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.37, Z:-0.60 [[ 0.93190716 -0.34554772 -0.11020804 3.18206491] [ 0.35076261 0.93593563 0.03146563 -0.37201515] [ 0.09227475 -0.0679799 0.99341034 -0.60185248] [ 0. 0. 0. 1. ]] SLAMing on 74.50907232899999 meters Centerline goodness : 0.796120 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.38, Z:-0.60 [[ 0.92950393 -0.35243578 -0.10868054 3.18552904] [ 0.35719406 0.93363076 0.0273131 -0.38267228] [ 0.09184138 -0.06420768 0.99370143 -0.60035812] [ 0. 0. 0. 1. ]] SLAMing on 74.53907232899999 meters Centerline goodness : 0.798197 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.39, Z:-0.60 [[ 0.92827544 -0.35588357 -0.10794259 3.18764211] [ 0.36041677 0.93245039 0.02521952 -0.38856195] [ 0.0916759 -0.06231498 0.9938372 -0.59964568] [ 0. 0. 0. 1. ]] SLAMing on 74.569072329 meters Centerline goodness : 0.796707 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.39, Z:-0.60 [[ 0.92705607 -0.35924609 -0.10728136 3.19013096] [ 0.36356266 0.93128207 0.02314965 -0.39430595] [ 0.09159278 -0.06046452 0.99395916 -0.59918602] [ 0. 0. 0. 1. ]] SLAMing on 74.599072329 meters Centerline goodness : 0.797626 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.41, Z:-0.60 [[ 0.9247732 -0.36539327 -0.10621809 3.19669194] [ 0.36933614 0.92909185 0.01947183 -0.40609482] [ 0.09157149 -0.0572372 0.99415218 -0.59957356] [ 0. 0. 0. 1. ]] SLAMing on 74.629072329 meters Centerline goodness : 0.796347 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.41, Z:-0.60 [[ 0.92354755 -0.36867284 -0.1055474 3.19943158] [ 0.37239997 0.92790966 0.01737602 -0.41141744] [ 0.09153239 -0.05535344 0.99426245 -0.59953689] [ 0. 0. 0. 1. ]] SLAMing on 74.659072329 meters Centerline goodness : 0.797039 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.42, Z:-0.60 [[ 0.92233491 -0.37193196 -0.10471357 3.20155144] [ 0.37544318 0.92671815 0.01535855 -0.41706717] [ 0.09132763 -0.05347972 0.99438382 -0.59910261] [ 0. 0. 0. 1. ]] SLAMing on 74.689072329 meters Centerline goodness : 0.797960 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.42, Z:-0.60 [[ 0.92113369 -0.37512307 -0.10390095 3.20337981] [ 0.37842906 0.92553292 0.01342629 -0.42296028] [ 0.09112724 -0.05168655 0.99449702 -0.59825892] [ 0. 0. 0. 1. ]] SLAMing on 74.719072329 meters Centerline goodness : 0.798250 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.59 [[ 0.91806252 -0.38336774 -0.10094743 3.20456644] [ 0.38605163 0.92244447 0.0077672 -0.43576029] [ 0.0901407 -0.0461017 0.99486144 -0.59490904] [ 0. 0. 0. 1. ]] SLAMing on 74.749072329 meters Centerline goodness : 0.798843 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.46, Z:-0.60 [[ 0.91626985 -0.38734138 -0.10205985 3.16565058] [ 0.39009228 0.92074341 0.00771871 -0.45973052] [ 0.09098115 -0.04688518 0.99474831 -0.59835617] [ 0. 0. 0. 1. ]] SLAMing on 74.77907232899999 meters Centerline goodness : 0.798991 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-0.60 [[ 0.91519672 -0.39094089 -0.0978784 3.13550212] [ 0.39369032 0.91919139 0.00975284 -0.48805346] [ 0.0861562 -0.04745954 0.99515059 -0.60321015] [ 0. 0. 0. 1. ]] SLAMing on 74.80907232899999 meters Centerline goodness : 0.799504 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.51, Z:-0.61 [[ 0.91526925 -0.39171765 -0.09401853 3.10649087] [ 0.39421748 0.91897409 0.00890001 -0.50638469] [ 0.0829143 -0.04520966 0.99553067 -0.60585949] [ 0. 0. 0. 1. ]] SLAMing on 74.83907232899999 meters Centerline goodness : 0.800034 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-0.60 [[ 0.91400058 -0.39395035 -0.09698486 3.08734639] [ 0.39664412 0.91792382 0.00945033 -0.52185422] [ 0.08530175 -0.04710608 0.99524099 -0.60460719] [ 0. 0. 0. 1. ]] SLAMing on 74.86907232899999 meters Centerline goodness : 0.800999 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.55, Z:-0.61 [[ 0.91387346 -0.39423358 -0.09703184 3.06303599] [ 0.39677155 0.91788592 0.00760108 -0.54849275] [ 0.08606756 -0.0454459 0.99525225 -0.60652601] [ 0. 0. 0. 1. ]] SLAMing on 74.89907232899999 meters Centerline goodness : 0.802053 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.56, Z:-0.61 [[ 0.91380666 -0.39491612 -0.09486122 3.0609264 ] [ 0.3973289 0.91764762 0.00725221 -0.5553243 ] [ 0.08418516 -0.04431823 0.99546409 -0.60634556] [ 0. 0. 0. 1. ]] SLAMing on 74.929072329 meters Centerline goodness : 0.803096 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.56, Z:-0.60 [[ 0.91356973 -0.39555572 -0.09447763 3.06075005] [ 0.39793359 0.91738745 0.00700944 -0.56077159] [ 0.08389996 -0.04399943 0.99550231 -0.60441435] [ 0. 0. 0. 1. ]] SLAMing on 74.959072329 meters Centerline goodness : 0.802223 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.58, Z:-0.61 [[ 0.91461165 -0.39355636 -0.09273039 3.03210667] [ 0.39582485 0.91830148 0.00671441 -0.57990128] [ 0.08251195 -0.04284607 0.99566862 -0.60779802] [ 0. 0. 0. 1. ]] SLAMing on 74.989072329 meters Centerline goodness : 0.804136 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.61, Z:-0.61 [[ 0.91708658 -0.38922159 -0.08636414 2.99596005] [ 0.39119118 0.92028653 0.00649334 -0.61190653] [ 0.07695241 -0.03973985 0.99624248 -0.6112736 ] [ 0. 0. 0. 1. ]] SLAMing on 75.019072329 meters Centerline goodness : 0.806467 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.63, Z:-0.61 [[ 0.91824679 -0.38694746 -0.08422887 2.96618331] [ 0.38886535 0.92126778 0.00702999 -0.63274978] [ 0.07487711 -0.03920896 0.99642164 -0.61371951] [ 0. 0. 0. 1. ]] SLAMing on 75.049072329 meters Centerline goodness : 0.805269 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.64, Z:-0.61 [[ 0.91867955 -0.38573256 -0.08507804 2.9685334 ] [ 0.38784178 0.92168035 0.00917031 -0.63959407] [ 0.07487747 -0.0414214 0.99633209 -0.61294887] [ 0. 0. 0. 1. ]] SLAMing on 75.079072329 meters Centerline goodness : 0.805390 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.67, Z:-0.61 [[ 0.92001759 -0.38185141 -0.08807463 2.94616728] [ 0.3843315 0.92311057 0.01249707 -0.66602303] [ 0.0765306 -0.04534738 0.99603548 -0.61434008] [ 0. 0. 0. 1. ]] SLAMing on 75.109072329 meters Centerline goodness : 0.807077 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.67, Z:-0.61 [[ 0.91920671 -0.38393935 -0.08746201 2.94767483] [ 0.38628918 0.92231132 0.01106759 -0.67163177] [ 0.07641792 -0.04395904 0.99610637 -0.61341051] [ 0. 0. 0. 1. ]] SLAMing on 75.13907232899999 meters Centerline goodness : 0.807339 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.68, Z:-0.61 [[ 0.91857741 -0.38559909 -0.08676911 2.94859214] [ 0.38786847 0.92165673 0.01034041 -0.67925948] [ 0.07598408 -0.04315347 0.99617478 -0.61173826] [ 0. 0. 0. 1. ]] SLAMing on 75.16907232899999 meters Centerline goodness : 0.808047 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.70, Z:-0.61 [[ 0.91880509 -0.38533 -0.08554526 2.91929994] [ 0.38742338 0.92186066 0.00872059 -0.70048436] [ 0.07550051 -0.04115476 0.99629612 -0.61287276] [ 0. 0. 0. 1. ]] SLAMing on 75.19907232899999 meters Centerline goodness : 0.811192 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.72, Z:-0.61 [[ 0.91997643 -0.38328567 -0.08206992 2.91582842] [ 0.38529829 0.92274166 0.00964645 -0.721315 ] [ 0.07203199 -0.04049591 0.99657989 -0.61356013] [ 0. 0. 0. 1. ]] SLAMing on 75.22907232899999 meters Centerline goodness : 0.812147 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.74, Z:-0.62 [[ 0.92057553 -0.38149446 -0.08368194 2.8906758 ] [ 0.38357986 0.92345559 0.00981138 -0.74180362] [ 0.07353357 -0.04113082 0.99644421 -0.61630157] [ 0. 0. 0. 1. ]] SLAMing on 75.25907232899999 meters Centerline goodness : 0.814009 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.77, Z:-0.62 [[ 0.92267165 -0.37620167 -0.08455366 2.86361369] [ 0.3784184 0.92556551 0.01131393 -0.77324931] [ 0.07400363 -0.0424357 0.99635469 -0.62073413] [ 0. 0. 0. 1. ]] SLAMing on 75.28907232899999 meters Centerline goodness : 0.813442 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.78, Z:-0.62 [[ 0.92223535 -0.37739457 -0.08399579 2.86402213] [ 0.3795575 0.92510444 0.01085717 -0.77986694] [ 0.07360744 -0.0418941 0.99640696 -0.61911652] [ 0. 0. 0. 1. ]] SLAMing on 75.319072329 meters Centerline goodness : 0.818411 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.80, Z:-0.62 [[ 0.92298861 -0.37607502 -0.08160642 2.86307953] [ 0.37826396 0.92561104 0.01267217 -0.79945823] [ 0.07077011 -0.04256504 0.99658407 -0.61917578] [ 0. 0. 0. 1. ]] SLAMing on 75.349072329 meters Centerline goodness : 0.818193 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.81, Z:-0.62 [[ 0.92211351 -0.37833958 -0.08102989 2.86536099] [ 0.38044098 0.9247313 0.011691 -0.80797053] [ 0.07050771 -0.04160752 0.9966431 -0.61793092] [ 0. 0. 0. 1. ]] SLAMing on 75.379072329 meters Centerline goodness : 0.819520 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92112976 -0.38087108 -0.08035657 2.86809705] [ 0.38286722 0.92374381 0.01049176 -0.81652632] [ 0.07023287 -0.04043017 0.99671096 -0.61707894] [ 0. 0. 0. 1. ]] SLAMing on 75.409072329 meters Centerline goodness : 0.821033 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92003251 -0.38365875 -0.07966273 2.87145146] [ 0.38553159 0.92265054 0.00902105 -0.82461949] [ 0.07003986 -0.03901216 0.99678105 -0.61683861] [ 0. 0. 0. 1. ]] SLAMing on 75.439072329 meters Centerline goodness : 0.821033 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.82, Z:-0.62 [[ 0.92003251 -0.38365875 -0.07966273 2.87145146] [ 0.38553159 0.92265054 0.00902105 -0.82461949] [ 0.07003986 -0.03901216 0.99678105 -0.61683861] [ 0. 0. 0. 1. ]] SLAMing on 75.469072329 meters Centerline goodness : 0.821541 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.85, Z:-0.62 [[ 0.91894275 -0.3857052 -0.08231474 2.85433794] [ 0.38764028 0.92177299 0.0083411 -0.85353639] [ 0.0726583 -0.03957351 0.99657148 -0.61830755] [ 0. 0. 0. 1. ]] SLAMing on 75.499072329 meters Centerline goodness : 0.821582 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.86, Z:-0.62 [[ 0.91778533 -0.38863498 -0.08144289 2.85648961] [ 0.39041869 0.92061373 0.00660406 -0.8592779 ] [ 0.07241087 -0.03785794 0.99665613 -0.61810794] [ 0. 0. 0. 1. ]] SLAMing on 75.52907232899999 meters Centerline goodness : 0.822912 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.88, Z:-0.62 [[ 0.91733976 -0.38925815 -0.08346175 2.83231987] [ 0.39119096 0.92027867 0.00753699 -0.87935706] [ 0.07387423 -0.03956346 0.99648248 -0.61911725] [ 0. 0. 0. 1. ]] SLAMing on 75.55907232899999 meters Centerline goodness : 0.823414 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.90, Z:-0.62 [[ 0.91659538 -0.39063076 -0.08520866 2.80826701] [ 0.39267094 0.91964452 0.00796783 -0.89938764] [ 0.0752492 -0.04076224 0.99633127 -0.62008283] [ 0. 0. 0. 1. ]] SLAMing on 75.58907232899999 meters Centerline goodness : 0.826550 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.93, Z:-0.62 [[ 0.91419567 -0.39612777 -0.08560999 2.78624676] [ 0.39799817 0.91737101 0.00528047 -0.92923987] [ 0.07644438 -0.0389 0.99631473 -0.6188154 ] [ 0. 0. 0. 1. ]] SLAMing on 75.61907232899999 meters Centerline goodness : 0.829364 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.95, Z:-0.62 [[ 0.91272602 -0.39927878 -0.08664683 2.76271473] [ 0.4010536 0.91604833 0.00338613 -0.95000563] [ 0.07802067 -0.03784063 0.99623334 -0.6202498 ] [ 0. 0. 0. 1. ]] SLAMing on 75.64907232899999 meters Centerline goodness : 0.829373 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.97, Z:-0.62 [[ 9.11296648e-01 -4.02231735e-01 -8.80230169e-02 2.74079432e+00] [ 4.03966716e-01 9.14771309e-01 2.08425731e-03 -9.69403269e-01] [ 7.96825760e-02 -3.74577457e-02 9.96116260e-01 -6.23179369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.679072329 meters Centerline goodness : 0.827970 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.99, Z:-0.63 [[ 9.09045463e-01 -4.06828993e-01 -9.01471902e-02 2.72536696e+00] [ 4.08611174e-01 9.12707411e-01 1.44538218e-03 -9.92923479e-01] [ 8.16899852e-02 -3.81490674e-02 9.95927404e-01 -6.27084103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.709072329 meters Centerline goodness : 0.828749 Centerline is valid? [False, False] Translation: X:2.70, Y:-1.01, Z:-0.63 [[ 9.08082191e-01 -4.08542790e-01 -9.20843332e-02 2.70254961e+00] [ 4.10427388e-01 9.11891729e-01 1.68335928e-03 -1.01040352e+00] [ 8.32832175e-02 -3.93225609e-02 9.95749789e-01 -6.29694740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.739072329 meters Centerline goodness : 0.831023 Centerline is valid? [False, False] Translation: X:2.68, Y:-1.03, Z:-0.63 [[ 9.07254014e-01 -4.09956041e-01 -9.39478534e-02 2.67895340e+00] [ 4.11976984e-01 9.11191259e-01 2.33545774e-03 -1.02790977e+00] [ 8.46470278e-02 -4.08232067e-02 9.95574380e-01 -6.31895613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.769072329 meters Centerline goodness : 0.829188 Centerline is valid? [False, False] Translation: X:2.66, Y:-1.04, Z:-0.63 [[ 9.06312224e-01 -4.11606429e-01 -9.58034473e-02 2.65563041e+00] [ 4.13725062e-01 9.10398479e-01 2.48647924e-03 -1.04496090e+00] [ 8.61958619e-02 -4.18898137e-02 9.95397165e-01 -6.34471835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.799072329 meters Centerline goodness : 0.830068 Centerline is valid? [False, False] Translation: X:2.63, Y:-1.07, Z:-0.64 [[ 9.05042838e-01 -4.14564743e-01 -9.50449119e-02 2.63018067e+00] [ 4.16442344e-01 9.09162123e-01 -8.83909829e-05 -1.07010614e+00] [ 8.64478777e-02 -3.95007283e-02 9.95472982e-01 -6.39404122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.829072329 meters Centerline goodness : 0.831046 Centerline is valid? [False, False] Translation: X:2.60, Y:-1.09, Z:-0.64 [[ 9.04032801e-01 -4.16563749e-01 -9.59131769e-02 2.60479134e+00] [ 4.18341513e-01 9.08288171e-01 -1.72526964e-03 -1.08705875e+00] [ 8.78354889e-02 -3.85647632e-02 9.95388209e-01 -6.43363615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.859072329 meters Centerline goodness : 0.831789 Centerline is valid? [False, False] Translation: X:2.58, Y:-1.10, Z:-0.65 [[ 0.90348343 -0.41775668 -0.09590123 2.57729749] [ 0.41940557 0.90779319 -0.00323964 -1.10394764] [ 0.08841186 -0.03729455 0.99538558 -0.6489098 ] [ 0. 0. 0. 1. ]] SLAMing on 75.88907232899999 meters Centerline goodness : 0.829045 Centerline is valid? [False, False] Translation: X:2.55, Y:-1.12, Z:-0.65 [[ 0.90278489 -0.41879678 -0.09792185 2.55327928] [ 0.4205267 0.90727433 -0.00325173 -1.11889321] [ 0.0902038 -0.03824314 0.99518879 -0.65241126] [ 0. 0. 0. 1. ]] SLAMing on 75.91907232899999 meters Centerline goodness : 0.828384 Centerline is valid? [False, False] Translation: X:2.53, Y:-1.14, Z:-0.66 [[ 0.90203022 -0.42043026 -0.09787687 2.52753764] [ 0.42201242 0.90657655 -0.00494764 -1.13862742] [ 0.09081301 -0.03684233 0.99518623 -0.65871064] [ 0. 0. 0. 1. ]] SLAMing on 75.94907232899999 meters Centerline goodness : 0.828850 Centerline is valid? [False, False] Translation: X:2.50, Y:-1.16, Z:-0.66 [[ 0.90206632 -0.42048147 -0.09732258 2.49660885] [ 0.42194954 0.9065996 -0.00597872 -1.1560137 ] [ 0.09074655 -0.03567201 0.99523493 -0.66351535] [ 0. 0. 0. 1. ]] SLAMing on 75.97907232899999 meters Centerline goodness : 0.826659 Centerline is valid? [False, False] Translation: X:2.47, Y:-1.17, Z:-0.67 [[ 0.90181481 -0.42104761 -0.09720577 2.46827308] [ 0.42245539 0.90635951 -0.00662487 -1.17408928] [ 0.09089276 -0.03509069 0.99524226 -0.66909783] [ 0. 0. 0. 1. ]] SLAMing on 76.00907232899999 meters Centerline goodness : 0.824596 Centerline is valid? [False, False] Translation: X:2.44, Y:-1.19, Z:-0.67 [[ 0.90152492 -0.42096234 -0.10021746 2.44444558] [ 0.42261173 0.9062959 -0.00520304 -1.18607411] [ 0.09301696 -0.0376624 0.99495195 -0.67219044] [ 0. 0. 0. 1. ]] SLAMing on 76.03907232899999 meters Centerline goodness : 0.823335 Centerline is valid? [False, False] Translation: X:2.42, Y:-1.20, Z:-0.68 [[ 0.90121509 -0.42089117 -0.10325688 2.42062023] [ 0.42275536 0.90623417 -0.00418806 -1.19729389] [ 0.09533763 -0.03987805 0.99464591 -0.67569753] [ 0. 0. 0. 1. ]] SLAMing on 76.069072329 meters Centerline goodness : 0.822295 Centerline is valid? [False, False] Translation: X:2.39, Y:-1.21, Z:-0.68 [[ 0.90156377 -0.42010376 -0.10341958 2.39025694] [ 0.42183836 0.90665403 -0.00555586 -1.21060758] [ 0.09609981 -0.03861738 0.9946223 -0.68222569] [ 0. 0. 0. 1. ]] SLAMing on 76.099072329 meters Centerline goodness : 0.820869 Centerline is valid? [False, False] Translation: X:2.35, Y:-1.23, Z:-0.69 [[ 0.90302453 -0.417618 -0.10070701 2.35321051] [ 0.41898681 0.90795552 -0.00817422 -1.227514 ] [ 0.09485119 -0.03481339 0.99488255 -0.69183525] [ 0. 0. 0. 1. ]] SLAMing on 76.129072329 meters Centerline goodness : 0.818880 Centerline is valid? [False, False] Translation: X:2.33, Y:-1.24, Z:-0.70 [[ 0.90276322 -0.4177545 -0.1024683 2.32594174] [ 0.41913976 0.90788044 -0.00865808 -1.23852639] [ 0.09664591 -0.03513234 0.99469859 -0.69544247] [ 0. 0. 0. 1. ]] SLAMing on 76.159072329 meters Centerline goodness : 0.818610 Centerline is valid? [False, False] Translation: X:2.30, Y:-1.25, Z:-0.70 [[ 0.90265398 -0.41767504 -0.10374657 2.29802389] [ 0.4190692 0.90790941 -0.00902787 -1.24863745] [ 0.0979632 -0.03532795 0.99456279 -0.69998749] [ 0. 0. 0. 1. ]] SLAMing on 76.189072329 meters Centerline goodness : 0.816167 Centerline is valid? [False, False] Translation: X:2.28, Y:-1.25, Z:-0.70 [[ 0.9018916 -0.41839263 -0.10742045 2.27601458] [ 0.420003 0.90748507 -0.00826552 -1.25256446] [ 0.10094069 -0.0376623 0.99417932 -0.70429774] [ 0. 0. 0. 1. ]] SLAMing on 76.219072329 meters Centerline goodness : 0.814579 Centerline is valid? [False, False] Translation: X:2.25, Y:-1.26, Z:-0.71 [[ 0.9014876 -0.41888261 -0.108892 2.24830658] [ 0.42047309 0.90725999 -0.00903794 -1.26135458] [ 0.10257919 -0.03763856 0.9940125 -0.70828038] [ 0. 0. 0. 1. ]] SLAMing on 76.249072329 meters Centerline goodness : 0.812668 Centerline is valid? [False, False] Translation: X:2.22, Y:-1.27, Z:-0.71 [[ 0.90063129 -0.42025809 -0.11066357 2.22240217] [ 0.42177639 0.90663954 -0.01046038 -1.26984155] [ 0.10472803 -0.03725434 0.99380288 -0.71236198] [ 0. 0. 0. 1. ]] SLAMing on 76.27907232899999 meters Centerline goodness : 0.810395 Centerline is valid? [False, False] Translation: X:2.20, Y:-1.28, Z:-0.72 [[ 0.89924868 -0.42295403 -0.11163202 2.19661164] [ 0.42414814 0.90548449 -0.01400725 -1.27555706] [ 0.10700548 -0.03475251 0.99365089 -0.71933935] [ 0. 0. 0. 1. ]] SLAMing on 76.30907232899999 meters Centerline goodness : 0.808579 Centerline is valid? [False, False] Translation: X:2.18, Y:-1.28, Z:-0.72 [[ 0.89758288 -0.42534073 -0.11588894 2.17689804] [ 0.42671042 0.90428036 -0.01397284 -1.2799221 ] [ 0.11073931 -0.03690924 0.99316389 -0.72215221] [ 0. 0. 0. 1. ]] SLAMing on 76.33907232899999 meters Centerline goodness : 0.808362 Centerline is valid? [False, False] Translation: X:2.13, Y:-1.30, Z:-0.73 [[ 0.89648656 -0.42774046 -0.11554199 2.12803354] [ 0.42935397 0.90305904 -0.01181243 -1.29634435] [ 0.10939389 -0.03901872 0.99323236 -0.73178821] [ 0. 0. 0. 1. ]] SLAMing on 76.36907232899999 meters Centerline goodness : 0.802665 Centerline is valid? [False, False] Translation: X:2.09, Y:-1.31, Z:-0.74 [[ 0.89362834 -0.43490067 -0.11085932 2.08778738] [ 0.43665063 0.89958355 -0.00925599 -1.30598408] [ 0.10375266 -0.04013538 0.99379301 -0.7428351 ] [ 0. 0. 0. 1. ]] SLAMing on 76.39907232899999 meters Centerline goodness : 0.804345 Centerline is valid? [False, False] Translation: X:2.05, Y:-1.32, Z:-0.75 [[ 0.89327072 -0.43627334 -0.10831899 2.05370921] [ 0.4376293 0.89907289 -0.01218708 -1.31645323] [ 0.10270357 -0.0365172 0.99404148 -0.74853977] [ 0. 0. 0. 1. ]] SLAMing on 76.429072329 meters Centerline goodness : 0.804960 Centerline is valid? [False, False] Translation: X:2.00, Y:-1.33, Z:-0.75 [[ 0.89175425 -0.4394628 -0.10792039 2.00411849] [ 0.44101555 0.89744009 -0.01032285 -1.33207519] [ 0.1013886 -0.03838913 0.99410594 -0.75484135] [ 0. 0. 0. 1. ]] SLAMing on 76.459072329 meters Centerline goodness : 0.802801 Centerline is valid? [False, False] Translation: X:1.96, Y:-1.34, Z:-0.76 [[ 0.88936042 -0.44425064 -0.10807133 1.9566459 ] [ 0.44590675 0.89502723 -0.0096659 -1.34270068] [ 0.10102086 -0.03959327 0.99409615 -0.76187721] [ 0. 0. 0. 1. ]] SLAMing on 76.489072329 meters Centerline goodness : 0.800174 Centerline is valid? [False, False] Translation: X:1.91, Y:-1.36, Z:-0.77 [[ 0.88734516 -0.44794237 -0.1093901 1.91206037] [ 0.44983562 0.8930746 -0.00810395 -1.35648929] [ 0.10132363 -0.04201656 0.99396586 -0.76875078] [ 0. 0. 0. 1. ]] SLAMing on 76.519072329 meters Centerline goodness : 0.797452 Centerline is valid? [False, False] Translation: X:1.86, Y:-1.37, Z:-0.78 [[ 0.88635403 -0.45020274 -0.10813895 1.8611855 ] [ 0.45207973 0.8919427 -0.00788202 -1.37359053] [ 0.10000225 -0.04190117 0.99410454 -0.77868187] [ 0. 0. 0. 1. ]] SLAMing on 76.549072329 meters Centerline goodness : 0.796960 Centerline is valid? [False, False] Translation: X:1.81, Y:-1.39, Z:-0.79 [[ 0.88543883 -0.45231758 -0.10680305 1.80986877] [ 0.45414121 0.89089394 -0.00798414 -1.39075747] [ 0.09876156 -0.0414342 0.99424814 -0.78841 ] [ 0. 0. 0. 1. ]] SLAMing on 76.579072329 meters Centerline goodness : 0.796102 Centerline is valid? [False, False] Translation: X:1.76, Y:-1.41, Z:-0.80 [[ 0.88464013 -0.4541959 -0.1054416 1.75612241] [ 0.45586628 0.89000194 -0.00908208 -1.40520536] [ 0.09796828 -0.0400329 0.99438402 -0.79862168] [ 0. 0. 0. 1. ]] SLAMing on 76.609072329 meters Centerline goodness : 0.794564 Centerline is valid? [False, False] Translation: X:1.70, Y:-1.42, Z:-0.81 [[ 0.88450855 -0.45491373 -0.10343175 1.7004118 ] [ 0.45652671 0.88966532 -0.00888703 -1.42376235] [ 0.09606247 -0.03935871 0.99459685 -0.80731666] [ 0. 0. 0. 1. ]] SLAMing on 76.63907232899999 meters Centerline goodness : 0.793004 Centerline is valid? [False, False] Translation: X:1.65, Y:-1.44, Z:-0.81 [[ 0.88324259 -0.45737398 -0.10340005 1.65426989] [ 0.45925823 0.88828122 -0.00619235 -1.43787923] [ 0.09468054 -0.04201798 0.99462057 -0.81386793] [ 0. 0. 0. 1. ]] SLAMing on 76.66907232899999 meters Centerline goodness : 0.793378 Centerline is valid? [False, False] Translation: X:1.60, Y:-1.45, Z:-0.82 [[ 0.88327038 -0.45772454 -0.10159564 1.597879 ] [ 0.45952344 0.8881432 -0.00631416 -1.45135843] [ 0.09312162 -0.04110846 0.99480574 -0.82272319] [ 0. 0. 0. 1. ]] SLAMing on 76.69907232899999 meters Centerline goodness : 0.792690 Centerline is valid? [False, False] Translation: X:1.54, Y:-1.47, Z:-0.83 [[ 0.88346808 -0.45765571 -0.10017688 1.54221002] [ 0.45940024 0.88820727 -0.00626573 -1.46901508] [ 0.09184538 -0.04048571 0.99494992 -0.83107019] [ 0. 0. 0. 1. ]] SLAMing on 76.72907232899999 meters Centerline goodness : 0.790589 Centerline is valid? [False, False] Translation: X:1.49, Y:-1.49, Z:-0.84 [[ 0.88353043 -0.457936 -0.09832904 1.4868707 ] [ 0.45957555 0.88811405 -0.00661459 -1.48647256] [ 0.09035647 -0.03934543 0.99513197 -0.83984737] [ 0. 0. 0. 1. ]] SLAMing on 76.75907232899999 meters Centerline goodness : 0.789213 Centerline is valid? [False, False] Translation: X:1.43, Y:-1.50, Z:-0.85 [[ 0.88269264 -0.4600934 -0.09574851 1.43253375] [ 0.46141973 0.88713509 -0.00911966 -1.49876512] [ 0.08913775 -0.03613039 0.99536378 -0.84877557] [ 0. 0. 0. 1. ]] SLAMing on 76.78907232899999 meters Centerline goodness : 0.789859 Centerline is valid? [False, False] Translation: X:1.38, Y:-1.52, Z:-0.86 [[ 0.88255035 -0.46098019 -0.09274774 1.37675519] [ 0.46214251 0.88675131 -0.00981972 -1.51653224] [ 0.08677087 -0.03419628 0.99564122 -0.85681882] [ 0. 0. 0. 1. ]] SLAMing on 76.819072329 meters Centerline goodness : 0.792239 Centerline is valid? [False, False] Translation: X:1.32, Y:-1.53, Z:-0.86 [[ 0.88279218 -0.4610062 -0.0902843 1.31879655] [ 0.46211565 0.88676922 -0.00945932 -1.52870282] [ 0.08442214 -0.03337117 0.99587111 -0.8640563 ] [ 0. 0. 0. 1. ]] SLAMing on 76.849072329 meters Centerline goodness : 0.790446 Centerline is valid? [False, False] Translation: X:1.26, Y:-1.55, Z:-0.87 [[ 0.88332156 -0.46032467 -0.0885676 1.26232302] [ 0.46143358 0.88713167 -0.00874325 -1.54568854] [ 0.08259585 -0.03314496 0.99603179 -0.87183306] [ 0. 0. 0. 1. ]] SLAMing on 76.879072329 meters Centerline goodness : 0.789261 Centerline is valid? [False, False] Translation: X:1.22, Y:-1.56, Z:-0.88 [[ 0.88216471 -0.46231587 -0.08971883 1.21668015] [ 0.46365266 0.88599261 -0.00658087 -1.5580984 ] [ 0.08253266 -0.03579296 0.99594539 -0.87767937] [ 0. 0. 0. 1. ]] SLAMing on 76.909072329 meters Centerline goodness : 0.788124 Centerline is valid? [False, False] Translation: X:1.16, Y:-1.58, Z:-0.88 [[ 0.88211602 -0.46284059 -0.08746382 1.1591602 ] [ 0.46398091 0.88580871 -0.00804036 -1.57630349] [ 0.08119762 -0.03348901 0.99613525 -0.88488938] [ 0. 0. 0. 1. ]] SLAMing on 76.939072329 meters Centerline goodness : 0.788518 Centerline is valid? [False, False] Translation: X:1.11, Y:-1.59, Z:-0.89 [[ 0.88022564 -0.46681784 -0.08534598 1.10589808] [ 0.46771768 0.88381715 -0.01036399 -1.58876385] [ 0.08026833 -0.03079517 0.99629747 -0.8891117 ] [ 0. 0. 0. 1. ]] SLAMing on 76.969072329 meters Centerline goodness : 0.790622 Centerline is valid? [False, False] Translation: X:1.05, Y:-1.61, Z:-0.90 [[ 0.88019307 -0.4674737 -0.08202744 1.04765905] [ 0.46818492 0.88355529 -0.01152961 -1.60807699] [ 0.07786557 -0.02825573 0.99656338 -0.8953185 ] [ 0. 0. 0. 1. ]] SLAMing on 76.999072329 meters Centerline goodness : 0.792556 Centerline is valid? [False, False] Translation: X:1.00, Y:-1.62, Z:-0.90 [[ 0.87921868 -0.46934744 -0.08177711 0.99570808] [ 0.47007309 0.88255459 -0.01134416 -1.62365955] [ 0.07749711 -0.02846722 0.99658608 -0.89927041] [ 0. 0. 0. 1. ]] SLAMing on 77.02907232899999 meters Centerline goodness : 0.790298 Centerline is valid? [False, False] Translation: X:0.94, Y:-1.64, Z:-0.91 [[ 0.87615169 -0.47543395 -0.07950328 0.93722882] [ 0.47656917 0.87912131 -0.00524797 -1.63646546] [ 0.07238809 -0.03329079 0.99682079 -0.90869677] [ 0. 0. 0. 1. ]] SLAMing on 77.05907232899999 meters Centerline goodness : 0.791662 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.66, Z:-0.91 [[ 0.87539494 -0.47729423 -0.07664145 0.88096744] [ 0.47820514 0.8782188 -0.0071816 -1.65517674] [ 0.0707357 -0.0303636 0.99703285 -0.91451636] [ 0. 0. 0. 1. ]] SLAMing on 77.08907232899999 meters Centerline goodness : 0.792151 Centerline is valid? [False, False] Translation: X:0.82, Y:-1.68, Z:-0.92 [[ 0.87464544 -0.47928941 -0.07264313 0.82238944] [ 0.47991332 0.87726173 -0.00974987 -1.67619395] [ 0.06840005 -0.02633472 0.99731034 -0.91986333] [ 0. 0. 0. 1. ]] SLAMing on 77.11907232899999 meters Centerline goodness : 0.793021 Centerline is valid? [False, False] Translation: X:0.77, Y:-1.70, Z:-0.92 [[ 0.87320187 -0.48237796 -0.06949825 0.76648082] [ 0.48276302 0.87566521 -0.01225968 -1.69581367] [ 0.066771 -0.02284601 0.99750674 -0.92441307] [ 0. 0. 0. 1. ]] SLAMing on 77.14907232899999 meters Centerline goodness : 0.793015 Centerline is valid? [False, False] Translation: X:0.71, Y:-1.71, Z:-0.93 [[ 0.86865903 -0.49095866 -0.06626532 0.70584593] [ 0.49153211 0.87081817 -0.00847976 -1.71237897] [ 0.06186826 -0.02520552 0.997766 -0.9315859 ] [ 0. 0. 0. 1. ]] SLAMing on 77.179072329 meters Centerline goodness : 0.794491 Centerline is valid? [False, False] Translation: X:0.64, Y:-1.73, Z:-0.94 [[ 0.86703206 -0.49451186 -0.06093794 0.6399954 ] [ 0.49524691 0.86874543 -0.00344566 -1.73467337] [ 0.05464348 -0.02719183 0.99813561 -0.94064528] [ 0. 0. 0. 1. ]] SLAMing on 77.209072329 meters Centerline goodness : 0.794426 Centerline is valid? [False, False] Translation: X:0.57, Y:-1.76, Z:-0.95 [[ 8.65503062e-01 -4.97937287e-01 -5.44325953e-02 5.72734019e-01] [ 4.98712562e-01 8.66767095e-01 7.64136021e-04 -1.75772317e+00] [ 4.67998906e-02 -2.78075811e-02 9.98517155e-01 -9.49908231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.239072329 meters Centerline goodness : 0.792771 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.78, Z:-0.95 [[ 0.86101667 -0.50572661 -0.05376705 0.50151748] [ 0.50634921 0.86232535 -0.00233919 -1.78023212] [ 0.04754768 -0.02521082 0.99855077 -0.95217931] [ 0. 0. 0. 1. ]] SLAMing on 77.269072329 meters Centerline goodness : 0.793291 Centerline is valid? [False, False] Translation: X:0.43, Y:-1.81, Z:-0.96 [[ 8.58983210e-01 -5.09965354e-01 -4.56418891e-02 4.30737958e-01] [ 5.10445559e-01 8.59909078e-01 -1.30740743e-03 -1.80724538e+00] [ 3.99146073e-02 -2.21746586e-02 9.98957010e-01 -9.60814327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.299072329 meters Centerline goodness : 0.792709 Centerline is valid? [False, False] Translation: X:0.36, Y:-1.83, Z:-0.96 [[ 0.85606303 -0.51501328 -0.04378825 0.35870416] [ 0.51542195 0.85693358 -0.00224937 -1.83325777] [ 0.03868207 -0.02064382 0.9990383 -0.9638918 ] [ 0. 0. 0. 1. ]] SLAMing on 77.329072329 meters Centerline goodness : 0.795277 Centerline is valid? [False, False] Translation: X:0.29, Y:-1.86, Z:-0.97 [[ 0.85153111 -0.52265433 -0.04155991 0.28921841] [ 0.52303214 0.85231047 -0.00206016 -1.85567189] [ 0.0364987 -0.01998287 0.99913389 -0.96595506] [ 0. 0. 0. 1. ]] SLAMing on 77.359072329 meters Centerline goodness : 0.795277 Centerline is valid? [False, False] Translation: X:0.21, Y:-1.89, Z:-0.97 [[ 8.51135708e-01 -5.23345227e-01 -4.09607131e-02 2.13900399e-01] [ 5.23725068e-01 8.51885673e-01 -1.68927687e-03 -1.88504383e+00] [ 3.57779196e-02 -2.00143484e-02 9.99159330e-01 -9.69251284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38907232899999 meters Centerline goodness : 0.796367 Centerline is valid? [False, False] Translation: X:0.14, Y:-1.91, Z:-0.97 [[ 8.49003018e-01 -5.26817200e-01 -4.07125590e-02 1.41705804e-01] [ 5.27225832e-01 8.49724809e-01 -8.18478202e-04 -1.91015779e+00] [ 3.50256598e-02 -2.07698223e-02 9.99170565e-01 -9.70603583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41907232899999 meters Centerline goodness : 0.797500 Centerline is valid? [False, False] Translation: X:0.07, Y:-1.94, Z:-0.97 [[ 8.47768577e-01 -5.28866481e-01 -3.98583143e-02 6.57845144e-02] [ 5.29250293e-01 8.48465064e-01 -1.07796531e-03 -1.93703998e+00] [ 3.43884870e-02 -2.01811594e-02 9.99204760e-01 -9.73645929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44907232899999 meters Centerline goodness : 0.795125 Centerline is valid? [False, False] Translation: X:-0.00, Y:-1.96, Z:-0.98 [[ 0.84478047 -0.53352026 -0.04125629 -0.0049587 ] [ 0.53383169 0.84558139 -0.00398044 -1.95926619] [ 0.0370092 -0.01866132 0.99914067 -0.97604961] [ 0. 0. 0. 1. ]] SLAMing on 77.47907232899999 meters Centerline goodness : 0.793706 Centerline is valid? [False, False] Translation: X:-0.08, Y:-1.99, Z:-0.98 [[ 0.84370474 -0.53539576 -0.03890621 -0.0825079 ] [ 0.53556764 0.84446543 -0.00674066 -1.9876549 ] [ 0.03646387 -0.01514978 0.99922013 -0.97962219] [ 0. 0. 0. 1. ]] SLAMing on 77.50907232899999 meters Centerline goodness : 0.795811 Centerline is valid? [False, False] Translation: X:-0.16, Y:-2.02, Z:-0.98 [[ 0.84337569 -0.5361138 -0.03604786 -0.16324596] [ 0.53615725 0.84406724 -0.00926836 -2.01747223] [ 0.03539571 -0.01151061 0.99930708 -0.98260139] [ 0. 0. 0. 1. ]] SLAMing on 77.53907232899999 meters Centerline goodness : 0.795248 Centerline is valid? [False, False] Translation: X:-0.24, Y:-2.04, Z:-0.98 [[ 0.84269814 -0.53726976 -0.03465621 -0.2381594 ] [ 0.53734594 0.84332521 -0.00786903 -2.04135117] [ 0.03345425 -0.01199116 0.99936831 -0.98478914] [ 0. 0. 0. 1. ]] SLAMing on 77.569072329 meters Centerline goodness : 0.794981 Centerline is valid? [False, False] Translation: X:-0.31, Y:-2.07, Z:-0.99 [[ 0.84255649 -0.53747372 -0.03493656 -0.31249564] [ 0.53760162 0.8431745 -0.00642296 -2.06701981] [ 0.03290979 -0.01337024 0.99936889 -0.98720103] [ 0. 0. 0. 1. ]] SLAMing on 77.599072329 meters Centerline goodness : 0.796450 Centerline is valid? [False, False] Translation: X:-0.39, Y:-2.09, Z:-0.99 [[ 0.84265709 -0.5373109 -0.03501451 -0.387728 ] [ 0.53748254 0.84325938 -0.00511165 -2.09322873] [ 0.03227286 -0.01451232 0.99937373 -0.98926739] [ 0. 0. 0. 1. ]] SLAMing on 77.629072329 meters Centerline goodness : 0.797071 Centerline is valid? [False, False] Translation: X:-0.47, Y:-2.12, Z:-0.99 [[ 0.84411068 -0.53517481 -0.03263561 -0.47032296] [ 0.53530263 0.84464294 -0.00542213 -2.12061736] [ 0.03046722 -0.01289304 0.99945261 -0.99171955] [ 0. 0. 0. 1. ]] SLAMing on 77.659072329 meters Centerline goodness : 0.797962 Centerline is valid? [False, False] Translation: X:-0.55, Y:-2.15, Z:-0.99 [[ 0.84454954 -0.5346039 -0.0305737 -0.54848912] [ 0.53468354 0.84502966 -0.00619553 -2.14948773] [ 0.02914784 -0.01111482 0.99951331 -0.99456205] [ 0. 0. 0. 1. ]] SLAMing on 77.689072329 meters Centerline goodness : 0.798033 Centerline is valid? [False, False] Translation: X:-0.62, Y:-2.18, Z:-1.00 [[ 0.84489239 -0.53414833 -0.02902433 -0.62485361] [ 0.53420769 0.84532965 -0.00631929 -2.17714063] [ 0.02791056 -0.0101659 0.99955873 -0.99664547] [ 0. 0. 0. 1. ]] SLAMing on 77.719072329 meters Centerline goodness : 0.798689 Centerline is valid? [False, False] Translation: X:-0.70, Y:-2.21, Z:-1.00 [[ 0.8458675 -0.53268755 -0.02742532 -0.70296794] [ 0.53274237 0.84625708 -0.00587611 -2.20512551] [ 0.026339 -0.00964021 0.99960658 -0.99861188] [ 0. 0. 0. 1. ]] SLAMing on 77.749072329 meters Centerline goodness : 0.798930 Centerline is valid? [False, False] Translation: X:-0.78, Y:-2.23, Z:-1.00 [[ 0.84828336 -0.52884307 -0.02720932 -0.78025209] [ 0.52895963 0.84864054 -0.00330826 -2.22852773] [ 0.02484048 -0.01158629 0.99962428 -1.00034513] [ 0. 0. 0. 1. ]] SLAMing on 77.77907232899999 meters Centerline goodness : 0.796630 Centerline is valid? [False, False] Translation: X:-0.84, Y:-2.25, Z:-1.00 [[ 0.85098455 -0.52458209 -0.02527692 -0.84153718] [ 0.5246318 0.85131363 -0.00515616 -2.24986248] [ 0.02422342 -0.00887326 0.99966719 -1.0024928 ] [ 0. 0. 0. 1. ]] SLAMing on 77.80907232899999 meters Centerline goodness : 0.798463 Centerline is valid? [False, False] Translation: X:-0.92, Y:-2.28, Z:-1.00 [[ 0.85202163 -0.52286694 -0.02587069 -0.91638203] [ 0.52294293 0.85235698 -0.0042751 -2.27641626] [ 0.02428637 -0.00988642 0.99965616 -1.00407432] [ 0. 0. 0. 1. ]] SLAMing on 77.83907232899999 meters Centerline goodness : 0.797914 Centerline is valid? [False, False] Translation: X:-0.98, Y:-2.30, Z:-1.01 [[ 0.85628065 -0.51599423 -0.02309568 -0.98133149] [ 0.51603609 0.85655465 -0.00456956 -2.29571111] [ 0.02214057 -0.00800538 0.99972282 -1.00560191] [ 0. 0. 0. 1. ]] SLAMing on 77.86907232899999 meters Centerline goodness : 0.797967 Centerline is valid? [False, False] Translation: X:-1.06, Y:-2.32, Z:-1.01 [[ 8.57518772e-01 -5.13939025e-01 -2.29833284e-02 -1.05540094e+00] [ 5.14027835e-01 8.57770386e-01 -2.31289375e-03 -2.32144147e+00] [ 2.09031049e-02 -9.83072074e-03 9.99733173e-01 -1.00673220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89907232899999 meters Centerline goodness : 0.796960 Centerline is valid? [False, False] Translation: X:-1.12, Y:-2.34, Z:-1.01 [[ 8.62468457e-01 -5.05730066e-01 -1.96280880e-02 -1.12181524e+00] [ 5.05806450e-01 8.62646128e-01 -1.22145425e-03 -2.33970464e+00] [ 1.75498202e-02 -8.87454774e-03 9.99806604e-01 -1.00782924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.929072329 meters Centerline goodness : 0.797874 Centerline is valid? [False, False] Translation: X:-1.18, Y:-2.36, Z:-1.01 [[ 8.65556920e-01 -5.00567798e-01 -1.55915841e-02 -1.18453573e+00] [ 5.00619885e-01 8.65666979e-01 -6.41846125e-04 -2.36072860e+00] [ 1.38184070e-02 -7.24990268e-03 9.99878238e-01 -1.00962894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.959072329 meters Centerline goodness : 0.796384 Centerline is valid? [False, False] Translation: X:-1.25, Y:-2.38, Z:-1.01 [[ 8.68288456e-01 -4.95935105e-01 -1.11143717e-02 -1.24702576e+00] [ 4.95958516e-01 8.68345905e-01 -7.34582518e-04 -2.38155943e+00] [ 1.00154244e-02 -4.87443776e-03 9.99937964e-01 -1.01137477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.989072329 meters Centerline goodness : 0.796867 Centerline is valid? [False, False] Translation: X:-1.31, Y:-2.40, Z:-1.01 [[ 8.71693643e-01 -4.90008624e-01 -6.46071468e-03 -1.30979352e+00] [ 4.90005094e-01 8.71716725e-01 -2.22686315e-03 -2.40077518e+00] [ 6.72309519e-03 -1.22464065e-03 9.99976650e-01 -1.01449465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.019072329 meters Centerline goodness : 0.796015 Centerline is valid? [False, False] Translation: X:-1.36, Y:-2.42, Z:-1.02 [[ 8.72586570e-01 -4.88421228e-01 -6.11401820e-03 -1.36124761e+00] [ 4.88415300e-01 8.72607642e-01 -2.52941133e-03 -2.41845457e+00] [ 6.57055720e-03 -7.79049675e-04 9.99978110e-01 -1.01687037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.049072329 meters Centerline goodness : 0.795463 Centerline is valid? [False, False] Translation: X:-1.43, Y:-2.44, Z:-1.02 [[ 8.73678530e-01 -4.86503653e-01 -1.46700220e-04 -1.42561692e+00] [ 4.86503124e-01 8.73677048e-01 1.76827846e-03 -2.44225810e+00] [-7.32105314e-04 -1.61627704e-03 9.99998426e-01 -1.02336707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.079072329 meters Centerline goodness : 0.792563 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.46, Z:-1.02 [[ 8.74101091e-01 -4.85742625e-01 1.17645720e-03 -1.47807776e+00] [ 4.85737788e-01 8.74099557e-01 2.96065655e-03 -2.45958796e+00] [-2.46645780e-03 -2.01646341e-03 9.99994925e-01 -1.02400961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.109072329 meters Centerline goodness : 0.792433 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.48, Z:-1.02 [[ 8.73780515e-01 -4.86301771e-01 4.26606798e-03 -1.53366695e+00] [ 4.86297632e-01 8.73790877e-01 2.02893919e-03 -2.47567806e+00] [-4.71432801e-03 3.01731222e-04 9.99988842e-01 -1.02279331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13907232899999 meters Centerline goodness : 0.794082 Centerline is valid? [False, False] Translation: X:-1.59, Y:-2.49, Z:-1.02 [[ 8.73521510e-01 -4.86737992e-01 6.80425107e-03 -1.58833779e+00] [ 4.86745120e-01 8.73543776e-01 6.77812028e-04 -2.49429656e+00] [-6.27372804e-03 2.71985261e-03 9.99976621e-01 -1.02143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16907232899999 meters Centerline goodness : 0.794512 Centerline is valid? [False, False] Translation: X:-1.64, Y:-2.51, Z:-1.02 [[ 8.72199912e-01 -4.89034170e-01 1.06251513e-02 -1.64347323e+00] [ 4.89076404e-01 8.72239387e-01 -1.65009940e-03 -2.51280122e+00] [-8.46072045e-03 6.63572733e-03 9.99942190e-01 -1.01879227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19907232899999 meters Centerline goodness : 0.793793 Centerline is valid? [False, False] Translation: X:-1.70, Y:-2.53, Z:-1.02 [[ 0.87117524 -0.49078356 0.01360853 -1.69708369] [ 0.49087985 0.8712143 -0.00475534 -2.53324701] [-0.0095221 0.01082289 0.99989609 -1.01709375] [ 0. 0. 0. 1. ]] SLAMing on 78.22907232899999 meters Centerline goodness : 0.795547 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.56, Z:-1.02 [[ 0.86701475 -0.4978924 0.01971242 -1.757941 ] [ 0.49803885 0.86714938 -0.00304073 -2.55722475] [-0.01557966 0.01245391 0.99980107 -1.01871863] [ 0. 0. 0. 1. ]] SLAMing on 78.25907232899999 meters Centerline goodness : 0.794456 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.58, Z:-1.02 [[ 8.65134826e-01 -5.00975972e-01 2.37656862e-02 -1.81925720e+00] [ 5.01075051e-01 8.65401488e-01 2.01445762e-03 -2.58059313e+00] [-2.15760551e-02 1.01656150e-02 9.99715527e-01 -1.01995693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28907232899999 meters Centerline goodness : 0.795620 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.61, Z:-1.02 [[ 0.8648067 -0.50118539 0.03037404 -1.8885354 ] [ 0.50122488 0.86528995 0.00684943 -2.60717941] [-0.02971519 0.00930079 0.99951513 -1.02277832] [ 0. 0. 0. 1. ]] SLAMing on 78.319072329 meters Centerline goodness : 0.793742 Centerline is valid? [False, False] Translation: X:-1.96, Y:-2.63, Z:-1.03 [[ 0.86483805 -0.50066742 0.03724626 -1.95775939] [ 0.5006361 0.86559003 0.01083516 -2.63348259] [-0.0376648 0.00927616 0.99924737 -1.025603 ] [ 0. 0. 0. 1. ]] SLAMing on 78.349072329 meters Centerline goodness : 0.794841 Centerline is valid? [False, False] Translation: X:-2.03, Y:-2.66, Z:-1.03 [[ 0.86501241 -0.4998647 0.04346041 -2.02802212] [ 0.49973052 0.86605653 0.01467983 -2.66072272] [-0.0449771 0.00902025 0.99894729 -1.02712667] [ 0. 0. 0. 1. ]] SLAMing on 78.379072329 meters Centerline goodness : 0.795063 Centerline is valid? [False, False] Translation: X:-2.09, Y:-2.68, Z:-1.03 [[ 0.86752371 -0.49509953 0.04773955 -2.09042934] [ 0.49517473 0.86872288 0.01106996 -2.68411054] [-0.04695317 0.01403597 0.99879847 -1.02594129] [ 0. 0. 0. 1. ]] SLAMing on 78.409072329 meters Centerline goodness : 0.794489 Centerline is valid? [False, False] Translation: X:-2.15, Y:-2.71, Z:-1.03 [[ 0.87001161 -0.49031218 0.05170845 -2.15124755] [ 0.49054924 0.87136827 0.0088757 -2.70815636] [-0.04940897 0.01764358 0.99862278 -1.0254228 ] [ 0. 0. 0. 1. ]] SLAMing on 78.439072329 meters Centerline goodness : 0.795974 Centerline is valid? [False, False] Translation: X:-2.21, Y:-2.73, Z:-1.03 [[ 0.87445196 -0.48206895 0.05425223 -2.21085527] [ 0.48225998 0.87596665 0.01037985 -2.72937288] [-0.05252695 0.017087 0.99847331 -1.02670716] [ 0. 0. 0. 1. ]] SLAMing on 78.469072329 meters Centerline goodness : 0.794680 Centerline is valid? [False, False] Translation: X:-2.24, Y:-2.74, Z:-1.03 [[ 0.87743744 -0.47655974 0.05472069 -2.24494657] [ 0.47679777 0.8789621 0.00946135 -2.73943552] [-0.05260631 0.01778896 0.99845687 -1.02512569] [ 0. 0. 0. 1. ]] SLAMing on 78.499072329 meters Centerline goodness : 0.794737 Centerline is valid? [False, False] Translation: X:-2.28, Y:-2.75, Z:-1.02 [[ 0.88098498 -0.46971659 0.05684891 -2.28370032] [ 0.47010384 0.88258181 0.00719257 -2.75121123] [-0.05355229 0.02038834 0.99835688 -1.02357791] [ 0. 0. 0. 1. ]] SLAMing on 78.52907232899999 meters Centerline goodness : 0.794036 Centerline is valid? [False, False] Translation: X:-2.33, Y:-2.77, Z:-1.02 [[ 0.88782549 -0.45619717 0.06041561 -2.33390143] [ 0.45678366 0.8895663 0.00452616 -2.76975323] [-0.05580852 0.02357842 0.99816305 -1.02092439] [ 0. 0. 0. 1. ]] SLAMing on 78.55907232899999 meters Centerline goodness : 0.795741 Centerline is valid? [False, False] Translation: X:-2.37, Y:-2.78, Z:-1.02 [[ 8.90911178e-01 -4.49673866e-01 6.38019361e-02 -2.37467952e+00] [ 4.50566038e-01 8.92742987e-01 4.52497043e-04 -2.78389242e+00] [-5.71622071e-02 2.83438509e-02 9.97962478e-01 -1.01875319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58907232899999 meters Centerline goodness : 0.793844 Centerline is valid? [False, False] Translation: X:-2.41, Y:-2.80, Z:-1.02 [[ 8.94057057e-01 -4.42997846e-01 6.64446262e-02 -2.41349312e+00] [ 4.44078490e-01 8.95986316e-01 -1.67809394e-03 -2.79734932e+00] [-5.87900839e-02 3.10069410e-02 9.97788703e-01 -1.01686221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61907232899999 meters Centerline goodness : 0.793062 Centerline is valid? [False, False] Translation: X:-2.46, Y:-2.81, Z:-1.01 [[ 8.99255926e-01 -4.32068836e-01 6.82297714e-02 -2.45563183e+00] [ 4.33143116e-01 9.01324536e-01 -1.05922804e-03 -2.80951349e+00] [-6.10395076e-02 3.05057729e-02 9.97669072e-01 -1.01410142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64907232899999 meters Centerline goodness : 0.792475 Centerline is valid? [False, False] Translation: X:-2.49, Y:-2.82, Z:-1.01 [[ 9.01739595e-01 -4.26649191e-01 6.95425821e-02 -2.49093251e+00] [ 4.27723336e-01 9.03909492e-01 -6.15660350e-04 -2.82126716e+00] [-6.25975291e-02 3.03001505e-02 9.97578794e-01 -1.01025872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.679072329 meters Centerline goodness : 0.793774 Centerline is valid? [False, False] Translation: X:-2.53, Y:-2.83, Z:-1.01 [[ 9.04082069e-01 -4.21408997e-01 7.10638413e-02 -2.52675621e+00] [ 4.22466841e-01 9.06378366e-01 1.59053105e-04 -2.83392528e+00] [-6.44777548e-02 2.98783195e-02 9.97471757e-01 -1.00517270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.709072329 meters Centerline goodness : 0.793595 Centerline is valid? [False, False] Translation: X:-2.56, Y:-2.85, Z:-1.00 [[ 0.9073565 -0.41384693 0.07372177 -2.56493422] [ 0.41471419 0.90994358 0.00384888 -2.84713683] [-0.0686755 0.02708116 0.99727142 -0.99874304] [ 0. 0. 0. 1. ]] SLAMing on 78.739072329 meters Centerline goodness : 0.793749 Centerline is valid? [False, False] Translation: X:-2.60, Y:-2.86, Z:-1.00 [[ 9.09356478e-01 -4.09350926e-01 7.41796158e-02 -2.59810754e+00] [ 4.10286463e-01 9.11952226e-01 2.85570827e-03 -2.85817510e+00] [-6.88172526e-02 2.78380354e-02 9.97240808e-01 -9.96225893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.769072329 meters Centerline goodness : 0.791793 Centerline is valid? [False, False] Translation: X:-2.63, Y:-2.87, Z:-1.00 [[ 9.11342436e-01 -4.05012578e-01 7.36191281e-02 -2.62865272e+00] [ 4.05939543e-01 9.13896306e-01 2.57497130e-03 -2.86853873e+00] [-6.83231450e-02 2.75382346e-02 9.97283106e-01 -9.95684950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.799072329 meters Centerline goodness : 0.791425 Centerline is valid? [False, False] Translation: X:-2.66, Y:-2.88, Z:-1.00 [[ 9.13025997e-01 -4.01340895e-01 7.28629811e-02 -2.65740452e+00] [ 4.02225391e-01 9.15536563e-01 2.74521911e-03 -2.87834557e+00] [-6.78104920e-02 2.68008847e-02 9.97338182e-01 -9.96450756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.829072329 meters Centerline goodness : 0.789768 Centerline is valid? [False, False] Translation: X:-2.69, Y:-2.89, Z:-1.00 [[ 9.14726205e-01 -3.97286116e-01 7.37544093e-02 -2.69067807e+00] [ 3.98310602e-01 9.17250169e-01 8.89603773e-04 -2.88711806e+00] [-6.80046717e-02 2.85634193e-02 9.97276038e-01 -9.95029870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.859072329 meters Centerline goodness : 0.791250 Centerline is valid? [False, False] Translation: X:-2.73, Y:-2.90, Z:-0.99 [[ 9.15879603e-01 -3.94136409e-01 7.62957605e-02 -2.72531049e+00] [ 3.95263611e-01 9.18567663e-01 3.54944976e-04 -2.89863193e+00] [-7.02227152e-02 2.98318510e-02 9.97085167e-01 -9.91572681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88907232899999 meters Centerline goodness : 0.791925 Centerline is valid? [False, False] Translation: X:-2.76, Y:-2.91, Z:-0.99 [[ 9.16817697e-01 -3.91360015e-01 7.92631670e-02 -2.75965229e+00] [ 3.92573815e-01 9.19720454e-01 2.92569268e-04 -2.90971624e+00] [-7.30144559e-02 3.08484112e-02 9.96853683e-01 -9.88015023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91907232899999 meters Centerline goodness : 0.792217 Centerline is valid? [False, False] Translation: X:-2.79, Y:-2.92, Z:-0.98 [[ 0.91709073 -0.3907591 0.07906905 -2.78717703] [ 0.39176634 0.92005988 0.00299096 -2.91612625] [-0.073917 0.02823361 0.99686465 -0.98141664] [ 0. 0. 0. 1. ]] SLAMing on 78.94907232899999 meters Centerline goodness : 0.792266 Centerline is valid? [False, False] Translation: X:-2.81, Y:-2.92, Z:-0.98 [[ 0.91754704 -0.39037218 0.07561074 -2.81018212] [ 0.39107428 0.9203402 0.00590076 -2.92452911] [-0.0718911 0.02415519 0.99711995 -0.9762035 ] [ 0. 0. 0. 1. ]] SLAMing on 78.97907232899999 meters Centerline goodness : 0.791563 Centerline is valid? [False, False] Translation: X:-2.84, Y:-2.94, Z:-0.97 [[ 0.91855792 -0.38775468 0.07679624 -2.84314636] [ 0.3886447 0.92138064 0.00360685 -2.93522785] [-0.07215714 0.02653335 0.99704028 -0.97355955] [ 0. 0. 0. 1. ]] SLAMing on 79.00907232899999 meters Centerline goodness : 0.793233 Centerline is valid? [False, False] Translation: X:-2.87, Y:-2.94, Z:-0.97 [[ 9.19276084e-01 -3.85767461e-01 7.81981270e-02 -2.87469246e+00] [ 3.86781606e-01 9.22168360e-01 2.34617312e-03 -2.94474914e+00] [-7.30169158e-02 2.80888163e-02 9.96935077e-01 -9.71391390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03907232899999 meters Centerline goodness : 0.792239 Centerline is valid? [False, False] Translation: X:-2.91, Y:-2.96, Z:-0.97 [[ 9.20026353e-01 -3.83627452e-01 7.98842214e-02 -2.90687884e+00] [ 3.84770910e-01 9.23011369e-01 1.16572194e-03 -2.95585808e+00] [-7.41812476e-02 2.96646297e-02 9.96803467e-01 -9.69034821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.069072329 meters Centerline goodness : 0.793489 Centerline is valid? [False, False] Translation: X:-2.93, Y:-2.96, Z:-0.96 [[ 0.92038319 -0.38304276 0.07856857 -2.93281366] [ 0.38392919 0.92335345 0.0040968 -2.96327038] [-0.07411581 0.02639414 0.99690029 -0.96342308] [ 0. 0. 0. 1. ]] SLAMing on 79.099072329 meters Centerline goodness : 0.792642 Centerline is valid? [False, False] Translation: X:-2.96, Y:-2.97, Z:-0.96 [[ 0.92040833 -0.38359796 0.07550574 -2.95560266] [ 0.38437317 0.92316653 0.00456297 -2.96920221] [-0.07145472 0.02482258 0.99713493 -0.95956654] [ 0. 0. 0. 1. ]] SLAMing on 79.129072329 meters Centerline goodness : 0.792569 Centerline is valid? [False, False] Translation: X:-2.98, Y:-2.98, Z:-0.96 [[ 0.92106113 -0.38286893 0.07111803 -2.97711977] [ 0.38332111 0.92358288 0.00771973 -2.97719726] [-0.06863904 0.0201507 0.99743803 -0.95584205] [ 0. 0. 0. 1. ]] SLAMing on 79.159072329 meters Centerline goodness : 0.790455 Centerline is valid? [False, False] Translation: X:-3.01, Y:-2.98, Z:-0.96 [[ 0.92215647 -0.3802239 0.07111418 -3.00621622] [ 0.38075915 0.92465209 0.00640247 -2.98438542] [-0.06819025 0.02117329 0.99744763 -0.95610899] [ 0. 0. 0. 1. ]] SLAMing on 79.189072329 meters Centerline goodness : 0.790179 Centerline is valid? [False, False] Translation: X:-3.04, Y:-2.99, Z:-0.95 [[ 0.92334356 -0.37702239 0.07273776 -3.03968679] [ 0.37771902 0.92590954 0.00445714 -2.99455502] [-0.06902903 0.02335896 0.99734114 -0.95391627] [ 0. 0. 0. 1. ]] SLAMing on 79.219072329 meters Centerline goodness : 0.789903 Centerline is valid? [False, False] Translation: X:-3.07, Y:-3.00, Z:-0.95 [[ 0.92426661 -0.37433385 0.07486924 -3.07279903] [ 0.37513345 0.92696377 0.00361412 -3.00384287] [-0.07075396 0.02474555 0.99718681 -0.95144144] [ 0. 0. 0. 1. ]] SLAMing on 79.249072329 meters Centerline goodness : 0.789903 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.01, Z:-0.95 [[ 0.92467305 -0.37416493 0.07057164 -3.09376573] [ 0.37467069 0.92713566 0.00642976 -3.01324655] [-0.06783527 0.0204957 0.99748599 -0.94729359] [ 0. 0. 0. 1. ]] SLAMing on 79.27907232899999 meters Centerline goodness : 0.789701 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.02, Z:-0.94 [[ 0.92524585 -0.37330315 0.0675638 -3.11761503] [ 0.37359076 0.92755186 0.00880249 -3.01978745] [-0.06595492 0.01709674 0.99767612 -0.94237443] [ 0. 0. 0. 1. ]] SLAMing on 79.30907232899999 meters Centerline goodness : 0.791061 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.03, Z:-0.94 [[ 0.92658429 -0.36934329 0.070902 -3.15338068] [ 0.36975107 0.92909839 0.00776738 -3.0256073 ] [-0.06874376 0.01901896 0.99745304 -0.93888731] [ 0. 0. 0. 1. ]] SLAMing on 79.33907232899999 meters Centerline goodness : 0.793309 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.03, Z:-0.94 [[ 0.92759704 -0.36638439 0.07298089 -3.18625135] [ 0.36690921 0.93023359 0.00656567 -3.03386574] [-0.07029484 0.02068706 0.99731173 -0.9368403 ] [ 0. 0. 0. 1. ]] SLAMing on 79.36907232899999 meters Centerline goodness : 0.792778 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.04, Z:-0.94 [[ 0.92851274 -0.36356782 0.07538252 -3.219203 ] [ 0.36426861 0.93128195 0.0047239 -3.04175464] [-0.07191984 0.02307328 0.9971435 -0.93516942] [ 0. 0. 0. 1. ]] SLAMing on 79.39907232899999 meters Centerline goodness : 0.794714 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.04, Z:-0.93 [[ 9.30646765e-01 -3.58793248e-01 7.18609992e-02 -3.23534327e+00] [ 3.59829051e-01 9.33016911e-01 -1.58048260e-03 -3.04079604e+00] [-6.64804610e-02 2.73285462e-02 9.97413404e-01 -9.27546179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.429072329 meters Centerline goodness : 0.793418 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.04, Z:-0.92 [[ 0.93241511 -0.35463422 0.06954591 -3.24899052] [ 0.35605371 0.93442418 -0.00878655 -3.0409244 ] [-0.06186937 0.03295479 0.99754006 -0.92226268] [ 0. 0. 0. 1. ]] SLAMing on 79.459072329 meters Centerline goodness : 0.795128 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.05, Z:-0.92 [[ 9.33940602e-01 -3.51458066e-01 6.50552079e-02 -3.27145562e+00] [ 3.52358914e-01 9.35861457e-01 -2.55535050e-03 -3.04898720e+00] [-5.99845631e-02 2.53093280e-02 9.97878394e-01 -9.18191598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.489072329 meters Centerline goodness : 0.795057 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.05, Z:-0.92 [[ 9.35899988e-01 -3.47381722e-01 5.84564143e-02 -3.29180868e+00] [ 3.47849365e-01 9.37547605e-01 2.30402404e-03 -3.05193180e+00] [-5.56060471e-02 1.81776905e-02 9.98287303e-01 -9.16061867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.519072329 meters Centerline goodness : 0.792171 Centerline is valid? [False, False] Translation: X:-3.31, Y:-3.06, Z:-0.91 [[ 0.93687397 -0.34565803 0.05279867 -3.3116349 ] [ 0.34588843 0.93826232 0.0050009 -3.05832379] [-0.05126761 0.01357724 0.99859266 -0.91351554] [ 0. 0. 0. 1. ]] SLAMing on 79.549072329 meters Centerline goodness : 0.791952 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.06, Z:-0.91 [[ 0.9368948 -0.34618611 0.0488192 -3.33241861] [ 0.34643211 0.93806814 0.00359934 -3.06271517] [-0.04704178 0.01354033 0.99880115 -0.91122396] [ 0. 0. 0. 1. ]] SLAMing on 79.579072329 meters Centerline goodness : 0.796373 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.06, Z:-0.91 [[ 9.36863720e-01 -3.46244842e-01 4.89987660e-02 -3.33332899e+00] [ 3.46520991e-01 9.38037377e-01 3.01352833e-03 -3.06108255e+00] [-4.70060926e-02 1.41558356e-02 9.98794293e-01 -9.10555119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.609072329 meters Centerline goodness : 0.795896 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.07, Z:-0.91 [[ 0.93677076 -0.34682118 0.04664348 -3.35692754] [ 0.34703416 0.93784515 0.00371131 -3.06886325] [-0.04503152 0.01271023 0.99890471 -0.90614322] [ 0. 0. 0. 1. ]] SLAMing on 79.63907232899999 meters Centerline goodness : 0.794408 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.07, Z:-0.91 [[ 0.9367382 -0.34689301 0.04676314 -3.35754372] [ 0.34712005 0.93781441 0.00343532 -3.06788587] [-0.04504683 0.01301442 0.9989001 -0.90579942] [ 0. 0. 0. 1. ]] SLAMing on 79.66907232899999 meters Centerline goodness : 0.797395 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.07, Z:-0.90 [[ 0.93767662 -0.34481742 0.04316833 -3.38114355] [ 0.34489484 0.93862293 0.005877 -3.07184722] [-0.04254528 0.00937781 0.99905053 -0.90228563] [ 0. 0. 0. 1. ]] SLAMing on 79.69907232899999 meters Centerline goodness : 0.796897 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.08, Z:-0.90 [[ 0.93831924 -0.34358761 0.03878871 -3.40287586] [ 0.34360163 0.93909291 0.00651398 -3.07648505] [-0.03866432 0.00721567 0.9992262 -0.89930183] [ 0. 0. 0. 1. ]] SLAMing on 79.72907232899999 meters Centerline goodness : 0.798049 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.08, Z:-0.90 [[ 9.40153449e-01 -3.38864949e-01 3.58055643e-02 -3.41433871e+00] [ 3.39088248e-01 9.40754554e-01 -1.74326802e-04 -3.07790529e+00] [-3.36251744e-02 1.23051400e-02 9.99358760e-01 -8.95495583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75907232899999 meters Centerline goodness : 0.797498 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94159424 -0.33543281 0.02975091 -3.42617001] [ 0.33577207 0.94191648 -0.00710393 -3.08002791] [-0.02563998 0.01667854 0.9995321 -0.88949775] [ 0. 0. 0. 1. ]] SLAMing on 79.78907232899999 meters Centerline goodness : 0.797748 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 9.43142837e-01 -3.31196660e-01 2.81133630e-02 -3.42540538e+00] [ 3.31408544e-01 9.43482223e-01 -3.11005700e-03 -3.08099070e+00] [-2.54944177e-02 1.22502367e-02 9.99599903e-01 -8.89364489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.819072329 meters Centerline goodness : 0.798931 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 9.44561275e-01 -3.27254734e-01 2.66146198e-02 -3.42522844e+00] [ 3.27345758e-01 9.44904114e-01 9.85068404e-04 -3.08139100e+00] [-2.54706321e-02 7.78172544e-03 9.99645283e-01 -8.89195293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.849072329 meters Centerline goodness : 0.798204 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94591693 -0.32341668 0.02535365 -3.42540548] [ 0.3234034 0.94624934 0.00473553 -3.08069131] [-0.02552242 0.00372004 0.99966733 -0.88908325] [ 0. 0. 0. 1. ]] SLAMing on 79.879072329 meters Centerline goodness : 0.797552 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.08, Z:-0.89 [[ 0.94857918 -0.31571982 0.02277123 -3.42544056] [ 0.31551705 0.94884274 0.01210134 -3.07895925] [-0.02542695 -0.00429436 0.99966746 -0.88892251] [ 0. 0. 0. 1. ]] SLAMing on 79.909072329 meters Centerline goodness : 0.797727 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.07, Z:-0.89 [[ 9.50267236e-01 -3.10326675e-01 2.62589932e-02 -3.41743001e+00] [ 3.10287361e-01 9.50625950e-01 5.66194179e-03 -3.07337638e+00] [-2.67195319e-02 2.76747592e-03 9.99639139e-01 -8.87139531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.939072329 meters Centerline goodness : 0.794905 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.07, Z:-0.88 [[ 9.52134418e-01 -3.04844270e-01 2.25836645e-02 -3.40767821e+00] [ 3.04862374e-01 9.52392529e-01 2.72080300e-03 -3.06983911e+00] [-2.23379346e-02 4.29433941e-03 9.99741254e-01 -8.83991118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.969072329 meters Centerline goodness : 0.795941 Centerline is valid? [False, False] Translation: X:-3.41, Y:-3.06, Z:-0.88 [[ 0.95525517 -0.29386295 0.03364699 -3.40944848] [ 0.29470492 0.95529872 -0.0235238 -3.05771595] [-0.02523015 0.03238716 0.9991569 -0.88197042] [ 0. 0. 0. 1. ]] SLAMing on 79.999072329 meters Centerline goodness : 0.796884 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.06, Z:-0.88 [[ 0.95698318 -0.28845109 0.0312916 -3.42085315] [ 0.28935836 0.95675542 -0.02984625 -3.05877169] [-0.02132923 0.03761685 0.99906458 -0.87895995] [ 0. 0. 0. 1. ]] SLAMing on 80.02907232899999 meters Centerline goodness : 0.798166 Centerline is valid? [False, False] Translation: X:-3.43, Y:-3.06, Z:-0.87 [[ 0.95854212 -0.28360488 0.02766355 -3.43317124] [ 0.2844921 0.95798511 -0.03645229 -3.06049004] [-0.01616322 0.04281112 0.99895243 -0.87374146] [ 0. 0. 0. 1. ]] SLAMing on 80.05907232899999 meters Centerline goodness : 0.797860 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.07, Z:-0.86 [[ 0.96059824 -0.27756393 0.01446712 -3.43841992] [ 0.27789573 0.96007711 -0.03202973 -3.06647031] [-0.00499925 0.03478806 0.99938221 -0.86316791] [ 0. 0. 0. 1. ]] SLAMing on 80.08907232899999 meters Centerline goodness : 0.796377 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.08, Z:-0.86 [[ 9.61223659e-01 -2.75551204e-01 1.09822929e-02 -3.46118111e+00] [ 2.75754642e-01 9.60827627e-01 -2.77425383e-02 -3.07735137e+00] [-2.90760058e-03 2.96952024e-02 9.99554771e-01 -8.59520468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11907232899999 meters Centerline goodness : 0.796030 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.09, Z:-0.85 [[ 9.61903609e-01 -2.73384363e-01 1.56136623e-03 -3.47288308e+00] [ 2.73367613e-01 9.61742162e-01 -1.79488556e-02 -3.08635054e+00] [ 3.40530472e-03 1.76918959e-02 9.99837687e-01 -8.53436862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14907232899999 meters Centerline goodness : 0.796219 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.09, Z:-0.85 [[ 0.9619603 -0.27308794 -0.00744007 -3.48560637] [ 0.27300095 0.96195167 -0.01093003 -3.09400065] [ 0.01014185 0.0084831 0.99991259 -0.84754406] [ 0. 0. 0. 1. ]] SLAMing on 80.179072329 meters Centerline goodness : 0.795969 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.10, Z:-0.85 [[ 9.62336598e-01 -2.71539846e-01 -1.32054180e-02 -3.50472223e+00] [ 2.71464869e-01 9.62421365e-01 -7.20699003e-03 -3.10340629e+00] [ 1.46661614e-02 3.35074321e-03 9.99886832e-01 -8.45398312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.209072329 meters Centerline goodness : 0.794273 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.11, Z:-0.84 [[ 0.96236049 -0.27123509 -0.01714093 -3.51708913] [ 0.27095155 0.96243978 -0.01717374 -3.10632581] [ 0.02115523 0.01188297 0.99970558 -0.83994734] [ 0. 0. 0. 1. ]] SLAMing on 80.239072329 meters Centerline goodness : 0.796498 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.12, Z:-0.84 [[ 0.96142774 -0.27416626 -0.02212596 -3.53468403] [ 0.27386143 0.96163844 -0.01585639 -3.12124825] [ 0.02562446 0.00918533 0.99962944 -0.83562512] [ 0. 0. 0. 1. ]] SLAMing on 80.269072329 meters Centerline goodness : 0.795906 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.13, Z:-0.83 [[ 0.9613722 -0.2743158 -0.02267883 -3.54729043] [ 0.27373059 0.96145882 -0.02585548 -3.12631193] [ 0.02889732 0.01864885 0.99940841 -0.83169067] [ 0. 0. 0. 1. ]] SLAMing on 80.299072329 meters Centerline goodness : 0.798647 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.13, Z:-0.83 [[ 0.96137968 -0.27426338 -0.02299352 -3.54657569] [ 0.27369451 0.9614893 -0.02509253 -3.12909452] [ 0.02898999 0.01783025 0.99942066 -0.83122749] [ 0. 0. 0. 1. ]] SLAMing on 80.329072329 meters Centerline goodness : 0.795763 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.14, Z:-0.83 [[ 0.96044179 -0.27666796 -0.03172386 -3.55724909] [ 0.27618475 0.96092058 -0.01880476 -3.13913934] [ 0.03568678 0.00929923 0.99931976 -0.82564792] [ 0. 0. 0. 1. ]] SLAMing on 80.359072329 meters Centerline goodness : 0.795355 Centerline is valid? [False, False] Translation: X:-3.57, Y:-3.14, Z:-0.82 [[ 0.96035372 -0.27608844 -0.03867692 -3.56878325] [ 0.27525343 0.96103154 -0.02557202 -3.14435167] [ 0.04422987 0.01391223 0.99892451 -0.82029636] [ 0. 0. 0. 1. ]] SLAMing on 80.38907232899999 meters Centerline goodness : 0.793555 Centerline is valid? [False, False] Translation: X:-3.57, Y:-3.15, Z:-0.82 [[ 0.95946891 -0.2791792 -0.03844974 -3.56574297] [ 0.27824192 0.96010303 -0.02799293 -3.14852545] [ 0.04473076 0.01616001 0.99886837 -0.82125845] [ 0. 0. 0. 1. ]] SLAMing on 80.41907232899999 meters Centerline goodness : 0.793044 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.15, Z:-0.82 [[ 0.95951018 -0.27898317 -0.03884082 -3.56446652] [ 0.2780839 0.96017709 -0.02700544 -3.15209472] [ 0.04482813 0.01511098 0.99888042 -0.82124618] [ 0. 0. 0. 1. ]] SLAMing on 80.44907232899999 meters Centerline goodness : 0.793686 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.9595094 -0.27894428 -0.03913834 -3.5637377 ] [ 0.27808494 0.96020405 -0.02601817 -3.15563875] [ 0.04483841 0.01408089 0.99889501 -0.82070834] [ 0. 0. 0. 1. ]] SLAMing on 80.47907232899999 meters Centerline goodness : 0.791840 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.95857115 -0.28225789 -0.03836458 -3.56437912] [ 0.28130473 0.95919746 -0.02842325 -3.15927282] [ 0.0448219 0.01645357 0.99885949 -0.81880487] [ 0. 0. 0. 1. ]] SLAMing on 80.50907232899999 meters Centerline goodness : 0.792396 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.16, Z:-0.82 [[ 0.95859117 -0.2821592 -0.03858956 -3.56368018] [ 0.2812499 0.95924435 -0.02736362 -3.16286643] [ 0.04473771 0.01537721 0.99888041 -0.81827045] [ 0. 0. 0. 1. ]] SLAMing on 80.53907232899999 meters Centerline goodness : 0.791340 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95864484 -0.28191781 -0.03901825 -3.56251674] [ 0.28104445 0.95933112 -0.02641623 -3.16600992] [ 0.04487862 0.01435792 0.99888926 -0.81816886] [ 0. 0. 0. 1. ]] SLAMing on 80.569072329 meters Centerline goodness : 0.793162 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95869764 -0.28168508 -0.03939985 -3.56137183] [ 0.28084379 0.9594125 -0.02558162 -3.1686677 ] [ 0.04500667 0.01345983 0.99889601 -0.81835729] [ 0. 0. 0. 1. ]] SLAMing on 80.599072329 meters Centerline goodness : 0.793135 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95872361 -0.28148948 -0.04015869 -3.55911448] [ 0.28069686 0.95948911 -0.02428828 -3.17307942] [ 0.04536872 0.01201333 0.99889807 -0.8186078 ] [ 0. 0. 0. 1. ]] SLAMing on 80.629072329 meters Centerline goodness : 0.790820 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.17, Z:-0.82 [[ 0.95876472 -0.28129784 -0.04051829 -3.5579738 ] [ 0.28052819 0.95955345 -0.02368765 -3.17491219] [ 0.04554275 0.01134436 0.99889797 -0.81890848] [ 0. 0. 0. 1. ]] SLAMing on 80.659072329 meters Centerline goodness : 0.789612 Centerline is valid? [False, False] Translation: X:-3.56, Y:-3.18, Z:-0.82 [[ 0.95876705 -0.28122399 -0.04097326 -3.55647067] [ 0.28046917 0.95958137 -0.02325168 -3.17628983] [ 0.04585611 0.01080121 0.99888966 -0.81947996] [ 0. 0. 0. 1. ]] SLAMing on 80.689072329 meters Centerline goodness : 0.788709 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.18, Z:-0.82 [[ 0.95879103 -0.28104588 -0.04162891 -3.55435998] [ 0.28031121 0.9596416 -0.02266323 -3.17824062] [ 0.04631824 0.01006025 0.99887607 -0.82012868] [ 0. 0. 0. 1. ]] SLAMing on 80.719072329 meters Centerline goodness : 0.789312 Centerline is valid? [False, False] Translation: X:-3.55, Y:-3.18, Z:-0.82 [[ 0.95886184 -0.28076631 -0.04188369 -3.55410957] [ 0.28005273 0.95972906 -0.02214968 -3.18007841] [ 0.04641588 0.00950884 0.99887694 -0.81943354] [ 0. 0. 0. 1. ]] SLAMing on 80.749072329 meters Centerline goodness : 0.791287 Centerline is valid? [False, False] Translation: X:-3.54, Y:-3.18, Z:-0.82 [[ 0.9592838 -0.2801749 -0.03572967 -3.5382602 ] [ 0.27954103 0.95988734 -0.02175098 -3.17695967] [ 0.04039054 0.01087745 0.99912476 -0.8168657 ] [ 0. 0. 0. 1. ]] SLAMing on 80.77907232899999 meters Centerline goodness : 0.790080 Centerline is valid? [False, False] Translation: X:-3.54, Y:-3.18, Z:-0.82 [[ 0.96030972 -0.27645344 -0.03713135 -3.53761157] [ 0.27598371 0.96100602 -0.01733259 -3.17947315] [ 0.04047511 0.00639701 0.99916007 -0.81628951] [ 0. 0. 0. 1. ]] SLAMing on 80.80907232899999 meters Centerline goodness : 0.790749 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.18, Z:-0.82 [[ 0.96077388 -0.27468867 -0.03820585 -3.53470268] [ 0.27427834 0.9615222 -0.01569873 -3.1785767 ] [ 0.04104804 0.0046039 0.99914657 -0.818182 ] [ 0. 0. 0. 1. ]] SLAMing on 80.83907232899999 meters Centerline goodness : 0.789437 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.17, Z:-0.82 [[ 0.96240671 -0.26947146 -0.03403598 -3.52635628] [ 0.26885262 0.96293694 -0.02169625 -3.17272547] [ 0.03862102 0.01172996 0.99918508 -0.81783613] [ 0. 0. 0. 1. ]] SLAMing on 80.86907232899999 meters Centerline goodness : 0.789464 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 0.96298437 -0.26725087 -0.03518625 -3.523407 ] [ 0.26669164 0.96357819 -0.01981519 -3.17199266] [ 0.03920033 0.00969784 0.99918431 -0.81964556] [ 0. 0. 0. 1. ]] SLAMing on 80.89907232899999 meters Centerline goodness : 0.791169 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96430115 -0.26297913 -0.03106896 -3.51362667] [ 0.26221841 0.96464422 -0.02651459 -3.16666201] [ 0.03694328 0.0174212 0.9991655 -0.82005209] [ 0. 0. 0. 1. ]] SLAMing on 80.929072329 meters Centerline goodness : 0.789772 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96538977 -0.25879502 -0.03236854 -3.51303098] [ 0.2581708 0.96584321 -0.02224265 -3.16785482] [ 0.03701922 0.01311621 0.99922847 -0.81994249] [ 0. 0. 0. 1. ]] SLAMing on 80.959072329 meters Centerline goodness : 0.788137 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96645203 -0.25464956 -0.03352727 -3.51285951] [ 0.25414877 0.96698805 -0.01850692 -3.16725951] [ 0.03713325 0.00936514 0.99926644 -0.81985292] [ 0. 0. 0. 1. ]] SLAMing on 80.989072329 meters Centerline goodness : 0.790689 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96743356 -0.25072742 -0.03475737 -3.51238944] [ 0.25037266 0.96804423 -0.01427953 -3.1687538 ] [ 0.03722694 0.0051122 0.99929376 -0.81944815] [ 0. 0. 0. 1. ]] SLAMing on 81.019072329 meters Centerline goodness : 0.792837 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.17, Z:-0.82 [[ 0.96747777 -0.25057681 -0.03461247 -3.51312676] [ 0.25021181 0.96808145 -0.01457254 -3.16715334] [ 0.03715923 0.00543816 0.99929456 -0.81931401] [ 0. 0. 0. 1. ]] SLAMing on 81.049072329 meters Centerline goodness : 0.792288 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68101922e-01 -2.48121127e-01 -3.48507557e-02 -3.51639387e+00] [ 2.47839305e-01 9.68723642e-01 -1.22549418e-02 -3.16683842e+00] [ 3.68014610e-02 3.22664567e-03 9.99317388e-01 -8.16492193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.079072329 meters Centerline goodness : 0.793208 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68133292e-01 -2.47989340e-01 -3.49172722e-02 -3.51657417e+00] [ 2.47703957e-01 9.68757138e-01 -1.23433513e-02 -3.16641074e+00] [ 3.68873763e-02 3.30086287e-03 9.99313978e-01 -8.16171261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.109072329 meters Centerline goodness : 0.791579 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68176874e-01 -2.47812040e-01 -3.49676065e-02 -3.51675114e+00] [ 2.47529297e-01 9.68802784e-01 -1.22643003e-02 -3.16644167e+00] [ 3.69159558e-02 3.21850481e-03 9.99313191e-01 -8.15840160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13907232899999 meters Centerline goodness : 0.788116 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68301837e-01 -2.47294976e-01 -3.51674109e-02 -3.51656543e+00] [ 2.47026730e-01 9.68936243e-01 -1.18469948e-02 -3.16733768e+00] [ 3.70046813e-02 2.78417627e-03 9.99311214e-01 -8.15520888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16907232899999 meters Centerline goodness : 0.788116 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68301837e-01 -2.47294976e-01 -3.51674109e-02 -3.51656543e+00] [ 2.47026730e-01 9.68936243e-01 -1.18469948e-02 -3.16733768e+00] [ 3.70046813e-02 2.78417627e-03 9.99311214e-01 -8.15520888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19907232899999 meters Centerline goodness : 0.789070 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.68361834e-01 -2.47045278e-01 -3.52702257e-02 -3.51625575e+00] [ 2.46790654e-01 9.69000965e-01 -1.14675056e-02 -3.16847455e+00] [ 3.70098758e-02 2.40033265e-03 9.99312017e-01 -8.15519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22907232899999 meters Centerline goodness : 0.789567 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.69177063e-01 -2.43686242e-01 -3.62330776e-02 -3.51534111e+00] [ 2.43585249e-01 9.69852440e-01 -7.24365482e-03 -3.17261548e+00] [ 3.69059178e-02 -1.80545913e-03 9.99317114e-01 -8.15408783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25907232899999 meters Centerline goodness : 0.790248 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.82 [[ 9.69240491e-01 -2.43423431e-01 -3.63029399e-02 -3.51548238e+00] [ 2.43334238e-01 9.69917792e-01 -6.92286047e-03 -3.17322106e+00] [ 3.68960538e-02 -2.12383153e-03 9.99316852e-01 -8.15059032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28907232899999 meters Centerline goodness : 0.789069 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.17, Z:-0.81 [[ 9.69342637e-01 -2.42990279e-01 -3.64770715e-02 -3.51542778e+00] [ 2.42924206e-01 9.70024813e-01 -6.30011226e-03 -3.17474980e+00] [ 3.69145305e-02 -2.75419621e-03 9.99314631e-01 -8.14534106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.319072329 meters Centerline goodness : 0.788528 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.18, Z:-0.81 [[ 0.96954751 -0.24209723 -0.0369669 -3.51426202] [ 0.24209593 0.97024151 -0.00457908 -3.18017826] [ 0.03697541 -0.0045099 0.999306 -0.81395592] [ 0. 0. 0. 1. ]] SLAMing on 81.349072329 meters Centerline goodness : 0.788794 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.18, Z:-0.81 [[ 9.69216926e-01 -2.43521897e-01 -3.62716936e-02 -3.51609073e+00] [ 2.43470580e-01 9.69890382e-01 -5.89270828e-03 -3.18289105e+00] [ 3.66145703e-02 -3.11977766e-03 9.99324592e-01 -8.12154947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.379072329 meters Centerline goodness : 0.789405 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.19, Z:-0.81 [[ 0.96934371 -0.24298052 -0.03651364 -3.51522914] [ 0.2429671 0.9700223 -0.00487199 -3.18651876] [ 0.03660284 -0.00414898 0.99932128 -0.81205445] [ 0. 0. 0. 1. ]] SLAMing on 81.409072329 meters Centerline goodness : 0.789011 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.19, Z:-0.81 [[ 0.96952578 -0.24220675 -0.03681931 -3.51431269] [ 0.24223863 0.9702098 -0.00366011 -3.1900978 ] [ 0.03660896 -0.00537049 0.99931524 -0.81200673] [ 0. 0. 0. 1. ]] SLAMing on 81.439072329 meters Centerline goodness : 0.792385 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.19, Z:-0.81 [[ 9.69687484e-01 -2.41518818e-01 -3.70788822e-02 -3.51373797e+00] [ 2.41588265e-01 9.70375194e-01 -2.66333500e-03 -3.19279346e+00] [ 3.66236730e-02 -6.37522021e-03 9.99308793e-01 -8.11812270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.469072329 meters Centerline goodness : 0.791888 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.20, Z:-0.81 [[ 9.70202744e-01 -2.39411435e-01 -3.72666232e-02 -3.51473487e+00] [ 2.39579650e-01 9.70876711e-01 4.95661229e-05 -3.19829822e+00] [ 3.61694299e-02 -8.97641374e-03 9.99305357e-01 -8.10269938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.499072329 meters Centerline goodness : 0.792433 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.20, Z:-0.81 [[ 9.70367433e-01 -2.38703627e-01 -3.75183136e-02 -3.51435205e+00] [ 2.38912594e-01 9.71040427e-01 1.12285868e-03 -3.20118273e+00] [ 3.61637689e-02 -1.00531831e-02 9.99295309e-01 -8.09823033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52907232899999 meters Centerline goodness : 0.792209 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.21, Z:-0.81 [[ 0.9707632 -0.23698978 -0.03813996 -3.51255382] [ 0.2373095 0.97142577 0.00402085 -3.21062155] [ 0.03609724 -0.01295427 0.99926432 -0.80909713] [ 0. 0. 0. 1. ]] SLAMing on 81.55907232899999 meters Centerline goodness : 0.792092 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.21, Z:-0.81 [[ 9.70350588e-01 -2.38814386e-01 -3.72481731e-02 -3.51394543e+00] [ 2.39068760e-01 9.70999509e-01 2.46617478e-03 -3.21487173e+00] [ 3.55789997e-02 -1.12979287e-02 9.99303003e-01 -8.07648044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58907232899999 meters Centerline goodness : 0.791527 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.22, Z:-0.81 [[ 9.70020798e-01 -2.40253090e-01 -3.65801123e-02 -3.51541250e+00] [ 2.40461710e-01 9.70657687e-01 1.34911365e-03 -3.21916089e+00] [ 3.51826385e-02 -1.01047846e-02 9.99329813e-01 -8.05786140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61907232899999 meters Centerline goodness : 0.790677 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.23, Z:-0.81 [[ 0.97036259 -0.23874569 -0.03737558 -3.5132138 ] [ 0.23906628 0.97099377 0.00429156 -3.2280762 ] [ 0.03526687 -0.01309961 0.99929207 -0.8052006 ] [ 0. 0. 0. 1. ]] SLAMing on 81.64907232899999 meters Centerline goodness : 0.790674 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.23, Z:-0.80 [[ 9.69996994e-01 -2.40332160e-01 -3.66917424e-02 -3.51508509e+00] [ 2.40599086e-01 9.70620021e-01 2.97570734e-03 -3.23118449e+00] [ 3.48985816e-02 -1.17144268e-02 9.99322201e-01 -8.03203643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.679072329 meters Centerline goodness : 0.788629 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.24, Z:-0.80 [[ 0.97015158 -0.23963337 -0.03717206 -3.51365487] [ 0.23995479 0.97077421 0.00437505 -3.23550452] [ 0.03503727 -0.01316407 0.9992993 -0.80312557] [ 0. 0. 0. 1. ]] SLAMing on 81.709072329 meters Centerline goodness : 0.790090 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.24, Z:-0.80 [[ 9.69437386e-01 -2.42620848e-01 -3.64181120e-02 -3.51297486e+00] [ 2.42838099e-01 9.70065515e-01 1.59848235e-03 -3.23811234e+00] [ 3.49401294e-02 -1.03933336e-02 9.99335362e-01 -8.03491758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.739072329 meters Centerline goodness : 0.788974 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.25, Z:-0.80 [[ 9.68942066e-01 -2.44619406e-01 -3.62300668e-02 -3.50931816e+00] [ 2.44817064e-01 9.69568714e-01 1.05515984e-03 -3.24841431e+00] [ 3.48694267e-02 -9.89212734e-03 9.99342919e-01 -8.04618325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.769072329 meters Centerline goodness : 0.790643 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.25, Z:-0.80 [[ 9.68185894e-01 -2.47688819e-01 -3.55854421e-02 -3.50845518e+00] [ 2.47792116e-01 9.68811990e-01 -1.54746106e-03 -3.25221070e+00] [ 3.48588918e-02 -7.31956201e-03 9.99365440e-01 -8.04447776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.799072329 meters Centerline goodness : 0.791305 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.26, Z:-0.80 [[ 9.67578121e-01 -2.50105660e-01 -3.52099273e-02 -3.50751199e+00] [ 2.50182699e-01 9.68195980e-01 -2.27176284e-03 -3.26114572e+00] [ 3.46582908e-02 -6.61080664e-03 9.99377356e-01 -8.02987082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.829072329 meters Centerline goodness : 0.790284 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.26, Z:-0.80 [[ 0.96675729 -0.25337128 -0.03439963 -3.50734701] [ 0.25334256 0.96736231 -0.00526338 -3.26292812] [ 0.03461049 -0.00362647 0.9993943 -0.80280236] [ 0. 0. 0. 1. ]] SLAMing on 81.859072329 meters Centerline goodness : 0.789124 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.27, Z:-0.80 [[ 0.96733433 -0.25139379 -0.0326414 -3.52352922] [ 0.25100848 0.96786116 -0.01547626 -3.27115689] [ 0.03548298 0.00677745 0.9993473 -0.80397294] [ 0. 0. 0. 1. ]] SLAMing on 81.88907232899999 meters Centerline goodness : 0.791659 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.28, Z:-0.80 [[ 0.96743983 -0.25088365 -0.03343016 -3.52105477] [ 0.25054953 0.96800395 -0.01390261 -3.27687785] [ 0.03584847 0.00507403 0.99934436 -0.80394214] [ 0. 0. 0. 1. ]] SLAMing on 81.91907232899999 meters Centerline goodness : 0.791008 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.29, Z:-0.80 [[ 0.9667326 -0.25361557 -0.03327481 -3.51773332] [ 0.25323946 0.96728517 -0.01513858 -3.28672741] [ 0.03602561 0.00620847 0.99933158 -0.80416853] [ 0. 0. 0. 1. ]] SLAMing on 81.94907232899999 meters Centerline goodness : 0.793115 Centerline is valid? [False, False] Translation: X:-3.52, Y:-3.29, Z:-0.80 [[ 0.96588711 -0.25691042 -0.03254423 -3.51710339] [ 0.25644041 0.96639342 -0.01794644 -3.28955089] [ 0.03606116 0.00898858 0.99930916 -0.80416521] [ 0. 0. 0. 1. ]] SLAMing on 81.97907232899999 meters Centerline goodness : 0.791907 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96592897 -0.25667934 -0.0331202 -3.51483137] [ 0.25626849 0.96647026 -0.0161772 -3.29548775] [ 0.03616204 0.00713836 0.99932044 -0.80444254] [ 0. 0. 0. 1. ]] SLAMing on 82.00907232899999 meters Centerline goodness : 0.791857 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96592972 -0.25660872 -0.03364131 -3.51334835] [ 0.25622932 0.96649627 -0.01521493 -3.29821471] [ 0.03641848 0.00607666 0.99931815 -0.80475716] [ 0. 0. 0. 1. ]] SLAMing on 82.03907232899999 meters Centerline goodness : 0.791238 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.30, Z:-0.80 [[ 0.96594621 -0.25645581 -0.03432699 -3.51143898] [ 0.25611167 0.96654367 -0.01414761 -3.30157715] [ 0.03680677 0.00487428 0.99931051 -0.8049506 ] [ 0. 0. 0. 1. ]] SLAMing on 82.069072329 meters Centerline goodness : 0.793180 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.31, Z:-0.80 [[ 0.96508387 -0.25975036 -0.03380636 -3.50999245] [ 0.25934017 0.96565222 -0.01607677 -3.30883605] [ 0.03682113 0.00674809 0.99929909 -0.80406148] [ 0. 0. 0. 1. ]] SLAMing on 82.099072329 meters Centerline goodness : 0.794413 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.31, Z:-0.80 [[ 0.96507235 -0.2597215 -0.03435248 -3.50844824] [ 0.25935221 0.96566818 -0.01487945 -3.31416591] [ 0.03703761 0.00545035 0.99929901 -0.80320882] [ 0. 0. 0. 1. ]] SLAMing on 82.129072329 meters Centerline goodness : 0.797295 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.32, Z:-0.80 [[ 0.96410299 -0.26338468 -0.0336739 -3.5072499 ] [ 0.26291391 0.96465514 -0.01779723 -3.31750974] [ 0.03717122 0.00830503 0.9992744 -0.80324838] [ 0. 0. 0. 1. ]] SLAMing on 82.159072329 meters Centerline goodness : 0.797071 Centerline is valid? [False, False] Translation: X:-3.51, Y:-3.32, Z:-0.80 [[ 0.9640685 -0.26344764 -0.03416536 -3.50568739] [ 0.26298463 0.96464159 -0.01748405 -3.31834233] [ 0.03756346 0.00787086 0.99926325 -0.80397766] [ 0. 0. 0. 1. ]] SLAMing on 82.189072329 meters Centerline goodness : 0.795258 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96406331 -0.263415 -0.0345613 -3.50432559] [ 0.26295718 0.96465301 -0.01726513 -3.31896094] [ 0.03788756 0.00755654 0.99925344 -0.80452696] [ 0. 0. 0. 1. ]] SLAMing on 82.219072329 meters Centerline goodness : 0.795567 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96408882 -0.26325207 -0.03508704 -3.50288429] [ 0.26280905 0.96470205 -0.01677374 -3.32061498] [ 0.03826426 0.00695019 0.99924348 -0.80478802] [ 0. 0. 0. 1. ]] SLAMing on 82.249072329 meters Centerline goodness : 0.798147 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.32, Z:-0.80 [[ 0.96419778 -0.26279569 -0.03551152 -3.50200799] [ 0.26238177 0.96483255 -0.01593618 -3.32348793] [ 0.03845063 0.00604805 0.9992422 -0.80428806] [ 0. 0. 0. 1. ]] SLAMing on 82.27907232899999 meters Centerline goodness : 0.797944 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96445096 -0.26180414 -0.03595749 -3.50184067] [ 0.26145685 0.96511179 -0.01412637 -3.32896148] [ 0.03840134 0.00422286 0.99925347 -0.80248022] [ 0. 0. 0. 1. ]] SLAMing on 82.30907232899999 meters Centerline goodness : 0.797115 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96451273 -0.26154256 -0.03620344 -3.50163005] [ 0.26121316 0.96518489 -0.01363138 -3.33009927] [ 0.0385082 0.00369083 0.99925147 -0.80208649] [ 0. 0. 0. 1. ]] SLAMing on 82.33907232899999 meters Centerline goodness : 0.799750 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 9.65474371e-01 -2.57743217e-01 -3.77845619e-02 -3.50018815e+00] [ 2.57591899e-01 9.66212783e-01 -8.90346596e-03 -3.33317189e+00] [ 3.88027347e-02 -1.13692886e-03 9.99246244e-01 -8.01597066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36907232899999 meters Centerline goodness : 0.797971 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.33, Z:-0.80 [[ 0.96620421 -0.25473028 -0.03952103 -3.49602635] [ 0.25471309 0.96700072 -0.00555434 -3.334521 ] [ 0.03963172 -0.0046999 0.9992033 -0.80363557] [ 0. 0. 0. 1. ]] SLAMing on 82.39907232899999 meters Centerline goodness : 0.798814 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.34, Z:-0.80 [[ 0.9662995 -0.25432912 -0.03977417 -3.4954527 ] [ 0.25432652 0.96710438 -0.00520994 -3.33518079] [ 0.03979081 -0.00508127 0.99919511 -0.80378416] [ 0. 0. 0. 1. ]] SLAMing on 82.429072329 meters Centerline goodness : 0.798587 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96628613 -0.25432743 -0.04010826 -3.49414316] [ 0.25433478 0.96710329 -0.00500454 -3.33614677] [ 0.04006163 -0.00536511 0.99918281 -0.80405011] [ 0. 0. 0. 1. ]] SLAMing on 82.459072329 meters Centerline goodness : 0.799049 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96637634 -0.25390144 -0.04063035 -3.49287038] [ 0.25394193 0.96721014 -0.00424734 -3.33864508] [ 0.0403765 -0.00621322 0.99916522 -0.80384886] [ 0. 0. 0. 1. ]] SLAMing on 82.489072329 meters Centerline goodness : 0.799788 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 0.96642235 -0.25365023 -0.0411024 -3.4919454 ] [ 0.25371139 0.96727247 -0.00380822 -3.33992347] [ 0.04072318 -0.0067478 0.99914768 -0.80361926] [ 0. 0. 0. 1. ]] SLAMing on 82.519072329 meters Centerline goodness : 0.800267 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 9.66427999e-01 -2.53555648e-01 -4.15506443e-02 -3.49085124e+00] [ 2.53633219e-01 9.67294200e-01 -3.48160480e-03 -3.34109221e+00] [ 4.10744778e-02 -7.17390332e-03 9.99130333e-01 -8.03598600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.549072329 meters Centerline goodness : 0.800357 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.34, Z:-0.80 [[ 9.66451056e-01 -2.53394301e-01 -4.19962472e-02 -3.48990541e+00] [ 2.53491771e-01 9.67332651e-01 -3.07624854e-03 -3.34226318e+00] [ 4.14038450e-02 -7.67265945e-03 9.99113033e-01 -8.03545550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.579072329 meters Centerline goodness : 0.801741 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66604075e-01 -2.52741009e-01 -4.24092490e-02 -3.48961392e+00] [ 2.52886163e-01 9.67493984e-01 -1.99507826e-03 -3.34501157e+00] [ 4.15349313e-02 -8.79626146e-03 9.99098331e-01 -8.02557021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.609072329 meters Centerline goodness : 0.801805 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66653939e-01 -2.52484516e-01 -4.27987200e-02 -3.48870973e+00] [ 2.52660038e-01 9.67554180e-01 -1.34649667e-03 -3.34710773e+00] [ 4.17500500e-02 -9.51192991e-03 9.99082808e-01 -8.02279540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63907232899999 meters Centerline goodness : 0.802852 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.35, Z:-0.80 [[ 9.66808311e-01 -2.51835464e-01 -4.31345462e-02 -3.48840729e+00] [ 2.52059974e-01 9.67711585e-01 -2.41524744e-04 -3.35034437e+00] [ 4.18026245e-02 -1.06389844e-02 9.99069243e-01 -8.01306457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66907232899999 meters Centerline goodness : 0.805404 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67014050e-01 -2.50970431e-01 -4.35622588e-02 -3.48742210e+00] [ 2.51275367e-01 9.67914349e-01 1.58230635e-03 -3.35640437e+00] [ 4.17674232e-02 -1.24762350e-02 9.99049461e-01 -8.00402704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69907232899999 meters Centerline goodness : 0.805362 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67140854e-01 -2.50426863e-01 -4.38743060e-02 -3.48705335e+00] [ 2.50770990e-01 9.68043380e-01 2.43428932e-03 -3.35854478e+00] [ 4.18626200e-02 -1.33567038e-02 9.99034093e-01 -7.99936256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72907232899999 meters Centerline goodness : 0.802378 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.36, Z:-0.80 [[ 9.67221070e-01 -2.50045191e-01 -4.42809631e-02 -3.48626663e+00] [ 2.50417511e-01 9.68133350e-01 2.98106326e-03 -3.35987951e+00] [ 4.21244766e-02 -1.39720758e-02 9.99014669e-01 -7.99785336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75907232899999 meters Centerline goodness : 0.803032 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.36, Z:-0.80 [[ 0.96747431 -0.24891768 -0.04509382 -3.48438874] [ 0.24937029 0.9683972 0.00461643 -3.36444208] [ 0.04251962 -0.01571134 0.99897209 -0.79957385] [ 0. 0. 0. 1. ]] SLAMing on 82.78907232899999 meters Centerline goodness : 0.803805 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.37, Z:-0.80 [[ 0.96757066 -0.24847883 -0.04544544 -3.4829561 ] [ 0.24897222 0.9684953 0.00544916 -3.36739423] [ 0.04265969 -0.0165871 0.99895196 -0.79990846] [ 0. 0. 0. 1. ]] SLAMing on 82.819072329 meters Centerline goodness : 0.802641 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.37, Z:-0.80 [[ 9.66987459e-01 -2.50930774e-01 -4.43734155e-02 -3.48416008e+00] [ 2.51299990e-01 9.67905033e-01 2.85710222e-03 -3.36880503e+00] [ 4.22323173e-02 -1.39138209e-02 9.99010929e-01 -7.99526798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.849072329 meters Centerline goodness : 0.804974 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96724847 -0.24982164 -0.04493934 -3.48215601] [ 0.25028331 0.96816041 0.00486728 -3.37512912] [ 0.04229254 -0.01595544 0.99897786 -0.79961929] [ 0. 0. 0. 1. ]] SLAMing on 82.879072329 meters Centerline goodness : 0.803800 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96738358 -0.24922959 -0.0453168 -3.48135167] [ 0.24974332 0.96829372 0.00596125 -3.37857118] [ 0.04239426 -0.01708439 0.99895488 -0.79908171] [ 0. 0. 0. 1. ]] SLAMing on 82.909072329 meters Centerline goodness : 0.804920 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.38, Z:-0.80 [[ 0.96691552 -0.25121241 -0.04434751 -3.4835757 ] [ 0.25163709 0.96781265 0.00417739 -3.38151066] [ 0.04187067 -0.01519866 0.99900743 -0.7971459 ] [ 0. 0. 0. 1. ]] SLAMing on 82.939072329 meters Centerline goodness : 0.804592 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.39, Z:-0.79 [[ 0.96659798 -0.25258571 -0.04346042 -3.48579981] [ 0.25298328 0.96746313 0.00381412 -3.38987446] [ 0.04108296 -0.01468148 0.99904787 -0.79384247] [ 0. 0. 0. 1. ]] SLAMing on 82.969072329 meters Centerline goodness : 0.805958 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.79 [[ 0.96679683 -0.25173365 -0.04397796 -3.48495206] [ 0.25220675 0.9676579 0.00547176 -3.3948588 ] [ 0.0411782 -0.01638162 0.99901752 -0.79275127] [ 0. 0. 0. 1. ]] SLAMing on 82.999072329 meters Centerline goodness : 0.806209 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 9.66077726e-01 -2.54613543e-01 -4.31945801e-02 -3.48477381e+00] [ 2.54962360e-01 9.66947276e-01 2.67590360e-03 -3.39695292e+00] [ 4.10855602e-02 -1.35981229e-02 9.99063095e-01 -7.92785204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02907232899999 meters Centerline goodness : 0.805444 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 0.9663292 -0.25353379 -0.04391467 -3.48186069] [ 0.2539793 0.9671978 0.0047885 -3.40373788] [ 0.04126013 -0.01578068 0.99902381 -0.79345555] [ 0. 0. 0. 1. ]] SLAMing on 83.05907232899999 meters Centerline goodness : 0.805444 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.79 [[ 0.96631567 -0.2535857 -0.04391274 -3.48182708] [ 0.25403503 0.9671827 0.00488079 -3.40405725] [ 0.04123394 -0.01587176 0.99902345 -0.79345191] [ 0. 0. 0. 1. ]] SLAMing on 83.08907232899999 meters Centerline goodness : 0.804343 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 9.65718278e-01 -2.55996746e-01 -4.30566370e-02 -3.48265183e+00] [ 2.56333004e-01 9.66585589e-01 2.38525109e-03 -3.40577802e+00] [ 4.10073084e-02 -1.33403177e-02 9.99069786e-01 -7.92954690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11907232899999 meters Centerline goodness : 0.803875 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 0.9658762 -0.25533659 -0.04343262 -3.48165154] [ 0.25572607 0.9667427 0.00356738 -3.40933864] [ 0.04107728 -0.0145525 0.99904999 -0.79269313] [ 0. 0. 0. 1. ]] SLAMing on 83.14907232899999 meters Centerline goodness : 0.805303 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.79 [[ 9.65207267e-01 -2.58021125e-01 -4.24267693e-02 -3.48246617e+00] [ 2.58294227e-01 9.66065789e-01 9.91915209e-04 -3.41152390e+00] [ 4.07311152e-02 -1.19159934e-02 9.99099087e-01 -7.92166964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.179072329 meters Centerline goodness : 0.805131 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.64455644e-01 -2.60930798e-01 -4.17184663e-02 -3.48174425e+00] [ 2.61115349e-01 9.65307026e-01 -1.05852668e-03 -3.41685992e+00] [ 4.05473309e-02 -9.87242987e-03 9.99128845e-01 -7.91643965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.209072329 meters Centerline goodness : 0.804937 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.64554832e-01 -2.60473745e-01 -4.22777067e-02 -3.48029499e+00] [ 2.60711937e-01 9.65416630e-01 1.24743511e-04 -3.42099567e+00] [ 4.07831087e-02 -1.11426248e-02 9.99105890e-01 -7.91125998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.239072329 meters Centerline goodness : 0.803778 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.79 [[ 9.63660950e-01 -2.63905489e-01 -4.13698777e-02 -3.47990989e+00] [ 2.64006321e-01 9.64515950e-01 -3.10544594e-03 -3.42259295e+00] [ 4.07214511e-02 -7.92931223e-03 9.99139074e-01 -7.91405689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.269072329 meters Centerline goodness : 0.803905 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.79 [[ 0.96279527 -0.2671353 -0.0407921 -3.47812951] [ 0.26714146 0.96364219 -0.00540069 -3.42799307] [ 0.0407517 -0.0056975 0.99915306 -0.79148752] [ 0. 0. 0. 1. ]] SLAMing on 83.299072329 meters Centerline goodness : 0.806034 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.79 [[ 0.9628654 -0.26681001 -0.04126313 -3.4769492 ] [ 0.26685994 0.9637253 -0.00439503 -3.43153013] [ 0.04093896 -0.00677965 0.99913865 -0.79106475] [ 0. 0. 0. 1. ]] SLAMing on 83.329072329 meters Centerline goodness : 0.804399 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.44, Z:-0.79 [[ 9.63001030e-01 -2.66262511e-01 -4.16328180e-02 -3.47643124e+00] [ 2.66363372e-01 9.63867349e-01 -3.20754159e-03 -3.43517834e+00] [ 4.09825620e-02 -8.00059193e-03 9.99127830e-01 -7.90097189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.359072329 meters Centerline goodness : 0.805566 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.44, Z:-0.79 [[ 9.63252464e-01 -2.65263862e-01 -4.21873638e-02 -3.47602395e+00] [ 2.65467875e-01 9.64119380e-01 -7.92788426e-04 -3.44268842e+00] [ 4.08839532e-02 -1.04357344e-02 9.99109402e-01 -7.87660692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38907232899999 meters Centerline goodness : 0.805368 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.45, Z:-0.79 [[ 9.63379168e-01 -2.64741885e-01 -4.25712677e-02 -3.47532452e+00] [ 2.64996246e-01 9.64249382e-01 3.44443760e-04 -3.44638199e+00] [ 4.09581299e-02 -1.16130561e-02 9.99093373e-01 -7.86876100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41907232899999 meters Centerline goodness : 0.804725 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.45, Z:-0.79 [[ 9.63454328e-01 -2.64383722e-01 -4.30929774e-02 -3.47387681e+00] [ 2.64677053e-01 9.64336427e-01 1.14631687e-03 -3.44938261e+00] [ 4.12530603e-02 -1.25101462e-02 9.99070409e-01 -7.86675352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44907232899999 meters Centerline goodness : 0.804895 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.45, Z:-0.79 [[ 9.63625888e-01 -2.63654256e-01 -4.37216315e-02 -3.47124346e+00] [ 2.64017033e-01 9.64514411e-01 2.63755695e-03 -3.45466891e+00] [ 4.14747406e-02 -1.40848736e-02 9.99040271e-01 -7.87272468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47907232899999 meters Centerline goodness : 0.804470 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.46, Z:-0.79 [[ 9.63653052e-01 -2.63468122e-01 -4.42418899e-02 -3.46940153e+00] [ 2.63865062e-01 9.64554025e-01 3.28049408e-03 -3.45734436e+00] [ 4.18093873e-02 -1.48351472e-02 9.99015462e-01 -7.87650469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50907232899999 meters Centerline goodness : 0.803297 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.46, Z:-0.79 [[ 0.96371214 -0.26315971 -0.044787 -3.467592 ] [ 0.26359432 0.96462539 0.00398577 -3.46050248] [ 0.04215378 -0.01564673 0.99898861 -0.78770474] [ 0. 0. 0. 1. ]] SLAMing on 83.53907232899999 meters Centerline goodness : 0.804157 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.47, Z:-0.79 [[ 0.96393941 -0.26220103 -0.04551291 -3.46529732] [ 0.2627335 0.96484957 0.00603387 -3.46790182] [ 0.04233103 -0.01777405 0.99894553 -0.78706998] [ 0. 0. 0. 1. ]] SLAMing on 83.569072329 meters Centerline goodness : 0.803694 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.47, Z:-0.79 [[ 0.96398647 -0.26195592 -0.04592589 -3.46402407] [ 0.26252566 0.96490147 0.00673975 -3.47052472] [ 0.04254845 -0.01855375 0.99892211 -0.78700292] [ 0. 0. 0. 1. ]] SLAMing on 83.599072329 meters Centerline goodness : 0.804578 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.47, Z:-0.79 [[ 0.96404611 -0.26167522 -0.04627288 -3.46316101] [ 0.26228033 0.96496319 0.00742069 -3.47281734] [ 0.04270982 -0.01929036 0.99890127 -0.78668951] [ 0. 0. 0. 1. ]] SLAMing on 83.629072329 meters Centerline goodness : 0.805564 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 0.96414131 -0.26126279 -0.04661846 -3.46253031] [ 0.26191069 0.96505668 0.00826957 -3.47548482] [ 0.04282893 -0.0201829 0.99887854 -0.78607149] [ 0. 0. 0. 1. ]] SLAMing on 83.659072329 meters Centerline goodness : 0.805076 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 0.96335689 -0.26428512 -0.04579161 -3.46198756] [ 0.26482262 0.96427855 0.00598847 -3.48034666] [ 0.0425732 -0.01789569 0.99893306 -0.78559547] [ 0. 0. 0. 1. ]] SLAMing on 83.689072329 meters Centerline goodness : 0.803697 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.48, Z:-0.79 [[ 9.62403751e-01 -2.67902218e-01 -4.48042546e-02 -3.46150933e+00] [ 2.68283923e-01 9.63336316e-01 2.62291281e-03 -3.48203229e+00] [ 4.24588814e-02 -1.45445623e-02 9.98992342e-01 -7.85896582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.719072329 meters Centerline goodness : 0.806887 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.62367485e-01 -2.67935638e-01 -4.53797036e-02 -3.45896052e+00] [ 2.68355015e-01 9.63314423e-01 3.30271023e-03 -3.48583951e+00] [ 4.28300093e-02 -1.53562920e-02 9.98964351e-01 -7.86249980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.749072329 meters Centerline goodness : 0.805630 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61327719e-01 -2.71780252e-01 -4.45478439e-02 -3.45767591e+00] [ 2.72065927e-01 9.62278545e-01 3.63916622e-04 -3.48915417e+00] [ 4.27685290e-02 -1.24697936e-02 9.99007186e-01 -7.86566551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77907232899999 meters Centerline goodness : 0.804773 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61324905e-01 -2.71722123e-01 -4.49612674e-02 -3.45648280e+00] [ 2.72043293e-01 9.62284420e-01 1.06818349e-03 -3.49172634e+00] [ 4.29752781e-02 -1.32582826e-02 9.98988160e-01 -7.86255464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80907232899999 meters Centerline goodness : 0.804402 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.49, Z:-0.79 [[ 9.61305674e-01 -2.71710252e-01 -4.54416233e-02 -3.45503862e+00] [ 2.72068595e-01 9.62276218e-01 1.77745879e-03 -3.49466015e+00] [ 4.32444396e-02 -1.40719198e-02 9.98965415e-01 -7.85888545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83907232899999 meters Centerline goodness : 0.804892 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60185358e-01 -2.75730347e-01 -4.49094058e-02 -3.45276558e+00] [ 2.75959223e-01 9.61168663e-01 -1.14373132e-03 -3.49921829e+00] [ 4.34808749e-02 -1.12949706e-02 9.98990409e-01 -7.85915267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86907232899999 meters Centerline goodness : 0.803343 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60145518e-01 -2.75790621e-01 -4.53885299e-02 -3.45114162e+00] [ 2.76058042e-01 9.61140887e-01 -3.91080048e-04 -3.50254871e+00] [ 4.37326281e-02 -1.21543749e-02 9.98969333e-01 -7.85515831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89907232899999 meters Centerline goodness : 0.803375 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.79 [[ 9.60097887e-01 -2.75895221e-01 -4.57588659e-02 -3.44976350e+00] [ 2.76188208e-01 9.61103567e-01 8.37807805e-05 -3.50487986e+00] [ 4.39558945e-02 -1.27184969e-02 9.98952511e-01 -7.85415095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.929072329 meters Centerline goodness : 0.801833 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95886039 -0.28033029 -0.04474026 -3.44846794] [ 0.28044056 0.95986338 -0.00392109 -3.50501051] [ 0.04404374 -0.00878721 0.99899096 -0.78666702] [ 0. 0. 0. 1. ]] SLAMing on 83.959072329 meters Centerline goodness : 0.801642 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95878981 -0.28049458 -0.04522049 -3.44700709] [ 0.28062246 0.95981138 -0.00362507 -3.50669905] [ 0.04441995 -0.0092142 0.99897045 -0.78656573] [ 0. 0. 0. 1. ]] SLAMing on 83.989072329 meters Centerline goodness : 0.803425 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.79 [[ 0.95766015 -0.28446933 -0.04431973 -3.44696012] [ 0.28445714 0.95866524 -0.00671469 -3.50963103] [ 0.0443979 -0.00617667 0.99899483 -0.78514852] [ 0. 0. 0. 1. ]] SLAMing on 84.019072329 meters Centerline goodness : 0.803273 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56516637e-01 -2.88478335e-01 -4.30833311e-02 -3.44742862e+00] [ 2.88296472e-01 9.57483499e-01 -1.05115790e-02 -3.50995452e+00] [ 4.42839414e-02 -2.36627210e-03 9.99016183e-01 -7.84772865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.049072329 meters Centerline goodness : 0.805011 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56473724e-01 -2.88554662e-01 -4.35226617e-02 -3.44608987e+00] [ 2.88391424e-01 9.57459117e-01 -1.01205342e-02 -3.51212355e+00] [ 4.45914966e-02 -2.87153732e-03 9.99001178e-01 -7.84495095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.079072329 meters Centerline goodness : 0.805439 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 9.56441026e-01 -2.88609038e-01 -4.38792210e-02 -3.44481768e+00] [ 2.88457974e-01 9.57441642e-01 -9.87417699e-03 -3.51337908e+00] [ 4.48615702e-02 -3.21324321e-03 9.98988045e-01 -7.84737537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.109072329 meters Centerline goodness : 0.805283 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56320534e-01 -2.88972718e-01 -4.41112822e-02 -3.44340846e+00] [ 2.88822655e-01 9.57331664e-01 -9.87723516e-03 -3.51362585e+00] [ 4.50833786e-02 -3.29453483e-03 9.98977795e-01 -7.85637575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13907232899999 meters Centerline goodness : 0.803164 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56328827e-01 -2.88940115e-01 -4.41450349e-02 -3.44359312e+00] [ 2.88793375e-01 9.57341236e-01 -9.80533504e-03 -3.51344584e+00] [ 4.50950169e-02 -3.37166906e-03 9.98977012e-01 -7.85458070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16907232899999 meters Centerline goodness : 0.804525 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56359180e-01 -2.88844047e-01 -4.41161495e-02 -3.44386976e+00] [ 2.88702012e-01 9.57369899e-01 -9.69661614e-03 -3.51328975e+00] [ 4.50362835e-02 -3.46297326e-03 9.98979350e-01 -7.85400032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19907232899999 meters Centerline goodness : 0.803912 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56384719e-01 -2.88753896e-01 -4.41526463e-02 -3.44402178e+00] [ 2.88612796e-01 9.57397001e-01 -9.67657939e-03 -3.51295746e+00] [ 4.50657612e-02 -3.48848604e-03 9.98977932e-01 -7.85322755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22907232899999 meters Centerline goodness : 0.805799 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.79 [[ 9.56374931e-01 -2.88777224e-01 -4.42120604e-02 -3.44389658e+00] [ 2.88627442e-01 9.57390572e-01 -9.87381379e-03 -3.51209251e+00] [ 4.51795423e-02 -3.31774591e-03 9.98973374e-01 -7.85574944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25907232899999 meters Centerline goodness : 0.804499 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 0.95644978 -0.28851334 -0.04431572 -3.44419137] [ 0.2883728 0.95746937 -0.00967104 -3.51243244] [ 0.04522116 -0.00352959 0.99897076 -0.78497907] [ 0. 0. 0. 1. ]] SLAMing on 84.28907232899999 meters Centerline goodness : 0.803893 Centerline is valid? [False, False] Translation: X:-3.44, Y:-3.51, Z:-0.78 [[ 0.95653 -0.2882382 -0.04437445 -3.44457167] [ 0.28810635 0.95755152 -0.00947741 -3.51275532] [ 0.04522258 -0.00371914 0.99897001 -0.78440113] [ 0. 0. 0. 1. ]] SLAMing on 84.319072329 meters Centerline goodness : 0.806372 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95664019 -0.28789903 -0.04420056 -3.445641 ] [ 0.28776559 0.95765385 -0.00949044 -3.51167306] [ 0.04506112 -0.00364046 0.9989776 -0.78415252] [ 0. 0. 0. 1. ]] SLAMing on 84.349072329 meters Centerline goodness : 0.806282 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 9.56708103e-01 -2.87700688e-01 -4.40218193e-02 -3.44654971e+00] [ 2.87561074e-01 9.57714101e-01 -9.60878226e-03 -3.51035678e+00] [ 4.49247704e-02 -3.46616179e-03 9.98984360e-01 -7.84104560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.379072329 meters Centerline goodness : 0.804330 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9569162 -0.28703793 -0.04382477 -3.44857827] [ 0.28691529 0.95791179 -0.00919863 -3.50953678] [ 0.04462062 -0.00377168 0.99899688 -0.78303798] [ 0. 0. 0. 1. ]] SLAMing on 84.409072329 meters Centerline goodness : 0.805570 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95732294 -0.28572773 -0.04350221 -3.45210965] [ 0.28564239 0.95830036 -0.00829794 -3.50872033] [ 0.04405914 -0.00448227 0.99901887 -0.78100448] [ 0. 0. 0. 1. ]] SLAMing on 84.439072329 meters Centerline goodness : 0.806377 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9574089 -0.2854486 -0.04344307 -3.45283007] [ 0.28536994 0.95838293 -0.00813333 -3.50862499] [ 0.04395675 -0.00461042 0.9990228 -0.78049371] [ 0. 0. 0. 1. ]] SLAMing on 84.469072329 meters Centerline goodness : 0.806408 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95745066 -0.28530929 -0.04343768 -3.45318596] [ 0.28523094 0.9584244 -0.00812284 -3.50824169] [ 0.04394926 -0.00461255 0.99902312 -0.78025955] [ 0. 0. 0. 1. ]] SLAMing on 84.49907232899999 meters Centerline goodness : 0.806572 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95738099 -0.28556001 -0.0433258 -3.45309858] [ 0.28545042 0.95835283 -0.00882704 -3.50533127] [ 0.04404206 -0.00391652 0.999022 -0.78149829] [ 0. 0. 0. 1. ]] SLAMing on 84.52907232899999 meters Centerline goodness : 0.807900 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.9573215 -0.28575876 -0.0433298 -3.45280568] [ 0.28563358 0.95829489 -0.00918517 -3.50397291] [ 0.04414747 -0.00358329 0.9990186 -0.78219623] [ 0. 0. 0. 1. ]] SLAMing on 84.55907232899999 meters Centerline goodness : 0.807910 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.57225633e-01 -2.86053652e-01 -4.35016655e-02 -3.45194639e+00] [ 2.85917769e-01 9.58207588e-01 -9.44706886e-03 -3.50355224e+00] [ 4.43859945e-02 -3.39492266e-03 9.99008688e-01 -7.82708559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58907232899999 meters Centerline goodness : 0.806873 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95722559 -0.28602204 -0.04371 -3.45159474] [ 0.28589915 0.95821583 -0.00917101 -3.50473683] [ 0.04450673 -0.00371792 0.99900217 -0.78222587] [ 0. 0. 0. 1. ]] SLAMing on 84.61907232899999 meters Centerline goodness : 0.808125 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95724603 -0.28591537 -0.0439596 -3.45155963] [ 0.28581211 0.95824572 -0.0087507 -3.50626834] [ 0.04462606 -0.00418762 0.99899498 -0.78118095] [ 0. 0. 0. 1. ]] SLAMing on 84.64907232899999 meters Centerline goodness : 0.809218 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95726192 -0.28583069 -0.04416368 -3.45182586] [ 0.2857454 0.95826904 -0.00836691 -3.50748837] [ 0.04471221 -0.00461024 0.99898927 -0.77993623] [ 0. 0. 0. 1. ]] SLAMing on 84.679072329 meters Centerline goodness : 0.808180 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.9571563 -0.28614853 -0.04439409 -3.45154144] [ 0.28606942 0.95817329 -0.00826078 -3.5080897 ] [ 0.04490104 -0.00479293 0.99897994 -0.77918426] [ 0. 0. 0. 1. ]] SLAMing on 84.709072329 meters Centerline goodness : 0.809516 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95710537 -0.28628791 -0.04459305 -3.45090041] [ 0.2862062 0.95813173 -0.00834304 -3.5078818 ] [ 0.04511452 -0.00477764 0.9989704 -0.77941787] [ 0. 0. 0. 1. ]] SLAMing on 84.739072329 meters Centerline goodness : 0.807676 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95707164 -0.28636187 -0.04484154 -3.4500687 ] [ 0.28627592 0.95810983 -0.00846439 -3.50762367] [ 0.045387 -0.00473603 0.99895825 -0.77978997] [ 0. 0. 0. 1. ]] SLAMing on 84.769072329 meters Centerline goodness : 0.807944 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95704623 -0.28642006 -0.04501188 -3.44932624] [ 0.28633042 0.95809266 -0.0085645 -3.50749796] [ 0.04557859 -0.00469165 0.99894974 -0.78024916] [ 0. 0. 0. 1. ]] SLAMing on 84.799072329 meters Centerline goodness : 0.806052 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95700329 -0.28654244 -0.04514563 -3.44871599] [ 0.28644309 0.95805691 -0.00879335 -3.50673879] [ 0.04577175 -0.00451639 0.99894171 -0.78080765] [ 0. 0. 0. 1. ]] SLAMing on 84.829072329 meters Centerline goodness : 0.805082 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95698637 -0.28660873 -0.04508344 -3.44899679] [ 0.28650039 0.95803799 -0.00898516 -3.50566848] [ 0.04576688 -0.00431775 0.99894282 -0.78095618] [ 0. 0. 0. 1. ]] SLAMing on 84.859072329 meters Centerline goodness : 0.805521 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95696409 -0.28669189 -0.04502762 -3.44935072] [ 0.2865758 0.95801387 -0.00915103 -3.50468676] [ 0.04576062 -0.00414662 0.99894383 -0.78098451] [ 0. 0. 0. 1. ]] SLAMing on 84.88907232899999 meters Centerline goodness : 0.804621 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95692169 -0.28680607 -0.04520125 -3.44957781] [ 0.28669129 0.95797941 -0.00914129 -3.5046718 ] [ 0.04592364 -0.00421131 0.99893608 -0.78010129] [ 0. 0. 0. 1. ]] SLAMing on 84.91907232899999 meters Centerline goodness : 0.806208 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95690197 -0.28683883 -0.04541046 -3.44930108] [ 0.28673452 0.95796842 -0.00893434 -3.50562611] [ 0.0460645 -0.00447146 0.99892846 -0.77954181] [ 0. 0. 0. 1. ]] SLAMing on 84.94907232899999 meters Centerline goodness : 0.806544 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95686751 -0.28691201 -0.04567351 -3.44888451] [ 0.28681536 0.95794549 -0.00879646 -3.50640898] [ 0.04627654 -0.00468282 0.99891769 -0.77905367] [ 0. 0. 0. 1. ]] SLAMing on 84.97907232899999 meters Centerline goodness : 0.806544 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95686751 -0.28691201 -0.04567351 -3.44888451] [ 0.28681536 0.95794549 -0.00879646 -3.50640898] [ 0.04627654 -0.00468282 0.99891769 -0.77905367] [ 0. 0. 0. 1. ]] SLAMing on 85.00907232899999 meters Centerline goodness : 0.808379 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95659448 -0.28779373 -0.04584508 -3.44767593] [ 0.28767586 0.95768276 -0.00929102 -3.5060959 ] [ 0.04657894 -0.00430078 0.99890535 -0.77941235] [ 0. 0. 0. 1. ]] SLAMing on 85.03907232899999 meters Centerline goodness : 0.807689 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95650502 -0.28806463 -0.04600998 -3.4470933 ] [ 0.28793962 0.95760178 -0.00946566 -3.50585538] [ 0.04678596 -0.00419415 0.99889613 -0.77957402] [ 0. 0. 0. 1. ]] SLAMing on 85.069072329 meters Centerline goodness : 0.806236 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.51, Z:-0.78 [[ 0.95642684 -0.28830112 -0.04615373 -3.44669889] [ 0.28816974 0.95753102 -0.0096198 -3.50555588] [ 0.04696702 -0.00409948 0.99888803 -0.77962792] [ 0. 0. 0. 1. ]] SLAMing on 85.099072329 meters Centerline goodness : 0.807831 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95617979 -0.28910771 -0.04622705 -3.44601796] [ 0.2889573 0.95728924 -0.01004981 -3.50487074] [ 0.04715813 -0.00374822 0.9988804 -0.77987794] [ 0. 0. 0. 1. ]] SLAMing on 85.129072329 meters Centerline goodness : 0.808289 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 0.95612203 -0.28928312 -0.04632422 -3.44589396] [ 0.28912828 0.95723649 -0.01015526 -3.50452298] [ 0.04728098 -0.00368398 0.99887484 -0.77975522] [ 0. 0. 0. 1. ]] SLAMing on 85.159072329 meters Centerline goodness : 0.809184 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.56058919e-01 -2.89489289e-01 -4.63389056e-02 -3.44593167e+00] [ 2.89324724e-01 9.57174870e-01 -1.03668761e-02 -3.50384037e+00] [ 4.73555355e-02 -3.49564665e-03 9.98871981e-01 -7.79729181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.189072329 meters Centerline goodness : 0.810023 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55875266e-01 -2.90098869e-01 -4.63154590e-02 -3.44623167e+00] [ 2.89902415e-01 9.56992398e-01 -1.10516986e-02 -3.50188085e+00] [ 4.75296274e-02 -2.86291809e-03 9.98865726e-01 -7.79457971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.219072329 meters Centerline goodness : 0.811465 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55819860e-01 -2.90272564e-01 -4.63706064e-02 -3.44632870e+00] [ 2.90068408e-01 9.56940129e-01 -1.12208747e-02 -3.50144873e+00] [ 4.76310061e-02 -2.72551312e-03 9.98861281e-01 -7.79183484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24907232899999 meters Centerline goodness : 0.809255 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55755570e-01 -2.90473789e-01 -4.64356315e-02 -3.44645116e+00] [ 2.90256533e-01 9.56879726e-01 -1.15037005e-02 -3.50060486e+00] [ 4.77748378e-02 -2.48351952e-03 9.98855043e-01 -7.78875382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27907232899999 meters Centerline goodness : 0.810811 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55678449e-01 -2.90732254e-01 -4.64053657e-02 -3.44678208e+00] [ 2.90495326e-01 9.56802169e-01 -1.19194960e-02 -3.49914722e+00] [ 4.78661365e-02 -2.08933639e-03 9.98851574e-01 -7.78794636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30907232899999 meters Centerline goodness : 0.809687 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.50, Z:-0.78 [[ 9.55439247e-01 -2.91534881e-01 -4.62953454e-02 -3.44707591e+00] [ 2.91248141e-01 9.56559579e-01 -1.29727728e-02 -3.49578287e+00] [ 4.80662718e-02 -1.08873704e-03 9.98843555e-01 -7.79071119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33907232899999 meters Centerline goodness : 0.808999 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55372321e-01 -2.91749336e-01 -4.63255064e-02 -3.44726896e+00] [ 2.91446773e-01 9.56494487e-01 -1.33069543e-02 -3.49457055e+00] [ 4.81923865e-02 -7.88323450e-04 9.98837761e-01 -7.78931995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36907232899999 meters Centerline goodness : 0.808185 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55222226e-01 -2.92249826e-01 -4.62659447e-02 -3.44764818e+00] [ 2.91907596e-01 9.56342010e-01 -1.41391682e-02 -3.49199234e+00] [ 4.83782360e-02 6.67058940e-07 9.98829088e-01 -7.78917215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39907232899999 meters Centerline goodness : 0.808116 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55141872e-01 -2.92524333e-01 -4.61900269e-02 -3.44789866e+00] [ 2.92159149e-01 9.56257964e-01 -1.46197621e-02 -3.49027038e+00] [ 4.84462172e-02 4.69108032e-04 9.98825682e-01 -7.79109872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.429072329 meters Centerline goodness : 0.807375 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.55039368e-01 -2.92877371e-01 -4.60722310e-02 -3.44833597e+00] [ 2.92482862e-01 9.56149409e-01 -1.52342908e-02 -3.48797196e+00] [ 4.85137155e-02 1.07400950e-03 9.98821939e-01 -7.79316335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.459072329 meters Centerline goodness : 0.807276 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.49, Z:-0.78 [[ 9.54923059e-01 -2.93273316e-01 -4.59642603e-02 -3.44882348e+00] [ 2.92847126e-01 9.56027091e-01 -1.58984720e-02 -3.48551789e+00] [ 4.86056757e-02 1.72131602e-03 9.98816562e-01 -7.79421674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.489072329 meters Centerline goodness : 0.808393 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54690304e-01 -2.94050663e-01 -4.58326346e-02 -3.44909386e+00] [ 2.93573508e-01 9.55785895e-01 -1.69681527e-02 -3.48222769e+00] [ 4.87956823e-02 2.74408358e-03 9.98805012e-01 -7.79745915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.519072329 meters Centerline goodness : 0.807821 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54602761e-01 -2.94330072e-01 -4.58625795e-02 -3.44896526e+00] [ 2.93835097e-01 9.55698885e-01 -1.73371548e-02 -3.48126038e+00] [ 4.89336621e-02 3.07406033e-03 9.98797300e-01 -7.79856708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.549072329 meters Centerline goodness : 0.805133 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 9.54504965e-01 -2.94636205e-01 -4.59323164e-02 -3.44878434e+00] [ 2.94122828e-01 9.55603450e-01 -1.77146336e-02 -3.48034350e+00] [ 4.91124525e-02 3.39896287e-03 9.98787472e-01 -7.79881053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.579072329 meters Centerline goodness : 0.804516 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.48, Z:-0.78 [[ 0.95425895 -0.29547501 -0.04565486 -3.44938658] [ 0.29490343 0.95533935 -0.01893917 -3.47636357] [ 0.04921194 0.0046091 0.99877772 -0.78035488] [ 0. 0. 0. 1. ]] SLAMing on 85.609072329 meters Centerline goodness : 0.805497 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.47, Z:-0.78 [[ 0.95414392 -0.29587786 -0.04544974 -3.45028788] [ 0.29526334 0.95520989 -0.01984029 -3.47271895] [ 0.04928435 0.00551085 0.99876958 -0.78054088] [ 0. 0. 0. 1. ]] SLAMing on 85.63907232899999 meters Centerline goodness : 0.803549 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.47, Z:-0.78 [[ 0.9540436 -0.29624327 -0.0451744 -3.45140837] [ 0.29558287 0.95509038 -0.02081161 -3.46873186] [ 0.04931094 0.0065024 0.99876231 -0.78074936] [ 0. 0. 0. 1. ]] SLAMing on 85.66907232899999 meters Centerline goodness : 0.801553 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.46, Z:-0.78 [[ 0.95409684 -0.29613691 -0.04474534 -3.45424697] [ 0.29544337 0.95511735 -0.02154236 -3.46378281] [ 0.04911654 0.00733378 0.99876613 -0.77992034] [ 0. 0. 0. 1. ]] SLAMing on 85.69907232899999 meters Centerline goodness : 0.803675 Centerline is valid? [False, False] Translation: X:-3.45, Y:-3.46, Z:-0.78 [[ 0.95404217 -0.29632788 -0.04464669 -3.45487461] [ 0.29560622 0.95505345 -0.02213303 -3.46181341] [ 0.04919861 0.00791801 0.99875763 -0.77972192] [ 0. 0. 0. 1. ]] SLAMing on 85.72907232899999 meters Centerline goodness : 0.802325 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.46, Z:-0.78 [[ 0.95403171 -0.29640194 -0.04437771 -3.45605998] [ 0.29565259 0.95502478 -0.02274235 -3.45936265] [ 0.04912269 0.00857653 0.99875593 -0.77948861] [ 0. 0. 0. 1. ]] SLAMing on 85.75907232899999 meters Centerline goodness : 0.801468 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 0.9552332 -0.29239885 -0.04508261 -3.45902378] [ 0.29178507 0.95627918 -0.01978905 -3.45401982] [ 0.04889785 0.00574872 0.99878724 -0.77854477] [ 0. 0. 0. 1. ]] SLAMing on 85.78907232899999 meters Centerline goodness : 0.802717 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 9.56331153e-01 -2.88620722e-01 -4.61389723e-02 -3.45981753e+00] [ 2.88156024e-01 9.57440116e-01 -1.65689566e-02 -3.45118159e+00] [ 4.89574472e-02 2.55018658e-03 9.98797610e-01 -7.78384745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.819072329 meters Centerline goodness : 0.800797 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.45, Z:-0.78 [[ 9.57423274e-01 -2.84817169e-01 -4.71153367e-02 -3.46071249e+00] [ 2.84498595e-01 9.58581728e-01 -1.34766556e-02 -3.44794108e+00] [ 4.90022838e-02 -5.01383407e-04 9.98798541e-01 -7.78356296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.849072329 meters Centerline goodness : 0.799092 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.44, Z:-0.78 [[ 9.58798326e-01 -2.80075603e-01 -4.75754935e-02 -3.46495766e+00] [ 2.79897436e-01 9.59972457e-01 -1.05026997e-02 -3.44098776e+00] [ 4.86127133e-02 -3.24628783e-03 9.98812428e-01 -7.77250110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.879072329 meters Centerline goodness : 0.799788 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.44, Z:-0.78 [[ 0.95988251 -0.27613482 -0.04873519 -3.46526338] [ 0.2761302 0.96109503 -0.0069612 -3.43994094] [ 0.04876138 -0.00677533 0.99878748 -0.77675709] [ 0. 0. 0. 1. ]] SLAMing on 85.909072329 meters Centerline goodness : 0.802054 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.44, Z:-0.78 [[ 0.9601374 -0.2753164 -0.04834312 -3.46838927] [ 0.27531083 0.96133047 -0.00690514 -3.43741292] [ 0.04837481 -0.00667951 0.99880692 -0.77526419] [ 0. 0. 0. 1. ]] SLAMing on 85.939072329 meters Centerline goodness : 0.797920 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.43, Z:-0.77 [[ 0.96040075 -0.27445739 -0.04799514 -3.47177293] [ 0.27445648 0.96157591 -0.00673839 -3.43474335] [ 0.04800037 -0.00670103 0.99882484 -0.77344966] [ 0. 0. 0. 1. ]] SLAMing on 85.969072329 meters Centerline goodness : 0.799843 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.77 [[ 0.9614523 -0.27070648 -0.0482439 -3.47566659] [ 0.27082086 0.96262027 -0.00427421 -3.42833554] [ 0.04759761 -0.00895601 0.99882644 -0.7722862 ] [ 0. 0. 0. 1. ]] SLAMing on 85.99907232899999 meters Centerline goodness : 0.799703 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.43, Z:-0.77 [[ 9.62465524e-01 -2.66894650e-01 -4.92682507e-02 -3.47625762e+00] [ 2.67183044e-01 9.63645498e-01 -7.58297815e-04 -3.42675583e+00] [ 4.76795136e-02 -1.24338057e-02 9.98785294e-01 -7.71878546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02907232899999 meters Centerline goodness : 0.797338 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63367368e-01 -2.63474406e-01 -5.00455044e-02 -3.47759997e+00] [ 2.63900855e-01 9.64547749e-01 1.99473170e-03 -3.42261846e+00] [ 4.77457179e-02 -1.51287109e-02 9.98744947e-01 -7.71539361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05907232899999 meters Centerline goodness : 0.799278 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63314484e-01 -2.63719039e-01 -4.97742212e-02 -3.47867699e+00] [ 2.64106031e-01 9.64492847e-01 1.24638889e-03 -3.41960354e+00] [ 4.76781838e-02 -1.43463365e-02 9.98759718e-01 -7.71574054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08907232899999 meters Centerline goodness : 0.798676 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.42, Z:-0.77 [[ 9.63227928e-01 -2.64081605e-01 -4.95263941e-02 -3.47956289e+00] [ 2.64420201e-01 9.64407523e-01 2.95503893e-04 -3.41610494e+00] [ 4.76855899e-02 -1.33804167e-02 9.98772771e-01 -7.71812456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11907232899999 meters Centerline goodness : 0.797870 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63976028e-01 -2.61180395e-01 -5.03489730e-02 -3.47966990e+00] [ 2.61642553e-01 9.65161063e-01 2.70117632e-03 -3.41173141e+00] [ 4.78893740e-02 -1.57773030e-02 9.98728033e-01 -7.72599406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14907232899999 meters Centerline goodness : 0.796750 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63874368e-01 -2.61580651e-01 -5.02171758e-02 -3.47999781e+00] [ 2.61999599e-01 9.65066242e-01 1.83286938e-03 -3.40885298e+00] [ 4.79834580e-02 -1.49235357e-02 9.98736640e-01 -7.73042455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.179072329 meters Centerline goodness : 0.797076 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.41, Z:-0.77 [[ 9.63774348e-01 -2.61970951e-01 -5.01021593e-02 -3.48033603e+00] [ 2.62348158e-01 9.64972779e-01 9.89760883e-04 -3.40622342e+00] [ 4.80879313e-02 -1.40981154e-02 9.98743608e-01 -7.73306445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.209072329 meters Centerline goodness : 0.797742 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.77 [[ 9.63659232e-01 -2.62496075e-01 -4.95650629e-02 -3.48208448e+00] [ 2.62797732e-01 9.64850845e-01 -4.45866550e-04 -3.40095698e+00] [ 4.79399311e-02 -1.25959227e-02 9.98770797e-01 -7.73562919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.239072329 meters Centerline goodness : 0.798099 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.40, Z:-0.77 [[ 9.63565827e-01 -2.62897010e-01 -4.92550465e-02 -3.48307197e+00] [ 2.63142988e-01 9.64755617e-01 -1.53844858e-03 -3.39684526e+00] [ 4.79235363e-02 -1.14787236e-02 9.98785049e-01 -7.73977625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.269072329 meters Centerline goodness : 0.797771 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.77 [[ 9.63460617e-01 -2.63333648e-01 -4.89798813e-02 -3.48406732e+00] [ 2.63521692e-01 9.64649708e-01 -2.69405219e-03 -3.39239402e+00] [ 4.79578628e-02 -1.03116480e-02 9.98796132e-01 -7.74374242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.299072329 meters Centerline goodness : 0.797840 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.39, Z:-0.77 [[ 9.64400710e-01 -2.59659944e-01 -5.00797832e-02 -3.48398184e+00] [ 2.60028595e-01 9.65600517e-01 8.78316714e-04 -3.39157114e+00] [ 4.81290008e-02 -1.38692249e-02 9.98744834e-01 -7.74230178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.329072329 meters Centerline goodness : 0.798068 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.39, Z:-0.77 [[ 9.64652316e-01 -2.58814755e-01 -4.96067693e-02 -3.48776420e+00] [ 2.59162337e-01 9.65833592e-01 5.95976103e-04 -3.38597273e+00] [ 4.77576368e-02 -1.34311160e-02 9.98768649e-01 -7.72975964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.359072329 meters Centerline goodness : 0.798965 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.38, Z:-0.77 [[ 9.64631871e-01 -2.58938200e-01 -4.93595211e-02 -3.48876047e+00] [ 2.59234567e-01 9.65814304e-01 -4.11115753e-04 -3.38224615e+00] [ 4.77785851e-02 -1.23991187e-02 9.98780991e-01 -7.73130844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38907232899999 meters Centerline goodness : 0.799163 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.38, Z:-0.77 [[ 9.64641087e-01 -2.58952641e-01 -4.91029879e-02 -3.48990302e+00] [ 2.59195073e-01 9.65823865e-01 -1.47493966e-03 -3.37817332e+00] [ 4.78067771e-02 -1.13044651e-02 9.98792632e-01 -7.73140291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41907232899999 meters Centerline goodness : 0.796437 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 9.65631361e-01 -2.55109955e-01 -4.97492201e-02 -3.49142596e+00] [ 2.55464078e-01 9.66818228e-01 7.87359891e-04 -3.37223084e+00] [ 4.78975894e-02 -1.34694380e-02 9.98761431e-01 -7.73251531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44907232899999 meters Centerline goodness : 0.797356 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 0.96656986 -0.25130417 -0.05088137 -3.49111247] [ 0.25182652 0.96776402 0.00402489 -3.37018222] [ 0.04822969 -0.01670361 0.99869659 -0.77353526] [ 0. 0. 0. 1. ]] SLAMing on 86.47907232899999 meters Centerline goodness : 0.797191 Centerline is valid? [False, False] Translation: X:-3.49, Y:-3.37, Z:-0.77 [[ 0.96748141 -0.24754976 -0.05195042 -3.49057135] [ 0.24824183 0.96867119 0.00721902 -3.36802683] [ 0.04853581 -0.01988053 0.99862357 -0.77421947] [ 0. 0. 0. 1. ]] SLAMing on 86.50907232899999 meters Centerline goodness : 0.796136 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.36, Z:-0.77 [[ 9.69591663e-01 -2.39489418e-01 -5.03669140e-02 -3.48255704e+00] [ 2.39898857e-01 9.70795489e-01 2.15786439e-03 -3.35856892e+00] [ 4.83791872e-02 -1.41752124e-02 9.98728450e-01 -7.74310670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53907232899999 meters Centerline goodness : 0.796749 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.35, Z:-0.77 [[ 9.69635368e-01 -2.39367322e-01 -5.01052766e-02 -3.48365682e+00] [ 2.39729843e-01 9.70838812e-01 1.26628908e-03 -3.35487563e+00] [ 4.83410390e-02 -1.32395688e-02 9.98743139e-01 -7.74347630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.569072329 meters Centerline goodness : 0.796392 Centerline is valid? [False, False] Translation: X:-3.47, Y:-3.35, Z:-0.78 [[ 0.97075349 -0.23618968 -0.043036 -3.4721812 ] [ 0.23622986 0.97168803 -0.00422255 -3.34764885] [ 0.04281488 -0.00606734 0.9990646 -0.77818295] [ 0. 0. 0. 1. ]] SLAMing on 86.599072329 meters Centerline goodness : 0.796472 Centerline is valid? [False, False] Translation: X:-3.46, Y:-3.34, Z:-0.78 [[ 9.71901735e-01 -2.32637167e-01 -3.58743091e-02 -3.46115350e+00] [ 2.32440347e-01 9.72563070e-01 -9.62083289e-03 -3.34128573e+00] [ 3.71281915e-02 1.01186734e-03 9.99309999e-01 -7.82111975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.629072329 meters Centerline goodness : 0.798086 Centerline is valid? [False, False] Translation: X:-3.42, Y:-3.32, Z:-0.78 [[ 0.97406384 -0.22393112 -0.03247284 -3.42378612] [ 0.2230888 0.97440649 -0.02762934 -3.32441984] [ 0.03782882 0.01966841 0.99909065 -0.77886004] [ 0. 0. 0. 1. ]] SLAMing on 86.659072329 meters Centerline goodness : 0.798434 Centerline is valid? [False, False] Translation: X:-3.40, Y:-3.32, Z:-0.78 [[ 0.97455832 -0.2222605 -0.0289198 -3.40264058] [ 0.22138529 0.97470545 -0.03062408 -3.31600215] [ 0.03499481 0.02344253 0.99911251 -0.78104947] [ 0. 0. 0. 1. ]] SLAMing on 86.689072329 meters Centerline goodness : 0.797925 Centerline is valid? [False, False] Translation: X:-3.38, Y:-3.31, Z:-0.78 [[ 0.97580259 -0.21714747 -0.02561787 -3.38286561] [ 0.2163822 0.97585907 -0.02962809 -3.30799845] [ 0.0314331 0.02336792 0.99923266 -0.78268294] [ 0. 0. 0. 1. ]] SLAMing on 86.719072329 meters Centerline goodness : 0.798862 Centerline is valid? [False, False] Translation: X:-3.36, Y:-3.30, Z:-0.78 [[ 0.97640356 -0.2147897 -0.02239369 -3.36168573] [ 0.21405662 0.97632311 -0.0311921 -3.30096119] [ 0.02856322 0.02566256 0.99926252 -0.78474616] [ 0. 0. 0. 1. ]] SLAMing on 86.74907232899999 meters Centerline goodness : 0.797249 Centerline is valid? [False, False] Translation: X:-3.35, Y:-3.29, Z:-0.79 [[ 0.9769392 -0.21295808 -0.01544846 -3.34934148] [ 0.21224599 0.97646032 -0.03843016 -3.29459489] [ 0.02326882 0.03426506 0.99914187 -0.78983969] [ 0. 0. 0. 1. ]] SLAMing on 86.77907232899999 meters Centerline goodness : 0.796691 Centerline is valid? [False, False] Translation: X:-3.35, Y:-3.29, Z:-0.79 [[ 0.97691079 -0.21307082 -0.01568883 -3.34857058] [ 0.21234867 0.97643504 -0.03850522 -3.29427293] [ 0.02352347 0.03428466 0.99913523 -0.79012569] [ 0. 0. 0. 1. ]] SLAMing on 86.80907232899999 meters Centerline goodness : 0.798867 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.9772289 -0.21193672 -0.01032 -3.33142508] [ 0.21139498 0.97662579 -0.03891308 -3.29177009] [ 0.01832589 0.03584539 0.99918931 -0.7887777 ] [ 0. 0. 0. 1. ]] SLAMing on 86.83907232899999 meters Centerline goodness : 0.799622 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.97721432 -0.21198932 -0.01061655 -3.33087128] [ 0.2114466 0.97663522 -0.03839248 -3.29350673] [ 0.01850729 0.03527285 0.99920634 -0.78841009] [ 0. 0. 0. 1. ]] SLAMing on 86.86907232899999 meters Centerline goodness : 0.799622 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.29, Z:-0.79 [[ 0.9771827 -0.21213459 -0.01062465 -3.33090232] [ 0.21159383 0.97660827 -0.03826672 -3.29374355] [ 0.01849382 0.03514546 0.99921108 -0.78845037] [ 0. 0. 0. 1. ]] SLAMing on 86.89907232899999 meters Centerline goodness : 0.798069 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.97710044 -0.21248802 -0.01111645 -3.3290425 ] [ 0.21193382 0.97654284 -0.03805432 -3.29520919] [ 0.01894178 0.03482694 0.99921384 -0.78920997] [ 0. 0. 0. 1. ]] SLAMing on 86.929072329 meters Centerline goodness : 0.797347 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.97707143 -0.21260142 -0.01149165 -3.32779463] [ 0.21203605 0.97652459 -0.03795313 -3.29562443] [ 0.01929077 0.03464627 0.99921344 -0.78980097] [ 0. 0. 0. 1. ]] SLAMing on 86.959072329 meters Centerline goodness : 0.798565 Centerline is valid? [False, False] Translation: X:-3.33, Y:-3.30, Z:-0.79 [[ 0.9770168 -0.21282353 -0.01201336 -3.32635109] [ 0.21224494 0.9764889 -0.03770301 -3.29654177] [ 0.019755 0.0342867 0.99921677 -0.79033221] [ 0. 0. 0. 1. ]] SLAMing on 86.989072329 meters Centerline goodness : 0.797378 Centerline is valid? [False, False] Translation: X:-3.31, Y:-3.29, Z:-0.79 [[ 0.97718706 -0.21221931 -0.00827101 -3.30546799] [ 0.2117421 0.97652811 -0.03947326 -3.29242404] [ 0.01645386 0.03682143 0.9991864 -0.79138634] [ 0. 0. 0. 1. ]] SLAMing on 87.019072329 meters Centerline goodness : 0.799207 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.9771466 -0.21238765 -0.00871853 -3.30440735] [ 0.21191197 0.97653423 -0.03839539 -3.29699955] [ 0.01666865 0.03567037 0.99922459 -0.79055541] [ 0. 0. 0. 1. ]] SLAMing on 87.049072329 meters Centerline goodness : 0.798593 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.97717486 -0.21224468 -0.00902753 -3.30393284] [ 0.21177001 0.97659254 -0.03768913 -3.29959846] [ 0.01681554 0.03491711 0.99924873 -0.78989535] [ 0. 0. 0. 1. ]] SLAMing on 87.079072329 meters Centerline goodness : 0.799026 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.30, Z:-0.79 [[ 0.9772288 -0.21198072 -0.00938362 -3.30330022] [ 0.21150936 0.97668381 -0.03677685 -3.30255207] [ 0.01696081 0.03395467 0.99927945 -0.78939725] [ 0. 0. 0. 1. ]] SLAMing on 87.109072329 meters Centerline goodness : 0.799182 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97728363 -0.21171183 -0.00973699 -3.30241349] [ 0.21124309 0.97677268 -0.03593742 -3.30554222] [ 0.0171192 0.03306418 0.99930661 -0.78920824] [ 0. 0. 0. 1. ]] SLAMing on 87.13907232899999 meters Centerline goodness : 0.799007 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97733325 -0.2114563 -0.01029299 -3.30039468] [ 0.21098677 0.97686409 -0.03494473 -3.3089505 ] [ 0.01744413 0.03198096 0.99933624 -0.79001803] [ 0. 0. 0. 1. ]] SLAMing on 87.16907232899999 meters Centerline goodness : 0.800008 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.31, Z:-0.79 [[ 0.97806517 -0.20797466 -0.01162198 -3.29841898] [ 0.20754743 0.97775331 -0.03037303 -3.31253868] [ 0.01768025 0.02729469 0.99947106 -0.79027013] [ 0. 0. 0. 1. ]] SLAMing on 87.19907232899999 meters Centerline goodness : 0.799390 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.32, Z:-0.79 [[ 0.97880344 -0.20438487 -0.01306342 -3.29645299] [ 0.20400744 0.97863386 -0.0256268 -3.31641912] [ 0.01802204 0.02241856 0.99958622 -0.79030723] [ 0. 0. 0. 1. ]] SLAMing on 87.22907232899999 meters Centerline goodness : 0.799436 Centerline is valid? [False, False] Translation: X:-3.30, Y:-3.32, Z:-0.79 [[ 0.97896239 -0.20358072 -0.01369417 -3.29513507] [ 0.20321549 0.97883468 -0.02421017 -3.32058025] [ 0.01833305 0.02091798 0.99961309 -0.78995298] [ 0. 0. 0. 1. ]] SLAMing on 87.25907232899999 meters Centerline goodness : 0.799898 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.32, Z:-0.79 [[ 0.97905791 -0.20309451 -0.01407902 -3.29423867] [ 0.20273767 0.97895509 -0.02333151 -3.32333604] [ 0.01852123 0.01998855 0.99962864 -0.78983373] [ 0. 0. 0. 1. ]] SLAMing on 87.28907232899999 meters Centerline goodness : 0.801683 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.33, Z:-0.79 [[ 0.97928038 -0.20197342 -0.0147197 -3.29308185] [ 0.2016385 0.97922387 -0.0215067 -3.32901088] [ 0.01875766 0.01809303 0.99966034 -0.78901549] [ 0. 0. 0. 1. ]] SLAMing on 87.319072329 meters Centerline goodness : 0.803427 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.33, Z:-0.79 [[ 0.97937729 -0.20148698 -0.01493727 -3.29272056] [ 0.20116473 0.97934019 -0.02062853 -3.33148859] [ 0.01878504 0.01719826 0.99967562 -0.78866712] [ 0. 0. 0. 1. ]] SLAMing on 87.349072329 meters Centerline goodness : 0.802700 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98013047 -0.19769306 -0.01617742 -3.29104147] [ 0.19744582 0.98018829 -0.0156864 -3.33633663] [ 0.01895801 0.01218056 0.99974608 -0.78848106] [ 0. 0. 0. 1. ]] SLAMing on 87.379072329 meters Centerline goodness : 0.801393 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98029614 -0.19684169 -0.01651759 -3.29038971] [ 0.19662181 0.98037893 -0.01403607 -3.3408952 ] [ 0.01895639 0.01051179 0.99976505 -0.78807184] [ 0. 0. 0. 1. ]] SLAMing on 87.409072329 meters Centerline goodness : 0.803480 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.34, Z:-0.79 [[ 0.98039067 -0.19633849 -0.01689188 -3.28959645] [ 0.1961351 0.98049108 -0.01297166 -3.34409344] [ 0.01910918 0.00940421 0.99977317 -0.78785182] [ 0. 0. 0. 1. ]] SLAMing on 87.439072329 meters Centerline goodness : 0.803139 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.35, Z:-0.79 [[ 0.98051878 -0.195673 -0.01717562 -3.28895577] [ 0.1954903 0.98063517 -0.01175612 -3.34782894] [ 0.01914337 0.00816942 0.99978337 -0.78750558] [ 0. 0. 0. 1. ]] SLAMing on 87.469072329 meters Centerline goodness : 0.801915 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.35, Z:-0.79 [[ 0.98064769 -0.19500083 -0.01745807 -3.28840978] [ 0.19484018 0.98077891 -0.01048939 -3.35169017] [ 0.01916794 0.00688487 0.99979257 -0.7870209 ] [ 0. 0. 0. 1. ]] SLAMing on 87.49907232899999 meters Centerline goodness : 0.801894 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.36, Z:-0.79 [[ 0.98083888 -0.19397519 -0.01813063 -3.28679463] [ 0.19385275 0.98099553 -0.00829999 -3.35909768] [ 0.01939606 0.00462628 0.99980118 -0.78634997] [ 0. 0. 0. 1. ]] SLAMing on 87.52907232899999 meters Centerline goodness : 0.803025 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.36, Z:-0.79 [[ 9.80955771e-01 -1.93347224e-01 -1.85101464e-02 -3.28596454e+00] [ 1.93249223e-01 9.81125006e-01 -6.96132561e-03 -3.36344204e+00] [ 1.95067205e-02 3.25168112e-03 9.99804438e-01 -7.85857928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55907232899999 meters Centerline goodness : 0.803477 Centerline is valid? [False, False] Translation: X:-3.29, Y:-3.37, Z:-0.79 [[ 9.81075041e-01 -1.92702784e-01 -1.89050622e-02 -3.28501167e+00] [ 1.92629323e-01 9.81255330e-01 -5.64995582e-03 -3.36760211e+00] [ 1.96394553e-02 1.90136128e-03 9.99805319e-01 -7.85525449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58907232899999 meters Centerline goodness : 0.803295 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.37, Z:-0.79 [[ 9.81229651e-01 -1.91858176e-01 -1.94631017e-02 -3.28342610e+00] [ 1.91818956e-01 9.81422659e-01 -3.87981248e-03 -3.37283768e+00] [ 1.98459027e-02 7.35951897e-05 9.99803048e-01 -7.85631094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61907232899999 meters Centerline goodness : 0.802806 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.38, Z:-0.79 [[ 9.81280021e-01 -1.91555366e-01 -1.99012990e-02 -3.28219847e+00] [ 1.91530383e-01 9.81481560e-01 -3.17169234e-03 -3.37515907e+00] [ 2.01403126e-02 -6.99385087e-04 9.99796919e-01 -7.85825107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64907232899999 meters Centerline goodness : 0.803241 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.38, Z:-0.79 [[ 9.81372353e-01 -1.91038272e-01 -2.03146010e-02 -3.28115229e+00] [ 1.91037144e-01 9.81580742e-01 -2.01417608e-03 -3.37896037e+00] [ 2.03252058e-02 -1.90418664e-03 9.99791608e-01 -7.85574409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.679072329 meters Centerline goodness : 0.802893 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.39, Z:-0.78 [[ 9.80823167e-01 -1.93876171e-01 -1.99485823e-02 -3.28037932e+00] [ 1.93841474e-01 9.81025974e-01 -3.67703213e-03 -3.38648703e+00] [ 2.02829663e-02 -2.60344305e-04 9.99794246e-01 -7.84574112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.709072329 meters Centerline goodness : 0.803333 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.39, Z:-0.78 [[ 9.80898499e-01 -1.93451123e-01 -2.03665862e-02 -3.27929466e+00] [ 1.93445100e-01 9.81108442e-01 -2.28424943e-03 -3.39152293e+00] [ 2.04237203e-02 -1.69919945e-03 9.99789970e-01 -7.83990263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.739072329 meters Centerline goodness : 0.803833 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.40, Z:-0.78 [[ 9.80210299e-01 -1.96963546e-01 -1.98275455e-02 -3.27800958e+00] [ 1.96907279e-01 9.80410509e-01 -4.77049272e-03 -3.39660146e+00] [ 2.03787471e-02 7.71898060e-04 9.99792034e-01 -7.84374782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.769072329 meters Centerline goodness : 0.804033 Centerline is valid? [False, False] Translation: X:-3.28, Y:-3.40, Z:-0.78 [[ 9.80243308e-01 -1.96747462e-01 -2.03345294e-02 -3.27645981e+00] [ 1.96714904e-01 9.80454090e-01 -3.60892068e-03 -3.40071101e+00] [ 2.06471185e-02 -4.62484645e-04 9.99786719e-01 -7.84333741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.799072329 meters Centerline goodness : 0.803616 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.41, Z:-0.78 [[ 9.80260302e-01 -1.96602503e-01 -2.09092389e-02 -3.27479216e+00] [ 1.96595359e-01 9.80481730e-01 -2.41692512e-03 -3.40525507e+00] [ 2.09763002e-02 -1.74144358e-03 9.99778457e-01 -7.84078049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.829072329 meters Centerline goodness : 0.803023 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.41, Z:-0.78 [[ 9.80255038e-01 -1.96562200e-01 -2.15258665e-02 -3.27276056e+00] [ 1.96584081e-01 9.80486336e-01 -1.11562929e-03 -3.41082206e+00] [ 2.13251085e-02 -3.13804145e-03 9.99767669e-01 -7.83810851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.859072329 meters Centerline goodness : 0.805486 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.42, Z:-0.78 [[ 9.78881362e-01 -2.03427839e-01 -2.02087697e-02 -3.27283248e+00] [ 2.03341108e-01 9.79087822e-01 -6.27942104e-03 -3.41949505e+00] [ 2.10635694e-02 2.03753460e-03 9.99776062e-01 -7.81831985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88907232899999 meters Centerline goodness : 0.805168 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.43, Z:-0.78 [[ 9.78755619e-01 -2.03987378e-01 -2.06540234e-02 -3.27025372e+00] [ 2.03915916e-01 9.78972780e-01 -5.53122001e-03 -3.42586375e+00] [ 2.13480258e-02 1.20202856e-03 9.99771382e-01 -7.82011676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91907232899999 meters Centerline goodness : 0.805273 Centerline is valid? [False, False] Translation: X:-3.27, Y:-3.43, Z:-0.78 [[ 9.78706987e-01 -2.04156678e-01 -2.12763749e-02 -3.26762280e+00] [ 2.04108478e-01 9.78938226e-01 -4.43599187e-03 -3.43173374e+00] [ 2.17338941e-02 -1.15226144e-06 9.99763791e-01 -7.82240402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94907232899999 meters Centerline goodness : 0.806182 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.44, Z:-0.78 [[ 9.77948853e-01 -2.07759831e-01 -2.12577719e-02 -3.26370288e+00] [ 2.07664018e-01 9.78177649e-01 -6.64391783e-03 -3.43813645e+00] [ 2.21742166e-02 2.08293749e-03 9.99751952e-01 -7.84004633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97907232899999 meters Centerline goodness : 0.805828 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.44, Z:-0.78 [[ 9.78004011e-01 -2.07436289e-01 -2.18710170e-02 -3.26168546e+00] [ 2.07366972e-01 9.78248233e-01 -5.41594815e-03 -3.44257228e+00] [ 2.25187479e-02 7.61492434e-04 9.99746131e-01 -7.84277767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00907232899999 meters Centerline goodness : 0.805872 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.45, Z:-0.78 [[ 9.78058074e-01 -2.07119255e-01 -2.24503575e-02 -3.25973924e+00] [ 2.07075754e-01 9.78315589e-01 -4.27087785e-03 -3.44683186e+00] [ 2.28481158e-02 -4.71758155e-04 9.99738836e-01 -7.84606012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03907232899999 meters Centerline goodness : 0.803079 Centerline is valid? [False, False] Translation: X:-3.26, Y:-3.45, Z:-0.79 [[ 9.78040830e-01 -2.07113278e-01 -2.32427380e-02 -3.25583698e+00] [ 2.07103105e-01 9.78314911e-01 -2.87041186e-03 -3.45479961e+00] [ 2.33332176e-02 -2.00626321e-03 9.99725730e-01 -7.85612198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.069072329 meters Centerline goodness : 0.804880 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.46, Z:-0.78 [[ 9.78154245e-01 -2.06528442e-01 -2.36701364e-02 -3.25488829e+00] [ 2.06553270e-01 9.78434329e-01 -1.41781524e-03 -3.45979682e+00] [ 2.34524932e-02 -3.50230207e-03 9.99718818e-01 -7.84876454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.099072329 meters Centerline goodness : 0.806404 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.47, Z:-0.78 [[ 9.78272093e-01 -2.05915359e-01 -2.41366519e-02 -3.25406520e+00] [ 2.05978569e-01 9.78556493e-01 1.35662969e-04 -3.46509633e+00] [ 2.35911424e-02 -5.10434833e-03 9.99708659e-01 -7.83806157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.129072329 meters Centerline goodness : 0.806422 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.47, Z:-0.78 [[ 9.78501119e-01 -2.04784927e-01 -2.44682363e-02 -3.25408407e+00] [ 2.04912223e-01 9.78776386e-01 2.78682056e-03 -3.47353084e+00] [ 2.33782331e-02 -7.74074773e-03 9.99696724e-01 -7.81457014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.159072329 meters Centerline goodness : 0.806827 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97862314 -0.20417042 -0.02472236 -3.25410496] [ 0.20432602 0.97889507 0.00391349 -3.47660769] [ 0.02340158 -0.00888125 0.9996867 -0.78039517] [ 0. 0. 0. 1. ]] SLAMing on 88.189072329 meters Centerline goodness : 0.808120 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97874461 -0.20355748 -0.02496694 -3.25402405] [ 0.2037399 0.97901245 0.00496748 -3.47949312] [ 0.02343177 -0.00994865 0.99967594 -0.77952659] [ 0. 0. 0. 1. ]] SLAMing on 88.219072329 meters Centerline goodness : 0.807545 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.48, Z:-0.78 [[ 0.97898163 -0.20235968 -0.02540722 -3.25305725] [ 0.20258836 0.97924074 0.00674751 -3.48477702] [ 0.02351436 -0.01175289 0.99965441 -0.77911081] [ 0. 0. 0. 1. ]] SLAMing on 88.24907232899999 meters Centerline goodness : 0.809333 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97910194 -0.20173997 -0.02569797 -3.25233844] [ 0.20199479 0.97935623 0.00771232 -3.48777203] [ 0.02361158 -0.012742 0.99964 -0.77892671] [ 0. 0. 0. 1. ]] SLAMing on 88.27907232899999 meters Centerline goodness : 0.810004 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97925482 -0.20097134 -0.02589418 -3.25210274] [ 0.20125689 0.97949796 0.00891177 -3.49143236] [ 0.02357228 -0.01393827 0.99962497 -0.77828732] [ 0. 0. 0. 1. ]] SLAMing on 88.30907232899999 meters Centerline goodness : 0.809365 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.49, Z:-0.78 [[ 0.97937038 -0.20037368 -0.0261542 -3.25163381] [ 0.20068619 0.97960555 0.0099009 -3.4948152 ] [ 0.02363692 -0.01494543 0.99960889 -0.77770482] [ 0. 0. 0. 1. ]] SLAMing on 88.33907232899999 meters Centerline goodness : 0.811556 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.50, Z:-0.78 [[ 0.97969505 -0.1987731 -0.02620818 -3.25282995] [ 0.19914324 0.97989273 0.01233731 -3.50071376] [ 0.02322888 -0.01730598 0.99958037 -0.77567329] [ 0. 0. 0. 1. ]] SLAMing on 88.36907232899999 meters Centerline goodness : 0.812250 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.50, Z:-0.78 [[ 0.97976975 -0.19835768 -0.0265608 -3.25212986] [ 0.19875009 0.97996362 0.01302722 -3.50283631] [ 0.02344457 -0.01804264 0.99956231 -0.7753407 ] [ 0. 0. 0. 1. ]] SLAMing on 88.39907232899999 meters Centerline goodness : 0.813923 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.51, Z:-0.78 [[ 0.97997178 -0.19728375 -0.02710045 -3.25036472] [ 0.19773069 0.98014288 0.01491638 -3.50963694] [ 0.02361955 -0.01997622 0.99952142 -0.77515683] [ 0. 0. 0. 1. ]] SLAMing on 88.429072329 meters Centerline goodness : 0.812054 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.51, Z:-0.77 [[ 0.98008025 -0.19668896 -0.02749842 -3.24915122] [ 0.19717005 0.98023849 0.01601486 -3.51371 ] [ 0.02380506 -0.02111772 0.99949355 -0.77497049] [ 0. 0. 0. 1. ]] SLAMing on 88.459072329 meters Centerline goodness : 0.812874 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.52, Z:-0.77 [[ 0.98016427 -0.19621106 -0.02791445 -3.24786988] [ 0.19672403 0.98031197 0.0169737 -3.51749048] [ 0.02403444 -0.02212846 0.9994662 -0.77477503] [ 0. 0. 0. 1. ]] SLAMing on 88.489072329 meters Centerline goodness : 0.814969 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.52, Z:-0.77 [[ 0.97970416 -0.19862605 -0.02697132 -3.25004005] [ 0.19906347 0.97987767 0.01461088 -3.51963616] [ 0.02352649 -0.01968335 0.99952942 -0.77310474] [ 0. 0. 0. 1. ]] SLAMing on 88.519072329 meters Centerline goodness : 0.817522 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.97996862 -0.19725112 -0.02744981 -3.2495537 ] [ 0.19775782 0.98010109 0.01713741 -3.52688126] [ 0.02352322 -0.02222254 0.99947627 -0.77144433] [ 0. 0. 0. 1. ]] SLAMing on 88.549072329 meters Centerline goodness : 0.818521 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.98008219 -0.19665897 -0.02764311 -3.24910512] [ 0.19719472 0.98019561 0.01818803 -3.5300261 ] [ 0.02351881 -0.02327684 0.99945238 -0.77111809] [ 0. 0. 0. 1. ]] SLAMing on 88.579072329 meters Centerline goodness : 0.817391 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.53, Z:-0.77 [[ 0.98015188 -0.19625742 -0.02802338 -3.24793813] [ 0.19682294 0.98025363 0.01906722 -3.53314238] [ 0.02372794 -0.02420442 0.9994254 -0.77108453] [ 0. 0. 0. 1. ]] SLAMing on 88.609072329 meters Centerline goodness : 0.820347 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.54, Z:-0.77 [[ 0.97967905 -0.19871267 -0.02724414 -3.24874431] [ 0.19921699 0.97980404 0.01722325 -3.53836554] [ 0.02327144 -0.02230075 0.99948042 -0.76988843] [ 0. 0. 0. 1. ]] SLAMing on 88.63907232899999 meters Centerline goodness : 0.817819 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.54, Z:-0.77 [[ 0.97973641 -0.19837655 -0.02762808 -3.24769293] [ 0.19890911 0.97985155 0.01805871 -3.54201861] [ 0.02348899 -0.02318825 0.99945514 -0.76937659] [ 0. 0. 0. 1. ]] SLAMing on 88.66907232899999 meters Centerline goodness : 0.820989 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97921291 -0.20105676 -0.0268002 -3.24841245] [ 0.20152731 0.97934944 0.01616856 -3.54818998] [ 0.02299596 -0.02123344 0.99951004 -0.76791053] [ 0. 0. 0. 1. ]] SLAMing on 88.69907232899999 meters Centerline goodness : 0.820617 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97927949 -0.20069222 -0.02709838 -3.24739575] [ 0.20118879 0.97940464 0.01701827 -3.55147307] [ 0.02312484 -0.02211753 0.9994879 -0.76775214] [ 0. 0. 0. 1. ]] SLAMing on 88.72907232899999 meters Centerline goodness : 0.820042 Centerline is valid? [False, False] Translation: X:-3.25, Y:-3.55, Z:-0.77 [[ 0.97923449 -0.2008638 -0.02745097 -3.2454119 ] [ 0.20136975 0.97936631 0.01708369 -3.55322779] [ 0.02345306 -0.02225674 0.99947716 -0.7687653 ] [ 0. 0. 0. 1. ]] SLAMing on 88.75907232899999 meters Centerline goodness : 0.820207 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97921794 -0.20086704 -0.02801165 -3.24278683] [ 0.20139785 0.97935142 0.01759862 -3.55652832] [ 0.02389826 -0.02287437 0.99945267 -0.76971755] [ 0. 0. 0. 1. ]] SLAMing on 88.78907232899999 meters Centerline goodness : 0.820207 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97921794 -0.20086704 -0.02801165 -3.24278683] [ 0.20139785 0.97935142 0.01759862 -3.55652832] [ 0.02389826 -0.02287437 0.99945267 -0.76971755] [ 0. 0. 0. 1. ]] SLAMing on 88.819072329 meters Centerline goodness : 0.822982 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97922337 -0.20079165 -0.02836023 -3.24142976] [ 0.20133724 0.9793588 0.01787916 -3.55827983] [ 0.02418486 -0.02321766 0.99943786 -0.77010219] [ 0. 0. 0. 1. ]] SLAMing on 88.849072329 meters Centerline goodness : 0.822639 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97925207 -0.20060845 -0.02866418 -3.2402936 ] [ 0.20117 0.97938644 0.01824385 -3.56021528] [ 0.02441344 -0.0236317 0.9994226 -0.77026239] [ 0. 0. 0. 1. ]] SLAMing on 88.879072329 meters Centerline goodness : 0.823641 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.56, Z:-0.77 [[ 0.97925051 -0.20054803 -0.02913647 -3.23879528] [ 0.20112862 0.97938901 0.0185595 -3.5620204 ] [ 0.02481387 -0.02403458 0.99940313 -0.77042606] [ 0. 0. 0. 1. ]] SLAMing on 88.909072329 meters Centerline goodness : 0.826509 Centerline is valid? [False, False] Translation: X:-3.24, Y:-3.57, Z:-0.77 [[ 0.97925554 -0.20042981 -0.02977363 -3.23613244] [ 0.20103977 0.97939663 0.01911172 -3.56583349] [ 0.02532963 -0.02470094 0.99937394 -0.77107843] [ 0. 0. 0. 1. ]] SLAMing on 88.939072329 meters Centerline goodness : 0.829341 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.9791762 -0.20074683 -0.03024366 -3.23372391] [ 0.20136622 0.97933126 0.0190243 -3.56746171] [ 0.02579949 -0.0247182 0.99936149 -0.77214927] [ 0. 0. 0. 1. ]] SLAMing on 88.969072329 meters Centerline goodness : 0.828310 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97911264 -0.20098829 -0.03069448 -3.23142511] [ 0.20161936 0.97927884 0.01904179 -3.56928084] [ 0.02623128 -0.02483266 0.99934742 -0.77320465] [ 0. 0. 0. 1. ]] SLAMing on 88.99907232899999 meters Centerline goodness : 0.828007 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97907677 -0.20111755 -0.03099059 -3.22982357] [ 0.20176033 0.97924662 0.01920478 -3.57103669] [ 0.02648501 -0.02505563 0.99933516 -0.77385006] [ 0. 0. 0. 1. ]] SLAMing on 89.02907232899999 meters Centerline goodness : 0.829081 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97837685 -0.20461302 -0.03020345 -3.23035295] [ 0.20515903 0.97859434 0.01621372 -3.57324273] [ 0.02623939 -0.02205964 0.99941226 -0.77296404] [ 0. 0. 0. 1. ]] SLAMing on 89.05907232899999 meters Centerline goodness : 0.827992 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.57, Z:-0.77 [[ 0.97760749 -0.20838132 -0.02933979 -3.23077848] [ 0.20881574 0.97787407 0.01258166 -3.57401644] [ 0.02606883 -0.01842654 0.99949031 -0.77261285] [ 0. 0. 0. 1. ]] SLAMing on 89.08907232899999 meters Centerline goodness : 0.828115 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.97683815 -0.21200825 -0.02897814 -3.22978566] [ 0.21237702 0.97713386 0.01026751 -3.58014058] [ 0.02613873 -0.01618399 0.99952731 -0.77102417] [ 0. 0. 0. 1. ]] SLAMing on 89.11907232899999 meters Centerline goodness : 0.828391 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.9760328 -0.21580978 -0.0280376 -3.2301622 ] [ 0.21607409 0.97635377 0.00673033 -3.58129 ] [ 0.02592214 -0.01262723 0.99958421 -0.77074778] [ 0. 0. 0. 1. ]] SLAMing on 89.14907232899999 meters Centerline goodness : 0.830020 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.58, Z:-0.77 [[ 0.97601987 -0.21579525 -0.02859395 -3.22865612] [ 0.21608924 0.97634413 0.00758782 -3.58475706] [ 0.02628012 -0.01358471 0.99956231 -0.77006517] [ 0. 0. 0. 1. ]] SLAMing on 89.179072329 meters Centerline goodness : 0.829026 Centerline is valid? [False, False] Translation: X:-3.23, Y:-3.59, Z:-0.77 [[ 0.97577387 -0.21681655 -0.02925653 -3.22504816] [ 0.21712329 0.97611373 0.00771164 -3.58806439] [ 0.02688569 -0.01387709 0.99954219 -0.7710535 ] [ 0. 0. 0. 1. ]] SLAMing on 89.209072329 meters Centerline goodness : 0.828557 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97572082 -0.21699069 -0.029731 -3.22334654] [ 0.21731139 0.97606972 0.00797865 -3.58964198] [ 0.02728823 -0.01424582 0.99952609 -0.77136921] [ 0. 0. 0. 1. ]] SLAMing on 89.239072329 meters Centerline goodness : 0.830626 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97480841 -0.22113817 -0.02909435 -3.22181719] [ 0.22135389 0.97518374 0.00437474 -3.59193792] [ 0.02740491 -0.01070468 0.9995671 -0.77208474] [ 0. 0. 0. 1. ]] SLAMing on 89.269072329 meters Centerline goodness : 0.829013 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.9747911 -0.22113798 -0.02966996 -3.22015902] [ 0.22137857 0.9751749 0.00504375 -3.59515093] [ 0.02781804 -0.0114849 0.99954702 -0.77162178] [ 0. 0. 0. 1. ]] SLAMing on 89.299072329 meters Centerline goodness : 0.829987 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481294 -0.22097911 -0.03013228 -3.21904087] [ 0.22124625 0.97520074 0.00579808 -3.59809806] [ 0.02810376 -0.0123187 0.9995291 -0.77100643] [ 0. 0. 0. 1. ]] SLAMing on 89.329072329 meters Centerline goodness : 0.829504 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481638 -0.22091658 -0.03047767 -3.21818395] [ 0.22120081 0.97520825 0.00625044 -3.59971819] [ 0.02834125 -0.01283471 0.9995159 -0.77070017] [ 0. 0. 0. 1. ]] SLAMing on 89.359072329 meters Centerline goodness : 0.828009 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97481192 -0.22091113 -0.03065922 -3.21749444] [ 0.22120958 0.9752035 0.00666775 -3.60084675] [ 0.028426 -0.01328192 0.99950766 -0.77077475] [ 0. 0. 0. 1. ]] SLAMing on 89.38907232899999 meters Centerline goodness : 0.827320 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97485456 -0.22069703 -0.03084493 -3.21740295] [ 0.22100829 0.97524657 0.00703243 -3.60166362] [ 0.02852937 -0.01367258 0.99949944 -0.77027161] [ 0. 0. 0. 1. ]] SLAMing on 89.41907232899999 meters Centerline goodness : 0.825960 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97487634 -0.22057332 -0.03104071 -3.21711069] [ 0.22089277 0.97527133 0.00722605 -3.60235201] [ 0.02867924 -0.01390117 0.999492 -0.76997908] [ 0. 0. 0. 1. ]] SLAMing on 89.44907232899999 meters Centerline goodness : 0.824536 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97492466 -0.22035332 -0.03108575 -3.21706338] [ 0.22067611 0.97531965 0.00732358 -3.6025327 ] [ 0.02870477 -0.01399982 0.99948989 -0.77002327] [ 0. 0. 0. 1. ]] SLAMing on 89.47907232899999 meters Centerline goodness : 0.824950 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97496249 -0.22018194 -0.03111364 -3.21734725] [ 0.22050331 0.97535919 0.0072629 -3.60172016] [ 0.02874781 -0.01394171 0.99948947 -0.76995088] [ 0. 0. 0. 1. ]] SLAMing on 89.50907232899999 meters Centerline goodness : 0.823929 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97495539 -0.22020732 -0.03115651 -3.21727458] [ 0.22052084 0.97535736 0.00696962 -3.6005303 ] [ 0.02885397 -0.01366572 0.99949022 -0.77020816] [ 0. 0. 0. 1. ]] SLAMing on 89.53907232899999 meters Centerline goodness : 0.824060 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97502699 -0.21989379 -0.03113019 -3.21791622] [ 0.22020203 0.97543056 0.0068037 -3.59965341] [ 0.02886924 -0.01348872 0.99949218 -0.76983036] [ 0. 0. 0. 1. ]] SLAMing on 89.569072329 meters Centerline goodness : 0.821404 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97504524 -0.21978882 -0.03129951 -3.21786191] [ 0.22010016 0.97545335 0.00683308 -3.59974828] [ 0.02902938 -0.01355159 0.99948669 -0.76939268] [ 0. 0. 0. 1. ]] SLAMing on 89.599072329 meters Centerline goodness : 0.820003 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508803 -0.21958456 -0.03139989 -3.21807461] [ 0.21990197 0.97549687 0.00699785 -3.59996152] [ 0.02909387 -0.01372842 0.9994824 -0.76888853] [ 0. 0. 0. 1. ]] SLAMing on 89.629072329 meters Centerline goodness : 0.822057 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97511228 -0.21948621 -0.03133452 -3.21835145] [ 0.21979615 0.97552231 0.00677329 -3.59844518] [ 0.02908088 -0.01349193 0.999486 -0.76930229] [ 0. 0. 0. 1. ]] SLAMing on 89.659072329 meters Centerline goodness : 0.820484 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508921 -0.21958108 -0.03138752 -3.21807501] [ 0.21988394 0.97550435 0.0065044 -3.59717833] [ 0.02919042 -0.01324398 0.99948613 -0.76983874] [ 0. 0. 0. 1. ]] SLAMing on 89.689072329 meters Centerline goodness : 0.819145 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97508739 -0.21957763 -0.0314681 -3.21785716] [ 0.21988022 0.9755055 0.00645858 -3.59686795] [ 0.02927915 -0.0132169 0.99948389 -0.76995895] [ 0. 0. 0. 1. ]] SLAMing on 89.719072329 meters Centerline goodness : 0.818588 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97503708 -0.21973498 -0.03192549 -3.21683769] [ 0.22004476 0.97546816 0.0064939 -3.59785193] [ 0.02971536 -0.01335683 0.99946916 -0.76943141] [ 0. 0. 0. 1. ]] SLAMing on 89.74907232899999 meters Centerline goodness : 0.818022 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.9750555 -0.21964142 -0.03200664 -3.21709625] [ 0.21995738 0.9754867 0.00666628 -3.59798304] [ 0.02975786 -0.01354009 0.99946542 -0.76886837] [ 0. 0. 0. 1. ]] SLAMing on 89.77907232899999 meters Centerline goodness : 0.817231 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97498952 -0.21992361 -0.03207872 -3.21677165] [ 0.22022804 0.97542843 0.00624371 -3.59662939] [ 0.02991736 -0.01315219 0.99946584 -0.76921803] [ 0. 0. 0. 1. ]] SLAMing on 89.80907232899999 meters Centerline goodness : 0.818281 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.60, Z:-0.77 [[ 0.97494856 -0.22010563 -0.03207532 -3.21673069] [ 0.22039885 0.97539218 0.00586835 -3.59506447] [ 0.02999436 -0.0127907 0.99946823 -0.7696145 ] [ 0. 0. 0. 1. ]] SLAMing on 89.83907232899999 meters Centerline goodness : 0.818572 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97483892 -0.22057947 -0.03215247 -3.21634497] [ 0.22084808 0.97529534 0.00501274 -3.59234756] [ 0.03025244 -0.01198743 0.99947041 -0.77030432] [ 0. 0. 0. 1. ]] SLAMing on 89.86907232899999 meters Centerline goodness : 0.818304 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97484101 -0.22054179 -0.03234687 -3.21653559] [ 0.2208196 0.9753006 0.00523889 -3.59283043] [ 0.03039253 -0.01224991 0.99946297 -0.76923216] [ 0. 0. 0. 1. ]] SLAMing on 89.89907232899999 meters Centerline goodness : 0.818828 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 0.97485324 -0.22046178 -0.03252324 -3.21692815] [ 0.22075358 0.97531338 0.00562725 -3.59389406] [ 0.03047975 -0.01266536 0.99945514 -0.76781773] [ 0. 0. 0. 1. ]] SLAMing on 89.929072329 meters Centerline goodness : 0.821353 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73982795e-01 -2.24468515e-01 -3.11672853e-02 -3.21910774e+00] [ 2.24618860e-01 9.74445744e-01 1.36410049e-03 -3.59131104e+00] [ 3.00646309e-02 -8.32937049e-03 9.99513251e-01 -7.67168915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.959072329 meters Centerline goodness : 0.822882 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73906975e-01 -2.24788012e-01 -3.12338662e-02 -3.21872197e+00] [ 2.24925460e-01 9.74375545e-01 9.13531563e-04 -3.58981274e+00] [ 3.02281645e-02 -7.91498650e-03 9.99511686e-01 -7.67678404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.989072329 meters Centerline goodness : 0.823623 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.59, Z:-0.77 [[ 9.73710179e-01 -2.25638369e-01 -3.12380262e-02 -3.21781989e+00] [ 2.25737681e-01 9.74188058e-01 -3.56183551e-04 -3.58573962e+00] [ 3.05120807e-02 -6.70478004e-03 9.99511910e-01 -7.69355718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.019072329 meters Centerline goodness : 0.822559 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73646921e-01 -2.25900846e-01 -3.13126418e-02 -3.21745968e+00] [ 2.25990751e-01 9.74129207e-01 -6.83848318e-04 -3.58474484e+00] [ 3.06570409e-02 -6.41054064e-03 9.99509405e-01 -7.69678324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.049072329 meters Centerline goodness : 0.822505 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73613415e-01 -2.26018124e-01 -3.15075418e-02 -3.21722705e+00] [ 2.26108815e-01 9.74101798e-01 -7.00958305e-04 -3.58478831e+00] [ 3.08499824e-02 -6.44167054e-03 9.99503268e-01 -7.69265702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.079072329 meters Centerline goodness : 0.823661 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73435202e-01 -2.26741709e-01 -3.18135979e-02 -3.21604263e+00] [ 2.26824247e-01 9.73935154e-01 -1.03775586e-03 -3.58472865e+00] [ 3.12196839e-02 -6.20590728e-03 9.99493281e-01 -7.69258244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.109072329 meters Centerline goodness : 0.823840 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73371526e-01 -2.27003556e-01 -3.18944886e-02 -3.21582147e+00] [ 2.27077608e-01 9.73875759e-01 -1.32883537e-03 -3.58359430e+00] [ 3.13629196e-02 -5.94907366e-03 9.99490358e-01 -7.69431639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13907232899999 meters Centerline goodness : 0.824690 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.74073149e-01 -2.23804429e-01 -3.30617251e-02 -3.21449104e+00] [ 2.24007690e-01 9.74584093e-01 2.52978559e-03 -3.58427558e+00] [ 3.16552542e-02 -9.87027688e-03 9.99450110e-01 -7.69255104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16907232899999 meters Centerline goodness : 0.824321 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.74016965e-01 -2.24059566e-01 -3.29888383e-02 -3.21481307e+00] [ 2.24247520e-01 9.74530034e-01 2.06472897e-03 -3.58229462e+00] [ 3.16859914e-02 -9.40874623e-03 9.99453587e-01 -7.69408403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19907232899999 meters Centerline goodness : 0.824610 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73938797e-01 -2.24382587e-01 -3.31009721e-02 -3.21506930e+00] [ 2.24559152e-01 9.74459031e-01 1.66858182e-03 -3.58092467e+00] [ 3.18811405e-02 -9.05822280e-03 9.99450620e-01 -7.68785074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22907232899999 meters Centerline goodness : 0.826296 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.58, Z:-0.77 [[ 9.73898788e-01 -2.24534127e-01 -3.32502164e-02 -3.21489304e+00] [ 2.24709230e-01 9.74424585e-01 1.57813355e-03 -3.58079385e+00] [ 3.20454835e-02 -9.00857287e-03 9.99445813e-01 -7.68437014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25907232899999 meters Centerline goodness : 0.826020 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73872004e-01 -2.24643382e-01 -3.32967117e-02 -3.21511675e+00] [ 2.24814521e-01 9.74400512e-01 1.43980075e-03 -3.58022193e+00] [ 3.21208913e-02 -8.88776592e-03 9.99444474e-01 -7.68018233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28907232899999 meters Centerline goodness : 0.824176 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73751854e-01 -2.25181070e-01 -3.31785027e-02 -3.21550385e+00] [ 2.25323486e-01 9.74283841e-01 5.69154002e-04 -3.57702350e+00] [ 3.21971163e-02 -8.03011064e-03 9.99449280e-01 -7.68280332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.319072329 meters Centerline goodness : 0.825723 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.58, Z:-0.77 [[ 9.73700380e-01 -2.25399842e-01 -3.32036265e-02 -3.21534275e+00] [ 2.25529826e-01 9.74236248e-01 1.74099425e-04 -3.57564021e+00] [ 3.23089346e-02 -7.65792879e-03 9.99448592e-01 -7.68647808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.349072329 meters Centerline goodness : 0.822948 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.73642034e-01 -2.25650860e-01 -3.32096079e-02 -3.21517461e+00] [ 2.25766256e-01 9.74181461e-01 -2.82088303e-04 -3.57409688e+00] [ 3.24158378e-02 -7.22295579e-03 9.99448369e-01 -7.69104417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.379072329 meters Centerline goodness : 0.822666 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.57, Z:-0.77 [[ 9.74361170e-01 -2.22377555e-01 -3.41838125e-02 -3.21452832e+00] [ 2.22609132e-01 9.74902923e-01 3.07646467e-03 -3.57219690e+00] [ 3.26417621e-02 -1.06072165e-02 9.99410828e-01 -7.69459068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.409072329 meters Centerline goodness : 0.820349 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74324926e-01 -2.22560236e-01 -3.40276457e-02 -3.21526134e+00] [ 2.22774254e-01 9.74866632e-01 2.58498866e-03 -3.56979688e+00] [ 3.25971006e-02 -1.00991023e-02 9.99417549e-01 -7.69469364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.439072329 meters Centerline goodness : 0.821874 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74390353e-01 -2.22296891e-01 -3.38752430e-02 -3.21726472e+00] [ 2.22511851e-01 9.74926340e-01 2.66586886e-03 -3.56864027e+00] [ 3.24332524e-02 -1.01352399e-02 9.99422514e-01 -7.67673738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.469072329 meters Centerline goodness : 0.820144 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74410076e-01 -2.22193643e-01 -3.39851243e-02 -3.21759045e+00] [ 2.22410464e-01 9.74949407e-01 2.69051105e-03 -3.56861884e+00] [ 3.25359623e-02 -1.01803083e-02 9.99418717e-01 -7.66915171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49907232899999 meters Centerline goodness : 0.820807 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 9.74404495e-01 -2.22204556e-01 -3.40736860e-02 -3.21786976e+00] [ 2.22415574e-01 9.74948787e-01 2.48500738e-03 -3.56779283e+00] [ 3.26679189e-02 -9.99992081e-03 9.99416234e-01 -7.66434076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52907232899999 meters Centerline goodness : 0.818380 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.57, Z:-0.77 [[ 0.97514859 -0.21875877 -0.03506889 -3.21717972] [ 0.21908248 0.97569014 0.00562327 -3.56529152] [ 0.03298623 -0.01316651 0.99936908 -0.76711854] [ 0. 0. 0. 1. ]] SLAMing on 90.55907232899999 meters Centerline goodness : 0.817207 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97515802 -0.2187377 -0.03493798 -3.21792742] [ 0.21904516 0.97570096 0.00518237 -3.56269969] [ 0.03295544 -0.01270663 0.99937605 -0.76726059] [ 0. 0. 0. 1. ]] SLAMing on 90.58907232899999 meters Centerline goodness : 0.819816 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97519644 -0.21858092 -0.03484666 -3.21873274] [ 0.21888181 0.97573846 0.00502052 -3.56121165] [ 0.03290384 -0.01252329 0.99938006 -0.76697939] [ 0. 0. 0. 1. ]] SLAMing on 90.61907232899999 meters Centerline goodness : 0.817482 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97524653 -0.21835672 -0.03485033 -3.21945433] [ 0.2186552 0.97578963 0.00494972 -3.56034305] [ 0.03292578 -0.0124474 0.99938029 -0.76638036] [ 0. 0. 0. 1. ]] SLAMing on 90.64907232899999 meters Centerline goodness : 0.817589 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97529877 -0.21811412 -0.03490753 -3.22005526] [ 0.21840921 0.97584532 0.0048297 -3.55941201] [ 0.03301092 -0.01233453 0.99937888 -0.76579892] [ 0. 0. 0. 1. ]] SLAMing on 90.679072329 meters Centerline goodness : 0.817589 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.56, Z:-0.77 [[ 0.97529877 -0.21811412 -0.03490753 -3.22005526] [ 0.21840921 0.97584532 0.0048297 -3.55941201] [ 0.03301092 -0.01233453 0.99937888 -0.76579892] [ 0. 0. 0. 1. ]] SLAMing on 90.709072329 meters Centerline goodness : 0.818590 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.76950338e-01 -2.10674476e-01 -3.44137085e-02 -3.21462437e+00] [ 2.10724633e-01 9.77542976e-01 -2.20413124e-03 -3.55474196e+00] [ 3.41052332e-02 -5.09848935e-03 9.99405242e-01 -7.63098474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.739072329 meters Centerline goodness : 0.819794 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.77816494e-01 -2.06446507e-01 -3.54223740e-02 -3.21457983e+00] [ 2.06640303e-01 9.78415211e-01 1.86022292e-03 -3.55453853e+00] [ 3.42737530e-02 -9.13864673e-03 9.99370699e-01 -7.62713927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.769072329 meters Centerline goodness : 0.818521 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.9786507 -0.20228825 -0.03636301 -3.21453039] [ 0.20259768 0.9792493 0.00499783 -3.55104024] [ 0.03459745 -0.01225819 0.99932615 -0.76337038] [ 0. 0. 0. 1. ]] SLAMing on 90.799072329 meters Centerline goodness : 0.818081 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.9787377 -0.20190204 -0.0361675 -3.21537881] [ 0.20220219 0.97933201 0.00480464 -3.54976084] [ 0.03444993 -0.01201563 0.99933419 -0.76339147] [ 0. 0. 0. 1. ]] SLAMing on 90.829072329 meters Centerline goodness : 0.817087 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.9787853 -0.20164511 -0.03631247 -3.21547829] [ 0.20194214 0.97938632 0.0046689 -3.5492576 ] [ 0.03462248 -0.01190287 0.99932958 -0.76306468] [ 0. 0. 0. 1. ]] SLAMing on 90.859072329 meters Centerline goodness : 0.816543 Centerline is valid? [False, False] Translation: X:-3.22, Y:-3.55, Z:-0.76 [[ 0.97886828 -0.20121688 -0.03645085 -3.21586665] [ 0.20151663 0.97947378 0.0047069 -3.54893097] [ 0.03475554 -0.01195289 0.99932436 -0.76246796] [ 0. 0. 0. 1. ]] SLAMing on 90.88907232899999 meters Centerline goodness : 0.820879 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 9.80802057e-01 -1.91816386e-01 -3.51254738e-02 -3.20854103e+00] [ 1.91930509e-01 9.81408510e-01 -1.25143254e-04 -3.54572095e+00] [ 3.44964434e-02 -6.61890929e-03 9.99382902e-01 -7.61703358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91907232899999 meters Centerline goodness : 0.821136 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.9815749 -0.18763924 -0.03608648 -3.20800193] [ 0.18789801 0.98218085 0.00388813 -3.54560056] [ 0.03471389 -0.01059707 0.99934111 -0.76183382] [ 0. 0. 0. 1. ]] SLAMing on 90.94907232899999 meters Centerline goodness : 0.821498 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98233402 -0.18342491 -0.03708349 -3.2073671 ] [ 0.18383466 0.98292519 0.00793019 -3.54575523] [ 0.0349957 -0.01460732 0.9992807 -0.76190462] [ 0. 0. 0. 1. ]] SLAMing on 90.97907232899999 meters Centerline goodness : 0.820997 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98310876 -0.17894361 -0.03842316 -3.20603637] [ 0.17951672 0.98368179 0.01199488 -3.54653941] [ 0.03564976 -0.01868987 0.99918956 -0.76186614] [ 0. 0. 0. 1. ]] SLAMing on 91.00907232899999 meters Centerline goodness : 0.819961 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98319008 -0.17846833 -0.03855283 -3.20620657] [ 0.17905504 0.98376198 0.01231516 -3.54737379] [ 0.03572894 -0.01901122 0.99918067 -0.76133244] [ 0. 0. 0. 1. ]] SLAMing on 91.03907232899999 meters Centerline goodness : 0.820551 Centerline is valid? [False, False] Translation: X:-3.21, Y:-3.55, Z:-0.76 [[ 0.98326876 -0.1779889 -0.03876214 -3.20634808] [ 0.17859247 0.98384141 0.01268105 -3.54841486] [ 0.03587871 -0.01939151 0.999168 -0.76055095] [ 0. 0. 0. 1. ]] SLAMing on 91.069072329 meters Centerline goodness : 0.824349 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.9845977 -0.17114326 -0.0357401 -3.19852481] [ 0.17145454 0.98517489 0.0058114 -3.54628274] [ 0.03421566 -0.0118497 0.99934422 -0.76134506] [ 0. 0. 0. 1. ]] SLAMing on 91.099072329 meters Centerline goodness : 0.826039 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.98517828 -0.16751336 -0.03691926 -3.19623272] [ 0.16796746 0.98574638 0.00953988 -3.54706366] [ 0.03479497 -0.01559971 0.99927272 -0.76230339] [ 0. 0. 0. 1. ]] SLAMing on 91.129072329 meters Centerline goodness : 0.823676 Centerline is valid? [False, False] Translation: X:-3.20, Y:-3.55, Z:-0.76 [[ 0.98520056 -0.16735301 -0.03705154 -3.19587625] [ 0.1678047 0.9857753 0.00941451 -3.54617264] [ 0.03494895 -0.0154926 0.99926901 -0.76277535] [ 0. 0. 0. 1. ]] SLAMing on 91.159072329 meters Centerline goodness : 0.823469 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98527027 -0.16686764 -0.03738562 -3.1948185 ] [ 0.16733713 0.98585122 0.00977995 -3.54771623] [ 0.03522471 -0.01589189 0.99925305 -0.76323703] [ 0. 0. 0. 1. ]] SLAMing on 91.189072329 meters Centerline goodness : 0.821059 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98528433 -0.16671858 -0.03767909 -3.19379977] [ 0.1672037 0.98587073 0.01009106 -3.54963503] [ 0.03546434 -0.01624265 0.99923894 -0.76333642] [ 0. 0. 0. 1. ]] SLAMing on 91.219072329 meters Centerline goodness : 0.823407 Centerline is valid? [False, False] Translation: X:-3.19, Y:-3.55, Z:-0.76 [[ 0.98531129 -0.16650039 -0.037938 -3.19294795] [ 0.16700643 0.98589923 0.01056235 -3.55198528] [ 0.03564441 -0.01674309 0.99922427 -0.76323909] [ 0. 0. 0. 1. ]] SLAMing on 91.24907232899999 meters Centerline goodness : 0.824593 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85786871e-01 -1.65108497e-01 -3.10391494e-02 -3.17996240e+00] [ 1.65244126e-01 9.86250981e-01 1.83873518e-03 -3.55002089e+00] [ 3.03088008e-02 -6.94163811e-03 9.99516478e-01 -7.68884371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27907232899999 meters Centerline goodness : 0.826320 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85765479e-01 -1.65187840e-01 -3.12953453e-02 -3.17892522e+00] [ 1.65331279e-01 9.86235990e-01 2.03462105e-03 -3.55126596e+00] [ 3.05285012e-02 -7.17975864e-03 9.99508110e-01 -7.69178067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30907232899999 meters Centerline goodness : 0.827591 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85724885e-01 -1.65369706e-01 -3.16118861e-02 -3.17763381e+00] [ 1.65517498e-01 9.86204620e-01 2.09883895e-03 -3.55228315e+00] [ 3.08287037e-02 -7.30119807e-03 9.99498016e-01 -7.69655424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33907232899999 meters Centerline goodness : 0.829206 Centerline is valid? [False, False] Translation: X:-3.18, Y:-3.55, Z:-0.77 [[ 9.85709631e-01 -1.65394728e-01 -3.19547710e-02 -3.17654822e+00] [ 1.65553716e-01 9.86197910e-01 2.37701717e-03 -3.55380348e+00] [ 3.11205823e-02 -7.63327980e-03 9.99486489e-01 -7.69742361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36907232899999 meters Centerline goodness : 0.829857 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85683144e-01 -1.65439791e-01 -3.25332896e-02 -3.17443257e+00] [ 1.65624287e-01 9.86184234e-01 3.04161760e-03 -3.55835562e+00] [ 3.15806127e-02 -8.38637408e-03 9.99466024e-01 -7.69678863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39907232899999 meters Centerline goodness : 0.830772 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85611980e-01 -1.65749128e-01 -3.31096893e-02 -3.17218274e+00] [ 1.65942943e-01 9.86130244e-01 3.17502988e-03 -3.56112100e+00] [ 3.21242076e-02 -8.62366678e-03 9.99446681e-01 -7.70069702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.429072329 meters Centerline goodness : 0.832022 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.56, Z:-0.77 [[ 9.85522195e-01 -1.66172637e-01 -3.36549986e-02 -3.16978626e+00] [ 1.66371234e-01 9.86058095e-01 3.16950106e-03 -3.56353966e+00] [ 3.26590994e-02 -8.72283727e-03 9.99428484e-01 -7.70810986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.459072329 meters Centerline goodness : 0.829470 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.57, Z:-0.77 [[ 9.85408603e-01 -1.66715408e-01 -3.42907841e-02 -3.16660228e+00] [ 1.66926460e-01 9.85963601e-01 3.36666138e-03 -3.56672287e+00] [ 3.32481906e-02 -9.04157628e-03 9.99406228e-01 -7.72059644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.489072329 meters Centerline goodness : 0.829771 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.57, Z:-0.77 [[ 9.85351902e-01 -1.66991113e-01 -3.45774107e-02 -3.16508907e+00] [ 1.67200867e-01 9.85917509e-01 3.24575529e-03 -3.56702577e+00] [ 3.35484623e-02 -8.97958419e-03 9.99396752e-01 -7.73040249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.519072329 meters Centerline goodness : 0.827706 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.77 [[ 9.85259418e-01 -1.67466943e-01 -3.49099097e-02 -3.16312407e+00] [ 1.67669070e-01 9.85838999e-01 2.92430626e-03 -3.56706989e+00] [ 3.39258258e-02 -8.73451239e-03 9.99386185e-01 -7.74379990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.549072329 meters Centerline goodness : 0.827354 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.85111397e-01 -1.68173933e-01 -3.56800225e-02 -3.15973405e+00] [ 1.68383469e-01 9.85717213e-01 2.92975195e-03 -3.56991682e+00] [ 3.46777045e-02 -8.89405800e-03 9.99358971e-01 -7.75450167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.579072329 meters Centerline goodness : 0.827777 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.84964764e-01 -1.68895075e-01 -3.63162169e-02 -3.15683016e+00] [ 1.69095969e-01 9.85596392e-01 2.51111978e-03 -3.57150636e+00] [ 3.53690166e-02 -8.61429038e-03 9.99337194e-01 -7.76520160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.609072329 meters Centerline goodness : 0.829905 Centerline is valid? [False, False] Translation: X:-3.16, Y:-3.57, Z:-0.78 [[ 9.84927556e-01 -1.68998719e-01 -3.68394109e-02 -3.15526622e+00] [ 1.69217802e-01 9.85574444e-01 2.88977863e-03 -3.57393440e+00] [ 3.58196130e-02 -9.08010673e-03 9.99317020e-01 -7.76364153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63907232899999 meters Centerline goodness : 0.828802 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84617174e-01 -1.70714327e-01 -3.72241644e-02 -3.15158404e+00] [ 1.70903859e-01 9.85285786e-01 1.94697320e-03 -3.57656603e+00] [ 3.63440638e-02 -8.27877657e-03 9.99305044e-01 -7.78117425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66907232899999 meters Centerline goodness : 0.829397 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84568720e-01 -1.70892266e-01 -3.76864597e-02 -3.15033218e+00] [ 1.71099113e-01 9.85251115e-01 2.30954930e-03 -3.57850603e+00] [ 3.67359424e-02 -8.72202983e-03 9.99286944e-01 -7.77809108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69907232899999 meters Centerline goodness : 0.829826 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84536698e-01 -1.70991146e-01 -3.80725435e-02 -3.14930788e+00] [ 1.71219034e-01 9.85229057e-01 2.78355806e-03 -3.58049449e+00] [ 3.70342123e-02 -9.25925920e-03 9.99271101e-01 -7.77427877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72907232899999 meters Centerline goodness : 0.830098 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.58, Z:-0.78 [[ 9.84459804e-01 -1.71326591e-01 -3.85498752e-02 -3.14774608e+00] [ 1.71581191e-01 9.85164215e-01 3.37119431e-03 -3.58326789e+00] [ 3.74003823e-02 -9.93323879e-03 9.99250991e-01 -7.77029919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75907232899999 meters Centerline goodness : 0.829865 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.78 [[ 0.98446628 -0.17121474 -0.03888005 -3.14711533] [ 0.17149063 0.98517823 0.00385057 -3.58501839] [ 0.03764451 -0.01045832 0.99923647 -0.77653623] [ 0. 0. 0. 1. ]] SLAMing on 91.78907232899999 meters Centerline goodness : 0.831777 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.78 [[ 0.98449267 -0.17100703 -0.0391252 -3.1469247 ] [ 0.17130686 0.98520781 0.00441903 -3.58685398] [ 0.03779077 -0.01105292 0.99922454 -0.77570266] [ 0. 0. 0. 1. ]] SLAMing on 91.819072329 meters Centerline goodness : 0.831709 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98456928 -0.17054526 -0.0392129 -3.14769423] [ 0.17087769 0.98527819 0.00526355 -3.5887316 ] [ 0.03773794 -0.01188294 0.99921702 -0.77419512] [ 0. 0. 0. 1. ]] SLAMing on 91.849072329 meters Centerline goodness : 0.831127 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.984556 -0.17057942 -0.03939731 -3.14732548] [ 0.17091578 0.98527134 0.00530874 -3.58883267] [ 0.03791148 -0.01196038 0.99920952 -0.77406017] [ 0. 0. 0. 1. ]] SLAMing on 91.879072329 meters Centerline goodness : 0.832588 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98456684 -0.17045937 -0.0396452 -3.14703261] [ 0.17081096 0.98528772 0.00563206 -3.58975172] [ 0.03810189 -0.01231698 0.99919795 -0.77354964] [ 0. 0. 0. 1. ]] SLAMing on 91.909072329 meters Centerline goodness : 0.832656 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.59, Z:-0.77 [[ 0.98459168 -0.1702759 -0.03981627 -3.14660704] [ 0.17064597 0.98531375 0.0060634 -3.59127985] [ 0.03819907 -0.01276446 0.99918862 -0.77336299] [ 0. 0. 0. 1. ]] SLAMing on 91.939072329 meters Centerline goodness : 0.832202 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.59, Z:-0.77 [[ 0.98454168 -0.17046736 -0.04023118 -3.14480778] [ 0.17084924 0.9852775 0.00622762 -3.59354475] [ 0.03857727 -0.01300482 0.99917099 -0.77387402] [ 0. 0. 0. 1. ]] SLAMing on 91.969072329 meters Centerline goodness : 0.830077 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.59, Z:-0.77 [[ 0.98456028 -0.17032986 -0.04035828 -3.14453184] [ 0.17073051 0.98529517 0.00667261 -3.59496284] [ 0.03862827 -0.01345998 0.99916299 -0.77357515] [ 0. 0. 0. 1. ]] SLAMing on 91.99907232899999 meters Centerline goodness : 0.830856 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98458755 -0.17014273 -0.04048208 -3.14434235] [ 0.17056426 0.98532045 0.007172 -3.59651922] [ 0.03866756 -0.01396626 0.99915452 -0.77322576] [ 0. 0. 0. 1. ]] SLAMing on 92.02907232899999 meters Centerline goodness : 0.830966 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98457058 -0.17020079 -0.04065061 -3.14351756] [ 0.17063196 0.98530736 0.00735831 -3.59755628] [ 0.03880096 -0.01418107 0.99914633 -0.77353846] [ 0. 0. 0. 1. ]] SLAMing on 92.05907232899999 meters Centerline goodness : 0.831765 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98458689 -0.17009496 -0.04069831 -3.14357369] [ 0.17052951 0.98532456 0.0074296 -3.59734263] [ 0.03883731 -0.01425535 0.99914386 -0.77343906] [ 0. 0. 0. 1. ]] SLAMing on 92.08907232899999 meters Centerline goodness : 0.828885 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98460147 -0.16998433 -0.04080784 -3.1433416 ] [ 0.17042285 0.98534253 0.00749359 -3.59741495] [ 0.03893591 -0.01433279 0.99913891 -0.77346797] [ 0. 0. 0. 1. ]] SLAMing on 92.11907232899999 meters Centerline goodness : 0.825707 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98453701 -0.1702493 -0.04125599 -3.14151024] [ 0.17068961 0.98529728 0.00737012 -3.59845153] [ 0.03939465 -0.01429812 0.99912143 -0.77405924] [ 0. 0. 0. 1. ]] SLAMing on 92.14907232899999 meters Centerline goodness : 0.826296 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.77 [[ 0.98453433 -0.17021797 -0.0414488 -3.14085638] [ 0.17066701 0.98530006 0.00752148 -3.59935954] [ 0.03955922 -0.0144791 0.99911232 -0.77415136] [ 0. 0. 0. 1. ]] SLAMing on 92.179072329 meters Centerline goodness : 0.824585 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98445044 -0.17062304 -0.04177452 -3.1391384 ] [ 0.17106246 0.98523421 0.00715421 -3.59947704] [ 0.03993702 -0.01418901 0.99910145 -0.7752113 ] [ 0. 0. 0. 1. ]] SLAMing on 92.209072329 meters Centerline goodness : 0.825143 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98430991 -0.17132045 -0.04222926 -3.13644874] [ 0.17173713 0.9851219 0.00641801 -3.59898904] [ 0.04050144 -0.01356964 0.99908733 -0.77722153] [ 0. 0. 0. 1. ]] SLAMing on 92.239072329 meters Centerline goodness : 0.823587 Centerline is valid? [False, False] Translation: X:-3.14, Y:-3.60, Z:-0.78 [[ 0.98428624 -0.17143061 -0.04233361 -3.13580206] [ 0.17184341 0.98510423 0.00628544 -3.5989868 ] [ 0.04062551 -0.01346142 0.99908376 -0.77770192] [ 0. 0. 0. 1. ]] SLAMing on 92.269072329 meters Centerline goodness : 0.821890 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.59, Z:-0.78 [[ 9.84566753e-01 -1.70937048e-01 -3.75344453e-02 -3.11758892e+00] [ 1.70983899e-01 9.85271829e-01 -1.98207641e-03 -3.59345768e+00] [ 3.73204418e-02 -4.46629926e-03 9.99293369e-01 -7.82086996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.299072329 meters Centerline goodness : 0.823375 Centerline is valid? [False, False] Translation: X:-3.12, Y:-3.59, Z:-0.78 [[ 9.84597428e-01 -1.70752456e-01 -3.75699940e-02 -3.11773889e+00] [ 1.70805936e-01 9.85303036e-01 -1.80538370e-03 -3.59396536e+00] [ 3.73261028e-02 -4.63960184e-03 9.99292368e-01 -7.81774185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.329072329 meters Centerline goodness : 0.823422 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.85101825e-01 -1.68978121e-01 -3.19497759e-02 -3.10216613e+00] [ 1.68770758e-01 9.85613333e-01 -9.09890207e-03 -3.58892632e+00] [ 3.30276404e-02 3.57115716e-03 9.99448059e-01 -7.86280219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.359072329 meters Centerline goodness : 0.823786 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.85635009e-01 -1.65577902e-01 -3.32804453e-02 -3.09948038e+00] [ 1.65492484e-01 9.86196680e-01 -5.32417552e-03 -3.59118641e+00] [ 3.37026304e-02 -2.59969783e-04 9.99431871e-01 -7.86624753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38907232899999 meters Centerline goodness : 0.824035 Centerline is valid? [False, False] Translation: X:-3.10, Y:-3.59, Z:-0.79 [[ 9.86117613e-01 -1.62341816e-01 -3.48882205e-02 -3.09578333e+00] [ 1.62383960e-01 9.86726282e-01 -1.64106627e-03 -3.59317522e+00] [ 3.46915378e-02 -4.04700303e-03 9.99389873e-01 -7.87598950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41907232899999 meters Centerline goodness : 0.826368 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.86015955e-01 -1.62857703e-01 -3.53539899e-02 -3.09355214e+00] [ 1.62883485e-01 9.86642927e-01 -2.16908799e-03 -3.59280752e+00] [ 3.52350168e-02 -3.61982573e-03 9.99372498e-01 -7.89097852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44907232899999 meters Centerline goodness : 0.823758 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85934625e-01 -1.63264942e-01 -3.57417524e-02 -3.09176167e+00] [ 1.63277711e-01 9.86576772e-01 -2.58104490e-03 -3.59260803e+00] [ 3.56833769e-02 -3.29108998e-03 9.99357726e-01 -7.90237980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47907232899999 meters Centerline goodness : 0.823136 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85856744e-01 -1.63661393e-01 -3.60753181e-02 -3.09004822e+00] [ 1.63663407e-01 9.86511925e-01 -2.91729947e-03 -3.59263272e+00] [ 3.60661808e-02 -3.02817011e-03 9.99344816e-01 -7.91359312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50907232899999 meters Centerline goodness : 0.819248 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85743568e-01 -1.64247170e-01 -3.65032234e-02 -3.08766962e+00] [ 1.64239732e-01 9.86415188e-01 -3.22283956e-03 -3.59326537e+00] [ 3.65366763e-02 -2.81838624e-03 9.99328338e-01 -7.92829616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53907232899999 meters Centerline goodness : 0.821594 Centerline is valid? [False, False] Translation: X:-3.09, Y:-3.59, Z:-0.79 [[ 9.85670329e-01 -1.64608512e-01 -3.68515909e-02 -3.08611680e+00] [ 1.64593496e-01 9.86355411e-01 -3.46176806e-03 -3.59329993e+00] [ 3.69186026e-02 -2.65337009e-03 9.99314753e-01 -7.93650113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.569072329 meters Centerline goodness : 0.821362 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85503633e-01 -1.65463850e-01 -3.74740327e-02 -3.08312304e+00] [ 1.65441223e-01 9.86212615e-01 -3.72552031e-03 -3.59505752e+00] [ 3.75738028e-02 -2.52823600e-03 9.99290657e-01 -7.94770539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.599072329 meters Centerline goodness : 0.821362 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85490152e-01 -1.65541053e-01 -3.74876010e-02 -3.08308360e+00] [ 1.65520350e-01 9.86199521e-01 -3.67674466e-03 -3.59515029e+00] [ 3.75789063e-02 -2.58156519e-03 9.99290329e-01 -7.94762977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.629072329 meters Centerline goodness : 0.821169 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85455856e-01 -1.65667565e-01 -3.78287375e-02 -3.08217509e+00] [ 1.65661166e-01 9.86177124e-01 -3.32541759e-03 -3.59719247e+00] [ 3.78567494e-02 -2.98970052e-03 9.99278704e-01 -7.94406461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.659072329 meters Centerline goodness : 0.821482 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85452998e-01 -1.65595771e-01 -3.82155683e-02 -3.08162075e+00] [ 1.65609019e-01 9.86187398e-01 -2.84068589e-03 -3.59897905e+00] [ 3.81581175e-02 -3.52948036e-03 9.99265481e-01 -7.93551452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.689072329 meters Centerline goodness : 0.822946 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85497363e-01 -1.65263865e-01 -3.85071642e-02 -3.08173462e+00] [ 1.65317029e-01 9.86238796e-01 -1.82147258e-03 -3.60175244e+00] [ 3.82782828e-02 -4.57083354e-03 9.99256664e-01 -7.91915212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.719072329 meters Centerline goodness : 0.822225 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85451370e-01 -1.65477827e-01 -3.87644840e-02 -3.08078108e+00] [ 1.65531287e-01 9.86202806e-01 -1.84871551e-03 -3.60204907e+00] [ 3.85355643e-02 -4.59491567e-03 9.99246665e-01 -7.92281003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74907232899999 meters Centerline goodness : 0.821073 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85405452e-01 -1.65689906e-01 -3.90249827e-02 -3.07965540e+00] [ 1.65740352e-01 9.86167475e-01 -1.96155064e-03 -3.60227854e+00] [ 3.88101778e-02 -4.53509169e-03 9.99236310e-01 -7.92855925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77907232899999 meters Centerline goodness : 0.818858 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.60, Z:-0.79 [[ 9.85293495e-01 -1.66189312e-01 -3.97220528e-02 -3.07665232e+00] [ 1.66237420e-01 9.86083496e-01 -2.11191700e-03 -3.60428451e+00] [ 3.95202387e-02 -4.52243347e-03 9.99208536e-01 -7.93969781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80907232899999 meters Centerline goodness : 0.820087 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.61, Z:-0.79 [[ 9.85297023e-01 -1.66090479e-01 -4.00465984e-02 -3.07583899e+00] [ 1.66155878e-01 9.86098012e-01 -1.71300287e-03 -3.60627635e+00] [ 3.97743845e-02 -4.96616108e-03 9.99196345e-01 -7.93611430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83907232899999 meters Centerline goodness : 0.818761 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.60, Z:-0.80 [[ 9.85745436e-01 -1.64665472e-01 -3.45140240e-02 -3.05904967e+00] [ 1.64471923e-01 9.86346053e-01 -8.39340581e-03 -3.60307411e+00] [ 3.54248755e-02 2.59717355e-03 9.99368967e-01 -7.97350934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86907232899999 meters Centerline goodness : 0.818940 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.60, Z:-0.80 [[ 9.85747110e-01 -1.64595943e-01 -3.47966916e-02 -3.05838575e+00] [ 1.64415311e-01 9.86358680e-01 -8.00994283e-03 -3.60465232e+00] [ 3.56404229e-02 2.17466913e-03 9.99362312e-01 -7.97118610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89907232899999 meters Centerline goodness : 0.817879 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.61, Z:-0.80 [[ 9.85690834e-01 -1.64855377e-01 -3.51608306e-02 -3.05670234e+00] [ 1.64679089e-01 9.86315784e-01 -7.87218209e-03 -3.60556048e+00] [ 3.59774537e-02 1.96928420e-03 9.99350662e-01 -7.97786295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.929072329 meters Centerline goodness : 0.818739 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.61, Z:-0.80 [[ 9.85677905e-01 -1.64876515e-01 -3.54231818e-02 -3.05578282e+00] [ 1.64706956e-01 9.86312703e-01 -7.67276253e-03 -3.60629106e+00] [ 3.62033925e-02 1.72842805e-03 9.99342948e-01 -7.98153795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.959072329 meters Centerline goodness : 0.818368 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85612735e-01 -1.65159261e-01 -3.59159549e-02 -3.05388187e+00] [ 1.64988508e-01 9.86265528e-01 -7.68771966e-03 -3.60747375e+00] [ 3.66923664e-02 1.65139460e-03 9.99325244e-01 -7.98785269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.989072329 meters Centerline goodness : 0.815570 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85549463e-01 -1.65425042e-01 -3.64254201e-02 -3.05173268e+00] [ 1.65258801e-01 9.86221343e-01 -7.54925395e-03 -3.60972959e+00] [ 3.71723624e-02 1.42054192e-03 9.99307859e-01 -7.99487817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.019072329 meters Centerline goodness : 0.812823 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85497493e-01 -1.65585566e-01 -3.70959869e-02 -3.04899058e+00] [ 1.65436091e-01 9.86195065e-01 -7.08474935e-03 -3.61362858e+00] [ 3.77570115e-02 8.44987666e-04 9.99286593e-01 -8.00056361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.049072329 meters Centerline goodness : 0.809723 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.61, Z:-0.80 [[ 9.85462767e-01 -1.65727198e-01 -3.73848908e-02 -3.04783763e+00] [ 1.65586387e-01 9.86171475e-01 -6.85347900e-03 -3.61488963e+00] [ 3.80037207e-02 5.63419407e-04 9.99277439e-01 -8.00419854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.079072329 meters Centerline goodness : 0.811101 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85450538e-01 -1.65703576e-01 -3.78095600e-02 -3.04663365e+00] [ 1.65573743e-01 9.86175584e-01 -6.56147356e-03 -3.61620096e+00] [ 3.83741245e-02 2.05737270e-04 9.99263421e-01 -8.00483442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.109072329 meters Centerline goodness : 0.807514 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85503074e-01 -1.65343321e-01 -3.80167944e-02 -3.04628540e+00] [ 1.65232857e-01 9.86236019e-01 -6.05128400e-03 -3.61776013e+00] [ 3.84940714e-02 -3.18064576e-04 9.99258778e-01 -8.00315205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13907232899999 meters Centerline goodness : 0.807738 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.62, Z:-0.80 [[ 9.85511415e-01 -1.65225372e-01 -3.83122438e-02 -3.04531771e+00] [ 1.65127102e-01 9.86255608e-01 -5.73722451e-03 -3.61949301e+00] [ 3.87336004e-02 -6.72289535e-04 9.99249346e-01 -8.00374068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16907232899999 meters Centerline goodness : 0.805518 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.63, Z:-0.80 [[ 9.85622421e-01 -1.64464201e-01 -3.87294392e-02 -3.04447089e+00] [ 1.64420184e-01 9.86380839e-01 -4.34082312e-03 -3.62517871e+00] [ 3.89158868e-02 -2.08948892e-03 9.99240305e-01 -7.99415302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19907232899999 meters Centerline goodness : 0.804030 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.63, Z:-0.80 [[ 9.85685381e-01 -1.64082978e-01 -3.87441119e-02 -3.04461932e+00] [ 1.64058927e-01 9.86443140e-01 -3.82102410e-03 -3.62661927e+00] [ 3.88458284e-02 -2.58998981e-03 9.99241859e-01 -7.99145059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22907232899999 meters Centerline goodness : 0.805570 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85739858e-01 -1.63797463e-01 -3.85658321e-02 -3.04510253e+00] [ 1.63780817e-01 9.86490140e-01 -3.61206281e-03 -3.62662715e+00] [ 3.86364598e-02 -2.75578922e-03 9.99249533e-01 -7.99334897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25907232899999 meters Centerline goodness : 0.801705 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85890677e-01 -1.63005376e-01 -3.80633633e-02 -3.04693916e+00] [ 1.63005357e-01 9.86620236e-01 -3.12478776e-03 -3.62609714e+00] [ 3.80634417e-02 -3.12383302e-03 9.99270442e-01 -7.99280751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28907232899999 meters Centerline goodness : 0.802014 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.85964545e-01 -1.62558925e-01 -3.80593180e-02 -3.04746346e+00] [ 1.62581346e-01 9.86691910e-01 -2.52586952e-03 -3.62761047e+00] [ 3.79634238e-02 -3.69731735e-03 9.99272289e-01 -7.98582159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.319072329 meters Centerline goodness : 0.800849 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86053122e-01 -1.61981416e-01 -3.82264569e-02 -3.04787965e+00] [ 1.62036136e-01 9.86783390e-01 -1.68296249e-03 -3.63008004e+00] [ 3.79938413e-02 -4.53457694e-03 9.99267685e-01 -7.97338577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.349072329 meters Centerline goodness : 0.800253 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86181152e-01 -1.61122384e-01 -3.85527340e-02 -3.04817564e+00] [ 1.61224844e-01 9.86917596e-01 -4.56883293e-04 -3.63449243e+00] [ 3.81219856e-02 -5.76508882e-03 9.99256463e-01 -7.95504771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.379072329 meters Centerline goodness : 0.797106 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.86221150e-01 -1.60882557e-01 -3.85311080e-02 -3.04828638e+00] [ 1.60994914e-01 9.86955218e-01 -1.89183951e-04 -3.63524737e+00] [ 3.80589145e-02 -6.01673520e-03 9.99257383e-01 -7.95450476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.409072329 meters Centerline goodness : 0.798453 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.63, Z:-0.80 [[ 9.86243069e-01 -1.60758158e-01 -3.84892729e-02 -3.04834888e+00] [ 1.60871888e-01 9.86975286e-01 -1.44061972e-04 -3.63490333e+00] [ 3.80111202e-02 -6.04976186e-03 9.99259003e-01 -7.95694113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.439072329 meters Centerline goodness : 0.796527 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98682196 -0.15683171 -0.0398276 -3.04644036] [ 0.15712321 0.98756974 0.00427791 -3.63678892] [ 0.03866162 -0.01047938 0.99919741 -0.79525442] [ 0. 0. 0. 1. ]] SLAMing on 93.469072329 meters Centerline goodness : 0.796800 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 0.98691674 -0.15628665 -0.03962105 -3.04774273] [ 0.15659759 0.98765058 0.00485041 -3.63727942] [ 0.03837369 -0.01099151 0.99920301 -0.79441929] [ 0. 0. 0. 1. ]] SLAMing on 93.49907232899999 meters Centerline goodness : 0.795154 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86493843e-01 -1.59227830e-01 -3.84238861e-02 -3.05080127e+00] [ 1.59405698e-01 9.87211878e-01 1.59104558e-03 -3.63712267e+00] [ 3.76791780e-02 -7.69454304e-03 9.99260263e-01 -7.93296721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52907232899999 meters Centerline goodness : 0.794203 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86001846e-01 -1.62522333e-01 -3.72404546e-02 -3.05313663e+00] [ 1.62558994e-01 9.86696672e-01 -2.06165166e-03 -3.63662328e+00] [ 3.70800970e-02 -4.02097850e-03 9.99304207e-01 -7.92856615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55907232899999 meters Centerline goodness : 0.795982 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.86000464e-01 -1.62474238e-01 -3.74860874e-02 -3.05245651e+00] [ 1.62524407e-01 9.86703015e-01 -1.72545093e-03 -3.63797728e+00] [ 3.72679768e-02 -4.39110870e-03 9.99295660e-01 -7.92702397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58907232899999 meters Centerline goodness : 0.791518 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.79 [[ 9.85800212e-01 -1.63549032e-01 -3.80743545e-02 -3.04893408e+00] [ 1.63585984e-01 9.86526707e-01 -2.16392737e-03 -3.63848525e+00] [ 3.79152758e-02 -4.09523069e-03 9.99272566e-01 -7.94561140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61907232899999 meters Centerline goodness : 0.794612 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.85681827e-01 -1.64155677e-01 -3.85259515e-02 -3.04650821e+00] [ 1.64185598e-01 9.86426527e-01 -2.40756458e-03 -3.63915749e+00] [ 3.83982359e-02 -3.95231374e-03 9.99254700e-01 -7.95777639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64907232899999 meters Centerline goodness : 0.792593 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 9.85014421e-01 -1.68340554e-01 -3.75239682e-02 -3.04674925e+00] [ 1.68206869e-01 9.85728850e-01 -6.71435455e-03 -3.63813763e+00] [ 3.81187562e-02 3.01946843e-04 9.99273170e-01 -7.96889126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.679072329 meters Centerline goodness : 0.791062 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98429098 -0.17262617 -0.03703352 -3.04568166] [ 0.1723582 0.98498012 -0.01033471 -3.64084179] [ 0.03826132 0.00378933 0.99926058 -0.79696215] [ 0. 0. 0. 1. ]] SLAMing on 93.709072329 meters Centerline goodness : 0.791260 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.64, Z:-0.80 [[ 9.84294036e-01 -1.72501694e-01 -3.75288713e-02 -3.04477872e+00] [ 1.72268122e-01 9.85005290e-01 -9.39533946e-03 -3.64434464e+00] [ 3.85868488e-02 2.78274841e-03 9.99251375e-01 -7.95641917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.739072329 meters Centerline goodness : 0.792073 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.64, Z:-0.80 [[ 0.98363037 -0.17648356 -0.03639846 -3.04591445] [ 0.17610353 0.98428016 -0.01342049 -3.6438189 ] [ 0.03819478 0.0067909 0.99924724 -0.79585548] [ 0. 0. 0. 1. ]] SLAMing on 93.769072329 meters Centerline goodness : 0.790985 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.80 [[ 0.98355193 -0.17684937 -0.03674105 -3.04452559] [ 0.17649135 0.98421902 -0.01279524 -3.64616978] [ 0.03842407 0.00610031 0.9992429 -0.79560797] [ 0. 0. 0. 1. ]] SLAMing on 93.799072329 meters Centerline goodness : 0.791757 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.80 [[ 0.9835596 -0.17680043 -0.03677117 -3.04444943] [ 0.17645405 0.98422967 -0.01248685 -3.64674601] [ 0.03839895 0.00579314 0.9992457 -0.79549966] [ 0. 0. 0. 1. ]] SLAMing on 93.829072329 meters Centerline goodness : 0.789535 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.79 [[ 0.98359638 -0.17655407 -0.03697064 -3.04424935] [ 0.17622546 0.98427678 -0.01199173 -3.64816757] [ 0.03850653 0.00527986 0.9992444 -0.79497569] [ 0. 0. 0. 1. ]] SLAMing on 93.859072329 meters Centerline goodness : 0.790330 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.65, Z:-0.79 [[ 0.98368446 -0.17596869 -0.0374152 -3.04349177] [ 0.17569362 0.98438844 -0.01054286 -3.65358266] [ 0.0386863 0.00379724 0.99924419 -0.79360673] [ 0. 0. 0. 1. ]] SLAMing on 93.88907232899999 meters Centerline goodness : 0.790499 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.65, Z:-0.79 [[ 0.98316322 -0.17913884 -0.03604675 -3.04575661] [ 0.1787328 0.98379497 -0.01421424 -3.65371041] [ 0.03800893 0.00753219 0.99924901 -0.79364915] [ 0. 0. 0. 1. ]] SLAMing on 93.91907232899999 meters Centerline goodness : 0.789149 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.66, Z:-0.79 [[ 0.98327241 -0.17851877 -0.03614442 -3.04586292] [ 0.17814905 0.98391458 -0.01322959 -3.65670252] [ 0.03792475 0.0065692 0.999259 -0.79303851] [ 0. 0. 0. 1. ]] SLAMing on 93.94907232899999 meters Centerline goodness : 0.789120 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.66, Z:-0.79 [[ 9.83956768e-01 -1.74401181e-01 -3.75939740e-02 -3.04399460e+00] [ 1.74212081e-01 9.84673395e-01 -8.27385877e-03 -3.66041190e+00] [ 3.84607567e-02 1.59179491e-03 9.99258844e-01 -7.91983676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97907232899999 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.66, Z:-0.79 [[ 0.98345944 -0.17746068 -0.0362662 -3.04628635] [ 0.17712875 0.98411213 -0.01219503 -3.65826047] [ 0.03785414 0.00556953 0.99926775 -0.7927732 ] [ 0. 0. 0. 1. ]] SLAMing on 94.00907232899999 meters Centerline goodness : 0.786896 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.66, Z:-0.79 [[ 9.84154836e-01 -1.73250138e-01 -3.77312666e-02 -3.04440700e+00] [ 1.73103896e-01 9.84877734e-01 -7.13380387e-03 -3.66262328e+00] [ 3.83966168e-02 4.89338335e-04 9.99262458e-01 -7.91604028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03907232899999 meters Centerline goodness : 0.784569 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.67, Z:-0.79 [[ 9.84309304e-01 -1.72356333e-01 -3.77953438e-02 -3.04456707e+00] [ 1.72252576e-01 9.85034487e-01 -6.00917213e-03 -3.66675022e+00] [ 3.82654359e-02 -5.95461311e-04 9.99267433e-01 -7.91016033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.069072329 meters Centerline goodness : 0.782340 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.67, Z:-0.80 [[ 9.85990765e-01 -1.65124927e-01 -2.35790129e-02 -3.04684785e+00] [ 1.65172151e-01 9.86264750e-01 5.60217341e-05 -3.67417387e+00] [ 2.32458987e-02 -3.94983320e-03 9.99721975e-01 -7.95813756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.099072329 meters Centerline goodness : 0.783528 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.68, Z:-0.80 [[ 9.86029595e-01 -1.64863067e-01 -2.37866991e-02 -3.04616725e+00] [ 1.64924086e-01 9.86306073e-01 6.13191583e-04 -3.67649829e+00] [ 2.33598731e-02 -4.52762465e-03 9.99716868e-01 -7.95732308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.129072329 meters Centerline goodness : 0.781334 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.69, Z:-0.80 [[ 0.98747784 -0.15745646 -0.00974523 -3.0463954 ] [ 0.15751856 0.987498 0.00596661 -3.68565846] [ 0.00868391 -0.00742695 0.99993471 -0.80285749] [ 0. 0. 0. 1. ]] SLAMing on 94.159072329 meters Centerline goodness : 0.781182 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.69, Z:-0.81 [[ 0.98856263 -0.1507345 0.00479911 -3.04825642] [ 0.15067371 0.98852022 0.01118951 -3.69341867] [-0.00643067 -0.01033843 0.99992588 -0.81029667] [ 0. 0. 0. 1. ]] SLAMing on 94.189072329 meters Centerline goodness : 0.779117 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.70, Z:-0.82 [[ 0.98937049 -0.14410096 0.0195177 -3.05086956] [ 0.14378573 0.98946795 0.01669879 -3.70174142] [-0.02171845 -0.01371493 0.99967005 -0.81652685] [ 0. 0. 0. 1. ]] SLAMing on 94.219072329 meters Centerline goodness : 0.780318 Centerline is valid? [False, False] Translation: X:-3.05, Y:-3.71, Z:-0.83 [[ 0.98989906 -0.13806778 0.03220469 -3.04835326] [ 0.13753789 0.99033044 0.01813707 -3.70864639] [-0.03439743 -0.01352451 0.99931672 -0.82683037] [ 0. 0. 0. 1. ]] SLAMing on 94.24907232899999 meters Centerline goodness : 0.777711 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99042892 -0.13149115 0.04195984 -3.04076441] [ 0.13082804 0.99123822 0.01818821 -3.71816614] [-0.04398378 -0.01252461 0.99895373 -0.83887022] [ 0. 0. 0. 1. ]] SLAMing on 94.27907232899999 meters Centerline goodness : 0.777716 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99045393 -0.13125483 0.04210921 -3.04009054] [ 0.13054998 0.99125802 0.01908515 -3.7211019 ] [-0.04424611 -0.0134056 0.99893071 -0.84021773] [ 0. 0. 0. 1. ]] SLAMing on 94.30907232899999 meters Centerline goodness : 0.778597 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.72, Z:-0.84 [[ 0.99048612 -0.13101002 0.04211427 -3.03965113] [ 0.13027707 0.99128164 0.01971305 -3.72396476] [-0.04432971 -0.01403898 0.99891831 -0.84051452] [ 0. 0. 0. 1. ]] SLAMing on 94.33907232899999 meters Centerline goodness : 0.776508 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.73, Z:-0.85 [[ 0.99066638 -0.12504919 0.05424782 -3.03688856] [ 0.12405719 0.99204649 0.02129718 -3.73158973] [-0.05647955 -0.01436856 0.99830036 -0.85183951] [ 0. 0. 0. 1. ]] SLAMing on 94.36907232899999 meters Centerline goodness : 0.777374 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.74, Z:-0.85 [[ 0.99049326 -0.12675679 0.05343991 -3.03246033] [ 0.12592511 0.99186412 0.01866666 -3.73738644] [-0.05537125 -0.01175978 0.99839658 -0.85413041] [ 0. 0. 0. 1. ]] SLAMing on 94.39907232899999 meters Centerline goodness : 0.778461 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.74, Z:-0.85 [[ 0.99040674 -0.12760611 0.05302042 -3.03063218] [ 0.12684652 0.99176856 0.01746656 -3.74055068] [-0.05481282 -0.01057355 0.99844066 -0.85458049] [ 0. 0. 0. 1. ]] SLAMing on 94.429072329 meters Centerline goodness : 0.775302 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.85 [[ 0.99012726 -0.12989932 0.05267036 -3.02888105] [ 0.1292365 0.99148767 0.01581514 -3.7458861 ] [-0.05427639 -0.00885207 0.99848671 -0.85476082] [ 0. 0. 0. 1. ]] SLAMing on 94.459072329 meters Centerline goodness : 0.776555 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.86 [[ 0.99000337 -0.13095925 0.05237369 -3.02768503] [ 0.13029321 0.9913472 0.0159503 -3.74904404] [-0.05400935 -0.00896691 0.99850017 -0.85551244] [ 0. 0. 0. 1. ]] SLAMing on 94.489072329 meters Centerline goodness : 0.776555 Centerline is valid? [False, False] Translation: X:-3.03, Y:-3.75, Z:-0.86 [[ 0.99000337 -0.13095925 0.05237369 -3.02768503] [ 0.13029321 0.9913472 0.0159503 -3.74904404] [-0.05400935 -0.00896691 0.99850017 -0.85551244] [ 0. 0. 0. 1. ]] SLAMing on 94.519072329 meters Centerline goodness : 0.773672 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.75, Z:-0.86 [[ 0.98975836 -0.13290537 0.05210134 -3.02494054] [ 0.13234148 0.99110328 0.01414273 -3.75090884] [-0.05351746 -0.00710271 0.99854165 -0.85807273] [ 0. 0. 0. 1. ]] SLAMing on 94.549072329 meters Centerline goodness : 0.774139 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.9892218 -0.13675491 0.05232904 -3.0233476 ] [ 0.13626525 0.9905893 0.01283011 -3.75561093] [-0.05359117 -0.00556119 0.99854747 -0.8603685 ] [ 0. 0. 0. 1. ]] SLAMing on 94.579072329 meters Centerline goodness : 0.774560 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.9889963 -0.13832502 0.05246441 -3.02185752] [ 0.13788239 0.99037613 0.01198185 -3.75816904] [-0.05361689 -0.00461609 0.99855091 -0.86238497] [ 0. 0. 0. 1. ]] SLAMing on 94.609072329 meters Centerline goodness : 0.772584 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.86 [[ 0.98896177 -0.13855288 0.05251402 -3.0219107 ] [ 0.1380671 0.99034035 0.01278576 -3.76116502] [-0.05377825 -0.00539417 0.99853833 -0.86231498] [ 0. 0. 0. 1. ]] SLAMing on 94.63907232899999 meters Centerline goodness : 0.774862 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.76, Z:-0.87 [[ 0.98892677 -0.1392731 0.0512528 -3.0169513 ] [ 0.13883934 0.99024287 0.01194568 -3.76444043] [-0.05241643 -0.0046975 0.99861427 -0.86563243] [ 0. 0. 0. 1. ]] SLAMing on 94.66907232899999 meters Centerline goodness : 0.774158 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.77, Z:-0.87 [[ 0.98886931 -0.13982798 0.05084904 -3.01508784] [ 0.13939045 0.99016395 0.01206875 -3.76567863] [-0.05203643 -0.00484654 0.99863343 -0.8672724 ] [ 0. 0. 0. 1. ]] SLAMing on 94.69907232899999 meters Centerline goodness : 0.775637 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 0.9887919 -0.14039406 0.05079451 -3.01426701] [ 0.1399537 0.99008359 0.01214256 -3.76743258] [-0.05199555 -0.00489758 0.99863531 -0.86823529] [ 0. 0. 0. 1. ]] SLAMing on 94.72907232899999 meters Centerline goodness : 0.778537 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88498508e-01 -1.42471067e-01 5.07217456e-02 -3.01297909e+00] [ 1.42205356e-01 9.89797810e-01 8.82793770e-03 -3.77019739e+00] [-5.14619984e-02 -1.51349936e-03 9.98673807e-01 -8.67597724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75907232899999 meters Centerline goodness : 0.778453 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88417762e-01 -1.43030967e-01 5.07195166e-02 -3.01220603e+00] [ 1.42839757e-01 9.89718212e-01 7.39360724e-03 -3.77189849e+00] [-5.12555441e-02 -6.32093156e-05 9.98685569e-01 -8.67611087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78907232899999 meters Centerline goodness : 0.764475 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88365819e-01 -1.43220181e-01 5.11955735e-02 -3.01317079e+00] [ 1.43002562e-01 9.89690727e-01 7.90772827e-03 -3.77337759e+00] [-5.18003306e-02 -4.94630167e-04 9.98657339e-01 -8.67352879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.819072329 meters Centerline goodness : 0.768811 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.77, Z:-0.87 [[ 9.88370439e-01 -1.43232793e-01 5.10709545e-02 -3.01205964e+00] [ 1.42989266e-01 9.89688511e-01 8.40958205e-03 -3.77439151e+00] [-5.17488649e-02 -1.00918399e-03 9.98659620e-01 -8.68822823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.849072329 meters Centerline goodness : 0.773870 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.88663890e-01 -1.41325251e-01 5.07038972e-02 -3.00991003e+00] [ 1.40968864e-01 9.89957757e-01 1.05554570e-02 -3.77669458e+00] [-5.16864690e-02 -3.28812839e-03 9.98657948e-01 -8.71558189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.879072329 meters Centerline goodness : 0.773949 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.88908786e-01 -1.39886096e-01 4.99128554e-02 -3.00862285e+00] [ 1.39527952e-01 9.90161330e-01 1.06062014e-02 -3.77722892e+00] [-5.09054394e-02 -3.52432725e-03 9.98697259e-01 -8.70795206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.909072329 meters Centerline goodness : 0.772731 Centerline is valid? [False, False] Translation: X:-3.01, Y:-3.78, Z:-0.87 [[ 9.89178999e-01 -1.38264876e-01 4.90686374e-02 -3.00686995e+00] [ 1.37950770e-01 9.90391120e-01 9.74757355e-03 -3.77731530e+00] [-4.99448898e-02 -2.87303874e-03 9.98747843e-01 -8.69926191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.939072329 meters Centerline goodness : 0.771995 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.89638629e-01 -1.35264527e-01 4.81548752e-02 -3.00490689e+00] [ 1.35027318e-01 9.90808272e-01 8.16038267e-03 -3.77791942e+00] [-4.88160590e-02 -1.57360629e-03 9.98806546e-01 -8.68381254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.969072329 meters Centerline goodness : 0.770282 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.89915995e-01 -1.33511986e-01 4.73378563e-02 -3.00305928e+00] [ 1.33306031e-01 9.91046577e-01 7.49556806e-03 -3.77811681e+00] [-4.79147686e-02 -1.10956098e-03 9.98850812e-01 -8.67819595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99907232899999 meters Centerline goodness : 0.756281 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 9.90264258e-01 -1.31194422e-01 4.65265906e-02 -3.00132541e+00] [ 1.30968920e-01 9.91355191e-01 7.87571620e-03 -3.77811880e+00] [-4.71576271e-02 -1.70550291e-03 9.98886004e-01 -8.67644656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02907232899999 meters Centerline goodness : 0.770922 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 0.99109014 -0.12521559 0.04540263 -3.00086993] [ 0.12481327 0.99211242 0.01160161 -3.77786263] [-0.04649721 -0.00583139 0.9989014 -0.86572783] [ 0. 0. 0. 1. ]] SLAMing on 95.05907232899999 meters Centerline goodness : 0.768946 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.87 [[ 0.99146488 -0.12234451 0.04504683 -2.99976155] [ 0.12192431 0.99246721 0.01197057 -3.77721516] [-0.04617204 -0.0063761 0.99891315 -0.86597356] [ 0. 0. 0. 1. ]] SLAMing on 95.08907232899999 meters Centerline goodness : 0.768144 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99187533 -0.11916222 0.04453874 -2.99999706] [ 0.11870247 0.99284687 0.0128378 -3.77660774] [-0.04574993 -0.00744664 0.99892517 -0.86379002] [ 0. 0. 0. 1. ]] SLAMing on 95.11907232899999 meters Centerline goodness : 0.766183 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99263683 -0.11322617 0.04303435 -2.99740033] [ 0.11276996 0.99353748 0.01289268 -3.77648127] [-0.04421603 -0.00794476 0.9989904 -0.86199595] [ 0. 0. 0. 1. ]] SLAMing on 95.14907232899999 meters Centerline goodness : 0.770312 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.78, Z:-0.86 [[ 0.99292751 -0.11111566 0.0418124 -2.99527969] [ 0.11071582 0.99378244 0.01176708 -3.77612108] [-0.04285994 -0.00705456 0.99905618 -0.86047129] [ 0. 0. 0. 1. ]] SLAMing on 95.179072329 meters Centerline goodness : 0.769781 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.78, Z:-0.86 [[ 0.99314765 -0.10940901 0.04107818 -2.99419084] [ 0.10905035 0.99397669 0.01087949 -3.77620311] [-0.04202107 -0.00632535 0.9990967 -0.85892458] [ 0. 0. 0. 1. ]] SLAMing on 95.209072329 meters Centerline goodness : 0.769667 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.78, Z:-0.86 [[ 0.99329037 -0.10810216 0.04108732 -2.99380836] [ 0.10774132 0.99411916 0.01090398 -3.77504462] [-0.04202444 -0.00640402 0.99909606 -0.85934877] [ 0. 0. 0. 1. ]] SLAMing on 95.239072329 meters Centerline goodness : 0.768086 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99329873 -0.10805128 0.04101895 -2.99258702] [ 0.10767854 0.99412271 0.01119674 -3.77410473] [-0.04198769 -0.00670485 0.99909563 -0.86131122] [ 0. 0. 0. 1. ]] SLAMing on 95.269072329 meters Centerline goodness : 0.766992 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99334256 -0.1077163 0.04083809 -2.99209034] [ 0.1073027 0.99415161 0.01219435 -3.77379128] [-0.04191278 -0.00773113 0.99909136 -0.86195544] [ 0. 0. 0. 1. ]] SLAMing on 95.299072329 meters Centerline goodness : 0.766499 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9934235 -0.10709598 0.04049947 -2.99173634] [ 0.10666727 0.99421482 0.01260869 -3.77410379] [-0.04161551 -0.00820581 0.9991 -0.86138388] [ 0. 0. 0. 1. ]] SLAMing on 95.329072329 meters Centerline goodness : 0.766096 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99339759 -0.10736947 0.04041077 -2.99082833] [ 0.10698884 0.99419402 0.01147301 -3.77290053] [-0.04140799 -0.00707376 0.99911728 -0.86214646] [ 0. 0. 0. 1. ]] SLAMing on 95.359072329 meters Centerline goodness : 0.762027 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9934176 -0.1072646 0.04019667 -2.99083328] [ 0.10689307 0.99420646 0.01128688 -3.77214231] [-0.04117448 -0.00691584 0.99912804 -0.86137745] [ 0. 0. 0. 1. ]] SLAMing on 95.38907232899999 meters Centerline goodness : 0.762762 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99345752 -0.1069685 0.03999877 -2.9905361 ] [ 0.10661701 0.99424122 0.010826 -3.77180875] [-0.04092647 -0.00649062 0.99914108 -0.86090411] [ 0. 0. 0. 1. ]] SLAMing on 95.41907232899999 meters Centerline goodness : 0.765625 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99350286 -0.10666547 0.0396806 -2.98984928] [ 0.1063484 0.99427841 0.01002336 -3.77175642] [-0.04052271 -0.00573827 0.99916214 -0.86033556] [ 0. 0. 0. 1. ]] SLAMing on 95.44907232899999 meters Centerline goodness : 0.763616 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99358547 -0.10597386 0.03946468 -2.98960291] [ 0.1056705 0.99435388 0.00970099 -3.77096852] [-0.04026991 -0.00546851 0.99917387 -0.85966343] [ 0. 0. 0. 1. ]] SLAMing on 95.47907232899999 meters Centerline goodness : 0.762096 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99358525 -0.10593428 0.03957626 -2.99035442] [ 0.105608 0.99435499 0.01025165 -3.76930054] [-0.04043885 -0.00600632 0.99916396 -0.85921249] [ 0. 0. 0. 1. ]] SLAMing on 95.50907232899999 meters Centerline goodness : 0.758229 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9936302 -0.10529063 0.04016092 -2.99231394] [ 0.10483555 0.9944009 0.01327986 -3.76769102] [-0.04133429 -0.00898497 0.99910497 -0.8591514 ] [ 0. 0. 0. 1. ]] SLAMing on 95.53907232899999 meters Centerline goodness : 0.757863 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.9936774 -0.10492307 0.03995458 -2.99113584] [ 0.10448232 0.99444217 0.01296985 -3.76703479] [-0.04109335 -0.0087133 0.99911732 -0.86023957] [ 0. 0. 0. 1. ]] SLAMing on 95.569072329 meters Centerline goodness : 0.756400 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99373221 -0.10451584 0.03965781 -2.99044853] [ 0.10407345 0.99448378 0.01306594 -3.76671537] [-0.04080464 -0.00885672 0.99912789 -0.86025506] [ 0. 0. 0. 1. ]] SLAMing on 95.599072329 meters Centerline goodness : 0.757481 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.77, Z:-0.86 [[ 0.99381618 -0.10374262 0.03958377 -2.99019243] [ 0.10333356 0.99457133 0.01224908 -3.76512133] [-0.04063963 -0.008083 0.99914117 -0.85992979] [ 0. 0. 0. 1. ]] SLAMing on 95.629072329 meters Centerline goodness : 0.757221 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99387713 -0.10327171 0.03928365 -2.9892194 ] [ 0.10289325 0.99462544 0.01154218 -3.7636149 ] [-0.0402645 -0.00742948 0.99916143 -0.86020236] [ 0. 0. 0. 1. ]] SLAMing on 95.659072329 meters Centerline goodness : 0.756786 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99398562 -0.10213322 0.0395144 -2.99076518] [ 0.10168982 0.99473019 0.01307813 -3.76082056] [-0.04064188 -0.00898126 0.99913341 -0.85917574] [ 0. 0. 0. 1. ]] SLAMing on 95.689072329 meters Centerline goodness : 0.755693 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99399773 -0.10201535 0.03951439 -2.99129729] [ 0.10158497 0.99474508 0.01275584 -3.75885733] [-0.04060804 -0.00866521 0.99913758 -0.85825326] [ 0. 0. 0. 1. ]] SLAMing on 95.719072329 meters Centerline goodness : 0.754897 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99399581 -0.10208043 0.03939425 -2.99128227] [ 0.10167943 0.99474415 0.01205719 -3.75759326] [-0.040418 -0.00797921 0.999151 -0.85754258] [ 0. 0. 0. 1. ]] SLAMing on 95.74907232899999 meters Centerline goodness : 0.758138 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.76, Z:-0.86 [[ 0.99390873 -0.10297402 0.03926567 -2.99050338] [ 0.10264495 0.99466461 0.01031203 -3.75596355] [-0.04011804 -0.00621879 0.99917559 -0.85791584] [ 0. 0. 0. 1. ]] SLAMing on 95.77907232899999 meters Centerline goodness : 0.757191 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99374957 -0.10423768 0.0399538 -2.99214519] [ 0.10388978 0.99453134 0.01069266 -3.75453907] [-0.04084988 -0.00647503 0.99914431 -0.85788891] [ 0. 0. 0. 1. ]] SLAMing on 95.80907232899999 meters Centerline goodness : 0.757198 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99368176 -0.10471933 0.04037847 -2.99246154] [ 0.1043123 0.99447141 0.01206463 -3.75375424] [-0.04141864 -0.00777644 0.99911162 -0.85955209] [ 0. 0. 0. 1. ]] SLAMing on 95.83907232899999 meters Centerline goodness : 0.754143 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.9935904 -0.10543193 0.04077039 -2.99218881] [ 0.10500005 0.9943924 0.01259896 -3.75260749] [-0.0418701 -0.00823732 0.99908911 -0.86178581] [ 0. 0. 0. 1. ]] SLAMing on 95.86907232899999 meters Centerline goodness : 0.757633 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 0.99345018 -0.10650961 0.0413817 -2.99310171] [ 0.10607082 0.99427793 0.01266443 -3.75165857] [-0.04249379 -0.00819209 0.99906314 -0.86245732] [ 0. 0. 0. 1. ]] SLAMing on 95.89907232899999 meters Centerline goodness : 0.757246 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.86 [[ 9.93042454e-01 -1.09979620e-01 4.20852436e-02 -2.99479336e+00] [ 1.09739436e-01 9.93928336e-01 7.98241957e-03 -3.74896799e+00] [-4.27076196e-02 -3.30847063e-03 9.99082135e-01 -8.60239311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.929072329 meters Centerline goodness : 0.755614 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92870232e-01 -1.11295316e-01 4.26855294e-02 -2.99561303e+00] [ 1.11171460e-01 9.93787258e-01 5.27188296e-03 -3.74808148e+00] [-4.30070711e-02 -4.88883012e-04 9.99074648e-01 -8.59280424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.959072329 meters Centerline goodness : 0.759146 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92686475e-01 -1.12657226e-01 4.33810062e-02 -2.99700633e+00] [ 1.12571673e-01 9.93633786e-01 4.41779166e-03 -3.74748406e+00] [-4.36025296e-02 4.97990415e-04 9.99048833e-01 -8.58893288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.989072329 meters Centerline goodness : 0.758673 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 9.92503165e-01 -1.14003748e-01 4.40523920e-02 -2.99781346e+00] [ 1.13834053e-01 9.93479485e-01 6.34985886e-03 -3.74625022e+00] [-4.44890555e-02 -1.28759267e-03 9.99009042e-01 -8.61261899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.019072329 meters Centerline goodness : 0.760488 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 0.99250434 -0.11389003 0.04431925 -2.99947874] [ 0.11357269 0.9934831 0.0096219 -3.74595449] [-0.04512627 -0.00451632 0.99897108 -0.861436 ] [ 0. 0. 0. 1. ]] SLAMing on 96.049072329 meters Centerline goodness : 0.755884 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.75, Z:-0.86 [[ 0.99242444 -0.11457827 0.04433456 -2.9983095 ] [ 0.11423513 0.99340132 0.01020585 -3.74522683] [-0.04521138 -0.00506397 0.99896461 -0.86402635] [ 0. 0. 0. 1. ]] SLAMing on 96.079072329 meters Centerline goodness : 0.757103 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92164146e-01 -1.16631749e-01 4.48033842e-02 -2.99826051e+00] [ 1.16369875e-01 9.93170270e-01 8.41830941e-03 -3.74381731e+00] [-4.54792313e-02 -3.13858057e-03 9.98960354e-01 -8.64980726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.109072329 meters Centerline goodness : 0.758541 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92114792e-01 -1.17078065e-01 4.47321504e-02 -2.99905758e+00] [ 1.16884020e-01 9.93121336e-01 6.93818031e-03 -3.74295414e+00] [-4.52367616e-02 -1.65499777e-03 9.98974923e-01 -8.62892429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13907232899999 meters Centerline goodness : 0.760402 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92114633e-01 -1.17148401e-01 4.45511755e-02 -2.99937002e+00] [ 1.17008756e-01 9.93114304e-01 5.73842841e-03 -3.74183965e+00] [-4.49166574e-02 -4.80301159e-04 9.98990622e-01 -8.61242670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16907232899999 meters Centerline goodness : 0.759542 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92298444e-01 -1.15622990e-01 4.44423450e-02 -2.99899857e+00] [ 1.15513099e-01 9.93293163e-01 5.04153384e-03 -3.73930246e+00] [-4.47271946e-02 1.30966794e-04 9.98999230e-01 -8.60911045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19907232899999 meters Centerline goodness : 0.759709 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92412849e-01 -1.14729644e-01 4.42023262e-02 -2.99850742e+00] [ 1.14597633e-01 9.93396668e-01 5.51743111e-03 -3.73802824e+00] [-4.45434565e-02 -4.10087592e-04 9.99007363e-01 -8.61120133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22907232899999 meters Centerline goodness : 0.764452 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92731816e-01 -1.11939649e-01 4.41933891e-02 -2.99962244e+00] [ 1.11693934e-01 9.93710466e-01 7.99845514e-03 -3.73700922e+00] [-4.48107776e-02 -3.00418743e-03 9.98990975e-01 -8.59862588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25907232899999 meters Centerline goodness : 0.762405 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.74, Z:-0.86 [[ 9.92848583e-01 -1.10962761e-01 4.40335847e-02 -2.99928611e+00] [ 1.10694482e-01 9.93818198e-01 8.49240640e-03 -3.73604352e+00] [-4.47037186e-02 -3.55739881e-03 9.98993955e-01 -8.59981521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28907232899999 meters Centerline goodness : 0.761039 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 9.93021601e-01 -1.09739264e-01 4.31902111e-02 -2.99667996e+00] [ 1.09498762e-01 9.93955518e-01 7.90250839e-03 -3.73495556e+00] [-4.37963641e-02 -3.11808690e-03 9.99035613e-01 -8.60957333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.319072329 meters Centerline goodness : 0.761883 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99345747 -0.10598016 0.04254954 -2.99714906] [ 0.10567116 0.9943562 0.00945303 -3.73390385] [-0.04331123 -0.00489493 0.99904964 -0.85819075] [ 0. 0. 0. 1. ]] SLAMing on 96.349072329 meters Centerline goodness : 0.761148 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99362482 -0.10461946 0.04200577 -2.99627989] [ 0.10431276 0.9944998 0.00943393 -3.73329701] [-0.0427617 -0.00499204 0.99907283 -0.85758047] [ 0. 0. 0. 1. ]] SLAMing on 96.379072329 meters Centerline goodness : 0.761487 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99377979 -0.10327144 0.04167408 -2.99605086] [ 0.10297257 0.99464108 0.00926132 -3.73283077] [-0.04240719 -0.00491242 0.99908833 -0.85641927] [ 0. 0. 0. 1. ]] SLAMing on 96.409072329 meters Centerline goodness : 0.761487 Centerline is valid? [False, False] Translation: X:-3.00, Y:-3.73, Z:-0.86 [[ 0.99377979 -0.10327144 0.04167408 -2.99605086] [ 0.10297257 0.99464108 0.00926132 -3.73283077] [-0.04240719 -0.00491242 0.99908833 -0.85641927] [ 0. 0. 0. 1. ]] SLAMing on 96.439072329 meters Centerline goodness : 0.761039 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.86 [[ 0.99384719 -0.10287059 0.04105376 -2.99413731] [ 0.10262633 0.99468765 0.00801929 -3.7318257 ] [-0.04166062 -0.00375676 0.99912476 -0.8568765 ] [ 0. 0. 0. 1. ]] SLAMing on 96.469072329 meters Centerline goodness : 0.761716 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93960857e-01 -1.01916691e-01 4.06792788e-02 -2.99414918e+00] [ 1.01717245e-01 9.94789085e-01 6.94831450e-03 -3.73129638e+00] [-4.11754517e-02 -2.76856848e-03 9.99148096e-01 -8.54807439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49907232899999 meters Centerline goodness : 0.760233 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93982622e-01 -1.01696199e-01 4.06992558e-02 -2.99376088e+00] [ 1.01528078e-01 9.94813466e-01 6.18200495e-03 -3.73142215e+00] [-4.11168541e-02 -2.01268827e-03 9.99152317e-01 -8.54787092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52907232899999 meters Centerline goodness : 0.760116 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.94007228e-01 -1.01518975e-01 4.05404612e-02 -2.99400863e+00] [ 1.01355535e-01 9.94831737e-01 6.07203773e-03 -3.73203979e+00] [-4.09473645e-02 -1.92664925e-03 9.99159447e-01 -8.53646903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55907232899999 meters Centerline goodness : 0.758939 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.85 [[ 9.93886610e-01 -1.02515577e-01 4.09873475e-02 -2.99422496e+00] [ 1.02332532e-01 9.94728716e-01 6.54483261e-03 -3.73279827e+00] [-4.14422389e-02 -2.31048245e-03 9.99138230e-01 -8.54959719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58907232899999 meters Centerline goodness : 0.759352 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.86 [[ 9.93832993e-01 -1.03047303e-01 4.09540534e-02 -2.99321311e+00] [ 1.02843853e-01 9.94672532e-01 7.04955704e-03 -3.73393334e+00] [-4.14623098e-02 -2.79420975e-03 9.99136162e-01 -8.56651793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61907232899999 meters Centerline goodness : 0.758667 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93558825e-01 -1.05473466e-01 4.14271534e-02 -2.99305836e+00] [ 1.05239842e-01 9.94416385e-01 7.78641543e-03 -3.73639800e+00] [-4.20171004e-02 -3.37647469e-03 9.99111186e-01 -8.58979090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64907232899999 meters Centerline goodness : 0.758212 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93392113e-01 -1.06948147e-01 4.16437654e-02 -2.99279459e+00] [ 1.06746436e-01 9.94261324e-01 7.04398170e-03 -3.73754253e+00] [-4.21581261e-02 -2.55211231e-03 9.99107691e-01 -8.59690997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.679072329 meters Centerline goodness : 0.756267 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93193165e-01 -1.08830909e-01 4.15110929e-02 -2.99098572e+00] [ 1.08755638e-01 9.94060166e-01 4.07396338e-03 -3.73792578e+00] [-4.17078970e-02 4.68332806e-04 9.99129737e-01 -8.60789354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.709072329 meters Centerline goodness : 0.757573 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.93093484e-01 -1.09719101e-01 4.15578011e-02 -2.99177152e+00] [ 1.09693436e-01 9.93961224e-01 2.90428232e-03 -3.73908523e+00] [-4.16254981e-02 1.67439413e-03 9.99131880e-01 -8.58976999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.739072329 meters Centerline goodness : 0.758370 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92799617e-01 -1.12289528e-01 4.17130936e-02 -2.98998257e+00] [ 1.12408821e-01 9.93661909e-01 -5.17999155e-04 -3.74014242e+00] [-4.13905463e-02 5.20318904e-03 9.99129496e-01 -8.60768313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.769072329 meters Centerline goodness : 0.757916 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92724416e-01 -1.12950176e-01 4.17192018e-02 -2.98891860e+00] [ 1.13056885e-01 9.93588497e-01 -1.99782850e-04 -3.74127730e+00] [-4.14291535e-02 4.91497233e-03 9.99129355e-01 -8.62572704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.799072329 meters Centerline goodness : 0.759631 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.74, Z:-0.86 [[ 9.92673219e-01 -1.13272217e-01 4.20628683e-02 -2.98942297e+00] [ 1.13335014e-01 9.93556426e-01 8.96420874e-04 -3.74304684e+00] [-4.18933726e-02 3.87734276e-03 9.99114564e-01 -8.63166429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.829072329 meters Centerline goodness : 0.756561 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.92322399e-01 -1.16334604e-01 4.19823346e-02 -2.98664444e+00] [ 1.16408126e-01 9.93201219e-01 6.97440908e-04 -3.74656218e+00] [-4.17780424e-02 4.19499864e-03 9.99118110e-01 -8.67285123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.859072329 meters Centerline goodness : 0.759213 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.92110591e-01 -1.17900405e-01 4.26153627e-02 -2.98730947e+00] [ 1.17950882e-01 9.93018531e-01 1.33680573e-03 -3.74836280e+00] [-4.24754548e-02 3.70026048e-03 9.99090658e-01 -8.68514222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88907232899999 meters Centerline goodness : 0.757119 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91620417e-01 -1.21712316e-01 4.33019624e-02 -2.98703420e+00] [ 1.21737556e-01 9.92560179e-01 2.06346384e-03 -3.75092835e+00] [-4.32309525e-02 3.22530222e-03 9.99059899e-01 -8.71900630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91907232899999 meters Centerline goodness : 0.757707 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91405414e-01 -1.23368636e-01 4.35371560e-02 -2.98666440e+00] [ 1.23376970e-01 9.92356712e-01 2.50586980e-03 -3.75275638e+00] [-4.35135348e-02 2.88714950e-03 9.99048666e-01 -8.73461411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94907232899999 meters Centerline goodness : 0.758892 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.75, Z:-0.87 [[ 9.91182700e-01 -1.25167779e-01 4.34727690e-02 -2.98501171e+00] [ 1.25255213e-01 9.92124295e-01 7.17557213e-04 -3.75434397e+00] [-4.32202053e-02 4.73396063e-03 9.99054355e-01 -8.74816090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97907232899999 meters Centerline goodness : 0.758366 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90842689e-01 -1.27782931e-01 4.36152399e-02 -2.98453090e+00] [ 1.28029386e-01 9.91766154e-01 -2.89337003e-03 -3.75752529e+00] [-4.28863954e-02 8.45090692e-03 9.99044213e-01 -8.73652280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00907232899999 meters Centerline goodness : 0.757736 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90792428e-01 -1.28123336e-01 4.37581578e-02 -2.98473098e+00] [ 1.28401625e-01 9.91715725e-01 -3.59774316e-03 -3.75885844e+00] [-4.29346983e-02 9.18323523e-03 9.99035675e-01 -8.73112726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03907232899999 meters Centerline goodness : 0.756608 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90822733e-01 -1.27905589e-01 4.37089470e-02 -2.98490567e+00] [ 1.28147093e-01 9.91751340e-01 -2.75717423e-03 -3.75989579e+00] [-4.29957488e-02 8.33304540e-03 9.99040503e-01 -8.72881555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.069072329 meters Centerline goodness : 0.756917 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.87 [[ 9.90934713e-01 -1.27178723e-01 4.32893479e-02 -2.98278476e+00] [ 1.27401102e-01 9.91848360e-01 -2.40629362e-03 -3.76051216e+00] [-4.26304394e-02 7.89959050e-03 9.99059679e-01 -8.74828099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.099072329 meters Centerline goodness : 0.757083 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91211405e-01 -1.25251714e-01 4.25671030e-02 -2.98131534e+00] [ 1.25379061e-01 9.92108858e-01 -3.24661585e-04 -3.76210276e+00] [-4.21905356e-02 5.65883166e-03 9.99093557e-01 -8.75464867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.129072329 meters Centerline goodness : 0.758031 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91414588e-01 -1.23886166e-01 4.18250213e-02 -2.97898528e+00] [ 1.24018452e-01 9.92279746e-01 -5.73089535e-04 -3.76285170e+00] [-4.14311236e-02 5.75524373e-03 9.99124787e-01 -8.76210652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.159072329 meters Centerline goodness : 0.754912 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.76, Z:-0.88 [[ 9.91578414e-01 -1.22697931e-01 4.14423201e-02 -2.97708701e+00] [ 1.22832282e-01 9.92427196e-01 -7.01596308e-04 -3.76394291e+00] [-4.10424011e-02 5.78614248e-03 9.99140652e-01 -8.77362851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.189072329 meters Centerline goodness : 0.757851 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.77, Z:-0.88 [[ 9.91771883e-01 -1.21361402e-01 4.07423878e-02 -2.97626183e+00] [ 1.21499984e-01 9.92590995e-01 -9.33505472e-04 -3.76570174e+00] [-4.03272357e-02 5.87602393e-03 9.99169248e-01 -8.75783611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.219072329 meters Centerline goodness : 0.757952 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.77, Z:-0.87 [[ 9.91882835e-01 -1.20544319e-01 4.04661438e-02 -2.97600520e+00] [ 1.20690019e-01 9.92689556e-01 -1.16818072e-03 -3.76622804e+00] [-4.00295008e-02 6.04255806e-03 9.99180227e-01 -8.74887989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24907232899999 meters Centerline goodness : 0.759194 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92076257e-01 -1.19108146e-01 3.99743727e-02 -2.97473240e+00] [ 1.19249994e-01 9.92863565e-01 -1.17448631e-03 -3.76629113e+00] [-3.95492074e-02 5.93212369e-03 9.99200015e-01 -8.75046486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27907232899999 meters Centerline goodness : 0.757804 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92129502e-01 -1.18880928e-01 3.93239767e-02 -2.97265003e+00] [ 1.19037855e-01 9.92888320e-01 -1.66521381e-03 -3.76573904e+00] [-3.88463550e-02 6.33314960e-03 9.99225126e-01 -8.76226729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30907232899999 meters Centerline goodness : 0.759495 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92162381e-01 -1.18639728e-01 3.92227497e-02 -2.97204942e+00] [ 1.18815611e-01 9.92913952e-01 -2.17573121e-03 -3.76493686e+00] [-3.86866873e-02 6.81895363e-03 9.99228123e-01 -8.76522288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33907232899999 meters Centerline goodness : 0.759557 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92264532e-01 -1.17869874e-01 3.89588461e-02 -2.97126605e+00] [ 1.18077732e-01 9.92999609e-01 -3.07005810e-03 -3.76507605e+00] [-3.83242516e-02 7.64648193e-03 9.99236100e-01 -8.76022688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36907232899999 meters Centerline goodness : 0.759915 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.77, Z:-0.88 [[ 9.92299865e-01 -1.17607132e-01 3.88528127e-02 -2.97135120e+00] [ 1.17824971e-01 9.93028702e-01 -3.35741735e-03 -3.76514352e+00] [-3.81871019e-02 7.90939632e-03 9.99239304e-01 -8.75266495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39907232899999 meters Centerline goodness : 0.761241 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92388236e-01 -1.16932523e-01 3.86312641e-02 -2.97062482e+00] [ 1.17161271e-01 9.93105996e-01 -3.70367786e-03 -3.76493659e+00] [-3.79318596e-02 8.20157436e-03 9.99246670e-01 -8.75319531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.429072329 meters Centerline goodness : 0.759871 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92513569e-01 -1.16064664e-01 3.80237944e-02 -2.96874221e+00] [ 1.16282935e-01 9.93209704e-01 -3.57251433e-03 -3.76418039e+00] [-3.73509589e-02 7.96728735e-03 9.99270448e-01 -8.76406643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.459072329 meters Centerline goodness : 0.761260 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.88 [[ 9.92908183e-01 -1.12624095e-01 3.80677398e-02 -2.96942105e+00] [ 1.12700361e-01 9.93629009e-01 1.43347805e-04 -3.76175615e+00] [-3.78413550e-02 4.14791681e-03 9.99275151e-01 -8.76855998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.489072329 meters Centerline goodness : 0.762983 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93222071e-01 -1.09927377e-01 3.77609520e-02 -2.97020866e+00] [ 1.09952278e-01 9.93935849e-01 1.42293535e-03 -3.76049379e+00] [-3.76883835e-02 2.73861192e-03 9.99285788e-01 -8.74919596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.519072329 meters Centerline goodness : 0.760679 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93512473e-01 -1.07465156e-01 3.72049136e-02 -2.97003318e+00] [ 1.07511976e-01 9.94203510e-01 7.45757735e-04 -3.75921905e+00] [-3.70693987e-02 3.25905417e-03 9.99307379e-01 -8.72702072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.549072329 meters Centerline goodness : 0.760644 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.87 [[ 9.93940517e-01 -1.03690326e-01 3.64769128e-02 -2.97016086e+00] [ 1.03782228e-01 9.94599845e-01 -6.29943206e-04 -3.75640916e+00] [-3.62146128e-02 4.41178134e-03 9.99334297e-01 -8.68796868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.579072329 meters Centerline goodness : 0.761652 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94070495e-01 -1.02424715e-01 3.65106752e-02 -2.97116645e+00] [ 1.02448693e-01 9.94737544e-01 1.21844664e-03 -3.75476677e+00] [-3.64433384e-02 2.52924910e-03 9.99332520e-01 -8.68145276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.609072329 meters Centerline goodness : 0.763228 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94152767e-01 -1.01561748e-01 3.66808829e-02 -2.97150026e+00] [ 1.01530285e-01 9.94828719e-01 2.72428578e-03 -3.75250235e+00] [-3.67678790e-02 1.01586426e-03 9.99323317e-01 -8.68978344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63907232899999 meters Centerline goodness : 0.765979 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.87 [[ 9.94149298e-01 -1.01317464e-01 3.74425445e-02 -2.97340339e+00] [ 1.01327374e-01 9.94851788e-01 1.63779674e-03 -3.74655102e+00] [-3.74157198e-02 2.16574021e-03 9.99297440e-01 -8.70404168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66907232899999 meters Centerline goodness : 0.764367 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.74, Z:-0.87 [[ 9.94376513e-01 -9.91439914e-02 3.72265939e-02 -2.97438713e+00] [ 9.90929068e-02 9.95072978e-01 3.21940828e-03 -3.74476058e+00] [-3.73623626e-02 4.87587426e-04 9.99301664e-01 -8.68697122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69907232899999 meters Centerline goodness : 0.765111 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.87 [[ 9.94675192e-01 -9.61944584e-02 3.69849686e-02 -2.97534612e+00] [ 9.61112769e-02 9.95362459e-01 4.02460432e-03 -3.74123616e+00] [-3.72005939e-02 -4.48501519e-04 9.99307718e-01 -8.66442416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72907232899999 meters Centerline goodness : 0.766810 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.86 [[ 9.94722709e-01 -9.57025018e-02 3.69832917e-02 -2.97601162e+00] [ 9.56647168e-02 9.95409692e-01 2.79400627e-03 -3.73884541e+00] [-3.70809204e-02 7.58734649e-04 9.99311978e-01 -8.64798745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75907232899999 meters Centerline goodness : 0.767101 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.86 [[ 9.94714655e-01 -9.57922153e-02 3.69676367e-02 -2.97694847e+00] [ 9.58137520e-02 9.95398565e-01 1.19267413e-03 -3.73605987e+00] [-3.69117814e-02 2.35563753e-03 9.99315752e-01 -8.62735849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78907232899999 meters Centerline goodness : 0.769024 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.94802896e-01 -9.47152465e-02 3.73660363e-02 -2.97939512e+00] [ 9.47390484e-02 9.95501492e-01 1.13711404e-03 -3.73113841e+00] [-3.73056469e-02 2.40881838e-03 9.99300999e-01 -8.60173681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.819072329 meters Centerline goodness : 0.767452 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.94922600e-01 -9.37130147e-02 3.67000033e-02 -2.97693601e+00] [ 9.37567348e-02 9.95594994e-01 5.31713547e-04 -3.72851115e+00] [-3.65881680e-02 2.91185865e-03 9.99326187e-01 -8.61605481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.849072329 meters Centerline goodness : 0.769615 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.86 [[ 9.95062449e-01 -9.21807064e-02 3.67891398e-02 -2.97842032e+00] [ 9.21659783e-02 9.95741444e-01 2.09968667e-03 -3.72635481e+00] [-3.68260218e-02 1.30138771e-03 9.99320845e-01 -8.60244284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.879072329 meters Centerline goodness : 0.770182 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95136640e-01 -9.14199015e-02 3.66806340e-02 -2.97749454e+00] [ 9.13998642e-02 9.95811784e-01 2.22628027e-03 -3.72425105e+00] [-3.67305339e-02 1.13715190e-03 9.99324559e-01 -8.61378698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.909072329 meters Centerline goodness : 0.770790 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95110298e-01 -9.14784937e-02 3.72448636e-02 -2.97897141e+00] [ 9.15013192e-02 9.95804353e-01 1.09484296e-03 -3.71810710e+00] [-3.71887519e-02 2.31846466e-03 9.99305570e-01 -8.62306223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.939072329 meters Centerline goodness : 0.772630 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.72, Z:-0.86 [[ 9.95182246e-01 -9.05948838e-02 3.74815199e-02 -2.98076413e+00] [ 9.05527475e-02 9.95887657e-01 2.82379044e-03 -3.71597213e+00] [-3.75832041e-02 5.83868494e-04 9.99293331e-01 -8.61207069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.969072329 meters Centerline goodness : 0.774738 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95198884e-01 -9.03466547e-02 3.76385890e-02 -2.98269786e+00] [ 9.03175658e-02 9.95909939e-01 2.47593693e-03 -3.71238597e+00] [-3.77083376e-02 9.35376071e-04 9.99288350e-01 -8.59439606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99907232899999 meters Centerline goodness : 0.774976 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95211818e-01 -9.02677874e-02 3.74855203e-02 -2.98319485e+00] [ 9.02390354e-02 9.95917093e-01 2.46169638e-03 -3.71153717e+00] [-3.75546823e-02 9.32747864e-04 9.99294139e-01 -8.58198321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02907232899999 meters Centerline goodness : 0.776087 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.71, Z:-0.86 [[ 9.95223327e-01 -9.02081875e-02 3.73230931e-02 -2.98368235e+00] [ 9.01823256e-02 9.95922430e-01 2.37931327e-03 -3.71050238e+00] [-3.73855391e-02 9.97935271e-04 9.99300418e-01 -8.56995868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05907232899999 meters Centerline goodness : 0.779298 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.86 [[ 9.95242771e-01 -8.98335832e-02 3.77061421e-02 -2.98594944e+00] [ 8.98219202e-02 9.95955820e-01 2.00665782e-03 -3.70624764e+00] [-3.77339169e-02 1.38972639e-03 9.99286856e-01 -8.55765515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08907232899999 meters Centerline goodness : 0.779024 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.86 [[ 9.95225599e-01 -8.99909769e-02 3.77839958e-02 -2.98618201e+00] [ 9.00032354e-02 9.95940517e-01 1.37984590e-03 -3.70317112e+00] [-3.77547860e-02 2.02742390e-03 9.99284977e-01 -8.56124655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11907232899999 meters Centerline goodness : 0.779088 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95541218e-01 -8.69720145e-02 3.65178251e-02 -2.98331778e+00] [ 8.68476503e-02 9.96209152e-01 4.98116233e-03 -3.70324548e+00] [-3.68126132e-02 -1.78746511e-03 9.99320587e-01 -8.56551105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14907232899999 meters Centerline goodness : 0.779750 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95533204e-01 -8.70329169e-02 3.65911372e-02 -2.98380632e+00] [ 8.69307487e-02 9.96204742e-01 4.37695320e-03 -3.70043809e+00] [-3.68332034e-02 -1.17650729e-03 9.99320735e-01 -8.56532339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.179072329 meters Centerline goodness : 0.780837 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95520271e-01 -8.72740804e-02 3.63679237e-02 -2.98308452e+00] [ 8.71866120e-02 9.96184018e-01 3.98715554e-03 -3.69934438e+00] [-3.65771196e-02 -7.98498110e-04 9.99330514e-01 -8.56932444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.209072329 meters Centerline goodness : 0.780686 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95500406e-01 -8.76264410e-02 3.60631297e-02 -2.98208461e+00] [ 8.75576354e-02 9.96153356e-01 3.48588092e-03 -3.69798601e+00] [-3.62298630e-02 -3.12593508e-04 9.99343434e-01 -8.57449310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.239072329 meters Centerline goodness : 0.779883 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95464570e-01 -8.81279908e-02 3.58294153e-02 -2.98098572e+00] [ 8.80852679e-02 9.96109080e-01 2.77226214e-03 -3.69604595e+00] [-3.59343198e-02 3.96354908e-04 9.99354075e-01 -8.58407886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.269072329 meters Centerline goodness : 0.781565 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95447558e-01 -8.84315004e-02 3.55531769e-02 -2.98005066e+00] [ 8.83996629e-02 9.96082025e-01 2.46952435e-03 -3.69529983e+00] [-3.56322642e-02 6.84606866e-04 9.99364735e-01 -8.58809263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.299072329 meters Centerline goodness : 0.781565 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.70, Z:-0.86 [[ 9.95447558e-01 -8.84315004e-02 3.55531769e-02 -2.98005066e+00] [ 8.83996629e-02 9.96082025e-01 2.46952435e-03 -3.69529983e+00] [-3.56322642e-02 6.84606866e-04 9.99364735e-01 -8.58809263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.329072329 meters Centerline goodness : 0.782068 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.69, Z:-0.86 [[ 9.95090760e-01 -9.19283191e-02 3.66546633e-02 -2.98217898e+00] [ 9.20610871e-02 9.95751457e-01 -1.94734937e-03 -3.69231451e+00] [-3.63199178e-02 5.31225751e-03 9.99326095e-01 -8.59095882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.359072329 meters Centerline goodness : 0.781659 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.69, Z:-0.86 [[ 9.95106164e-01 -9.18168040e-02 3.65157088e-02 -2.98225007e+00] [ 9.19346456e-02 9.95763825e-01 -1.55770201e-03 -3.69314334e+00] [-3.62179986e-02 4.90713762e-03 9.99331865e-01 -8.58273302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38907232899999 meters Centerline goodness : 0.781646 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99478303 -0.09481023 0.03765306 -2.98524764] [ 0.09507512 0.99545597 -0.00530383 -3.69141534] [-0.0369791 0.00885603 0.9992768 -0.85730457] [ 0. 0. 0. 1. ]] SLAMing on 98.41907232899999 meters Centerline goodness : 0.780982 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99481429 -0.09455207 0.03747573 -2.98557879] [ 0.09480107 0.99548408 -0.00491984 -3.69206908] [-0.03684131 0.00844707 0.99928543 -0.85618465] [ 0. 0. 0. 1. ]] SLAMing on 98.44907232899999 meters Centerline goodness : 0.784893 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.86 [[ 0.99482277 -0.09443639 0.03754237 -2.98587712] [ 0.09468958 0.99549419 -0.00502018 -3.69078692] [-0.03689912 0.00854906 0.99928243 -0.85628076] [ 0. 0. 0. 1. ]] SLAMing on 98.47907232899999 meters Centerline goodness : 0.783714 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.85 [[ 9.95525288e-01 -9.17716180e-02 2.25248805e-02 -2.98777187e+00] [ 9.17961191e-02 9.95777821e-01 -5.39933001e-05 -3.69447870e+00] [-2.24248214e-02 2.12144831e-03 9.99746281e-01 -8.45408798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50907232899999 meters Centerline goodness : 0.783983 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.69, Z:-0.85 [[ 9.95516744e-01 -9.18541243e-02 2.25661741e-02 -2.98755809e+00] [ 9.18831102e-02 9.95769769e-01 -2.48804959e-04 -3.69371091e+00] [-2.24478602e-02 2.32113977e-03 9.99745321e-01 -8.45970959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53907232899999 meters Centerline goodness : 0.783529 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95562201e-01 -9.14346239e-02 2.22623617e-02 -2.98752948e+00] [ 9.14456501e-02 9.95809931e-01 5.24372442e-04 -3.69669807e+00] [-2.22170267e-02 1.51375076e-03 9.99752025e-01 -8.44674688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.569072329 meters Centerline goodness : 0.783128 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95609858e-01 -9.09868757e-02 2.19636036e-02 -2.98765924e+00] [ 9.09799581e-02 9.95851854e-01 1.31607441e-03 -3.69947569e+00] [-2.19922409e-02 6.87951079e-04 9.99757905e-01 -8.43199012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.599072329 meters Centerline goodness : 0.783431 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95645871e-01 -9.06437672e-02 2.17487158e-02 -2.98775928e+00] [ 9.06228915e-02 9.95883380e-01 1.94556243e-03 -3.70158993e+00] [-2.18355377e-02 3.38403087e-05 9.99761576e-01 -8.42165730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.629072329 meters Centerline goodness : 0.784436 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95634930e-01 -9.08268689e-02 2.14840872e-02 -2.98644980e+00] [ 9.08029106e-02 9.95866689e-01 2.09009046e-03 -3.70276899e+00] [-2.15851231e-02 -1.30149428e-04 9.99767006e-01 -8.42961457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.659072329 meters Centerline goodness : 0.784662 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95628398e-01 -9.08998316e-02 2.14782227e-02 -2.98580226e+00] [ 9.08750276e-02 9.95860026e-01 2.13008963e-03 -3.70299206e+00] [-2.15829282e-02 -1.68943646e-04 9.99767047e-01 -8.43869830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.689072329 meters Centerline goodness : 0.784509 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.70, Z:-0.84 [[ 9.95623064e-01 -9.09489932e-02 2.15173196e-02 -2.98527487e+00] [ 9.09241192e-02 9.95855538e-01 2.13355170e-03 -3.70315431e+00] [-2.16221863e-02 -1.67769946e-04 9.99766199e-01 -8.44792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.719072329 meters Centerline goodness : 0.785534 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95668001e-01 -9.04576275e-02 2.15092925e-02 -2.98543780e+00] [ 9.04147038e-02 9.95899799e-01 2.96177468e-03 -3.70588446e+00] [-2.16890151e-02 -1.00418797e-03 9.99764261e-01 -8.44357537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74907232899999 meters Centerline goodness : 0.785359 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95715138e-01 -8.99569232e-02 2.14269872e-02 -2.98596826e+00] [ 8.98972153e-02 9.95944042e-01 3.73564369e-03 -3.70831201e+00] [-2.16761273e-02 -1.79341049e-03 9.99763437e-01 -8.43119216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77907232899999 meters Centerline goodness : 0.784440 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95453811e-01 -9.25209982e-02 2.26180410e-02 -2.98946099e+00] [ 9.25382058e-02 9.95709093e-01 2.86924629e-04 -3.70796080e+00] [-2.25475357e-02 1.80741272e-03 9.99744138e-01 -8.42124760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80907232899999 meters Centerline goodness : 0.786139 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.71, Z:-0.84 [[ 9.95502028e-01 -9.20076652e-02 2.25898738e-02 -2.98988341e+00] [ 9.20078881e-02 9.95757744e-01 1.03169650e-03 -3.71056046e+00] [-2.25889658e-02 1.05139063e-03 9.99744284e-01 -8.41256284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83907232899999 meters Centerline goodness : 0.786612 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.85 [[ 9.95670503e-01 -8.49882638e-02 3.76463068e-02 -2.99425733e+00] [ 8.47916981e-02 9.96375560e-01 6.79047272e-03 -3.71732024e+00] [-3.80869705e-02 -3.56897911e-03 9.99268055e-01 -8.45246023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86907232899999 meters Centerline goodness : 0.786692 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.84 [[ 0.99570921 -0.08460935 0.0374757 -2.99441074] [ 0.08438798 0.9964051 0.00745293 -3.71951538] [-0.03797157 -0.00425846 0.99926975 -0.84423202] [ 0. 0. 0. 1. ]] SLAMing on 98.89907232899999 meters Centerline goodness : 0.787099 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.72, Z:-0.84 [[ 9.95914007e-01 -8.25746083e-02 3.65612449e-02 -2.99324596e+00] [ 8.24334225e-02 9.96582187e-01 5.35494771e-03 -3.72353237e+00] [-3.68784681e-02 -2.31919889e-03 9.99317067e-01 -8.40875841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.929072329 meters Centerline goodness : 0.786211 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 9.96059393e-01 -8.12535209e-02 3.55464527e-02 -2.99060079e+00] [ 8.11017507e-02 9.96689567e-01 5.69328019e-03 -3.72536774e+00] [-3.58913776e-02 -2.78796567e-03 9.99351808e-01 -8.41515179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.959072329 meters Centerline goodness : 0.786421 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.99624986 -0.07920333 0.03482889 -2.98874191] [ 0.07897696 0.99684569 0.00783014 -3.72700062] [-0.03533921 -0.0050501 0.99936262 -0.84267011] [ 0. 0. 0. 1. ]] SLAMing on 98.989072329 meters Centerline goodness : 0.785677 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.9962434 -0.07919318 0.03503616 -2.98831941] [ 0.07898082 0.99684862 0.00740624 -3.72576001] [-0.03551227 -0.00461123 0.9993586 -0.84449805] [ 0. 0. 0. 1. ]] SLAMing on 99.019072329 meters Centerline goodness : 0.784870 Centerline is valid? [False, False] Translation: X:-2.99, Y:-3.73, Z:-0.84 [[ 0.99669052 -0.07401253 0.03361776 -2.98599717] [ 0.07364964 0.99721307 0.0119093 -3.73007282] [-0.03440551 -0.00939395 0.99936381 -0.84412304] [ 0. 0. 0. 1. ]] SLAMing on 99.049072329 meters Centerline goodness : 0.784095 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.84 [[ 0.99685179 -0.07239522 0.03233335 -2.98227135] [ 0.0720953 0.99734406 0.01034883 -3.73206572] [-0.03299668 -0.00798517 0.99942356 -0.84450497] [ 0. 0. 0. 1. ]] SLAMing on 99.079072329 meters Centerline goodness : 0.785152 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.73, Z:-0.84 [[ 0.9969481 -0.07134477 0.03169256 -2.98187961] [ 0.07108799 0.99742801 0.00915778 -3.73441394] [-0.03226441 -0.00687687 0.99945571 -0.84194713] [ 0. 0. 0. 1. ]] SLAMing on 99.109072329 meters Centerline goodness : 0.785271 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96840275e-01 -7.33108429e-02 3.05775461e-02 -2.97771089e+00] [ 7.32701750e-02 9.97309119e-01 2.44986377e-03 -3.73800646e+00] [-3.06748672e-02 -2.01700717e-04 9.99529395e-01 -8.41910474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13907232899999 meters Centerline goodness : 0.786273 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96789583e-01 -7.40024857e-02 3.05640318e-02 -2.97826018e+00] [ 7.39535777e-02 9.97257951e-01 2.72907027e-03 -3.74052905e+00] [-3.06821817e-02 -4.59989316e-04 9.99529085e-01 -8.41092107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16907232899999 meters Centerline goodness : 0.785482 Centerline is valid? [False, False] Translation: X:-2.98, Y:-3.74, Z:-0.84 [[ 9.96734480e-01 -7.48286147e-02 3.03488729e-02 -2.97687894e+00] [ 7.47679727e-02 9.97196047e-01 3.12968188e-03 -3.74274177e+00] [-3.04979658e-02 -8.50338147e-04 9.99534467e-01 -8.42706353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19907232899999 meters Centerline goodness : 0.783965 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96664280e-01 -7.60235304e-02 2.96772080e-02 -2.97281592e+00] [ 7.59714474e-02 9.97105834e-01 2.88025100e-03 -3.74726867e+00] [-2.98102841e-02 -6.16022841e-04 9.99555385e-01 -8.46798802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22907232899999 meters Centerline goodness : 0.784672 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96671064e-01 -7.61128208e-02 2.92169144e-02 -2.97159075e+00] [ 7.60834425e-02 9.97099206e-01 2.11752410e-03 -3.75032397e+00] [-2.92933329e-02 1.12448428e-04 9.99570852e-01 -8.46682740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25907232899999 meters Centerline goodness : 0.785358 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.75, Z:-0.85 [[ 9.96586523e-01 -7.74072666e-02 2.86952572e-02 -2.97020997e+00] [ 7.74450645e-02 9.96996599e-01 -2.06516269e-04 -3.75294265e+00] [-2.85930880e-02 2.42811738e-03 9.99588185e-01 -8.46153112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28907232899999 meters Centerline goodness : 0.785733 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.85 [[ 9.96440698e-01 -7.93665656e-02 2.84057064e-02 -2.96845958e+00] [ 7.94925846e-02 9.96829885e-01 -3.33320519e-03 -3.75519718e+00] [-2.80511120e-02 5.57938432e-03 9.99590919e-01 -8.46750361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.319072329 meters Centerline goodness : 0.787434 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.76, Z:-0.85 [[ 0.99620403 -0.08245213 0.02791381 -2.96496505] [ 0.08264307 0.99656259 -0.00575513 -3.75978479] [-0.02734334 0.00804016 0.99959377 -0.84985701] [ 0. 0. 0. 1. ]] SLAMing on 99.349072329 meters Centerline goodness : 0.787123 Centerline is valid? [False, False] Translation: X:-2.97, Y:-3.76, Z:-0.85 [[ 0.99622617 -0.08214533 0.02802785 -2.96524348] [ 0.08229673 0.99659864 -0.00428961 -3.76236747] [-0.02758014 0.00658002 0.99959794 -0.85008785] [ 0. 0. 0. 1. ]] SLAMing on 99.379072329 meters Centerline goodness : 0.788010 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.76, Z:-0.85 [[ 9.96284677e-01 -8.14921029e-02 2.78546195e-02 -2.96459010e+00] [ 8.16141322e-02 9.96658636e-01 -3.27059903e-03 -3.76428921e+00] [-2.74950191e-02 5.53177829e-03 9.99606634e-01 -8.50696741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.409072329 meters Centerline goodness : 0.786493 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 9.96497016e-01 -7.91133911e-02 2.71066206e-02 -2.96287783e+00] [ 7.91959597e-02 9.96857092e-01 -1.98447816e-03 -3.76736952e+00] [-2.68644282e-02 4.12426140e-03 9.99630578e-01 -8.50723963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.439072329 meters Centerline goodness : 0.786352 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 9.96622604e-01 -7.78297342e-02 2.61900146e-02 -2.96056661e+00] [ 7.79334366e-02 9.96954168e-01 -2.96092300e-03 -3.76819866e+00] [-2.58797963e-02 4.99200063e-03 9.99652598e-01 -8.50697701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.469072329 meters Centerline goodness : 0.788255 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 0.99683053 -0.07569893 0.02446567 -2.95638966] [ 0.07585262 0.99710434 -0.00541484 -3.76965598] [-0.02398493 0.00725347 0.99968601 -0.85035 ] [ 0. 0. 0. 1. ]] SLAMing on 99.49907232899999 meters Centerline goodness : 0.787372 Centerline is valid? [False, False] Translation: X:-2.96, Y:-3.77, Z:-0.85 [[ 0.99692135 -0.07461639 0.02408789 -2.95566134] [ 0.07477543 0.99718371 -0.00576975 -3.7704988 ] [-0.02358954 0.00755317 0.99969319 -0.84973693] [ 0. 0. 0. 1. ]] SLAMing on 99.52907232899999 meters Centerline goodness : 0.790578 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 0.99702602 -0.07342453 0.0234086 -2.9539314 ] [ 0.07358962 0.9972689 -0.0062699 -3.77132336] [-0.02288431 0.00797388 0.99970632 -0.84979875] [ 0. 0. 0. 1. ]] SLAMing on 99.55907232899999 meters Centerline goodness : 0.790074 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 0.99714144 -0.07207333 0.02268024 -2.95262206] [ 0.07223048 0.99736878 -0.0061866 -3.77179596] [-0.02217467 0.00780712 0.99972363 -0.84926022] [ 0. 0. 0. 1. ]] SLAMing on 99.58907232899999 meters Centerline goodness : 0.791414 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97396795e-01 -6.85876445e-02 2.22568682e-02 -2.95172693e+00] [ 6.86783305e-02 9.97633281e-01 -3.33514625e-03 -3.77332298e+00] [-2.19754427e-02 4.85502873e-03 9.99746722e-01 -8.49713930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61907232899999 meters Centerline goodness : 0.788652 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97456709e-01 -6.77594368e-02 2.21081960e-02 -2.95067164e+00] [ 6.78394102e-02 9.97692077e-01 -2.88678789e-03 -3.77338091e+00] [-2.18615648e-02 4.37925292e-03 9.99751416e-01 -8.50824215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64907232899999 meters Centerline goodness : 0.790543 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.77, Z:-0.85 [[ 9.97493768e-01 -6.72796146e-02 2.19006147e-02 -2.95047054e+00] [ 6.73524756e-02 9.97725842e-01 -2.60561412e-03 -3.77394836e+00] [-2.16755045e-02 4.07414447e-03 9.99756757e-01 -8.50325813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.679072329 meters Centerline goodness : 0.792779 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 0.99750056 -0.0672887 0.02156063 -2.9504677 ] [ 0.06739356 0.99771774 -0.00417317 -3.77635041] [-0.02123062 0.00561579 0.99975883 -0.84840198] [ 0. 0. 0. 1. ]] SLAMing on 99.709072329 meters Centerline goodness : 0.793388 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 0.99749231 -0.06731754 0.02185022 -2.95138951] [ 0.06741644 0.99771761 -0.00382068 -3.77711357] [-0.02154315 0.00528416 0.99975395 -0.84770984] [ 0. 0. 0. 1. ]] SLAMing on 99.739072329 meters Centerline goodness : 0.792871 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97484455e-01 -6.73785582e-02 2.20202406e-02 -2.95147218e+00] [ 6.74713221e-02 9.97715088e-01 -3.49636772e-03 -3.77674249e+00] [-2.17343461e-02 4.97330720e-03 9.99751411e-01 -8.48215626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.769072329 meters Centerline goodness : 0.794531 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97381330e-01 -6.86112104e-02 2.28688532e-02 -2.95217042e+00] [ 6.86564772e-02 9.97639639e-01 -1.19924270e-03 -3.77588720e+00] [-2.27325929e-02 2.76619718e-03 9.99737754e-01 -8.50717828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.799072329 meters Centerline goodness : 0.794076 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97323489e-01 -6.94256508e-02 2.29333083e-02 -2.95141868e+00] [ 6.94706049e-02 9.97583315e-01 -1.16839546e-03 -3.77617555e+00] [-2.27967691e-02 2.75845904e-03 9.99736314e-01 -8.52169189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.829072329 meters Centerline goodness : 0.797415 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.97276333e-01 -7.01221970e-02 2.28646621e-02 -2.95165735e+00] [ 7.01612084e-02 9.97535253e-01 -9.07471564e-04 -3.77769407e+00] [-2.27446726e-02 2.50921224e-03 9.99738158e-01 -8.51600815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.859072329 meters Centerline goodness : 0.799735 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.85 [[ 9.96890196e-01 -7.51811078e-02 2.36164941e-02 -2.95195210e+00] [ 7.52740114e-02 9.97158166e-01 -3.06854998e-03 -3.78020238e+00] [-2.33186830e-02 4.83671564e-03 9.99716382e-01 -8.53183145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88907232899999 meters Centerline goodness : 0.797325 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.9965704 -0.07910635 0.02428223 -2.95110128] [ 0.07925964 0.9968393 -0.00541508 -3.78093041] [-0.02377711 0.00732111 0.99969048 -0.85621143] [ 0. 0. 0. 1. ]] SLAMing on 99.91907232899999 meters Centerline goodness : 0.798697 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.9962388 -0.08301276 0.02484238 -2.95160906] [ 0.08319111 0.99651412 -0.00623223 -3.78209334] [-0.02423842 0.00827545 0.99967195 -0.85726401] [ 0. 0. 0. 1. ]] SLAMing on 99.94907232899999 meters Centerline goodness : 0.800911 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.86 [[ 0.99550331 -0.09090215 0.02664513 -2.953472 ] [ 0.09114271 0.99580607 -0.00795453 -3.78429263] [-0.0258103 0.01034727 0.99961331 -0.86027175] [ 0. 0. 0. 1. ]] SLAMing on 99.97907232899999 meters Centerline goodness : 0.800929 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.86 [[ 0.99514542 -0.09462263 0.02705835 -2.95249174] [ 0.09490862 0.9954408 -0.00948514 -3.78519793] [-0.02603747 0.01200717 0.99958885 -0.86303527] [ 0. 0. 0. 1. ]] SLAMing on 100.00907232899999 meters Centerline goodness : 0.798663 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.87 [[ 0.99482787 -0.09775385 0.02759875 -2.95160957] [ 0.09806919 0.99512619 -0.01031013 -3.78675955] [-0.02645639 0.01296339 0.99956591 -0.8660103 ] [ 0. 0. 0. 1. ]] SLAMing on 100.03907232899999 meters Centerline goodness : 0.798496 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.88 [[ 0.99463748 -0.09439431 0.04226103 -2.95276295] [ 0.09478866 0.99546975 -0.00742219 -3.79353551] [-0.04136896 0.01138826 0.99907903 -0.87736812] [ 0. 0. 0. 1. ]] SLAMing on 100.069072329 meters Centerline goodness : 0.796167 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.88 [[ 0.99394765 -0.10106838 0.04304935 -2.95097264] [ 0.10149629 0.99480481 -0.00786726 -3.7959868 ] [-0.04203057 0.012189 0.99904197 -0.88366434] [ 0. 0. 0. 1. ]] SLAMing on 100.099072329 meters Centerline goodness : 0.795948 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99355119 -0.10475641 0.04338358 -2.95014328] [ 0.10524312 0.99440502 -0.00908482 -3.79695229] [-0.04218915 0.01359206 0.99901718 -0.88594647] [ 0. 0. 0. 1. ]] SLAMing on 100.129072329 meters Centerline goodness : 0.798736 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99261364 -0.11273018 0.0448339 -2.95185279] [ 0.11341193 0.99346356 -0.01295691 -3.79819886] [-0.04308021 0.01794591 0.99891043 -0.88684364] [ 0. 0. 0. 1. ]] SLAMing on 100.159072329 meters Centerline goodness : 0.799887 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9922203 -0.1160536 0.04506028 -2.95240402] [ 0.11682423 0.99304152 -0.0148542 -3.79816201] [-0.04302285 0.02000277 0.99887383 -0.88614918] [ 0. 0. 0. 1. ]] SLAMing on 100.189072329 meters Centerline goodness : 0.797660 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9919673 -0.11821073 0.04502332 -2.95106394] [ 0.11903426 0.99276022 -0.01606234 -3.79843119] [-0.04279862 0.02129264 0.9988568 -0.88787417] [ 0. 0. 0. 1. ]] SLAMing on 100.219072329 meters Centerline goodness : 0.797660 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9919673 -0.11821073 0.04502332 -2.95106394] [ 0.11903426 0.99276022 -0.01606234 -3.79843119] [-0.04279862 0.02129264 0.9988568 -0.88787417] [ 0. 0. 0. 1. ]] SLAMing on 100.24907232899999 meters Centerline goodness : 0.798529 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99179069 -0.11946493 0.0456 -2.95136402] [ 0.12025907 0.99262802 -0.01507874 -3.79876676] [-0.04346246 0.02043877 0.99884597 -0.88963069] [ 0. 0. 0. 1. ]] SLAMing on 100.27907232899999 meters Centerline goodness : 0.795737 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99159614 -0.12083681 0.04621221 -2.95179504] [ 0.12151305 0.99251602 -0.01210512 -3.79868677] [-0.04440362 0.01761878 0.9988583 -0.89252342] [ 0. 0. 0. 1. ]] SLAMing on 100.30907232899999 meters Centerline goodness : 0.794991 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9915151 -0.12140949 0.04644939 -2.95232324] [ 0.12207379 0.99245168 -0.01173223 -3.79879059] [-0.04467437 0.01730294 0.99885175 -0.89259442] [ 0. 0. 0. 1. ]] SLAMing on 100.33907232899999 meters Centerline goodness : 0.795897 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9914157 -0.12210955 0.04673514 -2.95246143] [ 0.12280273 0.9923555 -0.01224936 -3.79928614] [-0.04488211 0.01788341 0.99883221 -0.89278884] [ 0. 0. 0. 1. ]] SLAMing on 100.36907232899999 meters Centerline goodness : 0.797197 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99132584 -0.12274671 0.04697157 -2.95211001] [ 0.12349146 0.9922567 -0.01328531 -3.79934205] [-0.04497713 0.01897066 0.99880788 -0.89322635] [ 0. 0. 0. 1. ]] SLAMing on 100.39907232899999 meters Centerline goodness : 0.798232 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.99113405 -0.1240838 0.04750266 -2.95369343] [ 0.12478036 0.99211207 -0.01197889 -3.79875722] [-0.04564157 0.01780009 0.99879928 -0.89301738] [ 0. 0. 0. 1. ]] SLAMing on 100.429072329 meters Centerline goodness : 0.797097 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9911273 -0.12423221 0.04725495 -2.95260402] [ 0.12490079 0.99210308 -0.01145766 -3.79734549] [-0.04545837 0.01725818 0.99881715 -0.89458209] [ 0. 0. 0. 1. ]] SLAMing on 100.459072329 meters Centerline goodness : 0.799571 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.80, Z:-0.89 [[ 0.9911786 -0.12385538 0.04716811 -2.95339894] [ 0.12446054 0.9921731 -0.01010535 -3.79598936] [-0.04554733 0.01588678 0.99883585 -0.89383896] [ 0. 0. 0. 1. ]] SLAMing on 100.489072329 meters Centerline goodness : 0.801793 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99131592 -0.12272914 0.04722614 -2.95320276] [ 0.12339729 0.99229081 -0.01149157 -3.79383686] [-0.04545171 0.01721936 0.99881812 -0.89338474] [ 0. 0. 0. 1. ]] SLAMing on 100.519072329 meters Centerline goodness : 0.804404 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99143456 -0.12197231 0.04669331 -2.95129517] [ 0.1227206 0.99234946 -0.0134986 -3.79276061] [-0.04468963 0.01911321 0.99881806 -0.89354257] [ 0. 0. 0. 1. ]] SLAMing on 100.549072329 meters Centerline goodness : 0.806736 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99157588 -0.12114805 0.04583036 -2.94997889] [ 0.12193579 0.99242777 -0.01479148 -3.79130571] [-0.04369137 0.02025523 0.99883972 -0.89235665] [ 0. 0. 0. 1. ]] SLAMing on 100.579072329 meters Centerline goodness : 0.808809 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99172902 -0.11998819 0.04556738 -2.94935785] [ 0.12077727 0.99256678 -0.01496768 -3.79002321] [-0.04343272 0.02034738 0.99884913 -0.89218934] [ 0. 0. 0. 1. ]] SLAMing on 100.60907232899999 meters Centerline goodness : 0.808219 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99208815 -0.11713925 0.04516085 -2.95040764] [ 0.11777205 0.99297282 -0.01160661 -3.78824255] [-0.0434839 0.01683347 0.9989123 -0.89070659] [ 0. 0. 0. 1. ]] SLAMing on 100.63907232899999 meters Centerline goodness : 0.809115 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99227042 -0.11579708 0.04461447 -2.94867045] [ 0.11641239 0.99313507 -0.01144083 -3.78711738] [-0.04298338 0.01654607 0.99893877 -0.89163912] [ 0. 0. 0. 1. ]] SLAMing on 100.66907232899999 meters Centerline goodness : 0.807591 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.79, Z:-0.89 [[ 0.99242426 -0.11456158 0.04438175 -2.9490488 ] [ 0.1151384 0.99329228 -0.01065775 -3.78619615] [-0.04286308 0.01568706 0.99895779 -0.89049012] [ 0. 0. 0. 1. ]] SLAMing on 100.69907232899999 meters Centerline goodness : 0.803774 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.99274599 -0.11213453 0.04337326 -2.94822968] [ 0.1126702 0.99358109 -0.01010184 -3.78419641] [-0.04196209 0.01491544 0.99900786 -0.88863694] [ 0. 0. 0. 1. ]] SLAMing on 100.72907232899999 meters Centerline goodness : 0.804213 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.9928901 -0.11099091 0.04301462 -2.94784525] [ 0.1115132 0.99371332 -0.00993171 -3.78310418] [-0.04164187 0.0146578 0.99902508 -0.88800574] [ 0. 0. 0. 1. ]] SLAMing on 100.75907232899999 meters Centerline goodness : 0.800400 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99305777 -0.10992236 0.04187286 -2.94471642] [ 0.11048784 0.99381173 -0.01143175 -3.78139161] [-0.04035714 0.01597883 0.99905755 -0.88864993] [ 0. 0. 0. 1. ]] SLAMing on 100.78907232899999 meters Centerline goodness : 0.802368 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99307566 -0.10985237 0.04163172 -2.94420948] [ 0.11043803 0.99381018 -0.01203214 -3.78110008] [-0.04005227 0.01654655 0.99906057 -0.88830308] [ 0. 0. 0. 1. ]] SLAMing on 100.819072329 meters Centerline goodness : 0.798721 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.9930592 -0.10994808 0.04177138 -2.94425845] [ 0.11055624 0.99379085 -0.01253241 -3.78080918] [-0.0401341 0.01706351 0.99904859 -0.88825728] [ 0. 0. 0. 1. ]] SLAMing on 100.849072329 meters Centerline goodness : 0.797292 Centerline is valid? [False, False] Translation: X:-2.95, Y:-3.78, Z:-0.89 [[ 0.99304006 -0.1100633 0.04192276 -2.94550665] [ 0.1106943 0.99376904 -0.01303298 -3.77912259] [-0.04022709 0.01758289 0.99903585 -0.88650932] [ 0. 0. 0. 1. ]] SLAMing on 100.879072329 meters Centerline goodness : 0.794247 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99309623 -0.1097572 0.0413912 -2.9446554 ] [ 0.11037983 0.99380363 -0.01306295 -3.77844712] [-0.03970097 0.01754152 0.99905762 -0.88620237] [ 0. 0. 0. 1. ]] SLAMing on 100.909072329 meters Centerline goodness : 0.792834 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99312535 -0.10957168 0.04118366 -2.94366054] [ 0.11018226 0.99382828 -0.01285362 -3.77789479] [-0.0395211 0.01730296 0.99906891 -0.88722332] [ 0. 0. 0. 1. ]] SLAMing on 100.939072329 meters Centerline goodness : 0.792580 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99312561 -0.10959568 0.04111337 -2.94362474] [ 0.11017158 0.99384006 -0.01200676 -3.77759673] [-0.03954422 0.01645374 0.99908234 -0.88749698] [ 0. 0. 0. 1. ]] SLAMing on 100.969072329 meters Centerline goodness : 0.790558 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99293912 -0.11116464 0.04140454 -2.94457593] [ 0.11176016 0.99365846 -0.01235021 -3.77711981] [-0.03976906 0.01689038 0.99906613 -0.88675171] [ 0. 0. 0. 1. ]] SLAMing on 100.99907232899999 meters Centerline goodness : 0.786821 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99285857 -0.11191219 0.04132223 -2.94373061] [ 0.11259155 0.99353571 -0.01448916 -3.77666126] [-0.0394336 0.01903822 0.99904081 -0.88677763] [ 0. 0. 0. 1. ]] SLAMing on 101.02907232899999 meters Centerline goodness : 0.786319 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99280719 -0.11235765 0.04134794 -2.94439942] [ 0.1130743 0.99346695 -0.01541469 -3.77631146] [-0.03934586 0.01997921 0.99902589 -0.88539653] [ 0. 0. 0. 1. ]] SLAMing on 101.05907232899999 meters Centerline goodness : 0.784547 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99274503 -0.11276601 0.04172698 -2.94430394] [ 0.1135174 0.9934057 -0.01609115 -3.77522509] [-0.03963729 0.02071115 0.99899947 -0.88623295] [ 0. 0. 0. 1. ]] SLAMing on 101.08907232899999 meters Centerline goodness : 0.785599 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99277474 -0.11253508 0.04164335 -2.94445146] [ 0.11326734 0.99344119 -0.01565611 -3.77490906] [-0.03960836 0.02025982 0.99900987 -0.88590721] [ 0. 0. 0. 1. ]] SLAMing on 101.11907232899999 meters Centerline goodness : 0.784709 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99284709 -0.11194521 0.04150815 -2.94401697] [ 0.11265532 0.99351824 -0.01517519 -3.77550838] [-0.03954031 0.01974275 0.99902292 -0.88606651] [ 0. 0. 0. 1. ]] SLAMing on 101.14907232899999 meters Centerline goodness : 0.784606 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99297677 -0.1109448 0.04109007 -2.94198698] [ 0.111633 0.99363864 -0.01484369 -3.77584228] [-0.03918185 0.01932644 0.99904518 -0.88785822] [ 0. 0. 0. 1. ]] SLAMing on 101.179072329 meters Centerline goodness : 0.781777 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99301323 -0.11055102 0.04126971 -2.9419929 ] [ 0.11118343 0.99371024 -0.01334957 -3.7757947 ] [-0.03953433 0.01784481 0.99905886 -0.88889702] [ 0. 0. 0. 1. ]] SLAMing on 101.209072329 meters Centerline goodness : 0.780820 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99306693 -0.11012657 0.04111212 -2.94004073] [ 0.11073861 0.99376569 -0.01291213 -3.77489793] [-0.03943385 0.0173753 0.9990711 -0.89158648] [ 0. 0. 0. 1. ]] SLAMing on 101.239072329 meters Centerline goodness : 0.780890 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.78, Z:-0.89 [[ 0.99318465 -0.10924324 0.04062212 -2.93842101] [ 0.10987496 0.99385167 -0.01365128 -3.7751045 ] [-0.03888105 0.0180216 0.99908132 -0.89175689] [ 0. 0. 0. 1. ]] SLAMing on 101.269072329 meters Centerline goodness : 0.780338 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99330014 -0.10839566 0.04006506 -2.93813672] [ 0.10906428 0.99392315 -0.01489111 -3.77462367] [-0.03820746 0.019161 0.99908611 -0.88965773] [ 0. 0. 0. 1. ]] SLAMing on 101.299072329 meters Centerline goodness : 0.781473 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99341622 -0.10749609 0.03960817 -2.93745761] [ 0.10818885 0.99400516 -0.01577684 -3.77430262] [-0.03767477 0.01995813 0.99909073 -0.88864025] [ 0. 0. 0. 1. ]] SLAMing on 101.329072329 meters Centerline goodness : 0.783193 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99381803 -0.10391687 0.03907689 -2.93729884] [ 0.10461502 0.99437984 -0.01626145 -3.77341672] [-0.03716743 0.02024895 0.99910388 -0.88617537] [ 0. 0. 0. 1. ]] SLAMing on 101.35907232899999 meters Centerline goodness : 0.782289 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99401191 -0.10216776 0.03875669 -2.93621616] [ 0.10286498 0.99455949 -0.01643846 -3.77293953] [-0.03686635 0.02032673 0.99911345 -0.88634262] [ 0. 0. 0. 1. ]] SLAMing on 101.38907232899999 meters Centerline goodness : 0.782092 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.89 [[ 0.99428132 -0.09972066 0.03821582 -2.93502636] [ 0.10039281 0.99481781 -0.0160877 -3.77231985] [-0.0364135 0.01983229 0.99914 -0.88615949] [ 0. 0. 0. 1. ]] SLAMing on 101.41907232899999 meters Centerline goodness : 0.782102 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.9945862 -0.09671297 0.03801182 -2.93655592] [ 0.0972832 0.99516592 -0.01344526 -3.77159533] [-0.03652774 0.01707038 0.99918683 -0.88384899] [ 0. 0. 0. 1. ]] SLAMing on 101.44907232899999 meters Centerline goodness : 0.782220 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.9952998 -0.08933704 0.03737919 -2.93695595] [ 0.08978984 0.99590419 -0.01061237 -3.76940026] [-0.03627802 0.01391876 0.9992448 -0.88089506] [ 0. 0. 0. 1. ]] SLAMing on 101.47907232899999 meters Centerline goodness : 0.783485 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.77, Z:-0.88 [[ 0.99574945 -0.08476692 0.03602228 -2.93572549] [ 0.08517804 0.99631523 -0.01003313 -3.76887907] [-0.03503906 0.0130588 0.99930062 -0.87791288] [ 0. 0. 0. 1. ]] SLAMing on 101.50907232899999 meters Centerline goodness : 0.781777 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.9963846 -0.07760382 0.0345741 -2.93481039] [ 0.07795133 0.99691818 -0.00881706 -3.76794342] [-0.03378331 0.01148028 0.99936324 -0.87373267] [ 0. 0. 0. 1. ]] SLAMing on 101.53907232899999 meters Centerline goodness : 0.784474 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99665857 -0.07454586 0.03338571 -2.93336337] [ 0.07487864 0.99715357 -0.00882913 -3.76686433] [-0.0326325 0.0112995 0.99940354 -0.87170787] [ 0. 0. 0. 1. ]] SLAMing on 101.569072329 meters Centerline goodness : 0.783437 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99685591 -0.07210434 0.03285221 -2.93372589] [ 0.07241699 0.99733884 -0.00842693 -3.7656292 ] [-0.03215717 0.0107795 0.99942469 -0.86909411] [ 0. 0. 0. 1. ]] SLAMing on 101.599072329 meters Centerline goodness : 0.783007 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.9970281 -0.07005887 0.03204265 -2.9334478 ] [ 0.0703735 0.99748191 -0.00879773 -3.76435278] [-0.03134561 0.01102654 0.99944778 -0.86643279] [ 0. 0. 0. 1. ]] SLAMing on 101.629072329 meters Centerline goodness : 0.784281 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99723982 -0.06734399 0.03126543 -2.93305864] [ 0.06766516 0.99766447 -0.00932932 -3.76317524] [-0.03056413 0.01141915 0.99946758 -0.86367483] [ 0. 0. 0. 1. ]] SLAMing on 101.659072329 meters Centerline goodness : 0.782029 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99734368 -0.06599453 0.03082688 -2.93240084] [ 0.06628242 0.99776545 -0.00841106 -3.76361535] [-0.03020291 0.010432 0.99948935 -0.86334464] [ 0. 0. 0. 1. ]] SLAMing on 101.689072329 meters Centerline goodness : 0.784963 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.86 [[ 0.99741034 -0.06547841 0.02975226 -2.92989148] [ 0.06574294 0.99780452 -0.00800057 -3.76334649] [-0.02916308 0.00993586 0.99952528 -0.86416413] [ 0. 0. 0. 1. ]] SLAMing on 101.719072329 meters Centerline goodness : 0.782936 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.99740796 -0.06555773 0.02965721 -2.92873501] [ 0.06579429 0.99780815 -0.00707093 -3.76417778] [-0.02912866 0.00900388 0.99953512 -0.86597662] [ 0. 0. 0. 1. ]] SLAMing on 101.74907232899999 meters Centerline goodness : 0.784433 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.76, Z:-0.87 [[ 0.99734555 -0.06668978 0.02922882 -2.92733777] [ 0.06695052 0.99772395 -0.0080339 -3.76457054] [-0.02862652 0.00996946 0.99954046 -0.86669559] [ 0. 0. 0. 1. ]] SLAMing on 101.77907232899999 meters Centerline goodness : 0.784533 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99725998 -0.06778525 0.02962576 -2.92878958] [ 0.0680496 0.99764981 -0.00800659 -3.76539545] [-0.02901341 0.01000067 0.99952899 -0.86557912] [ 0. 0. 0. 1. ]] SLAMing on 101.80907232899999 meters Centerline goodness : 0.785971 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99710902 -0.07016346 0.02916656 -2.92676414] [ 0.07048792 0.99745999 -0.01024823 -3.76687221] [-0.02837343 0.0122745 0.99952203 -0.86678066] [ 0. 0. 0. 1. ]] SLAMing on 101.83907232899999 meters Centerline goodness : 0.786756 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99710564 -0.07029931 0.02895418 -2.92685168] [ 0.07061526 0.99745313 -0.01003697 -3.76797527] [-0.02817484 0.01205253 0.99953035 -0.86603674] [ 0. 0. 0. 1. ]] SLAMing on 101.86907232899999 meters Centerline goodness : 0.788376 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99711516 -0.07017216 0.02893487 -2.926639 ] [ 0.07047876 0.99746597 -0.00971481 -3.76910653] [-0.02817984 0.01172608 0.99953409 -0.86616801] [ 0. 0. 0. 1. ]] SLAMing on 101.89907232899999 meters Centerline goodness : 0.788561 Centerline is valid? [False, False] Translation: X:-2.93, Y:-3.77, Z:-0.87 [[ 0.99706254 -0.07081129 0.02919009 -2.92685404] [ 0.07108658 0.99743391 -0.00850236 -3.77147067] [-0.02851312 0.01055241 0.99953772 -0.86699322] [ 0. 0. 0. 1. ]] SLAMing on 101.929072329 meters Centerline goodness : 0.787631 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.77, Z:-0.87 [[ 0.99705703 -0.07111032 0.02864624 -2.92444572] [ 0.07140082 0.99740483 -0.00924772 -3.77283015] [-0.02791429 0.01126586 0.99954683 -0.86863949] [ 0. 0. 0. 1. ]] SLAMing on 101.959072329 meters Centerline goodness : 0.789363 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.77, Z:-0.87 [[ 0.99708277 -0.07103777 0.02792116 -2.92294974] [ 0.07133771 0.99740313 -0.00989589 -3.77479914] [-0.02714567 0.01185885 0.99956114 -0.86832316] [ 0. 0. 0. 1. ]] SLAMing on 101.989072329 meters Centerline goodness : 0.789827 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99710015 -0.07089794 0.02765463 -2.92160314] [ 0.07121152 0.99740573 -0.01052289 -3.7770359 ] [-0.02683683 0.01246171 0.99956215 -0.8689505 ] [ 0. 0. 0. 1. ]] SLAMing on 102.019072329 meters Centerline goodness : 0.791364 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99718448 -0.06994181 0.02704164 -2.91973135] [ 0.07025746 0.99746931 -0.01090299 -3.78028029] [-0.02621063 0.01277216 0.99957485 -0.86930776] [ 0. 0. 0. 1. ]] SLAMing on 102.049072329 meters Centerline goodness : 0.791687 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.99728159 -0.06872563 0.02657461 -2.91857356] [ 0.06903046 0.99755687 -0.01072752 -3.78173866] [-0.02577243 0.01253282 0.99958927 -0.86921663] [ 0. 0. 0. 1. ]] SLAMing on 102.079072329 meters Centerline goodness : 0.792492 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.9973865 -0.06742574 0.0259602 -2.91752454] [ 0.06770221 0.99765624 -0.00992162 -3.78296968] [-0.02523038 0.01165326 0.99961374 -0.86888566] [ 0. 0. 0. 1. ]] SLAMing on 102.10907232899999 meters Centerline goodness : 0.792492 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.78, Z:-0.87 [[ 0.9973865 -0.06742574 0.0259602 -2.91752454] [ 0.06770221 0.99765624 -0.00992162 -3.78296968] [-0.02523038 0.01165326 0.99961374 -0.86888566] [ 0. 0. 0. 1. ]] SLAMing on 102.13907232899999 meters Centerline goodness : 0.792357 Centerline is valid? [False, False] Translation: X:-2.92, Y:-3.79, Z:-0.87 [[ 0.99761111 -0.06438933 0.0250218 -2.9155741 ] [ 0.0646086 0.99787817 -0.008055 -3.7857939 ] [-0.02445005 0.00965238 0.99965445 -0.86903294] [ 0. 0. 0. 1. ]] SLAMing on 102.16907232899999 meters Centerline goodness : 0.792342 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99770353 -0.0630608 0.02471833 -2.9147302 ] [ 0.06326804 0.99796692 -0.00769285 -3.78747241] [-0.02418296 0.00923907 0.99966486 -0.86897873] [ 0. 0. 0. 1. ]] SLAMing on 102.19907232899999 meters Centerline goodness : 0.792222 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99777971 -0.06214688 0.0239459 -2.91391671] [ 0.06235129 0.99802311 -0.00788548 -3.78847188] [-0.02340851 0.00936103 0.99968216 -0.8674349 ] [ 0. 0. 0. 1. ]] SLAMing on 102.22907232899999 meters Centerline goodness : 0.792498 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99789435 -0.06059516 0.0231319 -2.91194754] [ 0.06080784 0.99811241 -0.00860373 -3.79040783] [-0.02256689 0.00999222 0.9996954 -0.8671945 ] [ 0. 0. 0. 1. ]] SLAMing on 102.25907232899999 meters Centerline goodness : 0.794377 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99796133 -0.059682 0.02261059 -2.91120802] [ 0.05988346 0.99817054 -0.00833921 -3.7907821 ] [-0.02207153 0.00967621 0.99970957 -0.86655371] [ 0. 0. 0. 1. ]] SLAMing on 102.28907232899999 meters Centerline goodness : 0.794769 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99807152 -0.05811231 0.02182192 -2.90968297] [ 0.0583023 0.99826552 -0.00817294 -3.791243 ] [-0.02130912 0.00942945 0.99972847 -0.86620037] [ 0. 0. 0. 1. ]] SLAMing on 102.319072329 meters Centerline goodness : 0.792485 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.87 [[ 0.99819888 -0.05609566 0.02126683 -2.90890928] [ 0.05626772 0.99838694 -0.00757995 -3.79147351] [-0.02080733 0.00876294 0.9997451 -0.86535924] [ 0. 0. 0. 1. ]] SLAMing on 102.349072329 meters Centerline goodness : 0.795792 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99849727 -0.05098431 0.02009498 -2.90792887] [ 0.05111514 0.99867443 -0.00605135 -3.7927502 ] [-0.01975982 0.00706942 0.99977976 -0.86274237] [ 0. 0. 0. 1. ]] SLAMing on 102.379072329 meters Centerline goodness : 0.794419 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99860898 -0.0491655 0.01904876 -2.90600271] [ 0.04930518 0.99875969 -0.00693383 -3.79297817] [-0.01868422 0.00786339 0.99979451 -0.86171483] [ 0. 0. 0. 1. ]] SLAMing on 102.409072329 meters Centerline goodness : 0.796077 Centerline is valid? [False, False] Translation: X:-2.91, Y:-3.79, Z:-0.86 [[ 0.99869657 -0.04769171 0.01818416 -2.90504099] [ 0.04783607 0.99882638 -0.0075883 -3.79358763] [-0.01780092 0.00844827 0.99980586 -0.86000983] [ 0. 0. 0. 1. ]] SLAMing on 102.439072329 meters Centerline goodness : 0.801094 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99878629 -0.04612092 0.01728634 -2.90368391] [ 0.04627857 0.99888952 -0.00883344 -3.79351808] [-0.01685973 0.00962271 0.99981156 -0.85865114] [ 0. 0. 0. 1. ]] SLAMing on 102.469072329 meters Centerline goodness : 0.800806 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99882107 -0.04541444 0.01714626 -2.9036222 ] [ 0.04556272 0.99892651 -0.00835839 -3.79385629] [-0.01674827 0.00912976 0.99981805 -0.85818655] [ 0. 0. 0. 1. ]] SLAMing on 102.49907232899999 meters Centerline goodness : 0.803145 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.79, Z:-0.86 [[ 0.99885882 -0.04473659 0.01672395 -2.90197499] [ 0.04489209 0.99895093 -0.00904097 -3.79391433] [-0.01630195 0.00978143 0.99981927 -0.85908104] [ 0. 0. 0. 1. ]] SLAMing on 102.52907232899999 meters Centerline goodness : 0.805894 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99893592 -0.04323165 0.01606381 -2.90065912] [ 0.04336487 0.99902695 -0.00803964 -3.79521091] [-0.01570062 0.00872769 0.99983865 -0.85907354] [ 0. 0. 0. 1. ]] SLAMing on 102.55907232899999 meters Centerline goodness : 0.804145 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99896898 -0.04268762 0.01545124 -2.8983308 ] [ 0.04281996 0.99904801 -0.00833804 -3.79568724] [-0.0150806 0.00899106 0.99984586 -0.86064121] [ 0. 0. 0. 1. ]] SLAMing on 102.58907232899999 meters Centerline goodness : 0.805851 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99901091 -0.0418542 0.01501409 -2.89766581] [ 0.0419701 0.9990908 -0.00748872 -3.79634975] [-0.014687 0.00811146 0.99985924 -0.86032484] [ 0. 0. 0. 1. ]] SLAMing on 102.61907232899999 meters Centerline goodness : 0.803213 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.86 [[ 0.99902938 -0.04150893 0.01474128 -2.89742178] [ 0.04161713 0.99910833 -0.00711028 -3.7970455 ] [-0.01443299 0.00771687 0.99986606 -0.85982101] [ 0. 0. 0. 1. ]] SLAMing on 102.64907232899999 meters Centerline goodness : 0.804878 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99892692 -0.04410524 0.01413315 -2.89389166] [ 0.04425391 0.99896634 -0.01038491 -3.7978787 ] [-0.01366052 0.01099921 0.99984619 -0.86284991] [ 0. 0. 0. 1. ]] SLAMing on 102.679072329 meters Centerline goodness : 0.802719 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99885788 -0.04553351 0.01447908 -2.89484904] [ 0.04568272 0.99890446 -0.01014729 -3.79914254] [-0.01400118 0.01079715 0.99984368 -0.8625652 ] [ 0. 0. 0. 1. ]] SLAMing on 102.709072329 meters Centerline goodness : 0.802668 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99878848 -0.04702405 0.01450225 -2.89493623] [ 0.0471782 0.99883154 -0.01047677 -3.80068414] [-0.01399265 0.01114827 0.99983995 -0.86255389] [ 0. 0. 0. 1. ]] SLAMing on 102.739072329 meters Centerline goodness : 0.807736 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.86 [[ 0.99859824 -0.05071041 0.01516634 -2.89499233] [ 0.05088793 0.9986375 -0.01155684 -3.8027606 ] [-0.01455962 0.01231242 0.99981819 -0.86461464] [ 0. 0. 0. 1. ]] SLAMing on 102.769072329 meters Centerline goodness : 0.805577 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.80, Z:-0.87 [[ 0.99852676 -0.05198717 0.0155449 -2.89562529] [ 0.05215731 0.99858104 -0.01074779 -3.80398218] [-0.0149641 0.01154273 0.9998214 -0.86508426] [ 0. 0. 0. 1. ]] SLAMing on 102.799072329 meters Centerline goodness : 0.806885 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.87 [[ 0.99841983 -0.05403989 0.01541194 -2.89361601] [ 0.05421333 0.99846804 -0.01106727 -3.80486288] [-0.01479025 0.01188532 0.99981998 -0.86801479] [ 0. 0. 0. 1. ]] SLAMing on 102.829072329 meters Centerline goodness : 0.805716 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.87 [[ 0.99827144 -0.05667952 0.01554204 -2.89381549] [ 0.05687273 0.99830586 -0.01228415 -3.80774953] [-0.01481945 0.01314684 0.99980375 -0.86776575] [ 0. 0. 0. 1. ]] SLAMing on 102.85907232899999 meters Centerline goodness : 0.806714 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.87 [[ 0.99816161 -0.05872386 0.01499719 -2.89147581] [ 0.05895129 0.9981451 -0.01520199 -3.80858912] [-0.01407665 0.01605815 0.99977197 -0.86916959] [ 0. 0. 0. 1. ]] SLAMing on 102.88907232899999 meters Centerline goodness : 0.806723 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99817898 -0.05246752 0.02976374 -2.894849 ] [ 0.05283778 0.99853348 -0.01179222 -3.81551464] [-0.02910138 0.0133434 0.9994874 -0.87566613] [ 0. 0. 0. 1. ]] SLAMing on 102.91907232899999 meters Centerline goodness : 0.807710 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99813602 -0.053676 0.02904095 -2.89218965] [ 0.05401701 0.99847846 -0.01108744 -3.81666353] [-0.02840163 0.01263548 0.99951673 -0.87820276] [ 0. 0. 0. 1. ]] SLAMing on 102.94907232899999 meters Centerline goodness : 0.806082 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99816483 -0.05339847 0.02855819 -2.89103332] [ 0.05371401 0.99850223 -0.01039763 -3.81696871] [-0.0279602 0.01191252 0.99953805 -0.87871395] [ 0. 0. 0. 1. ]] SLAMing on 102.97907232899999 meters Centerline goodness : 0.809708 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99817864 -0.05334729 0.02816848 -2.89092765] [ 0.05365519 0.99850651 -0.0102897 -3.81695743] [-0.02757749 0.01178234 0.99955023 -0.87762105] [ 0. 0. 0. 1. ]] SLAMing on 103.00907232899999 meters Centerline goodness : 0.809222 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99819324 -0.05362485 0.02710407 -2.88929319] [ 0.05397542 0.99846562 -0.01237185 -3.81761028] [-0.02639904 0.01381245 0.99955605 -0.87626825] [ 0. 0. 0. 1. ]] SLAMing on 103.03907232899999 meters Centerline goodness : 0.809871 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99820243 -0.05384341 0.02632087 -2.8879452 ] [ 0.05420836 0.99844035 -0.01335376 -3.81769128] [-0.02556081 0.01475657 0.99956435 -0.87570105] [ 0. 0. 0. 1. ]] SLAMing on 103.069072329 meters Centerline goodness : 0.813085 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9981934 -0.05388658 0.02657373 -2.88864238] [ 0.05422798 0.99845284 -0.01229812 -3.81805003] [-0.02586992 0.01371695 0.9995712 -0.87553061] [ 0. 0. 0. 1. ]] SLAMing on 103.099072329 meters Centerline goodness : 0.814785 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99819914 -0.0537918 0.02655031 -2.88814434] [ 0.05409811 0.99847551 -0.01095631 -3.81787113] [-0.02592047 0.0123729 0.99958744 -0.87655597] [ 0. 0. 0. 1. ]] SLAMing on 103.129072329 meters Centerline goodness : 0.812538 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99821423 -0.05388929 0.02577379 -2.88591962] [ 0.05416909 0.99847882 -0.01028373 -3.817313 ] [-0.0251804 0.0116615 0.9996149 -0.87793865] [ 0. 0. 0. 1. ]] SLAMing on 103.159072329 meters Centerline goodness : 0.813610 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.9981899 -0.05460804 0.0251971 -2.88479426] [ 0.05488489 0.99843822 -0.01042937 -3.81739872] [-0.02458822 0.01179343 0.9996281 -0.87789389] [ 0. 0. 0. 1. ]] SLAMing on 103.189072329 meters Centerline goodness : 0.813647 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99812237 -0.05567304 0.02553925 -2.88533235] [ 0.05598769 0.99836203 -0.01177459 -3.81784883] [-0.02484189 0.01318236 0.99960447 -0.87772581] [ 0. 0. 0. 1. ]] SLAMing on 103.219072329 meters Centerline goodness : 0.813583 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99791364 -0.05923604 0.02568007 -2.88515653] [ 0.05963074 0.9981095 -0.01488611 -3.81820898] [-0.02474973 0.01638637 0.99955937 -0.87785499] [ 0. 0. 0. 1. ]] SLAMing on 103.24907232899999 meters Centerline goodness : 0.812762 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9978529 -0.06027535 0.02562169 -2.88506749] [ 0.06066234 0.99805149 -0.01460467 -3.81865819] [-0.02469146 0.01612759 0.99956502 -0.87797078] [ 0. 0. 0. 1. ]] SLAMing on 103.27907232899999 meters Centerline goodness : 0.810819 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99781047 -0.0609522 0.02567295 -2.8854836 ] [ 0.06131779 0.99802425 -0.01370141 -3.81884544] [-0.0247871 0.01524562 0.9995765 -0.87784441] [ 0. 0. 0. 1. ]] SLAMing on 103.30907232899999 meters Centerline goodness : 0.814064 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9977621 -0.06152305 0.02618596 -2.8864332 ] [ 0.06186634 0.99800608 -0.01250684 -3.81922702] [-0.02536429 0.01409888 0.99957885 -0.87818111] [ 0. 0. 0. 1. ]] SLAMing on 103.33907232899999 meters Centerline goodness : 0.812828 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.99760772 -0.06394782 0.02625858 -2.88479597] [ 0.06429389 0.99785205 -0.01255294 -3.81888324] [-0.02539944 0.01421118 0.99957637 -0.88140162] [ 0. 0. 0. 1. ]] SLAMing on 103.36907232899999 meters Centerline goodness : 0.811791 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99756789 -0.06445253 0.02653627 -2.88558307] [ 0.06479206 0.99782495 -0.01213945 -3.81860534] [-0.02569613 0.01382926 0.99957414 -0.88101616] [ 0. 0. 0. 1. ]] SLAMing on 103.39907232899999 meters Centerline goodness : 0.812654 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.82, Z:-0.88 [[ 0.9975657 -0.06461917 0.0262112 -2.88404494] [ 0.06496602 0.99780788 -0.01260363 -3.8183195 ] [-0.0253393 0.01427578 0.99957697 -0.88230173] [ 0. 0. 0. 1. ]] SLAMing on 103.429072329 meters Centerline goodness : 0.812944 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99752458 -0.06500477 0.02681594 -2.88561983] [ 0.06535082 0.99778733 -0.01223575 -3.81724165] [-0.02596122 0.0139579 0.9995655 -0.88170145] [ 0. 0. 0. 1. ]] SLAMing on 103.459072329 meters Centerline goodness : 0.809756 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9974948 -0.06529824 0.02720792 -2.88689606] [ 0.06564837 0.99776848 -0.01217987 -3.81691041] [-0.02635188 0.01393552 0.99955559 -0.8806694 ] [ 0. 0. 0. 1. ]] SLAMing on 103.489072329 meters Centerline goodness : 0.811437 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99742795 -0.06616914 0.02755212 -2.88789069] [ 0.06651709 0.99771422 -0.01190859 -3.81673553] [-0.02670116 0.01371065 0.99954943 -0.88018334] [ 0. 0. 0. 1. ]] SLAMing on 103.519072329 meters Centerline goodness : 0.810896 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.99726155 -0.06838961 0.02814706 -2.88839643] [ 0.0687382 0.9975672 -0.01160799 -3.81593981] [-0.02728472 0.01351098 0.99953639 -0.88165325] [ 0. 0. 0. 1. ]] SLAMing on 103.549072329 meters Centerline goodness : 0.810245 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.82, Z:-0.88 [[ 0.9972137 -0.06895939 0.02845067 -2.88905069] [ 0.06929801 0.99753434 -0.01109184 -3.81525647] [-0.02761563 0.01303251 0.99953366 -0.88179889] [ 0. 0. 0. 1. ]] SLAMing on 103.579072329 meters Centerline goodness : 0.810640 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99714413 -0.0699541 0.02846063 -2.88929086] [ 0.07029339 0.99746461 -0.01109947 -3.81424436] [-0.02761201 0.01306836 0.99953329 -0.88151192] [ 0. 0. 0. 1. ]] SLAMing on 103.60907232899999 meters Centerline goodness : 0.812073 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99695271 -0.07274726 0.02816269 -2.88856272] [ 0.07310662 0.99725257 -0.01194672 -3.81267405] [-0.02721623 0.01396919 0.99953196 -0.88194495] [ 0. 0. 0. 1. ]] SLAMing on 103.63907232899999 meters Centerline goodness : 0.811276 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99691684 -0.07321291 0.02822561 -2.88881122] [ 0.07356253 0.99722369 -0.01155258 -3.81194686] [-0.02730145 0.01359331 0.99953482 -0.88195312] [ 0. 0. 0. 1. ]] SLAMing on 103.66907232899999 meters Centerline goodness : 0.812280 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99690048 -0.07341988 0.02826564 -2.88706257] [ 0.07377265 0.99720709 -0.01164527 -3.81107898] [-0.0273317 0.01369441 0.99953261 -0.88481984] [ 0. 0. 0. 1. ]] SLAMing on 103.69907232899999 meters Centerline goodness : 0.810145 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.99688991 -0.07341064 0.02865967 -2.88750263] [ 0.07369996 0.99723829 -0.00917108 -3.8095293 ] [-0.02790726 0.01125478 0.99954715 -0.8862572 ] [ 0. 0. 0. 1. ]] SLAMing on 103.72907232899999 meters Centerline goodness : 0.810463 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.99688129 -0.07352997 0.02865389 -2.8878549 ] [ 0.07382074 0.99722887 -0.00922423 -3.80838489] [-0.02789623 0.01131072 0.99954683 -0.88561837] [ 0. 0. 0. 1. ]] SLAMing on 103.75907232899999 meters Centerline goodness : 0.809308 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.89 [[ 0.9968458 -0.07386895 0.02901419 -2.88863618] [ 0.07418185 0.99719599 -0.00985907 -3.8075965 ] [-0.02820455 0.0119803 0.99953038 -0.88511826] [ 0. 0. 0. 1. ]] SLAMing on 103.78907232899999 meters Centerline goodness : 0.810700 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.81, Z:-0.88 [[ 0.99678749 -0.07455199 0.02926929 -2.88998678] [ 0.07486217 0.99714723 -0.00964715 -3.80708786] [-0.02846657 0.01180732 0.99952501 -0.88389102] [ 0. 0. 0. 1. ]] SLAMing on 103.819072329 meters Centerline goodness : 0.810072 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99658497 -0.07701069 0.02979505 -2.89154764] [ 0.07735977 0.99694534 -0.01074474 -3.80477954] [-0.02887658 0.01301298 0.99949828 -0.8830635 ] [ 0. 0. 0. 1. ]] SLAMing on 103.849072329 meters Centerline goodness : 0.809718 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99653132 -0.07767504 0.02986504 -2.89135421] [ 0.07804224 0.99688566 -0.01133092 -3.80463773] [-0.0288919 0.01362235 0.99948971 -0.88328233] [ 0. 0. 0. 1. ]] SLAMing on 103.879072329 meters Centerline goodness : 0.809504 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9964019 -0.07933628 0.02981634 -2.89160531] [ 0.07970051 0.99675559 -0.01123065 -3.80367114] [-0.0288286 0.01356662 0.9994923 -0.88317569] [ 0. 0. 0. 1. ]] SLAMing on 103.909072329 meters Centerline goodness : 0.806618 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99637232 -0.07973552 0.02973967 -2.89139829] [ 0.08007837 0.99673306 -0.01051965 -3.80299657] [-0.02880372 0.012863 0.99950232 -0.88369893] [ 0. 0. 0. 1. ]] SLAMing on 103.939072329 meters Centerline goodness : 0.808220 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.89 [[ 0.9963498 -0.08000773 0.02976321 -2.89049124] [ 0.08033683 0.99671732 -0.01002903 -3.8019572 ] [-0.02886311 0.0123835 0.99950666 -0.88534616] [ 0. 0. 0. 1. ]] SLAMing on 103.969072329 meters Centerline goodness : 0.807497 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.89 [[ 0.99633884 -0.08018542 0.02965143 -2.89059235] [ 0.08049155 0.99671212 -0.009277 -3.80076229] [-0.02881006 0.01162973 0.99951725 -0.88528446] [ 0. 0. 0. 1. ]] SLAMing on 103.99907232899999 meters Centerline goodness : 0.806700 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9962832 -0.080825 0.02978418 -2.89151739] [ 0.08113571 0.99665899 -0.00937341 -3.79789412] [-0.02892706 0.01175513 0.9995124 -0.8845766 ] [ 0. 0. 0. 1. ]] SLAMing on 104.02907232899999 meters Centerline goodness : 0.806700 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.9962832 -0.080825 0.02978418 -2.89151739] [ 0.08113571 0.99665899 -0.00937341 -3.79789412] [-0.02892706 0.01175513 0.9995124 -0.8845766 ] [ 0. 0. 0. 1. ]] SLAMing on 104.05907232899999 meters Centerline goodness : 0.806646 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99630217 -0.08063498 0.02966465 -2.89126039] [ 0.08097715 0.99666046 -0.01051796 -3.79695798] [-0.02871747 0.01288122 0.99950457 -0.88402228] [ 0. 0. 0. 1. ]] SLAMing on 104.08907232899999 meters Centerline goodness : 0.804393 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.80, Z:-0.88 [[ 0.99632946 -0.08039505 0.02939799 -2.89124925] [ 0.08077079 0.99666258 -0.01182323 -3.79550146] [-0.02834935 0.01415433 0.99949786 -0.88268744] [ 0. 0. 0. 1. ]] SLAMing on 104.11907232899999 meters Centerline goodness : 0.800849 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99635464 -0.08008669 0.0293864 -2.89095164] [ 0.08050091 0.99666723 -0.01319251 -3.79285999] [-0.02823192 0.01551005 0.99948106 -0.88255259] [ 0. 0. 0. 1. ]] SLAMing on 104.14907232899999 meters Centerline goodness : 0.803405 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99636206 -0.07994963 0.0295075 -2.89226278] [ 0.0803269 0.9966984 -0.01182781 -3.79105935] [-0.02846445 0.01415503 0.99949458 -0.88158603] [ 0. 0. 0. 1. ]] SLAMing on 104.179072329 meters Centerline goodness : 0.801781 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99639372 -0.07956159 0.02948726 -2.89082935] [ 0.07993522 0.99673122 -0.01171464 -3.78921618] [-0.02845884 0.01402946 0.99949651 -0.88381511] [ 0. 0. 0. 1. ]] SLAMing on 104.209072329 meters Centerline goodness : 0.799543 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.79, Z:-0.88 [[ 0.99646912 -0.07861954 0.02946638 -2.89182281] [ 0.07892894 0.99683511 -0.0094864 -3.7856642 ] [-0.0286273 0.01177866 0.99952076 -0.88316061] [ 0. 0. 0. 1. ]] SLAMing on 104.239072329 meters Centerline goodness : 0.801074 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99650731 -0.07826508 0.02911631 -2.89117758] [ 0.07858538 0.99685701 -0.0100223 -3.78436285] [-0.0282404 0.01227541 0.99952578 -0.88293634] [ 0. 0. 0. 1. ]] SLAMing on 104.269072329 meters Centerline goodness : 0.801482 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99657164 -0.07758824 0.02872343 -2.89082983] [ 0.07792666 0.9969 -0.01085473 -3.78314318] [-0.02779219 0.01305584 0.99952846 -0.88174621] [ 0. 0. 0. 1. ]] SLAMing on 104.299072329 meters Centerline goodness : 0.799261 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99669172 -0.07606084 0.02864208 -2.8920651 ] [ 0.07637155 0.99703014 -0.00991348 -3.78140643] [-0.02780299 0.01206812 0.99954057 -0.87981402] [ 0. 0. 0. 1. ]] SLAMing on 104.329072329 meters Centerline goodness : 0.797938 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99671399 -0.07573149 0.02873943 -2.89190952] [ 0.07602167 0.99706426 -0.00914098 -3.78064569] [-0.0279628 0.01129576 0.99954514 -0.88065154] [ 0. 0. 0. 1. ]] SLAMing on 104.35907232899999 meters Centerline goodness : 0.794851 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99670417 -0.07593375 0.02854582 -2.89178314] [ 0.07620249 0.99705659 -0.00844595 -3.77923209] [-0.02782047 0.01059337 0.9995568 -0.88069628] [ 0. 0. 0. 1. ]] SLAMing on 104.38907232899999 meters Centerline goodness : 0.795750 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99662633 -0.07676568 0.0290341 -2.89375991] [ 0.07703815 0.9969929 -0.00838374 -3.77687558] [-0.02830321 0.01059219 0.99954326 -0.87949928] [ 0. 0. 0. 1. ]] SLAMing on 104.41907232899999 meters Centerline goodness : 0.798041 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.78, Z:-0.88 [[ 0.99665174 -0.07656106 0.02870042 -2.89349122] [ 0.07684253 0.9970041 -0.0088343 -3.77585707] [-0.02793807 0.01101014 0.99954902 -0.87872663] [ 0. 0. 0. 1. ]] SLAMing on 104.44907232899999 meters Centerline goodness : 0.797376 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.88 [[ 0.99671327 -0.07594446 0.02819747 -2.89257972] [ 0.07624113 0.99704321 -0.00959811 -3.77467771] [-0.02738517 0.01171637 0.99955629 -0.87825696] [ 0. 0. 0. 1. ]] SLAMing on 104.47907232899999 meters Centerline goodness : 0.798391 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.88 [[ 0.99678606 -0.07500765 0.02813182 -2.89365106] [ 0.07528716 0.99712119 -0.00901023 -3.77338591] [-0.027375 0.01109924 0.99956361 -0.87657756] [ 0. 0. 0. 1. ]] SLAMing on 104.50907232899999 meters Centerline goodness : 0.797454 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.77, Z:-0.87 [[ 0.99699625 -0.072148 0.02816268 -2.89548785] [ 0.07234062 0.99736265 -0.00588031 -3.77059433] [-0.02766415 0.00789995 0.99958606 -0.87480085] [ 0. 0. 0. 1. ]] SLAMing on 104.53907232899999 meters Centerline goodness : 0.796361 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.77, Z:-0.87 [[ 0.99716095 -0.06984703 0.02813246 -2.89679507] [ 0.06999253 0.99753859 -0.00421978 -3.76927538] [-0.02776847 0.00617686 0.9995953 -0.872996 ] [ 0. 0. 0. 1. ]] SLAMing on 104.569072329 meters Centerline goodness : 0.795294 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.87 [[ 0.99734299 -0.06769246 0.02691997 -2.89352981] [ 0.06786927 0.99767789 -0.00570836 -3.76786547] [-0.02647104 0.00752024 0.99962129 -0.87318389] [ 0. 0. 0. 1. ]] SLAMing on 104.599072329 meters Centerline goodness : 0.794427 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.77, Z:-0.87 [[ 0.99751668 -0.06529778 0.02639461 -2.89373558] [ 0.06549527 0.99783047 -0.00668751 -3.76670518] [-0.02590067 0.00839963 0.99962923 -0.87021712] [ 0. 0. 0. 1. ]] SLAMing on 104.629072329 meters Centerline goodness : 0.796995 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.87 [[ 0.99782262 -0.06107729 0.02489147 -2.89203965] [ 0.06132 0.99807662 -0.00910645 -3.76360432] [-0.0242874 0.01061296 0.99964868 -0.86632772] [ 0. 0. 0. 1. ]] SLAMing on 104.659072329 meters Centerline goodness : 0.798114 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.87 [[ 0.99802232 -0.05808049 0.024044 -2.89079757] [ 0.05830034 0.99826252 -0.00854505 -3.76163976] [-0.02350592 0.00992992 0.99967438 -0.86527995] [ 0. 0. 0. 1. ]] SLAMing on 104.689072329 meters Centerline goodness : 0.799263 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98415451e-01 -5.10350388e-02 2.37068128e-02 -2.89221742e+00] [ 5.11004306e-02 9.98691183e-01 -2.16040002e-03 -3.75848689e+00] [-2.35655288e-02 3.36840511e-03 9.99716620e-01 -8.63170621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.719072329 meters Centerline goodness : 0.799370 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98617220e-01 -4.73126961e-02 2.29163054e-02 -2.89135456e+00] [ 4.73256926e-02 9.98879511e-01 -2.48216654e-05 -3.75689058e+00] [-2.28894536e-02 1.10931737e-03 9.99737387e-01 -8.62063672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74907232899999 meters Centerline goodness : 0.797546 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.76, Z:-0.86 [[ 9.98801756e-01 -4.37715833e-02 2.18883839e-02 -2.89055676e+00] [ 4.37697390e-02 9.99041487e-01 5.63562757e-04 -3.75527398e+00] [-2.18920717e-02 3.95161380e-04 9.99760262e-01 -8.59676888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77907232899999 meters Centerline goodness : 0.800110 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99043706e-01 -3.86187501e-02 2.05003822e-02 -2.88991529e+00] [ 3.86607871e-02 9.99251017e-01 -1.65805616e-03 -3.75187895e+00] [-2.04209957e-02 2.44903148e-03 9.99788470e-01 -8.54161251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80907232899999 meters Centerline goodness : 0.801774 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99138482e-01 -3.63205653e-02 2.00776075e-02 -2.89034426e+00] [ 3.63775674e-02 9.99335037e-01 -2.48107220e-03 -3.75021960e+00] [-1.99741427e-02 3.20930923e-03 9.99795346e-01 -8.51208033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83907232899999 meters Centerline goodness : 0.802634 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.75, Z:-0.85 [[ 9.99222517e-01 -3.42236432e-02 1.95730584e-02 -2.89013951e+00] [ 3.42785311e-02 9.99409252e-01 -2.47556630e-03 -3.74868550e+00] [-1.94767727e-02 3.14457728e-03 9.99805365e-01 -8.49433900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86907232899999 meters Centerline goodness : 0.803167 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99231601e-01 -3.37780440e-02 1.98809065e-02 -2.89097973e+00] [ 3.38523008e-02 9.99421028e-01 -3.41037052e-03 -3.74458392e+00] [-1.97542004e-02 4.08076442e-03 9.99796539e-01 -8.50748251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89907232899999 meters Centerline goodness : 0.803695 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99273217e-01 -3.26197763e-02 1.97227765e-02 -2.89140610e+00] [ 3.26634118e-02 9.99464613e-01 -1.89427945e-03 -3.74359936e+00] [-1.96504262e-02 2.53711589e-03 9.99803693e-01 -8.49928202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.929072329 meters Centerline goodness : 0.803608 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99304135e-01 -3.20480412e-02 1.90832024e-02 -2.88971133e+00] [ 3.20837277e-02 9.99483957e-01 -1.56675756e-03 -3.74296150e+00] [-1.90231431e-02 2.17792757e-03 9.99816672e-01 -8.50614077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.959072329 meters Centerline goodness : 0.804760 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99344423e-01 -3.13177441e-02 1.81637957e-02 -2.88710415e+00] [ 3.13675021e-02 9.99504889e-01 -2.46093446e-03 -3.74275642e+00] [-1.80777317e-02 3.02907402e-03 9.99831996e-01 -8.51311398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.989072329 meters Centerline goodness : 0.805639 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99346709e-01 -3.13651468e-02 1.79550377e-02 -2.88661586e+00] [ 3.14132327e-02 9.99503596e-01 -2.40231749e-03 -3.74321030e+00] [-1.78707757e-02 2.96477386e-03 9.99835909e-01 -8.51171940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.019072329 meters Centerline goodness : 0.805561 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99359633e-01 -3.11501577e-02 1.76065527e-02 -2.88656860e+00] [ 3.12028576e-02 9.99509354e-01 -2.72639100e-03 -3.74356068e+00] [-1.75129866e-02 3.27401987e-03 9.99841275e-01 -8.50052277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.049072329 meters Centerline goodness : 0.804301 Centerline is valid? [False, False] Translation: X:-2.89, Y:-3.74, Z:-0.85 [[ 9.99375554e-01 -3.09084384e-02 1.71222289e-02 -2.88596646e+00] [ 3.09617283e-02 9.99516491e-01 -2.85596706e-03 -3.74377721e+00] [-1.70256767e-02 3.38431746e-03 9.99849325e-01 -8.49300104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.079072329 meters Centerline goodness : 0.804872 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99415252e-01 -2.99682486e-02 1.64638547e-02 -2.88346037e+00] [ 3.00165839e-02 9.99545763e-01 -2.69656499e-03 -3.74422066e+00] [-1.63755649e-02 3.18917686e-03 9.99860825e-01 -8.50874432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10907232899999 meters Centerline goodness : 0.804073 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99449590e-01 -2.92674793e-02 1.56182950e-02 -2.88056300e+00] [ 2.93148610e-02 9.99566268e-01 -2.81342063e-03 -3.74414399e+00] [-1.55291791e-02 3.26972025e-03 9.99874069e-01 -8.52481745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13907232899999 meters Centerline goodness : 0.806180 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.74, Z:-0.85 [[ 9.99487374e-01 -2.82705301e-02 1.50255269e-02 -2.87953379e+00] [ 2.82999707e-02 9.99597943e-01 -1.75033091e-03 -3.74444746e+00] [-1.49700030e-02 2.17465562e-03 9.99885578e-01 -8.52464174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16907232899999 meters Centerline goodness : 0.806659 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99532880e-01 -2.70340009e-02 1.42542791e-02 -2.87793483e+00] [ 2.70577862e-02 9.99632778e-01 -1.47839963e-03 -3.74510360e+00] [-1.42090775e-02 1.86339828e-03 9.99897310e-01 -8.52284139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19907232899999 meters Centerline goodness : 0.804193 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99608000e-01 -2.47045608e-02 1.31731538e-02 -2.87662376e+00] [ 2.47302563e-02 9.99692556e-01 -1.79126013e-03 -3.74704597e+00] [-1.31248515e-02 2.11633342e-03 9.99911626e-01 -8.50211277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22907232899999 meters Centerline goodness : 0.803702 Centerline is valid? [False, False] Translation: X:-2.88, Y:-3.75, Z:-0.85 [[ 9.99647592e-01 -2.35321952e-02 1.22852746e-02 -2.87539282e+00] [ 2.35624926e-02 9.99719657e-01 -2.32724361e-03 -3.74803447e+00] [-1.22270654e-02 2.61589516e-03 9.99921825e-01 -8.48864491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25907232899999 meters Centerline goodness : 0.800216 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99690200e-01 -2.20364725e-02 1.15714465e-02 -2.87477487e+00] [ 2.20702135e-02 9.99752513e-01 -2.79631462e-03 -3.74983363e+00] [-1.15069618e-02 3.05083261e-03 9.99929139e-01 -8.46889329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28907232899999 meters Centerline goodness : 0.799055 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99701711e-01 -2.19453110e-02 1.07187818e-02 -2.87190569e+00] [ 2.19858786e-02 9.99751502e-01 -3.68165037e-03 -3.74972197e+00] [-1.06353233e-02 3.91621402e-03 9.99935775e-01 -8.48343220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.319072329 meters Centerline goodness : 0.799680 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99716997e-01 -2.14752749e-02 1.02341372e-02 -2.87056004e+00] [ 2.15125032e-02 9.99762307e-01 -3.54155736e-03 -3.74955006e+00] [-1.01556487e-02 3.76071700e-03 9.99941358e-01 -8.48700923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.349072329 meters Centerline goodness : 0.794276 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.75, Z:-0.85 [[ 9.99773814e-01 -1.90906518e-02 9.37379723e-03 -2.86986671e+00] [ 1.91210576e-02 9.99812167e-01 -3.16485873e-03 -3.75110277e+00] [-9.31161731e-03 3.34337980e-03 9.99951057e-01 -8.46706231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.379072329 meters Centerline goodness : 0.794152 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 9.99841386e-01 -1.56551752e-02 8.49229935e-03 -2.86747921e+00] [ 1.56443656e-02 9.99876724e-01 1.33781319e-03 -3.75537517e+00] [-8.51219616e-03 -1.20474436e-03 9.99963045e-01 -8.46327040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.409072329 meters Centerline goodness : 0.791907 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 9.99846014e-01 -1.53914179e-02 8.42921544e-03 -2.86741649e+00] [ 1.53782230e-02 9.99880423e-01 1.62796004e-03 -3.75661075e+00] [-8.45326411e-03 -1.49808300e-03 9.99963148e-01 -8.46317486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.439072329 meters Centerline goodness : 0.791638 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990327 -0.01151057 0.0078075 -2.86568452] [ 0.01146111 0.99991415 0.00635069 -3.76085905] [-0.00787993 -0.00626059 0.99994935 -0.84612804] [ 0. 0. 0. 1. ]] SLAMing on 105.469072329 meters Centerline goodness : 0.790182 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990242 -0.01157031 0.00782849 -2.86533833] [ 0.0115224 0.99991478 0.00613794 -3.76017296] [-0.00789885 -0.00604714 0.99995052 -0.84680369] [ 0. 0. 0. 1. ]] SLAMing on 105.49907232899999 meters Centerline goodness : 0.789801 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990256 -0.01150627 0.00790418 -2.86539214] [ 0.0114587 0.99991612 0.00603785 -3.75978367] [-0.00797299 -0.00594669 0.99995053 -0.84714169] [ 0. 0. 0. 1. ]] SLAMing on 105.52907232899999 meters Centerline goodness : 0.788506 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990448 -0.01133438 0.00790911 -2.86548134] [ 0.01128596 0.99991746 0.00613968 -3.76010165] [-0.00797805 -0.00604984 0.99994987 -0.84711245] [ 0. 0. 0. 1. ]] SLAMing on 105.55907232899999 meters Centerline goodness : 0.788404 Centerline is valid? [False, False] Translation: X:-2.87, Y:-3.76, Z:-0.85 [[ 0.99990869 -0.01108972 0.00772216 -2.86505447] [ 0.01103898 0.9999174 0.00658238 -3.76314645] [-0.00779452 -0.00649654 0.99994852 -0.8470461 ] [ 0. 0. 0. 1. ]] SLAMing on 105.58907232899999 meters Centerline goodness : 0.785953 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.76, Z:-0.85 [[ 0.99990872 -0.01134952 0.00733105 -2.86355457] [ 0.01130119 0.99991436 0.00659976 -3.76487765] [-0.00740533 -0.00651631 0.99995135 -0.84766776] [ 0. 0. 0. 1. ]] SLAMing on 105.61907232899999 meters Centerline goodness : 0.784045 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990716 -0.01174142 0.00691399 -2.86182051] [ 0.01169642 0.99991038 0.00651368 -3.7662406 ] [-0.00698985 -0.00643221 0.99995488 -0.84850205] [ 0. 0. 0. 1. ]] SLAMing on 105.64907232899999 meters Centerline goodness : 0.785400 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990403 -0.0123032 0.00636899 -2.85930949] [ 0.01226091 0.99990281 0.00663676 -3.7685568 ] [-0.00645002 -0.00655803 0.99995769 -0.84969941] [ 0. 0. 0. 1. ]] SLAMing on 105.679072329 meters Centerline goodness : 0.785123 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990184 -0.01266144 0.0059999 -2.85785487] [ 0.01262139 0.99989813 0.00666563 -3.76978407] [-0.00608368 -0.00658925 0.99995978 -0.8501979 ] [ 0. 0. 0. 1. ]] SLAMing on 105.709072329 meters Centerline goodness : 0.781118 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.77, Z:-0.85 [[ 0.99990312 -0.01272366 0.00564445 -2.85698873] [ 0.01268343 0.9998943 0.00710788 -3.7718214 ] [-0.00573429 -0.0070356 0.99995881 -0.84983817] [ 0. 0. 0. 1. ]] SLAMing on 105.739072329 meters Centerline goodness : 0.779319 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.78, Z:-0.85 [[ 0.99990496 -0.0128183 0.00507514 -2.85564788] [ 0.01277712 0.99988584 0.00806568 -3.7767611 ] [-0.00517795 -0.00800006 0.99995459 -0.84894962] [ 0. 0. 0. 1. ]] SLAMing on 105.769072329 meters Centerline goodness : 0.780263 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 0.99990527 -0.01293869 0.00469504 -2.85453665] [ 0.01289888 0.99988142 0.00841264 -3.77892328] [-0.00480334 -0.00835129 0.99995359 -0.84889466] [ 0. 0. 0. 1. ]] SLAMing on 105.799072329 meters Centerline goodness : 0.778265 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 0.99990327 -0.01320501 0.00436789 -2.85329141] [ 0.01316735 0.99987683 0.00854068 -3.78070165] [-0.00448013 -0.00848234 0.99995399 -0.84924436] [ 0. 0. 0. 1. ]] SLAMing on 105.829072329 meters Centerline goodness : 0.777510 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.78, Z:-0.85 [[ 9.99898625e-01 -1.37282894e-02 3.77815460e-03 -2.85071707e+00] [ 1.36947190e-02 9.99867742e-01 8.77227112e-03 -3.78414617e+00] [-3.89808319e-03 -8.71964107e-03 9.99954385e-01 -8.50336865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85907232899999 meters Centerline goodness : 0.776708 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99897160e-01 -1.39006914e-02 3.52706263e-03 -2.84969915e+00] [ 1.38687456e-02 9.99863986e-01 8.92565870e-03 -3.78558219e+00] [-3.65065573e-03 -8.87582485e-03 9.99953945e-01 -8.50641554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88907232899999 meters Centerline goodness : 0.778352 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99901809e-01 -1.35518800e-02 3.56629258e-03 -2.85021498e+00] [ 1.35164960e-02 9.99860959e-01 9.76558244e-03 -3.78857453e+00] [-3.69813872e-03 -9.71641977e-03 9.99945956e-01 -8.49678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91907232899999 meters Centerline goodness : 0.778352 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99901809e-01 -1.35518800e-02 3.56629258e-03 -2.85021498e+00] [ 1.35164960e-02 9.99860959e-01 9.76558244e-03 -3.78857453e+00] [-3.69813872e-03 -9.71641977e-03 9.99945956e-01 -8.49678758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94907232899999 meters Centerline goodness : 0.778211 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902596e-01 -1.35328175e-02 3.41500748e-03 -2.85006442e+00] [ 1.34980292e-02 9.99858769e-01 1.00122310e-02 -3.78949002e+00] [-3.55001887e-03 -9.96515994e-03 9.99944045e-01 -8.49123145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97907232899999 meters Centerline goodness : 0.778005 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902988e-01 -1.35485634e-02 3.23275995e-03 -2.84958027e+00] [ 1.35151314e-02 9.99857164e-01 1.01485643e-02 -3.79071557e+00] [-3.36979667e-03 -1.01038886e-02 9.99943276e-01 -8.49092327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00907232899999 meters Centerline goodness : 0.777888 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99902973e-01 -1.36250524e-02 2.89861949e-03 -2.84859335e+00] [ 1.35946418e-02 9.99854903e-01 1.02644419e-02 -3.79215758e+00] [-3.03805246e-03 -1.02240403e-02 9.99943118e-01 -8.49279075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03907232899999 meters Centerline goodness : 0.778682 Centerline is valid? [False, False] Translation: X:-2.85, Y:-3.79, Z:-0.85 [[ 9.99894034e-01 -1.43672623e-02 2.34574782e-03 -2.84515366e+00] [ 1.43446783e-02 9.99853148e-01 9.37617276e-03 -3.79310963e+00] [-2.48011328e-03 -9.34153020e-03 9.99953291e-01 -8.52630928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.069072329 meters Centerline goodness : 0.779388 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99887542e-01 -1.48368553e-02 2.18417724e-03 -2.84350683e+00] [ 1.48174871e-02 9.99852958e-01 8.63158970e-03 -3.79199225e+00] [-2.31192172e-03 -8.59825500e-03 9.99960362e-01 -8.54696782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.099072329 meters Centerline goodness : 0.777956 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882989e-01 -1.51398126e-02 2.18944544e-03 -2.84257666e+00] [ 1.51217333e-02 9.99853248e-01 8.05087809e-03 -3.79077422e+00] [-2.31101292e-03 -8.01682784e-03 9.99965194e-01 -8.56260020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.129072329 meters Centerline goodness : 0.776182 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882208e-01 -1.51776239e-02 2.28254232e-03 -2.84248614e+00] [ 1.51592322e-02 9.99854121e-01 7.86986535e-03 -3.79019787e+00] [-2.40165521e-03 -7.83433675e-03 9.99966427e-01 -8.56813115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.159072329 meters Centerline goodness : 0.775946 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99889403e-01 -1.46837696e-02 2.35965435e-03 -2.84369579e+00] [ 1.46626595e-02 9.99854408e-01 8.72752973e-03 -3.79236570e+00] [-2.48746384e-03 -8.69196569e-03 9.99959130e-01 -8.55029410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.189072329 meters Centerline goodness : 0.775615 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99891919e-01 -1.45344010e-02 2.21393134e-03 -2.84385604e+00] [ 1.45136158e-02 9.99852973e-01 9.13166273e-03 -3.79372625e+00] [-2.34632908e-03 -9.09854362e-03 9.99955855e-01 -8.54037541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.219072329 meters Centerline goodness : 0.775641 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.80, Z:-0.85 [[ 9.99896619e-01 -1.42177493e-02 2.14622206e-03 -2.84423555e+00] [ 1.41964354e-02 9.99852762e-01 9.63929766e-03 -3.79541872e+00] [-2.28295517e-03 -9.60783244e-03 9.99951238e-01 -8.53122219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24907232899999 meters Centerline goodness : 0.777388 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.85 [[ 9.99892926e-01 -1.45014880e-02 1.96040046e-03 -2.84327657e+00] [ 1.44827892e-02 9.99852445e-01 9.23775196e-03 -3.79455881e+00] [-2.09407234e-03 -9.20837077e-03 9.99955409e-01 -8.53909048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27907232899999 meters Centerline goodness : 0.774723 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99883509e-01 -1.51573253e-02 1.79551320e-03 -2.84104286e+00] [ 1.51425770e-02 9.99853652e-01 7.96096892e-03 -3.79263490e+00] [-1.91591742e-03 -7.93285284e-03 9.99966699e-01 -8.57206250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30907232899999 meters Centerline goodness : 0.774358 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99878619e-01 -1.55065023e-02 1.51506854e-03 -2.83966339e+00] [ 1.54946157e-02 9.99851330e-01 7.56538574e-03 -3.79231452e+00] [-1.63215597e-03 -7.54099205e-03 9.99970234e-01 -8.58226214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33907232899999 meters Centerline goodness : 0.773990 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99879087e-01 -1.54913334e-02 1.35246511e-03 -2.83927224e+00] [ 1.54806057e-02 9.99851196e-01 7.61156648e-03 -3.79296448e+00] [-1.47017717e-03 -7.58970917e-03 9.99970117e-01 -8.58209852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36907232899999 meters Centerline goodness : 0.774284 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99882426e-01 -1.52829128e-02 1.25166417e-03 -2.83947022e+00] [ 1.52725604e-02 9.99852156e-01 7.90031637e-03 -3.79386965e+00] [-1.37221897e-03 -7.88027138e-03 9.99968009e-01 -8.57500058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39907232899999 meters Centerline goodness : 0.774539 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99888593e-01 -1.48557420e-02 1.45222435e-03 -2.84034943e+00] [ 1.48437376e-02 9.99858187e-01 7.95426198e-03 -3.79351425e+00] [-1.57018487e-03 -7.93181938e-03 9.99967310e-01 -8.57368299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.429072329 meters Centerline goodness : 0.773627 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.80, Z:-0.86 [[ 9.99933952e-01 -1.14847447e-02 4.38637919e-04 -2.83741248e+00] [ 1.14785667e-02 9.99860252e-01 1.21540066e-02 -3.79530733e+00] [-5.78162282e-04 -1.21481689e-02 9.99926041e-01 -8.57329448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.459072329 meters Centerline goodness : 0.771172 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99929939e-01 -1.18337781e-02 2.81002727e-04 -2.83630366e+00] [ 1.18297895e-02 9.99864575e-01 1.14406224e-02 -3.79372933e+00] [-4.16350459e-04 -1.14364967e-02 9.99934514e-01 -8.58652435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.489072329 meters Centerline goodness : 0.772006 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99931303e-01 -1.17201239e-02 1.67230751e-04 -2.83579361e+00] [ 1.17175649e-02 9.99870444e-01 1.10360387e-02 -3.79316178e+00] [-2.96552826e-04 -1.10333210e-02 9.99939087e-01 -8.59595364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.519072329 meters Centerline goodness : 0.772264 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99932318e-01 -1.16336953e-02 1.25000715e-04 -2.83563588e+00] [ 1.16316506e-02 9.99873317e-01 1.08653091e-02 -3.79293196e+00] [-2.51388574e-04 -1.08631197e-02 9.99940963e-01 -8.59978294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.549072329 meters Centerline goodness : 0.771683 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99933965e-01 -1.14903019e-02 1.95352627e-04 -2.83597950e+00] [ 1.14875589e-02 9.99876922e-01 1.06853305e-02 -3.79189134e+00] [-3.18106257e-04 -1.06823808e-02 9.99942891e-01 -8.59990151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.579072329 meters Centerline goodness : 0.770516 Centerline is valid? [False, False] Translation: X:-2.84, Y:-3.79, Z:-0.86 [[ 9.99931538e-01 -1.17007034e-02 1.12302812e-04 -2.83549005e+00] [ 1.16989087e-02 9.99877745e-01 1.03744862e-02 -3.79112119e+00] [-2.33677868e-04 -1.03724621e-02 9.99946177e-01 -8.60395577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60907232899999 meters Centerline goodness : 0.773294 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99929680e-01 -1.18589359e-02 -5.38677238e-06 -2.83492536e+00] [ 1.18583861e-02 9.99878737e-01 1.00940978e-02 -3.79029834e+00] [-1.14319140e-04 -1.00934519e-02 9.99949053e-01 -8.60840765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63907232899999 meters Centerline goodness : 0.769044 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99926578e-01 -1.21166411e-02 -1.62733998e-04 -2.83402531e+00] [ 1.21176391e-02 9.99881692e-01 9.47437813e-03 -3.78910985e+00] [ 4.79171068e-05 -9.47565445e-03 9.99955104e-01 -8.61887794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66907232899999 meters Centerline goodness : 0.769161 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99922680e-01 -1.24287908e-02 -3.99215250e-04 -2.83287749e+00] [ 1.24319226e-02 9.99880899e-01 9.14525687e-03 -3.78880140e+00] [ 2.85503219e-04 -9.14951277e-03 9.99958102e-01 -8.62653673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69907232899999 meters Centerline goodness : 0.768890 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99916211e-01 -1.29216094e-02 -7.76738226e-04 -2.83121375e+00] [ 1.29278236e-02 9.99879334e-01 8.61323559e-03 -3.78826161e+00] [ 6.65347635e-04 -8.62255543e-03 9.99962604e-01 -8.63677679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72907232899999 meters Centerline goodness : 0.767624 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99910926e-01 -1.32988018e-02 -1.13214170e-03 -2.82988376e+00] [ 1.33077060e-02 9.99877342e-01 8.25871906e-03 -3.78784659e+00] [ 1.02217177e-03 -8.27304963e-03 9.99965255e-01 -8.64268160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75907232899999 meters Centerline goodness : 0.770393 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99908670e-01 -1.34581768e-02 -1.23688391e-03 -2.82953536e+00] [ 1.34674201e-02 9.99878917e-01 7.79612278e-03 -3.78641568e+00] [ 1.13181254e-03 -7.81206839e-03 9.99968845e-01 -8.64603235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78907232899999 meters Centerline goodness : 0.766369 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.79, Z:-0.86 [[ 9.99912621e-01 -1.31803055e-02 -1.01512420e-03 -2.83060688e+00] [ 1.31879033e-02 9.99881971e-01 7.88188448e-03 -3.78566597e+00] [ 9.11118743e-04 -7.89458313e-03 9.99968422e-01 -8.63959053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.819072329 meters Centerline goodness : 0.765253 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99911351e-01 -1.32755988e-02 -1.02398734e-03 -2.83065292e+00] [ 1.32829604e-02 9.99883252e-01 7.55288996e-03 -3.78418489e+00] [ 9.23598652e-04 -7.56582199e-03 9.99970952e-01 -8.63907839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.849072329 meters Centerline goodness : 0.766254 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99909128e-01 -1.34412850e-02 -1.03365197e-03 -2.83048141e+00] [ 1.34483322e-02 9.99884052e-01 7.14313572e-03 -3.78267429e+00] [ 9.37519192e-04 -7.15638751e-03 9.99973953e-01 -8.64177949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.879072329 meters Centerline goodness : 0.766541 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.86 [[ 9.99907831e-01 -1.35364658e-02 -1.04582936e-03 -2.83044869e+00] [ 1.35428448e-02 9.99888102e-01 6.35419294e-03 -3.77906147e+00] [ 9.59699017e-04 -6.36777079e-03 9.99979265e-01 -8.64721654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.909072329 meters Centerline goodness : 0.764968 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.87 [[ 9.99901072e-01 -1.40011996e-02 -1.34642878e-03 -2.82926736e+00] [ 1.40083938e-02 9.99886800e-01 5.49105690e-03 -3.77642092e+00] [ 1.26939498e-03 -5.50937499e-03 9.99984018e-01 -8.65556194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.939072329 meters Centerline goodness : 0.763280 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.78, Z:-0.87 [[ 9.99939029e-01 -1.07518049e-02 -2.51744818e-03 -2.82601039e+00] [ 1.07738113e-02 9.99902374e-01 8.89759638e-03 -3.77541827e+00] [ 2.42153719e-03 -8.92417640e-03 9.99957247e-01 -8.65897341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.969072329 meters Centerline goodness : 0.762572 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.77, Z:-0.87 [[ 9.99934320e-01 -1.11271430e-02 -2.74635127e-03 -2.82507211e+00] [ 1.11491030e-02 9.99904920e-01 8.11466678e-03 -3.77332182e+00] [ 2.65579709e-03 -8.14475316e-03 9.99963304e-01 -8.66657312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99907232899999 meters Centerline goodness : 0.761187 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99931016e-01 -1.13738368e-02 -2.93256951e-03 -2.82443338e+00] [ 1.13959643e-02 9.99905858e-01 7.64247805e-03 -3.77182465e+00] [ 2.84536913e-03 -7.67537029e-03 9.99966496e-01 -8.66988140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02907232899999 meters Centerline goodness : 0.759912 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926169e-01 -1.17637640e-02 -3.04482671e-03 -2.82399759e+00] [ 1.17843128e-02 9.99907296e-01 6.82117472e-03 -3.76835101e+00] [ 2.96430175e-03 -6.85655229e-03 9.99972100e-01 -8.67335863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05907232899999 meters Centerline goodness : 0.759896 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926497e-01 -1.17692179e-02 -2.91316641e-03 -2.82440173e+00] [ 1.17882164e-02 9.99908783e-01 6.59268071e-03 -3.76684631e+00] [ 2.83530999e-03 -6.62653716e-03 9.99974025e-01 -8.67262738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08907232899999 meters Centerline goodness : 0.759339 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.77, Z:-0.87 [[ 9.99926271e-01 -1.18110069e-02 -2.81991743e-03 -2.82479362e+00] [ 1.18286324e-02 9.99910081e-01 6.31770790e-03 -3.76501404e+00] [ 2.74504538e-03 -6.35059787e-03 9.99976067e-01 -8.67085871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11907232899999 meters Centerline goodness : 0.757751 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.76, Z:-0.87 [[ 9.99927213e-01 -1.17735450e-02 -2.63679578e-03 -2.82560585e+00] [ 1.17883351e-02 9.99914464e-01 5.66562888e-03 -3.76090788e+00] [ 2.56986570e-03 -5.69629993e-03 9.99980474e-01 -8.67013728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14907232899999 meters Centerline goodness : 0.755672 Centerline is valid? [False, False] Translation: X:-2.83, Y:-3.76, Z:-0.87 [[ 9.99923749e-01 -1.20430867e-02 -2.73138692e-03 -2.82518626e+00] [ 1.20565953e-02 9.99914894e-01 4.98436763e-03 -3.75831344e+00] [ 2.67112729e-03 -5.01691879e-03 9.99983848e-01 -8.67515096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.179072329 meters Centerline goodness : 0.753853 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.76, Z:-0.87 [[ 9.99916188e-01 -1.25782820e-02 -3.06641833e-03 -2.82389752e+00] [ 1.25908125e-02 9.99912319e-01 4.10189282e-03 -3.75554623e+00] [ 3.01455470e-03 -4.14015773e-03 9.99986886e-01 -8.68323320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.209072329 meters Centerline goodness : 0.755471 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.76, Z:-0.87 [[ 0.9999503 -0.00912671 -0.00401158 -2.82227324] [ 0.00915988 0.99992335 0.00833046 -3.75537905] [ 0.00393525 -0.00836679 0.99995725 -0.86636215] [ 0. 0. 0. 1. ]] SLAMing on 107.239072329 meters Centerline goodness : 0.753842 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994841 -0.00933128 -0.00401401 -2.82233202] [ 0.009363 0.99992451 0.00795725 -3.75361958] [ 0.00393946 -0.00799443 0.99996028 -0.86621624] [ 0. 0. 0. 1. ]] SLAMing on 107.269072329 meters Centerline goodness : 0.754455 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994492 -0.00964837 -0.00413118 -2.82206286] [ 0.00967884 0.99992562 0.00742091 -3.75159581] [ 0.00405927 -0.00746049 0.99996393 -0.8662362 ] [ 0. 0. 0. 1. ]] SLAMing on 107.299072329 meters Centerline goodness : 0.752945 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.75, Z:-0.87 [[ 0.99994134 -0.00998358 -0.00420174 -2.82170737] [ 0.01001235 0.99992618 0.00688363 -3.74953252] [ 0.00413271 -0.0069253 0.99996748 -0.86649685] [ 0. 0. 0. 1. ]] SLAMing on 107.329072329 meters Centerline goodness : 0.753209 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99992871 -0.01100336 -0.00463699 -2.81974975] [ 0.0110286 0.99992431 0.00545328 -3.74497073] [ 0.00457663 -0.00550403 0.99997438 -0.86783062] [ 0. 0. 0. 1. ]] SLAMing on 107.35907232899999 meters Centerline goodness : 0.752116 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99992172 -0.0114943 -0.00494297 -2.81876342] [ 0.0115184 0.99992177 0.00487595 -3.74292042] [ 0.00488654 -0.0049325 0.9999759 -0.86808487] [ 0. 0. 0. 1. ]] SLAMing on 107.38907232899999 meters Centerline goodness : 0.749181 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 0.99991202 -0.01215366 -0.00531411 -2.81731781] [ 0.01217553 0.99991746 0.00410155 -3.74085487] [ 0.00526382 -0.0041659 0.99997747 -0.86874151] [ 0. 0. 0. 1. ]] SLAMing on 107.41907232899999 meters Centerline goodness : 0.747919 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 9.99899069e-01 -1.29873192e-02 -5.76024291e-03 -2.81579931e+00] [ 1.30047774e-02 9.99910923e-01 3.00378416e-03 -3.73735007e+00] [ 5.72071869e-03 -3.07839166e-03 9.99978898e-01 -8.69313223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44907232899999 meters Centerline goodness : 0.746097 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.74, Z:-0.87 [[ 9.99892243e-01 -1.36339659e-02 -5.44215827e-03 -2.81663378e+00] [ 1.36531032e-02 9.99900684e-01 3.49495261e-03 -3.73521998e+00] [ 5.39396772e-03 -3.56887835e-03 9.99979084e-01 -8.69287650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47907232899999 meters Centerline goodness : 0.746166 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99877471e-01 -1.49076912e-02 -4.77542546e-03 -2.81662259e+00] [ 1.49218334e-02 9.99884342e-01 2.93965532e-03 -3.73240419e+00] [ 4.73104967e-03 -3.01055323e-03 9.99984277e-01 -8.71304350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50907232899999 meters Centerline goodness : 0.746406 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99848505e-01 -1.70479346e-02 -3.51205205e-03 -2.81929780e+00] [ 1.70611831e-02 9.99847312e-01 3.77749539e-03 -3.72831482e+00] [ 3.44711731e-03 -3.83684288e-03 9.99986698e-01 -8.71631713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53907232899999 meters Centerline goodness : 0.745987 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.73, Z:-0.87 [[ 9.99834068e-01 -1.79291672e-02 -3.22211822e-03 -2.82018123e+00] [ 1.79407196e-02 9.99832597e-01 3.59291077e-03 -3.72692045e+00] [ 3.15716093e-03 -3.65012171e-03 9.99988354e-01 -8.71281101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.569072329 meters Centerline goodness : 0.743592 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99786200e-01 -2.05133227e-02 -2.59948806e-03 -2.82169576e+00] [ 2.05204880e-02 9.99785622e-01 2.76040006e-03 -3.72473346e+00] [ 2.54230581e-03 -2.81315265e-03 9.99992811e-01 -8.71174164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.599072329 meters Centerline goodness : 0.742172 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99751538e-01 -2.21157734e-02 -2.78457934e-03 -2.81999231e+00] [ 2.21196366e-02 9.99754400e-01 1.36429432e-03 -3.72304545e+00] [ 2.75372302e-03 -1.42554923e-03 9.99995192e-01 -8.73047006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.629072329 meters Centerline goodness : 0.742308 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99653564e-01 -2.62246421e-02 -2.24053122e-03 -2.82074607e+00] [ 2.62164375e-02 9.99649750e-01 -3.61598083e-03 -3.71870761e+00] [ 2.33457428e-03 3.55598938e-03 9.99990952e-01 -8.74260950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.659072329 meters Centerline goodness : 0.742687 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.72, Z:-0.87 [[ 9.99639152e-01 -2.67372713e-02 -2.58547588e-03 -2.81962012e+00] [ 2.67265065e-02 9.99634325e-01 -4.11217967e-03 -3.71704650e+00] [ 2.69447890e-03 4.04159506e-03 9.99988203e-01 -8.74534794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.689072329 meters Centerline goodness : 0.744486 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99605255e-01 -2.79042770e-02 -3.26887674e-03 -2.81725613e+00] [ 2.78875697e-02 9.99598311e-01 -5.04975323e-03 -3.71433358e+00] [ 3.40847338e-03 4.95659884e-03 9.99981907e-01 -8.75080038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.719072329 meters Centerline goodness : 0.745482 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99493110e-01 -3.17244884e-02 -2.66063271e-03 -2.81870715e+00] [ 3.16979043e-02 9.99452342e-01 -9.50046963e-03 -3.71088113e+00] [ 2.96057313e-03 9.41131746e-03 9.99951330e-01 -8.75207683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74907232899999 meters Centerline goodness : 0.745952 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.71, Z:-0.88 [[ 9.99361865e-01 -3.56677960e-02 -1.91611635e-03 -2.81990465e+00] [ 3.56368984e-02 9.99262884e-01 -1.42723428e-02 -3.70765798e+00] [ 2.42376696e-03 1.41949507e-02 9.99896309e-01 -8.76162343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77907232899999 meters Centerline goodness : 0.749030 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99185615e-01 -4.03230022e-02 -1.47075016e-03 -2.81986139e+00] [ 4.02862040e-02 9.98993382e-01 -1.97292933e-02 -3.70238669e+00] [ 2.26481401e-03 1.96539751e-02 9.99804277e-01 -8.77685679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80907232899999 meters Centerline goodness : 0.750726 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99036546e-01 -4.38810511e-02 -6.57993849e-04 -2.82148568e+00] [ 4.38527014e-02 9.98750490e-01 -2.39666344e-02 -3.69802966e+00] [ 1.70885279e-03 2.39146889e-02 9.99712542e-01 -8.78060463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83907232899999 meters Centerline goodness : 0.750726 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99038947e-01 -4.38264013e-02 -6.54531260e-04 -2.82151666e+00] [ 4.37982617e-02 9.98754450e-01 -2.39010615e-02 -3.69826832e+00] [ 1.70121352e-03 2.38494240e-02 9.99714115e-01 -8.78041752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86907232899999 meters Centerline goodness : 0.750911 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.70, Z:-0.88 [[ 9.99025264e-01 -4.41338294e-02 -8.53142154e-04 -2.82092955e+00] [ 4.41003534e-02 9.98734703e-01 -2.41692515e-02 -3.69689499e+00] [ 1.91874430e-03 2.41080689e-02 9.99707517e-01 -8.78014614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89907232899999 meters Centerline goodness : 0.752446 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98827418e-01 -4.84118007e-02 -2.92886471e-04 -2.82171923e+00] [ 4.83827457e-02 9.98404160e-01 -2.91246122e-02 -3.69173301e+00] [ 1.70239399e-03 2.90762906e-02 9.99575746e-01 -8.78517114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.929072329 meters Centerline goodness : 0.753094 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98937393e-01 -4.60796226e-02 -8.68200354e-04 -2.81937796e+00] [ 4.60427355e-02 9.98616387e-01 -2.54043121e-02 -3.69436168e+00] [ 2.03762022e-03 2.53373430e-02 9.99676881e-01 -8.78449581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.959072329 meters Centerline goodness : 0.754660 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98725249e-01 -5.04713853e-02 -7.19048541e-04 -2.81913257e+00] [ 5.04268853e-02 9.98273689e-01 -3.01126455e-02 -3.69194898e+00] [ 2.23763418e-03 3.00380000e-02 9.99546253e-01 -8.78834796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.989072329 meters Centerline goodness : 0.756864 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98701381e-01 -5.09347598e-02 -1.09587597e-03 -2.81786757e+00] [ 5.08783645e-02 9.98246523e-01 -3.02534406e-02 -3.69164513e+00] [ 2.63490610e-03 3.01583965e-02 9.99541659e-01 -8.79105082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.019072329 meters Centerline goodness : 0.757613 Centerline is valid? [False, False] Translation: X:-2.82, Y:-3.69, Z:-0.88 [[ 9.98668254e-01 -5.15687156e-02 -1.54488130e-03 -2.81613577e+00] [ 5.14975283e-02 9.98205298e-01 -3.05644713e-02 -3.69102851e+00] [ 3.11827922e-03 3.04442096e-02 9.99531604e-01 -8.79824024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.049072329 meters Centerline goodness : 0.759778 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 9.98616369e-01 -5.25401531e-02 -2.20881821e-03 -2.81335859e+00] [ 5.24465110e-02 9.98141326e-01 -3.10363862e-02 -3.69061824e+00] [ 3.83536922e-03 3.08775985e-02 9.99515815e-01 -8.81168799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.079072329 meters Centerline goodness : 0.762590 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 9.98549793e-01 -5.37514231e-02 -3.01583140e-03 -2.80992361e+00] [ 5.36284866e-02 9.98052923e-01 -3.18488269e-02 -3.68986651e+00] [ 4.72187911e-03 3.16409050e-02 9.99488147e-01 -8.82791624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10907232899999 meters Centerline goodness : 0.762042 Centerline is valid? [False, False] Translation: X:-2.81, Y:-3.69, Z:-0.88 [[ 0.9986959 -0.0509002 -0.00395756 -2.80701309] [ 0.05077216 0.998329 -0.02759349 -3.69302618] [ 0.00535546 0.02735657 0.99961139 -0.88286013] [ 0. 0. 0. 1. ]] SLAMing on 108.13907232899999 meters Centerline goodness : 0.762656 Centerline is valid? [False, False] Translation: X:-2.80, Y:-3.70, Z:-0.88 [[ 0.99884999 -0.04770645 -0.00477462 -2.80496201] [ 0.04758432 0.998601 -0.02306016 -3.69659007] [ 0.00586806 0.02280644 0.99972268 -0.88219065] [ 0. 0. 0. 1. ]] SLAMing on 108.16907232899999 meters Centerline goodness : 0.764273 Centerline is valid? [False, False] Translation: X:-2.78, Y:-3.70, Z:-0.88 [[ 9.98878353e-01 -4.73022998e-02 -2.12821946e-03 -2.77955442e+00] [ 4.72310599e-02 9.98544902e-01 -2.60250940e-02 -3.69601927e+00] [ 3.35616948e-03 2.58953849e-02 9.99659024e-01 -8.81742049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19907232899999 meters Centerline goodness : 0.764782 Centerline is valid? [False, False] Translation: X:-2.78, Y:-3.70, Z:-0.88 [[ 9.99014794e-01 -4.42667126e-02 -3.14625301e-03 -2.77697748e+00] [ 4.41892113e-02 9.98792278e-01 -2.14778735e-02 -3.69987837e+00] [ 4.09320806e-03 2.13176830e-02 9.99764373e-01 -8.80955114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22907232899999 meters Centerline goodness : 0.764097 Centerline is valid? [False, False] Translation: X:-2.77, Y:-3.70, Z:-0.88 [[ 0.99913806 -0.04131232 -0.00405324 -2.7741007 ] [ 0.04123683 0.99900114 -0.01721192 -3.70306981] [ 0.00476026 0.01702994 0.99984365 -0.88118507] [ 0. 0. 0. 1. ]] SLAMing on 108.25907232899999 meters Centerline goodness : 0.764033 Centerline is valid? [False, False] Translation: X:-2.77, Y:-3.71, Z:-0.88 [[ 0.99924976 -0.03837954 -0.0051887 -2.77039028] [ 0.03830829 0.99917882 -0.01319715 -3.7050952 ] [ 0.00569093 0.01298848 0.99989945 -0.88211054] [ 0. 0. 0. 1. ]] SLAMing on 108.28907232899999 meters Centerline goodness : 0.763090 Centerline is valid? [False, False] Translation: X:-2.75, Y:-3.70, Z:-0.89 [[ 9.99369520e-01 -3.54549726e-02 -1.87267837e-03 -2.75082604e+00] [ 3.54121558e-02 9.99185241e-01 -1.93606052e-02 -3.70355933e+00] [ 2.55758232e-03 1.92820832e-02 9.99810812e-01 -8.87419189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.319072329 meters Centerline goodness : 0.763284 Centerline is valid? [False, False] Translation: X:-2.75, Y:-3.71, Z:-0.89 [[ 9.99494510e-01 -3.16823265e-02 -2.63718673e-03 -2.74917974e+00] [ 3.16413840e-02 9.99396428e-01 -1.43388730e-02 -3.70776129e+00] [ 3.08988385e-03 1.42481806e-02 9.99893715e-01 -8.86448951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.349072329 meters Centerline goodness : 0.762114 Centerline is valid? [False, False] Translation: X:-2.73, Y:-3.71, Z:-0.89 [[ 9.99517118e-01 -3.10702010e-02 -4.16046784e-04 -2.72665348e+00] [ 3.10531921e-02 9.99268699e-01 -2.23106953e-02 -3.70559865e+00] [ 1.10894032e-03 2.22870023e-02 9.99750999e-01 -8.92115304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.379072329 meters Centerline goodness : 0.762819 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.71, Z:-0.89 [[ 9.99623462e-01 -2.74096049e-02 -1.28361997e-03 -2.72455754e+00] [ 2.73830194e-02 9.99472260e-01 -1.74748878e-02 -3.70942942e+00] [ 1.76192232e-03 1.74331585e-02 9.99846479e-01 -8.91565638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.409072329 meters Centerline goodness : 0.763827 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.71, Z:-0.89 [[ 9.99696857e-01 -2.45042636e-02 -2.39487426e-03 -2.72065819e+00] [ 2.44694189e-02 9.99607627e-01 -1.36322762e-02 -3.71211404e+00] [ 2.72798347e-03 1.35695425e-02 9.99904208e-01 -8.93045113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.439072329 meters Centerline goodness : 0.763145 Centerline is valid? [False, False] Translation: X:-2.72, Y:-3.72, Z:-0.89 [[ 9.99770959e-01 -2.11389211e-02 -3.34310079e-03 -2.71782810e+00] [ 2.11067973e-02 9.99733329e-01 -9.36882893e-03 -3.71578673e+00] [ 3.54025621e-03 9.29612093e-03 9.99950523e-01 -8.93382047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.469072329 meters Centerline goodness : 0.762960 Centerline is valid? [False, False] Translation: X:-2.70, Y:-3.71, Z:-0.90 [[ 9.99781998e-01 -2.08587287e-02 -9.33140403e-04 -2.69625214e+00] [ 2.08379485e-02 9.99612248e-01 -1.84698184e-02 -3.71405158e+00] [ 1.31803551e-03 1.84463472e-02 9.99828983e-01 -8.99757735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49907232899999 meters Centerline goodness : 0.765408 Centerline is valid? [False, False] Translation: X:-2.70, Y:-3.72, Z:-0.90 [[ 9.99782981e-01 -2.08030824e-02 -1.10595929e-03 -2.69574792e+00] [ 2.07796834e-02 9.99620344e-01 -1.80934487e-02 -3.71576411e+00] [ 1.48193891e-03 1.80665406e-02 9.99835688e-01 -8.99826901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52907232899999 meters Centerline goodness : 0.763927 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.72, Z:-0.90 [[ 9.99780096e-01 -2.09066308e-02 -1.63492930e-03 -2.69377041e+00] [ 2.08749581e-02 9.99629850e-01 -1.74470177e-02 -3.71858691e+00] [ 1.99908249e-03 1.74090519e-02 9.99846453e-01 -9.00955661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55907232899999 meters Centerline goodness : 0.765093 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.72, Z:-0.90 [[ 9.99849043e-01 -1.72301598e-02 -2.23872049e-03 -2.69201313e+00] [ 1.72006990e-02 9.99773009e-01 -1.25724612e-02 -3.72283260e+00] [ 2.45483784e-03 1.25320558e-02 9.99918457e-01 -9.00711424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58907232899999 meters Centerline goodness : 0.764937 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 9.99908131e-01 -1.32599620e-02 -2.81133626e-03 -2.69070859e+00] [ 1.32389210e-02 9.99885161e-01 -7.37532026e-03 -3.72783076e+00] [ 2.90880987e-03 7.33742363e-03 9.99968850e-01 -8.99856023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61907232899999 meters Centerline goodness : 0.763551 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 0.99992198 -0.01187183 -0.00388617 -2.68837694] [ 0.01183281 0.99988085 -0.00991293 -3.73159012] [ 0.0040034 0.00986617 0.99994331 -0.89858739] [ 0. 0. 0. 1. ]] SLAMing on 108.64907232899999 meters Centerline goodness : 0.762880 Centerline is valid? [False, False] Translation: X:-2.69, Y:-3.73, Z:-0.90 [[ 0.99993076 -0.01098475 -0.00422034 -2.68790782] [ 0.01093831 0.99988104 -0.01087456 -3.73387197] [ 0.00433929 0.01082765 0.99993196 -0.89750442] [ 0. 0. 0. 1. ]] SLAMing on 108.679072329 meters Centerline goodness : 0.762258 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99959638e-01 -8.83941278e-03 -1.60872071e-03 -2.66369649e+00] [ 8.81598476e-03 9.99862710e-01 -1.40299639e-02 -3.73534789e+00] [ 1.73251649e-03 1.40152152e-02 9.99900281e-01 -8.98755200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.709072329 meters Centerline goodness : 0.761178 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99975665e-01 -6.31125653e-03 -2.97270254e-03 -2.65892567e+00] [ 6.26933274e-03 9.99883636e-01 -1.39071927e-02 -3.73977559e+00] [ 3.06012849e-03 1.38882174e-02 9.99898871e-01 -9.00751573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.739072329 meters Centerline goodness : 0.761440 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.74, Z:-0.90 [[ 9.99991334e-01 -2.09531196e-03 -3.59751929e-03 -2.65759945e+00] [ 2.06410956e-03 9.99960412e-01 -8.65522648e-03 -3.74434974e+00] [ 3.61551227e-03 8.64772580e-03 9.99956071e-01 -8.99974132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.769072329 meters Centerline goodness : 0.758966 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.75, Z:-0.90 [[ 9.99988154e-01 2.28370646e-03 -4.29843459e-03 -2.65575335e+00] [-2.29777502e-03 9.99992011e-01 -3.27086192e-03 -3.75125964e+00] [ 4.29093056e-03 3.28070001e-03 9.99985412e-01 -8.99807586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.799072329 meters Centerline goodness : 0.758849 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.75, Z:-0.90 [[ 9.99987678e-01 2.64871511e-03 -4.19870855e-03 -2.65577738e+00] [-2.66125693e-03 9.99992006e-01 -2.98429903e-03 -3.75290778e+00] [ 4.19077042e-03 2.99543610e-03 9.99986732e-01 -9.00361949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.829072329 meters Centerline goodness : 0.759594 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 9.99966407e-01 6.50640625e-03 -4.98506132e-03 -2.65347719e+00] [-6.49851010e-03 9.99977607e-01 1.59852553e-03 -3.75695521e+00] [ 4.99535034e-03 -1.56607636e-03 9.99986297e-01 -9.00478870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85907232899999 meters Centerline goodness : 0.758252 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 0.9999288 0.01047729 -0.00571096 -2.65138276] [-0.01044186 0.99992627 0.00619881 -3.76077156] [ 0.00577549 -0.00613873 0.99996448 -0.90050746] [ 0. 0. 0. 1. ]] SLAMing on 108.88907232899999 meters Centerline goodness : 0.758846 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.76, Z:-0.90 [[ 0.99991537 0.01193091 -0.0051878 -2.65345575] [-0.01189428 0.99990451 0.00703502 -3.76306407] [ 0.00527123 -0.00697272 0.9999618 -0.90040044] [ 0. 0. 0. 1. ]] SLAMing on 108.91907232899999 meters Centerline goodness : 0.759647 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.76, Z:-0.90 [[ 9.99941530e-01 9.62834838e-03 -4.92249514e-03 -2.65557610e+00] [-9.61241417e-03 9.99948517e-01 3.25049536e-03 -3.76194739e+00] [ 4.95353861e-03 -3.20298824e-03 9.99982602e-01 -9.00623841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94907232899999 meters Centerline goodness : 0.761113 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.76, Z:-0.90 [[ 0.99993489 0.01046418 -0.00455143 -2.65728947] [-0.01044609 0.99993752 0.0039801 -3.76405825] [ 0.00459279 -0.0039323 0.99998172 -0.89974291] [ 0. 0. 0. 1. ]] SLAMing on 108.97907232899999 meters Centerline goodness : 0.761669 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 0.99985797 0.01630075 -0.00427996 -2.66003125] [-0.01625331 0.99980854 0.01089522 -3.77109818] [ 0.00445674 -0.01082411 0.99993149 -0.89580138] [ 0. 0. 0. 1. ]] SLAMing on 109.00907232899999 meters Centerline goodness : 0.760554 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 0.9998507 0.01682544 -0.00393468 -2.66091666] [-0.01678114 0.99979831 0.01103289 -3.77145129] [ 0.00411951 -0.01096521 0.99993139 -0.89620189] [ 0. 0. 0. 1. ]] SLAMing on 109.03907232899999 meters Centerline goodness : 0.759616 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99831459e-01 1.80581244e-02 -3.31015044e-03 -2.66252498e+00] [-1.80191668e-02 9.99772151e-01 1.14436112e-02 -3.77327750e+00] [ 3.51604638e-03 -1.13820364e-02 9.99929041e-01 -8.97319289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.069072329 meters Centerline goodness : 0.760590 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99874328e-01 1.55500483e-02 -3.08615948e-03 -2.66376117e+00] [-1.55276606e-02 9.99853872e-01 7.15023498e-03 -3.77106229e+00] [ 3.19689501e-03 -7.10141556e-03 9.99969674e-01 -8.99044477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.099072329 meters Centerline goodness : 0.759793 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.77, Z:-0.90 [[ 9.99865348e-01 1.61964880e-02 -2.63824435e-03 -2.66489933e+00] [-1.61770015e-02 9.99842879e-01 7.24721939e-03 -3.77156810e+00] [ 2.75520933e-03 -7.20356465e-03 9.99970258e-01 -8.99635077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.129072329 meters Centerline goodness : 0.761954 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99855548e-01 1.68496543e-02 -2.23003115e-03 -2.66603570e+00] [-1.68330143e-02 9.99831802e-01 7.28128143e-03 -3.77171821e+00] [ 2.35234314e-03 -7.24269148e-03 9.99971005e-01 -9.00133258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.159072329 meters Centerline goodness : 0.760453 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99828191e-01 1.84814949e-02 -1.42230745e-03 -2.66898045e+00] [-1.84699682e-02 9.99799530e-01 7.73040046e-03 -3.77272709e+00] [ 1.56489168e-03 -7.70280234e-03 9.99969108e-01 -9.00434828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.189072329 meters Centerline goodness : 0.762202 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99822792e-01 1.87843945e-02 -1.23776325e-03 -2.66925081e+00] [-1.87742852e-02 9.99793886e-01 7.72731840e-03 -3.77327329e+00] [ 1.38266113e-03 -7.70271094e-03 9.99969378e-01 -9.01088743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.219072329 meters Centerline goodness : 0.761537 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99871245e-01 1.60278667e-02 -7.75476797e-04 -2.67110812e+00] [-1.60251497e-02 9.99865837e-01 3.39147370e-03 -3.77147716e+00] [ 8.29730845e-04 -3.37860990e-03 9.99993948e-01 -9.02394783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24907232899999 meters Centerline goodness : 0.763089 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99853001e-01 1.71447842e-02 -1.79485046e-04 -2.67314170e+00] [-1.71439344e-02 9.99845110e-01 3.98007590e-03 -3.77346848e+00] [ 2.47694788e-04 -3.97641376e-03 9.99992063e-01 -9.02417008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27907232899999 meters Centerline goodness : 0.763482 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99848707e-01 1.73943319e-02 8.71704492e-06 -2.67341408e+00] [-1.73942373e-02 9.99841350e-01 3.83594739e-03 -3.77316394e+00] [ 5.80080800e-05 -3.83551866e-03 9.99992643e-01 -9.03130689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30907232899999 meters Centerline goodness : 0.762449 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.90 [[ 9.99846416e-01 1.75253758e-02 7.47170105e-05 -2.67355319e+00] [-1.75255348e-02 9.99838123e-01 4.07238729e-03 -3.77420383e+00] [-3.33479775e-06 -4.07307129e-03 9.99991705e-01 -9.03087348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33907232899999 meters Centerline goodness : 0.763753 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.90 [[ 9.99916389e-01 1.29281499e-02 -2.80705833e-04 -2.67207539e+00] [-1.29281525e-02 9.99916428e-01 -7.38177576e-06 -3.77580448e+00] [ 2.80586941e-04 1.10101664e-05 9.99999961e-01 -9.03694796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36907232899999 meters Centerline goodness : 0.762816 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99960360e-01 8.90342905e-03 8.46649287e-05 -2.67251969e+00] [-8.90292911e-03 9.99949184e-01 -4.72939446e-03 -3.77424254e+00] [-1.26768454e-04 4.72845323e-03 9.99988813e-01 -9.05157757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39907232899999 meters Centerline goodness : 0.764682 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99965501e-01 8.28631953e-03 -5.77104326e-04 -2.66974766e+00] [-8.28893648e-03 9.99954646e-01 -4.69031550e-03 -3.77612901e+00] [ 5.38212699e-04 4.69493728e-03 9.99988834e-01 -9.06178898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.429072329 meters Centerline goodness : 0.763752 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99968607e-01 7.88561590e-03 -7.75529911e-04 -2.66834626e+00] [-7.88940597e-03 9.99956318e-01 -5.01188319e-03 -3.77604149e+00] [ 7.35974249e-04 5.01784433e-03 9.99987140e-01 -9.07329206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.459072329 meters Centerline goodness : 0.764434 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99969481e-01 7.77206080e-03 -7.95543629e-04 -2.66804097e+00] [-7.77598289e-03 9.99957006e-01 -5.05180460e-03 -3.77586631e+00] [ 7.56246492e-04 5.05783655e-03 9.99986923e-01 -9.07519159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.489072329 meters Centerline goodness : 0.763430 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.78, Z:-0.91 [[ 9.99965889e-01 8.19782144e-03 -1.00865263e-03 -2.66837159e+00] [-8.20368014e-03 9.99948657e-01 -5.94829727e-03 -3.77542574e+00] [ 9.59837769e-04 5.95636903e-03 9.99981800e-01 -9.05897726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.519072329 meters Centerline goodness : 0.761158 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962834e-01 8.38842334e-03 -1.99137412e-03 -2.66607176e+00] [-8.40423918e-03 9.99932109e-01 -8.07130166e-03 -3.77424398e+00] [ 1.92353343e-03 8.08773767e-03 9.99965444e-01 -9.05835207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.549072329 meters Centerline goodness : 0.761203 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99961480e-01 8.53963527e-03 -2.02785177e-03 -2.66644217e+00] [-8.55547925e-03 9.99931898e-01 -7.93746225e-03 -3.77398741e+00] [ 1.95993064e-03 7.95450575e-03 9.99966442e-01 -9.05138663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.579072329 meters Centerline goodness : 0.759142 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962359e-01 8.40620686e-03 -2.14855344e-03 -2.66591817e+00] [-8.42365314e-03 9.99930535e-01 -8.24421770e-03 -3.77300649e+00] [ 2.07910159e-03 8.26200605e-03 9.99963708e-01 -9.05504560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60907232899999 meters Centerline goodness : 0.746334 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99963249e-01 8.27802459e-03 -2.23062197e-03 -2.66507215e+00] [-8.29795773e-03 9.99924344e-01 -9.08018706e-03 -3.77008654e+00] [ 2.15528720e-03 9.09836296e-03 9.99956286e-01 -9.06972922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63907232899999 meters Centerline goodness : 0.738040 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99962433e-01 8.41578739e-03 -2.07557818e-03 -2.66552635e+00] [-8.43477530e-03 9.99921032e-01 -9.31577246e-03 -3.76832852e+00] [ 1.99701472e-03 9.33292952e-03 9.99954453e-01 -9.07056270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66907232899999 meters Centerline goodness : 0.720329 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.77, Z:-0.91 [[ 9.99917036e-01 1.26270692e-02 -2.54515539e-03 -2.66539963e+00] [-1.26394735e-02 9.99908024e-01 -4.91798663e-03 -3.76740661e+00] [ 2.48282154e-03 4.94974804e-03 9.99984668e-01 -9.05078742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69907232899999 meters Centerline goodness : 0.710652 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99918532e-01 1.25421047e-02 -2.37151873e-03 -2.66558521e+00] [-1.25555319e-02 9.99904733e-01 -5.73435193e-03 -3.76396429e+00] [ 2.29937196e-03 5.76366045e-03 9.99980746e-01 -9.05887151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72907232899999 meters Centerline goodness : 0.710652 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99918532e-01 1.25421047e-02 -2.37151873e-03 -2.66558521e+00] [-1.25555319e-02 9.99904733e-01 -5.73435193e-03 -3.76396429e+00] [ 2.29937196e-03 5.76366045e-03 9.99980746e-01 -9.05887151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75907232899999 meters Centerline goodness : 0.700271 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99917142e-01 1.27221207e-02 -1.96393335e-03 -2.66653339e+00] [-1.27343289e-02 9.99898853e-01 -6.33416204e-03 -3.76050907e+00] [ 1.88315073e-03 6.35864658e-03 9.99978010e-01 -9.06480713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78907232899999 meters Centerline goodness : 0.753575 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.76, Z:-0.91 [[ 9.99857734e-01 1.67373761e-02 -2.09097627e-03 -2.66638135e+00] [-1.67439602e-02 9.99854779e-01 -3.17201248e-03 -3.75589014e+00] [ 2.03758145e-03 3.20657243e-03 9.99992783e-01 -9.06506588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.819072329 meters Centerline goodness : 0.752199 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.75, Z:-0.91 [[ 9.99854000e-01 1.69808500e-02 -1.90499288e-03 -2.66730737e+00] [-1.69884239e-02 9.99847554e-01 -4.03273394e-03 -3.75169590e+00] [ 1.83622322e-03 4.06450799e-03 9.99990054e-01 -9.06788946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.849072329 meters Centerline goodness : 0.750731 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.75, Z:-0.91 [[ 9.99848925e-01 1.73081187e-02 -1.59883051e-03 -2.66867992e+00] [-1.73154850e-02 9.99838961e-01 -4.71448625e-03 -3.74774409e+00] [ 1.51697415e-03 4.74145853e-03 9.99987609e-01 -9.06757645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.879072329 meters Centerline goodness : 0.748406 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.74, Z:-0.91 [[ 9.99840889e-01 1.77960371e-02 -1.22344007e-03 -2.67076710e+00] [-1.78020526e-02 9.99828546e-01 -5.09567072e-03 -3.74364211e+00] [ 1.13254756e-03 5.11663969e-03 9.99986269e-01 -9.05800947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.909072329 meters Centerline goodness : 0.705365 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.74, Z:-0.90 [[ 9.99757820e-01 2.19665081e-02 -1.33218449e-03 -2.67190411e+00] [-2.19689226e-02 9.99756987e-01 -1.82569661e-03 -3.73787581e+00] [ 1.29175657e-03 1.85452112e-03 9.99997446e-01 -9.04067861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.939072329 meters Centerline goodness : 0.712729 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.73, Z:-0.91 [[ 9.99766787e-01 2.15636958e-02 -1.17453238e-03 -2.67163155e+00] [-2.15674086e-02 9.99762127e-01 -3.24585819e-03 -3.73209296e+00] [ 1.10426030e-03 3.27043283e-03 9.99994042e-01 -9.05490642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.969072329 meters Centerline goodness : 0.707858 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99709550e-01 2.40079276e-02 -2.10609000e-03 -2.66763509e+00] [-2.40110973e-02 9.99710577e-01 -1.49284930e-03 -3.72471486e+00] [ 2.06964023e-03 1.54298523e-03 9.99996668e-01 -9.07447288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99907232899999 meters Centerline goodness : 0.704000 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99726414e-01 2.32751284e-02 -2.31640770e-03 -2.66643960e+00] [-2.32813806e-02 9.99725280e-01 -2.70971926e-03 -3.72064528e+00] [ 2.25270227e-03 2.76290709e-03 9.99993646e-01 -9.08406664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02907232899999 meters Centerline goodness : 0.702165 Centerline is valid? [False, False] Translation: X:-2.67, Y:-3.72, Z:-0.91 [[ 9.99735983e-01 2.28435211e-02 -2.47743090e-03 -2.66594156e+00] [-2.28517303e-02 9.99733294e-01 -3.33751458e-03 -3.71805325e+00] [ 2.40052957e-03 3.39324701e-03 9.99991362e-01 -9.08419120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05907232899999 meters Centerline goodness : 0.130729 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.71, Z:-0.91 [[ 9.99767092e-01 2.14063573e-02 -2.74390270e-03 -2.66381810e+00] [-2.14198139e-02 9.99758204e-01 -4.97234712e-03 -3.71112818e+00] [ 2.63679939e-03 5.02996291e-03 9.99983873e-01 -9.09537633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08907232899999 meters Centerline goodness : 0.136878 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.71, Z:-0.91 [[ 9.99782824e-01 2.06824545e-02 -2.55755137e-03 -2.66317723e+00] [-2.06974153e-02 9.99767970e-01 -5.96848629e-03 -3.70674680e+00] [ 2.43351500e-03 6.02012478e-03 9.99978918e-01 -9.10642038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11907232899999 meters Centerline goodness : 0.134833 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.70, Z:-0.91 [[ 9.99813942e-01 1.90979248e-02 -2.71126440e-03 -2.66127079e+00] [-1.91182914e-02 9.99787609e-01 -7.69594800e-03 -3.69880498e+00] [ 2.56371191e-03 7.74635084e-03 9.99966710e-01 -9.11498525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14907232899999 meters Centerline goodness : 0.135867 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.70, Z:-0.91 [[ 9.99825067e-01 1.84455866e-02 -3.09759211e-03 -2.66031889e+00] [-1.84707876e-02 9.99794830e-01 -8.31430340e-03 -3.69616593e+00] [ 2.94359437e-03 8.37006393e-03 9.99960638e-01 -9.11027353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.179072329 meters Centerline goodness : 0.139874 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.69, Z:-0.91 [[ 0.99983624 0.01767414 -0.00388739 -2.65851471] [-0.01770762 0.99980488 -0.00875481 -3.69447697] [ 0.0037319 0.00882221 0.99995412 -0.91009883] [ 0. 0. 0. 1. ]] SLAMing on 110.209072329 meters Centerline goodness : 0.154511 Centerline is valid? [False, False] Translation: X:-2.66, Y:-3.69, Z:-0.91 [[ 0.99991654 0.01215082 -0.00438952 -2.65695659] [-0.01221244 0.99982323 -0.01429551 -3.6888859 ] [ 0.00421504 0.01434792 0.99988818 -0.90979622] [ 0. 0. 0. 1. ]] SLAMing on 110.239072329 meters Centerline goodness : 0.162997 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.69, Z:-0.91 [[ 0.99992596 0.01116361 -0.00484232 -2.65486716] [-0.01123479 0.99982541 -0.0149307 -3.68707809] [ 0.0046748 0.014984 0.99987681 -0.9103567 ] [ 0. 0. 0. 1. ]] SLAMing on 110.269072329 meters Centerline goodness : 0.123890 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.68, Z:-0.91 [[ 9.99999888e-01 3.33069589e-04 -3.37232412e-04 -2.65016885e+00] [-3.35754803e-04 9.99967991e-01 -7.99400486e-03 -3.67658595e+00] [ 3.34559058e-04 7.99411719e-03 9.99967991e-01 -9.12472563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.299072329 meters Centerline goodness : 0.106789 Centerline is valid? [False, False] Translation: X:-2.61, Y:-3.68, Z:-0.90 [[ 9.99990447e-01 9.19069962e-04 -4.27332206e-03 -2.60832768e+00] [-9.05305769e-04 9.99994400e-01 3.22177802e-03 -3.67581677e+00] [ 4.27625917e-03 -3.21787858e-03 9.99985679e-01 -9.04034206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.329072329 meters Centerline goodness : 0.112781 Centerline is valid? [False, False] Translation: X:-2.61, Y:-3.67, Z:-0.91 [[ 9.99988913e-01 -3.09715702e-04 -4.69875187e-03 -2.60564732e+00] [ 3.19912451e-04 9.99997595e-01 2.16950098e-03 -3.67272746e+00] [ 4.69806864e-03 -2.17098012e-03 9.99986607e-01 -9.05451961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35907232899999 meters Centerline goodness : 0.113019 Centerline is valid? [False, False] Translation: X:-2.60, Y:-3.67, Z:-0.91 [[ 9.99984382e-01 -1.39734867e-03 -5.41141681e-03 -2.60302927e+00] [ 1.40408829e-03 9.99998243e-01 1.24184577e-03 -3.67007865e+00] [ 5.40967201e-03 -1.24942448e-03 9.99984587e-01 -9.05813079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38907232899999 meters Centerline goodness : 0.174258 Centerline is valid? [False, False] Translation: X:-2.58, Y:-3.65, Z:-0.91 [[ 9.99879152e-01 -1.39843076e-02 -6.79115315e-03 -2.57801632e+00] [ 1.39719855e-02 9.99900660e-01 -1.85850815e-03 -3.65398425e+00] [ 6.81646846e-03 1.76339767e-03 9.99975213e-01 -9.05832308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41907232899999 meters Centerline goodness : 0.500024 Centerline is valid? [False, False] Translation: X:-2.58, Y:-3.65, Z:-0.91 [[ 9.99854931e-01 -1.53599762e-02 -7.36129294e-03 -2.57551387e+00] [ 1.53374578e-02 9.99877551e-01 -3.10579036e-03 -3.64962876e+00] [ 7.40809642e-03 2.99243629e-03 9.99968082e-01 -9.06318144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44907232899999 meters Centerline goodness : 0.514970 Centerline is valid? [False, False] Translation: X:-2.57, Y:-3.65, Z:-0.91 [[ 9.99857320e-01 -1.47762748e-02 -8.18538509e-03 -2.57025120e+00] [ 1.47599050e-02 9.99888951e-01 -2.05670171e-03 -3.64653092e+00] [ 8.21486650e-03 1.93559275e-03 9.99964384e-01 -9.08949051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47907232899999 meters Centerline goodness : 0.472677 Centerline is valid? [False, False] Translation: X:-2.53, Y:-3.63, Z:-0.91 [[ 9.99791180e-01 -1.61282101e-02 -1.25490274e-02 -2.52757856e+00] [ 1.61372741e-02 9.99869593e-01 6.21361822e-04 -3.63440506e+00] [ 1.25373695e-02 -8.23739165e-04 9.99921065e-01 -9.06766801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50907232899999 meters Centerline goodness : 0.440369 Centerline is valid? [False, False] Translation: X:-2.50, Y:-3.63, Z:-0.91 [[ 9.99844570e-01 -1.06470678e-02 -1.40526235e-02 -2.49884194e+00] [ 1.06481527e-02 9.99943307e-01 2.38240434e-06 -3.63314916e+00] [ 1.40518015e-02 -1.52016515e-04 9.99901257e-01 -9.08250602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53907232899999 meters Centerline goodness : 0.439049 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.62, Z:-0.91 [[ 9.99671704e-01 -1.99169347e-02 -1.61183056e-02 -2.47900986e+00] [ 1.98900362e-02 9.99800504e-01 -1.82742333e-03 -3.61527783e+00] [ 1.61514867e-02 1.50622971e-03 9.99868422e-01 -9.07227091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.569072329 meters Centerline goodness : 0.412670 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.61, Z:-0.91 [[ 9.99613610e-01 -2.17198806e-02 -1.73458425e-02 -2.47536614e+00] [ 2.16587664e-02 9.99758562e-01 -3.70341699e-03 -3.60859212e+00] [ 1.74220923e-02 3.32629647e-03 9.99842691e-01 -9.06767700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.599072329 meters Centerline goodness : 0.373470 Centerline is valid? [False, False] Translation: X:-2.47, Y:-3.60, Z:-0.91 [[ 0.99953889 -0.0237816 -0.01887969 -2.47066536] [ 0.02367642 0.99970299 -0.00577542 -3.60109856] [ 0.01901143 0.00532575 0.99980508 -0.90640319] [ 0. 0. 0. 1. ]] SLAMing on 110.629072329 meters Centerline goodness : 0.191728 Centerline is valid? [False, False] Translation: X:-2.44, Y:-3.58, Z:-0.90 [[ 9.99274783e-01 -3.10257020e-02 -2.20751953e-02 -2.44400383e+00] [ 3.09408260e-02 9.99512494e-01 -4.17616067e-03 -3.58177966e+00] [ 2.21940018e-02 3.49010727e-03 9.99747591e-01 -9.04946445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.659072329 meters Centerline goodness : 0.151711 Centerline is valid? [False, False] Translation: X:-2.42, Y:-3.58, Z:-0.91 [[ 0.99937466 -0.02499339 -0.02501256 -2.41535037] [ 0.02487603 0.99967808 -0.00499203 -3.58020114] [ 0.02512927 0.0043667 0.99967467 -0.9055731 ] [ 0. 0. 0. 1. ]] SLAMing on 110.689072329 meters Centerline goodness : 0.331523 Centerline is valid? [False, False] Translation: X:-2.39, Y:-3.58, Z:-0.91 [[ 0.99940484 -0.01987852 -0.02819224 -2.38600627] [ 0.01969349 0.99978276 -0.00682592 -3.57940034] [ 0.0283218 0.00626666 0.99957921 -0.90712735] [ 0. 0. 0. 1. ]] SLAMing on 110.719072329 meters Centerline goodness : 0.304770 Centerline is valid? [False, False] Translation: X:-2.34, Y:-3.56, Z:-0.91 [[ 0.99901046 -0.02675337 -0.03552967 -2.33941748] [ 0.02639055 0.99959506 -0.01064178 -3.56369366] [ 0.03579998 0.0096936 0.99931196 -0.90535278] [ 0. 0. 0. 1. ]] SLAMing on 110.74907232899999 meters Centerline goodness : 0.136046 Centerline is valid? [False, False] Translation: X:-2.33, Y:-3.56, Z:-0.91 [[ 0.99882028 -0.02982779 -0.03831907 -2.32949483] [ 0.02934266 0.99948276 -0.01316111 -3.55602794] [ 0.03869182 0.0120212 0.99917888 -0.90621329] [ 0. 0. 0. 1. ]] SLAMing on 110.77907232899999 meters Centerline goodness : 0.283061 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.56, Z:-0.91 [[ 0.99885681 -0.02503061 -0.04072521 -2.29973705] [ 0.02447427 0.99960099 -0.01410241 -3.55666535] [ 0.04106195 0.01308957 0.99907086 -0.90607926] [ 0. 0. 0. 1. ]] SLAMing on 110.80907232899999 meters Centerline goodness : 0.286876 Centerline is valid? [False, False] Translation: X:-2.28, Y:-3.55, Z:-0.91 [[ 0.99861104 -0.03146052 -0.0422637 -2.27932303] [ 0.03097993 0.99944823 -0.01197858 -3.54711968] [ 0.04261723 0.01065261 0.99903468 -0.90514184] [ 0. 0. 0. 1. ]] SLAMing on 110.83907232899999 meters Centerline goodness : 0.137690 Centerline is valid? [False, False] Translation: X:-2.25, Y:-3.55, Z:-0.90 [[ 0.99868977 -0.02661217 -0.04370971 -2.25062128] [ 0.02606839 0.9995761 -0.01296402 -3.54798222] [ 0.04403619 0.01180759 0.99896016 -0.90446694] [ 0. 0. 0. 1. ]] SLAMing on 110.86907232899999 meters Centerline goodness : 0.136016 Centerline is valid? [False, False] Translation: X:-2.21, Y:-3.53, Z:-0.90 [[ 0.99826187 -0.0331445 -0.04873073 -2.20652933] [ 0.03242176 0.99935334 -0.01554788 -3.5334337 ] [ 0.04921454 0.01394092 0.99869093 -0.89872931] [ 0. 0. 0. 1. ]] SLAMing on 110.89907232899999 meters Centerline goodness : 0.153641 Centerline is valid? [False, False] Translation: X:-2.18, Y:-3.54, Z:-0.90 [[ 0.99828271 -0.02867433 -0.05108234 -2.17786941] [ 0.02783604 0.99946713 -0.01704712 -3.53537677] [ 0.05154393 0.01559591 0.99854894 -0.89772452] [ 0. 0. 0. 1. ]] SLAMing on 110.929072329 meters Centerline goodness : 0.156203 Centerline is valid? [False, False] Translation: X:-2.16, Y:-3.53, Z:-0.90 [[ 0.99799114 -0.03515157 -0.05270731 -2.15844263] [ 0.03440014 0.99929411 -0.01509695 -3.52583982] [ 0.05320079 0.01325348 0.99849588 -0.89643221] [ 0. 0. 0. 1. ]] SLAMing on 110.959072329 meters Centerline goodness : 0.157496 Centerline is valid? [False, False] Translation: X:-2.11, Y:-3.51, Z:-0.89 [[ 0.99748509 -0.03995809 -0.05853931 -2.1143921 ] [ 0.03910732 0.99911311 -0.01560806 -3.51224775] [ 0.05911106 0.01327949 0.99816308 -0.89191107] [ 0. 0. 0. 1. ]] SLAMing on 110.989072329 meters Centerline goodness : 0.155680 Centerline is valid? [False, False] Translation: X:-2.09, Y:-3.51, Z:-0.89 [[ 0.99761056 -0.03474576 -0.05971521 -2.0866578 ] [ 0.03386011 0.999302 -0.01577994 -3.51485799] [ 0.06022181 0.01372027 0.99809072 -0.89018563] [ 0. 0. 0. 1. ]] SLAMing on 111.019072329 meters Centerline goodness : 0.153988 Centerline is valid? [False, False] Translation: X:-2.04, Y:-3.50, Z:-0.88 [[ 0.99719421 -0.04070952 -0.06282069 -2.044066 ] [ 0.03958558 0.99903488 -0.01903384 -3.50231167] [ 0.06353492 0.01649364 0.99784331 -0.8848163 ] [ 0. 0. 0. 1. ]] SLAMing on 111.049072329 meters Centerline goodness : 0.149817 Centerline is valid? [False, False] Translation: X:-2.02, Y:-3.51, Z:-0.88 [[ 0.99721509 -0.03589102 -0.06537506 -2.01588999] [ 0.03464757 0.99919833 -0.0200561 -3.50583159] [ 0.06604249 0.01773516 0.99765919 -0.8829185 ] [ 0. 0. 0. 1. ]] SLAMing on 111.079072329 meters Centerline goodness : 0.171389 Centerline is valid? [False, False] Translation: X:-1.98, Y:-3.49, Z:-0.88 [[ 0.99669006 -0.04207031 -0.06956308 -1.98254814] [ 0.04096092 0.99901099 -0.01729891 -3.49261816] [ 0.07022205 0.01439229 0.99742755 -0.88408703] [ 0. 0. 0. 1. ]] SLAMing on 111.10907232899999 meters Centerline goodness : 0.174675 Centerline is valid? [False, False] Translation: X:-1.96, Y:-3.50, Z:-0.88 [[ 0.99668188 -0.0360546 -0.07297468 -1.95514831] [ 0.03485254 0.99923608 -0.01767949 -3.49580225] [ 0.07355636 0.01507747 0.99717708 -0.88447811] [ 0. 0. 0. 1. ]] SLAMing on 111.13907232899999 meters Centerline goodness : 0.137520 Centerline is valid? [False, False] Translation: X:-1.93, Y:-3.50, Z:-0.89 [[ 0.99665646 -0.03157352 -0.07535926 -1.92885416] [ 0.03009241 0.99933256 -0.0207095 -3.49737434] [ 0.07596283 0.01837251 0.99694137 -0.88574733] [ 0. 0. 0. 1. ]] SLAMing on 111.16907232899999 meters Centerline goodness : 0.236357 Centerline is valid? [False, False] Translation: X:-1.90, Y:-3.50, Z:-0.89 [[ 0.99670291 -0.02780621 -0.07622416 -1.90396147] [ 0.02595838 0.99934719 -0.02512672 -3.49779036] [ 0.07687308 0.02306522 0.99677406 -0.88590697] [ 0. 0. 0. 1. ]] SLAMing on 111.19907232899999 meters Centerline goodness : 0.160929 Centerline is valid? [False, False] Translation: X:-1.88, Y:-3.50, Z:-0.89 [[ 0.99680006 -0.02413169 -0.0762056 -1.88065605] [ 0.02190453 0.99931203 -0.02992765 -3.49828305] [ 0.07687537 0.02816264 0.99664289 -0.88521756] [ 0. 0. 0. 1. ]] SLAMing on 111.22907232899999 meters Centerline goodness : 0.159132 Centerline is valid? [False, False] Translation: X:-1.85, Y:-3.49, Z:-0.88 [[ 0.99701404 -0.01989171 -0.07461449 -1.85122257] [ 0.01744465 0.99929296 -0.03330564 -3.49022528] [ 0.07522424 0.03190457 0.99665612 -0.88472797] [ 0. 0. 0. 1. ]] SLAMing on 111.25907232899999 meters Centerline goodness : 0.124590 Centerline is valid? [False, False] Translation: X:-1.83, Y:-3.49, Z:-0.88 [[ 0.99707647 -0.01185858 -0.07548441 -1.82830443] [ 0.00930988 0.99937754 -0.03402735 -3.49155692] [ 0.07584094 0.03322511 0.99656623 -0.88415 ] [ 0. 0. 0. 1. ]] SLAMing on 111.28907232899999 meters Centerline goodness : 0.241691 Centerline is valid? [False, False] Translation: X:-1.80, Y:-3.48, Z:-0.88 [[ 9.97257339e-01 5.98128287e-04 -7.40097394e-02 -1.80122384e+00] [-2.88910022e-03 9.99519794e-01 -3.08518224e-02 -3.48470749e+00] [ 7.39557461e-02 3.09810279e-02 9.96780178e-01 -8.84418499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.319072329 meters Centerline goodness : 0.163758 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.48, Z:-0.88 [[ 0.99746423 0.00984031 -0.07048607 -1.78402744] [-0.0120933 0.99942716 -0.03160849 -3.48411306] [ 0.07013465 0.03238075 0.99701184 -0.88460713] [ 0. 0. 0. 1. ]] SLAMing on 111.349072329 meters Centerline goodness : 0.161186 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.47, Z:-0.88 [[ 0.99735821 0.01331915 -0.07140874 -1.77984693] [-0.01554845 0.99940603 -0.03075439 -3.47282734] [ 0.0709567 0.03178344 0.9969729 -0.88423965] [ 0. 0. 0. 1. ]] SLAMing on 111.379072329 meters Centerline goodness : 0.181509 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.46, Z:-0.89 [[ 0.99714606 0.03229048 -0.06824263 -1.76746116] [-0.03454338 0.99888772 -0.03209481 -3.45622742] [ 0.06713037 0.03436054 0.99715238 -0.8868552 ] [ 0. 0. 0. 1. ]] SLAMing on 111.409072329 meters Centerline goodness : 0.119443 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.44, Z:-0.89 [[ 0.99687057 0.03993365 -0.06822291 -1.7663945 ] [-0.04195856 0.99871251 -0.02850971 -3.44184689] [ 0.06699657 0.03128303 0.99726267 -0.88607316] [ 0. 0. 0. 1. ]] SLAMing on 111.439072329 meters Centerline goodness : 0.121060 Centerline is valid? [False, False] Translation: X:-1.77, Y:-3.43, Z:-0.89 [[ 0.99651543 0.04872612 -0.06769613 -1.76653811] [-0.05053929 0.99840071 -0.02533367 -3.42512509] [ 0.06635345 0.02866671 0.9973843 -0.88646281] [ 0. 0. 0. 1. ]] SLAMing on 111.469072329 meters Centerline goodness : 0.181540 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.41, Z:-0.89 [[ 0.9934838 0.08915851 -0.07099785 -1.74606957] [-0.09116815 0.99550691 -0.02558062 -3.41294123] [ 0.06839812 0.03188667 0.9971484 -0.88631895] [ 0. 0. 0. 1. ]] SLAMing on 111.49907232899999 meters Centerline goodness : 0.179321 Centerline is valid? [False, False] Translation: X:-1.75, Y:-3.39, Z:-0.89 [[ 0.99259915 0.10053859 -0.06810965 -1.75173812] [-0.10251896 0.99438531 -0.02622453 -3.38993475] [ 0.06509065 0.03301298 0.99733312 -0.88909619] [ 0. 0. 0. 1. ]] SLAMing on 111.52907232899999 meters Centerline goodness : 0.333263 Centerline is valid? [False, False] Translation: X:-1.73, Y:-3.37, Z:-0.89 [[ 0.98688979 0.1444295 -0.07203243 -1.73319825] [-0.14674488 0.98877992 -0.02793234 -3.3700057 ] [ 0.06718997 0.03813653 0.99701109 -0.88584448] [ 0. 0. 0. 1. ]] SLAMing on 111.55907232899999 meters Centerline goodness : 0.123317 Centerline is valid? [False, False] Translation: X:-1.74, Y:-3.34, Z:-0.89 [[ 0.98492835 0.1584679 -0.06931141 -1.73667266] [-0.16062747 0.98665267 -0.02674557 -3.34425138] [ 0.06414797 0.03747578 0.99723648 -0.88762209] [ 0. 0. 0. 1. ]] SLAMing on 111.58907232899999 meters Centerline goodness : 0.165089 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.32, Z:-0.89 [[ 0.97665639 0.20341409 -0.06902904 -1.72162362] [-0.20546762 0.97836944 -0.02400636 -3.31561908] [ 0.06265267 0.03762919 0.99732577 -0.88608615] [ 0. 0. 0. 1. ]] SLAMing on 111.61907232899999 meters Centerline goodness : 0.336517 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.30, Z:-0.89 [[ 0.97138417 0.22758955 -0.06793956 -1.71641819] [-0.22951867 0.973056 -0.02198168 -3.30276149] [ 0.06110619 0.03694606 0.99744725 -0.88616706] [ 0. 0. 0. 1. ]] SLAMing on 111.64907232899999 meters Centerline goodness : 0.336517 Centerline is valid? [False, False] Translation: X:-1.72, Y:-3.30, Z:-0.89 [[ 0.97138417 0.22758955 -0.06793956 -1.71641819] [-0.22951867 0.973056 -0.02198168 -3.30276149] [ 0.06110619 0.03694606 0.99744725 -0.88616706] [ 0. 0. 0. 1. ]] SLAMing on 111.679072329 meters Centerline goodness : 0.344251 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.29, Z:-0.89 [[ 0.96547337 0.25173578 -0.0670094 -1.71134912] [-0.25356957 0.96710423 -0.02029459 -3.28948329] [ 0.0596962 0.03658543 0.99754592 -0.88588015] [ 0. 0. 0. 1. ]] SLAMing on 111.709072329 meters Centerline goodness : 0.355947 Centerline is valid? [False, False] Translation: X:-1.71, Y:-3.28, Z:-0.89 [[ 0.95896997 0.27570324 -0.06606301 -1.70595241] [-0.27746623 0.96054732 -0.01900878 -3.27566151] [ 0.05821587 0.0365591 0.99763437 -0.88533771] [ 0. 0. 0. 1. ]] SLAMing on 111.739072329 meters Centerline goodness : 0.352466 Centerline is valid? [False, False] Translation: X:-1.69, Y:-3.25, Z:-0.88 [[ 0.94332208 0.32555554 -0.06447506 -1.68650108] [-0.32734804 0.94470821 -0.0192266 -3.24850944] [ 0.05465079 0.03924266 0.99773409 -0.88176816] [ 0. 0. 0. 1. ]] SLAMing on 111.769072329 meters Centerline goodness : 0.147522 Centerline is valid? [False, False] Translation: X:-1.68, Y:-3.23, Z:-0.88 [[ 0.93465445 0.34991991 -0.06306439 -1.67804735] [-0.35157783 0.93600263 -0.01709101 -3.2344478 ] [ 0.05304795 0.03814623 0.99786311 -0.88116582] [ 0. 0. 0. 1. ]] SLAMing on 111.799072329 meters Centerline goodness : 0.329232 Centerline is valid? [False, False] Translation: X:-1.67, Y:-3.22, Z:-0.88 [[ 0.92530664 0.37400349 -0.06268173 -1.66951632] [-0.37557021 0.92667294 -0.01497558 -3.21928557] [ 0.05248455 0.03739839 0.99792121 -0.88124561] [ 0. 0. 0. 1. ]] SLAMing on 111.829072329 meters Centerline goodness : 0.327165 Centerline is valid? [False, False] Translation: X:-1.65, Y:-3.19, Z:-0.88 [[ 0.90334544 0.42388872 -0.06546277 -1.64688655] [-0.42546068 0.90490243 -0.0116102 -3.18885248] [ 0.05431598 0.03833985 0.99778747 -0.88120186] [ 0. 0. 0. 1. ]] SLAMing on 111.85907232899999 meters Centerline goodness : 0.328044 Centerline is valid? [False, False] Translation: X:-1.64, Y:-3.17, Z:-0.88 [[ 0.89233704 0.446196 -0.06814495 -1.63897055] [-0.44786409 0.89403751 -0.01070889 -3.16747085] [ 0.05614588 0.04007561 0.99761796 -0.87975898] [ 0. 0. 0. 1. ]] SLAMing on 111.88907232899999 meters Centerline goodness : 0.306985 Centerline is valid? [False, False] Translation: X:-1.63, Y:-3.15, Z:-0.88 [[ 0.88095499 0.46786074 -0.07088471 -1.63079635] [-0.46967609 0.88277586 -0.01054285 -3.14604189] [ 0.05764272 0.04258063 0.9974288 -0.87801272] [ 0. 0. 0. 1. ]] SLAMing on 111.91907232899999 meters Centerline goodness : 0.241376 Centerline is valid? [False, False] Translation: X:-1.61, Y:-3.11, Z:-0.87 [[ 0.8550503 0.51313254 -0.07472598 -1.60642868] [-0.51534061 0.85689259 -0.012615 -3.11318857] [ 0.05755897 0.04929579 0.99712431 -0.87452996] [ 0. 0. 0. 1. ]] SLAMing on 111.94907232899999 meters Centerline goodness : 0.304405 Centerline is valid? [False, False] Translation: X:-1.60, Y:-3.09, Z:-0.87 [[ 0.84332747 0.53142123 -0.07993901 -1.59680989] [-0.53363821 0.8456772 -0.00776773 -3.09159024] [ 0.06347466 0.04920925 0.99676949 -0.86882741] [ 0. 0. 0. 1. ]] SLAMing on 111.97907232899999 meters Centerline goodness : 0.277269 Centerline is valid? [False, False] Translation: X:-1.59, Y:-3.07, Z:-0.86 [[ 8.31138525e-01 5.49663827e-01 -8.41333996e-02 -1.58725580e+00] [-5.51782634e-01 8.33984691e-01 -2.33661333e-03 -3.07095680e+00] [ 6.88816154e-02 4.83653982e-02 9.96451761e-01 -8.63755236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00907232899999 meters Centerline goodness : 0.248464 Centerline is valid? [False, False] Translation: X:-1.57, Y:-3.04, Z:-0.86 [[ 8.06976541e-01 5.84739381e-01 -8.28777294e-02 -1.56510967e+00] [-5.86675862e-01 8.09820944e-01 1.21310246e-03 -3.03541624e+00] [ 6.78254698e-02 4.76434181e-02 9.96558985e-01 -8.59569359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03907232899999 meters Centerline goodness : 0.242834 Centerline is valid? [False, False] Translation: X:-1.56, Y:-3.02, Z:-0.86 [[ 0.79578936 0.59917814 -0.0877773 -1.55756766] [-0.60117519 0.79910445 0.00452384 -3.01507562] [ 0.07285381 0.04916951 0.99612985 -0.85553629] [ 0. 0. 0. 1. ]] SLAMing on 112.069072329 meters Centerline goodness : 0.241353 Centerline is valid? [False, False] Translation: X:-1.55, Y:-2.99, Z:-0.85 [[ 0.78541752 0.6119533 -0.09291112 -1.55144062] [-0.61405131 0.78923155 0.00738553 -2.99376105] [ 0.07784799 0.05125147 0.99564701 -0.85171146] [ 0. 0. 0. 1. ]] SLAMing on 112.099072329 meters Centerline goodness : 0.230122 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.96, Z:-0.85 [[ 0.76598042 0.63575934 -0.09531032 -1.53151341] [-0.63796816 0.77000875 0.00911902 -2.95781103] [ 0.07918728 0.05381996 0.99540584 -0.85015561] [ 0. 0. 0. 1. ]] SLAMing on 112.129072329 meters Centerline goodness : 0.227321 Centerline is valid? [False, False] Translation: X:-1.53, Y:-2.93, Z:-0.85 [[ 0.75748055 0.64517561 -0.09985818 -1.52754246] [-0.64739032 0.76205219 0.01273712 -2.93250626] [ 0.08431483 0.0549991 0.99492015 -0.84768137] [ 0. 0. 0. 1. ]] SLAMing on 112.159072329 meters Centerline goodness : 0.226242 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.90, Z:-0.85 [[ 0.75360794 0.65060432 -0.0937502 -1.52451411] [-0.65277831 0.75748987 0.00946415 -2.90421496] [ 0.07717225 0.05406584 0.99555077 -0.85496224] [ 0. 0. 0. 1. ]] SLAMing on 112.189072329 meters Centerline goodness : 0.218085 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.87, Z:-0.85 [[ 0.73831391 0.66883077 -0.08693655 -1.50773276] [-0.67076617 0.74161479 0.00895828 -2.86822232] [ 0.070465 0.05170008 0.99617357 -0.85495197] [ 0. 0. 0. 1. ]] SLAMing on 112.219072329 meters Centerline goodness : 0.215133 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.85, Z:-0.86 [[ 0.73218512 0.67599625 -0.0832708 -1.50206544] [-0.67777954 0.73521146 0.00888783 -2.84992358] [ 0.06722979 0.04993171 0.99648732 -0.85661135] [ 0. 0. 0. 1. ]] SLAMing on 112.24907232899999 meters Centerline goodness : 0.213903 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.83, Z:-0.86 [[ 0.72582917 0.68323209 -0.07978674 -1.4961834 ] [-0.68484952 0.72862599 0.0092359 -2.83315824] [ 0.06444496 0.04793822 0.99676917 -0.858083 ] [ 0. 0. 0. 1. ]] SLAMing on 112.27907232899999 meters Centerline goodness : 0.209263 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.80, Z:-0.85 [[ 0.70888546 0.70061467 -0.08136637 -1.48515531] [-0.70208497 0.71196177 0.01367937 -2.80362666] [ 0.06751371 0.047429 0.99659038 -0.85454546] [ 0. 0. 0. 1. ]] SLAMing on 112.30907232899999 meters Centerline goodness : 0.204873 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.78, Z:-0.85 [[ 0.70358705 0.70539638 -0.08591399 -1.48711222] [-0.70689148 0.7071228 0.01678619 -2.77726472] [ 0.07259266 0.04892133 0.99616114 -0.85478773] [ 0. 0. 0. 1. ]] SLAMing on 112.33907232899999 meters Centerline goodness : 0.204636 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.75, Z:-0.86 [[ 0.69907062 0.70939801 -0.08974817 -1.49083977] [-0.71089652 0.70302409 0.01957723 -2.74936317] [ 0.07698317 0.05011579 0.99577206 -0.85561846] [ 0. 0. 0. 1. ]] SLAMing on 112.36907232899999 meters Centerline goodness : 0.207207 Centerline is valid? [False, False] Translation: X:-1.48, Y:-2.72, Z:-0.85 [[ 0.68505777 0.72293095 -0.08981477 -1.48357888] [-0.72409489 0.68925152 0.02487816 -2.7203319 ] [ 0.07989016 0.04799144 0.99564772 -0.85295091] [ 0. 0. 0. 1. ]] SLAMing on 112.39907232899999 meters Centerline goodness : 0.204332 Centerline is valid? [False, False] Translation: X:-1.49, Y:-2.69, Z:-0.85 [[ 0.68333538 0.72390749 -0.09492474 -1.49181771] [-0.72528448 0.68797733 0.02548755 -2.69056796] [ 0.0837567 0.0514309 0.99515812 -0.85368865] [ 0. 0. 0. 1. ]] SLAMing on 112.429072329 meters Centerline goodness : 0.208953 Centerline is valid? [False, False] Translation: X:-1.50, Y:-2.66, Z:-0.85 [[ 0.67333606 0.73229265 -0.10181366 -1.49510049] [-0.73434894 0.67839061 0.02275568 -2.65808209] [ 0.08573325 0.05944454 0.99454319 -0.85443479] [ 0. 0. 0. 1. ]] SLAMing on 112.459072329 meters Centerline goodness : 0.211394 Centerline is valid? [False, False] Translation: X:-1.51, Y:-2.63, Z:-0.86 [[ 0.67352068 0.73144491 -0.10657503 -1.50828762] [-0.73366265 0.679084 0.02416682 -2.62645428] [ 0.09005009 0.06191327 0.99401093 -0.85562999] [ 0. 0. 0. 1. ]] SLAMing on 112.489072329 meters Centerline goodness : 0.242617 Centerline is valid? [False, False] Translation: X:-1.52, Y:-2.60, Z:-0.85 [[ 0.67625455 0.72909651 -0.10534735 -1.52367189] [-0.73044396 0.68219926 0.03249297 -2.59630597] [ 0.0955584 0.05497682 0.99390449 -0.8524927 ] [ 0. 0. 0. 1. ]] SLAMing on 112.519072329 meters Centerline goodness : 0.220194 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.57, Z:-0.85 [[ 0.67950125 0.72672557 -0.10073728 -1.53817125] [-0.72716897 0.68534165 0.03914219 -2.56701438] [ 0.09748508 0.04665585 0.99414279 -0.85186369] [ 0. 0. 0. 1. ]] SLAMing on 112.549072329 meters Centerline goodness : 0.224448 Centerline is valid? [False, False] Translation: X:-1.54, Y:-2.54, Z:-0.85 [[ 0.67410718 0.73267782 -0.09360942 -1.54409637] [-0.73165593 0.6797337 0.05139748 -2.54385563] [ 0.10128727 0.03384248 0.99428144 -0.84908649] [ 0. 0. 0. 1. ]] SLAMing on 112.579072329 meters Centerline goodness : 0.222990 Centerline is valid? [False, False] Translation: X:-1.56, Y:-2.52, Z:-0.85 [[ 0.67880771 0.72815971 -0.09488695 -1.56151009] [-0.72633159 0.68480131 0.05907278 -2.51737199] [ 0.10799312 0.02882033 0.9937338 -0.84818076] [ 0. 0. 0. 1. ]] SLAMing on 112.60907232899999 meters Centerline goodness : 0.225033 Centerline is valid? [False, False] Translation: X:-1.58, Y:-2.49, Z:-0.85 [[ 0.68451519 0.72226959 -0.09882105 -1.58088771] [-0.71981421 0.69110243 0.06515316 -2.490801 ] [ 0.11535361 0.02653447 0.99297002 -0.84752224] [ 0. 0. 0. 1. ]] SLAMing on 112.63907232899999 meters Centerline goodness : 0.226881 Centerline is valid? [False, False] Translation: X:-1.60, Y:-2.47, Z:-0.85 [[ 0.69101521 0.71552529 -0.10257457 -1.60043768] [-0.71244865 0.69816419 0.07059526 -2.46582848] [ 0.12212658 0.02429672 0.9922171 -0.84739573] [ 0. 0. 0. 1. ]] SLAMing on 112.66907232899999 meters Centerline goodness : 0.225650 Centerline is valid? [False, False] Translation: X:-1.61, Y:-2.45, Z:-0.85 [[ 0.69073386 0.71480073 -0.10930074 -1.608075 ] [-0.71092724 0.69892293 0.07803334 -2.45248178] [ 0.13217108 0.0238046 0.99094104 -0.84544945] [ 0. 0. 0. 1. ]] SLAMing on 112.69907232899999 meters Centerline goodness : 0.226143 Centerline is valid? [False, False] Translation: X:-1.63, Y:-2.43, Z:-0.85 [[ 0.69892036 0.70677095 -0.10947674 -1.62985447] [-0.70200396 0.70720871 0.08394209 -2.42719293] [ 0.13675074 0.01818427 0.99043857 -0.84757779] [ 0. 0. 0. 1. ]] SLAMing on 112.72907232899999 meters Centerline goodness : 0.227829 Centerline is valid? [False, False] Translation: X:-1.65, Y:-2.40, Z:-0.85 [[ 0.70703866 0.69863614 -0.10956216 -1.65260474] [-0.69295755 0.71536871 0.08976328 -2.40238064] [ 0.14108921 0.01245582 0.98991853 -0.84950861] [ 0. 0. 0. 1. ]] SLAMing on 112.75907232899999 meters Centerline goodness : 0.230006 Centerline is valid? [False, False] Translation: X:-1.67, Y:-2.39, Z:-0.85 [[ 0.71027359 0.69557913 -0.10807915 -1.66728546] [-0.68903806 0.71841818 0.09540372 -2.38743933] [ 0.14400686 0.0067079 0.98955395 -0.84971326] [ 0. 0. 0. 1. ]] SLAMing on 112.78907232899999 meters Centerline goodness : 0.229208 Centerline is valid? [False, False] Translation: X:-1.69, Y:-2.36, Z:-0.85 [[ 0.71903502 0.68634097 -0.10920035 -1.69291595] [-0.67908967 0.72727532 0.09953806 -2.36345307] [ 0.14773576 0.00258548 0.98902349 -0.85042895] [ 0. 0. 0. 1. ]] SLAMing on 112.819072329 meters Centerline goodness : 0.228982 Centerline is valid? [False, False] Translation: X:-1.72, Y:-2.34, Z:-0.85 [[ 7.27927893e-01 6.76708776e-01 -1.10391191e-01 -1.71954346e+00] [-6.68726719e-01 7.36249005e-01 1.03643516e-01 -2.33993640e+00] [ 1.51411882e-01 -1.62346736e-03 9.88469426e-01 -8.51930201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.849072329 meters Centerline goodness : 0.226263 Centerline is valid? [False, False] Translation: X:-1.74, Y:-2.33, Z:-0.86 [[ 0.73144385 0.67309563 -0.10923445 -1.73632481] [-0.66399742 0.73950802 0.1106133 -2.32763459] [ 0.15523308 -0.00837603 0.98784236 -0.85545256] [ 0. 0. 0. 1. ]] SLAMing on 112.879072329 meters Centerline goodness : 0.231533 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.30, Z:-0.86 [[ 0.73974171 0.66398288 -0.1091281 -1.76563901] [-0.65363072 0.74757959 0.1178628 -2.30203362] [ 0.15984082 -0.01585855 0.98701541 -0.85969457] [ 0. 0. 0. 1. ]] SLAMing on 112.909072329 meters Centerline goodness : 0.231512 Centerline is valid? [False, False] Translation: X:-1.78, Y:-2.28, Z:-0.86 [[ 0.7415314 0.66261239 -0.10524255 -1.78261217] [-0.6509303 0.74853713 0.12641959 -2.2847724 ] [ 0.16254514 -0.02523853 0.98637827 -0.86274592] [ 0. 0. 0. 1. ]] SLAMing on 112.939072329 meters Centerline goodness : 0.232595 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.26, Z:-0.87 [[ 0.74995264 0.65302623 -0.10548825 -1.81549386] [-0.64040059 0.7566975 0.13151416 -2.2572977 ] [ 0.16570489 -0.03107465 0.98568568 -0.86623892] [ 0. 0. 0. 1. ]] SLAMing on 112.969072329 meters Centerline goodness : 0.239096 Centerline is valid? [False, False] Translation: X:-1.85, Y:-2.23, Z:-0.87 [[ 0.75753735 0.64390927 -0.10732203 -1.84851884] [-0.63055895 0.7643215 0.13493721 -2.23201392] [ 0.16891586 -0.03454711 0.98502484 -0.87010072] [ 0. 0. 0. 1. ]] SLAMing on 112.99907232899999 meters Centerline goodness : 0.240023 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.21, Z:-0.87 [[ 0.76448112 0.63524558 -0.10968894 -1.88074532] [-0.62115408 0.7713962 0.13825882 -2.20924747] [ 0.17244194 -0.03756252 0.98430322 -0.87424921] [ 0. 0. 0. 1. ]] SLAMing on 113.02907232899999 meters Centerline goodness : 0.240142 Centerline is valid? [False, False] Translation: X:-1.89, Y:-2.20, Z:-0.88 [[ 0.76384182 0.63624019 -0.1083702 -1.88883212] [-0.62072611 0.77019274 0.14663642 -2.20207604] [ 0.17676193 -0.04473881 0.98323632 -0.87543633] [ 0. 0. 0. 1. ]] SLAMing on 113.05907232899999 meters Centerline goodness : 0.239398 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.19, Z:-0.88 [[ 0.76683246 0.63304021 -0.10596257 -1.90883758] [-0.61635844 0.7723377 0.15361234 -2.18641525] [ 0.17908168 -0.052484 0.9824333 -0.87960503] [ 0. 0. 0. 1. ]] SLAMing on 113.08907232899999 meters Centerline goodness : 0.244135 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.17, Z:-0.88 [[ 0.7691642 0.63069188 -0.10302521 -1.92682748] [-0.61302432 0.77372719 0.15983558 -2.17142377] [ 0.18052041 -0.05978284 0.98175272 -0.88326602] [ 0. 0. 0. 1. ]] SLAMing on 113.11907232899999 meters Centerline goodness : 0.242063 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.16, Z:-0.89 [[ 0.77052597 0.62951324 -0.10001402 -1.9384676 ] [-0.61132304 0.77426731 0.16368957 -2.15954412] [ 0.18048234 -0.06498619 0.98142902 -0.88621184] [ 0. 0. 0. 1. ]] SLAMing on 113.14907232899999 meters Centerline goodness : 0.237334 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.16, Z:-0.89 [[ 0.76220903 0.6389963 -0.1035428 -1.93159221] [-0.62106909 0.76696907 0.16134323 -2.15736681] [ 0.18251185 -0.05867003 0.9814516 -0.8858375 ] [ 0. 0. 0. 1. ]] SLAMing on 113.179072329 meters Centerline goodness : 0.246044 Centerline is valid? [False, False] Translation: X:-1.94, Y:-2.15, Z:-0.88 [[ 0.76256376 0.63830405 -0.10518772 -1.94219899] [-0.61966189 0.76741638 0.16459417 -2.14890406] [ 0.1857839 -0.06033272 0.98073661 -0.88279783] [ 0. 0. 0. 1. ]] SLAMing on 113.209072329 meters Centerline goodness : 0.247208 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.15, Z:-0.88 [[ 0.75021679 0.6521101 -0.10921165 -1.92845331] [-0.63296649 0.75607125 0.16646223 -2.14738355] [ 0.1911235 -0.05575544 0.97998119 -0.8817602 ] [ 0. 0. 0. 1. ]] SLAMing on 113.239072329 meters Centerline goodness : 0.247129 Centerline is valid? [False, False] Translation: X:-1.93, Y:-2.14, Z:-0.88 [[ 0.74599446 0.65782791 -0.10370489 -1.92676194] [-0.63839272 0.75073329 0.16986544 -2.14037178] [ 0.18959694 -0.06051424 0.97999542 -0.88495403] [ 0. 0. 0. 1. ]] SLAMing on 113.269072329 meters Centerline goodness : 0.250600 Centerline is valid? [False, False] Translation: X:-1.92, Y:-2.13, Z:-0.89 [[ 0.74077474 0.66463573 -0.09753011 -1.92443057] [-0.64482213 0.7442396 0.17410297 -2.13323338] [ 0.18830082 -0.06608151 0.97988573 -0.88809939] [ 0. 0. 0. 1. ]] SLAMing on 113.299072329 meters Centerline goodness : 0.256957 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.13, Z:-0.88 [[ 0.72217428 0.68472244 -0.098079 -1.90467491] [-0.66149289 0.72509922 0.1914635 -2.12544982] [ 0.20221636 -0.07339146 0.97658703 -0.87928907] [ 0. 0. 0. 1. ]] SLAMing on 113.329072329 meters Centerline goodness : 0.258472 Centerline is valid? [False, False] Translation: X:-1.91, Y:-2.11, Z:-0.88 [[ 0.71884191 0.68898617 -0.09254385 -1.90548023] [-0.66559055 0.72054734 0.19442416 -2.11306482] [ 0.20063778 -0.07816392 0.97654231 -0.88229563] [ 0. 0. 0. 1. ]] SLAMing on 113.35907232899999 meters Centerline goodness : 0.260302 Centerline is valid? [False, False] Translation: X:-1.90, Y:-2.10, Z:-0.88 [[ 0.71109122 0.6958516 -0.10069678 -1.90375423] [-0.67070902 0.71430847 0.19978195 -2.10334651] [ 0.21094715 -0.07452495 0.97465242 -0.87721285] [ 0. 0. 0. 1. ]] SLAMing on 113.38907232899999 meters Centerline goodness : 0.263257 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.10, Z:-0.88 [[ 0.69407849 0.71253083 -0.10273687 -1.88339318] [-0.68669442 0.69812987 0.20264615 -2.09729008] [ 0.21611531 -0.0701035 0.97384787 -0.87786195] [ 0. 0. 0. 1. ]] SLAMing on 113.41907232899999 meters Centerline goodness : 0.266463 Centerline is valid? [False, False] Translation: X:-1.88, Y:-2.09, Z:-0.88 [[ 0.68939848 0.71787675 -0.09686436 -1.87969363] [-0.69201811 0.6922059 0.20484611 -2.08746054] [ 0.21410434 -0.07418871 0.97398941 -0.88183097] [ 0. 0. 0. 1. ]] SLAMing on 113.44907232899999 meters Centerline goodness : 0.268609 Centerline is valid? [False, False] Translation: X:-1.87, Y:-2.08, Z:-0.88 [[ 0.68316491 0.72447369 -0.09178005 -1.87220983] [-0.69819562 0.68482068 0.20867083 -2.08129422] [ 0.2140294 -0.07847616 0.97366982 -0.88284762] [ 0. 0. 0. 1. ]] SLAMing on 113.47907232899999 meters Centerline goodness : 0.273636 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.08, Z:-0.88 [[ 0.6656311 0.74060969 -0.09182878 -1.83923663] [-0.71307751 0.66747761 0.21446235 -2.07525689] [ 0.22012655 -0.07727177 0.97240597 -0.87541322] [ 0. 0. 0. 1. ]] SLAMing on 113.50907232899999 meters Centerline goodness : 0.274849 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.07, Z:-0.88 [[ 0.66149346 0.74463988 -0.08909466 -1.83168745] [-0.71713488 0.66282663 0.21535647 -2.06974721] [ 0.21941733 -0.07856401 0.97246272 -0.87658225] [ 0. 0. 0. 1. ]] SLAMing on 113.53907232899999 meters Centerline goodness : 0.274849 Centerline is valid? [False, False] Translation: X:-1.84, Y:-2.07, Z:-0.88 [[ 0.66282361 0.74360028 -0.08788338 -1.8360701 ] [-0.71644455 0.66393695 0.21423101 -2.06561519] [ 0.21765126 -0.0790338 0.97282146 -0.87921916] [ 0. 0. 0. 1. ]] SLAMing on 113.569072329 meters Centerline goodness : 0.276278 Centerline is valid? [False, False] Translation: X:-1.83, Y:-2.06, Z:-0.88 [[ 0.65883153 0.74744889 -0.0852125 -1.82798105] [-0.72024828 0.65941641 0.21543541 -2.06095384] [ 0.21721748 -0.08056148 0.9727931 -0.88081263] [ 0. 0. 0. 1. ]] SLAMing on 113.599072329 meters Centerline goodness : 0.279195 Centerline is valid? [False, False] Translation: X:-1.82, Y:-2.06, Z:-0.88 [[ 0.65494172 0.75114787 -0.08263298 -1.8192788 ] [-0.72383496 0.6549895 0.21691404 -2.05721735] [ 0.21705825 -0.08225341 0.97268705 -0.88282195] [ 0. 0. 0. 1. ]] SLAMing on 113.629072329 meters Centerline goodness : 0.278833 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.06, Z:-0.87 [[ 0.64125028 0.76199345 -0.09035519 -1.79363335] [-0.73088022 0.64240061 0.23051153 -2.05527783] [ 0.23369251 -0.08177676 0.96886551 -0.87351516] [ 0. 0. 0. 1. ]] SLAMing on 113.659072329 meters Centerline goodness : 0.275991 Centerline is valid? [False, False] Translation: X:-1.79, Y:-2.05, Z:-0.87 [[ 0.63765505 0.76527081 -0.08807171 -1.78614967] [-0.73392472 0.63827095 0.23230304 -2.05280748] [ 0.23398835 -0.0834912 0.96864786 -0.87469764] [ 0. 0. 0. 1. ]] SLAMing on 113.689072329 meters Centerline goodness : 0.271246 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.05, Z:-0.87 [[ 0.63030953 0.77159726 -0.08571791 -1.76779618] [-0.73981187 0.63044817 0.23497551 -2.04957459] [ 0.23534716 -0.08469218 0.96821431 -0.87468296] [ 0. 0. 0. 1. ]] SLAMing on 113.719072329 meters Centerline goodness : 0.043727 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.04, Z:-0.88 [[ 0.62967022 0.77220249 -0.08496309 -1.76610196] [-0.74109171 0.62987838 0.23245708 -2.04325275] [ 0.23302035 -0.08340586 0.96888853 -0.8767948 ] [ 0. 0. 0. 1. ]] SLAMing on 113.74907232899999 meters Centerline goodness : 0.257479 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.04, Z:-0.88 [[ 0.62904025 0.77280878 -0.08411275 -1.76488909] [-0.74235692 0.62928753 0.2300074 -2.0363623 ] [ 0.23068285 -0.08224223 0.96954713 -0.87850831] [ 0. 0. 0. 1. ]] SLAMing on 113.77907232899999 meters Centerline goodness : 0.120032 Centerline is valid? [False, False] Translation: X:-1.75, Y:-2.03, Z:-0.88 [[ 0.62213984 0.77871433 -0.08090743 -1.75036589] [-0.74759386 0.62158457 0.23395735 -2.0330061 ] [ 0.23247675 -0.08506829 0.96887458 -0.87760663] [ 0. 0. 0. 1. ]] SLAMing on 113.80907232899999 meters Centerline goodness : 0.114567 Centerline is valid? [False, False] Translation: X:-1.76, Y:-2.02, Z:-0.88 [[ 0.62596598 0.77547913 -0.08245436 -1.75673586] [-0.74345289 0.62532992 0.23715036 -2.02004377] [ 0.23546633 -0.08714712 0.96796745 -0.87726359] [ 0. 0. 0. 1. ]] SLAMing on 113.83907232899999 meters Centerline goodness : 0.071519 Centerline is valid? [False, False] Translation: X:-1.77, Y:-2.01, Z:-0.88 [[ 0.63015585 0.77154645 -0.08729076 -1.76969621] [-0.73771527 0.62998189 0.24269116 -2.00554351] [ 0.2422391 -0.08853753 0.96616837 -0.87529301] [ 0. 0. 0. 1. ]] SLAMing on 113.86907232899999 meters Centerline goodness : 0.070548 Centerline is valid? [False, False] Translation: X:-1.79, Y:-1.99, Z:-0.87 [[ 0.63498842 0.76693049 -0.0927757 -1.78508146] [-0.73128325 0.63545457 0.24783522 -1.99096868] [ 0.24902712 -0.08952718 0.96434972 -0.87424846] [ 0. 0. 0. 1. ]] SLAMing on 113.89907232899999 meters Centerline goodness : 0.067232 Centerline is valid? [False, False] Translation: X:-1.79, Y:-1.98, Z:-0.87 [[ 0.63723756 0.76441777 -0.09794774 -1.78811182] [-0.72684953 0.63837697 0.25330733 -1.980555 ] [ 0.25616021 -0.09022368 0.96241448 -0.87204277] [ 0. 0. 0. 1. ]] SLAMing on 113.929072329 meters Centerline goodness : 0.271897 Centerline is valid? [False, False] Translation: X:-1.81, Y:-1.96, Z:-0.87 [[ 0.64565954 0.75664317 -0.10302855 -1.8104085 ] [-0.71688615 0.64707594 0.2595515 -1.96068652] [ 0.26305516 -0.09372216 0.96021776 -0.87124658] [ 0. 0. 0. 1. ]] SLAMing on 113.959072329 meters Centerline goodness : 0.278783 Centerline is valid? [False, False] Translation: X:-1.82, Y:-1.94, Z:-0.87 [[ 0.65133892 0.75150556 -0.10486663 -1.82345509] [-0.7104638 0.65253777 0.26350645 -1.9416959 ] [ 0.266456 -0.09712806 0.95894074 -0.87139442] [ 0. 0. 0. 1. ]] SLAMing on 113.989072329 meters Centerline goodness : 0.270109 Centerline is valid? [False, False] Translation: X:-1.86, Y:-1.92, Z:-0.87 [[ 0.66064522 0.74226588 -0.11220187 -1.85557856] [-0.69867145 0.66262588 0.26978725 -1.9174518 ] [ 0.27460173 -0.09984141 0.95636059 -0.87049899] [ 0. 0. 0. 1. ]] SLAMing on 114.019072329 meters Centerline goodness : 0.264103 Centerline is valid? [False, False] Translation: X:-1.90, Y:-1.89, Z:-0.87 [[ 0.67195405 0.73081315 -0.11995789 -1.89672656] [-0.68472311 0.67477672 0.27537364 -1.88901356] [ 0.28219147 -0.10290049 0.9538236 -0.87383148] [ 0. 0. 0. 1. ]] SLAMing on 114.049072329 meters Centerline goodness : 0.261310 Centerline is valid? [False, False] Translation: X:-1.93, Y:-1.86, Z:-0.88 [[ 0.68098489 0.72119472 -0.12703445 -1.92685249] [-0.67201335 0.68437554 0.28289251 -1.86342325] [ 0.29095986 -0.10727668 0.95070189 -0.87570133] [ 0. 0. 0. 1. ]] SLAMing on 114.079072329 meters Centerline goodness : 0.257564 Centerline is valid? [False, False] Translation: X:-1.98, Y:-1.83, Z:-0.88 [[ 0.69515214 0.70605041 -0.13511595 -1.97894081] [-0.65405868 0.69920279 0.28865672 -1.83119929] [ 0.29827965 -0.11228658 0.94785071 -0.88364758] [ 0. 0. 0. 1. ]] SLAMing on 114.10907232899999 meters Centerline goodness : 0.283871 Centerline is valid? [False, False] Translation: X:-2.03, Y:-1.80, Z:-0.89 [[ 0.70867384 0.690961 -0.14266844 -2.03151451] [-0.63656184 0.71338566 0.29303571 -1.80049407] [ 0.30425387 -0.11684946 0.94539716 -0.89262531] [ 0. 0. 0. 1. ]] SLAMing on 114.13907232899999 meters Centerline goodness : 0.290287 Centerline is valid? [False, False] Translation: X:-2.08, Y:-1.77, Z:-0.90 [[ 0.72081506 0.67672357 -0.14990284 -2.08120907] [-0.62055806 0.72641363 0.29534884 -1.76968474] [ 0.30876099 -0.11986848 0.94355615 -0.90114853] [ 0. 0. 0. 1. ]] SLAMing on 114.16907232899999 meters Centerline goodness : 0.304243 Centerline is valid? [False, False] Translation: X:-2.15, Y:-1.74, Z:-0.92 [[ 0.73698093 0.65751922 -0.15661289 -2.14924109] [-0.59995507 0.7430751 0.29646806 -1.73688136] [ 0.31130859 -0.12453061 0.94211416 -0.91588529] [ 0. 0. 0. 1. ]] SLAMing on 114.19907232899999 meters Centerline goodness : 0.307355 Centerline is valid? [False, False] Translation: X:-2.22, Y:-1.71, Z:-0.93 [[ 0.75253832 0.6379439 -0.16344315 -2.21790744] [-0.57918178 0.7592565 0.29677945 -1.70589632] [ 0.31342391 -0.12867461 0.94085509 -0.93122938] [ 0. 0. 0. 1. ]] SLAMing on 114.22907232899999 meters Centerline goodness : 0.192795 Centerline is valid? [False, False] Translation: X:-2.29, Y:-1.68, Z:-0.95 [[ 0.76761917 0.61772176 -0.17082342 -2.28803085] [-0.5580336 0.77527211 0.2958913 -1.67517775] [ 0.31521312 -0.13180663 0.93982323 -0.9487017 ] [ 0. 0. 0. 1. ]] SLAMing on 114.25907232899999 meters Centerline goodness : 0.296926 Centerline is valid? [False, False] Translation: X:-2.37, Y:-1.65, Z:-0.97 [[ 0.78360907 0.59559336 -0.17670706 -2.36666426] [-0.53495236 0.79150779 0.29553578 -1.64760724] [ 0.31588416 -0.13705466 0.93884675 -0.96704363] [ 0. 0. 0. 1. ]] SLAMing on 114.28907232899999 meters Centerline goodness : 0.311521 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.62, Z:-0.98 [[ 0.79810599 0.57419904 -0.18254395 -2.44414912] [-0.51244313 0.80624151 0.29559545 -1.62335582] [ 0.31690513 -0.1423731 0.93771053 -0.98421741] [ 0. 0. 0. 1. ]] SLAMing on 114.319072329 meters Centerline goodness : 0.199106 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.60, Z:-1.00 [[ 0.81327794 0.55075083 -0.1877565 -2.52870427] [-0.48752517 0.82110523 0.29682555 -1.60036264] [ 0.31764476 -0.14986565 0.93629167 -1.00313407] [ 0. 0. 0. 1. ]] SLAMing on 114.349072329 meters Centerline goodness : 0.330944 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.58, Z:-1.02 [[ 0.82440392 0.53233801 -0.19228731 -2.60484689] [-0.4670743 0.83173375 0.30010093 -1.57950987] [ 0.31968698 -0.15759193 0.93432597 -1.02097322] [ 0. 0. 0. 1. ]] SLAMing on 114.379072329 meters Centerline goodness : 0.193538 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.56, Z:-1.04 [[ 0.83787932 0.50910973 -0.19688964 -2.69007896] [-0.44223739 0.8445686 0.3018774 -1.56252535] [ 0.31997553 -0.16586488 0.93279392 -1.03889118] [ 0. 0. 0. 1. ]] SLAMing on 114.409072329 meters Centerline goodness : 0.194475 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.55, Z:-1.06 [[ 0.85018539 0.48636107 -0.20158798 -2.77251662] [-0.41854963 0.85665376 0.30159667 -1.54923497] [ 0.31937598 -0.17203851 0.93188075 -1.05548328] [ 0. 0. 0. 1. ]] SLAMing on 114.439072329 meters Centerline goodness : 0.159643 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.54, Z:-1.07 [[ 0.85931913 0.46745039 -0.20751089 -2.84423049] [-0.39945102 0.8668093 0.2984636 -1.53856719] [ 0.31938929 -0.17358505 0.93158935 -1.0676759 ] [ 0. 0. 0. 1. ]] SLAMing on 114.469072329 meters Centerline goodness : 0.190214 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.53, Z:-1.08 [[ 0.8684028 0.44728586 -0.21403724 -2.91606867] [-0.37820814 0.87662896 0.29745632 -1.53217872] [ 0.32067925 -0.17736127 0.9304342 -1.07940462] [ 0. 0. 0. 1. ]] SLAMing on 114.49907232899999 meters Centerline goodness : 0.333048 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.53, Z:-1.09 [[ 0.8765916 0.42794152 -0.22012091 -2.98693688] [-0.35739962 0.88522983 0.29771407 -1.527521 ] [ 0.32226181 -0.18230252 0.92893117 -1.09112927] [ 0. 0. 0. 1. ]] SLAMing on 114.52907232899999 meters Centerline goodness : 0.183108 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.52, Z:-1.10 [[ 0.88201942 0.41335074 -0.22623639 -3.05019913] [-0.33997823 0.89067081 0.30186141 -1.52431694] [ 0.32627679 -0.18933218 0.9261192 -1.10120472] [ 0. 0. 0. 1. ]] SLAMing on 114.55907232899999 meters Centerline goodness : 0.336633 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.52, Z:-1.11 [[ 0.88773524 0.39666008 -0.23363846 -3.11013877] [-0.32152152 0.89745323 0.30199604 -1.5243935 ] [ 0.32946936 -0.19297273 0.92423561 -1.1101897 ] [ 0. 0. 0. 1. ]] SLAMing on 114.58907232899999 meters Centerline goodness : 0.351867 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.53, Z:-1.12 [[ 0.89311176 0.38019722 -0.24041935 -3.16692433] [-0.30422052 0.90420289 0.29977826 -1.5264944 ] [ 0.33136273 -0.19459499 0.92321803 -1.1190523 ] [ 0. 0. 0. 1. ]] SLAMing on 114.61907232899999 meters Centerline goodness : 0.238647 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.53, Z:-1.13 [[ 0.89750367 0.3656406 -0.24656464 -3.21692002] [-0.28982373 0.91043329 0.29514984 -1.53085579] [ 0.33239942 -0.19343778 0.92308854 -1.12686509] [ 0. 0. 0. 1. ]] SLAMing on 114.64907232899999 meters Centerline goodness : 0.145518 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.54, Z:-1.13 [[ 0.90151429 0.35090446 -0.25325492 -3.27016599] [-0.2741078 0.91588617 0.29328729 -1.53501909] [ 0.3348685 -0.19498353 0.92187012 -1.13341212] [ 0. 0. 0. 1. ]] SLAMing on 114.679072329 meters Centerline goodness : 0.155920 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.54, Z:-1.14 [[ 0.90736298 0.33723428 -0.2509292 -3.31845216] [-0.25945972 0.91899467 0.29686605 -1.54056711] [ 0.330716 -0.20425925 0.92136045 -1.14465779] [ 0. 0. 0. 1. ]] SLAMing on 114.709072329 meters Centerline goodness : 0.180068 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.55, Z:-1.15 [[ 0.9121379 0.32266093 -0.25277336 -3.36220332] [-0.24349763 0.92264099 0.29906942 -1.54591321] [ 0.32971708 -0.21124284 0.92014298 -1.15289054] [ 0. 0. 0. 1. ]] SLAMing on 114.739072329 meters Centerline goodness : 0.236646 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.55, Z:-1.16 [[ 0.9171413 0.30824502 -0.25265954 -3.4010315 ] [-0.22923206 0.92654219 0.29828213 -1.55111575] [ 0.3260437 -0.21564919 0.92042975 -1.16272109] [ 0. 0. 0. 1. ]] SLAMing on 114.769072329 meters Centerline goodness : 0.351898 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.56, Z:-1.17 [[ 0.91891657 0.2971791 -0.25937794 -3.4407613 ] [-0.21715415 0.93008052 0.29630102 -1.55831571] [ 0.32929684 -0.21595092 0.91920008 -1.16550857] [ 0. 0. 0. 1. ]] SLAMing on 114.799072329 meters Centerline goodness : 0.241257 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.56, Z:-1.17 [[ 0.92281098 0.28461083 -0.259647 -3.47189756] [-0.20482582 0.93327467 0.2950335 -1.56420574] [ 0.3262917 -0.21907775 0.91953176 -1.17356557] [ 0. 0. 0. 1. ]] SLAMing on 114.829072329 meters Centerline goodness : 0.167426 Centerline is valid? [False, False] Translation: X:-3.50, Y:-1.57, Z:-1.18 [[ 0.9273828 0.27311787 -0.2556712 -3.50477093] [-0.19397894 0.93540293 0.29562396 -1.57300608] [ 0.31989578 -0.22456175 0.92045571 -1.18254973] [ 0. 0. 0. 1. ]] SLAMing on 114.85907232899999 meters Centerline goodness : 0.157625 Centerline is valid? [False, False] Translation: X:-3.54, Y:-1.58, Z:-1.19 [[ 0.93151897 0.26157112 -0.25269141 -3.53621152] [-0.18285822 0.93743119 0.2962864 -1.58042389] [ 0.31438078 -0.2297897 0.92106537 -1.1919699 ] [ 0. 0. 0. 1. ]] SLAMing on 114.88907232899999 meters Centerline goodness : 0.264599 Centerline is valid? [False, False] Translation: X:-3.56, Y:-1.59, Z:-1.20 [[ 0.93467241 0.25069806 -0.25206739 -3.56294555] [-0.17214837 0.93952018 0.29608574 -1.5863888 ] [ 0.31105053 -0.23335018 0.92130085 -1.20005091] [ 0. 0. 0. 1. ]] SLAMing on 114.91907232899999 meters Centerline goodness : 0.216563 Centerline is valid? [False, False] Translation: X:-3.59, Y:-1.59, Z:-1.21 [[ 0.9370799 0.24059911 -0.25296902 -3.58609125] [-0.16190083 0.94146351 0.29569338 -1.59288931] [ 0.30930467 -0.23613243 0.92117973 -1.20574254] [ 0. 0. 0. 1. ]] SLAMing on 114.94907232899999 meters Centerline goodness : 0.321523 Centerline is valid? [False, False] Translation: X:-3.61, Y:-1.60, Z:-1.21 [[ 0.93941229 0.23190251 -0.25243963 -3.60708832] [-0.15351101 0.94306196 0.29507375 -1.59762598] [ 0.30649455 -0.23844365 0.92152358 -1.21095582] [ 0. 0. 0. 1. ]] SLAMing on 114.97907232899999 meters Centerline goodness : 0.264196 Centerline is valid? [False, False] Translation: X:-3.63, Y:-1.60, Z:-1.22 [[ 0.94173469 0.22339206 -0.25145925 -3.62879593] [-0.14540305 0.94451195 0.29454225 -1.60226491] [ 0.30330467 -0.24081771 0.92196155 -1.21615914] [ 0. 0. 0. 1. ]] SLAMing on 115.00907232899999 meters Centerline goodness : 0.151945 Centerline is valid? [False, False] Translation: X:-3.64, Y:-1.61, Z:-1.22 [[ 0.94363273 0.21905722 -0.24813544 -3.64447921] [-0.1422339 0.94528467 0.2936093 -1.60709088] [ 0.29887586 -0.24176607 0.92315892 -1.21999008] [ 0. 0. 0. 1. ]] SLAMing on 115.03907232899999 meters Centerline goodness : 0.277252 Centerline is valid? [False, False] Translation: X:-3.66, Y:-1.61, Z:-1.22 [[ 0.94574816 0.21111916 -0.24695977 -3.6631638 ] [-0.13483811 0.94660218 0.29285321 -1.61255061] [ 0.29559957 -0.24366579 0.92371417 -1.22467542] [ 0. 0. 0. 1. ]] SLAMing on 115.069072329 meters Centerline goodness : 0.151628 Centerline is valid? [False, False] Translation: X:-3.68, Y:-1.62, Z:-1.23 [[ 0.9476902 0.20389396 -0.24558206 -3.6787389 ] [-0.12841026 0.94791936 0.29147847 -1.61777141] [ 0.29222268 -0.24469603 0.92451596 -1.22840886] [ 0. 0. 0. 1. ]] SLAMing on 115.099072329 meters Centerline goodness : 0.170203 Centerline is valid? [False, False] Translation: X:-3.69, Y:-1.63, Z:-1.23 [[ 0.94987021 0.19696228 -0.24280123 -3.69132185] [-0.12342377 0.949763 0.28760531 -1.62510298] [ 0.28725103 -0.24322027 0.92646141 -1.23220223] [ 0. 0. 0. 1. ]] SLAMing on 115.129072329 meters Centerline goodness : 0.269110 Centerline is valid? [False, False] Translation: X:-3.70, Y:-1.63, Z:-1.24 [[ 0.9517136 0.19104094 -0.24030104 -3.70435309] [-0.11872324 0.95091304 0.2857782 -1.63059341] [ 0.28310073 -0.24344968 0.92767787 -1.23588585] [ 0. 0. 0. 1. ]] SLAMing on 115.159072329 meters Centerline goodness : 0.168075 Centerline is valid? [False, False] Translation: X:-3.72, Y:-1.64, Z:-1.24 [[ 0.95334943 0.18568507 -0.23800404 -3.71539614] [-0.11458793 0.95202583 0.28375418 -1.63558468] [ 0.27927491 -0.24324449 0.92889054 -1.2387463 ] [ 0. 0. 0. 1. ]] SLAMing on 115.189072329 meters Centerline goodness : 0.230235 Centerline is valid? [False, False] Translation: X:-3.73, Y:-1.65, Z:-1.24 [[ 0.95627067 0.17784546 -0.23220122 -3.73489342] [-0.10808701 0.95257656 0.28445579 -1.64819298] [ 0.27177861 -0.2469188 0.9301438 -1.24306442] [ 0. 0. 0. 1. ]] SLAMing on 115.21907232899999 meters Centerline goodness : 0.301890 Centerline is valid? [False, False] Translation: X:-3.74, Y:-1.65, Z:-1.24 [[ 0.95770898 0.17229088 -0.23045467 -3.74284462] [-0.10393352 0.95397888 0.28128654 -1.65207046] [ 0.26831199 -0.24543868 0.93154094 -1.24489888] [ 0. 0. 0. 1. ]] SLAMing on 115.24907232899999 meters Centerline goodness : 0.114640 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.65, Z:-1.24 [[ 0.95848699 0.16777427 -0.23055255 -3.74517884] [-0.10037233 0.95534414 0.27792621 -1.65482277] [ 0.26688589 -0.24324756 0.93252482 -1.24418176] [ 0. 0. 0. 1. ]] SLAMing on 115.27907232899999 meters Centerline goodness : 0.163178 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.66, Z:-1.24 [[ 0.95941953 0.16101999 -0.23148807 -3.74889477] [-0.09466254 0.95720702 0.2734844 -1.66119634] [ 0.26561847 -0.24047302 0.93360568 -1.24115929] [ 0. 0. 0. 1. ]] SLAMing on 115.30907232899999 meters Centerline goodness : 0.169711 Centerline is valid? [False, False] Translation: X:-3.75, Y:-1.66, Z:-1.24 [[ 0.96009977 0.15645616 -0.23179711 -3.75225878] [-0.09088786 0.95843219 0.27045727 -1.66419644] [ 0.26447652 -0.23859842 0.93441049 -1.23910962] [ 0. 0. 0. 1. ]] SLAMing on 115.33907232899999 meters Centerline goodness : 0.160307 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.67, Z:-1.24 [[ 0.96071659 0.15189881 -0.23227222 -3.75544358] [-0.08702209 0.95959098 0.26760477 -1.66763393] [ 0.26353517 -0.23687952 0.93511352 -1.23672029] [ 0. 0. 0. 1. ]] SLAMing on 115.36907232899999 meters Centerline goodness : 0.135393 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.67, Z:-1.24 [[ 0.9614632 0.14711753 -0.23226051 -3.75911524] [-0.08307581 0.96075697 0.26465911 -1.67135276] [ 0.2620819 -0.23516477 0.93595439 -1.23542151] [ 0. 0. 0. 1. ]] SLAMing on 115.39907232899999 meters Centerline goodness : 0.110590 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.24 [[ 0.96360846 0.13822815 -0.22880497 -3.77267873] [-0.07513823 0.96147754 0.26441482 -1.68678814] [ 0.25654041 -0.23760035 0.9368741 -1.23550624] [ 0. 0. 0. 1. ]] SLAMing on 115.429072329 meters Centerline goodness : 0.166473 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.23 [[ 0.96400406 0.13382854 -0.22975226 -3.7728345 ] [-0.07127403 0.96253724 0.26161437 -1.69037295] [ 0.25615657 -0.23582195 0.9374283 -1.23382333] [ 0. 0. 0. 1. ]] SLAMing on 115.459072329 meters Centerline goodness : 0.166473 Centerline is valid? [False, False] Translation: X:-3.77, Y:-1.69, Z:-1.23 [[ 0.96400406 0.13382854 -0.22975226 -3.7728345 ] [-0.07127403 0.96253724 0.26161437 -1.69037295] [ 0.25615657 -0.23582195 0.9374283 -1.23382333] [ 0. 0. 0. 1. ]] SLAMing on 115.489072329 meters Centerline goodness : 0.163693 Centerline is valid? [False, False] Translation: X:-3.79, Y:-1.71, Z:-1.23 [[ 0.96611859 0.12364951 -0.22655169 -3.78578891] [-0.06177978 0.96304418 0.26216247 -1.70685327] [ 0.25059555 -0.23928372 0.93805393 -1.23483869] [ 0. 0. 0. 1. ]] SLAMing on 115.519072329 meters Centerline goodness : 0.230658 Centerline is valid? [False, False] Translation: X:-3.79, Y:-1.71, Z:-1.23 [[ 0.96639342 0.11905672 -0.22783603 -3.78510795] [-0.05759532 0.96403411 0.25946295 -1.71095192] [ 0.25053251 -0.237621 0.93849333 -1.23273128] [ 0. 0. 0. 1. ]] SLAMing on 115.549072329 meters Centerline goodness : 0.163645 Centerline is valid? [False, False] Translation: X:-3.78, Y:-1.72, Z:-1.23 [[ 0.96663505 0.11428247 -0.2292514 -3.78449945] [-0.05318161 0.96499651 0.25681403 -1.71545178] [ 0.25057614 -0.23605348 0.93887717 -1.23019726] [ 0. 0. 0. 1. ]] SLAMing on 115.579072329 meters Centerline goodness : 0.239764 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.73, Z:-1.23 [[ 0.96844447 0.10261543 -0.22712414 -3.79540332] [-0.04201923 0.96548624 0.25704224 -1.73306564] [ 0.24566174 -0.23938756 0.93933163 -1.22717676] [ 0. 0. 0. 1. ]] SLAMing on 115.60907232899999 meters Centerline goodness : 0.240818 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.74, Z:-1.22 [[ 0.96869256 0.09749795 -0.22831748 -3.79564631] [-0.03736543 0.96643895 0.25416449 -1.73782845] [ 0.24543542 -0.23767607 0.93982527 -1.22445641] [ 0. 0. 0. 1. ]] SLAMing on 115.63907232899999 meters Centerline goodness : 0.118487 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.75, Z:-1.22 [[ 0.96918279 0.08473678 -0.23131016 -3.79547089] [-0.02586329 0.96878899 0.24653392 -1.7490799 ] [ 0.24498122 -0.23295399 0.9411252 -1.21885118] [ 0. 0. 0. 1. ]] SLAMing on 115.66907232899999 meters Centerline goodness : 0.253619 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.76, Z:-1.22 [[ 0.96943083 0.07673052 -0.23305856 -3.79590049] [-0.01877326 0.97025631 0.2413509 -1.75501011] [ 0.24464551 -0.22959774 0.94203686 -1.21534844] [ 0. 0. 0. 1. ]] SLAMing on 115.69907232899999 meters Centerline goodness : 0.232733 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.76, Z:-1.21 [[ 0.96959527 0.06871576 -0.23486836 -3.79629194] [-0.01163944 0.97162975 0.23622055 -1.76117369] [ 0.24443716 -0.22630459 0.94288743 -1.21157361] [ 0. 0. 0. 1. ]] SLAMing on 115.72907232899999 meters Centerline goodness : 0.237823 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.77, Z:-1.21 [[ 0.96970333 0.06082213 -0.23659275 -3.79670758] [-0.00460975 0.97289227 0.23121285 -1.76786245] [ 0.24424211 -0.22311723 0.94369725 -1.20774484] [ 0. 0. 0. 1. ]] SLAMing on 115.75907232899999 meters Centerline goodness : 0.253308 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.79, Z:-1.20 [[ 0.97088178 0.04697007 -0.23490931 -3.80389214] [ 0.00818893 0.97350993 0.22849804 -1.78855484] [ 0.23941912 -0.22376824 0.94477842 -1.20364041] [ 0. 0. 0. 1. ]] SLAMing on 115.78907232899999 meters Centerline goodness : 0.286121 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.80, Z:-1.21 [[ 0.97377359 0.03728778 -0.22444289 -3.80805425] [ 0.01602908 0.97278429 0.23115751 -1.79814938] [ 0.22695386 -0.2286927 0.94667396 -1.20971518] [ 0. 0. 0. 1. ]] SLAMing on 115.819072329 meters Centerline goodness : 0.293733 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.81, Z:-1.22 [[ 0.97712986 0.03019126 -0.21048927 -3.80965403] [ 0.02024615 0.97216344 0.23342736 -1.80830552] [ 0.21167744 -0.23235044 0.94931867 -1.2186778 ] [ 0. 0. 0. 1. ]] SLAMing on 115.849072329 meters Centerline goodness : 0.305451 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.82, Z:-1.23 [[ 0.98020925 0.0233028 -0.19658789 -3.81154724] [ 0.02425378 0.97143045 0.23608185 -1.81835173] [ 0.19647283 -0.23617761 0.95163993 -1.22738667] [ 0. 0. 0. 1. ]] SLAMing on 115.879072329 meters Centerline goodness : 0.315400 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.83, Z:-1.22 [[ 0.98133534 0.01029853 -0.19202834 -3.81329228] [ 0.03668253 0.97020475 0.2394935 -1.83293622] [ 0.18877324 -0.24206752 0.95171843 -1.22310297] [ 0. 0. 0. 1. ]] SLAMing on 115.909072329 meters Centerline goodness : 0.302960 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.84, Z:-1.23 [[ 0.98392959 0.00499067 -0.17848715 -3.81459321] [ 0.0392789 0.9690737 0.24362539 -1.84197928] [ 0.17418306 -0.246721 0.95330426 -1.2300607 ] [ 0. 0. 0. 1. ]] SLAMing on 115.939072329 meters Centerline goodness : 0.304045 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.85, Z:-1.23 [[ 9.83671562e-01 1.76102907e-03 -1.79964320e-01 -3.81447887e+00] [ 4.25834372e-02 9.69280719e-01 2.42242727e-01 -1.84831556e+00] [ 1.74862542e-01 -2.45950781e-01 9.53378888e-01 -1.22561633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96907232899999 meters Centerline goodness : 0.301916 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.86, Z:-1.22 [[ 9.83280696e-01 -1.59026553e-03 -1.82089387e-01 -3.81281424e+00] [ 4.63574949e-02 9.69201764e-01 2.41865506e-01 -1.86054365e+00] [ 1.76096725e-01 -2.46262891e-01 9.53071106e-01 -1.21993047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99907232899999 meters Centerline goodness : 0.297313 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.87, Z:-1.22 [[ 9.83206640e-01 -3.77034522e-03 -1.82456810e-01 -3.81446710e+00] [ 4.84024780e-02 9.69368202e-01 2.40795534e-01 -1.86644615e+00] [ 1.75959947e-01 -2.45583130e-01 9.53271747e-01 -1.21697855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02907232899999 meters Centerline goodness : 0.301559 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.88, Z:-1.22 [[ 9.83148250e-01 -2.66987005e-03 -1.82790563e-01 -3.81405370e+00] [ 4.78182618e-02 9.68836430e-01 2.43041941e-01 -1.87555461e+00] [ 1.76445266e-01 -2.47686986e-01 9.52637510e-01 -1.21503860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05907232899999 meters Centerline goodness : 0.293666 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.88, Z:-1.21 [[ 9.83147173e-01 -2.07435398e-03 -1.82804086e-01 -3.81445497e+00] [ 4.73989800e-02 9.68634542e-01 2.43927164e-01 -1.87913215e+00] [ 1.76564361e-01 -2.48481029e-01 9.52408633e-01 -1.21397586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08907232899999 meters Centerline goodness : 0.296243 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.88, Z:-1.21 [[ 9.83199240e-01 -1.47546196e-03 -1.82529664e-01 -3.81576022e+00] [ 4.68910535e-02 9.68451409e-01 2.44751094e-01 -1.88271887e+00] [ 1.76409989e-01 -2.49198097e-01 9.52249875e-01 -1.21294288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11907232899999 meters Centerline goodness : 0.301460 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.89, Z:-1.21 [[ 9.83534111e-01 4.83597992e-04 -1.80721936e-01 -3.82156276e+00] [ 4.47693648e-02 9.68175142e-01 2.46236875e-01 -1.88893610e+00] [ 1.75089566e-01 -2.50273173e-01 9.52211627e-01 -1.21121441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14907232899999 meters Centerline goodness : 0.301626 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.89, Z:-1.21 [[ 9.83753950e-01 1.33334455e-03 -1.79517095e-01 -3.82460471e+00] [ 4.37136861e-02 9.68094908e-01 2.46741490e-01 -1.89121355e+00] [ 1.74118577e-01 -2.50580269e-01 9.52308905e-01 -1.21135647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.179072329 meters Centerline goodness : 0.250907 Centerline is valid? [False, False] Translation: X:-3.83, Y:-1.89, Z:-1.21 [[ 9.84080513e-01 2.85707591e-03 -1.77700254e-01 -3.82834226e+00] [ 4.18386301e-02 9.68045185e-01 2.47261094e-01 -1.89293794e+00] [ 1.72728319e-01 -2.50759560e-01 9.52514867e-01 -1.21217900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.209072329 meters Centerline goodness : 0.301992 Centerline is valid? [False, False] Translation: X:-3.83, Y:-1.89, Z:-1.21 [[ 0.98447281 0.00501323 -0.17546555 -3.83233971] [ 0.03924999 0.96799688 0.24787392 -1.89450446] [ 0.17109275 -0.25091216 0.95276984 -1.21351921] [ 0. 0. 0. 1. ]] SLAMing on 116.239072329 meters Centerline goodness : 0.307466 Centerline is valid? [False, False] Translation: X:-3.84, Y:-1.90, Z:-1.22 [[ 0.98526468 0.01287174 -0.17055155 -3.83997404] [ 0.03096452 0.96726286 0.25188044 -1.89775048] [ 0.16821032 -0.25344994 0.95261137 -1.21836576] [ 0. 0. 0. 1. ]] SLAMing on 116.269072329 meters Centerline goodness : 0.282430 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.90, Z:-1.22 [[ 0.9857618 0.01566053 -0.16741693 -3.84638481] [ 0.02752582 0.96719301 0.25254707 -1.89915931] [ 0.1658795 -0.25355954 0.95299085 -1.21993703] [ 0. 0. 0. 1. ]] SLAMing on 116.299072329 meters Centerline goodness : 0.300375 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.90, Z:-1.22 [[ 0.98626211 0.01867752 -0.1641286 -3.85388701] [ 0.02384509 0.96708355 0.25333933 -1.90025905] [ 0.16345782 -0.25377265 0.9533525 -1.22109205] [ 0. 0. 0. 1. ]] SLAMing on 116.329072329 meters Centerline goodness : 0.306238 Centerline is valid? [False, False] Translation: X:-3.87, Y:-1.90, Z:-1.23 [[ 0.98699404 0.03287789 -0.15735887 -3.86935974] [ 0.0083664 0.96703043 0.25452337 -1.90054005] [ 0.16053901 -0.25252957 0.9541782 -1.22803279] [ 0. 0. 0. 1. ]] SLAMing on 116.35907232899999 meters Centerline goodness : 0.313803 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.90, Z:-1.23 [[ 0.98748441 0.03595034 -0.15356466 -3.87787502] [ 0.00446086 0.96691859 0.25504614 -1.90113709] [ 0.15765352 -0.25253912 0.95465667 -1.22947585] [ 0. 0. 0. 1. ]] SLAMing on 116.38907232899999 meters Centerline goodness : 0.309778 Centerline is valid? [False, False] Translation: X:-3.89, Y:-1.90, Z:-1.23 [[ 9.87953800e-01 3.90531466e-02 -1.49740242e-01 -3.88591569e+00] [ 5.09969903e-04 9.66805412e-01 2.55513278e-01 -1.90162722e+00] [ 1.54748274e-01 -2.52511677e-01 9.55139165e-01 -1.23135502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41907232899999 meters Centerline goodness : 0.282083 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.90, Z:-1.23 [[ 0.98706303 0.05584899 -0.15029126 -3.8978411 ] [-0.0156768 0.96649786 0.25619548 -1.90261017] [ 0.15956444 -0.250525 0.95486984 -1.23363344] [ 0. 0. 0. 1. ]] SLAMing on 116.44907232899999 meters Centerline goodness : 0.107569 Centerline is valid? [False, False] Translation: X:-3.91, Y:-1.90, Z:-1.23 [[ 0.98748996 0.05902595 -0.14621733 -3.90727677] [-0.01975112 0.96629237 0.25668844 -1.90329411] [ 0.15643997 -0.2505893 0.95536984 -1.23474887] [ 0. 0. 0. 1. ]] SLAMing on 116.47907232899999 meters Centerline goodness : 0.298719 Centerline is valid? [False, False] Translation: X:-3.92, Y:-1.90, Z:-1.24 [[ 0.98791536 0.06204443 -0.14203426 -3.91675098] [-0.0237274 0.96612192 0.2569931 -1.90369651] [ 0.1531674 -0.25051733 0.95591883 -1.23608237] [ 0. 0. 0. 1. ]] SLAMing on 116.50907232899999 meters Centerline goodness : 0.115453 Centerline is valid? [False, False] Translation: X:-3.93, Y:-1.90, Z:-1.24 [[ 0.98830731 0.06507007 -0.13789323 -3.92506017] [-0.02771666 0.96596679 0.25717687 -1.90382725] [ 0.1499348 -0.25034784 0.95647557 -1.23838966] [ 0. 0. 0. 1. ]] SLAMing on 116.53907232899999 meters Centerline goodness : 0.113744 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.90, Z:-1.24 [[ 0.98692113 0.07941476 -0.14028537 -3.93699814] [-0.04132167 0.96578672 0.25602448 -1.90409364] [ 0.15581787 -0.24687914 0.95643687 -1.24146561] [ 0. 0. 0. 1. ]] SLAMing on 116.569072329 meters Centerline goodness : 0.278854 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.90, Z:-1.24 [[ 0.98729892 0.08247446 -0.13578959 -3.94590276] [-0.04545743 0.96561455 0.25597297 -1.90404188] [ 0.15223164 -0.24654919 0.95709928 -1.24408962] [ 0. 0. 0. 1. ]] SLAMing on 116.599072329 meters Centerline goodness : 0.186920 Centerline is valid? [False, False] Translation: X:-3.96, Y:-1.90, Z:-1.25 [[ 0.98651094 0.09666033 -0.13210959 -3.96156493] [-0.0605521 0.96528062 0.25409993 -1.9043449 ] [ 0.15208421 -0.24267285 0.95811288 -1.24750036] [ 0. 0. 0. 1. ]] SLAMing on 116.629072329 meters Centerline goodness : 0.198963 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.90, Z:-1.25 [[ 0.98675654 0.09949552 -0.12810999 -3.97003041] [-0.06430575 0.96502062 0.25416525 -1.90461184] [ 0.14891708 -0.24256101 0.95863854 -1.24904794] [ 0. 0. 0. 1. ]] SLAMing on 116.659072329 meters Centerline goodness : 0.185463 Centerline is valid? [False, False] Translation: X:-3.98, Y:-1.90, Z:-1.25 [[ 0.98694173 0.10248754 -0.12426715 -3.97779154] [-0.0681532 0.96470794 0.25434961 -1.90481876] [ 0.14594917 -0.24255904 0.95909538 -1.25078641] [ 0. 0. 0. 1. ]] SLAMing on 116.689072329 meters Centerline goodness : 0.121652 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.90, Z:-1.26 [[ 0.9869087 0.1106503 -0.11733592 -3.98936618] [-0.07730414 0.96305334 0.25797737 -1.90435884] [ 0.14154603 -0.24552956 0.95899946 -1.2566153 ] [ 0. 0. 0. 1. ]] SLAMing on 116.71907232899999 meters Centerline goodness : 0.152187 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.90, Z:-1.26 [[ 0.98701297 0.11342699 -0.11375287 -3.99559269] [-0.08090534 0.96275304 0.25799402 -1.90427116] [ 0.13877941 -0.24544023 0.95942658 -1.2591496 ] [ 0. 0. 0. 1. ]] SLAMing on 116.74907232899999 meters Centerline goodness : 0.154244 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.90, Z:-1.26 [[ 0.98709447 0.11619549 -0.11019578 -4.00158555] [-0.08448054 0.96242363 0.25807712 -1.90476312] [ 0.13604242 -0.2454371 0.9598193 -1.26172832] [ 0. 0. 0. 1. ]] SLAMing on 116.77907232899999 meters Centerline goodness : 0.242159 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.91, Z:-1.26 [[ 0.98716371 0.11880304 -0.10674101 -4.00758242] [-0.08788636 0.96212444 0.25805533 -1.90522332] [ 0.1333559 -0.24536178 0.9602155 -1.26408738] [ 0. 0. 0. 1. ]] SLAMing on 116.80907232899999 meters Centerline goodness : 0.149327 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.91, Z:-1.27 [[ 0.9873225 0.12311662 -0.1001827 -4.02035346] [-0.09369495 0.96152338 0.2582519 -1.90744133] [ 0.1281231 -0.2455913 0.96086908 -1.26774652] [ 0. 0. 0. 1. ]] SLAMing on 116.83907232899999 meters Centerline goodness : 0.156086 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.91, Z:-1.27 [[ 0.98730261 0.12534854 -0.09757714 -4.02565738] [-0.09649009 0.96119264 0.25845381 -1.90787249] [ 0.12618724 -0.24575689 0.96108289 -1.2683269 ] [ 0. 0. 0. 1. ]] SLAMing on 116.86907232899999 meters Centerline goodness : 0.119544 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.91, Z:-1.27 [[ 0.98729004 0.12687036 -0.09571984 -4.02976469] [-0.09840436 0.96093757 0.25868044 -1.90830319] [ 0.12479967 -0.24597337 0.96120869 -1.2685306 ] [ 0. 0. 0. 1. ]] SLAMing on 116.89907232899999 meters Centerline goodness : 0.125287 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98721624 0.12979605 -0.09250445 -4.0362666 ] [-0.10199186 0.96043608 0.25915286 -1.90920597] [ 0.12248163 -0.24640521 0.96139624 -1.2691605 ] [ 0. 0. 0. 1. ]] SLAMing on 116.929072329 meters Centerline goodness : 0.087764 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.9872378 0.13021987 -0.09167506 -4.03781673] [-0.10260726 0.96036264 0.25918207 -1.9099359 ] [ 0.12179196 -0.24646781 0.9614678 -1.26979241] [ 0. 0. 0. 1. ]] SLAMing on 116.959072329 meters Centerline goodness : 0.171405 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98762914 0.1288226 -0.0894059 -4.04276088] [-0.10220598 0.96125355 0.25601865 -1.91161866] [ 0.11892272 -0.24371366 0.96252846 -1.27105006] [ 0. 0. 0. 1. ]] SLAMing on 116.989072329 meters Centerline goodness : 0.172157 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98763224 0.1289067 -0.08925037 -4.04265564] [-0.10232671 0.96124189 0.2560142 -1.91178176] [ 0.11879314 -0.24371518 0.96254408 -1.2716644 ] [ 0. 0. 0. 1. ]] SLAMing on 117.019072329 meters Centerline goodness : 0.173230 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98762229 0.12889395 -0.08937877 -4.04220339] [-0.10227828 0.9612376 0.25604967 -1.91186062] [ 0.11891749 -0.24373886 0.96252273 -1.27178606] [ 0. 0. 0. 1. ]] SLAMing on 117.049072329 meters Centerline goodness : 0.121502 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.91, Z:-1.27 [[ 0.98806636 0.12514739 -0.08979416 -4.04346765] [-0.09891808 0.96242648 0.25288432 -1.91359794] [ 0.11806809 -0.24098423 0.96332057 -1.27038703] [ 0. 0. 0. 1. ]] SLAMing on 117.079072329 meters Centerline goodness : 0.258115 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98853988 0.12147158 -0.08963017 -4.04559418] [-0.09579478 0.96363918 0.24944518 -1.91511368] [ 0.11667164 -0.2380004 0.9642321 -1.26966527] [ 0. 0. 0. 1. ]] SLAMing on 117.10907232899999 meters Centerline goodness : 0.085384 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98901877 0.11777922 -0.08927449 -4.04797162] [-0.09271015 0.96486249 0.24585608 -1.9163949 ] [ 0.11509434 -0.23487962 0.96518643 -1.2692207 ] [ 0. 0. 0. 1. ]] SLAMing on 117.13907232899999 meters Centerline goodness : 0.115376 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98949344 0.11390065 -0.08904702 -4.04978202] [-0.08942539 0.96612627 0.24208083 -1.91703823] [ 0.11360383 -0.23157433 0.96616122 -1.26911442] [ 0. 0. 0. 1. ]] SLAMing on 117.16907232899999 meters Centerline goodness : 0.089303 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98948522 0.11371301 -0.08937757 -4.04917365] [-0.08917516 0.96617139 0.24199304 -1.91642373] [ 0.1138718 -0.23147828 0.96615269 -1.26886218] [ 0. 0. 0. 1. ]] SLAMing on 117.19907232899999 meters Centerline goodness : 0.171267 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.92, Z:-1.27 [[ 0.98948521 0.11343764 -0.08972688 -4.04860321] [-0.088842 0.96623906 0.24184537 -1.91552942] [ 0.11413198 -0.2313309 0.96615729 -1.26857451] [ 0. 0. 0. 1. ]] SLAMing on 117.22907232899999 meters Centerline goodness : 0.172413 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.9894734 0.11313395 -0.09023909 -4.04778853] [-0.08844218 0.96631056 0.24170617 -1.91453738] [ 0.11454416 -0.23118089 0.96614442 -1.26806685] [ 0. 0. 0. 1. ]] SLAMing on 117.25907232899999 meters Centerline goodness : 0.139038 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.98987777 0.10910352 -0.09076572 -4.04937414] [-0.08479094 0.96749637 0.23824626 -1.9143378 ] [ 0.11380901 -0.22813856 0.96695414 -1.26629678] [ 0. 0. 0. 1. ]] SLAMing on 117.28907232899999 meters Centerline goodness : 0.085599 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.27 [[ 0.99030168 0.1052086 -0.09073994 -4.05157354] [-0.08141269 0.9686718 0.23462082 -1.91472052] [ 0.11258135 -0.224958 0.96784262 -1.26519442] [ 0. 0. 0. 1. ]] SLAMing on 117.319072329 meters Centerline goodness : 0.173961 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99071643 0.10125423 -0.09071123 -4.05377851] [-0.07797481 0.96983748 0.23094412 -1.91492801] [ 0.11135921 -0.22172694 0.96872921 -1.26409335] [ 0. 0. 0. 1. ]] SLAMing on 117.349072329 meters Centerline goodness : 0.173961 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99071643 0.10125423 -0.09071123 -4.05377851] [-0.07797481 0.96983748 0.23094412 -1.91492801] [ 0.11135921 -0.22172694 0.96872921 -1.26409335] [ 0. 0. 0. 1. ]] SLAMing on 117.379072329 meters Centerline goodness : 0.262593 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.26 [[ 0.99107076 0.09690799 -0.09158378 -4.05447778] [-0.07393246 0.9709943 0.22738527 -1.91375116] [ 0.11096277 -0.21858388 0.96948871 -1.26262032] [ 0. 0. 0. 1. ]] SLAMing on 117.409072329 meters Centerline goodness : 0.196904 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99137889 0.09322233 -0.09207326 -4.05612937] [-0.07056425 0.97196077 0.22430549 -1.9136381 ] [ 0.11040188 -0.21587465 0.97015955 -1.26096199] [ 0. 0. 0. 1. ]] SLAMing on 117.439072329 meters Centerline goodness : 0.178266 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99160057 0.08902677 -0.09382188 -4.05622087] [-0.06638092 0.97288025 0.22157976 -1.91240647] [ 0.11100398 -0.21349063 0.97061829 -1.25787411] [ 0. 0. 0. 1. ]] SLAMing on 117.46907232899999 meters Centerline goodness : 0.147366 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99193654 0.08503892 -0.09396958 -4.05825527] [-0.06283961 0.97391737 0.21802783 -1.91275886] [ 0.11005945 -0.21036476 0.97140804 -1.25626449] [ 0. 0. 0. 1. ]] SLAMing on 117.49907232899999 meters Centerline goodness : 0.181241 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.26 [[ 0.99229151 0.08077274 -0.09398577 -4.0601494 ] [-0.05908149 0.97500983 0.21416164 -1.9130457 ] [ 0.10893547 -0.20695796 0.97226615 -1.25513345] [ 0. 0. 0. 1. ]] SLAMing on 117.52907232899999 meters Centerline goodness : 0.259740 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99264139 0.07638618 -0.09395867 -4.06174534] [-0.05522276 0.97610952 0.21014438 -1.91316954] [ 0.10776608 -0.20340935 0.97314496 -1.25442529] [ 0. 0. 0. 1. ]] SLAMing on 117.55907232899999 meters Centerline goodness : 0.100967 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99289092 0.07129635 -0.09531244 -4.06058287] [-0.05039778 0.97725192 0.20600666 -1.91135157] [ 0.10783178 -0.1997386 0.97389773 -1.25316212] [ 0. 0. 0. 1. ]] SLAMing on 117.58907232899999 meters Centerline goodness : 0.137068 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99307202 0.0673532 -0.0962887 -4.06138847] [-0.04665279 0.97806722 0.20299763 -1.91051562] [ 0.10784936 -0.19709913 0.9744334 -1.25118557] [ 0. 0. 0. 1. ]] SLAMing on 117.61907232899999 meters Centerline goodness : 0.153867 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99325494 0.06319464 -0.09721658 -4.06222571] [-0.04273431 0.97891998 0.19972344 -1.90968044] [ 0.10778871 -0.19422181 0.97501768 -1.24908768] [ 0. 0. 0. 1. ]] SLAMing on 117.64907232899999 meters Centerline goodness : 0.199979 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99341652 0.05775804 -0.09893241 -4.06034134] [-0.03750272 0.97997737 0.19554513 -1.9085343 ] [ 0.10824583 -0.19054753 0.9756918 -1.24717503] [ 0. 0. 0. 1. ]] SLAMing on 117.679072329 meters Centerline goodness : 0.269648 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.25 [[ 0.99362212 0.05323074 -0.09940613 -4.06083738] [-0.03337271 0.98089089 0.19167507 -1.90890898] [ 0.10770957 -0.18713514 0.97641133 -1.24586854] [ 0. 0. 0. 1. ]] SLAMing on 117.709072329 meters Centerline goodness : 0.187099 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99378272 0.04871869 -0.10011193 -4.06119406] [-0.02919374 0.9817428 0.18795957 -1.90913521] [ 0.10744131 -0.18386833 0.97706131 -1.24420619] [ 0. 0. 0. 1. ]] SLAMing on 117.739072329 meters Centerline goodness : 0.184407 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.99475849 0.03563685 -0.09584138 -4.06680794] [-0.0166653 0.98127381 0.19189576 -1.9120679 ] [ 0.1008852 -0.18929271 0.97672435 -1.24495937] [ 0. 0. 0. 1. ]] SLAMing on 117.769072329 meters Centerline goodness : 0.185976 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.99481223 0.03118357 -0.09683081 -4.06680968] [-0.01244485 0.9820145 0.18839495 -1.91138733] [ 0.10096408 -0.18621255 0.97730811 -1.24308127] [ 0. 0. 0. 1. ]] SLAMing on 117.799072329 meters Centerline goodness : 0.254407 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 0.994885 0.02657411 -0.09745589 -4.0668092 ] [-0.00817838 0.98279878 0.18449844 -1.91090897] [ 0.10068241 -0.1827577 0.9779891 -1.24182039] [ 0. 0. 0. 1. ]] SLAMing on 117.829072329 meters Centerline goodness : 0.182816 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.91, Z:-1.24 [[ 9.94910727e-01 1.74170847e-02 -9.92435957e-02 -4.06519589e+00] [ 4.41410822e-04 9.84184163e-01 1.77147786e-01 -1.91126352e+00] [ 1.00759373e-01 -1.76290040e-01 9.79167693e-01 -1.23942321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85907232899999 meters Centerline goodness : 0.253610 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.9948925 0.01271814 -0.10013574 -4.06425043] [ 0.00485245 0.98485766 0.17329698 -1.91163803] [ 0.10082346 -0.17289777 0.97976578 -1.23799168] [ 0. 0. 0. 1. ]] SLAMing on 117.88907232899999 meters Centerline goodness : 0.270056 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99481059 0.00806415 -0.10142417 -4.0630661 ] [ 0.00931286 0.98545231 0.16969685 -1.91192796] [ 0.10131714 -0.16976077 0.98026329 -1.23582581] [ 0. 0. 0. 1. ]] SLAMing on 117.91907232899999 meters Centerline goodness : 0.114766 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.24 [[ 0.99532102 -0.0048062 -0.09650375 -4.06194824] [ 0.02154744 0.98465142 0.17319727 -1.91240254] [ 0.09419013 -0.17446629 0.98014781 -1.23633292] [ 0. 0. 0. 1. ]] SLAMing on 117.94907232899999 meters Centerline goodness : 0.269714 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.23 [[ 0.99511338 -0.00925043 -0.09830461 -4.06029942] [ 0.02596483 0.98507774 0.17014016 -1.91196499] [ 0.09526381 -0.17186121 0.98050422 -1.23376348] [ 0. 0. 0. 1. ]] SLAMing on 117.97907232899999 meters Centerline goodness : 0.262652 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.91, Z:-1.23 [[ 0.99493851 -0.01396347 -0.09951074 -4.05890865] [ 0.03047929 0.98557984 0.16644337 -1.91143846] [ 0.09575165 -0.16863393 0.98101693 -1.23205948] [ 0. 0. 0. 1. ]] SLAMing on 118.00907232899999 meters Centerline goodness : 0.270960 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99457642 -0.02368929 -0.10127465 -4.05496238] [ 0.03965264 0.98653837 0.15864964 -1.91150188] [ 0.09615303 -0.16180499 0.98212715 -1.23113972] [ 0. 0. 0. 1. ]] SLAMing on 118.03907232899999 meters Centerline goodness : 0.331228 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99440706 -0.02848738 -0.10170089 -4.05362963] [ 0.04407585 0.98701036 0.15449231 -1.91132882] [ 0.09597875 -0.1581108 0.98274567 -1.23099484] [ 0. 0. 0. 1. ]] SLAMing on 118.069072329 meters Centerline goodness : 0.294843 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99422704 -0.03325745 -0.10201241 -4.05314689] [ 0.04845788 0.98744347 0.15035703 -1.91095074] [ 0.09573099 -0.15443233 0.98335458 -1.23032669] [ 0. 0. 0. 1. ]] SLAMing on 118.099072329 meters Centerline goodness : 0.294998 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.24 [[ 0.99493667 -0.04150322 -0.09153422 -4.04802529] [ 0.05520917 0.98672944 0.15269892 -1.90785832] [ 0.08398201 -0.15697928 0.98402466 -1.23604024] [ 0. 0. 0. 1. ]] SLAMing on 118.129072329 meters Centerline goodness : 0.326931 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99469644 -0.04623034 -0.09187899 -4.04853105] [ 0.05960534 0.98709576 0.14862426 -1.9070888 ] [ 0.08382241 -0.1533125 0.98461621 -1.23427456] [ 0. 0. 0. 1. ]] SLAMing on 118.159072329 meters Centerline goodness : 0.311636 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.91, Z:-1.23 [[ 0.99444483 -0.05089979 -0.09213409 -4.04927611] [ 0.06393749 0.9874221 0.14460151 -1.90649278] [ 0.08361505 -0.14968904 0.98519121 -1.23248489] [ 0. 0. 0. 1. ]] SLAMing on 118.189072329 meters Centerline goodness : 0.291171 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.90, Z:-1.24 [[ 0.9948963 -0.05886373 -0.08195375 -4.04611966] [ 0.07052413 0.98653566 0.14755929 -1.90317624] [ 0.07216441 -0.15258591 0.98565199 -1.23574991] [ 0. 0. 0. 1. ]] SLAMing on 118.21907232899999 meters Centerline goodness : 0.295018 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99468003 -0.06014871 -0.08362872 -4.04378189] [ 0.07202549 0.98648762 0.14715467 -1.90183755] [ 0.07364753 -0.15239521 0.98557178 -1.23390608] [ 0. 0. 0. 1. ]] SLAMing on 118.24907232899999 meters Centerline goodness : 0.321440 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99427701 -0.06231179 -0.08677829 -4.04118261] [ 0.07463942 0.98632267 0.14695767 -1.89936756] [ 0.0764342 -0.15259371 0.98532887 -1.22949169] [ 0. 0. 0. 1. ]] SLAMing on 118.27907232899999 meters Centerline goodness : 0.292726 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.9941855 -0.06277616 -0.08748908 -4.04074707] [ 0.07518481 0.98632789 0.14664424 -1.89742835] [ 0.07708715 -0.15236943 0.98531271 -1.22812023] [ 0. 0. 0. 1. ]] SLAMing on 118.30907232899999 meters Centerline goodness : 0.286836 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.90, Z:-1.23 [[ 0.99412979 -0.0632013 -0.08781546 -4.04059647] [ 0.07562182 0.98636039 0.1462003 -1.89548998] [ 0.07737764 -0.15198284 0.98534964 -1.22747542] [ 0. 0. 0. 1. ]] SLAMing on 118.33907232899999 meters Centerline goodness : 0.301891 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99410525 -0.06359774 -0.08780703 -4.04069427] [ 0.07597364 0.9864092 0.14568767 -1.8936098 ] [ 0.07734826 -0.1514999 0.98542632 -1.2275984 ] [ 0. 0. 0. 1. ]] SLAMing on 118.36907232899999 meters Centerline goodness : 0.112093 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99405052 -0.06727728 -0.08565826 -4.04381057] [ 0.07891985 0.98689781 0.14072801 -1.89013 ] [ 0.07506816 -0.14665089 0.98633579 -1.22908298] [ 0. 0. 0. 1. ]] SLAMing on 118.39907232899999 meters Centerline goodness : 0.284786 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99404794 -0.06762177 -0.0854166 -4.0441746 ] [ 0.07918638 0.98695116 0.14020318 -1.88832349] [ 0.07482122 -0.14613251 0.98643148 -1.22967527] [ 0. 0. 0. 1. ]] SLAMing on 118.429072329 meters Centerline goodness : 0.127354 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.89, Z:-1.23 [[ 0.99404597 -0.06798109 -0.08515387 -4.04476029] [ 0.07946341 0.98700599 0.13965937 -1.88631438] [ 0.07455318 -0.14559445 0.98653134 -1.23010077] [ 0. 0. 0. 1. ]] SLAMing on 118.459072329 meters Centerline goodness : 0.298068 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99405545 -0.06858409 -0.08455757 -4.04671138] [ 0.0798997 0.98711199 0.13865769 -1.8823207 ] [ 0.07395808 -0.14458956 0.9867239 -1.23025833] [ 0. 0. 0. 1. ]] SLAMing on 118.489072329 meters Centerline goodness : 0.110942 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99407143 -0.06891953 -0.08409567 -4.04827628] [ 0.08012161 0.9871768 0.138067 -1.88032778] [ 0.07350178 -0.14398634 0.9868462 -1.2301363 ] [ 0. 0. 0. 1. ]] SLAMing on 118.519072329 meters Centerline goodness : 0.282094 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.88, Z:-1.23 [[ 0.99408706 -0.06925351 -0.08363533 -4.04972167] [ 0.08034162 0.98724369 0.1374595 -1.87832461] [ 0.0730489 -0.14336611 0.98697012 -1.23014329] [ 0. 0. 0. 1. ]] SLAMing on 118.549072329 meters Centerline goodness : 0.276788 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99410332 -0.06993341 -0.08287281 -4.05175877] [ 0.08081586 0.98737724 0.13621664 -1.87437327] [ 0.07230063 -0.14211085 0.98720673 -1.23054843] [ 0. 0. 0. 1. ]] SLAMing on 118.579072329 meters Centerline goodness : 0.110474 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.9941061 -0.0702898 -0.08253726 -4.05283586] [ 0.08107944 0.98743576 0.13563456 -1.87234504] [ 0.07196652 -0.14152722 0.98731498 -1.2305825 ] [ 0. 0. 0. 1. ]] SLAMing on 118.60907232899999 meters Centerline goodness : 0.110747 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99407745 -0.07088418 -0.0823739 -4.05456507] [ 0.0815846 0.98751091 0.13478189 -1.86822703] [ 0.07179122 -0.14070408 0.98744538 -1.22986452] [ 0. 0. 0. 1. ]] SLAMing on 118.63907232899999 meters Centerline goodness : 0.111439 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.23 [[ 0.99404867 -0.07120812 -0.08244178 -4.05475886] [ 0.08188616 0.98754187 0.13437151 -1.86647872] [ 0.07184637 -0.14032266 0.98749565 -1.22957183] [ 0. 0. 0. 1. ]] SLAMing on 118.66907232899999 meters Centerline goodness : 0.303673 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99399801 -0.07157603 -0.08273351 -4.05403984] [ 0.08226398 0.9875642 0.13397607 -1.86495741] [ 0.07211517 -0.13997794 0.98752498 -1.22962962] [ 0. 0. 0. 1. ]] SLAMing on 118.69907232899999 meters Centerline goodness : 0.301512 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99393098 -0.07209317 -0.08308901 -4.05242568] [ 0.08279317 0.98758404 0.13350304 -1.86393866] [ 0.07243272 -0.13957201 0.98755919 -1.2303497 ] [ 0. 0. 0. 1. ]] SLAMing on 118.72907232899999 meters Centerline goodness : 0.297039 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99359427 -0.07676857 -0.08292774 -4.0515049 ] [ 0.08710323 0.98778537 0.12920175 -1.86397 ] [ 0.07199617 -0.13559739 0.98814468 -1.23085807] [ 0. 0. 0. 1. ]] SLAMing on 118.75907232899999 meters Centerline goodness : 0.108510 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99347326 -0.07721456 -0.08395714 -4.04906934] [ 0.08768166 0.98774389 0.12912759 -1.86374779] [ 0.07295762 -0.13564631 0.98806744 -1.23058832] [ 0. 0. 0. 1. ]] SLAMing on 118.78907232899999 meters Centerline goodness : 0.209822 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99336894 -0.07747552 -0.0849452 -4.0472214 ] [ 0.0880796 0.9877023 0.12917491 -1.86358308] [ 0.07389267 -0.13580028 0.9879768 -1.22967326] [ 0. 0. 0. 1. ]] SLAMing on 118.819072329 meters Centerline goodness : 0.298364 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99319227 -0.07746262 -0.08699802 -4.04492714] [ 0.08841025 0.98756568 0.12999095 -1.86268234] [ 0.07584682 -0.13679752 0.98769109 -1.22722523] [ 0. 0. 0. 1. ]] SLAMing on 118.849072329 meters Centerline goodness : 0.285258 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99316517 -0.07750797 -0.08726664 -4.04434427] [ 0.08848967 0.98756313 0.12995633 -1.8619028 ] [ 0.07610867 -0.13679029 0.98767195 -1.22712248] [ 0. 0. 0. 1. ]] SLAMing on 118.879072329 meters Centerline goodness : 0.307953 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99314053 -0.07748325 -0.08756841 -4.0431997 ] [ 0.0885087 0.98755795 0.1299827 -1.86158155] [ 0.0764074 -0.13684165 0.98764177 -1.22746687] [ 0. 0. 0. 1. ]] SLAMing on 118.909072329 meters Centerline goodness : 0.060095 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99291175 -0.08127031 -0.08672594 -4.04360587] [ 0.09188377 0.98771736 0.12637953 -1.86342323] [ 0.07538981 -0.13345243 0.9881836 -1.22822499] [ 0. 0. 0. 1. ]] SLAMing on 118.939072329 meters Centerline goodness : 0.108885 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99289049 -0.08114856 -0.08708265 -4.04274058] [ 0.09182491 0.98769892 0.1265663 -1.86399199] [ 0.07574077 -0.13366283 0.98812832 -1.22796771] [ 0. 0. 0. 1. ]] SLAMing on 118.96907232899999 meters Centerline goodness : 0.308480 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99287796 -0.08110054 -0.08727004 -4.04300422] [ 0.09180941 0.98768859 0.1266581 -1.86420305] [ 0.07592358 -0.13376824 0.98810003 -1.22703702] [ 0. 0. 0. 1. ]] SLAMing on 118.99907232899999 meters Centerline goodness : 0.107732 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99308106 -0.07680061 -0.0888351 -4.04093394] [ 0.08807524 0.98747788 0.13088234 -1.86371824] [ 0.07767085 -0.13780094 0.98740981 -1.22560888] [ 0. 0. 0. 1. ]] SLAMing on 119.02907232899999 meters Centerline goodness : 0.293884 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99310948 -0.07667262 -0.08862768 -4.04134534] [ 0.08792351 0.98748409 0.13093747 -1.86367936] [ 0.0774791 -0.1378277 0.98742114 -1.22579792] [ 0. 0. 0. 1. ]] SLAMing on 119.05907232899999 meters Centerline goodness : 0.108417 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99323617 -0.07599803 -0.08778503 -4.04149654] [ 0.08715143 0.98752598 0.13113758 -1.86419578] [ 0.0767238 -0.13790118 0.98746986 -1.22795357] [ 0. 0. 0. 1. ]] SLAMing on 119.08907232899999 meters Centerline goodness : 0.111019 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99331009 -0.07570701 -0.08719816 -4.04229558] [ 0.08678724 0.98754664 0.13122347 -1.86463406] [ 0.07617772 -0.13791329 0.98751045 -1.2288456 ] [ 0. 0. 0. 1. ]] SLAMing on 119.11907232899999 meters Centerline goodness : 0.110117 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.86, Z:-1.23 [[ 0.99342376 -0.07519877 -0.08633869 -4.04387981] [ 0.08616814 0.98759138 0.1312948 -1.86480431] [ 0.07539414 -0.13787102 0.98757648 -1.22953048] [ 0. 0. 0. 1. ]] SLAMing on 119.14907232899999 meters Centerline goodness : 0.269411 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99360179 -0.0742501 -0.08510237 -4.04642463] [ 0.08506466 0.98766751 0.13144156 -1.86455972] [ 0.0742933 -0.13783978 0.98766427 -1.22997619] [ 0. 0. 0. 1. ]] SLAMing on 119.179072329 meters Centerline goodness : 0.304176 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99408237 -0.06890303 -0.08397979 -4.04904016] [ 0.07988278 0.98757845 0.13530536 -1.86282288] [ 0.07361368 -0.14121321 0.9872385 -1.23097236] [ 0. 0. 0. 1. ]] SLAMing on 119.209072329 meters Centerline goodness : 0.112609 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.86, Z:-1.23 [[ 0.99438665 -0.06685351 -0.08201101 -4.05229125] [ 0.07758622 0.98772606 0.13556402 -1.86196074] [ 0.07194148 -0.14116597 0.98736852 -1.23193112] [ 0. 0. 0. 1. ]] SLAMing on 119.239072329 meters Centerline goodness : 0.115720 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.86, Z:-1.23 [[ 0.99469667 -0.06479984 -0.07987191 -4.05549787] [ 0.07525542 0.98788243 0.13573848 -1.86110642] [ 0.07010823 -0.14102941 0.9875199 -1.23340656] [ 0. 0. 0. 1. ]] SLAMing on 119.269072329 meters Centerline goodness : 0.115720 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.86, Z:-1.23 [[ 0.99469667 -0.06479984 -0.07987191 -4.05549787] [ 0.07525542 0.98788243 0.13573848 -1.86110642] [ 0.07010823 -0.14102941 0.9875199 -1.23340656] [ 0. 0. 0. 1. ]] SLAMing on 119.299072329 meters Centerline goodness : 0.113792 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.85, Z:-1.24 [[ 0.99543674 -0.05198483 -0.08002043 -4.05137346] [ 0.06217516 0.9894789 0.13063597 -1.85451555] [ 0.07238744 -0.13501513 0.98819582 -1.23549184] [ 0. 0. 0. 1. ]] SLAMing on 119.329072329 meters Centerline goodness : 0.281835 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.85, Z:-1.24 [[ 0.99570358 -0.05009864 -0.0778749 -4.05459629] [ 0.0600157 0.98960044 0.13072519 -1.85385823] [ 0.07051588 -0.13483726 0.98835541 -1.2370245 ] [ 0. 0. 0. 1. ]] SLAMing on 119.35907232899999 meters Centerline goodness : 0.284497 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99593436 -0.04844803 -0.07594437 -4.05748909] [ 0.0581169 0.98970789 0.1307697 -1.85313149] [ 0.06882721 -0.13465169 0.98849974 -1.23848842] [ 0. 0. 0. 1. ]] SLAMing on 119.38907232899999 meters Centerline goodness : 0.117791 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99628512 -0.04352281 -0.07430833 -4.05955165] [ 0.0532409 0.98951485 0.1342601 -1.85208728] [ 0.06768582 -0.13771758 0.98815611 -1.24110349] [ 0. 0. 0. 1. ]] SLAMing on 119.41907232899999 meters Centerline goodness : 0.114082 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99645515 -0.04227291 -0.07273331 -4.06221201] [ 0.05178732 0.98958059 0.13434404 -1.85184067] [ 0.06629636 -0.13763447 0.98826188 -1.24208599] [ 0. 0. 0. 1. ]] SLAMing on 119.44907232899999 meters Centerline goodness : 0.257301 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.85, Z:-1.24 [[ 0.99697832 -0.03139877 -0.07105174 -4.06147548] [ 0.04050388 0.99061082 0.13057429 -1.84576277] [ 0.06628475 -0.13305761 0.98888928 -1.24407104] [ 0. 0. 0. 1. ]] SLAMing on 119.47907232899999 meters Centerline goodness : 0.117302 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99722193 -0.02909131 -0.06857194 -4.06560365] [ 0.03789832 0.99067696 0.13085441 -1.84550004] [ 0.06412591 -0.13308965 0.98902731 -1.24530264] [ 0. 0. 0. 1. ]] SLAMing on 119.50907232899999 meters Centerline goodness : 0.283984 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99743585 -0.02707848 -0.06624568 -4.06971627] [ 0.03560092 0.99073526 0.13105805 -1.84538709] [ 0.06208308 -0.1330804 0.98915888 -1.24624067] [ 0. 0. 0. 1. ]] SLAMing on 119.53907232899999 meters Centerline goodness : 0.177089 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.85, Z:-1.25 [[ 0.99762597 -0.0253271 -0.06403883 -4.07366046] [ 0.03357431 0.99078953 0.13118261 -1.84532233] [ 0.06012653 -0.13302124 0.9892877 -1.24722464] [ 0. 0. 0. 1. ]] SLAMing on 119.569072329 meters Centerline goodness : 0.191929 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.85, Z:-1.25 [[ 0.99792981 -0.01915366 -0.06139412 -4.07794827] [ 0.02732638 0.99044434 0.13517871 -1.84512166] [ 0.05821829 -0.13657654 0.98891733 -1.24932818] [ 0. 0. 0. 1. ]] SLAMing on 119.599072329 meters Centerline goodness : 0.203117 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.85, Z:-1.25 [[ 0.9981342 -0.01674233 -0.05871806 -4.08277309] [ 0.02458664 0.99046822 0.13552933 -1.84522554] [ 0.0558893 -0.13672014 0.98903184 -1.2503056 ] [ 0. 0. 0. 1. ]] SLAMing on 119.629072329 meters Centerline goodness : 0.278800 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.85, Z:-1.25 [[ 0.99833664 -0.01429216 -0.05585411 -4.08795771] [ 0.02177728 0.9904976 0.13579491 -1.84507812] [ 0.05338256 -0.13678539 0.98916129 -1.2514212 ] [ 0. 0. 0. 1. ]] SLAMing on 119.659072329 meters Centerline goodness : 0.204444 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.84, Z:-1.25 [[ 9.98168216e-01 -2.76553865e-04 -6.04990597e-02 -4.08777458e+00] [ 8.32349172e-03 9.91108182e-01 1.32797933e-01 -1.84214111e+00] [ 5.99243872e-02 -1.33058239e-01 9.89294988e-01 -1.25006608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.689072329 meters Centerline goodness : 0.203965 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.84, Z:-1.25 [[ 9.98347244e-01 2.19940208e-03 -5.74277159e-02 -4.09345756e+00] [ 5.46295057e-03 9.91110592e-01 1.32928364e-01 -1.84170463e+00] [ 5.72095804e-02 -1.33022391e-01 9.89460513e-01 -1.25123279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71907232899999 meters Centerline goodness : 0.188300 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.84, Z:-1.25 [[ 9.98503795e-01 4.68577924e-03 -5.44813173e-02 -4.09930393e+00] [ 2.61107490e-03 9.91099718e-01 1.33095950e-01 -1.84110545e+00] [ 5.46200764e-02 -1.33039066e-01 9.89604595e-01 -1.25182193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74907232899999 meters Centerline goodness : 0.206798 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.25 [[ 0.99865409 0.0112453 -0.05063156 -4.10664472] [-0.00423417 0.99063033 0.136505 -1.83909553] [ 0.0516922 -0.13610689 0.98934465 -1.25313979] [ 0. 0. 0. 1. ]] SLAMing on 119.77907232899999 meters Centerline goodness : 0.234231 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.25 [[ 0.99874297 0.01256171 -0.04852507 -4.11077665] [-0.00583792 0.99065118 0.13629438 -1.8383901 ] [ 0.04978351 -0.13583976 0.98947924 -1.25377435] [ 0. 0. 0. 1. ]] SLAMing on 119.80907232899999 meters Centerline goodness : 0.246046 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.84, Z:-1.26 [[ 0.99875134 0.01767551 -0.04672618 -4.11393292] [-0.0109846 0.99012557 0.13975226 -1.8358317 ] [ 0.04873498 -0.13906449 0.9890834 -1.25504208] [ 0. 0. 0. 1. ]] SLAMing on 119.83907232899999 meters Centerline goodness : 0.242636 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99880566 0.01894578 -0.04503669 -4.11720039] [-0.01248898 0.99013635 0.13954941 -1.83423015] [ 0.04723634 -0.13882028 0.98919041 -1.25551824] [ 0. 0. 0. 1. ]] SLAMing on 119.86907232899999 meters Centerline goodness : 0.157099 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99885941 0.01993084 -0.0433894 -4.12038918] [-0.01370385 0.99014849 0.13934909 -1.83340189] [ 0.0457393 -0.13859555 0.98929227 -1.25615373] [ 0. 0. 0. 1. ]] SLAMing on 119.89907232899999 meters Centerline goodness : 0.112950 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.83, Z:-1.26 [[ 0.99891117 0.02078786 -0.04176522 -4.12331743] [-0.0147895 0.99016623 0.13911187 -1.83288471] [ 0.04424635 -0.13834272 0.98939555 -1.25715191] [ 0. 0. 0. 1. ]] SLAMing on 119.929072329 meters Centerline goodness : 0.263343 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.99900063 0.02334247 -0.03811663 -4.12941283] [-0.01783221 0.99013344 0.13898845 -1.83272828] [ 0.04098488 -0.13816985 0.98956017 -1.25933427] [ 0. 0. 0. 1. ]] SLAMing on 119.959072329 meters Centerline goodness : 0.101745 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.99903661 0.02380979 -0.03686378 -4.13220273] [-0.01847939 0.99015868 0.13872384 -1.83227607] [ 0.03980398 -0.13790898 0.98964476 -1.25954893] [ 0. 0. 0. 1. ]] SLAMing on 119.989072329 meters Centerline goodness : 0.112664 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.83, Z:-1.26 [[ 0.9990657 0.0242401 -0.03577917 -4.13474096] [-0.01906459 0.99017947 0.13849608 -1.83174805] [ 0.03878495 -0.13768457 0.98971647 -1.25955391] [ 0. 0. 0. 1. ]] SLAMing on 120.019072329 meters Centerline goodness : 0.229594 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99909345 0.02453164 -0.03479199 -4.1371485 ] [-0.01949933 0.99020643 0.13824257 -1.83111272] [ 0.03784257 -0.13743882 0.9897871 -1.25950216] [ 0. 0. 0. 1. ]] SLAMing on 120.049072329 meters Centerline goodness : 0.116371 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99912683 0.02532703 -0.03322832 -4.14011593] [-0.02051054 0.99021533 0.13803231 -1.83071453] [ 0.03639914 -0.13723025 0.98987017 -1.26026094] [ 0. 0. 0. 1. ]] SLAMing on 120.079072329 meters Centerline goodness : 0.116030 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.83, Z:-1.26 [[ 0.99923152 0.02379466 -0.03114773 -4.14453092] [-0.01938561 0.99066919 0.13490278 -1.8320873 ] [ 0.03406707 -0.1341953 0.99036915 -1.26010223] [ 0. 0. 0. 1. ]] SLAMing on 120.10907232899999 meters Centerline goodness : 0.119610 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.83, Z:-1.26 [[ 0.99933362 0.02216597 -0.02899966 -4.14898481] [-0.01815923 0.99111149 0.1317887 -1.83448742] [ 0.03166312 -0.13117427 0.99085355 -1.25990705] [ 0. 0. 0. 1. ]] SLAMing on 120.13907232899999 meters Centerline goodness : 0.115500 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99932723 0.02222388 -0.02917523 -4.14884294] [-0.01818686 0.99108306 0.13199853 -1.8351341 ] [ 0.03184859 -0.13137912 0.99082046 -1.25944897] [ 0. 0. 0. 1. ]] SLAMing on 120.16907232899999 meters Centerline goodness : 0.106682 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99929548 0.02200813 -0.03040037 -4.14685562] [-0.0177937 0.99101783 0.13254074 -1.83587919] [ 0.03304428 -0.13190643 0.99071124 -1.25822451] [ 0. 0. 0. 1. ]] SLAMing on 120.19907232899999 meters Centerline goodness : 0.114503 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99936318 0.01850972 -0.03050615 -4.14808546] [-0.0144141 0.99148872 0.12939227 -1.83724042] [ 0.03264152 -0.12887015 0.99112412 -1.25682755] [ 0. 0. 0. 1. ]] SLAMing on 120.22907232899999 meters Centerline goodness : 0.115354 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.9994322 0.01460498 -0.03036409 -4.14873436] [-0.01067599 0.99200457 0.12574961 -1.83882992] [ 0.03195789 -0.12535404 0.99159723 -1.25654098] [ 0. 0. 0. 1. ]] SLAMing on 120.25907232899999 meters Centerline goodness : 0.113959 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 0.99948496 0.01059342 -0.03029194 -4.1488758 ] [-0.00682171 0.99250579 0.12200707 -1.84051088] [ 0.0313574 -0.12173759 0.99206687 -1.25660663] [ 0. 0. 0. 1. ]] SLAMing on 120.28907232899999 meters Centerline goodness : 0.110404 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.84, Z:-1.26 [[ 9.99513086e-01 2.84130492e-03 -3.10727706e-02 -4.14827635e+00] [ 7.60542878e-04 9.93331028e-01 1.15294801e-01 -1.84447439e+00] [ 3.11931349e-02 -1.15262294e-01 9.92845200e-01 -1.25530545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.319072329 meters Centerline goodness : 0.173596 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.85, Z:-1.25 [[ 9.99479284e-01 -8.78297658e-04 -3.22550551e-02 -4.14778840e+00] [ 4.50376780e-03 9.93641462e-01 1.12500495e-01 -1.84600221e+00] [ 3.19511511e-02 -1.12587183e-01 9.93128013e-01 -1.25294548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.349072329 meters Centerline goodness : 0.213456 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.85, Z:-1.25 [[ 0.9994106 -0.00454076 -0.03402687 -4.14662846] [ 0.00826594 0.99388047 0.1101512 -1.84729285] [ 0.03331847 -0.11036754 0.99333221 -1.25001727] [ 0. 0. 0. 1. ]] SLAMing on 120.379072329 meters Centerline goodness : 0.106897 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.25 [[ 0.9993214 -0.00853115 -0.03583247 -4.14489221] [ 0.01233857 0.99413733 0.10741847 -1.84864207] [ 0.034706 -0.1077877 0.99356797 -1.24730094] [ 0. 0. 0. 1. ]] SLAMing on 120.409072329 meters Centerline goodness : 0.199707 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.24 [[ 0.99907642 -0.0163869 -0.03972129 -4.13858141] [ 0.02039059 0.99451543 0.10258309 -1.85186117] [ 0.03782242 -0.10329829 0.99393105 -1.24437422] [ 0. 0. 0. 1. ]] SLAMing on 120.439072329 meters Centerline goodness : 0.193987 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.85, Z:-1.24 [[ 0.99895149 -0.02081404 -0.04077626 -4.13609493] [ 0.02476708 0.99478204 0.09897115 -1.8533092 ] [ 0.0385035 -0.09987729 0.9942545 -1.24386645] [ 0. 0. 0. 1. ]] SLAMing on 120.46907232899999 meters Centerline goodness : 0.196467 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.85, Z:-1.24 [[ 0.99880767 -0.02520302 -0.04180965 -4.13365391] [ 0.02910021 0.99501473 0.09538795 -1.85477439] [ 0.03919716 -0.09649089 0.99456176 -1.2433252 ] [ 0. 0. 0. 1. ]] SLAMing on 120.49907232899999 meters Centerline goodness : 0.193486 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.86, Z:-1.24 [[ 0.99842832 -0.03180859 -0.04614215 -4.12583143] [ 0.03595784 0.99510266 0.09207458 -1.85717162] [ 0.04298741 -0.09358904 0.99468245 -1.24067261] [ 0. 0. 0. 1. ]] SLAMing on 120.52907232899999 meters Centerline goodness : 0.200815 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.86, Z:-1.24 [[ 0.99818701 -0.03561819 -0.04851846 -4.12303736] [ 0.03987866 0.99515401 0.08987879 -1.85869885] [ 0.04508202 -0.09165069 0.99477021 -1.23763744] [ 0. 0. 0. 1. ]] SLAMing on 120.55907232899999 meters Centerline goodness : 0.271709 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.86, Z:-1.23 [[ 0.99791794 -0.03949919 -0.05098621 -4.11991719] [ 0.04386894 0.99518553 0.08764287 -1.86038871] [ 0.04727891 -0.0896971 0.99484629 -1.23463046] [ 0. 0. 0. 1. ]] SLAMing on 120.58907232899999 meters Centerline goodness : 0.112113 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.86, Z:-1.23 [[ 0.99727125 -0.04631381 -0.0574898 -4.10807254] [ 0.05106926 0.99513842 0.08421077 -1.86310078] [ 0.05331019 -0.08691695 0.99478815 -1.2286985 ] [ 0. 0. 0. 1. ]] SLAMing on 120.61907232899999 meters Centerline goodness : 0.126106 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.87, Z:-1.23 [[ 0.99695003 -0.05087054 -0.05918471 -4.1051358 ] [ 0.05558687 0.99516448 0.08098001 -1.86527288] [ 0.05477903 -0.08402292 0.99495699 -1.22664294] [ 0. 0. 0. 1. ]] SLAMing on 120.64907232899999 meters Centerline goodness : 0.118653 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.87, Z:-1.23 [[ 0.99685188 -0.06008297 -0.05173357 -4.09335069] [ 0.06425258 0.9944665 0.08311431 -1.86669932] [ 0.04645355 -0.08617667 0.99519629 -1.22863495] [ 0. 0. 0. 1. ]] SLAMing on 120.679072329 meters Centerline goodness : 0.117110 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.87, Z:-1.23 [[ 0.99652922 -0.06245659 -0.05503353 -4.08731081] [ 0.06690166 0.99429967 0.08302013 -1.86746884] [ 0.04953466 -0.08641382 0.99502712 -1.22698467] [ 0. 0. 0. 1. ]] SLAMing on 120.709072329 meters Centerline goodness : 0.116818 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.87, Z:-1.23 [[ 0.99620039 -0.06476923 -0.05822134 -4.08145356] [ 0.06947904 0.99413405 0.08288636 -1.86805523] [ 0.05251133 -0.08661659 0.99485684 -1.22542877] [ 0. 0. 0. 1. ]] SLAMing on 120.739072329 meters Centerline goodness : 0.305531 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.99548031 -0.07170922 -0.06226351 -4.07326328] [ 0.07653913 0.99393155 0.07900525 -1.86968771] [ 0.05622026 -0.08341376 0.99492785 -1.2231212 ] [ 0. 0. 0. 1. ]] SLAMing on 120.769072329 meters Centerline goodness : 0.115046 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.99510366 -0.07617014 -0.06298269 -4.07076898] [ 0.08083766 0.99388499 0.07521895 -1.87077021] [ 0.05686811 -0.07994203 0.99517601 -1.22275366] [ 0. 0. 0. 1. ]] SLAMing on 120.799072329 meters Centerline goodness : 0.255409 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.87, Z:-1.22 [[ 0.9947176 -0.08061465 -0.0635467 -4.06858957] [ 0.08510399 0.99380864 0.07142621 -1.87198557] [ 0.05739526 -0.07645698 0.99541957 -1.22243605] [ 0. 0. 0. 1. ]] SLAMing on 120.829072329 meters Centerline goodness : 0.111902 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99402089 -0.08675972 -0.0662964 -4.06322732] [ 0.09123187 0.99352565 0.06770174 -1.8739805 ] [ 0.05999339 -0.07334529 0.99550051 -1.22041388] [ 0. 0. 0. 1. ]] SLAMing on 120.85907232899999 meters Centerline goodness : 0.261861 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99385062 -0.08743273 -0.06794458 -4.06034872] [ 0.09203259 0.99344466 0.06780637 -1.8741191 ] [ 0.06157069 -0.07364251 0.99538225 -1.21897354] [ 0. 0. 0. 1. ]] SLAMing on 120.88907232899999 meters Centerline goodness : 0.270163 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.87, Z:-1.22 [[ 0.99370937 -0.08791134 -0.06937782 -4.05797907] [ 0.09262319 0.99338325 0.06790182 -1.8740673 ] [ 0.06294943 -0.07390067 0.99527688 -1.21740163] [ 0. 0. 0. 1. ]] SLAMing on 120.91907232899999 meters Centerline goodness : 0.299543 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.21 [[ 0.99327916 -0.09020505 -0.07252283 -4.05297782] [ 0.09513298 0.99316414 0.0676365 -1.87429352] [ 0.06592592 -0.07408124 0.99507072 -1.21469909] [ 0. 0. 0. 1. ]] SLAMing on 120.94907232899999 meters Centerline goodness : 0.262351 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.87, Z:-1.21 [[ 0.99317022 -0.09055293 -0.07357358 -4.0501788 ] [ 0.09555631 0.99312635 0.06759474 -1.87394847] [ 0.06694696 -0.07416351 0.99499642 -1.21470499] [ 0. 0. 0. 1. ]] SLAMing on 120.97907232899999 meters Centerline goodness : 0.286584 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.22 [[ 0.99279392 -0.09295096 -0.07563306 -4.04495609] [ 0.09804636 0.99294413 0.06669982 -1.87270722] [ 0.06889959 -0.07363472 0.99490239 -1.2154856 ] [ 0. 0. 0. 1. ]] SLAMing on 121.00907232899999 meters Centerline goodness : 0.290719 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.22 [[ 0.99272151 -0.09316157 -0.07632123 -4.04320795] [ 0.09829892 0.99292784 0.06657047 -1.87183574] [ 0.06957966 -0.07358824 0.9948585 -1.21534101] [ 0. 0. 0. 1. ]] SLAMing on 121.03907232899999 meters Centerline goodness : 0.301480 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9926518 -0.09338125 -0.07695674 -4.04202545] [ 0.0985538 0.99291387 0.06640179 -1.87085323] [ 0.07021073 -0.07349824 0.99482082 -1.21463422] [ 0. 0. 0. 1. ]] SLAMing on 121.069072329 meters Centerline goodness : 0.304557 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.99260424 -0.09193106 -0.07928117 -4.03801685] [ 0.09746878 0.99283967 0.06905952 -1.86885416] [ 0.07236477 -0.07627621 0.99445728 -1.2141394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.099072329 meters Centerline goodness : 0.289620 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.99242252 -0.09276652 -0.08057239 -4.03649305] [ 0.09836348 0.99278905 0.06851665 -1.86673397] [ 0.07363534 -0.07592285 0.99439105 -1.21199472] [ 0. 0. 0. 1. ]] SLAMing on 121.129072329 meters Centerline goodness : 0.282119 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9923598 -0.0930173 -0.0810544 -4.03530247] [ 0.09863051 0.99278167 0.06823918 -1.86556814] [ 0.07412189 -0.07571225 0.99437096 -1.21178856] [ 0. 0. 0. 1. ]] SLAMing on 121.159072329 meters Centerline goodness : 0.282119 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.87, Z:-1.21 [[ 0.9923598 -0.0930173 -0.0810544 -4.03530247] [ 0.09863051 0.99278167 0.06823918 -1.86556814] [ 0.07412189 -0.07571225 0.99437096 -1.21178856] [ 0. 0. 0. 1. ]] SLAMing on 121.189072329 meters Centerline goodness : 0.302210 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99230809 -0.09322801 -0.08144438 -4.03387353] [ 0.09885144 0.99277763 0.06797775 -1.86437372] [ 0.07451873 -0.07550577 0.994357 -1.21219663] [ 0. 0. 0. 1. ]] SLAMing on 121.21907232899999 meters Centerline goodness : 0.306662 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99226914 -0.09338991 -0.081733 -4.03259541] [ 0.09901723 0.99277757 0.06773682 -1.86318176] [ 0.07481675 -0.07530613 0.99434976 -1.21278941] [ 0. 0. 0. 1. ]] SLAMing on 121.24907232899999 meters Centerline goodness : 0.290707 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.9922009 -0.09384589 -0.08203849 -4.03182838] [ 0.09944651 0.9927797 0.06707358 -1.85988565] [ 0.07515157 -0.0747089 0.99436956 -1.21289706] [ 0. 0. 0. 1. ]] SLAMing on 121.27907232899999 meters Centerline goodness : 0.308201 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.86, Z:-1.21 [[ 0.99217156 -0.09229372 -0.08412763 -4.02802917] [ 0.09825078 0.99272116 0.06965253 -1.85690317] [ 0.07708679 -0.07737287 0.99401764 -1.21305181] [ 0. 0. 0. 1. ]] SLAMing on 121.30907232899999 meters Centerline goodness : 0.081094 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.85, Z:-1.21 [[ 0.99194606 -0.09350363 -0.08544059 -4.02573418] [ 0.09949224 0.99266083 0.06874418 -1.85355904] [ 0.07838569 -0.0766912 0.99396888 -1.21195128] [ 0. 0. 0. 1. ]] SLAMing on 121.33907232899999 meters Centerline goodness : 0.145059 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99183165 -0.09400305 -0.0862172 -4.02384144] [ 0.10001877 0.99263677 0.06832628 -1.85214893] [ 0.07915948 -0.0763915 0.99393064 -1.21162179] [ 0. 0. 0. 1. ]] SLAMing on 121.36907232899999 meters Centerline goodness : 0.262530 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.9917209 -0.09448128 -0.0869652 -4.02186172] [ 0.10052658 0.99260975 0.06797274 -1.85095408] [ 0.07990035 -0.0761523 0.99388971 -1.2115481 ] [ 0. 0. 0. 1. ]] SLAMing on 121.39907232899999 meters Centerline goodness : 0.318958 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99148048 -0.09586846 -0.08817987 -4.01978502] [ 0.10192509 0.99253652 0.06695165 -1.84747894] [ 0.08110319 -0.07536899 0.99385199 -1.21064936] [ 0. 0. 0. 1. ]] SLAMing on 121.429072329 meters Centerline goodness : 0.299578 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.85, Z:-1.21 [[ 0.99141662 -0.0962405 -0.08849206 -4.0192724 ] [ 0.10228301 0.99253108 0.06648488 -1.8454006 ] [ 0.08143258 -0.07496545 0.99385558 -1.21028003] [ 0. 0. 0. 1. ]] SLAMing on 121.459072329 meters Centerline goodness : 0.297357 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.84, Z:-1.21 [[ 0.99122269 -0.09728282 -0.08951892 -4.01694099] [ 0.10332798 0.99248398 0.0655659 -1.8417607 ] [ 0.08246766 -0.07424022 0.99382467 -1.21000069] [ 0. 0. 0. 1. ]] SLAMing on 121.489072329 meters Centerline goodness : 0.298173 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.99113273 -0.09759811 -0.09016936 -4.01491733] [ 0.10367227 0.9924639 0.0653258 -1.8407601 ] [ 0.08311416 -0.0740946 0.99378168 -1.21022306] [ 0. 0. 0. 1. ]] SLAMing on 121.519072329 meters Centerline goodness : 0.290617 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.9910414 -0.0979072 -0.09083575 -4.01281621] [ 0.10401033 0.99244508 0.06507383 -1.83966786] [ 0.0837783 -0.07393872 0.99373752 -1.21048607] [ 0. 0. 0. 1. ]] SLAMing on 121.549072329 meters Centerline goodness : 0.296947 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.99098036 -0.0980769 -0.09131726 -4.01129445] [ 0.10420441 0.99243382 0.06493504 -1.83879103] [ 0.08425771 -0.07386501 0.99370247 -1.21069797] [ 0. 0. 0. 1. ]] SLAMing on 121.579072329 meters Centerline goodness : 0.275118 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.84, Z:-1.21 [[ 0.9908854 -0.09666298 -0.09382104 -4.0070744 ] [ 0.1032008 0.99236595 0.06752348 -1.83550143] [ 0.08657779 -0.07659044 0.99329663 -1.21021926] [ 0. 0. 0. 1. ]] SLAMing on 121.60907232899999 meters Centerline goodness : 0.284562 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99086755 -0.09479534 -0.09589238 -4.00413643] [ 0.10175157 0.99231205 0.07045156 -1.83357616] [ 0.08847669 -0.07956537 0.99289538 -1.20962698] [ 0. 0. 0. 1. ]] SLAMing on 121.63907232899999 meters Centerline goodness : 0.290786 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99081788 -0.0952695 -0.09593568 -4.00495464] [ 0.10216986 0.99231664 0.0697782 -1.83124982] [ 0.08855084 -0.07893923 0.99293874 -1.20855852] [ 0. 0. 0. 1. ]] SLAMing on 121.66907232899999 meters Centerline goodness : 0.285688 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99079921 -0.09541037 -0.09598852 -4.00448636] [ 0.10229405 0.99232046 0.06954165 -1.83042285] [ 0.08861638 -0.07872087 0.99295023 -1.20889109] [ 0. 0. 0. 1. ]] SLAMing on 121.69907232899999 meters Centerline goodness : 0.285958 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99078171 -0.09555715 -0.09602309 -4.00377862] [ 0.10242277 0.99232365 0.06930614 -1.82959374] [ 0.08866328 -0.07850221 0.99296336 -1.20957553] [ 0. 0. 0. 1. ]] SLAMing on 121.72907232899999 meters Centerline goodness : 0.281084 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.83, Z:-1.21 [[ 0.99076259 -0.09571924 -0.09605891 -4.00327063] [ 0.1025645 0.99232731 0.06904366 -1.82842703] [ 0.08871308 -0.07825811 0.99297818 -1.2100962 ] [ 0. 0. 0. 1. ]] SLAMing on 121.75907232899999 meters Centerline goodness : 0.274359 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99071193 -0.0945356 -0.0977389 -4.00004665] [ 0.10170064 0.99226955 0.07112045 -1.82421254] [ 0.09025992 -0.08039999 0.99266761 -1.21084833] [ 0. 0. 0. 1. ]] SLAMing on 121.78907232899999 meters Centerline goodness : 0.283925 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99069641 -0.09278319 -0.09955852 -3.9968845 ] [ 0.10034205 0.99221181 0.07380517 -1.82154941] [ 0.09193526 -0.08310843 0.99229073 -1.21114503] [ 0. 0. 0. 1. ]] SLAMing on 121.819072329 meters Centerline goodness : 0.278596 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.99067095 -0.09309438 -0.09952133 -3.99743963] [ 0.10060987 0.99221731 0.07336532 -1.81964783] [ 0.09191689 -0.08269372 0.99232708 -1.21073455] [ 0. 0. 0. 1. ]] SLAMing on 121.849072329 meters Centerline goodness : 0.277631 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.82, Z:-1.21 [[ 0.9906127 -0.09373151 -0.0995032 -3.99792752] [ 0.10116257 0.9922277 0.07245915 -1.81616381] [ 0.09193812 -0.08184496 0.99239548 -1.21033383] [ 0. 0. 0. 1. ]] SLAMing on 121.879072329 meters Centerline goodness : 0.293258 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99058617 -0.09397596 -0.09953671 -3.9976844 ] [ 0.10137631 0.99223251 0.07209367 -1.81492076] [ 0.09198849 -0.08150566 0.99241874 -1.21050988] [ 0. 0. 0. 1. ]] SLAMing on 121.909072329 meters Centerline goodness : 0.296732 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99056161 -0.09418727 -0.09958136 -3.99726304] [ 0.10156133 0.99223728 0.07176679 -1.81378038] [ 0.09204882 -0.08120305 0.99243795 -1.21084671] [ 0. 0. 0. 1. ]] SLAMing on 121.939072329 meters Centerline goodness : 0.283749 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.9905223 -0.09467532 -0.09950962 -3.99774699] [ 0.10197888 0.99224528 0.07106063 -1.81121201] [ 0.09201026 -0.08053502 0.99249596 -1.21063477] [ 0. 0. 0. 1. ]] SLAMing on 121.96907232899999 meters Centerline goodness : 0.297007 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99050457 -0.09493388 -0.09943974 -3.99852893] [ 0.10219726 0.99224976 0.07068338 -1.80985499] [ 0.09195881 -0.08017468 0.9925299 -1.21003231] [ 0. 0. 0. 1. ]] SLAMing on 121.99907232899999 meters Centerline goodness : 0.286711 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99054673 -0.09244261 -0.10134857 -3.99637676] [ 0.10014249 0.99223884 0.07371268 -1.8071558 ] [ 0.0937478 -0.08316515 0.99211638 -1.20880496] [ 0. 0. 0. 1. ]] SLAMing on 122.02907232899999 meters Centerline goodness : 0.295351 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99054174 -0.09257846 -0.10127337 -3.99660988] [ 0.10025025 0.99224526 0.07347949 -1.80622836] [ 0.0936854 -0.08293718 0.99214136 -1.20882579] [ 0. 0. 0. 1. ]] SLAMing on 122.05907232899999 meters Centerline goodness : 0.266807 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.81, Z:-1.21 [[ 0.99053725 -0.09268313 -0.1012215 -3.9961993 ] [ 0.10033223 0.99225149 0.0732832 -1.8053432 ] [ 0.09364507 -0.08274552 0.99216117 -1.20950105] [ 0. 0. 0. 1. ]] SLAMing on 122.08907232899999 meters Centerline goodness : 0.279149 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.9905979 -0.09259803 -0.10070454 -3.99434991] [ 0.10016996 0.99229444 0.07292269 -1.80337288] [ 0.09317605 -0.08232463 0.99224033 -1.21295508] [ 0. 0. 0. 1. ]] SLAMing on 122.11907232899999 meters Centerline goodness : 0.280090 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99062193 -0.0926971 -0.10037652 -3.99443176] [ 0.10021693 0.99230931 0.07265532 -1.80218031] [ 0.09286962 -0.08203338 0.99229318 -1.21403652] [ 0. 0. 0. 1. ]] SLAMing on 122.14907232899999 meters Centerline goodness : 0.297142 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99064522 -0.09280059 -0.10005047 -3.99488712] [ 0.10027217 0.99232053 0.07242553 -1.80123324] [ 0.092561 -0.08178029 0.99234291 -1.2146995 ] [ 0. 0. 0. 1. ]] SLAMing on 122.179072329 meters Centerline goodness : 0.303337 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.21 [[ 0.99065431 -0.09289734 -0.09987052 -3.99547187] [ 0.10033658 0.99232783 0.07223603 -1.80056164] [ 0.09239376 -0.0815816 0.99237485 -1.21466783] [ 0. 0. 0. 1. ]] SLAMing on 122.209072329 meters Centerline goodness : 0.297140 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99090375 -0.0889188 -0.10101092 -3.99457694] [ 0.09679233 0.99240512 0.07591658 -1.79905188] [ 0.09349334 -0.08500311 0.99198461 -1.21333793] [ 0. 0. 0. 1. ]] SLAMing on 122.239072329 meters Centerline goodness : 0.288298 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99111028 -0.08513749 -0.10223508 -3.99252075] [ 0.09345936 0.99243842 0.07956963 -1.79767574] [ 0.09468766 -0.08841711 0.99157282 -1.21312338] [ 0. 0. 0. 1. ]] SLAMing on 122.269072329 meters Centerline goodness : 0.266963 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99133075 -0.08138961 -0.10314586 -3.99022878] [ 0.0901219 0.99246347 0.08303195 -1.79606807] [ 0.09561056 -0.09160782 0.99119455 -1.21380323] [ 0. 0. 0. 1. ]] SLAMing on 122.299072329 meters Centerline goodness : 0.270310 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.80, Z:-1.21 [[ 0.99138766 -0.08141794 -0.102575 -3.99139815] [ 0.09007388 0.99248837 0.08278602 -1.79515783] [ 0.09506423 -0.09131236 0.99127435 -1.21441215] [ 0. 0. 0. 1. ]] SLAMing on 122.329072329 meters Centerline goodness : 0.268142 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99150455 -0.08117196 -0.10163579 -3.9921287 ] [ 0.08971224 0.99254641 0.08248231 -1.79398189] [ 0.09418299 -0.09089956 0.99139641 -1.21639892] [ 0. 0. 0. 1. ]] SLAMing on 122.35907232899999 meters Centerline goodness : 0.297643 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99154883 -0.08112862 -0.10123768 -3.99274848] [ 0.08962712 0.99255868 0.08242724 -1.79389087] [ 0.09379713 -0.09080427 0.99144172 -1.21704196] [ 0. 0. 0. 1. ]] SLAMing on 122.38907232899999 meters Centerline goodness : 0.288035 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.9918974 -0.07717705 -0.10091206 -3.99212867] [ 0.08593933 0.99261835 0.0855759 -1.79273873] [ 0.09356267 -0.09355483 0.99120811 -1.2188125 ] [ 0. 0. 0. 1. ]] SLAMing on 122.41907232899999 meters Centerline goodness : 0.286157 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99215549 -0.0732002 -0.10133715 -3.99064427] [ 0.08233623 0.99261209 0.08911776 -1.79176537] [ 0.09406504 -0.0967624 0.99085257 -1.21979051] [ 0. 0. 0. 1. ]] SLAMing on 122.44907232899999 meters Centerline goodness : 0.307007 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99227244 -0.07290174 -0.1004029 -3.99302592] [ 0.08193892 0.99265213 0.08903799 -1.79158279] [ 0.09317413 -0.09657685 0.99095484 -1.21993906] [ 0. 0. 0. 1. ]] SLAMing on 122.47907232899999 meters Centerline goodness : 0.292767 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.79, Z:-1.22 [[ 0.99260751 -0.06831127 -0.10031903 -3.99366591] [ 0.07771887 0.99262126 0.09307417 -1.79175673] [ 0.09322079 -0.10018281 0.99059239 -1.22026974] [ 0. 0. 0. 1. ]] SLAMing on 122.50907232899999 meters Centerline goodness : 0.285262 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.99268304 -0.0681418 -0.09968491 -3.99540057] [ 0.07748961 0.99263485 0.09312044 -1.79235699] [ 0.09260533 -0.10016363 0.99065206 -1.22029984] [ 0. 0. 0. 1. ]] SLAMing on 122.53907232899999 meters Centerline goodness : 0.285388 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.99276913 -0.06789134 -0.09899602 -3.99706658] [ 0.07718182 0.99264642 0.09325262 -1.79333286] [ 0.091937 -0.10021902 0.9907087 -1.22056105] [ 0. 0. 0. 1. ]] SLAMing on 122.569072329 meters Centerline goodness : 0.283915 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.79, Z:-1.22 [[ 0.9930731 -0.06615686 -0.09710346 -3.99997813] [ 0.07529618 0.9927503 0.09368742 -1.79448493] [ 0.09020142 -0.10034997 0.99085498 -1.22185132] [ 0. 0. 0. 1. ]] SLAMing on 122.599072329 meters Centerline goodness : 0.285417 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.22 [[ 0.99315979 -0.0658668 -0.09641163 -4.00120935] [ 0.07494918 0.99276301 0.09383084 -1.79513911] [ 0.08953357 -0.10041499 0.99090896 -1.22264224] [ 0. 0. 0. 1. ]] SLAMing on 122.629072329 meters Centerline goodness : 0.309806 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.22 [[ 0.99325047 -0.06554924 -0.09569115 -4.00234359] [ 0.07457236 0.99277708 0.09398207 -1.79569073] [ 0.08883952 -0.10048365 0.99096447 -1.22367601] [ 0. 0. 0. 1. ]] SLAMing on 122.659072329 meters Centerline goodness : 0.279600 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.23 [[ 0.99359284 -0.06319595 -0.09369923 -4.00359998] [ 0.07207971 0.9928954 0.09467442 -1.79602014] [ 0.0870505 -0.10082164 0.9910889 -1.22680957] [ 0. 0. 0. 1. ]] SLAMing on 122.689072329 meters Centerline goodness : 0.283304 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.80, Z:-1.23 [[ 0.99366355 -0.063016 -0.09306846 -4.00472411] [ 0.07184142 0.99290652 0.09473882 -1.79644513] [ 0.08643822 -0.10082468 0.99114218 -1.22758716] [ 0. 0. 0. 1. ]] SLAMing on 122.71907232899999 meters Centerline goodness : 0.251019 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99372448 -0.06284019 -0.09253518 -4.00569584] [ 0.07162004 0.99291317 0.09483674 -1.79721411] [ 0.08591984 -0.10086897 0.99118274 -1.2281592 ] [ 0. 0. 0. 1. ]] SLAMing on 122.74907232899999 meters Centerline goodness : 0.107764 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99378186 -0.06267449 -0.09202996 -4.00678922] [ 0.07141153 0.99291887 0.09493428 -1.79813569] [ 0.08542833 -0.10091597 0.99122044 -1.22848474] [ 0. 0. 0. 1. ]] SLAMing on 122.77907232899999 meters Centerline goodness : 0.278765 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99390522 -0.0624787 -0.09082304 -4.01101832] [ 0.0710874 0.99294868 0.09486574 -1.79914024] [ 0.08425553 -0.10074393 0.99133832 -1.22730633] [ 0. 0. 0. 1. ]] SLAMing on 122.80907232899999 meters Centerline goodness : 0.290273 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99393967 -0.06237907 -0.09051402 -4.01298068] [ 0.07096644 0.9929461 0.09498323 -1.79936261] [ 0.08395057 -0.10083106 0.99135533 -1.22622959] [ 0. 0. 0. 1. ]] SLAMing on 122.83907232899999 meters Centerline goodness : 0.289681 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.22 [[ 0.99395695 -0.06221101 -0.09043992 -4.014847 ] [ 0.07082227 0.99292099 0.09535255 -1.79973529] [ 0.08386771 -0.10118149 0.99132664 -1.22479795] [ 0. 0. 0. 1. ]] SLAMing on 122.86907232899999 meters Centerline goodness : 0.286897 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99396621 -0.06208055 -0.09042773 -4.01452861] [ 0.0707087 0.99290865 0.09556514 -1.80059204] [ 0.08385374 -0.10138255 0.99130728 -1.22514902] [ 0. 0. 0. 1. ]] SLAMing on 122.89907232899999 meters Centerline goodness : 0.295740 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.80, Z:-1.23 [[ 0.99398599 -0.0620097 -0.09025878 -4.01426995] [ 0.0706249 0.99290977 0.09561539 -1.80133678] [ 0.08368974 -0.10141487 0.99131784 -1.22585468] [ 0. 0. 0. 1. ]] SLAMing on 122.929072329 meters Centerline goodness : 0.292759 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99413265 -0.06381975 -0.08733446 -4.01920496] [ 0.07186876 0.99312904 0.09235575 -1.80298425] [ 0.08084027 -0.09809049 0.99188866 -1.22692075] [ 0. 0. 0. 1. ]] SLAMing on 122.959072329 meters Centerline goodness : 0.285613 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99418928 -0.06382218 -0.08668571 -4.02102124] [ 0.07179455 0.99314885 0.09220033 -1.80266029] [ 0.08020738 -0.09788814 0.99196002 -1.22698227] [ 0. 0. 0. 1. ]] SLAMing on 122.989072329 meters Centerline goodness : 0.111375 Centerline is valid? [False, False] Translation: X:-4.02, Y:-1.80, Z:-1.23 [[ 0.99425434 -0.06379109 -0.08595937 -4.02324246] [ 0.07167807 0.99317329 0.09202754 -1.80205902] [ 0.07950201 -0.09766018 0.99203927 -1.22684386] [ 0. 0. 0. 1. ]] SLAMing on 123.019072329 meters Centerline goodness : 0.284715 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99432475 -0.06375817 -0.08516566 -4.02551579] [ 0.07155323 0.99319855 0.09185194 -1.80160717] [ 0.07873009 -0.09742454 0.992124 -1.2267985 ] [ 0. 0. 0. 1. ]] SLAMing on 123.049072329 meters Centerline goodness : 0.289600 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99465594 -0.06180593 -0.08270181 -4.03016597] [ 0.06936917 0.99334506 0.09194292 -1.80084532] [ 0.07646882 -0.09718853 0.99232399 -1.22750393] [ 0. 0. 0. 1. ]] SLAMing on 123.079072329 meters Centerline goodness : 0.289600 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99465594 -0.06180593 -0.08270181 -4.03016597] [ 0.06936917 0.99334506 0.09194292 -1.80084532] [ 0.07646882 -0.09718853 0.99232399 -1.22750393] [ 0. 0. 0. 1. ]] SLAMing on 123.10907232899999 meters Centerline goodness : 0.112957 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.80, Z:-1.23 [[ 0.99473673 -0.0617054 -0.0818003 -4.03283042] [ 0.06916898 0.99337318 0.09178984 -1.8006967 ] [ 0.0755943 -0.09696477 0.99241289 -1.2272649 ] [ 0. 0. 0. 1. ]] SLAMing on 123.13907232899999 meters Centerline goodness : 0.303085 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99505665 -0.05941302 -0.07957609 -4.03802353] [ 0.06669695 0.99350018 0.09224373 -1.79992715] [ 0.07357838 -0.09709522 0.99255163 -1.22680633] [ 0. 0. 0. 1. ]] SLAMing on 123.16907232899999 meters Centerline goodness : 0.303093 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99515976 -0.05913807 -0.07848401 -4.04084202] [ 0.06629934 0.99354773 0.09201796 -1.79924927] [ 0.07253584 -0.09677601 0.99265954 -1.22680858] [ 0. 0. 0. 1. ]] SLAMing on 123.19907232899999 meters Centerline goodness : 0.267383 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.80, Z:-1.23 [[ 0.99530593 -0.05850504 -0.07709263 -4.04389953] [ 0.0655138 0.99362335 0.09176374 -1.79819725] [ 0.0712324 -0.09638363 0.99279209 -1.22704797] [ 0. 0. 0. 1. ]] SLAMing on 123.22907232899999 meters Centerline goodness : 0.306176 Centerline is valid? [False, False] Translation: X:-4.05, Y:-1.80, Z:-1.23 [[ 0.9957316 -0.05594481 -0.07340814 -4.05189642] [ 0.06259853 0.99381594 0.09171313 -1.79607381] [ 0.06782331 -0.0959169 0.993076 -1.2276213 ] [ 0. 0. 0. 1. ]] SLAMing on 123.25907232899999 meters Centerline goodness : 0.315064 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.79, Z:-1.23 [[ 0.99601595 -0.0540146 -0.07095524 -4.05643572] [ 0.06042613 0.99396433 0.09156199 -1.79420608] [ 0.0655813 -0.09548475 0.99326822 -1.22828885] [ 0. 0. 0. 1. ]] SLAMing on 123.28907232899999 meters Centerline goodness : 0.313306 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.79, Z:-1.23 [[ 0.99631026 -0.05186055 -0.06838389 -4.06137519] [ 0.05802904 0.99410916 0.09154019 -1.79236531] [ 0.06323373 -0.09517068 0.99345057 -1.22875949] [ 0. 0. 0. 1. ]] SLAMing on 123.319072329 meters Centerline goodness : 0.319581 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.79, Z:-1.23 [[ 0.99687079 -0.04560622 -0.06456547 -4.06944466] [ 0.05161545 0.99416783 0.09468988 -1.78779293] [ 0.05987047 -0.09772615 0.99341085 -1.23024653] [ 0. 0. 0. 1. ]] SLAMing on 123.349072329 meters Centerline goodness : 0.258960 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.79, Z:-1.23 [[ 0.99716599 -0.04324726 -0.06156024 -4.07485648] [ 0.04896587 0.99430658 0.09464017 -1.78567617] [ 0.05711682 -0.09738631 0.99360635 -1.23141649] [ 0. 0. 0. 1. ]] SLAMing on 123.379072329 meters Centerline goodness : 0.261450 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.78, Z:-1.23 [[ 0.99744926 -0.04096959 -0.05845051 -4.08016471] [ 0.04638188 0.99444722 0.09446402 -1.78366966] [ 0.05425579 -0.09693411 0.99381089 -1.23295261] [ 0. 0. 0. 1. ]] SLAMing on 123.409072329 meters Centerline goodness : 0.310888 Centerline is valid? [False, False] Translation: X:-4.08, Y:-1.78, Z:-1.23 [[ 0.99747648 -0.02880358 -0.06489244 -4.08405423] [ 0.03466595 0.99523768 0.09110566 -1.78011605] [ 0.06195923 -0.09312531 0.99372467 -1.23096521] [ 0. 0. 0. 1. ]] SLAMing on 123.439072329 meters Centerline goodness : 0.329664 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.78, Z:-1.23 [[ 0.99774705 -0.02656855 -0.06160305 -4.08988458] [ 0.03211729 0.99534134 0.09090706 -1.77872286] [ 0.0589008 -0.09268077 0.9939522 -1.23238316] [ 0. 0. 0. 1. ]] SLAMing on 123.46907232899999 meters Centerline goodness : 0.264387 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.78, Z:-1.23 [[ 0.99799981 -0.02410729 -0.05843995 -4.09551112] [ 0.02936655 0.99542926 0.09087462 -1.77734737] [ 0.05598209 -0.09240903 0.99414615 -1.23350197] [ 0. 0. 0. 1. ]] SLAMing on 123.49907232899999 meters Centerline goodness : 0.327063 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.78, Z:-1.23 [[ 0.99823794 -0.02159918 -0.05526751 -4.10205229] [ 0.02657827 0.99549583 0.09100356 -1.77616792] [ 0.05305297 -0.09231212 0.99431577 -1.23367673] [ 0. 0. 0. 1. ]] SLAMing on 123.52907232899999 meters Centerline goodness : 0.340502 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.77, Z:-1.23 [[ 0.9985906 -0.01483085 -0.0509593 -4.11169484] [ 0.01960558 0.9953305 0.09451358 -1.77287356] [ 0.04931963 -0.09537946 0.99421845 -1.23375027] [ 0. 0. 0. 1. ]] SLAMing on 123.55907232899999 meters Centerline goodness : 0.264726 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.77, Z:-1.23 [[ 0.99877786 -0.01239878 -0.047844 -4.11768207] [ 0.01688426 0.99537993 0.09451838 -1.771409 ] [ 0.04645104 -0.09521068 0.99437278 -1.23424573] [ 0. 0. 0. 1. ]] SLAMing on 123.58907232899999 meters Centerline goodness : 0.344107 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.77, Z:-1.24 [[ 0.99894971 -0.01009605 -0.04469392 -4.12305037] [ 0.01428206 0.99543619 0.09435471 -1.76997139] [ 0.04353733 -0.09489393 0.99453489 -1.23551183] [ 0. 0. 0. 1. ]] SLAMing on 123.61907232899999 meters Centerline goodness : 0.269687 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.77, Z:-1.23 [[ 9.98657718e-01 -2.56065877e-03 -5.17320566e-02 -4.13262645e+00] [ 7.20040385e-03 9.95942620e-01 8.97020142e-02 -1.76963100e+00] [ 5.12924637e-02 -8.99541005e-02 9.94624222e-01 -1.23381894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64907232899999 meters Centerline goodness : 0.340743 Centerline is valid? [False, False] Translation: X:-4.14, Y:-1.77, Z:-1.24 [[ 9.98823140e-01 -3.01448167e-04 -4.84999316e-02 -4.13803927e+00] [ 4.64887705e-03 9.95971472e-01 8.95500685e-02 -1.76891620e+00] [ 4.82775536e-02 -8.96701508e-02 9.94800755e-01 -1.23537416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.679072329 meters Centerline goodness : 0.269185 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.77, Z:-1.24 [[ 9.99081771e-01 6.31696739e-03 -4.23758200e-02 -4.15017039e+00] [-2.33645395e-03 9.95632196e-01 9.33331214e-02 -1.76730502e+00] [ 4.27803130e-02 -9.31484111e-02 9.94732737e-01 -1.23853353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.709072329 meters Centerline goodness : 0.133861 Centerline is valid? [False, False] Translation: X:-4.16, Y:-1.77, Z:-1.24 [[ 0.99920478 0.00883582 -0.03888111 -4.15777963] [-0.00517254 0.99562194 0.09332845 -1.76634217] [ 0.03953552 -0.09305312 0.9948759 -1.23804628] [ 0. 0. 0. 1. ]] SLAMing on 123.739072329 meters Centerline goodness : 0.134018 Centerline is valid? [False, False] Translation: X:-4.17, Y:-1.77, Z:-1.24 [[ 0.99931411 0.01140169 -0.03523219 -4.16532502] [-0.00807171 0.99560986 0.09325162 -1.76518932] [ 0.03614074 -0.09290327 0.99501901 -1.2379993 ] [ 0. 0. 0. 1. ]] SLAMing on 123.769072329 meters Centerline goodness : 0.142965 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.76, Z:-1.24 [[ 0.99944086 0.0183711 -0.02793673 -4.17897978] [-0.01559084 0.99519418 0.09667194 -1.76277462] [ 0.02957844 -0.09618233 0.99492416 -1.24218706] [ 0. 0. 0. 1. ]] SLAMing on 123.799072329 meters Centerline goodness : 0.153058 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.76, Z:-1.24 [[ 0.99949198 0.0209456 -0.02402224 -4.18591133] [-0.01854019 0.99517773 0.09631998 -1.76156699] [ 0.02592388 -0.09582568 0.9950605 -1.2434624 ] [ 0. 0. 0. 1. ]] SLAMing on 123.829072329 meters Centerline goodness : 0.135919 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.76, Z:-1.25 [[ 0.99952595 0.02353101 -0.01985344 -4.19316373] [-0.0215227 0.99515549 0.09592875 -1.76065971] [ 0.02201456 -0.09545598 0.99519019 -1.24514019] [ 0. 0. 0. 1. ]] SLAMing on 123.85907232899999 meters Centerline goodness : 0.133867 Centerline is valid? [False, False] Translation: X:-4.20, Y:-1.76, Z:-1.25 [[ 0.9995314 0.02629115 -0.01567641 -4.20052037] [-0.02467457 0.9951086 0.09565579 -1.75988546] [ 0.01811464 -0.09522416 0.99529102 -1.24658249] [ 0. 0. 0. 1. ]] SLAMing on 123.88907232899999 meters Centerline goodness : 0.154395 Centerline is valid? [False, False] Translation: X:-4.21, Y:-1.76, Z:-1.24 [[ 0.99906531 0.03676197 -0.02273894 -4.21343427] [-0.03444066 0.99486264 0.09519538 -1.75815093] [ 0.02612169 -0.09432326 0.99519886 -1.24284255] [ 0. 0. 0. 1. ]] SLAMing on 123.91907232899999 meters Centerline goodness : 0.094461 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.76, Z:-1.24 [[ 0.99893138 0.04123568 -0.02087385 -4.2173618 ] [-0.03899066 0.99437858 0.09844269 -1.75584184] [ 0.02481586 -0.09752361 0.99492378 -1.24275231] [ 0. 0. 0. 1. ]] SLAMing on 123.94907232899999 meters Centerline goodness : 0.157034 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.75, Z:-1.24 [[ 0.99888188 0.04389653 -0.01755218 -4.2248426 ] [-0.04196202 0.99425096 0.09850995 -1.7545005 ] [ 0.02177551 -0.09766328 0.99498126 -1.24146797] [ 0. 0. 0. 1. ]] SLAMing on 123.97907232899999 meters Centerline goodness : 0.150480 Centerline is valid? [False, False] Translation: X:-4.23, Y:-1.75, Z:-1.24 [[ 0.99882799 0.04633172 -0.01400062 -4.23226781] [-0.04473778 0.99415549 0.09825169 -1.75336715] [ 0.01847096 -0.09751018 0.99506311 -1.24066115] [ 0. 0. 0. 1. ]] SLAMing on 124.00907232899999 meters Centerline goodness : 0.346506 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.75, Z:-1.24 [[ 0.99871411 0.05033836 -0.00601521 -4.24837953] [-0.04950856 0.99395743 0.09796698 -1.75248441] [ 0.01091036 -0.0975432 0.99517149 -1.24176026] [ 0. 0. 0. 1. ]] SLAMing on 124.03907232899999 meters Centerline goodness : 0.275998 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.75, Z:-1.24 [[ 9.98606027e-01 5.27144072e-02 -2.68204957e-03 -4.25449143e+00] [-5.22007613e-02 9.93846340e-01 9.76961264e-02 -1.75159698e+00] [ 7.81553854e-03 -9.74199357e-02 9.95212678e-01 -1.24200921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.069072329 meters Centerline goodness : 0.277483 Centerline is valid? [False, False] Translation: X:-4.26, Y:-1.75, Z:-1.24 [[ 9.98477213e-01 5.51627636e-02 5.69169957e-04 -4.26043939e+00] [-5.49553165e-02 9.93716203e-01 9.75090842e-02 -1.75057301e+00] [ 4.81327715e-03 -9.73918775e-02 9.95234472e-01 -1.24212430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.099072329 meters Centerline goodness : 0.234820 Centerline is valid? [False, False] Translation: X:-4.27, Y:-1.75, Z:-1.24 [[ 0.99793939 0.06361667 -0.00835974 -4.26956979] [-0.06251455 0.99335245 0.09665838 -1.74865037] [ 0.01445325 -0.0959366 0.99528251 -1.23817658] [ 0. 0. 0. 1. ]] SLAMing on 124.129072329 meters Centerline goodness : 0.273949 Centerline is valid? [False, False] Translation: X:-4.28, Y:-1.75, Z:-1.24 [[ 0.99780638 0.06600637 -0.00505782 -4.2750237 ] [-0.06521523 0.99322046 0.09622937 -1.74713948] [ 0.01137528 -0.09568843 0.99534634 -1.23914629] [ 0. 0. 0. 1. ]] SLAMing on 124.159072329 meters Centerline goodness : 0.235028 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.75, Z:-1.24 [[ 9.97619662e-01 6.89362784e-02 1.67324836e-03 -4.28719612e+00] [-6.87792571e-02 9.93022174e-01 9.57933991e-02 -1.74673706e+00] [ 4.94206770e-03 -9.56804632e-02 9.95399832e-01 -1.24255036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.189072329 meters Centerline goodness : 0.262221 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.75, Z:-1.24 [[ 9.97515838e-01 7.03331066e-02 3.92526814e-03 -4.29119578e+00] [-7.03861561e-02 9.92939188e-01 9.54859054e-02 -1.74637114e+00] [ 2.81826780e-03 -9.55249874e-02 9.95423043e-01 -1.24301774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21907232899999 meters Centerline goodness : 0.239130 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.75, Z:-1.24 [[ 9.97406176e-01 7.17247213e-02 6.04020192e-03 -4.29519375e+00] [-7.19737881e-02 9.92850687e-01 9.52223080e-02 -1.74573050e+00] [ 8.32774881e-04 -9.54100543e-02 9.95437707e-01 -1.24296288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24907232899999 meters Centerline goodness : 0.265210 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.97034042e-01 7.65294677e-02 8.14615684e-03 -4.29927174e+00] [-7.69598721e-02 9.92158262e-01 9.84843171e-02 -1.74279832e+00] [-5.45324455e-04 -9.88191439e-02 9.95105260e-01 -1.24212449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27907232899999 meters Centerline goodness : 0.255888 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.96958014e-01 7.73653767e-02 9.45074885e-03 -4.30194265e+00] [-7.79202708e-02 9.92106148e-01 9.82538701e-02 -1.74177472e+00] [-1.77469836e-03 -9.86913882e-02 9.95116506e-01 -1.24176170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30907232899999 meters Centerline goodness : 0.283398 Centerline is valid? [False, False] Translation: X:-4.30, Y:-1.74, Z:-1.24 [[ 9.96891717e-01 7.80359537e-02 1.08302958e-02 -4.30434239e+00] [-7.87226775e-02 9.92078948e-01 9.78882042e-02 -1.74107664e+00] [-3.10570910e-03 -9.84365298e-02 9.95138485e-01 -1.24234763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33907232899999 meters Centerline goodness : 0.338398 Centerline is valid? [False, False] Translation: X:-4.31, Y:-1.74, Z:-1.24 [[ 0.99688296 0.07744079 0.01507636 -4.3114353 ] [-0.07851722 0.9925011 0.09368358 -1.74164145] [-0.00770838 -0.09457531 0.99548787 -1.24453756] [ 0. 0. 0. 1. ]] SLAMing on 124.36907232899999 meters Centerline goodness : 0.324868 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99693286 0.07632632 0.01729626 -4.31614788] [-0.07758394 0.99288239 0.09036204 -1.74239549] [-0.01027615 -0.0914268 0.99575878 -1.24412272] [ 0. 0. 0. 1. ]] SLAMing on 124.39907232899999 meters Centerline goodness : 0.284947 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99690869 0.07651965 0.01782703 -4.31747277] [-0.07782431 0.99286969 0.09029481 -1.74235444] [-0.01079059 -0.09140305 0.99575551 -1.2437848 ] [ 0. 0. 0. 1. ]] SLAMing on 124.429072329 meters Centerline goodness : 0.296933 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99688539 0.07677766 0.01801977 -4.31891139] [-0.07810048 0.99283494 0.09043835 -1.74169991] [-0.01094701 -0.09156402 0.99573902 -1.24217239] [ 0. 0. 0. 1. ]] SLAMing on 124.459072329 meters Centerline goodness : 0.357361 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99688837 0.07672537 0.01807734 -4.31919972] [-0.07805265 0.99284702 0.09034694 -1.74144922] [-0.01101613 -0.0914768 0.99574627 -1.24188576] [ 0. 0. 0. 1. ]] SLAMing on 124.489072329 meters Centerline goodness : 0.276510 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.9970835 0.07386725 0.01918648 -4.32195663] [-0.07525665 0.99342304 0.08629658 -1.74164194] [-0.0126858 -0.0874888 0.99608473 -1.24155073] [ 0. 0. 0. 1. ]] SLAMing on 124.519072329 meters Centerline goodness : 0.288337 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99709835 0.07366444 0.01919429 -4.3219387 ] [-0.07505152 0.99346397 0.0860036 -1.74068032] [-0.01273343 -0.08719461 0.99610991 -1.24167605] [ 0. 0. 0. 1. ]] SLAMing on 124.549072329 meters Centerline goodness : 0.308359 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99711745 0.07342678 0.01911305 -4.32206698] [-0.07480414 0.99350636 0.08572897 -1.73954596] [-0.01269413 -0.08691159 0.99613515 -1.24125516] [ 0. 0. 0. 1. ]] SLAMing on 124.579072329 meters Centerline goodness : 0.271612 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.99716418 0.07292298 0.01859661 -4.32307186] [-0.0742561 0.99355576 0.08563282 -1.73775874] [-0.01223217 -0.0867709 0.99615319 -1.23869005] [ 0. 0. 0. 1. ]] SLAMing on 124.60907232899999 meters Centerline goodness : 0.342907 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.74, Z:-1.24 [[ 0.997172 0.07280777 0.01862896 -4.3240356 ] [-0.07414223 0.99357748 0.08547935 -1.73704929] [-0.01228575 -0.0866188 0.99616577 -1.2372678 ] [ 0. 0. 0. 1. ]] SLAMing on 124.63907232899999 meters Centerline goodness : 0.276825 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.24 [[ 0.99717507 0.07269031 0.01892087 -4.32566446] [-0.07404789 0.99360212 0.08527443 -1.73648672] [-0.01260119 -0.08643458 0.99617783 -1.23568107] [ 0. 0. 0. 1. ]] SLAMing on 124.66907232899999 meters Centerline goodness : 0.274079 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.23 [[ 0.99715589 0.07278945 0.01954022 -4.32756249] [-0.07419747 0.99360886 0.08506572 -1.73617282] [-0.01322345 -0.08627362 0.99618372 -1.23468708] [ 0. 0. 0. 1. ]] SLAMing on 124.69907232899999 meters Centerline goodness : 0.263186 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.74, Z:-1.23 [[ 0.99711025 0.0731161 0.02062005 -4.32997897] [-0.07461077 0.99361022 0.08468747 -1.73540866] [-0.01429628 -0.08598123 0.99619418 -1.23433627] [ 0. 0. 0. 1. ]] SLAMing on 124.72907232899999 meters Centerline goodness : 0.271591 Centerline is valid? [False, False] Translation: X:-4.34, Y:-1.73, Z:-1.23 [[ 9.96901295e-01 7.80236432e-02 1.00059775e-02 -4.33528989e+00] [-7.85797942e-02 9.93598034e-01 8.11674981e-02 -1.73373439e+00] [-3.60893562e-03 -8.17022516e-02 9.96650248e-01 -1.23050634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75907232899999 meters Centerline goodness : 0.286084 Centerline is valid? [False, False] Translation: X:-4.34, Y:-1.73, Z:-1.23 [[ 0.99675518 0.07955777 0.01223371 -4.33888818] [-0.08028719 0.99351651 0.08049163 -1.73135754] [-0.00575066 -0.08121266 0.99668021 -1.23089658] [ 0. 0. 0. 1. ]] SLAMing on 124.78907232899999 meters Centerline goodness : 0.345939 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.73, Z:-1.23 [[ 0.99641833 0.08273262 0.01748773 -4.34816808] [-0.08386577 0.99332458 0.07920109 -1.72737943] [-0.01081848 -0.08038404 0.99670526 -1.2315568 ] [ 0. 0. 0. 1. ]] SLAMing on 124.819072329 meters Centerline goodness : 0.284415 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.73, Z:-1.23 [[ 0.99615534 0.0850985 0.02080365 -4.35371118] [-0.08648248 0.99315125 0.07855815 -1.72547704] [-0.01397599 -0.08005527 0.99669244 -1.2319194 ] [ 0. 0. 0. 1. ]] SLAMing on 124.849072329 meters Centerline goodness : 0.300452 Centerline is valid? [False, False] Translation: X:-4.36, Y:-1.72, Z:-1.23 [[ 0.99585365 0.08765057 0.02434915 -4.35990899] [-0.08930078 0.99295025 0.07794334 -1.7235555 ] [-0.01734572 -0.07979456 0.9966604 -1.23188032] [ 0. 0. 0. 1. ]] SLAMing on 124.879072329 meters Centerline goodness : 0.265155 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.72, Z:-1.23 [[ 0.99500623 0.09503747 0.03050379 -4.37079082] [-0.09721364 0.99201971 0.08028953 -1.71788708] [-0.02262985 -0.08285397 0.99630473 -1.23093827] [ 0. 0. 0. 1. ]] SLAMing on 124.909072329 meters Centerline goodness : 0.162882 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.71, Z:-1.23 [[ 0.99445908 0.09987686 0.03279878 -4.37417464] [-0.1022996 0.99127105 0.08316547 -1.71401965] [-0.02420617 -0.08605996 0.99599586 -1.23096616] [ 0. 0. 0. 1. ]] SLAMing on 124.939072329 meters Centerline goodness : 0.155986 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.71, Z:-1.23 [[ 0.99334041 0.11230822 0.0257233 -4.38177296] [-0.1140913 0.98993672 0.08371653 -1.70833757] [-0.01606239 -0.08609382 0.99615754 -1.22824527] [ 0. 0. 0. 1. ]] SLAMing on 124.96907232899999 meters Centerline goodness : 0.155986 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.71, Z:-1.23 [[ 0.99334041 0.11230822 0.0257233 -4.38177296] [-0.1140913 0.98993672 0.08371653 -1.70833757] [-0.01606239 -0.08609382 0.99615754 -1.22824527] [ 0. 0. 0. 1. ]] SLAMing on 124.99907232899999 meters Centerline goodness : 0.162234 Centerline is valid? [False, False] Translation: X:-4.39, Y:-1.71, Z:-1.23 [[ 0.99288197 0.11533293 0.0297272 -4.3883937 ] [-0.11743554 0.98961377 0.08290647 -1.70577168] [-0.0198566 -0.08580736 0.99611385 -1.22846781] [ 0. 0. 0. 1. ]] SLAMing on 125.02907232899999 meters Centerline goodness : 0.170310 Centerline is valid? [False, False] Translation: X:-4.39, Y:-1.70, Z:-1.23 [[ 0.99239583 0.11839472 0.0336632 -4.39479541] [-0.12080839 0.98927126 0.08214444 -1.70332913] [-0.02357657 -0.0855866 0.99605175 -1.22872034] [ 0. 0. 0. 1. ]] SLAMing on 125.05907232899999 meters Centerline goodness : 0.161232 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.70, Z:-1.23 [[ 0.99186554 0.12158454 0.03768232 -4.40132768] [-0.12431461 0.98889452 0.08144639 -1.70101076] [-0.02736121 -0.08546833 0.99596512 -1.22891391] [ 0. 0. 0. 1. ]] SLAMing on 125.08907232899999 meters Centerline goodness : 0.305158 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.69, Z:-1.23 [[ 0.98962255 0.13926724 0.03538134 -4.40181454] [-0.14171276 0.98666707 0.08003496 -1.69224339] [-0.02376335 -0.08421839 0.99616393 -1.22886707] [ 0. 0. 0. 1. ]] SLAMing on 125.11907232899999 meters Centerline goodness : 0.271065 Centerline is valid? [False, False] Translation: X:-4.41, Y:-1.69, Z:-1.23 [[ 0.98897703 0.14273635 0.03937971 -4.40811585] [-0.14549771 0.98615229 0.07958695 -1.69039015] [-0.02747444 -0.08443932 0.99604978 -1.22892831] [ 0. 0. 0. 1. ]] SLAMing on 125.14907232899999 meters Centerline goodness : 0.188152 Centerline is valid? [False, False] Translation: X:-4.41, Y:-1.69, Z:-1.23 [[ 0.98829835 0.14627655 0.04323817 -4.41405801] [-0.14934487 0.98560444 0.07924643 -1.68861228] [-0.03102384 -0.08477652 0.9959169 -1.22890677] [ 0. 0. 0. 1. ]] SLAMing on 125.179072329 meters Centerline goodness : 0.292808 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.68, Z:-1.23 [[ 0.98630442 0.15761402 0.04859435 -4.41800948] [-0.16131158 0.98323634 0.08499928 -1.68193035] [-0.03438265 -0.091674 0.99519531 -1.23199908] [ 0. 0. 0. 1. ]] SLAMing on 125.209072329 meters Centerline goodness : 0.291476 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.68, Z:-1.23 [[ 0.98554279 0.16119214 0.05217761 -4.4228985 ] [-0.16519843 0.98261525 0.08471572 -1.68027188] [-0.037615 -0.09211062 0.99503806 -1.2327578 ] [ 0. 0. 0. 1. ]] SLAMing on 125.239072329 meters Centerline goodness : 0.292205 Centerline is valid? [False, False] Translation: X:-4.43, Y:-1.68, Z:-1.23 [[ 0.98480064 0.16455534 0.05558091 -4.42730732] [-0.16885178 0.98202647 0.08433908 -1.67875883] [-0.04070348 -0.09244212 0.99488576 -1.2339068 ] [ 0. 0. 0. 1. ]] SLAMing on 125.269072329 meters Centerline goodness : 0.303866 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98226381 0.17991783 0.05279563 -4.41984987] [-0.18373983 0.97973696 0.07971935 -1.67032373] [-0.0373829 -0.08800609 0.99541823 -1.23547625] [ 0. 0. 0. 1. ]] SLAMing on 125.299072329 meters Centerline goodness : 0.312635 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98181352 0.18187114 0.05445269 -4.42161323] [-0.18583373 0.97934381 0.07969644 -1.67010149] [-0.03883342 -0.08836619 0.99533079 -1.23656065] [ 0. 0. 0. 1. ]] SLAMing on 125.329072329 meters Centerline goodness : 0.318415 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98146588 0.18339826 0.05558598 -4.42293027] [-0.18746828 0.97901035 0.07996488 -1.6702751 ] [-0.03975383 -0.08890341 0.99524661 -1.23671679] [ 0. 0. 0. 1. ]] SLAMing on 125.35907232899999 meters Centerline goodness : 0.337213 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98044671 0.18865692 0.05597164 -4.42001213] [-0.19291842 0.97758833 0.0842825 -1.66977897] [-0.03881675 -0.09343246 0.99486865 -1.23790309] [ 0. 0. 0. 1. ]] SLAMing on 125.38907232899999 meters Centerline goodness : 0.299013 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.98019414 0.18982857 0.05643201 -4.41973275] [-0.19414963 0.97730093 0.08478689 -1.67102235] [-0.03905608 -0.09406387 0.99479978 -1.23884837] [ 0. 0. 0. 1. ]] SLAMing on 125.41907232899999 meters Centerline goodness : 0.195915 Centerline is valid? [False, False] Translation: X:-4.42, Y:-1.67, Z:-1.24 [[ 0.97993441 0.19106022 0.05678504 -4.41867387] [-0.19542814 0.97700817 0.08522253 -1.67203668] [-0.03919681 -0.09460988 0.99474247 -1.24070702] [ 0. 0. 0. 1. ]] SLAMing on 125.44907232899999 meters Centerline goodness : 0.152740 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.9787331 0.20060463 0.04288706 -4.40238763] [-0.20351498 0.97577839 0.08023827 -1.66996627] [-0.0257521 -0.08726001 0.99585266 -1.23720294] [ 0. 0. 0. 1. ]] SLAMing on 125.47907232899999 meters Centerline goodness : 0.269228 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.97859323 0.20143623 0.0421751 -4.39928336] [-0.20430364 0.97554166 0.08110789 -1.67155582] [-0.02480549 -0.08798816 0.99581262 -1.23902877] [ 0. 0. 0. 1. ]] SLAMing on 125.50907232899999 meters Centerline goodness : 0.150139 Centerline is valid? [False, False] Translation: X:-4.40, Y:-1.67, Z:-1.24 [[ 0.97851743 0.20203709 0.04104458 -4.39581494] [-0.20482967 0.97533748 0.08222899 -1.67354694] [-0.02341901 -0.08886965 0.99576791 -1.2401656 ] [ 0. 0. 0. 1. ]] SLAMing on 125.53907232899999 meters Centerline goodness : 0.091109 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.68, Z:-1.24 [[ 0.97852727 0.2031801 0.03467322 -4.381012 ] [-0.20543035 0.97509106 0.08364091 -1.6751003 ] [-0.01681538 -0.08896784 0.99589255 -1.23759488] [ 0. 0. 0. 1. ]] SLAMing on 125.569072329 meters Centerline goodness : 0.479750 Centerline is valid? [False, False] Translation: X:-4.38, Y:-1.68, Z:-1.24 [[ 0.97858586 0.2032029 0.03283752 -4.37642371] [-0.20531031 0.97499884 0.08499965 -1.67801937] [-0.01474437 -0.08992134 0.99583972 -1.23846553] [ 0. 0. 0. 1. ]] SLAMing on 125.599072329 meters Centerline goodness : 0.104212 Centerline is valid? [False, False] Translation: X:-4.37, Y:-1.68, Z:-1.24 [[ 0.9790924 0.20099255 0.03130588 -4.37402369] [-0.20294154 0.97567655 0.08288545 -1.682122 ] [-0.01388506 -0.08750578 0.99606724 -1.23856294] [ 0. 0. 0. 1. ]] SLAMing on 125.629072329 meters Centerline goodness : 0.124983 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.68, Z:-1.24 [[ 0.97975715 0.19881438 0.02342587 -4.35479884] [-0.20006208 0.97658373 0.07911624 -1.68374669] [-0.00714788 -0.08220133 0.99659011 -1.23668331] [ 0. 0. 0. 1. ]] SLAMing on 125.659072329 meters Centerline goodness : 0.202985 Centerline is valid? [False, False] Translation: X:-4.35, Y:-1.69, Z:-1.24 [[ 0.98046255 0.19558726 0.02094795 -4.35027177] [-0.19663063 0.97745909 0.07687735 -1.68781758] [-0.00543953 -0.07949437 0.99682047 -1.23746691] [ 0. 0. 0. 1. ]] SLAMing on 125.689072329 meters Centerline goodness : 0.071673 Centerline is valid? [False, False] Translation: X:-4.33, Y:-1.69, Z:-1.24 [[ 0.98122126 0.191215 0.02533112 -4.32904391] [-0.19263699 0.97813456 0.07838224 -1.68761495] [-0.00978938 -0.08179003 0.9966015 -1.24056421] [ 0. 0. 0. 1. ]] SLAMing on 125.71907232899999 meters Centerline goodness : 0.095613 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.69, Z:-1.24 [[ 0.98185207 0.18840294 0.02169903 -4.32283775] [-0.18953338 0.97879684 0.07767782 -1.69221292] [-0.00660421 -0.08038082 0.99674235 -1.24035825] [ 0. 0. 0. 1. ]] SLAMing on 125.74907232899999 meters Centerline goodness : 0.298021 Centerline is valid? [False, False] Translation: X:-4.32, Y:-1.69, Z:-1.24 [[ 0.98237301 0.18426791 0.0314422 -4.31516622] [-0.18624695 0.97921056 0.08036639 -1.69347132] [-0.01597959 -0.08480579 0.99626936 -1.24466855] [ 0. 0. 0. 1. ]] SLAMing on 125.77907232899999 meters Centerline goodness : 0.092893 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.70, Z:-1.24 [[ 0.98355116 0.17944481 0.02065603 -4.29282704] [-0.1805259 0.98041452 0.07872593 -1.69789668] [-0.00612451 -0.08115993 0.99668227 -1.24051255] [ 0. 0. 0. 1. ]] SLAMing on 125.80907232899999 meters Centerline goodness : 0.083939 Centerline is valid? [False, False] Translation: X:-4.29, Y:-1.70, Z:-1.24 [[ 9.84357658e-01 1.75361155e-01 1.69843031e-02 -4.28650132e+00] [-1.76152543e-01 9.81365296e-01 7.67622190e-02 -1.70190170e+00] [-3.20669424e-03 -7.85533063e-02 9.96904757e-01 -1.24037691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83907232899999 meters Centerline goodness : 0.152849 Centerline is valid? [False, False] Translation: X:-4.28, Y:-1.70, Z:-1.25 [[ 0.98518634 0.16943824 0.02643038 -4.279071 ] [-0.17100932 0.98220071 0.07770181 -1.70289035] [-0.01279428 -0.0810706 0.99662624 -1.24547145] [ 0. 0. 0. 1. ]] SLAMing on 125.86907232899999 meters Centerline goodness : 0.161913 Centerline is valid? [False, False] Translation: X:-4.26, Y:-1.71, Z:-1.24 [[ 0.98680197 0.16113357 0.01605728 -4.25902663] [-0.16187561 0.98420749 0.07163736 -1.70621027] [-0.00426051 -0.07329117 0.99730149 -1.24201873] [ 0. 0. 0. 1. ]] SLAMing on 125.89907232899999 meters Centerline goodness : 0.145440 Centerline is valid? [False, False] Translation: X:-4.25, Y:-1.71, Z:-1.24 [[ 9.87686304e-01 1.55982460e-01 1.20514178e-02 -4.25218476e+00] [-1.56443419e-01 9.85271067e-01 6.90389878e-02 -1.70970834e+00] [-1.10504213e-03 -7.00742277e-02 9.97541168e-01 -1.24176343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.929072329 meters Centerline goodness : 0.233406 Centerline is valid? [False, False] Translation: X:-4.23, Y:-1.71, Z:-1.24 [[ 9.89042823e-01 1.46925534e-01 1.43937969e-02 -4.22911303e+00] [-1.47572587e-01 9.86647940e-01 6.89069905e-02 -1.70782132e+00] [-4.07741370e-03 -7.02760943e-02 9.97519246e-01 -1.24278773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.959072329 meters Centerline goodness : 0.135113 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.71, Z:-1.24 [[ 9.89855861e-01 1.41694321e-01 1.03968384e-02 -4.22273222e+00] [-1.42072585e-01 9.87631101e-01 6.63339228e-02 -1.71059018e+00] [-8.69100844e-04 -6.71381280e-02 9.97743312e-01 -1.24173026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.989072329 meters Centerline goodness : 0.264080 Centerline is valid? [False, False] Translation: X:-4.22, Y:-1.71, Z:-1.24 [[ 9.90651198e-01 1.36276147e-01 6.24631510e-03 -4.21593228e+00] [-1.36396376e-01 9.88608463e-01 6.36343856e-02 -1.71309326e+00] [ 2.49668894e-03 -6.38914550e-02 9.97953731e-01 -1.24065636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.019072329 meters Centerline goodness : 0.339265 Centerline is valid? [False, False] Translation: X:-4.21, Y:-1.72, Z:-1.24 [[ 9.91414312e-01 1.30741036e-01 2.10806551e-03 -4.20902226e+00] [-1.30626088e-01 9.89561134e-01 6.08735342e-02 -1.71565851e+00] [ 5.87260920e-03 -6.06262613e-02 9.98143261e-01 -1.23972157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.049072329 meters Centerline goodness : 0.135919 Centerline is valid? [False, False] Translation: X:-4.19, Y:-1.72, Z:-1.24 [[ 9.92859453e-01 1.19164388e-01 5.47305835e-03 -4.19049024e+00] [-1.19275218e-01 9.90968519e-01 6.12765541e-02 -1.71530285e+00] [ 1.87835456e-03 -6.14918063e-02 9.98105821e-01 -1.24336016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.079072329 meters Centerline goodness : 0.219238 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.72, Z:-1.24 [[ 9.93517305e-01 1.13669038e-01 1.64760518e-03 -4.18412653e+00] [-1.13571383e-01 9.91818996e-01 5.82805316e-02 -1.71714937e+00] [ 4.99056588e-03 -5.80898375e-02 9.98298886e-01 -1.24237454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10907232899999 meters Centerline goodness : 0.220805 Centerline is valid? [False, False] Translation: X:-4.18, Y:-1.72, Z:-1.24 [[ 9.94139257e-01 1.08086837e-01 -2.09132976e-03 -4.17813260e+00] [-1.07807707e-01 9.92639495e-01 5.51754542e-02 -1.71867904e+00] [ 8.03967684e-03 -5.46266236e-02 9.98474484e-01 -1.24106891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13907232899999 meters Centerline goodness : 0.197307 Centerline is valid? [False, False] Translation: X:-4.16, Y:-1.72, Z:-1.24 [[ 9.95401957e-01 9.57789174e-02 1.15852896e-03 -4.16080585e+00] [-9.56955881e-02 9.93865285e-01 5.54450087e-02 -1.71601936e+00] [ 4.15904119e-03 -5.53009363e-02 9.98461070e-01 -1.24415148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16907232899999 meters Centerline goodness : 0.203915 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.72, Z:-1.24 [[ 9.95949144e-01 8.98839024e-02 -2.48734016e-03 -4.15485814e+00] [-8.96342656e-02 9.94620083e-01 5.19286970e-02 -1.71709652e+00] [ 7.14151241e-03 -5.14953904e-02 9.98647697e-01 -1.24271755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19907232899999 meters Centerline goodness : 0.205123 Centerline is valid? [False, False] Translation: X:-4.15, Y:-1.72, Z:-1.24 [[ 0.99645711 0.08386574 -0.00630608 -4.14851595] [-0.08346438 0.99533194 0.04845643 -1.71822931] [ 0.01034048 -0.04775842 0.99880539 -1.24117552] [ 0. 0. 0. 1. ]] SLAMing on 126.22907232899999 meters Centerline goodness : 0.204034 Centerline is valid? [False, False] Translation: X:-4.13, Y:-1.72, Z:-1.24 [[ 9.97524469e-01 7.02632499e-02 -2.83019190e-03 -4.13213915e+00] [-7.00516910e-02 9.96423971e-01 4.72443648e-02 -1.71560879e+00] [ 6.13961366e-03 -4.69291502e-02 9.98879352e-01 -1.24156538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25907232899999 meters Centerline goodness : 0.326975 Centerline is valid? [False, False] Translation: X:-4.12, Y:-1.72, Z:-1.24 [[ 0.99774695 0.06666815 -0.00750819 -4.12312833] [-0.06624291 0.99669004 0.04712578 -1.71528324] [ 0.01062513 -0.04652224 0.99886075 -1.2404407 ] [ 0. 0. 0. 1. ]] SLAMing on 126.28907232899999 meters Centerline goodness : 0.282310 Centerline is valid? [False, False] Translation: X:-4.11, Y:-1.71, Z:-1.24 [[ 0.99877189 0.04895274 -0.00763785 -4.10824049] [-0.04855238 0.99776535 0.04590179 -1.71318826] [ 0.0098678 -0.04547459 0.99891676 -1.2394437 ] [ 0. 0. 0. 1. ]] SLAMing on 126.319072329 meters Centerline goodness : 0.292194 Centerline is valid? [False, False] Translation: X:-4.10, Y:-1.71, Z:-1.24 [[ 0.99903153 0.04238259 -0.0118199 -4.10082931] [-0.04184973 0.99823334 0.04217583 -1.71405204] [ 0.01358654 -0.04164033 0.99904028 -1.23778303] [ 0. 0. 0. 1. ]] SLAMing on 126.349072329 meters Centerline goodness : 0.188757 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.71, Z:-1.24 [[ 9.99498505e-01 3.14935873e-02 -3.30051512e-03 -4.09389087e+00] [-3.13280530e-02 9.98632129e-01 4.18619537e-02 -1.71255231e+00] [ 4.61438354e-03 -4.17375614e-02 9.99117953e-01 -1.24158273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.379072329 meters Centerline goodness : 0.288604 Centerline is valid? [False, False] Translation: X:-4.09, Y:-1.71, Z:-1.24 [[ 0.9996674 0.02471311 -0.00737282 -4.08658131] [-0.02441497 0.99897542 0.0381054 -1.71399893] [ 0.00830697 -0.03791272 0.99924653 -1.24011648] [ 0. 0. 0. 1. ]] SLAMing on 126.409072329 meters Centerline goodness : 0.304349 Centerline is valid? [False, False] Translation: X:-4.07, Y:-1.71, Z:-1.24 [[ 0.99994766 0.00527788 -0.00876453 -4.06967397] [-0.00495731 0.99933217 0.03620266 -1.71321161] [ 0.00894975 -0.03615732 0.99930603 -1.23920907] [ 0. 0. 0. 1. ]] SLAMing on 126.439072329 meters Centerline goodness : 0.315753 Centerline is valid? [False, False] Translation: X:-4.06, Y:-1.71, Z:-1.24 [[ 9.99909971e-01 -1.33151237e-03 -1.33520259e-02 -4.06160715e+00] [ 1.76830464e-03 9.99461837e-01 3.27553022e-02 -1.71427291e+00] [ 1.33012263e-02 -3.27759637e-02 9.99374211e-01 -1.23668233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46907232899999 meters Centerline goodness : 0.286272 Centerline is valid? [False, False] Translation: X:-4.04, Y:-1.71, Z:-1.23 [[ 0.99962204 -0.02180317 -0.01674508 -4.04270084] [ 0.02233676 0.99922636 0.03236882 -1.71283764] [ 0.01602638 -0.03273062 0.99933571 -1.23391309] [ 0. 0. 0. 1. ]] SLAMing on 126.49907232899999 meters Centerline goodness : 0.254748 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.71, Z:-1.23 [[ 0.9993638 -0.02869195 -0.02118417 -4.03453419] [ 0.02929519 0.99915762 0.02873732 -1.71472191] [ 0.02034179 -0.02933963 0.9993625 -1.2313328 ] [ 0. 0. 0. 1. ]] SLAMing on 126.52907232899999 meters Centerline goodness : 0.303606 Centerline is valid? [False, False] Translation: X:-4.03, Y:-1.72, Z:-1.23 [[ 0.99903016 -0.03573632 -0.02572252 -4.02611658] [ 0.03638167 0.99902336 0.02507406 -1.71675256] [ 0.02480134 -0.02598557 0.99935461 -1.22852052] [ 0. 0. 0. 1. ]] SLAMing on 126.55907232899999 meters Centerline goodness : 0.298215 Centerline is valid? [False, False] Translation: X:-4.01, Y:-1.72, Z:-1.22 [[ 0.99781883 -0.05940866 -0.02877844 -4.008469 ] [ 0.06005508 0.99794943 0.02214339 -1.71722175] [ 0.02740392 -0.02382338 0.99934052 -1.2229878 ] [ 0. 0. 0. 1. ]] SLAMing on 126.58907232899999 meters Centerline goodness : 0.294986 Centerline is valid? [False, False] Translation: X:-4.00, Y:-1.72, Z:-1.22 [[ 0.99719269 -0.06680937 -0.03381193 -3.99920506] [ 0.06745823 0.99755193 0.01842649 -1.71895147] [ 0.03249809 -0.02065566 0.99925833 -1.21907835] [ 0. 0. 0. 1. ]] SLAMing on 126.61907232899999 meters Centerline goodness : 0.291444 Centerline is valid? [False, False] Translation: X:-3.99, Y:-1.72, Z:-1.21 [[ 0.9964233 -0.0743057 -0.04024022 -3.9868135 ] [ 0.07493841 0.99708349 0.01444804 -1.71974642] [ 0.03904929 -0.0174119 0.99908557 -1.21330657] [ 0. 0. 0. 1. ]] SLAMing on 126.64907232899999 meters Centerline goodness : 0.284564 Centerline is valid? [False, False] Translation: X:-3.97, Y:-1.72, Z:-1.21 [[ 0.99395773 -0.10011921 -0.04499078 -3.96641297] [ 0.10072608 0.9948486 0.01142481 -1.71942949] [ 0.04361517 -0.01588753 0.99892207 -1.20828823] [ 0. 0. 0. 1. ]] SLAMing on 126.679072329 meters Centerline goodness : 0.283817 Centerline is valid? [False, False] Translation: X:-3.95, Y:-1.72, Z:-1.20 [[ 0.99272199 -0.10860777 -0.05203275 -3.95201842] [ 0.10914551 0.99399674 0.00759882 -1.71989296] [ 0.05089509 -0.01322266 0.99861647 -1.20266493] [ 0. 0. 0. 1. ]] SLAMing on 126.709072329 meters Centerline goodness : 0.279133 Centerline is valid? [False, False] Translation: X:-3.94, Y:-1.72, Z:-1.21 [[ 0.99130853 -0.12274815 -0.0473317 -3.94145728] [ 0.12327969 0.99233583 0.00846831 -1.71890364] [ 0.04592947 -0.01422975 0.99884333 -1.20560898] [ 0. 0. 0. 1. ]] SLAMing on 126.739072329 meters Centerline goodness : 0.279111 Centerline is valid? [False, False] Translation: X:-3.93, Y:-1.72, Z:-1.21 [[ 0.98999689 -0.13516874 -0.04044208 -3.92934056] [ 0.13564366 0.99071473 0.00922659 -1.71772825] [ 0.03881942 -0.01462 0.99913928 -1.20917685] [ 0. 0. 0. 1. ]] SLAMing on 126.769072329 meters Centerline goodness : 0.314295 Centerline is valid? [False, False] Translation: X:-3.91, Y:-1.72, Z:-1.20 [[ 0.98529019 -0.16575872 -0.04156073 -3.9091042 ] [ 0.1661714 0.98607442 0.00665571 -1.7184149 ] [ 0.03987873 -0.01346401 0.99911381 -1.20307733] [ 0. 0. 0. 1. ]] SLAMing on 126.799072329 meters Centerline goodness : 0.175503 Centerline is valid? [False, False] Translation: X:-3.90, Y:-1.72, Z:-1.21 [[ 0.98335127 -0.1784442 -0.03432115 -3.89611579] [ 0.17877565 0.98386623 0.00681923 -1.71787482] [ 0.03255056 -0.01284149 0.99938759 -1.20590388] [ 0. 0. 0. 1. ]] SLAMing on 126.829072329 meters Centerline goodness : 0.148928 Centerline is valid? [False, False] Translation: X:-3.88, Y:-1.72, Z:-1.21 [[ 0.98114248 -0.19138618 -0.02703265 -3.88286702] [ 0.19163726 0.98144086 0.00700049 -1.71780642] [ 0.02519115 -0.01204894 0.99961004 -1.20966832] [ 0. 0. 0. 1. ]] SLAMing on 126.85907232899999 meters Centerline goodness : 0.212377 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.72, Z:-1.21 [[ 0.97423475 -0.22375541 -0.0282872 -3.86432901] [ 0.22400681 0.97456902 0.00601428 -1.7217516 ] [ 0.0262221 -0.01219584 0.99958174 -1.20817972] [ 0. 0. 0. 1. ]] SLAMing on 126.88907232899999 meters Centerline goodness : 0.212377 Centerline is valid? [False, False] Translation: X:-3.86, Y:-1.72, Z:-1.21 [[ 0.97423475 -0.22375541 -0.0282872 -3.86432901] [ 0.22400681 0.97456902 0.00601428 -1.7217516 ] [ 0.0262221 -0.01219584 0.99958174 -1.20817972] [ 0. 0. 0. 1. ]] SLAMing on 126.91907232899999 meters Centerline goodness : 0.213182 Centerline is valid? [False, False] Translation: X:-3.85, Y:-1.72, Z:-1.21 [[ 0.97144049 -0.23622123 -0.02242576 -3.85066522] [ 0.23645063 0.97160924 0.00815982 -1.72127517] [ 0.01986155 -0.01322937 0.99971521 -1.21351398] [ 0. 0. 0. 1. ]] SLAMing on 126.94907232899999 meters Centerline goodness : 0.265813 Centerline is valid? [False, False] Translation: X:-3.82, Y:-1.72, Z:-1.21 [[ 0.96344901 -0.26644328 -0.02782045 -3.82183723] [ 0.26669478 0.96376424 0.00569074 -1.71869637] [ 0.02529609 -0.01290231 0.99959674 -1.20978256] [ 0. 0. 0. 1. ]] SLAMing on 126.97907232899999 meters Centerline goodness : 0.248817 Centerline is valid? [False, False] Translation: X:-3.81, Y:-1.72, Z:-1.21 [[ 9.59260152e-01 -2.80892850e-01 -3.03177939e-02 -3.80884604e+00] [ 2.81105786e-01 9.59672351e-01 2.91834237e-03 -1.71907784e+00] [ 2.82754070e-02 -1.13219568e-02 9.99536050e-01 -1.20639225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00907232899999 meters Centerline goodness : 0.243153 Centerline is valid? [False, False] Translation: X:-3.80, Y:-1.72, Z:-1.20 [[ 9.54849422e-01 -2.95283336e-01 -3.27159515e-02 -3.79619218e+00] [ 2.95455040e-01 9.55356547e-01 4.34211302e-04 -1.72015762e+00] [ 3.11271831e-02 -1.00806992e-02 9.99464596e-01 -1.20225524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03907232899999 meters Centerline goodness : 0.240378 Centerline is valid? [False, False] Translation: X:-3.78, Y:-1.72, Z:-1.20 [[ 9.50237143e-01 -3.09561230e-01 -3.49459129e-02 -3.78359082e+00] [ 3.09674404e-01 9.50839968e-01 -2.26261683e-03 -1.72136753e+00] [ 3.39283891e-02 -8.67183220e-03 9.99386644e-01 -1.19818975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.069072329 meters Centerline goodness : 0.237389 Centerline is valid? [False, False] Translation: X:-3.76, Y:-1.72, Z:-1.19 [[ 9.39954673e-01 -3.39031217e-01 -3.92816298e-02 -3.75518686e+00] [ 3.39153476e-01 9.40723732e-01 -3.71209508e-03 -1.72205601e+00] [ 3.82116775e-02 -9.83330016e-03 9.99221284e-01 -1.19220572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.099072329 meters Centerline goodness : 0.235372 Centerline is valid? [False, False] Translation: X:-3.74, Y:-1.72, Z:-1.19 [[ 0.93500179 -0.35223409 -0.04126505 -3.74254016] [ 0.35228831 0.93587104 -0.00619117 -1.72255092] [ 0.04079951 -0.00874844 0.99912905 -1.18893559] [ 0. 0. 0. 1. ]] SLAMing on 127.129072329 meters Centerline goodness : 0.232396 Centerline is valid? [False, False] Translation: X:-3.71, Y:-1.72, Z:-1.19 [[ 0.92455336 -0.37835163 -0.04528928 -3.71453991] [ 0.37842751 0.92560279 -0.00721799 -1.7229278 ] [ 0.04465082 -0.0104653 0.99894784 -1.18552122] [ 0. 0. 0. 1. ]] SLAMing on 127.159072329 meters Centerline goodness : 0.197604 Centerline is valid? [False, False] Translation: X:-3.70, Y:-1.72, Z:-1.18 [[ 0.91956179 -0.39019169 -0.04643872 -3.70347508] [ 0.39017487 0.92068861 -0.00980103 -1.72400756] [ 0.04657988 -0.00910657 0.99887306 -1.18279932] [ 0. 0. 0. 1. ]] SLAMing on 127.189072329 meters Centerline goodness : 0.226071 Centerline is valid? [False, False] Translation: X:-3.68, Y:-1.73, Z:-1.18 [[ 0.90841088 -0.41517661 -0.04917374 -3.67863065] [ 0.41516494 0.90968044 -0.01093463 -1.72558719] [ 0.04927219 -0.01048207 0.99873038 -1.17667427] [ 0. 0. 0. 1. ]] SLAMing on 127.21907232899999 meters Centerline goodness : 0.227965 Centerline is valid? [False, False] Translation: X:-3.65, Y:-1.72, Z:-1.18 [[ 0.90437948 -0.42426666 -0.04577718 -3.65290136] [ 0.42419129 0.90549533 -0.01183068 -1.71898593] [ 0.04647039 -0.00871886 0.99888162 -1.17815602] [ 0. 0. 0. 1. ]] SLAMing on 127.24907232899999 meters Centerline goodness : 0.217275 Centerline is valid? [False, False] Translation: X:-3.63, Y:-1.71, Z:-1.18 [[ 0.90053817 -0.4326785 -0.0426652 -3.62678354] [ 0.43254948 0.9015209 -0.01268946 -1.71224773] [ 0.04395402 -0.00702747 0.99900884 -1.17955438] [ 0. 0. 0. 1. ]] SLAMing on 127.27907232899999 meters Centerline goodness : 0.230230 Centerline is valid? [False, False] Translation: X:-3.60, Y:-1.71, Z:-1.17 [[ 0.89018416 -0.45329125 -0.04581698 -3.60378253] [ 0.45318271 0.89131803 -0.01332677 -1.71418736] [ 0.04687841 -0.00890018 0.99886095 -1.17356279] [ 0. 0. 0. 1. ]] SLAMing on 127.30907232899999 meters Centerline goodness : 0.227656 Centerline is valid? [False, False] Translation: X:-3.58, Y:-1.71, Z:-1.18 [[ 0.88690821 -0.45981635 -0.04430308 -3.57748103] [ 0.45970596 0.88797228 -0.01325368 -1.70788568] [ 0.04543416 -0.00861159 0.99893022 -1.17571186] [ 0. 0. 0. 1. ]] SLAMing on 127.33907232899999 meters Centerline goodness : 0.226354 Centerline is valid? [False, False] Translation: X:-3.55, Y:-1.70, Z:-1.18 [[ 0.88387122 -0.46582053 -0.04222439 -3.55100585] [ 0.4656929 0.88484476 -0.01341175 -1.70192576] [ 0.04360951 -0.00780934 0.99901813 -1.17859512] [ 0. 0. 0. 1. ]] SLAMing on 127.36907232899999 meters Centerline goodness : 0.226501 Centerline is valid? [False, False] Translation: X:-3.52, Y:-1.70, Z:-1.18 [[ 0.87496986 -0.48247324 -0.04058721 -3.52107828] [ 0.48214799 0.87590277 -0.01810129 -1.70002884] [ 0.04428384 -0.00373096 0.99901202 -1.1776618 ] [ 0. 0. 0. 1. ]] SLAMing on 127.39907232899999 meters Centerline goodness : 0.218644 Centerline is valid? [False, False] Translation: X:-3.52, Y:-1.70, Z:-1.18 [[ 8.72386205e-01 -4.87178685e-01 -3.99904852e-02 -3.51656904e+00] [ 4.86737366e-01 8.73301283e-01 -2.07751271e-02 -1.70479867e+00] [ 4.50449412e-02 -1.34092913e-03 9.98984062e-01 -1.17720115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.429072329 meters Centerline goodness : 0.213299 Centerline is valid? [False, False] Translation: X:-3.49, Y:-1.71, Z:-1.17 [[ 0.86259812 -0.50413412 -0.0421101 -3.4944768 ] [ 0.50376057 0.86361562 -0.01983312 -1.70723413] [ 0.04636549 -0.0041054 0.99891611 -1.17341717] [ 0. 0. 0. 1. ]] SLAMing on 127.459072329 meters Centerline goodness : 0.362033 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.70, Z:-1.18 [[ 0.8606052 -0.50764443 -0.04069179 -3.46782026] [ 0.50743594 0.86153967 -0.01606732 -1.70215549] [ 0.04321408 -0.00682085 0.99904255 -1.17578383] [ 0. 0. 0. 1. ]] SLAMing on 127.489072329 meters Centerline goodness : 0.362518 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.71, Z:-1.18 [[ 0.85986597 -0.5087785 -0.04213004 -3.46288873] [ 0.50862555 0.86085584 -0.01507564 -1.70711701] [ 0.04393806 -0.00846539 0.99899839 -1.17555263] [ 0. 0. 0. 1. ]] SLAMing on 127.519072329 meters Centerline goodness : 0.362551 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.71, Z:-1.18 [[ 0.85917927 -0.50982927 -0.04341758 -3.45803138] [ 0.5097285 0.86021822 -0.01419385 -1.71175196] [ 0.04458503 -0.00993611 0.99895618 -1.17560665] [ 0. 0. 0. 1. ]] SLAMing on 127.549072329 meters Centerline goodness : 0.364155 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.72, Z:-1.18 [[ 0.85853059 -0.51081579 -0.04463706 -3.45296573] [ 0.5107688 0.85961502 -0.01331376 -1.71665388] [ 0.04517156 -0.01136895 0.99891455 -1.17584302] [ 0. 0. 0. 1. ]] SLAMing on 127.579072329 meters Centerline goodness : 0.363644 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.72, Z:-1.18 [[ 0.85440669 -0.51791424 -0.04188138 -3.44659699] [ 0.5176164 0.85541247 -0.01851385 -1.7231585 ] [ 0.04541445 -0.00586013 0.99895104 -1.17708398] [ 0. 0. 0. 1. ]] SLAMing on 127.60907232899999 meters Centerline goodness : 0.363827 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.73, Z:-1.18 [[ 8.52401694e-01 -5.21334322e-01 -4.02725242e-02 -3.44418780e+00] [ 5.20900590e-01 8.53348223e-01 -2.14332685e-02 -1.72544384e+00] [ 4.55403854e-02 -2.70822726e-03 9.98958827e-01 -1.17749647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63907232899999 meters Centerline goodness : 0.364299 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.73, Z:-1.18 [[ 0.85224296 -0.52154376 -0.04091498 -3.44150933] [ 0.52115055 0.85321621 -0.02059629 -1.72930513] [ 0.04565119 -0.00376982 0.99895033 -1.17727639] [ 0. 0. 0. 1. ]] SLAMing on 127.66907232899999 meters Centerline goodness : 0.365199 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.74, Z:-1.18 [[ 0.8519662 -0.5219278 -0.0417728 -3.43838922] [ 0.52159486 0.85297331 -0.0193737 -1.73512496] [ 0.04574275 -0.00528274 0.99893928 -1.17625102] [ 0. 0. 0. 1. ]] SLAMing on 127.69907232899999 meters Centerline goodness : 0.364625 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.74, Z:-1.18 [[ 0.85213805 -0.52159609 -0.04240594 -3.43648172] [ 0.52129048 0.85317113 -0.01884816 -1.7374363 ] [ 0.04601065 -0.00604458 0.99892266 -1.17554312] [ 0. 0. 0. 1. ]] SLAMing on 127.72907232899999 meters Centerline goodness : 0.366303 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85241484 -0.5210654 -0.04335659 -3.43367139] [ 0.52080424 0.85348614 -0.01800975 -1.74188346] [ 0.0463885 -0.00722852 0.99889732 -1.17392366] [ 0. 0. 0. 1. ]] SLAMing on 127.75907232899999 meters Centerline goodness : 0.366568 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85256574 -0.52079603 -0.04362506 -3.43280882] [ 0.52055582 0.85364634 -0.01759464 -1.74346108] [ 0.04640359 -0.00770869 0.99889303 -1.1737004 ] [ 0. 0. 0. 1. ]] SLAMing on 127.78907232899999 meters Centerline goodness : 0.365539 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.74, Z:-1.17 [[ 0.85267012 -0.52061971 -0.04368954 -3.43256775] [ 0.52039318 0.85375139 -0.01730603 -1.74433908] [ 0.04630986 -0.0079794 0.99889525 -1.17372811] [ 0. 0. 0. 1. ]] SLAMing on 127.819072329 meters Centerline goodness : 0.366846 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85515391 -0.51626314 -0.04673494 -3.42968349] [ 0.51626639 0.85633035 -0.01293625 -1.74715323] [ 0.04669906 -0.0130652 0.99882356 -1.17346273] [ 0. 0. 0. 1. ]] SLAMing on 127.849072329 meters Centerline goodness : 0.365983 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85534175 -0.51594747 -0.04678356 -3.42947882] [ 0.51596975 0.85651511 -0.01253299 -1.74835683] [ 0.04653719 -0.01341892 0.99882642 -1.17347623] [ 0. 0. 0. 1. ]] SLAMing on 127.879072329 meters Centerline goodness : 0.364692 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.75, Z:-1.17 [[ 0.85557686 -0.51553611 -0.04701861 -3.42857371] [ 0.51558674 0.85675362 -0.01198122 -1.75028014] [ 0.04646012 -0.01399132 0.99882216 -1.1734003 ] [ 0. 0. 0. 1. ]] SLAMing on 127.909072329 meters Centerline goodness : 0.365505 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.75, Z:-1.17 [[ 0.85653815 -0.51379591 -0.04854028 -3.42207205] [ 0.5138989 0.85777646 -0.01129026 -1.75427766] [ 0.0474376 -0.01527426 0.99875741 -1.17286563] [ 0. 0. 0. 1. ]] SLAMing on 127.939072329 meters Centerline goodness : 0.364505 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85675946 -0.51339041 -0.04892359 -3.42053681] [ 0.51352758 0.85800656 -0.01068481 -1.75636827] [ 0.04746224 -0.0159693 0.99874537 -1.17300896] [ 0. 0. 0. 1. ]] SLAMing on 127.96907232899999 meters Centerline goodness : 0.366061 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85692732 -0.51308827 -0.04915268 -3.41964414] [ 0.51325105 0.85817773 -0.01021471 -1.75774232] [ 0.04742278 -0.0164744 0.99873904 -1.17320201] [ 0. 0. 0. 1. ]] SLAMing on 127.99907232899999 meters Centerline goodness : 0.364867 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.76, Z:-1.17 [[ 0.85940824 -0.50859437 -0.05243324 -3.41611637] [ 0.50903424 0.8607281 -0.00559281 -1.76107341] [ 0.04797523 -0.02188381 0.99860877 -1.17275786] [ 0. 0. 0. 1. ]] SLAMing on 128.029072329 meters Centerline goodness : 0.364427 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.76, Z:-1.17 [[ 8.61608831e-01 -5.04542666e-01 -5.53797868e-02 -3.41352125e+00] [ 5.05251972e-01 8.62970776e-01 -1.37260983e-03 -1.76392201e+00] [ 4.84836778e-02 -2.67980937e-02 9.98464419e-01 -1.17192959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059072329 meters Centerline goodness : 0.366172 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62169432e-01 -5.03464099e-01 -5.64603487e-02 -3.41036099e+00] [ 5.04238009e-01 8.63564499e-01 -6.22105667e-04 -1.76640007e+00] [ 4.90703606e-02 -2.79330933e-02 9.98404648e-01 -1.17125545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089072329 meters Centerline goodness : 0.364719 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62397351e-01 -5.03022630e-01 -5.69125901e-02 -3.40859718e+00] [ 5.03836997e-01 8.63798749e-01 -4.61457618e-05 -1.76851600e+00] [ 4.91842365e-02 -2.86348725e-02 9.98379164e-01 -1.17124290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119072329 meters Centerline goodness : 0.367676 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.77, Z:-1.17 [[ 8.62645787e-01 -5.02537270e-01 -5.74329043e-02 -3.40635330e+00] [ 5.03399561e-01 8.64053517e-01 6.34045301e-04 -1.77085018e+00] [ 4.93064715e-02 -2.94586553e-02 9.98349167e-01 -1.17161217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.149072329 meters Centerline goodness : 0.363701 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63183142e-01 -5.01494127e-01 -5.84679754e-02 -3.40116979e+00] [ 5.02453978e-01 8.64601633e-01 2.00387575e-03 -1.77521549e+00] [ 4.95465751e-02 -3.11071786e-02 9.98287273e-01 -1.17308381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.179072329 meters Centerline goodness : 0.197931 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63397762e-01 -5.01047570e-01 -5.91239085e-02 -3.39882227e+00] [ 5.02058234e-01 8.64829839e-01 2.62273863e-03 -1.77757810e+00] [ 4.98180034e-02 -3.19481117e-02 9.98247206e-01 -1.17287935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.209072329 meters Centerline goodness : 0.362691 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.78, Z:-1.17 [[ 8.63575784e-01 -5.00659783e-01 -5.98050838e-02 -3.39663169e+00] [ 5.01718670e-01 8.65025091e-01 3.15725521e-03 -1.77999563e+00] [ 5.01521873e-02 -3.27318563e-02 9.98205081e-01 -1.17222058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.239072329 meters Centerline goodness : 0.363523 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86355671 -0.5005732 -0.060797 -3.39370133] [ 0.50171216 0.86502497 0.00408875 -1.78561476] [ 0.05054421 -0.03403346 0.99814178 -1.16981993] [ 0. 0. 0. 1. ]] SLAMing on 128.269072329 meters Centerline goodness : 0.366233 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86376442 -0.50010706 -0.06167624 -3.39074647] [ 0.50131176 0.86525343 0.00479788 -1.78875281] [ 0.05096612 -0.03506327 0.99808468 -1.16912807] [ 0. 0. 0. 1. ]] SLAMing on 128.299072329 meters Centerline goodness : 0.365109 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.79, Z:-1.17 [[ 0.86397065 -0.49962634 -0.06267562 -3.38728195] [ 0.50090208 0.86548647 0.0055023 -1.79176419] [ 0.05149581 -0.03614817 0.99801878 -1.16865158] [ 0. 0. 0. 1. ]] SLAMing on 128.329072329 meters Centerline goodness : 0.365083 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86432275 -0.49880958 -0.06430541 -3.38067645] [ 0.50022633 0.8658658 0.00707315 -1.79713357] [ 0.05215171 -0.03828074 0.9979052 -1.16940076] [ 0. 0. 0. 1. ]] SLAMing on 128.359072329 meters Centerline goodness : 0.365074 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86446797 -0.49848799 -0.06484486 -3.37850559] [ 0.49994905 0.86602208 0.00753076 -1.79819876] [ 0.05240309 -0.03892922 0.99786694 -1.17004899] [ 0. 0. 0. 1. ]] SLAMing on 128.38907232900002 meters Centerline goodness : 0.364279 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.80, Z:-1.17 [[ 0.86634739 -0.49484079 -0.06763728 -3.37555944] [ 0.49663959 0.86787586 0.01185804 -1.80125783] [ 0.05283292 -0.04386453 0.99763951 -1.16997989] [ 0. 0. 0. 1. ]] SLAMing on 128.41907232900002 meters Centerline goodness : 0.188242 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.80, Z:-1.17 [[ 0.86665312 -0.49418851 -0.06848418 -3.37281634] [ 0.49607117 0.8681883 0.01274671 -1.80390984] [ 0.05315789 -0.04502001 0.99757077 -1.1697761 ] [ 0. 0. 0. 1. ]] SLAMing on 128.44907232900002 meters Centerline goodness : 0.372476 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.81, Z:-1.17 [[ 0.86685527 -0.49374902 -0.06909301 -3.37080017] [ 0.49568984 0.86839731 0.01333019 -1.80610167] [ 0.05341841 -0.04580405 0.99752116 -1.16935817] [ 0. 0. 0. 1. ]] SLAMing on 128.47907232900002 meters Centerline goodness : 0.365569 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.81, Z:-1.17 [[ 0.86706778 -0.49328096 -0.06976639 -3.36840601] [ 0.49528741 0.86861659 0.01398557 -1.80864527] [ 0.05370143 -0.04668085 0.99746532 -1.16907562] [ 0. 0. 0. 1. ]] SLAMing on 128.50907232900002 meters Centerline goodness : 0.366625 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.81, Z:-1.17 [[ 0.86743443 -0.49248975 -0.07079089 -3.36398512] [ 0.49460085 0.86898999 0.01504644 -1.81294004] [ 0.05410636 -0.04806503 0.99737769 -1.16911062] [ 0. 0. 0. 1. ]] SLAMing on 128.539072329 meters Centerline goodness : 0.367729 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.81, Z:-1.17 [[ 0.86760914 -0.49210763 -0.07130535 -3.36214236] [ 0.49427231 0.86916743 0.01558432 -1.81499615] [ 0.05430713 -0.04876536 0.99733278 -1.1689155 ] [ 0. 0. 0. 1. ]] SLAMing on 128.569072329 meters Centerline goodness : 0.188256 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86784455 -0.49158946 -0.07201142 -3.35970535] [ 0.49382657 0.86940784 0.0162886 -1.81772284] [ 0.05459999 -0.04969712 0.99727079 -1.16848159] [ 0. 0. 0. 1. ]] SLAMing on 128.599072329 meters Centerline goodness : 0.330726 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86797367 -0.49131611 -0.07232007 -3.35862296] [ 0.49358795 0.86953652 0.01664878 -1.81903084] [ 0.05470513 -0.05014701 0.99724251 -1.16834542] [ 0. 0. 0. 1. ]] SLAMing on 128.629072329 meters Centerline goodness : 0.189030 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.86811982 -0.49101281 -0.07262512 -3.35755441] [ 0.49332256 0.86967898 0.01706803 -1.82060552] [ 0.05477992 -0.05064471 0.99721325 -1.16812617] [ 0. 0. 0. 1. ]] SLAMing on 128.659072329 meters Centerline goodness : 0.217500 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.8682623 -0.49071837 -0.07291137 -3.35656214] [ 0.49306374 0.86981798 0.01745952 -1.82215676] [ 0.05485191 -0.0511094 0.99718559 -1.16784214] [ 0. 0. 0. 1. ]] SLAMing on 128.689072329 meters Centerline goodness : 0.367843 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.82, Z:-1.17 [[ 0.8685126 -0.49024006 -0.07314742 -3.3557787 ] [ 0.49262563 0.87005549 0.01798442 -1.82426564] [ 0.05482563 -0.05165399 0.99715897 -1.16729118] [ 0. 0. 0. 1. ]] SLAMing on 128.719072329 meters Centerline goodness : 0.369994 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.83, Z:-1.17 [[ 0.86863272 -0.49002139 -0.07318631 -3.35579407] [ 0.49242264 0.87016507 0.01823998 -1.82501804] [ 0.05474619 -0.05188243 0.99715148 -1.16708775] [ 0. 0. 0. 1. ]] SLAMing on 128.749072329 meters Centerline goodness : 0.200590 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87097436 -0.48539413 -0.07613277 -3.35260723] [ 0.4881961 0.8724381 0.02272285 -1.82863243] [ 0.0553916 -0.05695874 0.99683874 -1.16628011] [ 0. 0. 0. 1. ]] SLAMing on 128.779072329 meters Centerline goodness : 0.200590 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87097436 -0.48539413 -0.07613277 -3.35260723] [ 0.4881961 0.8724381 0.02272285 -1.82863243] [ 0.0553916 -0.05695874 0.99683874 -1.16628011] [ 0. 0. 0. 1. ]] SLAMing on 128.809072329 meters Centerline goodness : 0.338225 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87111857 -0.4851259 -0.07619253 -3.35233552] [ 0.48795109 0.87256559 0.02308744 -1.8298211 ] [ 0.05528267 -0.05729013 0.9968258 -1.16623071] [ 0. 0. 0. 1. ]] SLAMing on 128.839072329 meters Centerline goodness : 0.195888 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87124223 -0.48488735 -0.076297 -3.35191017] [ 0.48773509 0.87267822 0.02339244 -1.83083926] [ 0.05524003 -0.05759321 0.99681069 -1.16617073] [ 0. 0. 0. 1. ]] SLAMing on 128.869072329 meters Centerline goodness : 0.194853 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.87147057 -0.48442307 -0.07663769 -3.35084358] [ 0.48732105 0.87289424 0.02395486 -1.83277783] [ 0.05529232 -0.05822311 0.9967712 -1.16584026] [ 0. 0. 0. 1. ]] SLAMing on 128.899072329 meters Centerline goodness : 0.208400 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-1.17 [[ 0.8715431 -0.48427908 -0.07672291 -3.35069393] [ 0.48719166 0.87296158 0.02413228 -1.83331031] [ 0.05528939 -0.05841108 0.99676037 -1.16564066] [ 0. 0. 0. 1. ]] SLAMing on 128.929072329 meters Centerline goodness : 0.200904 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.84, Z:-1.16 [[ 0.87347366 -0.4803153 -0.07963029 -3.34758723] [ 0.48364348 0.87480092 0.02850144 -1.83670368] [ 0.05597097 -0.06340793 0.99641692 -1.16482605] [ 0. 0. 0. 1. ]] SLAMing on 128.959072329 meters Centerline goodness : 0.372877 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.84, Z:-1.16 [[ 0.87356698 -0.48008623 -0.0799872 -3.3463438 ] [ 0.48345449 0.87489513 0.02881438 -1.8376837 ] [ 0.05614702 -0.06384146 0.99637934 -1.16476426] [ 0. 0. 0. 1. ]] SLAMing on 128.989072329 meters Centerline goodness : 0.339863 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87366759 -0.47981435 -0.08051794 -3.34460282] [ 0.48323598 0.87500436 0.02916084 -1.83900465] [ 0.05646176 -0.06438605 0.99632651 -1.16447842] [ 0. 0. 0. 1. ]] SLAMing on 129.019072329 meters Centerline goodness : 0.205859 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87376388 -0.47953554 -0.08113166 -3.3425367 ] [ 0.4830195 0.87511041 0.0295624 -1.84065585] [ 0.05682294 -0.06501873 0.99626488 -1.16414733] [ 0. 0. 0. 1. ]] SLAMing on 129.049072329 meters Centerline goodness : 0.339334 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.84, Z:-1.16 [[ 0.87344113 -0.47999527 -0.08188486 -3.33955895] [ 0.4835688 0.87478354 0.03024873 -1.84416352] [ 0.05711228 -0.06601745 0.99618266 -1.16350892] [ 0. 0. 0. 1. ]] SLAMing on 129.079072329 meters Centerline goodness : 0.220233 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.85, Z:-1.16 [[ 0.87339687 -0.47995725 -0.08257688 -3.33717034] [ 0.48360002 0.87475228 0.03065074 -1.84595672] [ 0.05752327 -0.06670444 0.99611324 -1.1631066 ] [ 0. 0. 0. 1. ]] SLAMing on 129.109072329 meters Centerline goodness : 0.338423 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87332204 -0.47997772 -0.08324657 -3.33461888] [ 0.48370086 0.87467505 0.03125753 -1.84854488] [ 0.05781078 -0.06756432 0.99603864 -1.1627578 ] [ 0. 0. 0. 1. ]] SLAMing on 129.13907232900002 meters Centerline goodness : 0.211867 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87320792 -0.48007492 -0.08388091 -3.33199687] [ 0.48387847 0.87455391 0.03189181 -1.85129714] [ 0.05804793 -0.06843635 0.99596531 -1.16251667] [ 0. 0. 0. 1. ]] SLAMing on 129.16907232900002 meters Centerline goodness : 0.233090 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.85, Z:-1.16 [[ 0.87130964 -0.48368237 -0.08289078 -3.32771116] [ 0.4872707 0.87276096 0.02925009 -1.8545539 ] [ 0.05819608 -0.06587613 0.99612928 -1.16301703] [ 0. 0. 0. 1. ]] SLAMing on 129.19907232900002 meters Centerline goodness : 0.236718 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87130771 -0.48355592 -0.08364531 -3.32492253] [ 0.48722924 0.87276396 0.02984522 -1.85697095] [ 0.05857078 -0.06675881 0.99604856 -1.1627151 ] [ 0. 0. 0. 1. ]] SLAMing on 129.22907232900002 meters Centerline goodness : 0.254385 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.8709935 -0.4839554 -0.08460193 -3.32151996] [ 0.4877533 0.87243637 0.0308464 -1.86109662] [ 0.05888152 -0.06813189 0.99593725 -1.16187204] [ 0. 0. 0. 1. ]] SLAMing on 129.25907232900002 meters Centerline goodness : 0.254708 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87107626 -0.483674 -0.08535577 -3.31902493] [ 0.48755468 0.87252858 0.03137361 -1.86298543] [ 0.05930075 -0.06894442 0.99585646 -1.16148029] [ 0. 0. 0. 1. ]] SLAMing on 129.289072329 meters Centerline goodness : 0.270731 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.86, Z:-1.16 [[ 0.87116887 -0.48337649 -0.08609286 -3.3164335 ] [ 0.48734034 0.87262874 0.03191343 -1.86481488] [ 0.0597009 -0.06975852 0.99577585 -1.1613304 ] [ 0. 0. 0. 1. ]] SLAMing on 129.319072329 meters Centerline goodness : 0.276847 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87107899 -0.48334171 -0.0871905 -3.31189432] [ 0.48745658 0.87251847 0.0331299 -1.86910504] [ 0.06006226 -0.07136035 0.99564061 -1.16151479] [ 0. 0. 0. 1. ]] SLAMing on 129.349072329 meters Centerline goodness : 0.285178 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87118891 -0.48300135 -0.08797481 -3.30895938] [ 0.48721225 0.87262965 0.03378931 -1.87139415] [ 0.06044914 -0.07229928 0.99554945 -1.16146111] [ 0. 0. 0. 1. ]] SLAMing on 129.379072329 meters Centerline goodness : 0.328128 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.87, Z:-1.16 [[ 0.87126131 -0.48272946 -0.08874678 -3.30621272] [ 0.48703221 0.8727072 0.03437695 -1.87366103] [ 0.06085519 -0.07317385 0.99546082 -1.16112489] [ 0. 0. 0. 1. ]] SLAMing on 129.409072329 meters Centerline goodness : 0.338500 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87096539 -0.48310698 -0.08959318 -3.30269284] [ 0.48753663 0.8723841 0.03541213 -1.87824284] [ 0.06105182 -0.07452269 0.9953487 -1.16042008] [ 0. 0. 0. 1. ]] SLAMing on 129.439072329 meters Centerline goodness : 0.291934 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87102176 -0.48287742 -0.09028006 -3.30028457] [ 0.48738825 0.87244723 0.03589607 -1.8801197 ] [ 0.06143119 -0.07526769 0.9952693 -1.16007054] [ 0. 0. 0. 1. ]] SLAMing on 129.469072329 meters Centerline goodness : 0.295600 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.88, Z:-1.16 [[ 0.87082542 -0.48309811 -0.09099061 -3.29727412] [ 0.48772002 0.87222371 0.03681001 -1.8837085 ] [ 0.06158132 -0.07643304 0.99517121 -1.15975161] [ 0. 0. 0. 1. ]] SLAMing on 129.499072329 meters Centerline goodness : 0.293065 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87090309 -0.48283463 -0.0916435 -3.2949772 ] [ 0.48753455 0.87230825 0.03726085 -1.8854529 ] [ 0.06195055 -0.07712996 0.99509452 -1.15942221] [ 0. 0. 0. 1. ]] SLAMing on 129.529072329 meters Centerline goodness : 0.342617 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87097374 -0.48257583 -0.09233263 -3.29259147] [ 0.48735965 0.87238495 0.03775013 -1.88756696] [ 0.06233229 -0.07787857 0.99501237 -1.15888217] [ 0. 0. 0. 1. ]] SLAMing on 129.559072329 meters Centerline goodness : 0.307681 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.8706977 -0.48293753 -0.09304223 -3.2896881 ] [ 0.48783323 0.87208164 0.03863103 -1.89213308] [ 0.06248404 -0.07902504 0.99491245 -1.15763221] [ 0. 0. 0. 1. ]] SLAMing on 129.589072329 meters Centerline goodness : 0.335586 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.89, Z:-1.16 [[ 0.87079478 -0.48262738 -0.09374037 -3.2873816 ] [ 0.48760861 0.87218587 0.03911069 -1.893985 ] [ 0.06288314 -0.07976599 0.99482817 -1.15712211] [ 0. 0. 0. 1. ]] SLAMing on 129.619072329 meters Centerline goodness : 0.344386 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.90, Z:-1.16 [[ 0.87090161 -0.48231805 -0.09433818 -3.28541773] [ 0.48737388 0.87229793 0.03953502 -1.89555871] [ 0.06322255 -0.08040908 0.99475489 -1.15672757] [ 0. 0. 0. 1. ]] SLAMing on 129.649072329 meters Centerline goodness : 0.309707 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87111549 -0.48172162 -0.09540484 -3.28148668] [ 0.48692681 0.87250211 0.04052588 -1.89895706] [ 0.06371873 -0.08175789 0.99461328 -1.15648503] [ 0. 0. 0. 1. ]] SLAMing on 129.679072329 meters Centerline goodness : 0.346163 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87126267 -0.4813521 -0.09592448 -3.27935863] [ 0.48663169 0.87264344 0.04102463 -1.9005244 ] [ 0.06396058 -0.08242312 0.99454285 -1.15673181] [ 0. 0. 0. 1. ]] SLAMing on 129.709072329 meters Centerline goodness : 0.341134 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.90, Z:-1.16 [[ 0.87141639 -0.48098697 -0.09635875 -3.27752451] [ 0.4863352 0.87278445 0.04153773 -1.90208928] [ 0.06412131 -0.08305931 0.99447957 -1.15698676] [ 0. 0. 0. 1. ]] SLAMing on 129.739072329 meters Centerline goodness : 0.321513 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.16 [[ 0.87166213 -0.48037104 -0.09720491 -3.27445949] [ 0.48584237 0.87301965 0.0423543 -1.90518603] [ 0.06451601 -0.0841449 0.99436277 -1.15648953] [ 0. 0. 0. 1. ]] SLAMing on 129.769072329 meters Centerline goodness : 0.337286 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.16 [[ 0.87179273 -0.4800426 -0.09765515 -3.27310559] [ 0.48557902 0.87314568 0.04277438 -1.90694573] [ 0.06473365 -0.08470969 0.99430067 -1.15579616] [ 0. 0. 0. 1. ]] SLAMing on 129.799072329 meters Centerline goodness : 0.313211 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87196752 -0.47955969 -0.09846397 -3.27108466] [ 0.48520007 0.87332963 0.04331555 -1.90986227] [ 0.06521912 -0.08554448 0.99419747 -1.15393246] [ 0. 0. 0. 1. ]] SLAMing on 129.829072329 meters Centerline goodness : 0.307725 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87205085 -0.47934651 -0.09876358 -3.27031392] [ 0.48502955 0.87341139 0.04357616 -1.91093831] [ 0.06537315 -0.08590388 0.99415636 -1.15336928] [ 0. 0. 0. 1. ]] SLAMing on 129.859072329 meters Centerline goodness : 0.323974 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87212021 -0.47917357 -0.09899006 -3.2695825 ] [ 0.48488882 0.87347977 0.04377126 -1.91161135] [ 0.06549178 -0.08617298 0.99412527 -1.15321615] [ 0. 0. 0. 1. ]] SLAMing on 129.88907232900002 meters Centerline goodness : 0.309656 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.8721879 -0.47902337 -0.09912048 -3.26912733] [ 0.48476012 0.87354328 0.04392903 -1.91201361] [ 0.065543 -0.08636402 0.99410531 -1.15321923] [ 0. 0. 0. 1. ]] SLAMing on 129.91907232900002 meters Centerline goodness : 0.344311 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87234879 -0.47864998 -0.09950771 -3.26750056] [ 0.48444821 0.87369468 0.04435702 -1.91331491] [ 0.06570787 -0.08690112 0.99404762 -1.15343396] [ 0. 0. 0. 1. ]] SLAMing on 129.94907232900002 meters Centerline goodness : 0.312790 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.91, Z:-1.15 [[ 0.87244153 -0.47842185 -0.0997913 -3.26647096] [ 0.48426354 0.87378247 0.04464317 -1.91439726] [ 0.06583763 -0.08727384 0.99400638 -1.15327468] [ 0. 0. 0. 1. ]] SLAMing on 129.97907232900002 meters Centerline goodness : 0.320816 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87261826 -0.47798545 -0.10033585 -3.26470838] [ 0.4839056 0.87395672 0.04511112 -1.91670944] [ 0.06612673 -0.08791787 0.99393043 -1.15236975] [ 0. 0. 0. 1. ]] SLAMing on 130.00907232900002 meters Centerline goodness : 0.311020 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87267024 -0.4778725 -0.10042173 -3.26454469] [ 0.48380608 0.87400717 0.04520119 -1.91708227] [ 0.06616891 -0.08803038 0.99391767 -1.15213653] [ 0. 0. 0. 1. ]] SLAMing on 130.039072329 meters Centerline goodness : 0.346154 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87449232 -0.47405017 -0.10266261 -3.26297974] [ 0.48043215 0.87566492 0.04894787 -1.91913062] [ 0.0666943 -0.09212696 0.99351119 -1.15143012] [ 0. 0. 0. 1. ]] SLAMing on 130.069072329 meters Centerline goodness : 0.322513 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87657034 -0.46965261 -0.10512306 -3.26102713] [ 0.47652708 0.87756921 0.05286033 -1.92061029] [ 0.06742677 -0.09642978 0.99305334 -1.15105464] [ 0. 0. 0. 1. ]] SLAMing on 130.099072329 meters Centerline goodness : 0.347124 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.87841782 -0.46566432 -0.10741918 -3.25881789] [ 0.47301608 0.87923557 0.05657386 -1.92227581] [ 0.06810233 -0.10050649 0.9926029 -1.15087179] [ 0. 0. 0. 1. ]] SLAMing on 130.129072329 meters Centerline goodness : 0.349232 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88020356 -0.46177167 -0.1095838 -3.25681812] [ 0.4695927 0.8808296 0.06018229 -1.92387809] [ 0.06873418 -0.10443242 0.99215396 -1.15070692] [ 0. 0. 0. 1. ]] SLAMing on 130.159072329 meters Centerline goodness : 0.322455 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88217593 -0.45746975 -0.1117455 -3.25557391] [ 0.46577747 0.88259344 0.06387613 -1.9248856 ] [ 0.06940445 -0.10839853 0.99168179 -1.15033521] [ 0. 0. 0. 1. ]] SLAMing on 130.189072329 meters Centerline goodness : 0.346661 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.93, Z:-1.15 [[ 0.88409899 -0.45316885 -0.11404811 -3.25425976] [ 0.46199873 0.88429521 0.06766937 -1.92596295] [ 0.07018655 -0.1125165 0.99116794 -1.14969067] [ 0. 0. 0. 1. ]] SLAMing on 130.219072329 meters Centerline goodness : 0.348987 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.88604533 -0.44890762 -0.11578264 -3.25540371] [ 0.45815794 0.88604844 0.07077753 -1.92341542] [ 0.07081645 -0.11575883 0.99074968 -1.14985936] [ 0. 0. 0. 1. ]] SLAMing on 130.249072329 meters Centerline goodness : 0.366244 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.92, Z:-1.15 [[ 0.887963 -0.44456765 -0.11781895 -3.25491666] [ 0.45432871 0.88771253 0.07451102 -1.9235168 ] [ 0.07146417 -0.11969156 0.99023573 -1.14969626] [ 0. 0. 0. 1. ]] SLAMing on 130.279072329 meters Centerline goodness : 0.305586 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.92, Z:-1.15 [[ 0.88983673 -0.44025881 -0.11984476 -3.2544488 ] [ 0.45053945 0.88932336 0.07821872 -1.9238125 ] [ 0.07214426 -0.12359668 0.98970656 -1.14930513] [ 0. 0. 0. 1. ]] SLAMing on 130.309072329 meters Centerline goodness : 0.350629 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89174085 -0.43598473 -0.12130779 -3.25599959] [ 0.44666556 0.89101584 0.08112114 -1.92110865] [ 0.07271958 -0.12652304 0.98929459 -1.14940827] [ 0. 0. 0. 1. ]] SLAMing on 130.339072329 meters Centerline goodness : 0.351757 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89351179 -0.43186488 -0.12300165 -3.25607321] [ 0.44301934 0.89251986 0.08451128 -1.92078219] [ 0.07328396 -0.13000393 0.98880152 -1.14930523] [ 0. 0. 0. 1. ]] SLAMing on 130.369072329 meters Centerline goodness : 0.379900 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.92, Z:-1.15 [[ 0.89525891 -0.42776773 -0.12460442 -3.25641775] [ 0.43938809 0.89399255 0.08783745 -1.92010157] [ 0.07382139 -0.13338696 0.98831084 -1.14933186] [ 0. 0. 0. 1. ]] SLAMing on 130.399072329 meters Centerline goodness : 0.376080 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.91, Z:-1.15 [[ 0.89793564 -0.42130101 -0.12734617 -3.25338685] [ 0.4332936 0.89697029 0.08775512 -1.91108107] [ 0.07725441 -0.13397673 0.98796862 -1.14571947] [ 0. 0. 0. 1. ]] SLAMing on 130.429072329 meters Centerline goodness : 0.339083 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.91, Z:-1.15 [[ 0.8995967 -0.41728553 -0.12883538 -3.25431658] [ 0.42973643 0.89836418 0.09093074 -1.90959731] [ 0.07779701 -0.13716625 0.98748825 -1.14565973] [ 0. 0. 0. 1. ]] SLAMing on 130.459072329 meters Centerline goodness : 0.321689 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90149282 -0.41281897 -0.12996611 -3.25679088] [ 0.42559586 0.90012479 0.09297058 -1.90340673] [ 0.0786057 -0.13912535 0.98715008 -1.1463694 ] [ 0. 0. 0. 1. ]] SLAMing on 130.489072329 meters Centerline goodness : 0.222450 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90313452 -0.40875212 -0.1314144 -3.25770954] [ 0.42199836 0.90148051 0.09617836 -1.90150459] [ 0.07915441 -0.14231866 0.98665089 -1.14673594] [ 0. 0. 0. 1. ]] SLAMing on 130.519072329 meters Centerline goodness : 0.352792 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.90, Z:-1.15 [[ 0.90477702 -0.40465061 -0.13280224 -3.25865954] [ 0.41836325 0.90282876 0.09936009 -1.89917514] [ 0.07969156 -0.1454583 0.98614965 -1.14737912] [ 0. 0. 0. 1. ]] SLAMing on 130.549072329 meters Centerline goodness : 0.347514 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90769783 -0.39740013 -0.13475084 -3.26018726] [ 0.41181947 0.9052821 0.10425471 -1.89209671] [ 0.08055669 -0.1501248 0.98537971 -1.14987807] [ 0. 0. 0. 1. ]] SLAMing on 130.579072329 meters Centerline goodness : 0.355848 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90922003 -0.39343245 -0.13612438 -3.26086581] [ 0.40832319 0.90651003 0.1072928 -1.89030039] [ 0.08118565 -0.15313551 0.98486466 -1.14993842] [ 0. 0. 0. 1. ]] SLAMing on 130.609072329 meters Centerline goodness : 0.348750 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.89, Z:-1.15 [[ 0.90927424 -0.3934869 -0.13560389 -3.26282645] [ 0.4082033 0.90669803 0.10615438 -1.88604038] [ 0.08118142 -0.1518774 0.98505981 -1.15067403] [ 0. 0. 0. 1. ]] SLAMing on 130.63907232900002 meters Centerline goodness : 0.220232 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.88, Z:-1.15 [[ 0.90930823 -0.39372494 -0.1346819 -3.26535006] [ 0.40817312 0.9068905 0.10461513 -1.88126287] [ 0.08095215 -0.15010093 0.98535093 -1.15069025] [ 0. 0. 0. 1. ]] SLAMing on 130.66907232900002 meters Centerline goodness : 0.221032 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91064407 -0.39033513 -0.13552069 -3.26847731] [ 0.40507554 0.90806019 0.10649182 -1.8742435 ] [ 0.08149345 -0.15187226 0.98503484 -1.15200041] [ 0. 0. 0. 1. ]] SLAMing on 130.69907232900002 meters Centerline goodness : 0.353129 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91207898 -0.38640504 -0.13712432 -3.26877851] [ 0.40165935 0.90921511 0.1095338 -1.87155518] [ 0.08235109 -0.15498074 0.98447919 -1.15240354] [ 0. 0. 0. 1. ]] SLAMing on 130.72907232900002 meters Centerline goodness : 0.353129 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91207898 -0.38640504 -0.13712432 -3.26877851] [ 0.40165935 0.90921511 0.1095338 -1.87155518] [ 0.08235109 -0.15498074 0.98447919 -1.15240354] [ 0. 0. 0. 1. ]] SLAMing on 130.75907232900002 meters Centerline goodness : 0.343978 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.87, Z:-1.15 [[ 0.91346482 -0.38252111 -0.13877902 -3.26883284] [ 0.39830483 0.91032102 0.11255621 -1.86887398] [ 0.08327834 -0.15809249 0.98390624 -1.15281553] [ 0. 0. 0. 1. ]] SLAMing on 130.789072329 meters Centerline goodness : 0.350043 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.86, Z:-1.16 [[ 0.91437443 -0.38009426 -0.13945524 -3.26928296] [ 0.39608762 0.91115272 0.11364556 -1.86094911] [ 0.083869 -0.15915109 0.98368538 -1.15629521] [ 0. 0. 0. 1. ]] SLAMing on 130.819072329 meters Centerline goodness : 0.347249 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.86, Z:-1.16 [[ 0.91420385 -0.38068336 -0.13896582 -3.27092165] [ 0.39651646 0.91108223 0.11271144 -1.85769334] [ 0.08370192 -0.15814347 0.9838621 -1.15709377] [ 0. 0. 0. 1. ]] SLAMing on 130.849072329 meters Centerline goodness : 0.353234 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.85, Z:-1.16 [[ 0.91475264 -0.37908901 -0.13971087 -3.27489279] [ 0.39515687 0.91151334 0.11399331 -1.85257815] [ 0.08413472 -0.15948339 0.98360886 -1.15592591] [ 0. 0. 0. 1. ]] SLAMing on 130.879072329 meters Centerline goodness : 0.349615 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91567984 -0.37638657 -0.14093821 -3.27680323] [ 0.39290213 0.91213725 0.11676279 -1.85106628] [ 0.08460704 -0.16229225 0.98310878 -1.15475139] [ 0. 0. 0. 1. ]] SLAMing on 130.909072329 meters Centerline goodness : 0.347754 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91660628 -0.37363802 -0.14222361 -3.27838902] [ 0.39062244 0.91274931 0.11959437 -1.84948969] [ 0.08512949 -0.16517669 0.98258314 -1.15381713] [ 0. 0. 0. 1. ]] SLAMing on 130.939072329 meters Centerline goodness : 0.061166 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.85, Z:-1.15 [[ 0.91743143 -0.3711823 -0.14332922 -3.28046343] [ 0.3886028 0.91324702 0.12234275 -1.84808814] [ 0.08548352 -0.16793922 0.982084 -1.15284052] [ 0. 0. 0. 1. ]] SLAMing on 130.969072329 meters Centerline goodness : 0.348685 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.84, Z:-1.15 [[ 0.91842768 -0.3681188 -0.14484182 -3.2805867 ] [ 0.38601561 0.91403111 0.12465587 -1.84294961] [ 0.08650176 -0.17039861 0.98157107 -1.15413494] [ 0. 0. 0. 1. ]] SLAMing on 130.999072329 meters Centerline goodness : 0.353148 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.84, Z:-1.16 [[ 0.91825141 -0.36868258 -0.14452507 -3.28152031] [ 0.38644043 0.91397763 0.1237283 -1.83929978] [ 0.08647621 -0.16946401 0.9817351 -1.15534849] [ 0. 0. 0. 1. ]] SLAMing on 131.029072329 meters Centerline goodness : 0.347745 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91869319 -0.36722538 -0.14542468 -3.2807372 ] [ 0.38520422 0.91440853 0.12439753 -1.83187328] [ 0.08729564 -0.17030136 0.98151766 -1.15829592] [ 0. 0. 0. 1. ]] SLAMing on 131.059072329 meters Centerline goodness : 0.348860 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91851253 -0.36787178 -0.14493132 -3.28264885] [ 0.38567309 0.91434758 0.12338872 -1.82816941] [ 0.08712637 -0.1692302 0.98171795 -1.15900483] [ 0. 0. 0. 1. ]] SLAMing on 131.089072329 meters Centerline goodness : 0.361039 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.83, Z:-1.16 [[ 0.91965918 -0.36440713 -0.14640502 -3.2831615 ] [ 0.38275469 0.91515267 0.1264691 -1.82669777] [ 0.0878967 -0.17234568 0.9811071 -1.15856417] [ 0. 0. 0. 1. ]] SLAMing on 131.119072329 meters Centerline goodness : 0.351004 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.82, Z:-1.16 [[ 0.92080351 -0.36104157 -0.14754621 -3.28488618] [ 0.37979679 0.91609035 0.12858023 -1.82095899] [ 0.08874285 -0.1744347 0.98066163 -1.15927907] [ 0. 0. 0. 1. ]] SLAMing on 131.149072329 meters Centerline goodness : 0.358858 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.82, Z:-1.16 [[ 0.92065867 -0.36164662 -0.14696712 -3.28699482] [ 0.38019436 0.91608363 0.12744814 -1.81672845] [ 0.08854299 -0.17321231 0.98089634 -1.16021242] [ 0. 0. 0. 1. ]] SLAMing on 131.179072329 meters Centerline goodness : 0.352040 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.81, Z:-1.16 [[ 0.92050923 -0.36225658 -0.14639987 -3.28899765] [ 0.38059544 0.91608079 0.12626596 -1.81236668] [ 0.08837344 -0.1719481 0.98113403 -1.16111005] [ 0. 0. 0. 1. ]] SLAMing on 131.209072329 meters Centerline goodness : 0.352791 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.81, Z:-1.16 [[ 0.92162765 -0.3589661 -0.1474646 -3.29148828] [ 0.37769242 0.91699858 0.12830447 -1.80658711] [ 0.08916787 -0.17394521 0.98071003 -1.16123112] [ 0. 0. 0. 1. ]] SLAMing on 131.239072329 meters Centerline goodness : 0.346997 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.92280981 -0.3553347 -0.14886002 -3.29206596] [ 0.37460214 0.91784154 0.13130175 -1.80463277] [ 0.08997384 -0.17692982 0.98010231 -1.16100362] [ 0. 0. 0. 1. ]] SLAMing on 131.269072329 meters Centerline goodness : 0.350916 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.9240144 -0.35156895 -0.15032183 -3.29232756] [ 0.37140451 0.91869779 0.13436171 -1.80255821] [ 0.09086292 -0.17998236 0.97946428 -1.16106918] [ 0. 0. 0. 1. ]] SLAMing on 131.299072329 meters Centerline goodness : 0.384388 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.80, Z:-1.16 [[ 0.92510662 -0.34827403 -0.15127107 -3.29394422] [ 0.36848415 0.91958733 0.13630327 -1.79613202] [ 0.09163607 -0.18183605 0.97904979 -1.16266346] [ 0. 0. 0. 1. ]] SLAMing on 131.329072329 meters Centerline goodness : 0.353446 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-1.16 [[ 0.92497207 -0.34883114 -0.15080953 -3.29543195] [ 0.36885719 0.91958908 0.13527856 -1.79236866] [ 0.09149342 -0.18075607 0.97926309 -1.16375601] [ 0. 0. 0. 1. ]] SLAMing on 131.359072329 meters Centerline goodness : 0.351099 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-1.17 [[ 0.92466065 -0.34998475 -0.15004453 -3.29838561] [ 0.36967618 0.91955514 0.13325867 -1.78522429] [ 0.09133571 -0.17868694 0.97965747 -1.16523165] [ 0. 0. 0. 1. ]] SLAMing on 131.38907232900002 meters Centerline goodness : 0.360163 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92570599 -0.34664697 -0.15134164 -3.29929597] [ 0.3668879 0.92021255 0.13638962 -1.78391121] [ 0.09198742 -0.1817821 0.97902685 -1.16481722] [ 0. 0. 0. 1. ]] SLAMing on 131.41907232900002 meters Centerline goodness : 0.384104 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92678439 -0.34314861 -0.152708 -3.3001114 ] [ 0.3639627 0.92090164 0.13953967 -1.78226135] [ 0.0927462 -0.1849032 0.97837056 -1.16441171] [ 0. 0. 0. 1. ]] SLAMing on 131.44907232900002 meters Centerline goodness : 0.383404 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.78, Z:-1.16 [[ 0.92774568 -0.33998609 -0.15393963 -3.30156511] [ 0.36128284 0.92158874 0.14194684 -1.7774609 ] [ 0.09360907 -0.18730632 0.97783111 -1.1647523 ] [ 0. 0. 0. 1. ]] SLAMing on 131.47907232900002 meters Centerline goodness : 0.383298 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92759484 -0.34049227 -0.15372973 -3.30235233] [ 0.36167565 0.92154731 0.14121359 -1.77487085] [ 0.09358708 -0.1865893 0.97797029 -1.16533371] [ 0. 0. 0. 1. ]] SLAMing on 131.50907232900002 meters Centerline goodness : 0.381559 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92732497 -0.34134221 -0.15347276 -3.30309213] [ 0.36235605 0.9214642 0.14000651 -1.77076989] [ 0.09362952 -0.18544331 0.97818418 -1.16653245] [ 0. 0. 0. 1. ]] SLAMing on 131.539072329 meters Centerline goodness : 0.381809 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.17 [[ 0.92718478 -0.34181118 -0.1532759 -3.30395417] [ 0.3627206 0.92142287 0.13933292 -1.76849927] [ 0.09360637 -0.18478369 0.97831122 -1.16687437] [ 0. 0. 0. 1. ]] SLAMing on 131.569072329 meters Centerline goodness : 0.383907 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.77, Z:-1.17 [[ 0.92787719 -0.33951697 -0.15418219 -3.30691619] [ 0.36085206 0.92177501 0.1418331 -1.76576981] [ 0.09396654 -0.18724066 0.9778094 -1.16588111] [ 0. 0. 0. 1. ]] SLAMing on 131.599072329 meters Centerline goodness : 0.384359 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92771281 -0.34006521 -0.15396298 -3.30825509] [ 0.36127858 0.92173015 0.14103656 -1.76299412] [ 0.09395069 -0.18646495 0.97795915 -1.16589612] [ 0. 0. 0. 1. ]] SLAMing on 131.629072329 meters Centerline goodness : 0.383405 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92757311 -0.3405235 -0.15379166 -3.30923857] [ 0.3616406 0.92168504 0.14040214 -1.76077631] [ 0.09393724 -0.18585056 0.97807738 -1.16597058] [ 0. 0. 0. 1. ]] SLAMing on 131.659072329 meters Centerline goodness : 0.382362 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92745811 -0.34087181 -0.1537136 -3.30979431] [ 0.36192531 0.92164719 0.13991617 -1.75924327] [ 0.09397623 -0.18539922 0.97815929 -1.16596197] [ 0. 0. 0. 1. ]] SLAMing on 131.689072329 meters Centerline goodness : 0.382203 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92719565 -0.34161481 -0.15364746 -3.3101807 ] [ 0.36257303 0.92151582 0.13910209 -1.75708564] [ 0.09406923 -0.18468328 0.97828578 -1.16610046] [ 0. 0. 0. 1. ]] SLAMing on 131.719072329 meters Centerline goodness : 0.380915 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92711572 -0.34178487 -0.15375156 -3.30973275] [ 0.36274098 0.921482 0.13888813 -1.75653242] [ 0.09420943 -0.18453736 0.97829982 -1.16630259] [ 0. 0. 0. 1. ]] SLAMing on 131.749072329 meters Centerline goodness : 0.382073 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.76, Z:-1.17 [[ 0.92702927 -0.34199535 -0.1538048 -3.30948012] [ 0.36293788 0.92143931 0.13865675 -1.75577846] [ 0.09430183 -0.18436045 0.97832428 -1.16655736] [ 0. 0. 0. 1. ]] SLAMing on 131.779072329 meters Centerline goodness : 0.382164 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92675291 -0.3427046 -0.15389151 -3.30973907] [ 0.3636047 0.9212611 0.13809272 -1.75364328] [ 0.09444925 -0.18393351 0.97839041 -1.16660386] [ 0. 0. 0. 1. ]] SLAMing on 131.809072329 meters Centerline goodness : 0.382238 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92662953 -0.34299223 -0.15399365 -3.30991813] [ 0.36387527 0.92120764 0.13773622 -1.75243096] [ 0.09461767 -0.18366493 0.9784246 -1.16627512] [ 0. 0. 0. 1. ]] SLAMing on 131.839072329 meters Centerline goodness : 0.381047 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92639741 -0.34359295 -0.15405103 -3.31050269] [ 0.36442909 0.92107213 0.13717717 -1.75093874] [ 0.094759 -0.18322125 0.9784941 -1.1655156 ] [ 0. 0. 0. 1. ]] SLAMing on 131.869072329 meters Centerline goodness : 0.382036 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92631675 -0.34378469 -0.15410828 -3.31052805] [ 0.36460458 0.9210423 0.13691082 -1.75018066] [ 0.0948724 -0.18301137 0.97852239 -1.16537287] [ 0. 0. 0. 1. ]] SLAMing on 131.899072329 meters Centerline goodness : 0.382370 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.9262611 -0.34391025 -0.15416264 -3.31025777] [ 0.36472251 0.92102168 0.13673534 -1.74960189] [ 0.09496245 -0.18287921 0.97853836 -1.16561833] [ 0. 0. 0. 1. ]] SLAMing on 131.929072329 meters Centerline goodness : 0.381453 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92620954 -0.34400561 -0.15425961 -3.30969658] [ 0.36482379 0.92099923 0.13661632 -1.74912539] [ 0.0950762 -0.18281292 0.9785397 -1.16606592] [ 0. 0. 0. 1. ]] SLAMing on 131.959072329 meters Centerline goodness : 0.379902 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92610791 -0.34415848 -0.15452858 -3.30827803] [ 0.36501493 0.92094003 0.13650479 -1.74866676] [ 0.09533228 -0.1828234 0.97851283 -1.16680475] [ 0. 0. 0. 1. ]] SLAMing on 131.989072329 meters Centerline goodness : 0.380638 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.9260596 -0.34421785 -0.15468578 -3.3076744 ] [ 0.36509723 0.92091645 0.13644378 -1.7484282 ] [ 0.09548629 -0.18283042 0.9784965 -1.16693496] [ 0. 0. 0. 1. ]] SLAMing on 132.019072329 meters Centerline goodness : 0.380258 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92598654 -0.34434167 -0.15484751 -3.30725591] [ 0.3652383 0.92087888 0.13631977 -1.74807756] [ 0.09565523 -0.18278652 0.9784882 -1.16680498] [ 0. 0. 0. 1. ]] SLAMing on 132.049072329 meters Centerline goodness : 0.379454 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.925715 -0.34511032 -0.15475984 -3.30786675] [ 0.36598179 0.92059066 0.13627238 -1.74859451] [ 0.09544146 -0.18278866 0.97850868 -1.16592459] [ 0. 0. 0. 1. ]] SLAMing on 132.079072329 meters Centerline goodness : 0.380597 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.17 [[ 0.92561075 -0.34531749 -0.15492116 -3.30740231] [ 0.36622878 0.92047576 0.13638497 -1.74941947] [ 0.09550506 -0.18297598 0.97846746 -1.16537402] [ 0. 0. 0. 1. ]] SLAMing on 132.109072329 meters Centerline goodness : 0.380033 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.16 [[ 0.92511952 -0.3465786 -0.15503919 -3.3066922 ] [ 0.36748737 0.92000055 0.13620582 -1.75040395] [ 0.09543012 -0.18298161 0.97847372 -1.16492418] [ 0. 0. 0. 1. ]] SLAMing on 132.13907232900002 meters Centerline goodness : 0.289319 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.75, Z:-1.16 [[ 0.92501116 -0.34676593 -0.15526668 -3.30569369] [ 0.36773266 0.91987723 0.13637656 -1.75119269] [ 0.09553554 -0.18324647 0.97841387 -1.1648404 ] [ 0. 0. 0. 1. ]] SLAMing on 132.16907232900002 meters Centerline goodness : 0.377428 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92460532 -0.34768289 -0.15563293 -3.30416636] [ 0.36872114 0.91946879 0.13646193 -1.75182332] [ 0.09565414 -0.18355858 0.97834377 -1.16492143] [ 0. 0. 0. 1. ]] SLAMing on 132.19907232900002 meters Centerline goodness : 0.376794 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92448088 -0.34790539 -0.15587475 -3.30320528] [ 0.36900188 0.91933442 0.13660831 -1.75244023] [ 0.09577426 -0.18380985 0.97828484 -1.16478644] [ 0. 0. 0. 1. ]] SLAMing on 132.22907232900002 meters Centerline goodness : 0.378505 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92434378 -0.34820052 -0.15602874 -3.30250031] [ 0.36934672 0.91916166 0.13683876 -1.75350241] [ 0.09576831 -0.18411476 0.97822808 -1.16449507] [ 0. 0. 0. 1. ]] SLAMing on 132.25907232900002 meters Centerline goodness : 0.375685 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.75, Z:-1.16 [[ 0.92416302 -0.3486338 -0.15613198 -3.30191225] [ 0.36981969 0.91893675 0.13707167 -1.75485723] [ 0.09568759 -0.18441725 0.978179 -1.16405823] [ 0. 0. 0. 1. ]] SLAMing on 132.289072329 meters Centerline goodness : 0.374522 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92242155 -0.35377585 -0.15485842 -3.30118534] [ 0.37433058 0.91766357 0.13330488 -1.75546435] [ 0.09494788 -0.18093154 0.97890177 -1.16362006] [ 0. 0. 0. 1. ]] SLAMing on 132.319072329 meters Centerline goodness : 0.373880 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92211601 -0.35456233 -0.15487937 -3.30097957] [ 0.37514173 0.91729489 0.13356188 -1.75725461] [ 0.09471404 -0.18126126 0.97886343 -1.1628009 ] [ 0. 0. 0. 1. ]] SLAMing on 132.349072329 meters Centerline goodness : 0.373238 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92137316 -0.3562852 -0.15534591 -3.29979537] [ 0.37697349 0.91649557 0.13389119 -1.75960302] [ 0.09467039 -0.18192504 0.9787445 -1.16128195] [ 0. 0. 0. 1. ]] SLAMing on 132.379072329 meters Centerline goodness : 0.374087 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92112225 -0.35690055 -0.15542134 -3.29940579] [ 0.37762147 0.91619557 0.13411823 -1.76074174] [ 0.09452947 -0.18222972 0.97870144 -1.16076192] [ 0. 0. 0. 1. ]] SLAMing on 132.409072329 meters Centerline goodness : 0.373847 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92090075 -0.35745204 -0.15546652 -3.29905759] [ 0.37820438 0.9159156 0.13438773 -1.76207526] [ 0.09435704 -0.18255588 0.97865729 -1.16020965] [ 0. 0. 0. 1. ]] SLAMing on 132.439072329 meters Centerline goodness : 0.372726 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.76, Z:-1.16 [[ 0.92015221 -0.35920782 -0.15585138 -3.29780263] [ 0.38003295 0.91514188 0.13450016 -1.76425683] [ 0.09431262 -0.18298928 0.97858063 -1.15870178] [ 0. 0. 0. 1. ]] SLAMing on 132.469072329 meters Centerline goodness : 0.372510 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91990859 -0.35981387 -0.15589152 -3.29737015] [ 0.38066543 0.91484493 0.13473154 -1.76573618] [ 0.09413829 -0.18328322 0.97854241 -1.15811746] [ 0. 0. 0. 1. ]] SLAMing on 132.499072329 meters Centerline goodness : 0.371020 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91969644 -0.36028466 -0.15605585 -3.29660858] [ 0.38119155 0.91458398 0.13501536 -1.76718017] [ 0.09408222 -0.18366031 0.9784771 -1.1575492 ] [ 0. 0. 0. 1. ]] SLAMing on 132.529072329 meters Centerline goodness : 0.370792 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.77, Z:-1.16 [[ 0.91952334 -0.36063513 -0.15626623 -3.295468 ] [ 0.38161167 0.91435912 0.13535116 -1.76845992] [ 0.09407107 -0.18409156 0.97839712 -1.15742718] [ 0. 0. 0. 1. ]] SLAMing on 132.559072329 meters Centerline goodness : 0.370089 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91907302 -0.36142816 -0.1570811 -3.29215212] [ 0.38260475 0.91386443 0.13588751 -1.77015629] [ 0.09443726 -0.18499051 0.97819227 -1.15754417] [ 0. 0. 0. 1. ]] SLAMing on 132.589072329 meters Centerline goodness : 0.370089 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91907302 -0.36142816 -0.1570811 -3.29215212] [ 0.38260475 0.91386443 0.13588751 -1.77015629] [ 0.09443726 -0.18499051 0.97819227 -1.15754417] [ 0. 0. 0. 1. ]] SLAMing on 132.619072329 meters Centerline goodness : 0.368305 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91894681 -0.36164048 -0.15733059 -3.29074672] [ 0.38289696 0.9136894 0.13624096 -1.77147368] [ 0.09448105 -0.1854396 0.978103 -1.15749734] [ 0. 0. 0. 1. ]] SLAMing on 132.649072329 meters Centerline goodness : 0.367256 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.77, Z:-1.16 [[ 0.91841761 -0.36277138 -0.15781643 -3.28855743] [ 0.3841429 0.9131202 0.13654938 -1.77407322] [ 0.09456916 -0.18603342 0.97798172 -1.15652026] [ 0. 0. 0. 1. ]] SLAMing on 132.679072329 meters Centerline goodness : 0.365578 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.16 [[ 0.91823036 -0.36325899 -0.15778441 -3.28837987] [ 0.38465047 0.91286177 0.1368481 -1.7758276 ] [ 0.09432406 -0.18634992 0.97794513 -1.15577089] [ 0. 0. 0. 1. ]] SLAMing on 132.709072329 meters Centerline goodness : 0.366357 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91803394 -0.3637639 -0.15776411 -3.28823467] [ 0.38518054 0.91258839 0.13718008 -1.77775811] [ 0.09407253 -0.18670363 0.97790189 -1.15489117] [ 0. 0. 0. 1. ]] SLAMing on 132.739072329 meters Centerline goodness : 0.365039 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91755772 -0.36480209 -0.15813687 -3.28667824] [ 0.38631423 0.9120608 0.13750062 -1.78033123] [ 0.09406993 -0.18725527 0.97779666 -1.15358401] [ 0. 0. 0. 1. ]] SLAMing on 132.769072329 meters Centerline goodness : 0.363752 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-1.15 [[ 0.91748286 -0.36484687 -0.15846754 -3.28509427] [ 0.38645207 0.91195489 0.13781537 -1.78165096] [ 0.09423374 -0.18768335 0.97769881 -1.15344642] [ 0. 0. 0. 1. ]] SLAMing on 132.799072329 meters Centerline goodness : 0.362457 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-1.15 [[ 0.91745695 -0.36475189 -0.15883577 -3.28333724] [ 0.38646111 0.91189917 0.13815832 -1.78290618] [ 0.0944487 -0.18813816 0.97759065 -1.1534412 ] [ 0. 0. 0. 1. ]] SLAMing on 132.829072329 meters Centerline goodness : 0.361198 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-1.15 [[ 0.91726655 -0.36507017 -0.1592038 -3.28109602] [ 0.3868943 0.91164267 0.13863779 -1.78488544] [ 0.09452445 -0.18876285 0.9774629 -1.15342751] [ 0. 0. 0. 1. ]] SLAMing on 132.859072329 meters Centerline goodness : 0.351430 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91722827 -0.36502681 -0.15952346 -3.27982745] [ 0.38692283 0.9116145 0.13874338 -1.78537408] [ 0.09477885 -0.18898262 0.9773958 -1.15322936] [ 0. 0. 0. 1. ]] SLAMing on 132.88907232900002 meters Centerline goodness : 0.277290 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91716834 -0.36502224 -0.15987808 -3.27863701] [ 0.38698762 0.91158518 0.1387553 -1.78548691] [ 0.09509372 -0.18913281 0.97733616 -1.15290294] [ 0. 0. 0. 1. ]] SLAMing on 132.91907232900002 meters Centerline goodness : 0.367058 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.91713552 -0.36494168 -0.16024986 -3.27745751] [ 0.3869833 0.91158045 0.13879845 -1.78573086] [ 0.0954273 -0.189311 0.97726914 -1.15249366] [ 0. 0. 0. 1. ]] SLAMing on 132.94907232900002 meters Centerline goodness : 0.296947 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.79, Z:-1.15 [[ 0.9170607 -0.36490935 -0.16075083 -3.27539061] [ 0.38706658 0.91151574 0.13899106 -1.78654589] [ 0.09580777 -0.18968451 0.97715948 -1.15217845] [ 0. 0. 0. 1. ]] SLAMing on 132.97907232900002 meters Centerline goodness : 0.273708 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91708695 -0.36470064 -0.16107444 -3.27398935] [ 0.38694033 0.91154026 0.13918169 -1.78732258] [ 0.09606619 -0.1899679 0.97707906 -1.15212072] [ 0. 0. 0. 1. ]] SLAMing on 133.00907232900002 meters Centerline goodness : 0.296600 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91709213 -0.36443416 -0.16164706 -3.27156946] [ 0.38680586 0.91156691 0.13938075 -1.78842693] [ 0.09655701 -0.19035102 0.97695611 -1.15181626] [ 0. 0. 0. 1. ]] SLAMing on 133.039072329 meters Centerline goodness : 0.279971 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91709182 -0.36431322 -0.16192118 -3.27055151] [ 0.38674342 0.91158619 0.13942794 -1.78865292] [ 0.09680967 -0.19049017 0.97690398 -1.15166786] [ 0. 0. 0. 1. ]] SLAMing on 133.069072329 meters Centerline goodness : 0.271325 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91710724 -0.36402296 -0.16248568 -3.26854512] [ 0.38657088 0.91164939 0.1394932 -1.78922722] [ 0.09735124 -0.19074246 0.97680093 -1.15114451] [ 0. 0. 0. 1. ]] SLAMing on 133.099072329 meters Centerline goodness : 0.275605 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91714353 -0.36383387 -0.16270424 -3.26768208] [ 0.38643766 0.91168699 0.13961652 -1.7898655 ] [ 0.09753812 -0.19092343 0.97674693 -1.15088102] [ 0. 0. 0. 1. ]] SLAMing on 133.129072329 meters Centerline goodness : 0.328678 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91716502 -0.3636887 -0.16290751 -3.26696822] [ 0.38633567 0.91172592 0.13964456 -1.79038421] [ 0.09773985 -0.19101409 0.97670904 -1.1504499 ] [ 0. 0. 0. 1. ]] SLAMing on 133.159072329 meters Centerline goodness : 0.358226 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.79, Z:-1.15 [[ 0.91720304 -0.36350915 -0.16309408 -3.26625065] [ 0.38620625 0.91176119 0.13977217 -1.79116387] [ 0.09789439 -0.19118741 0.97665964 -1.15005383] [ 0. 0. 0. 1. ]] SLAMing on 133.189072329 meters Centerline goodness : 0.355370 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91726566 -0.36313224 -0.16358081 -3.26445022] [ 0.38593372 0.91186532 0.13984563 -1.79193279] [ 0.09838121 -0.19140694 0.97656772 -1.14938067] [ 0. 0. 0. 1. ]] SLAMing on 133.219072329 meters Centerline goodness : 0.357183 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91729142 -0.36296904 -0.16379843 -3.26360756] [ 0.38581705 0.9119099 0.13987687 -1.79194348] [ 0.09859844 -0.19150408 0.97652677 -1.14937182] [ 0. 0. 0. 1. ]] SLAMing on 133.249072329 meters Centerline goodness : 0.354977 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91733975 -0.36271638 -0.16408719 -3.26243144] [ 0.38562712 0.91198276 0.13992558 -1.79165366] [ 0.09889139 -0.19163577 0.97647131 -1.14972606] [ 0. 0. 0. 1. ]] SLAMing on 133.279072329 meters Centerline goodness : 0.355280 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.91879742 -0.3582553 -0.16572396 -3.26120006] [ 0.38196041 0.91284499 0.14429228 -1.79411253] [ 0.09958681 -0.19587537 0.97555897 -1.14948018] [ 0. 0. 0. 1. ]] SLAMing on 133.309072329 meters Centerline goodness : 0.355834 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.80, Z:-1.15 [[ 0.92038858 -0.35317428 -0.16778796 -3.25854794] [ 0.37776281 0.91391581 0.14850301 -1.79581343] [ 0.10089663 -0.20006452 0.97457378 -1.14910958] [ 0. 0. 0. 1. ]] SLAMing on 133.339072329 meters Centerline goodness : 0.355115 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.80, Z:-1.15 [[ 0.92042627 -0.35298386 -0.16798179 -3.25800331] [ 0.37759849 0.91400679 0.14836091 -1.79538063] [ 0.10116749 -0.19998494 0.97456204 -1.14892778] [ 0. 0. 0. 1. ]] SLAMing on 133.369072329 meters Centerline goodness : 0.355908 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.92043061 -0.35287997 -0.16817616 -3.2575778 ] [ 0.37750667 0.91408877 0.14808925 -1.79463581] [ 0.10147021 -0.1997935 0.97456983 -1.14864896] [ 0. 0. 0. 1. ]] SLAMing on 133.399072329 meters Centerline goodness : 0.356866 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.79, Z:-1.15 [[ 0.92057987 -0.35208053 -0.16903254 -3.25500811] [ 0.37684485 0.91442691 0.14768675 -1.79295599] [ 0.10257027 -0.19965649 0.97448275 -1.14825886] [ 0. 0. 0. 1. ]] SLAMing on 133.429072329 meters Centerline goodness : 0.355832 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92061216 -0.35182276 -0.16939303 -3.25383236] [ 0.37664509 0.91453532 0.14752498 -1.792136 ] [ 0.10301326 -0.19961434 0.97444465 -1.14834289] [ 0. 0. 0. 1. ]] SLAMing on 133.459072329 meters Centerline goodness : 0.355070 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92065486 -0.35151819 -0.16979277 -3.25237012] [ 0.37641346 0.91464652 0.14742675 -1.79146917] [ 0.10347718 -0.19964144 0.97438995 -1.14858906] [ 0. 0. 0. 1. ]] SLAMing on 133.489072329 meters Centerline goodness : 0.353895 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.92071048 -0.35115144 -0.17024946 -3.25062806] [ 0.37614108 0.91476009 0.14741731 -1.79115614] [ 0.10397161 -0.19976648 0.97431169 -1.14879404] [ 0. 0. 0. 1. ]] SLAMing on 133.519072329 meters Centerline goodness : 0.355313 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.79, Z:-1.15 [[ 0.9208858 -0.35016643 -0.17132664 -3.24648241] [ 0.37541237 0.91501401 0.14769873 -1.79205026] [ 0.10504714 -0.2003318 0.97408022 -1.14834085] [ 0. 0. 0. 1. ]] SLAMing on 133.549072329 meters Centerline goodness : 0.354643 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.79, Z:-1.15 [[ 0.92095157 -0.34976358 -0.17179535 -3.24470188] [ 0.37513427 0.91508872 0.14794225 -1.79330869] [ 0.10546317 -0.20069397 0.9739607 -1.14770735] [ 0. 0. 0. 1. ]] SLAMing on 133.579072329 meters Centerline goodness : 0.354725 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.79, Z:-1.15 [[ 0.92101021 -0.34934108 -0.1723398 -3.24273155] [ 0.37485487 0.91516025 0.14820777 -1.79444592] [ 0.10594348 -0.20110328 0.97382414 -1.1471476 ] [ 0. 0. 0. 1. ]] SLAMing on 133.609072329 meters Centerline goodness : 0.351826 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.80, Z:-1.15 [[ 0.92119188 -0.34810078 -0.17387169 -3.23691777] [ 0.37401536 0.91538859 0.14891692 -1.79623739] [ 0.10732206 -0.20221174 0.97344357 -1.14664591] [ 0. 0. 0. 1. ]] SLAMing on 133.63907232900002 meters Centerline goodness : 0.354488 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.80, Z:-1.15 [[ 0.92125791 -0.34758874 -0.17454492 -3.23444609] [ 0.37368061 0.91547386 0.14923276 -1.79714794] [ 0.10791969 -0.20270591 0.97327471 -1.14635832] [ 0. 0. 0. 1. ]] SLAMing on 133.66907232900002 meters Centerline goodness : 0.352592 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.80, Z:-1.15 [[ 0.92132962 -0.34702067 -0.17529517 -3.23182069] [ 0.37331237 0.91556428 0.14959918 -1.79829192] [ 0.10857998 -0.20327001 0.9730836 -1.14582818] [ 0. 0. 0. 1. ]] SLAMing on 133.69907232900002 meters Centerline goodness : 0.350431 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.80, Z:-1.14 [[ 0.92161047 -0.34485157 -0.17807735 -3.22330313] [ 0.37173242 0.9162111 0.14957349 -1.800414 ] [ 0.11157579 -0.20404561 0.97258225 -1.14160323] [ 0. 0. 0. 1. ]] SLAMing on 133.72907232900002 meters Centerline goodness : 0.350662 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.80, Z:-1.14 [[ 0.92170945 -0.34418688 -0.17884935 -3.22065919] [ 0.37127918 0.91632911 0.14997576 -1.80231393] [ 0.11226518 -0.20463711 0.97237862 -1.14048743] [ 0. 0. 0. 1. ]] SLAMing on 133.75907232900002 meters Centerline goodness : 0.349034 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.80, Z:-1.14 [[ 0.92215757 -0.34119717 -0.18223585 -3.20930232] [ 0.36893802 0.91738164 0.14931731 -1.80358784] [ 0.11623318 -0.20492782 0.97185104 -1.13560818] [ 0. 0. 0. 1. ]] SLAMing on 133.789072329 meters Centerline goodness : 0.347553 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.80, Z:-1.14 [[ 0.92224195 -0.3405716 -0.18297753 -3.20639686] [ 0.36849383 0.91752972 0.14950419 -1.80406966] [ 0.11697044 -0.20530513 0.97168293 -1.13552411] [ 0. 0. 0. 1. ]] SLAMing on 133.819072329 meters Centerline goodness : 0.345348 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.80, Z:-1.14 [[ 0.92236301 -0.33979324 -0.18381249 -3.20309362] [ 0.36791073 0.91774261 0.14963354 -1.80401402] [ 0.11784809 -0.20564303 0.97150541 -1.13580679] [ 0. 0. 0. 1. ]] SLAMing on 133.849072329 meters Centerline goodness : 0.342160 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.80, Z:-1.13 [[ 0.92357685 -0.33302941 -0.18999268 -3.18921148] [ 0.36271036 0.91952316 0.15138812 -1.8002314 ] [ 0.12428597 -0.20873087 0.97004351 -1.12952941] [ 0. 0. 0. 1. ]] SLAMing on 133.879072329 meters Centerline goodness : 0.342322 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.80, Z:-1.13 [[ 0.92374764 -0.33203644 -0.19089815 -3.18696524] [ 0.36188544 0.91988672 0.15115343 -1.79916129] [ 0.12541623 -0.20871088 0.96990233 -1.12905017] [ 0. 0. 0. 1. ]] SLAMing on 133.909072329 meters Centerline goodness : 0.342088 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.80, Z:-1.13 [[ 0.92384579 -0.33128704 -0.19172338 -3.18486819] [ 0.36125724 0.92020764 0.15070206 -1.79782976] [ 0.12649968 -0.20848692 0.96980979 -1.12856116] [ 0. 0. 0. 1. ]] SLAMing on 133.939072329 meters Centerline goodness : 0.341748 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.80, Z:-1.13 [[ 0.92400694 -0.33036237 -0.1925406 -3.18290838] [ 0.36044421 0.92060968 0.15019248 -1.79644208] [ 0.1276368 -0.20817904 0.96972694 -1.12806105] [ 0. 0. 0. 1. ]] SLAMing on 133.969072329 meters Centerline goodness : 0.340883 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.79, Z:-1.12 [[ 0.92567242 -0.32186931 -0.19882335 -3.16853562] [ 0.35329005 0.92342116 0.14993165 -1.79090899] [ 0.13533929 -0.2090299 0.96849872 -1.11965994] [ 0. 0. 0. 1. ]] SLAMing on 133.999072329 meters Centerline goodness : 0.339738 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.79, Z:-1.12 [[ 0.92679605 -0.31716147 -0.20114096 -3.16579912] [ 0.34959888 0.9242409 0.15349068 -1.79015345] [ 0.13722137 -0.21257321 0.96746211 -1.11851449] [ 0. 0. 0. 1. ]] SLAMing on 134.029072329 meters Centerline goodness : 0.338804 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.79, Z:-1.12 [[ 0.9279112 -0.31246987 -0.20333074 -3.16324686] [ 0.34591056 0.92503368 0.1570305 -1.78927751] [ 0.13902048 -0.21604462 0.96643573 -1.11764554] [ 0. 0. 0. 1. ]] SLAMing on 134.059072329 meters Centerline goodness : 0.187763 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.79, Z:-1.12 [[ 0.92903288 -0.30766259 -0.20552771 -3.16045142] [ 0.34212664 0.92583164 0.16057752 -1.78863757] [ 0.14088036 -0.21949829 0.9653876 -1.11690124] [ 0. 0. 0. 1. ]] SLAMing on 134.089072329 meters Centerline goodness : 0.218983 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.78, Z:-1.11 [[ 0.93072179 -0.29768645 -0.21246112 -3.14277425] [ 0.33331372 0.92952555 0.15774734 -1.78140205] [ 0.15052879 -0.21763509 0.96435266 -1.10684519] [ 0. 0. 0. 1. ]] SLAMing on 134.119072329 meters Centerline goodness : 0.082598 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.78, Z:-1.10 [[ 0.93090182 -0.2942629 -0.21640505 -3.13266445] [ 0.33036064 0.93102105 0.15511822 -1.77757685] [ 0.15583212 -0.21589155 0.96390207 -1.1016034 ] [ 0. 0. 0. 1. ]] SLAMing on 134.149072329 meters Centerline goodness : 0.115013 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.77, Z:-1.09 [[ 0.93188485 -0.28610594 -0.22301124 -3.11748576] [ 0.32384615 0.93314579 0.15608526 -1.77343383] [ 0.16344508 -0.21767482 0.96223873 -1.09352198] [ 0. 0. 0. 1. ]] SLAMing on 134.179072329 meters Centerline goodness : 0.047977 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.77, Z:-1.09 [[ 0.93182276 -0.28312134 -0.22704328 -3.10752898] [ 0.32136386 0.93439057 0.15375152 -1.77052199] [ 0.16861677 -0.21623267 0.96167137 -1.08764142] [ 0. 0. 0. 1. ]] SLAMing on 134.209072329 meters Centerline goodness : 0.099019 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.77, Z:-1.08 [[ 0.93257725 -0.27514857 -0.23365134 -3.09223586] [ 0.31518639 0.93619678 0.1555414 -1.76839392] [ 0.17594664 -0.21869809 0.9597989 -1.07845356] [ 0. 0. 0. 1. ]] SLAMing on 134.239072329 meters Centerline goodness : 0.215019 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.77, Z:-1.07 [[ 0.93242802 -0.27233315 -0.23751344 -3.08305769] [ 0.31285969 0.93731409 0.15349631 -1.76577837] [ 0.18082256 -0.21743264 0.95917999 -1.072789 ] [ 0. 0. 0. 1. ]] SLAMing on 134.269072329 meters Centerline goodness : 0.121862 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.76, Z:-1.07 [[ 0.93231084 -0.26936303 -0.24132975 -3.07402052] [ 0.31036435 0.9384628 0.15153068 -1.76342831] [ 0.18566223 -0.21617385 0.95853973 -1.06731091] [ 0. 0. 0. 1. ]] SLAMing on 134.299072329 meters Centerline goodness : 0.126898 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.76, Z:-1.07 [[ 0.93234484 -0.26829784 -0.24238267 -3.07085111] [ 0.3095654 0.93869828 0.15170632 -1.76310036] [ 0.18682172 -0.2164759 0.95824623 -1.06694302] [ 0. 0. 0. 1. ]] SLAMing on 134.329072329 meters Centerline goodness : 0.123966 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.76, Z:-1.07 [[ 0.93423315 -0.26441041 -0.23936491 -3.04615947] [ 0.30569403 0.93934991 0.15547642 -1.75774897] [ 0.18373782 -0.21842365 0.9584005 -1.06601739] [ 0. 0. 0. 1. ]] SLAMing on 134.359072329 meters Centerline goodness : 0.121955 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.76, Z:-1.06 [[ 0.93422944 -0.26371898 -0.24014089 -3.04441577] [ 0.3052296 0.93945539 0.15575131 -1.75789513] [ 0.18452707 -0.21880557 0.95816172 -1.06472546] [ 0. 0. 0. 1. ]] SLAMing on 134.38907232900002 meters Centerline goodness : 0.124672 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.93616711 -0.2604507 -0.23612831 -3.01912329] [ 0.30062035 0.94129327 0.15360461 -1.74995856] [ 0.18225956 -0.21478456 0.95950458 -1.05917695] [ 0. 0. 0. 1. ]] SLAMing on 134.41907232900002 meters Centerline goodness : 0.119480 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.9361886 -0.2597011 -0.23686758 -3.01757734] [ 0.30008667 0.94141765 0.15388568 -1.75026756] [ 0.18302704 -0.21514682 0.95927731 -1.05772511] [ 0. 0. 0. 1. ]] SLAMing on 134.44907232900002 meters Centerline goodness : 0.119541 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.75, Z:-1.06 [[ 0.93624097 -0.25893325 -0.23750036 -3.01606035] [ 0.29949241 0.94157685 0.15406928 -1.75016776] [ 0.18373118 -0.21537552 0.95909136 -1.05698801] [ 0. 0. 0. 1. ]] SLAMing on 134.47907232900002 meters Centerline goodness : 0.148356 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.75, Z:-1.05 [[ 0.93705862 -0.25072907 -0.24301457 -3.00266131] [ 0.29268656 0.94354691 0.15509289 -1.74745644] [ 0.19040935 -0.21645822 0.95754379 -1.04934495] [ 0. 0. 0. 1. ]] SLAMing on 134.50907232900002 meters Centerline goodness : 0.121544 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93704103 -0.24747179 -0.24639771 -2.9942273 ] [ 0.28950937 0.94505913 0.15181426 -1.74370338] [ 0.19529066 -0.21359063 0.95720458 -1.04464271] [ 0. 0. 0. 1. ]] SLAMing on 134.539072329 meters Centerline goodness : 0.121544 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93704103 -0.24747179 -0.24639771 -2.9942273 ] [ 0.28950937 0.94505913 0.15181426 -1.74370338] [ 0.19529066 -0.21359063 0.95720458 -1.04464271] [ 0. 0. 0. 1. ]] SLAMing on 134.569072329 meters Centerline goodness : 0.153133 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.74, Z:-1.04 [[ 0.93703515 -0.24421394 -0.24964912 -2.98596218] [ 0.28621822 0.94662115 0.14828192 -1.73974248] [ 0.20011062 -0.2103995 0.95691577 -1.04006053] [ 0. 0. 0. 1. ]] SLAMing on 134.599072329 meters Centerline goodness : 0.155448 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.74, Z:-1.03 [[ 0.9370519 -0.24074048 -0.25293825 -2.97772584] [ 0.28261889 0.94829432 0.14444529 -1.73559272] [ 0.20508608 -0.20683786 0.9566388 -1.03486647] [ 0. 0. 0. 1. ]] SLAMing on 134.629072329 meters Centerline goodness : 0.130821 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.73, Z:-1.03 [[ 0.94010771 -0.23353392 -0.24831311 -2.95631912] [ 0.27375834 0.9512927 0.14176944 -1.7264414 ] [ 0.20311047 -0.20125633 0.95824946 -1.03186538] [ 0. 0. 0. 1. ]] SLAMing on 134.659072329 meters Centerline goodness : 0.337450 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.72, Z:-1.03 [[ 0.94014285 -0.22998844 -0.25146915 -2.94906916] [ 0.27001269 0.95292405 0.1379453 -1.72222065] [ 0.20790518 -0.19758815 0.95798453 -1.02624675] [ 0. 0. 0. 1. ]] SLAMing on 134.689072329 meters Centerline goodness : 0.197345 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.72, Z:-1.03 [[ 0.94300669 -0.22740252 -0.24295363 -2.93790113] [ 0.26543032 0.95434877 0.13698601 -1.71607791] [ 0.20071154 -0.19366598 0.9603168 -1.02879049] [ 0. 0. 0. 1. ]] SLAMing on 134.719072329 meters Centerline goodness : 0.353359 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.71, Z:-1.02 [[ 0.94396218 -0.21815833 -0.24767386 -2.92629111] [ 0.25695862 0.95671278 0.13664889 -1.71104204] [ 0.20714165 -0.19263331 0.95915835 -1.02252736] [ 0. 0. 0. 1. ]] SLAMing on 134.749072329 meters Centerline goodness : 0.222604 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.02 [[ 0.94421963 -0.21621656 -0.24839421 -2.92408055] [ 0.25510981 0.95722528 0.13652383 -1.70970718] [ 0.2082505 -0.19227628 0.95898986 -1.02369403] [ 0. 0. 0. 1. ]] SLAMing on 134.779072329 meters Centerline goodness : 0.230218 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.03 [[ 0.94451777 -0.21415878 -0.24904257 -2.9216919 ] [ 0.25313398 0.95776349 0.13642683 -1.70862568] [ 0.20930688 -0.1918987 0.9588355 -1.02512605] [ 0. 0. 0. 1. ]] SLAMing on 134.809072329 meters Centerline goodness : 0.230481 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.71, Z:-1.03 [[ 0.94480091 -0.21227019 -0.24958488 -2.91957614] [ 0.25128122 0.95828207 0.13621019 -1.70730687] [ 0.21025935 -0.1914075 0.95872528 -1.02663099] [ 0. 0. 0. 1. ]] SLAMing on 134.839072329 meters Centerline goodness : 0.090533 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.70, Z:-1.02 [[ 0.94585157 -0.20262722 -0.2535883 -2.90894777] [ 0.24202556 0.96083534 0.13497809 -1.70173641] [ 0.21630636 -0.18904408 0.95784857 -1.02070821] [ 0. 0. 0. 1. ]] SLAMing on 134.869072329 meters Centerline goodness : 0.233681 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.70, Z:-1.02 [[ 0.94592049 -0.19894743 -0.25623104 -2.90330233] [ 0.23775905 0.96253394 0.13038039 -1.69617353] [ 0.22069223 -0.18425073 0.95778213 -1.01528664] [ 0. 0. 0. 1. ]] SLAMing on 134.899072329 meters Centerline goodness : 0.096946 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.69, Z:-1.01 [[ 0.94596716 -0.1951724 -0.25894761 -2.89772191] [ 0.23341926 0.96417891 0.12599397 -1.69082776] [ 0.22508128 -0.17962952 0.95763858 -1.0096796 ] [ 0. 0. 0. 1. ]] SLAMing on 134.929072329 meters Centerline goodness : 0.103955 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.68, Z:-1.00 [[ 0.94696664 -0.18543749 -0.26242547 -2.88848603] [ 0.22376547 0.96667381 0.12438149 -1.6834619 ] [ 0.23061483 -0.17650688 0.95690236 -1.00405264] [ 0. 0. 0. 1. ]] SLAMing on 134.959072329 meters Centerline goodness : 0.172960 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.68, Z:-1.01 [[ 0.94729346 -0.18331777 -0.26273505 -2.88682184] [ 0.22153414 0.96725424 0.12386223 -1.68097831] [ 0.23142544 -0.17553866 0.95688476 -1.00628706] [ 0. 0. 0. 1. ]] SLAMing on 134.989072329 meters Centerline goodness : 0.166033 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.68, Z:-1.01 [[ 0.94770624 -0.18101728 -0.26284147 -2.88492967] [ 0.21909009 0.96787127 0.12338853 -1.67841362] [ 0.23206125 -0.17452204 0.95691673 -1.00928254] [ 0. 0. 0. 1. ]] SLAMing on 135.019072329 meters Centerline goodness : 0.155377 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-1.01 [[ 0.94866268 -0.17155131 -0.26572405 -2.87627894] [ 0.20920489 0.97043502 0.12037103 -1.6692075 ] [ 0.23721811 -0.16978227 0.95650486 -1.00663673] [ 0. 0. 0. 1. ]] SLAMing on 135.049072329 meters Centerline goodness : 0.096591 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-1.01 [[ 0.94898373 -0.16940287 -0.2659559 -2.87528689] [ 0.20688486 0.97101388 0.11971093 -1.66594596] [ 0.2379675 -0.16862598 0.95652326 -1.00878137] [ 0. 0. 0. 1. ]] SLAMing on 135.079072329 meters Centerline goodness : 0.096109 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.66, Z:-1.00 [[ 0.94997654 -0.15937086 -0.26859916 -2.86721899] [ 0.19646171 0.97347726 0.1172383 -1.65690875] [ 0.24279081 -0.16414308 0.95609083 -1.0046224 ] [ 0. 0. 0. 1. ]] SLAMing on 135.109072329 meters Centerline goodness : 0.095707 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.95025775 -0.15727728 -0.26883835 -2.86672741] [ 0.19420145 0.9740046 0.11662265 -1.653854 ] [ 0.2435077 -0.16303037 0.9560989 -1.00630207] [ 0. 0. 0. 1. ]] SLAMing on 135.13907232900002 meters Centerline goodness : 0.110979 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.9505426 -0.15529411 -0.26898422 -2.86616749] [ 0.19201024 0.97452484 0.11590252 -1.6512711 ] [ 0.24413282 -0.161818 0.95614544 -1.00817358] [ 0. 0. 0. 1. ]] SLAMing on 135.16907232900002 meters Centerline goodness : 0.111448 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.65, Z:-1.01 [[ 0.95083665 -0.15322683 -0.26913045 -2.86540797] [ 0.18975487 0.97504117 0.11527276 -1.64846492] [ 0.24475039 -0.16067438 0.95618042 -1.01027087] [ 0. 0. 0. 1. ]] SLAMing on 135.19907232900002 meters Centerline goodness : 0.096443 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.64, Z:-1.01 [[ 0.95172899 -0.14370184 -0.27122261 -2.85793932] [ 0.17954381 0.97732989 0.11220653 -1.63935987] [ 0.24894968 -0.15548655 0.95595397 -1.00752046] [ 0. 0. 0. 1. ]] SLAMing on 135.22907232900002 meters Centerline goodness : 0.204778 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.64, Z:-1.01 [[ 0.9520055 -0.14193298 -0.27118362 -2.85793108] [ 0.17751677 0.9777896 0.11142396 -1.63682344] [ 0.24934579 -0.15421586 0.95605656 -1.00929728] [ 0. 0. 0. 1. ]] SLAMing on 135.25907232900002 meters Centerline goodness : 0.201000 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.63, Z:-1.01 [[ 0.95224727 -0.14033508 -0.27116639 -2.85773535] [ 0.1756372 0.97823128 0.1105221 -1.6340553 ] [ 0.24975332 -0.15287128 0.95616612 -1.01110949] [ 0. 0. 0. 1. ]] SLAMing on 135.289072329 meters Centerline goodness : 0.197844 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.62, Z:-1.01 [[ 0.9535793 -0.13073915 -0.27128176 -2.85296164] [ 0.16433881 0.98080096 0.1049868 -1.62415152] [ 0.25234753 -0.14469536 0.95675701 -1.01211029] [ 0. 0. 0. 1. ]] SLAMing on 135.319072329 meters Centerline goodness : 0.198930 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.62, Z:-1.01 [[ 0.95371552 -0.12946589 -0.27141352 -2.85074453] [ 0.16306666 0.98100637 0.10505128 -1.61994617] [ 0.25265783 -0.14444754 0.95671256 -1.01419531] [ 0. 0. 0. 1. ]] SLAMing on 135.349072329 meters Centerline goodness : 0.196006 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.61, Z:-1.02 [[ 0.95424031 -0.12541041 -0.27147313 -2.84955183] [ 0.1568073 0.98283945 0.09714977 -1.6124199 ] [ 0.25463091 -0.1352732 0.95753029 -1.01520612] [ 0. 0. 0. 1. ]] SLAMing on 135.379072329 meters Centerline goodness : 0.196582 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.60, Z:-1.02 [[ 0.95543895 -0.11581251 -0.27152139 -2.84686813] [ 0.14550929 0.98508373 0.09185366 -1.60139723] [ 0.2568335 -0.12726945 0.95803916 -1.01518064] [ 0. 0. 0. 1. ]] SLAMing on 135.409072329 meters Centerline goodness : 0.192235 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.60, Z:-1.02 [[ 0.95593591 -0.11081909 -0.27185597 -2.84665449] [ 0.14138289 0.98533913 0.09548656 -1.59951526] [ 0.25728859 -0.12971481 0.95758898 -1.01574448] [ 0. 0. 0. 1. ]] SLAMing on 135.439072329 meters Centerline goodness : 0.267672 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.59, Z:-1.02 [[ 0.95711931 -0.1009476 -0.27153675 -2.84394197] [ 0.12973899 0.98743568 0.09021404 -1.58969844] [ 0.25901819 -0.12157451 0.9581906 -1.01539569] [ 0. 0. 0. 1. ]] SLAMing on 135.469072329 meters Centerline goodness : 0.190331 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.59, Z:-1.02 [[ 0.95723644 -0.09993231 -0.27149941 -2.84307799] [ 0.12867291 0.98757981 0.09016323 -1.58610285] [ 0.25911712 -0.12124214 0.95820596 -1.01657667] [ 0. 0. 0. 1. ]] SLAMing on 135.499072329 meters Centerline goodness : 0.187411 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.58, Z:-1.02 [[ 0.95734431 -0.09881116 -0.27152941 -2.84161536] [ 0.12753787 0.98772103 0.09022889 -1.58250932] [ 0.25927969 -0.12101039 0.95819128 -1.01811988] [ 0. 0. 0. 1. ]] SLAMing on 135.529072329 meters Centerline goodness : 0.159933 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95841939 -0.08907744 -0.27110418 -2.83803196] [ 0.11598005 0.98962021 0.08485555 -1.57308694] [ 0.26073146 -0.11276988 0.95880241 -1.0188737 ] [ 0. 0. 0. 1. ]] SLAMing on 135.559072329 meters Centerline goodness : 0.174054 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95882292 -0.08395186 -0.27131292 -2.83718631] [ 0.11174688 0.98977457 0.08865059 -1.57169007] [ 0.26109625 -0.11531859 0.9583999 -1.0199695 ] [ 0. 0. 0. 1. ]] SLAMing on 135.589072329 meters Centerline goodness : 0.178698 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95921101 -0.07881979 -0.27148052 -2.83632412] [ 0.10750916 0.98989558 0.09245822 -1.5703375 ] [ 0.26144983 -0.11787358 0.95799259 -1.02112253] [ 0. 0. 0. 1. ]] SLAMing on 135.619072329 meters Centerline goodness : 0.177589 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.57, Z:-1.02 [[ 0.95957359 -0.07362578 -0.27165746 -2.83546721] [ 0.10323396 0.9899801 0.09634387 -1.56936771] [ 0.26184209 -0.12049331 0.95755944 -1.02212295] [ 0. 0. 0. 1. ]] SLAMing on 135.649072329 meters Centerline goodness : 0.184990 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.56, Z:-1.02 [[ 0.9606124 -0.06337091 -0.27056967 -2.83128556] [ 0.09094787 0.99172394 0.09062068 -1.56006448] [ 0.26258771 -0.11165908 0.95842576 -1.02291783] [ 0. 0. 0. 1. ]] SLAMing on 135.679072329 meters Centerline goodness : 0.172565 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.56, Z:-1.03 [[ 0.96147855 -0.06006843 -0.26823643 -2.83373968] [ 0.08593636 0.99260341 0.0857521 -1.55659426] [ 0.2611014 -0.10550006 0.95952894 -1.03058634] [ 0. 0. 0. 1. ]] SLAMing on 135.709072329 meters Centerline goodness : 0.185626 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.55, Z:-1.04 [[ 0.96235 -0.05653596 -0.26586871 -2.83627675] [ 0.08065992 0.9934692 0.08070276 -1.55334337] [ 0.25956977 -0.09910925 0.96062526 -1.03860156] [ 0. 0. 0. 1. ]] SLAMing on 135.739072329 meters Centerline goodness : 0.194271 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.54, Z:-1.04 [[ 0.96322694 -0.04593313 -0.26473385 -2.83109305] [ 0.0680223 0.99486977 0.0748806 -1.54270397] [ 0.2599362 -0.09013482 0.96140984 -1.04026952] [ 0. 0. 0. 1. ]] SLAMing on 135.769072329 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 135.799072329 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 135.829072329 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 135.859072329 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 135.88907232900002 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 135.91907232900002 meters Centerline goodness : 0.257513 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.50, Z:-1.03 [[ 0.96506243 0.01025438 -0.26181932 -2.80135431] [ 0.01203172 0.99644557 0.08337541 -1.50253997] [ 0.26174366 -0.08361261 0.96150881 -1.03358182] [ 0. 0. 0. 1. ]] SLAMing on 135.94907232900002 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 135.97907232900002 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 136.00907232900002 meters Centerline goodness : 0.245642 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.48, Z:-1.03 [[ 0.96428336 0.03991839 -0.26184753 -2.78793007] [-0.01734129 0.99597185 0.08797362 -1.48033454] [ 0.26430453 -0.08029073 0.96109131 -1.03377613] [ 0. 0. 0. 1. ]] SLAMing on 136.039072329 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 136.069072329 meters Centerline goodness : 0.268496 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.47, Z:-1.04 [[ 0.96433139 0.05565411 -0.25878098 -2.78262383] [-0.03490565 0.99584614 0.0840955 -1.46778175] [ 0.2623863 -0.07206301 0.96226834 -1.03567525] [ 0. 0. 0. 1. ]] SLAMing on 136.099072329 meters Centerline goodness : 0.269701 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.46, Z:-1.04 [[ 0.96461642 0.06405592 -0.25575772 -2.78599391] [-0.04431723 0.99562889 0.08221373 -1.46394461] [ 0.25990605 -0.06797024 0.96323875 -1.04402015] [ 0. 0. 0. 1. ]] SLAMing on 136.129072329 meters Centerline goodness : 0.248748 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.45, Z:-1.05 [[ 0.96403767 0.08267124 -0.25258035 -2.77957005] [-0.06409719 0.9946579 0.08091481 -1.44865452] [ 0.25792037 -0.06181523 0.96418668 -1.04588722] [ 0. 0. 0. 1. ]] SLAMing on 136.159072329 meters Centerline goodness : 0.263475 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.44, Z:-1.05 [[ 0.96406214 0.09102819 -0.24959581 -2.78249065] [-0.07335274 0.99415268 0.0792454 -1.4426759 ] [ 0.25534991 -0.05808895 0.96510212 -1.05369579] [ 0. 0. 0. 1. ]] SLAMing on 136.189072329 meters Centerline goodness : 0.261693 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.43, Z:-1.06 [[ 0.96283804 0.1096379 -0.24682473 -2.77461394] [-0.09315806 0.99262901 0.07751912 -1.42669014] [ 0.25350442 -0.05164465 0.96595463 -1.05588369] [ 0. 0. 0. 1. ]] SLAMing on 136.219072329 meters Centerline goodness : 0.259111 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.42, Z:-1.06 [[ 0.96273682 0.11781442 -0.24342879 -2.77779079] [-0.10242288 0.9919102 0.07499133 -1.42171795] [ 0.25029456 -0.04726424 0.96701537 -1.06456575] [ 0. 0. 0. 1. ]] SLAMing on 136.249072329 meters Centerline goodness : 0.257835 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.42, Z:-1.07 [[ 0.9625724 0.12597567 -0.23996773 -2.78120836] [-0.11168644 0.99110997 0.07229914 -1.41655681] [ 0.24694234 -0.04279201 0.96808487 -1.07318357] [ 0. 0. 0. 1. ]] SLAMing on 136.279072329 meters Centerline goodness : 0.255169 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.40, Z:-1.08 [[ 0.96079268 0.14409491 -0.23688413 -2.77283943] [-0.13114022 0.98891413 0.06964979 -1.40029298] [ 0.24429425 -0.03585397 0.96903809 -1.07534485] [ 0. 0. 0. 1. ]] SLAMing on 136.309072329 meters Centerline goodness : 0.255483 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.40, Z:-1.08 [[ 0.960372 0.15238155 -0.23337842 -2.77621382] [-0.14033502 0.98780171 0.06748237 -1.3952011 ] [ 0.24081467 -0.03205701 0.97004157 -1.08347213] [ 0. 0. 0. 1. ]] SLAMing on 136.339072329 meters Centerline goodness : 0.262865 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.38, Z:-1.09 [[ 0.95918936 0.16626395 -0.22871833 -2.77570922] [-0.15457174 0.98562147 0.0682488 -1.38430288] [ 0.23677701 -0.03011014 0.97109733 -1.09376053] [ 0. 0. 0. 1. ]] SLAMing on 136.369072329 meters Centerline goodness : 0.262519 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.38, Z:-1.10 [[ 0.95845989 0.17174034 -0.22772767 -2.77311812] [-0.15941898 0.98461248 0.07158107 -1.37911169] [ 0.23651687 -0.03230347 0.97109024 -1.09615799] [ 0. 0. 0. 1. ]] SLAMing on 136.399072329 meters Centerline goodness : 0.249914 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95773516 0.17695787 -0.22678022 -2.77082432] [-0.16403542 0.98361675 0.07476944 -1.37424306] [ 0.23629586 -0.03440933 0.97107171 -1.09832021] [ 0. 0. 0. 1. ]] SLAMing on 136.429072329 meters Centerline goodness : 0.249914 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95773516 0.17695787 -0.22678022 -2.77082432] [-0.16403542 0.98361675 0.07476944 -1.37424306] [ 0.23629586 -0.03440933 0.97107171 -1.09832021] [ 0. 0. 0. 1. ]] SLAMing on 136.459072329 meters Centerline goodness : 0.251517 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.37, Z:-1.10 [[ 0.95702351 0.18200303 -0.22578952 -2.76900184] [-0.16850248 0.9826216 0.0778569 -1.3697476 ] [ 0.23603585 -0.03646479 0.97105994 -1.10025776] [ 0. 0. 0. 1. ]] SLAMing on 136.489072329 meters Centerline goodness : 0.254795 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.36, Z:-1.11 [[ 0.95564222 0.19445732 -0.22121098 -2.77015397] [-0.18140493 0.98030496 0.07806693 -1.36021812] [ 0.2320349 -0.03447529 0.97209632 -1.10947279] [ 0. 0. 0. 1. ]] SLAMing on 136.519072329 meters Centerline goodness : 0.241374 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.36, Z:-1.11 [[ 0.95486695 0.19954733 -0.22002266 -2.7689934 ] [-0.18592753 0.97920412 0.08118035 -1.35557275] [ 0.23164642 -0.03660816 0.97211099 -1.11096704] [ 0. 0. 0. 1. ]] SLAMing on 136.549072329 meters Centerline goodness : 0.251333 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.35, Z:-1.11 [[ 0.95404612 0.20463584 -0.21890679 -2.76795066] [-0.19044833 0.97807174 0.08429179 -1.35041432] [ 0.23135567 -0.03872782 0.9720981 -1.11209077] [ 0. 0. 0. 1. ]] SLAMing on 136.579072329 meters Centerline goodness : 0.182906 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.34, Z:-1.12 [[ 0.9518656 0.2175697 -0.21590577 -2.76458713] [-0.20181393 0.9750182 0.0927936 -1.34030254] [ 0.23070113 -0.04475424 0.97199488 -1.11505189] [ 0. 0. 0. 1. ]] SLAMing on 136.609072329 meters Centerline goodness : 0.247856 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.33, Z:-1.12 [[ 0.95090072 0.22274837 -0.21487436 -2.76240481] [-0.20644437 0.97375314 0.09584125 -1.33411316] [ 0.23058307 -0.04677591 0.9719277 -1.11665919] [ 0. 0. 0. 1. ]] SLAMing on 136.63907232900002 meters Centerline goodness : 0.248458 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.32, Z:-1.13 [[ 0.94907011 0.23462066 -0.2102833 -2.76128956] [-0.21871817 0.97102741 0.09627111 -1.32042608] [ 0.22677804 -0.04537526 0.9728889 -1.12573865] [ 0. 0. 0. 1. ]] SLAMing on 136.66907232900002 meters Centerline goodness : 0.193238 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.31, Z:-1.13 [[ 0.94808923 0.23962209 -0.20906472 -2.75868497] [-0.22325047 0.96971732 0.09903312 -1.31416637] [ 0.2264642 -0.04721843 0.97287429 -1.1279993 ] [ 0. 0. 0. 1. ]] SLAMing on 136.69907232900002 meters Centerline goodness : 0.197638 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.31, Z:-1.13 [[ 0.94711406 0.24453153 -0.20779629 -2.75638155] [-0.22769609 0.96839821 0.10178108 -1.30815821] [ 0.22611824 -0.04908389 0.97286243 -1.13013433] [ 0. 0. 0. 1. ]] SLAMing on 136.72907232900002 meters Centerline goodness : 0.201609 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.30, Z:-1.13 [[ 0.94611325 0.24942256 -0.20653838 -2.75434031] [-0.2321214 0.9670527 0.10454054 -1.30218967] [ 0.22580827 -0.05096521 0.97283769 -1.13195834] [ 0. 0. 0. 1. ]] SLAMing on 136.75907232900002 meters Centerline goodness : 0.208879 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.29, Z:-1.14 [[ 0.94402233 0.25960761 -0.20353312 -2.75025373] [-0.2413454 0.96414287 0.11036718 -1.28944342] [ 0.22488716 -0.0550673 0.97282751 -1.13553846] [ 0. 0. 0. 1. ]] SLAMing on 136.789072329 meters Centerline goodness : 0.213551 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.28, Z:-1.14 [[ 0.94293531 0.26446986 -0.20230841 -2.74823655] [-0.24575764 0.96271391 0.11307124 -1.28277941] [ 0.22466906 -0.05690003 0.97277243 -1.13697714] [ 0. 0. 0. 1. ]] SLAMing on 136.819072329 meters Centerline goodness : 0.219633 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.27, Z:-1.15 [[ 0.9411422 0.27394553 -0.19800303 -2.74799251] [-0.25618736 0.9602507 0.11084504 -1.26810685] [ 0.22049806 -0.05359507 0.97391384 -1.14511962] [ 0. 0. 0. 1. ]] SLAMing on 136.849072329 meters Centerline goodness : 0.224622 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.26, Z:-1.15 [[ 0.94022311 0.27820489 -0.19642439 -2.74650443] [-0.26013533 0.95893732 0.11299922 -1.26300913] [ 0.21979561 -0.05514756 0.97398595 -1.14717144] [ 0. 0. 0. 1. ]] SLAMing on 136.879072329 meters Centerline goodness : 0.277919 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.26, Z:-1.15 [[ 0.93937909 0.28220533 -0.19474878 -2.74502335] [-0.26388719 0.95768698 0.1148878 -1.25794527] [ 0.21893031 -0.05653148 0.97410149 -1.14952454] [ 0. 0. 0. 1. ]] SLAMing on 136.909072329 meters Centerline goodness : 0.288267 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.24, Z:-1.16 [[ 0.93769196 0.29052204 -0.19060624 -2.74392409] [-0.27336238 0.95543204 0.11145681 -1.24313616] [ 0.21449197 -0.05240758 0.97531874 -1.15855711] [ 0. 0. 0. 1. ]] SLAMing on 136.939072329 meters Centerline goodness : 0.289098 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.24, Z:-1.16 [[ 0.93642986 0.2952999 -0.18946526 -2.74110967] [-0.27771589 0.95386522 0.11408345 -1.2356374 ] [ 0.21441315 -0.05421364 0.97523735 -1.15991595] [ 0. 0. 0. 1. ]] SLAMing on 136.969072329 meters Centerline goodness : 0.399794 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.23, Z:-1.16 [[ 0.93511704 0.30016046 -0.18830779 -2.73826953] [-0.28213302 0.95223733 0.11681193 -1.22791713] [ 0.21437604 -0.05610498 0.97513853 -1.16115158] [ 0. 0. 0. 1. ]] SLAMing on 136.999072329 meters Centerline goodness : 0.250305 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.21, Z:-1.16 [[ 0.93250412 0.30981921 -0.18560205 -2.73245179] [-0.2908731 0.94888313 0.12253021 -1.21483315] [ 0.21407687 -0.06027328 0.9749555 -1.16435898] [ 0. 0. 0. 1. ]] SLAMing on 137.029072329 meters Centerline goodness : 0.400479 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.21, Z:-1.17 [[ 0.9313737 0.31400147 -0.18424468 -2.73099736] [-0.29466247 0.94738445 0.12504695 -1.21033897] [ 0.21381547 -0.06217545 0.97489341 -1.16555671] [ 0. 0. 0. 1. ]] SLAMing on 137.059072329 meters Centerline goodness : 0.325937 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.20, Z:-1.17 [[ 0.92999211 0.31930792 -0.18209098 -2.72623402] [-0.29974949 0.94551261 0.12710685 -1.19935877] [ 0.21275554 -0.06362669 0.97503165 -1.16936754] [ 0. 0. 0. 1. ]] SLAMing on 137.089072329 meters Centerline goodness : 0.322322 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.19, Z:-1.17 [[ 0.92982389 0.32034756 -0.18112141 -2.72364326] [-0.30099539 0.94519375 0.12653283 -1.19210479] [ 0.2117293 -0.06313654 0.97528687 -1.17168372] [ 0. 0. 0. 1. ]] SLAMing on 137.119072329 meters Centerline goodness : 0.314387 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.18, Z:-1.17 [[ 0.92962268 0.3213516 -0.1803741 -2.72089366] [-0.30219164 0.94489012 0.12594791 -1.18437702] [ 0.21090727 -0.06257649 0.97550106 -1.17363591] [ 0. 0. 0. 1. ]] SLAMing on 137.149072329 meters Centerline goodness : 0.327186 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.17, Z:-1.18 [[ 0.92809642 0.32647977 -0.17901953 -2.71564674] [-0.30707581 0.94305469 0.12787609 -1.1704895 ] [ 0.21057416 -0.06370877 0.97549973 -1.17532499] [ 0. 0. 0. 1. ]] SLAMing on 137.179072329 meters Centerline goodness : 0.196380 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.16, Z:-1.18 [[ 0.92788868 0.32729982 -0.17859852 -2.71298353] [-0.30803713 0.94280408 0.12741113 -1.16303186] [ 0.21008505 -0.06320837 0.97563773 -1.17655829] [ 0. 0. 0. 1. ]] SLAMing on 137.209072329 meters Centerline goodness : 0.195721 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.16, Z:-1.18 [[ 0.92773671 0.32787709 -0.17832894 -2.71041252] [-0.30877339 0.94264599 0.1267972 -1.15598668] [ 0.20967495 -0.06257119 0.97576701 -1.17770085] [ 0. 0. 0. 1. ]] SLAMing on 137.239072329 meters Centerline goodness : 0.194611 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.14, Z:-1.18 [[ 0.92754044 0.32871762 -0.17780174 -2.70586958] [-0.30995319 0.94244085 0.12543631 -1.14474387] [ 0.20880075 -0.06123704 0.97603907 -1.18020076] [ 0. 0. 0. 1. ]] SLAMing on 137.269072329 meters Centerline goodness : 0.194174 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.14, Z:-1.18 [[ 0.92749193 0.32877352 -0.17795136 -2.70361201] [-0.31019795 0.94248274 0.12451309 -1.13937528] [ 0.20865269 -0.06028474 0.97613002 -1.18107048] [ 0. 0. 0. 1. ]] SLAMing on 137.299072329 meters Centerline goodness : 0.192519 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.13, Z:-1.18 [[ 0.92738345 0.32882531 -0.17842046 -2.69866282] [-0.31054286 0.94256658 0.12300966 -1.12810661] [ 0.20862185 -0.05866992 0.97623499 -1.18207174] [ 0. 0. 0. 1. ]] SLAMing on 137.329072329 meters Centerline goodness : 0.192655 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.12, Z:-1.18 [[ 0.92728837 0.32880868 -0.17894447 -2.69617825] [-0.31065457 0.94262735 0.12225964 -1.1217026 ] [ 0.20887798 -0.05778003 0.9762333 -1.18193927] [ 0. 0. 0. 1. ]] SLAMing on 137.359072329 meters Centerline goodness : 0.190915 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.12, Z:-1.18 [[ 0.92716863 0.32874071 -0.17968827 -2.69376107] [-0.31066694 0.94269933 0.12167181 -1.11514168] [ 0.20939049 -0.05698708 0.97617012 -1.18123332] [ 0. 0. 0. 1. ]] SLAMing on 137.38907232900002 meters Centerline goodness : 0.189705 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.11, Z:-1.18 [[ 0.92777285 0.32801142 -0.17789335 -2.69354258] [-0.30983931 0.94285391 0.122581 -1.10648977] [ 0.2079354 -0.05860897 0.9763851 -1.184472 ] [ 0. 0. 0. 1. ]] SLAMing on 137.41907232900002 meters Centerline goodness : 0.189928 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.10, Z:-1.18 [[ 0.92853738 0.32500608 -0.17941399 -2.69076061] [-0.30733168 0.94405826 0.11958777 -1.09989626] [ 0.20824401 -0.05590211 0.97647805 -1.18400216] [ 0. 0. 0. 1. ]] SLAMing on 137.44907232900002 meters Centerline goodness : 0.190405 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.09, Z:-1.18 [[ 0.92970962 0.32050621 -0.1814271 -2.68691473] [-0.30342938 0.94577927 0.11589733 -1.09041008] [ 0.2087358 -0.05270055 0.97655108 -1.18309562] [ 0. 0. 0. 1. ]] SLAMing on 137.47907232900002 meters Centerline goodness : 0.189020 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.08, Z:-1.18 [[ 0.93046171 0.31737105 -0.18307546 -2.68416441] [-0.30079015 0.9469828 0.11291088 -1.08341331] [ 0.20920396 -0.04999196 0.97659332 -1.18215503] [ 0. 0. 0. 1. ]] SLAMing on 137.50907232900002 meters Centerline goodness : 0.254285 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.07, Z:-1.18 [[ 0.93213369 0.31264536 -0.18270099 -2.68280168] [-0.29651405 0.94861398 0.11050311 -1.07249355] [ 0.207861 -0.04883027 0.9769388 -1.18416019] [ 0. 0. 0. 1. ]] SLAMing on 137.539072329 meters Centerline goodness : 0.175994 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.07, Z:-1.18 [[ 0.93250976 0.31060609 -0.18425366 -2.68088131] [-0.29471087 0.94936552 0.10886055 -1.06644505] [ 0.20873682 -0.04721197 0.9768316 -1.18230139] [ 0. 0. 0. 1. ]] SLAMing on 137.569072329 meters Centerline goodness : 0.255898 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.06, Z:-1.18 [[ 0.93335843 0.30682902 -0.18627397 -2.67787437] [-0.29148129 0.9507377 0.1055295 -1.05828596] [ 0.2094772 -0.04420147 0.97681397 -1.18079325] [ 0. 0. 0. 1. ]] SLAMing on 137.599072329 meters Centerline goodness : 0.255322 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.05, Z:-1.18 [[ 0.93423082 0.30288516 -0.18834372 -2.67478339] [-0.28809905 0.9521378 0.10213985 -1.05041979] [ 0.21026582 -0.04116054 0.9767774 -1.179452 ] [ 0. 0. 0. 1. ]] SLAMing on 137.629072329 meters Centerline goodness : 0.258589 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.04, Z:-1.18 [[ 0.93707438 0.29318553 -0.18956229 -2.67197634] [-0.27946366 0.95533714 0.0960781 -1.03751725] [ 0.2092646 -0.03705655 0.97715666 -1.18155558] [ 0. 0. 0. 1. ]] SLAMing on 137.659072329 meters Centerline goodness : 0.097152 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.03, Z:-1.18 [[ 0.93800405 0.28892407 -0.19149746 -2.66894839] [-0.27581731 0.95675048 0.0924842 -1.02959996] [ 0.2099362 -0.03393224 0.97712609 -1.18050711] [ 0. 0. 0. 1. ]] SLAMing on 137.689072329 meters Centerline goodness : 0.111897 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.02, Z:-1.18 [[ 0.93888225 0.28483836 -0.19330605 -2.66576989] [-0.27234037 0.95807731 0.08898653 -1.02149425] [ 0.21054892 -0.03090284 0.97709476 -1.17951426] [ 0. 0. 0. 1. ]] SLAMing on 137.719072329 meters Centerline goodness : 0.101983 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.01, Z:-1.18 [[ 0.94189629 0.27415499 -0.19408871 -2.6558756 ] [-0.26090752 0.96103461 0.09132221 -1.00796693] [ 0.21156241 -0.03537685 0.97672403 -1.17979513] [ 0. 0. 0. 1. ]] SLAMing on 137.749072329 meters Centerline goodness : 0.091028 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.00, Z:-1.18 [[ 0.94275551 0.26994582 -0.19580936 -2.65268709] [-0.25734406 0.96233504 0.08766584 -0.99962249] [ 0.21209924 -0.03225708 0.97671562 -1.17903105] [ 0. 0. 0. 1. ]] SLAMing on 137.779072329 meters Centerline goodness : 0.289743 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.99, Z:-1.18 [[ 0.94523131 0.26001096 -0.1973121 -2.64785771] [-0.24854909 0.96520709 0.0812319 -0.98580262] [ 0.21156822 -0.0277412 0.97696945 -1.18027814] [ 0. 0. 0. 1. ]] SLAMing on 137.809072329 meters Centerline goodness : 0.101561 Centerline is valid? [False, False] Translation: X:-2.65, Y:-0.98, Z:-1.18 [[ 0.94609416 0.25563618 -0.19888688 -2.64501267] [-0.24481014 0.96645509 0.07766947 -0.97796799] [ 0.21207036 -0.02479311 0.97693985 -1.1793773 ] [ 0. 0. 0. 1. ]] SLAMing on 137.839072329 meters Centerline goodness : 0.180455 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.97, Z:-1.18 [[ 0.94688647 0.25134714 -0.20057574 -2.64173415] [-0.24110627 0.96764581 0.07435968 -0.96983023] [ 0.21277637 -0.02205011 0.97685209 -1.17849319] [ 0. 0. 0. 1. ]] SLAMing on 137.869072329 meters Centerline goodness : 0.540806 Centerline is valid? [False, False] Translation: X:-2.64, Y:-0.96, Z:-1.18 [[ 0.94763921 0.24714572 -0.2022348 -2.63818742] [-0.237482 0.96878465 0.07112384 -0.96149542] [ 0.21349992 -0.01937262 0.97675098 -1.17775126] [ 0. 0. 0. 1. ]] SLAMing on 137.899072329 meters Centerline goodness : 0.365073 Centerline is valid? [False, False] Translation: X:-2.63, Y:-0.95, Z:-1.18 [[ 0.95009314 0.23611851 -0.20388988 -2.6276791 ] [-0.22560276 0.97142707 0.07370785 -0.947934 ] [ 0.21546793 -0.0240312 0.97621518 -1.17698068] [ 0. 0. 0. 1. ]] SLAMing on 137.929072329 meters Centerline goodness : 0.512206 Centerline is valid? [False, False] Translation: X:-2.62, Y:-0.94, Z:-1.18 [[ 0.9507762 0.23192436 -0.20551328 -2.62381494] [-0.22207381 0.97250699 0.07009554 -0.93935801] [ 0.21611996 -0.02100605 0.97614082 -1.17680832] [ 0. 0. 0. 1. ]] SLAMing on 137.959072329 meters Centerline goodness : 0.444522 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.93, Z:-1.18 [[ 0.95297292 0.22082741 -0.2075521 -2.61310167] [-0.21019925 0.97498734 0.07222159 -0.92685183] [ 0.21830917 -0.02519792 0.97555429 -1.17580931] [ 0. 0. 0. 1. ]] SLAMing on 137.989072329 meters Centerline goodness : 0.458451 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.92, Z:-1.18 [[ 0.95357955 0.21675586 -0.2090525 -2.60931849] [-0.20680525 0.97597361 0.06860835 -0.91804244] [ 0.21890099 -0.02219037 0.97549472 -1.17545539] [ 0. 0. 0. 1. ]] SLAMing on 138.019072329 meters Centerline goodness : 0.512570 Centerline is valid? [False, False] Translation: X:-2.61, Y:-0.91, Z:-1.17 [[ 0.95412577 0.21276842 -0.21065044 -2.60544189] [-0.20347893 0.97691314 0.06509252 -0.90889433] [ 0.21963682 -0.01924352 0.9753919 -1.17464504] [ 0. 0. 0. 1. ]] SLAMing on 138.049072329 meters Centerline goodness : 0.233421 Centerline is valid? [False, False] Translation: X:-2.60, Y:-0.89, Z:-1.17 [[ 0.956094 0.20334485 -0.2110335 -2.59500276] [-0.19309755 0.97879923 0.06830373 -0.89450609] [ 0.22044863 -0.02455473 0.97508946 -1.17380685] [ 0. 0. 0. 1. ]] SLAMing on 138.079072329 meters Centerline goodness : 0.208799 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.88, Z:-1.17 [[ 0.95658442 0.19950818 -0.21246817 -2.59083274] [-0.18998607 0.97966303 0.0645418 -0.88454945] [ 0.22102383 -0.02137369 0.97503417 -1.17371895] [ 0. 0. 0. 1. ]] SLAMing on 138.109072329 meters Centerline goodness : 0.223956 Centerline is valid? [False, False] Translation: X:-2.59, Y:-0.87, Z:-1.17 [[ 0.95746177 0.19395624 -0.21365378 -2.58594944] [-0.18514798 0.98083475 0.06069125 -0.87030026] [ 0.2213305 -0.01855199 0.97502238 -1.17392471] [ 0. 0. 0. 1. ]] SLAMing on 138.13907232900002 meters Centerline goodness : 0.228720 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.86, Z:-1.17 [[ 0.95790004 0.1900138 -0.21522608 -2.58152544] [-0.18196871 0.98166328 0.05678555 -0.86055131] [ 0.22206957 -0.01523047 0.97491186 -1.17394699] [ 0. 0. 0. 1. ]] SLAMing on 138.16907232900002 meters Centerline goodness : 0.238447 Centerline is valid? [False, False] Translation: X:-2.58, Y:-0.85, Z:-1.17 [[ 0.95829657 0.1862637 -0.21673374 -2.57691138] [-0.17895546 0.98242586 0.05305067 -0.85092998] [ 0.22280625 -0.01205259 0.97478824 -1.17405839] [ 0. 0. 0. 1. ]] SLAMing on 138.19907232900002 meters Centerline goodness : 0.359809 Centerline is valid? [False, False] Translation: X:-2.57, Y:-0.84, Z:-1.17 [[ 0.95900085 0.17967519 -0.21916706 -2.5650236 ] [-0.17125375 0.98357689 0.05699702 -0.83749107] [ 0.2258086 -0.01712701 0.97402112 -1.17277959] [ 0. 0. 0. 1. ]] SLAMing on 138.22907232900002 meters Centerline goodness : 0.254308 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.83, Z:-1.17 [[ 0.95880859 0.17779583 -0.22152816 -2.55809999] [-0.16882691 0.98388174 0.05894227 -0.83050741] [ 0.22843721 -0.01911444 0.97337099 -1.17117011] [ 0. 0. 0. 1. ]] SLAMing on 138.25907232900002 meters Centerline goodness : 0.242461 Centerline is valid? [False, False] Translation: X:-2.55, Y:-0.82, Z:-1.17 [[ 0.95855441 0.17617195 -0.22391269 -2.55090273] [-0.1665686 0.98412683 0.06123138 -0.82375093] [ 0.23114573 -0.02139678 0.97268383 -1.16970952] [ 0. 0. 0. 1. ]] SLAMing on 138.289072329 meters Centerline goodness : 0.247219 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.81, Z:-1.17 [[ 0.95904196 0.17057856 -0.22614481 -2.53952614] [-0.1596276 0.98496871 0.06599745 -0.81170751] [ 0.23400332 -0.02719537 0.97185537 -1.16898422] [ 0. 0. 0. 1. ]] SLAMing on 138.319072329 meters Centerline goodness : 0.247219 Centerline is valid? [False, False] Translation: X:-2.54, Y:-0.81, Z:-1.17 [[ 0.95904196 0.17057856 -0.22614481 -2.53952614] [-0.1596276 0.98496871 0.06599745 -0.81170751] [ 0.23400332 -0.02719537 0.97185537 -1.16898422] [ 0. 0. 0. 1. ]] SLAMing on 138.349072329 meters Centerline goodness : 0.244181 Centerline is valid? [False, False] Translation: X:-2.53, Y:-0.81, Z:-1.17 [[ 0.95872746 0.16901578 -0.228638 -2.53220913] [-0.15736309 0.9851686 0.06840824 -0.80550426] [ 0.23680905 -0.02960568 0.97110503 -1.16744755] [ 0. 0. 0. 1. ]] SLAMing on 138.379072329 meters Centerline goodness : 0.254064 Centerline is valid? [False, False] Translation: X:-2.52, Y:-0.79, Z:-1.17 [[ 0.95904211 0.1633623 -0.23141088 -2.51945421] [-0.15025695 0.98592656 0.07329167 -0.79426368] [ 0.24012723 -0.03551871 0.97009141 -1.16608753] [ 0. 0. 0. 1. ]] SLAMing on 138.409072329 meters Centerline goodness : 0.258013 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.79, Z:-1.16 [[ 0.95880076 0.16141201 -0.23376754 -2.51253072] [-0.14757903 0.9861549 0.07562368 -0.78887559] [ 0.24273757 -0.03800885 0.9693471 -1.16466895] [ 0. 0. 0. 1. ]] SLAMing on 138.439072329 meters Centerline goodness : 0.252078 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.78, Z:-1.16 [[ 0.95854073 0.15938307 -0.23621328 -2.50558243] [-0.14477538 0.98638047 0.07806186 -0.78403141] [ 0.24543791 -0.04062761 0.9685606 -1.16309221] [ 0. 0. 0. 1. ]] SLAMing on 138.469072329 meters Centerline goodness : 0.268919 Centerline is valid? [False, False] Translation: X:-2.50, Y:-0.77, Z:-1.17 [[ 0.96204269 0.14995617 -0.22800661 -2.49771676] [-0.1343929 0.98749563 0.08240709 -0.77469717] [ 0.23751298 -0.04863667 0.97016599 -1.16860186] [ 0. 0. 0. 1. ]] SLAMing on 138.499072329 meters Centerline goodness : 0.261202 Centerline is valid? [False, False] Translation: X:-2.49, Y:-0.77, Z:-1.17 [[ 0.96176923 0.14767205 -0.23063591 -2.49018184] [-0.13117679 0.98767601 0.08537414 -0.77043554] [ 0.24040093 -0.05185614 0.96928754 -1.16715359] [ 0. 0. 0. 1. ]] SLAMing on 138.529072329 meters Centerline goodness : 0.258027 Centerline is valid? [False, False] Translation: X:-2.48, Y:-0.77, Z:-1.17 [[ 0.96147987 0.14543767 -0.23324738 -2.48254704] [-0.1279647 0.98782636 0.08845407 -0.76620708] [ 0.24327246 -0.05519937 0.96838605 -1.16577714] [ 0. 0. 0. 1. ]] SLAMing on 138.559072329 meters Centerline goodness : 0.262516 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.76, Z:-1.17 [[ 0.96488959 0.13618211 -0.2245941 -2.47393362] [-0.11734804 0.98851358 0.09523831 -0.7585699 ] [ 0.23498407 -0.06553878 0.96978717 -1.17120434] [ 0. 0. 0. 1. ]] SLAMing on 138.589072329 meters Centerline goodness : 0.482550 Centerline is valid? [False, False] Translation: X:-2.47, Y:-0.76, Z:-1.17 [[ 0.96465599 0.13337988 -0.22726336 -2.4664475 ] [-0.1134068 0.98861971 0.09884318 -0.7558365 ] [ 0.23786072 -0.06957645 0.9688041 -1.16961619] [ 0. 0. 0. 1. ]] SLAMing on 138.619072329 meters Centerline goodness : 0.441872 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.17 [[ 0.96808729 0.11954062 -0.22026585 -2.45475208] [-0.10024179 0.99023897 0.09684195 -0.74339236] [ 0.22969238 -0.07167161 0.97062073 -1.16917116] [ 0. 0. 0. 1. ]] SLAMing on 138.649072329 meters Centerline goodness : 0.362677 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.17 [[ 0.9708132 0.11384148 -0.21109676 -2.45176332] [-0.09400357 0.9903564 0.10177196 -0.74209857] [ 0.2206469 -0.07895771 0.97215257 -1.17479723] [ 0. 0. 0. 1. ]] SLAMing on 138.679072329 meters Centerline goodness : 0.355531 Centerline is valid? [False, False] Translation: X:-2.45, Y:-0.74, Z:-1.18 [[ 0.97398869 0.10463423 -0.20099183 -2.45007589] [-0.08516407 0.99100693 0.10321021 -0.73799572] [ 0.20998361 -0.08340829 0.97414062 -1.180154 ] [ 0. 0. 0. 1. ]] SLAMing on 138.709072329 meters Centerline goodness : 0.378106 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.73, Z:-1.18 [[ 0.97677667 0.08932624 -0.19475152 -2.43702448] [-0.07015106 0.99217979 0.10323804 -0.72626084] [ 0.20245039 -0.08717848 0.9754044 -1.1793347 ] [ 0. 0. 0. 1. ]] SLAMing on 138.739072329 meters Centerline goodness : 0.305190 Centerline is valid? [False, False] Translation: X:-2.44, Y:-0.72, Z:-1.18 [[ 0.97923403 0.08336136 -0.18480151 -2.4356638 ] [-0.06634658 0.99312652 0.09642533 -0.71841121] [ 0.19156943 -0.08216202 0.97803403 -1.17897047] [ 0. 0. 0. 1. ]] SLAMing on 138.769072329 meters Centerline goodness : 0.286532 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.71, Z:-1.18 [[ 0.98113012 0.06892178 -0.1806474 -2.42359832] [-0.0527456 0.99427991 0.09287287 -0.70830378] [ 0.18601505 -0.08159202 0.97915328 -1.17708977] [ 0. 0. 0. 1. ]] SLAMing on 138.799072329 meters Centerline goodness : 0.283797 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.70, Z:-1.18 [[ 0.98326172 0.06318555 -0.17089172 -2.42088864] [-0.04891792 0.99505431 0.08645203 -0.70082268] [ 0.17550906 -0.0766453 0.98148972 -1.17818742] [ 0. 0. 0. 1. ]] SLAMing on 138.829072329 meters Centerline goodness : 0.260597 Centerline is valid? [False, False] Translation: X:-2.42, Y:-0.69, Z:-1.18 [[ 0.98528805 0.05743399 -0.1609621 -2.41816199] [-0.04494733 0.99576705 0.08017301 -0.69319209] [ 0.16488542 -0.07175869 0.98369888 -1.17951842] [ 0. 0. 0. 1. ]] SLAMing on 138.859072329 meters Centerline goodness : 0.244081 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.68, Z:-1.18 [[ 0.98599576 0.04464429 -0.16068372 -2.4003103 ] [-0.03226889 0.99636646 0.07881999 -0.68376883] [ 0.16361873 -0.07253109 0.98385373 -1.17790174] [ 0. 0. 0. 1. ]] SLAMing on 138.88907232900002 meters Centerline goodness : 0.246205 Centerline is valid? [False, False] Translation: X:-2.40, Y:-0.67, Z:-1.18 [[ 0.98775374 0.03683682 -0.15160999 -2.39670399] [-0.02627249 0.99712285 0.07110404 -0.67433493] [ 0.15379303 -0.06625011 0.98587962 -1.17678986] [ 0. 0. 0. 1. ]] SLAMing on 138.91907232900002 meters Centerline goodness : 0.243088 Centerline is valid? [False, False] Translation: X:-2.39, Y:-0.67, Z:-1.18 [[ 0.98948251 0.03094078 -0.14130478 -2.39355063] [-0.0218927 0.99763568 0.06514412 -0.66733237] [ 0.1429863 -0.06136542 0.98782043 -1.17728343] [ 0. 0. 0. 1. ]] SLAMing on 138.94907232900002 meters Centerline goodness : 0.441663 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.66, Z:-1.18 [[ 0.98990307 0.01592918 -0.14084807 -2.37453482] [-0.00732737 0.99808754 0.06138056 -0.65826422] [ 0.14155645 -0.05972876 0.98812664 -1.17532807] [ 0. 0. 0. 1. ]] SLAMing on 138.97907232900002 meters Centerline goodness : 0.252184 Centerline is valid? [False, False] Translation: X:-2.37, Y:-0.65, Z:-1.17 [[ 0.99080832 0.00404912 -0.13521269 -2.36795395] [ 0.00434696 0.99808265 0.06174243 -0.65400344] [ 0.13520345 -0.06176268 0.98889099 -1.17399432] [ 0. 0. 0. 1. ]] SLAMing on 139.009072329 meters Centerline goodness : 0.255274 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.65, Z:-1.17 [[ 0.99075966 -0.01156298 -0.13513547 -2.3484466 ] [ 0.01960544 0.9981045 0.05833561 -0.64711263] [ 0.13420478 -0.06044596 0.98910837 -1.17291058] [ 0. 0. 0. 1. ]] SLAMing on 139.039072329 meters Centerline goodness : 0.232067 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.64, Z:-1.17 [[ 0.99130652 -0.02358375 -0.12944186 -2.34067271] [ 0.03130262 0.99783007 0.05792494 -0.64271669] [ 0.1277949 -0.06147324 0.98989368 -1.17067614] [ 0. 0. 0. 1. ]] SLAMing on 139.069072329 meters Centerline goodness : 0.299755 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.64, Z:-1.17 [[ 0.99168131 -0.03563447 -0.12368659 -2.33272609] [ 0.04303867 0.99740492 0.05771563 -0.63835074] [ 0.12130895 -0.06255882 0.99064148 -1.16896746] [ 0. 0. 0. 1. ]] SLAMing on 139.099072329 meters Centerline goodness : 0.223879 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.63, Z:-1.17 [[ 0.99189921 -0.04697913 -0.11802082 -2.32396588] [ 0.05409455 0.99686001 0.05782643 -0.63383136] [ 0.1149336 -0.06374228 0.99132598 -1.16691712] [ 0. 0. 0. 1. ]] SLAMing on 139.129072329 meters Centerline goodness : 0.193345 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.63, Z:-1.16 [[ 0.99123953 -0.06073263 -0.11728484 -2.30287554] [ 0.06754161 0.99620059 0.05497748 -0.62714134] [ 0.1135003 -0.06241746 0.99157538 -1.16263472] [ 0. 0. 0. 1. ]] SLAMing on 139.159072329 meters Centerline goodness : 0.187329 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.63, Z:-1.16 [[ 0.9907606 -0.06493151 -0.11906861 -2.29645739] [ 0.07141089 0.99614337 0.05097907 -0.62623649] [ 0.11529926 -0.05901084 0.99157642 -1.16066205] [ 0. 0. 0. 1. ]] SLAMing on 139.189072329 meters Centerline goodness : 0.187341 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.63, Z:-1.16 [[ 0.99025255 -0.06917694 -0.12089018 -2.28973498] [ 0.07531971 0.9960512 0.04699937 -0.6255414 ] [ 0.11716154 -0.05564666 0.99155263 -1.15926923] [ 0. 0. 0. 1. ]] SLAMing on 139.219072329 meters Centerline goodness : 0.172874 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.63, Z:-1.16 [[ 0.98968421 -0.07357033 -0.12293317 -2.28227155] [ 0.07935967 0.99592364 0.04287357 -0.62534094] [ 0.11927783 -0.05218723 0.99148842 -1.15843881] [ 0. 0. 0. 1. ]] SLAMing on 139.249072329 meters Centerline goodness : 0.166387 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.62, Z:-1.16 [[ 0.988585 -0.0885241 -0.12191463 -2.25920901] [ 0.0939678 0.99478579 0.03963952 -0.62294691] [ 0.11776989 -0.05064308 0.99174872 -1.15735908] [ 0. 0. 0. 1. ]] SLAMing on 139.279072329 meters Centerline goodness : 0.140023 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.62, Z:-1.16 [[ 0.98796275 -0.09279634 -0.12376773 -2.2515566 ] [ 0.09789004 0.99455612 0.03571648 -0.6235983 ] [ 0.11977959 -0.04740218 0.99166823 -1.15675182] [ 0. 0. 0. 1. ]] SLAMing on 139.309072329 meters Centerline goodness : 0.123871 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.62, Z:-1.15 [[ 0.98667293 -0.10641162 -0.12309792 -2.2269507 ] [ 0.11129794 0.99322215 0.03350409 -0.62131955] [ 0.11869835 -0.04675812 0.99182881 -1.15482266] [ 0. 0. 0. 1. ]] SLAMing on 139.339072329 meters Centerline goodness : 0.206997 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.62, Z:-1.16 [[ 0.98631222 -0.10689531 -0.12554522 -2.21812427] [ 0.11195475 0.99313353 0.03394013 -0.62415264] [ 0.12105513 -0.04753095 0.99150717 -1.1554723 ] [ 0. 0. 0. 1. ]] SLAMing on 139.369072329 meters Centerline goodness : 0.123274 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.63, Z:-1.16 [[ 0.98606506 -0.10695546 -0.12742148 -2.210319 ] [ 0.1122144 0.99307398 0.03481372 -0.62759935] [ 0.12281544 -0.04862711 0.9912375 -1.15623338] [ 0. 0. 0. 1. ]] SLAMing on 139.399072329 meters Centerline goodness : 0.397916 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.63, Z:-1.15 [[ 0.98463616 -0.12059158 -0.12629059 -2.1860118 ] [ 0.12567017 0.9915224 0.03302023 -0.62654731] [ 0.12123798 -0.04838388 0.99144357 -1.15447688] [ 0. 0. 0. 1. ]] SLAMing on 139.429072329 meters Centerline goodness : 0.286408 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.63, Z:-1.15 [[ 0.98398781 -0.12461567 -0.12743202 -2.17902106] [ 0.1293257 0.99116778 0.02934796 -0.62796016] [ 0.1226493 -0.04535827 0.99141302 -1.15368747] [ 0. 0. 0. 1. ]] SLAMing on 139.459072329 meters Centerline goodness : 0.249455 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.63, Z:-1.15 [[ 0.98224605 -0.13921747 -0.12574259 -2.15436083] [ 0.14362203 0.98927439 0.02662495 -0.62802502] [ 0.12068726 -0.04421166 0.99170556 -1.15191364] [ 0. 0. 0. 1. ]] SLAMing on 139.489072329 meters Centerline goodness : 0.415625 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.63, Z:-1.15 [[ 0.98152696 -0.1434345 -0.12661507 -2.14811461] [ 0.14746945 0.98879817 0.02304202 -0.62977171] [ 0.12189173 -0.04128822 0.99168427 -1.15115593] [ 0. 0. 0. 1. ]] SLAMing on 139.519072329 meters Centerline goodness : 0.118743 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.63, Z:-1.15 [[ 0.98116488 -0.14426566 -0.12846359 -2.14074004] [ 0.14845054 0.98863892 0.02356939 -0.6330702 ] [ 0.12360385 -0.04219595 0.99143411 -1.1520464 ] [ 0. 0. 0. 1. ]] SLAMing on 139.549072329 meters Centerline goodness : 0.566635 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.64, Z:-1.15 [[ 0.98077144 -0.14518201 -0.13042073 -2.13339437] [ 0.14950858 0.98846993 0.02396627 -0.63597966] [ 0.1254375 -0.04300445 0.99116903 -1.15284678] [ 0. 0. 0. 1. ]] SLAMing on 139.579072329 meters Centerline goodness : 0.124657 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.64, Z:-1.15 [[ 0.97871975 -0.1595396 -0.12905333 -2.10871113] [ 0.16361542 0.98628872 0.02155337 -0.63553943] [ 0.12384523 -0.04220983 0.99140339 -1.14950941] [ 0. 0. 0. 1. ]] SLAMing on 139.609072329 meters Centerline goodness : 0.127822 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.64, Z:-1.15 [[ 0.97786745 -0.1639743 -0.12995258 -2.10246291] [ 0.16765141 0.98568555 0.01780463 -0.63692842] [ 0.12517288 -0.0391973 0.99136034 -1.14863935] [ 0. 0. 0. 1. ]] SLAMing on 139.63907232900002 meters Centerline goodness : 0.053550 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.64, Z:-1.15 [[ 0.97703172 -0.16828344 -0.13072759 -2.09638086] [ 0.17157658 0.98506746 0.01426798 -0.63874741] [ 0.12637443 -0.03637006 0.99131565 -1.14829696] [ 0. 0. 0. 1. ]] SLAMing on 139.66907232900002 meters Centerline goodness : 0.066207 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.64, Z:-1.14 [[ 0.97400359 -0.18603724 -0.12925618 -2.07038993] [ 0.18869542 0.98199867 0.00852331 -0.63634464] [ 0.12534374 -0.03269178 0.9915746 -1.1448533 ] [ 0. 0. 0. 1. ]] SLAMing on 139.69907232900002 meters Centerline goodness : 0.200805 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.64, Z:-1.14 [[ 0.97297815 -0.19024841 -0.13083984 -2.06326726] [ 0.19267762 0.98124349 0.00604632 -0.64143605] [ 0.12723544 -0.03109284 0.99138508 -1.14333494] [ 0. 0. 0. 1. ]] SLAMing on 139.72907232900002 meters Centerline goodness : 0.396190 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.65, Z:-1.14 [[ 0.96690771 -0.2207893 -0.1278341 -2.04005243] [ 0.22367784 0.97462591 0.00851775 -0.65054869] [ 0.1227098 -0.03682953 0.99175899 -1.14453011] [ 0. 0. 0. 1. ]] SLAMing on 139.759072329 meters Centerline goodness : 0.251253 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-1.15 [[ 0.96492821 -0.22917801 -0.12802734 -2.03218203] [ 0.23135147 0.97286782 0.00216864 -0.65715917] [ 0.12405667 -0.0317119 0.99176827 -1.14562065] [ 0. 0. 0. 1. ]] SLAMing on 139.789072329 meters Centerline goodness : 0.309028 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-1.15 [[ 0.96280345 -0.23797726 -0.12797005 -2.02437981] [ 0.23940408 0.97091032 -0.00434085 -0.66408024] [ 0.12528046 -0.02645717 0.99176853 -1.14720218] [ 0. 0. 0. 1. ]] SLAMing on 139.819072329 meters Centerline goodness : 0.300016 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-1.15 [[ 0.9606639 -0.24666239 -0.12760303 -2.0173978 ] [ 0.24731939 0.96887246 -0.01092121 -0.67060155] [ 0.12632491 -0.02106709 0.99176519 -1.14804696] [ 0. 0. 0. 1. ]] SLAMing on 139.849072329 meters Centerline goodness : 0.219139 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-1.15 [[ 0.95250456 -0.27890684 -0.12225396 -1.99304587] [ 0.27958143 0.96004758 -0.01195263 -0.67507394] [ 0.12070329 -0.022795 0.99242688 -1.14776979] [ 0. 0. 0. 1. ]] SLAMing on 139.879072329 meters Centerline goodness : 0.304440 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-1.15 [[ 0.95173372 -0.28078778 -0.1239401 -1.98754601] [ 0.28172226 0.95944087 -0.01028477 -0.68204932] [ 0.12180103 -0.02512833 0.9922364 -1.14905997] [ 0. 0. 0. 1. ]] SLAMing on 139.909072329 meters Centerline goodness : 0.292451 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.69, Z:-1.15 [[ 0.95100752 -0.28253988 -0.12552255 -1.98264359] [ 0.28372166 0.95886688 -0.0087371 -0.68856823] [ 0.12282799 -0.02730441 0.99205229 -1.15008057] [ 0. 0. 0. 1. ]] SLAMing on 139.939072329 meters Centerline goodness : 0.331860 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.69, Z:-1.15 [[ 0.94164314 -0.31360066 -0.12232262 -1.95869482] [ 0.31501378 0.94905239 -0.00811699 -0.69160083] [ 0.11863606 -0.03089 0.9924572 -1.15021585] [ 0. 0. 0. 1. ]] SLAMing on 139.969072329 meters Centerline goodness : 0.344616 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.70, Z:-1.15 [[ 0.93990767 -0.31871587 -0.12244903 -1.95291272] [ 0.31985474 0.94740534 -0.01077346 -0.69702461] [ 0.11944254 -0.02903985 0.99241633 -1.15249648] [ 0. 0. 0. 1. ]] SLAMing on 139.999072329 meters Centerline goodness : 0.321226 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.70, Z:-1.15 [[ 0.92853538 -0.34961154 -0.1248752 -1.92359285] [ 0.35054557 0.93642332 -0.01513865 -0.69729373] [ 0.1222287 -0.02971768 0.99205696 -1.14861599] [ 0. 0. 0. 1. ]] SLAMing on 140.029072329 meters Centerline goodness : 0.204735 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.70, Z:-1.15 [[ 0.92652517 -0.35467805 -0.1255173 -1.9175673 ] [ 0.35530467 0.93457489 -0.01812084 -0.7007251 ] [ 0.12373238 -0.02780747 0.99192593 -1.14911523] [ 0. 0. 0. 1. ]] SLAMing on 140.059072329 meters Centerline goodness : 0.199061 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.71, Z:-1.15 [[ 0.92566095 -0.35653645 -0.12662372 -1.91359638] [ 0.35741183 0.93380077 -0.01652012 -0.70658294] [ 0.12413135 -0.02996478 0.99181325 -1.15200757] [ 0. 0. 0. 1. ]] SLAMing on 140.089072329 meters Centerline goodness : 0.187359 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.71, Z:-1.15 [[ 0.91397858 -0.38514564 -0.1276949 -1.8888604 ] [ 0.38634016 0.9222126 -0.01628517 -0.7064443 ] [ 0.124034 -0.03444937 0.99167979 -1.1501431 ] [ 0. 0. 0. 1. ]] SLAMing on 140.119072329 meters Centerline goodness : 0.168346 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.71, Z:-1.15 [[ 0.91181772 -0.3902565 -0.12762565 -1.88366032] [ 0.39110496 0.92014177 -0.01939164 -0.70983387] [ 0.12500141 -0.03223338 0.99163282 -1.15106652] [ 0. 0. 0. 1. ]] SLAMing on 140.149072329 meters Centerline goodness : 0.195431 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.71, Z:-1.15 [[ 0.90971359 -0.39526252 -0.12723493 -1.87908389] [ 0.39574989 0.91808233 -0.02251335 -0.71335799] [ 0.12571082 -0.02987251 0.99161707 -1.15204916] [ 0. 0. 0. 1. ]] SLAMing on 140.179072329 meters Centerline goodness : 0.148588 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.71, Z:-1.15 [[ 0.89820276 -0.42046724 -0.12821504 -1.85385255] [ 0.42102412 0.90673019 -0.02406354 -0.7139405 ] [ 0.12637437 -0.03236768 0.99145441 -1.14638718] [ 0. 0. 0. 1. ]] SLAMing on 140.209072329 meters Centerline goodness : 0.153670 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.72, Z:-1.15 [[ 0.89730843 -0.42214701 -0.12895532 -1.85100926] [ 0.42288466 0.90589241 -0.02296767 -0.7179774 ] [ 0.12651538 -0.03392415 0.99138439 -1.14920052] [ 0. 0. 0. 1. ]] SLAMing on 140.239072329 meters Centerline goodness : 0.153670 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.72, Z:-1.15 [[ 0.90203309 -0.41203963 -0.1286843 -1.85677818] [ 0.41230078 0.91068073 -0.02585865 -0.72085592] [ 0.1278451 -0.02973128 0.99134842 -1.15212551] [ 0. 0. 0. 1. ]] SLAMing on 140.269072329 meters Centerline goodness : 0.122814 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.72, Z:-1.15 [[ 0.90105352 -0.41388572 -0.1296193 -1.85366171] [ 0.4143199 0.90979114 -0.0248818 -0.72438561] [ 0.12822471 -0.03128402 0.9912516 -1.15491442] [ 0. 0. 0. 1. ]] SLAMing on 140.299072329 meters Centerline goodness : 0.368963 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.72, Z:-1.15 [[ 0.88949291 -0.43702683 -0.13345374 -1.82934399] [ 0.43782993 0.89871445 -0.02484538 -0.7235171 ] [ 0.1307949 -0.03633025 0.99074356 -1.15083472] [ 0. 0. 0. 1. ]] SLAMing on 140.329072329 meters Centerline goodness : 0.374568 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.73, Z:-1.15 [[ 0.88859795 -0.43874526 -0.13377697 -1.82735728] [ 0.4397079 0.89782376 -0.02386342 -0.72691892] [ 0.13057811 -0.03761781 0.99072411 -1.15435777] [ 0. 0. 0. 1. ]] SLAMing on 140.359072329 meters Centerline goodness : 0.385192 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.73, Z:-1.15 [[ 0.87782779 -0.4593569 -0.135682 -1.80659453] [ 0.46026065 0.88738769 -0.02651839 -0.72509545] [ 0.13258394 -0.03917051 0.99039748 -1.15065646] [ 0. 0. 0. 1. ]] SLAMing on 140.38907232900002 meters Centerline goodness : 0.389106 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.73, Z:-1.15 [[ 0.87552638 -0.46346551 -0.13657699 -1.79828211] [ 0.46405685 0.88531636 -0.02943088 -0.72913382] [ 0.13455404 -0.03761198 0.99019218 -1.14879413] [ 0. 0. 0. 1. ]] SLAMing on 140.41907232900002 meters Centerline goodness : 0.386193 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.73, Z:-1.15 [[ 0.87461032 -0.46502689 -0.13713784 -1.79594735] [ 0.46573114 0.88445457 -0.02888986 -0.73178742] [ 0.13472675 -0.038602 0.99013059 -1.1504316 ] [ 0. 0. 0. 1. ]] SLAMing on 140.44907232900002 meters Centerline goodness : 0.392373 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.73, Z:-1.14 [[ 0.86318885 -0.4845582 -0.14180397 -1.77246695] [ 0.4856361 0.8736713 -0.0292582 -0.72968182] [ 0.13806736 -0.04360977 0.98946227 -1.14456955] [ 0. 0. 0. 1. ]] SLAMing on 140.47907232900002 meters Centerline goodness : 0.400692 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.73, Z:-1.15 [[ 0.86158111 -0.48713394 -0.14275332 -1.76789071] [ 0.48824153 0.87220724 -0.029576 -0.73067001] [ 0.13891795 -0.04421598 0.9893163 -1.14715024] [ 0. 0. 0. 1. ]] SLAMing on 140.509072329 meters Centerline goodness : 0.395751 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.73, Z:-1.15 [[ 0.85946936 -0.49096452 -0.14235964 -1.76267919] [ 0.4917905 0.87013304 -0.03178978 -0.73266786] [ 0.13947948 -0.04268878 0.98930437 -1.14909978] [ 0. 0. 0. 1. ]] SLAMing on 140.539072329 meters Centerline goodness : 0.403658 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.73, Z:-1.15 [[ 0.85782909 -0.49366898 -0.14289924 -1.75837358] [ 0.49448946 0.86858567 -0.03223502 -0.73416779] [ 0.14003366 -0.04301003 0.98921217 -1.1517409 ] [ 0. 0. 0. 1. ]] SLAMing on 140.569072329 meters Centerline goodness : 0.398833 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.73, Z:-1.14 [[ 0.84838626 -0.5088084 -0.1461327 -1.737128 ] [ 0.50910693 0.85985518 -0.03819963 -0.73491146] [ 0.14508925 -0.04198913 0.9885272 -1.14369652] [ 0. 0. 0. 1. ]] SLAMing on 140.599072329 meters Centerline goodness : 0.362813 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.74, Z:-1.15 [[ 0.84755682 -0.50998804 -0.146832 -1.73347169] [ 0.51043266 0.85909873 -0.03752175 -0.7377867 ] [ 0.14527882 -0.04314604 0.98844953 -1.14537648] [ 0. 0. 0. 1. ]] SLAMing on 140.629072329 meters Centerline goodness : 0.367006 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.74, Z:-1.15 [[ 0.84683355 -0.51088034 -0.14789932 -1.72869854] [ 0.51151433 0.85849302 -0.03664461 -0.74097652] [ 0.14569155 -0.04462074 0.98832331 -1.14695312] [ 0. 0. 0. 1. ]] SLAMing on 140.659072329 meters Centerline goodness : 0.367083 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.74, Z:-1.14 [[ 0.83852451 -0.52300618 -0.15277823 -1.7071372 ] [ 0.5239 0.85094838 -0.03762491 -0.74168152] [ 0.14968445 -0.04849111 0.98754401 -1.14166873] [ 0. 0. 0. 1. ]] SLAMing on 140.689072329 meters Centerline goodness : 0.364633 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.74, Z:-1.14 [[ 0.83795252 -0.52358103 -0.15394307 -1.70167356] [ 0.5246774 0.85050816 -0.03673557 -0.74450769] [ 0.15016388 -0.04998779 0.98739659 -1.14325816] [ 0. 0. 0. 1. ]] SLAMing on 140.719072329 meters Centerline goodness : 0.312094 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.75, Z:-1.15 [[ 0.83753697 -0.52398858 -0.15481537 -1.69675157] [ 0.52527008 0.85017972 -0.03585792 -0.74734578] [ 0.15041003 -0.05128754 0.98729246 -1.14505358] [ 0. 0. 0. 1. ]] SLAMing on 140.749072329 meters Centerline goodness : 0.279350 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.75, Z:-1.14 [[ 0.83240898 -0.531071 -0.15829995 -1.67670614] [ 0.53193332 0.84581932 -0.0404551 -0.74908974] [ 0.15537768 -0.05052983 0.98656197 -1.13738513] [ 0. 0. 0. 1. ]] SLAMing on 140.779072329 meters Centerline goodness : 0.293539 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.75, Z:-1.14 [[ 0.83218825 -0.53122093 -0.15895608 -1.67218096] [ 0.53221952 0.8456692 -0.03982453 -0.75132238] [ 0.15557988 -0.05145803 0.98648212 -1.13863541] [ 0. 0. 0. 1. ]] SLAMing on 140.809072329 meters Centerline goodness : 0.353683 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.75, Z:-1.13 [[ 0.82919298 -0.53516583 -0.16135842 -1.65493683] [ 0.53590872 0.84319876 -0.0426344 -0.75401622] [ 0.1588737 -0.05112124 0.98597453 -1.13458801] [ 0. 0. 0. 1. ]] SLAMing on 140.839072329 meters Centerline goodness : 0.344168 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.76, Z:-1.14 [[ 0.83028639 -0.53324947 -0.16207873 -1.65046776] [ 0.53435839 0.84429204 -0.04039877 -0.75779445] [ 0.1583844 -0.05306558 0.98595052 -1.1369015 ] [ 0. 0. 0. 1. ]] SLAMing on 140.869072329 meters Centerline goodness : 0.281860 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.76, Z:-1.14 [[ 0.83062204 -0.53246734 -0.1629281 -1.64501 ] [ 0.53381843 0.84469454 -0.03910252 -0.76057145] [ 0.15844529 -0.05449461 0.98586278 -1.13886263] [ 0. 0. 0. 1. ]] SLAMing on 140.899072329 meters Centerline goodness : 0.272983 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.76, Z:-1.14 [[ 0.8286897 -0.53504282 -0.16432453 -1.62937616] [ 0.53611758 0.84311946 -0.04156347 -0.76310843] [ 0.16078345 -0.05365405 0.98553028 -1.13657334] [ 0. 0. 0. 1. ]] SLAMing on 140.929072329 meters Centerline goodness : 0.269596 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.77, Z:-1.14 [[ 0.83172434 -0.53078869 -0.162782 -1.62816145] [ 0.53205974 0.84579088 -0.03937288 -0.76912348] [ 0.15857821 -0.05386236 0.98587616 -1.14087895] [ 0. 0. 0. 1. ]] SLAMing on 140.959072329 meters Centerline goodness : 0.258661 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.77, Z:-1.14 [[ 0.8298447 -0.53336021 -0.16396542 -1.61266707] [ 0.53420188 0.84427829 -0.04269097 -0.77050847] [ 0.16120211 -0.05216376 0.98554189 -1.13752612] [ 0. 0. 0. 1. ]] SLAMing on 140.989072329 meters Centerline goodness : 0.255494 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.78, Z:-1.14 [[ 0.83438316 -0.52661602 -0.16272771 -1.61269523] [ 0.52774119 0.84847123 -0.0398222 -0.77707276] [ 0.15904079 -0.05265115 0.98586707 -1.14216131] [ 0. 0. 0. 1. ]] SLAMing on 141.019072329 meters Centerline goodness : 0.254932 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.78, Z:-1.15 [[ 0.8388028 -0.51978688 -0.1619613 -1.61298048] [ 0.52131405 0.85259076 -0.03634083 -0.78335469] [ 0.1569762 -0.05394992 0.98612772 -1.14701364] [ 0. 0. 0. 1. ]] SLAMing on 141.049072329 meters Centerline goodness : 0.255220 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.79, Z:-1.15 [[ 0.84313081 -0.51288463 -0.16149239 -1.61292888] [ 0.51488775 0.85664301 -0.03245546 -0.78911429] [ 0.15498723 -0.05578626 0.98634013 -1.15227085] [ 0. 0. 0. 1. ]] SLAMing on 141.079072329 meters Centerline goodness : 0.258381 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.79, Z:-1.15 [[ 0.84350887 -0.51132942 -0.16442325 -1.59814205] [ 0.51340803 0.85751409 -0.03289045 -0.78795425] [ 0.15781311 -0.05667284 0.98584137 -1.15005491] [ 0. 0. 0. 1. ]] SLAMing on 141.109072329 meters Centerline goodness : 0.262425 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.79, Z:-1.15 [[ 0.84997864 -0.50087347 -0.16328528 -1.59882206] [ 0.50293929 0.86374813 -0.03148393 -0.79459866] [ 0.15680682 -0.05536191 0.98607641 -1.15328856] [ 0. 0. 0. 1. ]] SLAMing on 141.13907232900002 meters Centerline goodness : 0.216327 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.80, Z:-1.15 [[ 0.85539934 -0.4920878 -0.16168357 -1.59644244] [ 0.49389675 0.86894421 -0.03165375 -0.79782982] [ 0.15607043 -0.05277839 0.98633486 -1.1540862 ] [ 0. 0. 0. 1. ]] SLAMing on 141.16907232900002 meters Centerline goodness : 0.270244 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.79, Z:-1.15 [[ 0.85809011 -0.48758054 -0.1610794 -1.57288412] [ 0.48890311 0.8716726 -0.03406814 -0.79061208] [ 0.15701945 -0.04951869 0.98635328 -1.14994331] [ 0. 0. 0. 1. ]] SLAMing on 141.19907232900002 meters Centerline goodness : 0.253722 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.79, Z:-1.15 [[ 0.86441056 -0.47661723 -0.16009498 -1.57033783] [ 0.4777262 0.87784975 -0.03402195 -0.79396506] [ 0.15675478 -0.04707263 0.98651513 -1.15005847] [ 0. 0. 0. 1. ]] SLAMing on 141.22907232900002 meters Centerline goodness : 0.260072 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.80, Z:-1.15 [[ 0.86785676 -0.47033344 -0.16003468 -1.56841458] [ 0.47183497 0.88114488 -0.0309104 -0.79539328] [ 0.15555193 -0.04868416 0.98662731 -1.15365104] [ 0. 0. 0. 1. ]] SLAMing on 141.259072329 meters Centerline goodness : 0.274136 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.79, Z:-1.15 [[ 0.87004102 -0.4652366 -0.16304453 -1.55013805] [ 0.46678348 0.88382539 -0.03107831 -0.78955484] [ 0.15856167 -0.04906709 0.98612911 -1.15044669] [ 0. 0. 0. 1. ]] SLAMing on 141.289072329 meters Centerline goodness : 0.280760 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.79, Z:-1.15 [[ 0.87224853 -0.4602054 -0.16550979 -1.54386976] [ 0.46231207 0.88627803 -0.02790718 -0.78833177] [ 0.15953073 -0.05217518 0.98581322 -1.15078081] [ 0. 0. 0. 1. ]] SLAMing on 141.319072329 meters Centerline goodness : 0.116545 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.79, Z:-1.15 [[ 0.8763283 -0.45236657 -0.16556929 -1.53774647] [ 0.45451992 0.89033144 -0.02686198 -0.78729926] [ 0.15956301 -0.05171463 0.98583226 -1.1502385 ] [ 0. 0. 0. 1. ]] SLAMing on 141.349072329 meters Centerline goodness : 0.040430 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.78, Z:-1.15 [[ 0.88007926 -0.44471401 -0.16640293 -1.51026671] [ 0.44656839 0.89430468 -0.02821012 -0.77746752] [ 0.16136036 -0.04948314 0.98565423 -1.14562268] [ 0. 0. 0. 1. ]] SLAMing on 141.379072329 meters Centerline goodness : 0.040559 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.77, Z:-1.14 [[ 0.88215144 -0.43951869 -0.1692104 -1.50035837] [ 0.44160544 0.89679802 -0.02716511 -0.7745437 ] [ 0.16368713 -0.05076049 0.98520551 -1.14195143] [ 0. 0. 0. 1. ]] SLAMing on 141.409072329 meters Centerline goodness : 0.044514 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.77, Z:-1.14 [[ 0.88540523 -0.43210554 -0.17129619 -1.49135422] [ 0.43449441 0.90031982 -0.02527526 -0.77199928] [ 0.16514293 -0.05204839 0.98489531 -1.13877111] [ 0. 0. 0. 1. ]] SLAMing on 141.439072329 meters Centerline goodness : 0.123459 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.76, Z:-1.13 [[ 0.88990025 -0.42218247 -0.17274116 -1.46270198] [ 0.42452455 0.90507089 -0.02501178 -0.7613777 ] [ 0.16690253 -0.05107488 0.98464964 -1.13387897] [ 0. 0. 0. 1. ]] SLAMing on 141.469072329 meters Centerline goodness : 0.110157 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.77, Z:-1.15 [[ 0.92022049 -0.35913659 -0.15561218 -1.52371337] [ 0.35501442 0.9332711 -0.05449608 -0.77464461] [ 0.16479989 -0.00509616 0.98631386 -1.1544234 ] [ 0. 0. 0. 1. ]] SLAMing on 141.499072329 meters Centerline goodness : 0.097372 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.77, Z:-1.16 [[ 0.92124156 -0.35523862 -0.15849134 -1.51658398] [ 0.35178012 0.93472853 -0.05033211 -0.77194248] [ 0.16602629 -0.00938607 0.98607666 -1.1553841 ] [ 0. 0. 0. 1. ]] SLAMing on 141.529072329 meters Centerline goodness : 0.089641 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.75, Z:-1.15 [[ 0.91828652 -0.36101643 -0.16253307 -1.47250286] [ 0.35929271 0.93232711 -0.04092554 -0.75407711] [ 0.16630878 -0.02081557 0.985854 -1.15039385] [ 0. 0. 0. 1. ]] SLAMing on 141.559072329 meters Centerline goodness : 0.169915 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.74, Z:-1.15 [[ 0.91268063 -0.36989475 -0.17375831 -1.44398957] [ 0.3728785 0.92773565 -0.01637651 -0.7421976 ] [ 0.16725936 -0.04984422 0.98465215 -1.14861446] [ 0. 0. 0. 1. ]] SLAMing on 141.589072329 meters Centerline goodness : 0.138851 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.73, Z:-1.15 [[ 9.10637024e-01 -3.72922295e-01 -1.77958342e-01 -1.40502590e+00] [ 3.78866430e-01 9.25451152e-01 -6.26943687e-04 -7.28069930e-01] [ 1.64925554e-01 -6.68515234e-02 9.84037822e-01 -1.14877395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.619072329 meters Centerline goodness : 0.140429 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.73, Z:-1.15 [[ 0.91345932 -0.36408554 -0.181752 -1.39981292] [ 0.37181986 0.92825907 0.00922469 -0.73249401] [ 0.16535437 -0.07600538 0.98330113 -1.15032338] [ 0. 0. 0. 1. ]] SLAMing on 141.649072329 meters Centerline goodness : 0.138614 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.74, Z:-1.15 [[ 0.9161391 -0.35538272 -0.18545155 -1.39511983] [ 0.36495238 0.93082978 0.01912266 -0.7373715 ] [ 0.16582797 -0.0852 0.98246733 -1.15132337] [ 0. 0. 0. 1. ]] SLAMing on 141.679072329 meters Centerline goodness : 0.178459 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.74, Z:-1.16 [[ 0.91625455 -0.35533173 -0.1849783 -1.36619263] [ 0.36936272 0.9281098 0.04672665 -0.7369442 ] [ 0.15507671 -0.11113759 0.98163112 -1.15908674] [ 0. 0. 0. 1. ]] SLAMing on 141.709072329 meters Centerline goodness : 0.133838 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.74, Z:-1.16 [[ 0.91776276 -0.35029948 -0.18708767 -1.36216861] [ 0.36540471 0.92937519 0.05235613 -0.74215637] [ 0.15553432 -0.11641322 0.98094701 -1.15969986] [ 0. 0. 0. 1. ]] SLAMing on 141.739072329 meters Centerline goodness : 0.191988 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.75, Z:-1.16 [[ 0.91939134 -0.34491281 -0.18908916 -1.35808491] [ 0.36113036 0.93069526 0.05823394 -0.74792519] [ 0.15589875 -0.12182562 0.98023166 -1.1608662 ] [ 0. 0. 0. 1. ]] SLAMing on 141.769072329 meters Centerline goodness : 0.275833 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.75, Z:-1.16 [[ 0.92020629 -0.34091101 -0.19235401 -1.33946138] [ 0.3573064 0.93223972 0.05710728 -0.74885829] [ 0.15985155 -0.1212798 0.97966254 -1.15526219] [ 0. 0. 0. 1. ]] SLAMing on 141.799072329 meters Centerline goodness : 0.110073 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.76, Z:-1.15 [[ 0.92456378 -0.32973118 -0.19094281 -1.33802966] [ 0.345484 0.93680322 0.05514092 -0.75583654] [ 0.16069416 -0.11694898 0.98005118 -1.15351142] [ 0. 0. 0. 1. ]] SLAMing on 141.829072329 meters Centerline goodness : 0.110109 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.76, Z:-1.15 [[ 0.92871109 -0.31877807 -0.18941029 -1.33688703] [ 0.33388342 0.94111231 0.05319281 -0.76316378] [ 0.16129965 -0.1126417 0.98045615 -1.15169808] [ 0. 0. 0. 1. ]] SLAMing on 141.859072329 meters Centerline goodness : 0.111957 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.77, Z:-1.15 [[ 0.93275889 -0.30767473 -0.18787526 -1.33628504] [ 0.32218879 0.94526972 0.05157064 -0.77139927] [ 0.16172581 -0.10863428 0.98083809 -1.15093791] [ 0. 0. 0. 1. ]] SLAMing on 141.88907232900002 meters Centerline goodness : 0.144734 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.78, Z:-1.15 [[ 0.93320392 -0.30437257 -0.19101777 -1.32002758] [ 0.31906994 0.94636719 0.05082826 -0.77594541] [ 0.16530222 -0.10838116 0.98026971 -1.14531728] [ 0. 0. 0. 1. ]] SLAMing on 141.91907232900002 meters Centerline goodness : 0.118656 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.78, Z:-1.15 [[ 0.93676455 -0.29471795 -0.18871543 -1.32034182] [ 0.30870133 0.94990139 0.04889619 -0.78436389] [ 0.16485047 -0.10406092 0.98081377 -1.14528561] [ 0. 0. 0. 1. ]] SLAMing on 141.94907232900002 meters Centerline goodness : 0.200847 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.79, Z:-1.14 [[ 0.93707361 -0.29183908 -0.19163247 -1.3050857 ] [ 0.30596397 0.9508259 0.04812653 -0.78999361] [ 0.16816391 -0.10373074 0.9802861 -1.1401643 ] [ 0. 0. 0. 1. ]] SLAMing on 141.97907232900002 meters Centerline goodness : 0.199000 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.80, Z:-1.14 [[ 0.94011548 -0.2837839 -0.18881098 -1.30959156] [ 0.29736594 0.95358731 0.0473786 -0.80055266] [ 0.16660247 -0.10068731 0.98086986 -1.14350801] [ 0. 0. 0. 1. ]] SLAMing on 142.009072329 meters Centerline goodness : 0.225958 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.81, Z:-1.15 [[ 0.94305213 -0.27581488 -0.18595382 -1.31492933] [ 0.28886015 0.95623637 0.04660271 -0.8112217 ] [ 0.16496208 -0.09766344 0.98145268 -1.14684867] [ 0. 0. 0. 1. ]] SLAMing on 142.039072329 meters Centerline goodness : 0.221120 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.82, Z:-1.15 [[ 0.94556379 -0.26898801 -0.18317909 -1.31773583] [ 0.28107092 0.95872089 0.04305107 -0.81965679] [ 0.1640374 -0.09219385 0.98213646 -1.14800702] [ 0. 0. 0. 1. ]] SLAMing on 142.069072329 meters Centerline goodness : 0.221240 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.83, Z:-1.14 [[ 0.94563516 -0.26682499 -0.18595311 -1.30507776] [ 0.27909108 0.9593125 0.04275158 -0.82675497] [ 0.16697996 -0.09232525 0.98162811 -1.14407843] [ 0. 0. 0. 1. ]] SLAMing on 142.099072329 meters Centerline goodness : 0.807452 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.84, Z:-1.15 [[ 0.9477039 -0.26188567 -0.18240946 -1.30995132] [ 0.27355183 0.96095802 0.0415823 -0.83545877] [ 0.16439802 -0.08930615 0.98234296 -1.14703155] [ 0. 0. 0. 1. ]] SLAMing on 142.129072329 meters Centerline goodness : 0.807452 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.85, Z:-1.15 [[ 0.95204707 -0.24655023 -0.18116114 -1.33113907] [ 0.2571084 0.96567641 0.03693706 -0.84680848] [ 0.1658362 -0.08174387 0.98275953 -1.14986352] [ 0. 0. 0. 1. ]] SLAMing on 142.159072329 meters Centerline goodness : 0.423737 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.86, Z:-1.15 [[ 0.95406596 -0.24125522 -0.17763465 -1.33638624] [ 0.25131604 0.96722947 0.03615809 -0.85589402] [ 0.16309014 -0.07913964 0.98343201 -1.15311461] [ 0. 0. 0. 1. ]] SLAMing on 142.189072329 meters Centerline goodness : 0.194900 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.86, Z:-1.15 [[ 0.95333468 -0.24267648 -0.17961378 -1.32589991] [ 0.25233172 0.96708936 0.03266312 -0.86062049] [ 0.165776 -0.07646114 0.9831948 -1.14869846] [ 0. 0. 0. 1. ]] SLAMing on 142.219072329 meters Centerline goodness : 0.130896 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.87, Z:-1.15 [[ 0.95522636 -0.23798924 -0.17579456 -1.3313661 ] [ 0.24707178 0.96848835 0.03139839 -0.86919966] [ 0.1627825 -0.07342644 0.98392602 -1.15224881] [ 0. 0. 0. 1. ]] SLAMing on 142.249072329 meters Centerline goodness : 0.215178 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.88, Z:-1.16 [[ 0.95685015 -0.2341109 -0.17213328 -1.33617582] [ 0.24264964 0.96964819 0.03005886 -0.87685867] [ 0.15987162 -0.07052991 0.98461495 -1.15553899] [ 0. 0. 0. 1. ]] SLAMing on 142.279072329 meters Centerline goodness : 0.225807 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.88, Z:-1.16 [[ 0.95588279 -0.23734736 -0.17307318 -1.32904626] [ 0.24569966 0.96893483 0.02823055 -0.88393027] [ 0.16099619 -0.06950912 0.9845043 -1.156191 ] [ 0. 0. 0. 1. ]] SLAMing on 142.309072329 meters Centerline goodness : 0.225321 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.89, Z:-1.16 [[ 0.95609135 -0.23671761 -0.17278339 -1.32738347] [ 0.24508895 0.96908082 0.02852662 -0.88905974] [ 0.16068832 -0.06962136 0.98454666 -1.15655608] [ 0. 0. 0. 1. ]] SLAMing on 142.339072329 meters Centerline goodness : 0.117215 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.90, Z:-1.16 [[ 0.95786712 -0.23251571 -0.16860315 -1.33416308] [ 0.2401274 0.97039399 0.02596807 -0.8967732 ] [ 0.15757349 -0.0653602 0.98534189 -1.16058873] [ 0. 0. 0. 1. ]] SLAMing on 142.369072329 meters Centerline goodness : 0.124449 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.90, Z:-1.16 [[ 0.95688668 -0.23593632 -0.16941648 -1.32819904] [ 0.24326231 0.96967413 0.02356981 -0.90222973] [ 0.1587178 -0.06376628 0.98526267 -1.16015047] [ 0. 0. 0. 1. ]] SLAMing on 142.399072329 meters Centerline goodness : 0.198012 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.91, Z:-1.16 [[ 0.95864576 -0.23160886 -0.16539539 -1.33832555] [ 0.23792519 0.97109413 0.01917814 -0.90985196] [ 0.15617266 -0.05773677 0.98604085 -1.16297745] [ 0. 0. 0. 1. ]] SLAMing on 142.429072329 meters Centerline goodness : 0.121946 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.92, Z:-1.16 [[ 0.95767459 -0.23531446 -0.16579049 -1.33355158] [ 0.24129363 0.9703101 0.01660396 -0.9153599 ] [ 0.15696104 -0.05590538 0.98602121 -1.16289464] [ 0. 0. 0. 1. ]] SLAMing on 142.459072329 meters Centerline goodness : 0.888988 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.92, Z:-1.17 [[ 0.95914807 -0.23233375 -0.16141873 -1.34422812] [ 0.23708978 0.97143011 0.01058243 -0.92203001] [ 0.15434836 -0.04842084 0.98682927 -1.16593753] [ 0. 0. 0. 1. ]] SLAMing on 142.489072329 meters Centerline goodness : 0.425739 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.93, Z:-1.17 [[ 0.96013197 -0.22931299 -0.15988169 -1.36614582] [ 0.23404074 0.97216302 0.01113565 -0.9318452 ] [ 0.15287752 -0.04811052 0.98707337 -1.1723519 ] [ 0. 0. 0. 1. ]] SLAMing on 142.519072329 meters Centerline goodness : 0.384821 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.94, Z:-1.17 [[ 0.95915876 -0.23331337 -0.15993545 -1.36249981] [ 0.23762921 0.97132184 0.00813936 -0.93597418] [ 0.15344978 -0.04581228 0.98709392 -1.17242994] [ 0. 0. 0. 1. ]] SLAMing on 142.549072329 meters Centerline goodness : 0.437458 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.94, Z:-1.18 [[ 0.9601042 -0.23058396 -0.15821173 -1.38555741] [ 0.23477485 0.97201627 0.00807117 -0.94439019] [ 0.15192329 -0.0448933 0.98737222 -1.17882017] [ 0. 0. 0. 1. ]] SLAMing on 142.579072329 meters Centerline goodness : 0.400818 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.95, Z:-1.19 [[ 0.96102024 -0.22804601 -0.15631735 -1.4095053 ] [ 0.23208463 0.97266398 0.00784228 -0.95284167] [ 0.15025586 -0.04381545 0.98767575 -1.18506132] [ 0. 0. 0. 1. ]] SLAMing on 142.609072329 meters Centerline goodness : 0.488010 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.96, Z:-1.19 [[ 0.96191765 -0.22543643 -0.15457314 -1.4335005 ] [ 0.22934413 0.97331498 0.00769545 -0.96119416] [ 0.14871352 -0.04285283 0.98795138 -1.19133359] [ 0. 0. 0. 1. ]] SLAMing on 142.63907232900002 meters Centerline goodness : 0.516265 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.97, Z:-1.20 [[ 0.96230265 -0.22528665 -0.15237955 -1.45461418] [ 0.22900669 0.97339905 0.00708712 -0.97165727] [ 0.14672947 -0.04171589 0.98829664 -1.19851165] [ 0. 0. 0. 1. ]] SLAMing on 142.66907232900002 meters Centerline goodness : 0.520585 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.98, Z:-1.21 [[ 0.96262492 -0.22552414 -0.14997375 -1.47763041] [ 0.22895673 0.97341932 0.00580034 -0.98079171] [ 0.14467923 -0.03992105 0.98867296 -1.20553217] [ 0. 0. 0. 1. ]] SLAMing on 142.69907232900002 meters Centerline goodness : 0.608164 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.99, Z:-1.21 [[ 0.9639082 -0.21656509 -0.15485652 -1.49317501] [ 0.22145982 0.975056 0.01487734 -0.99318175] [ 0.14777187 -0.04863489 0.98782495 -1.20957751] [ 0. 0. 0. 1. ]] SLAMing on 142.72907232900002 meters Centerline goodness : 0.541873 Centerline is valid? [False, False] Translation: X:-1.52, Y:-1.00, Z:-1.21 [[ 0.96423334 -0.2165286 -0.15287061 -1.52054452] [ 0.22079539 0.97525466 0.01130207 -0.99756437] [ 0.14664056 -0.04465096 0.98818158 -1.21432201] [ 0. 0. 0. 1. ]] SLAMing on 142.759072329 meters Centerline goodness : 0.772701 Centerline is valid? [False, False] Translation: X:-1.51, Y:-1.00, Z:-1.21 [[ 0.96483219 -0.21179485 -0.15569777 -1.51444574] [ 0.21720283 0.97595335 0.01838428 -1.00463028] [ 0.14806006 -0.05155574 0.98763365 -1.21439077] [ 0. 0. 0. 1. ]] SLAMing on 142.789072329 meters Centerline goodness : 0.675989 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.01, Z:-1.22 [[ 0.96473566 -0.21387047 -0.15344224 -1.53995095] [ 0.21857176 0.97571679 0.01425269 -1.01048071] [ 0.14666794 -0.04728822 0.98805483 -1.2203423 ] [ 0. 0. 0. 1. ]] SLAMing on 142.819072329 meters Centerline goodness : 0.655937 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.02, Z:-1.22 [[ 0.96526128 -0.20981907 -0.15571327 -1.53530708] [ 0.21548608 0.97629672 0.02025969 -1.01695493] [ 0.14777149 -0.05310993 0.98759451 -1.21994396] [ 0. 0. 0. 1. ]] SLAMing on 142.849072329 meters Centerline goodness : 0.668057 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.03, Z:-1.22 [[ 0.96547172 -0.20542396 -0.16020409 -1.55190516] [ 0.21216831 0.976887 0.0260075 -1.02568946] [ 0.15115873 -0.05909974 0.98674123 -1.222412 ] [ 0. 0. 0. 1. ]] SLAMing on 142.879072329 meters Centerline goodness : 0.666409 Centerline is valid? [False, False] Translation: X:-1.55, Y:-1.03, Z:-1.22 [[ 0.96522845 -0.20550085 -0.16156556 -1.54841137] [ 0.21258376 0.97675132 0.02765855 -1.02934027] [ 0.15212552 -0.06104303 0.98647431 -1.22144127] [ 0. 0. 0. 1. ]] SLAMing on 142.909072329 meters Centerline goodness : 0.718472 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96467575 -0.20606663 -0.16412571 -1.5421678 ] [ 0.21380065 0.97639334 0.03074607 -1.03605334] [ 0.15391552 -0.06475017 0.98596016 -1.21971092] [ 0. 0. 0. 1. ]] SLAMing on 142.939072329 meters Centerline goodness : 0.625920 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96442535 -0.20621418 -0.16540692 -1.53898901] [ 0.21424588 0.97625267 0.03208458 -1.03919311] [ 0.15486266 -0.06638093 0.98570337 -1.21876012] [ 0. 0. 0. 1. ]] SLAMing on 142.969072329 meters Centerline goodness : 0.631748 Centerline is valid? [False, False] Translation: X:-1.54, Y:-1.04, Z:-1.22 [[ 0.96304275 -0.21189437 -0.16628119 -1.53561654] [ 0.21956191 0.97516878 0.02895533 -1.04112036] [ 0.15601676 -0.06439424 0.98565316 -1.21666522] [ 0. 0. 0. 1. ]] SLAMing on 142.999072329 meters Centerline goodness : 0.669189 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.04, Z:-1.22 [[ 0.96274585 -0.21221383 -0.16758797 -1.53271392] [ 0.22015727 0.97499937 0.03011642 -1.04370749] [ 0.15700705 -0.06589017 0.98539701 -1.21539354] [ 0. 0. 0. 1. ]] SLAMing on 143.029072329 meters Centerline goodness : 0.675623 Centerline is valid? [False, False] Translation: X:-1.53, Y:-1.05, Z:-1.21 [[ 0.96256198 -0.21219642 -0.16866273 -1.52998124] [ 0.22041328 0.97490204 0.03136866 -1.04667864] [ 0.15777333 -0.06736978 0.98517455 -1.2146045 ] [ 0. 0. 0. 1. ]] SLAMing on 143.059072329 meters Centerline goodness : 0.979624 Centerline is valid? [False, True] Translation: X:-1.53, Y:-1.05, Z:-1.21 [[ 0.96112825 -0.21795066 -0.16949925 -1.52691119] [ 0.22572082 0.97379612 0.02777095 -1.04736595] [ 0.15900501 -0.06495096 0.98513896 -1.21246701] [ 0. 0. 0. 1. ]] SLAMing on 143.089072329 meters Centerline goodness : 0.981015 Centerline is valid? [True, True] Translation: X:-1.50, Y:-1.04, Z:-1.20 [[ 0.95895948 -0.22693179 -0.16999608 -1.50003897] [ 0.23079632 0.97299727 0.00306065 -1.03872394] [ 0.16471117 -0.04216951 0.98543998 -1.19757682] [ 0. 0. 0. 1. ]] SLAMing on 143.119072329 meters Centerline goodness : 0.983194 Centerline is valid? [True, True] Translation: X:-1.47, Y:-1.04, Z:-1.19 [[ 0.95655918 -0.23684529 -0.16999657 -1.47216537] [ 0.2408504 0.97055751 0.00303348 -1.03868062] [ 0.16427298 -0.04384545 0.98543999 -1.1932783 ] [ 0. 0. 0. 1. ]] SLAMing on 143.149072329 meters Centerline goodness : 0.944362 Centerline is valid? [True, False] Translation: X:-1.47, Y:-1.05, Z:-1.19 [[ 0.95725328 -0.23263853 -0.17188794 -1.46859261] [ 0.23765623 0.97130836 0.00892124 -1.04510959] [ 0.16488077 -0.04939012 0.98507611 -1.19347872] [ 0. 0. 0. 1. ]] SLAMing on 143.179072329 meters Centerline goodness : 0.980737 Centerline is valid? [False, True] Translation: X:-1.47, Y:-1.05, Z:-1.19 [[ 0.95777607 -0.22896058 -0.1739024 -1.46516606] [ 0.23494991 0.97190096 0.01438963 -1.05060435] [ 0.16572125 -0.0546404 0.98465775 -1.19317825] [ 0. 0. 0. 1. ]] SLAMing on 143.209072329 meters Centerline goodness : 0.938457 Centerline is valid? [True, False] Translation: X:-1.46, Y:-1.05, Z:-1.19 [[ 0.95776986 -0.22858462 -0.17443043 -1.46344863] [ 0.23479371 0.97192085 0.0155488 -1.05401387] [ 0.16597836 -0.05584734 0.98454673 -1.19298301] [ 0. 0. 0. 1. ]] SLAMing on 143.239072329 meters Centerline goodness : 0.935796 Centerline is valid? [False, False] Translation: X:-1.46, Y:-1.06, Z:-1.19 [[ 0.9584555 -0.22428897 -0.17623144 -1.46039655] [ 0.23152619 0.972594 0.02136648 -1.06008003] [ 0.16660938 -0.06128102 0.98411684 -1.19298784] [ 0. 0. 0. 1. ]] SLAMing on 143.269072329 meters Centerline goodness : 0.985021 Centerline is valid? [False, True] Translation: X:-1.46, Y:-1.06, Z:-1.19 [[ 0.95830544 -0.22435535 -0.17696148 -1.45864653] [ 0.23187956 0.97247778 0.02277813 -1.06456256] [ 0.16698071 -0.06286216 0.98395416 -1.19205306] [ 0. 0. 0. 1. ]] SLAMing on 143.299072329 meters Centerline goodness : 0.984725 Centerline is valid? [True, True] Translation: X:-1.43, Y:-1.06, Z:-1.18 [[ 0.95670641 -0.23038057 -0.17786971 -1.42697785] [ 0.2354681 0.97185119 0.00774838 -1.06224031] [ 0.17107782 -0.04929557 0.98402354 -1.17897038] [ 0. 0. 0. 1. ]] SLAMing on 143.329072329 meters Centerline goodness : 0.985861 Centerline is valid? [True, True] Translation: X:-1.40, Y:-1.06, Z:-1.17 [[ 0.95572844 -0.23440339 -0.17787131 -1.39566754] [ 0.23955002 0.97085332 0.00772162 -1.06412417] [ 0.17087697 -0.04998885 0.98402346 -1.17244517] [ 0. 0. 0. 1. ]] SLAMing on 143.359072329 meters Centerline goodness : 0.988260 Centerline is valid? [True, True] Translation: X:-1.36, Y:-1.07, Z:-1.16 [[ 0.95365726 -0.24268891 -0.17787615 -1.36424671] [ 0.24795285 0.96874197 0.00764075 -1.06595235] [ 0.17046176 -0.05139155 0.98402322 -1.16499138] [ 0. 0. 0. 1. ]] SLAMing on 143.38907232900002 meters Centerline goodness : 0.988220 Centerline is valid? [True, True] Translation: X:-1.33, Y:-1.07, Z:-1.16 [[ 0.95282938 -0.24592614 -0.17786655 -1.33065297] [ 0.25126836 0.96788603 0.00780022 -1.06931771] [ 0.17023627 -0.05212451 0.9840237 -1.15748222] [ 0. 0. 0. 1. ]] SLAMing on 143.41907232900002 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:-1.27, Y:-1.07, Z:-1.15 [[ 0.95201618 -0.24909005 -0.1778183 -1.26509736] [ 0.25461713 0.96700373 0.00859653 -1.06595006] [ 0.16980965 -0.05345962 0.98402579 -1.14770356] [ 0. 0. 0. 1. ]] SLAMing on 143.44907232900002 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:-1.29, Y:-1.08, Z:-1.17 [[ 0.9565543 -0.23247657 -0.17595035 -1.28853769] [ 0.24128432 0.96998644 0.03013598 -1.08151222] [ 0.16366354 -0.07128076 0.98393765 -1.17038205] [ 0. 0. 0. 1. ]] SLAMing on 143.47907232900002 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:-1.26, Y:-1.08, Z:-1.16 [[ 0.95476071 -0.23869208 -0.17736426 -1.26361153] [ 0.24479825 0.96948618 0.01305264 -1.07807733] [ 0.16883664 -0.05588061 0.98405871 -1.16027566] [ 0. 0. 0. 1. ]] SLAMing on 143.509072329 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:-1.24, Y:-1.08, Z:-1.15 [[ 0.95264156 -0.24700702 -0.17737415 -1.23908669] [ 0.25322141 0.9673219 0.01293281 -1.0788731 ] [ 0.1683834 -0.05723526 0.98405851 -1.15383281] [ 0. 0. 0. 1. ]] SLAMing on 143.539072329 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:-1.21, Y:-1.08, Z:-1.15 [[ 0.95136376 -0.25180597 -0.17748448 -1.21146467] [ 0.25787117 0.96610979 0.01159014 -1.08152761] [ 0.16855103 -0.05679457 0.98405535 -1.14913019] [ 0. 0. 0. 1. ]] SLAMing on 143.569072329 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:-1.18, Y:-1.08, Z:-1.14 [[ 0.95022185 -0.25610083 -0.17745645 -1.18289854] [ 0.26228923 0.96491554 0.01193128 -1.08433063] [ 0.16817487 -0.05788228 0.98405633 -1.14249947] [ 0. 0. 0. 1. ]] SLAMing on 143.599072329 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:-1.15, Y:-1.09, Z:-1.11 [[ 0.94819567 -0.26353009 -0.17741722 -1.14727291] [ 0.26991108 0.96280538 0.012402 -1.08688138] [ 0.16754995 -0.0596464 0.98405758 -1.11365089] [ 0. 0. 0. 1. ]] SLAMing on 143.629072329 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:-1.12, Y:-1.09, Z:-1.13 [[ 0.9471355 -0.26750109 -0.17713701 -1.1165511 ] [ 0.27448899 0.96146159 0.01572933 -1.09199067] [ 0.16610281 -0.06351996 0.9840605 -1.12990373] [ 0. 0. 0. 1. ]] SLAMing on 143.659072329 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:-1.09, Y:-1.09, Z:-1.13 [[ 0.94540133 -0.27352242 -0.17720558 -1.08807638] [ 0.2804687 0.95974728 0.01491537 -1.09403524] [ 0.16599288 -0.06380163 0.98406083 -1.1279053 ] [ 0. 0. 0. 1. ]] SLAMing on 143.689072329 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:-1.06, Y:-1.10, Z:-1.12 [[ 0.94490669 -0.27522595 -0.17720615 -1.06008973] [ 0.28219697 0.95924064 0.01490854 -1.0963557 ] [ 0.16588012 -0.06409422 0.98406083 -1.12257951] [ 0. 0. 0. 1. ]] SLAMing on 143.719072329 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:-1.05, Y:-1.10, Z:-1.09 [[ 0.94344617 -0.28018998 -0.17720861 -1.04668382] [ 0.28723149 0.95774562 0.01487919 -1.10059337] [ 0.16555178 -0.06493761 0.98406083 -1.09037861] [ 0. 0. 0. 1. ]] SLAMing on 143.749072329 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:-1.02, Y:-1.10, Z:-1.09 [[ 0.94171588 -0.28573392 -0.17755935 -1.0150324 ] [ 0.29216998 0.95630706 0.01065418 -1.10405169] [ 0.166757 -0.06191073 0.98405242 -1.08629679] [ 0. 0. 0. 1. ]] SLAMing on 143.779072329 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:-0.98, Y:-1.11, Z:-1.10 [[ 0.93905843 -0.29440177 -0.17747356 -0.98128827] [ 0.30114144 0.9535078 0.01169198 -1.10917666] [ 0.16578029 -0.06442409 0.98405611 -1.1040338 ] [ 0. 0. 0. 1. ]] SLAMing on 143.809072329 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:-0.95, Y:-1.11, Z:-1.10 [[ 0.93630388 -0.3030598 -0.17745365 -0.95393618] [ 0.3099717 0.95067089 0.01193317 -1.11494223] [ 0.16508355 -0.06617868 0.98405681 -1.0982415 ] [ 0. 0. 0. 1. ]] SLAMing on 143.839072329 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:-0.92, Y:-1.12, Z:-1.09 [[ 0.93467421 -0.30806535 -0.17742565 -0.92006275] [ 0.315109 0.94897613 0.01227327 -1.12496312] [ 0.16459173 -0.06737992 0.98405767 -1.08548158] [ 0. 0. 0. 1. ]] SLAMing on 143.869072329 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:-0.89, Y:-1.13, Z:-1.08 [[ 0.93171597 -0.31701498 -0.17721981 -0.89313673] [ 0.32459234 0.94573896 0.0147526 -1.13077513] [ 0.16292688 -0.07126943 0.98406072 -1.08012358] [ 0. 0. 0. 1. ]] SLAMing on 143.899072329 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:-0.87, Y:-1.13, Z:-1.08 [[ 0.93015565 -0.32156282 -0.17722254 -0.86653566] [ 0.32920337 0.94414431 0.01471972 -1.13480025] [ 0.16259034 -0.07203389 0.98406072 -1.07561185] [ 0. 0. 0. 1. ]] SLAMing on 143.929072329 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:-0.84, Y:-1.13, Z:-1.08 [[ 0.92904698 -0.32475138 -0.17722372 -0.84396511] [ 0.33243761 0.9430106 0.01470549 -1.13435906] [ 0.16234822 -0.07257792 0.98406072 -1.075884 ] [ 0. 0. 0. 1. ]] SLAMing on 143.959072329 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:-0.81, Y:-1.14, Z:-1.06 [[ 0.92509441 -0.33575596 -0.17739299 -0.81032975] [ 0.34328376 0.9391464 0.01266054 -1.14453582] [ 0.16234714 -0.07260833 0.98405866 -1.06210177] [ 0. 0. 0. 1. ]] SLAMing on 143.989072329 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:-0.79, Y:-1.14, Z:-1.07 [[ 0.92370778 -0.33964278 -0.17721942 -0.78751214] [ 0.34755952 0.93754189 0.01475067 -1.14383547] [ 0.16114067 -0.0752196 0.98406082 -1.06632573] [ 0. 0. 0. 1. ]] SLAMing on 144.019072329 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:-0.75, Y:-1.15, Z:-1.05 [[ 0.92160074 -0.34522938 -0.17739436 -0.75448925] [ 0.35289643 0.93557711 0.0126323 -1.15299399] [ 0.16160506 -0.07424377 0.98405877 -1.05178957] [ 0. 0. 0. 1. ]] SLAMing on 144.049072329 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:-0.73, Y:-1.16, Z:-1.05 [[ 0.92169736 -0.34506071 -0.17722045 -0.72652574] [ 0.35305517 0.93548655 0.01472947 -1.15587509] [ 0.16070479 -0.07614471 0.98406095 -1.0475838 ] [ 0. 0. 0. 1. ]] SLAMing on 144.079072329 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:-0.70, Y:-1.15, Z:-1.05 [[ 0.9200935 -0.34931346 -0.17722318 -0.70425171] [ 0.35736636 0.93384865 0.01469654 -1.15490968] [ 0.16036593 -0.07685579 0.98406095 -1.0504832 ] [ 0. 0. 0. 1. ]] SLAMing on 144.109072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:-0.67, Y:-1.17, Z:-1.03 [[ 0.91643533 -0.35872749 -0.17737212 -0.67151668] [ 0.36664003 0.93027351 0.01289491 -1.16713105] [ 0.16037883 -0.07684907 0.98405937 -1.03499341] [ 0. 0. 0. 1. ]] SLAMing on 144.13907232900002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:-0.65, Y:-1.17, Z:-1.04 [[ 0.91491162 -0.36267035 -0.17722004 -0.64938556] [ 0.37092755 0.928545 0.01472853 -1.16672757] [ 0.15921518 -0.07921109 0.98406104 -1.03912103] [ 0. 0. 0. 1. ]] SLAMing on 144.16907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:-0.62, Y:-1.18, Z:-1.02 [[ 0.91069183 -0.37305188 -0.17740543 -0.61564921] [ 0.38111579 0.9244431 0.01247876 -1.17926577] [ 0.159346 -0.07897631 0.98405874 -1.02242918] [ 0. 0. 0. 1. ]] SLAMing on 144.19907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.59, Y:-1.18, Z:-1.02 [[ 0.90888866 -0.37750994 -0.17722202 -0.58880017] [ 0.38598283 0.9223889 0.01469588 -1.18474694] [ 0.15791978 -0.08176157 0.98406117 -1.01695712] [ 0. 0. 0. 1. ]] SLAMing on 144.22907232900002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:-0.56, Y:-1.19, Z:-1.01 [[ 0.90679587 -0.38250834 -0.17722477 -0.56127113] [ 0.39105033 0.92025249 0.01466257 -1.19007486] [ 0.15748299 -0.08259976 0.98406117 -1.01365251] [ 0. 0. 0. 1. ]] SLAMing on 144.259072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.53, Y:-1.20, Z:-1.01 [[ 0.90282 -0.39179986 -0.17722563 -0.53352346] [ 0.400478 0.91618922 0.01465221 -1.19883405] [ 0.15663148 -0.08420327 0.98406117 -1.00757858] [ 0. 0. 0. 1. ]] SLAMing on 144.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.51, Y:-1.20, Z:-1.00 [[ 0.90069336 -0.39666322 -0.17722798 -0.50688733] [ 0.40540904 0.91401841 0.01462379 -1.20425296] [ 0.15618891 -0.08502138 0.98406117 -1.00249926] [ 0. 0. 0. 1. ]] SLAMing on 144.319072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:-0.48, Y:-1.21, Z:-1.00 [[ 0.89854636 -0.40150185 -0.17723067 -0.47938223] [ 0.41031427 0.91182745 0.01459107 -1.20909358] [ 0.15574545 -0.08583103 0.98406117 -0.99796787] [ 0. 0. 0. 1. ]] SLAMing on 144.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.45, Y:-1.22, Z:-0.99 [[ 0.89434528 -0.41077411 -0.17723191 -0.45345391] [ 0.41972116 0.90753605 0.01457595 -1.21764905] [ 0.15485693 -0.08742392 0.98406117 -0.99031211] [ 0. 0. 0. 1. ]] SLAMing on 144.379072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.43, Y:-1.22, Z:-0.98 [[ 0.89222691 -0.41535411 -0.17723461 -0.42571623] [ 0.42436377 0.905375 0.01454312 -1.22324429] [ 0.15442324 -0.08818771 0.98406117 -0.9842094 ] [ 0. 0. 0. 1. ]] SLAMing on 144.409072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:-0.40, Y:-1.23, Z:-0.98 [[ 0.89011679 -0.41985612 -0.17723693 -0.39965357] [ 0.42892786 0.90322213 0.01451476 -1.22894116] [ 0.15399021 -0.08894169 0.98406117 -0.97998253] [ 0. 0. 0. 1. ]] SLAMing on 144.439072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:-0.37, Y:-1.23, Z:-0.97 [[ 0.88811405 -0.42407557 -0.17723808 -0.37329467] [ 0.43320731 0.90117765 0.01450069 -1.23463025] [ 0.15357361 -0.0896591 0.98406117 -0.97281113] [ 0. 0. 0. 1. ]] SLAMing on 144.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.35, Y:-1.24, Z:-0.97 [[ 0.88372534 -0.43314576 -0.17724075 -0.3459173 ] [ 0.44240594 0.8966982 0.01446798 -1.2433311 ] [ 0.15266472 -0.09119808 0.98406117 -0.9687941 ] [ 0. 0. 0. 1. ]] SLAMing on 144.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.32, Y:-1.25, Z:-0.96 [[ 0.88175056 -0.43715082 -0.17724308 -0.31863563] [ 0.44646557 0.8946843 0.01443941 -1.24917632] [ 0.1522644 -0.09186489 0.98406117 -0.9646561 ] [ 0. 0. 0. 1. ]] SLAMing on 144.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.29, Y:-1.25, Z:-0.96 [[ 0.87966228 -0.44133759 -0.17724389 -0.29162558] [ 0.45071226 0.89255266 0.01442944 -1.2545557 ] [ 0.15183125 -0.09257903 0.98406117 -0.96024487] [ 0. 0. 0. 1. ]] SLAMing on 144.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.26, Y:-1.26, Z:-0.95 [[ 0.87750206 -0.44561694 -0.17724469 -0.2643161 ] [ 0.45505284 0.89034768 0.0144196 -1.26000544] [ 0.15138378 -0.09330893 0.98406117 -0.95447472] [ 0. 0. 0. 1. ]] SLAMing on 144.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.24, Y:-1.27, Z:-0.96 [[ 0.87462601 -0.45123469 -0.1772473 -0.24251183] [ 0.46074809 0.88741433 0.01438744 -1.2660106 ] [ 0.15079968 -0.09424999 0.98406117 -0.95741646] [ 0. 0. 0. 1. ]] SLAMing on 144.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.21, Y:-1.28, Z:-0.94 [[ 0.87161373 -0.45695813 -0.17742255 -0.20851986] [ 0.46623843 0.88457485 0.012209 -1.27513652] [ 0.15136453 -0.09336275 0.98405903 -0.94192969] [ 0. 0. 0. 1. ]] SLAMing on 144.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.18, Y:-1.29, Z:-0.93 [[ 0.86842437 -0.46305682 -0.17724982 -0.17900737] [ 0.47273707 0.88108672 0.01434795 -1.28565952] [ 0.14952855 -0.09625267 0.9840613 -0.92930251] [ 0. 0. 0. 1. ]] SLAMing on 144.679072329 meters Centerline goodness : 0.888651 Centerline is valid? [True, False] Translation: X:-0.29, Y:-1.29, Z:-0.95 [[ 0.86837812 -0.4637481 -0.17566202 -0.28560239] [ 0.47539054 0.87930653 0.0287029 -1.28549709] [ 0.14114985 -0.10843303 0.98403201 -0.95232189] [ 0. 0. 0. 1. ]] SLAMing on 144.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:-0.39, Y:-1.29, Z:-0.98 [[ 0.86883133 -0.46373494 -0.17344171 -0.3911152 ] [ 0.47704521 0.87784717 0.04257005 -1.28608567] [ 0.13251409 -0.11972573 0.98392366 -0.97541352] [ 0. 0. 0. 1. ]] SLAMing on 144.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.36, Y:-1.28, Z:-0.96 [[ 0.86454647 -0.47078964 -0.17583095 -0.36038444] [ 0.48047177 0.87688935 0.01455802 -1.28390057] [ 0.14733053 -0.0970679 0.98431272 -0.96051253] [ 0. 0. 0. 1. ]] SLAMing on 144.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.33, Y:-1.30, Z:-0.95 [[ 0.86274852 -0.47407671 -0.17583022 -0.33458151] [ 0.483807 0.87505348 0.01456689 -1.29593394] [ 0.14695502 -0.09763546 0.98431272 -0.95313298] [ 0. 0. 0. 1. ]] SLAMing on 144.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.30, Y:-1.30, Z:-0.95 [[ 0.85980512 -0.47935473 -0.17593806 -0.30059428] [ 0.48897638 0.87219623 0.01326037 -1.29957296] [ 0.14709609 -0.09743089 0.98431192 -0.94784711] [ 0. 0. 0. 1. ]] SLAMing on 144.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.27, Y:-1.31, Z:-0.94 [[ 0.85949771 -0.47994636 -0.17582714 -0.27483093] [ 0.48976465 0.87173246 0.01459829 -1.30702359] [ 0.14626783 -0.09866112 0.98431281 -0.94194978] [ 0. 0. 0. 1. ]] SLAMing on 144.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.24, Y:-1.32, Z:-0.94 [[ 0.85578863 -0.48649001 -0.17593548 -0.24143504] [ 0.49621831 0.86809608 0.01328848 -1.31560162] [ 0.14626419 -0.09867454 0.984312 -0.93502482] [ 0. 0. 0. 1. ]] SLAMing on 144.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.21, Y:-1.32, Z:-0.93 [[ 0.85474114 -0.48836748 -0.17582603 -0.21081415] [ 0.49830678 0.86687771 0.01460774 -1.32258719] [ 0.14528572 -0.10010114 0.98431287 -0.93094965] [ 0. 0. 0. 1. ]] SLAMing on 144.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.19, Y:-1.33, Z:-0.93 [[ 0.85231076 -0.49259697 -0.17582548 -0.18544442] [ 0.50259721 0.86439717 0.01461443 -1.32981276] [ 0.14478402 -0.10082543 0.98431287 -0.9251891 ] [ 0. 0. 0. 1. ]] SLAMing on 144.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.15, Y:-1.34, Z:-0.92 [[ 0.8523981 -0.49240414 -0.17594215 -0.15441489] [ 0.50220607 0.86464712 0.01320707 -1.3394988 ] [ 0.14562466 -0.0996169 0.98431191 -0.9157613 ] [ 0. 0. 0. 1. ]] SLAMing on 144.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.12, Y:-1.34, Z:-0.91 [[ 0.8507813 -0.49520019 -0.17592029 -0.12447505] [ 0.50507884 0.86296809 0.01347013 -1.34298598] [ 0.14514319 -0.10031376 0.98431225 -0.91415223] [ 0. 0. 0. 1. ]] SLAMing on 145.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.09, Y:-1.35, Z:-0.91 [[ 0.8494595 -0.49745989 -0.17593243 -0.09132301] [ 0.50735062 0.86163671 0.01332387 -1.3509437 ] [ 0.14496175 -0.10057752 0.98431207 -0.90658648] [ 0. 0. 0. 1. ]] SLAMing on 145.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.06, Y:-1.36, Z:-0.90 [[ 0.84826385 -0.49953547 -0.17582025 -0.06061085] [ 0.50964162 0.8602617 0.01467028 -1.36116954] [ 0.14392311 -0.10204958 0.98431297 -0.89936122] [ 0. 0. 0. 1. ]] SLAMing on 145.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.03, Y:-1.37, Z:-0.89 [[ 0.84800111 -0.49998162 -0.1758195 -0.03333362] [ 0.51009531 0.85999261 0.01467926 -1.36515953] [ 0.14386411 -0.10213273 0.98431297 -0.89277977] [ 0. 0. 0. 1. ]] SLAMing on 145.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:-0.00, Y:-1.37, Z:-0.89 [[ 0.84748374 -0.50082249 -0.17592084 -0.00171912] [ 0.51078058 0.85960569 0.01346276 -1.37187194] [ 0.1444801 -0.10126642 0.98431225 -0.88659587] [ 0. 0. 0. 1. ]] SLAMing on 145.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.03, Y:-1.38, Z:-0.88 [[ 0.8464543 -0.50256706 -0.17590189 0.03047875] [ 0.51258142 0.85852948 0.01369007 -1.38162083] [ 0.14413678 -0.10175206 0.98431251 -0.88007712] [ 0. 0. 0. 1. ]] SLAMing on 145.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.06, Y:-1.39, Z:-0.87 [[ 0.8464892 -0.50253902 -0.17581402 0.06200988] [ 0.51269705 0.85844306 0.0147393 -1.38779846] [ 0.14351926 -0.10261599 0.98431305 -0.87434352] [ 0. 0. 0. 1. ]] SLAMing on 145.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-1.39, Z:-0.87 [[ 0.84651554 -0.50249491 -0.17581327 0.09215847] [ 0.51265354 0.85846889 0.01474823 -1.3938266 ] [ 0.14351932 -0.1026159 0.98431305 -0.87031729] [ 0. 0. 0. 1. ]] SLAMing on 145.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.12, Y:-1.40, Z:-0.86 [[ 0.84705604 -0.50158332 -0.17581309 0.11963674] [ 0.51172938 0.85902006 0.01475044 -1.39846421] [ 0.14362839 -0.10246317 0.98431305 -0.86256638] [ 0. 0. 0. 1. ]] SLAMing on 145.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.15, Y:-1.41, Z:-0.86 [[ 0.84743192 -0.50091692 -0.1759016 0.14729737] [ 0.51090795 0.85952638 0.01369176 -1.40717734] [ 0.14433363 -0.10147236 0.98431253 -0.85584068] [ 0. 0. 0. 1. ]] SLAMing on 145.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.18, Y:-1.41, Z:-0.85 [[ 0.847114 -0.50145018 -0.17591357 0.17842115] [ 0.51142903 0.85921871 0.01354823 -1.41269238] [ 0.14435447 -0.1014442 0.98431238 -0.85049346] [ 0. 0. 0. 1. ]] SLAMing on 145.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.21, Y:-1.42, Z:-0.85 [[ 0.84755821 -0.50073372 -0.17581474 0.2053301 ] [ 0.51086487 0.85953483 0.01472939 -1.41807117] [ 0.14374339 -0.10230159 0.98431307 -0.84530181] [ 0. 0. 0. 1. ]] SLAMing on 145.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.23, Y:-1.42, Z:-0.84 [[ 0.84868885 -0.49881467 -0.17581567 0.23300912] [ 0.50891717 0.86068965 0.01471828 -1.42484308] [ 0.14398103 -0.10196685 0.98431307 -0.83903414] [ 0. 0. 0. 1. ]] SLAMing on 145.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.26, Y:-1.43, Z:-0.83 [[ 0.84907189 -0.49813528 -0.17589248 0.26336877] [ 0.50810132 0.86118677 0.01379842 -1.43222042] [ 0.1446028 -0.10108705 0.98431267 -0.83339779] [ 0. 0. 0. 1. ]] SLAMing on 145.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.29, Y:-1.44, Z:-0.83 [[ 0.84970193 -0.49708719 -0.17581512 0.29026792] [ 0.50716591 0.86172267 0.01472313 -1.43741143] [ 0.14418519 -0.10167771 0.9843131 -0.82949067] [ 0. 0. 0. 1. ]] SLAMing on 145.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.32, Y:-1.45, Z:-0.82 [[ 0.85135933 -0.49424228 -0.17581771 0.31770398] [ 0.50427645 0.86341728 0.01469215 -1.44537587] [ 0.14454257 -0.10116902 0.9843131 -0.82355451] [ 0. 0. 0. 1. ]] SLAMing on 145.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.34, Y:-1.45, Z:-0.81 [[ 0.85271931 -0.49189125 -0.1758203 0.34483267] [ 0.50188781 0.86480847 0.01466103 -1.45055156] [ 0.14483925 -0.10074381 0.9843131 -0.81473091] [ 0. 0. 0. 1. ]] SLAMing on 145.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.37, Y:-1.45, Z:-0.81 [[ 0.85332465 -0.49082464 -0.1758642 0.37445282] [ 0.50073277 0.86548654 0.01413309 -1.45494613] [ 0.14527123 -0.10012108 0.98431298 -0.81037837] [ 0. 0. 0. 1. ]] SLAMing on 145.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.40, Y:-1.46, Z:-0.81 [[ 0.85564619 -0.48678117 -0.17582288 0.40133465] [ 0.4967009 0.86779847 0.01462995 -1.46260732] [ 0.14545724 -0.09984944 0.9843131 -0.80503194] [ 0. 0. 0. 1. ]] SLAMing on 145.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.43, Y:-1.47, Z:-0.80 [[ 0.85687452 -0.48461535 -0.17582384 0.42918436] [ 0.4945027 0.86905315 0.0146184 -1.46756626] [ 0.14571596 -0.0994715 0.9843131 -0.79957465] [ 0. 0. 0. 1. ]] SLAMing on 145.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.46, Y:-1.47, Z:-0.79 [[ 0.85794815 -0.48271118 -0.17582631 0.45583494] [ 0.4925673 0.87015207 0.01458863 -1.4719541 ] [ 0.14595353 -0.09912257 0.9843131 -0.79407394] [ 0. 0. 0. 1. ]] SLAMing on 145.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.48, Y:-1.48, Z:-0.79 [[ 0.86056937 -0.47802211 -0.17582726 0.48268488] [ 0.48780987 0.87282818 0.01457718 -1.47920796] [ 0.14649877 -0.09831495 0.9843131 -0.78875791] [ 0. 0. 0. 1. ]] SLAMing on 145.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.51, Y:-1.48, Z:-0.78 [[ 0.86186749 -0.47567659 -0.17583007 0.50956299] [ 0.48542614 0.87415671 0.01454315 -1.4836069 ] [ 0.1467852 -0.09788678 0.9843131 -0.78284795] [ 0. 0. 0. 1. ]] SLAMing on 145.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.54, Y:-1.49, Z:-0.78 [[ 0.86320867 -0.47323725 -0.17583315 0.53710398] [ 0.48294674 0.87552957 0.01450586 -1.48806774] [ 0.14708241 -0.09743963 0.9843131 -0.77728161] [ 0. 0. 0. 1. ]] SLAMing on 145.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.56, Y:-1.49, Z:-0.77 [[ 0.86609026 -0.46794153 -0.17583627 0.56289612] [ 0.47757 0.87847457 0.01446795 -1.49490413] [ 0.14769754 -0.09650468 0.9843131 -0.77342934] [ 0. 0. 0. 1. ]] SLAMing on 145.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.59, Y:-1.50, Z:-0.77 [[ 0.86772738 -0.46489754 -0.17583936 0.59053774] [ 0.47447712 0.88014955 0.01443033 -1.49965645] [ 0.1480563 -0.09595334 0.9843131 -0.76761808] [ 0. 0. 0. 1. ]] SLAMing on 145.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.62, Y:-1.50, Z:-0.76 [[ 0.86925806 -0.46202816 -0.175842 0.61771269] [ 0.47156204 0.88171534 0.01439806 -1.50383918] [ 0.14839028 -0.09543604 0.9843131 -0.7639004 ] [ 0. 0. 0. 1. ]] SLAMing on 145.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.64, Y:-1.51, Z:-0.75 [[ 0.87254231 -0.45579492 -0.17584341 0.6448963 ] [ 0.46523692 0.88506938 0.01438083 -1.51092106] [ 0.14907891 -0.09435673 0.9843131 -0.75394705] [ 0. 0. 0. 1. ]] SLAMing on 145.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.67, Y:-1.52, Z:-0.75 [[ 0.87404288 -0.45290976 -0.17584592 0.67220718] [ 0.46230589 0.88660439 0.01435 -1.51519475] [ 0.14940651 -0.09383712 0.98431311 -0.74921549] [ 0. 0. 0. 1. ]] SLAMing on 145.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.70, Y:-1.52, Z:-0.74 [[ 0.87733522 -0.44649836 -0.17584689 0.7003313 ] [ 0.45580055 0.88996644 0.01433816 -1.52244086] [ 0.15009587 -0.09273048 0.98431311 -0.74267455] [ 0. 0. 0. 1. ]] SLAMing on 145.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.73, Y:-1.53, Z:-0.74 [[ 0.8789361 -0.44333853 -0.1758473 0.72741473] [ 0.45259449 0.89160125 0.01433317 -1.52651098] [ 0.15043122 -0.09218546 0.98431311 -0.73837832] [ 0. 0. 0. 1. ]] SLAMing on 145.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.75, Y:-1.53, Z:-0.73 [[ 0.88083655 -0.43955016 -0.17584831 0.75426902] [ 0.44874969 0.89354274 0.01432069 -1.53145229] [ 0.15083332 -0.09152606 0.98431311 -0.73471441] [ 0. 0. 0. 1. ]] SLAMing on 145.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.78, Y:-1.53, Z:-0.73 [[ 0.88074225 -0.43973869 -0.17584931 0.78217958] [ 0.44893915 0.89344776 0.01430842 -1.53369149] [ 0.15082021 -0.09154767 0.98431311 -0.72969362] [ 0. 0. 0. 1. ]] SLAMing on 145.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.81, Y:-1.54, Z:-0.72 [[ 0.8824446 -0.43631121 -0.17585238 0.80924655] [ 0.44545667 0.89518976 0.01427055 -1.5378165 ] [ 0.15119485 -0.09092759 0.98431311 -0.72264337] [ 0. 0. 0. 1. ]] SLAMing on 145.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.84, Y:-1.54, Z:-0.72 [[ 0.88600519 -0.42903334 -0.17585561 0.8367339 ] [ 0.43806775 0.89882931 0.01423074 -1.54412424] [ 0.15195871 -0.08964518 0.98431311 -0.71686045] [ 0. 0. 0. 1. ]] SLAMing on 146.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.86, Y:-1.55, Z:-0.71 [[ 0.88787465 -0.42514997 -0.17585822 0.86430079] [ 0.43412337 0.90074153 0.0141984 -1.54866321] [ 0.15236635 -0.08895056 0.98431311 -0.71132979] [ 0. 0. 0. 1. ]] SLAMing on 146.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.89, Y:-1.55, Z:-0.71 [[ 0.88965845 -0.42140328 -0.17586107 0.8914073 ] [ 0.43031713 0.90256666 0.01416297 -1.55302177] [ 0.15275802 -0.08827624 0.98431311 -0.70652992] [ 0. 0. 0. 1. ]] SLAMing on 146.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.92, Y:-1.56, Z:-0.70 [[ 0.89141805 -0.41766704 -0.1758639 0.91750534] [ 0.42652143 0.90436711 0.01412777 -1.55718417] [ 0.15314482 -0.08760347 0.98431311 -0.70323184] [ 0. 0. 0. 1. ]] SLAMing on 146.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.95, Y:-1.56, Z:-0.70 [[ 0.89492622 -0.41009568 -0.17586531 0.9453564 ] [ 0.41883736 0.90795163 0.01411022 -1.56350373] [ 0.15389065 -0.08628657 0.98431311 -0.69734222] [ 0. 0. 0. 1. ]] SLAMing on 146.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.97, Y:-1.57, Z:-0.69 [[ 0.8965332 -0.40656937 -0.17586806 0.9725131 ] [ 0.41525456 0.90959635 0.01407582 -1.56765596] [ 0.15424615 -0.08564945 0.98431311 -0.69290129] [ 0. 0. 0. 1. ]] SLAMing on 146.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.00, Y:-1.57, Z:-0.69 [[ 0.89981325 -0.39925608 -0.17587124 1.00083675] [ 0.40782863 0.9129506 0.01403596 -1.57381133] [ 0.15495781 -0.08435507 0.98431311 -0.68753373] [ 0. 0. 0. 1. ]] SLAMing on 146.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.03, Y:-1.58, Z:-0.68 [[ 0.90149061 -0.3954529 -0.17587405 1.02767627] [ 0.40396456 0.91466749 0.01400064 -1.5781497 ] [ 0.15532968 -0.08366833 0.98431311 -0.68227321] [ 0. 0. 0. 1. ]] SLAMing on 146.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:-1.58, Z:-0.68 [[ 0.90314551 -0.39165822 -0.17587505 1.05475714] [ 0.40011248 0.91635928 0.01398805 -1.58235027] [ 0.1556862 -0.08300305 0.98431311 -0.67783478] [ 0. 0. 0. 1. ]] SLAMing on 146.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.08, Y:-1.59, Z:-0.67 [[ 0.90658234 -0.38363535 -0.17587605 1.08246741] [ 0.39197022 0.91987175 0.01397551 -1.58882764] [ 0.15642191 -0.08160812 0.98431311 -0.67041722] [ 0. 0. 0. 1. ]] SLAMing on 146.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.11, Y:-1.59, Z:-0.67 [[ 0.90815779 -0.37989009 -0.17587767 1.10929865] [ 0.38816692 0.92148342 0.01395512 -1.59274319] [ 0.15676694 -0.08094335 0.98431311 -0.66502191] [ 0. 0. 0. 1. ]] SLAMing on 146.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.14, Y:-1.60, Z:-0.66 [[ 0.90971161 -0.37615248 -0.17588095 1.13673053] [ 0.3843681 0.92307506 0.01391368 -1.59701094] [ 0.15711765 -0.08026046 0.98431311 -0.65954625] [ 0. 0. 0. 1. ]] SLAMing on 146.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.16, Y:-1.60, Z:-0.66 [[ 0.91281387 -0.36855879 -0.17588422 1.164274 ] [ 0.37665639 0.92624917 0.01387219 -1.6035861 ] [ 0.15779989 -0.07891064 0.98431311 -0.6561114 ] [ 0. 0. 0. 1. ]] SLAMing on 146.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.19, Y:-1.61, Z:-0.65 [[ 0.91437265 -0.36467388 -0.17588523 1.19144189] [ 0.37271228 0.92784345 0.01385931 -1.60776993] [ 0.15813984 -0.07822716 0.98431311 -0.64987905] [ 0. 0. 0. 1. ]] SLAMing on 146.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.22, Y:-1.61, Z:-0.65 [[ 0.91597949 -0.36061726 -0.17588848 1.21754563] [ 0.36858948 0.92948957 0.01381795 -1.61190708] [ 0.15850352 -0.0774876 0.98431311 -0.64589813] [ 0. 0. 0. 1. ]] SLAMing on 146.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.24, Y:-1.62, Z:-0.64 [[ 0.91906639 -0.35267508 -0.17588989 1.24446786] [ 0.36052726 0.93264659 0.01379998 -1.61753879] [ 0.1591762 -0.0760962 0.98431311 -0.63862458] [ 0. 0. 0. 1. ]] SLAMing on 146.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.27, Y:-1.62, Z:-0.63 [[ 0.92080533 -0.34810793 -0.17589319 1.27216269] [ 0.35588602 0.93442809 0.01375789 -1.62225999] [ 0.1595703 -0.07526626 0.98431311 -0.63311102] [ 0. 0. 0. 1. ]] SLAMing on 146.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.30, Y:-1.63, Z:-0.63 [[ 0.92206873 -0.34474127 -0.17590542 1.30106587] [ 0.35244503 0.93573367 0.01360119 -1.62559469] [ 0.15991173 -0.07453822 0.98431311 -0.62875845] [ 0. 0. 0. 1. ]] SLAMing on 146.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.33, Y:-1.63, Z:-0.62 [[ 0.92346319 -0.34099301 -0.17589626 1.32790511] [ 0.34865961 0.93714901 0.01371862 -1.62968062] [ 0.16016306 -0.07399656 0.98431311 -0.62272305] [ 0. 0. 0. 1. ]] SLAMing on 146.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.36, Y:-1.64, Z:-0.62 [[ 0.92640901 -0.33290498 -0.17589945 1.35523514] [ 0.34044516 0.94016489 0.01367766 -1.63598302] [ 0.16082112 -0.07255523 0.98431311 -0.61734785] [ 0. 0. 0. 1. ]] SLAMing on 146.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.38, Y:-1.64, Z:-0.61 [[ 0.92791543 -0.32868109 -0.17590249 1.38414491] [ 0.33615232 0.94170888 0.01363838 -1.6403359 ] [ 0.16116626 -0.07178529 0.98431311 -0.61387773] [ 0. 0. 0. 1. ]] SLAMing on 146.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.41, Y:-1.64, Z:-0.61 [[ 0.92902796 -0.32551422 -0.1759191 1.41333755] [ 0.33290438 0.94286503 0.01342378 -1.64409447] [ 0.16149834 -0.07103531 0.9843131 -0.60892247] [ 0. 0. 0. 1. ]] SLAMing on 146.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.44, Y:-1.65, Z:-0.60 [[ 0.93175572 -0.31762939 -0.17590578 1.43991209] [ 0.32492945 0.94564052 0.01359621 -1.64962764] [ 0.16202507 -0.06982532 0.98431311 -0.6033355 ] [ 0. 0. 0. 1. ]] SLAMing on 146.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.47, Y:-1.65, Z:-0.60 [[ 0.9330556 -0.31378875 -0.17590871 1.46799912] [ 0.32102548 0.9469735 0.0135581 -1.65416059] [ 0.16232651 -0.06912164 0.98431311 -0.59664977] [ 0. 0. 0. 1. ]] SLAMing on 146.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.49, Y:-1.66, Z:-0.59 [[ 0.93560963 -0.30608778 -0.17591159 1.49385638] [ 0.31320355 0.94958977 0.01352061 -1.65997785] [ 0.16290536 -0.06774615 0.98431311 -0.59135277] [ 0. 0. 0. 1. ]] SLAMing on 146.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.52, Y:-1.66, Z:-0.59 [[ 0.9368373 -0.30230858 -0.17591303 1.52137367] [ 0.30936485 0.95084756 0.01350191 -1.66361092] [ 0.16318473 -0.06707041 0.98431311 -0.58575051] [ 0. 0. 0. 1. ]] SLAMing on 146.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.55, Y:-1.67, Z:-0.58 [[ 0.93814017 -0.29823903 -0.17591619 1.54790739] [ 0.30522779 0.95218423 0.01346066 -1.6676084 ] [ 0.16349012 -0.0663225 0.98431311 -0.58088945] [ 0. 0. 0. 1. ]] SLAMing on 146.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.57, Y:-1.67, Z:-0.58 [[ 0.94057395 -0.29047145 -0.17591756 1.57473417] [ 0.29734093 0.95467673 0.01344267 -1.67293865] [ 0.16403969 -0.06495132 0.98431311 -0.57614706] [ 0. 0. 0. 1. ]] SLAMing on 146.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.60, Y:-1.68, Z:-0.57 [[ 0.94176385 -0.28658815 -0.1759207 1.60161305] [ 0.29339273 0.95589806 0.01340152 -1.67727911] [ 0.16432154 -0.06423492 0.98431311 -0.57027321] [ 0. 0. 0. 1. ]] SLAMing on 146.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.63, Y:-1.68, Z:-0.57 [[ 0.94279219 -0.28318484 -0.17592392 1.62840121] [ 0.28993144 0.95695418 0.01335904 -1.68079516] [ 0.16456805 -0.06360067 0.98431312 -0.5665792 ] [ 0. 0. 0. 1. ]] SLAMing on 146.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.66, Y:-1.69, Z:-0.56 [[ 0.94504518 -0.27557194 -0.17592532 1.65506386] [ 0.28220109 0.95926251 0.01334059 -1.68673345] [ 0.16508227 -0.06225378 0.98431312 -0.56170052] [ 0. 0. 0. 1. ]] SLAMing on 146.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.68, Y:-1.69, Z:-0.56 [[ 0.9461176 -0.2718658 -0.17592746 1.68113043] [ 0.27843456 0.96036294 0.01331232 -1.69024708] [ 0.16533505 -0.0615793 0.98431312 -0.55694765] [ 0. 0. 0. 1. ]] SLAMing on 146.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.71, Y:-1.69, Z:-0.55 [[ 0.94719972 -0.26806928 -0.17593054 1.70814227] [ 0.27457418 0.96147433 0.01327144 -1.69386558] [ 0.16559504 -0.06087669 0.98431312 -0.55015541] [ 0. 0. 0. 1. ]] SLAMing on 146.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.73, Y:-1.70, Z:-0.54 [[ 0.94936336 -0.26030083 -0.17593378 1.73473052] [ 0.26668152 0.96369392 0.01322842 -1.69875764] [ 0.16610294 -0.05947687 0.98431312 -0.54498429] [ 0. 0. 0. 1. ]] SLAMing on 147.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.76, Y:-1.70, Z:-0.54 [[ 0.95041294 -0.2564399 -0.17593697 1.76195138] [ 0.26275528 0.9647724 0.0131859 -1.70232564] [ 0.16635774 -0.05876042 0.98431312 -0.53922572] [ 0. 0. 0. 1. ]] SLAMing on 147.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.79, Y:-1.71, Z:-0.53 [[ 0.95248503 -0.24863092 -0.17594015 1.78897556] [ 0.25482122 0.96689886 0.01314334 -1.70750759] [ 0.16684849 -0.05735212 0.98431312 -0.53335003] [ 0. 0. 0. 1. ]] SLAMing on 147.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.82, Y:-1.71, Z:-0.53 [[ 0.95337854 -0.2451801 -0.17594337 1.81596626] [ 0.25131099 0.96781774 0.01310001 -1.71068006] [ 0.16706925 -0.05670577 0.98431312 -0.52818779] [ 0. 0. 0. 1. ]] SLAMing on 147.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.84, Y:-1.71, Z:-0.52 [[ 0.95434374 -0.24139349 -0.17594659 1.84277862] [ 0.24745984 0.96881017 0.0130567 -1.71406658] [ 0.16730704 -0.05600029 0.98431312 -0.52397046] [ 0. 0. 0. 1. ]] SLAMing on 147.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.87, Y:-1.72, Z:-0.52 [[ 0.95531088 -0.23753618 -0.17594798 1.87034214] [ 0.24354091 0.96980299 0.01303784 -1.71746238] [ 0.16753792 -0.05530572 0.98431312 -0.51751129] [ 0. 0. 0. 1. ]] SLAMing on 147.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.90, Y:-1.72, Z:-0.51 [[ 0.95715631 -0.22998467 -0.17595124 1.89731459] [ 0.23586742 0.97169837 0.01299373 -1.72211959] [ 0.16798318 -0.0539382 0.98431312 -0.51328143] [ 0. 0. 0. 1. ]] SLAMing on 147.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.92, Y:-1.73, Z:-0.51 [[ 0.9580443 -0.22625633 -0.17595225 1.92406381] [ 0.23208014 0.97261006 0.01298003 -1.72564205] [ 0.16819612 -0.05327047 0.98431312 -0.50709282] [ 0. 0. 0. 1. ]] SLAMing on 147.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.95, Y:-1.73, Z:-0.50 [[ 0.95985181 -0.21845855 -0.17595556 1.95257419] [ 0.22415619 0.97446739 0.01293505 -1.73091338] [ 0.16863718 -0.05185726 0.98431312 -0.5032879 ] [ 0. 0. 0. 1. ]] SLAMing on 147.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.98, Y:-1.73, Z:-0.50 [[ 0.96078933 -0.21429551 -0.17595825 1.97983466] [ 0.21992357 0.97543183 0.01289828 -1.73435653] [ 0.16887124 -0.0510899 0.98431312 -0.49770031] [ 0. 0. 0. 1. ]] SLAMing on 147.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.01, Y:-1.74, Z:-0.49 [[ 0.96158455 -0.2106976 -0.17595929 2.008892 ] [ 0.21626844 0.97624892 0.01288415 -1.73744268] [ 0.16906541 -0.05044364 0.98431312 -0.49138706] [ 0. 0. 0. 1. ]] SLAMing on 147.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.03, Y:-1.74, Z:-0.49 [[ 0.96317037 -0.20332494 -0.1759597 2.03484165] [ 0.20878232 0.97787734 0.01287849 -1.74156055] [ 0.16944849 -0.04914146 0.98431312 -0.48682271] [ 0. 0. 0. 1. ]] SLAMing on 147.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.06, Y:-1.74, Z:-0.48 [[ 0.96400846 -0.19931153 -0.17596194 2.06173153] [ 0.20470244 0.97873993 0.01284782 -1.7448563 ] [ 0.16966026 -0.04840525 0.98431313 -0.48153369] [ 0. 0. 0. 1. ]] SLAMing on 147.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.09, Y:-1.75, Z:-0.48 [[ 0.96472875 -0.19579259 -0.17596508 2.08870769] [ 0.20112243 0.97948242 0.01280476 -1.74775211] [ 0.16984762 -0.04774364 0.98431313 -0.47688116] [ 0. 0. 0. 1. ]] SLAMing on 147.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.12, Y:-1.75, Z:-0.47 [[ 0.96539383 -0.19248561 -0.17596605 2.11620642] [ 0.1977626 0.98016648 0.01279136 -1.7507862 ] [ 0.17001387 -0.04714821 0.98431313 -0.47093808] [ 0. 0. 0. 1. ]] SLAMing on 147.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.14, Y:-1.75, Z:-0.47 [[ 0.96680067 -0.18528726 -0.17596904 2.1437945 ] [ 0.19044703 0.98161467 0.0127501 -1.75447887] [ 0.17037136 -0.04583958 0.98431313 -0.46584611] [ 0. 0. 0. 1. ]] SLAMing on 147.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.17, Y:-1.76, Z:-0.46 [[ 0.96746866 -0.18176403 -0.17597223 2.17099746] [ 0.1868623 0.98230395 0.01270594 -1.75765324] [ 0.17054873 -0.04517518 0.98431313 -0.46116296] [ 0. 0. 0. 1. ]] SLAMing on 147.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.20, Y:-1.76, Z:-0.46 [[ 0.96869049 -0.17513243 -0.17597545 2.19804967] [ 0.18012133 0.98356291 0.01266117 -1.76197051] [ 0.17086554 -0.04396169 0.98431313 -0.45531411] [ 0. 0. 0. 1. ]] SLAMing on 147.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.23, Y:-1.76, Z:-0.45 [[ 0.96932082 -0.1716061 -0.17597871 2.22524454] [ 0.17653309 0.98421385 0.01261574 -1.76488347] [ 0.17103574 -0.04329476 0.98431313 -0.45160059] [ 0. 0. 0. 1. ]] SLAMing on 147.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.25, Y:-1.77, Z:-0.45 [[ 0.96996857 -0.16790505 -0.17597971 2.25331437] [ 0.17277276 0.98488109 0.01260171 -1.76868749] [ 0.1712032 -0.04262776 0.98431313 -0.44785789] [ 0. 0. 0. 1. ]] SLAMing on 147.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.28, Y:-1.77, Z:-0.44 [[ 0.97102837 -0.16166038 -0.17598244 2.2804059 ] [ 0.1664255 0.98597399 0.01256348 -1.7717236 ] [ 0.17148309 -0.04148746 0.98431313 -0.43913384] [ 0. 0. 0. 1. ]] SLAMing on 147.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.31, Y:-1.78, Z:-0.44 [[ 0.97165491 -0.15784983 -0.17598345 2.30802992] [ 0.16255385 0.98661987 0.01254928 -1.7756195 ] [ 0.17164787 -0.04080036 0.98431313 -0.43713891] [ 0. 0. 0. 1. ]] SLAMing on 147.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.34, Y:-1.78, Z:-0.43 [[ 0.97259781 -0.1519414 -0.17597531 2.33608397] [ 0.15657404 0.98758503 0.01266381 -1.77958312] [ 0.17186642 -0.03986996 0.98431312 -0.42938889] [ 0. 0. 0. 1. ]] SLAMing on 147.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.36, Y:-1.78, Z:-0.42 [[ 0.97289232 -0.15003951 -0.17597917 2.363331 ] [ 0.15463348 0.98789144 0.01260928 -1.78125213] [ 0.17195643 -0.03947974 0.98431313 -0.42485034] [ 0. 0. 0. 1. ]] SLAMing on 147.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.39, Y:-1.78, Z:-0.42 [[ 0.97345265 -0.14634605 -0.17599081 2.39223176] [ 0.15085474 0.98847761 0.0124447 -1.78491414] [ 0.17214174 -0.03866338 0.98431314 -0.4210196 ] [ 0. 0. 0. 1. ]] SLAMing on 147.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.42, Y:-1.79, Z:-0.41 [[ 0.97380878 -0.14395406 -0.17599343 2.41986445] [ 0.14841942 0.98884667 0.01240756 -1.78695458] [ 0.1722444 -0.03820343 0.98431314 -0.41316483] [ 0. 0. 0. 1. ]] SLAMing on 147.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.45, Y:-1.79, Z:-0.41 [[ 0.97471729 -0.13766451 -0.17599624 2.44802857] [ 0.1420258 0.98978569 0.01236755 -1.79101301] [ 0.17249599 -0.03705087 0.98431314 -0.4100114 ] [ 0. 0. 0. 1. ]] SLAMing on 147.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.47, Y:-1.79, Z:-0.40 [[ 0.97505316 -0.13526149 -0.17599905 2.47478943] [ 0.1395787 0.99013424 0.01232743 -1.79353234] [ 0.17259526 -0.03658562 0.98431314 -0.40257209] [ 0. 0. 0. 1. ]] SLAMing on 147.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.50, Y:-1.80, Z:-0.40 [[ 0.97537995 -0.13288247 -0.17600055 2.50111559] [ 0.13715918 0.99047258 0.01230602 -1.79602594] [ 0.17268846 -0.03614314 0.98431315 -0.39776937] [ 0. 0. 0. 1. ]] SLAMing on 147.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.53, Y:-1.80, Z:-0.39 [[ 0.97534553 -0.13313206 -0.17600271 2.52908963] [ 0.13740728 0.99043857 0.01227508 -1.79780366] [ 0.17268567 -0.0361565 0.98431315 -0.39274459] [ 0. 0. 0. 1. ]] SLAMing on 147.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.56, Y:-1.80, Z:-0.39 [[ 0.97581531 -0.12963962 -0.17600582 2.55720809] [ 0.13385303 0.99092572 0.0122303 -1.8014468 ] [ 0.17282316 -0.03549343 0.98431315 -0.39199777] [ 0. 0. 0. 1. ]] SLAMing on 147.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.58, Y:-1.80, Z:-0.38 [[ 0.97646287 -0.12466708 -0.17600678 2.58395924] [ 0.12880107 0.9915952 0.01221644 -1.8041841 ] [ 0.17300449 -0.03459876 0.98431315 -0.38265986] [ 0. 0. 0. 1. ]] SLAMing on 147.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.61, Y:-1.81, Z:-0.38 [[ 0.97669877 -0.12278603 -0.17602017 2.61160394] [ 0.12685732 0.99184811 0.01202308 -1.80651003] [ 0.173109 -0.03407238 0.98431313 -0.37865219] [ 0. 0. 0. 1. ]] SLAMing on 147.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.64, Y:-1.81, Z:-0.37 [[ 0.97737094 -0.11733081 -0.17601 2.64009608] [ 0.12134301 0.99253602 0.01217021 -1.81085193] [ 0.17326832 -0.03325239 0.98431314 -0.37324582] [ 0. 0. 0. 1. ]] SLAMing on 148.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.67, Y:-1.81, Z:-0.37 [[ 0.97763712 -0.11507609 -0.17602034 2.66817988] [ 0.11902727 0.99281822 0.01202037 -1.8133367 ] [ 0.17337294 -0.03270277 0.98431314 -0.366963 ] [ 0. 0. 0. 1. ]] SLAMing on 148.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.70, Y:-1.82, Z:-0.36 [[ 0.97788781 -0.11291474 -0.17602752 2.69582851] [ 0.11681418 0.9930823 0.01191596 -1.81607124] [ 0.17346433 -0.03221498 0.98431312 -0.36204871] [ 0. 0. 0. 1. ]] SLAMing on 148.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.72, Y:-1.82, Z:-0.36 [[ 0.97837539 -0.10859477 -0.17603631 2.72372661] [ 0.11240475 0.99359258 0.01178785 -1.81900377] [ 0.17362827 -0.03132026 0.98431309 -0.35685712] [ 0. 0. 0. 1. ]] SLAMing on 148.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.75, Y:-1.82, Z:-0.35 [[ 0.97864233 -0.10619482 -0.17601664 2.74987677] [ 0.11001745 0.99385631 0.01207464 -1.82160344] [ 0.17365299 -0.03118165 0.98431313 -0.35217854] [ 0. 0. 0. 1. ]] SLAMing on 148.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.78, Y:-1.82, Z:-0.35 [[ 0.97886675 -0.10410355 -0.17601802 2.77697691] [ 0.10789015 0.99408974 0.01205448 -1.82419655] [ 0.1737228 -0.03079034 0.98431313 -0.34675233] [ 0. 0. 0. 1. ]] SLAMing on 148.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.81, Y:-1.83, Z:-0.34 [[ 0.97938172 -0.09913621 -0.17602122 2.80550754] [ 0.10283736 0.99462571 0.01200768 -1.82797602] [ 0.17388483 -0.02986166 0.98431313 -0.34138131] [ 0. 0. 0. 1. ]] SLAMing on 148.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.83, Y:-1.83, Z:-0.33 [[ 0.9795336 -0.0975775 -0.17604703 2.83384742] [ 0.10118806 0.99479936 0.01162802 -1.83019161] [ 0.17399684 -0.02920389 0.98431308 -0.33410923] [ 0. 0. 0. 1. ]] SLAMing on 148.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.86, Y:-1.83, Z:-0.33 [[ 0.97983206 -0.09457578 -0.17602432 2.86079426] [ 0.098198 0.995095 0.01196235 -1.83316937] [ 0.17402957 -0.02900633 0.98431313 -0.3298783 ] [ 0. 0. 0. 1. ]] SLAMing on 148.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.89, Y:-1.84, Z:-0.33 [[ 0.98003484 -0.09241421 -0.17604355 2.888617 ] [ 0.09595317 0.99531733 0.01167884 -1.83534625] [ 0.1741399 -0.02833761 0.9843131 -0.32533185] [ 0. 0. 0. 1. ]] SLAMing on 148.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.92, Y:-1.84, Z:-0.32 [[ 0.98039557 -0.08850038 -0.17604603 2.91713758] [ 0.09197187 0.99569355 0.01164215 -1.83749673] [ 0.17425756 -0.0276052 0.98431309 -0.31891279] [ 0. 0. 0. 1. ]] SLAMing on 148.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.94, Y:-1.84, Z:-0.31 [[ 0.98061792 -0.08603653 -0.17602902 2.94347454] [ 0.08951369 0.99591457 0.01189399 -1.83958071] [ 0.17428654 -0.02742047 0.98431312 -0.31490009] [ 0. 0. 0. 1. ]] SLAMing on 148.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.97, Y:-1.84, Z:-0.31 [[ 0.98087275 -0.083078 -0.17603038 2.97143357] [ 0.08650545 0.99618062 0.01187379 -1.84216301] [ 0.1743716 -0.02687426 0.98431312 -0.31051151] [ 0. 0. 0. 1. ]] SLAMing on 148.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-1.84, Z:-0.30 [[ 0.98114646 -0.07970303 -0.17606545 2.99994423] [ 0.08298636 0.99648602 0.01135272 -1.84481122] [ 0.17454191 -0.02574971 0.984313 -0.30351941] [ 0. 0. 0. 1. ]] SLAMing on 148.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.03, Y:-1.85, Z:-0.30 [[ 0.9813944 -0.07666358 -0.17603331 3.02606899] [ 0.0799834 0.99672598 0.0118312 -1.84742553] [ 0.17454995 -0.02569081 0.98431311 -0.29977864] [ 0. 0. 0. 1. ]] SLAMing on 148.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.85, Z:-0.29 [[ 0.98148072 -0.0754627 -0.17607096 3.0550049 ] [ 0.07866507 0.9968374 0.01126933 -1.84944388] [ 0.1746637 -0.02491126 0.98431297 -0.29349716] [ 0. 0. 0. 1. ]] SLAMing on 148.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.08, Y:-1.85, Z:-0.29 [[ 0.98181302 -0.07109298 -0.1760369 3.08208496] [ 0.07431652 0.99716514 0.0117787 -1.85212142] [ 0.17470048 -0.02464693 0.9843131 -0.28981865] [ 0. 0. 0. 1. ]] SLAMing on 148.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.11, Y:-1.85, Z:-0.28 [[ 0.98196938 -0.06889709 -0.17603788 3.10956884] [ 0.07208372 0.99732921 0.01176407 -1.85456388] [ 0.17475721 -0.02424142 0.9843131 -0.28456167] [ 0. 0. 0. 1. ]] SLAMing on 148.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.14, Y:-1.86, Z:-0.28 [[ 0.98210072 -0.06699069 -0.176041 3.137131 ] [ 0.07013925 0.99746839 0.01171722 -1.85685621] [ 0.17481038 -0.02385488 0.9843131 -0.28015081] [ 0. 0. 0. 1. ]] SLAMing on 148.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.17, Y:-1.86, Z:-0.28 [[ 0.98236813 -0.06293891 -0.17604414 3.16511963] [ 0.06601569 0.99775034 0.01166974 -1.86008597] [ 0.17491362 -0.02308565 0.9843131 -0.27591929] [ 0. 0. 0. 1. ]] SLAMing on 148.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-1.86, Z:-0.27 [[ 0.98246807 -0.06135021 -0.17604728 3.19266395] [ 0.06439375 0.99785689 0.01162228 -1.86210154] [ 0.17495696 -0.02275486 0.9843131 -0.26967148] [ 0. 0. 0. 1. ]] SLAMing on 148.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.22, Y:-1.86, Z:-0.27 [[ 0.98276318 -0.05641603 -0.17605048 3.21826119] [ 0.05937365 0.99816874 0.01157349 -1.86469021] [ 0.17507516 -0.02182676 0.9843131 -0.26603293] [ 0. 0. 0. 1. ]] SLAMing on 148.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.25, Y:-1.87, Z:-0.26 [[ 0.98282834 -0.05509935 -0.17610371 3.24647447] [ 0.05789229 0.99826487 0.01075749 -1.86671996] [ 0.17520542 -0.02076781 0.98431284 -0.2578423 ] [ 0. 0. 0. 1. ]] SLAMing on 148.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.87, Z:-0.25 [[ 0.9829855 -0.0523861 -0.17605452 3.27272555] [ 0.05526942 0.99840513 0.01151058 -1.86869205] [ 0.17517074 -0.02104517 0.98431312 -0.25230619] [ 0. 0. 0. 1. ]] SLAMing on 148.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.87, Z:-0.25 [[ 0.98302994 -0.05136946 -0.17610598 3.30214379] [ 0.05409709 0.99847814 0.01071955 -1.87090999] [ 0.17528732 -0.02006446 0.98431284 -0.2466603 ] [ 0. 0. 0. 1. ]] SLAMing on 148.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.87, Z:-0.24 [[ 0.98324005 -0.04735515 -0.17605819 3.3281691 ] [ 0.05014969 0.99867602 0.0114549 -1.87333736] [ 0.17528264 -0.02009218 0.98431311 -0.24142597] [ 0. 0. 0. 1. ]] SLAMing on 148.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.88, Z:-0.24 [[ 0.98326574 -0.04657771 -0.17612214 3.35733959] [ 0.04918509 0.99873485 0.01046561 -1.87572068] [ 0.17541185 -0.01895306 0.98431269 -0.23657116] [ 0. 0. 0. 1. ]] SLAMing on 148.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:-1.88, Z:-0.23 [[ 0.98336505 -0.04467098 -0.17606161 3.38377639] [ 0.04741392 0.99881025 0.01140151 -1.87825269] [ 0.17534282 -0.01955962 0.98431312 -0.23271933] [ 0. 0. 0. 1. ]] SLAMing on 148.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:-1.88, Z:-0.23 [[ 0.98349244 -0.04176683 -0.17606294 3.41154329] [ 0.0444605 0.99894632 0.01138085 -1.88056517] [ 0.17540209 -0.01902083 0.98431312 -0.22696607] [ 0. 0. 0. 1. ]] SLAMing on 148.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:-1.88, Z:-0.22 [[ 0.98354786 -0.04042727 -0.17606604 3.43815318] [ 0.04309137 0.99900686 0.0113327 -1.88270364] [ 0.17543303 -0.01873318 0.98431312 -0.22356617] [ 0. 0. 0. 1. ]] SLAMing on 148.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:-1.88, Z:-0.22 [[ 0.98360064 -0.0391159 -0.17606738 3.46491989] [ 0.04175569 0.99906381 0.01131182 -1.88476683] [ 0.17546008 -0.01847813 0.98431312 -0.21697771] [ 0. 0. 0. 1. ]] SLAMing on 148.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:-1.89, Z:-0.21 [[ 0.98370965 -0.03625603 -0.17607053 3.49221611] [ 0.03884215 0.99918189 0.01126269 -1.88744206] [ 0.17551814 -0.01791817 0.98431312 -0.21341158] [ 0. 0. 0. 1. ]] SLAMing on 148.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.89, Z:-0.21 [[ 0.98377339 -0.03447814 -0.17607149 3.51870875] [ 0.03703361 0.99925072 0.01124754 -1.88984914] [ 0.17555177 -0.01758559 0.98431312 -0.20588568] [ 0. 0. 0. 1. ]] SLAMing on 148.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.89, Z:-0.20 [[ 0.98386318 -0.03179596 -0.17607457 3.54640781] [ 0.03430065 0.99934881 0.01119914 -1.8929197 ] [ 0.17560383 -0.0170579 0.98431312 -0.20025068] [ 0. 0. 0. 1. ]] SLAMing on 148.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.57, Y:-1.90, Z:-0.19 [[ 0.98389345 -0.0308274 -0.17607766 3.57336253] [ 0.03330821 0.99938292 0.01115046 -1.89505237] [ 0.17562526 -0.0168357 0.98431312 -0.19439436] [ 0. 0. 0. 1. ]] SLAMing on 149.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:-1.90, Z:-0.19 [[ 0.98392989 -0.02962324 -0.17608075 3.59994391] [ 0.03207639 0.99942377 0.01110143 -1.89713745] [ 0.17565042 -0.01657106 0.98431313 -0.19127144] [ 0. 0. 0. 1. ]] SLAMing on 149.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:-1.90, Z:-0.19 [[ 0.9839628 -0.02850094 -0.17608209 3.62729965] [ 0.03093263 0.99946006 0.01108009 -1.89945556] [ 0.17567122 -0.01634908 0.98431313 -0.18634588] [ 0. 0. 0. 1. ]] SLAMing on 149.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-1.90, Z:-0.18 [[ 0.98402651 -0.02618945 -0.17608505 3.65429777] [ 0.02857636 0.99953072 0.01103294 -1.90211739] [ 0.17571347 -0.01588857 0.98431313 -0.18066358] [ 0. 0. 0. 1. ]] SLAMing on 149.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.90, Z:-0.18 [[ 0.98406124 -0.02482853 -0.17608811 3.68202189] [ 0.02718529 0.99957006 0.01098388 -1.90440017] [ 0.17573969 -0.01559582 0.98431313 -0.17640437] [ 0. 0. 0. 1. ]] SLAMing on 149.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-1.91, Z:-0.17 [[ 0.9840927 -0.02354146 -0.17608905 3.70897975] [ 0.02587523 0.999605 0.01096867 -1.90681276] [ 0.17576128 -0.01535053 0.98431313 -0.17131581] [ 0. 0. 0. 1. ]] SLAMing on 149.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.91, Z:-0.17 [[ 0.98412341 -0.02219737 -0.17609202 3.7354971 ] [ 0.02450146 0.99964014 0.0109209 -1.90877138] [ 0.17578623 -0.01506202 0.98431313 -0.16641419] [ 0. 0. 0. 1. ]] SLAMing on 149.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.76, Y:-1.91, Z:-0.16 [[ 0.9841786 -0.01958656 -0.1760933 3.76237629] [ 0.0218458 0.99970193 0.0109002 -1.9115675 ] [ 0.17582731 -0.01457464 0.98431313 -0.16081677] [ 0. 0. 0. 1. ]] SLAMing on 149.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.79, Y:-1.91, Z:-0.15 [[ 0.98419501 -0.01871673 -0.17609616 3.78929436] [ 0.02095399 0.99972153 0.01085368 -1.91365095] [ 0.17584398 -0.01437205 0.98431313 -0.15459549] [ 0. 0. 0. 1. ]] SLAMing on 149.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.82, Y:-1.92, Z:-0.15 [[ 0.98421654 -0.01751818 -0.17609919 3.81614592] [ 0.01972777 0.99974701 0.01080445 -1.91573107] [ 0.17586536 -0.01410796 0.98431313 -0.15172182] [ 0. 0. 0. 1. ]] SLAMing on 149.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-1.92, Z:-0.15 [[ 0.98424394 -0.0158897 -0.1761005 3.84407429] [ 0.01806979 0.99977858 0.01078305 -1.91842728] [ 0.17589016 -0.01379525 0.98431313 -0.14723258] [ 0. 0. 0. 1. ]] SLAMing on 149.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.87, Y:-1.92, Z:-0.14 [[ 0.98425473 -0.01517377 -0.17610331 3.8717165 ] [ 0.01733434 0.9997921 0.01073685 -1.92100697] [ 0.17590378 -0.01362043 0.98431313 -0.1413277 ] [ 0. 0. 0. 1. ]] SLAMing on 149.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.90, Y:-1.92, Z:-0.13 [[ 0.9842731 -0.01389633 -0.17610611 3.89896234] [ 0.01602853 0.99981438 0.01069076 -1.92387139] [ 0.17592486 -0.01334535 0.98431313 -0.13357271] [ 0. 0. 0. 1. ]] SLAMing on 149.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.92, Y:-1.93, Z:-0.13 [[ 0.98429323 -0.01234559 -0.1761091 3.92367664] [ 0.01444451 0.99983905 0.01064133 -1.92605692] [ 0.17594938 -0.013018 0.98431314 -0.13217779] [ 0. 0. 0. 1. ]] SLAMing on 149.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.93, Z:-0.12 [[ 0.98427819 -0.01256244 -0.17617783 3.95336502] [ 0.01446041 0.99985038 0.00949326 -1.92843172] [ 0.17603221 -0.01189162 0.98431258 -0.12389878] [ 0. 0. 0. 1. ]] SLAMing on 149.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.98, Y:-1.93, Z:-0.12 [[ 0.98431567 -0.01031784 -0.17611417 3.9805964 ] [ 0.01236971 0.99986776 0.01055693 -1.9312998 ] [ 0.17598196 -0.01256984 0.98431314 -0.11980043] [ 0. 0. 0. 1. ]] SLAMing on 149.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.01, Y:-1.93, Z:-0.12 [[ 0.98432203 -0.0096757 -0.17611508 4.00700035] [ 0.01171473 0.99987581 0.01054179 -1.93343937] [ 0.17599121 -0.01243965 0.98431314 -0.11542569] [ 0. 0. 0. 1. ]] SLAMing on 149.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.03, Y:-1.94, Z:-0.11 [[ 0.98433088 -0.00870358 -0.17611632 4.03433025] [ 0.01072355 0.99988715 0.01052103 -1.93614992] [ 0.17600487 -0.01224476 0.98431314 -0.10884354] [ 0. 0. 0. 1. ]] SLAMing on 149.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.06, Y:-1.94, Z:-0.10 [[ 0.98433292 -0.00840879 -0.17611925 4.0620825 ] [ 0.01041533 0.99989093 0.01047177 -1.93858499] [ 0.17601198 -0.01214205 0.98431314 -0.10418096] [ 0. 0. 0. 1. ]] SLAMing on 149.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.09, Y:-1.94, Z:-0.10 [[ 0.98434333 -0.00701392 -0.17612216 4.08939958] [ 0.00898964 0.99990527 0.01042255 -1.94301873] [ 0.17603238 -0.01184264 0.98431314 -0.09862575] [ 0. 0. 0. 1. ]] SLAMing on 149.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.12, Y:-1.95, Z:-0.09 [[ 0.98434634 -0.00655373 -0.17612306 4.11721089] [ 0.00851946 0.99990955 0.01040728 -1.94532746] [ 0.17603893 -0.01174484 0.98431314 -0.09297087] [ 0. 0. 0. 1. ]] SLAMing on 149.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-1.95, Z:-0.09 [[ 0.98435278 -0.00541176 -0.17612586 4.14342348] [ 0.00735095 0.99991932 0.01035967 -1.94760531] [ 0.17605559 -0.01149226 0.98431314 -0.08937486] [ 0. 0. 0. 1. ]] SLAMing on 149.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.17, Y:-1.95, Z:-0.08 [[ 0.98434559 -0.00526714 -0.17617039 4.17176599] [ 0.00706835 0.99992895 0.00959826 -1.950469 ] [ 0.17610732 -0.01069324 0.98431289 -0.08305204] [ 0. 0. 0. 1. ]] SLAMing on 149.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:-1.95, Z:-0.08 [[ 0.98435596 -0.00466272 -0.17612952 4.19908544] [ 0.00657909 0.99992533 0.01029806 -1.95305994] [ 0.17606835 -0.01129573 0.98431313 -0.07913503] [ 0. 0. 0. 1. ]] SLAMing on 149.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.23, Y:-1.96, Z:-0.07 [[ 0.98435724 -0.00427168 -0.17613228 4.22588809] [ 0.00617341 0.9999284 0.01025059 -1.95584517] [ 0.17607589 -0.01117758 0.98431313 -0.07479832] [ 0. 0. 0. 1. ]] SLAMing on 149.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.96, Z:-0.07 [[ 0.98435572 -0.00453637 -0.17613416 4.25389844] [ 0.00643653 0.99992708 0.01021828 -1.95724761] [ 0.17607496 -0.01119212 0.98431313 -0.06977279] [ 0. 0. 0. 1. ]] SLAMing on 149.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.28, Y:-1.96, Z:-0.07 [[ 9.84357069e-01 -4.11844226e-03 -1.76136877e-01 4.28072998e+00] [ 6.00359209e-03 9.99930249e-01 1.01711995e-02 -1.96112994e+00] [ 1.76082701e-01 -1.10695461e-02 9.84313135e-01 -6.52311988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.96, Z:-0.06 [[ 9.84357958e-01 -3.86198955e-03 -1.76137717e-01 4.30814157e+00] [ 5.74048387e-03 9.99931943e-01 1.01566223e-02 -1.96391649e+00] [ 1.76086505e-01 -1.10088677e-02 9.84313135e-01 -5.98283728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.34, Y:-1.97, Z:-0.05 [[ 9.84358118e-01 -3.69578072e-03 -1.76140387e-01 4.33552592e+00] [ 5.56335500e-03 9.99933415e-01 1.01101119e-02 -1.96715392e+00] [ 1.76091294e-01 -1.09319022e-02 9.84313136e-01 -5.36542394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-1.97, Z:-0.05 [[ 9.84357757e-01 -3.66596038e-03 -1.76143032e-01 4.36288653e+00] [ 5.52481016e-03 9.99934096e-01 1.00638154e-02 -1.96946742e+00] [ 1.76094530e-01 -1.08795515e-02 9.84313137e-01 -4.75735057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.39, Y:-1.97, Z:-0.04 [[ 9.84358559e-01 -3.30757647e-03 -1.76145644e-01 4.38934306e+00] [ 5.15256864e-03 9.99936544e-01 1.00178944e-02 -1.97216223e+00] [ 1.76101332e-01 -1.07688026e-02 9.84313138e-01 -4.30246836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.42, Y:-1.97, Z:-0.04 [[ 9.84357507e-01 -3.47859896e-03 -1.76148224e-01 4.41588220e+00] [ 5.31817420e-03 9.99936133e-01 9.97232823e-03 -1.97461028e+00] [ 1.76102284e-01 -1.07531231e-02 9.84313139e-01 -3.82990230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.44, Y:-1.98, Z:-0.03 [[ 9.84358437e-01 -3.14270486e-03 -1.76149344e-01 4.44357320e+00] [ 4.97342906e-03 9.99938104e-01 9.95250093e-03 -1.97845741e+00] [ 1.76107164e-01 -1.06728945e-02 9.84313139e-01 -3.41258186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:-1.98, Z:-0.03 [[ 9.84360831e-01 -2.06616949e-03 -1.76151882e-01 4.47033329e+00] [ 3.87180939e-03 9.99943425e-01 9.90738725e-03 -1.98152241e+00] [ 1.76121446e-01 -1.04344705e-02 9.84313140e-01 -2.74929659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-1.99, Z:-0.02 [[ 9.84352323e-01 -2.78450123e-03 -1.76189528e-01 4.49923707e+00] [ 4.48137932e-03 9.99947326e-01 9.23381545e-03 -1.98527013e+00] [ 1.76154536e-01 -9.87889980e-03 9.84312952e-01 -2.47781432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:-1.99, Z:-0.02 [[ 9.84358244e-01 -2.87286446e-03 -1.76155027e-01 4.52610460e+00] [ 4.68128098e-03 9.99940517e-01 9.85134502e-03 -1.98796896e+00] [ 1.76116247e-01 -1.05218839e-02 9.84313140e-01 -1.65908283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.079072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.99, Z:-0.01 [[ 9.84359023e-01 -2.39314804e-03 -1.76157846e-01 4.55316457e+00] [ 4.18493755e-03 9.99943215e-01 9.80069261e-03 -1.99095962e+00] [ 1.76124388e-01 -1.03846098e-02 9.84313141e-01 -1.06276596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.109072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.58, Y:-1.99, Z:-0.01 [[ 9.84352162e-01 -2.53347902e-03 -1.76194219e-01 4.58052046e+00] [ 4.21004606e-03 9.99949346e-01 9.14228204e-03 -1.99349870e+00] [ 1.76162133e-01 -9.74101087e-03 9.84312966e-01 -6.81391832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:-2.00, Z:-0.00 [[ 9.84351872e-01 -3.03240952e-03 -1.76187957e-01 4.60849862e+00] [ 4.73719519e-03 9.99945940e-01 9.25614552e-03 -1.99721456e+00] [ 1.76150363e-01 -9.94594091e-03 9.84313023e-01 -2.87436740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:-2.00, Z:0.01 [[ 9.84356526e-01 -2.89458455e-03 -1.76164273e-01 4.63502546e+00] [ 4.67406424e-03 9.99942155e-01 9.68714318e-03 -1.99985938e+00] [ 1.76126042e-01 -1.03590057e-02 9.84313115e-01 5.14723518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:-2.00, Z:0.01 [[ 9.84355781e-01 -2.98007104e-03 -1.76167009e-01 4.66226146e+00] [ 4.75198291e-03 9.99942271e-01 9.63712134e-03 -2.00256984e+00] [ 1.76128120e-01 -1.03234987e-02 9.84313116e-01 7.37700423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-2.01, Z:0.01 [[ 9.84356000e-01 -2.83426379e-03 -1.76168192e-01 4.68897505e+00] [ 4.60000349e-03 9.99943190e-01 9.61546032e-03 -2.00642190e+00] [ 1.76130931e-01 -1.02754104e-02 9.84313116e-01 1.47564886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-2.01, Z:0.02 [[ 9.84354711e-01 -3.10699755e-03 -1.76170797e-01 4.71632440e+00] [ 4.86849927e-03 9.99942379e-01 9.56748619e-03 -2.00865846e+00] [ 1.76130920e-01 -1.02754875e-02 9.84313118e-01 2.03149693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.74, Y:-2.01, Z:0.03 [[ 9.84355871e-01 -2.53662391e-03 -1.76173449e-01 4.74332282e+00] [ 4.28033887e-03 9.99945538e-01 9.51840895e-03 -2.01118858e+00] [ 1.76139710e-01 -1.01235838e-02 9.84313119e-01 2.52813614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:-2.01, Z:0.03 [[ 9.84351951e-01 -2.08580537e-03 -1.76201264e-01 4.77107424e+00] [ 3.73008910e-03 9.99952532e-01 9.00115068e-03 -2.01489473e+00] [ 1.76174125e-01 -9.51754665e-03 9.84313006e-01 2.99061865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.80, Y:-2.02, Z:0.04 [[ 9.84352054e-01 -2.05433318e-03 -1.76201062e-01 4.80029227e+00] [ 3.69878843e-03 9.99952614e-01 9.00490686e-03 -2.01747981e+00] [ 1.76174214e-01 -9.51572901e-03 9.84313008e-01 3.68049856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:-2.02, Z:0.04 [[ 9.84357316e-01 -1.45236958e-03 -1.76177653e-01 4.82812656e+00] [ 3.16528300e-03 9.99950413e-01 9.44201428e-03 -2.01960571e+00] [ 1.76155204e-01 -9.85196796e-03 9.84313102e-01 4.17231219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:-2.02, Z:0.05 [[ 9.84353931e-01 7.38653478e-05 -1.76202535e-01 4.85557673e+00] [ 1.53182497e-03 9.99958535e-01 8.97671657e-03 -2.02308626e+00] [ 1.76195892e-01 -9.10617768e-03 9.84313002e-01 4.66273131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:-2.02, Z:0.05 [[ 9.84350486e-01 -6.31582999e-04 -1.76220660e-01 4.88419067e+00] [ 2.18749919e-03 9.99960323e-01 8.63524147e-03 -2.02490071e+00] [ 1.76208214e-01 -8.88558669e-03 9.84312812e-01 5.16205771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:-2.03, Z:0.06 [[ 9.84357522e-01 -2.62872407e-04 -1.76182290e-01 4.91214928e+00] [ 1.94203628e-03 9.99954323e-01 9.35847542e-03 -2.02736588e+00] [ 1.76171782e-01 -9.55423807e-03 9.84313070e-01 5.65628600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:-2.03, Z:0.06 [[ 9.84356934e-01 5.41942566e-04 -1.76184937e-01 4.94002690e+00] [ 1.11552597e-03 9.99956054e-01 9.30836936e-03 -2.03067710e+00] [ 1.76182239e-01 -9.35929680e-03 9.84313071e-01 6.16222524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.97, Y:-2.03, Z:0.07 [[ 9.84355922e-01 1.16451061e-03 -1.76187578e-01 4.96740059e+00] [ 4.74121642e-04 9.99957030e-01 9.25811590e-03 -2.03303331e+00] [ 1.76190788e-01 -9.19681555e-03 9.84313072e-01 6.68083835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.99, Y:-2.04, Z:0.07 [[ 9.84351074e-01 1.95370144e-03 -1.76207679e-01 4.99481155e+00] [-3.96112551e-04 9.99960545e-01 8.87424743e-03 -2.03573317e+00] [ 1.76218064e-01 -8.66557691e-03 9.84313010e-01 7.33043703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-2.04, Z:0.08 [[ 9.84348843e-01 2.02619507e-03 -1.76219325e-01 5.02364984e+00] [-5.09639493e-04 9.99962450e-01 8.65090107e-03 -2.03907227e+00] [ 1.76230236e-01 -8.42569613e-03 9.84312913e-01 8.00851891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.05, Y:-2.04, Z:0.08 [[ 9.84350853e-01 3.12870240e-03 -1.76191970e-01 5.05001396e+00] [-1.53575928e-03 9.99956715e-01 9.17658742e-03 -2.04170536e+00] [ 1.76213054e-01 -8.76239320e-03 9.84313050e-01 8.26963671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-2.04, Z:0.09 [[ 9.84344741e-01 3.21026756e-03 -1.76224644e-01 5.07798771e+00] [-1.73141117e-03 9.99961992e-01 8.54500270e-03 -2.04482440e+00] [ 1.76245378e-01 -8.10611115e-03 9.84312886e-01 8.66015481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.10, Y:-2.05, Z:0.09 [[ 9.84350945e-01 2.92512656e-03 -1.76194950e-01 5.10484322e+00] [-1.33918584e-03 9.99957522e-01 9.11929350e-03 -2.04697206e+00] [ 1.76214140e-01 -8.74062739e-03 9.84313049e-01 9.27444093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.13, Y:-2.05, Z:0.10 [[ 9.84350532e-01 2.90667236e-03 -1.76197563e-01 5.13153804e+00] [-1.32950562e-03 9.99957996e-01 9.06851758e-03 -2.04917147e+00] [ 1.76216522e-01 -8.69234445e-03 9.84313050e-01 9.62983337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.16, Y:-2.05, Z:0.10 [[ 9.84347935e-01 3.62835993e-03 -1.76198691e-01 5.15842374e+00] [-2.06655707e-03 9.99956944e-01 9.04656280e-03 -2.05186798e+00] [ 1.76223928e-01 -8.54084076e-03 9.84313050e-01 1.02146675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:-2.06, Z:0.11 [[ 9.84344115e-01 2.94593668e-03 -1.76232756e-01 5.18611657e+00] [-1.49268920e-03 9.99963788e-01 8.37818240e-03 -2.05514601e+00] [ 1.76251056e-01 -7.98395381e-03 9.84312868e-01 1.09658789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:-2.06, Z:0.11 [[ 9.84348786e-01 3.23077126e-03 -1.76201675e-01 5.21220572e+00] [-1.67309814e-03 9.99958206e-01 8.98813308e-03 -2.05778834e+00] [ 1.76223350e-01 -8.55265519e-03 9.84313051e-01 1.14422357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-2.06, Z:0.12 [[ 9.84349206e-01 3.03645992e-03 -1.76202780e-01 5.23914886e+00] [-1.47958318e-03 9.99958706e-01 8.96641929e-03 -2.06019901e+00] [ 1.76222730e-01 -8.56538105e-03 9.84313052e-01 1.19930380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.27, Y:-2.06, Z:0.13 [[ 9.84349011e-01 2.95542696e-03 -1.76205247e-01 5.26618190e+00] [-1.40597009e-03 9.99959248e-01 8.91767569e-03 -2.06369006e+00] [ 1.76224422e-01 -8.53036595e-03 9.84313053e-01 1.25270067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.29, Y:-2.07, Z:0.13 [[ 9.84345646e-01 3.80323794e-03 -1.76207791e-01 5.29256225e+00] [-2.27625393e-03 9.99958095e-01 8.86713302e-03 -2.06658780e+00] [ 1.76234131e-01 -8.32723010e-03 9.84313054e-01 1.28530485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.32, Y:-2.07, Z:0.13 [[ 9.84344193e-01 2.34164770e-03 -1.76241387e-01 5.32161145e+00] [-9.11281015e-04 9.99965993e-01 8.19645100e-03 -2.06829422e+00] [ 1.76254587e-01 -7.90752352e-03 9.84312852e-01 1.33970748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.35, Y:-2.07, Z:0.14 [[ 9.84348733e-01 2.80111686e-03 -1.76209325e-01 5.34870320e+00] [-1.26370551e-03 9.99960159e-01 8.83652633e-03 -2.07226014e+00] [ 1.76227057e-01 -8.47554680e-03 9.84313055e-01 1.37356307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.38, Y:-2.07, Z:0.14 [[ 9.84349419e-01 2.49306456e-03 -1.76210120e-01 5.37620249e+00] [-9.53601423e-04 9.99960643e-01 8.82065933e-03 -2.07482384e+00] [ 1.76225175e-01 -8.51457666e-03 9.84313055e-01 1.42694020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.40, Y:-2.08, Z:0.15 [[ 9.84350396e-01 1.84978675e-03 -1.76212589e-01 5.40399699e+00] [-3.08981232e-04 9.99961486e-01 8.77105157e-03 -2.07721489e+00] [ 1.76222027e-01 -8.57934170e-03 9.84313056e-01 1.48440844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.43, Y:-2.08, Z:0.15 [[ 9.84350645e-01 1.43859800e-03 -1.76215032e-01 5.43133694e+00] [ 9.99157416e-05 9.99961960e-01 8.72170430e-03 -2.08136169e+00] [ 1.76220876e-01 -8.60282192e-03 9.84313057e-01 1.54305915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:-2.08, Z:0.16 [[ 9.84349928e-01 1.79361498e-03 -1.76215785e-01 5.45851266e+00] [-2.63452807e-04 9.99962063e-01 8.70646856e-03 -2.08464727e+00] [ 1.76224716e-01 -8.52378715e-03 9.84313057e-01 1.58672899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:-2.09, Z:0.17 [[ 9.84349501e-01 7.31357953e-04 -1.76225779e-01 5.48628595e+00] [ 7.79392090e-04 9.99963541e-01 8.50344092e-03 -2.08661414e+00] [ 1.76225573e-01 -8.50770681e-03 9.84313043e-01 1.65350521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-2.09, Z:0.17 [[ 9.84351014e-01 -2.57977556e-04 -1.76218658e-01 5.51348486e+00] [ 1.81033677e-03 9.99960962e-01 8.64856970e-03 -2.08985369e+00] [ 1.76209548e-01 -8.83224347e-03 9.84313053e-01 1.70078717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-2.09, Z:0.17 [[ 9.84350476e-01 -4.85429887e-04 -1.76221184e-01 5.54039891e+00] [ 2.03215239e-03 9.99960982e-01 8.59680541e-03 -2.09245033e+00] [ 1.76210135e-01 -8.82037779e-03 9.84313055e-01 1.74766227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-2.09, Z:0.18 [[ 9.84349858e-01 -1.03278312e-03 -1.76222276e-01 5.56752435e+00] [ 2.58417896e-03 9.99959900e-01 8.57436712e-03 -2.09499370e+00] [ 1.76206354e-01 -8.89556695e-03 9.84313055e-01 1.79300248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:-2.10, Z:0.18 [[ 9.84348240e-01 -1.83708189e-03 -1.76224766e-01 5.59386557e+00] [ 3.39203728e-03 9.99957926e-01 8.52287312e-03 -2.09881957e+00] [ 1.76201695e-01 -8.98723613e-03 9.84313056e-01 1.82274841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:-2.10, Z:0.19 [[ 9.84346652e-01 -2.47452971e-03 -1.76225839e-01 5.62101872e+00] [ 4.03562487e-03 9.99955725e-01 8.50064719e-03 -2.10151962e+00] [ 1.76197001e-01 -9.07876498e-03 9.84313056e-01 1.88734637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:-2.10, Z:0.19 [[ 9.84345971e-01 -2.56730195e-03 -1.76228312e-01 5.64778704e+00] [ 4.12065847e-03 9.99955816e-01 8.44906834e-03 -2.10409068e+00] [ 1.76198834e-01 -9.04298307e-03 9.84313058e-01 1.94411740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.68, Y:-2.11, Z:0.20 [[ 9.84337221e-01 -3.68209074e-03 -1.76257416e-01 5.67609083e+00] [ 5.14421997e-03 9.99956041e-01 7.83920666e-03 -2.10649193e+00] [ 1.76220803e-01 -8.62312982e-03 9.84312892e-01 2.00043341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-2.11, Z:0.21 [[ 9.84340556e-01 -4.09894334e-03 -1.76229590e-01 5.70106145e+00] [ 5.67176990e-03 9.99948448e-01 8.42208792e-03 -2.11047943e+00] [ 1.76185983e-01 -9.28973639e-03 9.84313060e-01 2.05552272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:-2.11, Z:0.21 [[ 9.84329645e-01 -5.02067390e-03 -1.76266678e-01 5.72994467e+00] [ 6.46847455e-03 9.99949893e-01 7.64006527e-03 -2.11318289e+00] [ 1.76219488e-01 -8.66051926e-03 9.84312800e-01 2.09933958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:-2.12, Z:0.22 [[ 9.84327582e-01 -5.65601031e-03 -1.76258961e-01 5.75722020e+00] [ 7.14301656e-03 9.99944043e-01 7.80314600e-03 -2.11587884e+00] [ 1.76204963e-01 -8.93987251e-03 9.84312902e-01 2.15646907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:-2.12, Z:0.22 [[ 0.98430962 -0.0079783 -0.17626942 5.78677409] [ 0.00946262 0.99992648 0.00758179 -2.12076522] [ 0.17619598 -0.0091308 0.98431276 0.22162521] [ 0. 0. 0. 1. ]] SLAMing on 151.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:-2.12, Z:0.23 [[ 0.98430833 -0.00888039 -0.17623352 5.81313483] [ 0.01051463 0.99990993 0.00834144 -2.1235936 ] [ 0.17614357 -0.01006358 0.98431304 0.22673204] [ 0. 0. 0. 1. ]] SLAMing on 151.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:-2.13, Z:0.23 [[ 0.98430714 -0.00899005 -0.17623458 5.83870131] [ 0.01062201 0.99990898 0.00831898 -2.1263537 ] [ 0.17614375 -0.0100604 0.98431304 0.23033009] [ 0. 0. 0. 1. ]] SLAMing on 151.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-2.13, Z:0.24 [[ 0.98427947 -0.01108622 -0.17626973 5.86628585] [ 0.01261806 0.99989172 0.0075718 -2.13031512] [ 0.1761667 -0.00967695 0.98431278 0.23671724] [ 0. 0. 0. 1. ]] SLAMing on 151.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-2.13, Z:0.24 [[ 0.98426412 -0.0123136 -0.17627397 5.89508516] [ 0.01384867 0.99987612 0.00748083 -2.13318517] [ 0.17616002 -0.00980427 0.98431272 0.24191118] [ 0. 0. 0. 1. ]] SLAMing on 151.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.92, Y:-2.14, Z:0.25 [[ 0.9842517 -0.01373155 -0.17623858 5.92221701] [ 0.01542439 0.99984709 0.00823902 -2.1355735 ] [ 0.1760985 -0.01082765 0.984313 0.24625809] [ 0. 0. 0. 1. ]] SLAMing on 151.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.95, Y:-2.14, Z:0.25 [[ 0.98423598 -0.01478754 -0.17624093 5.9481859 ] [ 0.01648809 0.99983053 0.00818842 -2.1401375 ] [ 0.17608998 -0.01096521 0.984313 0.24840848] [ 0. 0. 0. 1. ]] SLAMing on 151.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:-2.14, Z:0.26 [[ 0.98420089 -0.01660109 -0.17627537 5.97741266] [ 0.01819708 0.99980673 0.0074412 -2.14300743] [ 0.17611777 -0.01053134 0.98431277 0.25529463] [ 0. 0. 0. 1. ]] SLAMing on 151.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:-2.14, Z:0.26 [[ 0.9842039 -0.01675733 -0.17624379 6.00544438] [ 0.01847812 0.99979623 0.00812697 -2.14424201] [ 0.17607169 -0.01125525 0.984313 0.26042471] [ 0. 0. 0. 1. ]] SLAMing on 151.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-2.15, Z:0.27 [[ 0.98416288 -0.01899299 -0.1762461 6.03261321] [ 0.02074021 0.99975228 0.00807657 -2.14828997] [ 0.17604904 -0.01160405 0.984313 0.26566364] [ 0. 0. 0. 1. ]] SLAMing on 151.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-2.15, Z:0.27 [[ 0.98414879 -0.01968916 -0.1762484 6.05906922] [ 0.0214384 0.99973796 0.00802599 -2.15101824] [ 0.17604419 -0.01167725 0.984313 0.27054315] [ 0. 0. 0. 1. ]] SLAMing on 151.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.09, Y:-2.15, Z:0.28 [[ 0.98412259 -0.02094942 -0.1762494 6.08625182] [ 0.02271471 0.99970995 0.00800409 -2.15361316] [ 0.17603059 -0.01188046 0.984313 0.27555509] [ 0. 0. 0. 1. ]] SLAMing on 151.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.11, Y:-2.16, Z:0.28 [[ 0.9841014 -0.0219039 -0.17625166 6.11270206] [ 0.02367537 0.99968806 0.00795399 -2.15655031] [ 0.17602245 -0.01200035 0.984313 0.28016553] [ 0. 0. 0. 1. ]] SLAMing on 151.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.14, Y:-2.16, Z:0.28 [[ 0.98405563 -0.02386485 -0.17625263 6.13999912] [ 0.02566352 0.99963917 0.00793234 -2.16113275] [ 0.17599973 -0.01232913 0.984313 0.28388158] [ 0. 0. 0. 1. ]] SLAMing on 151.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.17, Y:-2.16, Z:0.29 [[ 0.98402286 -0.02516444 -0.17625481 6.16780549] [ 0.026975 0.99960502 0.00788353 -2.16371899] [ 0.17598681 -0.01251205 0.984313 0.28896118] [ 0. 0. 0. 1. ]] SLAMing on 151.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.20, Y:-2.17, Z:0.29 [[ 0.98400158 -0.02596877 -0.17625698 6.19574207] [ 0.0277834 0.99958326 0.00783491 -2.16660894] [ 0.17598006 -0.01260658 0.98431301 0.29391967] [ 0. 0. 0. 1. ]] SLAMing on 151.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:-2.17, Z:0.30 [[ 0.98397501 -0.02694235 -0.17625914 6.22321242] [ 0.02876366 0.99955592 0.00778588 -2.17113862] [ 0.1759711 -0.01273096 0.98431301 0.29910241] [ 0. 0. 0. 1. ]] SLAMing on 151.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.25, Y:-2.17, Z:0.30 [[ 0.98395053 -0.02780845 -0.17626129 6.25068619] [ 0.02963475 0.99953085 0.00773694 -2.17325924] [ 0.17596345 -0.01283622 0.98431301 0.30419755] [ 0. 0. 0. 1. ]] SLAMing on 151.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.28, Y:-2.18, Z:0.31 [[ 0.98393578 -0.02831189 -0.17626352 6.27662539] [ 0.03013707 0.99951622 0.00768591 -2.17764549] [ 0.17596064 -0.01287451 0.98431301 0.30926767] [ 0. 0. 0. 1. ]] SLAMing on 151.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:-2.18, Z:0.31 [[ 0.98391091 -0.02915728 -0.17626448 6.30433314] [ 0.03099191 0.99949025 0.00766384 -2.1803244 ] [ 0.17595117 -0.01300331 0.98431301 0.31458112] [ 0. 0. 0. 1. ]] SLAMing on 152.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.33, Y:-2.18, Z:0.32 [[ 0.98389165 -0.02978808 -0.17626654 6.33121742] [ 0.03162421 0.99947081 0.00761618 -2.18283649] [ 0.17594639 -0.01306779 0.98431301 0.3204816 ] [ 0. 0. 0. 1. ]] SLAMing on 152.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.36, Y:-2.19, Z:0.33 [[ 0.98387512 -0.03031696 -0.17626866 6.35748258] [ 0.03215265 0.99945433 0.00756674 -2.18571067] [ 0.17594307 -0.01311223 0.98431301 0.32530668] [ 0. 0. 0. 1. ]] SLAMing on 152.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-2.19, Z:0.33 [[ 0.98384184 -0.03137009 -0.17627009 6.38505279] [ 0.03321648 0.99941979 0.00753318 -2.18983567] [ 0.1759315 -0.01326653 0.98431301 0.33075784] [ 0. 0. 0. 1. ]] SLAMing on 152.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.41, Y:-2.19, Z:0.33 [[ 0.98387199 -0.03039747 -0.17627223 6.41011052] [ 0.03221948 0.99945281 0.00748282 -2.19258779] [ 0.17594832 -0.01304154 0.98431301 0.33408883] [ 0. 0. 0. 1. ]] SLAMing on 152.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.44, Y:-2.20, Z:0.34 [[ 9.83790093e-01 -3.26309846e-02 -1.76330011e-01 6.44028665e+00] [ 3.42441554e-02 9.99394804e-01 6.11254050e-03 -2.19590403e+00] [ 1.76023838e-01 -1.20517291e-02 9.84312127e-01 3.39381113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:-2.20, Z:0.34 [[ 0.98380423 -0.0325126 -0.176273 6.46647032] [ 0.03436457 0.9993815 0.00746299 -2.19882869] [ 0.17592133 -0.01339966 0.98431303 0.34365375] [ 0. 0. 0. 1. ]] SLAMing on 152.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:-2.20, Z:0.35 [[ 0.98378525 -0.03307676 -0.17627394 6.49324334] [ 0.03493368 0.99936193 0.00744062 -2.2011355 ] [ 0.17591536 -0.01347787 0.98431303 0.34830241] [ 0. 0. 0. 1. ]] SLAMing on 152.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:-2.20, Z:0.35 [[ 0.9837691 -0.03354916 -0.17627484 6.52081384] [ 0.03540975 0.99934534 0.00741922 -2.20402789] [ 0.17591053 -0.01354065 0.98431303 0.35371028] [ 0. 0. 0. 1. ]] SLAMing on 152.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-2.21, Z:0.36 [[ 0.9837422 -0.03431815 -0.17627691 6.5481874 ] [ 0.03618212 0.99931804 0.00736981 -2.20903214] [ 0.17590378 -0.01362807 0.98431303 0.36026418] [ 0. 0. 0. 1. ]] SLAMing on 152.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.57, Y:-2.21, Z:0.37 [[ 0.98371706 -0.03502078 -0.17627899 6.57495803] [ 0.03688695 0.99929264 0.00731974 -2.21166602] [ 0.17589795 -0.01370294 0.98431303 0.36563578] [ 0. 0. 0. 1. ]] SLAMing on 152.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:-2.22, Z:0.37 [[ 0.9836831 -0.03595763 -0.17627989 6.60260023] [ 0.03783476 0.99925736 0.007298 -2.21583995] [ 0.17588656 -0.01384843 0.98431303 0.37140482] [ 0. 0. 0. 1. ]] SLAMing on 152.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:-2.22, Z:0.38 [[ 0.98367233 -0.03624138 -0.17628192 6.62998661] [ 0.0381142 0.9992471 0.0072486 -2.21846537] [ 0.1758865 -0.01384909 0.98431303 0.37620115] [ 0. 0. 0. 1. ]] SLAMing on 152.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:-2.22, Z:0.38 [[ 0.98366381 -0.03646197 -0.17628394 6.656901 ] [ 0.03832947 0.99923922 0.00719907 -2.22087241] [ 0.17588734 -0.01383833 0.98431303 0.38064724] [ 0. 0. 0. 1. ]] SLAMing on 152.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:-2.23, Z:0.39 [[ 0.98366315 -0.03647575 -0.17628482 6.68463545] [ 0.03833964 0.99923899 0.0071776 -2.22539621] [ 0.17588885 -0.01381904 0.98431303 0.38541053] [ 0. 0. 0. 1. ]] SLAMing on 152.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:-2.23, Z:0.39 [[ 0.98365928 -0.03657026 -0.17628681 6.71192657] [ 0.03842685 0.99923599 0.00712823 -2.22864737] [ 0.17589145 -0.0137859 0.98431303 0.39020628] [ 0. 0. 0. 1. ]] SLAMing on 152.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-2.23, Z:0.39 [[ 0.98364885 -0.03684036 -0.17628878 6.7388098 ] [ 0.03869252 0.99922609 0.00707933 -2.23143746] [ 0.17589154 -0.01378463 0.98431303 0.39468663] [ 0. 0. 0. 1. ]] SLAMing on 152.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:-2.23, Z:0.40 [[ 0.98362431 -0.03748583 -0.17628962 6.76627514] [ 0.03934445 0.99920078 0.00705818 -2.23366254] [ 0.17588415 -0.01387862 0.98431303 0.39974335] [ 0. 0. 0. 1. ]] SLAMing on 152.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.79, Y:-2.24, Z:0.40 [[ 0.98360804 -0.03790105 -0.17629159 6.79386662] [ 0.03975745 0.99918478 0.00700877 -2.23757489] [ 0.17588223 -0.01390279 0.98431304 0.40387099] [ 0. 0. 0. 1. ]] SLAMing on 152.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.82, Y:-2.24, Z:0.41 [[ 0.98362728 -0.03738935 -0.17629353 6.8208477 ] [ 0.03922887 0.99920601 0.00695956 -2.24019165] [ 0.17589334 -0.01376141 0.98431304 0.40845703] [ 0. 0. 0. 1. ]] SLAMing on 152.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.85, Y:-2.24, Z:0.41 [[ 0.98361777 -0.03763473 -0.17629437 6.84762597] [ 0.03947434 0.9991965 0.00693824 -2.242353 ] [ 0.1758916 -0.01378368 0.98431304 0.41354804] [ 0. 0. 0. 1. ]] SLAMing on 152.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:-2.25, Z:0.42 [[ 0.98362185 -0.03752409 -0.17629519 6.87503081] [ 0.03935822 0.99920122 0.00691731 -2.24680415] [ 0.1758948 -0.01374269 0.98431304 0.41828647] [ 0. 0. 0. 1. ]] SLAMing on 152.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.90, Y:-2.25, Z:0.42 [[ 9.83626272e-01 -3.73990772e-02 -1.76297097e-01 6.90139971e+00] [ 3.92225148e-02 9.99206895e-01 6.86840686e-03 -2.24966709e+00] [ 1.75900403e-01 -1.36707609e-02 9.84313039e-01 4.23449072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.93, Y:-2.25, Z:0.43 [[ 9.83632342e-01 -3.72351755e-02 -1.76297921e-01 6.92917581e+00] [ 3.90522345e-02 9.99213710e-01 6.84717651e-03 -2.25418944e+00] [ 1.75904344e-01 -1.36199320e-02 9.84313039e-01 4.29071137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.96, Y:-2.26, Z:0.43 [[ 9.83613645e-01 -3.77168425e-02 -1.76299852e-01 6.95625897e+00] [ 3.95326084e-02 9.99195162e-01 6.79709244e-03 -2.25604467e+00] [ 1.75901595e-01 -1.36553059e-02 9.84313040e-01 4.33189656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.98, Y:-2.26, Z:0.44 [[ 9.83625810e-01 -3.73943012e-02 -1.76300687e-01 6.98332911e+00] [ 3.92010867e-02 9.99208371e-01 6.77536659e-03 -2.25901521e+00] [ 1.75907763e-01 -1.35756040e-02 9.84313041e-01 4.38306475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.01, Y:-2.26, Z:0.44 [[ 9.83684451e-01 -3.58092160e-02 -1.76302583e-01 7.00937176e+00] [ 3.75820342e-02 9.99270912e-01 6.72567980e-03 -2.26365236e+00] [ 1.75933202e-01 -1.32417563e-02 9.84313042e-01 4.41956018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.04, Y:-2.27, Z:0.45 [[ 9.83645474e-01 -3.66857601e-02 -1.76339835e-01 7.03963641e+00] [ 3.82964568e-02 9.99249945e-01 5.73830971e-03 -2.26580904e+00] [ 1.75997056e-01 -1.23976532e-02 9.84312620e-01 4.48864292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.07, Y:-2.27, Z:0.45 [[ 9.83672169e-01 -3.61362891e-02 -1.76304376e-01 7.06633466e+00] [ 3.79055552e-02 9.99259021e-01 6.67667389e-03 -2.26858607e+00] [ 1.75932468e-01 -1.32505736e-02 9.84313054e-01 4.53522514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.09, Y:-2.27, Z:0.46 [[ 9.83688712e-01 -3.56790015e-02 -1.76305207e-01 7.09408732e+00] [ 3.74371005e-02 9.99276828e-01 6.65467421e-03 -2.27127044e+00] [ 1.75940276e-01 -1.31464837e-02 9.84313055e-01 4.58876254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.12, Y:-2.27, Z:0.46 [[ 9.83731247e-01 -3.44768361e-02 -1.76307066e-01 7.12178129e+00] [ 3.62070402e-02 9.99322482e-01 6.60506391e-03 -2.27490281e+00] [ 1.75959893e-01 -1.28811648e-02 9.84313056e-01 4.64154178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.15, Y:-2.28, Z:0.47 [[ 9.83736122e-01 -3.43276677e-02 -1.76308974e-01 7.14788842e+00] [ 3.60463563e-02 9.99328629e-01 6.55373097e-03 -2.27716171e+00] [ 1.75965631e-01 -1.28024380e-02 9.84313057e-01 4.68841948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-2.28, Z:0.47 [[ 9.83794726e-01 -3.26004585e-02 -1.76309802e-01 7.17426135e+00] [ 3.42877817e-02 9.99390659e-01 6.53137328e-03 -2.27988180e+00] [ 1.75989444e-01 -1.24708026e-02 9.84313057e-01 4.71330868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:-2.28, Z:0.48 [[ 9.83780766e-01 -3.28662787e-02 -1.76338346e-01 7.20208282e+00] [ 3.44191707e-02 9.99390920e-01 5.75403838e-03 -2.28379226e+00] [ 1.76041828e-01 -1.17301319e-02 9.84312795e-01 4.79271460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-2.29, Z:0.48 [[ 9.83801480e-01 -3.23836621e-02 -1.76312073e-01 7.22992401e+00] [ 3.40568004e-02 9.99398949e-01 6.47109812e-03 -2.28637363e+00] [ 1.75996543e-01 -1.23709010e-02 9.84313049e-01 4.84268282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-2.29, Z:0.49 [[ 9.83848140e-01 -3.09232722e-02 -1.76313892e-01 7.25645098e+00] [ 3.25643499e-02 9.99449014e-01 6.42116783e-03 -2.29037967e+00] [ 1.76018182e-01 -1.20590013e-02 9.84313050e-01 4.87608760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:-2.29, Z:0.49 [[ 9.83877016e-01 -2.99858425e-02 -1.76314681e-01 7.28376030e+00] [ 3.16081737e-02 9.99479850e-01 6.39941145e-03 -2.29264130e+00] [ 1.76031080e-01 -1.18692189e-02 9.84313050e-01 4.90715312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.31, Y:-2.29, Z:0.50 [[ 9.83874670e-01 -2.99705682e-02 -1.76330366e-01 7.31088799e+00] [ 3.15149419e-02 9.99485488e-01 5.96383421e-03 -2.29469518e+00] [ 1.76060903e-01 -1.14247067e-02 9.84312976e-01 4.96607388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.34, Y:-2.30, Z:0.50 [[ 9.83897167e-01 -2.93030347e-02 -1.76317035e-01 7.33783976e+00] [ 3.09030809e-02 9.99502309e-01 6.33519565e-03 -2.29897160e+00] [ 1.76043643e-01 -1.16819207e-02 9.84313044e-01 5.02144605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.37, Y:-2.30, Z:0.51 [[ 9.83909161e-01 -2.88863725e-02 -1.76318862e-01 7.36574059e+00] [ 3.04706674e-02 9.99515908e-01 6.28395565e-03 -2.30152845e+00] [ 1.76051986e-01 -1.15553949e-02 9.84313045e-01 5.07681746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-2.30, Z:0.51 [[ 9.83926191e-01 -2.82891351e-02 -1.76320664e-01 7.39226870e+00] [ 2.98548600e-02 9.99534810e-01 6.23298086e-03 -2.30378282e+00] [ 1.76062316e-01 -1.13968218e-02 9.84313046e-01 5.12954258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:-2.31, Z:0.52 [[ 9.83922311e-01 -2.84128082e-02 -1.76322429e-01 7.41934477e+00] [ 2.99715102e-02 9.99531632e-01 6.18263380e-03 -2.30537580e+00] [ 1.76064180e-01 -1.13678808e-02 9.84313048e-01 5.18473461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.45, Y:-2.31, Z:0.52 [[ 9.83975100e-01 -2.65098664e-02 -1.76324215e-01 7.44624938e+00] [ 2.80292137e-02 9.99588300e-01 6.13129642e-03 -2.30909210e+00] [ 1.76089082e-01 -1.09752721e-02 9.84313049e-01 5.23514075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:-2.31, Z:0.53 [[ 9.83993253e-01 -2.58190913e-02 -1.76325418e-01 7.47373797e+00] [ 2.73212643e-02 9.99608114e-01 6.09649226e-03 -2.31141720e+00] [ 1.76098913e-01 -1.08163406e-02 9.84313050e-01 5.27918256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:-2.31, Z:0.53 [[ 9.84004690e-01 -2.53672200e-02 -1.76327177e-01 7.50116738e+00] [ 2.68530635e-02 9.99621113e-01 6.04519261e-03 -2.31364058e+00] [ 1.76107019e-01 -1.06834228e-02 9.84313051e-01 5.33125460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:-2.32, Z:0.54 [[ 9.84026537e-01 -2.44925751e-02 -1.76328918e-01 7.52776392e+00] [ 2.59553921e-02 9.99645132e-01 5.99397532e-03 -2.31803614e+00] [ 1.76119537e-01 -1.04749170e-02 9.84313052e-01 5.36964452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.56, Y:-2.32, Z:0.54 [[ 9.84021632e-01 -2.46835020e-02 -1.76329672e-01 7.55529928e+00] [ 2.61453781e-02 9.99640314e-01 5.97173407e-03 -2.32036645e+00] [ 1.76118845e-01 -1.04865214e-02 9.84313052e-01 5.41144105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:-2.32, Z:0.55 [[ 9.84039718e-01 -2.39391428e-02 -1.76331366e-01 7.58332525e+00] [ 2.53801928e-02 9.99660334e-01 5.92127384e-03 -2.32414572e+00] [ 1.76129723e-01 -1.03020927e-02 9.84313054e-01 5.45646271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:-2.33, Z:0.55 [[ 9.84057574e-01 -2.31808202e-02 -1.76333039e-01 7.61062946e+00] [ 2.46008618e-02 9.99680113e-01 5.87104622e-03 -2.32637858e+00] [ 1.76140537e-01 -1.01153922e-02 9.84313055e-01 5.49322018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.64, Y:-2.33, Z:0.56 [[ 9.84061773e-01 -2.29484982e-02 -1.76339993e-01 7.63858325e+00] [ 2.43273544e-02 9.99688017e-01 5.66111475e-03 -2.32834392e+00] [ 1.76155063e-01 -9.86077212e-03 9.84313039e-01 5.55512119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:-2.33, Z:0.56 [[ 9.84109316e-01 -2.08527575e-02 -1.76334957e-01 7.66626293e+00] [ 2.22256267e-02 9.99736075e-01 5.81389178e-03 -2.33255048e+00] [ 1.76167183e-01 -9.64066000e-03 9.84313051e-01 5.59605802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.69, Y:-2.33, Z:0.56 [[ 9.84114240e-01 -2.05467522e-02 -1.76343396e-01 7.69444122e+00] [ 2.18688378e-02 9.99745405e-01 5.55684881e-03 -2.33463725e+00] [ 1.76184324e-01 -9.32499916e-03 9.84313023e-01 5.64773591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:-2.34, Z:0.57 [[ 9.84111060e-01 -2.07072638e-02 -1.76342367e-01 7.72251928e+00] [ 2.20375171e-02 9.99741526e-01 5.58829296e-03 -2.33540915e+00] [ 1.76181068e-01 -9.38564884e-03 9.84313030e-01 5.69817190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:-2.34, Z:0.57 [[ 9.84134840e-01 -1.95345771e-02 -1.76343462e-01 7.74936890e+00] [ 2.08401903e-02 9.99767389e-01 5.55463907e-03 -2.33820350e+00] [ 1.76193935e-01 -9.14154515e-03 9.84313024e-01 5.74561317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:-2.34, Z:0.58 [[ 9.84126720e-01 -1.98889464e-02 -1.76349170e-01 7.77796621e+00] [ 2.11687158e-02 9.99761450e-01 5.37851662e-03 -2.33963048e+00] [ 1.76200129e-01 -9.02622737e-03 9.84312980e-01 5.81135828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.80, Y:-2.34, Z:0.59 [[ 9.84173071e-01 -1.75424123e-02 -1.76339531e-01 7.80428221e+00] [ 1.88384448e-02 9.99806417e-01 5.67810110e-03 -2.34275700e+00] [ 1.76205787e-01 -8.91019673e-03 9.84313024e-01 5.85878934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:-2.34, Z:0.59 [[ 9.84181454e-01 -1.70579033e-02 -1.76340276e-01 7.83145129e+00] [ 1.83420902e-02 9.99815778e-01 5.65488562e-03 -2.34416341e+00] [ 1.76211329e-01 -8.79988279e-03 9.84313024e-01 5.91669634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:-2.35, Z:0.60 [[ 9.84215290e-01 -1.49593117e-02 -1.76341946e-01 7.85879414e+00] [ 1.62007621e-02 9.99853064e-01 5.60232023e-03 -2.34660017e+00] [ 1.76232228e-01 -8.37076313e-03 9.84313025e-01 5.97251256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:-2.35, Z:0.60 [[ 9.84232277e-01 -1.37750541e-02 -1.76343620e-01 7.88502691e+00] [ 1.49881768e-02 9.99872273e-01 5.54912455e-03 -2.34829657e+00] [ 1.76244657e-01 -8.10469684e-03 9.84313027e-01 6.02262403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.91, Y:-2.35, Z:0.61 [[ 9.84250074e-01 -1.24283822e-02 -1.76344341e-01 7.91222432e+00] [ 1.36159918e-02 9.99892028e-01 5.52612379e-03 -2.35039244e+00] [ 1.76256620e-01 -7.84019085e-03 9.84313027e-01 6.05963102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-2.35, Z:0.61 [[ 9.84267364e-01 -1.07678722e-02 -1.76357052e-01 7.93994883e+00] [ 1.18557746e-02 9.99916629e-01 5.11619759e-03 -2.35299734e+00] [ 1.76287259e-01 -7.12655578e-03 9.84312966e-01 6.11381434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.97, Y:-2.35, Z:0.62 [[ 9.84281809e-01 -9.55138285e-03 -1.76346509e-01 7.96684843e+00] [ 1.06809406e-02 9.99928066e-01 5.45720913e-03 -2.35477383e+00] [ 1.76281700e-01 -7.25497827e-03 9.84313023e-01 6.15937368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.99, Y:-2.36, Z:0.62 [[ 9.84295908e-01 -7.95205128e-03 -1.76347185e-01 7.99465028e+00] [ 9.05226609e-03 9.99944255e-01 5.43530355e-03 -2.35656754e+00] [ 1.76294132e-01 -6.94628868e-03 9.84313023e-01 6.20317073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.02, Y:-2.36, Z:0.63 [[ 9.84298630e-01 -7.42852664e-03 -1.76354826e-01 8.02201987e+00] [ 8.47578633e-03 9.99950633e-01 5.18582319e-03 -2.35775486e+00] [ 1.76307597e-01 -6.59914448e-03 9.84313000e-01 6.25293339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.05, Y:-2.36, Z:0.63 [[ 9.84314242e-01 -5.13848648e-03 -1.76349284e-01 8.04854738e+00] [ 6.18192646e-03 9.99966484e-01 5.36800589e-03 -2.35992042e+00] [ 1.76315790e-01 -6.37398295e-03 9.84313017e-01 6.32394680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.08, Y:-2.36, Z:0.64 [[ 9.84318748e-01 -4.15825360e-03 -1.76349966e-01 8.07592466e+00] [ 5.18207463e-03 9.99972286e-01 5.34547791e-03 -2.36153676e+00] [ 1.76322851e-01 -6.17551281e-03 9.84313017e-01 6.38106522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-2.36, Z:0.64 [[ 9.84326432e-01 -1.27545601e-03 -1.76351490e-01 8.10233799e+00] [ 2.24434694e-03 9.99983464e-01 5.29473895e-03 -2.36380109e+00] [ 1.76341821e-01 -5.60754543e-03 9.84313018e-01 6.43468791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.13, Y:-2.36, Z:0.65 [[ 9.84327087e-01 3.24821992e-04 -1.76352147e-01 8.12956122e+00] [ 6.14679456e-04 9.99985910e-01 5.27276287e-03 -2.36498167e+00] [ 1.76351375e-01 -5.29852336e-03 9.84313018e-01 6.47831612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:-2.37, Z:0.65 [[ 9.84325114e-01 1.86289287e-03 -1.76353623e-01 8.15760047e+00] [-9.56779308e-04 9.99985903e-01 5.22294181e-03 -2.36576994e+00] [ 1.76360867e-01 -4.97234129e-03 9.84313020e-01 6.51906996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:-2.37, Z:0.65 [[ 9.84314544e-01 4.87375316e-03 -1.76355109e-01 8.18594561e+00] [-4.02462020e-03 9.99978525e-01 5.17227032e-03 -2.36686765e+00] [ 1.76376530e-01 -4.38137857e-03 9.84313021e-01 6.54125817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.21, Y:-2.37, Z:0.66 [[ 9.84304096e-01 6.61781381e-03 -1.76356604e-01 8.21304816e+00] [-5.80565207e-03 9.99970035e-01 5.12080847e-03 -2.36779396e+00] [ 1.76385208e-01 -4.01656767e-03 9.84313022e-01 6.58322366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.24, Y:-2.37, Z:0.66 [[ 9.84291483e-01 8.27034029e-03 -1.76357248e-01 8.23950828e+00] [-7.48847032e-03 9.99958963e-01 5.09853356e-03 -2.36890894e+00] [ 1.76392177e-01 -3.69779714e-03 9.84313022e-01 6.63263296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-2.37, Z:0.67 [[ 9.84259167e-01 1.14801263e-02 -1.76357874e-01 8.26632709e+00] [-1.07532510e-02 9.99929294e-01 5.07677185e-03 -2.36989499e+00] [ 1.76403687e-01 -3.10043874e-03 9.84313023e-01 6.69965482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.29, Y:-2.37, Z:0.68 [[ 9.84235014e-01 1.33718879e-02 -1.76359376e-01 8.29244747e+00] [-1.26845717e-02 9.99906926e-01 5.02408067e-03 -2.37036007e+00] [ 1.76410143e-01 -2.70783296e-03 9.84313024e-01 6.75793319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.32, Y:-2.37, Z:0.68 [[ 9.84209671e-01 1.51150995e-02 -1.76360020e-01 8.31873938e+00] [-1.44596154e-02 9.99882946e-01 5.00134260e-03 -2.37064439e+00] [ 1.76414973e-01 -2.37227168e-03 9.84313024e-01 6.81418838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.35, Y:-2.37, Z:0.69 [[ 9.84145115e-01 1.88499529e-02 -1.76360629e-01 8.34684765e+00] [-1.82578122e-02 9.99820911e-01 4.97979811e-03 -2.37047821e+00] [ 1.76422914e-01 -1.68088473e-03 9.84313025e-01 6.86128934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.37, Y:-2.37, Z:0.69 [[ 9.84104127e-01 2.08683529e-02 -1.76362067e-01 8.37318225e+00] [-2.03175862e-02 9.99781430e-01 4.92833466e-03 -2.37102394e+00] [ 1.76426366e-01 -1.26674298e-03 9.84313026e-01 6.90327902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-2.37, Z:0.69 [[ 9.84066919e-01 2.25499643e-02 -1.76362687e-01 8.40147180e+00] [-2.20299779e-02 9.99745273e-01 4.90607062e-03 -2.37133252e+00] [ 1.76428394e-01 -9.42635718e-04 9.84313026e-01 6.94083687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-2.37, Z:0.70 [[ 9.84027038e-01 2.42180649e-02 -1.76364037e-01 8.42992866e+00] [-2.37334437e-02 9.99706523e-01 4.85703978e-03 -2.37183756e+00] [ 1.76429906e-01 -5.93732526e-04 9.84313027e-01 6.98061811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-2.37, Z:0.70 [[ 9.83937576e-01 2.76057738e-02 -1.76365440e-01 8.45780653e+00] [-2.71843440e-02 9.99618886e-01 4.80567653e-03 -2.37170711e+00] [ 1.76430889e-01 6.58930723e-05 9.84313028e-01 7.03548704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.49, Y:-2.37, Z:0.71 [[ 9.83888610e-01 2.92920287e-02 -1.76366609e-01 8.48513842e+00] [-2.89052386e-02 9.99570811e-01 4.76236358e-03 -2.37195572e+00] [ 1.76430414e-01 4.12283640e-04 9.84313029e-01 7.08617168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.51, Y:-2.37, Z:0.71 [[ 9.83776134e-01 3.28458942e-02 -1.76367983e-01 8.51178120e+00] [-3.25249705e-02 9.99459821e-01 4.71095599e-03 -2.37130045e+00] [ 1.76427448e-01 1.10183735e-03 9.84313030e-01 7.13682488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.54, Y:-2.37, Z:0.72 [[ 9.83721970e-01 3.44269158e-02 -1.76368574e-01 8.53969160e+00] [-3.41351844e-02 9.99406226e-01 4.68872136e-03 -2.37135684e+00] [ 1.76425269e-01 1.40797558e-03 9.84313031e-01 7.18973900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.57, Y:-2.37, Z:0.72 [[ 9.83660663e-01 3.61299580e-02 -1.76369858e-01 8.56586124e+00] [-3.58741300e-02 9.99345545e-01 4.63992059e-03 -2.37161204e+00] [ 1.76422072e-01 1.76300784e-03 9.84313032e-01 7.23707230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:-2.37, Z:0.73 [[ 9.83528012e-01 3.95743306e-02 -1.76370411e-01 8.59362168e+00] [-3.93772161e-02 9.99213742e-01 4.61880126e-03 -2.37145956e+00] [ 1.76414524e-01 2.40225536e-03 9.84313032e-01 7.28726880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.62, Y:-2.37, Z:0.73 [[ 9.83475099e-01 4.08628735e-02 -1.76371642e-01 8.62117420e+00] [-4.06948232e-02 9.99161165e-01 4.57131937e-03 -2.37123880e+00] [ 1.76410493e-01 2.68163401e-03 9.84313033e-01 7.33960690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.65, Y:-2.37, Z:0.74 [[ 9.83416951e-01 4.22338279e-02 -1.76372911e-01 8.64790869e+00] [-4.20965151e-02 9.99103316e-01 4.52184539e-03 -2.37055974e+00] [ 1.76405735e-01 2.97782547e-03 9.84313034e-01 7.39182097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.68, Y:-2.37, Z:0.74 [[ 9.83282796e-01 4.52476203e-02 -1.76373458e-01 8.67517883e+00] [-4.51622300e-02 9.98969529e-01 4.50039456e-03 -2.36890685e+00] [ 1.76395342e-01 3.54025812e-03 9.84313034e-01 7.43826422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.70, Y:-2.37, Z:0.75 [[ 9.83205207e-01 4.68986870e-02 -1.76374699e-01 8.70333433e+00] [-4.68484571e-02 9.98892091e-01 4.45120866e-03 -2.36870793e+00] [ 1.76388048e-01 3.88643101e-03 9.84313036e-01 7.48332416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.73, Y:-2.37, Z:0.75 [[ 9.83127417e-01 4.84975978e-02 -1.76375921e-01 8.72981301e+00] [-4.84816503e-02 9.98814372e-01 4.40229063e-03 -2.36861198e+00] [ 1.76380305e-01 4.22298309e-03 9.84313037e-01 7.52673545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-2.37, Z:0.76 [[ 9.83001839e-01 5.09777720e-02 -1.76376446e-01 8.75792646e+00] [-5.10051962e-02 9.98688778e-01 4.38112453e-03 -2.36728997e+00] [ 1.76368518e-01 4.68946179e-03 9.84313037e-01 7.57687425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:-2.37, Z:0.76 [[ 9.82960355e-01 5.17673521e-02 -1.76377668e-01 8.78572558e+00] [-5.18162968e-02 9.98647240e-01 4.33137483e-03 -2.36700681e+00] [ 1.76363296e-01 4.88166788e-03 9.84313038e-01 7.62864130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.81, Y:-2.37, Z:0.77 [[ 9.82902428e-01 5.28517723e-02 -1.76378873e-01 8.81248480e+00] [-5.29269221e-02 9.98589209e-01 4.28174433e-03 -2.36652007e+00] [ 1.76356337e-01 5.12665399e-03 9.84313039e-01 7.67322572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.84, Y:-2.37, Z:0.77 [[ 9.82876055e-01 5.33373046e-02 -1.76379685e-01 8.84003187e+00] [-5.34262454e-02 9.98562762e-01 4.24804557e-03 -2.36601329e+00] [ 1.76352765e-01 5.24800207e-03 9.84313040e-01 7.72170347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.87, Y:-2.36, Z:0.78 [[ 9.82777477e-01 5.51201412e-02 -1.76380840e-01 8.86681105e+00] [-5.52462308e-02 9.98463929e-01 4.19955705e-03 -2.36491617e+00] [ 1.76341387e-01 5.61714651e-03 9.84313041e-01 7.76841846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:-2.36, Z:0.78 [[ 9.82730314e-01 5.59531353e-02 -1.76381337e-01 8.89458026e+00] [-5.60962852e-02 9.98416620e-01 4.17856112e-03 -2.36480947e+00] [ 1.76335862e-01 5.78793911e-03 9.84313041e-01 7.81467948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:-2.36, Z:0.79 [[ 9.82699653e-01 5.64854839e-02 -1.76382489e-01 8.92258053e+00] [-5.66459500e-02 9.98385789e-01 4.12937305e-03 -2.36457641e+00] [ 1.76331020e-01 5.93342019e-03 9.84313043e-01 7.85653668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.95, Y:-2.36, Z:0.79 [[ 9.82609220e-01 5.80338893e-02 -1.76383639e-01 8.95005147e+00] [-5.82279864e-02 9.98294975e-01 4.07965134e-03 -2.36316510e+00] [ 1.76319659e-01 6.26176114e-03 9.84313044e-01 7.91043169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.98, Y:-2.36, Z:0.80 [[ 9.82553718e-01 5.89627410e-02 -1.76384770e-01 8.97758956e+00] [-5.91805361e-02 9.98239161e-01 4.03017403e-03 -2.36291930e+00] [ 1.76311815e-01 6.47868278e-03 9.84313045e-01 7.96294315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.00, Y:-2.36, Z:0.80 [[ 9.82503536e-01 5.97897972e-02 -1.76385887e-01 9.00367775e+00] [-6.00296655e-02 9.98188656e-01 3.98069641e-03 -2.36243113e+00] [ 1.76304396e-01 6.67733749e-03 9.84313046e-01 8.01251920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:-2.36, Z:0.81 [[ 9.82399052e-01 6.14813201e-02 -1.76386368e-01 9.03123801e+00] [-6.17520343e-02 9.98083669e-01 3.95927200e-03 -2.36079291e+00] [ 1.76291774e-01 7.00263198e-03 9.84313046e-01 8.06577417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:-2.36, Z:0.81 [[ 9.82364909e-01 6.20213815e-02 -1.76387456e-01 9.05796199e+00] [-6.23095181e-02 9.98049214e-01 3.91018227e-03 -2.35962912e+00] [ 1.76285877e-01 7.14939154e-03 9.84313048e-01 8.10552137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.09, Y:-2.36, Z:0.82 [[ 9.82318761e-01 6.27467296e-02 -1.76387925e-01 9.08545884e+00] [-6.30502547e-02 9.98002776e-01 3.88894108e-03 -2.35905613e+00] [ 1.76279657e-01 7.30112379e-03 9.84313048e-01 8.15513725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.11, Y:-2.36, Z:0.82 [[ 9.82247209e-01 6.38541211e-02 -1.76388977e-01 9.11365687e+00] [-6.41839931e-02 9.97930691e-01 3.84059815e-03 -2.35709011e+00] [ 1.76269212e-01 7.54893208e-03 9.84313049e-01 8.18773637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.14, Y:-2.36, Z:0.82 [[ 9.82209837e-01 6.44235621e-02 -1.76390023e-01 9.14170538e+00] [-6.47712385e-02 9.97892934e-01 3.79199302e-03 -2.35679050e+00] [ 1.76262651e-01 7.70046737e-03 9.84313050e-01 8.23576028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.17, Y:-2.36, Z:0.83 [[ 9.82203878e-01 6.45115392e-02 -1.76391052e-01 9.16898632e+00] [-6.48693170e-02 9.97886746e-01 3.74347348e-03 -2.35619385e+00] [ 1.76259791e-01 7.76551293e-03 9.84313051e-01 8.28326338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:-2.35, Z:0.83 [[ 9.82175874e-01 6.49337424e-02 -1.76392066e-01 9.19593986e+00] [-6.53069305e-02 9.97858382e-01 3.69510686e-03 -2.35445972e+00] [ 1.76254239e-01 7.89037958e-03 9.84313052e-01 8.33895538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:-2.35, Z:0.84 [[ 9.82177236e-01 6.49119515e-02 -1.76392502e-01 9.22310435e+00] [-6.52885470e-02 9.97859663e-01 3.67415492e-03 -2.35373502e+00] [ 1.76253459e-01 7.90773885e-03 9.84313053e-01 8.39093066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:-2.35, Z:0.84 [[ 9.82196040e-01 6.46241045e-02 -1.76393490e-01 9.25039487e+00] [-6.50047153e-02 9.97878368e-01 3.62610886e-03 -2.35308362e+00] [ 1.76253582e-01 7.90485885e-03 9.84313054e-01 8.44674921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:-2.35, Z:0.85 [[ 9.82192931e-01 6.46686726e-02 -1.76394469e-01 9.27854737e+00] [-6.50586415e-02 9.97875028e-01 3.57786594e-03 -2.35284519e+00] [ 1.76251011e-01 7.96182988e-03 9.84313055e-01 8.49341524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:-2.35, Z:0.85 [[ 9.82253675e-01 6.37366844e-02 -1.76395444e-01 9.30642877e+00] [-6.41205094e-02 9.97935923e-01 3.52912147e-03 -2.35118611e+00] [ 1.76256285e-01 7.84407320e-03 9.84313056e-01 8.53916804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.33, Y:-2.35, Z:0.86 [[ 9.82277030e-01 6.33730682e-02 -1.76396401e-01 9.33324748e+00] [-6.37597770e-02 9.97959206e-01 3.48064016e-03 -2.35097084e+00] [ 1.76256991e-01 7.82804232e-03 9.84313057e-01 8.58325997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:-2.35, Z:0.86 [[ 9.82309727e-01 6.28630550e-02 -1.76396814e-01 9.36086035e+00] [-6.32453944e-02 9.97992010e-01 3.45958855e-03 -2.35085335e+00] [ 1.76260091e-01 7.75789860e-03 9.84313058e-01 8.63351360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:-2.35, Z:0.87 [[ 9.82371576e-01 6.18863275e-02 -1.76397758e-01 9.38883733e+00] [-6.22618178e-02 9.98054023e-01 3.41080332e-03 -2.35002827e+00] [ 1.76265574e-01 7.63216882e-03 9.84313059e-01 8.68080968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:-2.35, Z:0.87 [[ 9.82426591e-01 6.10040402e-02 -1.76398699e-01 9.41570592e+00] [-6.13742954e-02 9.98109161e-01 3.36142844e-03 -2.34868375e+00] [ 1.76270218e-01 7.52398917e-03 9.84313060e-01 8.73261220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-2.35, Z:0.88 [[ 9.82458515e-01 6.04865418e-02 -1.76399104e-01 9.44292738e+00] [-6.08523698e-02 9.98141189e-01 3.34003900e-03 -2.34859124e+00] [ 1.76273239e-01 7.45285373e-03 9.84313060e-01 8.78814817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-2.35, Z:0.88 [[ 9.82475290e-01 6.02107917e-02 -1.76400012e-01 9.47103502e+00] [-6.05809431e-02 9.98157861e-01 3.29135651e-03 -2.34890907e+00] [ 1.76273234e-01 7.45280267e-03 9.84313061e-01 8.83840196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:-2.35, Z:0.89 [[ 9.82534805e-01 5.92290128e-02 -1.76400908e-01 9.49801672e+00] [-5.95922276e-02 9.98217537e-01 3.24262214e-03 -2.34819318e+00] [ 1.76278538e-01 7.32613397e-03 9.84313062e-01 8.88488234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:-2.35, Z:0.89 [[ 9.82585897e-01 5.83741231e-02 -1.76401294e-01 9.52607020e+00] [-5.87274772e-02 9.98268854e-01 3.22150750e-03 -2.34744560e+00] [ 1.76283970e-01 7.19419514e-03 9.84313063e-01 8.93273273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.55, Y:-2.35, Z:0.90 [[ 9.82601149e-01 5.81141574e-02 -1.76402173e-01 9.55239710e+00] [-5.84721238e-02 9.98284000e-01 3.17262256e-03 -2.34696811e+00] [ 1.76283842e-01 7.19718716e-03 9.84313064e-01 8.98159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:-2.34, Z:0.90 [[ 9.82657856e-01 5.71461030e-02 -1.76402552e-01 9.57975048e+00] [-5.74924196e-02 9.98340969e-01 3.15141754e-03 -2.34481721e+00] [ 1.76289986e-01 7.04504435e-03 9.84313064e-01 9.02630431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:-2.34, Z:0.91 [[ 9.82680396e-01 5.67545439e-02 -1.76403404e-01 9.60805153e+00] [-5.71032826e-02 9.98363454e-01 3.10303638e-03 -2.34459156e+00] [ 1.76290823e-01 7.02392037e-03 9.84313065e-01 9.07155028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:-2.34, Z:0.91 [[ 9.82711733e-01 5.62231899e-02 -1.76398989e-01 9.63490972e+00] [-5.65180345e-02 9.98395937e-01 3.35641831e-03 -2.34376461e+00] [ 1.76304743e-01 6.67133251e-03 9.84313025e-01 9.12248246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.66, Y:-2.34, Z:0.92 [[ 9.82737494e-01 5.57537416e-02 -1.76404473e-01 9.66200517e+00] [-5.60980554e-02 9.98420640e-01 3.03860786e-03 -2.34204746e+00] [ 1.76295280e-01 6.90979401e-03 9.84313075e-01 9.16534646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.69, Y:-2.34, Z:0.92 [[ 9.82731126e-01 5.58647201e-02 -1.76404840e-01 9.68920558e+00] [-5.62146502e-02 9.98414147e-01 3.01715320e-03 -2.34165484e+00] [ 1.76293640e-01 6.95148599e-03 9.84313075e-01 9.21548541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.72, Y:-2.34, Z:0.93 [[ 9.82719010e-01 5.60748459e-02 -1.76405667e-01 9.71603309e+00] [-5.64369418e-02 9.98401754e-01 2.96798229e-03 -2.34053298e+00] [ 1.76290157e-01 7.03910376e-03 9.84313076e-01 9.25837399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.74, Y:-2.34, Z:0.93 [[ 9.82722202e-01 5.60177509e-02 -1.76406024e-01 9.74400781e+00] [-5.63827578e-02 9.98404879e-01 2.94665616e-03 -2.33745570e+00] [ 1.76289700e-01 7.05051368e-03 9.84313076e-01 9.31099886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.77, Y:-2.34, Z:0.94 [[ 9.82728075e-01 5.59121122e-02 -1.76406822e-01 9.77204116e+00] [-5.62841410e-02 9.98410585e-01 2.89806947e-03 -2.33639149e+00] [ 1.76288476e-01 7.08089220e-03 9.84313077e-01 9.36392198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-2.34, Z:0.94 [[ 9.82699929e-01 5.64021475e-02 -1.76407617e-01 9.79812411e+00] [-5.67908149e-02 9.98382035e-01 2.84886256e-03 -2.33543801e+00] [ 1.76282877e-01 7.21875528e-03 9.84313079e-01 9.41602156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-2.33, Z:0.95 [[ 9.82642980e-01 5.73847124e-02 -1.76407958e-01 9.82545172e+00] [-5.77928799e-02 9.98324591e-01 2.82754678e-03 -2.33329289e+00] [ 1.76274661e-01 7.41665496e-03 9.84313079e-01 9.46836112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.85, Y:-2.33, Z:0.95 [[ 9.82619304e-01 5.77863472e-02 -1.76408736e-01 9.85312690e+00] [-5.82097686e-02 9.98300508e-01 2.77819290e-03 -2.33177649e+00] [ 1.76269472e-01 7.53880573e-03 9.84313080e-01 9.51700685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.88, Y:-2.33, Z:0.96 [[ 9.82579449e-01 5.84577836e-02 -1.76409504e-01 9.87941051e+00] [-5.89008111e-02 9.98260111e-01 2.72857783e-03 -2.33027712e+00] [ 1.76262077e-01 7.70961834e-03 9.84313081e-01 9.56295626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.91, Y:-2.33, Z:0.96 [[ 9.82543567e-01 5.90568347e-02 -1.76409833e-01 9.90718947e+00] [-5.95132653e-02 9.98223844e-01 2.70713122e-03 -2.32882513e+00] [ 1.76256376e-01 7.83885082e-03 9.84313081e-01 9.61458203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-2.33, Z:0.97 [[ 9.82452766e-01 6.05464266e-02 -1.76410578e-01 9.93387400e+00] [-6.10354965e-02 9.98132058e-01 2.65764668e-03 -2.32587967e+00] [ 1.76241965e-01 8.15629491e-03 9.84313083e-01 9.65757757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-2.32, Z:0.97 [[ 9.82410688e-01 6.12244573e-02 -1.76410899e-01 9.96049223e+00] [-6.17281944e-02 9.98089515e-01 2.63618056e-03 -2.32457845e+00] [ 1.76235268e-01 8.29971433e-03 9.84313083e-01 9.70407143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.99, Y:-2.32, Z:0.98 [[ 9.82367525e-01 6.19123227e-02 -1.76411197e-01 9.98804452e+00] [-6.24306348e-02 9.98045877e-01 2.61610530e-03 -2.32323751e+00] [ 1.76228437e-01 8.44348612e-03 9.84313083e-01 9.76244070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.02, Y:-2.32, Z:0.98 [[ 9.82350096e-01 6.21862634e-02 -1.76411896e-01 1.00157181e+01] [-6.27175474e-02 9.98028013e-01 2.56810441e-03 -2.32109021e+00] [ 1.76223715e-01 8.54134384e-03 9.84313084e-01 9.81551948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:-2.32, Z:0.99 [[ 9.82228194e-01 6.40810040e-02 -1.76412585e-01 1.00437475e+01] [-6.46511716e-02 9.97904743e-01 2.51985653e-03 -2.31778585e+00] [ 1.76204431e-01 8.93020620e-03 9.84313085e-01 9.86710415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.07, Y:-2.32, Z:0.99 [[ 9.82170896e-01 6.49514540e-02 -1.76413264e-01 1.00704189e+01] [-6.55441926e-02 9.97846607e-01 2.47141022e-03 -2.31619587e+00] [ 1.76193899e-01 9.13551779e-03 9.84313087e-01 9.91807031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.10, Y:-2.31, Z:1.00 [[ 9.82100090e-01 6.60126591e-02 -1.76413556e-01 1.00983207e+01] [-6.66260949e-02 9.97775004e-01 2.45042073e-03 -2.31305250e+00] [ 1.76182795e-01 9.34718791e-03 9.84313087e-01 9.96594263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.13, Y:-2.31, Z:1.00 [[ 9.82094824e-01 6.60891837e-02 -1.76414221e-01 1.01253270e+01] [-6.67125863e-02 9.97769344e-01 2.40159604e-03 -2.31142789e+00] [ 1.76179421e-01 9.41045389e-03 9.84313088e-01 1.00056729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:-2.31, Z:1.00 [[ 9.82061396e-01 6.65828810e-02 -1.76414667e-01 1.01530669e+01] [-6.72201156e-02 9.97735359e-01 2.36836411e-03 -2.31031704e+00] [ 1.76172844e-01 9.53273534e-03 9.84313088e-01 1.00475952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-2.31, Z:1.01 [[ 9.82028152e-01 6.70697261e-02 -1.76415308e-01 1.01795996e+01] [-6.77234643e-02 9.97701434e-01 2.31960255e-03 -2.30663033e+00] [ 1.76165381e-01 9.66954083e-03 9.84313090e-01 1.00857467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.21, Y:-2.31, Z:1.01 [[ 9.82030385e-01 6.70363014e-02 -1.76415583e-01 1.02078439e+01] [-6.76932867e-02 9.97703531e-01 2.29849458e-03 -2.30502926e+00] [ 1.76164533e-01 9.68495915e-03 9.84313090e-01 1.01286041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.24, Y:-2.30, Z:1.02 [[ 9.82011906e-01 6.73048511e-02 -1.76416193e-01 1.02350775e+01] [-6.79746737e-02 9.97684508e-01 2.25074796e-03 -2.30366988e+00] [ 1.76159189e-01 9.78157183e-03 9.84313091e-01 1.01806488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:-2.30, Z:1.02 [[ 9.81994100e-01 6.75625618e-02 -1.76416800e-01 1.02616818e+01] [-6.82452033e-02 9.97666148e-01 2.20213545e-03 -2.30072417e+00] [ 1.76153851e-01 9.87711635e-03 9.84313092e-01 1.02277250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.29, Y:-2.30, Z:1.03 [[ 9.82001774e-01 6.74502560e-02 -1.76417060e-01 1.02895566e+01] [-6.81348773e-02 9.97673735e-01 2.18107308e-03 -2.29961839e+00] [ 1.76153781e-01 9.87833711e-03 9.84313092e-01 1.02861824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.32, Y:-2.30, Z:1.03 [[ 9.81996004e-01 6.75326699e-02 -1.76417648e-01 1.03165791e+01] [-6.82273101e-02 9.97667523e-01 2.13247188e-03 -2.29846874e+00] [ 1.76150169e-01 9.94242270e-03 9.84313094e-01 1.03341379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-2.30, Z:1.04 [[ 9.82043861e-01 6.68324807e-02 -1.76417900e-01 1.03436968e+01] [-6.75197187e-02 9.97715706e-01 2.11140941e-03 -2.29655768e+00] [ 1.76156020e-01 9.83819034e-03 9.84313094e-01 1.03875221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:-2.29, Z:1.04 [[ 9.82056365e-01 6.66470086e-02 -1.76418459e-01 1.03717030e+01] [-6.73398395e-02 9.97727963e-01 2.06365105e-03 -2.29357843e+00] [ 1.76155166e-01 9.85336906e-03 9.84313095e-01 1.04370839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.40, Y:-2.29, Z:1.05 [[ 9.82092068e-01 6.61173484e-02 -1.76419009e-01 1.03996893e+01] [-6.68103476e-02 9.97763657e-01 2.01551382e-03 -2.29224402e+00] [ 1.76157736e-01 9.80719518e-03 9.84313096e-01 1.04858183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.43, Y:-2.29, Z:1.05 [[ 9.82092108e-01 6.61153263e-02 -1.76419544e-01 1.04262683e+01] [-6.68168875e-02 9.97763315e-01 1.96752210e-03 -2.29111808e+00] [ 1.76155033e-01 9.85551692e-03 9.84313097e-01 1.05246200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:-2.29, Z:1.06 [[ 9.82184875e-01 6.47219787e-02 -1.76419774e-01 1.04541733e+01] [-6.54050261e-02 9.97856900e-01 1.94675245e-03 -2.28916448e+00] [ 1.76167686e-01 9.62666909e-03 9.84313097e-01 1.05668254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:-2.29, Z:1.06 [[ 9.82241215e-01 6.38598216e-02 -1.76420288e-01 1.04815767e+01] [-6.45376673e-02 9.97913465e-01 1.89898244e-03 -2.28812919e+00] [ 1.76173450e-01 9.52049503e-03 9.84313098e-01 1.06123990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:-2.29, Z:1.07 [[ 9.82313257e-01 6.27405028e-02 -1.76420786e-01 1.05094668e+01] [-6.34089826e-02 9.97985908e-01 1.85155833e-03 -2.28716056e+00] [ 1.76181626e-01 9.36785226e-03 9.84313100e-01 1.06511492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.54, Y:-2.29, Z:1.07 [[ 9.82414475e-01 6.11337103e-02 -1.76421281e-01 1.05369243e+01] [-6.17852234e-02 9.98087839e-01 1.80315563e-03 -2.28510162e+00] [ 1.76194169e-01 9.12878205e-03 9.84313101e-01 1.06946406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:-2.28, Z:1.07 [[ 9.82476973e-01 6.01195148e-02 -1.76421769e-01 1.05638910e+01] [-6.07636363e-02 9.98150642e-01 1.75408523e-03 -2.28358940e+00] [ 1.76200957e-01 8.99667985e-03 9.84313102e-01 1.07418656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.59, Y:-2.28, Z:1.08 [[ 9.82547288e-01 5.89585720e-02 -1.76421979e-01 1.05915895e+01] [-5.95879945e-02 9.98221553e-01 1.73274862e-03 -2.28233183e+00] [ 1.76210382e-01 8.81012444e-03 9.84313102e-01 1.07992741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.62, Y:-2.28, Z:1.08 [[ 9.82609497e-01 5.79111643e-02 -1.76422430e-01 1.06188170e+01] [-5.85323296e-02 9.98284090e-01 1.68556253e-03 -2.28130286e+00] [ 1.76217318e-01 8.67016605e-03 9.84313103e-01 1.08482730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-2.28, Z:1.09 [[ 9.82749351e-01 5.54858881e-02 -1.76422869e-01 1.06449917e+01] [-5.60768458e-02 9.98425112e-01 1.63822459e-03 -2.28010935e+00] [ 1.76235921e-01 8.28327388e-03 9.84313104e-01 1.09065559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-2.28, Z:1.10 [[ 9.82837842e-01 5.38950980e-02 -1.76423057e-01 1.06727548e+01] [-5.44643556e-02 9.98514405e-01 1.61771396e-03 -2.27969728e+00] [ 1.76248151e-01 8.01881764e-03 9.84313105e-01 1.09561221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-2.28, Z:1.10 [[ 9.82986931e-01 5.11023081e-02 -1.76423487e-01 1.06997110e+01] [-5.16356650e-02 9.98664756e-01 1.56946309e-03 -2.27822047e+00] [ 1.76268122e-01 7.56698236e-03 9.84313106e-01 1.09922816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-2.28, Z:1.10 [[ 9.83062697e-01 4.96228006e-02 -1.76423670e-01 1.07275647e+01] [-5.01363041e-02 9.98741184e-01 1.54856901e-03 -2.27739456e+00] [ 1.76278430e-01 7.32289037e-03 9.84313106e-01 1.10325162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.76, Y:-2.28, Z:1.11 [[ 9.83144750e-01 4.79681927e-02 -1.76424070e-01 1.07557714e+01] [-4.84637255e-02 9.98823815e-01 1.50158625e-03 -2.27656153e+00] [ 1.76288591e-01 7.07389109e-03 9.84313107e-01 1.10744676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:-2.27, Z:1.11 [[ 9.83293115e-01 4.48225110e-02 -1.76424464e-01 1.07826906e+01] [-4.52764356e-02 9.98973438e-01 1.45382625e-03 -2.27490154e+00] [ 1.76308518e-01 6.55833354e-03 9.84313108e-01 1.11136487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:-2.27, Z:1.12 [[ 9.83362943e-01 4.32628268e-02 -1.76424633e-01 1.08097665e+01] [-4.36955968e-02 9.99043863e-01 1.43308226e-03 -2.27474969e+00] [ 1.76317946e-01 6.29973962e-03 9.84313108e-01 1.11661208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:-2.27, Z:1.12 [[ 9.83466179e-01 4.08471688e-02 -1.76425010e-01 1.08367158e+01] [-4.12500189e-02 9.99147896e-01 1.38508906e-03 -2.27385510e+00] [ 1.76331254e-01 5.91534673e-03 9.84313109e-01 1.12252111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:-2.27, Z:1.13 [[ 9.83583983e-01 3.79029111e-02 -1.76425387e-01 1.08626084e+01] [-3.82677488e-02 9.99266629e-01 1.33523559e-03 -2.27269657e+00] [ 1.76346611e-01 5.43808606e-03 9.84313111e-01 1.12902848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:-2.27, Z:1.13 [[ 9.83648907e-01 3.61780794e-02 -1.76425548e-01 1.08897697e+01] [-3.65192885e-02 9.99332085e-01 1.31362644e-03 -2.27203742e+00] [ 1.76355235e-01 5.15078828e-03 9.84313111e-01 1.13435872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:-2.27, Z:1.14 [[ 9.83712356e-01 3.44078830e-02 -1.76425902e-01 1.09158975e+01] [-3.47297111e-02 9.99395942e-01 1.26428506e-03 -2.27145994e+00] [ 1.76362832e-01 4.88352778e-03 9.84313112e-01 1.13892883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:-2.27, Z:1.14 [[ 9.83783825e-01 3.22991182e-02 -1.76426053e-01 1.09440299e+01] [-3.25911702e-02 9.99467994e-01 1.24283648e-03 -2.27072822e+00] [ 1.76372336e-01 4.52724910e-03 9.84313112e-01 1.14313896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:-2.27, Z:1.15 [[ 9.83913316e-01 2.80769581e-02 -1.76426390e-01 1.09719743e+01] [-2.83106164e-02 9.99598462e-01 1.19308513e-03 -2.26983740e+00] [ 1.76389046e-01 3.82084750e-03 9.84313114e-01 1.14641330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:-2.27, Z:1.15 [[ 9.83970307e-01 2.60009567e-02 -1.76426712e-01 1.09989355e+01] [-2.62104377e-02 9.99655794e-01 1.14333369e-03 -2.26945800e+00] [ 1.76395713e-01 3.49921495e-03 9.84313115e-01 1.15040909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:-2.27, Z:1.16 [[ 9.84081020e-01 2.14035652e-02 -1.76426850e-01 1.10265276e+01] [-2.15436244e-02 9.99767280e-01 1.12178111e-03 -2.26870787e+00] [ 1.76409802e-01 2.69695028e-03 9.84313115e-01 1.15543095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.05, Y:-2.27, Z:1.16 [[ 9.84116084e-01 1.97397328e-02 -1.76425270e-01 1.10538864e+01] [-1.98086353e-02 9.99802850e-01 1.37080463e-03 -2.26869660e+00] [ 1.76417547e-01 2.14571293e-03 9.84313083e-01 1.16056961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.08, Y:-2.27, Z:1.17 [[ 9.84164483e-01 1.71385877e-02 -1.76427150e-01 1.10813526e+01] [-1.72219072e-02 9.99851131e-01 1.05905956e-03 -2.26803154e+00] [ 1.76419036e-01 1.99612320e-03 9.84313131e-01 1.16582201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:-2.27, Z:1.17 [[ 9.84231789e-01 1.26942874e-02 -1.76427436e-01 1.11086258e+01] [-1.27157363e-02 9.99918643e-01 1.00904275e-03 -2.26747291e+00] [ 1.76425891e-01 1.25027279e-03 9.84313132e-01 1.17139863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:-2.27, Z:1.18 [[ 9.84261243e-01 1.01522556e-02 -1.76427709e-01 1.11356193e+01] [-1.01421735e-02 9.99948107e-01 9.58922360e-04 -2.26723670e+00] [ 1.76428288e-01 8.45530308e-04 9.84313133e-01 1.17607907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-2.27, Z:1.18 [[ 9.84281029e-01 8.00491724e-03 -1.76427824e-01 1.11630528e+01] [-7.96451411e-03 9.99967844e-01 9.37152021e-04 -2.26724376e+00] [ 1.76429653e-01 4.82740941e-04 9.84313133e-01 1.18123744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:-2.27, Z:1.19 [[ 9.84310264e-01 2.53745916e-03 -1.76428075e-01 1.11902156e+01] [-2.41885122e-03 9.99996681e-01 8.87334170e-04 -2.26671495e+00] [ 1.76429741e-01 -4.46658866e-04 9.84313135e-01 1.18651314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-2.27, Z:1.19 [[ 9.84310883e-01 2.26095366e-03 -1.76428381e-01 1.12183008e+01] [-2.14944369e-03 9.99997351e-01 8.23149079e-04 -2.26661865e+00] [ 1.76429775e-01 -4.31011726e-04 9.84313136e-01 1.19153598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:-2.27, Z:1.20 [[ 9.84313439e-01 -5.52877273e-05 -1.76428597e-01 1.12458927e+01] [ 1.95091488e-04 9.99999681e-01 7.75064053e-04 -2.26648780e+00] [ 1.76428498e-01 -7.97325682e-04 9.84313136e-01 1.19579003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.27, Y:-2.27, Z:1.20 [[ 9.84309333e-01 -2.83445213e-03 -1.76428748e-01 1.12728059e+01] [ 3.01208217e-03 9.99995191e-01 7.39007075e-04 -2.26612226e+00] [ 1.76425805e-01 -1.25882945e-03 9.84313136e-01 1.19998576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.30, Y:-2.27, Z:1.20 [[ 9.84284517e-01 -7.54022180e-03 -1.76428838e-01 1.13010475e+01] [ 7.78887788e-03 9.99969409e-01 7.16893889e-04 -2.26592440e+00] [ 1.76418036e-01 -2.07981023e-03 9.84313137e-01 1.20480560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.33, Y:-2.27, Z:1.21 [[ 9.84266213e-01 -9.64601609e-03 -1.76428389e-01 1.13285663e+01] [ 9.94863663e-03 9.99950166e-01 8.30770515e-04 -2.26594441e+00] [ 1.76411583e-01 -2.57292128e-03 9.84313128e-01 1.20943671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.36, Y:-2.27, Z:1.21 [[ 9.84236291e-01 -1.23172213e-02 -1.76429049e-01 1.13551494e+01] [ 1.26305739e-02 9.99920018e-01 6.53141166e-04 -2.26554695e+00] [ 1.76406893e-01 -2.87124539e-03 9.84313143e-01 1.21451937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.38, Y:-2.27, Z:1.22 [[ 9.84158680e-01 -1.74486139e-02 -1.76429130e-01 1.13825289e+01] [ 1.78396964e-02 9.99840661e-01 6.30612619e-04 -2.26538742e+00] [ 1.76390014e-01 -3.76806500e-03 9.84313144e-01 1.21994010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.41, Y:-2.27, Z:1.23 [[ 9.84106334e-01 -2.01848215e-02 -1.76429297e-01 1.14103573e+01] [ 2.06104283e-02 9.99787414e-01 5.79963147e-04 -2.26519333e+00] [ 1.76380084e-01 -4.20702877e-03 9.84313145e-01 1.22506884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.44, Y:-2.27, Z:1.23 [[ 9.84054293e-01 -2.25786705e-02 -1.76429451e-01 1.14367490e+01] [ 2.30331846e-02 9.99734561e-01 5.28409335e-04 -2.26538873e+00] [ 1.76370689e-01 -4.58371559e-03 9.84313146e-01 1.22934956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.46, Y:-2.26, Z:1.23 [[ 9.83915642e-01 -2.79756378e-02 -1.76429515e-01 1.14641980e+01] [ 2.85121525e-02 9.99593318e-01 5.06106609e-04 -2.26498256e+00] [ 1.76343606e-01 -5.52835145e-03 9.84313146e-01 1.23274229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.49, Y:-2.27, Z:1.24 [[ 9.83839030e-01 -3.05506837e-02 -1.76429642e-01 1.14915029e+01] [ 3.11194502e-02 9.99515568e-01 4.57098091e-04 -2.26502816e+00] [ 1.76330210e-01 -5.94010441e-03 9.84313148e-01 1.23692299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:-2.26, Z:1.24 [[ 9.83757317e-01 -3.30768813e-02 -1.76429761e-01 1.15185213e+01] [ 3.36766489e-02 9.99432699e-01 4.05447250e-04 -2.26497682e+00] [ 1.76316262e-01 -6.34042482e-03 9.84313149e-01 1.24227706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-2.26, Z:1.25 [[ 9.83651748e-01 -3.60786667e-02 -1.76430065e-01 1.15461144e+01] [ 3.66998223e-02 9.99326301e-01 2.57801219e-04 -2.26460794e+00] [ 1.76301903e-01 -6.72853867e-03 9.84313144e-01 1.24673316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.57, Y:-2.27, Z:1.25 [[ 9.83467804e-01 -4.07868199e-02 -1.76429910e-01 1.15736377e+01] [ 4.14975010e-02 9.99138550e-01 3.38786919e-04 -2.26560984e+00] [ 1.76264107e-01 -7.65458642e-03 9.84313147e-01 1.25165387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.60, Y:-2.27, Z:1.26 [[ 9.83333056e-01 -4.39153575e-02 -1.76429994e-01 1.16014533e+01] [ 4.46666969e-02 9.99001904e-01 2.87444486e-04 -2.26554862e+00] [ 1.76241277e-01 -8.16319875e-03 9.84313149e-01 1.25673095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.63, Y:-2.27, Z:1.26 [[ 9.83101083e-01 -4.88333147e-02 -1.76430064e-01 1.16283378e+01] [ 4.96536726e-02 9.98766468e-01 2.35231982e-04 -2.26567229e+00] [ 1.76200945e-01 -8.99165745e-03 9.84313150e-01 1.26024004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.66, Y:-2.27, Z:1.26 [[ 9.82963960e-01 -5.15196724e-02 -1.76430091e-01 1.16559772e+01] [ 5.23787803e-02 9.98627267e-01 2.12569359e-04 -2.26559264e+00] [ 1.76176949e-01 -9.45014102e-03 9.84313150e-01 1.26425198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.68, Y:-2.27, Z:1.27 [[ 9.82831141e-01 -5.39940171e-02 -1.76430139e-01 1.16826548e+01] [ 5.48832717e-02 9.98492764e-01 1.60704313e-04 -2.26549522e+00] [ 1.76155540e-01 -9.84100845e-03 9.84313152e-01 1.26857748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:-2.27, Z:1.27 [[ 9.82569578e-01 -5.85612908e-02 -1.76430157e-01 1.17091498e+01] [ 5.95193081e-02 9.98227145e-01 1.38249030e-04 -2.26580060e+00] [ 1.76109275e-01 -1.06368401e-02 9.84313152e-01 1.27456597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:-2.27, Z:1.28 [[ 9.82419248e-01 -6.10312636e-02 -1.76430171e-01 1.17362697e+01] [ 6.20247652e-02 9.98074604e-01 1.16584416e-04 -2.26603302e+00] [ 1.76083358e-01 -1.10575747e-02 9.84313152e-01 1.27962530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.76, Y:-2.27, Z:1.29 [[ 9.82250367e-01 -6.36914857e-02 -1.76430190e-01 1.17642213e+01] [ 6.47182441e-02 9.97903575e-01 6.55085588e-05 -2.26593479e+00] [ 1.76056145e-01 -1.14825979e-02 9.84313153e-01 1.28502535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:-2.27, Z:1.29 [[ 9.81909591e-01 -6.87454834e-02 -1.76430194e-01 1.17916553e+01] [ 6.98434410e-02 9.97557965e-01 1.32632999e-05 -2.26614249e+00] [ 1.75998434e-01 -1.23355152e-02 9.84313155e-01 1.29008216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:-2.27, Z:1.29 [[ 9.81743900e-01 -7.10725322e-02 -1.76430183e-01 1.18178177e+01] [ 7.21982478e-02 9.97390300e-01 -3.89093416e-05 -2.26606165e+00] [ 1.75972519e-01 -1.26997511e-02 9.84313156e-01 1.29454796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.85, Y:-2.27, Z:1.30 [[ 9.81529647e-01 -7.39726120e-02 -1.76430168e-01 1.18457972e+01] [ 7.51382216e-02 9.97173125e-01 -7.42986730e-05 -2.26562148e+00] [ 1.75936918e-01 -1.31837227e-02 9.84313157e-01 1.29966076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-2.27, Z:1.30 [[ 9.81190867e-01 -7.83383147e-02 -1.76430132e-01 1.18724089e+01] [ 7.95643323e-02 9.96829725e-01 -1.25628278e-04 -2.26651146e+00] [ 1.75880641e-01 -1.39142803e-02 9.84313158e-01 1.30331335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:-2.27, Z:1.31 [[ 9.81019247e-01 -8.04590114e-02 -1.76430113e-01 1.18991150e+01] [ 8.17148540e-02 9.96655738e-01 -1.47882200e-04 -2.26663630e+00] [ 1.75851983e-01 -1.42718857e-02 9.84313158e-01 1.30797382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:-2.27, Z:1.31 [[ 9.80834273e-01 -8.26834440e-02 -1.76430092e-01 1.19262411e+01] [ 8.39708664e-02 9.96468196e-01 -1.69577541e-04 -2.26648659e+00] [ 1.75820997e-01 -1.46486603e-02 9.84313158e-01 1.31268316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:-2.27, Z:1.32 [[ 9.80618093e-01 -8.52091578e-02 -1.76430032e-01 1.19539894e+01] [ 8.65280532e-02 9.96249391e-01 -2.18767058e-04 -2.26646224e+00] [ 1.75786953e-01 -1.50516202e-02 9.84313160e-01 1.31758771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.98, Y:-2.27, Z:1.32 [[ 9.80277149e-01 -8.90459571e-02 -1.76429955e-01 1.19807616e+01] [ 9.04170007e-02 9.95903958e-01 -2.69237384e-04 -2.26710803e+00] [ 1.75731265e-01 -1.56883401e-02 9.84313161e-01 1.32270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:-2.27, Z:1.33 [[ 9.80079327e-01 -9.11976074e-02 -1.76429896e-01 1.20085529e+01] [ 9.25968388e-02 9.95703637e-01 -3.03474211e-04 -2.26726641e+00] [ 1.75699565e-01 -1.60394219e-02 9.84313161e-01 1.32730704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-2.27, Z:1.33 [[ 9.79878032e-01 -9.33357914e-02 -1.76429793e-01 1.20347609e+01] [ 9.47599049e-02 9.95500093e-01 -3.55041103e-04 -2.26710357e+00] [ 1.75669013e-01 -1.63705734e-02 9.84313163e-01 1.33207624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.06, Y:-2.27, Z:1.34 [[ 9.79531694e-01 -9.69030681e-02 -1.76429745e-01 1.20620388e+01] [ 9.83800727e-02 9.95148843e-01 -3.77355453e-04 -2.26782600e+00] [ 1.75610423e-01 -1.69875395e-02 9.84313163e-01 1.33638078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.09, Y:-2.27, Z:1.34 [[ 9.79344229e-01 -9.87799017e-02 -1.76429626e-01 1.20895765e+01] [ 1.00278055e-01 9.94959361e-01 -4.26533044e-04 -2.26762185e+00] [ 1.75582441e-01 -1.72742972e-02 9.84313164e-01 1.34105963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.12, Y:-2.27, Z:1.35 [[ 9.78986183e-01 -1.02267723e-01 -1.76429493e-01 1.21170077e+01] [ 1.03812696e-01 9.94596751e-01 -4.75827921e-04 -2.26770550e+00] [ 1.75524863e-01 -1.78497924e-02 9.84313165e-01 1.34551721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.14, Y:-2.27, Z:1.35 [[ 9.78797411e-01 -1.04059181e-01 -1.76429347e-01 1.21449439e+01] [ 1.05623917e-01 9.94406010e-01 -5.25187577e-04 -2.26757499e+00] [ 1.75497053e-01 -1.81211064e-02 9.84313167e-01 1.35090452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-2.27, Z:1.35 [[ 9.78599997e-01 -1.05899904e-01 -1.76429181e-01 1.21731501e+01] [ 1.07484923e-01 9.94206548e-01 -5.76055503e-04 -2.26771643e+00] [ 1.75468051e-01 -1.83997490e-02 9.84313168e-01 1.35496473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-2.27, Z:1.36 [[ 9.78232303e-01 -1.09244538e-01 -1.76429000e-01 1.21995199e+01] [ 1.10873790e-01 9.93834297e-01 -6.27143756e-04 -2.26782500e+00] [ 1.75409703e-01 -1.89478595e-02 9.84313169e-01 1.35970286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-2.27, Z:1.36 [[ 9.78070207e-01 -1.10686606e-01 -1.76428870e-01 1.22260520e+01] [ 1.12332702e-01 9.93670431e-01 -6.61671926e-04 -2.26769631e+00] [ 1.75385390e-01 -1.91715701e-02 9.84313170e-01 1.36424565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.25, Y:-2.27, Z:1.37 [[ 9.77914784e-01 -1.12051594e-01 -1.76428786e-01 1.22539899e+01] [ 1.13715580e-01 9.93513110e-01 -6.83453432e-04 -2.26786814e+00] [ 1.75360894e-01 -1.93943424e-02 9.84313170e-01 1.36983694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.28, Y:-2.27, Z:1.37 [[ 9.77565318e-01 -1.15060877e-01 -1.76428578e-01 1.22817529e+01] [ 1.16763967e-01 9.93159422e-01 -7.33386280e-04 -2.26760716e+00] [ 1.75306089e-01 -1.98835677e-02 9.84313171e-01 1.37361607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.31, Y:-2.27, Z:1.38 [[ 9.77414340e-01 -1.16336765e-01 -1.76428356e-01 1.23083404e+01] [ 1.18051287e-01 9.93007190e-01 -7.83452263e-04 -2.26758837e+00] [ 1.75285771e-01 -2.00618371e-02 9.84313172e-01 1.37809898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.27, Z:1.38 [[ 9.77265572e-01 -1.17580150e-01 -1.76428200e-01 1.23357790e+01] [ 1.19308474e-01 9.92856898e-01 -8.17321107e-04 -2.26773073e+00] [ 1.75264056e-01 -2.02506395e-02 9.84313173e-01 1.38205679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-2.27, Z:1.39 [[ 9.77057749e-01 -1.19295145e-01 -1.76427955e-01 1.23636082e+01] [ 1.21041942e-01 9.92647015e-01 -8.67217282e-04 -2.26761623e+00] [ 1.75234137e-01 -2.05078610e-02 9.84313174e-01 1.38648268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-2.27, Z:1.39 [[ 9.76758386e-01 -1.21722323e-01 -1.76427696e-01 1.23912539e+01] [ 1.23498971e-01 9.92344277e-01 -9.17059275e-04 -2.26805395e+00] [ 1.75188641e-01 -2.08928936e-02 9.84313175e-01 1.39183008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.42, Y:-2.27, Z:1.40 [[ 9.76611910e-01 -1.22892397e-01 -1.76427422e-01 1.24179071e+01] [ 1.24678810e-01 9.92196684e-01 -9.67076081e-04 -2.26805188e+00] [ 1.75169549e-01 -2.10523029e-02 9.84313177e-01 1.39667868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.45, Y:-2.27, Z:1.40 [[ 9.76383805e-01 -1.24691911e-01 -1.76427301e-01 1.24458993e+01] [ 1.26503188e-01 9.91965708e-01 -9.88711800e-04 -2.26805739e+00] [ 1.75133116e-01 -2.13532537e-02 9.84313177e-01 1.40218202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.47, Y:-2.27, Z:1.41 [[ 9.76248014e-01 -1.25751046e-01 -1.76427009e-01 1.24738197e+01] [ 1.27570399e-01 9.91828975e-01 -1.03829028e-03 -2.26783417e+00] [ 1.75115986e-01 -2.14932350e-02 9.84313178e-01 1.40668277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.50, Y:-2.27, Z:1.41 [[ 9.76095232e-01 -1.26931940e-01 -1.76426698e-01 1.25017512e+01] [ 1.28761174e-01 9.91675035e-01 -1.08865472e-03 -2.26757361e+00] [ 1.75096137e-01 -2.16542782e-02 9.84313179e-01 1.41114166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.53, Y:-2.27, Z:1.41 [[ 9.75940653e-01 -1.28115483e-01 -1.76426372e-01 1.25286461e+01] [ 1.29954609e-01 9.91519290e-01 -1.13921014e-03 -2.26834427e+00] [ 1.75076102e-01 -2.18156187e-02 9.84313181e-01 1.41452094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.56, Y:-2.27, Z:1.42 [[ 9.75768802e-01 -1.29418050e-01 -1.76426229e-01 1.25558435e+01] [ 1.31274087e-01 9.91345432e-01 -1.16101811e-03 -2.26812793e+00] [ 1.75049593e-01 -2.20273069e-02 9.84313181e-01 1.41887484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.58, Y:-2.27, Z:1.42 [[ 9.75678940e-01 -1.30094239e-01 -1.76425890e-01 1.25823951e+01] [ 1.31952274e-01 9.91255331e-01 -1.21044179e-03 -2.26786955e+00] [ 1.75040575e-01 -2.20987948e-02 9.84313182e-01 1.42299536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.61, Y:-2.27, Z:1.43 [[ 9.75437201e-01 -1.31894754e-01 -1.76425739e-01 1.26099645e+01] [ 1.33777701e-01 9.91010600e-01 -1.23198342e-03 -2.26780150e+00] [ 1.75002270e-01 -2.24001073e-02 9.84313182e-01 1.42904066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.64, Y:-2.27, Z:1.43 [[ 9.75373218e-01 -1.32367555e-01 -1.76425382e-01 1.26363680e+01] [ 1.34249286e-01 9.90946763e-01 -1.28123618e-03 -2.26785416e+00] [ 1.74997755e-01 -2.24352981e-02 9.84313183e-01 1.43497120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:-2.27, Z:1.44 [[ 9.75230138e-01 -1.33417834e-01 -1.76425226e-01 1.26634423e+01] [ 1.35312567e-01 9.90802106e-01 -1.30240813e-03 -2.26709141e+00] [ 1.74976250e-01 -2.26024025e-02 9.84313184e-01 1.44010836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:-2.27, Z:1.45 [[ 9.75153390e-01 -1.33978119e-01 -1.76424856e-01 1.26911813e+01] [ 1.35873208e-01 9.90725314e-01 -1.35068730e-03 -2.26695727e+00] [ 1.74969534e-01 -2.26542838e-02 9.84313185e-01 1.44500968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.72, Y:-2.27, Z:1.45 [[ 9.75094938e-01 -1.34403385e-01 -1.76424467e-01 1.27175622e+01] [ 1.36296526e-01 9.90667097e-01 -1.39979912e-03 -2.26646456e+00] [ 1.74966052e-01 -2.26811048e-02 9.84313186e-01 1.44900171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-2.27, Z:1.45 [[ 9.75044619e-01 -1.34768298e-01 -1.76424196e-01 1.27452476e+01] [ 1.36661332e-01 9.90616791e-01 -1.43314994e-03 -2.26626045e+00] [ 1.74961914e-01 -2.27129805e-02 9.84313187e-01 1.45252303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:-2.27, Z:1.46 [[ 9.74932394e-01 -1.35578296e-01 -1.76423788e-01 1.27725143e+01] [ 1.37475626e-01 9.90504042e-01 -1.48171302e-03 -2.26607158e+00] [ 1.74949364e-01 -2.28094007e-02 9.84313188e-01 1.45670902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.80, Y:-2.27, Z:1.46 [[ 9.74925025e-01 -1.35631823e-01 -1.76423369e-01 1.27999622e+01] [ 1.37521398e-01 9.90497614e-01 -1.53009965e-03 -2.26607873e+00] [ 1.74954456e-01 -2.27702558e-02 9.84313189e-01 1.46135077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.83, Y:-2.27, Z:1.47 [[ 9.74881443e-01 -1.35945308e-01 -1.76422917e-01 1.28261451e+01] [ 1.37830917e-01 9.90454512e-01 -1.58051826e-03 -2.26552788e+00] [ 1.74953739e-01 -2.27757146e-02 9.84313190e-01 1.46574326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:-2.27, Z:1.47 [[ 9.74859840e-01 -1.36100392e-01 -1.76422718e-01 1.28536277e+01] [ 1.37984577e-01 9.90433081e-01 -1.60244442e-03 -2.26514647e+00] [ 1.74952990e-01 -2.27814555e-02 9.84313190e-01 1.47044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:-2.26, Z:1.48 [[ 9.74866198e-01 -1.36055449e-01 -1.76422252e-01 1.28804857e+01] [ 1.37930044e-01 9.90440595e-01 -1.65229701e-03 -2.26458344e+00] [ 1.74960564e-01 -2.27231605e-02 9.84313192e-01 1.47502961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:-2.26, Z:1.48 [[ 9.74828166e-01 -1.36327943e-01 -1.76422047e-01 1.29085699e+01] [ 1.38203047e-01 9.90402502e-01 -1.67390362e-03 -2.26412616e+00] [ 1.74957036e-01 -2.27502959e-02 9.84313192e-01 1.48006001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-2.26, Z:1.48 [[ 9.74858695e-01 -1.36110087e-01 -1.76421564e-01 1.29354884e+01] [ 1.37972917e-01 9.90434503e-01 -1.72330873e-03 -2.26399387e+00] [ 1.74968564e-01 -2.26614154e-02 9.84313193e-01 1.48466722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:-2.26, Z:1.49 [[ 9.74917929e-01 -1.35685438e-01 -1.76421353e-01 1.29630802e+01] [ 1.37537672e-01 9.90495000e-01 -1.74471807e-03 -2.26407078e+00] [ 1.74981201e-01 -2.25636252e-02 9.84313193e-01 1.48841472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:-2.26, Z:1.49 [[ 9.74911110e-01 -1.35735073e-01 -1.76420853e-01 1.29903476e+01] [ 1.37579347e-01 9.90489124e-01 -1.79389322e-03 -2.26358778e+00] [ 1.74986430e-01 -2.25229793e-02 9.84313194e-01 1.49199552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:-2.26, Z:1.50 [[ 9.74949710e-01 -1.35457991e-01 -1.76420507e-01 1.30179041e+01] [ 1.37291893e-01 9.90528948e-01 -1.82728256e-03 -2.26362048e+00] [ 1.74997139e-01 -2.24395968e-02 9.84313195e-01 1.49607532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:-2.26, Z:1.50 [[ 9.74961684e-01 -1.35372454e-01 -1.76419990e-01 1.30451194e+01] [ 1.37196330e-01 9.90542098e-01 -1.87591905e-03 -2.26268303e+00] [ 1.75005375e-01 -2.23752261e-02 9.84313196e-01 1.49961569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:-2.26, Z:1.50 [[ 9.74994707e-01 -1.35134707e-01 -1.76419763e-01 1.30730774e+01] [ 1.36951020e-01 9.90576004e-01 -1.89705268e-03 -2.26226648e+00] [ 1.75013541e-01 -2.23112502e-02 9.84313196e-01 1.50442407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:-2.26, Z:1.51 [[ 9.75091106e-01 -1.34438060e-01 -1.76419224e-01 1.30991368e+01] [ 1.36234537e-01 9.90674702e-01 -1.94593067e-03 -2.26195997e+00] [ 1.75035669e-01 -2.21369316e-02 9.84313197e-01 1.50944155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:-2.26, Z:1.51 [[ 9.75157224e-01 -1.33957933e-01 -1.76418989e-01 1.31264025e+01] [ 1.35742984e-01 9.90742133e-01 -1.96700161e-03 -2.26144910e+00] [ 1.75049221e-01 -2.20295042e-02 9.84313198e-01 1.51490313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.15, Y:-2.26, Z:1.52 [[ 9.75221198e-01 -1.33492124e-01 -1.76418445e-01 1.31538732e+01] [ 1.35261248e-01 9.90807921e-01 -2.01462767e-03 -2.26095243e+00] [ 1.75065730e-01 -2.18978715e-02 9.84313199e-01 1.51988147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.18, Y:-2.26, Z:1.53 [[ 9.75250522e-01 -1.33278464e-01 -1.76417886e-01 1.31818017e+01] [ 1.35035647e-01 9.90838594e-01 -2.06249653e-03 -2.26056246e+00] [ 1.75076537e-01 -2.18112525e-02 9.84313200e-01 1.52506744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.21, Y:-2.26, Z:1.53 [[ 9.75372688e-01 -1.32382215e-01 -1.76417313e-01 1.32094171e+01] [ 1.34116531e-01 9.90963320e-01 -2.11043758e-03 -2.25996166e+00] [ 1.75102470e-01 -2.16020148e-02 9.84313201e-01 1.52944733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:-2.26, Z:1.53 [[ 9.75450938e-01 -1.31805213e-01 -1.76416704e-01 1.32360519e+01] [ 1.33521442e-01 9.91043570e-01 -2.16018619e-03 -2.25962347e+00] [ 1.75121364e-01 -2.14482571e-02 9.84313202e-01 1.53416431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.26, Y:-2.26, Z:1.54 [[ 9.75495953e-01 -1.31471995e-01 -1.76416438e-01 1.32639415e+01] [ 1.33179063e-01 9.91089591e-01 -2.18170925e-03 -2.25916835e+00] [ 1.75131329e-01 -2.13667273e-02 9.84313203e-01 1.53886205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:-2.26, Z:1.54 [[ 9.75620787e-01 -1.30543229e-01 -1.76415831e-01 1.32914329e+01] [ 1.32226892e-01 9.91216968e-01 -2.22972247e-03 -2.25927286e+00] [ 1.75157440e-01 -2.11515535e-02 9.84313204e-01 1.54448009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:-2.26, Z:1.55 [[ 9.75643200e-01 -1.30376470e-01 -1.76415196e-01 1.33178117e+01] [ 1.32048708e-01 9.91240609e-01 -2.27886706e-03 -2.25899521e+00] [ 1.75167017e-01 -2.10720376e-02 9.84313205e-01 1.54938366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.35, Y:-2.26, Z:1.55 [[ 9.75688718e-01 -1.30035773e-01 -1.76414920e-01 1.33455781e+01] [ 1.31698782e-01 9.91287113e-01 -2.30009251e-03 -2.25842732e+00] [ 1.75176931e-01 -2.09894557e-02 9.84313205e-01 1.55489650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.37, Y:-2.26, Z:1.56 [[ 9.75854695e-01 -1.28785167e-01 -1.76414271e-01 1.33721153e+01] [ 1.30419492e-01 9.91456121e-01 -2.34884217e-03 -2.25784217e+00] [ 1.75209505e-01 -2.07157309e-02 9.84313206e-01 1.55991719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:-2.26, Z:1.56 [[ 9.75948181e-01 -1.28075412e-01 -1.76413822e-01 1.33992860e+01] [ 1.29692464e-01 9.91551406e-01 -2.38207394e-03 -2.25707678e+00] [ 1.75228459e-01 -2.05547626e-02 9.84313207e-01 1.56435040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:-2.26, Z:1.57 [[ 9.76133435e-01 -1.26656679e-01 -1.76413157e-01 1.34262392e+01] [ 1.28242439e-01 9.91739870e-01 -2.43034991e-03 -2.25727047e+00] [ 1.75263782e-01 -2.02513078e-02 9.84313208e-01 1.56764200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.45, Y:-2.26, Z:1.57 [[ 9.76207175e-01 -1.26087712e-01 -1.76412698e-01 1.34540234e+01] [ 1.27658510e-01 9.91815123e-01 -2.46323495e-03 -2.25702203e+00] [ 1.75279366e-01 -2.01159546e-02 9.84313208e-01 1.57159876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.48, Y:-2.26, Z:1.58 [[ 9.76239341e-01 -1.25839366e-01 -1.76412024e-01 1.34820144e+01] [ 1.27397745e-01 9.91848533e-01 -2.51059686e-03 -2.25662464e+00] [ 1.75289939e-01 -2.00235507e-02 9.84313210e-01 1.57603866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.51, Y:-2.26, Z:1.58 [[ 9.76391910e-01 -1.24651058e-01 -1.76411316e-01 1.35092134e+01] [ 1.26181725e-01 9.92003842e-01 -2.55943769e-03 -2.25610012e+00] [ 1.75319740e-01 -1.97608698e-02 9.84313211e-01 1.58111701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:-2.26, Z:1.59 [[ 9.76459236e-01 -1.24123585e-01 -1.76410591e-01 1.35360826e+01] [ 1.25637060e-01 9.92072842e-01 -2.60851674e-03 -2.25527801e+00] [ 1.75335934e-01 -1.96165978e-02 9.84313212e-01 1.58523056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:-2.25, Z:1.59 [[ 9.76547946e-01 -1.23424170e-01 -1.76410273e-01 1.35631370e+01] [ 1.24922661e-01 9.92162997e-01 -2.62981368e-03 -2.25465450e+00] [ 1.75352328e-01 -1.94695016e-02 9.84313212e-01 1.59010276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:-2.25, Z:1.60 [[ 9.76601490e-01 -1.23000470e-01 -1.76409789e-01 1.35903798e+01] [ 1.24486458e-01 9.92217736e-01 -2.66191711e-03 -2.25437435e+00] [ 1.75364338e-01 -1.93609975e-02 9.84313213e-01 1.59587486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-2.25, Z:1.60 [[ 9.76814419e-01 -1.21298977e-01 -1.76409040e-01 1.36171253e+01] [ 1.22749061e-01 9.92434038e-01 -2.71064213e-03 -2.25459253e+00] [ 1.75403134e-01 -1.90062497e-02 9.84313214e-01 1.60008175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.64, Y:-2.25, Z:1.60 [[ 9.76899086e-01 -1.20615677e-01 -1.76408715e-01 1.36440834e+01] [ 1.22051081e-01 9.92520061e-01 -2.73166621e-03 -2.25433376e+00] [ 1.75418670e-01 -1.88623122e-02 9.84313214e-01 1.60395928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.67, Y:-2.25, Z:1.61 [[ 9.77113550e-01 -1.18866271e-01 -1.76408389e-01 1.36692059e+01] [ 1.20269976e-01 9.92737406e-01 -2.75253193e-03 -2.25342528e+00] [ 1.75454390e-01 -1.85270966e-02 9.84313214e-01 1.60895212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.70, Y:-2.25, Z:1.61 [[ 9.77074668e-01 -1.19210712e-01 -1.76391326e-01 1.36987988e+01] [ 1.20430367e-01 9.92714451e-01 -3.81388281e-03 -2.25288490e+00] [ 1.75560874e-01 -1.75164239e-02 9.84312732e-01 1.61223299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.73, Y:-2.25, Z:1.62 [[ 9.77177616e-01 -1.18339801e-01 -1.76407480e-01 1.37260621e+01] [ 1.19726107e-01 9.92803003e-01 -2.80281730e-03 -2.25281316e+00] [ 1.75469561e-01 -1.83817305e-02 9.84313235e-01 1.61740560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.75, Y:-2.25, Z:1.62 [[ 9.77361874e-01 -1.16809480e-01 -1.76406666e-01 1.37525638e+01] [ 1.18162318e-01 9.92990194e-01 -2.85320080e-03 -2.25299830e+00] [ 1.75503370e-01 -1.80560109e-02 9.84313236e-01 1.62241144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.78, Y:-2.25, Z:1.63 [[ 9.77432897e-01 -1.16214221e-01 -1.76406309e-01 1.37804393e+01] [ 1.17553635e-01 9.93062373e-01 -2.87506654e-03 -2.25261335e+00] [ 1.75516592e-01 -1.79270183e-02 9.84313237e-01 1.62778799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.81, Y:-2.25, Z:1.63 [[ 9.77554580e-01 -1.15187435e-01 -1.76405492e-01 1.38071711e+01] [ 1.16501617e-01 9.93186197e-01 -2.92440221e-03 -2.25236034e+00] [ 1.75540354e-01 -1.76927623e-02 9.84313238e-01 1.63258291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.83, Y:-2.25, Z:1.64 [[ 9.77578657e-01 -1.14983465e-01 -1.76405134e-01 1.38347539e+01] [ 1.16290561e-01 9.93210868e-01 -2.94580958e-03 -2.25136421e+00] [ 1.75546216e-01 -1.76344915e-02 9.84313238e-01 1.63750230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.86, Y:-2.25, Z:1.64 [[ 9.77780753e-01 -1.13253348e-01 -1.76404304e-01 1.38628416e+01] [ 1.14524033e-01 9.93415964e-01 -2.99475887e-03 -2.25107541e+00] [ 1.75582018e-01 -1.72743148e-02 9.84313239e-01 1.64246266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-2.25, Z:1.65 [[ 9.77857910e-01 -1.12586552e-01 -1.76403446e-01 1.38900328e+01] [ 1.13837691e-01 9.93494696e-01 -3.04447409e-03 -2.25073333e+00] [ 1.75598655e-01 -1.71042979e-02 9.84313241e-01 1.64602072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-2.25, Z:1.65 [[ 9.77882271e-01 -1.12375692e-01 -1.76402856e-01 1.39177375e+01] [ 1.13617421e-01 9.93519807e-01 -3.07825748e-03 -2.25006220e+00] [ 1.75605653e-01 -1.70322642e-02 9.84313241e-01 1.65105142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.94, Y:-2.25, Z:1.65 [[ 9.78046851e-01 -1.10935580e-01 -1.76401967e-01 1.39441811e+01] [ 1.12145319e-01 9.93686893e-01 -3.12840070e-03 -2.25001821e+00] [ 1.75635374e-01 -1.67229324e-02 9.84313242e-01 1.65449834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.97, Y:-2.25, Z:1.66 [[ 9.78110693e-01 -1.10372256e-01 -1.76401354e-01 1.39720178e+01] [ 1.11566868e-01 9.93751896e-01 -3.16263199e-03 -2.24954848e+00] [ 1.75648247e-01 -1.65871424e-02 9.84313243e-01 1.65958608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.00, Y:-2.25, Z:1.66 [[ 9.78290264e-01 -1.08770618e-01 -1.76400433e-01 1.39986211e+01] [ 1.09930581e-01 9.93934074e-01 -3.21317996e-03 -2.24937729e+00] [ 1.75679901e-01 -1.62483795e-02 9.84313244e-01 1.66444661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.03, Y:-2.25, Z:1.67 [[ 9.78373664e-01 -1.08018520e-01 -1.76400035e-01 1.40263197e+01] [ 1.09162570e-01 9.94018646e-01 -3.23491806e-03 -2.24879318e+00] [ 1.75694355e-01 -1.60913225e-02 9.84313244e-01 1.66946682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:-2.25, Z:1.67 [[ 9.78491211e-01 -1.06950003e-01 -1.76399111e-01 1.40531758e+01] [ 1.08068095e-01 9.94138068e-01 -3.28453020e-03 -2.24849058e+00] [ 1.75716352e-01 -1.58492320e-02 9.84313246e-01 1.67433591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:-2.25, Z:1.68 [[ 9.78633932e-01 -1.05636749e-01 -1.76398709e-01 1.40812422e+01] [ 1.06730006e-01 9.94282543e-01 -3.30597545e-03 -2.24793004e+00] [ 1.75739390e-01 -1.55916956e-02 9.84313246e-01 1.67933232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-2.25, Z:1.68 [[ 9.78709705e-01 -1.04933972e-01 -1.76397775e-01 1.41088329e+01] [ 1.06007207e-01 9.94359701e-01 -3.35509161e-03 -2.24730121e+00] [ 1.75754902e-01 -1.54157748e-02 9.84313247e-01 1.68478055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.14, Y:-2.25, Z:1.69 [[ 9.78802176e-01 -1.04069542e-01 -1.76396799e-01 1.41362316e+01] [ 1.05119908e-01 9.94453723e-01 -3.40566352e-03 -2.24697073e+00] [ 1.75772879e-01 -1.52093445e-02 9.84313248e-01 1.68960560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.16, Y:-2.25, Z:1.69 [[ 9.78955092e-01 -1.02622864e-01 -1.76395792e-01 1.41631617e+01] [ 1.03640902e-01 9.94608773e-01 -3.45706630e-03 -2.24616994e+00] [ 1.75799576e-01 -1.48975064e-02 9.84313250e-01 1.69416164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.19, Y:-2.25, Z:1.70 [[ 9.79055618e-01 -1.01660545e-01 -1.76395100e-01 1.41892940e+01] [ 1.02656943e-01 9.94710691e-01 -3.49201293e-03 -2.24613771e+00] [ 1.75817092e-01 -1.46893069e-02 9.84313250e-01 1.69895175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.22, Y:-2.25, Z:1.70 [[ 9.79092080e-01 -1.01309527e-01 -1.76394668e-01 1.42171619e+01] [ 1.02296433e-01 9.94747754e-01 -3.51369296e-03 -2.24547797e+00] [ 1.75824171e-01 -1.46043164e-02 9.84313250e-01 1.70372093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-2.24, Z:1.71 [[ 9.79175603e-01 -1.00500759e-01 -1.76393696e-01 1.42445784e+01] [ 1.01466118e-01 9.94832619e-01 -3.56183975e-03 -2.24493777e+00] [ 1.75840170e-01 -1.44103170e-02 9.84313252e-01 1.70870581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.27, Y:-2.24, Z:1.71 [[ 9.79245784e-01 -9.98164837e-02 -1.76392643e-01 1.42721124e+01] [ 1.00761700e-01 9.94904028e-01 -3.61325452e-03 -2.24408090e+00] [ 1.75854414e-01 -1.42353584e-02 9.84313253e-01 1.71259468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.30, Y:-2.24, Z:1.71 [[ 9.79427900e-01 -9.80153076e-02 -1.76391575e-01 1.43001771e+01] [ 9.89225196e-02 9.95088391e-01 -3.66468190e-03 -2.24317886e+00] [ 1.75884404e-01 -1.38598074e-02 9.84313254e-01 1.71494025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.33, Y:-2.24, Z:1.72 [[ 9.79501266e-01 -9.72800060e-02 -1.76391244e-01 1.43277235e+01] [ 9.81726167e-02 9.95162595e-01 -3.68057344e-03 -2.24251591e+00] [ 1.75896014e-01 -1.37116636e-02 9.84313254e-01 1.71926789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.36, Y:-2.24, Z:1.73 [[ 9.79695716e-01 -9.53037158e-02 -1.76390208e-01 1.43552394e+01] [ 9.61559572e-02 9.95359293e-01 -3.72957101e-03 -2.24223583e+00] [ 1.75927074e-01 -1.33071245e-02 9.84313255e-01 1.72516283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.38, Y:-2.24, Z:1.73 [[ 9.79764100e-01 -9.46001012e-02 -1.76389141e-01 1.43831517e+01] [ 9.54321761e-02 9.95428760e-01 -3.77937786e-03 -2.24161301e+00] [ 1.75940353e-01 -1.31303008e-02 9.84313257e-01 1.73044349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-2.24, Z:1.74 [[ 9.79837760e-01 -9.38361036e-02 -1.76388066e-01 1.44110117e+01] [ 9.46471006e-02 9.95503524e-01 -3.82888002e-03 -2.24094194e+00] [ 1.75954229e-01 -1.29429379e-02 9.84313258e-01 1.73655839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-2.24, Z:1.74 [[ 9.79977180e-01 -9.23707920e-02 -1.76386969e-01 1.44387445e+01] [ 9.31494199e-02 9.95644585e-01 -3.87881881e-03 -2.24019176e+00] [ 1.75977020e-01 -1.26291899e-02 9.84313259e-01 1.74199532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.47, Y:-2.24, Z:1.75 [[ 9.80036081e-01 -9.17459573e-02 -1.76385823e-01 1.44654206e+01] [ 9.25053864e-02 9.95704427e-01 -3.93024451e-03 -2.23930273e+00] [ 1.75988729e-01 -1.24648573e-02 9.84313260e-01 1.74586869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:-2.24, Z:1.75 [[ 9.80186685e-01 -9.01236918e-02 -1.76385324e-01 1.44921863e+01] [ 9.08532014e-02 9.95856452e-01 -3.95249278e-03 -2.23895661e+00] [ 1.76010677e-01 -1.21509906e-02 9.84313261e-01 1.74952165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.52, Y:-2.24, Z:1.75 [[ 9.80290767e-01 -8.89853985e-02 -1.76384839e-01 1.45185860e+01] [ 8.96928519e-02 9.95961545e-01 -3.97404023e-03 -2.23832677e+00] [ 1.76026148e-01 -1.19247443e-02 9.84313261e-01 1.75398167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.55, Y:-2.24, Z:1.76 [[ 9.80346969e-01 -8.83655831e-02 -1.76384082e-01 1.45463010e+01] [ 8.90571560e-02 9.96018456e-01 -4.00738347e-03 -2.23741365e+00] [ 1.76035915e-01 -1.17796384e-02 9.84313261e-01 1.76004102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:-2.24, Z:1.76 [[ 9.80473568e-01 -8.69520433e-02 -1.76382891e-01 1.45726956e+01] [ 8.76117545e-02 9.96146427e-01 -4.05911076e-03 -2.23678016e+00] [ 1.76056135e-01 -1.14733638e-02 9.84313263e-01 1.76416652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-2.24, Z:1.77 [[ 9.80622289e-01 -8.52595153e-02 -1.76382373e-01 1.46003528e+01] [ 8.58881601e-02 9.96296424e-01 -4.08150816e-03 -2.23531382e+00] [ 1.76077115e-01 -1.11467396e-02 9.84313263e-01 1.76988911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-2.23, Z:1.77 [[ 9.80690929e-01 -8.44688478e-02 -1.76381163e-01 1.46269435e+01] [ 8.50756037e-02 9.96365926e-01 -4.13314478e-03 -2.23456589e+00] [ 1.76089303e-01 -1.09523964e-02 9.84313264e-01 1.77435146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:-2.23, Z:1.78 [[ 9.80782945e-01 -8.33947594e-02 -1.76380637e-01 1.46543967e+01] [ 8.39803455e-02 9.96458747e-01 -4.15548327e-03 -2.23374645e+00] [ 1.76102574e-01 -1.07368797e-02 9.84313265e-01 1.77889839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.68, Y:-2.23, Z:1.78 [[ 9.80758693e-01 -8.36820420e-02 -1.76379426e-01 1.46824755e+01] [ 8.42631206e-02 9.96434661e-01 -4.20626803e-03 -2.23284724e+00] [ 1.76102563e-01 -1.07369469e-02 9.84313266e-01 1.78392368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:-2.23, Z:1.79 [[ 9.80858534e-01 -8.25061673e-02 -1.76378199e-01 1.47091340e+01] [ 8.30593397e-02 9.96535510e-01 -4.25712126e-03 -2.23229629e+00] [ 1.76118377e-01 -1.04742230e-02 9.84313267e-01 1.78733923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:-2.23, Z:1.79 [[ 9.80921360e-01 -8.17569922e-02 -1.76377665e-01 1.47362631e+01] [ 8.22942438e-02 9.96598889e-01 -4.27914820e-03 -2.23140783e+00] [ 1.76127635e-01 -1.03173587e-02 9.84313267e-01 1.79278848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-2.23, Z:1.80 [[ 9.80980801e-01 -8.10433968e-02 -1.76376406e-01 1.47626132e+01] [ 8.15600537e-02 9.96659021e-01 -4.33043061e-03 -2.23044886e+00] [ 1.76138089e-01 -1.01371998e-02 9.84313269e-01 1.79654305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:-2.23, Z:1.80 [[ 9.81110724e-01 -7.94563020e-02 -1.76375857e-01 1.47902316e+01] [ 7.99436081e-02 9.96789884e-01 -4.35267546e-03 -2.22925506e+00] [ 1.76155517e-01 -9.82966581e-03 9.84313269e-01 1.80332414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.82, Y:-2.23, Z:1.81 [[ 9.81192702e-01 -7.84404338e-02 -1.76374547e-01 1.48170374e+01] [ 7.89021011e-02 9.96872636e-01 -4.40515011e-03 -2.22806732e+00] [ 1.76168501e-01 -9.59402116e-03 9.84313270e-01 1.80800689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.84, Y:-2.23, Z:1.81 [[ 9.81251785e-01 -7.76991347e-02 -1.76373976e-01 1.48432139e+01] [ 7.81448802e-02 9.96932180e-01 -4.42788997e-03 -2.22710909e+00] [ 1.76176935e-01 -9.43784826e-03 9.84313271e-01 1.81248952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.87, Y:-2.23, Z:1.82 [[ 9.81357988e-01 -7.63480645e-02 -1.76373105e-01 1.48709989e+01] [ 7.67660489e-02 9.97039147e-01 -4.46232348e-03 -2.22630239e+00] [ 1.76191580e-01 -9.16032958e-03 9.84313271e-01 1.81630097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.90, Y:-2.23, Z:1.82 [[ 9.81423408e-01 -7.55054984e-02 -1.76371808e-01 1.48988386e+01] [ 7.59009339e-02 9.97105150e-01 -4.51301231e-03 -2.22546641e+00] [ 1.76201995e-01 -8.95760900e-03 9.84313272e-01 1.82069782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:-2.22, Z:1.82 [[ 9.81484344e-01 -7.47123925e-02 -1.76370463e-01 1.49260027e+01] [ 7.50858431e-02 9.97166625e-01 -4.56496390e-03 -2.22442050e+00] [ 1.76211799e-01 -8.76248433e-03 9.84313274e-01 1.82496375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.95, Y:-2.22, Z:1.83 [[ 9.81623854e-01 -7.28579090e-02 -1.76369877e-01 1.49530803e+01] [ 7.31976893e-02 9.97306900e-01 -4.58750397e-03 -2.22332865e+00] [ 1.76229131e-01 -8.40666413e-03 9.84313274e-01 1.82970495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.98, Y:-2.22, Z:1.84 [[ 9.81676694e-01 -7.21438776e-02 -1.76369297e-01 1.49804842e+01] [ 7.24682730e-02 9.97360065e-01 -4.60969009e-03 -2.22216290e+00] [ 1.76236255e-01 -8.25595306e-03 9.84313274e-01 1.83634289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.01, Y:-2.22, Z:1.84 [[ 9.81740155e-01 -7.12785214e-02 -1.76367912e-01 1.50069076e+01] [ 7.15796983e-02 9.97423988e-01 -4.66208950e-03 -2.22141258e+00] [ 1.76245893e-01 -8.04740150e-03 9.84313276e-01 1.84087098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.03, Y:-2.22, Z:1.85 [[ 9.81876805e-01 -6.93722659e-02 -1.76367310e-01 1.50346310e+01] [ 6.96389255e-02 9.97561263e-01 -4.68476569e-03 -2.22014133e+00] [ 1.76262189e-01 -7.68216720e-03 9.84313276e-01 1.84685354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.06, Y:-2.22, Z:1.85 [[ 9.81934307e-01 -6.85570594e-02 -1.76365945e-01 1.50612855e+01] [ 6.88015805e-02 9.97619124e-01 -4.73561538e-03 -2.21874635e+00] [ 1.76270699e-01 -7.48419255e-03 9.84313277e-01 1.85041347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:-2.22, Z:1.86 [[ 9.81982303e-01 -6.78676659e-02 -1.76365352e-01 1.50884681e+01] [ 6.80972333e-02 9.97667345e-01 -4.75760219e-03 -2.21766085e+00] [ 1.76276840e-01 -7.33811136e-03 9.84313277e-01 1.85527914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:-2.22, Z:1.86 [[ 9.82043026e-01 -6.69868745e-02 -1.76363979e-01 1.51155634e+01] [ 6.71933399e-02 9.97728389e-01 -4.80798590e-03 -2.21661140e+00] [ 1.76285420e-01 -7.12883574e-03 9.84313279e-01 1.85860485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.14, Y:-2.21, Z:1.86 [[ 9.82168953e-01 -6.51160905e-02 -1.76363381e-01 1.51434380e+01] [ 6.52887610e-02 9.97854724e-01 -4.82982620e-03 -2.21483013e+00] [ 1.76299532e-01 -6.77084124e-03 9.84313279e-01 1.86407935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.17, Y:-2.21, Z:1.87 [[ 9.82175170e-01 -6.50261242e-02 -1.76361953e-01 1.51698048e+01] [ 6.51881073e-02 9.97861054e-01 -4.88141816e-03 -2.21327555e+00] [ 1.76302144e-01 -6.70229418e-03 9.84313280e-01 1.86862138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.20, Y:-2.21, Z:1.87 [[ 9.82242442e-01 -6.40046242e-02 -1.76360974e-01 1.51968709e+01] [ 6.41439979e-02 9.97928542e-01 -4.91653092e-03 -2.21219930e+00] [ 1.76310330e-01 -6.48327261e-03 9.84313281e-01 1.87359857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.22, Y:-2.21, Z:1.88 [[ 9.82320270e-01 -6.28027711e-02 -1.76359571e-01 1.52247137e+01] [ 6.29140141e-02 9.98006594e-01 -4.96637793e-03 -2.21070519e+00] [ 1.76319917e-01 -6.21691480e-03 9.84313282e-01 1.87904967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:-2.21, Z:1.89 [[ 9.82347114e-01 -6.23854907e-02 -1.76358151e-01 1.52521104e+01] [ 6.24811172e-02 9.98033540e-01 -5.01630857e-03 -2.20941946e+00] [ 1.76324294e-01 -6.09129803e-03 9.84313283e-01 1.88502271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-2.21, Z:1.89 [[ 9.82471893e-01 -6.03930644e-02 -1.76356618e-01 1.52790571e+01] [ 6.04473129e-02 9.98158515e-01 -5.06964556e-03 -2.20806621e+00] [ 1.76338031e-01 -5.67949937e-03 9.84313285e-01 1.88935864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-2.21, Z:1.89 [[ 9.82498459e-01 -5.99612988e-02 -1.76355951e-01 1.53066237e+01] [ 6.00045173e-02 9.98185114e-01 -5.09271247e-03 -2.20673874e+00] [ 1.76341251e-01 -5.57857159e-03 9.84313285e-01 1.89464359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.33, Y:-2.21, Z:1.90 [[ 9.82548998e-01 -5.91320168e-02 -1.76354393e-01 1.53336963e+01] [ 5.91524149e-02 9.98235698e-01 -5.14613864e-03 -2.20528872e+00] [ 1.76347552e-01 -5.37545484e-03 9.84313286e-01 1.89889000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.36, Y:-2.20, Z:1.90 [[ 9.82589773e-01 -5.84537438e-02 -1.76353331e-01 1.53616274e+01] [ 5.84568326e-02 9.98276486e-01 -5.18227839e-03 -2.20389051e+00] [ 1.76352307e-01 -5.21700339e-03 9.84313287e-01 1.90422965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.39, Y:-2.20, Z:1.91 [[ 9.82699133e-01 -5.65903888e-02 -1.76351755e-01 1.53883608e+01] [ 5.65542139e-02 9.98385803e-01 -5.23535361e-03 -2.20294087e+00] [ 1.76363360e-01 -4.82865745e-03 9.84313288e-01 1.90939040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.42, Y:-2.20, Z:1.91 [[ 9.82737955e-01 -5.59143219e-02 -1.76351070e-01 1.54150614e+01] [ 5.58632328e-02 9.98424584e-01 -5.25834290e-03 -2.20182772e+00] [ 1.76367260e-01 -4.68396772e-03 9.84313289e-01 1.91391956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-2.20, Z:1.92 [[ 9.82754705e-01 -5.56213166e-02 -1.76350386e-01 1.54424623e+01] [ 5.55614545e-02 9.98441302e-01 -5.28118441e-03 -2.20045337e+00] [ 1.76369255e-01 -4.60817513e-03 9.84313289e-01 1.91833459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.47, Y:-2.20, Z:1.92 [[ 9.82836569e-01 -5.41604960e-02 -1.76348857e-01 1.54697346e+01] [ 5.40682469e-02 9.98523008e-01 -5.33176755e-03 -2.19878843e+00] [ 1.76377162e-01 -4.29461741e-03 9.84313290e-01 1.92252224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.50, Y:-2.20, Z:1.93 [[ 9.82867825e-01 -5.35954153e-02 -1.76347301e-01 1.54972348e+01] [ 5.34850074e-02 9.98554145e-01 -5.38273735e-03 -2.19742470e+00] [ 1.76380819e-01 -4.14141736e-03 9.84313291e-01 1.92672320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.52, Y:-2.20, Z:1.93 [[ 9.82890328e-01 -5.31864136e-02 -1.76345710e-01 1.55239485e+01] [ 5.30602147e-02 9.98576527e-01 -5.43439559e-03 -2.19560778e+00] [ 1.76383722e-01 -4.01552636e-03 9.84313293e-01 1.93187919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.55, Y:-2.19, Z:1.94 [[ 9.82974678e-01 -5.16063672e-02 -1.76345018e-01 1.55509812e+01] [ 5.14509449e-02 9.98660615e-01 -5.45674834e-03 -2.19427546e+00] [ 1.76390427e-01 -3.70927237e-03 9.84313293e-01 1.93803545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.58, Y:-2.19, Z:1.94 [[ 9.82980695e-01 -5.14932832e-02 -1.76344537e-01 1.55785093e+01] [ 5.13332790e-02 9.98666586e-01 -5.47223691e-03 -2.19263786e+00] [ 1.76391180e-01 -3.67324009e-03 9.84313293e-01 1.94382540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-2.19, Z:1.95 [[ 9.83006120e-01 -5.10112221e-02 -1.76342912e-01 1.56049853e+01] [ 5.08342216e-02 9.98691827e-01 -5.52412173e-03 -2.19118912e+00] [ 1.76394018e-01 -3.53400921e-03 9.84313294e-01 1.94880507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.63, Y:-2.19, Z:1.95 [[ 9.83016804e-01 -5.08073726e-02 -1.76342206e-01 1.56322421e+01] [ 5.06230925e-02 9.98702427e-01 -5.54657757e-03 -2.18969694e+00] [ 1.76395196e-01 -3.47460885e-03 9.84313295e-01 1.95328754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.66, Y:-2.19, Z:1.96 [[ 9.83069926e-01 -4.97747763e-02 -1.76340556e-01 1.56586745e+01] [ 4.95647011e-02 9.98755224e-01 -5.59854673e-03 -2.18783055e+00] [ 1.76399718e-01 -3.23650404e-03 9.84313296e-01 1.95654660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.69, Y:-2.19, Z:1.96 [[ 9.83069409e-01 -4.97875337e-02 -1.76339838e-01 1.56858424e+01] [ 4.95736187e-02 9.98754654e-01 -5.62109480e-03 -2.18611273e+00] [ 1.76400094e-01 -3.21587753e-03 9.84313296e-01 1.96040576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.71, Y:-2.18, Z:1.97 [[ 9.83088721e-01 -4.94087607e-02 -1.76338713e-01 1.57130761e+01] [ 4.91825146e-02 9.98773792e-01 -5.65615975e-03 -2.18469489e+00] [ 1.76401949e-01 -3.11227447e-03 9.84313297e-01 1.96583745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.74, Y:-2.18, Z:1.97 [[ 9.83113320e-01 -4.89229081e-02 -1.76337034e-01 1.57398490e+01] [ 4.86796069e-02 9.98798135e-01 -5.70804284e-03 -2.18298253e+00] [ 1.76404354e-01 -2.97236455e-03 9.84313298e-01 1.97132562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:-2.18, Z:1.98 [[ 9.83121136e-01 -4.87716504e-02 -1.76335355e-01 1.57674498e+01] [ 4.85167173e-02 9.98805765e-01 -5.75945382e-03 -2.18168880e+00] [ 1.76405667e-01 -2.89297178e-03 9.84313299e-01 1.97700749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:-2.18, Z:1.98 [[ 9.83121530e-01 -4.87696630e-02 -1.76333709e-01 1.57953439e+01] [ 4.85057418e-02 9.98806009e-01 -5.80940191e-03 -2.18030790e+00] [ 1.76406491e-01 -2.84184929e-03 9.84313301e-01 1.98245676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.82, Y:-2.18, Z:1.99 [[ 9.83143690e-01 -4.83270086e-02 -1.76332032e-01 1.58228517e+01] [ 4.80469750e-02 9.98827888e-01 -5.85987477e-03 -2.17884197e+00] [ 1.76408542e-01 -2.71112185e-03 9.84313302e-01 1.98740883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.85, Y:-2.18, Z:1.99 [[ 9.83134008e-01 -4.85297231e-02 -1.76330341e-01 1.58502681e+01] [ 4.82438730e-02 9.98818100e-01 -5.91034714e-03 -2.17732774e+00] [ 1.76408763e-01 -2.69619530e-03 9.84313303e-01 1.99259099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.88, Y:-2.18, Z:2.00 [[ 9.83154940e-01 -4.81102390e-02 -1.76328580e-01 1.58773559e+01] [ 4.78083578e-02 9.98838731e-01 -5.96243062e-03 -2.17562294e+00] [ 1.76410669e-01 -2.56798672e-03 9.84313304e-01 1.99637230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-2.17, Z:2.00 [[ 9.83156422e-01 -4.80827577e-02 -1.76327815e-01 1.59043920e+01] [ 4.77763956e-02 9.98840125e-01 -5.98497486e-03 -2.17422075e+00] [ 1.76411071e-01 -2.54014096e-03 9.84313305e-01 2.00062129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:-2.17, Z:2.01 [[ 9.83145466e-01 -4.83104863e-02 -1.76326654e-01 1.59315315e+01] [ 4.80016584e-02 9.98829121e-01 -6.01898661e-03 -2.17261004e+00] [ 1.76410977e-01 -2.54643240e-03 9.84313305e-01 2.00600089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:-2.17, Z:2.01 [[ 9.83139132e-01 -4.84456104e-02 -1.76324897e-01 1.59583639e+01] [ 4.81297872e-02 9.98822646e-01 -6.07001926e-03 -2.17125540e+00] [ 1.76411366e-01 -2.51880632e-03 9.84313307e-01 2.01107893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.17, Z:2.02 [[ 9.83141733e-01 -4.83955830e-02 -1.76324133e-01 1.59845175e+01] [ 4.80749970e-02 9.98825150e-01 -6.09212985e-03 -2.16996047e+00] [ 1.76411811e-01 -2.48735510e-03 9.84313307e-01 2.01627017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:-2.17, Z:2.02 [[ 9.83105313e-01 -4.91325817e-02 -1.76323375e-01 1.60122869e+01] [ 4.88198323e-02 9.98788888e-01 -6.11399429e-03 -2.16837065e+00] [ 1.76410224e-01 -2.59737735e-03 9.84313307e-01 2.02163163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.04, Y:-2.17, Z:2.03 [[ 9.83094731e-01 -4.93501380e-02 -1.76321620e-01 1.60389954e+01] [ 4.90318555e-02 9.98778193e-01 -6.16420634e-03 -2.16728709e+00] [ 1.76410394e-01 -2.58537743e-03 9.84313308e-01 2.02684005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.07, Y:-2.17, Z:2.03 [[ 9.83071213e-01 -4.98191466e-02 -1.76320854e-01 1.60654324e+01] [ 4.95044326e-02 9.98754747e-01 -6.18603241e-03 -2.16573483e+00] [ 1.76409473e-01 -2.64735347e-03 9.84313309e-01 2.03159867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-2.16, Z:2.04 [[ 9.83038673e-01 -5.04597900e-02 -1.76320098e-01 1.60935617e+01] [ 5.01514465e-02 9.98722333e-01 -6.20750481e-03 -2.16412847e+00] [ 1.76408050e-01 -2.74049069e-03 9.84313309e-01 2.03592512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:-2.16, Z:2.04 [[ 9.83003056e-01 -5.11549243e-02 -1.76318365e-01 1.61212786e+01] [ 5.08489094e-02 9.98686761e-01 -6.25636653e-03 -2.16248548e+00] [ 1.76406861e-01 -2.81556915e-03 9.84313310e-01 2.03973496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:-2.16, Z:2.04 [[ 9.82969630e-01 -5.17994751e-02 -1.76316536e-01 1.61476376e+01] [ 5.14945762e-02 9.98653355e-01 -6.30749180e-03 -2.16124954e+00] [ 1.76405825e-01 -2.87927244e-03 9.84313311e-01 2.04423553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.18, Y:-2.16, Z:2.05 [[ 9.82931434e-01 -5.25219536e-02 -1.76315740e-01 1.61754978e+01] [ 5.22246055e-02 9.98615304e-01 -6.32966896e-03 -2.16016114e+00] [ 1.76404043e-01 -2.98638938e-03 9.84313311e-01 2.04992109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:-2.16, Z:2.05 [[ 9.82920147e-01 -5.27390594e-02 -1.76313856e-01 1.62024256e+01] [ 5.24358388e-02 9.98603904e-01 -6.38173484e-03 -2.15936934e+00] [ 1.76404271e-01 -2.97242917e-03 9.84313313e-01 2.05462250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:-2.16, Z:2.06 [[ 9.82839675e-01 -5.42207215e-02 -1.76313036e-01 1.62294858e+01] [ 5.39370959e-02 9.98523798e-01 -6.40430820e-03 -2.15786189e+00] [ 1.76400008e-01 -3.21540493e-03 9.84313313e-01 2.06005786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.26, Y:-2.16, Z:2.07 [[ 9.82808380e-01 -5.47908870e-02 -1.76311221e-01 1.62575025e+01] [ 5.45074653e-02 9.98492505e-01 -6.45390764e-03 -2.15673353e+00] [ 1.76399048e-01 -3.26732323e-03 9.84313314e-01 2.06524905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:-2.16, Z:2.07 [[ 9.82771606e-01 -5.54525815e-02 -1.76309333e-01 1.62837058e+01] [ 5.51705436e-02 9.98455755e-01 -6.50507499e-03 -2.15541887e+00] [ 1.76397791e-01 -3.33407873e-03 9.84313316e-01 2.06932747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:-2.15, Z:2.07 [[ 9.82684166e-01 -5.69836674e-02 -1.76308511e-01 1.63109939e+01] [ 5.67220847e-02 9.98368669e-01 -6.52727199e-03 -2.15427208e+00] [ 1.76392842e-01 -3.58633948e-03 9.84313316e-01 2.07381807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:-2.15, Z:2.08 [[ 9.82636783e-01 -5.78006197e-02 -1.76306668e-01 1.63387723e+01] [ 5.75432146e-02 9.98321354e-01 -6.57668612e-03 -2.15317639e+00] [ 1.76390848e-01 -3.68275875e-03 9.84313317e-01 2.07932473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:-2.15, Z:2.08 [[ 9.82620233e-01 -5.80870647e-02 -1.76304769e-01 1.63668309e+01] [ 5.78251690e-02 9.98304728e-01 -6.62721916e-03 -2.15188724e+00] [ 1.76390840e-01 -3.68281342e-03 9.84313318e-01 2.08435000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:-2.15, Z:2.09 [[ 9.82562504e-01 -5.90612379e-02 -1.76302853e-01 1.63948105e+01] [ 5.88058196e-02 9.98247105e-01 -6.67780731e-03 -2.15083293e+00] [ 1.76388212e-01 -3.80627068e-03 9.84313320e-01 2.08962778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.42, Y:-2.15, Z:2.10 [[ 9.82467188e-01 -6.06318293e-02 -1.76300897e-01 1.64217697e+01] [ 6.03922900e-02 9.98152038e-01 -6.72906776e-03 -2.14955900e+00] [ 1.76383095e-01 -4.03612659e-03 9.84313321e-01 2.09561309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.45, Y:-2.15, Z:2.10 [[ 9.82408221e-01 -6.15854549e-02 -1.76298945e-01 1.64486416e+01] [ 6.13520384e-02 9.98093163e-01 -6.77981676e-03 -2.14826814e+00] [ 1.76380310e-01 -4.15575193e-03 9.84313322e-01 2.10043861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:-2.15, Z:2.10 [[ 9.82356941e-01 -6.24004966e-02 -1.76298098e-01 1.64768412e+01] [ 6.21761533e-02 9.98042014e-01 -6.80178392e-03 -2.14712572e+00] [ 1.76377343e-01 -4.27975791e-03 9.84313322e-01 2.10212447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.50, Y:-2.15, Z:2.11 [[ 9.82246122e-01 -6.41528877e-02 -1.76286592e-01 1.65049045e+01] [ 6.39034075e-02 9.97930846e-01 -7.09793799e-03 -2.14509930e+00] [ 1.76377181e-01 -4.29339186e-03 9.84313292e-01 2.10933112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.53, Y:-2.14, Z:2.11 [[ 9.82195488e-01 -6.49005381e-02 -1.76295044e-01 1.65319947e+01] [ 6.47018169e-02 9.97880915e-01 -6.88150789e-03 -2.14415004e+00] [ 1.76368074e-01 -4.64762366e-03 9.84313315e-01 2.11381961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:-2.14, Z:2.12 [[ 9.82071160e-01 -6.67577764e-02 -1.76294174e-01 1.65595836e+01] [ 6.65847304e-02 9.97756890e-01 -6.90373314e-03 -2.14337227e+00] [ 1.76359605e-01 -4.95854284e-03 9.84313315e-01 2.11923815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.59, Y:-2.14, Z:2.12 [[ 9.81980580e-01 -6.80823637e-02 -1.76292181e-01 1.65870341e+01] [ 6.79214138e-02 9.97666437e-01 -6.95425010e-03 -2.14189521e+00] [ 1.76354254e-01 -5.14507566e-03 9.84313317e-01 2.12454163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-2.14, Z:2.13 [[ 9.81906336e-01 -6.91499766e-02 -1.76290181e-01 1.66145576e+01] [ 6.89970473e-02 9.97592273e-01 -7.00461273e-03 -2.14111988e+00] [ 1.76350091e-01 -5.28562830e-03 9.84313318e-01 2.12961020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:-2.14, Z:2.13 [[ 9.81762923e-01 -7.11620871e-02 -1.76288174e-01 1.66410369e+01] [ 7.10323104e-02 9.97449067e-01 -7.05474815e-03 -2.14040053e+00] [ 1.76340506e-01 -5.59606616e-03 9.84313319e-01 2.13492051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:-2.14, Z:2.14 [[ 9.81675665e-01 -7.23579669e-02 -1.76287304e-01 1.66686027e+01] [ 7.22434082e-02 9.97361927e-01 -7.07643478e-03 -2.13941327e+00] [ 1.76334282e-01 -5.78883183e-03 9.84313319e-01 2.13965219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:-2.14, Z:2.14 [[ 9.81582826e-01 -7.36114959e-02 -1.76285291e-01 1.66958517e+01] [ 7.35080346e-02 9.97269164e-01 -7.12623654e-03 -2.13832111e+00] [ 1.76328458e-01 -5.96339386e-03 9.84313321e-01 2.14480061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.72, Y:-2.14, Z:2.15 [[ 9.81468866e-01 -7.51206156e-02 -1.76283177e-01 1.67236049e+01] [ 7.50319599e-02 9.97155293e-01 -7.17814926e-03 -2.13695738e+00] [ 1.76320930e-01 -6.18174227e-03 9.84313322e-01 2.15004195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:-2.14, Z:2.15 [[ 9.81319010e-01 -7.70584653e-02 -1.76281009e-01 1.67499034e+01] [ 7.69913006e-02 9.97005543e-01 -7.23101252e-03 -2.13629815e+00] [ 1.76310354e-01 -6.47617411e-03 9.84313323e-01 2.15385002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:-2.14, Z:2.16 [[ 9.81238677e-01 -7.80768705e-02 -1.76280064e-01 1.67777922e+01] [ 7.80218669e-02 9.96925257e-01 -7.25397271e-03 -2.13530844e+00] [ 1.76304416e-01 -6.63582113e-03 9.84313323e-01 2.15899981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-2.13, Z:2.16 [[ 9.81166631e-01 -7.89818640e-02 -1.76277925e-01 1.68045120e+01] [ 7.89320671e-02 9.96853227e-01 -7.30559806e-03 -2.13428172e+00] [ 1.76300228e-01 -6.74597197e-03 9.84313325e-01 2.16337338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-2.13, Z:2.17 [[ 9.81019425e-01 -8.07917571e-02 -1.76276996e-01 1.68321874e+01] [ 8.07668882e-02 9.96706080e-01 -7.32795159e-03 -2.13319923e+00] [ 1.76288392e-01 -7.04848156e-03 9.84313325e-01 2.16850185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:-2.13, Z:2.17 [[ 9.80912015e-01 -8.20902708e-02 -1.76274806e-01 1.68589248e+01] [ 8.20767815e-02 9.96598682e-01 -7.38026367e-03 -2.13179874e+00] [ 1.76281087e-01 -7.22867943e-03 9.84313326e-01 2.17368670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:-2.13, Z:2.18 [[ 9.80833407e-01 -8.30262241e-02 -1.76273862e-01 1.68868811e+01] [ 8.30236688e-02 9.96520080e-01 -7.40275106e-03 -2.13085784e+00] [ 1.76275065e-01 -7.37403716e-03 9.84313327e-01 2.17912334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.91, Y:-2.13, Z:2.18 [[ 9.80628417e-01 -8.54177353e-02 -1.76271716e-01 1.69148074e+01] [ 8.54443264e-02 9.96315067e-01 -7.45350481e-03 -2.12980292e+00] [ 1.76258828e-01 -7.75229939e-03 9.84313328e-01 2.18359656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.94, Y:-2.13, Z:2.19 [[ 9.80540623e-01 -8.64242676e-02 -1.76269491e-01 1.69418338e+01] [ 8.64575862e-02 9.96227258e-01 -7.50575579e-03 -2.12884798e+00] [ 1.76253151e-01 -7.88013625e-03 9.84313329e-01 2.18753218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:-2.13, Z:2.19 [[ 9.80436363e-01 -8.76010493e-02 -1.76268530e-01 1.69682220e+01] [ 8.76491589e-02 9.96122959e-01 -7.52825202e-03 -2.12781685e+00] [ 1.76244613e-01 -8.06881638e-03 9.84313330e-01 2.19133923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-2.13, Z:2.20 [[ 9.80200165e-01 -9.02074287e-02 -1.76267573e-01 1.69960544e+01] [ 9.02932339e-02 9.95886600e-01 -7.55060436e-03 -2.12668696e+00] [ 1.76223634e-01 -8.51466555e-03 9.84313330e-01 2.19544602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.02, Y:-2.13, Z:2.20 [[ 9.80084814e-01 -9.14563327e-02 -1.76265413e-01 1.70234804e+01] [ 9.15531396e-02 9.95771185e-01 -7.60069090e-03 -2.12581458e+00] [ 1.76215151e-01 -8.68833026e-03 9.84313331e-01 2.20090573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.05, Y:-2.12, Z:2.21 [[ 9.79961764e-01 -9.27697231e-02 -1.76263209e-01 1.70497604e+01] [ 9.28784413e-02 9.95648055e-01 -7.65147314e-03 -2.12471639e+00] [ 1.76205946e-01 -8.87290100e-03 9.84313332e-01 2.20595381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:-2.12, Z:2.21 [[ 9.79770431e-01 -9.47708808e-02 -1.76262253e-01 1.70767059e+01] [ 9.49076941e-02 9.95456502e-01 -7.67343583e-03 -2.12466090e+00] [ 1.76188624e-01 -9.21043846e-03 9.84313333e-01 2.21275716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.10, Y:-2.12, Z:2.22 [[ 9.79649222e-01 -9.60196919e-02 -1.76260093e-01 1.71030757e+01] [ 9.61676526e-02 9.95335191e-01 -7.72274814e-03 -2.12372577e+00] [ 1.76179409e-01 -9.38493515e-03 9.84313334e-01 2.21780154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.13, Y:-2.12, Z:2.22 [[ 9.79550152e-01 -9.70268488e-02 -1.76259158e-01 1.71311987e+01] [ 9.71871205e-02 9.95235999e-01 -7.74401832e-03 -2.12286503e+00] [ 1.76170837e-01 -9.54446573e-03 9.84313334e-01 2.22258269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-2.12, Z:2.23 [[ 9.79435729e-01 -9.81792272e-02 -1.76256895e-01 1.71574273e+01] [ 9.83487714e-02 9.95121477e-01 -7.79519604e-03 -2.12181056e+00] [ 1.76162348e-01 -9.69975556e-03 9.84313335e-01 2.22680177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.18, Y:-2.12, Z:2.23 [[ 9.79202555e-01 -1.00479906e-01 -1.76255909e-01 1.71849762e+01] [ 1.00682311e-01 9.94887913e-01 -7.81742799e-03 -2.12097316e+00] [ 1.76140368e-01 -1.00910067e-02 9.84313335e-01 2.23119574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.21, Y:-2.12, Z:2.24 [[ 9.79176473e-01 -1.00737609e-01 -1.76253707e-01 1.72137976e+01] [ 1.00935291e-01 9.94861890e-01 -7.86676228e-03 -2.12037757e+00] [ 1.76140575e-01 -1.00872707e-02 9.84313337e-01 2.23522079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.24, Y:-2.12, Z:2.24 [[ 9.79024389e-01 -1.02208796e-01 -1.76251549e-01 1.72405151e+01] [ 1.02421424e-01 9.94709610e-01 -7.91482437e-03 -2.11908588e+00] [ 1.76128074e-01 -1.03031285e-02 9.84313338e-01 2.24097246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.27, Y:-2.12, Z:2.25 [[ 9.78841995e-01 -1.03942600e-01 -1.76250631e-01 1.72672439e+01] [ 1.04179350e-01 9.94526870e-01 -7.93521476e-03 -2.11835970e+00] [ 1.76110795e-01 -1.05943547e-02 9.84313338e-01 2.24636129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-2.12, Z:2.25 [[ 9.78760110e-01 -1.04712468e-01 -1.76249672e-01 1.72946435e+01] [ 1.04957742e-01 9.94444854e-01 -7.95646679e-03 -2.11752495e+00] [ 1.76103720e-01 -1.07112952e-02 9.84313338e-01 2.25182407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-2.12, Z:2.26 [[ 9.78626168e-01 -1.05960582e-01 -1.76247493e-01 1.73227650e+01] [ 1.06217249e-01 9.94310729e-01 -8.00445056e-03 -2.11676325e+00] [ 1.76092929e-01 -1.08871590e-02 9.84313339e-01 2.25516332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.35, Y:-2.12, Z:2.26 [[ 9.78495378e-01 -1.07182611e-01 -1.76234737e-01 1.73503312e+01] [ 1.07408747e-01 9.94180436e-01 -8.28379664e-03 -2.11557692e+00] [ 1.76097007e-01 -1.08234955e-02 9.84313312e-01 2.26221105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-2.11, Z:2.27 [[ 9.78408665e-01 -1.07955025e-01 -1.76244708e-01 1.73766907e+01] [ 1.08232613e-01 9.94092873e-01 -8.06602915e-03 -2.11438002e+00] [ 1.76074376e-01 -1.11835524e-02 9.84313335e-01 2.26682128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.40, Y:-2.11, Z:2.27 [[ 9.78258585e-01 -1.09308251e-01 -1.76243715e-01 1.74035460e+01] [ 1.09603650e-01 9.93942468e-01 -8.08767087e-03 -2.11366512e+00] [ 1.76060162e-01 -1.14051209e-02 9.84313336e-01 2.27216659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.43, Y:-2.11, Z:2.28 [[ 9.78121453e-01 -1.10530189e-01 -1.76242733e-01 1.74311823e+01] [ 1.10841352e-01 9.93805031e-01 -8.10900497e-03 -2.11253082e+00] [ 1.76047205e-01 -1.16033911e-02 9.84313336e-01 2.27726727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.46, Y:-2.11, Z:2.28 [[ 9.78018330e-01 -1.11442622e-01 -1.76240425e-01 1.74586034e+01] [ 1.11759470e-01 9.93701793e-01 -8.15887241e-03 -2.11135703e+00] [ 1.76039672e-01 -1.17170097e-02 9.84313337e-01 2.28262853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.49, Y:-2.11, Z:2.29 [[ 9.77835470e-01 -1.13039481e-01 -1.76238102e-01 1.74850188e+01] [ 1.13372989e-01 9.93518587e-01 -8.20875135e-03 -2.11086126e+00] [ 1.76023743e-01 -1.19538322e-02 9.84313338e-01 2.28764184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-2.11, Z:2.29 [[ 9.77783663e-01 -1.13488299e-01 -1.76237096e-01 1.75111655e+01] [ 1.13825144e-01 9.93466708e-01 -8.23028075e-03 -2.11008296e+00] [ 1.76019729e-01 -1.20127788e-02 9.84313338e-01 2.29275352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.54, Y:-2.11, Z:2.30 [[ 9.77700939e-01 -1.14200312e-01 -1.76236097e-01 1.75381946e+01] [ 1.14544749e-01 9.93383819e-01 -8.25162261e-03 -2.10945923e+00] [ 1.76012425e-01 -1.21193003e-02 9.84313339e-01 2.29820814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.57, Y:-2.11, Z:2.30 [[ 9.77621963e-01 -1.14878073e-01 -1.76233724e-01 1.75653547e+01] [ 1.15224343e-01 9.93304801e-01 -8.30199956e-03 -2.10811209e+00] [ 1.76007522e-01 -1.21901981e-02 9.84313340e-01 2.30315761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.59, Y:-2.11, Z:2.31 [[ 9.77574255e-01 -1.15287002e-01 -1.76231334e-01 1.75924585e+01] [ 1.15630783e-01 9.93257146e-01 -8.35244360e-03 -2.10647429e+00] [ 1.76005960e-01 -1.22126333e-02 9.84313341e-01 2.30813667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.62, Y:-2.11, Z:2.31 [[ 9.77523524e-01 -1.15720014e-01 -1.76228938e-01 1.76200535e+01] [ 1.16061725e-01 9.93206459e-01 -8.40269652e-03 -2.10507061e+00] [ 1.76004080e-01 -1.22396011e-02 9.84313342e-01 2.31312716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.65, Y:-2.10, Z:2.32 [[ 9.77459505e-01 -1.16263247e-01 -1.76226485e-01 1.76466827e+01] [ 1.16604499e-01 9.93142449e-01 -8.45383983e-03 -2.10388796e+00] [ 1.76000873e-01 -1.22855148e-02 9.84313344e-01 2.31792935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:-2.10, Z:2.32 [[ 9.77413183e-01 -1.16653636e-01 -1.76225419e-01 1.76740252e+01] [ 1.16997174e-01 9.93096077e-01 -8.47600785e-03 -2.10272142e+00] [ 1.75997529e-01 -1.23333141e-02 9.84313344e-01 2.32295052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.70, Y:-2.10, Z:2.33 [[ 9.77373016e-01 -1.16993335e-01 -1.76223002e-01 1.77017174e+01] [ 1.17333360e-01 9.93055986e-01 -8.52596670e-03 -2.10175344e+00] [ 1.75996788e-01 -1.23437871e-02 9.84313345e-01 2.32820843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.73, Y:-2.10, Z:2.33 [[ 9.77203293e-01 -1.18406287e-01 -1.76220532e-01 1.77281955e+01] [ 1.18759881e-01 9.92885961e-01 -8.57671830e-03 -2.10096688e+00] [ 1.75982429e-01 -1.25467320e-02 9.84313346e-01 2.33216036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.76, Y:-2.10, Z:2.34 [[ 9.77160262e-01 -1.18764528e-01 -1.76218074e-01 1.77555211e+01] [ 1.19114862e-01 9.92843002e-01 -8.62692551e-03 -2.09968571e+00] [ 1.75981454e-01 -1.25603028e-02 9.84313348e-01 2.33653448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:-2.10, Z:2.34 [[ 9.77011334e-01 -1.19987079e-01 -1.76215648e-01 1.77832958e+01] [ 1.20348193e-01 9.92693828e-01 -8.67620809e-03 -2.09850158e+00] [ 1.75969219e-01 -1.27304812e-02 9.84313349e-01 2.34145226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.81, Y:-2.10, Z:2.35 [[ 9.76956418e-01 -1.20436970e-01 -1.76213204e-01 1.78109147e+01] [ 1.20796449e-01 9.92638949e-01 -8.72557219e-03 -2.09711222e+00] [ 1.75966971e-01 -1.27614255e-02 9.84313350e-01 2.34687953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.84, Y:-2.10, Z:2.35 [[ 9.76918942e-01 -1.20744170e-01 -1.76210744e-01 1.78384262e+01] [ 1.21099717e-01 9.92601561e-01 -8.77497136e-03 -2.09631409e+00] [ 1.75966586e-01 -1.27666354e-02 9.84313351e-01 2.35218179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-2.10, Z:2.36 [[ 9.76893075e-01 -1.20957019e-01 -1.76208168e-01 1.78650664e+01] [ 1.21306757e-01 9.92575824e-01 -8.82638990e-03 -2.09517353e+00] [ 1.75967582e-01 -1.27528023e-02 9.84313353e-01 2.35631301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:-2.09, Z:2.36 [[ 9.76899991e-01 -1.20902785e-01 -1.76207049e-01 1.78921172e+01] [ 1.21247653e-01 9.92582847e-01 -8.84867608e-03 -2.09406143e+00] [ 1.75969924e-01 -1.27204196e-02 9.84313353e-01 2.36191634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.92, Y:-2.09, Z:2.37 [[ 9.76869222e-01 -1.21154826e-01 -1.76204514e-01 1.79182014e+01] [ 1.21494732e-01 9.92552185e-01 -8.89887942e-03 -2.09265240e+00] [ 1.75970318e-01 -1.27148789e-02 9.84313354e-01 2.36659179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.95, Y:-2.09, Z:2.37 [[ 9.77017331e-01 -1.19956205e-01 -1.76203417e-01 1.79473749e+01] [ 1.20272980e-01 9.92700778e-01 -8.92055572e-03 -2.09182991e+00] [ 1.75987345e-01 -1.24769725e-02 9.84313354e-01 2.36930609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:-2.09, Z:2.38 [[ 9.76936378e-01 -1.20616984e-01 -1.76201184e-01 1.79741397e+01] [ 1.20936490e-01 9.92619768e-01 -8.96444904e-03 -2.09003026e+00] [ 1.75982043e-01 -1.25514564e-02 9.84313355e-01 2.37529052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:-2.09, Z:2.38 [[ 9.76919429e-01 -1.20755436e-01 -1.76200324e-01 1.80020589e+01] [ 1.21074138e-01 9.92602836e-01 -8.98131303e-03 -2.08858296e+00] [ 1.75981484e-01 -1.25592832e-02 9.84313355e-01 2.38056225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-2.09, Z:2.38 [[ 9.76919748e-01 -1.20756706e-01 -1.76197684e-01 1.80292762e+01] [ 1.21066187e-01 9.92603338e-01 -9.03281208e-03 -2.08766666e+00] [ 1.75985182e-01 -1.25072494e-02 9.84313357e-01 2.38464878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-2.09, Z:2.39 [[ 9.76930831e-01 -1.20670851e-01 -1.76195053e-01 1.80565447e+01] [ 1.20969795e-01 9.92614624e-01 -9.08385113e-03 -2.08622967e+00] [ 1.75989943e-01 -1.24399852e-02 9.84313358e-01 2.38992691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:-2.08, Z:2.40 [[ 9.76904033e-01 -1.20891340e-01 -1.76192489e-01 1.80842709e+01] [ 1.21184946e-01 9.92587926e-01 -9.13332232e-03 -2.08479978e+00] [ 1.75990677e-01 -1.24294978e-02 9.84313359e-01 2.39550885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:-2.08, Z:2.40 [[ 9.76941534e-01 -1.20591650e-01 -1.76189934e-01 1.81119591e+01] [ 1.20871643e-01 9.92625675e-01 -9.18235708e-03 -2.08344336e+00] [ 1.75997967e-01 -1.23257408e-02 9.84313360e-01 2.40149551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:-2.08, Z:2.41 [[ 9.76907305e-01 -1.20872429e-01 -1.76187326e-01 1.81400018e+01] [ 1.21147998e-01 9.92591522e-01 -9.23213117e-03 -2.08174351e+00] [ 1.75997956e-01 -1.23258054e-02 9.84313362e-01 2.40652082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.17, Y:-2.08, Z:2.41 [[ 9.76864235e-01 -1.21223833e-01 -1.76184700e-01 1.81679415e+01] [ 1.21496098e-01 9.92548509e-01 -9.28197069e-03 -2.08037858e+00] [ 1.75997058e-01 -1.23385285e-02 9.84313363e-01 2.41169651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:-2.08, Z:2.42 [[ 9.76851213e-01 -1.21332602e-01 -1.76182029e-01 1.81946162e+01] [ 1.21597564e-01 9.92535611e-01 -9.33240062e-03 -2.07907644e+00] [ 1.75999263e-01 -1.23069386e-02 9.84313364e-01 2.41567290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:-2.08, Z:2.42 [[ 9.76819269e-01 -1.21591177e-01 -1.76180875e-01 1.82226733e+01] [ 1.21856386e-01 9.92503663e-01 -9.35415152e-03 -2.07829933e+00] [ 1.75997546e-01 -1.23314493e-02 9.84313364e-01 2.41992865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:-2.08, Z:2.42 [[ 9.76838905e-01 -1.21437304e-01 -1.76178133e-01 1.82500620e+01] [ 1.21690823e-01 9.92523491e-01 -9.40551666e-03 -2.07724375e+00] [ 1.76003116e-01 -1.22515873e-02 9.84313366e-01 2.42475669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.28, Y:-2.08, Z:2.43 [[ 9.76858482e-01 -1.21283795e-01 -1.76175331e-01 1.82775107e+01] [ 1.21525483e-01 9.92543253e-01 -9.45769976e-03 -2.07629873e+00] [ 1.76008702e-01 -1.21709581e-02 9.84313367e-01 2.42727599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:-2.08, Z:2.44 [[ 9.76814641e-01 -1.21639933e-01 -1.76172881e-01 1.83039315e+01] [ 1.21879184e-01 9.92499448e-01 -9.50313392e-03 -2.07542129e+00] [ 1.76007448e-01 -1.21890067e-02 9.84313368e-01 2.43522294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:-2.07, Z:2.44 [[ 9.76796276e-01 -1.21789219e-01 -1.76171570e-01 1.83302415e+01] [ 1.22026516e-01 9.92481112e-01 -9.52738058e-03 -2.07429143e+00] [ 1.76007288e-01 -1.21912929e-02 9.84313368e-01 2.44096678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.36, Y:-2.07, Z:2.45 [[ 9.76784137e-01 -1.21889255e-01 -1.76169689e-01 1.83576103e+01] [ 1.22121939e-01 9.92469042e-01 -9.56202654e-03 -2.07302132e+00] [ 1.76008471e-01 -1.21741483e-02 9.84313369e-01 2.44644923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:-2.07, Z:2.45 [[ 9.76771417e-01 -1.21995105e-01 -1.76166945e-01 1.83854047e+01] [ 1.22220462e-01 9.92456428e-01 -9.61231684e-03 -2.07179330e+00] [ 1.76010673e-01 -1.21421690e-02 9.84313370e-01 2.45150214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:-2.07, Z:2.46 [[ 9.76795978e-01 -1.21802481e-01 -1.76164053e-01 1.84117050e+01] [ 1.22015281e-01 9.92481163e-01 -9.66503726e-03 -2.07081955e+00] [ 1.76016730e-01 -1.20539369e-02 9.84313372e-01 2.45543299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:-2.07, Z:2.46 [[ 9.76739658e-01 -1.22255099e-01 -1.76162799e-01 1.84389140e+01] [ 1.22471074e-01 9.92424799e-01 -9.68784232e-03 -2.06914435e+00] [ 1.76012719e-01 -1.21123473e-02 9.84313372e-01 2.46036620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.47, Y:-2.07, Z:2.46 [[ 9.76797132e-01 -1.21799194e-01 -1.76159926e-01 1.84652577e+01] [ 1.21998520e-01 9.92482492e-01 -9.73980384e-03 -2.06850281e+00] [ 1.76021943e-01 -1.19774378e-02 9.84313373e-01 2.46482471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:-2.07, Z:2.47 [[ 9.76762845e-01 -1.22075642e-01 -1.76158683e-01 1.84926097e+01] [ 1.22275381e-01 9.92448200e-01 -9.76223404e-03 -2.06679729e+00] [ 1.76020099e-01 -1.20044826e-02 9.84313373e-01 2.47006044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-2.07, Z:2.48 [[ 9.76780499e-01 -1.21938300e-01 -1.76155920e-01 1.85203362e+01] [ 1.22126928e-01 9.92465990e-01 -9.81184336e-03 -2.06541298e+00] [ 1.76025199e-01 -1.19293642e-02 9.84313375e-01 2.47584961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:-2.06, Z:2.48 [[ 9.76805243e-01 -1.21743911e-01 -1.76153165e-01 1.85481136e+01] [ 1.21920579e-01 9.92490872e-01 -9.86107288e-03 -2.06396834e+00] [ 1.76030934e-01 -1.18443482e-02 9.84313376e-01 2.48138467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:-2.06, Z:2.49 [[ 9.76792871e-01 -1.21847137e-01 -1.76150394e-01 1.85753906e+01] [ 1.22016622e-01 9.92478579e-01 -9.91032535e-03 -2.06263398e+00] [ 1.76033037e-01 -1.18129408e-02 9.84313377e-01 2.48671687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:-2.06, Z:2.49 [[ 9.76749801e-01 -1.22195944e-01 -1.76147599e-01 1.86027250e+01] [ 1.22362154e-01 9.92435543e-01 -9.95976002e-03 -2.06143833e+00] [ 1.76032180e-01 -1.18256061e-02 9.84313378e-01 2.49185816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:-2.06, Z:2.50 [[ 9.76691858e-01 -1.22662457e-01 -1.76144647e-01 1.86306104e+01] [ 1.22826834e-01 9.92377617e-01 -1.00117038e-02 -2.06098458e+00] [ 1.76030065e-01 -1.18569396e-02 9.84313380e-01 2.49651823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:-2.06, Z:2.50 [[ 9.76676173e-01 -1.22791527e-01 -1.76141687e-01 1.86568827e+01] [ 1.22948675e-01 9.92362005e-01 -1.00635163e-02 -2.05995571e+00] [ 1.76032032e-01 -1.18275904e-02 9.84313381e-01 2.50106720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.06, Z:2.51 [[ 9.76662401e-01 -1.22902867e-01 -1.76140399e-01 1.86838496e+01] [ 1.23057763e-01 9.92348255e-01 -1.00860175e-02 -2.05835799e+00] [ 1.76032218e-01 -1.18248093e-02 9.84313381e-01 2.50543678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:-2.06, Z:2.51 [[ 9.76626165e-01 -1.23192259e-01 -1.76139151e-01 1.87111476e+01] [ 1.23347899e-01 9.92312012e-01 -1.01077633e-02 -2.05716997e+00] [ 1.76030193e-01 -1.18548880e-02 9.84313381e-01 2.51087621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.06, Z:2.52 [[ 9.76618888e-01 -1.23254043e-01 -1.76136279e-01 1.87391980e+01] [ 1.23401734e-01 9.92304810e-01 -1.01575648e-02 -2.05557673e+00] [ 1.76032838e-01 -1.18154526e-02 9.84313383e-01 2.51587137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:-2.05, Z:2.52 [[ 9.76635082e-01 -1.23129777e-01 -1.76133398e-01 1.87664908e+01] [ 1.23266546e-01 9.92321102e-01 -1.02072819e-02 -2.05486006e+00] [ 1.76037708e-01 -1.17425660e-02 9.84313384e-01 2.52101733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:-2.05, Z:2.53 [[ 9.76595198e-01 -1.23449830e-01 -1.76130514e-01 1.87940997e+01] [ 1.23582848e-01 9.92281249e-01 -1.02568010e-02 -2.05349807e+00] [ 1.76037207e-01 -1.17499680e-02 9.84313385e-01 2.52646386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:-2.05, Z:2.53 [[ 9.76574161e-01 -1.23620313e-01 -1.76127588e-01 1.88219546e+01] [ 1.23747089e-01 9.92260262e-01 -1.03068116e-02 -2.05228626e+00] [ 1.76038538e-01 -1.17299105e-02 9.84313386e-01 2.53127690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:-2.05, Z:2.54 [[ 9.76540501e-01 -1.23890113e-01 -1.76124641e-01 1.88494643e+01] [ 1.24012226e-01 9.92226638e-01 -1.03569251e-02 -2.05068704e+00] [ 1.76038682e-01 -1.17276519e-02 9.84313387e-01 2.53564034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:-2.05, Z:2.54 [[ 9.76557566e-01 -1.23759916e-01 -1.76121559e-01 1.88764035e+01] [ 1.23870572e-01 9.92243787e-01 -1.04090790e-02 -2.04981486e+00] [ 1.76043750e-01 -1.16512135e-02 9.84313389e-01 2.54006265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:-2.05, Z:2.54 [[ 9.76563795e-01 -1.23712661e-01 -1.76120220e-01 1.89027688e+01] [ 1.23818497e-01 9.92250049e-01 -1.04316922e-02 -2.04803713e+00] [ 1.76045829e-01 -1.16197281e-02 9.84313389e-01 2.54441747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:-2.05, Z:2.55 [[ 9.76567192e-01 -1.23687732e-01 -1.76118895e-01 1.89295748e+01] [ 1.23789160e-01 9.92253474e-01 -1.04540163e-02 -2.04664421e+00] [ 1.76047619e-01 -1.15925607e-02 9.84313389e-01 2.54915867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:-2.05, Z:2.56 [[ 9.76559397e-01 -1.23751088e-01 -1.76117609e-01 1.89572048e+01] [ 1.23849650e-01 9.92245698e-01 -1.04756425e-02 -2.04558254e+00] [ 1.76048312e-01 -1.15820172e-02 9.84313390e-01 2.55511391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.04, Z:2.56 [[ 9.76577119e-01 -1.23615541e-01 -1.76114534e-01 1.89835527e+01] [ 1.23702687e-01 9.92263486e-01 -1.05270913e-02 -2.04431077e+00] [ 1.76053333e-01 -1.15053246e-02 9.84313391e-01 2.55985435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.97907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.01, Y:-2.04, Z:2.56 [[ 9.76580929e-01 -1.23587338e-01 -1.76113201e-01 1.90109020e+01] [ 1.23670037e-01 9.92267320e-01 -1.05493354e-02 -2.04268873e+00] [ 1.76055138e-01 -1.14776463e-02 9.84313391e-01 2.56482456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-2.04, Z:2.57 [[ 9.76577341e-01 -1.23619988e-01 -1.76110181e-01 1.90371207e+01] [ 1.23694201e-01 9.92263773e-01 -1.05995119e-02 -2.04093447e+00] [ 1.76058065e-01 -1.14325651e-02 9.84313392e-01 2.56892526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.04, Z:2.57 [[ 9.76595445e-01 -1.23479826e-01 -1.76108120e-01 1.90649050e+01] [ 1.23545658e-01 9.92281914e-01 -1.06336451e-02 -2.03983392e+00] [ 1.76061943e-01 -1.13726243e-02 9.84313393e-01 2.57379670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.09, Y:-2.04, Z:2.58 [[ 9.76606071e-01 -1.23400106e-01 -1.76105072e-01 1.90909551e+01] [ 1.23455632e-01 9.92292578e-01 -1.06839054e-02 -2.03845829e+00] [ 1.76066151e-01 -1.13071961e-02 9.84313394e-01 2.57873093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.12, Y:-2.04, Z:2.58 [[ 9.76579067e-01 -1.23615521e-01 -1.76103745e-01 1.91184063e+01] [ 1.23670587e-01 9.92265576e-01 -1.07057315e-02 -2.03728036e+00] [ 1.76065078e-01 -1.13238602e-02 9.84313394e-01 2.58400255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.14, Y:-2.04, Z:2.59 [[ 9.76616180e-01 -1.23326398e-01 -1.76100643e-01 1.91448395e+01] [ 1.23367699e-01 9.92302730e-01 -1.07565173e-02 -2.03618002e+00] [ 1.76071711e-01 -1.12201424e-02 9.84313396e-01 2.58880921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-2.04, Z:2.59 [[ 9.76655525e-01 -1.23016349e-01 -1.76099300e-01 1.91718011e+01] [ 1.23048731e-01 9.92342096e-01 -1.07784597e-02 -2.03521078e+00] [ 1.76076675e-01 -1.11419532e-02 9.84313396e-01 2.59321431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-2.03, Z:2.60 [[ 9.76655923e-01 -1.23015083e-01 -1.76097975e-01 1.91994632e+01] [ 1.23043564e-01 9.92342501e-01 -1.08000659e-02 -2.03337377e+00] [ 1.76078076e-01 -1.11197741e-02 9.84313396e-01 2.59804946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.03, Z:2.60 [[ 9.76643322e-01 -1.23119438e-01 -1.76094933e-01 1.92272371e+01] [ 1.23140727e-01 9.92329910e-01 -1.08494445e-02 -2.03184894e+00] [ 1.76080046e-01 -1.10884205e-02 9.84313397e-01 2.60329084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:-2.03, Z:2.61 [[ 9.76678066e-01 -1.22847982e-01 -1.76091819e-01 1.92552695e+01] [ 1.22855877e-01 9.92364665e-01 -1.08997505e-02 -2.03078804e+00] [ 1.76086312e-01 -1.09883676e-02 9.84313399e-01 2.60861878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.03, Z:2.61 [[ 9.76610383e-01 -1.23389325e-01 -1.76088710e-01 1.92829957e+01] [ 1.23396935e-01 9.92296981e-01 -1.09497501e-02 -2.02907607e+00] [ 1.76083378e-01 -1.10351674e-02 9.84313400e-01 2.61406410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.03, Z:2.62 [[ 9.76578309e-01 -1.23647343e-01 -1.76085606e-01 1.93109267e+01] [ 1.23650170e-01 9.92264908e-01 -1.09994537e-02 -2.02838487e+00] [ 1.76083620e-01 -1.10311873e-02 9.84313401e-01 2.61981681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.03, Z:2.63 [[ 9.76536580e-01 -1.23980950e-01 -1.76082458e-01 1.93385588e+01] [ 1.23980128e-01 9.92223178e-01 -1.10496099e-02 -2.02702176e+00] [ 1.76083038e-01 -1.10403775e-02 9.84313402e-01 2.62518787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:-2.03, Z:2.63 [[ 9.76490206e-01 -1.24350178e-01 -1.76079276e-01 1.93657600e+01] [ 1.24346220e-01 9.92176802e-01 -1.11000908e-02 -2.02550214e+00] [ 1.76082071e-01 -1.10556624e-02 9.84313404e-01 2.63043369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.02, Z:2.64 [[ 9.76427274e-01 -1.24847967e-01 -1.76076017e-01 1.93930504e+01] [ 1.24842763e-01 9.92113868e-01 -1.11515543e-02 -2.02384656e+00] [ 1.76079707e-01 -1.10931347e-02 9.84313405e-01 2.63542294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.02, Z:2.64 [[ 9.76398025e-01 -1.25081086e-01 -1.76072767e-01 1.94207367e+01] [ 1.25070451e-01 9.92084615e-01 -1.12026402e-02 -2.02262321e+00] [ 1.76080322e-01 -1.10832646e-02 9.84313406e-01 2.64038745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.02, Z:2.64 [[ 9.76379041e-01 -1.25233796e-01 -1.76069487e-01 1.94477443e+01] [ 1.25216396e-01 9.92065624e-01 -1.12539608e-02 -2.02134192e+00] [ 1.76081862e-01 -1.10586551e-02 9.84313407e-01 2.64430290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.02, Z:2.65 [[ 9.76383816e-01 -1.25198556e-01 -1.76068069e-01 1.94745849e+01] [ 1.25176612e-01 9.92070393e-01 -1.12761090e-02 -2.02033681e+00] [ 1.76083671e-01 -1.10297940e-02 9.84313408e-01 2.64868129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.02, Z:2.65 [[ 9.76351428e-01 -1.25452848e-01 -1.76066668e-01 1.95013940e+01] [ 1.25431067e-01 9.92038005e-01 -1.12979416e-02 -2.01987335e+00] [ 1.76082185e-01 -1.10534686e-02 9.84313408e-01 2.65305229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.02, Z:2.66 [[ 9.76244050e-01 -1.26287662e-01 -1.76065276e-01 1.95286043e+01] [ 1.26275407e-01 9.91930637e-01 -1.13195900e-02 -2.01820297e+00] [ 1.76074066e-01 -1.11820320e-02 9.84313408e-01 2.65769857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.55, Y:-2.02, Z:2.66 [[ 9.76178276e-01 -1.26799671e-01 -1.76061967e-01 1.95547902e+01] [ 1.26786440e-01 9.91864861e-01 -1.13708253e-02 -2.01695104e+00] [ 1.76071496e-01 -1.12223174e-02 9.84313409e-01 2.66194415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.58, Y:-2.02, Z:2.67 [[ 9.76124427e-01 -1.27215542e-01 -1.76060527e-01 1.95814955e+01] [ 1.27204996e-01 9.91811014e-01 -1.13930814e-02 -2.01692535e+00] [ 1.76068147e-01 -1.12747135e-02 9.84313410e-01 2.66707015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.61, Y:-2.02, Z:2.67 [[ 9.76035475e-01 -1.27898119e-01 -1.76059144e-01 1.96092343e+01] [ 1.27894712e-01 9.91722065e-01 -1.14144104e-02 -2.01551320e+00] [ 1.76061620e-01 -1.13761640e-02 9.84313410e-01 2.67273750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.64, Y:-2.01, Z:2.68 [[ 9.76081987e-01 -1.27547181e-01 -1.76055874e-01 1.96366156e+01] [ 1.27529113e-01 9.91768566e-01 -1.14646263e-02 -2.01454239e+00] [ 1.76068963e-01 -1.12618342e-02 9.84313411e-01 2.67782153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.66, Y:-2.01, Z:2.68 [[ 9.75984742e-01 -1.28290564e-01 -1.76054862e-01 1.96640826e+01] [ 1.28281655e-01 9.91671328e-01 -1.14801494e-02 -2.01344284e+00] [ 1.76061354e-01 -1.13801584e-02 9.84313411e-01 2.68386268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.01, Z:2.69 [[ 9.75958236e-01 -1.28496665e-01 -1.76051494e-01 1.96903043e+01] [ 1.28481830e-01 9.91644817e-01 -1.15315799e-02 -2.01212651e+00] [ 1.76062321e-01 -1.13650777e-02 9.84313413e-01 2.68780695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.01, Z:2.69 [[ 9.75919554e-01 -1.28792121e-01 -1.76050029e-01 1.97165778e+01] [ 1.28778026e-01 9.91606135e-01 -1.15538952e-02 -2.01099610e+00] [ 1.76060340e-01 -1.13957029e-02 9.84313413e-01 2.69188525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.74, Y:-2.01, Z:2.70 [[ 9.75842910e-01 -1.29373521e-01 -1.76048590e-01 1.97439817e+01] [ 1.29364840e-01 9.91529495e-01 -1.15757839e-02 -2.01041209e+00] [ 1.76054969e-01 -1.14783510e-02 9.84313413e-01 2.69615347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.77, Y:-2.01, Z:2.70 [[ 9.75797712e-01 -1.29718478e-01 -1.76045281e-01 1.97715474e+01] [ 1.29706340e-01 9.91484293e-01 -1.16258927e-02 -2.00913552e+00] [ 1.76054224e-01 -1.14896695e-02 9.84313414e-01 2.70139771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.80, Y:-2.01, Z:2.71 [[ 9.75759137e-01 -1.30012802e-01 -1.76041977e-01 1.97988664e+01] [ 1.29996446e-01 9.91445713e-01 -1.16757161e-02 -2.00779661e+00] [ 1.76054056e-01 -1.14921446e-02 9.84313416e-01 2.70634155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.83, Y:-2.01, Z:2.71 [[ 9.75722137e-01 -1.30294706e-01 -1.76038637e-01 1.98268923e+01] [ 1.30273873e-01 9.91408706e-01 -1.17258599e-02 -2.00569646e+00] [ 1.76054055e-01 -1.14920540e-02 9.84313417e-01 2.71136672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.01, Z:2.72 [[ 9.75681577e-01 -1.30602593e-01 -1.76035289e-01 1.98540962e+01] [ 1.30577718e-01 9.91368139e-01 -1.17759111e-02 -2.00503125e+00] [ 1.76053741e-01 -1.14967467e-02 9.84313418e-01 2.71779711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.88, Y:-2.00, Z:2.72 [[ 9.75673311e-01 -1.30665727e-01 -1.76034252e-01 1.98810333e+01] [ 1.30639086e-01 9.91359870e-01 -1.17913929e-02 -2.00389799e+00] [ 1.76054024e-01 -1.14924063e-02 9.84313418e-01 2.72433807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.00, Z:2.73 [[ 9.75636691e-01 -1.30943331e-01 -1.76030941e-01 1.99090574e+01] [ 1.30912308e-01 9.91323241e-01 -1.18406238e-02 -2.00177223e+00] [ 1.76054013e-01 -1.14924697e-02 9.84313419e-01 2.72936337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.94, Y:-2.00, Z:2.73 [[ 9.75683614e-01 -1.30597723e-01 -1.76027611e-01 1.99370836e+01] [ 1.30552288e-01 9.91370128e-01 -1.18899186e-02 -2.00040836e+00] [ 1.76061312e-01 -1.13800086e-02 9.84313421e-01 2.73415266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.00, Z:2.74 [[ 9.75701355e-01 -1.30469610e-01 -1.76024278e-01 1.99642321e+01] [ 1.30413286e-01 9.91387832e-01 -1.19390594e-02 -1.99863797e+00] [ 1.76066012e-01 -1.13069481e-02 9.84313422e-01 2.73929884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.00, Z:2.74 [[ 9.75761617e-01 -1.30022911e-01 -1.76020762e-01 1.99910935e+01] [ 1.29950131e-01 9.91448025e-01 -1.19906805e-02 -1.99790471e+00] [ 1.76074500e-01 -1.11738753e-02 9.84313423e-01 2.74287106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.00, Z:2.75 [[ 9.75795751e-01 -1.29768561e-01 -1.76019239e-01 2.00173817e+01] [ 1.29687681e-01 9.91482119e-01 -1.20130036e-02 -1.99673108e+00] [ 1.76078838e-01 -1.11052890e-02 9.84313423e-01 2.74725522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.05, Y:-2.00, Z:2.75 [[ 9.75766503e-01 -1.29990264e-01 -1.76017790e-01 2.00453193e+01] [ 1.29909140e-01 9.91452870e-01 -1.20342002e-02 -1.99513762e+00] [ 1.76077672e-01 -1.11237502e-02 9.84313424e-01 2.75244969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.99, Z:2.76 [[ 9.75775259e-01 -1.29928977e-01 -1.76014504e-01 2.00731212e+01] [ 1.29838266e-01 9.91461572e-01 -1.20820705e-02 -1.99363150e+00] [ 1.76081428e-01 -1.10640326e-02 9.84313425e-01 2.75796793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.99, Z:2.76 [[ 9.75786474e-01 -1.29849277e-01 -1.76011143e-01 2.01001949e+01] [ 1.29748524e-01 9.91472724e-01 -1.21308354e-02 -1.99234819e+00] [ 1.76085428e-01 -1.10000809e-02 9.84313426e-01 2.76319582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.99, Z:2.77 [[ 9.75818566e-01 -1.29612685e-01 -1.76007607e-01 2.01272148e+01] [ 1.29498948e-01 9.91504727e-01 -1.21819280e-02 -1.99048024e+00] [ 1.76091307e-01 -1.09054485e-02 9.84313427e-01 2.76735448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.99, Z:2.77 [[ 9.75790292e-01 -1.29827445e-01 -1.76006083e-01 2.01544212e+01] [ 1.29713211e-01 9.91476448e-01 -1.22039085e-02 -1.98853217e+00] [ 1.76090288e-01 -1.09218587e-02 9.84313427e-01 2.77278350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.99, Z:2.78 [[ 9.75839275e-01 -1.29463698e-01 -1.76002446e-01 2.01808515e+01] [ 1.29334231e-01 9.91525312e-01 -1.22561398e-02 -1.98762806e+00] [ 1.76097605e-01 -1.08031185e-02 9.84313429e-01 2.77630431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.99, Z:2.78 [[ 9.75824979e-01 -1.29573542e-01 -1.76000871e-01 2.02081961e+01] [ 1.29441785e-01 9.91510997e-01 -1.22787161e-02 -1.98633740e+00] [ 1.76097796e-01 -1.07999890e-02 9.84313429e-01 2.78285453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.23, Y:-1.98, Z:2.79 [[ 9.75806917e-01 -1.29714405e-01 -1.75997258e-01 2.02349612e+01] [ 1.29575643e-01 9.91492873e-01 -1.23302983e-02 -1.98485434e+00] [ 1.76099444e-01 -1.07729675e-02 9.84313430e-01 2.78667470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.26, Y:-1.98, Z:2.79 [[ 9.75747510e-01 -1.30162643e-01 -1.75995689e-01 2.02623282e+01] [ 1.30027071e-01 9.91433494e-01 -1.23526466e-02 -1.98389250e+00] [ 1.76095874e-01 -1.08311398e-02 9.84313431e-01 2.79278374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.29, Y:-1.98, Z:2.80 [[ 9.75742809e-01 -1.30202760e-01 -1.75992080e-01 2.02889815e+01] [ 1.30058631e-01 9.91428715e-01 -1.24038616e-02 -1.98269590e+00] [ 1.76098618e-01 -1.07863102e-02 9.84313432e-01 2.79656546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.32, Y:-1.98, Z:2.80 [[ 9.75676913e-01 -1.30697742e-01 -1.75990515e-01 2.03162060e+01] [ 1.30557589e-01 9.91362855e-01 -1.24260186e-02 -1.98171857e+00] [ 1.76094512e-01 -1.08531178e-02 9.84313432e-01 2.80127481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.98, Z:2.81 [[ 9.75634452e-01 -1.31019109e-01 -1.75986958e-01 2.03436144e+01] [ 1.30875105e-01 9.91320358e-01 -1.24762025e-02 -1.98010216e+00] [ 1.76094075e-01 -1.08600986e-02 9.84313433e-01 2.80593409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.98, Z:2.81 [[ 9.75645420e-01 -1.30942207e-01 -1.75983390e-01 2.03713509e+01] [ 1.30787958e-01 9.91331227e-01 -1.25263305e-02 -1.97855035e+00] [ 1.76098055e-01 -1.07952512e-02 9.84313435e-01 2.81121387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.98, Z:2.82 [[ 9.75642944e-01 -1.30965526e-01 -1.75979763e-01 2.03977379e+01] [ 1.30802532e-01 9.91328661e-01 -1.25770815e-02 -1.97676594e+00] [ 1.76100947e-01 -1.07478578e-02 9.84313436e-01 2.81581683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.98, Z:2.82 [[ 9.75682247e-01 -1.30674509e-01 -1.75978194e-01 2.04250434e+01] [ 1.30502898e-01 9.91367873e-01 -1.25989997e-02 -1.97514028e+00] [ 1.76105496e-01 -1.06730439e-02 9.84313436e-01 2.82172280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.97, Z:2.83 [[ 9.75707045e-01 -1.30494358e-01 -1.75974385e-01 2.04514316e+01] [ 1.30310331e-01 9.91392528e-01 -1.26519751e-02 -1.97355330e+00] [ 1.76110702e-01 -1.05866592e-02 9.84313437e-01 2.82617960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.97, Z:2.83 [[ 9.75745021e-01 -1.30212325e-01 -1.75972740e-01 2.04785555e+01] [ 1.30019658e-01 9.91430400e-01 -1.26748215e-02 -1.97263695e+00] [ 1.76115142e-01 -1.05125215e-02 9.84313438e-01 2.83161438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.51, Y:-1.97, Z:2.84 [[ 9.75746426e-01 -1.30206698e-01 -1.75969108e-01 2.05061926e+01] [ 1.30004916e-01 9.91431690e-01 -1.27250429e-02 -1.97081791e+00] [ 1.76118236e-01 -1.04604340e-02 9.84313439e-01 2.83685866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.97, Z:2.84 [[ 9.75790385e-01 -1.29881950e-01 -1.75965349e-01 2.05323964e+01] [ 1.29665644e-01 9.91475453e-01 -1.27768167e-02 -1.96932479e+00] [ 1.76124802e-01 -1.03491655e-02 9.84313440e-01 2.84096417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.97, Z:2.85 [[ 9.75868576e-01 -1.29295364e-01 -1.75963719e-01 2.05592046e+01] [ 1.29065600e-01 9.91553453e-01 -1.27992338e-02 -1.96698122e+00] [ 1.76132315e-01 -1.02204930e-02 9.84313441e-01 2.84512629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.96, Z:2.85 [[ 9.75860074e-01 -1.29361699e-01 -1.75962120e-01 2.05867459e+01] [ 1.29129058e-01 9.91544908e-01 -1.28211794e-02 -1.96459368e+00] [ 1.76132913e-01 -1.02101458e-02 9.84313441e-01 2.85102217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.96, Z:2.86 [[ 9.75937245e-01 -1.28783172e-01 -1.75958486e-01 2.06143498e+01] [ 1.28532304e-01 9.91621797e-01 -1.28708646e-02 -1.96308561e+00] [ 1.76141821e-01 -1.00551934e-02 9.84313442e-01 2.85648968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.96, Z:2.86 [[ 9.75977170e-01 -1.28485375e-01 -1.75954745e-01 2.06409203e+01] [ 1.28220567e-01 9.91661491e-01 -1.29218029e-02 -1.96157013e+00] [ 1.76147808e-01 -9.94963264e-03 9.84313443e-01 2.86218285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.96, Z:2.87 [[ 9.76061546e-01 -1.27846343e-01 -1.75952182e-01 2.06673557e+01] [ 1.27565009e-01 9.91745580e-01 -1.29566189e-02 -1.95970236e+00] [ 1.76156255e-01 -9.79888413e-03 9.84313444e-01 2.86760049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.96, Z:2.87 [[ 9.76106189e-01 -1.27507283e-01 -1.75950561e-01 2.06950581e+01] [ 1.27216554e-01 9.91790051e-01 -1.29785834e-02 -1.95745428e+00] [ 1.76160880e-01 -9.71534849e-03 9.84313444e-01 2.87290649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.95, Z:2.88 [[ 9.76230704e-01 -1.26555876e-01 -1.75946646e-01 2.07220705e+01] [ 1.26240361e-01 9.91914085e-01 -1.30314482e-02 -1.95474717e+00] [ 1.76173163e-01 -9.48986826e-03 9.84313446e-01 2.87544724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.95, Z:2.88 [[ 9.76310577e-01 -1.25940599e-01 -1.75944944e-01 2.07499961e+01] [ 1.25611077e-01 9.91993669e-01 -1.30543869e-02 -1.95267641e+00] [ 1.76180348e-01 -9.35549794e-03 9.84313446e-01 2.88072764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.95, Z:2.89 [[ 9.76319187e-01 -1.25879167e-01 -1.75941129e-01 2.07772746e+01] [ 1.25539453e-01 9.92002061e-01 -1.31056128e-02 -1.95044341e+00] [ 1.76183686e-01 -9.29229192e-03 9.84313447e-01 2.88500339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.80, Y:-1.95, Z:2.89 [[ 9.76473765e-01 -1.24679764e-01 -1.75937325e-01 2.08037432e+01] [ 1.24311645e-01 9.92155997e-01 -1.31564767e-02 -1.94885592e+00] [ 1.76197619e-01 -9.02410398e-03 9.84313448e-01 2.88941145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.95, Z:2.90 [[ 9.76492198e-01 -1.24537660e-01 -1.75935668e-01 2.08315258e+01] [ 1.24163282e-01 9.92174281e-01 -1.31786061e-02 -1.94656382e+00] [ 1.76200078e-01 -8.97594393e-03 9.84313449e-01 2.89512397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.94, Z:2.90 [[ 9.76656280e-01 -1.23249675e-01 -1.75931887e-01 2.08590906e+01] [ 1.22845577e-01 9.92337624e-01 -1.32288968e-02 -1.94426214e+00] [ 1.76214288e-01 -8.69236906e-03 9.84313450e-01 2.89945753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.94, Z:2.90 [[ 9.76735373e-01 -1.22626821e-01 -1.75928035e-01 2.08857944e+01] [ 1.22203553e-01 9.92416211e-01 -1.32799279e-02 -1.94190294e+00] [ 1.76222309e-01 -8.52805559e-03 9.84313451e-01 2.90379044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.94, Z:2.91 [[ 9.76830759e-01 -1.21883385e-01 -1.75915060e-01 2.09140236e+01] [ 1.21417381e-01 9.92510393e-01 -1.34513434e-02 -1.93956286e+00] [ 1.76237020e-01 -8.21945986e-03 9.84313443e-01 2.90929333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.94, Z:2.91 [[ 9.76876465e-01 -1.21504335e-01 -1.75923476e-01 2.09409347e+01] [ 1.21052189e-01 9.92556498e-01 -1.33403641e-02 -1.93696186e+00] [ 1.76234902e-01 -8.26403419e-03 9.84313449e-01 2.91394588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.93, Z:2.92 [[ 9.77072306e-01 -1.19921812e-01 -1.75921769e-01 2.09685655e+01] [ 1.19440229e-01 9.92751463e-01 -1.33628374e-02 -1.93452508e+00] [ 1.76249090e-01 -7.95567805e-03 9.84313449e-01 2.91846111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.93, Z:2.92 [[ 9.77101317e-01 -1.19690915e-01 -1.75917881e-01 2.09959512e+01] [ 1.19196464e-01 9.92780072e-01 -1.34138343e-02 -1.93181118e+00] [ 1.76253281e-01 -7.86211411e-03 9.84313450e-01 2.92358021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.93, Z:2.93 [[ 9.77160992e-01 -1.19208521e-01 -1.75913966e-01 2.10237854e+01] [ 1.18697139e-01 9.92839203e-01 -1.34649823e-02 -1.92974104e+00] [ 1.76259423e-01 -7.72302906e-03 9.84313451e-01 2.92950898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:-1.93, Z:2.93 [[ 9.77180235e-01 -1.19056634e-01 -1.75909937e-01 2.10513543e+01] [ 1.18533394e-01 9.92858053e-01 -1.35174189e-02 -1.92739333e+00] [ 1.76262936e-01 -7.64224732e-03 9.84313453e-01 2.93483870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:-1.93, Z:2.94 [[ 9.77250825e-01 -1.18481861e-01 -1.75905866e-01 2.10779387e+01] [ 1.17939917e-01 9.92928006e-01 -1.35701969e-02 -1.92505031e+00] [ 1.76269683e-01 -7.48483704e-03 9.84313454e-01 2.93980972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.92, Z:2.95 [[ 9.77283642e-01 -1.18213496e-01 -1.75904100e-01 2.11049570e+01] [ 1.17663141e-01 9.92960530e-01 -1.35930442e-02 -1.92267271e+00] [ 1.76272710e-01 -7.41316924e-03 9.84313454e-01 2.94504461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.92, Z:2.95 [[ 9.77422574e-01 -1.17065250e-01 -1.75900082e-01 2.11326298e+01] [ 1.16487171e-01 9.93098463e-01 -1.36448441e-02 -1.91992535e+00] [ 1.76283439e-01 -7.15332426e-03 9.84313456e-01 2.95065837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.92, Z:2.95 [[ 9.77445238e-01 -1.16897317e-01 -1.75885826e-01 2.11602011e+01] [ 1.16283623e-01 9.93119783e-01 -1.38280879e-02 -1.91720311e+00] [ 1.76292159e-01 -6.93644234e-03 9.84313446e-01 2.95313312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.91, Z:2.96 [[ 9.77488318e-01 -1.16523096e-01 -1.75894732e-01 2.11881855e+01] [ 1.15923920e-01 9.93163418e-01 -1.37138758e-02 -1.91481203e+00] [ 1.76290196e-01 -6.98525339e-03 9.84313453e-01 2.95740169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.91, Z:2.96 [[ 9.77574902e-01 -1.15800371e-01 -1.75890834e-01 2.12155837e+01] [ 1.15180657e-01 9.93249202e-01 -1.37636863e-02 -1.91264101e+00] [ 1.76297271e-01 -6.80418750e-03 9.84313454e-01 2.96396229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.91, Z:2.97 [[ 9.77614918e-01 -1.15468367e-01 -1.75886689e-01 2.12432431e+01] [ 1.14833850e-01 9.93288625e-01 -1.38164586e-02 -1.91017485e+00] [ 1.76301611e-01 -6.69056952e-03 9.84313455e-01 2.97016066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.91, Z:2.97 [[ 9.77569104e-01 -1.15900850e-01 -1.75856875e-01 2.12703145e+01] [ 1.15205380e-01 9.93240274e-01 -1.41943348e-02 -1.90772173e+00] [ 1.76313266e-01 -6.38371500e-03 9.84313406e-01 2.97426649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.91, Z:2.98 [[ 9.77582840e-01 -1.15788799e-01 -1.75854328e-01 2.12980313e+01] [ 1.15085761e-01 9.93253681e-01 -1.42264643e-02 -1.90526581e+00] [ 1.76315224e-01 -6.33078182e-03 9.84313397e-01 2.97727243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.90, Z:2.98 [[ 9.77612707e-01 -1.15502161e-01 -1.75876789e-01 2.13248995e+01] [ 1.14845410e-01 9.93285517e-01 -1.39432322e-02 -1.90270046e+00] [ 1.76306341e-01 -6.56756112e-03 9.84313436e-01 2.98382408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.90, Z:2.99 [[ 9.77642174e-01 -1.15297011e-01 -1.75847603e-01 2.13515492e+01] [ 1.14571129e-01 9.93311979e-01 -1.43097470e-02 -1.90016258e+00] [ 1.76321401e-01 -6.15724619e-03 9.84313391e-01 2.98754304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.90, Z:2.99 [[ 9.77693591e-01 -1.14874093e-01 -1.75838521e-01 2.13796367e+01] [ 1.14121037e-01 9.93362148e-01 -1.44232865e-02 -1.89791683e+00] [ 1.76328193e-01 -5.96531963e-03 9.84313356e-01 2.98950488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.90, Z:3.00 [[ 9.77713782e-01 -1.14659325e-01 -1.75866424e-01 2.14068785e+01] [ 1.13965435e-01 9.93385011e-01 -1.40747607e-02 -1.89564461e+00] [ 1.76316873e-01 -6.28160606e-03 9.84313416e-01 2.99770145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.89, Z:3.00 [[ 9.77682440e-01 -1.14971375e-01 -1.75836941e-01 2.14344736e+01] [ 1.14216619e-01 9.93350899e-01 -1.44414264e-02 -1.89263789e+00] [ 1.76328134e-01 -5.96437180e-03 9.84313373e-01 2.99994162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.46, Y:-1.89, Z:3.01 [[ 9.77708738e-01 -1.14711281e-01 -1.75860587e-01 2.14609544e+01] [ 1.14005142e-01 9.93379421e-01 -1.41475869e-02 -1.89024683e+00] [ 1.76319176e-01 -6.21679182e-03 9.84313415e-01 3.00563802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.89, Z:3.01 [[ 9.77683432e-01 -1.14930964e-01 -1.75857839e-01 2.14883469e+01] [ 1.14222222e-01 9.93353997e-01 -1.41816716e-02 -1.88743928e+00] [ 1.76319000e-01 -6.22168775e-03 9.84313416e-01 3.01066869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.88, Z:3.02 [[ 9.77726091e-01 -1.14573701e-01 -1.75853797e-01 2.15159332e+01] [ 1.13850261e-01 9.93395983e-01 -1.42316167e-02 -1.88488513e+00] [ 1.76323024e-01 -6.10637765e-03 9.84313417e-01 3.01687563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.88, Z:3.02 [[ 9.77715673e-01 -1.14664499e-01 -1.75852539e-01 2.15436307e+01] [ 1.13939725e-01 9.93385503e-01 -1.42471441e-02 -1.88243556e+00] [ 1.76323004e-01 -6.10693378e-03 9.84313417e-01 3.02254210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.88, Z:3.03 [[ 9.77700132e-01 -1.14803242e-01 -1.75848421e-01 2.15704784e+01] [ 1.14071594e-01 9.93369642e-01 -1.42977886e-02 -1.87977393e+00] [ 1.76323916e-01 -6.08035989e-03 9.84313419e-01 3.02740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.88, Z:3.03 [[ 9.77668323e-01 -1.15076546e-01 -1.75846633e-01 2.15984729e+01] [ 1.14345332e-01 9.93337853e-01 -1.43197492e-02 -1.87726214e+00] [ 1.76322984e-01 -6.10727642e-03 9.84313419e-01 3.03243580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.87, Z:3.04 [[ 9.77651124e-01 -1.15228714e-01 -1.75842610e-01 2.16261881e+01] [ 1.14491095e-01 9.93320352e-01 -1.43689803e-02 -1.87461531e+00] [ 1.76323763e-01 -6.08456330e-03 9.84313420e-01 3.03696987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.87, Z:3.04 [[ 9.77607817e-01 -1.15601770e-01 -1.75838523e-01 2.16538278e+01] [ 1.14861175e-01 9.93276904e-01 -1.44188302e-02 -1.87201929e+00] [ 1.76323186e-01 -6.10105824e-03 9.84313421e-01 3.04110837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.87, Z:3.05 [[ 9.77614536e-01 -1.15551364e-01 -1.75834301e-01 2.16812875e+01] [ 1.14800743e-01 9.93283144e-01 -1.44701396e-02 -1.86973121e+00] [ 1.76325291e-01 -6.03968948e-03 9.84313423e-01 3.04637240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.87, Z:3.05 [[ 9.77582988e-01 -1.15824501e-01 -1.75829991e-01 2.17081797e+01] [ 1.15068883e-01 9.93251355e-01 -1.45223197e-02 -1.86735151e+00] [ 1.76325417e-01 -6.03578806e-03 9.84313424e-01 3.05093138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.86, Z:3.06 [[ 9.77565496e-01 -1.15974870e-01 -1.75828126e-01 2.17343453e+01] [ 1.15217612e-01 9.93233784e-01 -1.45448643e-02 -1.86485374e+00] [ 1.76325274e-01 -6.03993940e-03 9.84313424e-01 3.05536442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.86, Z:3.06 [[ 9.77559358e-01 -1.16029298e-01 -1.75826344e-01 2.17612322e+01] [ 1.15269048e-01 9.93227500e-01 -1.45663805e-02 -1.86201612e+00] [ 1.76325687e-01 -6.02783374e-03 9.84313424e-01 3.06081952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.86, Z:3.07 [[ 9.77483474e-01 -1.16673080e-01 -1.75822211e-01 2.17883380e+01] [ 1.15914217e-01 9.93151682e-01 -1.46160932e-02 -1.85919747e+00] [ 1.76323430e-01 -6.09330443e-03 9.84313426e-01 3.06695302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.86, Z:3.07 [[ 9.77451326e-01 -1.16948526e-01 -1.75817941e-01 2.18149185e+01] [ 1.16184881e-01 9.93119300e-01 -1.46672832e-02 -1.85676091e+00] [ 1.76323508e-01 -6.09083124e-03 9.84313427e-01 3.07083601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.85, Z:3.08 [[ 9.77396202e-01 -1.17411108e-01 -1.75816084e-01 2.18424566e+01] [ 1.16650886e-01 9.93064343e-01 -1.46895084e-02 -1.85390530e+00] [ 1.76321396e-01 -6.15163231e-03 9.84313427e-01 3.07657167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.85, Z:3.08 [[ 9.77317389e-01 -1.18071857e-01 -1.75811709e-01 2.18690780e+01] [ 1.17312851e-01 9.92985588e-01 -1.47416964e-02 -1.85158283e+00] [ 1.76319072e-01 -6.21765654e-03 9.84313429e-01 3.08057569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.85, Z:3.09 [[ 9.77219418e-01 -1.18884408e-01 -1.75808722e-01 2.18966768e+01] [ 1.18132045e-01 9.92887936e-01 -1.47772267e-02 -1.84865297e+00] [ 1.76315141e-01 -6.32805105e-03 9.84313429e-01 3.08708090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.85, Z:3.09 [[ 9.77182230e-01 -1.19226722e-01 -1.75783614e-01 2.19241308e+01] [ 1.18426285e-01 9.92848402e-01 -1.50753512e-02 -1.84617668e+00] [ 1.76323865e-01 -6.08603501e-03 9.84313393e-01 3.08929925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.84, Z:3.10 [[ 9.77090580e-01 -1.19942810e-01 -1.75805917e-01 2.19516413e+01] [ 1.19201408e-01 9.92759622e-01 -1.48106832e-02 -1.84300091e+00] [ 1.76309451e-01 -6.48493390e-03 9.84313427e-01 3.09622894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.84, Z:3.10 [[ 9.77037011e-01 -1.20384728e-01 -1.75801583e-01 2.19788539e+01] [ 1.19641200e-01 9.92705951e-01 -1.48619573e-02 -1.84016895e+00] [ 1.76308430e-01 -6.51242999e-03 9.84313429e-01 3.10144524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.84, Z:3.11 [[ 9.77010023e-01 -1.20609848e-01 -1.75797269e-01 2.20048281e+01] [ 1.19860792e-01 9.92678699e-01 -1.49128119e-02 -1.83779817e+00] [ 1.76308836e-01 -6.50123322e-03 9.84313430e-01 3.10646331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.84, Z:3.11 [[ 9.76851731e-01 -1.21887948e-01 -1.75795402e-01 2.20323926e+01] [ 1.21155443e-01 9.92521189e-01 -1.49347865e-02 -1.83533736e+00] [ 1.76301032e-01 -6.70949787e-03 9.84313430e-01 3.11161710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.83, Z:3.12 [[ 9.76759624e-01 -1.22629923e-01 -1.75791178e-01 2.20592732e+01] [ 1.21900415e-01 9.92429221e-01 -1.49843412e-02 -1.83285074e+00] [ 1.76297831e-01 -6.79291814e-03 9.84313431e-01 3.11735951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.83, Z:3.12 [[ 9.76618196e-01 -1.23757580e-01 -1.75786690e-01 2.20864302e+01] [ 1.23036735e-01 9.92288192e-01 -1.50368146e-02 -1.82926073e+00] [ 1.76291977e-01 -6.94299359e-03 9.84313433e-01 3.12219187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.83, Z:3.13 [[ 9.76526598e-01 -1.24484667e-01 -1.75782172e-01 2.21139012e+01] [ 1.23766028e-01 9.92196694e-01 -1.50894541e-02 -1.82607693e+00] [ 1.76288895e-01 -7.02060784e-03 9.84313434e-01 3.12669382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.82, Z:3.13 [[ 9.76445671e-01 -1.25124219e-01 -1.75777647e-01 2.21401370e+01] [ 1.24406402e-01 9.92115803e-01 -1.51419850e-02 -1.82326279e+00] [ 1.76286410e-01 -7.08253886e-03 9.84313435e-01 3.13072271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.82, Z:3.14 [[ 9.76368492e-01 -1.25727783e-01 -1.75775689e-01 2.21672814e+01] [ 1.25015574e-01 9.92038880e-01 -1.51646768e-02 -1.82092569e+00] [ 1.76282939e-01 -7.16838604e-03 9.84313436e-01 3.13557002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.82, Z:3.14 [[ 9.76192407e-01 -1.27093768e-01 -1.75771326e-01 2.21935646e+01] [ 1.26394425e-01 9.91863373e-01 -1.52150818e-02 -1.81851154e+00] [ 1.76274882e-01 -7.36366840e-03 9.84313437e-01 3.14102339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.82, Z:3.15 [[ 9.76060755e-01 -1.28104980e-01 -1.75768360e-01 2.22208892e+01] [ 1.27415726e-01 9.91732168e-01 -1.52492727e-02 -1.81553583e+00] [ 1.76268644e-01 -7.51143660e-03 9.84313438e-01 3.14708897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.81, Z:3.15 [[ 9.75954286e-01 -1.28919640e-01 -1.75763928e-01 2.22473901e+01] [ 1.28234315e-01 9.91625869e-01 -1.53001869e-02 -1.81248373e+00] [ 1.76264553e-01 -7.60668398e-03 9.84313439e-01 3.15177931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.81, Z:3.16 [[ 9.75867372e-01 -1.29578508e-01 -1.75762006e-01 2.22743876e+01] [ 1.28899800e-01 9.91539243e-01 -1.53222348e-02 -1.80958814e+00] [ 1.76260359e-01 -7.70321840e-03 9.84313439e-01 3.15713925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.81, Z:3.16 [[ 9.75648557e-01 -1.31221763e-01 -1.75757623e-01 2.23020017e+01] [ 1.30560439e-01 9.91321170e-01 -1.53723534e-02 -1.80600202e+00] [ 1.76249440e-01 -7.94897798e-03 9.84313440e-01 3.16135012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.80, Z:3.17 [[ 9.75598806e-01 -1.31597092e-01 -1.75753167e-01 2.23286785e+01] [ 1.30932669e-01 9.91271286e-01 -1.54231262e-02 -1.80352404e+00] [ 1.76248707e-01 -7.96504784e-03 9.84313442e-01 3.16538862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.80, Z:3.17 [[ 9.75383250e-01 -1.33187908e-01 -1.75751237e-01 2.23562724e+01] [ 1.32545094e-01 9.91056632e-01 -1.54450953e-02 -1.80060005e+00] [ 1.76236529e-01 -8.23007705e-03 9.84313442e-01 3.16971048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.80, Z:3.18 [[ 9.75320462e-01 -1.33652750e-01 -1.75746805e-01 2.23827504e+01] [ 1.33008369e-01 9.90993778e-01 -1.54953578e-02 -1.79793388e+00] [ 1.76234988e-01 -8.26285643e-03 9.84313443e-01 3.17603765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.79, Z:3.18 [[ 9.75172122e-01 -1.34849287e-01 -1.75655919e-01 2.24116501e+01] [ 1.34039851e-01 9.90838229e-01 -1.65203830e-02 -1.79491607e+00] [ 1.76274361e-01 -7.43467621e-03 9.84312997e-01 3.17955656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.79, Z:3.19 [[ 9.74941588e-01 -1.36396676e-01 -1.75740852e-01 2.24387365e+01] [ 1.35784385e-01 9.90616182e-01 -1.55621768e-02 -1.79228034e+00] [ 1.76214360e-01 -8.69065012e-03 9.84313452e-01 3.18573667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.79, Z:3.19 [[ 9.74901669e-01 -1.36687501e-01 -1.75736345e-01 2.24637620e+01] [ 1.36070765e-01 9.90576087e-01 -1.56129011e-02 -1.78964633e+00] [ 1.76214310e-01 -8.69153560e-03 9.84313453e-01 3.19160510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.79, Z:3.20 [[ 9.74736385e-01 -1.37974766e-01 -1.75647212e-01 2.24906382e+01] [ 1.37198911e-01 9.90404195e-01 -1.66129355e-02 -1.78640212e+00] [ 1.76253901e-01 -7.90537353e-03 9.84312993e-01 3.19652840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.78, Z:3.20 [[ 9.74434489e-01 -1.40127781e-01 -1.75617856e-01 2.25193970e+01] [ 1.39327516e-01 9.90101428e-01 -1.69412089e-02 -1.78386547e+00] [ 1.76253425e-01 -7.96030157e-03 9.84312635e-01 3.20038915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.78, Z:3.20 [[ 9.74245113e-01 -1.41423965e-01 -1.75629500e-01 2.25492395e+01] [ 1.40667922e-01 9.89914097e-01 -1.68111860e-02 -1.78151314e+00] [ 1.76235623e-01 -8.32722107e-03 9.84312787e-01 3.20445239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.78, Z:3.21 [[ 9.74098633e-01 -1.42305182e-01 -1.75730159e-01 2.25765230e+01] [ 1.41765907e-01 9.89775944e-01 -1.56846739e-02 -1.77921722e+00] [ 1.76165495e-01 -9.63412599e-03 9.84313417e-01 3.20964498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.78, Z:3.21 [[ 9.73924126e-01 -1.43500336e-01 -1.75725496e-01 2.26031048e+01] [ 1.42970931e-01 9.89601772e-01 -1.57367503e-02 -1.77679607e+00] [ 1.76156491e-01 -9.79723692e-03 9.84313418e-01 3.21404579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.77, Z:3.22 [[ 9.73601524e-01 -1.45675420e-01 -1.75723487e-01 2.26298985e+01] [ 1.45177004e-01 9.89280186e-01 -1.57591580e-02 -1.77391169e+00] [ 1.76135485e-01 -1.01678690e-02 9.84313418e-01 3.21786054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.77, Z:3.22 [[ 9.73454641e-01 -1.46656123e-01 -1.75721496e-01 2.26575913e+01] [ 1.46169514e-01 9.89133673e-01 -1.57813226e-02 -1.77132393e+00] [ 1.76126476e-01 -1.03227239e-02 9.84313418e-01 3.22312584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.77, Z:3.23 [[ 9.73139448e-01 -1.48738688e-01 -1.75716867e-01 2.26841252e+01] [ 1.48276387e-01 9.88819214e-01 -1.58326940e-02 -1.76888586e+00] [ 1.76107149e-01 -1.06472431e-02 9.84313420e-01 3.22758273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.77, Z:3.23 [[ 9.72880077e-01 -1.50428189e-01 -1.75714870e-01 2.27111230e+01] [ 1.49989132e-01 9.88560511e-01 -1.58548278e-02 -1.76590850e+00] [ 1.76089795e-01 -1.09304749e-02 9.84313420e-01 3.23207129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.76, Z:3.24 [[ 9.72770914e-01 -1.51136118e-01 -1.75711761e-01 2.27372849e+01] [ 1.50702285e-01 9.88451493e-01 -1.58892156e-02 -1.76394536e+00] [ 1.76083987e-01 -1.10235972e-02 9.84313421e-01 3.23700615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.76, Z:3.24 [[ 9.72428788e-01 -1.53324233e-01 -1.75709793e-01 2.27637771e+01] [ 1.52921768e-01 9.88110204e-01 -1.59109460e-02 -1.76203339e+00] [ 1.76060173e-01 -1.13975903e-02 9.84313421e-01 3.24244474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.76, Z:3.25 [[ 9.72174961e-01 -1.54927698e-01 -1.75707862e-01 2.27909827e+01] [ 1.54547263e-01 9.87856927e-01 -1.59322410e-02 -1.75899945e+00] [ 1.76042574e-01 -1.16662434e-02 9.84313421e-01 3.24766662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.76, Z:3.25 [[ 9.72018948e-01 -1.55908622e-01 -1.75703349e-01 2.28174824e+01] [ 1.55535082e-01 9.87701077e-01 -1.59818663e-02 -1.75659043e+00] [ 1.76034098e-01 -1.17933579e-02 9.84313422e-01 3.25285201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.75, Z:3.26 [[ 9.71782116e-01 -1.57380238e-01 -1.75701396e-01 2.28425991e+01] [ 1.57026586e-01 9.87464706e-01 -1.60033022e-02 -1.75459175e+00] [ 1.76017531e-01 -1.20380676e-02 9.84313422e-01 3.25792078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.75, Z:3.26 [[ 9.71343621e-01 -1.60208106e-01 -1.75570310e-01 2.28717929e+01] [ 1.59642495e-01 9.87020923e-01 -1.74348004e-02 -1.75186658e+00] [ 1.76084765e-01 -1.10933001e-02 9.84312498e-01 3.26276611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:-1.75, Z:3.27 [[ 9.71169254e-01 -1.61125092e-01 -1.75695716e-01 2.28982370e+01] [ 1.60820768e-01 9.86852873e-01 -1.60651303e-02 -1.75056991e+00] [ 1.75974318e-01 -1.26535593e-02 9.84313429e-01 3.26804261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.75, Z:3.27 [[ 9.70667417e-01 -1.64123386e-01 -1.75693709e-01 2.29257573e+01] [ 1.63863550e-01 9.86351836e-01 -1.60870515e-02 -1.74871960e+00] [ 1.75936074e-01 -1.31746181e-02 9.84313429e-01 3.27391960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.75, Z:3.28 [[ 9.70404027e-01 -1.65678608e-01 -1.75688999e-01 2.29521006e+01] [ 1.65434676e-01 9.86088699e-01 -1.61383314e-02 -1.74592735e+00] [ 1.75918713e-01 -1.34043507e-02 9.84313431e-01 3.27815599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.74, Z:3.28 [[ 9.70137022e-01 -1.67237111e-01 -1.75686956e-01 2.29787197e+01] [ 1.67014375e-01 9.85822010e-01 -1.61605403e-02 -1.74340977e+00] [ 1.75898710e-01 -1.36643087e-02 9.84313431e-01 3.28303692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.74, Z:3.29 [[ 9.69912517e-01 -1.68537529e-01 -1.75683836e-01 2.30064851e+01] [ 1.68329729e-01 9.85597709e-01 -1.61943875e-02 -1.74113623e+00] [ 1.75882948e-01 -1.38656733e-02 9.84313432e-01 3.28790621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.03, Y:-1.74, Z:3.29 [[ 9.69399282e-01 -1.71469688e-01 -1.75679194e-01 2.30336987e+01] [ 1.71300281e-01 9.85084934e-01 -1.62445936e-02 -1.73905957e+00] [ 1.75844382e-01 -1.43463979e-02 9.84313433e-01 3.29289970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.74, Z:3.30 [[ 9.69152685e-01 -1.72862758e-01 -1.75674529e-01 2.30606078e+01] [ 1.72706840e-01 9.84838476e-01 -1.62948906e-02 -1.73682851e+00] [ 1.75827815e-01 -1.45479557e-02 9.84313434e-01 3.29750080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.09, Y:-1.73, Z:3.30 [[ 9.68643027e-01 -1.75699357e-01 -1.75671349e-01 2.30884815e+01] [ 1.75583203e-01 9.84329162e-01 -1.63291040e-02 -1.73443332e+00] [ 1.75787444e-01 -1.50278653e-02 9.84313435e-01 3.30204424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.73, Z:3.31 [[ 9.68409415e-01 -1.76987043e-01 -1.75666707e-01 2.31160776e+01] [ 1.76882782e-01 9.84095632e-01 -1.63788875e-02 -1.73173568e+00] [ 1.75771690e-01 -1.52109470e-02 9.84313436e-01 3.30705547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.73, Z:3.31 [[ 9.68063040e-01 -1.78876444e-01 -1.75662085e-01 2.31431026e+01] [ 1.78793893e-01 9.83749386e-01 -1.64283163e-02 -1.72896354e+00] [ 1.75746107e-01 -1.55036621e-02 9.84313437e-01 3.31226374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.73, Z:3.32 [[ 9.67568622e-01 -1.81536282e-01 -1.75657450e-01 2.31706077e+01] [ 1.81487946e-01 9.83255109e-01 -1.64777198e-02 -1.72715142e+00] [ 1.75707390e-01 -1.59363853e-02 9.84313438e-01 3.31739536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.72, Z:3.32 [[ 9.67317345e-01 -1.82874927e-01 -1.75652824e-01 2.31968005e+01] [ 1.82839442e-01 9.83003866e-01 -1.65268978e-02 -1.72491833e+00] [ 1.75689760e-01 -1.61295093e-02 9.84313440e-01 3.32157561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.22, Y:-1.72, Z:3.33 [[ 9.67077662e-01 -1.84140120e-01 -1.75650822e-01 2.32238375e+01] [ 1.84121330e-01 9.82764211e-01 -1.65481412e-02 -1.72291856e+00] [ 1.75670519e-01 -1.63377253e-02 9.84313440e-01 3.32589890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.25, Y:-1.72, Z:3.33 [[ 9.66573989e-01 -1.86767783e-01 -1.75648853e-01 2.32514388e+01] [ 1.86787866e-01 9.82260536e-01 -1.65690232e-02 -1.72068490e+00] [ 1.75627496e-01 -1.67938874e-02 9.84313440e-01 3.33024241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.28, Y:-1.72, Z:3.34 [[ 9.66522335e-01 -1.87039230e-01 -1.75644250e-01 2.32793990e+01] [ 1.87054958e-01 9.82208886e-01 -1.66176749e-02 -1.71781037e+00] [ 1.75627500e-01 -1.67937738e-02 9.84313441e-01 3.33526763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.31, Y:-1.72, Z:3.34 [[ 9.66200556e-01 -1.88698703e-01 -1.75639645e-01 2.33069313e+01] [ 1.88732629e-01 9.81887077e-01 -1.66662105e-02 -1.71523881e+00] [ 1.75603190e-01 -1.70460301e-02 9.84313442e-01 3.33977271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.71, Z:3.34 [[ 9.66026916e-01 -1.89589624e-01 -1.75635340e-01 2.33336999e+01] [ 1.89629868e-01 9.81713421e-01 -1.67114525e-02 -1.71295504e+00] [ 1.75591888e-01 -1.71619934e-02 9.84313443e-01 3.34495479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.71, Z:3.35 [[ 9.65498929e-01 -1.92261929e-01 -1.75633619e-01 2.33608688e+01] [ 1.92342324e-01 9.81185280e-01 -1.67295259e-02 -1.71103014e+00] [ 1.75545572e-01 -1.76294390e-02 9.84313443e-01 3.35232369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.71, Z:3.36 [[ 9.65316637e-01 -1.93179192e-01 -1.75629125e-01 2.33869148e+01] [ 1.93266019e-01 9.81002952e-01 -1.67765698e-02 -1.70875959e+00] [ 1.75533574e-01 -1.77484399e-02 9.84313445e-01 3.35775036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.71, Z:3.36 [[ 9.65086722e-01 -1.94326312e-01 -1.75627170e-01 2.34146739e+01] [ 1.94428100e-01 9.80772947e-01 -1.67970134e-02 -1.70614659e+00] [ 1.75514479e-01 -1.79362823e-02 9.84313445e-01 3.36276964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.70, Z:3.37 [[ 9.64721584e-01 -1.96135233e-01 -1.75622426e-01 2.34424731e+01] [ 1.96257522e-01 9.80407661e-01 -1.68464725e-02 -1.70361208e+00] [ 1.75485758e-01 -1.82150664e-02 9.84313446e-01 3.36570835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.70, Z:3.37 [[ 9.64505631e-01 -1.97198663e-01 -1.75617696e-01 2.34702896e+01] [ 1.97329389e-01 9.80191639e-01 -1.68956406e-02 -1.70089759e+00] [ 1.75470795e-01 -1.83585921e-02 9.84313447e-01 3.36941835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.70, Z:3.37 [[ 9.64309799e-01 -1.98158280e-01 -1.75612949e-01 2.34968892e+01] [ 1.98295754e-01 9.79995748e-01 -1.69448366e-02 -1.69798217e+00] [ 1.75457703e-01 -1.84832302e-02 9.84313448e-01 3.37355496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.70, Z:3.38 [[ 9.63871263e-01 -2.00282303e-01 -1.75610900e-01 2.35239913e+01] [ 2.00450516e-01 9.79556912e-01 -1.69660475e-02 -1.69599678e+00] [ 1.75418870e-01 -1.88482097e-02 9.84313449e-01 3.37927206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.69, Z:3.38 [[ 9.63578121e-01 -2.01691990e-01 -1.75606226e-01 2.35515758e+01] [ 2.01874458e-01 9.79263610e-01 -1.70142888e-02 -1.69345782e+00] [ 1.75396432e-01 -1.90558152e-02 9.84313450e-01 3.38461208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.69, Z:3.39 [[ 9.63356725e-01 -2.02748731e-01 -1.75604021e-01 2.35787174e+01] [ 2.02944311e-01 9.79042056e-01 -1.70370110e-02 -1.69102758e+00] [ 1.75377954e-01 -1.92251180e-02 9.84313450e-01 3.39150422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.69, Z:3.40 [[ 9.62941032e-01 -2.04718145e-01 -1.75599116e-01 2.36055328e+01] [ 2.04936718e-01 9.78626058e-01 -1.70874222e-02 -1.68822810e+00] [ 1.75343976e-01 -1.95325266e-02 9.84313451e-01 3.39633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.69, Z:3.40 [[ 9.62801104e-01 -2.05378060e-01 -1.75595806e-01 2.36333671e+01] [ 2.05601268e-01 9.78486064e-01 -1.71213744e-02 -1.68570059e+00] [ 1.75334403e-01 -1.96182422e-02 9.84313452e-01 3.40058389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.66, Y:-1.68, Z:3.40 [[ 9.62575674e-01 -2.06435969e-01 -1.75591183e-01 2.36598560e+01] [ 2.06667897e-01 9.78260506e-01 -1.71686571e-02 -1.68289511e+00] [ 1.75318148e-01 -1.97629289e-02 9.84313453e-01 3.40397137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.69, Y:-1.68, Z:3.41 [[ 9.62394546e-01 -2.07280429e-01 -1.75589183e-01 2.36877725e+01] [ 2.07522439e-01 9.78079226e-01 -1.71890865e-02 -1.68033209e+00] [ 1.75303093e-01 -1.98960124e-02 9.84313453e-01 3.40860181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.68, Z:3.41 [[ 9.62042668e-01 -2.08911324e-01 -1.75584633e-01 2.37151308e+01] [ 2.09171570e-01 9.77727055e-01 -1.72354396e-02 -1.67873882e+00] [ 1.75274525e-01 -2.01460851e-02 9.84313454e-01 3.41416701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.68, Z:3.42 [[ 9.61879977e-01 -2.09663197e-01 -1.75579764e-01 2.37417754e+01] [ 2.09926794e-01 9.77564307e-01 -1.72848987e-02 -1.67608837e+00] [ 1.75264518e-01 -2.02328990e-02 9.84313455e-01 3.41917064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.67, Z:3.43 [[ 9.61608938e-01 -2.10904582e-01 -1.75577642e-01 2.37687139e+01] [ 2.11184545e-01 9.77292983e-01 -1.73064302e-02 -1.67362642e+00] [ 1.75240803e-01 -2.04372665e-02 9.84313456e-01 3.42553470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.67, Z:3.43 [[ 9.61481720e-01 -2.11487957e-01 -1.75572621e-01 2.37962835e+01] [ 2.11768287e-01 9.77165758e-01 -1.73572198e-02 -1.67087475e+00] [ 1.75234396e-01 -2.04920637e-02 9.84313457e-01 3.43080842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.67, Z:3.44 [[ 9.61353476e-01 -2.12074339e-01 -1.75567561e-01 2.38232637e+01] [ 2.12355043e-01 9.77037506e-01 -1.74082543e-02 -1.66789612e+00] [ 1.75227936e-01 -2.05471712e-02 9.84313458e-01 3.43532283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.67, Z:3.44 [[ 9.61160022e-01 -2.12951198e-01 -1.75565372e-01 2.38511122e+01] [ 2.13242236e-01 9.76843863e-01 -1.74303095e-02 -1.66561570e+00] [ 1.75211761e-01 -2.06846358e-02 9.84313459e-01 3.43993867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.66, Z:3.44 [[ 9.60965759e-01 -2.13830081e-01 -1.75560548e-01 2.38783837e+01] [ 2.14126735e-01 9.76649494e-01 -1.74787603e-02 -1.66267534e+00] [ 1.75198605e-01 -2.07957167e-02 9.84313460e-01 3.44430724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.66, Z:3.45 [[ 9.60787645e-01 -2.14633128e-01 -1.75555468e-01 2.39046464e+01] [ 2.14933724e-01 9.76471303e-01 -1.75296395e-02 -1.66007829e+00] [ 1.75187318e-01 -2.08905295e-02 9.84313461e-01 3.44837157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.66, Z:3.45 [[ 9.60546182e-01 -2.15712970e-01 -1.75553260e-01 2.39326273e+01] [ 2.16027218e-01 9.76229573e-01 -1.75517207e-02 -1.65738903e+00] [ 1.75166418e-01 -2.10650440e-02 9.84313461e-01 3.45270673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.65, Z:3.46 [[ 9.60402167e-01 -2.16357428e-01 -1.75548114e-01 2.39594569e+01] [ 2.16672953e-01 9.76085531e-01 -1.76030428e-02 -1.65467597e+00] [ 1.75158523e-01 -2.11305278e-02 9.84313463e-01 3.45756442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.65, Z:3.46 [[ 9.60366739e-01 -2.16517474e-01 -1.75544611e-01 2.39857549e+01] [ 2.16829333e-01 9.76050175e-01 -1.76379068e-02 -1.65174144e+00] [ 1.75159264e-01 -2.11243619e-02 9.84313463e-01 3.46135265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.65, Z:3.47 [[ 9.60166209e-01 -2.17406748e-01 -1.75542464e-01 2.40124306e+01] [ 2.17729286e-01 9.75849429e-01 -1.76592480e-02 -1.64911235e+00] [ 1.75142253e-01 -2.12649223e-02 9.84313463e-01 3.46810449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.65, Z:3.47 [[ 9.60032119e-01 -2.18002316e-01 -1.75537233e-01 2.40384960e+01] [ 2.18325241e-01 9.75715330e-01 -1.77110977e-02 -1.64635332e+00] [ 1.75135430e-01 -2.13209862e-02 9.84313465e-01 3.47310761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.64, Z:3.48 [[ 9.59978698e-01 -2.18239261e-01 -1.75534966e-01 2.40651750e+01] [ 2.18562015e-01 9.75661912e-01 -1.77335406e-02 -1.64391092e+00] [ 1.75132935e-01 -2.13414546e-02 9.84313465e-01 3.47840156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.64, Z:3.48 [[ 9.59896602e-01 -2.18602874e-01 -1.75531467e-01 2.40922501e+01] [ 2.18925342e-01 9.75579822e-01 -1.77681033e-02 -1.64145236e+00] [ 1.75129116e-01 -2.13727445e-02 9.84313466e-01 3.48372226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.64, Z:3.49 [[ 9.59742052e-01 -2.19284543e-01 -1.75526303e-01 2.41194424e+01] [ 2.19608985e-01 9.75425229e-01 -1.78189740e-02 -1.63906758e+00] [ 1.75120210e-01 -2.14455346e-02 9.84313467e-01 3.48842800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.64, Z:3.49 [[ 9.59645510e-01 -2.19710766e-01 -1.75521150e-01 2.41469968e+01] [ 2.20033053e-01 9.75328731e-01 -1.78695927e-02 -1.63631331e+00] [ 1.75116963e-01 -2.14719801e-02 9.84313468e-01 3.49284245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.63, Z:3.50 [[ 9.59575169e-01 -2.20021962e-01 -1.75515899e-01 2.41737254e+01] [ 2.20340069e-01 9.75258474e-01 -1.79210208e-02 -1.63312581e+00] [ 1.75116386e-01 -2.14766188e-02 9.84313469e-01 3.49567929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.63, Z:3.50 [[ 9.59571888e-01 -2.20038080e-01 -1.75513630e-01 2.41998560e+01] [ 2.20352450e-01 9.75255268e-01 -1.79432193e-02 -1.63085186e+00] [ 1.75118784e-01 -2.14570496e-02 9.84313470e-01 3.50028897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.63, Z:3.51 [[ 9.59498501e-01 -2.20359665e-01 -1.75511382e-01 2.42276140e+01] [ 2.20675335e-01 9.75181854e-01 -1.79651788e-02 -1.62810190e+00] [ 1.75114316e-01 -2.14934710e-02 9.84313470e-01 3.50563954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.63, Z:3.51 [[ 9.59500167e-01 -2.20356591e-01 -1.75506134e-01 2.42548041e+01] [ 2.20662998e-01 9.75183703e-01 -1.80163095e-02 -1.62565647e+00] [ 1.75120734e-01 -2.14410576e-02 9.84313471e-01 3.51217893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.62, Z:3.52 [[ 9.59520341e-01 -2.20272904e-01 -1.75500891e-01 2.42809568e+01] [ 2.20568766e-01 9.75204078e-01 -1.80672422e-02 -1.62304824e+00] [ 1.75128908e-01 -2.13741284e-02 9.84313472e-01 3.51659926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:-1.62, Z:3.52 [[ 9.59402240e-01 -2.20788537e-01 -1.75498617e-01 2.43084220e+01] [ 2.21088853e-01 9.75085892e-01 -1.80892982e-02 -1.61997623e+00] [ 1.75120135e-01 -2.14458747e-02 9.84313473e-01 3.52158823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:-1.62, Z:3.53 [[ 9.59324718e-01 -2.21129241e-01 -1.75493428e-01 2.43362324e+01] [ 2.21426080e-01 9.75008436e-01 -1.81395007e-02 -1.61691750e+00] [ 1.75118747e-01 -2.14571507e-02 9.84313474e-01 3.52535973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.61, Z:3.53 [[ 9.59219663e-01 -2.21588663e-01 -1.75488184e-01 2.43622472e+01] [ 2.21883896e-01 9.74903409e-01 -1.81900973e-02 -1.61412840e+00] [ 1.75114748e-01 -2.14897031e-02 9.84313475e-01 3.52979961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.61, Z:3.53 [[ 9.59158194e-01 -2.21856390e-01 -1.75485901e-01 2.43883348e+01] [ 2.22152035e-01 9.74841932e-01 -1.82121014e-02 -1.61148378e+00] [ 1.75111485e-01 -2.15162637e-02 9.84313476e-01 3.53469853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.61, Z:3.54 [[ 9.59152247e-01 -2.21884850e-01 -1.75482423e-01 2.44152028e+01] [ 2.22174933e-01 9.74836088e-01 -1.82455493e-02 -1.60889584e+00] [ 1.75115010e-01 -2.14875359e-02 9.84313476e-01 3.54080691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.61, Z:3.55 [[ 9.59231977e-01 -2.21544085e-01 -1.75477157e-01 2.44415675e+01] [ 2.21819492e-01 9.74916082e-01 -1.82960618e-02 -1.60637492e+00] [ 1.75128886e-01 -2.13740862e-02 9.84313477e-01 3.54548521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.60, Z:3.55 [[ 9.59234989e-01 -2.21533870e-01 -1.75473587e-01 2.44692295e+01] [ 2.21802951e-01 9.74919203e-01 -1.83302366e-02 -1.60349260e+00] [ 1.75133338e-01 -2.13375550e-02 9.84313478e-01 3.54994638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.60, Z:3.55 [[ 9.59222200e-01 -2.21593333e-01 -1.75468421e-01 2.44962453e+01] [ 2.21854497e-01 9.74906546e-01 -1.83795577e-02 -1.60027094e+00] [ 1.75138099e-01 -2.12983785e-02 9.84313479e-01 3.55446747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.60, Z:3.56 [[ 9.59209247e-01 -2.21653608e-01 -1.75463099e-01 2.45240901e+01] [ 2.21906625e-01 9.74893726e-01 -1.84302283e-02 -1.59726559e+00] [ 1.75143001e-01 -2.12579787e-02 9.84313480e-01 3.55888437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.59, Z:3.56 [[ 9.59190207e-01 -2.21740186e-01 -1.75457795e-01 2.45515122e+01] [ 2.21985542e-01 9.74874806e-01 -1.84805865e-02 -1.59480795e+00] [ 1.75147272e-01 -2.12226961e-02 9.84313482e-01 3.56360893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.59, Z:3.57 [[ 9.59268085e-01 -2.21407222e-01 -1.75452510e-01 2.45777302e+01] [ 2.21638113e-01 9.74952903e-01 -1.85306303e-02 -1.59252500e+00] [ 1.75160749e-01 -2.11111209e-02 9.84313483e-01 3.56842184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.59, Z:3.57 [[ 9.59361373e-01 -2.21004475e-01 -1.75450213e-01 2.46048865e+01] [ 2.21224866e-01 9.75046342e-01 -1.85523486e-02 -1.59006307e+00] [ 1.75172241e-01 -2.10155433e-02 9.84313483e-01 3.57370726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.59, Z:3.58 [[ 9.59312683e-01 -2.21217007e-01 -1.75448603e-01 2.46323595e+01] [ 2.21438130e-01 9.74997641e-01 -1.85675637e-02 -1.58695936e+00] [ 1.75169435e-01 -2.10389113e-02 9.84313483e-01 3.57936356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.58, Z:3.58 [[ 9.59372867e-01 -2.20960225e-01 -1.75443101e-01 2.46589929e+01] [ 2.21167803e-01 9.75058009e-01 -1.86194120e-02 -1.58422784e+00] [ 1.75181350e-01 -2.09394065e-02 9.84313485e-01 3.58314833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:-1.58, Z:3.59 [[ 9.59485223e-01 -2.20474805e-01 -1.75439354e-01 2.46867340e+01] [ 2.20668096e-01 9.75170547e-01 -1.86546465e-02 -1.58194517e+00] [ 1.75196171e-01 -2.08150106e-02 9.84313485e-01 3.58818465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.58, Z:3.59 [[ 9.59424525e-01 -2.20743175e-01 -1.75433837e-01 2.47138280e+01] [ 2.20931524e-01 9.75109908e-01 -1.87063939e-02 -1.57904409e+00] [ 1.75196581e-01 -2.08114918e-02 9.84313487e-01 3.59297489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.58, Z:3.60 [[ 9.59396863e-01 -2.20867760e-01 -1.75428310e-01 2.47403029e+01] [ 2.21048828e-01 9.75082330e-01 -1.87580811e-02 -1.57663209e+00] [ 1.75200101e-01 -2.07817782e-02 9.84313488e-01 3.59720705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.57, Z:3.60 [[ 9.59484358e-01 -2.20489270e-01 -1.75425909e-01 2.47674822e+01] [ 2.20660105e-01 9.75169939e-01 -1.87805123e-02 -1.57414141e+00] [ 1.75210974e-01 -2.06898917e-02 9.84313488e-01 3.60192418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.57, Z:3.61 [[ 9.59456579e-01 -2.20614469e-01 -1.75420436e-01 2.47943893e+01] [ 2.20778160e-01 9.75142235e-01 -1.88314912e-02 -1.57083035e+00] [ 1.75214376e-01 -2.06610030e-02 9.84313489e-01 3.60708712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.57, Z:3.61 [[ 9.59505037e-01 -2.20408096e-01 -1.75414809e-01 2.48208093e+01] [ 2.20558988e-01 9.75190820e-01 -1.88837668e-02 -1.56789980e+00] [ 1.75225047e-01 -2.05702434e-02 9.84313491e-01 3.61105352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.85, Y:-1.56, Z:3.62 [[ 9.59525532e-01 -2.20320796e-01 -1.75412371e-01 2.48483493e+01] [ 2.20466183e-01 9.75211367e-01 -1.89063827e-02 -1.56480750e+00] [ 1.75229608e-01 -2.05313391e-02 9.84313491e-01 3.61694272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.56, Z:3.62 [[ 9.59685814e-01 -2.19625966e-01 -1.75406882e-01 2.48760064e+01] [ 2.19750836e-01 9.75371824e-01 -1.89571750e-02 -1.56258413e+00] [ 1.75250419e-01 -2.03528772e-02 9.84313492e-01 3.62324426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.56, Z:3.63 [[ 9.59737525e-01 -2.19403985e-01 -1.75401753e-01 2.49032999e+01] [ 2.19516690e-01 9.75423626e-01 -1.90045182e-02 -1.55982929e+00] [ 1.75260681e-01 -2.02642631e-02 9.84313493e-01 3.62831465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.56, Z:3.63 [[ 9.59603851e-01 -2.19992275e-01 -1.75396259e-01 2.49308929e+01] [ 2.20105477e-01 9.75289948e-01 -1.90550883e-02 -1.55645047e+00] [ 1.75254181e-01 -2.03203413e-02 9.84313495e-01 3.63270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.55, Z:3.64 [[ 9.59792129e-01 -2.19173872e-01 -1.75390660e-01 2.49591794e+01] [ 2.19264428e-01 9.75478371e-01 -1.91064927e-02 -1.55406473e+00] [ 1.75277439e-01 -2.01186713e-02 9.84313496e-01 3.63612359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.55, Z:3.64 [[ 9.59742398e-01 -2.19395719e-01 -1.75385426e-01 2.49868763e+01] [ 2.19481258e-01 9.75428668e-01 -1.91544151e-02 -1.55107431e+00] [ 1.75278369e-01 -2.01105097e-02 9.84313497e-01 3.64016383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.55, Z:3.64 [[ 9.59713809e-01 -2.19525229e-01 -1.75379809e-01 2.50142108e+01] [ 2.19603635e-01 9.75400115e-01 -1.92057068e-02 -1.54802934e+00] [ 1.75281623e-01 -2.00820615e-02 9.84313498e-01 3.64468218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.04, Y:-1.54, Z:3.65 [[ 9.59649632e-01 -2.19810097e-01 -1.75374184e-01 2.50421353e+01] [ 2.19883919e-01 9.75335959e-01 -1.92569394e-02 -1.54474559e+00] [ 1.75281618e-01 -2.00820480e-02 9.84313500e-01 3.64970738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.54, Z:3.66 [[ 9.59748953e-01 -2.19380540e-01 -1.75368545e-01 2.50687711e+01] [ 2.19438103e-01 9.75435346e-01 -1.93081574e-02 -1.54298256e+00] [ 1.75296511e-01 -1.99515570e-02 9.84313501e-01 3.65500824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.54, Z:3.66 [[ 9.59772047e-01 -2.19282550e-01 -1.75364708e-01 2.50965189e+01] [ 2.19332237e-01 9.75458467e-01 -1.93429427e-02 -1.54046703e+00] [ 1.75302559e-01 -1.98983181e-02 9.84313502e-01 3.66090032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.54, Z:3.67 [[ 9.59748521e-01 -2.19389966e-01 -1.75359116e-01 2.51233371e+01] [ 2.19432287e-01 9.75434961e-01 -1.93935147e-02 -1.53755157e+00] [ 1.75306155e-01 -1.98665548e-02 9.84313503e-01 3.66604946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.54, Z:3.67 [[ 9.59752021e-01 -2.19376599e-01 -1.75356681e-01 2.51504766e+01] [ 2.19414735e-01 9.75438472e-01 -1.94155027e-02 -1.53526727e+00] [ 1.75308960e-01 -1.98417719e-02 9.84313503e-01 3.67143534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.53, Z:3.68 [[ 9.59724182e-01 -2.19502635e-01 -1.75351328e-01 2.51781510e+01] [ 2.19534132e-01 9.75410646e-01 -1.94637362e-02 -1.53220651e+00] [ 1.75311893e-01 -1.98157832e-02 9.84313504e-01 3.67581969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.53, Z:3.68 [[ 9.59710805e-01 -2.19565622e-01 -1.75345683e-01 2.52042715e+01] [ 2.19588999e-01 9.75397282e-01 -1.95144602e-02 -1.52949792e+00] [ 1.75316407e-01 -1.97757446e-02 9.84313506e-01 3.67985929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.53, Z:3.68 [[ 9.59770478e-01 -2.19306592e-01 -1.75343232e-01 2.52322682e+01] [ 2.19321768e-01 9.75456964e-01 -1.95364556e-02 -1.52724288e+00] [ 1.75324250e-01 -1.97060743e-02 9.84313506e-01 3.68376531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.52, Z:3.69 [[ 9.59783469e-01 -2.19254208e-01 -1.75337631e-01 2.52595455e+01] [ 2.19259481e-01 9.75469961e-01 -1.95866011e-02 -1.52460908e+00] [ 1.75331036e-01 -1.96455421e-02 9.84313507e-01 3.68897361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.52, Z:3.69 [[ 9.59671233e-01 -2.19749505e-01 -1.75331910e-01 2.52870761e+01] [ 2.19753660e-01 9.75357724e-01 -1.96376810e-02 -1.52201454e+00] [ 1.75326703e-01 -1.96841112e-02 9.84313508e-01 3.69401004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.52, Z:3.70 [[ 9.59570086e-01 -2.20195349e-01 -1.75326150e-01 2.53147399e+01] [ 2.20197539e-01 9.75256576e-01 -1.96889700e-02 -1.51919429e+00] [ 1.75323401e-01 -1.97134401e-02 9.84313510e-01 3.69933383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.52, Z:3.71 [[ 9.59534353e-01 -2.20355619e-01 -1.75320353e-01 2.53425651e+01] [ 2.20351139e-01 9.75220842e-01 -1.97404566e-02 -1.51653065e+00] [ 1.75325983e-01 -1.96903933e-02 9.84313511e-01 3.70505529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.51, Z:3.71 [[ 9.59414924e-01 -2.20879602e-01 -1.75314589e-01 2.53699078e+01] [ 2.20874477e-01 9.75101411e-01 -1.97915187e-02 -1.51377413e+00] [ 1.75321046e-01 -1.97342397e-02 9.84313512e-01 3.71003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.51, Z:3.71 [[ 9.59406572e-01 -2.20920548e-01 -1.75308702e-01 2.53961976e+01] [ 2.20906708e-01 9.75093052e-01 -1.98435308e-02 -1.51090862e+00] [ 1.75326141e-01 -1.96888544e-02 9.84313514e-01 3.71424880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.51, Z:3.72 [[ 9.59209280e-01 -2.21777607e-01 -1.75306160e-01 2.54241209e+01] [ 2.21773734e-01 9.74895766e-01 -1.98659657e-02 -1.50840303e+00] [ 1.75311059e-01 -1.98226829e-02 9.84313514e-01 3.71866245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.51, Z:3.72 [[ 9.59213163e-01 -2.21765328e-01 -1.75300447e-01 2.54517081e+01] [ 2.21752182e-01 9.74899642e-01 -1.99162482e-02 -1.50572617e+00] [ 1.75317077e-01 -1.97693293e-02 9.84313515e-01 3.72356679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:-1.50, Z:3.73 [[ 9.59100848e-01 -2.22255120e-01 -1.75294679e-01 2.54780553e+01] [ 2.22240847e-01 9.74787325e-01 -1.99668885e-02 -1.50380026e+00] [ 1.75312775e-01 -1.98073782e-02 9.84313517e-01 3.72695102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.51, Y:-1.50, Z:3.73 [[ 9.59024343e-01 -2.22586984e-01 -1.75292168e-01 2.55058810e+01] [ 2.22574166e-01 9.74710821e-01 -1.99889072e-02 -1.50100455e+00] [ 1.75308444e-01 -1.98456596e-02 9.84313517e-01 3.73265618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.50, Z:3.74 [[ 9.58899146e-01 -2.23130347e-01 -1.75286269e-01 2.55332725e+01] [ 2.23117106e-01 9.74585622e-01 -2.00405073e-02 -1.49914463e+00] [ 1.75303123e-01 -1.98925399e-02 9.84313518e-01 3.73845206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.50, Z:3.74 [[ 9.58753652e-01 -2.23756115e-01 -1.75284442e-01 2.55601636e+01] [ 2.23750229e-01 9.74440133e-01 -2.00564789e-02 -1.49644246e+00] [ 1.75291955e-01 -1.99907116e-02 9.84313518e-01 3.74398701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.49, Z:3.75 [[ 9.58753169e-01 -2.23762705e-01 -1.75278671e-01 2.55874552e+01] [ 2.23747849e-01 9.74439643e-01 -2.01067856e-02 -1.49367728e+00] [ 1.75297634e-01 -1.99407812e-02 9.84313519e-01 3.74875146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.61, Y:-1.49, Z:3.75 [[ 9.58671439e-01 -2.24117178e-01 -1.75272821e-01 2.56146696e+01] [ 2.24098942e-01 9.74357908e-01 -2.01576522e-02 -1.49102463e+00] [ 1.75296136e-01 -1.99538885e-02 9.84313521e-01 3.75375776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.64, Y:-1.49, Z:3.76 [[ 9.58594202e-01 -2.24451866e-01 -1.75266984e-01 2.56410487e+01] [ 2.24429970e-01 9.74280665e-01 -2.02082845e-02 -1.48913483e+00] [ 1.75295021e-01 -1.99636195e-02 9.84313522e-01 3.75774526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.67, Y:-1.49, Z:3.76 [[ 9.58568475e-01 -2.24563695e-01 -1.75264446e-01 2.56682581e+01] [ 2.24539662e-01 9.74254934e-01 -2.02302700e-02 -1.48630700e+00] [ 1.75295235e-01 -1.99617204e-02 9.84313522e-01 3.76206245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.70, Y:-1.48, Z:3.77 [[ 9.58442766e-01 -2.25104262e-01 -1.75258484e-01 2.56952999e+01] [ 2.25079777e-01 9.74129223e-01 -2.02817907e-02 -1.48349660e+00] [ 1.75289928e-01 -2.00082049e-02 9.84313524e-01 3.76619267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.48, Z:3.77 [[ 9.58323949e-01 -2.25611553e-01 -1.75255916e-01 2.57217961e+01] [ 2.25591371e-01 9.74010412e-01 -2.03039565e-02 -1.48108210e+00] [ 1.75281894e-01 -2.00784545e-02 9.84313524e-01 3.76986201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.48, Z:3.77 [[ 9.58207044e-01 -2.26109522e-01 -1.75253374e-01 2.57493900e+01] [ 2.26093535e-01 9.73893512e-01 -2.03258725e-02 -1.47805733e+00] [ 1.75273997e-01 -2.01472608e-02 9.84313524e-01 3.77482429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.48, Z:3.78 [[ 9.58117548e-01 -2.26492860e-01 -1.75247678e-01 2.57755037e+01] [ 2.26474306e-01 9.73804012e-01 -2.03748725e-02 -1.47561665e+00] [ 1.75271655e-01 -2.01675732e-02 9.84313525e-01 3.78047667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.47, Z:3.79 [[ 9.57881259e-01 -2.27492000e-01 -1.75245208e-01 2.58030295e+01] [ 2.27485976e-01 9.73567733e-01 -2.03960944e-02 -1.47317945e+00] [ 1.75253028e-01 -2.03287904e-02 9.84313526e-01 3.78723806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.47, Z:3.79 [[ 9.57797589e-01 -2.27848409e-01 -1.75239494e-01 2.58303833e+01] [ 2.27839381e-01 9.73484060e-01 -2.04450686e-02 -1.47035423e+00] [ 1.75251231e-01 -2.03442205e-02 9.84313527e-01 3.79208760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.47, Z:3.80 [[ 9.57670181e-01 -2.28384688e-01 -1.75237718e-01 2.58573308e+01] [ 2.28381699e-01 9.73356654e-01 -2.04602776e-02 -1.46753352e+00] [ 1.75241613e-01 -2.04268901e-02 9.84313527e-01 3.79787353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.47, Z:3.80 [[ 9.57410866e-01 -2.29473848e-01 -1.75231812e-01 2.58848387e+01] [ 2.29479592e-01 9.73097336e-01 -2.05107445e-02 -1.46527104e+00] [ 1.75224288e-01 -2.05749150e-02 9.84313528e-01 3.80275375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.46, Z:3.81 [[ 9.57305628e-01 -2.29916971e-01 -1.75225912e-01 2.59117971e+01] [ 2.29920901e-01 9.72992099e-01 -2.05610236e-02 -1.46256562e+00] [ 1.75220756e-01 -2.06049158e-02 9.84313529e-01 3.80678134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.46, Z:3.81 [[ 9.57190924e-01 -2.30395991e-01 -1.75223351e-01 2.59380632e+01] [ 2.30403834e-01 9.72877392e-01 -2.05828299e-02 -1.46039301e+00] [ 1.75213038e-01 -2.06704338e-02 9.84313530e-01 3.81113848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.46, Z:3.82 [[ 9.56947449e-01 -2.31407098e-01 -1.75220817e-01 2.59658203e+01] [ 2.31427624e-01 9.72633906e-01 -2.06043744e-02 -1.45875768e+00] [ 1.75193706e-01 -2.08336339e-02 9.84313530e-01 3.81674112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.99, Y:-1.46, Z:3.82 [[ 9.56891815e-01 -2.31641597e-01 -1.75214798e-01 2.59925011e+01] [ 2.31656750e-01 9.72578276e-01 -2.06554330e-02 -1.45646064e+00] [ 1.75194764e-01 -2.08246758e-02 9.84313531e-01 3.82075075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:-1.45, Z:3.83 [[ 9.56654264e-01 -2.32622687e-01 -1.75212172e-01 2.60194493e+01] [ 2.32649908e-01 9.72340709e-01 -2.06776841e-02 -1.45351937e+00] [ 1.75176026e-01 -2.09817012e-02 9.84313531e-01 3.82620598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:-1.45, Z:3.83 [[ 9.56548221e-01 -2.33062785e-01 -1.75206278e-01 2.60468579e+01] [ 2.33088227e-01 9.72234668e-01 -2.07275118e-02 -1.45039620e+00] [ 1.75172429e-01 -2.10116561e-02 9.84313533e-01 3.83161463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.45, Z:3.84 [[ 9.56437270e-01 -2.33522151e-01 -1.75200326e-01 2.60739177e+01] [ 2.33546066e-01 9.72123718e-01 -2.07776979e-02 -1.44795180e+00] [ 1.75168445e-01 -2.10447824e-02 9.84313534e-01 3.83695997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.45, Z:3.84 [[ 9.56402998e-01 -2.33666973e-01 -1.75194323e-01 2.61006291e+01] [ 2.33684146e-01 9.72089454e-01 -2.08281972e-02 -1.44530736e+00] [ 1.75171415e-01 -2.10199854e-02 9.84313535e-01 3.84073254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.44, Z:3.85 [[ 9.56286920e-01 -2.34143523e-01 -1.75191718e-01 2.61277641e+01] [ 2.34164561e-01 9.71973370e-01 -2.08500873e-02 -1.44334980e+00] [ 1.75163597e-01 -2.10850259e-02 9.84313535e-01 3.84593928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.44, Z:3.85 [[ 9.56249782e-01 -2.34299581e-01 -1.75185787e-01 2.61545135e+01] [ 2.34314203e-01 9.71936239e-01 -2.08998007e-02 -1.44059551e+00] [ 1.75166229e-01 -2.10630882e-02 9.84313537e-01 3.84953432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.44, Z:3.86 [[ 9.56056236e-01 -2.35134705e-01 -1.75123226e-01 2.61836228e+01] [ 2.35068502e-01 9.71742682e-01 -2.14233232e-02 -1.43711898e+00] [ 1.75212080e-01 -2.06840528e-02 9.84313414e-01 3.85552021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.43, Z:3.86 [[ 9.55911048e-01 -2.35681831e-01 -1.75180315e-01 2.62106563e+01] [ 2.35710785e-01 9.71597494e-01 -2.09460351e-02 -1.43454154e+00] [ 1.75141355e-01 -2.12693433e-02 9.84313528e-01 3.85975334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.43, Z:3.87 [[ 9.55801824e-01 -2.36126330e-01 -1.75177706e-01 2.62376828e+01] [ 2.36158643e-01 9.71488263e-01 -2.09678335e-02 -1.43191064e+00] [ 1.75134143e-01 -2.13286359e-02 9.84313528e-01 3.86543409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.43, Z:3.87 [[ 9.55633991e-01 -2.36809031e-01 -1.75171798e-01 2.62649642e+01] [ 2.36843656e-01 9.71320423e-01 -2.10170831e-02 -1.42986836e+00] [ 1.75124980e-01 -2.14036900e-02 9.84313529e-01 3.87155241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.43, Z:3.88 [[ 9.55597881e-01 -2.36956056e-01 -1.75169970e-01 2.62920702e+01] [ 2.36990345e-01 9.71284314e-01 -2.10323076e-02 -1.42729178e+00] [ 1.75123576e-01 -2.14151630e-02 9.84313529e-01 3.87684118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.42, Z:3.88 [[ 9.55491840e-01 -2.37387622e-01 -1.75164097e-01 2.63185082e+01] [ 2.37420184e-01 9.71178276e-01 -2.10811036e-02 -1.42438335e+00] [ 1.75119959e-01 -2.14446697e-02 9.84313530e-01 3.88112267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.42, Z:3.89 [[ 9.55417985e-01 -2.37686569e-01 -1.75161548e-01 2.63464094e+01] [ 2.37720219e-01 9.71104419e-01 -2.11022603e-02 -1.42117305e+00] [ 1.75115878e-01 -2.14779626e-02 9.84313531e-01 3.88591122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.37, Y:-1.42, Z:3.89 [[ 9.55250019e-01 -2.38364997e-01 -1.75155729e-01 2.63744970e+01] [ 2.38401084e-01 9.70936446e-01 -2.11504515e-02 -1.41850917e+00] [ 1.75106609e-01 -2.15533466e-02 9.84313532e-01 3.89018116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.42, Z:3.89 [[ 9.55279537e-01 -2.38251036e-01 -1.75149793e-01 2.64006255e+01] [ 2.38276394e-01 9.70965984e-01 -2.11995005e-02 -1.41606933e+00] [ 1.75115294e-01 -2.14826120e-02 9.84313533e-01 3.89437151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.41, Z:3.90 [[ 9.55140556e-01 -2.38809482e-01 -1.75147221e-01 2.64284996e+01] [ 2.38840177e-01 9.70826993e-01 -2.12207275e-02 -1.41398953e+00] [ 1.75105361e-01 -2.15634159e-02 9.84313533e-01 3.89929693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.41, Z:3.90 [[ 9.55078627e-01 -2.39061501e-01 -1.75141131e-01 2.64546704e+01] [ 2.39087279e-01 9.70765071e-01 -2.12708719e-02 -1.41113522e+00] [ 1.75105939e-01 -2.15586614e-02 9.84313534e-01 3.90328739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.41, Z:3.91 [[ 9.54931839e-01 -2.39650176e-01 -1.75137022e-01 2.64815783e+01] [ 2.39679522e-01 9.70618276e-01 -2.13046541e-02 -1.40826714e+00] [ 1.75096858e-01 -2.16322652e-02 9.84313535e-01 3.90882322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.41, Z:3.91 [[ 9.54689518e-01 -2.40618027e-01 -1.75131064e-01 2.65091672e+01] [ 2.40654448e-01 9.70375939e-01 -2.13535221e-02 -1.40583966e+00] [ 1.75081013e-01 -2.17600858e-02 9.84313536e-01 3.91420999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.40, Z:3.92 [[ 9.54615305e-01 -2.40916660e-01 -1.75125050e-01 2.65357418e+01] [ 2.40949100e-01 9.70301734e-01 -2.14027347e-02 -1.40310852e+00] [ 1.75080415e-01 -2.17648449e-02 9.84313537e-01 3.91904838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.40, Z:3.92 [[ 9.54464239e-01 -2.41516359e-01 -1.75122428e-01 2.65635008e+01] [ 2.41554783e-01 9.70150654e-01 -2.14241647e-02 -1.39984626e+00] [ 1.75069424e-01 -2.18530610e-02 9.84313538e-01 3.92423029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.40, Z:3.93 [[ 9.54325931e-01 -2.42066567e-01 -1.75116519e-01 2.65908406e+01] [ 2.42105329e-01 9.70012344e-01 -2.14723565e-02 -1.39679418e+00] [ 1.75062925e-01 -2.19050159e-02 9.84313539e-01 3.92913335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.39, Z:3.93 [[ 9.54180218e-01 -2.42644627e-01 -1.75110530e-01 2.66181555e+01] [ 2.42684088e-01 9.69866628e-01 -2.15210909e-02 -1.39494066e+00] [ 1.75055836e-01 -2.19615401e-02 9.84313540e-01 3.93401265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.39, Z:3.94 [[ 9.54005321e-01 -2.43335675e-01 -1.75104533e-01 2.66460287e+01] [ 2.43377705e-01 9.69691723e-01 -2.15697716e-02 -1.39198735e+00] [ 1.75046112e-01 -2.20388626e-02 9.84313541e-01 3.93911586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.39, Z:3.94 [[ 9.53920608e-01 -2.43671994e-01 -1.75098350e-01 2.66728701e+01] [ 2.43710508e-01 9.69607019e-01 -2.16198487e-02 -1.38944347e+00] [ 1.75044741e-01 -2.20496888e-02 9.84313542e-01 3.94392573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.39, Z:3.95 [[ 9.53635422e-01 -2.44787637e-01 -1.75095673e-01 2.67000435e+01] [ 2.44840586e-01 9.69321790e-01 -2.16415120e-02 -1.38707242e+00] [ 1.75021626e-01 -2.22324147e-02 9.84313543e-01 3.94886169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.38, Z:3.95 [[ 9.53568249e-01 -2.45053442e-01 -1.75089707e-01 2.67279265e+01] [ 2.45102063e-01 9.69254630e-01 -2.16896736e-02 -1.38338924e+00] [ 1.75021638e-01 -2.22322642e-02 9.84313544e-01 3.95388684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.38, Z:3.96 [[ 9.53444341e-01 -2.45539346e-01 -1.75083747e-01 2.67549836e+01] [ 2.45587287e-01 9.69130723e-01 -2.17376815e-02 -1.38053189e+00] [ 1.75016494e-01 -2.22726729e-02 9.84313545e-01 3.95781988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.38, Z:3.96 [[ 9.53237162e-01 -2.46344270e-01 -1.75081161e-01 2.67825102e+01] [ 2.46401697e-01 9.68923512e-01 -2.17584859e-02 -1.37836543e+00] [ 1.75000332e-01 -2.23992978e-02 9.84313545e-01 3.96301617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.38, Z:3.97 [[ 9.53099762e-01 -2.46879472e-01 -1.75075325e-01 2.68100926e+01] [ 2.46937241e-01 9.68786110e-01 -2.18053441e-02 -1.37551991e+00] [ 1.74993835e-01 -2.24499495e-02 9.84313546e-01 3.96869632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.37, Z:3.97 [[ 9.52928166e-01 -2.47545412e-01 -1.75069073e-01 2.68371931e+01] [ 2.47605093e-01 9.68614504e-01 -2.18554251e-02 -1.37267115e+00] [ 1.74984654e-01 -2.25213441e-02 9.84313548e-01 3.97420509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.37, Z:3.98 [[ 9.52738032e-01 -2.48280711e-01 -1.75062646e-01 2.68650989e+01] [ 2.48343217e-01 9.68424359e-01 -2.19067912e-02 -1.37079879e+00] [ 1.74973964e-01 -2.26041875e-02 9.84313549e-01 3.97968426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.37, Z:3.98 [[ 9.52557383e-01 -2.48977403e-01 -1.75056235e-01 2.68928815e+01] [ 2.49042145e-01 9.68243699e-01 -2.19578993e-02 -1.36770123e+00] [ 1.74964118e-01 -2.26802214e-02 9.84313550e-01 3.98402279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.36, Z:3.99 [[ 9.52383780e-01 -2.49642032e-01 -1.75054253e-01 2.69198993e+01] [ 2.49714867e-01 9.68070061e-01 -2.19736918e-02 -1.36490408e+00] [ 1.74950339e-01 -2.27862619e-02 9.84313550e-01 3.98974249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.36, Z:3.99 [[ 9.52140461e-01 -2.50572855e-01 -1.75047956e-01 2.69472043e+01] [ 2.50651979e-01 9.67826710e-01 -2.20237421e-02 -1.36302254e+00] [ 1.74934640e-01 -2.29064208e-02 9.84313552e-01 3.99480998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.36, Z:4.00 [[ 9.51928345e-01 -2.51381891e-01 -1.75041625e-01 2.69735670e+01] [ 2.51465272e-01 9.67614571e-01 -2.20739503e-02 -1.36032661e+00] [ 1.74921818e-01 -2.30040709e-02 9.84313553e-01 3.99969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.36, Z:4.00 [[ 9.51772892e-01 -2.51971737e-01 -1.75038868e-01 2.70003678e+01] [ 2.52060892e-01 9.67459086e-01 -2.20957898e-02 -1.35854587e+00] [ 1.74910458e-01 -2.30902794e-02 9.84313553e-01 4.00365860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.36, Z:4.01 [[ 9.51563664e-01 -2.52762611e-01 -1.75036156e-01 2.70278276e+01] [ 2.52860923e-01 9.67249803e-01 -2.21172549e-02 -1.35536273e+00] [ 1.74894102e-01 -2.32138278e-02 9.84313553e-01 4.00887745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.35, Z:4.01 [[ 9.51378936e-01 -2.53461340e-01 -1.75029909e-01 2.70556083e+01] [ 2.53562257e-01 9.67065057e-01 -2.21665830e-02 -1.35248223e+00] [ 1.74883681e-01 -2.32921586e-02 9.84313555e-01 4.01401299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.35, Z:4.02 [[ 9.51095218e-01 -2.54528230e-01 -1.75023619e-01 2.70829386e+01] [ 2.54637785e-01 9.66781279e-01 -2.22161358e-02 -1.35055798e+00] [ 1.74864192e-01 -2.34379662e-02 9.84313556e-01 4.01866514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.35, Z:4.02 [[ 9.50921181e-01 -2.55179007e-01 -1.75021659e-01 2.71107670e+01] [ 2.55296507e-01 9.66607186e-01 -2.22315679e-02 -1.34764139e+00] [ 1.74850223e-01 -2.35419494e-02 9.84313556e-01 4.02380742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.35, Z:4.03 [[ 9.50783085e-01 -2.55697411e-01 -1.75015311e-01 2.71380812e+01] [ 2.55814451e-01 9.66469091e-01 -2.22814324e-02 -1.34527677e+00] [ 1.74844193e-01 -2.35866366e-02 9.84313557e-01 4.02915709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.34, Z:4.03 [[ 9.50675898e-01 -2.56100023e-01 -1.75008899e-01 2.71649792e+01] [ 2.56214623e-01 9.66361921e-01 -2.23316865e-02 -1.34287281e+00] [ 1.74841081e-01 -2.36096428e-02 9.84313558e-01 4.03342980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.34, Z:4.04 [[ 9.50650377e-01 -2.56196641e-01 -1.75006121e-01 2.71920195e+01] [ 2.56308904e-01 9.66336416e-01 -2.23534345e-02 -1.34001892e+00] [ 1.74841662e-01 -2.36053261e-02 9.84313559e-01 4.03746084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.34, Z:4.04 [[ 9.50406231e-01 -2.57102720e-01 -1.75003394e-01 2.72200254e+01] [ 2.57226080e-01 9.66092187e-01 -2.23747658e-02 -1.33761516e+00] [ 1.74822024e-01 -2.37503201e-02 9.84313559e-01 4.04201144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.33, Z:4.05 [[ 9.50228764e-01 -2.57762169e-01 -1.74997032e-01 2.72470622e+01] [ 2.57887440e-01 9.65914703e-01 -2.24244135e-02 -1.33493401e+00] [ 1.74812372e-01 -2.38212138e-02 9.84313560e-01 4.04634593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.33, Z:4.05 [[ 9.50116162e-01 -2.58178782e-01 -1.74994275e-01 2.72737408e+01] [ 2.58307046e-01 9.65802077e-01 -2.24459039e-02 -1.33231971e+00] [ 1.74804891e-01 -2.38760383e-02 9.84313560e-01 4.05102897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.33, Z:4.06 [[ 9.49963909e-01 -2.58740231e-01 -1.74991610e-01 2.73006466e+01] [ 2.58874013e-01 9.65649778e-01 -2.24666629e-02 -1.32984757e+00] [ 1.74793639e-01 -2.39582614e-02 9.84313561e-01 4.05756727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.33, Z:4.06 [[ 9.49635602e-01 -2.59946941e-01 -1.74985176e-01 2.73278285e+01] [ 2.60091612e-01 9.65321373e-01 -2.25166707e-02 -1.32785691e+00] [ 1.74770070e-01 -2.41295443e-02 9.84313562e-01 4.06292010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.32, Z:4.07 [[ 9.49452217e-01 -2.60617296e-01 -1.74983180e-01 2.73552661e+01] [ 2.60770239e-01 9.65137909e-01 -2.25321688e-02 -1.32447271e+00] [ 1.74755173e-01 -2.42371880e-02 9.84313562e-01 4.06808532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.32, Z:4.07 [[ 9.49506780e-01 -2.60422785e-01 -1.74976709e-01 2.73818288e+01] [ 2.60563451e-01 9.65192586e-01 -2.25823088e-02 -1.32204668e+00] [ 1.74767170e-01 -2.41504798e-02 9.84313563e-01 4.07338767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.32, Z:4.08 [[ 9.49305887e-01 -2.61156029e-01 -1.74973886e-01 2.74093752e+01] [ 2.61304859e-01 9.64991618e-01 -2.26041605e-02 -1.32004534e+00] [ 1.74751546e-01 -2.42632641e-02 9.84313563e-01 4.07745117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.32, Z:4.08 [[ 9.49675469e-01 -2.59813234e-01 -1.74967388e-01 2.74345981e+01] [ 2.59930808e-01 9.65361464e-01 -2.26543474e-02 -1.31829675e+00] [ 1.74792673e-01 -2.39651367e-02 9.84313565e-01 4.08086370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:-1.31, Z:4.09 [[ 9.49081595e-01 -2.62086956e-01 -1.74798610e-01 2.74651480e+01] [ 2.62007290e-01 9.64768589e-01 -2.39530828e-02 -1.31456359e+00] [ 1.74917999e-01 -2.30650802e-02 9.84312804e-01 4.08574006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.31, Z:4.09 [[ 9.48832577e-01 -2.62879146e-01 -1.74960837e-01 2.74925208e+01] [ 2.63038399e-01 9.64518184e-01 -2.27040207e-02 -1.31249193e+00] [ 1.74721323e-01 -2.44791040e-02 9.84313585e-01 4.09009320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.31, Z:4.10 [[ 9.48708950e-01 -2.63329334e-01 -1.74954254e-01 2.75199880e+01] [ 2.63486878e-01 9.64394573e-01 -2.27546441e-02 -1.30960901e+00] [ 1.74716898e-01 -2.45106155e-02 9.84313586e-01 4.09529653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.31, Z:4.10 [[ 9.48680503e-01 -2.63436136e-01 -1.74947723e-01 2.75478258e+01] [ 2.63586387e-01 9.64366196e-01 -2.28047454e-02 -1.30671303e+00] [ 1.74721264e-01 -2.44794208e-02 9.84313587e-01 4.09986620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.30, Z:4.11 [[ 9.48502480e-01 -2.64080754e-01 -1.74941135e-01 2.75743007e+01] [ 2.64232547e-01 9.64188157e-01 -2.28551718e-02 -1.30423782e+00] [ 1.74711782e-01 -2.45469546e-02 9.84313588e-01 4.10673590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.30, Z:4.11 [[ 9.48542626e-01 -2.63938142e-01 -1.74938687e-01 2.76020760e+01] [ 2.64084190e-01 9.64228357e-01 -2.28738982e-02 -1.30151261e+00] [ 1.74718137e-01 -2.45016740e-02 9.84313589e-01 4.11255604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.63, Y:-1.30, Z:4.12 [[ 9.48449025e-01 -2.64278650e-01 -1.74932106e-01 2.76289793e+01] [ 2.64421249e-01 9.64134787e-01 -2.29241178e-02 -1.29888901e+00] [ 1.74716484e-01 -2.45134086e-02 9.84313590e-01 4.11836645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.66, Y:-1.30, Z:4.12 [[ 9.48208371e-01 -2.65145201e-01 -1.74925433e-01 2.76561559e+01] [ 2.65292946e-01 9.63894084e-01 -2.29749275e-02 -1.29648711e+00] [ 1.74701282e-01 -2.46214648e-02 9.84313591e-01 4.12328833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.29, Z:4.13 [[ 9.48138444e-01 -2.65399536e-01 -1.74918770e-01 2.76829708e+01] [ 2.65542336e-01 9.63824202e-01 -2.30255405e-02 -1.29368911e+00] [ 1.74701912e-01 -2.46169387e-02 9.84313592e-01 4.12757546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.29, Z:4.13 [[ 9.47849545e-01 -2.66432447e-01 -1.74914241e-01 2.77107856e+01] [ 2.66586124e-01 9.63535199e-01 -2.30598976e-02 -1.29025131e+00] [ 1.74679933e-01 -2.47723961e-02 9.84313593e-01 4.13139994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.29, Z:4.14 [[ 9.47826780e-01 -2.66517862e-01 -1.74907475e-01 2.77381743e+01] [ 2.66663692e-01 9.63512508e-01 -2.31111028e-02 -1.28824429e+00] [ 1.74685062e-01 -2.47361510e-02 9.84313594e-01 4.13510039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.29, Z:4.14 [[ 9.47802687e-01 -2.66607996e-01 -1.74900664e-01 2.77643969e+01] [ 2.66746016e-01 9.63488484e-01 -2.31625372e-02 -1.28562851e+00] [ 1.74690093e-01 -2.47005404e-02 9.84313596e-01 4.13956447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.28, Z:4.14 [[ 9.47680438e-01 -2.67045240e-01 -1.74896046e-01 2.77915005e+01] [ 2.67184200e-01 9.63366226e-01 -2.31973583e-02 -1.28286240e+00] [ 1.74683688e-01 -2.47457773e-02 9.84313596e-01 4.14497059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.82, Y:-1.28, Z:4.15 [[ 9.47532647e-01 -2.67573589e-01 -1.74889273e-01 2.78193901e+01] [ 2.67712079e-01 9.63218438e-01 -2.32483093e-02 -1.28006814e+00] [ 1.74677206e-01 -2.47914388e-02 9.84313598e-01 4.15066533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.28, Z:4.16 [[ 9.47422521e-01 -2.67967711e-01 -1.74882452e-01 2.78461023e+01] [ 2.68103465e-01 9.63108335e-01 -2.32995072e-02 -1.27838812e+00] [ 1.74674263e-01 -2.48121135e-02 9.84313599e-01 4.15686564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.28, Z:4.16 [[ 9.47338722e-01 -2.68265194e-01 -1.74880334e-01 2.78725653e+01] [ 2.68403001e-01 9.63024518e-01 -2.33153917e-02 -1.27554135e+00] [ 1.74668758e-01 -2.48508331e-02 9.84313599e-01 4.16191003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.27, Z:4.17 [[ 9.47265983e-01 -2.68523828e-01 -1.74877417e-01 2.79002774e+01] [ 2.68661963e-01 9.62951776e-01 -2.33372516e-02 -1.27268257e+00] [ 1.74665128e-01 -2.48763256e-02 9.84313599e-01 4.16768199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.27, Z:4.17 [[ 9.47089790e-01 -2.69149023e-01 -1.74870617e-01 2.79278568e+01] [ 2.69288315e-01 9.62775571e-01 -2.33880962e-02 -1.27044001e+00] [ 1.74656042e-01 -2.49399867e-02 9.84313601e-01 4.17192733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.27, Z:4.18 [[ 9.47125420e-01 -2.69028048e-01 -1.74863798e-01 2.79548819e+01] [ 2.69156134e-01 9.62811295e-01 -2.34389701e-02 -1.26785898e+00] [ 1.74666580e-01 -2.48660195e-02 9.84313602e-01 4.17573522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.26, Z:4.18 [[ 9.47064931e-01 -2.69242819e-01 -1.74860859e-01 2.79828899e+01] [ 2.69370499e-01 9.62750810e-01 -2.34608777e-02 -1.26466373e+00] [ 1.74664106e-01 -2.48833823e-02 9.84313602e-01 4.17990828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.01, Y:-1.26, Z:4.18 [[ 9.47012507e-01 -2.69431528e-01 -1.74854119e-01 2.80107852e+01] [ 2.69553264e-01 9.62698432e-01 -2.35110073e-02 -1.26172948e+00] [ 1.74666392e-01 -2.48672805e-02 9.84313603e-01 4.18388618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.26, Z:4.19 [[ 9.47026784e-01 -2.69385786e-01 -1.74847270e-01 2.80383578e+01] [ 2.69497570e-01 9.62712781e-01 -2.35618324e-02 -1.25951276e+00] [ 1.74674924e-01 -2.48072281e-02 9.84313605e-01 4.18783840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.07, Y:-1.26, Z:4.19 [[ 9.46906270e-01 -2.69813581e-01 -1.74840350e-01 2.80650930e+01] [ 2.69923180e-01 9.62592281e-01 -2.36130755e-02 -1.25624236e+00] [ 1.74671099e-01 -2.48340939e-02 9.84313606e-01 4.19269067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.25, Z:4.20 [[ 9.46822686e-01 -2.70108686e-01 -1.74837352e-01 2.80921101e+01] [ 2.70219163e-01 9.62508690e-01 -2.36352487e-02 -1.25345592e+00] [ 1.74666557e-01 -2.48660133e-02 9.84313606e-01 4.19834330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.25, Z:4.20 [[ 9.46830571e-01 -2.70085399e-01 -1.74830625e-01 2.81195106e+01] [ 2.70186506e-01 9.62516637e-01 -2.36849032e-02 -1.25132133e+00] [ 1.74674332e-01 -2.48112854e-02 9.84313607e-01 4.20438026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.25, Z:4.21 [[ 9.46792903e-01 -2.70221722e-01 -1.74823967e-01 2.81466382e+01] [ 2.70316212e-01 9.62479010e-01 -2.37339546e-02 -1.24801988e+00] [ 1.74677828e-01 -2.47866126e-02 9.84313609e-01 4.20928934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.25, Z:4.21 [[ 9.46868969e-01 -2.69959474e-01 -1.74817157e-01 2.81756252e+01] [ 2.70040563e-01 9.62555149e-01 -2.37840062e-02 -1.24510724e+00] [ 1.74691873e-01 -2.46873862e-02 9.84313610e-01 4.21287428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.24, Z:4.22 [[ 9.46834989e-01 -2.70082607e-01 -1.74811011e-01 2.82024515e+01] [ 2.70157577e-01 9.62521199e-01 -2.38290995e-02 -1.24183399e+00] [ 1.74695129e-01 -2.46642938e-02 9.84313611e-01 4.21696660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.24, Z:4.22 [[ 9.46797122e-01 -2.70217303e-01 -1.74807950e-01 2.82299923e+01] [ 2.70290444e-01 9.62483340e-01 -2.38515323e-02 -1.23876438e+00] [ 1.74694836e-01 -2.46663562e-02 9.84313611e-01 4.22221108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.24, Z:4.23 [[ 9.46842427e-01 -2.70062993e-01 -1.74801026e-01 2.82574136e+01] [ 2.70124415e-01 9.62528694e-01 -2.39021676e-02 -1.23598207e+00] [ 1.74706094e-01 -2.45864386e-02 9.84313612e-01 4.22797886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.29, Y:-1.23, Z:4.24 [[ 9.46800218e-01 -2.70215417e-01 -1.74794096e-01 2.82854657e+01] [ 2.70270211e-01 9.62486508e-01 -2.39527446e-02 -1.23378423e+00] [ 1.74709360e-01 -2.45631734e-02 9.84313614e-01 4.23584874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.23, Z:4.24 [[ 9.46912857e-01 -2.69824479e-01 -1.74787846e-01 2.83120837e+01] [ 2.69864559e-01 9.62599191e-01 -2.39982629e-02 -1.23093576e+00] [ 1.74725958e-01 -2.44447813e-02 9.84313615e-01 4.24056150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.23, Z:4.25 [[ 9.46939865e-01 -2.69732806e-01 -1.74783026e-01 2.83391253e+01] [ 2.69765023e-01 9.62626216e-01 -2.40333217e-02 -1.22774185e+00] [ 1.74733298e-01 -2.43922364e-02 9.84313615e-01 4.24544931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.23, Z:4.25 [[ 9.47132920e-01 -2.69058695e-01 -1.74776001e-01 2.83670954e+01] [ 2.69070520e-01 9.62819299e-01 -2.40842967e-02 -1.22509786e+00] [ 1.74757797e-01 -2.42160393e-02 9.84313617e-01 4.24791671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.39, Y:-1.22, Z:4.25 [[ 9.47375618e-01 -2.68204302e-01 -1.74773829e-01 2.83949975e+01] [ 2.68199127e-01 9.63062000e-01 -2.41000491e-02 -1.22224204e+00] [ 1.74781770e-01 -2.40423896e-02 9.84313617e-01 4.25271101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.22, Z:4.26 [[ 9.47218953e-01 -2.68795528e-01 -1.74714682e-01 2.84228833e+01] [ 2.68722661e-01 9.62905241e-01 -2.45281308e-02 -1.21840213e+00] [ 1.74826735e-01 -2.37162838e-02 9.84313543e-01 4.25622585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.22, Z:4.26 [[ 9.47115314e-01 -2.69127500e-01 -1.74765473e-01 2.84501053e+01] [ 2.69126614e-01 9.62801703e-01 -2.41608237e-02 -1.21555656e+00] [ 1.74766837e-01 -2.41509540e-02 9.84313611e-01 4.26284336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.21, Z:4.27 [[ 9.47260858e-01 -2.68619447e-01 -1.74758292e-01 2.84766486e+01] [ 2.68600765e-01 9.62947234e-01 -2.42126593e-02 -1.21292929e+00] [ 1.74787005e-01 -2.40045064e-02 9.84313612e-01 4.26945587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.21, Z:4.27 [[ 9.47184313e-01 -2.68891412e-01 -1.74754932e-01 2.85044984e+01] [ 2.68872848e-01 9.62870690e-01 -2.42368875e-02 -1.20884254e+00] [ 1.74783492e-01 -2.40300565e-02 9.84313612e-01 4.27449121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.21, Z:4.28 [[ 9.47207216e-01 -2.68815254e-01 -1.74747958e-01 2.85315101e+01] [ 2.68786345e-01 9.62893576e-01 -2.42870667e-02 -1.20519370e+00] [ 1.74792420e-01 -2.39649801e-02 9.84313613e-01 4.28024577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.20, Z:4.29 [[ 9.47322137e-01 -2.68414560e-01 -1.74740930e-01 2.85589607e+01] [ 2.68369881e-01 9.63008459e-01 -2.43375288e-02 -1.20196352e+00] [ 1.74809541e-01 -2.38397227e-02 9.84313615e-01 4.28604186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.20, Z:4.29 [[ 9.47386040e-01 -2.68193537e-01 -1.74733849e-01 2.85863193e+01] [ 2.68136014e-01 9.63072319e-01 -2.43882643e-02 -1.19921795e+00] [ 1.74822108e-01 -2.37473365e-02 9.84313616e-01 4.28978580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.20, Z:4.29 [[ 9.47258961e-01 -2.68667361e-01 -1.74694903e-01 2.86143740e+01] [ 2.68567242e-01 9.62945056e-01 -2.46668928e-02 -1.19558281e+00] [ 1.74848783e-01 -2.35513931e-02 9.84313586e-01 4.29307697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.19, Z:4.30 [[ 9.47112995e-01 -2.69162509e-01 -1.74724120e-01 2.86422349e+01] [ 2.69108371e-01 9.62799294e-01 -2.44582015e-02 -1.19181403e+00] [ 1.74807491e-01 -2.38550430e-02 9.84313608e-01 4.29717038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.67, Y:-1.19, Z:4.30 [[ 9.47065038e-01 -2.69335837e-01 -1.74716972e-01 2.86683324e+01] [ 2.69275345e-01 9.62751313e-01 -2.45091593e-02 -1.18860404e+00] [ 1.74810189e-01 -2.38352051e-02 9.84313609e-01 4.30130132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.19, Z:4.31 [[ 9.47262580e-01 -2.68642279e-01 -1.74713854e-01 2.86948677e+01] [ 2.68566280e-01 9.62948786e-01 -2.45313658e-02 -1.18662780e+00] [ 1.74830656e-01 -2.36846051e-02 9.84313609e-01 4.30690871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.18, Z:4.31 [[ 9.47075233e-01 -2.69355559e-01 -1.74631288e-01 2.87227497e+01] [ 2.69185136e-01 9.62760844e-01 -2.51181209e-02 -1.18286092e+00] [ 1.74893872e-01 -2.32193969e-02 9.84313463e-01 4.31082830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.18, Z:4.32 [[ 9.46992057e-01 -2.69598058e-01 -1.74708129e-01 2.87501750e+01] [ 2.69530536e-01 9.62678300e-01 -2.45719717e-02 -1.17956800e+00] [ 1.74812280e-01 -2.38197135e-02 9.84313613e-01 4.31675545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.78, Y:-1.18, Z:4.32 [[ 9.46851516e-01 -2.70095932e-01 -1.74700871e-01 2.87772095e+01] [ 2.70027332e-01 9.62537752e-01 -2.46234707e-02 -1.17642100e+00] [ 1.74806883e-01 -2.38592394e-02 9.84313614e-01 4.32212181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.17, Z:4.33 [[ 9.46713063e-01 -2.70585533e-01 -1.74693577e-01 2.88048763e+01] [ 2.70515695e-01 9.62399292e-01 -2.46751107e-02 -1.17353259e+00] [ 1.74801703e-01 -2.38971047e-02 9.84313615e-01 4.32720821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.17, Z:4.33 [[ 9.46643851e-01 -2.70832331e-01 -1.74686200e-01 2.88311686e+01] [ 2.70757145e-01 9.62330054e-01 -2.47272288e-02 -1.17040192e+00] [ 1.74802713e-01 -2.38896576e-02 9.84313617e-01 4.33117455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.86, Y:-1.17, Z:4.34 [[ 9.46501701e-01 -2.71330745e-01 -1.74683016e-01 2.88589353e+01] [ 2.71259749e-01 9.62187924e-01 -2.47496980e-02 -1.16685203e+00] [ 1.74793243e-01 -2.39588399e-02 9.84313617e-01 4.33611043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.16, Z:4.34 [[ 9.46467737e-01 -2.71453884e-01 -1.74675733e-01 2.88858931e+01] [ 2.71375640e-01 9.62153924e-01 -2.48009954e-02 -1.16422994e+00] [ 1.74797268e-01 -2.39293968e-02 9.84313618e-01 4.34058129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.16, Z:4.35 [[ 9.46441400e-01 -2.71550340e-01 -1.74668513e-01 2.89129916e+01] [ 2.71464504e-01 9.62127545e-01 -2.48517431e-02 -1.16102095e+00] [ 1.74801887e-01 -2.38955828e-02 9.84313619e-01 4.34639350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.16, Z:4.35 [[ 9.46369275e-01 -2.71806294e-01 -1.74661198e-01 2.89402992e+01] [ 2.71715408e-01 9.62055391e-01 -2.49030491e-02 -1.15744526e+00] [ 1.74802553e-01 -2.38906581e-02 9.84313621e-01 4.35124861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.97, Y:-1.15, Z:4.36 [[ 9.46335961e-01 -2.71926973e-01 -1.74653860e-01 2.89669299e+01] [ 2.71828785e-01 9.62022031e-01 -2.49544110e-02 -1.15404851e+00] [ 1.74806638e-01 -2.38606900e-02 9.84313622e-01 4.35501461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.15, Z:4.36 [[ 9.46127887e-01 -2.72652093e-01 -1.74650675e-01 2.89939636e+01] [ 2.72561893e-01 9.61814005e-01 -2.49766796e-02 -1.15083239e+00] [ 1.74791409e-01 -2.39719855e-02 9.84313622e-01 4.35963695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.15, Z:4.36 [[ 9.46073856e-01 -2.72844237e-01 -1.74643297e-01 2.90204121e+01] [ 2.72747898e-01 9.61759937e-01 -2.50281617e-02 -1.14724510e+00] [ 1.74793716e-01 -2.39551028e-02 9.84313624e-01 4.36353544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.14, Z:4.37 [[ 9.46044607e-01 -2.72947678e-01 -1.74640107e-01 2.90465609e+01] [ 2.72849025e-01 9.61730673e-01 -2.50504007e-02 -1.14362832e+00] [ 1.74794197e-01 -2.39515866e-02 9.84313624e-01 4.36730277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.14, Z:4.37 [[ 9.46112972e-01 -2.72712638e-01 -1.74636944e-01 2.90737464e+01] [ 2.72606097e-01 9.61798986e-01 -2.50724377e-02 -1.14073632e+00] [ 1.74803206e-01 -2.38857371e-02 9.84313624e-01 4.37488003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.14, Z:4.38 [[ 9.45989774e-01 -2.73161557e-01 -1.74602727e-01 2.91006077e+01] [ 2.73019354e-01 9.61675525e-01 -2.53104077e-02 -1.13721950e+00] [ 1.74824999e-01 -2.37265368e-02 9.84313604e-01 4.38012265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.13, Z:4.39 [[ 9.45873354e-01 -2.73548921e-01 -1.74626990e-01 2.91275234e+01] [ 2.73443666e-01 9.61559383e-01 -2.51418999e-02 -1.13371765e+00] [ 1.74791760e-01 -2.39695911e-02 9.84313618e-01 4.38628048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.13, Z:4.39 [[ 9.45789709e-01 -2.73842566e-01 -1.74619803e-01 2.91554600e+01] [ 2.73733156e-01 9.61475708e-01 -2.51917185e-02 -1.13058984e+00] [ 1.74791264e-01 -2.39731618e-02 9.84313620e-01 4.39140788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.13, Z:4.39 [[ 9.45656044e-01 -2.74308527e-01 -1.74612364e-01 2.91824473e+01] [ 2.74197524e-01 9.61342031e-01 -2.52431783e-02 -1.12654140e+00] [ 1.74786624e-01 -2.40069137e-02 9.84313621e-01 4.39499175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.12, Z:4.40 [[ 9.45691742e-01 -2.74187486e-01 -1.74609142e-01 2.92101135e+01] [ 2.74070441e-01 9.61377684e-01 -2.52654439e-02 -1.12307159e+00] [ 1.74792801e-01 -2.39618830e-02 9.84313621e-01 4.40001937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.12, Z:4.40 [[ 9.45607626e-01 -2.74482402e-01 -1.74601341e-01 2.92371518e+01] [ 2.74360502e-01 9.61293530e-01 -2.53192442e-02 -1.11869474e+00] [ 1.74792826e-01 -2.39616411e-02 9.84313623e-01 4.40303837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.12, Z:4.41 [[ 9.45678801e-01 -2.74239232e-01 -1.74597966e-01 2.92648105e+01] [ 2.74109086e-01 9.61364638e-01 -2.53424959e-02 -1.11506357e+00] [ 1.74802217e-01 -2.38930277e-02 9.84313623e-01 4.40801639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.11, Z:4.41 [[ 9.45671486e-01 -2.74269221e-01 -1.74590481e-01 2.92915212e+01] [ 2.74130248e-01 9.61357246e-01 -2.53939623e-02 -1.11173472e+00] [ 1.74808606e-01 -2.38461856e-02 9.84313624e-01 4.41316050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.11, Z:4.42 [[ 9.45606865e-01 -2.74495170e-01 -1.74585393e-01 2.93185614e+01] [ 2.74353616e-01 9.61292601e-01 -2.54288944e-02 -1.10786270e+00] [ 1.74807755e-01 -2.38523966e-02 9.84313625e-01 4.41791589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.10, Z:4.42 [[ 9.45558098e-01 -2.74667879e-01 -1.74577892e-01 2.93480616e+01] [ 2.74519878e-01 9.61243773e-01 -2.54802860e-02 -1.10484102e+00] [ 1.74810528e-01 -2.38320109e-02 9.84313626e-01 4.42238698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.38, Y:-1.10, Z:4.43 [[ 9.45394845e-01 -2.75174140e-01 -1.74664765e-01 2.93757062e+01] [ 2.75142255e-01 9.61081389e-01 -2.48858201e-02 -1.10057659e+00] [ 1.74714989e-01 -2.45307311e-02 9.84313424e-01 4.42767375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.10, Z:4.43 [[ 9.45307645e-01 -2.75474831e-01 -1.74662744e-01 2.94008089e+01] [ 2.75445435e-01 9.60994184e-01 -2.48996174e-02 -1.09597059e+00] [ 1.74709099e-01 -2.45722567e-02 9.84313433e-01 4.43117366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.09, Z:4.44 [[ 9.45241747e-01 -2.75771748e-01 -1.74550802e-01 2.94279617e+01] [ 2.75609228e-01 9.60927180e-01 -2.56614106e-02 -1.09172792e+00] [ 1.74807302e-01 -2.38515754e-02 9.84313725e-01 4.43583545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.09, Z:4.44 [[ 9.45241483e-01 -2.75777475e-01 -1.74543183e-01 2.94536363e+01] [ 2.75605676e-01 9.60926816e-01 -2.57131366e-02 -1.08793052e+00] [ 1.74814329e-01 -2.37999685e-02 9.84313726e-01 4.44220442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.08, Z:4.45 [[ 9.45169933e-01 -2.76025862e-01 -1.74538024e-01 2.94811079e+01] [ 2.75851849e-01 9.60855240e-01 -2.57481027e-02 -1.08381088e+00] [ 1.74812918e-01 -2.38103043e-02 9.84313727e-01 4.44773817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.08, Z:4.45 [[ 9.45073230e-01 -2.76361558e-01 -1.74530453e-01 2.95078858e+01] [ 2.76183832e-01 9.60758495e-01 -2.57993255e-02 -1.07976347e+00] [ 1.74811557e-01 -2.38202373e-02 9.84313728e-01 4.45318158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.08, Z:4.46 [[ 9.44970324e-01 -2.76718021e-01 -1.74522845e-01 2.95344911e+01] [ 2.76536902e-01 9.60655549e-01 -2.58506879e-02 -1.07586453e+00] [ 1.74809691e-01 -2.38338741e-02 9.84313730e-01 4.45777631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.07, Z:4.46 [[ 9.44856654e-01 -2.77107982e-01 -1.74519542e-01 2.95641624e+01] [ 2.76929298e-01 9.60541906e-01 -2.58729703e-02 -1.07210877e+00] [ 1.74802940e-01 -2.38833261e-02 9.84313730e-01 4.46331625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.07, Z:4.47 [[ 9.44737426e-01 -2.77448621e-01 -1.74623760e-01 2.95892143e+01] [ 2.77403048e-01 9.60423881e-01 -2.51697713e-02 -1.06807704e+00] [ 1.74696148e-01 -2.46623383e-02 9.84313479e-01 4.46673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.06, Z:4.47 [[ 9.44445765e-01 -2.78511795e-01 -1.74508959e-01 2.96164942e+01] [ 2.78343833e-01 9.60131087e-01 -2.59423812e-02 -1.06369584e+00] [ 1.74776735e-01 -2.40723204e-02 9.84313779e-01 4.47041746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.06, Z:4.48 [[ 9.44367285e-01 -2.78782500e-01 -1.74501430e-01 2.96423208e+01] [ 2.78609872e-01 9.60052554e-01 -2.59929297e-02 -1.06002858e+00] [ 1.74776917e-01 -2.40709485e-02 9.84313781e-01 4.47550040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.06, Z:4.48 [[ 9.44227107e-01 -2.79258941e-01 -1.74498178e-01 2.96698594e+01] [ 2.79090273e-01 9.59912419e-01 -2.60147421e-02 -1.05554748e+00] [ 1.74767817e-01 -2.41369193e-02 9.84313781e-01 4.48091505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.05, Z:4.49 [[ 9.44140572e-01 -2.79556012e-01 -1.74490734e-01 2.96971110e+01] [ 2.79383244e-01 9.59825839e-01 -2.60645784e-02 -1.05165240e+00] [ 1.74767224e-01 -2.41411613e-02 9.84313782e-01 4.48776302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.05, Z:4.49 [[ 9.43898435e-01 -2.80377260e-01 -1.74483054e-01 2.97253450e+01] [ 2.80208836e-01 9.59583748e-01 -2.61158900e-02 -1.04796197e+00] [ 1.74753404e-01 -2.42409456e-02 9.84313783e-01 4.49367197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.04, Z:4.50 [[ 9.43871066e-01 -2.80397477e-01 -1.74598584e-01 2.97508017e+01] [ 2.80369348e-01 9.59557563e-01 -2.53438707e-02 -1.04381069e+00] [ 1.74643749e-01 -2.50307449e-02 9.84313478e-01 4.49799107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.04, Z:4.50 [[ 9.43531006e-01 -2.81617172e-01 -1.74473522e-01 2.97786959e+01] [ 2.81458122e-01 9.59216371e-01 -2.61778225e-02 -1.03958986e+00] [ 1.74729983e-01 -2.44074027e-02 9.84313828e-01 4.50120515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.04, Z:4.51 [[ 9.43320011e-01 -2.82327843e-01 -1.74465888e-01 2.98049923e+01] [ 2.82171401e-01 9.59005402e-01 -2.62286061e-02 -1.03532882e+00] [ 1.74718794e-01 -2.44873149e-02 9.84313829e-01 4.50520725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:-1.03, Z:4.51 [[ 9.43135024e-01 -2.82948401e-01 -1.74460678e-01 2.98318437e+01] [ 2.82796005e-01 9.58820454e-01 -2.62632121e-02 -1.03134923e+00] [ 1.74707601e-01 -2.45670276e-02 9.84313830e-01 4.50866829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.03, Z:4.51 [[ 9.42751761e-01 -2.84224798e-01 -1.74457393e-01 2.98595712e+01] [ 2.84089680e-01 9.58437349e-01 -2.62850194e-02 -1.02719070e+00] [ 1.74677335e-01 -2.47812965e-02 9.84313830e-01 4.51418485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.89, Y:-1.02, Z:4.52 [[ 9.42522234e-01 -2.84989635e-01 -1.74449836e-01 2.98863311e+01] [ 2.84858168e-01 9.58207852e-01 -2.63350759e-02 -1.02307050e+00] [ 1.74664427e-01 -2.48720662e-02 9.84313831e-01 4.51984765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.02, Z:4.53 [[ 9.42283820e-01 -2.85781542e-01 -1.74442292e-01 2.99125679e+01] [ 2.85654211e-01 9.57969470e-01 -2.63849530e-02 -1.01934565e+00] [ 1.74650723e-01 -2.49680611e-02 9.84313833e-01 4.52507264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.02, Z:4.53 [[ 9.41720148e-01 -2.87635511e-01 -1.74439030e-01 2.99413059e+01] [ 2.87535142e-01 9.57405995e-01 -2.64065065e-02 -1.01539131e+00] [ 1.74604422e-01 -2.52898119e-02 9.84313833e-01 4.53187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.01, Z:4.54 [[ 9.41666404e-01 -2.87725611e-01 -1.74580513e-01 2.99664508e+01] [ 2.87796155e-01 9.57352878e-01 -2.54723283e-02 -1.01119117e+00] [ 1.74464198e-01 -2.62571644e-02 9.84313367e-01 4.53540081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.01, Z:4.54 [[ 9.41362304e-01 -2.88814483e-01 -1.74422496e-01 2.99941619e+01] [ 2.88714513e-01 9.57048073e-01 -2.65125515e-02 -1.00635995e+00] [ 1.74587922e-01 -2.54003892e-02 9.84313912e-01 4.53887216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.02, Y:-1.00, Z:4.54 [[ 9.41100706e-01 -2.89670278e-01 -1.74414996e-01 3.00202649e+01] [ 2.89575638e-01 9.56786507e-01 -2.65618009e-02 -1.00229427e+00] [ 1.74572079e-01 -2.55090040e-02 9.84313913e-01 4.54307657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.00, Z:4.55 [[ 9.40681920e-01 -2.91029314e-01 -1.74411767e-01 3.00498548e+01] [ 2.90953488e-01 9.56367823e-01 -2.65829855e-02 -9.97877315e-01] [ 1.74538230e-01 -2.57395782e-02 9.84313914e-01 4.54918684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.08, Y:-0.99, Z:4.55 [[ 9.40382608e-01 -2.91906123e-01 -1.74560496e-01 3.00754310e+01] [ 2.92022027e-01 9.56068744e-01 -2.56065085e-02 -9.94706918e-01] [ 1.74366531e-01 -2.68955947e-02 9.84313436e-01 4.55331171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.99, Z:4.56 [[ 9.40066126e-01 -2.93017510e-01 -1.74403034e-01 3.01025498e+01] [ 2.92964849e-01 9.55752066e-01 -2.66380681e-02 -9.90295070e-01] [ 1.74491481e-01 -2.60524131e-02 9.84313972e-01 4.55880464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.99, Z:4.56 [[ 9.39808558e-01 -2.93847143e-01 -1.74395329e-01 3.01285741e+01] [ 2.93799195e-01 9.55494512e-01 -2.66884178e-02 -9.86409569e-01] [ 1.74476095e-01 -2.61552038e-02 9.84313973e-01 4.56368952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.98, Z:4.57 [[ 9.39191917e-01 -2.95814102e-01 -1.74391972e-01 3.01560897e+01] [ 2.95795018e-01 9.54877932e-01 -2.67103347e-02 -9.82098960e-01] [ 1.74424340e-01 -2.64981461e-02 9.84313973e-01 4.57024799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.98, Z:4.58 [[ 9.39107463e-01 -2.96086594e-01 -1.74384350e-01 3.01838843e+01] [ 2.96063051e-01 9.54793471e-01 -2.67600073e-02 -9.77598021e-01] [ 1.74424318e-01 -2.64982402e-02 9.84313975e-01 4.57527321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:-0.97, Z:4.58 [[ 9.38860899e-01 -2.96871990e-01 -1.74376699e-01 3.02112136e+01] [ 2.96852539e-01 9.54546911e-01 -2.68097743e-02 -9.73373165e-01] [ 1.74409810e-01 -2.65935170e-02 9.84313976e-01 4.57973618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.97, Z:4.58 [[ 9.38479062e-01 -2.98081317e-01 -1.74369087e-01 3.02388522e+01] [ 2.98073109e-01 9.54165083e-01 -2.68591900e-02 -9.68730498e-01] [ 1.74383117e-01 -2.67679486e-02 9.84313977e-01 4.58380298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-0.96, Z:4.59 [[ 9.38046944e-01 -2.99442910e-01 -1.74361331e-01 3.02667116e+01] [ 2.99448347e-01 9.53732965e-01 -2.69094492e-02 -9.64971328e-01] [ 1.74351993e-01 -2.69698858e-02 9.84313978e-01 4.58641524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.96, Z:4.59 [[ 9.37808274e-01 -3.00190944e-01 -1.74358935e-01 3.02934661e+01] [ 3.00206076e-01 9.53494289e-01 -2.69249668e-02 -9.61084429e-01] [ 1.74332880e-01 -2.70931549e-02 9.84313978e-01 4.59080345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.96, Z:4.60 [[ 9.37235849e-01 -3.01975292e-01 -1.74355630e-01 3.03203903e+01] [ 3.02016399e-01 9.52921817e-01 -2.69463506e-02 -9.56349897e-01] [ 1.74284416e-01 -2.74031738e-02 9.84313979e-01 4.59640718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.95, Z:4.60 [[ 9.37150423e-01 -3.02244691e-01 -1.74348018e-01 3.03481781e+01] [ 3.02281386e-01 9.52836400e-01 -2.69955158e-02 -9.51814169e-01] [ 1.74284389e-01 -2.74033013e-02 9.84313980e-01 4.60143236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.38, Y:-0.95, Z:4.61 [[ 9.36649761e-01 -3.03797069e-01 -1.74340371e-01 3.03773833e+01] [ 3.03850810e-01 9.52335688e-01 -2.70448096e-02 -9.47638091e-01] [ 1.74246691e-01 -2.76419486e-02 9.84313981e-01 4.61017773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.94, Z:4.61 [[ 9.36609021e-01 -3.03839116e-01 -1.74485913e-01 3.04026823e+01] [ 3.04063753e-01 9.52293897e-01 -2.61068707e-02 -9.43492325e-01] [ 1.74094158e-01 -2.86029109e-02 9.84313516e-01 4.61435787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.94, Z:4.62 [[ 9.36335646e-01 -3.04770328e-01 -1.74329014e-01 3.04290148e+01] [ 3.04827414e-01 9.52021513e-01 -2.71161702e-02 -9.39172363e-01] [ 1.74229175e-01 -2.77504256e-02 9.84314029e-01 4.61876536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.93, Z:4.62 [[ 9.35693233e-01 -3.06738864e-01 -1.74325681e-01 3.04560351e+01] [ 3.06825054e-01 9.51378966e-01 -2.71375785e-02 -9.34346854e-01] [ 1.74173936e-01 -2.80950380e-02 9.84314030e-01 4.62257352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.93, Z:4.63 [[ 9.35401656e-01 -3.07631218e-01 -1.74318031e-01 3.04827156e+01] [ 3.07723468e-01 9.51087354e-01 -2.71866291e-02 -9.30156464e-01] [ 1.74155131e-01 -2.82113312e-02 9.84314031e-01 4.62669248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.51, Y:-0.93, Z:4.63 [[ 9.35061364e-01 -3.08665872e-01 -1.74314728e-01 3.05098860e+01] [ 3.08771635e-01 9.50746977e-01 -2.72077933e-02 -9.25477255e-01] [ 1.74127318e-01 -2.83824871e-02 9.84314031e-01 4.63124891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.92, Z:4.63 [[ 9.34488620e-01 -3.10399884e-01 -1.74307003e-01 3.05364920e+01] [ 3.10525778e-01 9.50174082e-01 -2.72571914e-02 -9.21197792e-01] [ 1.74082626e-01 -2.86552826e-02 9.84314032e-01 4.63448919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.56, Y:-0.92, Z:4.64 [[ 9.34170651e-01 -3.11357401e-01 -1.74303654e-01 3.05633950e+01] [ 3.11495485e-01 9.49856011e-01 -2.72785949e-02 -9.17311382e-01] [ 1.74056766e-01 -2.88119384e-02 9.84314032e-01 4.64073013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.91, Z:4.65 [[ 9.33814234e-01 -3.12429153e-01 -1.74295727e-01 3.05894932e+01] [ 3.12576059e-01 9.49499513e-01 -2.73291526e-02 -9.13026032e-01] [ 1.74032132e-01 -2.89603197e-02 9.84314034e-01 4.64519892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.62, Y:-0.91, Z:4.65 [[ 9.33017032e-01 -3.14806233e-01 -1.74287848e-01 3.06185547e+01] [ 3.14983981e-01 9.48701990e-01 -2.73793102e-02 -9.08145414e-01] [ 1.73966405e-01 -2.93525172e-02 9.84314035e-01 4.65284571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.64, Y:-0.90, Z:4.66 [[ 9.32996296e-01 -3.14802883e-01 -1.74404866e-01 3.06441690e+01] [ 3.15115836e-01 9.48679418e-01 -2.66340478e-02 -9.04126497e-01] [ 1.73838782e-01 -3.01082673e-02 9.84313756e-01 4.65683667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.67, Y:-0.90, Z:4.66 [[ 9.32814799e-01 -3.15411132e-01 -1.74276699e-01 3.06701359e+01] [ 3.15586536e-01 9.48499728e-01 -2.74482044e-02 -9.00092882e-01] [ 1.73958871e-01 -2.93952884e-02 9.84314090e-01 4.66189445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.70, Y:-0.90, Z:4.67 [[ 9.32179969e-01 -3.17284283e-01 -1.74273320e-01 3.06986247e+01] [ 3.17487302e-01 9.47864564e-01 -2.74696432e-02 -8.95087085e-01] [ 1.73903190e-01 -2.97229148e-02 9.84314091e-01 4.66703404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.73, Y:-0.89, Z:4.67 [[ 9.32124275e-01 -3.17428272e-01 -1.74309004e-01 3.07252892e+01] [ 3.17674759e-01 9.47808281e-01 -2.72435149e-02 -8.90797435e-01] [ 1.73859379e-01 -2.99792294e-02 9.84314057e-01 4.67048534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.75, Y:-0.89, Z:4.68 [[ 9.31858401e-01 -3.18233126e-01 -1.74263011e-01 3.07528192e+01] [ 3.18440311e-01 9.47542934e-01 -2.75346469e-02 -8.86013213e-01] [ 1.73884121e-01 -2.98339755e-02 9.84314099e-01 4.67559991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.78, Y:-0.88, Z:4.68 [[ 9.31422913e-01 -3.19509926e-01 -1.74254884e-01 3.07793361e+01] [ 3.19729286e-01 9.47107278e-01 -2.75859883e-02 -8.81556425e-01] [ 1.73852066e-01 -3.00201680e-02 9.84314101e-01 4.67944951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.81, Y:-0.88, Z:4.68 [[ 9.31117782e-01 -3.20399971e-01 -1.74251353e-01 3.08062442e+01] [ 3.20630276e-01 9.46801991e-01 -2.76082693e-02 -8.76873613e-01] [ 1.73827217e-01 -3.01637091e-02 9.84314101e-01 4.68450373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.87, Z:4.69 [[ 9.30978396e-01 -3.20808961e-01 -1.74243614e-01 3.08321765e+01] [ 3.21037304e-01 9.46662632e-01 -2.76570292e-02 -8.72777728e-01] [ 1.73822541e-01 -3.01906034e-02 9.84314102e-01 4.68937173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.87, Z:4.69 [[ 9.30656523e-01 -3.21743331e-01 -1.74240251e-01 3.08597231e+01] [ 3.21983574e-01 9.46340581e-01 -2.76782015e-02 -8.67761610e-01] [ 1.73795897e-01 -3.03436000e-02 9.84314102e-01 4.69475302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.86, Z:4.70 [[ 9.30474307e-01 -3.22274067e-01 -1.74232575e-01 3.08862690e+01] [ 3.22514498e-01 9.46158361e-01 -2.77264391e-02 -8.62814036e-01] [ 1.73787120e-01 -3.03937922e-02 9.84314104e-01 4.69892766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.91, Y:-0.86, Z:4.70 [[ 9.30353334e-01 -3.22624916e-01 -1.74229268e-01 3.09135280e+01] [ 3.22867492e-01 9.46037354e-01 -2.77472034e-02 -8.58128620e-01] [ 1.73779335e-01 -3.04382636e-02 9.84314104e-01 4.70405284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.85, Z:4.71 [[ 9.30043224e-01 -3.23522075e-01 -1.74221318e-01 3.09407285e+01] [ 3.23770731e-01 9.45727148e-01 -2.77970296e-02 -8.53030526e-01] [ 1.73758783e-01 -3.05553246e-02 9.84314105e-01 4.70903945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-0.85, Z:4.71 [[ 9.29893953e-01 -3.23955152e-01 -1.74213363e-01 3.09669017e+01] [ 3.24202075e-01 9.45577903e-01 -2.78467989e-02 -8.48508109e-01] [ 1.73753421e-01 -3.05857640e-02 9.84314106e-01 4.71266935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.99, Y:-0.84, Z:4.72 [[ 9.29535678e-01 -3.24984651e-01 -1.74207920e-01 3.09936782e+01] [ 3.25242766e-01 9.45219447e-01 -2.78808097e-02 -8.43864181e-01] [ 1.73725549e-01 -3.07436584e-02 9.84314107e-01 4.71826850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.84, Z:4.72 [[ 9.29267713e-01 -3.25754341e-01 -1.74199965e-01 3.10205488e+01] [ 3.26016433e-01 9.44951415e-01 -2.79304297e-02 -8.38715820e-01] [ 1.73708962e-01 -3.08372046e-02 9.84314108e-01 4.72340632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.05, Y:-0.83, Z:4.73 [[ 9.29158138e-01 -3.26057776e-01 -1.74216764e-01 3.10473279e+01] [ 3.26344000e-01 9.44841427e-01 -2.78257407e-02 -8.34088943e-01] [ 1.73680015e-01 -3.10000822e-02 9.84314100e-01 4.72936434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-0.83, Z:4.74 [[ 9.29002429e-01 -3.26515527e-01 -1.74189832e-01 3.10745915e+01] [ 3.26779043e-01 9.44686101e-01 -2.79933422e-02 -8.29021970e-01] [ 1.73694974e-01 -3.09157036e-02 9.84314114e-01 4.73627594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-0.82, Z:4.74 [[ 9.28922110e-01 -3.26753551e-01 -1.74171841e-01 3.11017149e+01] [ 3.27000790e-01 9.44606048e-01 -2.81051009e-02 -8.24213752e-01] [ 1.73707216e-01 -3.08468801e-02 9.84314113e-01 4.73967639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-0.82, Z:4.74 [[ 9.28758762e-01 -3.27213854e-01 -1.74178804e-01 3.11293924e+01] [ 3.27476713e-01 9.44442445e-01 -2.80618850e-02 -8.19044743e-01] [ 1.73684093e-01 -3.09767808e-02 9.84314114e-01 4.74469076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:-0.81, Z:4.75 [[ 9.28688616e-01 -3.27417121e-01 -1.74170848e-01 3.11555055e+01] [ 3.27674460e-01 9.44372389e-01 -2.81111788e-02 -8.14240961e-01] [ 1.73686221e-01 -3.09648069e-02 9.84314115e-01 4.74811917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.81, Z:4.75 [[ 9.28460659e-01 -3.28064820e-01 -1.74167389e-01 3.11827673e+01] [ 3.28329210e-01 9.44144315e-01 -2.81325938e-02 -8.09113622e-01] [ 1.73668465e-01 -3.10642347e-02 9.84314115e-01 4.75105017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.80, Z:4.76 [[ 9.28633911e-01 -3.27556974e-01 -1.74199566e-01 3.12100433e+01] [ 3.27848931e-01 9.44317104e-01 -2.79335832e-02 -8.04599387e-01] [ 1.73649470e-01 -3.11710690e-02 9.84314089e-01 4.75634450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.24, Y:-0.80, Z:4.76 [[ 9.28316788e-01 -3.28476774e-01 -1.74157834e-01 3.12370858e+01] [ 3.28737435e-01 9.44000499e-01 -2.81914306e-02 -7.99705611e-01] [ 1.73665312e-01 -3.10816214e-02 9.84314123e-01 4.76123901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.79, Z:4.77 [[ 9.28080304e-01 -3.29148434e-01 -1.74150101e-01 3.12637272e+01] [ 3.29411782e-01 9.43763969e-01 -2.82391210e-02 -7.94408940e-01] [ 1.73651453e-01 -3.11589232e-02 9.84314124e-01 4.76779992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.79, Z:4.77 [[ 9.28051016e-01 -3.29234970e-01 -1.74142604e-01 3.12906809e+01] [ 3.29491396e-01 9.43734795e-01 -2.82852795e-02 -7.89591772e-01] [ 1.73656938e-01 -3.11283072e-02 9.84314125e-01 4.77374008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.78, Z:4.78 [[ 9.27755423e-01 -3.30071295e-01 -1.74134477e-01 3.13180997e+01] [ 3.30332784e-01 9.43439117e-01 -2.83352275e-02 -7.84186483e-01] [ 1.73637922e-01 -3.12341655e-02 9.84314126e-01 4.77890719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.34, Y:-0.78, Z:4.78 [[ 9.27923928e-01 -3.29564591e-01 -1.74196341e-01 3.13448645e+01] [ 3.29886525e-01 9.43606581e-01 -2.79553337e-02 -7.79063128e-01] [ 1.73585902e-01 -3.15246024e-02 9.84314042e-01 4.78488954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.77, Z:4.79 [[ 9.27781400e-01 -3.30004598e-01 -1.74122485e-01 3.13717806e+01] [ 3.30251711e-01 9.43465307e-01 -2.84081354e-02 -7.73683472e-01] [ 1.73653339e-01 -3.11477088e-02 9.84314146e-01 4.78887587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.77, Z:4.79 [[ 9.27659689e-01 -3.30350808e-01 -1.74114460e-01 3.13995453e+01] [ 3.30594853e-01 9.43343643e-01 -2.84572348e-02 -7.68544317e-01] [ 1.73650640e-01 -3.11627148e-02 9.84314147e-01 4.79337832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.76, Z:4.80 [[ 9.27576651e-01 -3.30588194e-01 -1.74106299e-01 3.14270903e+01] [ 3.30827196e-01 9.43260681e-01 -2.85070829e-02 -7.63008040e-01] [ 1.73651731e-01 -3.11565942e-02 9.84314149e-01 4.79669292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.45, Y:-0.76, Z:4.80 [[ 9.27417703e-01 -3.31038225e-01 -1.74097956e-01 3.14535780e+01] [ 3.31275596e-01 9.43101757e-01 -2.85579426e-02 -7.58076475e-01] [ 1.73645859e-01 -3.11892627e-02 9.84314150e-01 4.80033933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.75, Z:4.80 [[ 9.27333320e-01 -3.31276434e-01 -1.74094337e-01 3.14815056e+01] [ 3.31513827e-01 9.43017373e-01 -2.85799915e-02 -7.52743289e-01] [ 1.73641862e-01 -3.12115015e-02 9.84314150e-01 4.80494777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.75, Z:4.81 [[ 9.27237757e-01 -3.31537703e-01 -1.74105982e-01 3.15092660e+01] [ 3.31792395e-01 9.42921544e-01 -2.85091137e-02 -7.48021879e-01] [ 1.73620127e-01 -3.13323139e-02 9.84314146e-01 4.81002273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.74, Z:4.82 [[ 9.27303099e-01 -3.31344037e-01 -1.74126653e-01 3.15352622e+01] [ 3.31618296e-01 9.42986579e-01 -2.83833974e-02 -7.43247460e-01] [ 1.73603767e-01 -3.14235718e-02 9.84314122e-01 4.81502133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.56, Y:-0.74, Z:4.82 [[ 9.27176044e-01 -3.31723550e-01 -1.74080643e-01 3.15631764e+01] [ 3.31953442e-01 9.42860197e-01 -2.86628799e-02 -7.37445024e-01] [ 1.73641862e-01 -3.12111331e-02 9.84314162e-01 4.82198896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.59, Y:-0.73, Z:4.83 [[ 9.27239492e-01 -3.31507834e-01 -1.74153610e-01 3.15889426e+01] [ 3.31814558e-01 9.42922442e-01 -2.82199932e-02 -7.32393970e-01] [ 1.73568496e-01 -3.16200110e-02 9.84314052e-01 4.82769150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.62, Y:-0.73, Z:4.83 [[ 9.27334789e-01 -3.31262513e-01 -1.74113001e-01 3.16159687e+01] [ 3.31520343e-01 9.43018524e-01 -2.84662219e-02 -7.27521138e-01] [ 1.73621578e-01 -3.13242840e-02 9.84314146e-01 4.83251129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.72, Z:4.84 [[ 9.27378158e-01 -3.31168098e-01 -1.74061608e-01 3.16429043e+01] [ 3.31367826e-01 9.43062692e-01 -2.87771334e-02 -7.22601282e-01] [ 1.73681077e-01 -3.09911316e-02 9.84314194e-01 4.83770421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.67, Y:-0.72, Z:4.84 [[ 9.27224203e-01 -3.31603257e-01 -1.74053317e-01 3.16697952e+01] [ 3.31801247e-01 9.42908758e-01 -2.88271930e-02 -7.17775538e-01] [ 1.73675588e-01 -3.10218366e-02 9.84314196e-01 4.84188921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.71, Z:4.85 [[ 9.27128948e-01 -3.31873917e-01 -1.74044869e-01 3.16970438e+01] [ 3.32067232e-01 9.42813560e-01 -2.88781072e-02 -7.12807307e-01] [ 1.73675753e-01 -3.10208689e-02 9.84314197e-01 4.84607015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.72, Y:-0.71, Z:4.85 [[ 9.26856969e-01 -3.32637126e-01 -1.74036495e-01 3.17247608e+01] [ 3.32834196e-01 9.42541533e-01 -2.89284900e-02 -7.07455923e-01] [ 1.73659315e-01 -3.11127243e-02 9.84314198e-01 4.85042152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.75, Y:-0.70, Z:4.85 [[ 9.26877289e-01 -3.32574983e-01 -1.74047037e-01 3.17516885e+01] [ 3.32782521e-01 9.42561722e-01 -2.88651113e-02 -7.02273095e-01] [ 1.73649889e-01 -3.11653956e-02 9.84314195e-01 4.85343196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:-0.70, Z:4.86 [[ 9.27041291e-01 -3.32103463e-01 -1.74073933e-01 3.17782999e+01] [ 3.32332384e-01 9.42725459e-01 -2.87035923e-02 -6.97261595e-01] [ 1.73636491e-01 -3.12409899e-02 9.84314162e-01 4.85953477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.81, Y:-0.69, Z:4.87 [[ 9.27079822e-01 -3.32017475e-01 -1.74032758e-01 3.18050282e+01] [ 3.32200046e-01 9.42764549e-01 -2.89505566e-02 -6.91936597e-01] [ 1.73684006e-01 -3.09742136e-02 9.84314210e-01 4.86505842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.69, Z:4.87 [[ 9.27074042e-01 -3.32048048e-01 -1.74005214e-01 3.18323605e+01] [ 3.32201149e-01 9.42759080e-01 -2.91155110e-02 -6.85781382e-01] [ 1.73712744e-01 -3.08124974e-02 9.84314214e-01 4.87104480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.68, Z:4.88 [[ 9.27203667e-01 -3.31635935e-01 -1.74100448e-01 3.18589089e+01] [ 3.31885703e-01 9.42887607e-01 -2.85454326e-02 -6.80905214e-01] [ 1.73623846e-01 -3.13140198e-02 9.84314072e-01 4.87630305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.68, Z:4.88 [[ 9.27158856e-01 -3.31814481e-01 -1.73998865e-01 3.18847867e+01] [ 3.31956997e-01 9.42843951e-01 -2.91519504e-02 -6.76126367e-01] [ 1.73726817e-01 -3.07316519e-02 9.84314258e-01 4.88110891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.91, Y:-0.67, Z:4.89 [[ 9.27069326e-01 -3.32075071e-01 -1.73978768e-01 3.19125060e+01] [ 3.32200226e-01 9.42754570e-01 -2.92716828e-02 -6.71229700e-01] [ 1.73739675e-01 -3.06589068e-02 9.84314257e-01 4.88610439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.67, Z:4.89 [[ 9.27084950e-01 -3.32034531e-01 -1.73972887e-01 3.19402676e+01] [ 3.32152639e-01 9.42770250e-01 -2.93066666e-02 -6.66478993e-01] [ 1.73747288e-01 -3.06157841e-02 9.84314256e-01 4.89190101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-0.66, Z:4.90 [[ 9.26854569e-01 -3.32673217e-01 -1.73980283e-01 3.19669603e+01] [ 3.32810127e-01 9.42539715e-01 -2.92626955e-02 -6.61164768e-01] [ 1.73718242e-01 -3.07801373e-02 9.84314257e-01 4.89565270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.99, Y:-0.66, Z:4.90 [[ 9.26689447e-01 -3.33135922e-01 -1.73974501e-01 3.19943235e+01] [ 3.33274419e-01 9.42374578e-01 -2.92970356e-02 -6.56012337e-01] [ 1.73709042e-01 -3.08319970e-02 9.84314257e-01 4.89991661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:32.02, Y:-0.65, Z:4.90 [[ 9.26547642e-01 -3.33534579e-01 -1.73965951e-01 3.20215066e+01] [ 3.33670608e-01 9.42232793e-01 -2.93477175e-02 -6.50785563e-01] [ 1.73704903e-01 -3.08552661e-02 9.84314258e-01 4.90340697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:-0.65, Z:4.91 [[ 9.26419529e-01 -3.33891629e-01 -1.73963320e-01 3.20486222e+01] [ 3.34030868e-01 9.42104652e-01 -2.93633058e-02 -6.46053382e-01] [ 1.73695815e-01 -3.09063787e-02 9.84314259e-01 4.90851491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-0.64, Z:4.91 [[ 9.26257357e-01 -3.34345713e-01 -1.73954744e-01 3.20761840e+01] [ 3.34483417e-01 9.41942492e-01 -2.94140227e-02 -6.41724887e-01] [ 1.73689818e-01 -3.09400224e-02 9.84314260e-01 4.91342576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-0.64, Z:4.92 [[ 9.26122581e-01 -3.34720240e-01 -1.73952079e-01 3.21041069e+01] [ 3.34861421e-01 9.41807686e-01 -2.94297783e-02 -6.37097673e-01] [ 1.73680147e-01 -3.09942579e-02 9.84314260e-01 4.91982866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.63, Z:4.92 [[ 9.26035297e-01 -3.34954465e-01 -1.73965903e-01 3.21318173e+01] [ 3.35114463e-01 9.41720226e-01 -2.93481262e-02 -6.32210974e-01] [ 1.73657495e-01 -3.11210892e-02 9.84314255e-01 4.92490558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.16, Y:-0.63, Z:4.93 [[ 9.25845895e-01 -3.35482525e-01 -1.73956472e-01 3.21585422e+01] [ 3.35641354e-01 9.41530829e-01 -2.94037323e-02 -6.27065854e-01] [ 1.73649820e-01 -3.11636611e-02 9.84314262e-01 4.93066527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.62, Z:4.94 [[ 9.25784263e-01 -3.35665051e-01 -1.73932375e-01 3.21851596e+01] [ 3.35801169e-01 9.41469401e-01 -2.95456003e-02 -6.21935312e-01] [ 1.73669434e-01 -3.10538431e-02 9.84314272e-01 4.93516667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.62, Z:4.94 [[ 9.25669191e-01 -3.35984172e-01 -1.73928678e-01 3.22118564e+01] [ 3.36121741e-01 9.41354315e-01 -2.95673506e-02 -6.16909192e-01] [ 1.73662673e-01 -3.10916244e-02 9.84314272e-01 4.94108245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.61, Z:4.95 [[ 9.25340293e-01 -3.36893288e-01 -1.73920251e-01 3.22393753e+01] [ 3.37037263e-01 9.41025359e-01 -2.96168368e-02 -6.11660720e-01] [ 1.73641080e-01 -3.12119528e-02 9.84314274e-01 4.94712602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:-0.61, Z:4.95 [[ 9.25285450e-01 -3.37025419e-01 -1.73956036e-01 3.22652437e+01] [ 3.37209819e-01 9.40970122e-01 -2.94069191e-02 -6.07240484e-01] [ 1.73598312e-01 -3.14498890e-02 9.84314244e-01 4.95150898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.60, Z:4.96 [[ 9.24974848e-01 -3.37901210e-01 -1.73908894e-01 3.22922868e+01] [ 3.38050208e-01 9.40659857e-01 -2.96831582e-02 -6.02604124e-01] [ 1.73619090e-01 -3.13337629e-02 9.84314283e-01 4.95635519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.679072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.60, Z:4.96 [[ 9.24696450e-01 -3.38666770e-01 -1.73900244e-01 3.23191216e+01] [ 3.38819547e-01 9.40381422e-01 -2.97337518e-02 -5.97581565e-01] [ 1.73602392e-01 -3.14261071e-02 9.84314284e-01 4.96014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.59, Z:4.96 [[ 9.24436993e-01 -3.39377364e-01 -1.73894368e-01 3.23468734e+01] [ 3.39535951e-01 9.40121907e-01 -2.97680761e-02 -5.92495104e-01] [ 1.73584516e-01 -3.15246788e-02 9.84314284e-01 4.96442353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.59, Z:4.97 [[ 9.24275364e-01 -3.39821731e-01 -1.73885714e-01 3.23736341e+01] [ 3.39978678e-01 9.39960293e-01 -2.98185400e-02 -5.87375182e-01] [ 1.73578655e-01 -3.15568933e-02 9.84314286e-01 4.96842224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.58, Z:4.97 [[ 9.24446173e-01 -3.39358166e-01 -1.73883030e-01 3.23992164e+01] [ 3.39504401e-01 9.40131205e-01 -2.98341828e-02 -5.83070495e-01] [ 1.73597337e-01 -3.14539579e-02 9.84314286e-01 4.97232503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.58, Z:4.98 [[ 9.24197831e-01 -3.40087231e-01 -1.73778724e-01 3.24270261e+01] [ 3.40135408e-01 9.39883633e-01 -3.04411046e-02 -5.77914171e-01] [ 1.73684409e-01 -3.09746942e-02 9.84314124e-01 4.97888178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.57, Z:4.99 [[ 9.24231402e-01 -3.39946626e-01 -1.73875264e-01 3.24534915e+01] [ 3.40094605e-01 9.39916420e-01 -2.98794827e-02 -5.72569569e-01] [ 1.73585645e-01 -3.15184830e-02 9.84314284e-01 4.98581019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.57, Z:4.99 [[ 9.24285242e-01 -3.39804497e-01 -1.73866889e-01 3.24800840e+01] [ 3.39941210e-01 9.39970361e-01 -2.99281372e-02 -5.67493792e-01] [ 1.73599439e-01 -3.14423853e-02 9.84314285e-01 4.98995276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.56, Z:4.99 [[ 9.24168659e-01 -3.40123302e-01 -1.73863250e-01 3.25075634e+01] [ 3.40261581e-01 9.39853764e-01 -2.99492657e-02 -5.62230322e-01] [ 1.73592473e-01 -3.14808116e-02 9.84314285e-01 4.99456984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.56, Z:5.00 [[ 9.24241497e-01 -3.39929801e-01 -1.73854498e-01 3.25335583e+01] [ 3.40055567e-01 9.39926706e-01 -2.99999846e-02 -5.57767551e-01] [ 1.73608375e-01 -3.13929592e-02 9.84314286e-01 4.99843073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.55, Z:5.00 [[ 9.24306420e-01 -3.39755169e-01 -1.73850702e-01 3.25614976e+01] [ 3.39873970e-01 9.39991684e-01 -3.00219706e-02 -5.52853118e-01] [ 1.73618333e-01 -3.13378281e-02 9.84314287e-01 5.00088915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.55, Z:5.01 [[ 9.24739007e-01 -3.38577944e-01 -1.73846898e-01 3.25879948e+01] [ 3.38672768e-01 9.40424434e-01 -3.00439784e-02 -5.48492729e-01] [ 1.73662099e-01 -3.10943714e-02 9.84314287e-01 5.00555453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.54, Z:5.01 [[ 9.24320758e-01 -3.39774401e-01 -1.73736851e-01 3.26171896e+01] [ 3.39773813e-01 9.40006652e-01 -3.06797838e-02 -5.42421720e-01] [ 1.73738001e-01 -3.06732713e-02 9.84314105e-01 5.01032988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.54, Z:5.02 [[ 9.24369677e-01 -3.39588095e-01 -1.73840808e-01 3.26441823e+01] [ 3.39693652e-01 9.40055034e-01 -3.00791636e-02 -5.37354477e-01] [ 1.73634452e-01 -3.12483521e-02 9.84314288e-01 5.01595578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.53, Z:5.02 [[ 9.24575690e-01 -3.39031101e-01 -1.73832408e-01 3.26706043e+01] [ 3.39118388e-01 9.40261158e-01 -3.01276289e-02 -5.32263239e-01] [ 1.73662065e-01 -3.10944928e-02 9.84314289e-01 5.02218514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.53, Z:5.03 [[ 9.24785301e-01 -3.38460924e-01 -1.73828507e-01 3.26968350e+01] [ 3.38534444e-01 9.40470839e-01 -3.01501244e-02 -5.27729262e-01] [ 1.73685280e-01 -3.09645450e-02 9.84314289e-01 5.02760080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:-0.52, Z:5.03 [[ 9.24683064e-01 -3.38741954e-01 -1.73824965e-01 3.27242112e+01] [ 3.38816528e-01 9.40368598e-01 -3.01705271e-02 -5.22031035e-01] [ 1.73679562e-01 -3.09965959e-02 9.84314290e-01 5.03360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.52, Z:5.04 [[ 9.24973888e-01 -3.37951307e-01 -1.73816630e-01 3.27518337e+01] [ 3.38003744e-01 9.40659510e-01 -3.02184738e-02 -5.16696080e-01] [ 1.73714638e-01 -3.07993725e-02 9.84314291e-01 5.03807997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:-0.51, Z:5.04 [[ 9.25213885e-01 -3.37298111e-01 -1.73808089e-01 3.27782456e+01] [ 3.37330545e-01 9.40899559e-01 -3.02675225e-02 -5.11514139e-01] [ 1.73745132e-01 -3.06268451e-02 9.84314292e-01 5.04225082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.51, Z:5.05 [[ 9.25077327e-01 -3.37675444e-01 -1.73802286e-01 3.28054618e+01] [ 3.37708216e-01 9.40763000e-01 -3.03008079e-02 -5.06041848e-01] [ 1.73738598e-01 -3.06638695e-02 9.84314293e-01 5.04759946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.83, Y:-0.50, Z:5.05 [[ 9.25176863e-01 -3.37407183e-01 -1.73793458e-01 3.28322251e+01] [ 3.37426204e-01 9.40862557e-01 -3.03513577e-02 -5.01260083e-01] [ 1.73756523e-01 -3.05620930e-02 9.84314294e-01 5.05275009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:-0.50, Z:5.06 [[ 9.25261319e-01 -3.37180046e-01 -1.73784661e-01 3.28597000e+01] [ 3.37186062e-01 9.40947023e-01 -3.04016426e-02 -4.96238751e-01] [ 1.73772987e-01 -3.04683018e-02 9.84314295e-01 5.05796315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:-0.49, Z:5.06 [[ 9.25278294e-01 -3.37137980e-01 -1.73775891e-01 3.28863042e+01] [ 3.37134172e-01 9.40963997e-01 -3.04516901e-02 -4.90986160e-01] [ 1.73783279e-01 -3.04095034e-02 9.84314296e-01 5.06342912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.49, Z:5.07 [[ 9.25348716e-01 -3.36949239e-01 -1.73766983e-01 3.29125435e+01] [ 3.36932992e-01 9.41034410e-01 -3.05024403e-02 -4.86397710e-01] [ 1.73798485e-01 -3.03224355e-02 9.84314298e-01 5.06862688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.48, Z:5.07 [[ 9.25395633e-01 -3.36822359e-01 -1.73763118e-01 3.29392651e+01] [ 3.36799955e-01 9.41081319e-01 -3.05244451e-02 -4.81416935e-01] [ 1.73806540e-01 -3.02762220e-02 9.84314298e-01 5.07378836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.48, Z:5.08 [[ 9.25471082e-01 -3.36619576e-01 -1.73754247e-01 3.29655325e+01] [ 3.36584555e-01 9.41156743e-01 -3.05748583e-02 -4.76267710e-01] [ 1.73822077e-01 -3.01868487e-02 9.84314299e-01 5.07743424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.47, Z:5.08 [[ 9.25289841e-01 -3.37119428e-01 -1.73750400e-01 3.29926127e+01] [ 3.37088903e-01 9.40975512e-01 -3.05967037e-02 -4.71112161e-01] [ 1.73809615e-01 -3.02585126e-02 9.84314299e-01 5.08169712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.47, Z:5.09 [[ 9.25267847e-01 -3.37184259e-01 -1.73741724e-01 3.30196988e+01] [ 3.37145875e-01 9.40953499e-01 -3.06458935e-02 -4.66348535e-01] [ 1.73816196e-01 -3.02206456e-02 9.84314301e-01 5.08648943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.46, Z:5.09 [[ 9.24913548e-01 -3.38159366e-01 -1.73733048e-01 3.30468448e+01] [ 3.38128574e-01 9.40599216e-01 -3.06949981e-02 -4.62314689e-01] [ 1.73792970e-01 -3.03538882e-02 9.84314302e-01 5.09147707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:-0.46, Z:5.10 [[ 9.24862458e-01 -3.38303546e-01 -1.73724333e-01 3.30744358e+01] [ 3.38266230e-01 9.40548111e-01 -3.07442486e-02 -4.57978075e-01] [ 1.73796981e-01 -3.03308738e-02 9.84314303e-01 5.09705163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.45, Z:5.10 [[ 9.24638842e-01 -3.38918730e-01 -1.73715591e-01 3.31016296e+01] [ 3.38882868e-01 9.40324496e-01 -3.07935623e-02 -4.53364590e-01] [ 1.73785541e-01 -3.03963140e-02 9.84314304e-01 5.10280963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.45, Z:5.11 [[ 9.24492475e-01 -3.39322261e-01 -1.73706839e-01 3.31277483e+01] [ 3.39284267e-01 9.40178124e-01 -3.08428560e-02 -4.48761650e-01] [ 1.73781038e-01 -3.04220093e-02 9.84314306e-01 5.10833023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:-0.44, Z:5.11 [[ 9.24248862e-01 -3.39987193e-01 -1.73703051e-01 3.31548018e+01] [ 3.39956599e-01 9.39934526e-01 -3.08641777e-02 -4.43936816e-01] [ 1.73762920e-01 -3.05253171e-02 9.84314306e-01 5.11382251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.44, Z:5.12 [[ 9.24138823e-01 -3.40290652e-01 -1.73694294e-01 3.31824218e+01] [ 3.40256247e-01 9.39824478e-01 -3.09133781e-02 -4.38862903e-01] [ 1.73761683e-01 -3.05323158e-02 9.84314307e-01 5.11872215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:-0.43, Z:5.12 [[ 9.23708138e-01 -3.41462442e-01 -1.73685571e-01 3.32092057e+01] [ 3.41439016e-01 9.39393812e-01 -3.09623155e-02 -4.34673113e-01] [ 1.73731618e-01 -3.07028875e-02 9.84314308e-01 5.12270093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.43, Z:5.13 [[ 9.23494066e-01 -3.42042903e-01 -1.73681786e-01 3.32368320e+01] [ 3.42025471e-01 9.39179748e-01 -3.09835306e-02 -4.30134984e-01] [ 1.73716113e-01 -3.07904880e-02 9.84314309e-01 5.12759244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.43, Z:5.13 [[ 9.23214639e-01 -3.42800884e-01 -1.73672921e-01 3.32637444e+01] [ 3.42787290e-01 9.38900324e-01 -3.10331456e-02 -4.25615157e-01] [ 1.73699751e-01 -3.08826155e-02 9.84314310e-01 5.13257425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.42, Z:5.14 [[ 9.22810861e-01 -3.43890871e-01 -1.73664000e-01 3.32914196e+01] [ 3.43886719e-01 9.38496549e-01 -3.10829888e-02 -4.21136791e-01] [ 1.73672221e-01 -3.10370235e-02 9.84314311e-01 5.13624827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.42, Z:5.14 [[ 9.22533353e-01 -3.44639115e-01 -1.73655096e-01 3.33183459e+01] [ 3.44638636e-01 9.38219041e-01 -3.11326531e-02 -4.16342940e-01] [ 1.73656048e-01 -3.11273447e-02 9.84314312e-01 5.14161736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.41, Z:5.15 [[ 9.22295854e-01 -3.45278692e-01 -1.73646140e-01 3.33449977e+01] [ 3.45280001e-01 9.37981541e-01 -3.11825282e-02 -4.11513222e-01] [ 1.73643537e-01 -3.11970230e-02 9.84314314e-01 5.14573531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.41, Z:5.15 [[ 9.22036926e-01 -3.45971446e-01 -1.73642347e-01 3.33727619e+01] [ 3.45980693e-01 9.37722610e-01 -3.12036384e-02 -4.07633773e-01] [ 1.73623923e-01 -3.13059926e-02 9.84314314e-01 5.15406308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.40, Z:5.16 [[ 9.21797689e-01 -3.46612240e-01 -1.73634605e-01 3.33993403e+01] [ 3.46624550e-01 9.37483369e-01 -3.12466596e-02 -4.02811142e-01] [ 1.73610029e-01 -3.13829182e-02 9.84314315e-01 5.15991268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.40, Z:5.16 [[ 9.21520140e-01 -3.47353952e-01 -1.73625643e-01 3.34258268e+01] [ 3.47369824e-01 9.37205816e-01 -3.12963823e-02 -3.98121355e-01] [ 1.73593884e-01 -3.14720624e-02 9.84314316e-01 5.16405088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.45, Y:-0.39, Z:5.17 [[ 9.21227730e-01 -3.48130671e-01 -1.73621730e-01 3.34537081e+01] [ 3.48155814e-01 9.36913394e-01 -3.13180740e-02 -3.94096073e-01] [ 1.73571306e-01 -3.15963364e-02 9.84314316e-01 5.16763407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:-0.39, Z:5.17 [[ 9.21008932e-01 -3.48710474e-01 -1.73618986e-01 3.34807186e+01] [ 3.48742720e-01 9.36694582e-01 -3.13332754e-02 -3.89668597e-01] [ 1.73554205e-01 -3.16901312e-02 9.84314316e-01 5.17157650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.51, Y:-0.39, Z:5.18 [[ 9.20862395e-01 -3.49101618e-01 -1.73610224e-01 3.35070550e+01] [ 3.49131692e-01 9.36548049e-01 -3.13817539e-02 -3.85224370e-01] [ 1.73549737e-01 -3.17145541e-02 9.84314318e-01 5.17603632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.38, Z:5.18 [[ 9.20536512e-01 -3.49961911e-01 -1.73606424e-01 3.35336503e+01] [ 3.50002813e-01 9.36222141e-01 -3.14027584e-02 -3.81408570e-01] [ 1.73523948e-01 -3.18553513e-02 9.84314318e-01 5.18011779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.56, Y:-0.38, Z:5.19 [[ 9.20437874e-01 -3.50224186e-01 -1.73600517e-01 3.35604140e+01] [ 3.50263611e-01 9.36123506e-01 -3.14353837e-02 -3.76579549e-01] [ 1.73520956e-01 -3.18716262e-02 9.84314318e-01 5.18675666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.59, Y:-0.37, Z:5.19 [[ 9.20313135e-01 -3.50556297e-01 -1.73591519e-01 3.35869219e+01] [ 3.50592341e-01 9.35998774e-01 -3.14849931e-02 -3.72059455e-01] [ 1.73518712e-01 -3.18838044e-02 9.84314320e-01 5.19124107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.37, Z:5.20 [[ 9.20067589e-01 -3.51202180e-01 -1.73587616e-01 3.36144057e+01] [ 3.51245314e-01 9.35753210e-01 -3.15064985e-02 -3.67275672e-01] [ 1.73500320e-01 -3.19837286e-02 9.84314320e-01 5.19723728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.36, Z:5.20 [[ 9.19967109e-01 -3.51469730e-01 -1.73578649e-01 3.36420661e+01] [ 3.51508435e-01 9.35652740e-01 -3.15558215e-02 -3.62030870e-01] [ 1.73500255e-01 -3.19840415e-02 9.84314321e-01 5.20226249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.36, Z:5.21 [[ 9.19871779e-01 -3.51723613e-01 -1.73569611e-01 3.36682832e+01] [ 3.51757599e-01 9.35557420e-01 -3.16054614e-02 -3.57596345e-01] [ 1.73500724e-01 -3.19814576e-02 9.84314322e-01 5.20657035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.35, Z:5.21 [[ 9.19631684e-01 -3.52352830e-01 -1.73565692e-01 3.36948770e+01] [ 3.52393627e-01 9.35317308e-01 -3.16269640e-02 -3.52874808e-01] [ 1.73482847e-01 -3.20782857e-02 9.84314323e-01 5.21140971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.35, Z:5.22 [[ 9.19310516e-01 -3.53191808e-01 -1.73561868e-01 3.37222660e+01] [ 3.53243095e-01 9.34996109e-01 -3.16479359e-02 -3.48791766e-01] [ 1.73457463e-01 -3.22152513e-02 9.84314323e-01 5.21674218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.34, Z:5.22 [[ 9.19058732e-01 -3.53850966e-01 -1.73552705e-01 3.37487780e+01] [ 3.53904353e-01 9.34744317e-01 -3.16981104e-02 -3.44125664e-01] [ 1.73443811e-01 -3.22886326e-02 9.84314324e-01 5.22130571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.34, Z:5.23 [[ 9.18940352e-01 -3.54160222e-01 -1.73548745e-01 3.37752947e+01] [ 3.54214939e-01 9.34625932e-01 -3.17197751e-02 -3.39835996e-01] [ 1.73437040e-01 -3.23249769e-02 9.84314324e-01 5.22562534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.33, Z:5.23 [[ 9.18697671e-01 -3.54791148e-01 -1.73544896e-01 3.38028390e+01] [ 3.54852799e-01 9.34383225e-01 -3.17408184e-02 -3.34829647e-01] [ 1.73418801e-01 -3.24226763e-02 9.84314324e-01 5.23077854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.83, Y:-0.33, Z:5.24 [[ 9.18439619e-01 -3.55462954e-01 -1.73536034e-01 3.38302116e+01] [ 3.55527256e-01 9.34125161e-01 -3.17892011e-02 -3.30350766e-01] [ 1.73404259e-01 -3.25003281e-02 9.84314326e-01 5.23571545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.33, Z:5.24 [[ 9.18305218e-01 -3.55814479e-01 -1.73526896e-01 3.38570053e+01] [ 3.55875704e-01 9.33990771e-01 -3.18390050e-02 -3.25595619e-01] [ 1.73401298e-01 -3.25160817e-02 9.84314327e-01 5.24055853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.32, Z:5.25 [[ 9.18239349e-01 -3.55988861e-01 -1.73517805e-01 3.38830660e+01] [ 3.56044045e-01 9.33924924e-01 -3.18884726e-02 -3.20959338e-01] [ 1.73404544e-01 -3.24987307e-02 9.84314328e-01 5.24511034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.91, Y:-0.32, Z:5.25 [[ 9.18174626e-01 -3.56157688e-01 -1.73513853e-01 3.39098996e+01] [ 3.56211838e-01 9.33860204e-01 -3.19099600e-02 -3.16590038e-01] [ 1.73402660e-01 -3.25087730e-02 9.84314328e-01 5.25035994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.31, Z:5.26 [[ 9.18016701e-01 -3.56568804e-01 -1.73505113e-01 3.39371165e+01] [ 3.56621324e-01 9.33702284e-01 -3.19574127e-02 -3.12709648e-01] [ 1.73397137e-01 -3.25381847e-02 9.84314330e-01 5.25616693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.31, Z:5.26 [[ 9.17773608e-01 -3.57195353e-01 -1.73502405e-01 3.39634956e+01] [ 3.57255901e-01 9.33459161e-01 -3.19721081e-02 -3.08104452e-01] [ 1.73377698e-01 -3.26416011e-02 9.84314330e-01 5.26096981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.30, Z:5.27 [[ 9.17507366e-01 -3.57881511e-01 -1.73496562e-01 3.39910029e+01] [ 3.57948010e-01 9.33192895e-01 -3.20037888e-02 -3.03772242e-01] [ 1.73359323e-01 -3.27390369e-02 9.84314330e-01 5.26629166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.30, Z:5.27 [[ 9.17423533e-01 -3.58100767e-01 -1.73487468e-01 3.40182684e+01] [ 3.58162039e-01 9.33109082e-01 -3.20530082e-02 -2.98903576e-01] [ 1.73360939e-01 -3.27304412e-02 9.84314331e-01 5.27135930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.29, Z:5.28 [[ 9.17379066e-01 -3.58219054e-01 -1.73478411e-01 3.40448712e+01] [ 3.58273422e-01 9.33064639e-01 -3.21019520e-02 -2.94068203e-01] [ 1.73366102e-01 -3.27030453e-02 9.84314333e-01 5.27573538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.29, Z:5.28 [[ 9.17262270e-01 -3.58520995e-01 -1.73472257e-01 3.40717373e+01] [ 3.58574466e-01 9.32947846e-01 -3.21351741e-02 -2.89164867e-01] [ 1.73361703e-01 -3.27263392e-02 9.84314333e-01 5.28073299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.29, Z:5.29 [[ 9.17435321e-01 -3.58082442e-01 -1.73462957e-01 3.40992627e+01] [ 3.58119271e-01 9.33120943e-01 -3.21852978e-02 -2.85007196e-01] [ 1.73386908e-01 -3.25924989e-02 9.84314334e-01 5.28702248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.28, Z:5.29 [[ 9.17455991e-01 -3.58034025e-01 -1.73453572e-01 3.41257105e+01] [ 3.58060815e-01 9.33141632e-01 -3.22357993e-02 -2.80102205e-01] [ 1.73398262e-01 -3.25320001e-02 9.84314336e-01 5.28973789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.28, Z:5.30 [[ 9.17367577e-01 -3.58262484e-01 -1.73449475e-01 3.41524674e+01] [ 3.58289162e-01 9.33053219e-01 -3.22578265e-02 -2.75233468e-01] [ 1.73394360e-01 -3.25527831e-02 9.84314336e-01 5.29607461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.27, Z:5.30 [[ 9.17471222e-01 -3.58001346e-01 -1.73440461e-01 3.41793463e+01] [ 3.58014731e-01 9.33156879e-01 -3.23062227e-02 -2.70437964e-01] [ 1.73412830e-01 -3.24542104e-02 9.84314337e-01 5.30031465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.27, Z:5.31 [[ 9.17390444e-01 -3.58212707e-01 -1.73431343e-01 3.42063721e+01] [ 3.58220788e-01 9.33076103e-01 -3.23551002e-02 -2.65757908e-01] [ 1.73414649e-01 -3.24444525e-02 9.84314338e-01 5.30597933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.26, Z:5.31 [[ 9.17427561e-01 -3.58122257e-01 -1.73421795e-01 3.42326716e+01] [ 3.58119470e-01 9.33113221e-01 -3.24061962e-02 -2.61086955e-01] [ 1.73427550e-01 -3.23753837e-02 9.84314340e-01 5.30973044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.26, Y:-0.26, Z:5.32 [[ 9.17387682e-01 -3.58226401e-01 -1.73417666e-01 3.42592623e+01] [ 3.58221366e-01 9.33073341e-01 -3.24282774e-02 -2.56912366e-01] [ 1.73428066e-01 -3.23726109e-02 9.84314340e-01 5.31653929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.25, Z:5.32 [[ 9.17788275e-01 -3.57203369e-01 -1.73408292e-01 3.42867869e+01] [ 3.57171713e-01 9.33473902e-01 -3.24783297e-02 -2.53163940e-01] [ 1.73473483e-01 -3.21283064e-02 9.84314341e-01 5.32036130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.25, Z:5.33 [[ 9.17365907e-01 -3.58320656e-01 -1.73338109e-01 3.43147316e+01] [ 3.58239853e-01 9.33051408e-01 -3.28523508e-02 -2.47832933e-01] [ 1.73505042e-01 -3.19589921e-02 9.84314291e-01 5.32685144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.24, Z:5.33 [[ 9.17120368e-01 -3.58920200e-01 -1.73397001e-01 3.43420207e+01] [ 3.58906906e-01 9.32806022e-01 -3.25385658e-02 -2.43764930e-01] [ 1.73424515e-01 -3.23915997e-02 9.84314341e-01 5.33208363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.24, Z:5.34 [[ 9.17015058e-01 -3.59193761e-01 -1.73387500e-01 3.43696571e+01] [ 3.59175922e-01 9.32700706e-01 -3.25891173e-02 -2.38357852e-01] [ 1.73424451e-01 -3.23919037e-02 9.84314342e-01 5.33710878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.23, Z:5.34 [[ 9.16968330e-01 -3.59317656e-01 -1.73377925e-01 3.43971618e+01] [ 3.59292655e-01 9.32653966e-01 -3.26399762e-02 -2.34386710e-01] [ 1.73429729e-01 -3.23635906e-02 9.84314344e-01 5.34075454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.23, Z:5.35 [[ 9.16922919e-01 -3.59434949e-01 -1.73374963e-01 3.44247232e+01] [ 3.59409085e-01 9.32608554e-01 -3.26557025e-02 -2.29931562e-01] [ 1.73428575e-01 -3.23697748e-02 9.84314344e-01 5.34562670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.45, Y:-0.23, Z:5.35 [[ 9.16579168e-01 -3.60335229e-01 -1.73323833e-01 3.44514805e+01] [ 3.60275276e-01 9.32264740e-01 -3.29268949e-02 -2.25088140e-01] [ 1.73448418e-01 -3.22641857e-02 9.84314314e-01 5.35027598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.22, Z:5.36 [[ 9.16418183e-01 -3.60725784e-01 -1.73362690e-01 3.44783115e+01] [ 3.60710085e-01 9.32103840e-01 -3.27210399e-02 -2.21734665e-01] [ 1.73395352e-01 -3.25475150e-02 9.84314336e-01 5.35711219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.50, Y:-0.22, Z:5.36 [[ 9.16444180e-01 -3.60664254e-01 -1.73353285e-01 3.45046329e+01] [ 3.60638421e-01 9.32129822e-01 -3.27707940e-02 -2.17970154e-01] [ 1.73407021e-01 -3.24852516e-02 9.84314337e-01 5.36239073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.21, Z:5.37 [[ 9.16210171e-01 -3.61260245e-01 -1.73349239e-01 3.45315972e+01] [ 3.61240710e-01 9.31895821e-01 -3.27921850e-02 -2.12924861e-01] [ 1.73389944e-01 -3.25762686e-02 9.84314337e-01 5.36820501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.56, Y:-0.21, Z:5.37 [[ 9.16178974e-01 -3.61343987e-01 -1.73339580e-01 3.45582440e+01] [ 3.61316581e-01 9.31864612e-01 -3.28431603e-02 -2.08707640e-01] [ 1.73396699e-01 -3.25402517e-02 9.84314338e-01 5.37207258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.20, Z:5.38 [[ 9.16032520e-01 -3.61717099e-01 -1.73335407e-01 3.45853541e+01] [ 3.61692064e-01 9.31718161e-01 -3.28651730e-02 -2.03858024e-01] [ 1.73387642e-01 -3.25884737e-02 9.84314339e-01 5.37685857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.20, Z:5.38 [[ 9.15863619e-01 -3.62149162e-01 -1.73325749e-01 3.46128905e+01] [ 3.62122242e-01 9.31549256e-01 -3.29160294e-02 -1.98839375e-01] [ 1.73381985e-01 -3.26185149e-02 9.84314340e-01 5.38157172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.20, Z:5.39 [[ 9.15899603e-01 -3.62062776e-01 -1.73316081e-01 3.46391339e+01] [ 3.62025097e-01 9.31585216e-01 -3.29668573e-02 -1.95741710e-01] [ 1.73394771e-01 -3.25504396e-02 9.84314341e-01 5.38602383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.19, Z:5.39 [[ 9.15780113e-01 -3.62366915e-01 -1.73311867e-01 3.46665278e+01] [ 3.62330404e-01 9.31465729e-01 -3.29889972e-02 -1.91214557e-01] [ 1.73388186e-01 -3.25854912e-02 9.84314341e-01 5.39153253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.19, Z:5.40 [[ 9.15598392e-01 -3.62830489e-01 -1.73302105e-01 3.46925992e+01] [ 3.62792571e-01 9.31284004e-01 -3.30401997e-02 -1.86970590e-01] [ 1.73381470e-01 -3.26211626e-02 9.84314343e-01 5.39601310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.18, Z:5.40 [[ 9.15551126e-01 -3.62951752e-01 -1.73297899e-01 3.47188444e+01] [ 3.62911885e-01 9.31236732e-01 -3.30622470e-02 -1.83314389e-01] [ 1.73381370e-01 -3.26216898e-02 9.84314343e-01 5.39957255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.18, Z:5.40 [[ 9.15385582e-01 -3.63371056e-01 -1.73293717e-01 3.47463834e+01] [ 3.63334375e-01 9.31071195e-01 -3.30841533e-02 -1.78681746e-01] [ 1.73370612e-01 -3.26788074e-02 9.84314343e-01 5.40490378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.17, Z:5.41 [[ 9.15130264e-01 -3.64018008e-01 -1.73284416e-01 3.47732859e+01] [ 3.63983532e-01 9.30815882e-01 -3.31327962e-02 -1.74029718e-01] [ 1.73356821e-01 -3.27518494e-02 9.84314345e-01 5.40978964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.17, Z:5.42 [[ 9.14921732e-01 -3.64546324e-01 -1.73274929e-01 3.48002319e+01] [ 3.64511858e-01 9.30607349e-01 -3.31823395e-02 -1.70731933e-01] [ 1.73347422e-01 -3.28015228e-02 9.84314346e-01 5.41511863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.17, Z:5.42 [[ 9.15183150e-01 -3.63894038e-01 -1.73265493e-01 3.48271312e+01] [ 3.63839406e-01 9.30868708e-01 -3.32315375e-02 -1.67138026e-01] [ 1.73380184e-01 -3.26278711e-02 9.84314347e-01 5.41915086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.16, Z:5.43 [[ 9.14524611e-01 -3.65603426e-01 -1.73144076e-01 3.48547476e+01] [ 3.65462777e-01 9.30209790e-01 -3.38630276e-02 -1.61774174e-01] [ 1.73440754e-01 -3.23091429e-02 9.84314190e-01 5.42587780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.16, Z:5.43 [[ 9.14263552e-01 -3.66204432e-01 -1.73252624e-01 3.48823316e+01] [ 3.66177207e-01 9.29949176e-01 -3.32984045e-02 -1.57405015e-01] [ 1.73310158e-01 -3.29976444e-02 9.84314352e-01 5.43091705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.15, Z:5.44 [[ 9.13996596e-01 -3.66874805e-01 -1.73242893e-01 3.49098132e+01] [ 3.66849850e-01 9.29682222e-01 -3.33489578e-02 -1.53665104e-01] [ 1.73295730e-01 -3.30732955e-02 9.84314354e-01 5.43560628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.15, Z:5.44 [[ 9.13958221e-01 -3.66975039e-01 -1.73233055e-01 3.49363828e+01] [ 3.66942484e-01 9.29643832e-01 -3.33999852e-02 -1.49475691e-01] [ 1.73302002e-01 -3.30403765e-02 9.84314355e-01 5.43966134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.14, Z:5.44 [[ 9.13599440e-01 -3.67870468e-01 -1.73226390e-01 3.49635536e+01] [ 3.67846976e-01 9.29285067e-01 -3.34345166e-02 -1.44708070e-01] [ 1.73276269e-01 -3.31750482e-02 9.84314356e-01 5.44475437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.14, Z:5.45 [[ 9.13600179e-01 -3.67873134e-01 -1.73216829e-01 3.49900171e+01] [ 3.67840654e-01 9.29285788e-01 -3.34839768e-02 -1.40625972e-01] [ 1.73285793e-01 -3.31252246e-02 9.84314357e-01 5.44922533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.14, Z:5.46 [[ 9.13502725e-01 -3.68117006e-01 -1.73212704e-01 3.50173999e+01] [ 3.68084818e-01 9.29188335e-01 -3.35053034e-02 -1.37120252e-01] [ 1.73281096e-01 -3.31497807e-02 9.84314357e-01 5.45588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.13, Z:5.46 [[ 9.13493360e-01 -3.68144587e-01 -1.73203475e-01 3.50448783e+01] [ 3.68104168e-01 9.29178950e-01 -3.35529461e-02 -1.32280679e-01] [ 1.73289359e-01 -3.31065276e-02 9.84314358e-01 5.46213818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.07, Y:-0.13, Z:5.47 [[ 9.13708219e-01 -3.67615791e-01 -1.73193304e-01 3.50708682e+01] [ 3.67556717e-01 9.29393748e-01 -3.36053674e-02 -1.27803983e-01] [ 1.73318638e-01 -3.29528618e-02 9.84314360e-01 5.46663916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.12, Z:5.47 [[ 9.14208382e-01 -3.66372272e-01 -1.73188891e-01 3.50973135e+01] [ 3.66287705e-01 9.29893794e-01 -3.36280937e-02 -1.23569930e-01] [ 1.73367676e-01 -3.26938763e-02 9.84314360e-01 5.46898541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.12, Y:-0.12, Z:5.47 [[ 9.14452807e-01 -3.65763775e-01 -1.73184653e-01 3.51249579e+01] [ 3.65664784e-01 9.30138135e-01 -3.36499087e-02 -1.18202734e-01] [ 1.73393567e-01 -3.25562750e-02 9.84314360e-01 5.47339389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.15, Y:-0.11, Z:5.48 [[ 9.14654606e-01 -3.65263386e-01 -1.73175090e-01 3.51520900e+01] [ 3.65146833e-01 9.30339811e-01 -3.36990515e-02 -1.13273778e-01] [ 1.73420710e-01 -3.24113430e-02 9.84314361e-01 5.47939254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.18, Y:-0.11, Z:5.49 [[ 9.15318197e-01 -3.63601937e-01 -1.73165327e-01 3.51786907e+01] [ 3.63447751e-01 9.31003076e-01 -3.37491447e-02 -1.09483275e-01] [ 1.73488707e-01 -3.20453424e-02 9.84314363e-01 5.48509132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.21, Y:-0.10, Z:5.49 [[ 9.15609564e-01 -3.62869629e-01 -1.73161079e-01 3.52052195e+01] [ 3.62698917e-01 9.31294272e-01 -3.37709250e-02 -1.04706428e-01] [ 1.73518364e-01 -3.18843540e-02 9.84314363e-01 5.49128746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.10, Z:5.50 [[ 9.15801462e-01 -3.62389695e-01 -1.73151352e-01 3.52325278e+01] [ 3.62201662e-01 9.31485971e-01 -3.38207253e-02 -9.94322785e-02] [ 1.73544338e-01 -3.17426380e-02 9.84314364e-01 5.49729511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.09, Z:5.50 [[ 9.16667727e-01 -3.60197706e-01 -1.73141247e-01 3.52590855e+01] [ 3.59962712e-01 9.32351601e-01 -3.38723824e-02 -9.43813951e-02] [ 1.73629273e-01 -3.12746729e-02 9.84314366e-01 5.50099270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.09, Z:5.50 [[ 9.17048077e-01 -3.59230359e-01 -1.73136865e-01 3.52852878e+01] [ 3.58974728e-01 9.32731628e-01 -3.38947646e-02 -8.93893248e-02] [ 1.73666258e-01 -3.10686303e-02 9.84314366e-01 5.50463849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.08, Z:5.51 [[ 9.17367543e-01 -3.58417002e-01 -1.73130135e-01 3.53123868e+01] [ 3.58141188e-01 9.33050752e-01 -3.39291066e-02 -8.42585491e-02] [ 1.73699971e-01 -3.08795711e-02 9.84314366e-01 5.50995714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.08, Z:5.51 [[ 9.17261247e-01 -3.58693814e-01 -1.73120051e-01 3.53399884e+01] [ 3.58413345e-01 9.32944372e-01 -3.39804825e-02 -7.86200402e-02] [ 1.73699966e-01 -3.08795568e-02 9.84314368e-01 5.51498214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.07, Z:5.52 [[ 9.18447881e-01 -3.55649312e-01 -1.73109954e-01 3.53678058e+01] [ 3.55307439e-01 9.34129786e-01 -3.40318422e-02 -7.48820584e-02] [ 1.73810566e-01 -3.02507812e-02 9.84314369e-01 5.51906595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.07, Z:5.53 [[ 9.18491527e-01 -3.55573386e-01 -1.73034340e-01 3.53952261e+01] [ 3.55160062e-01 9.34171764e-01 -3.44157650e-02 -6.89785806e-02] [ 1.73881125e-01 -2.98442985e-02 9.84314316e-01 5.52650499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.42, Y:-0.06, Z:5.53 [[ 9.19350109e-01 -3.53316672e-01 -1.73097390e-01 3.54220327e+01] [ 3.52923320e-01 9.35030808e-01 -3.40957210e-02 -6.46454817e-02] [ 1.73897979e-01 -2.97442007e-02 9.84314368e-01 5.53205160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.06, Z:5.54 [[ 9.19246853e-01 -3.53650280e-01 -1.72964456e-01 3.54491582e+01] [ 3.53139559e-01 9.34924358e-01 -3.47691808e-02 -5.81659189e-02] [ 1.74004813e-01 -2.91191315e-02 9.84314178e-01 5.53776983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.05, Z:5.54 [[ 9.20380866e-01 -3.50629291e-01 -1.73084262e-01 3.54758953e+01] [ 3.50177956e-01 9.36060005e-01 -3.41623515e-02 -5.36553463e-02] [ 1.73995577e-01 -2.91679186e-02 9.84314366e-01 5.54426106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.05, Z:5.55 [[ 9.20729182e-01 -3.49718738e-01 -1.73073909e-01 3.55025784e+01] [ 3.49242325e-01 9.36407578e-01 -3.42147229e-02 -4.79633465e-02] [ 1.74033250e-01 -2.89422406e-02 9.84314368e-01 5.54854023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.04, Z:5.55 [[ 9.21126895e-01 -3.48674643e-01 -1.73064257e-01 3.55297308e+01] [ 3.48171547e-01 9.36804456e-01 -3.42634805e-02 -4.24891105e-02] [ 1.74074173e-01 -2.86950365e-02 9.84314369e-01 5.55346644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.04, Z:5.56 [[ 9.22075373e-01 -3.46163716e-01 -1.73054004e-01 3.55576805e+01] [ 3.45608461e-01 9.37751172e-01 -3.43151841e-02 -3.71287604e-02] [ 1.74160267e-01 -2.81677419e-02 9.84314370e-01 5.55575685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.58, Y:-0.03, Z:5.56 [[ 9.22502547e-01 -3.45028159e-01 -1.73045137e-01 3.55843156e+01] [ 3.44445444e-01 9.38177349e-01 -3.43598423e-02 -3.14471144e-02] [ 1.74202141e-01 -2.79075670e-02 9.84314371e-01 5.56073748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.61, Y:-0.03, Z:5.56 [[ 9.22849523e-01 -3.44104242e-01 -1.73034759e-01 3.56110074e+01] [ 3.43496297e-01 9.38523365e-01 -3.44120263e-02 -2.61245821e-02] [ 1.74238489e-01 -2.76796771e-02 9.84314373e-01 5.56489626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:-0.02, Z:5.57 [[ 9.23662011e-01 -3.41919624e-01 -1.73030228e-01 3.56375909e+01] [ 3.41270434e-01 9.39334198e-01 -3.44347961e-02 -2.10583066e-02] [ 1.74307143e-01 -2.72439880e-02 9.84314373e-01 5.57007803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.66, Y:-0.02, Z:5.58 [[ 9.24050686e-01 -3.40869446e-01 -1.73027022e-01 3.56643115e+01] [ 3.40199499e-01 9.39722000e-01 -3.44508998e-02 -1.64066489e-02] [ 1.74340558e-01 -2.70293284e-02 9.84314373e-01 5.57639988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.01, Z:5.58 [[ 9.24151111e-01 -3.40602278e-01 -1.73016797e-01 3.56917289e+01] [ 3.39918433e-01 9.39821823e-01 -3.45021735e-02 -1.06978934e-02] [ 1.74356481e-01 -2.69263767e-02 9.84314375e-01 5.58250913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.01, Z:5.59 [[ 9.24462945e-01 -3.39759513e-01 -1.73007909e-01 3.57183398e+01] [ 3.39053249e-01 9.40132661e-01 -3.45466885e-02 -5.73446056e-03] [ 1.74387952e-01 -2.67217601e-02 9.84314376e-01 5.58854022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:-0.00, Z:5.59 [[ 9.24927903e-01 -3.38496922e-01 -1.72997710e-01 3.57455344e+01] [ 3.37759947e-01 9.40596204e-01 -3.45976855e-02 -2.39101064e-04] [ 1.74432199e-01 -2.64313327e-02 9.84314377e-01 5.59374563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.77, Y:0.01, Z:5.60 [[ 9.24967837e-01 -3.38389408e-01 -1.72994534e-01 3.57728389e+01] [ 3.37647712e-01 9.40635915e-01 -3.46135572e-02 5.67471713e-03] [ 1.74437733e-01 -2.63947816e-02 9.84314377e-01 5.59747951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.80, Y:0.01, Z:5.60 [[ 9.25163174e-01 -3.37860142e-01 -1.72984466e-01 3.57997291e+01] [ 3.37100303e-01 9.40830381e-01 -3.46638030e-02 1.06706732e-02] [ 1.74460558e-01 -2.62434419e-02 9.84314378e-01 5.60184914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.83, Y:0.01, Z:5.60 [[ 9.25506368e-01 -3.36924192e-01 -1.72974138e-01 3.58272079e+01] [ 3.36139106e-01 9.41172328e-01 -3.47152660e-02 1.48145730e-02] [ 1.74494885e-01 -2.60141723e-02 9.84314380e-01 5.60488123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.85, Y:0.02, Z:5.61 [[ 9.25525200e-01 -3.36874089e-01 -1.72970957e-01 3.58532125e+01] [ 3.36085261e-01 9.41190973e-01 -3.47311069e-02 1.95739485e-02] [ 1.74498713e-01 -2.59884746e-02 9.84314380e-01 5.60921570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.88, Y:0.02, Z:5.61 [[ 9.25565546e-01 -3.36766797e-01 -1.72964001e-01 3.58793273e+01] [ 3.35969831e-01 9.41230906e-01 -3.47657146e-02 2.43205940e-02] [ 1.74507002e-01 -2.59327386e-02 9.84314380e-01 5.61355375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.91, Y:0.03, Z:5.62 [[ 9.25515682e-01 -3.36906053e-01 -1.72959629e-01 3.59062873e+01] [ 3.36107473e-01 9.41180960e-01 -3.47874515e-02 2.96048025e-02] [ 1.74506413e-01 -2.59366920e-02 9.84314381e-01 5.62039943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.93, Y:0.03, Z:5.62 [[ 9.25709714e-01 -3.36378016e-01 -1.72948999e-01 3.59345107e+01] [ 3.35560860e-01 9.41374032e-01 -3.48402217e-02 3.41415068e-02] [ 1.74529181e-01 -2.57829833e-02 9.84314382e-01 5.62412767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.96, Y:0.04, Z:5.63 [[ 9.25400717e-01 -3.37226743e-01 -1.72949809e-01 3.59606306e+01] [ 3.36424687e-01 9.41065816e-01 -3.48362005e-02 3.97966485e-02] [ 1.74504852e-01 -2.59471405e-02 9.84314382e-01 5.63013523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.99, Y:0.04, Z:5.64 [[ 9.25141543e-01 -3.37941003e-01 -1.72942198e-01 3.59879506e+01] [ 3.37144143e-01 9.40806906e-01 -3.48739455e-02 4.49372232e-02] [ 1.74490551e-01 -2.60431134e-02 9.84314383e-01 5.63548649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.01, Y:0.05, Z:5.64 [[ 9.25014530e-01 -3.38293656e-01 -1.72932132e-01 3.60140246e+01] [ 3.37493660e-01 9.40679732e-01 -3.49237927e-02 4.83286848e-02] [ 1.74488249e-01 -2.60584824e-02 9.84314384e-01 5.64133233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.04, Y:0.05, Z:5.65 [[ 9.24761981e-01 -3.38985643e-01 -1.72927768e-01 3.60413621e+01] [ 3.38193423e-01 9.40427578e-01 -3.49453888e-02 5.33350978e-02] [ 1.74472027e-01 -2.61668666e-02 9.84314384e-01 5.64641231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:0.06, Z:5.65 [[ 9.24581095e-01 -3.39483737e-01 -1.72917873e-01 3.60682859e+01] [ 3.38691021e-01 9.40246666e-01 -3.49942804e-02 5.81468999e-02] [ 1.74465443e-01 -2.62106810e-02 9.84314385e-01 5.65122450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:0.06, Z:5.65 [[ 9.24304826e-01 -3.40240379e-01 -1.72907703e-01 3.60959928e+01] [ 3.39451315e-01 9.39970579e-01 -3.50444605e-02 6.31655357e-02] [ 1.74451695e-01 -2.63019833e-02 9.84314387e-01 5.65434917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:0.07, Z:5.66 [[ 9.23990082e-01 -3.41095797e-01 -1.72904553e-01 3.61235039e+01] [ 3.40318396e-01 9.39656419e-01 -3.50599942e-02 6.89518928e-02] [ 1.74429690e-01 -2.64475133e-02 9.84314387e-01 5.65960422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:0.07, Z:5.67 [[ 9.23784054e-01 -3.41658514e-01 -1.72894422e-01 3.61503116e+01] [ 3.40881536e-01 9.39450411e-01 -3.51098858e-02 7.41272325e-02] [ 1.74421327e-01 -2.65025636e-02 9.84314388e-01 5.66571410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.18, Y:0.08, Z:5.67 [[ 9.23504447e-01 -3.42418885e-01 -1.72883902e-01 3.61782097e+01] [ 3.41645351e-01 9.39170972e-01 -3.51616113e-02 7.79168435e-02] [ 1.74407542e-01 -2.65930771e-02 9.84314390e-01 5.67316370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:0.08, Z:5.68 [[ 9.23227739e-01 -3.43168833e-01 -1.72874796e-01 3.62047703e+01] [ 3.42399849e-01 9.38894487e-01 -3.52063290e-02 8.28292368e-02] [ 1.74392907e-01 -2.66888444e-02 9.84314391e-01 5.67746974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.029072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.23, Y:0.09, Z:5.68 [[ 9.22998742e-01 -3.43787852e-01 -1.72867683e-01 3.62319736e+01] [ 3.43022996e-01 9.38665692e-01 -3.52412212e-02 8.78122399e-02] [ 1.74380467e-01 -2.67699875e-02 9.84314391e-01 5.68338654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:0.09, Z:5.69 [[ 9.22698073e-01 -3.44599164e-01 -1.72857401e-01 3.62591505e+01] [ 3.43838876e-01 9.38365244e-01 -3.52915802e-02 9.36205534e-02] [ 1.74364827e-01 -2.68716215e-02 9.84314392e-01 5.68731714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.29, Y:0.10, Z:5.69 [[ 9.22549118e-01 -3.45002931e-01 -1.72847051e-01 3.62869530e+01] [ 3.44240245e-01 9.38216171e-01 -3.53422007e-02 9.86073040e-02] [ 1.74361061e-01 -2.68959950e-02 9.84314394e-01 5.69024216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.31, Y:0.10, Z:5.69 [[ 9.22305936e-01 -3.45654114e-01 -1.72843839e-01 3.63137277e+01] [ 3.44899617e-01 9.37973386e-01 -3.53579003e-02 1.04273609e-01] [ 1.74344525e-01 -2.70029727e-02 9.84314394e-01 5.69498433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:0.11, Z:5.70 [[ 9.22190850e-01 -3.45966156e-01 -1.72833603e-01 3.63404145e+01] [ 3.45207825e-01 9.37858113e-01 -3.54078670e-02 1.09420812e-01] [ 1.74343321e-01 -2.70107012e-02 9.84314395e-01 5.70029275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.37, Y:0.11, Z:5.71 [[ 9.21848460e-01 -3.46879019e-01 -1.72830445e-01 3.63672118e+01] [ 3.46133382e-01 9.37516332e-01 -3.54232771e-02 1.14120227e-01] [ 1.74318956e-01 -2.71674929e-02 9.84314395e-01 5.70703344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:0.12, Z:5.71 [[ 9.21571349e-01 -3.47619733e-01 -1.72820053e-01 3.63944495e+01] [ 3.46877429e-01 9.37239378e-01 -3.54739025e-02 1.19210454e-01] [ 1.74305188e-01 -2.72556436e-02 9.84314397e-01 5.71232477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:0.12, Z:5.72 [[ 9.21496287e-01 -3.47823940e-01 -1.72809434e-01 3.64208497e+01] [ 3.47075662e-01 9.37164030e-01 -3.55255596e-02 1.23939441e-01] [ 1.74307426e-01 -2.72412774e-02 9.84314398e-01 5.71674824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.45, Y:0.13, Z:5.72 [[ 9.21565491e-01 -3.47642846e-01 -1.72804796e-01 3.64483894e+01] [ 3.46887365e-01 9.37232889e-01 -3.55481085e-02 1.28493899e-01] [ 1.74316383e-01 -2.71838902e-02 9.84314398e-01 5.71958216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.48, Y:0.13, Z:5.73 [[ 9.20882291e-01 -3.49480610e-01 -1.72740008e-01 3.64767536e+01] [ 3.48698885e-01 9.36548433e-01 -3.58625040e-02 1.34728650e-01] [ 1.74312634e-01 -2.72091034e-02 9.84314366e-01 5.72578650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:0.14, Z:5.73 [[ 9.20608636e-01 -3.50177539e-01 -1.72787242e-01 3.65041792e+01] [ 3.49449560e-01 9.36277341e-01 -3.56334887e-02 1.40246317e-01] [ 1.74254827e-01 -2.75759284e-02 9.84314393e-01 5.73067903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.53, Y:0.15, Z:5.74 [[ 9.20315044e-01 -3.50953436e-01 -1.72777040e-01 3.65316144e+01] [ 3.50229629e-01 9.35983941e-01 -3.56828897e-02 1.46009149e-01] [ 1.74239568e-01 -2.76721384e-02 9.84314394e-01 5.73594729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.56, Y:0.15, Z:5.74 [[ 9.19864721e-01 -3.52137225e-01 -1.72766521e-01 3.65591585e+01] [ 3.51424274e-01 9.35534114e-01 -3.57337480e-02 1.50695127e-01] [ 1.74212157e-01 -2.78441351e-02 9.84314395e-01 5.74230971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.59, Y:0.16, Z:5.75 [[ 9.19656081e-01 -3.52686953e-01 -1.72755916e-01 3.65863227e+01] [ 3.51974001e-01 9.35325473e-01 -3.57849444e-02 1.56099356e-01] [ 1.74203892e-01 -2.78957494e-02 9.84314396e-01 5.74790894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.61, Y:0.16, Z:5.75 [[ 9.19402563e-01 -3.53352492e-01 -1.72745317e-01 3.66132469e+01] [ 3.52641532e-01 9.35072044e-01 -3.58360403e-02 1.61213827e-01] [ 1.74192071e-01 -2.79694259e-02 9.84314398e-01 5.75379530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:0.17, Z:5.76 [[ 9.18879066e-01 -3.54716899e-01 -1.72734432e-01 3.66402708e+01] [ 3.54019614e-01 9.34549161e-01 -3.58884308e-02 1.66721632e-01] [ 1.74159051e-01 -2.81742492e-02 9.84314399e-01 5.75832854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.67, Y:0.17, Z:5.76 [[ 9.18752774e-01 -3.55049178e-01 -1.72723541e-01 3.66666596e+01] [ 3.54347983e-01 9.34422693e-01 -3.59407706e-02 1.72107491e-01] [ 1.74157538e-01 -2.81835557e-02 9.84314401e-01 5.76241719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.69, Y:0.18, Z:5.77 [[ 9.18341062e-01 -3.56115013e-01 -1.72718820e-01 3.66937785e+01] [ 3.55427850e-01 9.34011602e-01 -3.59634476e-02 1.77838483e-01] [ 1.74128505e-01 -2.83623681e-02 9.84314401e-01 5.76598877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.72, Y:0.18, Z:5.77 [[ 9.17989072e-01 -3.57026580e-01 -1.72708092e-01 3.67207961e+01] [ 3.56345561e-01 9.33659879e-01 -3.60148901e-02 1.82670573e-01] [ 1.74108890e-01 -2.84824865e-02 9.84314402e-01 5.76996681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.75, Y:0.19, Z:5.77 [[ 9.17757728e-01 -3.57626020e-01 -1.72697372e-01 3.67471881e+01] [ 3.56945839e-01 9.33428570e-01 -3.60662252e-02 1.87439345e-01] [ 1.74098881e-01 -2.85435513e-02 9.84314404e-01 5.77440895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.77, Y:0.19, Z:5.78 [[ 9.17294285e-01 -3.58815290e-01 -1.72692741e-01 3.67741849e+01] [ 3.58151365e-01 9.32965824e-01 -3.60883866e-02 1.92933147e-01] [ 1.74065490e-01 -2.87464700e-02 9.84314404e-01 5.78012166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.80, Y:0.20, Z:5.79 [[ 9.16936639e-01 -3.59733444e-01 -1.72681931e-01 3.68011239e+01] [ 3.59075753e-01 9.32608439e-01 -3.61400383e-02 1.98093761e-01] [ 1.74045407e-01 -2.88677691e-02 9.84314405e-01 5.78639259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.83, Y:0.20, Z:5.79 [[ 9.16651571e-01 -3.60464477e-01 -1.72670951e-01 3.68284662e+01] [ 3.59809692e-01 9.32323492e-01 -3.61924232e-02 2.03148403e-01] [ 1.74031267e-01 -2.89528402e-02 9.84314407e-01 5.79177555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.86, Y:0.21, Z:5.80 [[ 9.15925438e-01 -3.62307205e-01 -1.72667545e-01 3.68552326e+01] [ 3.61680965e-01 9.31598525e-01 -3.62086684e-02 2.07686343e-01] [ 1.73975491e-01 -2.92861236e-02 9.84314407e-01 5.79774012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.88, Y:0.21, Z:5.80 [[ 9.15460933e-01 -3.63484285e-01 -1.72657042e-01 3.68824517e+01] [ 3.62869034e-01 9.31134454e-01 -3.62586826e-02 2.13060430e-01] [ 1.73946382e-01 -2.94584865e-02 9.84314408e-01 5.80314917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.91, Y:0.22, Z:5.81 [[ 9.14665434e-01 -3.65486605e-01 -1.72646129e-01 3.69093684e+01] [ 3.64896149e-01 9.30339907e-01 -3.63105691e-02 2.17414768e-01] [ 1.73890610e-01 -2.97858853e-02 9.84314409e-01 5.80847524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.94, Y:0.22, Z:5.81 [[ 9.14262353e-01 -3.66498867e-01 -1.72635256e-01 3.69360096e+01] [ 3.65916307e-01 9.29937120e-01 -3.63621936e-02 2.22281782e-01] [ 1.73866635e-01 -2.99254707e-02 9.84314411e-01 5.81239258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.96, Y:0.23, Z:5.82 [[ 9.13787468e-01 -3.67686332e-01 -1.72624518e-01 3.69627289e+01] [ 3.67114812e-01 9.29462641e-01 -3.64130993e-02 2.27287613e-01] [ 1.73836639e-01 -3.00991837e-02 9.84314412e-01 5.81769922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.99, Y:0.23, Z:5.82 [[ 9.12922882e-01 -3.69832881e-01 -1.72613590e-01 3.69904583e+01] [ 3.69288726e-01 9.28599027e-01 -3.64648299e-02 2.31270786e-01] [ 1.73774705e-01 -3.04546751e-02 9.84314414e-01 5.82110545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:0.24, Z:5.83 [[ 9.12330984e-01 -3.71292185e-01 -1.72610220e-01 3.70178170e+01] [ 3.70770176e-01 9.28007882e-01 -3.64807764e-02 2.36457333e-01] [ 1.73728672e-01 -3.07161789e-02 9.84314414e-01 5.82605680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.05, Y:0.24, Z:5.83 [[ 9.11511918e-01 -3.73303384e-01 -1.72599558e-01 3.70456612e+01] [ 3.72806720e-01 9.27189638e-01 -3.65311546e-02 2.40401602e-01] [ 1.73669725e-01 -3.10476921e-02 9.84314415e-01 5.83133553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.07, Y:0.25, Z:5.84 [[ 9.11401916e-01 -3.73576844e-01 -1.72588785e-01 3.70731828e+01] [ 3.73075571e-01 9.27079488e-01 -3.65819793e-02 2.46468287e-01] [ 1.73669703e-01 -3.10477734e-02 9.84314416e-01 5.83636048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.989072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.10, Y:0.25, Z:5.84 [[ 9.10754632e-01 -3.75157089e-01 -1.72577980e-01 3.71000174e+01] [ 3.74673680e-01 9.26432764e-01 -3.66328843e-02 2.51749708e-01] [ 1.73624981e-01 -3.12968576e-02 9.84314418e-01 5.84092145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:0.26, Z:5.85 [[ 9.10232101e-01 -3.76428088e-01 -1.72567139e-01 3.71272199e+01] [ 3.75957219e-01 9.25910612e-01 -3.66838827e-02 2.56731861e-01] [ 1.73590589e-01 -3.14870140e-02 9.84314419e-01 5.84646219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:0.26, Z:5.85 [[ 9.09774679e-01 -3.77536891e-01 -1.72557033e-01 3.71542665e+01] [ 3.77076424e-01 9.25453499e-01 -3.67313574e-02 2.61732743e-01] [ 1.73560953e-01 -3.16499302e-02 9.84314420e-01 5.85189876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:0.27, Z:5.86 [[ 9.09333102e-01 -3.78604204e-01 -1.72546126e-01 3.71805721e+01] [ 3.78152757e-01 9.25012183e-01 -3.67825237e-02 2.66618565e-01] [ 1.73533287e-01 -3.18012269e-02 9.84314421e-01 5.85647766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:0.27, Z:5.86 [[ 9.08651269e-01 -3.80241031e-01 -1.72538778e-01 3.72078856e+01] [ 3.79811504e-01 9.24330965e-01 -3.68169606e-02 2.70901257e-01] [ 1.73482254e-01 -3.20784349e-02 9.84314422e-01 5.86098559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:0.28, Z:5.87 [[ 9.07937709e-01 -3.81946670e-01 -1.72527850e-01 3.72353854e+01] [ 3.81537212e-01 9.23617940e-01 -3.68681025e-02 2.76314797e-01] [ 1.73431466e-01 -3.23518542e-02 9.84314423e-01 5.86609406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:0.28, Z:5.87 [[ 9.07457966e-01 -3.83090066e-01 -1.72516785e-01 3.72619111e+01] [ 3.82690881e-01 9.23138461e-01 -3.69198041e-02 2.81236369e-01] [ 1.73400490e-01 -3.25174302e-02 9.84314425e-01 5.87109746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:0.28, Z:5.88 [[ 9.06532859e-01 -3.85276239e-01 -1.72512016e-01 3.72898997e+01] [ 3.84910766e-01 9.22214175e-01 -3.69420746e-02 2.84247757e-01] [ 1.73325930e-01 -3.29125279e-02 9.84314425e-01 5.87713755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:0.29, Z:5.88 [[ 9.05895221e-01 -3.86778089e-01 -1.72500891e-01 3.73173153e+01] [ 3.86429092e-01 9.21576912e-01 -3.69939505e-02 2.89257851e-01] [ 1.73281288e-01 -3.31467199e-02 9.84314426e-01 5.88198791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.34, Y:0.29, Z:5.89 [[ 9.05315391e-01 -3.88138244e-01 -1.72489842e-01 3.73431455e+01] [ 3.87803364e-01 9.20997388e-01 -3.70454000e-02 2.93773611e-01] [ 1.73241430e-01 -3.33543701e-02 9.84314428e-01 5.88687291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:0.30, Z:5.89 [[ 9.04586113e-01 -3.89836981e-01 -1.72485050e-01 3.73696797e+01] [ 3.89527449e-01 9.20268630e-01 -3.70677002e-02 2.97120379e-01] [ 1.73182941e-01 -3.36567345e-02 9.84314428e-01 5.89097760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:0.30, Z:5.90 [[ 9.03883021e-01 -3.91466465e-01 -1.72480407e-01 3.73963744e+01] [ 3.91181233e-01 9.19566000e-01 -3.70892907e-02 3.02216318e-01] [ 1.73126331e-01 -3.39467181e-02 9.84314428e-01 5.89604725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.42, Y:0.31, Z:5.90 [[ 9.03522514e-01 -3.92302567e-01 -1.72469602e-01 3.74225101e+01] [ 3.92022641e-01 9.19205586e-01 -3.71394680e-02 3.06652565e-01] [ 1.73104930e-01 -3.40556433e-02 9.84314430e-01 5.90093845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:0.31, Z:5.91 [[ 9.03025262e-01 -3.93447874e-01 -1.72464915e-01 3.74501277e+01] [ 3.93183842e-01 9.18708610e-01 -3.71612218e-02 3.11203740e-01] [ 1.73066006e-01 -3.42528958e-02 9.84314430e-01 5.90671445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:0.31, Z:5.91 [[ 9.02123950e-01 -3.95514755e-01 -1.72454215e-01 3.74772017e+01] [ 3.95277541e-01 9.17807726e-01 -3.72108092e-02 3.14322828e-01] [ 1.72997235e-01 -3.45985160e-02 9.84314431e-01 5.91276707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:0.32, Z:5.92 [[ 9.01808846e-01 -3.96237528e-01 -1.72443114e-01 3.75032036e+01] [ 3.96003455e-01 9.17492667e-01 -3.72621860e-02 3.18802906e-01] [ 1.72979969e-01 -3.46846999e-02 9.84314432e-01 5.91729766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:0.32, Z:5.92 [[ 9.01347163e-01 -3.97288715e-01 -1.72438303e-01 3.75301327e+01] [ 3.97068846e-01 9.17031190e-01 -3.72844375e-02 3.24011992e-01] [ 1.72943988e-01 -3.48636559e-02 9.84314433e-01 5.92225452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:0.33, Z:5.92 [[ 9.00851922e-01 -3.98415243e-01 -1.72427111e-01 3.75575397e+01] [ 3.98205497e-01 9.16536085e-01 -3.73361256e-02 3.28955058e-01] [ 1.72910951e-01 -3.50271029e-02 9.84314434e-01 5.92488615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:0.33, Z:5.93 [[ 9.00777773e-01 -3.98584357e-01 -1.72423646e-01 3.75837084e+01] [ 3.98374620e-01 9.16461937e-01 -3.73521215e-02 3.33554824e-01] [ 1.72907680e-01 -3.50432435e-02 9.84314434e-01 5.92913131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:0.34, Z:5.94 [[ 9.00475089e-01 -3.99269768e-01 -1.72418869e-01 3.76102796e+01] [ 3.99067923e-01 9.16159356e-01 -3.73741566e-02 3.39028002e-01] [ 1.72885531e-01 -3.51523431e-02 9.84314434e-01 5.93504245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:0.34, Z:5.94 [[ 9.00444026e-01 -3.99344640e-01 -1.72407698e-01 3.76376143e+01] [ 3.99134654e-01 9.16128185e-01 -3.74256214e-02 3.42793695e-01] [ 1.72893272e-01 -3.51142097e-02 9.84314436e-01 5.94037582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.66, Y:0.35, Z:5.95 [[ 9.00253362e-01 -3.99775767e-01 -1.72404233e-01 3.76646711e+01] [ 3.99570363e-01 9.15937581e-01 -3.74415778e-02 3.48150629e-01] [ 1.72879751e-01 -3.51807155e-02 9.84314436e-01 5.94610090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:0.35, Z:5.95 [[ 9.00170747e-01 -3.99966297e-01 -1.72393700e-01 3.76918359e+01] [ 3.99755323e-01 9.15854891e-01 -3.74900112e-02 3.53869978e-01] [ 1.72882354e-01 -3.51678879e-02 9.84314437e-01 5.95143008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.72, Y:0.36, Z:5.96 [[ 9.00154672e-01 -4.00007204e-01 -1.72382725e-01 3.77191884e+01] [ 3.99787692e-01 9.15838697e-01 -3.75404079e-02 3.59858555e-01] [ 1.72891204e-01 -3.51243183e-02 9.84314438e-01 5.95540906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.75, Y:0.37, Z:5.96 [[ 9.00357370e-01 -3.99555505e-01 -1.72371705e-01 3.77468865e+01] [ 3.99318848e-01 9.16041145e-01 -3.75909402e-02 3.65291033e-01] [ 1.72919241e-01 -3.49859908e-02 9.84314440e-01 5.95992423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.78, Y:0.37, Z:5.96 [[ 9.00323511e-01 -3.99636545e-01 -1.72360689e-01 3.77760481e+01] [ 3.99392039e-01 9.16007164e-01 -3.76413871e-02 3.70809009e-01] [ 1.72926500e-01 -3.49500611e-02 9.84314441e-01 5.96463192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.80, Y:0.38, Z:5.97 [[ 9.00598814e-01 -3.98950887e-01 -1.72510772e-01 3.78017200e+01] [ 3.98820628e-01 9.16284077e-01 -3.69539872e-02 3.76049204e-01] [ 1.72811699e-01 -3.55201372e-02 9.84314196e-01 5.97089726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.83, Y:0.38, Z:5.98 [[ 9.01106814e-01 -3.97871918e-01 -1.72349782e-01 3.78274819e+01] [ 3.97587683e-01 9.16789762e-01 -3.76903900e-02 3.80350153e-01] [ 1.73004464e-01 -3.45610835e-02 9.84314476e-01 5.97697004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:0.39, Z:5.98 [[ 9.01264611e-01 -3.97516419e-01 -1.72344996e-01 3.78542146e+01] [ 3.97221983e-01 9.16947371e-01 -3.77122655e-02 3.85940224e-01] [ 1.73022535e-01 -3.44704906e-02 9.84314476e-01 5.98213098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.88, Y:0.39, Z:5.99 [[ 9.01309860e-01 -3.97418541e-01 -1.72334091e-01 3.78840602e+01] [ 3.97113265e-01 9.16992412e-01 -3.77620325e-02 3.91984500e-01] [ 1.73036385e-01 -3.44008612e-02 9.84314477e-01 5.98791043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.91, Y:0.40, Z:5.99 [[ 9.01679744e-01 -3.96491392e-01 -1.72534680e-01 3.79086219e+01] [ 3.96338081e-01 9.17364957e-01 -3.68464429e-02 3.98245631e-01] [ 1.72886567e-01 -3.51583730e-02 9.84314037e-01 5.99289684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.94, Y:0.40, Z:6.00 [[ 9.02471022e-01 -3.94780311e-01 -1.72321096e-01 3.79361937e+01] [ 3.94418507e-01 9.18152323e-01 -3.78200169e-02 4.04209795e-01] [ 1.73147612e-01 -3.38351599e-02 9.84314526e-01 5.99724729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:0.41, Z:6.00 [[ 9.02727875e-01 -3.94197567e-01 -1.72309787e-01 3.79621042e+01] [ 3.93816192e-01 9.18408710e-01 -3.78714717e-02 4.09994694e-01] [ 1.73179651e-01 -3.36707509e-02 9.84314527e-01 6.00075753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.99, Y:0.42, Z:6.01 [[ 9.03200361e-01 -3.93115925e-01 -1.72304895e-01 3.79890375e+01] [ 3.92711682e-01 9.18880624e-01 -3.78937177e-02 4.15382346e-01] [ 1.73224253e-01 -3.34405254e-02 9.84314528e-01 6.00739551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.02, Y:0.42, Z:6.01 [[ 9.03972474e-01 -3.91342120e-01 -1.72293678e-01 3.80164529e+01] [ 3.90897746e-01 9.19651649e-01 -3.79446482e-02 4.21852021e-01] [ 1.73299504e-01 -3.30482930e-02 9.84314529e-01 6.01190912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.04, Y:0.43, Z:6.02 [[ 9.04387607e-01 -3.90386736e-01 -1.72282481e-01 3.80432479e+01] [ 3.89916475e-01 9.20066025e-01 -3.79954214e-02 4.28314801e-01] [ 1.73344166e-01 -3.28131893e-02 9.84314530e-01 6.01654543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.07, Y:0.43, Z:6.02 [[ 9.04879244e-01 -3.89250793e-01 -1.72271222e-01 3.80701943e+01] [ 3.88751485e-01 9.20556763e-01 -3.80464032e-02 4.34716343e-01] [ 1.73395031e-01 -3.25432927e-02 9.84314532e-01 6.02078114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.10, Y:0.44, Z:6.03 [[ 9.05366026e-01 -3.88122286e-01 -1.72259834e-01 3.80960617e+01] [ 3.87593978e-01 9.21042593e-01 -3.80978960e-02 4.41426374e-01] [ 1.73445286e-01 -3.22743335e-02 9.84314533e-01 6.02541057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.12, Y:0.45, Z:6.03 [[ 9.06423861e-01 -3.85647487e-01 -1.72255040e-01 3.81232946e+01] [ 3.85072379e-01 9.22098781e-01 -3.81195554e-02 4.48672969e-01] [ 1.73536874e-01 -3.17781836e-02 9.84314533e-01 6.02901366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:0.45, Z:6.03 [[ 9.06875403e-01 -3.84589179e-01 -1.72244499e-01 3.81499002e+01] [ 3.83987040e-01 9.22549307e-01 -3.81671295e-02 4.54891608e-01] [ 1.73582708e-01 -3.15268243e-02 9.84314535e-01 6.03379497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.18, Y:0.46, Z:6.04 [[ 9.07740947e-01 -3.82546900e-01 -1.72233107e-01 3.81760749e+01] [ 3.81900059e-01 9.23413068e-01 -3.82184701e-02 4.61331875e-01] [ 1.73662659e-01 -3.10833633e-02 9.84314536e-01 6.03778005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.20, Y:0.47, Z:6.04 [[ 9.08047678e-01 -3.81821697e-01 -1.72225453e-01 3.82040227e+01] [ 3.81156011e-01 9.23719009e-01 -3.82529301e-02 4.67952853e-01] [ 1.73693723e-01 -3.09092823e-02 9.84314536e-01 6.04310652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.23, Y:0.47, Z:6.05 [[ 9.08490764e-01 -3.80770660e-01 -1.72215667e-01 3.82303265e+01] [ 3.80078763e-01 9.24160959e-01 -3.82969372e-02 4.74037866e-01] [ 1.73737346e-01 -3.06631040e-02 9.84314537e-01 6.04923509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.26, Y:0.48, Z:6.06 [[ 9.09449228e-01 -3.78480908e-01 -1.72204252e-01 3.82576322e+01] [ 3.77740130e-01 9.25117187e-01 -3.83481973e-02 4.81396858e-01] [ 1.73823174e-01 -3.01727181e-02 9.84314539e-01 6.05531873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:0.49, Z:6.06 [[ 9.09895384e-01 -3.77411615e-01 -1.72194261e-01 3.82836077e+01] [ 3.76644197e-01 9.25562059e-01 -3.83930087e-02 4.87929025e-01] [ 1.73866442e-01 -2.99223476e-02 9.84314540e-01 6.05909251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:0.49, Z:6.06 [[ 9.10424753e-01 -3.76136376e-01 -1.72186514e-01 3.83100489e+01] [ 3.75340637e-01 9.26090015e-01 -3.84277199e-02 4.94691614e-01] [ 1.73914275e-01 -2.96430486e-02 9.84314541e-01 6.06408663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.369072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.34, Y:0.50, Z:6.07 [[ 9.10969174e-01 -3.74821000e-01 -1.72175439e-01 3.83367103e+01] [ 3.73993541e-01 9.26632792e-01 -3.84772819e-02 5.01206437e-01] [ 1.73965501e-01 -2.93408842e-02 9.84314542e-01 6.06900272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.36, Y:0.51, Z:6.07 [[ 9.12132494e-01 -3.71986232e-01 -1.72164331e-01 3.83626555e+01] [ 3.71100957e-01 9.27792949e-01 -3.85269201e-02 5.07736487e-01] [ 1.74064336e-01 -2.87486922e-02 9.84314543e-01 6.07318290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.39, Y:0.51, Z:6.08 [[ 9.12622859e-01 -3.70783672e-01 -1.72159769e-01 3.83899014e+01] [ 3.69874018e-01 9.28281916e-01 -3.85472958e-02 5.14111407e-01] [ 1.74105508e-01 -2.84982821e-02 9.84314543e-01 6.07808329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:0.52, Z:6.08 [[ 9.12991565e-01 -3.69880008e-01 -1.72148718e-01 3.84158787e+01] [ 3.68945810e-01 9.28649176e-01 -3.85965834e-02 5.21049393e-01] [ 1.74141870e-01 -2.82751933e-02 9.84314545e-01 6.08188346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.44, Y:0.53, Z:6.09 [[ 9.14062965e-01 -3.67226601e-01 -1.72143891e-01 3.84427426e+01] [ 3.66242981e-01 9.29717549e-01 -3.86181016e-02 5.28604900e-01] [ 1.74226791e-01 -2.77471155e-02 9.84314545e-01 6.08718963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:0.54, Z:6.09 [[ 9.14442906e-01 -3.66284748e-01 -1.72132664e-01 3.84694300e+01] [ 3.65275834e-01 9.30095879e-01 -3.86680818e-02 5.36135957e-01] [ 1.74263410e-01 -2.75161492e-02 9.84314546e-01 6.09233891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:0.54, Z:6.10 [[ 9.15025247e-01 -3.64833087e-01 -1.72120937e-01 3.84955239e+01] [ 3.63789771e-01 9.30675963e-01 -3.87202118e-02 5.43114546e-01] [ 1.74315233e-01 -2.71858649e-02 9.84314547e-01 6.09631887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.52, Y:0.55, Z:6.10 [[ 9.15634421e-01 -3.63303916e-01 -1.72115865e-01 3.85222538e+01] [ 3.62230324e-01 9.31283089e-01 -3.87427436e-02 5.50156652e-01] [ 1.74363985e-01 -2.68713958e-02 9.84314548e-01 6.10176788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:0.56, Z:6.11 [[ 9.16441660e-01 -3.61268333e-01 -1.72104258e-01 3.85484558e+01] [ 3.60150527e-01 9.32087230e-01 -3.87942358e-02 5.57762929e-01] [ 1.74431310e-01 -2.64307856e-02 9.84314549e-01 6.10616799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.57, Y:0.56, Z:6.11 [[ 9.16822054e-01 -3.60305673e-01 -1.72096321e-01 3.85746668e+01] [ 3.59164987e-01 9.32465972e-01 -3.88294136e-02 5.64430368e-01] [ 1.74464422e-01 -2.62113103e-02 9.84314550e-01 6.11046865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.60, Y:0.57, Z:6.11 [[ 9.17190350e-01 -3.59369477e-01 -1.72091372e-01 3.86006349e+01] [ 3.58208801e-01 9.32832798e-01 -3.88513373e-02 5.70824079e-01] [ 1.74494461e-01 -2.60105722e-02 9.84314550e-01 6.11484392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:0.58, Z:6.12 [[ 9.17935276e-01 -3.57464772e-01 -1.72086509e-01 3.86275496e+01] [ 3.56267680e-01 9.33574978e-01 -3.88728661e-02 5.78654818e-01] [ 1.74551339e-01 -2.56260862e-02 9.84314550e-01 6.12075871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.65, Y:0.59, Z:6.12 [[ 9.18215947e-01 -3.56746651e-01 -1.72079350e-01 3.86532345e+01] [ 3.55531521e-01 9.33854258e-01 -3.89045308e-02 5.85475445e-01] [ 1.74576095e-01 -2.54568726e-02 9.84314551e-01 6.12475144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:0.59, Z:6.13 [[ 9.19020546e-01 -3.54672564e-01 -1.72071520e-01 3.86788477e+01] [ 3.53415788e-01 9.34655565e-01 -3.89391320e-02 5.92233031e-01] [ 1.74638246e-01 -2.50269294e-02 9.84314551e-01 6.12884781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:0.60, Z:6.13 [[ 9.19280582e-01 -3.54000425e-01 -1.72066590e-01 3.87052435e+01] [ 3.52728226e-01 9.34914353e-01 -3.89609037e-02 5.99007013e-01] [ 1.74659701e-01 -2.48767409e-02 9.84314552e-01 6.13446359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:0.61, Z:6.14 [[ 9.19472344e-01 -3.53507618e-01 -1.72055144e-01 3.87322246e+01] [ 3.52217787e-01 9.35104669e-01 -3.90113873e-02 6.06091551e-01] [ 1.74680391e-01 -2.47309904e-02 9.84314553e-01 6.13924702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:0.61, Z:6.14 [[ 9.19369618e-01 -3.53780221e-01 -1.72043774e-01 3.87596558e+01] [ 3.52485847e-01 9.35001567e-01 -3.90614658e-02 6.12568994e-01] [ 1.74680372e-01 -2.47310706e-02 9.84314554e-01 6.14427195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:0.62, Z:6.15 [[ 9.19595897e-01 -3.53197182e-01 -1.72032371e-01 3.87864281e+01] [ 3.51883705e-01 9.35226250e-01 -3.91116222e-02 6.19323399e-01] [ 1.74703304e-01 -2.45685009e-02 9.84314556e-01 6.14771764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.81, Y:0.63, Z:6.15 [[ 9.19879228e-01 -3.52464142e-01 -1.72021032e-01 3.88138275e+01] [ 3.51129080e-01 9.35507751e-01 -3.91614340e-02 6.27317476e-01] [ 1.74730010e-01 -2.43777968e-02 9.84314557e-01 6.15247890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:0.63, Z:6.16 [[ 9.20394692e-01 -3.51081145e-01 -1.72091954e-01 3.88408352e+01] [ 3.49779665e-01 9.36026103e-01 -3.88499800e-02 6.33770413e-01] [ 1.74722056e-01 -2.44369505e-02 9.84314502e-01 6.15844936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:0.64, Z:6.16 [[ 9.20480384e-01 -3.50898974e-01 -1.72005155e-01 3.88680552e+01] [ 3.49524653e-01 9.36105483e-01 -3.92306063e-02 6.40790500e-01] [ 1.74780949e-01 -2.40090387e-02 9.84314577e-01 6.16387287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.89, Y:0.65, Z:6.17 [[ 9.20912702e-01 -3.49740808e-01 -1.72049885e-01 3.88942399e+01] [ 3.48382727e-01 9.36539251e-01 -3.90347009e-02 6.48099493e-01] [ 1.74783498e-01 -2.39916563e-02 9.84314548e-01 6.16925017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:0.66, Z:6.17 [[ 9.20914998e-01 -3.49765253e-01 -1.71987893e-01 3.89207638e+01] [ 3.48357882e-01 9.36537146e-01 -3.93059851e-02 6.55013441e-01] [ 1.74820918e-01 -2.37158669e-02 9.84314586e-01 6.17209106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:0.66, Z:6.18 [[ 9.20808583e-01 -3.50048045e-01 -1.71982327e-01 3.89471501e+01] [ 3.48641012e-01 9.36430761e-01 -3.93303259e-02 6.62111455e-01] [ 1.74817045e-01 -2.37443908e-02 9.84314586e-01 6.17704510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.97, Y:0.67, Z:6.18 [[ 9.20790223e-01 -3.50102214e-01 -1.71970359e-01 3.89741896e+01] [ 3.48686525e-01 9.36411618e-01 -3.93825863e-02 6.68664339e-01] [ 1.74822973e-01 -2.37006464e-02 9.84314588e-01 6.17994995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:0.68, Z:6.19 [[ 9.20750786e-01 -3.50207895e-01 -1.71966338e-01 3.90004165e+01] [ 3.48790783e-01 9.36372051e-01 -3.94001360e-02 6.75434594e-01] [ 1.74822711e-01 -2.37025676e-02 9.84314588e-01 6.18558449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:0.68, Z:6.19 [[ 9.20594947e-01 -3.50623152e-01 -1.71954495e-01 3.90274806e+01] [ 3.49203628e-01 9.36215993e-01 -3.94517551e-02 6.82098572e-01] [ 1.74819247e-01 -2.37280472e-02 9.84314589e-01 6.18942966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:0.69, Z:6.20 [[ 9.20620101e-01 -3.50558907e-01 -1.71950813e-01 3.90547320e+01] [ 3.49135353e-01 9.36240780e-01 -3.94677967e-02 6.89068307e-01] [ 1.74823151e-01 -2.36992609e-02 9.84314589e-01 6.19775582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:0.70, Z:6.20 [[ 9.20481301e-01 -3.50928247e-01 -1.71940511e-01 3.90819498e+01] [ 3.49502747e-01 9.36101801e-01 -3.95126259e-02 6.96358278e-01] [ 1.74819919e-01 -2.37230478e-02 9.84314590e-01 6.20249053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:0.70, Z:6.21 [[ 9.20493827e-01 -3.50901230e-01 -1.71928591e-01 3.91077126e+01] [ 3.49465779e-01 9.36113415e-01 -3.95644297e-02 7.02989721e-01] [ 1.74827867e-01 -2.36643455e-02 9.84314592e-01 6.20599743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:0.71, Z:6.21 [[ 9.20418782e-01 -3.51100535e-01 -1.71923472e-01 3.91343475e+01] [ 3.49664393e-01 9.36038305e-01 -3.95866573e-02 7.09768452e-01] [ 1.74825852e-01 -2.36792137e-02 9.84314592e-01 6.21071853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:0.72, Z:6.21 [[ 9.20181980e-01 -3.51726390e-01 -1.71911810e-01 3.91608144e+01] [ 3.50291601e-01 9.35801626e-01 -3.96372384e-02 7.16860279e-01] [ 1.74816815e-01 -2.37457908e-02 9.84314593e-01 6.21328284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:0.72, Z:6.22 [[ 9.19854433e-01 -3.52586000e-01 -1.71903853e-01 3.91889420e+01] [ 3.51159486e-01 9.35474837e-01 -3.96717198e-02 7.23782845e-01] [ 1.74799422e-01 -2.38734613e-02 9.84314594e-01 6.21856516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.21, Y:0.73, Z:6.22 [[ 9.19909039e-01 -3.52379904e-01 -1.72034195e-01 3.92145335e+01] [ 3.51053414e-01 9.35538426e-01 -3.91069470e-02 7.29604164e-01] [ 1.74725102e-01 -2.44183574e-02 9.84314423e-01 6.22379274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:0.74, Z:6.23 [[ 9.19758766e-01 -3.52844940e-01 -1.71884442e-01 3.92405918e+01] [ 3.51407627e-01 9.35378133e-01 -3.97545960e-02 7.36244248e-01] [ 1.74804157e-01 -2.38368657e-02 9.84314640e-01 6.22847470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:0.74, Z:6.23 [[ 9.19638122e-01 -3.53163222e-01 -1.71876299e-01 3.92678057e+01] [ 3.51724867e-01 9.35257394e-01 -3.97897735e-02 7.43626588e-01] [ 1.74800864e-01 -2.38609756e-02 9.84314641e-01 6.23151441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:0.75, Z:6.24 [[ 9.19412956e-01 -3.53751660e-01 -1.71870819e-01 3.92949502e+01] [ 3.52318964e-01 9.35032747e-01 -3.98134271e-02 7.50727848e-01] [ 1.74788910e-01 -2.39483683e-02 9.84314641e-01 6.23693394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:0.76, Z:6.24 [[ 9.19139925e-01 -3.54466005e-01 -1.71859391e-01 3.93228870e+01] [ 3.53036415e-01 9.34759999e-01 -3.98626981e-02 7.58467388e-01] [ 1.74777256e-01 -2.40332259e-02 9.84314642e-01 6.24118343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.35, Y:0.77, Z:6.25 [[ 9.19122477e-01 -3.54487081e-01 -1.71909227e-01 3.93492922e+01] [ 3.53097189e-01 9.34746170e-01 -3.96481251e-02 7.65124723e-01] [ 1.74746240e-01 -2.42591820e-02 9.84314606e-01 6.24825223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.38, Y:0.77, Z:6.25 [[ 9.18736348e-01 -3.55524030e-01 -1.71831857e-01 3.93764805e+01] [ 3.54090786e-01 9.34356066e-01 -3.99807007e-02 7.72095312e-01] [ 1.74766237e-01 -2.41123543e-02 9.84314663e-01 6.25267832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:0.78, Z:6.26 [[ 9.18665947e-01 -3.55657299e-01 -1.71932436e-01 3.94012952e+01] [ 3.54305557e-01 9.34293038e-01 -3.95486069e-02 7.78300237e-01] [ 1.74701029e-01 -2.45846591e-02 9.84314556e-01 6.25660285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.43, Y:0.79, Z:6.26 [[ 9.18285318e-01 -3.56696051e-01 -1.71813860e-01 3.94294887e+01] [ 3.55268687e-01 9.33905548e-01 -4.00573115e-02 7.85928425e-01] [ 1.74746201e-01 -2.42560433e-02 9.84314690e-01 6.26098720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.46, Y:0.79, Z:6.27 [[ 9.18167317e-01 -3.56971715e-01 -1.71871965e-01 3.94563429e+01] [ 3.55594696e-01 9.33792111e-01 -3.98083715e-02 7.92289476e-01] [ 1.74703147e-01 -2.45660134e-02 9.84314645e-01 6.26727765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:0.80, Z:6.27 [[ 9.17800765e-01 -3.57953028e-01 -1.71788780e-01 3.94822314e+01] [ 3.56527443e-01 9.33421136e-01 -4.01642180e-02 7.99399267e-01] [ 1.74728182e-01 -2.43846645e-02 9.84314711e-01 6.27153050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.51, Y:0.81, Z:6.28 [[ 9.17709044e-01 -3.58190626e-01 -1.71783546e-01 3.95094716e+01] [ 3.56764982e-01 9.33329409e-01 -4.01865902e-02 8.06137112e-01] [ 1.74725096e-01 -2.44067565e-02 9.84314711e-01 6.27768783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.54, Y:0.81, Z:6.28 [[ 9.17491990e-01 -3.58751176e-01 -1.71773231e-01 3.95355819e+01] [ 3.57326995e-01 9.33112488e-01 -4.02306355e-02 8.13146702e-01] [ 1.74716534e-01 -2.44679266e-02 9.84314712e-01 6.28168186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:0.82, Z:6.29 [[ 9.17206962e-01 -3.59483105e-01 -1.71765204e-01 3.95629755e+01] [ 3.58065107e-01 9.32828022e-01 -4.02648756e-02 8.20463627e-01] [ 1.74701938e-01 -2.45719021e-02 9.84314713e-01 6.28753669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.59, Y:0.83, Z:6.29 [[ 9.17392310e-01 -3.58973040e-01 -1.71842099e-01 3.95894346e+01] [ 3.57606516e-01 9.33018018e-01 -3.99369313e-02 8.27511665e-01] [ 1.74668056e-01 -2.48140206e-02 9.84314652e-01 6.29104998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.62, Y:0.83, Z:6.29 [[ 9.17297725e-01 -3.59259227e-01 -1.71748918e-01 3.96151188e+01] [ 3.57824775e-01 9.32917262e-01 -4.03337745e-02 8.34210109e-01] [ 1.74717811e-01 -2.44579384e-02 9.84314734e-01 6.29410605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.64, Y:0.84, Z:6.30 [[ 9.16701203e-01 -3.60781085e-01 -1.71743744e-01 3.96413890e+01] [ 3.59368518e-01 9.32322733e-01 -4.03557953e-02 8.42294973e-01] [ 1.74680205e-01 -2.47250886e-02 9.84314734e-01 6.30239251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.67, Y:0.85, Z:6.30 [[ 9.16834707e-01 -3.60432208e-01 -1.71763626e-01 3.96687203e+01] [ 3.59029210e-01 9.32457106e-01 -4.02712320e-02 8.48072640e-01] [ 1.74677262e-01 -2.47460956e-02 9.84314729e-01 6.30228956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.69, Y:0.85, Z:6.31 [[ 9.16457097e-01 -3.61345327e-01 -1.71860246e-01 3.96926523e+01] [ 3.60033377e-01 9.32087527e-01 -3.98598790e-02 8.54538197e-01] [ 1.74591973e-01 -2.53455558e-02 9.84314607e-01 6.31079077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:0.86, Z:6.32 [[ 9.16139244e-01 -3.62230539e-01 -1.71691357e-01 3.97202814e+01] [ 3.60801884e-01 9.31759313e-01 -4.05781214e-02 8.61486670e-01] [ 1.74673655e-01 -2.47713554e-02 9.84314733e-01 6.31612620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.75, Y:0.87, Z:6.32 [[ 9.16121378e-01 -3.62251021e-01 -1.71743471e-01 3.97475224e+01] [ 3.60863335e-01 9.31745129e-01 -4.03567492e-02 8.67640863e-01] [ 1.74640416e-01 -2.50042410e-02 9.84314743e-01 6.31634333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.77, Y:0.87, Z:6.32 [[ 9.15823897e-01 -3.62973023e-01 -1.71805629e-01 3.97740784e+01] [ 3.61646094e-01 9.31452988e-01 -4.00928172e-02 8.74643662e-01] [ 1.74581478e-01 -2.54148748e-02 9.84314681e-01 6.32344105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.80, Y:0.88, Z:6.33 [[ 9.15104532e-01 -3.64828318e-01 -1.71709040e-01 3.98007745e+01] [ 3.63457884e-01 9.30729781e-01 -4.05023724e-02 8.82501792e-01] [ 1.74591130e-01 -2.53451000e-02 9.84314768e-01 6.33192939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.83, Y:0.89, Z:6.34 [[ 9.14822879e-01 -3.65538130e-01 -1.71700249e-01 3.98276168e+01] [ 3.64172984e-01 9.30448590e-01 -4.05396033e-02 8.89726691e-01] [ 1.74577025e-01 -2.54420353e-02 9.84314769e-01 6.33797697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:0.90, Z:6.34 [[ 9.14603836e-01 -3.66095777e-01 -1.71679079e-01 3.98554072e+01] [ 3.64723721e-01 9.30228940e-01 -4.06291333e-02 8.96523665e-01] [ 1.74575002e-01 -2.54558715e-02 9.84314770e-01 6.34202866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.88, Y:0.90, Z:6.34 [[ 9.14875821e-01 -3.65399862e-01 -1.71712471e-01 3.98820974e+01] [ 3.64041825e-01 9.30502160e-01 -4.04880138e-02 9.01982374e-01] [ 1.74573140e-01 -2.54690167e-02 9.84314761e-01 6.34335460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:0.91, Z:6.35 [[ 9.14707282e-01 -3.65840115e-01 -1.71672943e-01 3.99087280e+01] [ 3.64458953e-01 9.30331579e-01 -4.06549427e-02 9.08830895e-01] [ 1.74585969e-01 -2.53803688e-02 9.84314775e-01 6.34736030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:0.92, Z:6.35 [[ 9.13831113e-01 -3.68028911e-01 -1.71660761e-01 3.99351267e+01] [ 3.66675725e-01 9.29457857e-01 -4.07063154e-02 9.17727983e-01] [ 1.74532544e-01 -2.57451364e-02 9.84314776e-01 6.35471158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:0.92, Z:6.36 [[ 9.13733317e-01 -3.68279292e-01 -1.71644365e-01 3.99614619e+01] [ 3.66917705e-01 9.29359331e-01 -4.07753824e-02 9.24319197e-01] [ 1.74536021e-01 -2.57215310e-02 9.84314777e-01 6.35860454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:0.93, Z:6.36 [[ 9.13287580e-01 -3.69384966e-01 -1.71640741e-01 3.99888735e+01] [ 3.68039491e-01 9.28914989e-01 -4.07906371e-02 9.31689758e-01] [ 1.74507105e-01 -2.59169888e-02 9.84314777e-01 6.36365018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.02, Y:0.94, Z:6.37 [[ 9.13654094e-01 -3.68454935e-01 -1.71689128e-01 4.00156873e+01] [ 3.67130927e-01 9.29283363e-01 -4.05871169e-02 9.37072233e-01] [ 1.74502373e-01 -2.59498031e-02 9.84314751e-01 6.36501469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:0.94, Z:6.37 [[ 9.13114974e-01 -3.69817695e-01 -1.71627263e-01 4.00425785e+01] [ 3.68469258e-01 9.28742118e-01 -4.08470791e-02 9.44028388e-01] [ 1.74503441e-01 -2.59412909e-02 9.84314786e-01 6.37083868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.07, Y:0.95, Z:6.38 [[ 9.12826720e-01 -3.70534328e-01 -1.71614952e-01 4.00683238e+01] [ 3.69188668e-01 9.28454102e-01 -4.08987421e-02 9.50110320e-01] [ 1.74490994e-01 -2.60248309e-02 9.84314788e-01 6.37520210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.10, Y:0.96, Z:6.38 [[ 9.12103920e-01 -3.72313877e-01 -1.71606574e-01 4.00952880e+01] [ 3.70992245e-01 9.27733352e-01 -4.09338643e-02 9.57198956e-01] [ 1.74445388e-01 -2.63287700e-02 9.84314788e-01 6.37861134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:0.96, Z:6.38 [[ 9.11812624e-01 -3.73032364e-01 -1.71594274e-01 4.01215922e+01] [ 3.71713584e-01 9.27442296e-01 -4.09853620e-02 9.64049173e-01] [ 1.74432654e-01 -2.64129520e-02 9.84314790e-01 6.38245771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:0.97, Z:6.39 [[ 9.11388869e-01 -3.74068922e-01 -1.71588960e-01 4.01492502e+01] [ 3.72763830e-01 9.27019689e-01 -4.10075963e-02 9.70955070e-01] [ 1.74406012e-01 -2.65882911e-02 9.84314790e-01 6.38670944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:0.98, Z:6.40 [[ 9.10732436e-01 -3.75656432e-01 -1.71606160e-01 4.01753351e+01] [ 3.74391797e-01 9.26366587e-01 -4.09356717e-02 9.78354479e-01] [ 1.74347961e-01 -2.69664945e-02 9.84314785e-01 6.39518342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.20, Y:0.98, Z:6.40 [[ 9.10330967e-01 -3.76646453e-01 -1.71566255e-01 4.02025950e+01] [ 3.75368177e-01 9.25963999e-01 -4.11023716e-02 9.83865767e-01] [ 1.74345238e-01 -2.69837506e-02 9.84314795e-01 6.39655104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.23, Y:0.99, Z:6.40 [[ 9.10246653e-01 -3.76805785e-01 -1.71663714e-01 4.02293713e+01] [ 3.75605044e-01 9.25885916e-01 -4.06954694e-02 9.89914015e-01] [ 1.74275303e-01 -2.74348419e-02 9.84314710e-01 6.40274117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.26, Y:1.00, Z:6.41 [[ 9.09534162e-01 -3.78571513e-01 -1.71555290e-01 4.02565249e+01] [ 3.77317996e-01 9.25169177e-01 -4.11475987e-02 9.96982971e-01] [ 1.74294975e-01 -2.73057515e-02 9.84314816e-01 6.40750482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.28, Y:1.00, Z:6.41 [[ 9.09227241e-01 -3.79313614e-01 -1.71543019e-01 4.02828882e+01] [ 3.78063461e-01 9.24862523e-01 -4.11986942e-02 1.00374565e+00] [ 1.74280935e-01 -2.73951725e-02 9.84314818e-01 6.41118802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.31, Y:1.01, Z:6.42 [[ 9.08827187e-01 -3.80273539e-01 -1.71537692e-01 4.03096206e+01] [ 3.79035822e-01 9.24463459e-01 -4.12208602e-02 1.01020265e+00] [ 1.74255531e-01 -2.75562918e-02 9.84314818e-01 6.41612537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.34, Y:1.02, Z:6.42 [[ 9.07830849e-01 -3.82651437e-01 -1.71525586e-01 4.03360422e+01] [ 3.81445404e-01 9.23469596e-01 -4.12711756e-02 1.01822548e+00] [ 1.74191138e-01 -2.79604000e-02 9.84314819e-01 6.42397421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:1.02, Z:6.42 [[ 9.07727769e-01 -3.82874862e-01 -1.71572542e-01 4.03628113e+01] [ 3.81708544e-01 9.23369555e-01 -4.10761899e-02 1.02308668e+00] [ 1.74151902e-01 -2.82047067e-02 9.84314792e-01 6.42474003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.39, Y:1.03, Z:6.43 [[ 9.07275056e-01 -3.83975019e-01 -1.71508477e-01 4.03899388e+01] [ 3.82778767e-01 9.22914544e-01 -4.13419935e-02 1.02973631e+00] [ 1.74161960e-01 -2.81412437e-02 9.84314829e-01 6.42953115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:1.04, Z:6.43 [[ 9.06883125e-01 -3.84905304e-01 -1.71496078e-01 4.04165682e+01] [ 3.83715642e-01 9.22523114e-01 -4.13933627e-02 1.03616849e+00] [ 1.74141621e-01 -2.82667856e-02 9.84314830e-01 6.43475838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.44, Y:1.04, Z:6.44 [[ 9.06161081e-01 -3.86607559e-01 -1.71483789e-01 4.04422774e+01] [ 3.85437911e-01 9.21802579e-01 -4.14442139e-02 1.04364386e+00] [ 1.74096845e-01 -2.85412195e-02 9.84314831e-01 6.44402843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.47, Y:1.05, Z:6.45 [[ 9.06040627e-01 -3.86916097e-01 -1.71424376e-01 4.04696280e+01] [ 3.85706583e-01 9.21679115e-01 -4.16898220e-02 1.05051584e+00] [ 1.74128731e-01 -2.83468379e-02 9.84314808e-01 6.44895747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:1.06, Z:6.45 [[ 9.05515109e-01 -3.88150332e-01 -1.71410933e-01 4.04958994e+01] [ 3.86951916e-01 9.21154462e-01 -4.17453168e-02 1.05719009e+00] [ 1.74099404e-01 -2.85267738e-02 9.84314798e-01 6.45353536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.52, Y:1.06, Z:6.46 [[ 9.05311899e-01 -3.88609526e-01 -1.71443872e-01 4.05226368e+01] [ 3.87444048e-01 9.20953725e-01 -4.16094400e-02 1.06338360e+00] [ 1.74061697e-01 -2.87553865e-02 9.84314814e-01 6.45835079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.55, Y:1.07, Z:6.46 [[ 9.04942904e-01 -3.89492997e-01 -1.71387124e-01 4.05507598e+01] [ 3.88299739e-01 9.20582668e-01 -4.18433361e-02 1.07018218e+00] [ 1.74073702e-01 -2.86837452e-02 9.84314781e-01 6.46297454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:1.08, Z:6.46 [[ 9.04874296e-01 -3.89629443e-01 -1.71439215e-01 4.05785271e+01] [ 3.88478026e-01 9.20517172e-01 -4.16288274e-02 1.07550419e+00] [ 1.74032558e-01 -2.89315119e-02 9.84314805e-01 6.46189634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.60, Y:1.08, Z:6.47 [[ 9.04012165e-01 -3.91628068e-01 -1.71433548e-01 4.06046528e+01] [ 3.90506926e-01 9.19657240e-01 -4.16521523e-02 1.08313545e+00] [ 1.73972256e-01 -2.92919355e-02 9.84314806e-01 6.47089624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.63, Y:1.09, Z:6.47 [[ 9.04156965e-01 -3.91299353e-01 -1.71420533e-01 4.06318961e+01] [ 3.90162674e-01 9.19800917e-01 -4.17056491e-02 1.08882990e+00] [ 1.73992157e-01 -2.91734404e-02 9.84314807e-01 6.47038864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:1.10, Z:6.48 [[ 9.03823951e-01 -3.92070349e-01 -1.71415013e-01 4.06588069e+01] [ 3.90942837e-01 9.19468567e-01 -4.17283250e-02 1.09553582e+00] [ 1.73971155e-01 -2.92984119e-02 9.84314808e-01 6.47564524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.68, Y:1.10, Z:6.48 [[ 9.03559861e-01 -3.92683999e-01 -1.71402611e-01 4.06845320e+01] [ 3.91557743e-01 9.19204565e-01 -4.17792042e-02 1.10112146e+00] [ 1.73960088e-01 -2.93640078e-02 9.84314809e-01 6.47982905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:1.11, Z:6.49 [[ 9.02676596e-01 -3.94712486e-01 -1.71397247e-01 4.07103679e+01] [ 3.93617322e-01 9.18323507e-01 -4.18011993e-02 1.10820118e+00] [ 1.73897576e-01 -2.97319611e-02 9.84314809e-01 6.49025325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:1.11, Z:6.49 [[ 9.02733365e-01 -3.94588177e-01 -1.71384485e-01 4.07377777e+01] [ 3.93481233e-01 9.18379446e-01 -4.18534584e-02 1.11359186e+00] [ 1.73910868e-01 -2.96540653e-02 9.84314811e-01 6.48932774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.76, Y:1.12, Z:6.49 [[ 9.02475093e-01 -3.95180877e-01 -1.71379054e-01 4.07635975e+01] [ 3.94080114e-01 9.18121610e-01 -4.18756848e-02 1.12014639e+00] [ 1.73895283e-01 -2.97453148e-02 9.84314811e-01 6.49286124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:1.13, Z:6.50 [[ 9.02121998e-01 -3.95988615e-01 -1.71373618e-01 4.07903233e+01] [ 3.94897764e-01 9.17769209e-01 -4.18979221e-02 1.12729375e+00] [ 1.73872530e-01 -2.98780212e-02 9.84314811e-01 6.49749306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:1.13, Z:6.51 [[ 9.01291370e-01 -3.97880865e-01 -1.71361269e-01 4.08159642e+01] [ 3.96813558e-01 9.16940202e-01 -4.19483668e-02 1.13445830e+00] [ 1.73818489e-01 -3.01907741e-02 9.84314812e-01 6.50735775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:1.14, Z:6.51 [[ 9.01141471e-01 -3.98225626e-01 -1.71348769e-01 4.08417779e+01] [ 3.97154910e-01 9.16790069e-01 -4.19993656e-02 1.14078398e+00] [ 1.73816074e-01 -3.02046350e-02 9.84314814e-01 6.51251259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:1.15, Z:6.52 [[ 9.00899640e-01 -3.98778168e-01 -1.71335374e-01 4.08676254e+01] [ 3.97706993e-01 9.16548206e-01 -4.20539418e-02 1.14718955e+00] [ 1.73807324e-01 -3.02548952e-02 9.84314815e-01 6.51781804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:1.15, Z:6.52 [[ 9.00860714e-01 -3.98900911e-01 -1.71254307e-01 4.08952041e+01] [ 3.97771114e-01 9.16505191e-01 -4.23836679e-02 1.15353710e+00] [ 1.73862346e-01 -2.99382354e-02 9.84314780e-01 6.52259330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:1.16, Z:6.53 [[ 9.00607317e-01 -3.99448493e-01 -1.71310719e-01 4.09224845e+01] [ 3.98370446e-01 9.16255418e-01 -4.21544387e-02 1.16036540e+00] [ 1.73802901e-01 -3.02805316e-02 9.84314808e-01 6.52757741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.95, Y:1.17, Z:6.53 [[ 9.00561950e-01 -3.99554271e-01 -1.71302537e-01 4.09495090e+01] [ 3.98471940e-01 9.16209754e-01 -4.21876614e-02 1.16705836e+00] [ 1.73805316e-01 -3.02666518e-02 9.84314808e-01 6.52931907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:1.17, Z:6.53 [[ 9.00977553e-01 -3.98604143e-01 -1.71330635e-01 4.09768629e+01] [ 3.97526324e-01 9.16625678e-01 -4.20736123e-02 1.17251623e+00] [ 1.73816776e-01 -3.02010573e-02 9.84314800e-01 6.53016199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:1.18, Z:6.53 [[ 9.00877474e-01 -3.98848412e-01 -1.71288417e-01 4.10033704e+01] [ 3.97743288e-01 9.16523679e-01 -4.22448029e-02 1.17937532e+00] [ 1.73839163e-01 -3.00714269e-02 9.84314815e-01 6.53404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:1.19, Z:6.54 [[ 9.00805568e-01 -3.99016285e-01 -1.71275604e-01 4.10290660e+01] [ 3.97904514e-01 9.16451301e-01 -4.22966905e-02 1.18597049e+00] [ 1.73842818e-01 -3.00502417e-02 9.84314816e-01 6.53818340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.05, Y:1.19, Z:6.55 [[ 9.00179122e-01 -4.00429929e-01 -1.71270025e-01 4.10547410e+01] [ 3.99338560e-01 9.15826290e-01 -4.23192703e-02 1.19331117e+00] [ 1.73799494e-01 -3.02998013e-02 9.84314817e-01 6.54887907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:1.20, Z:6.55 [[ 9.00277438e-01 -4.00214525e-01 -1.71256734e-01 4.10812739e+01] [ 3.99109511e-01 9.15923648e-01 -4.23729878e-02 1.19923949e+00] [ 1.73816378e-01 -3.02027463e-02 9.84314818e-01 6.55303352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:1.21, Z:6.56 [[ 8.99869846e-01 -4.01132617e-01 -1.71250939e-01 4.11066321e+01] [ 4.00039249e-01 9.15516873e-01 -4.23963940e-02 1.20624712e+00] [ 1.73789701e-01 -3.03558606e-02 9.84314818e-01 6.55822113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:1.21, Z:6.56 [[ 9.00634160e-01 -3.99415999e-01 -1.71245346e-01 4.11335365e+01] [ 3.98288636e-01 9.16278775e-01 -4.24189730e-02 1.21127989e+00] [ 1.73851293e-01 -3.00010992e-02 9.84314819e-01 6.55634697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:1.22, Z:6.57 [[ 8.99979911e-01 -4.00890363e-01 -1.71239821e-01 4.11592828e+01] [ 3.99784511e-01 9.15626061e-01 -4.24412670e-02 1.21923381e+00] [ 1.73805938e-01 -3.02627403e-02 9.84314819e-01 6.56755354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.579072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:41.19, Y:1.22, Z:6.57 [[ 9.00642329e-01 -3.99405612e-01 -1.71226612e-01 4.11862539e+01] [ 3.98264150e-01 9.16285919e-01 -4.24944899e-02 1.22463122e+00] [ 1.73865072e-01 -2.99210848e-02 9.84314820e-01 6.56594847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.21, Y:1.23, Z:6.58 [[ 8.99953713e-01 -4.00957266e-01 -1.71220866e-01 4.12114254e+01] [ 3.99838500e-01 9.15598943e-01 -4.25176331e-02 1.23266981e+00] [ 1.73817397e-01 -3.01967922e-02 9.84314821e-01 6.57724493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:1.24, Z:6.58 [[ 8.99973854e-01 -4.00917303e-01 -1.71208584e-01 4.12383547e+01] [ 3.99788736e-01 9.15618378e-01 -4.25670295e-02 1.23937040e+00] [ 1.73827585e-01 -3.01380500e-02 9.84314822e-01 6.58180661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.26, Y:1.25, Z:6.59 [[ 9.00002967e-01 -4.00857234e-01 -1.71196193e-01 4.12644237e+01] [ 3.99718447e-01 9.15646750e-01 -4.26168075e-02 1.24547771e+00] [ 1.73838494e-01 -3.00750232e-02 9.84314823e-01 6.58619695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.29, Y:1.25, Z:6.59 [[ 8.99809303e-01 -4.01294231e-01 -1.71190416e-01 4.12909114e+01] [ 4.00158765e-01 9.15453327e-01 -4.26400011e-02 1.25183358e+00] [ 1.73828022e-01 -3.01354759e-02 9.84314823e-01 6.59112144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:1.26, Z:6.59 [[ 9.00264511e-01 -4.00277741e-01 -1.71176925e-01 4.13184882e+01] [ 3.99114636e-01 9.15906503e-01 -4.26940923e-02 1.25668767e+00] [ 1.73871554e-01 -2.98832401e-02 9.84314825e-01 6.58847043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:1.26, Z:6.59 [[ 9.00006421e-01 -4.00861587e-01 -1.71167845e-01 4.13458651e+01] [ 3.99701921e-01 9.15648667e-01 -4.27304666e-02 1.26324441e+00] [ 1.73858612e-01 -2.99584222e-02 9.84314826e-01 6.59325697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.37, Y:1.27, Z:6.61 [[ 8.99248768e-01 -4.02563390e-01 -1.71155981e-01 4.13715489e+01] [ 4.01424564e-01 9.14892544e-01 -4.27779372e-02 1.27033821e+00] [ 1.73810162e-01 -3.02382075e-02 9.84314827e-01 6.60546486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:1.28, Z:6.60 [[ 8.99638852e-01 -4.01696424e-01 -1.71142980e-01 4.13993348e+01] [ 4.00532941e-01 9.15280812e-01 -4.28298856e-02 1.27617591e+00] [ 1.73848498e-01 -3.00169721e-02 9.84314828e-01 6.60220372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:1.28, Z:6.61 [[ 8.99350390e-01 -4.02344236e-01 -1.71137346e-01 4.14260113e+01] [ 4.01187869e-01 9.14992878e-01 -4.28523866e-02 1.28308185e+00] [ 1.73830864e-01 -3.01189166e-02 9.84314829e-01 6.60691705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.45, Y:1.29, Z:6.61 [[ 8.99347858e-01 -4.02355243e-01 -1.71124779e-01 4.14531054e+01] [ 4.01189823e-01 9.14989672e-01 -4.29025154e-02 1.28961978e+00] [ 1.73839457e-01 -3.00692344e-02 9.84314830e-01 6.61172601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:1.30, Z:6.62 [[ 8.99221694e-01 -4.02642438e-01 -1.71112283e-01 4.14790396e+01] [ 4.01472833e-01 9.14863194e-01 -4.29522979e-02 1.29587100e+00] [ 1.73838747e-01 -3.00732949e-02 9.84314831e-01 6.61620926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:1.30, Z:6.63 [[ 8.98259483e-01 -4.04786793e-01 -1.71106847e-01 4.15045123e+01] [ 4.03650520e-01 9.13903440e-01 -4.29739390e-02 1.30254784e+00] [ 1.73770419e-01 -3.04656198e-02 9.84314831e-01 6.62852793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:1.31, Z:6.63 [[ 8.98476334e-01 -4.04310577e-01 -1.71094227e-01 4.15329234e+01] [ 4.03156754e-01 9.14119005e-01 -4.30241279e-02 1.30910262e+00] [ 1.73795595e-01 -3.03216325e-02 9.84314833e-01 6.62560780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:1.32, Z:6.63 [[ 8.98276025e-01 -4.04760836e-01 -1.71081408e-01 4.15597520e+01] [ 4.03605462e-01 9.13918581e-01 -4.30750408e-02 1.31533241e+00] [ 1.73789567e-01 -3.03561144e-02 9.84314834e-01 6.63014623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:1.32, Z:6.63 [[ 8.97552636e-01 -4.06367862e-01 -1.71068484e-01 4.15862140e+01] [ 4.05231028e-01 9.13196548e-01 -4.31263084e-02 1.32161556e+00] [ 1.73744295e-01 -3.06141259e-02 9.84314835e-01 6.63225533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.61, Y:1.33, Z:6.64 [[ 8.97336251e-01 -4.06847819e-01 -1.71062870e-01 4.16128577e+01] [ 4.05715244e-01 9.12980472e-01 -4.31485675e-02 1.32763068e+00] [ 1.73731960e-01 -3.06840401e-02 9.84314836e-01 6.63679689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.64, Y:1.33, Z:6.64 [[ 8.96904131e-01 -4.07804892e-01 -1.71050139e-01 4.16396519e+01] [ 4.06679705e-01 9.12548884e-01 -4.31989775e-02 1.33415992e+00] [ 1.73708367e-01 -3.08172786e-02 9.84314837e-01 6.64131264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:1.34, Z:6.65 [[ 8.96624414e-01 -4.08424857e-01 -1.71037411e-01 4.16665999e+01] [ 4.07301198e-01 9.12269276e-01 -4.32493140e-02 1.34067598e+00] [ 1.73696270e-01 -3.08853514e-02 9.84314838e-01 6.64573753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.149072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.69, Y:1.35, Z:6.65 [[ 8.96016908e-01 -4.09761251e-01 -1.71024611e-01 4.16931512e+01] [ 4.08651589e-01 9.11662767e-01 -4.32998693e-02 1.34565274e+00] [ 1.73659379e-01 -3.10920640e-02 9.84314840e-01 6.65061573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:1.35, Z:6.66 [[ 8.95660717e-01 -4.10541534e-01 -1.71019087e-01 4.17192039e+01] [ 4.09441474e-01 9.11307254e-01 -4.33216771e-02 1.35188211e+00] [ 1.73636282e-01 -3.12207827e-02 9.84314840e-01 6.65519632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.209072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:1.36, Z:6.66 [[ 8.95191770e-01 -4.11568281e-01 -1.71006566e-01 4.17462122e+01] [ 4.10477049e-01 9.10838923e-01 -4.33710485e-02 1.35832792e+00] [ 1.73609584e-01 -3.13688648e-02 9.84314841e-01 6.66043843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.77, Y:1.36, Z:6.67 [[ 8.94641551e-01 -4.12768212e-01 -1.70993857e-01 4.17730797e+01] [ 4.11688721e-01 9.10289517e-01 -4.34210953e-02 1.36354756e+00] [ 1.73576764e-01 -3.15499264e-02 9.84314843e-01 6.66520198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:1.37, Z:6.67 [[ 8.94357224e-01 -4.13389107e-01 -1.70981290e-01 4.17994063e+01] [ 4.12311351e-01 9.10005310e-01 -4.34705264e-02 1.36989843e+00] [ 1.73564124e-01 -3.16193473e-02 9.84314844e-01 6.66992934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:1.38, Z:6.68 [[ 8.93929298e-01 -4.14315907e-01 -1.70975844e-01 4.18260125e+01] [ 4.13250417e-01 9.09578223e-01 -4.34919362e-02 1.37620162e+00] [ 1.73535305e-01 -3.17771229e-02 9.84314844e-01 6.67539259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.85, Y:1.38, Z:6.68 [[ 8.93624225e-01 -4.14978859e-01 -1.70962838e-01 4.18520550e+01] [ 4.13915547e-01 9.09273296e-01 -4.35430019e-02 1.38221159e+00] [ 1.73521369e-01 -3.18530953e-02 9.84314845e-01 6.67997762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.359072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:1.39, Z:6.69 [[ 8.92856740e-01 -4.16629910e-01 -1.70957185e-01 4.18785888e+01] [ 4.15591428e-01 9.08507479e-01 -4.35651852e-02 1.38803138e+00] [ 1.73466441e-01 -3.21508716e-02 9.84314846e-01 6.68518980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:1.39, Z:6.69 [[ 8.92492872e-01 -4.17414073e-01 -1.70944332e-01 4.19058386e+01] [ 4.16380034e-01 9.08143904e-01 -4.36155640e-02 1.39389073e+00] [ 1.73447803e-01 -3.22512265e-02 9.84314847e-01 6.69035636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.93, Y:1.40, Z:6.69 [[ 8.91715092e-01 -4.19078299e-01 -1.70931491e-01 4.19327110e+01] [ 4.18064172e-01 9.07367425e-01 -4.36658311e-02 1.39946373e+00] [ 1.73397069e-01 -3.25228515e-02 9.84314848e-01 6.69273643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.96, Y:1.41, Z:6.70 [[ 8.91169431e-01 -4.20239662e-01 -1.70925927e-01 4.19601569e+01] [ 4.19241905e-01 9.06822816e-01 -4.36875972e-02 1.40573471e+00] [ 1.73358792e-01 -3.27262603e-02 9.84314849e-01 6.69776060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:1.41, Z:6.70 [[ 8.90614939e-01 -4.21418759e-01 -1.70913020e-01 4.19873991e+01] [ 4.20432400e-01 9.06269044e-01 -4.37380367e-02 1.41234985e+00] [ 1.73325208e-01 -3.29036223e-02 9.84314850e-01 6.70190597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:1.42, Z:6.71 [[ 8.89669326e-01 -4.23416727e-01 -1.70899870e-01 4.20150968e+01] [ 4.22456021e-01 9.05325026e-01 -4.37893585e-02 1.41774216e+00] [ 1.73261076e-01 -3.32396300e-02 9.84314851e-01 6.70697205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.04, Y:1.42, Z:6.71 [[ 8.89104800e-01 -4.24606162e-01 -1.70886695e-01 4.20422747e+01] [ 4.23656901e-01 9.04761196e-01 -4.38407163e-02 1.42356342e+00] [ 1.73226688e-01 -3.34183362e-02 9.84314853e-01 6.71278030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:1.43, Z:6.72 [[ 8.88627437e-01 -4.25609560e-01 -1.70873581e-01 4.20689715e+01] [ 4.24668535e-01 9.04284329e-01 -4.38917685e-02 1.42906357e+00] [ 1.73199058e-01 -3.35612037e-02 9.84314854e-01 6.71891985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:1.43, Z:6.72 [[ 8.88066156e-01 -4.26784696e-01 -1.70860548e-01 4.20952690e+01] [ 4.25855012e-01 9.03723724e-01 -4.39424478e-02 1.43487464e+00] [ 1.73164695e-01 -3.37380199e-02 9.84314855e-01 6.72423722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.12, Y:1.44, Z:6.73 [[ 8.87124232e-01 -4.28741413e-01 -1.70854903e-01 4.21226024e+01] [ 4.27842193e-01 9.02783579e-01 -4.39643850e-02 1.44008798e+00] [ 1.73094353e-01 -3.40970650e-02 9.84314856e-01 6.72948151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.659072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:1.45, Z:6.73 [[ 8.87004119e-01 -4.28994796e-01 -1.70842492e-01 4.21498362e+01] [ 4.28091139e-01 9.02663210e-01 -4.40125616e-02 1.44734478e+00] [ 1.73094392e-01 -3.40968334e-02 9.84314857e-01 6.73450642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:1.45, Z:6.74 [[ 8.86620876e-01 -4.29791218e-01 -1.70830127e-01 4.21772176e+01] [ 4.28892757e-01 9.02280264e-01 -4.40605040e-02 1.45355159e+00] [ 1.73073469e-01 -3.42028414e-02 9.84314858e-01 6.73919438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.719072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.20, Y:1.46, Z:6.74 [[ 8.86428749e-01 -4.30192447e-01 -1.70817249e-01 4.22049009e+01] [ 4.29291849e-01 9.02088013e-01 -4.41103744e-02 1.45981340e+00] [ 1.73068142e-01 -3.42297485e-02 9.84314859e-01 6.74308393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.23, Y:1.47, Z:6.75 [[ 8.85783923e-01 -4.31523702e-01 -1.70804380e-01 4.22322666e+01] [ 4.30637424e-01 9.01444003e-01 -4.41601478e-02 1.46501710e+00] [ 1.73026735e-01 -3.44384094e-02 9.84314861e-01 6.74625705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:1.47, Z:6.75 [[ 8.85450172e-01 -4.32213194e-01 -1.70791533e-01 4.22587350e+01] [ 4.31329926e-01 9.01110421e-01 -4.42097815e-02 1.47100621e+00] [ 1.73010081e-01 -3.45219406e-02 9.84314862e-01 6.75107894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.29, Y:1.48, Z:6.76 [[ 8.85023064e-01 -4.33090539e-01 -1.70782789e-01 4.22854112e+01] [ 4.32216547e-01 9.00683833e-01 -4.42435330e-02 1.47717550e+00] [ 1.72982753e-01 -3.46586003e-02 9.84314863e-01 6.75605085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.839072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:1.48, Z:6.76 [[ 8.84642187e-01 -4.33873082e-01 -1.70769876e-01 4.23126337e+01] [ 4.33003728e-01 9.00303212e-01 -4.42933213e-02 1.48247855e+00] [ 1.72962347e-01 -3.47602521e-02 9.84314864e-01 6.76107867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.34, Y:1.49, Z:6.77 [[ 8.84506444e-01 -4.34154820e-01 -1.70756972e-01 4.23388531e+01] [ 4.33281258e-01 9.00167234e-01 -4.43430128e-02 1.48882857e+00] [ 1.72961564e-01 -3.47641150e-02 9.84314865e-01 6.76559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.37, Y:1.50, Z:6.77 [[ 8.84046842e-01 -4.35092664e-01 -1.70749979e-01 4.23654729e+01] [ 4.34230732e-01 8.99708276e-01 -4.43699235e-02 1.49552757e+00] [ 1.72930197e-01 -3.49197977e-02 9.84314866e-01 6.77120865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:1.50, Z:6.78 [[ 8.83783753e-01 -4.35631793e-01 -1.70737282e-01 4.23920573e+01] [ 4.34770380e-01 8.99445214e-01 -4.44187292e-02 1.50105640e+00] [ 1.72919042e-01 -3.49749617e-02 9.84314867e-01 6.77735791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.42, Y:1.51, Z:6.78 [[ 8.83595188e-01 -4.36019360e-01 -1.70723933e-01 4.24182133e+01] [ 4.35155330e-01 8.99256504e-01 -4.44699790e-02 1.50740643e+00] [ 1.72914379e-01 -3.49979699e-02 9.84314868e-01 6.78190201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:1.51, Z:6.79 [[ 8.83467756e-01 -4.36280424e-01 -1.70716476e-01 4.24442808e+01] [ 4.35415726e-01 8.99129035e-01 -4.44985862e-02 1.51262319e+00] [ 1.72910002e-01 -3.50195724e-02 9.84314869e-01 6.78643423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.47, Y:1.52, Z:6.79 [[ 8.83284612e-01 -4.36654578e-01 -1.70707566e-01 4.24711018e+01] [ 4.35790191e-01 8.98945907e-01 -4.45327423e-02 1.51904974e+00] [ 1.72902294e-01 -3.50575967e-02 9.84314869e-01 6.79149735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:1.53, Z:6.80 [[ 8.83213490e-01 -4.36803565e-01 -1.70694394e-01 4.24980335e+01] [ 4.35932483e-01 8.98874413e-01 -4.45831744e-02 1.52555439e+00] [ 1.72906913e-01 -3.50347700e-02 9.84314871e-01 6.79541832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:1.53, Z:6.80 [[ 8.83256348e-01 -4.36722049e-01 -1.70681210e-01 4.25252511e+01] [ 4.35840188e-01 8.98916666e-01 -4.46335897e-02 1.53201399e+00] [ 1.72920657e-01 -3.49668294e-02 9.84314872e-01 6.79965868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.55, Y:1.54, Z:6.80 [[ 8.83600586e-01 -4.36030290e-01 -1.70668070e-01 4.25514187e+01] [ 4.35126875e-01 8.99259675e-01 -4.46837794e-02 1.53789091e+00] [ 1.72958395e-01 -3.47796504e-02 9.84314873e-01 6.80214761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.58, Y:1.54, Z:6.81 [[ 8.83618843e-01 -4.35996083e-01 -1.70660940e-01 4.25781927e+01] [ 4.35087024e-01 8.99277604e-01 -4.47109962e-02 1.54435705e+00] [ 1.72965380e-01 -3.47448816e-02 9.84314874e-01 6.80848489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.61, Y:1.55, Z:6.81 [[ 8.83737388e-01 -4.35760893e-01 -1.70647806e-01 4.26053957e+01] [ 4.34838396e-01 8.99395362e-01 -4.47610669e-02 1.55104572e+00] [ 1.72984968e-01 -3.46471901e-02 9.84314875e-01 6.81390870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.63, Y:1.56, Z:6.82 [[ 8.83945175e-01 -4.35344085e-01 -1.70635448e-01 4.26313721e+01] [ 4.34405490e-01 8.99602191e-01 -4.48081314e-02 1.55694145e+00] [ 1.73010978e-01 -3.45170438e-02 9.84314876e-01 6.81907054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.66, Y:1.56, Z:6.82 [[ 8.83927913e-01 -4.35382093e-01 -1.70627893e-01 4.26585102e+01] [ 4.34438849e-01 8.99584649e-01 -4.48368800e-02 1.56371868e+00] [ 1.73015408e-01 -3.44948159e-02 9.84314877e-01 6.82462812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.69, Y:1.57, Z:6.83 [[ 8.84031372e-01 -4.35177191e-01 -1.70614613e-01 4.26860906e+01] [ 4.34220971e-01 8.99687320e-01 -4.48873586e-02 1.57041620e+00] [ 1.73033759e-01 -3.44026099e-02 9.84314878e-01 6.82854341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.71, Y:1.58, Z:6.83 [[ 8.84166333e-01 -4.34908191e-01 -1.70601175e-01 4.27132693e+01] [ 4.33937762e-01 8.99821405e-01 -4.49383747e-02 1.57700757e+00] [ 1.73054656e-01 -3.42972942e-02 9.84314879e-01 6.83244255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.74, Y:1.58, Z:6.84 [[ 8.84072722e-01 -4.35103691e-01 -1.70587809e-01 4.27400834e+01] [ 4.34127339e-01 8.99727424e-01 -4.49890568e-02 1.58375186e+00] [ 1.73057435e-01 -3.42832338e-02 9.84314881e-01 6.83614006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:1.59, Z:6.84 [[ 8.84190536e-01 -4.34869434e-01 -1.70574532e-01 4.27671892e+01] [ 4.33879623e-01 8.99844392e-01 -4.50393394e-02 1.58928888e+00] [ 1.73076768e-01 -3.41854562e-02 9.84314882e-01 6.84041991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.79, Y:1.60, Z:6.85 [[ 8.84069973e-01 -4.35119674e-01 -1.70561284e-01 4.27942115e+01] [ 4.34125015e-01 8.99723520e-01 -4.50894538e-02 1.59590185e+00] [ 1.73077308e-01 -3.41826879e-02 9.84314883e-01 6.84630845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.82, Y:1.60, Z:6.85 [[ 8.84059295e-01 -4.35144142e-01 -1.70554213e-01 4.28197617e+01] [ 4.34144965e-01 8.99712554e-01 -4.51161867e-02 1.60183812e+00] [ 1.73081811e-01 -3.41598685e-02 9.84314884e-01 6.85166345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:1.61, Z:6.86 [[ 8.84024703e-01 -4.35217996e-01 -1.70545065e-01 4.28469005e+01] [ 4.34213728e-01 8.99677636e-01 -4.51507402e-02 1.60860892e+00] [ 1.73085996e-01 -3.41386389e-02 9.84314884e-01 6.85808758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:1.61, Z:6.87 [[ 8.84148786e-01 -4.34970429e-01 -1.70533429e-01 4.28730704e+01] [ 4.33953646e-01 8.99800909e-01 -4.51946490e-02 1.61436739e+00] [ 1.73104470e-01 -3.40448091e-02 9.84314885e-01 6.86511858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:1.62, Z:6.87 [[ 8.84273801e-01 -4.34719306e-01 -1.70525569e-01 4.28997370e+01] [ 4.33692589e-01 8.99925276e-01 -4.52242859e-02 1.62108204e+00] [ 1.73120140e-01 -3.39650243e-02 9.84314886e-01 6.87027328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:1.63, Z:6.87 [[ 8.84425883e-01 -4.34415253e-01 -1.70511718e-01 4.29260749e+01] [ 4.33373495e-01 9.00076362e-01 -4.52764484e-02 1.62758745e+00] [ 1.73142347e-01 -3.38515965e-02 9.84314887e-01 6.87398325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:1.63, Z:6.88 [[ 8.84949783e-01 -4.33349940e-01 -1.70504282e-01 4.29547817e+01] [ 4.32284154e-01 9.00598644e-01 -4.53044352e-02 1.63443204e+00] [ 1.73188600e-01 -3.36141492e-02 9.84314888e-01 6.87618556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:1.64, Z:6.88 [[ 8.85171672e-01 -4.32900910e-01 -1.70493149e-01 4.29803856e+01] [ 4.31819433e-01 9.00819455e-01 -4.53462941e-02 1.64103728e+00] [ 1.73213998e-01 -3.34829999e-02 9.84314889e-01 6.87984152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.01, Y:1.65, Z:6.88 [[ 8.85277297e-01 -4.32687746e-01 -1.70485840e-01 4.30071826e+01] [ 4.31597416e-01 9.00924466e-01 -4.53737562e-02 1.64821710e+00] [ 1.73227533e-01 -3.34128919e-02 9.84314889e-01 6.88481595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:1.65, Z:6.89 [[ 8.85576371e-01 -4.32080719e-01 -1.70472118e-01 4.30326721e+01] [ 4.30970126e-01 9.01222113e-01 -4.54252536e-02 1.65470868e+00] [ 1.73260619e-01 -3.32408589e-02 9.84314890e-01 6.88964403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:1.66, Z:6.90 [[ 8.86162597e-01 -4.30880192e-01 -1.70464402e-01 4.30600390e+01] [ 4.29743038e-01 9.01806431e-01 -4.54541896e-02 1.66114569e+00] [ 1.73311204e-01 -3.29760874e-02 9.84314891e-01 6.89743595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:1.67, Z:6.90 [[ 8.86418481e-01 -4.30358207e-01 -1.70452606e-01 4.30858158e+01] [ 4.29203657e-01 9.02061039e-01 -4.54983833e-02 1.66779355e+00] [ 1.73339258e-01 -3.28282741e-02 9.84314892e-01 6.90282758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:1.67, Z:6.91 [[ 8.87004834e-01 -4.29153673e-01 -1.70439285e-01 4.31126589e+01] [ 4.27968646e-01 9.02645111e-01 -4.55482300e-02 1.67461345e+00] [ 1.73393378e-01 -3.25411699e-02 9.84314893e-01 6.90791125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.14, Y:1.68, Z:6.91 [[ 8.87379624e-01 -4.28383595e-01 -1.70425639e-01 4.31390185e+01] [ 4.27175549e-01 9.03018139e-01 -4.55992331e-02 1.68174651e+00] [ 1.73431407e-01 -3.23378356e-02 9.84314894e-01 6.91038443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:1.69, Z:6.92 [[ 8.87531079e-01 -4.28072706e-01 -1.70418138e-01 4.31670328e+01] [ 4.26853995e-01 9.03168767e-01 -4.56272520e-02 1.68917632e+00] [ 1.73448120e-01 -3.22480587e-02 9.84314895e-01 6.91549540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:1.70, Z:6.92 [[ 8.88447448e-01 -4.26172083e-01 -1.70406829e-01 4.31930835e+01] [ 4.24912093e-01 9.04081863e-01 -4.56694492e-02 1.69510926e+00] [ 1.73524767e-01 -3.18330167e-02 9.84314896e-01 6.91893538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:1.70, Z:6.92 [[ 8.88711515e-01 -4.25624237e-01 -1.70399094e-01 4.32183710e+01] [ 4.24349270e-01 9.04344715e-01 -4.56982896e-02 1.70193685e+00] [ 1.73549820e-01 -3.16961350e-02 9.84314896e-01 6.92362468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:1.71, Z:6.93 [[ 8.88979363e-01 -4.25067458e-01 -1.70391748e-01 4.32451440e+01] [ 4.23777630e-01 9.04611344e-01 -4.57256660e-02 1.70921249e+00] [ 1.73574801e-01 -3.15590376e-02 9.84314897e-01 6.92916403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:1.72, Z:6.93 [[ 8.89856121e-01 -4.23234572e-01 -1.70377760e-01 4.32712367e+01] [ 4.21902898e-01 9.05484591e-01 -4.57777263e-02 1.71664415e+00] [ 1.73649153e-01 -3.11472809e-02 9.84314898e-01 6.93377090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.30, Y:1.72, Z:6.94 [[ 8.90231088e-01 -4.22447735e-01 -1.70371713e-01 4.32971633e+01] [ 4.21098083e-01 9.05858015e-01 -4.58002220e-02 1.72395912e+00] [ 1.73680782e-01 -3.09704203e-02 9.84314898e-01 6.93743280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:1.73, Z:6.94 [[ 8.90554483e-01 -4.21768660e-01 -1.70364052e-01 4.33236416e+01] [ 4.20401820e-01 9.06179916e-01 -4.58287003e-02 1.73125890e+00] [ 1.73709592e-01 -3.08084031e-02 9.84314899e-01 6.94317149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.35, Y:1.74, Z:6.95 [[ 8.90903227e-01 -4.21037048e-01 -1.70350361e-01 4.33496505e+01] [ 4.19647967e-01 9.06526696e-01 -4.58795379e-02 1.73806358e+00] [ 1.73744135e-01 -3.06129543e-02 9.84314900e-01 6.94823134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.38, Y:1.75, Z:6.95 [[ 8.91678534e-01 -4.19395701e-01 -1.70342708e-01 4.33768141e+01] [ 4.17972598e-01 9.07298941e-01 -4.59079322e-02 1.74523716e+00] [ 1.73805348e-01 -3.02634667e-02 9.84314901e-01 6.95297811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.40, Y:1.75, Z:6.96 [[ 8.91778982e-01 -4.19187485e-01 -1.70329383e-01 4.34039092e+01] [ 4.17751598e-01 9.07398218e-01 -4.59573214e-02 1.75310698e+00] [ 1.73821312e-01 -3.01715985e-02 9.84314902e-01 6.95687569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.43, Y:1.76, Z:6.96 [[ 8.92175084e-01 -4.18349214e-01 -1.70316046e-01 4.34300713e+01] [ 4.16889515e-01 9.07792111e-01 -4.60066944e-02 1.76052243e+00] [ 1.73858427e-01 -2.99569474e-02 9.84314903e-01 6.96207951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.46, Y:1.77, Z:6.97 [[ 8.93144339e-01 -4.16281566e-01 -1.70302224e-01 4.34562456e+01] [ 4.14776245e-01 9.08757033e-01 -4.60578043e-02 1.76776725e+00] [ 1.73936359e-01 -2.95010496e-02 9.84314905e-01 6.96687873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.48, Y:1.78, Z:6.97 [[ 8.93459030e-01 -4.15608951e-01 -1.70294338e-01 4.34832198e+01] [ 4.14086485e-01 9.09070061e-01 -4.60869421e-02 1.77524236e+00] [ 1.73963630e-01 -2.93397894e-02 9.84314905e-01 6.97193774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.51, Y:1.78, Z:6.98 [[ 8.93826554e-01 -4.14823608e-01 -1.70280550e-01 4.35093923e+01] [ 4.13278012e-01 9.09435311e-01 -4.61378302e-02 1.78259183e+00] [ 1.73998206e-01 -2.91339896e-02 9.84314906e-01 6.97704510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.54, Y:1.79, Z:6.98 [[ 8.94542302e-01 -4.13283552e-01 -1.70266777e-01 4.35356763e+01] [ 4.11701688e-01 9.10147424e-01 -4.61886036e-02 1.79024175e+00] [ 1.74056859e-01 -2.87814597e-02 9.84314908e-01 6.98258144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.56, Y:1.80, Z:6.99 [[ 8.94947529e-01 -4.12410990e-01 -1.70253033e-01 4.35625921e+01] [ 4.10804551e-01 9.10550139e-01 -4.62392121e-02 1.79790567e+00] [ 1.74093482e-01 -2.85590519e-02 9.84314909e-01 6.98789835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.59, Y:1.81, Z:6.99 [[ 8.95160488e-01 -4.11954295e-01 -1.70239128e-01 4.35891671e+01] [ 4.10330441e-01 9.10761293e-01 -4.62903488e-02 1.80582872e+00] [ 1.74116716e-01 -2.84170052e-02 9.84314910e-01 6.99218927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.62, Y:1.81, Z:7.00 [[ 8.95807582e-01 -4.10551017e-01 -1.70225260e-01 4.36163565e+01] [ 4.08893301e-01 9.11404824e-01 -4.63412919e-02 1.81361453e+00] [ 1.74169587e-01 -2.80910877e-02 9.84314912e-01 6.99611305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.64, Y:1.82, Z:7.00 [[ 8.96168678e-01 -4.09766966e-01 -1.70213791e-01 4.36432040e+01] [ 4.08087822e-01 9.11763627e-01 -4.63833811e-02 1.82089501e+00] [ 1.74201120e-01 -2.78948419e-02 9.84314913e-01 7.00024760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.67, Y:1.83, Z:7.01 [[ 8.96735764e-01 -4.08530391e-01 -1.70199554e-01 4.36691431e+01] [ 4.06820093e-01 9.12327326e-01 -4.64355643e-02 1.82874669e+00] [ 1.74248043e-01 -2.76001671e-02 9.84314914e-01 7.00612967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.70, Y:1.84, Z:7.01 [[ 8.97141174e-01 -4.07645476e-01 -1.70184838e-01 4.36951719e+01] [ 4.05909841e-01 9.12729934e-01 -4.64894366e-02 1.83607170e+00] [ 1.74284004e-01 -2.73721126e-02 9.84314916e-01 7.01111154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.72, Y:1.84, Z:7.02 [[ 8.97385692e-01 -4.07109564e-01 -1.70178505e-01 4.37210758e+01] [ 4.05360337e-01 9.12972932e-01 -4.65126072e-02 1.84382810e+00] [ 1.74304096e-01 -2.72438679e-02 9.84314916e-01 7.01593252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.75, Y:1.85, Z:7.02 [[ 8.97560591e-01 -4.06726566e-01 -1.70171931e-01 4.37474008e+01] [ 4.04966246e-01 9.13146582e-01 -4.65366467e-02 1.85125622e+00] [ 1.74319608e-01 -2.71444278e-02 9.84314916e-01 7.02140180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.77, Y:1.86, Z:7.03 [[ 8.97726261e-01 -4.06366580e-01 -1.70158051e-01 4.37727453e+01] [ 4.04590642e-01 9.13310479e-01 -4.65873427e-02 1.85831679e+00] [ 1.74338670e-01 -2.70216742e-02 9.84314918e-01 7.02593866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.80, Y:1.87, Z:7.03 [[ 8.97989964e-01 -4.05786811e-01 -1.70150194e-01 4.37993635e+01] [ 4.03995512e-01 9.13572423e-01 -4.66160225e-02 1.86536928e+00] [ 1.74360692e-01 -2.68791944e-02 9.84314918e-01 7.02961127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:1.87, Z:7.03 [[ 8.97969149e-01 -4.05838599e-01 -1.70136532e-01 4.38264104e+01] [ 4.04038996e-01 9.13550650e-01 -4.66658309e-02 1.87317717e+00] [ 1.74367135e-01 -2.68373173e-02 9.84314919e-01 7.03428527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.85, Y:1.88, Z:7.04 [[ 8.97850006e-01 -4.06107889e-01 -1.70122749e-01 4.38535357e+01] [ 4.04303685e-01 9.13430974e-01 -4.67160244e-02 1.88089012e+00] [ 1.74367135e-01 -2.68372717e-02 9.84314921e-01 7.03931014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.88, Y:1.89, Z:7.04 [[ 8.97638736e-01 -4.06580422e-01 -1.70108964e-01 4.38806572e+01] [ 4.04775153e-01 9.13219580e-01 -4.67661697e-02 1.88893199e+00] [ 1.74361045e-01 -2.68767564e-02 9.84314922e-01 7.04360990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.91, Y:1.90, Z:7.05 [[ 8.97955095e-01 -4.05887206e-01 -1.70094749e-01 4.39066250e+01] [ 4.04060365e-01 9.13533422e-01 -4.68178135e-02 1.89644087e+00] [ 1.74389990e-01 -2.66882524e-02 9.84314923e-01 7.04820703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.93, Y:1.90, Z:7.05 [[ 8.98197236e-01 -4.05353656e-01 -1.70088623e-01 4.39326471e+01] [ 4.03513450e-01 9.13773990e-01 -4.68400606e-02 1.90342389e+00] [ 1.74409349e-01 -2.65614341e-02 9.84314924e-01 7.05286139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:1.91, Z:7.06 [[ 8.98339128e-01 -4.05042177e-01 -1.70081294e-01 4.39590475e+01] [ 4.03191657e-01 9.13914659e-01 -4.68666559e-02 1.91050311e+00] [ 1.74422761e-01 -2.64732083e-02 9.84314924e-01 7.06007992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.98, Y:1.92, Z:7.07 [[ 8.98524352e-01 -4.04637242e-01 -1.70066728e-01 4.39842859e+01] [ 4.02769948e-01 9.14097880e-01 -4.69194552e-02 1.91707529e+00] [ 1.74442994e-01 -2.63394941e-02 9.84314926e-01 7.06545982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.01, Y:1.92, Z:7.07 [[ 8.98655451e-01 -4.04348668e-01 -1.70060386e-01 4.40112276e+01] [ 4.02472129e-01 9.14227868e-01 -4.69424313e-02 1.92476950e+00] [ 1.74455053e-01 -2.62594937e-02 9.84314926e-01 7.06926650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:1.93, Z:7.07 [[ 8.98515162e-01 -4.04666282e-01 -1.70046182e-01 4.40376576e+01] [ 4.02785752e-01 9.14087096e-01 -4.69938268e-02 1.93258259e+00] [ 1.74453838e-01 -2.62675136e-02 9.84314927e-01 7.07340192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.06, Y:1.94, Z:7.08 [[ 8.98511063e-01 -4.04681438e-01 -1.70031770e-01 4.40640379e+01] [ 4.02791548e-01 9.14081862e-01 -4.70459173e-02 1.94001443e+00] [ 1.74461566e-01 -2.62160826e-02 9.84314929e-01 7.07637636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.09, Y:1.95, Z:7.08 [[ 8.98416654e-01 -4.04893606e-01 -1.70025538e-01 4.40909054e+01] [ 4.03003234e-01 9.13987394e-01 -4.70684288e-02 1.94709044e+00] [ 1.74458904e-01 -2.62337814e-02 9.84314929e-01 7.08294721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.879072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.12, Y:1.95, Z:7.09 [[ 8.98359834e-01 -4.05025382e-01 -1.70011908e-01 4.41172855e+01] [ 4.03128207e-01 9.13929745e-01 -4.71176097e-02 1.95395826e+00] [ 1.74462768e-01 -2.62080277e-02 9.84314930e-01 7.08950351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:1.96, Z:7.09 [[ 8.98322232e-01 -4.05115044e-01 -1.69996968e-01 4.41439945e+01] [ 4.03209475e-01 9.13891117e-01 -4.71714520e-02 1.96117629e+00] [ 1.74468584e-01 -2.61692242e-02 9.84314932e-01 7.09493310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:1.97, Z:7.10 [[ 8.98257083e-01 -4.05265682e-01 -1.69982177e-01 4.41699341e+01] [ 4.03352888e-01 9.13825080e-01 -4.72246912e-02 1.96873118e+00] [ 1.74472523e-01 -2.61428888e-02 9.84314933e-01 7.09853490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:1.98, Z:7.10 [[ 8.98265850e-01 -4.05248918e-01 -1.69975812e-01 4.41966811e+01] [ 4.03331603e-01 9.13833291e-01 -4.72475893e-02 1.97666792e+00] [ 1.74476591e-01 -2.61157209e-02 9.84314934e-01 7.10285610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:1.98, Z:7.11 [[ 8.98057449e-01 -4.05716639e-01 -1.69961251e-01 4.42235491e+01] [ 4.03797762e-01 9.13624696e-01 -4.72999119e-02 1.98443268e+00] [ 1.74471158e-01 -2.61519348e-02 9.84314935e-01 7.10788832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.029072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.25, Y:1.99, Z:7.11 [[ 8.98055044e-01 -4.05728088e-01 -1.69946628e-01 4.42490557e+01] [ 4.03799713e-01 9.13621116e-01 -4.73523957e-02 1.99138639e+00] [ 1.74479025e-01 -2.60993418e-02 9.84314937e-01 7.11324740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.059072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.28, Y:2.00, Z:7.12 [[ 8.98013512e-01 -4.05822610e-01 -1.69940407e-01 4.42757875e+01] [ 4.03891750e-01 9.13579275e-01 -4.73747102e-02 1.99833496e+00] [ 1.74479763e-01 -2.60943987e-02 9.84314937e-01 7.11999562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.089072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.30, Y:2.01, Z:7.13 [[ 8.97761915e-01 -4.06385122e-01 -1.69925505e-01 4.43018817e+01] [ 4.04454147e-01 9.13327662e-01 -4.74281032e-02 2.00528399e+00] [ 1.74471740e-01 -2.61479304e-02 9.84314938e-01 7.12554753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.119072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:44.33, Y:2.01, Z:7.13 [[ 8.97484683e-01 -4.07001234e-01 -1.69915392e-01 4.43287891e+01] [ 4.05074252e-01 9.13050924e-01 -4.74643070e-02 2.01303439e+00] [ 1.74459437e-01 -2.62298618e-02 9.84314939e-01 7.13038981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.149072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.35, Y:2.02, Z:7.13 [[ 8.97345896e-01 -4.07313332e-01 -1.69900536e-01 4.43544168e+01] [ 4.05381946e-01 9.12911591e-01 -4.75174281e-02 2.02031711e+00] [ 1.74458650e-01 -2.62350405e-02 9.84314940e-01 7.13399090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.179072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.38, Y:2.03, Z:7.14 [[ 8.96979846e-01 -4.08123024e-01 -1.69890417e-01 4.43816358e+01] [ 4.06199004e-01 9.12546452e-01 -4.75535787e-02 2.02763656e+00] [ 1.74440607e-01 -2.63547164e-02 9.84314941e-01 7.13712353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.209072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.41, Y:2.03, Z:7.14 [[ 8.96835874e-01 -4.08445485e-01 -1.69875546e-01 4.44073358e+01] [ 4.06517252e-01 9.12401957e-01 -4.76066426e-02 2.03466194e+00] [ 1.74439499e-01 -2.63619954e-02 9.84314943e-01 7.13983852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:2.04, Z:7.15 [[ 8.96663151e-01 -4.08827177e-01 -1.69869164e-01 4.44336991e+01] [ 4.06901362e-01 9.12229533e-01 -4.76294048e-02 2.04151696e+00] [ 1.74431863e-01 -2.64124621e-02 9.84314943e-01 7.14553081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.46, Y:2.05, Z:7.15 [[ 8.96426064e-01 -4.09352372e-01 -1.69855666e-01 4.44597621e+01] [ 4.07426785e-01 9.11992473e-01 -4.76774944e-02 2.04906596e+00] [ 1.74423984e-01 -2.64643992e-02 9.84314944e-01 7.15147808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.49, Y:2.06, Z:7.16 [[ 8.96261229e-01 -4.09719268e-01 -1.69840901e-01 4.44856988e+01] [ 4.07790338e-01 9.11827223e-01 -4.77300358e-02 2.05628218e+00] [ 1.74421472e-01 -2.64808977e-02 9.84314946e-01 7.15659490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.329072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.51, Y:2.06, Z:7.16 [[ 8.96074051e-01 -4.10131086e-01 -1.69834590e-01 4.45123034e+01] [ 4.08205160e-01 9.11640416e-01 -4.77524802e-02 2.06385771e+00] [ 1.74412853e-01 -2.65375975e-02 9.84314946e-01 7.16295636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.359072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:44.54, Y:2.07, Z:7.17 [[ 8.95609836e-01 -4.11149977e-01 -1.69819665e-01 4.45383608e+01] [ 4.09231951e-01 9.11177175e-01 -4.78054982e-02 2.07036077e+00] [ 1.74391032e-01 -2.66805586e-02 9.84314947e-01 7.16779903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.56, Y:2.08, Z:7.17 [[ 8.95062859e-01 -4.12343544e-01 -1.69809539e-01 4.45647292e+01] [ 4.10439625e-01 9.10631929e-01 -4.78414414e-02 2.07778674e+00] [ 1.74361097e-01 -2.68754661e-02 9.84314948e-01 7.17249852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.41907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.59, Y:2.09, Z:7.18 [[ 8.94707330e-01 -4.13120646e-01 -1.69794363e-01 4.45910756e+01] [ 4.11220295e-01 9.10276834e-01 -4.78952409e-02 2.08515589e+00] [ 1.74346389e-01 -2.69706651e-02 9.84314950e-01 7.17592399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:2.09, Z:7.18 [[ 8.94134838e-01 -4.14362464e-01 -1.69784096e-01 4.46173721e+01] [ 4.12477003e-01 9.09706152e-01 -4.79316094e-02 2.09184504e+00] [ 1.74314697e-01 -2.71747134e-02 9.84314950e-01 7.17919990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479072329 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:44.64, Y:2.10, Z:7.18 [[ 8.94050293e-01 -4.14547486e-01 -1.69777665e-01 4.46441232e+01] [ 4.12661034e-01 9.09621487e-01 -4.79543795e-02 2.09896344e+00] [ 1.74312779e-01 -2.71869997e-02 9.84314951e-01 7.18387566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.67, Y:2.11, Z:7.19 [[ 8.93575804e-01 -4.15574917e-01 -1.69763868e-01 4.46708901e+01] [ 4.13697335e-01 9.09148069e-01 -4.80031720e-02 2.10698860e+00] [ 1.74289407e-01 -2.73363869e-02 9.84314952e-01 7.18915585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.70, Y:2.11, Z:7.20 [[ 8.93090082e-01 -4.16623798e-01 -1.69748981e-01 4.46973719e+01] [ 4.14754767e-01 9.08663374e-01 -4.80557615e-02 2.11457788e+00] [ 1.74265855e-01 -2.74860750e-02 9.84314953e-01 7.19543300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:44.72, Y:2.12, Z:7.20 [[ 8.92931191e-01 -4.16967344e-01 -1.69741340e-01 4.47237139e+01] [ 4.15099312e-01 9.08504602e-01 -4.80827364e-02 2.12191878e+00] [ 1.74259719e-01 -2.75249382e-02 9.84314954e-01 7.20096912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:44.75, Y:2.13, Z:7.21 [[ 8.92643805e-01 -4.17588216e-01 -1.69726603e-01 4.47504514e+01] [ 4.15721395e-01 9.08217360e-01 -4.81346998e-02 2.12967012e+00] [ 1.74249131e-01 -2.75918386e-02 9.84314955e-01 7.20547823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:2.14, Z:7.21 [[ 8.92299208e-01 -4.18330027e-01 -1.69711850e-01 4.47760067e+01] [ 4.16466532e-01 9.07873159e-01 -4.81866586e-02 2.13658199e+00] [ 1.74234760e-01 -2.76823886e-02 9.84314957e-01 7.20944261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.659072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.80, Y:2.14, Z:7.21 [[ 8.91888959e-01 -4.19207067e-01 -1.69704212e-01 4.48031120e+01] [ 4.17353905e-01 9.07464144e-01 -4.82135447e-02 2.14442186e+00] [ 1.74211946e-01 -2.78255874e-02 9.84314957e-01 7.21386800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:2.15, Z:7.22 [[ 8.91558080e-01 -4.19916159e-01 -1.69689744e-01 4.48292014e+01] [ 4.18065964e-01 9.07133616e-01 -4.82644122e-02 2.15195822e+00] [ 1.74198278e-01 -2.79109797e-02 9.84314958e-01 7.21700553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.719072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.86, Y:2.16, Z:7.22 [[ 8.91166275e-01 -4.20750362e-01 -1.69681475e-01 4.48555754e+01] [ 4.18909364e-01 9.06742900e-01 -4.82934658e-02 2.15862468e+00] [ 1.74176966e-01 -2.80436508e-02 9.84314959e-01 7.22275820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.749072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.88, Y:2.17, Z:7.23 [[ 8.90975202e-01 -4.21160553e-01 -1.69667259e-01 4.48817607e+01] [ 4.19317483e-01 9.06551580e-01 -4.83433611e-02 2.16622079e+00] [ 1.74172438e-01 -2.80717120e-02 9.84314960e-01 7.22812188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.91, Y:2.17, Z:7.23 [[ 8.90750175e-01 -4.21642171e-01 -1.69652602e-01 4.49086108e+01] [ 4.19798005e-01 9.06326422e-01 -4.83947436e-02 2.17444602e+00] [ 1.74165900e-01 -2.81121974e-02 9.84314962e-01 7.23345344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.809072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.93, Y:2.18, Z:7.24 [[ 8.90602354e-01 -4.21960439e-01 -1.69637361e-01 4.49342999e+01] [ 4.20111953e-01 9.06178088e-01 -4.84481105e-02 2.18216468e+00] [ 1.74164845e-01 -2.81186816e-02 9.84314963e-01 7.23846592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.839072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:44.96, Y:2.19, Z:7.24 [[ 8.90293178e-01 -4.22615899e-01 -1.69628590e-01 4.49606825e+01] [ 4.20773193e-01 9.05869596e-01 -4.84787990e-02 2.18979597e+00] [ 1.74149294e-01 -2.82148196e-02 9.84314964e-01 7.24455549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.99, Y:2.20, Z:7.25 [[ 8.90274380e-01 -4.22661499e-01 -1.69613636e-01 4.49875829e+01] [ 4.20809908e-01 9.05849743e-01 -4.85310624e-02 2.19716848e+00] [ 1.74156681e-01 -2.81691373e-02 9.84314965e-01 7.24943519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.01, Y:2.20, Z:7.25 [[ 8.90040993e-01 -4.23158336e-01 -1.69599685e-01 4.50135315e+01] [ 4.21306415e-01 9.05616316e-01 -4.85797709e-02 2.20488645e+00] [ 1.74149177e-01 -2.82154476e-02 9.84314966e-01 7.25328697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.929072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.04, Y:2.21, Z:7.26 [[ 8.89831585e-01 -4.23601753e-01 -1.69591583e-01 4.50401693e+01] [ 4.21752355e-01 9.05407207e-01 -4.86080392e-02 2.21288399e+00] [ 1.74139892e-01 -2.82726807e-02 9.84314967e-01 7.25871965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.07, Y:2.22, Z:7.26 [[ 8.89687924e-01 -4.23909348e-01 -1.69576718e-01 4.50657232e+01] [ 4.22055735e-01 9.05263043e-01 -4.86598411e-02 2.22082652e+00] [ 1.74138898e-01 -2.82787534e-02 9.84314968e-01 7.26317229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.09, Y:2.23, Z:7.27 [[ 8.89672421e-01 -4.23945141e-01 -1.69568570e-01 4.50921944e+01] [ 4.22086896e-01 9.05246988e-01 -4.86882188e-02 2.22867961e+00] [ 1.74142571e-01 -2.82561060e-02 9.84314969e-01 7.26802884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.019072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.12, Y:2.24, Z:7.27 [[ 8.89644526e-01 -4.24009512e-01 -1.69553975e-01 4.51184315e+01] [ 4.22142984e-01 9.05218102e-01 -4.87389932e-02 2.23682091e+00] [ 1.74149124e-01 -2.82156426e-02 9.84314970e-01 7.27347163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:2.25, Z:7.28 [[ 8.89469753e-01 -4.24381863e-01 -1.69539354e-01 4.51449073e+01] [ 4.22512438e-01 9.05042980e-01 -4.87898025e-02 2.24506652e+00] [ 1.74145909e-01 -2.82354321e-02 9.84314971e-01 7.27845641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.079072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.17, Y:2.25, Z:7.28 [[ 8.89467410e-01 -4.24392660e-01 -1.69524621e-01 4.51703652e+01] [ 4.22513947e-01 9.05039517e-01 -4.88409411e-02 2.25296928e+00] [ 1.74154218e-01 -2.81840913e-02 9.84314973e-01 7.28271934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.109072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.20, Y:2.26, Z:7.29 [[ 8.89400396e-01 -4.24536311e-01 -1.69516537e-01 4.51966755e+01] [ 4.22654916e-01 9.04972179e-01 -4.88689804e-02 2.26116466e+00] [ 1.74154407e-01 -2.81829075e-02 9.84314973e-01 7.28720223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.22, Y:2.27, Z:7.29 [[ 8.89418144e-01 -4.24504912e-01 -1.69502048e-01 4.52225434e+01] [ 4.22613663e-01 9.04988732e-01 -4.89191868e-02 2.26887761e+00] [ 1.74163878e-01 -2.81242690e-02 9.84314974e-01 7.29166632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.25, Y:2.28, Z:7.30 [[ 8.89096975e-01 -4.25180338e-01 -1.69494096e-01 4.52493804e+01] [ 4.23295812e-01 9.04668378e-01 -4.89467220e-02 2.27772624e+00] [ 1.74147133e-01 -2.82277587e-02 9.84314975e-01 7.29573193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.28, Y:2.29, Z:7.30 [[ 8.89062714e-01 -4.25257598e-01 -1.69479989e-01 4.52750945e+01] [ 4.23365380e-01 9.04633182e-01 -4.89955202e-02 2.28526400e+00] [ 1.74152939e-01 -2.81918699e-02 9.84314976e-01 7.29981314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.30, Y:2.29, Z:7.31 [[ 8.88809056e-01 -4.25790754e-01 -1.69471816e-01 4.53011674e+01] [ 4.23902637e-01 9.04380022e-01 -4.90237756e-02 2.29315006e+00] [ 1.74140795e-01 -2.82667740e-02 9.84314977e-01 7.30603093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:45.33, Y:2.30, Z:7.31 [[ 8.88520056e-01 -4.26399362e-01 -1.69457058e-01 4.53277739e+01] [ 4.24512463e-01 9.04091168e-01 -4.90747361e-02 2.30150232e+00] [ 1.74130066e-01 -2.83327457e-02 9.84314978e-01 7.31070826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.35, Y:2.31, Z:7.32 [[ 8.88387963e-01 -4.26677104e-01 -1.69450514e-01 4.53540679e+01] [ 4.24790885e-01 9.03959157e-01 -4.90973223e-02 2.30909853e+00] [ 1.74125047e-01 -2.83635636e-02 9.84314978e-01 7.31764097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.38, Y:2.32, Z:7.32 [[ 8.88195941e-01 -4.27082514e-01 -1.69435817e-01 4.53803217e+01] [ 4.25194007e-01 9.03766857e-01 -4.91479899e-02 2.31724960e+00] [ 1.74120723e-01 -2.83900487e-02 9.84314980e-01 7.32257452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.41, Y:2.33, Z:7.33 [[ 8.87815843e-01 -4.27877899e-01 -1.69421167e-01 4.54064289e+01] [ 4.25993985e-01 9.03387314e-01 -4.91984405e-02 2.32503134e+00] [ 1.74103858e-01 -2.84932430e-02 9.84314981e-01 7.32809720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.379072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.43, Y:2.33, Z:7.33 [[ 8.87438862e-01 -4.28665054e-01 -1.69406425e-01 4.54337676e+01] [ 4.26785545e-01 9.03010864e-01 -4.92491516e-02 2.33373582e+00] [ 1.74087232e-01 -2.85946020e-02 9.84314982e-01 7.33216664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.46, Y:2.34, Z:7.34 [[ 8.87074139e-01 -4.29424339e-01 -1.69393649e-01 4.54600797e+01] [ 4.27550013e-01 9.02646764e-01 -4.92930547e-02 2.34174265e+00] [ 1.74070267e-01 -2.86976628e-02 9.84314983e-01 7.33530411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:2.35, Z:7.34 [[ 8.86692573e-01 -4.30289268e-01 -1.69196416e-01 4.54879896e+01] [ 4.28304630e-01 9.02251722e-01 -4.99697265e-02 2.35028184e+00] [ 1.74159195e-01 -2.81598232e-02 9.84314787e-01 7.33937083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.469072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.51, Y:2.36, Z:7.34 [[ 8.86585103e-01 -4.30440245e-01 -1.69375473e-01 4.55149830e+01] [ 4.28572197e-01 9.02158478e-01 -4.93553782e-02 2.35820666e+00] [ 1.74048060e-01 -2.88318753e-02 9.84314988e-01 7.34477847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.499072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:2.37, Z:7.35 [[ 8.86030379e-01 -4.31586679e-01 -1.69360876e-01 4.55415818e+01] [ 4.29729493e-01 9.01605051e-01 -4.94054163e-02 2.36627562e+00] [ 1.74019341e-01 -2.90046637e-02 9.84314989e-01 7.34953954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.529072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:2.37, Z:7.35 [[ 8.85673716e-01 -4.32323864e-01 -1.69346231e-01 4.55679855e+01] [ 4.30470333e-01 9.01248822e-01 -4.94555638e-02 2.37398572e+00] [ 1.74003912e-01 -2.90970356e-02 9.84314991e-01 7.35474306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:2.38, Z:7.36 [[ 8.85406736e-01 -4.32872963e-01 -1.69339630e-01 4.55944177e+01] [ 4.31024898e-01 9.00982491e-01 -4.94781565e-02 2.38215681e+00] [ 1.73989798e-01 -2.91813038e-02 9.84314991e-01 7.36081556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.589072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:2.39, Z:7.37 [[ 8.85047672e-01 -4.33612318e-01 -1.69325058e-01 4.56207144e+01] [ 4.31768016e-01 9.00623872e-01 -4.95279764e-02 2.39030789e+00] [ 1.73974130e-01 -2.92745241e-02 9.84314992e-01 7.36525307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.619072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.65, Y:2.40, Z:7.37 [[ 8.84679132e-01 -4.34429945e-01 -1.69155125e-01 4.56480082e+01] [ 4.32492323e-01 9.00244157e-01 -5.01083678e-02 2.39823063e+00] [ 1.74049489e-01 -2.88284658e-02 9.84314835e-01 7.37105749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.649072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:2.41, Z:7.38 [[ 8.84283839e-01 -4.35174479e-01 -1.69308194e-01 4.56732426e+01] [ 4.33346950e-01 8.99862027e-01 -4.95858153e-02 2.40605719e+00] [ 1.73932496e-01 -2.95212543e-02 9.84314981e-01 7.37660006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.679072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.70, Y:2.41, Z:7.38 [[ 8.83612328e-01 -4.36540145e-01 -1.69298424e-01 4.56997251e+01] [ 4.34730496e-01 8.99192602e-01 -4.96191507e-02 2.41394997e+00] [ 1.73892642e-01 -2.97550946e-02 9.84314982e-01 7.38185387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.709072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.73, Y:2.42, Z:7.39 [[ 8.83159571e-01 -4.37460922e-01 -1.69284120e-01 4.57253309e+01] [ 4.35658459e-01 8.98740678e-01 -4.96679046e-02 2.42167969e+00] [ 1.73870292e-01 -2.98853735e-02 9.84314983e-01 7.38623862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.739072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.75, Y:2.43, Z:7.39 [[ 8.82367667e-01 -4.39059064e-01 -1.69276219e-01 4.57515154e+01] [ 4.37279813e-01 8.97951441e-01 -4.96948173e-02 2.42938541e+00] [ 1.73820785e-01 -3.01719733e-02 9.84314984e-01 7.39183584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.769072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.78, Y:2.44, Z:7.39 [[ 8.81938651e-01 -4.39925865e-01 -1.69261481e-01 4.57769893e+01] [ 4.38152611e-01 8.97523107e-01 -4.97449653e-02 2.43718200e+00] [ 1.73800187e-01 -3.02903524e-02 9.84314985e-01 7.39497988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:2.44, Z:7.40 [[ 8.81812193e-01 -4.40182431e-01 -1.69253310e-01 4.58038234e+01] [ 4.38408549e-01 8.97396577e-01 -4.97727519e-02 2.44479856e+00] [ 1.73796432e-01 -3.03118787e-02 9.84314985e-01 7.40006036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.83, Y:2.45, Z:7.40 [[ 8.81245983e-01 -4.41320559e-01 -1.69238536e-01 4.58292667e+01] [ 4.39557473e-01 8.96831591e-01 -4.98229373e-02 2.45323305e+00] [ 1.73766352e-01 -3.04837999e-02 9.84314987e-01 7.40194313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.86, Y:2.46, Z:7.41 [[ 8.80947014e-01 -4.41920173e-01 -1.69230373e-01 4.58553714e+01] [ 4.40162545e-01 8.96533238e-01 -4.98506478e-02 2.46100907e+00] [ 1.73750661e-01 -3.05730925e-02 9.84314987e-01 7.40805191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.88, Y:2.47, Z:7.41 [[ 8.80658697e-01 -4.42499999e-01 -1.69215869e-01 4.58813374e+01] [ 4.40743490e-01 8.96245046e-01 -4.98998359e-02 2.46935186e+00] [ 1.73739561e-01 -3.06360680e-02 9.84314988e-01 7.41188455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.91907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:45.91, Y:2.48, Z:7.42 [[ 8.80410887e-01 -4.42995899e-01 -1.69207872e-01 4.59056817e+01] [ 4.41243131e-01 8.95997656e-01 -4.99269372e-02 2.47647358e+00] [ 1.73727285e-01 -3.07055923e-02 9.84314989e-01 7.41883311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.94907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.93, Y:2.49, Z:7.42 [[ 8.79735774e-01 -4.44506104e-01 -1.68758085e-01 4.59347190e+01] [ 4.42497430e-01 8.95292757e-01 -5.14480603e-02 2.48549859e+00] [ 1.73956868e-01 -2.94143197e-02 9.84313876e-01 7.42382256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.96, Y:2.49, Z:7.43 [[ 8.79245265e-01 -4.45312568e-01 -1.69187709e-01 4.59606345e+01] [ 4.43588212e-01 8.94835186e-01 -4.99948823e-02 2.49326136e+00] [ 1.73658465e-01 -3.10919101e-02 9.84315006e-01 7.43017202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.99, Y:2.50, Z:7.44 [[ 8.78972443e-01 -4.45856276e-01 -1.69173363e-01 4.59871403e+01] [ 4.44132543e-01 8.94562431e-01 -5.00433833e-02 2.50156028e+00] [ 1.73648291e-01 -3.11486410e-02 9.84315007e-01 7.43579625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.01, Y:2.51, Z:7.44 [[ 8.78846341e-01 -4.46110240e-01 -1.69158986e-01 4.60114195e+01] [ 4.44381985e-01 8.94435828e-01 -5.00919335e-02 2.50970340e+00] [ 1.73648382e-01 -3.11480934e-02 9.84315008e-01 7.43993123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.04, Y:2.52, Z:7.44 [[ 8.78351387e-01 -4.47254228e-01 -1.68708316e-01 4.60404388e+01] [ 4.45263940e-01 8.93910714e-01 -5.16106555e-02 2.51863540e+00] [ 1.73893255e-01 -2.97874388e-02 9.84313895e-01 7.44384286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.07, Y:2.53, Z:7.45 [[ 8.78177411e-01 -4.47432779e-01 -1.69140009e-01 4.60670468e+01] [ 4.45716155e-01 8.93768162e-01 -5.01555693e-02 2.52675834e+00] [ 1.73613201e-01 -3.13429464e-02 9.84315029e-01 7.45086068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.129072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.09, Y:2.53, Z:7.46 [[ 8.78095374e-01 -4.47599107e-01 -1.69125849e-01 4.60927751e+01] [ 4.45876563e-01 8.93685471e-01 -5.02032735e-02 2.53482470e+00] [ 1.73616254e-01 -3.13259899e-02 9.84315030e-01 7.45588442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.159072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.12, Y:2.54, Z:7.46 [[ 8.77943743e-01 -4.47899457e-01 -1.69117891e-01 4.61190458e+01] [ 4.46177263e-01 8.93533878e-01 -5.02300653e-02 2.54314790e+00] [ 1.73610584e-01 -3.13573863e-02 9.84315031e-01 7.46222483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.15, Y:2.55, Z:7.47 [[ 8.77807611e-01 -4.48172012e-01 -1.69102471e-01 4.61451256e+01] [ 4.46445011e-01 8.93397213e-01 -5.02819258e-02 2.55150526e+00] [ 1.73610628e-01 -3.13570974e-02 9.84315032e-01 7.46549698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.219072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.17, Y:2.56, Z:7.47 [[ 8.77695016e-01 -4.48395608e-01 -1.69094166e-01 4.61720262e+01] [ 4.46667386e-01 8.93284482e-01 -5.03098382e-02 2.56136720e+00] [ 1.73607905e-01 -3.13721550e-02 9.84315032e-01 7.46901197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.249072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.20, Y:2.57, Z:7.47 [[ 8.77770043e-01 -4.48254072e-01 -1.69079977e-01 4.61979211e+01] [ 4.46514474e-01 8.93358242e-01 -5.03574809e-02 2.56979063e+00] [ 1.73621937e-01 -3.12943688e-02 9.84315034e-01 7.47278136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.279072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.22, Y:2.58, Z:7.48 [[ 8.77943040e-01 -4.47918264e-01 -1.69071722e-01 4.62241201e+01] [ 4.46167549e-01 8.93529995e-01 -5.03851833e-02 2.57802047e+00] [ 1.73639098e-01 -3.11989948e-02 9.84315034e-01 7.47597183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.25, Y:2.59, Z:7.48 [[ 8.77902096e-01 -4.48002277e-01 -1.69061733e-01 4.62498125e+01] [ 4.46246823e-01 8.93488517e-01 -5.04186770e-02 2.58646700e+00] [ 1.73642399e-01 -3.11805989e-02 9.84315035e-01 7.48410639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.339072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:2.59, Z:7.49 [[ 8.78313977e-01 -4.47200067e-01 -1.69046316e-01 4.62739155e+01] [ 4.45420769e-01 8.93897693e-01 -5.04703169e-02 2.59410864e+00] [ 1.73680441e-01 -3.09679552e-02 9.84315036e-01 7.48679925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.369072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.30, Y:2.60, Z:7.50 [[ 8.77543566e-01 -4.48894858e-01 -1.68554726e-01 4.63019059e+01] [ 4.46840204e-01 8.93094669e-01 -5.21127969e-02 2.60408701e+00] [ 1.73928494e-01 -2.95857786e-02 9.84313751e-01 7.49519147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.33, Y:2.61, Z:7.50 [[ 8.77431910e-01 -4.48935398e-01 -1.69027369e-01 4.63284244e+01] [ 4.47175295e-01 8.93017751e-01 -5.05326840e-02 2.61233251e+00] [ 1.73630352e-01 -3.12458744e-02 9.84315090e-01 7.50084047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.429072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:2.62, Z:7.50 [[ 8.77389791e-01 -4.49023433e-01 -1.69012164e-01 4.63537623e+01] [ 4.47255440e-01 8.92974737e-01 -5.05834915e-02 2.62091089e+00] [ 1.73636765e-01 -3.12101706e-02 9.84315091e-01 7.50476491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.38, Y:2.63, Z:7.51 [[ 8.77500150e-01 -4.48810870e-01 -1.69003818e-01 4.63797686e+01] [ 4.47033916e-01 8.93084077e-01 -5.06113583e-02 2.62856849e+00] [ 1.73649547e-01 -3.11389644e-02 9.84315092e-01 7.50843871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.489072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.41, Y:2.64, Z:7.51 [[ 8.77240574e-01 -4.49321116e-01 -1.68995589e-01 4.64062461e+01] [ 4.47548116e-01 8.92824951e-01 -5.06388217e-02 2.63759172e+00] [ 1.73636571e-01 -3.12112286e-02 9.84315092e-01 7.51334562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.519072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.43, Y:2.65, Z:7.52 [[ 8.77037911e-01 -4.49722102e-01 -1.68980868e-01 4.64318564e+01] [ 4.47947093e-01 8.92622058e-01 -5.06879006e-02 2.64597488e+00] [ 1.73631519e-01 -3.12392779e-02 9.84315093e-01 7.51732427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.549072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.46, Y:2.65, Z:7.52 [[ 8.76816831e-01 -4.50156945e-01 -1.68970325e-01 4.64580684e+01] [ 4.48383128e-01 8.92401113e-01 -5.07230194e-02 2.65412795e+00] [ 1.73622626e-01 -3.12886460e-02 9.84315094e-01 7.52304862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.579072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.48, Y:2.66, Z:7.53 [[ 8.76769519e-01 -4.50255006e-01 -1.68954553e-01 4.64833924e+01] [ 4.48473165e-01 8.92352884e-01 -5.07755015e-02 2.66214474e+00] [ 1.73629007e-01 -3.12531712e-02 9.84315096e-01 7.52760238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.51, Y:2.67, Z:7.53 [[ 8.76800792e-01 -4.50197358e-01 -1.68945880e-01 4.65095426e+01] [ 4.48409124e-01 8.92383424e-01 -5.08043446e-02 2.67104973e+00] [ 1.73636485e-01 -3.12115846e-02 9.84315096e-01 7.53290617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.54, Y:2.68, Z:7.54 [[ 8.76668806e-01 -4.50456924e-01 -1.68938940e-01 4.65361226e+01] [ 4.48669010e-01 8.92251474e-01 -5.08274123e-02 2.67974545e+00] [ 1.73631578e-01 -3.12388600e-02 9.84315096e-01 7.53845587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.56, Y:2.69, Z:7.54 [[ 8.76577552e-01 -4.50640116e-01 -1.68923891e-01 4.65621376e+01] [ 4.48846159e-01 8.92159525e-01 -5.08773780e-02 2.68819482e+00] [ 1.73634446e-01 -3.12228722e-02 9.84315098e-01 7.54459230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.69907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.59, Y:2.70, Z:7.55 [[ 8.76206231e-01 -4.51367286e-01 -1.68908894e-01 4.65879775e+01] [ 4.49576999e-01 8.91788625e-01 -5.09271190e-02 2.69670348e+00] [ 1.73617866e-01 -3.13148947e-02 9.84315099e-01 7.54881135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.62, Y:2.71, Z:7.55 [[ 8.75921487e-01 -4.51922681e-01 -1.68900679e-01 4.66153181e+01] [ 4.50137204e-01 8.91504432e-01 -5.09543490e-02 2.70540948e+00] [ 1.73603130e-01 -3.13964705e-02 9.84315099e-01 7.55321351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.64, Y:2.71, Z:7.56 [[ 8.75668802e-01 -4.52417044e-01 -1.68887444e-01 4.66418096e+01] [ 4.50632202e-01 8.91251819e-01 -5.09981819e-02 2.71356070e+00] [ 1.73593688e-01 -3.14486038e-02 9.84315100e-01 7.55596023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:2.72, Z:7.56 [[ 8.75247443e-01 -4.53237294e-01 -1.68872342e-01 4.66680248e+01] [ 4.51457751e-01 8.90831065e-01 -5.10481415e-02 2.72170288e+00] [ 1.73573650e-01 -3.15589722e-02 9.84315102e-01 7.56063910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:2.73, Z:7.57 [[ 8.75215210e-01 -4.53305234e-01 -1.68857040e-01 4.66945400e+01] [ 4.51517485e-01 8.90797891e-01 -5.10987072e-02 2.72978408e+00] [ 1.73580807e-01 -3.15195402e-02 9.84315103e-01 7.56583093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.72, Y:2.74, Z:7.57 [[ 8.74636037e-01 -4.54427480e-01 -1.68841545e-01 4.67210726e+01] [ 4.52650193e-01 8.90219914e-01 -5.11498573e-02 2.73830625e+00] [ 1.73550006e-01 -3.16886492e-02 9.84315105e-01 7.57251520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.75, Y:2.75, Z:7.58 [[ 8.74153202e-01 -4.55360700e-01 -1.68827759e-01 4.67476798e+01] [ 4.53591579e-01 8.89738006e-01 -5.11953178e-02 2.74692133e+00] [ 1.73524810e-01 -3.18262989e-02 9.84315106e-01 7.57671665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.77, Y:2.75, Z:7.58 [[ 8.73973054e-01 -4.55708966e-01 -1.68820733e-01 4.67739778e+01] [ 4.53941740e-01 8.89558072e-01 -5.12184761e-02 2.75495639e+00] [ 1.73516565e-01 -3.18712095e-02 9.84315106e-01 7.58321869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.939072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.80, Y:2.76, Z:7.59 [[ 8.73252406e-01 -4.57094023e-01 -1.68805476e-01 4.67997581e+01] [ 4.55342149e-01 8.88839157e-01 -5.12687116e-02 2.76268962e+00] [ 1.73475539e-01 -3.20937225e-02 9.84315107e-01 7.58982097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.83, Y:2.77, Z:7.59 [[ 8.72855012e-01 -4.57858122e-01 -1.68790013e-01 4.68265480e+01] [ 4.56110413e-01 8.88442228e-01 -5.13195698e-02 2.77072716e+00] [ 1.73457258e-01 -3.21923390e-02 9.84315109e-01 7.59494838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.85, Y:2.78, Z:7.60 [[ 8.72322820e-01 -4.58876996e-01 -1.68774407e-01 4.68525809e+01] [ 4.57137931e-01 8.87911002e-01 -5.13708456e-02 2.77878848e+00] [ 1.73429552e-01 -3.23412221e-02 9.84315110e-01 7.59966484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.029072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.88, Y:2.79, Z:7.60 [[ 8.71354931e-01 -4.60717982e-01 -1.68758780e-01 4.68788267e+01] [ 4.59002277e-01 8.86945700e-01 -5.14221301e-02 2.78643775e+00] [ 1.73370974e-01 -3.26537377e-02 9.84315111e-01 7.60412858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.91, Y:2.79, Z:7.61 [[ 8.70748707e-01 -4.61868420e-01 -1.68743152e-01 4.69052977e+01] [ 4.60163754e-01 8.86340686e-01 -5.14733635e-02 2.79448543e+00] [ 1.73337842e-01 -3.28291177e-02 9.84315113e-01 7.60900048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.93, Y:2.80, Z:7.61 [[ 8.69647735e-01 -4.63943785e-01 -1.68727535e-01 4.69308904e+01] [ 4.62266771e-01 8.85242711e-01 -5.15245058e-02 2.80196890e+00] [ 1.73269295e-01 -3.31889631e-02 9.84315114e-01 7.61461182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.119072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.96, Y:2.81, Z:7.62 [[ 8.69120084e-01 -4.64934647e-01 -1.68718859e-01 4.69577924e+01] [ 4.63270112e-01 8.84716396e-01 -5.15529018e-02 2.80997197e+00] [ 1.73237071e-01 -3.33567421e-02 9.84315115e-01 7.61988500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.149072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:2.82, Z:7.62 [[ 8.68400220e-01 -4.66283402e-01 -1.68703427e-01 4.69843906e+01] [ 4.64633669e-01 8.83998104e-01 -5.16033505e-02 2.81817885e+00] [ 1.73195296e-01 -3.35729316e-02 9.84315116e-01 7.62404332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.179072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.01, Y:2.83, Z:7.63 [[ 8.68097438e-01 -4.66852446e-01 -1.68687973e-01 4.70098825e+01] [ 4.65203519e-01 8.83695405e-01 -5.16538205e-02 2.82552708e+00] [ 1.73183499e-01 -3.36336895e-02 9.84315117e-01 7.62960594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.209072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.04, Y:2.83, Z:7.63 [[ 8.67156874e-01 -4.68600251e-01 -1.68679463e-01 4.70367832e+01] [ 4.66977565e-01 8.82757592e-01 -5.16815983e-02 2.83313326e+00] [ 1.73121086e-01 -3.39534715e-02 9.84315118e-01 7.63430569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.06, Y:2.84, Z:7.64 [[ 8.66349428e-01 -4.70096802e-01 -1.68664360e-01 4.70634023e+01] [ 4.68491862e-01 8.81951980e-01 -5.17308403e-02 2.84101984e+00] [ 1.73072369e-01 -3.42008961e-02 9.84315119e-01 7.63978118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.269072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:2.85, Z:7.64 [[ 8.65766519e-01 -4.71175167e-01 -1.68648442e-01 4.70892362e+01] [ 4.69579975e-01 8.81370070e-01 -5.17826836e-02 2.84845045e+00] [ 1.73040404e-01 -3.43622175e-02 9.84315121e-01 7.64430436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.299072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.12, Y:2.86, Z:7.65 [[ 8.64390496e-01 -4.73697913e-01 -1.68639729e-01 4.71162810e+01] [ 4.72142935e-01 8.79998105e-01 -5.18110438e-02 2.85571444e+00] [ 1.72945425e-01 -3.48370828e-02 9.84315121e-01 7.64927581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.329072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.14, Y:2.86, Z:7.65 [[ 8.63758495e-01 -4.74854868e-01 -1.68624187e-01 4.71432489e+01] [ 4.73311348e-01 8.79367241e-01 -5.18615788e-02 2.86351850e+00] [ 1.72909309e-01 -3.50158620e-02 9.84315122e-01 7.65417795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.359072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.17, Y:2.87, Z:7.66 [[ 8.62291280e-01 -4.77519437e-01 -1.68608824e-01 4.71701518e+01] [ 4.76014792e-01 8.77903820e-01 -5.19114767e-02 2.87060902e+00] [ 1.72811070e-01 -3.54974808e-02 9.84315124e-01 7.65916821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.20, Y:2.88, Z:7.66 [[ 8.62151128e-01 -4.77777798e-01 -1.68593621e-01 4.71970315e+01] [ 4.76268612e-01 8.77763227e-01 -5.19608085e-02 2.87913771e+00] [ 1.72811001e-01 -3.54977800e-02 9.84315125e-01 7.66419308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.41907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.22, Y:2.89, Z:7.67 [[ 8.61295793e-01 -4.79323387e-01 -1.68578310e-01 4.72237578e+01] [ 4.77832930e-01 8.76909691e-01 -5.20104339e-02 2.88719572e+00] [ 1.72757771e-01 -3.57558999e-02 9.84315126e-01 7.67074608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.44907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:2.89, Z:7.68 [[ 8.60585447e-01 -4.80603303e-01 -1.68562015e-01 4.72492702e+01] [ 4.79126196e-01 8.76200612e-01 -5.20631934e-02 2.89453037e+00] [ 1.72715883e-01 -3.59576504e-02 9.84315128e-01 7.67521930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:2.90, Z:7.68 [[ 8.59987605e-01 -4.81675541e-01 -1.68552639e-01 4.72758824e+01] [ 4.80212225e-01 8.75604068e-01 -5.20935308e-02 2.90199194e+00] [ 1.72677556e-01 -3.61412468e-02 9.84315128e-01 7.67969687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.30, Y:2.91, Z:7.69 [[ 8.58425837e-01 -4.84458788e-01 -1.68537133e-01 4.73024212e+01] [ 4.83036692e-01 8.74046105e-01 -5.21436480e-02 2.90879222e+00] [ 1.72570673e-01 -3.66481646e-02 9.84315130e-01 7.68517774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:2.92, Z:7.69 [[ 8.57518907e-01 -4.86067690e-01 -1.68521587e-01 4.73292537e+01] [ 4.84665496e-01 8.73140974e-01 -5.21938435e-02 2.91684684e+00] [ 1.72512844e-01 -3.69193909e-02 9.84315131e-01 7.69018364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:2.92, Z:7.70 [[ 8.56159567e-01 -4.88463436e-01 -1.68505986e-01 4.73555898e+01] [ 4.87095510e-01 8.71784670e-01 -5.22441624e-02 2.92377498e+00] [ 1.72420299e-01 -3.73491699e-02 9.84315133e-01 7.69561461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.599072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:2.93, Z:7.70 [[ 8.55537385e-01 -4.89557807e-01 -1.68490166e-01 4.73825079e+01] [ 4.88200322e-01 8.71163397e-01 -5.22951335e-02 2.93138905e+00] [ 1.72383957e-01 -3.75165117e-02 9.84315134e-01 7.70105188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.629072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:2.94, Z:7.71 [[ 8.54209429e-01 -4.91876698e-01 -1.68474228e-01 4.74088214e+01] [ 4.90551999e-01 8.69838253e-01 -5.23464317e-02 2.93757208e+00] [ 1.72293318e-01 -3.79305538e-02 9.84315135e-01 7.70593965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.659072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.43, Y:2.94, Z:7.71 [[ 8.53582100e-01 -4.92968237e-01 -1.68463397e-01 4.74341676e+01] [ 4.91656995e-01 8.69212058e-01 -5.23812651e-02 2.94461820e+00] [ 1.72252716e-01 -3.81144972e-02 9.84315136e-01 7.71015105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.689072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:2.95, Z:7.71 [[ 8.52919518e-01 -4.94116788e-01 -1.68454432e-01 4.74605937e+01] [ 4.92821190e-01 8.68550780e-01 -5.24100810e-02 2.95193838e+00] [ 1.72207929e-01 -3.83163326e-02 9.84315136e-01 7.71461699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.719072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.49, Y:2.96, Z:7.72 [[ 8.51881734e-01 -4.95909213e-01 -1.68438607e-01 4.74873799e+01] [ 4.94636969e-01 8.67514913e-01 -5.24608920e-02 2.95825774e+00] [ 1.72138843e-01 -3.86254863e-02 9.84315138e-01 7.71817148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.749072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.51, Y:2.97, Z:7.72 [[ 8.51131504e-01 -4.97201055e-01 -1.68422900e-01 4.75139066e+01] [ 4.95943091e-01 8.66765838e-01 -5.25112697e-02 2.96603358e+00] [ 1.72091875e-01 -3.88341777e-02 9.84315139e-01 7.72214608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.779072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.54, Y:2.97, Z:7.73 [[ 8.50522209e-01 -4.98248019e-01 -1.68406900e-01 4.75395409e+01] [ 4.96999688e-01 8.66157313e-01 -5.25625339e-02 2.97350206e+00] [ 1.72056046e-01 -3.89925743e-02 9.84315141e-01 7.72631799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.809072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.57, Y:2.98, Z:7.73 [[ 8.50121985e-01 -4.98933581e-01 -1.68398020e-01 4.75662181e+01] [ 4.97692526e-01 8.65757668e-01 -5.25909688e-02 2.98092992e+00] [ 1.72031277e-01 -3.91016972e-02 9.84315141e-01 7.73184495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.839072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.59, Y:2.99, Z:7.73 [[ 8.49998009e-01 -4.99150180e-01 -1.68381954e-01 4.75925174e+01] [ 4.97903478e-01 8.65633241e-01 -5.26423590e-02 2.98779692e+00] [ 1.72033459e-01 -3.90920600e-02 9.84315142e-01 7.73488708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.869072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:3.00, Z:7.74 [[ 8.48767842e-01 -5.01363606e-01 -1.68010970e-01 4.76201368e+01] [ 4.99935592e-01 8.64388246e-01 -5.38271656e-02 2.99535522e+00] [ 1.72213689e-01 -3.83078966e-02 9.84314457e-01 7.74344460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.899072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.65, Y:3.00, Z:7.75 [[ 8.48305463e-01 -5.02026244e-01 -1.68367133e-01 4.76465584e+01] [ 5.00823667e-01 8.63944138e-01 -5.26894808e-02 3.00281992e+00] [ 1.71911299e-01 -3.96254705e-02 9.84315156e-01 7.74955973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.929072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:47.67, Y:3.01, Z:7.76 [[ 8.48041920e-01 -5.02476568e-01 -1.68351418e-01 4.76732752e+01] [ 5.01272889e-01 8.63680508e-01 -5.27396443e-02 3.01066172e+00] [ 1.71902274e-01 -3.96645726e-02 9.84315158e-01 7.75524405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.959072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:3.02, Z:7.76 [[ 8.47588513e-01 -5.03246290e-01 -1.68335632e-01 4.77002487e+01] [ 5.02047370e-01 8.63227465e-01 -5.27899829e-02 3.01832838e+00] [ 1.71878304e-01 -3.97682784e-02 9.84315159e-01 7.76100616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:3.03, Z:7.77 [[ 8.47612880e-01 -5.03210584e-01 -1.68319674e-01 4.77258881e+01] [ 5.02001473e-01 8.63251046e-01 -5.28408170e-02 3.02541806e+00] [ 1.71892193e-01 -3.97081673e-02 9.84315161e-01 7.76549690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.019072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.75, Y:3.03, Z:7.77 [[ 8.47534711e-01 -5.03345132e-01 -1.68311000e-01 4.77521910e+01] [ 5.02133324e-01 8.63172668e-01 -5.28684325e-02 3.03341854e+00] [ 1.71892523e-01 -3.97067302e-02 9.84315161e-01 7.76973411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.049072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.78, Y:3.04, Z:7.77 [[ 8.47868861e-01 -5.02787383e-01 -1.68295104e-01 4.77788779e+01] [ 5.01555805e-01 8.63505272e-01 -5.29189852e-02 3.04075051e+00] [ 1.71930708e-01 -3.95410269e-02 9.84315162e-01 7.77361599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.079072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.81, Y:3.05, Z:7.78 [[ 8.47732642e-01 -5.03018672e-01 -1.68290176e-01 4.78051308e+01] [ 5.01788422e-01 8.63369158e-01 -5.29346549e-02 3.04905581e+00] [ 1.71923667e-01 -3.95716267e-02 9.84315163e-01 7.77843743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.109072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.83, Y:3.06, Z:7.78 [[ 8.47724573e-01 -5.03037626e-01 -1.68274165e-01 4.78307889e+01] [ 5.01798189e-01 8.63360362e-01 -5.29855016e-02 3.05666104e+00] [ 1.71934945e-01 -3.95225597e-02 9.84315164e-01 7.78194202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.86, Y:3.06, Z:7.79 [[ 8.47864184e-01 -5.02807549e-01 -1.68258413e-01 4.78581300e+01] [ 5.01554495e-01 8.63498886e-01 -5.30354788e-02 3.06355319e+00] [ 1.71957591e-01 -3.94238802e-02 9.84315165e-01 7.78927404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.16907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.88, Y:3.07, Z:7.79 [[ 8.47876520e-01 -5.02791507e-01 -1.68244190e-01 4.78837137e+01] [ 5.01529702e-01 8.63510517e-01 -5.30805586e-02 3.07096477e+00] [ 1.71969082e-01 -3.93736994e-02 9.84315166e-01 7.79422972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.19907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.91, Y:3.08, Z:7.80 [[ 8.48380206e-01 -5.01944300e-01 -1.68234793e-01 4.79111254e+01] [ 5.00661296e-01 8.64012477e-01 -5.31103249e-02 3.07817764e+00] [ 1.72015385e-01 -3.91709013e-02 9.84315167e-01 7.80092711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.94, Y:3.09, Z:7.81 [[ 8.48398434e-01 -5.01918204e-01 -1.68220731e-01 4.79373194e+01] [ 5.00626372e-01 8.64029977e-01 -5.31548281e-02 3.08608400e+00] [ 1.72027130e-01 -3.91192615e-02 9.84315168e-01 7.80570739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.96, Y:3.09, Z:7.81 [[ 8.48660678e-01 -5.01480055e-01 -1.68204663e-01 4.79640810e+01] [ 5.00170624e-01 8.64290754e-01 -5.32056274e-02 3.09377927e+00] [ 1.72059296e-01 -3.89775075e-02 9.84315169e-01 7.80972133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:47.99, Y:3.10, Z:7.81 [[ 8.48749902e-01 -5.01334410e-01 -1.68188625e-01 4.79910824e+01] [ 5.00012796e-01 8.64378952e-01 -5.32562780e-02 3.10146246e+00] [ 1.72077912e-01 -3.88952039e-02 9.84315171e-01 7.81410073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.02, Y:3.11, Z:7.82 [[ 8.48584201e-01 -5.01620166e-01 -1.68172717e-01 4.80179898e+01] [ 5.00294401e-01 8.64212898e-01 -5.33064657e-02 3.10939303e+00] [ 1.72076629e-01 -3.89008442e-02 9.84315172e-01 7.81847888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.349072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.04, Y:3.12, Z:7.82 [[ 8.48596422e-01 -5.01604790e-01 -1.68156909e-01 4.80447540e+01] [ 5.00269396e-01 8.64224298e-01 -5.33562864e-02 3.11662376e+00] [ 1.72089056e-01 -3.88458017e-02 9.84315173e-01 7.82288953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.379072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.07, Y:3.12, Z:7.83 [[ 8.48365177e-01 -5.02001174e-01 -1.68140859e-01 4.80709234e+01] [ 5.00663601e-01 8.63992865e-01 -5.34068189e-02 3.12391009e+00] [ 1.72082788e-01 -3.88735225e-02 9.84315175e-01 7.82870590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.409072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:3.13, Z:7.83 [[ 8.48294872e-01 -5.02125401e-01 -1.68124633e-01 4.80988362e+01] [ 5.00780541e-01 8.63921934e-01 -5.34578512e-02 3.13100972e+00] [ 1.72089103e-01 -3.88455235e-02 9.84315176e-01 7.83446904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.439072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.12, Y:3.14, Z:7.84 [[ 8.47980834e-01 -5.02660373e-01 -1.68110245e-01 4.81249401e+01] [ 5.01316889e-01 8.63608013e-01 -5.35030579e-02 3.13907031e+00] [ 1.72075222e-01 -3.89069374e-02 9.84315177e-01 7.83847406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.469072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.15, Y:3.15, Z:7.84 [[ 8.47743496e-01 -5.03066000e-01 -1.68093915e-01 4.81508737e+01] [ 5.01720374e-01 8.63370489e-01 -5.35543136e-02 3.14520690e+00] [ 1.72068680e-01 -3.89358212e-02 9.84315179e-01 7.84153952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.499072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.18, Y:3.15, Z:7.85 [[ 8.47466229e-01 -5.03537857e-01 -1.68079201e-01 4.81781140e+01] [ 5.02192272e-01 8.63093224e-01 -5.36004556e-02 3.15253630e+00] [ 1.72057878e-01 -3.89834999e-02 9.84315180e-01 7.84750970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.529072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:48.20, Y:3.16, Z:7.85 [[ 8.47221102e-01 -5.03955032e-01 -1.68064658e-01 4.82044972e+01] [ 5.02608590e-01 8.62848023e-01 -5.36460182e-02 3.15968917e+00] [ 1.72049438e-01 -3.90207019e-02 9.84315181e-01 7.85158368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.559072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.23, Y:3.17, Z:7.86 [[ 8.46782866e-01 -5.04693493e-01 -1.68057300e-01 4.82314085e+01] [ 5.03356351e-01 8.62410584e-01 -5.36690592e-02 3.16510774e+00] [ 1.72020819e-01 -3.91466693e-02 9.84315181e-01 7.85856896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.589072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.26, Y:3.17, Z:7.86 [[ 8.46565341e-01 -5.05063757e-01 -1.68040842e-01 4.82575499e+01] [ 5.03723785e-01 8.62192816e-01 -5.37205398e-02 3.17245306e+00] [ 1.72015905e-01 -3.91682220e-02 9.84315183e-01 7.86463474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.619072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:48.28, Y:3.18, Z:7.87 [[ 8.46329755e-01 -5.05463965e-01 -1.68024183e-01 4.82835585e+01] [ 5.04121610e-01 8.61957023e-01 -5.37725949e-02 3.17995235e+00] [ 1.72009734e-01 -3.91952749e-02 9.84315184e-01 7.86908330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.649072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.31, Y:3.19, Z:7.88 [[ 8.46100015e-01 -5.05851772e-01 -1.68014134e-01 4.83104211e+01] [ 5.04510687e-01 8.61727392e-01 -5.38039773e-02 3.18734904e+00] [ 1.71999219e-01 -3.92413800e-02 9.84315185e-01 7.87561845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.679072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.34, Y:3.19, Z:7.88 [[ 8.46063694e-01 -5.05917988e-01 -1.67997665e-01 4.83379892e+01] [ 5.04568480e-01 8.61690345e-01 -5.38553509e-02 3.19365239e+00] [ 1.72008357e-01 -3.92012694e-02 9.84315186e-01 7.88003613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.709072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.36, Y:3.20, Z:7.88 [[ 8.45981549e-01 -5.06060888e-01 -1.67980940e-01 4.83635818e+01] [ 5.04704234e-01 8.61607580e-01 -5.39074685e-02 3.20048285e+00] [ 1.72014113e-01 -3.91759679e-02 9.84315188e-01 7.88445720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.739072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.39, Y:3.21, Z:7.89 [[ 8.45800560e-01 -5.06368336e-01 -1.67965834e-01 4.83899819e+01] [ 5.05008531e-01 8.61426315e-01 -5.39544954e-02 3.20665959e+00] [ 1.72011038e-01 -3.91894367e-02 9.84315189e-01 7.88688961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.769072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.42, Y:3.21, Z:7.89 [[ 8.45745655e-01 -5.06463606e-01 -1.67955063e-01 4.84167033e+01] [ 5.05099268e-01 8.61371015e-01 -5.39880037e-02 3.21386580e+00] [ 1.72014582e-01 -3.91738600e-02 9.84315189e-01 7.89167660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:3.22, Z:7.90 [[ 8.45909025e-01 -5.06196064e-01 -1.67938877e-01 4.84437767e+01] [ 5.04817338e-01 8.61533120e-01 -5.40383074e-02 3.22125981e+00] [ 1.72038883e-01 -3.90669650e-02 9.84315191e-01 7.89753160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.829072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.47, Y:3.23, Z:7.90 [[ 8.46227034e-01 -5.05669707e-01 -1.67922468e-01 4.84709774e+01] [ 5.04271694e-01 8.61849413e-01 -5.40892516e-02 3.22801121e+00] [ 1.72075176e-01 -3.89067604e-02 9.84315192e-01 7.90362276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.859072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:48.50, Y:3.24, Z:7.91 [[ 8.46402209e-01 -5.05381737e-01 -1.67906523e-01 4.84965576e+01] [ 5.03969122e-01 8.62023274e-01 -5.41387040e-02 3.23552185e+00] [ 1.72100043e-01 -3.87965842e-02 9.84315194e-01 7.90810142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.52, Y:3.24, Z:7.91 [[ 8.47312854e-01 -5.03858423e-01 -1.67891684e-01 4.85224725e+01] [ 5.02409078e-01 8.62930553e-01 -5.41846839e-02 3.24161706e+00] [ 1.72180273e-01 -3.84389269e-02 9.84315195e-01 7.91190367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.91907232900002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:48.55, Y:3.25, Z:7.92 [[ 8.47255166e-01 -5.03960263e-01 -1.67877147e-01 4.85490451e+01] [ 5.02504345e-01 8.62872253e-01 -5.42296847e-02 3.25005248e+00] [ 1.72186138e-01 -3.84126154e-02 9.84315196e-01 7.91810854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.94907232900002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.58, Y:3.26, Z:7.92 [[ 8.47719337e-01 -5.03184692e-01 -1.67860331e-01 4.85750960e+01] [ 5.01704719e-01 8.63334161e-01 -5.42816891e-02 3.25712566e+00] [ 1.72233273e-01 -3.82006825e-02 9.84315197e-01 7.92235312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.60, Y:3.26, Z:7.93 [[ 8.48192531e-01 -5.02391645e-01 -1.67845359e-01 4.86020837e+01] [ 5.00888384e-01 8.63805129e-01 -5.43279438e-02 3.26393720e+00] [ 1.72279587e-01 -3.79912346e-02 9.84315198e-01 7.92808291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.63, Y:3.27, Z:7.93 [[ 8.48895220e-01 -5.01208913e-01 -1.67828873e-01 4.86292887e+01] [ 4.99674340e-01 8.64504770e-01 -5.43788270e-02 3.27079723e+00] [ 1.72344014e-01 -3.76978548e-02 9.84315200e-01 7.93124617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.66, Y:3.28, Z:7.94 [[ 8.49787724e-01 -4.99706712e-01 -1.67791614e-01 4.86557047e+01] [ 4.98122969e-01 8.65392363e-01 -5.44937180e-02 3.27871058e+00] [ 1.72436458e-01 -3.72727642e-02 9.84315198e-01 7.93817654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.68, Y:3.29, Z:7.94 [[ 8.50413367e-01 -4.98635695e-01 -1.67808069e-01 4.86813216e+01] [ 4.97041812e-01 8.66016973e-01 -5.44429981e-02 3.28636204e+00] [ 1.72471859e-01 -3.71085735e-02 9.84315199e-01 7.94207398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.099072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.71, Y:3.29, Z:7.95 [[ 8.51097974e-01 -4.97470013e-01 -1.67796976e-01 4.87082785e+01] [ 4.95848340e-01 8.66698715e-01 -5.44771669e-02 3.29384847e+00] [ 1.72530181e-01 -3.68364457e-02 9.84315200e-01 7.94719396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.129072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.74, Y:3.30, Z:7.95 [[ 8.51438107e-01 -4.96893170e-01 -1.67780593e-01 4.87353002e+01] [ 4.95251465e-01 8.67036752e-01 -5.45275803e-02 3.30219037e+00] [ 1.72566322e-01 -3.66667245e-02 9.84315201e-01 7.95173940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.159072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:48.76, Y:3.31, Z:7.96 [[ 8.52555458e-01 -4.94979297e-01 -1.67763782e-01 4.87623844e+01] [ 4.93292862e-01 8.68149329e-01 -5.45792538e-02 3.30829175e+00] [ 1.72659615e-01 -3.62248353e-02 9.84315203e-01 7.95849152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.189072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.79, Y:3.32, Z:7.96 [[ 8.53023954e-01 -4.94177202e-01 -1.67746915e-01 4.87892749e+01] [ 4.92466386e-01 8.68615167e-01 -5.46310445e-02 3.31579775e+00] [ 1.72704931e-01 -3.60081273e-02 9.84315204e-01 7.96408537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.219072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:48.82, Y:3.32, Z:7.97 [[ 8.54137905e-01 -4.92255086e-01 -1.67730052e-01 4.88168141e+01] [ 4.90499464e-01 8.69724135e-01 -5.46827687e-02 3.32338905e+00] [ 1.72796746e-01 -3.55648754e-02 9.84315206e-01 7.97021073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.249072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.84, Y:3.33, Z:7.97 [[ 8.54508189e-01 -4.91617126e-01 -1.67715107e-01 4.88421829e+01] [ 4.89841277e-01 8.70092126e-01 -5.47285700e-02 3.33125529e+00] [ 1.72833096e-01 -3.53877707e-02 9.84315207e-01 7.97387767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.279072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:48.87, Y:3.34, Z:7.98 [[ 8.54360714e-01 -4.91878622e-01 -1.67699704e-01 4.88689413e+01] [ 4.90098698e-01 8.69944185e-01 -5.47757272e-02 3.34024328e+00] [ 1.72832392e-01 -3.53911773e-02 9.84315208e-01 7.97890456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.309072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:48.90, Y:3.35, Z:7.98 [[ 8.55002219e-01 -4.90768331e-01 -1.67683189e-01 4.88951792e+01] [ 4.88958692e-01 8.70582266e-01 -5.48262387e-02 3.34828140e+00] [ 1.72888992e-01 -3.51135970e-02 9.84315210e-01 7.98329968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.339072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.92, Y:3.36, Z:7.99 [[ 8.55647000e-01 -4.89649003e-01 -1.67666532e-01 4.89209198e+01] [ 4.87809434e-01 8.71223540e-01 -5.48771319e-02 3.35597637e+00] [ 1.72945562e-01 -3.48338628e-02 9.84315211e-01 7.98697282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.369072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:48.95, Y:3.36, Z:7.99 [[ 8.56209173e-01 -4.88670306e-01 -1.67651974e-01 4.89473589e+01] [ 4.86804596e-01 8.71782602e-01 -5.49215725e-02 3.36385742e+00] [ 1.72994615e-01 -3.45893972e-02 9.84315212e-01 7.99201619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.97, Y:3.37, Z:8.00 [[ 8.57513374e-01 -4.86383891e-01 -1.67635090e-01 4.89740472e+01] [ 4.84466984e-01 8.73080583e-01 -5.49730572e-02 3.37009556e+00] [ 1.73096952e-01 -3.40735348e-02 9.84315213e-01 7.99667215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.429072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.00, Y:3.38, Z:8.00 [[ 8.57968953e-01 -4.85585635e-01 -1.67618216e-01 4.89998010e+01] [ 4.83644608e-01 8.73533172e-01 -5.50244625e-02 3.37823083e+00] [ 1.73139160e-01 -3.38583656e-02 9.84315215e-01 8.00074819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.459072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.03, Y:3.39, Z:8.00 [[ 8.59304329e-01 -4.83222556e-01 -1.67606777e-01 4.90259843e+01] [ 4.81232178e-01 8.74862312e-01 -5.50592834e-02 3.38512622e+00] [ 1.73238740e-01 -3.33450939e-02 9.84315216e-01 8.00481724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.489072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:49.05, Y:3.39, Z:8.01 [[ 8.59698562e-01 -4.82526000e-01 -1.67591889e-01 4.90527833e+01] [ 4.80514532e-01 8.75253832e-01 -5.51045649e-02 3.39367213e+00] [ 1.73274828e-01 -3.31570227e-02 9.84315217e-01 8.00969252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.519072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.08, Y:3.40, Z:8.02 [[ 8.60309127e-01 -4.81442240e-01 -1.67575579e-01 4.90793338e+01] [ 4.79401891e-01 8.75860634e-01 -5.51541191e-02 3.40182640e+00] [ 1.73326376e-01 -3.28864573e-02 9.84315218e-01 8.01501764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.549072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.11, Y:3.41, Z:8.02 [[ 8.61454717e-01 -4.79395332e-01 -1.67558609e-01 4.91059916e+01] [ 4.77308367e-01 8.77000035e-01 -5.52056275e-02 3.40899689e+00] [ 1.73414226e-01 -3.24199778e-02 9.84315219e-01 8.02000378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.579072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:49.13, Y:3.42, Z:8.03 [[ 8.62191535e-01 -4.78074830e-01 -1.67541676e-01 4.91328725e+01] [ 4.75954439e-01 8.77732328e-01 -5.52569687e-02 3.41695351e+00] [ 1.73473711e-01 -3.21001139e-02 9.84315221e-01 8.02516891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.16, Y:3.42, Z:8.03 [[ 8.63435079e-01 -4.75831204e-01 -1.67524715e-01 4.91591999e+01] [ 4.73660795e-01 8.78968963e-01 -5.53083453e-02 3.42378282e+00] [ 1.73566461e-01 -3.15947239e-02 9.84315222e-01 8.03140573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.19, Y:3.43, Z:8.04 [[ 8.63971641e-01 -4.74861681e-01 -1.67509364e-01 4.91854139e+01] [ 4.72665145e-01 8.79501852e-01 -5.53547990e-02 3.43169021e+00] [ 1.73610669e-01 -3.13508611e-02 9.84315224e-01 8.03685644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.21, Y:3.44, Z:8.04 [[ 8.64573276e-01 -4.73771374e-01 -1.67492494e-01 4.92121045e+01] [ 4.71545707e-01 8.80099337e-01 -5.54057982e-02 3.43960008e+00] [ 1.73659714e-01 -3.10779939e-02 9.84315225e-01 8.04215377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69907232900002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:49.24, Y:3.45, Z:8.05 [[ 8.65045654e-01 -4.72914316e-01 -1.67475569e-01 4.92384481e+01] [ 4.70663703e-01 8.80568117e-01 -5.54569118e-02 3.44764576e+00] [ 1.73700014e-01 -3.08519108e-02 9.84315226e-01 8.04732156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.27, Y:3.46, Z:8.05 [[ 8.66053503e-01 -4.71072025e-01 -1.67458882e-01 4.92654869e+01] [ 4.68778966e-01 8.81569751e-01 -5.55072524e-02 3.45548912e+00] [ 1.73774599e-01 -3.04289515e-02 9.84315228e-01 8.05108177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.29, Y:3.46, Z:8.06 [[ 8.66449240e-01 -4.70349766e-01 -1.67441966e-01 4.92925164e+01] [ 4.68034239e-01 8.81962150e-01 -5.55582362e-02 3.46385165e+00] [ 1.73809280e-01 -3.02301816e-02 9.84315229e-01 8.05554752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:3.47, Z:8.06 [[ 8.67490767e-01 -4.68432114e-01 -1.67424979e-01 4.93195067e+01] [ 4.66072721e-01 8.82997064e-01 -5.56093808e-02 3.47087474e+00] [ 1.73884985e-01 -2.97915911e-02 9.84315231e-01 8.05979597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.35, Y:3.48, Z:8.07 [[ 8.67923053e-01 -4.67636710e-01 -1.67408128e-01 4.93459983e+01] [ 4.65253633e-01 8.83425727e-01 -5.56600642e-02 3.47872284e+00] [ 1.73921336e-01 -2.95785867e-02 9.84315232e-01 8.06605239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.849072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.37, Y:3.49, Z:8.07 [[ 8.68325731e-01 -4.66894987e-01 -1.67390252e-01 4.93715286e+01] [ 4.64488630e-01 8.83824806e-01 -5.57137711e-02 3.48591994e+00] [ 1.73956138e-01 -2.93731680e-02 9.84315234e-01 8.07008316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.40, Y:3.49, Z:8.08 [[ 8.68614000e-01 -4.66362130e-01 -1.67380056e-01 4.93967066e+01] [ 4.63940544e-01 8.84110703e-01 -5.57443879e-02 3.49364255e+00] [ 1.73979570e-01 -2.92340385e-02 9.84315234e-01 8.07534659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.909072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.42, Y:3.50, Z:8.08 [[ 8.69295422e-01 -4.65096145e-01 -1.67365005e-01 4.94233292e+01] [ 4.62643551e-01 8.84787247e-01 -5.57895398e-02 3.50093339e+00] [ 1.74029922e-01 -2.89327487e-02 9.84315235e-01 8.08054290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.939072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.45, Y:3.51, Z:8.08 [[ 8.69653413e-01 -4.64432469e-01 -1.67348208e-01 4.94498437e+01] [ 4.61958649e-01 8.85141861e-01 -5.58398792e-02 3.50917604e+00] [ 1.74060758e-01 -2.87466108e-02 9.84315237e-01 8.08468798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.969072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.48, Y:3.52, Z:8.09 [[ 8.69865642e-01 -4.64040966e-01 -1.67331248e-01 4.94761570e+01] [ 4.61550692e-01 8.85351452e-01 -5.58906573e-02 3.51689661e+00] [ 1.74082518e-01 -2.86144908e-02 9.84315238e-01 8.09032497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.999072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.50, Y:3.52, Z:8.09 [[ 8.70156221e-01 -4.63502233e-01 -1.67313571e-01 4.95024001e+01] [ 4.60992498e-01 8.85638887e-01 -5.59435277e-02 3.52474330e+00] [ 1.74109354e-01 -2.84506922e-02 9.84315240e-01 8.09335398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.029072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.53, Y:3.53, Z:8.10 [[ 8.70675124e-01 -4.62529803e-01 -1.67305138e-01 4.95291058e+01] [ 4.59998067e-01 8.86154207e-01 -5.59687363e-02 3.53112646e+00] [ 1.74145360e-01 -2.82294534e-02 9.84315240e-01 8.09970517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.059072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:49.56, Y:3.54, Z:8.10 [[ 8.70829302e-01 -4.62245943e-01 -1.67287222e-01 4.95559414e+01] [ 4.59699173e-01 8.86305917e-01 -5.60222340e-02 3.53909517e+00] [ 1.74163705e-01 -2.81159948e-02 9.84315241e-01 8.10400708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.089072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.58, Y:3.55, Z:8.11 [[ 8.71043796e-01 -4.61844541e-01 -1.67279186e-01 4.95823097e+01] [ 4.59286162e-01 8.86518496e-01 -5.60462183e-02 3.54682508e+00] [ 1.74180733e-01 -2.80103047e-02 9.84315242e-01 8.11021299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.119072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.61, Y:3.55, Z:8.12 [[ 8.71395111e-01 -4.61187471e-01 -1.67262299e-01 4.96087831e+01] [ 4.58608024e-01 8.86866312e-01 -5.60965710e-02 3.55382493e+00] [ 1.74210334e-01 -2.78255549e-02 9.84315243e-01 8.11558471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.149072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:49.64, Y:3.56, Z:8.12 [[ 8.71433226e-01 -4.61121566e-01 -1.67245430e-01 4.96357333e+01] [ 4.58531570e-01 8.86902663e-01 -5.61468214e-02 3.56208605e+00] [ 1.74220927e-01 -2.77591037e-02 9.84315245e-01 8.12022222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.179072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:49.66, Y:3.57, Z:8.13 [[ 8.71523572e-01 -4.60956766e-01 -1.67228956e-01 4.96619959e+01] [ 4.58354696e-01 8.86990981e-01 -5.61958461e-02 3.56962332e+00] [ 1.74234431e-01 -2.76741726e-02 9.84315246e-01 8.12539212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.209072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.69, Y:3.58, Z:8.13 [[ 8.71936465e-01 -4.60181407e-01 -1.67212061e-01 4.96894578e+01] [ 4.57556208e-01 8.87399964e-01 -5.62460735e-02 3.57626611e+00] [ 1.74267374e-01 -2.74659139e-02 9.84315247e-01 8.13093314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.239072329 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:49.72, Y:3.58, Z:8.14 [[ 8.71958254e-01 -4.60146180e-01 -1.67195385e-01 4.97164210e+01] [ 4.57511114e-01 8.87420073e-01 -5.62956016e-02 3.58412200e+00] [ 1.74276746e-01 -2.74063321e-02 9.84315249e-01 8.13522392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.269072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.74, Y:3.59, Z:8.14 [[ 8.72186301e-01 -4.59720294e-01 -1.67177473e-01 4.97431517e+01] [ 4.57067761e-01 8.87645132e-01 -5.63487447e-02 3.59136106e+00] [ 1.74298931e-01 -2.72648299e-02 9.84315250e-01 8.13818708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.299072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.77, Y:3.60, Z:8.14 [[ 8.72278477e-01 -4.59551862e-01 -1.67159640e-01 4.97693757e+01] [ 4.56886483e-01 8.87735096e-01 -5.64015952e-02 3.59942453e+00] [ 1.74312938e-01 -2.71750828e-02 9.84315252e-01 8.14169706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.329072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.80, Y:3.61, Z:8.15 [[ 8.72566671e-01 -4.59010262e-01 -1.67143601e-01 4.97956447e+01] [ 4.56326429e-01 8.88020096e-01 -5.64490885e-02 3.60704847e+00] [ 1.74337587e-01 -2.70164492e-02 9.84315253e-01 8.14819482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.359072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.82, Y:3.61, Z:8.15 [[ 8.72949455e-01 -4.58288404e-01 -1.67125662e-01 4.98214527e+01] [ 4.55581893e-01 8.88398923e-01 -5.65021504e-02 3.61382829e+00] [ 1.74368538e-01 -2.68159040e-02 9.84315254e-01 8.15286692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38907232900002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:49.85, Y:3.62, Z:8.16 [[ 8.73169900e-01 -4.57872008e-01 -1.67115379e-01 4.98469096e+01] [ 4.55152459e-01 8.88617077e-01 -5.65325472e-02 3.62136896e+00] [ 1.74386251e-01 -2.67004572e-02 9.84315255e-01 8.15678637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.41907232900002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:49.87, Y:3.63, Z:8.16 [[ 8.73669236e-01 -4.56924302e-01 -1.67099517e-01 4.98730205e+01] [ 4.54179258e-01 8.89111902e-01 -5.65793951e-02 3.62844109e+00] [ 1.74422670e-01 -2.64614577e-02 9.84315256e-01 8.16322788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.90, Y:3.64, Z:8.17 [[ 8.73683085e-01 -4.56904321e-01 -1.67081739e-01 4.98999022e+01] [ 4.54149144e-01 8.89123945e-01 -5.66318456e-02 3.63703379e+00] [ 1.74431710e-01 -2.64017432e-02 9.84315258e-01 8.16765400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479072329 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:49.93, Y:3.65, Z:8.17 [[ 8.74035455e-01 -4.56236419e-01 -1.67063919e-01 4.99260601e+01] [ 4.53459649e-01 8.89472445e-01 -5.66843679e-02 3.64505854e+00] [ 1.74460225e-01 -2.62125986e-02 9.84315259e-01 8.17104926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:49.95, Y:3.65, Z:8.18 [[ 8.74223092e-01 -4.55882638e-01 -1.67047911e-01 4.99519910e+01] [ 4.53090833e-01 8.89657369e-01 -5.67315038e-02 3.65361355e+00] [ 1.74478313e-01 -2.60918865e-02 9.84315260e-01 8.17688541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:49.98, Y:3.66, Z:8.18 [[ 8.74520867e-01 -4.55317602e-01 -1.67030342e-01 4.99797109e+01] [ 4.52506190e-01 8.89951582e-01 -5.67831844e-02 3.66170279e+00] [ 1.74503301e-01 -2.59241841e-02 9.84315262e-01 8.18210113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.01, Y:3.67, Z:8.19 [[ 8.75473494e-01 -4.53425198e-01 -1.67187774e-01 5.00063416e+01] [ 4.50666678e-01 8.90913891e-01 -5.63203616e-02 3.66937989e+00] [ 1.74486982e-01 -2.60389752e-02 9.84315125e-01 8.18704740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.599072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:50.03, Y:3.68, Z:8.19 [[ 8.75629341e-01 -4.53192359e-01 -1.67002824e-01 5.00324678e+01] [ 4.50328487e-01 8.91050381e-01 -5.68636311e-02 3.67799411e+00] [ 1.74578093e-01 -2.54146655e-02 9.84315287e-01 8.19136844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.629072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:50.06, Y:3.69, Z:8.20 [[ 8.76010717e-01 -4.52461415e-01 -1.66984705e-01 5.00578698e+01] [ 4.49574772e-01 8.91427509e-01 -5.69167924e-02 3.68596315e+00] [ 1.74607412e-01 -2.52123905e-02 9.84315288e-01 8.19613191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.659072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.08, Y:3.69, Z:8.20 [[ 8.76674152e-01 -4.51179162e-01 -1.66972440e-01 5.00845481e+01] [ 4.48263268e-01 8.92085437e-01 -5.69527500e-02 3.69398116e+00] [ 1.74649576e-01 -2.49186078e-02 9.84315289e-01 8.20116205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.689072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.11, Y:3.70, Z:8.21 [[ 8.76838487e-01 -4.50866428e-01 -1.66954282e-01 5.01131114e+01] [ 4.47935135e-01 8.92246849e-01 -5.70059308e-02 3.70270926e+00] [ 1.74666492e-01 -2.47996948e-02 9.84315291e-01 8.20714850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.719072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.14, Y:3.71, Z:8.21 [[ 8.77934185e-01 -4.48668024e-01 -1.67118436e-01 5.01384939e+01] [ 4.45787625e-01 8.93352278e-01 -5.65252197e-02 3.71025830e+00] [ 1.74656694e-01 -2.48739079e-02 9.84315157e-01 8.21330982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.749072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.17, Y:3.72, Z:8.22 [[ 8.77780603e-01 -4.49037191e-01 -1.66933559e-01 5.01651604e+01] [ 4.46062569e-01 8.93180632e-01 -5.70661230e-02 3.71980763e+00] [ 1.74726633e-01 -2.43712763e-02 9.84315318e-01 8.21797873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.779072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.19, Y:3.73, Z:8.22 [[ 8.78430827e-01 -4.47770622e-01 -1.66915407e-01 5.01925883e+01] [ 4.44763920e-01 8.93824623e-01 -5.71191683e-02 3.72833467e+00] [ 1.74769386e-01 -2.40627124e-02 9.84315319e-01 8.22393261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.809072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:50.22, Y:3.74, Z:8.23 [[ 8.78884108e-01 -4.46827759e-01 -1.67055916e-01 5.02184793e+01] [ 4.43880924e-01 8.94289579e-01 -5.67086746e-02 3.73686543e+00] [ 1.74735375e-01 -2.43125815e-02 9.84315217e-01 8.22758773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.839072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.25, Y:3.75, Z:8.23 [[ 8.79677399e-01 -4.45326545e-01 -1.66889013e-01 5.02453805e+01] [ 4.42262810e-01 8.95059916e-01 -5.71957479e-02 3.74527126e+00] [ 1.74846450e-01 -2.34949970e-02 9.84315348e-01 8.23247579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.869072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.27, Y:3.75, Z:8.24 [[ 8.79715147e-01 -4.45258995e-01 -1.66870272e-01 5.02726261e+01] [ 4.42183921e-01 8.95095400e-01 -5.72503739e-02 3.75440999e+00] [ 1.74856056e-01 -2.34233299e-02 9.84315349e-01 8.23682809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.899072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:50.30, Y:3.76, Z:8.24 [[ 8.80092001e-01 -4.44444124e-01 -1.67055350e-01 5.02975525e+01] [ 4.41455105e-01 8.95489388e-01 -5.67110827e-02 3.76272135e+00] [ 1.74801201e-01 -2.38364668e-02 9.84315175e-01 8.24303920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.929072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.32, Y:3.77, Z:8.25 [[ 8.80228142e-01 -4.44257229e-01 -1.66835046e-01 5.03228678e+01] [ 4.41145736e-01 8.95601016e-01 -5.73520648e-02 3.77184052e+00] [ 1.74896706e-01 -2.31156677e-02 9.84315401e-01 8.24522064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.959072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.35, Y:3.78, Z:8.25 [[ 8.80567786e-01 -4.43587377e-01 -1.66825098e-01 5.03487208e+01] [ 4.40458813e-01 8.95937194e-01 -5.73809850e-02 3.78014117e+00] [ 1.74918291e-01 -2.29517380e-02 9.84315401e-01 8.25084057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.989072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.38, Y:3.79, Z:8.26 [[ 8.80734539e-01 -4.43262863e-01 -1.66807393e-01 5.03753952e+01] [ 4.40119078e-01 8.96100840e-01 -5.74324111e-02 3.78894914e+00] [ 1.74933900e-01 -2.28324078e-02 9.84315403e-01 8.25617959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.019072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.40, Y:3.80, Z:8.26 [[ 8.80639237e-01 -4.43459040e-01 -1.66789131e-01 5.04020921e+01] [ 4.40308831e-01 8.96004220e-01 -5.74853951e-02 3.79791831e+00] [ 1.74936184e-01 -2.28148330e-02 9.84315404e-01 8.26178076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.049072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.43, Y:3.81, Z:8.27 [[ 8.81126255e-01 -4.42437765e-01 -1.66929165e-01 5.04277475e+01] [ 4.39345238e-01 8.96503054e-01 -5.70792041e-02 3.80558176e+00] [ 1.74906502e-01 -2.30455482e-02 9.84315304e-01 8.26686617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.079072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.45, Y:3.81, Z:8.27 [[ 8.81082013e-01 -4.42588003e-01 -1.66764344e-01 5.04535621e+01] [ 4.39409326e-01 8.96441106e-01 -5.75568232e-02 3.81451806e+00] [ 1.74968372e-01 -2.25655262e-02 9.84315430e-01 8.27169597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.109072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.48, Y:3.82, Z:8.28 [[ 8.81143214e-01 -4.42472819e-01 -1.66746635e-01 5.04800973e+01] [ 4.39282610e-01 8.96499915e-01 -5.76080819e-02 3.82327520e+00] [ 1.74978355e-01 -2.24879266e-02 9.84315431e-01 8.27683228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13907232900002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:50.51, Y:3.83, Z:8.28 [[ 8.80954664e-01 -4.42854826e-01 -1.66728772e-01 5.05066324e+01] [ 4.39661677e-01 8.96310752e-01 -5.76597357e-02 3.83202312e+00] [ 1.74975683e-01 -2.25086385e-02 9.84315433e-01 8.28179259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.16907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.53, Y:3.84, Z:8.29 [[ 8.80992104e-01 -4.42787245e-01 -1.66710431e-01 5.05317655e+01] [ 4.39583075e-01 8.96345895e-01 -5.77127158e-02 3.84039853e+00] [ 1.74984665e-01 -2.24386371e-02 9.84315434e-01 8.28592692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.56, Y:3.85, Z:8.29 [[ 8.80857206e-01 -4.43060230e-01 -1.66697979e-01 5.05583744e+01] [ 4.39854138e-01 8.96210594e-01 -5.77486624e-02 3.84989715e+00] [ 1.74982630e-01 -2.24544702e-02 9.84315435e-01 8.29096310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.58, Y:3.86, Z:8.30 [[ 8.80632556e-01 -4.43513260e-01 -1.66680201e-01 5.05844709e+01] [ 4.40305539e-01 8.95985603e-01 -5.77999279e-02 3.85860781e+00] [ 1.74978095e-01 -2.24897176e-02 9.84315437e-01 8.29554695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:50.61, Y:3.87, Z:8.30 [[ 8.80283158e-01 -4.44213045e-01 -1.66662331e-01 5.06115527e+01] [ 4.41007958e-01 8.95636754e-01 -5.78514111e-02 3.86717337e+00] [ 1.74967261e-01 -2.25737914e-02 9.84315438e-01 8.30130943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:50.64, Y:3.88, Z:8.31 [[ 8.80410329e-01 -4.43911608e-01 -1.66793697e-01 5.06369927e+01] [ 4.40771597e-01 8.95777454e-01 -5.74730556e-02 3.87528026e+00] [ 1.74922989e-01 -2.29180523e-02 9.84315351e-01 8.30579709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:50.66, Y:3.88, Z:8.31 [[ 8.80178341e-01 -4.44428205e-01 -1.66642309e-01 5.06638296e+01] [ 4.41216211e-01 8.95530475e-01 -5.79087574e-02 3.88454031e+00] [ 1.74969551e-01 -2.25552541e-02 9.84315456e-01 8.31152597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.349072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.69, Y:3.89, Z:8.31 [[ 8.79976871e-01 -4.44804560e-01 -1.66702157e-01 5.06890532e+01] [ 4.41631131e-01 8.95337046e-01 -5.77366278e-02 3.89367317e+00] [ 1.74936133e-01 -2.28139652e-02 9.84315433e-01 8.31445419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.379072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.72, Y:3.90, Z:8.32 [[ 8.79716000e-01 -4.45351974e-01 -1.66617459e-01 5.07160134e+01] [ 4.42142845e-01 8.95068723e-01 -5.79800438e-02 3.90323433e+00] [ 1.74955603e-01 -2.26627451e-02 9.84315466e-01 8.32012799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.409072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.74, Y:3.91, Z:8.33 [[ 8.79497622e-01 -4.45724970e-01 -1.66772851e-01 5.07417176e+01] [ 4.42605381e-01 8.94868909e-01 -5.75335684e-02 3.91207591e+00] [ 1.74883988e-01 -2.32139249e-02 9.84315348e-01 8.32651881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.439072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.77, Y:3.92, Z:8.33 [[ 8.79214552e-01 -4.46280056e-01 -1.66780944e-01 5.07681445e+01] [ 4.43174496e-01 8.94588693e-01 -5.75103226e-02 3.92076845e+00] [ 1.74866057e-01 -2.33491482e-02 9.84315335e-01 8.33185936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.469072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.80, Y:3.93, Z:8.34 [[ 8.79117640e-01 -4.46499574e-01 -1.66704246e-01 5.07954017e+01] [ 4.43356904e-01 8.94484127e-01 -5.77304218e-02 3.92988345e+00] [ 1.74890910e-01 -2.31576460e-02 9.84315444e-01 8.33635760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.499072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:50.82, Y:3.94, Z:8.34 [[ 8.79065570e-01 -4.46589832e-01 -1.66737054e-01 5.08208558e+01] [ 4.43466246e-01 8.94435992e-01 -5.76363226e-02 3.93869228e+00] [ 1.74875418e-01 -2.32761488e-02 9.84315401e-01 8.33974953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.529072329 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:50.85, Y:3.95, Z:8.34 [[ 8.78940200e-01 -4.46902517e-01 -1.66560094e-01 5.08469790e+01] [ 4.43690090e-01 8.94292155e-01 -5.81433284e-02 3.94798093e+00] [ 1.74937785e-01 -2.27965544e-02 9.84315543e-01 8.34329713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.559072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.87, Y:3.96, Z:8.35 [[ 8.78537140e-01 -4.47701118e-01 -1.66541894e-01 5.08746866e+01] [ 4.44492957e-01 8.93889985e-01 -5.81954135e-02 3.95799541e+00] [ 1.74924283e-01 -2.28998669e-02 9.84315545e-01 8.34701013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.589072329 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:50.90, Y:3.97, Z:8.35 [[ 8.78567538e-01 -4.47581847e-01 -1.66702046e-01 5.08990616e+01] [ 4.44456835e-01 8.93937655e-01 -5.77372554e-02 3.96674699e+00] [ 1.74863383e-01 -2.33657854e-02 9.84315416e-01 8.35010254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.619072329 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:50.93, Y:3.98, Z:8.36 [[ 8.78291702e-01 -4.48192819e-01 -1.66513916e-01 5.09255157e+01] [ 4.44978463e-01 8.93643219e-01 -5.82749030e-02 3.97589139e+00] [ 1.74922425e-01 -2.29127425e-02 9.84315575e-01 8.35622357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.649072329 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:50.95, Y:3.98, Z:8.36 [[ 8.78537489e-01 -4.47666204e-01 -1.66633881e-01 5.09501696e+01] [ 4.44506400e-01 8.93900399e-01 -5.79321718e-02 3.98355240e+00] [ 1.74888368e-01 -2.31742417e-02 9.84315505e-01 8.36290218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.679072329 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:50.98, Y:3.99, Z:8.37 [[ 8.78531595e-01 -4.47731660e-01 -1.66489031e-01 5.09759525e+01] [ 4.44496102e-01 8.93878634e-01 -5.83455519e-02 3.99284971e+00] [ 1.74944138e-01 -2.27453146e-02 9.84315599e-01 8.36831739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.709072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.00, Y:4.00, Z:8.37 [[ 8.78473816e-01 -4.47851796e-01 -1.66470790e-01 5.10015853e+01] [ 4.44608666e-01 8.93819254e-01 -5.83975523e-02 4.00237889e+00] [ 1.74948246e-01 -2.27136352e-02 9.84315601e-01 8.37405611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.739072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.03, Y:4.01, Z:8.38 [[ 8.78545874e-01 -4.47717170e-01 -1.66452644e-01 5.10265834e+01] [ 4.44462078e-01 8.93888779e-01 -5.84492296e-02 4.01191703e+00] [ 1.74958874e-01 -2.26315585e-02 9.84315602e-01 8.37736056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.769072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.05, Y:4.02, Z:8.38 [[ 8.78468146e-01 -4.47875734e-01 -1.66436305e-01 5.10529779e+01] [ 4.44614766e-01 8.93809801e-01 -5.84957179e-02 4.02156362e+00] [ 1.74961213e-01 -2.26134141e-02 9.84315604e-01 8.38225500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.799072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.08, Y:4.03, Z:8.39 [[ 8.78197250e-01 -4.48413426e-01 -1.66418119e-01 5.10791969e+01] [ 4.45152236e-01 8.93538856e-01 -5.85474121e-02 4.03112705e+00] [ 1.74954501e-01 -2.26652215e-02 9.84315605e-01 8.38612568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.829072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.11, Y:4.04, Z:8.39 [[ 8.77824947e-01 -4.49148505e-01 -1.66400070e-01 5.11056477e+01] [ 4.45890626e-01 8.93167255e-01 -5.85986655e-02 4.04069438e+00] [ 1.74942597e-01 -2.27568611e-02 9.84315606e-01 8.39193063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.859072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:4.05, Z:8.39 [[ 8.78033813e-01 -4.48689710e-01 -1.66535786e-01 5.11316538e+01] [ 4.45495498e-01 8.93389594e-01 -5.82133589e-02 4.04863304e+00] [ 1.74901073e-01 -2.30776455e-02 9.84315517e-01 8.39480561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.16, Y:4.06, Z:8.40 [[ 8.77929829e-01 -4.48952696e-01 -1.66375156e-01 5.11577302e+01] [ 4.45678320e-01 8.93268599e-01 -5.86689414e-02 4.05809683e+00] [ 1.74957282e-01 -2.26425862e-02 9.84315632e-01 8.40107895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91907232900002 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:51.18, Y:4.07, Z:8.41 [[ 8.77845277e-01 -4.49124639e-01 -1.66357230e-01 5.11835687e+01] [ 4.45843821e-01 8.93182669e-01 -5.87197270e-02 4.06715397e+00] [ 1.74959871e-01 -2.26225081e-02 9.84315633e-01 8.40606922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.21, Y:4.08, Z:8.41 [[ 8.77816671e-01 -4.49187174e-01 -1.66339335e-01 5.12097760e+01] [ 4.45898028e-01 8.93152278e-01 -5.87703750e-02 4.07592842e+00] [ 1.74965255e-01 -2.25807666e-02 9.84315635e-01 8.41186433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.23, Y:4.08, Z:8.42 [[ 8.77648922e-01 -4.49521470e-01 -1.66321428e-01 5.12344593e+01] [ 4.46228746e-01 8.92983759e-01 -5.88210096e-02 4.08497395e+00] [ 1.74963641e-01 -2.25932068e-02 9.84315636e-01 8.41699232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009072329 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:51.26, Y:4.09, Z:8.42 [[ 8.77632654e-01 -4.49559286e-01 -1.66305058e-01 5.12596070e+01] [ 4.46258620e-01 8.92965783e-01 -5.88672585e-02 4.09342251e+00] [ 1.74969049e-01 -2.25512372e-02 9.84315637e-01 8.42123016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.29, Y:4.10, Z:8.43 [[ 8.77478350e-01 -4.49866338e-01 -1.66288975e-01 5.12856897e+01] [ 4.46562592e-01 8.92810814e-01 -5.89126548e-02 4.10222814e+00] [ 1.74967415e-01 -2.25638566e-02 9.84315638e-01 8.42660775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069072329 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:51.31, Y:4.11, Z:8.43 [[ 8.77298939e-01 -4.50222494e-01 -1.66271699e-01 5.13120293e+01] [ 4.46915909e-01 8.92630790e-01 -5.89613743e-02 4.11064217e+00] [ 1.74964975e-01 -2.25827164e-02 9.84315640e-01 8.43230636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.099072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.34, Y:4.12, Z:8.44 [[ 8.77074467e-01 -4.50666260e-01 -1.66253724e-01 5.13381670e+01] [ 4.47358010e-01 8.92405958e-01 -5.90120156e-02 4.11958823e+00] [ 1.74960538e-01 -2.26170029e-02 9.84315641e-01 8.43730856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.129072329 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:51.36, Y:4.13, Z:8.44 [[ 8.77012636e-01 -4.50793375e-01 -1.66235284e-01 5.13640984e+01] [ 4.47477691e-01 8.92342518e-01 -5.90639145e-02 4.12796365e+00] [ 1.74964434e-01 -2.25867819e-02 9.84315643e-01 8.44220166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.159072329 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:51.39, Y:4.14, Z:8.45 [[ 8.77156317e-01 -4.50519838e-01 -1.66218742e-01 5.13897302e+01] [ 4.47190719e-01 8.92483287e-01 -5.91104317e-02 4.13694754e+00] [ 1.74977872e-01 -2.24823903e-02 9.84315644e-01 8.44617681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.189072329 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:51.42, Y:4.15, Z:8.45 [[ 8.77074977e-01 -4.50684104e-01 -1.66202659e-01 5.14159811e+01] [ 4.47349449e-01 8.92400741e-01 -5.91556187e-02 4.14649525e+00] [ 1.74979873e-01 -2.24667551e-02 9.84315645e-01 8.45176212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.219072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.44, Y:4.16, Z:8.46 [[ 8.77492261e-01 -4.49877685e-01 -1.66184836e-01 5.14420661e+01] [ 4.46519639e-01 8.92812916e-01 -5.92056470e-02 4.15598303e+00] [ 1.75007268e-01 -2.22522959e-02 9.84315646e-01 8.45610223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.249072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.47, Y:4.17, Z:8.46 [[ 8.77581246e-01 -4.49710722e-01 -1.66166855e-01 5.14670856e+01] [ 4.46340383e-01 8.92899200e-01 -5.92560718e-02 4.16502490e+00] [ 1.75018342e-01 -2.21649602e-02 9.84315648e-01 8.46105780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.279072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:51.49, Y:4.17, Z:8.47 [[ 8.77723615e-01 -4.49438738e-01 -1.66150765e-01 5.14929363e+01] [ 4.46055268e-01 8.93038673e-01 -5.93011530e-02 4.17429160e+00] [ 1.75031294e-01 -2.20624016e-02 9.84315649e-01 8.46620529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.309072329 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:51.52, Y:4.18, Z:8.47 [[ 8.78282752e-01 -4.48352140e-01 -1.66131774e-01 5.15184562e+01] [ 4.44939837e-01 8.93591410e-01 -5.93543104e-02 4.18318736e+00] [ 1.75065558e-01 -2.17887771e-02 9.84315650e-01 8.46881728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.339072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.54, Y:4.19, Z:8.47 [[ 8.78373774e-01 -4.48180107e-01 -1.66114735e-01 5.15438537e+01] [ 4.44755948e-01 8.93679783e-01 -5.94019573e-02 4.19271758e+00] [ 1.75076156e-01 -2.17033953e-02 9.84315652e-01 8.47384074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.369072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.57, Y:4.20, Z:8.48 [[ 8.78379150e-01 -4.48175626e-01 -1.66098395e-01 5.15706521e+01] [ 4.44742902e-01 8.93683240e-01 -5.94476124e-02 4.20263632e+00] [ 1.75082323e-01 -2.16535392e-02 9.84315653e-01 8.48243616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.399072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.60, Y:4.21, Z:8.49 [[ 8.79207422e-01 -4.46459817e-01 -1.66336833e-01 5.15951682e+01] [ 4.43121087e-01 8.94532541e-01 -5.87812471e-02 4.21114672e+00] [ 1.75037175e-01 -2.20264497e-02 9.84315408e-01 8.48656980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.429072329 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:51.62, Y:4.22, Z:8.49 [[ 8.80141944e-01 -4.44713557e-01 -1.66072305e-01 5.16209562e+01] [ 4.41207242e-01 8.95429282e-01 -5.95195006e-02 4.22141935e+00] [ 1.75175133e-01 -2.08866945e-02 9.84315711e-01 8.49139321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.459072329 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:51.65, Y:4.23, Z:8.50 [[ 8.80622551e-01 -4.43768128e-01 -1.66053521e-01 5.16474293e+01] [ 4.40235678e-01 8.95903868e-01 -5.95718600e-02 4.23140559e+00] [ 1.75204084e-01 -2.06423611e-02 9.84315712e-01 8.49627904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.489072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:51.67, Y:4.24, Z:8.50 [[ 8.82027702e-01 -4.40975847e-01 -1.66034443e-01 5.16727038e+01] [ 4.37385143e-01 8.97295435e-01 -5.96249863e-02 4.24096049e+00] [ 1.75275126e-01 -2.00301090e-02 9.84315714e-01 8.49886633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.519072329 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:51.70, Y:4.25, Z:8.50 [[ 8.82524745e-01 -4.39984230e-01 -1.66023950e-01 5.16990513e+01] [ 4.36370954e-01 8.97787151e-01 -5.96541890e-02 4.25075953e+00] [ 1.75301072e-01 -1.98017315e-02 9.84315714e-01 8.50391900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.549072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.72, Y:4.26, Z:8.51 [[ 8.83013065e-01 -4.39010404e-01 -1.66005399e-01 5.17241945e+01] [ 4.35370730e-01 8.98269196e-01 -5.97057688e-02 4.26054622e+00] [ 1.75328990e-01 -1.95529179e-02 9.84315716e-01 8.50793975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.579072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.75, Y:4.27, Z:8.51 [[ 8.84582287e-01 -4.35843879e-01 -1.65994849e-01 5.17497663e+01] [ 4.32144138e-01 8.99823963e-01 -5.97350850e-02 4.27019783e+00] [ 1.75401314e-01 -1.88931030e-02 9.84315716e-01 8.51447184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.609072329 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:51.78, Y:4.28, Z:8.52 [[ 8.85297094e-01 -4.34397231e-01 -1.65976207e-01 5.17759215e+01] [ 4.30662996e-01 9.00530353e-01 -5.97868410e-02 4.28048908e+00] [ 1.75437850e-01 -1.85506938e-02 9.84315718e-01 8.51975519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63907232900002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:51.80, Y:4.29, Z:8.52 [[ 8.85815664e-01 -4.33345950e-01 -1.65957515e-01 5.18017114e+01] [ 4.29584038e-01 9.01042111e-01 -5.98386810e-02 4.29086587e+00] [ 1.75465560e-01 -1.82866585e-02 9.84315719e-01 8.52448434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66907232900002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:51.83, Y:4.30, Z:8.53 [[ 8.86592729e-01 -4.31761055e-01 -1.65938917e-01 5.18280285e+01] [ 4.27962386e-01 9.01810046e-01 -5.98902126e-02 4.30133188e+00] [ 1.75503643e-01 -1.79173877e-02 9.84315721e-01 8.52896266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.85, Y:4.31, Z:8.53 [[ 8.88216969e-01 -4.28416965e-01 -1.65920220e-01 5.18531221e+01] [ 4.24551414e-01 9.03417433e-01 -5.99419650e-02 4.31214243e+00] [ 1.75575374e-01 -1.72001937e-02 9.84315722e-01 8.53204878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729072329 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:51.88, Y:4.32, Z:8.54 [[ 8.88972182e-01 -4.26851672e-01 -1.65909946e-01 5.18793353e+01] [ 4.22954101e-01 9.04164466e-01 -5.99703897e-02 4.32236170e+00] [ 1.75608339e-01 -1.68602838e-02 9.84315723e-01 8.53649116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:51.91, Y:4.33, Z:8.54 [[ 8.90155520e-01 -4.24385611e-01 -1.65891539e-01 5.19052623e+01] [ 4.20436549e-01 9.05334500e-01 -6.00212655e-02 4.33291321e+00] [ 1.75659495e-01 -1.63186052e-02 9.84315724e-01 8.54212003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:51.93, Y:4.34, Z:8.55 [[ 8.90757479e-01 -4.23128125e-01 -1.65872551e-01 5.19302143e+01] [ 4.19147959e-01 9.05928330e-01 -6.00736948e-02 4.34243390e+00] [ 1.75687513e-01 -1.60140482e-02 9.84315726e-01 8.54646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:51.96, Y:4.35, Z:8.55 [[ 8.91294355e-01 -4.22000199e-01 -1.65862003e-01 5.19555463e+01] [ 4.17995463e-01 9.06458739e-01 -6.01028047e-02 4.35236858e+00] [ 1.75710457e-01 -1.57602740e-02 9.84315726e-01 8.54995458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.849072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:51.98, Y:4.36, Z:8.56 [[ 8.91676716e-01 -4.21195717e-01 -1.65851744e-01 5.19809982e+01] [ 4.17172082e-01 9.06836096e-01 -6.01310990e-02 4.36232150e+00] [ 1.75727310e-01 -1.55712166e-02 9.84315727e-01 8.55575274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.879072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.01, Y:4.37, Z:8.56 [[ 8.92067271e-01 -4.20375418e-01 -1.65832722e-01 5.20067126e+01] [ 4.16328181e-01 9.07220365e-01 -6.01835157e-02 4.37239350e+00] [ 1.75746493e-01 -1.53530908e-02 9.84315728e-01 8.56066554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.909072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.03, Y:4.38, Z:8.56 [[ 8.92995307e-01 -4.18407894e-01 -1.65813800e-01 5.20315438e+01] [ 4.14317669e-01 9.08136852e-01 -6.02356027e-02 4.38216240e+00] [ 1.75784674e-01 -1.49094767e-02 9.84315730e-01 8.56448900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.939072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.06, Y:4.39, Z:8.57 [[ 8.93339281e-01 -4.17677092e-01 -1.65803425e-01 5.20571784e+01] [ 4.13569222e-01 9.08476049e-01 -6.02641484e-02 4.39187979e+00] [ 1.75799395e-01 -1.47348624e-02 9.84315730e-01 8.56968805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.969072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.08, Y:4.40, Z:8.58 [[ 8.93613769e-01 -4.17096708e-01 -1.65785308e-01 5.20827871e+01] [ 4.12969839e-01 9.08745366e-01 -6.03139472e-02 4.40128020e+00] [ 1.75813379e-01 -1.45669582e-02 9.84315732e-01 8.57600102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.999072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.11, Y:4.41, Z:8.58 [[ 8.94232715e-01 -4.15775316e-01 -1.65767120e-01 5.21084263e+01] [ 4.11616893e-01 9.09355669e-01 -6.03638945e-02 4.41089410e+00] [ 1.75839088e-01 -1.42531777e-02 9.84315733e-01 8.58270713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.029072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.13, Y:4.42, Z:8.59 [[ 8.94385085e-01 -4.15454943e-01 -1.65748331e-01 5.21329199e+01] [ 4.11281619e-01 9.09503933e-01 -6.04154422e-02 4.42010853e+00] [ 1.75848653e-01 -1.41345716e-02 9.84315734e-01 8.58767330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.059072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.16, Y:4.43, Z:8.59 [[ 8.94554156e-01 -4.15094933e-01 -1.65737919e-01 5.21591772e+01] [ 4.10910273e-01 9.09669870e-01 -6.04439916e-02 4.43016738e+00] [ 1.75856786e-01 -1.40329897e-02 9.84315735e-01 8.59231805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.089072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.19, Y:4.44, Z:8.60 [[ 8.94430798e-01 -4.15367923e-01 -1.65719753e-01 5.21856301e+01] [ 4.11178721e-01 9.09545251e-01 -6.04937578e-02 4.44008840e+00] [ 1.75856781e-01 -1.40329561e-02 9.84315736e-01 8.59734298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.119072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.21, Y:4.45, Z:8.60 [[ 8.94657427e-01 -4.14886820e-01 -1.65701583e-01 5.22106965e+01] [ 4.10680344e-01 9.09767081e-01 -6.05434870e-02 4.44956091e+00] [ 1.75868541e-01 -1.38847029e-02 9.84315738e-01 8.60039026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.149072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.24, Y:4.46, Z:8.60 [[ 8.94512985e-01 -4.15202117e-01 -1.65691644e-01 5.22366802e+01] [ 4.10995965e-01 9.09622729e-01 -6.05706757e-02 4.45962029e+00] [ 1.75865959e-01 -1.39173413e-02 9.84315738e-01 8.60378849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.179072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.26, Y:4.47, Z:8.61 [[ 8.94712400e-01 -4.14779289e-01 -1.65673965e-01 5.22630516e+01] [ 4.10557110e-01 9.09817672e-01 -6.06189960e-02 4.46883831e+00] [ 1.75876605e-01 -1.37820567e-02 9.84315739e-01 8.60770933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.209072329 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:52.29, Y:4.48, Z:8.61 [[ 8.94674412e-01 -4.14868500e-01 -1.65655741e-01 5.22891185e+01] [ 4.10638677e-01 9.09777543e-01 -6.06687559e-02 4.47830590e+00] [ 1.75879429e-01 -1.37458710e-02 9.84315741e-01 8.61290985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.239072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.31, Y:4.49, Z:8.62 [[ 8.94599112e-01 -4.15038310e-01 -1.65637044e-01 5.23147572e+01] [ 4.10801975e-01 9.09700417e-01 -6.07197607e-02 4.48768043e+00] [ 1.75881115e-01 -1.37241807e-02 9.84315742e-01 8.61861781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.269072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.34, Y:4.50, Z:8.62 [[ 8.94369383e-01 -4.15540740e-01 -1.65617931e-01 5.23394049e+01] [ 4.11303309e-01 9.09470379e-01 -6.07718490e-02 4.49647274e+00] [ 1.75877781e-01 -1.37667219e-02 9.84315744e-01 8.62473192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.299072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.36, Y:4.51, Z:8.63 [[ 8.94347450e-01 -4.15592307e-01 -1.65606984e-01 5.23647393e+01] [ 4.11350263e-01 9.09447150e-01 -6.08016649e-02 4.50519754e+00] [ 1.75879504e-01 -1.37446626e-02 9.84315744e-01 8.62920551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.329072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.39, Y:4.51, Z:8.63 [[ 8.94098574e-01 -4.16131559e-01 -1.65596696e-01 5.23907437e+01] [ 4.11893470e-01 9.09199384e-01 -6.08296727e-02 4.51473137e+00] [ 1.75873561e-01 -1.38204742e-02 9.84315745e-01 8.63463286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.359072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.42, Y:4.52, Z:8.64 [[ 8.93697014e-01 -4.17000883e-01 -1.65577504e-01 5.24155185e+01] [ 4.12767880e-01 9.08799249e-01 -6.08818679e-02 4.52423313e+00] [ 1.75864504e-01 -1.39351319e-02 9.84315746e-01 8.63809798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38907232900002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:52.44, Y:4.53, Z:8.64 [[ 8.93393207e-01 -4.17656543e-01 -1.65564456e-01 5.24423121e+01] [ 4.13428097e-01 9.08496718e-01 -6.09173325e-02 4.53275782e+00] [ 1.75857287e-01 -1.40258669e-02 9.84315747e-01 8.64309190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.47, Y:4.54, Z:8.65 [[ 8.93285852e-01 -4.17893733e-01 -1.65545203e-01 5.24678929e+01] [ 4.13659678e-01 9.08387790e-01 -6.09696091e-02 4.54193785e+00] [ 1.75858059e-01 -1.40160861e-02 9.84315748e-01 8.64734764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.49, Y:4.55, Z:8.65 [[ 8.93065949e-01 -4.18368659e-01 -1.65532101e-01 5.24940257e+01] [ 4.14136092e-01 9.08168303e-01 -6.10051614e-02 4.55093647e+00] [ 1.75853654e-01 -1.40711849e-02 9.84315749e-01 8.65298431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.52, Y:4.56, Z:8.66 [[ 8.92948320e-01 -4.18627355e-01 -1.65512646e-01 5.25197026e+01] [ 4.14389459e-01 9.08049178e-01 -6.10578974e-02 4.56024970e+00] [ 1.75854129e-01 -1.40651492e-02 9.84315751e-01 8.65709473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:52.55, Y:4.57, Z:8.66 [[ 8.92919620e-01 -4.18692923e-01 -1.65501627e-01 5.25463294e+01] [ 4.14450642e-01 9.08019246e-01 -6.10877530e-02 4.56919197e+00] [ 1.75855672e-01 -1.40458023e-02 9.84315751e-01 8.66176104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.57, Y:4.58, Z:8.67 [[ 8.92793005e-01 -4.18970155e-01 -1.65483110e-01 5.25727015e+01] [ 4.14723339e-01 9.07891355e-01 -6.11378726e-02 4.57900853e+00] [ 1.75855629e-01 -1.40462430e-02 9.84315753e-01 8.66639612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:4.59, Z:8.67 [[ 8.92397270e-01 -4.19820046e-01 -1.65463717e-01 5.26019732e+01] [ 4.15577955e-01 9.07496947e-01 -6.11903142e-02 4.58914580e+00] [ 1.75846738e-01 -1.41570039e-02 9.84315754e-01 8.67195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.599072329 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.63, Y:4.60, Z:8.68 [[ 8.92390786e-01 -4.19653151e-01 -1.65921421e-01 5.26259318e+01] [ 4.15636302e-01 9.07552842e-01 -5.99525006e-02 4.59723573e+00] [ 1.75741713e-01 -1.54619069e-02 9.84314878e-01 8.67574315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.629072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.65, Y:4.61, Z:8.68 [[ 8.92228094e-01 -4.20195347e-01 -1.65423392e-01 5.26518742e+01] [ 4.15939947e-01 9.07323884e-01 -6.12970623e-02 4.60657365e+00] [ 1.75849335e-01 -1.41152358e-02 9.84315890e-01 8.67984260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.659072329 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.68, Y:4.62, Z:8.69 [[ 8.91931883e-01 -4.20831208e-01 -1.65404386e-01 5.26776823e+01] [ 4.16577136e-01 9.07028045e-01 -6.13483058e-02 4.61592531e+00] [ 1.75843699e-01 -1.41851756e-02 9.84315892e-01 8.68540621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.689072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.70, Y:4.62, Z:8.69 [[ 8.91931997e-01 -4.20838664e-01 -1.65384799e-01 5.27026640e+01] [ 4.16575006e-01 9.07025454e-01 -6.14010655e-02 4.62437260e+00] [ 1.75848165e-01 -1.41295986e-02 9.84315893e-01 8.69098811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.719072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.73, Y:4.64, Z:8.70 [[ 8.91593450e-01 -4.21559665e-01 -1.65374026e-01 5.27302443e+01] [ 4.17302872e-01 9.06688844e-01 -6.14300682e-02 4.63512869e+00] [ 1.75839223e-01 -1.42404094e-02 9.84315894e-01 8.69727413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.749072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:52.75, Y:4.64, Z:8.70 [[ 8.92065053e-01 -4.20492541e-01 -1.65547470e-01 5.27545288e+01] [ 4.16303638e-01 9.07179564e-01 -6.09632544e-02 4.64344180e+00] [ 1.75815875e-01 -1.45348252e-02 9.84315761e-01 8.70317226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.779072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:52.78, Y:4.65, Z:8.71 [[ 8.92203371e-01 -4.20277665e-01 -1.65347598e-01 5.27807830e+01] [ 4.15986178e-01 9.07288908e-01 -6.15007022e-02 4.65337396e+00] [ 1.75865413e-01 -1.39111816e-02 9.84315923e-01 8.70814742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.809072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:52.81, Y:4.66, Z:8.71 [[ 8.92414728e-01 -4.19836303e-01 -1.65328252e-01 5.28054534e+01] [ 4.15527795e-01 9.07495411e-01 -6.15526648e-02 4.66235806e+00] [ 1.75876674e-01 -1.37679795e-02 9.84315924e-01 8.71287985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.839072329 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.83, Y:4.67, Z:8.72 [[ 8.92797500e-01 -4.19025964e-01 -1.65317467e-01 5.28313004e+01] [ 4.14698441e-01 9.07872737e-01 -6.15816177e-02 4.67224359e+00] [ 1.75891518e-01 -1.35769817e-02 9.84315925e-01 8.71711793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.869072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:52.86, Y:4.68, Z:8.72 [[ 8.92939817e-01 -4.18730111e-01 -1.65298449e-01 5.28574761e+01] [ 4.14388213e-01 9.08010919e-01 -6.16326253e-02 4.68199383e+00] [ 1.75900233e-01 -1.34635038e-02 9.84315926e-01 8.72135000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.899072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:52.88, Y:4.69, Z:8.73 [[ 8.92944055e-01 -4.18728584e-01 -1.65279422e-01 5.28836788e+01] [ 4.14377285e-01 9.08012444e-01 -6.16836073e-02 4.69224230e+00] [ 1.75904462e-01 -1.34080280e-02 9.84315927e-01 8.72512897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.929072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:52.91, Y:4.70, Z:8.73 [[ 8.93190700e-01 -4.18209786e-01 -1.65260246e-01 5.29085575e+01] [ 4.13840298e-01 9.08253822e-01 -6.17349418e-02 4.70161555e+00] [ 1.75916407e-01 -1.32502736e-02 9.84315929e-01 8.72935902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.959072329 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:52.93, Y:4.71, Z:8.73 [[ 8.93631592e-01 -4.17271048e-01 -1.65249658e-01 5.29339464e+01] [ 4.12880529e-01 9.08688597e-01 -6.17632699e-02 4.71088038e+00] [ 1.75932505e-01 -1.30347572e-02 9.84315929e-01 8.73437442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.989072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:4.72, Z:8.74 [[ 8.93559892e-01 -4.17428661e-01 -1.65239318e-01 5.29622696e+01] [ 4.13035716e-01 9.08616189e-01 -6.17909231e-02 4.72086471e+00] [ 1.75932421e-01 -1.30358492e-02 9.84315930e-01 8.74109499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.019072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:52.99, Y:4.73, Z:8.75 [[ 8.93916729e-01 -4.16469310e-01 -1.65729281e-01 5.29853475e+01] [ 4.12301364e-01 9.09037832e-01 -6.04797908e-02 4.72979926e+00] [ 1.75842164e-01 -1.42665120e-02 9.84314990e-01 8.74704796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.049072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.01, Y:4.74, Z:8.75 [[ 8.94065532e-01 -4.16352967e-01 -1.65218132e-01 5.30109328e+01] [ 4.11931808e-01 9.09113457e-01 -6.18458359e-02 4.73993062e+00] [ 1.75951725e-01 -1.27643738e-02 9.84316037e-01 8.75192742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.079072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.04, Y:4.75, Z:8.76 [[ 8.94357193e-01 -4.15733724e-01 -1.65198916e-01 5.30361847e+01] [ 4.11292727e-01 9.09399273e-01 -6.18971240e-02 4.74944793e+00] [ 1.75964496e-01 -1.25869746e-02 9.84316039e-01 8.75685864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.109072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.06, Y:4.76, Z:8.76 [[ 8.94147179e-01 -4.16189457e-01 -1.65188249e-01 5.30616902e+01] [ 4.11750900e-01 9.09189980e-01 -6.19255787e-02 4.75962525e+00] [ 1.75960274e-01 -1.26458286e-02 9.84316039e-01 8.76115199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13907232900002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.09, Y:4.77, Z:8.76 [[ 8.94203012e-01 -4.16077205e-01 -1.65168804e-01 5.30873089e+01] [ 4.11627242e-01 9.09242440e-01 -6.19774006e-02 4.76921699e+00] [ 1.75965870e-01 -1.25676009e-02 9.84316041e-01 8.76361389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16907232900002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.11, Y:4.78, Z:8.77 [[ 8.94040863e-01 -4.16429726e-01 -1.65158160e-01 5.31135587e+01] [ 4.11980487e-01 9.09080505e-01 -6.20057527e-02 4.77918899e+00] [ 1.75963102e-01 -1.26062623e-02 9.84316041e-01 8.76797661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.14, Y:4.79, Z:8.77 [[ 8.93604887e-01 -4.17372268e-01 -1.65138416e-01 5.31421733e+01] [ 4.12929238e-01 9.08646363e-01 -6.20582907e-02 4.78928522e+00] [ 1.75953831e-01 -1.27348885e-02 9.84316043e-01 8.77336365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.17, Y:4.80, Z:8.78 [[ 8.93462553e-01 -4.17484886e-01 -1.65623176e-01 5.31679004e+01] [ 4.13281081e-01 9.08573610e-01 -6.07679470e-02 4.79822394e+00] [ 1.75850546e-01 -1.41550403e-02 9.84315102e-01 8.78113806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.19, Y:4.81, Z:8.79 [[ 8.93158750e-01 -4.18139840e-01 -1.65609547e-01 5.31906766e+01] [ 4.13940439e-01 9.08270974e-01 -6.08041923e-02 4.80785347e+00] [ 1.75843000e-01 -1.42446923e-02 9.84315157e-01 8.78666997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.22, Y:4.82, Z:8.79 [[ 8.92988793e-01 -4.18711239e-01 -1.65081539e-01 5.32167668e+01] [ 4.14263603e-01 9.08028680e-01 -6.22059752e-02 4.81780251e+00] [ 1.75945113e-01 -1.28380347e-02 9.84316261e-01 8.79118311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.24, Y:4.83, Z:8.80 [[ 8.92433060e-01 -4.19901926e-01 -1.65062429e-01 5.32423542e+01] [ 4.15465041e-01 9.07476121e-01 -6.22566429e-02 4.82832602e+00] [ 1.75931897e-01 -1.30177826e-02 9.84316263e-01 8.79563919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.349072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.27, Y:4.84, Z:8.80 [[ 8.92225962e-01 -4.20349344e-01 -1.65043215e-01 5.32680653e+01] [ 4.15910646e-01 9.07268486e-01 -6.23075385e-02 4.83832418e+00] [ 1.75929441e-01 -1.30508268e-02 9.84316264e-01 8.79929226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.379072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.29, Y:4.85, Z:8.80 [[ 8.91910203e-01 -4.21026550e-01 -1.65023737e-01 5.32936330e+01] [ 4.16589795e-01 9.06953299e-01 -6.23590868e-02 4.84857203e+00] [ 1.75923654e-01 -1.31284988e-02 9.84316266e-01 8.80361989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.409072329 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:53.32, Y:4.86, Z:8.81 [[ 8.91714717e-01 -4.21448091e-01 -1.65004155e-01 5.33195953e+01] [ 4.17008928e-01 9.06757100e-01 -6.24108571e-02 4.85830274e+00] [ 1.75921626e-01 -1.31555262e-02 9.84316267e-01 8.80848015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.439072329 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.35, Y:4.87, Z:8.82 [[ 8.91566225e-01 -4.21769851e-01 -1.64984423e-01 5.33456103e+01] [ 4.17326533e-01 9.06607380e-01 -6.24629772e-02 4.86834359e+00] [ 1.75921096e-01 -1.31624964e-02 9.84316269e-01 8.81511668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.469072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.37, Y:4.88, Z:8.82 [[ 8.91575892e-01 -4.21757187e-01 -1.64964551e-01 5.33709099e+01] [ 4.17304014e-01 9.06614131e-01 -6.25154168e-02 4.87828144e+00] [ 1.75925519e-01 -1.31031306e-02 9.84316270e-01 8.81985889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.499072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.40, Y:4.89, Z:8.82 [[ 8.91485483e-01 -4.21952594e-01 -1.64953456e-01 5.33962306e+01] [ 4.17497336e-01 9.06523104e-01 -6.25446768e-02 4.88889038e+00] [ 1.75925008e-01 -1.31099572e-02 9.84316271e-01 8.82459152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.529072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.42, Y:4.90, Z:8.83 [[ 8.91421598e-01 -4.22095097e-01 -1.64934120e-01 5.34211327e+01] [ 4.17632876e-01 9.06457152e-01 -6.25956262e-02 4.89930259e+00] [ 1.75927020e-01 -1.30828179e-02 9.84316272e-01 8.82921080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.559072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.45, Y:4.91, Z:8.83 [[ 8.91351482e-01 -4.22247344e-01 -1.64923362e-01 5.34466911e+01] [ 4.17782481e-01 9.06386252e-01 -6.26239591e-02 4.90939213e+00] [ 1.75927068e-01 -1.30821327e-02 9.84316273e-01 8.83351618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.589072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.47, Y:4.92, Z:8.84 [[ 8.90961559e-01 -4.23076951e-01 -1.64904197e-01 5.34749611e+01] [ 4.18616812e-01 9.05997730e-01 -6.26743867e-02 4.92059889e+00] [ 1.75918916e-01 -1.31911998e-02 9.84316274e-01 8.84035903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.619072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.50, Y:4.93, Z:8.84 [[ 8.91494646e-01 -4.21778449e-01 -1.65348833e-01 5.34978673e+01] [ 4.17511779e-01 9.06587651e-01 -6.15040223e-02 4.92933505e+00] [ 1.75844281e-01 -1.42045787e-02 9.84315508e-01 8.84459764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.649072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.52, Y:4.94, Z:8.85 [[ 8.91383763e-01 -4.22196695e-01 -1.64878558e-01 5.35233845e+01] [ 4.17709578e-01 9.06411805e-01 -6.27403157e-02 4.94019308e+00] [ 1.75936625e-01 -1.29456542e-02 9.84316369e-01 8.84853063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.679072329 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:53.55, Y:4.95, Z:8.85 [[ 8.91478995e-01 -4.22003128e-01 -1.64859218e-01 5.35489187e+01] [ 4.17503415e-01 9.06503269e-01 -6.27910945e-02 4.95039351e+00] [ 1.75943458e-01 -1.28523447e-02 9.84316370e-01 8.85299055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.709072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.57, Y:4.96, Z:8.86 [[ 8.91324706e-01 -4.22336424e-01 -1.64839961e-01 5.35744485e+01] [ 4.17833043e-01 9.06347880e-01 -6.28416077e-02 4.96159237e+00] [ 1.75942649e-01 -1.28633051e-02 9.84316372e-01 8.85676839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.739072329 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:53.60, Y:4.97, Z:8.86 [[ 8.91501487e-01 -4.21970836e-01 -1.64820239e-01 5.35996973e+01] [ 4.17451796e-01 9.06519957e-01 -6.28932923e-02 4.97231901e+00] [ 1.75951971e-01 -1.27350412e-02 9.84316373e-01 8.86003821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.769072329 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.62, Y:4.98, Z:8.86 [[ 8.91337347e-01 -4.22321671e-01 -1.64809409e-01 5.36242593e+01] [ 4.17803327e-01 9.06356025e-01 -6.29216597e-02 4.98204824e+00] [ 1.75949181e-01 -1.27734942e-02 9.84316374e-01 8.86452840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.799072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:4.99, Z:8.87 [[ 8.91289319e-01 -4.22428179e-01 -1.64796188e-01 5.36499876e+01] [ 4.17905270e-01 9.06306622e-01 -6.29562686e-02 4.99200868e+00] [ 1.75950378e-01 -1.27569456e-02 9.84316374e-01 8.87023742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.829072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.68, Y:5.00, Z:8.88 [[ 8.90999104e-01 -4.23047461e-01 -1.64776948e-01 5.36756167e+01] [ 4.18525739e-01 9.06016764e-01 -6.30065849e-02 5.00211670e+00] [ 1.75945453e-01 -1.28245834e-02 9.84316376e-01 8.87615849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.859072329 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:53.70, Y:5.01, Z:8.88 [[ 8.90599064e-01 -4.23896440e-01 -1.64757749e-01 5.37007931e+01] [ 4.19379809e-01 9.05618254e-01 -6.30567514e-02 5.01268851e+00] [ 1.75937157e-01 -1.29377893e-02 9.84316377e-01 8.88165452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88907232900002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:53.73, Y:5.02, Z:8.89 [[ 8.90453710e-01 -4.24209120e-01 -1.64738621e-01 5.37264225e+01] [ 4.19688582e-01 9.05471723e-01 -6.31066846e-02 5.02271479e+00] [ 1.75936594e-01 -1.29453367e-02 9.84316379e-01 8.88628214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91907232900002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.75, Y:5.03, Z:8.89 [[ 8.89943036e-01 -4.25286792e-01 -1.64719574e-01 5.37525392e+01] [ 4.20775301e-01 9.04963767e-01 -6.31563608e-02 5.03352393e+00] [ 1.75924813e-01 -1.31043650e-02 9.84316380e-01 8.88935606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.78, Y:5.04, Z:8.89 [[ 8.89742256e-01 -4.25714402e-01 -1.64699625e-01 5.37785988e+01] [ 4.21200568e-01 9.04762282e-01 -6.32083421e-02 5.04401693e+00] [ 1.75922710e-01 -1.31324429e-02 9.84316382e-01 8.89376515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979072329 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:53.80, Y:5.05, Z:8.90 [[ 8.89610133e-01 -4.25998100e-01 -1.64679783e-01 5.38048966e+01] [ 4.21479554e-01 9.04628741e-01 -6.32599966e-02 5.05437310e+00] [ 1.75922703e-01 -1.31324276e-02 9.84316383e-01 8.89878996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.83, Y:5.06, Z:8.90 [[ 8.89468601e-01 -4.26301204e-01 -1.64659930e-01 5.38301939e+01] [ 4.21778277e-01 9.04485888e-01 -6.33116309e-02 5.06410359e+00] [ 1.75922408e-01 -1.31362739e-02 9.84316385e-01 8.90336231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.86, Y:5.07, Z:8.91 [[ 8.89366596e-01 -4.26519172e-01 -1.64646451e-01 5.38556708e+01] [ 4.21993481e-01 9.04383050e-01 -6.33466656e-02 5.07439165e+00] [ 1.75922027e-01 -1.31413206e-02 9.84316385e-01 8.90912875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.069072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.88, Y:5.08, Z:8.91 [[ 8.89343044e-01 -4.26575827e-01 -1.64626896e-01 5.38804306e+01] [ 4.22041752e-01 9.04356967e-01 -6.33974463e-02 5.08458088e+00] [ 1.75925298e-01 -1.30973456e-02 9.84316387e-01 8.91418439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.099072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.91, Y:5.10, Z:8.92 [[ 8.89274545e-01 -4.26722800e-01 -1.64616023e-01 5.39061984e+01] [ 4.22186015e-01 9.04287650e-01 -6.34256641e-02 5.09540707e+00] [ 1.75925414e-01 -1.30957544e-02 9.84316387e-01 8.91940889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.129072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:53.93, Y:5.11, Z:8.92 [[ 8.89687454e-01 -4.25868908e-01 -1.64596195e-01 5.39313932e+01] [ 4.21308259e-01 9.04693324e-01 -6.34770789e-02 5.10614455e+00] [ 1.75941994e-01 -1.28709758e-02 9.84316389e-01 8.92415176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.159072329 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.96, Y:5.12, Z:8.93 [[ 8.89630452e-01 -4.25995741e-01 -1.64576085e-01 5.39559608e+01] [ 4.21427652e-01 9.04634058e-01 -6.35291758e-02 5.11652142e+00] [ 1.75944290e-01 -1.28394239e-02 9.84316390e-01 8.92933618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.189072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.98, Y:5.13, Z:8.93 [[ 8.89748579e-01 -4.25754231e-01 -1.64562452e-01 5.39819816e+01] [ 4.21175580e-01 9.04748964e-01 -6.35644727e-02 5.12716974e+00] [ 1.75950551e-01 -1.27532868e-02 9.84316391e-01 8.93358632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.219072329 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.01, Y:5.14, Z:8.94 [[ 8.90183927e-01 -4.24850975e-01 -1.64542474e-01 5.40061867e+01] [ 4.20247606e-01 9.05176743e-01 -6.36161463e-02 5.13790619e+00] [ 1.75967402e-01 -1.25185097e-02 9.84316392e-01 8.93805844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.249072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.03, Y:5.15, Z:8.94 [[ 8.90209697e-01 -4.24801268e-01 -1.64531387e-01 5.40319668e+01] [ 4.20191794e-01 9.05200638e-01 -6.36448060e-02 5.14848619e+00] [ 1.75970311e-01 -1.24775154e-02 9.84316393e-01 8.94272265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.279072329 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.06, Y:5.16, Z:8.95 [[ 8.90360838e-01 -4.24492057e-01 -1.64511613e-01 5.40567775e+01] [ 4.19867994e-01 9.05347283e-01 -6.36958807e-02 5.15868652e+00] [ 1.75978537e-01 -1.23608430e-02 9.84316394e-01 8.94767518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.309072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.08, Y:5.17, Z:8.95 [[ 8.90594842e-01 -4.24005132e-01 -1.64500686e-01 5.40820445e+01] [ 4.19367693e-01 9.05577153e-01 -6.37240871e-02 5.16877443e+00] [ 1.75987403e-01 -1.22339299e-02 9.84316395e-01 8.95301445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.339072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.11, Y:5.18, Z:8.96 [[ 8.90552396e-01 -4.24102039e-01 -1.64480671e-01 5.41072043e+01] [ 4.19456748e-01 9.05532272e-01 -6.37757071e-02 5.17994208e+00] [ 1.75989963e-01 -1.21969188e-02 9.84316396e-01 8.95936345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.369072329 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:54.13, Y:5.19, Z:8.96 [[ 8.90550948e-01 -4.24112865e-01 -1.64460592e-01 5.41329638e+01] [ 4.19458253e-01 9.05527930e-01 -6.38274453e-02 5.19065312e+00] [ 1.75993700e-01 -1.21427606e-02 9.84316398e-01 8.96478464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.399072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.16, Y:5.20, Z:8.97 [[ 8.90568963e-01 -4.24082864e-01 -1.64440407e-01 5.41575628e+01] [ 4.19418204e-01 9.05542816e-01 -6.38794078e-02 5.20050567e+00] [ 1.75997991e-01 -1.20802820e-02 9.84316399e-01 8.97021125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.429072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.18, Y:5.21, Z:8.97 [[ 8.90404451e-01 -4.24432484e-01 -1.64429257e-01 5.41831491e+01] [ 4.19768435e-01 9.05378494e-01 -6.39080934e-02 5.21166058e+00] [ 1.75995384e-01 -1.21181613e-02 9.84316400e-01 8.97391167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.459072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.21, Y:5.22, Z:8.98 [[ 8.90387922e-01 -4.24474915e-01 -1.64409231e-01 5.42083589e+01] [ 4.19802124e-01 9.05359238e-01 -6.39595732e-02 5.22158922e+00] [ 1.75998650e-01 -1.20705128e-02 9.84316401e-01 8.97820903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.489072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.23, Y:5.23, Z:8.98 [[ 8.89962064e-01 -4.25371347e-01 -1.64398118e-01 5.42339037e+01] [ 4.20708391e-01 9.04936445e-01 -6.39881235e-02 5.23217235e+00] [ 1.75988563e-01 -1.22166653e-02 9.84316402e-01 8.98208376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.519072329 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:54.26, Y:5.24, Z:8.99 [[ 8.89517511e-01 -4.26307808e-01 -1.64378376e-01 5.42593554e+01] [ 4.21651302e-01 9.04493898e-01 -6.40388006e-02 5.24282750e+00] [ 1.75979479e-01 -1.23467217e-02 9.84316403e-01 8.98724204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.549072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.29, Y:5.25, Z:8.99 [[ 8.89026985e-01 -4.27337405e-01 -1.64358641e-01 5.42865578e+01] [ 4.22688939e-01 9.04005867e-01 -6.40894118e-02 5.25316965e+00] [ 1.75968979e-01 -1.24953631e-02 9.84316405e-01 8.99334349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.579072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:5.26, Z:9.00 [[ 8.88566451e-01 -4.28165210e-01 -1.64694308e-01 5.43101455e+01] [ 4.23689156e-01 9.03598187e-01 -6.32282804e-02 5.26317866e+00] [ 1.75889628e-01 -1.35966636e-02 9.84315991e-01 8.99846359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.609072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:5.27, Z:9.00 [[ 8.87303036e-01 -4.30913488e-01 -1.64337726e-01 5.43362728e+01] [ 4.26315667e-01 9.02297480e-01 -6.41421079e-02 5.27319198e+00] [ 1.75921216e-01 -1.31462603e-02 9.84316464e-01 9.00494680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63907232900002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.36, Y:5.28, Z:9.01 [[ 8.86366975e-01 -4.32843181e-01 -1.64317878e-01 5.43623370e+01] [ 4.28268643e-01 9.01368537e-01 -6.41929136e-02 5.28320160e+00] [ 1.75896431e-01 -1.34737162e-02 9.84316466e-01 9.01036220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.66907232900002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:5.29, Z:9.02 [[ 8.85271711e-01 -4.35086437e-01 -1.64297870e-01 5.43878082e+01] [ 4.30540474e-01 9.00281955e-01 -6.42440849e-02 5.29323625e+00] [ 1.75866137e-01 -1.38634117e-02 9.84316467e-01 9.01508612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699072329 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.42, Y:5.30, Z:9.02 [[ 8.83244914e-01 -4.39193831e-01 -1.64277816e-01 5.44162285e+01] [ 4.34708184e-01 8.98273291e-01 -6.42953250e-02 5.30289687e+00] [ 1.75804484e-01 -1.46243921e-02 9.84316469e-01 9.01890812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729072329 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.44, Y:5.31, Z:9.02 [[ 8.81815641e-01 -4.41954301e-01 -1.64552639e-01 5.44393659e+01] [ 4.37645495e-01 8.96895959e-01 -6.35929284e-02 5.31285253e+00] [ 1.75691765e-01 -1.59384822e-02 9.84316193e-01 9.02435087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759072329 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.46, Y:5.32, Z:9.03 [[ 8.80450692e-01 -4.44779032e-01 -1.64250396e-01 5.44640788e+01] [ 4.40375884e-01 8.95503382e-01 -6.43643843e-02 5.32271989e+00] [ 1.75714713e-01 -1.56622466e-02 9.84316531e-01 9.02855640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.49, Y:5.33, Z:9.03 [[ 8.78902567e-01 -4.47834434e-01 -1.64239452e-01 5.44884226e+01] [ 4.43478430e-01 8.93968967e-01 -6.43922978e-02 5.33218894e+00] [ 1.75662061e-01 -1.62420983e-02 9.84316532e-01 9.03392426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.819072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:5.34, Z:9.04 [[ 8.75483131e-01 -4.54486782e-01 -1.64228659e-01 5.45142110e+01] [ 4.50240058e-01 8.90580697e-01 -6.44198114e-02 5.34187868e+00] [ 1.75536827e-01 -1.75438629e-02 9.84316532e-01 9.03961790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.849072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.54, Y:5.35, Z:9.04 [[ 8.73441969e-01 -4.58404307e-01 -1.64209068e-01 5.45405604e+01] [ 4.54215996e-01 8.88555842e-01 -6.44697133e-02 5.35200844e+00] [ 1.75462121e-01 -1.82758321e-02 9.84316533e-01 9.04399302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.879072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.57, Y:5.36, Z:9.05 [[ 8.71013407e-01 -4.63009420e-01 -1.64188680e-01 5.45655974e+01] [ 4.58891316e-01 8.86146559e-01 -6.45215961e-02 5.36195694e+00] [ 1.75369340e-01 -1.91455841e-02 9.84316535e-01 9.04851861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.909072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.59, Y:5.37, Z:9.05 [[ 8.68593941e-01 -4.67537387e-01 -1.64174777e-01 5.45914339e+01] [ 4.63491535e-01 8.83746569e-01 -6.45569513e-02 5.37162449e+00] [ 1.75271685e-01 -2.00198428e-02 9.84316536e-01 9.05275547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.939072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.62, Y:5.38, Z:9.06 [[ 8.63490515e-01 -4.76904011e-01 -1.64154488e-01 5.46166049e+01] [ 4.73012646e-01 8.78683549e-01 -6.46085031e-02 5.38089418e+00] [ 1.75051902e-01 -2.18583190e-02 9.84316537e-01 9.05653132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.969072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.64, Y:5.39, Z:9.06 [[ 8.60601875e-01 -4.82103451e-01 -1.64136150e-01 5.46423099e+01] [ 4.78295086e-01 8.75815925e-01 -6.46550561e-02 5.39144482e+00] [ 1.74923480e-01 -2.28632516e-02 9.84316538e-01 9.06091144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.999072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.67, Y:5.40, Z:9.07 [[ 8.55587927e-01 -4.90953532e-01 -1.64115595e-01 5.46669223e+01] [ 4.87292502e-01 8.70838100e-01 -6.47071907e-02 5.40033133e+00] [ 1.74686337e-01 -2.46096078e-02 9.84316540e-01 9.06686309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.029072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.69, Y:5.41, Z:9.07 [[ 8.52915566e-01 -4.95587658e-01 -1.64097258e-01 5.46924764e+01] [ 4.92000685e-01 8.68183327e-01 -6.47536609e-02 5.41078740e+00] [ 1.74557618e-01 -2.55065580e-02 9.84316541e-01 9.07178814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.059072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.72, Y:5.42, Z:9.08 [[ 8.50239508e-01 -5.00171657e-01 -1.64076485e-01 5.47168826e+01] [ 4.96657035e-01 8.65524083e-01 -6.48062543e-02 5.42081348e+00] [ 1.74426401e-01 -2.63889029e-02 9.84316543e-01 9.07636695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.089072329 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.74, Y:5.43, Z:9.08 [[ 8.47734592e-01 -5.04411663e-01 -1.64057722e-01 5.47426393e+01] [ 5.00964484e-01 8.63034519e-01 -6.48537201e-02 5.43083420e+00] [ 1.74300450e-01 -2.72083500e-02 9.84316544e-01 9.08147234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.119072329 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:54.77, Y:5.44, Z:9.08 [[ 8.42499093e-01 -5.13115174e-01 -1.64036877e-01 5.47688558e+01] [ 5.09815804e-01 8.57831572e-01 -6.49064013e-02 5.44152033e+00] [ 1.74020471e-01 -2.89450080e-02 9.84316546e-01 9.08459178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.149072329 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:54.79, Y:5.45, Z:9.09 [[ 8.39694142e-01 -5.17699350e-01 -1.64015645e-01 5.47933317e+01] [ 5.14473469e-01 8.55042249e-01 -6.49600104e-02 5.45150879e+00] [ 1.73870061e-01 -2.98351576e-02 9.84316547e-01 9.08994393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.179072329 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:54.82, Y:5.46, Z:9.09 [[ 8.36979461e-01 -5.22082417e-01 -1.63997963e-01 5.48183093e+01] [ 5.18928389e-01 8.52342494e-01 -6.50046201e-02 5.46192737e+00] [ 1.73720202e-01 -3.06956667e-02 9.84316548e-01 9.09463262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.209072329 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:54.84, Y:5.47, Z:9.10 [[ 8.32088365e-01 -5.29847120e-01 -1.63984702e-01 5.48442262e+01] [ 5.26829834e-01 8.47478836e-01 -6.50380548e-02 5.47283785e+00] [ 1.73433791e-01 -3.22746248e-02 9.84316549e-01 9.09859702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.239072329 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:54.87, Y:5.48, Z:9.10 [[ 8.29591819e-01 -5.33753561e-01 -1.63965086e-01 5.48700892e+01] [ 5.30799300e-01 8.44994511e-01 -6.50874720e-02 5.48349194e+00] [ 1.73290268e-01 -3.30365186e-02 9.84316550e-01 9.10299510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.269072329 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:54.89, Y:5.50, Z:9.11 [[ 8.19686723e-01 -5.48849361e-01 -1.63945281e-01 5.48918962e+01] [ 5.46168047e-01 8.35139266e-01 -6.51373197e-02 5.50026856e+00] [ 1.72667718e-01 -3.61494780e-02 9.84316552e-01 9.11101963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.299072329 meters Centerline goodness : 0.855896 Centerline is valid? [True, False] Translation: X:54.78, Y:5.44, Z:9.13 [[ 8.20103257e-01 -5.42185178e-01 -1.82936820e-01 5.47824398e+01] [ 5.48673280e-01 8.35851812e-01 -1.75892361e-02 5.44090313e+00] [ 1.62444696e-01 -8.59475553e-02 9.82967313e-01 9.12675975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.329072329 meters Centerline goodness : 0.987024 Centerline is valid? [False, True] Translation: X:54.68, Y:5.39, Z:9.13 [[ 8.19991487e-01 -5.39167500e-01 -1.92125919e-01 5.46846889e+01] [ 5.51243009e-01 8.34265759e-01 1.14799259e-02 5.39277460e+00] [ 1.54094473e-01 -1.15321511e-01 9.81303135e-01 9.12795564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.359072329 meters Centerline goodness : 0.140693 Centerline is valid? [True, False] Translation: X:54.60, Y:5.35, Z:9.12 [[ 8.19639289e-01 -5.38351067e-01 -1.95881505e-01 5.45994529e+01] [ 5.52865680e-01 8.32917723e-01 2.42406146e-02 5.35384961e+00] [ 1.50103217e-01 -1.28164722e-01 9.80327919e-01 9.11998302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38907232900002 meters Centerline goodness : 0.976747 Centerline is valid? [False, True] Translation: X:54.53, Y:5.33, Z:9.11 [[ 8.14831029e-01 -5.44291982e-01 -1.99490933e-01 5.45330768e+01] [ 5.61102602e-01 8.26984469e-01 3.55043435e-02 5.32656708e+00] [ 1.45651174e-01 -1.40864922e-01 9.79256253e-01 9.11278265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.41907232900002 meters Centerline goodness : 0.972588 Centerline is valid? [True, True] Translation: X:54.56, Y:5.37, Z:9.04 [[ 8.09560320e-01 -5.65262445e-01 -1.58399674e-01 5.45611742e+01] [ 5.62518900e-01 8.24141440e-01 -6.60558498e-02 5.36703855e+00] [ 1.67882627e-01 -3.56266157e-02 9.85163016e-01 9.03777372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449072329 meters Centerline goodness : 0.967943 Centerline is valid? [True, True] Translation: X:54.59, Y:5.38, Z:9.04 [[ 8.08118690e-01 -5.67422602e-01 -1.58037253e-01 5.45853535e+01] [ 5.64556233e-01 8.22676759e-01 -6.69269032e-02 5.37853632e+00] [ 1.67989413e-01 -3.51360350e-02 9.85162431e-01 9.04150243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479072329 meters Centerline goodness : 0.957822 Centerline is valid? [True, True] Translation: X:54.61, Y:5.39, Z:9.05 [[ 8.05394598e-01 -5.71277211e-01 -1.58056601e-01 5.46105559e+01] [ 5.68489068e-01 8.19967797e-01 -6.68804257e-02 5.39064794e+00] [ 1.67808586e-01 -3.59883159e-02 9.85162484e-01 9.04763618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509072329 meters Centerline goodness : 0.952644 Centerline is valid? [True, True] Translation: X:54.64, Y:5.40, Z:9.05 [[ 8.04197853e-01 -5.72947291e-01 -1.58105077e-01 5.46370694e+01] [ 5.70211039e-01 8.18780764e-01 -6.67640022e-02 5.40248560e+00] [ 1.67705650e-01 -3.64617931e-02 9.85162602e-01 9.05237263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539072329 meters Centerline goodness : 0.946900 Centerline is valid? [True, False] Translation: X:54.64, Y:5.39, Z:9.09 [[ 8.03845846e-01 -5.67767538e-01 -1.77403151e-01 5.46352019e+01] [ 5.73203452e-01 8.19059775e-01 -2.40601032e-02 5.38911014e+00] [ 1.58964330e-01 -8.23474842e-02 9.83844110e-01 9.08595961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.569072329 meters Centerline goodness : 0.941615 Centerline is valid? [False, False] Translation: X:54.63, Y:5.38, Z:9.11 [[ 8.03309889e-01 -5.64461143e-01 -1.89939046e-01 5.46334424e+01] [ 5.74942180e-01 8.18194036e-01 9.47565061e-05 5.38203529e+00] [ 1.55353508e-01 -1.09280088e-01 9.81795880e-01 9.10822671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.599072329 meters Centerline goodness : 0.930542 Centerline is valid? [False, False] Translation: X:54.64, Y:5.39, Z:9.12 [[ 7.98626606e-01 -5.67970753e-01 -1.99009467e-01 5.46402523e+01] [ 5.81941919e-01 8.13096206e-01 1.47703310e-02 5.38506836e+00] [ 1.53424727e-01 -1.27607931e-01 9.79886253e-01 9.12204195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.629072329 meters Centerline goodness : 0.924558 Centerline is valid? [False, False] Translation: X:54.63, Y:5.38, Z:9.13 [[ 7.96709393e-01 -5.68661704e-01 -2.04641174e-01 5.46349087e+01] [ 5.85477697e-01 8.10206105e-01 2.79630759e-02 5.38097056e+00] [ 1.49899998e-01 -1.42091289e-01 9.78437559e-01 9.12785638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.659072329 meters Centerline goodness : 0.918555 Centerline is valid? [False, False] Translation: X:54.64, Y:5.38, Z:9.13 [[ 7.97630898e-01 -5.66518589e-01 -2.06982218e-01 5.46396261e+01] [ 5.83959201e-01 8.11228797e-01 2.99915040e-02 5.38064020e+00] [ 1.50919192e-01 -1.44791321e-01 9.77884897e-01 9.12766849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.689072329 meters Centerline goodness : 0.906085 Centerline is valid? [False, False] Translation: X:54.65, Y:5.39, Z:9.13 [[ 7.94934605e-01 -5.69266897e-01 -2.09795553e-01 5.46491416e+01] [ 5.86799704e-01 8.09263183e-01 2.75537272e-02 5.38590669e+00] [ 1.54094393e-01 -1.45011380e-01 9.77356955e-01 9.12975058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.719072329 meters Centerline goodness : 0.899683 Centerline is valid? [False, False] Translation: X:54.65, Y:5.39, Z:9.13 [[ 7.94439056e-01 -5.69775549e-01 -2.10291251e-01 5.46512789e+01] [ 5.87335784e-01 8.08886346e-01 2.71947788e-02 5.38632439e+00] [ 1.54606801e-01 -1.45116171e-01 9.77260474e-01 9.13000631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.749072329 meters Centerline goodness : 0.892951 Centerline is valid? [False, False] Translation: X:54.65, Y:5.39, Z:9.13 [[ 7.93959497e-01 -5.70286111e-01 -2.10717983e-01 5.46530370e+01] [ 5.87877623e-01 8.08501637e-01 2.69258820e-02 5.38666759e+00] [ 1.55010377e-01 -1.45254447e-01 9.77175997e-01 9.13041021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.779072329 meters Centerline goodness : 0.879234 Centerline is valid? [False, False] Translation: X:54.67, Y:5.39, Z:9.14 [[ 7.90923523e-01 -5.73800864e-01 -2.12585395e-01 5.46698771e+01] [ 5.92504347e-01 8.04941323e-01 3.17500604e-02 5.39383686e+00] [ 1.52900557e-01 -1.51069640e-01 9.76626532e-01 9.13704765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.809072329 meters Centerline goodness : 0.872003 Centerline is valid? [False, False] Translation: X:54.67, Y:5.39, Z:9.14 [[ 7.90397628e-01 -5.74342747e-01 -2.13077446e-01 5.46723295e+01] [ 5.93075736e-01 8.04534841e-01 3.13825081e-02 5.39429745e+00] [ 1.53403913e-01 -1.51175723e-01 9.76531177e-01 9.13700232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.839072329 meters Centerline goodness : 0.113004 Centerline is valid? [False, False] Translation: X:54.67, Y:5.39, Z:9.14 [[ 7.89921637e-01 -5.74807936e-01 -2.13587555e-01 5.46747714e+01] [ 5.93597575e-01 8.04157848e-01 3.11781017e-02 5.39415678e+00] [ 1.53836689e-01 -1.51413312e-01 9.76426281e-01 9.13718957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.869072329 meters Centerline goodness : 0.113181 Centerline is valid? [False, False] Translation: X:54.69, Y:5.40, Z:9.14 [[ 7.86713690e-01 -5.78837191e-01 -2.14543880e-01 5.46912254e+01] [ 5.98475181e-01 8.00369049e-01 3.51687791e-02 5.40052223e+00] [ 1.51357284e-01 -1.56066947e-01 9.76080981e-01 9.14201612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.899072329 meters Centerline goodness : 0.115525 Centerline is valid? [False, False] Translation: X:54.69, Y:5.40, Z:9.14 [[ 7.86293436e-01 -5.79201603e-01 -2.15100289e-01 5.46935300e+01] [ 5.98919528e-01 8.00041410e-01 3.50591163e-02 5.40004012e+00] [ 1.51782842e-01 -1.56394517e-01 9.75962460e-01 9.14261443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.929072329 meters Centerline goodness : 0.115525 Centerline is valid? [False, False] Translation: X:54.69, Y:5.40, Z:9.14 [[ 7.86293436e-01 -5.79201603e-01 -2.15100289e-01 5.46935300e+01] [ 5.98919528e-01 8.00041410e-01 3.50591163e-02 5.40004012e+00] [ 1.51782842e-01 -1.56394517e-01 9.75962460e-01 9.14261443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.959072329 meters Centerline goodness : 0.191498 Centerline is valid? [False, False] Translation: X:54.70, Y:5.40, Z:9.14 [[ 7.85814793e-01 -5.79662989e-01 -2.15605963e-01 5.46958067e+01] [ 5.99445350e-01 7.99654859e-01 3.48909572e-02 5.39962421e+00] [ 1.52185359e-01 -1.56661822e-01 9.75856900e-01 9.14321289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.989072329 meters Centerline goodness : 0.199629 Centerline is valid? [False, False] Translation: X:54.71, Y:5.41, Z:9.15 [[ 7.82916010e-01 -5.83635595e-01 -2.15434478e-01 5.47117052e+01] [ 6.04149957e-01 7.95896731e-01 3.93855797e-02 5.40545199e+00] [ 1.48476770e-01 -1.60990331e-01 9.75723712e-01 9.14675769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.019072329 meters Centerline goodness : 0.197056 Centerline is valid? [False, False] Translation: X:54.71, Y:5.40, Z:9.15 [[ 7.82466516e-01 -5.84065974e-01 -2.15900646e-01 5.47142945e+01] [ 6.04654738e-01 7.95516890e-01 3.93131741e-02 5.40486134e+00] [ 1.48791123e-01 -1.61306591e-01 9.75623588e-01 9.14688348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.049072329 meters Centerline goodness : 0.193561 Centerline is valid? [False, False] Translation: X:54.72, Y:5.40, Z:9.15 [[ 7.82039066e-01 -5.84424821e-01 -2.16477545e-01 5.47169920e+01] [ 6.05100622e-01 7.95182978e-01 3.92080182e-02 5.40425174e+00] [ 1.49225120e-01 -1.61652899e-01 9.75499976e-01 9.14719232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.079072329 meters Centerline goodness : 0.181721 Centerline is valid? [False, False] Translation: X:54.73, Y:5.40, Z:9.15 [[ 7.80166871e-01 -5.86726996e-01 -2.17004805e-01 5.47255140e+01] [ 6.07251299e-01 7.93629625e-01 3.73882063e-02 5.40434399e+00] [ 1.50284772e-01 -1.60945489e-01 9.75454272e-01 9.14608052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.109072329 meters Centerline goodness : 0.183966 Centerline is valid? [False, False] Translation: X:54.73, Y:5.40, Z:9.15 [[ 7.79840818e-01 -5.86960429e-01 -2.17544828e-01 5.47279018e+01] [ 6.07592357e-01 7.93364627e-01 3.74712598e-02 5.40332447e+00] [ 1.50598225e-01 -1.61400193e-01 9.75330791e-01 9.14662025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13907232900002 meters Centerline goodness : 0.184277 Centerline is valid? [False, False] Translation: X:54.73, Y:5.40, Z:9.15 [[ 7.79528579e-01 -5.87197045e-01 -2.18024827e-01 5.47300414e+01] [ 6.07929891e-01 7.93101153e-01 3.75740286e-02 5.40222887e+00] [ 1.50852383e-01 -1.61833839e-01 9.75219651e-01 9.14720044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.16907232900002 meters Centerline goodness : 0.185710 Centerline is valid? [False, False] Translation: X:54.73, Y:5.40, Z:9.15 [[ 7.79194244e-01 -5.87458220e-01 -2.18515834e-01 5.47321504e+01] [ 6.08274758e-01 7.92837868e-01 3.75490745e-02 5.40151666e+00] [ 1.51189116e-01 -1.62175689e-01 9.75110710e-01 9.14776577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199072329 meters Centerline goodness : 0.190745 Centerline is valid? [False, False] Translation: X:54.74, Y:5.40, Z:9.15 [[ 7.77857957e-01 -5.89051163e-01 -2.18987957e-01 5.47381224e+01] [ 6.09818062e-01 7.91698895e-01 3.65347824e-02 5.40181696e+00] [ 1.51851668e-01 -1.61961683e-01 9.75043324e-01 9.14703341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229072329 meters Centerline goodness : 0.193174 Centerline is valid? [False, False] Translation: X:54.74, Y:5.40, Z:9.15 [[ 7.77568694e-01 -5.89259737e-01 -2.19453616e-01 5.47402596e+01] [ 6.10112539e-01 7.91470986e-01 3.65563601e-02 5.40134819e+00] [ 1.52149979e-01 -1.62316484e-01 9.74937815e-01 9.14716036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259072329 meters Centerline goodness : 0.196702 Centerline is valid? [False, False] Translation: X:54.74, Y:5.40, Z:9.15 [[ 7.77289067e-01 -5.89450913e-01 -2.19930281e-01 5.47423522e+01] [ 6.10380834e-01 7.91266215e-01 3.65104636e-02 5.40086007e+00] [ 1.52502275e-01 -1.62620412e-01 9.74832118e-01 9.14745626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289072329 meters Centerline goodness : 0.124019 Centerline is valid? [False, False] Translation: X:54.74, Y:5.40, Z:9.15 [[ 7.76997164e-01 -5.89681529e-01 -2.20343146e-01 5.47443590e+01] [ 6.10676148e-01 7.91041160e-01 3.64489382e-02 5.40045897e+00] [ 1.52807233e-01 -1.62879025e-01 9.74741182e-01 9.14762773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.319072329 meters Centerline goodness : 0.118445 Centerline is valid? [False, False] Translation: X:54.75, Y:5.40, Z:9.15 [[ 7.75825848e-01 -5.91024440e-01 -2.20871827e-01 5.47497621e+01] [ 6.11988264e-01 7.90068564e-01 3.55250512e-02 5.40090148e+00] [ 1.53507714e-01 -1.62732219e-01 9.74655635e-01 9.14713090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.349072329 meters Centerline goodness : 0.118467 Centerline is valid? [False, False] Translation: X:54.75, Y:5.40, Z:9.15 [[ 7.75587136e-01 -5.91227256e-01 -2.21167193e-01 5.47512733e+01] [ 6.12239513e-01 7.89875465e-01 3.54898312e-02 5.40062424e+00] [ 1.53711984e-01 -1.62932751e-01 9.74589937e-01 9.14733376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.379072329 meters Centerline goodness : 0.121106 Centerline is valid? [False, False] Translation: X:54.76, Y:5.40, Z:9.15 [[ 7.74469952e-01 -5.92490303e-01 -2.21701454e-01 5.47557980e+01] [ 6.13449300e-01 7.88983235e-01 3.44297892e-02 5.40226480e+00] [ 1.54519414e-01 -1.62667439e-01 9.74506570e-01 9.14663256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.409072329 meters Centerline goodness : 0.121928 Centerline is valid? [False, False] Translation: X:54.75, Y:5.40, Z:9.14 [[ 7.72795492e-01 -5.94577396e-01 -2.21956862e-01 5.47474207e+01] [ 6.16585453e-01 7.86239834e-01 4.06116077e-02 5.39866800e+00] [ 1.50364583e-01 -1.68239840e-01 9.74210372e-01 9.14316158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.439072329 meters Centerline goodness : 0.121775 Centerline is valid? [False, False] Translation: X:54.74, Y:5.40, Z:9.14 [[ 7.70148111e-01 -5.97496474e-01 -2.23315585e-01 5.47375915e+01] [ 6.20656929e-01 7.82717397e-01 4.62434216e-02 5.39529881e+00] [ 1.47162712e-01 -1.74216649e-01 9.73648651e-01 9.14063699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.469072329 meters Centerline goodness : 0.121912 Centerline is valid? [False, False] Translation: X:54.73, Y:5.39, Z:9.14 [[ 7.68324729e-01 -5.99804314e-01 -2.23409701e-01 5.47294106e+01] [ 6.23873197e-01 7.79795069e-01 5.19796531e-02 5.39173328e+00] [ 1.43036163e-01 -1.79316577e-01 9.73337671e-01 9.13717558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.499072329 meters Centerline goodness : 0.122597 Centerline is valid? [False, False] Translation: X:54.73, Y:5.39, Z:9.14 [[ 7.67718533e-01 -6.00445248e-01 -2.23771665e-01 5.47315965e+01] [ 6.24533074e-01 7.79293033e-01 5.15830123e-02 5.39249689e+00] [ 1.43410925e-01 -1.79354041e-01 9.73275621e-01 9.13724362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.529072329 meters Centerline goodness : 0.217911 Centerline is valid? [False, False] Translation: X:54.72, Y:5.39, Z:9.13 [[ 0.76535679 -0.60308918 -0.22474969 54.72237001] [ 0.62821454 0.77593684 0.05717097 5.38903056] [ 0.13991237 -0.18494721 0.97273792 9.13431012] [ 0. 0. 0. 1. ]] SLAMing on 207.559072329 meters Centerline goodness : 0.218974 Centerline is valid? [False, False] Translation: X:54.71, Y:5.39, Z:9.13 [[ 0.7635346 -0.60534939 -0.22487115 54.71384892] [ 0.63135598 0.77292868 0.06301488 5.38523803] [ 0.13566335 -0.19008779 0.97234875 9.13091294] [ 0. 0. 0. 1. ]] SLAMing on 207.589072329 meters Centerline goodness : 0.222028 Centerline is valid? [False, False] Translation: X:54.70, Y:5.38, Z:9.13 [[ 0.76096729 -0.60821857 -0.22582947 54.70438615] [ 0.63522822 0.76926633 0.06866165 5.38180485] [ 0.13196172 -0.19570252 0.97174412 9.12770199] [ 0. 0. 0. 1. ]] SLAMing on 207.619072329 meters Centerline goodness : 0.224149 Centerline is valid? [False, False] Translation: X:54.70, Y:5.38, Z:9.12 [[ 0.75824184 -0.61160871 -0.22584088 54.69854261] [ 0.63932389 0.76540099 0.0736634 5.37883686] [ 0.12780566 -0.20024014 0.97137511 9.12336616] [ 0. 0. 0. 1. ]] SLAMing on 207.649072329 meters Centerline goodness : 0.221688 Centerline is valid? [False, False] Translation: X:54.69, Y:5.38, Z:9.12 [[ 0.75474525 -0.61537316 -0.2273224 54.68800895] [ 0.64403737 0.76097608 0.07830239 5.37544076] [ 0.12480172 -0.20550248 0.9706664 9.12102265] [ 0. 0. 0. 1. ]] SLAMing on 207.679072329 meters Centerline goodness : 0.225895 Centerline is valid? [False, False] Translation: X:54.68, Y:5.37, Z:9.12 [[ 0.75087982 -0.6194765 -0.22897239 54.67676242] [ 0.64906367 0.75624664 0.08250685 5.37202002] [ 0.12204855 -0.21057039 0.96993003 9.11922626] [ 0. 0. 0. 1. ]] SLAMing on 207.709072329 meters Centerline goodness : 0.226150 Centerline is valid? [False, False] Translation: X:54.67, Y:5.37, Z:9.12 [[ 0.74528705 -0.62592914 -0.22969526 54.66720143] [ 0.65606354 0.74987157 0.08528339 5.36977431] [ 0.11886059 -0.2142553 0.96951886 9.11596279] [ 0. 0. 0. 1. ]] SLAMing on 207.739072329 meters Centerline goodness : 0.226274 Centerline is valid? [False, False] Translation: X:54.66, Y:5.37, Z:9.11 [[ 0.74162461 -0.62971666 -0.23119228 54.65664504] [ 0.66077609 0.74517088 0.08997401 5.36563407] [ 0.11561962 -0.21949327 0.96873877 9.11352177] [ 0. 0. 0. 1. ]] SLAMing on 207.769072329 meters Centerline goodness : 0.227677 Centerline is valid? [False, False] Translation: X:54.65, Y:5.36, Z:9.11 [[ 0.73728877 -0.63394619 -0.23348981 54.64557207] [ 0.66602613 0.7399845 0.09397939 5.36211518] [ 0.11320096 -0.22480027 0.967807 9.11136968] [ 0. 0. 0. 1. ]] SLAMing on 207.799072329 meters Centerline goodness : 0.227262 Centerline is valid? [False, False] Translation: X:54.64, Y:5.36, Z:9.11 [[ 0.73131268 -0.6404634 -0.23449603 54.63587565] [ 0.6731406 0.73313396 0.09693463 5.35873658] [ 0.10983392 -0.22873832 0.96727209 9.10818903] [ 0. 0. 0. 1. ]] SLAMing on 207.829072329 meters Centerline goodness : 0.227454 Centerline is valid? [False, False] Translation: X:54.62, Y:5.35, Z:9.11 [[ 0.72636188 -0.64533928 -0.23650715 54.62426188] [ 0.67887802 0.72737744 0.10023325 5.35465902] [ 0.10734551 -0.23336512 0.96644589 9.1064923 ] [ 0. 0. 0. 1. ]] SLAMing on 207.859072329 meters Centerline goodness : 0.228648 Centerline is valid? [False, False] Translation: X:54.61, Y:5.35, Z:9.11 [[ 0.72088977 -0.65069237 -0.23857362 54.61188906] [ 0.68502563 0.72122557 0.10282778 5.35045155] [ 0.10515614 -0.23755654 0.9656651 9.10535825] [ 0. 0. 0. 1. ]] SLAMing on 207.88907232900002 meters Centerline goodness : 0.229425 Centerline is valid? [False, False] Translation: X:54.60, Y:5.35, Z:9.10 [[ 0.71383334 -0.65812286 -0.23940815 54.60314656] [ 0.69286482 0.71342346 0.10471537 5.34561907] [ 0.10188381 -0.24062681 0.96525563 9.10276068] [ 0. 0. 0. 1. ]] SLAMing on 207.91907232900002 meters Centerline goodness : 0.228379 Centerline is valid? [False, False] Translation: X:54.59, Y:5.34, Z:9.10 [[ 0.70849638 -0.66317126 -0.24132296 54.59172493] [ 0.69871448 0.70722549 0.10784331 5.34091156] [ 0.09915116 -0.24502244 0.96443406 9.10103208] [ 0. 0. 0. 1. ]] SLAMing on 207.949072329 meters Centerline goodness : 0.229046 Centerline is valid? [False, False] Translation: X:54.58, Y:5.34, Z:9.10 [[ 0.70301011 -0.66822543 -0.24341643 54.57931794] [ 0.70459233 0.70090874 0.11079978 5.33576304] [ 0.09657347 -0.24940271 0.96357244 9.09978693] [ 0. 0. 0. 1. ]] SLAMing on 207.979072329 meters Centerline goodness : 0.228177 Centerline is valid? [False, False] Translation: X:54.57, Y:5.33, Z:9.10 [[ 0.69576561 -0.67543814 -0.24432261 54.57016314] [ 0.71222547 0.69280435 0.11294699 5.32958545] [ 0.09297906 -0.25259742 0.96309368 9.09767249] [ 0. 0. 0. 1. ]] SLAMing on 208.009072329 meters Centerline goodness : 0.228353 Centerline is valid? [False, False] Translation: X:54.56, Y:5.32, Z:9.10 [[ 0.69039978 -0.68019412 -0.24634143 54.55764953] [ 0.71780896 0.68645681 0.11630709 5.32360073] [ 0.08999135 -0.25712447 0.96217907 9.09661171] [ 0. 0. 0. 1. ]] SLAMing on 208.039072329 meters Centerline goodness : 0.227223 Centerline is valid? [False, False] Translation: X:54.54, Y:5.32, Z:9.10 [[ 0.68517118 -0.68466472 -0.24854512 54.54461587] [ 0.72316519 0.68020142 0.11982542 5.31696208] [ 0.08702051 -0.26184011 0.9611801 9.0960884 ] [ 0. 0. 0. 1. ]] SLAMing on 208.069072329 meters Centerline goodness : 0.227286 Centerline is valid? [False, False] Translation: X:54.53, Y:5.31, Z:9.10 [[ 0.68024935 -0.6888016 -0.25062557 54.53140148] [ 0.72818746 0.674108 0.12377977 5.30992956] [ 0.083689 -0.2667035 0.96013822 9.09537493] [ 0. 0. 0. 1. ]] SLAMing on 208.099072329 meters Centerline goodness : 0.224385 Centerline is valid? [False, False] Translation: X:54.52, Y:5.30, Z:9.09 [[ 0.67370686 -0.69496461 -0.25128321 54.52119389] [ 0.73475815 0.66630247 0.12716716 5.30208111] [ 0.07905395 -0.27030578 0.95952345 9.09406012] [ 0. 0. 0. 1. ]] SLAMing on 208.129072329 meters Centerline goodness : 0.227698 Centerline is valid? [False, False] Translation: X:54.51, Y:5.29, Z:9.09 [[ 0.66922265 -0.69837265 -0.25380441 54.50783054] [ 0.73918723 0.66053049 0.13153598 5.29431775] [ 0.07578442 -0.27563583 0.95827011 9.0936677 ] [ 0. 0. 0. 1. ]] SLAMing on 208.159072329 meters Centerline goodness : 0.220457 Centerline is valid? [False, False] Translation: X:54.50, Y:5.29, Z:9.09 [[ 0.66293606 -0.70371476 -0.25554121 54.49731449] [ 0.74523873 0.65293262 0.13527094 5.28543132] [ 0.07165904 -0.28011519 0.95728808 9.09321574] [ 0. 0. 0. 1. ]] SLAMing on 208.189072329 meters Centerline goodness : 0.217089 Centerline is valid? [False, False] Translation: X:54.49, Y:5.28, Z:9.09 [[ 0.65923956 -0.70621558 -0.25819132 54.48584019] [ 0.7488785 0.64756101 0.14087486 5.27715707] [ 0.06770661 -0.28622421 0.9557675 9.09246375] [ 0. 0. 0. 1. ]] SLAMing on 208.219072329 meters Centerline goodness : 0.215290 Centerline is valid? [False, False] Translation: X:54.47, Y:5.27, Z:9.09 [[ 0.65627987 -0.70814161 -0.26044616 54.47449188] [ 0.75188453 0.64260485 0.14740646 5.26841324] [ 0.06297932 -0.29256533 0.95416934 9.09142457] [ 0. 0. 0. 1. ]] SLAMing on 208.249072329 meters Centerline goodness : 0.215981 Centerline is valid? [False, False] Translation: X:54.46, Y:5.26, Z:9.09 [[ 0.65273417 -0.71053156 -0.26283647 54.46263905] [ 0.75531188 0.63722052 0.15314688 5.26000097] [ 0.0586691 -0.29848771 0.95260854 9.09065861] [ 0. 0. 0. 1. ]] SLAMing on 208.279072329 meters Centerline goodness : 0.216809 Centerline is valid? [False, False] Translation: X:54.45, Y:5.25, Z:9.09 [[ 6.48068875e-01 -7.14299752e-01 -2.64163960e-01 5.44518665e+01] [ 7.59734196e-01 6.30505739e-01 1.58954284e-01 5.25000355e+00] [ 5.30158871e-02 -3.03707717e-01 9.51289093e-01 9.08981427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.309072329 meters Centerline goodness : 0.216194 Centerline is valid? [False, False] Translation: X:54.44, Y:5.24, Z:9.09 [[ 6.46257026e-01 -7.15504887e-01 -2.65338676e-01 5.44398578e+01] [ 7.61674489e-01 6.26175808e-01 1.66600812e-01 5.23993439e+00] [ 4.69449642e-02 -3.09768645e-01 9.49652335e-01 9.08811437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.339072329 meters Centerline goodness : 0.217702 Centerline is valid? [False, False] Translation: X:54.43, Y:5.23, Z:9.09 [[ 6.41770446e-01 -7.19199332e-01 -2.66238643e-01 5.44284352e+01] [ 7.65808304e-01 6.19491115e-01 1.72535213e-01 5.22956082e+00] [ 4.08452636e-02 -3.14615764e-01 9.48339910e-01 9.08733451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.369072329 meters Centerline goodness : 0.217088 Centerline is valid? [False, False] Translation: X:54.42, Y:5.22, Z:9.09 [[ 6.40481359e-01 -7.20224224e-01 -2.66572122e-01 5.44152140e+01] [ 7.67217955e-01 6.15463281e-01 1.80503626e-01 5.21795733e+00] [ 3.40622685e-02 -3.20128126e-01 9.46761715e-01 9.08519414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.399072329 meters Centerline goodness : 0.217558 Centerline is valid? [False, False] Translation: X:54.40, Y:5.21, Z:9.08 [[ 6.40122189e-01 -7.20660207e-01 -2.66256360e-01 5.44034093e+01] [ 7.67817169e-01 6.12033030e-01 1.89400013e-01 5.20609513e+00] [ 2.64646338e-02 -3.25675355e-01 9.45111203e-01 9.08319983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.429072329 meters Centerline goodness : 0.217074 Centerline is valid? [False, False] Translation: X:54.39, Y:5.19, Z:9.08 [[ 6.39208088e-01 -7.21296079e-01 -2.66730177e-01 5.43901295e+01] [ 7.68790789e-01 6.08058826e-01 1.98053494e-01 5.19442989e+00] [ 1.93324290e-02 -3.31657098e-01 9.43201901e-01 9.08157483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.459072329 meters Centerline goodness : 0.218517 Centerline is valid? [False, False] Translation: X:54.38, Y:5.18, Z:9.08 [[ 6.39147747e-01 -7.21285083e-01 -2.66904453e-01 5.43773479e+01] [ 7.68994919e-01 6.04636143e-01 2.07513732e-01 5.18212137e+00] [ 1.17035192e-02 -3.37880102e-01 9.41116392e-01 9.07998125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.489072329 meters Centerline goodness : 0.217817 Centerline is valid? [False, False] Translation: X:54.37, Y:5.17, Z:9.08 [[ 6.35908882e-01 -7.23402824e-01 -2.68901932e-01 5.43658721e+01] [ 7.71744544e-01 5.98528727e-01 2.14880713e-01 5.17071692e+00] [ 5.50021707e-03 -3.44168153e-01 9.38891916e-01 9.08039550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.519072329 meters Centerline goodness : 0.215333 Centerline is valid? [False, False] Translation: X:54.35, Y:5.16, Z:9.08 [[ 6.35719604e-01 -7.23536294e-01 -2.68990365e-01 5.43532989e+01] [ 7.71917140e-01 5.94911424e-01 2.24107847e-01 5.15838678e+00] [-2.12471975e-03 -3.50108024e-01 9.36706922e-01 9.07868332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.549072329 meters Centerline goodness : 0.217606 Centerline is valid? [False, False] Translation: X:54.34, Y:5.14, Z:9.08 [[ 6.37174115e-01 -7.22881849e-01 -2.67303162e-01 5.43390692e+01] [ 7.70635944e-01 5.92441384e-01 2.34805126e-01 5.14266767e+00] [-1.13749085e-02 -3.55605173e-01 9.34567051e-01 9.07593273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.579072329 meters Centerline goodness : 0.216283 Centerline is valid? [False, False] Translation: X:54.33, Y:5.13, Z:9.08 [[ 6.33503131e-01 -7.26136539e-01 -2.67206867e-01 5.43265488e+01] [ 7.73504775e-01 5.85829466e-01 2.41855741e-01 5.12958504e+00] [-1.90826347e-02 -3.59902157e-01 9.32794881e-01 9.07645563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.609072329 meters Centerline goodness : 0.217727 Centerline is valid? [False, False] Translation: X:54.31, Y:5.12, Z:9.08 [[ 6.31589889e-01 -7.27570573e-01 -2.67834414e-01 5.43103190e+01] [ 7.74879227e-01 5.80966075e-01 2.49079513e-01 5.11710075e+00] [-2.56202159e-02 -3.64855426e-01 9.30711622e-01 9.07538124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63907232900002 meters Centerline goodness : 0.217913 Centerline is valid? [False, False] Translation: X:54.30, Y:5.11, Z:9.08 [[ 6.27343892e-01 -7.30338549e-01 -2.70268837e-01 5.42976669e+01] [ 7.78124506e-01 5.74061650e-01 2.54902874e-01 5.10570588e+00] [-3.10144210e-02 -3.70214567e-01 9.28428393e-01 9.07699954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.66907232900002 meters Centerline goodness : 0.221064 Centerline is valid? [False, False] Translation: X:54.28, Y:5.09, Z:9.08 [[ 6.26345049e-01 -7.30646878e-01 -2.71748080e-01 5.42817926e+01] [ 7.78646352e-01 5.69636102e-01 2.63105625e-01 5.09330508e+00] [-3.74397865e-02 -3.76390557e-01 9.25704278e-01 9.07626726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699072329 meters Centerline goodness : 0.220936 Centerline is valid? [False, False] Translation: X:54.27, Y:5.08, Z:9.08 [[ 6.24832482e-01 -7.31476263e-01 -2.72996055e-01 5.42662149e+01] [ 7.79530433e-01 5.64864823e-01 2.70665911e-01 5.08102228e+00] [-4.37798211e-02 -3.81929586e-01 9.23153898e-01 9.07552733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729072329 meters Centerline goodness : 0.221662 Centerline is valid? [False, False] Translation: X:54.25, Y:5.07, Z:9.07 [[ 6.22870897e-01 -7.32908372e-01 -2.73636919e-01 5.42480037e+01] [ 7.80747503e-01 5.60151727e-01 2.76881526e-01 5.06764405e+00] [-4.96505962e-02 -3.86102786e-01 9.21118590e-01 9.07401343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759072329 meters Centerline goodness : 0.223728 Centerline is valid? [False, False] Translation: X:54.23, Y:5.05, Z:9.07 [[ 0.61867132 -0.73660956 -0.27322545 54.23322716] [ 0.78356808 0.55321629 0.28279463 5.05359602] [-0.05715645 -0.38904767 0.91944279 9.07458109] [ 0. 0. 0. 1. ]] SLAMing on 208.789072329 meters Centerline goodness : 0.223728 Centerline is valid? [False, False] Translation: X:54.21, Y:5.04, Z:9.07 [[ 0.62096513 -0.73493897 -0.27251974 54.21169931] [ 0.78135324 0.55271863 0.28980893 5.03786636] [-0.06236514 -0.39289543 0.91746595 9.06990226] [ 0. 0. 0. 1. ]] SLAMing on 208.819072329 meters Centerline goodness : 0.225615 Centerline is valid? [False, False] Translation: X:54.20, Y:5.02, Z:9.07 [[ 0.6299142 -0.73166894 -0.26051616 54.19808001] [ 0.77222334 0.55420592 0.3106878 5.01904836] [-0.08294102 -0.39688332 0.91411401 9.069987 ] [ 0. 0. 0. 1. ]] SLAMing on 208.849072329 meters Centerline goodness : 0.225685 Centerline is valid? [False, False] Translation: X:54.19, Y:5.00, Z:9.07 [[ 0.6380964 -0.72836153 -0.24964468 54.185926 ] [ 0.76310341 0.55508919 0.33098213 5.00135737] [-0.10249959 -0.40170322 0.91001558 9.07078052] [ 0. 0. 0. 1. ]] SLAMing on 208.879072329 meters Centerline goodness : 0.228179 Centerline is valid? [False, False] Translation: X:54.18, Y:4.98, Z:9.07 [[ 0.64241144 -0.72794729 -0.23958357 54.17645874] [ 0.75660478 0.55272146 0.34935398 4.98483837] [-0.12188831 -0.40569906 0.90584298 9.07226793] [ 0. 0. 0. 1. ]] SLAMing on 208.909072329 meters Centerline goodness : 0.231954 Centerline is valid? [False, False] Translation: X:54.17, Y:4.97, Z:9.07 [[ 0.649105 -0.72503088 -0.23020192 54.16637845] [ 0.74777216 0.55260494 0.36805513 4.96993508] [-0.13964061 -0.41104501 0.90085654 9.07372739] [ 0. 0. 0. 1. ]] SLAMing on 208.939072329 meters Centerline goodness : 0.231222 Centerline is valid? [False, False] Translation: X:54.16, Y:4.96, Z:9.08 [[ 0.65535792 -0.72235501 -0.22070169 54.15699679] [ 0.73885762 0.55242805 0.38589204 4.95579305] [-0.15682925 -0.41596453 0.8957556 9.07524892] [ 0. 0. 0. 1. ]] SLAMing on 208.969072329 meters Centerline goodness : 0.233705 Centerline is valid? [False, False] Translation: X:54.15, Y:4.94, Z:9.08 [[ 0.66100636 -0.7200568 -0.2111606 54.14830271] [ 0.73003973 0.55202424 0.40287867 4.94248556] [-0.17352976 -0.42046099 0.89056161 9.0769829 ] [ 0. 0. 0. 1. ]] SLAMing on 208.999072329 meters Centerline goodness : 0.234374 Centerline is valid? [False, False] Translation: X:54.14, Y:4.93, Z:9.08 [[ 0.6641698 -0.72021748 -0.2004127 54.14099011] [ 0.72266539 0.54989774 0.41876868 4.92819262] [-0.19139803 -0.42296483 0.88570172 9.07955899] [ 0. 0. 0. 1. ]] SLAMing on 209.029072329 meters Centerline goodness : 0.236649 Centerline is valid? [False, False] Translation: X:54.13, Y:4.92, Z:9.08 [[ 0.66887245 -0.71851394 -0.19064982 54.13417867] [ 0.71396294 0.54949067 0.43395497 4.91642422] [-0.2070424 -0.42637743 0.8805315 9.08146355] [ 0. 0. 0. 1. ]] SLAMing on 209.059072329 meters Centerline goodness : 0.235313 Centerline is valid? [False, False] Translation: X:54.13, Y:4.90, Z:9.08 [[ 0.67349034 -0.7167894 -0.1806204 54.12660805] [ 0.70475354 0.54892812 0.4494445 4.9042904 ] [-0.22300944 -0.42998939 0.87485765 9.08364627] [ 0. 0. 0. 1. ]] SLAMing on 209.089072329 meters Centerline goodness : 0.233853 Centerline is valid? [False, False] Translation: X:54.12, Y:4.89, Z:9.09 [[ 0.67623806 -0.71672538 -0.17031385 54.12004883] [ 0.69657569 0.54685606 0.46446826 4.89139013] [-0.23975903 -0.4327276 0.86905836 9.08635459] [ 0. 0. 0. 1. ]] SLAMing on 209.119072329 meters Centerline goodness : 0.235225 Centerline is valid? [False, False] Translation: X:54.11, Y:4.88, Z:9.09 [[ 0.68062414 -0.71473622 -0.16094381 54.11289885] [ 0.68682692 0.54602527 0.47971365 4.8798632 ] [-0.25498933 -0.43704524 0.86253806 9.088333 ] [ 0. 0. 0. 1. ]] SLAMing on 209.149072329 meters Centerline goodness : 0.241212 Centerline is valid? [False, False] Translation: X:54.11, Y:4.87, Z:9.09 [[ 0.6846754 -0.71289729 -0.15164778 54.10659992] [ 0.67703755 0.54504058 0.4945209 4.86895023] [-0.26988841 -0.44125754 0.85583411 9.09040454] [ 0. 0. 0. 1. ]] SLAMing on 209.179072329 meters Centerline goodness : 0.238264 Centerline is valid? [False, False] Translation: X:54.10, Y:4.86, Z:9.09 [[ 0.68719758 -0.71258743 -0.14134581 54.1012036 ] [ 0.66797804 0.54330305 0.50855395 4.85704741] [-0.28559554 -0.44389295 0.8493493 9.09321454] [ 0. 0. 0. 1. ]] SLAMing on 209.209072329 meters Centerline goodness : 0.237886 Centerline is valid? [False, False] Translation: X:54.10, Y:4.85, Z:9.10 [[ 0.69059116 -0.71117817 -0.13156539 54.09597076] [ 0.65839271 0.54288845 0.52133595 4.84812502] [-0.29933742 -0.44665169 0.84314849 9.09591316] [ 0. 0. 0. 1. ]] SLAMing on 209.239072329 meters Centerline goodness : 0.241690 Centerline is valid? [False, False] Translation: X:54.09, Y:4.84, Z:9.10 [[ 0.69273238 -0.71090581 -0.12138694 54.09211485] [ 0.64928191 0.54149363 0.53405773 4.83773714] [-0.31393448 -0.44877342 0.83668845 9.09918517] [ 0. 0. 0. 1. ]] SLAMing on 209.269072329 meters Centerline goodness : 0.241153 Centerline is valid? [False, False] Translation: X:54.09, Y:4.83, Z:9.10 [[ 0.69605381 -0.70922314 -0.1118554 54.08685211] [ 0.63908097 0.54098711 0.54672521 4.82915926] [-0.32723784 -0.45203482 0.82980716 9.10195537] [ 0. 0. 0. 1. ]] SLAMing on 209.299072329 meters Centerline goodness : 0.241690 Centerline is valid? [False, False] Translation: X:54.08, Y:4.82, Z:9.10 [[ 0.69903811 -0.70773717 -0.10224391 54.08151154] [ 0.62872667 0.54018824 0.55937415 4.82028376] [-0.34065892 -0.45530732 0.8225854 9.10445619] [ 0. 0. 0. 1. ]] SLAMing on 209.329072329 meters Centerline goodness : 0.242647 Centerline is valid? [False, False] Translation: X:54.08, Y:4.81, Z:9.11 [[ 0.70202434 -0.70607149 -0.09287022 54.07702133] [ 0.61834198 0.53964845 0.57134293 4.81226276] [-0.35329168 -0.4585222 0.81543999 9.10704851] [ 0. 0. 0. 1. ]] SLAMing on 209.359072329 meters Centerline goodness : 0.244000 Centerline is valid? [False, False] Translation: X:54.07, Y:4.80, Z:9.11 [[ 0.70489898 -0.70435701 -0.08365781 54.07287798] [ 0.60770906 0.53889236 0.58333929 4.80414479] [-0.36579656 -0.46203488 0.80790881 9.10961042] [ 0. 0. 0. 1. ]] SLAMing on 209.38907232900002 meters Centerline goodness : 0.242227 Centerline is valid? [False, False] Translation: X:54.07, Y:4.80, Z:9.11 [[ 0.70719984 -0.70313327 -0.07397289 54.07066253] [ 0.59748587 0.53842575 0.5942292 4.79606654] [-0.37799341 -0.46443655 0.8008868 9.11308526] [ 0. 0. 0. 1. ]] SLAMing on 209.41907232900002 meters Centerline goodness : 0.245990 Centerline is valid? [False, False] Translation: X:54.07, Y:4.79, Z:9.12 [[ 0.70978712 -0.70145534 -0.06451867 54.0668281 ] [ 0.58669329 0.53798976 0.60527514 4.78879455] [-0.38986309 -0.46746917 0.79339734 9.1157234 ] [ 0. 0. 0. 1. ]] SLAMing on 209.449072329 meters Centerline goodness : 0.246379 Centerline is valid? [False, False] Translation: X:54.06, Y:4.78, Z:9.12 [[ 0.71242894 -0.69956219 -0.05529687 54.06487021] [ 0.57588182 0.53780312 0.61573365 4.78178234] [-0.40100516 -0.47051093 0.78601166 9.1188741 ] [ 0. 0. 0. 1. ]] SLAMing on 209.479072329 meters Centerline goodness : 0.247953 Centerline is valid? [False, False] Translation: X:54.06, Y:4.78, Z:9.12 [[ 7.14908286e-01 -6.97693511e-01 -4.61509194e-02 5.40615614e+01] [ 5.64933569e-01 5.37458139e-01 6.26090098e-01 4.77560557e+00] [-4.12014812e-01 -4.73669203e-01 7.78383762e-01 9.12121902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509072329 meters Centerline goodness : 0.244458 Centerline is valid? [False, False] Translation: X:54.06, Y:4.77, Z:9.12 [[ 7.17347705e-01 -6.95733055e-01 -3.69836113e-02 5.40579159e+01] [ 5.53628927e-01 5.36993834e-01 6.36500301e-01 4.76940144e+00] [-4.22974328e-01 -4.77067227e-01 7.70389239e-01 9.12351906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539072329 meters Centerline goodness : 0.245370 Centerline is valid? [False, False] Translation: X:54.05, Y:4.76, Z:9.13 [[ 7.19521691e-01 -6.93909293e-01 -2.79003322e-02 5.40549771e+01] [ 5.42447749e-01 5.36476104e-01 6.46485753e-01 4.76337860e+00] [-4.33634611e-01 -4.80294995e-01 7.62415728e-01 9.12543357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.569072329 meters Centerline goodness : 0.249066 Centerline is valid? [False, False] Translation: X:54.05, Y:4.76, Z:9.13 [[ 7.22047712e-01 -6.91577962e-01 -1.91578608e-02 5.40543873e+01] [ 5.31394811e-01 5.36649858e-01 6.55458988e-01 4.75804513e+00] [-4.43019928e-01 -4.83453051e-01 7.54987742e-01 9.12795813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.599072329 meters Centerline goodness : 0.250250 Centerline is valid? [False, False] Translation: X:54.05, Y:4.75, Z:9.13 [[ 7.23823193e-01 -6.89916972e-01 -9.72397527e-03 5.40518467e+01] [ 5.20211584e-01 5.36410954e-01 6.64562410e-01 4.75252727e+00] [-4.53276839e-01 -4.86084210e-01 7.47169491e-01 9.12962691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.629072329 meters Centerline goodness : 0.251450 Centerline is valid? [False, False] Translation: X:54.05, Y:4.75, Z:9.13 [[ 7.25543633e-01 -6.88176077e-01 -3.51080712e-04 5.40497387e+01] [ 5.09038082e-01 5.36335100e-01 6.73219795e-01 4.74743949e+00] [-4.63105460e-01 -4.88629049e-01 7.39442347e-01 9.13132222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.659072329 meters Centerline goodness : 0.249223 Centerline is valid? [False, False] Translation: X:54.05, Y:4.74, Z:9.13 [[ 7.27139411e-01 -6.86430808e-01 9.00130350e-03 5.40474467e+01] [ 4.97786629e-01 5.36246364e-01 6.81651164e-01 4.74263559e+00] [-4.72733275e-01 -4.91174697e-01 7.31621943e-01 9.13297371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.689072329 meters Centerline goodness : 0.250866 Centerline is valid? [False, False] Translation: X:54.05, Y:4.74, Z:9.13 [[ 7.28830286e-01 -6.84460560e-01 1.78928946e-02 5.40468973e+01] [ 4.86495361e-01 5.36067063e-01 6.89894461e-01 4.73823328e+00] [-4.81797341e-01 -4.94111167e-01 7.23688798e-01 9.13390116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.719072329 meters Centerline goodness : 0.253119 Centerline is valid? [False, False] Translation: X:54.04, Y:4.73, Z:9.13 [[ 7.30116946e-01 -6.82785336e-01 2.70819394e-02 5.40442659e+01] [ 4.74894010e-01 5.35513829e-01 6.98355654e-01 4.73366766e+00] [-4.91329752e-01 -4.97020246e-01 7.15238387e-01 9.13494389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.749072329 meters Centerline goodness : 0.254258 Centerline is valid? [False, False] Translation: X:54.04, Y:4.73, Z:9.14 [[ 7.31089151e-01 -6.81311694e-01 3.63734781e-02 5.40414784e+01] [ 4.63262096e-01 5.34834292e-01 7.06640298e-01 4.72914942e+00] [-5.00896082e-01 -4.99766601e-01 7.06637431e-01 9.13606226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.779072329 meters Centerline goodness : 0.256734 Centerline is valid? [False, False] Translation: X:54.04, Y:4.73, Z:9.14 [[ 7.31699289e-01 -6.80090690e-01 4.57471785e-02 5.40409111e+01] [ 4.52244857e-01 5.34586622e-01 7.13926980e-01 4.72514562e+00] [-5.09990922e-01 -5.01690937e-01 6.98724168e-01 9.13610959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.809072329 meters Centerline goodness : 0.257418 Centerline is valid? [False, False] Translation: X:54.04, Y:4.72, Z:9.14 [[ 0.7320158 -0.67902941 0.05542501 54.03863574] [ 0.44077146 0.53405445 0.72146127 4.72050781] [-0.51949339 -0.50369129 0.69023308 9.13714597] [ 0. 0. 0. 1. ]] SLAMing on 209.839072329 meters Centerline goodness : 0.258410 Centerline is valid? [False, False] Translation: X:54.04, Y:4.72, Z:9.14 [[ 0.73207805 -0.67809648 0.06516825 54.03580115] [ 0.42913153 0.53335017 0.72896072 4.71593996] [-0.52906319 -0.50569039 0.68144653 9.1382402 ] [ 0. 0. 0. 1. ]] SLAMing on 209.869072329 meters Centerline goodness : 0.258405 Centerline is valid? [False, False] Translation: X:54.03, Y:4.71, Z:9.14 [[ 0.7316831 -0.67754919 0.0746119 54.03392213] [ 0.41796518 0.53241819 0.73609509 4.71193307] [-0.53846536 -0.50740316 0.67275336 9.13767083] [ 0. 0. 0. 1. ]] SLAMing on 209.899072329 meters Centerline goodness : 0.258075 Centerline is valid? [False, False] Translation: X:54.03, Y:4.71, Z:9.14 [[ 0.73140145 -0.67674757 0.08405146 54.03071182] [ 0.40603703 0.5311858 0.74362328 4.70726954] [-0.54789218 -0.50975914 0.66329464 9.13840048] [ 0. 0. 0. 1. ]] SLAMing on 209.929072329 meters Centerline goodness : 0.258251 Centerline is valid? [False, False] Translation: X:54.03, Y:4.70, Z:9.14 [[ 0.73080861 -0.67611002 0.09377645 54.027478 ] [ 0.39429099 0.53029121 0.75055036 4.70311453] [-0.55718345 -0.51153346 0.65412547 9.13936194] [ 0. 0. 0. 1. ]] SLAMing on 209.959072329 meters Centerline goodness : 0.262290 Centerline is valid? [False, False] Translation: X:54.03, Y:4.70, Z:9.14 [[ 0.72934501 -0.67617906 0.10410442 54.02629461] [ 0.38355111 0.53013386 0.75620542 4.69956501] [-0.56651955 -0.51160528 0.64599972 9.13871466] [ 0. 0. 0. 1. ]] SLAMing on 209.989072329 meters Centerline goodness : 0.262316 Centerline is valid? [False, False] Translation: X:54.02, Y:4.70, Z:9.14 [[ 0.72808017 -0.67589634 0.11429525 54.02303016] [ 0.3719025 0.52954138 0.76241357 4.69547558] [-0.57583661 -0.51259151 0.63691612 9.13969101] [ 0. 0. 0. 1. ]] SLAMing on 210.019072329 meters Centerline goodness : 0.261647 Centerline is valid? [False, False] Translation: X:54.02, Y:4.69, Z:9.14 [[ 0.72681797 -0.67549738 0.12425349 54.01906507] [ 0.35977105 0.52853926 0.76890249 4.69137788] [-0.58506447 -0.51414933 0.62717624 9.1408344 ] [ 0. 0. 0. 1. ]] SLAMing on 210.049072329 meters Centerline goodness : 0.261257 Centerline is valid? [False, False] Translation: X:54.02, Y:4.69, Z:9.14 [[ 0.72554972 -0.67501357 0.13391895 54.0151635 ] [ 0.34751429 0.52735235 0.77532788 4.68732645] [-0.59397931 -0.51600017 0.61719721 9.14174686] [ 0. 0. 0. 1. ]] SLAMing on 210.079072329 meters Centerline goodness : 0.261963 Centerline is valid? [False, False] Translation: X:54.01, Y:4.68, Z:9.14 [[ 0.723431 -0.67536145 0.14329865 54.01243152] [ 0.33632121 0.52600562 0.78115692 4.6842671 ] [-0.60293916 -0.51691876 0.60766715 9.14017677] [ 0. 0. 0. 1. ]] SLAMing on 210.109072329 meters Centerline goodness : 0.261716 Centerline is valid? [False, False] Translation: X:54.01, Y:4.68, Z:9.14 [[ 0.7218192 -0.6749572 0.15300269 54.00851221] [ 0.3239075 0.52483523 0.78716701 4.67998122] [-0.61160524 -0.51863355 0.59745985 9.14105287] [ 0. 0. 0. 1. ]] SLAMing on 210.13907232900002 meters Centerline goodness : 0.263196 Centerline is valid? [False, False] Translation: X:54.00, Y:4.68, Z:9.14 [[ 0.71995537 -0.67459894 0.1630354 54.00495406] [ 0.31159433 0.52409993 0.7926085 4.67567809] [-0.62013969 -0.51984184 0.58752976 9.14157251] [ 0. 0. 0. 1. ]] SLAMing on 210.16907232900002 meters Centerline goodness : 0.262307 Centerline is valid? [False, False] Translation: X:54.00, Y:4.67, Z:9.14 [[ 0.71776919 -0.67439332 0.17320808 54.00152473] [ 0.29932245 0.52346284 0.79774226 4.67154704] [-0.62866005 -0.52074975 0.57758657 9.14260706] [ 0. 0. 0. 1. ]] SLAMing on 210.199072329 meters Centerline goodness : 0.264155 Centerline is valid? [False, False] Translation: X:54.00, Y:4.67, Z:9.14 [[ 0.71439884 -0.67515068 0.18386367 53.99872932] [ 0.28825334 0.52338108 0.80186174 4.66833912] [-0.63760827 -0.51984978 0.56851728 9.14155064] [ 0. 0. 0. 1. ]] SLAMing on 210.229072329 meters Centerline goodness : 0.264652 Centerline is valid? [False, False] Translation: X:53.99, Y:4.66, Z:9.14 [[ 0.71196845 -0.67495883 0.19373047 53.99452284] [ 0.27566702 0.52238881 0.8069186 4.66452546] [-0.64583947 -0.52109549 0.55798824 9.14230223] [ 0. 0. 0. 1. ]] SLAMing on 210.259072329 meters Centerline goodness : 0.263261 Centerline is valid? [False, False] Translation: X:53.99, Y:4.66, Z:9.14 [[ 0.70924406 -0.67497878 0.20341217 53.98977216] [ 0.26298405 0.5210415 0.81200686 4.66082266] [-0.65407359 -0.52241688 0.54705424 9.14334193] [ 0. 0. 0. 1. ]] SLAMing on 210.289072329 meters Centerline goodness : 0.262510 Centerline is valid? [False, False] Translation: X:53.99, Y:4.66, Z:9.14 [[ 0.70565812 -0.67570717 0.21322859 53.98618633] [ 0.25136308 0.52009418 0.81628343 4.65766642] [-0.66246752 -0.52241923 0.53685652 9.14202503] [ 0. 0. 0. 1. ]] SLAMing on 210.319072329 meters Centerline goodness : 0.261668 Centerline is valid? [False, False] Translation: X:53.98, Y:4.65, Z:9.14 [[ 0.70262543 -0.67565021 0.22319119 53.98162243] [ 0.23856305 0.51919007 0.82068834 4.6536054 ] [-0.67037689 -0.52339132 0.52598132 9.14326471] [ 0. 0. 0. 1. ]] SLAMing on 210.349072329 meters Centerline goodness : 0.262575 Centerline is valid? [False, False] Translation: X:53.98, Y:4.65, Z:9.14 [[ 0.69827216 -0.67654913 0.23387447 53.97858839] [ 0.22721326 0.519298 0.82383476 4.64973351] [-0.67881524 -0.5221215 0.51633227 9.14173178] [ 0. 0. 0. 1. ]] SLAMing on 210.379072329 meters Centerline goodness : 0.262670 Centerline is valid? [False, False] Translation: X:53.97, Y:4.65, Z:9.14 [[ 0.6947783 -0.67655148 0.24405165 53.97388252] [ 0.21429989 0.51864714 0.82769602 4.64554068] [-0.68655566 -0.522765 0.50532968 9.1428104 ] [ 0. 0. 0. 1. ]] SLAMing on 210.409072329 meters Centerline goodness : 0.264515 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.14 [[ 0.69098593 -0.67665249 0.25432234 53.96895368] [ 0.20142537 0.51812095 0.83125116 4.64128139] [-0.6942379 -0.52315589 0.49430927 9.14389795] [ 0. 0. 0. 1. ]] SLAMing on 210.439072329 meters Centerline goodness : 0.262978 Centerline is valid? [False, False] Translation: X:53.96, Y:4.64, Z:9.14 [[ 0.68707766 -0.6767772 0.26438025 53.96428491] [ 0.18870654 0.51759491 0.83455698 4.63733997] [-0.701651 -0.52351517 0.48334018 9.14435938] [ 0. 0. 0. 1. ]] SLAMing on 210.469072329 meters Centerline goodness : 0.264897 Centerline is valid? [False, False] Translation: X:53.96, Y:4.63, Z:9.14 [[ 0.68193773 -0.67808289 0.27416149 53.96084245] [ 0.17741861 0.51700186 0.83739579 4.63405271] [-0.70956576 -0.52241043 0.4728676 9.14260841] [ 0. 0. 0. 1. ]] SLAMing on 210.499072329 meters Centerline goodness : 0.265434 Centerline is valid? [False, False] Translation: X:53.96, Y:4.63, Z:9.14 [[ 0.68121378 -0.67864923 0.27455966 53.95993502] [ 0.17800598 0.5173297 0.83706861 4.63422947] [-0.71011383 -0.52134941 0.47321574 9.141464 ] [ 0. 0. 0. 1. ]] SLAMing on 210.529072329 meters Centerline goodness : 0.264708 Centerline is valid? [False, False] Translation: X:53.96, Y:4.63, Z:9.14 [[ 0.67674191 -0.67896697 0.28464757 53.95587875] [ 0.1655038 0.51703964 0.83980861 4.63022562] [-0.71737638 -0.52122343 0.46227401 9.14212693] [ 0. 0. 0. 1. ]] SLAMing on 210.559072329 meters Centerline goodness : 0.265587 Centerline is valid? [False, False] Translation: X:53.95, Y:4.63, Z:9.14 [[ 0.67032053 -0.68050832 0.2959372 53.95335944] [ 0.15526961 0.5185918 0.84080551 4.62669116] [-0.72564574 -0.51765914 0.45328498 9.14024856] [ 0. 0. 0. 1. ]] SLAMing on 210.589072329 meters Centerline goodness : 0.265070 Centerline is valid? [False, False] Translation: X:53.95, Y:4.63, Z:9.14 [[ 0.66880023 -0.6810712 0.29807427 53.9544682 ] [ 0.1573678 0.52154408 0.8385864 4.62696821] [-0.72659592 -0.51393949 0.45598748 9.13745576] [ 0. 0. 0. 1. ]] SLAMing on 210.619072329 meters Centerline goodness : 0.265657 Centerline is valid? [False, False] Translation: X:53.96, Y:4.63, Z:9.13 [[ 0.66984572 -0.68285363 0.29157784 53.95977124] [ 0.17398083 0.52611253 0.83242794 4.63185243] [-0.72182919 -0.50686934 0.47121767 9.13076515] [ 0. 0. 0. 1. ]] SLAMing on 210.649072329 meters Centerline goodness : 0.264092 Centerline is valid? [False, False] Translation: X:53.96, Y:4.64, Z:9.12 [[ 0.67094016 -0.68459585 0.28489967 53.96459971] [ 0.19044254 0.53041811 0.82606796 4.63715388] [-0.71663864 -0.49998515 0.48625498 9.12411896] [ 0. 0. 0. 1. ]] SLAMing on 210.679072329 meters Centerline goodness : 0.263698 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.11 [[ 0.66951739 -0.68865269 0.27839529 53.97054446] [ 0.20767365 0.53338904 0.81998036 4.64281484] [-0.71317467 -0.49117575 0.50012826 9.11453899] [ 0. 0. 0. 1. ]] SLAMing on 210.709072329 meters Centerline goodness : 0.263627 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.12 [[ 0.66492232 -0.68911103 0.28810467 53.96582597] [ 0.19502382 0.53252656 0.82363898 4.63847517] [-0.72100209 -0.49146867 0.48848187 9.1154834 ] [ 0. 0. 0. 1. ]] SLAMing on 210.739072329 meters Centerline goodness : 0.263627 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.12 [[ 0.66492232 -0.68911103 0.28810467 53.96582597] [ 0.19502382 0.53252656 0.82363898 4.63847517] [-0.72100209 -0.49146867 0.48848187 9.1154834 ] [ 0. 0. 0. 1. ]] SLAMing on 210.769072329 meters Centerline goodness : 0.263927 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.11 [[ 0.66593688 -0.69094176 0.28129621 53.97088926] [ 0.21146445 0.53643616 0.81701838 4.64437022] [-0.71540957 -0.48459852 0.50334225 9.10912768] [ 0. 0. 0. 1. ]] SLAMing on 210.799072329 meters Centerline goodness : 0.262804 Centerline is valid? [False, False] Translation: X:53.98, Y:4.65, Z:9.10 [[ 0.66431417 -0.69492928 0.27524529 53.97711749] [ 0.22917 0.53987541 0.80994793 4.64988306] [-0.7114547 -0.47498193 0.51790383 9.10067153] [ 0. 0. 0. 1. ]] SLAMing on 210.829072329 meters Centerline goodness : 0.264468 Centerline is valid? [False, False] Translation: X:53.98, Y:4.65, Z:9.10 [[ 0.66485656 -0.69702267 0.26856126 53.9814376 ] [ 0.24494703 0.54309488 0.80314936 4.65484165] [-0.70566756 -0.46819584 0.53181383 9.09507012] [ 0. 0. 0. 1. ]] SLAMing on 210.859072329 meters Centerline goodness : 0.265257 Centerline is valid? [False, False] Translation: X:53.99, Y:4.66, Z:9.09 [[ 0.66529778 -0.69916242 0.26182201 53.98574742] [ 0.26046528 0.54602803 0.79624822 4.65988926] [-0.69966899 -0.46154664 0.54537877 9.09002744] [ 0. 0. 0. 1. ]] SLAMing on 210.88907232900002 meters Centerline goodness : 0.264913 Centerline is valid? [False, False] Translation: X:53.99, Y:4.67, Z:9.09 [[ 0.66563512 -0.70135785 0.25500402 53.99016943] [ 0.27600545 0.54883534 0.78905054 4.6654534 ] [-0.69336201 -0.45483725 0.55890266 9.08509666] [ 0. 0. 0. 1. ]] SLAMing on 210.91907232900002 meters Centerline goodness : 0.264322 Centerline is valid? [False, False] Translation: X:54.00, Y:4.67, Z:9.08 [[ 0.6620045 -0.70699777 0.24880554 53.99678208] [ 0.29337675 0.5499081 0.78200458 4.67279465] [-0.68969568 -0.44469678 0.57145835 9.07704129] [ 0. 0. 0. 1. ]] SLAMing on 210.949072329 meters Centerline goodness : 0.261852 Centerline is valid? [False, False] Translation: X:54.00, Y:4.68, Z:9.07 [[ 0.66225992 -0.70898276 0.24239479 54.0002405 ] [ 0.30785444 0.55240938 0.77464154 4.6784489 ] [-0.68310866 -0.43839174 0.58410209 9.07295655] [ 0. 0. 0. 1. ]] SLAMing on 210.979072329 meters Centerline goodness : 0.439511 Centerline is valid? [False, False] Translation: X:54.01, Y:4.69, Z:9.07 [[ 0.65863267 -0.71426976 0.23668908 54.00613152] [ 0.32470613 0.55354645 0.76691086 4.686418 ] [-0.67879963 -0.42825815 0.59651154 9.06568782] [ 0. 0. 0. 1. ]] SLAMing on 211.009072329 meters Centerline goodness : 0.509542 Centerline is valid? [False, False] Translation: X:54.01, Y:4.69, Z:9.06 [[ 0.65899271 -0.71599651 0.23038577 54.00920016] [ 0.33857905 0.55590077 0.75916965 4.69171111] [-0.67163445 -0.42228347 0.60875597 9.06204861] [ 0. 0. 0. 1. ]] SLAMing on 211.039072329 meters Centerline goodness : 0.510297 Centerline is valid? [False, False] Translation: X:54.01, Y:4.70, Z:9.06 [[ 0.65924732 -0.7178003 0.2239547 54.01192793] [ 0.35245268 0.55808181 0.75121356 4.69730676] [-0.66420635 -0.41630209 0.62090457 9.05903241] [ 0. 0. 0. 1. ]] SLAMing on 211.069072329 meters Centerline goodness : 0.507831 Centerline is valid? [False, False] Translation: X:54.02, Y:4.70, Z:9.05 [[ 0.65505216 -0.72356641 0.21761968 54.01748808] [ 0.36943839 0.55795238 0.74310459 4.70496592] [-0.65910693 -0.4063752 0.63280111 9.05255059] [ 0. 0. 0. 1. ]] SLAMing on 211.099072329 meters Centerline goodness : 0.509039 Centerline is valid? [False, False] Translation: X:54.02, Y:4.71, Z:9.05 [[ 0.65542544 -0.72524439 0.21080339 54.01952802] [ 0.38256791 0.55946047 0.73528619 4.71022172] [-0.65119835 -0.40127866 0.64413985 9.05028601] [ 0. 0. 0. 1. ]] SLAMing on 211.129072329 meters Centerline goodness : 0.508170 Centerline is valid? [False, False] Translation: X:54.02, Y:4.72, Z:9.05 [[ 0.6556309 -0.72707369 0.20374484 54.02158616] [ 0.39581156 0.56071965 0.72727346 4.71608198] [-0.64302514 -0.39617839 0.65540931 9.04775897] [ 0. 0. 0. 1. ]] SLAMing on 211.159072329 meters Centerline goodness : 0.505505 Centerline is valid? [False, False] Translation: X:54.02, Y:4.72, Z:9.04 [[ 0.64813643 -0.73554298 0.19721991 54.02160066] [ 0.40959083 0.55504091 0.72399236 4.72152116] [-0.64199262 -0.38846636 0.66101389 9.04204819] [ 0. 0. 0. 1. ]] SLAMing on 211.189072329 meters Centerline goodness : 0.510933 Centerline is valid? [False, False] Translation: X:54.02, Y:4.73, Z:9.04 [[ 0.64758416 -0.73782198 0.19040348 54.02290559] [ 0.4225881 0.55567444 0.71599247 4.72737286] [-0.63407733 -0.38320314 0.67164075 9.03991479] [ 0. 0. 0. 1. ]] SLAMing on 211.219072329 meters Centerline goodness : 0.503594 Centerline is valid? [False, False] Translation: X:54.02, Y:4.73, Z:9.04 [[ 0.64672985 -0.74031532 0.18350403 54.02405578] [ 0.43561471 0.5560111 0.70787815 4.73356372] [-0.62608332 -0.37786888 0.68208122 9.03821551] [ 0. 0. 0. 1. ]] SLAMing on 211.249072329 meters Centerline goodness : 0.504646 Centerline is valid? [False, False] Translation: X:54.02, Y:4.74, Z:9.04 [[ 0.64216701 -0.74569989 0.17763224 54.0207995 ] [ 0.44767583 0.55292267 0.70275378 4.73921166] [-0.6222603 -0.37176364 0.68890051 9.03758575] [ 0. 0. 0. 1. ]] SLAMing on 211.279072329 meters Centerline goodness : 0.506295 Centerline is valid? [False, False] Translation: X:54.02, Y:4.74, Z:9.04 [[ 0.63086312 -0.75621637 0.17363328 54.02196011] [ 0.46164331 0.54569744 0.69935667 4.74155537] [-0.6236162 -0.36104169 0.69336262 9.03524721] [ 0. 0. 0. 1. ]] SLAMing on 211.309072329 meters Centerline goodness : 0.501843 Centerline is valid? [False, False] Translation: X:54.01, Y:4.74, Z:9.04 [[ 0.62201958 -0.76371454 0.17271869 54.01263893] [ 0.46903608 0.54005567 0.69881688 4.74096088] [-0.62697432 -0.35366648 0.69413487 9.03738522] [ 0. 0. 0. 1. ]] SLAMing on 211.339072329 meters Centerline goodness : 0.500773 Centerline is valid? [False, False] Translation: X:54.00, Y:4.74, Z:9.04 [[ 0.61273141 -0.77120613 0.17263063 54.00291533] [ 0.47583499 0.534423 0.69855072 4.73955677] [-0.63098437 -0.34588027 0.69442462 9.04025617] [ 0. 0. 0. 1. ]] SLAMing on 211.369072329 meters Centerline goodness : 0.503468 Centerline is valid? [False, False] Translation: X:53.99, Y:4.74, Z:9.04 [[ 0.60320923 -0.77856136 0.17314973 53.99285566] [ 0.48172876 0.52866296 0.69889404 4.73716813] [-0.63566974 -0.33816813 0.69394978 9.04380183] [ 0. 0. 0. 1. ]] SLAMing on 211.399072329 meters Centerline goodness : 0.498805 Centerline is valid? [False, False] Translation: X:54.00, Y:4.74, Z:9.04 [[ 0.58681162 -0.79108056 0.1727532 53.9969417 ] [ 0.495943 0.5197861 0.69560258 4.73513399] [-0.64007239 -0.32251194 0.69734739 9.04476605] [ 0. 0. 0. 1. ]] SLAMing on 211.429072329 meters Centerline goodness : 0.489706 Centerline is valid? [False, False] Translation: X:53.99, Y:4.73, Z:9.05 [[ 0.57621999 -0.79862208 0.17370463 53.98665665] [ 0.50176532 0.51344586 0.6961357 4.73162135] [-0.64513726 -0.31396834 0.69657863 9.04922341] [ 0. 0. 0. 1. ]] SLAMing on 211.459072329 meters Centerline goodness : 0.497658 Centerline is valid? [False, False] Translation: X:53.99, Y:4.72, Z:9.05 [[ 0.55620423 -0.81258067 0.17421109 53.98619667] [ 0.51264921 0.5004747 0.69765025 4.72398755] [-0.65408535 -0.29872684 0.69493498 9.05089538] [ 0. 0. 0. 1. ]] SLAMing on 211.489072329 meters Centerline goodness : 0.499415 Centerline is valid? [False, False] Translation: X:53.98, Y:4.72, Z:9.06 [[ 0.54571504 -0.81933748 0.17573047 53.97636546] [ 0.51662567 0.49407547 0.6992763 4.71887466] [-0.6597674 -0.29081872 0.69291518 9.05564356] [ 0. 0. 0. 1. ]] SLAMing on 211.519072329 meters Centerline goodness : 0.500533 Centerline is valid? [False, False] Translation: X:53.97, Y:4.71, Z:9.06 [[ 0.53463934 -0.82631362 0.1771061 53.96670656] [ 0.52158757 0.48754667 0.70017474 4.71449415] [-0.66491141 -0.28196462 0.69165654 9.06022795] [ 0. 0. 0. 1. ]] SLAMing on 211.549072329 meters Centerline goodness : 0.500131 Centerline is valid? [False, False] Translation: X:53.97, Y:4.71, Z:9.06 [[ 0.51354826 -0.83927963 0.17854379 53.96840016] [ 0.5320555 0.47471221 0.70111716 4.70733819] [-0.67319027 -0.26506229 0.69033097 9.06150013] [ 0. 0. 0. 1. ]] SLAMing on 211.579072329 meters Centerline goodness : 0.418566 Centerline is valid? [False, False] Translation: X:53.96, Y:4.70, Z:9.07 [[ 0.50214521 -0.84569364 0.1806999 53.95907696] [ 0.53610135 0.46837899 0.70229371 4.70252833] [-0.67856136 -0.25577996 0.68857177 9.06615479] [ 0. 0. 0. 1. ]] SLAMing on 211.609072329 meters Centerline goodness : 0.426135 Centerline is valid? [False, False] Translation: X:53.95, Y:4.70, Z:9.07 [[ 0.49094914 -0.85180454 0.18275112 53.94981214] [ 0.53954267 0.46198921 0.70388896 4.69754352] [-0.68400486 -0.24697165 0.6863981 9.07129974] [ 0. 0. 0. 1. ]] SLAMing on 211.63907232900002 meters Centerline goodness : 0.343839 Centerline is valid? [False, False] Translation: X:53.95, Y:4.69, Z:9.07 [[ 0.46903502 -0.86392046 0.18343278 53.95345833] [ 0.54897841 0.44788785 0.70570474 4.68981185] [-0.69183008 -0.23029959 0.68434877 9.07249971] [ 0. 0. 0. 1. ]] SLAMing on 211.66907232900002 meters Centerline goodness : 0.335688 Centerline is valid? [False, False] Translation: X:53.94, Y:4.68, Z:9.08 [[ 0.45820778 -0.86924271 0.1856414 53.94474938] [ 0.55142418 0.44180138 0.70763191 4.68428835] [-0.69712051 -0.22187529 0.68175828 9.07782236] [ 0. 0. 0. 1. ]] SLAMing on 211.699072329 meters Centerline goodness : 0.424474 Centerline is valid? [False, False] Translation: X:53.94, Y:4.68, Z:9.08 [[ 0.44780657 -0.87405786 0.18839358 53.93715756] [ 0.55327077 0.43639207 0.70954451 4.67863445] [-0.70239642 -0.21350603 0.6790099 9.08269419] [ 0. 0. 0. 1. ]] SLAMing on 211.729072329 meters Centerline goodness : 0.439731 Centerline is valid? [False, False] Translation: X:53.94, Y:4.67, Z:9.08 [[ 0.42635829 -0.8842531 0.19056513 53.94387247] [ 0.56330647 0.42438917 0.70892852 4.67388972] [-0.70774602 -0.19491098 0.67904733 9.08295542] [ 0. 0. 0. 1. ]] SLAMing on 211.759072329 meters Centerline goodness : 0.448301 Centerline is valid? [False, False] Translation: X:53.94, Y:4.67, Z:9.09 [[ 0.41879837 -0.88701015 0.19447602 53.94101185] [ 0.5631199 0.42169161 0.71068429 4.66726218] [-0.71239309 -0.18812011 0.67609682 9.08694863] [ 0. 0. 0. 1. ]] SLAMing on 211.789072329 meters Centerline goodness : 0.230279 Centerline is valid? [False, False] Translation: X:53.94, Y:4.66, Z:9.09 [[ 0.41065537 -0.89004975 0.19792321 53.93759968] [ 0.56347134 0.41838626 0.71235734 4.66119782] [-0.71684183 -0.18100931 0.6733301 9.09079843] [ 0. 0. 0. 1. ]] SLAMing on 211.819072329 meters Centerline goodness : 0.443437 Centerline is valid? [False, False] Translation: X:53.94, Y:4.65, Z:9.09 [[ 0.40362786 -0.89249023 0.20135975 53.93686906] [ 0.56347292 0.41587959 0.71382241 4.6547445 ] [-0.72082093 -0.17465784 0.67075466 9.09362439] [ 0. 0. 0. 1. ]] SLAMing on 211.849072329 meters Centerline goodness : 0.472839 Centerline is valid? [False, False] Translation: X:53.95, Y:4.65, Z:9.09 [[ 0.38291212 -0.90164926 0.20101471 53.95046078] [ 0.5730685 0.40251578 0.7138442 4.65108494] [-0.72454869 -0.1581444 0.67083496 9.0908779 ] [ 0. 0. 0. 1. ]] SLAMing on 211.879072329 meters Centerline goodness : 0.326459 Centerline is valid? [False, False] Translation: X:53.95, Y:4.65, Z:9.09 [[ 0.37704296 -0.90338221 0.20430173 53.9529936 ] [ 0.57376044 0.40097682 0.71415443 4.64626272] [-0.72707466 -0.15204665 0.66951046 9.09222734] [ 0. 0. 0. 1. ]] SLAMing on 211.909072329 meters Centerline goodness : 0.312358 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.09 [[ 0.35636866 -0.91163591 0.20474701 53.96695388] [ 0.58383308 0.38835396 0.71296574 4.64435756] [-0.72947948 -0.13454057 0.67064038 9.08869196] [ 0. 0. 0. 1. ]] SLAMing on 211.939072329 meters Centerline goodness : 0.304762 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.09 [[ 0.35084319 -0.91297434 0.20829523 53.97064267] [ 0.58511529 0.38739409 0.71243661 4.64099322] [-0.73112869 -0.12807681 0.67010982 9.08911992] [ 0. 0. 0. 1. ]] SLAMing on 211.969072329 meters Centerline goodness : 0.508769 Centerline is valid? [False, False] Translation: X:53.97, Y:4.64, Z:9.09 [[ 0.34552276 -0.91422246 0.21168684 53.97462004] [ 0.58641101 0.38646312 0.71187666 4.63764276] [-0.73262279 -0.12183409 0.66964192 9.08918082] [ 0. 0. 0. 1. ]] SLAMing on 211.999072329 meters Centerline goodness : 0.219679 Centerline is valid? [False, False] Translation: X:53.98, Y:4.63, Z:9.09 [[ 0.34049088 -0.91534184 0.21497739 53.97830983] [ 0.58757963 0.38563925 0.71135964 4.63449257] [-0.73404096 -0.11589513 0.66914287 9.08930147] [ 0. 0. 0. 1. ]] SLAMing on 212.029072329 meters Centerline goodness : 0.282142 Centerline is valid? [False, False] Translation: X:53.98, Y:4.63, Z:9.09 [[ 0.33586331 -0.91634713 0.21795359 53.98182593] [ 0.58850002 0.38482106 0.71104182 4.63122247] [-0.73543427 -0.11054717 0.66851759 9.08907831] [ 0. 0. 0. 1. ]] SLAMing on 212.059072329 meters Centerline goodness : 0.270013 Centerline is valid? [False, False] Translation: X:54.00, Y:4.63, Z:9.08 [[ 0.32096163 -0.92183862 0.21724916 53.99761598] [ 0.59646391 0.37492651 0.70969072 4.62976417] [-0.73567278 -0.09820221 0.67018049 9.0840793 ] [ 0. 0. 0. 1. ]] SLAMing on 212.089072329 meters Centerline goodness : 0.261384 Centerline is valid? [False, False] Translation: X:54.00, Y:4.63, Z:9.08 [[ 0.31693395 -0.92256467 0.22006205 54.00069709] [ 0.59707452 0.37435103 0.70948103 4.62678522] [-0.73692258 -0.09346519 0.6694844 9.08369077] [ 0. 0. 0. 1. ]] SLAMing on 212.119072329 meters Centerline goodness : 0.186439 Centerline is valid? [False, False] Translation: X:54.01, Y:4.62, Z:9.08 [[ 0.31277472 -0.92329753 0.2229207 54.00501599] [ 0.59840308 0.37380949 0.70864675 4.62454846] [-0.73762167 -0.08825035 0.66942225 9.08245297] [ 0. 0. 0. 1. ]] SLAMing on 212.149072329 meters Centerline goodness : 0.208441 Centerline is valid? [False, False] Translation: X:54.02, Y:4.62, Z:9.08 [[ 0.30383682 -0.92542957 0.22641401 54.01915185] [ 0.60260429 0.37074536 0.70669367 4.62248133] [-0.73793716 -0.0782815 0.67031392 9.0787667 ] [ 0. 0. 0. 1. ]] SLAMing on 212.179072329 meters Centerline goodness : 0.221903 Centerline is valid? [False, False] Translation: X:54.02, Y:4.62, Z:9.08 [[ 0.30107783 -0.9260301 0.22764092 54.02109518] [ 0.6028748 0.36979897 0.70695877 4.62052141] [-0.73884648 -0.07561064 0.66961848 9.07860003] [ 0. 0. 0. 1. ]] SLAMing on 212.209072329 meters Centerline goodness : 0.196853 Centerline is valid? [False, False] Translation: X:54.03, Y:4.62, Z:9.08 [[ 0.29454493 -0.92768024 0.22946169 54.03281812] [ 0.60591595 0.36697006 0.70583202 4.61892174] [-0.73899198 -0.06886474 0.67018542 9.07511197] [ 0. 0. 0. 1. ]] SLAMing on 212.239072329 meters Centerline goodness : 0.180294 Centerline is valid? [False, False] Translation: X:54.04, Y:4.62, Z:9.07 [[ 0.29241669 -0.92818226 0.23015249 54.03507097] [ 0.60628828 0.36606246 0.70598356 4.61752178] [-0.73953161 -0.06690262 0.6697888 9.0743616 ] [ 0. 0. 0. 1. ]] SLAMing on 212.269072329 meters Centerline goodness : 0.144834 Centerline is valid? [False, False] Translation: X:54.04, Y:4.62, Z:9.07 [[ 0.29046695 -0.9286367 0.23078741 54.03746229] [ 0.60681262 0.36524974 0.70595402 4.6165262 ] [-0.73986985 -0.0650116 0.66960144 9.07353012] [ 0. 0. 0. 1. ]] SLAMing on 212.299072329 meters Centerline goodness : 0.163244 Centerline is valid? [False, False] Translation: X:54.05, Y:4.62, Z:9.07 [[ 0.28488696 -0.92968129 0.23352112 54.04789952] [ 0.61001749 0.36375457 0.70396113 4.61648627] [-0.73940387 -0.05809738 0.67075078 9.0693914 ] [ 0. 0. 0. 1. ]] SLAMing on 212.329072329 meters Centerline goodness : 0.153389 Centerline is valid? [False, False] Translation: X:54.02, Y:4.60, Z:9.09 [[ 0.29588401 -0.92533054 0.23709923 54.01647179] [ 0.601769 0.37333264 0.70604307 4.60457211] [-0.74184009 -0.06622789 0.66729839 9.08868833] [ 0. 0. 0. 1. ]] SLAMing on 212.359072329 meters Centerline goodness : 0.162919 Centerline is valid? [False, False] Translation: X:54.02, Y:4.60, Z:9.09 [[ 0.29488143 -0.92560269 0.2372859 54.01836001] [ 0.60228017 0.37283233 0.70587155 4.604361 ] [-0.74182446 -0.06523582 0.66741348 9.08772559] [ 0. 0. 0. 1. ]] SLAMing on 212.38907232900002 meters Centerline goodness : 0.099001 Centerline is valid? [False, False] Translation: X:54.03, Y:4.60, Z:9.08 [[ 0.29218014 -0.92630052 0.23790359 54.02693708] [ 0.60420202 0.37161486 0.70487043 4.60427533] [-0.74133035 -0.06220731 0.66825112 9.08360642] [ 0. 0. 0. 1. ]] SLAMing on 212.41907232900002 meters Centerline goodness : 0.187006 Centerline is valid? [False, False] Translation: X:54.03, Y:4.60, Z:9.08 [[ 0.29181512 -0.92643522 0.23782706 54.0285763 ] [ 0.60465087 0.37134379 0.70462836 4.60451557] [-0.74110813 -0.06181887 0.66853359 9.08261886] [ 0. 0. 0. 1. ]] SLAMing on 212.449072329 meters Centerline goodness : 0.183458 Centerline is valid? [False, False] Translation: X:54.03, Y:4.60, Z:9.08 [[ 0.29144723 -0.92654372 0.23785554 54.02991722] [ 0.60515668 0.37115501 0.70429351 4.60499881] [-0.74084 -0.06132452 0.66887622 9.08175567] [ 0. 0. 0. 1. ]] SLAMing on 212.479072329 meters Centerline goodness : 0.185251 Centerline is valid? [False, False] Translation: X:54.04, Y:4.61, Z:9.08 [[ 0.28899689 -0.92694916 0.23926148 54.03804227] [ 0.60821509 0.37078406 0.70185012 4.60717865] [-0.73929372 -0.05731006 0.6709399 9.07674824] [ 0. 0. 0. 1. ]] SLAMing on 212.509072329 meters Centerline goodness : 0.189641 Centerline is valid? [False, False] Translation: X:54.04, Y:4.61, Z:9.08 [[ 0.2890162 -0.92695224 0.23922621 54.03893591] [ 0.60877478 0.37081394 0.70134891 4.60826883] [-0.73882536 -0.05706632 0.67147638 9.07589836] [ 0. 0. 0. 1. ]] SLAMing on 212.539072329 meters Centerline goodness : 0.193193 Centerline is valid? [False, False] Translation: X:54.04, Y:4.61, Z:9.08 [[ 0.28981867 -0.92690528 0.23843604 54.0378721 ] [ 0.60873274 0.37076481 0.70141137 4.60961182] [-0.7385456 -0.05813828 0.67169215 9.07641089] [ 0. 0. 0. 1. ]] SLAMing on 212.569072329 meters Centerline goodness : 0.199671 Centerline is valid? [False, False] Translation: X:54.04, Y:4.61, Z:9.07 [[ 0.28971904 -0.92717298 0.2375145 54.04353911] [ 0.61060906 0.37014699 0.70010555 4.61203589] [-0.73703423 -0.0578054 0.67337886 9.07163889] [ 0. 0. 0. 1. ]] SLAMing on 212.599072329 meters Centerline goodness : 0.199671 Centerline is valid? [False, False] Translation: X:54.03, Y:4.60, Z:9.08 [[ 0.29405595 -0.92550266 0.23869629 54.02649405] [ 0.60432557 0.37351608 0.70375872 4.60332807] [-0.74048748 -0.06269417 0.66913955 9.08004973] [ 0. 0. 0. 1. ]] SLAMing on 212.629072329 meters Centerline goodness : 0.192803 Centerline is valid? [False, False] Translation: X:54.02, Y:4.60, Z:9.08 [[ 0.29593518 -0.92517306 0.2376493 54.02219615] [ 0.602713 0.37387098 0.70495215 4.60241682] [-0.74105291 -0.06538582 0.6682554 9.08133286] [ 0. 0. 0. 1. ]] SLAMing on 212.659072329 meters Centerline goodness : 0.185862 Centerline is valid? [False, False] Translation: X:54.02, Y:4.60, Z:9.08 [[ 0.29816457 -0.92458317 0.23715788 54.016201 ] [ 0.60042544 0.3748213 0.7063981 4.60005155] [-0.74201562 -0.06822726 0.66690168 9.08335544] [ 0. 0. 0. 1. ]] SLAMing on 212.689072329 meters Centerline goodness : 0.203063 Centerline is valid? [False, False] Translation: X:54.02, Y:4.60, Z:9.08 [[ 0.29960492 -0.92418026 0.23691295 54.01768244] [ 0.60154014 0.37572772 0.70496677 4.60207707] [-0.74053113 -0.06869886 0.66850139 9.07927429] [ 0. 0. 0. 1. ]] SLAMing on 212.719072329 meters Centerline goodness : 0.203978 Centerline is valid? [False, False] Translation: X:54.01, Y:4.60, Z:9.08 [[ 0.30303996 -0.92282316 0.23783229 54.00631807] [ 0.597501 0.37841009 0.70696419 4.59702169] [-0.74240106 -0.07213336 0.66606114 9.08347714] [ 0. 0. 0. 1. ]] SLAMing on 212.749072329 meters Centerline goodness : 0.203087 Centerline is valid? [False, False] Translation: X:53.99, Y:4.59, Z:9.09 [[ 0.30742011 -0.92110959 0.23885141 53.99334136] [ 0.59274364 0.38172519 0.70918323 4.59144297] [-0.74441108 -0.07643953 0.66333185 9.08863054] [ 0. 0. 0. 1. ]] SLAMing on 212.779072329 meters Centerline goodness : 0.193016 Centerline is valid? [False, False] Translation: X:53.98, Y:4.59, Z:9.09 [[ 0.31203155 -0.91919377 0.24024804 53.97939671] [ 0.58760504 0.38542182 0.71145649 4.58553618] [-0.74656321 -0.08082591 0.66038666 9.09389957] [ 0. 0. 0. 1. ]] SLAMing on 212.809072329 meters Centerline goodness : 0.199616 Centerline is valid? [False, False] Translation: X:53.97, Y:4.58, Z:9.09 [[ 0.32053703 -0.91549416 0.2431593 53.97275356] [ 0.58223233 0.39290575 0.71177987 4.58462926] [-0.74716901 -0.0865766 0.65897114 9.09379607] [ 0. 0. 0. 1. ]] SLAMing on 212.839072329 meters Centerline goodness : 0.197905 Centerline is valid? [False, False] Translation: X:53.96, Y:4.58, Z:9.10 [[ 0.32867367 -0.9120281 0.24531277 53.95607886] [ 0.57630184 0.39945427 0.71296036 4.57821353] [-0.74823112 -0.0929571 0.65689357 9.10118547] [ 0. 0. 0. 1. ]] SLAMing on 212.869072329 meters Centerline goodness : 0.196640 Centerline is valid? [False, False] Translation: X:53.94, Y:4.57, Z:9.11 [[ 0.3388317 -0.90762033 0.24782741 53.93772609] [ 0.57004344 0.40759824 0.71338219 4.571797 ] [-0.74849419 -0.10044411 0.65549022 9.11046814] [ 0. 0. 0. 1. ]] SLAMing on 212.899072329 meters Centerline goodness : 0.187194 Centerline is valid? [False, False] Translation: X:53.93, Y:4.57, Z:9.11 [[ 0.35039367 -0.90196124 0.25236918 53.93104847] [ 0.56274157 0.41813432 0.71308178 4.56936647] [-0.74869634 -0.10784072 0.6540827 9.11081432] [ 0. 0. 0. 1. ]] SLAMing on 212.929072329 meters Centerline goodness : 0.184974 Centerline is valid? [False, False] Translation: X:53.91, Y:4.56, Z:9.12 [[ 0.36133684 -0.89700125 0.25460645 53.911735 ] [ 0.55613269 0.42649434 0.71331551 4.56348229] [-0.74843311 -0.1161522 0.65295983 9.12067507] [ 0. 0. 0. 1. ]] SLAMing on 212.959072329 meters Centerline goodness : 0.186172 Centerline is valid? [False, False] Translation: X:53.89, Y:4.56, Z:9.13 [[ 0.37301896 -0.89130444 0.25774649 53.89049344] [ 0.54812028 0.43583058 0.71387384 4.55731328] [-0.74861272 -0.1250124 0.65111511 9.13126315] [ 0. 0. 0. 1. ]] SLAMing on 212.989072329 meters Centerline goodness : 0.184374 Centerline is valid? [False, False] Translation: X:53.88, Y:4.55, Z:9.13 [[ 0.38646922 -0.884453 0.26150416 53.87967681] [ 0.53899004 0.4466617 0.71413099 4.55491277] [-0.74841919 -0.13504151 0.64933236 9.13416238] [ 0. 0. 0. 1. ]] SLAMing on 213.019072329 meters Centerline goodness : 0.180890 Centerline is valid? [False, False] Translation: X:53.86, Y:4.55, Z:9.15 [[ 0.39884752 -0.87804374 0.26449924 53.8567586 ] [ 0.53066343 0.45623049 0.7143179 4.54928045] [-0.74787498 -0.14454385 0.6479121 9.14602244] [ 0. 0. 0. 1. ]] SLAMing on 213.049072329 meters Centerline goodness : 0.180214 Centerline is valid? [False, False] Translation: X:53.83, Y:4.54, Z:9.16 [[ 0.41061559 -0.87175137 0.26729082 53.83485566] [ 0.52253203 0.4652073 0.71452253 4.54417089] [-0.74723164 -0.15372607 0.64653938 9.15710758] [ 0. 0. 0. 1. ]] SLAMing on 213.079072329 meters Centerline goodness : 0.174077 Centerline is valid? [False, False] Translation: X:53.82, Y:4.54, Z:9.16 [[ 0.4241168 -0.86417439 0.27079063 53.82315542] [ 0.51283249 0.47563423 0.71468518 4.54186481] [-0.74640993 -0.16423976 0.64490117 9.16018114] [ 0. 0. 0. 1. ]] SLAMing on 213.109072329 meters Centerline goodness : 0.173084 Centerline is valid? [False, False] Translation: X:53.80, Y:4.54, Z:9.17 [[ 0.43632327 -0.85739367 0.27294341 53.80053502] [ 0.50491193 0.48438491 0.71444748 4.53711692] [-0.74477241 -0.17391767 0.6442567 9.17148415] [ 0. 0. 0. 1. ]] SLAMing on 213.13907232900002 meters Centerline goodness : 0.174006 Centerline is valid? [False, False] Translation: X:53.78, Y:4.53, Z:9.18 [[ 0.44858772 -0.85016395 0.2756634 53.77648731] [ 0.49634918 0.49348238 0.7142217 4.53200738] [-0.74324057 -0.18356578 0.64334831 9.18325699] [ 0. 0. 0. 1. ]] SLAMing on 213.16907232900002 meters Centerline goodness : 0.169767 Centerline is valid? [False, False] Translation: X:53.77, Y:4.53, Z:9.19 [[ 0.46272779 -0.84135302 0.27929928 53.76594913] [ 0.48679053 0.50445942 0.7131309 4.53098958] [-0.74088999 -0.19402524 0.64299007 9.18602939] [ 0. 0. 0. 1. ]] SLAMing on 213.199072329 meters Centerline goodness : 0.171984 Centerline is valid? [False, False] Translation: X:53.74, Y:4.53, Z:9.20 [[ 0.47444996 -0.83397367 0.28175371 53.74252364] [ 0.47822915 0.51291324 0.71289332 4.52672245] [-0.73904947 -0.20348937 0.64218218 9.19690169] [ 0. 0. 0. 1. ]] SLAMing on 213.229072329 meters Centerline goodness : 0.168072 Centerline is valid? [False, False] Translation: X:53.72, Y:4.52, Z:9.21 [[ 0.48552972 -0.8273473 0.28241342 53.72216074] [ 0.47118584 0.51976714 0.71261913 4.52339089] [-0.73637273 -0.21292857 0.64219672 9.20631142] [ 0. 0. 0. 1. ]] SLAMing on 213.259072329 meters Centerline goodness : 0.167492 Centerline is valid? [False, False] Translation: X:53.71, Y:4.52, Z:9.21 [[ 0.49914732 -0.81830142 0.28501708 53.71025396] [ 0.46087878 0.52925081 0.71237934 4.52292266] [-0.73378655 -0.22422392 0.64131189 9.20810786] [ 0. 0. 0. 1. ]] SLAMing on 213.289072329 meters Centerline goodness : 0.170729 Centerline is valid? [False, False] Translation: X:53.69, Y:4.52, Z:9.22 [[ 0.51035502 -0.81114008 0.28563879 53.68850199] [ 0.45352957 0.53607704 0.71199181 4.52019961] [-0.7306495 -0.23382296 0.64146562 9.2177428 ] [ 0. 0. 0. 1. ]] SLAMing on 213.319072329 meters Centerline goodness : 0.158339 Centerline is valid? [False, False] Translation: X:53.67, Y:4.52, Z:9.23 [[ 0.52131629 -0.80368931 0.2869021 53.66694223] [ 0.44599615 0.54322866 0.71132979 4.51759459] [-0.72754159 -0.24287057 0.64163628 9.22659518] [ 0. 0. 0. 1. ]] SLAMing on 213.349072329 meters Centerline goodness : 0.163048 Centerline is valid? [False, False] Translation: X:53.64, Y:4.51, Z:9.24 [[ 0.53263298 -0.79570457 0.28836843 53.64385618] [ 0.43811069 0.55073832 0.71045502 4.51496818] [-0.72412784 -0.25207448 0.64194807 9.23613903] [ 0. 0. 0. 1. ]] SLAMing on 213.379072329 meters Centerline goodness : 0.169548 Centerline is valid? [False, False] Translation: X:53.64, Y:4.52, Z:9.24 [[ 0.54614214 -0.78544967 0.29120023 53.63588794] [ 0.42839829 0.56060587 0.70865786 4.5151012 ] [-0.71986365 -0.26227824 0.64265578 9.23580239] [ 0. 0. 0. 1. ]] SLAMing on 213.409072329 meters Centerline goodness : 0.161599 Centerline is valid? [False, False] Translation: X:53.62, Y:4.51, Z:9.24 [[ 0.55659599 -0.77854308 0.289951 53.61691339] [ 0.42234478 0.56570932 0.70823573 4.51336824] [-0.71542001 -0.27174188 0.64368514 9.24441362] [ 0. 0. 0. 1. ]] SLAMing on 213.439072329 meters Centerline goodness : 0.166482 Centerline is valid? [False, False] Translation: X:53.61, Y:4.51, Z:9.25 [[ 0.5699599 -0.76820708 0.29155378 53.60558929] [ 0.4118726 0.57414135 0.7076176 4.5139323 ] [-0.71098993 -0.28323065 0.64364099 9.24545347] [ 0. 0. 0. 1. ]] SLAMing on 213.469072329 meters Centerline goodness : 0.166180 Centerline is valid? [False, False] Translation: X:53.59, Y:4.51, Z:9.25 [[ 0.58027921 -0.7611467 0.28970974 53.58691961] [ 0.40567278 0.57859316 0.70757301 4.51298498] [-0.70619093 -0.29306255 0.64452208 9.2544315 ] [ 0. 0. 0. 1. ]] SLAMing on 213.499072329 meters Centerline goodness : 0.166968 Centerline is valid? [False, False] Translation: X:53.57, Y:4.51, Z:9.26 [[ 0.59014452 -0.75421714 0.2878992 53.56883897] [ 0.39982821 0.58287279 0.70738724 4.51253675] [-0.7013322 -0.30235048 0.64553647 9.26281194] [ 0. 0. 0. 1. ]] SLAMing on 213.529072329 meters Centerline goodness : 0.162557 Centerline is valid? [False, False] Translation: X:53.55, Y:4.51, Z:9.27 [[ 0.60001565 -0.7465895 0.28737664 53.54827994] [ 0.39278328 0.58788112 0.70718956 4.51138177] [-0.69692361 -0.31144807 0.64598575 9.27161309] [ 0. 0. 0. 1. ]] SLAMing on 213.559072329 meters Centerline goodness : 0.160531 Centerline is valid? [False, False] Translation: X:53.54, Y:4.51, Z:9.27 [[ 0.61142415 -0.73606797 0.29045559 53.539165 ] [ 0.38218337 0.59610157 0.70611528 4.51231035] [-0.69288987 -0.32072863 0.64578384 9.27211174] [ 0. 0. 0. 1. ]] SLAMing on 213.589072329 meters Centerline goodness : 0.184098 Centerline is valid? [False, False] Translation: X:53.52, Y:4.51, Z:9.28 [[ 0.62046257 -0.72906049 0.28895847 53.52132244] [ 0.37657035 0.60017114 0.70568363 4.51199699] [-0.68791058 -0.32903709 0.64692629 9.2796927 ] [ 0. 0. 0. 1. ]] SLAMing on 213.619072329 meters Centerline goodness : 0.178704 Centerline is valid? [False, False] Translation: X:53.50, Y:4.51, Z:9.29 [[ 0.62983392 -0.72162434 0.28734568 53.50183872] [ 0.37071742 0.6043681 0.70520053 4.51172322] [-0.68255243 -0.33763517 0.64817025 9.28794273] [ 0. 0. 0. 1. ]] SLAMing on 213.649072329 meters Centerline goodness : 0.188440 Centerline is valid? [False, False] Translation: X:53.49, Y:4.51, Z:9.29 [[ 0.63885025 -0.71427835 0.28579152 53.49247218] [ 0.36520887 0.60852249 0.70450185 4.51471165] [-0.67712099 -0.34569759 0.64961553 9.28727984] [ 0. 0. 0. 1. ]] SLAMing on 213.679072329 meters Centerline goodness : 0.180720 Centerline is valid? [False, False] Translation: X:53.48, Y:4.52, Z:9.29 [[ 0.64743646 -0.70737753 0.28362485 53.47605508] [ 0.36001384 0.6118839 0.70426424 4.51501312] [-0.67172618 -0.35385748 0.65082165 9.294534 ] [ 0. 0. 0. 1. ]] SLAMing on 213.709072329 meters Centerline goodness : 0.177076 Centerline is valid? [False, False] Translation: X:53.46, Y:4.52, Z:9.29 [[ 0.65599102 -0.69955384 0.28337293 53.46473729] [ 0.35343373 0.61644454 0.70361973 4.51819733] [-0.66690358 -0.36141467 0.651628 9.29355194] [ 0. 0. 0. 1. ]] SLAMing on 213.739072329 meters Centerline goodness : 0.208350 Centerline is valid? [False, False] Translation: X:53.45, Y:4.52, Z:9.30 [[ 0.66431676 -0.69269375 0.28081776 53.44928184] [ 0.34871945 0.61953431 0.70325812 4.51934271] [-0.66111874 -0.36925954 0.65312281 9.30096494] [ 0. 0. 0. 1. ]] SLAMing on 213.769072329 meters Centerline goodness : 0.204914 Centerline is valid? [False, False] Translation: X:53.43, Y:4.52, Z:9.31 [[ 0.67257486 -0.68569186 0.27833386 53.43350991] [ 0.34383286 0.62259813 0.70295842 4.52011811] [-0.655303 -0.37709183 0.65450724 9.3082553 ] [ 0. 0. 0. 1. ]] SLAMing on 213.799072329 meters Centerline goodness : 0.196283 Centerline is valid? [False, False] Translation: X:53.42, Y:4.52, Z:9.31 [[ 0.680401 -0.67907833 0.27551244 53.42004536] [ 0.3395718 0.6253011 0.70263044 4.52158092] [-0.64941933 -0.38451419 0.65605134 9.31478002] [ 0. 0. 0. 1. ]] SLAMing on 213.829072329 meters Centerline goodness : 0.185318 Centerline is valid? [False, False] Translation: X:53.41, Y:4.52, Z:9.31 [[ 0.68651098 -0.67385458 0.27317153 53.41384577] [ 0.33592573 0.62712391 0.7027585 4.52456282] [-0.64486943 -0.39068608 0.65689254 9.31242282] [ 0. 0. 0. 1. ]] SLAMing on 213.859072329 meters Centerline goodness : 0.202070 Centerline is valid? [False, False] Translation: X:53.40, Y:4.53, Z:9.32 [[ 0.69417424 -0.66708785 0.27039958 53.39990228] [ 0.33092565 0.62936898 0.70312367 4.52552496] [-0.63922637 -0.39860818 0.65764821 9.3191626 ] [ 0. 0. 0. 1. ]] SLAMing on 213.88907232900002 meters Centerline goodness : 0.193300 Centerline is valid? [False, False] Translation: X:53.39, Y:4.53, Z:9.32 [[ 0.70053382 -0.66134732 0.26808969 53.38927863] [ 0.3263779 0.63100742 0.70378058 4.52626652] [-0.63460998 -0.40552355 0.65789119 9.32382333] [ 0. 0. 0. 1. ]] SLAMing on 213.91907232900002 meters Centerline goodness : 0.199324 Centerline is valid? [False, False] Translation: X:53.39, Y:4.53, Z:9.32 [[ 0.7049853 -0.65815147 0.26425816 53.38847467] [ 0.32454645 0.63067821 0.7049217 4.53234882] [-0.63060711 -0.41119539 0.65821959 9.31973926] [ 0. 0. 0. 1. ]] SLAMing on 213.949072329 meters Centerline goodness : 0.194657 Centerline is valid? [False, False] Translation: X:53.38, Y:4.53, Z:9.32 [[ 0.71137861 -0.65213272 0.26203701 53.37712637] [ 0.32050795 0.63283877 0.70483313 4.53339754] [-0.62547193 -0.41741827 0.65920168 9.32479058] [ 0. 0. 0. 1. ]] SLAMing on 213.979072329 meters Centerline goodness : 0.197372 Centerline is valid? [False, False] Translation: X:53.37, Y:4.53, Z:9.33 [[ 0.71779999 -0.64597645 0.25976451 53.36551772] [ 0.31643962 0.63500969 0.70471885 4.53446193] [-0.62018476 -0.4236474 0.6602225 9.32989159] [ 0. 0. 0. 1. ]] SLAMing on 214.009072329 meters Centerline goodness : 0.190196 Centerline is valid? [False, False] Translation: X:53.37, Y:4.54, Z:9.32 [[ 0.72095618 -0.64378517 0.25644269 53.36757168] [ 0.31653579 0.6351326 0.70456489 4.54116354] [-0.61646353 -0.42678712 0.66168381 9.32435037] [ 0. 0. 0. 1. ]] SLAMing on 214.039072329 meters Centerline goodness : 0.192584 Centerline is valid? [False, False] Translation: X:53.36, Y:4.54, Z:9.33 [[ 0.7268954 -0.63792715 0.25430694 53.35663837] [ 0.31276035 0.63718465 0.7043981 4.54208081] [-0.61139516 -0.43248661 0.66268491 9.32908754] [ 0. 0. 0. 1. ]] SLAMing on 214.069072329 meters Centerline goodness : 0.191853 Centerline is valid? [False, False] Translation: X:53.36, Y:4.55, Z:9.32 [[ 0.72963015 -0.6361462 0.25091405 53.3595392 ] [ 0.31290122 0.63682226 0.70466321 4.54778932] [-0.60805648 -0.43563221 0.66369564 9.32308363] [ 0. 0. 0. 1. ]] SLAMing on 214.099072329 meters Centerline goodness : 0.188195 Centerline is valid? [False, False] Translation: X:53.35, Y:4.55, Z:9.33 [[ 0.73410145 -0.63125947 0.250213 53.34909181] [ 0.30855773 0.63834697 0.70519875 4.54706783] [-0.6048861 -0.44048227 0.66339142 9.32586818] [ 0. 0. 0. 1. ]] SLAMing on 214.129072329 meters Centerline goodness : 0.194903 Centerline is valid? [False, False] Translation: X:53.34, Y:4.55, Z:9.33 [[ 0.73706052 -0.6277871 0.25025018 53.34014613] [ 0.30458421 0.63911847 0.70622662 4.54655019] [-0.60329947 -0.44430951 0.66228303 9.32623604] [ 0. 0. 0. 1. ]] SLAMing on 214.159072329 meters Centerline goodness : 0.197369 Centerline is valid? [False, False] Translation: X:53.33, Y:4.55, Z:9.33 [[ 0.739398 -0.625158 0.24993613 53.33338578] [ 0.30124047 0.63918454 0.70759968 4.54685017] [-0.60211691 -0.44790691 0.66093466 9.32594792] [ 0. 0. 0. 1. ]] SLAMing on 214.189072329 meters Centerline goodness : 0.196984 Centerline is valid? [False, False] Translation: X:53.34, Y:4.55, Z:9.32 [[ 0.74175009 -0.62367551 0.24664888 53.3370339 ] [ 0.30154563 0.63862254 0.70797704 4.5518831 ] [-0.59906347 -0.45076614 0.66176495 9.320637 ] [ 0. 0. 0. 1. ]] SLAMing on 214.219072329 meters Centerline goodness : 0.191130 Centerline is valid? [False, False] Translation: X:53.33, Y:4.55, Z:9.32 [[ 0.74395309 -0.62119177 0.2462815 53.330874 ] [ 0.29816207 0.63841581 0.7095947 4.55176392] [-0.59802439 -0.45447336 0.66016724 9.3203006 ] [ 0. 0. 0. 1. ]] SLAMing on 214.249072329 meters Centerline goodness : 0.190876 Centerline is valid? [False, False] Translation: X:53.33, Y:4.55, Z:9.32 [[ 0.74578872 -0.61951407 0.24495203 53.32805106] [ 0.29608067 0.63762482 0.71117566 4.55360097] [-0.59677083 -0.45786122 0.65895954 9.31945665] [ 0. 0. 0. 1. ]] SLAMing on 214.279072329 meters Centerline goodness : 0.199715 Centerline is valid? [False, False] Translation: X:53.33, Y:4.56, Z:9.32 [[ 0.74759543 -0.61789243 0.24353649 53.32573711] [ 0.29408843 0.63675616 0.71277878 4.55520109] [-0.59549397 -0.4612489 0.65775101 9.31884961] [ 0. 0. 0. 1. ]] SLAMing on 214.309072329 meters Centerline goodness : 0.236756 Centerline is valid? [False, False] Translation: X:53.33, Y:4.56, Z:9.31 [[ 0.74877395 -0.61713171 0.24183884 53.32933317] [ 0.29489592 0.63692999 0.71228968 4.55786539] [-0.59361096 -0.46202667 0.65890621 9.31395706] [ 0. 0. 0. 1. ]] SLAMing on 214.339072329 meters Centerline goodness : 0.237322 Centerline is valid? [False, False] Translation: X:53.33, Y:4.56, Z:9.31 [[ 0.75028324 -0.61583902 0.24045243 53.32742475] [ 0.2931856 0.63592722 0.71388989 4.55949001] [-0.59255149 -0.46512243 0.65768066 9.31331461] [ 0. 0. 0. 1. ]] SLAMing on 214.369072329 meters Centerline goodness : 0.238880 Centerline is valid? [False, False] Translation: X:53.33, Y:4.56, Z:9.31 [[ 0.75179671 -0.61463034 0.23881218 53.32623699] [ 0.29176994 0.63485761 0.71542024 4.56148606] [-0.59133071 -0.46817237 0.65661451 9.31272909] [ 0. 0. 0. 1. ]] SLAMing on 214.399072329 meters Centerline goodness : 0.238135 Centerline is valid? [False, False] Translation: X:53.33, Y:4.56, Z:9.31 [[ 0.7520073 -0.61470861 0.2379461 53.32947257] [ 0.29338311 0.63540009 0.71427801 4.56422401] [-0.59026382 -0.46733291 0.65817063 9.30821866] [ 0. 0. 0. 1. ]] SLAMing on 214.429072329 meters Centerline goodness : 0.236377 Centerline is valid? [False, False] Translation: X:53.33, Y:4.57, Z:9.31 [[ 0.75299648 -0.61376854 0.23724351 53.32669313] [ 0.29224557 0.63496314 0.71513239 4.56635349] [-0.58956664 -0.46915881 0.65749615 9.30861606] [ 0. 0. 0. 1. ]] SLAMing on 214.459072329 meters Centerline goodness : 0.237393 Centerline is valid? [False, False] Translation: X:53.33, Y:4.57, Z:9.31 [[ 0.75330348 -0.61341429 0.2371851 53.32573213] [ 0.29210535 0.6351826 0.71499477 4.56777426] [-0.58924386 -0.46932501 0.65766686 9.30871054] [ 0. 0. 0. 1. ]] SLAMing on 214.489072329 meters Centerline goodness : 0.237177 Centerline is valid? [False, False] Translation: X:53.33, Y:4.57, Z:9.30 [[ 0.75260249 -0.61427549 0.2371816 53.32840476] [ 0.29403414 0.63580014 0.71365405 4.56957312] [-0.58918029 -0.46735833 0.65912273 9.30416643] [ 0. 0. 0. 1. ]] SLAMing on 214.519072329 meters Centerline goodness : 0.236402 Centerline is valid? [False, False] Translation: X:53.32, Y:4.57, Z:9.31 [[ 0.75355993 -0.61258043 0.23852181 53.32124621] [ 0.29113138 0.63629948 0.7143987 4.56742166] [-0.58939796 -0.46890104 0.65783117 9.30513398] [ 0. 0. 0. 1. ]] SLAMing on 214.549072329 meters Centerline goodness : 0.236402 Centerline is valid? [False, False] Translation: X:53.31, Y:4.56, Z:9.31 [[ 0.75847553 -0.60675888 0.23782036 53.30725387] [ 0.28649362 0.63820752 0.7145716 4.56479649] [-0.58535141 -0.47385106 0.65789734 9.31392751] [ 0. 0. 0. 1. ]] SLAMing on 214.579072329 meters Centerline goodness : 0.237663 Centerline is valid? [False, False] Translation: X:53.31, Y:4.56, Z:9.31 [[ 0.75753143 -0.60780354 0.23816168 53.30938801] [ 0.28787337 0.63847531 0.71377742 4.56471462] [-0.58589679 -0.47214842 0.65863557 9.30989843] [ 0. 0. 0. 1. ]] SLAMing on 214.609072329 meters Centerline goodness : 0.239223 Centerline is valid? [False, False] Translation: X:53.31, Y:4.56, Z:9.31 [[ 0.75736876 -0.60780135 0.23868407 53.30784451] [ 0.28743141 0.63851819 0.71391716 4.56438292] [-0.58632393 -0.47209325 0.65829493 9.31041019] [ 0. 0. 0. 1. ]] SLAMing on 214.63907232900002 meters Centerline goodness : 0.240558 Centerline is valid? [False, False] Translation: X:53.31, Y:4.56, Z:9.31 [[ 0.75698415 -0.60809686 0.23915102 53.30712829] [ 0.28740958 0.63854217 0.71390449 4.56406478] [-0.58683109 -0.47168009 0.65813917 9.31049932] [ 0. 0. 0. 1. ]] SLAMing on 214.66907232900002 meters Centerline goodness : 0.244249 Centerline is valid? [False, False] Translation: X:53.31, Y:4.56, Z:9.31 [[ 0.75567451 -0.60940969 0.23994971 53.30765888] [ 0.28846988 0.63860779 0.71341799 4.56379155] [-0.58799759 -0.46989352 0.65837597 9.30982891] [ 0. 0. 0. 1. ]] SLAMing on 214.699072329 meters Centerline goodness : 0.247359 Centerline is valid? [False, False] Translation: X:53.30, Y:4.56, Z:9.31 [[ 0.75581894 -0.60828288 0.24234204 53.30008714] [ 0.2858415 0.63950167 0.71367517 4.56000501] [-0.58909453 -0.4701378 0.65721996 9.31187009] [ 0. 0. 0. 1. ]] SLAMing on 214.729072329 meters Centerline goodness : 0.250499 Centerline is valid? [False, False] Translation: X:53.29, Y:4.56, Z:9.31 [[ 0.75577161 -0.60742951 0.24461945 53.29326332] [ 0.28343752 0.64019741 0.71401012 4.55631001] [-0.59031555 -0.47029425 0.65601134 9.31374838] [ 0. 0. 0. 1. ]] SLAMing on 214.759072329 meters Centerline goodness : 0.250416 Centerline is valid? [False, False] Translation: X:53.29, Y:4.55, Z:9.31 [[ 0.75528358 -0.60738512 0.24623168 53.28938596] [ 0.28213612 0.64042103 0.71432493 4.55373629] [-0.59156228 -0.47004704 0.65506477 9.31499323] [ 0. 0. 0. 1. ]] SLAMing on 214.789072329 meters Centerline goodness : 0.255814 Centerline is valid? [False, False] Translation: X:53.29, Y:4.55, Z:9.31 [[ 0.75330211 -0.6092496 0.24769106 53.28937249] [ 0.28294259 0.64020195 0.71420232 4.55128968] [-0.59369978 -0.46792776 0.65464814 9.31361599] [ 0. 0. 0. 1. ]] SLAMing on 214.819072329 meters Centerline goodness : 0.260897 Centerline is valid? [False, False] Translation: X:53.28, Y:4.55, Z:9.32 [[ 0.75362284 -0.60774281 0.25040227 53.28027728] [ 0.27970883 0.64125152 0.71453444 4.54631538] [-0.594824 -0.46844975 0.65325282 9.31637986] [ 0. 0. 0. 1. ]] SLAMing on 214.849072329 meters Centerline goodness : 0.262526 Centerline is valid? [False, False] Translation: X:53.27, Y:4.54, Z:9.32 [[ 0.75355319 -0.60665466 0.25323451 53.27172442] [ 0.27691635 0.64229838 0.71468184 4.54166663] [-0.59621719 -0.468426 0.65199858 9.31859794] [ 0. 0. 0. 1. ]] SLAMing on 214.879072329 meters Centerline goodness : 0.269251 Centerline is valid? [False, False] Translation: X:53.26, Y:4.54, Z:9.32 [[ 0.7541127 -0.60471591 0.25618881 53.2610881 ] [ 0.27337045 0.64371993 0.71476797 4.53650242] [-0.59714541 -0.46898115 0.65074884 9.32178554] [ 0. 0. 0. 1. ]] SLAMing on 214.909072329 meters Centerline goodness : 0.283964 Centerline is valid? [False, False] Translation: X:53.26, Y:4.53, Z:9.32 [[ 0.75201527 -0.60655612 0.2579975 53.25929992] [ 0.27388728 0.64356789 0.71470703 4.53443133] [-0.59954882 -0.46680837 0.65010088 9.32270074] [ 0. 0. 0. 1. ]] SLAMing on 214.939072329 meters Centerline goodness : 0.286812 Centerline is valid? [False, False] Translation: X:53.25, Y:4.53, Z:9.33 [[ 0.75412086 -0.60313503 0.25986508 53.24707658] [ 0.26951959 0.64506164 0.71502075 4.52992602] [-0.59888306 -0.46917334 0.64901114 9.32767225] [ 0. 0. 0. 1. ]] SLAMing on 214.969072329 meters Centerline goodness : 0.288353 Centerline is valid? [False, False] Translation: X:53.24, Y:4.53, Z:9.33 [[ 0.75508871 -0.6008089 0.26243039 53.23610823] [ 0.26553407 0.64622839 0.71545826 4.5251844 ] [-0.59944366 -0.47055024 0.64749499 9.33154898] [ 0. 0. 0. 1. ]] SLAMing on 214.999072329 meters Centerline goodness : 0.286860 Centerline is valid? [False, False] Translation: X:53.23, Y:4.52, Z:9.33 [[ 0.75301645 -0.60254363 0.26440009 53.23328318] [ 0.26560935 0.6459755 0.71565866 4.52275389] [-0.60201155 -0.46867561 0.6464714 9.33342455] [ 0. 0. 0. 1. ]] SLAMing on 215.029072329 meters Centerline goodness : 0.235081 Centerline is valid? [False, False] Translation: X:53.22, Y:4.52, Z:9.34 [[ 0.75674945 -0.59757085 0.26502707 53.21924814] [ 0.26161415 0.6483871 0.71494909 4.51967704] [-0.59907287 -0.47170251 0.64699957 9.34103094] [ 0. 0. 0. 1. ]] SLAMing on 215.059072329 meters Centerline goodness : 0.258968 Centerline is valid? [False, False] Translation: X:53.20, Y:4.52, Z:9.35 [[ 0.76072323 -0.5922768 0.26553409 53.20446043] [ 0.2576157 0.65100036 0.71402569 4.51665964] [-0.59576364 -0.47477018 0.6478109 9.34832176] [ 0. 0. 0. 1. ]] SLAMing on 215.089072329 meters Centerline goodness : 0.269981 Centerline is valid? [False, False] Translation: X:53.19, Y:4.51, Z:9.36 [[ 0.76489232 -0.58676436 0.26579566 53.189352 ] [ 0.25342907 0.65346575 0.71327149 4.51360499] [-0.59221065 -0.47821554 0.64853408 9.35590618] [ 0. 0. 0. 1. ]] SLAMing on 215.119072329 meters Centerline goodness : 0.265894 Centerline is valid? [False, False] Translation: X:53.18, Y:4.51, Z:9.36 [[ 0.766864 -0.58442818 0.26526083 53.17620546] [ 0.25388794 0.65582406 0.71094003 4.51184495] [-0.58945782 -0.47784779 0.65130713 9.36403014] [ 0. 0. 0. 1. ]] SLAMing on 215.149072329 meters Centerline goodness : 0.269196 Centerline is valid? [False, False] Translation: X:53.16, Y:4.51, Z:9.37 [[ 0.771282 -0.57840009 0.26566408 53.15859387] [ 0.24851997 0.65791835 0.71090172 4.50804006] [-0.5859709 -0.48228288 0.65118456 9.37177184] [ 0. 0. 0. 1. ]] SLAMing on 215.179072329 meters Centerline goodness : 0.272474 Centerline is valid? [False, False] Translation: X:53.14, Y:4.50, Z:9.38 [[ 0.77572778 -0.57231121 0.26590653 53.1410979 ] [ 0.24308374 0.65983098 0.7110087 4.50449603] [-0.58237162 -0.48691165 0.65096877 9.37969215] [ 0. 0. 0. 1. ]] SLAMing on 215.209072329 meters Centerline goodness : 0.278612 Centerline is valid? [False, False] Translation: X:53.13, Y:4.50, Z:9.39 [[ 0.77801851 -0.56898766 0.26634608 53.12576915] [ 0.24112466 0.66193189 0.70972183 4.50180293] [-0.58012593 -0.48795412 0.65219222 9.38914532] [ 0. 0. 0. 1. ]] SLAMing on 215.239072329 meters Centerline goodness : 0.281957 Centerline is valid? [False, False] Translation: X:53.11, Y:4.50, Z:9.40 [[ 0.78248322 -0.56249283 0.26706146 53.10622209] [ 0.23589526 0.66471566 0.70887695 4.49858064] [-0.57625813 -0.49168579 0.65281824 9.39755497] [ 0. 0. 0. 1. ]] SLAMing on 215.269072329 meters Centerline goodness : 0.282305 Centerline is valid? [False, False] Translation: X:53.09, Y:4.50, Z:9.41 [[ 0.78718245 -0.55570217 0.26746753 53.08519635] [ 0.23068122 0.66752177 0.70795541 4.49627402] [-0.57195276 -0.49559034 0.65365148 9.40686556] [ 0. 0. 0. 1. ]] SLAMing on 215.299072329 meters Centerline goodness : 0.287792 Centerline is valid? [False, False] Translation: X:53.06, Y:4.50, Z:9.42 [[ 0.78643697 -0.55755445 0.26580054 53.06386206] [ 0.23553014 0.66851048 0.70542136 4.49821436] [-0.57100126 -0.4921654 0.65706223 9.41874021] [ 0. 0. 0. 1. ]] SLAMing on 215.329072329 meters Centerline goodness : 0.086032 Centerline is valid? [False, False] Translation: X:53.04, Y:4.50, Z:9.43 [[ 0.79144542 -0.55031552 0.26602063 53.03921917] [ 0.22955477 0.67096289 0.70506269 4.49574864] [-0.56649692 -0.49695233 0.65735806 9.42835338] [ 0. 0. 0. 1. ]] SLAMing on 215.359072329 meters Centerline goodness : 0.247801 Centerline is valid? [False, False] Translation: X:53.02, Y:4.49, Z:9.44 [[ 0.79608532 -0.54362181 0.26593891 53.01572881] [ 0.22415261 0.67304593 0.70481543 4.49390024] [-0.56214213 -0.50148231 0.65765622 9.43814163] [ 0. 0. 0. 1. ]] SLAMing on 215.38907232900002 meters Centerline goodness : 0.086495 Centerline is valid? [False, False] Translation: X:52.99, Y:4.49, Z:9.45 [[ 0.79455271 -0.54643669 0.26475072 52.99009177] [ 0.22830192 0.67288134 0.70363978 4.49371782] [-0.56264041 -0.49863579 0.65939224 9.45127627] [ 0. 0. 0. 1. ]] SLAMing on 215.41907232900002 meters Centerline goodness : 0.272397 Centerline is valid? [False, False] Translation: X:52.97, Y:4.49, Z:9.46 [[ 0.79843758 -0.54065862 0.2649258 52.96639782] [ 0.2239134 0.67510636 0.70291834 4.49247276] [-0.55889196 -0.50191598 0.660091 9.46096516] [ 0. 0. 0. 1. ]] SLAMing on 215.449072329 meters Centerline goodness : 0.253144 Centerline is valid? [False, False] Translation: X:52.94, Y:4.49, Z:9.47 [[ 0.79610671 -0.54385147 0.26540476 52.93706693] [ 0.22775387 0.67559287 0.70121499 4.49156921] [-0.56066236 -0.49779499 0.66170829 9.47490895] [ 0. 0. 0. 1. ]] SLAMing on 215.479072329 meters Centerline goodness : 0.269911 Centerline is valid? [False, False] Translation: X:52.91, Y:4.50, Z:9.49 [[ 0.79766159 -0.54276283 0.26295341 52.90851745] [ 0.22917278 0.67607111 0.70029114 4.49646411] [-0.55786721 -0.49833358 0.66366243 9.48605496] [ 0. 0. 0. 1. ]] SLAMing on 215.509072329 meters Centerline goodness : 0.168009 Centerline is valid? [False, False] Translation: X:52.88, Y:4.50, Z:9.50 [[ 0.79898209 -0.54203913 0.26042504 52.88006605] [ 0.23090368 0.67639378 0.69941042 4.50122392] [-0.5552577 -0.4986833 0.66558535 9.49692815] [ 0. 0. 0. 1. ]] SLAMing on 215.539072329 meters Centerline goodness : 0.238883 Centerline is valid? [False, False] Translation: X:52.85, Y:4.51, Z:9.51 [[ 0.79966471 -0.54236068 0.25764558 52.85374411] [ 0.23361114 0.67630463 0.69859708 4.50602777] [-0.55313849 -0.49845455 0.66751845 9.50788328] [ 0. 0. 0. 1. ]] SLAMing on 215.569072329 meters Centerline goodness : 0.082242 Centerline is valid? [False, False] Translation: X:52.82, Y:4.50, Z:9.52 [[ 0.79590713 -0.54728169 0.25887177 52.82195831] [ 0.23781876 0.6758432 0.69762326 4.50292648] [-0.55675316 -0.49367876 0.66806227 9.52148534] [ 0. 0. 0. 1. ]] SLAMing on 215.599072329 meters Centerline goodness : 0.336693 Centerline is valid? [False, False] Translation: X:52.79, Y:4.51, Z:9.53 [[ 0.79607976 -0.54819291 0.25640114 52.79488495] [ 0.24073804 0.67555294 0.69690273 4.50775012] [-0.55524968 -0.49306465 0.66976491 9.53217514] [ 0. 0. 0. 1. ]] SLAMing on 215.629072329 meters Centerline goodness : 0.224046 Centerline is valid? [False, False] Translation: X:52.77, Y:4.51, Z:9.54 [[ 0.7958456 -0.54977518 0.25372629 52.76997904] [ 0.24450861 0.67514847 0.69598138 4.51249884] [-0.55393621 -0.49185546 0.6717387 9.5423812 ] [ 0. 0. 0. 1. ]] SLAMing on 215.659072329 meters Centerline goodness : 0.409199 Centerline is valid? [False, False] Translation: X:52.74, Y:4.52, Z:9.55 [[ 0.79571185 -0.55112375 0.25120761 52.74367246] [ 0.24774206 0.67463185 0.69533858 4.51725298] [-0.55269026 -0.49105445 0.67334909 9.55262193] [ 0. 0. 0. 1. ]] SLAMing on 215.689072329 meters Centerline goodness : 0.076131 Centerline is valid? [False, False] Translation: X:52.72, Y:4.51, Z:9.56 [[ 0.78928359 -0.56042763 0.25090295 52.72167787] [ 0.25658432 0.67225861 0.69442987 4.51150376] [-0.55784935 -0.48372434 0.67439963 9.56408635] [ 0. 0. 0. 1. ]] SLAMing on 215.719072329 meters Centerline goodness : 0.471576 Centerline is valid? [False, False] Translation: X:52.70, Y:4.52, Z:9.57 [[ 0.78816717 -0.56287881 0.24891758 52.69677801] [ 0.2610597 0.6720083 0.69300266 4.51564155] [-0.55735119 -0.48121959 0.67659985 9.57316483] [ 0. 0. 0. 1. ]] SLAMing on 215.749072329 meters Centerline goodness : 0.409776 Centerline is valid? [False, False] Translation: X:52.67, Y:4.51, Z:9.58 [[ 0.78032713 -0.57324051 0.24996976 52.67340067] [ 0.27020608 0.6695302 0.69189449 4.50917042] [-0.56398425 -0.47236069 0.67734566 9.58463244] [ 0. 0. 0. 1. ]] SLAMing on 215.779072329 meters Centerline goodness : 0.133099 Centerline is valid? [False, False] Translation: X:52.65, Y:4.51, Z:9.59 [[ 0.77846413 -0.57627163 0.24880638 52.64771011] [ 0.27495933 0.66940292 0.69014281 4.51325286] [-0.56426144 -0.46883979 0.67955742 9.59342264] [ 0. 0. 0. 1. ]] SLAMing on 215.809072329 meters Centerline goodness : 0.145943 Centerline is valid? [False, False] Translation: X:52.62, Y:4.52, Z:9.60 [[ 0.77633496 -0.5795065 0.24794403 52.62189983] [ 0.27981032 0.66932478 0.68826632 4.51716635] [-0.56480989 -0.46494791 0.68177213 9.60178059] [ 0. 0. 0. 1. ]] SLAMing on 215.839072329 meters Centerline goodness : 0.138548 Centerline is valid? [False, False] Translation: X:52.61, Y:4.51, Z:9.61 [[ 0.76556077 -0.59311445 0.24926281 52.60609825] [ 0.29256883 0.66600595 0.6861775 4.50880413] [-0.57299231 -0.45238405 0.68339483 9.61135324] [ 0. 0. 0. 1. ]] SLAMing on 215.869072329 meters Centerline goodness : 0.122321 Centerline is valid? [False, False] Translation: X:52.58, Y:4.50, Z:9.62 [[ 0.76119737 -0.59493095 0.25813897 52.58392243] [ 0.28823269 0.6669249 0.68711942 4.5020447 ] [-0.58094792 -0.44862941 0.67914002 9.61638104] [ 0. 0. 0. 1. ]] SLAMing on 215.899072329 meters Centerline goodness : 0.098325 Centerline is valid? [False, False] Translation: X:52.57, Y:4.50, Z:9.62 [[ 0.75525991 -0.59913968 0.26573315 52.57003458] [ 0.28671816 0.66660306 0.68806472 4.49540755] [-0.58938541 -0.44347718 0.67524279 9.62281153] [ 0. 0. 0. 1. ]] SLAMing on 215.929072329 meters Centerline goodness : 0.093762 Centerline is valid? [False, False] Translation: X:52.56, Y:4.48, Z:9.63 [[ 0.73848395 -0.61561583 0.2750611 52.55964844] [ 0.29575245 0.66234211 0.68835559 4.48027736] [-0.60594714 -0.42698956 0.67119891 9.63254286] [ 0. 0. 0. 1. ]] SLAMing on 215.959072329 meters Centerline goodness : 0.089716 Centerline is valid? [False, False] Translation: X:52.55, Y:4.47, Z:9.64 [[ 0.73167258 -0.62026024 0.28272331 52.54839888] [ 0.29557524 0.66242673 0.68835028 4.47426251] [-0.61423979 -0.42008101 0.66801304 9.63925662] [ 0. 0. 0. 1. ]] SLAMing on 215.989072329 meters Centerline goodness : 0.080327 Centerline is valid? [False, False] Translation: X:52.54, Y:4.47, Z:9.64 [[ 0.72453773 -0.62546254 0.28955429 52.54167076] [ 0.29711592 0.66250547 0.68761081 4.46745256] [-0.62190611 -0.41216879 0.66584509 9.64456622] [ 0. 0. 0. 1. ]] SLAMing on 216.019072329 meters Centerline goodness : 0.074573 Centerline is valid? [False, False] Translation: X:52.54, Y:4.45, Z:9.65 [[ 0.70513434 -0.64475296 0.29509184 52.54216735] [ 0.31247874 0.65613039 0.68691335 4.45382946] [-0.63650813 -0.39215626 0.66413166 9.65438071] [ 0. 0. 0. 1. ]] SLAMing on 216.049072329 meters Centerline goodness : 0.082874 Centerline is valid? [False, False] Translation: X:52.54, Y:4.45, Z:9.66 [[ 0.69749941 -0.64978831 0.3021088 52.53537981] [ 0.31396926 0.65609273 0.68626936 4.44715887] [-0.64414119 -0.38381959 0.66163785 9.66038227] [ 0. 0. 0. 1. ]] SLAMing on 216.079072329 meters Centerline goodness : 0.078932 Centerline is valid? [False, False] Translation: X:52.53, Y:4.44, Z:9.67 [[ 0.68964995 -0.65485477 0.30910869 52.5292728 ] [ 0.31578617 0.65610371 0.6854247 4.44034386] [-0.65166099 -0.37509086 0.65927597 9.66590319] [ 0. 0. 0. 1. ]] SLAMing on 216.109072329 meters Centerline goodness : 0.077601 Centerline is valid? [False, False] Translation: X:52.52, Y:4.43, Z:9.67 [[ 0.68155828 -0.659952 0.31613554 52.52368932] [ 0.31787726 0.65614134 0.68442135 4.43337369] [-0.65911483 -0.36598074 0.6569823 9.67115365] [ 0. 0. 0. 1. ]] SLAMing on 216.13907232900002 meters Centerline goodness : 0.080941 Centerline is valid? [False, False] Translation: X:52.53, Y:4.42, Z:9.68 [[ 0.65899659 -0.68116818 0.31895676 52.5345542 ] [ 0.33703996 0.64653657 0.68439355 4.41561494] [-0.67240432 -0.34351184 0.65564629 9.6794105 ] [ 0. 0. 0. 1. ]] SLAMing on 216.16907232900002 meters Centerline goodness : 0.079943 Centerline is valid? [False, False] Translation: X:52.53, Y:4.41, Z:9.68 [[ 0.65042933 -0.68605648 0.32598801 52.53099481] [ 0.3397363 0.64661994 0.68298016 4.40838671] [-0.67935332 -0.33348037 0.65365886 9.68403502] [ 0. 0. 0. 1. ]] SLAMing on 216.199072329 meters Centerline goodness : 0.081326 Centerline is valid? [False, False] Translation: X:52.53, Y:4.40, Z:9.69 [[ 0.64175938 -0.69087926 0.33291252 52.52694612] [ 0.3423927 0.64654844 0.68172014 4.40161324] [-0.68623038 -0.32351348 0.65148054 9.68886434] [ 0. 0. 0. 1. ]] SLAMing on 216.229072329 meters Centerline goodness : 0.081452 Centerline is valid? [False, False] Translation: X:52.53, Y:4.39, Z:9.69 [[ 0.63164869 -0.69629395 0.34087338 52.52554137] [ 0.346958 0.64709686 0.67888571 4.39371233] [-0.6932821 -0.31054853 0.65032264 9.69264342] [ 0. 0. 0. 1. ]] SLAMing on 216.259072329 meters Centerline goodness : 0.197144 Centerline is valid? [False, False] Translation: X:52.55, Y:4.37, Z:9.70 [[ 0.60517881 -0.71871585 0.34235382 52.54801548] [ 0.3701855 0.63478187 0.67824382 4.37408908] [-0.70478458 -0.28372436 0.65021472 9.69987499] [ 0. 0. 0. 1. ]] SLAMing on 216.289072329 meters Centerline goodness : 0.200747 Centerline is valid? [False, False] Translation: X:52.55, Y:4.37, Z:9.70 [[ 0.59512713 -0.72326832 0.35029508 52.54623943] [ 0.37419543 0.63515212 0.67569192 4.36691832] [-0.71119722 -0.27104377 0.64863996 9.7043493 ] [ 0. 0. 0. 1. ]] SLAMing on 216.319072329 meters Centerline goodness : 0.193377 Centerline is valid? [False, False] Translation: X:52.57, Y:4.35, Z:9.71 [[ 0.56751546 -0.74462522 0.35136802 52.56888766] [ 0.39730649 0.62143835 0.67524953 4.34810518] [-0.72116139 -0.24361375 0.64852031 9.71138363] [ 0. 0. 0. 1. ]] SLAMing on 216.349072329 meters Centerline goodness : 0.379025 Centerline is valid? [False, False] Translation: X:52.57, Y:4.34, Z:9.72 [[ 0.55690302 -0.74906881 0.35882438 52.56927416] [ 0.40175138 0.62105603 0.67296749 4.34013669] [-0.726949 -0.23061944 0.64680741 9.71531333] [ 0. 0. 0. 1. ]] SLAMing on 216.379072329 meters Centerline goodness : 0.364057 Centerline is valid? [False, False] Translation: X:52.57, Y:4.33, Z:9.72 [[ 0.54618629 -0.75392062 0.36508112 52.57133411] [ 0.40640217 0.61959974 0.67151577 4.33075237] [-0.73247376 -0.21840295 0.64481186 9.71910539] [ 0. 0. 0. 1. ]] SLAMing on 216.409072329 meters Centerline goodness : 0.364057 Centerline is valid? [False, False] Translation: X:52.57, Y:4.33, Z:9.72 [[ 0.54618629 -0.75392062 0.36508112 52.57133411] [ 0.40640217 0.61959974 0.67151577 4.33075237] [-0.73247376 -0.21840295 0.64481186 9.71910539] [ 0. 0. 0. 1. ]] SLAMing on 216.439072329 meters Centerline goodness : 0.221533 Centerline is valid? [False, False] Translation: X:52.60, Y:4.31, Z:9.73 [[ 0.51640117 -0.77395343 0.36650502 52.59502545] [ 0.42868571 0.60413643 0.67174976 4.31116092] [-0.74132206 -0.1897769 0.64375953 9.72520613] [ 0. 0. 0. 1. ]] SLAMing on 216.469072329 meters Centerline goodness : 0.300502 Centerline is valid? [False, False] Translation: X:52.60, Y:4.30, Z:9.73 [[ 0.50411239 -0.78026438 0.37021372 52.60230107] [ 0.43456173 0.59961743 0.67202309 4.29888353] [-0.74634228 -0.17789445 0.64134762 9.72877692] [ 0. 0. 0. 1. ]] SLAMing on 216.499072329 meters Centerline goodness : 0.318032 Centerline is valid? [False, False] Translation: X:52.61, Y:4.29, Z:9.73 [[ 0.49233843 -0.78526551 0.37544767 52.60585109] [ 0.43929187 0.59655886 0.6716697 4.28886643] [-0.75141568 -0.1657577 0.63866961 9.73280587] [ 0. 0. 0. 1. ]] SLAMing on 216.529072329 meters Centerline goodness : 0.161471 Centerline is valid? [False, False] Translation: X:52.63, Y:4.27, Z:9.74 [[ 0.45944087 -0.8037396 0.37804331 52.63139285] [ 0.46105634 0.57959962 0.67193105 4.26979903] [-0.75917135 -0.13441332 0.63686099 9.73802095] [ 0. 0. 0. 1. ]] SLAMing on 216.559072329 meters Centerline goodness : 0.278993 Centerline is valid? [False, False] Translation: X:52.64, Y:4.26, Z:9.74 [[ 0.44532043 -0.81035458 0.38080857 52.64367387] [ 0.46859968 0.5733429 0.67208054 4.25763084] [-0.76295743 -0.12084442 0.63505321 9.74018242] [ 0. 0. 0. 1. ]] SLAMing on 216.589072329 meters Centerline goodness : 0.261262 Centerline is valid? [False, False] Translation: X:52.65, Y:4.25, Z:9.74 [[ 0.43147668 -0.81623339 0.38417564 52.65344735] [ 0.47511415 0.56761681 0.67236724 4.24553407] [-0.76687314 -0.1075835 0.63271745 9.74257387] [ 0. 0. 0. 1. ]] SLAMing on 216.619072329 meters Centerline goodness : 0.251529 Centerline is valid? [False, False] Translation: X:52.66, Y:4.23, Z:9.75 [[ 0.41720444 -0.82197858 0.38767468 52.66286188] [ 0.48166105 0.5617227 0.67265909 4.23362903] [-0.77067703 -0.09390857 0.63026827 9.745004 ] [ 0. 0. 0. 1. ]] SLAMing on 216.649072329 meters Centerline goodness : 0.191671 Centerline is valid? [False, False] Translation: X:52.69, Y:4.22, Z:9.75 [[ 0.38068096 -0.83819586 0.39052491 52.6885009 ] [ 0.50382404 0.5421414 0.67249092 4.21556569] [-0.77539882 -0.05924865 0.62868614 9.74826244] [ 0. 0. 0. 1. ]] SLAMing on 216.679072329 meters Centerline goodness : 0.187080 Centerline is valid? [False, False] Translation: X:52.69, Y:4.21, Z:9.75 [[ 3.62744960e-01 -8.45870607e-01 3.91048603e-01 5.26939834e+01] [ 5.17337279e-01 5.31817254e-01 6.70471884e-01 4.21221240e+00] [-7.75098854e-01 -4.09062766e-02 6.30514427e-01 9.74833513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.709072329 meters Centerline goodness : 0.184638 Centerline is valid? [False, False] Translation: X:52.70, Y:4.21, Z:9.75 [[ 3.45074216e-01 -8.53082882e-01 3.91373711e-01 5.26975449e+01] [ 5.30111431e-01 5.21254516e-01 6.68786663e-01 4.20979010e+00] [-7.74535768e-01 -2.33093552e-02 6.32100481e-01 9.74870586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.739072329 meters Centerline goodness : 0.175390 Centerline is valid? [False, False] Translation: X:52.70, Y:4.21, Z:9.75 [[ 3.27529948e-01 -8.59835075e-01 3.91673048e-01 5.26995149e+01] [ 5.42429680e-01 5.10535856e-01 6.67175526e-01 4.20829448e+00] [-7.73624053e-01 -6.06487966e-03 6.33615847e-01 9.74886623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.769072329 meters Centerline goodness : 0.166685 Centerline is valid? [False, False] Translation: X:52.73, Y:4.19, Z:9.75 [[ 2.87513747e-01 -8.73564723e-01 3.92709206e-01 5.27260320e+01] [ 5.65685715e-01 4.85747664e-01 6.66369926e-01 4.19290491e+00] [-7.72874839e-01 3.05594736e-02 6.33822216e-01 9.74834844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.799072329 meters Centerline goodness : 0.133431 Centerline is valid? [False, False] Translation: X:52.73, Y:4.19, Z:9.75 [[ 2.68718427e-01 -8.79110846e-01 3.93642638e-01 5.27289845e+01] [ 5.77605444e-01 4.74112430e-01 6.64521899e-01 4.19133095e+00] [-7.70819277e-01 4.88008514e-02 6.35181957e-01 9.74760051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.829072329 meters Centerline goodness : 0.375200 Centerline is valid? [False, False] Translation: X:52.75, Y:4.18, Z:9.75 [[ 0.22700254 -0.89038726 0.39456353 52.75265038] [ 0.60032121 0.44694578 0.66321484 4.17927851] [-0.76686654 0.0863134 0.63597618 9.74590512] [ 0. 0. 0. 1. ]] SLAMing on 216.859072329 meters Centerline goodness : 0.241669 Centerline is valid? [False, False] Translation: X:52.76, Y:4.18, Z:9.74 [[ 0.20723297 -0.89459646 0.39591877 52.7569047 ] [ 0.61188101 0.43430016 0.66104841 4.1779408 ] [-0.76331915 0.10526415 0.63738789 9.74414035] [ 0. 0. 0. 1. ]] SLAMing on 216.88907232900002 meters Centerline goodness : 0.234595 Centerline is valid? [False, False] Translation: X:52.76, Y:4.18, Z:9.74 [[ 0.18751549 -0.89842022 0.39708821 52.75992346] [ 0.62284105 0.42135008 0.65919127 4.1773328 ] [-0.75954392 0.12371426 0.63858267 9.74268704] [ 0. 0. 0. 1. ]] SLAMing on 216.91907232900002 meters Centerline goodness : 0.212455 Centerline is valid? [False, False] Translation: X:52.77, Y:4.18, Z:9.74 [[ 0.16665413 -0.90168575 0.39898521 52.76701542] [ 0.63410757 0.407878 0.65691943 4.17533787] [-0.75507218 0.1435212 0.63974031 9.74047497] [ 0. 0. 0. 1. ]] SLAMing on 216.949072329 meters Centerline goodness : 0.099828 Centerline is valid? [False, False] Translation: X:52.79, Y:4.16, Z:9.74 [[ 0.12137114 -0.90873777 0.39933033 52.79264251] [ 0.6543096 0.37577178 0.65625796 4.16475031] [-0.74642347 0.18163489 0.64020369 9.73522519] [ 0. 0. 0. 1. ]] SLAMing on 216.979072329 meters Centerline goodness : 0.267651 Centerline is valid? [False, False] Translation: X:52.80, Y:4.16, Z:9.73 [[ 0.09977595 -0.91046128 0.4013789 52.79993828] [ 0.66455636 0.36120548 0.65413717 4.16388635] [-0.74054682 0.20147175 0.64109246 9.73228724] [ 0. 0. 0. 1. ]] SLAMing on 217.009072329 meters Centerline goodness : 0.457748 Centerline is valid? [False, False] Translation: X:52.81, Y:4.16, Z:9.73 [[ 0.07799752 -0.91157556 0.40366619 52.80714471] [ 0.67457162 0.34639198 0.65189395 4.16348719] [-0.73407732 0.22145564 0.64194072 9.72931332] [ 0. 0. 0. 1. ]] SLAMing on 217.039072329 meters Centerline goodness : 0.421801 Centerline is valid? [False, False] Translation: X:52.84, Y:4.15, Z:9.72 [[ 3.07168251e-02 -9.14504036e-01 4.03409028e-01 5.28360708e+01] [ 6.91843355e-01 3.10744369e-01 6.51759702e-01 4.15278779e+00] [-7.21393963e-01 2.59075867e-01 6.42238621e-01 9.72160187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.069072329 meters Centerline goodness : 0.421486 Centerline is valid? [False, False] Translation: X:52.84, Y:4.15, Z:9.72 [[ 8.57197708e-03 -9.14089460e-01 4.05421977e-01 5.28445842e+01] [ 7.00565167e-01 2.94794535e-01 6.49849697e-01 4.15316334e+00] [-7.13536942e-01 2.78454018e-01 6.42906207e-01 9.71847498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.099072329 meters Centerline goodness : 0.423102 Centerline is valid? [False, False] Translation: X:52.86, Y:4.15, Z:9.72 [[-1.41873519e-02 -9.13096714e-01 4.07496146e-01 5.28552123e+01] [ 7.08870641e-01 2.78237568e-01 6.48140625e-01 4.15278005e+00] [-7.05195812e-01 2.98057454e-01 6.43319999e-01 9.71506312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.129072329 meters Centerline goodness : 0.417383 Centerline is valid? [False, False] Translation: X:52.90, Y:4.14, Z:9.70 [[-0.06298522 -0.91117036 0.40718723 52.89613703] [ 0.72284385 0.23966633 0.64811791 4.13822887] [-0.68813489 0.33515464 0.64353845 9.70388152] [ 0. 0. 0. 1. ]] SLAMing on 217.159072329 meters Centerline goodness : 0.156268 Centerline is valid? [False, False] Translation: X:54.43, Y:5.13, Z:11.37 [[-0.06975463 -0.81932689 -0.56906743 54.42777586] [-0.33283406 0.55688382 -0.76098745 5.12678656] [ 0.94040193 0.13632262 -0.31154512 11.36872532] [ 0. 0. 0. 1. ]] SLAMing on 217.189072329 meters Centerline goodness : 0.153709 Centerline is valid? [False, False] Translation: X:54.45, Y:5.11, Z:11.36 [[-0.09208728 -0.81795198 -0.56786837 54.44965014] [-0.31602245 0.56481566 -0.76230773 5.11403807] [ 0.94427207 0.10926031 -0.31050353 11.36089135] [ 0. 0. 0. 1. ]] SLAMing on 217.219072329 meters Centerline goodness : 0.109022 Centerline is valid? [False, False] Translation: X:54.48, Y:5.09, Z:11.35 [[-0.13762743 -0.81008867 -0.56992547 54.48422583] [-0.2844672 0.58348734 -0.76067137 5.09120157] [ 0.94875555 0.05743586 -0.31074752 11.35369525] [ 0. 0. 0. 1. ]] SLAMing on 217.249072329 meters Centerline goodness : 0.084504 Centerline is valid? [False, False] Translation: X:54.51, Y:5.08, Z:11.35 [[-1.60306353e-01 -8.06437789e-01 -5.69174811e-01 5.45063453e+01] [-2.66120610e-01 5.90590441e-01 -7.61828558e-01 5.07875587e+00] [ 9.50516541e-01 2.93431899e-02 -3.09285116e-01 1.13469633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.279072329 meters Centerline goodness : 0.064066 Centerline is valid? [False, False] Translation: X:54.53, Y:5.07, Z:11.34 [[-1.82572736e-01 -8.02082501e-01 -5.68621893e-01 5.45279574e+01] [-2.47280764e-01 5.97211823e-01 -7.63013933e-01 5.06664209e+00] [ 9.51587841e-01 1.30371504e-03 -3.07374171e-01 1.13405192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.309072329 meters Centerline goodness : 0.057751 Centerline is valid? [False, False] Translation: X:54.56, Y:5.04, Z:11.34 [[-2.27100394e-01 -7.88751016e-01 -5.71224339e-01 5.45642376e+01] [-2.13906178e-01 6.12626124e-01 -7.60876718e-01 5.04319923e+00] [ 9.50089237e-01 -5.06069873e-02 -3.07846349e-01 1.13351983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.339072329 meters Centerline goodness : 0.062713 Centerline is valid? [False, False] Translation: X:54.60, Y:5.03, Z:11.33 [[-0.24933113 -0.77954212 -0.57458512 54.59548756] [-0.19330974 0.62144547 -0.7592344 5.02922207] [ 0.94892852 -0.07822788 -0.30563879 11.32752925] [ 0. 0. 0. 1. ]] SLAMing on 217.369072329 meters Centerline goodness : 0.069841 Centerline is valid? [False, False] Translation: X:54.63, Y:5.01, Z:11.32 [[-0.27025608 -0.76804556 -0.58057529 54.632711 ] [-0.17183495 0.63181048 -0.75583614 5.01392445] [ 0.94733014 -0.10450619 -0.30272769 11.31857051] [ 0. 0. 0. 1. ]] SLAMing on 217.399072329 meters Centerline goodness : 0.093806 Centerline is valid? [False, False] Translation: X:54.71, Y:4.99, Z:11.30 [[-0.28886321 -0.74867189 -0.59669796 54.70746299] [-0.1456868 0.65038398 -0.74550388 4.98647794] [ 0.94622059 -0.12841763 -0.29694361 11.29544566] [ 0. 0. 0. 1. ]] SLAMing on 217.429072329 meters Centerline goodness : 0.175764 Centerline is valid? [False, False] Translation: X:54.75, Y:4.96, Z:11.30 [[-0.3298377 -0.72248324 -0.60763892 54.75033559] [-0.10697389 0.66811789 -0.73632538 4.96266179] [ 0.93795718 -0.17786637 -0.29765731 11.29656154] [ 0. 0. 0. 1. ]] SLAMing on 217.459072329 meters Centerline goodness : 0.168469 Centerline is valid? [False, False] Translation: X:54.82, Y:2.97, Z:9.80 [[ 0.86570994 0.46304072 0.19010415 54.81959738] [-0.38484241 0.37287139 0.84431229 2.96763266] [ 0.32006658 -0.80408968 0.50099618 9.79588227] [ 0. 0. 0. 1. ]] SLAMing on 217.489072329 meters Centerline goodness : 0.128488 Centerline is valid? [False, False] Translation: X:54.80, Y:2.96, Z:9.82 [[ 0.88995979 0.41544699 0.1880834 54.79612784] [-0.362859 0.39527203 0.84385625 2.95875411] [ 0.27623344 -0.81924589 0.50252489 9.82394018] [ 0. 0. 0. 1. ]] SLAMing on 217.519072329 meters Centerline goodness : 0.164534 Centerline is valid? [False, False] Translation: X:54.79, Y:2.96, Z:9.84 [[ 0.901363 0.39195127 0.18417094 54.7870041 ] [-0.34988606 0.40849922 0.84303507 2.95671899] [ 0.25519498 -0.82431947 0.50534437 9.83701332] [ 0. 0. 0. 1. ]] SLAMing on 217.549072329 meters Centerline goodness : 0.175381 Centerline is valid? [False, False] Translation: X:54.78, Y:2.96, Z:9.85 [[ 0.91197921 0.36861754 0.18004172 54.77856574] [-0.33646924 0.42102682 0.84233299 2.95501235] [ 0.23469633 -0.82876868 0.50799617 9.84989186] [ 0. 0. 0. 1. ]] SLAMing on 217.579072329 meters Centerline goodness : 0.216513 Centerline is valid? [False, False] Translation: X:54.77, Y:2.95, Z:9.86 [[ 0.92178622 0.34525754 0.17637287 54.77020005] [-0.3231425 0.43283266 0.84156688 2.95345787] [ 0.21421737 -0.83273833 0.51054657 9.86274295] [ 0. 0. 0. 1. ]] SLAMing on 217.609072329 meters Centerline goodness : 0.203968 Centerline is valid? [False, False] Translation: X:54.76, Y:2.95, Z:9.88 [[ 0.93083006 0.3219228 0.17297718 54.76174896] [-0.30980963 0.44405909 0.84073154 2.9521182 ] [ 0.19383856 -0.83616819 0.51307833 9.87534175] [ 0. 0. 0. 1. ]] SLAMing on 217.63907232900002 meters Centerline goodness : 0.219161 Centerline is valid? [False, False] Translation: X:54.74, Y:2.94, Z:9.90 [[ 0.94593433 0.27543228 0.17130474 54.74348661] [-0.28634071 0.46100366 0.83993132 2.94340164] [ 0.15237208 -0.84357139 0.51494666 9.8995384 ] [ 0. 0. 0. 1. ]] SLAMing on 217.66907232900002 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 217.699072329 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 217.729072329 meters Centerline goodness : 0.172071 Centerline is valid? [False, False] Translation: X:54.71, Y:2.93, Z:9.94 [[ 0.96822849 0.1848353 0.16843248 54.71181765] [-0.23926027 0.4888634 0.83890828 2.92718873] [ 0.07271939 -0.8525541 0.51755522 9.94434363] [ 0. 0. 0. 1. ]] SLAMing on 217.759072329 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 217.789072329 meters Centerline goodness : 0.154745 Centerline is valid? [False, False] Translation: X:54.70, Y:2.92, Z:9.96 [[ 9.75483417e-01 1.41556924e-01 1.68504420e-01 5.46978677e+01] [-2.17391846e-01 5.00660017e-01 8.37902341e-01 2.91913779e+00] [ 3.42474522e-02 -8.53991326e-01 5.19158865e-01 9.96383431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.819072329 meters Centerline goodness : 0.139710 Centerline is valid? [False, False] Translation: X:54.69, Y:2.91, Z:9.98 [[ 9.80564441e-01 9.96645314e-02 1.68998101e-01 5.46867317e+01] [-1.96175624e-01 5.10854318e-01 8.36984462e-01 2.91100123e+00] [-2.91574551e-03 -8.53870509e-01 5.20477331e-01 9.98199156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.849072329 meters Centerline goodness : 0.140631 Centerline is valid? [False, False] Translation: X:54.69, Y:2.91, Z:9.99 [[ 9.82215592e-01 8.64857019e-02 1.66651596e-01 5.46853975e+01] [-1.87146967e-01 5.22432507e-01 8.31889589e-01 2.91295233e+00] [-1.51176558e-02 -8.48283266e-01 5.29326891e-01 9.98943618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.879072329 meters Centerline goodness : 0.145756 Centerline is valid? [False, False] Translation: X:54.68, Y:2.92, Z:10.00 [[ 9.83641556e-01 7.36431514e-02 1.64395791e-01 5.46838385e+01] [-1.78117948e-01 5.33874487e-01 8.26590605e-01 2.91503393e+00] [-2.68939813e-02 -8.42350710e-01 5.38258298e-01 9.99628040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.909072329 meters Centerline goodness : 0.152756 Centerline is valid? [False, False] Translation: X:54.68, Y:2.92, Z:10.00 [[ 9.84831232e-01 6.11713131e-02 1.62374614e-01 5.46823484e+01] [-1.69242226e-01 5.45035923e-01 8.21153403e-01 2.91725977e+00] [-3.82689655e-02 -8.36178159e-01 5.47121169e-01 1.00025024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.939072329 meters Centerline goodness : 0.321941 Centerline is valid? [False, False] Translation: X:54.68, Y:2.92, Z:10.01 [[ 9.85811082e-01 4.92049525e-02 1.60484837e-01 5.46810957e+01] [-1.60524326e-01 5.55869712e-01 8.15622955e-01 2.91949304e+00] [-4.90759711e-02 -8.29811868e-01 5.55881114e-01 1.00083268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.969072329 meters Centerline goodness : 0.244175 Centerline is valid? [False, False] Translation: X:54.67, Y:2.91, Z:10.02 [[ 9.86776471e-01 1.56990811e-02 1.61324939e-01 5.46673128e+01] [-1.41982655e-01 5.63826017e-01 8.13597658e-01 2.91208423e+00] [-7.81864623e-02 -8.25744368e-01 5.58599244e-01 1.00212232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.999072329 meters Centerline goodness : 0.234902 Centerline is valid? [False, False] Translation: X:54.67, Y:2.91, Z:10.03 [[ 9.87041063e-01 5.29298883e-03 1.60380563e-01 5.46663599e+01] [-1.34403979e-01 5.73293365e-01 8.08251377e-01 2.91344849e+00] [-8.76670473e-02 -8.19333084e-01 5.66575491e-01 1.00261367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.029072329 meters Centerline goodness : 0.223750 Centerline is valid? [False, False] Translation: X:54.67, Y:2.91, Z:10.03 [[ 9.87169344e-01 -4.70113536e-03 1.59607601e-01 5.46654514e+01] [-1.27037960e-01 5.82444211e-01 8.02882368e-01 2.91494453e+00] [-9.67369821e-02 -8.12857085e-01 5.74373847e-01 1.00306388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.059072329 meters Centerline goodness : 0.194480 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.04 [[ 9.86547918e-01 -3.30507364e-02 1.60096390e-01 5.46555991e+01] [-1.10322841e-01 5.88086045e-01 8.01238838e-01 2.90836344e+00] [-1.20631987e-01 -8.08122796e-01 5.76528812e-01 1.00413045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.089072329 meters Centerline goodness : 0.196149 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.05 [[ 9.86241034e-01 -4.23957431e-02 1.59784928e-01 5.46573728e+01] [-1.03711518e-01 5.94006734e-01 7.97746778e-01 2.90875065e+00] [-1.28734391e-01 -8.03342144e-01 5.81436889e-01 1.00453675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.119072329 meters Centerline goodness : 0.199045 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.05 [[ 0.98535636 -0.06906891 0.15589206 54.65922007] [-0.0838939 0.59956731 0.7959151 2.90610874] [-0.14844078 -0.7973384 0.584993 10.05277931] [ 0. 0. 0. 1. ]] SLAMing on 218.149072329 meters Centerline goodness : 0.267981 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.06 [[ 0.98474997 -0.07758703 0.15571691 54.66122359] [-0.0776011 0.60519177 0.79228845 2.90633013] [-0.1557099 -0.79228983 0.58994173 10.05580594] [ 0. 0. 0. 1. ]] SLAMing on 218.179072329 meters Centerline goodness : 0.189237 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.06 [[ 0.98408625 -0.08588203 0.15555875 54.66308609] [-0.07133618 0.6108507 0.78852557 2.9068754 ] [-0.16274334 -0.78707414 0.59500328 10.05845976] [ 0. 0. 0. 1. ]] SLAMing on 218.209072329 meters Centerline goodness : 0.308080 Centerline is valid? [False, False] Translation: X:54.66, Y:2.91, Z:10.07 [[ 0.98255693 -0.10095774 0.15617109 54.6643664 ] [-0.06098528 0.61842354 0.78347503 2.90675883] [-0.17567774 -0.77933296 0.6014794 10.06517028] [ 0. 0. 0. 1. ]] SLAMing on 218.239072329 meters Centerline goodness : 0.263713 Centerline is valid? [False, False] Translation: X:54.67, Y:2.91, Z:10.07 [[ 0.98170775 -0.10863116 0.1563623 54.66534366] [-0.05510931 0.62397429 0.77949923 2.90778628] [-0.18224396 -0.77385745 0.6065738 10.06783642] [ 0. 0. 0. 1. ]] SLAMing on 218.269072329 meters Centerline goodness : 0.308029 Centerline is valid? [False, False] Translation: X:54.67, Y:2.91, Z:10.07 [[ 9.80784887e-01 -1.16110232e-01 1.56778250e-01 5.46658994e+01] [-4.94149431e-02 6.29554877e-01 7.75383015e-01 2.90888581e+00] [-1.88730414e-01 -7.68231131e-01 6.11720328e-01 1.00703582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.299072329 meters Centerline goodness : 0.206839 Centerline is valid? [False, False] Translation: X:54.65, Y:2.91, Z:10.08 [[ 9.78532098e-01 -1.30369870e-01 1.59620270e-01 5.46522707e+01] [-4.10260877e-02 6.35780354e-01 7.70778958e-01 2.90686012e+00] [-2.01969785e-01 -7.60780546e-01 6.16782918e-01 1.00753410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.329072329 meters Centerline goodness : 0.280002 Centerline is valid? [False, False] Translation: X:54.65, Y:2.91, Z:10.08 [[ 9.77898226e-01 -1.34335114e-01 1.60215908e-01 5.46517649e+01] [-3.80961355e-02 6.38976216e-01 7.68282552e-01 2.90650868e+00] [-2.05581479e-01 -7.57405751e-01 6.19736059e-01 1.00773741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.359072329 meters Centerline goodness : 0.280002 Centerline is valid? [False, False] Translation: X:54.65, Y:2.91, Z:10.08 [[ 9.77898226e-01 -1.34335114e-01 1.60215908e-01 5.46517649e+01] [-3.80961355e-02 6.38976216e-01 7.68282552e-01 2.90650868e+00] [-2.05581479e-01 -7.57405751e-01 6.19736059e-01 1.00773741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38907232900002 meters Centerline goodness : 0.238033 Centerline is valid? [False, False] Translation: X:54.65, Y:2.91, Z:10.08 [[ 9.77302229e-01 -1.38068800e-01 1.60677811e-01 5.46515433e+01] [-3.51897404e-02 6.42115175e-01 7.65800094e-01 2.90631604e+00] [-2.08906761e-01 -7.54072350e-01 6.22681987e-01 1.00788973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.41907232900002 meters Centerline goodness : 0.245506 Centerline is valid? [False, False] Translation: X:54.65, Y:2.91, Z:10.08 [[ 9.76712316e-01 -1.41645922e-01 1.61150501e-01 5.46514285e+01] [-3.23831186e-02 6.45169799e-01 7.63352647e-01 2.90594768e+00] [-2.12095226e-01 -7.50794488e-01 6.25558352e-01 1.00802875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449072329 meters Centerline goodness : 0.301877 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.08 [[ 9.74682286e-01 -1.51588524e-01 1.64363503e-01 5.46392062e+01] [-2.73990779e-02 6.48583228e-01 7.60650437e-01 2.90327838e+00] [-2.21909289e-01 -7.45895915e-01 6.28009198e-01 1.00835498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479072329 meters Centerline goodness : 0.310986 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.08 [[ 9.74060182e-01 -1.54947524e-01 1.64918242e-01 5.46390730e+01] [-2.46980593e-02 6.51644844e-01 7.58122024e-01 2.90317553e+00] [-2.24937252e-01 -7.42529637e-01 6.30914392e-01 1.00843176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509072329 meters Centerline goodness : 0.263323 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.08 [[ 9.73408863e-01 -1.58270453e-01 1.65606914e-01 5.46385595e+01] [-2.20870149e-02 6.54725191e-01 7.55544233e-01 2.90349434e+00] [-2.28007347e-01 -7.39111215e-01 6.33819582e-01 1.00849276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.539072329 meters Centerline goodness : 0.300269 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.09 [[ 9.72710064e-01 -1.61779040e-01 1.66320994e-01 5.46378433e+01] [-1.94649566e-02 6.57402279e-01 7.53288363e-01 2.90276015e+00] [-2.31206069e-01 -7.35968603e-01 6.36312791e-01 1.00870482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.569072329 meters Centerline goodness : 0.289462 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.09 [[ 9.72669819e-01 -1.62046423e-01 1.66296061e-01 5.46376833e+01] [-1.93232143e-02 6.57222228e-01 7.53449107e-01 2.90217461e+00] [-2.31387201e-01 -7.36070581e-01 6.36128967e-01 1.00886965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.599072329 meters Centerline goodness : 0.291476 Centerline is valid? [False, False] Translation: X:54.64, Y:2.90, Z:10.09 [[ 9.72520372e-01 -1.62474202e-01 1.66752091e-01 5.46368117e+01] [-1.93423415e-02 6.57373724e-01 7.53316442e-01 2.90216399e+00] [-2.32012931e-01 -7.35840962e-01 6.36166707e-01 1.00904657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.629072329 meters Centerline goodness : 0.241361 Centerline is valid? [False, False] Translation: X:54.63, Y:2.90, Z:10.09 [[ 9.71989055e-01 -1.64903272e-01 1.67463992e-01 5.46344629e+01] [-1.76588401e-02 6.59278080e-01 7.51691811e-01 2.90275842e+00] [-2.34361778e-01 -7.33593433e-01 6.37899077e-01 1.00943170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.659072329 meters Centerline goodness : 0.291774 Centerline is valid? [False, False] Translation: X:54.63, Y:2.90, Z:10.10 [[ 9.71951718e-01 -1.65108495e-01 1.67478486e-01 5.46343031e+01] [-1.75849078e-02 6.59112688e-01 7.51838570e-01 2.90192006e+00] [-2.34522130e-01 -7.33695883e-01 6.37722292e-01 1.00959137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.689072329 meters Centerline goodness : 0.134878 Centerline is valid? [False, False] Translation: X:54.63, Y:2.90, Z:10.10 [[ 9.71940293e-01 -1.65186151e-01 1.67468211e-01 5.46343026e+01] [-1.75949832e-02 6.58892977e-01 7.52030891e-01 2.90092004e+00] [-2.34568717e-01 -7.33875726e-01 6.37498186e-01 1.00973721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.719072329 meters Centerline goodness : 0.307112 Centerline is valid? [False, False] Translation: X:54.63, Y:2.90, Z:10.10 [[ 9.71873467e-01 -1.65236886e-01 1.67805650e-01 5.46339022e+01] [-1.77797035e-02 6.59025091e-01 7.51910774e-01 2.90076710e+00] [-2.34831528e-01 -7.33745665e-01 6.37551137e-01 1.00987885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.749072329 meters Centerline goodness : 0.339047 Centerline is valid? [False, False] Translation: X:54.62, Y:2.90, Z:10.10 [[ 9.72011664e-01 -1.61319302e-01 1.70790536e-01 5.46200117e+01] [-2.16083518e-02 6.62505877e-01 7.48744978e-01 2.90068276e+00] [-2.33936751e-01 -7.31479354e-01 6.40477596e-01 1.01018822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.779072329 meters Centerline goodness : 0.337017 Centerline is valid? [False, False] Translation: X:54.62, Y:2.90, Z:10.10 [[ 9.71842049e-01 -1.61396841e-01 1.71680200e-01 5.46184750e+01] [-2.19708160e-02 6.63349184e-01 7.47987395e-01 2.90264990e+00] [-2.34606724e-01 -7.30697557e-01 6.41124610e-01 1.01035188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.809072329 meters Centerline goodness : 0.298303 Centerline is valid? [False, False] Translation: X:54.62, Y:2.90, Z:10.10 [[ 9.71813006e-01 -1.61400062e-01 1.71841500e-01 5.46179603e+01] [-2.21119379e-02 6.63289567e-01 7.48036104e-01 2.90271434e+00] [-2.34713748e-01 -7.30750963e-01 6.41024560e-01 1.01047936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.839072329 meters Centerline goodness : 0.303425 Centerline is valid? [False, False] Translation: X:54.62, Y:2.90, Z:10.10 [[ 9.71336635e-01 -1.63556643e-01 1.72494539e-01 5.46167580e+01] [-2.01782437e-02 6.66305101e-01 7.45406165e-01 2.90368435e+00] [-2.36850122e-01 -7.27520953e-01 6.43906268e-01 1.01047573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.869072329 meters Centerline goodness : 0.328843 Centerline is valid? [False, False] Translation: X:54.62, Y:2.90, Z:10.10 [[ 9.70928309e-01 -1.65383704e-01 1.73050423e-01 5.46160393e+01] [-1.84126575e-02 6.69197152e-01 7.42856746e-01 2.90427396e+00] [-2.38661251e-01 -7.24446963e-01 6.46697306e-01 1.01041571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.899072329 meters Centerline goodness : 0.219084 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.70506125e-01 -1.67061692e-01 1.73805213e-01 5.46146073e+01] [-1.68373312e-02 6.72222208e-01 7.40157961e-01 2.90516118e+00] [-2.40487765e-01 -7.21254251e-01 6.49582897e-01 1.01033545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.929072329 meters Centerline goodness : 0.322873 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.70130215e-01 -1.68765935e-01 1.74256780e-01 5.46140982e+01] [-1.50755352e-02 6.75002016e-01 7.37661851e-01 2.90595121e+00] [-2.42115870e-01 -7.18255064e-01 6.52295614e-01 1.01021442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.959072329 meters Centerline goodness : 0.129263 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.69757290e-01 -1.70431981e-01 1.74710443e-01 5.46136474e+01] [-1.33537609e-02 6.77695382e-01 7.35221495e-01 2.90652569e+00] [-2.43705716e-01 -7.15319446e-01 6.54924128e-01 1.01011448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.989072329 meters Centerline goodness : 0.225920 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.69374225e-01 -1.72073821e-01 1.75226175e-01 5.46131547e+01] [-1.16523646e-02 6.80466164e-01 7.32686851e-01 2.90704554e+00] [-2.45311709e-01 -7.12289548e-01 6.57621293e-01 1.00999122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.019072329 meters Centerline goodness : 0.313018 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.68943857e-01 -1.73792525e-01 1.75908956e-01 5.46122511e+01] [-9.97263822e-03 6.83330808e-01 7.30040789e-01 2.90762229e+00] [-2.47079641e-01 -7.09122814e-01 6.60376019e-01 1.00990839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.049072329 meters Centerline goodness : 0.300082 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.68452272e-01 -1.75530289e-01 1.76887856e-01 5.46105216e+01] [-8.45672699e-03 6.86267155e-01 7.27300403e-01 2.90789511e+00] [-2.49055575e-01 -7.05851620e-01 6.63132574e-01 1.00991451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.079072329 meters Centerline goodness : 0.216989 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.68013126e-01 -1.77200539e-01 1.77624765e-01 5.46094390e+01] [-6.84619434e-03 6.89033061e-01 7.24697571e-01 2.90845043e+00] [-2.50806135e-01 -7.02732815e-01 6.65779898e-01 1.00986152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.109072329 meters Centerline goodness : 0.220294 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.67572551e-01 -1.78930186e-01 1.78290067e-01 5.46085714e+01] [-5.13896033e-03 6.91748091e-01 7.22120606e-01 2.90900306e+00] [-2.52540988e-01 -6.99620302e-01 6.68396949e-01 1.00981793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13907232900002 meters Centerline goodness : 0.216535 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.67089713e-01 -1.80590779e-01 1.79232967e-01 5.46068196e+01] [-3.69208573e-03 6.94398861e-01 7.19580843e-01 2.90923286e+00] [-2.54408834e-01 -6.96560975e-01 6.70879239e-01 1.00987584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.16907232900002 meters Centerline goodness : 0.290610 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.66606742e-01 -1.82464375e-01 1.79939320e-01 5.46060069e+01] [-1.89651260e-03 6.97050335e-01 7.17019689e-01 2.90950120e+00] [-2.56257313e-01 -6.93417322e-01 6.73427507e-01 1.00986377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199072329 meters Centerline goodness : 0.292172 Centerline is valid? [False, False] Translation: X:54.61, Y:2.91, Z:10.10 [[ 9.66111259e-01 -1.84403251e-01 1.80622470e-01 5.46053413e+01] [-2.35376394e-05 6.99682398e-01 7.14454017e-01 2.90960999e+00] [-2.58126006e-01 -6.90246321e-01 6.75966701e-01 1.00985625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229072329 meters Centerline goodness : 0.309925 Centerline is valid? [False, False] Translation: X:54.60, Y:2.91, Z:10.10 [[ 9.65513684e-01 -1.86636896e-01 1.81521335e-01 5.46042762e+01] [ 1.86335795e-03 7.02150066e-01 7.12026554e-01 2.90892879e+00] [-2.60345643e-01 -6.87133142e-01 6.78283268e-01 1.00995959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259072329 meters Centerline goodness : 0.198448 Centerline is valid? [False, False] Translation: X:54.60, Y:2.91, Z:10.10 [[ 9.64948263e-01 -1.88708397e-01 1.82384186e-01 5.46033916e+01] [ 3.74611959e-03 7.04788582e-01 7.09407514e-01 2.90885521e+00] [-2.62413447e-01 -6.83858315e-01 6.80791442e-01 1.00996047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.289072329 meters Centerline goodness : 0.301177 Centerline is valid? [False, False] Translation: X:54.60, Y:2.91, Z:10.10 [[ 9.64396802e-01 -1.90782604e-01 1.83141494e-01 5.46027743e+01] [ 5.72855285e-03 7.07420322e-01 7.06769886e-01 2.90881390e+00] [-2.64397414e-01 -6.80557482e-01 6.83326804e-01 1.00994956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.319072329 meters Centerline goodness : 0.296054 Centerline is valid? [False, False] Translation: X:54.60, Y:2.91, Z:10.10 [[ 9.63831772e-01 -1.92793337e-01 1.84008271e-01 5.46019408e+01] [ 7.62083408e-03 7.10087954e-01 7.04071744e-01 2.90877034e+00] [-2.66402397e-01 -6.77204420e-01 6.85874577e-01 1.00992683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.349072329 meters Centerline goodness : 0.292321 Centerline is valid? [False, False] Translation: X:54.58, Y:2.91, Z:10.11 [[ 9.66022436e-01 -1.85839106e-01 1.79623161e-01 5.45836897e+01] [ 7.42469593e-03 7.14646306e-01 6.99446589e-01 2.91048200e+00] [-2.58351557e-01 -6.74347450e-01 6.91744165e-01 1.01130754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.379072329 meters Centerline goodness : 0.303066 Centerline is valid? [False, False] Translation: X:54.58, Y:2.91, Z:10.11 [[ 9.66039532e-01 -1.85750247e-01 1.79623129e-01 5.45838035e+01] [ 7.21916517e-03 7.14281830e-01 6.99820942e-01 2.90902892e+00] [-2.58293450e-01 -6.74757966e-01 6.91365447e-01 1.01145398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.409072329 meters Centerline goodness : 0.281775 Centerline is valid? [False, False] Translation: X:54.58, Y:2.91, Z:10.12 [[ 9.66061061e-01 -1.85640149e-01 1.79621163e-01 5.45839846e+01] [ 7.00576305e-03 7.13933886e-01 7.00178067e-01 2.90739613e+00] [-2.58218795e-01 -6.75156382e-01 6.91004278e-01 1.01158969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.439072329 meters Centerline goodness : 0.303585 Centerline is valid? [False, False] Translation: X:54.57, Y:2.90, Z:10.12 [[ 9.66231482e-01 -1.82186755e-01 1.82221597e-01 5.45730717e+01] [ 3.25065582e-03 7.15736427e-01 6.98362943e-01 2.90390648e+00] [-2.57655113e-01 -6.74187921e-01 6.92159295e-01 1.01227951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.469072329 meters Centerline goodness : 0.189623 Centerline is valid? [False, False] Translation: X:54.56, Y:2.90, Z:10.13 [[ 9.67747882e-01 -1.75904046e-01 1.80338025e-01 5.45611963e+01] [ 8.11786898e-04 7.18026118e-01 6.96015686e-01 2.90348016e+00] [-2.51919387e-01 -6.73421310e-01 6.95011052e-01 1.01317111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.499072329 meters Centerline goodness : 0.221267 Centerline is valid? [False, False] Translation: X:54.55, Y:2.90, Z:10.14 [[ 9.68446194e-01 -1.70734764e-01 1.81553326e-01 5.45502870e+01] [-3.30462909e-03 7.19616945e-01 6.94363400e-01 2.90101859e+00] [-2.49200821e-01 -6.73053558e-01 6.96346077e-01 1.01383018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.529072329 meters Centerline goodness : 0.221654 Centerline is valid? [False, False] Translation: X:54.53, Y:2.90, Z:10.15 [[ 9.70598796e-01 -1.63219797e-01 1.76910358e-01 5.45326825e+01] [-4.39815331e-03 7.22824701e-01 6.91017444e-01 2.90276784e+00] [-2.40662904e-01 -6.71478778e-01 7.00854919e-01 1.01518622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.559072329 meters Centerline goodness : 0.114623 Centerline is valid? [False, False] Translation: X:54.53, Y:2.90, Z:10.15 [[ 9.70609114e-01 -1.62501498e-01 1.77513974e-01 5.45309464e+01] [-5.43233836e-03 7.22626999e-01 6.91216833e-01 2.90097298e+00] [-2.40600161e-01 -6.71865674e-01 7.00505588e-01 1.01540346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.589072329 meters Centerline goodness : 0.299724 Centerline is valid? [False, False] Translation: X:54.53, Y:2.90, Z:10.16 [[ 9.70701181e-01 -1.60375070e-01 1.78938688e-01 5.45261563e+01] [-7.93151114e-03 7.22887779e-01 6.90919930e-01 2.89847038e+00] [-2.40158923e-01 -6.72096046e-01 7.00436005e-01 1.01572311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.619072329 meters Centerline goodness : 0.327839 Centerline is valid? [False, False] Translation: X:54.52, Y:2.90, Z:10.16 [[ 9.70767660e-01 -1.58611567e-01 1.80145833e-01 5.45224092e+01] [-1.00848426e-02 7.22924903e-01 6.90853009e-01 2.89593252e+00] [-2.39809187e-01 -6.72474502e-01 7.00192544e-01 1.01600257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.649072329 meters Centerline goodness : 0.108198 Centerline is valid? [False, False] Translation: X:54.51, Y:2.89, Z:10.17 [[ 9.71451773e-01 -1.52120602e-01 1.82046081e-01 5.45095277e+01] [-1.57746702e-02 7.24241456e-01 6.89365994e-01 2.89154842e+00] [-2.36712089e-01 -6.72557534e-01 7.01165994e-01 1.01674740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.679072329 meters Centerline goodness : 0.336082 Centerline is valid? [False, False] Translation: X:54.50, Y:2.89, Z:10.17 [[ 9.71643995e-01 -1.47857449e-01 1.84515913e-01 5.45003247e+01] [-2.03401548e-02 7.25203537e-01 6.88234050e-01 2.88821178e+00] [-2.35572124e-01 -6.72471564e-01 7.01632218e-01 1.01710373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.709072329 meters Centerline goodness : 0.109425 Centerline is valid? [False, False] Translation: X:54.49, Y:2.88, Z:10.18 [[ 9.72027765e-01 -1.42530458e-01 1.86673761e-01 5.44896770e+01] [-2.53753644e-02 7.26425062e-01 6.86777053e-01 2.88484375e+00] [-2.33491146e-01 -6.72303278e-01 7.02488567e-01 1.01754977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.739072329 meters Centerline goodness : 0.109570 Centerline is valid? [False, False] Translation: X:54.48, Y:2.88, Z:10.18 [[ 9.72474201e-01 -1.36022015e-01 1.89187581e-01 5.44769458e+01] [-3.15671229e-02 7.27533742e-01 6.85345293e-01 2.87981431e+00] [-2.30862396e-01 -6.72452724e-01 7.03213970e-01 1.01814898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.769072329 meters Centerline goodness : 0.108660 Centerline is valid? [False, False] Translation: X:54.48, Y:2.88, Z:10.18 [[ 9.72080812e-01 -1.37297859e-01 1.90284506e-01 5.44750287e+01] [-3.05017492e-02 7.30123895e-01 6.82633680e-01 2.87955594e+00] [-2.32655408e-01 -6.69379112e-01 7.05551604e-01 1.01813362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.799072329 meters Centerline goodness : 0.110579 Centerline is valid? [False, False] Translation: X:54.47, Y:2.88, Z:10.18 [[ 9.71687406e-01 -1.38429915e-01 1.91469957e-01 5.44728726e+01] [-2.96163396e-02 7.32631395e-01 6.79980964e-01 2.87918230e+00] [-2.34406609e-01 -6.66399578e-01 7.07788912e-01 1.01813926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.829072329 meters Centerline goodness : 0.110389 Centerline is valid? [False, False] Translation: X:54.47, Y:2.88, Z:10.18 [[ 9.71673880e-01 -1.36914259e-01 1.92624914e-01 5.44697486e+01] [-3.16842311e-02 7.32250680e-01 6.80297767e-01 2.87655187e+00] [-2.34192189e-01 -6.67130743e-01 7.07170836e-01 1.01834046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.859072329 meters Centerline goodness : 0.261265 Centerline is valid? [False, False] Translation: X:54.47, Y:2.88, Z:10.18 [[ 9.71313702e-01 -1.38033901e-01 1.93639701e-01 5.44679712e+01] [-3.07528824e-02 7.34540204e-01 6.77867944e-01 2.87606078e+00] [-2.35804902e-01 -6.64377401e-01 7.09224024e-01 1.01836816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88907232900002 meters Centerline goodness : 0.108893 Centerline is valid? [False, False] Translation: X:54.47, Y:2.88, Z:10.18 [[ 9.70944912e-01 -1.39236414e-01 1.94625794e-01 5.44663690e+01] [-2.96975535e-02 7.36906708e-01 6.75341809e-01 2.87549166e+00] [-2.37453225e-01 -6.61499603e-01 7.11360838e-01 1.01837296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.91907232900002 meters Centerline goodness : 0.104843 Centerline is valid? [False, False] Translation: X:54.46, Y:2.87, Z:10.19 [[ 9.70971247e-01 -1.37764837e-01 1.95539476e-01 5.44639691e+01] [-3.16261906e-02 7.36367958e-01 6.75841708e-01 2.87175534e+00] [-2.37096228e-01 -6.62407035e-01 7.10635138e-01 1.01862399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949072329 meters Centerline goodness : 0.100134 Centerline is valid? [False, False] Translation: X:54.46, Y:2.87, Z:10.19 [[ 9.70591877e-01 -1.39118534e-01 1.96462319e-01 5.44624905e+01] [-3.04250541e-02 7.38672385e-01 6.73377623e-01 2.87112281e+00] [-2.38800597e-01 -6.59552228e-01 7.12716728e-01 1.01868610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979072329 meters Centerline goodness : 0.103309 Centerline is valid? [False, False] Translation: X:54.46, Y:2.87, Z:10.19 [[ 9.70227542e-01 -1.40340073e-01 1.97390935e-01 5.44609115e+01] [-2.93642621e-02 7.40833115e-01 6.71046970e-01 2.87052678e+00] [-2.40408522e-01 -6.56864491e-01 7.14655709e-01 1.01876090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.009072329 meters Centerline goodness : 0.283055 Centerline is valid? [False, False] Translation: X:54.45, Y:2.86, Z:10.19 [[ 9.70305272e-01 -1.35823533e-01 2.00149064e-01 5.44524792e+01] [-3.47268869e-02 7.40664692e-01 6.70976793e-01 2.86465787e+00] [-2.39377784e-01 -6.58002874e-01 7.13954127e-01 1.01920265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.039072329 meters Centerline goodness : 0.262660 Centerline is valid? [False, False] Translation: X:54.45, Y:2.86, Z:10.19 [[ 9.70293326e-01 -1.35417574e-01 2.00481774e-01 5.44515562e+01] [-3.54378365e-02 7.40179668e-01 6.71474660e-01 2.86325361e+00] [-2.39322002e-01 -6.58632022e-01 7.13392486e-01 1.01938222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.069072329 meters Centerline goodness : 0.266001 Centerline is valid? [False, False] Translation: X:54.45, Y:2.86, Z:10.20 [[ 9.69937444e-01 -1.36553746e-01 2.01430952e-01 5.44496393e+01] [-3.44885710e-02 7.42238518e-01 6.69247728e-01 2.86281596e+00] [-2.40898095e-01 -6.56075496e-01 7.15215388e-01 1.01950796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.099072329 meters Centerline goodness : 0.216109 Centerline is valid? [False, False] Translation: X:54.44, Y:2.86, Z:10.20 [[ 9.69975255e-01 -1.31535139e-01 2.04564199e-01 5.44403198e+01] [-4.05177879e-02 7.41968717e-01 6.69209034e-01 2.85551982e+00] [-2.39804740e-01 -6.57404693e-01 7.14361783e-01 1.02000920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.129072329 meters Centerline goodness : 0.216971 Centerline is valid? [False, False] Translation: X:54.44, Y:2.85, Z:10.20 [[ 9.69563648e-01 -1.32785595e-01 2.05704445e-01 5.44383203e+01] [-3.95438410e-02 7.44203838e-01 6.66781023e-01 2.85458529e+00] [-2.41624952e-01 -6.54620984e-01 7.16302135e-01 1.02010550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.159072329 meters Centerline goodness : 0.204348 Centerline is valid? [False, False] Translation: X:54.44, Y:2.85, Z:10.20 [[ 9.69168872e-01 -1.33924195e-01 2.06823613e-01 5.44362844e+01] [-3.86598001e-02 7.46343434e-01 6.64437280e-01 2.85356727e+00] [-2.43345674e-01 -6.51947688e-01 7.18155342e-01 1.02021696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.189072329 meters Centerline goodness : 0.183199 Centerline is valid? [False, False] Translation: X:54.43, Y:2.85, Z:10.20 [[ 9.68764702e-01 -1.35229488e-01 2.07865192e-01 5.44346428e+01] [-3.75475103e-02 7.48574353e-01 6.61986875e-01 2.85249400e+00] [-2.45122698e-01 -6.49114338e-01 7.20114879e-01 1.02027271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.219072329 meters Centerline goodness : 0.183199 Centerline is valid? [False, False] Translation: X:54.43, Y:2.85, Z:10.20 [[ 9.68764702e-01 -1.35229488e-01 2.07865192e-01 5.44346428e+01] [-3.75475103e-02 7.48574353e-01 6.61986875e-01 2.85249400e+00] [-2.45122698e-01 -6.49114338e-01 7.20114879e-01 1.02027271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.249072329 meters Centerline goodness : 0.244798 Centerline is valid? [False, False] Translation: X:54.43, Y:2.84, Z:10.21 [[ 9.68739527e-01 -1.30169087e-01 2.11186500e-01 5.44252873e+01] [-4.37386932e-02 7.48329799e-01 6.61883252e-01 2.84429645e+00] [-2.44193889e-01 -6.50429490e-01 7.19243230e-01 1.02069690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.279072329 meters Centerline goodness : 0.259667 Centerline is valid? [False, False] Translation: X:54.42, Y:2.84, Z:10.21 [[ 9.68331807e-01 -1.31333454e-01 2.12332371e-01 5.44232628e+01] [-4.28347245e-02 7.50460156e-01 6.59526148e-01 2.84310698e+00] [-2.45964831e-01 -6.47735345e-01 7.21068807e-01 1.02080383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.309072329 meters Centerline goodness : 0.153564 Centerline is valid? [False, False] Translation: X:54.42, Y:2.84, Z:10.21 [[ 9.67909701e-01 -1.32515770e-01 2.13519041e-01 5.44211771e+01] [-4.19189209e-02 7.52619366e-01 6.57120152e-01 2.84182990e+00] [-2.47777348e-01 -6.44983458e-01 7.22912667e-01 1.02091633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.339072329 meters Centerline goodness : 0.197216 Centerline is valid? [False, False] Translation: X:54.42, Y:2.84, Z:10.21 [[ 9.67498012e-01 -1.33569783e-01 2.14724730e-01 5.44188213e+01] [-4.11315194e-02 7.54693594e-01 6.54786818e-01 2.84071772e+00] [-2.49511111e-01 -6.42336899e-01 7.24670624e-01 1.02105962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.369072329 meters Centerline goodness : 0.396697 Centerline is valid? [False, False] Translation: X:54.41, Y:2.83, Z:10.22 [[ 9.67452294e-01 -1.28849706e-01 2.17793048e-01 5.44097867e+01] [-4.70887720e-02 7.53962571e-01 6.55227510e-01 2.83297216e+00] [-2.48633678e-01 -6.44156965e-01 7.23355444e-01 1.02166656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.399072329 meters Centerline goodness : 0.273782 Centerline is valid? [False, False] Translation: X:54.40, Y:2.83, Z:10.22 [[ 9.67249718e-01 -1.24435319e-01 2.21232533e-01 5.43990077e+01] [-5.26551212e-02 7.54262227e-01 6.54458502e-01 2.82832086e+00] [-2.48305096e-01 -6.44673827e-01 7.23007770e-01 1.02217961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.429072329 meters Centerline goodness : 0.352147 Centerline is valid? [False, False] Translation: X:54.39, Y:2.82, Z:10.23 [[ 0.96709709 -0.11959698 0.22454348 54.38769551] [-0.05836188 0.75478121 0.65337525 2.8235081 ] [-0.24762291 -0.64498208 0.72296681 10.22749045] [ 0. 0. 0. 1. ]] SLAMing on 220.459072329 meters Centerline goodness : 0.400307 Centerline is valid? [False, False] Translation: X:54.38, Y:2.82, Z:10.23 [[ 0.96683744 -0.11423391 0.2284206 54.37554513] [-0.06502946 0.75479696 0.65272714 2.81567173] [-0.24697475 -0.64593511 0.72233739 10.23466038] [ 0. 0. 0. 1. ]] SLAMing on 220.489072329 meters Centerline goodness : 0.155551 Centerline is valid? [False, False] Translation: X:54.36, Y:2.81, Z:10.24 [[ 0.96846455 -0.10736416 0.22483183 54.36437648] [-0.06707505 0.7567234 0.65028504 2.81443777] [-0.23995282 -0.64485861 0.72565833 10.24417303] [ 0. 0. 0. 1. ]] SLAMing on 220.519072329 meters Centerline goodness : 0.212248 Centerline is valid? [False, False] Translation: X:54.35, Y:2.81, Z:10.25 [[ 0.9699403 -0.10049852 0.221621 54.35291652] [-0.06947458 0.75846397 0.64800131 2.81294026] [-0.23321472 -0.64391961 0.72868267 10.25363591] [ 0. 0. 0. 1. ]] SLAMing on 220.549072329 meters Centerline goodness : 0.155844 Centerline is valid? [False, False] Translation: X:54.34, Y:2.81, Z:10.26 [[ 0.97168677 -0.09405271 0.2167462 54.34177841] [-0.07040447 0.7604245 0.64559879 2.81291201] [-0.22553943 -0.6425797 0.73227269 10.26341996] [ 0. 0. 0. 1. ]] SLAMing on 220.579072329 meters Centerline goodness : 0.217305 Centerline is valid? [False, False] Translation: X:54.33, Y:2.81, Z:10.28 [[ 0.97315117 -0.08691948 0.21312391 54.32828069] [-0.07310826 0.76127372 0.64429613 2.80988598] [-0.21824752 -0.64257865 0.73447989 10.2769455 ] [ 0. 0. 0. 1. ]] SLAMing on 220.609072329 meters Centerline goodness : 0.218493 Centerline is valid? [False, False] Translation: X:54.32, Y:2.81, Z:10.29 [[ 0.97467429 -0.08087675 0.20849218 54.31615515] [-0.07402213 0.7630792 0.64205206 2.81063096] [-0.21102313 -0.64122467 0.73776701 10.28740717] [ 0. 0. 0. 1. ]] SLAMing on 220.63907232900002 meters Centerline goodness : 0.343607 Centerline is valid? [False, False] Translation: X:54.30, Y:2.81, Z:10.30 [[ 0.97627905 -0.07548394 0.20293197 54.30395573] [-0.07374873 0.76528303 0.63945524 2.81235355] [-0.20356899 -0.63925273 0.74156295 10.29826043] [ 0. 0. 0. 1. ]] SLAMing on 220.66907232900002 meters Centerline goodness : 0.223651 Centerline is valid? [False, False] Translation: X:54.29, Y:2.81, Z:10.31 [[ 0.97619797 -0.06990591 0.20530633 54.29090531] [-0.0792491 0.76619512 0.63770261 2.8079727 ] [-0.20188388 -0.63879433 0.74241814 10.30528422] [ 0. 0. 0. 1. ]] SLAMing on 220.699072329 meters Centerline goodness : 0.074729 Centerline is valid? [False, False] Translation: X:54.27, Y:2.80, Z:10.32 [[ 0.9770738 -0.07096442 0.20072578 54.2682749 ] [-0.07542347 0.76628986 0.63805262 2.80351806] [-0.19909317 -0.63856393 0.74336937 10.31901435] [ 0. 0. 0. 1. ]] SLAMing on 220.729072329 meters Centerline goodness : 0.402413 Centerline is valid? [False, False] Translation: X:54.25, Y:2.80, Z:10.33 [[ 0.97810514 -0.07228449 0.19515453 54.24771834] [-0.07063722 0.76676019 0.63803542 2.80231935] [-0.19575679 -0.63785089 0.74486611 10.32898807] [ 0. 0. 0. 1. ]] SLAMing on 220.759072329 meters Centerline goodness : 0.338433 Centerline is valid? [False, False] Translation: X:54.23, Y:2.80, Z:10.34 [[ 0.97899118 -0.07310352 0.19034745 54.22530861] [-0.06703515 0.76623844 0.63905003 2.79741595] [-0.19256834 -0.63838431 0.74524017 10.34234253] [ 0. 0. 0. 1. ]] SLAMing on 220.789072329 meters Centerline goodness : 0.340995 Centerline is valid? [False, False] Translation: X:54.21, Y:2.80, Z:10.35 [[ 0.98005844 -0.07402849 0.18440509 54.20508303] [-0.06252691 0.76598352 0.63981219 2.79552037] [-0.18861559 -0.63858361 0.74607984 10.35243977] [ 0. 0. 0. 1. ]] SLAMing on 220.819072329 meters Centerline goodness : 0.340538 Centerline is valid? [False, False] Translation: X:54.18, Y:2.79, Z:10.36 [[ 0.98091841 -0.07539835 0.17920425 54.18403706] [-0.05818305 0.76565129 0.6406191 2.79353125] [-0.18550959 -0.63882172 0.74665454 10.36277816] [ 0. 0. 0. 1. ]] SLAMing on 220.849072329 meters Centerline goodness : 0.341332 Centerline is valid? [False, False] Translation: X:54.16, Y:2.79, Z:10.37 [[ 9.81766937e-01 -7.68942132e-02 1.73841772e-01 5.41628508e+01] [-5.35262138e-02 7.65695222e-01 6.40972520e-01 2.79142519e+00] [-1.82396892e-01 -6.38590720e-01 7.47618396e-01 1.03729626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.879072329 meters Centerline goodness : 0.343583 Centerline is valid? [False, False] Translation: X:54.14, Y:2.79, Z:10.39 [[ 9.82368933e-01 -7.86205042e-02 1.69617499e-01 5.41399710e+01] [-4.95326266e-02 7.65396127e-01 6.41650441e-01 2.78557259e+00] [-1.80271458e-01 -6.38739059e-01 7.48007096e-01 1.03868838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.909072329 meters Centerline goodness : 0.343734 Centerline is valid? [False, False] Translation: X:54.12, Y:2.78, Z:10.40 [[ 9.83096078e-01 -8.04962275e-02 1.64445917e-01 5.41185726e+01] [-4.47126322e-02 7.65420265e-01 6.41975544e-01 2.78307217e+00] [-1.77546847e-01 -6.38476449e-01 7.48882462e-01 1.03979898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.939072329 meters Centerline goodness : 0.342711 Centerline is valid? [False, False] Translation: X:54.10, Y:2.78, Z:10.41 [[ 9.83759907e-01 -8.25839314e-02 1.59362292e-01 5.40970518e+01] [-3.97488836e-02 7.65581504e-01 6.42109793e-01 2.78068724e+00] [-1.75032774e-01 -6.38016344e-01 7.49865770e-01 1.04088114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.969072329 meters Centerline goodness : 0.344689 Centerline is valid? [False, False] Translation: X:54.07, Y:2.77, Z:10.42 [[ 9.84267085e-01 -8.48216706e-02 1.54995453e-01 5.40742136e+01] [-3.52688627e-02 7.65257771e-01 6.42757071e-01 2.77428976e+00] [-1.73131203e-01 -6.38111141e-01 7.50226471e-01 1.04234078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.999072329 meters Centerline goodness : 0.345346 Centerline is valid? [False, False] Translation: X:54.05, Y:2.77, Z:10.43 [[ 9.84840202e-01 -8.72246047e-02 1.49938803e-01 5.40529809e+01] [-3.01522579e-02 7.65140308e-01 6.43157174e-01 2.77146748e+00] [-1.70823352e-01 -6.37928035e-01 7.50910917e-01 1.04344307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.029072329 meters Centerline goodness : 0.345622 Centerline is valid? [False, False] Translation: X:54.03, Y:2.77, Z:10.45 [[ 9.85348590e-01 -8.98207149e-02 1.44984121e-01 5.40314459e+01] [-2.49223683e-02 7.65130268e-01 6.43392997e-01 2.76861103e+00] [-1.68721758e-01 -6.37579730e-01 7.51681485e-01 1.04455036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.059072329 meters Centerline goodness : 0.347740 Centerline is valid? [False, False] Translation: X:54.01, Y:2.76, Z:10.46 [[ 9.85725724e-01 -9.26173306e-02 1.40594549e-01 5.40090863e+01] [-2.00077601e-02 7.64726608e-01 6.44044179e-01 2.76113016e+00] [-1.67166045e-01 -6.37663896e-01 7.51957624e-01 1.04602076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.089072329 meters Centerline goodness : 0.347356 Centerline is valid? [False, False] Translation: X:53.99, Y:2.76, Z:10.47 [[ 9.86169029e-01 -9.53786388e-02 1.35549114e-01 5.39879614e+01] [-1.46123244e-02 7.64611364e-01 6.44325960e-01 2.75747174e+00] [-1.65097326e-01 -6.37394993e-01 7.52642342e-01 1.04711827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.119072329 meters Centerline goodness : 0.346956 Centerline is valid? [False, False] Translation: X:53.97, Y:2.75, Z:10.48 [[ 9.86570203e-01 -9.81739962e-02 1.30541569e-01 5.39665733e+01] [-9.20044032e-03 7.64542374e-01 6.44507805e-01 2.75384783e+00] [-1.63078468e-01 -6.37053236e-01 7.53371481e-01 1.04821224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.149072329 meters Centerline goodness : 0.348195 Centerline is valid? [False, False] Translation: X:53.94, Y:2.75, Z:10.50 [[ 9.86823762e-01 -1.01567959e-01 1.25947661e-01 5.39447516e+01] [-3.67429079e-03 7.64152990e-01 6.45024579e-01 2.74596258e+00] [-1.61757111e-01 -6.36988349e-01 7.53711138e-01 1.04967046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.179072329 meters Centerline goodness : 0.348368 Centerline is valid? [False, False] Translation: X:53.92, Y:2.74, Z:10.51 [[ 9.87095364e-01 -1.04774544e-01 1.21099283e-01 5.39232840e+01] [ 1.94061509e-03 7.64010847e-01 6.45200480e-01 2.74247348e+00] [-1.60121752e-01 -6.36639396e-01 7.54354892e-01 1.05075285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.209072329 meters Centerline goodness : 0.350704 Centerline is valid? [False, False] Translation: X:53.90, Y:2.74, Z:10.52 [[ 9.87332102e-01 -1.08067953e-01 1.16175032e-01 5.39020449e+01] [ 7.62829579e-03 7.63676360e-01 6.45554201e-01 2.73876904e+00] [-1.58483846e-01 -6.36490169e-01 7.54826560e-01 1.05185754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.239072329 meters Centerline goodness : 0.350796 Centerline is valid? [False, False] Translation: X:53.88, Y:2.73, Z:10.53 [[ 9.87375686e-01 -1.12254493e-01 1.11750542e-01 5.38801920e+01] [ 1.36492642e-02 7.63188544e-01 6.46031690e-01 2.73166798e+00] [-1.57806694e-01 -6.36350670e-01 7.55086003e-01 1.05330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.269072329 meters Centerline goodness : 0.352189 Centerline is valid? [False, False] Translation: X:53.86, Y:2.73, Z:10.54 [[ 9.87466077e-01 -1.15872122e-01 1.07165281e-01 5.38583691e+01] [ 1.94273538e-02 7.63056122e-01 6.46040194e-01 2.72809186e+00] [-1.56631172e-01 -6.35860839e-01 7.55743124e-01 1.05438793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.299072329 meters Centerline goodness : 0.351285 Centerline is valid? [False, False] Translation: X:53.84, Y:2.72, Z:10.55 [[ 9.87489540e-01 -1.19613363e-01 1.02747519e-01 5.38362868e+01] [ 2.52140404e-02 7.62995430e-01 6.45911933e-01 2.72448609e+00] [-1.55655586e-01 -6.35240598e-01 7.56465942e-01 1.05545366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.329072329 meters Centerline goodness : 0.351396 Centerline is valid? [False, False] Translation: X:53.81, Y:2.72, Z:10.57 [[ 9.87467141e-01 -1.23418373e-01 9.83694640e-02 5.38144124e+01] [ 3.10231700e-02 7.62911288e-01 6.45758414e-01 2.72066349e+00] [-1.54745627e-01 -6.34613482e-01 7.57178658e-01 1.05650679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.359072329 meters Centerline goodness : 0.354759 Centerline is valid? [False, False] Translation: X:53.79, Y:2.71, Z:10.58 [[ 9.87224910e-01 -1.28681662e-01 9.39574759e-02 5.37923229e+01] [ 3.80840459e-02 7.63174627e-01 6.45069062e-01 2.71366596e+00] [-1.54714521e-01 -6.33249966e-01 7.58325720e-01 1.05791870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38907232900002 meters Centerline goodness : 0.352386 Centerline is valid? [False, False] Translation: X:53.77, Y:2.71, Z:10.59 [[ 9.87147265e-01 -1.32426830e-01 8.94617895e-02 5.37709465e+01] [ 4.38738969e-02 7.62844416e-01 6.45091836e-01 2.70938029e+00] [-1.53672893e-01 -6.32875605e-01 7.58849860e-01 1.05896823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.41907232900002 meters Centerline goodness : 0.352551 Centerline is valid? [False, False] Translation: X:53.75, Y:2.71, Z:10.60 [[ 9.87008720e-01 -1.36287138e-01 8.50858565e-02 5.37492055e+01] [ 4.96658803e-02 7.62452806e-01 6.45134884e-01 2.70504975e+00] [-1.52797537e-01 -6.32527892e-01 7.59316389e-01 1.06001672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449072329 meters Centerline goodness : 0.352944 Centerline is valid? [False, False] Translation: X:53.73, Y:2.70, Z:10.61 [[ 0.98682496 -0.14020435 0.08074184 53.72739742] [ 0.0554643 0.76196716 0.6452362 2.70067241] [-0.15198755 -0.6322569 0.75970455 10.61059199] [ 0. 0. 0. 1. ]] SLAMing on 221.479072329 meters Centerline goodness : 0.353881 Centerline is valid? [False, False] Translation: X:53.71, Y:2.69, Z:10.62 [[ 0.98639617 -0.14549957 0.07650149 53.70654712] [ 0.06220429 0.76114732 0.64558917 2.69266693] [-0.15216185 -0.63204796 0.7598435 10.62461866] [ 0. 0. 0. 1. ]] SLAMing on 221.509072329 meters Centerline goodness : 0.354291 Centerline is valid? [False, False] Translation: X:53.68, Y:2.69, Z:10.64 [[ 0.98607871 -0.14969904 0.07238081 53.6847341 ] [ 0.06807223 0.7605812 0.64566431 2.68798998] [-0.15170681 -0.63174871 0.76018328 10.63503247] [ 0. 0. 0. 1. ]] SLAMing on 221.539072329 meters Centerline goodness : 0.354750 Centerline is valid? [False, False] Translation: X:53.66, Y:2.68, Z:10.65 [[ 0.98571865 -0.15391485 0.06832975 53.66280944] [ 0.07392961 0.76008254 0.64560742 2.68320065] [-0.15130482 -0.63133569 0.7606064 10.64527177] [ 0. 0. 0. 1. ]] SLAMing on 221.569072329 meters Centerline goodness : 0.355991 Centerline is valid? [False, False] Translation: X:53.64, Y:2.68, Z:10.66 [[ 0.98506346 -0.15976741 0.06422115 53.64164469] [ 0.08113573 0.75963001 0.64527455 2.67507448] [-0.15187815 -0.63042575 0.76124661 10.658957 ] [ 0. 0. 0. 1. ]] SLAMing on 221.599072329 meters Centerline goodness : 0.358502 Centerline is valid? [False, False] Translation: X:53.62, Y:2.67, Z:10.67 [[ 0.9846562 -0.16391437 0.05986859 53.61976992] [ 0.08712762 0.75903855 0.64518932 2.67004361] [-0.15119837 -0.63007346 0.76167348 10.66942909] [ 0. 0. 0. 1. ]] SLAMing on 221.629072329 meters Centerline goodness : 0.357491 Centerline is valid? [False, False] Translation: X:53.60, Y:2.67, Z:10.68 [[ 0.98417654 -0.16820843 0.05569967 53.59798802] [ 0.0931242 0.75845724 0.64503527 2.6650088 ] [-0.15074619 -0.6296416 0.7621201 10.67964992] [ 0. 0. 0. 1. ]] SLAMing on 221.659072329 meters Centerline goodness : 0.359347 Centerline is valid? [False, False] Translation: X:53.58, Y:2.66, Z:10.69 [[ 9.83330949e-01 -1.74327995e-01 5.16720040e-02 5.35769087e+01] [ 1.00478968e-01 7.57848783e-01 6.44646569e-01 2.65664559e+00] [-1.51539509e-01 -6.28708972e-01 7.62732460e-01 1.06933635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.689072329 meters Centerline goodness : 0.360315 Centerline is valid? [False, False] Translation: X:53.55, Y:2.65, Z:10.70 [[ 9.82696425e-01 -1.78909028e-01 4.79509679e-02 5.35547978e+01] [ 1.06418349e-01 7.57239510e-01 6.44409388e-01 2.65141006e+00] [-1.51601025e-01 -6.28155939e-01 7.63175763e-01 1.07034897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.719072329 meters Centerline goodness : 0.359658 Centerline is valid? [False, False] Translation: X:53.54, Y:2.65, Z:10.72 [[ 9.81902160e-01 -1.84764405e-01 4.15964301e-02 5.35392121e+01] [ 1.14776199e-01 7.55242447e-01 6.45317961e-01 2.64867341e+00] [-1.50647179e-01 -6.28864820e-01 7.62780746e-01 1.07151570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.749072329 meters Centerline goodness : 0.361600 Centerline is valid? [False, False] Translation: X:53.52, Y:2.64, Z:10.73 [[ 9.80714024e-01 -1.91668288e-01 3.82527238e-02 5.35178308e+01] [ 1.22374286e-01 7.54776733e-01 6.44466149e-01 2.64029967e+00] [-1.52395990e-01 -6.27355841e-01 7.63675397e-01 1.07279019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.779072329 meters Centerline goodness : 0.364313 Centerline is valid? [False, False] Translation: X:53.50, Y:2.64, Z:10.74 [[ 9.79995304e-01 -1.96264946e-01 3.30041767e-02 5.34984751e+01] [ 1.29186931e-01 7.53467842e-01 6.44668091e-01 2.63540991e+00] [-1.51393334e-01 -6.27507994e-01 7.63749813e-01 1.07386672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.809072329 meters Centerline goodness : 0.366241 Centerline is valid? [False, False] Translation: X:53.45, Y:2.62, Z:10.75 [[ 9.76563564e-01 -2.12970314e-01 3.11006673e-02 5.34513227e+01] [ 1.42688186e-01 7.48807896e-01 6.47245561e-01 2.62022480e+00] [-1.61132516e-01 -6.27638734e-01 7.61646855e-01 1.07512579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.839072329 meters Centerline goodness : 0.366246 Centerline is valid? [False, False] Translation: X:53.43, Y:2.61, Z:10.76 [[ 9.75659167e-01 -2.17611750e-01 2.70982679e-02 5.34298161e+01] [ 1.48837798e-01 7.47873016e-01 6.46941467e-01 2.61468197e+00] [-1.61048128e-01 -6.27161126e-01 7.62058017e-01 1.07611779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.869072329 meters Centerline goodness : 0.366882 Centerline is valid? [False, False] Translation: X:53.41, Y:2.61, Z:10.77 [[ 9.74716502e-01 -2.22267005e-01 2.29154763e-02 5.34086207e+01] [ 1.55126241e-01 7.46939222e-01 6.46542843e-01 2.60913209e+00] [-1.60821609e-01 -6.26641187e-01 7.62533431e-01 1.07713427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.899072329 meters Centerline goodness : 0.367650 Centerline is valid? [False, False] Translation: X:53.39, Y:2.60, Z:10.78 [[ 9.73687607e-01 -2.27079428e-01 1.91670698e-02 5.33873586e+01] [ 1.61224836e-01 7.45863116e-01 6.46293095e-01 2.60328479e+00] [-1.61055877e-01 -6.26197370e-01 7.62848516e-01 1.07814411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.929072329 meters Centerline goodness : 0.370132 Centerline is valid? [False, False] Translation: X:53.36, Y:2.59, Z:10.79 [[ 9.71771699e-01 -2.35318559e-01 1.68801851e-02 5.33649532e+01] [ 1.69304388e-01 7.45409493e-01 6.44748564e-01 2.59407779e+00] [-1.64303953e-01 -6.23690518e-01 7.64208315e-01 1.07937908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.959072329 meters Centerline goodness : 0.371614 Centerline is valid? [False, False] Translation: X:53.34, Y:2.58, Z:10.80 [[ 9.70605225e-01 -2.40274079e-01 1.39234816e-02 5.33410528e+01] [ 1.74822640e-01 7.43606600e-01 6.45357473e-01 2.58385257e+00] [-1.65416265e-01 -6.23953196e-01 7.63753801e-01 1.08048072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.989072329 meters Centerline goodness : 0.371712 Centerline is valid? [False, False] Translation: X:53.32, Y:2.58, Z:10.81 [[ 9.69462332e-01 -2.45014188e-01 1.05278079e-02 5.33190839e+01] [ 1.80717210e-01 7.42756716e-01 6.44712145e-01 2.57742646e+00] [-1.65783222e-01 -6.23121584e-01 7.64352939e-01 1.08145509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.019072329 meters Centerline goodness : 0.373194 Centerline is valid? [False, False] Translation: X:53.30, Y:2.57, Z:10.82 [[ 9.68329156e-01 -2.49579008e-01 6.99750762e-03 5.32972938e+01] [ 1.86579104e-01 7.41954005e-01 6.43966219e-01 2.57100349e+00] [-1.65912279e-01 -6.22265677e-01 7.65021923e-01 1.08243481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.049072329 meters Centerline goodness : 0.375407 Centerline is valid? [False, False] Translation: X:53.28, Y:2.56, Z:10.84 [[ 9.66066301e-01 -2.58257182e-01 4.37383459e-03 5.32765610e+01] [ 1.95258559e-01 7.41282130e-01 6.42164230e-01 2.56063431e+00] [-1.69085770e-01 -6.19519194e-01 7.66554610e-01 1.08357589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.079072329 meters Centerline goodness : 0.375240 Centerline is valid? [False, False] Translation: X:53.28, Y:2.56, Z:10.84 [[ 9.65033402e-01 -2.62070789e-01 5.42543340e-03 5.32763877e+01] [ 1.97953843e-01 7.42188473e-01 6.40289425e-01 2.55699410e+00] [-1.71827849e-01 -6.16826696e-01 7.68114586e-01 1.08376216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.109072329 meters Centerline goodness : 0.377134 Centerline is valid? [False, False] Translation: X:53.26, Y:2.55, Z:10.85 [[ 9.63767357e-01 -2.66735313e-01 2.18023820e-03 5.32551378e+01] [ 2.03842485e-01 7.41745819e-01 6.38953348e-01 2.55175912e+00] [-1.72048604e-01 -6.15357954e-01 7.69242397e-01 1.08473257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13907232900002 meters Centerline goodness : 0.377989 Centerline is valid? [False, False] Translation: X:53.23, Y:2.54, Z:10.86 [[ 9.61111129e-01 -2.76161616e-01 3.98799295e-04 5.32343409e+01] [ 2.12656231e-01 7.41016358e-01 6.36923924e-01 2.54371422e+00] [-1.76189457e-01 -6.12069865e-01 7.70926557e-01 1.08582398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.16907232900002 meters Centerline goodness : 0.377989 Centerline is valid? [False, False] Translation: X:53.23, Y:2.55, Z:10.86 [[ 9.60704655e-01 -2.77567606e-01 1.67006539e-03 5.32328881e+01] [ 2.13643257e-01 7.43266971e-01 6.33964328e-01 2.54584452e+00] [-1.77209265e-01 -6.08695683e-01 7.73360486e-01 1.08595981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199072329 meters Centerline goodness : 0.379362 Centerline is valid? [False, False] Translation: X:53.23, Y:2.54, Z:10.86 [[ 9.59578194e-01 -2.81427861e-01 2.83697168e-03 5.32322903e+01] [ 2.16403521e-01 7.44236007e-01 6.31887871e-01 2.54303067e+00] [-1.79942229e-01 -6.05731891e-01 7.75054624e-01 1.08616355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229072329 meters Centerline goodness : 0.380151 Centerline is valid? [False, False] Translation: X:53.23, Y:2.54, Z:10.86 [[ 9.58414529e-01 -2.85351209e-01 4.03467783e-03 5.32316576e+01] [ 2.19230690e-01 7.45238230e-01 6.29728421e-01 2.54044718e+00] [-1.82700562e-01 -6.02656343e-01 7.76804890e-01 1.08635262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.259072329 meters Centerline goodness : 0.379065 Centerline is valid? [False, False] Translation: X:53.21, Y:2.53, Z:10.87 [[ 9.55572219e-01 -2.94748512e-01 2.24705037e-03 5.32111915e+01] [ 2.28278608e-01 7.44857036e-01 6.26958430e-01 2.53284011e+00] [-1.86468795e-01 -5.98591104e-01 7.79049471e-01 1.08739397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.289072329 meters Centerline goodness : 0.382512 Centerline is valid? [False, False] Translation: X:53.19, Y:2.53, Z:10.88 [[ 9.54097821e-01 -2.99494281e-01 -7.24034969e-04 5.31903193e+01] [ 2.34277345e-01 7.44826050e-01 6.24778585e-01 2.52794133e+00] [-1.86578333e-01 -5.96269512e-01 7.80801636e-01 1.08825192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.319072329 meters Centerline goodness : 0.381538 Centerline is valid? [False, False] Translation: X:53.19, Y:2.53, Z:10.88 [[ 9.52847390e-01 -3.03449547e-01 4.73299327e-04 5.31899899e+01] [ 2.37179064e-01 7.45725719e-01 6.22606813e-01 2.52541601e+00] [-1.89282707e-01 -5.93137020e-01 7.82534684e-01 1.08838412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.349072329 meters Centerline goodness : 0.382257 Centerline is valid? [False, False] Translation: X:53.19, Y:2.52, Z:10.89 [[ 9.51573492e-01 -3.07416602e-01 1.70934490e-03 5.31895524e+01] [ 2.40093186e-01 7.46631084e-01 6.20400908e-01 2.52303474e+00] [-1.91997789e-01 -5.89946657e-01 7.84282979e-01 1.08850898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.379072329 meters Centerline goodness : 0.384128 Centerline is valid? [False, False] Translation: X:53.19, Y:2.52, Z:10.89 [[ 9.49005688e-01 -3.15230101e-01 4.26461406e-03 5.31875515e+01] [ 2.45796900e-01 7.48311174e-01 6.16128453e-01 2.51875265e+00] [-1.97413493e-01 -5.83661178e-01 7.87634143e-01 1.08884856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.409072329 meters Centerline goodness : 0.384262 Centerline is valid? [False, False] Translation: X:53.19, Y:2.52, Z:10.89 [[ 9.47647469e-01 -3.19269593e-01 5.58587275e-03 5.31868067e+01] [ 2.48825023e-01 7.49293201e-01 6.13714760e-01 2.51708074e+00] [-2.00125918e-01 -5.80195334e-01 7.89508069e-01 1.08896597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.439072329 meters Centerline goodness : 0.385089 Centerline is valid? [False, False] Translation: X:53.19, Y:2.52, Z:10.89 [[ 9.46279843e-01 -3.23275091e-01 6.90464445e-03 5.31860576e+01] [ 2.51850968e-01 7.50265716e-01 6.11287531e-01 2.51544878e+00] [-2.02794350e-01 -5.76710127e-01 7.91378469e-01 1.08909756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.469072329 meters Centerline goodness : 0.385034 Centerline is valid? [False, False] Translation: X:53.18, Y:2.51, Z:10.89 [[ 9.43524329e-01 -3.31163273e-01 9.62952984e-03 5.31843271e+01] [ 2.57768624e-01 7.52052918e-01 6.06606746e-01 2.51197695e+00] [-2.08127792e-01 -5.69866033e-01 7.94943726e-01 1.08934282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.499072329 meters Centerline goodness : 0.387356 Centerline is valid? [False, False] Translation: X:53.18, Y:2.51, Z:10.89 [[ 9.42093982e-01 -3.35169333e-01 1.09748275e-02 5.31836790e+01] [ 2.60862861e-01 7.53013645e-01 6.04086930e-01 2.51069445e+00] [-2.10735608e-01 -5.66243736e-01 7.96842854e-01 1.08941940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.529072329 meters Centerline goodness : 0.386632 Centerline is valid? [False, False] Translation: X:53.18, Y:2.51, Z:10.90 [[ 9.39194464e-01 -3.43108593e-01 1.37932052e-02 5.31809263e+01] [ 2.66899991e-01 7.54682170e-01 5.99348994e-01 2.50848658e+00] [-2.16051276e-01 -5.59223851e-01 8.00368997e-01 1.08963424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.559072329 meters Centerline goodness : 0.388767 Centerline is valid? [False, False] Translation: X:53.18, Y:2.51, Z:10.90 [[ 9.37668045e-01 -3.47196379e-01 1.52745688e-02 5.31797078e+01] [ 2.70106445e-01 7.55719234e-01 5.96599487e-01 2.50806296e+00] [-2.18680467e-01 -5.55286515e-01 8.02393756e-01 1.08970447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.589072329 meters Centerline goodness : 0.387985 Centerline is valid? [False, False] Translation: X:53.18, Y:2.51, Z:10.90 [[ 9.36115552e-01 -3.51291368e-01 1.67942995e-02 5.31785034e+01] [ 2.73320970e-01 7.56731487e-01 5.93846027e-01 2.50760006e+00] [-2.21321758e-01 -5.51318267e-01 8.04403411e-01 1.08976422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.619072329 meters Centerline goodness : 0.388709 Centerline is valid? [False, False] Translation: X:53.18, Y:2.50, Z:10.90 [[ 9.33741135e-01 -3.57472037e-01 1.84725712e-02 5.31753350e+01] [ 2.77680330e-01 7.55953763e-01 5.92813244e-01 2.50256058e+00] [-2.25878568e-01 -5.48404641e-01 8.05128078e-01 1.08993962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.649072329 meters Centerline goodness : 0.389568 Centerline is valid? [False, False] Translation: X:53.17, Y:2.50, Z:10.90 [[ 9.32136635e-01 -3.61553744e-01 2.00045824e-02 5.31744069e+01] [ 2.80924571e-01 7.56910793e-01 5.90057147e-01 2.50194501e+00] [-2.28479055e-01 -5.44394105e-01 8.07113610e-01 1.08997943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.679072329 meters Centerline goodness : 0.389928 Centerline is valid? [False, False] Translation: X:53.15, Y:2.50, Z:10.91 [[ 9.30444621e-01 -3.66021123e-01 1.73593172e-02 5.31535245e+01] [ 2.86977299e-01 7.57331596e-01 5.86594309e-01 2.49982417e+00] [-2.27852667e-01 -5.40811789e-01 8.09694863e-01 1.09083731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.709072329 meters Centerline goodness : 0.391004 Centerline is valid? [False, False] Translation: X:53.13, Y:2.50, Z:10.92 [[ 9.28679622e-01 -3.70577842e-01 1.50407006e-02 5.31330146e+01] [ 2.92998212e-01 7.57918772e-01 5.82847478e-01 2.49773822e+00] [-2.27389990e-01 -5.36871677e-01 8.12442364e-01 1.09163339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.739072329 meters Centerline goodness : 0.390794 Centerline is valid? [False, False] Translation: X:53.13, Y:2.50, Z:10.92 [[ 9.25159453e-01 -3.79126632e-01 1.85198238e-02 5.31288296e+01] [ 2.99674767e-01 7.59482739e-01 5.77391551e-01 2.49761691e+00] [-2.32970000e-01 -5.28629327e-01 8.16257321e-01 1.09171564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.769072329 meters Centerline goodness : 0.391453 Centerline is valid? [False, False] Translation: X:53.13, Y:2.49, Z:10.92 [[ 9.24008015e-01 -3.81913017e-01 1.87519329e-02 5.31261799e+01] [ 3.01408249e-01 7.57656502e-01 5.78886597e-01 2.49391645e+00] [-2.35291850e-01 -5.29243868e-01 8.15192415e-01 1.09174399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.799072329 meters Centerline goodness : 0.391525 Centerline is valid? [False, False] Translation: X:53.12, Y:2.49, Z:10.92 [[ 9.22171906e-01 -3.86232982e-01 2.05684035e-02 5.31242713e+01] [ 3.04879316e-01 7.58596623e-01 5.75829633e-01 2.49450617e+00] [-2.38007518e-01 -5.24743030e-01 8.17310941e-01 1.09174266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.829072329 meters Centerline goodness : 0.391423 Centerline is valid? [False, False] Translation: X:53.12, Y:2.49, Z:10.92 [[ 9.20276213e-01 -3.90624031e-01 2.24623666e-02 5.31222249e+01] [ 3.08364568e-01 7.59422705e-01 5.72877342e-01 2.49481347e+00] [-2.40838088e-01 -5.20278793e-01 8.19333262e-01 1.09172371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.859072329 meters Centerline goodness : 0.393310 Centerline is valid? [False, False] Translation: X:53.12, Y:2.49, Z:10.92 [[ 9.17111372e-01 -3.97858236e-01 2.48104011e-02 5.31165923e+01] [ 3.13511408e-01 7.58322858e-01 5.71539185e-01 2.49147276e+00] [-2.46205866e-01 -5.16386742e-01 8.20199612e-01 1.09174094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88907232900002 meters Centerline goodness : 0.392542 Centerline is valid? [False, False] Translation: X:53.11, Y:2.49, Z:10.92 [[ 9.15087404e-01 -4.02364195e-01 2.67973277e-02 5.31145539e+01] [ 3.17123980e-01 7.59090763e-01 5.68518773e-01 2.49186151e+00] [-2.49093202e-01 -5.11746293e-01 8.22233731e-01 1.09168635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.91907232900002 meters Centerline goodness : 0.391552 Centerline is valid? [False, False] Translation: X:53.11, Y:2.49, Z:10.92 [[ 9.13016888e-01 -4.06900742e-01 2.88435134e-02 5.31123160e+01] [ 3.20739620e-01 7.59776503e-01 5.65566762e-01 2.49206801e+00] [-2.52044159e-01 -5.07120747e-01 8.24197968e-01 1.09163589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949072329 meters Centerline goodness : 0.393037 Centerline is valid? [False, False] Translation: X:53.11, Y:2.49, Z:10.92 [[ 9.09403768e-01 -4.14737328e-01 3.12687721e-02 5.31063650e+01] [ 3.26402416e-01 7.58259416e-01 5.64361694e-01 2.48862341e+00] [-2.57771702e-01 -5.03026448e-01 8.24935235e-01 1.09153488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979072329 meters Centerline goodness : 0.392918 Centerline is valid? [False, False] Translation: X:53.10, Y:2.49, Z:10.91 [[ 9.07176451e-01 -4.19416861e-01 3.34721362e-02 5.31036713e+01] [ 3.30195818e-01 7.58981437e-01 5.61175463e-01 2.48960867e+00] [-2.60771181e-01 -4.98032805e-01 8.27019780e-01 1.09145089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.009072329 meters Centerline goodness : 0.393211 Centerline is valid? [False, False] Translation: X:53.10, Y:2.49, Z:10.91 [[ 9.04898454e-01 -4.24126393e-01 3.57154129e-02 5.31007135e+01] [ 3.34046986e-01 7.59691380e-01 5.57926176e-01 2.49083866e+00] [-2.63763908e-01 -4.92935908e-01 8.29121699e-01 1.09138525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.039072329 meters Centerline goodness : 0.392824 Centerline is valid? [False, False] Translation: X:53.09, Y:2.49, Z:10.91 [[ 9.00920444e-01 -4.32264268e-01 3.85999578e-02 5.30926188e+01] [ 3.40072533e-01 7.58425128e-01 5.56005394e-01 2.49018616e+00] [-2.69616442e-01 -4.87789841e-01 8.30281907e-01 1.09128303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.069072329 meters Centerline goodness : 0.392871 Centerline is valid? [False, False] Translation: X:53.09, Y:2.49, Z:10.91 [[ 8.98520457e-01 -4.37000788e-01 4.11254154e-02 5.30887591e+01] [ 3.43952539e-01 7.59202557e-01 5.52546946e-01 2.49225101e+00] [-2.72685971e-01 -4.82329543e-01 8.32466559e-01 1.09121309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.099072329 meters Centerline goodness : 0.393229 Centerline is valid? [False, False] Translation: X:53.09, Y:2.49, Z:10.91 [[ 8.96094124e-01 -4.41715400e-01 4.36214008e-02 5.30853130e+01] [ 3.47890863e-01 7.59972614e-01 5.49011451e-01 2.49437990e+00] [-2.75657883e-01 -4.76790449e-01 8.34675745e-01 1.09109429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.129072329 meters Centerline goodness : 0.391503 Centerline is valid? [False, False] Translation: X:53.08, Y:2.49, Z:10.91 [[ 8.91768558e-01 -4.50073560e-01 4.67186334e-02 5.30757715e+01] [ 3.53941684e-01 7.58143831e-01 5.47670719e-01 2.49383808e+00] [-2.81911554e-01 -4.71859855e-01 8.35388624e-01 1.09085017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.159072329 meters Centerline goodness : 0.355234 Centerline is valid? [False, False] Translation: X:53.07, Y:2.49, Z:10.91 [[ 8.89800067e-01 -4.53936185e-01 4.68805052e-02 5.30679460e+01] [ 3.56395024e-01 7.55390263e-01 5.49880111e-01 2.49182802e+00] [-2.85023557e-01 -4.72575381e-01 8.33926904e-01 1.09092417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.189072329 meters Centerline goodness : 0.352135 Centerline is valid? [False, False] Translation: X:53.05, Y:2.49, Z:10.91 [[ 8.84031324e-01 -4.65086590e-01 4.67234602e-02 5.30517184e+01] [ 3.66082040e-01 7.51045169e-01 5.49468010e-01 2.49466867e+00] [-2.90641632e-01 -4.68642313e-01 8.34207303e-01 1.09091681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.219072329 meters Centerline goodness : 0.356841 Centerline is valid? [False, False] Translation: X:53.03, Y:2.49, Z:10.92 [[ 8.81935699e-01 -4.69285684e-01 4.42760606e-02 5.30270322e+01] [ 3.71209854e-01 7.49354478e-01 5.48334852e-01 2.49291517e+00] [-2.90504161e-01 -4.67160371e-01 8.35085936e-01 1.09154064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.249072329 meters Centerline goodness : 0.347063 Centerline is valid? [False, False] Translation: X:53.01, Y:2.49, Z:10.92 [[ 8.79047476e-01 -4.74966568e-01 4.10157756e-02 5.30054717e+01] [ 3.77845160e-01 7.46585638e-01 5.47579144e-01 2.49333514e+00] [-2.90703576e-01 -4.65850453e-01 8.35748040e-01 1.09221363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.279072329 meters Centerline goodness : 0.372101 Centerline is valid? [False, False] Translation: X:52.98, Y:2.49, Z:10.93 [[ 8.76246383e-01 -4.80371232e-01 3.78913583e-02 5.29833697e+01] [ 3.84252597e-01 7.44031276e-01 5.46596197e-01 2.49357001e+00] [-2.90761444e-01 -4.64393088e-01 8.36538608e-01 1.09287608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.309072329 meters Centerline goodness : 0.373639 Centerline is valid? [False, False] Translation: X:52.97, Y:2.50, Z:10.93 [[ 8.70411458e-01 -4.90844028e-01 3.81580051e-02 5.29650127e+01] [ 3.93227367e-01 7.39755385e-01 5.46016675e-01 2.49821382e+00] [-2.96236614e-01 -4.60254398e-01 8.36904868e-01 1.09289482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.339072329 meters Centerline goodness : 0.376817 Centerline is valid? [False, False] Translation: X:52.94, Y:2.50, Z:10.93 [[ 8.68618154e-01 -4.94182909e-01 3.58574132e-02 5.29391536e+01] [ 3.97636207e-01 7.38435643e-01 5.44608344e-01 2.49657325e+00] [-2.95614528e-01 -4.58798489e-01 8.37923623e-01 1.09341292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.369072329 meters Centerline goodness : 0.383843 Centerline is valid? [False, False] Translation: X:52.91, Y:2.50, Z:10.94 [[ 8.67037681e-01 -4.97143220e-01 3.30798815e-02 5.29135704e+01] [ 4.01847965e-01 7.37000702e-01 5.43459454e-01 2.49506530e+00] [-2.94557079e-01 -4.57906741e-01 8.38783371e-01 1.09394658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.399072329 meters Centerline goodness : 0.320570 Centerline is valid? [False, False] Translation: X:52.89, Y:2.49, Z:10.94 [[ 8.65486861e-01 -5.00019468e-01 3.02163023e-02 5.28881640e+01] [ 4.05971454e-01 7.35479251e-01 5.42455021e-01 2.49384467e+00] [-2.93461535e-01 -4.57220737e-01 8.39541259e-01 1.09446160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.429072329 meters Centerline goodness : 0.296929 Centerline is valid? [False, False] Translation: X:52.86, Y:2.50, Z:10.95 [[ 8.62001529e-01 -5.06077130e-01 2.89707237e-02 5.28625711e+01] [ 4.11883441e-01 7.32583705e-01 5.41916180e-01 2.49767380e+00] [-2.95474865e-01 -4.55200014e-01 8.39933064e-01 1.09462757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.459072329 meters Centerline goodness : 0.293668 Centerline is valid? [False, False] Translation: X:52.84, Y:2.50, Z:10.95 [[ 8.60663745e-01 -5.08492859e-01 2.63235870e-02 5.28360551e+01] [ 4.15485679e-01 7.31246773e-01 5.40971171e-01 2.49713943e+00] [-2.94329015e-01 -4.54657200e-01 8.40629086e-01 1.09513694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.489072329 meters Centerline goodness : 0.331823 Centerline is valid? [False, False] Translation: X:52.81, Y:2.50, Z:10.96 [[ 8.59446859e-01 -5.10672379e-01 2.37659045e-02 5.28090020e+01] [ 4.18842714e-01 7.30031989e-01 5.40022292e-01 2.49637902e+00] [-2.93124339e-01 -4.54166287e-01 8.41315105e-01 1.09565934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.519072329 meters Centerline goodness : 0.269012 Centerline is valid? [False, False] Translation: X:52.78, Y:2.50, Z:10.96 [[ 8.57160602e-01 -5.14574142e-01 2.21168392e-02 5.27796394e+01] [ 4.23759567e-01 7.28990662e-01 5.37587615e-01 2.50072462e+00] [-2.92751655e-01 -4.51426701e-01 8.42917791e-01 1.09586835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.549072329 meters Centerline goodness : 0.283481 Centerline is valid? [False, False] Translation: X:52.75, Y:2.50, Z:10.96 [[ 8.56227158e-01 -5.16226616e-01 1.96248424e-02 5.27517444e+01] [ 4.26781176e-01 7.28254472e-01 5.36193298e-01 2.50007811e+00] [-2.91089131e-01 -4.50727750e-01 8.43867059e-01 1.09631134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.579072329 meters Centerline goodness : 0.240841 Centerline is valid? [False, False] Translation: X:52.72, Y:2.50, Z:10.97 [[ 8.55433981e-01 -5.17631623e-01 1.70354409e-02 5.27236516e+01] [ 4.29592846e-01 7.27545813e-01 5.34908475e-01 2.49950629e+00] [-2.89279606e-01 -4.50260583e-01 8.44738253e-01 1.09675085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.609072329 meters Centerline goodness : 0.278239 Centerline is valid? [False, False] Translation: X:52.69, Y:2.50, Z:10.97 [[ 8.54076765e-01 -5.19940515e-01 1.46540336e-02 5.26934815e+01] [ 4.33212962e-01 7.26642474e-01 5.33214071e-01 2.50465449e+00] [-2.87887842e-01 -4.49057431e-01 8.45853424e-01 1.09684375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63907232900002 meters Centerline goodness : 0.230394 Centerline is valid? [False, False] Translation: X:52.67, Y:2.50, Z:10.97 [[ 8.53569672e-01 -5.20847316e-01 1.16999548e-02 5.26657359e+01] [ 4.35538866e-01 7.25728493e-01 5.32563658e-01 2.50469560e+00] [-2.85875342e-01 -4.49484402e-01 8.46309081e-01 1.09725183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.66907232900002 meters Centerline goodness : 0.269824 Centerline is valid? [False, False] Translation: X:52.64, Y:2.50, Z:10.98 [[ 8.53391050e-01 -5.21200749e-01 8.57293098e-03 5.26376550e+01] [ 4.37439584e-01 7.24994863e-01 5.32004754e-01 2.50465415e+00] [-2.83496607e-01 -4.50257956e-01 8.46697966e-01 1.09767441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699072329 meters Centerline goodness : 0.274485 Centerline is valid? [False, False] Translation: X:52.61, Y:2.50, Z:10.98 [[ 8.53202071e-01 -5.21552115e-01 5.44219567e-03 5.26096542e+01] [ 4.39358028e-01 7.24286393e-01 5.31388506e-01 2.50488648e+00] [-2.81088507e-01 -4.50990702e-01 8.47110759e-01 1.09805554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729072329 meters Centerline goodness : 0.297449 Centerline is valid? [False, False] Translation: X:52.58, Y:2.51, Z:10.98 [[ 8.52671421e-01 -5.22441005e-01 2.61622031e-03 5.25784911e+01] [ 4.41940678e-01 7.23940188e-01 5.29716000e-01 2.51160407e+00] [-2.78639346e-01 -4.50517480e-01 8.48171041e-01 1.09810610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.759072329 meters Centerline goodness : 0.273961 Centerline is valid? [False, False] Translation: X:52.55, Y:2.51, Z:10.98 [[ 8.52706143e-01 -5.22390872e-01 -1.02256849e-04 5.25497478e+01] [ 4.43470248e-01 7.23779387e-01 5.28656352e-01 2.51184386e+00] [-2.76091241e-01 -4.50833866e-01 8.48835939e-01 1.09844464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.789072329 meters Centerline goodness : 0.266714 Centerline is valid? [False, False] Translation: X:52.52, Y:2.51, Z:10.99 [[ 8.52790890e-01 -5.22244046e-01 -2.97570506e-03 5.25211838e+01] [ 4.44982610e-01 7.23621717e-01 5.27600311e-01 2.51232369e+00] [-2.73382836e-01 -4.51256875e-01 8.49487526e-01 1.09877707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.819072329 meters Centerline goodness : 0.234602 Centerline is valid? [False, False] Translation: X:52.49, Y:2.52, Z:10.99 [[ 8.52813966e-01 -5.22180869e-01 -5.95645768e-03 5.24891394e+01] [ 4.46713443e-01 7.23559733e-01 5.26220878e-01 2.51991369e+00] [-2.70472622e-01 -4.51429344e-01 8.50327060e-01 1.09876920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.849072329 meters Centerline goodness : 0.248737 Centerline is valid? [False, False] Translation: X:52.46, Y:2.52, Z:10.99 [[ 8.53166097e-01 -5.21556127e-01 -9.31761635e-03 5.24607246e+01] [ 4.47892872e-01 7.23277122e-01 5.25606487e-01 2.52117911e+00] [-2.67394065e-01 -4.52602929e-01 8.50676791e-01 1.09906266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.879072329 meters Centerline goodness : 0.256037 Centerline is valid? [False, False] Translation: X:52.43, Y:2.52, Z:10.99 [[ 8.53653074e-01 -5.20686366e-01 -1.27333564e-02 5.24322943e+01] [ 4.48842282e-01 7.23024002e-01 5.25144646e-01 2.52255918e+00] [-2.64229135e-01 -4.54006610e-01 8.50917718e-01 1.09935338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.909072329 meters Centerline goodness : 0.263336 Centerline is valid? [False, False] Translation: X:52.40, Y:2.53, Z:10.99 [[ 8.54444643e-01 -5.19297508e-01 -1.59514967e-02 5.23997668e+01] [ 4.49498334e-01 7.23504594e-01 5.23920176e-01 2.53115079e+00] [-2.60529460e-01 -4.54830959e-01 8.51617989e-01 1.09927188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.939072329 meters Centerline goodness : 0.343119 Centerline is valid? [False, False] Translation: X:52.37, Y:2.53, Z:10.99 [[ 8.55055990e-01 -5.18191702e-01 -1.88842273e-02 5.23709441e+01] [ 4.50221665e-01 7.23847156e-01 5.22824777e-01 2.53220777e+00] [-2.57254167e-01 -4.55546546e-01 8.52230977e-01 1.09949762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.969072329 meters Centerline goodness : 0.331313 Centerline is valid? [False, False] Translation: X:52.34, Y:2.54, Z:10.99 [[ 8.55912029e-01 -5.16642480e-01 -2.22518926e-02 5.23385965e+01] [ 4.51029332e-01 7.24779557e-01 5.20833117e-01 2.54137502e+00] [-2.52956797e-01 -4.55823586e-01 8.53368453e-01 1.09935009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.999072329 meters Centerline goodness : 0.346210 Centerline is valid? [False, False] Translation: X:52.31, Y:2.54, Z:11.00 [[ 8.56818845e-01 -5.14983211e-01 -2.55687361e-02 5.23095974e+01] [ 4.51329136e-01 7.25087472e-01 5.20144374e-01 2.54252761e+00] [-2.49326049e-01 -4.57209417e-01 8.53695537e-01 1.09953909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.029072329 meters Centerline goodness : 0.346210 Centerline is valid? [False, False] Translation: X:52.28, Y:2.54, Z:11.00 [[ 8.57600283e-01 -5.13508343e-01 -2.88259763e-02 5.22845318e+01] [ 4.51642222e-01 7.25096340e-01 5.19860174e-01 2.53644340e+00] [-2.46050927e-01 -4.58851260e-01 8.53764875e-01 1.10016094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.059072329 meters Centerline goodness : 0.343733 Centerline is valid? [False, False] Translation: X:52.26, Y:2.54, Z:11.00 [[ 8.58665929e-01 -5.11518414e-01 -3.22759013e-02 5.22554499e+01] [ 4.51696303e-01 7.25479345e-01 5.19278509e-01 2.53762729e+00] [-2.42205020e-01 -4.60465669e-01 8.53995373e-01 1.10031238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.089072329 meters Centerline goodness : 0.342648 Centerline is valid? [False, False] Translation: X:52.23, Y:2.54, Z:11.00 [[ 8.59707408e-01 -5.09539882e-01 -3.56690501e-02 5.22263092e+01] [ 4.51717235e-01 7.25832798e-01 5.18766122e-01 2.53894954e+00] [-2.38442262e-01 -4.62099403e-01 8.54171780e-01 1.10047880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.119072329 meters Centerline goodness : 0.283338 Centerline is valid? [False, False] Translation: X:52.19, Y:2.55, Z:11.00 [[ 8.61044588e-01 -5.07013227e-01 -3.92403507e-02 5.21936683e+01] [ 4.51679718e-01 7.27053440e-01 5.17086771e-01 2.54858552e+00] [-2.33640000e-01 -4.62958836e-01 8.55033021e-01 1.10026616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.149072329 meters Centerline goodness : 0.287657 Centerline is valid? [False, False] Translation: X:52.16, Y:2.55, Z:11.00 [[ 8.62269755e-01 -5.04682334e-01 -4.22683296e-02 5.21643959e+01] [ 4.51293218e-01 7.27805493e-01 5.16365758e-01 2.54942402e+00] [-2.29837553e-01 -4.64321986e-01 8.55324379e-01 1.10044457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.179072329 meters Centerline goodness : 0.234865 Centerline is valid? [False, False] Translation: X:52.14, Y:2.55, Z:11.01 [[ 8.63561831e-01 -5.02196740e-01 -4.53806008e-02 5.21352363e+01] [ 4.50802694e-01 7.28586051e-01 5.15693026e-01 2.55025533e+00] [-2.25915684e-01 -4.65790510e-01 8.55570748e-01 1.10058336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.209072329 meters Centerline goodness : 0.359773 Centerline is valid? [False, False] Translation: X:52.10, Y:2.56, Z:11.00 [[ 8.65005982e-01 -4.99332634e-01 -4.93109706e-02 5.21025676e+01] [ 4.50601517e-01 7.29815875e-01 5.14127475e-01 2.55985218e+00] [-2.20732697e-01 -4.66942940e-01 8.56295140e-01 1.10033687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.239072329 meters Centerline goodness : 0.223650 Centerline is valid? [False, False] Translation: X:52.07, Y:2.56, Z:11.00 [[ 0.8663964 -0.49654423 -0.05292549 52.07355031] [ 0.45006036 0.73054989 0.51355869 2.56115345] [-0.21633989 -0.46876506 0.85642067 11.00450863] [ 0. 0. 0. 1. ]] SLAMing on 224.269072329 meters Centerline goodness : 0.394101 Centerline is valid? [False, False] Translation: X:52.04, Y:2.57, Z:11.00 [[ 0.86800964 -0.49326293 -0.05701702 52.04109284] [ 0.44958929 0.73198094 0.51193102 2.5711935 ] [-0.21078122 -0.4699953 0.85713225 11.0016859 ] [ 0. 0. 0. 1. ]] SLAMing on 224.299072329 meters Centerline goodness : 0.224556 Centerline is valid? [False, False] Translation: X:52.01, Y:2.57, Z:11.00 [[ 0.86960611 -0.49006513 -0.06017793 52.01200957] [ 0.44855396 0.73318249 0.51111914 2.57219922] [-0.20636026 -0.47146538 0.85740063 11.00268878] [ 0. 0. 0. 1. ]] SLAMing on 224.329072329 meters Centerline goodness : 0.207084 Centerline is valid? [False, False] Translation: X:51.98, Y:2.57, Z:11.00 [[ 0.87126756 -0.48671493 -0.06325674 51.98273306] [ 0.44736036 0.73450064 0.510272 2.57299733] [-0.20189488 -0.472882 0.85768355 11.00385608] [ 0. 0. 0. 1. ]] SLAMing on 224.359072329 meters Centerline goodness : 0.224393 Centerline is valid? [False, False] Translation: X:51.95, Y:2.57, Z:11.00 [[ 0.87289439 -0.48338503 -0.06628954 51.95366081] [ 0.44614576 0.73577774 0.50949493 2.57374243] [-0.19750785 -0.47431006 0.85791644 11.00494133] [ 0. 0. 0. 1. ]] SLAMing on 224.38907232900002 meters Centerline goodness : 0.375240 Centerline is valid? [False, False] Translation: X:51.92, Y:2.58, Z:11.00 [[ 0.87472416 -0.47956988 -0.06978807 51.9204999 ] [ 0.44495246 0.73769118 0.50776868 2.58339189] [-0.19202852 -0.4752099 0.8586621 11.00197493] [ 0. 0. 0. 1. ]] SLAMing on 224.41907232900002 meters Centerline goodness : 0.233147 Centerline is valid? [False, False] Translation: X:51.89, Y:2.58, Z:11.00 [[ 0.87651617 -0.47578523 -0.07312883 51.89119457] [ 0.44344822 0.73898561 0.50720208 2.58439638] [-0.1872781 -0.47699967 0.85871894 11.00252872] [ 0. 0. 0. 1. ]] SLAMing on 224.449072329 meters Centerline goodness : 0.238036 Centerline is valid? [False, False] Translation: X:51.86, Y:2.59, Z:11.00 [[ 0.87845718 -0.47163553 -0.07663496 51.86194295] [ 0.44170597 0.74038059 0.50668769 2.58556439] [-0.18223288 -0.47895356 0.85871687 11.0028917 ] [ 0. 0. 0. 1. ]] SLAMing on 224.479072329 meters Centerline goodness : 0.232903 Centerline is valid? [False, False] Translation: X:51.83, Y:2.59, Z:11.00 [[ 0.88069879 -0.46676459 -0.0806254 51.82870655] [ 0.43961506 0.74206206 0.50604594 2.59444826] [-0.17637528 -0.48111819 0.8587299 10.99952801] [ 0. 0. 0. 1. ]] SLAMing on 224.509072329 meters Centerline goodness : 0.394549 Centerline is valid? [False, False] Translation: X:51.80, Y:2.60, Z:11.00 [[ 0.88270189 -0.46241157 -0.08374314 51.79949731] [ 0.4375769 0.74378862 0.50527709 2.5953717 ] [-0.17135878 -0.48265311 0.85888424 10.99990687] [ 0. 0. 0. 1. ]] SLAMing on 224.539072329 meters Centerline goodness : 0.373106 Centerline is valid? [False, False] Translation: X:51.77, Y:2.60, Z:11.00 [[ 0.88472711 -0.45795556 -0.08680233 51.77033341] [ 0.43543815 0.74561349 0.50443448 2.59631728] [-0.16628759 -0.4840839 0.85907579 11.00011743] [ 0. 0. 0. 1. ]] SLAMing on 224.569072329 meters Centerline goodness : 0.373541 Centerline is valid? [False, False] Translation: X:51.74, Y:2.60, Z:11.00 [[ 0.88731945 -0.4523566 -0.08965326 51.73559423] [ 0.43229545 0.74822471 0.50326974 2.60406812] [-0.1605766 -0.48531772 0.85946603 10.99625753] [ 0. 0. 0. 1. ]] SLAMing on 224.599072329 meters Centerline goodness : 0.372589 Centerline is valid? [False, False] Translation: X:51.71, Y:2.61, Z:11.00 [[ 0.88944249 -0.4475192 -0.09283652 51.70688174] [ 0.42990331 0.75022071 0.50234653 2.60517268] [-0.15516184 -0.48671907 0.85966816 10.9957695 ] [ 0. 0. 0. 1. ]] SLAMing on 224.629072329 meters Centerline goodness : 0.388000 Centerline is valid? [False, False] Translation: X:51.68, Y:2.61, Z:10.99 [[ 0.89216168 -0.44115751 -0.09709578 51.67523732] [ 0.4267319 0.75262048 0.50146016 2.6141059 ] [-0.14814664 -0.48881741 0.85971514 10.99102035] [ 0. 0. 0. 1. ]] SLAMing on 224.659072329 meters Centerline goodness : 0.330898 Centerline is valid? [False, False] Translation: X:51.64, Y:2.61, Z:10.99 [[ 0.89496 -0.43470297 -0.10039886 51.6448121 ] [ 0.42284906 0.75470067 0.50162294 2.61390223] [-0.1422859 -0.49138602 0.85924065 10.99053255] [ 0. 0. 0. 1. ]] SLAMing on 224.689072329 meters Centerline goodness : 0.339661 Centerline is valid? [False, False] Translation: X:51.62, Y:2.61, Z:10.99 [[ 0.89736085 -0.42884901 -0.10407702 51.61609685] [ 0.41973208 0.75660695 0.50136904 2.61487955] [-0.13626622 -0.49359341 0.85895114 10.98991057] [ 0. 0. 0. 1. ]] SLAMing on 224.719072329 meters Centerline goodness : 0.357889 Centerline is valid? [False, False] Translation: X:51.58, Y:2.62, Z:10.98 [[ 0.90103032 -0.42018611 -0.10764757 51.5818214 ] [ 0.41417402 0.7597106 0.501298 2.62222472] [-0.12885745 -0.49626952 0.85855246 10.98420291] [ 0. 0. 0. 1. ]] SLAMing on 224.749072329 meters Centerline goodness : 0.368995 Centerline is valid? [False, False] Translation: X:51.55, Y:2.62, Z:10.98 [[ 0.90338761 -0.41421064 -0.11099718 51.55328939] [ 0.41085328 0.76188189 0.50073503 2.62360832] [-0.12284304 -0.49796138 0.85845446 10.98353519] [ 0. 0. 0. 1. ]] SLAMing on 224.779072329 meters Centerline goodness : 0.096552 Centerline is valid? [False, False] Translation: X:51.52, Y:2.62, Z:10.98 [[ 0.90589138 -0.40781177 -0.11423822 51.52485848] [ 0.40708953 0.76410769 0.50041738 2.62455033] [-0.11678579 -0.49982898 0.85821447 10.98297566] [ 0. 0. 0. 1. ]] SLAMing on 224.809072329 meters Centerline goodness : 0.095676 Centerline is valid? [False, False] Translation: X:51.49, Y:2.63, Z:10.98 [[ 0.90929375 -0.3989462 -0.11843482 51.49325024] [ 0.40172078 0.76715558 0.50009273 2.63430643] [-0.10865216 -0.50230892 0.85783475 10.97851813] [ 0. 0. 0. 1. ]] SLAMing on 224.839072329 meters Centerline goodness : 0.095426 Centerline is valid? [False, False] Translation: X:51.46, Y:2.64, Z:10.98 [[ 0.91202839 -0.39160191 -0.12186941 51.46470585] [ 0.39718993 0.76931742 0.50039072 2.63542232] [-0.1021977 -0.50477585 0.85717966 10.9774396 ] [ 0. 0. 0. 1. ]] SLAMing on 224.869072329 meters Centerline goodness : 0.096250 Centerline is valid? [False, False] Translation: X:51.44, Y:2.64, Z:10.98 [[ 0.91485664 -0.3838518 -0.12528021 51.43615594] [ 0.39228861 0.77146721 0.50094709 2.63618312] [-0.09563986 -0.50744077 0.85636259 10.97603127] [ 0. 0. 0. 1. ]] SLAMing on 224.899072329 meters Centerline goodness : 0.096297 Centerline is valid? [False, False] Translation: X:51.41, Y:2.64, Z:10.97 [[ 0.91750947 -0.37628176 -0.128796 51.40837033] [ 0.38764203 0.77366446 0.50117558 2.63750592] [-0.08893834 -0.50976008 0.85570709 10.97425431] [ 0. 0. 0. 1. ]] SLAMing on 224.929072329 meters Centerline goodness : 0.246489 Centerline is valid? [False, False] Translation: X:51.38, Y:2.65, Z:10.97 [[ 0.92127113 -0.36582303 -0.13203417 51.37521637] [ 0.38042893 0.77708034 0.50141797 2.64545821] [-0.08082909 -0.51217151 0.85507134 10.96637946] [ 0. 0. 0. 1. ]] SLAMing on 224.959072329 meters Centerline goodness : 0.095964 Centerline is valid? [False, False] Translation: X:51.35, Y:2.65, Z:10.96 [[ 0.92378076 -0.35811116 -0.13559314 51.34807559] [ 0.37573806 0.77945087 0.50127563 2.64720991] [-0.07382421 -0.51401629 0.85459771 10.96399718] [ 0. 0. 0. 1. ]] SLAMing on 224.989072329 meters Centerline goodness : 0.360750 Centerline is valid? [False, False] Translation: X:51.31, Y:2.65, Z:10.96 [[ 0.92808154 -0.34577378 -0.13822137 51.31285427] [ 0.36664948 0.78367063 0.50142647 2.65430796] [-0.0650601 -0.51604344 0.85408802 10.95541442] [ 0. 0. 0. 1. ]] SLAMing on 225.019072329 meters Centerline goodness : 0.254322 Centerline is valid? [False, False] Translation: X:51.29, Y:2.66, Z:10.95 [[ 0.93091647 -0.33660154 -0.14175305 51.28549341] [ 0.36066148 0.78599529 0.50213017 2.65531088] [-0.05760056 -0.51856611 0.85309517 10.95332927] [ 0. 0. 0. 1. ]] SLAMing on 225.049072329 meters Centerline goodness : 0.239840 Centerline is valid? [False, False] Translation: X:51.26, Y:2.66, Z:10.95 [[ 9.33547872e-01 -3.27679264e-01 -1.45308878e-01 5.12587275e+01] [ 3.54929392e-01 7.88315631e-01 5.02576952e-01 2.65686996e+00] [-5.01347859e-02 -5.20754035e-01 8.52233382e-01 1.09509340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.079072329 meters Centerline goodness : 0.095777 Centerline is valid? [False, False] Translation: X:51.23, Y:2.66, Z:10.95 [[ 9.36342770e-01 -3.17976474e-01 -1.48839441e-01 5.12317001e+01] [ 3.48508921e-01 7.90526089e-01 5.03597095e-01 2.65801949e+00] [-4.24705668e-02 -5.23411372e-01 8.51021026e-01 1.09486031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.109072329 meters Centerline goodness : 0.095296 Centerline is valid? [False, False] Translation: X:51.19, Y:2.66, Z:10.94 [[ 9.41251400e-01 -3.01472768e-01 -1.52184009e-01 5.11938482e+01] [ 3.36281781e-01 7.95362289e-01 5.04294946e-01 2.66408295e+00] [-3.09897716e-02 -5.25845033e-01 8.50015667e-01 1.09404022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13907232900002 meters Centerline goodness : 0.096060 Centerline is valid? [False, False] Translation: X:51.16, Y:2.66, Z:10.94 [[ 9.44600970e-01 -2.89581199e-01 -1.54504812e-01 5.11631711e+01] [ 3.27412733e-01 7.98330782e-01 5.05439278e-01 2.66304199e+00] [-2.30197649e-02 -5.28025275e-01 8.48916603e-01 1.09357666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.16907232900002 meters Centerline goodness : 0.263809 Centerline is valid? [False, False] Translation: X:51.13, Y:2.66, Z:10.93 [[ 9.47954635e-01 -2.77270426e-01 -1.56534726e-01 5.11321537e+01] [ 3.18056172e-01 8.01562583e-01 5.06298032e-01 2.66158931e+00] [-1.49090914e-02 -5.29734402e-01 8.48032536e-01 1.09304137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199072329 meters Centerline goodness : 0.252308 Centerline is valid? [False, False] Translation: X:51.09, Y:2.67, Z:10.92 [[ 9.52374603e-01 -2.59068259e-01 -1.60829886e-01 5.10942699e+01] [ 3.04928656e-01 8.07292055e-01 5.05270278e-01 2.66803073e+00] [-1.06280205e-03 -5.30248221e-01 8.47841786e-01 1.09229312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229072329 meters Centerline goodness : 0.370621 Centerline is valid? [False, False] Translation: X:51.06, Y:2.67, Z:10.92 [[ 9.55726007e-01 -2.45203035e-01 -1.62675352e-01 5.10611508e+01] [ 2.94147660e-01 8.11241914e-01 5.05335247e-01 2.66606050e+00] [ 8.05932724e-03 -5.30812612e-01 8.47450894e-01 1.09174213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.259072329 meters Centerline goodness : 0.368957 Centerline is valid? [False, False] Translation: X:51.03, Y:2.67, Z:10.91 [[ 9.57994193e-01 -2.34078976e-01 -1.65692967e-01 5.10349763e+01] [ 2.86333612e-01 8.13182720e-01 5.06702009e-01 2.66725154e+00] [ 1.61303706e-02 -5.32861048e-01 8.46049002e-01 1.09139730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.289072329 meters Centerline goodness : 0.367672 Centerline is valid? [False, False] Translation: X:51.00, Y:2.67, Z:10.91 [[ 9.61888625e-01 -2.15039622e-01 -1.68903029e-01 5.09978391e+01] [ 2.71866747e-01 8.18288344e-01 5.06451042e-01 2.67417929e+00] [ 2.93043396e-02 -5.33068613e-01 8.45564373e-01 1.09054232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.319072329 meters Centerline goodness : 0.367629 Centerline is valid? [False, False] Translation: X:50.97, Y:2.67, Z:10.90 [[ 9.64661663e-01 -2.00994864e-01 -1.70378817e-01 5.09664335e+01] [ 2.60748528e-01 8.21257692e-01 5.07489910e-01 2.67275475e+00] [ 3.79220482e-02 -5.33982086e-01 8.44644925e-01 1.08994549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.349072329 meters Centerline goodness : 0.364687 Centerline is valid? [False, False] Translation: X:50.94, Y:2.67, Z:10.90 [[ 9.66466604e-01 -1.89440423e-01 -1.73362712e-01 5.09412869e+01] [ 2.52603818e-01 8.22787406e-01 5.09128859e-01 2.67451543e+00] [ 4.61910701e-02 -5.35848122e-01 8.43049924e-01 1.08955446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.379072329 meters Centerline goodness : 0.363729 Centerline is valid? [False, False] Translation: X:50.92, Y:2.68, Z:10.89 [[ 0.96814559 -0.17767953 -0.17642023 50.91611711] [ 0.24435519 0.82419355 0.51087722 2.67633368] [ 0.05463199 -0.53771272 0.84135627 10.89174076] [ 0. 0. 0. 1. ]] SLAMing on 225.409072329 meters Centerline goodness : 0.365300 Centerline is valid? [False, False] Translation: X:50.88, Y:2.68, Z:10.88 [[ 0.97086764 -0.15607683 -0.1818132 50.87864896] [ 0.22884704 0.82888198 0.51047399 2.68414103] [ 0.07102852 -0.53721009 0.84045242 10.88443715] [ 0. 0. 0. 1. ]] SLAMing on 225.439072329 meters Centerline goodness : 0.341217 Centerline is valid? [False, False] Translation: X:50.85, Y:2.68, Z:10.88 [[ 0.97287915 -0.1417297 -0.18280825 50.84802251] [ 0.21721342 0.83147046 0.51134646 2.68291086] [ 0.07952668 -0.53718671 0.83970587 10.87706772] [ 0. 0. 0. 1. ]] SLAMing on 225.469072329 meters Centerline goodness : 0.364260 Centerline is valid? [False, False] Translation: X:50.83, Y:2.69, Z:10.87 [[ 0.97591419 -0.1238765 -0.17957202 50.8257112 ] [ 0.20002723 0.83663253 0.50993638 2.6932058 ] [ 0.08706666 -0.53357345 0.84126023 10.86633267] [ 0. 0. 0. 1. ]] SLAMing on 225.499072329 meters Centerline goodness : 0.366505 Centerline is valid? [False, False] Translation: X:50.81, Y:2.70, Z:10.86 [[ 0.97712106 -0.11085077 -0.18151184 50.81090576] [ 0.18986638 0.8392123 0.50958166 2.69648677] [ 0.09583945 -0.53238597 0.84105884 10.86335303] [ 0. 0. 0. 1. ]] SLAMing on 225.529072329 meters Centerline goodness : 0.325629 Centerline is valid? [False, False] Translation: X:50.80, Y:2.70, Z:10.86 [[ 0.97813714 -0.09729473 -0.18379736 50.79549834] [ 0.17944079 0.84158012 0.50945452 2.70014242] [ 0.10511296 -0.53129713 0.84063941 10.86090408] [ 0. 0. 0. 1. ]] SLAMing on 225.559072329 meters Centerline goodness : 0.184280 Centerline is valid? [False, False] Translation: X:50.77, Y:2.71, Z:10.85 [[ 0.98046051 -0.07848699 -0.1803801 50.77400439] [ 0.16130732 0.84560785 0.50884901 2.71125293] [ 0.1125928 -0.52800299 0.84174563 10.85013913] [ 0. 0. 0. 1. ]] SLAMing on 225.589072329 meters Centerline goodness : 0.357705 Centerline is valid? [False, False] Translation: X:50.76, Y:2.71, Z:10.85 [[ 0.98115725 -0.06538604 -0.18181066 50.76036521] [ 0.15074554 0.8476694 0.50865741 2.71472795] [ 0.12085624 -0.52648006 0.84155363 10.84614246] [ 0. 0. 0. 1. ]] SLAMing on 225.619072329 meters Centerline goodness : 0.183080 Centerline is valid? [False, False] Translation: X:50.75, Y:2.72, Z:10.84 [[ 0.98177306 -0.05421834 -0.18215936 50.74902396] [ 0.14110802 0.85000483 0.50752372 2.71805883] [ 0.12731924 -0.52397726 0.84216248 10.84044459] [ 0. 0. 0. 1. ]] SLAMing on 225.649072329 meters Centerline goodness : 0.182827 Centerline is valid? [False, False] Translation: X:50.73, Y:2.73, Z:10.83 [[ 9.83215116e-01 -3.71664355e-02 -1.78624445e-01 5.07304081e+01] [ 1.24064120e-01 8.54041495e-01 5.05194238e-01 2.72977037e+00] [ 1.33776419e-01 -5.18875496e-01 8.44317529e-01 1.08288040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.679072329 meters Centerline goodness : 0.200264 Centerline is valid? [False, False] Translation: X:50.73, Y:2.74, Z:10.83 [[ 9.83330600e-01 -3.35801869e-02 -1.78698917e-01 5.07295913e+01] [ 1.21286022e-01 8.53341851e-01 5.07047716e-01 2.73645693e+00] [ 1.35464507e-01 -5.20269216e-01 8.43189961e-01 1.08252417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.709072329 meters Centerline goodness : 0.242206 Centerline is valid? [False, False] Translation: X:50.73, Y:2.74, Z:10.82 [[ 9.83430321e-01 -3.00256393e-02 -1.78782730e-01 5.07287308e+01] [ 1.18540006e-01 8.52651886e-01 5.08854624e-01 2.74336797e+00] [ 1.37160746e-01 -5.21615973e-01 8.42082957e-01 1.08216971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.739072329 meters Centerline goodness : 0.173960 Centerline is valid? [False, False] Translation: X:50.73, Y:2.75, Z:10.82 [[ 9.83519607e-01 -2.64291644e-02 -1.78859391e-01 5.07279056e+01] [ 1.15766411e-01 8.51932081e-01 5.10695475e-01 2.75018588e+00] [ 1.38878799e-01 -5.22984922e-01 8.40951515e-01 1.08182022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.769072329 meters Centerline goodness : 0.180837 Centerline is valid? [False, False] Translation: X:50.72, Y:2.76, Z:10.80 [[ 9.84914729e-01 -1.39745197e-02 -1.72475182e-01 5.07154317e+01] [ 1.01523285e-01 8.53823850e-01 5.10566211e-01 2.76339241e+00] [ 1.40128507e-01 -5.20374429e-01 8.42362425e-01 1.08042341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.799072329 meters Centerline goodness : 0.190790 Centerline is valid? [False, False] Translation: X:50.71, Y:2.77, Z:10.80 [[ 9.84941315e-01 -1.04193844e-02 -1.72574742e-01 5.07146173e+01] [ 9.88026538e-02 8.53046568e-01 5.12395930e-01 2.77041097e+00] [ 1.41875441e-01 -5.21730764e-01 8.41230271e-01 1.08009460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.829072329 meters Centerline goodness : 0.193237 Centerline is valid? [False, False] Translation: X:50.70, Y:2.78, Z:10.79 [[ 9.85401131e-01 4.63710641e-03 -1.70185513e-01 5.07003931e+01] [ 8.41422683e-02 8.55742786e-01 5.10513822e-01 2.78407140e+00] [ 1.48002332e-01 -5.17380693e-01 8.42859732e-01 1.07918590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.859072329 meters Centerline goodness : 0.167713 Centerline is valid? [False, False] Translation: X:50.70, Y:2.79, Z:10.79 [[ 9.85381389e-01 8.13719571e-03 -1.70168460e-01 5.06996681e+01] [ 8.14205264e-02 8.54904802e-01 5.12355811e-01 2.79077094e+00] [ 1.49646973e-01 -5.18721086e-01 8.41744747e-01 1.07885325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88907232900002 meters Centerline goodness : 0.162055 Centerline is valid? [False, False] Translation: X:50.70, Y:2.80, Z:10.79 [[ 9.85361432e-01 1.16589453e-02 -1.70079148e-01 5.06988168e+01] [ 7.86512109e-02 8.54047674e-01 5.14214505e-01 2.79736412e+00] [ 1.51250900e-01 -5.20064073e-01 8.40628649e-01 1.07851045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.91907232900002 meters Centerline goodness : 0.167933 Centerline is valid? [False, False] Translation: X:50.69, Y:2.81, Z:10.77 [[ 9.86287025e-01 2.33700988e-02 -1.63376077e-01 5.06876861e+01] [ 6.47473952e-02 8.55770607e-01 5.13287876e-01 2.81024972e+00] [ 1.51808033e-01 -5.16827347e-01 8.42522293e-01 1.07711971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949072329 meters Centerline goodness : 0.167933 Centerline is valid? [False, False] Translation: X:50.69, Y:2.81, Z:10.77 [[ 9.86246842e-01 1.92672181e-02 -1.64152188e-01 5.06900208e+01] [ 6.81327068e-02 8.57474714e-01 5.09995146e-01 2.81139265e+00] [ 1.50582538e-01 -5.14165235e-01 8.44369001e-01 1.07711781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979072329 meters Centerline goodness : 0.170187 Centerline is valid? [False, False] Translation: X:50.69, Y:2.82, Z:10.77 [[ 9.86183465e-01 2.27974714e-02 -1.64080617e-01 5.06895528e+01] [ 6.53662920e-02 8.56562703e-01 5.11886300e-01 2.81808217e+00] [ 1.52215050e-01 -5.15539147e-01 8.43237788e-01 1.07676840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.009072329 meters Centerline goodness : 0.168068 Centerline is valid? [False, False] Translation: X:50.69, Y:2.83, Z:10.76 [[ 9.86086120e-01 2.28857470e-02 -1.64652382e-01 5.06908278e+01] [ 6.53642738e-02 8.57317083e-01 5.10622101e-01 2.82629427e+00] [ 1.52845268e-01 -5.14279750e-01 8.43892566e-01 1.07644028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.039072329 meters Centerline goodness : 0.177556 Centerline is valid? [False, False] Translation: X:50.68, Y:2.84, Z:10.75 [[ 9.86746257e-01 3.42124288e-02 -1.58623247e-01 5.06810118e+01] [ 5.23222007e-02 8.58232689e-01 5.10586955e-01 2.83895845e+00] [ 1.53604075e-01 -5.12119284e-01 8.45067824e-01 1.07500460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.069072329 meters Centerline goodness : 0.159550 Centerline is valid? [False, False] Translation: X:50.68, Y:2.85, Z:10.75 [[ 9.86638540e-01 3.38565866e-02 -1.59367884e-01 5.06826552e+01] [ 5.27378745e-02 8.59140060e-01 5.09015790e-01 2.84715785e+00] [ 1.54152870e-01 -5.10619319e-01 8.45875170e-01 1.07471281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.099072329 meters Centerline goodness : 0.059716 Centerline is valid? [False, False] Translation: X:50.68, Y:2.86, Z:10.74 [[ 9.86541598e-01 3.36036143e-02 -1.60020227e-01 5.06843368e+01] [ 5.30252507e-02 8.60015086e-01 5.07506033e-01 2.85508066e+00] [ 1.54673847e-01 -5.09160926e-01 8.46658817e-01 1.07439550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.129072329 meters Centerline goodness : 0.058059 Centerline is valid? [False, False] Translation: X:50.68, Y:2.87, Z:10.74 [[ 9.86436609e-01 4.04135560e-02 -1.59089791e-01 5.06836768e+01] [ 4.72438867e-02 8.58299567e-01 5.10969537e-01 2.86725389e+00] [ 1.57196795e-01 -5.11555077e-01 8.44748821e-01 1.07353989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.159072329 meters Centerline goodness : 0.058284 Centerline is valid? [False, False] Translation: X:50.69, Y:2.88, Z:10.73 [[ 9.86322331e-01 4.01088849e-02 -1.59873502e-01 5.06855078e+01] [ 4.76270177e-02 8.59217259e-01 5.09389211e-01 2.87547113e+00] [ 1.57797106e-01 -5.10036252e-01 8.45554904e-01 1.07324675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.189072329 meters Centerline goodness : 0.058452 Centerline is valid? [False, False] Translation: X:50.69, Y:2.89, Z:10.72 [[ 9.86122089e-01 4.69974064e-02 -1.59230865e-01 5.06851035e+01] [ 4.19412323e-02 8.57466830e-01 5.12827036e-01 2.88855752e+00] [ 1.60636726e-01 -5.12388407e-01 8.43595853e-01 1.07244487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.219072329 meters Centerline goodness : 0.264596 Centerline is valid? [False, False] Translation: X:50.69, Y:2.90, Z:10.72 [[ 9.85983170e-01 4.70278957e-02 -1.60079870e-01 5.06869394e+01] [ 4.20796532e-02 8.58344895e-01 5.11344642e-01 2.89686076e+00] [ 1.61451202e-01 -5.10913317e-01 8.44334704e-01 1.07217937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.249072329 meters Centerline goodness : 0.260732 Centerline is valid? [False, False] Translation: X:50.69, Y:2.91, Z:10.72 [[ 9.85852005e-01 4.71428174e-02 -1.60852044e-01 5.06885506e+01] [ 4.21021020e-02 8.59224067e-01 5.09864116e-01 2.90508803e+00] [ 1.62244378e-01 -5.09422770e-01 8.45082957e-01 1.07191815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.279072329 meters Centerline goodness : 0.259403 Centerline is valid? [False, False] Translation: X:50.69, Y:2.91, Z:10.72 [[ 9.85720586e-01 4.73992133e-02 -1.61580449e-01 5.06900523e+01] [ 4.19909380e-02 8.60060036e-01 5.08461892e-01 2.91325463e+00] [ 1.63069581e-01 -5.07986269e-01 8.45788545e-01 1.07165667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.309072329 meters Centerline goodness : 0.258638 Centerline is valid? [False, False] Translation: X:50.68, Y:2.92, Z:10.70 [[ 9.86053965e-01 6.03514489e-02 -1.55097646e-01 5.06794484e+01] [ 2.73519958e-02 8.60492671e-01 5.08728052e-01 2.92415684e+00] [ 1.64162863e-01 -5.05875543e-01 8.46841478e-01 1.07025554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.339072329 meters Centerline goodness : 0.057193 Centerline is valid? [False, False] Translation: X:50.68, Y:2.93, Z:10.70 [[ 9.85846131e-01 6.41778923e-02 -1.54882548e-01 5.06794623e+01] [ 2.43212058e-02 8.59310564e-01 5.10875555e-01 2.93023329e+00] [ 1.65879126e-01 -5.07411620e-01 8.45587112e-01 1.06992183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.369072329 meters Centerline goodness : 0.057861 Centerline is valid? [False, False] Translation: X:50.68, Y:2.94, Z:10.70 [[ 9.85628522e-01 6.80282074e-02 -1.54623997e-01 5.06797048e+01] [ 2.12615518e-02 8.58092789e-01 5.13054297e-01 2.93614170e+00] [ 1.67583901e-01 -5.08968494e-01 8.44314342e-01 1.06956073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.399072329 meters Centerline goodness : 0.255190 Centerline is valid? [False, False] Translation: X:50.68, Y:2.95, Z:10.69 [[ 9.85263373e-01 7.58001621e-02 -1.53331084e-01 5.06797326e+01] [ 1.47135207e-02 8.55559147e-01 5.17495951e-01 2.94681403e+00] [ 1.70410088e-01 -5.12125846e-01 8.41835803e-01 1.06865854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.429072329 meters Centerline goodness : 0.251880 Centerline is valid? [False, False] Translation: X:50.68, Y:2.95, Z:10.68 [[ 9.85011184e-01 7.97524575e-02 -1.52946114e-01 5.06802516e+01] [ 1.15455106e-02 8.54220803e-01 5.19782186e-01 2.95219941e+00] [ 1.72103659e-01 -5.13757107e-01 8.40496261e-01 1.06826802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.459072329 meters Centerline goodness : 0.058851 Centerline is valid? [False, False] Translation: X:50.68, Y:2.96, Z:10.68 [[ 9.84745102e-01 8.37708221e-02 -1.52510766e-01 5.06808746e+01] [ 8.31482607e-03 8.52827118e-01 5.22127160e-01 2.95728907e+00] [ 1.73804338e-01 -5.15430264e-01 8.39120787e-01 1.06786902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.489072329 meters Centerline goodness : 0.058457 Centerline is valid? [False, False] Translation: X:50.68, Y:2.97, Z:10.67 [[ 9.84302008e-01 9.18232413e-02 -1.50725081e-01 5.06805744e+01] [ 1.40452753e-03 8.49901029e-01 5.26940479e-01 2.96639434e+00] [ 1.76486785e-01 -5.18880269e-01 8.36430321e-01 1.06691035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.519072329 meters Centerline goodness : 0.242449 Centerline is valid? [False, False] Translation: X:50.68, Y:2.97, Z:10.67 [[ 9.83994288e-01 9.57917919e-02 -1.50263682e-01 5.06808022e+01] [-1.76897078e-03 8.48439778e-01 5.29288971e-01 2.97149706e+00] [ 1.78191224e-01 -5.20551512e-01 8.35029348e-01 1.06654870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.549072329 meters Centerline goodness : 0.239744 Centerline is valid? [False, False] Translation: X:50.68, Y:2.98, Z:10.66 [[ 9.83799684e-01 9.66703127e-02 -1.50973615e-01 5.06831104e+01] [-2.33682577e-03 8.48995493e-01 5.28394920e-01 2.97806093e+00] [ 1.79256021e-01 -5.19481957e-01 8.35467399e-01 1.06631856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.579072329 meters Centerline goodness : 0.234321 Centerline is valid? [False, False] Translation: X:50.69, Y:2.98, Z:10.66 [[ 9.83631419e-01 9.72651028e-02 -1.51686295e-01 5.06852048e+01] [-2.66843630e-03 8.49573174e-01 5.27464028e-01 2.98440066e+00] [ 1.80172450e-01 -5.18425425e-01 8.35926412e-01 1.06610351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.609072329 meters Centerline goodness : 0.059407 Centerline is valid? [False, False] Translation: X:50.68, Y:2.99, Z:10.65 [[ 9.83263603e-01 1.04839238e-01 -1.49001412e-01 5.06822750e+01] [-9.57838456e-03 8.46457555e-01 5.32370042e-01 2.99153651e+00] [ 1.81936641e-01 -5.22032893e-01 8.33295096e-01 1.06513797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63907232900002 meters Centerline goodness : 0.059059 Centerline is valid? [False, False] Translation: X:50.68, Y:3.00, Z:10.65 [[ 9.83131985e-01 1.05214317e-01 -1.49604303e-01 5.06839593e+01] [-9.76644803e-03 8.47000996e-01 5.31501579e-01 2.99725430e+00] [ 1.82636569e-01 -5.21075100e-01 8.33741341e-01 1.06493364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.66907232900002 meters Centerline goodness : 0.224165 Centerline is valid? [False, False] Translation: X:50.69, Y:3.00, Z:10.65 [[ 9.82979830e-01 1.05619483e-01 -1.50316927e-01 5.06856678e+01] [-9.90946325e-03 8.47505546e-01 5.30694028e-01 3.00280949e+00] [ 1.83446058e-01 -5.20171966e-01 8.34127490e-01 1.06477736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699072329 meters Centerline goodness : 0.221008 Centerline is valid? [False, False] Translation: X:50.69, Y:3.01, Z:10.65 [[ 9.82839667e-01 1.05894505e-01 -1.51038214e-01 5.06873332e+01] [-9.95650171e-03 8.48065187e-01 5.29798365e-01 3.00835984e+00] [ 1.84192987e-01 -5.19203036e-01 8.34566445e-01 1.06463318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729072329 meters Centerline goodness : 0.212398 Centerline is valid? [False, False] Translation: X:50.69, Y:3.02, Z:10.64 [[ 9.82434668e-01 1.10320213e-01 -1.50504398e-01 5.06867614e+01] [-1.36309957e-02 8.46803211e-01 5.31731622e-01 3.01748829e+00] [ 1.86108353e-01 -5.20340055e-01 8.33432606e-01 1.06409111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.759072329 meters Centerline goodness : 0.210623 Centerline is valid? [False, False] Translation: X:50.69, Y:3.02, Z:10.64 [[ 9.82325424e-01 1.10494410e-01 -1.51088541e-01 5.06878813e+01] [-1.36414318e-02 8.47292230e-01 5.30951776e-01 3.02245269e+00] [ 1.86683350e-01 -5.19506364e-01 8.33824001e-01 1.06396004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.789072329 meters Centerline goodness : 0.201756 Centerline is valid? [False, False] Translation: X:50.69, Y:3.03, Z:10.64 [[ 9.82226753e-01 1.10602509e-01 -1.51649892e-01 5.06889301e+01] [-1.36080181e-02 8.47780882e-01 5.30172046e-01 3.02746947e+00] [ 1.87204238e-01 -5.18685513e-01 8.34218144e-01 1.06381037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.819072329 meters Centerline goodness : 0.192143 Centerline is valid? [False, False] Translation: X:50.68, Y:3.03, Z:10.63 [[ 9.82119277e-01 1.14876612e-01 -1.49147881e-01 5.06840485e+01] [-1.79182083e-02 8.45688158e-01 5.33376487e-01 3.03247133e+00] [ 1.87405081e-01 -5.21166867e-01 8.32625025e-01 1.06292457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.849072329 meters Centerline goodness : 0.188961 Centerline is valid? [False, False] Translation: X:50.68, Y:3.04, Z:10.63 [[ 9.82004758e-01 1.15074189e-01 -1.49748408e-01 5.06849051e+01] [-1.79048913e-02 8.46079870e-01 5.32755356e-01 3.03718955e+00] [ 1.88005504e-01 -5.20487065e-01 8.32914849e-01 1.06280223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.879072329 meters Centerline goodness : 0.186509 Centerline is valid? [False, False] Translation: X:50.69, Y:3.04, Z:10.63 [[ 9.81896795e-01 1.15215976e-01 -1.50346140e-01 5.06855396e+01] [-1.78431651e-02 8.46464571e-01 5.32145986e-01 3.04201714e+00] [ 1.88574400e-01 -5.19829788e-01 8.33196668e-01 1.06268573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.909072329 meters Centerline goodness : 0.178442 Centerline is valid? [False, False] Translation: X:50.66, Y:3.05, Z:10.62 [[ 9.79887863e-01 1.30131409e-01 -1.51279849e-01 5.06609388e+01] [-2.96236052e-02 8.44571967e-01 5.34621955e-01 3.04788960e+00] [ 1.97337828e-01 -5.19388111e-01 8.31440781e-01 1.06210139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.939072329 meters Centerline goodness : 0.175977 Centerline is valid? [False, False] Translation: X:50.66, Y:3.05, Z:10.62 [[ 9.79824927e-01 1.30021726e-01 -1.51780972e-01 5.06607053e+01] [-2.94066415e-02 8.44971742e-01 5.34001877e-01 3.05303110e+00] [ 1.97682478e-01 -5.18764981e-01 8.31747878e-01 1.06197448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.969072329 meters Centerline goodness : 0.167639 Centerline is valid? [False, False] Translation: X:50.66, Y:3.06, Z:10.62 [[ 9.79767230e-01 1.29828814e-01 -1.52317607e-01 5.06604678e+01] [-2.91152314e-02 8.45415846e-01 5.33314494e-01 3.05848619e+00] [ 1.98011307e-01 -5.18089303e-01 8.32090738e-01 1.06183339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.999072329 meters Centerline goodness : 0.160159 Centerline is valid? [False, False] Translation: X:50.63, Y:3.06, Z:10.61 [[ 9.77831901e-01 1.44215469e-01 -1.51811307e-01 5.06329592e+01] [-4.09971049e-02 8.42839259e-01 5.36601547e-01 3.06438147e+00] [ 2.05338773e-01 -5.18482286e-01 8.30067532e-01 1.06074092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.029072329 meters Centerline goodness : 0.161629 Centerline is valid? [False, False] Translation: X:50.63, Y:3.07, Z:10.60 [[ 9.77865851e-01 1.43901388e-01 -1.51890645e-01 5.06315769e+01] [-4.07836862e-02 8.43107058e-01 5.36196960e-01 3.06937856e+00] [ 2.05219562e-01 -5.18134036e-01 8.30314430e-01 1.06045558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.059072329 meters Centerline goodness : 0.158398 Centerline is valid? [False, False] Translation: X:50.60, Y:3.07, Z:10.58 [[ 0.97591004 0.16167637 -0.14649347 50.59621248] [-0.05783672 0.8391468 0.5408212 3.07230387] [ 0.21036754 -0.51932014 0.82828262 10.58420113] [ 0. 0. 0. 1. ]] SLAMing on 227.089072329 meters Centerline goodness : 0.154820 Centerline is valid? [False, False] Translation: X:50.59, Y:3.07, Z:10.57 [[ 0.97592486 0.16459552 -0.14310479 50.58951635] [-0.06121504 0.83645569 0.54460499 3.07462812] [ 0.20934036 -0.52273338 0.82639363 10.57485491] [ 0. 0. 0. 1. ]] SLAMing on 227.119072329 meters Centerline goodness : 0.152388 Centerline is valid? [False, False] Translation: X:50.57, Y:3.08, Z:10.57 [[ 0.97336608 0.17774281 -0.14479631 50.5681837 ] [-0.07123683 0.83481945 0.54589541 3.08126945] [ 0.21790776 -0.52104125 0.82524677 10.56905569] [ 0. 0. 0. 1. ]] SLAMing on 227.149072329 meters Centerline goodness : 0.148725 Centerline is valid? [False, False] Translation: X:50.55, Y:3.09, Z:10.56 [[ 0.97061069 0.1915059 -0.14574083 50.54612489] [-0.08202523 0.83259715 0.54777171 3.08875384] [ 0.22624491 -0.51971865 0.82383601 10.56144758] [ 0. 0. 0. 1. ]] SLAMing on 227.179072329 meters Centerline goodness : 0.383543 Centerline is valid? [False, False] Translation: X:50.50, Y:3.10, Z:10.53 [[ 0.96684914 0.21652804 -0.13534529 50.5049255 ] [-0.10646428 0.82360434 0.5570828 3.09751333] [ 0.23209501 -0.52420559 0.81935365 10.527894 ] [ 0. 0. 0. 1. ]] SLAMing on 227.209072329 meters Centerline goodness : 0.171308 Centerline is valid? [False, False] Translation: X:50.48, Y:3.11, Z:10.52 [[ 0.96320407 0.23250514 -0.13483057 50.4820987 ] [-0.11905022 0.81883539 0.56154755 3.10589667] [ 0.24096673 -0.52483328 0.81638536 10.51576158] [ 0. 0. 0. 1. ]] SLAMing on 227.239072329 meters Centerline goodness : 0.138065 Centerline is valid? [False, False] Translation: X:50.46, Y:3.12, Z:10.50 [[ 0.9592675 0.2481221 -0.13506029 50.4605057 ] [-0.13078787 0.81383368 0.56618837 3.11532781] [ 0.25040047 -0.52546186 0.81313556 10.50264684] [ 0. 0. 0. 1. ]] SLAMing on 227.269072329 meters Centerline goodness : 0.103834 Centerline is valid? [False, False] Translation: X:50.42, Y:3.12, Z:10.48 [[ 0.95024186 0.28067241 -0.13514218 50.41931597] [-0.15450233 0.80134203 0.57791001 3.12396299] [ 0.27049851 -0.5282745 0.80483328 10.47808168] [ 0. 0. 0. 1. ]] SLAMing on 227.299072329 meters Centerline goodness : 0.107253 Centerline is valid? [False, False] Translation: X:50.39, Y:3.13, Z:10.47 [[ 0.94141105 0.305108 -0.1437162 50.39066436] [-0.16900374 0.79553639 0.58185874 3.1324377 ] [ 0.29186122 -0.52347967 0.80049114 10.47267962] [ 0. 0. 0. 1. ]] SLAMing on 227.329072329 meters Centerline goodness : 0.328691 Centerline is valid? [False, False] Translation: X:50.33, Y:3.15, Z:10.45 [[ 0.92275195 0.35279849 -0.15511952 50.33455135] [-0.20167074 0.78501182 0.58573489 3.1496374 ] [ 0.32841704 -0.50920494 0.79552032 10.45465152] [ 0. 0. 0. 1. ]] SLAMing on 227.359072329 meters Centerline goodness : 0.329662 Centerline is valid? [False, False] Translation: X:50.25, Y:3.21, Z:10.40 [[ 0.90958777 0.38348445 -0.159968 50.25028084] [-0.22595129 0.77959156 0.58410874 3.20904479] [ 0.34870632 -0.49515319 0.79575575 10.40237228] [ 0. 0. 0. 1. ]] SLAMing on 227.38907232900002 meters Centerline goodness : 0.367042 Centerline is valid? [False, False] Translation: X:50.21, Y:3.25, Z:10.39 [[ 0.89460005 0.40930836 -0.17932489 50.20842901] [-0.24355692 0.78305378 0.57228211 3.24635951] [ 0.37466088 -0.46828779 0.80020983 10.3930457 ] [ 0. 0. 0. 1. ]] SLAMing on 227.41907232900002 meters Centerline goodness : 0.170243 Centerline is valid? [False, False] Translation: X:50.18, Y:3.27, Z:10.40 [[ 0.87913389 0.43390233 -0.19711006 50.18070671] [-0.26141147 0.78486914 0.56182246 3.27047354] [ 0.39848168 -0.44239034 0.8034321 10.39552457] [ 0. 0. 0. 1. ]] SLAMing on 227.449072329 meters Centerline goodness : 0.534307 Centerline is valid? [False, False] Translation: X:50.10, Y:3.33, Z:10.35 [[ 0.85088352 0.48375525 -0.20488555 50.10284609] [-0.30339982 0.7708715 0.56009435 3.33208934] [ 0.42888901 -0.41441281 0.80269311 10.35206543] [ 0. 0. 0. 1. ]] SLAMing on 227.479072329 meters Centerline goodness : 0.561303 Centerline is valid? [False, False] Translation: X:50.05, Y:3.39, Z:10.32 [[ 0.83425754 0.50518004 -0.22092416 50.04952855] [-0.31712474 0.76739858 0.55725336 3.39452095] [ 0.45105017 -0.3948323 0.80041314 10.31860131] [ 0. 0. 0. 1. ]] SLAMing on 227.509072329 meters Centerline goodness : 0.147550 Centerline is valid? [False, False] Translation: X:49.96, Y:3.48, Z:10.26 [[ 0.80356874 0.5454309 -0.23829059 49.95858392] [-0.34871593 0.75585372 0.55415012 3.47666865] [ 0.48236343 -0.36220199 0.79758087 10.2572705 ] [ 0. 0. 0. 1. ]] SLAMing on 227.539072329 meters Centerline goodness : 0.125269 Centerline is valid? [False, False] Translation: X:49.87, Y:3.59, Z:10.19 [[ 0.78820173 0.55871482 -0.25802285 49.86951355] [-0.3600102 0.75864631 0.54299948 3.58816799] [ 0.49912993 -0.33510227 0.79910936 10.1867747 ] [ 0. 0. 0. 1. ]] SLAMing on 227.569072329 meters Centerline goodness : 0.621804 Centerline is valid? [False, False] Translation: X:49.83, Y:3.64, Z:10.17 [[ 0.77297245 0.56841582 -0.28181032 49.83011228] [-0.36996789 0.76468919 0.52761179 3.6385992 ] [ 0.51540019 -0.30356861 0.80137927 10.1662296 ] [ 0. 0. 0. 1. ]] SLAMing on 227.599072329 meters Centerline goodness : 0.638953 Centerline is valid? [False, False] Translation: X:49.64, Y:3.86, Z:9.99 [[ 0.76347915 0.58032026 -0.2834219 49.64128783] [-0.37817221 0.75745514 0.53221 3.85608351] [ 0.52353162 -0.29914896 0.79776221 9.9930502 ] [ 0. 0. 0. 1. ]] SLAMing on 227.629072329 meters Centerline goodness : 0.674001 Centerline is valid? [False, False] Translation: X:49.58, Y:3.91, Z:9.96 [[ 0.75130801 0.59088338 -0.29392702 49.57646008] [-0.39182515 0.75776395 0.52179196 3.91384258] [ 0.5310455 -0.27685848 0.8008371 9.95681298] [ 0. 0. 0. 1. ]] SLAMing on 227.659072329 meters Centerline goodness : 0.690463 Centerline is valid? [False, False] Translation: X:49.53, Y:3.97, Z:9.93 [[ 0.74639008 0.5911444 -0.30569617 49.52941358] [-0.39717443 0.76424222 0.50812037 3.96817038] [ 0.53399843 -0.2578413 0.80521024 9.92884086] [ 0. 0. 0. 1. ]] SLAMing on 227.689072329 meters Centerline goodness : 0.699182 Centerline is valid? [False, False] Translation: X:49.48, Y:4.03, Z:9.90 [[ 0.74319939 0.58953561 -0.31638968 49.48054655] [-0.40414857 0.77242242 0.48992606 4.02587156] [ 0.53321534 -0.23624431 0.81232384 9.89954716] [ 0. 0. 0. 1. ]] SLAMing on 227.719072329 meters Centerline goodness : 0.734960 Centerline is valid? [False, False] Translation: X:49.41, Y:4.09, Z:9.86 [[ 0.74429679 0.58544842 -0.3213603 49.41257542] [-0.41661016 0.78309749 0.46172967 4.09378669] [ 0.52197535 -0.20978195 0.82676071 9.85803941] [ 0. 0. 0. 1. ]] SLAMing on 227.749072329 meters Centerline goodness : 0.752064 Centerline is valid? [False, False] Translation: X:49.38, Y:4.14, Z:9.83 [[ 0.7365944 0.58715312 -0.33567828 49.37791746] [-0.42882332 0.78925179 0.43953632 4.13972175] [ 0.5230098 -0.17981332 0.8331434 9.8321636 ] [ 0. 0. 0. 1. ]] SLAMing on 227.779072329 meters Centerline goodness : 0.708944 Centerline is valid? [False, False] Translation: X:49.34, Y:4.19, Z:9.81 [[ 0.72946187 0.58728775 -0.35068287 49.34467809] [-0.4406883 0.79560112 0.41570744 4.18597073] [ 0.52314357 -0.14870089 0.83917152 9.80710379] [ 0. 0. 0. 1. ]] SLAMing on 227.809072329 meters Centerline goodness : 0.755948 Centerline is valid? [False, False] Translation: X:49.30, Y:4.24, Z:9.77 [[ 0.71926743 0.59002518 -0.36677602 49.29858211] [-0.45611271 0.79927233 0.39131181 4.23914176] [ 0.52403775 -0.11416663 0.84400854 9.77290699] [ 0. 0. 0. 1. ]] SLAMing on 227.839072329 meters Centerline goodness : 0.755948 Centerline is valid? [False, False] Translation: X:49.28, Y:4.27, Z:9.76 [[ 0.71735441 0.58226622 -0.38258162 49.28337867] [-0.45879781 0.80804972 0.36954055 4.27093957] [ 0.52431595 -0.08956393 0.8468005 9.76235565] [ 0. 0. 0. 1. ]] SLAMing on 227.869072329 meters Centerline goodness : 0.780914 Centerline is valid? [False, False] Translation: X:49.26, Y:4.31, Z:9.74 [[ 0.71034691 0.57921457 -0.39989716 49.2570813 ] [-0.46770559 0.81301527 0.34678183 4.30638927] [ 0.52598359 -0.05930127 0.84842479 9.74318992] [ 0. 0. 0. 1. ]] SLAMing on 227.899072329 meters Centerline goodness : 0.784686 Centerline is valid? [False, False] Translation: X:49.23, Y:4.34, Z:9.72 [[ 7.03203007e-01 5.75959147e-01 -4.16865196e-01 4.92307810e+01] [-4.76360314e-01 8.16925670e-01 3.25135819e-01 4.34234761e+00] [ 5.27812828e-01 -3.00584503e-02 8.48828668e-01 9.72413430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.929072329 meters Centerline goodness : 0.789614 Centerline is valid? [False, False] Translation: X:49.20, Y:4.38, Z:9.70 [[ 6.91998801e-01 5.78796733e-01 -4.31430182e-01 4.92029982e+01] [-4.93064999e-01 8.15466545e-01 3.03152142e-01 4.37971717e+00] [ 5.27280349e-01 2.94220320e-03 8.49686282e-01 9.70324441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.959072329 meters Centerline goodness : 0.794955 Centerline is valid? [False, False] Translation: X:49.18, Y:4.42, Z:9.68 [[ 6.87119733e-01 5.78050788e-01 -4.40140613e-01 4.91793440e+01] [-5.03088354e-01 8.15615851e-01 2.85784693e-01 4.41895868e+00] [ 5.24183728e-01 2.50613145e-02 8.51236366e-01 9.68475602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.989072329 meters Centerline goodness : 0.797687 Centerline is valid? [False, False] Translation: X:49.15, Y:4.46, Z:9.67 [[ 6.82587988e-01 5.77217974e-01 -4.48210943e-01 4.91547706e+01] [-5.12727977e-01 8.15286558e-01 2.69105650e-01 4.46174253e+00] [ 5.20752975e-01 4.61220063e-02 8.52460615e-01 9.66561551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.019072329 meters Centerline goodness : 0.798993 Centerline is valid? [False, False] Translation: X:49.13, Y:4.51, Z:9.64 [[ 0.67365433 0.58295612 -0.45425985 49.12605878] [-0.53017367 0.80941856 0.25250242 4.51383942] [ 0.51488418 0.07073726 0.8543363 9.63991542] [ 0. 0. 0. 1. ]] SLAMing on 228.049072329 meters Centerline goodness : 0.798393 Centerline is valid? [False, False] Translation: X:49.09, Y:4.57, Z:9.61 [[ 0.66722574 0.58347412 -0.46299866 49.09234517] [-0.53896209 0.80723929 0.24059218 4.56896257] [ 0.51413003 0.08900943 0.85308126 9.61229631] [ 0. 0. 0. 1. ]] SLAMing on 228.079072329 meters Centerline goodness : 0.800757 Centerline is valid? [False, False] Translation: X:49.06, Y:4.62, Z:9.59 [[ 0.66273189 0.58385227 -0.46893813 49.06353912] [-0.54814963 0.804867 0.22742271 4.61957166] [ 0.51021409 0.10632798 0.85344944 9.58606873] [ 0. 0. 0. 1. ]] SLAMing on 228.109072329 meters Centerline goodness : 0.799232 Centerline is valid? [False, False] Translation: X:49.03, Y:4.68, Z:9.56 [[ 0.65648451 0.58441026 -0.47696199 49.03010791] [-0.55719553 0.80189639 0.21562775 4.67504907] [ 0.50848917 0.12420481 0.85206334 9.55943455] [ 0. 0. 0. 1. ]] SLAMing on 228.13907232900002 meters Centerline goodness : 0.806259 Centerline is valid? [False, False] Translation: X:49.00, Y:4.74, Z:9.53 [[ 0.64637313 0.58856143 -0.48558956 48.99701094] [-0.57219532 0.79490004 0.20180792 4.74085752] [ 0.50477152 0.14740885 0.85057413 9.53357261] [ 0. 0. 0. 1. ]] SLAMing on 228.16907232900002 meters Centerline goodness : 0.811021 Centerline is valid? [False, False] Translation: X:48.96, Y:4.80, Z:9.51 [[ 0.64176281 0.58933434 -0.49073977 48.96392221] [-0.58101837 0.79129437 0.19044914 4.79747004] [ 0.50055784 0.16290565 0.85023738 9.50784463] [ 0. 0. 0. 1. ]] SLAMing on 228.199072329 meters Centerline goodness : 0.811706 Centerline is valid? [False, False] Translation: X:48.94, Y:4.85, Z:9.48 [[ 0.63799223 0.59143518 -0.49312305 48.93626628] [-0.5884646 0.78750316 0.18316164 4.8468135 ] [ 0.4966642 0.17332976 0.85045956 9.48410889] [ 0. 0. 0. 1. ]] SLAMing on 228.229072329 meters Centerline goodness : 0.810175 Centerline is valid? [False, False] Translation: X:48.90, Y:4.91, Z:9.45 [[ 0.62551562 0.5991562 -0.499742 48.90459792] [-0.60474626 0.77703041 0.17465883 4.91430149] [ 0.49296265 0.19296528 0.84838212 9.45447367] [ 0. 0. 0. 1. ]] SLAMing on 228.259072329 meters Centerline goodness : 0.810741 Centerline is valid? [False, False] Translation: X:48.87, Y:4.98, Z:9.43 [[ 0.61838611 0.60174 -0.50547758 48.8663064 ] [-0.61331352 0.77169137 0.1683418 4.97828903] [ 0.49137068 0.20591601 0.8462585 9.42545678] [ 0. 0. 0. 1. ]] SLAMing on 228.289072329 meters Centerline goodness : 0.814162 Centerline is valid? [False, False] Translation: X:48.83, Y:5.04, Z:9.40 [[ 0.61181298 0.60462988 -0.51000744 48.82610314] [-0.62211603 0.76601615 0.16183605 5.04496516] [ 0.48852484 0.21827041 0.84480856 9.39554393] [ 0. 0. 0. 1. ]] SLAMing on 228.319072329 meters Centerline goodness : 0.813388 Centerline is valid? [False, False] Translation: X:48.79, Y:5.12, Z:9.37 [[ 0.59842348 0.61527391 -0.51315432 48.79138924] [-0.64136837 0.75174164 0.15339856 5.11784145] [ 0.4801416 0.23732365 0.84447707 9.36566252] [ 0. 0. 0. 1. ]] SLAMing on 228.349072329 meters Centerline goodness : 0.810662 Centerline is valid? [False, False] Translation: X:48.74, Y:5.20, Z:9.32 [[ 0.5893326 0.62042771 -0.51745197 48.73866597] [-0.6518619 0.74353734 0.14909152 5.2010426 ] [ 0.47724537 0.24944274 0.84262398 9.32211832] [ 0. 0. 0. 1. ]] SLAMing on 228.379072329 meters Centerline goodness : 0.807561 Centerline is valid? [False, False] Translation: X:48.69, Y:5.28, Z:9.28 [[ 0.57943776 0.62632762 -0.52150322 48.68554922] [-0.66358064 0.73405512 0.14430461 5.28365845] [ 0.47319407 0.2624439 0.84095813 9.28061969] [ 0. 0. 0. 1. ]] SLAMing on 228.409072329 meters Centerline goodness : 0.806472 Centerline is valid? [False, False] Translation: X:48.65, Y:5.36, Z:9.25 [[ 0.55519413 0.64298115 -0.52757438 48.64839185] [-0.68900329 0.71085475 0.14127985 5.358079 ] [ 0.46586903 0.28506274 0.83767851 9.25097895] [ 0. 0. 0. 1. ]] SLAMing on 228.439072329 meters Centerline goodness : 0.798322 Centerline is valid? [False, False] Translation: X:48.60, Y:5.44, Z:9.21 [[ 0.54117174 0.65051382 -0.53288358 48.59938616] [-0.70113485 0.69891663 0.14115759 5.43524613] [ 0.46426616 0.29723275 0.83433184 9.21130935] [ 0. 0. 0. 1. ]] SLAMing on 228.469072329 meters Centerline goodness : 0.797489 Centerline is valid? [False, False] Translation: X:48.54, Y:5.52, Z:9.17 [[ 0.51663414 0.6650757 -0.53922488 48.54465905] [-0.72310869 0.67615788 0.14115362 5.5230482 ] [ 0.458479 0.31699342 0.83024826 9.1711434 ] [ 0. 0. 0. 1. ]] SLAMing on 228.499072329 meters Centerline goodness : 0.800892 Centerline is valid? [False, False] Translation: X:48.48, Y:5.62, Z:9.11 [[ 0.50916093 0.67120342 -0.5387403 48.47528959] [-0.73581411 0.66417983 0.13207101 5.61952788] [ 0.44646695 0.32916732 0.83205537 9.11461149] [ 0. 0. 0. 1. ]] SLAMing on 228.529072329 meters Centerline goodness : 0.806111 Centerline is valid? [False, False] Translation: X:48.40, Y:5.72, Z:9.06 [[ 0.50037632 0.67649591 -0.54034879 48.39723641] [-0.74689512 0.65293276 0.1258034 5.72321069] [ 0.43791691 0.34063484 0.83198359 9.05745554] [ 0. 0. 0. 1. ]] SLAMing on 228.559072329 meters Centerline goodness : 0.806475 Centerline is valid? [False, False] Translation: X:48.32, Y:5.83, Z:9.00 [[ 0.49207305 0.68154801 -0.54162387 48.31788713] [-0.75675308 0.64242847 0.12087363 5.82804718] [ 0.43033578 0.35039688 0.83188529 8.99789503] [ 0. 0. 0. 1. ]] SLAMing on 228.589072329 meters Centerline goodness : 0.809261 Centerline is valid? [False, False] Translation: X:48.23, Y:5.94, Z:8.94 [[ 0.47208137 0.6931971 -0.54462552 48.23270576] [-0.77460427 0.62112371 0.11913675 5.93651745] [ 0.42086507 0.36562702 0.83017437 8.93616385] [ 0. 0. 0. 1. ]] SLAMing on 228.619072329 meters Centerline goodness : 0.810024 Centerline is valid? [False, False] Translation: X:48.14, Y:6.06, Z:8.86 [[ 0.46190072 0.69786594 -0.54738546 48.13562632] [-0.78282681 0.61089746 0.11826449 6.06337819] [ 0.41692915 0.37388156 0.82848214 8.86310517] [ 0. 0. 0. 1. ]] SLAMing on 228.649072329 meters Centerline goodness : 0.816323 Centerline is valid? [False, False] Translation: X:48.02, Y:6.21, Z:8.78 [[ 0.44105103 0.7078008 -0.55180795 48.01978306] [-0.80153634 0.58724764 0.11260425 6.20593111] [ 0.40374929 0.3926299 0.82633424 8.77895501] [ 0. 0. 0. 1. ]] SLAMing on 228.679072329 meters Centerline goodness : 0.818009 Centerline is valid? [False, False] Translation: X:47.90, Y:6.36, Z:8.69 [[ 0.43096979 0.70992161 -0.55702455 47.89600267] [-0.81160232 0.57476977 0.10460114 6.36196671] [ 0.39441948 0.40700248 0.82388243 8.68676396] [ 0. 0. 0. 1. ]] SLAMing on 228.709072329 meters Centerline goodness : 0.818028 Centerline is valid? [False, False] Translation: X:47.76, Y:6.53, Z:8.59 [[ 0.42268142 0.7117222 -0.56106321 47.76409205] [-0.81897272 0.56508047 0.09983859 6.52856859] [ 0.38810321 0.41729555 0.82173008 8.58798119] [ 0. 0. 0. 1. ]] SLAMing on 228.739072329 meters Centerline goodness : 0.820124 Centerline is valid? [False, False] Translation: X:47.62, Y:6.70, Z:8.48 [[ 0.4073342 0.71904431 -0.5630756 47.62155236] [-0.8322003 0.5461949 0.09546621 6.69568437] [ 0.37619346 0.42970503 0.82087275 8.47960668] [ 0. 0. 0. 1. ]] SLAMing on 228.769072329 meters Centerline goodness : 0.820400 Centerline is valid? [False, False] Translation: X:47.47, Y:6.88, Z:8.36 [[ 0.40260953 0.72167482 -0.56310836 47.47225006] [-0.83793974 0.53818569 0.09062649 6.88487652] [ 0.36845972 0.43536378 0.82139869 8.3620288 ] [ 0. 0. 0. 1. ]] SLAMing on 228.799072329 meters Centerline goodness : 0.818297 Centerline is valid? [False, False] Translation: X:47.31, Y:7.09, Z:8.24 [[ 0.39813936 0.72200437 -0.56585753 47.30753719] [-0.8435315 0.53055685 0.08345083 7.09201876] [ 0.36047145 0.44409358 0.82026899 8.23889149] [ 0. 0. 0. 1. ]] SLAMing on 228.829072329 meters Centerline goodness : 0.815979 Centerline is valid? [False, False] Translation: X:47.13, Y:7.31, Z:8.11 [[ 0.39792766 0.72064492 -0.56773628 47.13360248] [-0.84709162 0.52623604 0.07423893 7.31242113] [ 0.3522632 0.45138292 0.81985615 8.11001859] [ 0. 0. 0. 1. ]] SLAMing on 228.859072329 meters Centerline goodness : 0.813375 Centerline is valid? [False, False] Translation: X:46.94, Y:7.54, Z:7.96 [[ 0.39543104 0.72344478 -0.5659169 46.93779089] [-0.85795589 0.51091516 0.05364129 7.54383558] [ 0.32794204 0.46432031 0.82271542 7.95962598] [ 0. 0. 0. 1. ]] SLAMing on 228.88907232900002 meters Centerline goodness : 0.811249 Centerline is valid? [False, False] Translation: X:46.75, Y:7.78, Z:7.81 [[ 4.02274712e-01 7.25440565e-01 -5.58489966e-01 4.67473029e+01] [-8.61628778e-01 5.06196415e-01 3.68922392e-02 7.78149836e+00] [ 3.09468746e-01 4.66370213e-01 8.28690485e-01 7.80555103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.91907232900002 meters Centerline goodness : 0.798320 Centerline is valid? [False, False] Translation: X:46.55, Y:8.03, Z:7.64 [[ 4.10084268e-01 7.29398687e-01 -5.47547668e-01 4.65452483e+01] [-8.64969226e-01 5.01420764e-01 2.01359190e-02 8.02717185e+00] [ 2.89238883e-01 4.65354459e-01 8.36532185e-01 7.64459662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949072329 meters Centerline goodness : 0.796232 Centerline is valid? [False, False] Translation: X:46.34, Y:8.25, Z:7.49 [[ 4.11863469e-01 7.39218127e-01 -5.32846173e-01 4.63423739e+01] [-8.70850337e-01 4.91471351e-01 8.69498669e-03 8.24542126e+00] [ 2.68306120e-01 4.60448121e-01 8.46167450e-01 7.49232001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.979072329 meters Centerline goodness : 0.799376 Centerline is valid? [False, False] Translation: X:46.14, Y:8.48, Z:7.35 [[ 4.19509285e-01 7.45131735e-01 -5.18450246e-01 4.61402294e+01] [-8.72314127e-01 4.88935858e-01 -3.12904025e-03 8.47559036e+00] [ 2.51157368e-01 4.53564135e-01 8.55102071e-01 7.34659371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.009072329 meters Centerline goodness : 0.798855 Centerline is valid? [False, False] Translation: X:45.94, Y:8.70, Z:7.21 [[ 4.27061207e-01 7.50346886e-01 -5.04577324e-01 4.59375287e+01] [-8.73726226e-01 4.86135461e-01 -1.65769389e-02 8.70066033e+00] [ 2.32854475e-01 4.47941809e-01 8.63207350e-01 7.20932000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.039072329 meters Centerline goodness : 0.800203 Centerline is valid? [False, False] Translation: X:45.74, Y:8.92, Z:7.08 [[ 4.32558493e-01 7.56995710e-01 -4.89745490e-01 4.57365756e+01] [-8.75454038e-01 4.82524389e-01 -2.73942017e-02 8.91623171e+00] [ 2.15576850e-01 4.40599261e-01 8.71434973e-01 7.07745224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.069072329 meters Centerline goodness : 0.798954 Centerline is valid? [False, False] Translation: X:45.52, Y:9.12, Z:6.94 [[ 4.29600454e-01 7.67172156e-01 -4.76330066e-01 4.55181128e+01] [-8.82045039e-01 4.69522812e-01 -3.93049340e-02 9.12493923e+00] [ 1.93494181e-01 4.37029990e-01 8.78387608e-01 6.94186182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.099072329 meters Centerline goodness : 0.801414 Centerline is valid? [False, False] Translation: X:45.30, Y:9.35, Z:6.81 [[ 0.43552516 0.77337639 -0.46065909 45.29510534] [-0.88286948 0.46684837 -0.05093216 9.35141224] [ 0.17566822 0.42888409 0.88611462 6.81106627] [ 0. 0. 0. 1. ]] SLAMing on 229.129072329 meters Centerline goodness : 0.801408 Centerline is valid? [False, False] Translation: X:45.07, Y:9.57, Z:6.69 [[ 0.44187494 0.7805758 -0.44209496 45.07097685] [-0.88285749 0.46579229 -0.06000161 9.57146002] [ 0.15908862 0.41682006 0.89495913 6.68613156] [ 0. 0. 0. 1. ]] SLAMing on 229.159072329 meters Centerline goodness : 0.802844 Centerline is valid? [False, False] Translation: X:44.85, Y:9.79, Z:6.57 [[ 0.44901405 0.78688818 -0.42331239 44.84525719] [-0.88208273 0.46593733 -0.06951594 9.78557721] [ 0.14253577 0.40461018 0.90331288 6.56975473] [ 0. 0. 0. 1. ]] SLAMing on 229.189072329 meters Centerline goodness : 0.804925 Centerline is valid? [False, False] Translation: X:44.62, Y:9.97, Z:6.46 [[ 0.45014551 0.79733755 -0.40202219 44.61570489] [-0.88453735 0.45982788 -0.07843468 9.9749885 ] [ 0.12232209 0.39091066 0.9122643 6.45564693] [ 0. 0. 0. 1. ]] SLAMing on 229.219072329 meters Centerline goodness : 0.804899 Centerline is valid? [False, False] Translation: X:44.37, Y:10.19, Z:6.35 [[ 0.45627642 0.80299089 -0.38342855 44.37375717] [-0.88313692 0.46142599 -0.08458862 10.18879273] [ 0.109 0.3772157 0.9196887 6.34591668] [ 0. 0. 0. 1. ]] SLAMing on 229.249072329 meters Centerline goodness : 0.802631 Centerline is valid? [False, False] Translation: X:44.13, Y:10.40, Z:6.24 [[ 0.46170288 0.8085645 -0.36476553 44.13001222] [-0.88174184 0.46320294 -0.08929928 10.39723875] [ 0.09675624 0.36285877 0.92680729 6.24217276] [ 0. 0. 0. 1. ]] SLAMing on 229.279072329 meters Centerline goodness : 0.800920 Centerline is valid? [False, False] Translation: X:43.88, Y:10.58, Z:6.14 [[ 0.46188105 0.81660973 -0.34614225 43.8816781 ] [-0.88276347 0.461089 -0.09014199 10.58233754] [ 0.08599156 0.34719661 0.93384151 6.14269706] [ 0. 0. 0. 1. ]] SLAMing on 229.309072329 meters Centerline goodness : 0.798079 Centerline is valid? [False, False] Translation: X:43.63, Y:10.78, Z:6.05 [[ 0.46728066 0.82135556 -0.32714497 43.6307362 ] [-0.88094225 0.46384925 -0.09372639 10.78305737] [ 0.07476326 0.33199236 0.94031459 6.05075888] [ 0. 0. 0. 1. ]] SLAMing on 229.339072329 meters Centerline goodness : 0.797538 Centerline is valid? [False, False] Translation: X:43.39, Y:10.97, Z:5.97 [[ 0.47171352 0.82619863 -0.30802951 43.38564812] [-0.87956408 0.4654909 -0.09841372 10.97217756] [ 0.06207566 0.31735478 0.94627298 5.96637814] [ 0. 0. 0. 1. ]] SLAMing on 229.369072329 meters Centerline goodness : 0.795269 Centerline is valid? [False, False] Translation: X:43.13, Y:11.15, Z:5.88 [[ 0.46921125 0.83535493 -0.2863965 43.12634923] [-0.88186991 0.46025297 -0.10233608 11.14659499] [ 0.04632789 0.30058169 0.95263024 5.88329375] [ 0. 0. 0. 1. ]] SLAMing on 229.399072329 meters Centerline goodness : 0.795400 Centerline is valid? [False, False] Translation: X:42.88, Y:11.32, Z:5.81 [[ 4.71678280e-01 8.40469451e-01 -2.66703397e-01 4.28831713e+01] [-8.80993646e-01 4.61884491e-01 -1.02532490e-01 1.13249900e+01] [ 3.70107371e-02 2.83326347e-01 9.58309129e-01 5.81334461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.429072329 meters Centerline goodness : 0.793549 Centerline is valid? [False, False] Translation: X:42.63, Y:11.50, Z:5.75 [[ 4.75002279e-01 8.44591976e-01 -2.47057138e-01 4.26331767e+01] [-8.79460869e-01 4.65311037e-01 -1.00170952e-01 1.15032841e+01] [ 3.03548309e-02 2.64858516e-01 9.63809396e-01 5.74617477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.459072329 meters Centerline goodness : 0.791336 Centerline is valid? [False, False] Translation: X:42.38, Y:11.68, Z:5.68 [[ 4.79264731e-01 8.47315061e-01 -2.28828550e-01 4.23846072e+01] [-8.77313752e-01 4.69932638e-01 -9.73853008e-02 1.16755109e+01] [ 2.50179720e-02 2.47427773e-01 9.68583294e-01 5.68388579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.489072329 meters Centerline goodness : 0.790976 Centerline is valid? [False, False] Translation: X:42.12, Y:11.83, Z:5.62 [[ 4.82390835e-01 8.50556702e-01 -2.09409594e-01 4.21217576e+01] [-8.75721125e-01 4.73814586e-01 -9.28022057e-02 1.18332344e+01] [ 2.02877823e-02 2.28151339e-01 9.73414286e-01 5.62082098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.519072329 meters Centerline goodness : 0.789791 Centerline is valid? [False, False] Translation: X:41.87, Y:12.00, Z:5.57 [[ 4.87693088e-01 8.51638605e-01 -1.92008174e-01 4.18683386e+01] [-8.72896969e-01 4.79305860e-01 -9.11963501e-02 1.20003058e+01] [ 1.43643107e-02 2.12079183e-01 9.77146912e-01 5.56929088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.549072329 meters Centerline goodness : 0.789817 Centerline is valid? [False, False] Translation: X:41.61, Y:12.15, Z:5.52 [[ 4.91280790e-01 8.53529749e-01 -1.73580396e-01 4.16079083e+01] [-8.70964805e-01 4.83229179e-01 -8.89374495e-02 1.21488983e+01] [ 7.96835344e-03 1.94875676e-01 9.80795583e-01 5.51791098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.579072329 meters Centerline goodness : 0.789809 Centerline is valid? [False, False] Translation: X:41.35, Y:12.31, Z:5.48 [[ 4.96557929e-01 8.54066821e-01 -1.54919615e-01 4.13532833e+01] [-8.67995363e-01 4.89357332e-01 -8.43412802e-02 1.23091412e+01] [ 3.77796056e-03 1.76349839e-01 9.84320304e-01 5.47591954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.609072329 meters Centerline goodness : 0.790126 Centerline is valid? [False, False] Translation: X:41.10, Y:12.46, Z:5.44 [[ 5.01634288e-01 8.54162217e-01 -1.37003458e-01 4.11014709e+01] [-8.65079207e-01 4.95486776e-01 -7.82995520e-02 1.24634858e+01] [ 1.00288283e-03 1.57796583e-01 9.87471130e-01 5.43939121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63907232900002 meters Centerline goodness : 0.786867 Centerline is valid? [False, False] Translation: X:40.84, Y:12.60, Z:5.41 [[ 5.08478750e-01 8.53114398e-01 -1.16812606e-01 4.08448360e+01] [-8.61073545e-01 5.03571442e-01 -7.04851287e-02 1.26007525e+01] [-1.30838549e-03 1.36424435e-01 9.90649616e-01 5.40584726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.66907232900002 meters Centerline goodness : 0.786230 Centerline is valid? [False, False] Translation: X:40.60, Y:12.75, Z:5.38 [[ 5.15845719e-01 8.51023812e-01 -9.82937686e-02 4.06003064e+01] [-8.56673874e-01 5.11950264e-01 -6.33782333e-02 1.27455268e+01] [-3.61486489e-03 1.16899094e-01 9.93137218e-01 5.37948590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699072329 meters Centerline goodness : 0.785040 Centerline is valid? [False, False] Translation: X:40.36, Y:12.89, Z:5.36 [[ 5.23697654e-01 8.48086815e-01 -8.05575608e-02 4.03577995e+01] [-8.51879237e-01 5.20611774e-01 -5.71414581e-02 1.28875666e+01] [-6.52170257e-03 9.85501610e-02 9.95110714e-01 5.35665489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.729072329 meters Centerline goodness : 0.784174 Centerline is valid? [False, False] Translation: X:40.13, Y:13.02, Z:5.34 [[ 5.31852913e-01 8.44300591e-01 -6.54903849e-02 4.01276006e+01] [-8.46788590e-01 5.29405182e-01 -5.17613400e-02 1.30196807e+01] [-9.03118089e-03 8.29859302e-02 9.96509796e-01 5.33808052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.759072329 meters Centerline goodness : 0.784174 Centerline is valid? [False, False] Translation: X:39.90, Y:13.16, Z:5.32 [[ 5.36165870e-01 8.42564247e-01 -5.11042968e-02 3.99042326e+01] [-8.44020431e-01 5.34229015e-01 -4.72109290e-02 1.31611061e+01] [-1.24768428e-02 6.84459594e-02 9.97576804e-01 5.32251283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.789072329 meters Centerline goodness : 0.782530 Centerline is valid? [False, False] Translation: X:39.68, Y:13.27, Z:5.31 [[ 5.49011545e-01 8.34669893e-01 -4.37320609e-02 3.96777927e+01] [-8.35678807e-01 5.47226636e-01 -4.67326617e-02 1.32719730e+01] [-1.50749972e-02 6.22027272e-02 9.97949681e-01 5.30668411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.819072329 meters Centerline goodness : 0.781678 Centerline is valid? [False, False] Translation: X:39.46, Y:13.39, Z:5.29 [[ 5.57286741e-01 8.29621116e-01 -3.40630538e-02 3.94606029e+01] [-8.30118454e-01 5.55778273e-01 -4.48760920e-02 1.33907141e+01] [-1.82986483e-02 5.32852206e-02 9.98411661e-01 5.29371436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.849072329 meters Centerline goodness : 0.781442 Centerline is valid? [False, False] Translation: X:39.24, Y:13.51, Z:5.28 [[ 5.65089358e-01 8.24706249e-01 -2.31002111e-02 3.92442306e+01] [-8.24756854e-01 5.63960962e-01 -4.15230719e-02 1.35081241e+01] [-2.12167196e-02 4.25163035e-02 9.98870469e-01 5.28427653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.879072329 meters Centerline goodness : 0.781773 Centerline is valid? [False, False] Translation: X:39.03, Y:13.62, Z:5.28 [[ 5.78125083e-01 8.15930101e-01 -5.42756626e-03 3.90270838e+01] [-8.15614133e-01 5.77685321e-01 -3.24538924e-02 1.36153934e+01] [-2.33446824e-02 2.31892090e-02 9.99458497e-01 5.28058049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.909072329 meters Centerline goodness : 0.781198 Centerline is valid? [False, False] Translation: X:38.82, Y:13.73, Z:5.28 [[ 5.86269973e-01 8.10026175e-01 1.20463663e-02 3.88183756e+01] [-8.09695942e-01 5.86380030e-01 -2.34721740e-02 1.37302496e+01] [-2.60768240e-02 4.00713689e-03 9.99651910e-01 5.28107709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.939072329 meters Centerline goodness : 0.780511 Centerline is valid? [False, False] Translation: X:38.62, Y:13.84, Z:5.28 [[ 5.94239184e-01 8.03835239e-01 2.69944575e-02 3.86173044e+01] [-8.03796470e-01 5.94714826e-01 -1.50170006e-02 1.38397321e+01] [-2.81251984e-02 -1.27743594e-02 9.99522781e-01 5.28376839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.969072329 meters Centerline goodness : 0.783215 Centerline is valid? [False, False] Translation: X:38.42, Y:13.93, Z:5.29 [[ 6.06844960e-01 7.94304319e-01 2.86329064e-02 3.84245218e+01] [-7.94287303e-01 6.07363417e-01 -1.47431327e-02 1.39311722e+01] [-2.91011139e-02 -1.37959582e-02 9.99481264e-01 5.28622610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.999072329 meters Centerline goodness : 0.781995 Centerline is valid? [False, False] Translation: X:38.24, Y:14.03, Z:5.29 [[ 6.13729639e-01 7.89022152e-01 2.79280080e-02 3.82368682e+01] [-7.88941007e-01 6.14248744e-01 -1.64489408e-02 1.40281248e+01] [-3.01333225e-02 -1.19383483e-02 9.99474591e-01 5.28746161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.029072329 meters Centerline goodness : 0.783542 Centerline is valid? [False, False] Translation: X:38.05, Y:14.12, Z:5.29 [[ 6.19550237e-01 7.84418363e-01 2.90746559e-02 3.80540095e+01] [-7.84354860e-01 6.20100697e-01 -1.62042977e-02 1.41222612e+01] [-3.07401630e-02 -1.27654712e-02 9.99445889e-01 5.29007439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.059072329 meters Centerline goodness : 0.783315 Centerline is valid? [False, False] Translation: X:37.87, Y:14.22, Z:5.30 [[ 6.27415752e-01 7.77573579e-01 4.15788884e-02 3.78650447e+01] [-7.77925403e-01 6.28267039e-01 -1.06111250e-02 1.42172497e+01] [-3.43735755e-02 -2.56876866e-02 9.99078876e-01 5.29593308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.089072329 meters Centerline goodness : 0.782697 Centerline is valid? [False, False] Translation: X:37.69, Y:14.32, Z:5.31 [[ 6.31363376e-01 7.73455298e-01 5.60998134e-02 3.76862752e+01] [-7.74576995e-01 6.32473918e-01 -2.68729134e-03 1.43174262e+01] [-3.75601685e-02 -4.17569675e-02 9.98421549e-01 5.30614840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.119072329 meters Centerline goodness : 0.783508 Centerline is valid? [False, False] Translation: X:37.50, Y:14.42, Z:5.32 [[ 6.34844609e-01 7.69607795e-01 6.83824897e-02 3.75047409e+01] [-7.71567384e-01 6.36137158e-01 3.64535170e-03 1.44194448e+01] [-4.06951516e-02 -5.50759306e-02 9.97652518e-01 5.31766457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.149072329 meters Centerline goodness : 0.782987 Centerline is valid? [False, False] Translation: X:37.33, Y:14.51, Z:5.33 [[ 6.39918118e-01 7.65286417e-01 6.95809010e-02 3.73302356e+01] [-7.67260035e-01 6.41330811e-01 2.61333970e-03 1.45100532e+01] [-4.26244223e-02 -5.50589680e-02 9.97572889e-01 5.32959519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.179072329 meters Centerline goodness : 0.784580 Centerline is valid? [False, False] Translation: X:37.17, Y:14.60, Z:5.34 [[ 6.40881437e-01 7.64930488e-01 6.44385827e-02 3.71688312e+01] [-7.66426016e-01 6.42328465e-01 -2.30327372e-03 1.45962580e+01] [-4.31525802e-02 -4.79112809e-02 9.97919017e-01 5.33849056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.209072329 meters Centerline goodness : 0.783732 Centerline is valid? [False, False] Translation: X:36.99, Y:14.69, Z:5.35 [[ 6.41227066e-01 7.64910905e-01 6.11486404e-02 3.69903807e+01] [-7.66089575e-01 6.42704652e-01 -6.12321504e-03 1.46932962e+01] [-4.39842296e-02 -4.29189647e-02 9.98109889e-01 5.34718690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.239072329 meters Centerline goodness : 0.784810 Centerline is valid? [False, False] Translation: X:36.82, Y:14.79, Z:5.36 [[ 6.39174715e-01 7.66529352e-01 6.23573253e-02 3.68193381e+01] [-7.67838424e-01 6.40628108e-01 -4.44762729e-03 1.47876876e+01] [-4.33570922e-02 -4.50375395e-02 9.98043978e-01 5.35676649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.269072329 meters Centerline goodness : 0.784997 Centerline is valid? [False, False] Translation: X:36.64, Y:14.89, Z:5.37 [[ 6.37807706e-01 7.66921903e-01 7.09374773e-02 3.66428488e+01] [-7.68942096e-01 6.39315721e-01 1.86030322e-03 1.48897169e+01] [-4.39247372e-02 -5.57333283e-02 9.97479029e-01 5.36884277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.299072329 meters Centerline goodness : 0.786534 Centerline is valid? [False, False] Translation: X:36.46, Y:15.00, Z:5.38 [[ 6.35921399e-01 7.67553855e-01 8.04055545e-02 3.64559647e+01] [-7.70375271e-01 6.37555355e-01 6.71657504e-03 1.49988312e+01] [-4.61076588e-02 -6.62136646e-02 9.96739602e-01 5.38186980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.329072329 meters Centerline goodness : 0.787844 Centerline is valid? [False, False] Translation: X:36.27, Y:15.10, Z:5.40 [[ 6.30238822e-01 7.71612068e-01 8.61036799e-02 3.62741547e+01] [-7.74946430e-01 6.31963551e-01 8.94992656e-03 1.51039707e+01] [-4.75085160e-02 -7.23663305e-02 9.96245981e-01 5.39545065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.359072329 meters Centerline goodness : 0.787020 Centerline is valid? [False, False] Translation: X:36.09, Y:15.21, Z:5.41 [[ 6.26854326e-01 7.74590106e-01 8.40465379e-02 3.60947702e+01] [-7.77643391e-01 6.28677253e-01 5.97220787e-03 1.52054062e+01] [-4.82121335e-02 -6.91019391e-02 9.96443933e-01 5.40776715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38907232900002 meters Centerline goodness : 0.786424 Centerline is valid? [False, False] Translation: X:35.91, Y:15.31, Z:5.42 [[ 6.22220778e-01 7.78646676e-01 8.09361292e-02 3.59084415e+01] [-7.81320873e-01 6.24125552e-01 2.23379236e-03 1.53104920e+01] [-4.87749713e-02 -6.46269991e-02 9.96716787e-01 5.42078151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419072329 meters Centerline goodness : 0.784677 Centerline is valid? [False, False] Translation: X:35.72, Y:15.42, Z:5.44 [[ 6.16571030e-01 7.83126028e-01 8.09554764e-02 3.57191827e+01] [-7.85699542e-01 6.18608292e-01 -1.07213758e-04 1.54184476e+01] [-5.01636909e-02 -6.35405758e-02 9.96717713e-01 5.43527285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449072329 meters Centerline goodness : 0.787302 Centerline is valid? [False, False] Translation: X:35.52, Y:15.54, Z:5.45 [[ 6.02090104e-01 7.92920529e-01 9.36191277e-02 3.55192100e+01] [-7.96524158e-01 6.04603762e-01 1.88613574e-03 1.55392172e+01] [-5.51069211e-02 -7.57055205e-02 9.95606298e-01 5.45386501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.479072329 meters Centerline goodness : 0.786655 Centerline is valid? [False, False] Translation: X:35.31, Y:15.66, Z:5.48 [[ 5.94399906e-01 7.97235490e-01 1.05377067e-01 3.53127119e+01] [-8.02034498e-01 5.97252494e-01 5.48834491e-03 1.56614558e+01] [-5.85612127e-02 -8.77783147e-02 9.94417192e-01 5.47614517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.509072329 meters Centerline goodness : 0.788777 Centerline is valid? [False, False] Translation: X:35.10, Y:15.79, Z:5.50 [[ 5.86574923e-01 8.01594982e-01 1.15651825e-01 3.50995112e+01] [-8.07456343e-01 5.89888586e-01 6.76091901e-03 1.57870005e+01] [-6.28021724e-02 -9.73495849e-02 9.93266805e-01 5.49976000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.539072329 meters Centerline goodness : 0.789345 Centerline is valid? [False, False] Translation: X:34.89, Y:15.91, Z:5.52 [[ 5.79094318e-01 8.06127150e-01 1.21691370e-01 3.48905740e+01] [-8.12596482e-01 5.82792800e-01 6.28562847e-03 1.59086163e+01] [-6.58538382e-02 -1.02525951e-01 9.92548085e-01 5.52169836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.569072329 meters Centerline goodness : 0.788876 Centerline is valid? [False, False] Translation: X:34.67, Y:16.03, Z:5.54 [[ 5.63879280e-01 8.17969003e-01 1.13872158e-01 3.46747033e+01] [-8.23500380e-01 5.67309034e-01 2.75393259e-03 1.60334678e+01] [-6.23480723e-02 -9.53266506e-02 9.93491594e-01 5.54010717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.599072329 meters Centerline goodness : 0.784218 Centerline is valid? [False, False] Translation: X:34.47, Y:16.15, Z:5.56 [[ 5.57436960e-01 8.22933614e-01 1.09746543e-01 3.44677416e+01] [-8.28119235e-01 5.60543728e-01 3.04331509e-03 1.61519312e+01] [-5.90132898e-02 -9.25796792e-02 9.93954946e-01 5.55664041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.629072329 meters Centerline goodness : 0.780559 Centerline is valid? [False, False] Translation: X:34.24, Y:16.28, Z:5.58 [[ 5.51327863e-01 8.27088021e-01 1.09375468e-01 3.42380139e+01] [-8.32470370e-01 5.54028994e-01 6.70503293e-03 1.62836613e+01] [-5.50515282e-02 -9.47485080e-02 9.93977892e-01 5.57604021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.659072329 meters Centerline goodness : 0.778636 Centerline is valid? [False, False] Translation: X:34.02, Y:16.42, Z:5.59 [[ 5.39267863e-01 8.34550322e-01 1.12764941e-01 3.40158584e+01] [-8.40785086e-01 5.41131951e-01 1.60203360e-02 1.64168159e+01] [-4.76509358e-02 -1.03450333e-01 9.93492535e-01 5.59342743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.689072329 meters Centerline goodness : 0.776936 Centerline is valid? [False, False] Translation: X:33.76, Y:16.56, Z:5.62 [[ 5.36974275e-01 8.35098200e-01 1.19455533e-01 3.37574268e+01] [-8.42352352e-01 5.38472410e-01 2.21354635e-02 1.65624633e+01] [-4.58382231e-02 -1.12509824e-01 9.92592765e-01 5.61782844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.719072329 meters Centerline goodness : 0.773648 Centerline is valid? [False, False] Translation: X:33.52, Y:16.70, Z:5.64 [[ 5.36233248e-01 8.35203690e-01 1.22019262e-01 3.35191722e+01] [-8.42891747e-01 5.37495152e-01 2.51488512e-02 1.66952679e+01] [-4.45803486e-02 -1.16334679e-01 9.92209068e-01 5.64090922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.749072329 meters Centerline goodness : 0.755324 Centerline is valid? [False, False] Translation: X:33.29, Y:16.83, Z:5.66 [[ 5.29409022e-01 8.40749691e-01 1.13428591e-01 3.32886583e+01] [-8.47326929e-01 5.30630322e-01 2.16457063e-02 1.68273718e+01] [-4.19900289e-02 -1.07570532e-01 9.93310333e-01 5.66201156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.779072329 meters Centerline goodness : 0.766818 Centerline is valid? [False, False] Translation: X:33.03, Y:16.99, Z:5.70 [[ 5.05844600e-01 8.54278792e-01 1.19703745e-01 3.30312150e+01] [-8.61349563e-01 5.07752269e-01 1.62654128e-02 1.69883325e+01] [-4.68846509e-02 -1.11334540e-01 9.92676407e-01 5.69547906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.809072329 meters Centerline goodness : 0.763791 Centerline is valid? [False, False] Translation: X:32.74, Y:17.17, Z:5.73 [[ 4.76824258e-01 8.70738743e-01 1.20219252e-01 3.27417450e+01] [-8.77926523e-01 4.78520450e-01 1.62234202e-02 1.71707762e+01] [-4.34010101e-02 -1.13279390e-01 9.92614795e-01 5.73044387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.839072329 meters Centerline goodness : 0.739478 Centerline is valid? [False, False] Translation: X:32.51, Y:17.36, Z:5.75 [[ 4.11574319e-01 9.03322830e-01 1.20890221e-01 3.25086099e+01] [-9.11053430e-01 4.11322923e-01 2.81975493e-02 1.73648176e+01] [-2.42534292e-02 -1.21742838e-01 9.92265314e-01 5.75025906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.869072329 meters Centerline goodness : 0.728473 Centerline is valid? [False, False] Translation: X:32.18, Y:17.57, Z:5.80 [[ 3.88675666e-01 9.10604546e-01 1.40465613e-01 3.21816300e+01] [-9.21337148e-01 3.85492033e-01 5.03363904e-02 1.75650687e+01] [-8.31182885e-03 -1.48980718e-01 9.88805168e-01 5.79860569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.899072329 meters Centerline goodness : 0.726615 Centerline is valid? [False, False] Translation: X:31.84, Y:17.79, Z:5.85 [[ 3.52006100e-01 9.20352149e-01 1.70421912e-01 3.18437246e+01] [-9.35872869e-01 3.43102396e-01 8.01418721e-02 1.77910280e+01] [ 1.52865780e-02 -1.87703671e-01 9.82106742e-01 5.85377365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.929072329 meters Centerline goodness : 0.723133 Centerline is valid? [False, False] Translation: X:31.47, Y:18.00, Z:5.91 [[ 3.46686513e-01 9.16625420e-01 1.99013320e-01 3.14669036e+01] [-9.37592007e-01 3.32542437e-01 1.01669839e-01 1.79972234e+01] [ 2.70127844e-02 -2.21840860e-01 9.74708645e-01 5.91383056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.959072329 meters Centerline goodness : 0.379547 Centerline is valid? [False, False] Translation: X:31.06, Y:18.21, Z:5.98 [[ 0.34523952 0.91091965 0.22590942 31.06446785] [-0.93786048 0.32586943 0.11927629 18.2079351 ] [ 0.03503414 -0.2530504 0.96681855 5.98325516] [ 0. 0. 0. 1. ]] SLAMing on 230.989072329 meters Centerline goodness : 0.728912 Centerline is valid? [False, False] Translation: X:30.67, Y:18.40, Z:6.06 [[ 0.34864788 0.90341308 0.24957857 30.67375509] [-0.9364658 0.32485996 0.13227932 18.40406465] [ 0.03842478 -0.2798407 0.95927718 6.05747412] [ 0. 0. 0. 1. ]] SLAMing on 231.019072329 meters Centerline goodness : 0.738106 Centerline is valid? [False, False] Translation: X:30.29, Y:18.59, Z:6.13 [[ 0.34990441 0.89808464 0.26647867 30.28600761] [-0.93613004 0.32457577 0.13531858 18.58777309] [ 0.03503502 -0.29680725 0.9542945 6.13202276] [ 0. 0. 0. 1. ]] SLAMing on 231.049072329 meters Centerline goodness : 0.722010 Centerline is valid? [False, False] Translation: X:29.89, Y:18.77, Z:6.22 [[ 0.35195073 0.89288911 0.28085533 29.8874993 ] [-0.93546638 0.32523095 0.13830215 18.76807678] [ 0.03214564 -0.31140626 0.94973302 6.22078567] [ 0. 0. 0. 1. ]] SLAMing on 231.079072329 meters Centerline goodness : 0.727357 Centerline is valid? [False, False] Translation: X:29.50, Y:18.94, Z:6.32 [[ 3.47655433e-01 8.87865015e-01 3.01382507e-01 2.95024471e+01] [-9.37229212e-01 3.19760796e-01 1.39120229e-01 1.89395146e+01] [ 2.71496738e-02 -3.30830393e-01 9.43299606e-01 6.31719828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.109072329 meters Centerline goodness : 0.746727 Centerline is valid? [False, False] Translation: X:29.09, Y:19.12, Z:6.44 [[ 3.37246455e-01 8.81691652e-01 3.29976757e-01 2.90892026e+01] [-9.41154664e-01 3.07498647e-01 1.40258617e-01 1.91247006e+01] [ 2.21974450e-02 -3.57860885e-01 9.33511039e-01 6.43839596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13907232900002 meters Centerline goodness : 0.751016 Centerline is valid? [False, False] Translation: X:28.70, Y:19.30, Z:6.56 [[ 0.31899095 0.8834109 0.34326367 28.69795755] [-0.94713853 0.28404876 0.14914729 19.29638858] [ 0.03425472 -0.37269489 0.92732148 6.55869613] [ 0. 0. 0. 1. ]] SLAMing on 231.169072329 meters Centerline goodness : 0.753902 Centerline is valid? [False, False] Translation: X:28.30, Y:19.48, Z:6.69 [[ 0.31365213 0.87802011 0.36152873 28.29642337] [-0.94844656 0.27144515 0.1636052 19.47573828] [ 0.04551343 -0.39420579 0.9178945 6.69297635] [ 0. 0. 0. 1. ]] SLAMing on 231.199072329 meters Centerline goodness : 0.771434 Centerline is valid? [False, False] Translation: X:27.86, Y:19.68, Z:6.85 [[ 0.30580504 0.86550011 0.39672765 27.85596888] [-0.95062279 0.25440529 0.17774772 19.67669889] [ 0.05291106 -0.4314945 0.90056256 6.85103746] [ 0. 0. 0. 1. ]] SLAMing on 231.229072329 meters Centerline goodness : 0.797537 Centerline is valid? [False, False] Translation: X:27.40, Y:19.90, Z:7.04 [[ 0.27400919 0.84901725 0.45176175 27.4004215 ] [-0.95986674 0.21222543 0.18334722 19.89765221] [ 0.05978962 -0.4838699 0.87309514 7.03938095] [ 0. 0. 0. 1. ]] SLAMing on 231.259072329 meters Centerline goodness : 0.799097 Centerline is valid? [False, False] Translation: X:27.00, Y:20.08, Z:7.19 [[ 0.26612506 0.84191803 0.4694161 27.00190008] [-0.96154811 0.1975871 0.19074741 20.08124492] [ 0.06784312 -0.50212883 0.86212757 7.19225079] [ 0. 0. 0. 1. ]] SLAMing on 231.289072329 meters Centerline goodness : 0.797159 Centerline is valid? [False, False] Translation: X:26.58, Y:20.27, Z:7.36 [[ 0.25948271 0.83998787 0.47653866 26.57907527] [-0.96252578 0.18466664 0.19860101 20.27300444] [ 0.07882164 -0.51021428 0.85642778 7.35771153] [ 0. 0. 0. 1. ]] SLAMing on 231.319072329 meters Centerline goodness : 0.797403 Centerline is valid? [False, False] Translation: X:26.18, Y:20.45, Z:7.51 [[ 0.25417125 0.83997037 0.47942335 26.18302153] [-0.96307725 0.17431909 0.2051708 20.45014496] [ 0.08876476 -0.51387024 0.85326326 7.51066877] [ 0. 0. 0. 1. ]] SLAMing on 231.349072329 meters Centerline goodness : 0.792038 Centerline is valid? [False, False] Translation: X:25.76, Y:20.64, Z:7.67 [[ 0.24485544 0.84554047 0.47445455 25.75841532] [-0.96379941 0.15900433 0.21402878 20.6379597 ] [ 0.10552967 -0.50968513 0.85386449 7.66852286] [ 0. 0. 0. 1. ]] SLAMing on 231.379072329 meters Centerline goodness : 0.791514 Centerline is valid? [False, False] Translation: X:25.29, Y:20.84, Z:7.86 [[ 0.24867803 0.836681 0.48797965 25.28516577] [-0.96165862 0.15312771 0.22751834 20.84309916] [ 0.11563706 -0.52584865 0.842681 7.86478883] [ 0. 0. 0. 1. ]] SLAMing on 231.409072329 meters Centerline goodness : 0.793957 Centerline is valid? [False, False] Translation: X:24.84, Y:21.04, Z:8.07 [[ 0.24613883 0.82234436 0.51299652 24.8449646 ] [-0.9616843 0.14127334 0.23495775 21.0425483 ] [ 0.12074344 -0.55117293 0.82560852 8.06606717] [ 0. 0. 0. 1. ]] SLAMing on 231.439072329 meters Centerline goodness : 0.794958 Centerline is valid? [False, False] Translation: X:24.40, Y:21.24, Z:8.28 [[ 0.25324169 0.8075347 0.53268785 24.39554651] [-0.95959315 0.13985901 0.24417299 21.23935822] [ 0.12267697 -0.5729984 0.8103229 8.27658672] [ 0. 0. 0. 1. ]] SLAMing on 231.469072329 meters Centerline goodness : 0.795864 Centerline is valid? [False, False] Translation: X:23.95, Y:21.43, Z:8.49 [[ 0.26266862 0.79637168 0.5447911 23.95206314] [-0.95690206 0.14251644 0.25303659 21.43272928] [ 0.12386949 -0.5877765 0.7994843 8.491245 ] [ 0. 0. 0. 1. ]] SLAMing on 231.499072329 meters Centerline goodness : 0.790853 Centerline is valid? [False, False] Translation: X:23.55, Y:21.61, Z:8.69 [[ 0.28469599 0.79046228 0.54232609 23.54774039] [-0.95075473 0.16051821 0.26514024 21.61010653] [ 0.12253015 -0.59110345 0.79723464 8.68961277] [ 0. 0. 0. 1. ]] SLAMing on 231.529072329 meters Centerline goodness : 0.785710 Centerline is valid? [False, False] Translation: X:23.15, Y:21.78, Z:8.89 [[ 0.29995585 0.78347169 0.54424131 23.1547551 ] [-0.94633742 0.17243882 0.27333191 21.78263108] [ 0.12029948 -0.59702342 0.79315261 8.88951181] [ 0. 0. 0. 1. ]] SLAMing on 231.559072329 meters Centerline goodness : 0.781825 Centerline is valid? [False, False] Translation: X:22.78, Y:21.95, Z:9.09 [[ 0.31340647 0.77643502 0.54674038 22.77800598] [-0.9426178 0.18457619 0.2782145 21.95118443] [ 0.11510023 -0.60256144 0.78972885 9.08960713] [ 0. 0. 0. 1. ]] SLAMing on 231.589072329 meters Centerline goodness : 0.780175 Centerline is valid? [False, False] Translation: X:22.43, Y:22.11, Z:9.28 [[ 0.32465798 0.76899938 0.55066972 22.43279967] [-0.93983599 0.19683704 0.27921945 22.1081509 ] [ 0.10632739 -0.60819004 0.78663801 9.27942676] [ 0. 0. 0. 1. ]] SLAMing on 231.619072329 meters Centerline goodness : 0.782099 Centerline is valid? [False, False] Translation: X:22.08, Y:22.28, Z:9.48 [[ 0.34056515 0.75856023 0.55551935 22.07620155] [-0.93671207 0.22274177 0.27010479 22.27531834] [ 0.08115339 -0.61234996 0.78641061 9.48394222] [ 0. 0. 0. 1. ]] SLAMing on 231.649072329 meters Centerline goodness : 0.783752 Centerline is valid? [False, False] Translation: X:21.75, Y:22.43, Z:9.67 [[ 0.34551793 0.75787224 0.5533959 21.754849 ] [-0.93613758 0.23733359 0.25945942 22.4261869 ] [ 0.06529765 -0.60770258 0.7914757 9.6730528 ] [ 0. 0. 0. 1. ]] SLAMing on 231.679072329 meters Centerline goodness : 0.783752 Centerline is valid? [False, False] Translation: X:21.44, Y:22.58, Z:9.86 [[ 0.34104607 0.76224228 0.55015842 21.44024642] [-0.938103 0.23835296 0.25129787 22.57523378] [ 0.06041797 -0.60180941 0.79635112 9.85838846] [ 0. 0. 0. 1. ]] SLAMing on 231.709072329 meters Centerline goodness : 0.779426 Centerline is valid? [False, False] Translation: X:21.12, Y:22.72, Z:10.04 [[ 0.36009727 0.7581044 0.54369814 21.1177647 ] [-0.9320627 0.26745194 0.24439432 22.7221068 ] [ 0.03986329 -0.59476649 0.80290955 10.04086463] [ 0. 0. 0. 1. ]] SLAMing on 231.739072329 meters Centerline goodness : 0.777219 Centerline is valid? [False, False] Translation: X:20.82, Y:22.86, Z:10.22 [[ 0.3683209 0.75958362 0.53607129 20.81965523] [-0.92921627 0.28219625 0.23858417 22.8632945 ] [ 0.02994732 -0.58600171 0.80975623 10.21643732] [ 0. 0. 0. 1. ]] SLAMing on 231.769072329 meters Centerline goodness : 0.776430 Centerline is valid? [False, False] Translation: X:20.53, Y:23.00, Z:10.39 [[ 3.77085642e-01 7.59296807e-01 5.30353445e-01 2.05269138e+01] [-9.25950751e-01 2.96370044e-01 2.34051284e-01 2.30029663e+01] [ 2.05335190e-02 -5.79338550e-01 8.14828337e-01 1.03881095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.799072329 meters Centerline goodness : 0.774358 Centerline is valid? [False, False] Translation: X:20.23, Y:23.15, Z:10.56 [[ 3.99249189e-01 7.49272790e-01 5.28384682e-01 2.02283745e+01] [-9.16821534e-01 3.22378573e-01 2.35606302e-01 2.31460224e+01] [ 6.19349122e-03 -5.78500080e-01 8.15658813e-01 1.05626229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.829072329 meters Centerline goodness : 0.773374 Centerline is valid? [False, False] Translation: X:19.95, Y:23.29, Z:10.73 [[ 4.04215867e-01 7.51807734e-01 5.20955530e-01 1.99452274e+01] [-9.14642706e-01 3.36089008e-01 2.24661745e-01 2.32854459e+01] [-6.18498984e-03 -5.67300017e-01 8.23487970e-01 1.07319163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.859072329 meters Centerline goodness : 0.772858 Centerline is valid? [False, False] Translation: X:19.66, Y:23.42, Z:10.89 [[ 4.10467967e-01 7.52227584e-01 5.15431576e-01 1.96613877e+01] [-9.11705007e-01 3.49456177e-01 2.16042496e-01 2.34199056e+01] [-1.76076233e-02 -5.58600073e-01 8.29250222e-01 1.08927001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88907232900002 meters Centerline goodness : 0.773469 Centerline is valid? [False, False] Translation: X:19.37, Y:23.56, Z:11.05 [[ 0.4224171 0.75026788 0.50858814 19.37266642] [-0.90557251 0.37332651 0.20140939 23.55500538] [-0.03875844 -0.54564221 0.83712148 11.05342418] [ 0. 0. 0. 1. ]] SLAMing on 231.919072329 meters Centerline goodness : 0.772362 Centerline is valid? [False, False] Translation: X:19.10, Y:23.68, Z:11.20 [[ 0.42536208 0.75433062 0.50005242 19.10079105] [-0.90359294 0.38502774 0.18781223 23.68430158] [-0.05086154 -0.53173204 0.84538402 11.20486637] [ 0. 0. 0. 1. ]] SLAMing on 231.949072329 meters Centerline goodness : 0.772913 Centerline is valid? [False, False] Translation: X:18.83, Y:23.81, Z:11.35 [[ 0.42920351 0.75680076 0.49298778 18.83251107] [-0.90111334 0.39594673 0.17669449 23.81001957] [-0.06147438 -0.52007576 0.85190499 11.34996672] [ 0. 0. 0. 1. ]] SLAMing on 231.979072329 meters Centerline goodness : 0.774456 Centerline is valid? [False, False] Translation: X:18.56, Y:23.94, Z:11.50 [[ 0.43875313 0.7538227 0.48912884 18.55725743] [-0.89531746 0.4132496 0.16622699 23.93980666] [-0.07682662 -0.5108582 0.85622519 11.49816206] [ 0. 0. 0. 1. ]] SLAMing on 232.009072329 meters Centerline goodness : 0.774082 Centerline is valid? [False, False] Translation: X:18.30, Y:24.06, Z:11.64 [[ 0.44185284 0.75396535 0.48610936 18.29642005] [-0.89314162 0.42049415 0.15963309 24.06450414] [-0.08404832 -0.50469884 0.85919437 11.63945237] [ 0. 0. 0. 1. ]] SLAMing on 232.039072329 meters Centerline goodness : 0.775916 Centerline is valid? [False, False] Translation: X:18.04, Y:24.19, Z:11.78 [[ 0.44485508 0.75344492 0.48417425 18.03773735] [-0.89107357 0.42665077 0.15478053 24.18718771] [-0.08995471 -0.50028978 0.86117262 11.77601891] [ 0. 0. 0. 1. ]] SLAMing on 232.069072329 meters Centerline goodness : 0.773246 Centerline is valid? [False, False] Translation: X:17.78, Y:24.31, Z:11.91 [[ 0.45217131 0.75251252 0.47881732 17.7801134 ] [-0.88726738 0.43432319 0.15530603 24.30742504] [-0.09109173 -0.49506392 0.86406829 11.90817698] [ 0. 0. 0. 1. ]] SLAMing on 232.099072329 meters Centerline goodness : 0.771018 Centerline is valid? [False, False] Translation: X:17.53, Y:24.43, Z:12.04 [[ 0.45357971 0.7562956 0.47146836 17.52509205] [-0.88644174 0.43753376 0.15094786 24.42525072] [-0.09212212 -0.48639612 0.86886842 12.0378695 ] [ 0. 0. 0. 1. ]] SLAMing on 232.129072329 meters Centerline goodness : 0.771122 Centerline is valid? [False, False] Translation: X:17.27, Y:24.54, Z:12.16 [[ 0.45450343 0.75925818 0.46578283 17.27038407] [-0.8857899 0.44033644 0.1465608 24.54150131] [-0.09382366 -0.47919811 0.87267765 12.16300655] [ 0. 0. 0. 1. ]] SLAMing on 232.159072329 meters Centerline goodness : 0.770919 Centerline is valid? [False, False] Translation: X:17.02, Y:24.66, Z:12.29 [[ 0.45430293 0.76248256 0.4606834 17.01697761] [-0.88564265 0.44238707 0.14117641 24.65610422] [-0.09615583 -0.47213773 0.87626481 12.28697767] [ 0. 0. 0. 1. ]] SLAMing on 232.189072329 meters Centerline goodness : 0.771949 Centerline is valid? [False, False] Translation: X:16.76, Y:24.77, Z:12.41 [[ 0.45137861 0.76630011 0.45721055 16.75865503] [-0.88658034 0.44321155 0.13243426 24.77142623] [-0.10115661 -0.46513188 0.87944282 12.4085898 ] [ 0. 0. 0. 1. ]] SLAMing on 232.219072329 meters Centerline goodness : 0.772830 Centerline is valid? [False, False] Translation: X:16.50, Y:24.89, Z:12.53 [[ 0.45007391 0.76653894 0.45809554 16.49526417] [-0.88681993 0.44387702 0.12854414 24.88715482] [-0.104804 -0.46410262 0.87955948 12.53483693] [ 0. 0. 0. 1. ]] SLAMing on 232.249072329 meters Centerline goodness : 0.776034 Centerline is valid? [False, False] Translation: X:16.23, Y:25.00, Z:12.67 [[ 0.44526874 0.76664944 0.46258446 16.23075166] [-0.88887984 0.44068793 0.12524685 25.00438076] [-0.10783496 -0.46695051 0.87768379 12.66526396] [ 0. 0. 0. 1. ]] SLAMing on 232.279072329 meters Centerline goodness : 0.774410 Centerline is valid? [False, False] Translation: X:15.96, Y:25.12, Z:12.80 [[ 0.4434501 0.76592821 0.4655169 15.96401131] [-0.8897203 0.43897907 0.12528033 25.11929104] [-0.10839643 -0.46973541 0.87612719 12.79594627] [ 0. 0. 0. 1. ]] SLAMing on 232.309072329 meters Centerline goodness : 0.777063 Centerline is valid? [False, False] Translation: X:15.69, Y:25.23, Z:12.93 [[ 0.44161712 0.76580839 0.4674525 15.69353147] [-0.89069332 0.43685809 0.12577926 25.23447379] [-0.10788759 -0.47190309 0.87502442 12.92832949] [ 0. 0. 0. 1. ]] SLAMing on 232.339072329 meters Centerline goodness : 0.776545 Centerline is valid? [False, False] Translation: X:15.43, Y:25.34, Z:13.06 [[ 0.43600084 0.76990625 0.46599102 15.43122752] [-0.89440973 0.42805296 0.12962212 25.34225446] [-0.09967196 -0.47330226 0.87524309 13.05732832] [ 0. 0. 0. 1. ]] SLAMing on 232.369072329 meters Centerline goodness : 0.775308 Centerline is valid? [False, False] Translation: X:15.16, Y:25.45, Z:13.19 [[ 0.43464707 0.77195101 0.46386804 15.1586831 ] [-0.89570523 0.42416508 0.13340214 25.45383516] [-0.09377671 -0.47347188 0.87580266 13.18758493] [ 0. 0. 0. 1. ]] SLAMing on 232.399072329 meters Centerline goodness : 0.772210 Centerline is valid? [False, False] Translation: X:14.90, Y:25.56, Z:13.31 [[ 0.43229111 0.77436053 0.46204996 14.89644864] [-0.89723371 0.42050473 0.13471245 25.56107795] [-0.08997819 -0.47280179 0.87656283 13.31198764] [ 0. 0. 0. 1. ]] SLAMing on 232.429072329 meters Centerline goodness : 0.770815 Centerline is valid? [False, False] Translation: X:14.62, Y:25.67, Z:13.44 [[ 0.42960416 0.77581362 0.46211849 14.62063742] [-0.89887415 0.41636012 0.13663643 25.67218237] [-0.08640331 -0.47408595 0.87622884 13.44312266] [ 0. 0. 0. 1. ]] SLAMing on 232.459072329 meters Centerline goodness : 0.772727 Centerline is valid? [False, False] Translation: X:14.34, Y:25.78, Z:13.57 [[ 0.41861936 0.77912554 0.46660607 14.34279965] [-0.90440532 0.40433748 0.13624323 25.77884484] [-0.08251575 -0.47903507 0.87390878 13.57374169] [ 0. 0. 0. 1. ]] SLAMing on 232.489072329 meters Centerline goodness : 0.775097 Centerline is valid? [False, False] Translation: X:14.06, Y:25.89, Z:13.71 [[ 0.41288966 0.77961562 0.47087325 14.05938583] [-0.90716126 0.39807074 0.136375 25.89052274] [-0.08112078 -0.48346579 0.87159638 13.71070523] [ 0. 0. 0. 1. ]] SLAMing on 232.519072329 meters Centerline goodness : 0.778757 Centerline is valid? [False, False] Translation: X:13.77, Y:26.00, Z:13.85 [[ 0.39842254 0.78374163 0.47645413 13.77150274] [-0.91419024 0.38139299 0.137097 25.99964262] [-0.07426764 -0.49019225 0.86844451 13.84988037] [ 0. 0. 0. 1. ]] SLAMing on 232.549072329 meters Centerline goodness : 0.778960 Centerline is valid? [False, False] Translation: X:13.47, Y:26.12, Z:14.00 [[ 0.39416827 0.78384858 0.47980494 13.46913921] [-0.9165161 0.37391566 0.14207504 26.11595655] [-0.06804126 -0.49575042 0.86579553 13.99595208] [ 0. 0. 0. 1. ]] SLAMing on 232.579072329 meters Centerline goodness : 0.778781 Centerline is valid? [False, False] Translation: X:13.17, Y:26.23, Z:14.14 [[ 0.39079127 0.78394475 0.48240317 13.17272383] [-0.91850821 0.36639151 0.14866047 26.22822882] [-0.06020683 -0.50118648 0.86324229 14.1393217 ] [ 0. 0. 0. 1. ]] SLAMing on 232.609072329 meters Centerline goodness : 0.777428 Centerline is valid? [False, False] Translation: X:12.88, Y:26.34, Z:14.28 [[ 0.38819578 0.78323682 0.48563785 12.87506474] [-0.92006302 0.35957346 0.15553444 26.33996659] [-0.05280219 -0.50719524 0.86021213 14.28384611] [ 0. 0. 0. 1. ]] SLAMing on 232.63907232900002 meters Centerline goodness : 0.778282 Centerline is valid? [False, False] Translation: X:12.57, Y:26.45, Z:14.43 [[ 0.38584579 0.78263166 0.48847795 12.57426665] [-0.92142765 0.35318247 0.16196677 26.45210654] [-0.04576152 -0.51259128 0.85741242 14.43268228] [ 0. 0. 0. 1. ]] SLAMing on 232.669072329 meters Centerline goodness : 0.779839 Centerline is valid? [False, False] Translation: X:12.27, Y:26.56, Z:14.59 [[ 0.37557173 0.78466869 0.4931946 12.26979986] [-0.92600085 0.33970742 0.16468543 26.56290528] [-0.03831837 -0.51854981 0.85418838 14.58592428] [ 0. 0. 0. 1. ]] SLAMing on 232.699072329 meters Centerline goodness : 0.780655 Centerline is valid? [False, False] Translation: X:11.96, Y:26.67, Z:14.74 [[ 0.36536902 0.78788804 0.49571959 11.95904372] [-0.93030215 0.32754377 0.16508479 26.67276809] [-0.03230153 -0.52148587 0.85264828 14.74161304] [ 0. 0. 0. 1. ]] SLAMing on 232.729072329 meters Centerline goodness : 0.778400 Centerline is valid? [False, False] Translation: X:11.64, Y:26.79, Z:14.90 [[ 0.36339151 0.7881866 0.49669759 11.64165563] [-0.93121392 0.32335503 0.16817301 26.78697747] [-0.02805795 -0.52364435 0.8514748 14.90147161] [ 0. 0. 0. 1. ]] SLAMing on 232.759072329 meters Centerline goodness : 0.780663 Centerline is valid? [False, False] Translation: X:11.33, Y:26.90, Z:15.06 [[ 3.62058131e-01 7.87662371e-01 4.98499648e-01 1.13290294e+01] [-9.31872743e-01 3.19014303e-01 1.72751458e-01 2.68980871e+01] [-2.29586948e-02 -5.27084304e-01 8.49502816e-01 1.50600621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.789072329 meters Centerline goodness : 0.782435 Centerline is valid? [False, False] Translation: X:11.02, Y:27.01, Z:15.22 [[ 3.60334015e-01 7.87045244e-01 5.00718665e-01 1.10231559e+01] [-9.32631390e-01 3.14848873e-01 1.76263662e-01 2.70070918e+01] [-1.89232306e-02 -5.30499737e-01 8.47473858e-01 1.52180255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.819072329 meters Centerline goodness : 0.785911 Centerline is valid? [False, False] Translation: X:10.71, Y:27.11, Z:15.38 [[ 3.54124726e-01 7.85647081e-01 5.07301038e-01 1.07110809e+01] [-9.35135544e-01 3.03754626e-01 1.82358552e-01 2.71126047e+01] [-1.08255729e-02 -5.38972904e-01 8.42253534e-01 1.53833304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.849072329 meters Centerline goodness : 0.787393 Centerline is valid? [False, False] Translation: X:10.40, Y:27.22, Z:15.55 [[ 3.53376833e-01 7.82672848e-01 5.12394406e-01 1.04031199e+01] [-9.35458901e-01 2.99416718e-01 1.87793168e-01 2.72195885e+01] [-6.43883812e-03 -5.45685662e-01 8.37965214e-01 1.55463424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.879072329 meters Centerline goodness : 0.789222 Centerline is valid? [False, False] Translation: X:10.09, Y:27.33, Z:15.71 [[ 3.52592640e-01 7.81194144e-01 5.15183598e-01 1.00912426e+01] [-9.35775501e-01 2.95303011e-01 1.92666405e-01 2.73264325e+01] [-1.62540065e-03 -5.50028945e-01 8.35144010e-01 1.57121445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.909072329 meters Centerline goodness : 0.789007 Centerline is valid? [False, False] Translation: X:9.78, Y:27.42, Z:15.88 [[ 3.48452783e-01 7.84018825e-01 5.13707251e-01 9.77835670e+00] [-9.37291548e-01 2.86727925e-01 1.98170761e-01 2.74231093e+01] [ 8.07539283e-03 -5.50546618e-01 8.34765362e-01 1.58758751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.939072329 meters Centerline goodness : 0.789900 Centerline is valid? [False, False] Translation: X:9.47, Y:27.52, Z:16.04 [[ 3.49900076e-01 7.83803623e-01 5.13051477e-01 9.46594283e+00] [-9.36663274e-01 2.83818593e-01 2.05204574e-01 2.75245795e+01] [ 1.52265401e-02 -5.52357572e-01 8.33468215e-01 1.60396600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.969072329 meters Centerline goodness : 0.787923 Centerline is valid? [False, False] Translation: X:9.15, Y:27.63, Z:16.21 [[ 3.51245991e-01 7.83068947e-01 5.13253620e-01 9.14905142e+00] [-9.36023963e-01 2.80787147e-01 2.12173795e-01 2.76278905e+01] [ 2.20316912e-02 -5.54942882e-01 8.31596659e-01 1.62073999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.999072329 meters Centerline goodness : 0.787849 Centerline is valid? [False, False] Translation: X:8.81, Y:27.73, Z:16.39 [[ 0.34985289 0.78065711 0.51785851 8.81356705] [-0.93629002 0.27305823 0.22090769 27.73222541] [ 0.03104763 -0.56215094 0.82645167 16.38883466] [ 0. 0. 0. 1. ]] SLAMing on 233.029072329 meters Centerline goodness : 0.789118 Centerline is valid? [False, False] Translation: X:8.48, Y:27.84, Z:16.57 [[ 0.35159909 0.77614941 0.5234216 8.47880282] [-0.93552456 0.27086523 0.22677263 27.84236551] [ 0.03423273 -0.56940681 0.8213428 16.57103422] [ 0. 0. 0. 1. ]] SLAMing on 233.059072329 meters Centerline goodness : 0.789213 Centerline is valid? [False, False] Translation: X:8.12, Y:27.95, Z:16.77 [[ 0.34981505 0.77186691 0.53089632 8.12325436] [-0.93612211 0.26615531 0.22986244 27.95283017] [ 0.03612233 -0.57739313 0.81566682 16.76991267] [ 0. 0. 0. 1. ]] SLAMing on 233.089072329 meters Centerline goodness : 0.788585 Centerline is valid? [False, False] Translation: X:7.78, Y:28.06, Z:16.96 [[ 0.35164722 0.77014395 0.53218655 7.78354595] [-0.93536655 0.26606495 0.23302117 28.06033801] [ 0.03786366 -0.57973074 0.81392789 16.95543081] [ 0. 0. 0. 1. ]] SLAMing on 233.119072329 meters Centerline goodness : 0.789510 Centerline is valid? [False, False] Translation: X:7.45, Y:28.17, Z:17.14 [[ 0.35320388 0.77094612 0.52998971 7.44914672] [-0.93467781 0.26638556 0.23540628 28.16526504] [ 0.04030395 -0.57851604 0.81467465 17.13956993] [ 0. 0. 0. 1. ]] SLAMing on 233.149072329 meters Centerline goodness : 0.789861 Centerline is valid? [False, False] Translation: X:7.11, Y:28.27, Z:17.33 [[ 0.35480744 0.77291077 0.52604241 7.10922195] [-0.93392285 0.26676852 0.23795517 28.27175376] [ 0.04358656 -0.5757113 0.81649049 17.32756621] [ 0. 0. 0. 1. ]] SLAMing on 233.179072329 meters Centerline goodness : 0.789412 Centerline is valid? [False, False] Translation: X:6.77, Y:28.37, Z:17.51 [[ 0.35670074 0.77422941 0.52281297 6.77399021] [-0.93275829 0.26387267 0.24562816 28.37019925] [ 0.05221649 -0.57527388 0.81629247 17.51272843] [ 0. 0. 0. 1. ]] SLAMing on 233.209072329 meters Centerline goodness : 0.786276 Centerline is valid? [False, False] Translation: X:6.43, Y:28.48, Z:17.70 [[ 0.35990901 0.77152234 0.52461299 6.43088115] [-0.93124411 0.26270848 0.25252459 28.47644558] [ 0.05700808 -0.57942863 0.81302678 17.70291012] [ 0. 0. 0. 1. ]] SLAMing on 233.239072329 meters Centerline goodness : 0.783466 Centerline is valid? [False, False] Translation: X:6.09, Y:28.58, Z:17.89 [[ 0.36147023 0.76942084 0.52662211 6.08866631] [-0.93046173 0.2614308 0.25670004 28.58287096] [ 0.05983512 -0.58279114 0.81041609 17.8947484 ] [ 0. 0. 0. 1. ]] SLAMing on 233.269072329 meters Centerline goodness : 0.780105 Centerline is valid? [False, False] Translation: X:5.75, Y:28.68, Z:18.09 [[ 0.35940089 0.76758623 0.53069989 5.74744237] [-0.93113663 0.25733148 0.25838941 28.68400629] [ 0.06177036 -0.58701949 0.80721282 18.08771072] [ 0. 0. 0. 1. ]] SLAMing on 233.299072329 meters Centerline goodness : 0.779532 Centerline is valid? [False, False] Translation: X:5.41, Y:28.78, Z:18.27 [[ 0.35897048 0.76861794 0.5294966 5.41481017] [-0.93126126 0.25703026 0.25824004 28.78416121] [ 0.06239128 -0.58580022 0.80805039 18.27278396] [ 0. 0. 0. 1. ]] SLAMing on 233.329072329 meters Centerline goodness : 0.783044 Centerline is valid? [False, False] Translation: X:5.09, Y:28.88, Z:18.45 [[ 0.35799416 0.77131976 0.52621859 5.09478286] [-0.93160339 0.25709672 0.25693656 28.87858432] [ 0.06289117 -0.58220881 0.81060323 18.45043033] [ 0. 0. 0. 1. ]] SLAMing on 233.359072329 meters Centerline goodness : 0.785952 Centerline is valid? [False, False] Translation: X:4.78, Y:28.96, Z:18.63 [[ 0.3562674 0.77588653 0.52064732 4.77845788] [-0.9319288 0.25468964 0.25815093 28.96450733] [ 0.06769235 -0.57717699 0.81380862 18.62510361] [ 0. 0. 0. 1. ]] SLAMing on 233.38907232900002 meters Centerline goodness : 0.783945 Centerline is valid? [False, False] Translation: X:4.44, Y:29.06, Z:18.81 [[ 0.35801111 0.77519999 0.52047384 4.44020072] [-0.93101678 0.25400732 0.26208403 29.06371073] [ 0.07096337 -0.57839887 0.81266164 18.81337705] [ 0. 0. 0. 1. ]] SLAMing on 233.419072329 meters Centerline goodness : 0.781212 Centerline is valid? [False, False] Translation: X:4.11, Y:29.16, Z:19.00 [[ 0.36075952 0.77178427 0.52364264 4.10513559] [-0.92975857 0.25336013 0.26712853 29.16172476] [ 0.07349543 -0.58323039 0.80897511 18.99964524] [ 0. 0. 0. 1. ]] SLAMing on 233.449072329 meters Centerline goodness : 0.776822 Centerline is valid? [False, False] Translation: X:3.77, Y:29.26, Z:19.19 [[ 0.36271645 0.76823001 0.52750301 3.77005026] [-0.92899887 0.25345473 0.26966981 29.26034917] [ 0.07347031 -0.58786337 0.80561701 19.18766061] [ 0. 0. 0. 1. ]] SLAMing on 233.479072329 meters Centerline goodness : 0.775330 Centerline is valid? [False, False] Translation: X:3.43, Y:29.36, Z:19.38 [[ 0.36223666 0.76601346 0.53104424 3.43307776] [-0.92949837 0.25444412 0.26700368 29.35695633] [ 0.06940732 -0.59032328 0.80417725 19.3819496 ] [ 0. 0. 0. 1. ]] SLAMing on 233.509072329 meters Centerline goodness : 0.776680 Centerline is valid? [False, False] Translation: X:3.10, Y:29.45, Z:19.57 [[ 0.36268796 0.76766842 0.52833952 3.10347685] [-0.92950062 0.2572473 0.26429608 29.45048216] [ 0.06697784 -0.58694892 0.80684877 19.56729807] [ 0. 0. 0. 1. ]] SLAMing on 233.539072329 meters Centerline goodness : 0.781136 Centerline is valid? [False, False] Translation: X:2.77, Y:29.54, Z:19.75 [[ 0.36317527 0.77046855 0.52391024 2.77233382] [-0.92941959 0.26008271 0.2617942 29.5422772 ] [ 0.06544421 -0.58200962 0.81054418 19.75175121] [ 0. 0. 0. 1. ]] SLAMing on 233.569072329 meters Centerline goodness : 0.781136 Centerline is valid? [False, False] Translation: X:2.45, Y:29.64, Z:19.93 [[ 0.36450919 0.77025808 0.52329297 2.45097116] [-0.92900138 0.26220665 0.26115916 29.63574047] [ 0.06394905 -0.58133481 0.81114756 19.93099595] [ 0. 0. 0. 1. ]] SLAMing on 233.599072329 meters Centerline goodness : 0.787107 Centerline is valid? [False, False] Translation: X:2.14, Y:29.71, Z:20.11 [[ 0.36556526 0.77444041 0.51633718 2.1369256 ] [-0.92835033 0.26326232 0.26240924 29.71368489] [ 0.0672882 -0.5752695 0.81519157 20.10567927] [ 0. 0. 0. 1. ]] SLAMing on 233.629072329 meters Centerline goodness : 0.785806 Centerline is valid? [False, False] Translation: X:1.81, Y:29.80, Z:20.29 [[ 0.36724352 0.77334012 0.51679518 1.80744885] [-0.92760523 0.26364382 0.2646516 29.80255659] [ 0.06841584 -0.5765735 0.81417583 20.29022529] [ 0. 0. 0. 1. ]] SLAMing on 233.659072329 meters Centerline goodness : 0.777439 Centerline is valid? [False, False] Translation: X:1.46, Y:29.89, Z:20.48 [[ 0.36831253 0.76812661 0.52376272 1.46338513] [-0.92724502 0.26256744 0.26697379 29.89311154] [ 0.06754664 -0.58398617 0.80894846 20.48491875] [ 0. 0. 0. 1. ]] SLAMing on 233.689072329 meters Centerline goodness : 0.773953 Centerline is valid? [False, False] Translation: X:1.13, Y:29.98, Z:20.67 [[ 0.37051185 0.76466017 0.52727203 1.12671575] [-0.92645364 0.2636834 0.26861628 29.98292431] [ 0.06636729 -0.58801861 0.80612003 20.67416882] [ 0. 0. 0. 1. ]] SLAMing on 233.719072329 meters Centerline goodness : 0.773358 Centerline is valid? [False, False] Translation: X:0.79, Y:30.07, Z:20.86 [[ 0.37250148 0.76255903 0.52891055 0.78984754] [-0.9258075 0.26591525 0.26864391 30.07190698] [ 0.06421145 -0.58973961 0.80503669 20.863329 ] [ 0. 0. 0. 1. ]] SLAMing on 233.749072329 meters Centerline goodness : 0.777286 Centerline is valid? [False, False] Translation: X:0.46, Y:30.15, Z:21.05 [[ 0.37644271 0.76385464 0.52422989 0.4554074 ] [-0.92434898 0.27168287 0.26789434 30.1525469 ] [ 0.06220805 -0.58541824 0.80834129 21.05337347] [ 0. 0. 0. 1. ]] SLAMing on 233.779072329 meters Centerline goodness : 0.781649 Centerline is valid? [False, False] Translation: X:0.13, Y:30.24, Z:21.24 [[ 0.37972365 0.76489873 0.5203267 0.12513135] [-0.92306588 0.27599778 0.26790782 30.23676953] [ 0.06131333 -0.58202677 0.81085481 21.23897478] [ 0. 0. 0. 1. ]] SLAMing on 233.809072329 meters Centerline goodness : 0.782496 Centerline is valid? [False, False] Translation: X:-0.21, Y:30.32, Z:21.42 [[ 0.38412726 0.76400584 0.51840267 -0.2056126 ] [-0.92121316 0.27960026 0.27053652 30.32042347] [ 0.06174596 -0.58147981 0.81121432 21.42432818] [ 0. 0. 0. 1. ]] SLAMing on 233.839072329 meters Centerline goodness : 0.781719 Centerline is valid? [False, False] Translation: X:-0.54, Y:30.41, Z:21.61 [[ 0.38705248 0.76251005 0.51842916 -0.53641032] [-0.9200806 0.28259283 0.27128027 30.40593794] [ 0.06034957 -0.58199632 0.81094896 21.61109956] [ 0. 0. 0. 1. ]] SLAMing on 233.869072329 meters Centerline goodness : 0.779156 Centerline is valid? [False, False] Translation: X:-0.87, Y:30.49, Z:21.81 [[ 0.39028449 0.75744905 0.52340133 -0.87420234] [-0.91898362 0.28584922 0.27158668 30.4915357 ] [ 0.05609921 -0.58699332 0.80764579 21.8056533 ] [ 0. 0. 0. 1. ]] SLAMing on 233.899072329 meters Centerline goodness : 0.775547 Centerline is valid? [False, False] Translation: X:-1.21, Y:30.58, Z:21.99 [[ 0.39104907 0.75462018 0.52690512 -1.20562504] [-0.91893084 0.28812276 0.26935364 30.57798581] [ 0.05144634 -0.58951985 0.8061139 21.99455158] [ 0. 0. 0. 1. ]] SLAMing on 233.929072329 meters Centerline goodness : 0.773597 Centerline is valid? [False, False] Translation: X:-1.54, Y:30.66, Z:22.18 [[ 0.39185156 0.752482 0.52936113 -1.53515498] [-0.91883813 0.29081796 0.26676095 30.66294916] [ 0.04678509 -0.59092788 0.80536662 22.18211237] [ 0. 0. 0. 1. ]] SLAMing on 233.959072329 meters Centerline goodness : 0.777787 Centerline is valid? [False, False] Translation: X:-1.86, Y:30.74, Z:22.37 [[ 0.39576942 0.75141653 0.5279581 -1.86068654] [-0.91737675 0.2970257 0.26494458 30.74059605] [ 0.04226661 -0.58919345 0.80688575 22.36734911] [ 0. 0. 0. 1. ]] SLAMing on 233.989072329 meters Centerline goodness : 0.779022 Centerline is valid? [False, False] Translation: X:-2.17, Y:30.82, Z:22.54 [[ 0.39848284 0.75348551 0.52294456 -2.17212468] [-0.91623927 0.30127083 0.26408615 30.81886836] [ 0.04143714 -0.58437614 0.81042427 22.54436113] [ 0. 0. 0. 1. ]] SLAMing on 234.019072329 meters Centerline goodness : 0.781655 Centerline is valid? [False, False] Translation: X:-2.49, Y:30.90, Z:22.73 [[ 0.40101779 0.75492372 0.51891705 -2.49414054] [-0.9151963 0.30542119 0.26293276 30.90027086] [ 0.04000592 -0.58035168 0.81338272 22.7262649 ] [ 0. 0. 0. 1. ]] SLAMing on 234.049072329 meters Centerline goodness : 0.777842 Centerline is valid? [False, False] Translation: X:-2.81, Y:30.98, Z:22.91 [[ 0.40634264 0.75216739 0.51877729 -2.81028358] [-0.91285551 0.30947826 0.26630438 30.97625141] [ 0.03975518 -0.58177954 0.81237436 22.90678481] [ 0. 0. 0. 1. ]] SLAMing on 234.079072329 meters Centerline goodness : 0.775065 Centerline is valid? [False, False] Translation: X:-3.13, Y:31.06, Z:23.09 [[ 0.40751428 0.74986236 0.52118956 -3.13001528] [-0.91244673 0.31119125 0.26570844 31.05768627] [ 0.03705513 -0.58383769 0.81102433 23.08854795] [ 0. 0. 0. 1. ]] SLAMing on 234.109072329 meters Centerline goodness : 0.770230 Centerline is valid? [False, False] Translation: X:-3.45, Y:31.14, Z:23.27 [[ 0.40884229 0.74803027 0.52277978 -3.44695601] [-0.91193888 0.31298516 0.26534463 31.1379278 ] [ 0.0348635 -0.58522731 0.81011945 23.26843337] [ 0. 0. 0. 1. ]] SLAMing on 234.13907232900002 meters Centerline goodness : 0.767951 Centerline is valid? [False, False] Translation: X:-3.78, Y:31.22, Z:23.46 [[ 4.11402893e-01 7.47144242e-01 5.22037491e-01 -3.77719767e+00] [-9.10946015e-01 3.17938701e-01 2.62854218e-01 3.12185607e+01] [ 3.04140936e-02 -5.83686958e-01 8.11408971e-01 2.34553106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.169072329 meters Centerline goodness : 0.770549 Centerline is valid? [False, False] Translation: X:-4.09, Y:31.30, Z:23.63 [[ 4.12913666e-01 7.48207119e-01 5.19315329e-01 -4.09368000e+00] [-9.10344560e-01 3.21624676e-01 2.60442606e-01 3.12975256e+01] [ 2.78403873e-02 -5.80296196e-01 8.13929504e-01 2.36329963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199072329 meters Centerline goodness : 0.772810 Centerline is valid? [False, False] Translation: X:-4.42, Y:31.38, Z:23.82 [[ 4.14037699e-01 7.49701141e-01 5.16256703e-01 -4.42096903e+00] [-9.09916869e-01 3.25312951e-01 2.57337863e-01 3.13790299e+01] [ 2.49814979e-02 -5.76298259e-01 8.16857540e-01 2.38183305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.229072329 meters Centerline goodness : 0.775157 Centerline is valid? [False, False] Translation: X:-4.74, Y:31.46, Z:24.00 [[ 4.16108819e-01 7.48365903e-01 5.16528728e-01 -4.74218130e+00] [-9.09131436e-01 3.30980574e-01 2.52847567e-01 3.14564155e+01] [ 1.82615232e-02 -5.74804606e-01 8.18086903e-01 2.40033424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.259072329 meters Centerline goodness : 0.772001 Centerline is valid? [False, False] Translation: X:-5.07, Y:31.54, Z:24.19 [[ 4.16379589e-01 7.46770885e-01 5.18614774e-01 -5.06852325e+00] [-9.09077590e-01 3.32949875e-01 2.50444236e-01 3.15379464e+01] [ 1.43517395e-02 -5.75740937e-01 8.17506208e-01 2.41898116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.289072329 meters Centerline goodness : 0.767263 Centerline is valid? [False, False] Translation: X:-5.40, Y:31.62, Z:24.38 [[ 4.16663875e-01 7.45302196e-01 5.20495775e-01 -5.39656966e+00] [-9.08996453e-01 3.34778824e-01 2.48291336e-01 3.16199323e+01] [ 1.08011145e-02 -5.76582843e-01 8.16967295e-01 2.43764115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.319072329 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-5.71, Y:31.69, Z:24.56 [[ 4.20097695e-01 7.44418859e-01 5.18997581e-01 -5.71475535e+00] [-9.07428889e-01 3.38590319e-01 2.48856200e-01 3.16947497e+01] [ 9.52569244e-03 -5.75497314e-01 8.17748190e-01 2.45574047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.349072329 meters Centerline goodness : 0.765304 Centerline is valid? [False, False] Translation: X:-6.03, Y:31.77, Z:24.73 [[ 4.21787456e-01 7.45421246e-01 5.16180694e-01 -6.02986832e+00] [-9.06642945e-01 3.40659718e-01 2.48896619e-01 3.17707206e+01] [ 9.69085761e-03 -5.72973056e-01 8.19516909e-01 2.47340846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.379072329 meters Centerline goodness : 0.766854 Centerline is valid? [False, False] Translation: X:-6.34, Y:31.85, Z:24.91 [[ 4.22756048e-01 7.46820315e-01 5.13358297e-01 -6.34454688e+00] [-9.06192786e-01 3.42372634e-01 2.48184637e-01 3.18460606e+01] [ 9.58949689e-03 -5.70123142e-01 8.21503283e-01 2.49100336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.409072329 meters Centerline goodness : 0.765878 Centerline is valid? [False, False] Translation: X:-6.67, Y:31.92, Z:25.09 [[ 4.23139310e-01 7.48055735e-01 5.11239418e-01 -6.66576159e+00] [-9.06017947e-01 3.43601926e-01 2.47121825e-01 3.19225600e+01] [ 9.19804961e-03 -5.67759046e-01 8.23143403e-01 2.50892203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.439072329 meters Centerline goodness : 0.764308 Centerline is valid? [False, False] Translation: X:-6.99, Y:31.99, Z:25.27 [[ 4.23895929e-01 7.48507781e-01 5.09949354e-01 -6.98539399e+00] [-9.05650875e-01 3.43815268e-01 2.48168401e-01 3.19938959e+01] [ 1.04276052e-02 -5.67033654e-01 8.23628618e-01 2.52687255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.469072329 meters Centerline goodness : 0.762843 Centerline is valid? [False, False] Translation: X:-7.25, Y:32.07, Z:25.42 [[ 4.08571057e-01 7.63765569e-01 4.99731775e-01 -7.24625859e+00] [-9.12702334e-01 3.45866868e-01 2.17601836e-01 3.20689746e+01] [-6.64387421e-03 -5.45012169e-01 8.38401809e-01 2.54206725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.499072329 meters Centerline goodness : 0.757288 Centerline is valid? [False, False] Translation: X:-7.51, Y:32.14, Z:25.57 [[ 3.97211896e-01 7.74450093e-01 4.92391879e-01 -7.50893305e+00] [-9.17512525e-01 3.46717239e-01 1.94827932e-01 3.21381921e+01] [-1.98362428e-02 -5.29163689e-01 8.48287872e-01 2.55693518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.529072329 meters Centerline goodness : 0.755801 Centerline is valid? [False, False] Translation: X:-7.77, Y:32.21, Z:25.71 [[ 3.88619689e-01 7.83937654e-01 4.84165769e-01 -7.77326095e+00] [-9.20863749e-01 3.48346642e-01 1.75113030e-01 3.22094694e+01] [-3.13798218e-02 -5.13903076e-01 8.57274131e-01 2.57139449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.559072329 meters Centerline goodness : 0.756564 Centerline is valid? [False, False] Translation: X:-8.04, Y:32.28, Z:25.86 [[ 0.38201445 0.79194908 0.47632091 -8.04430863] [-0.92324784 0.34989109 0.15871251 32.28124052] [-0.04096822 -0.50039272 0.86482873 25.85869571] [ 0. 0. 0. 1. ]] SLAMing on 234.589072329 meters Centerline goodness : 0.758341 Centerline is valid? [False, False] Translation: X:-8.32, Y:32.35, Z:26.00 [[ 0.37641156 0.79886239 0.46918357 -8.31870116] [-0.92514349 0.35102618 0.14453423 32.3505596 ] [-0.04923276 -0.48846648 0.87119265 26.00415379] [ 0. 0. 0. 1. ]] SLAMing on 234.619072329 meters Centerline goodness : 0.759655 Centerline is valid? [False, False] Translation: X:-8.60, Y:32.42, Z:26.15 [[ 0.37100786 0.8048517 0.46321368 -8.59712194] [-0.92691938 0.35122398 0.13214454 32.42232861] [-0.056335 -0.4783884 0.87633949 26.14809823] [ 0. 0. 0. 1. ]] SLAMing on 234.649072329 meters Centerline goodness : 0.757917 Centerline is valid? [False, False] Translation: X:-8.88, Y:32.49, Z:26.29 [[ 0.36633554 0.8101614 0.45764264 -8.87885438] [-0.92846998 0.35060757 0.12254722 32.49320744] [-0.06116994 -0.46980085 0.88065055 26.29196429] [ 0. 0. 0. 1. ]] SLAMing on 234.679072329 meters Centerline goodness : 0.760812 Centerline is valid? [False, False] Translation: X:-9.16, Y:32.56, Z:26.43 [[ 0.36693528 0.81225119 0.45343854 -9.16171107] [-0.92761929 0.35609517 0.11277717 32.56449856] [-0.06986389 -0.46200026 0.88412375 26.43431428] [ 0. 0. 0. 1. ]] SLAMing on 234.709072329 meters Centerline goodness : 0.760393 Centerline is valid? [False, False] Translation: X:-9.44, Y:32.64, Z:26.57 [[ 0.36979225 0.81299447 0.4497707 -9.43732771] [-0.92594533 0.36242084 0.10619026 32.63599416] [-0.07667418 -0.45573142 0.88680885 26.56926413] [ 0. 0. 0. 1. ]] SLAMing on 234.739072329 meters Centerline goodness : 0.759639 Centerline is valid? [False, False] Translation: X:-9.72, Y:32.71, Z:26.71 [[ 0.37235932 0.81340046 0.44690965 -9.71857353] [-0.92445137 0.36765668 0.10108524 32.70762557] [-0.08208653 -0.45078627 0.88884956 26.70620793] [ 0. 0. 0. 1. ]] SLAMing on 234.769072329 meters Centerline goodness : 0.757187 Centerline is valid? [False, False] Translation: X:-9.99, Y:32.78, Z:26.84 [[ 0.37869341 0.81084608 0.44622858 -9.9946949 ] [-0.92127385 0.3763914 0.0978979 32.77765899] [-0.08857648 -0.44817201 0.88954823 26.84116274] [ 0. 0. 0. 1. ]] SLAMing on 234.799072329 meters Centerline goodness : 0.755641 Centerline is valid? [False, False] Translation: X:-10.27, Y:32.85, Z:26.97 [[ 0.38100697 0.8108281 0.44428761 -10.27109784] [ -0.91999354 0.38024308 0.09501094 32.84715999] [ -0.09189975 -0.44494156 0.89083188 26.97488028] [ 0. 0. 0. 1. ]] SLAMing on 234.829072329 meters Centerline goodness : 0.755564 Centerline is valid? [False, False] Translation: X:-10.54, Y:32.91, Z:27.10 [[ 0.38451988 0.8117623 0.43952978 -10.53940305] [ -0.91834011 0.38476045 0.09279462 32.91391048] [ -0.0937865 -0.4393192 0.89342192 27.10342397] [ 0. 0. 0. 1. ]] SLAMing on 234.859072329 meters Centerline goodness : 0.754195 Centerline is valid? [False, False] Translation: X:-10.81, Y:32.98, Z:27.23 [[ 0.38495464 0.81329337 0.43630702 -10.80857818] [ -0.91804467 0.38602873 0.09042016 32.9801089 ] [ -0.09488893 -0.435357 0.89524319 27.23139314] [ 0. 0. 0. 1. ]] SLAMing on 234.88907232900002 meters Centerline goodness : 0.753329 Centerline is valid? [False, False] Translation: X:-11.08, Y:33.05, Z:27.36 [[ 0.38461832 0.81510019 0.433221 -11.0758807 ] [ -0.91810029 0.3864603 0.08797894 33.04568987] [ -0.09571107 -0.43157863 0.89698343 27.35807819] [ 0. 0. 0. 1. ]] SLAMing on 234.919072329 meters Centerline goodness : 0.751532 Centerline is valid? [False, False] Translation: X:-11.35, Y:33.11, Z:27.49 [[ 0.38185098 0.8176026 0.43094758 -11.35026402] [ -0.91916927 0.38465149 0.0846823 33.11335833] [ -0.09652816 -0.42844979 0.89839473 27.48831815] [ 0. 0. 0. 1. ]] SLAMing on 234.949072329 meters Centerline goodness : 0.749185 Centerline is valid? [False, False] Translation: X:-11.63, Y:33.18, Z:27.62 [[ 0.37987424 0.81910008 0.42984953 -11.62521251] [ -0.91980503 0.38382497 0.08146846 33.18079008] [ -0.09825616 -0.42632552 0.89921759 27.61768733] [ 0. 0. 0. 1. ]] SLAMing on 234.979072329 meters Centerline goodness : 0.749392 Centerline is valid? [False, False] Translation: X:-11.90, Y:33.25, Z:27.75 [[ 0.37863123 0.81982268 0.42956859 -11.90288502] [ -0.92009448 0.38371173 0.07868575 33.24861456] [ -0.10032214 -0.42503657 0.89959957 27.74715735] [ 0. 0. 0. 1. ]] SLAMing on 235.009072329 meters Centerline goodness : 0.748272 Centerline is valid? [False, False] Translation: X:-12.18, Y:33.32, Z:27.88 [[ 0.37768942 0.82063656 0.42884302 -12.18365866] [ -0.92024087 0.38395449 0.07573436 33.31735353] [ -0.10250581 -0.42324294 0.90019885 27.87686826] [ 0. 0. 0. 1. ]] SLAMing on 235.039072329 meters Centerline goodness : 0.747737 Centerline is valid? [False, False] Translation: X:-12.45, Y:33.38, Z:28.00 [[ 0.3780824 0.82216297 0.42556051 -12.45148163] [ -0.91994761 0.38513885 0.07324247 33.3831681 ] [ -0.10368264 -0.41918507 0.90196108 28.00082816] [ 0. 0. 0. 1. ]] SLAMing on 235.069072329 meters Centerline goodness : 0.748896 Centerline is valid? [False, False] Translation: X:-12.72, Y:33.45, Z:28.13 [[ 0.37782214 0.82315337 0.42387376 -12.72480727] [ -0.9198913 0.38570916 0.07091146 33.45048093] [ -0.10512098 -0.41670971 0.90294108 28.12572159] [ 0. 0. 0. 1. ]] SLAMing on 235.099072329 meters Centerline goodness : 0.749453 Centerline is valid? [False, False] Translation: X:-13.00, Y:33.52, Z:28.25 [[ 0.38048106 0.82269714 0.42237849 -12.99772547] [ -0.91873673 0.38842931 0.07103166 33.51741232] [ -0.10562664 -0.41508083 0.90363207 28.25042641] [ 0. 0. 0. 1. ]] SLAMing on 235.129072329 meters Centerline goodness : 0.752653 Centerline is valid? [False, False] Translation: X:-13.27, Y:33.58, Z:28.38 [[ 0.38281852 0.82252405 0.42059977 -13.27255408] [ -0.91778555 0.39058192 0.07152235 33.58496761] [ -0.10544981 -0.41340047 0.90442268 28.37503393] [ 0. 0. 0. 1. ]] SLAMing on 235.159072329 meters Centerline goodness : 0.750952 Centerline is valid? [False, False] Translation: X:-13.53, Y:33.65, Z:28.49 [[ 0.38523223 0.82213739 0.41914942 -13.53432691] [ -0.91684791 0.39257018 0.07265367 33.64887453] [ -0.10481427 -0.41228481 0.90500564 28.49255487] [ 0. 0. 0. 1. ]] SLAMing on 235.189072329 meters Centerline goodness : 0.750206 Centerline is valid? [False, False] Translation: X:-13.80, Y:33.71, Z:28.61 [[ 0.38650733 0.8216394 0.418952 -13.80288581] [ -0.91623118 0.39403525 0.07250277 33.71496162] [ -0.10551072 -0.41187974 0.90510915 28.61352844] [ 0. 0. 0. 1. ]] SLAMing on 235.219072329 meters Centerline goodness : 0.749098 Centerline is valid? [False, False] Translation: X:-14.07, Y:33.78, Z:28.73 [[ 0.38542934 0.82195516 0.41932558 -14.06917886] [ -0.91662403 0.39328141 0.07162481 33.78013775] [ -0.10604057 -0.41197021 0.90500605 28.73366137] [ 0. 0. 0. 1. ]] SLAMing on 235.249072329 meters Centerline goodness : 0.749072 Centerline is valid? [False, False] Translation: X:-14.34, Y:33.85, Z:28.86 [[ 0.38328154 0.82276688 0.41970218 -14.33977033] [ -0.91738054 0.39189209 0.06952356 33.84689329] [ -0.10727628 -0.41167371 0.90499534 28.85555901] [ 0. 0. 0. 1. ]] SLAMing on 235.279072329 meters Centerline goodness : 0.750428 Centerline is valid? [False, False] Translation: X:-14.61, Y:33.91, Z:28.98 [[ 0.3818073 0.82345224 0.4197018 -14.60540915] [ -0.91803227 0.3904363 0.06911046 33.91190892] [ -0.10695765 -0.41168667 0.90502715 28.97509483] [ 0. 0. 0. 1. ]] SLAMing on 235.309072329 meters Centerline goodness : 0.749046 Centerline is valid? [False, False] Translation: X:-14.87, Y:33.98, Z:29.10 [[ 0.37921358 0.82651436 0.41601812 -14.87291901] [ -0.91938423 0.38735374 0.06848152 33.97934231] [ -0.10454521 -0.40844962 0.90677407 29.09506185] [ 0. 0. 0. 1. ]] SLAMing on 235.339072329 meters Centerline goodness : 0.750114 Centerline is valid? [False, False] Translation: X:-15.14, Y:34.05, Z:29.21 [[ 0.37903643 0.82769747 0.41382157 -15.14118234] [ -0.91958549 0.38687488 0.06848614 34.04509244] [ -0.10341137 -0.40650305 0.90777825 29.21446666] [ 0. 0. 0. 1. ]] SLAMing on 235.369072329 meters Centerline goodness : 0.749313 Centerline is valid? [False, False] Translation: X:-15.41, Y:34.11, Z:29.34 [[ 0.3783577 0.82810613 0.41362506 -15.4113618 ] [ -0.91985815 0.38631102 0.06800577 34.11209427] [ -0.10347192 -0.40620689 0.90790392 29.33503502] [ 0. 0. 0. 1. ]] SLAMing on 235.399072329 meters Centerline goodness : 0.747738 Centerline is valid? [False, False] Translation: X:-15.69, Y:34.18, Z:29.46 [[ 0.37701251 0.82710638 0.41684123 -15.68662826] [ -0.92029699 0.38528964 0.06786267 34.17861293] [ -0.10447496 -0.4092028 0.90644252 29.45877914] [ 0. 0. 0. 1. ]] SLAMing on 235.429072329 meters Centerline goodness : 0.748089 Centerline is valid? [False, False] Translation: X:-15.97, Y:34.25, Z:29.59 [[ 0.3740435 0.82709375 0.41953234 -15.9684043 ] [ -0.92127458 0.3833298 0.06566143 34.24713815] [ -0.10651109 -0.41106471 0.90536247 29.58688161] [ 0. 0. 0. 1. ]] SLAMing on 235.459072329 meters Centerline goodness : 0.746045 Centerline is valid? [False, False] Translation: X:-16.25, Y:34.31, Z:29.71 [[ 0.36810791 0.82875533 0.42149871 -16.24843212] [ -0.92382152 0.37725977 0.06502978 34.31451876] [ -0.10512073 -0.41332756 0.90449431 29.71304304] [ 0. 0. 0. 1. ]] SLAMing on 235.489072329 meters Centerline goodness : 0.746045 Centerline is valid? [False, False] Translation: X:-16.53, Y:34.38, Z:29.84 [[ 0.36881167 0.82776151 0.42283429 -16.52818355] [ -0.92347846 0.37802652 0.06544841 34.37990864] [ -0.1056669 -0.41461649 0.90384051 29.83919866] [ 0. 0. 0. 1. ]] SLAMing on 235.519072329 meters Centerline goodness : 0.744125 Centerline is valid? [False, False] Translation: X:-16.80, Y:34.44, Z:29.96 [[ 0.36686289 0.82949685 0.42112539 -16.79840445] [ -0.92455737 0.37522245 0.0663459 34.44315396] [ -0.10298198 -0.41369443 0.90457262 29.96052127] [ 0. 0. 0. 1. ]] SLAMing on 235.549072329 meters Centerline goodness : 0.744390 Centerline is valid? [False, False] Translation: X:-17.07, Y:34.50, Z:30.08 [[ 0.36491632 0.83321323 0.41544169 -17.065573 ] [ -0.92632672 0.36976354 0.07206756 34.50339297] [ -0.09356755 -0.41113336 0.90676043 30.07820234] [ 0. 0. 0. 1. ]] SLAMing on 235.579072329 meters Centerline goodness : 0.744254 Centerline is valid? [False, False] Translation: X:-17.34, Y:34.57, Z:30.20 [[ 0.36518868 0.83319538 0.41523812 -17.33791261] [ -0.92659008 0.36835999 0.07577429 34.56523518] [ -0.08982232 -0.41242743 0.90655147 30.20129822] [ 0. 0. 0. 1. ]] SLAMing on 235.609072329 meters Centerline goodness : 0.746063 Centerline is valid? [False, False] Translation: X:-17.61, Y:34.63, Z:30.33 [[ 0.36599702 0.83151753 0.4178813 -17.61136348] [ -0.92648528 0.36783292 0.07952338 34.62672082] [ -0.08758542 -0.41626619 0.90501451 30.32618426] [ 0. 0. 0. 1. ]] SLAMing on 235.63907232900002 meters Centerline goodness : 0.743155 Centerline is valid? [False, False] Translation: X:-17.89, Y:34.69, Z:30.45 [[ 0.36922049 0.82797395 0.42206086 -17.88736829] [ -0.9250672 0.37094343 0.08155759 34.69166169] [ -0.08903315 -0.42054739 0.90289146 30.45329825] [ 0. 0. 0. 1. ]] SLAMing on 235.669072329 meters Centerline goodness : 0.748851 Centerline is valid? [False, False] Translation: X:-18.17, Y:34.76, Z:30.59 [[ 0.37120991 0.8229206 0.43012195 -18.16596459] [ -0.9237288 0.37441211 0.08087438 34.759276 ] [ -0.09448968 -0.42733741 0.89914095 30.5850082 ] [ 0. 0. 0. 1. ]] SLAMing on 235.699072329 meters Centerline goodness : 0.749624 Centerline is valid? [False, False] Translation: X:-18.44, Y:34.82, Z:30.71 [[ 0.37184151 0.82157196 0.43214974 -18.44296583] [ -0.92323886 0.37582646 0.07990297 34.82405075] [ -0.09676726 -0.42868868 0.89825504 30.71266911] [ 0. 0. 0. 1. ]] SLAMing on 235.729072329 meters Centerline goodness : 0.749217 Centerline is valid? [False, False] Translation: X:-18.72, Y:34.89, Z:30.84 [[ 0.37221647 0.82235056 0.43034225 -18.71975331] [ -0.92303965 0.37654376 0.07882003 34.88760882] [ -0.09722499 -0.42656107 0.89921797 30.84060352] [ 0. 0. 0. 1. ]] SLAMing on 235.759072329 meters Centerline goodness : 0.752710 Centerline is valid? [False, False] Translation: X:-18.99, Y:34.95, Z:30.96 [[ 0.37402643 0.82514309 0.42337112 -18.98674236] [ -0.92261539 0.3774539 0.07943163 34.94815983] [ -0.09426062 -0.42031824 0.90246746 30.96214108] [ 0. 0. 0. 1. ]] SLAMing on 235.789072329 meters Centerline goodness : 0.753691 Centerline is valid? [False, False] Translation: X:-19.26, Y:35.01, Z:31.09 [[ 0.37531975 0.82500191 0.4225008 -19.26040522] [ -0.92227936 0.37783217 0.08150848 35.01083655] [ -0.09238974 -0.42025551 0.90269011 31.08858274] [ 0. 0. 0. 1. ]] SLAMing on 235.819072329 meters Centerline goodness : 0.754787 Centerline is valid? [False, False] Translation: X:-19.54, Y:35.08, Z:31.22 [[ 0.37425331 0.82200852 0.42922775 -19.5378702 ] [ -0.92285091 0.37556841 0.0854082 35.07624377] [ -0.09099811 -0.42807752 0.89914903 31.21798952] [ 0. 0. 0. 1. ]] SLAMing on 235.849072329 meters Centerline goodness : 0.755001 Centerline is valid? [False, False] Translation: X:-19.82, Y:35.14, Z:31.35 [[ 0.37354955 0.81927204 0.43503339 -19.82283654] [ -0.92312866 0.37437234 0.08762892 35.14160737] [ -0.09107254 -0.43432553 0.89614013 31.35024626] [ 0. 0. 0. 1. ]] SLAMing on 235.879072329 meters Centerline goodness : 0.754354 Centerline is valid? [False, False] Translation: X:-20.11, Y:35.21, Z:31.48 [[ 0.37228226 0.81872408 0.4371462 -20.10611001] [ -0.92362351 0.37311595 0.08777302 35.20561623] [ -0.09124433 -0.43643485 0.89509726 31.48322152] [ 0. 0. 0. 1. ]] SLAMing on 235.909072329 meters Centerline goodness : 0.754600 Centerline is valid? [False, False] Translation: X:-20.38, Y:35.27, Z:31.61 [[ 0.37177407 0.81924281 0.43660652 -20.38169407] [ -0.92390948 0.37233802 0.08806634 35.26675154] [ -0.09041749 -0.43612568 0.89533182 31.61162731] [ 0. 0. 0. 1. ]] SLAMing on 235.939072329 meters Centerline goodness : 0.757129 Centerline is valid? [False, False] Translation: X:-20.65, Y:35.33, Z:31.74 [[ 0.37020712 0.82213554 0.43248103 -20.6520403 ] [ -0.92494046 0.36943026 0.0894786 35.32631295] [ -0.08620804 -0.43314482 0.89719214 31.73699447] [ 0. 0. 0. 1. ]] SLAMing on 235.969072329 meters Centerline goodness : 0.757148 Centerline is valid? [False, False] Translation: X:-20.93, Y:35.39, Z:31.87 [[ 0.37043686 0.82185611 0.43281528 -20.93283696] [ -0.92510521 0.36828148 0.09246134 35.38875869] [ -0.08340794 -0.43465076 0.89672841 31.86862361] [ 0. 0. 0. 1. ]] SLAMing on 235.999072329 meters Centerline goodness : 0.756365 Centerline is valid? [False, False] Translation: X:-21.25, Y:35.46, Z:32.02 [[ 0.37638965 0.81421941 0.44201536 -21.2528956 ] [ -0.92369068 0.36667143 0.1111197 35.45663151] [ -0.07159858 -0.45010977 0.89009822 32.01509599] [ 0. 0. 0. 1. ]] SLAMing on 236.029072329 meters Centerline goodness : 0.756299 Centerline is valid? [False, False] Translation: X:-21.54, Y:35.52, Z:32.15 [[ 0.37488416 0.81347025 0.44466619 -21.54392114] [ -0.92410964 0.36620687 0.10915081 35.52299139] [ -0.07404887 -0.45183923 0.88902085 32.15486877] [ 0. 0. 0. 1. ]] SLAMing on 236.059072329 meters Centerline goodness : 0.758124 Centerline is valid? [False, False] Translation: X:-21.83, Y:35.59, Z:32.29 [[ 0.37308858 0.81300959 0.44701265 -21.83215001] [ -0.9246357 0.36554805 0.10688054 35.58797777] [ -0.0765097 -0.45319976 0.8881195 32.29349851] [ 0. 0. 0. 1. ]] SLAMing on 236.089072329 meters Centerline goodness : 0.762103 Centerline is valid? [False, False] Translation: X:-22.16, Y:35.65, Z:32.45 [[ 0.37555797 0.80802342 0.45393211 -22.1566325 ] [ -0.9243435 0.36218908 0.12003405 35.65498329] [ -0.06741893 -0.46466894 0.88291419 32.44548752] [ 0. 0. 0. 1. ]] SLAMing on 236.119072329 meters Centerline goodness : 0.762890 Centerline is valid? [False, False] Translation: X:-22.48, Y:35.72, Z:32.60 [[ 0.38132842 0.80220023 0.4594164 -22.4775954 ] [ -0.92263804 0.36127152 0.13498866 35.71981445] [ -0.05768613 -0.47535006 0.87790354 32.59924033] [ 0. 0. 0. 1. ]] SLAMing on 236.149072329 meters Centerline goodness : 0.765428 Centerline is valid? [False, False] Translation: X:-22.80, Y:35.79, Z:32.76 [[ 0.38810953 0.79583563 0.4647759 -22.80347536] [ -0.92034408 0.36113789 0.1501539 35.78525065] [ -0.04835036 -0.48602991 0.87260367 32.75742772] [ 0. 0. 0. 1. ]] SLAMing on 236.179072329 meters Centerline goodness : 0.764846 Centerline is valid? [False, False] Translation: X:-23.08, Y:35.85, Z:32.90 [[ 0.38454732 0.80018671 0.46024405 -23.07850153] [ -0.92163956 0.36089788 0.14259465 35.84905079] [ -0.05199876 -0.47901352 0.87626604 32.89921918] [ 0. 0. 0. 1. ]] SLAMing on 236.209072329 meters Centerline goodness : 0.765764 Centerline is valid? [False, False] Translation: X:-23.36, Y:35.91, Z:33.04 [[ 0.38111566 0.80248034 0.45910364 -23.35615588] [ -0.92278902 0.36062007 0.13569666 35.9114591 ] [ -0.05666809 -0.47537192 0.87795801 33.04219583] [ 0. 0. 0. 1. ]] SLAMing on 236.239072329 meters Centerline goodness : 0.766320 Centerline is valid? [False, False] Translation: X:-23.65, Y:35.98, Z:33.19 [[ 0.37843337 0.80326925 0.45994206 -23.65115855] [ -0.92368357 0.35991322 0.13141973 35.97646954] [ -0.0599738 -0.47457453 0.87816978 33.19209675] [ 0. 0. 0. 1. ]] SLAMing on 236.269072329 meters Centerline goodness : 0.765748 Centerline is valid? [False, False] Translation: X:-23.93, Y:36.04, Z:33.34 [[ 0.37289609 0.80554608 0.46048238 -23.93436726] [ -0.92584211 0.35584436 0.12724455 36.03942401] [ -0.0613587 -0.47378297 0.87850145 33.33502302] [ 0. 0. 0. 1. ]] SLAMing on 236.299072329 meters Centerline goodness : 0.768897 Centerline is valid? [False, False] Translation: X:-24.26, Y:36.10, Z:33.49 [[ 0.37972084 0.79957622 0.4652848 -24.25862827] [ -0.92378133 0.35458559 0.14455838 36.10141925] [ -0.04939785 -0.48471324 0.87327712 33.49203409] [ 0. 0. 0. 1. ]] SLAMing on 236.329072329 meters Centerline goodness : 0.770070 Centerline is valid? [False, False] Translation: X:-24.53, Y:36.16, Z:33.63 [[ 0.37541186 0.8061877 0.45730442 -24.52644761] [ -0.92567064 0.35108476 0.14097288 36.16030119] [ -0.04690201 -0.47623617 0.87806567 33.62697756] [ 0. 0. 0. 1. ]] SLAMing on 236.359072329 meters Centerline goodness : 0.771915 Centerline is valid? [False, False] Translation: X:-24.85, Y:36.22, Z:33.78 [[ 3.83407060e-01 7.99868347e-01 4.61746310e-01 -2.48483056e+01] [-9.22935190e-01 3.50489990e-01 1.59208677e-01 3.62208998e+01] [-3.44914781e-02 -4.87203648e-01 8.72606981e-01 3.37834556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38907232900002 meters Centerline goodness : 0.769768 Centerline is valid? [False, False] Translation: X:-25.17, Y:36.28, Z:33.94 [[ 3.90411017e-01 7.93057759e-01 4.67588097e-01 -2.51695463e+01] [-9.20326235e-01 3.49465797e-01 1.75707935e-01 3.62811926e+01] [-2.40595063e-02 -4.98931906e-01 8.66307159e-01 3.39423719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419072329 meters Centerline goodness : 0.767608 Centerline is valid? [False, False] Translation: X:-25.50, Y:36.34, Z:34.11 [[ 3.94033871e-01 7.85457715e-01 4.77277159e-01 -2.54967386e+01] [-9.18971833e-01 3.45227983e-01 1.90547660e-01 3.63435226e+01] [-1.51023009e-02 -5.13686497e-01 8.57845034e-01 3.41096958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.449072329 meters Centerline goodness : 0.768684 Centerline is valid? [False, False] Translation: X:-25.82, Y:36.40, Z:34.27 [[ 3.98534231e-01 7.79739452e-01 4.82883893e-01 -2.58166402e+01] [-9.17111693e-01 3.43832337e-01 2.01706387e-01 3.64038736e+01] [-8.75266991e-03 -5.23245364e-01 8.52137125e-01 3.42748402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.479072329 meters Centerline goodness : 0.770726 Centerline is valid? [False, False] Translation: X:-26.13, Y:36.46, Z:34.44 [[ 4.03573533e-01 7.75061459e-01 4.86218199e-01 -2.61279587e+01] [-9.14945970e-01 3.42747101e-01 2.13068762e-01 3.64611473e+01] [-1.50849236e-03 -5.30852295e-01 8.47463017e-01 3.44370552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.509072329 meters Centerline goodness : 0.772498 Centerline is valid? [False, False] Translation: X:-26.43, Y:36.52, Z:34.60 [[ 4.07975266e-01 7.72258888e-01 4.87003483e-01 -2.64341796e+01] [-9.12980953e-01 3.42345019e-01 2.21958706e-01 3.65177467e+01] [ 4.68636682e-03 -5.35178567e-01 8.44725955e-01 3.45975742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.539072329 meters Centerline goodness : 0.773695 Centerline is valid? [False, False] Translation: X:-26.73, Y:36.57, Z:34.75 [[ 4.11223808e-01 7.72037604e-01 4.84616258e-01 -2.67339332e+01] [-9.11442846e-01 3.40721780e-01 2.30609208e-01 3.65742016e+01] [ 1.29196669e-02 -5.36532018e-01 8.43781059e-01 3.47541562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.569072329 meters Centerline goodness : 0.774246 Centerline is valid? [False, False] Translation: X:-27.04, Y:36.63, Z:34.92 [[ 4.14972487e-01 7.70023104e-01 4.84625892e-01 -2.70415660e+01] [-9.09626537e-01 3.39751927e-01 2.39056877e-01 3.66304356e+01] [ 1.94267378e-02 -5.40030599e-01 8.41421152e-01 3.49169268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.599072329 meters Centerline goodness : 0.775259 Centerline is valid? [False, False] Translation: X:-27.35, Y:36.69, Z:35.08 [[ 4.18455264e-01 7.67219198e-01 4.86076018e-01 -2.73469161e+01] [-9.07885719e-01 3.38454415e-01 2.47370430e-01 3.66852877e+01] [ 2.52727689e-02 -5.44814934e-01 8.38175384e-01 3.50789622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.629072329 meters Centerline goodness : 0.775175 Centerline is valid? [False, False] Translation: X:-27.64, Y:36.74, Z:35.24 [[ 4.20090224e-01 7.65804519e-01 4.86895925e-01 -2.76430613e+01] [-9.06993324e-01 3.36702349e-01 2.52971614e-01 3.67389163e+01] [ 2.97878037e-02 -5.47882256e-01 8.36024952e-01 3.52387796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.659072329 meters Centerline goodness : 0.774413 Centerline is valid? [False, False] Translation: X:-27.94, Y:36.79, Z:35.40 [[ 4.18996108e-01 7.66067200e-01 4.87425181e-01 -2.79389366e+01] [-9.07355538e-01 3.33226313e-01 2.56254077e-01 3.67948200e+01] [ 3.38849473e-02 -5.49637398e-01 8.34715844e-01 3.53963412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.689072329 meters Centerline goodness : 0.773588 Centerline is valid? [False, False] Translation: X:-28.23, Y:36.85, Z:35.55 [[ 0.4205276 0.76559392 0.48684955 -28.2322357 ] [ -0.90652388 0.33266078 0.25990625 36.84811147] [ 0.03702689 -0.55063849 0.83392222 35.55329078] [ 0. 0. 0. 1. ]] SLAMing on 236.719072329 meters Centerline goodness : 0.772844 Centerline is valid? [False, False] Translation: X:-28.53, Y:36.90, Z:35.71 [[ 0.42191631 0.76479931 0.48689695 -28.52657571] [ -0.905803 0.33258554 0.2625029 36.90189397] [ 0.03882715 -0.55178698 0.83308078 35.71035651] [ 0. 0. 0. 1. ]] SLAMing on 236.749072329 meters Centerline goodness : 0.773582 Centerline is valid? [False, False] Translation: X:-28.82, Y:36.96, Z:35.87 [[ 0.42114517 0.76441063 0.48817327 -28.82107339] [ -0.90609373 0.33062256 0.26397513 36.95805443] [ 0.0403843 -0.55350259 0.83186777 35.86762149] [ 0. 0. 0. 1. ]] SLAMing on 236.779072329 meters Centerline goodness : 0.773893 Centerline is valid? [False, False] Translation: X:-29.11, Y:37.01, Z:36.02 [[ 0.42189175 0.76332161 0.48923151 -29.11052732] [ -0.9056857 0.32999011 0.26615772 37.00997633] [ 0.04172238 -0.55537973 0.83054958 36.02376768] [ 0. 0. 0. 1. ]] SLAMing on 236.809072329 meters Centerline goodness : 0.774600 Centerline is valid? [False, False] Translation: X:-29.41, Y:37.06, Z:36.18 [[ 0.4207589 0.76368001 0.48964761 -29.40552742] [ -0.90627363 0.32983246 0.26434571 37.06354484] [ 0.04037386 -0.55498053 0.830883 36.18438281] [ 0. 0. 0. 1. ]] SLAMing on 236.839072329 meters Centerline goodness : 0.777318 Centerline is valid? [False, False] Translation: X:-29.70, Y:37.12, Z:36.34 [[ 0.41882288 0.76491272 0.48938321 -29.69665048] [ -0.90716936 0.3284777 0.26295655 37.11680976] [ 0.04038734 -0.55408567 0.83147936 36.34007739] [ 0. 0. 0. 1. ]] SLAMing on 236.869072329 meters Centerline goodness : 0.780259 Centerline is valid? [False, False] Translation: X:-29.99, Y:37.17, Z:36.50 [[ 0.41910852 0.76670104 0.48633071 -29.99041011] [ -0.90693719 0.32840432 0.26384756 37.16770035] [ 0.04257909 -0.55165217 0.83298674 36.4978496 ] [ 0. 0. 0. 1. ]] SLAMing on 236.899072329 meters Centerline goodness : 0.778884 Centerline is valid? [False, False] Translation: X:-30.28, Y:37.22, Z:36.65 [[ 0.41920204 0.76917314 0.4823301 -30.27616693] [ -0.90666943 0.32710011 0.26637579 37.21858663] [ 0.04711887 -0.54897923 0.83450681 36.64881654] [ 0. 0. 0. 1. ]] SLAMing on 236.929072329 meters Centerline goodness : 0.779507 Centerline is valid? [False, False] Translation: X:-30.58, Y:37.27, Z:36.81 [[ 0.41930072 0.76868826 0.48301684 -30.57919149] [ -0.90654887 0.32607397 0.26803902 37.27085591] [ 0.04853923 -0.55026732 0.83357652 36.81121601] [ 0. 0. 0. 1. ]] SLAMing on 236.959072329 meters Centerline goodness : 0.777216 Centerline is valid? [False, False] Translation: X:-30.87, Y:37.32, Z:36.97 [[ 0.41679901 0.76914882 0.48444678 -30.87222042] [ -0.90779504 0.32479034 0.26536654 37.32217577] [ 0.04676273 -0.5503829 0.83360177 36.97003262] [ 0. 0. 0. 1. ]] SLAMing on 236.989072329 meters Centerline goodness : 0.776235 Centerline is valid? [False, False] Translation: X:-31.17, Y:37.37, Z:37.13 [[ 0.41576295 0.76844699 0.48644669 -31.17139153] [ -0.90830724 0.32377023 0.26485995 37.37233001] [ 0.04603388 -0.55196201 0.83259764 37.13044407] [ 0. 0. 0. 1. ]] SLAMing on 237.019072329 meters Centerline goodness : 0.774936 Centerline is valid? [False, False] Translation: X:-31.46, Y:37.42, Z:37.28 [[ 0.41326588 0.76997346 0.48616066 -31.45618221] [ -0.90942682 0.32177423 0.26344677 37.41965251] [ 0.04641305 -0.5510011 0.83321283 37.28406172] [ 0. 0. 0. 1. ]] SLAMing on 237.049072329 meters Centerline goodness : 0.773197 Centerline is valid? [False, False] Translation: X:-31.77, Y:37.47, Z:37.45 [[ 0.41429117 0.77064529 0.48421964 -31.77044609] [ -0.90885332 0.32196675 0.26518493 37.47022598] [ 0.04846089 -0.54994841 0.83379152 37.45063913] [ 0. 0. 0. 1. ]] SLAMing on 237.079072329 meters Centerline goodness : 0.775643 Centerline is valid? [False, False] Translation: X:-32.06, Y:37.52, Z:37.61 [[ 0.41462345 0.77264859 0.48073022 -32.06353908] [ -0.90859175 0.32219619 0.2658019 37.51738674] [ 0.05048202 -0.54699521 0.83561223 37.60638291] [ 0. 0. 0. 1. ]] SLAMing on 237.109072329 meters Centerline goodness : 0.775671 Centerline is valid? [False, False] Translation: X:-32.35, Y:37.56, Z:37.76 [[ 0.41629066 0.77314858 0.47848027 -32.35249237] [ -0.90762251 0.32206455 0.26925045 37.56253905] [ 0.05406907 -0.54636591 0.83579952 37.758814 ] [ 0. 0. 0. 1. ]] SLAMing on 237.13907232900002 meters Centerline goodness : 0.772246 Centerline is valid? [False, False] Translation: X:-32.64, Y:37.61, Z:37.91 [[ 0.41305749 0.77512781 0.47807989 -32.64340877] [ -0.90903059 0.31910098 0.26802602 37.61087995] [ 0.05519866 -0.5452994 0.83642194 37.91376988] [ 0. 0. 0. 1. ]] SLAMing on 237.169072329 meters Centerline goodness : 0.764074 Centerline is valid? [False, False] Translation: X:-32.97, Y:37.66, Z:38.09 [[ 0.41526027 0.77185452 0.48145561 -32.97478422] [ -0.90783486 0.31771498 0.27366595 37.66091185] [ 0.05826465 -0.55072478 0.83265085 38.08851282] [ 0. 0. 0. 1. ]] SLAMing on 237.199072329 meters Centerline goodness : 0.762535 Centerline is valid? [False, False] Translation: X:-33.27, Y:37.71, Z:38.25 [[ 0.41185296 0.77182519 0.48442029 -33.27156085] [ -0.90959561 0.31618265 0.26956327 37.70886083] [ 0.05489043 -0.551647 0.83226956 38.24898935] [ 0. 0. 0. 1. ]] SLAMing on 237.229072329 meters Centerline goodness : 0.762195 Centerline is valid? [False, False] Translation: X:-33.59, Y:37.76, Z:38.42 [[ 0.41217916 0.77219623 0.48355075 -33.59157703] [ -0.9093938 0.31619122 0.27023329 37.75712981] [ 0.05577862 -0.55112258 0.83255789 38.41906095] [ 0. 0. 0. 1. ]] SLAMing on 237.259072329 meters Centerline goodness : 0.769121 Centerline is valid? [False, False] Translation: X:-33.89, Y:37.80, Z:38.57 [[ 0.41009433 0.77567019 0.47974827 -33.88525831] [ -0.91018903 0.31454263 0.26947887 37.80331539] [ 0.05812544 -0.54717337 0.83499864 38.57336173] [ 0. 0. 0. 1. ]] SLAMing on 237.289072329 meters Centerline goodness : 0.769544 Centerline is valid? [False, False] Translation: X:-34.17, Y:37.85, Z:38.73 [[ 0.40958232 0.77722713 0.4776613 -34.17472507] [ -0.91035569 0.31428733 0.26921366 37.84810477] [ 0.05911727 -0.54510683 0.83627967 38.72685206] [ 0. 0. 0. 1. ]] SLAMing on 237.319072329 meters Centerline goodness : 0.767949 Centerline is valid? [False, False] Translation: X:-34.47, Y:37.89, Z:38.88 [[ 0.41074752 0.7762801 0.47820046 -34.4653858 ] [ -0.90970442 0.31382759 0.27193768 37.89159771] [ 0.06102732 -0.5467188 0.83508935 38.88026488] [ 0. 0. 0. 1. ]] SLAMing on 237.349072329 meters Centerline goodness : 0.756595 Centerline is valid? [False, False] Translation: X:-34.76, Y:37.94, Z:39.04 [[ 0.40805603 0.77528612 0.48210134 -34.7608713 ] [ -0.91105185 0.31170351 0.26986192 37.93878465] [ 0.05894752 -0.5493381 0.83351835 39.0387216 ] [ 0. 0. 0. 1. ]] SLAMing on 237.379072329 meters Centerline goodness : 0.756595 Centerline is valid? [False, False] Translation: X:-35.05, Y:37.98, Z:39.19 [[ 0.40875446 0.77495837 0.48203664 -35.0451915 ] [ -0.91079686 0.31279438 0.26946012 37.97971644] [ 0.05804203 -0.54918048 0.83368574 39.18953687] [ 0. 0. 0. 1. ]] SLAMing on 237.409072329 meters Centerline goodness : 0.754982 Centerline is valid? [False, False] Translation: X:-35.33, Y:38.02, Z:39.34 [[ 0.40752735 0.77451823 0.48377988 -35.32857076] [ -0.91143029 0.31207397 0.26815045 38.02149667] [ 0.0567123 -0.55021028 0.83309805 39.33969799] [ 0. 0. 0. 1. ]] SLAMing on 237.439072329 meters Centerline goodness : 0.756241 Centerline is valid? [False, False] Translation: X:-35.61, Y:38.06, Z:39.49 [[ 0.40683926 0.77517999 0.48329887 -35.60988282] [ -0.91169634 0.31132724 0.26811404 38.06124404] [ 0.05737253 -0.54970113 0.8333889 39.48918444] [ 0. 0. 0. 1. ]] SLAMing on 237.469072329 meters Centerline goodness : 0.759621 Centerline is valid? [False, False] Translation: X:-35.89, Y:38.10, Z:39.63 [[ 0.40600597 0.7773246 0.48054721 -35.88681397] [ -0.91190046 0.31009024 0.26885236 38.10063584] [ 0.05997255 -0.54736688 0.83474115 39.63418725] [ 0. 0. 0. 1. ]] SLAMing on 237.499072329 meters Centerline goodness : 0.759129 Centerline is valid? [False, False] Translation: X:-36.16, Y:38.14, Z:39.78 [[ 0.40730329 0.77695012 0.48005473 -36.15955705] [ -0.91120059 0.31014444 0.27115292 38.13838937] [ 0.06178598 -0.54786763 0.83428026 39.77945151] [ 0. 0. 0. 1. ]] SLAMing on 237.529072329 meters Centerline goodness : 0.758681 Centerline is valid? [False, False] Translation: X:-36.44, Y:38.18, Z:39.93 [[ 0.40892053 0.77567049 0.48074868 -36.43566106] [ -0.91045809 0.31095227 0.27271735 38.17717912] [ 0.06204891 -0.54922124 0.83337024 39.92768335] [ 0. 0. 0. 1. ]] SLAMing on 237.559072329 meters Centerline goodness : 0.754416 Centerline is valid? [False, False] Translation: X:-36.71, Y:38.22, Z:40.08 [[ 0.41111147 0.77345446 0.48244746 -36.71268888] [ -0.90967644 0.31385647 0.27199796 38.21810713] [ 0.05895878 -0.55069257 0.8326233 40.07786883] [ 0. 0. 0. 1. ]] SLAMing on 237.589072329 meters Centerline goodness : 0.755798 Centerline is valid? [False, False] Translation: X:-36.98, Y:38.26, Z:40.22 [[ 0.41167324 0.77363198 0.4816832 -36.97875174] [ -0.90955524 0.31580526 0.27014126 38.25532688] [ 0.05687183 -0.54932741 0.8336696 40.22157038] [ 0. 0. 0. 1. ]] SLAMing on 237.619072329 meters Centerline goodness : 0.760965 Centerline is valid? [False, False] Translation: X:-37.24, Y:38.29, Z:40.36 [[ 0.41260569 0.77419437 0.47997877 -37.24399856] [ -0.90917717 0.3175286 0.26939278 38.29091565] [ 0.05615539 -0.54753873 0.83489395 40.36385899] [ 0. 0. 0. 1. ]] SLAMing on 237.649072329 meters Centerline goodness : 0.767624 Centerline is valid? [False, False] Translation: X:-37.59, Y:38.34, Z:40.55 [[ 0.41586827 0.7743559 0.47689256 -37.59322915] [ -0.90736853 0.31805821 0.27481142 38.33511942] [ 0.06112225 -0.54700266 0.8348965 40.54994884] [ 0. 0. 0. 1. ]] SLAMing on 237.679072329 meters Centerline goodness : 0.765815 Centerline is valid? [False, False] Translation: X:-37.87, Y:38.37, Z:40.70 [[ 0.41389347 0.7753127 0.47705598 -37.8668586 ] [ -0.90845066 0.31816738 0.27108471 38.37448067] [ 0.05839176 -0.54558201 0.83602074 40.69891719] [ 0. 0. 0. 1. ]] SLAMing on 237.709072329 meters Centerline goodness : 0.759915 Centerline is valid? [False, False] Translation: X:-38.14, Y:38.41, Z:40.85 [[ 0.41381711 0.77369626 0.47973899 -38.13828101] [ -0.90856603 0.31793427 0.27097154 38.41204776] [ 0.0571242 -0.54800721 0.83452077 40.84608689] [ 0. 0. 0. 1. ]] SLAMing on 237.739072329 meters Centerline goodness : 0.750404 Centerline is valid? [False, False] Translation: X:-38.50, Y:38.46, Z:41.04 [[ 0.41750097 0.76821471 0.4853237 -38.49548045] [ -0.90674638 0.31742163 0.27758695 38.45814738] [ 0.05919414 -0.55595833 0.82909975 41.03719469] [ 0. 0. 0. 1. ]] SLAMing on 237.769072329 meters Centerline goodness : 0.752666 Centerline is valid? [False, False] Translation: X:-38.76, Y:38.49, Z:41.18 [[ 0.4154807 0.77077029 0.48299995 -38.75734106] [ -0.90789694 0.31890876 0.27206681 38.49458148] [ 0.0556681 -0.55155268 0.83228042 41.17979353] [ 0. 0. 0. 1. ]] SLAMing on 237.799072329 meters Centerline goodness : 0.754057 Centerline is valid? [False, False] Translation: X:-39.02, Y:38.53, Z:41.32 [[ 0.41613003 0.7721018 0.48030679 -39.01986068] [ -0.90761146 0.32045877 0.27119665 38.52847263] [ 0.0554729 -0.54878502 0.83412095 41.32014466] [ 0. 0. 0. 1. ]] SLAMing on 237.829072329 meters Centerline goodness : 0.759103 Centerline is valid? [False, False] Translation: X:-39.28, Y:38.56, Z:41.46 [[ 0.41539461 0.77504958 0.47617799 -39.28285753] [ -0.90797629 0.32162587 0.26858121 38.56292297] [ 0.05501259 -0.5439255 0.83732829 41.46232429] [ 0. 0. 0. 1. ]] SLAMing on 237.859072329 meters Centerline goodness : 0.755600 Centerline is valid? [False, False] Translation: X:-39.56, Y:38.60, Z:41.61 [[ 0.41539975 0.77400326 0.47787237 -39.55509084] [ -0.90802684 0.32157035 0.26847676 38.59951346] [ 0.05413231 -0.54544612 0.83639598 41.60885805] [ 0. 0. 0. 1. ]] SLAMing on 237.88907232900002 meters Centerline goodness : 0.748597 Centerline is valid? [False, False] Translation: X:-39.82, Y:38.63, Z:41.75 [[ 0.41610364 0.77189126 0.48066792 -39.82099107] [ -0.9077248 0.32132938 0.26978347 38.63491916] [ 0.05379077 -0.54857208 0.83437116 41.75248407] [ 0. 0. 0. 1. ]] SLAMing on 237.919072329 meters Centerline goodness : 0.742476 Centerline is valid? [False, False] Translation: X:-40.09, Y:38.67, Z:41.90 [[ 0.41661331 0.76995358 0.48332683 -40.09386725] [ -0.90770891 0.32309002 0.26772628 38.67426929] [ 0.04997873 -0.55025841 0.83349734 41.89916702] [ 0. 0. 0. 1. ]] SLAMing on 237.949072329 meters Centerline goodness : 0.743572 Centerline is valid? [False, False] Translation: X:-40.44, Y:38.72, Z:42.08 [[ 0.42045431 0.76853707 0.48225403 -40.44377374] [ -0.90579323 0.32478922 0.27212238 38.71762131] [ 0.05250522 -0.55123746 0.8326947 42.08404156] [ 0. 0. 0. 1. ]] SLAMing on 237.979072329 meters Centerline goodness : 0.751049 Centerline is valid? [False, False] Translation: X:-40.71, Y:38.75, Z:42.23 [[ 0.42098007 0.77084419 0.4780952 -40.70886765] [ -0.90563477 0.32755298 0.26932268 38.7516865 ] [ 0.05100432 -0.54635912 0.83599658 42.2263617 ] [ 0. 0. 0. 1. ]] SLAMing on 238.009072329 meters Centerline goodness : 0.760461 Centerline is valid? [False, False] Translation: X:-40.98, Y:38.79, Z:42.37 [[ 0.422404 0.77287876 0.47353277 -40.97526279] [ -0.90507232 0.33129855 0.2666184 38.78543383] [ 0.04918298 -0.54120208 0.839453 42.37047018] [ 0. 0. 0. 1. ]] SLAMing on 238.039072329 meters Centerline goodness : 0.758621 Centerline is valid? [False, False] Translation: X:-41.33, Y:38.83, Z:42.56 [[ 0.42572051 0.76913592 0.47664661 -41.32734896] [ -0.9033652 0.3310587 0.27263795 38.82901059] [ 0.05189763 -0.54665353 0.8357491 42.55941216] [ 0. 0. 0. 1. ]] SLAMing on 238.069072329 meters Centerline goodness : 0.749867 Centerline is valid? [False, False] Translation: X:-41.60, Y:38.87, Z:42.71 [[ 0.42404653 0.76848373 0.47918399 -41.59598189] [ -0.90430369 0.33055769 0.27012304 38.86634827] [ 0.04918721 -0.54787259 0.83511451 42.70643357] [ 0. 0. 0. 1. ]] SLAMing on 238.099072329 meters Centerline goodness : 0.745925 Centerline is valid? [False, False] Translation: X:-41.92, Y:38.91, Z:42.88 [[ 0.42467517 0.76491116 0.48431594 -41.91572035] [ -0.90413753 0.33069342 0.27051282 38.90994782] [ 0.04675818 -0.55276829 0.83202217 42.87745893] [ 0. 0. 0. 1. ]] SLAMing on 238.129072329 meters Centerline goodness : 0.746826 Centerline is valid? [False, False] Translation: X:-42.18, Y:38.95, Z:43.02 [[ 0.42378351 0.76732692 0.48126598 -42.18022765] [ -0.90470768 0.33294642 0.26580197 38.94538448] [ 0.04372122 -0.54804752 0.83530376 43.02005122] [ 0. 0. 0. 1. ]] SLAMing on 238.159072329 meters Centerline goodness : 0.751307 Centerline is valid? [False, False] Translation: X:-42.51, Y:38.98, Z:43.19 [[ 0.4279782 0.76697788 0.47809999 -42.50856167] [ -0.902588 0.3354475 0.26983304 38.98398713] [ 0.04657852 -0.54700997 0.83582925 43.19375137] [ 0. 0. 0. 1. ]] SLAMing on 238.189072329 meters Centerline goodness : 0.756443 Centerline is valid? [False, False] Translation: X:-42.77, Y:39.02, Z:43.34 [[ 0.42882174 0.76931211 0.47357237 -42.77175261] [ -0.90233305 0.33941088 0.26569779 39.0167345 ] [ 0.04366891 -0.541257 0.83972251 43.33595323] [ 0. 0. 0. 1. ]] SLAMing on 238.219072329 meters Centerline goodness : 0.752995 Centerline is valid? [False, False] Translation: X:-43.04, Y:39.05, Z:43.48 [[ 4.27492994e-01 7.68934032e-01 4.75384259e-01 -4.30417343e+01] [-9.03107135e-01 3.39638928e-01 2.62760158e-01 3.90525503e+01] [ 4.05862274e-02 -5.41651043e-01 8.39623074e-01 4.34824865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.249072329 meters Centerline goodness : 0.747602 Centerline is valid? [False, False] Translation: X:-43.31, Y:39.09, Z:43.63 [[ 4.26805990e-01 7.66987591e-01 4.79131175e-01 -4.33124690e+01] [-9.03537469e-01 3.39298332e-01 2.61718711e-01 3.90883037e+01] [ 3.81665957e-02 -5.44616083e-01 8.37816587e-01 4.36285001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.279072329 meters Centerline goodness : 0.743081 Centerline is valid? [False, False] Translation: X:-43.59, Y:39.12, Z:43.78 [[ 4.27826783e-01 7.64173986e-01 4.82703183e-01 -4.35867971e+01] [-9.03231430e-01 3.41531526e-01 2.59863813e-01 3.91245473e+01] [ 3.37228111e-02 -5.47169385e-01 8.36342296e-01 4.37769305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.309072329 meters Centerline goodness : 0.743515 Centerline is valid? [False, False] Translation: X:-43.90, Y:39.16, Z:43.94 [[ 4.30633745e-01 7.63242286e-01 4.81680175e-01 -4.39024322e+01] [-9.01982382e-01 3.45421344e-01 2.59059602e-01 3.91632251e+01] [ 3.13426297e-02 -5.46026838e-01 8.37181182e-01 4.39444769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.339072329 meters Centerline goodness : 0.748879 Centerline is valid? [False, False] Translation: X:-44.16, Y:39.19, Z:44.09 [[ 4.35487082e-01 7.64109292e-01 4.75907545e-01 -4.41646667e+01] [-8.99798346e-01 3.53798031e-01 2.55323109e-01 3.91926575e+01] [ 2.67196079e-02 -5.39410737e-01 8.41618749e-01 4.40854133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.369072329 meters Centerline goodness : 0.750087 Centerline is valid? [False, False] Translation: X:-44.44, Y:39.23, Z:44.23 [[ 4.36708212e-01 7.64337977e-01 4.74419008e-01 -4.44352964e+01] [-8.99304851e-01 3.57340170e-01 2.52108683e-01 3.92258445e+01] [ 2.31672719e-02 -5.36745247e-01 8.43426237e-01 4.42307881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.399072329 meters Centerline goodness : 0.748658 Centerline is valid? [False, False] Translation: X:-44.70, Y:39.26, Z:44.38 [[ 4.37569096e-01 7.63450772e-01 4.75053897e-01 -4.47036018e+01] [-8.98962606e-01 3.59681287e-01 2.49991209e-01 3.92594251e+01] [ 1.99879847e-02 -5.36444116e-01 8.43699111e-01 4.43754615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.429072329 meters Centerline goodness : 0.745614 Centerline is valid? [False, False] Translation: X:-44.99, Y:39.30, Z:44.53 [[ 4.38972288e-01 7.61027977e-01 4.77639768e-01 -4.49927131e+01] [-8.98337811e-01 3.61622285e-01 2.49436365e-01 3.92953888e+01] [ 1.71028679e-02 -5.38577516e-01 8.42402369e-01 4.45315758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.459072329 meters Centerline goodness : 0.745815 Centerline is valid? [False, False] Translation: X:-45.26, Y:39.33, Z:44.68 [[ 4.42395222e-01 7.56106414e-01 4.82275397e-01 -4.52602697e+01] [-8.96740283e-01 3.65769970e-01 2.49136897e-01 3.93283896e+01] [ 1.19721480e-02 -5.42692749e-01 8.39845967e-01 4.46773513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.489072329 meters Centerline goodness : 0.744131 Centerline is valid? [False, False] Translation: X:-45.52, Y:39.36, Z:44.82 [[ 4.43931265e-01 7.55745476e-01 4.81428924e-01 -4.55234689e+01] [-8.96022708e-01 3.69442869e-01 2.46282911e-01 3.93604066e+01] [ 8.26671312e-03 -5.40703932e-01 8.41172348e-01 4.48189341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.519072329 meters Centerline goodness : 0.745723 Centerline is valid? [False, False] Translation: X:-45.78, Y:39.39, Z:44.96 [[ 4.46654771e-01 7.56204105e-01 4.78178697e-01 -4.57825557e+01] [-8.94683487e-01 3.73678445e-01 2.44756771e-01 3.93901132e+01] [ 6.40100248e-03 -5.37140364e-01 8.43468587e-01 4.49574706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.549072329 meters Centerline goodness : 0.753796 Centerline is valid? [False, False] Translation: X:-46.03, Y:39.42, Z:45.09 [[ 4.52348044e-01 7.57179090e-01 4.71233565e-01 -4.60342413e+01] [-8.91829415e-01 3.81291297e-01 2.43428105e-01 3.94168793e+01] [ 4.64141384e-03 -5.30374182e-01 8.47750957e-01 4.50910439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.579072329 meters Centerline goodness : 0.753837 Centerline is valid? [False, False] Translation: X:-46.29, Y:39.45, Z:45.23 [[ 4.53700754e-01 7.56055338e-01 4.71737164e-01 -4.62853074e+01] [-8.91152560e-01 3.83935698e-01 2.41744690e-01 3.94466831e+01] [ 1.65562595e-03 -5.30069529e-01 8.47952565e-01 4.52275699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.609072329 meters Centerline goodness : 0.752320 Centerline is valid? [False, False] Translation: X:-46.55, Y:39.48, Z:45.37 [[ 4.53867578e-01 7.53712039e-01 4.75312933e-01 -4.65456608e+01] [-8.91063991e-01 3.85716562e-01 2.39223112e-01 3.94788862e+01] [-3.03073040e-03 -5.32109854e-01 8.46669899e-01 4.53695074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63907232900002 meters Centerline goodness : 0.752525 Centerline is valid? [False, False] Translation: X:-46.80, Y:39.51, Z:45.51 [[ 4.53691480e-01 7.49453098e-01 4.82166044e-01 -4.68035649e+01] [-8.91109374e-01 3.87227025e-01 2.36599483e-01 3.95113721e+01] [-9.38750759e-03 -5.37005851e-01 8.43526283e-01 4.55101094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669072329 meters Centerline goodness : 0.754946 Centerline is valid? [False, False] Translation: X:-47.05, Y:39.54, Z:45.64 [[ 4.54260296e-01 7.49601280e-01 4.81399527e-01 -4.70517375e+01] [-8.90787096e-01 3.89519234e-01 2.34036569e-01 3.95404403e+01] [-1.20802635e-02 -5.35138008e-01 8.44678270e-01 4.56427401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.699072329 meters Centerline goodness : 0.758921 Centerline is valid? [False, False] Translation: X:-47.29, Y:39.57, Z:45.77 [[ 4.57703910e-01 7.52951464e-01 4.72833187e-01 -4.72920440e+01] [-8.89018494e-01 3.94980319e-01 2.31595909e-01 3.95659500e+01] [-1.23793245e-02 -5.26359801e-01 8.50171813e-01 4.57697809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.729072329 meters Centerline goodness : 0.764269 Centerline is valid? [False, False] Translation: X:-47.54, Y:39.59, Z:45.90 [[ 4.58640668e-01 7.53476887e-01 4.71085257e-01 -4.75381034e+01] [-8.88517367e-01 3.96971219e-01 2.30110279e-01 3.95944648e+01] [-1.36245125e-02 -5.24105364e-01 8.51544444e-01 4.59021997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.759072329 meters Centerline goodness : 0.764175 Centerline is valid? [False, False] Translation: X:-47.79, Y:39.62, Z:46.04 [[ 4.58286351e-01 7.52606519e-01 4.72818198e-01 -4.77898808e+01] [-8.88668282e-01 3.97316963e-01 2.28927753e-01 3.96243760e+01] [-1.55661709e-02 -5.25093001e-01 8.50902483e-01 4.60392125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.789072329 meters Centerline goodness : 0.760651 Centerline is valid? [False, False] Translation: X:-48.05, Y:39.66, Z:46.18 [[ 4.54726761e-01 7.48315195e-01 4.82957494e-01 -4.80497781e+01] [-8.90385008e-01 3.94703463e-01 2.26767973e-01 3.96564953e+01] [-2.09310758e-02 -5.33135578e-01 8.45770859e-01 4.61833109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.819072329 meters Centerline goodness : 0.762002 Centerline is valid? [False, False] Translation: X:-48.30, Y:39.69, Z:46.32 [[ 4.53414968e-01 7.47057559e-01 4.86127422e-01 -4.83030868e+01] [-8.90981780e-01 3.94464436e-01 2.24831662e-01 3.96852733e+01] [-2.37977865e-02 -5.35072716e-01 8.44470753e-01 4.63208619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.849072329 meters Centerline goodness : 0.759841 Centerline is valid? [False, False] Translation: X:-48.55, Y:39.71, Z:46.45 [[ 4.54109851e-01 7.50325904e-01 4.80411575e-01 -4.85471280e+01] [-8.90667072e-01 3.95801536e-01 2.23725971e-01 3.97089244e+01] [-2.22802486e-02 -5.29482939e-01 8.48027953e-01 4.64501026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.879072329 meters Centerline goodness : 0.760542 Centerline is valid? [False, False] Translation: X:-48.79, Y:39.73, Z:46.58 [[ 4.55466241e-01 7.52665600e-01 4.75441898e-01 -4.87918795e+01] [-8.90030687e-01 3.96914138e-01 2.24286742e-01 3.97339222e+01] [-1.98966953e-02 -5.25312919e-01 8.50676471e-01 4.65811040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.909072329 meters Centerline goodness : 0.765448 Centerline is valid? [False, False] Translation: X:-49.04, Y:39.76, Z:46.72 [[ 4.56544640e-01 7.53271251e-01 4.73444203e-01 -4.90407998e+01] [-8.89522755e-01 3.97096152e-01 2.25973262e-01 3.97600997e+01] [-1.77837097e-02 -5.24306273e-01 8.51344038e-01 4.67157238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.939072329 meters Centerline goodness : 0.765778 Centerline is valid? [False, False] Translation: X:-49.30, Y:39.79, Z:46.86 [[ 4.56139559e-01 7.51995881e-01 4.75855962e-01 -4.92967619e+01] [-8.89709887e-01 3.96653768e-01 2.26013510e-01 3.97885655e+01] [-1.87888319e-02 -5.26467457e-01 8.49987645e-01 4.68552189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.969072329 meters Centerline goodness : 0.761969 Centerline is valid? [False, False] Translation: X:-49.56, Y:39.82, Z:47.00 [[ 4.54705559e-01 7.47032160e-01 4.84959593e-01 -4.95604371e+01] [-8.90371102e-01 3.94695929e-01 2.26835677e-01 3.98176911e+01] [-2.19580311e-02 -5.34937450e-01 8.44606280e-01 4.70011038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.999072329 meters Centerline goodness : 0.762935 Centerline is valid? [False, False] Translation: X:-49.82, Y:39.85, Z:47.14 [[ 4.53250822e-01 7.46943562e-01 4.86455556e-01 -4.98197802e+01] [-8.91028140e-01 3.95052843e-01 2.23611506e-01 3.98468688e+01] [-2.51504755e-02 -5.34797688e-01 8.44605758e-01 4.71421899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.029072329 meters Centerline goodness : 0.764750 Centerline is valid? [False, False] Translation: X:-50.07, Y:39.87, Z:47.28 [[ 4.53784857e-01 7.50145711e-01 4.80999704e-01 -5.00716665e+01] [-8.90775564e-01 3.96671433e-01 2.21744601e-01 3.98699682e+01] [-2.44580803e-02 -5.29087125e-01 8.48214959e-01 4.72786576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.059072329 meters Centerline goodness : 0.766010 Centerline is valid? [False, False] Translation: X:-50.33, Y:39.90, Z:47.42 [[ 4.54647906e-01 7.50708959e-01 4.79302973e-01 -5.03299285e+01] [-8.90338607e-01 3.97766466e-01 2.21537816e-01 3.98964827e+01] [-2.43402267e-02 -5.27463645e-01 8.49228860e-01 4.74185639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.089072329 meters Centerline goodness : 0.768591 Centerline is valid? [False, False] Translation: X:-50.59, Y:39.93, Z:47.56 [[ 4.54470154e-01 7.50580280e-01 4.79672932e-01 -5.05917762e+01] [-8.90388231e-01 3.98385705e-01 2.20221771e-01 3.99250709e+01] [-2.58007207e-02 -5.27179356e-01 8.49362261e-01 4.75611062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.119072329 meters Centerline goodness : 0.765546 Centerline is valid? [False, False] Translation: X:-50.85, Y:39.95, Z:47.70 [[ 4.54639139e-01 7.47427786e-01 4.84411971e-01 -5.08508390e+01] [-8.90272216e-01 3.97715684e-01 2.21895507e-01 3.99532913e+01] [-2.68073709e-02 -5.32140901e-01 8.46231308e-01 4.77033726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.149072329 meters Centerline goodness : 0.765643 Centerline is valid? [False, False] Translation: X:-51.11, Y:39.98, Z:47.85 [[ 4.55027119e-01 7.45974070e-01 4.86284905e-01 -5.11121781e+01] [-8.90022881e-01 3.98441603e-01 2.21593231e-01 3.99810906e+01] [-2.84533324e-02 -5.33635621e-01 8.45235725e-01 4.78464086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.179072329 meters Centerline goodness : 0.765707 Centerline is valid? [False, False] Translation: X:-51.37, Y:40.01, Z:47.99 [[ 4.55706777e-01 7.45531980e-01 4.86326434e-01 -5.13732144e+01] [-8.89644582e-01 3.99511127e-01 2.21186297e-01 4.00077928e+01] [-2.93913634e-02 -5.33453772e-01 8.45318414e-01 4.79888011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.209072329 meters Centerline goodness : 0.768049 Centerline is valid? [False, False] Translation: X:-51.63, Y:40.03, Z:48.13 [[ 4.55142623e-01 7.47077640e-01 4.84479301e-01 -5.16319454e+01] [-8.89976758e-01 3.98821350e-01 2.21094778e-01 4.00321842e+01] [-2.80457241e-02 -5.31804975e-01 8.46402331e-01 4.81306801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.239072329 meters Centerline goodness : 0.768948 Centerline is valid? [False, False] Translation: X:-51.90, Y:40.06, Z:48.28 [[ 4.55408682e-01 7.46473674e-01 4.85159753e-01 -5.18960390e+01] [-8.89879051e-01 3.98076868e-01 2.22822983e-01 4.00586015e+01] [-2.67993840e-02 -5.33209022e-01 8.45558947e-01 4.82752584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.269072329 meters Centerline goodness : 0.767261 Centerline is valid? [False, False] Translation: X:-52.16, Y:40.09, Z:48.42 [[ 4.56383248e-01 7.45072465e-01 4.86396291e-01 -5.21589943e+01] [-8.89406594e-01 3.97902210e-01 2.25010536e-01 4.00850354e+01] [-2.58890045e-02 -5.35295108e-01 8.44268267e-01 4.84192017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.299072329 meters Centerline goodness : 0.767261 Centerline is valid? [False, False] Translation: X:-52.42, Y:40.11, Z:48.56 [[ 4.57523752e-01 7.43669424e-01 4.87470825e-01 -5.24193269e+01] [-8.88792361e-01 3.99015062e-01 2.25466447e-01 4.01114321e+01] [-2.68356986e-02 -5.36416600e-01 8.43526571e-01 4.85623812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.329072329 meters Centerline goodness : 0.769873 Centerline is valid? [False, False] Translation: X:-52.67, Y:40.14, Z:48.70 [[ 4.58781877e-01 7.44073809e-01 4.85667949e-01 -5.26731847e+01] [-8.88223302e-01 3.98840840e-01 2.28002962e-01 4.01363968e+01] [-2.40531804e-02 -5.35985216e-01 8.43884644e-01 4.87034828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.359072329 meters Centerline goodness : 0.770267 Centerline is valid? [False, False] Translation: X:-52.93, Y:40.16, Z:48.84 [[ 4.60416778e-01 7.43279502e-01 4.85336968e-01 -5.29294324e+01] [-8.87412280e-01 3.99372084e-01 2.30220293e-01 4.01604280e+01] [-2.27120118e-02 -5.36691271e-01 8.43472966e-01 4.88445477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38907232900002 meters Centerline goodness : 0.769403 Centerline is valid? [False, False] Translation: X:-53.19, Y:40.18, Z:48.99 [[ 4.61292156e-01 7.42102899e-01 4.86305290e-01 -5.31882776e+01] [-8.86948963e-01 3.99935373e-01 2.31026481e-01 4.01848446e+01] [-2.30452657e-02 -5.37898676e-01 8.42694447e-01 4.89876990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419072329 meters Centerline goodness : 0.770532 Centerline is valid? [False, False] Translation: X:-53.44, Y:40.21, Z:49.13 [[ 4.60336715e-01 7.40466176e-01 4.89693732e-01 -5.34428764e+01] [-8.87423931e-01 3.98647822e-01 2.31427485e-01 4.02097300e+01] [-2.38511148e-02 -5.41100505e-01 8.40619633e-01 4.91294566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.449072329 meters Centerline goodness : 0.768815 Centerline is valid? [False, False] Translation: X:-53.70, Y:40.24, Z:49.27 [[ 4.60546433e-01 7.39038046e-01 4.91650029e-01 -5.36999630e+01] [-8.87281785e-01 3.98931978e-01 2.31482853e-01 4.02352590e+01] [-2.50602831e-02 -5.42840717e-01 8.39461695e-01 4.92724350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.479072329 meters Centerline goodness : 0.769256 Centerline is valid? [False, False] Translation: X:-53.96, Y:40.26, Z:49.42 [[ 4.60909354e-01 7.38157344e-01 4.92632015e-01 -5.39560573e+01] [-8.87045059e-01 3.99909545e-01 2.30702013e-01 4.02602938e+01] [-2.67138601e-02 -5.43319511e-01 8.39100875e-01 4.94153418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.509072329 meters Centerline goodness : 0.770634 Centerline is valid? [False, False] Translation: X:-54.21, Y:40.28, Z:49.56 [[ 4.62153789e-01 7.37722706e-01 4.92116941e-01 -5.42070003e+01] [-8.86405124e-01 4.00845910e-01 2.31535123e-01 4.02829845e+01] [-2.64543460e-02 -5.43219812e-01 8.39173643e-01 4.95563440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.539072329 meters Centerline goodness : 0.772519 Centerline is valid? [False, False] Translation: X:-54.46, Y:40.31, Z:49.70 [[ 4.63093091e-01 7.36652455e-01 4.92836635e-01 -5.44584974e+01] [-8.85892258e-01 4.01779696e-01 2.31879240e-01 4.03050217e+01] [-2.71973420e-02 -5.43981834e-01 8.38656109e-01 4.96979649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.569072329 meters Centerline goodness : 0.774277 Centerline is valid? [False, False] Translation: X:-54.71, Y:40.33, Z:49.84 [[ 4.63763986e-01 7.35712105e-01 4.93609830e-01 -5.47123207e+01] [-8.85528808e-01 4.02284868e-01 2.32391082e-01 4.03268822e+01] [-2.75988337e-02 -5.44880339e-01 8.38059497e-01 4.98417805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.599072329 meters Centerline goodness : 0.772762 Centerline is valid? [False, False] Translation: X:-54.96, Y:40.35, Z:49.98 [[ 4.62509342e-01 7.35742775e-01 4.94740011e-01 -5.49624286e+01] [-8.86197778e-01 4.00730267e-01 2.32526883e-01 4.03490175e+01] [-2.71773229e-02 -5.45983354e-01 8.37355104e-01 4.99840158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.629072329 meters Centerline goodness : 0.773251 Centerline is valid? [False, False] Translation: X:-55.21, Y:40.37, Z:50.12 [[ 4.63191639e-01 7.34871887e-01 4.95395614e-01 -5.52064102e+01] [-8.85861398e-01 4.00623442e-01 2.33988119e-01 4.03695661e+01] [-2.65158052e-02 -5.47233192e-01 8.36560067e-01 5.01218707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.659072329 meters Centerline goodness : 0.771370 Centerline is valid? [False, False] Translation: X:-55.46, Y:40.39, Z:50.26 [[ 4.64250984e-01 7.33849390e-01 4.95919445e-01 -5.54556116e+01] [-8.85312619e-01 4.01121999e-01 2.35207798e-01 4.03901077e+01] [-2.63170999e-02 -5.48239194e-01 8.35907409e-01 5.02633750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.689072329 meters Centerline goodness : 0.769764 Centerline is valid? [False, False] Translation: X:-55.70, Y:40.41, Z:50.41 [[ 4.65108793e-01 7.32839446e-01 4.96608656e-01 -5.57043588e+01] [-8.84902395e-01 4.00677002e-01 2.37498825e-01 4.04097460e+01] [-2.49311599e-02 -5.49912981e-01 8.34849777e-01 5.04058998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.719072329 meters Centerline goodness : 0.769535 Centerline is valid? [False, False] Translation: X:-55.95, Y:40.43, Z:50.55 [[ 4.65297551e-01 7.31414861e-01 4.98528325e-01 -5.59531551e+01] [-8.84778206e-01 4.00735294e-01 2.37862881e-01 4.04297557e+01] [-2.58014490e-02 -5.51764013e-01 8.33601079e-01 5.05495658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.749072329 meters Centerline goodness : 0.772032 Centerline is valid? [False, False] Translation: X:-56.20, Y:40.45, Z:50.69 [[ 4.64096293e-01 7.30734824e-01 5.00640837e-01 -5.61997524e+01] [-8.85373726e-01 3.99898173e-01 2.37054460e-01 4.04486737e+01] [-2.69814074e-02 -5.53270339e-01 8.32564673e-01 5.06928768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.779072329 meters Centerline goodness : 0.774047 Centerline is valid? [False, False] Translation: X:-56.44, Y:40.47, Z:50.83 [[ 4.64977177e-01 7.30502694e-01 5.00162013e-01 -5.64401764e+01] [-8.84940065e-01 4.00106266e-01 2.38319235e-01 4.04662445e+01] [-2.60251122e-02 -5.53426409e-01 8.32491383e-01 5.08305074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.809072329 meters Centerline goodness : 0.770164 Centerline is valid? [False, False] Translation: X:-56.68, Y:40.48, Z:50.97 [[ 4.66340269e-01 7.30482204e-01 4.98921340e-01 -5.66814839e+01] [-8.84263859e-01 4.00613656e-01 2.39971094e-01 4.04836936e+01] [-2.45800883e-02 -5.53086294e-01 8.32761293e-01 5.09695363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.839072329 meters Centerline goodness : 0.771578 Centerline is valid? [False, False] Translation: X:-56.92, Y:40.50, Z:51.11 [[ 4.67315937e-01 7.30789289e-01 4.97556862e-01 -5.69232727e+01] [-8.83795142e-01 4.00697936e-01 2.41551879e-01 4.05031018e+01] [-2.28464818e-02 -5.52619380e-01 8.33120555e-01 5.11096110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.869072329 meters Centerline goodness : 0.769659 Centerline is valid? [False, False] Translation: X:-57.17, Y:40.52, Z:51.25 [[ 4.68070793e-01 7.29436807e-01 4.98830309e-01 -5.71709908e+01] [-8.83388887e-01 4.00992382e-01 2.42547280e-01 4.05218202e+01] [-2.31042401e-02 -5.54190449e-01 8.32069192e-01 5.12546300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.899072329 meters Centerline goodness : 0.769968 Centerline is valid? [False, False] Translation: X:-57.41, Y:40.54, Z:51.40 [[ 4.67106060e-01 7.28496171e-01 5.01104039e-01 -5.74141193e+01] [-8.83841790e-01 4.00853008e-01 2.41123529e-01 4.05406358e+01] [-2.52114936e-02 -5.55526952e-01 8.31116229e-01 5.13971472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.929072329 meters Centerline goodness : 0.771183 Centerline is valid? [False, False] Translation: X:-57.65, Y:40.56, Z:51.54 [[ 4.65180874e-01 7.28396903e-01 5.03035492e-01 -5.76505133e+01] [-8.84777884e-01 4.00452703e-01 2.38339525e-01 4.05588940e+01] [-2.78361505e-02 -5.55945666e-01 8.30752409e-01 5.15356611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.959072329 meters Centerline goodness : 0.769686 Centerline is valid? [False, False] Translation: X:-57.89, Y:40.58, Z:51.67 [[ 4.63590891e-01 7.30567434e-01 5.01352880e-01 -5.78909707e+01] [-8.85621885e-01 3.99630948e-01 2.36577644e-01 4.05767954e+01] [-2.75202045e-02 -5.53684324e-01 8.32271775e-01 5.16736350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.989072329 meters Centerline goodness : 0.771511 Centerline is valid? [False, False] Translation: X:-58.13, Y:40.59, Z:51.81 [[ 4.65155495e-01 7.31394288e-01 4.98691047e-01 -5.81259547e+01] [-8.84885881e-01 3.99855321e-01 2.38940790e-01 4.05936322e+01] [-2.46443399e-02 -5.52429288e-01 8.33195379e-01 5.18088772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.019072329 meters Centerline goodness : 0.769168 Centerline is valid? [False, False] Translation: X:-58.36, Y:40.61, Z:51.95 [[ 4.66722287e-01 7.29614204e-01 4.99833393e-01 -5.83647780e+01] [-8.84087321e-01 4.00019171e-01 2.41607682e-01 4.06101204e+01] [-2.36625426e-02 -5.54660055e-01 8.31740529e-01 5.19485798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.049072329 meters Centerline goodness : 0.769823 Centerline is valid? [False, False] Translation: X:-58.61, Y:40.63, Z:52.09 [[ 4.65955810e-01 7.29142367e-01 5.01235067e-01 -5.86054524e+01] [-8.84436065e-01 4.00241617e-01 2.39957278e-01 4.06280903e+01] [-2.56521159e-02 -5.55119858e-01 8.31374712e-01 5.20900867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.079072329 meters Centerline goodness : 0.768084 Centerline is valid? [False, False] Translation: X:-58.84, Y:40.64, Z:52.23 [[ 4.67599980e-01 7.26919857e-01 5.02929200e-01 -5.88434589e+01] [-8.83595714e-01 4.00269848e-01 2.42986961e-01 4.06434537e+01] [-2.46753471e-02 -5.58006784e-01 8.29469443e-01 5.22285985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.109072329 meters Centerline goodness : 0.769396 Centerline is valid? [False, False] Translation: X:-59.07, Y:40.66, Z:52.36 [[ 4.67006845e-01 7.28261255e-01 5.01537787e-01 -5.90716375e+01] [-8.83892287e-01 4.00679098e-01 2.41227458e-01 4.06603165e+01] [-2.52790972e-02 -5.55960255e-01 8.30824387e-01 5.23623959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13907232900002 meters Centerline goodness : 0.769341 Centerline is valid? [False, False] Translation: X:-59.31, Y:40.68, Z:52.50 [[ 4.66763774e-01 7.28994529e-01 5.00698070e-01 -5.93094201e+01] [-8.83980639e-01 4.01633509e-01 2.39308908e-01 4.06762368e+01] [-2.66422381e-02 -5.54308129e-01 8.31885022e-01 5.25020378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169072329 meters Centerline goodness : 0.772437 Centerline is valid? [False, False] Translation: X:-59.54, Y:40.69, Z:52.64 [[ 4.66196403e-01 7.29437787e-01 5.00581091e-01 -5.95377886e+01] [-8.84234756e-01 4.02169184e-01 2.37463350e-01 4.06926189e+01] [-2.81035487e-02 -5.53335759e-01 8.32484071e-01 5.26382470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.199072329 meters Centerline goodness : 0.772927 Centerline is valid? [False, False] Translation: X:-59.77, Y:40.71, Z:52.78 [[ 4.65904330e-01 7.29033155e-01 5.01441736e-01 -5.97713738e+01] [-8.84331755e-01 4.02761748e-01 2.36093883e-01 4.07082469e+01] [-2.98412812e-02 -5.53438013e-01 8.32355611e-01 5.27781173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.229072329 meters Centerline goodness : 0.771642 Centerline is valid? [False, False] Translation: X:-60.00, Y:40.72, Z:52.92 [[ 4.65717694e-01 7.28631415e-01 5.02198457e-01 -6.00048691e+01] [-8.84371562e-01 4.03434691e-01 2.34792229e-01 4.07236043e+01] [-3.15272851e-02 -5.53476929e-01 8.32267577e-01 5.29175514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.259072329 meters Centerline goodness : 0.772054 Centerline is valid? [False, False] Translation: X:-60.24, Y:40.74, Z:53.06 [[ 4.67175610e-01 7.27775969e-01 5.02084743e-01 -6.02410593e+01] [-8.83612600e-01 4.04364822e-01 2.36046318e-01 4.07389235e+01] [-3.12365701e-02 -5.53923487e-01 8.31981398e-01 5.30564691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.289072329 meters Centerline goodness : 0.771247 Centerline is valid? [False, False] Translation: X:-60.47, Y:40.75, Z:53.19 [[ 4.68781911e-01 7.27411465e-01 5.01114838e-01 -6.04747983e+01] [-8.82775114e-01 4.05620171e-01 2.37023997e-01 4.07524954e+01] [-3.08483137e-02 -5.53484270e-01 8.32288138e-01 5.31934168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.319072329 meters Centerline goodness : 0.771874 Centerline is valid? [False, False] Translation: X:-60.70, Y:40.77, Z:53.33 [[ 4.69381226e-01 7.28001869e-01 4.99694450e-01 -6.07004155e+01] [-8.82429588e-01 4.07001519e-01 2.35940215e-01 4.07657781e+01] [-3.16114827e-02 -5.51691075e-01 8.33449261e-01 5.33272592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.349072329 meters Centerline goodness : 0.772312 Centerline is valid? [False, False] Translation: X:-60.93, Y:40.78, Z:53.46 [[ 4.69066621e-01 7.28466867e-01 4.99312056e-01 -6.09296956e+01] [-8.82551407e-01 4.07669697e-01 2.34325484e-01 4.07812337e+01] [-3.28560431e-02 -5.50582821e-01 8.34133705e-01 5.34626775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.379072329 meters Centerline goodness : 0.771555 Centerline is valid? [False, False] Translation: X:-61.16, Y:40.80, Z:53.60 [[ 4.68136676e-01 7.28359744e-01 5.00340020e-01 -6.11562835e+01] [-8.82997803e-01 4.07428739e-01 2.33059438e-01 4.07952260e+01] [-3.41017906e-02 -5.50902809e-01 8.33872390e-01 5.35967527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.409072329 meters Centerline goodness : 0.772418 Centerline is valid? [False, False] Translation: X:-61.38, Y:40.81, Z:53.73 [[ 4.67986348e-01 7.28637018e-01 5.00076868e-01 -6.13836676e+01] [-8.83104327e-01 4.06963557e-01 2.33468221e-01 4.08094990e+01] [-3.33994730e-02 -5.50879987e-01 8.33915892e-01 5.37301153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.439072329 meters Centerline goodness : 0.773510 Centerline is valid? [False, False] Translation: X:-61.61, Y:40.82, Z:53.86 [[ 4.68413753e-01 7.29781521e-01 4.98003501e-01 -6.16094751e+01] [-8.82886545e-01 4.07797248e-01 2.32836323e-01 4.08223767e+01] [-3.31648111e-02 -5.48744326e-01 8.35332125e-01 5.38626888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.469072329 meters Centerline goodness : 0.773171 Centerline is valid? [False, False] Translation: X:-61.83, Y:40.83, Z:53.99 [[ 4.69238588e-01 7.30326901e-01 4.96424984e-01 -6.18318944e+01] [-8.82467367e-01 4.08598461e-01 2.33020693e-01 4.08345664e+01] [-3.26572036e-02 -5.47421150e-01 8.36219822e-01 5.39938032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.499072329 meters Centerline goodness : 0.774782 Centerline is valid? [False, False] Translation: X:-62.05, Y:40.85, Z:54.13 [[ 4.68663931e-01 7.29899134e-01 4.97595593e-01 -6.20541059e+01] [-8.82720710e-01 4.08652468e-01 2.31964023e-01 4.08493189e+01] [-3.40333277e-02 -5.47951106e-01 8.35817754e-01 5.41254050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.529072329 meters Centerline goodness : 0.774621 Centerline is valid? [False, False] Translation: X:-62.28, Y:40.86, Z:54.26 [[ 4.68085226e-01 7.28978389e-01 4.99486466e-01 -6.22772034e+01] [-8.82993721e-01 4.08162920e-01 2.31786796e-01 4.08623825e+01] [-3.49042892e-02 -5.49539389e-01 8.34738373e-01 5.42569518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.559072329 meters Centerline goodness : 0.774964 Centerline is valid? [False, False] Translation: X:-62.50, Y:40.88, Z:54.39 [[ 4.66617844e-01 7.28881555e-01 5.00998469e-01 -6.24973630e+01] [-8.83698182e-01 4.07698868e-01 2.29911193e-01 4.08761126e+01] [-3.66784805e-02 -5.50012101e-01 8.34350872e-01 5.43870974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.589072329 meters Centerline goodness : 0.774903 Centerline is valid? [False, False] Translation: X:-62.72, Y:40.89, Z:54.52 [[ 4.65397243e-01 7.29252042e-01 5.01594323e-01 -6.27190781e+01] [-8.84269828e-01 4.07656518e-01 2.27778478e-01 4.08893480e+01] [-3.83702749e-02 -5.49552201e-01 8.34577798e-01 5.45177939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.619072329 meters Centerline goodness : 0.776569 Centerline is valid? [False, False] Translation: X:-62.94, Y:40.90, Z:54.64 [[ 4.64268778e-01 7.31539519e-01 4.99303949e-01 -6.29355297e+01] [-8.84858982e-01 4.07580253e-01 2.25616754e-01 4.09028183e+01] [-3.84588581e-02 -5.46560399e-01 8.36536100e-01 5.46447272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.649072329 meters Centerline goodness : 0.777875 Centerline is valid? [False, False] Translation: X:-63.16, Y:40.91, Z:54.77 [[ 4.63833120e-01 7.33244475e-01 4.97203557e-01 -6.31556756e+01] [-8.85073860e-01 4.08089736e-01 2.23845995e-01 4.09143165e+01] [-3.87698294e-02 -5.43889058e-01 8.38261053e-01 5.47735912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.679072329 meters Centerline goodness : 0.778642 Centerline is valid? [False, False] Translation: X:-63.38, Y:40.93, Z:54.90 [[ 4.62750675e-01 7.34443290e-01 4.96442209e-01 -6.33781645e+01] [-8.85685345e-01 4.06867548e-01 2.23652116e-01 4.09285041e+01] [-3.77264281e-02 -5.43186756e-01 8.38763891e-01 5.49024661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.709072329 meters Centerline goodness : 0.778826 Centerline is valid? [False, False] Translation: X:-63.60, Y:40.94, Z:55.03 [[ 4.62915264e-01 7.33593711e-01 4.97543692e-01 -6.35998686e+01] [-8.85642783e-01 4.06018974e-01 2.25356282e-01 4.09406246e+01] [-3.66922284e-02 -5.44966843e-01 8.37654356e-01 5.50299667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.739072329 meters Centerline goodness : 0.778032 Centerline is valid? [False, False] Translation: X:-63.81, Y:40.95, Z:55.16 [[ 4.62702196e-01 7.33195775e-01 4.98327836e-01 -6.38141283e+01] [-8.85772955e-01 4.05336104e-01 2.26072808e-01 4.09518269e+01] [-3.62346356e-02 -5.46009705e-01 8.36994894e-01 5.51553102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.769072329 meters Centerline goodness : 0.780514 Centerline is valid? [False, False] Translation: X:-64.03, Y:40.96, Z:55.28 [[ 4.61774360e-01 7.33224679e-01 4.99145281e-01 -6.40326065e+01] [-8.86208092e-01 4.05115183e-01 2.24759662e-01 4.09638523e+01] [-3.74120008e-02 -5.46134836e-01 8.36861448e-01 5.52836357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.799072329 meters Centerline goodness : 0.782484 Centerline is valid? [False, False] Translation: X:-64.25, Y:40.97, Z:55.41 [[ 4.62112582e-01 7.33410153e-01 4.98559434e-01 -6.42501892e+01] [-8.86039218e-01 4.05439497e-01 2.24840650e-01 4.09738542e+01] [-3.72352707e-02 -5.45644904e-01 8.37188851e-01 5.54108568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.829072329 meters Centerline goodness : 0.782935 Centerline is valid? [False, False] Translation: X:-64.46, Y:40.99, Z:55.53 [[ 4.61455356e-01 7.34702225e-01 4.97264110e-01 -6.44616310e+01] [-8.86392586e-01 4.05181788e-01 2.23910480e-01 4.09853281e+01] [-3.69748337e-02 -5.44095910e-01 8.38207911e-01 5.55340404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.859072329 meters Centerline goodness : 0.783357 Centerline is valid? [False, False] Translation: X:-64.68, Y:41.00, Z:55.66 [[ 4.61057239e-01 7.35039774e-01 4.97134542e-01 -6.46824081e+01] [-8.86584084e-01 4.05150756e-01 2.23207362e-01 4.09958901e+01] [-3.73481466e-02 -5.43662943e-01 8.38472254e-01 5.56631488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88907232900002 meters Centerline goodness : 0.784411 Centerline is valid? [False, False] Translation: X:-64.90, Y:41.01, Z:55.79 [[ 4.60500984e-01 7.34956854e-01 4.97772305e-01 -6.49035383e+01] [-8.86827600e-01 4.05192451e-01 2.22161845e-01 4.10067116e+01] [-3.84142096e-02 -5.43743966e-01 8.38371545e-01 5.57919258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919072329 meters Centerline goodness : 0.784438 Centerline is valid? [False, False] Translation: X:-65.13, Y:41.02, Z:55.92 [[ 4.60535399e-01 7.34480803e-01 4.98442671e-01 -6.51261754e+01] [-8.86797410e-01 4.05189418e-01 2.22287852e-01 4.10180969e+01] [-3.86975361e-02 -5.44389094e-01 8.37939744e-01 5.59212537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.949072329 meters Centerline goodness : 0.785679 Centerline is valid? [False, False] Translation: X:-65.34, Y:41.03, Z:56.05 [[ 4.60989453e-01 7.34325791e-01 4.98251299e-01 -6.53402169e+01] [-8.86540457e-01 4.05882520e-01 2.22048187e-01 4.10275694e+01] [-3.91757822e-02 -5.44081807e-01 8.38117083e-01 5.60455749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.979072329 meters Centerline goodness : 0.786891 Centerline is valid? [False, False] Translation: X:-65.56, Y:41.04, Z:56.17 [[ 4.60264343e-01 7.35061532e-01 4.97836598e-01 -6.55603717e+01] [-8.86875409e-01 4.06033201e-01 2.20429237e-01 4.10374407e+01] [-4.01091350e-02 -5.42974754e-01 8.38790602e-01 5.61744545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.009072329 meters Centerline goodness : 0.789898 Centerline is valid? [False, False] Translation: X:-65.78, Y:41.05, Z:56.30 [[ 4.59944991e-01 7.34882561e-01 4.98395654e-01 -6.57783697e+01] [-8.87007080e-01 4.06080924e-01 2.19810652e-01 4.10463235e+01] [-4.08539530e-02 -5.43181282e-01 8.38620921e-01 5.63020166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.039072329 meters Centerline goodness : 0.787521 Centerline is valid? [False, False] Translation: X:-66.00, Y:41.05, Z:56.43 [[ 4.60747185e-01 7.33836785e-01 4.99194957e-01 -6.59963267e+01] [-8.86612392e-01 4.06154252e-01 2.21262719e-01 4.10541443e+01] [-4.03794320e-02 -5.44538610e-01 8.37763215e-01 5.64291328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.069072329 meters Centerline goodness : 0.787769 Centerline is valid? [False, False] Translation: X:-66.22, Y:41.06, Z:56.56 [[ 4.60954639e-01 7.33549666e-01 4.99425378e-01 -6.62152909e+01] [-8.86481987e-01 4.06543352e-01 2.21070553e-01 4.10628150e+01] [-4.08718371e-02 -5.44635099e-01 8.37676610e-01 5.65571290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.099072329 meters Centerline goodness : 0.787138 Centerline is valid? [False, False] Translation: X:-66.43, Y:41.07, Z:56.68 [[ 4.61475501e-01 7.32754164e-01 5.00111684e-01 -6.64296918e+01] [-8.86198061e-01 4.06899076e-01 2.21553918e-01 4.10712598e+01] [-4.11504262e-02 -5.45439710e-01 8.37139275e-01 5.66818898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.129072329 meters Centerline goodness : 0.785028 Centerline is valid? [False, False] Translation: X:-66.65, Y:41.08, Z:56.81 [[ 4.61746116e-01 7.32207483e-01 5.00662287e-01 -6.66483180e+01] [-8.86102367e-01 4.06327071e-01 2.22981854e-01 4.10805604e+01] [-4.01636585e-02 -5.46599042e-01 8.36430731e-01 5.68091805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.159072329 meters Centerline goodness : 0.783889 Centerline is valid? [False, False] Translation: X:-66.86, Y:41.09, Z:56.93 [[ 4.61975614e-01 7.31988136e-01 5.00771306e-01 -6.68625620e+01] [-8.85965709e-01 4.06696596e-01 2.22851166e-01 4.10885526e+01] [-4.05375765e-02 -5.46618009e-01 8.36400297e-01 5.69337204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.189072329 meters Centerline goodness : 0.783889 Centerline is valid? [False, False] Translation: X:-67.08, Y:41.10, Z:57.06 [[ 4.62627324e-01 7.30906441e-01 5.01748675e-01 -6.70793699e+01] [-8.85572233e-01 4.07596727e-01 2.22770572e-01 4.10956110e+01] [-4.16866716e-02 -5.47394448e-01 8.35835833e-01 5.70602965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.219072329 meters Centerline goodness : 0.787713 Centerline is valid? [False, False] Translation: X:-67.29, Y:41.10, Z:57.18 [[ 4.62390416e-01 7.32658572e-01 4.99406167e-01 -6.72886761e+01] [-8.85731977e-01 4.07654553e-01 2.22028444e-01 4.11035064e+01] [-4.09141550e-02 -5.45003837e-01 8.37434684e-01 5.71835320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.249072329 meters Centerline goodness : 0.787990 Centerline is valid? [False, False] Translation: X:-67.50, Y:41.11, Z:57.31 [[ 4.62659995e-01 7.32389887e-01 4.99550581e-01 -6.75044717e+01] [-8.85602021e-01 4.07668483e-01 2.22520715e-01 4.11106761e+01] [-4.06791060e-02 -5.45354437e-01 8.37217862e-01 5.73109311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.279072329 meters Centerline goodness : 0.786203 Centerline is valid? [False, False] Translation: X:-67.72, Y:41.12, Z:57.44 [[ 4.62485540e-01 7.31261740e-01 5.01361539e-01 -6.77210005e+01] [-8.85651764e-01 4.07536466e-01 2.22564557e-01 4.11186413e+01] [-4.15701644e-02 -5.46964621e-01 8.36122972e-01 5.74391700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.309072329 meters Centerline goodness : 0.782646 Centerline is valid? [False, False] Translation: X:-67.94, Y:41.13, Z:57.57 [[ 4.60732765e-01 7.28369991e-01 5.07151333e-01 -6.79436890e+01] [-8.86394135e-01 4.06631397e-01 2.21260808e-01 4.11287778e+01] [-4.50639222e-02 -5.51478071e-01 8.32971296e-01 5.75728084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.339072329 meters Centerline goodness : 0.780865 Centerline is valid? [False, False] Translation: X:-68.16, Y:41.14, Z:57.70 [[ 4.60728278e-01 7.26762643e-01 5.09456097e-01 -6.81585310e+01] [-8.86291312e-01 4.07188676e-01 2.20646985e-01 4.11366457e+01] [-4.70867673e-02 -5.53184818e-01 8.31726754e-01 5.77004075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.369072329 meters Centerline goodness : 0.780427 Centerline is valid? [False, False] Translation: X:-68.37, Y:41.14, Z:57.83 [[ 4.60382495e-01 7.27173068e-01 5.09182960e-01 -6.83737844e+01] [-8.86380101e-01 4.08061388e-01 2.18669202e-01 4.11444906e+01] [-4.87675512e-02 -5.52001117e-01 8.32416058e-01 5.78284149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.399072329 meters Centerline goodness : 0.783385 Centerline is valid? [False, False] Translation: X:-68.58, Y:41.15, Z:57.95 [[ 4.61014209e-01 7.30471318e-01 5.03862633e-01 -6.85812588e+01] [-8.86151110e-01 4.08986280e-01 2.17867924e-01 4.11510206e+01] [-4.69266347e-02 -5.46938640e-01 8.35856456e-01 5.79512809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.429072329 meters Centerline goodness : 0.786516 Centerline is valid? [False, False] Translation: X:-68.80, Y:41.16, Z:58.08 [[ 4.61599816e-01 7.30526421e-01 5.03246221e-01 -6.87961447e+01] [-8.85836444e-01 4.09723455e-01 2.17762450e-01 4.11572518e+01] [-4.71105575e-02 -5.46312949e-01 8.36255198e-01 5.80791705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.459072329 meters Centerline goodness : 0.779451 Centerline is valid? [False, False] Translation: X:-69.01, Y:41.17, Z:58.21 [[ 4.60650791e-01 7.28862355e-01 5.06518032e-01 -6.90142955e+01] [-8.86274383e-01 4.08678321e-01 2.17944368e-01 4.11657624e+01] [-4.81514937e-02 -5.49310202e-01 8.34230026e-01 5.82108234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.489072329 meters Centerline goodness : 0.780705 Centerline is valid? [False, False] Translation: X:-69.23, Y:41.17, Z:58.34 [[ 4.60238651e-01 7.26880786e-01 5.09730033e-01 -6.92260391e+01] [-8.86421579e-01 4.08163491e-01 2.18310213e-01 4.11720961e+01] [-4.93676904e-02 -5.52310499e-01 8.32175429e-01 5.83377840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.519072329 meters Centerline goodness : 0.776787 Centerline is valid? [False, False] Translation: X:-69.43, Y:41.18, Z:58.46 [[ 4.60460036e-01 7.25334827e-01 5.11728389e-01 -6.94345854e+01] [-8.86302752e-01 4.07768961e-01 2.19526552e-01 4.11769006e+01] [-4.94366996e-02 -5.54629483e-01 8.30627563e-01 5.84632985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.549072329 meters Centerline goodness : 0.777800 Centerline is valid? [False, False] Translation: X:-69.63, Y:41.18, Z:58.58 [[ 4.61761478e-01 7.25603905e-01 5.10171844e-01 -6.96335407e+01] [-8.85688033e-01 4.08498751e-01 2.20647860e-01 4.11807824e+01] [-4.83016118e-02 -5.53739779e-01 8.31287683e-01 5.85824525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.579072329 meters Centerline goodness : 0.780283 Centerline is valid? [False, False] Translation: X:-69.83, Y:41.18, Z:58.70 [[ 4.63164798e-01 7.25851717e-01 5.08544643e-01 -6.98331272e+01] [-8.85027020e-01 4.09201866e-01 2.21993260e-01 4.11845008e+01] [-4.69632278e-02 -5.52895214e-01 8.31926282e-01 5.87024218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.609072329 meters Centerline goodness : 0.781876 Centerline is valid? [False, False] Translation: X:-70.04, Y:41.19, Z:58.82 [[ 4.64868911e-01 7.25139552e-01 5.08005438e-01 -7.00354433e+01] [-8.84231867e-01 4.09446098e-01 2.24695124e-01 4.11880403e+01] [-4.50655223e-02 -5.53648375e-01 8.31530262e-01 5.88244564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63907232900002 meters Centerline goodness : 0.777952 Centerline is valid? [False, False] Translation: X:-70.24, Y:41.19, Z:58.95 [[ 4.64742378e-01 7.23400309e-01 5.10594277e-01 -7.02409980e+01] [-8.84353557e-01 4.07856695e-01 2.27094037e-01 4.11933928e+01] [-4.39693981e-02 -5.57086088e-01 8.29289927e-01 5.89508468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669072329 meters Centerline goodness : 0.775302 Centerline is valid? [False, False] Translation: X:-70.45, Y:41.20, Z:59.08 [[ 4.64603887e-01 7.20728292e-01 5.14484167e-01 -7.04480413e+01] [-8.84368862e-01 4.07249927e-01 2.28121047e-01 4.11979386e+01] [-4.51103467e-02 -5.60979703e-01 8.26599558e-01 5.90768843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.699072329 meters Centerline goodness : 0.776765 Centerline is valid? [False, False] Translation: X:-70.65, Y:41.20, Z:59.20 [[ 4.64337269e-01 7.18661100e-01 5.17607114e-01 -7.06497145e+01] [-8.84511139e-01 4.06033333e-01 2.29732402e-01 4.12022675e+01] [-4.50660011e-02 -5.64502574e-01 8.24200157e-01 5.92001385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.729072329 meters Centerline goodness : 0.775191 Centerline is valid? [False, False] Translation: X:-70.85, Y:41.21, Z:59.32 [[ 4.65532696e-01 7.17956845e-01 5.17510655e-01 -7.08459308e+01] [-8.83941969e-01 4.06180853e-01 2.31654291e-01 4.12051629e+01] [-4.38851356e-02 -5.65292034e-01 8.23722655e-01 5.93197904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.759072329 meters Centerline goodness : 0.776198 Centerline is valid? [False, False] Translation: X:-71.05, Y:41.21, Z:59.44 [[ 4.65848019e-01 7.18547233e-01 5.16406329e-01 -7.10466601e+01] [-8.83787019e-01 4.06622149e-01 2.31471237e-01 4.12089086e+01] [-4.36592344e-02 -5.64223628e-01 8.24466839e-01 5.94430394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.789072329 meters Centerline goodness : 0.778240 Centerline is valid? [False, False] Translation: X:-71.25, Y:41.21, Z:59.57 [[ 4.65614996e-01 7.20376240e-01 5.14062981e-01 -7.12457770e+01] [-8.84043469e-01 4.05425646e-01 2.32588026e-01 4.12133487e+01] [-4.08634286e-02 -5.62750494e-01 8.25616171e-01 5.95652344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.819072329 meters Centerline goodness : 0.777097 Centerline is valid? [False, False] Translation: X:-71.45, Y:41.22, Z:59.69 [[ 4.66570096e-01 7.18691916e-01 5.15552398e-01 -7.14455900e+01] [-8.83611119e-01 4.04632344e-01 2.35592988e-01 4.12160231e+01] [-3.92903989e-02 -5.65468475e-01 8.23833520e-01 5.96880029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.849072329 meters Centerline goodness : 0.774092 Centerline is valid? [False, False] Translation: X:-71.65, Y:41.22, Z:59.82 [[ 4.66519698e-01 7.16862228e-01 5.18138898e-01 -7.16521628e+01] [-8.83626169e-01 4.03911002e-01 2.36771400e-01 4.12194663e+01] [-3.95495280e-02 -5.68299612e-01 8.21870663e-01 5.98159830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.879072329 meters Centerline goodness : 0.770459 Centerline is valid? [False, False] Translation: X:-71.86, Y:41.23, Z:59.95 [[ 4.64772745e-01 7.15003439e-01 5.22260834e-01 -7.18580573e+01] [-8.84466496e-01 4.02414800e-01 2.36180749e-01 4.12254382e+01] [-4.12954410e-02 -5.71692585e-01 8.19428017e-01 5.99452296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.909072329 meters Centerline goodness : 0.769345 Centerline is valid? [False, False] Translation: X:-72.06, Y:41.23, Z:60.07 [[ 4.64967449e-01 7.14507206e-01 5.22766415e-01 -7.20593827e+01] [-8.84379734e-01 4.02170891e-01 2.36919943e-01 4.12280273e+01] [-4.09604283e-02 -5.72484084e-01 8.18892066e-01 6.00714414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.939072329 meters Centerline goodness : 0.770787 Centerline is valid? [False, False] Translation: X:-72.26, Y:41.23, Z:60.20 [[ 4.65318134e-01 7.14539251e-01 5.22410464e-01 -7.22601566e+01] [-8.84226478e-01 4.02101431e-01 2.37608868e-01 4.12301435e+01] [-4.02811324e-02 -5.72492879e-01 8.18919613e-01 6.01967935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.969072329 meters Centerline goodness : 0.774577 Centerline is valid? [False, False] Translation: X:-72.46, Y:41.23, Z:60.32 [[ 4.64141993e-01 7.16882312e-01 5.20242214e-01 -7.24605369e+01] [-8.84937166e-01 4.00622684e-01 2.37460898e-01 4.12328379e+01] [-3.81893144e-02 -5.70597245e-01 8.20341612e-01 6.03222244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.999072329 meters Centerline goodness : 0.775699 Centerline is valid? [False, False] Translation: X:-72.66, Y:41.23, Z:60.45 [[ 4.64686388e-01 7.16352643e-01 5.20485785e-01 -7.26584480e+01] [-8.84712440e-01 4.00003788e-01 2.39334218e-01 4.12345858e+01] [-3.67485861e-02 -5.71695602e-01 8.19642410e-01 6.04474267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.029072329 meters Centerline goodness : 0.769765 Centerline is valid? [False, False] Translation: X:-72.86, Y:41.24, Z:60.58 [[ 4.63439933e-01 7.15187957e-01 5.23191757e-01 -7.28623969e+01] [-8.85437451e-01 3.97057866e-01 2.41548280e-01 4.12378590e+01] [-3.49849814e-02 -5.75196694e-01 8.17266673e-01 6.05783115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.059072329 meters Centerline goodness : 0.766045 Centerline is valid? [False, False] Translation: X:-73.06, Y:41.24, Z:60.71 [[ 4.63067643e-01 7.13754269e-01 5.25474264e-01 -7.30617161e+01] [-8.85652807e-01 3.95675949e-01 2.43021911e-01 4.12392161e+01] [-3.44596014e-02 -5.77923340e-01 8.15363201e-01 6.07058056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.089072329 meters Centerline goodness : 0.762835 Centerline is valid? [False, False] Translation: X:-73.26, Y:41.24, Z:60.83 [[ 4.62360502e-01 7.13139093e-01 5.26930166e-01 -7.32631575e+01] [-8.86047599e-01 3.94244749e-01 2.43907216e-01 4.12397926e+01] [-3.37996804e-02 -5.79658271e-01 8.14158382e-01 6.08349415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.119072329 meters Centerline goodness : 0.764181 Centerline is valid? [False, False] Translation: X:-73.46, Y:41.24, Z:60.96 [[ 4.61704124e-01 7.13336515e-01 5.27238389e-01 -7.34646574e+01] [-8.86397225e-01 3.93545168e-01 2.43766612e-01 4.12397574e+01] [-3.36044953e-02 -5.79890695e-01 8.14000934e-01 6.09635161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.149072329 meters Centerline goodness : 0.769974 Centerline is valid? [False, False] Translation: X:-73.66, Y:41.24, Z:61.09 [[ 4.61107989e-01 7.16839731e-01 5.22991609e-01 -7.36647411e+01] [-8.86840546e-01 3.92146022e-01 2.44408150e-01 4.12386090e+01] [-2.98876066e-02 -5.76508715e-01 8.16544202e-01 6.10912016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.179072329 meters Centerline goodness : 0.772504 Centerline is valid? [False, False] Translation: X:-73.87, Y:41.24, Z:61.22 [[ 4.62353050e-01 7.16843652e-01 5.21885846e-01 -7.38685159e+01] [-8.86293215e-01 3.91353324e-01 2.47642711e-01 4.12373045e+01] [-2.67206556e-02 -5.77042247e-01 8.16277068e-01 6.12222554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.209072329 meters Centerline goodness : 0.770018 Centerline is valid? [False, False] Translation: X:-74.07, Y:41.24, Z:61.35 [[ 4.62805317e-01 7.16150481e-01 5.22436338e-01 -7.40717071e+01] [-8.86132539e-01 3.89767989e-01 2.50699097e-01 4.12363493e+01] [-2.40906819e-02 -5.78972714e-01 8.14990942e-01 6.13540992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.239072329 meters Centerline goodness : 0.760223 Centerline is valid? [False, False] Translation: X:-74.28, Y:41.24, Z:61.49 [[ 4.58616902e-01 7.15728757e-01 5.26690501e-01 -7.42769443e+01] [-8.88356060e-01 3.84091251e-01 2.51589787e-01 4.12367838e+01] [-2.22271684e-02 -5.83272027e-01 8.11972718e-01 6.14885258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.269072329 meters Centerline goodness : 0.758378 Centerline is valid? [False, False] Translation: X:-74.48, Y:41.24, Z:61.62 [[ 4.57625015e-01 7.15351771e-01 5.28063622e-01 -7.44815362e+01] [-8.88901099e-01 3.81993894e-01 2.52854702e-01 4.12350067e+01] [-2.08370202e-02 -5.85108971e-01 8.10686937e-01 6.16203874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.299072329 meters Centerline goodness : 0.759554 Centerline is valid? [False, False] Translation: X:-74.69, Y:41.23, Z:61.75 [[ 4.56294406e-01 7.16801155e-01 5.27249011e-01 -7.46897778e+01] [-8.89603739e-01 3.80802568e-01 2.52179683e-01 4.12332895e+01] [-2.00150890e-02 -5.84110870e-01 8.11427069e-01 6.17546050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.329072329 meters Centerline goodness : 0.763459 Centerline is valid? [False, False] Translation: X:-74.89, Y:41.23, Z:61.89 [[ 4.55468619e-01 7.20961609e-01 5.22266881e-01 -7.48936026e+01] [-8.90131005e-01 3.78472030e-01 2.53822214e-01 4.12300049e+01] [-1.46673351e-02 -5.80493997e-01 8.14132415e-01 6.18853508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.359072329 meters Centerline goodness : 0.763375 Centerline is valid? [False, False] Translation: X:-75.10, Y:41.23, Z:62.02 [[ 4.56359622e-01 7.20667877e-01 5.21894344e-01 -7.50958194e+01] [-8.89714380e-01 3.77499647e-01 2.56714507e-01 4.12269768e+01] [-1.20090312e-02 -5.81491038e-01 8.13464170e-01 6.20160745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38907232900002 meters Centerline goodness : 0.760774 Centerline is valid? [False, False] Translation: X:-75.30, Y:41.22, Z:62.15 [[ 4.54963257e-01 7.20684645e-01 5.23088977e-01 -7.52988620e+01] [-8.90441653e-01 3.75459429e-01 2.57184524e-01 4.12247669e+01] [-1.10497512e-02 -5.82789722e-01 8.12547871e-01 6.21503607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.419072329 meters Centerline goodness : 0.751112 Centerline is valid? [False, False] Translation: X:-75.50, Y:41.22, Z:62.28 [[ 4.49535933e-01 7.20960795e-01 5.27383140e-01 -7.54968895e+01] [-8.93200327e-01 3.69751390e-01 2.55884908e-01 4.12240592e+01] [-1.05176625e-02 -5.86088254e-01 8.10178954e-01 6.22813906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.449072329 meters Centerline goodness : 0.750391 Centerline is valid? [False, False] Translation: X:-75.69, Y:41.22, Z:62.41 [[ 4.48070447e-01 7.21503752e-01 5.27887498e-01 -7.56942922e+01] [-8.93950448e-01 3.67703468e-01 2.56216230e-01 4.12209750e+01] [-9.24509199e-03 -5.86708186e-01 8.09745659e-01 6.24112508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.479072329 meters Centerline goodness : 0.752904 Centerline is valid? [False, False] Translation: X:-75.89, Y:41.22, Z:62.54 [[ 4.47601417e-01 7.23525366e-01 5.25513098e-01 -7.58872787e+01] [-8.94223899e-01 3.64827905e-01 2.59353460e-01 4.12182361e+01] [-4.07303504e-03 -5.86013348e-01 8.10291162e-01 6.25353844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.509072329 meters Centerline goodness : 0.755421 Centerline is valid? [False, False] Translation: X:-76.08, Y:41.21, Z:62.66 [[ 4.47957517e-01 7.24032897e-01 5.24509702e-01 -7.60807019e+01] [-8.94053081e-01 3.63933671e-01 2.61192210e-01 4.12145968e+01] [-1.77498930e-03 -5.85942529e-01 8.10350666e-01 6.26622972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.539072329 meters Centerline goodness : 0.754544 Centerline is valid? [False, False] Translation: X:-76.27, Y:41.21, Z:62.79 [[ 4.46937923e-01 7.24594507e-01 5.24603939e-01 -7.62745308e+01] [-8.94564371e-01 3.62699025e-01 2.61158963e-01 4.12111146e+01] [-1.03898775e-03 -5.86013837e-01 8.10300378e-01 6.27905958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.569072329 meters Centerline goodness : 0.753471 Centerline is valid? [False, False] Translation: X:-76.47, Y:41.21, Z:62.92 [[ 4.45649386e-01 7.24670225e-01 5.25594606e-01 -7.64690094e+01] [-8.95207544e-01 3.60935193e-01 2.61398622e-01 4.12067245e+01] [-2.77792414e-04 -5.87008392e-01 8.09580799e-01 6.29194236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.599072329 meters Centerline goodness : 0.752689 Centerline is valid? [False, False] Translation: X:-76.66, Y:41.20, Z:63.05 [[ 4.41283256e-01 7.25783480e-01 5.27738030e-01 -7.66644737e+01] [-8.97367535e-01 3.56400271e-01 2.60212133e-01 4.12028216e+01] [ 7.71691162e-04 -5.88402232e-01 8.08568004e-01 6.30491770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.629072329 meters Centerline goodness : 0.753319 Centerline is valid? [False, False] Translation: X:-76.86, Y:41.20, Z:63.18 [[ 4.40013366e-01 7.26415323e-01 5.27928987e-01 -7.68581963e+01] [-8.97988285e-01 3.54436375e-01 2.60752558e-01 4.11985239e+01] [ 2.29741770e-03 -5.88808657e-01 8.08269193e-01 6.31775025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.659072329 meters Centerline goodness : 0.753397 Centerline is valid? [False, False] Translation: X:-77.05, Y:41.20, Z:63.30 [[ 4.38953286e-01 7.28456942e-01 5.25994768e-01 -7.70455298e+01] [-8.98483310e-01 3.51363568e-01 2.63194577e-01 4.11954772e+01] [ 6.91051857e-03 -5.88127645e-01 8.08738597e-01 6.33006723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.689072329 meters Centerline goodness : 0.752039 Centerline is valid? [False, False] Translation: X:-77.23, Y:41.19, Z:63.42 [[ 4.39971584e-01 7.28377407e-01 5.25253613e-01 -7.72335645e+01] [-8.97960489e-01 3.50594468e-01 2.65989621e-01 4.11905149e+01] [ 9.58981937e-03 -5.88684866e-01 8.08305737e-01 6.34245834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.719072329 meters Centerline goodness : 0.752354 Centerline is valid? [False, False] Translation: X:-77.43, Y:41.19, Z:63.55 [[ 4.39593879e-01 7.28378188e-01 5.25568679e-01 -7.74257190e+01] [-8.98139105e-01 3.49835358e-01 2.66385754e-01 4.11857562e+01] [ 1.01670656e-02 -5.89135330e-01 8.07970416e-01 6.35524057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.749072329 meters Centerline goodness : 0.750962 Centerline is valid? [False, False] Translation: X:-77.62, Y:41.18, Z:63.68 [[ 4.35782416e-01 7.29065365e-01 5.27785353e-01 -7.76228541e+01] [-8.99991906e-01 3.46192709e-01 2.64887104e-01 4.11806056e+01] [ 1.04045722e-02 -5.90435688e-01 8.07017622e-01 6.36844665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.779072329 meters Centerline goodness : 0.751296 Centerline is valid? [False, False] Translation: X:-77.82, Y:41.17, Z:63.81 [[ 4.34572322e-01 7.29666604e-01 5.27952218e-01 -7.78160012e+01] [-9.00552359e-01 3.44009639e-01 2.65824786e-01 4.11744133e+01] [ 1.23428169e-02 -5.90968709e-01 8.06600049e-01 6.38128582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.809072329 meters Centerline goodness : 0.751616 Centerline is valid? [False, False] Translation: X:-78.01, Y:41.17, Z:63.94 [[ 4.33331370e-01 7.30541016e-01 5.27762965e-01 -7.80095835e+01] [-9.01119776e-01 3.41863461e-01 2.66669313e-01 4.11685998e+01] [ 1.43899978e-02 -5.91133824e-01 8.06445119e-01 6.39412436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.839072329 meters Centerline goodness : 0.751796 Centerline is valid? [False, False] Translation: X:-78.20, Y:41.16, Z:64.06 [[ 4.31175712e-01 7.32533547e-01 5.26765705e-01 -7.81974397e+01] [-9.02041086e-01 3.36882832e-01 2.69873742e-01 4.11628585e+01] [ 2.02332472e-02 -5.91527312e-01 8.06031051e-01 6.40649574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.869072329 meters Centerline goodness : 0.750941 Centerline is valid? [False, False] Translation: X:-78.38, Y:41.16, Z:64.19 [[ 4.32128934e-01 7.32280357e-01 5.26336454e-01 -7.83835882e+01] [-9.01485964e-01 3.35077559e-01 2.73945408e-01 4.11561401e+01] [ 2.42413067e-02 -5.92864663e-01 8.04937172e-01 6.41875502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.899072329 meters Centerline goodness : 0.750475 Centerline is valid? [False, False] Translation: X:-78.57, Y:41.15, Z:64.31 [[ 4.32486996e-01 7.32456090e-01 5.25797560e-01 -7.85748101e+01] [-9.01218064e-01 3.33328481e-01 2.76944263e-01 4.11494750e+01] [ 2.75862097e-02 -5.93633051e-01 8.04262893e-01 6.43146767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.929072329 meters Centerline goodness : 0.749540 Centerline is valid? [False, False] Translation: X:-78.77, Y:41.14, Z:64.44 [[ 4.30482659e-01 7.33430768e-01 5.26083633e-01 -7.87653352e+01] [-9.02059417e-01 3.29443178e-01 2.78847629e-01 4.11431245e+01] [ 3.12007674e-02 -5.94597764e-01 8.03417706e-01 6.44414529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.959072329 meters Centerline goodness : 0.748945 Centerline is valid? [False, False] Translation: X:-78.96, Y:41.14, Z:64.57 [[ 4.29902625e-01 7.33262537e-01 5.26791976e-01 -7.89599490e+01] [-9.02256923e-01 3.27312802e-01 2.80711193e-01 4.11360065e+01] [ 3.34092439e-02 -5.95980186e-01 8.02303833e-01 6.45714161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.989072329 meters Centerline goodness : 0.748621 Centerline is valid? [False, False] Translation: X:-79.15, Y:41.13, Z:64.70 [[ 4.29148204e-01 7.33471680e-01 5.27115845e-01 -7.91521136e+01] [-9.02525027e-01 3.25096996e-01 2.82419048e-01 4.11287618e+01] [ 3.57825960e-02 -5.96934869e-01 8.01491340e-01 6.47000987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.019072329 meters Centerline goodness : 0.750288 Centerline is valid? [False, False] Translation: X:-79.35, Y:41.12, Z:64.83 [[ 4.26666628e-01 7.35549618e-01 5.26234118e-01 -7.93456514e+01] [-9.03549055e-01 3.21307955e-01 2.83478930e-01 4.11226474e+01] [ 3.94296106e-02 -5.96429339e-01 8.01696544e-01 6.48287380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.049072329 meters Centerline goodness : 0.752073 Centerline is valid? [False, False] Translation: X:-79.54, Y:41.12, Z:64.96 [[ 4.27611084e-01 7.35523730e-01 5.25503191e-01 -7.95407586e+01] [-9.02947133e-01 3.19991734e-01 2.86865411e-01 4.11160754e+01] [ 4.28396398e-02 -5.97168429e-01 8.00971056e-01 6.49577064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.079072329 meters Centerline goodness : 0.753155 Centerline is valid? [False, False] Translation: X:-79.73, Y:41.11, Z:65.09 [[ 4.28421744e-01 7.35077584e-01 5.25467177e-01 -7.97345974e+01] [-9.02435517e-01 3.18841628e-01 2.89741531e-01 4.11095104e+01] [ 4.54416947e-02 -5.98331815e-01 7.99958806e-01 6.50859874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.109072329 meters Centerline goodness : 0.753155 Centerline is valid? [False, False] Translation: X:-79.93, Y:41.10, Z:65.22 [[ 4.29347072e-01 7.34318016e-01 5.25773852e-01 -7.99349394e+01] [-9.02005331e-01 3.19484456e-01 2.90372287e-01 4.11025299e+01] [ 4.52490286e-02 -5.98921309e-01 7.99528480e-01 6.52204603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13907232900002 meters Centerline goodness : 0.752379 Centerline is valid? [False, False] Translation: X:-80.13, Y:41.10, Z:65.35 [[ 4.27222144e-01 7.34702324e-01 5.26966541e-01 -8.01342348e+01] [-9.02946406e-01 3.16674542e-01 2.90525425e-01 4.10973093e+01] [ 4.65728169e-02 -5.99941439e-01 7.98687199e-01 6.53540252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.169072329 meters Centerline goodness : 0.752569 Centerline is valid? [False, False] Translation: X:-80.34, Y:41.09, Z:65.49 [[ 4.26767546e-01 7.34539062e-01 5.27562156e-01 -8.03350120e+01] [-9.03118071e-01 3.15573808e-01 2.91188806e-01 4.10903857e+01] [ 4.74047535e-02 -6.00720849e-01 7.98052160e-01 6.54893218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.199072329 meters Centerline goodness : 0.755859 Centerline is valid? [False, False] Translation: X:-80.53, Y:41.08, Z:65.62 [[ 4.26028445e-01 7.35424790e-01 5.26925178e-01 -8.05304525e+01] [-9.03336395e-01 3.13706690e-01 2.92526016e-01 4.10832186e+01] [ 4.98309303e-02 -6.00615094e-01 7.97983952e-01 6.56208698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.229072329 meters Centerline goodness : 0.759505 Centerline is valid? [False, False] Translation: X:-80.73, Y:41.08, Z:65.76 [[ 4.26393548e-01 7.35725221e-01 5.26209979e-01 -8.07329344e+01] [-9.03127392e-01 3.13802075e-01 2.93068544e-01 4.10758319e+01] [ 5.04921365e-02 -6.00197182e-01 7.98256780e-01 6.57577552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.259072329 meters Centerline goodness : 0.757865 Centerline is valid? [False, False] Translation: X:-80.93, Y:41.07, Z:65.89 [[ 4.27487380e-01 7.35585090e-01 5.25517949e-01 -8.09347911e+01] [-9.02543233e-01 3.14041535e-01 2.94607581e-01 4.10683419e+01] [ 5.16744808e-02 -6.00243691e-01 7.98146139e-01 6.58936819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.289072329 meters Centerline goodness : 0.758891 Centerline is valid? [False, False] Translation: X:-81.13, Y:41.06, Z:66.03 [[ 4.28026328e-01 7.35193055e-01 5.25627847e-01 -8.11334404e+01] [-9.02232052e-01 3.13724392e-01 2.95895811e-01 4.10626053e+01] [ 5.26382689e-02 -6.00889489e-01 7.97597038e-01 6.60266846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.319072329 meters Centerline goodness : 0.756084 Centerline is valid? [False, False] Translation: X:-81.33, Y:41.06, Z:66.16 [[ 4.28575573e-01 7.34185220e-01 5.26588113e-01 -8.13261900e+01] [-9.02003017e-01 3.14076541e-01 2.96220332e-01 4.10559365e+01] [ 5.20916165e-02 -6.01936864e-01 7.96842817e-01 6.61570134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.349072329 meters Centerline goodness : 0.753498 Centerline is valid? [False, False] Translation: X:-81.52, Y:41.05, Z:66.29 [[ 4.29239182e-01 7.32951499e-01 5.27764933e-01 -8.15233563e+01] [-9.01786320e-01 3.15216709e-01 2.95668495e-01 4.10492978e+01] [ 5.03503408e-02 -6.02843700e-01 7.96268998e-01 6.62908820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.379072329 meters Centerline goodness : 0.752148 Centerline is valid? [False, False] Translation: X:-81.71, Y:41.04, Z:66.42 [[ 4.33270318e-01 7.30832218e-01 5.27409804e-01 -8.17114464e+01] [-8.99891381e-01 3.18517697e-01 2.97895922e-01 4.10425230e+01] [ 4.97225811e-02 -6.03680997e-01 7.95673877e-01 6.64163804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.409072329 meters Centerline goodness : 0.754856 Centerline is valid? [False, False] Translation: X:-81.90, Y:41.04, Z:66.54 [[ 4.34290460e-01 7.30202576e-01 5.27442883e-01 -8.18959337e+01] [-8.99562738e-01 3.21238472e-01 2.95960681e-01 4.10358174e+01] [ 4.66763059e-02 -6.03000864e-01 7.96373832e-01 6.65420737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.439072329 meters Centerline goodness : 0.755775 Centerline is valid? [False, False] Translation: X:-82.09, Y:41.03, Z:66.67 [[ 4.37663906e-01 7.27565278e-01 5.28298279e-01 -8.20852099e+01] [-8.98124204e-01 3.25846811e-01 2.95290991e-01 4.10282385e+01] [ 4.26991622e-02 -6.03715680e-01 7.96055375e-01 6.66706269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.469072329 meters Centerline goodness : 0.757038 Centerline is valid? [False, False] Translation: X:-82.27, Y:41.02, Z:66.80 [[ 4.39447928e-01 7.25915681e-01 5.29085950e-01 -8.22724990e+01] [-8.97357265e-01 3.28252557e-01 2.94957959e-01 4.10202905e+01] [ 4.04407914e-02 -6.04397785e-01 7.95655616e-01 6.67994008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.499072329 meters Centerline goodness : 0.754627 Centerline is valid? [False, False] Translation: X:-82.46, Y:41.01, Z:66.93 [[ 4.40338850e-01 7.24933650e-01 5.29691326e-01 -8.24647107e+01] [-8.97067515e-01 3.30903321e-01 2.92870050e-01 4.10130632e+01] [ 3.70347354e-02 -6.04130942e-01 7.96024015e-01 6.69327853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.529072329 meters Centerline goodness : 0.751112 Centerline is valid? [False, False] Translation: X:-82.66, Y:41.01, Z:67.06 [[ 4.44636710e-01 7.21275806e-01 5.31092655e-01 -8.26559238e+01] [-8.95069262e-01 3.35348826e-01 2.93925469e-01 4.10062468e+01] [ 3.39000311e-02 -6.06054764e-01 7.94700202e-01 6.70641220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.559072329 meters Centerline goodness : 0.749560 Centerline is valid? [False, False] Translation: X:-82.84, Y:41.00, Z:67.19 [[ 4.45754974e-01 7.20038617e-01 5.31833520e-01 -8.28380702e+01] [-8.94647417e-01 3.38344828e-01 2.91768360e-01 4.09990635e+01] [ 3.01413658e-02 -6.05860683e-01 7.94999579e-01 6.71893071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.589072329 meters Centerline goodness : 0.748039 Centerline is valid? [False, False] Translation: X:-83.02, Y:40.99, Z:67.32 [[ 4.46110186e-01 7.19747060e-01 5.31930326e-01 -8.30249573e+01] [-8.94607615e-01 3.41517618e-01 2.88171704e-01 4.09916169e+01] [ 2.57471587e-02 -6.04425253e-01 7.96245689e-01 6.73180469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.619072329 meters Centerline goodness : 0.750005 Centerline is valid? [False, False] Translation: X:-83.21, Y:40.98, Z:67.45 [[ 4.47171191e-01 7.19727271e-01 5.31065516e-01 -8.32127295e+01] [-8.94163539e-01 3.44723128e-01 2.85722823e-01 4.09827179e+01] [ 2.25719417e-02 -6.02626436e-01 7.97704134e-01 6.74470807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.649072329 meters Centerline goodness : 0.754707 Centerline is valid? [False, False] Translation: X:-83.40, Y:40.97, Z:67.57 [[ 4.50084422e-01 7.19065054e-01 5.29499255e-01 -8.33964222e+01] [-8.92789971e-01 3.49920929e-01 2.83692459e-01 4.09734350e+01] [ 1.87104626e-02 -6.00417181e-01 7.99468028e-01 6.75735276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.679072329 meters Centerline goodness : 0.753474 Centerline is valid? [False, False] Translation: X:-83.59, Y:40.96, Z:67.71 [[ 4.51465543e-01 7.17619063e-01 5.30284587e-01 -8.35900843e+01] [-8.92154897e-01 3.52748771e-01 2.82184239e-01 4.09641544e+01] [ 1.54435529e-02 -6.00492452e-01 7.99481277e-01 6.77077194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.709072329 meters Centerline goodness : 0.746170 Centerline is valid? [False, False] Translation: X:-83.78, Y:40.96, Z:67.84 [[ 4.55343302e-01 7.12883156e-01 5.33347995e-01 -8.37777072e+01] [-8.90256299e-01 3.57638605e-01 2.82025444e-01 4.09566421e+01] [ 1.03053559e-02 -6.03234809e-01 7.97497063e-01 6.78370637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.739072329 meters Centerline goodness : 0.743825 Centerline is valid? [False, False] Translation: X:-83.97, Y:40.95, Z:67.97 [[ 4.55827591e-01 7.12372272e-01 5.33616861e-01 -8.39652253e+01] [-8.90041059e-01 3.60141212e-01 2.79508893e-01 4.09483121e+01] [ 6.93696240e-03 -6.02348781e-01 7.98202872e-01 6.79680475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.769072329 meters Centerline goodness : 0.745165 Centerline is valid? [False, False] Translation: X:-84.15, Y:40.94, Z:68.10 [[ 4.55649738e-01 7.12898297e-01 5.33065975e-01 -8.41483715e+01] [-8.90154003e-01 3.62875460e-01 2.75585288e-01 4.09400901e+01] [ 3.02772157e-03 -6.00081176e-01 7.99933381e-01 6.80954898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.799072329 meters Centerline goodness : 0.751023 Centerline is valid? [False, False] Translation: X:-84.33, Y:40.93, Z:68.22 [[ 4.57844627e-01 7.13549866e-01 5.30306408e-01 -8.43314794e+01] [-8.89030860e-01 3.68517581e-01 2.71696381e-01 4.09305684e+01] [-1.55831848e-03 -5.95853490e-01 8.03091645e-01 6.82214345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.829072329 meters Centerline goodness : 0.754325 Centerline is valid? [False, False] Translation: X:-84.51, Y:40.92, Z:68.35 [[ 4.58393150e-01 7.13447117e-01 5.29970688e-01 -8.45128878e+01] [-8.88734813e-01 3.71401982e-01 2.68721045e-01 4.09207373e+01] [-5.11390956e-03 -5.94183287e-01 8.04313415e-01 6.83468658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.859072329 meters Centerline goodness : 0.753229 Centerline is valid? [False, False] Translation: X:-84.69, Y:40.91, Z:68.47 [[ 4.58664004e-01 7.12697022e-01 5.30745029e-01 -8.46931472e+01] [-8.88574415e-01 3.73178654e-01 2.66783060e-01 4.09111063e+01] [-7.92722294e-03 -5.93970240e-01 8.04447955e-01 6.84710079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88907232900002 meters Centerline goodness : 0.752764 Centerline is valid? [False, False] Translation: X:-84.87, Y:40.90, Z:68.59 [[ 4.58092593e-01 7.12048348e-01 5.32107440e-01 -8.48687396e+01] [-8.88838428e-01 3.74220834e-01 2.64433389e-01 4.09024566e+01] [-1.08363323e-02 -5.94092517e-01 8.04323726e-01 6.85932335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.919072329 meters Centerline goodness : 0.749088 Centerline is valid? [False, False] Translation: X:-85.05, Y:40.89, Z:68.71 [[ 4.57981700e-01 7.10764329e-01 5.33916502e-01 -8.50454577e+01] [-8.88849568e-01 3.75666443e-01 2.62337891e-01 4.08943721e+01] [-1.41140976e-02 -5.94717405e-01 8.03810923e-01 6.87147704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.949072329 meters Centerline goodness : 0.745926 Centerline is valid? [False, False] Translation: X:-85.22, Y:40.88, Z:68.83 [[ 4.57869024e-01 7.11935744e-01 5.32450424e-01 -8.52197145e+01] [-8.88921346e-01 3.75532330e-01 2.62286693e-01 4.08832898e+01] [-1.32210768e-02 -5.93399500e-01 8.04799501e-01 6.88341618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.979072329 meters Centerline goodness : 0.750982 Centerline is valid? [False, False] Translation: X:-85.39, Y:40.87, Z:68.95 [[ 4.57884535e-01 7.13868738e-01 5.29842598e-01 -8.53920562e+01] [-8.88936700e-01 3.75386364e-01 2.62443560e-01 4.08699297e+01] [-1.15454330e-02 -5.91165377e-01 8.06467730e-01 6.89523281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.009072329 meters Centerline goodness : 0.749621 Centerline is valid? [False, False] Translation: X:-85.56, Y:40.86, Z:69.07 [[ 4.57132199e-01 7.14632092e-01 5.29463055e-01 -8.55628481e+01] [-8.89304109e-01 3.75951453e-01 2.60381849e-01 4.08584932e+01] [-1.29751789e-02 -5.89882597e-01 8.07384770e-01 6.90704502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.039072329 meters Centerline goodness : 0.747315 Centerline is valid? [False, False] Translation: X:-85.74, Y:40.85, Z:69.19 [[ 4.56165499e-01 7.14933988e-01 5.29889073e-01 -8.57373392e+01] [-8.89776838e-01 3.76132349e-01 2.58498809e-01 4.08472270e+01] [-1.44988371e-02 -5.89401263e-01 8.07710304e-01 6.91915305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.069072329 meters Centerline goodness : 0.737943 Centerline is valid? [False, False] Translation: X:-85.91, Y:40.83, Z:69.31 [[ 4.55655969e-01 7.13174273e-01 5.32691369e-01 -8.59096505e+01] [-8.90041823e-01 3.74598057e-01 2.59811179e-01 4.08349406e+01] [-1.42545035e-02 -5.92502111e-01 8.05442771e-01 6.93095793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.099072329 meters Centerline goodness : 0.734716 Centerline is valid? [False, False] Translation: X:-86.09, Y:40.82, Z:69.43 [[ 4.54931926e-01 7.13020827e-01 5.33514989e-01 -8.60905046e+01] [-8.90396807e-01 3.74412184e-01 2.58861048e-01 4.08229454e+01] [-1.51811938e-02 -5.92804198e-01 8.05203524e-01 6.94337978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.129072329 meters Centerline goodness : 0.733663 Centerline is valid? [False, False] Translation: X:-86.27, Y:40.81, Z:69.55 [[ 4.55247612e-01 7.14246747e-01 5.31602479e-01 -8.62651304e+01] [-8.90254190e-01 3.74566388e-01 2.59128344e-01 4.08092694e+01] [-1.40388430e-02 -5.91228894e-01 8.06381613e-01 6.95527611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.159072329 meters Centerline goodness : 0.731981 Centerline is valid? [False, False] Translation: X:-86.44, Y:40.80, Z:69.67 [[ 4.55500011e-01 7.14772607e-01 5.30678679e-01 -8.64424355e+01] [-8.90129578e-01 3.74885906e-01 2.59094367e-01 4.07963912e+01] [-1.37504014e-02 -5.90390276e-01 8.07000774e-01 6.96741267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.189072329 meters Centerline goodness : 0.733366 Centerline is valid? [False, False] Translation: X:-86.62, Y:40.78, Z:69.79 [[ 4.55534071e-01 7.14683303e-01 5.30769711e-01 -8.66176073e+01] [-8.90106887e-01 3.75099830e-01 2.58862601e-01 4.07839615e+01] [-1.40868494e-02 -5.90362510e-01 8.07015283e-01 6.97940880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.219072329 meters Centerline goodness : 0.731546 Centerline is valid? [False, False] Translation: X:-86.79, Y:40.77, Z:69.91 [[ 4.56940416e-01 7.13671139e-01 5.30922745e-01 -8.67902030e+01] [-8.89396448e-01 3.75563985e-01 2.60625500e-01 4.07706349e+01] [-1.33945645e-02 -5.91291128e-01 8.06346940e-01 6.99120598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.249072329 meters Centerline goodness : 0.729206 Centerline is valid? [False, False] Translation: X:-86.97, Y:40.76, Z:70.03 [[ 4.57971133e-01 7.13697926e-01 5.29997841e-01 -8.69681587e+01] [-8.88878447e-01 3.76058696e-01 2.61677213e-01 4.07573153e+01] [-1.25518124e-02 -5.90944268e-01 8.06614731e-01 7.00348273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.279072329 meters Centerline goodness : 0.727721 Centerline is valid? [False, False] Translation: X:-87.15, Y:40.74, Z:70.16 [[ 4.58875894e-01 7.13281685e-01 5.29775567e-01 -8.71464596e+01] [-8.88418231e-01 3.76455847e-01 2.62667170e-01 4.07438398e+01] [-1.20814277e-02 -5.91193905e-01 8.06438966e-01 7.01574843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.309072329 meters Centerline goodness : 0.728540 Centerline is valid? [False, False] Translation: X:-87.32, Y:40.73, Z:70.28 [[ 4.59252730e-01 7.12913978e-01 5.29943951e-01 -8.73237713e+01] [-8.88228004e-01 3.76431039e-01 2.63345183e-01 4.07303197e+01] [-1.17448900e-02 -5.91653052e-01 8.06107142e-01 7.02788633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.339072329 meters Centerline goodness : 0.729551 Centerline is valid? [False, False] Translation: X:-87.50, Y:40.72, Z:70.40 [[ 4.56155121e-01 7.14779085e-01 5.30106937e-01 -8.74959175e+01] [-8.89822312e-01 3.74242584e-01 2.61072291e-01 4.07172323e+01] [-1.17795766e-02 -5.90790443e-01 8.06739050e-01 7.03985474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.369072329 meters Centerline goodness : 0.731086 Centerline is valid? [False, False] Translation: X:-87.67, Y:40.70, Z:70.52 [[ 4.56060236e-01 7.15259909e-01 5.29539728e-01 -8.76738068e+01] [-8.89895093e-01 3.73061148e-01 2.62511149e-01 4.07031642e+01] [-9.78699805e-03 -5.90955702e-01 8.06644638e-01 7.05205102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.399072329 meters Centerline goodness : 0.729177 Centerline is valid? [False, False] Translation: X:-87.84, Y:40.69, Z:70.64 [[ 4.56130361e-01 7.15816887e-01 5.28726090e-01 -8.78445898e+01] [-8.89893427e-01 3.70825752e-01 2.65665109e-01 4.06897079e+01] [-5.89767892e-03 -5.91687794e-01 8.06145627e-01 7.06364269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.429072329 meters Centerline goodness : 0.725947 Centerline is valid? [False, False] Translation: X:-88.02, Y:40.68, Z:70.76 [[ 4.55147975e-01 7.16120460e-01 5.29161420e-01 -8.80169205e+01] [-8.90389258e-01 3.70633347e-01 2.64268595e-01 4.06776362e+01] [-6.87672072e-03 -5.91440960e-01 8.06318983e-01 7.07562951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.459072329 meters Centerline goodness : 0.721202 Centerline is valid? [False, False] Translation: X:-88.19, Y:40.66, Z:70.88 [[ 4.54707281e-01 7.15378239e-01 5.30542423e-01 -8.81926194e+01] [-8.90604874e-01 3.70574937e-01 2.63623168e-01 4.06648372e+01] [-8.01544735e-03 -5.92375042e-01 8.05622469e-01 7.08771816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.489072329 meters Centerline goodness : 0.720398 Centerline is valid? [False, False] Translation: X:-88.37, Y:40.65, Z:71.00 [[ 4.53696534e-01 7.15115383e-01 5.31760702e-01 -8.83674030e+01] [-8.91108662e-01 3.70219240e-01 2.62417734e-01 4.06520434e+01] [-9.20908451e-03 -5.92914584e-01 8.05212698e-01 7.09978847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.519072329 meters Centerline goodness : 0.720554 Centerline is valid? [False, False] Translation: X:-88.54, Y:40.64, Z:71.12 [[ 4.52155587e-01 7.15790205e-01 5.32165113e-01 -8.85387313e+01] [-8.91885663e-01 3.69367517e-01 2.60974332e-01 4.06399305e+01] [-9.76163541e-03 -5.92631437e-01 8.05414608e-01 7.11153006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.549072329 meters Centerline goodness : 0.720732 Centerline is valid? [False, False] Translation: X:-88.71, Y:40.63, Z:71.23 [[ 4.52467683e-01 7.16506406e-01 5.30934615e-01 -8.87097722e+01] [-8.91736674e-01 3.69442392e-01 2.61377169e-01 4.06274106e+01] [-8.87133806e-03 -5.91718589e-01 8.06095782e-01 7.12319280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.579072329 meters Centerline goodness : 0.723180 Centerline is valid? [False, False] Translation: X:-88.88, Y:40.62, Z:71.35 [[ 4.52889489e-01 7.17851207e-01 5.28753965e-01 -8.88791125e+01] [-8.91539894e-01 3.69231682e-01 2.62344394e-01 4.06156818e+01] [-6.90847606e-03 -5.90218273e-01 8.07214137e-01 7.13468501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.609072329 meters Centerline goodness : 0.724772 Centerline is valid? [False, False] Translation: X:-89.05, Y:40.60, Z:71.47 [[ 4.52815338e-01 7.17904032e-01 5.28745752e-01 -8.90524510e+01] [-8.91576775e-01 3.69249358e-01 2.62194136e-01 4.06031984e+01] [-7.00880224e-03 -5.90142959e-01 8.07268335e-01 7.14656599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63907232900002 meters Centerline goodness : 0.722922 Centerline is valid? [False, False] Translation: X:-89.23, Y:40.59, Z:71.58 [[ 4.53616593e-01 7.16776480e-01 5.29588013e-01 -8.92264368e+01] [-8.91170574e-01 3.69397336e-01 2.63364038e-01 4.05897719e+01] [-6.85525272e-03 -5.91419552e-01 8.06334868e-01 7.15841149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.669072329 meters Centerline goodness : 0.722872 Centerline is valid? [False, False] Translation: X:-89.40, Y:40.58, Z:71.70 [[ 4.54213209e-01 7.15494786e-01 5.30808414e-01 -8.93964509e+01] [-8.90861764e-01 3.69765653e-01 2.63891415e-01 4.05767446e+01] [-7.46178815e-03 -5.92739887e-01 8.05359391e-01 7.16999780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.699072329 meters Centerline goodness : 0.722875 Centerline is valid? [False, False] Translation: X:-89.56, Y:40.57, Z:71.82 [[ 4.53456231e-01 7.14775381e-01 5.32422390e-01 -8.95646481e+01] [-8.91209635e-01 3.71056790e-01 2.60887419e-01 4.05655899e+01] [-1.10830381e-02 -5.92800989e-01 8.05272720e-01 7.18165192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.729072329 meters Centerline goodness : 0.721322 Centerline is valid? [False, False] Translation: X:-89.73, Y:40.55, Z:71.93 [[ 4.53408086e-01 7.14725317e-01 5.32530590e-01 -8.97309606e+01] [-8.91209125e-01 3.72217366e-01 2.59230645e-01 4.05539314e+01] [-1.29384288e-02 -5.92133392e-01 8.05736088e-01 7.19312155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.759072329 meters Centerline goodness : 0.724265 Centerline is valid? [False, False] Translation: X:-89.90, Y:40.54, Z:72.05 [[ 4.55305268e-01 7.13920353e-01 5.31991393e-01 -8.99026543e+01] [-8.90247742e-01 3.73437243e-01 2.60774967e-01 4.05409322e+01] [-1.24928430e-02 -5.92336353e-01 8.05593926e-01 7.20478170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.789072329 meters Centerline goodness : 0.729218 Centerline is valid? [False, False] Translation: X:-90.07, Y:40.53, Z:72.16 [[ 4.58165453e-01 7.14635460e-01 5.28564638e-01 -9.00712466e+01] [-8.88790152e-01 3.76141877e-01 2.61857508e-01 4.05286014e+01] [-1.16826343e-02 -5.89757109e-01 8.07496172e-01 7.21621864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.819072329 meters Centerline goodness : 0.733597 Centerline is valid? [False, False] Translation: X:-90.24, Y:40.51, Z:72.28 [[ 4.59491483e-01 7.15201280e-01 5.26644764e-01 -9.02443987e+01] [-8.88111887e-01 3.77431976e-01 2.62302077e-01 4.05148163e+01] [-1.11737930e-02 -5.88245045e-01 8.08605536e-01 7.22793577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.849072329 meters Centerline goodness : 0.739498 Centerline is valid? [False, False] Translation: X:-90.42, Y:40.50, Z:72.40 [[ 4.60084545e-01 7.15600637e-01 5.25583428e-01 -9.04160887e+01] [-8.87808165e-01 3.78055454e-01 2.62432346e-01 4.05008185e+01] [-1.09029268e-02 -5.87358325e-01 8.09253560e-01 7.23958169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.879072329 meters Centerline goodness : 0.743355 Centerline is valid? [False, False] Translation: X:-90.59, Y:40.49, Z:72.52 [[ 4.58693301e-01 7.15864920e-01 5.26438859e-01 -9.05934674e+01] [-8.88519893e-01 3.77183763e-01 2.61275352e-01 4.04860161e+01] [-1.15263308e-02 -5.87596652e-01 8.09071887e-01 7.25158111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.909072329 meters Centerline goodness : 0.740774 Centerline is valid? [False, False] Translation: X:-90.77, Y:40.47, Z:72.64 [[ 4.57456750e-01 7.16014661e-01 5.27310465e-01 -9.07746651e+01] [-8.89149739e-01 3.76372303e-01 2.60301040e-01 4.04717447e+01] [-1.20856932e-02 -5.87934430e-01 8.08818300e-01 7.26397855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.939072329 meters Centerline goodness : 0.738325 Centerline is valid? [False, False] Translation: X:-90.96, Y:40.46, Z:72.76 [[ 4.56846347e-01 7.15589361e-01 5.28415823e-01 -9.09574456e+01] [-8.89468300e-01 3.75307403e-01 2.60749873e-01 4.04571526e+01] [-1.17285351e-02 -5.89131751e-01 8.07951869e-01 7.27644381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.969072329 meters Centerline goodness : 0.733465 Centerline is valid? [False, False] Translation: X:-91.14, Y:40.44, Z:72.89 [[ 4.56066877e-01 7.14918177e-01 5.29995288e-01 -9.11408502e+01] [-8.89891156e-01 3.72930616e-01 2.62709891e-01 4.04423745e+01] [-9.83539300e-03 -5.91451398e-01 8.06280664e-01 7.28900195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.999072329 meters Centerline goodness : 0.733465 Centerline is valid? [False, False] Translation: X:-91.32, Y:40.43, Z:73.01 [[ 4.56684219e-01 7.14514060e-01 5.30008663e-01 -9.13215223e+01] [-8.89572601e-01 3.73467649e-01 2.63025667e-01 4.04269499e+01] [-1.00055521e-02 -5.91600857e-01 8.06168912e-01 7.30142018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.029072329 meters Centerline goodness : 0.729381 Centerline is valid? [False, False] Translation: X:-91.50, Y:40.41, Z:73.14 [[ 4.56650599e-01 7.13947429e-01 5.30800621e-01 -9.15016380e+01] [-8.89589207e-01 3.73191008e-01 2.63361945e-01 4.04117807e+01] [-1.00634348e-02 -5.92458893e-01 8.05537825e-01 7.31378866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.059072329 meters Centerline goodness : 0.728920 Centerline is valid? [False, False] Translation: X:-91.68, Y:40.40, Z:73.26 [[ 4.55971087e-01 7.14093538e-01 5.31188090e-01 -9.16802188e+01] [-8.89926233e-01 3.73220638e-01 2.62178670e-01 4.03964572e+01] [-1.10302635e-02 -5.92264109e-01 8.05668392e-01 7.32610325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.089072329 meters Centerline goodness : 0.731203 Centerline is valid? [False, False] Translation: X:-91.85, Y:40.38, Z:73.38 [[ 4.55763672e-01 7.14442146e-01 5.30897255e-01 -9.18528922e+01] [-8.90059995e-01 3.71516009e-01 2.64138335e-01 4.03790330e+01] [-8.52527082e-03 -5.92915065e-01 8.05219874e-01 7.33799422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.119072329 meters Centerline goodness : 0.731033 Centerline is valid? [False, False] Translation: X:-92.02, Y:40.36, Z:73.50 [[ 4.55676035e-01 7.13930565e-01 5.31660136e-01 -9.20249804e+01] [-8.90104747e-01 3.71181252e-01 2.64457970e-01 4.03629187e+01] [-8.53764698e-03 -5.93740370e-01 8.04611386e-01 7.34990036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.149072329 meters Centerline goodness : 0.730731 Centerline is valid? [False, False] Translation: X:-92.20, Y:40.35, Z:73.62 [[ 4.55053817e-01 7.13089225e-01 5.33319585e-01 -9.22020451e+01] [-8.90409413e-01 3.71015468e-01 2.63663802e-01 4.03466267e+01] [-9.85399918e-03 -5.94853998e-01 8.03773363e-01 7.36222414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.179072329 meters Centerline goodness : 0.728651 Centerline is valid? [False, False] Translation: X:-92.37, Y:40.33, Z:73.74 [[ 4.54185515e-01 7.11588611e-01 5.36057055e-01 -9.23714564e+01] [-8.90829387e-01 3.70685910e-01 2.62706984e-01 4.03298732e+01] [-1.17694991e-02 -5.96853085e-01 8.02264217e-01 7.37408899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.209072329 meters Centerline goodness : 0.729895 Centerline is valid? [False, False] Translation: X:-92.55, Y:40.31, Z:73.86 [[ 4.55908016e-01 7.10426740e-01 5.36135924e-01 -9.25480841e+01] [-8.89939427e-01 3.72318941e-01 2.63413027e-01 4.03123812e+01] [-1.24779015e-02 -5.97220607e-01 8.01979955e-01 7.38631313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.239072329 meters Centerline goodness : 0.730422 Centerline is valid? [False, False] Translation: X:-92.72, Y:40.29, Z:73.99 [[ 4.58296742e-01 7.09443295e-01 5.35401071e-01 -9.27243876e+01] [-8.88685119e-01 3.75420476e-01 2.63245560e-01 4.02948078e+01] [-1.42427273e-02 -5.96447547e-01 8.02525681e-01 7.39851210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.269072329 meters Centerline goodness : 0.737406 Centerline is valid? [False, False] Translation: X:-92.89, Y:40.28, Z:74.10 [[ 4.64576092e-01 7.07580225e-01 5.32446504e-01 -9.28935883e+01] [-8.85351839e-01 3.83309342e-01 2.63108475e-01 4.02765696e+01] [-1.79213649e-02 -5.93636398e-01 8.04533810e-01 7.41028510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.299072329 meters Centerline goodness : 0.738356 Centerline is valid? [False, False] Translation: X:-93.06, Y:40.26, Z:74.22 [[ 4.67135367e-01 7.06741934e-01 5.31319478e-01 -9.30641071e+01] [-8.83915360e-01 3.88135188e-01 2.60853814e-01 4.02600011e+01] [-2.18674564e-02 -5.91495490e-01 8.06011725e-01 7.42230090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.329072329 meters Centerline goodness : 0.741821 Centerline is valid? [False, False] Translation: X:-93.24, Y:40.24, Z:74.34 [[ 4.70573264e-01 7.04399973e-01 5.31395785e-01 -9.32361650e+01] [-8.81971693e-01 3.93385226e-01 2.59565016e-01 4.02429448e+01] [-2.62056607e-02 -5.90820397e-01 8.06377407e-01 7.43436072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.359072329 meters Centerline goodness : 0.740996 Centerline is valid? [False, False] Translation: X:-93.41, Y:40.23, Z:74.46 [[ 4.78144019e-01 6.97883626e-01 5.33232352e-01 -9.34056554e+01] [-8.77555623e-01 4.04297702e-01 2.57758602e-01 4.02251883e+01] [-3.56991065e-02 -5.91186783e-01 8.05744229e-01 7.44644440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38907232900002 meters Centerline goodness : 0.742221 Centerline is valid? [False, False] Translation: X:-93.57, Y:40.21, Z:74.58 [[ 4.81430392e-01 6.94656620e-01 5.34487566e-01 -9.35705143e+01] [-8.75478319e-01 4.10327884e-01 2.55281690e-01 4.02090309e+01] [-4.19820362e-02 -5.90832639e-01 8.05701124e-01 7.45811771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.419072329 meters Centerline goodness : 0.743351 Centerline is valid? [False, False] Translation: X:-93.73, Y:40.19, Z:74.70 [[ 4.84282132e-01 6.92202891e-01 5.35094360e-01 -9.37306970e+01] [-8.73577334e-01 4.16332135e-01 2.52051968e-01 4.01932070e+01] [-4.83058771e-02 -5.89510569e-01 8.06314970e-01 7.46953580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.449072329 meters Centerline goodness : 0.747993 Centerline is valid? [False, False] Translation: X:-93.89, Y:40.18, Z:74.80 [[ 4.93386826e-01 6.87265336e-01 5.33137692e-01 -9.38855094e+01] [-8.68001538e-01 4.28535066e-01 2.50860574e-01 4.01750415e+01] [-5.60604191e-02 -5.86535639e-01 8.07980924e-01 7.48028868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.479072329 meters Centerline goodness : 0.751228 Centerline is valid? [False, False] Translation: X:-94.04, Y:40.16, Z:74.91 [[ 4.96215162e-01 6.85887274e-01 5.32286728e-01 -9.40428996e+01] [-8.65864675e-01 4.35895060e-01 2.45507354e-01 4.01596734e+01] [-6.36307853e-02 -5.82712746e-01 8.10183299e-01 7.49147449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.509072329 meters Centerline goodness : 0.753064 Centerline is valid? [False, False] Translation: X:-94.20, Y:40.14, Z:75.03 [[ 5.00766386e-01 6.82706347e-01 5.32113776e-01 -9.42018877e+01] [-8.62774221e-01 4.43164645e-01 2.43363392e-01 4.01433290e+01] [-6.96682804e-02 -5.80962255e-01 8.10943394e-01 7.50256753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.539072329 meters Centerline goodness : 0.754584 Centerline is valid? [False, False] Translation: X:-94.36, Y:40.13, Z:75.14 [[ 5.05652780e-01 6.78534938e-01 5.32827931e-01 -9.43582578e+01] [-8.59431966e-01 4.50176184e-01 2.42318178e-01 4.01271647e+01] [-7.54450949e-02 -5.80458217e-01 8.10787454e-01 7.51354388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.569072329 meters Centerline goodness : 0.756299 Centerline is valid? [False, False] Translation: X:-94.52, Y:40.11, Z:75.25 [[ 5.15363021e-01 6.70068988e-01 5.34236378e-01 -9.45179399e+01] [-8.52534326e-01 4.64236758e-01 2.40144655e-01 4.01101294e+01] [-8.70986783e-02 -5.79216525e-01 8.10507271e-01 7.52498397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.599072329 meters Centerline goodness : 0.758929 Centerline is valid? [False, False] Translation: X:-94.67, Y:40.09, Z:75.35 [[ 5.20989077e-01 6.66243828e-01 5.33563064e-01 -9.46686602e+01] [-8.48453176e-01 4.72519263e-01 2.38438157e-01 4.00940514e+01] [-9.32608757e-02 -5.76926952e-01 8.11454066e-01 7.53546751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.629072329 meters Centerline goodness : 0.760717 Centerline is valid? [False, False] Translation: X:-94.82, Y:40.08, Z:75.46 [[ 0.52548819 0.66372196 0.53229251 -94.82082944] [ -0.84480597 0.48119171 0.23400301 40.07873895] [ -0.10082181 -0.57264971 0.81357684 75.46095258] [ 0. 0. 0. 1. ]] SLAMing on 245.659072329 meters Centerline goodness : 0.766842 Centerline is valid? [False, False] Translation: X:-94.97, Y:40.06, Z:75.57 [[ 0.53553345 0.65686093 0.53078964 -94.97475524] [ -0.83695215 0.49672726 0.22972403 40.06219943] [ -0.11276094 -0.56727043 0.81577523 75.56901113] [ 0. 0. 0. 1. ]] SLAMing on 245.689072329 meters Centerline goodness : 0.767032 Centerline is valid? [False, False] Translation: X:-95.12, Y:40.05, Z:75.67 [[ 0.53919313 0.65369606 0.53099173 -95.12275302] [ -0.83355447 0.50424774 0.22565716 40.04777449] [ -0.12024019 -0.56428333 0.8167782 75.67368419] [ 0. 0. 0. 1. ]] SLAMing on 245.719072329 meters Centerline goodness : 0.767210 Centerline is valid? [False, False] Translation: X:-95.27, Y:40.03, Z:75.78 [[ 0.54875976 0.64484692 0.53201051 -95.27243995] [ -0.82539837 0.51887159 0.22246303 40.03130733] [ -0.13259054 -0.56119936 0.81699145 75.78025027] [ 0. 0. 0. 1. ]] SLAMing on 245.749072329 meters Centerline goodness : 0.767827 Centerline is valid? [False, False] Translation: X:-95.42, Y:40.02, Z:75.88 [[ 0.55185316 0.64223985 0.53196434 -95.41613132] [ -0.82200476 0.52645425 0.21714994 40.01732969] [ -0.14059255 -0.5571121 0.81844966 75.88184669] [ 0. 0. 0. 1. ]] SLAMing on 245.779072329 meters Centerline goodness : 0.768806 Centerline is valid? [False, False] Translation: X:-95.57, Y:40.00, Z:75.99 [[ 0.55471016 0.64002508 0.53166204 -95.5657084 ] [ -0.818754 0.53362807 0.21185603 40.00274315] [ -0.14811662 -0.55281911 0.82003201 75.98674721] [ 0. 0. 0. 1. ]] SLAMing on 245.809072329 meters Centerline goodness : 0.769221 Centerline is valid? [False, False] Translation: X:-95.71, Y:39.99, Z:76.08 [[ 0.5630083 0.63454519 0.5295036 -95.70553466] [ -0.81122133 0.5467415 0.20734921 39.98694267] [ -0.15792914 -0.54628394 0.82257659 76.08391629] [ 0. 0. 0. 1. ]] SLAMing on 245.839072329 meters Centerline goodness : 0.770390 Centerline is valid? [False, False] Translation: X:-95.85, Y:39.97, Z:76.18 [[ 0.56526515 0.63408963 0.52764159 -95.84645173] [ -0.80836001 0.5532707 0.20111099 39.97327525] [ -0.16440624 -0.5402054 0.82531734 76.18256855] [ 0. 0. 0. 1. ]] SLAMing on 245.869072329 meters Centerline goodness : 0.769880 Centerline is valid? [False, False] Translation: X:-95.99, Y:39.96, Z:76.28 [[ 0.56756479 0.63352217 0.52585157 -95.98962242] [ -0.80542708 0.55968726 0.19503177 39.95952351] [ -0.17075547 -0.53422826 0.82791469 76.28276927] [ 0. 0. 0. 1. ]] SLAMing on 245.899072329 meters Centerline goodness : 0.771919 Centerline is valid? [False, False] Translation: X:-96.13, Y:39.95, Z:76.38 [[ 0.56982253 0.63219333 0.52500845 -96.13329261] [ -0.80236206 0.56603809 0.18925119 39.94602127] [ -0.17753143 -0.52908645 0.8297892 76.38233749] [ 0. 0. 0. 1. ]] SLAMing on 245.929072329 meters Centerline goodness : 0.770605 Centerline is valid? [False, False] Translation: X:-96.28, Y:39.93, Z:76.48 [[ 0.57605351 0.62615722 0.52544219 -96.27581524] [ -0.79561878 0.57694925 0.18471689 39.93077 ] [ -0.18749166 -0.52445848 0.83053608 76.48032545] [ 0. 0. 0. 1. ]] SLAMing on 245.959072329 meters Centerline goodness : 0.768808 Centerline is valid? [False, False] Translation: X:-96.41, Y:39.92, Z:76.57 [[ 0.57746652 0.62421921 0.52619654 -96.4130445 ] [ -0.79325625 0.58142059 0.18081651 39.9172572 ] [ -0.19307237 -0.52182418 0.83091672 76.57386106] [ 0. 0. 0. 1. ]] SLAMing on 245.989072329 meters Centerline goodness : 0.768971 Centerline is valid? [False, False] Translation: X:-96.56, Y:39.90, Z:76.67 [[ 0.57737148 0.6234564 0.52720421 -96.55585386] [ -0.79168338 0.58541315 0.17472513 39.90379423] [ -0.19969878 -0.51826012 0.83158093 76.67181668] [ 0. 0. 0. 1. ]] SLAMing on 246.019072329 meters Centerline goodness : 0.770853 Centerline is valid? [False, False] Translation: X:-96.70, Y:39.89, Z:76.77 [[ 0.57954978 0.62143303 0.52720303 -96.69761667] [ -0.78817295 0.59185577 0.16879025 39.88827603] [ -0.20713632 -0.51334952 0.83280659 76.76861775] [ 0. 0. 0. 1. ]] SLAMing on 246.049072329 meters Centerline goodness : 0.773431 Centerline is valid? [False, False] Translation: X:-96.83, Y:39.87, Z:76.86 [[ 0.58012471 0.62189443 0.52602532 -96.83488899] [ -0.78675527 0.59502464 0.16420059 39.87452252] [ -0.2108826 -0.50911001 0.83446721 76.86115137] [ 0. 0. 0. 1. ]] SLAMing on 246.079072329 meters Centerline goodness : 0.772319 Centerline is valid? [False, False] Translation: X:-96.97, Y:39.86, Z:76.95 [[ 0.58347518 0.6208632 0.52353186 -96.96846173] [ -0.78319728 0.60070396 0.16048916 39.85889118] [ -0.21484585 -0.50367017 0.83675422 76.94993219] [ 0. 0. 0. 1. ]] SLAMing on 246.109072329 meters Centerline goodness : 0.773299 Centerline is valid? [False, False] Translation: X:-97.11, Y:39.84, Z:77.04 [[ 0.58307472 0.62119222 0.52358771 -97.10956929] [ -0.7825144 0.60266799 0.15640493 39.84496068] [ -0.21839202 -0.50091069 0.83749233 77.04489827] [ 0. 0. 0. 1. ]] SLAMing on 246.13907232900002 meters Centerline goodness : 0.774133 Centerline is valid? [False, False] Translation: X:-97.25, Y:39.83, Z:77.14 [[ 0.58209977 0.62116526 0.52470331 -97.25302295] [ -0.78241161 0.60354992 0.15349127 39.83102865] [ -0.2213412 -0.4998812 0.83733318 77.14106162] [ 0. 0. 0. 1. ]] SLAMing on 246.169072329 meters Centerline goodness : 0.771765 Centerline is valid? [False, False] Translation: X:-97.40, Y:39.82, Z:77.24 [[ 0.57955854 0.62113214 0.52754787 -97.39674745] [ -0.78350635 0.60273346 0.15109657 39.81614842] [ -0.22411981 -0.50090642 0.8359803 77.23812845] [ 0. 0. 0. 1. ]] SLAMing on 246.199072329 meters Centerline goodness : 0.772462 Centerline is valid? [False, False] Translation: X:-97.54, Y:39.80, Z:77.33 [[ 0.57760317 0.62305213 0.5274283 -97.53592841] [ -0.78454704 0.60219501 0.14780771 39.80250167] [ -0.22552278 -0.49916651 0.83664345 77.33080667] [ 0. 0. 0. 1. ]] SLAMing on 246.229072329 meters Centerline goodness : 0.773271 Centerline is valid? [False, False] Translation: X:-97.68, Y:39.79, Z:77.42 [[ 0.57847438 0.6230337 0.52649445 -97.6826981 ] [ -0.78434529 0.60209243 0.1492889 39.78648888] [ -0.2239863 -0.49931325 0.83696859 77.4237692 ] [ 0. 0. 0. 1. ]] SLAMing on 246.259072329 meters Centerline goodness : 0.772452 Centerline is valid? [False, False] Translation: X:-97.83, Y:39.77, Z:77.52 [[ 0.57893671 0.62394902 0.5248999 -97.83034176] [ -0.78474359 0.60116472 0.15092542 39.76929829] [ -0.22138154 -0.4992881 0.83767632 77.51720537] [ 0. 0. 0. 1. ]] SLAMing on 246.289072329 meters Centerline goodness : 0.771984 Centerline is valid? [False, False] Translation: X:-97.98, Y:39.75, Z:77.62 [[ 0.57918924 0.62254222 0.52628985 -97.9827781 ] [ -0.78486057 0.60032605 0.15363108 39.75322855] [ -0.22030367 -0.50204562 0.83631124 77.61558237] [ 0. 0. 0. 1. ]] SLAMing on 246.319072329 meters Centerline goodness : 0.772414 Centerline is valid? [False, False] Translation: X:-98.13, Y:39.74, Z:77.71 [[ 0.57874649 0.6211376 0.52843219 -98.13287676] [ -0.78532077 0.59915806 0.15582328 39.73772125] [ -0.21982671 -0.50517095 0.83455289 77.71333982] [ 0. 0. 0. 1. ]] SLAMing on 246.349072329 meters Centerline goodness : 0.771474 Centerline is valid? [False, False] Translation: X:-98.28, Y:39.72, Z:77.81 [[ 0.5761897 0.62272336 0.52935909 -98.27532436] [ -0.78707495 0.5973144 0.1540407 39.72339239] [ -0.22026906 -0.50540194 0.83429636 77.80982072] [ 0. 0. 0. 1. ]] SLAMing on 246.379072329 meters Centerline goodness : 0.771567 Centerline is valid? [False, False] Translation: X:-98.42, Y:39.71, Z:77.90 [[ 0.57372374 0.62498145 0.5293763 -98.42495934] [ -0.78966164 0.59365531 0.15494473 39.70742782] [ -0.21742947 -0.50692363 0.83411802 77.90488627] [ 0. 0. 0. 1. ]] SLAMing on 246.409072329 meters Centerline goodness : 0.769913 Centerline is valid? [False, False] Translation: X:-98.57, Y:39.69, Z:78.00 [[ 0.57324444 0.62634437 0.52828358 -98.57218972] [ -0.79074772 0.59183847 0.15634983 39.69133343] [ -0.21472971 -0.50736571 0.83454849 77.99810808] [ 0. 0. 0. 1. ]] SLAMing on 246.439072329 meters Centerline goodness : 0.772911 Centerline is valid? [False, False] Translation: X:-98.72, Y:39.67, Z:78.09 [[ 0.57041263 0.63102232 0.52577588 -98.717816 ] [ -0.79424304 0.58688274 0.15731065 39.67414886] [ -0.20930225 -0.50732581 0.83595041 78.09206538] [ 0. 0. 0. 1. ]] SLAMing on 246.469072329 meters Centerline goodness : 0.770336 Centerline is valid? [False, False] Translation: X:-98.87, Y:39.66, Z:78.19 [[ 0.56958447 0.63061591 0.52715947 -98.86813842] [ -0.79536651 0.58462528 0.16001686 39.65775307] [ -0.20728157 -0.51042811 0.83456426 78.19010188] [ 0. 0. 0. 1. ]] SLAMing on 246.499072329 meters Centerline goodness : 0.770814 Centerline is valid? [False, False] Translation: X:-99.01, Y:39.64, Z:78.29 [[ 0.56676262 0.63162388 0.52899093 -99.01043836] [ -0.79758882 0.58155099 0.16015782 39.64243195] [ -0.20647569 -0.51268872 0.8333775 78.28620983] [ 0. 0. 0. 1. ]] SLAMing on 246.529072329 meters Centerline goodness : 0.769659 Centerline is valid? [False, False] Translation: X:-99.16, Y:39.63, Z:78.38 [[ 0.56082729 0.63518609 0.53104744 -99.15534648] [ -0.80276263 0.57413761 0.16105333 39.62660869] [ -0.20259547 -0.51662814 0.83189569 78.38243806] [ 0. 0. 0. 1. ]] SLAMing on 246.559072329 meters Centerline goodness : 0.767757 Centerline is valid? [False, False] Translation: X:-99.30, Y:39.61, Z:78.48 [[ 0.56060126 0.63547395 0.53094169 -99.30340806] [ -0.80402258 0.57114805 0.16534087 39.6093443 ] [ -0.19817649 -0.51957941 0.83112172 78.47652332] [ 0. 0. 0. 1. ]] SLAMing on 246.589072329 meters Centerline goodness : 0.767651 Centerline is valid? [False, False] Translation: X:-99.44, Y:39.59, Z:78.57 [[ 0.55828967 0.63911976 0.5289977 -99.44095934] [ -0.80630735 0.5681543 0.16452704 39.59340796] [ -0.19539983 -0.51838849 0.83252164 78.56862832] [ 0. 0. 0. 1. ]] SLAMing on 246.619072329 meters Centerline goodness : 0.768105 Centerline is valid? [False, False] Translation: X:-99.58, Y:39.58, Z:78.66 [[ 0.55451531 0.64335857 0.52782812 -99.57663443] [ -0.81012817 0.56236976 0.16562791 39.57701303] [ -0.19027644 -0.51945163 0.83304554 78.65888709] [ 0. 0. 0. 1. ]] SLAMing on 246.649072329 meters Centerline goodness : 0.769748 Centerline is valid? [False, False] Translation: X:-99.73, Y:39.56, Z:78.76 [[ 0.55482703 0.64190452 0.52926889 -99.72839403] [ -0.81093388 0.55939388 0.17165296 39.55928233] [ -0.18588496 -0.52443978 0.83090896 78.75717455] [ 0. 0. 0. 1. ]] SLAMing on 246.679072329 meters Centerline goodness : 0.768451 Centerline is valid? [False, False] Translation: X:-99.87, Y:39.54, Z:78.85 [[ 0.55262962 0.64271193 0.53058636 -99.87320053] [ -0.81300824 0.55578695 0.17354673 39.54300168] [ -0.18335242 -0.52727814 0.82967442 78.85357714] [ 0. 0. 0. 1. ]] SLAMing on 246.709072329 meters Centerline goodness : 0.766598 Centerline is valid? [False, False] Translation: X:-100.02, Y:39.53, Z:78.95 [[ 0.55007421 0.64394519 0.5317452 -100.0188808 ] [ -0.8152508 0.55211709 0.17473651 39.52641449] [ -0.18106488 -0.52962375 0.8286822 78.95077904] [ 0. 0. 0. 1. ]] SLAMing on 246.739072329 meters Centerline goodness : 0.767572 Centerline is valid? [False, False] Translation: X:-100.16, Y:39.51, Z:79.05 [[ 0.5444399 0.64894202 0.53146914 -100.1647626 ] [ -0.82005164 0.54500685 0.17459336 39.50915055] [ -0.17635336 -0.53088773 0.82888945 79.04681238] [ 0. 0. 0. 1. ]] SLAMing on 246.769072329 meters Centerline goodness : 0.769452 Centerline is valid? [False, False] Translation: X:-100.31, Y:39.49, Z:79.14 [[ 0.54296892 0.65122914 0.53017484 -100.30554876] [ -0.82184208 0.54179066 0.17617743 39.49202809] [ -0.1725119 -0.53137886 0.829383 79.14083567] [ 0. 0. 0. 1. ]] SLAMing on 246.799072329 meters Centerline goodness : 0.770047 Centerline is valid? [False, False] Translation: X:-100.45, Y:39.47, Z:79.24 [[ 0.54116523 0.65328808 0.52948548 -100.45309268] [ -0.82475516 0.53518981 0.182622 39.47431021] [ -0.16407046 -0.53552456 0.82842883 79.23681115] [ 0. 0. 0. 1. ]] SLAMing on 246.829072329 meters Centerline goodness : 0.770197 Centerline is valid? [False, False] Translation: X:-100.61, Y:39.46, Z:79.34 [[ 0.54014711 0.6533917 0.53039644 -100.60568836] [ -0.82619878 0.5316164 0.18649284 39.45613153] [ -0.16011457 -0.53894646 0.82698249 79.33871304] [ 0. 0. 0. 1. ]] SLAMing on 246.859072329 meters Centerline goodness : 0.767969 Centerline is valid? [False, False] Translation: X:-100.75, Y:39.44, Z:79.44 [[ 0.53783621 0.65439113 0.53151148 -100.7528479 ] [ -0.82829717 0.52760055 0.18857748 39.4389926 ] [ -0.15702232 -0.54167325 0.825793 79.43771455] [ 0. 0. 0. 1. ]] SLAMing on 246.88907232900002 meters Centerline goodness : 0.768039 Centerline is valid? [False, False] Translation: X:-100.90, Y:39.42, Z:79.54 [[ 0.53258862 0.65771852 0.53268726 -100.90111911] [ -0.83273881 0.51972558 0.19087011 39.42209224] [ -0.15131239 -0.5452446 0.82450767 79.53651924] [ 0. 0. 0. 1. ]] SLAMing on 246.919072329 meters Centerline goodness : 0.768039 Centerline is valid? [False, False] Translation: X:-101.06, Y:39.40, Z:79.64 [[ 0.53371026 0.65689568 0.53257997 -101.05642205] [ -0.83214311 0.52012395 0.19237701 39.40298697] [ -0.15063597 -0.54585634 0.82422671 79.64122685] [ 0. 0. 0. 1. ]] SLAMing on 246.949072329 meters Centerline goodness : 0.768906 Centerline is valid? [False, False] Translation: X:-101.21, Y:39.39, Z:79.74 [[ 0.53228201 0.65860918 0.53189267 -101.20819508] [ -0.83359302 0.51733233 0.19362318 39.38510262] [ -0.14764327 -0.54644415 0.82437871 79.74237045] [ 0. 0. 0. 1. ]] SLAMing on 246.979072329 meters Centerline goodness : 0.769242 Centerline is valid? [False, False] Translation: X:-101.37, Y:39.37, Z:79.85 [[ 0.53231457 0.65931418 0.53098588 -101.36620174] [ -0.83432985 0.51477477 0.19723243 39.36595507] [ -0.1433 -0.54800706 0.82410762 79.8462755 ] [ 0. 0. 0. 1. ]] SLAMing on 247.009072329 meters Centerline goodness : 0.771283 Centerline is valid? [False, False] Translation: X:-101.52, Y:39.35, Z:79.95 [[ 0.52775393 0.66410318 0.52956845 -101.51795705] [ -0.83816961 0.50820733 0.19798235 39.34880774] [ -0.13764986 -0.54835415 0.82483952 79.94859843] [ 0. 0. 0. 1. ]] SLAMing on 247.039072329 meters Centerline goodness : 0.774482 Centerline is valid? [False, False] Translation: X:-101.68, Y:39.33, Z:80.05 [[ 0.52611061 0.66461355 0.5305624 -101.67513144] [ -0.83966054 0.50487439 0.20017996 39.32990732] [ -0.13482506 -0.55080911 0.82366955 80.05409994] [ 0. 0. 0. 1. ]] SLAMing on 247.069072329 meters Centerline goodness : 0.773154 Centerline is valid? [False, False] Translation: X:-101.83, Y:39.31, Z:80.16 [[ 0.52442483 0.66485099 0.53193209 -101.83342676] [ -0.84111037 0.50161097 0.20228637 39.31071392] [ -0.13233268 -0.5534976 0.82227032 80.1602991 ] [ 0. 0. 0. 1. ]] SLAMing on 247.099072329 meters Centerline goodness : 0.771850 Centerline is valid? [False, False] Translation: X:-101.98, Y:39.29, Z:80.26 [[ 0.52074022 0.66788463 0.53175157 -101.980619 ] [ -0.84425293 0.49535328 0.20460234 39.2936364 ] [ -0.12675412 -0.5554775 0.82181394 80.25966227] [ 0. 0. 0. 1. ]] SLAMing on 247.129072329 meters Centerline goodness : 0.771408 Centerline is valid? [False, False] Translation: X:-102.14, Y:39.27, Z:80.36 [[ 0.52064801 0.66813121 0.53153206 -102.13681946] [ -0.84475864 0.49336151 0.20730958 39.2744707 ] [ -0.12372746 -0.55695162 0.8212773 80.36495435] [ 0. 0. 0. 1. ]] SLAMing on 247.159072329 meters Centerline goodness : 0.771879 Centerline is valid? [False, False] Translation: X:-102.29, Y:39.26, Z:80.47 [[ 0.51840913 0.66959208 0.53188197 -102.29121867] [ -0.84677945 0.48868831 0.21011499 39.25594333] [ -0.11923317 -0.55931225 0.82033729 80.46895728] [ 0. 0. 0. 1. ]] SLAMing on 247.189072329 meters Centerline goodness : 0.769958 Centerline is valid? [False, False] Translation: X:-102.45, Y:39.24, Z:80.58 [[ 0.51756817 0.66930299 0.5330635 -102.45011776] [ -0.84754005 0.4865505 0.21200111 39.23579282] [ -0.11746933 -0.56151769 0.81908414 80.57650473] [ 0. 0. 0. 1. ]] SLAMing on 247.219072329 meters Centerline goodness : 0.768974 Centerline is valid? [False, False] Translation: X:-102.61, Y:39.21, Z:80.69 [[ 0.51669089 0.6696346 0.53349791 -102.61138098] [ -0.8483977 0.48422968 0.21387604 39.21492208] [ -0.11511672 -0.5631262 0.81831352 80.68645575] [ 0. 0. 0. 1. ]] SLAMing on 247.249072329 meters Centerline goodness : 0.769275 Centerline is valid? [False, False] Translation: X:-102.77, Y:39.19, Z:80.79 [[ 0.5162026 0.6703739 0.53304193 -102.76752736] [ -0.84912847 0.4818765 0.21627735 39.1942568 ] [ -0.11187369 -0.56426401 0.81797947 80.79291293] [ 0. 0. 0. 1. ]] SLAMing on 247.279072329 meters Centerline goodness : 0.769714 Centerline is valid? [False, False] Translation: X:-102.92, Y:39.18, Z:80.90 [[ 0.51363273 0.67377 0.53123949 -102.91812056] [ -0.85138956 0.47699553 0.21819964 39.17539577] [ -0.10638249 -0.56436624 0.81864126 80.89524897] [ 0. 0. 0. 1. ]] SLAMing on 247.309072329 meters Centerline goodness : 0.767834 Centerline is valid? [False, False] Translation: X:-103.07, Y:39.15, Z:81.00 [[ 0.5138122 0.67345346 0.53146727 -103.0745009 ] [ -0.85167217 0.47493898 0.22155692 39.15400646] [ -0.10320625 -0.56647453 0.81759102 81.00211038] [ 0. 0. 0. 1. ]] SLAMing on 247.339072329 meters Centerline goodness : 0.767267 Centerline is valid? [False, False] Translation: X:-103.23, Y:39.13, Z:81.11 [[ 5.13681433e-01 6.73199199e-01 5.31915617e-01 -1.03232442e+02] [-8.52046418e-01 4.73054961e-01 2.24133679e-01 3.91325555e+01] [-1.00738708e-01 -5.68350106e-01 8.16596516e-01 8.11104924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.369072329 meters Centerline goodness : 0.764953 Centerline is valid? [False, False] Translation: X:-103.39, Y:39.11, Z:81.22 [[ 5.11466448e-01 6.74063145e-01 5.32954922e-01 -1.03389700e+02] [-8.53658869e-01 4.69544973e-01 2.25375361e-01 3.91124864e+01] [-9.83290800e-02 -5.70233632e-01 8.15576482e-01 8.12186589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.399072329 meters Centerline goodness : 0.765282 Centerline is valid? [False, False] Translation: X:-103.55, Y:39.09, Z:81.33 [[ 5.12094586e-01 6.73923091e-01 5.32528687e-01 -1.03547010e+02] [-8.53520454e-01 4.68730977e-01 2.27583185e-01 3.90901946e+01] [-9.62391286e-02 -5.71068243e-01 8.15241738e-01 8.13268614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.429072329 meters Centerline goodness : 0.766608 Centerline is valid? [False, False] Translation: X:-103.70, Y:39.07, Z:81.43 [[ 5.11750424e-01 6.75792279e-01 5.30486852e-01 -1.03698990e+02] [-8.54019524e-01 4.67420566e-01 2.28404612e-01 3.90690105e+01] [-9.36063912e-02 -5.69932286e-01 8.16342473e-01 8.14311704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.459072329 meters Centerline goodness : 0.768699 Centerline is valid? [False, False] Translation: X:-103.85, Y:39.05, Z:81.54 [[ 5.12790484e-01 6.74974483e-01 5.30523673e-01 -1.03853143e+02] [-8.53566825e-01 4.67082537e-01 2.30776037e-01 3.90467611e+01] [-9.20304069e-02 -5.71177163e-01 8.15651306e-01 8.15381149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.489072329 meters Centerline goodness : 0.767230 Centerline is valid? [False, False] Translation: X:-104.01, Y:39.03, Z:81.65 [[ 5.12938001e-01 6.73707286e-01 5.31989755e-01 -1.04008557e+02] [-8.53451365e-01 4.66849141e-01 2.31673578e-01 3.90255694e+01] [-9.22787829e-02 -5.72861565e-01 8.14441068e-01 8.16465247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.519072329 meters Centerline goodness : 0.762492 Centerline is valid? [False, False] Translation: X:-104.17, Y:39.01, Z:81.76 [[ 5.13280782e-01 6.71114529e-01 5.34928151e-01 -1.04165761e+02] [-8.53208338e-01 4.66299574e-01 2.33666940e-01 3.90051656e+01] [-9.26194910e-02 -5.76341909e-01 8.11943123e-01 8.17551891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.549072329 meters Centerline goodness : 0.762257 Centerline is valid? [False, False] Translation: X:-104.32, Y:38.98, Z:81.86 [[ 5.12744670e-01 6.71537108e-01 5.34911971e-01 -1.04318510e+02] [-8.53364845e-01 4.66956616e-01 2.31775669e-01 3.89842700e+01] [-9.41347211e-02 -5.75316810e-01 8.12495675e-01 8.18626115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.579072329 meters Centerline goodness : 0.764100 Centerline is valid? [False, False] Translation: X:-104.46, Y:38.96, Z:81.96 [[ 5.12613251e-01 6.72449952e-01 5.33890173e-01 -1.04461951e+02] [-8.53386904e-01 4.67563089e-01 2.30468110e-01 3.89637762e+01] [-9.46490686e-02 -5.73755889e-01 8.13539018e-01 8.19626736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.609072329 meters Centerline goodness : 0.767053 Centerline is valid? [False, False] Translation: X:-104.61, Y:38.94, Z:82.06 [[ 5.12125924e-01 6.74106694e-01 5.32266102e-01 -1.04607686e+02] [-8.53707574e-01 4.67607375e-01 2.29187089e-01 3.89424725e+01] [-9.43950036e-02 -5.71772252e-01 8.14963849e-01 8.20645317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63907232900002 meters Centerline goodness : 0.766369 Centerline is valid? [False, False] Translation: X:-104.76, Y:38.92, Z:82.17 [[ 5.12154814e-01 6.75495356e-01 5.30474760e-01 -1.04756347e+02] [-8.53806810e-01 4.67526626e-01 2.28982060e-01 3.89205297e+01] [-9.33347565e-02 -5.70197227e-01 8.16188548e-01 8.21682293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.669072329 meters Centerline goodness : 0.763460 Centerline is valid? [False, False] Translation: X:-104.91, Y:38.90, Z:82.27 [[ 5.12273497e-01 6.74334373e-01 5.31835518e-01 -1.04905126e+02] [-8.53570699e-01 4.68148556e-01 2.28591322e-01 3.88997822e+01] [-9.48310437e-02 -5.71060490e-01 8.15412159e-01 8.22725846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.699072329 meters Centerline goodness : 0.759350 Centerline is valid? [False, False] Translation: X:-105.05, Y:38.88, Z:82.38 [[ 5.12506222e-01 6.70913365e-01 5.35922223e-01 -1.05053094e+02] [-8.53217098e-01 4.68197655e-01 2.29807614e-01 3.88788942e+01] [-9.67365282e-02 -5.75035836e-01 8.12388966e-01 8.23774406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.729072329 meters Centerline goodness : 0.758589 Centerline is valid? [False, False] Translation: X:-105.19, Y:38.86, Z:82.48 [[ 5.11851608e-01 6.70530848e-01 5.37025431e-01 -1.05193033e+02] [-8.53356600e-01 4.68855875e-01 2.27940082e-01 3.88586257e+01] [-9.89466720e-02 -5.74945693e-01 8.12186558e-01 8.24763577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.759072329 meters Centerline goodness : 0.764774 Centerline is valid? [False, False] Translation: X:-105.33, Y:38.84, Z:82.57 [[ 5.13697301e-01 6.72061292e-01 5.33337326e-01 -1.05331713e+02] [-8.52299896e-01 4.71084249e-01 2.27298300e-01 3.88363490e+01] [-9.84884247e-02 -5.71325871e-01 8.14792477e-01 8.25718503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.789072329 meters Centerline goodness : 0.768430 Centerline is valid? [False, False] Translation: X:-105.48, Y:38.81, Z:82.68 [[ 5.15777636e-01 6.72472666e-01 5.30804997e-01 -1.05481088e+02] [-8.51150977e-01 4.72765245e-01 2.28111895e-01 3.88129039e+01] [-9.75471399e-02 -5.69450206e-01 8.16217507e-01 8.26753329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.819072329 meters Centerline goodness : 0.768741 Centerline is valid? [False, False] Translation: X:-105.63, Y:38.79, Z:82.78 [[ 5.18218073e-01 6.71177515e-01 5.30066762e-01 -1.05626095e+02] [-8.49678356e-01 4.74656615e-01 2.29668867e-01 3.87904236e+01] [-9.74511157e-02 -5.69404813e-01 8.16260644e-01 8.27760608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.849072329 meters Centerline goodness : 0.767135 Centerline is valid? [False, False] Translation: X:-105.78, Y:38.77, Z:82.88 [[ 5.19634322e-01 6.69020483e-01 5.31405462e-01 -1.05775815e+02] [-8.48601717e-01 4.76406997e-01 2.30024996e-01 3.87678522e+01] [-9.92738457e-02 -5.70480470e-01 8.15289357e-01 8.28817393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.879072329 meters Centerline goodness : 0.759590 Centerline is valid? [False, False] Translation: X:-105.92, Y:38.75, Z:82.99 [[ 5.20094564e-01 6.64543924e-01 5.36547312e-01 -1.05922763e+02] [-8.47642835e-01 4.78750191e-01 2.28691669e-01 3.87462309e+01] [-1.04896469e-01 -5.73741778e-01 8.12291267e-01 8.29881098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.909072329 meters Centerline goodness : 0.759681 Centerline is valid? [False, False] Translation: X:-106.07, Y:38.72, Z:83.09 [[ 0.52000323 0.66351542 0.53790699 -106.06716272] [ -0.84729871 0.48037668 0.2265461 38.72476433] [ -0.10808114 -0.5735726 0.81199319 83.0904398 ] [ 0. 0. 0. 1. ]] SLAMing on 247.939072329 meters Centerline goodness : 0.762668 Centerline is valid? [False, False] Translation: X:-106.21, Y:38.70, Z:83.19 [[ 0.52384922 0.66284779 0.53499047 -106.20863276] [ -0.84477692 0.48482126 0.22649569 38.70138764] [ -0.10924258 -0.5705972 0.81393175 83.1884099 ] [ 0. 0. 0. 1. ]] SLAMing on 247.969072329 meters Centerline goodness : 0.765516 Centerline is valid? [False, False] Translation: X:-106.36, Y:38.68, Z:83.29 [[ 0.52644064 0.66213771 0.53332346 -106.35711207] [ -0.84298809 0.48810084 0.22611647 38.67763172] [ -0.11059539 -0.56862222 0.81513031 83.29246095] [ 0. 0. 0. 1. ]] SLAMing on 247.999072329 meters Centerline goodness : 0.768618 Centerline is valid? [False, False] Translation: X:-106.51, Y:38.65, Z:83.40 [[ 0.52895155 0.66007585 0.5333949 -106.50739995] [ -0.84109307 0.49145156 0.2259155 38.65423262] [ -0.11301639 -0.56813311 0.81513929 83.39739633] [ 0. 0. 0. 1. ]] SLAMing on 248.029072329 meters Centerline goodness : 0.765331 Centerline is valid? [False, False] Translation: X:-106.65, Y:38.63, Z:83.50 [[ 0.5328085 0.6555911 0.5350845 -106.65353291] [ -0.83808681 0.49633923 0.226402 38.63097534] [ -0.11715629 -0.56907617 0.81389601 83.50165672] [ 0. 0. 0. 1. ]] SLAMing on 248.059072329 meters Centerline goodness : 0.763595 Centerline is valid? [False, False] Translation: X:-106.80, Y:38.61, Z:83.60 [[ 0.53296065 0.6541454 0.53669985 -106.79660324] [ -0.83723191 0.49948794 0.22260845 38.6095453 ] [ -0.12245681 -0.56798379 0.81387883 83.60431516] [ 0. 0. 0. 1. ]] SLAMing on 248.089072329 meters Centerline goodness : 0.763879 Centerline is valid? [False, False] Translation: X:-106.94, Y:38.59, Z:83.71 [[ 0.53339818 0.65323378 0.53737511 -106.93818748] [ -0.83613868 0.50325117 0.21819803 38.58774907] [ -0.12790033 -0.56570654 0.81462728 83.70604376] [ 0. 0. 0. 1. ]] SLAMing on 248.119072329 meters Centerline goodness : 0.761225 Centerline is valid? [False, False] Translation: X:-107.07, Y:38.56, Z:83.80 [[ 0.53835971 0.65034793 0.53592574 -107.0737322 ] [ -0.83217539 0.51053723 0.21641593 38.56492775] [ -0.13286439 -0.56249383 0.81605622 83.80162922] [ 0. 0. 0. 1. ]] SLAMing on 248.149072329 meters Centerline goodness : 0.761606 Centerline is valid? [False, False] Translation: X:-107.22, Y:38.54, Z:83.90 [[ 0.54003322 0.6496256 0.53511747 -107.21585044] [ -0.8304701 0.51455038 0.21344163 38.54277933] [ -0.13668775 -0.55966463 0.81736893 83.90211113] [ 0. 0. 0. 1. ]] SLAMing on 248.179072329 meters Centerline goodness : 0.762415 Centerline is valid? [False, False] Translation: X:-107.36, Y:38.52, Z:84.00 [[ 0.54317981 0.64734659 0.53469439 -107.35724181] [ -0.82800841 0.51853211 0.21336946 38.51949005] [ -0.13913221 -0.55862943 0.81766459 84.00129882] [ 0. 0. 0. 1. ]] SLAMing on 248.209072329 meters Centerline goodness : 0.762192 Centerline is valid? [False, False] Translation: X:-107.50, Y:38.50, Z:84.10 [[ 0.54588646 0.6448154 0.53499634 -107.49992934] [ -0.82557948 0.52287589 0.21217759 38.49649484] [ -0.1429213 -0.55750687 0.81777723 84.10261394] [ 0. 0. 0. 1. ]] SLAMing on 248.239072329 meters Centerline goodness : 0.760947 Centerline is valid? [False, False] Translation: X:-107.63, Y:38.47, Z:84.20 [[ 0.54891427 0.64169049 0.53565514 -107.63481651] [ -0.82226059 0.52973113 0.20802031 38.47474372] [ -0.15026855 -0.55463343 0.81841378 84.20112446] [ 0. 0. 0. 1. ]] SLAMing on 248.269072329 meters Centerline goodness : 0.761277 Centerline is valid? [False, False] Translation: X:-107.77, Y:38.45, Z:84.30 [[ 0.54849339 0.64167616 0.53610327 -107.76737669] [ -0.82151112 0.53301684 0.2025155 38.45445754] [ -0.1558027 -0.55149321 0.81950031 84.29655876] [ 0. 0. 0. 1. ]] SLAMing on 248.299072329 meters Centerline goodness : 0.760280 Centerline is valid? [False, False] Translation: X:-107.91, Y:38.43, Z:84.39 [[ 0.5523244 0.63948529 0.53478624 -107.90851998] [ -0.81817603 0.53878798 0.2007374 38.43000775] [ -0.15976778 -0.54842145 0.82079728 84.39447985] [ 0. 0. 0. 1. ]] SLAMing on 248.329072329 meters Centerline goodness : 0.760814 Centerline is valid? [False, False] Translation: X:-108.04, Y:38.41, Z:84.49 [[ 0.55298855 0.63959838 0.53396402 -108.04487832] [ -0.81703874 0.54184363 0.19711207 38.40808373] [ -0.16325244 -0.54527001 0.82220998 84.4910069 ] [ 0. 0. 0. 1. ]] SLAMing on 248.359072329 meters Centerline goodness : 0.760786 Centerline is valid? [False, False] Translation: X:-108.18, Y:38.39, Z:84.59 [[ 0.55472957 0.63834993 0.53365202 -108.18351248] [ -0.81544051 0.54455545 0.19625529 38.38524799] [ -0.16532356 -0.54403009 0.8226174 84.58736463] [ 0. 0. 0. 1. ]] SLAMing on 248.38907232900002 meters Centerline goodness : 0.757374 Centerline is valid? [False, False] Translation: X:-108.32, Y:38.36, Z:84.68 [[ 0.55773864 0.63506455 0.53443486 -108.31628606] [ -0.81295254 0.54785579 0.19738843 38.36172748] [ -0.16743884 -0.54456133 0.82183769 84.68124957] [ 0. 0. 0. 1. ]] SLAMing on 248.419072329 meters Centerline goodness : 0.758008 Centerline is valid? [False, False] Translation: X:-108.45, Y:38.34, Z:84.78 [[ 0.5566911 0.63505138 0.53554156 -108.4510059 ] [ -0.81271081 0.54984842 0.19278966 38.33978274] [ -0.17203534 -0.5425647 0.82220885 84.77792947] [ 0. 0. 0. 1. ]] SLAMing on 248.449072329 meters Centerline goodness : 0.758974 Centerline is valid? [False, False] Translation: X:-108.59, Y:38.32, Z:84.87 [[ 0.55767977 0.63383492 0.53595388 -108.58574017] [ -0.8114229 0.55233005 0.19111358 38.31702269] [ -0.17488897 -0.54146543 0.82233147 84.87118692] [ 0. 0. 0. 1. ]] SLAMing on 248.479072329 meters Centerline goodness : 0.757228 Centerline is valid? [False, False] Translation: X:-108.72, Y:38.29, Z:84.96 [[ 0.55930624 0.63296925 0.53528166 -108.72129113] [ -0.80994439 0.55478971 0.19025894 38.29346549] [ -0.1765407 -0.53996139 0.82296724 84.96463706] [ 0. 0. 0. 1. ]] SLAMing on 248.509072329 meters Centerline goodness : 0.757644 Centerline is valid? [False, False] Translation: X:-108.85, Y:38.27, Z:85.06 [[ 0.56237916 0.63157936 0.53370141 -108.85274085] [ -0.80739097 0.55873175 0.18957494 38.26953117] [ -0.1784643 -0.53751869 0.82415056 85.0552321 ] [ 0. 0. 0. 1. ]] SLAMing on 248.539072329 meters Centerline goodness : 0.757824 Centerline is valid? [False, False] Translation: X:-108.99, Y:38.25, Z:85.15 [[ 0.56210397 0.63135581 0.53425552 -108.98619037] [ -0.80677623 0.56077108 0.18613947 38.24721164] [ -0.18207481 -0.5356544 0.82457452 85.14979893] [ 0. 0. 0. 1. ]] SLAMing on 248.569072329 meters Centerline goodness : 0.758339 Centerline is valid? [False, False] Translation: X:-109.12, Y:38.22, Z:85.25 [[ 0.56202873 0.62903453 0.53706542 -109.12022572] [ -0.80565687 0.56329354 0.18335051 38.22249594] [ -0.18719168 -0.53573869 0.82337314 85.24637062] [ 0. 0. 0. 1. ]] SLAMing on 248.599072329 meters Centerline goodness : 0.757167 Centerline is valid? [False, False] Translation: X:-109.26, Y:38.20, Z:85.34 [[ 0.56237739 0.62823774 0.53763278 -109.25689261] [ -0.80485878 0.56495425 0.18173892 38.19826907] [ -0.18956268 -0.53492433 0.82336016 85.34118778] [ 0. 0. 0. 1. ]] SLAMing on 248.629072329 meters Centerline goodness : 0.758233 Centerline is valid? [False, False] Translation: X:-109.39, Y:38.17, Z:85.43 [[ 0.56558804 0.62721475 0.53545478 -109.39056197] [ -0.80240471 0.56844671 0.18170039 38.17171325] [ -0.19041235 -0.532419 0.82478673 85.43199128] [ 0. 0. 0. 1. ]] SLAMing on 248.659072329 meters Centerline goodness : 0.757377 Centerline is valid? [False, False] Translation: X:-109.53, Y:38.15, Z:85.52 [[ 0.56780935 0.62655738 0.53387113 -109.52536796] [ -0.80082497 0.57052333 0.18216063 38.14686114] [ -0.19045185 -0.53096984 0.82571128 85.52390533] [ 0. 0. 0. 1. ]] SLAMing on 248.689072329 meters Centerline goodness : 0.756966 Centerline is valid? [False, False] Translation: X:-109.66, Y:38.12, Z:85.62 [[ 0.56911268 0.62545765 0.53377287 -109.66094754] [ -0.79960897 0.57229112 0.18195705 38.12210254] [ -0.19166705 -0.53036364 0.82581968 85.61734802] [ 0. 0. 0. 1. ]] SLAMing on 248.719072329 meters Centerline goodness : 0.754826 Centerline is valid? [False, False] Translation: X:-109.80, Y:38.10, Z:85.71 [[ 0.57020817 0.62306175 0.53540331 -109.7992589 ] [ -0.79844439 0.57365596 0.18277142 38.09679125] [ -0.19325942 -0.53170752 0.82458347 85.71291005] [ 0. 0. 0. 1. ]] SLAMing on 248.749072329 meters Centerline goodness : 0.756527 Centerline is valid? [False, False] Translation: X:-109.94, Y:38.07, Z:85.81 [[ 0.57120377 0.61971927 0.53821397 -109.93539707] [ -0.79708196 0.57531588 0.18349928 38.06933915] [ -0.19592501 -0.53381613 0.82258965 85.80956562] [ 0. 0. 0. 1. ]] SLAMing on 248.779072329 meters Centerline goodness : 0.755848 Centerline is valid? [False, False] Translation: X:-110.07, Y:38.05, Z:85.90 [[ 0.57144437 0.61936499 0.53836636 -110.06613037] [ -0.79634932 0.5769572 0.18151626 38.04506995] [ -0.19818953 -0.53245413 0.82292983 85.90062978] [ 0. 0. 0. 1. ]] SLAMing on 248.809072329 meters Centerline goodness : 0.755848 Centerline is valid? [False, False] Translation: X:-110.20, Y:38.02, Z:85.99 [[ 0.57148943 0.61924489 0.53845668 -110.19838948] [ -0.796028 0.57773646 0.18044393 38.02278884] [ -0.19934707 -0.53174839 0.82310655 85.99132663] [ 0. 0. 0. 1. ]] SLAMing on 248.839072329 meters Centerline goodness : 0.758297 Centerline is valid? [False, False] Translation: X:-110.33, Y:38.00, Z:86.08 [[ 0.5728065 0.61919629 0.53711141 -110.33133616] [ -0.7950451 0.57916141 0.18020918 37.99721177] [ -0.19948935 -0.53025278 0.8240364 86.08221109] [ 0. 0. 0. 1. ]] SLAMing on 248.869072329 meters Centerline goodness : 0.761172 Centerline is valid? [False, False] Translation: X:-110.46, Y:37.97, Z:86.17 [[ 0.57471278 0.62018822 0.53392114 -110.4614185 ] [ -0.79395526 0.58068759 0.18010269 37.96989442] [ -0.19834381 -0.52741681 0.82613028 86.17018534] [ 0. 0. 0. 1. ]] SLAMing on 248.899072329 meters Centerline goodness : 0.760959 Centerline is valid? [False, False] Translation: X:-110.60, Y:37.94, Z:86.26 [[ 0.57536267 0.62007968 0.53334698 -110.59687821] [ -0.79354492 0.58115846 0.18039207 37.94403375] [ -0.19810165 -0.52702565 0.82643796 86.26352869] [ 0. 0. 0. 1. ]] SLAMing on 248.929072329 meters Centerline goodness : 0.757536 Centerline is valid? [False, False] Translation: X:-110.73, Y:37.92, Z:86.36 [[ 0.57584419 0.61745789 0.53586307 -110.73402737] [ -0.79315036 0.58088339 0.18299449 37.91565297] [ -0.19828256 -0.5303963 0.82423528 86.35960953] [ 0. 0. 0. 1. ]] SLAMing on 248.959072329 meters Centerline goodness : 0.757700 Centerline is valid? [False, False] Translation: X:-110.87, Y:37.89, Z:86.45 [[ 0.57580882 0.61652053 0.53697918 -110.86887235] [ -0.79295846 0.58110838 0.1831118 37.89007767] [ -0.19915091 -0.53123957 0.8234825 86.45260469] [ 0. 0. 0. 1. ]] SLAMing on 248.989072329 meters Centerline goodness : 0.759968 Centerline is valid? [False, False] Translation: X:-111.01, Y:37.86, Z:86.55 [[ 0.5751087 0.61710326 0.5370601 -111.00686396] [ -0.79311788 0.58151315 0.18112561 37.86391816] [ -0.20053431 -0.53011888 0.8238689 86.54773371] [ 0. 0. 0. 1. ]] SLAMing on 249.019072329 meters Centerline goodness : 0.762073 Centerline is valid? [False, False] Translation: X:-111.14, Y:37.83, Z:86.64 [[ 0.57536564 0.61873381 0.53490453 -111.14296013] [ -0.79306508 0.58197319 0.17987492 37.83417639] [ -0.20000541 -0.52770795 0.82554355 86.64136778] [ 0. 0. 0. 1. ]] SLAMing on 249.049072329 meters Centerline goodness : 0.763694 Centerline is valid? [False, False] Translation: X:-111.28, Y:37.81, Z:86.73 [[ 0.57604029 0.61885712 0.53403507 -111.27927902] [ -0.79275293 0.58223873 0.18039086 37.80697973] [ -0.19929973 -0.52727027 0.82599375 86.73468748] [ 0. 0. 0. 1. ]] SLAMing on 249.079072329 meters Centerline goodness : 0.764873 Centerline is valid? [False, False] Translation: X:-111.42, Y:37.78, Z:86.83 [[ 0.57627047 0.61812488 0.53463444 -111.41736079] [ -0.79245995 0.5825603 0.18063979 37.78052384] [ -0.19979885 -0.52777375 0.8255515 86.82918314] [ 0. 0. 0. 1. ]] SLAMing on 249.109072329 meters Centerline goodness : 0.761325 Centerline is valid? [False, False] Translation: X:-111.56, Y:37.75, Z:86.93 [[ 0.57576056 0.61692751 0.53656334 -111.55848197] [ -0.79292385 0.58138289 0.18238887 37.75172254] [ -0.19942804 -0.53046619 0.82391388 86.92653198] [ 0. 0. 0. 1. ]] SLAMing on 249.13907232900002 meters Centerline goodness : 0.762850 Centerline is valid? [False, False] Translation: X:-111.70, Y:37.72, Z:87.02 [[ 0.57525756 0.61672211 0.53733842 -111.69761665] [ -0.79325802 0.5808787 0.1825422 37.72486734] [ -0.19955063 -0.53125679 0.82337462 87.02249386] [ 0. 0. 0. 1. ]] SLAMing on 249.169072329 meters Centerline goodness : 0.763067 Centerline is valid? [False, False] Translation: X:-111.84, Y:37.69, Z:87.12 [[ 0.57392416 0.6181615 0.53711025 -111.83691328] [ -0.79473877 0.57861899 0.18327671 37.69353068] [ -0.19748759 -0.53204927 0.82336032 87.11913536] [ 0. 0. 0. 1. ]] SLAMing on 249.199072329 meters Centerline goodness : 0.762627 Centerline is valid? [False, False] Translation: X:-111.98, Y:37.66, Z:87.22 [[ 0.57377423 0.61873584 0.53660888 -111.97803092] [ -0.79516465 0.57780275 0.18400314 37.66484984] [ -0.19620475 -0.53226867 0.8235252 87.21593902] [ 0. 0. 0. 1. ]] SLAMing on 249.229072329 meters Centerline goodness : 0.764850 Centerline is valid? [False, False] Translation: X:-112.12, Y:37.64, Z:87.32 [[ 0.57321586 0.61966656 0.53613145 -112.12147225] [ -0.79576949 0.57699853 0.18391199 37.63619088] [ -0.19538294 -0.53205832 0.82385645 87.31548485] [ 0. 0. 0. 1. ]] SLAMing on 249.259072329 meters Centerline goodness : 0.765237 Centerline is valid? [False, False] Translation: X:-112.26, Y:37.61, Z:87.41 [[ 0.57235525 0.62002664 0.53663436 -112.26295721] [ -0.79697756 0.57462085 0.18611193 37.60645108] [ -0.19296694 -0.53420768 0.82303458 87.41421463] [ 0. 0. 0. 1. ]] SLAMing on 249.289072329 meters Centerline goodness : 0.765552 Centerline is valid? [False, False] Translation: X:-112.41, Y:37.58, Z:87.52 [[ 0.57206581 0.61902257 0.53810014 -112.40851637] [ -0.79722341 0.57386884 0.18737497 37.57762921] [ -0.19280957 -0.53617685 0.82179003 87.51510946] [ 0. 0. 0. 1. ]] SLAMing on 249.319072329 meters Centerline goodness : 0.766906 Centerline is valid? [False, False] Translation: X:-112.55, Y:37.55, Z:87.61 [[ 0.57172436 0.61812084 0.53949781 -112.55266831] [ -0.7975228 0.57305179 0.18859754 37.54861403] [ -0.19258412 -0.53808761 0.82059313 87.61497192] [ 0. 0. 0. 1. ]] SLAMing on 249.349072329 meters Centerline goodness : 0.767610 Centerline is valid? [False, False] Translation: X:-112.69, Y:37.52, Z:87.71 [[ 0.57129527 0.61806498 0.54001611 -112.69464387] [ -0.79793016 0.5723122 0.18911954 37.51990159] [ -0.19216964 -0.53893824 0.82013194 87.71335424] [ 0. 0. 0. 1. ]] SLAMing on 249.379072329 meters Centerline goodness : 0.772328 Centerline is valid? [False, False] Translation: X:-112.83, Y:37.49, Z:87.81 [[ 0.57080818 0.62019868 0.53808143 -112.82998251] [ -0.79918301 0.57000166 0.19079997 37.4895329 ] [ -0.18837342 -0.53893572 0.82101385 87.80814808] [ 0. 0. 0. 1. ]] SLAMing on 249.409072329 meters Centerline goodness : 0.773874 Centerline is valid? [False, False] Translation: X:-112.97, Y:37.46, Z:87.91 [[ 0.57112805 0.62015325 0.53779429 -112.9691642 ] [ -0.79929954 0.56932313 0.19233153 37.46069316] [ -0.18690371 -0.53970466 0.82084462 87.90500929] [ 0. 0. 0. 1. ]] SLAMing on 249.439072329 meters Centerline goodness : 0.775218 Centerline is valid? [False, False] Translation: X:-113.11, Y:37.43, Z:88.00 [[ 0.57161224 0.61929612 0.53826738 -113.1081371 ] [ -0.7992532 0.56864431 0.19451985 37.43165912] [ -0.1856173 -0.54140185 0.82001845 88.00188619] [ 0. 0. 0. 1. ]] SLAMing on 249.469072329 meters Centerline goodness : 0.777594 Centerline is valid? [False, False] Translation: X:-113.24, Y:37.40, Z:88.10 [[ 0.57095787 0.61882336 0.53950417 -113.24308766] [ -0.80031135 0.56605661 0.1976908 37.40273782] [ -0.18305421 -0.54464444 0.81844584 88.09661535] [ 0. 0. 0. 1. ]] SLAMing on 249.499072329 meters Centerline goodness : 0.778259 Centerline is valid? [False, False] Translation: X:-113.38, Y:37.37, Z:88.19 [[ 0.5710136 0.61795442 0.54044038 -113.38273926] [ -0.8004674 0.56520964 0.19947433 37.37371619] [ -0.18219606 -0.54650746 0.81739476 88.1944769 ] [ 0. 0. 0. 1. ]] SLAMing on 249.529072329 meters Centerline goodness : 0.782793 Centerline is valid? [False, False] Translation: X:-113.52, Y:37.34, Z:88.29 [[ 0.57053958 0.61777578 0.54114478 -113.5185124 ] [ -0.80131249 0.5631194 0.20197731 37.34435007] [ -0.17995243 -0.54886212 0.81631336 88.28996058] [ 0. 0. 0. 1. ]] SLAMing on 249.559072329 meters Centerline goodness : 0.781911 Centerline is valid? [False, False] Translation: X:-113.66, Y:37.32, Z:88.39 [[ 0.5705096 0.61758601 0.54139294 -113.65726174] [ -0.80135553 0.56295136 0.20227477 37.31525188] [ -0.17985583 -0.54924792 0.81607512 88.38835318] [ 0. 0. 0. 1. ]] SLAMing on 249.589072329 meters Centerline goodness : 0.783059 Centerline is valid? [False, False] Translation: X:-113.79, Y:37.29, Z:88.48 [[ 0.57101662 0.61731564 0.54116673 -113.79247556] [ -0.801189 0.56277814 0.20341325 37.2865366 ] [ -0.17898663 -0.54972918 0.81594217 88.48398629] [ 0. 0. 0. 1. ]] SLAMing on 249.619072329 meters Centerline goodness : 0.785516 Centerline is valid? [False, False] Translation: X:-113.92, Y:37.26, Z:88.58 [[ 0.57198925 0.61809548 0.53924602 -113.92477292] [ -0.80096556 0.56262823 0.20470382 37.25780447] [ -0.17686852 -0.54900588 0.81689049 88.57725768] [ 0. 0. 0. 1. ]] SLAMing on 249.649072329 meters Centerline goodness : 0.784745 Centerline is valid? [False, False] Translation: X:-114.06, Y:37.23, Z:88.67 [[ 0.57153114 0.61854149 0.53922035 -114.05758701] [ -0.80111505 0.56287094 0.20344775 37.2304856 ] [ -0.17767059 -0.54825426 0.81722116 88.6724403 ] [ 0. 0. 0. 1. ]] SLAMing on 249.679072329 meters Centerline goodness : 0.784549 Centerline is valid? [False, False] Translation: X:-114.19, Y:37.20, Z:88.77 [[ 0.57264967 0.61731634 0.53943757 -114.19212984] [ -0.80057248 0.56277233 0.20584219 37.20150419] [ -0.17651079 -0.54973434 0.81647786 88.76832182] [ 0. 0. 0. 1. ]] SLAMing on 249.709072329 meters Centerline goodness : 0.784849 Centerline is valid? [False, False] Translation: X:-114.33, Y:37.17, Z:88.87 [[ 0.57312434 0.61581913 0.54064341 -114.32789531] [ -0.80012873 0.56301729 0.20689503 37.17258474] [ -0.17698167 -0.5511609 0.81541349 88.865525 ] [ 0. 0. 0. 1. ]] SLAMing on 249.739072329 meters Centerline goodness : 0.780057 Centerline is valid? [False, False] Translation: X:-114.46, Y:37.15, Z:88.96 [[ 0.57225059 0.61548236 0.54195085 -114.45563264] [ -0.80031099 0.5633548 0.20526493 37.14506877] [ -0.17897367 -0.5511922 0.81495741 88.95954726] [ 0. 0. 0. 1. ]] SLAMing on 249.769072329 meters Centerline goodness : 0.777676 Centerline is valid? [False, False] Translation: X:-114.58, Y:37.12, Z:89.05 [[ 0.5730164 0.61452865 0.5422239 -114.58231632] [ -0.79964304 0.56415502 0.20566994 37.11775761] [ -0.17950826 -0.55143781 0.81467363 89.05007222] [ 0. 0. 0. 1. ]] SLAMing on 249.799072329 meters Centerline goodness : 0.777875 Centerline is valid? [False, False] Translation: X:-114.71, Y:37.09, Z:89.14 [[ 0.57391048 0.61364104 0.54228353 -114.70953247] [ -0.79886926 0.56515048 0.20594376 37.09017213] [ -0.18009626 -0.55140693 0.81456475 89.14146559] [ 0. 0. 0. 1. ]] SLAMing on 249.829072329 meters Centerline goodness : 0.775508 Centerline is valid? [False, False] Translation: X:-114.84, Y:37.06, Z:89.24 [[ 0.57582427 0.61236511 0.54169677 -114.84067543] [ -0.79735796 0.56705724 0.20655836 37.0603929 ] [ -0.18068394 -0.55086755 0.81479952 89.23590301] [ 0. 0. 0. 1. ]] SLAMing on 249.859072329 meters Centerline goodness : 0.776715 Centerline is valid? [False, False] Translation: X:-114.97, Y:37.03, Z:89.33 [[ 0.57731694 0.61080085 0.54187404 -114.96803195] [ -0.79608293 0.56860459 0.20722158 37.03208486] [ -0.18154095 -0.5510092 0.8145132 89.32775102] [ 0. 0. 0. 1. ]] SLAMing on 249.88907232900002 meters Centerline goodness : 0.775829 Centerline is valid? [False, False] Translation: X:-115.10, Y:37.00, Z:89.42 [[ 0.58102354 0.60763142 0.54147549 -115.09584913] [ -0.79316142 0.57191626 0.20930063 37.00287864] [ -0.182501 -0.55108606 0.81424661 89.41936934] [ 0. 0. 0. 1. ]] SLAMing on 249.919072329 meters Centerline goodness : 0.775782 Centerline is valid? [False, False] Translation: X:-115.22, Y:36.97, Z:89.51 [[ 0.58254457 0.6058945 0.54178749 -115.22482165] [ -0.79162373 0.57409925 0.20914571 36.97447924] [ -0.18431955 -0.55072853 0.81407886 89.51203695] [ 0. 0. 0. 1. ]] SLAMing on 249.949072329 meters Centerline goodness : 0.773001 Centerline is valid? [False, False] Translation: X:-115.35, Y:36.95, Z:89.61 [[ 0.58297406 0.60471157 0.54264645 -115.35396741] [ -0.79054882 0.57633832 0.20704274 36.94621026] [ -0.1875468 -0.54968906 0.81404431 89.60698427] [ 0. 0. 0. 1. ]] SLAMing on 249.979072329 meters Centerline goodness : 0.774105 Centerline is valid? [False, False] Translation: X:-115.48, Y:36.92, Z:89.70 [[ 0.58293439 0.60425051 0.54320237 -115.47516027] [ -0.78977145 0.57846193 0.20406579 36.91932217] [ -0.19091503 -0.54796269 0.81442516 89.69683685] [ 0. 0. 0. 1. ]] SLAMing on 250.009072329 meters Centerline goodness : 0.770308 Centerline is valid? [False, False] Translation: X:-115.59, Y:36.89, Z:89.79 [[ 0.5841451 0.60258684 0.54374958 -115.59307517] [ -0.78785166 0.58200222 0.20140302 36.89150799] [ -0.19510066 -0.5460426 0.81472279 89.78500372] [ 0. 0. 0. 1. ]] SLAMing on 250.039072329 meters Centerline goodness : 0.772113 Centerline is valid? [False, False] Translation: X:-115.72, Y:36.86, Z:89.87 [[ 0.58627308 0.60039434 0.54388464 -115.71644629] [ -0.78592839 0.58435061 0.20211612 36.86369238] [ -0.19646995 -0.54594962 0.814456 89.87473748] [ 0. 0. 0. 1. ]] SLAMing on 250.069072329 meters Centerline goodness : 0.769921 Centerline is valid? [False, False] Translation: X:-115.84, Y:36.83, Z:89.96 [[ 0.59136278 0.59626655 0.5429146 -115.83952156] [ -0.78160186 0.58950676 0.20391253 36.8348519 ] [ -0.1984656 -0.54492934 0.8146554 89.96425463] [ 0. 0. 0. 1. ]] SLAMing on 250.099072329 meters Centerline goodness : 0.770249 Centerline is valid? [False, False] Translation: X:-115.97, Y:36.81, Z:90.06 [[ 0.59302646 0.59505145 0.54243284 -115.96512339] [ -0.77975974 0.59237388 0.20265223 36.80687553] [ -0.20073455 -0.54314543 0.81529055 90.05621624] [ 0. 0. 0. 1. ]] SLAMing on 250.129072329 meters Centerline goodness : 0.770751 Centerline is valid? [False, False] Translation: X:-116.08, Y:36.78, Z:90.14 [[ 0.59298445 0.59511253 0.54241175 -116.08415075] [ -0.77888408 0.59478117 0.19893452 36.780492 ] [ -0.20422787 -0.54044096 0.81621967 90.14453572] [ 0. 0. 0. 1. ]] SLAMing on 250.159072329 meters Centerline goodness : 0.771110 Centerline is valid? [False, False] Translation: X:-116.20, Y:36.75, Z:90.23 [[ 0.59279991 0.59512986 0.54259443 -116.20115493] [ -0.77824262 0.59664557 0.19583791 36.75417044] [ -0.20718758 -0.53836281 0.81684686 90.23140761] [ 0. 0. 0. 1. ]] SLAMing on 250.189072329 meters Centerline goodness : 0.769851 Centerline is valid? [False, False] Translation: X:-116.32, Y:36.73, Z:90.32 [[ 0.59298287 0.59405615 0.54357024 -116.32110772] [ -0.77692183 0.59948377 0.19238418 36.72611574] [ -0.21157453 -0.53639212 0.8170188 90.32063956] [ 0. 0. 0. 1. ]] SLAMing on 250.219072329 meters Centerline goodness : 0.769258 Centerline is valid? [False, False] Translation: X:-116.45, Y:36.70, Z:90.41 [[ 0.59450628 0.59246209 0.54364598 -116.44753442] [ -0.77549351 0.60116599 0.19289704 36.69715357] [ -0.21253729 -0.53627243 0.81684746 90.41184911] [ 0. 0. 0. 1. ]] SLAMing on 250.249072329 meters Centerline goodness : 0.768964 Centerline is valid? [False, False] Translation: X:-116.57, Y:36.67, Z:90.50 [[ 0.59498837 0.59160037 0.54405684 -116.57233307] [ -0.77441702 0.60313222 0.19107539 36.66947031] [ -0.21509793 -0.53501451 0.81700205 90.50238031] [ 0. 0. 0. 1. ]] SLAMing on 250.279072329 meters Centerline goodness : 0.767761 Centerline is valid? [False, False] Translation: X:-116.70, Y:36.64, Z:90.59 [[ 0.5984441 0.58890888 0.54318596 -116.70086941] [ -0.77136662 0.60672314 0.19204316 36.63926151] [ -0.21646757 -0.53392262 0.81735453 90.59468794] [ 0. 0. 0. 1. ]] SLAMing on 250.309072329 meters Centerline goodness : 0.766622 Centerline is valid? [False, False] Translation: X:-116.83, Y:36.61, Z:90.69 [[ 0.59774004 0.58969578 0.54310748 -116.8268231 ] [ -0.77094178 0.60863533 0.1876481 36.61148737] [ -0.21989911 -0.53086903 0.81842682 90.68794094] [ 0. 0. 0. 1. ]] SLAMing on 250.339072329 meters Centerline goodness : 0.765903 Centerline is valid? [False, False] Translation: X:-116.96, Y:36.58, Z:90.78 [[ 0.59987289 0.58731617 0.54333436 -116.95783752] [ -0.76883621 0.61110124 0.18827148 36.58012594] [ -0.22145742 -0.53067408 0.81813301 90.78189215] [ 0. 0. 0. 1. ]] SLAMing on 250.369072329 meters Centerline goodness : 0.764959 Centerline is valid? [False, False] Translation: X:-117.08, Y:36.55, Z:90.87 [[ 0.59791174 0.58862705 0.54407697 -117.07988312] [ -0.76920802 0.61225381 0.18293249 36.55379011] [ -0.22543418 -0.52788585 0.81885039 90.87163593] [ 0. 0. 0. 1. ]] SLAMing on 250.399072329 meters Centerline goodness : 0.764361 Centerline is valid? [False, False] Translation: X:-117.21, Y:36.52, Z:90.96 [[ 0.59906899 0.58743576 0.54409152 -117.20714518] [ -0.76826574 0.61314511 0.18390438 36.52433956] [ -0.22557504 -0.52817828 0.81862299 90.96299192] [ 0. 0. 0. 1. ]] SLAMing on 250.429072329 meters Centerline goodness : 0.762149 Centerline is valid? [False, False] Translation: X:-117.34, Y:36.49, Z:91.06 [[ 0.59951426 0.58705177 0.54401551 -117.33806973] [ -0.76765278 0.61409607 0.18329001 36.4945287 ] [ -0.22647707 -0.52749999 0.81881127 91.05720193] [ 0. 0. 0. 1. ]] SLAMing on 250.459072329 meters Centerline goodness : 0.759458 Centerline is valid? [False, False] Translation: X:-117.46, Y:36.47, Z:91.15 [[ 0.59967401 0.58748705 0.54336916 -117.46257207] [ -0.76697702 0.61568206 0.18078124 36.46546568] [ -0.228336 -0.52516147 0.8197976 91.14762236] [ 0. 0. 0. 1. ]] SLAMing on 250.489072329 meters Centerline goodness : 0.760297 Centerline is valid? [False, False] Translation: X:-117.59, Y:36.44, Z:91.24 [[ 0.60053383 0.58663506 0.54334006 -117.59153419] [ -0.76605292 0.61686298 0.18067367 36.43547308] [ -0.22917686 -0.5247279 0.81984059 91.23987225] [ 0. 0. 0. 1. ]] SLAMing on 250.519072329 meters Centerline goodness : 0.761633 Centerline is valid? [False, False] Translation: X:-117.72, Y:36.41, Z:91.33 [[ 0.60149659 0.58549724 0.54350237 -117.71788865] [ -0.76515243 0.61781061 0.18125068 36.40545662] [ -0.22965975 -0.52488383 0.81960562 91.33070614] [ 0. 0. 0. 1. ]] SLAMing on 250.549072329 meters Centerline goodness : 0.758175 Centerline is valid? [False, False] Translation: X:-117.84, Y:36.38, Z:91.42 [[ 0.60000594 0.58616218 0.54443251 -117.84122636] [ -0.76564324 0.61803488 0.17839092 36.37620152] [ -0.23191227 -0.52387668 0.81961571 91.42220438] [ 0. 0. 0. 1. ]] SLAMing on 250.579072329 meters Centerline goodness : 0.753741 Centerline is valid? [False, False] Translation: X:-117.96, Y:36.35, Z:91.51 [[ 0.59931611 0.58679548 0.54451012 -117.96398323] [ -0.76597027 0.618012 0.17706132 36.34770964] [ -0.232615 -0.52319427 0.81985244 91.51155539] [ 0. 0. 0. 1. ]] SLAMing on 250.609072329 meters Centerline goodness : 0.754834 Centerline is valid? [False, False] Translation: X:-118.09, Y:36.32, Z:91.60 [[ 0.60012458 0.58638418 0.54406258 -118.08862126] [ -0.76553171 0.61827165 0.1780488 36.31804843] [ -0.23197347 -0.52334861 0.81993569 91.60064825] [ 0. 0. 0. 1. ]] SLAMing on 250.63907232900002 meters Centerline goodness : 0.753812 Centerline is valid? [False, False] Translation: X:-118.22, Y:36.29, Z:91.69 [[ 0.60073976 0.58639666 0.54336976 -118.21545567] [ -0.76529004 0.61836572 0.17875959 36.28673954] [ -0.23117721 -0.52322346 0.8202404 91.69128925] [ 0. 0. 0. 1. ]] SLAMing on 250.669072329 meters Centerline goodness : 0.751756 Centerline is valid? [False, False] Translation: X:-118.31, Y:36.27, Z:91.76 [[ 0.59614597 0.59096645 0.54347828 -118.3083058 ] [ -0.76742626 0.61834815 0.1694181 36.26721821] [ -0.23593837 -0.51807743 0.82214893 91.76208011] [ 0. 0. 0. 1. ]] SLAMing on 250.699072329 meters Centerline goodness : 0.751756 Centerline is valid? [False, False] Translation: X:-118.43, Y:36.24, Z:91.85 [[ 0.59793205 0.58975871 0.54282771 -118.43155424] [ -0.7665566 0.61864753 0.17223879 36.23794022] [ -0.2342397 -0.51909526 0.82199262 91.84945981] [ 0. 0. 0. 1. ]] SLAMing on 250.729072329 meters Centerline goodness : 0.747453 Centerline is valid? [False, False] Translation: X:-118.56, Y:36.21, Z:91.94 [[ 0.59786619 0.58904486 0.54367469 -118.55685391] [ -0.76681693 0.6178881 0.17379899 36.20698972] [ -0.23355472 -0.5208075 0.82110397 91.93902767] [ 0. 0. 0. 1. ]] SLAMing on 250.759072329 meters Centerline goodness : 0.745896 Centerline is valid? [False, False] Translation: X:-118.67, Y:36.18, Z:92.02 [[ 0.59657228 0.59058882 0.54342098 -118.67434036] [ -0.76762467 0.61749658 0.17161101 36.17904096] [ -0.23420906 -0.51952172 0.82173189 92.02429052] [ 0. 0. 0. 1. ]] SLAMing on 250.789072329 meters Centerline goodness : 0.745945 Centerline is valid? [False, False] Translation: X:-118.80, Y:36.15, Z:92.11 [[ 0.59790803 0.58992372 0.54267485 -118.79987777] [ -0.76715355 0.61738731 0.17409291 36.14833181] [ -0.23233903 -0.52040649 0.8217029 92.11236532] [ 0. 0. 0. 1. ]] SLAMing on 250.819072329 meters Centerline goodness : 0.747197 Centerline is valid? [False, False] Translation: X:-118.92, Y:36.12, Z:92.20 [[ 0.59843438 0.59080538 0.54113335 -118.91999212] [ -0.76733888 0.61687331 0.17509529 36.11791818] [ -0.23036348 -0.5200157 0.82250613 92.19747939] [ 0. 0. 0. 1. ]] SLAMing on 250.849072329 meters Centerline goodness : 0.750128 Centerline is valid? [False, False] Translation: X:-119.04, Y:36.09, Z:92.28 [[ 0.5971397 0.59207297 0.54117813 -119.03601059] [ -0.76792946 0.61688736 0.17243644 36.09045962] [ -0.23175099 -0.51855527 0.82303822 92.28205112] [ 0. 0. 0. 1. ]] SLAMing on 250.879072329 meters Centerline goodness : 0.750456 Centerline is valid? [False, False] Translation: X:-119.16, Y:36.06, Z:92.37 [[ 0.59775954 0.59085541 0.54182416 -119.15576016] [ -0.76745421 0.617119 0.17371868 36.06115308] [ -0.23172736 -0.51966722 0.82234324 92.36789549] [ 0. 0. 0. 1. ]] SLAMing on 250.909072329 meters Centerline goodness : 0.749015 Centerline is valid? [False, False] Translation: X:-119.28, Y:36.03, Z:92.46 [[ 0.59909155 0.58843624 0.54298444 -119.28197041] [ -0.76640412 0.61773284 0.17615577 36.02888335] [ -0.23176288 -0.52167895 0.82105849 92.45808037] [ 0. 0. 0. 1. ]] SLAMing on 250.939072329 meters Centerline goodness : 0.749149 Centerline is valid? [False, False] Translation: X:-119.37, Y:36.01, Z:92.52 [[ 0.59474467 0.59309627 0.54269291 -119.3678649 ] [ -0.76806218 0.61856089 0.16571939 36.01082619] [ -0.23740105 -0.51538262 0.82342061 92.52273052] [ 0. 0. 0. 1. ]] SLAMing on 250.969072329 meters Centerline goodness : 0.751598 Centerline is valid? [False, False] Translation: X:-119.49, Y:35.98, Z:92.61 [[ 0.59817658 0.59072667 0.54150419 -119.48790753] [ -0.76625012 0.61946005 0.17067514 35.98047617] [ -0.23461785 -0.51702152 0.82319087 92.60645848] [ 0. 0. 0. 1. ]] SLAMing on 250.999072329 meters Centerline goodness : 0.754419 Centerline is valid? [False, False] Translation: X:-119.61, Y:35.95, Z:92.69 [[ 0.60091041 0.58852743 0.54087166 -119.61158897] [ -0.76430721 0.62113266 0.17328796 35.94923827] [ -0.23396833 -0.51752264 0.82306083 92.6932878 ] [ 0. 0. 0. 1. ]] SLAMing on 251.029072329 meters Centerline goodness : 0.753378 Centerline is valid? [False, False] Translation: X:-119.73, Y:35.92, Z:92.78 [[ 0.60224211 0.58659951 0.54148449 -119.732288 ] [ -0.76314925 0.62212686 0.17481813 35.91989883] [ -0.23432381 -0.51851632 0.82233398 92.77924963] [ 0. 0. 0. 1. ]] SLAMing on 251.059072329 meters Centerline goodness : 0.755240 Centerline is valid? [False, False] Translation: X:-119.85, Y:35.89, Z:92.86 [[ 0.60178458 0.58623299 0.54238934 -119.84526708] [ -0.76278955 0.6231236 0.17282673 35.89329488] [ -0.23665887 -0.51773338 0.82215857 92.86161175] [ 0. 0. 0. 1. ]] SLAMing on 251.089072329 meters Centerline goodness : 0.755313 Centerline is valid? [False, False] Translation: X:-119.97, Y:35.86, Z:92.95 [[ 0.60452538 0.58290509 0.54292792 -119.96976736] [ -0.76060077 0.62491961 0.1759601 35.86247206] [ -0.23671826 -0.51932374 0.82113782 92.95013009] [ 0. 0. 0. 1. ]] SLAMing on 251.119072329 meters Centerline goodness : 0.753726 Centerline is valid? [False, False] Translation: X:-120.09, Y:35.83, Z:93.04 [[ 0.60624428 0.58161306 0.54239665 -120.09407279] [ -0.75934971 0.62601696 0.17745644 35.83211759] [ -0.23633852 -0.51945069 0.82116691 93.03836151] [ 0. 0. 0. 1. ]] SLAMing on 251.149072329 meters Centerline goodness : 0.754079 Centerline is valid? [False, False] Translation: X:-120.21, Y:35.80, Z:93.13 [[ 0.60562738 0.58254694 0.54208351 -120.21382801] [ -0.75921208 0.62705746 0.17434438 35.80355687] [ -0.23835373 -0.51714408 0.82203984 93.12546013] [ 0. 0. 0. 1. ]] SLAMing on 251.179072329 meters Centerline goodness : 0.757620 Centerline is valid? [False, False] Translation: X:-120.31, Y:35.78, Z:93.20 [[ 0.60056052 0.58776585 0.54208704 -120.31131967] [ -0.76097545 0.62826792 0.1618511 35.78338782] [ -0.24544535 -0.50971631 0.8245883 93.19913376] [ 0. 0. 0. 1. ]] SLAMing on 251.209072329 meters Centerline goodness : 0.757329 Centerline is valid? [False, False] Translation: X:-120.44, Y:35.75, Z:93.29 [[ 0.6033359 0.58434174 0.54270666 -120.43973748] [ -0.75896549 0.62967534 0.16577196 35.75184324] [ -0.24486153 -0.51191181 0.82340096 93.29028778] [ 0. 0. 0. 1. ]] SLAMing on 251.239072329 meters Centerline goodness : 0.756019 Centerline is valid? [False, False] Translation: X:-120.57, Y:35.72, Z:93.38 [[ 0.605688 0.58146102 0.54318056 -120.56693977] [ -0.75741867 0.63050786 0.16963725 35.72106982] [ -0.24384216 -0.51416235 0.82230048 93.3797297 ] [ 0. 0. 0. 1. ]] SLAMing on 251.269072329 meters Centerline goodness : 0.755469 Centerline is valid? [False, False] Translation: X:-120.67, Y:35.70, Z:93.46 [[ 0.60086335 0.5865356 0.54308308 -120.66909544] [ -0.75877792 0.63221823 0.15670409 35.70019826] [ -0.25143449 -0.50623719 0.82492703 93.45656332] [ 0. 0. 0. 1. ]] SLAMing on 251.299072329 meters Centerline goodness : 0.755233 Centerline is valid? [False, False] Translation: X:-120.79, Y:35.67, Z:93.54 [[ 0.60379931 0.58480099 0.54169566 -120.79496578] [ -0.75718376 0.63320059 0.16040501 35.66824455] [ -0.24919701 -0.50701559 0.82512789 93.54489915] [ 0. 0. 0. 1. ]] SLAMing on 251.329072329 meters Centerline goodness : 0.755458 Centerline is valid? [False, False] Translation: X:-120.89, Y:35.65, Z:93.62 [[ 0.59891879 0.5902276 0.54122793 -120.89474055] [ -0.75891325 0.63407353 0.14832882 35.64730764] [ -0.25563054 -0.49958197 0.82769009 93.61952079] [ 0. 0. 0. 1. ]] SLAMing on 251.359072329 meters Centerline goodness : 0.756853 Centerline is valid? [False, False] Translation: X:-121.00, Y:35.62, Z:93.70 [[ 0.59770867 0.59060231 0.54215612 -121.00440555] [ -0.75854289 0.63552305 0.14395536 35.62307284] [ -0.25953234 -0.49729203 0.82785482 93.69655488] [ 0. 0. 0. 1. ]] SLAMing on 251.38907232900002 meters Centerline goodness : 0.758456 Centerline is valid? [False, False] Translation: X:-121.13, Y:35.59, Z:93.78 [[ 0.60159157 0.58714475 0.54161669 -121.12547243] [ -0.75651237 0.63647138 0.15031043 35.59229795] [ -0.25646954 -0.50016521 0.82707807 93.78057733] [ 0. 0. 0. 1. ]] SLAMing on 251.419072329 meters Centerline goodness : 0.758539 Centerline is valid? [False, False] Translation: X:-121.25, Y:35.56, Z:93.87 [[ 0.60539095 0.58364724 0.54116328 -121.25113926] [ -0.75386416 0.63857542 0.15462942 35.56045751] [ -0.25532454 -0.50157485 0.82657852 93.86803996] [ 0. 0. 0. 1. ]] SLAMing on 251.449072329 meters Centerline goodness : 0.758164 Centerline is valid? [False, False] Translation: X:-121.38, Y:35.53, Z:93.95 [[ 0.60824461 0.58068018 0.54115527 -121.37521208] [ -0.75194369 0.63987599 0.15855411 35.52868238] [ -0.25420304 -0.50335797 0.82583992 93.95455293] [ 0. 0. 0. 1. ]] SLAMing on 251.479072329 meters Centerline goodness : 0.761004 Centerline is valid? [False, False] Translation: X:-121.50, Y:35.50, Z:94.04 [[ 0.61067357 0.57774723 0.5415588 -121.50111654] [ -0.75024093 0.64096087 0.16219649 35.49608349] [ -0.25340943 -0.50534868 0.82486749 94.04284151] [ 0. 0. 0. 1. ]] SLAMing on 251.509072329 meters Centerline goodness : 0.759088 Centerline is valid? [False, False] Translation: X:-121.63, Y:35.46, Z:94.13 [[ 0.61287604 0.57496641 0.54203006 -121.62898311] [ -0.74875655 0.64175582 0.16587072 35.4630222 ] [ -0.25248085 -0.50750675 0.82382663 94.13295085] [ 0. 0. 0. 1. ]] SLAMing on 251.539072329 meters Centerline goodness : 0.760493 Centerline is valid? [False, False] Translation: X:-121.73, Y:35.44, Z:94.21 [[ 0.60747383 0.58015633 0.54258104 -121.72850083] [ -0.75068947 0.64260851 0.15336107 35.44188204] [ -0.2596938 -0.50047271 0.8258851 94.20777624] [ 0. 0. 0. 1. ]] SLAMing on 251.569072329 meters Centerline goodness : 0.762007 Centerline is valid? [False, False] Translation: X:-121.85, Y:35.41, Z:94.29 [[ 0.61174468 0.57619922 0.541999 -121.85243044] [ -0.74766546 0.64494897 0.15823143 35.40932946] [ -0.25838887 -0.50203117 0.82534835 94.29398293] [ 0. 0. 0. 1. ]] SLAMing on 251.599072329 meters Centerline goodness : 0.761136 Centerline is valid? [False, False] Translation: X:-121.95, Y:35.39, Z:94.37 [[ 0.60771932 0.58075691 0.54166286 -121.95209746] [ -0.74854896 0.64670297 0.14645723 35.38725131] [ -0.26523893 -0.49446606 0.82773887 94.36798117] [ 0. 0. 0. 1. ]] SLAMing on 251.629072329 meters Centerline goodness : 0.764632 Centerline is valid? [False, False] Translation: X:-122.08, Y:35.35, Z:94.45 [[ 0.61228332 0.57585123 0.54176056 -122.07511529] [ -0.74500112 0.64964068 0.15146059 35.35310553] [ -0.26473093 -0.49634902 0.82677396 94.45431031] [ 0. 0. 0. 1. ]] SLAMing on 251.659072329 meters Centerline goodness : 0.766387 Centerline is valid? [False, False] Translation: X:-122.17, Y:35.33, Z:94.53 [[ 0.6081178 0.57974344 0.54230092 -122.16963288] [ -0.74599014 0.65093494 0.14064998 35.33137348] [ -0.27146171 -0.49008289 0.82832801 94.52544615] [ 0. 0. 0. 1. ]] SLAMing on 251.689072329 meters Centerline goodness : 0.766721 Centerline is valid? [False, False] Translation: X:-122.27, Y:35.30, Z:94.60 [[ 0.60821972 0.57848947 0.54352434 -122.27434222] [ -0.74423656 0.65370012 0.13706969 35.30427567] [ -0.27600855 -0.48787916 0.82812632 94.60009777] [ 0. 0. 0. 1. ]] SLAMing on 251.719072329 meters Centerline goodness : 0.767196 Centerline is valid? [False, False] Translation: X:-122.38, Y:35.28, Z:94.67 [[ 0.60768967 0.57882878 0.54375593 -122.37955507] [ -0.74326254 0.65571896 0.13264031 35.27883402] [ -0.27977504 -0.48475756 0.82869538 94.67401494] [ 0. 0. 0. 1. ]] SLAMing on 251.749072329 meters Centerline goodness : 0.766989 Centerline is valid? [False, False] Translation: X:-122.48, Y:35.25, Z:94.74 [[ 0.60901844 0.57798158 0.54317017 -122.47506313] [ -0.74143335 0.6581092 0.13103001 35.25456962] [ -0.28173235 -0.48252418 0.82933546 94.7411745 ] [ 0. 0. 0. 1. ]] SLAMing on 251.779072329 meters Centerline goodness : 0.769479 Centerline is valid? [False, False] Translation: X:-122.57, Y:35.23, Z:94.81 [[ 0.61109036 0.57602232 0.54292437 -122.57368526] [ -0.73848218 0.66180888 0.1290468 35.2289604 ] [ -0.28497833 -0.47979922 0.82980724 94.81079521] [ 0. 0. 0. 1. ]] SLAMing on 251.809072329 meters Centerline goodness : 0.772781 Centerline is valid? [False, False] Translation: X:-122.68, Y:35.21, Z:94.88 [[ 6.19999522e-01 5.67008358e-01 5.42311824e-01 -1.22676396e+02] [-7.25846292e-01 6.76941040e-01 1.22057318e-01 3.52055491e+01] [-2.97905611e-01 -4.69310506e-01 8.31264035e-01 9.48830174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.839072329 meters Centerline goodness : 0.774966 Centerline is valid? [False, False] Translation: X:-122.78, Y:35.18, Z:94.95 [[ 6.22210800e-01 5.63933545e-01 5.42984970e-01 -1.22776764e+02] [-7.21051058e-01 6.82936736e-01 1.16973443e-01 3.51830414e+01] [-3.04859135e-01 -4.64302026e-01 8.31555492e-01 9.49540221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.869072329 meters Centerline goodness : 0.775397 Centerline is valid? [False, False] Translation: X:-122.87, Y:35.16, Z:95.02 [[ 6.24424503e-01 5.61278107e-01 5.43195109e-01 -1.22872819e+02] [-7.16847920e-01 6.87985986e-01 1.13156274e-01 3.51607560e+01] [-3.10198483e-01 -4.60045834e-01 8.31946351e-01 9.50221305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.899072329 meters Centerline goodness : 0.776587 Centerline is valid? [False, False] Translation: X:-122.97, Y:35.14, Z:95.09 [[ 6.28998506e-01 5.55555467e-01 5.43800517e-01 -1.22974017e+02] [-7.09245376e-01 6.96516695e-01 1.08791040e-01 3.51363823e+01] [-3.18326682e-01 -4.54117404e-01 8.32133106e-01 9.50936144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.929072329 meters Centerline goodness : 0.775927 Centerline is valid? [False, False] Translation: X:-123.07, Y:35.11, Z:95.16 [[ 6.30768271e-01 5.53633293e-01 5.43710921e-01 -1.23069238e+02] [-7.05665718e-01 7.00695965e-01 1.05171569e-01 3.51139393e+01] [-3.22749566e-01 -4.50017046e-01 8.32656818e-01 9.51597321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.959072329 meters Centerline goodness : 0.775614 Centerline is valid? [False, False] Translation: X:-123.16, Y:35.09, Z:95.22 [[ 6.33181613e-01 5.52139879e-01 5.42422896e-01 -1.23155073e+02] [-7.02216697e-01 7.04538641e-01 1.02552494e-01 3.50931859e+01] [-3.25534569e-01 -4.45832768e-01 8.33822756e-01 9.52195213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.989072329 meters Centerline goodness : 0.776258 Centerline is valid? [False, False] Translation: X:-123.25, Y:35.07, Z:95.29 [[ 6.36938527e-01 5.47901506e-01 5.42322092e-01 -1.23252489e+02] [-6.96159290e-01 7.10984205e-01 9.93161767e-02 3.50690896e+01] [-3.31166959e-01 -4.40800862e-01 8.34279956e-01 9.52878581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.019072329 meters Centerline goodness : 0.776869 Centerline is valid? [False, False] Translation: X:-123.34, Y:35.05, Z:95.35 [[ 6.37689087e-01 5.46634686e-01 5.42718295e-01 -1.23342368e+02] [-6.93920100e-01 7.13533720e-01 9.66670833e-02 3.50468617e+01] [-3.34406223e-01 -4.38246678e-01 8.34333463e-01 9.53513319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.049072329 meters Centerline goodness : 0.779407 Centerline is valid? [False, False] Translation: X:-123.44, Y:35.02, Z:95.42 [[ 6.38197258e-01 5.43911506e-01 5.44852763e-01 -1.23441105e+02] [-6.90970623e-01 7.16769081e-01 9.38172842e-02 3.50214153e+01] [-3.39505314e-01 -4.36351186e-01 8.33266935e-01 9.54212884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.079072329 meters Centerline goodness : 0.778622 Centerline is valid? [False, False] Translation: X:-123.53, Y:35.00, Z:95.48 [[ 6.38093049e-01 5.44776679e-01 5.44109944e-01 -1.23531940e+02] [-6.90218969e-01 7.17898578e-01 9.06609477e-02 3.49986673e+01] [-3.41225785e-01 -4.33405125e-01 8.34101290e-01 9.54842724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.109072329 meters Centerline goodness : 0.777506 Centerline is valid? [False, False] Translation: X:-123.62, Y:34.98, Z:95.54 [[ 6.38277583e-01 5.46067439e-01 5.42597529e-01 -1.23618175e+02] [-6.89842767e-01 7.18548777e-01 8.83437183e-02 3.49769602e+01] [-3.41641163e-01 -4.30694795e-01 8.35334250e-01 9.55435712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13907232900002 meters Centerline goodness : 0.778139 Centerline is valid? [False, False] Translation: X:-123.71, Y:34.95, Z:95.61 [[ 6.38088647e-01 5.47280004e-01 5.41597152e-01 -1.23708341e+02] [-6.89633155e-01 7.19045018e-01 8.59091052e-02 3.49547144e+01] [-3.42416399e-01 -4.28320978e-01 8.36236898e-01 9.56050010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.169072329 meters Centerline goodness : 0.775805 Centerline is valid? [False, False] Translation: X:-123.81, Y:34.93, Z:95.68 [[ 6.40339344e-01 5.45263229e-01 5.40974616e-01 -1.23814023e+02] [-6.89198149e-01 7.18798913e-01 9.12909274e-02 3.49259889e+01] [-3.39074380e-01 -4.31295877e-01 8.36069633e-01 9.56764358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.199072329 meters Centerline goodness : 0.777604 Centerline is valid? [False, False] Translation: X:-123.92, Y:34.90, Z:95.75 [[ 6.41963559e-01 5.43270280e-01 5.41054703e-01 -1.23916828e+02] [-6.88704261e-01 7.18728179e-01 9.54790315e-02 3.48993237e+01] [-3.37000342e-01 -4.33920738e-01 8.35549856e-01 9.57455910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.229072329 meters Centerline goodness : 0.779015 Centerline is valid? [False, False] Translation: X:-124.01, Y:34.88, Z:95.81 [[ 6.40716538e-01 5.43820583e-01 5.41979235e-01 -1.24014058e+02] [-6.89227878e-01 7.18431846e-01 9.39181271e-02 3.48753173e+01] [-3.38300532e-01 -4.33722096e-01 8.35127472e-01 9.58126308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.259072329 meters Centerline goodness : 0.779780 Centerline is valid? [False, False] Translation: X:-124.12, Y:34.85, Z:95.88 [[ 6.38293221e-01 5.45475293e-01 5.43174436e-01 -1.24115202e+02] [-6.90883307e-01 7.17126652e-01 9.17039859e-02 3.48489390e+01] [-3.39502606e-01 -4.33804183e-01 8.34596855e-01 9.58827286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.289072329 meters Centerline goodness : 0.780361 Centerline is valid? [False, False] Translation: X:-124.21, Y:34.82, Z:95.95 [[ 6.36709414e-01 5.47527266e-01 5.42968705e-01 -1.24208639e+02] [-6.92167250e-01 7.16168172e-01 8.94854570e-02 3.48249979e+01] [-3.39861177e-01 -4.32801388e-01 8.34971460e-01 9.59471960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.319072329 meters Centerline goodness : 0.780618 Centerline is valid? [False, False] Translation: X:-124.31, Y:34.80, Z:96.02 [[ 6.36649083e-01 5.47757847e-01 5.42806859e-01 -1.24312425e+02] [-6.94399572e-01 7.13344460e-01 9.45987046e-02 3.47964023e+01] [-3.35391083e-01 -4.37151029e-01 8.34512911e-01 9.60169550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.349072329 meters Centerline goodness : 0.778530 Centerline is valid? [False, False] Translation: X:-124.40, Y:34.77, Z:96.08 [[ 6.37346726e-01 5.47519041e-01 5.42228780e-01 -1.24403332e+02] [-6.92630240e-01 7.15438367e-01 9.17131094e-02 3.47740872e+01] [-3.37716599e-01 -4.34017100e-01 8.35210546e-01 9.60796209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.379072329 meters Centerline goodness : 0.779738 Centerline is valid? [False, False] Translation: X:-124.50, Y:34.75, Z:96.14 [[ 6.42062450e-01 5.42630185e-01 5.41579443e-01 -1.24501213e+02] [-6.88062541e-01 7.19417847e-01 9.49099565e-02 3.47512984e+01] [-3.38120910e-01 -4.33578647e-01 8.35274689e-01 9.61439209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.409072329 meters Centerline goodness : 0.781366 Centerline is valid? [False, False] Translation: X:-124.60, Y:34.73, Z:96.21 [[ 6.46228459e-01 5.37061433e-01 5.42175060e-01 -1.24603714e+02] [-6.83291785e-01 7.23583486e-01 9.76692162e-02 3.47290482e+01] [-3.39854551e-01 -4.33580392e-01 8.34569906e-01 9.62128230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.439072329 meters Centerline goodness : 0.782810 Centerline is valid? [False, False] Translation: X:-124.69, Y:34.71, Z:96.27 [[ 6.46085030e-01 5.36346614e-01 5.43052892e-01 -1.24690405e+02] [-6.82224545e-01 7.24843375e-01 9.57692643e-02 3.47097900e+01] [-3.42262770e-01 -4.32359100e-01 8.34219279e-01 9.62727761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.469072329 meters Centerline goodness : 0.781526 Centerline is valid? [False, False] Translation: X:-124.78, Y:34.69, Z:96.33 [[ 6.45519032e-01 5.36305279e-01 5.43766335e-01 -1.24777744e+02] [-6.81801826e-01 7.25492284e-01 9.38467679e-02 3.46905616e+01] [-3.44167763e-01 -4.31320755e-01 8.33972995e-01 9.63328751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.499072329 meters Centerline goodness : 0.780843 Centerline is valid? [False, False] Translation: X:-124.87, Y:34.67, Z:96.40 [[ 6.44199287e-01 5.37708033e-01 5.43946091e-01 -1.24871771e+02] [-6.82640807e-01 7.24964241e-01 9.18062028e-02 3.46706900e+01] [-3.44976532e-01 -4.30461289e-01 8.34082892e-01 9.63983172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.529072329 meters Centerline goodness : 0.778532 Centerline is valid? [False, False] Translation: X:-124.96, Y:34.65, Z:96.46 [[ 6.43280216e-01 5.40174412e-01 5.42588397e-01 -1.24960712e+02] [-6.83551953e-01 7.24431507e-01 8.91948399e-02 3.46496372e+01] [-3.44887360e-01 -4.28264634e-01 8.35249730e-01 9.64593708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.559072329 meters Centerline goodness : 0.776410 Centerline is valid? [False, False] Translation: X:-125.05, Y:34.63, Z:96.52 [[ 6.42221065e-01 5.42855369e-01 5.41165550e-01 -1.25049569e+02] [-6.84662143e-01 7.23703512e-01 8.65504344e-02 3.46283658e+01] [-3.44659041e-01 -4.26100077e-01 8.36450160e-01 9.65206473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.589072329 meters Centerline goodness : 0.775301 Centerline is valid? [False, False] Translation: X:-125.15, Y:34.60, Z:96.59 [[ 6.42209148e-01 5.43871032e-01 5.40158968e-01 -1.25149870e+02] [-6.86684404e-01 7.21349146e-01 9.01106972e-02 3.46041005e+01] [-3.40634612e-01 -4.28788653e-01 8.36724777e-01 9.65879644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.619072329 meters Centerline goodness : 0.775702 Centerline is valid? [False, False] Translation: X:-125.24, Y:34.58, Z:96.65 [[ 6.40781124e-01 5.44773542e-01 5.40944857e-01 -1.25236990e+02] [-6.88072796e-01 7.20049084e-01 8.99174260e-02 3.45833784e+01] [-3.40522215e-01 -4.29826830e-01 8.36237716e-01 9.66483600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.649072329 meters Centerline goodness : 0.775702 Centerline is valid? [False, False] Translation: X:-125.32, Y:34.56, Z:96.71 [[ 6.40594012e-01 5.44732846e-01 5.41207390e-01 -1.25324018e+02] [-6.87863275e-01 7.20345399e-01 8.91438228e-02 3.45613026e+01] [-3.41296685e-01 -4.29381686e-01 8.36150668e-01 9.67079634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.679072329 meters Centerline goodness : 0.773204 Centerline is valid? [False, False] Translation: X:-125.42, Y:34.54, Z:96.77 [[ 6.41360354e-01 5.42870332e-01 5.42170360e-01 -1.25423485e+02] [-6.88495480e-01 7.19062100e-01 9.44651865e-02 3.45363142e+01] [-3.38571810e-01 -4.33868068e-01 8.34941692e-01 9.67742756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.709072329 meters Centerline goodness : 0.771789 Centerline is valid? [False, False] Translation: X:-125.52, Y:34.52, Z:96.84 [[ 6.37745900e-01 5.45957754e-01 5.43332585e-01 -1.25518469e+02] [-6.92271276e-01 7.15546446e-01 9.35615465e-02 3.45152794e+01] [-3.37699049e-01 -4.35802035e-01 8.34287683e-01 9.68398903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.739072329 meters Centerline goodness : 0.770903 Centerline is valid? [False, False] Translation: X:-125.61, Y:34.49, Z:96.90 [[ 6.35843818e-01 5.47836782e-01 5.43670396e-01 -1.25607892e+02] [-6.94054879e-01 7.13984921e-01 9.22678574e-02 3.44939487e+01] [-3.37624738e-01 -4.36005037e-01 8.34211690e-01 9.69011850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.769072329 meters Centerline goodness : 0.771398 Centerline is valid? [False, False] Translation: X:-125.70, Y:34.47, Z:96.96 [[ 6.34120448e-01 5.50048923e-01 5.43449575e-01 -1.25695008e+02] [-6.95850151e-01 7.12413326e-01 9.08835507e-02 3.44730494e+01] [-3.37170320e-01 -4.35790586e-01 8.34507484e-01 9.69608879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.799072329 meters Centerline goodness : 0.768468 Centerline is valid? [False, False] Translation: X:-125.79, Y:34.45, Z:97.03 [[ 6.30917673e-01 5.54511310e-01 5.42641776e-01 -1.25787690e+02] [-7.00014690e-01 7.08440160e-01 8.99554001e-02 3.44517876e+01] [-3.34547940e-01 -4.36611666e-01 8.35133480e-01 9.70254763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.829072329 meters Centerline goodness : 0.766946 Centerline is valid? [False, False] Translation: X:-125.87, Y:34.43, Z:97.09 [[ 6.29639038e-01 5.56224661e-01 5.42373311e-01 -1.25874696e+02] [-7.01794274e-01 7.06672907e-01 8.99899973e-02 3.44304137e+01] [-3.33225869e-01 -4.37295699e-01 8.35304131e-01 9.70853672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.859072329 meters Centerline goodness : 0.767233 Centerline is valid? [False, False] Translation: X:-125.96, Y:34.41, Z:97.14 [[ 6.28414758e-01 5.57682121e-01 5.42296546e-01 -1.25957899e+02] [-7.03472198e-01 7.04974464e-01 9.02101572e-02 3.44102256e+01] [-3.31996625e-01 -4.38179937e-01 8.35330224e-01 9.71429863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88907232900002 meters Centerline goodness : 0.768294 Centerline is valid? [False, False] Translation: X:-126.06, Y:34.39, Z:97.21 [[ 6.28141422e-01 5.57093691e-01 5.43217243e-01 -1.26059011e+02] [-7.06329005e-01 7.01103559e-01 9.77401519e-02 3.43851754e+01] [-3.26401120e-01 -4.45084732e-01 8.33883619e-01 9.72110258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.919072329 meters Centerline goodness : 0.767634 Centerline is valid? [False, False] Translation: X:-126.16, Y:34.36, Z:97.28 [[ 6.29835620e-01 5.55315219e-01 5.43076513e-01 -1.26163598e+02] [-7.07128033e-01 6.99229819e-01 1.05107590e-01 3.43572068e+01] [-3.21367447e-01 -4.50225131e-01 8.33078805e-01 9.72816348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.949072329 meters Centerline goodness : 0.767217 Centerline is valid? [False, False] Translation: X:-126.25, Y:34.34, Z:97.34 [[ 6.28243329e-01 5.56967663e-01 5.43228628e-01 -1.26254138e+02] [-7.08703255e-01 6.97769762e-01 1.04197195e-01 3.43357302e+01] [-3.21014042e-01 -4.50449089e-01 8.33093994e-01 9.73431354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.979072329 meters Centerline goodness : 0.768440 Centerline is valid? [False, False] Translation: X:-126.36, Y:34.31, Z:97.41 [[ 6.27329799e-01 5.59033166e-01 5.42161639e-01 -1.26355018e+02] [-7.11561546e-01 6.94373198e-01 1.07359337e-01 3.43109528e+01] [-3.16445081e-01 -4.53131085e-01 8.33387503e-01 9.74098690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.009072329 meters Centerline goodness : 0.769109 Centerline is valid? [False, False] Translation: X:-126.44, Y:34.29, Z:97.47 [[ 6.25937943e-01 5.59974899e-01 5.42798124e-01 -1.26442978e+02] [-7.12998928e-01 6.92892556e-01 1.07389176e-01 3.42885399e+01] [-3.15965536e-01 -4.54233441e-01 8.32969244e-01 9.74704356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.039072329 meters Centerline goodness : 0.768929 Centerline is valid? [False, False] Translation: X:-126.53, Y:34.27, Z:97.53 [[ 6.24821279e-01 5.60564267e-01 5.43475917e-01 -1.26528496e+02] [-7.14416669e-01 6.91284268e-01 1.08327666e-01 3.42659926e+01] [-3.14971733e-01 -4.55953685e-01 8.32405577e-01 9.75301244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.069072329 meters Centerline goodness : 0.772564 Centerline is valid? [False, False] Translation: X:-126.64, Y:34.24, Z:97.61 [[ 6.24622196e-01 5.60050735e-01 5.44233670e-01 -1.26638712e+02] [-7.16957182e-01 6.87503613e-01 1.15374092e-01 3.42366825e+01] [-3.09547269e-01 -4.62257457e-01 8.30962413e-01 9.76063860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.099072329 meters Centerline goodness : 0.771200 Centerline is valid? [False, False] Translation: X:-126.74, Y:34.21, Z:97.68 [[ 6.26954746e-01 5.57941952e-01 5.43717321e-01 -1.26742094e+02] [-7.17453271e-01 6.85509632e-01 1.23844043e-01 3.42072284e+01] [-3.03625674e-01 -4.67736381e-01 8.30080796e-01 9.76775258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.129072329 meters Centerline goodness : 0.770296 Centerline is valid? [False, False] Translation: X:-126.85, Y:34.18, Z:97.75 [[ 0.62928231 0.55632192 0.54268747 -126.8466245 ] [ -0.71782789 0.68368841 0.13150395 34.17727735] [ -0.2978706 -0.47230931 0.82957641 97.74943039] [ 0. 0. 0. 1. ]] SLAMing on 253.159072329 meters Centerline goodness : 0.772446 Centerline is valid? [False, False] Translation: X:-126.95, Y:34.15, Z:97.82 [[ 0.63004189 0.55725973 0.54084084 -126.95377116] [ -0.71971017 0.68059133 0.13715942 34.14679565] [ -0.29165816 -0.47566483 0.82986655 97.82219987] [ 0. 0. 0. 1. ]] SLAMing on 253.189072329 meters Centerline goodness : 0.775841 Centerline is valid? [False, False] Translation: X:-127.06, Y:34.12, Z:97.90 [[ 0.63198626 0.55629702 0.53956185 -127.05973199] [ -0.72024727 0.67861623 0.14395791 34.11592082] [ -0.28607207 -0.47959737 0.82954755 97.89533262] [ 0. 0. 0. 1. ]] SLAMing on 253.219072329 meters Centerline goodness : 0.778562 Centerline is valid? [False, False] Translation: X:-127.17, Y:34.09, Z:97.97 [[ 0.63194563 0.55690226 0.53898479 -127.16566427] [ -0.72287324 0.67432199 0.15081158 34.0857722 ] [ -0.27946198 -0.4849224 0.82870457 97.96838946] [ 0. 0. 0. 1. ]] SLAMing on 253.249072329 meters Centerline goodness : 0.778550 Centerline is valid? [False, False] Translation: X:-127.28, Y:34.05, Z:98.05 [[ 0.63324247 0.5557658 0.53863564 -127.27590953] [ -0.72346107 0.67231459 0.15683482 34.05411854] [ -0.27496917 -0.48899639 0.82781308 98.04527987] [ 0. 0. 0. 1. ]] SLAMing on 253.279072329 meters Centerline goodness : 0.777896 Centerline is valid? [False, False] Translation: X:-127.39, Y:34.02, Z:98.12 [[ 0.63409026 0.55483306 0.53859986 -127.38653084] [ -0.72405834 0.67051554 0.16170475 34.02262894] [ -0.27142043 -0.49251313 0.82689888 98.12234388] [ 0. 0. 0. 1. ]] SLAMing on 253.309072329 meters Centerline goodness : 0.780024 Centerline is valid? [False, False] Translation: X:-127.50, Y:33.99, Z:98.20 [[ 0.63411706 0.55552373 0.53785587 -127.49788178] [ -0.72603786 0.66706897 0.16699706 33.99043163] [ -0.26601613 -0.49639941 0.82633107 98.19994036] [ 0. 0. 0. 1. ]] SLAMing on 253.339072329 meters Centerline goodness : 0.780564 Centerline is valid? [False, False] Translation: X:-127.61, Y:33.96, Z:98.28 [[ 0.63489395 0.55510197 0.5373746 -127.61235494] [ -0.72639064 0.66581498 0.17043197 33.95762426] [ -0.26318494 -0.49855011 0.82594278 98.28063384] [ 0. 0. 0. 1. ]] SLAMing on 253.369072329 meters Centerline goodness : 0.781296 Centerline is valid? [False, False] Translation: X:-127.73, Y:33.92, Z:98.36 [[ 0.6354204 0.55479433 0.53706998 -127.72617373] [ -0.72688671 0.6644483 0.17362076 33.92483324] [ -0.26053142 -0.5007112 0.82547663 98.36113446] [ 0. 0. 0. 1. ]] SLAMing on 253.399072329 meters Centerline goodness : 0.785579 Centerline is valid? [False, False] Translation: X:-127.83, Y:33.89, Z:98.44 [[ 0.63125347 0.55945536 0.53714872 -127.83316682] [ -0.73106874 0.66046135 0.17125803 33.89459 ] [ -0.25895474 -0.50079986 0.82591884 98.43965605] [ 0. 0. 0. 1. ]] SLAMing on 253.429072329 meters Centerline goodness : 0.785840 Centerline is valid? [False, False] Translation: X:-127.95, Y:33.86, Z:98.52 [[ 0.63159539 0.55915932 0.53705504 -127.94704798] [ -0.73184014 0.65864633 0.17491433 33.86127464] [ -0.25592435 -0.50351352 0.82521322 98.52034733] [ 0. 0. 0. 1. ]] SLAMing on 253.459072329 meters Centerline goodness : 0.784541 Centerline is valid? [False, False] Translation: X:-128.06, Y:33.83, Z:98.60 [[ 0.63126345 0.5593757 0.53721996 -128.0597257 ] [ -0.73283133 0.65697083 0.17705245 33.82874739] [ -0.25389901 -0.50545836 0.82464971 98.60121654] [ 0. 0. 0. 1. ]] SLAMing on 253.489072329 meters Centerline goodness : 0.785461 Centerline is valid? [False, False] Translation: X:-128.18, Y:33.80, Z:98.68 [[ 0.62945022 0.56097372 0.53768104 -128.17585253] [ -0.7356291 0.65308451 0.1798067 33.79530117] [ -0.25028432 -0.50871319 0.82375279 98.68407145] [ 0. 0. 0. 1. ]] SLAMing on 253.519072329 meters Centerline goodness : 0.783265 Centerline is valid? [False, False] Translation: X:-128.30, Y:33.76, Z:98.77 [[ 0.6292486 0.56079713 0.53810108 -128.29563195] [ -0.73642736 0.65153179 0.18215671 33.76087294] [ -0.248437 -0.51089422 0.82296182 98.76927479] [ 0. 0. 0. 1. ]] SLAMing on 253.549072329 meters Centerline goodness : 0.783439 Centerline is valid? [False, False] Translation: X:-128.40, Y:33.73, Z:98.85 [[ 0.62595562 0.56506685 0.53747467 -128.40463058] [ -0.73981845 0.64826248 0.1800678 33.72852864] [ -0.24667432 -0.51034813 0.82383042 98.84950751] [ 0. 0. 0. 1. ]] SLAMing on 253.579072329 meters Centerline goodness : 0.784834 Centerline is valid? [False, False] Translation: X:-128.52, Y:33.69, Z:98.93 [[ 0.62739588 0.56428025 0.5366211 -128.52302515] [ -0.73969281 0.64723837 0.18422009 33.69208679] [ -0.24337001 -0.5125137 0.82346873 98.93421063] [ 0. 0. 0. 1. ]] SLAMing on 253.609072329 meters Centerline goodness : 0.784322 Centerline is valid? [False, False] Translation: X:-128.64, Y:33.66, Z:99.02 [[ 0.62710094 0.56518462 0.53601376 -128.6385772 ] [ -0.74048384 0.64609213 0.18506387 33.65693006] [ -0.24171903 -0.51296325 0.82367506 99.01855713] [ 0. 0. 0. 1. ]] SLAMing on 253.63907232900002 meters Centerline goodness : 0.784781 Centerline is valid? [False, False] Translation: X:-128.76, Y:33.62, Z:99.10 [[ 0.62785242 0.56506131 0.53526353 -128.75736886] [ -0.74072248 0.64497992 0.18796574 33.62078824] [ -0.23902206 -0.51449647 0.82350582 99.10441304] [ 0. 0. 0. 1. ]] SLAMing on 253.669072329 meters Centerline goodness : 0.783567 Centerline is valid? [False, False] Translation: X:-128.87, Y:33.59, Z:99.19 [[ 0.62724238 0.56655259 0.53440168 -128.87460489] [ -0.74275418 0.64155257 0.19164167 33.58515437] [ -0.23427169 -0.51713486 0.82321826 99.18816947] [ 0. 0. 0. 1. ]] SLAMing on 253.699072329 meters Centerline goodness : 0.780523 Centerline is valid? [False, False] Translation: X:-128.99, Y:33.55, Z:99.27 [[ 0.62568762 0.56766331 0.5350452 -128.98844668] [ -0.74404126 0.6403354 0.19071751 33.55163694] [ -0.23434505 -0.51742529 0.82301486 99.27109135] [ 0. 0. 0. 1. ]] SLAMing on 253.729072329 meters Centerline goodness : 0.779471 Centerline is valid? [False, False] Translation: X:-129.10, Y:33.52, Z:99.35 [[ 0.62486582 0.56780683 0.5358527 -129.09982385] [ -0.74459554 0.63980854 0.19032215 33.51814972] [ -0.23477692 -0.51791934 0.82258091 99.35254543] [ 0. 0. 0. 1. ]] SLAMing on 253.759072329 meters Centerline goodness : 0.779937 Centerline is valid? [False, False] Translation: X:-129.21, Y:33.48, Z:99.44 [[ 0.62232604 0.56942029 0.53709481 -129.21300036] [ -0.74654187 0.63806494 0.18854273 33.48301051] [ -0.23534132 -0.51829881 0.82218052 99.43637513] [ 0. 0. 0. 1. ]] SLAMing on 253.789072329 meters Centerline goodness : 0.778935 Centerline is valid? [False, False] Translation: X:-129.32, Y:33.45, Z:99.52 [[ 0.62118305 0.56991314 0.53789463 -129.32294477] [ -0.74736494 0.63730665 0.18784536 33.44935077] [ -0.23574829 -0.51868994 0.82181719 99.51799444] [ 0. 0. 0. 1. ]] SLAMing on 253.819072329 meters Centerline goodness : 0.777584 Centerline is valid? [False, False] Translation: X:-129.44, Y:33.41, Z:99.60 [[ 0.62048145 0.57054036 0.53803947 -129.4357028 ] [ -0.74788714 0.63691459 0.18709523 33.41355622] [ -0.23593981 -0.51848192 0.82189349 99.6016434 ] [ 0. 0. 0. 1. ]] SLAMing on 253.849072329 meters Centerline goodness : 0.778417 Centerline is valid? [False, False] Translation: X:-129.54, Y:33.38, Z:99.68 [[ 0.62135425 0.5705457 0.5370256 -129.5423357 ] [ -0.74730835 0.63752048 0.18734424 33.37988311] [ -0.23547637 -0.51773086 0.82249963 99.68112893] [ 0. 0. 0. 1. ]] SLAMing on 253.879072329 meters Centerline goodness : 0.775569 Centerline is valid? [False, False] Translation: X:-129.65, Y:33.35, Z:99.76 [[ 0.62240082 0.56997505 0.5364193 -129.65197934] [ -0.74644688 0.6384107 0.18774674 33.34549981] [ -0.23544486 -0.51726224 0.82280344 99.76274322] [ 0. 0. 0. 1. ]] SLAMing on 253.909072329 meters Centerline goodness : 0.772711 Centerline is valid? [False, False] Translation: X:-129.76, Y:33.31, Z:99.84 [[ 0.62438899 0.56753966 0.53669091 -129.75944932] [ -0.74424799 0.64084538 0.1881811 33.31140128] [ -0.23713565 -0.51692934 0.82252705 99.84146489] [ 0. 0. 0. 1. ]] SLAMing on 253.939072329 meters Centerline goodness : 0.770312 Centerline is valid? [False, False] Translation: X:-129.87, Y:33.28, Z:99.92 [[ 0.62565303 0.56566855 0.53719398 -129.86848776] [ -0.74260807 0.64278861 0.18803206 33.27772984] [ -0.23893835 -0.51656741 0.82223268 99.92158485] [ 0. 0. 0. 1. ]] SLAMing on 253.969072329 meters Centerline goodness : 0.770514 Centerline is valid? [False, False] Translation: X:-129.98, Y:33.24, Z:100.00 [[ 0.62700396 0.56372513 0.53766162 -129.97751075] [ -0.7406888 0.6452212 0.1872691 33.24398489] [ -0.24134238 -0.51565841 0.82210113 100.00176007] [ 0. 0. 0. 1. ]] SLAMing on 253.999072329 meters Centerline goodness : 0.770070 Centerline is valid? [False, False] Translation: X:-130.08, Y:33.21, Z:100.08 [[ 0.6285008 0.56179335 0.53793585 -130.08334276] [ -0.738639 0.64779879 0.1864649 33.21076077] [ -0.24371945 -0.51453374 0.82210453 100.08005545] [ 0. 0. 0. 1. ]] SLAMing on 254.029072329 meters Centerline goodness : 0.768912 Centerline is valid? [False, False] Translation: X:-130.19, Y:33.18, Z:100.16 [[ 0.63192618 0.55789546 0.53797952 -130.19054502] [ -0.73427759 0.6530872 0.18523912 33.17533064] [ -0.24800348 -0.51208376 0.82235303 100.15960756] [ 0. 0. 0. 1. ]] SLAMing on 254.059072329 meters Centerline goodness : 0.767315 Centerline is valid? [False, False] Translation: X:-130.30, Y:33.14, Z:100.24 [[ 0.63375344 0.55550596 0.53830262 -130.29767878] [ -0.73164788 0.65637071 0.184035 33.14203504] [ -0.25109353 -0.51048078 0.82241195 100.2387288 ] [ 0. 0. 0. 1. ]] SLAMing on 254.089072329 meters Centerline goodness : 0.765446 Centerline is valid? [False, False] Translation: X:-130.40, Y:33.11, Z:100.32 [[ 0.63817187 0.55023475 0.53849641 -130.40426945] [ -0.72592781 0.66302912 0.18281466 33.10773902] [ -0.25644783 -0.5075767 0.82255724 100.31794052] [ 0. 0. 0. 1. ]] SLAMing on 254.119072329 meters Centerline goodness : 0.765584 Centerline is valid? [False, False] Translation: X:-130.49, Y:33.08, Z:100.38 [[ 0.63595315 0.55136919 0.53995888 -130.48770313] [ -0.72493435 0.66674449 0.17297968 33.084014 ] [ -0.26463894 -0.50144172 0.82372473 100.38257162] [ 0. 0. 0. 1. ]] SLAMing on 254.149072329 meters Centerline goodness : 0.764893 Centerline is valid? [False, False] Translation: X:-130.57, Y:33.06, Z:100.45 [[ 0.63367657 0.55245341 0.54152491 -130.57304614] [ -0.723746 0.67059239 0.16278075 33.05984583] [ -0.27321371 -0.49507684 0.82477463 100.44739514] [ 0. 0. 0. 1. ]] SLAMing on 254.179072329 meters Centerline goodness : 0.764545 Centerline is valid? [False, False] Translation: X:-130.66, Y:33.03, Z:100.51 [[ 0.63412936 0.55027282 0.54321247 -130.66357834] [ -0.71831439 0.67925554 0.15045381 33.03352113] [ -0.28618944 -0.48560451 0.82600476 100.51493776] [ 0. 0. 0. 1. ]] SLAMing on 254.209072329 meters Centerline goodness : 0.764002 Centerline is valid? [False, False] Translation: X:-130.77, Y:33.00, Z:100.59 [[ 0.64143594 0.54297811 0.54197297 -130.77019582] [ -0.71183971 0.68467703 0.15652983 32.9987726 ] [ -0.28608417 -0.48620175 0.82568984 100.59000091] [ 0. 0. 0. 1. ]] SLAMing on 254.239072329 meters Centerline goodness : 0.764142 Centerline is valid? [False, False] Translation: X:-130.86, Y:32.97, Z:100.66 [[ 0.64473861 0.53961275 0.54141501 -130.86445703] [ -0.70721168 0.6898972 0.15457523 32.96982689] [ -0.29010993 -0.48255563 0.8264238 100.65949935] [ 0. 0. 0. 1. ]] SLAMing on 254.269072329 meters Centerline goodness : 0.764585 Centerline is valid? [False, False] Translation: X:-130.96, Y:32.94, Z:100.73 [[ 0.65036091 0.53210982 0.54211607 -130.9636629 ] [ -0.69904129 0.69852396 0.15298877 32.93871454] [ -0.29727424 -0.47845943 0.8262594 100.73252541] [ 0. 0. 0. 1. ]] SLAMing on 254.299072329 meters Centerline goodness : 0.762276 Centerline is valid? [False, False] Translation: X:-131.04, Y:32.92, Z:100.79 [[ 0.64907038 0.5315543 0.54420371 -131.04066964] [ -0.6966864 0.70264693 0.14462141 32.91760491] [ -0.30550893 -0.47300879 0.82639396 100.79092542] [ 0. 0. 0. 1. ]] SLAMing on 254.329072329 meters Centerline goodness : 0.761590 Centerline is valid? [False, False] Translation: X:-131.13, Y:32.89, Z:100.86 [[ 0.64898028 0.52901042 0.54678384 -131.12598594] [ -0.69156515 0.70974857 0.13414399 32.89380537] [ -0.31711548 -0.46519345 0.826458 100.8551577 ] [ 0. 0. 0. 1. ]] SLAMing on 254.359072329 meters Centerline goodness : 0.761956 Centerline is valid? [False, False] Translation: X:-131.20, Y:32.87, Z:100.91 [[ 6.47560220e-01 5.30351751e-01 5.47167965e-01 -1.31198556e+02] [-6.89822787e-01 7.13063422e-01 1.25240083e-01 3.28732172e+01] [-3.23744164e-01 -4.58549426e-01 8.27600230e-01 1.00909822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38907232900002 meters Centerline goodness : 0.762190 Centerline is valid? [False, False] Translation: X:-131.28, Y:32.85, Z:100.97 [[ 6.49393911e-01 5.29825221e-01 5.45502322e-01 -1.31281824e+02] [-6.87157108e-01 7.16106662e-01 1.22500435e-01 3.28470594e+01] [-3.25734027e-01 -4.54396835e-01 8.29108473e-01 1.00970219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.419072329 meters Centerline goodness : 0.762936 Centerline is valid? [False, False] Translation: X:-131.37, Y:32.82, Z:101.03 [[ 6.52389972e-01 5.27999971e-01 5.43694175e-01 -1.31368270e+02] [-6.82463691e-01 7.21255075e-01 1.18466985e-01 3.28190699e+01] [-3.29591618e-01 -4.48338207e-01 8.30880387e-01 1.01032363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.449072329 meters Centerline goodness : 0.762420 Centerline is valid? [False, False] Translation: X:-131.45, Y:32.79, Z:101.09 [[ 6.53805879e-01 5.26671868e-01 5.43281341e-01 -1.31450359e+02] [-6.80104553e-01 7.23743359e-01 1.16847539e-01 3.27937146e+01] [-3.31655951e-01 -4.45883722e-01 8.31379598e-01 1.01091964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.479072329 meters Centerline goodness : 0.763650 Centerline is valid? [False, False] Translation: X:-131.54, Y:32.77, Z:101.15 [[ 6.54565944e-01 5.25076490e-01 5.43910015e-01 -1.31535402e+02] [-6.78047263e-01 7.25935485e-01 1.15193669e-01 3.27681122e+01] [-3.34358093e-01 -4.44198549e-01 8.31199323e-01 1.01153573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.509072329 meters Centerline goodness : 0.763650 Centerline is valid? [False, False] Translation: X:-131.62, Y:32.74, Z:101.22 [[ 6.54106033e-01 5.25505904e-01 5.44048567e-01 -1.31621868e+02] [-6.77948450e-01 7.26284775e-01 1.13561984e-01 3.27427678e+01] [-3.35456698e-01 -4.43118461e-01 8.31333166e-01 1.01215202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.539072329 meters Centerline goodness : 0.761528 Centerline is valid? [False, False] Translation: X:-131.71, Y:32.71, Z:101.28 [[ 6.54968728e-01 5.22560881e-01 5.45844383e-01 -1.31714375e+02] [-6.74795399e-01 7.29571798e-01 1.11248197e-01 3.27149243e+01] [-3.40098712e-01 -4.41197368e-01 8.30468391e-01 1.01280504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.569072329 meters Centerline goodness : 0.761677 Centerline is valid? [False, False] Translation: X:-131.80, Y:32.69, Z:101.34 [[ 6.56001126e-01 5.21777973e-01 5.45353344e-01 -1.31796140e+02] [-6.73299131e-01 7.31076368e-01 1.10433800e-01 3.26895965e+01] [-3.41073018e-01 -4.39630630e-01 8.30899576e-01 1.01338828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.599072329 meters Centerline goodness : 0.761642 Centerline is valid? [False, False] Translation: X:-131.88, Y:32.66, Z:101.40 [[ 6.57311237e-01 5.20707631e-01 5.44798587e-01 -1.31881261e+02] [-6.70867491e-01 7.33638501e-01 1.08219030e-01 3.26631378e+01] [-3.43334744e-01 -4.36621246e-01 8.31554653e-01 1.01398361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.629072329 meters Centerline goodness : 0.764079 Centerline is valid? [False, False] Translation: X:-131.96, Y:32.64, Z:101.46 [[ 6.58182744e-01 5.20256407e-01 5.44177128e-01 -1.31963964e+02] [-6.69651709e-01 7.34872172e-01 1.07375412e-01 3.26376922e+01] [-3.44037882e-01 -4.35081787e-01 8.32070775e-01 1.01456764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.659072329 meters Centerline goodness : 0.765249 Centerline is valid? [False, False] Translation: X:-132.05, Y:32.61, Z:101.52 [[ 6.58604838e-01 5.19701792e-01 5.44196394e-01 -1.32048429e+02] [-6.68646551e-01 7.35926092e-01 1.06416996e-01 3.26121256e+01] [-3.45183222e-01 -4.33961790e-01 8.32181295e-01 1.01516002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.689072329 meters Centerline goodness : 0.765747 Centerline is valid? [False, False] Translation: X:-132.14, Y:32.58, Z:101.58 [[ 6.58755880e-01 5.18531994e-01 5.45128665e-01 -1.32138109e+02] [-6.67481144e-01 7.37121697e-01 1.05453904e-01 3.25842362e+01] [-3.47144944e-01 -4.33331484e-01 8.31693581e-01 1.01579319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.719072329 meters Centerline goodness : 0.765243 Centerline is valid? [False, False] Translation: X:-132.22, Y:32.56, Z:101.64 [[ 6.60771058e-01 5.15241270e-01 5.45809529e-01 -1.32222525e+02] [-6.63615120e-01 7.40798473e-01 1.04079749e-01 3.25594507e+01] [-3.50708683e-01 -4.30980342e-01 8.31420089e-01 1.01639720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.749072329 meters Centerline goodness : 0.763456 Centerline is valid? [False, False] Translation: X:-132.31, Y:32.54, Z:101.70 [[ 6.62658919e-01 5.12324344e-01 5.46266349e-01 -1.32307041e+02] [-6.59599692e-01 7.44703762e-01 1.01708173e-01 3.25354821e+01] [-3.54699032e-01 -4.27714943e-01 8.31413570e-01 1.01699254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.779072329 meters Centerline goodness : 0.765248 Centerline is valid? [False, False] Translation: X:-132.39, Y:32.51, Z:101.76 [[ 6.64476283e-01 5.10469199e-01 5.45795260e-01 -1.32389993e+02] [-6.56270809e-01 7.47944027e-01 9.94402187e-02 3.25111482e+01] [-3.57463136e-01 -4.24265164e-01 8.31997102e-01 1.01757861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.809072329 meters Centerline goodness : 0.765140 Centerline is valid? [False, False] Translation: X:-132.47, Y:32.49, Z:101.81 [[ 6.67567591e-01 5.07662487e-01 5.44639616e-01 -1.32470969e+02] [-6.51218088e-01 7.52719104e-01 9.65865070e-02 3.24894233e+01] [-3.60927297e-01 -4.19157191e-01 8.33089872e-01 1.01813613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.839072329 meters Centerline goodness : 0.767113 Centerline is valid? [False, False] Translation: X:-132.55, Y:32.47, Z:101.87 [[ 6.68809025e-01 5.06015854e-01 5.44648918e-01 -1.32550904e+02] [-6.49239197e-01 7.54464038e-01 9.62937185e-02 3.24660018e+01] [-3.62191874e-01 -4.18009534e-01 8.33117684e-01 1.01870529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.869072329 meters Centerline goodness : 0.766581 Centerline is valid? [False, False] Translation: X:-132.64, Y:32.44, Z:101.93 [[ 6.68985221e-01 5.02850014e-01 5.47357870e-01 -1.32638607e+02] [-6.46300160e-01 7.57240816e-01 9.42467506e-02 3.24427580e+01] [-3.67089740e-01 -4.16807163e-01 8.31574959e-01 1.01932380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.899072329 meters Centerline goodness : 0.766719 Centerline is valid? [False, False] Translation: X:-132.72, Y:32.42, Z:101.99 [[ 6.69379437e-01 5.02140146e-01 5.47527572e-01 -1.32718189e+02] [-6.45087379e-01 7.58415299e-01 9.31048231e-02 3.24197100e+01] [-3.68501618e-01 -4.15525581e-01 8.31591877e-01 1.01989034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.929072329 meters Centerline goodness : 0.766357 Centerline is valid? [False, False] Translation: X:-132.80, Y:32.40, Z:102.05 [[ 6.69735642e-01 5.01730658e-01 5.47467367e-01 -1.32802223e+02] [-6.43356173e-01 7.60219134e-01 9.03310700e-02 3.23956661e+01] [-3.70873300e-01 -4.12714447e-01 8.31937366e-01 1.02047742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.959072329 meters Centerline goodness : 0.767069 Centerline is valid? [False, False] Translation: X:-132.88, Y:32.37, Z:102.10 [[ 6.70256743e-01 5.01878546e-01 5.46693537e-01 -1.32881876e+02] [-6.42461773e-01 7.61140874e-01 8.89237884e-02 3.23720011e+01] [-3.71481855e-01 -4.10831468e-01 8.32597584e-01 1.02103844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.989072329 meters Centerline goodness : 0.768629 Centerline is valid? [False, False] Translation: X:-132.96, Y:32.35, Z:102.16 [[ 6.70957862e-01 5.01637954e-01 5.46053944e-01 -1.32960528e+02] [-6.41669804e-01 7.61850677e-01 8.85630177e-02 3.23482349e+01] [-3.71584996e-01 -4.09808380e-01 8.33055629e-01 1.02159218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.019072329 meters Centerline goodness : 0.769087 Centerline is valid? [False, False] Translation: X:-133.04, Y:32.32, Z:102.22 [[ 6.70995153e-01 5.01934343e-01 5.45735668e-01 -1.33041675e+02] [-6.41366215e-01 7.62226039e-01 8.75262477e-02 3.23241196e+01] [-3.72041507e-01 -4.08746108e-01 8.33373708e-01 1.02216867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.049072329 meters Centerline goodness : 0.769142 Centerline is valid? [False, False] Translation: X:-133.13, Y:32.30, Z:102.28 [[ 6.70169226e-01 5.02263233e-01 5.46447485e-01 -1.33127716e+02] [-6.41814942e-01 7.61930649e-01 8.68059122e-02 3.22991613e+01] [-3.72755668e-01 -4.08892812e-01 8.32982521e-01 1.02277288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.079072329 meters Centerline goodness : 0.770854 Centerline is valid? [False, False] Translation: X:-133.21, Y:32.27, Z:102.34 [[ 6.69737521e-01 5.02491121e-01 5.46767159e-01 -1.33211237e+02] [-6.42033415e-01 7.61802173e-01 8.63165227e-02 3.22742376e+01] [-3.73155124e-01 -4.08852200e-01 8.32823590e-01 1.02336083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.109072329 meters Centerline goodness : 0.770278 Centerline is valid? [False, False] Translation: X:-133.29, Y:32.25, Z:102.39 [[ 6.69522329e-01 5.02885237e-01 5.46668354e-01 -1.33292140e+02] [-6.42288492e-01 7.61621993e-01 8.60083262e-02 3.22500156e+01] [-3.73102324e-01 -4.08703288e-01 8.32920331e-01 1.02392971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13907232900002 meters Centerline goodness : 0.770012 Centerline is valid? [False, False] Translation: X:-133.38, Y:32.22, Z:102.46 [[ 6.68073218e-01 5.03996229e-01 5.47417552e-01 -1.33381190e+02] [-6.43698137e-01 7.60499739e-01 8.53982212e-02 3.22244205e+01] [-3.73270524e-01 -4.09423923e-01 8.32490942e-01 1.02455706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.169072329 meters Centerline goodness : 0.769965 Centerline is valid? [False, False] Translation: X:-133.46, Y:32.20, Z:102.51 [[ 6.67694689e-01 5.04808845e-01 5.47130544e-01 -1.33462164e+02] [-6.44434030e-01 7.59883369e-01 8.53349054e-02 3.22004613e+01] [-3.72677586e-01 -4.09567204e-01 8.32686088e-01 1.02512779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.199072329 meters Centerline goodness : 0.768594 Centerline is valid? [False, False] Translation: X:-133.54, Y:32.18, Z:102.57 [[ 6.67563369e-01 5.05935670e-01 5.46249253e-01 -1.33541542e+02] [-6.45126356e-01 7.59320034e-01 8.51179821e-02 3.21767910e+01] [-3.71713778e-01 -4.09221437e-01 8.33286675e-01 1.02568891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.229072329 meters Centerline goodness : 0.770228 Centerline is valid? [False, False] Translation: X:-133.63, Y:32.15, Z:102.63 [[ 6.66242093e-01 5.08650371e-01 5.45340511e-01 -1.33627006e+02] [-6.47481589e-01 7.57369187e-01 8.46138693e-02 3.21514332e+01] [-3.69985223e-01 -4.09471262e-01 8.33932983e-01 1.02629363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.259072329 meters Centerline goodness : 0.770789 Centerline is valid? [False, False] Translation: X:-133.71, Y:32.13, Z:102.69 [[ 6.65449668e-01 5.10027328e-01 5.45021892e-01 -1.33707628e+02] [-6.48909272e-01 7.56136043e-01 8.47056146e-02 3.21269859e+01] [-3.68908518e-01 -4.10037083e-01 8.34131942e-01 1.02686507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.289072329 meters Centerline goodness : 0.769438 Centerline is valid? [False, False] Translation: X:-133.79, Y:32.10, Z:102.74 [[ 6.64263062e-01 5.11655875e-01 5.44942979e-01 -1.33789324e+02] [-6.50751411e-01 7.54542056e-01 8.47873089e-02 3.21023237e+01] [-3.67800471e-01 -4.10943490e-01 8.34175199e-01 1.02744210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.319072329 meters Centerline goodness : 0.768627 Centerline is valid? [False, False] Translation: X:-133.88, Y:32.07, Z:102.81 [[ 6.64335310e-01 5.12040358e-01 5.44493589e-01 -1.33884671e+02] [-6.54048412e-01 7.50848745e-01 9.19066730e-02 3.20730142e+01] [-3.61772402e-01 -4.17182015e-01 8.33714517e-01 1.02809294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.349072329 meters Centerline goodness : 0.768198 Centerline is valid? [False, False] Translation: X:-133.97, Y:32.05, Z:102.87 [[ 6.63042977e-01 5.13803366e-01 5.44408038e-01 -1.33971065e+02] [-6.55756873e-01 7.49423628e-01 9.13627341e-02 3.20472976e+01] [-3.61049767e-01 -4.17576732e-01 8.33830162e-01 1.02869577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.379072329 meters Centerline goodness : 0.767165 Centerline is valid? [False, False] Translation: X:-134.06, Y:32.02, Z:102.93 [[ 6.60622135e-01 5.17073397e-01 5.44254993e-01 -1.34059214e+02] [-6.59491106e-01 7.46103693e-01 9.16556625e-02 3.20206610e+01] [-3.58677955e-01 -4.19481087e-01 8.33897921e-01 1.02930588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.409072329 meters Centerline goodness : 0.769615 Centerline is valid? [False, False] Translation: X:-134.15, Y:31.99, Z:102.99 [[ 6.59551603e-01 5.18312671e-01 5.44374557e-01 -1.34145364e+02] [-6.60966786e-01 7.44794381e-01 9.16746338e-02 3.19940788e+01] [-3.57930987e-01 -4.20277653e-01 8.33817787e-01 1.02990209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.439072329 meters Centerline goodness : 0.768218 Centerline is valid? [False, False] Translation: X:-134.23, Y:31.97, Z:103.05 [[ 6.58730209e-01 5.19386281e-01 5.44345849e-01 -1.34228063e+02] [-6.62362840e-01 7.43495336e-01 9.21420350e-02 3.19680124e+01] [-3.56861291e-01 -4.21251204e-01 8.33785009e-01 1.03047917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.469072329 meters Centerline goodness : 0.766551 Centerline is valid? [False, False] Translation: X:-134.31, Y:31.94, Z:103.11 [[ 6.57574690e-01 5.20142494e-01 5.45020470e-01 -1.34314850e+02] [-6.63673241e-01 7.42305111e-01 9.23089993e-02 3.19410668e+01] [-3.56557647e-01 -4.22415563e-01 8.33325708e-01 1.03108189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.499072329 meters Centerline goodness : 0.767887 Centerline is valid? [False, False] Translation: X:-134.41, Y:31.91, Z:103.17 [[ 6.55767018e-01 5.22359654e-01 5.45077986e-01 -1.34406866e+02] [-6.66738746e-01 7.39396390e-01 9.35543871e-02 3.19112606e+01] [-3.54159658e-01 -4.24774494e-01 8.33149186e-01 1.03173111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.529072329 meters Centerline goodness : 0.770605 Centerline is valid? [False, False] Translation: X:-134.49, Y:31.88, Z:103.23 [[ 6.55580540e-01 5.23347951e-01 5.44353817e-01 -1.34491358e+02] [-6.67584351e-01 7.38588780e-01 9.39028676e-02 3.18842144e+01] [-3.52909749e-01 -4.24962982e-01 8.33583333e-01 1.03232490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.559072329 meters Centerline goodness : 0.770661 Centerline is valid? [False, False] Translation: X:-134.58, Y:31.86, Z:103.29 [[ 6.54815205e-01 5.24438794e-01 5.44225136e-01 -1.34578633e+02] [-6.69170531e-01 7.37021053e-01 9.49250639e-02 3.18553170e+01] [-3.51322997e-01 -4.26337798e-01 8.33551578e-01 1.03293444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.589072329 meters Centerline goodness : 0.771255 Centerline is valid? [False, False] Translation: X:-134.66, Y:31.83, Z:103.35 [[ 6.54772292e-01 5.24374682e-01 5.44338533e-01 -1.34663181e+02] [-6.69673009e-01 7.36407619e-01 9.61346971e-02 3.18271926e+01] [-3.50444442e-01 -4.27475159e-01 8.33338876e-01 1.03352799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.619072329 meters Centerline goodness : 0.770462 Centerline is valid? [False, False] Translation: X:-134.75, Y:31.80, Z:103.41 [[ 6.54622107e-01 5.24491817e-01 5.44406311e-01 -1.34749328e+02] [-6.70381170e-01 7.35594690e-01 9.74142613e-02 3.17983206e+01] [-3.49369409e-01 -4.28729269e-01 8.33145984e-01 1.03413544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.649072329 meters Centerline goodness : 0.772295 Centerline is valid? [False, False] Translation: X:-134.83, Y:31.77, Z:103.47 [[ 6.54602340e-01 5.24520976e-01 5.44401985e-01 -1.34833616e+02] [-6.70968066e-01 7.34881994e-01 9.87436613e-02 3.17699855e+01] [-3.48278094e-01 -4.29914178e-01 8.32992298e-01 1.03472847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.679072329 meters Centerline goodness : 0.770790 Centerline is valid? [False, False] Translation: X:-134.92, Y:31.74, Z:103.53 [[ 6.53972906e-01 5.24543560e-01 5.45136214e-01 -1.34920850e+02] [-6.72309135e-01 7.33365502e-01 1.00873518e-01 3.17393292e+01] [-3.46871539e-01 -4.32468604e-01 8.32256596e-01 1.03534432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.709072329 meters Centerline goodness : 0.774368 Centerline is valid? [False, False] Translation: X:-135.01, Y:31.71, Z:103.59 [[ 6.54303564e-01 5.24462444e-01 5.44817392e-01 -1.35005194e+02] [-6.72586255e-01 7.32926953e-01 1.02204746e-01 3.17101762e+01] [-3.45708801e-01 -4.33309619e-01 8.32302949e-01 1.03594210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.739072329 meters Centerline goodness : 0.772868 Centerline is valid? [False, False] Translation: X:-135.09, Y:31.68, Z:103.66 [[ 6.57622192e-01 5.20346126e-01 5.44768723e-01 -1.35094507e+02] [-6.67820755e-01 7.37312944e-01 1.01907126e-01 3.16793794e+01] [-3.48638052e-01 -4.30824248e-01 8.32371297e-01 1.03658519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.769072329 meters Centerline goodness : 0.773410 Centerline is valid? [False, False] Translation: X:-135.18, Y:31.65, Z:103.72 [[ 6.63925818e-01 5.12367144e-01 5.44685614e-01 -1.35176011e+02] [-6.58563638e-01 7.45675404e-01 1.01302152e-01 3.16548676e+01] [-3.54254772e-01 -4.25967254e-01 8.32499523e-01 1.03715138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.799072329 meters Centerline goodness : 0.776302 Centerline is valid? [False, False] Translation: X:-135.26, Y:31.63, Z:103.77 [[ 6.71635200e-01 5.01471029e-01 5.45374152e-01 -1.35261921e+02] [-6.45361624e-01 7.57536695e-01 9.82167516e-02 3.16286999e+01] [-3.63888077e-01 -4.17929376e-01 8.32418467e-01 1.03774737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.829072329 meters Centerline goodness : 0.775799 Centerline is valid? [False, False] Translation: X:-135.34, Y:31.60, Z:103.83 [[ 6.74321238e-01 4.97321984e-01 5.45858693e-01 -1.35341654e+02] [-6.40648299e-01 7.61615909e-01 9.75241758e-02 3.16035320e+01] [-3.67233748e-01 -4.15466066e-01 8.32182265e-01 1.03831770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.859072329 meters Centerline goodness : 0.774932 Centerline is valid? [False, False] Translation: X:-135.42, Y:31.58, Z:103.89 [[ 6.76301882e-01 4.93481675e-01 5.46892678e-01 -1.35421045e+02] [-6.36648104e-01 7.65032242e-01 9.69786602e-02 3.15791628e+01] [-3.70533340e-01 -4.13765037e-01 8.31566917e-01 1.03887843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88907232900002 meters Centerline goodness : 0.774768 Centerline is valid? [False, False] Translation: X:-135.50, Y:31.55, Z:103.94 [[ 6.78041372e-01 4.90412691e-01 5.47499124e-01 -1.35499214e+02] [-6.33382591e-01 7.67775547e-01 9.66809368e-02 3.15548436e+01] [-3.72942881e-01 -4.12330088e-01 8.31202446e-01 1.03943542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.919072329 meters Centerline goodness : 0.774880 Centerline is valid? [False, False] Translation: X:-135.58, Y:31.53, Z:104.00 [[ 6.80925240e-01 4.86144246e-01 5.47726747e-01 -1.35578370e+02] [-6.28323304e-01 7.72018357e-01 9.59035036e-02 3.15295063e+01] [-3.76232167e-01 -4.09452596e-01 8.31142544e-01 1.03999892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.949072329 meters Centerline goodness : 0.774182 Centerline is valid? [False, False] Translation: X:-135.65, Y:31.50, Z:104.05 [[ 6.82474636e-01 4.85320861e-01 5.46527247e-01 -1.35652885e+02] [-6.26111340e-01 7.73979308e-01 9.45548554e-02 3.15037548e+01] [-3.77111337e-01 -4.06718198e-01 8.32086142e-01 1.04052924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.979072329 meters Centerline goodness : 0.776561 Centerline is valid? [False, False] Translation: X:-135.73, Y:31.48, Z:104.11 [[ 6.84439929e-01 4.84417787e-01 5.44868233e-01 -1.35728700e+02] [-6.23166812e-01 7.76618782e-01 9.23384649e-02 3.14757981e+01] [-3.78424509e-01 -4.02743932e-01 8.33421992e-01 1.04107055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.009072329 meters Centerline goodness : 0.775987 Centerline is valid? [False, False] Translation: X:-135.81, Y:31.45, Z:104.16 [[ 6.84588710e-01 4.84529270e-01 5.44582119e-01 -1.35806177e+02] [-6.22510823e-01 7.77307106e-01 9.09611895e-02 3.14494133e+01] [-3.79234192e-01 -4.01279267e-01 8.33760384e-01 1.04162121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.03907232899996 meters Centerline goodness : 0.776551 Centerline is valid? [False, False] Translation: X:-135.88, Y:31.42, Z:104.22 [[ 6.84176470e-01 4.84517937e-01 5.45110012e-01 -1.35882831e+02] [-6.22533978e-01 7.77353272e-01 9.04065136e-02 3.14238640e+01] [-3.79939474e-01 -4.01203514e-01 8.33475696e-01 1.04216163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.069072329 meters Centerline goodness : 0.777163 Centerline is valid? [False, False] Translation: X:-135.96, Y:31.40, Z:104.27 [[ 6.82299108e-01 4.84890439e-01 5.47128129e-01 -1.35962020e+02] [-6.24620216e-01 7.75535490e-01 9.16203529e-02 3.13971257e+01] [-3.79891449e-01 -4.04259775e-01 8.32019544e-01 1.04272830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.09907232899997 meters Centerline goodness : 0.775141 Centerline is valid? [False, False] Translation: X:-136.04, Y:31.37, Z:104.33 [[ 6.81501830e-01 4.85694642e-01 5.47408413e-01 -1.36041161e+02] [-6.25648645e-01 7.74716590e-01 9.15312930e-02 3.13707857e+01] [-3.79630121e-01 -4.04864075e-01 8.31844969e-01 1.04327946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.129072329 meters Centerline goodness : 0.776106 Centerline is valid? [False, False] Translation: X:-136.12, Y:31.34, Z:104.38 [[ 6.81240068e-01 4.86780460e-01 5.46769378e-01 -1.36117282e+02] [-6.26480405e-01 7.74056821e-01 9.14239542e-02 3.13449435e+01] [-3.78727172e-01 -4.04821963e-01 8.32276942e-01 1.04380630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.15907232899997 meters Centerline goodness : 0.774008 Centerline is valid? [False, False] Translation: X:-136.20, Y:31.32, Z:104.43 [[ 6.80198714e-01 4.90260545e-01 5.44953492e-01 -1.36195963e+02] [-6.28675146e-01 7.72471190e-01 8.97542273e-02 3.13177433e+01] [-3.76957916e-01 -4.03649426e-01 8.33648529e-01 1.04433620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.189072329 meters Centerline goodness : 0.774840 Centerline is valid? [False, False] Translation: X:-136.27, Y:31.29, Z:104.49 [[ 6.79771551e-01 4.91490198e-01 5.44378566e-01 -1.36272743e+02] [-6.29984593e-01 7.71344233e-01 9.02634262e-02 3.12910139e+01] [-3.75539679e-01 -4.04308619e-01 8.33969118e-01 1.04486829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.21907232899997 meters Centerline goodness : 0.775693 Centerline is valid? [False, False] Translation: X:-136.35, Y:31.26, Z:104.54 [[ 6.78909509e-01 4.92117795e-01 5.44887103e-01 -1.36350468e+02] [-6.31561157e-01 7.69900546e-01 9.15623001e-02 3.12641388e+01] [-3.74449441e-01 -4.06292045e-01 8.33495285e-01 1.04540568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.249072329 meters Centerline goodness : 0.776048 Centerline is valid? [False, False] Translation: X:-136.44, Y:31.24, Z:104.60 [[ 6.75949103e-01 4.94083430e-01 5.46785492e-01 -1.36435228e+02] [-6.35425649e-01 7.66558745e-01 9.28543714e-02 3.12350776e+01] [-3.73265394e-01 -4.10206355e-01 8.32107981e-01 1.04599230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.279072329 meters Centerline goodness : 0.776674 Centerline is valid? [False, False] Translation: X:-136.51, Y:31.21, Z:104.65 [[ 6.75440631e-01 4.94740857e-01 5.46819384e-01 -1.36514264e+02] [-6.36643873e-01 7.65423674e-01 9.38678764e-02 3.12082366e+01] [-3.72108229e-01 -4.11531388e-01 8.31971984e-01 1.04653527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.30907232899995 meters Centerline goodness : 0.776749 Centerline is valid? [False, False] Translation: X:-136.59, Y:31.18, Z:104.71 [[ 6.75375269e-01 4.95917240e-01 5.45833617e-01 -1.36590950e+02] [-6.37850346e-01 7.64300458e-01 9.48248226e-02 3.11812043e+01] [-3.70155619e-01 -4.12202501e-01 8.32510610e-01 1.04707586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.339072329 meters Centerline goodness : 0.775979 Centerline is valid? [False, False] Translation: X:-136.67, Y:31.15, Z:104.76 [[ 6.75134062e-01 4.97017815e-01 5.45130525e-01 -1.36667874e+02] [-6.39210395e-01 7.63019707e-01 9.59739373e-02 3.11543557e+01] [-3.68244577e-01 -4.13248373e-01 8.32839549e-01 1.04761236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.36907232899995 meters Centerline goodness : 0.776028 Centerline is valid? [False, False] Translation: X:-136.75, Y:31.13, Z:104.82 [[ 6.73259349e-01 4.99450249e-01 5.45225914e-01 -1.36749182e+02] [-6.42557959e-01 7.60045255e-01 9.72135770e-02 3.11261511e+01] [-3.65843023e-01 -4.15789200e-01 8.32633307e-01 1.04817545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.399072329 meters Centerline goodness : 0.779084 Centerline is valid? [False, False] Translation: X:-136.83, Y:31.10, Z:104.87 [[ 6.72942514e-01 4.99667568e-01 5.45417907e-01 -1.36829336e+02] [-6.43605384e-01 7.58954318e-01 9.87950085e-02 3.10983374e+01] [-3.64582614e-01 -4.17517263e-01 8.32321364e-01 1.04873990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.42907232899995 meters Centerline goodness : 0.779084 Centerline is valid? [False, False] Translation: X:-136.91, Y:31.07, Z:104.93 [[ 6.73691500e-01 4.98575765e-01 5.45492410e-01 -1.36908204e+02] [-6.42979817e-01 7.59315955e-01 1.00081142e-01 3.10715049e+01] [-3.64303058e-01 -4.18164425e-01 8.32118859e-01 1.04928540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.459072329 meters Centerline goodness : 0.778091 Centerline is valid? [False, False] Translation: X:-136.99, Y:31.04, Z:104.99 [[ 6.74221725e-01 4.96572132e-01 5.46663684e-01 -1.36987647e+02] [-6.41646481e-01 7.60364401e-01 1.00676572e-01 3.10447840e+01] [-3.65670424e-01 -4.18643161e-01 8.31277959e-01 1.04985045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.48907232899995 meters Centerline goodness : 0.779787 Centerline is valid? [False, False] Translation: X:-137.07, Y:31.02, Z:105.04 [[ 6.75330708e-01 4.95113188e-01 5.46618117e-01 -1.37065149e+02] [-6.39658538e-01 7.62131963e-01 9.99591237e-02 3.10196071e+01] [-3.67104058e-01 -4.17154411e-01 8.31394496e-01 1.05039831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.519072329 meters Centerline goodness : 0.779282 Centerline is valid? [False, False] Translation: X:-137.14, Y:30.99, Z:105.10 [[ 6.76195668e-01 4.93925117e-01 5.46623634e-01 -1.37143229e+02] [-6.38161628e-01 7.63432812e-01 9.95995851e-02 3.09939379e+01] [-3.68115681e-01 -4.16183036e-01 8.31434017e-01 1.05095494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.54907232899996 meters Centerline goodness : 0.780368 Centerline is valid? [False, False] Translation: X:-137.22, Y:30.97, Z:105.15 [[ 6.76988856e-01 4.92251988e-01 5.47150865e-01 -1.37224703e+02] [-6.36057139e-01 7.65336212e-01 9.84469288e-02 3.09690431e+01] [-3.70293674e-01 -4.14666688e-01 8.31224478e-01 1.05153148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.579072329 meters Centerline goodness : 0.779875 Centerline is valid? [False, False] Translation: X:-137.30, Y:30.94, Z:105.21 [[ 6.77954342e-01 4.91937654e-01 5.46237362e-01 -1.37301121e+02] [-6.35132048e-01 7.66120129e-01 9.83220754e-02 3.09444350e+01] [-3.70115107e-01 -4.13590732e-01 8.31839837e-01 1.05206815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.60907232899996 meters Centerline goodness : 0.781835 Centerline is valid? [False, False] Translation: X:-137.38, Y:30.92, Z:105.26 [[ 6.78886155e-01 4.92072597e-01 5.44957014e-01 -1.37375637e+02] [-6.34609919e-01 7.66540165e-01 9.84196486e-02 3.09203732e+01] [-3.69301827e-01 -4.12650863e-01 8.32667656e-01 1.05259312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.639072329 meters Centerline goodness : 0.782797 Centerline is valid? [False, False] Translation: X:-137.46, Y:30.89, Z:105.32 [[ 6.78134156e-01 4.93136505e-01 5.44931604e-01 -1.37459091e+02] [-6.35309953e-01 7.66100443e-01 9.73209900e-02 3.08947137e+01] [-3.69479811e-01 -4.12197159e-01 8.32813407e-01 1.05316781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.66907232899996 meters Centerline goodness : 0.783512 Centerline is valid? [False, False] Translation: X:-137.54, Y:30.87, Z:105.37 [[ 6.77811394e-01 4.93496048e-01 5.45007674e-01 -1.37536888e+02] [-6.36012992e-01 7.65443719e-01 9.78947730e-02 3.08684780e+01] [-3.68862018e-01 -4.12986154e-01 8.32696372e-01 1.05371355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.699072329 meters Centerline goodness : 0.788931 Centerline is valid? [False, False] Translation: X:-137.62, Y:30.84, Z:105.43 [[ 6.76303862e-01 4.95234370e-01 5.45303590e-01 -1.37619323e+02] [-6.37880333e-01 7.63963854e-01 9.73031836e-02 3.08415734e+01] [-3.68404352e-01 -4.13644954e-01 8.32571970e-01 1.05428653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.72907232899996 meters Centerline goodness : 0.788534 Centerline is valid? [False, False] Translation: X:-137.70, Y:30.82, Z:105.48 [[ 6.76475726e-01 4.95810715e-01 5.44566182e-01 -1.37696906e+02] [-6.38329126e-01 7.63527697e-01 9.77823217e-02 3.08152606e+01] [-3.67309840e-01 -4.13759822e-01 8.32998374e-01 1.05483272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.759072329 meters Centerline goodness : 0.791270 Centerline is valid? [False, False] Translation: X:-137.77, Y:30.79, Z:105.54 [[ 6.76732007e-01 4.96016526e-01 5.44060105e-01 -1.37773507e+02] [-6.38673480e-01 7.63123931e-01 9.86815681e-02 3.07892095e+01] [-3.66237597e-01 -4.14257736e-01 8.33222990e-01 1.05537146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.78907232899996 meters Centerline goodness : 0.795452 Centerline is valid? [False, False] Translation: X:-137.85, Y:30.76, Z:105.59 [[ 6.76435763e-01 4.96354667e-01 5.44120118e-01 -1.37853127e+02] [-6.39234521e-01 7.62610925e-01 9.90141650e-02 3.07628144e+01] [-3.65805804e-01 -4.14797086e-01 8.33144340e-01 1.05593419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.819072329 meters Centerline goodness : 0.794387 Centerline is valid? [False, False] Translation: X:-137.94, Y:30.74, Z:105.65 [[ 6.74432853e-01 4.97055193e-01 5.45963791e-01 -1.37936527e+02] [-6.41279056e-01 7.60828501e-01 9.95045956e-02 3.07363896e+01] [-3.65925537e-01 -4.17224313e-01 8.31878822e-01 1.05651513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.84907232899997 meters Centerline goodness : 0.795388 Centerline is valid? [False, False] Translation: X:-138.02, Y:30.71, Z:105.71 [[ 6.73943951e-01 4.97389943e-01 5.46262570e-01 -1.38015112e+02] [-6.42246311e-01 7.59886320e-01 1.00461216e-01 3.07095497e+01] [-3.65129056e-01 -4.18540349e-01 8.31567645e-01 1.05706511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.879072329 meters Centerline goodness : 0.799259 Centerline is valid? [False, False] Translation: X:-138.10, Y:30.68, Z:105.76 [[ 6.71602742e-01 5.00635886e-01 5.46180800e-01 -1.38096456e+02] [-6.45420182e-01 7.57324847e-01 9.94578511e-02 3.06836055e+01] [-3.63844122e-01 -4.19312277e-01 8.31741949e-01 1.05761947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.90907232899997 meters Centerline goodness : 0.801641 Centerline is valid? [False, False] Translation: X:-138.17, Y:30.66, Z:105.82 [[ 6.71196647e-01 5.02153153e-01 5.45286413e-01 -1.38173459e+02] [-6.46862902e-01 7.56020029e-01 1.00010504e-01 3.06572305e+01] [-3.62026860e-01 -4.19852267e-01 8.32262354e-01 1.05815821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.939072329 meters Centerline goodness : 0.801883 Centerline is valid? [False, False] Translation: X:-138.25, Y:30.63, Z:105.87 [[ 6.70719895e-01 5.02889076e-01 5.45194827e-01 -1.38251123e+02] [-6.48175572e-01 7.54730233e-01 1.01245755e-01 3.06306395e+01] [-3.60559635e-01 -4.21289511e-01 8.32172997e-01 1.05869980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.96907232899997 meters Centerline goodness : 0.798359 Centerline is valid? [False, False] Translation: X:-138.33, Y:30.60, Z:105.93 [[ 6.68561708e-01 5.03253884e-01 5.47504129e-01 -1.38333688e+02] [-6.50775966e-01 7.52217330e-01 1.03245975e-01 3.06039985e+01] [-3.59883156e-01 -4.25328833e-01 8.30409235e-01 1.05928095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.999072329 meters Centerline goodness : 0.796177 Centerline is valid? [False, False] Translation: X:-138.41, Y:30.58, Z:105.98 [[ 6.68527046e-01 5.03041432e-01 5.47741641e-01 -1.38411580e+02] [-6.51238994e-01 7.51636172e-01 1.04550650e-01 3.05770994e+01] [-3.59109122e-01 -4.26605652e-01 8.30089306e-01 1.05982829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.029072329 meters Centerline goodness : 0.798008 Centerline is valid? [False, False] Translation: X:-138.49, Y:30.55, Z:106.04 [[ 6.67695681e-01 5.04931101e-01 5.47016508e-01 -1.38492126e+02] [-6.52646345e-01 7.50510400e-01 1.03859943e-01 3.05508727e+01] [-3.58099463e-01 -4.26355160e-01 8.30653991e-01 1.06037976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05907232899995 meters Centerline goodness : 0.797865 Centerline is valid? [False, False] Translation: X:-138.58, Y:30.52, Z:106.10 [[ 6.71743887e-01 5.01640081e-01 5.45084746e-01 -1.38581636e+02] [-6.51630747e-01 7.50114505e-01 1.12719114e-01 3.05170399e+01] [-3.52331549e-01 -4.30912356e-01 8.30768934e-01 1.06098956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.089072329 meters Centerline goodness : 0.796930 Centerline is valid? [False, False] Translation: X:-138.67, Y:30.48, Z:106.16 [[ 6.75427069e-01 4.98121745e-01 5.43758220e-01 -1.38672661e+02] [-6.50483069e-01 7.49800552e-01 1.21123529e-01 3.04825662e+01] [-3.47375950e-01 -4.35515626e-01 8.30455351e-01 1.06161713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11907232899995 meters Centerline goodness : 0.796790 Centerline is valid? [False, False] Translation: X:-138.75, Y:30.45, Z:106.22 [[ 6.75621513e-01 4.97867889e-01 5.43749148e-01 -1.38754823e+02] [-6.50414557e-01 7.49775382e-01 1.21646132e-01 3.04533091e+01] [-3.47126022e-01 -4.35849104e-01 8.30384901e-01 1.06221584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.149072329 meters Centerline goodness : 0.793787 Centerline is valid? [False, False] Translation: X:-138.85, Y:30.42, Z:106.29 [[ 6.74772169e-01 4.96179055e-01 5.46341346e-01 -1.38845518e+02] [-6.50248629e-01 7.49844211e-01 1.22108067e-01 3.04227761e+01] [-3.49083430e-01 -4.37652836e-01 8.28613754e-01 1.06288113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17907232899995 meters Centerline goodness : 0.795252 Centerline is valid? [False, False] Translation: X:-138.92, Y:30.40, Z:106.34 [[ 6.75040410e-01 4.96340196e-01 5.45863403e-01 -1.38917817e+02] [-6.50064603e-01 7.50035742e-01 1.21911433e-01 3.03975226e+01] [-3.48907518e-01 -4.37141620e-01 8.28957628e-01 1.06341133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.209072329 meters Centerline goodness : 0.792585 Centerline is valid? [False, False] Translation: X:-139.01, Y:30.36, Z:106.41 [[ 6.77828582e-01 4.95235262e-01 5.43406338e-01 -1.39013050e+02] [-6.49251982e-01 7.50007510e-01 1.26335266e-01 3.03620576e+01] [-3.44993155e-01 -4.38441296e-01 8.29909003e-01 1.06408755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.23907232899995 meters Centerline goodness : 0.792750 Centerline is valid? [False, False] Translation: X:-139.09, Y:30.34, Z:106.46 [[ 6.78705453e-01 4.96077881e-01 5.41540067e-01 -1.39086750e+02] [-6.48486676e-01 7.50915436e-01 1.24864085e-01 3.03357214e+01] [-3.44708485e-01 -4.35927453e-01 8.31350297e-01 1.06461628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.269072329 meters Centerline goodness : 0.789447 Centerline is valid? [False, False] Translation: X:-139.17, Y:30.31, Z:106.52 [[ 6.80024967e-01 4.96037828e-01 5.39918992e-01 -1.39166457e+02] [-6.47353594e-01 7.51952972e-01 1.24499209e-01 3.03066560e+01] [-3.44237374e-01 -4.34181070e-01 8.32458665e-01 1.06519067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.29907232899996 meters Centerline goodness : 0.787701 Centerline is valid? [False, False] Translation: X:-139.25, Y:30.28, Z:106.58 [[ 6.81191081e-01 4.94339576e-01 5.40006569e-01 -1.39252820e+02] [-6.45757610e-01 7.53231417e-01 1.25058155e-01 3.02761517e+01] [-3.44928718e-01 -4.33901851e-01 8.32318066e-01 1.06581653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.329072329 meters Centerline goodness : 0.790657 Centerline is valid? [False, False] Translation: X:-139.34, Y:30.25, Z:106.64 [[ 6.81261151e-01 4.93317255e-01 5.40852410e-01 -1.39337863e+02] [-6.45304374e-01 7.53543957e-01 1.25514026e-01 3.02455217e+01] [-3.45637830e-01 -4.34522256e-01 8.31700006e-01 1.06644088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.35907232899996 meters Centerline goodness : 0.790279 Centerline is valid? [False, False] Translation: X:-139.42, Y:30.22, Z:106.70 [[ 6.81613863e-01 4.92116543e-01 5.41501477e-01 -1.39420389e+02] [-6.44730864e-01 7.53882463e-01 1.26425256e-01 3.02157424e+01] [-3.46012507e-01 -4.35295922e-01 8.31139462e-01 1.06703711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.389072329 meters Centerline goodness : 0.790570 Centerline is valid? [False, False] Translation: X:-139.50, Y:30.19, Z:106.76 [[ 6.81993716e-01 4.91913646e-01 5.41207480e-01 -1.39502290e+02] [-6.44294140e-01 7.54272692e-01 1.26324058e-01 3.01862062e+01] [-3.46077495e-01 -4.34849021e-01 8.31346315e-01 1.06762581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.41907232899996 meters Centerline goodness : 0.790651 Centerline is valid? [False, False] Translation: X:-139.59, Y:30.16, Z:106.82 [[ 6.82692759e-01 4.92963963e-01 5.39367341e-01 -1.39587477e+02] [-6.43859603e-01 7.54858105e-01 1.25036206e-01 3.01558552e+01] [-3.45507465e-01 -4.32638155e-01 8.32735743e-01 1.06822935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.449072329 meters Centerline goodness : 0.789654 Centerline is valid? [False, False] Translation: X:-139.67, Y:30.13, Z:106.88 [[ 6.83204499e-01 4.93407813e-01 5.38312495e-01 -1.39670126e+02] [-6.43414922e-01 7.55368819e-01 1.24238418e-01 3.01259371e+01] [-3.45324268e-01 -4.31238538e-01 8.33537326e-01 1.06881768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.47907232899996 meters Centerline goodness : 0.788353 Centerline is valid? [False, False] Translation: X:-139.76, Y:30.09, Z:106.94 [[ 6.83104781e-01 4.92677527e-01 5.39107330e-01 -1.39757234e+02] [-6.43127179e-01 7.55588153e-01 1.24394429e-01 3.00946082e+01] [-3.46056772e-01 -4.31689005e-01 8.33000188e-01 1.06944124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.509072329 meters Centerline goodness : 0.788353 Centerline is valid? [False, False] Translation: X:-139.84, Y:30.06, Z:107.00 [[ 6.83321642e-01 4.92069341e-01 5.39387892e-01 -1.39840738e+02] [-6.42861833e-01 7.55716095e-01 1.24987386e-01 3.00642712e+01] [-3.46121651e-01 -4.32158475e-01 8.32729761e-01 1.07004651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.53907232899996 meters Centerline goodness : 0.787085 Centerline is valid? [False, False] Translation: X:-139.93, Y:30.03, Z:107.07 [[ 6.83315046e-01 4.91511227e-01 5.39904863e-01 -1.39925194e+02] [-6.42601099e-01 7.55914086e-01 1.25130822e-01 3.00343151e+01] [-3.46618487e-01 -4.32447232e-01 8.32373123e-01 1.07065384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.569072329 meters Centerline goodness : 0.786362 Centerline is valid? [False, False] Translation: X:-140.01, Y:30.00, Z:107.13 [[ 6.83182374e-01 4.90884799e-01 5.40642172e-01 -1.40012862e+02] [-6.42131762e-01 7.56391991e-01 1.24651341e-01 3.00036313e+01] [-3.47747960e-01 -4.32323110e-01 8.31966397e-01 1.07128367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.59907232899997 meters Centerline goodness : 0.785375 Centerline is valid? [False, False] Translation: X:-140.10, Y:29.97, Z:107.19 [[ 6.83548745e-01 4.91000510e-01 5.40073710e-01 -1.40095158e+02] [-6.41665687e-01 7.56892593e-01 1.24011083e-01 2.99735172e+01] [-3.47888286e-01 -4.31314388e-01 8.32431162e-01 1.07187136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.629072329 meters Centerline goodness : 0.784239 Centerline is valid? [False, False] Translation: X:-140.18, Y:29.94, Z:107.25 [[ 6.83977426e-01 4.91131546e-01 5.39411424e-01 -1.40176982e+02] [-6.41351444e-01 7.57190150e-01 1.23820034e-01 2.99433419e+01] [-3.47625093e-01 -4.30642404e-01 8.32888897e-01 1.07245110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.65907232899997 meters Centerline goodness : 0.785363 Centerline is valid? [False, False] Translation: X:-140.26, Y:29.91, Z:107.31 [[ 6.84150377e-01 4.91671379e-01 5.38699840e-01 -1.40262840e+02] [-6.41531187e-01 7.57042109e-01 1.23794106e-01 2.99118453e+01] [-3.46952444e-01 -4.30286532e-01 8.33353168e-01 1.07305752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.689072329 meters Centerline goodness : 0.786008 Centerline is valid? [False, False] Translation: X:-140.34, Y:29.88, Z:107.36 [[ 6.84940571e-01 4.91614990e-01 5.37746330e-01 -1.40343321e+02] [-6.41138097e-01 7.57290949e-01 1.24307519e-01 2.98816822e+01] [-3.46118989e-01 -4.29912921e-01 8.33892394e-01 1.07363176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.71907232899997 meters Centerline goodness : 0.787011 Centerline is valid? [False, False] Translation: X:-140.43, Y:29.85, Z:107.42 [[ 6.85643861e-01 4.91434096e-01 5.37014921e-01 -1.40426194e+02] [-6.40572695e-01 7.57749095e-01 1.24430425e-01 2.98506975e+01] [-3.45773217e-01 -4.29312052e-01 8.34345279e-01 1.07422512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.749072329 meters Centerline goodness : 0.785283 Centerline is valid? [False, False] Translation: X:-140.51, Y:29.82, Z:107.48 [[ 6.86115916e-01 4.90391278e-01 5.37365187e-01 -1.40511592e+02] [-6.39801053e-01 7.58328769e-01 1.24868290e-01 2.98180394e+01] [-3.46265161e-01 -4.29480934e-01 8.34054295e-01 1.07483847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.779072329 meters Centerline goodness : 0.786659 Centerline is valid? [False, False] Translation: X:-140.59, Y:29.79, Z:107.54 [[ 6.86526371e-01 4.89670691e-01 5.37498052e-01 -1.40594319e+02] [-6.39215682e-01 7.58768536e-01 1.25194332e-01 2.97862018e+01] [-3.46532615e-01 -4.29526394e-01 8.33919794e-01 1.07543363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.80907232899995 meters Centerline goodness : 0.786684 Centerline is valid? [False, False] Translation: X:-140.68, Y:29.75, Z:107.61 [[ 6.86859956e-01 4.88102287e-01 5.38497500e-01 -1.40681651e+02] [-6.38243591e-01 7.59510208e-01 1.25655728e-01 2.97520763e+01] [-3.47661500e-01 -4.30000466e-01 8.33205305e-01 1.07606091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.839072329 meters Centerline goodness : 0.786624 Centerline is valid? [False, False] Translation: X:-140.76, Y:29.72, Z:107.66 [[ 6.87580158e-01 4.87409781e-01 5.38205567e-01 -1.40763425e+02] [-6.37462421e-01 7.60106060e-01 1.26017619e-01 2.97206974e+01] [-3.47671093e-01 -4.29733038e-01 8.33339263e-01 1.07664630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.86907232899995 meters Centerline goodness : 0.785492 Centerline is valid? [False, False] Translation: X:-140.84, Y:29.69, Z:107.72 [[ 6.88289116e-01 4.87102976e-01 5.37576770e-01 -1.40844833e+02] [-6.36624850e-01 7.60863399e-01 1.25680894e-01 2.96894577e+01] [-3.47802952e-01 -4.28739522e-01 8.33795856e-01 1.07723315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.899072329 meters Centerline goodness : 0.786804 Centerline is valid? [False, False] Translation: X:-140.93, Y:29.65, Z:107.79 [[ 6.89445997e-01 4.85103257e-01 5.37902451e-01 -1.40930562e+02] [-6.34881172e-01 7.62207429e-01 1.26355580e-01 2.96549475e+01] [-3.48697741e-01 -4.28619487e-01 8.33483785e-01 1.07785753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.92907232899995 meters Centerline goodness : 0.785401 Centerline is valid? [False, False] Translation: X:-141.01, Y:29.62, Z:107.84 [[ 6.90111962e-01 4.83679603e-01 5.38330308e-01 -1.41012911e+02] [-6.33834645e-01 7.62965316e-01 1.27033734e-01 2.96226124e+01] [-3.49283728e-01 -4.28879899e-01 8.33104381e-01 1.07844964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.959072329 meters Centerline goodness : 0.787334 Centerline is valid? [False, False] Translation: X:-141.10, Y:29.59, Z:107.90 [[ 6.90667002e-01 4.82670248e-01 5.38524395e-01 -1.41095037e+02] [-6.32953240e-01 7.63647435e-01 1.27329458e-01 2.95902418e+01] [-3.49784632e-01 -4.28803016e-01 8.32933782e-01 1.07903988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.98907232899995 meters Centerline goodness : 0.785823 Centerline is valid? [False, False] Translation: X:-141.17, Y:29.56, Z:107.96 [[ 6.91638273e-01 4.81893475e-01 5.37973214e-01 -1.41174479e+02] [-6.31966358e-01 7.64390717e-01 1.27770714e-01 2.95582253e+01] [-3.49649857e-01 -4.28352088e-01 8.33222339e-01 1.07960900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.019072329 meters Centerline goodness : 0.788193 Centerline is valid? [False, False] Translation: X:-141.26, Y:29.52, Z:108.02 [[ 6.92714363e-01 4.81086966e-01 5.37310099e-01 -1.41260761e+02] [-6.30262794e-01 7.65968463e-01 1.26732488e-01 2.95229777e+01] [-3.50593243e-01 -4.26435979e-01 8.33808572e-01 1.08022718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.04907232899996 meters Centerline goodness : 0.786845 Centerline is valid? [False, False] Translation: X:-141.34, Y:29.49, Z:108.08 [[ 6.93822745e-01 4.80477620e-01 5.36424511e-01 -1.41339247e+02] [-6.29286327e-01 7.66693139e-01 1.27202003e-01 2.94915517e+01] [-3.50155276e-01 -4.25820253e-01 8.34307135e-01 1.08079215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.079072329 meters Centerline goodness : 0.787056 Centerline is valid? [False, False] Translation: X:-141.42, Y:29.46, Z:108.14 [[ 6.94468067e-01 4.79462164e-01 5.36498030e-01 -1.41424709e+02] [-6.28343252e-01 7.67411859e-01 1.27529589e-01 2.94564886e+01] [-3.50569338e-01 -4.25670144e-01 8.34209846e-01 1.08140917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.10907232899996 meters Centerline goodness : 0.787333 Centerline is valid? [False, False] Translation: X:-141.48, Y:29.43, Z:108.19 [[ 6.92988679e-01 4.81292017e-01 5.36772470e-01 -1.41483914e+02] [-6.28622012e-01 7.67919335e-01 1.23021384e-01 2.94338174e+01] [-3.52988748e-01 -4.22679417e-01 8.34710162e-01 1.08185347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.139072329 meters Centerline goodness : 0.787357 Centerline is valid? [False, False] Translation: X:-141.56, Y:29.40, Z:108.24 [[ 6.94133097e-01 4.80317323e-01 5.36166498e-01 -1.41562613e+02] [-6.27758830e-01 7.68413202e-01 1.24338259e-01 2.94017772e+01] [-3.52275596e-01 -4.22890554e-01 8.34904476e-01 1.08242043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.16907232899996 meters Centerline goodness : 0.789036 Centerline is valid? [False, False] Translation: X:-141.65, Y:29.37, Z:108.30 [[ 6.95585637e-01 4.79068126e-01 5.35401113e-01 -1.41646068e+02] [-6.26369781e-01 7.69383522e-01 1.25339114e-01 2.93665915e+01] [-3.51882820e-01 -4.22543166e-01 8.35245925e-01 1.08302201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.199072329 meters Centerline goodness : 0.788019 Centerline is valid? [False, False] Translation: X:-141.70, Y:29.34, Z:108.34 [[ 6.94540797e-01 4.80950279e-01 5.35070005e-01 -1.41703142e+02] [-6.26364091e-01 7.70109621e-01 1.20827139e-01 2.93445293e+01] [-3.53950712e-01 -4.19068014e-01 8.36122534e-01 1.08344513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.22907232899996 meters Centerline goodness : 0.788983 Centerline is valid? [False, False] Translation: X:-141.76, Y:29.32, Z:108.39 [[ 6.93550059e-01 4.82607642e-01 5.34862767e-01 -1.41758590e+02] [-6.26309667e-01 7.70800069e-01 1.16633848e-01 2.93231385e+01] [-3.55983871e-01 -4.15881134e-01 8.36850265e-01 1.08385357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.259072329 meters Centerline goodness : 0.788333 Centerline is valid? [False, False] Translation: X:-141.83, Y:29.29, Z:108.44 [[ 6.94388326e-01 4.82507716e-01 5.33864363e-01 -1.41830382e+02] [-6.25663398e-01 7.71319306e-01 1.16669790e-01 2.92935271e+01] [-3.55485816e-01 -4.15033531e-01 8.37482539e-01 1.08436472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.28907232899996 meters Centerline goodness : 0.789587 Centerline is valid? [False, False] Translation: X:-141.91, Y:29.26, Z:108.49 [[ 6.95234019e-01 4.81518788e-01 5.33656552e-01 -1.41908112e+02] [-6.25406881e-01 7.71182917e-01 1.18924944e-01 2.92620473e+01] [-3.54282221e-01 -4.16433146e-01 8.37297762e-01 1.08492372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.319072329 meters Centerline goodness : 0.789587 Centerline is valid? [False, False] Translation: X:-141.97, Y:29.24, Z:108.54 [[ 6.94656946e-01 4.82555184e-01 5.33471856e-01 -1.41974474e+02] [-6.25587433e-01 7.71349768e-01 1.16875569e-01 2.92371435e+01] [-3.55094481e-01 -4.14921715e-01 8.37703933e-01 1.08540431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.34907232899997 meters Centerline goodness : 0.788524 Centerline is valid? [False, False] Translation: X:-142.05, Y:29.21, Z:108.60 [[ 6.92840777e-01 4.82924533e-01 5.35495614e-01 -1.42050262e+02] [-6.27042868e-01 7.70192697e-01 1.16706688e-01 2.92070534e+01] [-3.56074289e-01 -4.16637858e-01 8.36435291e-01 1.08595328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.379072329 meters Centerline goodness : 0.790811 Centerline is valid? [False, False] Translation: X:-142.12, Y:29.18, Z:108.64 [[ 6.92653179e-01 4.83739567e-01 5.35002434e-01 -1.42118648e+02] [-6.27846988e-01 7.69476040e-01 1.17110132e-01 2.91798005e+01] [-3.55020750e-01 -4.17016372e-01 8.36694456e-01 1.08644312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.40907232899997 meters Centerline goodness : 0.789609 Centerline is valid? [False, False] Translation: X:-142.17, Y:29.16, Z:108.68 [[ 6.91080527e-01 4.86287547e-01 5.34726217e-01 -1.42174286e+02] [-6.29135914e-01 7.68914733e-01 1.13833804e-01 2.91587383e+01] [-3.55802905e-01 -4.15083792e-01 8.37322959e-01 1.08684772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.439072329 meters Centerline goodness : 0.790358 Centerline is valid? [False, False] Translation: X:-142.24, Y:29.13, Z:108.73 [[ 6.91743126e-01 4.87173969e-01 5.33060008e-01 -1.42242635e+02] [-6.29573728e-01 7.68426391e-01 1.14707468e-01 2.91317945e+01] [-3.53734885e-01 -4.14948679e-01 8.38265605e-01 1.08731588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.46907232899997 meters Centerline goodness : 0.787981 Centerline is valid? [False, False] Translation: X:-142.32, Y:29.10, Z:108.78 [[ 6.91126849e-01 4.89353160e-01 5.31861978e-01 -1.42317705e+02] [-6.31710527e-01 7.66536091e-01 1.15603766e-01 2.91021975e+01] [-3.51120334e-01 -4.15879677e-01 8.38903216e-01 1.08782532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.499072329 meters Centerline goodness : 0.787166 Centerline is valid? [False, False] Translation: X:-142.39, Y:29.07, Z:108.83 [[ 6.91356441e-01 4.89323938e-01 5.31590402e-01 -1.42388340e+02] [-6.32719386e-01 7.65267220e-01 1.18457844e-01 2.90735174e+01] [-3.48844450e-01 -4.18244146e-01 8.38677163e-01 1.08831896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.529072329 meters Centerline goodness : 0.784117 Centerline is valid? [False, False] Translation: X:-142.46, Y:29.04, Z:108.89 [[ 6.90225421e-01 4.89165864e-01 5.33203175e-01 -1.42464350e+02] [-6.35024690e-01 7.62753240e-01 1.22274846e-01 2.90416783e+01] [-3.46889768e-01 -4.22994388e-01 8.37104077e-01 1.08886247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55907232899995 meters Centerline goodness : 0.783979 Centerline is valid? [False, False] Translation: X:-142.54, Y:29.01, Z:108.94 [[ 6.90303453e-01 4.89093622e-01 5.33168427e-01 -1.42535138e+02] [-6.35732600e-01 7.61847670e-01 1.24226360e-01 2.90128807e+01] [-3.45434803e-01 -4.24706436e-01 8.36838837e-01 1.08936822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.589072329 meters Centerline goodness : 0.782952 Centerline is valid? [False, False] Translation: X:-142.61, Y:28.98, Z:108.99 [[ 6.90484449e-01 4.89654802e-01 5.32418445e-01 -1.42605289e+02] [-6.36413228e-01 7.61087342e-01 1.25396415e-01 2.89846407e+01] [-3.43815983e-01 -4.25422416e-01 8.37141767e-01 1.08986448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61907232899995 meters Centerline goodness : 0.783136 Centerline is valid? [False, False] Translation: X:-142.68, Y:28.95, Z:109.04 [[ 6.89978845e-01 4.92434903e-01 5.30506419e-01 -1.42681121e+02] [-6.38134095e-01 7.59755059e-01 1.24728211e-01 2.89539304e+01] [-3.41634411e-01 -4.24594060e-01 8.38454419e-01 1.09038146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.649072329 meters Centerline goodness : 0.784394 Centerline is valid? [False, False] Translation: X:-142.75, Y:28.93, Z:109.09 [[ 6.90570234e-01 4.93524174e-01 5.28721705e-01 -1.42750973e+02] [-6.38437904e-01 7.59460042e-01 1.24969946e-01 2.89260585e+01] [-3.39867319e-01 -4.23856502e-01 8.39545038e-01 1.09086225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67907232899995 meters Centerline goodness : 0.786931 Centerline is valid? [False, False] Translation: X:-142.82, Y:28.90, Z:109.14 [[ 6.91117646e-01 4.94526043e-01 5.27067731e-01 -1.42822149e+02] [-6.38793102e-01 7.59091525e-01 1.25393099e-01 2.88965196e+01] [-3.38082495e-01 -4.23348615e-01 8.40521372e-01 1.09135736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.709072329 meters Centerline goodness : 0.787181 Centerline is valid? [False, False] Translation: X:-142.89, Y:28.87, Z:109.19 [[ 6.92069032e-01 4.93916912e-01 5.26390101e-01 -1.42894062e+02] [-6.38529069e-01 7.58990355e-01 1.27335263e-01 2.88667985e+01] [-3.36631970e-01 -4.24240173e-01 8.40654027e-01 1.09187238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.73907232899995 meters Centerline goodness : 0.787651 Centerline is valid? [False, False] Translation: X:-142.97, Y:28.84, Z:109.24 [[ 6.92933468e-01 4.93064877e-01 5.26051552e-01 -1.42965866e+02] [-6.38330200e-01 7.58766874e-01 1.29643308e-01 2.88372579e+01] [-3.35227930e-01 -4.25628780e-01 8.40513163e-01 1.09238480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.769072329 meters Centerline goodness : 0.788895 Centerline is valid? [False, False] Translation: X:-143.04, Y:28.81, Z:109.29 [[ 6.92672997e-01 4.89969059e-01 5.29277281e-01 -1.43035794e+02] [-6.33864236e-01 7.63666224e-01 1.22597022e-01 2.88129084e+01] [-3.44122435e-01 -4.20409586e-01 8.39544835e-01 1.09289034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.79907232899996 meters Centerline goodness : 0.788884 Centerline is valid? [False, False] Translation: X:-143.11, Y:28.79, Z:109.34 [[ 6.96511042e-01 4.86375147e-01 5.27552448e-01 -1.43106330e+02] [-6.28607086e-01 7.68133829e-01 1.21752013e-01 2.87863624e+01] [-3.46013728e-01 -4.16424829e-01 8.40752557e-01 1.09337341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.829072329 meters Centerline goodness : 0.789437 Centerline is valid? [False, False] Translation: X:-143.17, Y:28.76, Z:109.38 [[ 6.97694615e-01 4.86420874e-01 5.25943872e-01 -1.43165179e+02] [-6.24871081e-01 7.72255884e-01 1.14703886e-01 2.87648876e+01] [-3.50368886e-01 -4.08675400e-01 8.42749110e-01 1.09380464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.85907232899996 meters Centerline goodness : 0.790252 Centerline is valid? [False, False] Translation: X:-143.24, Y:28.74, Z:109.43 [[ 7.03111320e-01 4.80933283e-01 5.23772517e-01 -1.43237782e+02] [-6.17265109e-01 7.78480423e-01 1.13806925e-01 2.87383735e+01] [-3.53013112e-01 -4.03325437e-01 8.44221733e-01 1.09429404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.889072329 meters Centerline goodness : 0.791157 Centerline is valid? [False, False] Translation: X:-143.31, Y:28.71, Z:109.48 [[ 7.05322416e-01 4.78256901e-01 5.23250061e-01 -1.43308831e+02] [-6.14424987e-01 7.80584563e-01 1.14759207e-01 2.87118327e+01] [-3.53556537e-01 -4.02440153e-01 8.44416780e-01 1.09478550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.91907232899996 meters Centerline goodness : 0.793113 Centerline is valid? [False, False] Translation: X:-143.38, Y:28.68, Z:109.53 [[ 7.06939330e-01 4.75951017e-01 5.23170540e-01 -1.43381101e+02] [-6.12146346e-01 7.82262171e-01 1.15510808e-01 2.86848989e+01] [-3.54279036e-01 -4.01916067e-01 8.44363571e-01 1.09528829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.949072329 meters Centerline goodness : 0.791759 Centerline is valid? [False, False] Translation: X:-143.45, Y:28.66, Z:109.58 [[ 7.09122462e-01 4.72673087e-01 5.23187812e-01 -1.43453945e+02] [-6.08340217e-01 7.85290816e-01 1.15067432e-01 2.86577485e+01] [-3.56465305e-01 -3.99873088e-01 8.44413406e-01 1.09579196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.97907232899996 meters Centerline goodness : 0.794359 Centerline is valid? [False, False] Translation: X:-143.52, Y:28.63, Z:109.63 [[ 7.10503555e-01 4.72430521e-01 5.21530537e-01 -1.43520087e+02] [-6.06521127e-01 7.86932378e-01 1.13444064e-01 2.86318137e+01] [-3.56814827e-01 -3.96921700e-01 8.45657344e-01 1.09625399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.009072329 meters Centerline goodness : 0.792370 Centerline is valid? [False, False] Translation: X:-143.59, Y:28.60, Z:109.67 [[ 7.12089357e-01 4.72222873e-01 5.19552024e-01 -1.43588530e+02] [-6.04551734e-01 7.88688774e-01 1.11746224e-01 2.86045203e+01] [-3.56995726e-01 -3.93669374e-01 8.47100039e-01 1.09672812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.03907232899996 meters Centerline goodness : 0.797337 Centerline is valid? [False, False] Translation: X:-143.66, Y:28.58, Z:109.72 [[ 7.14322161e-01 4.70970070e-01 5.17620559e-01 -1.43660610e+02] [-6.01357550e-01 7.91398558e-01 1.09806285e-01 2.85753066e+01] [-3.57928690e-01 -3.89712094e-01 8.48534936e-01 1.09722776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.069072329 meters Centerline goodness : 0.797153 Centerline is valid? [False, False] Translation: X:-143.73, Y:28.55, Z:109.77 [[ 7.15705528e-01 4.70260149e-01 5.16353551e-01 -1.43729123e+02] [-5.99949040e-01 7.92459984e-01 1.09855919e-01 2.85477301e+01] [-3.57528666e-01 -3.88410306e-01 8.49300116e-01 1.09770991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.09907232899997 meters Centerline goodness : 0.797519 Centerline is valid? [False, False] Translation: X:-143.80, Y:28.52, Z:109.82 [[ 7.16697390e-01 4.68501558e-01 5.16576366e-01 -1.43802926e+02] [-5.98295092e-01 7.93650023e-01 1.10284290e-01 2.85178780e+01] [-3.58312483e-01 -3.88105567e-01 8.49109082e-01 1.09821547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.129072329 meters Centerline goodness : 0.798008 Centerline is valid? [False, False] Translation: X:-143.87, Y:28.49, Z:109.87 [[ 7.17298963e-01 4.68988287e-01 5.15298151e-01 -1.43873690e+02] [-5.97831414e-01 7.94116644e-01 1.09436544e-01 2.84898126e+01] [-3.57882381e-01 -3.86560142e-01 8.49994975e-01 1.09869457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.15907232899997 meters Centerline goodness : 0.797454 Centerline is valid? [False, False] Translation: X:-143.94, Y:28.46, Z:109.91 [[ 7.17717814e-01 4.70205875e-01 5.13602546e-01 -1.43940783e+02] [-5.98046657e-01 7.94046443e-01 1.08767835e-01 2.84626124e+01] [-3.56681000e-01 -3.85222899e-01 8.51106329e-01 1.09914750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.189072329 meters Centerline goodness : 0.797312 Centerline is valid? [False, False] Translation: X:-144.01, Y:28.43, Z:109.96 [[ 7.17830158e-01 4.71663452e-01 5.12106875e-01 -1.44010760e+02] [-5.98802674e-01 7.93511960e-01 1.08508654e-01 2.84342372e+01] [-3.55183364e-01 -3.84541750e-01 8.52040152e-01 1.09961338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.21907232899997 meters Centerline goodness : 0.795729 Centerline is valid? [False, False] Translation: X:-144.08, Y:28.40, Z:110.01 [[ 7.16982227e-01 4.74129930e-01 5.11015945e-01 -1.44084557e+02] [-6.01307985e-01 7.91507452e-01 1.09291629e-01 2.84024989e+01] [-3.52654496e-01 -3.85638124e-01 8.52594888e-01 1.10009953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.249072329 meters Centerline goodness : 0.795089 Centerline is valid? [False, False] Translation: X:-144.15, Y:28.37, Z:110.06 [[ 7.17194524e-01 4.74968136e-01 5.09938510e-01 -1.44153957e+02] [-6.02212781e-01 7.90644605e-01 1.10548064e-01 2.83734275e+01] [-3.50673325e-01 -3.86375954e-01 8.53077864e-01 1.10056873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.279072329 meters Centerline goodness : 0.793311 Centerline is valid? [False, False] Translation: X:-144.22, Y:28.34, Z:110.10 [[ 7.17268955e-01 4.75795185e-01 5.09062067e-01 -1.44223291e+02] [-6.03145768e-01 7.89775441e-01 1.11668863e-01 2.83442478e+01] [-3.48913211e-01 -3.87135240e-01 8.53455258e-01 1.10103946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.30907232899995 meters Centerline goodness : 0.793134 Centerline is valid? [False, False] Translation: X:-144.30, Y:28.31, Z:110.15 [[ 7.16371914e-01 4.77660654e-01 5.08577999e-01 -1.44298917e+02] [-6.05685216e-01 7.87573753e-01 1.13459259e-01 2.83107236e+01] [-3.46347659e-01 -3.89317201e-01 8.53507713e-01 1.10153924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.339072329 meters Centerline goodness : 0.793157 Centerline is valid? [False, False] Translation: X:-144.37, Y:28.28, Z:110.20 [[ 7.18435149e-01 4.76865826e-01 5.06408848e-01 -1.44368860e+02] [-6.03463422e-01 7.89371315e-01 1.12804368e-01 2.82824945e+01] [-3.45952070e-01 -3.86641839e-01 8.54883181e-01 1.10201285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.36907232899995 meters Centerline goodness : 0.792030 Centerline is valid? [False, False] Translation: X:-144.44, Y:28.26, Z:110.25 [[ 7.20642392e-01 4.75305400e-01 5.04736882e-01 -1.44439349e+02] [-6.00405072e-01 7.91880893e-01 1.11527580e-01 2.82558685e+01] [-3.46681832e-01 -3.83418086e-01 8.56038714e-01 1.10248168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.399072329 meters Centerline goodness : 0.791060 Centerline is valid? [False, False] Translation: X:-144.51, Y:28.23, Z:110.30 [[ 7.22000301e-01 4.73990397e-01 5.04032409e-01 -1.44514929e+02] [-5.97822649e-01 7.94103821e-01 1.09577373e-01 2.82269798e+01] [-3.48315439e-01 -3.80436887e-01 8.56705393e-01 1.10297806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.42907232899995 meters Centerline goodness : 0.791930 Centerline is valid? [False, False] Translation: X:-144.59, Y:28.20, Z:110.35 [[ 7.22317209e-01 4.74265783e-01 5.03318803e-01 -1.44587742e+02] [-5.97923959e-01 7.93977549e-01 1.09939030e-01 2.81989526e+01] [-3.47483509e-01 -3.80357225e-01 8.57078522e-01 1.10345883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.459072329 meters Centerline goodness : 0.790806 Centerline is valid? [False, False] Translation: X:-144.66, Y:28.17, Z:110.39 [[ 7.21967882e-01 4.75613544e-01 5.02547644e-01 -1.44660890e+02] [-5.99091779e-01 7.93075182e-01 1.10094486e-01 2.81710961e+01] [-3.46195636e-01 -3.80556845e-01 8.57510973e-01 1.10393861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.48907232899995 meters Centerline goodness : 0.786692 Centerline is valid? [False, False] Translation: X:-144.74, Y:28.14, Z:110.44 [[ 7.19558308e-01 4.79457678e-01 5.02350651e-01 -1.44737978e+02] [-6.03446799e-01 7.89686421e-01 1.10667599e-01 2.81419884e+01] [-3.43639058e-01 -3.82773682e-01 8.57552626e-01 1.10442175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.519072329 meters Centerline goodness : 0.786324 Centerline is valid? [False, False] Translation: X:-144.81, Y:28.11, Z:110.49 [[ 7.19147903e-01 4.81326703e-01 5.01149577e-01 -1.44810410e+02] [-6.05350364e-01 7.88071744e-01 1.11775951e-01 2.81125429e+01] [-3.41141071e-01 -3.83754520e-01 8.58111437e-01 1.10489570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.54907232899996 meters Centerline goodness : 0.783739 Centerline is valid? [False, False] Translation: X:-144.89, Y:28.08, Z:110.54 [[ 7.21724225e-01 4.77820178e-01 5.00801379e-01 -1.44889424e+02] [-6.00629978e-01 7.91922795e-01 1.10008712e-01 2.80820207e+01] [-3.44031646e-01 -3.80192274e-01 8.58542988e-01 1.10541506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.579072329 meters Centerline goodness : 0.783587 Centerline is valid? [False, False] Translation: X:-144.96, Y:28.05, Z:110.59 [[ 7.23256817e-01 4.76430876e-01 4.99913190e-01 -1.44962490e+02] [-5.98268245e-01 7.93848445e-01 1.08994277e-01 2.80539321e+01] [-3.44927069e-01 -3.77913041e-01 8.59189764e-01 1.10589772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.60907232899996 meters Centerline goodness : 0.784719 Centerline is valid? [False, False] Translation: X:-145.04, Y:28.03, Z:110.64 [[ 7.23833198e-01 4.76528065e-01 4.98985476e-01 -1.45035350e+02] [-5.97855878e-01 7.94183622e-01 1.08815087e-01 2.80255689e+01] [-3.44432650e-01 -3.77085372e-01 8.59751576e-01 1.10637969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.639072329 meters Centerline goodness : 0.782549 Centerline is valid? [False, False] Translation: X:-145.11, Y:28.00, Z:110.69 [[ 7.21588985e-01 4.79874872e-01 4.99028500e-01 -1.45113120e+02] [-6.01849618e-01 7.91056840e-01 1.09572410e-01 2.79969329e+01] [-3.42178862e-01 -3.79406356e-01 8.59630411e-01 1.10687172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.66907232899996 meters Centerline goodness : 0.780659 Centerline is valid? [False, False] Translation: X:-145.19, Y:27.97, Z:110.74 [[ 7.20023686e-01 4.82884572e-01 4.98385776e-01 -1.45189304e+02] [-6.05309538e-01 7.88245249e-01 1.10769082e-01 2.79679176e+01] [-3.39361540e-01 -3.81434026e-01 8.59849887e-01 1.10735449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.699072329 meters Centerline goodness : 0.781336 Centerline is valid? [False, False] Translation: X:-145.27, Y:27.94, Z:110.78 [[ 7.17870404e-01 4.86368217e-01 4.98104448e-01 -1.45267404e+02] [-6.09396377e-01 7.84941233e-01 1.11818226e-01 2.79383531e+01] [-3.36597889e-01 -3.83814041e-01 8.59877109e-01 1.10784029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.72907232899996 meters Centerline goodness : 0.780879 Centerline is valid? [False, False] Translation: X:-145.34, Y:27.91, Z:110.83 [[ 7.17640130e-01 4.87869073e-01 4.96967214e-01 -1.45341226e+02] [-6.11094527e-01 7.83393633e-01 1.13392653e-01 2.79087751e+01] [-3.34000183e-01 -3.85069063e-01 8.60328829e-01 1.10830649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.759072329 meters Centerline goodness : 0.779065 Centerline is valid? [False, False] Translation: X:-145.42, Y:27.88, Z:110.88 [[ 7.19090147e-01 4.87563262e-01 4.95168078e-01 -1.45415403e+02] [-6.09618106e-01 7.84642261e-01 1.12704423e-01 2.78817804e+01] [-3.33579265e-01 -3.82908066e-01 8.61455911e-01 1.10877519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.78907232899996 meters Centerline goodness : 0.773650 Centerline is valid? [False, False] Translation: X:-145.49, Y:27.85, Z:110.93 [[ 7.16744990e-01 4.91669937e-01 4.94507121e-01 -1.45493034e+02] [-6.13245025e-01 7.82008752e-01 1.11323181e-01 2.78518977e+01] [-3.31974635e-01 -3.83044364e-01 8.62014998e-01 1.10927011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.819072329 meters Centerline goodness : 0.774111 Centerline is valid? [False, False] Translation: X:-145.57, Y:27.82, Z:110.98 [[ 7.15349385e-01 4.93735212e-01 4.94470219e-01 -1.45569314e+02] [-6.16323867e-01 7.79266721e-01 1.13526512e-01 2.78213627e+01] [-3.29272150e-01 -3.85964918e-01 8.61748765e-01 1.10976161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.84907232899997 meters Centerline goodness : 0.779980 Centerline is valid? [False, False] Translation: X:-145.65, Y:27.79, Z:111.03 [[ 7.12229164e-01 4.96756130e-01 4.95946535e-01 -1.45649606e+02] [-6.21618467e-01 7.74549212e-01 1.16893108e-01 2.77909860e+01] [-3.26067630e-01 -3.91544206e-01 8.60449322e-01 1.11027839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.879072329 meters Centerline goodness : 0.779389 Centerline is valid? [False, False] Translation: X:-145.73, Y:27.76, Z:111.08 [[ 7.13053004e-01 4.96401880e-01 4.95116741e-01 -1.45726040e+02] [-6.21192786e-01 7.74742563e-01 1.17870621e-01 2.77611872e+01] [-3.25076815e-01 -3.91610948e-01 8.60793779e-01 1.11076295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.90907232899997 meters Centerline goodness : 0.779607 Centerline is valid? [False, False] Translation: X:-145.80, Y:27.73, Z:111.12 [[ 7.14332033e-01 4.96163549e-01 4.93509350e-01 -1.45798389e+02] [-6.20299714e-01 7.75393732e-01 1.18291274e-01 2.77342036e+01] [-3.23972239e-01 -3.90622955e-01 8.61658689e-01 1.11121870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.939072329 meters Centerline goodness : 0.777963 Centerline is valid? [False, False] Translation: X:-145.88, Y:27.71, Z:111.17 [[ 7.11613615e-01 5.00534286e-01 4.93022811e-01 -1.45878878e+02] [-6.24726992e-01 7.71862075e-01 1.18089467e-01 2.77053013e+01] [-3.21437783e-01 -3.92038730e-01 8.61964840e-01 1.11171168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.96907232899997 meters Centerline goodness : 0.779799 Centerline is valid? [False, False] Translation: X:-145.96, Y:27.68, Z:111.22 [[ 7.10316236e-01 5.02622878e-01 4.92768797e-01 -1.45956050e+02] [-6.27617523e-01 7.69199815e-01 1.20116150e-01 2.76752916e+01] [-3.18664543e-01 -3.94590783e-01 8.61830043e-01 1.11220211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.999072329 meters Centerline goodness : 0.776991 Centerline is valid? [False, False] Translation: X:-146.04, Y:27.65, Z:111.27 [[ 7.05122719e-01 5.08374205e-01 4.94325417e-01 -1.46037538e+02] [-6.35977434e-01 7.61708945e-01 1.23823206e-01 2.76454867e+01] [-3.13583568e-01 -4.01690366e-01 8.60412805e-01 1.11271804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.029072329 meters Centerline goodness : 0.779233 Centerline is valid? [False, False] Translation: X:-146.11, Y:27.61, Z:111.32 [[ 7.03290172e-01 5.10911532e-01 4.94320079e-01 -1.46114825e+02] [-6.39646445e-01 7.58205789e-01 1.26397813e-01 2.76144956e+01] [-3.10218245e-01 -4.05084421e-01 8.60041425e-01 1.11320984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05907232899995 meters Centerline goodness : 0.779897 Centerline is valid? [False, False] Translation: X:-146.19, Y:27.58, Z:111.37 [[ 7.03125271e-01 5.11995128e-01 4.93432713e-01 -1.46190027e+02] [-6.41099293e-01 7.56632340e-01 1.28449209e-01 2.75828412e+01] [-3.07581779e-01 -4.06655248e-01 8.60247033e-01 1.11369139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.089072329 meters Centerline goodness : 0.782341 Centerline is valid? [False, False] Translation: X:-146.26, Y:27.56, Z:111.41 [[ 7.01473924e-01 5.14661486e-01 4.93009015e-01 -1.46255575e+02] [-6.41747078e-01 7.57013998e-01 1.22843375e-01 2.75583822e+01] [-3.09991971e-01 -4.02558519e-01 8.61308084e-01 1.11413789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11907232899995 meters Centerline goodness : 0.788192 Centerline is valid? [False, False] Translation: X:-146.33, Y:27.53, Z:111.46 [[ 6.99449473e-01 5.17812921e-01 4.92585235e-01 -1.46331776e+02] [-6.45208677e-01 7.53939628e-01 1.23615536e-01 2.75298392e+01] [-3.07369807e-01 -4.04283090e-01 8.61440065e-01 1.11462591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.149072329 meters Centerline goodness : 0.787879 Centerline is valid? [False, False] Translation: X:-146.41, Y:27.50, Z:111.52 [[ 6.99446406e-01 5.18935909e-01 4.91406397e-01 -1.46412584e+02] [-6.47375101e-01 7.51344956e-01 1.28008733e-01 2.74964221e+01] [-3.02787389e-01 -4.07659514e-01 8.61471716e-01 1.11515362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17907232899995 meters Centerline goodness : 0.787623 Centerline is valid? [False, False] Translation: X:-146.49, Y:27.46, Z:111.57 [[ 6.99454391e-01 5.19931908e-01 4.90341071e-01 -1.46494346e+02] [-6.49629129e-01 7.48532842e-01 1.32968341e-01 2.74629410e+01] [-2.97901912e-01 -4.11545133e-01 8.61327496e-01 1.11568769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.209072329 meters Centerline goodness : 0.788161 Centerline is valid? [False, False] Translation: X:-146.59, Y:27.42, Z:111.63 [[ 6.99182241e-01 5.22333909e-01 4.88171571e-01 -1.46585424e+02] [-6.54349135e-01 7.42626558e-01 1.42593846e-01 2.74249619e+01] [-2.88047572e-01 -4.19133730e-01 8.61020042e-01 1.11626023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.23907232899995 meters Centerline goodness : 0.788161 Centerline is valid? [False, False] Translation: X:-146.65, Y:27.40, Z:111.67 [[ 6.97335988e-01 5.23516728e-01 4.89543415e-01 -1.46654582e+02] [-6.54720928e-01 7.43193331e-01 1.37855648e-01 2.73983104e+01] [-2.91655663e-01 -4.16646024e-01 8.61012813e-01 1.11672077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.269072329 meters Centerline goodness : 0.786262 Centerline is valid? [False, False] Translation: X:-146.71, Y:27.37, Z:111.71 [[ 6.94628790e-01 5.27164458e-01 4.89477761e-01 -1.46714571e+02] [-6.57779205e-01 7.40922539e-01 1.35500221e-01 2.73742751e+01] [-2.91234204e-01 -4.16090647e-01 8.61423944e-01 1.11711697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.29907232899996 meters Centerline goodness : 0.787239 Centerline is valid? [False, False] Translation: X:-146.80, Y:27.34, Z:111.77 [[ 6.93490475e-01 5.30071748e-01 4.87949693e-01 -1.46801293e+02] [-6.61263156e-01 7.37161009e-01 1.39013257e-01 2.73358316e+01] [-2.86010488e-01 -4.19067523e-01 8.61731055e-01 1.11768459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.329072329 meters Centerline goodness : 0.788454 Centerline is valid? [False, False] Translation: X:-146.88, Y:27.30, Z:111.82 [[ 6.94415510e-01 5.30011664e-01 4.86697788e-01 -1.46884490e+02] [-6.61980737e-01 7.35684915e-01 1.43349954e-01 2.72986548e+01] [-2.82079073e-01 -4.21728991e-01 8.61728527e-01 1.11823097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.35907232899996 meters Centerline goodness : 0.788957 Centerline is valid? [False, False] Translation: X:-146.97, Y:27.26, Z:111.88 [[ 0.69568032 0.52987095 0.48504193 -146.96548976] [ -0.66252697 0.73424343 0.14813712 27.26161716] [ -0.2776453 -0.42440944 0.86185249 111.87670337] [ 0. 0. 0. 1. ]] SLAMing on 260.389072329 meters Centerline goodness : 0.790340 Centerline is valid? [False, False] Translation: X:-147.03, Y:27.24, Z:111.92 [[ 6.94082663e-01 5.32230940e-01 4.84746824e-01 -1.47025377e+02] [-6.64138275e-01 7.33239209e-01 1.45878767e-01 2.72358202e+01] [-2.77794185e-01 -4.23190843e-01 8.62403561e-01 1.11916925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.41907232899996 meters Centerline goodness : 0.790362 Centerline is valid? [False, False] Translation: X:-147.11, Y:27.20, Z:111.97 [[ 0.69636275 0.53132278 0.48246764 -147.10827367] [ -0.66329923 0.73317907 0.14994194 27.19534502] [ -0.27406761 -0.4244344 0.86298458 111.97151966] [ 0. 0. 0. 1. ]] SLAMing on 260.449072329 meters Centerline goodness : 0.788145 Centerline is valid? [False, False] Translation: X:-147.18, Y:27.17, Z:112.02 [[ 6.97150005e-01 5.30260940e-01 4.82498919e-01 -1.47176709e+02] [-6.60066839e-01 7.37410967e-01 1.43306782e-01 2.71677091e+01] [-2.79810006e-01 -4.18387860e-01 8.64093721e-01 1.12016478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.47907232899996 meters Centerline goodness : 0.789422 Centerline is valid? [False, False] Translation: X:-147.24, Y:27.14, Z:112.06 [[ 6.97790405e-01 5.29460062e-01 4.82452686e-01 -1.47241990e+02] [-6.57161243e-01 7.41179848e-01 1.37082213e-01 2.71423454e+01] [-2.85004651e-01 -4.12703860e-01 8.65128819e-01 1.12059253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.509072329 meters Centerline goodness : 0.790241 Centerline is valid? [False, False] Translation: X:-147.32, Y:27.11, Z:112.11 [[ 7.01722225e-01 5.27580230e-01 4.78795383e-01 -1.47320920e+02] [-6.54046792e-01 7.43518591e-01 1.39294287e-01 2.71070399e+01] [-2.82504357e-01 -4.10900482e-01 8.66805678e-01 1.12110214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.53907232899996 meters Centerline goodness : 0.788762 Centerline is valid? [False, False] Translation: X:-147.39, Y:27.08, Z:112.16 [[ 7.03292476e-01 5.27451096e-01 4.76628822e-01 -1.47391584e+02] [-6.53561631e-01 7.43515068e-01 1.41571672e-01 2.70757594e+01] [-2.79708578e-01 -4.11072602e-01 8.67630352e-01 1.12156736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.569072329 meters Centerline goodness : 0.788708 Centerline is valid? [False, False] Translation: X:-147.46, Y:27.05, Z:112.20 [[ 7.02098551e-01 5.28517202e-01 4.77207703e-01 -1.47458369e+02] [-6.53997620e-01 7.43703376e-01 1.38536645e-01 2.70473712e+01] [-2.81681980e-01 -4.09359080e-01 8.67802055e-01 1.12201578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.59907232899997 meters Centerline goodness : 0.790431 Centerline is valid? [False, False] Translation: X:-147.53, Y:27.02, Z:112.25 [[ 7.03050090e-01 5.26974062e-01 4.77513255e-01 -1.47527100e+02] [-6.50544707e-01 7.47814365e-01 1.32533999e-01 2.70198129e+01] [-2.87249292e-01 -4.03821760e-01 8.68571143e-01 1.12247340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.629072329 meters Centerline goodness : 0.791235 Centerline is valid? [False, False] Translation: X:-147.60, Y:26.99, Z:112.29 [[ 7.04436987e-01 5.26265477e-01 4.76249073e-01 -1.47597503e+02] [-6.50149674e-01 7.47622636e-01 1.35520462e-01 2.69881903e+01] [-2.84734847e-01 -4.05098805e-01 8.68804365e-01 1.12293809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.65907232899997 meters Centerline goodness : 0.790704 Centerline is valid? [False, False] Translation: X:-147.66, Y:26.96, Z:112.34 [[ 7.01744755e-01 5.30180943e-01 4.75880727e-01 -1.47661913e+02] [-6.53591305e-01 7.44910096e-01 1.33893072e-01 2.69605949e+01] [-2.83500803e-01 -4.04990267e-01 8.69258407e-01 1.12336750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.689072329 meters Centerline goodness : 0.790462 Centerline is valid? [False, False] Translation: X:-147.73, Y:26.93, Z:112.38 [[ 7.02501437e-01 5.30717703e-01 4.74162895e-01 -1.47733637e+02] [-6.54948796e-01 7.42785425e-01 1.38967213e-01 2.69277123e+01] [-2.78448928e-01 -4.08177084e-01 8.69400749e-01 1.12382821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71907232899997 meters Centerline goodness : 0.787877 Centerline is valid? [False, False] Translation: X:-147.80, Y:26.90, Z:112.42 [[ 7.01721877e-01 5.32309149e-01 4.73532869e-01 -1.47796303e+02] [-6.55442070e-01 7.42857922e-01 1.36227018e-01 2.69015839e+01] [-2.79252755e-01 -4.05966843e-01 8.70177466e-01 1.12424733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.749072329 meters Centerline goodness : 0.789295 Centerline is valid? [False, False] Translation: X:-147.86, Y:26.88, Z:112.47 [[ 6.99467544e-01 5.35144321e-01 4.73672578e-01 -1.47858810e+02] [-6.58418362e-01 7.40275062e-01 1.35934150e-01 2.68763853e+01] [-2.77903608e-01 -4.06956249e-01 8.70147227e-01 1.12466739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.779072329 meters Centerline goodness : 0.788459 Centerline is valid? [False, False] Translation: X:-147.94, Y:26.84, Z:112.52 [[ 6.99989853e-01 5.35914383e-01 4.72027521e-01 -1.47941224e+02] [-6.60224094e-01 7.37589122e-01 1.41656036e-01 2.68392272e+01] [-2.72246857e-01 -4.10801730e-01 8.70128489e-01 1.12520299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.80907232899995 meters Centerline goodness : 0.790961 Centerline is valid? [False, False] Translation: X:-148.02, Y:26.81, Z:112.57 [[ 7.00809258e-01 5.36302920e-01 4.70367476e-01 -1.48016337e+02] [-6.61434153e-01 7.35473920e-01 1.46911449e-01 2.68053009e+01] [-2.67153972e-01 -4.14074017e-01 8.70156000e-01 1.12568907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.839072329 meters Centerline goodness : 0.785942 Centerline is valid? [False, False] Translation: X:-148.08, Y:26.78, Z:112.61 [[ 6.99759399e-01 5.37890942e-01 4.70117132e-01 -1.48083387e+02] [-6.62137180e-01 7.35381870e-01 1.44179958e-01 2.67784807e+01] [-2.68162522e-01 -4.12173313e-01 8.70747967e-01 1.12614369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.86907232899995 meters Centerline goodness : 0.783166 Centerline is valid? [False, False] Translation: X:-148.16, Y:26.74, Z:112.67 [[ 0.70132514 0.53767853 0.46802227 -148.16424741] [ -0.66235874 0.73420993 0.14905258 26.7423904 ] [ -0.26348423 -0.41453296 0.87105596 112.66750195] [ 0. 0. 0. 1. ]] SLAMing on 260.899072329 meters Centerline goodness : 0.782569 Centerline is valid? [False, False] Translation: X:-148.24, Y:26.71, Z:112.72 [[ 0.70325061 0.53688643 0.46603814 -148.2446107 ] [ -0.6622068 0.73319727 0.15460895 26.70547563] [ -0.25869044 -0.41734246 0.87115127 112.72072169] [ 0. 0. 0. 1. ]] SLAMing on 260.92907232899995 meters Centerline goodness : 0.780536 Centerline is valid? [False, False] Translation: X:-148.33, Y:26.67, Z:112.78 [[ 0.70297718 0.53917236 0.46380627 -148.33045374] [ -0.66517113 0.72925355 0.16042638 26.66621204] [ -0.2517349 -0.42128662 0.87129049 112.77705648] [ 0. 0. 0. 1. ]] SLAMing on 260.959072329 meters Centerline goodness : 0.780287 Centerline is valid? [False, False] Translation: X:-148.41, Y:26.63, Z:112.83 [[ 0.70451082 0.5378275 0.46304005 -148.41425477] [ -0.66513551 0.72792223 0.1665052 26.62830854] [ -0.24750607 -0.42528909 0.87055725 112.83322507] [ 0. 0. 0. 1. ]] SLAMing on 260.98907232899995 meters Centerline goodness : 0.784560 Centerline is valid? [False, False] Translation: X:-148.51, Y:26.59, Z:112.89 [[ 0.70453787 0.53641889 0.46463014 -148.50537232] [ -0.66629902 0.72536278 0.1729001 26.5874261 ] [ -0.24427853 -0.43139728 0.86846093 112.89474342] [ 0. 0. 0. 1. ]] SLAMing on 261.019072329 meters Centerline goodness : 0.785972 Centerline is valid? [False, False] Translation: X:-148.58, Y:26.56, Z:112.94 [[ 0.70162817 0.53884118 0.46622752 -148.57786207] [ -0.66823596 0.72472441 0.16803344 26.55787629] [ -0.24734312 -0.42944699 0.86856011 112.94358406] [ 0. 0. 0. 1. ]] SLAMing on 261.04907232899996 meters Centerline goodness : 0.783540 Centerline is valid? [False, False] Translation: X:-148.66, Y:26.52, Z:113.00 [[ 0.70313153 0.53899747 0.46377557 -148.66307653] [ -0.66824543 0.7238008 0.17193149 26.51924694] [ -0.24301049 -0.43080636 0.86910976 112.99984324] [ 0. 0. 0. 1. ]] SLAMing on 261.079072329 meters Centerline goodness : 0.778168 Centerline is valid? [False, False] Translation: X:-148.75, Y:26.48, Z:113.05 [[ 0.70444482 0.53971702 0.46093713 -148.74602687] [ -0.66868126 0.72240268 0.17606744 26.48206961] [ -0.23795562 -0.43224982 0.86979148 113.05435628] [ 0. 0. 0. 1. ]] SLAMing on 261.10907232899996 meters Centerline goodness : 0.773693 Centerline is valid? [False, False] Translation: X:-148.83, Y:26.44, Z:113.11 [[ 0.70536998 0.54031311 0.45881906 -148.83273648] [ -0.66935841 0.72072921 0.18030177 26.44370171] [ -0.23326489 -0.43429385 0.87004387 113.11140755] [ 0. 0. 0. 1. ]] SLAMing on 261.139072329 meters Centerline goodness : 0.772744 Centerline is valid? [False, False] Translation: X:-148.92, Y:26.40, Z:113.17 [[ 0.7043107 0.5425076 0.45785581 -148.92167852] [ -0.67219718 0.71703525 0.1844218 26.40472964] [ -0.22824853 -0.43765963 0.86968768 113.17066229] [ 0. 0. 0. 1. ]] SLAMing on 261.16907232899996 meters Centerline goodness : 0.775366 Centerline is valid? [False, False] Translation: X:-149.01, Y:26.36, Z:113.23 [[ 0.70492771 0.54142436 0.45818837 -149.01182412] [ -0.67253838 0.71544394 0.18929368 26.36370793] [ -0.22531988 -0.44158763 0.86846492 113.23166852] [ 0. 0. 0. 1. ]] SLAMing on 261.199072329 meters Centerline goodness : 0.776258 Centerline is valid? [False, False] Translation: X:-149.10, Y:26.32, Z:113.29 [[ 0.70477033 0.54224974 0.45745382 -149.0999994 ] [ -0.67392502 0.71317046 0.19290661 26.32318782] [ -0.22163899 -0.44424443 0.86805705 113.29059272] [ 0. 0. 0. 1. ]] SLAMing on 261.22907232899996 meters Centerline goodness : 0.775197 Centerline is valid? [False, False] Translation: X:-149.19, Y:26.28, Z:113.35 [[ 0.70660062 0.54158562 0.45541253 -149.18660927] [ -0.67305423 0.71307014 0.19628798 26.28281953] [ -0.21843433 -0.44521454 0.8683723 113.34949578] [ 0. 0. 0. 1. ]] SLAMing on 261.259072329 meters Centerline goodness : 0.774351 Centerline is valid? [False, False] Translation: X:-149.27, Y:26.24, Z:113.41 [[ 0.70830818 0.54015925 0.45445298 -149.27438744] [ -0.67171407 0.7136768 0.19865958 26.2428882 ] [ -0.21702474 -0.44597467 0.86833568 113.4089321 ] [ 0. 0. 0. 1. ]] SLAMing on 261.28907232899996 meters Centerline goodness : 0.769875 Centerline is valid? [False, False] Translation: X:-149.36, Y:26.20, Z:113.47 [[ 0.71139905 0.53784655 0.45236321 -149.36081648] [ -0.66843738 0.71660046 0.19918647 26.20194501] [ -0.21703193 -0.44407754 0.86930563 113.46785597] [ 0. 0. 0. 1. ]] SLAMing on 261.319072329 meters Centerline goodness : 0.764165 Centerline is valid? [False, False] Translation: X:-149.45, Y:26.16, Z:113.53 [[ 0.71431729 0.53638528 0.44949042 -149.44750934] [ -0.6656454 0.71902474 0.19979899 26.16089673] [ -0.21602549 -0.4419211 0.8706542 113.52646501] [ 0. 0. 0. 1. ]] SLAMing on 261.34907232899997 meters Centerline goodness : 0.767490 Centerline is valid? [False, False] Translation: X:-149.53, Y:26.12, Z:113.58 [[ 0.71771067 0.53462381 0.44617124 -149.52975363] [ -0.66240987 0.72175315 0.20071264 26.12221032] [ -0.21471975 -0.43960183 0.87215002 113.58258245] [ 0. 0. 0. 1. ]] SLAMing on 261.379072329 meters Centerline goodness : 0.765977 Centerline is valid? [False, False] Translation: X:-149.62, Y:26.08, Z:113.64 [[ 0.72013394 0.53053155 0.4471503 -149.61843245] [ -0.65866467 0.72530953 0.20021722 26.08396877] [ -0.21810082 -0.43870532 0.8717624 113.64483694] [ 0. 0. 0. 1. ]] SLAMing on 261.40907232899997 meters Centerline goodness : 0.775025 Centerline is valid? [False, False] Translation: X:-149.71, Y:26.05, Z:113.71 [[ 0.71866537 0.52799685 0.4524814 -149.70647873] [ -0.65818621 0.72642867 0.19771772 26.04616315] [ -0.22430113 -0.4399099 0.86957937 113.70731186] [ 0. 0. 0. 1. ]] SLAMing on 261.439072329 meters Centerline goodness : 0.772305 Centerline is valid? [False, False] Translation: X:-149.79, Y:26.01, Z:113.77 [[ 0.71737755 0.52558616 0.45730585 -149.79290857] [ -0.65758667 0.72762756 0.19528929 26.0083666 ] [ -0.23010699 -0.44081438 0.86760213 113.7689238 ] [ 0. 0. 0. 1. ]] SLAMing on 261.46907232899997 meters Centerline goodness : 0.771444 Centerline is valid? [False, False] Translation: X:-149.88, Y:25.97, Z:113.83 [[ 0.7173014 0.52366083 0.45962815 -149.87627889] [ -0.65582843 0.7301992 0.19156776 25.97098091] [ -0.23530358 -0.43884903 0.86720456 113.82805397] [ 0. 0. 0. 1. ]] SLAMing on 261.499072329 meters Centerline goodness : 0.778736 Centerline is valid? [False, False] Translation: X:-149.96, Y:25.93, Z:113.89 [[ 0.71968935 0.52231817 0.45741772 -149.95994136] [ -0.65358626 0.73195489 0.19252802 25.93147059] [ -0.23424825 -0.4375223 0.86816012 113.88502331] [ 0. 0. 0. 1. ]] SLAMing on 261.529072329 meters Centerline goodness : 0.769809 Centerline is valid? [False, False] Translation: X:-150.04, Y:25.89, Z:113.94 [[ 0.72383147 0.5198769 0.45364746 -150.04094751] [ -0.64942405 0.73541368 0.19342991 25.89340617] [ -0.23305881 -0.43462022 0.86993612 113.94026911] [ 0. 0. 0. 1. ]] SLAMing on 261.55907232899995 meters Centerline goodness : 0.759431 Centerline is valid? [False, False] Translation: X:-150.13, Y:25.85, Z:114.00 [[ 0.7260127 0.5166456 0.45385337 -150.12525709] [ -0.64648836 0.73775807 0.19433434 25.85423794] [ -0.234432 -0.43450012 0.86962709 113.99883847] [ 0. 0. 0. 1. ]] SLAMing on 261.589072329 meters Centerline goodness : 0.761005 Centerline is valid? [False, False] Translation: X:-150.21, Y:25.82, Z:114.06 [[ 0.72582767 0.514381 0.45671258 -150.20676594] [ -0.64455216 0.74048063 0.19037056 25.81708764] [ -0.24026382 -0.43255129 0.86900672 114.05674002] [ 0. 0. 0. 1. ]] SLAMing on 261.61907232899995 meters Centerline goodness : 0.774217 Centerline is valid? [False, False] Translation: X:-150.29, Y:25.78, Z:114.11 [[ 0.72639793 0.51060217 0.46003421 -150.28780088] [ -0.64131792 0.74423939 0.18659865 25.7790474 ] [ -0.2470979 -0.43057305 0.86807227 114.11398013] [ 0. 0. 0. 1. ]] SLAMing on 261.649072329 meters Centerline goodness : 0.763434 Centerline is valid? [False, False] Translation: X:-150.37, Y:25.74, Z:114.17 [[ 0.72896985 0.50815223 0.45867666 -150.36774939] [ -0.63862717 0.74610131 0.18838306 25.74202877] [ -0.24649198 -0.43024895 0.86840517 114.16896803] [ 0. 0. 0. 1. ]] SLAMing on 261.67907232899995 meters Centerline goodness : 0.769655 Centerline is valid? [False, False] Translation: X:-150.43, Y:25.72, Z:114.21 [[ 0.72440124 0.51286037 0.46067026 -150.42713225] [ -0.64069309 0.74752339 0.17527449 25.71907729] [ -0.25447045 -0.42211731 0.87009296 114.21290154] [ 0. 0. 0. 1. ]] SLAMing on 261.709072329 meters Centerline goodness : 0.768610 Centerline is valid? [False, False] Translation: X:-150.51, Y:25.68, Z:114.27 [[ 0.72831012 0.50857227 0.45925875 -150.50740093] [ -0.63636214 0.75057223 0.17800154 25.68115586] [ -0.25418022 -0.42189521 0.8702855 114.26914891] [ 0. 0. 0. 1. ]] SLAMing on 261.73907232899995 meters Centerline goodness : 0.763520 Centerline is valid? [False, False] Translation: X:-150.59, Y:25.64, Z:114.33 [[ 0.73006885 0.50523861 0.460145 -150.58843439] [ -0.6338431 0.75231706 0.17961617 25.64461962] [ -0.25542591 -0.4227919 0.86948526 114.32520069] [ 0. 0. 0. 1. ]] SLAMing on 261.769072329 meters Centerline goodness : 0.772884 Centerline is valid? [False, False] Translation: X:-150.67, Y:25.61, Z:114.38 [[ 0.73037931 0.50411482 0.46088427 -150.67081877] [ -0.63321938 0.7527093 0.18017194 25.60624825] [ -0.25608453 -0.4234347 0.86897858 114.38231836] [ 0. 0. 0. 1. ]] SLAMing on 261.79907232899996 meters Centerline goodness : 0.772802 Centerline is valid? [False, False] Translation: X:-150.75, Y:25.57, Z:114.43 [[ 0.73177063 0.50453116 0.45821398 -150.74621029] [ -0.63327826 0.75185694 0.18349328 25.57000582] [ -0.25193328 -0.42445194 0.86969545 114.43423121] [ 0. 0. 0. 1. ]] SLAMing on 261.829072329 meters Centerline goodness : 0.770165 Centerline is valid? [False, False] Translation: X:-150.82, Y:25.53, Z:114.49 [[ 0.73316911 0.50440407 0.45611358 -150.82351482] [ -0.63303168 0.75126233 0.18675063 25.53331822] [ -0.24846317 -0.42565414 0.87010609 114.48794779] [ 0. 0. 0. 1. ]] SLAMing on 261.85907232899996 meters Centerline goodness : 0.769889 Centerline is valid? [False, False] Translation: X:-150.90, Y:25.50, Z:114.54 [[ 0.73028667 0.50713922 0.45770209 -150.89801744] [ -0.6356936 0.74982156 0.18347009 25.49990306] [ -0.25015001 -0.42494405 0.86996984 114.54061618] [ 0. 0. 0. 1. ]] SLAMing on 261.889072329 meters Centerline goodness : 0.758450 Centerline is valid? [False, False] Translation: X:-150.98, Y:25.46, Z:114.60 [[ 0.72528184 0.51064185 0.46174792 -150.97614713] [ -0.64135586 0.74496455 0.18354967 25.46297106] [ -0.25025769 -0.42926998 0.86781241 114.59732978] [ 0. 0. 0. 1. ]] SLAMing on 261.91907232899996 meters Centerline goodness : 0.772518 Centerline is valid? [False, False] Translation: X:-151.06, Y:25.42, Z:114.65 [[ 0.72590021 0.51007233 0.46140558 -151.05761117] [ -0.64162762 0.74383657 0.18713942 25.4229924 ] [ -0.2477557 -0.43189511 0.86722761 114.65409781] [ 0. 0. 0. 1. ]] SLAMing on 261.949072329 meters Centerline goodness : 0.772227 Centerline is valid? [False, False] Translation: X:-151.12, Y:25.40, Z:114.70 [[ 0.72063926 0.51485946 0.46432617 -151.11821938] [ -0.64448714 0.74434279 0.17490036 25.39867333] [ -0.25556873 -0.42529231 0.86822294 114.69829622] [ 0. 0. 0. 1. ]] SLAMing on 261.97907232899996 meters Centerline goodness : 0.771998 Centerline is valid? [False, False] Translation: X:-151.20, Y:25.36, Z:114.75 [[ 0.72567912 0.5116852 0.45996529 -151.1966955 ] [ -0.63943665 0.74835035 0.17633075 25.35748413] [ -0.25398935 -0.42207821 0.87025249 114.75272135] [ 0. 0. 0. 1. ]] SLAMing on 262.009072329 meters Centerline goodness : 0.772959 Centerline is valid? [False, False] Translation: X:-151.26, Y:25.33, Z:114.80 [[ 0.72527464 0.51231656 0.45990047 -151.258927 ] [ -0.63877007 0.7499383 0.17194573 25.32812964] [ -0.25680633 -0.41847853 0.87116372 114.79581084] [ 0. 0. 0. 1. ]] SLAMing on 262.03907232899996 meters Centerline goodness : 0.772611 Centerline is valid? [False, False] Translation: X:-151.33, Y:25.29, Z:114.85 [[ 0.72837765 0.51005455 0.45750448 -151.33346765] [ -0.63664998 0.7506249 0.17674576 25.28980631] [ -0.25326428 -0.42000788 0.87146462 114.84787947] [ 0. 0. 0. 1. ]] SLAMing on 262.069072329 meters Centerline goodness : 0.771988 Centerline is valid? [False, False] Translation: X:-151.40, Y:25.26, Z:114.89 [[ 0.7268298 0.51100891 0.45889904 -151.4003011 ] [ -0.63729575 0.75089938 0.17321733 25.26049683] [ -0.25607141 -0.41835393 0.87143986 114.89479099] [ 0. 0. 0. 1. ]] SLAMing on 262.09907232899997 meters Centerline goodness : 0.774580 Centerline is valid? [False, False] Translation: X:-151.48, Y:25.22, Z:114.95 [[ 0.72918429 0.50890445 0.45750031 -151.47771776] [ -0.63595913 0.75080636 0.17845389 25.22246935] [ -0.25267816 -0.42107727 0.87111864 114.94834012] [ 0. 0. 0. 1. ]] SLAMing on 262.129072329 meters Centerline goodness : 0.774580 Centerline is valid? [False, False] Translation: X:-151.56, Y:25.18, Z:115.00 [[ 0.73109662 0.50717293 0.45636975 -151.55603058] [ -0.63463356 0.75108153 0.18198014 25.18401154] [ -0.25047549 -0.42267263 0.87098213 115.00232256] [ 0. 0. 0. 1. ]] SLAMing on 262.15907232899997 meters Centerline goodness : 0.776351 Centerline is valid? [False, False] Translation: X:-151.63, Y:25.15, Z:115.06 [[ 0.72962594 0.50674204 0.4591933 -151.63088239] [ -0.63497061 0.75132043 0.17980528 25.15008216] [ -0.25388641 -0.42276485 0.86994918 115.05538613] [ 0. 0. 0. 1. ]] SLAMing on 262.189072329 meters Centerline goodness : 0.776977 Centerline is valid? [False, False] Translation: X:-151.71, Y:25.11, Z:115.11 [[ 0.73149467 0.50455533 0.4586278 -151.7083322 ] [ -0.632773 0.75289611 0.18095792 25.1123816 ] [ -0.25399581 -0.42257704 0.87000849 115.10941707] [ 0. 0. 0. 1. ]] SLAMing on 262.21907232899997 meters Centerline goodness : 0.778317 Centerline is valid? [False, False] Translation: X:-151.79, Y:25.08, Z:115.16 [[ 0.73254497 0.50337273 0.45825075 -151.78705979] [ -0.63134068 0.75411951 0.18086657 25.07504624] [ -0.25453253 -0.42180523 0.87022614 115.16396456] [ 0. 0. 0. 1. ]] SLAMing on 262.249072329 meters Centerline goodness : 0.776029 Centerline is valid? [False, False] Translation: X:-151.86, Y:25.04, Z:115.22 [[ 0.7332721 0.50394347 0.45645702 -151.86268746] [ -0.63160347 0.75342625 0.18282765 25.03735043] [ -0.2517719 -0.42236225 0.87075889 115.21600759] [ 0. 0. 0. 1. ]] SLAMing on 262.279072329 meters Centerline goodness : 0.777028 Centerline is valid? [False, False] Translation: X:-151.94, Y:25.00, Z:115.27 [[ 0.73377851 0.50400416 0.45557537 -151.93874946] [ -0.6318419 0.75270399 0.18496625 24.99923019] [ -0.24968964 -0.42357586 0.87076895 115.27012418] [ 0. 0. 0. 1. ]] SLAMing on 262.30907232899995 meters Centerline goodness : 0.777570 Centerline is valid? [False, False] Translation: X:-152.01, Y:24.97, Z:115.32 [[ 0.73429534 0.50165817 0.45732858 -152.01224397] [ -0.62913043 0.75595279 0.1809151 24.96674864] [ -0.25496128 -0.42056444 0.87070104 115.322839 ] [ 0. 0. 0. 1. ]] SLAMing on 262.339072329 meters Centerline goodness : 0.778640 Centerline is valid? [False, False] Translation: X:-152.09, Y:24.93, Z:115.38 [[ 0.73370508 0.50093867 0.45906133 -152.08653918] [ -0.62824499 0.75749476 0.17751032 24.93190099] [ -0.25881477 -0.41864321 0.87048997 115.37555391] [ 0. 0. 0. 1. ]] SLAMing on 262.36907232899995 meters Centerline goodness : 0.778232 Centerline is valid? [False, False] Translation: X:-152.16, Y:24.89, Z:115.43 [[ 0.73568067 0.49987848 0.45705082 -152.16012325] [ -0.62723012 0.7574732 0.18115388 24.89393245] [ -0.25564882 -0.41994745 0.87079723 115.42702531] [ 0. 0. 0. 1. ]] SLAMing on 262.399072329 meters Centerline goodness : 0.776168 Centerline is valid? [False, False] Translation: X:-152.24, Y:24.86, Z:115.48 [[ 0.7375351 0.49825108 0.4558375 -152.23515213] [ -0.62495783 0.75934543 0.18116906 24.85799302] [ -0.25587045 -0.41849775 0.87142983 115.47960643] [ 0. 0. 0. 1. ]] SLAMing on 262.42907232899995 meters Centerline goodness : 0.776274 Centerline is valid? [False, False] Translation: X:-152.31, Y:24.82, Z:115.53 [[ 0.73827883 0.49699684 0.45600276 -152.30575133] [ -0.62293127 0.76166123 0.17840626 24.82465262] [ -0.25865228 -0.41577195 0.87191323 115.53048343] [ 0. 0. 0. 1. ]] SLAMing on 262.459072329 meters Centerline goodness : 0.777604 Centerline is valid? [False, False] Translation: X:-152.38, Y:24.79, Z:115.58 [[ 0.73825637 0.4956176 0.45753768 -152.3787668 ] [ -0.62160257 0.76325902 0.17619851 24.79081283] [ -0.26189268 -0.41448627 0.87155801 115.58296746] [ 0. 0. 0. 1. ]] SLAMing on 262.48907232899995 meters Centerline goodness : 0.776976 Centerline is valid? [False, False] Translation: X:-152.44, Y:24.76, Z:115.63 [[ 0.73752701 0.49450425 0.45991244 -152.44108216] [ -0.62024009 0.76539712 0.1716668 24.76416318] [ -0.2671257 -0.41186503 0.87121241 115.62607788] [ 0. 0. 0. 1. ]] SLAMing on 262.519072329 meters Centerline goodness : 0.779518 Centerline is valid? [False, False] Translation: X:-152.50, Y:24.74, Z:115.67 [[ 0.73736262 0.49328652 0.46148107 -152.50139725] [ -0.61794101 0.76853093 0.16585871 24.73648846] [ -0.27284661 -0.40746609 0.87150795 115.66818915] [ 0. 0. 0. 1. ]] SLAMing on 262.54907232899996 meters Centerline goodness : 0.776701 Centerline is valid? [False, False] Translation: X:-152.58, Y:24.70, Z:115.72 [[ 0.74022098 0.4914627 0.45884345 -152.57589031] [ -0.6155339 0.76992091 0.16834434 24.69735022] [ -0.2705382 -0.40704571 0.87242356 115.72018027] [ 0. 0. 0. 1. ]] SLAMing on 262.579072329 meters Centerline goodness : 0.775482 Centerline is valid? [False, False] Translation: X:-152.65, Y:24.66, Z:115.77 [[ 0.74273661 0.49027243 0.45604306 -152.64756727] [ -0.61385032 0.77061362 0.17129633 24.65931024] [ -0.26745112 -0.40717023 0.87331684 115.7706033 ] [ 0. 0. 0. 1. ]] SLAMing on 262.60907232899996 meters Centerline goodness : 0.774639 Centerline is valid? [False, False] Translation: X:-152.71, Y:24.63, Z:115.81 [[ 0.7438902 0.48685834 0.45781691 -152.70805365] [ -0.60961307 0.77505497 0.16631805 24.63239139] [ -0.27385994 -0.40281354 0.87335101 115.81467874] [ 0. 0. 0. 1. ]] SLAMing on 262.639072329 meters Centerline goodness : 0.776891 Centerline is valid? [False, False] Translation: X:-152.77, Y:24.60, Z:115.86 [[ 0.7432321 0.48484148 0.46101495 -152.76992014] [ -0.60764098 0.77753586 0.16189636 24.60466488] [ -0.27996159 -0.40045815 0.87249916 115.85807085] [ 0. 0. 0. 1. ]] SLAMing on 262.66907232899996 meters Centerline goodness : 0.781073 Centerline is valid? [False, False] Translation: X:-152.84, Y:24.57, Z:115.91 [[ 0.74506364 0.48162721 0.46142758 -152.84404412] [ -0.60546588 0.77858543 0.16497212 24.56642969] [ -0.27980573 -0.40229338 0.87170453 115.9103279 ] [ 0. 0. 0. 1. ]] SLAMing on 262.699072329 meters Centerline goodness : 0.780387 Centerline is valid? [False, False] Translation: X:-152.91, Y:24.53, Z:115.96 [[ 0.74744446 0.47988293 0.45938998 -152.91458824] [ -0.60302815 0.78023365 0.16610993 24.53057926] [ -0.2787182 -0.40118303 0.87256423 115.95882738] [ 0. 0. 0. 1. ]] SLAMing on 262.72907232899996 meters Centerline goodness : 0.779513 Centerline is valid? [False, False] Translation: X:-152.96, Y:24.51, Z:115.99 [[ 0.74760296 0.48127241 0.4576753 -152.96403071] [ -0.60286136 0.7808907 0.16360896 24.50694966] [ -0.27865391 -0.3982293 0.87393674 115.99245398] [ 0. 0. 0. 1. ]] SLAMing on 262.759072329 meters Centerline goodness : 0.774793 Centerline is valid? [False, False] Translation: X:-153.03, Y:24.47, Z:116.04 [[ 0.74978702 0.48062237 0.45477639 -153.03386153] [ -0.60155045 0.78140588 0.16595755 24.47093708] [ -0.27560203 -0.39800376 0.87500659 116.04105159] [ 0. 0. 0. 1. ]] SLAMing on 262.78907232899996 meters Centerline goodness : 0.773218 Centerline is valid? [False, False] Translation: X:-153.09, Y:24.45, Z:116.08 [[ 0.7480096 0.48246882 0.45574717 -153.08953104] [ -0.6037843 0.77978341 0.16547612 24.4459591 ] [ -0.27554702 -0.39895071 0.87459258 116.08115664] [ 0. 0. 0. 1. ]] SLAMing on 262.819072329 meters Centerline goodness : 0.775539 Centerline is valid? [False, False] Translation: X:-153.16, Y:24.41, Z:116.13 [[ 0.74863821 0.48266588 0.45450466 -153.16286628] [ -0.60431503 0.77874516 0.16840225 24.40955915] [ -0.27266129 -0.40073635 0.87468063 116.13116476] [ 0. 0. 0. 1. ]] SLAMing on 262.84907232899997 meters Centerline goodness : 0.747669 Centerline is valid? [False, False] Translation: X:-153.21, Y:24.39, Z:116.16 [[ 0.74838528 0.48442158 0.453051 -153.21295829] [ -0.60495178 0.77859585 0.16679884 24.38636942] [ -0.27194267 -0.3989038 0.87574137 116.16450685] [ 0. 0. 0. 1. ]] SLAMing on 262.879072329 meters Centerline goodness : 0.763890 Centerline is valid? [False, False] Translation: X:-153.26, Y:24.37, Z:116.20 [[ 0.74880476 0.48634168 0.45029235 -153.26180838] [ -0.60450817 0.77972078 0.16311154 24.3658163 ] [ -0.27177436 -0.3943441 0.87785615 116.19507532] [ 0. 0. 0. 1. ]] SLAMing on 262.90907232899997 meters Centerline goodness : 0.764254 Centerline is valid? [False, False] Translation: X:-153.34, Y:24.33, Z:116.25 [[ 0.75022392 0.48543253 0.44890905 -153.33549443] [ -0.60400018 0.77936922 0.16663556 24.32834598] [ -0.26897558 -0.39615513 0.87790276 116.24542862] [ 0. 0. 0. 1. ]] SLAMing on 262.939072329 meters Centerline goodness : 0.767710 Centerline is valid? [False, False] Translation: X:-153.41, Y:24.30, Z:116.29 [[ 0.74802644 0.48526273 0.45274333 -153.40514819] [ -0.60499281 0.77903543 0.16458277 24.29611033] [ -0.27283721 -0.39701873 0.87631957 116.29341727] [ 0. 0. 0. 1. ]] SLAMing on 262.96907232899997 meters Centerline goodness : 0.776714 Centerline is valid? [False, False] Translation: X:-153.47, Y:24.26, Z:116.34 [[ 0.74327521 0.48662505 0.45906211 -153.47361413] [ -0.60856378 0.77681799 0.1618763 24.26434619] [ -0.27783464 -0.39968722 0.87353193 116.34150794] [ 0. 0. 0. 1. ]] SLAMing on 262.999072329 meters Centerline goodness : 0.777122 Centerline is valid? [False, False] Translation: X:-153.53, Y:24.24, Z:116.38 [[ 0.74244979 0.48752371 0.45944416 -153.53069195] [ -0.6085011 0.77763123 0.15816472 24.23808455] [ -0.28016908 -0.39700165 0.87401086 116.38019464] [ 0. 0. 0. 1. ]] SLAMing on 263.029072329 meters Centerline goodness : 0.773889 Centerline is valid? [False, False] Translation: X:-153.60, Y:24.20, Z:116.43 [[ 0.74434912 0.48748844 0.4563983 -153.60079094] [ -0.60800077 0.77738743 0.16125709 24.20123272] [ -0.27618733 -0.39752209 0.875041 116.42707303] [ 0. 0. 0. 1. ]] SLAMing on 263.05907232899995 meters Centerline goodness : 0.769401 Centerline is valid? [False, False] Translation: X:-153.67, Y:24.16, Z:116.47 [[ 0.74637996 0.48738665 0.453179 -153.67072866] [ -0.60744261 0.77710476 0.16468659 24.16454581] [ -0.27190151 -0.39819901 0.87607484 116.47419659] [ 0. 0. 0. 1. ]] SLAMing on 263.089072329 meters Centerline goodness : 0.769846 Centerline is valid? [False, False] Translation: X:-153.75, Y:24.13, Z:116.52 [[ 0.74679245 0.48863385 0.45115186 -153.74531792] [ -0.60876286 0.77538636 0.16788025 24.12710728] [ -0.26778503 -0.4000162 0.87651481 116.52394218] [ 0. 0. 0. 1. ]] SLAMing on 263.11907232899995 meters Centerline goodness : 0.770825 Centerline is valid? [False, False] Translation: X:-153.81, Y:24.09, Z:116.57 [[ 0.74579084 0.48993759 0.45139471 -153.81173647] [ -0.60994771 0.77465566 0.16695029 24.09417242] [ -0.26788024 -0.39983716 0.87656741 116.57222789] [ 0. 0. 0. 1. ]] SLAMing on 263.149072329 meters Centerline goodness : 0.770298 Centerline is valid? [False, False] Translation: X:-153.89, Y:24.06, Z:116.62 [[ 0.74706351 0.48946603 0.44979897 -153.88692421] [ -0.60969262 0.77414679 0.1702106 24.05578308] [ -0.26489812 -0.40139725 0.87676065 116.62349431] [ 0. 0. 0. 1. ]] SLAMing on 263.17907232899995 meters Centerline goodness : 0.764711 Centerline is valid? [False, False] Translation: X:-153.94, Y:24.03, Z:116.66 [[ 0.74449661 0.49501866 0.44797469 -153.93927143] [ -0.61374688 0.77154595 0.16742647 24.02973938] [ -0.26275383 -0.39959151 0.8782295 116.65936171] [ 0. 0. 0. 1. ]] SLAMing on 263.209072329 meters Centerline goodness : 0.762639 Centerline is valid? [False, False] Translation: X:-154.01, Y:23.99, Z:116.71 [[ 0.74757022 0.49321441 0.44483516 -154.01151183] [ -0.61162444 0.77232592 0.17154656 23.99159895] [ -0.25894849 -0.40031515 0.87902984 116.70829918] [ 0. 0. 0. 1. ]] SLAMing on 263.23907232899995 meters Centerline goodness : 0.758879 Centerline is valid? [False, False] Translation: X:-154.08, Y:23.95, Z:116.76 [[ 0.74998044 0.49141741 0.44276209 -154.08387114] [ -0.60984486 0.77292854 0.17513057 23.95429403] [ -0.25616125 -0.40136069 0.87936967 116.75785982] [ 0. 0. 0. 1. ]] SLAMing on 263.269072329 meters Centerline goodness : 0.766339 Centerline is valid? [False, False] Translation: X:-154.16, Y:23.92, Z:116.81 [[ 0.75029958 0.48983172 0.44397683 -154.16169503] [ -0.6094483 0.77272188 0.17740817 23.91538134] [ -0.25617046 -0.4036902 0.87830001 116.81027904] [ 0. 0. 0. 1. ]] SLAMing on 263.29907232899996 meters Centerline goodness : 0.767333 Centerline is valid? [False, False] Translation: X:-154.22, Y:23.89, Z:116.85 [[ 0.74962445 0.48951159 0.44546784 -154.22074228] [ -0.60866411 0.77423373 0.17346509 23.88869312] [ -0.25998305 -0.40117396 0.87833266 116.84948259] [ 0. 0. 0. 1. ]] SLAMing on 263.329072329 meters Centerline goodness : 0.774074 Centerline is valid? [False, False] Translation: X:-154.29, Y:23.85, Z:116.90 [[ 0.74798049 0.4889672 0.44881652 -154.29449225] [ -0.60926971 0.77406882 0.1720694 23.85259497] [ -0.26327858 -0.40215487 0.87690128 116.90197129] [ 0. 0. 0. 1. ]] SLAMing on 263.35907232899996 meters Centerline goodness : 0.756900 Centerline is valid? [False, False] Translation: X:-154.36, Y:23.82, Z:116.95 [[ 0.74699034 0.48829683 0.45118914 -154.36279583] [ -0.60889846 0.77494632 0.1694133 23.8203257 ] [ -0.26692339 -0.40127847 0.8762006 116.94941489] [ 0. 0. 0. 1. ]] SLAMing on 263.389072329 meters Centerline goodness : 0.777335 Centerline is valid? [False, False] Translation: X:-154.43, Y:23.79, Z:117.00 [[ 0.74618757 0.48916866 0.45157294 -154.43024712] [ -0.60951657 0.77479492 0.1678761 23.78646756] [ -0.2677567 -0.40050825 0.87629875 116.99789586] [ 0. 0. 0. 1. ]] SLAMing on 263.41907232899996 meters Centerline goodness : 0.776526 Centerline is valid? [False, False] Translation: X:-154.50, Y:23.75, Z:117.05 [[ 0.74750478 0.48881282 0.4497762 -154.50304032] [ -0.60959777 0.77378699 0.17217508 23.74778796] [ -0.26386958 -0.40288427 0.87638868 117.04788795] [ 0. 0. 0. 1. ]] SLAMing on 263.449072329 meters Centerline goodness : 0.776038 Centerline is valid? [False, False] Translation: X:-154.57, Y:23.71, Z:117.10 [[ 0.75033779 0.48644606 0.44761975 -154.57333275] [ -0.60667081 0.77567863 0.17399193 23.71259174] [ -0.26257138 -0.40211056 0.87713361 117.09563318] [ 0. 0. 0. 1. ]] SLAMing on 263.47907232899996 meters Centerline goodness : 0.776898 Centerline is valid? [False, False] Translation: X:-154.64, Y:23.68, Z:117.14 [[ 0.74963411 0.48584551 0.44944726 -154.64124405] [ -0.60609572 0.77673273 0.17127242 23.67917273] [ -0.26588846 -0.40079971 0.87673424 117.14287971] [ 0. 0. 0. 1. ]] SLAMing on 263.509072329 meters Centerline goodness : 0.779642 Centerline is valid? [False, False] Translation: X:-154.71, Y:23.64, Z:117.19 [[ 0.74945778 0.48532034 0.4503079 -154.71067988] [ -0.60507887 0.77815475 0.16838867 23.64337931] [ -0.26868678 -0.39867199 0.87685122 117.19231542] [ 0. 0. 0. 1. ]] SLAMing on 263.53907232899996 meters Centerline goodness : 0.774825 Centerline is valid? [False, False] Translation: X:-154.78, Y:23.61, Z:117.24 [[ 0.75509942 0.47928967 0.44733241 -154.77980796] [ -0.59744783 0.78401031 0.16847532 23.60594377] [ -0.26996474 -0.39447339 0.8783563 117.23885675] [ 0. 0. 0. 1. ]] SLAMing on 263.569072329 meters Centerline goodness : 0.775507 Centerline is valid? [False, False] Translation: X:-154.85, Y:23.57, Z:117.29 [[ 0.7558249 0.47740317 0.4481238 -154.84665622] [ -0.59485138 0.78667023 0.16523253 23.57238365] [ -0.27364312 -0.39145392 0.87856888 117.28578138] [ 0. 0. 0. 1. ]] SLAMing on 263.59907232899997 meters Centerline goodness : 0.603384 Centerline is valid? [False, False] Translation: X:-154.90, Y:23.54, Z:117.32 [[ 0.75642404 0.47613234 0.44846479 -154.90351814] [ -0.59199737 0.78992656 0.15985975 23.54381852] [ -0.27813985 -0.38641174 0.87938853 117.32392822] [ 0. 0. 0. 1. ]] SLAMing on 263.629072329 meters Centerline goodness : 0.626737 Centerline is valid? [False, False] Translation: X:-154.97, Y:23.51, Z:117.37 [[ 0.76392666 0.46812055 0.44416124 -154.97062889] [ -0.58193183 0.79720769 0.16067122 23.50548686] [ -0.27887526 -0.38121259 0.88142246 117.36987223] [ 0. 0. 0. 1. ]] SLAMing on 263.65907232899997 meters Centerline goodness : 0.775101 Centerline is valid? [False, False] Translation: X:-155.04, Y:23.47, Z:117.42 [[ 0.76460352 0.46623978 0.44497408 -155.03552674] [ -0.57902343 0.80013688 0.15656576 23.47276866] [ -0.28304299 -0.37736115 0.88175123 117.41609804] [ 0. 0. 0. 1. ]] SLAMing on 263.689072329 meters Centerline goodness : 0.773852 Centerline is valid? [False, False] Translation: X:-155.09, Y:23.44, Z:117.45 [[ 7.66378979e-01 4.61772852e-01 4.46574848e-01 -1.55086370e+02] [-5.74397651e-01 8.03859569e-01 1.54522271e-01 2.34439596e+01] [-2.87629275e-01 -3.74934163e-01 8.81302317e-01 1.17453209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71907232899997 meters Centerline goodness : 0.774969 Centerline is valid? [False, False] Translation: X:-155.14, Y:23.42, Z:117.49 [[ 7.67161944e-01 4.59501870e-01 4.47571874e-01 -1.55139208e+02] [-5.70755388e-01 8.07421402e-01 1.49361865e-01 2.34185644e+01] [-2.92747054e-01 -3.70038798e-01 8.81686141e-01 1.17489826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.749072329 meters Centerline goodness : 0.774272 Centerline is valid? [False, False] Translation: X:-155.19, Y:23.39, Z:117.52 [[ 7.67489102e-01 4.58456213e-01 4.48083004e-01 -1.55190481e+02] [-5.68456322e-01 8.09816108e-01 1.45104379e-01 2.33930996e+01] [-2.96340830e-01 -3.66081646e-01 8.82137371e-01 1.17524224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.779072329 meters Centerline goodness : 0.779162 Centerline is valid? [False, False] Translation: X:-155.24, Y:23.37, Z:117.56 [[ 7.72793819e-01 4.49461804e-01 4.48077895e-01 -1.55241105e+02] [-5.57165274e-01 8.18537260e-01 1.39869980e-01 2.33654499e+01] [-3.03902239e-01 -3.57744099e-01 8.82985045e-01 1.17558236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.80907232899995 meters Centerline goodness : 0.768313 Centerline is valid? [False, False] Translation: X:-155.28, Y:23.34, Z:117.59 [[ 7.76484127e-01 4.46424022e-01 4.44722377e-01 -1.55283546e+02] [-5.50647418e-01 8.23841340e-01 1.34435367e-01 2.33408610e+01] [-3.06365502e-01 -3.49272157e-01 8.85521959e-01 1.17588019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.839072329 meters Centerline goodness : 0.764575 Centerline is valid? [False, False] Translation: X:-155.33, Y:23.32, Z:117.62 [[ 7.81434295e-01 4.41417229e-01 4.41034321e-01 -1.55326753e+02] [-5.41723553e-01 8.30687405e-01 1.28429077e-01 2.33152708e+01] [-3.09670848e-01 -3.39277565e-01 8.88253736e-01 1.17618812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.86907232899995 meters Centerline goodness : 0.730404 Centerline is valid? [False, False] Translation: X:-155.36, Y:23.30, Z:117.64 [[ 7.88824107e-01 4.30486785e-01 4.38677167e-01 -1.55358140e+02] [-5.29937629e-01 8.37910287e-01 1.30661626e-01 2.32951807e+01] [-3.11324007e-01 -3.35540578e-01 8.89094980e-01 1.17638864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.899072329 meters Centerline goodness : 0.757931 Centerline is valid? [False, False] Translation: X:-155.40, Y:23.27, Z:117.67 [[ 7.97874446e-01 4.15818574e-01 4.36453069e-01 -1.55397744e+02] [-5.12381039e-01 8.49225236e-01 1.27601604e-01 2.32678852e+01] [-3.17587844e-01 -3.25440336e-01 8.90632668e-01 1.17667211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.92907232899995 meters Centerline goodness : 0.756395 Centerline is valid? [False, False] Translation: X:-155.43, Y:23.25, Z:117.69 [[ 8.02877195e-01 4.08740468e-01 4.33957878e-01 -1.55433709e+02] [-5.02636013e-01 8.55542391e-01 1.24113879e-01 2.32451187e+01] [-3.20538995e-01 -3.17771061e-01 8.92343155e-01 1.17694205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.959072329 meters Centerline goodness : 0.764696 Centerline is valid? [False, False] Translation: X:-155.48, Y:23.22, Z:117.72 [[ 8.09010689e-01 3.94065464e-01 4.36135431e-01 -1.55475408e+02] [-4.88599766e-01 8.63320448e-01 1.26285683e-01 2.32177916e+01] [-3.26759810e-01 -3.15262137e-01 8.90975764e-01 1.17724935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.98907232899995 meters Centerline goodness : 0.768794 Centerline is valid? [False, False] Translation: X:-155.52, Y:23.20, Z:117.75 [[ 8.12328069e-01 3.84252935e-01 4.38717210e-01 -1.55515062e+02] [-4.80357518e-01 8.67432291e-01 1.29683747e-01 2.31951921e+01] [-3.30726114e-01 -3.16086858e-01 8.89218384e-01 1.17750375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.019072329 meters Centerline goodness : 0.771470 Centerline is valid? [False, False] Translation: X:-155.55, Y:23.17, Z:117.78 [[ 8.14348140e-01 3.79949704e-01 4.38720103e-01 -1.55553324e+02] [-4.75394246e-01 8.70308447e-01 1.28699329e-01 2.31710021e+01] [-3.32922539e-01 -3.13371072e-01 8.89359969e-01 1.17779054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.04907232899996 meters Centerline goodness : 0.771470 Centerline is valid? [False, False] Translation: X:-155.58, Y:23.16, Z:117.80 [[ 8.11451197e-01 3.83905682e-01 4.40639742e-01 -1.55583549e+02] [-4.76640327e-01 8.71024565e-01 1.18870542e-01 2.31595937e+01] [-3.38172963e-01 -3.06484315e-01 8.89778856e-01 1.17798067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.079072329 meters Centerline goodness : 0.751408 Centerline is valid? [False, False] Translation: X:-155.62, Y:23.13, Z:117.82 [[ 8.18564821e-01 3.69660687e-01 4.39661927e-01 -1.55619450e+02] [-4.60662466e-01 8.79692211e-01 1.18032649e-01 2.31347381e+01] [-3.43135143e-01 -2.99153122e-01 8.90373901e-01 1.17822583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.10907232899996 meters Centerline goodness : 0.773215 Centerline is valid? [False, False] Translation: X:-155.65, Y:23.11, Z:117.85 [[ 8.21661076e-01 3.65974703e-01 4.36961775e-01 -1.55652431e+02] [-4.54595673e-01 8.83233239e-01 1.15073103e-01 2.31134691e+01] [-3.43825319e-01 -2.93192022e-01 8.92088890e-01 1.17847133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.139072329 meters Centerline goodness : 0.771925 Centerline is valid? [False, False] Translation: X:-155.68, Y:23.09, Z:117.87 [[ 8.26161517e-01 3.58320374e-01 4.34814509e-01 -1.55681320e+02] [-4.45368946e-01 8.88004430e-01 1.14431793e-01 2.30944876e+01] [-3.45113968e-01 -2.88192023e-01 8.93219854e-01 1.17867466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.16907232899996 meters Centerline goodness : 0.775685 Centerline is valid? [False, False] Translation: X:-155.71, Y:23.07, Z:117.89 [[ 8.33621773e-01 3.42505917e-01 4.33317939e-01 -1.55712603e+02] [-4.27833905e-01 8.96590628e-01 1.14382670e-01 2.30693858e+01] [-3.49332062e-01 -2.80739990e-01 8.93953113e-01 1.17892188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.199072329 meters Centerline goodness : 0.777439 Centerline is valid? [False, False] Translation: X:-155.75, Y:23.05, Z:117.92 [[ 8.35124039e-01 3.40216151e-01 4.32227729e-01 -1.55752657e+02] [-4.23254253e-01 8.99319343e-01 1.09911588e-01 2.30460455e+01] [-3.51317060e-01 -2.74732034e-01 8.95041135e-01 1.17920905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.22907232899996 meters Centerline goodness : 0.776393 Centerline is valid? [False, False] Translation: X:-155.79, Y:23.03, Z:117.94 [[ 8.37605043e-01 3.37707750e-01 4.29384753e-01 -1.55786238e+02] [-4.18096790e-01 9.02194892e-01 1.06016276e-01 2.30260605e+01] [-3.51586213e-01 -2.68324154e-01 8.96877518e-01 1.17944791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.259072329 meters Centerline goodness : 0.774745 Centerline is valid? [False, False] Translation: X:-155.82, Y:23.01, Z:117.97 [[ 8.40052473e-01 3.36489409e-01 4.25542853e-01 -1.55820522e+02] [-4.13668708e-01 9.04789008e-01 1.01168430e-01 2.30056305e+01] [-3.50984391e-01 -2.61020552e-01 8.99265383e-01 1.17968412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.28907232899996 meters Centerline goodness : 0.773905 Centerline is valid? [False, False] Translation: X:-155.85, Y:22.98, Z:117.99 [[ 8.43419307e-01 3.29723551e-01 4.24177147e-01 -1.55853020e+02] [-4.05336725e-01 9.08727563e-01 9.95808981e-02 2.29832312e+01] [-3.52627297e-01 -2.55923028e-01 9.00087436e-01 1.17992787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.319072329 meters Centerline goodness : 0.745290 Centerline is valid? [False, False] Translation: X:-155.88, Y:22.97, Z:118.01 [[ 8.45253422e-01 3.24001890e-01 4.24934617e-01 -1.55884248e+02] [-4.00288481e-01 9.10713571e-01 1.01832820e-01 2.29654010e+01] [-3.53999696e-01 -2.56170972e-01 8.99477986e-01 1.18013862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.34907232899997 meters Centerline goodness : 0.780432 Centerline is valid? [False, False] Translation: X:-155.92, Y:22.94, Z:118.04 [[ 8.48331041e-01 3.12951905e-01 4.27077920e-01 -1.55918249e+02] [-3.90813712e-01 9.14309526e-01 1.06314311e-01 2.29438161e+01] [-3.57210145e-01 -2.57097637e-01 8.97943048e-01 1.18036512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.379072329 meters Centerline goodness : 0.779703 Centerline is valid? [False, False] Translation: X:-155.95, Y:22.92, Z:118.06 [[ 8.50654022e-01 3.10260895e-01 4.24412432e-01 -1.55952945e+02] [-3.85250457e-01 9.17195580e-01 1.01658023e-01 2.29230014e+01] [-3.57728698e-01 -2.49980890e-01 8.99744260e-01 1.18060326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.40907232899997 meters Centerline goodness : 0.781197 Centerline is valid? [False, False] Translation: X:-155.97, Y:22.92, Z:118.07 [[ 8.50218174e-01 3.09966835e-01 4.25499257e-01 -1.55969126e+02] [-3.82167921e-01 9.19305580e-01 9.39411059e-02 2.29154756e+01] [-3.62045214e-01 -2.42482602e-01 9.00069692e-01 1.18070414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.439072329 meters Centerline goodness : 0.781332 Centerline is valid? [False, False] Translation: X:-156.00, Y:22.89, Z:118.09 [[ 8.54791168e-01 2.97378261e-01 4.25321324e-01 -1.55999946e+02] [-3.68725113e-01 9.24722992e-01 9.44943335e-02 2.28940924e+01] [-3.65203847e-01 -2.37599575e-01 9.00095879e-01 1.18090523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46907232899997 meters Centerline goodness : 0.782972 Centerline is valid? [False, False] Translation: X:-156.02, Y:22.88, Z:118.11 [[ 8.58355275e-01 2.87029857e-01 4.25252964e-01 -1.56024391e+02] [-3.58765240e-01 9.28313811e-01 9.75754641e-02 2.28779848e+01] [-3.66761128e-01 -2.36320396e-01 8.99799392e-01 1.18105216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.499072329 meters Centerline goodness : 0.780903 Centerline is valid? [False, False] Translation: X:-156.06, Y:22.86, Z:118.13 [[ 8.60409332e-01 2.82843392e-01 4.23904938e-01 -1.56056323e+02] [-3.52287951e-01 9.31186446e-01 9.37283447e-02 2.28578732e+01] [-3.68224089e-01 -2.29981345e-01 9.00843827e-01 1.18128144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.529072329 meters Centerline goodness : 0.781713 Centerline is valid? [False, False] Translation: X:-156.09, Y:22.84, Z:118.15 [[ 8.62157147e-01 2.81603536e-01 4.21170395e-01 -1.56090517e+02] [-3.48778386e-01 9.32850352e-01 9.02433329e-02 2.28359750e+01] [-3.67476110e-01 -2.24699065e-01 9.02480825e-01 1.18152238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55907232899995 meters Centerline goodness : 0.775832 Centerline is valid? [False, False] Translation: X:-156.12, Y:22.81, Z:118.17 [[ 8.68014104e-01 2.70363183e-01 4.16479610e-01 -1.56115216e+02] [-3.32893408e-01 9.39205909e-01 8.41084976e-02 2.28125476e+01] [-3.68420269e-01 -2.11650679e-01 9.05246097e-01 1.18170833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.589072329 meters Centerline goodness : 0.777612 Centerline is valid? [False, False] Translation: X:-156.14, Y:22.80, Z:118.19 [[ 8.71156164e-01 2.60325817e-01 4.16314073e-01 -1.56139527e+02] [-3.23024393e-01 9.42416464e-01 8.66397689e-02 2.27964253e+01] [-3.69786668e-01 -2.09956369e-01 9.05083501e-01 1.18185182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61907232899995 meters Centerline goodness : 0.782802 Centerline is valid? [False, False] Translation: X:-156.15, Y:22.79, Z:118.19 [[ 8.70713150e-01 2.59592274e-01 4.17696614e-01 -1.56149591e+02] [-3.21147908e-01 9.43370719e-01 8.31607350e-02 2.27898159e+01] [-3.72454871e-01 -2.06551539e-01 9.04772806e-01 1.18193421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.649072329 meters Centerline goodness : 0.778802 Centerline is valid? [False, False] Translation: X:-156.18, Y:22.77, Z:118.21 [[ 8.73139740e-01 2.51222927e-01 4.17748770e-01 -1.56175362e+02] [-3.13616481e-01 9.45569371e-01 8.68519807e-02 2.27748014e+01] [-3.73191233e-01 -2.06846815e-01 9.04401846e-01 1.18208032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67907232899995 meters Centerline goodness : 0.776750 Centerline is valid? [False, False] Translation: X:-156.20, Y:22.76, Z:118.22 [[ 8.75832231e-01 2.43110813e-01 4.16911305e-01 -1.56202666e+02] [-3.04433980e-01 9.48607938e-01 8.63882651e-02 2.27582019e+01] [-3.74483452e-01 -2.02583595e-01 9.04832599e-01 1.18224255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.709072329 meters Centerline goodness : 0.777452 Centerline is valid? [False, False] Translation: X:-156.22, Y:22.74, Z:118.24 [[ 8.79235316e-01 2.32061638e-01 4.16044053e-01 -1.56223276e+02] [-2.93092865e-01 9.51988616e-01 8.83982356e-02 2.27433318e+01] [-3.75555363e-01 -1.99662394e-01 9.05037622e-01 1.18235853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.73907232899995 meters Centerline goodness : 0.777640 Centerline is valid? [False, False] Translation: X:-156.25, Y:22.72, Z:118.26 [[ 8.83539702e-01 2.15085102e-01 4.16048068e-01 -1.56248359e+02] [-2.75312801e-01 9.57146748e-01 8.98496764e-02 2.27174522e+01] [-3.78893728e-01 -1.93929115e-01 9.04892834e-01 1.18256195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.769072329 meters Centerline goodness : 0.766559 Centerline is valid? [False, False] Translation: X:-156.25, Y:22.71, Z:118.26 [[ 8.85376295e-01 2.10081779e-01 4.14698037e-01 -1.56252074e+02] [-2.66556326e-01 9.60270636e-01 8.26319042e-02 2.27103899e+01] [-3.80862891e-01 -1.83700714e-01 9.06199485e-01 1.18263501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.79907232899996 meters Centerline goodness : 0.780787 Centerline is valid? [False, False] Translation: X:-156.25, Y:22.70, Z:118.27 [[ 8.87002961e-01 2.05878424e-01 4.13327741e-01 -1.56253674e+02] [-2.59353199e-01 9.62704087e-01 7.70503696e-02 2.27038468e+01] [-3.82049297e-01 -1.75541778e-01 9.07316603e-01 1.18267648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.829072329 meters Centerline goodness : 0.783018 Centerline is valid? [False, False] Translation: X:-156.28, Y:22.68, Z:118.28 [[ 8.91362857e-01 1.89822402e-01 4.11630554e-01 -1.56276241e+02] [-2.40810236e-01 9.67652199e-01 7.52306526e-02 2.26795721e+01] [-3.84034747e-01 -1.66182660e-01 9.08240407e-01 1.18284011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.85907232899996 meters Centerline goodness : 0.780690 Centerline is valid? [False, False] Translation: X:-156.29, Y:22.66, Z:118.30 [[ 8.96336487e-01 1.85390957e-01 4.02754386e-01 -1.56289327e+02] [-2.34416915e-01 9.69194372e-01 7.55710253e-02 2.26618022e+01] [-3.76337100e-01 -1.62149508e-01 9.12183054e-01 1.18298082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.889072329 meters Centerline goodness : 0.780834 Centerline is valid? [False, False] Translation: X:-156.30, Y:22.65, Z:118.31 [[ 9.01373771e-01 1.80583461e-01 3.93592351e-01 -1.56299875e+02] [-2.28381989e-01 9.70460719e-01 7.77667027e-02 2.26463105e+01] [-3.67922535e-01 -1.59986270e-01 9.15989848e-01 1.18310641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.91907232899996 meters Centerline goodness : 0.780955 Centerline is valid? [False, False] Translation: X:-156.32, Y:22.63, Z:118.33 [[ 9.04058453e-01 1.68786353e-01 3.92669683e-01 -1.56320959e+02] [-2.16730738e-01 9.72881798e-01 8.08009538e-02 2.26267371e+01] [-3.68383089e-01 -1.58152375e-01 9.16123205e-01 1.18325322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.949072329 meters Centerline goodness : 0.780308 Centerline is valid? [False, False] Translation: X:-156.32, Y:22.62, Z:118.33 [[ 9.04869377e-01 1.65269948e-01 3.92297405e-01 -1.56324146e+02] [-2.10726689e-01 9.74628034e-01 7.54616333e-02 2.26223301e+01] [-3.69872508e-01 -1.50950454e-01 9.16737851e-01 1.18330170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.97907232899996 meters Centerline goodness : 0.779883 Centerline is valid? [False, False] Translation: X:-156.33, Y:22.62, Z:118.34 [[ 9.05475389e-01 1.62244751e-01 3.92161905e-01 -1.56327554e+02] [-2.05650097e-01 9.76044884e-01 7.10240908e-02 2.26176803e+01] [-3.71244336e-01 -1.44958700e-01 9.17150270e-01 1.18335122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.009072329 meters Centerline goodness : 0.780954 Centerline is valid? [False, False] Translation: X:-156.35, Y:22.60, Z:118.35 [[ 9.07674127e-01 1.50313017e-01 3.91833735e-01 -1.56349046e+02] [-1.93838695e-01 9.78257415e-01 7.37495070e-02 2.25990573e+01] [-3.72228746e-01 -1.42893059e-01 9.17075424e-01 1.18350037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.03907232899996 meters Centerline goodness : 0.758061 Centerline is valid? [False, False] Translation: X:-156.35, Y:22.59, Z:118.36 [[ 9.08288796e-01 1.46943574e-01 3.91687439e-01 -1.56352439e+02] [-1.88245313e-01 9.79696176e-01 6.89862594e-02 2.25939901e+01] [-3.73597599e-01 -1.36392771e-01 9.17508499e-01 1.18355343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.069072329 meters Centerline goodness : 0.770926 Centerline is valid? [False, False] Translation: X:-156.37, Y:22.58, Z:118.37 [[ 9.11150878e-01 1.37635593e-01 3.88407674e-01 -1.56368227e+02] [-1.79619771e-01 9.80967809e-01 7.37488674e-02 2.25790509e+01] [-3.70864956e-01 -1.36962043e-01 9.18531754e-01 1.18366383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.09907232899997 meters Centerline goodness : 0.769247 Centerline is valid? [False, False] Translation: X:-156.37, Y:22.57, Z:118.37 [[ 9.11943693e-01 1.33609274e-01 3.87952655e-01 -1.56370473e+02] [-1.72791211e-01 9.82624875e-01 6.77609984e-02 2.25742150e+01] [-3.72158432e-01 -1.28829024e-01 9.19185065e-01 1.18369819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.129072329 meters Centerline goodness : 0.780763 Centerline is valid? [False, False] Translation: X:-156.38, Y:22.55, Z:118.38 [[ 9.17541934e-01 1.25325624e-01 3.77372876e-01 -1.56378178e+02] [-1.61142771e-01 9.84804938e-01 6.47475154e-02 2.25549926e+01] [-3.63524149e-01 -1.20219471e-01 9.23795146e-01 1.18381365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.15907232899997 meters Centerline goodness : 0.780649 Centerline is valid? [False, False] Translation: X:-156.39, Y:22.54, Z:118.39 [[ 9.21719343e-01 1.21958235e-01 3.68184250e-01 -1.56389897e+02] [-1.55990349e-01 9.85682410e-01 6.40093504e-02 2.25409030e+01] [-3.55106271e-01 -1.16431846e-01 9.27546851e-01 1.18391692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.189072329 meters Centerline goodness : 0.766148 Centerline is valid? [False, False] Translation: X:-156.40, Y:22.52, Z:118.40 [[ 9.25334532e-01 1.11362533e-01 3.62428462e-01 -1.56404261e+02] [-1.44663643e-01 9.87277981e-01 6.59895405e-02 2.25233412e+01] [-3.50468878e-01 -1.13492622e-01 9.29672518e-01 1.18403699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21907232899997 meters Centerline goodness : 0.768062 Centerline is valid? [False, False] Translation: X:-156.41, Y:22.52, Z:118.41 [[ 9.25711507e-01 1.09084648e-01 3.62158453e-01 -1.56405422e+02] [-1.41404552e-01 9.87888408e-01 6.38846361e-02 2.25186098e+01] [-3.50803305e-01 -1.10349597e-01 9.29924732e-01 1.18407236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.249072329 meters Centerline goodness : 0.769548 Centerline is valid? [False, False] Translation: X:-156.41, Y:22.51, Z:118.41 [[ 9.26130611e-01 1.05659165e-01 3.62102517e-01 -1.56408682e+02] [-1.36169967e-01 9.88883546e-01 5.97249776e-02 2.25140014e+01] [-3.51766729e-01 -1.04620618e-01 9.30222927e-01 1.18413582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.279072329 meters Centerline goodness : 0.772672 Centerline is valid? [False, False] Translation: X:-156.41, Y:22.51, Z:118.42 [[ 9.26384414e-01 1.03586908e-01 3.62052026e-01 -1.56410202e+02] [-1.33024038e-01 9.89456487e-01 5.72753533e-02 2.25102703e+01] [-3.52301749e-01 -1.01220617e-01 9.30396617e-01 1.18416346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.30907232899995 meters Centerline goodness : 0.774246 Centerline is valid? [False, False] Translation: X:-156.43, Y:22.49, Z:118.43 [[ 9.29159311e-01 9.41434356e-02 3.57491243e-01 -1.56425339e+02] [-1.24197356e-01 9.90318168e-01 6.20076026e-02 2.24924839e+01] [-3.48192464e-01 -1.02014408e-01 9.31855712e-01 1.18428512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.339072329 meters Centerline goodness : 0.775796 Centerline is valid? [False, False] Translation: X:-156.43, Y:22.49, Z:118.43 [[ 9.29380043e-01 9.08716947e-02 3.57763988e-01 -1.56428719e+02] [-1.18921733e-01 9.91257531e-01 5.71500604e-02 2.24881682e+01] [-3.49442925e-01 -9.56600390e-02 9.32061586e-01 1.18433112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.36907232899995 meters Centerline goodness : 0.774469 Centerline is valid? [False, False] Translation: X:-156.44, Y:22.48, Z:118.44 [[ 9.28971554e-01 8.80492336e-02 3.59526332e-01 -1.56436369e+02] [-1.13646522e-01 9.92229425e-01 5.06481555e-02 2.24824726e+01] [-3.52273075e-01 -8.79096129e-02 9.31759401e-01 1.18437131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.399072329 meters Centerline goodness : 0.775087 Centerline is valid? [False, False] Translation: X:-156.45, Y:22.46, Z:118.45 [[ 9.33070355e-01 8.04106521e-02 3.50590702e-01 -1.56446216e+02] [-1.04602929e-01 9.93226570e-01 5.05886086e-02 2.24609571e+01] [-3.44148138e-01 -8.38755452e-02 9.35161458e-01 1.18450441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.42907232899995 meters Centerline goodness : 0.774916 Centerline is valid? [False, False] Translation: X:-156.46, Y:22.45, Z:118.46 [[ 9.35861834e-01 7.22596100e-02 3.44878494e-01 -1.56459836e+02] [-9.70523789e-02 9.93750196e-01 5.51487438e-02 2.24462043e+01] [-3.38738045e-01 -8.50828828e-02 9.37025848e-01 1.18460662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.459072329 meters Centerline goodness : 0.776420 Centerline is valid? [False, False] Translation: X:-156.47, Y:22.43, Z:118.47 [[ 9.38531071e-01 6.42449062e-02 3.39163708e-01 -1.56472965e+02] [-8.98176295e-02 9.94135252e-01 6.02320046e-02 2.24313329e+01] [-3.33304999e-01 -8.69924880e-02 9.38797148e-01 1.18470716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.48907232899995 meters Centerline goodness : 0.779631 Centerline is valid? [False, False] Translation: X:-156.48, Y:22.41, Z:118.48 [[ 9.41504531e-01 5.21870487e-02 3.32935023e-01 -1.56484637e+02] [-7.71713843e-02 9.95072219e-01 6.22563689e-02 2.24112970e+01] [-3.28045416e-01 -8.43077100e-02 9.40892350e-01 1.18482156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.519072329 meters Centerline goodness : 0.778281 Centerline is valid? [False, False] Translation: X:-156.49, Y:22.40, Z:118.49 [[ 9.45131306e-01 4.44386465e-02 3.23654168e-01 -1.56492614e+02] [-6.81513444e-02 9.95728022e-01 6.22984827e-02 2.23964044e+01] [-3.19503064e-01 -8.09377130e-02 9.44122279e-01 1.18491886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.54907232899996 meters Centerline goodness : 0.777962 Centerline is valid? [False, False] Translation: X:-156.50, Y:22.38, Z:118.50 [[ 9.48692185e-01 3.79250014e-02 3.13918514e-01 -1.56500207e+02] [-6.05585419e-02 9.96195848e-01 6.26617597e-02 2.23807610e+01] [-3.10347872e-01 -7.84571692e-02 9.47379898e-01 1.18501958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.579072329 meters Centerline goodness : 0.775349 Centerline is valid? [False, False] Translation: X:-156.51, Y:22.36, Z:118.51 [[ 9.51467174e-01 2.28721719e-02 3.06899137e-01 -1.56510300e+02] [-4.34694861e-02 9.97224436e-01 6.04468964e-02 2.23580665e+01] [-3.04664767e-01 -7.08539855e-02 9.49820558e-01 1.18512537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.60907232899996 meters Centerline goodness : 0.777277 Centerline is valid? [False, False] Translation: X:-156.52, Y:22.34, Z:118.52 [[ 9.54089955e-01 1.37965519e-02 2.99202295e-01 -1.56519011e+02] [-3.47136425e-02 9.97300307e-01 6.47074988e-02 2.23414499e+01] [-2.97501801e-01 -7.21231762e-02 9.51993133e-01 1.18523348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.639072329 meters Centerline goodness : 0.780719 Centerline is valid? [False, False] Translation: X:-156.53, Y:22.32, Z:118.54 [[ 9.56033959e-01 4.63725737e-03 2.93219313e-01 -1.56534621e+02] [-2.47404070e-02 9.97585773e-01 6.48886563e-02 2.23235941e+01] [-2.92210510e-01 -6.92901241e-02 9.53840603e-01 1.18535507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.66907232899996 meters Centerline goodness : 0.781845 Centerline is valid? [False, False] Translation: X:-156.63, Y:22.27, Z:118.58 [[ 9.55118984e-01 -1.50134151e-02 2.95841720e-01 -1.56629315e+02] [-1.38570053e-03 9.98477419e-01 5.51445712e-02 2.22686301e+01] [-2.96219186e-01 -5.30795748e-02 9.53643934e-01 1.18575329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.699072329 meters Centerline goodness : 0.781252 Centerline is valid? [False, False] Translation: X:-156.64, Y:22.25, Z:118.58 [[ 9.56817697e-01 -2.56809692e-02 2.89552038e-01 -1.56639678e+02] [ 9.40619705e-03 9.98303551e-01 5.74590566e-02 2.22524588e+01] [-2.90536432e-01 -5.22542587e-02 9.55436065e-01 1.18583871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.72907232899996 meters Centerline goodness : 0.781259 Centerline is valid? [False, False] Translation: X:-156.65, Y:22.24, Z:118.59 [[ 9.58506583e-01 -3.59645979e-02 2.82792641e-01 -1.56650094e+02] [ 2.00317223e-02 9.98055024e-01 5.90330422e-02 2.22361825e+01] [-2.84365716e-01 -5.09187359e-02 9.57362743e-01 1.18592689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.759072329 meters Centerline goodness : 0.782633 Centerline is valid? [False, False] Translation: X:-156.66, Y:22.22, Z:118.60 [[ 9.60179000e-01 -4.49781641e-02 2.75741279e-01 -1.56661102e+02] [ 2.93146763e-02 9.97727453e-01 6.06677847e-02 2.22200345e+01] [-2.77843369e-01 -5.01686665e-02 9.59315468e-01 1.18601553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.78907232899996 meters Centerline goodness : 0.783043 Centerline is valid? [False, False] Translation: X:-156.67, Y:22.20, Z:118.61 [[ 9.60887029e-01 -6.05683896e-02 2.70236171e-01 -1.56671623e+02] [ 4.64109053e-02 9.97209099e-01 5.84811140e-02 2.21962324e+01] [-2.73024076e-01 -4.36518385e-02 9.61016322e-01 1.18612434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.819072329 meters Centerline goodness : 0.785556 Centerline is valid? [False, False] Translation: X:-156.67, Y:22.19, Z:118.62 [[ 9.59974227e-01 -6.74891759e-02 2.71835785e-01 -1.56674561e+02] [ 5.60299019e-02 9.97190952e-01 4.97077075e-02 2.21897363e+01] [-2.74426918e-01 -3.24871857e-02 9.61059025e-01 1.18615612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.84907232899997 meters Centerline goodness : 0.784507 Centerline is valid? [False, False] Translation: X:-156.68, Y:22.17, Z:118.62 [[ 9.61546925e-01 -7.57797808e-02 2.63979044e-01 -1.56684234e+02] [ 6.47582292e-02 9.96636544e-01 5.02192237e-02 2.21739083e+01] [-2.66896764e-01 -3.11933247e-02 9.63220169e-01 1.18624499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.879072329 meters Centerline goodness : 0.785123 Centerline is valid? [False, False] Translation: X:-156.69, Y:22.15, Z:118.63 [[ 9.61865708e-01 -9.11989121e-02 2.57870350e-01 -1.56693820e+02] [ 8.22571122e-02 9.95582102e-01 4.52774392e-02 2.21519365e+01] [-2.60860358e-01 -2.23391458e-02 9.65118043e-01 1.18632689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.90907232899997 meters Centerline goodness : 0.786621 Centerline is valid? [False, False] Translation: X:-156.70, Y:22.14, Z:118.64 [[ 9.63624034e-01 -9.82540667e-02 2.48545489e-01 -1.56701120e+02] [ 9.00641361e-02 9.94957370e-01 4.41393712e-02 2.21377690e+01] [-2.51629038e-01 -2.01487242e-02 9.67614002e-01 1.18640764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.939072329 meters Centerline goodness : 0.786621 Centerline is valid? [False, False] Translation: X:-156.70, Y:22.14, Z:118.64 [[ 9.63624034e-01 -9.82540667e-02 2.48545489e-01 -1.56701120e+02] [ 9.00641361e-02 9.94957370e-01 4.41393712e-02 2.21377690e+01] [-2.51629038e-01 -2.01487242e-02 9.67614002e-01 1.18640764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96907232899997 meters Centerline goodness : 0.788923 Centerline is valid? [False, False] Translation: X:-156.71, Y:22.12, Z:118.65 [[ 9.63733528e-01 -1.12281027e-01 2.42096380e-01 -1.56708908e+02] [ 1.05399943e-01 9.93574742e-01 4.12320638e-02 2.21182812e+01] [-2.45170427e-01 -1.42197778e-02 9.69375706e-01 1.18645993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.999072329 meters Centerline goodness : 0.788943 Centerline is valid? [False, False] Translation: X:-156.72, Y:22.10, Z:118.65 [[ 9.64282693e-01 -1.21553251e-01 2.35337409e-01 -1.56719241e+02] [ 1.14687468e-01 9.92483579e-01 4.26981210e-02 2.21047548e+01] [-2.38758609e-01 -1.41828076e-02 9.70975373e-01 1.18652841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.029072329 meters Centerline goodness : 0.789426 Centerline is valid? [False, False] Translation: X:-156.73, Y:22.09, Z:118.66 [[ 9.65236796e-01 -1.29226312e-01 2.27197026e-01 -1.56727500e+02] [ 1.22125544e-01 9.91489481e-01 4.50994469e-02 2.20915105e+01] [-2.31091497e-01 -1.57850852e-02 9.72803963e-01 1.18659506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05907232899995 meters Centerline goodness : 0.790344 Centerline is valid? [False, False] Translation: X:-156.74, Y:22.08, Z:118.67 [[ 9.66107739e-01 -1.37078802e-01 2.18735545e-01 -1.56735286e+02] [ 1.29938865e-01 9.90418293e-01 4.67706769e-02 2.20787481e+01] [-2.23050954e-01 -1.67632644e-02 9.74662642e-01 1.18666622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.089072329 meters Centerline goodness : 0.791105 Centerline is valid? [False, False] Translation: X:-156.73, Y:22.07, Z:118.67 [[ 9.64833135e-01 -1.45112438e-01 2.19178926e-01 -1.56730721e+02] [ 1.39646668e-01 9.89380463e-01 4.03126285e-02 2.20703410e+01] [-2.22701211e-01 -8.28735307e-03 9.74851522e-01 1.18665974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11907232899995 meters Centerline goodness : 0.791084 Centerline is valid? [False, False] Translation: X:-156.74, Y:22.06, Z:118.67 [[ 9.65212967e-01 -1.52822084e-01 2.12154045e-01 -1.56741514e+02] [ 1.46862795e-01 9.88192621e-01 4.36653531e-02 2.20577299e+01] [-2.16322092e-01 -1.09888289e-02 9.76260210e-01 1.18674291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.149072329 meters Centerline goodness : 0.794053 Centerline is valid? [False, False] Translation: X:-156.75, Y:22.04, Z:118.68 [[ 9.64993311e-01 -1.62413765e-01 2.05936101e-01 -1.56753069e+02] [ 1.56516260e-01 9.86662243e-01 4.47244832e-02 2.20414673e+01] [-2.10453247e-01 -1.09264787e-02 9.77542860e-01 1.18682504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17907232899995 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-156.75, Y:22.04, Z:118.68 [[ 9.63583300e-01 -1.68721542e-01 2.07461479e-01 -1.56753016e+02] [ 1.64608167e-01 9.85662519e-01 3.70614325e-02 2.20390772e+01] [-2.10740066e-01 -1.56192380e-03 9.77540887e-01 1.18682189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.209072329 meters Centerline goodness : 0.789588 Centerline is valid? [False, False] Translation: X:-156.75, Y:22.04, Z:118.68 [[ 9.62883233e-01 -1.71640563e-01 2.08315619e-01 -1.56753329e+02] [ 1.68325589e-01 9.85156102e-01 3.36741924e-02 2.20365061e+01] [-2.11003261e-01 2.64053410e-03 9.77481791e-01 1.18682548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.23907232899995 meters Centerline goodness : 0.790888 Centerline is valid? [False, False] Translation: X:-156.76, Y:22.04, Z:118.68 [[ 9.61578741e-01 -1.76277327e-01 2.10458140e-01 -1.56756885e+02] [ 1.74498638e-01 9.84283211e-01 2.71437967e-02 2.20352164e+01] [-2.11935250e-01 1.06237610e-02 9.77225964e-01 1.18684521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.269072329 meters Centerline goodness : 0.791561 Centerline is valid? [False, False] Translation: X:-156.77, Y:22.02, Z:118.69 [[ 9.61751036e-01 -1.82732320e-01 2.04068234e-01 -1.56770161e+02] [ 1.80277652e-01 9.83135999e-01 3.07176839e-02 2.20210782e+01] [-2.06239941e-01 7.24617779e-03 9.78474619e-01 1.18692705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.29907232899996 meters Centerline goodness : 0.792563 Centerline is valid? [False, False] Translation: X:-156.77, Y:22.02, Z:118.69 [[ 9.60921574e-01 -1.85587683e-01 2.05394596e-01 -1.56771599e+02] [ 1.84045782e-01 9.82553349e-01 2.67594043e-02 2.20211802e+01] [-2.06777364e-01 1.20883203e-02 9.78313341e-01 1.18692415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.329072329 meters Centerline goodness : 0.790373 Centerline is valid? [False, False] Translation: X:-156.78, Y:22.01, Z:118.70 [[ 9.63200904e-01 -1.86896746e-01 1.93167349e-01 -1.56776591e+02] [ 1.85058420e-01 9.82337564e-01 2.76819891e-02 2.20129422e+01] [-1.94929217e-01 9.08392742e-03 9.80775246e-01 1.18702067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.35907232899996 meters Centerline goodness : 0.788728 Centerline is valid? [False, False] Translation: X:-156.78, Y:22.01, Z:118.70 [[ 9.62398614e-01 -1.89558572e-01 1.94567356e-01 -1.56778708e+02] [ 1.88459817e-01 9.81779801e-01 2.43170789e-02 2.20119705e+01] [-1.95631811e-01 1.32654053e-02 9.80587693e-01 1.18702962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.389072329 meters Centerline goodness : 0.789499 Centerline is valid? [False, False] Translation: X:-156.78, Y:22.01, Z:118.70 [[ 9.61592808e-01 -1.92065155e-01 1.96087349e-01 -1.56781380e+02] [ 1.91738776e-01 9.81224926e-01 2.08299503e-02 2.20117796e+01] [-1.96406502e-01 1.75676177e-02 9.80365169e-01 1.18704148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.41907232899996 meters Centerline goodness : 0.794645 Centerline is valid? [False, False] Translation: X:-156.79, Y:22.00, Z:118.71 [[ 9.64286460e-01 -1.91077465e-01 1.83414902e-01 -1.56786399e+02] [ 1.90837053e-01 9.81435322e-01 1.91292374e-02 2.20044088e+01] [-1.83665030e-01 1.65562949e-02 9.82849452e-01 1.18713911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.449072329 meters Centerline goodness : 0.790868 Centerline is valid? [False, False] Translation: X:-156.79, Y:22.00, Z:118.72 [[ 9.66864538e-01 -1.90079472e-01 1.70419365e-01 -1.56790690e+02] [ 1.89712521e-01 9.81663707e-01 1.85883214e-02 2.19990673e+01] [-1.70827764e-01 1.43582986e-02 9.85196282e-01 1.18722720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.47907232899996 meters Centerline goodness : 0.793311 Centerline is valid? [False, False] Translation: X:-156.80, Y:21.99, Z:118.73 [[ 9.68991692e-01 -1.90051821e-01 1.57909487e-01 -1.56796763e+02] [ 1.89226345e-01 9.81721839e-01 2.03867906e-02 2.19924497e+01] [-1.58897739e-01 1.01260044e-02 9.87243117e-01 1.18732116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.509072329 meters Centerline goodness : 0.788811 Centerline is valid? [False, False] Translation: X:-156.80, Y:21.99, Z:118.73 [[ 9.68206366e-01 -1.92671676e-01 1.59543279e-01 -1.56799826e+02] [ 1.92451344e-01 9.81159599e-01 1.69800174e-02 2.19927590e+01] [-1.59808988e-01 1.42641575e-02 9.87044893e-01 1.18733066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.53907232899996 meters Centerline goodness : 0.796021 Centerline is valid? [False, False] Translation: X:-156.80, Y:21.99, Z:118.73 [[ 9.67451539e-01 -1.95903405e-01 1.60185443e-01 -1.56799667e+02] [ 1.96171724e-01 9.80465351e-01 1.42950864e-02 2.19885097e+01] [-1.59856732e-01 1.75940510e-02 9.86983422e-01 1.18734606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.569072329 meters Centerline goodness : 0.792770 Centerline is valid? [False, False] Translation: X:-156.81, Y:21.98, Z:118.74 [[ 9.68164861e-01 -1.99449102e-01 1.51250975e-01 -1.56810771e+02] [ 1.98758478e-01 9.79847931e-01 1.98267510e-02 2.19769856e+01] [-1.52157382e-01 1.08668500e-02 9.88296536e-01 1.18744093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.59907232899997 meters Centerline goodness : 0.792179 Centerline is valid? [False, False] Translation: X:-156.82, Y:21.97, Z:118.75 [[ 9.69236248e-01 -2.02045137e-01 1.40566206e-01 -1.56819367e+02] [ 2.00694038e-01 9.79363072e-01 2.38720920e-02 2.19662203e+01] [-1.42488591e-01 5.07310251e-03 9.89783444e-01 1.18754606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.629072329 meters Centerline goodness : 0.785918 Centerline is valid? [False, False] Translation: X:-156.83, Y:21.95, Z:118.76 [[ 9.68969193e-01 -2.07709753e-01 1.33997615e-01 -1.56833068e+02] [ 2.05767068e-01 9.78190496e-01 2.83419717e-02 2.19538837e+01] [-1.36962097e-01 1.09798803e-04 9.90576283e-01 1.18761738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.65907232899997 meters Centerline goodness : 0.785658 Centerline is valid? [False, False] Translation: X:-156.84, Y:21.95, Z:118.77 [[ 9.70184960e-01 -2.09603310e-01 1.21686468e-01 -1.56837805e+02] [ 2.07532460e-01 9.77780394e-01 2.95935582e-02 2.19460218e+01] [-1.25185550e-01 -3.45733312e-03 9.92127323e-01 1.18769722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.689072329 meters Centerline goodness : 0.786269 Centerline is valid? [False, False] Translation: X:-156.84, Y:21.95, Z:118.77 [[ 9.69329972e-01 -2.12500397e-01 1.23462491e-01 -1.56840112e+02] [ 2.10966304e-01 9.77160105e-01 2.55215082e-02 2.19471588e+01] [-1.26065951e-01 1.30766243e-03 9.92021001e-01 1.18768541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71907232899997 meters Centerline goodness : 0.784629 Centerline is valid? [False, False] Translation: X:-156.85, Y:21.94, Z:118.78 [[ 9.69722070e-01 -2.16506541e-01 1.12977983e-01 -1.56847258e+02] [ 2.14863066e-01 9.76279871e-01 2.66735267e-02 2.19366927e+01] [-1.16073123e-01 -1.59111173e-03 9.93239396e-01 1.18775734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.749072329 meters Centerline goodness : 0.782890 Centerline is valid? [False, False] Translation: X:-156.85, Y:21.94, Z:118.77 [[ 9.68804376e-01 -2.19760185e-01 1.14558032e-01 -1.56848673e+02] [ 2.18623040e-01 9.75548696e-01 2.25545405e-02 2.19371344e+01] [-1.16713529e-01 3.19408762e-03 9.93160486e-01 1.18774755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.779072329 meters Centerline goodness : 0.781260 Centerline is valid? [False, False] Translation: X:-156.85, Y:21.93, Z:118.78 [[ 9.69912620e-01 -2.21073918e-01 1.01959957e-01 -1.56853531e+02] [ 2.20060505e-01 9.75255297e-01 2.12244966e-02 2.19287177e+01] [-1.04129171e-01 1.85145253e-03 9.94562058e-01 1.18783840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.80907232899995 meters Centerline goodness : 0.784568 Centerline is valid? [False, False] Translation: X:-156.85, Y:21.93, Z:118.78 [[ 9.68944026e-01 -2.24946324e-01 1.02696767e-01 -1.56851937e+02] [ 2.24353076e-01 9.74351814e-01 1.74424807e-02 2.19261138e+01] [-1.03986403e-01 6.13954795e-03 9.94559769e-01 1.18782891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.839072329 meters Centerline goodness : 0.785107 Centerline is valid? [False, False] Translation: X:-156.86, Y:21.92, Z:118.79 [[ 9.69055215e-01 -2.28559527e-01 9.32337595e-02 -1.56862172e+02] [ 2.27602436e-01 9.73529475e-01 2.09163390e-02 2.19159176e+01] [-9.55464414e-02 9.51143397e-04 9.95424519e-01 1.18790480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.86907232899995 meters Centerline goodness : 0.783787 Centerline is valid? [False, False] Translation: X:-156.86, Y:21.92, Z:118.79 [[ 9.68100040e-01 -2.31937487e-01 9.48014496e-02 -1.56863446e+02] [ 2.31375641e-01 9.72715433e-01 1.70293310e-02 2.19157896e+01] [-9.61645733e-02 5.44865021e-03 9.95350535e-01 1.18789626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.899072329 meters Centerline goodness : 0.783345 Centerline is valid? [False, False] Translation: X:-156.88, Y:21.90, Z:118.79 [[ 9.67352674e-01 -2.37583651e-01 8.82202489e-02 -1.56876969e+02] [ 2.36752103e-01 9.71365746e-01 1.99255825e-02 2.19030315e+01] [-9.04281205e-02 1.61126398e-03 9.95901681e-01 1.18794309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.92907232899995 meters Centerline goodness : 0.784254 Centerline is valid? [False, False] Translation: X:-156.89, Y:21.89, Z:118.80 [[ 9.66512704e-01 -2.43431123e-01 8.12064114e-02 -1.56890208e+02] [ 2.42391455e-01 9.69915835e-01 2.25755544e-02 2.18913343e+01] [-8.42589768e-02 -2.13581985e-03 9.96441600e-01 1.18800415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.959072329 meters Centerline goodness : 0.780133 Centerline is valid? [False, False] Translation: X:-156.89, Y:21.89, Z:118.80 [[ 9.65495255e-01 -2.46936914e-01 8.27107767e-02 -1.56890807e+02] [ 2.46239450e-01 9.69028780e-01 1.86911093e-02 2.18906096e+01] [-8.47646478e-02 2.32047880e-03 9.96398299e-01 1.18799315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.98907232899995 meters Centerline goodness : 0.777835 Centerline is valid? [False, False] Translation: X:-156.90, Y:21.88, Z:118.80 [[ 9.64091151e-01 -2.54429324e-01 7.61181448e-02 -1.56902165e+02] [ 2.53581340e-01 9.67091103e-01 2.07678496e-02 2.18767691e+01] [-7.88971306e-02 -7.19958919e-04 9.96882503e-01 1.18804116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.019072329 meters Centerline goodness : 0.777889 Centerline is valid? [False, False] Translation: X:-156.90, Y:21.88, Z:118.80 [[ 9.63048387e-01 -2.57917766e-01 7.75643642e-02 -1.56902633e+02] [ 2.57367256e-01 9.66160845e-01 1.71847768e-02 2.18752310e+01] [-7.93719109e-02 3.41275605e-03 9.96839231e-01 1.18803441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.04907232899996 meters Centerline goodness : 0.778939 Centerline is valid? [False, False] Translation: X:-156.92, Y:21.86, Z:118.81 [[ 9.61977221e-01 -2.63770238e-01 7.08878562e-02 -1.56915841e+02] [ 2.62977445e-01 9.64584976e-01 2.04618609e-02 2.18631432e+01] [-7.37745910e-02 -1.04193676e-03 9.97274398e-01 1.18809119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.079072329 meters Centerline goodness : 0.779037 Centerline is valid? [False, False] Translation: X:-156.93, Y:21.85, Z:118.81 [[ 9.60977790e-01 -2.69100642e-01 6.40822235e-02 -1.56928919e+02] [ 2.68084554e-01 9.63093369e-01 2.41212386e-02 2.18511504e+01] [-6.82082054e-02 -6.00052031e-03 9.97653063e-01 1.18814206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.10907232899996 meters Centerline goodness : 0.775053 Centerline is valid? [False, False] Translation: X:-156.94, Y:21.84, Z:118.82 [[ 9.58330242e-01 -2.79601568e-01 5.85329949e-02 -1.56939416e+02] [ 2.78706266e-01 9.60098429e-01 2.31046269e-02 2.18364430e+01] [-6.26575263e-02 -5.82835026e-03 9.98018068e-01 1.18817696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.139072329 meters Centerline goodness : 0.771766 Centerline is valid? [False, False] Translation: X:-156.94, Y:21.84, Z:118.82 [[ 9.56208403e-01 -2.86042590e-01 6.20090810e-02 -1.56942566e+02] [ 2.85611605e-01 9.58213615e-01 1.58958454e-02 2.18352752e+01] [-6.39648345e-02 2.51077219e-03 9.97948995e-01 1.18816850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.16907232899996 meters Centerline goodness : 0.772762 Centerline is valid? [False, False] Translation: X:-156.95, Y:21.82, Z:118.82 [[ 9.53573977e-01 -2.95776968e-01 5.66802940e-02 -1.56954660e+02] [ 2.95354318e-01 9.55255699e-01 1.58863377e-02 2.18178586e+01] [-5.88429866e-02 1.59197142e-03 9.98265981e-01 1.18822644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.199072329 meters Centerline goodness : 0.771830 Centerline is valid? [False, False] Translation: X:-156.96, Y:21.82, Z:118.82 [[ 9.51274320e-01 -3.02422172e-01 6.01497901e-02 -1.56957191e+02] [ 3.02458628e-01 9.53122658e-01 8.71655014e-03 2.18162980e+01] [-5.99662058e-02 9.90099265e-03 9.98151303e-01 1.18821861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.22907232899996 meters Centerline goodness : 0.768589 Centerline is valid? [False, False] Translation: X:-156.97, Y:21.80, Z:118.83 [[ 9.49769915e-01 -3.08285199e-01 5.38269892e-02 -1.56971222e+02] [ 3.08105382e-01 9.51278864e-01 1.18151008e-02 2.18019688e+01] [-5.48468979e-02 5.36275773e-03 9.98480375e-01 1.18828316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.259072329 meters Centerline goodness : 0.770620 Centerline is valid? [False, False] Translation: X:-156.98, Y:21.78, Z:118.84 [[ 9.46961725e-01 -3.17595501e-01 4.89549578e-02 -1.56984756e+02] [ 3.17384544e-01 9.48218041e-01 1.22310218e-02 2.17838251e+01] [-5.03044917e-02 3.95523738e-03 9.98726096e-01 1.18835084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.28907232899996 meters Centerline goodness : 0.766525 Centerline is valid? [False, False] Translation: X:-156.99, Y:21.77, Z:118.84 [[ 9.47621789e-01 -3.16819149e-01 4.04792816e-02 -1.56994976e+02] [ 3.16895373e-01 9.48448910e-01 4.68922629e-03 2.17729769e+01] [-3.98781671e-02 8.38408401e-03 9.99169374e-01 1.18843683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.319072329 meters Centerline goodness : 0.767750 Centerline is valid? [False, False] Translation: X:-157.01, Y:21.76, Z:118.85 [[ 9.46382584e-01 -3.21244009e-01 3.40924037e-02 -1.57010404e+02] [ 3.21122464e-01 9.46993649e-01 9.13191660e-03 2.17590186e+01] [-3.52188633e-02 2.30554986e-03 9.99376964e-01 1.18850628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.34907232899997 meters Centerline goodness : 0.765447 Centerline is valid? [False, False] Translation: X:-157.03, Y:21.74, Z:118.86 [[ 9.44084342e-01 -3.28409980e-01 2.91828662e-02 -1.57026303e+02] [ 3.28216914e-01 9.44534631e-01 1.13131687e-02 2.17413983e+01] [-3.12795853e-02 -1.10227515e-03 9.99510066e-01 1.18857414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.379072329 meters Centerline goodness : 0.765279 Centerline is valid? [False, False] Translation: X:-157.04, Y:21.74, Z:118.85 [[ 9.42499888e-01 -3.32394489e-01 3.47543346e-02 -1.57036242e+02] [ 3.32468091e-01 9.43106814e-01 3.80871731e-03 2.17374907e+01] [-3.40430464e-02 7.96499161e-03 9.99388628e-01 1.18854234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.40907232899997 meters Centerline goodness : 0.763404 Centerline is valid? [False, False] Translation: X:-157.05, Y:21.72, Z:118.86 [[ 9.41080759e-01 -3.37005947e-01 2.81779572e-02 -1.57051222e+02] [ 3.36932628e-01 9.41499253e-01 7.45383250e-03 2.17237472e+01] [-2.90415115e-02 2.47941483e-03 9.99575131e-01 1.18860573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.439072329 meters Centerline goodness : 0.761402 Centerline is valid? [False, False] Translation: X:-157.07, Y:21.71, Z:118.87 [[ 9.38404056e-01 -3.44750210e-01 2.33478241e-02 -1.57066510e+02] [ 3.44652348e-01 9.38694403e-01 8.22049717e-03 2.17069233e+01] [-2.47504899e-02 3.32734508e-04 9.99693604e-01 1.18866169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46907232899997 meters Centerline goodness : 0.762614 Centerline is valid? [False, False] Translation: X:-157.07, Y:21.70, Z:118.87 [[ 9.37091789e-01 -3.48179765e-01 2.50964052e-02 -1.57067250e+02] [ 3.48167808e-01 9.37418968e-01 4.98562123e-03 2.17047775e+01] [-2.52617387e-02 4.06577568e-03 9.99672603e-01 1.18866244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.499072329 meters Centerline goodness : 0.757664 Centerline is valid? [False, False] Translation: X:-157.09, Y:21.69, Z:118.87 [[ 9.34868917e-01 -3.54384291e-01 2.07817932e-02 -1.57086539e+02] [ 3.54302547e-01 9.35099842e-01 7.61516273e-03 2.16884632e+01] [-2.21317456e-02 2.43863305e-04 9.99755033e-01 1.18874348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.529072329 meters Centerline goodness : 0.757660 Centerline is valid? [False, False] Translation: X:-157.09, Y:21.68, Z:118.87 [[ 9.35491884e-01 -3.51609330e-01 3.50116251e-02 -1.57093255e+02] [ 3.51092194e-01 9.36123768e-01 2.01633862e-02 2.16764627e+01] [-3.98648491e-02 -6.57037587e-03 9.99183479e-01 1.18868790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55907232899995 meters Centerline goodness : 0.759066 Centerline is valid? [False, False] Translation: X:-157.10, Y:21.67, Z:118.86 [[ 9.35975964e-01 -3.48495804e-01 4.99966911e-02 -1.57099173e+02] [ 3.47315813e-01 9.37239145e-01 3.08951675e-02 2.16650990e+01] [-5.76256922e-02 -1.15524927e-02 9.98271416e-01 1.18861066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.589072329 meters Centerline goodness : 0.754931 Centerline is valid? [False, False] Translation: X:-157.10, Y:21.65, Z:118.85 [[ 9.36417522e-01 -3.44909971e-01 6.44929250e-02 -1.57103616e+02] [ 3.42907485e-01 9.38506567e-01 4.02477470e-02 2.16548602e+01] [-7.44088828e-02 -1.55735888e-02 9.97106204e-01 1.18853684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61907232899995 meters Centerline goodness : 0.754620 Centerline is valid? [False, False] Translation: X:-157.11, Y:21.64, Z:118.85 [[ 9.36643077e-01 -3.41254762e-01 7.90248862e-02 -1.57107586e+02] [ 3.38190686e-01 9.39760202e-01 4.97777285e-02 2.16427880e+01] [-9.12513299e-02 -1.98984843e-02 9.95629070e-01 1.18845620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.649072329 meters Centerline goodness : 0.754422 Centerline is valid? [False, False] Translation: X:-157.11, Y:21.63, Z:118.84 [[ 9.37251700e-01 -3.35890084e-01 9.34724639e-02 -1.57112147e+02] [ 3.31584339e-01 9.41593020e-01 5.87742403e-02 2.16334580e+01] [-1.07754704e-01 -2.40922514e-02 9.93885550e-01 1.18837453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67907232899995 meters Centerline goodness : 0.754105 Centerline is valid? [False, False] Translation: X:-157.12, Y:21.62, Z:118.83 [[ 9.37802381e-01 -3.29997100e-01 1.07836027e-01 -1.57117841e+02] [ 3.24171445e-01 9.43536095e-01 6.82093243e-02 2.16245978e+01] [-1.24256063e-01 -2.90095060e-02 9.91826033e-01 1.18831302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.709072329 meters Centerline goodness : 0.755056 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.37643460e-01 -3.28870747e-01 1.12555644e-01 -1.57131373e+02] [ 3.23535258e-01 9.44096317e-01 6.33015098e-02 2.16226083e+01] [-1.27081383e-01 -2.29385275e-02 9.91627020e-01 1.18828335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.73907232899995 meters Centerline goodness : 0.755906 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.38042515e-01 -3.27583867e-01 1.12982523e-01 -1.57132742e+02] [ 3.22292064e-01 9.44553932e-01 6.28147706e-02 2.16221921e+01] [-1.27295192e-01 -2.25095548e-02 9.91609426e-01 1.18830792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.769072329 meters Centerline goodness : 0.757946 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.39100176e-01 -3.24604543e-01 1.12795168e-01 -1.57131694e+02] [ 3.19530467e-01 9.45611569e-01 6.09839373e-02 2.16237227e+01] [-1.26456079e-01 -2.12285337e-02 9.91745033e-01 1.18831729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.79907232899996 meters Centerline goodness : 0.756605 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.39199345e-01 -3.24161654e-01 1.13242275e-01 -1.57132280e+02] [ 3.19074513e-01 9.45765334e-01 6.09867805e-02 2.16240035e+01] [-1.26870194e-01 -2.11460204e-02 9.91693904e-01 1.18831105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.829072329 meters Centerline goodness : 0.756130 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.39156278e-01 -3.24098634e-01 1.13778566e-01 -1.57133418e+02] [ 3.18907419e-01 9.45775198e-01 6.17035826e-02 2.16233297e+01] [-1.27606992e-01 -2.16644783e-02 9.91588174e-01 1.18830814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.85907232899996 meters Centerline goodness : 0.756130 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.39156278e-01 -3.24098634e-01 1.13778566e-01 -1.57133418e+02] [ 3.18907419e-01 9.45775198e-01 6.17035826e-02 2.16233297e+01] [-1.27606992e-01 -2.16644783e-02 9.91588174e-01 1.18830814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.889072329 meters Centerline goodness : 0.758112 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.38745661e-01 -3.25179498e-01 1.14082772e-01 -1.57132918e+02] [ 3.20062146e-01 9.45421774e-01 6.11383005e-02 2.16234235e+01] [-1.27737259e-01 -2.08797373e-02 9.91588236e-01 1.18828743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.91907232899996 meters Centerline goodness : 0.758454 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.38864823e-01 -3.24632510e-01 1.14658528e-01 -1.57134690e+02] [ 3.19293213e-01 9.45577735e-01 6.27263200e-02 2.16224691e+01] [-1.28781554e-01 -2.22818455e-02 9.91422630e-01 1.18828399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.949072329 meters Centerline goodness : 0.759848 Centerline is valid? [False, False] Translation: X:-157.13, Y:21.62, Z:118.83 [[ 9.39145336e-01 -3.23932465e-01 1.14340700e-01 -1.57133589e+02] [ 3.18619760e-01 9.45817322e-01 6.25383222e-02 2.16234801e+01] [-1.28403607e-01 -2.23013673e-02 9.91471211e-01 1.18826792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.97907232899996 meters Centerline goodness : 0.762195 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.39597198e-01 -3.22481411e-01 1.14729441e-01 -1.57135252e+02] [ 3.17072361e-01 9.46297750e-01 6.31322852e-02 2.16230394e+01] [-1.28927201e-01 -2.29413834e-02 9.91388657e-01 1.18828595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.009072329 meters Centerline goodness : 0.764040 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.39073513e-01 -3.23745435e-01 1.15454887e-01 -1.57135679e+02] [ 3.18425830e-01 9.45892491e-01 6.23889926e-02 2.16221103e+01] [-1.29406062e-01 -2.18240323e-02 9.91351493e-01 1.18828080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.03907232899996 meters Centerline goodness : 0.764337 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.38975731e-01 -3.23903028e-01 1.15807624e-01 -1.57136852e+02] [ 3.18511462e-01 9.45830634e-01 6.28876884e-02 2.16211607e+01] [-1.29903911e-01 -2.21639577e-02 9.91278837e-01 1.18828988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.069072329 meters Centerline goodness : 0.766863 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.39168821e-01 -3.23324791e-01 1.15857692e-01 -1.57136688e+02] [ 3.17838037e-01 9.46011378e-01 6.35724438e-02 2.16204768e+01] [-1.30157242e-01 -2.28812756e-02 9.91229307e-01 1.18827891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.09907232899997 meters Centerline goodness : 0.764987 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.38656000e-01 -3.24616133e-01 1.16401372e-01 -1.57137538e+02] [ 3.18942570e-01 9.45545033e-01 6.49632786e-02 2.16183734e+01] [-1.31150867e-01 -2.38528186e-02 9.91075422e-01 1.18826472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.129072329 meters Centerline goodness : 0.766664 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.83 [[ 9.38748603e-01 -3.24254156e-01 1.16663201e-01 -1.57137228e+02] [ 3.18562000e-01 9.45668348e-01 6.50355871e-02 2.16176780e+01] [-1.31412756e-01 -2.38876038e-02 9.91039893e-01 1.18825402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.15907232899997 meters Centerline goodness : 0.766066 Centerline is valid? [False, False] Translation: X:-157.14, Y:21.62, Z:118.82 [[ 9.37692691e-01 -3.27009641e-01 1.17461112e-01 -1.57136595e+02] [ 3.21558636e-01 9.44775849e-01 6.32347881e-02 2.16169659e+01] [-1.31652807e-01 -2.15241637e-02 9.91062182e-01 1.18823419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.189072329 meters Centerline goodness : 0.766067 Centerline is valid? [False, False] Translation: X:-157.15, Y:21.61, Z:118.82 [[ 9.37057874e-01 -3.27145450e-01 1.22058985e-01 -1.57147435e+02] [ 3.22268795e-01 9.44849868e-01 5.83228162e-02 2.16148078e+01] [-1.34407460e-01 -1.53160521e-02 9.90807778e-01 1.18820008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21907232899997 meters Centerline goodness : 0.763887 Centerline is valid? [False, False] Translation: X:-157.16, Y:21.61, Z:118.82 [[ 9.36759710e-01 -3.26216804e-01 1.26743215e-01 -1.57160687e+02] [ 3.22013975e-01 9.45254326e-01 5.29269134e-02 2.16113895e+01] [-1.37070221e-01 -8.76671348e-03 9.90522538e-01 1.18816808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.249072329 meters Centerline goodness : 0.763529 Centerline is valid? [False, False] Translation: X:-157.17, Y:21.61, Z:118.82 [[ 9.36231681e-01 -3.25945735e-01 1.31261636e-01 -1.57174206e+02] [ 3.22516056e-01 9.45386665e-01 4.71958325e-02 2.16076482e+01] [-1.39476281e-01 -1.85224839e-03 9.90223680e-01 1.18816173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.279072329 meters Centerline goodness : 0.761607 Centerline is valid? [False, False] Translation: X:-157.18, Y:21.61, Z:118.82 [[ 9.35001444e-01 -3.28344465e-01 1.34023176e-01 -1.57178686e+02] [ 3.25523771e-01 9.44552107e-01 4.30765827e-02 2.16091512e+01] [-1.40735831e-01 3.35106259e-03 9.90041512e-01 1.18815289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.30907232899995 meters Centerline goodness : 0.760526 Centerline is valid? [False, False] Translation: X:-157.19, Y:21.61, Z:118.81 [[ 9.33878474e-01 -3.30054870e-01 1.37603700e-01 -1.57185070e+02] [ 3.27896161e-01 9.43919353e-01 3.87345177e-02 2.16088390e+01] [-1.42671312e-01 8.94639263e-03 9.89729690e-01 1.18813117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.339072329 meters Centerline goodness : 0.765266 Centerline is valid? [False, False] Translation: X:-157.18, Y:21.61, Z:118.81 [[ 9.33051049e-01 -3.32501645e-01 1.37325877e-01 -1.57182961e+02] [ 3.30504982e-01 9.43048120e-01 3.77716907e-02 2.16073926e+01] [-1.42064059e-01 1.01439707e-02 9.89805487e-01 1.18811115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.36907232899995 meters Centerline goodness : 0.763390 Centerline is valid? [False, False] Translation: X:-157.19, Y:21.61, Z:118.81 [[ 9.31891246e-01 -3.34290376e-01 1.40814242e-01 -1.57189252e+02] [ 3.33027106e-01 9.42334287e-01 3.31517505e-02 2.16085963e+01] [-1.43776400e-01 1.60011333e-02 9.89480829e-01 1.18808741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.399072329 meters Centerline goodness : 0.762569 Centerline is valid? [False, False] Translation: X:-157.20, Y:21.61, Z:118.81 [[ 9.30729002e-01 -3.35917893e-01 1.44577641e-01 -1.57196242e+02] [ 3.35481697e-01 9.41626696e-01 2.81282148e-02 2.16106832e+01] [-1.45586937e-01 2.23234071e-02 9.89093580e-01 1.18805437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.42907232899995 meters Centerline goodness : 0.763753 Centerline is valid? [False, False] Translation: X:-157.20, Y:21.61, Z:118.81 [[ 9.30862366e-01 -3.35788619e-01 1.44018258e-01 -1.57195999e+02] [ 3.35197118e-01 9.41698844e-01 2.90891672e-02 2.16105272e+01] [-1.45389638e-01 2.11964940e-02 9.89147391e-01 1.18805534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.459072329 meters Centerline goodness : 0.765367 Centerline is valid? [False, False] Translation: X:-157.20, Y:21.61, Z:118.80 [[ 9.29458585e-01 -3.38473707e-01 1.46772915e-01 -1.57199424e+02] [ 3.38729534e-01 9.40577121e-01 2.40204525e-02 2.16133676e+01] [-1.46181537e-01 2.73903052e-02 9.88878521e-01 1.18802691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.48907232899995 meters Centerline goodness : 0.764190 Centerline is valid? [False, False] Translation: X:-157.21, Y:21.61, Z:118.80 [[ 9.28970882e-01 -3.37622388e-01 1.51737349e-01 -1.57212430e+02] [ 3.38898121e-01 9.40647587e-01 1.81708558e-02 2.16120820e+01] [-1.48866259e-01 3.45433065e-02 9.88253812e-01 1.18797896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.519072329 meters Centerline goodness : 0.766943 Centerline is valid? [False, False] Translation: X:-157.23, Y:21.61, Z:118.79 [[ 9.29128045e-01 -3.35158541e-01 1.56172434e-01 -1.57227530e+02] [ 3.37477321e-01 9.41254228e-01 1.22284731e-02 2.16117548e+01] [-1.51096441e-01 4.13428372e-02 9.87654107e-01 1.18793781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.54907232899996 meters Centerline goodness : 0.766600 Centerline is valid? [False, False] Translation: X:-157.24, Y:21.61, Z:118.79 [[ 9.29267058e-01 -3.33238989e-01 1.59419294e-01 -1.57239205e+02] [ 3.36300727e-01 9.41719109e-01 8.18180258e-03 2.16113331e+01] [-1.52854691e-01 4.60097450e-02 9.87177059e-01 1.18792373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.579072329 meters Centerline goodness : 0.766244 Centerline is valid? [False, False] Translation: X:-157.25, Y:21.61, Z:118.79 [[ 9.29501836e-01 -3.30628689e-01 1.63435022e-01 -1.57254078e+02] [ 3.34477696e-01 9.42394347e-01 4.19111388e-03 2.16085148e+01] [-1.55405943e-01 5.07697215e-02 9.86545198e-01 1.18791743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.60907232899996 meters Centerline goodness : 0.765338 Centerline is valid? [False, False] Translation: X:-157.27, Y:21.61, Z:118.79 [[ 9.30223589e-01 -3.27077176e-01 1.66446975e-01 -1.57268036e+02] [ 3.31472259e-01 9.43463844e-01 1.45496964e-03 2.16077330e+01] [-1.57512590e-01 5.38191078e-02 9.86049333e-01 1.18791588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.639072329 meters Centerline goodness : 0.765732 Centerline is valid? [False, False] Translation: X:-157.28, Y:21.61, Z:118.79 [[ 9.30602671e-01 -3.24174992e-01 1.69968359e-01 -1.57282069e+02] [ 3.29336045e-01 9.44209965e-01 -2.30481038e-03 2.16053346e+01] [-1.59738657e-01 5.81215699e-02 9.85446825e-01 1.18791128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.66907232899996 meters Centerline goodness : 0.763813 Centerline is valid? [False, False] Translation: X:-157.30, Y:21.60, Z:118.79 [[ 9.31052447e-01 -3.20960627e-01 1.73567328e-01 -1.57297022e+02] [ 3.26907200e-01 9.45037154e-01 -6.03817978e-03 2.16021218e+01] [-1.62089556e-01 6.23622713e-02 9.84803495e-01 1.18791076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.699072329 meters Centerline goodness : 0.762349 Centerline is valid? [False, False] Translation: X:-157.31, Y:21.60, Z:118.79 [[ 9.31101037e-01 -3.18708582e-01 1.77413919e-01 -1.57311361e+02] [ 3.25363399e-01 9.45546453e-01 -8.97577921e-03 2.15986497e+01] [-1.64892444e-01 6.60813531e-02 9.84095390e-01 1.18792997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.72907232899996 meters Centerline goodness : 0.761551 Centerline is valid? [False, False] Translation: X:-157.32, Y:21.59, Z:118.81 [[ 9.34939643e-01 -3.14406857e-01 1.64426862e-01 -1.57320383e+02] [ 3.20232583e-01 9.47291245e-01 -9.50740687e-03 2.15886781e+01] [-1.52770933e-01 6.15436902e-02 9.86343458e-01 1.18808415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.759072329 meters Centerline goodness : 0.762590 Centerline is valid? [False, False] Translation: X:-157.33, Y:21.58, Z:118.82 [[ 9.38201828e-01 -3.11164018e-01 1.51506713e-01 -1.57330154e+02] [ 3.16278656e-01 9.48610470e-01 -1.02950416e-02 2.15787031e+01] [-1.40517408e-01 5.75771666e-02 9.88402614e-01 1.18822938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.78907232899996 meters Centerline goodness : 0.762343 Centerline is valid? [False, False] Translation: X:-157.33, Y:21.58, Z:118.82 [[ 9.38199339e-01 -3.11171544e-01 1.51506667e-01 -1.57330904e+02] [ 3.16276220e-01 9.48612046e-01 -1.02244039e-02 2.15785323e+01] [-1.40539506e-01 5.75104850e-02 9.88403355e-01 1.18824322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.819072329 meters Centerline goodness : 0.762057 Centerline is valid? [False, False] Translation: X:-157.33, Y:21.58, Z:118.82 [[ 9.38781180e-01 -3.09712372e-01 1.50891162e-01 -1.57329886e+02] [ 3.14755422e-01 9.49118455e-01 -1.01579047e-02 2.15801882e+01] [-1.40067558e-01 5.70298612e-02 9.88498191e-01 1.18823668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.84907232899997 meters Centerline goodness : 0.760931 Centerline is valid? [False, False] Translation: X:-157.35, Y:21.57, Z:118.83 [[ 9.39589455e-01 -3.10787152e-01 1.43467775e-01 -1.57347756e+02] [ 3.14394375e-01 9.49288865e-01 -2.61282829e-03 2.15686896e+01] [-1.35380328e-01 4.75604474e-02 9.89651540e-01 1.18833668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.879072329 meters Centerline goodness : 0.759076 Centerline is valid? [False, False] Translation: X:-157.37, Y:21.56, Z:118.84 [[ 9.40188262e-01 -3.12199923e-01 1.36298347e-01 -1.57365804e+02] [ 3.14582449e-01 9.49220618e-01 4.25447733e-03 2.15568377e+01] [-1.30705449e-01 3.88770582e-02 9.90658700e-01 1.18842835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.90907232899997 meters Centerline goodness : 0.760073 Centerline is valid? [False, False] Translation: X:-157.38, Y:21.55, Z:118.85 [[ 9.42974095e-01 -3.08586417e-01 1.24796953e-01 -1.57375705e+02] [ 3.10982295e-01 9.50415659e-01 2.97403049e-04 2.15483480e+01] [-1.18700753e-01 3.85291994e-02 9.92182258e-01 1.18853769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.939072329 meters Centerline goodness : 0.760136 Centerline is valid? [False, False] Translation: X:-157.39, Y:21.54, Z:118.86 [[ 9.42680241e-01 -3.12017128e-01 1.18318531e-01 -1.57393192e+02] [ 3.13620015e-01 9.49533763e-01 5.30269298e-03 2.15372311e+01] [-1.14001971e-01 3.21083155e-02 9.92961533e-01 1.18862791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96907232899997 meters Centerline goodness : 0.759857 Centerline is valid? [False, False] Translation: X:-157.39, Y:21.54, Z:118.86 [[ 9.41648784e-01 -3.14739360e-01 1.19317659e-01 -1.57394987e+02] [ 3.16247176e-01 9.48654015e-01 6.57898531e-03 2.15353803e+01] [-1.15261842e-01 3.15387793e-02 9.92834333e-01 1.18861416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.999072329 meters Centerline goodness : 0.760993 Centerline is valid? [False, False] Translation: X:-157.40, Y:21.54, Z:118.86 [[ 9.40564115e-01 -3.16885634e-01 1.22158263e-01 -1.57400278e+02] [ 3.18948789e-01 9.47767810e-01 2.80142599e-03 2.15362329e+01] [-1.16665401e-01 3.63273095e-02 9.92506680e-01 1.18861110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.029072329 meters Centerline goodness : 0.759520 Centerline is valid? [False, False] Translation: X:-157.42, Y:21.52, Z:118.87 [[ 9.40963917e-01 -3.18544215e-01 1.14527241e-01 -1.57418015e+02] [ 3.19773869e-01 9.47460401e-01 7.96628935e-03 2.15249366e+01] [-1.11047641e-01 2.91268283e-02 9.93388166e-01 1.18869774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05907232899995 meters Centerline goodness : 0.759909 Centerline is valid? [False, False] Translation: X:-157.42, Y:21.52, Z:118.87 [[ 9.41512714e-01 -3.16983600e-01 1.14346873e-01 -1.57419604e+02] [ 3.17948815e-01 9.48053187e-01 1.01835819e-02 2.15233211e+01] [-1.11634946e-01 2.67684808e-02 9.93388689e-01 1.18871739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.089072329 meters Centerline goodness : 0.759673 Centerline is valid? [False, False] Translation: X:-157.42, Y:21.52, Z:118.87 [[ 9.41675337e-01 -3.16412156e-01 1.14590168e-01 -1.57421310e+02] [ 3.17304286e-01 9.48261650e-01 1.08551429e-02 2.15221785e+01] [-1.12096161e-01 2.61379312e-02 9.93353542e-01 1.18873215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11907232899995 meters Centerline goodness : 0.759723 Centerline is valid? [False, False] Translation: X:-157.43, Y:21.52, Z:118.87 [[ 9.40703583e-01 -3.18342052e-01 1.17196873e-01 -1.57426549e+02] [ 3.19747092e-01 9.47476186e-01 7.11860888e-03 2.15230692e+01] [-1.13307399e-01 3.07768584e-02 9.93083188e-01 1.18873271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.149072329 meters Centerline goodness : 0.759546 Centerline is valid? [False, False] Translation: X:-157.44, Y:21.51, Z:118.88 [[ 9.40573877e-01 -3.21807611e-01 1.08446505e-01 -1.57440461e+02] [ 3.22682058e-01 9.46455949e-01 9.87042761e-03 2.15115090e+01] [-1.05816218e-01 2.57098749e-02 9.94053283e-01 1.18883315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17907232899995 meters Centerline goodness : 0.759998 Centerline is valid? [False, False] Translation: X:-157.44, Y:21.51, Z:118.88 [[ 9.39408626e-01 -3.24349215e-01 1.10946022e-01 -1.57444482e+02] [ 3.25704092e-01 9.45451468e-01 6.19407533e-03 2.15117950e+01] [-1.06903122e-01 3.03168054e-02 9.93807131e-01 1.18883454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.209072329 meters Centerline goodness : 0.759533 Centerline is valid? [False, False] Translation: X:-157.45, Y:21.50, Z:118.88 [[ 9.38836379e-01 -3.20674419e-01 1.25515619e-01 -1.57448820e+02] [ 3.21684333e-01 9.46761870e-01 1.26945052e-02 2.15039686e+01] [-1.22904206e-01 2.84583450e-02 9.92010423e-01 1.18876743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.23907232899995 meters Centerline goodness : 0.757971 Centerline is valid? [False, False] Translation: X:-157.45, Y:21.50, Z:118.88 [[ 9.38646295e-01 -3.21046097e-01 1.25986255e-01 -1.57450810e+02] [ 3.21882202e-01 9.46672864e-01 1.42245013e-02 2.15021660e+01] [-1.23834490e-01 2.72009578e-02 9.91930001e-01 1.18877635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.269072329 meters Centerline goodness : 0.758012 Centerline is valid? [False, False] Translation: X:-157.45, Y:21.50, Z:118.88 [[ 9.38650469e-01 -3.21071893e-01 1.25889381e-01 -1.57450021e+02] [ 3.21845320e-01 9.46678032e-01 1.47069357e-02 2.15021171e+01] [-1.23898695e-01 2.67122358e-02 9.91935265e-01 1.18875507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.29907232899996 meters Centerline goodness : 0.756902 Centerline is valid? [False, False] Translation: X:-157.45, Y:21.50, Z:118.87 [[ 9.38304672e-01 -3.22019349e-01 1.26047140e-01 -1.57450189e+02] [ 3.22571316e-01 9.46400067e-01 1.65728490e-02 2.15016827e+01] [-1.24627799e-01 2.51088100e-02 9.91885810e-01 1.18872228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.329072329 meters Centerline goodness : 0.756133 Centerline is valid? [False, False] Translation: X:-157.45, Y:21.50, Z:118.87 [[ 9.37046414e-01 -3.24698473e-01 1.28510390e-01 -1.57453759e+02] [ 3.25846504e-01 9.45338970e-01 1.25812523e-02 2.15029240e+01] [-1.25570993e-01 3.00854441e-02 9.91628354e-01 1.18871608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.35907232899996 meters Centerline goodness : 0.758751 Centerline is valid? [False, False] Translation: X:-157.46, Y:21.50, Z:118.87 [[ 9.36706738e-01 -3.25441222e-01 1.29106536e-01 -1.57456273e+02] [ 3.26486945e-01 9.45104145e-01 1.35804602e-02 2.15010340e+01] [-1.26438764e-01 2.94306898e-02 9.91537732e-01 1.18873811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.389072329 meters Centerline goodness : 0.755895 Centerline is valid? [False, False] Translation: X:-157.46, Y:21.50, Z:118.87 [[ 9.36581673e-01 -3.25551688e-01 1.29733838e-01 -1.57458021e+02] [ 3.26524542e-01 9.45080491e-01 1.43034923e-02 2.15000191e+01] [-1.27265446e-01 2.89648934e-02 9.91445682e-01 1.18874376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.41907232899996 meters Centerline goodness : 0.757561 Centerline is valid? [False, False] Translation: X:-157.46, Y:21.50, Z:118.88 [[ 9.36927289e-01 -3.24593124e-01 1.29640112e-01 -1.57459689e+02] [ 3.25359909e-01 9.45457952e-01 1.58174309e-02 2.15008431e+01] [-1.27703504e-01 2.73599123e-02 9.91434945e-01 1.18875647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.449072329 meters Centerline goodness : 0.756264 Centerline is valid? [False, False] Translation: X:-157.46, Y:21.50, Z:118.88 [[ 9.36990024e-01 -3.24427026e-01 1.29602472e-01 -1.57460909e+02] [ 3.25170149e-01 9.45520478e-01 1.59812596e-02 2.15006098e+01] [-1.27726544e-01 2.71685743e-02 9.91437239e-01 1.18877867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.47907232899996 meters Centerline goodness : 0.756670 Centerline is valid? [False, False] Translation: X:-157.46, Y:21.50, Z:118.88 [[ 9.37125276e-01 -3.23840786e-01 1.30089821e-01 -1.57461337e+02] [ 3.24788498e-01 9.45676141e-01 1.44591979e-02 2.15012165e+01] [-1.27705318e-01 2.87015977e-02 9.91396777e-01 1.18879215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.509072329 meters Centerline goodness : 0.757609 Centerline is valid? [False, False] Translation: X:-157.47, Y:21.50, Z:118.88 [[ 9.36307695e-01 -3.24627140e-01 1.33959400e-01 -1.57470139e+02] [ 3.26309820e-01 9.45211899e-01 9.81671104e-03 2.15019577e+01] [-1.29806790e-01 3.45208056e-02 9.90938198e-01 1.18876948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.53907232899996 meters Centerline goodness : 0.758239 Centerline is valid? [False, False] Translation: X:-157.47, Y:21.50, Z:118.88 [[ 9.36153759e-01 -3.24900106e-01 1.34372840e-01 -1.57471676e+02] [ 3.26537890e-01 9.45128110e-01 1.02889040e-02 2.15010454e+01] [-1.30342415e-01 3.42458277e-02 9.90877428e-01 1.18878258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.569072329 meters Centerline goodness : 0.758925 Centerline is valid? [False, False] Translation: X:-157.48, Y:21.50, Z:118.88 [[ 9.34932918e-01 -3.27373591e-01 1.36846521e-01 -1.57475583e+02] [ 3.29654717e-01 9.44080553e-01 6.29898692e-03 2.15024703e+01] [-1.31256261e-01 3.92229710e-02 9.90572235e-01 1.18877778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.59907232899997 meters Centerline goodness : 0.756728 Centerline is valid? [False, False] Translation: X:-157.49, Y:21.49, Z:118.89 [[ 9.37789535e-01 -3.23761219e-01 1.25417149e-01 -1.57486757e+02] [ 3.26092653e-01 9.45335597e-01 2.04698961e-03 2.14947682e+01] [-1.19224031e-01 3.89779653e-02 9.92101985e-01 1.18887297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.629072329 meters Centerline goodness : 0.754852 Centerline is valid? [False, False] Translation: X:-157.50, Y:21.49, Z:118.90 [[ 9.37956126e-01 -3.26129086e-01 1.17805453e-01 -1.57502448e+02] [ 3.27501196e-01 9.44816326e-01 8.06695333e-03 2.14850393e+01] [-1.13935384e-01 3.10149786e-02 9.93003927e-01 1.18895247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.65907232899997 meters Centerline goodness : 0.756078 Centerline is valid? [False, False] Translation: X:-157.51, Y:21.49, Z:118.90 [[ 9.36872266e-01 -3.28352687e-01 1.20228410e-01 -1.57506999e+02] [ 3.30259332e-01 9.43880518e-01 4.28264381e-03 2.14866387e+01] [-1.14887471e-01 3.56942641e-02 9.92737019e-01 1.18895286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.689072329 meters Centerline goodness : 0.754307 Centerline is valid? [False, False] Translation: X:-157.51, Y:21.49, Z:118.90 [[ 9.37113226e-01 -3.27570644e-01 1.20483507e-01 -1.57508208e+02] [ 3.29406526e-01 9.44175367e-01 4.92117612e-03 2.14858510e+01] [-1.15369593e-01 3.50763544e-02 9.92703131e-01 1.18896375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71907232899997 meters Centerline goodness : 0.755580 Centerline is valid? [False, False] Translation: X:-157.51, Y:21.49, Z:118.90 [[ 9.37393002e-01 -3.26718991e-01 1.20619485e-01 -1.57510519e+02] [ 3.28349370e-01 9.44532804e-01 6.66892871e-03 2.14853934e+01] [-1.16107926e-01 3.33539246e-02 9.92676415e-01 1.18898280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.749072329 meters Centerline goodness : 0.755580 Centerline is valid? [False, False] Translation: X:-157.51, Y:21.49, Z:118.90 [[ 9.37393002e-01 -3.26718991e-01 1.20619485e-01 -1.57510519e+02] [ 3.28349370e-01 9.44532804e-01 6.66892871e-03 2.14853934e+01] [-1.16107926e-01 3.33539246e-02 9.92676415e-01 1.18898280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.779072329 meters Centerline goodness : 0.754178 Centerline is valid? [False, False] Translation: X:-157.51, Y:21.49, Z:118.90 [[ 9.37444369e-01 -3.26391554e-01 1.21105775e-01 -1.57512407e+02] [ 3.28039893e-01 9.44640568e-01 6.63512855e-03 2.14862237e+01] [-1.16567078e-01 3.35074615e-02 9.92617432e-01 1.18898464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.80907232899995 meters Centerline goodness : 0.753842 Centerline is valid? [False, False] Translation: X:-157.52, Y:21.49, Z:118.90 [[ 9.36529424e-01 -3.27709062e-01 1.24576920e-01 -1.57520215e+02] [ 3.30010639e-01 9.43974454e-01 2.28219974e-03 2.14878993e+01] [-1.18345328e-01 3.89743619e-02 9.92207328e-01 1.18897265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.839072329 meters Centerline goodness : 0.754557 Centerline is valid? [False, False] Translation: X:-157.52, Y:21.49, Z:118.90 [[ 9.36500307e-01 -3.27594375e-01 1.25096365e-01 -1.57522325e+02] [ 3.29843101e-01 9.44031351e-01 2.88733631e-03 2.14870197e+01] [-1.19040766e-01 3.85581816e-02 9.92140395e-01 1.18899092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.86907232899995 meters Centerline goodness : 0.754348 Centerline is valid? [False, False] Translation: X:-157.53, Y:21.49, Z:118.90 [[ 9.35989160e-01 -3.27670570e-01 1.28671250e-01 -1.57531912e+02] [ 3.30591197e-01 9.43772978e-01 -1.42337182e-03 2.14877392e+01] [-1.20970052e-01 4.38698431e-02 9.91686283e-01 1.18897766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.899072329 meters Centerline goodness : 0.755776 Centerline is valid? [False, False] Translation: X:-157.53, Y:21.49, Z:118.90 [[ 9.36561795e-01 -3.26071952e-01 1.28565491e-01 -1.57534239e+02] [ 3.28707375e-01 9.44431513e-01 7.61149569e-04 2.14873762e+01] [-1.21669491e-01 4.15475616e-02 9.91700729e-01 1.18900196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.92907232899995 meters Centerline goodness : 0.755150 Centerline is valid? [False, False] Translation: X:-157.54, Y:21.49, Z:118.90 [[ 9.36652181e-01 -3.25556156e-01 1.29212545e-01 -1.57536940e+02] [ 3.28191164e-01 9.44610848e-01 9.51199504e-04 2.14883244e+01] [-1.22365240e-01 4.15154724e-02 9.91616465e-01 1.18900818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.959072329 meters Centerline goodness : 0.755896 Centerline is valid? [False, False] Translation: X:-157.55, Y:21.48, Z:118.91 [[ 9.39675370e-01 -3.20713094e-01 1.18967688e-01 -1.57551434e+02] [ 3.23394219e-01 9.46258107e-01 -3.43132890e-03 2.14793535e+01] [-1.11473667e-01 4.16977979e-02 9.92892197e-01 1.18911551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.98907232899995 meters Centerline goodness : 0.756723 Centerline is valid? [False, False] Translation: X:-157.56, Y:21.47, Z:118.91 [[ 9.39774930e-01 -3.14795343e-01 1.33142682e-01 -1.57557874e+02] [ 3.16812710e-01 9.48467114e-01 6.31193895e-03 2.14709819e+01] [-1.28268424e-01 3.62494919e-02 9.91076781e-01 1.18906126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.019072329 meters Centerline goodness : 0.757655 Centerline is valid? [False, False] Translation: X:-157.57, Y:21.46, Z:118.92 [[ 9.42432628e-01 -3.10578505e-01 1.23942461e-01 -1.57570357e+02] [ 3.12942977e-01 9.49771827e-01 4.11813420e-04 2.14626916e+01] [-1.17844958e-01 3.83988163e-02 9.92289321e-01 1.18915309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.04907232899996 meters Centerline goodness : 0.760992 Centerline is valid? [False, False] Translation: X:-157.58, Y:21.46, Z:118.92 [[ 9.41335429e-01 -3.12859865e-01 1.26516067e-01 -1.57575242e+02] [ 3.15794757e-01 9.48821702e-01 -3.32419249e-03 2.14640171e+01] [-1.19001183e-01 4.30822907e-02 9.91958988e-01 1.18915545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.079072329 meters Centerline goodness : 0.758385 Centerline is valid? [False, False] Translation: X:-157.58, Y:21.46, Z:118.92 [[ 9.40507098e-01 -3.14101209e-01 1.29563996e-01 -1.57582449e+02] [ 3.17608956e-01 9.48197260e-01 -6.81957843e-03 2.14643696e+01] [-1.20710188e-01 4.75645473e-02 9.91547611e-01 1.18915880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.10907232899996 meters Centerline goodness : 0.758422 Centerline is valid? [False, False] Translation: X:-157.58, Y:21.46, Z:118.92 [[ 9.40186093e-01 -3.14856680e-01 1.30059149e-01 -1.57584621e+02] [ 3.18222200e-01 9.48000714e-01 -5.41083942e-03 2.14625292e+01] [-1.21592527e-01 4.64749045e-02 9.91491473e-01 1.18916988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.139072329 meters Centerline goodness : 0.757237 Centerline is valid? [False, False] Translation: X:-157.59, Y:21.46, Z:118.92 [[ 9.39317853e-01 -3.16995801e-01 1.31132117e-01 -1.57588274e+02] [ 3.20213183e-01 9.47338450e-01 -3.65775364e-03 2.14601364e+01] [-1.23067004e-01 4.54260259e-02 9.91358154e-01 1.18918612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.16907232899996 meters Centerline goodness : 0.759539 Centerline is valid? [False, False] Translation: X:-157.59, Y:21.45, Z:118.93 [[ 9.41732880e-01 -3.14382792e-01 1.19593656e-01 -1.57594028e+02] [ 3.17395404e-01 9.48270761e-01 -6.53611985e-03 2.14532170e+01] [-1.11352324e-01 4.41137557e-02 9.92801408e-01 1.18930019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.199072329 meters Centerline goodness : 0.760259 Centerline is valid? [False, False] Translation: X:-157.60, Y:21.45, Z:118.93 [[ 9.41414061e-01 -3.15071608e-01 1.20289017e-01 -1.57596542e+02] [ 3.17948565e-01 9.48094687e-01 -5.01734817e-03 2.14519329e+01] [-1.12464554e-01 4.29691226e-02 9.92726235e-01 1.18930693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.22907232899996 meters Centerline goodness : 0.759816 Centerline is valid? [False, False] Translation: X:-157.61, Y:21.44, Z:118.94 [[ 9.44548122e-01 -3.10222297e-01 1.07661372e-01 -1.57606865e+02] [ 3.12672229e-01 9.49840560e-01 -6.24408006e-03 2.14437364e+01] [-1.00324085e-01 3.95605551e-02 9.94168014e-01 1.18941681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.259072329 meters Centerline goodness : 0.762098 Centerline is valid? [False, False] Translation: X:-157.62, Y:21.44, Z:118.94 [[ 9.43878758e-01 -3.10891401e-01 1.11532175e-01 -1.57616141e+02] [ 3.13939565e-01 9.49385498e-01 -1.04463028e-02 2.14435130e+01] [-1.02639364e-01 4.48744059e-02 9.93705917e-01 1.18939807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.28907232899996 meters Centerline goodness : 0.761507 Centerline is valid? [False, False] Translation: X:-157.63, Y:21.44, Z:118.94 [[ 9.43389874e-01 -3.11171797e-01 1.14837529e-01 -1.57625178e+02] [ 3.14730714e-01 9.49080434e-01 -1.38169518e-02 2.14423963e+01] [-1.04690606e-01 4.91776699e-02 9.93288193e-01 1.18939915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.319072329 meters Centerline goodness : 0.763013 Centerline is valid? [False, False] Translation: X:-157.64, Y:21.43, Z:118.95 [[ 9.43229724e-01 -3.14113452e-01 1.07937144e-01 -1.57642255e+02] [ 3.16788635e-01 9.48461113e-01 -8.15346573e-03 2.14317794e+01] [-9.98130705e-02 4.18838517e-02 9.94124285e-01 1.18948718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.34907232899997 meters Centerline goodness : 0.762331 Centerline is valid? [False, False] Translation: X:-157.66, Y:21.42, Z:118.96 [[ 9.43562168e-01 -3.15653056e-01 1.00267563e-01 -1.57659487e+02] [ 3.17427609e-01 9.48280712e-01 -1.84484919e-03 2.14215418e+01] [-9.44994634e-02 3.35684226e-02 9.94958799e-01 1.18957374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.379072329 meters Centerline goodness : 0.762944 Centerline is valid? [False, False] Translation: X:-157.66, Y:21.42, Z:118.96 [[ 9.43157426e-01 -3.16361953e-01 1.01829194e-01 -1.57664325e+02] [ 3.18398772e-01 9.47948510e-01 -3.98043485e-03 2.14232225e+01] [-9.52695744e-02 3.61764670e-02 9.94793934e-01 1.18958227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.40907232899997 meters Centerline goodness : 0.760068 Centerline is valid? [False, False] Translation: X:-157.67, Y:21.42, Z:118.96 [[ 9.43308017e-01 -3.15653792e-01 1.02628791e-01 -1.57667478e+02] [ 3.17698730e-01 9.48184100e-01 -3.79866426e-03 2.14240162e+01] [-9.61119246e-02 3.61883469e-02 9.94712472e-01 1.18958603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.439072329 meters Centerline goodness : 0.762464 Centerline is valid? [False, False] Translation: X:-157.67, Y:21.43, Z:118.96 [[ 9.42286735e-01 -3.17859961e-01 1.05170124e-01 -1.57672398e+02] [ 3.20378614e-01 9.47259597e-01 -7.53654258e-03 2.14251456e+01] [-9.72278446e-02 4.07958428e-02 9.94425686e-01 1.18958782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46907232899997 meters Centerline goodness : 0.761178 Centerline is valid? [False, False] Translation: X:-157.68, Y:21.42, Z:118.96 [[ 9.41719003e-01 -3.18260694e-01 1.08974535e-01 -1.57682088e+02] [ 3.21300664e-01 9.46912134e-01 -1.11037695e-02 2.14235098e+01] [-9.96554163e-02 4.54702213e-02 9.93982523e-01 1.18958296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.499072329 meters Centerline goodness : 0.759596 Centerline is valid? [False, False] Translation: X:-157.69, Y:21.41, Z:118.95 [[ 9.41508039e-01 -3.13377936e-01 1.23922882e-01 -1.57687879e+02] [ 3.16235062e-01 9.48674090e-01 -3.58549206e-03 2.14143772e+01] [-1.16438814e-01 4.25645300e-02 9.92285374e-01 1.18952812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.529072329 meters Centerline goodness : 0.758949 Centerline is valid? [False, False] Translation: X:-157.69, Y:21.41, Z:118.95 [[ 9.41622053e-01 -3.12986119e-01 1.24046760e-01 -1.57689158e+02] [ 3.15718113e-01 9.48849732e-01 -2.50182725e-03 2.14130646e+01] [-1.16918698e-01 4.15195848e-02 9.92273220e-01 1.18954069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55907232899995 meters Centerline goodness : 0.758578 Centerline is valid? [False, False] Translation: X:-157.69, Y:21.41, Z:118.95 [[ 9.41543274e-01 -3.13142879e-01 1.24248944e-01 -1.57691251e+02] [ 3.15606062e-01 9.48890295e-01 -1.49112789e-04 2.14119477e+01] [-1.17851923e-01 3.93541161e-02 9.92251066e-01 1.18954532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.589072329 meters Centerline goodness : 0.756908 Centerline is valid? [False, False] Translation: X:-157.69, Y:21.41, Z:118.95 [[ 9.40967614e-01 -3.14633173e-01 1.24843567e-01 -1.57693681e+02] [ 3.16774875e-01 9.48496525e-01 2.83213093e-03 2.14115223e+01] [-1.19304771e-01 3.68823618e-02 9.92172396e-01 1.18952424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61907232899995 meters Centerline goodness : 0.755252 Centerline is valid? [False, False] Translation: X:-157.69, Y:21.41, Z:118.95 [[ 9.40972619e-01 -3.14483839e-01 1.25181648e-01 -1.57693862e+02] [ 3.16630953e-01 9.48544428e-01 2.88250498e-03 2.14112407e+01] [-1.19646856e-01 3.69240262e-02 9.92129652e-01 1.18951532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.649072329 meters Centerline goodness : 0.754618 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.95 [[ 9.40598827e-01 -3.15365961e-01 1.25770253e-01 -1.57696155e+02] [ 3.17399453e-01 9.48283238e-01 4.06058929e-03 2.14093317e+01] [-1.20546394e-01 3.61000240e-02 9.92051085e-01 1.18953100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67907232899995 meters Centerline goodness : 0.755539 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.95 [[ 9.40707087e-01 -3.14793609e-01 1.26392884e-01 -1.57696810e+02] [ 3.16940298e-01 9.48439812e-01 3.28188150e-03 2.14106770e+01] [-1.20909158e-01 3.69717091e-02 9.91974832e-01 1.18952601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.709072329 meters Centerline goodness : 0.752607 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.95 [[ 9.41068026e-01 -3.13578891e-01 1.26725095e-01 -1.57699329e+02] [ 3.15559955e-01 9.48894226e-01 4.65429184e-03 2.14105648e+01] [-1.21708199e-01 3.56093602e-02 9.91926957e-01 1.18954795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.73907232899995 meters Centerline goodness : 0.753135 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.96 [[ 9.41016315e-01 -3.13569503e-01 1.27131673e-01 -1.57701393e+02] [ 3.15471172e-01 9.48919695e-01 5.41767052e-03 2.14098960e+01] [-1.22336565e-01 3.50082616e-02 9.91871053e-01 1.18956517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.769072329 meters Centerline goodness : 0.751229 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.96 [[ 9.41002960e-01 -3.13434528e-01 1.27562631e-01 -1.57702846e+02] [ 3.15462075e-01 9.48927447e-01 4.51449148e-03 2.14096339e+01] [-1.22462680e-01 3.59930225e-02 9.91820243e-01 1.18959440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.79907232899996 meters Centerline goodness : 0.753682 Centerline is valid? [False, False] Translation: X:-157.70, Y:21.41, Z:118.96 [[ 9.41251844e-01 -3.12538106e-01 1.27925366e-01 -1.57703630e+02] [ 3.14599565e-01 9.49214801e-01 4.28667752e-03 2.14093059e+01] [-1.22768401e-01 3.62104216e-02 9.91774533e-01 1.18960400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.829072329 meters Centerline goodness : 0.750761 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.41442756e-01 -3.11814739e-01 1.28285248e-01 -1.57705788e+02] [ 3.13635693e-01 9.49522651e-01 6.27590688e-03 2.14088529e+01] [-1.23766669e-01 3.43264255e-02 9.91717454e-01 1.18960977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.85907232899996 meters Centerline goodness : 0.750404 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.41599773e-01 -3.11242083e-01 1.28523277e-01 -1.57707920e+02] [ 3.12836335e-01 9.49772410e-01 8.11153366e-03 2.14081644e+01] [-1.24592513e-01 3.25689328e-02 9.91673318e-01 1.18962172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.889072329 meters Centerline goodness : 0.749801 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.41782520e-01 -3.10727575e-01 1.28429198e-01 -1.57706820e+02] [ 3.12327826e-01 9.49940669e-01 8.00341904e-03 2.14085213e+01] [-1.24487001e-01 3.25745322e-02 9.91686385e-01 1.18960203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.91907232899996 meters Centerline goodness : 0.750130 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.40793901e-01 -3.12417876e-01 1.31536709e-01 -1.57712861e+02] [ 3.14616510e-01 9.49209294e-01 4.26236623e-03 2.14074177e+01] [-1.26187506e-01 3.73736121e-02 9.91302137e-01 1.18959516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.949072329 meters Centerline goodness : 0.749095 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.40636587e-01 -3.12809198e-01 1.31731611e-01 -1.57712416e+02] [ 3.15103286e-01 9.49050562e-01 3.59872962e-03 2.14074627e+01] [-1.26145675e-01 3.81239666e-02 9.91278887e-01 1.18958669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.97907232899996 meters Centerline goodness : 0.749938 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.40658888e-01 -3.12632105e-01 1.31992510e-01 -1.57714123e+02] [ 3.14811405e-01 9.49143268e-01 4.56474031e-03 2.14064703e+01] [-1.26706887e-01 3.72588840e-02 9.91240203e-01 1.18960371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.009072329 meters Centerline goodness : 0.749218 Centerline is valid? [False, False] Translation: X:-157.71, Y:21.41, Z:118.96 [[ 9.40654465e-01 -3.12582466e-01 1.32141511e-01 -1.57713734e+02] [ 3.14760293e-01 9.49159966e-01 4.61692514e-03 2.14061879e+01] [-1.26866602e-01 3.72499695e-02 9.91220109e-01 1.18959042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.03907232899996 meters Centerline goodness : 0.748044 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.41, Z:118.96 [[ 9.40639585e-01 -3.12412253e-01 1.32648991e-01 -1.57715778e+02] [ 3.14493064e-01 9.49243785e-01 5.50900550e-03 2.14051492e+01] [-1.27637311e-01 3.65351990e-02 9.91147767e-01 1.18960652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.069072329 meters Centerline goodness : 0.747684 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.40655395e-01 -3.12348236e-01 1.32687628e-01 -1.57715444e+02] [ 3.14462482e-01 9.49255351e-01 5.25599154e-03 2.14049473e+01] [-1.27596141e-01 3.67812041e-02 9.91143969e-01 1.18960104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.09907232899997 meters Centerline goodness : 0.746565 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.40654639e-01 -3.12237198e-01 1.32954059e-01 -1.57716633e+02] [ 3.14226284e-01 9.49327248e-01 6.29441538e-03 2.14034520e+01] [-1.28182261e-01 3.58567887e-02 9.91102214e-01 1.18960929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.129072329 meters Centerline goodness : 0.745172 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.41185491e-01 -3.10908080e-01 1.32310379e-01 -1.57717818e+02] [ 3.12486362e-01 9.49877711e-01 9.19825911e-03 2.14022860e+01] [-1.28538493e-01 3.26879211e-02 9.91165655e-01 1.18962764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.15907232899997 meters Centerline goodness : 0.744504 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.41648102e-01 -3.09563427e-01 1.32171620e-01 -1.57718664e+02] [ 3.10915997e-01 9.50375970e-01 1.08055276e-02 2.14017239e+01] [-1.28957727e-01 3.09192663e-02 9.91167949e-01 1.18963339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.189072329 meters Centerline goodness : 0.745336 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.41549647e-01 -3.09727548e-01 1.32488143e-01 -1.57720158e+02] [ 3.10938197e-01 9.50354622e-01 1.19803747e-02 2.14012756e+01] [-1.29621371e-01 2.99155067e-02 9.91112185e-01 1.18963744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21907232899997 meters Centerline goodness : 0.744171 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.96 [[ 9.41616077e-01 -3.09554647e-01 1.32420106e-01 -1.57720628e+02] [ 3.10746361e-01 9.50415889e-01 1.20969976e-02 2.14008464e+01] [-1.29598855e-01 2.97583387e-02 9.91119861e-01 1.18964973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.249072329 meters Centerline goodness : 0.743621 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.97 [[ 9.41801165e-01 -3.08996788e-01 1.32406762e-01 -1.57720617e+02] [ 3.10246669e-01 9.50585208e-01 1.16089310e-02 2.14013072e+01] [-1.29451032e-01 3.01454522e-02 9.91127480e-01 1.18965558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.279072329 meters Centerline goodness : 0.745314 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.97 [[ 9.42073958e-01 -3.07995074e-01 1.32799440e-01 -1.57722106e+02] [ 3.09288055e-01 9.50901257e-01 1.13003569e-02 2.14009653e+01] [-1.29759608e-01 3.04275085e-02 9.91078509e-01 1.18968142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.30907232899995 meters Centerline goodness : 0.742716 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.40, Z:118.97 [[ 9.42001032e-01 -3.07954452e-01 1.33409560e-01 -1.57724211e+02] [ 3.09204250e-01 9.50922818e-01 1.17697159e-02 2.13997911e+01] [-1.30486731e-01 3.01637185e-02 9.90991101e-01 1.18970300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.339072329 meters Centerline goodness : 0.743574 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.40, Z:118.97 [[ 9.41980746e-01 -3.07828327e-01 1.33843177e-01 -1.57725350e+02] [ 3.09039781e-01 9.50971476e-01 1.21517922e-02 2.13994893e+01] [-1.31021709e-01 2.99161118e-02 9.90928019e-01 1.18970514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.36907232899995 meters Centerline goodness : 0.743392 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.40, Z:118.97 [[ 9.41973169e-01 -3.07667002e-01 1.34266765e-01 -1.57727691e+02] [ 3.08678725e-01 9.51067108e-01 1.37404734e-02 2.13993804e+01] [-1.31924194e-01 2.85021366e-02 9.90849956e-01 1.18971488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.399072329 meters Centerline goodness : 0.744464 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.40, Z:118.97 [[ 9.42028764e-01 -3.07383577e-01 1.34525629e-01 -1.57729148e+02] [ 3.08158168e-01 9.51208043e-01 1.55499871e-02 2.13978671e+01] [-1.32741671e-01 2.68066364e-02 9.90788097e-01 1.18971820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.42907232899995 meters Centerline goodness : 0.744407 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.40, Z:118.97 [[ 9.42211446e-01 -3.06840203e-01 1.34486728e-01 -1.57729488e+02] [ 3.07524318e-01 9.51402691e-01 1.61775247e-02 2.13959858e+01] [-1.32914950e-01 2.61152905e-02 9.90783330e-01 1.18973141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.459072329 meters Centerline goodness : 0.745550 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.40, Z:118.97 [[ 9.41298109e-01 -3.08999590e-01 1.35930581e-01 -1.57729012e+02] [ 3.10212962e-01 9.50582226e-01 1.27023939e-02 2.13954126e+01] [-1.33138229e-01 3.02106889e-02 9.90636930e-01 1.18971225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.48907232899995 meters Centerline goodness : 0.743365 Centerline is valid? [False, False] Translation: X:-157.72, Y:21.39, Z:118.97 [[ 9.41401838e-01 -3.05252998e-01 1.43468417e-01 -1.57724221e+02] [ 3.05230850e-01 9.52007537e-01 2.27107232e-02 2.13913654e+01] [-1.43515530e-01 2.24110702e-02 9.89394278e-01 1.18970982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.519072329 meters Centerline goodness : 0.743903 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.39, Z:118.97 [[ 9.41126265e-01 -3.05893871e-01 1.43910708e-01 -1.57726037e+02] [ 3.05617104e-01 9.51837252e-01 2.45770346e-02 2.13892279e+01] [-1.44497537e-01 2.08514810e-02 9.89285438e-01 1.18971350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.54907232899996 meters Centerline goodness : 0.742603 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.39, Z:118.97 [[ 9.41012569e-01 -3.06299250e-01 1.43791911e-01 -1.57725004e+02] [ 3.05925544e-01 9.51720414e-01 2.52550124e-02 2.13869908e+01] [-1.44585288e-01 2.02243344e-02 9.89285637e-01 1.18969591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.579072329 meters Centerline goodness : 0.742144 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.39, Z:118.97 [[ 9.41106608e-01 -3.06005367e-01 1.43802185e-01 -1.57725708e+02] [ 3.05476158e-01 9.51836552e-01 2.62962823e-02 2.13854137e+01] [-1.44922980e-01 1.91805341e-02 9.89257013e-01 1.18970509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.60907232899996 meters Centerline goodness : 0.741803 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.97 [[ 9.40991254e-01 -3.06201493e-01 1.44139187e-01 -1.57726835e+02] [ 3.05543588e-01 9.51788589e-01 2.72323065e-02 2.13831304e+01] [-1.45528606e-01 1.84154420e-02 9.89182641e-01 1.18971377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.639072329 meters Centerline goodness : 0.740779 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.97 [[ 9.40713664e-01 -3.06839513e-01 1.44593621e-01 -1.57728761e+02] [ 3.06042207e-01 9.51597700e-01 2.82840184e-02 2.13815599e+01] [-1.46273612e-01 1.76445883e-02 9.89086801e-01 1.18973003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.66907232899996 meters Centerline goodness : 0.740779 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.97 [[ 9.40713664e-01 -3.06839513e-01 1.44593621e-01 -1.57728761e+02] [ 3.06042207e-01 9.51597700e-01 2.82840184e-02 2.13815599e+01] [-1.46273612e-01 1.76445883e-02 9.89086801e-01 1.18973003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.699072329 meters Centerline goodness : 0.739845 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.97 [[ 9.40604997e-01 -3.07025929e-01 1.44904515e-01 -1.57730404e+02] [ 3.06084220e-01 9.51553140e-01 2.93099197e-02 2.13799094e+01] [-1.46883252e-01 1.67839287e-02 9.89011431e-01 1.18974707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.72907232899996 meters Centerline goodness : 0.738811 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.98 [[ 9.40396068e-01 -3.07514040e-01 1.45225172e-01 -1.57731978e+02] [ 3.06420408e-01 9.51410570e-01 3.04049293e-02 2.13779250e+01] [-1.47518706e-01 1.59072804e-02 9.88931337e-01 1.18976334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.759072329 meters Centerline goodness : 0.738527 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.38, Z:118.97 [[ 9.39238134e-01 -3.10564386e-01 1.46224112e-01 -1.57730516e+02] [ 3.10107894e-01 9.50332116e-01 2.64946042e-02 2.13766875e+01] [-1.47189750e-01 2.04605087e-02 9.88896630e-01 1.18974711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.78907232899996 meters Centerline goodness : 0.738938 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.37, Z:118.98 [[ 9.38479842e-01 -3.12627872e-01 1.46694922e-01 -1.57730932e+02] [ 3.12273262e-01 9.49635298e-01 2.60424899e-02 2.13746902e+01] [-1.47448284e-01 2.13685499e-02 9.88838909e-01 1.18975073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.819072329 meters Centerline goodness : 0.738310 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.37, Z:118.98 [[ 9.37826734e-01 -3.14364303e-01 1.47160123e-01 -1.57732335e+02] [ 3.13923395e-01 9.49069259e-01 2.68261769e-02 2.13724249e+01] [-1.48098341e-01 2.10386995e-02 9.88748833e-01 1.18975971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.84907232899997 meters Centerline goodness : 0.738131 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.37, Z:118.97 [[ 9.37269765e-01 -3.15907905e-01 1.47402790e-01 -1.57732541e+02] [ 3.15369089e-01 9.48566569e-01 2.76369652e-02 2.13707594e+01] [-1.48552095e-01 2.05829917e-02 9.88690354e-01 1.18974686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.879072329 meters Centerline goodness : 0.735440 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.37, Z:118.97 [[ 9.36585604e-01 -3.18095382e-01 1.47046708e-01 -1.57732325e+02] [ 3.17181902e-01 9.47881998e-01 3.02548951e-02 2.13670455e+01] [-1.49006870e-01 1.83042553e-02 9.88666732e-01 1.18973416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.90907232899997 meters Centerline goodness : 0.734111 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.36, Z:118.97 [[ 9.36179605e-01 -3.19130189e-01 1.47389517e-01 -1.57734062e+02] [ 3.17954788e-01 9.47561941e-01 3.21110600e-02 2.13642898e+01] [-1.49908305e-01 1.68014832e-02 9.88557136e-01 1.18974433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.939072329 meters Centerline goodness : 0.732580 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.36, Z:118.97 [[ 9.34770400e-01 -3.23012216e-01 1.47876327e-01 -1.57732950e+02] [ 3.22257395e-01 9.46185861e-01 2.97067024e-02 2.13629721e+01] [-1.49514118e-01 1.98852939e-02 9.88559611e-01 1.18973509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96907232899997 meters Centerline goodness : 0.731563 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.36, Z:118.98 [[ 9.34455221e-01 -3.23882177e-01 1.47965453e-01 -1.57733987e+02] [ 3.23082960e-01 9.45892414e-01 3.00822605e-02 2.13615970e+01] [-1.49702508e-01 1.96945913e-02 9.88534917e-01 1.18975470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.999072329 meters Centerline goodness : 0.731712 Centerline is valid? [False, False] Translation: X:-157.73, Y:21.36, Z:118.98 [[ 9.34223877e-01 -3.24516598e-01 1.48036228e-01 -1.57734784e+02] [ 3.23651598e-01 9.45682131e-01 3.05769590e-02 2.13606216e+01] [-1.49917946e-01 1.93464366e-02 9.88509142e-01 1.18976596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.029072329 meters Centerline goodness : 0.731011 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.33256195e-01 -3.27090749e-01 1.48473957e-01 -1.57736050e+02] [ 3.26286945e-01 9.44780501e-01 3.04406781e-02 2.13606854e+01] [-1.50232163e-01 2.00361623e-02 9.88447697e-01 1.18977099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05907232899995 meters Centerline goodness : 0.730897 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.32883277e-01 -3.27972254e-01 1.48872400e-01 -1.57736759e+02] [ 3.27174542e-01 9.44470730e-01 3.05263743e-02 2.13602809e+01] [-1.50617428e-01 2.02297153e-02 9.88385122e-01 1.18977076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.089072329 meters Centerline goodness : 0.732005 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.32697677e-01 -3.28468229e-01 1.48941823e-01 -1.57737320e+02] [ 3.27670584e-01 9.44297150e-01 3.05758335e-02 2.13599268e+01] [-1.50688529e-01 2.02858453e-02 9.88373134e-01 1.18977825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11907232899995 meters Centerline goodness : 0.731663 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.32751632e-01 -3.28293960e-01 1.48988151e-01 -1.57737101e+02] [ 3.27594098e-01 9.44344494e-01 2.99263014e-02 2.13616597e+01] [-1.50520764e-01 2.08938323e-02 9.88386032e-01 1.18977220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.149072329 meters Centerline goodness : 0.731087 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.32999162e-01 -3.27602216e-01 1.48960910e-01 -1.57739087e+02] [ 3.26702132e-01 9.44612925e-01 3.11791337e-02 2.13624290e+01] [-1.50924754e-01 1.95757412e-02 9.88351410e-01 1.18979146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17907232899995 meters Centerline goodness : 0.730316 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.36, Z:118.98 [[ 9.33620535e-01 -3.25919392e-01 1.48759020e-01 -1.57740330e+02] [ 3.24888634e-01 9.45215087e-01 3.18718604e-02 2.13635984e+01] [-1.50996927e-01 1.85738914e-02 9.88359721e-01 1.18981297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.209072329 meters Centerline goodness : 0.732046 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.37, Z:118.99 [[ 9.34677987e-01 -3.23019956e-01 1.48442474e-01 -1.57741596e+02] [ 3.22064374e-01 9.46206678e-01 3.11040244e-02 2.13669511e+01] [-1.50504480e-01 1.87357855e-02 9.88431774e-01 1.18985025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.23907232899995 meters Centerline goodness : 0.730807 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.37, Z:118.99 [[ 9.34814898e-01 -3.22606535e-01 1.48479396e-01 -1.57742621e+02] [ 3.21700029e-01 9.46342092e-01 3.07528401e-02 2.13675907e+01] [-1.50433369e-01 1.90176128e-02 9.88437217e-01 1.18987281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.269072329 meters Centerline goodness : 0.733372 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.37, Z:118.99 [[ 9.35548257e-01 -3.20711057e-01 1.47965797e-01 -1.57742324e+02] [ 3.19934083e-01 9.46974826e-01 2.96793154e-02 2.13708277e+01] [-1.49638369e-01 1.95728696e-02 9.88547046e-01 1.18988415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.29907232899996 meters Centerline goodness : 0.733116 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.37, Z:118.99 [[ 9.36223944e-01 -3.18926054e-01 1.47549647e-01 -1.57743808e+02] [ 3.17860667e-01 9.47617759e-01 3.13875774e-02 2.13708413e+01] [-1.49830982e-01 1.75144275e-02 9.88556484e-01 1.18990813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.329072329 meters Centerline goodness : 0.732596 Centerline is valid? [False, False] Translation: X:-157.74, Y:21.37, Z:118.99 [[ 9.36600328e-01 -3.17935140e-01 1.47299262e-01 -1.57744919e+02] [ 3.16628772e-01 9.47979895e-01 3.28685226e-02 2.13711805e+01] [-1.50086797e-01 1.58545153e-02 9.88545693e-01 1.18991915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.35907232899996 meters Centerline goodness : 0.733166 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:118.99 [[ 9.36253832e-01 -3.18677278e-01 1.47897109e-01 -1.57747723e+02] [ 3.17081472e-01 9.47756421e-01 3.48870461e-02 2.13704528e+01] [-1.51288144e-01 1.42323026e-02 9.88387241e-01 1.18992796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.389072329 meters Centerline goodness : 0.735479 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:118.99 [[ 9.36459553e-01 -3.18045029e-01 1.47955616e-01 -1.57748804e+02] [ 3.16312487e-01 9.47981799e-01 3.57340143e-02 2.13703034e+01] [-1.51624256e-01 1.33367498e-02 9.88348226e-01 1.18993725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.41907232899996 meters Centerline goodness : 0.735889 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:118.99 [[ 9.36527587e-01 -3.17913013e-01 1.47808642e-01 -1.57748383e+02] [ 3.16258155e-01 9.48019785e-01 3.52032181e-02 2.13710909e+01] [-1.51317078e-01 1.37769034e-02 9.88389265e-01 1.18993624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.449072329 meters Centerline goodness : 0.735921 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.36463625e-01 -3.17796838e-01 1.48462280e-01 -1.57750882e+02] [ 3.16096883e-01 9.48060723e-01 3.55475250e-02 2.13706118e+01] [-1.52048148e-01 1.36394999e-02 9.88278971e-01 1.18996303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.47907232899996 meters Centerline goodness : 0.735821 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.36701411e-01 -3.17221038e-01 1.48193385e-01 -1.57750976e+02] [ 3.15513945e-01 9.48255789e-01 3.55233695e-02 2.13704133e+01] [-1.51793995e-01 1.34822892e-02 9.88320197e-01 1.18997818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.509072329 meters Centerline goodness : 0.737307 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.37114454e-01 -3.15939189e-01 1.48320357e-01 -1.57752222e+02] [ 3.14155363e-01 9.48691409e-01 3.59307532e-02 2.13700003e+01] [-1.52062182e-01 1.29244076e-02 9.88286422e-01 1.18999986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.53907232899996 meters Centerline goodness : 0.737856 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.36827896e-01 -3.16715620e-01 1.48474611e-01 -1.57752051e+02] [ 3.14976213e-01 9.48427230e-01 3.57179909e-02 2.13695585e+01] [-1.52129810e-01 1.33043604e-02 9.88270972e-01 1.18999295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.569072329 meters Centerline goodness : 0.735771 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.36748830e-01 -3.16918558e-01 1.48540422e-01 -1.57752902e+02] [ 3.15079221e-01 9.48367521e-01 3.63885841e-02 2.13684200e+01] [-1.52403129e-01 1.27150369e-02 9.88236618e-01 1.19000500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.59907232899997 meters Centerline goodness : 0.737784 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.36696946e-01 -3.17070278e-01 1.48543836e-01 -1.57753010e+02] [ 3.15255087e-01 9.48314593e-01 3.62444833e-02 2.13678712e+01] [-1.52358336e-01 1.28791031e-02 9.88241401e-01 1.19000935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.629072329 meters Centerline goodness : 0.736926 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.35373645e-01 -3.20226055e-01 1.50104688e-01 -1.57753669e+02] [ 3.18848065e-01 9.47202209e-01 3.38213919e-02 2.13672419e+01] [-1.53009983e-01 1.62249508e-02 9.88091441e-01 1.18999165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.65907232899997 meters Centerline goodness : 0.736228 Centerline is valid? [False, False] Translation: X:-157.75, Y:21.37, Z:119.00 [[ 9.34959867e-01 -3.21380555e-01 1.50215131e-01 -1.57753878e+02] [ 3.19986190e-01 9.46810738e-01 3.40332860e-02 2.13662728e+01] [-1.53162936e-01 1.62470111e-02 9.88067381e-01 1.18999094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.689072329 meters Centerline goodness : 0.733402 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.34812743e-01 -3.21623940e-01 1.50609352e-01 -1.57755694e+02] [ 3.20036965e-01 9.46745951e-01 3.53333326e-02 2.13649263e+01] [-1.53952840e-01 1.51705105e-02 9.87961729e-01 1.19000184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71907232899997 meters Centerline goodness : 0.734532 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.34481649e-01 -3.22668694e-01 1.50429258e-01 -1.57755581e+02] [ 3.20928396e-01 9.46404305e-01 3.63848431e-02 2.13629602e+01] [-1.54107147e-01 1.42760522e-02 9.87951002e-01 1.19000062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.749072329 meters Centerline goodness : 0.733365 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.34067746e-01 -3.23720461e-01 1.50739869e-01 -1.57756973e+02] [ 3.21847194e-01 9.46054623e-01 3.73501424e-02 2.13613306e+01] [-1.54699155e-01 1.36276406e-02 9.87867632e-01 1.19001160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.779072329 meters Centerline goodness : 0.735020 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.33699329e-01 -3.24839403e-01 1.50615153e-01 -1.57755817e+02] [ 3.23155597e-01 9.45652520e-01 3.62183742e-02 2.13607255e+01] [-1.54194754e-01 1.48550581e-02 9.87928796e-01 1.19000738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.80907232899995 meters Centerline goodness : 0.735203 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.33483832e-01 -3.25320775e-01 1.50911659e-01 -1.57756949e+02] [ 3.23608559e-01 9.45487993e-01 3.64685452e-02 2.13583172e+01] [-1.54549137e-01 1.47935071e-02 9.87874342e-01 1.19003024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.839072329 meters Centerline goodness : 0.733833 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.33065070e-01 -3.26413032e-01 1.51142676e-01 -1.57755587e+02] [ 3.25089423e-01 9.45068491e-01 3.40941873e-02 2.13580565e+01] [-1.53968968e-01 1.73227899e-02 9.87923822e-01 1.19002731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.86907232899995 meters Centerline goodness : 0.735536 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.32674177e-01 -3.27410437e-01 1.51397771e-01 -1.57756889e+02] [ 3.26046929e-01 9.44725262e-01 3.44612717e-02 2.13565903e+01] [-1.54312279e-01 1.72216402e-02 9.87872024e-01 1.19004525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.899072329 meters Centerline goodness : 0.735204 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.35, Z:119.00 [[ 9.31670784e-01 -3.30101293e-01 1.51732284e-01 -1.57758346e+02] [ 3.28474115e-01 9.43811186e-01 3.64033078e-02 2.13548618e+01] [-1.55223406e-01 1.59242294e-02 9.87751038e-01 1.19003590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.92907232899995 meters Centerline goodness : 0.734950 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.35, Z:119.00 [[ 9.31202872e-01 -3.31321811e-01 1.51944291e-01 -1.57758728e+02] [ 3.29551307e-01 9.43395166e-01 3.74365609e-02 2.13544214e+01] [-1.55747059e-01 1.52124068e-02 9.87679825e-01 1.19001688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.959072329 meters Centerline goodness : 0.736241 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.35, Z:119.00 [[ 9.30728421e-01 -3.32609753e-01 1.52037357e-01 -1.57759387e+02] [ 3.30621327e-01 9.42960157e-01 3.89317437e-02 2.13535743e+01] [-1.56314247e-01 1.40319123e-02 9.87607696e-01 1.19000691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.98907232899995 meters Centerline goodness : 0.736654 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.35, Z:119.00 [[ 9.30708043e-01 -3.32689316e-01 1.51988018e-01 -1.57759658e+02] [ 3.30722280e-01 9.42930240e-01 3.87986526e-02 2.13534683e+01] [-1.56221995e-01 1.41556057e-02 9.87620528e-01 1.19001596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.019072329 meters Centerline goodness : 0.735397 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.35, Z:119.00 [[ 9.30719181e-01 -3.32734079e-01 1.51821732e-01 -1.57759855e+02] [ 3.30812457e-01 9.42910864e-01 3.84996223e-02 2.13541350e+01] [-1.55964497e-01 1.43921834e-02 9.87657805e-01 1.19002589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.04907232899996 meters Centerline goodness : 0.733230 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.30918675e-01 -3.32294768e-01 1.51560576e-01 -1.57759624e+02] [ 3.30417771e-01 9.43063221e-01 3.81557039e-02 2.13552963e+01] [-1.55610145e-01 1.45584503e-02 9.87711261e-01 1.19002856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.079072329 meters Centerline goodness : 0.735488 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.31336876e-01 -3.31366057e-01 1.51023707e-01 -1.57757716e+02] [ 3.29805433e-01 9.43361941e-01 3.60086865e-02 2.13574003e+01] [-1.54402074e-01 1.62722216e-02 9.87874088e-01 1.19002746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.10907232899996 meters Centerline goodness : 0.733859 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.00 [[ 9.31457517e-01 -3.30948527e-01 1.51195129e-01 -1.57758778e+02] [ 3.29404353e-01 9.43506689e-01 3.58873244e-02 2.13569186e+01] [-1.54530473e-01 1.63768157e-02 9.87852283e-01 1.19004813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.139072329 meters Centerline goodness : 0.733277 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.01 [[ 9.31625050e-01 -3.30459474e-01 1.51232610e-01 -1.57759887e+02] [ 3.28905807e-01 9.43679675e-01 3.59115728e-02 2.13578503e+01] [-1.54582460e-01 1.62851628e-02 9.87845664e-01 1.19006470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.16907232899996 meters Centerline goodness : 0.733303 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.01 [[ 9.31477644e-01 -3.30901878e-01 1.51173232e-01 -1.57759609e+02] [ 3.29369833e-01 9.43521922e-01 3.58035647e-02 2.13585111e+01] [-1.54482725e-01 1.64416820e-02 9.87858673e-01 1.19005508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.199072329 meters Centerline goodness : 0.732281 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.01 [[ 9.31111989e-01 -3.31785336e-01 1.51489124e-01 -1.57761297e+02] [ 3.30075673e-01 9.43227372e-01 3.70428862e-02 2.13572879e+01] [-1.55178975e-01 1.55117991e-02 9.87764582e-01 1.19006340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.22907232899996 meters Centerline goodness : 0.730026 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.02 [[ 9.30235715e-01 -3.39189562e-01 1.40042692e-01 -1.57762953e+02] [ 3.38176604e-01 9.40548399e-01 3.17063597e-02 2.13617264e+01] [-1.42471396e-01 1.78647737e-02 9.89637687e-01 1.19015640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.259072329 meters Centerline goodness : 0.730271 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.02 [[ 9.30248576e-01 -3.39081436e-01 1.40218995e-01 -1.57764099e+02] [ 3.37976939e-01 9.40598078e-01 3.23549634e-02 2.13610638e+01] [-1.42860685e-01 1.72926282e-02 9.89591729e-01 1.19016744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.28907232899996 meters Centerline goodness : 0.729672 Centerline is valid? [False, False] Translation: X:-157.76, Y:21.36, Z:119.02 [[ 9.30462127e-01 -3.38439427e-01 1.40353068e-01 -1.57764903e+02] [ 3.37315525e-01 9.40831991e-01 3.24561455e-02 2.13608777e+01] [-1.43033095e-01 1.71440545e-02 9.89569409e-01 1.19018095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.319072329 meters Centerline goodness : 0.728533 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.31107593e-01 -3.36673879e-01 1.40318745e-01 -1.57767006e+02] [ 3.35300571e-01 9.41496101e-01 3.40384775e-02 2.13605384e+01] [-1.43569418e-01 1.53554706e-02 9.89521112e-01 1.19020769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.34907232899997 meters Centerline goodness : 0.727303 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.31200423e-01 -3.36331912e-01 1.40522659e-01 -1.57766759e+02] [ 3.35049392e-01 9.41608067e-01 3.34088905e-02 2.13611562e+01] [-1.43553745e-01 1.59716584e-02 9.89513632e-01 1.19019856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.379072329 meters Centerline goodness : 0.727762 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.31154570e-01 -3.36320258e-01 1.40854007e-01 -1.57767071e+02] [ 3.35111371e-01 9.41602578e-01 3.29386279e-02 2.13609225e+01] [-1.43706424e-01 1.65308256e-02 9.89482287e-01 1.19020102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.40907232899997 meters Centerline goodness : 0.728853 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.30338819e-01 -3.38185405e-01 1.41775574e-01 -1.57768997e+02] [ 3.37087695e-01 9.40914541e-01 3.24301073e-02 2.13592457e+01] [-1.44366088e-01 1.76198137e-02 9.89367462e-01 1.19022155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.439072329 meters Centerline goodness : 0.729306 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.29846302e-01 -3.39389772e-01 1.42128241e-01 -1.57769959e+02] [ 3.38270255e-01 9.40480113e-01 3.27168312e-02 2.13590634e+01] [-1.44772542e-01 1.76561319e-02 9.89307420e-01 1.19022045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46907232899997 meters Centerline goodness : 0.728385 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.29795213e-01 -3.39475607e-01 1.42257423e-01 -1.57771694e+02] [ 3.38155598e-01 9.40471991e-01 3.41060850e-02 2.13585482e+01] [-1.45367306e-01 1.63934695e-02 9.89241932e-01 1.19023179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.499072329 meters Centerline goodness : 0.727654 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.29744082e-01 -3.39600576e-01 1.42293328e-01 -1.57772174e+02] [ 3.38202292e-01 9.40435239e-01 3.46521435e-02 2.13591570e+01] [-1.45585548e-01 1.59063045e-02 9.89217791e-01 1.19022593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.529072329 meters Centerline goodness : 0.726768 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.29243848e-01 -3.40615150e-01 1.43133473e-01 -1.57774985e+02] [ 3.39145738e-01 9.40071116e-01 3.53053228e-02 2.13577503e+01] [-1.46581171e-01 1.57358531e-02 9.89073477e-01 1.19024750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55907232899995 meters Centerline goodness : 0.726768 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.02 [[ 9.29243848e-01 -3.40615150e-01 1.43133473e-01 -1.57774985e+02] [ 3.39145738e-01 9.40071116e-01 3.53053228e-02 2.13577503e+01] [-1.46581171e-01 1.57358531e-02 9.89073477e-01 1.19024750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.589072329 meters Centerline goodness : 0.728407 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.36, Z:119.03 [[ 9.29229236e-01 -3.40669411e-01 1.43099197e-01 -1.57775090e+02] [ 3.39315384e-01 9.40038828e-01 3.45263957e-02 2.13571084e+01] [-1.46280888e-01 1.64728225e-02 9.89105934e-01 1.19026634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61907232899995 meters Centerline goodness : 0.727676 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.03 [[ 9.29244751e-01 -3.40520403e-01 1.43352879e-01 -1.57774032e+02] [ 3.39541510e-01 9.40046447e-01 3.20037490e-02 2.13575454e+01] [-1.45656294e-01 1.89349372e-02 9.89154039e-01 1.19026955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.649072329 meters Centerline goodness : 0.727829 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.36, Z:119.03 [[ 9.29471520e-01 -3.39870109e-01 1.43425951e-01 -1.57775222e+02] [ 3.38745458e-01 9.40300908e-01 3.29502195e-02 2.13568613e+01] [-1.46062346e-01 1.79585988e-02 9.89112370e-01 1.19028120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67907232899995 meters Centerline goodness : 0.727487 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.36, Z:119.03 [[ 9.29453663e-01 -3.39988002e-01 1.43262160e-01 -1.57774662e+02] [ 3.38859342e-01 9.40259309e-01 3.29663252e-02 2.13568523e+01] [-1.45911734e-01 1.79050494e-02 9.89135570e-01 1.19027228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.709072329 meters Centerline goodness : 0.727564 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.03 [[ 9.28300153e-01 -3.42831259e-01 1.43963721e-01 -1.57773756e+02] [ 3.41995139e-01 9.39180265e-01 3.13010288e-02 2.13547618e+01] [-1.45938856e-01 2.01781429e-02 9.89087808e-01 1.19025722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.73907232899995 meters Centerline goodness : 0.728026 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.03 [[ 9.27792248e-01 -3.44146569e-01 1.44099562e-01 -1.57774623e+02] [ 3.43222142e-01 9.38708232e-01 3.20221278e-02 2.13527632e+01] [-1.46287751e-01 1.97482785e-02 9.89044943e-01 1.19026581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.769072329 meters Centerline goodness : 0.729297 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.27278829e-01 -3.45758951e-01 1.43543446e-01 -1.57773390e+02] [ 3.44712273e-01 9.38131573e-01 3.29028961e-02 2.13510086e+01] [-1.46039109e-01 1.89710285e-02 9.89096901e-01 1.19024636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.79907232899996 meters Centerline goodness : 0.727514 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.26959521e-01 -3.46620817e-01 1.43527197e-01 -1.57773826e+02] [ 3.45362658e-01 9.37838654e-01 3.43990269e-02 2.13504024e+01] [-1.46528772e-01 1.76824289e-02 9.89048356e-01 1.19022986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.829072329 meters Centerline goodness : 0.727856 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.26806715e-01 -3.47053553e-01 1.43468268e-01 -1.57774857e+02] [ 3.45569249e-01 9.37704361e-01 3.59503151e-02 2.13496576e+01] [-1.47007506e-01 1.62592283e-02 9.89001734e-01 1.19023075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.85907232899996 meters Centerline goodness : 0.727056 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.26654666e-01 -3.47247322e-01 1.43980650e-01 -1.57773147e+02] [ 3.46213361e-01 9.37575476e-01 3.29929494e-02 2.13489661e+01] [-1.46449440e-01 1.92749544e-02 9.89030352e-01 1.19022679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.889072329 meters Centerline goodness : 0.727805 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.26708946e-01 -3.46886931e-01 1.44499091e-01 -1.57772626e+02] [ 3.46123756e-01 9.37669701e-01 3.12070065e-02 2.13479475e+01] [-1.46317722e-01 2.10947560e-02 9.89012707e-01 1.19023305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.91907232899996 meters Centerline goodness : 0.727622 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.26831379e-01 -3.46522816e-01 1.44587454e-01 -1.57771909e+02] [ 3.45982758e-01 9.37771284e-01 2.96807882e-02 2.13478575e+01] [-1.45875033e-01 2.25156803e-02 9.89046773e-01 1.19023833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.949072329 meters Centerline goodness : 0.727394 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.27744696e-01 -3.44430212e-01 1.43727546e-01 -1.57770422e+02] [ 3.43822953e-01 9.38560305e-01 2.98384272e-02 2.13491613e+01] [-1.45174225e-01 2.17343867e-02 9.89167357e-01 1.19022974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.97907232899996 meters Centerline goodness : 0.725216 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.02 [[ 9.27934018e-01 -3.44085163e-01 1.43331290e-01 -1.57770225e+02] [ 3.43351488e-01 9.38707910e-01 3.06139569e-02 2.13485410e+01] [-1.45080024e-01 2.08052796e-02 9.89201156e-01 1.19022871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.009072329 meters Centerline goodness : 0.724268 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.35, Z:119.03 [[ 9.27013278e-01 -3.46199882e-01 1.44194395e-01 -1.57772149e+02] [ 3.45586039e-01 9.37904356e-01 3.00949997e-02 2.13456665e+01] [-1.45659436e-01 2.19331054e-02 9.89091638e-01 1.19025769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.03907232899996 meters Centerline goodness : 0.724984 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.26670366e-01 -3.46905659e-01 1.44701405e-01 -1.57772378e+02] [ 3.46390459e-01 9.37624556e-01 2.95608105e-02 2.13447578e+01] [-1.45930403e-01 2.27300591e-02 9.89033701e-01 1.19025497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.069072329 meters Centerline goodness : 0.723961 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.26496553e-01 -3.47410027e-01 1.44604323e-01 -1.57772937e+02] [ 3.46864573e-01 9.37441978e-01 2.97910252e-02 2.13442716e+01] [-1.45907863e-01 2.25568345e-02 9.89040992e-01 1.19026625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.09907232899997 meters Centerline goodness : 0.726002 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.26297780e-01 -3.48031041e-01 1.44384270e-01 -1.57772826e+02] [ 3.47400643e-01 9.37224463e-01 3.03825398e-02 2.13437530e+01] [-1.45894537e-01 2.20159089e-02 9.89055147e-01 1.19026148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.129072329 meters Centerline goodness : 0.726106 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.02 [[ 9.25103753e-01 -3.51073978e-01 1.44672419e-01 -1.57772767e+02] [ 3.50473636e-01 9.36076908e-01 3.04672293e-02 2.13425602e+01] [-1.46120763e-01 2.25185208e-02 9.89010434e-01 1.19024182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.15907232899997 meters Centerline goodness : 0.727392 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.02 [[ 9.24562568e-01 -3.52352161e-01 1.45024182e-01 -1.57773133e+02] [ 3.51802205e-01 9.35584334e-01 3.02846869e-02 2.13419460e+01] [-1.46353228e-01 2.30197390e-02 9.88964521e-01 1.19023825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.189072329 meters Centerline goodness : 0.726856 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.24329382e-01 -3.52943360e-01 1.45073011e-01 -1.57774046e+02] [ 3.52350525e-01 9.35366737e-01 3.06296536e-02 2.13409746e+01] [-1.46507002e-01 2.28046628e-02 9.88946736e-01 1.19025325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21907232899997 meters Centerline goodness : 0.727429 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.02 [[ 9.24006566e-01 -3.53679344e-01 1.45336810e-01 -1.57774218e+02] [ 3.53097571e-01 9.35084118e-01 3.06561223e-02 2.13406537e+01] [-1.46744580e-01 2.29916164e-02 9.88907182e-01 1.19024401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.249072329 meters Centerline goodness : 0.728472 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.24160022e-01 -3.53522919e-01 1.44740456e-01 -1.57774354e+02] [ 3.52788188e-01 9.35170050e-01 3.15827854e-02 2.13400886e+01] [-1.46522178e-01 2.18751756e-02 9.88965484e-01 1.19025556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.279072329 meters Centerline goodness : 0.729079 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.02 [[ 9.24108093e-01 -3.53684013e-01 1.44678438e-01 -1.57773891e+02] [ 3.52998899e-01 9.35101674e-01 3.12511903e-02 2.13403888e+01] [-1.46342096e-01 2.21918515e-02 9.88985092e-01 1.19024618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.30907232899995 meters Centerline goodness : 0.728155 Centerline is valid? [False, False] Translation: X:-157.77, Y:21.34, Z:119.03 [[ 9.23765837e-01 -3.54430401e-01 1.45037128e-01 -1.57774908e+02] [ 3.53725103e-01 9.34818777e-01 3.15024685e-02 2.13390654e+01] [-1.46748863e-01 2.22023689e-02 9.88924581e-01 1.19025318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.339072329 meters Centerline goodness : 0.728879 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.02 [[ 9.23328304e-01 -3.55449514e-01 1.45328888e-01 -1.57775191e+02] [ 3.54736056e-01 9.34429467e-01 3.16844013e-02 2.13380806e+01] [-1.47061800e-01 2.22982920e-02 9.88875934e-01 1.19024955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.36907232899995 meters Centerline goodness : 0.727388 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.02 [[ 9.23084821e-01 -3.55968497e-01 1.45605088e-01 -1.57775409e+02] [ 3.55307539e-01 9.34221369e-01 3.14163524e-02 2.13376225e+01] [-1.47210617e-01 2.27346276e-02 9.88843856e-01 1.19024718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.399072329 meters Centerline goodness : 0.728048 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.22954311e-01 -3.56288455e-01 1.45649842e-01 -1.57777205e+02] [ 3.55428190e-01 9.34128426e-01 3.27854346e-02 2.13374116e+01] [-1.47736730e-01 2.15086015e-02 9.88792819e-01 1.19025782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.42907232899995 meters Centerline goodness : 0.729329 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.23117371e-01 -3.55884506e-01 1.45604044e-01 -1.57778874e+02] [ 3.54789085e-01 9.34316341e-01 3.43173342e-02 2.13366589e+01] [-1.48253245e-01 1.99797982e-02 9.88747583e-01 1.19027254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.459072329 meters Centerline goodness : 0.728146 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.23885221e-01 -3.53781459e-01 1.45858756e-01 -1.57781336e+02] [ 3.52547833e-01 9.35135256e-01 3.51009673e-02 2.13363406e+01] [-1.48815736e-01 1.89929233e-02 9.88682530e-01 1.19030612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.48907232899995 meters Centerline goodness : 0.728201 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.24113873e-01 -3.53200249e-01 1.45818840e-01 -1.57780373e+02] [ 3.52154757e-01 9.35331393e-01 3.37966274e-02 2.13373312e+01] [-1.48325916e-01 2.01188657e-02 9.88733864e-01 1.19030153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.519072329 meters Centerline goodness : 0.729781 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.24043309e-01 -3.53164527e-01 1.46351560e-01 -1.57782182e+02] [ 3.52095505e-01 9.35345485e-01 3.40232138e-02 2.13363217e+01] [-1.48905063e-01 2.00908034e-02 9.88647380e-01 1.19032103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.54907232899996 meters Centerline goodness : 0.730881 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.24041805e-01 -3.53088773e-01 1.46543717e-01 -1.57782254e+02] [ 3.52202142e-01 9.35347905e-01 3.28321170e-02 2.13370498e+01] [-1.48662010e-01 2.12747623e-02 9.88659189e-01 1.19032432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.579072329 meters Centerline goodness : 0.730661 Centerline is valid? [False, False] Translation: X:-157.78, Y:21.34, Z:119.03 [[ 9.23731312e-01 -3.53703690e-01 1.47017560e-01 -1.57783263e+02] [ 3.52826766e-01 9.35110549e-01 3.28866804e-02 2.13366338e+01] [-1.49109812e-01 2.14932739e-02 9.88587024e-01 1.19032536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.60907232899996 meters Centerline goodness : 0.732301 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.03 [[ 9.23509291e-01 -3.54107730e-01 1.47439158e-01 -1.57786683e+02] [ 3.52869704e-01 9.35004022e-01 3.53617180e-02 2.13360319e+01] [-1.50378063e-01 1.93699368e-02 9.88438791e-01 1.19034098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.639072329 meters Centerline goodness : 0.731569 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.03 [[ 9.23702815e-01 -3.53639236e-01 1.47351282e-01 -1.57786320e+02] [ 3.52440482e-01 9.35177498e-01 3.50535793e-02 2.13370151e+01] [-1.50195924e-01 1.95534670e-02 9.88462870e-01 1.19033207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.66907232899996 meters Centerline goodness : 0.732891 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.03 [[ 9.23768378e-01 -3.53441101e-01 1.47415645e-01 -1.57787591e+02] [ 3.52101203e-01 9.35270369e-01 3.59733283e-02 2.13364028e+01] [-1.50587938e-01 1.86742029e-02 9.88420228e-01 1.19034334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.699072329 meters Centerline goodness : 0.733792 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.03 [[ 9.23572886e-01 -3.53793597e-01 1.47794503e-01 -1.57788093e+02] [ 3.52495411e-01 9.35129411e-01 3.57766645e-02 2.13359005e+01] [-1.50864542e-01 1.90545270e-02 9.88370788e-01 1.19034368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.72907232899996 meters Centerline goodness : 0.732051 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.04 [[ 9.23631313e-01 -3.53437784e-01 1.48279905e-01 -1.57789843e+02] [ 3.52083150e-01 9.35269269e-01 3.61780343e-02 2.13357713e+01] [-1.51468322e-01 1.87916905e-02 9.88283471e-01 1.19035375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.759072329 meters Centerline goodness : 0.731846 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.04 [[ 9.23705412e-01 -3.53151370e-01 1.48500576e-01 -1.57791047e+02] [ 3.51667670e-01 9.35392539e-01 3.70222564e-02 2.13361295e+01] [-1.51980791e-01 1.80251928e-02 9.88219071e-01 1.19035260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.78907232899996 meters Centerline goodness : 0.733460 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.04 [[ 9.23973483e-01 -3.52454425e-01 1.48488654e-01 -1.57791910e+02] [ 3.50836973e-01 9.35672019e-01 3.78324129e-02 2.13366542e+01] [-1.52270880e-01 1.71391634e-02 9.88190178e-01 1.19035326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.819072329 meters Centerline goodness : 0.733947 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.04 [[ 9.24029484e-01 -3.52135514e-01 1.48896248e-01 -1.57793007e+02] [ 3.50635574e-01 9.35777176e-01 3.70913879e-02 2.13374968e+01] [-1.52394906e-01 1.79347854e-02 9.88156939e-01 1.19036159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.84907232899997 meters Centerline goodness : 0.735375 Centerline is valid? [False, False] Translation: X:-157.79, Y:21.34, Z:119.04 [[ 9.24041504e-01 -3.51935438e-01 1.49294157e-01 -1.57794343e+02] [ 3.50432804e-01 9.35851210e-01 3.71397663e-02 2.13372516e+01] [-1.52787917e-01 1.79988845e-02 9.88095083e-01 1.19037490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.879072329 meters Centerline goodness : 0.735280 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.24369739e-01 -3.50952587e-01 1.49575624e-01 -1.57795126e+02] [ 3.49515429e-01 9.36212765e-01 3.66691146e-02 2.13380582e+01] [-1.52903729e-01 1.83831684e-02 9.88070093e-01 1.19038223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.90907232899997 meters Centerline goodness : 0.733318 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25375036e-01 -3.48495219e-01 1.49104410e-01 -1.57797931e+02] [ 3.46537641e-01 9.37192626e-01 3.97699024e-02 2.13390989e+01] [-1.53599174e-01 1.48682156e-02 9.88021371e-01 1.19040757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.939072329 meters Centerline goodness : 0.732920 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25445793e-01 -3.48368820e-01 1.48960561e-01 -1.57798549e+02] [ 3.46325026e-01 9.37248564e-01 4.03001883e-02 2.13396335e+01] [-1.53652401e-01 1.42931305e-02 9.88021582e-01 1.19041075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96907232899997 meters Centerline goodness : 0.732741 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25529574e-01 -3.48145444e-01 1.48962267e-01 -1.57798719e+02] [ 3.46106869e-01 9.37331369e-01 4.02484658e-02 2.13399828e+01] [-1.53639326e-01 1.43057185e-02 9.88023433e-01 1.19041134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.999072329 meters Centerline goodness : 0.731985 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25809879e-01 -3.47217603e-01 1.49385421e-01 -1.57799458e+02] [ 3.45320013e-01 9.37661479e-01 3.93069886e-02 2.13396155e+01] [-1.53721033e-01 1.51949772e-02 9.87997448e-01 1.19042598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.029072329 meters Centerline goodness : 0.733841 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25923943e-01 -3.46988523e-01 1.49210649e-01 -1.57799215e+02] [ 3.45093049e-01 9.37747125e-01 3.92570734e-02 2.13400620e+01] [-1.53543611e-01 1.51424935e-02 9.88025842e-01 1.19042378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05907232899995 meters Centerline goodness : 0.735338 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.26022061e-01 -3.46781306e-01 1.49083427e-01 -1.57799046e+02] [ 3.44828182e-01 9.37830200e-01 3.95984861e-02 2.13401562e+01] [-1.53546955e-01 1.47390956e-02 9.88031422e-01 1.19041523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.089072329 meters Centerline goodness : 0.733761 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.25337091e-01 -3.48249471e-01 1.49911887e-01 -1.57801236e+02] [ 3.46032229e-01 9.37304901e-01 4.14875682e-02 2.13368339e+01] [-1.54961171e-01 1.34843589e-02 9.87828532e-01 1.19041619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11907232899995 meters Centerline goodness : 0.734904 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.34, Z:119.04 [[ 9.24814480e-01 -3.49493872e-01 1.50240511e-01 -1.57801726e+02] [ 3.47273744e-01 9.36838960e-01 4.16378300e-02 2.13353206e+01] [-1.55303331e-01 1.36673168e-02 9.87772281e-01 1.19041638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.149072329 meters Centerline goodness : 0.734082 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.33, Z:119.04 [[ 9.24489983e-01 -3.50333030e-01 1.50283196e-01 -1.57802164e+02] [ 3.48028108e-01 9.36531572e-01 4.22498582e-02 2.13335150e+01] [-1.55546478e-01 1.32432055e-02 9.87739799e-01 1.19042221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17907232899995 meters Centerline goodness : 0.737445 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.33, Z:119.04 [[ 9.24099357e-01 -3.51343433e-01 1.50326880e-01 -1.57804177e+02] [ 3.48609726e-01 9.36184655e-01 4.50505429e-02 2.13295022e+01] [-1.56561930e-01 1.07742346e-02 9.87609375e-01 1.19044074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.209072329 meters Centerline goodness : 0.735266 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.33, Z:119.04 [[ 9.23929953e-01 -3.51786593e-01 1.50331747e-01 -1.57803679e+02] [ 3.49106865e-01 9.36013952e-01 4.47468365e-02 2.13290350e+01] [-1.56453949e-01 1.11389022e-02 9.87622441e-01 1.19043217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.23907232899995 meters Centerline goodness : 0.737070 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.33, Z:119.04 [[ 9.23151885e-01 -3.53686031e-01 1.50654533e-01 -1.57804179e+02] [ 3.51024780e-01 9.35293308e-01 4.48110644e-02 2.13276390e+01] [-1.56755224e-01 1.15160557e-02 9.87570342e-01 1.19043193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.269072329 meters Centerline goodness : 0.740338 Centerline is valid? [False, False] Translation: X:-157.80, Y:21.32, Z:119.04 [[ 9.21140816e-01 -3.58289813e-01 1.52078951e-01 -1.57803451e+02] [ 3.56139034e-01 9.33483806e-01 4.21066699e-02 2.13241090e+01] [-1.57049629e-01 1.53750783e-02 9.87471023e-01 1.19041862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.29907232899996 meters Centerline goodness : 0.740533 Centerline is valid? [False, False] Translation: X:-157.81, Y:21.32, Z:119.04 [[ 9.19500592e-01 -3.60337141e-01 1.57085346e-01 -1.57813446e+02] [ 3.59575463e-01 9.32487277e-01 3.42485705e-02 2.13225694e+01] [-1.58821118e-01 2.49924550e-02 9.86990998e-01 1.19039389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.329072329 meters Centerline goodness : 0.738954 Centerline is valid? [False, False] Translation: X:-157.83, Y:21.31, Z:119.05 [[ 9.19021473e-01 -3.64060398e-01 1.51193779e-01 -1.57831232e+02] [ 3.62637554e-01 9.31160188e-01 3.78775471e-02 2.13097754e+01] [-1.54575342e-01 2.00182630e-02 9.87778180e-01 1.19047516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.35907232899996 meters Centerline goodness : 0.740545 Centerline is valid? [False, False] Translation: X:-157.84, Y:21.31, Z:119.04 [[ 9.17885720e-01 -3.65182368e-01 1.55330756e-01 -1.57838978e+02] [ 3.64610728e-01 9.30568186e-01 3.31944129e-02 2.13096284e+01] [-1.56667874e-01 2.61665825e-02 9.87304658e-01 1.19044170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.389072329 meters Centerline goodness : 0.738645 Centerline is valid? [False, False] Translation: X:-157.84, Y:21.31, Z:119.04 [[ 9.17447690e-01 -3.66411689e-01 1.55023260e-01 -1.57838465e+02] [ 3.65693767e-01 9.30107710e-01 3.41718693e-02 2.13083068e+01] [-1.56709302e-01 2.53401375e-02 9.87319640e-01 1.19042818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.41907232899996 meters Centerline goodness : 0.738142 Centerline is valid? [False, False] Translation: X:-157.84, Y:21.31, Z:119.04 [[ 9.16773709e-01 -3.67936315e-01 1.55398952e-01 -1.57838917e+02] [ 3.67116116e-01 9.29516082e-01 3.50087193e-02 2.13067532e+01] [-1.57326805e-01 2.49543864e-02 9.87231257e-01 1.19041404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.449072329 meters Centerline goodness : 0.741069 Centerline is valid? [False, False] Translation: X:-157.85, Y:21.30, Z:119.04 [[ 9.15147312e-01 -3.70089484e-01 1.59809797e-01 -1.57848036e+02] [ 3.70458162e-01 9.28408748e-01 2.85997685e-02 2.13048664e+01] [-1.58953287e-01 3.30298422e-02 9.86733440e-01 1.19041369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.47907232899996 meters Centerline goodness : 0.741069 Centerline is valid? [False, False] Translation: X:-157.85, Y:21.31, Z:119.04 [[ 9.13805124e-01 -3.72461458e-01 1.61964990e-01 -1.57851486e+02] [ 3.73474917e-01 9.27295091e-01 2.53041662e-02 2.13070436e+01] [-1.59614167e-01 3.73667845e-02 9.86472017e-01 1.19042273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.509072329 meters Centerline goodness : 0.740704 Centerline is valid? [False, False] Translation: X:-157.85, Y:21.31, Z:119.04 [[ 9.13199857e-01 -3.73765474e-01 1.62374233e-01 -1.57852089e+02] [ 3.74919786e-01 9.26729441e-01 2.46515279e-02 2.13060505e+01] [-1.59690872e-01 3.83655409e-02 9.86421264e-01 1.19043417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.53907232899996 meters Centerline goodness : 0.739460 Centerline is valid? [False, False] Translation: X:-157.85, Y:21.31, Z:119.04 [[ 9.12848863e-01 -3.74385082e-01 1.62919499e-01 -1.57852681e+02] [ 3.75639199e-01 9.26449280e-01 2.42265272e-02 2.13054020e+01] [-1.60006703e-01 3.90837924e-02 9.86341884e-01 1.19043644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.569072329 meters Centerline goodness : 0.738279 Centerline is valid? [False, False] Translation: X:-157.87, Y:21.30, Z:119.05 [[ 9.16349865e-01 -3.69757709e-01 1.53564842e-01 -1.57869835e+02] [ 3.71616305e-01 9.28221562e-01 1.74944171e-02 2.12972119e+01] [-1.49010893e-01 4.10361924e-02 9.87983697e-01 1.19052041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.59907232899997 meters Centerline goodness : 0.732985 Centerline is valid? [False, False] Translation: X:-157.87, Y:21.30, Z:119.05 [[ 9.16620277e-01 -3.69331806e-01 1.52974788e-01 -1.57871223e+02] [ 3.70779329e-01 9.28505178e-01 2.00205709e-02 2.12971093e+01] [-1.49432116e-01 3.83686281e-02 9.88027272e-01 1.19052727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.629072329 meters Centerline goodness : 0.734137 Centerline is valid? [False, False] Translation: X:-157.87, Y:21.30, Z:119.06 [[ 9.17437442e-01 -3.67617962e-01 1.52202409e-01 -1.57872401e+02] [ 3.68862372e-01 9.29246286e-01 2.10211846e-02 2.12977244e+01] [-1.49161288e-01 3.68561197e-02 9.88125770e-01 1.19056023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65907232899997 meters Centerline goodness : 0.734038 Centerline is valid? [False, False] Translation: X:-157.89, Y:21.29, Z:119.05 [[ 9.17409528e-01 -3.65578378e-01 1.57201166e-01 -1.57887440e+02] [ 3.67804058e-01 9.29769830e-01 1.57556045e-02 2.12943470e+01] [-1.51920810e-01 4.33648852e-02 9.87440912e-01 1.19053031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.689072329 meters Centerline goodness : 0.731136 Centerline is valid? [False, False] Translation: X:-157.89, Y:21.30, Z:119.05 [[ 9.17650776e-01 -3.65089945e-01 1.56927964e-01 -1.57887251e+02] [ 3.67440213e-01 9.29929033e-01 1.48217262e-02 2.12954860e+01] [-1.51343133e-01 4.40604760e-02 9.87498826e-01 1.19054000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71907232899997 meters Centerline goodness : 0.733060 Centerline is valid? [False, False] Translation: X:-157.89, Y:21.30, Z:119.05 [[ 9.17750201e-01 -3.64847704e-01 1.56909913e-01 -1.57887421e+02] [ 3.67275428e-01 9.30002457e-01 1.42894942e-02 2.12967361e+01] [-1.51140094e-01 4.45149693e-02 9.87509539e-01 1.19054261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.749072329 meters Centerline goodness : 0.736583 Centerline is valid? [False, False] Translation: X:-157.89, Y:21.30, Z:119.05 [[ 9.18249500e-01 -3.63746082e-01 1.56545976e-01 -1.57887244e+02] [ 3.66149690e-01 9.30446960e-01 1.42428883e-02 2.12985678e+01] [-1.50838523e-01 4.42407357e-02 9.87567971e-01 1.19053852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.779072329 meters Centerline goodness : 0.736323 Centerline is valid? [False, False] Translation: X:-157.90, Y:21.30, Z:119.05 [[ 9.17717420e-01 -3.63272543e-01 1.60710289e-01 -1.57898106e+02] [ 3.66523827e-01 9.30354924e-01 9.99997118e-03 2.12981166e+01] [-1.53150324e-01 4.97270025e-02 9.86950963e-01 1.19052015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.80907232899995 meters Centerline goodness : 0.734018 Centerline is valid? [False, False] Translation: X:-157.90, Y:21.30, Z:119.05 [[ 9.18182640e-01 -3.62295323e-01 1.60258348e-01 -1.57897400e+02] [ 3.65515918e-01 9.30751768e-01 9.96292344e-03 2.12994290e+01] [-1.52770262e-01 4.94291939e-02 9.87024823e-01 1.19051329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.839072329 meters Centerline goodness : 0.734771 Centerline is valid? [False, False] Translation: X:-157.92, Y:21.30, Z:119.05 [[ 9.19755985e-01 -3.56698640e-01 1.63752889e-01 -1.57916565e+02] [ 3.60663767e-01 9.32677397e-01 5.87531867e-03 2.12951531e+01] [-1.54824336e-01 5.36558742e-02 9.86483893e-01 1.19050937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.86907232899995 meters Centerline goodness : 0.734073 Centerline is valid? [False, False] Translation: X:-157.92, Y:21.29, Z:119.05 [[ 9.20049639e-01 -3.55007356e-01 1.65766218e-01 -1.57924572e+02] [ 3.59255899e-01 9.33227548e-01 4.64138125e-03 2.12938789e+01] [-1.56345325e-01 5.52821904e-02 9.86154156e-01 1.19051853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.899072329 meters Centerline goodness : 0.732051 Centerline is valid? [False, False] Translation: X:-157.94, Y:21.29, Z:119.05 [[ 9.19908748e-01 -3.52924421e-01 1.70915908e-01 -1.57942960e+02] [ 3.58715384e-01 9.33441415e-01 -3.22467929e-03 2.12867503e+01] [-1.58401919e-01 6.42765764e-02 9.85280343e-01 1.19051667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.92907232899995 meters Centerline goodness : 0.730740 Centerline is valid? [False, False] Translation: X:-157.95, Y:21.28, Z:119.05 [[ 9.18999820e-01 -3.53435837e-01 1.74706728e-01 -1.57951261e+02] [ 3.60069511e-01 9.32900895e-01 -6.77253271e-03 2.12844361e+01] [-1.60590407e-01 6.91305225e-02 9.84597223e-01 1.19051058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.959072329 meters Centerline goodness : 0.733019 Centerline is valid? [False, False] Translation: X:-157.95, Y:21.28, Z:119.05 [[ 9.18658409e-01 -3.54300755e-01 1.74750398e-01 -1.57951210e+02] [ 3.61010833e-01 9.32534274e-01 -7.14184404e-03 2.12838770e+01] [-1.60430375e-01 6.96477020e-02 9.84586864e-01 1.19051153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.98907232899995 meters Centerline goodness : 0.725485 Centerline is valid? [False, False] Translation: X:-157.95, Y:21.29, Z:119.06 [[ 9.18175646e-01 -3.61759106e-01 1.61504899e-01 -1.57950521e+02] [ 3.68122509e-01 9.29720041e-01 -1.03181511e-02 2.12870776e+01] [-1.46421656e-01 6.89274637e-02 9.86817969e-01 1.19061028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.019072329 meters Centerline goodness : 0.723079 Centerline is valid? [False, False] Translation: X:-157.97, Y:21.28, Z:119.07 [[ 9.18562072e-01 -3.63976261e-01 1.54159011e-01 -1.57967018e+02] [ 3.69101981e-01 9.29375390e-01 -5.01106840e-03 2.12763939e+01] [-1.41447681e-01 6.15033737e-02 9.88033344e-01 1.19068720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.04907232899996 meters Centerline goodness : 0.723476 Centerline is valid? [False, False] Translation: X:-157.97, Y:21.28, Z:119.07 [[ 9.18251056e-01 -3.64872711e-01 1.53892505e-01 -1.57966843e+02] [ 3.69799743e-01 9.29104250e-01 -3.66631227e-03 2.12757000e+01] [-1.41644444e-01 6.02760041e-02 9.88080794e-01 1.19066960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.079072329 meters Centerline goodness : 0.725246 Centerline is valid? [False, False] Translation: X:-157.97, Y:21.27, Z:119.07 [[ 9.17180609e-01 -3.67486887e-01 1.54055569e-01 -1.57966844e+02] [ 3.72481974e-01 9.28031421e-01 -3.85487896e-03 2.12736344e+01] [-1.41551792e-01 6.09185429e-02 9.88054665e-01 1.19067077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.10907232899996 meters Centerline goodness : 0.726793 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.20215664e-01 -3.64165405e-01 1.43480622e-01 -1.57976970e+02] [ 3.69103494e-01 9.29349538e-01 -8.48801333e-03 2.12625105e+01] [-1.30252609e-01 6.07700015e-02 9.89616726e-01 1.19080235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.139072329 meters Centerline goodness : 0.728354 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19533341e-01 -3.65467743e-01 1.44539834e-01 -1.57979294e+02] [ 3.70399689e-01 9.28839336e-01 -7.84592114e-03 2.12604537e+01] [-1.31386853e-01 6.07520957e-02 9.89467876e-01 1.19081157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.16907232899996 meters Centerline goodness : 0.729862 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.18946153e-01 -3.66655480e-01 1.45264333e-01 -1.57981131e+02] [ 3.71517312e-01 9.28400439e-01 -6.89292735e-03 2.12598556e+01] [-1.32336141e-01 6.03024436e-02 9.89368870e-01 1.19080621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.199072329 meters Centerline goodness : 0.727646 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.18707538e-01 -3.67267114e-01 1.45228533e-01 -1.57984732e+02] [ 3.71449854e-01 9.28451236e-01 -1.81902897e-03 2.12591180e+01] [-1.34169541e-01 5.56162730e-02 9.89396465e-01 1.19080173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.22907232899996 meters Centerline goodness : 0.728470 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.18907785e-01 -3.66678416e-01 1.45449037e-01 -1.57986312e+02] [ 3.70700677e-01 9.28752204e-01 -5.93680330e-04 2.12585515e+01] [-1.34868423e-01 5.44635937e-02 9.89365567e-01 1.19081368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.259072329 meters Centerline goodness : 0.729975 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19841049e-01 -3.61205966e-01 1.53044748e-01 -1.57980443e+02] [ 3.64826251e-01 9.31063614e-01 4.72783439e-03 2.12584723e+01] [-1.44202118e-01 5.14858856e-02 9.88207950e-01 1.19079980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.28907232899996 meters Centerline goodness : 0.731509 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.20293713e-01 -3.59883726e-01 1.53437891e-01 -1.57982011e+02] [ 3.63524363e-01 9.31573236e-01 4.61985784e-03 2.12582898e+01] [-1.44601244e-01 5.15267854e-02 9.88147494e-01 1.19082595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.319072329 meters Centerline goodness : 0.731990 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.20575175e-01 -3.59174589e-01 1.53411086e-01 -1.57982048e+02] [ 3.62890052e-01 9.31823211e-01 4.03911847e-03 2.12585064e+01] [-1.44402760e-01 5.19530449e-02 9.88154201e-01 1.19083623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.34907232899997 meters Centerline goodness : 0.729689 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19805946e-01 -3.60995796e-01 1.53749985e-01 -1.57981907e+02] [ 3.64820450e-01 9.31071051e-01 3.56888427e-03 2.12578140e+01] [-1.44440513e-01 5.28084578e-02 9.88103337e-01 1.19082537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.379072329 meters Centerline goodness : 0.729565 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19713782e-01 -3.61330776e-01 1.53514267e-01 -1.57981767e+02] [ 3.65018300e-01 9.30989717e-01 4.44828691e-03 2.12575714e+01] [-1.44527507e-01 5.19443659e-02 9.88136419e-01 1.19081369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40907232899997 meters Centerline goodness : 0.727162 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19720281e-01 -3.61533284e-01 1.52997676e-01 -1.57981337e+02] [ 3.64992459e-01 9.30992151e-01 5.84115114e-03 2.12572803e+01] [-1.44551406e-01 5.04707727e-02 9.88209286e-01 1.19079985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.439072329 meters Centerline goodness : 0.725675 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19517552e-01 -3.62019742e-01 1.53065925e-01 -1.57983986e+02] [ 3.65096537e-01 9.30930767e-01 8.51032961e-03 2.12566513e+01] [-1.45574686e-01 4.80584416e-02 9.88179334e-01 1.19080945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46907232899997 meters Centerline goodness : 0.723459 Centerline is valid? [False, False] Translation: X:-157.98, Y:21.26, Z:119.08 [[ 9.19337781e-01 -3.62392108e-01 1.53264492e-01 -1.57984796e+02] [ 3.65437485e-01 9.30794088e-01 8.82099380e-03 2.12563062e+01] [-1.45854341e-01 4.78991175e-02 9.88145832e-01 1.19081481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.499072329 meters Centerline goodness : 0.726715 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.19179231e-01 -3.62776295e-01 1.53306557e-01 -1.57985730e+02] [ 3.65790102e-01 9.30653068e-01 9.08119922e-03 2.12560856e+01] [-1.45969661e-01 4.77307714e-02 9.88136950e-01 1.19082711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.529072329 meters Centerline goodness : 0.726571 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.19239906e-01 -3.62542086e-01 1.53496684e-01 -1.57985965e+02] [ 3.65661133e-01 9.30710035e-01 8.41224964e-03 2.12567826e+01] [-1.45910699e-01 4.83948958e-02 9.88113355e-01 1.19082896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55907232899995 meters Centerline goodness : 0.726101 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.19482049e-01 -3.61920337e-01 1.53513622e-01 -1.57986863e+02] [ 3.64934579e-01 9.30988941e-01 9.07435250e-03 2.12564070e+01] [-1.46203677e-01 4.76787250e-02 9.88104865e-01 1.19084008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.589072329 meters Centerline goodness : 0.721542 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.19181510e-01 -3.62453553e-01 1.54054452e-01 -1.57987743e+02] [ 3.65551622e-01 9.30750097e-01 8.73319461e-03 2.12565339e+01] [-1.46551574e-01 4.82874639e-02 9.88023763e-01 1.19083927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61907232899995 meters Centerline goodness : 0.724561 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.08 [[ 9.18966037e-01 -3.62971087e-01 1.54121422e-01 -1.57988237e+02] [ 3.66031564e-01 9.30558403e-01 9.05272876e-03 2.12564666e+01] [-1.46704864e-01 4.80941550e-02 9.88010443e-01 1.19083852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.649072329 meters Centerline goodness : 0.724020 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.26, Z:119.09 [[ 9.18887334e-01 -3.63224091e-01 1.53994569e-01 -1.57989558e+02] [ 3.66108571e-01 9.30516057e-01 1.02167233e-02 2.12558027e+01] [-1.47005379e-01 4.69907140e-02 9.88018872e-01 1.19085231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67907232899995 meters Centerline goodness : 0.722773 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.25, Z:119.09 [[ 9.18735191e-01 -3.63418284e-01 1.54443517e-01 -1.57991027e+02] [ 3.66171693e-01 9.30479234e-01 1.12555460e-02 2.12547387e+01] [-1.47796957e-01 4.62119779e-02 9.87937504e-01 1.19085445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.709072329 meters Centerline goodness : 0.724443 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.25, Z:119.09 [[ 9.17720584e-01 -3.65692007e-01 1.55107335e-01 -1.57992524e+02] [ 3.68405837e-01 9.29588596e-01 1.19240003e-02 2.12534659e+01] [-1.48546522e-01 4.61995471e-02 9.87825659e-01 1.19085289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.73907232899995 meters Centerline goodness : 0.726965 Centerline is valid? [False, False] Translation: X:-157.99, Y:21.25, Z:119.09 [[ 9.17277628e-01 -3.66599833e-01 1.55583788e-01 -1.57993383e+02] [ 3.69299298e-01 9.29229804e-01 1.22474646e-02 2.12521719e+01] [-1.49063011e-01 4.62226585e-02 9.87746771e-01 1.19085126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.769072329 meters Centerline goodness : 0.728780 Centerline is valid? [False, False] Translation: X:-158.00, Y:21.25, Z:119.09 [[ 9.16580798e-01 -3.68308830e-01 1.55654254e-01 -1.57995206e+02] [ 3.70606412e-01 9.28667736e-01 1.50706267e-02 2.12502577e+01] [-1.50101728e-01 4.38730173e-02 9.87696628e-01 1.19085008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.79907232899996 meters Centerline goodness : 0.726963 Centerline is valid? [False, False] Translation: X:-158.00, Y:21.25, Z:119.08 [[ 9.16139480e-01 -3.69543182e-01 1.55326401e-01 -1.57995553e+02] [ 3.71646277e-01 9.28230228e-01 1.63611895e-02 2.12495200e+01] [-1.50224826e-01 4.27373471e-02 9.87727706e-01 1.19084503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.829072329 meters Centerline goodness : 0.727901 Centerline is valid? [False, False] Translation: X:-158.00, Y:21.25, Z:119.08 [[ 9.15402207e-01 -3.71075780e-01 1.56017833e-01 -1.57997946e+02] [ 3.72974901e-01 9.27666303e-01 1.80264644e-02 2.12473245e+01] [-1.51421671e-01 4.16892706e-02 9.87589734e-01 1.19084956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.85907232899996 meters Centerline goodness : 0.732407 Centerline is valid? [False, False] Translation: X:-158.02, Y:21.24, Z:119.08 [[ 9.15392944e-01 -3.68865026e-01 1.61227634e-01 -1.58017065e+02] [ 3.72410066e-01 9.28026782e-01 8.77688353e-03 2.12404277e+01] [-1.52861048e-01 5.20084965e-02 9.86878218e-01 1.19082471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.889072329 meters Centerline goodness : 0.733584 Centerline is valid? [False, False] Translation: X:-158.02, Y:21.24, Z:119.08 [[ 9.14826015e-01 -3.70190139e-01 1.61408252e-01 -1.58017977e+02] [ 3.73764320e-01 9.27482253e-01 8.76944619e-03 2.12402169e+01] [-1.52949652e-01 5.23061281e-02 9.86848759e-01 1.19083113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.91907232899996 meters Centerline goodness : 0.736380 Centerline is valid? [False, False] Translation: X:-158.04, Y:21.23, Z:119.08 [[ 9.15692960e-01 -3.66479287e-01 1.64922208e-01 -1.58038369e+02] [ 3.71567133e-01 9.28406089e-01 1.17798470e-06 2.12332651e+01] [-1.53115214e-01 6.12785933e-02 9.86306578e-01 1.19083088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.949072329 meters Centerline goodness : 0.735589 Centerline is valid? [False, False] Translation: X:-158.07, Y:21.22, Z:119.09 [[ 9.16645511e-01 -3.65983699e-01 1.60676506e-01 -1.58068965e+02] [ 3.70495135e-01 9.28832208e-01 2.02111415e-03 2.12160393e+01] [-1.49981209e-01 5.76772187e-02 9.87005053e-01 1.19093097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.97907232899996 meters Centerline goodness : 0.737313 Centerline is valid? [False, False] Translation: X:-158.09, Y:21.20, Z:119.11 [[ 9.20269219e-01 -3.61159432e-01 1.50560383e-01 -1.58085393e+02] [ 3.65805318e-01 9.30685140e-01 -3.41164360e-03 2.12045591e+01] [-1.38892164e-01 5.82154195e-02 9.88594928e-01 1.19105172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.009072329 meters Centerline goodness : 0.740760 Centerline is valid? [False, False] Translation: X:-158.10, Y:21.19, Z:119.12 [[ 9.23691951e-01 -3.56843192e-01 1.39485183e-01 -1.58098247e+02] [ 3.61332350e-01 9.32407482e-01 -7.43105176e-03 2.11938700e+01] [-1.27405308e-01 5.72645119e-02 9.90196275e-01 1.19117208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.03907232899996 meters Centerline goodness : 0.741878 Centerline is valid? [False, False] Translation: X:-158.12, Y:21.18, Z:119.13 [[ 9.26994506e-01 -3.52097489e-01 1.29261531e-01 -1.58117236e+02] [ 3.56657876e-01 9.34141279e-01 -1.32374542e-02 2.11814852e+01] [-1.16087658e-01 5.83731905e-02 9.91522176e-01 1.19128650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.069072329 meters Centerline goodness : 0.746166 Centerline is valid? [False, False] Translation: X:-158.15, Y:21.16, Z:119.14 [[ 9.27598072e-01 -3.52048926e-01 1.24993482e-01 -1.58146496e+02] [ 3.56035498e-01 9.34414716e-01 -1.03856939e-02 2.11643657e+01] [-1.13139476e-01 5.41358661e-02 9.92103204e-01 1.19137861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.09907232899997 meters Centerline goodness : 0.745353 Centerline is valid? [False, False] Translation: X:-158.17, Y:21.15, Z:119.15 [[ 9.27584618e-01 -3.54071557e-01 1.19248100e-01 -1.58168398e+02] [ 3.57341721e-01 9.33950851e-01 -6.53471262e-03 2.11514857e+01] [-1.09058109e-01 4.86738203e-02 9.92842983e-01 1.19146297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.129072329 meters Centerline goodness : 0.748837 Centerline is valid? [False, False] Translation: X:-158.18, Y:21.14, Z:119.14 [[ 9.27183508e-01 -3.49863954e-01 1.33887849e-01 -1.58176701e+02] [ 3.52409572e-01 9.35832660e-01 4.97260125e-03 2.11423506e+01] [-1.27036355e-01 4.25728455e-02 9.90984015e-01 1.19140874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15907232899997 meters Centerline goodness : 0.753929 Centerline is valid? [False, False] Translation: X:-158.21, Y:21.13, Z:119.15 [[ 9.27607331e-01 -3.50205362e-01 1.30003246e-01 -1.58205092e+02] [ 3.52283790e-01 9.35863879e-01 7.41152752e-03 2.11268839e+01] [-1.24260899e-01 3.89230490e-02 9.91485867e-01 1.19147518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.189072329 meters Centerline goodness : 0.759156 Centerline is valid? [False, False] Translation: X:-158.22, Y:21.12, Z:119.16 [[ 9.30624970e-01 -3.45534545e-01 1.20594541e-01 -1.58224214e+02] [ 3.48052766e-01 9.37474925e-01 1.93841270e-04 2.11167424e+01] [-1.13121337e-01 4.17928700e-02 9.92701828e-01 1.19156413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21907232899997 meters Centerline goodness : 0.764419 Centerline is valid? [False, False] Translation: X:-158.25, Y:21.11, Z:119.17 [[ 9.33085782e-01 -3.41155222e-01 1.13859729e-01 -1.58246301e+02] [ 3.44099751e-01 9.38909323e-01 -6.68161350e-03 2.11051585e+01] [-1.04624494e-01 4.54136231e-02 9.93474367e-01 1.19165881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24907232899994 meters Centerline goodness : 0.765886 Centerline is valid? [False, False] Translation: X:-158.26, Y:21.10, Z:119.16 [[ 9.33465056e-01 -3.38844004e-01 1.17591365e-01 -1.58264491e+02] [ 3.42855047e-01 9.39266578e-01 -1.51231990e-02 2.10998639e+01] [-1.05325234e-01 5.44337709e-02 9.92946907e-01 1.19164293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.279072329 meters Centerline goodness : 0.765703 Centerline is valid? [False, False] Translation: X:-158.27, Y:21.10, Z:119.16 [[ 9.32840047e-01 -3.39068194e-01 1.21828599e-01 -1.58274990e+02] [ 3.43695795e-01 9.38897313e-01 -1.85751566e-02 2.10967893e+01] [-1.08086299e-01 5.91996271e-02 9.92377325e-01 1.19163301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.30907232899995 meters Centerline goodness : 0.769996 Centerline is valid? [False, False] Translation: X:-158.30, Y:21.08, Z:119.17 [[ 9.32855174e-01 -3.40991425e-01 1.16215626e-01 -1.58298035e+02] [ 3.44851406e-01 9.38548687e-01 -1.42783174e-02 2.10824084e+01] [-1.04205240e-01 5.33967243e-02 9.93121371e-01 1.19173254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.339072329 meters Centerline goodness : 0.765127 Centerline is valid? [False, False] Translation: X:-158.32, Y:21.07, Z:119.18 [[ 9.34669929e-01 -3.36310104e-01 1.15272012e-01 -1.58322459e+02] [ 3.41139321e-01 9.39693388e-01 -2.45010332e-02 2.10734051e+01] [-1.00080402e-01 6.22241948e-02 9.93031753e-01 1.19176967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.36907232899995 meters Centerline goodness : 0.765127 Centerline is valid? [False, False] Translation: X:-158.33, Y:21.07, Z:119.18 [[ 9.34809033e-01 -3.34896344e-01 1.18222295e-01 -1.58332803e+02] [ 3.40330191e-01 9.39870037e-01 -2.86299433e-02 2.10705604e+01] [-1.01525529e-01 6.69981459e-02 9.92574337e-01 1.19175376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.399072329 meters Centerline goodness : 0.765326 Centerline is valid? [False, False] Translation: X:-158.35, Y:21.06, Z:119.19 [[ 9.35239615e-01 -3.36283805e-01 1.10634824e-01 -1.58349827e+02] [ 3.40475688e-01 9.40020956e-01 -2.09023498e-02 2.10592422e+01] [-9.69699316e-02 5.72171735e-02 9.93641297e-01 1.19185223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.42907232899995 meters Centerline goodness : 0.764887 Centerline is valid? [False, False] Translation: X:-158.38, Y:21.04, Z:119.19 [[ 9.36238446e-01 -3.34766437e-01 1.06719281e-01 -1.58382256e+02] [ 3.38531530e-01 9.40766697e-01 -1.88262010e-02 2.10446942e+01] [-9.40955656e-02 5.37536548e-02 9.94110944e-01 1.19190880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.459072329 meters Centerline goodness : 0.762643 Centerline is valid? [False, False] Translation: X:-158.40, Y:21.04, Z:119.19 [[ 9.36816983e-01 -3.32007661e-01 1.10203693e-01 -1.58399225e+02] [ 3.36712211e-01 9.41228969e-01 -2.67004530e-02 2.10410115e+01] [-9.48621533e-02 6.21203669e-02 9.93550317e-01 1.19187201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.48907232899995 meters Centerline goodness : 0.763372 Centerline is valid? [False, False] Translation: X:-158.41, Y:21.03, Z:119.20 [[ 9.39436503e-01 -3.28407656e-01 9.80176971e-02 -1.58410354e+02] [ 3.32433649e-01 9.42723484e-01 -2.75735479e-02 2.10306834e+01] [-8.33482207e-02 5.84879782e-02 9.94802609e-01 1.19200431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.519072329 meters Centerline goodness : 0.765968 Centerline is valid? [False, False] Translation: X:-158.43, Y:21.02, Z:119.21 [[ 9.42183290e-01 -3.22760789e-01 9.00895144e-02 -1.58431713e+02] [ 3.26656491e-01 9.44598182e-01 -3.20906752e-02 2.10180541e+01] [-7.47407799e-02 5.96636226e-02 9.95416530e-01 1.19212901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.54907232899996 meters Centerline goodness : 0.765818 Centerline is valid? [False, False] Translation: X:-158.45, Y:21.01, Z:119.22 [[ 9.42358051e-01 -3.23893921e-01 8.39882831e-02 -1.58453559e+02] [ 3.27004653e-01 9.44664805e-01 -2.60069617e-02 2.10056500e+01] [-7.09172783e-02 5.19724292e-02 9.96127304e-01 1.19222083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.579072329 meters Centerline goodness : 0.768042 Centerline is valid? [False, False] Translation: X:-158.47, Y:20.99, Z:119.23 [[ 9.42592886e-01 -3.25027087e-01 7.66553606e-02 -1.58471219e+02] [ 3.27255861e-01 9.44760157e-01 -1.82166573e-02 2.09943480e+01] [-6.65000235e-02 4.22568076e-02 9.96891222e-01 1.19231187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.60907232899996 meters Centerline goodness : 0.767306 Centerline is valid? [False, False] Translation: X:-158.49, Y:20.98, Z:119.24 [[ 9.45104780e-01 -3.19393300e-01 6.90280733e-02 -1.58492989e+02] [ 3.21636730e-01 9.46559284e-01 -2.39861462e-02 2.09829598e+01] [-5.76781493e-02 4.48713852e-02 9.97326321e-01 1.19239032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.639072329 meters Centerline goodness : 0.766954 Centerline is valid? [False, False] Translation: X:-158.51, Y:20.98, Z:119.23 [[ 9.44997849e-01 -3.18615796e-01 7.39123761e-02 -1.58506399e+02] [ 3.21371734e-01 9.46518718e-01 -2.86796794e-02 2.09797978e+01] [-6.08216486e-02 5.08555839e-02 9.96852264e-01 1.19234462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.66907232899996 meters Centerline goodness : 0.766935 Centerline is valid? [False, False] Translation: X:-158.52, Y:20.97, Z:119.24 [[ 9.45052516e-01 -3.20075997e-01 6.65364469e-02 -1.58523661e+02] [ 3.22114278e-01 9.46438503e-01 -2.22834446e-02 2.09687193e+01] [-5.58402595e-02 4.24913650e-02 9.97535137e-01 1.19242327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.699072329 meters Centerline goodness : 0.767028 Centerline is valid? [False, False] Translation: X:-158.54, Y:20.96, Z:119.24 [[ 9.46432396e-01 -3.15411223e-01 6.91482481e-02 -1.58544485e+02] [ 3.18003521e-01 9.47611529e-01 -3.01023271e-02 2.09619674e+01] [-5.60310653e-02 5.04792040e-02 9.97152130e-01 1.19239446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.72907232899996 meters Centerline goodness : 0.768088 Centerline is valid? [False, False] Translation: X:-158.56, Y:20.96, Z:119.24 [[ 9.46553898e-01 -3.13994405e-01 7.37782658e-02 -1.58558815e+02] [ 3.17066184e-01 9.47788117e-01 -3.41572894e-02 2.09586225e+01] [-5.92009658e-02 5.57243086e-02 9.96689544e-01 1.19236444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.759072329 meters Centerline goodness : 0.767998 Centerline is valid? [False, False] Translation: X:-158.59, Y:20.94, Z:119.24 [[ 9.47060735e-01 -3.13372500e-01 6.98114653e-02 -1.58588864e+02] [ 3.16070542e-01 9.48215306e-01 -3.14188815e-02 2.09445500e+01] [-5.63504865e-02 5.18209366e-02 9.97065300e-01 1.19241685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.78907232899996 meters Centerline goodness : 0.768933 Centerline is valid? [False, False] Translation: X:-158.61, Y:20.93, Z:119.25 [[ 9.47874993e-01 -3.12186530e-01 6.38166753e-02 -1.58613180e+02] [ 3.14219813e-01 9.49033167e-01 -2.45348320e-02 2.09291298e+01] [-5.29046974e-02 4.33084175e-02 9.97659999e-01 1.19249205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.819072329 meters Centerline goodness : 0.770058 Centerline is valid? [False, False] Translation: X:-158.62, Y:20.92, Z:119.24 [[ 9.48853200e-01 -3.05127945e-01 8.10835426e-02 -1.58624924e+02] [ 3.07250277e-01 9.51513249e-01 -1.48257763e-02 2.09174372e+01] [-7.26283064e-02 3.89804263e-02 9.96597038e-01 1.19240923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.84907232899997 meters Centerline goodness : 0.772322 Centerline is valid? [False, False] Translation: X:-158.64, Y:20.91, Z:119.23 [[ 9.49314026e-01 -2.98716976e-01 9.78317388e-02 -1.58636013e+02] [ 3.00668621e-01 9.53712774e-01 -5.50683330e-03 2.09058397e+01] [-9.16583944e-02 3.46426481e-02 9.95187734e-01 1.19234645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.879072329 meters Centerline goodness : 0.771529 Centerline is valid? [False, False] Translation: X:-158.64, Y:20.90, Z:119.23 [[ 9.47948292e-01 -2.97773602e-01 1.12804778e-01 -1.58637936e+02] [ 2.99775534e-01 9.54009408e-01 -8.23432420e-04 2.08958834e+01] [-1.07371623e-01 3.45966839e-02 9.93616830e-01 1.19226049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90907232899997 meters Centerline goodness : 0.773823 Centerline is valid? [False, False] Translation: X:-158.64, Y:20.89, Z:119.23 [[ 9.47009488e-01 -3.00184633e-01 1.14290051e-01 -1.58639997e+02] [ 3.02235651e-01 9.53233020e-01 -6.48562050e-04 2.08924187e+01] [-1.08750362e-01 3.51567223e-02 9.93447212e-01 1.19225639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.939072329 meters Centerline goodness : 0.774596 Centerline is valid? [False, False] Translation: X:-158.66, Y:20.88, Z:119.23 [[ 9.46146664e-01 -3.04826470e-01 1.09028958e-01 -1.58658087e+02] [ 3.06308693e-01 9.51926528e-01 3.29687572e-03 2.08785773e+01] [-1.04792532e-01 3.02771896e-02 9.94033107e-01 1.19233218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96907232899997 meters Centerline goodness : 0.775641 Centerline is valid? [False, False] Translation: X:-158.68, Y:20.87, Z:119.24 [[ 9.45779460e-01 -3.07964196e-01 1.03243724e-01 -1.58677836e+02] [ 3.08889400e-01 9.51069909e-01 7.30533443e-03 2.08668782e+01] [-1.00441780e-01 2.49816566e-02 9.94629260e-01 1.19240533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99907232899994 meters Centerline goodness : 0.774846 Centerline is valid? [False, False] Translation: X:-158.68, Y:20.87, Z:119.24 [[ 9.44562870e-01 -3.10953014e-01 1.05400224e-01 -1.58680108e+02] [ 3.12365016e-01 9.49956566e-01 3.25864501e-03 2.08669656e+01] [-1.01138920e-01 2.98453475e-02 9.94424544e-01 1.19239417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.029072329 meters Centerline goodness : 0.777086 Centerline is valid? [False, False] Translation: X:-158.68, Y:20.87, Z:119.24 [[ 9.43348242e-01 -3.13805470e-01 1.07797129e-01 -1.58683181e+02] [ 3.15699156e-01 9.48859190e-01 -5.29143428e-04 2.08668559e+01] [-1.02118249e-01 3.45306292e-02 9.94172771e-01 1.19238596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05907232899995 meters Centerline goodness : 0.779736 Centerline is valid? [False, False] Translation: X:-158.70, Y:20.85, Z:119.25 [[ 9.42941396e-01 -3.16809216e-01 1.02437517e-01 -1.58704477e+02] [ 3.18067049e-01 9.48058704e-01 4.24793069e-03 2.08531892e+01] [-9.84625629e-02 2.85764490e-02 9.94730371e-01 1.19247548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.089072329 meters Centerline goodness : 0.780222 Centerline is valid? [False, False] Translation: X:-158.71, Y:20.85, Z:119.25 [[ 9.41826164e-01 -3.19085808e-01 1.05582786e-01 -1.58709621e+02] [ 3.20859616e-01 9.47126743e-01 1.96248985e-04 2.08531187e+01] [-1.00062901e-01 3.36924199e-02 9.94410497e-01 1.19245800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11907232899995 meters Centerline goodness : 0.783032 Centerline is valid? [False, False] Translation: X:-158.71, Y:20.85, Z:119.25 [[ 9.40607875e-01 -3.22060934e-01 1.07394508e-01 -1.58711127e+02] [ 3.24261336e-01 9.45962074e-01 -3.21558970e-03 2.08513429e+01] [-1.00555516e-01 3.78484957e-02 9.94211285e-01 1.19246065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.149072329 meters Centerline goodness : 0.781379 Centerline is valid? [False, False] Translation: X:-158.72, Y:20.85, Z:119.25 [[ 9.39793948e-01 -3.23173613e-01 1.11113236e-01 -1.58719477e+02] [ 3.25902321e-01 9.45378732e-01 -6.83598628e-03 2.08499020e+01] [-1.02834880e-01 4.26364801e-02 9.93784241e-01 1.19245141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17907232899995 meters Centerline goodness : 0.782452 Centerline is valid? [False, False] Translation: X:-158.74, Y:20.84, Z:119.25 [[ 9.39940335e-01 -3.24966502e-01 1.04445867e-01 -1.58738493e+02] [ 3.26792785e-01 9.45095932e-01 -3.94470333e-04 2.08389223e+01] [-9.85831740e-02 3.45029342e-02 9.94530495e-01 1.19254234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.209072329 meters Centerline goodness : 0.784189 Centerline is valid? [False, False] Translation: X:-158.74, Y:20.84, Z:119.25 [[ 9.39793888e-01 -3.25346823e-01 1.04579603e-01 -1.58738002e+02] [ 3.27156020e-01 9.44970325e-01 -1.54285227e-04 2.08380711e+01] [-9.87744256e-02 3.43588432e-02 9.94516507e-01 1.19254044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.23907232899995 meters Centerline goodness : 0.782457 Centerline is valid? [False, False] Translation: X:-158.74, Y:20.84, Z:119.25 [[ 9.38440417e-01 -3.28317174e-01 1.07412368e-01 -1.58741427e+02] [ 3.30741736e-01 9.43707616e-01 -5.08317427e-03 2.08411178e+01] [-9.96969761e-02 4.02960092e-02 9.94201561e-01 1.19251147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.269072329 meters Centerline goodness : 0.782774 Centerline is valid? [False, False] Translation: X:-158.74, Y:20.84, Z:119.25 [[ 9.38446946e-01 -3.28250337e-01 1.07559501e-01 -1.58741804e+02] [ 3.30669343e-01 9.43733578e-01 -4.97184920e-03 2.08410085e+01] [-9.98755016e-02 4.02324462e-02 9.94186217e-01 1.19250913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.29907232899996 meters Centerline goodness : 0.784204 Centerline is valid? [False, False] Translation: X:-158.76, Y:20.83, Z:119.26 [[ 9.38863951e-01 -3.29617064e-01 9.94337617e-02 -1.58759043e+02] [ 3.31135599e-01 9.43582279e-01 1.30280746e-03 2.08313219e+01] [-9.42533631e-02 3.17028993e-02 9.95043331e-01 1.19260277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.329072329 meters Centerline goodness : 0.782956 Centerline is valid? [False, False] Translation: X:-158.76, Y:20.83, Z:119.26 [[ 9.39006119e-01 -3.29194564e-01 9.94909437e-02 -1.58760079e+02] [ 3.30664609e-01 9.43746596e-01 1.81080281e-03 2.08301629e+01] [-9.44903459e-02 3.11977791e-02 9.95036820e-01 1.19261477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.35907232899996 meters Centerline goodness : 0.784019 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.83, Z:119.26 [[ 9.41302023e-01 -3.24095706e-01 9.44059067e-02 -1.58747694e+02] [ 3.26136395e-01 9.45299517e-01 -6.62388246e-03 2.08333744e+01] [-8.70950861e-02 3.70242760e-02 9.95511752e-01 1.19263527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.389072329 meters Centerline goodness : 0.783459 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.26 [[ 9.41206353e-01 -3.24307137e-01 9.46334129e-02 -1.58748391e+02] [ 3.26405861e-01 9.45202453e-01 -7.17894521e-03 2.08357500e+01] [-8.71195509e-02 3.76457694e-02 9.95486303e-01 1.19263035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.41907232899996 meters Centerline goodness : 0.782990 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.26 [[ 9.41284042e-01 -3.23954928e-01 9.50660614e-02 -1.58750161e+02] [ 3.26044024e-01 9.45329408e-01 -6.89958556e-03 2.08357082e+01] [-8.76335888e-02 3.74901910e-02 9.95447055e-01 1.19263549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.449072329 meters Centerline goodness : 0.781888 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.26 [[ 9.41240703e-01 -3.24029373e-01 9.52412994e-02 -1.58750656e+02] [ 3.26114833e-01 9.45305852e-01 -6.77953743e-03 2.08356314e+01] [-8.78353884e-02 3.74407770e-02 9.95431129e-01 1.19264121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.47907232899996 meters Centerline goodness : 0.784968 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.26 [[ 9.41265788e-01 -3.23990745e-01 9.51247213e-02 -1.58750797e+02] [ 3.26048573e-01 9.45330547e-01 -6.51796023e-03 2.08352346e+01] [-8.78125461e-02 3.71504127e-02 9.95444023e-01 1.19264995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.509072329 meters Centerline goodness : 0.784725 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.27 [[ 9.41243660e-01 -3.24096255e-01 9.49841542e-02 -1.58751181e+02] [ 3.26132509e-01 9.45302886e-01 -6.32770708e-03 2.08355621e+01] [-8.77380089e-02 3.69333347e-02 9.95458673e-01 1.19266513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.53907232899996 meters Centerline goodness : 0.783228 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.27 [[ 9.41116187e-01 -3.24395527e-01 9.52253344e-02 -1.58751160e+02] [ 3.26454356e-01 9.45190846e-01 -6.46673649e-03 2.08358702e+01] [-8.79083340e-02 3.71726757e-02 9.95434738e-01 1.19266158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.569072329 meters Centerline goodness : 0.786634 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.84, Z:119.27 [[ 9.41155878e-01 -3.24166303e-01 9.56128707e-02 -1.58752580e+02] [ 3.26252826e-01 9.45259323e-01 -6.62615168e-03 2.08368647e+01] [-8.82309824e-02 3.74302109e-02 9.95396541e-01 1.19265957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.59907232899997 meters Centerline goodness : 0.782214 Centerline is valid? [False, False] Translation: X:-158.74, Y:20.85, Z:119.26 [[ 9.43504563e-01 -3.18168491e-01 9.25632276e-02 -1.58742027e+02] [ 3.21095575e-01 9.46870632e-01 -1.82657866e-02 2.08454302e+01] [-8.18338040e-02 4.69554957e-02 9.95539256e-01 1.19261678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.629072329 meters Centerline goodness : 0.781337 Centerline is valid? [False, False] Translation: X:-158.75, Y:20.85, Z:119.26 [[ 9.43072476e-01 -3.18284451e-01 9.64847797e-02 -1.58752422e+02] [ 3.21835992e-01 9.46506586e-01 -2.33854129e-02 2.08472621e+01] [-8.38802661e-02 5.31064140e-02 9.95059702e-01 1.19258171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65907232899997 meters Centerline goodness : 0.782095 Centerline is valid? [False, False] Translation: X:-158.76, Y:20.85, Z:119.26 [[ 9.43520487e-01 -3.16193827e-01 9.89472282e-02 -1.58764179e+02] [ 3.20064830e-01 9.47048687e-01 -2.56376678e-02 2.08463598e+01] [-8.56013702e-02 5.58591926e-02 9.94762362e-01 1.19260040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.689072329 meters Centerline goodness : 0.782569 Centerline is valid? [False, False] Translation: X:-158.77, Y:20.85, Z:119.26 [[ 9.43687466e-01 -3.15589964e-01 9.92821322e-02 -1.58766561e+02] [ 3.19430166e-01 9.47277620e-01 -2.50894524e-02 2.08458067e+01] [-8.61297625e-02 5.53903097e-02 9.94742971e-01 1.19261960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71907232899997 meters Centerline goodness : 0.781024 Centerline is valid? [False, False] Translation: X:-158.78, Y:20.84, Z:119.26 [[ 9.44081988e-01 -3.09125140e-01 1.14677144e-01 -1.58775402e+02] [ 3.12881268e-01 9.49659351e-01 -1.58879972e-02 2.08387234e+01] [-1.03992842e-01 5.08799021e-02 9.93275754e-01 1.19257829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74907232899994 meters Centerline goodness : 0.780859 Centerline is valid? [False, False] Translation: X:-158.81, Y:20.83, Z:119.27 [[ 9.47275845e-01 -3.01957528e-01 1.07192002e-01 -1.58806527e+02] [ 3.05915979e-01 9.51798698e-01 -2.22407909e-02 2.08285103e+01] [-9.53094338e-02 5.38599102e-02 9.93989548e-01 1.19266088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.779072329 meters Centerline goodness : 0.782143 Centerline is valid? [False, False] Translation: X:-158.81, Y:20.82, Z:119.28 [[ 9.49758934e-01 -2.99072519e-01 9.22691520e-02 -1.58810898e+02] [ 3.02085431e-01 9.53064735e-01 -2.02978559e-02 2.08221251e+01] [-8.18679440e-02 4.71512365e-02 9.95527197e-01 1.19278441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.80907232899995 meters Centerline goodness : 0.780725 Centerline is valid? [False, False] Translation: X:-158.82, Y:20.81, Z:119.29 [[ 9.52422481e-01 -2.94137998e-01 7.98389385e-02 -1.58821376e+02] [ 2.96671418e-01 9.54732806e-01 -2.17103495e-02 2.08148582e+01] [-6.98390150e-02 4.43633560e-02 9.96571324e-01 1.19289255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.839072329 meters Centerline goodness : 0.783608 Centerline is valid? [False, False] Translation: X:-158.84, Y:20.81, Z:119.29 [[ 9.54423151e-01 -2.87636303e-01 7.96354542e-02 -1.58843502e+02] [ 2.90625915e-01 9.56407329e-01 -2.86635315e-02 2.08089827e+01] [-6.79192598e-02 5.05012648e-02 9.96411861e-01 1.19289534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.86907232899995 meters Centerline goodness : 0.782329 Centerline is valid? [False, False] Translation: X:-158.85, Y:20.80, Z:119.30 [[ 9.56623172e-01 -2.83709570e-01 6.61890274e-02 -1.58850654e+02] [ 2.86027561e-01 9.57798548e-01 -2.84636033e-02 2.08014988e+01] [-5.53203577e-02 4.61608285e-02 9.97401041e-01 1.19302560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.899072329 meters Centerline goodness : 0.786821 Centerline is valid? [False, False] Translation: X:-158.87, Y:20.80, Z:119.30 [[ 9.56915278e-01 -2.81663283e-01 7.05616433e-02 -1.58866639e+02] [ 2.84378198e-01 9.58186506e-01 -3.17436677e-02 2.07971777e+01] [-5.86701887e-02 5.04421936e-02 9.97002204e-01 1.19302176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.92907232899995 meters Centerline goodness : 0.787033 Centerline is valid? [False, False] Translation: X:-158.88, Y:20.79, Z:119.31 [[ 9.57084181e-01 -2.82794141e-01 6.33825197e-02 -1.58884222e+02] [ 2.84704471e-01 9.58332725e-01 -2.32755952e-02 2.07866190e+01] [-5.41593409e-02 4.03219907e-02 9.97717847e-01 1.19311739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.959072329 meters Centerline goodness : 0.785173 Centerline is valid? [False, False] Translation: X:-158.90, Y:20.78, Z:119.32 [[ 9.59211058e-01 -2.78125132e-01 5.06019407e-02 -1.58896449e+02] [ 2.79584145e-01 9.59812308e-01 -2.43523967e-02 2.07777070e+01] [-4.17953519e-02 3.75065886e-02 9.98421957e-01 1.19323220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.98907232899995 meters Centerline goodness : 0.781783 Centerline is valid? [False, False] Translation: X:-158.91, Y:20.77, Z:119.32 [[ 9.59596520e-01 -2.75952918e-01 5.49955100e-02 -1.58912536e+02] [ 2.77794831e-01 9.60199112e-01 -2.91152277e-02 2.07742835e+01] [-4.47722079e-02 4.32163396e-02 9.98062021e-01 1.19319592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.019072329 meters Centerline goodness : 0.781441 Centerline is valid? [False, False] Translation: X:-158.94, Y:20.77, Z:119.32 [[ 9.61442139e-01 -2.69660707e-01 5.39640211e-02 -1.58938630e+02] [ 2.71796817e-01 9.61640575e-01 -3.70661008e-02 2.07664827e+01] [-4.18987213e-02 5.03041604e-02 9.97854693e-01 1.19322141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.04907232899996 meters Centerline goodness : 0.780814 Centerline is valid? [False, False] Translation: X:-158.96, Y:20.76, Z:119.33 [[ 9.61754618e-01 -2.69873671e-01 4.68642248e-02 -1.58956718e+02] [ 2.71308259e-01 9.62101127e-01 -2.74454010e-02 2.07560949e+01] [-3.76813323e-02 3.91103924e-02 9.98524158e-01 1.19331218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.079072329 meters Centerline goodness : 0.780192 Centerline is valid? [False, False] Translation: X:-158.98, Y:20.74, Z:119.34 [[ 9.62172482e-01 -2.69300403e-01 4.12481160e-02 -1.58980728e+02] [ 2.70296503e-01 9.62553552e-01 -2.07475528e-02 2.07447333e+01] [-3.41161962e-02 3.11119458e-02 9.98933497e-01 1.19338026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.10907232899996 meters Centerline goodness : 0.777909 Centerline is valid? [False, False] Translation: X:-159.00, Y:20.73, Z:119.35 [[ 9.62883884e-01 -2.67993488e-01 3.21576859e-02 -1.59001470e+02] [ 2.68613464e-01 9.63102557e-01 -1.67413158e-02 2.07320337e+01] [-2.64845859e-02 2.47579306e-02 9.99342590e-01 1.19347288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.139072329 meters Centerline goodness : 0.777383 Centerline is valid? [False, False] Translation: X:-159.01, Y:20.73, Z:119.35 [[ 9.62051955e-01 -2.70702874e-01 3.42927021e-02 -1.59005232e+02] [ 2.71483133e-01 9.62224215e-01 -2.05296860e-02 2.07323757e+01] [-2.74398233e-02 2.90605147e-02 9.99200952e-01 1.19347015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.16907232899996 meters Centerline goodness : 0.777144 Centerline is valid? [False, False] Translation: X:-159.03, Y:20.72, Z:119.35 [[ 9.62029654e-01 -2.71450899e-01 2.85193478e-02 -1.59028520e+02] [ 2.71941974e-01 9.62197198e-01 -1.49704633e-02 2.07184429e+01] [-2.33774909e-02 2.21576374e-02 9.99481131e-01 1.19354442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.199072329 meters Centerline goodness : 0.777121 Centerline is valid? [False, False] Translation: X:-159.05, Y:20.71, Z:119.36 [[ 9.62019464e-01 -2.72157018e-01 2.11921920e-02 -1.59045906e+02] [ 2.72351518e-01 9.62173425e-01 -6.85211373e-03 2.07080029e+01] [-1.85257132e-02 1.23635924e-02 9.99751939e-01 1.19361937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.22907232899996 meters Centerline goodness : 0.777538 Centerline is valid? [False, False] Translation: X:-159.06, Y:20.70, Z:119.37 [[ 9.61959565e-01 -2.72813002e-01 1.43826488e-02 -1.59064928e+02] [ 2.72837173e-01 9.62060181e-01 2.91854643e-04 2.06975536e+01] [-1.39165954e-02 3.64336886e-03 9.99896522e-01 1.19368401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.259072329 meters Centerline goodness : 0.774230 Centerline is valid? [False, False] Translation: X:-159.08, Y:20.69, Z:119.36 [[ 9.62086983e-01 -2.72171402e-01 1.76455578e-02 -1.59076919e+02] [ 2.72330697e-01 9.62175923e-01 -7.31337302e-03 2.06934854e+01] [-1.49876398e-02 1.18415280e-02 9.99817558e-01 1.19361263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.28907232899996 meters Centerline goodness : 0.774230 Centerline is valid? [False, False] Translation: X:-159.08, Y:20.69, Z:119.36 [[ 9.62086983e-01 -2.72171402e-01 1.76455578e-02 -1.59076919e+02] [ 2.72330697e-01 9.62175923e-01 -7.31337302e-03 2.06934854e+01] [-1.49876398e-02 1.18415280e-02 9.99817558e-01 1.19361263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.319072329 meters Centerline goodness : 0.774552 Centerline is valid? [False, False] Translation: X:-159.08, Y:20.69, Z:119.36 [[ 9.61197454e-01 -2.75153891e-01 1.97431188e-02 -1.59080137e+02] [ 2.75396502e-01 9.61270063e-01 -1.07996370e-02 2.06926350e+01] [-1.60069069e-02 1.58177694e-02 9.99746756e-01 1.19361168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.34907232899997 meters Centerline goodness : 0.773469 Centerline is valid? [False, False] Translation: X:-159.08, Y:20.69, Z:119.36 [[ 9.60361594e-01 -2.77866787e-01 2.22633600e-02 -1.59084343e+02] [ 2.78215273e-01 9.60410460e-01 -1.44225801e-02 2.06913443e+01] [-1.73744078e-02 2.00448988e-02 9.99648104e-01 1.19360458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.379072329 meters Centerline goodness : 0.776660 Centerline is valid? [False, False] Translation: X:-159.09, Y:20.68, Z:119.37 [[ 9.61251668e-01 -2.75473462e-01 1.04691640e-02 -1.59091057e+02] [ 2.75619438e-01 9.61117824e-01 -1.69249360e-02 2.06832549e+01] [-5.39972941e-03 1.91546280e-02 9.99801952e-01 1.19371807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40907232899997 meters Centerline goodness : 0.773108 Centerline is valid? [False, False] Translation: X:-159.11, Y:20.67, Z:119.38 [[ 9.60418006e-01 -2.78520111e-01 4.87866955e-03 -1.59111067e+02] [ 2.78558926e-01 9.60350014e-01 -1.15228323e-02 2.06696344e+01] [-1.47588984e-03 1.24257326e-02 9.99921708e-01 1.19378823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.439072329 meters Centerline goodness : 0.772802 Centerline is valid? [False, False] Translation: X:-159.13, Y:20.66, Z:119.39 [[ 9.59689889e-01 -2.81055463e-01 -1.77312905e-03 -1.59128427e+02] [ 2.81042952e-01 9.59680580e-01 -5.29552991e-03 2.06592834e+01] [ 3.18997513e-03 4.58374109e-03 9.99984407e-01 1.19385466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46907232899997 meters Centerline goodness : 0.771990 Centerline is valid? [False, False] Translation: X:-159.15, Y:20.65, Z:119.39 [[ 9.58488353e-01 -2.85030547e-01 -7.59369183e-03 -1.59146462e+02] [ 2.85038024e-01 9.58516205e-01 -1.01636021e-04 2.06473766e+01] [ 7.30764605e-03 -2.06707397e-03 9.99971162e-01 1.19392247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49907232899994 meters Centerline goodness : 0.772484 Centerline is valid? [False, False] Translation: X:-159.15, Y:20.65, Z:119.39 [[ 9.57416413e-01 -2.88657852e-01 -5.51876750e-03 -1.59148503e+02] [ 2.88637285e-01 9.57429155e-01 -4.23455729e-03 2.06477298e+01] [ 6.50616711e-03 2.46131259e-03 9.99975806e-01 1.19390872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.529072329 meters Centerline goodness : 0.771764 Centerline is valid? [False, False] Translation: X:-159.15, Y:20.65, Z:119.39 [[ 9.56351944e-01 -2.92197001e-01 -3.44558683e-03 -1.59150989e+02] [ 2.92161858e-01 9.56333684e-01 -8.20571614e-03 2.06483264e+01] [ 5.69281639e-03 6.84088353e-03 9.99960396e-01 1.19390150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55907232899995 meters Centerline goodness : 0.773255 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.55307074e-01 -2.95467912e-01 -9.33317200e-03 -1.59170773e+02] [ 2.95453403e-01 9.55352663e-01 -2.92834634e-03 2.06365876e+01] [ 9.78170311e-03 3.99525478e-05 9.99952157e-01 1.19397877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.589072329 meters Centerline goodness : 0.771986 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.55154302e-01 -2.95948681e-01 -9.72812333e-03 -1.59169055e+02] [ 2.95933588e-01 9.55203841e-01 -2.98895877e-03 2.06363212e+01] [ 1.01769192e-02 -2.39616136e-05 9.99948214e-01 1.19397674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61907232899995 meters Centerline goodness : 0.770288 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.54979980e-01 -2.96501427e-01 -1.00070953e-02 -1.59167463e+02] [ 2.96483295e-01 9.55032395e-01 -3.28335361e-03 2.06368409e+01] [ 1.05306192e-02 1.68600383e-04 9.99944537e-01 1.19396930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.649072329 meters Centerline goodness : 0.770752 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.53812493e-01 -3.00304386e-01 -7.68142717e-03 -1.59170526e+02] [ 3.00245159e-01 9.53828640e-01 -7.98564323e-03 2.06410142e+01] [ 9.72488892e-03 5.31049495e-03 9.99938611e-01 1.19395133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67907232899995 meters Centerline goodness : 0.771515 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.53861570e-01 -3.00150422e-01 -7.60457796e-03 -1.59171253e+02] [ 3.00094502e-01 9.53878531e-01 -7.68364584e-03 2.06405737e+01] [ 9.56009319e-03 5.04704245e-03 9.99941564e-01 1.19395899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.709072329 meters Centerline goodness : 0.770233 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.53842444e-01 -3.00203904e-01 -7.88717391e-03 -1.59171103e+02] [ 3.00148333e-01 9.53863025e-01 -7.50388361e-03 2.06403511e+01] [ 9.77597872e-03 4.79020059e-03 9.99940740e-01 1.19396985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.73907232899995 meters Centerline goodness : 0.770712 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.53670034e-01 -3.00750181e-01 -7.92427994e-03 -1.59170649e+02] [ 3.00689415e-01 9.53688460e-01 -8.01232000e-03 2.06419161e+01] [ 9.96700102e-03 5.25836239e-03 9.99936502e-01 1.19396825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.769072329 meters Centerline goodness : 0.772115 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.64, Z:119.40 [[ 9.53529655e-01 -3.01198015e-01 -7.80722976e-03 -1.59170509e+02] [ 3.01131716e-01 9.53543493e-01 -8.63117477e-03 2.06440179e+01] [ 1.00442258e-02 5.87907660e-03 9.99932273e-01 1.19395956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.79907232899996 meters Centerline goodness : 0.769399 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.65, Z:119.40 [[ 9.54379154e-01 -2.98436749e-01 -9.79474424e-03 -1.59167536e+02] [ 2.98395649e-01 9.54426688e-01 -5.45294175e-03 2.06461927e+01] [ 1.09757235e-02 2.28146486e-03 9.99937162e-01 1.19395430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.829072329 meters Centerline goodness : 0.770470 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.65, Z:119.40 [[ 9.54425587e-01 -2.98301363e-01 -9.38590507e-03 -1.59168912e+02] [ 2.98258482e-01 9.54468057e-01 -5.71017627e-03 2.06476440e+01] [ 1.06618999e-02 2.65051254e-03 9.99939648e-01 1.19395082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.85907232899996 meters Centerline goodness : 0.771193 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.65, Z:119.39 [[ 9.54371180e-01 -2.98479992e-01 -9.23824450e-03 -1.59169415e+02] [ 2.98433194e-01 9.54410915e-01 -6.11836043e-03 2.06493904e+01] [ 1.06432896e-02 3.08218805e-03 9.99938608e-01 1.19394999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.889072329 meters Centerline goodness : 0.769757 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.65, Z:119.40 [[ 9.54531269e-01 -2.97970073e-01 -9.15931072e-03 -1.59171124e+02] [ 2.97915455e-01 9.54567527e-01 -6.87152909e-03 2.06534986e+01] [ 1.07906906e-02 3.83038916e-03 9.99934442e-01 1.19396022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.91907232899996 meters Centerline goodness : 0.771461 Centerline is valid? [False, False] Translation: X:-159.17, Y:20.66, Z:119.40 [[ 9.54651844e-01 -2.97601529e-01 -8.55496161e-03 -1.59173883e+02] [ 2.97548586e-01 9.54681465e-01 -6.93826899e-03 2.06553295e+01] [ 1.02321027e-02 4.07811455e-03 9.99939335e-01 1.19396578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.949072329 meters Centerline goodness : 0.771507 Centerline is valid? [False, False] Translation: X:-159.18, Y:20.66, Z:119.40 [[ 9.54812080e-01 -2.97105614e-01 -7.88324407e-03 -1.59176892e+02] [ 2.97056567e-01 9.54835503e-01 -6.82334374e-03 2.06565937e+01] [ 9.55445505e-03 4.17324161e-03 9.99945647e-01 1.19397286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.97907232899996 meters Centerline goodness : 0.769965 Centerline is valid? [False, False] Translation: X:-159.18, Y:20.66, Z:119.40 [[ 9.54875576e-01 -2.96912500e-01 -7.45666994e-03 -1.59178750e+02] [ 2.96863647e-01 9.54894231e-01 -6.99881758e-03 2.06580047e+01] [ 9.19836753e-03 4.46938573e-03 9.99947706e-01 1.19397607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.009072329 meters Centerline goodness : 0.769575 Centerline is valid? [False, False] Translation: X:-159.18, Y:20.66, Z:119.40 [[ 9.55179154e-01 -2.95956735e-01 -6.51113366e-03 -1.59183224e+02] [ 2.95913734e-01 9.55190344e-01 -6.81676865e-03 2.06593450e+01] [ 8.23684059e-03 4.58450144e-03 9.99955567e-01 1.19398557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.03907232899996 meters Centerline goodness : 0.766575 Centerline is valid? [False, False] Translation: X:-159.19, Y:20.66, Z:119.40 [[ 9.55296669e-01 -2.95588176e-01 -5.99202513e-03 -1.59185397e+02] [ 2.95546785e-01 9.55303197e-01 -6.92089821e-03 2.06606077e+01] [ 7.76993644e-03 4.84058724e-03 9.99958098e-01 1.19398674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.069072329 meters Centerline goodness : 0.769534 Centerline is valid? [False, False] Translation: X:-159.19, Y:20.66, Z:119.40 [[ 9.55660539e-01 -2.94441967e-01 -4.10642016e-03 -1.59191197e+02] [ 2.94403086e-01 9.55647126e-01 -8.08663716e-03 2.06641793e+01] [ 6.30533397e-03 6.51913726e-03 9.99958871e-01 1.19396000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.09907232899997 meters Centerline goodness : 0.767580 Centerline is valid? [False, False] Translation: X:-159.20, Y:20.66, Z:119.39 [[ 9.58072913e-01 -2.86284413e-01 1.17272736e-02 -1.59202224e+02] [ 2.86276375e-01 9.58144094e-01 2.39430894e-03 2.06567108e+01] [-1.19218713e-02 1.06331884e-03 9.99928367e-01 1.19392488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.129072329 meters Centerline goodness : 0.767145 Centerline is valid? [False, False] Translation: X:-159.21, Y:20.66, Z:119.39 [[ 9.58280549e-01 -2.85557317e-01 1.24662520e-02 -1.59205325e+02] [ 2.85547890e-01 9.58361002e-01 2.56754012e-03 2.06572854e+01] [-1.26803496e-02 1.09928819e-03 9.99918997e-01 1.19392956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15907232899997 meters Centerline goodness : 0.765642 Centerline is valid? [False, False] Translation: X:-159.22, Y:20.65, Z:119.39 [[ 9.60753450e-01 -2.75805369e-01 2.97356054e-02 -1.59217716e+02] [ 2.75582629e-01 9.61209473e-01 1.14264216e-02 2.06478701e+01] [-3.17336140e-02 -2.78335769e-03 9.99492487e-01 1.19386228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.189072329 meters Centerline goodness : 0.765700 Centerline is valid? [False, False] Translation: X:-159.23, Y:20.64, Z:119.38 [[ 9.62277346e-01 -2.67857749e-01 4.76920943e-02 -1.59232238e+02] [ 2.67148593e-01 9.63431092e-01 2.07884477e-02 2.06366027e+01] [-5.15163934e-02 -7.26337638e-03 9.98645735e-01 1.19378923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21907232899997 meters Centerline goodness : 0.767780 Centerline is valid? [False, False] Translation: X:-159.24, Y:20.63, Z:119.37 [[ 9.63122140e-01 -2.61212636e-01 6.45267495e-02 -1.59242226e+02] [ 2.59828099e-01 9.65215165e-01 2.91383516e-02 2.06274899e+01] [-6.98935028e-02 -1.12979289e-02 9.97490479e-01 1.19370747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24907232899994 meters Centerline goodness : 0.768398 Centerline is valid? [False, False] Translation: X:-159.25, Y:20.63, Z:119.37 [[ 9.62302398e-01 -2.63582769e-01 6.70687652e-02 -1.59247414e+02] [ 2.62453788e-01 9.64613340e-01 2.52807029e-02 2.06286379e+01] [-7.13589833e-02 -6.72522949e-03 9.97428026e-01 1.19370410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.279072329 meters Centerline goodness : 0.765544 Centerline is valid? [False, False] Translation: X:-159.25, Y:20.62, Z:119.36 [[ 9.62621889e-01 -2.58004419e-01 8.24185619e-02 -1.59252857e+02] [ 2.56177500e-01 9.66093148e-01 3.22043018e-02 2.06203057e+01] [-8.79328601e-02 -9.88678463e-03 9.96077338e-01 1.19362330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.30907232899995 meters Centerline goodness : 0.766963 Centerline is valid? [False, False] Translation: X:-159.25, Y:20.62, Z:119.36 [[ 9.62461268e-01 -2.58434191e-01 8.29462251e-02 -1.59252841e+02] [ 2.56517022e-01 9.65970097e-01 3.31781512e-02 2.06165781e+01] [-8.86979417e-02 -1.06555669e-02 9.96001573e-01 1.19361157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.339072329 meters Centerline goodness : 0.766689 Centerline is valid? [False, False] Translation: X:-159.25, Y:20.61, Z:119.36 [[ 9.62246361e-01 -2.58982105e-01 8.37269917e-02 -1.59254044e+02] [ 2.56998275e-01 9.65818862e-01 3.38498582e-02 2.06141898e+01] [-8.96316153e-02 -1.10542105e-02 9.95913640e-01 1.19361010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.36907232899995 meters Centerline goodness : 0.766649 Centerline is valid? [False, False] Translation: X:-159.26, Y:20.62, Z:119.36 [[ 9.61231656e-01 -2.62020481e-01 8.59009380e-02 -1.59256965e+02] [ 2.60413771e-01 9.65043113e-01 2.96050330e-02 2.06152468e+01] [-9.06552336e-02 -6.08750769e-03 9.95863731e-01 1.19359789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.399072329 meters Centerline goodness : 0.763544 Centerline is valid? [False, False] Translation: X:-159.26, Y:20.61, Z:119.36 [[ 9.60712696e-01 -2.63779581e-01 8.63217684e-02 -1.59255938e+02] [ 2.62145228e-01 9.64563375e-01 2.99562212e-02 2.06122998e+01] [-9.11646558e-02 -6.15048245e-03 9.95816839e-01 1.19357019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.42907232899995 meters Centerline goodness : 0.763396 Centerline is valid? [False, False] Translation: X:-159.26, Y:20.61, Z:119.36 [[ 9.59664473e-01 -2.66818936e-01 8.86101238e-02 -1.59259051e+02] [ 2.65598245e-01 9.63746210e-01 2.55110577e-02 2.06140149e+01] [-9.22045043e-02 -9.47362343e-04 9.95739641e-01 1.19355370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.459072329 meters Centerline goodness : 0.762552 Centerline is valid? [False, False] Translation: X:-159.26, Y:20.62, Z:119.35 [[ 9.58602106e-01 -2.69897069e-01 9.07610819e-02 -1.59261901e+02] [ 2.69103721e-01 9.62880032e-01 2.11005155e-02 2.06159457e+01] [-9.30870008e-02 4.19714626e-03 9.95649132e-01 1.19353967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.48907232899995 meters Centerline goodness : 0.760386 Centerline is valid? [False, False] Translation: X:-159.26, Y:20.62, Z:119.35 [[ 9.57466620e-01 -2.73164127e-01 9.29463876e-02 -1.59264325e+02] [ 2.72833113e-01 9.61919910e-01 1.64978274e-02 2.06176735e+01] [-9.39135954e-02 9.56273327e-03 9.95534425e-01 1.19352067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.519072329 meters Centerline goodness : 0.760678 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.62, Z:119.35 [[ 9.56491145e-01 -2.75601234e-01 9.57530609e-02 -1.59269412e+02] [ 2.75719913e-01 9.61159928e-01 1.22524251e-02 2.06189111e+01] [-9.54107886e-02 1.46816894e-02 9.95329709e-01 1.19350839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.54907232899996 meters Centerline goodness : 0.759472 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.62, Z:119.35 [[ 9.56090598e-01 -2.76795411e-01 9.63071624e-02 -1.59270634e+02] [ 2.76991830e-01 9.60802347e-01 1.15920338e-02 2.06173528e+01] [-9.57407694e-02 1.55932626e-02 9.95284158e-01 1.19352313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.579072329 meters Centerline goodness : 0.761229 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.62, Z:119.35 [[ 9.55847644e-01 -2.77575025e-01 9.64748016e-02 -1.59270618e+02] [ 2.77820124e-01 9.60568357e-01 1.11539459e-02 2.06166900e+01] [-9.57666985e-02 1.61411685e-02 9.95272928e-01 1.19352115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.60907232899996 meters Centerline goodness : 0.759098 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.62, Z:119.35 [[ 9.55553379e-01 -2.78260151e-01 9.74116393e-02 -1.59272328e+02] [ 2.78437428e-01 9.60378839e-01 1.20451239e-02 2.06155327e+01] [-9.69037550e-02 1.56132874e-02 9.95171286e-01 1.19351559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.639072329 meters Centerline goodness : 0.759466 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.61, Z:119.35 [[ 9.55165168e-01 -2.79585825e-01 9.74231395e-02 -1.59271781e+02] [ 2.79591767e-01 9.60018775e-01 1.38706767e-02 2.06143670e+01] [-9.74060876e-02 1.39899204e-02 9.95146389e-01 1.19348222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.66907232899996 meters Centerline goodness : 0.757221 Centerline is valid? [False, False] Translation: X:-159.27, Y:20.61, Z:119.35 [[ 9.54984013e-01 -2.80019205e-01 9.79529515e-02 -1.59272438e+02] [ 2.79974077e-01 9.59898227e-01 1.44882918e-02 2.06132427e+01] [-9.80818644e-02 1.35882001e-02 9.95085579e-01 1.19347464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.699072329 meters Centerline goodness : 0.758342 Centerline is valid? [False, False] Translation: X:-159.28, Y:20.62, Z:119.35 [[ 9.53957052e-01 -2.82675731e-01 1.00301417e-01 -1.59276376e+02] [ 2.83101413e-01 9.59035072e-01 1.02625784e-02 2.06151149e+01] [-9.90935581e-02 1.86054137e-02 9.94904169e-01 1.19346584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.72907232899996 meters Centerline goodness : 0.758130 Centerline is valid? [False, False] Translation: X:-159.28, Y:20.62, Z:119.35 [[ 9.52925849e-01 -2.85308254e-01 1.02623231e-01 -1.59280258e+02] [ 2.86231024e-01 9.58142260e-01 5.93387555e-03 2.06174145e+01] [-1.00020639e-01 2.37194092e-02 9.94702600e-01 1.19345648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.759072329 meters Centerline goodness : 0.758673 Centerline is valid? [False, False] Translation: X:-159.28, Y:20.62, Z:119.34 [[ 9.51926728e-01 -2.87707644e-01 1.05165664e-01 -1.59284869e+02] [ 2.89176053e-01 9.57274994e-01 1.33997672e-03 2.06202405e+01] [-1.01057982e-01 2.91358319e-02 9.94453814e-01 1.19344214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.78907232899996 meters Centerline goodness : 0.757512 Centerline is valid? [False, False] Translation: X:-159.29, Y:20.62, Z:119.34 [[ 9.51887232e-01 -2.87778839e-01 1.05328240e-01 -1.59285389e+02] [ 2.89252566e-01 9.57251879e-01 1.33876511e-03 2.06206722e+01] [-1.01210924e-01 2.91921103e-02 9.94436609e-01 1.19344348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.819072329 meters Centerline goodness : 0.759611 Centerline is valid? [False, False] Translation: X:-159.29, Y:20.62, Z:119.35 [[ 9.51867693e-01 -2.87778557e-01 1.05505434e-01 -1.59286017e+02] [ 2.89220149e-01 9.57261092e-01 1.70511419e-03 2.06202899e+01] [-1.01486942e-01 2.88912543e-02 9.94417265e-01 1.19345581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.84907232899997 meters Centerline goodness : 0.759358 Centerline is valid? [False, False] Translation: X:-159.29, Y:20.62, Z:119.35 [[ 9.50824616e-01 -2.90342683e-01 1.07859524e-01 -1.59290230e+02] [ 2.92292761e-01 9.56325921e-01 -2.38197384e-03 2.06223737e+01] [-1.02457270e-01 3.37913974e-02 9.94163291e-01 1.19345352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.879072329 meters Centerline goodness : 0.757774 Centerline is valid? [False, False] Translation: X:-159.29, Y:20.63, Z:119.34 [[ 9.49751409e-01 -2.92946581e-01 1.10247733e-01 -1.59294326e+02] [ 2.95459647e-01 9.55330850e-01 -6.82380875e-03 2.06253278e+01] [-1.03324049e-01 3.90546781e-02 9.93880714e-01 1.19344393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90907232899997 meters Centerline goodness : 0.757874 Centerline is valid? [False, False] Translation: X:-159.30, Y:20.63, Z:119.35 [[ 9.50069532e-01 -2.91969726e-01 1.10097973e-01 -1.59297002e+02] [ 2.94204161e-01 9.55733092e-01 -4.26238755e-03 2.06253987e+01] [-1.03979788e-01 3.64408463e-02 9.93911600e-01 1.19346930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.939072329 meters Centerline goodness : 0.757486 Centerline is valid? [False, False] Translation: X:-159.30, Y:20.63, Z:119.35 [[ 9.50134064e-01 -2.91650284e-01 1.10387371e-01 -1.59298261e+02] [ 2.93885293e-01 9.55831537e-01 -4.18425446e-03 2.06256788e+01] [-1.04291392e-01 3.64168276e-02 9.93879832e-01 1.19347217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96907232899997 meters Centerline goodness : 0.759050 Centerline is valid? [False, False] Translation: X:-159.30, Y:20.63, Z:119.35 [[ 9.50114330e-01 -2.91674629e-01 1.10492853e-01 -1.59298580e+02] [ 2.93938955e-01 9.55813952e-01 -4.42502234e-03 2.06266187e+01] [-1.04319943e-01 3.66824308e-02 9.93867068e-01 1.19346981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99907232899994 meters Centerline goodness : 0.756709 Centerline is valid? [False, False] Translation: X:-159.30, Y:20.63, Z:119.35 [[ 9.50078418e-01 -2.91676785e-01 1.10795547e-01 -1.59299248e+02] [ 2.93986407e-01 9.55797805e-01 -4.74846776e-03 2.06276955e+01] [-1.04513123e-01 3.70838014e-02 9.93831877e-01 1.19346426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.029072329 meters Centerline goodness : 0.756207 Centerline is valid? [False, False] Translation: X:-159.30, Y:20.63, Z:119.35 [[ 9.50102339e-01 -2.91454561e-01 1.11174569e-01 -1.59300767e+02] [ 2.93788980e-01 9.55857941e-01 -4.86119378e-03 2.06289058e+01] [-1.04850277e-01 3.72804948e-02 9.93789004e-01 1.19346827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05907232899995 meters Centerline goodness : 0.757216 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.63, Z:119.35 [[ 9.49662617e-01 -2.91389934e-01 1.15033991e-01 -1.59311845e+02] [ 2.94292939e-01 9.55675345e-01 -8.73504005e-03 2.06280708e+01] [-1.07389847e-01 4.21490323e-02 9.93323150e-01 1.19346339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.089072329 meters Centerline goodness : 0.757767 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.63, Z:119.35 [[ 9.49784026e-01 -2.90928618e-01 1.15199145e-01 -1.59313184e+02] [ 2.93758673e-01 9.55845938e-01 -8.02398856e-03 2.06267709e+01] [-1.07778227e-01 4.14618040e-02 9.93310008e-01 1.19347813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11907232899995 meters Centerline goodness : 0.757023 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.63, Z:119.35 [[ 9.49792904e-01 -2.90896222e-01 1.15207759e-01 -1.59313129e+02] [ 2.93699554e-01 9.55866152e-01 -7.77638943e-03 2.06259406e+01] [-1.07861075e-01 4.12224270e-02 9.93310979e-01 1.19347778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.149072329 meters Centerline goodness : 0.757113 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.63, Z:119.35 [[ 9.49778107e-01 -2.91019675e-01 1.15017805e-01 -1.59312317e+02] [ 2.93803139e-01 9.55835266e-01 -7.65899196e-03 2.06252116e+01] [-1.07709157e-01 4.10669349e-02 9.93333904e-01 1.19347293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17907232899995 meters Centerline goodness : 0.757113 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.62, Z:119.35 [[ 9.49738397e-01 -2.91159285e-01 1.14992381e-01 -1.59312135e+02] [ 2.93917167e-01 9.55802058e-01 -7.42462452e-03 2.06246983e+01] [-1.07748206e-01 4.08496859e-02 9.93338627e-01 1.19347411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.209072329 meters Centerline goodness : 0.754310 Centerline is valid? [False, False] Translation: X:-159.31, Y:20.63, Z:119.35 [[ 9.49604999e-01 -2.91568360e-01 1.15057542e-01 -1.59311411e+02] [ 2.94361068e-01 9.55663289e-01 -7.69670009e-03 2.06252120e+01] [-1.07712154e-01 4.11772857e-02 9.93329010e-01 1.19346135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.23907232899995 meters Centerline goodness : 0.754146 Centerline is valid? [False, False] Translation: X:-159.32, Y:20.63, Z:119.35 [[ 9.48529166e-01 -2.94107286e-01 1.17444989e-01 -1.59315611e+02] [ 2.97473891e-01 9.54656461e-01 -1.18458923e-02 2.06278033e+01] [-1.08635655e-01 4.61729923e-02 9.93008736e-01 1.19345453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.269072329 meters Centerline goodness : 0.754755 Centerline is valid? [False, False] Translation: X:-159.33, Y:20.62, Z:119.35 [[ 9.48853397e-01 -2.95675040e-01 1.10695539e-01 -1.59334730e+02] [ 2.98066937e-01 9.54530034e-01 -5.34004736e-03 2.06173433e+01] [-1.04083298e-01 3.80616023e-02 9.93840018e-01 1.19354282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.29907232899996 meters Centerline goodness : 0.754140 Centerline is valid? [False, False] Translation: X:-159.34, Y:20.62, Z:119.35 [[ 9.47887497e-01 -2.97645454e-01 1.13650682e-01 -1.59340711e+02] [ 3.00625792e-01 9.53693334e-01 -9.65188885e-03 2.06191351e+01] [-1.05515057e-01 4.33152309e-02 9.93473887e-01 1.19353255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.329072329 meters Centerline goodness : 0.756062 Centerline is valid? [False, False] Translation: X:-159.35, Y:20.62, Z:119.35 [[ 9.47047062e-01 -2.99045483e-01 1.16934430e-01 -1.59348139e+02] [ 3.02623886e-01 9.53011177e-01 -1.37288421e-02 2.06199232e+01] [-1.07334271e-01 4.83890112e-02 9.93044741e-01 1.19352450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.35907232899996 meters Centerline goodness : 0.756078 Centerline is valid? [False, False] Translation: X:-159.36, Y:20.62, Z:119.35 [[ 9.47232561e-01 -2.96751667e-01 1.21197870e-01 -1.59363685e+02] [ 3.00991521e-01 9.53458962e-01 -1.78916762e-02 2.06173659e+01] [-1.10247810e-01 5.34271095e-02 9.92467110e-01 1.19351451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.389072329 meters Centerline goodness : 0.755288 Centerline is valid? [False, False] Translation: X:-159.39, Y:20.61, Z:119.36 [[ 9.47959005e-01 -2.96769036e-01 1.15333708e-01 -1.59388371e+02] [ 3.00169408e-01 9.53798364e-01 -1.29231256e-02 2.06063214e+01] [-1.06169918e-01 4.68702440e-02 9.93242734e-01 1.19359928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.41907232899996 meters Centerline goodness : 0.755942 Centerline is valid? [False, False] Translation: X:-159.39, Y:20.61, Z:119.36 [[ 9.48485159e-01 -2.95387644e-01 1.14551487e-01 -1.59389916e+02] [ 2.98354360e-01 9.54409996e-01 -9.28632598e-03 2.06069808e+01] [-1.06586018e-01 4.29848778e-02 9.93373908e-01 1.19360517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.449072329 meters Centerline goodness : 0.754914 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.60, Z:119.37 [[ 9.51502978e-01 -2.90471134e-01 1.01334113e-01 -1.59397972e+02] [ 2.92915531e-01 9.56088001e-01 -9.80946414e-03 2.05993781e+01] [-9.40349637e-02 3.90160699e-02 9.94804087e-01 1.19373153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.47907232899996 meters Centerline goodness : 0.757896 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.60, Z:119.37 [[ 9.51901805e-01 -2.89215126e-01 1.01180846e-01 -1.59398564e+02] [ 2.91610835e-01 9.56490642e-01 -9.42192190e-03 2.05991130e+01] [-9.40535701e-02 3.84741754e-02 9.94823433e-01 1.19374620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.509072329 meters Centerline goodness : 0.757103 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.60, Z:119.38 [[ 9.52016472e-01 -2.88736049e-01 1.01469852e-01 -1.59400149e+02] [ 2.91102552e-01 9.56649330e-01 -9.02018330e-03 2.05982920e+01] [-9.44666142e-02 3.81254961e-02 9.94797721e-01 1.19375687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.53907232899996 meters Centerline goodness : 0.756806 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.60, Z:119.38 [[ 9.52317213e-01 -2.87585351e-01 1.01914631e-01 -1.59401756e+02] [ 2.89992381e-01 9.56983529e-01 -9.32438201e-03 2.05975016e+01] [-9.48490680e-02 3.84342361e-02 9.94749448e-01 1.19378283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.569072329 meters Centerline goodness : 0.758035 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.60, Z:119.38 [[ 9.52514637e-01 -2.86887738e-01 1.02035734e-01 -1.59402273e+02] [ 2.89236481e-01 9.57218129e-01 -8.70124827e-03 2.05968164e+01] [-9.51741730e-02 3.78005230e-02 9.94742679e-01 1.19378531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.59907232899997 meters Centerline goodness : 0.758423 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.59, Z:119.38 [[ 9.52486621e-01 -2.86713152e-01 1.02785235e-01 -1.59403091e+02] [ 2.89076440e-01 9.57267715e-01 -8.56346819e-03 2.05946595e+01] [-9.59377285e-02 3.78693788e-02 9.94666709e-01 1.19378629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.629072329 meters Centerline goodness : 0.757081 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.59, Z:119.38 [[ 9.52203847e-01 -2.87392457e-01 1.03505599e-01 -1.59403783e+02] [ 2.89774838e-01 9.57057633e-01 -8.43984095e-03 2.05928171e+01] [-9.66352771e-02 3.80297672e-02 9.94593063e-01 1.19377996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65907232899997 meters Centerline goodness : 0.755760 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.59, Z:119.38 [[ 9.52148616e-01 -2.87484974e-01 1.03756460e-01 -1.59404965e+02] [ 2.89781330e-01 9.57063852e-01 -7.45414421e-03 2.05906045e+01] [-9.71586028e-02 3.71641380e-02 9.94574800e-01 1.19379073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.689072329 meters Centerline goodness : 0.756429 Centerline is valid? [False, False] Translation: X:-159.40, Y:20.59, Z:119.38 [[ 9.51899104e-01 -2.88134037e-01 1.04244296e-01 -1.59403462e+02] [ 2.90528114e-01 9.56831069e-01 -8.22924728e-03 2.05873798e+01] [-9.73730550e-02 3.81193118e-02 9.94517675e-01 1.19377345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71907232899997 meters Centerline goodness : 0.756724 Centerline is valid? [False, False] Translation: X:-159.41, Y:20.59, Z:119.38 [[ 9.51720241e-01 -2.88461787e-01 1.04968476e-01 -1.59405066e+02] [ 2.90864518e-01 9.56730672e-01 -8.01583579e-03 2.05852085e+01] [-9.81142986e-02 3.81604384e-02 9.94443244e-01 1.19378411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74907232899994 meters Centerline goodness : 0.755658 Centerline is valid? [False, False] Translation: X:-159.41, Y:20.58, Z:119.38 [[ 9.51538107e-01 -2.88962098e-01 1.05243231e-01 -1.59405004e+02] [ 2.91368912e-01 9.56577954e-01 -7.92308038e-03 2.05839257e+01] [-9.83838850e-02 3.82037187e-02 9.94414947e-01 1.19377612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.779072329 meters Centerline goodness : 0.755871 Centerline is valid? [False, False] Translation: X:-159.41, Y:20.58, Z:119.38 [[ 9.51294135e-01 -2.89526034e-01 1.05896862e-01 -1.59406496e+02] [ 2.91782368e-01 9.56465082e-01 -6.13156831e-03 2.05799356e+01] [-9.95114019e-02 3.67317620e-02 9.94358214e-01 1.19377688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.80907232899995 meters Centerline goodness : 0.755596 Centerline is valid? [False, False] Translation: X:-159.42, Y:20.57, Z:119.39 [[ 9.51309356e-01 -2.91880610e-01 9.90768359e-02 -1.59424686e+02] [ 2.93367788e-01 9.55999544e-01 -4.62179055e-04 2.05687296e+01] [-9.45825088e-02 2.95056274e-02 9.95079679e-01 1.19386369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.839072329 meters Centerline goodness : 0.755161 Centerline is valid? [False, False] Translation: X:-159.43, Y:20.57, Z:119.39 [[ 9.50532081e-01 -2.93330667e-01 1.02205102e-01 -1.59431383e+02] [ 2.95240386e-01 9.55415664e-01 -3.74486459e-03 2.05668565e+01] [-9.65498714e-02 3.37346876e-02 9.94756298e-01 1.19385907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.86907232899995 meters Centerline goodness : 0.755744 Centerline is valid? [False, False] Translation: X:-159.43, Y:20.56, Z:119.39 [[ 9.50263462e-01 -2.93914919e-01 1.03021222e-01 -1.59433358e+02] [ 2.95759862e-01 9.55258313e-01 -2.76758678e-03 2.05648162e+01] [-9.75984441e-02 3.30994791e-02 9.94675308e-01 1.19386238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.899072329 meters Centerline goodness : 0.757517 Centerline is valid? [False, False] Translation: X:-159.43, Y:20.56, Z:119.39 [[ 9.49851105e-01 -2.94894856e-01 1.04018761e-01 -1.59434603e+02] [ 2.96720470e-01 9.54961886e-01 -2.18151543e-03 2.05632767e+01] [-9.86906340e-02 3.29366104e-02 9.94572943e-01 1.19385125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.92907232899995 meters Centerline goodness : 0.757001 Centerline is valid? [False, False] Translation: X:-159.44, Y:20.56, Z:119.38 [[ 9.48775015e-01 -2.97515556e-01 1.06350667e-01 -1.59438363e+02] [ 2.99820141e-01 9.53976830e-01 -6.00759812e-03 2.05640306e+01] [-9.96687179e-02 3.75859309e-02 9.94310537e-01 1.19384912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.959072329 meters Centerline goodness : 0.754986 Centerline is valid? [False, False] Translation: X:-159.46, Y:20.55, Z:119.39 [[ 9.48580695e-01 -3.00163483e-01 1.00481582e-01 -1.59459459e+02] [ 3.01863950e-01 9.53349300e-01 -1.80798568e-03 2.05514951e+01] [-9.52513549e-02 3.20467877e-02 9.94937276e-01 1.19393555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.98907232899995 meters Centerline goodness : 0.755620 Centerline is valid? [False, False] Translation: X:-159.48, Y:20.54, Z:119.40 [[ 9.48360999e-01 -3.03110190e-01 9.34645858e-02 -1.59475899e+02] [ 3.04111622e-01 9.52629294e-01 3.68102474e-03 2.05419482e+01] [-9.01528584e-02 2.49327264e-02 9.95615800e-01 1.19401323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.019072329 meters Centerline goodness : 0.756355 Centerline is valid? [False, False] Translation: X:-159.49, Y:20.53, Z:119.41 [[ 9.47920417e-01 -3.06531764e-01 8.65168241e-02 -1.59491766e+02] [ 3.06969446e-01 9.51681153e-01 8.52893664e-03 2.05334905e+01] [-8.49508209e-02 1.84732684e-02 9.96213881e-01 1.19407619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.04907232899996 meters Centerline goodness : 0.755679 Centerline is valid? [False, False] Translation: X:-159.50, Y:20.54, Z:119.41 [[ 9.46743974e-01 -3.09435182e-01 8.90264839e-02 -1.59495433e+02] [ 3.10326558e-01 9.50621607e-01 3.99848389e-03 2.05363931e+01] [-8.58677707e-02 2.38417418e-02 9.96021233e-01 1.19405810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.079072329 meters Centerline goodness : 0.755908 Centerline is valid? [False, False] Translation: X:-159.50, Y:20.54, Z:119.40 [[ 9.45528117e-01 -3.12436459e-01 9.14332526e-02 -1.59498647e+02] [ 3.13805241e-01 9.49487166e-01 -6.26364443e-04 2.05392702e+01] [-8.66190008e-02 2.92844791e-02 9.95811010e-01 1.19404334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.10907232899996 meters Centerline goodness : 0.756243 Centerline is valid? [False, False] Translation: X:-159.50, Y:20.54, Z:119.41 [[ 9.44425308e-01 -3.15033494e-01 9.38868236e-02 -1.59503362e+02] [ 3.16784515e-01 9.48489193e-01 -3.97764855e-03 2.05396905e+01] [-8.77975451e-02 3.34984838e-02 9.95574931e-01 1.19405642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.139072329 meters Centerline goodness : 0.754349 Centerline is valid? [False, False] Translation: X:-159.51, Y:20.54, Z:119.41 [[ 9.42655608e-01 -3.19061352e-01 9.79809059e-02 -1.59512713e+02] [ 3.21422681e-01 9.46893845e-01 -8.91665612e-03 2.05352475e+01] [-8.99325564e-02 3.98986213e-02 9.95148348e-01 1.19411335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.16907232899996 meters Centerline goodness : 0.755839 Centerline is valid? [False, False] Translation: X:-159.52, Y:20.54, Z:119.41 [[ 9.41387261e-01 -3.22173668e-01 9.99707629e-02 -1.59515594e+02] [ 3.24940401e-01 9.45654489e-01 -1.23013805e-02 2.05351402e+01] [-9.05746198e-02 4.40649027e-02 9.94914329e-01 1.19412914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.199072329 meters Centerline goodness : 0.751173 Centerline is valid? [False, False] Translation: X:-159.52, Y:20.54, Z:119.41 [[ 9.39854991e-01 -3.26061686e-01 1.01766263e-01 -1.59516899e+02] [ 3.29232958e-01 9.44119447e-01 -1.56246293e-02 2.05350710e+01] [-9.09849148e-02 4.81896935e-02 9.94685628e-01 1.19414746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.22907232899996 meters Centerline goodness : 0.752983 Centerline is valid? [False, False] Translation: X:-159.53, Y:20.53, Z:119.43 [[ 9.39528042e-01 -3.28955194e-01 9.52656204e-02 -1.59533946e+02] [ 3.31189354e-01 9.43528507e-01 -8.21997826e-03 2.05250896e+01] [-8.71818240e-02 3.92738593e-02 9.95417949e-01 1.19425149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.259072329 meters Centerline goodness : 0.753005 Centerline is valid? [False, False] Translation: X:-159.53, Y:20.53, Z:119.43 [[ 9.39420980e-01 -3.29360628e-01 9.49199654e-02 -1.59533327e+02] [ 3.31575138e-01 9.43393767e-01 -8.13187544e-03 2.05255297e+01] [-8.68685841e-02 3.91123550e-02 9.95451693e-01 1.19425974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.28907232899996 meters Centerline goodness : 0.752587 Centerline is valid? [False, False] Translation: X:-159.53, Y:20.53, Z:119.43 [[ 9.39205090e-01 -3.30033472e-01 9.47190875e-02 -1.59532850e+02] [ 3.32262101e-01 9.43150110e-01 -8.35259625e-03 2.05272473e+01] [-8.65776815e-02 3.93163639e-02 9.95468999e-01 1.19426674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.319072329 meters Centerline goodness : 0.754304 Centerline is valid? [False, False] Translation: X:-159.53, Y:20.53, Z:119.43 [[ 9.39006283e-01 -3.30369104e-01 9.55167868e-02 -1.59532863e+02] [ 3.32674343e-01 9.43000261e-01 -8.84815479e-03 2.05280118e+01] [-8.71491979e-02 4.00844572e-02 9.95388494e-01 1.19426590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.34907232899997 meters Centerline goodness : 0.752618 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.52, Z:119.44 [[ 9.39300060e-01 -3.31595589e-01 8.80895121e-02 -1.59550801e+02] [ 3.33018342e-01 9.42919078e-01 -1.54776472e-03 2.05187213e+01] [-8.25480496e-02 3.07892388e-02 9.96111360e-01 1.19435935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.379072329 meters Centerline goodness : 0.753169 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.52, Z:119.44 [[ 9.39129817e-01 -3.32094032e-01 8.80269303e-02 -1.59550274e+02] [ 3.33576414e-01 9.42720333e-01 -2.26930254e-03 2.05211077e+01] [-8.22311552e-02 3.14948774e-02 9.96115510e-01 1.19435236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40907232899997 meters Centerline goodness : 0.755053 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.53, Z:119.43 [[ 9.38894195e-01 -3.32798871e-01 8.78783326e-02 -1.59549489e+02] [ 3.34383492e-01 9.42430455e-01 -3.53816493e-03 2.05250211e+01] [-8.16417197e-02 3.27070262e-02 9.96124932e-01 1.19434107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.439072329 meters Centerline goodness : 0.755613 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.53, Z:119.43 [[ 9.38761760e-01 -3.33203312e-01 8.77605366e-02 -1.59548980e+02] [ 3.34807393e-01 9.42278903e-01 -3.80496910e-03 2.05261911e+01] [-8.14270739e-02 3.29548359e-02 9.96134334e-01 1.19434210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46907232899997 meters Centerline goodness : 0.754635 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.53, Z:119.43 [[ 9.38682498e-01 -3.33429376e-01 8.77497503e-02 -1.59549086e+02] [ 3.35056841e-01 9.42189060e-01 -4.08528268e-03 2.05273782e+01] [-8.13147014e-02 3.32359375e-02 9.96134174e-01 1.19434406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49907232899994 meters Centerline goodness : 0.753864 Centerline is valid? [False, False] Translation: X:-159.55, Y:20.53, Z:119.44 [[ 9.38735660e-01 -3.33222299e-01 8.79673776e-02 -1.59551230e+02] [ 3.34853657e-01 9.42261429e-01 -4.05319575e-03 2.05292784e+01] [-8.15376517e-02 3.32610775e-02 9.96115110e-01 1.19436923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.529072329 meters Centerline goodness : 0.755989 Centerline is valid? [False, False] Translation: X:-159.56, Y:20.52, Z:119.43 [[ 9.39117651e-01 -3.27648628e-01 1.03462137e-01 -1.59559693e+02] [ 3.29006084e-01 9.44318686e-01 4.14935251e-03 2.05236493e+01] [-9.90607587e-02 3.01429423e-02 9.94624738e-01 1.19432575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55907232899995 meters Centerline goodness : 0.756644 Centerline is valid? [False, False] Translation: X:-159.56, Y:20.52, Z:119.42 [[ 9.39551656e-01 -3.21850758e-01 1.16853648e-01 -1.59561192e+02] [ 3.23168593e-01 9.46307494e-01 8.01170973e-03 2.05203417e+01] [-1.13158057e-01 3.02360137e-02 9.93116830e-01 1.19422536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.589072329 meters Centerline goodness : 0.756505 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.52, Z:119.43 [[ 9.39520474e-01 -3.21556240e-01 1.17910407e-01 -1.59566862e+02] [ 3.22684175e-01 9.46454678e-01 9.92295241e-03 2.05227267e+01] [-1.14787644e-01 2.87250056e-02 9.92974658e-01 1.19426063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61907232899995 meters Centerline goodness : 0.757181 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.52, Z:119.43 [[ 9.39477872e-01 -3.21530001e-01 1.18320696e-01 -1.59568267e+02] [ 3.22720626e-01 9.46446752e-01 9.48387773e-03 2.05247803e+01] [-1.15033590e-01 2.92746358e-02 9.92930143e-01 1.19425821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.649072329 meters Centerline goodness : 0.759474 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.53, Z:119.43 [[ 9.39354007e-01 -3.21836662e-01 1.18470300e-01 -1.59568411e+02] [ 3.23109894e-01 9.46320265e-01 8.82906075e-03 2.05272291e+01] [-1.14952361e-01 2.99853125e-02 9.92918343e-01 1.19425526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67907232899995 meters Centerline goodness : 0.757699 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.53, Z:119.43 [[ 9.39946707e-01 -3.20218024e-01 1.18155004e-01 -1.59571142e+02] [ 3.21313944e-01 9.46918062e-01 1.01751741e-02 2.05312554e+01] [-1.15141382e-01 2.84007290e-02 9.92943030e-01 1.19428010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.709072329 meters Centerline goodness : 0.757926 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.53, Z:119.43 [[ 9.40045049e-01 -3.19794051e-01 1.18520337e-01 -1.59572839e+02] [ 3.20887352e-01 9.47061780e-01 1.02611699e-02 2.05331141e+01] [-1.15527543e-01 2.83857152e-02 9.92898604e-01 1.19428779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.73907232899995 meters Centerline goodness : 0.756719 Centerline is valid? [False, False] Translation: X:-159.57, Y:20.53, Z:119.43 [[ 9.39975146e-01 -3.19848553e-01 1.18926989e-01 -1.59573435e+02] [ 3.21018741e-01 9.47023103e-01 9.70621471e-03 2.05348903e+01] [-1.15731125e-01 2.90541917e-02 9.92855559e-01 1.19428065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.769072329 meters Centerline goodness : 0.757841 Centerline is valid? [False, False] Translation: X:-159.58, Y:20.54, Z:119.43 [[ 9.39813468e-01 -3.20237907e-01 1.19156740e-01 -1.59575815e+02] [ 3.21446165e-01 9.46880567e-01 9.46330406e-03 2.05382102e+01] [-1.15857710e-01 2.94087365e-02 9.92830357e-01 1.19429590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.79907232899996 meters Centerline goodness : 0.759001 Centerline is valid? [False, False] Translation: X:-159.58, Y:20.54, Z:119.43 [[ 9.39657316e-01 -3.20600886e-01 1.19411891e-01 -1.59578360e+02] [ 3.21740085e-01 9.46773711e-01 1.01419188e-02 2.05389887e+01] [-1.16307547e-01 2.88896636e-02 9.92793001e-01 1.19431551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.829072329 meters Centerline goodness : 0.760752 Centerline is valid? [False, False] Translation: X:-159.58, Y:20.54, Z:119.43 [[ 9.39532060e-01 -3.20651289e-01 1.20259132e-01 -1.59579987e+02] [ 3.21892811e-01 9.46728567e-01 9.48883720e-03 2.05411763e+01] [-1.16895363e-01 2.97954832e-02 9.92697186e-01 1.19431683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.85907232899996 meters Centerline goodness : 0.760041 Centerline is valid? [False, False] Translation: X:-159.58, Y:20.54, Z:119.43 [[ 9.39317244e-01 -3.21162685e-01 1.20572159e-01 -1.59582015e+02] [ 3.22346710e-01 9.46567910e-01 1.00891288e-02 2.05419692e+01] [-1.17369988e-01 2.93891460e-02 9.92653295e-01 1.19432611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.889072329 meters Centerline goodness : 0.762279 Centerline is valid? [False, False] Translation: X:-159.58, Y:20.54, Z:119.43 [[ 9.38982507e-01 -3.21912899e-01 1.21177294e-01 -1.59582593e+02] [ 3.23153679e-01 9.46295622e-01 9.81302110e-03 2.05434950e+01] [-1.17828481e-01 2.99446334e-02 9.92582373e-01 1.19430813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.91907232899996 meters Centerline goodness : 0.763549 Centerline is valid? [False, False] Translation: X:-159.59, Y:20.54, Z:119.43 [[ 9.38583554e-01 -3.22753335e-01 1.22029495e-01 -1.59586946e+02] [ 3.23766265e-01 9.46061166e-01 1.19864797e-02 2.05444628e+01] [-1.19316043e-01 2.82587212e-02 9.92454093e-01 1.19432262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.949072329 meters Centerline goodness : 0.764366 Centerline is valid? [False, False] Translation: X:-159.59, Y:20.54, Z:119.43 [[ 9.38411932e-01 -3.23150576e-01 1.22297794e-01 -1.59588704e+02] [ 3.24160533e-01 9.45924681e-01 1.21015549e-02 2.05447568e+01] [-1.19595127e-01 2.82878747e-02 9.92419670e-01 1.19433869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.97907232899996 meters Centerline goodness : 0.765089 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37511040e-01 -3.24360282e-01 1.25950219e-01 -1.59596924e+02] [ 3.25942197e-01 9.45352217e-01 8.41843167e-03 2.05450538e+01] [-1.21797923e-01 3.31601183e-02 9.92000843e-01 1.19433776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.009072329 meters Centerline goodness : 0.764881 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37547876e-01 -3.24262523e-01 1.25927745e-01 -1.59596208e+02] [ 3.25920055e-01 9.45365246e-01 7.78911085e-03 2.05471546e+01] [-1.21573430e-01 3.37397131e-02 9.92008837e-01 1.19431999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.03907232899996 meters Centerline goodness : 0.763304 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37663461e-01 -3.24086493e-01 1.25519636e-01 -1.59596071e+02] [ 3.25665918e-01 9.45448459e-01 8.30183476e-03 2.05480873e+01] [-1.21362859e-01 3.30931403e-02 9.92056400e-01 1.19431539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.069072329 meters Centerline goodness : 0.764248 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37816370e-01 -3.23649894e-01 1.25503790e-01 -1.59597146e+02] [ 3.25083836e-01 9.45637931e-01 9.45527901e-03 2.05480789e+01] [-1.21741344e-01 3.19319380e-02 9.92048082e-01 1.19431828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.09907232899997 meters Centerline goodness : 0.764248 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37816370e-01 -3.23649894e-01 1.25503790e-01 -1.59597146e+02] [ 3.25083836e-01 9.45637931e-01 9.45527901e-03 2.05480789e+01] [-1.21741344e-01 3.19319380e-02 9.92048082e-01 1.19431828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.129072329 meters Centerline goodness : 0.763448 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.37998268e-01 -3.23237474e-01 1.25206970e-01 -1.59596225e+02] [ 3.24665852e-01 9.45782128e-01 9.39419364e-03 2.05491670e+01] [-1.21455070e-01 3.18386903e-02 9.92086168e-01 1.19430386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15907232899997 meters Centerline goodness : 0.760478 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.38148475e-01 -3.22542551e-01 1.25871925e-01 -1.59599467e+02] [ 3.23981082e-01 9.46016463e-01 9.43979505e-03 2.05511148e+01] [-1.22121649e-01 3.19241932e-02 9.92001587e-01 1.19431212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.189072329 meters Centerline goodness : 0.758935 Centerline is valid? [False, False] Translation: X:-159.60, Y:20.55, Z:119.43 [[ 9.38379394e-01 -3.21873752e-01 1.25862625e-01 -1.59601519e+02] [ 3.23150330e-01 9.46287095e-01 1.07050614e-02 2.05514670e+01] [-1.22547856e-01 3.06271396e-02 9.91989920e-01 1.19433144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21907232899997 meters Centerline goodness : 0.758365 Centerline is valid? [False, False] Translation: X:-159.61, Y:20.55, Z:119.43 [[ 9.37819803e-01 -3.21699369e-01 1.30397600e-01 -1.59613049e+02] [ 3.23775937e-01 9.46117588e-01 5.53649080e-03 2.05522289e+01] [-1.25152549e-01 3.70273745e-02 9.91446324e-01 1.19429895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24907232899994 meters Centerline goodness : 0.757865 Centerline is valid? [False, False] Translation: X:-159.61, Y:20.55, Z:119.43 [[ 9.38850100e-01 -3.18932869e-01 1.29777946e-01 -1.59613864e+02] [ 3.20913979e-01 9.47089859e-01 5.91753575e-03 2.05530432e+01] [-1.24798673e-01 3.60918780e-02 9.91525425e-01 1.19433137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.279072329 meters Centerline goodness : 0.759599 Centerline is valid? [False, False] Translation: X:-159.61, Y:20.55, Z:119.43 [[ 9.39308674e-01 -3.17763460e-01 1.29327488e-01 -1.59613865e+02] [ 3.19753206e-01 9.47484103e-01 5.63582230e-03 2.05535470e+01] [-1.24326597e-01 3.60591020e-02 9.91585921e-01 1.19434994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.30907232899995 meters Centerline goodness : 0.760549 Centerline is valid? [False, False] Translation: X:-159.63, Y:20.55, Z:119.43 [[ 9.40210774e-01 -3.13544499e-01 1.33017095e-01 -1.59632949e+02] [ 3.16490814e-01 9.48594980e-01 -1.06253761e-03 2.05487418e+01] [-1.25846196e-01 4.30976980e-02 9.91113174e-01 1.19432954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.339072329 meters Centerline goodness : 0.760055 Centerline is valid? [False, False] Translation: X:-159.63, Y:20.55, Z:119.43 [[ 9.40650219e-01 -3.12543621e-01 1.32263566e-01 -1.59633950e+02] [ 3.15135721e-01 9.49045577e-01 1.40368227e-03 2.05492764e+01] [-1.25962864e-01 4.03606003e-02 9.91213589e-01 1.19433774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.36907232899995 meters Centerline goodness : 0.759917 Centerline is valid? [False, False] Translation: X:-159.64, Y:20.55, Z:119.43 [[ 9.40681860e-01 -3.12492892e-01 1.32158357e-01 -1.59635261e+02] [ 3.14855522e-01 9.49134319e-01 3.16930506e-03 2.05484059e+01] [-1.26426417e-01 3.86294806e-02 9.91223549e-01 1.19434621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.399072329 meters Centerline goodness : 0.758758 Centerline is valid? [False, False] Translation: X:-159.63, Y:20.55, Z:119.44 [[ 9.40825398e-01 -3.12237031e-01 1.31740680e-01 -1.59634935e+02] [ 3.14548538e-01 9.49235214e-01 3.42439053e-03 2.05466618e+01] [-1.26122114e-01 3.82170845e-02 9.91278299e-01 1.19436031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.42907232899995 meters Centerline goodness : 0.758474 Centerline is valid? [False, False] Translation: X:-159.63, Y:20.55, Z:119.44 [[ 9.40843845e-01 -3.12223992e-01 1.31639809e-01 -1.59633578e+02] [ 3.14633568e-01 9.49209593e-01 2.62042853e-03 2.05460708e+01] [-1.25771930e-01 3.89528886e-02 9.91294151e-01 1.19435258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.459072329 meters Centerline goodness : 0.761828 Centerline is valid? [False, False] Translation: X:-159.66, Y:20.54, Z:119.44 [[ 9.42370114e-01 -3.07086257e-01 1.32802858e-01 -1.59656005e+02] [ 3.10575686e-01 9.50530395e-01 -5.89161423e-03 2.05385519e+01] [-1.24423919e-01 4.67974198e-02 9.91124962e-01 1.19437402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.48907232899995 meters Centerline goodness : 0.760755 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.42951993e-01 -3.07385098e-01 1.27890343e-01 -1.59681215e+02] [ 3.09989107e-01 9.50739986e-01 -4.81216488e-04 2.05264516e+01] [-1.21442544e-01 4.00983772e-02 9.91788198e-01 1.19446471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.519072329 meters Centerline goodness : 0.760878 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.42715082e-01 -3.08309540e-01 1.27410758e-01 -1.59683058e+02] [ 3.10492088e-01 9.50571653e-01 2.86266770e-03 2.05256333e+01] [-1.21995643e-01 3.68613523e-02 9.91845907e-01 1.19446883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.54907232899996 meters Centerline goodness : 0.761225 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.42571999e-01 -3.08838383e-01 1.27188362e-01 -1.59682647e+02] [ 3.10965120e-01 9.50415647e-01 3.28502021e-03 2.05250546e+01] [-1.21896349e-01 3.64547761e-02 9.91873142e-01 1.19446100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.579072329 meters Centerline goodness : 0.760566 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.52, Z:119.45 [[ 9.42526799e-01 -3.09030942e-01 1.27055544e-01 -1.59682227e+02] [ 3.11169286e-01 9.50349235e-01 3.16340025e-03 2.05243109e+01] [-1.21724727e-01 3.65541934e-02 9.91890559e-01 1.19446159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.60907232899996 meters Centerline goodness : 0.761436 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.52, Z:119.45 [[ 9.42809365e-01 -3.08247383e-01 1.26862334e-01 -1.59680169e+02] [ 3.10697814e-01 9.50508612e-01 4.96471190e-04 2.05243058e+01] [-1.20736777e-01 3.89477720e-02 9.91920209e-01 1.19446734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.639072329 meters Centerline goodness : 0.762269 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.52, Z:119.45 [[ 9.42997618e-01 -3.07651079e-01 1.26910619e-01 -1.59681291e+02] [ 3.10089034e-01 9.50707347e-01 5.74582572e-04 2.05241827e+01] [-1.20831629e-01 3.88117615e-02 9.91913990e-01 1.19448754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.66907232899996 meters Centerline goodness : 0.761668 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.43395738e-01 -3.06607166e-01 1.26477379e-01 -1.59680385e+02] [ 3.09056448e-01 9.51043658e-01 2.70915531e-04 2.05251204e+01] [-1.20368574e-01 3.88330690e-02 9.91969455e-01 1.19448498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.699072329 meters Centerline goodness : 0.764048 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.44807459e-01 -3.02557785e-01 1.25688707e-01 -1.59682871e+02] [ 3.04482466e-01 9.52509238e-01 4.07180669e-03 2.05259874e+01] [-1.20951612e-01 3.44229343e-02 9.92061374e-01 1.19451772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.72907232899996 meters Centerline goodness : 0.764551 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.45 [[ 9.45816458e-01 -2.99657852e-01 1.25045593e-01 -1.59684441e+02] [ 3.01272344e-01 9.53517694e-01 6.24350995e-03 2.05263043e+01] [-1.21104102e-01 3.17675643e-02 9.92131351e-01 1.19454822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.759072329 meters Centerline goodness : 0.764868 Centerline is valid? [False, False] Translation: X:-159.68, Y:20.53, Z:119.46 [[ 9.46961246e-01 -2.96357857e-01 1.24243386e-01 -1.59684479e+02] [ 2.97784447e-01 9.54604771e-01 7.35888751e-03 2.05276211e+01] [-1.20784193e-01 3.00291667e-02 9.92224485e-01 1.19456518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.78907232899996 meters Centerline goodness : 0.765854 Centerline is valid? [False, False] Translation: X:-159.69, Y:20.53, Z:119.46 [[ 9.49695584e-01 -2.88265739e-01 1.22397552e-01 -1.59685525e+02] [ 2.89191236e-01 9.57213486e-01 1.05248219e-02 2.05310387e+01] [-1.20194533e-01 2.54009226e-02 9.92425346e-01 1.19461781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.819072329 meters Centerline goodness : 0.765554 Centerline is valid? [False, False] Translation: X:-159.69, Y:20.53, Z:119.47 [[ 9.51229659e-01 -2.83425255e-01 1.21787770e-01 -1.59687847e+02] [ 2.83963254e-01 9.58743147e-01 1.32833681e-02 2.05329071e+01] [-1.20528032e-01 2.19477179e-02 9.92467275e-01 1.19465613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.84907232899997 meters Centerline goodness : 0.765410 Centerline is valid? [False, False] Translation: X:-159.69, Y:20.53, Z:119.47 [[ 9.53082322e-01 -2.77570850e-01 1.20782906e-01 -1.59690144e+02] [ 2.77591426e-01 9.60548864e-01 1.69964777e-02 2.05346484e+01] [-1.20735610e-01 1.73292566e-02 9.92533430e-01 1.19469937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.879072329 meters Centerline goodness : 0.767358 Centerline is valid? [False, False] Translation: X:-159.72, Y:20.53, Z:119.47 [[ 9.57625667e-01 -2.62755398e-01 1.17952032e-01 -1.59717135e+02] [ 2.62690160e-01 9.64741187e-01 1.63805170e-02 2.05325682e+01] [-1.18097253e-01 1.52984346e-02 9.92884181e-01 1.19473935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90907232899997 meters Centerline goodness : 0.767457 Centerline is valid? [False, False] Translation: X:-159.73, Y:20.53, Z:119.48 [[ 9.59029950e-01 -2.56982649e-01 1.19253820e-01 -1.59727488e+02] [ 2.56622790e-01 9.66332079e-01 1.86294781e-02 2.05335964e+01] [-1.20026244e-01 1.27370205e-02 9.92689009e-01 1.19475035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.939072329 meters Centerline goodness : 0.767471 Centerline is valid? [False, False] Translation: X:-159.74, Y:20.53, Z:119.48 [[ 9.60624419e-01 -2.49878709e-01 1.21496322e-01 -1.59742802e+02] [ 2.49463589e-01 9.68200435e-01 1.88636096e-02 2.05328843e+01] [-1.22346406e-01 1.21880645e-02 9.92412620e-01 1.19475369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96907232899997 meters Centerline goodness : 0.765874 Centerline is valid? [False, False] Translation: X:-159.76, Y:20.53, Z:119.48 [[ 9.66562564e-01 -2.28617348e-01 1.16150410e-01 -1.59763165e+02] [ 2.28818497e-01 9.73397827e-01 1.17798655e-02 2.05338147e+01] [-1.15753639e-01 1.51913853e-02 9.93161778e-01 1.19481209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99907232899994 meters Centerline goodness : 0.768699 Centerline is valid? [False, False] Translation: X:-159.78, Y:20.53, Z:119.48 [[ 9.67927385e-01 -2.21703062e-01 1.18170764e-01 -1.59776943e+02] [ 2.21774622e-01 9.75015097e-01 1.27112894e-02 2.05346309e+01] [-1.18036411e-01 1.39036715e-02 9.92911926e-01 1.19481166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.029072329 meters Centerline goodness : 0.768491 Centerline is valid? [False, False] Translation: X:-159.79, Y:20.54, Z:119.48 [[ 9.69198972e-01 -2.15033053e-01 1.20058898e-01 -1.59790272e+02] [ 2.14988212e-01 9.76523597e-01 1.34808581e-02 2.05352454e+01] [-1.20139177e-01 1.27456139e-02 9.92675238e-01 1.19481536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05907232899995 meters Centerline goodness : 0.772597 Centerline is valid? [False, False] Translation: X:-159.80, Y:20.54, Z:119.49 [[ 9.73896659e-01 -1.96391969e-01 1.13822199e-01 -1.59802397e+02] [ 1.96583225e-01 9.80439624e-01 9.65296235e-03 2.05364002e+01] [-1.13491558e-01 1.29745472e-02 9.93454240e-01 1.19486130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.089072329 meters Centerline goodness : 0.771458 Centerline is valid? [False, False] Translation: X:-159.81, Y:20.54, Z:119.49 [[ 9.74544533e-01 -1.91943891e-01 1.15846868e-01 -1.59812331e+02] [ 1.92149767e-01 9.81319691e-01 9.49370063e-03 2.05376923e+01] [-1.15505070e-01 1.30079146e-02 9.93221714e-01 1.19485392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11907232899995 meters Centerline goodness : 0.771802 Centerline is valid? [False, False] Translation: X:-159.82, Y:20.54, Z:119.48 [[ 9.74917558e-01 -1.88669920e-01 1.18065305e-01 -1.59821147e+02] [ 1.88919090e-01 9.81949746e-01 9.18002626e-03 2.05386517e+01] [-1.17666191e-01 1.33550213e-02 9.92963399e-01 1.19484908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.149072329 meters Centerline goodness : 0.771431 Centerline is valid? [False, False] Translation: X:-159.83, Y:20.54, Z:119.49 [[ 9.75173003e-01 -1.86739111e-01 1.19021508e-01 -1.59826018e+02] [ 1.86915889e-01 9.82327274e-01 9.77633058e-03 2.05393987e+01] [-1.18743697e-01 1.27133973e-02 9.92843545e-01 1.19486615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17907232899995 meters Centerline goodness : 0.773025 Centerline is valid? [False, False] Translation: X:-159.83, Y:20.54, Z:119.49 [[ 9.75389116e-01 -1.85088501e-01 1.19826203e-01 -1.59830244e+02] [ 1.85166862e-01 9.82650163e-01 1.05778502e-02 2.05393173e+01] [-1.19705077e-01 1.18703221e-02 9.92738531e-01 1.19488436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.209072329 meters Centerline goodness : 0.772987 Centerline is valid? [False, False] Translation: X:-159.84, Y:20.53, Z:119.50 [[ 9.75884976e-01 -1.88213422e-01 1.10563201e-01 -1.59842321e+02] [ 1.87720084e-01 9.82108796e-01 1.49493495e-02 2.05298776e+01] [-1.11398760e-01 6.16608771e-03 9.93756658e-01 1.19497592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.23907232899995 meters Centerline goodness : 0.771146 Centerline is valid? [False, False] Translation: X:-159.85, Y:20.53, Z:119.50 [[ 9.75139559e-01 -1.91110636e-01 1.12158660e-01 -1.59845074e+02] [ 1.91050301e-01 9.81514202e-01 1.13865296e-02 2.05297454e+01] [-1.12261404e-01 1.03244902e-02 9.93625071e-01 1.19498151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.269072329 meters Centerline goodness : 0.771896 Centerline is valid? [False, False] Translation: X:-159.86, Y:20.52, Z:119.50 [[ 9.75153577e-01 -1.94900539e-01 1.05305653e-01 -1.59859175e+02] [ 1.94101219e-01 9.80818430e-01 1.78864287e-02 2.05194608e+01] [-1.06771800e-01 2.99794063e-03 9.94279033e-01 1.19504757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.29907232899996 meters Centerline goodness : 0.772410 Centerline is valid? [False, False] Translation: X:-159.86, Y:20.52, Z:119.50 [[ 9.74345187e-01 -1.97980521e-01 1.07028824e-01 -1.59861632e+02] [ 1.97616122e-01 9.80177978e-01 1.41067544e-02 2.05198814e+01] [-1.07700159e-01 7.40577294e-03 9.94155838e-01 1.19504282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.329072329 meters Centerline goodness : 0.770347 Centerline is valid? [False, False] Translation: X:-159.86, Y:20.52, Z:119.50 [[ 9.73597410e-01 -2.01098165e-01 1.08016715e-01 -1.59862109e+02] [ 2.01069870e-01 9.79512109e-01 1.12666155e-02 2.05159418e+01] [-1.08069376e-01 1.07497591e-02 9.94085234e-01 1.19504938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.35907232899996 meters Centerline goodness : 0.769546 Centerline is valid? [False, False] Translation: X:-159.86, Y:20.51, Z:119.51 [[ 9.72794544e-01 -2.04325562e-01 1.09187175e-01 -1.59862957e+02] [ 2.04691660e-01 9.78794093e-01 7.96542657e-03 2.05133831e+01] [-1.08499302e-01 1.46009806e-02 9.93989292e-01 1.19505260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.389072329 meters Centerline goodness : 0.769065 Centerline is valid? [False, False] Translation: X:-159.88, Y:20.50, Z:119.51 [[ 9.72073386e-01 -2.10684943e-01 1.03369183e-01 -1.59878378e+02] [ 2.10676166e-01 9.77492570e-01 1.11278121e-02 2.05008553e+01] [-1.03387071e-01 1.09603730e-02 9.94580808e-01 1.19512539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.41907232899996 meters Centerline goodness : 0.769654 Centerline is valid? [False, False] Translation: X:-159.89, Y:20.49, Z:119.52 [[ 9.71731560e-01 -2.15679197e-01 9.60221842e-02 -1.59892429e+02] [ 2.15302666e-01 9.76441350e-01 1.43892911e-02 2.04887189e+01] [-9.68635019e-02 6.69130392e-03 9.95275182e-01 1.19520161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.449072329 meters Centerline goodness : 0.767203 Centerline is valid? [False, False] Translation: X:-159.91, Y:20.47, Z:119.53 [[ 9.70732019e-01 -2.22063988e-01 9.14709416e-02 -1.59911206e+02] [ 2.21447048e-01 9.75024752e-01 1.69687217e-02 2.04727968e+01] [-9.29545742e-02 3.78388855e-03 9.95663161e-01 1.19527492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.47907232899996 meters Centerline goodness : 0.765839 Centerline is valid? [False, False] Translation: X:-159.92, Y:20.46, Z:119.53 [[ 9.69435489e-01 -2.30027549e-01 8.53355731e-02 -1.59923806e+02] [ 2.29227697e-01 9.73183646e-01 1.91899310e-02 2.04625442e+01] [-8.74613970e-02 9.57876766e-04 9.96167449e-01 1.19533394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.509072329 meters Centerline goodness : 0.764775 Centerline is valid? [False, False] Translation: X:-159.94, Y:20.45, Z:119.54 [[ 9.67678516e-01 -2.39162306e-01 7.99980092e-02 -1.59937649e+02] [ 2.38299661e-01 9.70979429e-01 2.03032219e-02 2.04518314e+01] [-8.25321866e-02 -5.83493165e-04 9.96588229e-01 1.19539844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.53907232899996 meters Centerline goodness : 0.762959 Centerline is valid? [False, False] Translation: X:-159.95, Y:20.44, Z:119.55 [[ 9.64290400e-01 -2.53719137e-01 7.59646254e-02 -1.59949055e+02] [ 2.53169799e-01 9.67273586e-01 1.69370017e-02 2.04385366e+01] [-7.77758171e-02 2.89976083e-03 9.96966656e-01 1.19545572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.569072329 meters Centerline goodness : 0.762969 Centerline is valid? [False, False] Translation: X:-159.95, Y:20.43, Z:119.53 [[ 9.62886674e-01 -2.54224901e-01 9.06584369e-02 -1.59950984e+02] [ 2.53129099e-01 9.67145098e-01 2.35800507e-02 2.04278835e+01] [-9.36744989e-02 2.43371798e-04 9.95602847e-01 1.19534930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.59907232899997 meters Centerline goodness : 0.762925 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.42, Z:119.53 [[ 9.61203404e-01 -2.55008317e-01 1.05160711e-01 -1.59955257e+02] [ 2.52912441e-01 9.66925124e-01 3.30318175e-02 2.04159632e+01] [-1.10105922e-01 -5.15384321e-03 9.93906497e-01 1.19528474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.629072329 meters Centerline goodness : 0.759248 Centerline is valid? [False, False] Translation: X:-159.95, Y:20.41, Z:119.52 [[ 9.59215986e-01 -2.61825994e-01 1.06545014e-01 -1.59954804e+02] [ 2.59951651e-01 9.65112141e-01 3.13638954e-02 2.04121777e+01] [-1.11039770e-01 -2.38819764e-03 9.93813094e-01 1.19524053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65907232899997 meters Centerline goodness : 0.759574 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.41, Z:119.52 [[ 9.55739920e-01 -2.73062857e-01 1.09534842e-01 -1.59957841e+02] [ 2.71255178e-01 9.61996156e-01 3.13691670e-02 2.04051940e+01] [-1.13937851e-01 -2.68872130e-04 9.93487843e-01 1.19519260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.689072329 meters Centerline goodness : 0.758721 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.40, Z:119.52 [[ 9.54176066e-01 -2.77782281e-01 1.11288090e-01 -1.59960360e+02] [ 2.75973337e-01 9.60643922e-01 3.16539453e-02 2.04018079e+01] [-1.15701132e-01 5.09108432e-04 9.93283942e-01 1.19517624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71907232899997 meters Centerline goodness : 0.760656 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.40, Z:119.51 [[ 9.51322748e-01 -2.86267523e-01 1.14175015e-01 -1.59961997e+02] [ 2.84787515e-01 9.58139041e-01 2.94219222e-02 2.03958412e+01] [-1.17818080e-01 4.52587503e-03 9.93024882e-01 1.19514114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74907232899994 meters Centerline goodness : 0.759928 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.39, Z:119.51 [[ 9.50059101e-01 -2.89895214e-01 1.15535575e-01 -1.59963215e+02] [ 2.88530118e-01 9.57039389e-01 2.87398419e-02 2.03926888e+01] [-1.18903639e-01 6.03094479e-03 9.92887482e-01 1.19512975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.779072329 meters Centerline goodness : 0.760094 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.39, Z:119.51 [[ 9.48823289e-01 -2.93501918e-01 1.16580398e-01 -1.59962892e+02] [ 2.92309441e-01 9.55925819e-01 2.75865947e-02 2.03908849e+01] [-1.19538931e-01 7.90274742e-03 9.92798061e-01 1.19509772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.80907232899995 meters Centerline goodness : 0.760962 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.39, Z:119.51 [[ 9.46815890e-01 -2.99430103e-01 1.17818862e-01 -1.59964179e+02] [ 2.98164721e-01 9.54084608e-01 2.86419075e-02 2.03858957e+01] [-1.20985412e-01 8.01081507e-03 9.92621961e-01 1.19507277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.839072329 meters Centerline goodness : 0.759793 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.38, Z:119.50 [[ 9.45862670e-01 -3.02127225e-01 1.18587306e-01 -1.59963564e+02] [ 3.00995424e-01 9.53221033e-01 2.77743904e-02 2.03836431e+01] [-1.21431313e-01 9.42347731e-03 9.92555104e-01 1.19504828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.86907232899995 meters Centerline goodness : 0.759225 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.38, Z:119.50 [[ 9.44980438e-01 -3.04506286e-01 1.19531980e-01 -1.59963338e+02] [ 3.03564020e-01 9.52443532e-01 2.64613866e-02 2.03813156e+01] [-1.21905120e-01 1.12801156e-02 9.92477658e-01 1.19503371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.899072329 meters Centerline goodness : 0.759777 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.38, Z:119.50 [[ 9.43215668e-01 -3.09295423e-01 1.21163302e-01 -1.59963026e+02] [ 3.08748045e-01 9.50847472e-01 2.37429748e-02 2.03766682e+01] [-1.22551412e-01 1.50141867e-02 9.92348591e-01 1.19501971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.92907232899995 meters Centerline goodness : 0.759216 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.37, Z:119.50 [[ 9.42258375e-01 -3.11878314e-01 1.21987998e-01 -1.59962747e+02] [ 3.11530863e-01 9.49971876e-01 2.24043538e-02 2.03747593e+01] [-1.22872600e-01 1.68923363e-02 9.92278677e-01 1.19500742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.959072329 meters Centerline goodness : 0.757640 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.37, Z:119.50 [[ 9.41484702e-01 -3.13874473e-01 1.22838798e-01 -1.59964456e+02] [ 3.13449123e-01 9.49319603e-01 2.32795867e-02 2.03714475e+01] [-1.23920147e-01 1.65863388e-02 9.92153562e-01 1.19500914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.98907232899995 meters Centerline goodness : 0.757640 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.37, Z:119.50 [[ 9.41484702e-01 -3.13874473e-01 1.22838798e-01 -1.59964456e+02] [ 3.13449123e-01 9.49319603e-01 2.32795867e-02 2.03714475e+01] [-1.23920147e-01 1.65863388e-02 9.92153562e-01 1.19500914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.019072329 meters Centerline goodness : 0.756945 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.37, Z:119.50 [[ 9.40604207e-01 -3.16254381e-01 1.23478305e-01 -1.59964638e+02] [ 3.15788748e-01 9.48529823e-01 2.38461916e-02 2.03688261e+01] [-1.24664317e-01 1.65632312e-02 9.92060718e-01 1.19498945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.04907232899996 meters Centerline goodness : 0.755506 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.37, Z:119.50 [[ 9.39228813e-01 -3.20192655e-01 1.23797820e-01 -1.59962444e+02] [ 3.19886975e-01 9.47179346e-01 2.28825168e-02 2.03656556e+01] [-1.24585552e-01 1.81093909e-02 9.92043593e-01 1.19495512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.079072329 meters Centerline goodness : 0.755968 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.38405524e-01 -3.22342133e-01 1.24461325e-01 -1.59961667e+02] [ 3.22171563e-01 9.46424378e-01 2.20540648e-02 2.03637014e+01] [-1.24902186e-01 1.94022432e-02 9.91979333e-01 1.19493149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.10907232899996 meters Centerline goodness : 0.754466 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.37817756e-01 -3.23871721e-01 1.24919831e-01 -1.59962097e+02] [ 3.23577861e-01 9.45916974e-01 2.32044359e-02 2.03609109e+01] [-1.25679050e-01 1.86597598e-02 9.91895453e-01 1.19491851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.139072329 meters Centerline goodness : 0.755150 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.37120418e-01 -3.26013768e-01 1.24580679e-01 -1.59961433e+02] [ 3.25544278e-01 9.45204471e-01 2.46866683e-02 2.03581567e+01] [-1.25802408e-01 1.74221462e-02 9.91902325e-01 1.19490332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.16907232899996 meters Centerline goodness : 0.753892 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.36938546e-01 -3.26402067e-01 1.24931393e-01 -1.59962051e+02] [ 3.25849647e-01 9.45079972e-01 2.54136399e-02 2.03566024e+01] [-1.26365222e-01 1.68978314e-02 9.91839853e-01 1.19489890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.199072329 meters Centerline goodness : 0.754937 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.36895888e-01 -3.26529733e-01 1.24917685e-01 -1.59961970e+02] [ 3.25877815e-01 9.45048766e-01 2.62007479e-02 2.03551801e+01] [-1.26608627e-01 1.61605293e-02 9.91821099e-01 1.19489182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.22907232899996 meters Centerline goodness : 0.755142 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37003244e-01 -3.26330042e-01 1.24633959e-01 -1.59961033e+02] [ 3.25487159e-01 9.45142184e-01 2.76470812e-02 2.03537479e+01] [-1.26818885e-01 1.46613484e-02 9.91817531e-01 1.19487013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.259072329 meters Centerline goodness : 0.754560 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37052478e-01 -3.26352727e-01 1.24203667e-01 -1.59960506e+02] [ 3.25460364e-01 9.45141419e-01 2.79865991e-02 2.03537848e+01] [-1.26523533e-01 1.41984588e-02 9.91861986e-01 1.19486612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.28907232899996 meters Centerline goodness : 0.752319 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37130121e-01 -3.26153147e-01 1.24142099e-01 -1.59961521e+02] [ 3.25079115e-01 9.45230074e-01 2.93883600e-02 2.03528932e+01] [-1.26927951e-01 1.28152863e-02 9.91829150e-01 1.19487168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.319072329 meters Centerline goodness : 0.755819 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37040095e-01 -3.26553738e-01 1.23767994e-01 -1.59960670e+02] [ 3.25456159e-01 9.45094910e-01 2.95618012e-02 2.03534240e+01] [-1.26626017e-01 1.25804628e-02 9.91870749e-01 1.19486118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.34907232899997 meters Centerline goodness : 0.753055 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.36950719e-01 -3.26690368e-01 1.24083657e-01 -1.59962424e+02] [ 3.25557126e-01 9.45050087e-01 2.98812745e-02 2.03528190e+01] [-1.27027195e-01 1.23990371e-02 9.91821736e-01 1.19488232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.379072329 meters Centerline goodness : 0.754301 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.36711597e-01 -3.27206915e-01 1.24527184e-01 -1.59962588e+02] [ 3.26239445e-01 9.44852352e-01 2.86680513e-02 2.03531432e+01] [-1.27040187e-01 1.37719832e-02 9.91801958e-01 1.19488248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40907232899997 meters Centerline goodness : 0.755081 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.36512020e-01 -3.27655596e-01 1.24848098e-01 -1.59962488e+02] [ 3.26850470e-01 9.44676829e-01 2.74674261e-02 2.03544123e+01] [-1.26940961e-01 1.50830847e-02 9.91795590e-01 1.19487586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.439072329 meters Centerline goodness : 0.754638 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.35, Z:119.49 [[ 9.36430641e-01 -3.27969407e-01 1.24634352e-01 -1.59965396e+02] [ 3.26796119e-01 9.44607945e-01 3.03336021e-02 2.03546969e+01] [-1.27679093e-01 1.23247082e-02 9.91738953e-01 1.19489303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46907232899997 meters Centerline goodness : 0.754781 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.36420006e-01 -3.28077610e-01 1.24429316e-01 -1.59964891e+02] [ 3.26829969e-01 9.44577907e-01 3.08989979e-02 2.03557365e+01] [-1.27670453e-01 1.17327898e-02 9.91747245e-01 1.19487231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49907232899994 meters Centerline goodness : 0.754789 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.36733953e-01 -3.27297203e-01 1.24121082e-01 -1.59964435e+02] [ 3.26131676e-01 9.44842541e-01 3.01778469e-02 2.03566904e+01] [-1.27152004e-01 1.22112028e-02 9.91808073e-01 1.19488261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.529072329 meters Centerline goodness : 0.754831 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.36891413e-01 -3.26918281e-01 1.23931101e-01 -1.59964448e+02] [ 3.25776864e-01 9.44972328e-01 2.99455307e-02 2.03565831e+01] [-1.26901203e-01 1.23181749e-02 9.91838872e-01 1.19489277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55907232899995 meters Centerline goodness : 0.753446 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.36, Z:119.49 [[ 9.37082480e-01 -3.26355050e-01 1.23970990e-01 -1.59965481e+02] [ 3.25065312e-01 9.45181084e-01 3.10686470e-02 2.03555004e+01] [-1.27314445e-01 1.11847838e-02 9.91799341e-01 1.19490213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.589072329 meters Centerline goodness : 0.754966 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.36, Z:119.49 [[ 9.37721208e-01 -3.25060911e-01 1.22533014e-01 -1.59964065e+02] [ 3.23523563e-01 9.45651364e-01 3.28024807e-02 2.03555981e+01] [-1.26536316e-01 8.88273544e-03 9.91922203e-01 1.19489710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61907232899995 meters Centerline goodness : 0.754643 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37962352e-01 -3.24332358e-01 1.22617898e-01 -1.59964889e+02] [ 3.22603521e-01 9.45914053e-01 3.42574610e-02 2.03547060e+01] [-1.27096796e-01 7.42475691e-03 9.91862530e-01 1.19489503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.649072329 meters Centerline goodness : 0.754941 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38064243e-01 -3.24075770e-01 1.22516819e-01 -1.59964190e+02] [ 3.22358851e-01 9.46001655e-01 3.41414561e-02 2.03546675e+01] [-1.26965533e-01 7.46750197e-03 9.91879020e-01 1.19488463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67907232899995 meters Centerline goodness : 0.755028 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38212654e-01 -3.23760013e-01 1.22214854e-01 -1.59962417e+02] [ 3.22215960e-01 9.46099638e-01 3.27467562e-02 2.03541420e+01] [-1.26229519e-01 8.65615554e-03 9.91963295e-01 1.19488345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.709072329 meters Centerline goodness : 0.755646 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38334302e-01 -3.23354572e-01 1.22354232e-01 -1.59961537e+02] [ 3.21900582e-01 9.46231795e-01 3.20219383e-02 2.03535491e+01] [-1.26129905e-01 9.33861548e-03 9.91969776e-01 1.19487560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.73907232899995 meters Centerline goodness : 0.756043 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38254549e-01 -3.23501693e-01 1.22576734e-01 -1.59960860e+02] [ 3.22093031e-01 9.46177402e-01 3.16923152e-02 2.03531962e+01] [-1.26231854e-01 9.74565288e-03 9.91952893e-01 1.19486100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.769072329 meters Centerline goodness : 0.756759 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38216793e-01 -3.23511991e-01 1.22838274e-01 -1.59960808e+02] [ 3.22111557e-01 9.46172549e-01 3.16488782e-02 2.03522590e+01] [-1.26464995e-01 9.87411891e-03 9.91921926e-01 1.19485665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.79907232899996 meters Centerline goodness : 0.756680 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.38033373e-01 -3.23839186e-01 1.23375735e-01 -1.59962197e+02] [ 3.22375439e-01 9.46063823e-01 3.22074515e-02 2.03501407e+01] [-1.27151354e-01 9.56164233e-03 9.91837239e-01 1.19486832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.829072329 meters Centerline goodness : 0.756622 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.49 [[ 9.37733584e-01 -3.24534970e-01 1.23825601e-01 -1.59960968e+02] [ 3.23300873e-01 9.45804602e-01 3.04992038e-02 2.03488852e+01] [-1.27012881e-01 1.14327971e-02 9.91835177e-01 1.19485579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.85907232899996 meters Centerline goodness : 0.755195 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.35, Z:119.48 [[ 9.36929627e-01 -3.26664141e-01 1.24311757e-01 -1.59959504e+02] [ 3.25684608e-01 9.45042711e-01 2.87020858e-02 2.03460835e+01] [-1.26855862e-01 1.35945915e-02 9.91827998e-01 1.19484385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.889072329 meters Centerline goodness : 0.754943 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.34, Z:119.49 [[ 9.36471442e-01 -3.27847926e-01 1.24647406e-01 -1.59960181e+02] [ 3.26860878e-01 9.44631177e-01 2.88774112e-02 2.03438858e+01] [-1.27213225e-01 1.36994896e-02 9.91780782e-01 1.19485167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.91907232899996 meters Centerline goodness : 0.755068 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.34, Z:119.48 [[ 9.35778198e-01 -3.29672802e-01 1.25040026e-01 -1.59960272e+02] [ 3.28653729e-01 9.43996094e-01 2.92933648e-02 2.03417303e+01] [-1.27694522e-01 1.36827789e-02 9.91719159e-01 1.19484097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.949072329 meters Centerline goodness : 0.754986 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.34, Z:119.48 [[ 9.34357350e-01 -3.33395861e-01 1.25791663e-01 -1.59959339e+02] [ 3.32366977e-01 9.42682196e-01 2.97063749e-02 2.03380649e+01] [-1.28485544e-01 1.40526252e-02 9.91611814e-01 1.19480225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.97907232899996 meters Centerline goodness : 0.757897 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.34, Z:119.48 [[ 9.33479381e-01 -3.35631159e-01 1.26364434e-01 -1.59960308e+02] [ 3.34459674e-01 9.41899462e-01 3.10182093e-02 2.03353492e+01] [-1.29433270e-01 1.33089487e-02 9.91498815e-01 1.19479103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.009072329 meters Centerline goodness : 0.758102 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.48 [[ 9.31945201e-01 -3.39509665e-01 1.27323720e-01 -1.59958754e+02] [ 3.38586465e-01 9.40472844e-01 2.94963783e-02 2.03324870e+01] [-1.29758806e-01 1.56210799e-02 9.91422531e-01 1.19475508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.03907232899996 meters Centerline goodness : 0.759311 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.31231059e-01 -3.41252451e-01 1.27888545e-01 -1.59959075e+02] [ 3.40346461e-01 9.39835459e-01 2.95566639e-02 2.03309670e+01] [-1.30280474e-01 1.60023304e-02 9.91348034e-01 1.19474307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.069072329 meters Centerline goodness : 0.759542 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.30629433e-01 -3.42801683e-01 1.28124407e-01 -1.59959583e+02] [ 3.41779491e-01 9.39282625e-01 3.05766162e-02 2.03291591e+01] [-1.30826745e-01 1.53347957e-02 9.91286642e-01 1.19473633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.09907232899997 meters Centerline goodness : 0.760605 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.29729226e-01 -3.44900371e-01 1.29024419e-01 -1.59962023e+02] [ 3.43750006e-01 9.38522758e-01 3.17956870e-02 2.03265429e+01] [-1.32058698e-01 1.47907655e-02 9.91131542e-01 1.19474495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.129072329 meters Centerline goodness : 0.759162 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.29353962e-01 -3.45753376e-01 1.29444261e-01 -1.59961448e+02] [ 3.44750044e-01 9.38189009e-01 3.08024368e-02 2.03262850e+01] [-1.32093230e-01 1.59995481e-02 9.91108164e-01 1.19473193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15907232899997 meters Centerline goodness : 0.758760 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.28985619e-01 -3.46717138e-01 1.29510409e-01 -1.59962176e+02] [ 3.45707629e-01 9.37832522e-01 3.09256376e-02 2.03260017e+01] [-1.32181522e-01 1.60432639e-02 9.91095686e-01 1.19473898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.189072329 meters Centerline goodness : 0.760527 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.28028964e-01 -3.49148907e-01 1.29835599e-01 -1.59963582e+02] [ 3.48149041e-01 9.36924249e-01 3.10676239e-02 2.03267292e+01] [-1.32493348e-01 1.63704843e-02 9.91048697e-01 1.19474040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21907232899997 meters Centerline goodness : 0.760328 Centerline is valid? [False, False] Translation: X:-159.96, Y:20.33, Z:119.47 [[ 9.27493560e-01 -3.50455697e-01 1.30140311e-01 -1.59964884e+02] [ 3.49383076e-01 9.36442151e-01 3.17421520e-02 2.03267309e+01] [-1.32993090e-01 1.60281805e-02 9.90987354e-01 1.19474020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24907232899994 meters Centerline goodness : 0.762330 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.26906865e-01 -3.51867259e-01 1.30510899e-01 -1.59966504e+02] [ 3.50700384e-01 9.35920515e-01 3.25887943e-02 2.03263439e+01] [-1.33614758e-01 1.55634453e-02 9.90911134e-01 1.19474477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.279072329 meters Centerline goodness : 0.760725 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.48 [[ 9.26391235e-01 -3.53031300e-01 1.31027403e-01 -1.59968746e+02] [ 3.51796300e-01 9.35486329e-01 3.32369023e-02 2.03257557e+01] [-1.34308011e-01 1.53045806e-02 9.90821441e-01 1.19475901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.30907232899995 meters Centerline goodness : 0.762914 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25476621e-01 -3.55229214e-01 1.31549342e-01 -1.59968365e+02] [ 3.54184314e-01 9.34626011e-01 3.20576386e-02 2.03262137e+01] [-1.34337247e-01 1.69241185e-02 9.90791138e-01 1.19473931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.339072329 meters Centerline goodness : 0.764150 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25076951e-01 -3.56119965e-01 1.31951525e-01 -1.59968821e+02] [ 3.55057994e-01 9.34286123e-01 3.22995459e-02 2.03266803e+01] [-1.34782992e-01 1.69708784e-02 9.90729799e-01 1.19472183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.36907232899995 meters Centerline goodness : 0.764492 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.24962531e-01 -3.56513885e-01 1.31689658e-01 -1.59968656e+02] [ 3.55363313e-01 9.34147425e-01 3.29469916e-02 2.03275408e+01] [-1.34763615e-01 1.63229405e-02 9.90743322e-01 1.19470842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.399072329 meters Centerline goodness : 0.766329 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25097575e-01 -3.56360838e-01 1.31154219e-01 -1.59968913e+02] [ 3.55091955e-01 9.34222207e-01 3.37427356e-02 2.03293858e+01] [-1.34551774e-01 1.53564852e-02 9.90787565e-01 1.19470368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.42907232899995 meters Centerline goodness : 0.766795 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25394491e-01 -3.55830891e-01 1.30496792e-01 -1.59968321e+02] [ 3.54595019e-01 9.34423803e-01 3.33845483e-02 2.03302487e+01] [-1.33818562e-01 1.53796353e-02 9.90886502e-01 1.19471281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.459072329 meters Centerline goodness : 0.765261 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25806361e-01 -3.54840802e-01 1.30271205e-01 -1.59967432e+02] [ 3.53704584e-01 9.34790754e-01 3.25470777e-02 2.03330949e+01] [-1.33325349e-01 1.59452309e-02 9.90944045e-01 1.19469556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.48907232899995 meters Centerline goodness : 0.766367 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.33, Z:119.47 [[ 9.25959693e-01 -3.54594605e-01 1.29851122e-01 -1.59968440e+02] [ 3.53287031e-01 9.34905840e-01 3.37541690e-02 2.03339011e+01] [-1.33367619e-01 1.46197174e-02 9.90958799e-01 1.19470283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.519072329 meters Centerline goodness : 0.766415 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.34, Z:119.47 [[ 9.25858998e-01 -3.54789788e-01 1.30035846e-01 -1.59969054e+02] [ 3.53461846e-01 9.34833042e-01 3.39397682e-02 2.03353653e+01] [-1.33603289e-01 1.45392704e-02 9.90928237e-01 1.19469359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.54907232899996 meters Centerline goodness : 0.766086 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.34, Z:119.47 [[ 9.25706975e-01 -3.55019163e-01 1.30491341e-01 -1.59969607e+02] [ 3.53732298e-01 9.34739316e-01 3.37027227e-02 2.03360571e+01] [-1.33940499e-01 1.49601564e-02 9.90876449e-01 1.19468518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.579072329 meters Centerline goodness : 0.765513 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.34, Z:119.47 [[ 9.25219368e-01 -3.56011772e-01 1.31243051e-01 -1.59970063e+02] [ 3.55044397e-01 9.34318517e-01 3.15021461e-02 2.03375843e+01] [-1.33837948e-01 1.74507142e-02 9.90849573e-01 1.19468687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.60907232899996 meters Centerline goodness : 0.765098 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.34, Z:119.47 [[ 9.24991047e-01 -3.56501645e-01 1.31522392e-01 -1.59969821e+02] [ 3.55629691e-01 9.34117028e-01 3.08690927e-02 2.03375109e+01] [-1.33862188e-01 1.82196332e-02 9.90832458e-01 1.19468052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.639072329 meters Centerline goodness : 0.768536 Centerline is valid? [False, False] Translation: X:-159.97, Y:20.34, Z:119.47 [[ 9.24501544e-01 -3.57656960e-01 1.31827139e-01 -1.59969974e+02] [ 3.56812930e-01 9.33668329e-01 3.07893445e-02 2.03372778e+01] [-1.34094848e-01 1.85728311e-02 9.90794440e-01 1.19466928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.66907232899996 meters Centerline goodness : 0.767379 Centerline is valid? [False, False] Translation: X:-159.98, Y:20.33, Z:119.47 [[ 9.23605719e-01 -3.62429872e-01 1.24888207e-01 -1.59984501e+02] [ 3.60988632e-01 9.31921059e-01 3.47900355e-02 2.03300443e+01] [-1.28994899e-01 1.29509474e-02 9.91560684e-01 1.19474759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.699072329 meters Centerline goodness : 0.768600 Centerline is valid? [False, False] Translation: X:-159.99, Y:20.33, Z:119.47 [[ 9.22746806e-01 -3.64332242e-01 1.25699441e-01 -1.59986361e+02] [ 3.62684585e-01 9.31193810e-01 3.65784144e-02 2.03278922e+01] [-1.30377237e-01 1.18366345e-02 9.91393802e-01 1.19473520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.72907232899996 meters Centerline goodness : 0.770412 Centerline is valid? [False, False] Translation: X:-160.00, Y:20.32, Z:119.48 [[ 9.21983201e-01 -3.68357439e-01 1.19414297e-01 -1.60003159e+02] [ 3.66158632e-01 9.29663374e-01 4.06677573e-02 2.03185357e+01] [-1.25995370e-01 6.22958674e-03 9.92011270e-01 1.19481948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.759072329 meters Centerline goodness : 0.776011 Centerline is valid? [False, False] Translation: X:-160.02, Y:20.31, Z:119.49 [[ 9.20261117e-01 -3.73909972e-01 1.15372481e-01 -1.60023928e+02] [ 3.71709360e-01 9.27449910e-01 4.08511528e-02 2.03071378e+01] [-1.22276850e-01 5.29130341e-03 9.92481926e-01 1.19488852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.78907232899996 meters Centerline goodness : 0.774781 Centerline is valid? [False, False] Translation: X:-160.02, Y:20.31, Z:119.49 [[ 9.18840146e-01 -3.76938417e-01 1.16834135e-01 -1.60024931e+02] [ 3.74860008e-01 9.26212451e-01 4.01306538e-02 2.03055900e+01] [-1.23340016e-01 6.92278920e-03 9.92340322e-01 1.19487240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.819072329 meters Centerline goodness : 0.773182 Centerline is valid? [False, False] Translation: X:-160.05, Y:20.30, Z:119.49 [[ 9.17936105e-01 -3.80710371e-01 1.11592653e-01 -1.60045067e+02] [ 3.78370764e-01 9.24688036e-01 4.22800240e-02 2.02954185e+01] [-1.19284835e-01 3.41303676e-03 9.92854209e-01 1.19494537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.84907232899997 meters Centerline goodness : 0.781963 Centerline is valid? [False, False] Translation: X:-160.06, Y:20.29, Z:119.50 [[ 9.15655861e-01 -3.87203764e-01 1.07923997e-01 -1.60064777e+02] [ 3.85044229e-01 9.21985556e-01 4.10313974e-02 2.02869321e+01] [-1.15391878e-01 3.98487265e-03 9.93312053e-01 1.19498445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.879072329 meters Centerline goodness : 0.776832 Centerline is valid? [False, False] Translation: X:-160.08, Y:20.28, Z:119.51 [[ 9.14655357e-01 -3.91060643e-01 1.02357960e-01 -1.60083856e+02] [ 3.88635823e-01 9.20364913e-01 4.34813102e-02 2.02778067e+01] [-1.11210504e-01 9.55675440e-06 9.93796872e-01 1.19505302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90907232899997 meters Centerline goodness : 0.776832 Centerline is valid? [False, False] Translation: X:-160.09, Y:20.28, Z:119.51 [[ 9.13206831e-01 -3.93794035e-01 1.04783304e-01 -1.60087594e+02] [ 3.91779138e-01 9.19187741e-01 4.00375288e-02 2.02804410e+01] [-1.12082069e-01 4.48936788e-03 9.93688812e-01 1.19505798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.939072329 meters Centerline goodness : 0.776831 Centerline is valid? [False, False] Translation: X:-160.11, Y:20.27, Z:119.51 [[ 9.10720103e-01 -4.00538423e-01 1.00786233e-01 -1.60106388e+02] [ 3.98707107e-01 9.16266098e-01 3.85886104e-02 2.02729556e+01] [-1.07803230e-01 5.04076422e-03 9.94159471e-01 1.19509719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96907232899997 meters Centerline goodness : 0.773834 Centerline is valid? [False, False] Translation: X:-160.13, Y:20.26, Z:119.52 [[ 9.09532669e-01 -4.04468184e-01 9.56860096e-02 -1.60126689e+02] [ 4.02467152e-01 9.14550053e-01 4.02292499e-02 2.02638289e+01] [-1.03781097e-01 1.92065874e-03 9.94598308e-01 1.19516032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99907232899994 meters Centerline goodness : 0.770850 Centerline is valid? [False, False] Translation: X:-160.15, Y:20.25, Z:119.52 [[ 9.08378301e-01 -4.08225800e-01 9.05569332e-02 -1.60147621e+02] [ 4.06045218e-01 9.12879701e-01 4.21655258e-02 2.02542316e+01] [-9.98806416e-02 -1.53203892e-03 9.94998246e-01 1.19523410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.029072329 meters Centerline goodness : 0.770736 Centerline is valid? [False, False] Translation: X:-160.17, Y:20.25, Z:119.53 [[ 9.07124968e-01 -4.12158860e-01 8.51432162e-02 -1.60168212e+02] [ 4.09798023e-01 9.11096212e-01 4.43764950e-02 2.02450907e+01] [-9.58638273e-02 -5.36350491e-03 9.95380008e-01 1.19531811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05907232899995 meters Centerline goodness : 0.775808 Centerline is valid? [False, False] Translation: X:-160.19, Y:20.24, Z:119.54 [[ 9.03928489e-01 -4.19929657e-01 8.10701540e-02 -1.60187497e+02] [ 4.17661430e-01 9.07537484e-01 4.39846048e-02 2.02402407e+01] [-9.20446436e-02 -5.89906096e-03 9.95737407e-01 1.19539310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.089072329 meters Centerline goodness : 0.771347 Centerline is valid? [False, False] Translation: X:-160.20, Y:20.23, Z:119.55 [[ 9.01949822e-01 -4.25325413e-01 7.47315910e-02 -1.60203668e+02] [ 4.22914999e-01 9.04982964e-01 4.63544939e-02 2.02344100e+01] [-8.73465609e-02 -1.02043168e-02 9.96125720e-01 1.19547347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11907232899995 meters Centerline goodness : 0.776588 Centerline is valid? [False, False] Translation: X:-160.22, Y:20.23, Z:119.55 [[ 9.00082054e-01 -4.30095307e-01 6.97877002e-02 -1.60223629e+02] [ 4.27647892e-01 9.02689446e-01 4.76345004e-02 2.02275856e+01] [-8.34839955e-02 -1.30303961e-02 9.96423921e-01 1.19553878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.149072329 meters Centerline goodness : 0.777549 Centerline is valid? [False, False] Translation: X:-160.24, Y:20.23, Z:119.56 [[ 8.96059760e-01 -4.39062834e-01 6.55799827e-02 -1.60240163e+02] [ 4.36856580e-01 8.98372974e-01 4.56325413e-02 2.02252208e+01] [-7.89508369e-02 -1.22404371e-02 9.96803359e-01 1.19558839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17907232899995 meters Centerline goodness : 0.778294 Centerline is valid? [False, False] Translation: X:-160.26, Y:20.22, Z:119.57 [[ 8.94150573e-01 -4.43593216e-01 6.09902611e-02 -1.60262272e+02] [ 4.41418032e-01 8.96113259e-01 4.61643502e-02 2.02175281e+01] [-7.51323742e-02 -1.43556791e-02 9.97070229e-01 1.19565773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.209072329 meters Centerline goodness : 0.778140 Centerline is valid? [False, False] Translation: X:-160.28, Y:20.22, Z:119.57 [[ 8.89783633e-01 -4.52855974e-01 5.66264349e-02 -1.60278683e+02] [ 4.50897245e-01 8.91475455e-01 4.43078699e-02 2.02168364e+01] [-7.05461604e-02 -1.38917139e-02 9.97411780e-01 1.19571023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.23907232899995 meters Centerline goodness : 0.777510 Centerline is valid? [False, False] Translation: X:-160.30, Y:20.21, Z:119.58 [[ 8.87681808e-01 -4.57590125e-01 5.13057988e-02 -1.60297834e+02] [ 4.55609002e-01 8.88992430e-01 4.59662541e-02 2.02119688e+01] [-6.66441707e-02 -1.74280238e-02 9.97624588e-01 1.19576566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.269072329 meters Centerline goodness : 0.779469 Centerline is valid? [False, False] Translation: X:-160.32, Y:20.21, Z:119.58 [[ 8.85485081e-01 -4.62337558e-01 4.64774592e-02 -1.60318045e+02] [ 4.60388165e-01 8.86473905e-01 4.69760942e-02 2.02072589e+01] [-6.29198674e-02 -2.01989585e-02 9.97814157e-01 1.19581454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.29907232899996 meters Centerline goodness : 0.780543 Centerline is valid? [False, False] Translation: X:-160.34, Y:20.20, Z:119.59 [[ 8.82938780e-01 -4.67696076e-01 4.09816012e-02 -1.60336347e+02] [ 4.65796514e-01 8.83577407e-01 4.82138336e-02 2.02030046e+01] [-5.87598377e-02 -2.34807765e-02 9.97995959e-01 1.19587559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.329072329 meters Centerline goodness : 0.784822 Centerline is valid? [False, False] Translation: X:-160.37, Y:20.20, Z:119.59 [[ 8.78512087e-01 -4.76112681e-01 3.91564586e-02 -1.60367051e+02] [ 4.74726787e-01 8.79231175e-01 3.98373986e-02 2.01999145e+01] [-5.33946698e-02 -1.64090164e-02 9.98438658e-01 1.19591833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.35907232899996 meters Centerline goodness : 0.786594 Centerline is valid? [False, False] Translation: X:-160.39, Y:20.19, Z:119.60 [[ 8.75410429e-01 -4.82022474e-01 3.62065726e-02 -1.60390842e+02] [ 4.80753169e-01 8.76005459e-01 3.86112343e-02 2.01946491e+01] [-5.03286379e-02 -1.63942527e-02 9.98598146e-01 1.19596992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.389072329 meters Centerline goodness : 0.789695 Centerline is valid? [False, False] Translation: X:-160.44, Y:20.19, Z:119.60 [[ 8.68030742e-01 -4.95108033e-01 3.72916386e-02 -1.60436361e+02] [ 4.93968781e-01 8.68737901e-01 3.59068620e-02 2.01891686e+01] [-5.01744357e-02 -1.27473548e-02 9.98659116e-01 1.19599207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.41907232899996 meters Centerline goodness : 0.791094 Centerline is valid? [False, False] Translation: X:-160.46, Y:20.19, Z:119.60 [[ 8.64752246e-01 -5.00954093e-01 3.53348356e-02 -1.60461935e+02] [ 4.99995706e-01 8.65408235e-01 3.27548627e-02 2.01850536e+01] [-4.69877402e-02 -1.06575750e-02 9.98838610e-01 1.19600944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.449072329 meters Centerline goodness : 0.791829 Centerline is valid? [False, False] Translation: X:-160.48, Y:20.18, Z:119.60 [[ 8.60725745e-01 -5.08012315e-01 3.27823085e-02 -1.60483877e+02] [ 5.07185030e-01 8.61295533e-01 3.05507703e-02 2.01825326e+01] [-4.37554234e-02 -9.66913847e-03 9.98995481e-01 1.19603656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.47907232899996 meters Centerline goodness : 0.794472 Centerline is valid? [False, False] Translation: X:-160.52, Y:20.18, Z:119.61 [[ 8.51631562e-01 -5.23161523e-01 3.20265948e-02 -1.60524346e+02] [ 5.22413682e-01 8.52195527e-01 2.90986145e-02 2.01791539e+01] [-4.25161963e-02 -8.05016721e-03 9.99063345e-01 1.19607727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.509072329 meters Centerline goodness : 0.796289 Centerline is valid? [False, False] Translation: X:-160.57, Y:20.17, Z:119.61 [[ 8.46117248e-01 -5.31934523e-01 3.36342999e-02 -1.60574680e+02] [ 5.31233165e-01 8.46766017e-01 2.79040829e-02 2.01681695e+01] [-4.33235272e-02 -5.74247023e-03 9.99044592e-01 1.19609266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.53907232899996 meters Centerline goodness : 0.804125 Centerline is valid? [False, False] Translation: X:-160.64, Y:20.16, Z:119.62 [[ 8.34662319e-01 -5.49861020e-01 3.14908293e-02 -1.60638290e+02] [ 5.49258618e-01 8.35244001e-01 2.61233596e-02 2.01570545e+01] [-4.06667434e-02 -4.50757454e-03 9.99162598e-01 1.19617597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.569072329 meters Centerline goodness : 0.806640 Centerline is valid? [False, False] Translation: X:-160.69, Y:20.15, Z:119.62 [[ 8.28843066e-01 -5.58420322e-01 3.44371120e-02 -1.60693132e+02] [ 5.57941602e-01 8.29558160e-01 2.31177034e-02 2.01454272e+01] [-4.14769827e-02 5.29492418e-05 9.99139458e-01 1.19619077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.59907232899997 meters Centerline goodness : 0.811721 Centerline is valid? [False, False] Translation: X:-160.75, Y:20.14, Z:119.63 [[ 8.22763115e-01 -5.67633041e-01 2.92162292e-02 -1.60749455e+02] [ 5.67344715e-01 8.23280067e-01 1.81633132e-02 2.01350813e+01] [-3.43632359e-02 1.63156907e-03 9.99408078e-01 1.19626325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.629072329 meters Centerline goodness : 0.813630 Centerline is valid? [False, False] Translation: X:-160.82, Y:20.12, Z:119.63 [[ 8.15396544e-01 -5.78320992e-01 2.59481226e-02 -1.60818994e+02] [ 5.77998555e-01 8.15808957e-01 1.93239720e-02 2.01195682e+01] [-3.23441695e-02 -7.58722625e-04 9.99476502e-01 1.19631256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65907232899997 meters Centerline goodness : 0.816866 Centerline is valid? [False, False] Translation: X:-160.90, Y:20.11, Z:119.64 [[ 7.99605229e-01 -6.00185898e-01 2.02080535e-02 -1.60896738e+02] [ 5.99869836e-01 7.99851826e-01 1.98301872e-02 2.01105410e+01] [-2.80652473e-02 -3.73411964e-03 9.99599119e-01 1.19637348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.689072329 meters Centerline goodness : 0.819984 Centerline is valid? [False, False] Translation: X:-160.99, Y:20.09, Z:119.65 [[ 7.89409645e-01 -6.13637900e-01 1.67612742e-02 -1.60987404e+02] [ 6.13249310e-01 7.89545942e-01 2.32914183e-02 2.00878430e+01] [-2.75262930e-02 -8.10763045e-03 9.99588200e-01 1.19647344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71907232899997 meters Centerline goodness : 0.816344 Centerline is valid? [False, False] Translation: X:-161.08, Y:20.08, Z:119.66 [[ 7.67083128e-01 -6.41448433e-01 1.12863689e-02 -1.61079101e+02] [ 6.41054973e-01 7.67064716e-01 2.56952086e-02 2.00759050e+01] [-2.51395266e-02 -1.24751780e-02 9.99606109e-01 1.19660398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74907232899994 meters Centerline goodness : 0.817898 Centerline is valid? [False, False] Translation: X:-161.18, Y:20.05, Z:119.67 [[ 7.53895994e-01 -6.56989254e-01 2.43945090e-03 -1.61183431e+02] [ 6.56692139e-01 7.53657167e-01 2.75010773e-02 2.00526632e+01] [-1.99064219e-02 -1.91309838e-02 9.99618797e-01 1.19674402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.779072329 meters Centerline goodness : 0.818388 Centerline is valid? [False, False] Translation: X:-161.29, Y:20.03, Z:119.68 [[ 7.40672062e-01 -6.71859756e-01 -3.06032561e-03 -1.61293146e+02] [ 6.71674054e-01 7.40342900e-01 2.73195204e-02 2.00282655e+01] [-1.60891959e-02 -2.22903468e-02 9.99622068e-01 1.19682058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.80907232899995 meters Centerline goodness : 0.767231 Centerline is valid? [False, False] Translation: X:-161.42, Y:20.01, Z:119.69 [[ 7.11887012e-01 -7.02225296e-01 -9.82422249e-03 -1.61417951e+02] [ 7.02154736e-01 7.11397606e-01 2.98692602e-02 2.00130471e+01] [-1.39860217e-02 -2.81616627e-02 9.99505534e-01 1.19689672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.839072329 meters Centerline goodness : 0.766758 Centerline is valid? [False, False] Translation: X:-161.58, Y:19.97, Z:119.69 [[ 6.96764738e-01 -7.17283964e-01 -4.75544003e-03 -1.61580150e+02] [ 7.17107735e-01 6.96409554e-01 2.77530306e-02 1.99729900e+01] [-1.65950699e-02 -2.27474959e-02 9.99603499e-01 1.19686994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.86907232899995 meters Centerline goodness : 0.756449 Centerline is valid? [False, False] Translation: X:-161.77, Y:19.92, Z:119.68 [[ 6.81919801e-01 -7.31395372e-01 6.79666382e-03 -1.61767609e+02] [ 7.31098231e-01 6.81862463e-01 2.36423000e-02 1.99247446e+01] [-2.19262588e-02 -1.11531236e-02 9.99697378e-01 1.19678705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.899072329 meters Centerline goodness : 0.778295 Centerline is valid? [False, False] Translation: X:-161.95, Y:19.88, Z:119.67 [[ 6.65338128e-01 -7.46284833e-01 1.95990825e-02 -1.61946948e+02] [ 7.46037319e-01 6.65624354e-01 1.93012530e-02 1.98805387e+01] [-2.74498590e-02 1.77978742e-03 9.99621597e-01 1.19670625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.92907232899995 meters Centerline goodness : 0.788522 Centerline is valid? [False, False] Translation: X:-162.14, Y:19.85, Z:119.66 [[ 6.28003536e-01 -7.77390946e-01 3.57054119e-02 -1.62140452e+02] [ 7.77559095e-01 6.28693938e-01 1.20741921e-02 1.98476019e+01] [-3.18341436e-02 2.01804324e-02 9.99289416e-01 1.19663362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.959072329 meters Centerline goodness : 0.682256 Centerline is valid? [False, False] Translation: X:-162.35, Y:19.80, Z:119.66 [[ 6.08101618e-01 -7.92320737e-01 4.93991013e-02 -1.62345498e+02] [ 7.93105304e-01 6.09058035e-01 5.68214444e-03 1.97959808e+01] [-3.45890005e-02 3.57233680e-02 9.98762956e-01 1.19659564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.98907232899995 meters Centerline goodness : 0.637477 Centerline is valid? [False, False] Translation: X:-162.56, Y:19.76, Z:119.65 [[ 5.65258547e-01 -8.22614939e-01 6.15421526e-02 -1.62558641e+02] [ 8.24197757e-01 5.66301780e-01 -5.93454881e-04 1.97585312e+01] [-3.43632457e-02 5.10583595e-02 9.98104309e-01 1.19654498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.019072329 meters Centerline goodness : 0.803205 Centerline is valid? [False, False] Translation: X:-162.80, Y:19.70, Z:119.66 [[ 5.42704690e-01 -8.36762296e-01 7.28043977e-02 -1.62796286e+02] [ 8.39274971e-01 5.43650370e-01 -7.86122213e-03 1.96984256e+01] [-3.30021634e-02 6.53692309e-02 9.97315257e-01 1.19656387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.04907232899996 meters Centerline goodness : 0.803024 Centerline is valid? [False, False] Translation: X:-163.04, Y:19.64, Z:119.66 [[ 5.20609016e-01 -8.49382590e-01 8.66917998e-02 -1.63039961e+02] [ 8.53206434e-01 5.21331401e-01 -1.58855502e-02 1.96372896e+01] [-3.17022477e-02 8.22361621e-02 9.96108519e-01 1.19662550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.079072329 meters Centerline goodness : 0.791932 Centerline is valid? [False, False] Translation: X:-163.30, Y:19.59, Z:119.67 [[ 4.78184531e-01 -8.71951865e-01 1.05069025e-01 -1.63300699e+02] [ 8.77853578e-01 4.78167283e-01 -2.70026958e-02 1.95896233e+01] [-2.66955194e-02 1.05147491e-01 9.94098262e-01 1.19672435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.10907232899996 meters Centerline goodness : 0.791984 Centerline is valid? [False, False] Translation: X:-163.58, Y:19.52, Z:119.69 [[ 4.59480147e-01 -8.80387315e-01 1.17457095e-01 -1.63577420e+02] [ 8.87968599e-01 4.58271594e-01 -3.87157933e-02 1.95211962e+01] [-1.97423568e-02 1.22087351e-01 9.92322991e-01 1.19688161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.139072329 meters Centerline goodness : 0.800837 Centerline is valid? [False, False] Translation: X:-163.86, Y:19.45, Z:119.71 [[ 4.42315582e-01 -8.87596239e-01 1.28568436e-01 -1.63861796e+02] [ 8.96769652e-01 4.39732147e-01 -4.93946281e-02 1.94512366e+01] [-1.26931885e-02 1.37144286e-01 9.90469751e-01 1.19706370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.16907232899996 meters Centerline goodness : 0.801508 Centerline is valid? [False, False] Translation: X:-164.16, Y:19.40, Z:119.73 [[ 4.10546266e-01 -9.01121265e-01 1.39399532e-01 -1.64157157e+02] [ 9.11839384e-01 4.05860685e-01 -6.18550143e-02 1.94009660e+01] [-8.37920644e-04 1.52504328e-01 9.88302448e-01 1.19727771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.199072329 meters Centerline goodness : 0.800913 Centerline is valid? [False, False] Translation: X:-164.47, Y:19.33, Z:119.76 [[ 3.97927290e-01 -9.04707216e-01 1.52179910e-01 -1.64466393e+02] [ 9.17387503e-01 3.91072687e-01 -7.39075258e-02 1.93263908e+01] [ 7.35126550e-03 1.69017769e-01 9.85585589e-01 1.19756340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.22907232899996 meters Centerline goodness : 0.791976 Centerline is valid? [False, False] Translation: X:-164.79, Y:19.25, Z:119.79 [[ 3.86001674e-01 -9.07697321e-01 1.64585183e-01 -1.64794743e+02] [ 9.22340231e-01 3.76443234e-01 -8.70573993e-02 1.92456726e+01] [ 1.70647897e-02 1.85407837e-01 9.82513474e-01 1.19791309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.259072329 meters Centerline goodness : 0.444451 Centerline is valid? [False, False] Translation: X:-165.13, Y:19.18, Z:119.83 [[ 3.61746637e-01 -9.15566177e-01 1.75721216e-01 -1.65134305e+02] [ 9.31778653e-01 3.48914255e-01 -1.00236638e-01 1.91825936e+01] [ 3.04616379e-02 1.99993544e-01 9.79323578e-01 1.19831224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.28907232899996 meters Centerline goodness : 0.785402 Centerline is valid? [False, False] Translation: X:-165.48, Y:19.10, Z:119.88 [[ 3.52839442e-01 -9.16397960e-01 1.88994990e-01 -1.65480652e+02] [ 9.34725170e-01 3.36071565e-01 -1.15519524e-01 1.90975834e+01] [ 4.23460142e-02 2.17418218e-01 9.75159543e-01 1.19877556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.319072329 meters Centerline goodness : 0.786457 Centerline is valid? [False, False] Translation: X:-165.83, Y:19.01, Z:119.93 [[ 3.44638088e-01 -9.16636181e-01 2.02491234e-01 -1.65832660e+02] [ 9.37115124e-01 3.23274722e-01 -1.31562527e-01 1.90114156e+01] [ 5.51346746e-02 2.35099055e-01 9.70406411e-01 1.19929286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.34907232899997 meters Centerline goodness : 0.787057 Centerline is valid? [False, False] Translation: X:-166.20, Y:18.94, Z:119.99 [[ 3.26473524e-01 -9.19946968e-01 2.17054405e-01 -1.66201070e+02] [ 9.42379873e-01 2.99053157e-01 -1.49957943e-01 1.89420554e+01] [ 7.30425496e-02 2.53505001e-01 9.64572444e-01 1.19990487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.379072329 meters Centerline goodness : 0.785902 Centerline is valid? [False, False] Translation: X:-166.58, Y:18.85, Z:120.06 [[ 3.22243991e-01 -9.18011640e-01 2.31113476e-01 -1.66576664e+02] [ 9.42592337e-01 2.88553094e-01 -1.68097584e-01 1.88505687e+01] [ 8.76270301e-02 2.72014228e-01 9.58295238e-01 1.20056163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40907232899997 meters Centerline goodness : 0.784746 Centerline is valid? [False, False] Translation: X:-166.96, Y:18.76, Z:120.13 [[ 3.19380177e-01 -9.15396337e-01 2.45042545e-01 -1.66962094e+02] [ 9.42073621e-01 2.78756596e-01 -1.86526277e-01 1.87567913e+01] [ 1.02438245e-01 2.90420913e-01 9.51400073e-01 1.20129865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.439072329 meters Centerline goodness : 0.783763 Centerline is valid? [False, False] Translation: X:-167.35, Y:18.68, Z:120.21 [[ 3.10558195e-01 -9.14153908e-01 2.60530688e-01 -1.67347508e+02] [ 9.43045070e-01 2.61922878e-01 -2.05091203e-01 1.86830571e+01] [ 1.19245977e-01 3.09384935e-01 9.43430633e-01 1.20213303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46907232899997 meters Centerline goodness : 0.785196 Centerline is valid? [False, False] Translation: X:-167.75, Y:18.58, Z:120.30 [[ 3.11421069e-01 -9.09767390e-01 2.74481718e-01 -1.67748191e+02] [ 9.40749447e-01 2.54370285e-01 -2.24245927e-01 1.85838692e+01] [ 1.34191639e-01 3.28053431e-01 9.35079435e-01 1.20302912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49907232899994 meters Centerline goodness : 0.782967 Centerline is valid? [False, False] Translation: X:-168.14, Y:18.49, Z:120.40 [[ 3.13231687e-01 -9.05103488e-01 2.87530148e-01 -1.68141182e+02] [ 9.38204659e-01 2.48005781e-01 -2.41381752e-01 1.84859695e+01] [ 1.47166327e-01 3.45370537e-01 9.26855579e-01 1.20396077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.529072329 meters Centerline goodness : 0.781151 Centerline is valid? [False, False] Translation: X:-168.56, Y:18.40, Z:120.51 [[ 3.13802323e-01 -9.00624897e-01 3.00670745e-01 -1.68562517e+02] [ 9.35906434e-01 2.40025848e-01 -2.57811443e-01 1.83976060e+01] [ 1.60022653e-01 3.62301515e-01 9.18221304e-01 1.20507949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55907232899995 meters Centerline goodness : 0.780080 Centerline is valid? [False, False] Translation: X:-168.98, Y:18.29, Z:120.62 [[ 0.31940615 -0.89478208 0.31200119 -168.98119221] [ 0.93225102 0.23765275 -0.27281718 18.29039932] [ 0.16996398 0.37800291 0.91006925 120.61940983] [ 0. 0. 0. 1. ]] SLAMing on 288.589072329 meters Centerline goodness : 0.780540 Centerline is valid? [False, False] Translation: X:-169.41, Y:18.18, Z:120.74 [[ 0.32575268 -0.88893772 0.3219859 -169.41444801] [ 0.92856193 0.23671645 -0.28589871 18.17735203] [ 0.17792679 0.39211612 0.90254474 120.74030483] [ 0. 0. 0. 1. ]] SLAMing on 288.61907232899995 meters Centerline goodness : 0.781974 Centerline is valid? [False, False] Translation: X:-169.85, Y:18.08, Z:120.87 [[ 0.33784689 -0.88013809 0.33349126 -169.84844726] [ 0.92341921 0.24141001 -0.29835915 18.0827632 ] [ 0.18208912 0.40875194 0.89429604 120.87138306] [ 0. 0. 0. 1. ]] SLAMing on 288.649072329 meters Centerline goodness : 0.782864 Centerline is valid? [False, False] Translation: X:-170.27, Y:17.97, Z:121.00 [[ 0.3482512 -0.87353855 0.34007572 -170.26725089] [ 0.91900666 0.24664109 -0.30756291 17.97184561] [ 0.18479141 0.419641 0.8886808 120.9995187 ] [ 0. 0. 0. 1. ]] SLAMing on 288.67907232899995 meters Centerline goodness : 0.782954 Centerline is valid? [False, False] Translation: X:-170.70, Y:17.87, Z:121.14 [[ 0.3663378 -0.86514582 0.3425191 -170.69567418] [ 0.91344049 0.26424794 -0.30951494 17.87264551] [ 0.17726558 0.42625784 0.88706323 121.14097959] [ 0. 0. 0. 1. ]] SLAMing on 288.709072329 meters Centerline goodness : 0.782738 Centerline is valid? [False, False] Translation: X:-171.09, Y:17.76, Z:121.27 [[ 0.37710915 -0.86037823 0.34283815 -171.09078938] [ 0.90993191 0.27517005 -0.31033106 17.76344749] [ 0.1726633 0.42898805 0.88665474 121.26780272] [ 0. 0. 0. 1. ]] SLAMing on 288.73907232899995 meters Centerline goodness : 0.781974 Centerline is valid? [False, False] Translation: X:-171.50, Y:17.65, Z:121.40 [[ 3.86163070e-01 -8.57293072e-01 3.40480062e-01 -1.71495517e+02] [ 9.07193371e-01 2.86153334e-01 -3.08409561e-01 1.76495395e+01] [ 1.66967875e-01 4.27977638e-01 8.88232441e-01 1.21399033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.769072329 meters Centerline goodness : 0.781033 Centerline is valid? [False, False] Translation: X:-171.81, Y:17.55, Z:121.50 [[ 3.81742281e-01 -8.66568764e-01 3.21452030e-01 -1.71805863e+02] [ 9.13725265e-01 3.01445766e-01 -2.72463925e-01 1.75485128e+01] [ 1.39208374e-01 3.97729842e-01 9.06880368e-01 1.21504997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.79907232899996 meters Centerline goodness : 0.781033 Centerline is valid? [False, False] Translation: X:-172.11, Y:17.43, Z:121.60 [[ 3.69508797e-01 -8.78087301e-01 3.04016351e-01 -1.72109817e+02] [ 9.21979024e-01 3.05664715e-01 -2.37747263e-01 1.74349773e+01] [ 1.15835781e-01 3.68146404e-01 9.22523874e-01 1.21600159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.829072329 meters Centerline goodness : 0.776634 Centerline is valid? [False, False] Translation: X:-172.42, Y:17.36, Z:121.70 [[ 3.76918193e-01 -8.80833669e-01 2.86469410e-01 -1.72423227e+02] [ 9.21386194e-01 3.24915210e-01 -2.13254750e-01 1.73568483e+01] [ 9.47636948e-02 3.44328554e-01 9.34054436e-01 1.21699647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.85907232899996 meters Centerline goodness : 0.776199 Centerline is valid? [False, False] Translation: X:-172.72, Y:17.26, Z:121.79 [[ 3.85785100e-01 -8.80641241e-01 2.75028837e-01 -1.72719094e+02] [ 9.19799740e-01 3.43969631e-01 -1.88820897e-01 1.72573319e+01] [ 7.16819018e-02 3.25815741e-01 9.42711943e-01 1.21786491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.889072329 meters Centerline goodness : 0.785215 Centerline is valid? [False, False] Translation: X:-173.01, Y:17.17, Z:121.87 [[ 4.19730586e-01 -8.69608106e-01 2.60015340e-01 -1.73012254e+02] [ 9.06843868e-01 3.89720996e-01 -1.60473499e-01 1.71736240e+01] [ 3.82156185e-02 3.03148953e-01 9.52176601e-01 1.21869149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.91907232899996 meters Centerline goodness : 0.781252 Centerline is valid? [False, False] Translation: X:-173.28, Y:17.09, Z:121.94 [[ 4.31090677e-01 -8.67435116e-01 2.48429361e-01 -1.73276789e+02] [ 9.02087243e-01 4.08229307e-01 -1.39955132e-01 1.70895368e+01] [ 1.99858504e-02 2.84438310e-01 9.58486001e-01 1.21940605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.949072329 meters Centerline goodness : 0.780803 Centerline is valid? [False, False] Translation: X:-173.52, Y:17.01, Z:122.01 [[ 4.39144102e-01 -8.66306510e-01 2.38045140e-01 -1.73524225e+02] [ 8.98390963e-01 4.21433454e-01 -1.23642719e-01 1.70106449e+01] [ 6.79230722e-03 2.68154574e-01 9.63351955e-01 1.22005447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.97907232899996 meters Centerline goodness : 0.780978 Centerline is valid? [False, False] Translation: X:-173.77, Y:16.93, Z:122.07 [[ 4.47348137e-01 -8.64128913e-01 2.30566402e-01 -1.73769378e+02] [ 8.94356594e-01 4.32927073e-01 -1.12696194e-01 1.69336110e+01] [-2.43439751e-03 2.56623014e-01 9.66508511e-01 1.22067998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.009072329 meters Centerline goodness : 0.778117 Centerline is valid? [False, False] Translation: X:-174.02, Y:16.86, Z:122.13 [[ 4.61133102e-01 -8.56997031e-01 2.30026848e-01 -1.74024384e+02] [ 8.87223837e-01 4.49343559e-01 -1.04519036e-01 1.68573065e+01] [-1.37885790e-02 2.52282490e-01 9.67555384e-01 1.22134548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.03907232899996 meters Centerline goodness : 0.781452 Centerline is valid? [False, False] Translation: X:-174.26, Y:16.79, Z:122.20 [[ 4.76962945e-01 -8.48610042e-01 2.28839125e-01 -1.74262771e+02] [ 8.78519526e-01 4.68193380e-01 -9.48599021e-02 1.67855443e+01] [-2.66418977e-02 2.46284298e-01 9.68831386e-01 1.22195074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.069072329 meters Centerline goodness : 0.781089 Centerline is valid? [False, False] Translation: X:-174.49, Y:16.71, Z:122.25 [[ 4.80953700e-01 -8.47370167e-01 2.25049636e-01 -1.74489970e+02] [ 8.76119135e-01 4.74211620e-01 -8.68251139e-02 1.67143546e+01] [-3.31481411e-02 2.38929152e-01 9.70471051e-01 1.22250631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.09907232899997 meters Centerline goodness : 0.782138 Centerline is valid? [False, False] Translation: X:-174.72, Y:16.64, Z:122.31 [[ 4.83344732e-01 -8.46965396e-01 2.21421515e-01 -1.74719003e+02] [ 8.74552109e-01 4.78484773e-01 -7.88094574e-02 1.66421311e+01] [-3.91979402e-02 2.31736789e-01 9.71988468e-01 1.22305654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.129072329 meters Centerline goodness : 0.781329 Centerline is valid? [False, False] Translation: X:-174.94, Y:16.57, Z:122.36 [[ 4.85237204e-01 -8.46789089e-01 2.17929105e-01 -1.74941775e+02] [ 8.73250567e-01 4.81994115e-01 -7.15200755e-02 1.65709172e+01] [-4.44781262e-02 2.25010916e-01 9.73340528e-01 1.22357926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15907232899997 meters Centerline goodness : 0.782141 Centerline is valid? [False, False] Translation: X:-175.17, Y:16.50, Z:122.41 [[ 4.91091248e-01 -8.43959441e-01 2.15781947e-01 -1.75168799e+02] [ 8.69962780e-01 4.87858887e-01 -7.18224771e-02 1.64998175e+01] [-4.46558829e-02 2.22993653e-01 9.73796531e-01 1.22409518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.189072329 meters Centerline goodness : 0.780062 Centerline is valid? [False, False] Translation: X:-175.40, Y:16.43, Z:122.46 [[ 4.92464149e-01 -8.43629670e-01 2.13934669e-01 -1.75398389e+02] [ 8.69234511e-01 4.89096861e-01 -7.22192911e-02 1.64275788e+01] [-4.37084381e-02 2.21524809e-01 9.74174693e-01 1.22460288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21907232899997 meters Centerline goodness : 0.779849 Centerline is valid? [False, False] Translation: X:-175.61, Y:16.36, Z:122.51 [[ 4.92188816e-01 -8.44564949e-01 2.10855914e-01 -1.75613791e+02] [ 8.69297739e-01 4.89543266e-01 -6.83288508e-02 1.63588657e+01] [-4.55149401e-02 2.16927265e-01 9.75126121e-01 1.22508921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24907232899994 meters Centerline goodness : 0.777302 Centerline is valid? [False, False] Translation: X:-175.83, Y:16.29, Z:122.56 [[ 4.95868759e-01 -8.43534107e-01 2.06311378e-01 -1.75829468e+02] [ 8.67108446e-01 4.93896283e-01 -6.47256044e-02 1.62917031e+01] [-4.72981681e-02 2.10989744e-01 9.76343286e-01 1.22557977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.279072329 meters Centerline goodness : 0.777192 Centerline is valid? [False, False] Translation: X:-176.05, Y:16.23, Z:122.61 [[ 5.03017049e-01 -8.40461288e-01 2.01491121e-01 -1.76050509e+02] [ 8.62980602e-01 5.01184761e-01 -6.38617010e-02 1.62265079e+01] [-4.73109917e-02 2.06006453e-01 9.77406267e-01 1.22606101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.30907232899995 meters Centerline goodness : 0.775187 Centerline is valid? [False, False] Translation: X:-176.26, Y:16.16, Z:122.65 [[ 5.04546387e-01 -8.40881833e-01 1.95833315e-01 -1.76260110e+02] [ 8.62029297e-01 5.03328822e-01 -5.97125407e-02 1.61607378e+01] [-4.83573611e-02 1.98941802e-01 9.78817514e-01 1.22651924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.339072329 meters Centerline goodness : 0.773055 Centerline is valid? [False, False] Translation: X:-176.47, Y:16.10, Z:122.70 [[ 5.04035350e-01 -8.41866843e-01 1.92895267e-01 -1.76468376e+02] [ 8.62336125e-01 5.03005682e-01 -5.79800891e-02 1.60956639e+01] [-4.82159006e-02 1.95564571e-01 9.79504837e-01 1.22697000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.36907232899995 meters Centerline goodness : 0.773795 Centerline is valid? [False, False] Translation: X:-176.68, Y:16.03, Z:122.74 [[ 5.04460885e-01 -8.41514912e-01 1.93318052e-01 -1.76677656e+02] [ 8.62002813e-01 5.03727364e-01 -5.66559273e-02 1.60299774e+01] [-4.97027851e-02 1.95221404e-01 9.79498972e-01 1.22743078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.399072329 meters Centerline goodness : 0.776202 Centerline is valid? [False, False] Translation: X:-176.89, Y:15.96, Z:122.79 [[ 5.03404652e-01 -8.41659896e-01 1.95428700e-01 -1.76892763e+02] [ 8.62453028e-01 5.03201042e-01 -5.44379062e-02 1.59620015e+01] [-5.25217229e-02 1.95952369e-01 9.79205871e-01 1.22790389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.42907232899995 meters Centerline goodness : 0.779686 Centerline is valid? [False, False] Translation: X:-177.10, Y:15.89, Z:122.84 [[ 5.01104995e-01 -8.42396027e-01 1.98148222e-01 -1.77103924e+02] [ 8.63598270e-01 5.01496482e-01 -5.19548580e-02 1.58948922e+01] [-5.56040703e-02 1.97155301e-01 9.78794143e-01 1.22838239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.459072329 meters Centerline goodness : 0.780166 Centerline is valid? [False, False] Translation: X:-177.32, Y:15.83, Z:122.88 [[ 5.00151443e-01 -8.42967431e-01 1.98127343e-01 -1.77317615e+02] [ 8.64082815e-01 5.00809687e-01 -5.05029346e-02 1.58264627e+01] [-5.66517635e-02 1.96457548e-01 9.78874358e-01 1.22884645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.48907232899995 meters Centerline goodness : 0.781919 Centerline is valid? [False, False] Translation: X:-177.52, Y:15.76, Z:122.93 [[ 5.00493535e-01 -8.43488747e-01 1.95020396e-01 -1.77520782e+02] [ 8.63813422e-01 5.01565291e-01 -4.75250531e-02 1.57617406e+01] [-5.77286143e-02 1.92247218e-01 9.79647087e-01 1.22927932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.519072329 meters Centerline goodness : 0.776584 Centerline is valid? [False, False] Translation: X:-177.73, Y:15.70, Z:122.97 [[ 5.03338884e-01 -8.42495431e-01 1.91967229e-01 -1.77733334e+02] [ 8.62356550e-01 5.03837812e-01 -4.98862672e-02 1.56967738e+01] [-5.46913966e-02 1.90653896e-01 9.80132615e-01 1.22971375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.54907232899996 meters Centerline goodness : 0.776776 Centerline is valid? [False, False] Translation: X:-177.94, Y:15.63, Z:123.02 [[ 5.03413543e-01 -8.42896496e-01 1.90000794e-01 -1.77942512e+02] [ 8.62261523e-01 5.04201259e-01 -4.78137653e-02 1.56307717e+01] [-5.54965842e-02 1.87900471e-01 9.80618959e-01 1.23016447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.579072329 meters Centerline goodness : 0.777435 Centerline is valid? [False, False] Translation: X:-178.16, Y:15.56, Z:123.06 [[ 5.04189669e-01 -8.41979842e-01 1.91996677e-01 -1.78159936e+02] [ 8.61870873e-01 5.04624224e-01 -5.03288197e-02 1.55634921e+01] [-5.45103226e-02 1.90851615e-01 9.80104222e-01 1.23061653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.60907232899996 meters Centerline goodness : 0.777651 Centerline is valid? [False, False] Translation: X:-178.36, Y:15.50, Z:123.11 [[ 5.06162171e-01 -8.40886791e-01 1.91596613e-01 -1.78364979e+02] [ 8.60674133e-01 5.06706499e-01 -4.98854637e-02 1.54988230e+01] [-5.51352216e-02 1.90152383e-01 9.80205172e-01 1.23105700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.639072329 meters Centerline goodness : 0.776131 Centerline is valid? [False, False] Translation: X:-178.59, Y:15.43, Z:123.15 [[ 5.11166452e-01 -8.37637155e-01 1.92543122e-01 -1.78585674e+02] [ 8.57693271e-01 5.11582511e-01 -5.14352691e-02 1.54330750e+01] [-5.54176012e-02 1.91434924e-01 9.79939569e-01 1.23150637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.66907232899996 meters Centerline goodness : 0.775943 Centerline is valid? [False, False] Translation: X:-178.79, Y:15.37, Z:123.20 [[ 5.15155936e-01 -8.35746848e-01 1.90109356e-01 -1.78793088e+02] [ 8.55130539e-01 5.16186045e-01 -4.79971808e-02 1.53703714e+01] [-5.80183040e-02 1.87294349e-01 9.80588957e-01 1.23196058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.699072329 meters Centerline goodness : 0.781624 Centerline is valid? [False, False] Translation: X:-179.00, Y:15.31, Z:123.24 [[ 5.22661088e-01 -8.31082477e-01 1.90071839e-01 -1.79003026e+02] [ 8.50109380e-01 5.24878103e-01 -4.26265088e-02 1.53107464e+01] [-6.43384017e-02 1.83861070e-01 9.80844369e-01 1.23244203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.72907232899996 meters Centerline goodness : 0.782520 Centerline is valid? [False, False] Translation: X:-179.21, Y:15.25, Z:123.29 [[ 5.24841492e-01 -8.30034349e-01 1.88638244e-01 -1.79211370e+02] [ 8.48468993e-01 5.27887106e-01 -3.78889327e-02 1.52469796e+01] [-6.81305812e-02 1.79939385e-01 9.81315465e-01 1.23291086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.759072329 meters Centerline goodness : 0.783645 Centerline is valid? [False, False] Translation: X:-179.42, Y:15.19, Z:123.34 [[ 5.30746322e-01 -8.26496079e-01 1.87650137e-01 -1.79415938e+02] [ 8.44540258e-01 5.34330687e-01 -3.52486755e-02 1.51864275e+01] [-7.11343342e-02 1.77186200e-01 9.81603259e-01 1.23336791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.78907232899996 meters Centerline goodness : 0.782923 Centerline is valid? [False, False] Translation: X:-179.61, Y:15.13, Z:123.38 [[ 5.32257939e-01 -8.25938165e-01 1.85816128e-01 -1.79610545e+02] [ 8.43528658e-01 5.36031189e-01 -3.36149961e-02 1.51264236e+01] [-7.18393317e-02 1.74633077e-01 9.82009368e-01 1.23378796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.819072329 meters Centerline goodness : 0.781132 Centerline is valid? [False, False] Translation: X:-179.82, Y:15.06, Z:123.42 [[ 5.35319407e-01 -8.23889578e-01 1.86115815e-01 -1.79822786e+02] [ 8.41585106e-01 5.39020815e-01 -3.45118862e-02 1.50616485e+01] [-7.18863148e-02 1.75107180e-01 9.81921501e-01 1.23422659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.84907232899997 meters Centerline goodness : 0.781144 Centerline is valid? [False, False] Translation: X:-180.02, Y:15.00, Z:123.47 [[ 5.37493334e-01 -8.22618297e-01 1.85472515e-01 -1.80022289e+02] [ 8.40089397e-01 5.41433897e-01 -3.31532725e-02 1.49991613e+01] [-7.31486181e-02 1.73633156e-01 9.82090020e-01 1.23465712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.879072329 meters Centerline goodness : 0.781369 Centerline is valid? [False, False] Translation: X:-180.22, Y:14.94, Z:123.51 [[ 5.45007851e-01 -8.17178943e-01 1.87576696e-01 -1.80218814e+02] [ 8.34975219e-01 5.49295463e-01 -3.30284282e-02 1.49420207e+01] [-7.60448919e-02 1.74622645e-01 9.81694508e-01 1.23507088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90907232899997 meters Centerline goodness : 0.781487 Centerline is valid? [False, False] Translation: X:-180.41, Y:14.88, Z:123.55 [[ 5.48289752e-01 -8.15216218e-01 1.86549902e-01 -1.80412720e+02] [ 8.32672046e-01 5.52885644e-01 -3.12206307e-02 1.48830177e+01] [-7.76891981e-02 1.72452840e-01 9.81949289e-01 1.23548841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.939072329 meters Centerline goodness : 0.782829 Centerline is valid? [False, False] Translation: X:-180.61, Y:14.83, Z:123.59 [[ 5.52827628e-01 -8.12208091e-01 1.86278367e-01 -1.80605365e+02] [ 8.29507351e-01 5.57679507e-01 -3.01847901e-02 1.48265959e+01] [-7.93672972e-02 1.71206261e-01 9.82033222e-01 1.23590884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96907232899997 meters Centerline goodness : 0.782823 Centerline is valid? [False, False] Translation: X:-180.79, Y:14.77, Z:123.63 [[ 5.56181051e-01 -8.10358327e-01 1.84342128e-01 -1.80789812e+02] [ 8.27239179e-01 5.61080526e-01 -2.93936049e-02 1.47705256e+01] [-7.96114258e-02 1.68843197e-01 9.82422514e-01 1.23629143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99907232899994 meters Centerline goodness : 0.783011 Centerline is valid? [False, False] Translation: X:-180.98, Y:14.71, Z:123.67 [[ 5.60336933e-01 -8.08207748e-01 1.81170521e-01 -1.80976325e+02] [ 8.24341030e-01 5.65443671e-01 -2.71168201e-02 1.47132090e+01] [-8.05257001e-02 1.64540849e-01 9.83077779e-01 1.23667490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.029072329 meters Centerline goodness : 0.781962 Centerline is valid? [False, False] Translation: X:-181.16, Y:14.66, Z:123.71 [[ 5.62892149e-01 -8.06931576e-01 1.78924176e-01 -1.81164678e+02] [ 8.22566126e-01 5.68085527e-01 -2.57643488e-02 1.46570989e+01] [-8.08541683e-02 1.61679516e-01 9.83525464e-01 1.23706242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05907232899995 meters Centerline goodness : 0.782685 Centerline is valid? [False, False] Translation: X:-181.35, Y:14.60, Z:123.74 [[ 5.64641297e-01 -8.06003258e-01 1.77592101e-01 -1.81347562e+02] [ 8.21380068e-01 5.69815060e-01 -2.54082946e-02 1.46008131e+01] [-8.07154857e-02 1.60217185e-01 9.83776125e-01 1.23743884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.089072329 meters Centerline goodness : 0.782623 Centerline is valid? [False, False] Translation: X:-181.53, Y:14.54, Z:123.78 [[ 5.65043891e-01 -8.05654805e-01 1.77892484e-01 -1.81532811e+02] [ 8.21074590e-01 5.70256896e-01 -2.53691022e-02 1.45423752e+01] [-8.10056767e-02 1.60397655e-01 9.83722864e-01 1.23781298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11907232899995 meters Centerline goodness : 0.781529 Centerline is valid? [False, False] Translation: X:-181.71, Y:14.49, Z:123.82 [[ 5.66234935e-01 -8.04825066e-01 1.77861216e-01 -1.81714881e+02] [ 8.20257854e-01 5.71417079e-01 -2.56821830e-02 1.44853401e+01] [-8.09632719e-02 1.60434208e-01 9.83720394e-01 1.23817554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.149072329 meters Centerline goodness : 0.781853 Centerline is valid? [False, False] Translation: X:-181.91, Y:14.42, Z:123.85 [[ 5.63335141e-01 -8.07180255e-01 1.76390347e-01 -1.81905785e+02] [ 8.22215368e-01 5.68690770e-01 -2.35095027e-02 1.44236030e+01] [-8.13351561e-02 1.58274583e-01 9.84039506e-01 1.23854802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17907232899995 meters Centerline goodness : 0.780586 Centerline is valid? [False, False] Translation: X:-182.09, Y:14.36, Z:123.89 [[ 5.61351048e-01 -8.08694740e-01 1.75777755e-01 -1.82094305e+02] [ 8.23538737e-01 5.66824569e-01 -2.22228691e-02 1.43634224e+01] [-8.16636328e-02 1.57234621e-01 9.84179011e-01 1.23892019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.209072329 meters Centerline goodness : 0.782146 Centerline is valid? [False, False] Translation: X:-182.28, Y:14.30, Z:123.93 [[ 5.56807552e-01 -8.11884767e-01 1.75523431e-01 -1.82281317e+02] [ 8.26677705e-01 5.62256186e-01 -2.17244846e-02 1.43016549e+01] [-8.10513567e-02 1.57197664e-01 9.84235527e-01 1.23928240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.23907232899995 meters Centerline goodness : 0.778382 Centerline is valid? [False, False] Translation: X:-182.47, Y:14.24, Z:123.96 [[ 5.52826741e-01 -8.14452180e-01 1.76210786e-01 -1.82468420e+02] [ 8.29331594e-01 5.58357549e-01 -2.11176603e-02 1.42419008e+01] [-8.11892979e-02 1.57811579e-01 9.84125908e-01 1.23964222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.269072329 meters Centerline goodness : 0.779248 Centerline is valid? [False, False] Translation: X:-182.66, Y:14.18, Z:124.00 [[ 5.51871553e-01 -8.15116504e-01 1.76133115e-01 -1.82659734e+02] [ 8.29944230e-01 5.57467245e-01 -2.05631937e-02 1.41806896e+01] [-8.14270440e-02 1.57528904e-01 9.84151554e-01 1.24002603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.29907232899996 meters Centerline goodness : 0.781700 Centerline is valid? [False, False] Translation: X:-182.85, Y:14.12, Z:124.04 [[ 5.48631222e-01 -8.17036701e-01 1.77355042e-01 -1.82850590e+02] [ 8.31920415e-01 5.54582265e-01 -1.86261947e-02 1.41199060e+01] [-8.31396763e-02 1.57764192e-01 9.83970657e-01 1.24041052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.329072329 meters Centerline goodness : 0.781604 Centerline is valid? [False, False] Translation: X:-183.04, Y:14.06, Z:124.08 [[ 5.50376482e-01 -8.16090003e-01 1.76303248e-01 -1.83042434e+02] [ 8.30632005e-01 5.56570521e-01 -1.67250607e-02 1.40597216e+01] [-8.44760358e-02 1.55648200e-01 9.84193801e-01 1.24079273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.35907232899996 meters Centerline goodness : 0.781290 Centerline is valid? [False, False] Translation: X:-183.23, Y:14.00, Z:124.12 [[ 5.50149712e-01 -8.16268059e-01 1.76186689e-01 -1.83232516e+02] [ 8.30713035e-01 5.56476846e-01 -1.57915583e-02 1.40010577e+01] [-8.51536686e-02 1.55048301e-01 9.84230094e-01 1.24117288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.389072329 meters Centerline goodness : 0.779651 Centerline is valid? [False, False] Translation: X:-183.42, Y:13.94, Z:124.16 [[ 5.48900207e-01 -8.17468505e-01 1.74510189e-01 -1.83422813e+02] [ 8.31631525e-01 5.55113014e-01 -1.54450063e-02 1.39410218e+01] [-8.42470706e-02 1.53605942e-01 9.84534228e-01 1.24155457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.41907232899996 meters Centerline goodness : 0.780392 Centerline is valid? [False, False] Translation: X:-183.62, Y:13.88, Z:124.19 [[ 5.48960886e-01 -8.17074709e-01 1.76155798e-01 -1.83621144e+02] [ 8.31775544e-01 5.54795336e-01 -1.87504584e-02 1.38802263e+01] [-8.24098901e-02 1.56815353e-01 9.84183700e-01 1.24194741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.449072329 meters Centerline goodness : 0.779914 Centerline is valid? [False, False] Translation: X:-183.81, Y:13.82, Z:124.23 [[ 5.46643524e-01 -8.18382957e-01 1.77285625e-01 -1.83813384e+02] [ 8.33355759e-01 5.52387532e-01 -1.96518302e-02 1.38208578e+01] [-8.18476458e-02 1.58484542e-01 9.83963217e-01 1.24233627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.47907232899996 meters Centerline goodness : 0.778820 Centerline is valid? [False, False] Translation: X:-184.01, Y:13.76, Z:124.27 [[ 5.39721403e-01 -8.22434759e-01 1.79727223e-01 -1.84007815e+02] [ 8.37967588e-01 5.45313688e-01 -2.10547450e-02 1.37578270e+01] [-8.06915610e-02 1.61969285e-01 9.83491140e-01 1.24272417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.509072329 meters Centerline goodness : 0.777938 Centerline is valid? [False, False] Translation: X:-184.20, Y:13.70, Z:124.31 [[ 5.39284566e-01 -8.22525821e-01 1.80619573e-01 -1.84204477e+02] [ 8.38419960e-01 5.44511199e-01 -2.36542670e-02 1.36979384e+01] [-7.88931349e-02 1.64191437e-01 9.83268552e-01 1.24311813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.53907232899996 meters Centerline goodness : 0.776489 Centerline is valid? [False, False] Translation: X:-184.41, Y:13.63, Z:124.35 [[ 5.37679564e-01 -8.23433589e-01 1.81267236e-01 -1.84408706e+02] [ 8.39697960e-01 5.42389666e-01 -2.68474568e-02 1.36342780e+01] [-7.62103780e-02 1.66645057e-01 9.83067344e-01 1.24351211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.569072329 meters Centerline goodness : 0.774723 Centerline is valid? [False, False] Translation: X:-184.60, Y:13.58, Z:124.39 [[ 5.37180311e-01 -8.23830084e-01 1.80945587e-01 -1.84600304e+02] [ 8.40072156e-01 5.41791010e-01 -2.72263532e-02 1.35752146e+01] [-7.56048035e-02 1.66632810e-01 9.83116178e-01 1.24389618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59907232899997 meters Centerline goodness : 0.776724 Centerline is valid? [False, False] Translation: X:-184.81, Y:13.51, Z:124.43 [[ 5.36656736e-01 -8.23719536e-01 1.82990912e-01 -1.84809300e+02] [ 8.40459411e-01 5.41090766e-01 -2.91335192e-02 1.35118701e+01] [-7.50168441e-02 1.69431134e-01 9.82682840e-01 1.24431247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.629072329 meters Centerline goodness : 0.777769 Centerline is valid? [False, False] Translation: X:-185.01, Y:13.45, Z:124.47 [[ 5.31290104e-01 -8.26792943e-01 1.84781643e-01 -1.85013404e+02] [ 8.43806662e-01 5.35901327e-01 -2.82857836e-02 1.34466418e+01] [-7.56382416e-02 1.70947938e-01 9.82372464e-01 1.24474273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65907232899997 meters Centerline goodness : 0.776448 Centerline is valid? [False, False] Translation: X:-185.23, Y:13.38, Z:124.52 [[ 5.30169943e-01 -8.26929934e-01 1.87367859e-01 -1.85230240e+02] [ 8.44572142e-01 5.34573158e-01 -3.04866507e-02 1.33799973e+01] [-7.49515040e-02 1.74408780e-01 9.81816607e-01 1.24518049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.689072329 meters Centerline goodness : 0.776407 Centerline is valid? [False, False] Translation: X:-185.44, Y:13.32, Z:124.56 [[ 5.27980281e-01 -8.27835845e-01 1.89537956e-01 -1.85441014e+02] [ 8.46101422e-01 5.31971363e-01 -3.34492579e-02 1.33155716e+01] [-7.31382704e-02 1.78028883e-01 9.81303475e-01 1.24560395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71907232899997 meters Centerline goodness : 0.776407 Centerline is valid? [False, False] Translation: X:-185.66, Y:13.25, Z:124.60 [[ 5.28998244e-01 -8.26659959e-01 1.91818065e-01 -1.85655140e+02] [ 8.45529705e-01 5.32710629e-01 -3.60403113e-02 1.32526000e+01] [-7.23904397e-02 1.81253133e-01 9.80768538e-01 1.24604151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74907232899994 meters Centerline goodness : 0.776391 Centerline is valid? [False, False] Translation: X:-185.87, Y:13.19, Z:124.65 [[ 5.25654694e-01 -8.28706573e-01 1.92178454e-01 -1.85867390e+02] [ 8.47816342e-01 5.28909924e-01 -3.82327394e-02 1.31884319e+01] [-6.99613692e-02 1.83029253e-01 9.80614960e-01 1.24648150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.779072329 meters Centerline goodness : 0.776458 Centerline is valid? [False, False] Translation: X:-186.07, Y:13.12, Z:124.69 [[ 5.20616585e-01 -8.32076496e-01 1.91329760e-01 -1.86073252e+02] [ 8.51196480e-01 5.23289972e-01 -4.03999757e-02 1.31242603e+01] [-6.65050746e-02 1.83892116e-01 9.80694022e-01 1.24690503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.80907232899995 meters Centerline goodness : 0.775387 Centerline is valid? [False, False] Translation: X:-186.29, Y:13.06, Z:124.74 [[ 5.16864740e-01 -8.34263293e-01 1.91978121e-01 -1.86286282e+02] [ 8.53463130e-01 5.19646164e-01 -3.96049254e-02 1.30594428e+01] [-6.67197585e-02 1.84316637e-01 9.80599741e-01 1.24736288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.839072329 meters Centerline goodness : 0.774972 Centerline is valid? [False, False] Translation: X:-186.50, Y:12.99, Z:124.78 [[ 5.12771628e-01 -8.36887030e-01 1.91534217e-01 -1.86495693e+02] [ 8.55873223e-01 5.15825339e-01 -3.74866130e-02 1.29949808e+01] [-6.74261420e-02 1.83151079e-01 9.80769799e-01 1.24780787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.86907232899995 meters Centerline goodness : 0.775191 Centerline is valid? [False, False] Translation: X:-186.72, Y:12.93, Z:124.83 [[ 5.14043530e-01 -8.35704710e-01 1.93279297e-01 -1.86716372e+02] [ 8.55191080e-01 5.16761304e-01 -4.00745725e-02 1.29283843e+01] [-6.63887526e-02 1.85890806e-01 9.80325019e-01 1.24826200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.899072329 meters Centerline goodness : 0.773936 Centerline is valid? [False, False] Translation: X:-186.94, Y:12.86, Z:124.87 [[ 5.14157605e-01 -8.35045932e-01 1.95806661e-01 -1.86935165e+02] [ 8.55262904e-01 5.16342620e-01 -4.37682886e-02 1.28646211e+01] [-6.45547931e-02 1.89969972e-01 9.79665294e-01 1.24871759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.92907232899995 meters Centerline goodness : 0.772070 Centerline is valid? [False, False] Translation: X:-187.15, Y:12.80, Z:124.92 [[ 5.14514768e-01 -8.34623662e-01 1.96666970e-01 -1.87147964e+02] [ 8.55295287e-01 5.15889953e-01 -4.82444697e-02 1.28011515e+01] [-6.11925377e-02 1.93030824e-01 9.79282684e-01 1.24915816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.959072329 meters Centerline goodness : 0.770478 Centerline is valid? [False, False] Translation: X:-187.37, Y:12.74, Z:124.96 [[ 5.14807461e-01 -8.34237730e-01 1.97536549e-01 -1.87365028e+02] [ 8.55225625e-01 5.15781261e-01 -5.05847838e-02 1.27389476e+01] [-5.96859153e-02 1.94979743e-01 9.78989526e-01 1.24960940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.98907232899995 meters Centerline goodness : 0.771065 Centerline is valid? [False, False] Translation: X:-187.57, Y:12.68, Z:125.01 [[ 5.15565152e-01 -8.34082714e-01 1.96210604e-01 -1.87572772e+02] [ 8.54834214e-01 5.16384565e-01 -5.10435807e-02 1.26778237e+01] [-5.87455592e-02 1.94043829e-01 9.79232328e-01 1.25005896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.019072329 meters Centerline goodness : 0.767404 Centerline is valid? [False, False] Translation: X:-187.78, Y:12.62, Z:125.05 [[ 5.18258469e-01 -8.32644981e-01 1.95219095e-01 -1.87777178e+02] [ 8.53176839e-01 5.19152666e-01 -5.06930981e-02 1.26189111e+01] [-5.91391598e-02 1.92828538e-01 9.79448679e-01 1.25051046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.04907232899996 meters Centerline goodness : 0.769678 Centerline is valid? [False, False] Translation: X:-187.99, Y:12.56, Z:125.10 [[ 5.19817245e-01 -8.31758600e-01 1.94852925e-01 -1.87988965e+02] [ 8.52095992e-01 5.21112450e-01 -4.87261304e-02 1.25578167e+01] [-6.10119069e-02 1.91362079e-01 9.79621407e-01 1.25098578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.079072329 meters Centerline goodness : 0.768979 Centerline is valid? [False, False] Translation: X:-188.20, Y:12.50, Z:125.15 [[ 5.20895522e-01 -8.31274222e-01 1.94038716e-01 -1.88201068e+02] [ 8.51305815e-01 5.22612283e-01 -4.64199540e-02 1.24967536e+01] [-6.28193049e-02 1.89366233e-01 9.79894976e-01 1.25145735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.10907232899996 meters Centerline goodness : 0.769476 Centerline is valid? [False, False] Translation: X:-188.40, Y:12.44, Z:125.19 [[ 5.24836461e-01 -8.29328644e-01 1.91730771e-01 -1.88404836e+02] [ 8.48682836e-01 5.27155432e-01 -4.29487484e-02 1.24400952e+01] [-6.54532901e-02 1.85259684e-01 9.80507377e-01 1.25190288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.139072329 meters Centerline goodness : 0.770448 Centerline is valid? [False, False] Translation: X:-188.61, Y:12.38, Z:125.24 [[ 5.26677053e-01 -8.28521321e-01 1.90167562e-01 -1.88610194e+02] [ 8.47462263e-01 5.29251085e-01 -4.12432043e-02 1.23816153e+01] [-6.64755142e-02 1.82881682e-01 9.80884956e-01 1.25235393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.16907232899996 meters Centerline goodness : 0.770653 Centerline is valid? [False, False] Translation: X:-188.82, Y:12.32, Z:125.28 [[ 5.27588908e-01 -8.27978755e-01 1.90002961e-01 -1.88820062e+02] [ 8.46835621e-01 5.30310355e-01 -4.05013341e-02 1.23214918e+01] [-6.72262936e-02 1.82269330e-01 9.80947764e-01 1.25281373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.199072329 meters Centerline goodness : 0.769940 Centerline is valid? [False, False] Translation: X:-189.03, Y:12.26, Z:125.33 [[ 5.28955052e-01 -8.26866243e-01 1.91046513e-01 -1.89031147e+02] [ 8.46035217e-01 5.31447292e-01 -4.22869608e-02 1.22608775e+01] [-6.65654916e-02 1.83999980e-01 9.80669691e-01 1.25326463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.22907232899996 meters Centerline goodness : 0.769575 Centerline is valid? [False, False] Translation: X:-189.23, Y:12.20, Z:125.37 [[ 5.30978224e-01 -8.25776266e-01 1.90146482e-01 -1.89233659e+02] [ 8.44704109e-01 5.33637149e-01 -4.13081282e-02 1.22018258e+01] [-6.73579550e-02 1.82551231e-01 9.80886310e-01 1.25369909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.259072329 meters Centerline goodness : 0.768530 Centerline is valid? [False, False] Translation: X:-189.44, Y:12.14, Z:125.41 [[ 5.32502171e-01 -8.25023009e-01 1.89151982e-01 -1.89435726e+02] [ 8.43695641e-01 5.35303225e-01 -4.03500065e-02 1.21435704e+01] [-6.79639819e-02 1.81073168e-01 9.81118446e-01 1.25412987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.28907232899996 meters Centerline goodness : 0.769503 Centerline is valid? [False, False] Translation: X:-189.64, Y:12.09, Z:125.46 [[ 5.35386128e-01 -8.23374262e-01 1.88192771e-01 -1.89637677e+02] [ 8.41787969e-01 5.38375349e-01 -3.93064813e-02 1.20867000e+01] [-6.89544038e-02 1.79462555e-01 9.81345241e-01 1.25456049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.319072329 meters Centerline goodness : 0.768371 Centerline is valid? [False, False] Translation: X:-189.84, Y:12.03, Z:125.50 [[ 5.36434231e-01 -8.22713116e-01 1.88099559e-01 -1.89838741e+02] [ 8.41022150e-01 5.39655663e-01 -3.81249086e-02 1.20283190e+01] [-7.01431301e-02 1.78647402e-01 9.81409724e-01 1.25498236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34907232899997 meters Centerline goodness : 0.767127 Centerline is valid? [False, False] Translation: X:-190.04, Y:11.97, Z:125.54 [[ 5.37616382e-01 -8.21831165e-01 1.88579325e-01 -1.90038514e+02] [ 8.40203928e-01 5.40947066e-01 -3.78633204e-02 1.19699687e+01] [-7.08941757e-02 1.78801031e-01 9.81327778e-01 1.25540960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.379072329 meters Centerline goodness : 0.767556 Centerline is valid? [False, False] Translation: X:-190.24, Y:11.91, Z:125.58 [[ 5.36068444e-01 -8.22512060e-01 1.90011930e-01 -1.90236950e+02] [ 8.41163211e-01 5.39444083e-01 -3.80070339e-02 1.19114916e+01] [-7.12395676e-02 1.80205417e-01 9.81045836e-01 1.25582963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40907232899997 meters Centerline goodness : 0.766811 Centerline is valid? [False, False] Translation: X:-190.44, Y:11.85, Z:125.63 [[ 5.35802071e-01 -8.22489440e-01 1.90859275e-01 -1.90444330e+02] [ 8.41467200e-01 5.38798359e-01 -4.03643329e-02 1.18508240e+01] [-6.96354267e-02 1.82229113e-01 9.80787162e-01 1.25626552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.439072329 meters Centerline goodness : 0.766527 Centerline is valid? [False, False] Translation: X:-190.64, Y:11.79, Z:125.67 [[ 5.34979483e-01 -8.23312264e-01 1.89615054e-01 -1.90639156e+02] [ 8.42062234e-01 5.37868481e-01 -4.03570402e-02 1.17936614e+01] [-6.87615149e-02 1.81257864e-01 9.81028766e-01 1.25667863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46907232899997 meters Centerline goodness : 0.767614 Centerline is valid? [False, False] Translation: X:-190.84, Y:11.73, Z:125.71 [[ 5.34844143e-01 -8.23482674e-01 1.89256515e-01 -1.90840744e+02] [ 8.42143081e-01 5.37767440e-01 -4.00151351e-02 1.17349289e+01] [-6.88242211e-02 1.80782925e-01 9.81112002e-01 1.25710683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49907232899994 meters Centerline goodness : 0.766652 Centerline is valid? [False, False] Translation: X:-191.04, Y:11.68, Z:125.75 [[ 5.33156333e-01 -8.24625841e-01 1.89041123e-01 -1.91041877e+02] [ 8.43222723e-01 5.36104681e-01 -3.95880070e-02 1.16752389e+01] [-6.87005375e-02 1.80510367e-01 9.81170853e-01 1.25753282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.529072329 meters Centerline goodness : 0.766689 Centerline is valid? [False, False] Translation: X:-191.24, Y:11.62, Z:125.79 [[ 5.32784032e-01 -8.24704626e-01 1.89745765e-01 -1.91241055e+02] [ 8.43482807e-01 5.35641855e-01 -4.03057989e-02 1.16174468e+01] [-6.83953950e-02 1.81521577e-01 9.81005600e-01 1.25794923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55907232899995 meters Centerline goodness : 0.766535 Centerline is valid? [False, False] Translation: X:-191.45, Y:11.56, Z:125.84 [[ 5.33742538e-01 -8.24014515e-01 1.90049946e-01 -1.91447275e+02] [ 8.42961826e-01 5.36332863e-01 -4.19811788e-02 1.15580503e+01] [-6.73369307e-02 1.82611990e-01 9.80876444e-01 1.25838323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.589072329 meters Centerline goodness : 0.766484 Centerline is valid? [False, False] Translation: X:-191.65, Y:11.50, Z:125.88 [[ 5.32360264e-01 -8.24743787e-01 1.90762247e-01 -1.91654711e+02] [ 8.43765698e-01 5.35137440e-01 -4.10775741e-02 1.14981380e+01] [-6.82055463e-02 1.82826708e-01 9.80776426e-01 1.25882303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61907232899995 meters Centerline goodness : 0.766017 Centerline is valid? [False, False] Translation: X:-191.85, Y:11.44, Z:125.92 [[ 5.27611221e-01 -8.27449800e-01 1.92232225e-01 -1.91853835e+02] [ 8.46769195e-01 5.30364708e-01 -4.11728936e-02 1.14393184e+01] [-6.78846854e-02 1.84499607e-01 9.80485372e-01 1.25924990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.649072329 meters Centerline goodness : 0.766151 Centerline is valid? [False, False] Translation: X:-192.06, Y:11.38, Z:125.97 [[ 5.26597334e-01 -8.28298126e-01 1.91356898e-01 -1.92061884e+02] [ 8.47321176e-01 5.29630648e-01 -3.92199082e-02 1.13785159e+01] [-6.88627011e-02 1.82793851e-01 9.80736630e-01 1.25969491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67907232899995 meters Centerline goodness : 0.766006 Centerline is valid? [False, False] Translation: X:-192.26, Y:11.32, Z:126.01 [[ 5.23048165e-01 -8.30734196e-01 1.90529036e-01 -1.92264113e+02] [ 8.49521417e-01 5.26193891e-01 -3.78596294e-02 1.13185633e+01] [-6.88039260e-02 1.81660906e-01 9.80951240e-01 1.26012407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.709072329 meters Centerline goodness : 0.765221 Centerline is valid? [False, False] Translation: X:-192.47, Y:11.26, Z:126.06 [[ 5.22219570e-01 -8.31292320e-01 1.90367536e-01 -1.92468266e+02] [ 8.49990566e-01 5.25498791e-01 -3.69737353e-02 1.12598983e+01] [-6.93019280e-02 1.81119018e-01 9.81016383e-01 1.26055533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.73907232899995 meters Centerline goodness : 0.765852 Centerline is valid? [False, False] Translation: X:-192.67, Y:11.20, Z:126.10 [[ 5.21046737e-01 -8.32002574e-01 1.90478384e-01 -1.92673805e+02] [ 8.50689239e-01 5.24403307e-01 -3.64553233e-02 1.12007408e+01] [-6.95565716e-02 1.81032838e-01 9.81014268e-01 1.26099637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.769072329 meters Centerline goodness : 0.764504 Centerline is valid? [False, False] Translation: X:-192.88, Y:11.14, Z:126.14 [[ 5.20607010e-01 -8.31656937e-01 1.93171116e-01 -1.92883777e+02] [ 8.50944477e-01 5.23890534e-01 -3.78444932e-02 1.11412464e+01] [-6.97268839e-02 1.84080003e-01 9.80434962e-01 1.26144019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.79907232899996 meters Centerline goodness : 0.765996 Centerline is valid? [False, False] Translation: X:-193.10, Y:11.08, Z:126.19 [[ 5.20523085e-01 -8.30941029e-01 1.96450309e-01 -1.93100507e+02] [ 8.50989171e-01 5.23673310e-01 -3.97956641e-02 1.10792265e+01] [-6.98079333e-02 1.87891647e-01 9.79705865e-01 1.26188093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.829072329 meters Centerline goodness : 0.765351 Centerline is valid? [False, False] Translation: X:-193.31, Y:11.02, Z:126.23 [[ 5.18851411e-01 -8.32070301e-01 1.96092394e-01 -1.93309004e+02] [ 8.52001059e-01 5.22083996e-01 -3.90191765e-02 1.10204131e+01] [-6.99100029e-02 1.87316082e-01 9.79808796e-01 1.26233652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.85907232899996 meters Centerline goodness : 0.765898 Centerline is valid? [False, False] Translation: X:-193.51, Y:10.96, Z:126.28 [[ 5.17406649e-01 -8.33124999e-01 1.95430539e-01 -1.93514158e+02] [ 8.52925353e-01 5.20582929e-01 -3.88813166e-02 1.09616299e+01] [-6.93448056e-02 1.86805113e-01 9.79946502e-01 1.26278322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.889072329 meters Centerline goodness : 0.764867 Centerline is valid? [False, False] Translation: X:-193.73, Y:10.90, Z:126.32 [[ 5.14416201e-01 -8.34345260e-01 1.98100881e-01 -1.93731314e+02] [ 8.54985848e-01 5.16829425e-01 -4.34343881e-02 1.08984437e+01] [-6.61450884e-02 1.91716802e-01 9.79218819e-01 1.26323475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.91907232899996 meters Centerline goodness : 0.765094 Centerline is valid? [False, False] Translation: X:-193.94, Y:10.84, Z:126.37 [[ 5.14449265e-01 -8.34039396e-01 1.99299372e-01 -1.93939901e+02] [ 8.55119146e-01 5.16343041e-01 -4.64877458e-02 1.08400314e+01] [-6.41342321e-02 1.94340295e-01 9.78835354e-01 1.26368408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.949072329 meters Centerline goodness : 0.765504 Centerline is valid? [False, False] Translation: X:-194.15, Y:10.78, Z:126.41 [[ 5.11288208e-01 -8.36055226e-01 1.98987506e-01 -1.94152571e+02] [ 8.57080747e-01 5.13079458e-01 -4.64979801e-02 1.07807398e+01] [-6.32215226e-02 1.94322230e-01 9.78898315e-01 1.26414618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.97907232899996 meters Centerline goodness : 0.765161 Centerline is valid? [False, False] Translation: X:-194.36, Y:10.72, Z:126.46 [[ 5.08456874e-01 -8.38372503e-01 1.96476853e-01 -1.94358720e+02] [ 8.58772820e-01 5.10432189e-01 -4.43646747e-02 1.07217187e+01] [-6.30939865e-02 1.91286505e-01 9.79504274e-01 1.26458410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.009072329 meters Centerline goodness : 0.764869 Centerline is valid? [False, False] Translation: X:-194.57, Y:10.66, Z:126.50 [[ 5.06355578e-01 -8.39855926e-01 1.95565981e-01 -1.94569400e+02] [ 8.60018386e-01 5.08418828e-01 -4.33436388e-02 1.06627784e+01] [-6.30270149e-02 1.90137632e-01 9.79732247e-01 1.26504136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.03907232899996 meters Centerline goodness : 0.766030 Centerline is valid? [False, False] Translation: X:-194.79, Y:10.60, Z:126.55 [[ 5.04216541e-01 -8.41069884e-01 1.95875292e-01 -1.94785165e+02] [ 8.61437490e-01 5.05815596e-01 -4.55635158e-02 1.06020258e+01] [-6.07546765e-02 1.91708198e-01 9.79569720e-01 1.26550781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.069072329 meters Centerline goodness : 0.766822 Centerline is valid? [False, False] Translation: X:-195.01, Y:10.54, Z:126.60 [[ 5.03861042e-01 -8.40933328e-01 1.97370688e-01 -1.95010189e+02] [ 8.61827807e-01 5.04792076e-01 -4.93739840e-02 1.05391479e+01] [-5.81109305e-02 1.94977174e-01 9.79084788e-01 1.26598731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09907232899997 meters Centerline goodness : 0.767079 Centerline is valid? [False, False] Translation: X:-195.22, Y:10.48, Z:126.65 [[ 5.01181046e-01 -8.42536279e-01 1.97357993e-01 -1.95224213e+02] [ 8.63393171e-01 5.02172769e-01 -4.87313235e-02 1.04791346e+01] [-5.80499018e-02 1.94820759e-01 9.79119544e-01 1.26645783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.129072329 meters Centerline goodness : 0.766629 Centerline is valid? [False, False] Translation: X:-195.44, Y:10.42, Z:126.69 [[ 4.99480504e-01 -8.43111153e-01 1.99205447e-01 -1.95442972e+02] [ 8.64621675e-01 4.99553387e-01 -5.36262325e-02 1.04170025e+01] [-5.43008811e-02 1.99022605e-01 9.78489355e-01 1.26692094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15907232899997 meters Centerline goodness : 0.766420 Centerline is valid? [False, False] Translation: X:-195.67, Y:10.36, Z:126.74 [[ 4.99363285e-01 -8.42822354e-01 2.00715692e-01 -1.95667247e+02] [ 8.64817802e-01 4.98857169e-01 -5.68479956e-02 1.03560168e+01] [-5.22157005e-02 2.01970306e-01 9.77998730e-01 1.26740261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.189072329 meters Centerline goodness : 0.766374 Centerline is valid? [False, False] Translation: X:-195.89, Y:10.30, Z:126.79 [[ 4.99029851e-01 -8.43179390e-01 2.00044305e-01 -1.95885621e+02] [ 8.65007289e-01 4.98590120e-01 -5.63052552e-02 1.02966398e+01] [-5.22646832e-02 2.01137785e-01 9.78167672e-01 1.26789430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21907232899997 meters Centerline goodness : 0.768133 Centerline is valid? [False, False] Translation: X:-196.10, Y:10.24, Z:126.84 [[ 4.97560663e-01 -8.44261875e-01 1.99136318e-01 -1.96102239e+02] [ 8.65775399e-01 4.97517769e-01 -5.39354026e-02 1.02371337e+01] [-5.35382525e-02 1.99243460e-01 9.78486433e-01 1.26838317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24907232899994 meters Centerline goodness : 0.772757 Centerline is valid? [False, False] Translation: X:-196.32, Y:10.18, Z:126.89 [[ 4.92441546e-01 -8.46650519e-01 2.01703302e-01 -1.96320061e+02] [ 8.68644816e-01 4.92579653e-01 -5.31175070e-02 1.01774832e+01] [-5.43829780e-02 2.01365795e-01 9.78005270e-01 1.26888142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.279072329 meters Centerline goodness : 0.773851 Centerline is valid? [False, False] Translation: X:-196.55, Y:10.11, Z:126.94 [[ 4.89865208e-01 -8.47733067e-01 2.03422528e-01 -1.96553783e+02] [ 8.70158461e-01 4.89751493e-01 -5.44768582e-02 1.01127533e+01] [-5.34446526e-02 2.03696151e-01 9.77574318e-01 1.26938803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.30907232899995 meters Centerline goodness : 0.772643 Centerline is valid? [False, False] Translation: X:-196.78, Y:10.05, Z:126.99 [[ 4.90515460e-01 -8.47632288e-01 2.02272312e-01 -1.96775169e+02] [ 8.69992401e-01 4.89669015e-01 -5.77709126e-02 1.00508742e+01] [-5.00779930e-02 2.04312900e-01 9.77623871e-01 1.26986737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.339072329 meters Centerline goodness : 0.771528 Centerline is valid? [False, False] Translation: X:-197.00, Y:9.99, Z:127.04 [[ 4.90707089e-01 -8.47626051e-01 2.01833174e-01 -1.97004553e+02] [ 8.69991485e-01 4.89439026e-01 -5.97013835e-02 9.98900590e+00] [-4.81805840e-02 2.04889035e-01 9.77598647e-01 1.27037044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.36907232899995 meters Centerline goodness : 0.771328 Centerline is valid? [False, False] Translation: X:-197.22, Y:9.93, Z:127.09 [[ 4.90920763e-01 -8.47799640e-01 2.00580598e-01 -1.97222377e+02] [ 8.69829536e-01 4.89907235e-01 -5.82020504e-02 9.92987410e+00] [-4.89222086e-02 2.03043523e-01 9.77946801e-01 1.27085518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.399072329 meters Centerline goodness : 0.774658 Centerline is valid? [False, False] Translation: X:-197.45, Y:9.87, Z:127.13 [[ 4.94246672e-01 -8.46105445e-01 1.99564030e-01 -1.97452161e+02] [ 8.67891619e-01 4.93418094e-01 -5.74693172e-02 9.86838393e+00] [-4.98434012e-02 2.01603968e-01 9.78198076e-01 1.27134993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.42907232899995 meters Centerline goodness : 0.773013 Centerline is valid? [False, False] Translation: X:-197.68, Y:9.81, Z:127.18 [[ 4.93377541e-01 -8.47112722e-01 1.97430084e-01 -1.97675968e+02] [ 8.68313887e-01 4.93001273e-01 -5.45961361e-02 9.80875831e+00] [-5.10842012e-02 1.98367791e-01 9.78795496e-01 1.27184479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.459072329 meters Centerline goodness : 0.773250 Centerline is valid? [False, False] Translation: X:-197.89, Y:9.75, Z:127.23 [[ 4.95008540e-01 -8.46677730e-01 1.95200837e-01 -1.97892392e+02] [ 8.67356876e-01 4.94836693e-01 -5.31854938e-02 9.75062953e+00] [-5.15615636e-02 1.95636062e-01 9.79320140e-01 1.27231961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.48907232899995 meters Centerline goodness : 0.776119 Centerline is valid? [False, False] Translation: X:-198.12, Y:9.69, Z:127.28 [[ 4.98950665e-01 -8.43808227e-01 1.97575072e-01 -1.98122976e+02] [ 8.65042223e-01 4.98716580e-01 -5.46234845e-02 9.69005348e+00] [-5.24422186e-02 1.98165203e-01 9.78764714e-01 1.27282049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.519072329 meters Centerline goodness : 0.775440 Centerline is valid? [False, False] Translation: X:-198.35, Y:9.63, Z:127.33 [[ 5.01400645e-01 -8.42151174e-01 1.98440905e-01 -1.98348329e+02] [ 8.63632511e-01 5.01008428e-01 -5.59414020e-02 9.63032297e+00] [-5.23094485e-02 1.99429072e-01 9.78515083e-01 1.27330921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.54907232899996 meters Centerline goodness : 0.774996 Centerline is valid? [False, False] Translation: X:-198.57, Y:9.57, Z:127.38 [[ 5.03761720e-01 -8.40803424e-01 1.98176011e-01 -1.98573285e+02] [ 8.62283433e-01 5.03218591e-01 -5.69063383e-02 9.57124330e+00] [-5.18788087e-02 1.99551126e-01 9.78513126e-01 1.27379956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.579072329 meters Centerline goodness : 0.774119 Centerline is valid? [False, False] Translation: X:-198.79, Y:9.51, Z:127.43 [[ 5.02490955e-01 -8.41912621e-01 1.96687514e-01 -1.98791127e+02] [ 8.63056275e-01 5.01962828e-01 -5.62777542e-02 9.51203845e+00] [-5.13488693e-02 1.98031456e-01 9.78849752e-01 1.27427956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.60907232899996 meters Centerline goodness : 0.774119 Centerline is valid? [False, False] Translation: X:-199.02, Y:9.45, Z:127.48 [[ 5.02855342e-01 -8.41769472e-01 1.96368688e-01 -1.99019264e+02] [ 8.62847524e-01 5.02324504e-01 -5.62516064e-02 9.45097302e+00] [-5.12899189e-02 1.97722657e-01 9.78915264e-01 1.27476551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.639072329 meters Centerline goodness : 0.774553 Centerline is valid? [False, False] Translation: X:-199.24, Y:9.39, Z:127.53 [[ 5.01522920e-01 -8.42754867e-01 1.95547934e-01 -1.99243017e+02] [ 8.63654801e-01 5.00960584e-01 -5.60256892e-02 9.39032994e+00] [-5.07458850e-02 1.96984079e-01 9.79092502e-01 1.27525309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.66907232899996 meters Centerline goodness : 0.773027 Centerline is valid? [False, False] Translation: X:-199.47, Y:9.33, Z:127.57 [[ 5.00305067e-01 -8.43572172e-01 1.95143105e-01 -1.99470036e+02] [ 8.64355772e-01 4.99823745e-01 -5.53653695e-02 9.33064609e+00] [-5.08324726e-02 1.96372644e-01 9.79210827e-01 1.27574557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.699072329 meters Centerline goodness : 0.776410 Centerline is valid? [False, False] Translation: X:-199.69, Y:9.27, Z:127.62 [[ 4.95982652e-01 -8.46064553e-01 1.95386747e-01 -1.99689800e+02] [ 8.66804007e-01 4.95757623e-01 -5.36208235e-02 9.27139196e+00] [-5.14977910e-02 1.95957013e-01 9.79259325e-01 1.27621994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.72907232899996 meters Centerline goodness : 0.775895 Centerline is valid? [False, False] Translation: X:-199.92, Y:9.21, Z:127.67 [[ 4.97237203e-01 -8.44897532e-01 1.97239255e-01 -1.99917604e+02] [ 8.66092579e-01 4.96828327e-01 -5.51838633e-02 9.20926592e+00] [-5.13693391e-02 1.98266925e-01 9.78801010e-01 1.27668685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.759072329 meters Centerline goodness : 0.776418 Centerline is valid? [False, False] Translation: X:-200.15, Y:9.15, Z:127.72 [[ 4.98427870e-01 -8.43921260e-01 1.98410092e-01 -2.00149701e+02] [ 8.65456695e-01 4.97715939e-01 -5.71275092e-02 9.14743518e+00] [-5.05407457e-02 2.00189285e-01 9.78452801e-01 1.27717355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.78907232899996 meters Centerline goodness : 0.773420 Centerline is valid? [False, False] Translation: X:-200.38, Y:9.09, Z:127.76 [[ 4.99442850e-01 -8.44079952e-01 1.95156025e-01 -2.00379002e+02] [ 8.65037611e-01 4.98250266e-01 -5.87929008e-02 9.08674194e+00] [-4.76106326e-02 1.98180996e-01 9.79008437e-01 1.27763189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.819072329 meters Centerline goodness : 0.773565 Centerline is valid? [False, False] Translation: X:-200.60, Y:9.03, Z:127.81 [[ 5.00833113e-01 -8.43532344e-01 1.93957155e-01 -2.00600793e+02] [ 8.64333484e-01 4.99260638e-01 -6.05511739e-02 9.02860849e+00] [-4.57582992e-02 1.97969696e-01 9.79139509e-01 1.27809543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84907232899997 meters Centerline goodness : 0.774539 Centerline is valid? [False, False] Translation: X:-200.83, Y:8.97, Z:127.86 [[ 4.98539509e-01 -8.44846166e-01 1.94147657e-01 -2.00826472e+02] [ 8.65655778e-01 4.97031532e-01 -5.99977504e-02 8.96752515e+00] [-4.58086381e-02 1.97976290e-01 9.79135822e-01 1.27857575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.879072329 meters Centerline goodness : 0.774179 Centerline is valid? [False, False] Translation: X:-201.05, Y:8.91, Z:127.91 [[ 4.99016629e-01 -8.44429230e-01 1.94734894e-01 -2.01051808e+02] [ 8.65437663e-01 4.97203009e-01 -6.16994220e-02 8.90828456e+00] [-4.47219799e-02 1.99319949e-01 9.78913429e-01 1.27905001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90907232899997 meters Centerline goodness : 0.774749 Centerline is valid? [False, False] Translation: X:-201.27, Y:8.85, Z:127.95 [[ 4.96623746e-01 -8.45761426e-01 1.95070410e-01 -2.01271967e+02] [ 8.66782169e-01 4.94992751e-01 -6.05875247e-02 8.84972934e+00] [-4.53158477e-02 1.99172757e-01 9.78916078e-01 1.27951131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.939072329 meters Centerline goodness : 0.775204 Centerline is valid? [False, False] Translation: X:-201.50, Y:8.79, Z:128.00 [[ 4.97734346e-01 -8.44843895e-01 1.96212420e-01 -2.01495289e+02] [ 8.66233742e-01 4.95586186e-01 -6.35093389e-02 8.79020420e+00] [-4.35846878e-02 2.01576598e-01 9.78502555e-01 1.27996923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96907232899997 meters Centerline goodness : 0.774491 Centerline is valid? [False, False] Translation: X:-201.72, Y:8.73, Z:128.04 [[ 4.98038903e-01 -8.44914343e-01 1.95133297e-01 -2.01724450e+02] [ 8.66042385e-01 4.96036931e-01 -6.25935288e-02 8.73070074e+00] [-4.39071513e-02 2.00167718e-01 9.78777322e-01 1.28044727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99907232899994 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:-201.96, Y:8.67, Z:128.09 [[ 4.97764743e-01 -8.45940012e-01 1.91352443e-01 -2.01955479e+02] [ 8.66301070e-01 4.95582752e-01 -6.26114335e-02 8.67246628e+00] [-4.18654533e-02 1.96934590e-01 9.79522359e-01 1.28092812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.029072329 meters Centerline goodness : 0.771454 Centerline is valid? [False, False] Translation: X:-202.17, Y:8.62, Z:128.14 [[ 4.99943149e-01 -8.45057624e-01 1.89563870e-01 -2.02174712e+02] [ 8.65019954e-01 4.97950038e-01 -6.15324192e-02 8.61669674e+00] [-4.23948965e-02 1.94739242e-01 9.79938417e-01 1.28139520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05907232899995 meters Centerline goodness : 0.771381 Centerline is valid? [False, False] Translation: X:-202.41, Y:8.56, Z:128.19 [[ 5.02963584e-01 -8.43086423e-01 1.90349457e-01 -2.02410142e+02] [ 8.63269126e-01 5.00817685e-01 -6.28336054e-02 8.55757323e+00] [-4.23562150e-02 1.95925825e-01 9.79703538e-01 1.28188042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.089072329 meters Centerline goodness : 0.771328 Centerline is valid? [False, False] Translation: X:-202.64, Y:8.50, Z:128.24 [[ 5.10767732e-01 -8.38239076e-01 1.90975326e-01 -2.02642009e+02] [ 8.58616875e-01 5.08611209e-01 -6.39663988e-02 8.50126555e+00] [-4.35130563e-02 1.96646610e-01 9.79508410e-01 1.28235569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11907232899995 meters Centerline goodness : 0.771854 Centerline is valid? [False, False] Translation: X:-202.86, Y:8.45, Z:128.28 [[ 5.13187093e-01 -8.37163359e-01 1.89199680e-01 -2.02859483e+02] [ 8.57078997e-01 5.11506296e-01 -6.14565020e-02 8.44739147e+00] [-4.53276959e-02 1.93697756e-01 9.80013561e-01 1.28282503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.149072329 meters Centerline goodness : 0.772181 Centerline is valid? [False, False] Translation: X:-203.08, Y:8.39, Z:128.33 [[ 5.16929756e-01 -8.35294414e-01 1.87261498e-01 -2.03078715e+02] [ 8.54686871e-01 5.15858932e-01 -5.83087905e-02 8.39203297e+00] [-4.78955095e-02 1.90191493e-01 9.80578001e-01 1.28329300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17907232899995 meters Centerline goodness : 0.773652 Centerline is valid? [False, False] Translation: X:-203.30, Y:8.34, Z:128.38 [[ 5.22936362e-01 -8.31801041e-01 1.86130572e-01 -2.03297785e+02] [ 8.50871050e-01 5.22369776e-01 -5.61094738e-02 8.34059433e+00] [-5.05570663e-02 1.87714799e-01 9.80921575e-01 1.28376301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.209072329 meters Centerline goodness : 0.775151 Centerline is valid? [False, False] Translation: X:-203.51, Y:8.29, Z:128.42 [[ 5.24825889e-01 -8.30667376e-01 1.85874950e-01 -2.03512166e+02] [ 8.49624472e-01 5.24526741e-01 -5.48630515e-02 8.28780076e+00] [-5.19234349e-02 1.86717456e-01 9.81040544e-01 1.28422042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.23907232899995 meters Centerline goodness : 0.773859 Centerline is valid? [False, False] Translation: X:-203.73, Y:8.23, Z:128.47 [[ 5.26923250e-01 -8.29385843e-01 1.85663707e-01 -2.03726784e+02] [ 8.48205616e-01 5.27003366e-01 -5.30536017e-02 8.23321714e+00] [-5.38434924e-02 1.85436175e-01 9.81180056e-01 1.28468169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.269072329 meters Centerline goodness : 0.777135 Centerline is valid? [False, False] Translation: X:-203.94, Y:8.18, Z:128.51 [[ 5.32776134e-01 -8.25124459e-01 1.87934081e-01 -2.03942040e+02] [ 8.44227109e-01 5.33596198e-01 -5.05537915e-02 8.18041696e+00] [-5.85677412e-02 1.85592899e-01 9.80879756e-01 1.28514500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.29907232899996 meters Centerline goodness : 0.779118 Centerline is valid? [False, False] Translation: X:-204.15, Y:8.13, Z:128.56 [[ 5.35178366e-01 -8.23589576e-01 1.87841227e-01 -2.04154326e+02] [ 8.42567207e-01 5.36373017e-01 -4.88312199e-02 8.12786632e+00] [-6.05360820e-02 1.84402271e-01 9.80984804e-01 1.28559649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.329072329 meters Centerline goodness : 0.778579 Centerline is valid? [False, False] Translation: X:-204.36, Y:8.08, Z:128.60 [[ 5.38347109e-01 -8.21832478e-01 1.86477260e-01 -2.04356655e+02] [ 8.40450928e-01 5.39824820e-01 -4.72377076e-02 8.07716078e+00] [-6.18435709e-02 1.82155269e-01 9.81323000e-01 1.28600983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.35907232899996 meters Centerline goodness : 0.777940 Centerline is valid? [False, False] Translation: X:-204.56, Y:8.03, Z:128.64 [[ 5.46003655e-01 -8.17624646e-01 1.82674429e-01 -2.04556725e+02] [ 8.35437371e-01 5.47678596e-01 -4.57444407e-02 8.03026174e+00] [-6.26450926e-02 1.77589676e-01 9.82108700e-01 1.28642062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.389072329 meters Centerline goodness : 0.777077 Centerline is valid? [False, False] Translation: X:-204.76, Y:7.98, Z:128.68 [[ 5.50384854e-01 -8.14998481e-01 1.81256694e-01 -2.04757687e+02] [ 8.32486968e-01 5.52229698e-01 -4.48085731e-02 7.98093523e+00] [-6.35764106e-02 1.75555796e-01 9.82414476e-01 1.28682837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.41907232899996 meters Centerline goodness : 0.778044 Centerline is valid? [False, False] Translation: X:-204.95, Y:7.93, Z:128.72 [[ 5.57479608e-01 -8.10352405e-01 1.80403621e-01 -2.04954976e+02] [ 8.27673232e-01 5.59417889e-01 -4.48179326e-02 7.93410664e+00] [-6.46026933e-02 1.74300331e-01 9.82571059e-01 1.28723466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.449072329 meters Centerline goodness : 0.775493 Centerline is valid? [False, False] Translation: X:-205.15, Y:7.89, Z:128.76 [[ 5.61887020e-01 -8.07866651e-01 1.77860763e-01 -2.05147595e+02] [ 8.24694667e-01 5.63841978e-01 -4.42823846e-02 7.88626245e+00] [-6.45111028e-02 1.71562520e-01 9.83058808e-01 1.28761229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.47907232899996 meters Centerline goodness : 0.776615 Centerline is valid? [False, False] Translation: X:-205.34, Y:7.84, Z:128.80 [[ 5.65914364e-01 -8.05876106e-01 1.74082264e-01 -2.05340393e+02] [ 8.22036755e-01 5.67717208e-01 -4.41898816e-02 7.84022325e+00] [-6.32179272e-02 1.68109708e-01 9.83739101e-01 1.28799179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.509072329 meters Centerline goodness : 0.774069 Centerline is valid? [False, False] Translation: X:-205.54, Y:7.79, Z:128.84 [[ 5.67363814e-01 -8.05524336e-01 1.70964463e-01 -2.05535574e+02] [ 8.21136832e-01 5.69039076e-01 -4.39184909e-02 7.79251822e+00] [-6.19080468e-02 1.65302980e-01 9.84297881e-01 1.28836330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.53907232899996 meters Centerline goodness : 0.774434 Centerline is valid? [False, False] Translation: X:-205.72, Y:7.75, Z:128.87 [[ 5.83720331e-01 -7.94717846e-01 1.66415504e-01 -2.05718474e+02] [ 8.09475491e-01 5.85588567e-01 -4.28422658e-02 7.75154611e+00] [-6.34035033e-02 1.59717174e-01 9.85124571e-01 1.28870461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.569072329 meters Centerline goodness : 0.775488 Centerline is valid? [False, False] Translation: X:-205.91, Y:7.71, Z:128.91 [[ 5.94077662e-01 -7.86791138e-01 1.67425915e-01 -2.05912018e+02] [ 8.01568061e-01 5.96489249e-01 -4.11001140e-02 7.70842999e+00] [-6.75305529e-02 1.58619926e-01 9.85027585e-01 1.28907927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59907232899997 meters Centerline goodness : 0.780125 Centerline is valid? [False, False] Translation: X:-206.10, Y:7.67, Z:128.94 [[ 6.10959369e-01 -7.73011245e-01 1.70828171e-01 -2.06096498e+02] [ 7.88197152e-01 6.14121276e-01 -4.00038424e-02 7.66961303e+00] [-7.39857944e-02 1.59087000e-01 9.84488410e-01 1.28944002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.629072329 meters Centerline goodness : 0.780585 Centerline is valid? [False, False] Translation: X:-206.28, Y:7.63, Z:128.98 [[ 6.18512555e-01 -7.66837604e-01 1.71471012e-01 -2.06280627e+02] [ 7.82077096e-01 6.21911342e-01 -3.97705683e-02 7.62648160e+00] [-7.61421998e-02 1.58702147e-01 9.84386100e-01 1.28978961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65907232899997 meters Centerline goodness : 0.780453 Centerline is valid? [False, False] Translation: X:-206.45, Y:7.59, Z:129.01 [[ 6.41732403e-01 -7.48626581e-01 1.66546587e-01 -2.06446242e+02] [ 7.62696230e-01 6.45744113e-01 -3.61801291e-02 7.59405260e+00] [-8.04610715e-02 1.50242415e-01 9.85369592e-01 1.29008267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.689072329 meters Centerline goodness : 0.780144 Centerline is valid? [False, False] Translation: X:-206.60, Y:7.56, Z:129.04 [[ 6.52940765e-01 -7.39831774e-01 1.62226089e-01 -2.06600570e+02] [ 7.52695608e-01 6.57676717e-01 -3.01771107e-02 7.56022151e+00] [-8.43663363e-02 1.41810731e-01 9.86292065e-01 1.29037521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71907232899997 meters Centerline goodness : 0.781756 Centerline is valid? [False, False] Translation: X:-206.75, Y:7.53, Z:129.07 [[ 6.64089528e-01 -7.30137904e-01 1.60884246e-01 -2.06753387e+02] [ 7.42397563e-01 6.69442776e-01 -2.63102294e-02 7.52793302e+00] [-8.84927002e-02 1.36912420e-01 9.86622537e-01 1.29066711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74907232899994 meters Centerline goodness : 0.784357 Centerline is valid? [False, False] Translation: X:-206.91, Y:7.50, Z:129.10 [[ 6.74906276e-01 -7.20179363e-01 1.60758219e-01 -2.06905212e+02] [ 7.32001867e-01 6.80925384e-01 -2.26691037e-02 7.49559814e+00] [-9.31385313e-02 1.32974837e-01 9.86733453e-01 1.29095906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.779072329 meters Centerline goodness : 0.785400 Centerline is valid? [False, False] Translation: X:-207.05, Y:7.47, Z:129.12 [[ 6.95877650e-01 -6.98610370e-01 1.66426700e-01 -2.07054504e+02] [ 7.10756390e-01 7.03145966e-01 -2.02757321e-02 7.46965054e+00] [-1.02857426e-01 1.32398269e-01 9.85845347e-01 1.29123975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.80907232899995 meters Centerline goodness : 0.787868 Centerline is valid? [False, False] Translation: X:-207.20, Y:7.44, Z:129.15 [[ 7.06099448e-01 -6.88041904e-01 1.67397454e-01 -2.07195747e+02] [ 7.00017232e-01 7.13886066e-01 -1.85083675e-02 7.44106950e+00] [-1.06768177e-01 1.30249850e-01 9.85715746e-01 1.29151183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.839072329 meters Centerline goodness : 0.788743 Centerline is valid? [False, False] Translation: X:-207.33, Y:7.41, Z:129.18 [[ 7.16066692e-01 -6.77529644e-01 1.67934732e-01 -2.07334822e+02] [ 6.89163125e-01 7.24432821e-01 -1.58516773e-02 7.41275251e+00] [-1.10917451e-01 1.27085283e-01 9.85670660e-01 1.29176864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.86907232899995 meters Centerline goodness : 0.787394 Centerline is valid? [False, False] Translation: X:-207.47, Y:7.39, Z:129.20 [[ 7.34780446e-01 -6.57205082e-01 1.67866547e-01 -2.07472204e+02] [ 6.68113606e-01 7.43965912e-01 -1.17869538e-02 7.39117558e+00] [-1.17140543e-01 1.20814747e-01 9.85739261e-01 1.29201435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.899072329 meters Centerline goodness : 0.788231 Centerline is valid? [False, False] Translation: X:-207.60, Y:7.37, Z:129.22 [[ 7.44186394e-01 -6.46935963e-01 1.66314373e-01 -2.07597318e+02] [ 6.57286676e-01 7.53577100e-01 -9.78672864e-03 7.36665583e+00] [-1.18999316e-01 1.16599372e-01 9.86024213e-01 1.29224326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.92907232899995 meters Centerline goodness : 0.790227 Centerline is valid? [False, False] Translation: X:-207.72, Y:7.35, Z:129.25 [[ 7.59621093e-01 -6.28865350e-01 1.65843801e-01 -2.07722249e+02] [ 6.38803925e-01 7.69319874e-01 -8.74512428e-03 7.34791871e+00] [-1.22087427e-01 1.12584652e-01 9.86113257e-01 1.29249074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.959072329 meters Centerline goodness : 0.790942 Centerline is valid? [False, False] Translation: X:-207.83, Y:7.32, Z:129.27 [[ 7.64891271e-01 -6.22060236e-01 1.67279424e-01 -2.07832986e+02] [ 6.31757623e-01 7.75140981e-01 -6.22616465e-03 7.32477262e+00] [-1.25792088e-01 1.10442390e-01 9.85889867e-01 1.29268873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.98907232899995 meters Centerline goodness : 0.791046 Centerline is valid? [False, False] Translation: X:-207.94, Y:7.30, Z:129.29 [[ 7.69527672e-01 -6.16071785e-01 1.68174663e-01 -2.07942369e+02] [ 6.25548717e-01 7.80172882e-01 -4.36776569e-03 7.30232902e+00] [-1.28514454e-01 1.08562561e-01 9.85747536e-01 1.29288895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.019072329 meters Centerline goodness : 0.790865 Centerline is valid? [False, False] Translation: X:-208.05, Y:7.28, Z:129.31 [[ 7.72209708e-01 -6.12258002e-01 1.69800784e-01 -2.08052175e+02] [ 6.21886830e-01 7.83093944e-01 -4.54364386e-03 7.28203368e+00] [-1.30188083e-01 1.09105517e-01 9.85467934e-01 1.29309056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.04907232899996 meters Centerline goodness : 0.791867 Centerline is valid? [False, False] Translation: X:-208.16, Y:7.26, Z:129.33 [[ 7.71252623e-01 -6.13745172e-01 1.68778717e-01 -2.08158287e+02] [ 6.23201095e-01 7.82051706e-01 -3.94018858e-03 7.25865222e+00] [-1.29575412e-01 1.08221962e-01 9.85646092e-01 1.29329278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.079072329 meters Centerline goodness : 0.792386 Centerline is valid? [False, False] Translation: X:-208.26, Y:7.23, Z:129.35 [[ 7.69158027e-01 -6.16502974e-01 1.68285507e-01 -2.08264980e+02] [ 6.25917298e-01 7.79880433e-01 -3.74784469e-03 7.23495473e+00] [-1.28932017e-01 1.08215495e-01 9.85731171e-01 1.29348763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.10907232899996 meters Centerline goodness : 0.792591 Centerline is valid? [False, False] Translation: X:-208.38, Y:7.21, Z:129.37 [[ 7.61288357e-01 -6.26062621e-01 1.68776871e-01 -2.08379256e+02] [ 6.35815047e-01 7.71825888e-01 -4.90146140e-03 7.20930796e+00] [-1.27197737e-01 1.11042300e-01 9.85642097e-01 1.29367577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.139072329 meters Centerline goodness : 0.792271 Centerline is valid? [False, False] Translation: X:-208.49, Y:7.18, Z:129.39 [[ 7.56099380e-01 -6.32461291e-01 1.68245186e-01 -2.08492023e+02] [ 6.42141414e-01 7.66575116e-01 -4.12277446e-03 7.18319065e+00] [-1.26365077e-01 1.11154429e-01 9.85736557e-01 1.29386730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.16907232899996 meters Centerline goodness : 0.793335 Centerline is valid? [False, False] Translation: X:-208.62, Y:7.15, Z:129.41 [[ 7.43092481e-01 -6.47671093e-01 1.68332172e-01 -2.08615836e+02] [ 6.57610581e-01 7.53345007e-01 -4.42989297e-03 7.15437606e+00] [-1.23943088e-01 1.13988837e-01 9.85720374e-01 1.29407916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.199072329 meters Centerline goodness : 0.793683 Centerline is valid? [False, False] Translation: X:-208.73, Y:7.13, Z:129.43 [[ 7.35485749e-01 -6.56500164e-01 1.67535811e-01 -2.08733506e+02] [ 6.66449101e-01 7.45538219e-01 -4.28477457e-03 7.12590505e+00] [-1.22091395e-01 1.14805481e-01 9.85856680e-01 1.29428821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.22907232899996 meters Centerline goodness : 0.793221 Centerline is valid? [False, False] Translation: X:-208.85, Y:7.10, Z:129.45 [[ 7.27140037e-01 -6.65725196e-01 1.67562916e-01 -2.08851000e+02] [ 6.75846272e-01 7.37028038e-01 -4.63556214e-03 7.09727771e+00] [-1.20412556e-01 1.16617475e-01 9.85850486e-01 1.29449104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.259072329 meters Centerline goodness : 0.793714 Centerline is valid? [False, False] Translation: X:-208.99, Y:7.06, Z:129.47 [[ 7.18231008e-01 -6.75015942e-01 1.68812611e-01 -2.08986724e+02] [ 6.85911910e-01 7.27631756e-01 -8.76810356e-03 7.06288530e+00] [-1.16914807e-01 1.22088104e-01 9.85609163e-01 1.29470075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.28907232899996 meters Centerline goodness : 0.791373 Centerline is valid? [False, False] Translation: X:-209.12, Y:7.03, Z:129.49 [[ 7.20843805e-01 -6.72380908e-01 1.68190733e-01 -2.09117987e+02] [ 6.83300350e-01 7.30070080e-01 -9.91517816e-03 7.03352766e+00] [-1.16124246e-01 1.22072082e-01 9.85704604e-01 1.29493398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.319072329 meters Centerline goodness : 0.791290 Centerline is valid? [False, False] Translation: X:-209.26, Y:7.00, Z:129.52 [[ 7.20919362e-01 -6.72292869e-01 1.68218822e-01 -2.09256854e+02] [ 6.83162172e-01 7.30205290e-01 -9.46996951e-03 7.00194172e+00] [-1.16467681e-01 1.21747820e-01 9.85704189e-01 1.29517211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34907232899997 meters Centerline goodness : 0.791320 Centerline is valid? [False, False] Translation: X:-209.39, Y:6.97, Z:129.54 [[ 7.20639022e-01 -6.72381943e-01 1.69061893e-01 -2.09392319e+02] [ 6.83379517e-01 7.29999530e-01 -9.64998037e-03 6.97173068e+00] [-1.16926630e-01 1.22487587e-01 9.85558194e-01 1.29541183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.379072329 meters Centerline goodness : 0.793349 Centerline is valid? [False, False] Translation: X:-209.53, Y:6.94, Z:129.57 [[ 7.19963992e-01 -6.72361553e-01 1.71993582e-01 -2.09529226e+02] [ 6.83947804e-01 7.29441055e-01 -1.14519988e-02 6.94012432e+00] [-1.17759296e-01 1.25879659e-01 9.85031502e-01 1.29566684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40907232899997 meters Centerline goodness : 0.791800 Centerline is valid? [False, False] Translation: X:-209.67, Y:6.91, Z:129.59 [[ 7.20959292e-01 -6.70679283e-01 1.74376027e-01 -2.09665461e+02] [ 6.82694015e-01 7.30595515e-01 -1.26124933e-02 6.90945998e+00] [-1.18939405e-01 1.28138564e-01 9.84598358e-01 1.29591949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.439072329 meters Centerline goodness : 0.791455 Centerline is valid? [False, False] Translation: X:-209.80, Y:6.88, Z:129.62 [[ 7.21270226e-01 -6.69857709e-01 1.76238225e-01 -2.09799871e+02] [ 6.82401989e-01 7.30822536e-01 -1.50315103e-02 6.87976249e+00] [-1.18729893e-01 1.31107096e-01 9.84232768e-01 1.29617043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46907232899997 meters Centerline goodness : 0.790392 Centerline is valid? [False, False] Translation: X:-209.94, Y:6.85, Z:129.64 [[ 7.22104527e-01 -6.68354740e-01 1.78513287e-01 -2.09937641e+02] [ 6.81281528e-01 7.31850981e-01 -1.57994030e-02 6.85044729e+00] [-1.20085518e-01 1.33026625e-01 9.83810645e-01 1.29642810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49907232899994 meters Centerline goodness : 0.792467 Centerline is valid? [False, False] Translation: X:-210.07, Y:6.82, Z:129.67 [[ 7.22887312e-01 -6.67232533e-01 1.79540192e-01 -2.10073407e+02] [ 6.80374247e-01 7.32678507e-01 -1.65254048e-02 6.82154236e+00] [-1.20518952e-01 1.34100528e-01 9.83611829e-01 1.29669033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.529072329 meters Centerline goodness : 0.792467 Centerline is valid? [False, False] Translation: X:-210.21, Y:6.79, Z:129.70 [[ 7.24178937e-01 -6.65331834e-01 1.81379210e-01 -2.10211490e+02] [ 6.78753654e-01 7.34170707e-01 -1.69366508e-02 6.79234453e+00] [-1.21894810e-01 1.35376967e-01 9.83267376e-01 1.29695260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55907232899995 meters Centerline goodness : 0.791423 Centerline is valid? [False, False] Translation: X:-210.35, Y:6.77, Z:129.72 [[ 7.26546550e-01 -6.62748093e-01 1.81369998e-01 -2.10346931e+02] [ 6.76187845e-01 7.36524266e-01 -1.73782505e-02 6.76522978e+00] [-1.22066002e-01 1.35266296e-01 9.83261369e-01 1.29721438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.589072329 meters Centerline goodness : 0.790689 Centerline is valid? [False, False] Translation: X:-210.48, Y:6.74, Z:129.75 [[ 7.28642095e-01 -6.60314895e-01 1.81837666e-01 -2.10480750e+02] [ 6.73983001e-01 7.38503528e-01 -1.89592521e-02 6.73940680e+00] [-1.21768681e-01 1.36370005e-01 9.83145773e-01 1.29747706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61907232899995 meters Centerline goodness : 0.789688 Centerline is valid? [False, False] Translation: X:-210.62, Y:6.71, Z:129.77 [[ 7.31468122e-01 -6.56852030e-01 1.83029497e-01 -2.10617218e+02] [ 6.70828683e-01 7.41329923e-01 -2.04651813e-02 6.71409163e+00] [-1.22242647e-01 1.37751064e-01 9.82894389e-01 1.29773530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.649072329 meters Centerline goodness : 0.789925 Centerline is valid? [False, False] Translation: X:-210.75, Y:6.69, Z:129.80 [[ 7.35433204e-01 -6.52204534e-01 1.83758669e-01 -2.10748239e+02] [ 6.66375020e-01 7.45301240e-01 -2.16885997e-02 6.68988487e+00] [-1.22810161e-01 1.38402703e-01 9.82732088e-01 1.29799637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67907232899995 meters Centerline goodness : 0.790523 Centerline is valid? [False, False] Translation: X:-210.88, Y:6.67, Z:129.83 [[ 7.39659224e-01 -6.47156542e-01 1.84641930e-01 -2.10878480e+02] [ 6.61479847e-01 7.49627112e-01 -2.24411708e-02 6.66720996e+00] [-1.23889646e-01 1.38735735e-01 9.82549618e-01 1.29826328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.709072329 meters Centerline goodness : 0.793388 Centerline is valid? [False, False] Translation: X:-211.00, Y:6.65, Z:129.85 [[ 7.44150308e-01 -6.41182496e-01 1.87417517e-01 -2.11002620e+02] [ 6.55235512e-01 7.55211202e-01 -1.79572588e-02 6.64751616e+00] [-1.30025928e-01 1.36165512e-01 9.82116190e-01 1.29852649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.73907232899995 meters Centerline goodness : 0.794644 Centerline is valid? [False, False] Translation: X:-211.12, Y:6.63, Z:129.88 [[ 7.45430911e-01 -6.39439926e-01 1.88279947e-01 -2.11119882e+02] [ 6.53246414e-01 7.56988546e-01 -1.54098748e-02 6.62526167e+00] [-1.32672074e-01 1.34480197e-01 9.81994500e-01 1.29878305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.769072329 meters Centerline goodness : 0.793736 Centerline is valid? [False, False] Translation: X:-211.24, Y:6.60, Z:129.90 [[ 7.46723642e-01 -6.37863427e-01 1.88504776e-01 -2.11237012e+02] [ 6.51242845e-01 7.58770761e-01 -1.22347585e-02 6.60284469e+00] [-1.35227807e-01 1.31898370e-01 9.81996059e-01 1.29903691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.79907232899996 meters Centerline goodness : 0.793819 Centerline is valid? [False, False] Translation: X:-211.35, Y:6.58, Z:129.93 [[ 7.47803087e-01 -6.36693331e-01 1.88181150e-01 -2.11350673e+02] [ 6.49715651e-01 7.60110111e-01 -1.01090430e-02 6.58226802e+00] [-1.36602034e-01 1.29823812e-01 9.82082309e-01 1.29929333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.829072329 meters Centerline goodness : 0.794831 Centerline is valid? [False, False] Translation: X:-211.47, Y:6.56, Z:129.95 [[ 7.47722272e-01 -6.37315349e-01 1.86388170e-01 -2.11466618e+02] [ 6.49767171e-01 7.60094829e-01 -7.64685921e-03 6.56046059e+00] [-1.36799224e-01 1.26826641e-01 9.82446424e-01 1.29954287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.85907232899996 meters Centerline goodness : 0.794379 Centerline is valid? [False, False] Translation: X:-211.58, Y:6.54, Z:129.98 [[ 7.48136437e-01 -6.37451386e-01 1.84248749e-01 -2.11580576e+02] [ 6.49315762e-01 7.60499749e-01 -5.40118386e-03 6.53817704e+00] [-1.36678136e-01 1.23676440e-01 9.82864805e-01 1.29978252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.889072329 meters Centerline goodness : 0.793898 Centerline is valid? [False, False] Translation: X:-211.70, Y:6.51, Z:130.00 [[ 7.49094884e-01 -6.36311083e-01 1.84296120e-01 -2.11703932e+02] [ 6.48577251e-01 7.61102491e-01 -8.39925351e-03 6.51432479e+00] [-1.34923698e-01 1.25822109e-01 9.82834876e-01 1.30002144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.91907232899996 meters Centerline goodness : 0.794014 Centerline is valid? [False, False] Translation: X:-211.82, Y:6.49, Z:130.03 [[ 7.47744603e-01 -6.38149633e-01 1.83420434e-01 -2.11815578e+02] [ 6.50299830e-01 7.59633736e-01 -8.16810898e-03 6.49185763e+00] [-1.34119874e-01 1.25385936e-01 9.83000624e-01 1.30025748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.949072329 meters Centerline goodness : 0.790765 Centerline is valid? [False, False] Translation: X:-211.94, Y:6.46, Z:130.05 [[ 7.45837185e-01 -6.39873092e-01 1.85173757e-01 -2.11943918e+02] [ 6.52700718e-01 7.57532256e-01 -1.12540742e-02 6.46244280e+00] [-1.33073915e-01 1.29256751e-01 9.82641351e-01 1.30048913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.97907232899996 meters Centerline goodness : 0.792358 Centerline is valid? [False, False] Translation: X:-212.06, Y:6.44, Z:130.07 [[ 7.44587522e-01 -6.41893648e-01 1.83199254e-01 -2.12057129e+02] [ 6.54327264e-01 7.56144846e-01 -1.00401210e-02 6.43900442e+00] [-1.32080482e-01 1.27348016e-01 9.83024531e-01 1.30072194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.009072329 meters Centerline goodness : 0.789947 Centerline is valid? [False, False] Translation: X:-212.17, Y:6.42, Z:130.09 [[ 7.43422310e-01 -6.43962014e-01 1.80654901e-01 -2.12168111e+02] [ 6.55885785e-01 7.54812667e-01 -8.46608909e-03 6.41518524e+00] [-1.30908768e-01 1.24782861e-01 9.83510108e-01 1.30094505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.03907232899996 meters Centerline goodness : 0.790301 Centerline is valid? [False, False] Translation: X:-212.30, Y:6.39, Z:130.12 [[ 7.40686590e-01 -6.46556991e-01 1.82612792e-01 -2.12300494e+02] [ 6.59025525e-01 7.52049471e-01 -1.03416936e-02 6.38513217e+00] [-1.30647359e-01 1.28006445e-01 9.83130519e-01 1.30119786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.069072329 meters Centerline goodness : 0.792513 Centerline is valid? [False, False] Translation: X:-212.42, Y:6.36, Z:130.15 [[ 7.36708539e-01 -6.50841624e-01 1.83482178e-01 -2.12420953e+02] [ 6.63156697e-01 7.48439583e-01 -7.83491891e-03 6.35870541e+00] [-1.32226033e-01 1.27449487e-01 9.82991813e-01 1.30145087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09907232899997 meters Centerline goodness : 0.793484 Centerline is valid? [False, False] Translation: X:-212.54, Y:6.33, Z:130.17 [[ 7.31118730e-01 -6.56879478e-01 1.84322418e-01 -2.12544098e+02] [ 6.69109575e-01 7.43142191e-01 -5.66229418e-03 6.33200896e+00] [-1.33258321e-01 1.27471704e-01 9.82849523e-01 1.30171062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.129072329 meters Centerline goodness : 0.795006 Centerline is valid? [False, False] Translation: X:-212.68, Y:6.30, Z:130.20 [[ 7.27529019e-01 -6.60286034e-01 1.86343448e-01 -2.12675476e+02] [ 6.72817990e-01 7.39787675e-01 -5.49062589e-03 6.30326635e+00] [-1.34229203e-01 1.29369814e-01 9.82469324e-01 1.30196873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15907232899997 meters Centerline goodness : 0.792791 Centerline is valid? [False, False] Translation: X:-212.79, Y:6.27, Z:130.22 [[ 7.20487405e-01 -6.68572049e-01 1.84144819e-01 -2.12794874e+02] [ 6.80647077e-01 7.32604244e-01 -3.25247599e-03 6.27280199e+00] [-1.32730762e-01 1.27681001e-01 9.82893741e-01 1.30220294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.189072329 meters Centerline goodness : 0.793363 Centerline is valid? [False, False] Translation: X:-212.93, Y:6.24, Z:130.25 [[ 7.18074550e-01 -6.71084174e-01 1.84431484e-01 -2.12933046e+02] [ 6.83367169e-01 7.30062774e-01 -4.20209776e-03 6.24337427e+00] [-1.31826599e-01 1.29051840e-01 9.82836390e-01 1.30245846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21907232899997 meters Centerline goodness : 0.790139 Centerline is valid? [False, False] Translation: X:-213.07, Y:6.21, Z:130.27 [[ 7.12106050e-01 -6.77311921e-01 1.84806754e-01 -2.13071499e+02] [ 6.89967237e-01 7.23817009e-01 -5.84370048e-03 6.21210182e+00] [-1.29808264e-01 1.31671940e-01 9.82757506e-01 1.30269242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24907232899994 meters Centerline goodness : 0.787970 Centerline is valid? [False, False] Translation: X:-213.21, Y:6.18, Z:130.30 [[ 7.11064268e-01 -6.78178336e-01 1.85638768e-01 -2.13208086e+02] [ 6.91292846e-01 7.22526341e-01 -8.35994577e-03 6.18448758e+00] [-1.28459366e-01 1.34275211e-01 9.82582495e-01 1.30295276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.279072329 meters Centerline goodness : 0.786964 Centerline is valid? [False, False] Translation: X:-213.35, Y:6.16, Z:130.32 [[ 7.09414738e-01 -6.79492914e-01 1.87136608e-01 -2.13348869e+02] [ 6.93164266e-01 7.20697866e-01 -1.08575912e-02 6.15736600e+00] [-1.27491298e-01 1.37418945e-01 9.82273894e-01 1.30322551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.30907232899995 meters Centerline goodness : 0.784301 Centerline is valid? [False, False] Translation: X:-213.49, Y:6.13, Z:130.35 [[ 7.09378258e-01 -6.79357500e-01 1.87765478e-01 -2.13486056e+02] [ 6.93376570e-01 7.20460526e-01 -1.28671240e-02 6.13090384e+00] [-1.26536238e-01 1.39319841e-01 9.82129606e-01 1.30347802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.339072329 meters Centerline goodness : 0.784381 Centerline is valid? [False, False] Translation: X:-213.63, Y:6.11, Z:130.38 [[ 7.10610075e-01 -6.77537770e-01 1.89673115e-01 -2.13627726e+02] [ 6.92029105e-01 7.21721968e-01 -1.45986003e-02 6.10636791e+00] [-1.27000151e-01 1.41633229e-01 9.81738759e-01 1.30377354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.36907232899995 meters Centerline goodness : 0.785843 Centerline is valid? [False, False] Translation: X:-213.77, Y:6.08, Z:130.41 [[ 7.12848118e-01 -6.74476023e-01 1.92170902e-01 -2.13767917e+02] [ 6.89567623e-01 7.24027723e-01 -1.67436544e-02 6.08328421e+00] [-1.27843867e-01 1.44450514e-01 9.81218627e-01 1.30407657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.399072329 meters Centerline goodness : 0.786675 Centerline is valid? [False, False] Translation: X:-213.91, Y:6.06, Z:130.44 [[ 7.14454310e-01 -6.71949146e-01 1.95036880e-01 -2.13909255e+02] [ 6.87584329e-01 7.25883946e-01 -1.78965615e-02 6.06011725e+00] [-1.29548561e-01 1.46890578e-01 9.80632616e-01 1.30438724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.42907232899995 meters Centerline goodness : 0.790274 Centerline is valid? [False, False] Translation: X:-214.04, Y:6.04, Z:130.47 [[ 7.14071868e-01 -6.71538068e-01 1.97833236e-01 -2.14040140e+02] [ 6.86946212e-01 7.26589756e-01 -1.31235956e-02 6.04034019e+00] [-1.34930609e-01 1.45271983e-01 9.80147837e-01 1.30469277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.459072329 meters Centerline goodness : 0.790949 Centerline is valid? [False, False] Translation: X:-214.17, Y:6.02, Z:130.50 [[ 7.13542187e-01 -6.71860677e-01 1.98647371e-01 -2.14169625e+02] [ 6.86874374e-01 7.26715709e-01 -9.37406909e-03 6.01904592e+00] [-1.38062097e-01 1.43134582e-01 9.80026198e-01 1.30500186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.48907232899995 meters Centerline goodness : 0.791641 Centerline is valid? [False, False] Translation: X:-214.31, Y:6.00, Z:130.53 [[ 7.14919168e-01 -6.69750867e-01 2.00809262e-01 -2.14307860e+02] [ 6.85205020e-01 7.28274920e-01 -1.04748365e-02 5.99695689e+00] [-1.39228818e-01 1.45084175e-01 9.79574356e-01 1.30531515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.519072329 meters Centerline goodness : 0.794229 Centerline is valid? [False, False] Translation: X:-214.45, Y:5.97, Z:130.56 [[ 7.16415328e-01 -6.67898238e-01 2.01645783e-01 -2.14446891e+02] [ 6.83487603e-01 7.29882516e-01 -1.07800396e-02 5.97368017e+00] [-1.39977762e-01 1.45545379e-01 9.79399188e-01 1.30561129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.54907232899996 meters Centerline goodness : 0.794266 Centerline is valid? [False, False] Translation: X:-214.59, Y:5.95, Z:130.59 [[ 7.18859322e-01 -6.65026691e-01 2.02437093e-01 -2.14585118e+02] [ 6.80681022e-01 7.32500669e-01 -1.07757039e-02 5.95174401e+00] [-1.41119175e-01 1.45541302e-01 9.79235982e-01 1.30590607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.579072329 meters Centerline goodness : 0.793702 Centerline is valid? [False, False] Translation: X:-214.70, Y:5.93, Z:130.62 [[ 7.22990897e-01 -6.61310891e-01 1.99880136e-01 -2.14703477e+02] [ 6.75933186e-01 7.36931844e-01 -6.76648444e-03 5.93379737e+00] [-1.42823287e-01 1.39997724e-01 9.79796992e-01 1.30618117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.60907232899996 meters Centerline goodness : 0.792147 Centerline is valid? [False, False] Translation: X:-214.84, Y:5.91, Z:130.65 [[ 7.22603200e-01 -6.61489778e-01 2.00688537e-01 -2.14838048e+02] [ 6.76534017e-01 7.36358443e-01 -8.82991446e-03 5.91230071e+00] [-1.41937800e-01 1.42153146e-01 9.79615304e-01 1.30647129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.639072329 meters Centerline goodness : 0.792237 Centerline is valid? [False, False] Translation: X:-214.97, Y:5.89, Z:130.67 [[ 7.27758549e-01 -6.56004664e-01 2.00063426e-01 -2.14966982e+02] [ 6.71247391e-01 7.41143253e-01 -1.15593156e-02 5.89233856e+00] [-1.40692694e-01 1.42704444e-01 9.79714758e-01 1.30673664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.66907232899996 meters Centerline goodness : 0.793200 Centerline is valid? [False, False] Translation: X:-215.10, Y:5.87, Z:130.70 [[ 7.26732144e-01 -6.57040394e-01 2.00395390e-01 -2.15098822e+02] [ 6.72429899e-01 7.40061810e-01 -1.21056626e-02 5.87098701e+00] [-1.40351066e-01 1.43549426e-01 9.79640312e-01 1.30703242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.699072329 meters Centerline goodness : 0.791051 Centerline is valid? [False, False] Translation: X:-215.22, Y:5.85, Z:130.73 [[ 7.26456186e-01 -6.57479424e-01 1.99955538e-01 -2.15220468e+02] [ 6.72551426e-01 7.39978794e-01 -1.02938514e-02 5.85128647e+00] [-1.41194862e-01 1.41958414e-01 9.79750897e-01 1.30730386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.72907232899996 meters Centerline goodness : 0.792000 Centerline is valid? [False, False] Translation: X:-215.34, Y:5.83, Z:130.76 [[ 7.25554067e-01 -6.58549769e-01 1.99708531e-01 -2.15339072e+02] [ 6.73328120e-01 7.39296358e-01 -8.37475717e-03 5.83007766e+00] [-1.42128595e-01 1.40545709e-01 9.79819558e-01 1.30758172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.759072329 meters Centerline goodness : 0.791981 Centerline is valid? [False, False] Translation: X:-215.46, Y:5.81, Z:130.79 [[ 7.22836327e-01 -6.61782251e-01 1.98876587e-01 -2.15461540e+02] [ 6.76053965e-01 7.36833079e-01 -5.29630237e-03 5.80886550e+00] [-1.43033849e-01 1.38279665e-01 9.80010231e-01 1.30786113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.78907232899996 meters Centerline goodness : 0.793304 Centerline is valid? [False, False] Translation: X:-215.58, Y:5.78, Z:130.81 [[ 7.19141177e-01 -6.66680097e-01 1.95891845e-01 -2.15583691e+02] [ 6.80338281e-01 7.32890592e-01 -3.34726058e-03 5.78481179e+00] [-1.41335738e-01 1.35679874e-01 9.80619794e-01 1.30814586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.819072329 meters Centerline goodness : 0.791269 Centerline is valid? [False, False] Translation: X:-215.71, Y:5.76, Z:130.84 [[ 7.16975463e-01 -6.68562845e-01 1.97407972e-01 -2.15714057e+02] [ 6.82639716e-01 7.30741209e-01 -4.50592316e-03 5.76139273e+00] [-1.41241647e-01 1.37989158e-01 9.80311068e-01 1.30841338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84907232899997 meters Centerline goodness : 0.792323 Centerline is valid? [False, False] Translation: X:-215.85, Y:5.74, Z:130.87 [[ 7.15193483e-01 -6.70150947e-01 1.98484230e-01 -2.15848797e+02] [ 6.84658416e-01 7.28837655e-01 -6.20700373e-03 5.73777864e+00] [-1.40503152e-01 1.40333107e-01 9.80084427e-01 1.30869210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.879072329 meters Centerline goodness : 0.789424 Centerline is valid? [False, False] Translation: X:-215.98, Y:5.71, Z:130.90 [[ 7.11876009e-01 -6.73452892e-01 1.99232906e-01 -2.15983282e+02] [ 6.88421983e-01 7.25263676e-01 -8.23244139e-03 5.71192397e+00] [-1.38952228e-01 1.43016790e-01 9.79917586e-01 1.30895316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90907232899997 meters Centerline goodness : 0.788710 Centerline is valid? [False, False] Translation: X:-216.12, Y:5.69, Z:130.92 [[ 7.11835053e-01 -6.73507019e-01 1.99196266e-01 -2.16119452e+02] [ 6.88660554e-01 7.25020737e-01 -9.56929302e-03 5.68925388e+00] [-1.37976438e-01 1.43990370e-01 9.79912892e-01 1.30923410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.939072329 meters Centerline goodness : 0.787584 Centerline is valid? [False, False] Translation: X:-216.26, Y:5.67, Z:130.95 [[ 7.12510065e-01 -6.73104812e-01 1.98139647e-01 -2.16256368e+02] [ 6.88103157e-01 7.25548841e-01 -9.63971136e-03 5.66817550e+00] [-1.37271455e-01 1.43208908e-01 9.80126398e-01 1.30949959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96907232899997 meters Centerline goodness : 0.786188 Centerline is valid? [False, False] Translation: X:-216.39, Y:5.65, Z:130.98 [[ 7.14537126e-01 -6.70951167e-01 1.98144459e-01 -2.16387124e+02] [ 6.86119002e-01 7.27404221e-01 -1.11271771e-02 5.64972079e+00] [-1.36665324e-01 1.43901460e-01 9.80109667e-01 1.30978442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99907232899994 meters Centerline goodness : 0.785427 Centerline is valid? [False, False] Translation: X:-216.52, Y:5.63, Z:131.01 [[ 7.17496519e-01 -6.67585308e-01 1.98818012e-01 -2.16524352e+02] [ 6.83157530e-01 7.30141821e-01 -1.37371705e-02 5.63051317e+00] [-1.35994612e-01 1.45680394e-01 9.79940145e-01 1.31008619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.029072329 meters Centerline goodness : 0.784947 Centerline is valid? [False, False] Translation: X:-216.66, Y:5.61, Z:131.04 [[ 7.21456224e-01 -6.63061087e-01 1.99626931e-01 -2.16656843e+02] [ 6.78995209e-01 7.33967685e-01 -1.60294440e-02 5.61341689e+00] [-1.35891216e-01 1.47110272e-01 9.79740856e-01 1.31037678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05907232899995 meters Centerline goodness : 0.787484 Centerline is valid? [False, False] Translation: X:-216.77, Y:5.60, Z:131.06 [[ 7.26541151e-01 -6.57548556e-01 1.99418785e-01 -2.16774471e+02] [ 6.73171306e-01 7.39340136e-01 -1.47158496e-02 5.60111726e+00] [-1.37761926e-01 1.44934674e-01 9.79803854e-01 1.31064937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.089072329 meters Centerline goodness : 0.787883 Centerline is valid? [False, False] Translation: X:-216.90, Y:5.59, Z:131.09 [[ 7.29662147e-01 -6.54096513e-01 1.99376283e-01 -2.16896828e+02] [ 6.69245769e-01 7.42946458e-01 -1.18600729e-02 5.58688390e+00] [-1.40368271e-01 1.42085580e-01 9.79851232e-01 1.31093815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11907232899995 meters Centerline goodness : 0.788716 Centerline is valid? [False, False] Translation: X:-217.02, Y:5.58, Z:131.12 [[ 7.36721068e-01 -6.45897548e-01 2.00146009e-01 -2.17020630e+02] [ 6.60393932e-01 7.50880201e-01 -7.66661357e-03 5.57616702e+00] [-1.45333828e-01 1.37823365e-01 9.79736086e-01 1.31122932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.149072329 meters Centerline goodness : 0.789697 Centerline is valid? [False, False] Translation: X:-217.14, Y:5.56, Z:131.15 [[ 7.39730017e-01 -6.42308866e-01 2.00596168e-01 -2.17141212e+02] [ 6.56405227e-01 7.54391687e-01 -5.03588919e-03 5.56194021e+00] [-1.48093486e-01 1.35397572e-01 9.79661073e-01 1.31152191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17907232899995 meters Centerline goodness : 0.788361 Centerline is valid? [False, False] Translation: X:-217.26, Y:5.55, Z:131.18 [[ 7.41736573e-01 -6.39752102e-01 2.01355668e-01 -2.17258620e+02] [ 6.53666253e-01 7.56774967e-01 -3.47539557e-03 5.54759523e+00] [-1.50157537e-01 1.34197233e-01 9.79512030e-01 1.31179571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.209072329 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-217.38, Y:5.53, Z:131.21 [[ 7.46515613e-01 -6.33334370e-01 2.03965722e-01 -2.17383623e+02] [ 6.47726074e-01 7.61856646e-01 -5.03823830e-03 5.53365978e+00] [-1.52201751e-01 1.35875040e-01 9.78965066e-01 1.31207099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.23907232899995 meters Centerline goodness : 0.790131 Centerline is valid? [False, False] Translation: X:-217.50, Y:5.52, Z:131.23 [[ 7.47895878e-01 -6.31762766e-01 2.03783126e-01 -2.17497614e+02] [ 6.45943266e-01 7.63374641e-01 -4.05642513e-03 5.51816316e+00] [-1.53000172e-01 1.34666122e-01 9.79007652e-01 1.31233883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.269072329 meters Centerline goodness : 0.789885 Centerline is valid? [False, False] Translation: X:-217.61, Y:5.50, Z:131.26 [[ 7.49933781e-01 -6.29283612e-01 2.03964357e-01 -2.17614358e+02] [ 6.43253528e-01 7.65647824e-01 -2.88247753e-03 5.50231376e+00] [-1.54350970e-01 1.33362460e-01 9.78974071e-01 1.31261262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.29907232899996 meters Centerline goodness : 0.789987 Centerline is valid? [False, False] Translation: X:-217.73, Y:5.49, Z:131.29 [[ 7.53600125e-01 -6.24919302e-01 2.03869364e-01 -2.17728151e+02] [ 6.38588848e-01 7.69546335e-01 -1.64947801e-03 5.48964573e+00] [-1.55856131e-01 1.31431749e-01 9.78996712e-01 1.31287997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.329072329 meters Centerline goodness : 0.788508 Centerline is valid? [False, False] Translation: X:-217.84, Y:5.47, Z:131.31 [[ 7.55249322e-01 -6.23341034e-01 2.02594217e-01 -2.17840086e+02] [ 6.36518163e-01 7.71261698e-01 1.43902699e-04 5.47490266e+00] [-1.56342860e-01 1.28846216e-01 9.79262765e-01 1.31314371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.35907232899996 meters Centerline goodness : 0.789374 Centerline is valid? [False, False] Translation: X:-217.95, Y:5.46, Z:131.34 [[ 7.56100905e-01 -6.22303305e-01 2.02608042e-01 -2.17954108e+02] [ 6.35309924e-01 7.72256517e-01 1.08275512e-03 5.46047653e+00] [-1.57139183e-01 1.27900228e-01 9.79259316e-01 1.31342257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.389072329 meters Centerline goodness : 0.789606 Centerline is valid? [False, False] Translation: X:-218.07, Y:5.44, Z:131.37 [[ 7.56438964e-01 -6.21905699e-01 2.02567017e-01 -2.18065031e+02] [ 6.34867505e-01 7.72619975e-01 1.27487591e-03 5.44446540e+00] [-1.57300176e-01 1.27638851e-01 9.79267572e-01 1.31368261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.41907232899996 meters Centerline goodness : 0.789606 Centerline is valid? [False, False] Translation: X:-218.18, Y:5.43, Z:131.39 [[ 7.56317591e-01 -6.22301288e-01 2.01803887e-01 -2.18178751e+02] [ 6.35009427e-01 7.72501030e-01 2.27738844e-03 5.42813991e+00] [-1.57310932e-01 1.26424942e-01 9.79423302e-01 1.31394388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.449072329 meters Centerline goodness : 0.789301 Centerline is valid? [False, False] Translation: X:-218.29, Y:5.41, Z:131.42 [[ 7.55995486e-01 -6.22585052e-01 2.02135299e-01 -2.18292013e+02] [ 6.35345885e-01 7.72224385e-01 2.25956439e-03 5.41179545e+00] [-1.57500578e-01 1.26717610e-01 9.79355000e-01 1.31421070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.47907232899996 meters Centerline goodness : 0.788983 Centerline is valid? [False, False] Translation: X:-218.40, Y:5.40, Z:131.45 [[ 7.55779911e-01 -6.23070835e-01 2.01443442e-01 -2.18402477e+02] [ 6.35729410e-01 7.71908279e-01 2.39282703e-03 5.39581850e+00] [-1.56986761e-01 1.26255070e-01 9.79497225e-01 1.31447136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.509072329 meters Centerline goodness : 0.789610 Centerline is valid? [False, False] Translation: X:-218.51, Y:5.38, Z:131.47 [[ 7.54168266e-01 -6.25330434e-01 2.00479613e-01 -2.18512802e+02] [ 6.37920373e-01 7.70098807e-01 2.32901447e-03 5.37845994e+00] [-1.55845515e-01 1.26133561e-01 9.79695106e-01 1.31471952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.53907232899996 meters Centerline goodness : 0.789343 Centerline is valid? [False, False] Translation: X:-218.62, Y:5.36, Z:131.50 [[ 7.52955823e-01 -6.27457106e-01 1.98381221e-01 -2.18623596e+02] [ 6.39683951e-01 7.68631493e-01 3.17336801e-03 5.36102141e+00] [-1.54473206e-01 1.24511877e-01 9.80119799e-01 1.31496041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.569072329 meters Centerline goodness : 0.788003 Centerline is valid? [False, False] Translation: X:-218.73, Y:5.34, Z:131.52 [[ 7.49627412e-01 -6.32160057e-01 1.96041846e-01 -2.18733312e+02] [ 6.44153577e-01 7.64888840e-01 3.35129324e-03 5.34030747e+00] [-1.52068774e-01 1.23768835e-01 9.80589804e-01 1.31518308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59907232899997 meters Centerline goodness : 0.787703 Centerline is valid? [False, False] Translation: X:-218.85, Y:5.32, Z:131.54 [[ 7.46003782e-01 -6.36531427e-01 1.95719443e-01 -2.18846880e+02] [ 6.48613211e-01 7.61111940e-01 3.08482930e-03 5.32085348e+00] [-1.50927995e-01 1.24644922e-01 9.80655079e-01 1.31542681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.629072329 meters Centerline goodness : 0.787073 Centerline is valid? [False, False] Translation: X:-218.98, Y:5.30, Z:131.57 [[ 7.45081806e-01 -6.36732435e-01 1.98557067e-01 -2.18975099e+02] [ 6.49786164e-01 7.60116667e-01 -7.70121055e-04 5.29887167e+00] [-1.50436175e-01 1.29593438e-01 9.80089026e-01 1.31568613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65907232899997 meters Centerline goodness : 0.786428 Centerline is valid? [False, False] Translation: X:-219.09, Y:5.28, Z:131.59 [[ 7.37767579e-01 -6.44766029e-01 1.99939407e-01 -2.19091083e+02] [ 6.58366046e-01 7.52695136e-01 -2.04497087e-03 5.27555651e+00] [-1.49174891e-01 1.33142030e-01 9.79806130e-01 1.31593182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.689072329 meters Centerline goodness : 0.787112 Centerline is valid? [False, False] Translation: X:-219.21, Y:5.26, Z:131.62 [[ 7.35320795e-01 -6.47801507e-01 1.99139489e-01 -2.19205895e+02] [ 6.61161394e-01 7.50243287e-01 -7.88341429e-04 5.25540861e+00] [-1.48892376e-01 1.32243026e-01 9.79970837e-01 1.31618594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71907232899997 meters Centerline goodness : 0.787607 Centerline is valid? [False, False] Translation: X:-219.34, Y:5.23, Z:131.65 [[ 7.32308901e-01 -6.50292028e-01 2.02098866e-01 -2.19336218e+02] [ 6.64628909e-01 7.47162052e-01 -4.15707030e-03 5.23439080e+00] [-1.48297294e-01 1.37365008e-01 9.79356302e-01 1.31646317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74907232899994 meters Centerline goodness : 0.786641 Centerline is valid? [False, False] Translation: X:-219.46, Y:5.21, Z:131.67 [[ 7.26496567e-01 -6.56989808e-01 2.01412835e-01 -2.19455423e+02] [ 6.71098874e-01 7.41363988e-01 -2.39529669e-03 5.21159091e+00] [-1.47746537e-01 1.36908102e-01 9.79503513e-01 1.31672509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.779072329 meters Centerline goodness : 0.786351 Centerline is valid? [False, False] Translation: X:-219.59, Y:5.19, Z:131.70 [[ 7.25637886e-01 -6.57345942e-01 2.03337086e-01 -2.19591346e+02] [ 6.72064055e-01 7.40479065e-01 -4.54531740e-03 5.19212568e+00] [-1.47579009e-01 1.39953801e-01 9.79098243e-01 1.31701439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.80907232899995 meters Centerline goodness : 0.786446 Centerline is valid? [False, False] Translation: X:-219.72, Y:5.17, Z:131.73 [[ 7.24717162e-01 -6.58009871e-01 2.04470158e-01 -2.19724296e+02] [ 6.73302424e-01 7.39332439e-01 -7.16867010e-03 5.17290209e+00] [-1.46454365e-01 1.42865511e-01 9.78846548e-01 1.31730711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.839072329 meters Centerline goodness : 0.785179 Centerline is valid? [False, False] Translation: X:-219.86, Y:5.15, Z:131.76 [[ 7.23389947e-01 -6.58954685e-01 2.06120616e-01 -2.19858688e+02] [ 6.74824169e-01 7.37920692e-01 -9.24081604e-03 5.15325831e+00] [-1.46011388e-01 1.45779887e-01 9.78482958e-01 1.31759849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.86907232899995 meters Centerline goodness : 0.786258 Centerline is valid? [False, False] Translation: X:-219.98, Y:5.14, Z:131.79 [[ 7.22779958e-01 -6.59356208e-01 2.06974692e-01 -2.19980361e+02] [ 6.75198243e-01 7.37591427e-01 -8.13756909e-03 5.13629454e+00] [-1.47297201e-01 1.45630620e-01 9.78312454e-01 1.31789194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.899072329 meters Centerline goodness : 0.784239 Centerline is valid? [False, False] Translation: X:-220.12, Y:5.12, Z:131.82 [[ 7.24497976e-01 -6.55915028e-01 2.11844657e-01 -2.20120047e+02] [ 6.72976356e-01 7.39571814e-01 -1.16771419e-02 5.11953130e+00] [-1.49015125e-01 1.51026511e-01 9.77233588e-01 1.31820749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.92907232899995 meters Centerline goodness : 0.786443 Centerline is valid? [False, False] Translation: X:-220.26, Y:5.10, Z:131.85 [[ 7.26460701e-01 -6.53092983e-01 2.13832659e-01 -2.20257170e+02] [ 6.70683457e-01 7.41621629e-01 -1.34558134e-02 5.10319082e+00] [-1.49795028e-01 1.53189147e-01 9.76777628e-01 1.31851847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.959072329 meters Centerline goodness : 0.785759 Centerline is valid? [False, False] Translation: X:-220.39, Y:5.09, Z:131.88 [[ 7.28701449e-01 -6.50068620e-01 2.15418171e-01 -2.20389490e+02] [ 6.68165030e-01 7.43851705e-01 -1.54962541e-02 5.08738219e+00] [-1.50165545e-01 1.55227032e-01 9.76398934e-01 1.31881859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.98907232899995 meters Centerline goodness : 0.786314 Centerline is valid? [False, False] Translation: X:-220.52, Y:5.07, Z:131.91 [[ 7.33153469e-01 -6.44690242e-01 2.16472822e-01 -2.20519794e+02] [ 6.63306115e-01 7.48120077e-01 -1.84756033e-02 5.07185380e+00] [-1.50036623e-01 1.57133199e-01 9.76113810e-01 1.31911710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.019072329 meters Centerline goodness : 0.784678 Centerline is valid? [False, False] Translation: X:-220.64, Y:5.06, Z:131.94 [[ 7.32590773e-01 -6.45325200e-01 2.16485903e-01 -2.20642286e+02] [ 6.63728761e-01 7.47780142e-01 -1.69997065e-02 5.05690587e+00] [-1.50913520e-01 1.56141748e-01 9.76137728e-01 1.31942207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.04907232899996 meters Centerline goodness : 0.782224 Centerline is valid? [False, False] Translation: X:-220.76, Y:5.04, Z:131.97 [[ 7.32651375e-01 -6.45205597e-01 2.16637255e-01 -2.20755110e+02] [ 6.63562120e-01 7.47938052e-01 -1.65524759e-02 5.04173255e+00] [-1.51351496e-01 1.55879470e-01 9.76111835e-01 1.31969898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.079072329 meters Centerline goodness : 0.784251 Centerline is valid? [False, False] Translation: X:-220.89, Y:5.02, Z:132.00 [[ 7.33946916e-01 -6.43327901e-01 2.17832816e-01 -2.20889913e+02] [ 6.62221287e-01 7.49067337e-01 -1.90024344e-02 5.02483065e+00] [-1.50946651e-01 1.58200306e-01 9.75801092e-01 1.32001429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.10907232899996 meters Centerline goodness : 0.783324 Centerline is valid? [False, False] Translation: X:-221.01, Y:5.01, Z:132.03 [[ 7.33169946e-01 -6.44378993e-01 2.17341997e-01 -2.21007451e+02] [ 6.62954715e-01 7.48458809e-01 -1.73336865e-02 5.00881127e+00] [-1.51502069e-01 1.56796440e-01 9.75941596e-01 1.32030057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.139072329 meters Centerline goodness : 0.781074 Centerline is valid? [False, False] Translation: X:-221.14, Y:4.99, Z:132.06 [[ 7.33156553e-01 -6.44516483e-01 2.16979194e-01 -2.21138077e+02] [ 6.63428142e-01 7.47975810e-01 -1.98818645e-02 4.99105250e+00] [-1.49480999e-01 1.58526623e-01 9.75973740e-01 1.32059754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.16907232899996 meters Centerline goodness : 0.780010 Centerline is valid? [False, False] Translation: X:-221.25, Y:4.97, Z:132.09 [[ 7.31598676e-01 -6.46650733e-01 2.15884708e-01 -2.21254623e+02] [ 6.65136803e-01 7.46504595e-01 -1.79978501e-02 4.97415654e+00] [-1.49520604e-01 1.56760068e-01 9.76252974e-01 1.32087115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.199072329 meters Centerline goodness : 0.779604 Centerline is valid? [False, False] Translation: X:-221.39, Y:4.96, Z:132.12 [[ 7.27970293e-01 -6.49960159e-01 2.18199552e-01 -2.21387939e+02] [ 6.69400687e-01 7.42596393e-01 -2.12912637e-02 4.95509900e+00] [-1.48195727e-01 1.61562338e-01 9.75671890e-01 1.32116168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.22907232899996 meters Centerline goodness : 0.780676 Centerline is valid? [False, False] Translation: X:-221.51, Y:4.94, Z:132.14 [[ 7.28213551e-01 -6.50080141e-01 2.17027268e-01 -2.21508660e+02] [ 6.68811958e-01 7.43215716e-01 -1.79155071e-02 4.93896184e+00] [-1.49651561e-01 1.58196747e-01 9.76001127e-01 1.32144570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.259072329 meters Centerline goodness : 0.778856 Centerline is valid? [False, False] Translation: X:-221.63, Y:4.92, Z:132.17 [[ 7.26210672e-01 -6.52395982e-01 2.16789167e-01 -2.21628555e+02] [ 6.70871950e-01 7.41396408e-01 -1.61923738e-02 4.92400943e+00] [-1.50162870e-01 1.57196846e-01 9.76084148e-01 1.32174071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.28907232899996 meters Centerline goodness : 0.779949 Centerline is valid? [False, False] Translation: X:-221.76, Y:4.90, Z:132.20 [[ 7.24242187e-01 -6.54420930e-01 2.17270573e-01 -2.21763897e+02] [ 6.73161890e-01 7.39296813e-01 -1.71257956e-02 4.90472802e+00] [-1.49419963e-01 1.58661493e-01 9.75961170e-01 1.32203919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.319072329 meters Centerline goodness : 0.780361 Centerline is valid? [False, False] Translation: X:-221.90, Y:4.89, Z:132.24 [[ 7.23839548e-01 -6.54430835e-01 2.18578569e-01 -2.21895255e+02] [ 6.73747153e-01 7.38705743e-01 -1.94576174e-02 4.88783033e+00] [-1.48731579e-01 1.61350882e-01 9.75625343e-01 1.32235032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34907232899997 meters Centerline goodness : 0.778504 Centerline is valid? [False, False] Translation: X:-222.01, Y:4.87, Z:132.26 [[ 7.23265657e-01 -6.55152524e-01 2.18316193e-01 -2.22012972e+02] [ 6.74106969e-01 7.38431509e-01 -1.72829738e-02 4.87137821e+00] [-1.49888572e-01 1.59668649e-01 9.75725032e-01 1.32262840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.379072329 meters Centerline goodness : 0.778022 Centerline is valid? [False, False] Translation: X:-222.15, Y:4.85, Z:132.29 [[ 7.24157702e-01 -6.53846847e-01 2.19271346e-01 -2.22150461e+02] [ 6.73123138e-01 7.39298681e-01 -1.85121948e-02 4.85374009e+00] [-1.50002877e-01 1.61002365e-01 9.75488275e-01 1.32293595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40907232899997 meters Centerline goodness : 0.778288 Centerline is valid? [False, False] Translation: X:-222.27, Y:4.84, Z:132.32 [[ 7.21345628e-01 -6.57027201e-01 2.19033656e-01 -2.22274708e+02] [ 6.76031849e-01 7.36686027e-01 -1.65721573e-02 4.83937712e+00] [-1.50470676e-01 1.60027981e-01 9.75576558e-01 1.32323795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.439072329 meters Centerline goodness : 0.778388 Centerline is valid? [False, False] Translation: X:-222.41, Y:4.82, Z:132.36 [[ 7.20660262e-01 -6.57194533e-01 2.20780736e-01 -2.22412701e+02] [ 6.76842654e-01 7.35887414e-01 -1.88078849e-02 4.82200286e+00] [-1.50109326e-01 1.62987914e-01 9.75142108e-01 1.32355788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46907232899997 meters Centerline goodness : 0.781262 Centerline is valid? [False, False] Translation: X:-222.54, Y:4.80, Z:132.39 [[ 7.16958463e-01 -6.61031474e-01 2.21377401e-01 -2.22542175e+02] [ 6.80592169e-01 7.32464055e-01 -1.70501664e-02 4.80450909e+00] [-1.50880292e-01 1.62891987e-01 9.75039147e-01 1.32388341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49907232899994 meters Centerline goodness : 0.781433 Centerline is valid? [False, False] Translation: X:-222.68, Y:4.79, Z:132.42 [[ 7.17051042e-01 -6.60058683e-01 2.23965036e-01 -2.22684854e+02] [ 6.80338992e-01 7.32652550e-01 -1.89498608e-02 4.78728147e+00] [-1.51580535e-01 1.65960165e-01 9.74412934e-01 1.32421609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.529072329 meters Centerline goodness : 0.780594 Centerline is valid? [False, False] Translation: X:-222.81, Y:4.77, Z:132.45 [[ 7.14983877e-01 -6.61944353e-01 2.25006064e-01 -2.22811599e+02] [ 6.82127761e-01 7.31037529e-01 -1.69070420e-02 4.77046148e+00] [-1.53296356e-01 1.65571145e-01 9.74210667e-01 1.32454093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55907232899995 meters Centerline goodness : 0.782090 Centerline is valid? [False, False] Translation: X:-222.95, Y:4.75, Z:132.49 [[ 7.15521092e-01 -6.60145906e-01 2.28554040e-01 -2.22953050e+02] [ 6.81250300e-01 7.31802843e-01 -1.90427964e-02 4.75380363e+00] [-1.54685472e-01 1.69328031e-01 9.73344966e-01 1.32487580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.589072329 meters Centerline goodness : 0.781726 Centerline is valid? [False, False] Translation: X:-223.10, Y:4.74, Z:132.52 [[ 7.16335980e-01 -6.58482899e-01 2.30787858e-01 -2.23095128e+02] [ 6.80170082e-01 7.32769715e-01 -2.04255799e-02 4.73815320e+00] [-1.55664458e-01 1.71606574e-01 9.72789679e-01 1.32521309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61907232899995 meters Centerline goodness : 0.783273 Centerline is valid? [False, False] Translation: X:-223.22, Y:4.72, Z:132.55 [[ 7.15437912e-01 -6.59613589e-01 2.30344324e-01 -2.23222192e+02] [ 6.80798202e-01 7.32258828e-01 -1.76299996e-02 4.72331441e+00] [-1.57042678e-01 1.69431172e-01 9.72949472e-01 1.32553335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.649072329 meters Centerline goodness : 0.781736 Centerline is valid? [False, False] Translation: X:-223.36, Y:4.71, Z:132.59 [[ 7.16839978e-01 -6.58368429e-01 2.29546200e-01 -2.23357558e+02] [ 6.79704139e-01 7.33223440e-01 -1.96384677e-02 4.70849619e+00] [-1.55379307e-01 1.70101141e-01 9.73099621e-01 1.32585663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67907232899995 meters Centerline goodness : 0.781608 Centerline is valid? [False, False] Translation: X:-223.50, Y:4.69, Z:132.62 [[ 7.17597966e-01 -6.57251307e-01 2.30377687e-01 -2.23495373e+02] [ 6.79054433e-01 7.33764383e-01 -2.17923883e-02 4.69381052e+00] [-1.54719866e-01 1.72077163e-01 9.72857242e-01 1.32619094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.709072329 meters Centerline goodness : 0.781535 Centerline is valid? [False, False] Translation: X:-223.62, Y:4.68, Z:132.65 [[ 7.17554090e-01 -6.57322328e-01 2.30311713e-01 -2.23620559e+02] [ 6.78837167e-01 7.34015033e-01 -2.00507201e-02 4.68031808e+00] [-1.55872473e-01 1.70731627e-01 9.72910316e-01 1.32650704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.73907232899995 meters Centerline goodness : 0.781930 Centerline is valid? [False, False] Translation: X:-223.76, Y:4.67, Z:132.68 [[ 7.18897313e-01 -6.55540535e-01 2.31199611e-01 -2.23756770e+02] [ 6.77632614e-01 7.35043569e-01 -2.29127153e-02 4.66657666e+00] [-1.54921574e-01 1.73140286e-01 9.72636493e-01 1.32684398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.769072329 meters Centerline goodness : 0.781180 Centerline is valid? [False, False] Translation: X:-223.88, Y:4.65, Z:132.72 [[ 7.17737666e-01 -6.56846733e-01 2.31095244e-01 -2.23883007e+02] [ 6.78809515e-01 7.33983697e-01 -2.20357775e-02 4.65293040e+00] [-1.55146013e-01 1.72685558e-01 9.72681558e-01 1.32717458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.79907232899996 meters Centerline goodness : 0.781513 Centerline is valid? [False, False] Translation: X:-224.02, Y:4.64, Z:132.75 [[ 7.18621503e-01 -6.55405725e-01 2.32435951e-01 -2.24017636e+02] [ 6.78261270e-01 7.34349535e-01 -2.63136744e-02 4.63902335e+00] [-1.53443100e-01 1.76561876e-01 9.72255686e-01 1.32750356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.829072329 meters Centerline goodness : 0.781475 Centerline is valid? [False, False] Translation: X:-224.15, Y:4.62, Z:132.78 [[ 7.19112507e-01 -6.54610269e-01 2.33157883e-01 -2.24153727e+02] [ 6.77980328e-01 7.34514189e-01 -2.88371246e-02 4.62410542e+00] [-1.52380696e-01 1.78813595e-01 9.72011225e-01 1.32783919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.85907232899996 meters Centerline goodness : 0.780577 Centerline is valid? [False, False] Translation: X:-224.28, Y:4.61, Z:132.82 [[ 7.17988083e-01 -6.55980922e-01 2.32770581e-01 -2.24279738e+02] [ 6.78993944e-01 7.33653152e-01 -2.68379672e-02 4.61007575e+00] [-1.53167676e-01 1.77319155e-01 9.72161293e-01 1.32816348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.889072329 meters Centerline goodness : 0.781109 Centerline is valid? [False, False] Translation: X:-224.40, Y:4.60, Z:132.85 [[ 7.15726877e-01 -6.59464290e-01 2.29873635e-01 -2.24403763e+02] [ 6.81539727e-01 7.31394438e-01 -2.37860555e-02 4.59664130e+00] [-1.52442244e-01 1.73692334e-01 9.72929769e-01 1.32849197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.91907232899996 meters Centerline goodness : 0.781448 Centerline is valid? [False, False] Translation: X:-224.54, Y:4.58, Z:132.88 [[ 7.16063034e-01 -6.59115841e-01 2.29826107e-01 -2.24538546e+02] [ 6.81254494e-01 7.31643438e-01 -2.42939323e-02 4.58222178e+00] [-1.52138247e-01 1.73966055e-01 9.72928448e-01 1.32882160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.949072329 meters Centerline goodness : 0.781593 Centerline is valid? [False, False] Translation: X:-224.67, Y:4.57, Z:132.92 [[ 7.14935302e-01 -6.59753380e-01 2.31501602e-01 -2.24673778e+02] [ 6.82686289e-01 7.30200775e-01 -2.73177335e-02 4.56724754e+00] [-1.51019682e-01 1.77573382e-01 9.72450898e-01 1.32915446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.97907232899996 meters Centerline goodness : 0.782223 Centerline is valid? [False, False] Translation: X:-224.80, Y:4.55, Z:132.95 [[ 7.15155876e-01 -6.59687318e-01 2.31008043e-01 -2.24798076e+02] [ 6.82026314e-01 7.30930071e-01 -2.41109674e-02 4.55387743e+00] [-1.52945026e-01 1.74796664e-01 9.72653045e-01 1.32947430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.009072329 meters Centerline goodness : 0.781789 Centerline is valid? [False, False] Translation: X:-224.92, Y:4.54, Z:132.98 [[ 7.14871624e-01 -6.59946321e-01 2.31148035e-01 -2.24922352e+02] [ 6.81852984e-01 7.31182491e-01 -2.11819070e-02 4.54233349e+00] [-1.55032475e-01 1.72751322e-01 9.72687983e-01 1.32978553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.03907232899996 meters Centerline goodness : 0.783451 Centerline is valid? [False, False] Translation: X:-225.06, Y:4.53, Z:133.01 [[ 7.15761271e-01 -6.58876307e-01 2.31447219e-01 -2.25056661e+02] [ 6.80856429e-01 7.32102605e-01 -2.14545739e-02 4.53037037e+00] [-1.55307201e-01 1.72938680e-01 9.72610861e-01 1.33011077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.069072329 meters Centerline goodness : 0.782861 Centerline is valid? [False, False] Translation: X:-225.19, Y:4.52, Z:133.04 [[ 7.19720065e-01 -6.54623717e-01 2.31237577e-01 -2.25192832e+02] [ 6.76808624e-01 7.35781219e-01 -2.35814221e-02 4.51955697e+00] [-1.54703308e-01 1.73475609e-01 9.72611484e-01 1.33043436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09907232899997 meters Centerline goodness : 0.784419 Centerline is valid? [False, False] Translation: X:-225.33, Y:4.51, Z:133.08 [[ 7.21873770e-01 -6.52244981e-01 2.31246070e-01 -2.25326056e+02] [ 6.74746047e-01 7.37595508e-01 -2.58966744e-02 4.50899638e+00] [-1.53675087e-01 1.74726502e-01 9.72550573e-01 1.33076359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.129072329 meters Centerline goodness : 0.782033 Centerline is valid? [False, False] Translation: X:-225.45, Y:4.50, Z:133.11 [[ 7.25376516e-01 -6.48630599e-01 2.30450117e-01 -2.25447824e+02] [ 6.70545367e-01 7.41492424e-01 -2.36198039e-02 4.50089068e+00] [-1.55556488e-01 1.71660509e-01 9.72797435e-01 1.33107256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15907232899997 meters Centerline goodness : 0.782479 Centerline is valid? [False, False] Translation: X:-225.57, Y:4.49, Z:133.14 [[ 7.28071119e-01 -6.45646721e-01 2.30331841e-01 -2.25571476e+02] [ 6.67232696e-01 7.44520739e-01 -2.21223502e-02 4.49127821e+00] [-1.57203610e-01 1.69791580e-01 9.72860650e-01 1.33139531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.189072329 meters Centerline goodness : 0.785735 Centerline is valid? [False, False] Translation: X:-225.69, Y:4.48, Z:133.17 [[ 7.31803217e-01 -6.41300225e-01 2.30647075e-01 -2.25694531e+02] [ 6.62379912e-01 7.48919699e-01 -1.92908502e-02 4.48402411e+00] [-1.60364911e-01 1.66893095e-01 9.72846231e-01 1.33173164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21907232899997 meters Centerline goodness : 0.785299 Centerline is valid? [False, False] Translation: X:-225.82, Y:4.47, Z:133.21 [[ 7.32424795e-01 -6.40553979e-01 2.30747742e-01 -2.25818281e+02] [ 6.61393830e-01 7.49826572e-01 -1.78413265e-02 4.47355560e+00] [-1.61592456e-01 1.65682563e-01 9.72850023e-01 1.33205445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24907232899994 meters Centerline goodness : 0.785428 Centerline is valid? [False, False] Translation: X:-225.94, Y:4.46, Z:133.24 [[ 7.35378673e-01 -6.37445201e-01 2.29960484e-01 -2.25938983e+02] [ 6.57642571e-01 7.53175625e-01 -1.52553732e-02 4.46407899e+00] [-1.63476167e-01 1.62450280e-01 9.73080392e-01 1.33236315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.279072329 meters Centerline goodness : 0.785841 Centerline is valid? [False, False] Translation: X:-226.06, Y:4.46, Z:133.27 [[ 7.36814976e-01 -6.35682760e-01 2.30241437e-01 -2.26060881e+02] [ 6.55701397e-01 7.54887402e-01 -1.41664405e-02 4.45500281e+00] [-1.64800998e-01 1.61407677e-01 9.73030417e-01 1.33267910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.30907232899995 meters Centerline goodness : 0.786467 Centerline is valid? [False, False] Translation: X:-226.18, Y:4.45, Z:133.30 [[ 7.39024927e-01 -6.33321610e-01 2.29664745e-01 -2.26181518e+02] [ 6.52790906e-01 7.57445404e-01 -1.18529657e-02 4.44538435e+00] [-1.66451767e-01 1.58682694e-01 9.73197622e-01 1.33298240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.339072329 meters Centerline goodness : 0.786467 Centerline is valid? [False, False] Translation: X:-226.30, Y:4.43, Z:133.33 [[ 7.39192999e-01 -6.33092549e-01 2.29755381e-01 -2.26301715e+02] [ 6.52388299e-01 7.57808132e-01 -1.07861725e-02 4.43446838e+00] [-1.67281851e-01 1.57862785e-01 9.73188637e-01 1.33328353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.36907232899995 meters Centerline goodness : 0.786905 Centerline is valid? [False, False] Translation: X:-226.42, Y:4.43, Z:133.36 [[ 7.39743746e-01 -6.32472199e-01 2.29691332e-01 -2.26421578e+02] [ 6.51590439e-01 7.58506246e-01 -9.90824878e-03 4.42502793e+00] [-1.67955618e-01 1.56994241e-01 9.73213090e-01 1.33358607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.399072329 meters Centerline goodness : 0.786318 Centerline is valid? [False, False] Translation: X:-226.54, Y:4.42, Z:133.39 [[ 7.41868467e-01 -6.30516946e-01 2.28209462e-01 -2.26537433e+02] [ 6.49255590e-01 7.60512138e-01 -9.40565138e-03 4.41700294e+00] [-1.67625643e-01 1.55144025e-01 9.73566626e-01 1.33388721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.42907232899995 meters Centerline goodness : 0.785958 Centerline is valid? [False, False] Translation: X:-226.66, Y:4.41, Z:133.42 [[ 7.43547214e-01 -6.28409600e-01 2.28558340e-01 -2.26656501e+02] [ 6.46966690e-01 7.62472704e-01 -8.33534337e-03 4.40809021e+00] [-1.69031486e-01 1.54067354e-01 9.73494534e-01 1.33418324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.459072329 meters Centerline goodness : 0.784987 Centerline is valid? [False, False] Translation: X:-226.77, Y:4.40, Z:133.45 [[ 7.45866111e-01 -6.25757296e-01 2.28279544e-01 -2.26774357e+02] [ 6.44338743e-01 7.64685782e-01 -9.12357428e-03 4.40092572e+00] [-1.68852978e-01 1.53894319e-01 9.73552880e-01 1.33449026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.48907232899995 meters Centerline goodness : 0.784103 Centerline is valid? [False, False] Translation: X:-226.89, Y:4.39, Z:133.48 [[ 7.47555243e-01 -6.23601497e-01 2.28653301e-01 -2.26889275e+02] [ 6.42336864e-01 7.66357536e-01 -9.97398193e-03 4.39235377e+00] [-1.69010390e-01 1.54328547e-01 9.73456824e-01 1.33478077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.519072329 meters Centerline goodness : 0.784570 Centerline is valid? [False, False] Translation: X:-227.00, Y:4.38, Z:133.51 [[ 7.50130836e-01 -6.20638712e-01 2.28279035e-01 -2.27002409e+02] [ 6.39122764e-01 7.69048427e-01 -9.30645522e-03 4.38404093e+00] [-1.69781686e-01 1.52879387e-01 9.73551268e-01 1.33506188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.54907232899996 meters Centerline goodness : 0.784345 Centerline is valid? [False, False] Translation: X:-227.12, Y:4.38, Z:133.53 [[ 7.52634960e-01 -6.17792731e-01 2.27755919e-01 -2.27118220e+02] [ 6.35929695e-01 7.71703307e-01 -8.21154438e-03 4.37678316e+00] [-1.70686963e-01 1.51017047e-01 9.73683630e-01 1.33534605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.579072329 meters Centerline goodness : 0.783451 Centerline is valid? [False, False] Translation: X:-227.23, Y:4.37, Z:133.56 [[ 7.53481157e-01 -6.16973448e-01 2.27178145e-01 -2.27230074e+02] [ 6.35105249e-01 7.72375195e-01 -8.82501749e-03 4.36810398e+00] [-1.70021962e-01 1.50931517e-01 9.73813231e-01 1.33563964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.60907232899996 meters Centerline goodness : 0.784912 Centerline is valid? [False, False] Translation: X:-227.35, Y:4.36, Z:133.59 [[ 7.55793965e-01 -6.13479928e-01 2.28949471e-01 -2.27345317e+02] [ 6.31797065e-01 7.75084128e-01 -8.77859182e-03 4.35988270e+00] [-1.72069611e-01 1.51284410e-01 9.73398724e-01 1.33593589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.639072329 meters Centerline goodness : 0.783457 Centerline is valid? [False, False] Translation: X:-227.46, Y:4.35, Z:133.62 [[ 7.55784538e-01 -6.13236201e-01 2.29632520e-01 -2.27456088e+02] [ 6.31898064e-01 7.74985093e-01 -1.01460898e-02 4.35074149e+00] [-1.71739830e-01 1.52772603e-01 9.73224518e-01 1.33622613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.66907232899996 meters Centerline goodness : 0.784313 Centerline is valid? [False, False] Translation: X:-227.57, Y:4.34, Z:133.65 [[ 7.55856377e-01 -6.12908084e-01 2.30271181e-01 -2.27569073e+02] [ 6.31838683e-01 7.75019977e-01 -1.11316083e-02 4.34132116e+00] [-1.71642112e-01 1.53908137e-01 9.73062830e-01 1.33651464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.699072329 meters Centerline goodness : 0.785680 Centerline is valid? [False, False] Translation: X:-227.69, Y:4.33, Z:133.68 [[ 7.55417736e-01 -6.13668529e-01 2.29684524e-01 -2.27685065e+02] [ 6.32243065e-01 7.74711337e-01 -9.54204031e-03 4.33237416e+00] [-1.72083555e-01 1.52424674e-01 9.73218356e-01 1.33680899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.72907232899996 meters Centerline goodness : 0.786353 Centerline is valid? [False, False] Translation: X:-227.80, Y:4.32, Z:133.71 [[ 7.56483216e-01 -6.12931010e-01 2.28141888e-01 -2.27798797e+02] [ 6.30977427e-01 7.75759411e-01 -8.05127769e-03 4.32406301e+00] [-1.72048339e-01 1.50043038e-01 9.73594606e-01 1.33709251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.759072329 meters Centerline goodness : 0.787308 Centerline is valid? [False, False] Translation: X:-227.91, Y:4.32, Z:133.74 [[ 7.55998020e-01 -6.13966983e-01 2.26961531e-01 -2.27914066e+02] [ 6.31637940e-01 7.75233459e-01 -6.82619760e-03 4.31597501e+00] [-1.71757113e-01 1.48518106e-01 9.73879801e-01 1.33737727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.78907232899996 meters Centerline goodness : 0.784887 Centerline is valid? [False, False] Translation: X:-228.03, Y:4.31, Z:133.77 [[ 7.57115861e-01 -6.12501015e-01 2.27196127e-01 -2.28029408e+02] [ 6.30137917e-01 7.76454859e-01 -6.63753169e-03 4.30736126e+00] [-1.72342042e-01 1.48190275e-01 9.73826403e-01 1.33767159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.819072329 meters Centerline goodness : 0.785623 Centerline is valid? [False, False] Translation: X:-228.14, Y:4.30, Z:133.80 [[ 7.57861103e-01 -6.11633156e-01 2.27049401e-01 -2.28143069e+02] [ 6.29295974e-01 7.77133860e-01 -7.03858080e-03 4.29887687e+00] [-1.72142748e-01 1.48215540e-01 9.73857807e-01 1.33796222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84907232899997 meters Centerline goodness : 0.786984 Centerline is valid? [False, False] Translation: X:-228.25, Y:4.29, Z:133.82 [[ 7.60173642e-01 -6.08827378e-01 2.26859555e-01 -2.28254782e+02] [ 6.26540035e-01 7.79349296e-01 -7.89048288e-03 4.29173542e+00] [-1.71998892e-01 1.48134730e-01 9.73895519e-01 1.33824535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.879072329 meters Centerline goodness : 0.787645 Centerline is valid? [False, False] Translation: X:-228.37, Y:4.28, Z:133.85 [[ 7.61864346e-01 -6.06813252e-01 2.26584190e-01 -2.28367270e+02] [ 6.24319111e-01 7.81135758e-01 -7.25091371e-03 4.28478282e+00] [-1.72593063e-01 1.46985053e-01 9.73964593e-01 1.33852348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90907232899997 meters Centerline goodness : 0.788490 Centerline is valid? [False, False] Translation: X:-228.48, Y:4.28, Z:133.88 [[ 7.64322147e-01 -6.04085082e-01 2.25594480e-01 -2.28479753e+02] [ 6.21202653e-01 7.83624575e-01 -6.30791460e-03 4.27802671e+00] [-1.72970861e-01 1.44961168e-01 9.74200873e-01 1.33880962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.939072329 meters Centerline goodness : 0.786616 Centerline is valid? [False, False] Translation: X:-228.59, Y:4.27, Z:133.91 [[ 7.68504924e-01 -5.99274705e-01 2.24209743e-01 -2.28589522e+02] [ 6.15979445e-01 7.87740549e-01 -5.84386261e-03 4.27333685e+00] [-1.73117027e-01 1.42599630e-01 9.74523391e-01 1.33909101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96907232899997 meters Centerline goodness : 0.787251 Centerline is valid? [False, False] Translation: X:-228.70, Y:4.27, Z:133.94 [[ 7.70367820e-01 -5.97024942e-01 2.23818322e-01 -2.28699874e+02] [ 6.13741268e-01 7.89480006e-01 -6.55562070e-03 4.26678698e+00] [-1.72786221e-01 1.42416780e-01 9.74608836e-01 1.33937822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99907232899994 meters Centerline goodness : 0.788211 Centerline is valid? [False, False] Translation: X:-228.81, Y:4.26, Z:133.97 [[ 7.72473882e-01 -5.93473891e-01 2.25993015e-01 -2.28808578e+02] [ 6.10766844e-01 7.91765421e-01 -8.44862534e-03 4.25929429e+00] [-1.73919416e-01 1.44555383e-01 9.74092284e-01 1.33966330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.029072329 meters Centerline goodness : 0.788387 Centerline is valid? [False, False] Translation: X:-228.92, Y:4.25, Z:133.99 [[ 7.73387055e-01 -5.92002364e-01 2.26728173e-01 -2.28919458e+02] [ 6.09403203e-01 7.92813488e-01 -8.63187402e-03 4.25138906e+00] [-1.74643064e-01 1.44844654e-01 9.73919825e-01 1.33994570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05907232899995 meters Centerline goodness : 0.787983 Centerline is valid? [False, False] Translation: X:-229.03, Y:4.24, Z:134.02 [[ 7.74401414e-01 -5.90624212e-01 2.26860070e-01 -2.29028639e+02] [ 6.08030810e-01 7.93865266e-01 -8.74491715e-03 4.24418387e+00] [-1.74931370e-01 1.44709988e-01 9.73888102e-01 1.34021515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.089072329 meters Centerline goodness : 0.788407 Centerline is valid? [False, False] Translation: X:-229.14, Y:4.24, Z:134.05 [[ 7.75025696e-01 -5.89793093e-01 2.26890454e-01 -2.29139313e+02] [ 6.06990244e-01 7.94672244e-01 -7.67258055e-03 4.23565728e+00] [-1.75778311e-01 1.43666739e-01 9.73890062e-01 1.34048329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11907232899995 meters Centerline goodness : 0.789475 Centerline is valid? [False, False] Translation: X:-229.25, Y:4.23, Z:134.08 [[ 7.74365331e-01 -5.90718823e-01 2.26736868e-01 -2.29249665e+02] [ 6.07899509e-01 7.93977789e-01 -7.58006173e-03 4.22712078e+00] [-1.75546352e-01 1.43702967e-01 9.73926556e-01 1.34075654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.149072329 meters Centerline goodness : 0.789336 Centerline is valid? [False, False] Translation: X:-229.36, Y:4.22, Z:134.10 [[ 7.73138657e-01 -5.91911259e-01 2.27810622e-01 -2.29360652e+02] [ 6.09420324e-01 7.92803586e-01 -8.32727734e-03 4.21886204e+00] [-1.75680069e-01 1.45270563e-01 9.73669850e-01 1.34103535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17907232899995 meters Centerline goodness : 0.789353 Centerline is valid? [False, False] Translation: X:-229.47, Y:4.21, Z:134.13 [[ 7.71090293e-01 -5.94330762e-01 2.28452851e-01 -2.29471962e+02] [ 6.12087477e-01 7.90740966e-01 -8.81158309e-03 4.20807213e+00] [-1.75410034e-01 1.46627656e-01 9.73515100e-01 1.34131471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.209072329 meters Centerline goodness : 0.789465 Centerline is valid? [False, False] Translation: X:-229.58, Y:4.20, Z:134.16 [[ 7.70340023e-01 -5.95290885e-01 2.28484159e-01 -2.29582956e+02] [ 6.13076425e-01 7.89974494e-01 -8.80888880e-03 4.19873157e+00] [-1.75252807e-01 1.46864091e-01 9.73507777e-01 1.34158899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.23907232899995 meters Centerline goodness : 0.790238 Centerline is valid? [False, False] Translation: X:-229.69, Y:4.19, Z:134.19 [[ 7.69800906e-01 -5.95915272e-01 2.28673465e-01 -2.29693612e+02] [ 6.13761703e-01 7.89441218e-01 -8.89581377e-03 4.18976411e+00] [-1.75223108e-01 1.47199021e-01 9.73462537e-01 1.34186293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.269072329 meters Centerline goodness : 0.787417 Centerline is valid? [False, False] Translation: X:-229.80, Y:4.18, Z:134.21 [[ 7.68245491e-01 -5.98248339e-01 2.27810864e-01 -2.29801772e+02] [ 6.16075616e-01 7.87633227e-01 -9.20519738e-03 4.17952807e+00] [-1.73924412e-01 1.47420570e-01 9.73661889e-01 1.34212238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.29907232899996 meters Centerline goodness : 0.787248 Centerline is valid? [False, False] Translation: X:-229.91, Y:4.17, Z:134.24 [[ 7.68054058e-01 -5.98995930e-01 2.26488056e-01 -2.29910680e+02] [ 6.16638727e-01 7.87192341e-01 -9.21402914e-03 4.17004475e+00] [-1.72770497e-01 1.46738179e-01 9.73970360e-01 1.34238878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.329072329 meters Centerline goodness : 0.786679 Centerline is valid? [False, False] Translation: X:-230.02, Y:4.16, Z:134.27 [[ 7.66642493e-01 -6.00645564e-01 2.26901288e-01 -2.30024019e+02] [ 6.18413848e-01 7.85797230e-01 -9.32878675e-03 4.16046488e+00] [-1.72695110e-01 1.47470743e-01 9.73873082e-01 1.34266396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.35907232899996 meters Centerline goodness : 0.786416 Centerline is valid? [False, False] Translation: X:-230.14, Y:4.15, Z:134.29 [[ 7.63924848e-01 -6.04139342e-01 2.26791716e-01 -2.30135342e+02] [ 6.22027660e-01 7.82936275e-01 -9.61137442e-03 4.14894823e+00] [-1.71756852e-01 1.48413088e-01 9.73895856e-01 1.34293500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.389072329 meters Centerline goodness : 0.785414 Centerline is valid? [False, False] Translation: X:-230.25, Y:4.14, Z:134.32 [[ 7.59838028e-01 -6.08490310e-01 2.28879258e-01 -2.30250303e+02] [ 6.26992537e-01 7.78953068e-01 -1.06055022e-02 4.13708637e+00] [-1.71832855e-01 1.51564051e-01 9.73397046e-01 1.34321340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.41907232899996 meters Centerline goodness : 0.783998 Centerline is valid? [False, False] Translation: X:-230.36, Y:4.13, Z:134.35 [[ 7.58535978e-01 -6.09876882e-01 2.29506776e-01 -2.30364639e+02] [ 6.28476651e-01 7.77759036e-01 -1.03913914e-02 4.12682612e+00] [-1.72163499e-01 1.52121894e-01 9.73251591e-01 1.34348988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.449072329 meters Centerline goodness : 0.783723 Centerline is valid? [False, False] Translation: X:-230.48, Y:4.12, Z:134.38 [[ 7.57135747e-01 -6.11546487e-01 2.29687513e-01 -2.30479757e+02] [ 6.30140104e-01 7.76417662e-01 -9.95310817e-03 4.11778233e+00] [-1.72246654e-01 1.52271167e-01 9.73213534e-01 1.34377531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.47907232899996 meters Centerline goodness : 0.782570 Centerline is valid? [False, False] Translation: X:-230.59, Y:4.11, Z:134.41 [[ 7.56135305e-01 -6.12954333e-01 2.29229986e-01 -2.30593369e+02] [ 6.31453419e-01 7.75354003e-01 -9.63062362e-03 4.10854469e+00] [-1.71831255e-01 1.52030113e-01 9.73324645e-01 1.34405902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.509072329 meters Centerline goodness : 0.782666 Centerline is valid? [False, False] Translation: X:-230.71, Y:4.10, Z:134.43 [[ 7.53442452e-01 -6.16044933e-01 2.29811034e-01 -2.30709310e+02] [ 6.34525248e-01 7.72854839e-01 -8.55029171e-03 4.09875844e+00] [-1.72343206e-01 1.52263056e-01 9.73197709e-01 1.34433963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.53907232899996 meters Centerline goodness : 0.781350 Centerline is valid? [False, False] Translation: X:-230.83, Y:4.09, Z:134.46 [[ 7.53088440e-01 -6.16301776e-01 2.30282267e-01 -2.30825495e+02] [ 6.34744770e-01 7.72681718e-01 -7.87656397e-03 4.09058410e+00] [-1.73080557e-01 1.52102214e-01 9.73091998e-01 1.34462799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.569072329 meters Centerline goodness : 0.781828 Centerline is valid? [False, False] Translation: X:-230.94, Y:4.08, Z:134.49 [[ 7.50764398e-01 -6.18542561e-01 2.31857540e-01 -2.30943577e+02] [ 6.37398792e-01 7.70487867e-01 -8.43958868e-03 4.08170977e+00] [-1.73423177e-01 1.54121859e-01 9.72713141e-01 1.34492584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59907232899997 meters Centerline goodness : 0.778699 Centerline is valid? [False, False] Translation: X:-231.06, Y:4.07, Z:134.52 [[ 7.50118311e-01 -6.19180301e-01 2.32246150e-01 -2.31056893e+02] [ 6.38311861e-01 7.69718802e-01 -9.53598175e-03 4.07166651e+00] [-1.72859737e-01 1.55398587e-01 9.72610297e-01 1.34521003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.629072329 meters Centerline goodness : 0.778809 Centerline is valid? [False, False] Translation: X:-231.18, Y:4.06, Z:134.55 [[ 7.49277792e-01 -6.19406228e-01 2.34347424e-01 -2.31176091e+02] [ 6.38926571e-01 7.69206068e-01 -9.73964953e-03 4.06361197e+00] [-1.74228661e-01 1.57028499e-01 9.72104122e-01 1.34550927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65907232899997 meters Centerline goodness : 0.780169 Centerline is valid? [False, False] Translation: X:-231.30, Y:4.06, Z:134.58 [[ 7.49320576e-01 -6.18800868e-01 2.35805342e-01 -2.31296987e+02] [ 6.38403260e-01 7.69650129e-01 -8.94182745e-03 4.05636895e+00] [-1.75954401e-01 1.57239194e-01 9.71759170e-01 1.34581040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.689072329 meters Centerline goodness : 0.779341 Centerline is valid? [False, False] Translation: X:-231.41, Y:4.05, Z:134.61 [[ 7.50041682e-01 -6.17704023e-01 2.36387852e-01 -2.31414582e+02] [ 6.37257831e-01 7.70605903e-01 -8.30655686e-03 4.04964077e+00] [-1.77030880e-01 1.56870274e-01 9.71623273e-01 1.34610686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71907232899997 meters Centerline goodness : 0.778757 Centerline is valid? [False, False] Translation: X:-231.53, Y:4.04, Z:134.64 [[ 7.50305893e-01 -6.17024613e-01 2.37321920e-01 -2.31534313e+02] [ 6.36492520e-01 7.71250244e-01 -7.09460081e-03 4.04306243e+00] [-1.78657045e-01 1.56376747e-01 9.71405154e-01 1.34640540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74907232899994 meters Centerline goodness : 0.778096 Centerline is valid? [False, False] Translation: X:-231.65, Y:4.04, Z:134.67 [[ 7.52265903e-01 -6.15006679e-01 2.36353117e-01 -2.31647148e+02] [ 6.34215192e-01 7.73126167e-01 -6.85714321e-03 4.03669133e+00] [-1.78513591e-01 1.55057132e-01 9.71643033e-01 1.34669773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.779072329 meters Centerline goodness : 0.778659 Centerline is valid? [False, False] Translation: X:-231.77, Y:4.03, Z:134.70 [[ 7.53233880e-01 -6.13319344e-01 2.37651222e-01 -2.31765041e+02] [ 6.32710377e-01 7.74357374e-01 -6.94520239e-03 4.03089242e+00] [-1.79767349e-01 1.55595756e-01 9.71325723e-01 1.34700166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.80907232899995 meters Centerline goodness : 0.779785 Centerline is valid? [False, False] Translation: X:-231.88, Y:4.03, Z:134.73 [[ 7.53965862e-01 -6.11187655e-01 2.40801018e-01 -2.31882115e+02] [ 6.31280347e-01 7.75511084e-01 -8.22683628e-03 4.02530490e+00] [-1.81715718e-01 1.58215704e-01 9.70539638e-01 1.34731259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.839072329 meters Centerline goodness : 0.779718 Centerline is valid? [False, False] Translation: X:-232.00, Y:4.02, Z:134.76 [[ 7.55331463e-01 -6.09077731e-01 2.41865042e-01 -2.31997665e+02] [ 6.29222764e-01 7.77185072e-01 -7.87889901e-03 4.01882829e+00] [-1.83175038e-01 1.58138171e-01 9.70277911e-01 1.34761763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.86907232899995 meters Centerline goodness : 0.778354 Centerline is valid? [False, False] Translation: X:-232.12, Y:4.01, Z:134.79 [[ 7.56271946e-01 -6.07355408e-01 2.43253269e-01 -2.32115366e+02] [ 6.27604586e-01 7.78496480e-01 -7.46421452e-03 4.01471898e+00] [-1.84838383e-01 1.58311843e-01 9.69934087e-01 1.34792791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.899072329 meters Centerline goodness : 0.778207 Centerline is valid? [False, False] Translation: X:-232.23, Y:4.01, Z:134.82 [[ 7.55862360e-01 -6.06959750e-01 2.45503472e-01 -2.32232592e+02] [ 6.27600646e-01 7.78498476e-01 -7.58630892e-03 4.00835572e+00] [-1.86519494e-01 1.59812343e-01 9.69366026e-01 1.34823442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.92907232899995 meters Centerline goodness : 0.778314 Centerline is valid? [False, False] Translation: X:-232.35, Y:4.00, Z:134.85 [[ 7.56499812e-01 -6.05693239e-01 2.46665229e-01 -2.32348633e+02] [ 6.26359637e-01 7.79503728e-01 -6.89521586e-03 4.00168134e+00] [-1.88100080e-01 1.59717373e-01 9.69076220e-01 1.34853976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.959072329 meters Centerline goodness : 0.777441 Centerline is valid? [False, False] Translation: X:-232.47, Y:3.99, Z:134.88 [[ 7.55470436e-01 -6.06255661e-01 2.48432071e-01 -2.32466876e+02] [ 6.27148492e-01 7.78873229e-01 -6.42364692e-03 3.99475780e+00] [-1.89602717e-01 1.60656674e-01 9.68628021e-01 1.34884907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.98907232899995 meters Centerline goodness : 0.778179 Centerline is valid? [False, False] Translation: X:-232.58, Y:3.99, Z:134.92 [[ 7.54616094e-01 -6.06803327e-01 2.49688353e-01 -2.32582916e+02] [ 6.28087338e-01 7.78109251e-01 -7.23113788e-03 3.98822260e+00] [-1.89896939e-01 1.62282826e-01 9.68299250e-01 1.34916091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.019072329 meters Centerline goodness : 0.777794 Centerline is valid? [False, False] Translation: X:-232.70, Y:3.98, Z:134.95 [[ 7.53236269e-01 -6.07591152e-01 2.51928790e-01 -2.32702047e+02] [ 6.29319257e-01 7.77111815e-01 -7.38234957e-03 3.98106663e+00] [-1.91291389e-01 1.64104292e-01 9.67717617e-01 1.34947896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.04907232899996 meters Centerline goodness : 0.778082 Centerline is valid? [False, False] Translation: X:-232.82, Y:3.98, Z:134.98 [[ 7.54154188e-01 -6.06706517e-01 2.51313873e-01 -2.32817527e+02] [ 6.28041375e-01 7.78156208e-01 -6.07841658e-03 3.97530169e+00] [-1.91873636e-01 1.62419574e-01 9.67886558e-01 1.34978734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.079072329 meters Centerline goodness : 0.776568 Centerline is valid? [False, False] Translation: X:-232.93, Y:3.97, Z:135.01 [[ 7.55288252e-01 -6.05505059e-01 2.50805262e-01 -2.32932003e+02] [ 6.26509464e-01 7.79397464e-01 -5.04826168e-03 3.97015448e+00] [-1.92420237e-01 1.60944763e-01 9.68024398e-01 1.35009071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.10907232899996 meters Centerline goodness : 0.777789 Centerline is valid? [False, False] Translation: X:-233.05, Y:3.97, Z:135.04 [[ 7.57516096e-01 -6.02899117e-01 2.50363776e-01 -2.33047048e+02] [ 6.23664962e-01 7.81677955e-01 -4.64643332e-03 3.96753679e+00] [-1.92902514e-01 1.59662863e-01 9.68140687e-01 1.35041148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.139072329 meters Centerline goodness : 0.777285 Centerline is valid? [False, False] Translation: X:-233.16, Y:3.96, Z:135.07 [[ 7.58542675e-01 -6.01074961e-01 2.51638434e-01 -2.33161478e+02] [ 6.22176719e-01 7.82857295e-01 -5.53045373e-03 3.96345605e+00] [-1.93672767e-01 1.60758661e-01 9.67805514e-01 1.35073375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.16907232899996 meters Centerline goodness : 0.776950 Centerline is valid? [False, False] Translation: X:-233.28, Y:3.96, Z:135.11 [[ 7.59859502e-01 -5.98972676e-01 2.52676215e-01 -2.33276478e+02] [ 6.20335147e-01 7.84311732e-01 -6.27783222e-03 3.95964565e+00] [-1.94416670e-01 1.61514207e-01 9.67530526e-01 1.35105857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.199072329 meters Centerline goodness : 0.777409 Centerline is valid? [False, False] Translation: X:-233.39, Y:3.96, Z:135.14 [[ 7.61554179e-01 -5.96497745e-01 2.53427845e-01 -2.33387910e+02] [ 6.17944198e-01 7.86195517e-01 -6.44811954e-03 3.95573107e+00] [-1.95397547e-01 1.61514859e-01 9.67332802e-01 1.35137126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.22907232899996 meters Centerline goodness : 0.777409 Centerline is valid? [False, False] Translation: X:-233.50, Y:3.95, Z:135.17 [[ 7.61728315e-01 -5.96091855e-01 2.53859162e-01 -2.33502668e+02] [ 6.17577387e-01 7.86484578e-01 -6.33867810e-03 3.95081563e+00] [-1.95877881e-01 1.61606028e-01 9.67220423e-01 1.35169231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.259072329 meters Centerline goodness : 0.777768 Centerline is valid? [False, False] Translation: X:-233.62, Y:3.95, Z:135.20 [[ 7.62560545e-01 -5.94757942e-01 2.54488518e-01 -2.33617536e+02] [ 6.16261133e-01 7.87518217e-01 -6.10523150e-03 3.94773978e+00] [-1.96783209e-01 1.61486991e-01 9.67056524e-01 1.35201469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.28907232899996 meters Centerline goodness : 0.777806 Centerline is valid? [False, False] Translation: X:-233.73, Y:3.94, Z:135.23 [[ 7.62667459e-01 -5.94270324e-01 2.55305951e-01 -2.33732768e+02] [ 6.15835187e-01 7.87853695e-01 -5.79456246e-03 3.94377702e+00] [-1.97700201e-01 1.61645713e-01 9.66842952e-01 1.35233497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.319072329 meters Centerline goodness : 0.777062 Centerline is valid? [False, False] Translation: X:-233.84, Y:3.94, Z:135.26 [[ 7.64650853e-01 -5.91648382e-01 2.55462844e-01 -2.33844531e+02] [ 6.13007226e-01 7.90060957e-01 -5.08180155e-03 3.94068807e+00] [-1.98824580e-01 1.60486373e-01 9.66805518e-01 1.35264491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34907232899997 meters Centerline goodness : 0.776312 Centerline is valid? [False, False] Translation: X:-233.96, Y:3.94, Z:135.30 [[ 7.65541192e-01 -5.90151850e-01 2.56256663e-01 -2.33957760e+02] [ 6.11684264e-01 7.91082843e-01 -5.50423672e-03 3.93705140e+00] [-1.99471914e-01 1.60961888e-01 9.66593103e-01 1.35297133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.379072329 meters Centerline goodness : 0.776031 Centerline is valid? [False, False] Translation: X:-234.07, Y:3.93, Z:135.33 [[ 7.67386793e-01 -5.86989595e-01 2.57993653e-01 -2.34072118e+02] [ 6.08764523e-01 7.93330190e-01 -5.74156826e-03 3.93478386e+00] [-2.01303913e-01 1.61463387e-01 9.66129551e-01 1.35330132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40907232899997 meters Centerline goodness : 0.777065 Centerline is valid? [False, False] Translation: X:-234.18, Y:3.93, Z:135.36 [[ 7.67829645e-01 -5.85630316e-01 2.59759059e-01 -2.34184884e+02] [ 6.07746116e-01 7.94107739e-01 -6.12843983e-03 3.93071984e+00] [-2.02687679e-01 1.62573157e-01 9.65654013e-01 1.35361910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.439072329 meters Centerline goodness : 0.777111 Centerline is valid? [False, False] Translation: X:-234.30, Y:3.93, Z:135.39 [[ 7.68232794e-01 -5.84442013e-01 2.61239177e-01 -2.34296674e+02] [ 6.06968726e-01 7.94694490e-01 -7.04500895e-03 3.92793325e+00] [-2.03487935e-01 1.63976217e-01 9.65248393e-01 1.35394172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46907232899997 meters Centerline goodness : 0.775483 Centerline is valid? [False, False] Translation: X:-234.41, Y:3.93, Z:135.43 [[ 7.71979671e-01 -5.79374114e-01 2.61482357e-01 -2.34405011e+02] [ 6.01828650e-01 7.98591619e-01 -7.32810882e-03 3.92614412e+00] [-2.04571902e-01 1.63024725e-01 9.65180437e-01 1.35425756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49907232899994 meters Centerline goodness : 0.775877 Centerline is valid? [False, False] Translation: X:-234.51, Y:3.92, Z:135.46 [[ 7.72392781e-01 -5.78703664e-01 2.61746941e-01 -2.34512657e+02] [ 6.01572055e-01 7.98765865e-01 -9.17366811e-03 3.92331645e+00] [-2.03765687e-01 1.64545320e-01 9.65092940e-01 1.35457602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.529072329 meters Centerline goodness : 0.775561 Centerline is valid? [False, False] Translation: X:-234.62, Y:3.92, Z:135.49 [[ 7.72979794e-01 -5.78032174e-01 2.61497695e-01 -2.34619005e+02] [ 6.01192108e-01 7.99030516e-01 -1.08758335e-02 3.91998131e+00] [-2.02658057e-01 1.65617150e-01 9.65142824e-01 1.35488251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55907232899995 meters Centerline goodness : 0.775509 Centerline is valid? [False, False] Translation: X:-234.72, Y:3.92, Z:135.52 [[ 7.74744377e-01 -5.75966350e-01 2.60833114e-01 -2.34722117e+02] [ 5.99147296e-01 8.00550848e-01 -1.18683093e-02 3.91738220e+00] [-2.01974424e-01 1.65472361e-01 9.65310950e-01 1.35517920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.589072329 meters Centerline goodness : 0.776332 Centerline is valid? [False, False] Translation: X:-234.83, Y:3.91, Z:135.55 [[ 7.75502142e-01 -5.74665745e-01 2.61449248e-01 -2.34834699e+02] [ 5.97744911e-01 8.01609903e-01 -1.10717763e-02 3.91329355e+00] [-2.03217735e-01 1.64866144e-01 9.65153722e-01 1.35550051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61907232899995 meters Centerline goodness : 0.777527 Centerline is valid? [False, False] Translation: X:-234.95, Y:3.91, Z:135.58 [[ 7.76611274e-01 -5.72491440e-01 2.62922957e-01 -2.34945542e+02] [ 5.95614945e-01 8.03202753e-01 -1.04006917e-02 3.91225497e+00] [-2.05226136e-01 1.64678137e-01 9.64760770e-01 1.35581661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.649072329 meters Centerline goodness : 0.777304 Centerline is valid? [False, False] Translation: X:-235.05, Y:3.91, Z:135.61 [[ 7.77524476e-01 -5.71332877e-01 2.62744043e-01 -2.35050420e+02] [ 5.94508898e-01 8.04014028e-01 -1.09824431e-02 3.90881746e+00] [-2.04975265e-01 1.64742789e-01 9.64803065e-01 1.35612570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67907232899995 meters Centerline goodness : 0.776639 Centerline is valid? [False, False] Translation: X:-235.16, Y:3.91, Z:135.64 [[ 7.77264205e-01 -5.71269393e-01 2.63650595e-01 -2.35159370e+02] [ 5.94724832e-01 8.03846342e-01 -1.15513184e-02 3.90583176e+00] [-2.05335651e-01 1.65777982e-01 9.64549082e-01 1.35644156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.709072329 meters Centerline goodness : 0.778800 Centerline is valid? [False, False] Translation: X:-235.27, Y:3.90, Z:135.68 [[ 7.74194274e-01 -5.74703824e-01 2.65214518e-01 -2.35269811e+02] [ 5.98841555e-01 8.00763843e-01 -1.28863977e-02 3.90066330e+00] [-2.04968335e-01 1.68798049e-01 9.64103314e-01 1.35675273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.73907232899995 meters Centerline goodness : 0.778113 Centerline is valid? [False, False] Translation: X:-235.38, Y:3.90, Z:135.71 [[ 7.74022664e-01 -5.75018078e-01 2.65034196e-01 -2.35378466e+02] [ 5.99144294e-01 8.00536567e-01 -1.29351761e-02 3.89526414e+00] [-2.04731606e-01 1.68805846e-01 9.64152247e-01 1.35706539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.769072329 meters Centerline goodness : 0.779617 Centerline is valid? [False, False] Translation: X:-235.49, Y:3.89, Z:135.74 [[ 7.73341793e-01 -5.75621500e-01 2.65711044e-01 -2.35487958e+02] [ 5.99876146e-01 7.99989451e-01 -1.28642235e-02 3.89044898e+00] [-2.05161109e-01 1.69342159e-01 9.63966884e-01 1.35736769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.79907232899996 meters Centerline goodness : 0.778622 Centerline is valid? [False, False] Translation: X:-235.60, Y:3.89, Z:135.77 [[ 7.72979932e-01 -5.75838727e-01 2.66292666e-01 -2.35595443e+02] [ 6.00385244e-01 7.99593525e-01 -1.37023184e-02 3.88527292e+00] [-2.05035566e-01 1.70469804e-01 9.63794824e-01 1.35767338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.829072329 meters Centerline goodness : 0.778717 Centerline is valid? [False, False] Translation: X:-235.70, Y:3.88, Z:135.80 [[ 7.73750385e-01 -5.74477689e-01 2.66993871e-01 -2.35704493e+02] [ 5.99090953e-01 8.00564891e-01 -1.36339705e-02 3.88156704e+00] [-2.05913508e-01 1.70502903e-01 9.63601778e-01 1.35798631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.85907232899996 meters Centerline goodness : 0.778955 Centerline is valid? [False, False] Translation: X:-235.81, Y:3.88, Z:135.83 [[ 7.72687123e-01 -5.74419098e-01 2.70180144e-01 -2.35814153e+02] [ 5.99925278e-01 7.99914312e-01 -1.50583970e-02 3.87678368e+00] [-2.07471133e-01 1.73723327e-01 9.62692025e-01 1.35830450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.889072329 meters Centerline goodness : 0.779060 Centerline is valid? [False, False] Translation: X:-235.93, Y:3.87, Z:135.86 [[ 7.71500302e-01 -5.74976264e-01 2.72377641e-01 -2.35925688e+02] [ 6.00953099e-01 7.99139092e-01 -1.52343209e-02 3.87206675e+00] [-2.08908248e-01 1.75439471e-01 9.62069819e-01 1.35862592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.91907232899996 meters Centerline goodness : 0.777235 Centerline is valid? [False, False] Translation: X:-236.04, Y:3.87, Z:135.89 [[ 7.69488093e-01 -5.76877684e-01 2.74044180e-01 -2.36037385e+02] [ 6.03259706e-01 7.97397520e-01 -1.53271866e-02 3.86592761e+00] [-2.09680238e-01 1.77113899e-01 9.61594959e-01 1.35894794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.949072329 meters Centerline goodness : 0.779752 Centerline is valid? [False, False] Translation: X:-236.15, Y:3.86, Z:135.93 [[ 7.70354260e-01 -5.75497284e-01 2.74512642e-01 -2.36148538e+02] [ 6.01628586e-01 7.98653191e-01 -1.40044638e-02 3.86308958e+00] [-2.11180866e-01 1.75943051e-01 9.61481505e-01 1.35926358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.97907232899996 meters Centerline goodness : 0.780494 Centerline is valid? [False, False] Translation: X:-236.26, Y:3.86, Z:135.96 [[ 7.69529658e-01 -5.76218356e-01 2.75311663e-01 -2.36262027e+02] [ 6.02406993e-01 7.98075680e-01 -1.34545365e-02 3.85987461e+00] [-2.11966792e-01 1.76203336e-01 9.61260872e-01 1.35959182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.009072329 meters Centerline goodness : 0.778605 Centerline is valid? [False, False] Translation: X:-236.38, Y:3.86, Z:135.99 [[ 7.68209549e-01 -5.77178947e-01 2.76981139e-01 -2.36375250e+02] [ 6.03888046e-01 7.96942590e-01 -1.42034181e-02 3.85648537e+00] [-2.12540153e-01 1.78176800e-01 9.60770374e-01 1.35992076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.03907232899996 meters Centerline goodness : 0.779483 Centerline is valid? [False, False] Translation: X:-236.48, Y:3.85, Z:136.02 [[ 7.69131349e-01 -5.76190453e-01 2.76480615e-01 -2.36484242e+02] [ 6.02670452e-01 7.97871381e-01 -1.37690140e-02 3.85318548e+00] [-2.12662396e-01 1.77216878e-01 9.60920852e-01 1.36024000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.069072329 meters Centerline goodness : 0.778494 Centerline is valid? [False, False] Translation: X:-236.60, Y:3.85, Z:136.06 [[ 7.69238201e-01 -5.75946988e-01 2.76690544e-01 -2.36596104e+02] [ 6.02468974e-01 7.98022675e-01 -1.38183016e-02 3.85053901e+00] [-2.12846719e-01 1.77327033e-01 9.60859718e-01 1.36057473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09907232899997 meters Centerline goodness : 0.779120 Centerline is valid? [False, False] Translation: X:-236.70, Y:3.85, Z:136.09 [[ 7.69651716e-01 -5.75184414e-01 2.77126553e-01 -2.36703034e+02] [ 6.02001067e-01 7.98356259e-01 -1.48996099e-02 3.84772383e+00] [-2.12675695e-01 1.78297991e-01 9.60717896e-01 1.36089401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.129072329 meters Centerline goodness : 0.778168 Centerline is valid? [False, False] Translation: X:-236.82, Y:3.85, Z:136.12 [[ 7.70492025e-01 -5.72799694e-01 2.79718698e-01 -2.36815029e+02] [ 6.00081958e-01 7.99795172e-01 -1.51435474e-02 3.84587220e+00] [-2.15043444e-01 1.79522126e-01 9.59962563e-01 1.36123265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15907232899997 meters Centerline goodness : 0.779016 Centerline is valid? [False, False] Translation: X:-236.93, Y:3.84, Z:136.16 [[ 7.71680460e-01 -5.70476199e-01 2.81187081e-01 -2.36927173e+02] [ 5.97808036e-01 8.01508259e-01 -1.44935377e-02 3.84302619e+00] [-2.17105549e-01 1.79280277e-01 9.59543518e-01 1.36156898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.189072329 meters Centerline goodness : 0.779228 Centerline is valid? [False, False] Translation: X:-237.04, Y:3.84, Z:136.19 [[ 7.71965833e-01 -5.69344716e-01 2.82693026e-01 -2.37037313e+02] [ 5.97042971e-01 8.02068826e-01 -1.50096600e-02 3.84119433e+00] [-2.18193593e-01 1.80366829e-01 9.59092990e-01 1.36190161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21907232899997 meters Centerline goodness : 0.778740 Centerline is valid? [False, False] Translation: X:-237.15, Y:3.84, Z:136.22 [[ 7.73140940e-01 -5.67536702e-01 2.83116901e-01 -2.37146641e+02] [ 5.95047863e-01 8.03565900e-01 -1.41380579e-02 3.83884529e+00] [-2.19479221e-01 1.79398818e-01 9.58981197e-01 1.36222272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24907232899994 meters Centerline goodness : 0.778351 Centerline is valid? [False, False] Translation: X:-237.25, Y:3.84, Z:136.26 [[ 7.74279272e-01 -5.66020806e-01 2.83040732e-01 -2.37254915e+02] [ 5.93436724e-01 8.04758056e-01 -1.40472762e-02 3.83808710e+00] [-2.19828259e-01 1.78843279e-01 9.59005015e-01 1.36255080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.279072329 meters Centerline goodness : 0.777889 Centerline is valid? [False, False] Translation: X:-237.36, Y:3.84, Z:136.29 [[ 7.72942985e-01 -5.67450719e-01 2.83828862e-01 -2.37363866e+02] [ 5.95213589e-01 8.03434054e-01 -1.46459253e-02 3.83508253e+00] [-2.19726933e-01 1.80259261e-01 9.58763096e-01 1.36288176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.30907232899995 meters Centerline goodness : 0.776961 Centerline is valid? [False, False] Translation: X:-237.47, Y:3.83, Z:136.32 [[ 7.72235973e-01 -5.67280293e-01 2.86085077e-01 -2.37474937e+02] [ 5.95621142e-01 8.03120534e-01 -1.52598659e-02 3.83194225e+00] [-2.21104178e-01 1.82182538e-01 9.58082703e-01 1.36321196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.339072329 meters Centerline goodness : 0.776821 Centerline is valid? [False, False] Translation: X:-237.58, Y:3.83, Z:136.35 [[ 7.72558529e-01 -5.65972600e-01 2.87799123e-01 -2.37583150e+02] [ 5.94828444e-01 8.03688597e-01 -1.62407127e-02 3.82955507e+00] [-2.22109075e-01 1.83738006e-01 9.57553082e-01 1.36354193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.36907232899995 meters Centerline goodness : 0.775899 Centerline is valid? [False, False] Translation: X:-237.69, Y:3.83, Z:136.39 [[ 7.71557977e-01 -5.66175276e-01 2.90075585e-01 -2.37692865e+02] [ 5.95754956e-01 8.02978842e-01 -1.73496871e-02 3.82725387e+00] [-2.23101594e-01 1.86200257e-01 9.56846458e-01 1.36388021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.399072329 meters Centerline goodness : 0.776356 Centerline is valid? [False, False] Translation: X:-237.80, Y:3.83, Z:136.42 [[ 7.71755401e-01 -5.65611239e-01 2.90650179e-01 -2.37803279e+02] [ 5.95073009e-01 8.03503338e-01 -1.64468853e-02 3.82570701e+00] [-2.24235846e-01 1.85651049e-01 9.56688023e-01 1.36422343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.42907232899995 meters Centerline goodness : 0.776537 Centerline is valid? [False, False] Translation: X:-237.91, Y:3.83, Z:136.46 [[ 7.71884481e-01 -5.64598453e-01 2.92272021e-01 -2.37912728e+02] [ 5.94536743e-01 8.03883334e-01 -1.72524173e-02 3.82528439e+00] [-2.25211919e-01 1.87083329e-01 9.56179596e-01 1.36456287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.459072329 meters Centerline goodness : 0.774556 Centerline is valid? [False, False] Translation: X:-238.02, Y:3.82, Z:136.49 [[ 7.70707798e-01 -5.65571881e-01 2.93492653e-01 -2.38022485e+02] [ 5.96007122e-01 8.02774474e-01 -1.81287930e-02 3.82338670e+00] [-2.25355275e-01 1.88895714e-01 9.55789417e-01 1.36491209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.48907232899995 meters Centerline goodness : 0.775608 Centerline is valid? [False, False] Translation: X:-238.13, Y:3.82, Z:136.53 [[ 7.70240521e-01 -5.65870058e-01 2.94143872e-01 -2.38131746e+02] [ 5.96615765e-01 8.02306263e-01 -1.88225813e-02 3.82130704e+00] [-2.25342335e-01 1.89988786e-01 9.55575791e-01 1.36526117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.519072329 meters Centerline goodness : 0.774379 Centerline is valid? [False, False] Translation: X:-238.24, Y:3.82, Z:136.56 [[ 7.69976574e-01 -5.65243854e-01 2.96032871e-01 -2.38240029e+02] [ 5.96794789e-01 8.02127509e-01 -2.06746057e-02 3.82017256e+00] [-2.25769915e-01 1.92589837e-01 9.54953978e-01 1.36560593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.54907232899996 meters Centerline goodness : 0.773168 Centerline is valid? [False, False] Translation: X:-238.35, Y:3.82, Z:136.59 [[ 7.70963746e-01 -5.63698663e-01 2.96409715e-01 -2.38348011e+02] [ 5.95417299e-01 8.03133644e-01 -2.13211307e-02 3.81915840e+00] [-2.26037921e-01 1.92925291e-01 9.54822858e-01 1.36594985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.579072329 meters Centerline goodness : 0.773153 Centerline is valid? [False, False] Translation: X:-238.45, Y:3.82, Z:136.63 [[ 7.72897981e-01 -5.60787472e-01 2.96894126e-01 -2.38449719e+02] [ 5.92834057e-01 8.05002217e-01 -2.27861971e-02 3.81981016e+00] [-2.26222216e-01 1.93620355e-01 9.54638501e-01 1.36627808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.60907232899996 meters Centerline goodness : 0.774579 Centerline is valid? [False, False] Translation: X:-238.56, Y:3.82, Z:136.66 [[ 7.73849335e-01 -5.58939890e-01 2.97898315e-01 -2.38557927e+02] [ 5.91166073e-01 8.06222634e-01 -2.29725458e-02 3.82046077e+00] [-2.27332092e-01 1.93884666e-01 9.54321149e-01 1.36662973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.639072329 meters Centerline goodness : 0.773524 Centerline is valid? [False, False] Translation: X:-238.66, Y:3.82, Z:136.70 [[ 7.72836475e-01 -5.59854899e-01 2.98808092e-01 -2.38664977e+02] [ 5.92547567e-01 8.05179101e-01 -2.39582163e-02 3.82008101e+00] [-2.27180906e-01 1.95573791e-01 9.54012436e-01 1.36697062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.66907232899996 meters Centerline goodness : 0.771777 Centerline is valid? [False, False] Translation: X:-238.77, Y:3.82, Z:136.73 [[ 7.73589385e-01 -5.58766792e-01 2.98896531e-01 -2.38771124e+02] [ 5.91707869e-01 8.05761200e-01 -2.51134600e-02 3.82012304e+00] [-2.26806660e-01 1.96286936e-01 9.53955019e-01 1.36731719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.699072329 meters Centerline goodness : 0.772840 Centerline is valid? [False, False] Translation: X:-238.88, Y:3.82, Z:136.77 [[ 7.74508088e-01 -5.56899583e-01 3.00000128e-01 -2.38877154e+02] [ 5.89971004e-01 8.07037463e-01 -2.49949491e-02 3.82040360e+00] [-2.28191665e-01 1.96350167e-01 9.53611648e-01 1.36766039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.72907232899996 meters Centerline goodness : 0.774951 Centerline is valid? [False, False] Translation: X:-238.99, Y:3.82, Z:136.80 [[ 7.73826816e-01 -5.56819455e-01 3.01900899e-01 -2.38986120e+02] [ 5.90406725e-01 8.06704484e-01 -2.54514146e-02 3.82010610e+00] [-2.29372966e-01 1.97939308e-01 9.52999513e-01 1.36802539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.759072329 meters Centerline goodness : 0.772832 Centerline is valid? [False, False] Translation: X:-239.09, Y:3.82, Z:136.84 [[ 7.73847052e-01 -5.56002803e-01 3.03350661e-01 -2.39093048e+02] [ 5.89992790e-01 8.06991081e-01 -2.59596523e-02 3.82000645e+00] [-2.30367638e-01 1.99063503e-01 9.52525313e-01 1.36838304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.78907232899996 meters Centerline goodness : 0.772956 Centerline is valid? [False, False] Translation: X:-239.19, Y:3.82, Z:136.87 [[ 7.72931632e-01 -5.56386603e-01 3.04976459e-01 -2.39193681e+02] [ 5.91247696e-01 8.06003217e-01 -2.80174219e-02 3.81855308e+00] [-2.30223489e-01 2.01972180e-01 9.51947679e-01 1.36872273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.819072329 meters Centerline goodness : 0.773322 Centerline is valid? [False, False] Translation: X:-239.30, Y:3.82, Z:136.91 [[ 7.72695610e-01 -5.56318658e-01 3.05697638e-01 -2.39304307e+02] [ 5.91127012e-01 8.06121276e-01 -2.71540896e-02 3.81813807e+00] [-2.31323043e-01 2.01687977e-01 9.51741357e-01 1.36909012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84907232899997 meters Centerline goodness : 0.772051 Centerline is valid? [False, False] Translation: X:-239.41, Y:3.82, Z:136.94 [[ 7.72136634e-01 -5.57314008e-01 3.05296767e-01 -2.39412059e+02] [ 5.91859913e-01 8.05612942e-01 -2.62608180e-02 3.81747752e+00] [-2.31315505e-01 2.00969857e-01 9.51895085e-01 1.36944296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.879072329 meters Centerline goodness : 0.770815 Centerline is valid? [False, False] Translation: X:-239.52, Y:3.82, Z:136.98 [[ 7.72526532e-01 -5.56835295e-01 3.05183897e-01 -2.39518187e+02] [ 5.91079182e-01 8.06219571e-01 -2.52072221e-02 3.81736403e+00] [-2.32008959e-01 1.99861096e-01 9.51959760e-01 1.36978823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90907232899997 meters Centerline goodness : 0.770325 Centerline is valid? [False, False] Translation: X:-239.63, Y:3.82, Z:137.01 [[ 7.71619742e-01 -5.57297089e-01 3.06631584e-01 -2.39626157e+02] [ 5.92092470e-01 8.05447968e-01 -2.60783021e-02 3.81774534e+00] [-2.32442424e-01 2.01676785e-01 9.51470963e-01 1.37014720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.939072329 meters Centerline goodness : 0.769755 Centerline is valid? [False, False] Translation: X:-239.73, Y:3.82, Z:137.05 [[ 7.72004457e-01 -5.56970570e-01 3.06256269e-01 -2.39728957e+02] [ 5.91925633e-01 8.05535765e-01 -2.71325467e-02 3.81738368e+00] [-2.31588348e-01 2.02227383e-01 9.51562359e-01 1.37048579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96907232899997 meters Centerline goodness : 0.768572 Centerline is valid? [False, False] Translation: X:-239.84, Y:3.82, Z:137.09 [[ 7.73231098e-01 -5.54949793e-01 3.06829589e-01 -2.39835753e+02] [ 5.90256506e-01 8.06715523e-01 -2.84134046e-02 3.81796448e+00] [-2.31756179e-01 2.03078289e-01 9.51340256e-01 1.37085369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99907232899994 meters Centerline goodness : 0.769930 Centerline is valid? [False, False] Translation: X:-239.92, Y:3.82, Z:137.12 [[ 7.73033340e-01 -5.54543699e-01 3.08059639e-01 -2.39921280e+02] [ 5.89377533e-01 8.07456945e-01 -2.54441688e-02 3.81870661e+00] [-2.34634992e-01 2.01232621e-01 9.51026736e-01 1.37116377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.029072329 meters Centerline goodness : 0.769875 Centerline is valid? [False, False] Translation: X:-240.03, Y:3.82, Z:137.15 [[ 7.73056921e-01 -5.53336943e-01 3.10163221e-01 -2.40032782e+02] [ 5.88640524e-01 8.07987075e-01 -2.56752969e-02 3.82016236e+00] [-2.36400783e-01 2.02423107e-01 9.50336549e-01 1.37154978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05907232899995 meters Centerline goodness : 0.769978 Centerline is valid? [False, False] Translation: X:-240.14, Y:3.82, Z:137.19 [[ 7.73945753e-01 -5.51258829e-01 3.11643505e-01 -2.40136641e+02] [ 5.87042380e-01 8.09117375e-01 -2.66517987e-02 3.82131454e+00] [-2.37464135e-01 2.03574991e-01 9.49825251e-01 1.37190992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.089072329 meters Centerline goodness : 0.770658 Centerline is valid? [False, False] Translation: X:-240.25, Y:3.82, Z:137.23 [[ 7.74467766e-01 -5.48960981e-01 3.14390714e-01 -2.40248361e+02] [ 5.85042050e-01 8.10592336e-01 -2.58043415e-02 3.82260844e+00] [-2.40677127e-01 2.03916419e-01 9.48942893e-01 1.37230430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11907232899995 meters Centerline goodness : 0.769072 Centerline is valid? [False, False] Translation: X:-240.35, Y:3.82, Z:137.27 [[ 7.73224655e-01 -5.49633800e-01 3.16269378e-01 -2.40354040e+02] [ 5.86483763e-01 8.09509727e-01 -2.70332776e-02 3.82410646e+00] [-2.41164735e-01 2.06389652e-01 9.48284178e-01 1.37267819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.149072329 meters Centerline goodness : 0.769072 Centerline is valid? [False, False] Translation: X:-240.46, Y:3.83, Z:137.30 [[ 7.73474993e-01 -5.48809592e-01 3.17087474e-01 -2.40460570e+02] [ 5.85787745e-01 8.10016089e-01 -2.69565133e-02 3.82538360e+00] [-2.42051962e-01 2.06596145e-01 9.48013122e-01 1.37304320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17907232899995 meters Centerline goodness : 0.770298 Centerline is valid? [False, False] Translation: X:-240.57, Y:3.83, Z:137.34 [[ 7.73911316e-01 -5.47768396e-01 3.17822371e-01 -2.40565040e+02] [ 5.84857673e-01 8.10688841e-01 -2.69277609e-02 3.82665389e+00] [-2.42904874e-01 2.06720552e-01 9.47767818e-01 1.37340199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.209072329 meters Centerline goodness : 0.766958 Centerline is valid? [False, False] Translation: X:-240.67, Y:3.83, Z:137.38 [[ 7.73930838e-01 -5.47418224e-01 3.18377678e-01 -2.40672667e+02] [ 5.84504206e-01 8.10958283e-01 -2.64857988e-02 3.82744545e+00] [-2.43692206e-01 2.06591268e-01 9.47593878e-01 1.37377248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.23907232899995 meters Centerline goodness : 0.766558 Centerline is valid? [False, False] Translation: X:-240.77, Y:3.83, Z:137.41 [[ 7.74932805e-01 -5.46526866e-01 3.17470522e-01 -2.40773322e+02] [ 5.83539920e-01 8.11629695e-01 -2.71735234e-02 3.82939238e+00] [-2.42817442e-01 2.06314377e-01 9.47878720e-01 1.37411775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.269072329 meters Centerline goodness : 0.765859 Centerline is valid? [False, False] Translation: X:-240.88, Y:3.83, Z:137.45 [[ 7.77922890e-01 -5.43497658e-01 3.15351032e-01 -2.40875693e+02] [ 5.79707736e-01 8.14394522e-01 -2.64670195e-02 3.83272131e+00] [-2.42435390e-01 2.03400733e-01 9.48605937e-01 1.37447409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.29907232899996 meters Centerline goodness : 0.765246 Centerline is valid? [False, False] Translation: X:-240.98, Y:3.84, Z:137.48 [[ 7.79740888e-01 -5.40700608e-01 3.15669130e-01 -2.40979642e+02] [ 5.76845054e-01 8.16425398e-01 -2.64453016e-02 3.83611717e+00] [-2.43421305e-01 2.02712659e-01 9.48500736e-01 1.37483693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.329072329 meters Centerline goodness : 0.765314 Centerline is valid? [False, False] Translation: X:-241.08, Y:3.84, Z:137.52 [[ 7.80817640e-01 -5.38409374e-01 3.16921377e-01 -2.41081701e+02] [ 5.74991441e-01 8.17697992e-01 -2.74743112e-02 3.83906494e+00] [-2.44353547e-01 2.03679506e-01 9.48053798e-01 1.37520056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.35907232899996 meters Centerline goodness : 0.766326 Centerline is valid? [False, False] Translation: X:-241.18, Y:3.84, Z:137.56 [[ 7.81530923e-01 -5.35979895e-01 3.19272563e-01 -2.41184763e+02] [ 5.73473035e-01 8.18697280e-01 -2.93843862e-02 3.84108136e+00] [-2.45638138e-01 2.06059012e-01 9.47207257e-01 1.37556537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.389072329 meters Centerline goodness : 0.765561 Centerline is valid? [False, False] Translation: X:-241.29, Y:3.84, Z:137.59 [[ 7.82247199e-01 -5.34834794e-01 3.19438669e-01 -2.41286454e+02] [ 5.72545085e-01 8.19313689e-01 -3.02853764e-02 3.84346288e+00] [-2.45522801e-01 2.06583691e-01 9.47122871e-01 1.37592549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.41907232899996 meters Centerline goodness : 0.764252 Centerline is valid? [False, False] Translation: X:-241.39, Y:3.85, Z:137.63 [[ 7.83975018e-01 -5.32970842e-01 3.18316278e-01 -2.41386768e+02] [ 5.70358947e-01 8.20834007e-01 -3.03678294e-02 3.84653758e+00] [-2.45099658e-01 2.05362156e-01 9.47498043e-01 1.37628111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.449072329 meters Centerline goodness : 0.763567 Centerline is valid? [False, False] Translation: X:-241.49, Y:3.85, Z:137.66 [[ 7.84366201e-01 -5.32550610e-01 3.18055830e-01 -2.41487829e+02] [ 5.69988427e-01 8.21072796e-01 -3.08651437e-02 3.84900267e+00] [-2.44709738e-01 2.05497718e-01 9.47569434e-01 1.37663496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.47907232899996 meters Centerline goodness : 0.764204 Centerline is valid? [False, False] Translation: X:-241.58, Y:3.85, Z:137.70 [[ 7.85857333e-01 -5.30734530e-01 3.17410004e-01 -2.41584265e+02] [ 5.68243214e-01 8.22236782e-01 -3.20363074e-02 3.85179798e+00] [-2.43983405e-01 2.05542048e-01 9.47747100e-01 1.37697052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.509072329 meters Centerline goodness : 0.763372 Centerline is valid? [False, False] Translation: X:-241.67, Y:3.85, Z:137.73 [[ 7.83885388e-01 -5.34469421e-01 3.16016039e-01 -2.41673036e+02] [ 5.70514335e-01 8.20847057e-01 -2.68980025e-02 3.85289117e+00] [-2.45024676e-01 2.01376632e-01 9.48372480e-01 1.37731277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.53907232899996 meters Centerline goodness : 0.764110 Centerline is valid? [False, False] Translation: X:-241.77, Y:3.85, Z:137.77 [[ 7.84282254e-01 -5.33328754e-01 3.16957073e-01 -2.41774445e+02] [ 5.69842202e-01 8.21273347e-01 -2.81061249e-02 3.85474762e+00] [-2.45318592e-01 2.02658651e-01 9.48023343e-01 1.37767151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.569072329 meters Centerline goodness : 0.765103 Centerline is valid? [False, False] Translation: X:-241.86, Y:3.85, Z:137.80 [[ 7.81930103e-01 -5.36784891e-01 3.16934210e-01 -2.41861093e+02] [ 5.72396587e-01 8.19625122e-01 -2.40167847e-02 3.85497868e+00] [-2.46875394e-01 2.00191507e-01 9.48143396e-01 1.37799781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59907232899997 meters Centerline goodness : 0.765117 Centerline is valid? [False, False] Translation: X:-241.97, Y:3.86, Z:137.84 [[ 7.81913189e-01 -5.35972508e-01 3.18347665e-01 -2.41965997e+02] [ 5.71946794e-01 8.19929088e-01 -2.43547932e-02 3.85758201e+00] [-2.47969011e-01 2.01121260e-01 9.47661125e-01 1.37835801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.629072329 meters Centerline goodness : 0.765403 Centerline is valid? [False, False] Translation: X:-242.07, Y:3.86, Z:137.87 [[ 7.80702419e-01 -5.36947555e-01 3.19673359e-01 -2.42066853e+02] [ 5.73558197e-01 8.18768723e-01 -2.54710234e-02 3.85846923e+00] [-2.48061944e-01 2.03236565e-01 9.47185394e-01 1.37870572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65907232899997 meters Centerline goodness : 0.764326 Centerline is valid? [False, False] Translation: X:-242.17, Y:3.86, Z:137.91 [[ 7.82067703e-01 -5.34963130e-01 3.19663195e-01 -2.42168965e+02] [ 5.71468242e-01 8.20229558e-01 -2.54464197e-02 3.86050734e+00] [-2.48584305e-01 2.02578187e-01 9.47189486e-01 1.37906006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.689072329 meters Centerline goodness : 0.764579 Centerline is valid? [False, False] Translation: X:-242.27, Y:3.86, Z:137.94 [[ 7.82865176e-01 -5.33660949e-01 3.19887650e-01 -2.42268946e+02] [ 5.70507298e-01 8.20855265e-01 -2.67965835e-02 3.86337457e+00] [-2.48281171e-01 2.03476351e-01 9.47076467e-01 1.37941579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71907232899997 meters Centerline goodness : 0.764373 Centerline is valid? [False, False] Translation: X:-242.35, Y:3.87, Z:137.97 [[ 7.82632813e-01 -5.34091068e-01 3.19738346e-01 -2.42354111e+02] [ 5.69865645e-01 8.21422278e-01 -2.27725305e-02 3.86671822e+00] [-2.50477596e-01 2.00030429e-01 9.47232179e-01 1.37974234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74907232899994 meters Centerline goodness : 0.764106 Centerline is valid? [False, False] Translation: X:-242.46, Y:3.87, Z:138.01 [[ 7.83440318e-01 -5.31860612e-01 3.21474040e-01 -2.42459562e+02] [ 5.68242979e-01 8.22509975e-01 -2.40262060e-02 3.87081084e+00] [-2.51637012e-01 2.01498464e-01 9.46613534e-01 1.38011977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.779072329 meters Centerline goodness : 0.765361 Centerline is valid? [False, False] Translation: X:-242.56, Y:3.88, Z:138.05 [[ 7.85404971e-01 -5.28082127e-01 3.22906022e-01 -2.42559655e+02] [ 5.65313186e-01 8.24443700e-01 -2.67130489e-02 3.87587354e+00] [-2.52111151e-01 2.03523593e-01 9.46053970e-01 1.38048135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.80907232899995 meters Centerline goodness : 0.765619 Centerline is valid? [False, False] Translation: X:-242.66, Y:3.88, Z:138.08 [[ 7.86810231e-01 -5.26065620e-01 3.22776431e-01 -2.42658188e+02] [ 5.63457569e-01 8.25677062e-01 -2.78021052e-02 3.87893878e+00] [-2.51883364e-01 2.03745804e-01 9.46066815e-01 1.38083353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.839072329 meters Centerline goodness : 0.763423 Centerline is valid? [False, False] Translation: X:-242.76, Y:3.88, Z:138.12 [[ 7.86569605e-01 -5.25905121e-01 3.23623330e-01 -2.42756413e+02] [ 5.64231519e-01 8.25048521e-01 -3.06223935e-02 3.88195755e+00] [-2.50900477e-01 2.06685127e-01 9.45690335e-01 1.38118521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.86907232899995 meters Centerline goodness : 0.764441 Centerline is valid? [False, False] Translation: X:-242.84, Y:3.88, Z:138.15 [[ 7.86249347e-01 -5.27690180e-01 3.21488783e-01 -2.42837983e+02] [ 5.64631181e-01 8.24904998e-01 -2.68955902e-02 3.88400565e+00] [-2.51005165e-01 2.02669231e-01 9.46531346e-01 1.38150574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.899072329 meters Centerline goodness : 0.765048 Centerline is valid? [False, False] Translation: X:-242.94, Y:3.89, Z:138.19 [[ 7.87051818e-01 -5.26344218e-01 3.21731565e-01 -2.42938170e+02] [ 5.63592903e-01 8.25574634e-01 -2.80991511e-02 3.88768797e+00] [-2.50823593e-01 2.03441115e-01 9.46413883e-01 1.38186213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.92907232899995 meters Centerline goodness : 0.764109 Centerline is valid? [False, False] Translation: X:-243.03, Y:3.89, Z:138.22 [[ 7.85851034e-01 -5.27051697e-01 3.23503727e-01 -2.43033386e+02] [ 5.64558400e-01 8.24937156e-01 -2.74317518e-02 3.88904421e+00] [-2.52412293e-01 2.04194017e-01 9.45829180e-01 1.38219402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.959072329 meters Centerline goodness : 0.762704 Centerline is valid? [False, False] Translation: X:-243.14, Y:3.89, Z:138.26 [[ 7.82979089e-01 -5.30399119e-01 3.24993110e-01 -2.43137687e+02] [ 5.69156411e-01 8.21673587e-01 -3.02240938e-02 3.88956756e+00] [-2.51007422e-01 2.08636746e-01 9.45233295e-01 1.38255623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.98907232899995 meters Centerline goodness : 0.764153 Centerline is valid? [False, False] Translation: X:-243.24, Y:3.89, Z:138.29 [[ 7.82940668e-01 -5.30072509e-01 3.25617945e-01 -2.43237329e+02] [ 5.69289516e-01 8.21534615e-01 -3.14693931e-02 3.89149409e+00] [-2.50825353e-01 2.10009550e-01 9.44977582e-01 1.38290841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.019072329 meters Centerline goodness : 0.762765 Centerline is valid? [False, False] Translation: X:-243.33, Y:3.89, Z:138.33 [[ 7.80630580e-01 -5.34265556e-01 3.24308824e-01 -2.43328126e+02] [ 5.71522995e-01 8.20221449e-01 -2.44589663e-02 3.89273032e+00] [-2.52937470e-01 2.04443368e-01 9.45634996e-01 1.38325546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.04907232899996 meters Centerline goodness : 0.762188 Centerline is valid? [False, False] Translation: X:-243.43, Y:3.90, Z:138.36 [[ 7.80065080e-01 -5.34007831e-01 3.26089111e-01 -2.43433439e+02] [ 5.72007596e-01 8.19843712e-01 -2.57604099e-02 3.89602415e+00] [-2.53585846e-01 2.06620244e-01 9.44987986e-01 1.38362945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.079072329 meters Centerline goodness : 0.762303 Centerline is valid? [False, False] Translation: X:-243.54, Y:3.90, Z:138.40 [[ 7.79777462e-01 -5.33824538e-01 3.27075636e-01 -2.43535025e+02] [ 5.72525030e-01 8.19423979e-01 -2.75578104e-02 3.89963004e+00] [-2.53302583e-01 2.08747948e-01 9.44596261e-01 1.38399479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.10907232899996 meters Centerline goodness : 0.761391 Centerline is valid? [False, False] Translation: X:-243.64, Y:3.90, Z:138.44 [[ 7.77311836e-01 -5.36997620e-01 3.27749700e-01 -2.43638348e+02] [ 5.76712287e-01 8.16390339e-01 -3.01620974e-02 3.90008867e+00] [-2.51374714e-01 2.12462634e-01 9.44282999e-01 1.38435274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.139072329 meters Centerline goodness : 0.761517 Centerline is valid? [False, False] Translation: X:-243.74, Y:3.90, Z:138.47 [[ 7.76813691e-01 -5.37264485e-01 3.28492562e-01 -2.43740403e+02] [ 5.77627858e-01 8.15677163e-01 -3.18876556e-02 3.90268385e+00] [-2.50811776e-01 2.14517222e-01 9.43968121e-01 1.38471258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.16907232899996 meters Centerline goodness : 0.759627 Centerline is valid? [False, False] Translation: X:-243.84, Y:3.90, Z:138.51 [[ 7.75471168e-01 -5.38730432e-01 3.29262795e-01 -2.43843275e+02] [ 5.79927609e-01 8.13955737e-01 -3.40591594e-02 3.90474931e+00] [-2.49656636e-01 2.17360482e-01 9.43623858e-01 1.38507395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.199072329 meters Centerline goodness : 0.760108 Centerline is valid? [False, False] Translation: X:-243.94, Y:3.91, Z:138.54 [[ 7.75347953e-01 -5.38352258e-01 3.30170256e-01 -2.43944560e+02] [ 5.80118305e-01 8.13760546e-01 -3.54475064e-02 3.90825052e+00] [-2.49596283e-01 2.19021961e-01 9.43255573e-01 1.38544251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.22907232899996 meters Centerline goodness : 0.759265 Centerline is valid? [False, False] Translation: X:-244.03, Y:3.91, Z:138.58 [[ 7.73215292e-01 -5.41796498e-01 3.29537051e-01 -2.44033473e+02] [ 5.82433981e-01 8.12282087e-01 -3.11202345e-02 3.91182277e+00] [-2.50816209e-01 2.15996217e-01 9.43629622e-01 1.38579306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.259072329 meters Centerline goodness : 0.758946 Centerline is valid? [False, False] Translation: X:-244.13, Y:3.92, Z:138.62 [[ 7.72361125e-01 -5.42329992e-01 3.30660661e-01 -2.44134642e+02] [ 5.83556220e-01 8.11433610e-01 -3.22123445e-02 3.91611693e+00] [-2.50839453e-01 2.17838648e-01 9.43199816e-01 1.38617079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.28907232899996 meters Centerline goodness : 0.759971 Centerline is valid? [False, False] Translation: X:-244.24, Y:3.92, Z:138.65 [[ 7.72440581e-01 -5.41835490e-01 3.31285149e-01 -2.44235365e+02] [ 5.83486759e-01 8.11438292e-01 -3.33331779e-02 3.92058244e+00] [-2.50756357e-01 2.19048398e-01 9.42941700e-01 1.38653987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.319072329 meters Centerline goodness : 0.758637 Centerline is valid? [False, False] Translation: X:-244.33, Y:3.92, Z:138.69 [[ 7.68199508e-01 -5.48941472e-01 3.29443130e-01 -2.44327523e+02] [ 5.89675667e-01 8.07075043e-01 -3.02073239e-02 3.92230369e+00] [-2.49303276e-01 2.17469849e-01 9.43692080e-01 1.38692314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34907232899997 meters Centerline goodness : 0.759051 Centerline is valid? [False, False] Translation: X:-244.43, Y:3.93, Z:138.73 [[ 7.66615094e-01 -5.49966217e-01 3.31418856e-01 -2.44431819e+02] [ 5.92111155e-01 8.05158588e-01 -3.35265366e-02 3.92577863e+00] [-2.48406276e-01 2.21938751e-01 9.42887858e-01 1.38730391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.379072329 meters Centerline goodness : 0.757947 Centerline is valid? [False, False] Translation: X:-244.53, Y:3.93, Z:138.77 [[ 7.68096817e-01 -5.47837999e-01 3.31512906e-01 -2.44534220e+02] [ 5.90135603e-01 8.06569920e-01 -3.44228742e-02 3.93020864e+00] [-2.48530179e-01 2.22077669e-01 9.42822496e-01 1.38767378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40907232899997 meters Centerline goodness : 0.758253 Centerline is valid? [False, False] Translation: X:-244.64, Y:3.93, Z:138.81 [[ 7.65655444e-01 -5.50586129e-01 3.32605857e-01 -2.44641674e+02] [ 5.93986181e-01 8.03621205e-01 -3.70590719e-02 3.93433598e+00] [-2.46884909e-01 2.25937763e-01 9.42337503e-01 1.38806411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.439072329 meters Centerline goodness : 0.756702 Centerline is valid? [False, False] Translation: X:-244.74, Y:3.94, Z:138.84 [[ 7.66376403e-01 -5.49333322e-01 3.33016682e-01 -2.44744173e+02] [ 5.93409309e-01 8.03931919e-01 -3.94824075e-02 3.93854205e+00] [-2.46033739e-01 2.27873585e-01 9.42093960e-01 1.38844327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46907232899997 meters Centerline goodness : 0.756862 Centerline is valid? [False, False] Translation: X:-244.85, Y:3.94, Z:138.88 [[ 7.65973886e-01 -5.49645370e-01 3.33427613e-01 -2.44849416e+02] [ 5.93676906e-01 8.03764900e-01 -3.88550629e-02 3.94406327e+00] [-2.46640907e-01 2.27710237e-01 9.41974687e-01 1.38884186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49907232899994 meters Centerline goodness : 0.756427 Centerline is valid? [False, False] Translation: X:-244.94, Y:3.95, Z:138.92 [[ 7.64052652e-01 -5.53039285e-01 3.32221453e-01 -2.44941022e+02] [ 5.95516484e-01 8.02646630e-01 -3.34440497e-02 3.94891068e+00] [-2.48160557e-01 2.23396367e-01 9.42608297e-01 1.38920904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.529072329 meters Centerline goodness : 0.757016 Centerline is valid? [False, False] Translation: X:-245.05, Y:3.96, Z:138.96 [[ 7.64607230e-01 -5.52199216e-01 3.32342908e-01 -2.45047921e+02] [ 5.94812173e-01 8.03145121e-01 -3.40057865e-02 3.95525682e+00] [-2.48141616e-01 2.23682678e-01 9.42545382e-01 1.38960327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55907232899995 meters Centerline goodness : 0.754987 Centerline is valid? [False, False] Translation: X:-245.15, Y:3.96, Z:139.00 [[ 7.65791432e-01 -5.50238097e-01 3.32868621e-01 -2.45153701e+02] [ 5.93478586e-01 8.04032333e-01 -3.62653459e-02 3.96125844e+00] [-2.47682559e-01 2.25322090e-01 9.42275600e-01 1.38999938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.589072329 meters Centerline goodness : 0.755318 Centerline is valid? [False, False] Translation: X:-245.26, Y:3.97, Z:139.04 [[ 7.66496331e-01 -5.48279114e-01 3.34474794e-01 -2.45257430e+02] [ 5.92540849e-01 8.04596894e-01 -3.89766724e-02 3.96696984e+00] [-2.47747285e-01 2.28065455e-01 9.41598339e-01 1.39038800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61907232899995 meters Centerline goodness : 0.756164 Centerline is valid? [False, False] Translation: X:-245.36, Y:3.97, Z:139.08 [[ 7.66093833e-01 -5.47952272e-01 3.35929377e-01 -2.45360992e+02] [ 5.93220106e-01 8.03972610e-01 -4.14481384e-02 3.97154193e+00] [-2.47366416e-01 2.31033224e-01 9.40974763e-01 1.39077563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.649072329 meters Centerline goodness : 0.754733 Centerline is valid? [False, False] Translation: X:-245.47, Y:3.98, Z:139.12 [[ 7.67337136e-01 -5.45821941e-01 3.36559248e-01 -2.45467220e+02] [ 5.91304922e-01 8.05351093e-01 -4.20488472e-02 3.97741379e+00] [-2.48097175e-01 2.31274782e-01 9.40723002e-01 1.39117741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67907232899995 meters Centerline goodness : 0.756228 Centerline is valid? [False, False] Translation: X:-245.57, Y:3.98, Z:139.16 [[ 7.68408577e-01 -5.44081702e-01 3.36932280e-01 -2.45569918e+02] [ 5.89664395e-01 8.06535245e-01 -4.23886660e-02 3.98434217e+00] [-2.48684861e-01 2.31248783e-01 9.40574208e-01 1.39157015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.709072329 meters Centerline goodness : 0.756681 Centerline is valid? [False, False] Translation: X:-245.66, Y:3.99, Z:139.19 [[ 7.67773798e-01 -5.44957851e-01 3.36963404e-01 -2.45658728e+02] [ 5.89506700e-01 8.06854959e-01 -3.83004614e-02 3.98907036e+00] [-2.51008456e-01 2.28048275e-01 9.40738401e-01 1.39193402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.73907232899995 meters Centerline goodness : 0.758498 Centerline is valid? [False, False] Translation: X:-245.76, Y:3.99, Z:139.23 [[ 7.66637156e-01 -5.43656361e-01 3.41621475e-01 -2.45760816e+02] [ 5.89443476e-01 8.06881789e-01 -3.87061525e-02 3.99494484e+00] [-2.54605301e-01 2.31040125e-01 9.39040255e-01 1.39233623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.769072329 meters Centerline goodness : 0.758201 Centerline is valid? [False, False] Translation: X:-245.86, Y:4.00, Z:139.27 [[ 7.66880766e-01 -5.42198886e-01 3.43386457e-01 -2.45863845e+02] [ 5.88795489e-01 8.07277890e-01 -4.02775443e-02 4.00157530e+00] [-2.55369855e-01 2.33072471e-01 9.38330145e-01 1.39273203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.79907232899996 meters Centerline goodness : 0.757388 Centerline is valid? [False, False] Translation: X:-245.97, Y:4.01, Z:139.31 [[ 7.68167041e-01 -5.40163360e-01 3.43719278e-01 -2.45968345e+02] [ 5.86650509e-01 8.08854148e-01 -3.99518236e-02 4.00882853e+00] [-2.56438252e-01 2.32332763e-01 9.38222207e-01 1.39312606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.829072329 meters Centerline goodness : 0.757539 Centerline is valid? [False, False] Translation: X:-246.07, Y:4.02, Z:139.35 [[ 7.69844094e-01 -5.39306330e-01 3.41304487e-01 -2.46066660e+02] [ 5.84932899e-01 8.10131138e-01 -3.92561114e-02 4.01825256e+00] [-2.55330323e-01 2.29861309e-01 9.39132688e-01 1.39350417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.85907232899996 meters Centerline goodness : 0.757007 Centerline is valid? [False, False] Translation: X:-246.17, Y:4.03, Z:139.39 [[ 7.70686291e-01 -5.38224465e-01 3.41111517e-01 -2.46167384e+02] [ 5.84164122e-01 8.10609407e-01 -4.08003412e-02 4.02599867e+00] [-2.54548462e-01 2.30709373e-01 9.39136979e-01 1.39389075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.889072329 meters Centerline goodness : 0.754197 Centerline is valid? [False, False] Translation: X:-246.25, Y:4.03, Z:139.42 [[ 7.71463009e-01 -5.37957897e-01 3.39773642e-01 -2.46246657e+02] [ 5.83076411e-01 8.11476350e-01 -3.90900591e-02 4.03110068e+00] [-2.54689469e-01 2.28270530e-01 9.39694546e-01 1.39421353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.91907232899996 meters Centerline goodness : 0.753514 Centerline is valid? [False, False] Translation: X:-246.35, Y:4.04, Z:139.46 [[ 7.72800911e-01 -5.35483238e-01 3.40641239e-01 -2.46351726e+02] [ 5.81079226e-01 8.12838481e-01 -4.05035342e-02 4.03865652e+00] [-2.55197344e-01 2.29240716e-01 9.39320504e-01 1.39461378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.949072329 meters Centerline goodness : 0.752381 Centerline is valid? [False, False] Translation: X:-246.45, Y:4.05, Z:139.50 [[ 7.75935052e-01 -5.31134288e-01 3.40325084e-01 -2.46451365e+02] [ 5.76712149e-01 8.15889564e-01 -4.15609935e-02 4.04729501e+00] [-2.55593215e-01 2.28518242e-01 9.39388908e-01 1.39499454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.97907232899996 meters Centerline goodness : 0.752380 Centerline is valid? [False, False] Translation: X:-246.54, Y:4.06, Z:139.53 [[ 7.77418238e-01 -5.28594908e-01 3.40893395e-01 -2.46536162e+02] [ 5.73326758e-01 8.18425225e-01 -3.84262996e-02 4.05535879e+00] [-2.58683807e-01 2.25316611e-01 9.39316301e-01 1.39533905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.009072329 meters Centerline goodness : 0.753561 Centerline is valid? [False, False] Translation: X:-246.63, Y:4.06, Z:139.57 [[ 7.79102770e-01 -5.25492658e-01 3.41842565e-01 -2.46634627e+02] [ 5.70912925e-01 8.20003973e-01 -4.06437812e-02 4.06342426e+00] [-2.58954253e-01 2.26828021e-01 9.38877917e-01 1.39571879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.03907232899996 meters Centerline goodness : 0.753561 Centerline is valid? [False, False] Translation: X:-246.72, Y:4.07, Z:139.61 [[ 7.78441779e-01 -5.27660230e-01 3.40004527e-01 -2.46720090e+02] [ 5.71520805e-01 8.19786253e-01 -3.62556060e-02 4.06903773e+00] [-2.59600396e-01 2.22542539e-01 9.39724669e-01 1.39607680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.069072329 meters Centerline goodness : 0.751197 Centerline is valid? [False, False] Translation: X:-246.82, Y:4.08, Z:139.64 [[ 7.81628784e-01 -5.23056034e-01 3.39807047e-01 -2.46817424e+02] [ 5.67406014e-01 8.22509946e-01 -3.90871305e-02 4.07782707e+00] [-2.59049917e-01 2.23360189e-01 9.39682588e-01 1.39644973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09907232899997 meters Centerline goodness : 0.752862 Centerline is valid? [False, False] Translation: X:-246.90, Y:4.08, Z:139.68 [[ 7.81955631e-01 -5.23504839e-01 3.38360864e-01 -2.46898567e+02] [ 5.66569401e-01 8.23242741e-01 -3.56441222e-02 4.08470849e+00] [-2.59893255e-01 2.19577034e-01 9.40341120e-01 1.39678290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.129072329 meters Centerline goodness : 0.751728 Centerline is valid? [False, False] Translation: X:-246.98, Y:4.09, Z:139.71 [[ 7.81762401e-01 -5.24963912e-01 3.36541883e-01 -2.46980117e+02] [ 5.66786988e-01 8.23224001e-01 -3.24769825e-02 4.09160178e+00] [-2.60000112e-01 2.16136844e-01 9.41108286e-01 1.39712150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15907232899997 meters Centerline goodness : 0.752760 Centerline is valid? [False, False] Translation: X:-247.07, Y:4.10, Z:139.75 [[ 7.82387547e-01 -5.22913779e-01 3.38276375e-01 -2.47066125e+02] [ 5.64422220e-01 8.24932290e-01 -3.02369778e-02 4.09901729e+00] [-2.63243772e-01 2.14587737e-01 9.40560907e-01 1.39746339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.189072329 meters Centerline goodness : 0.753442 Centerline is valid? [False, False] Translation: X:-247.17, Y:4.11, Z:139.79 [[ 7.83654274e-01 -5.20069703e-01 3.39725600e-01 -2.47165727e+02] [ 5.62469429e-01 8.26170464e-01 -3.27185934e-02 4.10712525e+00] [-2.63655307e-01 2.16725330e-01 9.39955324e-01 1.39785093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21907232899997 meters Centerline goodness : 0.753144 Centerline is valid? [False, False] Translation: X:-247.26, Y:4.11, Z:139.82 [[ 7.84983306e-01 -5.17401398e-01 3.40730102e-01 -2.47262644e+02] [ 5.60505309e-01 8.27416435e-01 -3.48689181e-02 4.11459522e+00] [-2.63884460e-01 2.18352550e-01 9.39514319e-01 1.39822787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24907232899994 meters Centerline goodness : 0.752526 Centerline is valid? [False, False] Translation: X:-247.36, Y:4.12, Z:139.86 [[ 7.85201350e-01 -5.16607586e-01 3.41431462e-01 -2.47362331e+02] [ 5.60878899e-01 8.26998930e-01 -3.85698143e-02 4.12250063e+00] [-2.62437995e-01 2.21786773e-01 9.39114970e-01 1.39861358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.279072329 meters Centerline goodness : 0.751325 Centerline is valid? [False, False] Translation: X:-247.46, Y:4.13, Z:139.90 [[ 7.86293954e-01 -5.14912221e-01 3.41477998e-01 -2.47460219e+02] [ 5.59653299e-01 8.27735018e-01 -4.05330024e-02 4.13022110e+00] [-2.61782359e-01 2.22980143e-01 9.39015363e-01 1.39898929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.30907232899995 meters Centerline goodness : 0.750272 Centerline is valid? [False, False] Translation: X:-247.55, Y:4.14, Z:139.93 [[ 7.89524210e-01 -5.11198517e-01 3.39599173e-01 -2.47553723e+02] [ 5.55804657e-01 8.30229414e-01 -4.24299852e-02 4.13866980e+00] [-2.60255077e-01 2.22250302e-01 9.39612738e-01 1.39933854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.339072329 meters Centerline goodness : 0.749097 Centerline is valid? [False, False] Translation: X:-247.64, Y:4.15, Z:139.97 [[ 7.90049660e-01 -5.12057009e-01 3.37074403e-01 -2.47635081e+02] [ 5.54906567e-01 8.31036623e-01 -3.81684766e-02 4.14614277e+00] [-2.60576738e-01 2.17199792e-01 9.40703999e-01 1.39967374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.36907232899995 meters Centerline goodness : 0.748633 Centerline is valid? [False, False] Translation: X:-247.71, Y:4.15, Z:140.00 [[ 7.91889166e-01 -5.10569458e-01 3.35008024e-01 -2.47714038e+02] [ 5.51741556e-01 8.33314107e-01 -3.41885198e-02 4.15446230e+00] [-2.61711299e-01 2.11911367e-01 9.41594801e-01 1.39998921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.399072329 meters Centerline goodness : 0.748000 Centerline is valid? [False, False] Translation: X:-247.80, Y:4.16, Z:140.03 [[ 7.92871267e-01 -5.09939094e-01 3.33642433e-01 -2.47795586e+02] [ 5.49745244e-01 8.34773451e-01 -3.05524413e-02 4.16311980e+00] [-2.62935961e-01 2.07642494e-01 9.42204476e-01 1.40032005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.42907232899995 meters Centerline goodness : 0.746765 Centerline is valid? [False, False] Translation: X:-247.88, Y:4.17, Z:140.06 [[ 7.94048240e-01 -5.07323714e-01 3.34828376e-01 -2.47877035e+02] [ 5.47015342e-01 8.36596968e-01 -2.96602359e-02 4.17139980e+00] [-2.65069063e-01 2.06707916e-01 9.41812205e-01 1.40064101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.459072329 meters Centerline goodness : 0.747537 Centerline is valid? [False, False] Translation: X:-247.97, Y:4.18, Z:140.10 [[ 7.95485214e-01 -5.04633973e-01 3.35481486e-01 -2.47971123e+02] [ 5.45305043e-01 8.37583359e-01 -3.31138405e-02 4.18013339e+00] [-2.64283342e-01 2.09281317e-01 9.41464628e-01 1.40099888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.48907232899995 meters Centerline goodness : 0.746744 Centerline is valid? [False, False] Translation: X:-248.05, Y:4.19, Z:140.13 [[ 7.95921326e-01 -5.05045701e-01 3.33823431e-01 -2.48048241e+02] [ 5.44798375e-01 8.37988823e-01 -3.11361964e-02 4.18699752e+00] [-2.64015102e-01 2.06648425e-01 9.42121252e-01 1.40131165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.519072329 meters Centerline goodness : 0.745483 Centerline is valid? [False, False] Translation: X:-248.14, Y:4.20, Z:140.17 [[ 7.97683036e-01 -5.02814575e-01 3.32985400e-01 -2.48141768e+02] [ 5.43182956e-01 8.38907091e-01 -3.44553164e-02 4.19588338e+00] [-2.62019178e-01 2.08356415e-01 9.42302263e-01 1.40166262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.54907232899996 meters Centerline goodness : 0.744071 Centerline is valid? [False, False] Translation: X:-248.22, Y:4.20, Z:140.20 [[ 7.98276337e-01 -5.02703711e-01 3.31728607e-01 -2.48219327e+02] [ 5.42035725e-01 8.39753786e-01 -3.17939052e-02 4.20241178e+00] [-2.62587439e-01 2.05189078e-01 9.42838947e-01 1.40197487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.579072329 meters Centerline goodness : 0.744188 Centerline is valid? [False, False] Translation: X:-248.30, Y:4.21, Z:140.23 [[ 7.98441077e-01 -5.02883749e-01 3.31058578e-01 -2.48297794e+02] [ 5.41511273e-01 8.40165854e-01 -2.97804987e-02 4.20896043e+00] [-2.63167984e-01 2.03049925e-01 9.43140149e-01 1.40229128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.60907232899996 meters Centerline goodness : 0.743143 Centerline is valid? [False, False] Translation: X:-248.39, Y:4.22, Z:140.26 [[ 8.01800376e-01 -4.98071640e-01 3.30213263e-01 -2.48389547e+02] [ 5.36860786e-01 8.43065923e-01 -3.19428501e-02 4.21809176e+00] [-2.62481722e-01 2.02890341e-01 9.43365706e-01 1.40263058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.639072329 meters Centerline goodness : 0.743347 Centerline is valid? [False, False] Translation: X:-248.47, Y:4.22, Z:140.29 [[ 8.02428154e-01 -4.98015392e-01 3.28770021e-01 -2.48466005e+02] [ 5.35910939e-01 8.43744688e-01 -2.99059612e-02 4.22497653e+00] [-2.62504330e-01 2.00188836e-01 9.43936389e-01 1.40293508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.66907232899996 meters Centerline goodness : 0.740753 Centerline is valid? [False, False] Translation: X:-248.54, Y:4.23, Z:140.32 [[ 8.03405448e-01 -4.97522972e-01 3.27124712e-01 -2.48543499e+02] [ 5.34070812e-01 8.45025579e-01 -2.64601302e-02 4.23331731e+00] [-2.63264227e-01 1.95965974e-01 9.44610652e-01 1.40323706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.699072329 meters Centerline goodness : 0.741481 Centerline is valid? [False, False] Translation: X:-248.62, Y:4.24, Z:140.35 [[ 8.03867121e-01 -4.96937955e-01 3.26879674e-01 -2.48619616e+02] [ 5.33015450e-01 8.45733883e-01 -2.50744543e-02 4.24060337e+00] [-2.63992768e-01 1.94388446e-01 9.44733270e-01 1.40353127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.72907232899996 meters Centerline goodness : 0.740430 Centerline is valid? [False, False] Translation: X:-248.69, Y:4.25, Z:140.38 [[ 8.04840847e-01 -4.95810691e-01 3.26194681e-01 -2.48693430e+02] [ 5.31422083e-01 8.46762999e-01 -2.41452484e-02 4.24790295e+00] [-2.64238114e-01 1.92780139e-01 9.44994200e-01 1.40381963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.759072329 meters Centerline goodness : 0.739770 Centerline is valid? [False, False] Translation: X:-248.77, Y:4.25, Z:140.41 [[ 8.05699502e-01 -4.94627758e-01 3.25870669e-01 -2.48767804e+02] [ 5.29885580e-01 8.47747637e-01 -2.33498628e-02 4.25472978e+00] [-2.64706600e-01 1.91487142e-01 9.45125966e-01 1.40410676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.78907232899996 meters Centerline goodness : 0.742542 Centerline is valid? [False, False] Translation: X:-248.85, Y:4.26, Z:140.44 [[ 8.06668493e-01 -4.91463397e-01 3.28252451e-01 -2.48847672e+02] [ 5.27025477e-01 8.49532312e-01 -2.32163147e-02 4.26341281e+00] [-2.67451095e-01 1.91725274e-01 9.44304681e-01 1.40440783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.819072329 meters Centerline goodness : 0.742103 Centerline is valid? [False, False] Translation: X:-248.92, Y:4.27, Z:140.47 [[ 8.06935588e-01 -4.90692032e-01 3.28749581e-01 -2.48923026e+02] [ 5.26280537e-01 8.49997724e-01 -2.30795246e-02 4.27070675e+00] [-2.68111457e-01 1.91638196e-01 9.44135080e-01 1.40470399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84907232899997 meters Centerline goodness : 0.743575 Centerline is valid? [False, False] Translation: X:-249.00, Y:4.28, Z:140.50 [[ 8.07793224e-01 -4.89395611e-01 3.28575780e-01 -2.48996960e+02] [ 5.24605586e-01 8.51057922e-01 -2.21222206e-02 4.27770242e+00] [-2.68810503e-01 1.90242869e-01 9.44218494e-01 1.40499127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.879072329 meters Centerline goodness : 0.743375 Centerline is valid? [False, False] Translation: X:-249.08, Y:4.29, Z:140.53 [[ 8.07000624e-01 -4.90976882e-01 3.28164127e-01 -2.49077426e+02] [ 5.25700007e-01 8.50424898e-01 -2.04204812e-02 4.28521953e+00] [-2.69052960e-01 1.88995225e-01 9.44399973e-01 1.40531606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90907232899997 meters Centerline goodness : 0.742777 Centerline is valid? [False, False] Translation: X:-249.15, Y:4.29, Z:140.56 [[ 8.06893112e-01 -4.91310907e-01 3.27928496e-01 -2.49154478e+02] [ 5.25482842e-01 8.50600892e-01 -1.85985369e-02 4.29194424e+00] [-2.69798607e-01 1.87327829e-01 9.44519452e-01 1.40561472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.939072329 meters Centerline goodness : 0.744037 Centerline is valid? [False, False] Translation: X:-249.25, Y:4.30, Z:140.60 [[ 8.07998614e-01 -4.89585749e-01 3.27786567e-01 -2.49246595e+02] [ 5.24954606e-01 8.50812974e-01 -2.32367272e-02 4.30101378e+00] [-2.67508693e-01 1.90848312e-01 9.44465998e-01 1.40595367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96907232899997 meters Centerline goodness : 0.743473 Centerline is valid? [False, False] Translation: X:-249.34, Y:4.31, Z:140.63 [[ 8.09217983e-01 -4.87774833e-01 3.27478195e-01 -2.49335890e+02] [ 5.24369353e-01 8.51025285e-01 -2.81557519e-02 4.30839389e+00] [-2.64958557e-01 1.94503670e-01 9.44439138e-01 1.40627620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99907232899994 meters Centerline goodness : 0.743872 Centerline is valid? [False, False] Translation: X:-249.41, Y:4.32, Z:140.66 [[ 8.08156029e-01 -4.90190121e-01 3.26492692e-01 -2.49414378e+02] [ 5.26203428e-01 8.49948962e-01 -2.63953516e-02 4.31508698e+00] [-2.64563384e-01 1.93133136e-01 9.44831100e-01 1.40658186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.029072329 meters Centerline goodness : 0.744964 Centerline is valid? [False, False] Translation: X:-249.49, Y:4.32, Z:140.69 [[ 8.08027788e-01 -4.91062653e-01 3.25497411e-01 -2.49488766e+02] [ 5.26705525e-01 8.49660052e-01 -2.56726506e-02 4.32210446e+00] [-2.63955268e-01 1.92185500e-01 9.45194345e-01 1.40687181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05907232899995 meters Centerline goodness : 0.745550 Centerline is valid? [False, False] Translation: X:-249.56, Y:4.33, Z:140.72 [[ 8.07584538e-01 -4.91725061e-01 3.25597419e-01 -2.49564696e+02] [ 5.27379446e-01 8.49246669e-01 -2.55149944e-02 4.32909480e+00] [-2.63966162e-01 1.92318901e-01 9.45164169e-01 1.40717226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.089072329 meters Centerline goodness : 0.746552 Centerline is valid? [False, False] Translation: X:-249.64, Y:4.34, Z:140.75 [[ 8.07866424e-01 -4.92049334e-01 3.24406064e-01 -2.49639287e+02] [ 5.27149225e-01 8.49423006e-01 -2.43772709e-02 4.33612556e+00] [-2.63563154e-01 1.90703984e-01 9.45603751e-01 1.40746286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11907232899995 meters Centerline goodness : 0.747083 Centerline is valid? [False, False] Translation: X:-249.72, Y:4.34, Z:140.78 [[ 8.07728133e-01 -4.93861957e-01 3.21987004e-01 -2.49715265e+02] [ 5.28044477e-01 8.48916612e-01 -2.25747012e-02 4.34338555e+00] [-2.62191331e-01 1.88257680e-01 9.46474908e-01 1.40775472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.149072329 meters Centerline goodness : 0.746088 Centerline is valid? [False, False] Translation: X:-249.79, Y:4.35, Z:140.80 [[ 8.07997497e-01 -4.94780244e-01 3.19894600e-01 -2.49788815e+02] [ 5.28382897e-01 8.48724140e-01 -2.18825854e-02 4.35070394e+00] [-2.60675199e-01 1.86707910e-01 9.47200400e-01 1.40803497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17907232899995 meters Centerline goodness : 0.746018 Centerline is valid? [False, False] Translation: X:-249.86, Y:4.36, Z:140.83 [[ 8.08350580e-01 -4.95621968e-01 3.17691996e-01 -2.49862073e+02] [ 5.28537031e-01 8.48653542e-01 -2.08751798e-02 4.35751576e+00] [-2.59264240e-01 1.84786448e-01 9.47964146e-01 1.40830900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.209072329 meters Centerline goodness : 0.744617 Centerline is valid? [False, False] Translation: X:-249.94, Y:4.36, Z:140.86 [[ 8.08105393e-01 -4.96993541e-01 3.16169406e-01 -2.49936125e+02] [ 5.29699012e-01 8.47925721e-01 -2.09983048e-02 4.36387380e+00] [-2.57652150e-01 1.84443465e-01 9.48470336e-01 1.40858949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.23907232899995 meters Centerline goodness : 0.748108 Centerline is valid? [False, False] Translation: X:-250.03, Y:4.37, Z:140.89 [[ 8.09038554e-01 -4.95104080e-01 3.16746851e-01 -2.50026085e+02] [ 5.29137135e-01 8.48143932e-01 -2.58023766e-02 4.37263640e+00] [-2.55872058e-01 1.88477639e-01 9.48159095e-01 1.40890230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.269072329 meters Centerline goodness : 0.748120 Centerline is valid? [False, False] Translation: X:-250.10, Y:4.38, Z:140.92 [[ 8.08697050e-01 -4.95562940e-01 3.16901332e-01 -2.50100130e+02] [ 5.29815436e-01 8.47701534e-01 -2.64142642e-02 4.37925108e+00] [-2.55547815e-01 1.89260355e-01 9.48090625e-01 1.40918023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.29907232899996 meters Centerline goodness : 0.749415 Centerline is valid? [False, False] Translation: X:-250.18, Y:4.39, Z:140.95 [[ 8.07404042e-01 -4.97617152e-01 3.16979309e-01 -2.50176172e+02] [ 5.32100628e-01 8.46255474e-01 -2.68438954e-02 4.38556826e+00] [-2.54887493e-01 1.90338759e-01 9.48052489e-01 1.40946950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.329072329 meters Centerline goodness : 0.749807 Centerline is valid? [False, False] Translation: X:-250.25, Y:4.39, Z:140.97 [[ 8.05937247e-01 -4.99366541e-01 3.17959450e-01 -2.50251311e+02] [ 5.34360571e-01 8.44803998e-01 -2.76583600e-02 4.39141126e+00] [-2.54801755e-01 1.92195896e-01 9.47700798e-01 1.40974564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.35907232899996 meters Centerline goodness : 0.748344 Centerline is valid? [False, False] Translation: X:-250.34, Y:4.40, Z:141.01 [[ 8.07276285e-01 -4.97785609e-01 3.17040197e-01 -2.50341913e+02] [ 5.33497196e-01 8.45220415e-01 -3.13558840e-02 4.39950484e+00] [-2.52360339e-01 1.94452918e-01 9.47893624e-01 1.41006582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.389072329 meters Centerline goodness : 0.748521 Centerline is valid? [False, False] Translation: X:-250.42, Y:4.40, Z:141.04 [[ 8.04975321e-01 -5.02440234e-01 3.15544837e-01 -2.50422054e+02] [ 5.37567014e-01 8.42703577e-01 -2.95362036e-02 4.40478131e+00] [-2.51070586e-01 1.93402411e-01 9.48450878e-01 1.41035464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.41907232899996 meters Centerline goodness : 0.747428 Centerline is valid? [False, False] Translation: X:-250.50, Y:4.41, Z:141.06 [[ 8.03868768e-01 -5.04889602e-01 3.14454280e-01 -2.50498444e+02] [ 5.39743649e-01 8.41331489e-01 -2.89502871e-02 4.41183392e+00] [-2.49943589e-01 1.92996932e-01 9.48831063e-01 1.41063559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.449072329 meters Centerline goodness : 0.747771 Centerline is valid? [False, False] Translation: X:-250.57, Y:4.42, Z:141.09 [[ 8.03417777e-01 -5.06107043e-01 3.13648747e-01 -2.50572804e+02] [ 5.40719699e-01 8.40720982e-01 -2.84681786e-02 4.41845486e+00] [-2.49283137e-01 1.92467897e-01 9.49112231e-01 1.41090199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.47907232899996 meters Centerline goodness : 0.749092 Centerline is valid? [False, False] Translation: X:-250.65, Y:4.43, Z:141.12 [[ 8.02510767e-01 -5.07343343e-01 3.13973249e-01 -2.50649798e+02] [ 5.41917512e-01 8.39970419e-01 -2.78407066e-02 4.42514743e+00] [-2.49603444e-01 1.92490069e-01 9.49023548e-01 1.41118608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.509072329 meters Centerline goodness : 0.748936 Centerline is valid? [False, False] Translation: X:-250.72, Y:4.43, Z:141.15 [[ 8.02501922e-01 -5.07546151e-01 3.13667929e-01 -2.50724703e+02] [ 5.41963658e-01 8.39953337e-01 -2.74551321e-02 4.43259273e+00] [-2.49531677e-01 1.92029415e-01 9.49135736e-01 1.41145673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53907232899996 meters Centerline goodness : 0.747645 Centerline is valid? [False, False] Translation: X:-250.80, Y:4.44, Z:141.17 [[ 8.02668388e-01 -5.08169691e-01 3.12229123e-01 -2.50799112e+02] [ 5.41922365e-01 8.40027312e-01 -2.59666082e-02 4.43942698e+00] [-2.49085548e-01 1.90046520e-01 9.49651889e-01 1.41171298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.569072329 meters Centerline goodness : 0.746199 Centerline is valid? [False, False] Translation: X:-250.87, Y:4.45, Z:141.20 [[ 8.03126281e-01 -5.07593814e-01 3.11988296e-01 -2.50872751e+02] [ 5.41364902e-01 8.40375336e-01 -2.63313039e-02 4.44630509e+00] [-2.48821662e-01 1.90046876e-01 9.49720993e-01 1.41197497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59907232899997 meters Centerline goodness : 0.747868 Centerline is valid? [False, False] Translation: X:-250.95, Y:4.45, Z:141.22 [[ 8.04269541e-01 -5.05538161e-01 3.12380654e-01 -2.50947754e+02] [ 5.39204786e-01 8.41773706e-01 -2.59851403e-02 4.45398783e+00] [-2.49817341e-01 1.89336200e-01 9.49601548e-01 1.41223490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.629072329 meters Centerline goodness : 0.748741 Centerline is valid? [False, False] Translation: X:-251.02, Y:4.46, Z:141.25 [[ 8.02974847e-01 -5.06983343e-01 3.13367651e-01 -2.51024193e+02] [ 5.41187186e-01 8.40469096e-01 -2.69838529e-02 4.46177755e+00] [-2.49695463e-01 1.91257913e-01 9.49248433e-01 1.41251619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65907232899997 meters Centerline goodness : 0.748642 Centerline is valid? [False, False] Translation: X:-251.10, Y:4.47, Z:141.28 [[ 8.02587950e-01 -5.07568127e-01 3.13412157e-01 -2.51099446e+02] [ 5.41914306e-01 8.39987443e-01 -2.73857873e-02 4.46896686e+00] [-2.49362123e-01 1.91822034e-01 9.49222228e-01 1.41279264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.689072329 meters Centerline goodness : 0.748939 Centerline is valid? [False, False] Translation: X:-251.17, Y:4.48, Z:141.31 [[ 8.03066194e-01 -5.07169491e-01 3.12831897e-01 -2.51173446e+02] [ 5.41355293e-01 8.40350218e-01 -2.73122490e-02 4.47637456e+00] [-2.49036413e-01 1.91286747e-01 9.49415739e-01 1.41305612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71907232899997 meters Centerline goodness : 0.748288 Centerline is valid? [False, False] Translation: X:-251.25, Y:4.48, Z:141.33 [[ 8.03192230e-01 -5.07533957e-01 3.11915893e-01 -2.51247771e+02] [ 5.41390166e-01 8.40346636e-01 -2.67248999e-02 4.48346314e+00] [-2.48553677e-01 1.90333429e-01 9.49733781e-01 1.41331799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74907232899994 meters Centerline goodness : 0.748533 Centerline is valid? [False, False] Translation: X:-251.32, Y:4.49, Z:141.36 [[ 8.03038910e-01 -5.08854414e-01 3.10154308e-01 -2.51322520e+02] [ 5.42050445e-01 8.39962888e-01 -2.53705166e-02 4.49113920e+00] [-2.47608209e-01 1.88492793e-01 9.50347643e-01 1.41358297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.779072329 meters Centerline goodness : 0.748016 Centerline is valid? [False, False] Translation: X:-251.40, Y:4.50, Z:141.39 [[ 8.02479835e-01 -5.09812974e-01 3.10027168e-01 -2.51398097e+02] [ 5.43010303e-01 8.39344586e-01 -2.53076503e-02 4.49940439e+00] [-2.47317456e-01 1.88656826e-01 9.50390803e-01 1.41385327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.80907232899995 meters Centerline goodness : 0.747824 Centerline is valid? [False, False] Translation: X:-251.47, Y:4.51, Z:141.41 [[ 8.02810897e-01 -5.09910626e-01 3.09007796e-01 -2.51472074e+02] [ 5.42741119e-01 8.39537043e-01 -2.46907223e-02 4.50748893e+00] [-2.46833429e-01 1.87533218e-01 9.50738950e-01 1.41411784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.839072329 meters Centerline goodness : 0.746446 Centerline is valid? [False, False] Translation: X:-251.55, Y:4.51, Z:141.44 [[ 8.01759602e-01 -5.12006071e-01 3.08271509e-01 -2.51548429e+02] [ 5.44612828e-01 8.38342876e-01 -2.40434888e-02 4.51468827e+00] [-2.46126811e-01 1.87165716e-01 9.50994525e-01 1.41438720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.86907232899995 meters Centerline goodness : 0.746139 Centerline is valid? [False, False] Translation: X:-251.62, Y:4.52, Z:141.46 [[ 8.01246982e-01 -5.12731531e-01 3.08398526e-01 -2.51623779e+02] [ 5.45438353e-01 8.37801472e-01 -2.42011624e-02 4.52199557e+00] [-2.45968040e-01 1.87603492e-01 9.50949343e-01 1.41464938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.899072329 meters Centerline goodness : 0.746630 Centerline is valid? [False, False] Translation: X:-251.70, Y:4.53, Z:141.49 [[ 7.99495199e-01 -5.15670628e-01 3.08044201e-01 -2.51703315e+02] [ 5.48232116e-01 8.35998731e-01 -2.34023387e-02 4.52878930e+00] [-2.45456663e-01 1.87589782e-01 9.51084171e-01 1.41493115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.92907232899995 meters Centerline goodness : 0.747256 Centerline is valid? [False, False] Translation: X:-251.78, Y:4.54, Z:141.52 [[ 7.99442015e-01 -5.15670553e-01 3.08182323e-01 -2.51776913e+02] [ 5.48421644e-01 8.35856696e-01 -2.40267479e-02 4.53668656e+00] [-2.45206372e-01 1.88221848e-01 9.51023854e-01 1.41518452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.959072329 meters Centerline goodness : 0.747256 Centerline is valid? [False, False] Translation: X:-251.85, Y:4.54, Z:141.54 [[ 7.99758305e-01 -5.14952347e-01 3.08562366e-01 -2.51851945e+02] [ 5.47852415e-01 8.36218336e-01 -2.44259353e-02 4.54489564e+00] [-2.45447315e-01 1.88581482e-01 9.50890446e-01 1.41544419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.98907232899995 meters Centerline goodness : 0.745724 Centerline is valid? [False, False] Translation: X:-251.93, Y:4.55, Z:141.57 [[ 7.99921690e-01 -5.14157673e-01 3.09462723e-01 -2.51927455e+02] [ 5.47254812e-01 8.36604292e-01 -2.46054783e-02 4.55240221e+00] [-2.46246747e-01 1.89037420e-01 9.50593180e-01 1.41569747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.019072329 meters Centerline goodness : 0.747128 Centerline is valid? [False, False] Translation: X:-252.01, Y:4.56, Z:141.60 [[ 7.99124453e-01 -5.14541063e-01 3.10881975e-01 -2.52005397e+02] [ 5.47985919e-01 8.36121739e-01 -2.47360081e-02 4.56068517e+00] [-2.47207486e-01 1.90126094e-01 9.50126585e-01 1.41597208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.04907232899996 meters Centerline goodness : 0.748490 Centerline is valid? [False, False] Translation: X:-252.08, Y:4.57, Z:141.62 [[ 7.99850623e-01 -5.12809998e-01 3.11873191e-01 -2.52080522e+02] [ 5.46498226e-01 8.37081615e-01 -2.51805083e-02 4.56927100e+00] [-2.48150498e-01 1.90578791e-01 9.49790006e-01 1.41623243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.079072329 meters Centerline goodness : 0.747423 Centerline is valid? [False, False] Translation: X:-252.15, Y:4.58, Z:141.65 [[ 7.99508420e-01 -5.12714688e-01 3.12905634e-01 -2.52154590e+02] [ 5.46995557e-01 8.36711795e-01 -2.66314356e-02 4.57708422e+00] [-2.48157507e-01 1.92450049e-01 9.49410781e-01 1.41649198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.10907232899996 meters Centerline goodness : 0.746310 Centerline is valid? [False, False] Translation: X:-252.23, Y:4.59, Z:141.67 [[ 8.00175588e-01 -5.11849828e-01 3.12616028e-01 -2.52226457e+02] [ 5.46169354e-01 8.37234088e-01 -2.71683457e-02 4.58530054e+00] [-2.47826682e-01 1.92480741e-01 9.49490969e-01 1.41674026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.139072329 meters Centerline goodness : 0.748224 Centerline is valid? [False, False] Translation: X:-252.30, Y:4.59, Z:141.70 [[ 8.00721051e-01 -5.10829237e-01 3.12888621e-01 -2.52301219e+02] [ 5.45148821e-01 8.37900237e-01 -2.71284978e-02 4.59364467e+00] [-2.48311420e-01 1.92293222e-01 9.49402315e-01 1.41700002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.16907232899996 meters Centerline goodness : 0.747586 Centerline is valid? [False, False] Translation: X:-252.38, Y:4.60, Z:141.73 [[ 8.01365211e-01 -5.09441700e-01 3.13501122e-01 -2.52376202e+02] [ 5.43883031e-01 8.38715424e-01 -2.73438540e-02 4.60225910e+00] [-2.49008127e-01 1.92420354e-01 9.49194058e-01 1.41726487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.199072329 meters Centerline goodness : 0.747670 Centerline is valid? [False, False] Translation: X:-252.45, Y:4.61, Z:141.75 [[ 8.00645765e-01 -5.10301420e-01 3.13940790e-01 -2.52453255e+02] [ 5.44856619e-01 8.38085720e-01 -2.72688733e-02 4.61140653e+00] [-2.49193948e-01 1.92885425e-01 9.49050888e-01 1.41754205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.22907232899996 meters Centerline goodness : 0.747626 Centerline is valid? [False, False] Translation: X:-252.52, Y:4.62, Z:141.78 [[ 8.01995274e-01 -5.08331473e-01 3.13692036e-01 -2.52523318e+02] [ 5.43039199e-01 8.39226884e-01 -2.84018471e-02 4.61921158e+00] [-2.48821237e-01 1.93125219e-01 9.49099911e-01 1.41778084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.259072329 meters Centerline goodness : 0.747593 Centerline is valid? [False, False] Translation: X:-252.60, Y:4.63, Z:141.80 [[ 8.02526578e-01 -5.07146499e-01 3.14250728e-01 -2.52598252e+02] [ 5.41972094e-01 8.39909441e-01 -2.86073390e-02 4.62916991e+00] [-2.49434041e-01 1.93273275e-01 9.48908900e-01 1.41804262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28907232899996 meters Centerline goodness : 0.747421 Centerline is valid? [False, False] Translation: X:-252.67, Y:4.64, Z:141.83 [[ 8.03900360e-01 -5.04924725e-01 3.14317090e-01 -2.52673006e+02] [ 5.39475551e-01 8.41538750e-01 -2.79045196e-02 4.63967896e+00] [-2.50420330e-01 1.91998839e-01 9.48907848e-01 1.41830232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.319072329 meters Centerline goodness : 0.748783 Centerline is valid? [False, False] Translation: X:-252.75, Y:4.65, Z:141.86 [[ 8.05998058e-01 -5.00589631e-01 3.15875214e-01 -2.52751361e+02] [ 5.35214737e-01 8.44261349e-01 -2.77120891e-02 4.65067333e+00] [-2.52808850e-01 1.91396960e-01 9.48395956e-01 1.41858032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34907232899997 meters Centerline goodness : 0.749984 Centerline is valid? [False, False] Translation: X:-252.83, Y:4.66, Z:141.89 [[ 8.06337786e-01 -5.00034368e-01 3.15887649e-01 -2.52827215e+02] [ 5.34521213e-01 8.44714577e-01 -2.72829021e-02 4.66000151e+00] [-2.53192513e-01 1.90847884e-01 9.48404258e-01 1.41885707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.379072329 meters Centerline goodness : 0.749206 Centerline is valid? [False, False] Translation: X:-252.91, Y:4.67, Z:141.91 [[ 8.06630417e-01 -4.97817146e-01 3.18630601e-01 -2.52906822e+02] [ 5.33042289e-01 8.45616380e-01 -2.82640511e-02 4.66997921e+00] [-2.55368926e-01 1.92642228e-01 9.47457484e-01 1.41914595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40907232899997 meters Centerline goodness : 0.749729 Centerline is valid? [False, False] Translation: X:-252.98, Y:4.68, Z:141.94 [[ 8.06648722e-01 -4.97135504e-01 3.19646884e-01 -2.52980779e+02] [ 5.32768600e-01 8.45760739e-01 -2.90927878e-02 4.67848654e+00] [-2.55881727e-01 1.93765483e-01 9.47090006e-01 1.41941433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.439072329 meters Centerline goodness : 0.749916 Centerline is valid? [False, False] Translation: X:-253.06, Y:4.69, Z:141.97 [[ 8.06474992e-01 -4.97016632e-01 3.20269503e-01 -2.53056028e+02] [ 5.32877347e-01 8.45679477e-01 -2.94610902e-02 4.68744264e+00] [-2.56202693e-01 1.94423995e-01 9.46868254e-01 1.41968586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46907232899997 meters Centerline goodness : 0.749117 Centerline is valid? [False, False] Translation: X:-253.13, Y:4.69, Z:141.99 [[ 8.05388269e-01 -4.99828124e-01 3.18624517e-01 -2.53129084e+02] [ 5.35667958e-01 8.43888615e-01 -3.01967528e-02 4.69476487e+00] [-2.53790416e-01 1.94997055e-01 9.47399901e-01 1.41994623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49907232899994 meters Centerline goodness : 0.749807 Centerline is valid? [False, False] Translation: X:-253.20, Y:4.70, Z:142.02 [[ 8.06307557e-01 -4.99274137e-01 3.17164719e-01 -2.53201397e+02] [ 5.34639307e-01 8.44558557e-01 -2.96926750e-02 4.70262138e+00] [-2.53039393e-01 1.93510154e-01 9.47905526e-01 1.42020585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.529072329 meters Centerline goodness : 0.749190 Centerline is valid? [False, False] Translation: X:-253.28, Y:4.71, Z:142.05 [[ 8.06555468e-01 -4.99277449e-01 3.16528524e-01 -2.53276260e+02] [ 5.34360302e-01 8.44754269e-01 -2.91426083e-02 4.71166252e+00] [-2.52838575e-01 1.92645408e-01 9.48135223e-01 1.42046996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55907232899995 meters Centerline goodness : 0.749634 Centerline is valid? [False, False] Translation: X:-253.35, Y:4.72, Z:142.07 [[ 8.06924988e-01 -4.98488171e-01 3.16830565e-01 -2.53350867e+02] [ 5.33539815e-01 8.45280185e-01 -2.89253504e-02 4.72041165e+00] [-2.53391654e-01 1.92382309e-01 9.48040989e-01 1.42072701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.589072329 meters Centerline goodness : 0.751457 Centerline is valid? [False, False] Translation: X:-253.43, Y:4.73, Z:142.10 [[ 8.05423734e-01 -5.00676819e-01 3.17199200e-01 -2.53427950e+02] [ 5.35823213e-01 8.43845803e-01 -2.85962289e-02 4.73003598e+00] [-2.53349745e-01 1.92994776e-01 9.47927699e-01 1.42100519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61907232899995 meters Centerline goodness : 0.753014 Centerline is valid? [False, False] Translation: X:-253.50, Y:4.74, Z:142.13 [[ 8.05438459e-01 -4.99975698e-01 3.18265912e-01 -2.53503131e+02] [ 5.35437717e-01 8.44075019e-01 -2.90484562e-02 4.73874570e+00] [-2.54116784e-01 1.93808317e-01 9.47556329e-01 1.42127058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.649072329 meters Centerline goodness : 0.753213 Centerline is valid? [False, False] Translation: X:-253.58, Y:4.75, Z:142.15 [[ 8.04649780e-01 -5.00006653e-01 3.20206307e-01 -2.53579099e+02] [ 5.36282469e-01 8.43486843e-01 -3.05132556e-02 4.74781855e+00] [-2.54832976e-01 1.96273513e-01 9.46856305e-01 1.42154384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67907232899995 meters Centerline goodness : 0.754447 Centerline is valid? [False, False] Translation: X:-253.66, Y:4.76, Z:142.18 [[ 8.03372237e-01 -5.01548150e-01 3.21002340e-01 -2.53658795e+02] [ 5.37716347e-01 8.42620174e-01 -2.91954121e-02 4.75673615e+00] [-2.55840142e-01 1.96062989e-01 9.46628293e-01 1.42183493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.709072329 meters Centerline goodness : 0.754504 Centerline is valid? [False, False] Translation: X:-253.73, Y:4.77, Z:142.21 [[ 8.03797669e-01 -5.00016717e-01 3.22323735e-01 -2.53733861e+02] [ 5.36610813e-01 8.43297052e-01 -2.99819610e-02 4.76649529e+00] [-2.56823174e-01 1.97061832e-01 9.46154581e-01 1.42210106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.73907232899995 meters Centerline goodness : 0.756341 Centerline is valid? [False, False] Translation: X:-253.81, Y:4.78, Z:142.24 [[ 8.04358224e-01 -4.97718183e-01 3.24475666e-01 -2.53814722e+02] [ 5.34734151e-01 8.44479897e-01 -3.02174030e-02 4.77752058e+00] [-2.58973426e-01 1.97813836e-01 9.45411260e-01 1.42238879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.769072329 meters Centerline goodness : 0.756517 Centerline is valid? [False, False] Translation: X:-253.89, Y:4.79, Z:142.27 [[ 8.04921520e-01 -4.96060465e-01 3.25615360e-01 -2.53889541e+02] [ 5.33406453e-01 8.45297838e-01 -3.08078037e-02 4.78763424e+00] [-2.59959426e-01 1.98483198e-01 9.45000273e-01 1.42265648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.79907232899996 meters Centerline goodness : 0.756492 Centerline is valid? [False, False] Translation: X:-253.96, Y:4.80, Z:142.29 [[ 8.05255989e-01 -4.94570669e-01 3.27051443e-01 -2.53964997e+02] [ 5.32588259e-01 8.45755553e-01 -3.23618675e-02 4.79858918e+00] [-2.60600344e-01 2.00243346e-01 9.44452255e-01 1.42292564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.829072329 meters Centerline goodness : 0.758145 Centerline is valid? [False, False] Translation: X:-254.04, Y:4.81, Z:142.32 [[ 8.05683487e-01 -4.93146960e-01 3.28146606e-01 -2.54036602e+02] [ 5.31916594e-01 8.46095404e-01 -3.44572828e-02 4.80733531e+00] [-2.60650831e-01 2.02308289e-01 9.43998146e-01 1.42318663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.85907232899996 meters Centerline goodness : 0.758361 Centerline is valid? [False, False] Translation: X:-254.11, Y:4.82, Z:142.35 [[ 8.06656397e-01 -4.90725861e-01 3.29383648e-01 -2.54109381e+02] [ 5.29993489e-01 8.47250430e-01 -3.56876903e-02 4.81767410e+00] [-2.61557565e-01 2.03358893e-01 9.43521489e-01 1.42345118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.889072329 meters Centerline goodness : 0.758965 Centerline is valid? [False, False] Translation: X:-254.19, Y:4.83, Z:142.37 [[ 8.07590558e-01 -4.87969684e-01 3.31184356e-01 -2.54189521e+02] [ 5.27342617e-01 8.48927214e-01 -3.51048407e-02 4.82859132e+00] [-2.64021315e-01 2.02997963e-01 9.42912813e-01 1.42373584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.91907232899996 meters Centerline goodness : 0.758138 Centerline is valid? [False, False] Translation: X:-254.26, Y:4.84, Z:142.40 [[ 8.10020891e-01 -4.84108463e-01 3.30915626e-01 -2.54263962e+02] [ 5.22996218e-01 8.51644680e-01 -3.42971595e-02 4.84042437e+00] [-2.65218987e-01 2.00849037e-01 9.43036878e-01 1.42399857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.949072329 meters Centerline goodness : 0.758644 Centerline is valid? [False, False] Translation: X:-254.34, Y:4.85, Z:142.43 [[ 8.10611850e-01 -4.82254410e-01 3.32173317e-01 -2.54338307e+02] [ 5.21677966e-01 8.52402129e-01 -3.55346294e-02 4.85078849e+00] [-2.66008511e-01 2.02092292e-01 9.42548767e-01 1.42427080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.97907232899996 meters Centerline goodness : 0.759170 Centerline is valid? [False, False] Translation: X:-254.42, Y:4.86, Z:142.46 [[ 8.13667453e-01 -4.76479175e-01 3.33035841e-01 -2.54415273e+02] [ 5.15502390e-01 8.56193406e-01 -3.44983565e-02 4.86368881e+00] [-2.68705343e-01 1.99750962e-01 9.42282862e-01 1.42455624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.009072329 meters Centerline goodness : 0.760260 Centerline is valid? [False, False] Translation: X:-254.50, Y:4.88, Z:142.48 [[ 8.14073817e-01 -4.73584727e-01 3.36156699e-01 -2.54495757e+02] [ 5.13206639e-01 8.57564019e-01 -3.46828308e-02 4.87643981e+00] [-2.71850631e-01 2.00752234e-01 9.41167241e-01 1.42484752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03907232899996 meters Centerline goodness : 0.760234 Centerline is valid? [False, False] Translation: X:-254.58, Y:4.89, Z:142.51 [[ 8.14212870e-01 -4.71510951e-01 3.38725295e-01 -2.54575284e+02] [ 5.11562509e-01 8.58550967e-01 -3.45548303e-02 4.88794399e+00] [-2.74519949e-01 2.01414149e-01 9.40250572e-01 1.42513661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.069072329 meters Centerline goodness : 0.760749 Centerline is valid? [False, False] Translation: X:-254.65, Y:4.90, Z:142.54 [[ 8.15677423e-01 -4.67021731e-01 3.41410377e-01 -2.54653878e+02] [ 5.07378226e-01 8.61037850e-01 -3.43679549e-02 4.90092069e+00] [-2.77916675e-01 2.01257356e-01 9.39285792e-01 1.42542841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09907232899997 meters Centerline goodness : 0.763534 Centerline is valid? [False, False] Translation: X:-254.73, Y:4.91, Z:142.57 [[ 8.16150391e-01 -4.64025017e-01 3.44353486e-01 -2.54732464e+02] [ 5.04914857e-01 8.62480120e-01 -3.44823168e-02 4.91310894e+00] [-2.80997378e-01 2.02011947e-01 9.38206612e-01 1.42572060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.129072329 meters Centerline goodness : 0.763043 Centerline is valid? [False, False] Translation: X:-254.81, Y:4.92, Z:142.60 [[ 8.17516376e-01 -4.60280844e-01 3.46133673e-01 -2.54807604e+02] [ 5.01358768e-01 8.64552510e-01 -3.44723593e-02 4.92493526e+00] [-2.83383769e-01 2.01718870e-01 9.37551672e-01 1.42600006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15907232899997 meters Centerline goodness : 0.762998 Centerline is valid? [False, False] Translation: X:-254.88, Y:4.94, Z:142.63 [[ 8.19385993e-01 -4.55474057e-01 3.48066054e-01 -2.54884229e+02] [ 4.96498818e-01 8.67380165e-01 -3.37723656e-02 4.93819019e+00] [-2.86523155e-01 2.00486988e-01 9.36861489e-01 1.42628734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.189072329 meters Centerline goodness : 0.762679 Centerline is valid? [False, False] Translation: X:-254.96, Y:4.95, Z:142.66 [[ 8.20452855e-01 -4.53287052e-01 3.48407751e-01 -2.54955063e+02] [ 4.94440403e-01 8.68532215e-01 -3.43581138e-02 4.94970059e+00] [-2.87029268e-01 2.00456081e-01 9.36713168e-01 1.42656458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21907232899997 meters Centerline goodness : 0.761862 Centerline is valid? [False, False] Translation: X:-255.02, Y:4.96, Z:142.68 [[ 8.21383825e-01 -4.51898591e-01 3.48017637e-01 -2.55023230e+02] [ 4.93338872e-01 8.69098125e-01 -3.58497688e-02 4.96028191e+00] [-2.86261016e-01 2.01137048e-01 9.36802284e-01 1.42683909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24907232899994 meters Centerline goodness : 0.761980 Centerline is valid? [False, False] Translation: X:-255.09, Y:4.97, Z:142.71 [[ 8.22004714e-01 -4.49964638e-01 3.49055977e-01 -2.55092511e+02] [ 4.92440535e-01 8.69479528e-01 -3.88287286e-02 4.97153165e+00] [-2.86025472e-01 2.03806710e-01 9.36297097e-01 1.42712322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.279072329 meters Centerline goodness : 0.761738 Centerline is valid? [False, False] Translation: X:-255.16, Y:4.98, Z:142.74 [[ 8.22686125e-01 -4.48990590e-01 3.48704732e-01 -2.55161729e+02] [ 4.91543967e-01 8.69955057e-01 -3.95313443e-02 4.98162201e+00] [-2.85608244e-01 2.03925596e-01 9.36398570e-01 1.42740207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.30907232899995 meters Centerline goodness : 0.762011 Centerline is valid? [False, False] Translation: X:-255.23, Y:4.99, Z:142.77 [[ 8.22280319e-01 -4.49439291e-01 3.49083658e-01 -2.55234396e+02] [ 4.92196440e-01 8.69572525e-01 -3.98282374e-02 4.99265695e+00] [-2.85653183e-01 2.04567710e-01 9.36244792e-01 1.42769491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.339072329 meters Centerline goodness : 0.763467 Centerline is valid? [False, False] Translation: X:-255.30, Y:5.00, Z:142.80 [[ 8.23948914e-01 -4.47093012e-01 3.48160918e-01 -2.55303898e+02] [ 4.89108831e-01 8.71371056e-01 -3.85361451e-02 5.00409137e+00] [-2.86148106e-01 2.02040394e-01 9.36642376e-01 1.42796746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.36907232899995 meters Centerline goodness : 0.761590 Centerline is valid? [False, False] Translation: X:-255.38, Y:5.02, Z:142.83 [[ 8.24344056e-01 -4.46268402e-01 3.48283491e-01 -2.55377065e+02] [ 4.88032781e-01 8.72007337e-01 -3.77784244e-02 5.01627815e+00] [-2.86846442e-01 2.01116180e-01 9.36627675e-01 1.42825966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.399072329 meters Centerline goodness : 0.762949 Centerline is valid? [False, False] Translation: X:-255.45, Y:5.03, Z:142.86 [[ 8.24784305e-01 -4.45256502e-01 3.48536220e-01 -2.55449393e+02] [ 4.86910662e-01 8.72649710e-01 -3.74231259e-02 5.02813776e+00] [-2.87487141e-01 2.00572009e-01 9.36547923e-01 1.42855146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.42907232899995 meters Centerline goodness : 0.761596 Centerline is valid? [False, False] Translation: X:-255.53, Y:5.04, Z:142.89 [[ 8.25296968e-01 -4.41887142e-01 3.51597310e-01 -2.55527539e+02] [ 4.83855300e-01 8.74372571e-01 -3.68328070e-02 5.04068726e+00] [-2.91151100e-01 2.00520226e-01 9.35426467e-01 1.42885748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.459072329 meters Centerline goodness : 0.762546 Centerline is valid? [False, False] Translation: X:-255.60, Y:5.05, Z:142.92 [[ 8.25713783e-01 -4.39182962e-01 3.53998693e-01 -2.55602751e+02] [ 4.81614287e-01 8.75598342e-01 -3.70839809e-02 5.05297156e+00] [-2.93674016e-01 2.01111582e-01 9.34510409e-01 1.42915048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.48907232899995 meters Centerline goodness : 0.763606 Centerline is valid? [False, False] Translation: X:-255.68, Y:5.07, Z:142.94 [[ 8.27148862e-01 -4.35181061e-01 3.55587127e-01 -2.55677239e+02] [ 4.77595149e-01 8.77815094e-01 -3.66542528e-02 5.06670131e+00] [-2.96188510e-01 2.00145210e-01 9.33924120e-01 1.42944706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.519072329 meters Centerline goodness : 0.761933 Centerline is valid? [False, False] Translation: X:-255.75, Y:5.08, Z:142.97 [[ 8.28451714e-01 -4.33155924e-01 3.55026341e-01 -2.55746048e+02] [ 4.75250002e-01 8.79096009e-01 -3.64368341e-02 5.07877404e+00] [-2.96319409e-01 1.98912427e-01 9.34145949e-01 1.42972515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.54907232899996 meters Centerline goodness : 0.762443 Centerline is valid? [False, False] Translation: X:-255.82, Y:5.09, Z:143.00 [[ 8.29457809e-01 -4.31042701e-01 3.55249114e-01 -2.55817551e+02] [ 4.72837800e-01 8.80424139e-01 -3.57456395e-02 5.09060621e+00] [-2.97361998e-01 1.97624709e-01 9.34087960e-01 1.43000931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.579072329 meters Centerline goodness : 0.763357 Centerline is valid? [False, False] Translation: X:-255.89, Y:5.10, Z:143.03 [[ 8.30248216e-01 -4.28971307e-01 3.55909423e-01 -2.55885744e+02] [ 4.71209579e-01 8.81241954e-01 -3.70695434e-02 5.10098454e+00] [-2.97740544e-01 1.98484852e-01 9.33784949e-01 1.43029310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.60907232899996 meters Centerline goodness : 0.762354 Centerline is valid? [False, False] Translation: X:-255.96, Y:5.11, Z:143.06 [[ 8.29943281e-01 -4.27614974e-01 3.58245145e-01 -2.55960304e+02] [ 4.70387159e-01 8.81669484e-01 -3.73475787e-02 5.11300956e+00] [-2.99883428e-01 1.99510288e-01 9.32880257e-01 1.43059300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.639072329 meters Centerline goodness : 0.762960 Centerline is valid? [False, False] Translation: X:-256.03, Y:5.12, Z:143.09 [[ 8.30964040e-01 -4.25215036e-01 3.58735190e-01 -2.56027994e+02] [ 4.68289926e-01 8.82739748e-01 -3.84068109e-02 5.12415885e+00] [-3.00338658e-01 1.99906754e-01 9.32648905e-01 1.43087333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.66907232899996 meters Centerline goodness : 0.763955 Centerline is valid? [False, False] Translation: X:-256.10, Y:5.14, Z:143.12 [[ 8.31550187e-01 -4.23716567e-01 3.59149770e-01 -2.56098368e+02] [ 4.66655240e-01 8.83623346e-01 -3.79824864e-02 5.13533090e+00] [-3.01259313e-01 1.99183466e-01 9.32506715e-01 1.43115884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.699072329 meters Centerline goodness : 0.762911 Centerline is valid? [False, False] Translation: X:-256.17, Y:5.15, Z:143.14 [[ 8.32375762e-01 -4.22789908e-01 3.58328458e-01 -2.56166911e+02] [ 4.65104887e-01 8.84490126e-01 -3.68057141e-02 5.14745425e+00] [-3.01376899e-01 1.97296501e-01 9.32869795e-01 1.43143696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.72907232899996 meters Centerline goodness : 0.762688 Centerline is valid? [False, False] Translation: X:-256.24, Y:5.16, Z:143.17 [[ 8.33445326e-01 -4.21083897e-01 3.57850863e-01 -2.56236582e+02] [ 4.62587090e-01 8.85884413e-01 -3.49569838e-02 5.15885291e+00] [-3.02294679e-01 1.94671924e-01 9.33124198e-01 1.43171396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.759072329 meters Centerline goodness : 0.762245 Centerline is valid? [False, False] Translation: X:-256.31, Y:5.17, Z:143.20 [[ 8.33850040e-01 -4.19875047e-01 3.58328140e-01 -2.56307597e+02] [ 4.61087171e-01 8.86704370e-01 -3.39703062e-02 5.17045990e+00] [-3.03467844e-01 1.93546650e-01 9.32977471e-01 1.43199705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78907232899996 meters Centerline goodness : 0.762290 Centerline is valid? [False, False] Translation: X:-256.38, Y:5.18, Z:143.23 [[ 8.34189065e-01 -4.18736901e-01 3.58870466e-01 -2.56376535e+02] [ 4.59982436e-01 8.87279593e-01 -3.39275951e-02 5.18190708e+00] [-3.04211705e-01 1.93376140e-01 9.32770554e-01 1.43226690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.819072329 meters Centerline goodness : 0.761539 Centerline is valid? [False, False] Translation: X:-256.45, Y:5.19, Z:143.26 [[ 8.33701653e-01 -4.19103297e-01 3.59574722e-01 -2.56447494e+02] [ 4.60501589e-01 8.87013319e-01 -3.38475667e-02 5.19304335e+00] [-3.04761941e-01 1.93803503e-01 9.32502205e-01 1.43255375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84907232899997 meters Centerline goodness : 0.761539 Centerline is valid? [False, False] Translation: X:-256.52, Y:5.20, Z:143.28 [[ 8.34062058e-01 -4.18257195e-01 3.59724064e-01 -2.56516363e+02] [ 4.59614592e-01 8.87475551e-01 -3.37871688e-02 5.20477372e+00] [-3.05114586e-01 1.93515025e-01 9.32446795e-01 1.43283497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.879072329 meters Centerline goodness : 0.762151 Centerline is valid? [False, False] Translation: X:-256.59, Y:5.22, Z:143.31 [[ 8.34143607e-01 -4.17480028e-01 3.60437053e-01 -2.56585337e+02] [ 4.59173749e-01 8.87676908e-01 -3.44844303e-02 5.21647513e+00] [-3.05555088e-01 1.94268200e-01 9.32145887e-01 1.43311886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90907232899997 meters Centerline goodness : 0.764541 Centerline is valid? [False, False] Translation: X:-256.66, Y:5.23, Z:143.34 [[ 8.34461832e-01 -4.16353028e-01 3.61003610e-01 -2.56655839e+02] [ 4.57670778e-01 8.88502415e-01 -3.31800702e-02 5.22867382e+00] [-3.06937957e-01 1.92908305e-01 9.31973968e-01 1.43339867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.939072329 meters Centerline goodness : 0.765129 Centerline is valid? [False, False] Translation: X:-256.73, Y:5.24, Z:143.37 [[ 8.33717386e-01 -4.17017555e-01 3.61955354e-01 -2.56725909e+02] [ 4.58483182e-01 8.88095353e-01 -3.28605384e-02 5.23962644e+00] [-3.07747447e-01 1.93346845e-01 9.31616073e-01 1.43367788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96907232899997 meters Centerline goodness : 0.766238 Centerline is valid? [False, False] Translation: X:-256.80, Y:5.25, Z:143.40 [[ 8.33143747e-01 -4.17069462e-01 3.63214208e-01 -2.56796561e+02] [ 4.58754091e-01 8.87962488e-01 -3.26696067e-02 5.24966978e+00] [-3.08895097e-01 1.93844482e-01 9.31132717e-01 1.43396009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99907232899994 meters Centerline goodness : 0.765266 Centerline is valid? [False, False] Translation: X:-256.87, Y:5.26, Z:143.43 [[ 8.32893762e-01 -4.16847426e-01 3.64041488e-01 -2.56867158e+02] [ 4.58730204e-01 8.87971616e-01 -3.27568245e-02 5.26105919e+00] [-3.09603910e-01 1.94279781e-01 9.30806524e-01 1.43425133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.029072329 meters Centerline goodness : 0.765175 Centerline is valid? [False, False] Translation: X:-256.94, Y:5.27, Z:143.45 [[ 8.32820282e-01 -4.16054624e-01 3.65114952e-01 -2.56936598e+02] [ 4.58425146e-01 8.88095393e-01 -3.36594385e-02 5.27242088e+00] [-3.10252741e-01 1.95410138e-01 9.30353758e-01 1.43453944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05907232899995 meters Centerline goodness : 0.765866 Centerline is valid? [False, False] Translation: X:-257.01, Y:5.28, Z:143.48 [[ 8.33020112e-01 -4.15577265e-01 3.65202724e-01 -2.57005625e+02] [ 4.57959053e-01 8.88333181e-01 -3.37292890e-02 5.28492397e+00] [-3.10404572e-01 1.95345070e-01 9.30316777e-01 1.43481763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.089072329 meters Centerline goodness : 0.766075 Centerline is valid? [False, False] Translation: X:-257.07, Y:5.30, Z:143.51 [[ 8.33195176e-01 -4.15542256e-01 3.64843025e-01 -2.57073348e+02] [ 4.57909747e-01 8.88350767e-01 -3.39348976e-02 5.29698583e+00] [-3.10007197e-01 1.95339570e-01 9.30450423e-01 1.43508644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11907232899995 meters Centerline goodness : 0.763111 Centerline is valid? [False, False] Translation: X:-257.14, Y:5.31, Z:143.53 [[ 8.35473179e-01 -4.12842273e-01 3.62692467e-01 -2.57138569e+02] [ 4.54036164e-01 8.90394844e-01 -3.23756538e-02 5.31047562e+00] [-3.09573464e-01 1.91724487e-01 9.31346333e-01 1.43533378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.149072329 meters Centerline goodness : 0.760043 Centerline is valid? [False, False] Translation: X:-257.20, Y:5.32, Z:143.56 [[ 8.37414654e-01 -4.09876867e-01 3.61576618e-01 -2.57204356e+02] [ 4.50368990e-01 8.92283804e-01 -3.15814162e-02 5.32381439e+00] [-3.09684468e-01 1.89289637e-01 9.31807364e-01 1.43559481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17907232899995 meters Centerline goodness : 0.760779 Centerline is valid? [False, False] Translation: X:-257.27, Y:5.34, Z:143.59 [[ 8.39058571e-01 -4.06493084e-01 3.61585519e-01 -2.57271972e+02] [ 4.46694982e-01 8.94136170e-01 -3.13704034e-02 5.33692546e+00] [-3.10554840e-01 1.87840043e-01 9.31811038e-01 1.43587252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.209072329 meters Centerline goodness : 0.761747 Centerline is valid? [False, False] Translation: X:-257.34, Y:5.35, Z:143.62 [[ 8.40192203e-01 -4.02648900e-01 3.63250499e-01 -2.57342067e+02] [ 4.43260517e-01 8.95811344e-01 -3.22823441e-02 5.35195809e+00] [-3.12405467e-01 1.88137978e-01 9.31132067e-01 1.43617186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.23907232899995 meters Centerline goodness : 0.764858 Centerline is valid? [False, False] Translation: X:-257.41, Y:5.37, Z:143.65 [[ 8.41375703e-01 -3.99468293e-01 3.64021990e-01 -2.57409120e+02] [ 4.40167727e-01 8.97320773e-01 -3.26772369e-02 5.36676760e+00] [-3.13590973e-01 1.87724565e-01 9.30816947e-01 1.43645840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.269072329 meters Centerline goodness : 0.768945 Centerline is valid? [False, False] Translation: X:-257.48, Y:5.38, Z:143.68 [[ 8.42380057e-01 -3.95819264e-01 3.65681487e-01 -2.57479376e+02] [ 4.36797316e-01 8.98948333e-01 -3.31662430e-02 5.38199045e+00] [-3.15600925e-01 1.87667274e-01 9.30148940e-01 1.43676652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.29907232899996 meters Centerline goodness : 0.768017 Centerline is valid? [False, False] Translation: X:-257.55, Y:5.39, Z:143.71 [[ 8.43307923e-01 -3.94215433e-01 3.65275155e-01 -2.57546291e+02] [ 4.34937472e-01 8.99856275e-01 -3.29860521e-02 5.39464685e+00] [-3.15691530e-01 1.86689252e-01 9.30314990e-01 1.43705169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.329072329 meters Centerline goodness : 0.769073 Centerline is valid? [False, False] Translation: X:-257.61, Y:5.41, Z:143.73 [[ 8.44772725e-01 -3.91611121e-01 3.64691341e-01 -2.57611307e+02] [ 4.32050690e-01 9.01244094e-01 -3.30345899e-02 5.40757337e+00] [-3.15739204e-01 1.85471866e-01 9.30542284e-01 1.43732016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.35907232899996 meters Centerline goodness : 0.770127 Centerline is valid? [False, False] Translation: X:-257.68, Y:5.42, Z:143.76 [[ 8.45343416e-01 -3.90857542e-01 3.64177005e-01 -2.57676028e+02] [ 4.31589440e-01 9.01415184e-01 -3.43689145e-02 5.42078075e+00] [-3.14841332e-01 1.86228485e-01 9.30695378e-01 1.43758823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.389072329 meters Centerline goodness : 0.768272 Centerline is valid? [False, False] Translation: X:-257.74, Y:5.43, Z:143.79 [[ 8.47331655e-01 -3.88063311e-01 3.62540940e-01 -2.57739925e+02] [ 4.28146275e-01 9.03068845e-01 -3.40210012e-02 5.43427506e+00] [-3.14197126e-01 1.84047624e-01 9.31346680e-01 1.43785306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.41907232899996 meters Centerline goodness : 0.769807 Centerline is valid? [False, False] Translation: X:-257.80, Y:5.45, Z:143.81 [[ 8.48510342e-01 -3.85892810e-01 3.62100730e-01 -2.57804103e+02] [ 4.25927427e-01 9.04096467e-01 -3.45746353e-02 5.44815581e+00] [-3.14031887e-01 1.83565568e-01 9.31497534e-01 1.43811887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.449072329 meters Centerline goodness : 0.771236 Centerline is valid? [False, False] Translation: X:-257.87, Y:5.46, Z:143.84 [[ 8.49380462e-01 -3.83952248e-01 3.62123601e-01 -2.57869666e+02] [ 4.24239659e-01 9.04846486e-01 -3.56868060e-02 5.46172059e+00] [-3.13964239e-01 1.83938869e-01 9.31446697e-01 1.43839738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.47907232899996 meters Centerline goodness : 0.772841 Centerline is valid? [False, False] Translation: X:-257.94, Y:5.48, Z:143.87 [[ 8.50162215e-01 -3.82432686e-01 3.61897014e-01 -2.57935308e+02] [ 4.22784390e-01 9.05502471e-01 -3.63130118e-02 5.47549031e+00] [-3.13811358e-01 1.83876359e-01 9.31510556e-01 1.43867427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.509072329 meters Centerline goodness : 0.772165 Centerline is valid? [False, False] Translation: X:-258.00, Y:5.49, Z:143.89 [[ 8.50883196e-01 -3.81301590e-01 3.61395743e-01 -2.57999817e+02] [ 4.21921582e-01 9.05850564e-01 -3.76421803e-02 5.48890988e+00] [-3.13017515e-01 1.84509762e-01 9.31652394e-01 1.43894893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53907232899996 meters Centerline goodness : 0.774572 Centerline is valid? [False, False] Translation: X:-258.06, Y:5.50, Z:143.92 [[ 8.52560842e-01 -3.79165156e-01 3.59685689e-01 -2.58063349e+02] [ 4.19193326e-01 9.07128151e-01 -3.73560265e-02 5.50239559e+00] [-3.12116911e-01 1.82626126e-01 9.32325443e-01 1.43920918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.569072329 meters Centerline goodness : 0.773668 Centerline is valid? [False, False] Translation: X:-258.13, Y:5.52, Z:143.95 [[ 8.53662490e-01 -3.77945331e-01 3.58354126e-01 -2.58126851e+02] [ 4.17809468e-01 9.07742707e-01 -3.79266001e-02 5.51505982e+00] [-3.10959163e-01 1.82100263e-01 9.32815037e-01 1.43946613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59907232899997 meters Centerline goodness : 0.773138 Centerline is valid? [False, False] Translation: X:-258.19, Y:5.53, Z:143.97 [[ 8.53904574e-01 -3.78565504e-01 3.57120619e-01 -2.58192426e+02] [ 4.18323336e-01 9.07492065e-01 -3.82588337e-02 5.52801942e+00] [-3.09600654e-01 1.82061282e-01 9.33274410e-01 1.43972453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.629072329 meters Centerline goodness : 0.773986 Centerline is valid? [False, False] Translation: X:-258.26, Y:5.54, Z:144.00 [[ 8.54328204e-01 -3.78308090e-01 3.56379445e-01 -2.58257303e+02] [ 4.18249274e-01 9.07480594e-01 -3.93257820e-02 5.54178612e+00] [-3.08530169e-01 1.82652569e-01 9.33513350e-01 1.43998868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65907232899997 meters Centerline goodness : 0.775431 Centerline is valid? [False, False] Translation: X:-258.32, Y:5.55, Z:144.03 [[ 8.55165461e-01 -3.77655321e-01 3.55061254e-01 -2.58321449e+02] [ 4.17656584e-01 9.07703601e-01 -4.04617247e-02 5.55401575e+00] [-3.07009793e-01 1.82895140e-01 9.33966999e-01 1.44025210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.689072329 meters Centerline goodness : 0.775054 Centerline is valid? [False, False] Translation: X:-258.39, Y:5.57, Z:144.05 [[ 8.55801707e-01 -3.77527298e-01 3.53661670e-01 -2.58386234e+02] [ 4.17278181e-01 9.07871118e-01 -4.06073110e-02 5.56719781e+00] [-3.05748847e-01 1.82327104e-01 9.34491557e-01 1.44050822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71907232899997 meters Centerline goodness : 0.777734 Centerline is valid? [False, False] Translation: X:-258.45, Y:5.58, Z:144.08 [[ 8.56286079e-01 -3.76753718e-01 3.53314006e-01 -2.58449942e+02] [ 4.17106436e-01 9.07848615e-01 -4.28148724e-02 5.58041932e+00] [-3.04624969e-01 1.84031325e-01 9.34524531e-01 1.44077141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74907232899994 meters Centerline goodness : 0.777959 Centerline is valid? [False, False] Translation: X:-258.52, Y:5.59, Z:144.11 [[ 8.55521176e-01 -3.77240823e-01 3.54644723e-01 -2.58518437e+02] [ 4.18531394e-01 9.07099572e-01 -4.47419057e-02 5.59304055e+00] [-3.04819603e-01 1.86707598e-01 9.33930020e-01 1.44105915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.779072329 meters Centerline goodness : 0.778427 Centerline is valid? [False, False] Translation: X:-258.58, Y:5.61, Z:144.13 [[ 8.56276948e-01 -3.75957865e-01 3.54182823e-01 -2.58583628e+02] [ 4.17293851e-01 9.07635974e-01 -4.54178508e-02 5.60585633e+00] [-3.04393873e-01 1.86688573e-01 9.34072667e-01 1.44132864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.80907232899995 meters Centerline goodness : 0.778859 Centerline is valid? [False, False] Translation: X:-258.65, Y:5.62, Z:144.16 [[ 8.56756778e-01 -3.75397608e-01 3.53616260e-01 -2.58648141e+02] [ 4.17171456e-01 9.07599374e-01 -4.72371890e-02 5.62069579e+00] [-3.03209169e-01 1.87989392e-01 9.34197082e-01 1.44160137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.839072329 meters Centerline goodness : 0.778349 Centerline is valid? [False, False] Translation: X:-258.71, Y:5.64, Z:144.19 [[ 8.58160486e-01 -3.73919207e-01 3.51774085e-01 -2.58712677e+02] [ 4.14919809e-01 9.08677953e-01 -4.63241772e-02 5.63567276e+00] [-3.02327856e-01 1.85711614e-01 9.34938000e-01 1.44186908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.86907232899995 meters Centerline goodness : 0.777687 Centerline is valid? [False, False] Translation: X:-258.76, Y:5.65, Z:144.21 [[ 8.57154644e-01 -3.77501274e-01 3.50397924e-01 -2.58764593e+02] [ 4.15742598e-01 9.08686909e-01 -3.80288569e-02 5.64543349e+00] [-3.04046065e-01 1.78271955e-01 9.35828564e-01 1.44209935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.899072329 meters Centerline goodness : 0.779590 Centerline is valid? [False, False] Translation: X:-258.83, Y:5.66, Z:144.24 [[ 8.56118612e-01 -3.80292223e-01 3.49912486e-01 -2.58833738e+02] [ 4.18535010e-01 9.07412874e-01 -3.78196060e-02 5.65746840e+00] [-3.03132593e-01 1.78828694e-01 9.36018659e-01 1.44236978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.92907232899995 meters Centerline goodness : 0.779447 Centerline is valid? [False, False] Translation: X:-258.90, Y:5.67, Z:144.26 [[ 8.55926874e-01 -3.80791859e-01 3.49838172e-01 -2.58899187e+02] [ 4.19670636e-01 9.06806036e-01 -3.97412872e-02 5.67075800e+00] [-3.02102207e-01 1.80832444e-01 9.35966818e-01 1.44263292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.959072329 meters Centerline goodness : 0.777353 Centerline is valid? [False, False] Translation: X:-258.97, Y:5.68, Z:144.29 [[ 8.55733744e-01 -3.81313264e-01 3.49742697e-01 -2.58965126e+02] [ 4.20649653e-01 9.06290530e-01 -4.11259533e-02 5.68313536e+00] [-3.01286623e-01 1.82312010e-01 9.35942681e-01 1.44289513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.98907232899995 meters Centerline goodness : 0.778312 Centerline is valid? [False, False] Translation: X:-259.03, Y:5.70, Z:144.32 [[ 8.54844202e-01 -3.83018162e-01 3.50054964e-01 -2.59032450e+02] [ 4.23063290e-01 9.05087959e-01 -4.28163434e-02 5.69617732e+00] [-3.00431096e-01 1.84696708e-01 9.35750118e-01 1.44316738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.019072329 meters Centerline goodness : 0.778933 Centerline is valid? [False, False] Translation: X:-259.10, Y:5.71, Z:144.34 [[ 8.53036338e-01 -3.86279144e-01 3.50880934e-01 -2.59102239e+02] [ 4.27300033e-01 9.03003251e-01 -4.47192510e-02 5.70707488e+00] [-2.99572510e-01 1.88078581e-01 9.35351676e-01 1.44343700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.04907232899996 meters Centerline goodness : 0.776919 Centerline is valid? [False, False] Translation: X:-259.17, Y:5.72, Z:144.37 [[ 8.53085018e-01 -3.86759032e-01 3.50233356e-01 -2.59167702e+02] [ 4.28027065e-01 9.02602785e-01 -4.58371445e-02 5.71949461e+00] [-2.98393672e-01 1.89012337e-01 9.35540247e-01 1.44368992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.079072329 meters Centerline goodness : 0.776449 Centerline is valid? [False, False] Translation: X:-259.23, Y:5.73, Z:144.39 [[ 8.52437197e-01 -3.89757341e-01 3.48482482e-01 -2.59234979e+02] [ 4.30643131e-01 9.01386447e-01 -4.52655160e-02 5.73165307e+00] [-2.96474819e-01 1.88657597e-01 9.36221658e-01 1.44394789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.10907232899996 meters Centerline goodness : 0.776027 Centerline is valid? [False, False] Translation: X:-259.30, Y:5.74, Z:144.42 [[ 8.52497693e-01 -3.90092812e-01 3.47958734e-01 -2.59301614e+02] [ 4.31092831e-01 9.01138383e-01 -4.59193477e-02 5.74481302e+00] [-2.95646163e-01 1.89148654e-01 9.36384607e-01 1.44421701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.139072329 meters Centerline goodness : 0.776999 Centerline is valid? [False, False] Translation: X:-259.37, Y:5.76, Z:144.45 [[ 8.52313810e-01 -3.90215923e-01 3.48271017e-01 -2.59369564e+02] [ 4.31599435e-01 9.00845327e-01 -4.69001637e-02 5.75820813e+00] [-2.95437128e-01 1.90287231e-01 9.36219885e-01 1.44449469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.16907232899996 meters Centerline goodness : 0.778774 Centerline is valid? [False, False] Translation: X:-259.44, Y:5.77, Z:144.48 [[ 8.52544504e-01 -3.88887778e-01 3.49190727e-01 -2.59436705e+02] [ 4.30776519e-01 9.01175272e-01 -4.81115426e-02 5.77173325e+00] [-2.95972058e-01 1.91440397e-01 9.35815749e-01 1.44477485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.199072329 meters Centerline goodness : 0.777167 Centerline is valid? [False, False] Translation: X:-259.51, Y:5.79, Z:144.51 [[ 8.52058238e-01 -3.89840703e-01 3.49315024e-01 -2.59505810e+02] [ 4.31628369e-01 9.00798184e-01 -4.75350591e-02 5.78601018e+00] [-2.96131239e-01 1.91276913e-01 9.35798820e-01 1.44505204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.22907232899996 meters Centerline goodness : 0.777065 Centerline is valid? [False, False] Translation: X:-259.58, Y:5.80, Z:144.53 [[ 8.51427300e-01 -3.91282975e-01 3.49240871e-01 -2.59575269e+02] [ 4.32780325e-01 9.00304149e-01 -4.64072215e-02 5.79916186e+00] [-2.96264649e-01 1.90656953e-01 9.35883104e-01 1.44532154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.259072329 meters Centerline goodness : 0.776018 Centerline is valid? [False, False] Translation: X:-259.64, Y:5.81, Z:144.56 [[ 8.52684679e-01 -3.89497505e-01 3.48167390e-01 -2.59639221e+02] [ 4.30473315e-01 9.01440083e-01 -4.58093959e-02 5.81270018e+00] [-2.96009396e-01 1.88937741e-01 9.36312431e-01 1.44556340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28907232899996 meters Centerline goodness : 0.775535 Centerline is valid? [False, False] Translation: X:-259.71, Y:5.83, Z:144.58 [[ 8.52561534e-01 -3.89921288e-01 3.47994569e-01 -2.59707357e+02] [ 4.30857898e-01 9.01260597e-01 -4.57253615e-02 5.82723592e+00] [-2.95804501e-01 1.88919893e-01 9.36380783e-01 1.44583242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.319072329 meters Centerline goodness : 0.774207 Centerline is valid? [False, False] Translation: X:-259.78, Y:5.84, Z:144.61 [[ 8.52183955e-01 -3.90553688e-01 3.48210171e-01 -2.59775350e+02] [ 4.31743880e-01 9.00808797e-01 -4.62680598e-02 5.84275097e+00] [-2.95600624e-01 1.89766508e-01 9.36273968e-01 1.44610500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34907232899997 meters Centerline goodness : 0.774369 Centerline is valid? [False, False] Translation: X:-259.84, Y:5.86, Z:144.64 [[ 8.52452009e-01 -3.90060132e-01 3.48107261e-01 -2.59841861e+02] [ 4.31309608e-01 9.00998932e-01 -4.66148839e-02 5.85701345e+00] [-2.95461662e-01 1.89878958e-01 9.36295032e-01 1.44636488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.379072329 meters Centerline goodness : 0.773825 Centerline is valid? [False, False] Translation: X:-259.91, Y:5.87, Z:144.66 [[ 8.52782170e-01 -3.89662276e-01 3.47743988e-01 -2.59908125e+02] [ 4.30876339e-01 9.01195519e-01 -4.68211174e-02 5.87071178e+00] [-2.95140901e-01 1.89762871e-01 9.36419725e-01 1.44662290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40907232899997 meters Centerline goodness : 0.775253 Centerline is valid? [False, False] Translation: X:-259.97, Y:5.89, Z:144.69 [[ 8.53775182e-01 -3.87857564e-01 3.47324703e-01 -2.59973540e+02] [ 4.28935079e-01 9.02111962e-01 -4.69968800e-02 5.88593023e+00] [-2.95097674e-01 1.89104519e-01 9.36566519e-01 1.44688103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.439072329 meters Centerline goodness : 0.775492 Centerline is valid? [False, False] Translation: X:-260.04, Y:5.90, Z:144.71 [[ 8.54589836e-01 -3.86652718e-01 3.46663941e-01 -2.60039584e+02] [ 4.27530959e-01 9.02776685e-01 -4.70269660e-02 5.90215346e+00] [-2.94777020e-01 1.88398335e-01 9.36809787e-01 1.44714750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46907232899997 meters Centerline goodness : 0.776316 Centerline is valid? [False, False] Translation: X:-260.11, Y:5.92, Z:144.74 [[ 8.54641498e-01 -3.86740148e-01 3.46438982e-01 -2.60106638e+02] [ 4.27537799e-01 9.02779690e-01 -4.69069449e-02 5.91675846e+00] [-2.94617278e-01 1.88204381e-01 9.36899018e-01 1.44740772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49907232899994 meters Centerline goodness : 0.776711 Centerline is valid? [False, False] Translation: X:-260.17, Y:5.93, Z:144.77 [[ 8.55061420e-01 -3.86802820e-01 3.45331068e-01 -2.60171430e+02] [ 4.27575926e-01 9.02727107e-01 -4.75667814e-02 5.93076552e+00] [-2.93340750e-01 1.88327771e-01 9.37274696e-01 1.44765554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.529072329 meters Centerline goodness : 0.775618 Centerline is valid? [False, False] Translation: X:-260.24, Y:5.95, Z:144.79 [[ 8.55684874e-01 -3.86946722e-01 3.43621348e-01 -2.60235989e+02] [ 4.27278543e-01 9.02882679e-01 -4.72854603e-02 5.94531117e+00] [-2.91952810e-01 1.87283482e-01 9.37917083e-01 1.44789652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55907232899995 meters Centerline goodness : 0.775221 Centerline is valid? [False, False] Translation: X:-260.30, Y:5.96, Z:144.81 [[ 8.56220541e-01 -3.86557611e-01 3.42723792e-01 -2.60300510e+02] [ 4.27135357e-01 9.02872200e-01 -4.87563046e-02 5.95824616e+00] [-2.90588664e-01 1.88135599e-01 9.38170147e-01 1.44813916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.589072329 meters Centerline goodness : 0.776365 Centerline is valid? [False, False] Translation: X:-260.37, Y:5.97, Z:144.84 [[ 8.57724136e-01 -3.83531476e-01 3.42363716e-01 -2.60365578e+02] [ 4.23855298e-01 9.04418968e-01 -4.87136240e-02 5.97414326e+00] [-2.90957031e-01 1.86895526e-01 9.38303825e-01 1.44839520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61907232899995 meters Centerline goodness : 0.775992 Centerline is valid? [False, False] Translation: X:-260.43, Y:5.99, Z:144.87 [[ 8.58735892e-01 -3.80271085e-01 3.43462617e-01 -2.60432877e+02] [ 4.21016071e-01 9.05679713e-01 -4.98971452e-02 5.99199851e+00] [-2.92092683e-01 1.87451751e-01 9.37839915e-01 1.44867460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.649072329 meters Centerline goodness : 0.777019 Centerline is valid? [False, False] Translation: X:-260.50, Y:6.01, Z:144.89 [[ 8.59574124e-01 -3.79205984e-01 3.42542182e-01 -2.60498236e+02] [ 4.19818468e-01 9.06214279e-01 -5.02805658e-02 6.00932965e+00] [-2.91349925e-01 1.87025407e-01 9.38156020e-01 1.44893731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67907232899995 meters Centerline goodness : 0.777235 Centerline is valid? [False, False] Translation: X:-260.56, Y:6.03, Z:144.92 [[ 8.61397564e-01 -3.76407474e-01 3.41044938e-01 -2.60561505e+02] [ 4.16454173e-01 9.07783363e-01 -4.99528510e-02 6.02530956e+00] [-2.90792295e-01 1.85058852e-01 9.38718841e-01 1.44918023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.709072329 meters Centerline goodness : 0.776900 Centerline is valid? [False, False] Translation: X:-260.62, Y:6.04, Z:144.94 [[ 8.64086093e-01 -3.72158740e-01 3.38899832e-01 -2.60624012e+02] [ 4.11123232e-01 9.10282412e-01 -4.86170557e-02 6.04349034e+00] [-2.90401295e-01 1.81338916e-01 9.39565477e-01 1.44942189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.73907232899995 meters Centerline goodness : 0.777406 Centerline is valid? [False, False] Translation: X:-260.69, Y:6.06, Z:144.97 [[ 8.65523737e-01 -3.69560283e-01 3.38073746e-01 -2.60688219e+02] [ 4.08354731e-01 9.11504139e-01 -4.90573012e-02 6.06048805e+00] [-2.90025988e-01 1.80514272e-01 9.39840159e-01 1.44967345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.769072329 meters Centerline goodness : 0.777406 Centerline is valid? [False, False] Translation: X:-260.75, Y:6.08, Z:144.99 [[ 8.66261486e-01 -3.68605213e-01 3.37225791e-01 -2.60752312e+02] [ 4.07470343e-01 9.11848209e-01 -5.00076273e-02 6.07591075e+00] [-2.89065662e-01 1.80729190e-01 9.40094678e-01 1.44991933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.79907232899996 meters Centerline goodness : 0.776775 Centerline is valid? [False, False] Translation: X:-260.82, Y:6.09, Z:145.02 [[ 8.67711233e-01 -3.65704405e-01 3.36656359e-01 -2.60816585e+02] [ 4.04457211e-01 9.13160957e-01 -5.05116871e-02 6.09309337e+00] [-2.88949097e-01 1.79992650e-01 9.40271804e-01 1.45017062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.829072329 meters Centerline goodness : 0.779255 Centerline is valid? [False, False] Translation: X:-260.88, Y:6.11, Z:145.04 [[ 8.68374354e-01 -3.63232579e-01 3.37621200e-01 -2.60881895e+02] [ 4.02801063e-01 9.13754745e-01 -5.29487492e-02 6.11068065e+00] [-2.89270263e-01 1.81973514e-01 9.39791655e-01 1.45044016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.85907232899996 meters Centerline goodness : 0.780074 Centerline is valid? [False, False] Translation: X:-260.93, Y:6.12, Z:145.07 [[ 8.67461049e-01 -3.66041907e-01 3.36934194e-01 -2.60932442e+02] [ 4.03298937e-01 9.13940038e-01 -4.54265694e-02 6.12122075e+00] [-2.91309622e-01 1.75290982e-01 9.40431697e-01 1.45065653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.889072329 meters Centerline goodness : 0.778173 Centerline is valid? [False, False] Translation: X:-261.00, Y:6.14, Z:145.09 [[ 8.67755806e-01 -3.65237396e-01 3.37048224e-01 -2.60996211e+02] [ 4.03203817e-01 9.13861717e-01 -4.77853861e-02 6.13599356e+00] [-2.90562459e-01 1.77365177e-01 9.40273924e-01 1.45089917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.91907232899996 meters Centerline goodness : 0.777408 Centerline is valid? [False, False] Translation: X:-261.06, Y:6.15, Z:145.11 [[ 8.67976525e-01 -3.65286322e-01 3.36426301e-01 -2.61060208e+02] [ 4.03586299e-01 9.13614523e-01 -4.92605511e-02 6.15113134e+00] [-2.89369749e-01 1.78534048e-01 9.40420514e-01 1.45114090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.949072329 meters Centerline goodness : 0.778209 Centerline is valid? [False, False] Translation: X:-261.12, Y:6.17, Z:145.14 [[ 8.68398926e-01 -3.64903805e-01 3.35750680e-01 -2.61123424e+02] [ 4.03696470e-01 9.13449516e-01 -5.13725741e-02 6.16702684e+00] [-2.87945248e-01 1.80153252e-01 9.40548957e-01 1.45138083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.97907232899996 meters Centerline goodness : 0.778502 Centerline is valid? [False, False] Translation: X:-261.19, Y:6.18, Z:145.16 [[ 8.69838335e-01 -3.62442816e-01 3.34688625e-01 -2.61186842e+02] [ 4.00893820e-01 9.14683238e-01 -5.13684745e-02 6.18342094e+00] [-2.87515940e-01 1.78856870e-01 9.40927630e-01 1.45161979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.009072329 meters Centerline goodness : 0.778048 Centerline is valid? [False, False] Translation: X:-261.25, Y:6.20, Z:145.19 [[ 8.70488342e-01 -3.61486332e-01 3.34032452e-01 -2.61251839e+02] [ 4.00026706e-01 9.15012746e-01 -5.22523557e-02 6.19974311e+00] [-2.86755439e-01 1.79106968e-01 9.41112115e-01 1.45186508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03907232899996 meters Centerline goodness : 0.776292 Centerline is valid? [False, False] Translation: X:-261.30, Y:6.21, Z:145.21 [[ 8.68672349e-01 -3.66529211e-01 3.33263690e-01 -2.61304379e+02] [ 4.03174064e-01 9.13982280e-01 -4.56844177e-02 6.21004652e+00] [-2.87852434e-01 1.74048067e-01 9.41726206e-01 1.45208175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.069072329 meters Centerline goodness : 0.776981 Centerline is valid? [False, False] Translation: X:-261.37, Y:6.23, Z:145.23 [[ 8.69472604e-01 -3.65305084e-01 3.32520054e-01 -2.61367094e+02] [ 4.02259384e-01 9.14298814e-01 -4.73821308e-02 6.22526457e+00] [-2.86713758e-01 1.74956777e-01 9.41905169e-01 1.45231060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09907232899997 meters Centerline goodness : 0.775266 Centerline is valid? [False, False] Translation: X:-261.43, Y:6.24, Z:145.26 [[ 8.69916918e-01 -3.64856890e-01 3.31849371e-01 -2.61430913e+02] [ 4.02188460e-01 9.14237617e-01 -4.91326899e-02 6.24059267e+00] [-2.85462778e-01 1.76207346e-01 9.42052002e-01 1.45255017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.129072329 meters Centerline goodness : 0.775223 Centerline is valid? [False, False] Translation: X:-261.49, Y:6.26, Z:145.28 [[ 8.70552092e-01 -3.64244967e-01 3.30854438e-01 -2.61494532e+02] [ 4.01805892e-01 9.14323454e-01 -5.06423398e-02 6.25660648e+00] [-2.84061755e-01 1.77026057e-01 9.42321970e-01 1.45279091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15907232899997 meters Centerline goodness : 0.775115 Centerline is valid? [False, False] Translation: X:-261.56, Y:6.27, Z:145.30 [[ 8.70573694e-01 -3.63896388e-01 3.31181011e-01 -2.61559014e+02] [ 4.02408729e-01 9.13886975e-01 -5.36452367e-02 6.27020860e+00] [-2.83140705e-01 1.79972261e-01 9.42041043e-01 1.45303493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.189072329 meters Centerline goodness : 0.774590 Centerline is valid? [False, False] Translation: X:-261.61, Y:6.28, Z:145.33 [[ 8.68779729e-01 -3.68121584e-01 3.31222406e-01 -2.61612193e+02] [ 4.04866763e-01 9.13164307e-01 -4.70516041e-02 6.28124116e+00] [-2.85139768e-01 1.74978423e-01 9.42378833e-01 1.45325647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21907232899997 meters Centerline goodness : 0.774392 Centerline is valid? [False, False] Translation: X:-261.68, Y:6.30, Z:145.35 [[ 8.69300730e-01 -3.68401041e-01 3.29540459e-01 -2.61675061e+02] [ 4.04877325e-01 9.13152014e-01 -4.71990657e-02 6.29602496e+00] [-2.83532348e-01 1.74453641e-01 9.42960940e-01 1.45347849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24907232899994 meters Centerline goodness : 0.772983 Centerline is valid? [False, False] Translation: X:-261.74, Y:6.31, Z:145.37 [[ 8.69402851e-01 -3.69254034e-01 3.28314089e-01 -2.61738494e+02] [ 4.05993083e-01 9.12575953e-01 -4.87313594e-02 6.31114485e+00] [-2.81617292e-01 1.75660432e-01 9.43310719e-01 1.45370657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.279072329 meters Centerline goodness : 0.772070 Centerline is valid? [False, False] Translation: X:-261.80, Y:6.32, Z:145.39 [[ 8.68886586e-01 -3.70856272e-01 3.27874558e-01 -2.61800493e+02] [ 4.08749183e-01 9.11127388e-01 -5.26401806e-02 6.32386330e+00] [-2.79213548e-01 1.79756804e-01 9.43253564e-01 1.45391881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.30907232899995 meters Centerline goodness : 0.772005 Centerline is valid? [False, False] Translation: X:-261.86, Y:6.34, Z:145.42 [[ 8.69206319e-01 -3.70307118e-01 3.27647696e-01 -2.61864451e+02] [ 4.08822982e-01 9.10955297e-01 -5.49928742e-02 6.33817066e+00] [-2.78108152e-01 1.81750062e-01 9.43198161e-01 1.45415204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.339072329 meters Centerline goodness : 0.771002 Centerline is valid? [False, False] Translation: X:-261.93, Y:6.35, Z:145.44 [[ 8.69548175e-01 -3.69356284e-01 3.27813830e-01 -2.61929706e+02] [ 4.08406455e-01 9.11028349e-01 -5.68464169e-02 6.35415295e+00] [-2.77651111e-01 1.83311982e-01 9.43030528e-01 1.45439936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.36907232899995 meters Centerline goodness : 0.770480 Centerline is valid? [False, False] Translation: X:-261.99, Y:6.37, Z:145.46 [[ 8.67249342e-01 -3.73377145e-01 3.29344936e-01 -2.61985443e+02] [ 4.10607343e-01 9.10494161e-01 -4.90101276e-02 6.36500898e+00] [-2.81567380e-01 1.77735450e-01 9.42936859e-01 1.45462116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.399072329 meters Centerline goodness : 0.770768 Centerline is valid? [False, False] Translation: X:-262.05, Y:6.38, Z:145.48 [[ 8.68095195e-01 -3.71578101e-01 3.29151102e-01 -2.62048078e+02] [ 4.09192860e-01 9.11036722e-01 -5.07276446e-02 6.38005896e+00] [-2.81019459e-01 1.78722705e-01 9.42913707e-01 1.45484648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.42907232899995 meters Centerline goodness : 0.772249 Centerline is valid? [False, False] Translation: X:-262.11, Y:6.40, Z:145.51 [[ 8.68463731e-01 -3.70705345e-01 3.29163022e-01 -2.62112519e+02] [ 4.08693273e-01 9.11182533e-01 -5.21171839e-02 6.39674508e+00] [-2.80607477e-01 1.79788596e-01 9.42833763e-01 1.45508227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.459072329 meters Centerline goodness : 0.771970 Centerline is valid? [False, False] Translation: X:-262.18, Y:6.41, Z:145.53 [[ 8.68350975e-01 -3.71516822e-01 3.28545028e-01 -2.62176672e+02] [ 4.10216896e-01 9.10339818e-01 -5.48043156e-02 6.41311025e+00] [-2.78726896e-01 1.82364103e-01 9.42896946e-01 1.45532083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.48907232899995 meters Centerline goodness : 0.771469 Centerline is valid? [False, False] Translation: X:-262.23, Y:6.42, Z:145.55 [[ 8.66429148e-01 -3.76219849e-01 3.28266898e-01 -2.62230300e+02] [ 4.13257522e-01 9.09316071e-01 -4.86055966e-02 6.42484698e+00] [-2.80211976e-01 1.77772071e-01 9.43333631e-01 1.45554369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.519072329 meters Centerline goodness : 0.769725 Centerline is valid? [False, False] Translation: X:-262.30, Y:6.44, Z:145.58 [[ 8.65740000e-01 -3.76748106e-01 3.29477036e-01 -2.62295050e+02] [ 4.15074384e-01 9.08297726e-01 -5.20432304e-02 6.43779316e+00] [-2.79656054e-01 1.81813384e-01 9.42728161e-01 1.45577067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.54907232899996 meters Centerline goodness : 0.770832 Centerline is valid? [False, False] Translation: X:-262.36, Y:6.45, Z:145.60 [[ 8.65962447e-01 -3.75742904e-01 3.30039862e-01 -2.62359033e+02] [ 4.14713049e-01 9.08348887e-01 -5.39943193e-02 6.45429053e+00] [-2.79503359e-01 1.83628890e-01 9.42421510e-01 1.45599985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.579072329 meters Centerline goodness : 0.771756 Centerline is valid? [False, False] Translation: X:-262.42, Y:6.47, Z:145.62 [[ 8.66250906e-01 -3.74704918e-01 3.30462694e-01 -2.62423015e+02] [ 4.14394586e-01 9.08354280e-01 -5.62994543e-02 6.46967276e+00] [-2.79081520e-01 1.85711405e-01 9.42138408e-01 1.45623577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.60907232899996 meters Centerline goodness : 0.771298 Centerline is valid? [False, False] Translation: X:-262.48, Y:6.48, Z:145.64 [[ 8.64681289e-01 -3.78201624e-01 3.30590078e-01 -2.62475174e+02] [ 4.15911353e-01 9.08085331e-01 -4.89773272e-02 6.48118982e+00] [-2.81680696e-01 1.79845945e-01 9.42502744e-01 1.45644302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.639072329 meters Centerline goodness : 0.770397 Centerline is valid? [False, False] Translation: X:-262.54, Y:6.50, Z:145.67 [[ 8.65620763e-01 -3.76898689e-01 3.29618072e-01 -2.62536843e+02] [ 4.14997140e-01 9.08383479e-01 -5.11549592e-02 6.49821154e+00] [-2.80139374e-01 1.81071352e-01 9.42727477e-01 1.45666446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.66907232899996 meters Centerline goodness : 0.769654 Centerline is valid? [False, False] Translation: X:-262.60, Y:6.51, Z:145.69 [[ 8.65993848e-01 -3.76326128e-01 3.29292121e-01 -2.62600287e+02] [ 4.14927095e-01 9.08299968e-01 -5.31664733e-02 6.51467272e+00] [-2.79088090e-01 1.82674062e-01 9.42730091e-01 1.45689169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.699072329 meters Centerline goodness : 0.769089 Centerline is valid? [False, False] Translation: X:-262.66, Y:6.53, Z:145.71 [[ 8.67111911e-01 -3.74898712e-01 3.27975440e-01 -2.62661350e+02] [ 4.13673768e-01 9.08768499e-01 -5.48983548e-02 6.53107794e+00] [-2.77472426e-01 1.83277853e-01 9.43089753e-01 1.45710848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.72907232899996 meters Centerline goodness : 0.768118 Centerline is valid? [False, False] Translation: X:-262.72, Y:6.55, Z:145.73 [[ 8.68105289e-01 -3.72821090e-01 3.27715795e-01 -2.62723754e+02] [ 4.12158470e-01 9.09306636e-01 -5.73309462e-02 6.54795509e+00] [-2.76619961e-01 1.84840138e-01 9.43035270e-01 1.45733215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.759072329 meters Centerline goodness : 0.767270 Centerline is valid? [False, False] Translation: X:-262.78, Y:6.56, Z:145.75 [[ 8.66458718e-01 -3.76317439e-01 3.28076937e-01 -2.62775334e+02] [ 4.13943534e-01 9.08889487e-01 -5.07015815e-02 6.55888199e+00] [-2.79105789e-01 1.79736154e-01 9.43289390e-01 1.45753628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78907232899996 meters Centerline goodness : 0.765359 Centerline is valid? [False, False] Translation: X:-262.84, Y:6.57, Z:145.78 [[ 8.67264963e-01 -3.74262280e-01 3.28297470e-01 -2.62837311e+02] [ 4.12797090e-01 9.09222926e-01 -5.39651043e-02 6.57453109e+00] [-2.78298484e-01 1.82322285e-01 9.43031568e-01 1.45776591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.819072329 meters Centerline goodness : 0.768194 Centerline is valid? [False, False] Translation: X:-262.89, Y:6.59, Z:145.80 [[ 8.65883317e-01 -3.76870784e-01 3.28959713e-01 -2.62888592e+02] [ 4.13627498e-01 9.09227410e-01 -4.70936179e-02 6.58632360e+00] [-2.81350979e-01 1.76844361e-01 9.43168966e-01 1.45796885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84907232899997 meters Centerline goodness : 0.767226 Centerline is valid? [False, False] Translation: X:-262.95, Y:6.60, Z:145.82 [[ 8.65670500e-01 -3.76542561e-01 3.29894354e-01 -2.62952471e+02] [ 4.14491724e-01 9.08649429e-01 -5.05254912e-02 6.60283164e+00] [-2.80733318e-01 1.80476907e-01 9.42664781e-01 1.45819997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.879072329 meters Centerline goodness : 0.767336 Centerline is valid? [False, False] Translation: X:-263.01, Y:6.61, Z:145.84 [[ 8.62586972e-01 -3.83117951e-01 3.30400290e-01 -2.63007414e+02] [ 4.19887780e-01 9.06453234e-01 -4.51307811e-02 6.61335315e+00] [-2.82201999e-01 1.77660268e-01 9.42761296e-01 1.45842110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90907232899997 meters Centerline goodness : 0.765870 Centerline is valid? [False, False] Translation: X:-263.07, Y:6.63, Z:145.86 [[ 8.62927842e-01 -3.82379130e-01 3.30366070e-01 -2.63068488e+02] [ 4.20123772e-01 9.06167533e-01 -4.85429611e-02 6.62884013e+00] [-2.80805191e-01 1.80683712e-01 9.42603756e-01 1.45863083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.939072329 meters Centerline goodness : 0.764415 Centerline is valid? [False, False] Translation: X:-263.13, Y:6.64, Z:145.88 [[ 8.62557233e-01 -3.83708475e-01 3.29792096e-01 -2.63131457e+02] [ 4.22202799e-01 9.05052189e-01 -5.12379847e-02 6.64277745e+00] [-2.78818610e-01 1.83434840e-01 9.42662104e-01 1.45884762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96907232899997 meters Centerline goodness : 0.764529 Centerline is valid? [False, False] Translation: X:-263.19, Y:6.66, Z:145.91 [[ 8.63047263e-01 -3.82119663e-01 3.30354333e-01 -2.63194101e+02] [ 4.21549540e-01 9.05179607e-01 -5.42758162e-02 6.65851537e+00] [-2.78290149e-01 1.86103312e-01 9.42295150e-01 1.45907210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99907232899994 meters Centerline goodness : 0.763772 Centerline is valid? [False, False] Translation: X:-263.26, Y:6.68, Z:145.93 [[ 8.63532192e-01 -3.80577264e-01 3.30867193e-01 -2.63256961e+02] [ 4.21103769e-01 9.05163537e-01 -5.78842466e-02 6.67540058e+00] [-2.77459490e-01 1.89314332e-01 9.41900374e-01 1.45931110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.029072329 meters Centerline goodness : 0.765285 Centerline is valid? [False, False] Translation: X:-263.31, Y:6.69, Z:145.95 [[ 8.61781254e-01 -3.83193712e-01 3.32408858e-01 -2.63309319e+02] [ 4.22308598e-01 9.04981923e-01 -5.16058765e-02 6.68685529e+00] [-2.81048960e-01 1.84852096e-01 9.41722456e-01 1.45952346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05907232899995 meters Centerline goodness : 0.765589 Centerline is valid? [False, False] Translation: X:-263.37, Y:6.70, Z:145.98 [[ 8.62589305e-01 -3.80860849e-01 3.32993551e-01 -2.63371766e+02] [ 4.20815630e-01 9.05513282e-01 -5.44049703e-02 6.70327018e+00] [-2.80809360e-01 1.87058036e-01 9.41358271e-01 1.45975355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.089072329 meters Centerline goodness : 0.765524 Centerline is valid? [False, False] Translation: X:-263.43, Y:6.72, Z:146.00 [[ 8.63565642e-01 -3.79296761e-01 3.32247423e-01 -2.63434666e+02] [ 4.19433555e-01 9.06069494e-01 -5.57993296e-02 6.72236391e+00] [-2.79874749e-01 1.87542102e-01 9.41540273e-01 1.45999618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11907232899995 meters Centerline goodness : 0.764862 Centerline is valid? [False, False] Translation: X:-263.50, Y:6.74, Z:146.02 [[ 8.64405199e-01 -3.77927241e-01 3.31624265e-01 -2.63497762e+02] [ 4.18258870e-01 9.06530030e-01 -5.71211178e-02 6.73990689e+00] [-2.79039728e-01 1.88080581e-01 9.41680692e-01 1.46023078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.149072329 meters Centerline goodness : 0.764182 Centerline is valid? [False, False] Translation: X:-263.54, Y:6.75, Z:146.04 [[ 8.63960826e-01 -3.79652649e-01 3.30810455e-01 -2.63544061e+02] [ 4.17782696e-01 9.07170503e-01 -4.99929750e-02 6.75090524e+00] [-2.81121521e-01 1.81398856e-01 9.42372084e-01 1.46041126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17907232899995 meters Centerline goodness : 0.765642 Centerline is valid? [False, False] Translation: X:-263.61, Y:6.77, Z:146.06 [[ 8.65589490e-01 -3.76679467e-01 3.29950623e-01 -2.63605622e+02] [ 4.14742658e-01 9.08516949e-01 -5.08476256e-02 6.76822071e+00] [-2.80612477e-01 1.80857769e-01 9.42627766e-01 1.46063416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.209072329 meters Centerline goodness : 0.764657 Centerline is valid? [False, False] Translation: X:-263.66, Y:6.79, Z:146.08 [[ 8.66962961e-01 -3.74128854e-01 3.29245843e-01 -2.63664487e+02] [ 4.12990101e-01 9.09106992e-01 -5.44394546e-02 6.78622737e+00] [-2.78952327e-01 1.83172265e-01 9.42673602e-01 1.46084832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.23907232899995 meters Centerline goodness : 0.764319 Centerline is valid? [False, False] Translation: X:-263.73, Y:6.80, Z:146.11 [[ 8.68171994e-01 -3.71866760e-01 3.28622126e-01 -2.63725555e+02] [ 4.11273303e-01 9.09722615e-01 -5.70879457e-02 6.80407825e+00] [-2.77725870e-01 1.84715663e-01 9.42734568e-01 1.46107149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.269072329 meters Centerline goodness : 0.764653 Centerline is valid? [False, False] Translation: X:-263.77, Y:6.82, Z:146.13 [[ 8.68347880e-01 -3.71967590e-01 3.28042789e-01 -2.63770742e+02] [ 4.09658834e-01 9.10774705e-01 -5.16631016e-02 6.81526060e+00] [-2.79556075e-01 1.79247171e-01 9.43249094e-01 1.46126042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.29907232899996 meters Centerline goodness : 0.766068 Centerline is valid? [False, False] Translation: X:-263.83, Y:6.83, Z:146.15 [[ 8.68938592e-01 -3.67779170e-01 3.31186060e-01 -2.63829497e+02] [ 4.06119550e-01 9.12314912e-01 -5.24253017e-02 6.83172103e+00] [-2.82865047e-01 1.80055501e-01 9.42107946e-01 1.46147343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.329072329 meters Centerline goodness : 0.766486 Centerline is valid? [False, False] Translation: X:-263.88, Y:6.84, Z:146.17 [[ 8.68055087e-01 -3.68959207e-01 3.32188906e-01 -2.63878673e+02] [ 4.05972524e-01 9.12667099e-01 -4.71707057e-02 6.84424330e+00] [-2.85773820e-01 1.75806340e-01 9.42032619e-01 1.46168621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.35907232899996 meters Centerline goodness : 0.767611 Centerline is valid? [False, False] Translation: X:-263.94, Y:6.86, Z:146.19 [[ 8.69790550e-01 -3.64735890e-01 3.32313301e-01 -2.63936854e+02] [ 4.02966538e-01 9.13746519e-01 -5.18195830e-02 6.86236338e+00] [-2.84749660e-01 1.78983324e-01 9.41744446e-01 1.46192107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.389072329 meters Centerline goodness : 0.767961 Centerline is valid? [False, False] Translation: X:-263.99, Y:6.88, Z:146.21 [[ 8.68537989e-01 -3.67438267e-01 3.32612210e-01 -2.63987599e+02] [ 4.04311074e-01 9.13428857e-01 -4.66934474e-02 6.87643528e+00] [-2.86660631e-01 1.75033833e-01 9.41907023e-01 1.46214523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.41907232899996 meters Centerline goodness : 0.766215 Centerline is valid? [False, False] Translation: X:-264.05, Y:6.89, Z:146.24 [[ 8.70318096e-01 -3.64243721e-01 3.31470849e-01 -2.64045888e+02] [ 4.01527118e-01 9.14518070e-01 -4.93221418e-02 6.89398234e+00] [-2.85170800e-01 1.76020487e-01 9.42175357e-01 1.46235759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.449072329 meters Centerline goodness : 0.765615 Centerline is valid? [False, False] Translation: X:-264.10, Y:6.91, Z:146.26 [[ 8.72148283e-01 -3.62501310e-01 3.28557716e-01 -2.64103110e+02] [ 3.99615979e-01 9.15265737e-01 -5.09480066e-02 6.91207371e+00] [-2.82248901e-01 1.75731130e-01 9.43108757e-01 1.46255790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.47907232899996 meters Centerline goodness : 0.766668 Centerline is valid? [False, False] Translation: X:-264.15, Y:6.92, Z:146.27 [[ 8.71619780e-01 -3.65034423e-01 3.27152607e-01 -2.64149702e+02] [ 4.00319892e-01 9.15253960e-01 -4.53229908e-02 6.92443177e+00] [-2.82883267e-01 1.70470111e-01 9.43883996e-01 1.46274902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.509072329 meters Centerline goodness : 0.765539 Centerline is valid? [False, False] Translation: X:-264.21, Y:6.94, Z:146.29 [[ 8.73571082e-01 -3.61486326e-01 3.25885258e-01 -2.64206870e+02] [ 3.97124219e-01 9.16514181e-01 -4.78968866e-02 6.94239775e+00] [-2.81364391e-01 1.71258263e-01 9.44195259e-01 1.46294695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53907232899996 meters Centerline goodness : 0.765709 Centerline is valid? [False, False] Translation: X:-264.26, Y:6.96, Z:146.32 [[ 8.75440515e-01 -3.57710355e-01 3.25034162e-01 -2.64264100e+02] [ 3.93972367e-01 9.17697209e-01 -5.11625527e-02 6.95930215e+00] [-2.79981568e-01 1.72844250e-01 9.44317313e-01 1.46315908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.569072329 meters Centerline goodness : 0.767438 Centerline is valid? [False, False] Translation: X:-264.32, Y:6.98, Z:146.34 [[ 8.77000139e-01 -3.54195720e-01 3.24678531e-01 -2.64322353e+02] [ 3.91309938e-01 9.18623290e-01 -5.48432692e-02 6.97755898e+00] [-2.78832009e-01 1.75147491e-01 9.44233058e-01 1.46337775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59907232899997 meters Centerline goodness : 0.765727 Centerline is valid? [False, False] Translation: X:-264.37, Y:6.99, Z:146.36 [[ 8.77532710e-01 -3.52871602e-01 3.24681345e-01 -2.64368202e+02] [ 3.88342427e-01 9.20183940e-01 -4.95143990e-02 6.99148017e+00] [-2.81294334e-01 1.69538046e-01 9.44526521e-01 1.46357248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.629072329 meters Centerline goodness : 0.765996 Centerline is valid? [False, False] Translation: X:-264.41, Y:7.01, Z:146.38 [[ 8.77454388e-01 -3.54093542e-01 3.23560753e-01 -2.64413894e+02] [ 3.87829919e-01 9.20670864e-01 -4.41940399e-02 7.00502273e+00] [-2.82244134e-01 1.64264795e-01 9.45174759e-01 1.46376328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65907232899997 meters Centerline goodness : 0.765996 Centerline is valid? [False, False] Translation: X:-264.47, Y:7.02, Z:146.40 [[ 8.78501236e-01 -3.51784373e-01 3.23238817e-01 -2.64471410e+02] [ 3.86711731e-01 9.20910061e-01 -4.87718824e-02 7.02168802e+00] [-2.80516693e-01 1.67846402e-01 9.45059771e-01 1.46396897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.689072329 meters Centerline goodness : 0.766021 Centerline is valid? [False, False] Translation: X:-264.53, Y:7.04, Z:146.42 [[ 8.81145163e-01 -3.46599202e-01 3.21639852e-01 -2.64526956e+02] [ 3.81940291e-01 9.22722089e-01 -5.20150123e-02 7.04078529e+00] [-2.78755834e-01 1.68679995e-01 9.45432305e-01 1.46418357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71907232899997 meters Centerline goodness : 0.766635 Centerline is valid? [False, False] Translation: X:-264.57, Y:7.05, Z:146.44 [[ 8.80532591e-01 -3.48544294e-01 3.21215241e-01 -2.64572523e+02] [ 3.82224536e-01 9.22906472e-01 -4.63470429e-02 7.05290545e+00] [-2.80297627e-01 1.63586428e-01 9.45871408e-01 1.46437202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74907232899994 meters Centerline goodness : 0.765442 Centerline is valid? [False, False] Translation: X:-264.63, Y:7.07, Z:146.46 [[ 8.83329322e-01 -3.42752952e-01 3.19765107e-01 -2.64626518e+02] [ 3.77224215e-01 9.24724740e-01 -5.08531924e-02 7.07150693e+00] [-2.78264623e-01 1.65543258e-01 9.46131190e-01 1.46459084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.779072329 meters Centerline goodness : 0.765514 Centerline is valid? [False, False] Translation: X:-264.67, Y:7.08, Z:146.48 [[ 8.83662528e-01 -3.43773583e-01 3.17742442e-01 -2.64670211e+02] [ 3.76038685e-01 9.25538408e-01 -4.44247881e-02 7.08337633e+00] [-2.78810766e-01 1.58739971e-01 9.47135776e-01 1.46476845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.80907232899995 meters Centerline goodness : 0.765878 Centerline is valid? [False, False] Translation: X:-264.72, Y:7.10, Z:146.50 [[ 8.83068163e-01 -3.46708428e-01 3.16202287e-01 -2.64715395e+02] [ 3.77595223e-01 9.25098910e-01 -4.01727997e-02 7.09551048e+00] [-2.78590143e-01 1.54871794e-01 9.47840841e-01 1.46495532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.839072329 meters Centerline goodness : 0.766819 Centerline is valid? [False, False] Translation: X:-264.77, Y:7.11, Z:146.51 [[ 8.84356266e-01 -3.44854796e-01 3.14625435e-01 -2.64771607e+02] [ 3.76514663e-01 9.25363108e-01 -4.40434684e-02 7.11124822e+00] [-2.75954169e-01 1.57411207e-01 9.48193550e-01 1.46513984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.86907232899995 meters Centerline goodness : 0.766354 Centerline is valid? [False, False] Translation: X:-264.81, Y:7.12, Z:146.53 [[ 8.83781766e-01 -3.47683844e-01 3.13122556e-01 -2.64813736e+02] [ 3.78158410e-01 9.24858815e-01 -4.04028358e-02 7.12194433e+00] [-2.75546743e-01 1.54117218e-01 9.48852926e-01 1.46530327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.899072329 meters Centerline goodness : 0.765783 Centerline is valid? [False, False] Translation: X:-264.87, Y:7.14, Z:146.55 [[ 8.83987623e-01 -3.46709939e-01 3.13620950e-01 -2.64874154e+02] [ 3.78575471e-01 9.24472884e-01 -4.50610626e-02 7.13787386e+00] [-2.74310946e-01 1.58562621e-01 9.48478466e-01 1.46551567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.92907232899995 meters Centerline goodness : 0.765236 Centerline is valid? [False, False] Translation: X:-264.93, Y:7.15, Z:146.57 [[ 8.84365013e-01 -3.45399406e-01 3.14002825e-01 -2.64934402e+02] [ 3.78539240e-01 9.24263458e-01 -4.94479965e-02 7.15418335e+00] [-2.73142028e-01 1.62592469e-01 9.48133493e-01 1.46573026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.959072329 meters Centerline goodness : 0.766222 Centerline is valid? [False, False] Translation: X:-264.98, Y:7.17, Z:146.59 [[ 8.83751104e-01 -3.47442214e-01 3.13477104e-01 -2.64980363e+02] [ 3.78773213e-01 9.24481448e-01 -4.31845380e-02 7.16602488e+00] [-2.74799636e-01 1.56901113e-01 9.48613304e-01 1.46590750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.98907232899995 meters Centerline goodness : 0.764269 Centerline is valid? [False, False] Translation: X:-265.04, Y:7.18, Z:146.61 [[ 8.84466622e-01 -3.46421502e-01 3.12587488e-01 -2.65039613e+02] [ 3.78425014e-01 9.24477659e-01 -4.62121969e-02 7.18322163e+00] [-2.72971250e-01 1.59164070e-01 9.48764194e-01 1.46610514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.019072329 meters Centerline goodness : 0.762581 Centerline is valid? [False, False] Translation: X:-265.09, Y:7.20, Z:146.63 [[ 8.86480632e-01 -3.42973042e-01 3.10679227e-01 -2.65094720e+02] [ 3.75220908e-01 9.25651402e-01 -4.87724600e-02 7.19877143e+00] [-2.70853023e-01 1.59809183e-01 9.49262695e-01 1.46628005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.04907232899996 meters Centerline goodness : 0.762082 Centerline is valid? [False, False] Translation: X:-265.14, Y:7.21, Z:146.65 [[ 8.86566532e-01 -3.45093255e-01 3.08075364e-01 -2.65138409e+02] [ 3.75327871e-01 9.25896372e-01 -4.29522698e-02 7.21002445e+00] [-2.70423323e-01 1.53709315e-01 9.50391852e-01 1.46645189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.079072329 meters Centerline goodness : 0.761608 Centerline is valid? [False, False] Translation: X:-265.20, Y:7.23, Z:146.66 [[ 8.87628872e-01 -3.42709756e-01 3.07676794e-01 -2.65195690e+02] [ 3.73981877e-01 9.26233230e-01 -4.72182118e-02 7.22607364e+00] [-2.68798328e-01 1.56977793e-01 9.50318595e-01 1.46664243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.10907232899996 meters Centerline goodness : 0.760355 Centerline is valid? [False, False] Translation: X:-265.24, Y:7.24, Z:146.68 [[ 8.86652205e-01 -3.45549911e-01 3.07316005e-01 -2.65243348e+02] [ 3.75607119e-01 9.25794450e-01 -4.27074763e-02 7.23761214e+00] [-2.69753887e-01 1.53296757e-01 9.50648697e-01 1.46683369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.139072329 meters Centerline goodness : 0.760329 Centerline is valid? [False, False] Translation: X:-265.30, Y:7.25, Z:146.70 [[ 8.88947565e-01 -3.40927998e-01 3.05843631e-01 -2.65296890e+02] [ 3.71738946e-01 9.27148278e-01 -4.69704890e-02 7.25414026e+00] [-2.67548841e-01 1.55448291e-01 9.50922419e-01 1.46702530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.16907232899996 meters Centerline goodness : 0.761296 Centerline is valid? [False, False] Translation: X:-265.36, Y:7.27, Z:146.72 [[ 8.89842157e-01 -3.38564453e-01 3.05867696e-01 -2.65357544e+02] [ 3.70188179e-01 9.27598981e-01 -5.02080012e-02 7.27165392e+00] [-2.66723918e-01 1.57905801e-01 9.50749236e-01 1.46723281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.199072329 meters Centerline goodness : 0.760038 Centerline is valid? [False, False] Translation: X:-265.41, Y:7.28, Z:146.74 [[ 8.88733273e-01 -3.42288873e-01 3.04945073e-01 -2.65405060e+02] [ 3.72281030e-01 9.27057837e-01 -4.43914555e-02 7.28300314e+00] [-2.67507018e-01 1.52977429e-01 9.51334800e-01 1.46741280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.22907232899996 meters Centerline goodness : 0.758444 Centerline is valid? [False, False] Translation: X:-265.45, Y:7.29, Z:146.76 [[ 8.87744636e-01 -3.45378914e-01 3.04340051e-01 -2.65450457e+02] [ 3.74386263e-01 9.26376027e-01 -4.07723220e-02 7.29431152e+00] [-2.67851428e-01 1.50136145e-01 9.51690470e-01 1.46759082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.259072329 meters Centerline goodness : 0.758136 Centerline is valid? [False, False] Translation: X:-265.51, Y:7.31, Z:146.78 [[ 8.87832248e-01 -3.44646309e-01 3.04914450e-01 -2.65510353e+02] [ 3.74848083e-01 9.26003428e-01 -4.47947041e-02 7.31082576e+00] [-2.66913497e-01 1.54066780e-01 9.51325713e-01 1.46777994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28907232899996 meters Centerline goodness : 0.757627 Centerline is valid? [False, False] Translation: X:-265.56, Y:7.32, Z:146.80 [[ 8.86016169e-01 -3.48918002e-01 3.05338461e-01 -2.65560939e+02] [ 3.78266436e-01 9.24795073e-01 -4.08482090e-02 7.32337609e+00] [-2.68122829e-01 1.51691465e-01 9.51367357e-01 1.46798186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.319072329 meters Centerline goodness : 0.757444 Centerline is valid? [False, False] Translation: X:-265.62, Y:7.34, Z:146.82 [[ 8.86533627e-01 -3.47079999e-01 3.05930716e-01 -2.65620834e+02] [ 3.77562983e-01 9.24899126e-01 -4.48084882e-02 7.34034837e+00] [-2.67402922e-01 1.55232345e-01 9.50998736e-01 1.46818127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34907232899997 meters Centerline goodness : 0.755614 Centerline is valid? [False, False] Translation: X:-265.67, Y:7.35, Z:146.84 [[ 8.83912532e-01 -3.52894387e-01 3.06861838e-01 -2.65671460e+02] [ 3.82518259e-01 9.23068566e-01 -4.03014168e-02 7.35005853e+00] [-2.69032373e-01 1.53003184e-01 9.50900420e-01 1.46837122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.379072329 meters Centerline goodness : 0.754803 Centerline is valid? [False, False] Translation: X:-265.73, Y:7.37, Z:146.86 [[ 8.84247058e-01 -3.51745409e-01 3.07217037e-01 -2.65730385e+02] [ 3.82824990e-01 9.22703443e-01 -4.54244700e-02 7.36536494e+00] [-2.67492369e-01 1.57776813e-01 9.50554738e-01 1.46856569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40907232899997 meters Centerline goodness : 0.753612 Centerline is valid? [False, False] Translation: X:-265.79, Y:7.38, Z:146.88 [[ 8.85213700e-01 -3.49863726e-01 3.06581276e-01 -2.65788273e+02] [ 3.82030314e-01 9.22796869e-01 -4.99877772e-02 7.37931477e+00] [-2.65423331e-01 1.61373206e-01 9.50530980e-01 1.46875903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.439072329 meters Centerline goodness : 0.751567 Centerline is valid? [False, False] Translation: X:-265.85, Y:7.40, Z:146.90 [[ 8.86780746e-01 -3.47371253e-01 3.04882142e-01 -2.65845534e+02] [ 3.79989105e-01 9.23467112e-01 -5.30732753e-02 7.39598767e+00] [-2.63112501e-01 1.62916251e-01 9.50910147e-01 1.46895000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46907232899997 meters Centerline goodness : 0.751722 Centerline is valid? [False, False] Translation: X:-265.89, Y:7.41, Z:146.91 [[ 8.85691982e-01 -3.51069213e-01 3.03809350e-01 -2.65891997e+02] [ 3.82012852e-01 9.22953341e-01 -4.71519951e-02 7.40691581e+00] [-2.63848241e-01 1.57821221e-01 9.51565325e-01 1.46911637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49907232899994 meters Centerline goodness : 0.749170 Centerline is valid? [False, False] Translation: X:-265.94, Y:7.42, Z:146.93 [[ 8.84815720e-01 -3.53704910e-01 3.03305091e-01 -2.65939382e+02] [ 3.83136992e-01 9.22753443e-01 -4.16188538e-02 7.41835880e+00] [-2.65155024e-01 1.53032416e-01 9.51984187e-01 1.46928566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.529072329 meters Centerline goodness : 0.748665 Centerline is valid? [False, False] Translation: X:-265.98, Y:7.43, Z:146.94 [[ 8.84288981e-01 -3.55190053e-01 3.03105631e-01 -2.65981758e+02] [ 3.83805679e-01 9.22607560e-01 -3.85809553e-02 7.42862510e+00] [-2.65943975e-01 1.50450376e-01 9.52175659e-01 1.46943936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55907232899995 meters Centerline goodness : 0.749963 Centerline is valid? [False, False] Translation: X:-266.04, Y:7.45, Z:146.96 [[ 8.84479678e-01 -3.54339241e-01 3.03544726e-01 -2.66042030e+02] [ 3.84290165e-01 9.22199171e-01 -4.32407024e-02 7.44512451e+00] [-2.64606817e-01 1.54894775e-01 9.51835512e-01 1.46963657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.589072329 meters Centerline goodness : 0.749401 Centerline is valid? [False, False] Translation: X:-266.09, Y:7.46, Z:146.98 [[ 8.82903446e-01 -3.57476420e-01 3.04453798e-01 -2.66088162e+02] [ 3.86904668e-01 9.21237326e-01 -4.03307292e-02 7.45548263e+00] [-2.66056918e-01 1.53402736e-01 9.51672904e-01 1.46980882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61907232899995 meters Centerline goodness : 0.748107 Centerline is valid? [False, False] Translation: X:-266.15, Y:7.47, Z:147.00 [[ 8.82316679e-01 -3.58158634e-01 3.05351715e-01 -2.66149550e+02] [ 3.89440845e-01 9.19885818e-01 -4.63239752e-02 7.47131868e+00] [-2.64297381e-01 1.59788846e-01 9.51112201e-01 1.47000825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.649072329 meters Centerline goodness : 0.747681 Centerline is valid? [False, False] Translation: X:-266.21, Y:7.48, Z:147.02 [[ 8.81140518e-01 -3.60378616e-01 3.06135003e-01 -2.66212060e+02] [ 3.93353091e-01 9.17938839e-01 -5.15910227e-02 7.48460964e+00] [-2.62420908e-01 1.65878090e-01 9.50589147e-01 1.47020436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67907232899995 meters Centerline goodness : 0.745960 Centerline is valid? [False, False] Translation: X:-266.27, Y:7.50, Z:147.04 [[ 8.82188373e-01 -3.58918689e-01 3.04829542e-01 -2.66273458e+02] [ 3.92171056e-01 9.18324409e-01 -5.36855858e-02 7.50081244e+00] [-2.60663649e-01 1.66906123e-01 9.50892638e-01 1.47041272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.709072329 meters Centerline goodness : 0.745333 Centerline is valid? [False, False] Translation: X:-266.32, Y:7.51, Z:147.06 [[ 8.81096721e-01 -3.61489049e-01 3.04949564e-01 -2.66322884e+02] [ 3.93076683e-01 9.18294910e-01 -4.71718111e-02 7.51221762e+00] [-2.62981539e-01 1.61431491e-01 9.51199550e-01 1.47059297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.73907232899995 meters Centerline goodness : 0.743881 Centerline is valid? [False, False] Translation: X:-266.38, Y:7.53, Z:147.08 [[ 8.81593994e-01 -3.60284935e-01 3.04937362e-01 -2.66384329e+02] [ 3.92724106e-01 9.18271566e-01 -5.04490540e-02 7.52960894e+00] [-2.61839275e-01 1.64231836e-01 9.51035277e-01 1.47079832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.769072329 meters Centerline goodness : 0.743333 Centerline is valid? [False, False] Translation: X:-266.43, Y:7.54, Z:147.10 [[ 8.80363220e-01 -3.63105047e-01 3.05148040e-01 -2.66433263e+02] [ 3.94215023e-01 9.17912292e-01 -4.50726180e-02 7.54192023e+00] [-2.63733041e-01 1.59974216e-01 9.51237685e-01 1.47098579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.79907232899996 meters Centerline goodness : 0.741672 Centerline is valid? [False, False] Translation: X:-266.49, Y:7.56, Z:147.12 [[ 8.81518090e-01 -3.60802255e-01 3.04544888e-01 -2.66493215e+02] [ 3.92579389e-01 9.18453058e-01 -4.82224448e-02 7.55847871e+00] [-2.62311417e-01 1.62067004e-01 9.51276514e-01 1.47118299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.829072329 meters Centerline goodness : 0.740156 Centerline is valid? [False, False] Translation: X:-266.55, Y:7.58, Z:147.14 [[ 8.83263913e-01 -3.57470134e-01 3.03413850e-01 -2.66550887e+02] [ 3.89779641e-01 9.19472837e-01 -5.13958484e-02 7.57540471e+00] [-2.60608312e-01 1.63660640e-01 9.51471756e-01 1.47137527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.85907232899996 meters Centerline goodness : 0.739656 Centerline is valid? [False, False] Translation: X:-266.61, Y:7.59, Z:147.16 [[ 8.84081961e-01 -3.56001992e-01 3.02756780e-01 -2.66611834e+02] [ 3.89016845e-01 9.19609322e-01 -5.46313941e-02 7.59284364e+00] [-2.58969072e-01 1.66076117e-01 9.51500785e-01 1.47158364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.889072329 meters Centerline goodness : 0.741227 Centerline is valid? [False, False] Translation: X:-266.66, Y:7.61, Z:147.18 [[ 8.83073381e-01 -3.58679499e-01 3.02539950e-01 -2.66662051e+02] [ 3.90049845e-01 9.19523348e-01 -4.83521659e-02 7.60554054e+00] [-2.60849617e-01 1.60704171e-01 9.51909474e-01 1.47177550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.91907232899996 meters Centerline goodness : 0.742914 Centerline is valid? [False, False] Translation: X:-266.72, Y:7.62, Z:147.20 [[ 8.83365359e-01 -3.57025530e-01 3.03641916e-01 -2.66723741e+02] [ 3.89577758e-01 9.19513146e-01 -5.21990786e-02 7.62269144e+00] [-2.60566330e-01 1.64402995e-01 9.51355267e-01 1.47198299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.949072329 meters Centerline goodness : 0.743249 Centerline is valid? [False, False] Translation: X:-266.77, Y:7.63, Z:147.22 [[ 8.81640414e-01 -3.60599481e-01 3.04430936e-01 -2.66774384e+02] [ 3.91984140e-01 9.18775506e-01 -4.69041979e-02 7.63492662e+00] [-2.62790057e-01 1.60684735e-01 9.51378895e-01 1.47217231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.97907232899996 meters Centerline goodness : 0.744326 Centerline is valid? [False, False] Translation: X:-266.83, Y:7.65, Z:147.24 [[ 8.82621608e-01 -3.57723246e-01 3.04980617e-01 -2.66834876e+02] [ 3.90081183e-01 9.19393874e-01 -5.05131119e-02 7.65220096e+00] [-2.62327597e-01 1.63551164e-01 9.51018006e-01 1.47238440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.009072329 meters Centerline goodness : 0.743894 Centerline is valid? [False, False] Translation: X:-266.88, Y:7.66, Z:147.26 [[ 8.81522256e-01 -3.60054482e-01 3.05416573e-01 -2.66883888e+02] [ 3.91150283e-01 9.19210217e-01 -4.53214457e-02 7.66470159e+00] [-2.64423844e-01 1.59415642e-01 9.51139676e-01 1.47257885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03907232899996 meters Centerline goodness : 0.744473 Centerline is valid? [False, False] Translation: X:-266.94, Y:7.68, Z:147.28 [[ 8.82687731e-01 -3.57292785e-01 3.05293688e-01 -2.66943426e+02] [ 3.89111582e-01 9.19916862e-01 -4.84266847e-02 7.68324859e+00] [-2.63542306e-01 1.61538950e-01 9.51026088e-01 1.47277640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.069072329 meters Centerline goodness : 0.745076 Centerline is valid? [False, False] Translation: X:-267.00, Y:7.70, Z:147.30 [[ 8.83684373e-01 -3.55469410e-01 3.04538057e-01 -2.67002630e+02] [ 3.87916874e-01 9.20256401e-01 -5.14650947e-02 7.70014256e+00] [-2.61958829e-01 1.63614351e-01 9.51108782e-01 1.47297098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09907232899997 meters Centerline goodness : 0.744150 Centerline is valid? [False, False] Translation: X:-267.06, Y:7.72, Z:147.32 [[ 8.85021160e-01 -3.53905469e-01 3.02470601e-01 -2.67061497e+02] [ 3.86610587e-01 9.20661133e-01 -5.39938098e-02 7.71717536e+00] [-2.59364222e-01 1.64724001e-01 9.51628186e-01 1.47316187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.129072329 meters Centerline goodness : 0.742845 Centerline is valid? [False, False] Translation: X:-267.11, Y:7.73, Z:147.33 [[ 8.83910328e-01 -3.57560573e-01 3.01418261e-01 -2.67110750e+02] [ 3.88514755e-01 9.20206160e-01 -4.77169573e-02 7.72897151e+00] [-2.60305238e-01 1.59282953e-01 9.52297288e-01 1.47334281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15907232899997 meters Centerline goodness : 0.741849 Centerline is valid? [False, False] Translation: X:-267.17, Y:7.75, Z:147.35 [[ 8.86105604e-01 -3.54093578e-01 2.99056175e-01 -2.67167857e+02] [ 3.85105484e-01 9.21519420e-01 -4.99572325e-02 7.74594711e+00] [-2.57896538e-01 1.59435557e-01 9.52926901e-01 1.47352208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.189072329 meters Centerline goodness : 0.740731 Centerline is valid? [False, False] Translation: X:-267.21, Y:7.76, Z:147.37 [[ 8.85428065e-01 -3.55839311e-01 2.98990847e-01 -2.67214732e+02] [ 3.85584624e-01 9.21570920e-01 -4.50725693e-02 7.75916481e+00] [-2.59502678e-01 1.55194791e-01 9.53190924e-01 1.47369863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21907232899997 meters Centerline goodness : 0.740806 Centerline is valid? [False, False] Translation: X:-267.27, Y:7.78, Z:147.39 [[ 8.87786218e-01 -3.51545923e-01 2.97070860e-01 -2.67270859e+02] [ 3.81587723e-01 9.23085114e-01 -4.80071093e-02 7.77725276e+00] [-2.57344985e-01 1.55978643e-01 9.53647850e-01 1.47388313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24907232899994 meters Centerline goodness : 0.740832 Centerline is valid? [False, False] Translation: X:-267.32, Y:7.79, Z:147.41 [[ 8.87966618e-01 -3.50412873e-01 2.97869274e-01 -2.67316294e+02] [ 3.79459586e-01 9.24160941e-01 -4.40110995e-02 7.79246098e+00] [-2.59857093e-01 1.52109739e-01 9.53591589e-01 1.47405515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.279072329 meters Centerline goodness : 0.742625 Centerline is valid? [False, False] Translation: X:-267.36, Y:7.81, Z:147.42 [[ 8.87822704e-01 -3.49946969e-01 2.98844381e-01 -2.67360395e+02] [ 3.78226802e-01 9.24818100e-01 -4.06935902e-02 7.80551322e+00] [-2.62136094e-01 1.49159648e-01 9.53433830e-01 1.47421538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.30907232899995 meters Centerline goodness : 0.742499 Centerline is valid? [False, False] Translation: X:-267.42, Y:7.83, Z:147.44 [[ 8.91484344e-01 -3.42823173e-01 2.96189022e-01 -2.67415484e+02] [ 3.71279417e-01 9.27478678e-01 -4.39874640e-02 7.82842225e+00] [-2.59629081e-01 1.49183023e-01 9.54115908e-01 1.47442612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.339072329 meters Centerline goodness : 0.742242 Centerline is valid? [False, False] Translation: X:-267.46, Y:7.84, Z:147.46 [[ 8.91630604e-01 -3.42751464e-01 2.95831541e-01 -2.67458816e+02] [ 3.69897819e-01 9.28236331e-01 -3.94070693e-02 7.84128192e+00] [-2.61094753e-01 1.44563991e-01 9.54426939e-01 1.47458360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.36907232899995 meters Centerline goodness : 0.742166 Centerline is valid? [False, False] Translation: X:-267.51, Y:7.86, Z:147.48 [[ 8.94495170e-01 -3.37179688e-01 2.93578353e-01 -2.67513334e+02] [ 3.64730878e-01 9.30118105e-01 -4.30313584e-02 7.86034564e+00] [-2.58553241e-01 1.45568432e-01 9.54965996e-01 1.47477962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.399072329 meters Centerline goodness : 0.743855 Centerline is valid? [False, False] Translation: X:-267.57, Y:7.88, Z:147.50 [[ 8.96236299e-01 -3.33491401e-01 2.92479026e-01 -2.67570993e+02] [ 3.61630455e-01 9.31166288e-01 -4.63978228e-02 7.87913423e+00] [-2.56873335e-01 1.47352736e-01 9.55145675e-01 1.47497088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.42907232899995 meters Centerline goodness : 0.744151 Centerline is valid? [False, False] Translation: X:-267.62, Y:7.89, Z:147.51 [[ 8.95684314e-01 -3.35467332e-01 2.91909710e-01 -2.67616889e+02] [ 3.62480505e-01 9.31032595e-01 -4.22633505e-02 7.89219897e+00] [-2.57599481e-01 1.43666199e-01 9.55511659e-01 1.47514886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.459072329 meters Centerline goodness : 0.744886 Centerline is valid? [False, False] Translation: X:-267.67, Y:7.91, Z:147.53 [[ 8.97336371e-01 -3.31842621e-01 2.90977510e-01 -2.67673942e+02] [ 3.59833938e-01 9.31832807e-01 -4.69803964e-02 7.91087264e+00] [-2.55552292e-01 1.46860802e-01 9.55575707e-01 1.47534668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.48907232899995 meters Centerline goodness : 0.743874 Centerline is valid? [False, False] Translation: X:-267.72, Y:7.92, Z:147.55 [[ 8.97264615e-01 -3.33537983e-01 2.89255293e-01 -2.67719263e+02] [ 3.59844453e-01 9.32091406e-01 -4.14436912e-02 7.92367746e+00] [-2.55789328e-01 1.41272870e-01 9.56354430e-01 1.47551683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.519072329 meters Centerline goodness : 0.744494 Centerline is valid? [False, False] Translation: X:-267.77, Y:7.94, Z:147.57 [[ 8.98834732e-01 -3.30771220e-01 2.87552645e-01 -2.67773849e+02] [ 3.57941608e-01 9.32606150e-01 -4.60822567e-02 7.94007213e+00] [-2.52930681e-01 1.44347389e-01 9.56655582e-01 1.47568262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.54907232899996 meters Centerline goodness : 0.741623 Centerline is valid? [False, False] Translation: X:-267.82, Y:7.95, Z:147.58 [[ 8.99105717e-01 -3.31696279e-01 2.85633486e-01 -2.67818183e+02] [ 3.57059512e-01 9.33215012e-01 -4.02274292e-02 7.95342293e+00] [-2.53214169e-01 1.38156865e-01 9.57494264e-01 1.47583671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.579072329 meters Centerline goodness : 0.741623 Centerline is valid? [False, False] Translation: X:-267.87, Y:7.97, Z:147.60 [[ 9.00336867e-01 -3.29385084e-01 2.84427480e-01 -2.67873544e+02] [ 3.55812206e-01 9.33459146e-01 -4.52956509e-02 7.97034092e+00] [-2.50581721e-01 1.41984114e-01 9.57626917e-01 1.47600762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.60907232899996 meters Centerline goodness : 0.741741 Centerline is valid? [False, False] Translation: X:-267.92, Y:7.98, Z:147.62 [[ 8.99796873e-01 -3.31729313e-01 2.83410039e-01 -2.67918955e+02] [ 3.56816400e-01 9.33299031e-01 -4.04348220e-02 7.98314213e+00] [-2.51092899e-01 1.37508476e-01 9.58146009e-01 1.47616485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.639072329 meters Centerline goodness : 0.741318 Centerline is valid? [False, False] Translation: X:-267.97, Y:8.00, Z:147.63 [[ 9.01858853e-01 -3.28008702e-01 2.81177702e-01 -2.67973271e+02] [ 3.53660238e-01 9.34319154e-01 -4.44089401e-02 8.00058009e+00] [-2.48143194e-01 1.39491969e-01 9.58627637e-01 1.47633667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.66907232899996 meters Centerline goodness : 0.739989 Centerline is valid? [False, False] Translation: X:-268.02, Y:8.01, Z:147.65 [[ 9.02226766e-01 -3.27628691e-01 2.80439482e-01 -2.68016783e+02] [ 3.51851110e-01 9.35227488e-01 -3.93743838e-02 8.01437446e+00] [-2.49374535e-01 1.34197566e-01 9.59063791e-01 1.47648833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.699072329 meters Centerline goodness : 0.740448 Centerline is valid? [False, False] Translation: X:-268.07, Y:8.03, Z:147.67 [[ 9.04123204e-01 -3.23731000e-01 2.78853853e-01 -2.68072013e+02] [ 3.48730016e-01 9.36198416e-01 -4.38166821e-02 8.03288605e+00] [-2.46877717e-01 1.36860388e-01 9.59333428e-01 1.47666932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.72907232899996 meters Centerline goodness : 0.742468 Centerline is valid? [False, False] Translation: X:-268.12, Y:8.05, Z:147.68 [[ 9.01981844e-01 -3.29109083e-01 2.79492335e-01 -2.68120513e+02] [ 3.53553315e-01 9.34534835e-01 -4.05548470e-02 8.04680298e+00] [-2.47848355e-01 1.35395177e-01 9.59291061e-01 1.47682759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.759072329 meters Centerline goodness : 0.741149 Centerline is valid? [False, False] Translation: X:-268.17, Y:8.06, Z:147.70 [[ 9.03152329e-01 -3.27372138e-01 2.77746923e-01 -2.68172720e+02] [ 3.53256354e-01 9.34323606e-01 -4.74272857e-02 8.06151411e+00] [-2.43979134e-01 1.40949929e-01 9.59482829e-01 1.47698551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78907232899996 meters Centerline goodness : 0.741788 Centerline is valid? [False, False] Translation: X:-268.23, Y:8.08, Z:147.72 [[ 9.04528166e-01 -3.24792139e-01 2.76294884e-01 -2.68228484e+02] [ 3.51551007e-01 9.34717038e-01 -5.21147586e-02 8.07760265e+00] [-2.41331072e-01 1.44271012e-01 9.59658892e-01 1.47715911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.819072329 meters Centerline goodness : 0.742267 Centerline is valid? [False, False] Translation: X:-268.27, Y:8.09, Z:147.73 [[ 9.04765315e-01 -3.24454663e-01 2.75914653e-01 -2.68273214e+02] [ 3.49563568e-01 9.35789929e-01 -4.58532553e-02 8.09049287e+00] [-2.43320851e-01 1.37936145e-01 9.60087800e-01 1.47731983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84907232899997 meters Centerline goodness : 0.744518 Centerline is valid? [False, False] Translation: X:-268.32, Y:8.10, Z:147.75 [[ 9.04985836e-01 -3.23841807e-01 2.75911435e-01 -2.68316336e+02] [ 3.47732294e-01 9.36690492e-01 -4.11482005e-02 8.10316168e+00] [-2.45118110e-01 1.33181855e-01 9.60301882e-01 1.47746092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.879072329 meters Centerline goodness : 0.743769 Centerline is valid? [False, False] Translation: X:-268.36, Y:8.12, Z:147.76 [[ 9.05448716e-01 -3.22089562e-01 2.76443369e-01 -2.68356897e+02] [ 3.45205925e-01 9.37754350e-01 -3.80742497e-02 8.11638765e+00] [-2.46972653e-01 1.29904169e-01 9.60275698e-01 1.47759332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90907232899997 meters Centerline goodness : 0.745659 Centerline is valid? [False, False] Translation: X:-268.41, Y:8.13, Z:147.78 [[ 9.06507785e-01 -3.19772439e-01 2.75661429e-01 -2.68413376e+02] [ 3.43999696e-01 9.37977028e-01 -4.31659965e-02 8.13447470e+00] [-2.44760792e-01 1.33957760e-01 9.60285100e-01 1.47776389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.939072329 meters Centerline goodness : 0.744767 Centerline is valid? [False, False] Translation: X:-268.46, Y:8.15, Z:147.79 [[ 9.06778141e-01 -3.18672212e-01 2.76046053e-01 -2.68456892e+02] [ 3.41761183e-01 9.38991447e-01 -3.86569136e-02 8.14734390e+00] [-2.46885999e-01 1.29395070e-01 9.60366711e-01 1.47790623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96907232899997 meters Centerline goodness : 0.743769 Centerline is valid? [False, False] Translation: X:-268.51, Y:8.16, Z:147.81 [[ 9.08829109e-01 -3.14613325e-01 2.73949096e-01 -2.68510085e+02] [ 3.38499876e-01 9.39960829e-01 -4.34910671e-02 8.16470137e+00] [-2.43818550e-01 1.32257683e-01 9.60760334e-01 1.47807598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99907232899994 meters Centerline goodness : 0.744664 Centerline is valid? [False, False] Translation: X:-268.55, Y:8.18, Z:147.82 [[ 9.09770315e-01 -3.13508165e-01 2.72085657e-01 -2.68547494e+02] [ 3.36235144e-01 9.40924173e-01 -4.00952474e-02 8.17618467e+00] [-2.43441784e-01 1.27962226e-01 9.61437344e-01 1.47820587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.029072329 meters Centerline goodness : 0.745731 Centerline is valid? [False, False] Translation: X:-268.60, Y:8.19, Z:147.84 [[ 9.11606239e-01 -3.09208549e-01 2.70858152e-01 -2.68602215e+02] [ 3.33062189e-01 9.41790704e-01 -4.58241068e-02 8.19442635e+00] [-2.40922484e-01 1.31986151e-01 9.61527957e-01 1.47839478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05907232899995 meters Centerline goodness : 0.746270 Centerline is valid? [False, False] Translation: X:-268.64, Y:8.21, Z:147.85 [[ 9.11175493e-01 -3.10970893e-01 2.70289335e-01 -2.68644424e+02] [ 3.33847413e-01 9.41690469e-01 -4.20114809e-02 8.20530984e+00] [-2.41464543e-01 1.28515227e-01 9.61862106e-01 1.47853454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.089072329 meters Centerline goodness : 0.746427 Centerline is valid? [False, False] Translation: X:-268.69, Y:8.22, Z:147.87 [[ 9.10656858e-01 -3.13287125e-01 2.69360845e-01 -2.68687721e+02] [ 3.35136109e-01 9.41398558e-01 -3.81122514e-02 8.21653739e+00] [-2.41635833e-01 1.24979728e-01 9.62284881e-01 1.47868374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11907232899995 meters Centerline goodness : 0.746753 Centerline is valid? [False, False] Translation: X:-268.73, Y:8.23, Z:147.88 [[ 9.10046522e-01 -3.15628455e-01 2.68689421e-01 -2.68729392e+02] [ 3.36753396e-01 9.40932131e-01 -3.52686087e-02 8.22626285e+00] [-2.41686733e-01 1.22578150e-01 9.62580968e-01 1.47880361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.149072329 meters Centerline goodness : 0.746168 Centerline is valid? [False, False] Translation: X:-268.77, Y:8.24, Z:147.89 [[ 9.08852673e-01 -3.18410096e-01 2.69447267e-01 -2.68770124e+02] [ 3.39487963e-01 9.39984543e-01 -3.43071713e-02 8.23516178e+00] [-2.42352516e-01 1.22654268e-01 9.62403859e-01 1.47890881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17907232899995 meters Centerline goodness : 0.744799 Centerline is valid? [False, False] Translation: X:-268.82, Y:8.25, Z:147.91 [[ 9.09421566e-01 -3.17703900e-01 2.68359174e-01 -2.68824835e+02] [ 3.40058794e-01 9.39549288e-01 -4.00892882e-02 8.24947919e+00] [-2.39400148e-01 1.27715960e-01 9.62484391e-01 1.47905579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.209072329 meters Centerline goodness : 0.746451 Centerline is valid? [False, False] Translation: X:-268.87, Y:8.26, Z:147.92 [[ 9.08131758e-01 -3.21024162e-01 2.68775365e-01 -2.68868610e+02] [ 3.42812940e-01 9.38668991e-01 -3.71458570e-02 8.25837658e+00] [-2.40366383e-01 1.25873005e-01 9.62486358e-01 1.47917804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.23907232899995 meters Centerline goodness : 0.745398 Centerline is valid? [False, False] Translation: X:-268.91, Y:8.27, Z:147.93 [[ 9.07277743e-01 -3.22689492e-01 2.69663843e-01 -2.68908473e+02] [ 3.44405133e-01 9.38124917e-01 -3.61489278e-02 8.26700349e+00] [-2.41313491e-01 1.25670730e-01 9.62275775e-01 1.47928517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.269072329 meters Centerline goodness : 0.747423 Centerline is valid? [False, False] Translation: X:-268.96, Y:8.28, Z:147.94 [[ 9.07252919e-01 -3.23032637e-01 2.69336327e-01 -2.68964877e+02] [ 3.46352840e-01 9.37131171e-01 -4.27186015e-02 8.28163085e+00] [-2.38603965e-01 1.32041977e-01 9.62098261e-01 1.47944196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.29907232899996 meters Centerline goodness : 0.747258 Centerline is valid? [False, False] Translation: X:-269.01, Y:8.29, Z:147.96 [[ 9.06531034e-01 -3.24635254e-01 2.69839648e-01 -2.69005509e+02] [ 3.47480012e-01 9.36820686e-01 -4.03068765e-02 8.29023227e+00] [-2.39706331e-01 1.30303319e-01 9.62061287e-01 1.47955538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.329072329 meters Centerline goodness : 0.746800 Centerline is valid? [False, False] Translation: X:-269.05, Y:8.30, Z:147.97 [[ 9.06739008e-01 -3.24081623e-01 2.69806363e-01 -2.69045782e+02] [ 3.46087752e-01 9.37470602e-01 -3.70423821e-02 8.30157684e+00] [-2.40930779e-01 1.26964450e-01 9.62201844e-01 1.47967380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.35907232899996 meters Centerline goodness : 0.748449 Centerline is valid? [False, False] Translation: X:-269.09, Y:8.31, Z:147.98 [[ 9.06374498e-01 -3.24845171e-01 2.70112726e-01 -2.69086505e+02] [ 3.46383296e-01 9.37443363e-01 -3.49077846e-02 8.31175183e+00] [-2.41875757e-01 1.25202062e-01 9.62195698e-01 1.47979305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.389072329 meters Centerline goodness : 0.747697 Centerline is valid? [False, False] Translation: X:-269.14, Y:8.33, Z:147.99 [[ 9.06674811e-01 -3.22835701e-01 2.71510398e-01 -2.69137868e+02] [ 3.45400337e-01 9.37665253e-01 -3.85030052e-02 8.32544911e+00] [-2.42155722e-01 1.28689488e-01 9.61665026e-01 1.47991551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.41907232899996 meters Centerline goodness : 0.749995 Centerline is valid? [False, False] Translation: X:-269.18, Y:8.34, Z:148.00 [[ 9.05898996e-01 -3.23271444e-01 2.73573723e-01 -2.69180009e+02] [ 3.46008357e-01 9.37461852e-01 -3.79933312e-02 8.33571797e+00] [-2.44182770e-01 1.29076915e-01 9.61100372e-01 1.48004536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.449072329 meters Centerline goodness : 0.752121 Centerline is valid? [False, False] Translation: X:-269.22, Y:8.34, Z:148.02 [[ 9.03947192e-01 -3.26363577e-01 2.76344513e-01 -2.69223093e+02] [ 3.49524252e-01 9.36168224e-01 -3.77074851e-02 8.34488723e+00] [-2.46398603e-01 1.30674685e-01 9.60318622e-01 1.48017333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.47907232899996 meters Centerline goodness : 0.752110 Centerline is valid? [False, False] Translation: X:-269.27, Y:8.36, Z:148.03 [[ 9.02416359e-01 -3.28947239e-01 2.78277611e-01 -2.69268480e+02] [ 3.52012207e-01 9.35305984e-01 -3.59182799e-02 8.35580279e+00] [-2.48459496e-01 1.30370359e-01 9.59828864e-01 1.48032266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.509072329 meters Centerline goodness : 0.753617 Centerline is valid? [False, False] Translation: X:-269.31, Y:8.37, Z:148.05 [[ 9.01683254e-01 -3.30719736e-01 2.78552987e-01 -2.69308711e+02] [ 3.53521056e-01 9.34790090e-01 -3.45014591e-02 8.36602885e+00] [-2.48978258e-01 1.29583734e-01 9.59800960e-01 1.48045113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53907232899996 meters Centerline goodness : 0.753753 Centerline is valid? [False, False] Translation: X:-269.35, Y:8.38, Z:148.06 [[ 9.00775967e-01 -3.33534666e-01 2.78131774e-01 -2.69350634e+02] [ 3.55686852e-01 9.34063162e-01 -3.18256469e-02 8.37651351e+00] [-2.49177688e-01 1.27595593e-01 9.60015544e-01 1.48058589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.569072329 meters Centerline goodness : 0.750005 Centerline is valid? [False, False] Translation: X:-269.39, Y:8.39, Z:148.07 [[ 9.00897102e-01 -3.34889342e-01 2.76104219e-01 -2.69385346e+02] [ 3.56570241e-01 9.33757874e-01 -3.08852093e-02 8.38562018e+00] [-2.47471361e-01 1.26274944e-01 9.60631336e-01 1.48069948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59907232899997 meters Centerline goodness : 0.749707 Centerline is valid? [False, False] Translation: X:-269.44, Y:8.40, Z:148.09 [[ 9.00375056e-01 -3.36283352e-01 2.76112778e-01 -2.69441211e+02] [ 3.60023813e-01 9.32138879e-01 -3.87293695e-02 8.40007969e+00] [-2.44351414e-01 1.34278133e-01 9.60344610e-01 1.48085011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.629072329 meters Centerline goodness : 0.749707 Centerline is valid? [False, False] Translation: X:-269.48, Y:8.41, Z:148.10 [[ 8.99351082e-01 -3.38141014e-01 2.77179159e-01 -2.69483336e+02] [ 3.61669625e-01 9.31570373e-01 -3.70367608e-02 8.40837878e+00] [-2.45688245e-01 1.33556334e-01 9.60104157e-01 1.48097129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65907232899997 meters Centerline goodness : 0.750094 Centerline is valid? [False, False] Translation: X:-269.53, Y:8.42, Z:148.11 [[ 8.98035316e-01 -3.41033032e-01 2.77901138e-01 -2.69526646e+02] [ 3.64312613e-01 9.30609197e-01 -3.52539634e-02 8.41906313e+00] [-2.46594589e-01 1.32902194e-01 9.59962560e-01 1.48110988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.689072329 meters Centerline goodness : 0.752578 Centerline is valid? [False, False] Translation: X:-269.57, Y:8.43, Z:148.13 [[ 8.96667037e-01 -3.43800449e-01 2.78907649e-01 -2.69571535e+02] [ 3.66590745e-01 9.29817793e-01 -3.24052145e-02 8.43059891e+00] [-2.48192367e-01 1.31301650e-01 9.59771028e-01 1.48125420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71907232899997 meters Centerline goodness : 0.752074 Centerline is valid? [False, False] Translation: X:-269.61, Y:8.44, Z:148.14 [[ 8.96911659e-01 -3.42028234e-01 2.80296563e-01 -2.69609051e+02] [ 3.64986324e-01 9.30443855e-01 -3.25456037e-02 8.43895976e+00] [-2.49668699e-01 1.31494944e-01 9.59361569e-01 1.48136575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74907232899994 meters Centerline goodness : 0.752309 Centerline is valid? [False, False] Translation: X:-269.67, Y:8.45, Z:148.15 [[ 8.94991969e-01 -3.42982093e-01 2.85223876e-01 -2.69667174e+02] [ 3.67746568e-01 9.29206945e-01 -3.65638456e-02 8.45238220e+00] [-2.52491262e-01 1.37614450e-01 9.57763241e-01 1.48151450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.779072329 meters Centerline goodness : 0.754113 Centerline is valid? [False, False] Translation: X:-269.71, Y:8.46, Z:148.17 [[ 8.93227631e-01 -3.46874738e-01 2.86046001e-01 -2.69710092e+02] [ 3.71492605e-01 9.27776823e-01 -3.49773016e-02 8.46203364e+00] [-2.53254108e-01 1.37506667e-01 9.57577294e-01 1.48165418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.80907232899995 meters Centerline goodness : 0.753302 Centerline is valid? [False, False] Translation: X:-269.75, Y:8.47, Z:148.18 [[ 8.91400682e-01 -3.50778178e-01 2.86983439e-01 -2.69752585e+02] [ 3.75347692e-01 9.26271497e-01 -3.36930958e-02 8.47146604e+00] [-2.54005777e-01 1.37752620e-01 9.57342823e-01 1.48179449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.839072329 meters Centerline goodness : 0.754018 Centerline is valid? [False, False] Translation: X:-269.80, Y:8.48, Z:148.19 [[ 8.88694522e-01 -3.56053882e-01 2.88873120e-01 -2.69796281e+02] [ 3.81278017e-01 9.23823858e-01 -3.43009176e-02 8.47903153e+00] [-2.54654906e-01 1.40624008e-01 9.56752720e-01 1.48194214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.86907232899995 meters Centerline goodness : 0.755975 Centerline is valid? [False, False] Translation: X:-269.85, Y:8.49, Z:148.21 [[ 8.89059858e-01 -3.55226536e-01 2.88767514e-01 -2.69852240e+02] [ 3.81993904e-01 9.23285343e-01 -4.03092165e-02 8.49429740e+00] [-2.52295910e-01 1.46144736e-01 9.56550307e-01 1.48210410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.899072329 meters Centerline goodness : 0.753070 Centerline is valid? [False, False] Translation: X:-269.89, Y:8.50, Z:148.22 [[ 8.87164921e-01 -3.59384570e-01 2.89449710e-01 -2.69894606e+02] [ 3.86062957e-01 9.21649652e-01 -3.89527049e-02 8.50386435e+00] [-2.52772223e-01 1.46303284e-01 9.56400310e-01 1.48223856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.92907232899995 meters Centerline goodness : 0.754379 Centerline is valid? [False, False] Translation: X:-269.95, Y:8.52, Z:148.24 [[ 8.85947452e-01 -3.61819021e-01 2.90144978e-01 -2.69952543e+02] [ 3.90526976e-01 9.19447330e-01 -4.58834293e-02 8.51672284e+00] [-2.50171527e-01 1.53959748e-01 9.55882107e-01 1.48238956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.959072329 meters Centerline goodness : 0.754104 Centerline is valid? [False, False] Translation: X:-270.00, Y:8.53, Z:148.25 [[ 8.83643959e-01 -3.66563314e-01 2.91212449e-01 -2.69997180e+02] [ 3.94932237e-01 9.17692949e-01 -4.32224533e-02 8.52691262e+00] [-2.51399845e-01 1.53202444e-01 9.55681500e-01 1.48253039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.98907232899995 meters Centerline goodness : 0.753032 Centerline is valid? [False, False] Translation: X:-270.04, Y:8.53, Z:148.27 [[ 8.82704110e-01 -3.68969106e-01 2.91024490e-01 -2.70038729e+02] [ 3.96608428e-01 9.17106542e-01 -4.02162325e-02 8.53489539e+00] [-2.52061916e-01 1.50921799e-01 9.55869971e-01 1.48266502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.019072329 meters Centerline goodness : 0.753805 Centerline is valid? [False, False] Translation: X:-270.08, Y:8.54, Z:148.28 [[ 8.80062025e-01 -3.74203839e-01 2.92339391e-01 -2.70081908e+02] [ 4.02113999e-01 9.14730947e-01 -3.96437435e-02 8.54392439e+00] [-2.52577047e-01 1.52442715e-01 9.55492571e-01 1.48280664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.04907232899996 meters Centerline goodness : 0.753295 Centerline is valid? [False, False] Translation: X:-270.12, Y:8.55, Z:148.30 [[ 8.79322922e-01 -3.76246504e-01 2.91941376e-01 -2.70124253e+02] [ 4.03335547e-01 9.14324593e-01 -3.64825277e-02 8.55489974e+00] [-2.53202756e-01 1.49830257e-01 9.55740162e-01 1.48296207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.079072329 meters Centerline goodness : 0.753548 Centerline is valid? [False, False] Translation: X:-270.16, Y:8.57, Z:148.31 [[ 8.77967206e-01 -3.79370954e-01 2.91978193e-01 -2.70164407e+02] [ 4.06426482e-01 9.12979379e-01 -3.58631736e-02 8.56587116e+00] [-2.52964623e-01 1.50154360e-01 9.55752357e-01 1.48310570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.10907232899996 meters Centerline goodness : 0.754444 Centerline is valid? [False, False] Translation: X:-270.22, Y:8.58, Z:148.33 [[ 8.78720948e-01 -3.77961097e-01 2.91538856e-01 -2.70221221e+02] [ 4.06212207e-01 9.12863551e-01 -4.08874019e-02 8.58145383e+00] [-2.50681348e-01 1.54355258e-01 9.55684737e-01 1.48326633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.139072329 meters Centerline goodness : 0.753419 Centerline is valid? [False, False] Translation: X:-270.26, Y:8.59, Z:148.34 [[ 8.78602750e-01 -3.79239277e-01 2.90232283e-01 -2.70261038e+02] [ 4.06586612e-01 9.12818368e-01 -3.80782510e-02 8.59263941e+00] [-2.50488590e-01 1.51460217e-01 9.56198342e-01 1.48341155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.16907232899996 meters Centerline goodness : 0.753450 Centerline is valid? [False, False] Translation: X:-270.30, Y:8.61, Z:148.36 [[ 8.79077206e-01 -3.79309442e-01 2.88699865e-01 -2.70302950e+02] [ 4.05102819e-01 9.13672245e-01 -3.30867648e-02 8.60589370e+00] [-2.51226932e-01 1.46038950e-01 9.56847769e-01 1.48355996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.199072329 meters Centerline goodness : 0.753301 Centerline is valid? [False, False] Translation: X:-270.34, Y:8.62, Z:148.37 [[ 8.79199852e-01 -3.79419587e-01 2.88181187e-01 -2.70341307e+02] [ 4.04696009e-01 9.13911563e-01 -3.14133051e-02 8.61697042e+00] [-2.51453295e-01 1.44244349e-01 9.57060504e-01 1.48369871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.22907232899996 meters Centerline goodness : 0.755017 Centerline is valid? [False, False] Translation: X:-270.38, Y:8.63, Z:148.39 [[ 8.77809330e-01 -3.81747717e-01 2.89343153e-01 -2.70384389e+02] [ 4.06985213e-01 9.12934625e-01 -3.02226215e-02 8.62783030e+00] [-2.52613966e-01 1.44288084e-01 9.56748208e-01 1.48385086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.259072329 meters Centerline goodness : 0.757439 Centerline is valid? [False, False] Translation: X:-270.44, Y:8.64, Z:148.40 [[ 8.77345972e-01 -3.79960918e-01 2.93076350e-01 -2.70438621e+02] [ 4.07308924e-01 9.12572808e-01 -3.61982195e-02 8.64184342e+00] [-2.53699599e-01 1.51130975e-01 9.55403549e-01 1.48398892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28907232899996 meters Centerline goodness : 0.754557 Centerline is valid? [False, False] Translation: X:-270.48, Y:8.65, Z:148.41 [[ 8.76469437e-01 -3.82444749e-01 2.92467674e-01 -2.70478290e+02] [ 4.09422386e-01 9.11680915e-01 -3.48025809e-02 8.65196758e+00] [-2.53327132e-01 1.50246212e-01 9.55641899e-01 1.48412443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.319072329 meters Centerline goodness : 0.756670 Centerline is valid? [False, False] Translation: X:-270.52, Y:8.66, Z:148.43 [[ 8.74613093e-01 -3.86265050e-01 2.93003838e-01 -2.70521720e+02] [ 4.13004393e-01 9.10131206e-01 -3.29933331e-02 8.66239373e+00] [-2.53927765e-01 1.49868273e-01 9.55541831e-01 1.48427122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34907232899997 meters Centerline goodness : 0.758213 Centerline is valid? [False, False] Translation: X:-270.56, Y:8.67, Z:148.44 [[ 8.73551544e-01 -3.88493606e-01 2.93224177e-01 -2.70562969e+02] [ 4.14989395e-01 9.09277279e-01 -3.16011393e-02 8.67336849e+00] [-2.54345241e-01 1.49290148e-01 9.55521297e-01 1.48441931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.379072329 meters Centerline goodness : 0.759346 Centerline is valid? [False, False] Translation: X:-270.61, Y:8.68, Z:148.46 [[ 8.71151865e-01 -3.92838741e-01 2.94571131e-01 -2.70608659e+02] [ 4.19309158e-01 9.07347279e-01 -3.00124178e-02 8.68430474e+00] [-2.55488274e-01 1.49661747e-01 9.55158156e-01 1.48458403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40907232899997 meters Centerline goodness : 0.757421 Centerline is valid? [False, False] Translation: X:-270.66, Y:8.70, Z:148.47 [[ 8.71327026e-01 -3.90898524e-01 2.96626969e-01 -2.70663620e+02] [ 4.18941739e-01 9.07341585e-01 -3.49151423e-02 8.69967702e+00] [-2.55493707e-01 1.54691925e-01 9.54354952e-01 1.48472538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.439072329 meters Centerline goodness : 0.756562 Centerline is valid? [False, False] Translation: X:-270.72, Y:8.72, Z:148.49 [[ 8.74202663e-01 -3.86481940e-01 2.93941175e-01 -2.70715759e+02] [ 4.14691642e-01 9.09171569e-01 -3.79196474e-02 8.71552612e+00] [-2.52587701e-01 1.55044405e-01 9.55071037e-01 1.48487291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46907232899997 meters Centerline goodness : 0.756562 Centerline is valid? [False, False] Translation: X:-270.76, Y:8.73, Z:148.50 [[ 8.73787340e-01 -3.88173337e-01 2.92945635e-01 -2.70757186e+02] [ 4.15584986e-01 9.08870048e-01 -3.52754192e-02 8.72768368e+00] [-2.52556536e-01 1.52567022e-01 9.55478153e-01 1.48502898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49907232899994 meters Centerline goodness : 0.755823 Centerline is valid? [False, False] Translation: X:-270.80, Y:8.74, Z:148.52 [[ 8.74009620e-01 -3.88703858e-01 2.91575881e-01 -2.70797720e+02] [ 4.15044474e-01 9.09238437e-01 -3.19929552e-02 8.74012918e+00] [-2.52676213e-01 1.48979109e-01 9.56012529e-01 1.48518188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.529072329 meters Centerline goodness : 0.754888 Centerline is valid? [False, False] Translation: X:-270.85, Y:8.76, Z:148.54 [[ 8.76305859e-01 -3.84050854e-01 2.90848728e-01 -2.70853788e+02] [ 4.11470130e-01 9.10661846e-01 -3.72469430e-02 8.75948973e+00] [-2.50560119e-01 1.52315278e-01 9.56043766e-01 1.48536636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55907232899995 meters Centerline goodness : 0.756822 Centerline is valid? [False, False] Translation: X:-270.90, Y:8.77, Z:148.55 [[ 8.75474599e-01 -3.86164740e-01 2.90552956e-01 -2.70895259e+02] [ 4.13307742e-01 9.09877037e-01 -3.60622733e-02 8.77225939e+00] [-2.50441484e-01 1.51659391e-01 9.56179111e-01 1.48551832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.589072329 meters Centerline goodness : 0.755487 Centerline is valid? [False, False] Translation: X:-270.93, Y:8.78, Z:148.57 [[ 8.75618822e-01 -3.86474357e-01 2.89705455e-01 -2.70934425e+02] [ 4.12987004e-01 9.10096863e-01 -3.41384473e-02 8.78362985e+00] [-2.50466391e-01 1.49536855e-01 9.56506830e-01 1.48566439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61907232899995 meters Centerline goodness : 0.757266 Centerline is valid? [False, False] Translation: X:-270.98, Y:8.80, Z:148.58 [[ 8.72990052e-01 -3.90591891e-01 2.92106734e-01 -2.70981517e+02] [ 4.17579391e-01 9.08010565e-01 -3.38269884e-02 8.79713680e+00] [-2.52023453e-01 1.51508377e-01 9.55787315e-01 1.48584073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.649072329 meters Centerline goodness : 0.757823 Centerline is valid? [False, False] Translation: X:-271.04, Y:8.81, Z:148.60 [[ 8.74023452e-01 -3.88159617e-01 2.92258647e-01 -2.71036445e+02] [ 4.16759868e-01 9.08125556e-01 -4.02391184e-02 8.81324009e+00] [-2.49788346e-01 1.56971608e-01 9.55492384e-01 1.48601344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67907232899995 meters Centerline goodness : 0.759059 Centerline is valid? [False, False] Translation: X:-271.08, Y:8.82, Z:148.62 [[ 8.73251528e-01 -3.90336700e-01 2.91665957e-01 -2.71077241e+02] [ 4.18460078e-01 9.07419914e-01 -3.84741761e-02 8.82434419e+00] [-2.49645614e-01 1.55648192e-01 9.55746152e-01 1.48616205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.709072329 meters Centerline goodness : 0.756181 Centerline is valid? [False, False] Translation: X:-271.12, Y:8.84, Z:148.63 [[ 8.71852351e-01 -3.94112042e-01 2.90773411e-01 -2.71119778e+02] [ 4.21412677e-01 9.06180533e-01 -3.53298218e-02 8.83530275e+00] [-2.49569297e-01 1.53337990e-01 9.56139439e-01 1.48629562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.73907232899995 meters Centerline goodness : 0.754582 Centerline is valid? [False, False] Translation: X:-271.16, Y:8.85, Z:148.64 [[ 8.71169869e-01 -3.96071647e-01 2.90155665e-01 -2.71159815e+02] [ 4.22974462e-01 9.05507179e-01 -3.39021021e-02 8.84553510e+00] [-2.49310377e-01 1.52262926e-01 9.56378763e-01 1.48644271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.769072329 meters Centerline goodness : 0.757639 Centerline is valid? [False, False] Translation: X:-271.21, Y:8.86, Z:148.66 [[ 8.69325425e-01 -3.98744227e-01 2.92021140e-01 -2.71209077e+02] [ 4.25543460e-01 9.04374832e-01 -3.19206530e-02 8.86025016e+00] [-2.51368393e-01 1.52017121e-01 9.55879033e-01 1.48663973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.79907232899996 meters Centerline goodness : 0.758168 Centerline is valid? [False, False] Translation: X:-271.25, Y:8.87, Z:148.68 [[ 8.68954916e-01 -3.99537314e-01 2.92039875e-01 -2.71252847e+02] [ 4.25601182e-01 9.04446135e-01 -2.89969323e-02 8.87403599e+00] [-2.52548980e-01 1.49489543e-01 9.55966469e-01 1.48680514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.829072329 meters Centerline goodness : 0.758301 Centerline is valid? [False, False] Translation: X:-271.31, Y:8.89, Z:148.70 [[ 8.70013737e-01 -3.96874616e-01 2.92517756e-01 -2.71311555e+02] [ 4.24647518e-01 9.04658637e-01 -3.55982657e-02 8.89295119e+00] [-2.50500666e-01 1.55187919e-01 9.55597261e-01 1.48698921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.85907232899996 meters Centerline goodness : 0.756106 Centerline is valid? [False, False] Translation: X:-271.37, Y:8.91, Z:148.72 [[ 8.71360051e-01 -3.94129234e-01 2.92222190e-01 -2.71369110e+02] [ 4.23079401e-01 9.05177425e-01 -4.07142380e-02 8.91107281e+00] [-2.48466258e-01 1.59109950e-01 9.55483408e-01 1.48716807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.889072329 meters Centerline goodness : 0.754283 Centerline is valid? [False, False] Translation: X:-271.41, Y:8.92, Z:148.73 [[ 8.71369188e-01 -3.95173729e-01 2.90780780e-01 -2.71409139e+02] [ 4.23179723e-01 9.05253789e-01 -3.78747750e-02 8.92213039e+00] [-2.48263287e-01 1.56055442e-01 9.56039769e-01 1.48731418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.91907232899996 meters Centerline goodness : 0.750779 Centerline is valid? [False, False] Translation: X:-271.47, Y:8.94, Z:148.75 [[ 8.73338273e-01 -3.91367674e-01 2.90020008e-01 -2.71466322e+02] [ 4.20328718e-01 9.06369635e-01 -4.26363014e-02 8.94087833e+00] [-2.46178859e-01 1.59139652e-01 9.56070364e-01 1.48749904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.949072329 meters Centerline goodness : 0.751045 Centerline is valid? [False, False] Translation: X:-271.51, Y:8.95, Z:148.77 [[ 8.72504827e-01 -3.93265859e-01 2.89960843e-01 -2.71509184e+02] [ 4.21909426e-01 9.05703023e-01 -4.11639521e-02 8.95386691e+00] [-2.46430035e-01 1.58252960e-01 9.56152832e-01 1.48766423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.97907232899996 meters Centerline goodness : 0.751139 Centerline is valid? [False, False] Translation: X:-271.55, Y:8.97, Z:148.78 [[ 8.72209653e-01 -3.94044764e-01 2.89791382e-01 -2.71552893e+02] [ 4.21780705e-01 9.05915970e-01 -3.76469386e-02 8.96667224e+00] [-2.47692062e-01 1.55064437e-01 9.56349132e-01 1.48782334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.009072329 meters Centerline goodness : 0.751887 Centerline is valid? [False, False] Translation: X:-271.60, Y:8.98, Z:148.80 [[ 8.72203567e-01 -3.93899570e-01 2.90007012e-01 -2.71597093e+02] [ 4.20915255e-01 9.06433820e-01 -3.47574163e-02 8.98047341e+00] [-2.49181233e-01 1.52383918e-01 9.56393149e-01 1.48798972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03907232899996 meters Centerline goodness : 0.752505 Centerline is valid? [False, False] Translation: X:-271.65, Y:9.00, Z:148.82 [[ 8.74078187e-01 -3.89439345e-01 2.90386501e-01 -2.71653943e+02] [ 4.17562729e-01 9.07791776e-01 -3.94392951e-02 9.00142517e+00] [-2.48251264e-01 1.55727608e-01 9.56096346e-01 1.48817111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.069072329 meters Centerline goodness : 0.754916 Centerline is valid? [False, False] Translation: X:-271.70, Y:9.02, Z:148.83 [[ 8.74201337e-01 -3.88772038e-01 2.90909480e-01 -2.71698650e+02] [ 4.15975654e-01 9.08675631e-01 -3.56770610e-02 9.01555990e+00] [-2.50472111e-01 1.52200195e-01 9.56085154e-01 1.48834272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09907232899997 meters Centerline goodness : 0.763561 Centerline is valid? [False, False] Translation: X:-271.75, Y:9.03, Z:148.85 [[ 8.74877137e-01 -3.84688794e-01 2.94286471e-01 -2.71753561e+02] [ 4.13272984e-01 9.09755051e-01 -3.93851311e-02 9.03156470e+00] [-2.52577585e-01 1.56077799e-01 9.54905380e-01 1.48850142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.129072329 meters Centerline goodness : 0.755473 Centerline is valid? [False, False] Translation: X:-271.80, Y:9.04, Z:148.87 [[ 8.74701083e-01 -3.85590637e-01 2.93628807e-01 -2.71795259e+02] [ 4.13459563e-01 9.09771822e-01 -3.69651437e-02 9.04393437e+00] [-2.52881802e-01 1.53737089e-01 9.55204534e-01 1.48866558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15907232899997 meters Centerline goodness : 0.754063 Centerline is valid? [False, False] Translation: X:-271.85, Y:9.06, Z:148.88 [[ 8.77765692e-01 -3.80307885e-01 2.91364553e-01 -2.71848877e+02] [ 4.08932165e-01 9.11594145e-01 -4.20785014e-02 9.06209555e+00] [-2.49603435e-01 1.56083402e-01 9.55686192e-01 1.48884736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.189072329 meters Centerline goodness : 0.754568 Centerline is valid? [False, False] Translation: X:-271.89, Y:9.07, Z:148.90 [[ 8.78233102e-01 -3.79684347e-01 2.90768662e-01 -2.71889103e+02] [ 4.07561168e-01 9.12314746e-01 -3.96950650e-02 9.07297507e+00] [-2.50200943e-01 1.53367536e-01 9.55969606e-01 1.48899661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21907232899997 meters Centerline goodness : 0.756603 Centerline is valid? [False, False] Translation: X:-271.93, Y:9.09, Z:148.92 [[ 8.78432882e-01 -3.79480016e-01 2.90431730e-01 -2.71929613e+02] [ 4.06897330e-01 9.12675481e-01 -3.81841493e-02 9.08648333e+00] [-2.50579798e-01 1.51718108e-01 9.56133558e-01 1.48915857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24907232899994 meters Centerline goodness : 0.760070 Centerline is valid? [False, False] Translation: X:-271.97, Y:9.10, Z:148.93 [[ 8.80219735e-01 -3.72437177e-01 2.94115228e-01 -2.71968716e+02] [ 4.00898363e-01 9.15210475e-01 -4.08691690e-02 9.09996189e+00] [-2.53956140e-01 1.53884163e-01 9.54895776e-01 1.48928934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.279072329 meters Centerline goodness : 0.759881 Centerline is valid? [False, False] Translation: X:-272.01, Y:9.12, Z:148.95 [[ 8.80529430e-01 -3.72679223e-01 2.92879019e-01 -2.72011460e+02] [ 3.99871069e-01 9.15831102e-01 -3.68309793e-02 9.11517657e+00] [-2.54501574e-01 1.49544608e-01 9.55439877e-01 1.48945666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.30907232899995 meters Centerline goodness : 0.759217 Centerline is valid? [False, False] Translation: X:-272.06, Y:9.14, Z:148.96 [[ 8.84730506e-01 -3.65066435e-01 2.89790320e-01 -2.72063204e+02] [ 3.92325439e-01 9.18951474e-01 -4.01115733e-02 9.13607545e+00] [-2.51659852e-01 1.49180047e-01 9.56249252e-01 1.48962527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.339072329 meters Centerline goodness : 0.758560 Centerline is valid? [False, False] Translation: X:-272.10, Y:9.15, Z:148.98 [[ 8.85512524e-01 -3.64916328e-01 2.87582411e-01 -2.72101175e+02] [ 3.91016902e-01 9.19636777e-01 -3.70672485e-02 9.14941934e+00] [-2.50944917e-01 1.45273096e-01 9.57038336e-01 1.48976994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.36907232899995 meters Centerline goodness : 0.755690 Centerline is valid? [False, False] Translation: X:-272.15, Y:9.17, Z:148.99 [[ 8.87394583e-01 -3.59833765e-01 2.88184864e-01 -2.72151839e+02] [ 3.86821550e-01 9.21250267e-01 -4.08293346e-02 9.16562785e+00] [-2.50798609e-01 1.47707846e-01 9.56703951e-01 1.48991579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.399072329 meters Centerline goodness : 0.758265 Centerline is valid? [False, False] Translation: X:-272.19, Y:9.18, Z:149.01 [[ 8.87891157e-01 -3.55419617e-01 2.92106470e-01 -2.72191582e+02] [ 3.83611949e-01 9.22463246e-01 -4.36283508e-02 9.17768085e+00] [-2.53951111e-01 1.50792759e-01 9.55390170e-01 1.49005465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.42907232899995 meters Centerline goodness : 0.758525 Centerline is valid? [False, False] Translation: X:-272.23, Y:9.19, Z:149.02 [[ 8.87517172e-01 -3.55722682e-01 2.92873083e-01 -2.72233199e+02] [ 3.83739909e-01 9.22464740e-01 -4.24556858e-02 9.19047535e+00] [-2.55062642e-01 1.50067240e-01 9.55208287e-01 1.49021344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.459072329 meters Centerline goodness : 0.760795 Centerline is valid? [False, False] Translation: X:-272.28, Y:9.21, Z:149.03 [[ 8.89144389e-01 -3.50742351e-01 2.93942272e-01 -2.72282920e+02] [ 3.79532167e-01 9.24062958e-01 -4.54200822e-02 9.20653524e+00] [-2.55690418e-01 1.51945559e-01 9.54743399e-01 1.49034918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.48907232899995 meters Centerline goodness : 0.760580 Centerline is valid? [False, False] Translation: X:-272.32, Y:9.22, Z:149.05 [[ 8.89460125e-01 -3.50938647e-01 2.92750323e-01 -2.72322802e+02] [ 3.78605954e-01 9.24607819e-01 -4.19274766e-02 9.21933752e+00] [-2.55965266e-01 1.48129834e-01 9.55269247e-01 1.49049608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.519072329 meters Centerline goodness : 0.762245 Centerline is valid? [False, False] Translation: X:-272.36, Y:9.23, Z:149.07 [[ 8.90533861e-01 -3.47397148e-01 2.93708466e-01 -2.72362132e+02] [ 3.74635904e-01 9.26296237e-01 -4.02892265e-02 9.23338954e+00] [-2.58064685e-01 1.45912657e-01 9.55045609e-01 1.49065161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.54907232899996 meters Centerline goodness : 0.762774 Centerline is valid? [False, False] Translation: X:-272.40, Y:9.25, Z:149.08 [[ 8.90210275e-01 -3.47354839e-01 2.94737649e-01 -2.72404816e+02] [ 3.74109452e-01 9.26609337e-01 -3.79111423e-02 9.24644980e+00] [-2.59938039e-01 1.44013029e-01 9.54825881e-01 1.49081717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.579072329 meters Centerline goodness : 0.766555 Centerline is valid? [False, False] Translation: X:-272.45, Y:9.26, Z:149.10 [[ 8.89921208e-01 -3.47811362e-01 2.95072025e-01 -2.72446114e+02] [ 3.74149049e-01 9.26664817e-01 -3.61221011e-02 9.26049998e+00] [-2.60869187e-01 1.42546741e-01 9.54791964e-01 1.49097482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.60907232899996 meters Centerline goodness : 0.765820 Centerline is valid? [False, False] Translation: X:-272.49, Y:9.28, Z:149.11 [[ 8.91363585e-01 -3.42270783e-01 2.97189619e-01 -2.72488388e+02] [ 3.68368615e-01 9.29024451e-01 -3.49017698e-02 9.27500745e+00] [-2.64150566e-01 1.40585495e-01 9.54180380e-01 1.49110785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.639072329 meters Centerline goodness : 0.766424 Centerline is valid? [False, False] Translation: X:-272.54, Y:9.29, Z:149.13 [[ 8.93773504e-01 -3.37853492e-01 2.94998207e-01 -2.72536957e+02] [ 3.65067221e-01 9.30083818e-01 -4.08658193e-02 9.29260608e+00] [-2.60566399e-01 1.44218962e-01 9.54623508e-01 1.49126383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.66907232899996 meters Centerline goodness : 0.765199 Centerline is valid? [False, False] Translation: X:-272.59, Y:9.31, Z:149.14 [[ 8.96952497e-01 -3.31611911e-01 2.92420518e-01 -2.72586999e+02] [ 3.59535667e-01 9.32001513e-01 -4.59051627e-02 9.31171214e+00] [-2.57313667e-01 1.46310356e-01 9.55187393e-01 1.49144460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.699072329 meters Centerline goodness : 0.767796 Centerline is valid? [False, False] Translation: X:-272.63, Y:9.32, Z:149.16 [[ 8.96591559e-01 -3.32165467e-01 2.92898751e-01 -2.72629204e+02] [ 3.59460524e-01 9.32159006e-01 -4.32171157e-02 9.32438662e+00] [-2.58672975e-01 1.44033640e-01 9.55166270e-01 1.49159900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.72907232899996 meters Centerline goodness : 0.769985 Centerline is valid? [False, False] Translation: X:-272.67, Y:9.34, Z:149.18 [[ 8.95204880e-01 -3.34530893e-01 2.94444060e-01 -2.72674060e+02] [ 3.61657314e-01 9.31393323e-01 -4.13577778e-02 9.33749738e+00] [-2.60407777e-01 1.43511532e-01 9.54773392e-01 1.49176579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.759072329 meters Centerline goodness : 0.771213 Centerline is valid? [False, False] Translation: X:-272.72, Y:9.35, Z:149.19 [[ 8.93755436e-01 -3.36913692e-01 2.96125622e-01 -2.72718154e+02] [ 3.63795857e-01 9.30655515e-01 -3.91520982e-02 9.34990992e+00] [-2.62400065e-01 1.42721675e-01 9.54346231e-01 1.49193075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78907232899996 meters Centerline goodness : 0.770466 Centerline is valid? [False, False] Translation: X:-272.77, Y:9.37, Z:149.21 [[ 8.94257140e-01 -3.35652773e-01 2.96042875e-01 -2.72773164e+02] [ 3.64194273e-01 9.30213412e-01 -4.54482062e-02 9.36685102e+00] [-2.60128237e-01 1.48459503e-01 9.54092803e-01 1.49210929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.819072329 meters Centerline goodness : 0.771680 Centerline is valid? [False, False] Translation: X:-272.82, Y:9.38, Z:149.23 [[ 8.92316392e-01 -3.41859152e-01 2.94794466e-01 -2.72818154e+02] [ 3.69356219e-01 9.28363972e-01 -4.14284870e-02 9.37558389e+00] [-2.59513853e-01 1.45851487e-01 9.54662193e-01 1.49225727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84907232899997 meters Centerline goodness : 0.769068 Centerline is valid? [False, False] Translation: X:-272.87, Y:9.39, Z:149.24 [[ 8.93081106e-01 -3.40902698e-01 2.93583871e-01 -2.72872094e+02] [ 3.69745866e-01 9.27929413e-01 -4.72757813e-02 9.39070625e+00] [-2.56308668e-01 1.50772530e-01 9.54763589e-01 1.49241541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.879072329 meters Centerline goodness : 0.767900 Centerline is valid? [False, False] Translation: X:-272.93, Y:9.40, Z:149.26 [[ 8.93130950e-01 -3.41826096e-01 2.92355993e-01 -2.72927011e+02] [ 3.72259719e-01 9.26563139e-01 -5.38836766e-02 9.40487002e+00] [-2.52467440e-01 1.56957539e-01 9.54790303e-01 1.49256978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90907232899997 meters Centerline goodness : 0.769731 Centerline is valid? [False, False] Translation: X:-272.97, Y:9.42, Z:149.27 [[ 8.91364449e-01 -3.46097576e-01 2.92721518e-01 -2.72972073e+02] [ 3.75665389e-01 9.25417778e-01 -4.97740063e-02 9.41589863e+00] [-2.53663034e-01 1.54332123e-01 9.54901388e-01 1.49272078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.939072329 meters Centerline goodness : 0.770121 Centerline is valid? [False, False] Translation: X:-273.02, Y:9.43, Z:149.29 [[ 8.89902423e-01 -3.49033185e-01 2.93682674e-01 -2.73015830e+02] [ 3.78049922e-01 9.24607667e-01 -4.66788941e-02 9.42670239e+00] [-2.55248768e-01 1.52566373e-01 9.54762572e-01 1.49286779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96907232899997 meters Centerline goodness : 0.771895 Centerline is valid? [False, False] Translation: X:-273.06, Y:9.44, Z:149.30 [[ 8.87923301e-01 -3.52916384e-01 2.95029215e-01 -2.73061090e+02] [ 3.81588876e-01 9.23284624e-01 -4.39935531e-02 9.43896606e+00] [-2.56869892e-01 1.51642767e-01 9.54474897e-01 1.49302695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99907232899994 meters Centerline goodness : 0.772320 Centerline is valid? [False, False] Translation: X:-273.10, Y:9.45, Z:149.32 [[ 8.87104929e-01 -3.55106384e-01 2.94863190e-01 -2.73103882e+02] [ 3.82898976e-01 9.22901822e-01 -4.05043462e-02 9.45141728e+00] [-2.57746423e-01 1.48834419e-01 9.54680626e-01 1.49317913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.029072329 meters Centerline goodness : 0.772640 Centerline is valid? [False, False] Translation: X:-273.16, Y:9.47, Z:149.34 [[ 8.87334961e-01 -3.54218129e-01 2.95239199e-01 -2.73160818e+02] [ 3.83942489e-01 9.22129781e-01 -4.75902520e-02 9.46865063e+00] [-2.55391528e-01 1.55583367e-01 9.54237383e-01 1.49336592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05907232899995 meters Centerline goodness : 0.773755 Centerline is valid? [False, False] Translation: X:-273.20, Y:9.48, Z:149.35 [[ 8.86359309e-01 -3.56633410e-01 2.95262234e-01 -2.73202969e+02] [ 3.85851152e-01 9.21446761e-01 -4.53294018e-02 9.48123525e+00] [-2.55902450e-01 1.54105411e-01 9.54340326e-01 1.49351825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.089072329 meters Centerline goodness : 0.774332 Centerline is valid? [False, False] Translation: X:-273.25, Y:9.49, Z:149.37 [[ 8.85209408e-01 -3.58477018e-01 2.96476865e-01 -2.73246745e+02] [ 3.87380393e-01 9.20910470e-01 -4.31316247e-02 9.49270020e+00] [-2.57566953e-01 1.53029844e-01 9.54065580e-01 1.49367978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11907232899995 meters Centerline goodness : 0.776415 Centerline is valid? [False, False] Translation: X:-273.29, Y:9.51, Z:149.38 [[ 8.85864634e-01 -3.52966254e-01 3.01095789e-01 -2.73290573e+02] [ 3.82626053e-01 9.22859998e-01 -4.38945085e-02 9.50718969e+00] [-2.62375979e-01 1.54091686e-01 9.52583119e-01 1.49382804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.149072329 meters Centerline goodness : 0.775666 Centerline is valid? [False, False] Translation: X:-273.35, Y:9.53, Z:149.40 [[ 8.86966566e-01 -3.50416295e-01 3.00830070e-01 -2.73348068e+02] [ 3.81322138e-01 9.23143617e-01 -4.89825414e-02 9.52719260e+00] [-2.60545078e-01 1.58159042e-01 9.52419015e-01 1.49402148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17907232899995 meters Centerline goodness : 0.774375 Centerline is valid? [False, False] Translation: X:-273.39, Y:9.54, Z:149.42 [[ 8.86820632e-01 -3.51154144e-01 3.00399623e-01 -2.73388710e+02] [ 3.80962873e-01 9.23487923e-01 -4.51369569e-02 9.53988548e+00] [-2.61565395e-01 1.54469488e-01 9.52744835e-01 1.49415834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.209072329 meters Centerline goodness : 0.774524 Centerline is valid? [False, False] Translation: X:-273.45, Y:9.56, Z:149.43 [[ 8.87774614e-01 -3.49464070e-01 2.99551497e-01 -2.73445921e+02] [ 3.80243374e-01 9.23562561e-01 -4.94689006e-02 9.55824496e+00] [-2.59366944e-01 1.57819706e-01 9.52796793e-01 1.49433640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.23907232899995 meters Centerline goodness : 0.772010 Centerline is valid? [False, False] Translation: X:-273.49, Y:9.57, Z:149.45 [[ 8.86875563e-01 -3.52001723e-01 2.99243250e-01 -2.73487841e+02] [ 3.82025968e-01 9.22980314e-01 -4.65134459e-02 9.56972687e+00] [-2.59822816e-01 1.55570331e-01 9.53042484e-01 1.49448778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.269072329 meters Centerline goodness : 0.770250 Centerline is valid? [False, False] Translation: X:-273.53, Y:9.58, Z:149.46 [[ 8.85711448e-01 -3.55040952e-01 2.99100573e-01 -2.73529408e+02] [ 3.84585115e-01 9.22021774e-01 -4.43862425e-02 9.57934164e+00] [-2.60018307e-01 1.54343031e-01 9.53188706e-01 1.49462902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.29907232899996 meters Centerline goodness : 0.769804 Centerline is valid? [False, False] Translation: X:-273.58, Y:9.60, Z:149.48 [[ 8.85743813e-01 -3.52586559e-01 3.01895043e-01 -2.73583328e+02] [ 3.83481349e-01 9.22303250e-01 -4.79454826e-02 9.59546625e+00] [-2.61533847e-01 1.58238533e-01 9.52134767e-01 1.49477497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.329072329 meters Centerline goodness : 0.768578 Centerline is valid? [False, False] Translation: X:-273.63, Y:9.61, Z:149.49 [[ 8.84662941e-01 -3.54561653e-01 3.02749920e-01 -2.73625797e+02] [ 3.85289895e-01 9.21622992e-01 -4.65054475e-02 9.60574327e+00] [-2.62532239e-01 1.57788131e-01 9.51934729e-01 1.49492820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.35907232899996 meters Centerline goodness : 0.768578 Centerline is valid? [False, False] Translation: X:-273.67, Y:9.62, Z:149.51 [[ 8.84362643e-01 -3.55856115e-01 3.02107829e-01 -2.73666043e+02] [ 3.85846139e-01 9.21511785e-01 -4.40316531e-02 9.61803738e+00] [-2.62726992e-01 1.55507088e-01 9.52256307e-01 1.49508202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.389072329 meters Centerline goodness : 0.768578 Centerline is valid? [False, False] Translation: X:-273.71, Y:9.63, Z:149.52 [[ 8.84089801e-01 -3.57050781e-01 3.01496209e-01 -2.73706141e+02] [ 3.86368306e-01 9.21397521e-01 -4.17868403e-02 9.63033092e+00] [-2.62877835e-01 1.53431899e-01 9.52551256e-01 1.49523507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.41907232899996 meters Centerline goodness : 0.768866 Centerline is valid? [False, False] Translation: X:-273.76, Y:9.65, Z:149.54 [[ 8.84285850e-01 -3.56759265e-01 3.01266265e-01 -2.73760859e+02] [ 3.88114396e-01 9.20286128e-01 -4.94030286e-02 9.64745496e+00] [-2.59626177e-01 1.60612174e-01 9.52259407e-01 1.49540177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.449072329 meters Centerline goodness : 0.768385 Centerline is valid? [False, False] Translation: X:-273.80, Y:9.66, Z:149.56 [[ 8.83519240e-01 -3.58893174e-01 3.00980802e-01 -2.73804445e+02] [ 3.89356586e-01 9.19937823e-01 -4.59983816e-02 9.66082122e+00] [-2.60375118e-01 1.57829313e-01 9.52520187e-01 1.49556479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.47907232899996 meters Centerline goodness : 0.769118 Centerline is valid? [False, False] Translation: X:-273.85, Y:9.67, Z:149.57 [[ 8.83600952e-01 -3.58090554e-01 3.01696060e-01 -2.73845497e+02] [ 3.87907170e-01 9.20680040e-01 -4.33161769e-02 9.67288813e+00] [-2.62254427e-01 1.55304280e-01 9.52419653e-01 1.49572054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.509072329 meters Centerline goodness : 0.768299 Centerline is valid? [False, False] Translation: X:-273.89, Y:9.69, Z:149.59 [[ 8.83056500e-01 -3.59038606e-01 3.02163031e-01 -2.73886448e+02] [ 3.88672166e-01 9.20408281e-01 -4.22201744e-02 9.68595444e+00] [-2.62954684e-01 1.54725159e-01 9.52320828e-01 1.49588402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53907232899996 meters Centerline goodness : 0.768573 Centerline is valid? [False, False] Translation: X:-273.93, Y:9.70, Z:149.60 [[ 8.82069223e-01 -3.61780093e-01 3.01776489e-01 -2.73928688e+02] [ 3.90734463e-01 9.19652304e-01 -3.95754763e-02 9.70029684e+00] [-2.63211824e-01 1.52822784e-01 9.52556945e-01 1.49603092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.569072329 meters Centerline goodness : 0.767916 Centerline is valid? [False, False] Translation: X:-273.98, Y:9.72, Z:149.62 [[ 8.84197677e-01 -3.57880061e-01 3.00193821e-01 -2.73979963e+02] [ 3.87960173e-01 9.20565040e-01 -4.52428066e-02 9.71911890e+00] [-2.60156438e-01 1.56466831e-01 9.52804680e-01 1.49619322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59907232899997 meters Centerline goodness : 0.769134 Centerline is valid? [False, False] Translation: X:-274.02, Y:9.73, Z:149.63 [[ 8.83530406e-01 -3.59908831e-01 2.99732638e-01 -2.74021810e+02] [ 3.89277978e-01 9.20133782e-01 -4.26201708e-02 9.73239821e+00] [-2.60454750e-01 1.54335532e-01 9.53070756e-01 1.49634828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.629072329 meters Centerline goodness : 0.768999 Centerline is valid? [False, False] Translation: X:-274.07, Y:9.75, Z:149.65 [[ 8.83368295e-01 -3.60809654e-01 2.99126810e-01 -2.74065152e+02] [ 3.88892164e-01 9.20492975e-01 -3.81519013e-02 9.74753919e+00] [-2.61578553e-01 1.50030253e-01 9.53450357e-01 1.49650221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65907232899997 meters Centerline goodness : 0.771395 Centerline is valid? [False, False] Translation: X:-274.10, Y:9.76, Z:149.66 [[ 8.84348905e-01 -3.57843246e-01 2.99791971e-01 -2.74102260e+02] [ 3.85679801e-01 9.21877657e-01 -3.73185986e-02 9.75985219e+00] [-2.63017311e-01 1.48626369e-01 9.53274408e-01 1.49663700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.689072329 meters Centerline goodness : 0.772097 Centerline is valid? [False, False] Translation: X:-274.15, Y:9.77, Z:149.68 [[ 8.85329795e-01 -3.52162230e-01 3.03599930e-01 -2.74145506e+02] [ 3.80498851e-01 9.24009957e-01 -3.77653680e-02 9.77397418e+00] [-2.67229822e-01 1.48954230e-01 9.52050870e-01 1.49678534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71907232899997 meters Centerline goodness : 0.772974 Centerline is valid? [False, False] Translation: X:-274.18, Y:9.79, Z:149.69 [[ 8.86071018e-01 -3.47166004e-01 3.07170826e-01 -2.74184425e+02] [ 3.76525764e-01 9.25538497e-01 -4.00853969e-02 9.78719657e+00] [-2.70382138e-01 1.51176238e-01 9.50809784e-01 1.49690980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74907232899994 meters Centerline goodness : 0.772021 Centerline is valid? [False, False] Translation: X:-274.24, Y:9.81, Z:149.71 [[ 8.88123719e-01 -3.43000921e-01 3.05919317e-01 -2.74238105e+02] [ 3.73590932e-01 9.26461074e-01 -4.58224287e-02 9.80796809e+00] [-2.67705204e-01 1.54984669e-01 9.50954087e-01 1.49710520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.779072329 meters Centerline goodness : 0.771193 Centerline is valid? [False, False] Translation: X:-274.28, Y:9.82, Z:149.72 [[ 8.88901893e-01 -3.39596815e-01 3.07453130e-01 -2.74275834e+02] [ 3.70303655e-01 9.27779155e-01 -4.58371440e-02 9.81976589e+00] [-2.69682457e-01 1.54595742e-01 9.50458589e-01 1.49724197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.80907232899995 meters Centerline goodness : 0.771221 Centerline is valid? [False, False] Translation: X:-274.31, Y:9.83, Z:149.74 [[ 8.89122487e-01 -3.37833656e-01 3.08754958e-01 -2.74314478e+02] [ 3.68967271e-01 9.28261872e-01 -4.68300025e-02 9.83288347e+00] [-2.70784704e-01 1.55558083e-01 9.49988067e-01 1.49739746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.839072329 meters Centerline goodness : 0.770412 Centerline is valid? [False, False] Translation: X:-274.36, Y:9.85, Z:149.76 [[ 8.88994849e-01 -3.38621676e-01 3.08258851e-01 -2.74355465e+02] [ 3.69132715e-01 9.28295322e-01 -4.48200117e-02 9.84728661e+00] [-2.70978222e-01 1.53633186e-01 9.50246098e-01 1.49756706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.86907232899995 meters Centerline goodness : 0.771371 Centerline is valid? [False, False] Translation: X:-274.41, Y:9.86, Z:149.77 [[ 8.90354857e-01 -3.36246504e-01 3.06930802e-01 -2.74408195e+02] [ 3.68353963e-01 9.28251309e-01 -5.16223276e-02 9.86467905e+00] [-2.67551092e-01 1.59021367e-01 9.50330794e-01 1.49774919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.899072329 meters Centerline goodness : 0.772215 Centerline is valid? [False, False] Translation: X:-274.45, Y:9.88, Z:149.79 [[ 8.89223989e-01 -3.39922548e-01 3.06159041e-01 -2.74451756e+02] [ 3.70939002e-01 9.27433298e-01 -4.76627085e-02 9.87727719e+00] [-2.67740460e-01 1.55949153e-01 9.50786468e-01 1.49790935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.92907232899995 meters Centerline goodness : 0.772413 Centerline is valid? [False, False] Translation: X:-274.49, Y:9.89, Z:149.81 [[ 8.88432289e-01 -3.42673166e-01 3.05390190e-01 -2.74492458e+02] [ 3.72958205e-01 9.26751039e-01 -4.51075345e-02 9.88969278e+00] [-2.67563534e-01 1.53972767e-01 9.51158316e-01 1.49805953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.959072329 meters Centerline goodness : 0.771099 Centerline is valid? [False, False] Translation: X:-274.53, Y:9.90, Z:149.82 [[ 8.88436740e-01 -3.44270260e-01 3.03575605e-01 -2.74532514e+02] [ 3.73125576e-01 9.26881134e-01 -4.08493348e-02 9.90278333e+00] [-2.67315290e-01 1.49563872e-01 9.51931292e-01 1.49819702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.98907232899995 meters Centerline goodness : 0.770845 Centerline is valid? [False, False] Translation: X:-274.59, Y:9.92, Z:149.84 [[ 8.88893785e-01 -3.42915771e-01 3.03770658e-01 -2.74589389e+02] [ 3.73342425e-01 9.26524764e-01 -4.65542234e-02 9.92186468e+00] [-2.65486859e-01 1.54792234e-01 9.51607110e-01 1.49837878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.019072329 meters Centerline goodness : 0.771633 Centerline is valid? [False, False] Translation: X:-274.63, Y:9.93, Z:149.85 [[ 8.88553217e-01 -3.43365096e-01 3.04259086e-01 -2.74630451e+02] [ 3.73478174e-01 9.26543509e-01 -4.50686015e-02 9.93464016e+00] [-2.66434297e-01 1.53679979e-01 9.51522585e-01 1.49854039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.04907232899996 meters Centerline goodness : 0.774403 Centerline is valid? [False, False] Translation: X:-274.67, Y:9.95, Z:149.87 [[ 8.86796009e-01 -3.46862772e-01 3.05416202e-01 -2.74673402e+02] [ 3.77196624e-01 9.25057589e-01 -4.46224536e-02 9.94868727e+00] [-2.67049707e-01 1.54772974e-01 9.51172845e-01 1.49870465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.079072329 meters Centerline goodness : 0.772527 Centerline is valid? [False, False] Translation: X:-274.73, Y:9.97, Z:149.89 [[ 8.88153179e-01 -3.44379200e-01 3.04280950e-01 -2.74726421e+02] [ 3.76232215e-01 9.25112736e-01 -5.11443597e-02 9.96608872e+00] [-2.63881129e-01 1.59904322e-01 9.51208367e-01 1.49888170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.10907232899996 meters Centerline goodness : 0.771435 Centerline is valid? [False, False] Translation: X:-274.77, Y:9.98, Z:149.90 [[ 8.88162396e-01 -3.45051518e-01 3.03491365e-01 -2.74767328e+02] [ 3.76079736e-01 9.25313731e-01 -4.85647127e-02 9.97893162e+00] [-2.64067399e-01 1.57270304e-01 9.51595744e-01 1.49904934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.139072329 meters Centerline goodness : 0.772678 Centerline is valid? [False, False] Translation: X:-274.81, Y:9.99, Z:149.92 [[ 8.87987581e-01 -3.46126646e-01 3.02777809e-01 -2.74808140e+02] [ 3.76133016e-01 9.25464480e-01 -4.51602774e-02 9.99200604e+00] [-2.64578932e-01 1.53986496e-01 9.51990624e-01 1.49920213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.16907232899996 meters Centerline goodness : 0.771859 Centerline is valid? [False, False] Translation: X:-274.86, Y:10.01, Z:149.94 [[ 8.89740913e-01 -3.42581117e-01 3.01660879e-01 -2.74861643e+02] [ 3.73762394e-01 9.26141611e-01 -5.06299196e-02 1.00117634e+01] [-2.62035838e-01 1.57797003e-01 9.52070021e-01 1.49938190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.199072329 meters Centerline goodness : 0.770759 Centerline is valid? [False, False] Translation: X:-274.90, Y:10.02, Z:149.95 [[ 8.88915301e-01 -3.44852260e-01 3.01507060e-01 -2.74902074e+02] [ 3.75646664e-01 9.25467629e-01 -4.89821497e-02 1.00237696e+01] [-2.62143419e-01 1.56801104e-01 9.52204937e-01 1.49953085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.22907232899996 meters Centerline goodness : 0.770857 Centerline is valid? [False, False] Translation: X:-274.94, Y:10.04, Z:149.97 [[ 8.87795152e-01 -3.47691886e-01 3.01546215e-01 -2.74943311e+02] [ 3.78261404e-01 9.24468229e-01 -4.77158656e-02 1.00366295e+01] [-2.62179476e-01 1.56425209e-01 9.52256833e-01 1.49968082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.259072329 meters Centerline goodness : 0.768927 Centerline is valid? [False, False] Translation: X:-274.99, Y:10.05, Z:149.98 [[ 8.85887775e-01 -3.51549647e-01 3.02680848e-01 -2.74987011e+02] [ 3.82267057e-01 9.22857613e-01 -4.69651256e-02 1.00485790e+01] [-2.62820752e-01 1.57310748e-01 9.51934126e-01 1.49983782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28907232899996 meters Centerline goodness : 0.769171 Centerline is valid? [False, False] Translation: X:-275.03, Y:10.06, Z:150.00 [[ 8.84177962e-01 -3.54857040e-01 3.03818716e-01 -2.75030854e+02] [ 3.85455166e-01 9.21612759e-01 -4.53236970e-02 1.00613911e+01] [-2.63919773e-01 1.57182708e-01 9.51651170e-01 1.49999524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.319072329 meters Centerline goodness : 0.769334 Centerline is valid? [False, False] Translation: X:-275.08, Y:10.08, Z:150.01 [[ 8.85963863e-01 -3.50116690e-01 3.04115665e-01 -2.75082429e+02] [ 3.81315599e-01 9.23196603e-01 -4.80254824e-02 1.00787346e+01] [-2.63944025e-01 1.58512889e-01 9.51423783e-01 1.50014517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34907232899997 meters Centerline goodness : 0.768982 Centerline is valid? [False, False] Translation: X:-275.12, Y:10.09, Z:150.03 [[ 8.85268768e-01 -3.51822027e-01 3.04171776e-01 -2.75123185e+02] [ 3.82674200e-01 9.22713302e-01 -4.64824634e-02 1.00929244e+01] [-2.64309790e-01 1.57548164e-01 9.51482481e-01 1.50030641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.379072329 meters Centerline goodness : 0.771785 Centerline is valid? [False, False] Translation: X:-275.17, Y:10.11, Z:150.05 [[ 8.84267262e-01 -3.53607422e-01 3.05013442e-01 -2.75168663e+02] [ 3.83516332e-01 9.22564377e-01 -4.23106803e-02 1.01077196e+01] [-2.66433166e-01 1.54391586e-01 9.51407697e-01 1.50047672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40907232899997 meters Centerline goodness : 0.771214 Centerline is valid? [False, False] Translation: X:-275.21, Y:10.12, Z:150.06 [[ 8.82429238e-01 -3.57172199e-01 3.06180762e-01 -2.75213422e+02] [ 3.87062715e-01 9.21142008e-01 -4.09860506e-02 1.01213241e+01] [-2.67396884e-01 1.54678447e-01 9.51090681e-01 1.50064650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.439072329 meters Centerline goodness : 0.771185 Centerline is valid? [False, False] Translation: X:-275.27, Y:10.14, Z:150.08 [[ 8.82414057e-01 -3.56548450e-01 3.06950541e-01 -2.75270103e+02] [ 3.88617384e-01 9.20128037e-01 -4.83830959e-02 1.01383706e+01] [-2.65182881e-01 1.61980240e-01 9.50494840e-01 1.50083651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46907232899997 meters Centerline goodness : 0.769971 Centerline is valid? [False, False] Translation: X:-275.31, Y:10.15, Z:150.10 [[ 8.82183342e-01 -3.58044837e-01 3.05869983e-01 -2.75310844e+02] [ 3.89158345e-01 9.20050936e-01 -4.54098893e-02 1.01500375e+01] [-2.65157188e-01 1.59091704e-01 9.50989745e-01 1.50098341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49907232899994 meters Centerline goodness : 0.768251 Centerline is valid? [False, False] Translation: X:-275.37, Y:10.17, Z:150.12 [[ 8.81804612e-01 -3.59127990e-01 3.05692187e-01 -2.75368650e+02] [ 3.92119557e-01 9.18435813e-01 -5.21335771e-02 1.01685830e+01] [-2.62036026e-01 1.65839514e-01 9.50702044e-01 1.50116288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.529072329 meters Centerline goodness : 0.771109 Centerline is valid? [False, False] Translation: X:-275.41, Y:10.18, Z:150.13 [[ 8.81069445e-01 -3.61205438e-01 3.05364150e-01 -2.75410868e+02] [ 3.93334471e-01 9.18093714e-01 -4.89073197e-02 1.01812648e+01] [-2.62687317e-01 1.63200991e-01 9.50978869e-01 1.50131943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55907232899995 meters Centerline goodness : 0.770420 Centerline is valid? [False, False] Translation: X:-275.46, Y:10.20, Z:150.15 [[ 8.79467868e-01 -3.64508926e-01 3.06054754e-01 -2.75456518e+02] [ 3.96357041e-01 9.16895632e-01 -4.69414032e-02 1.01950101e+01] [-2.63509707e-01 1.62590412e-01 9.50855926e-01 1.50150214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.589072329 meters Centerline goodness : 0.768001 Centerline is valid? [False, False] Translation: X:-275.51, Y:10.21, Z:150.17 [[ 8.78836296e-01 -3.65227732e-01 3.07010533e-01 -2.75512640e+02] [ 3.99844643e-01 9.14855695e-01 -5.62433941e-02 1.02105263e+01] [-2.60328688e-01 1.72185253e-01 9.50042743e-01 1.50169068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61907232899995 meters Centerline goodness : 0.767682 Centerline is valid? [False, False] Translation: X:-275.56, Y:10.22, Z:150.19 [[ 8.78820240e-01 -3.65753129e-01 3.06430473e-01 -2.75556209e+02] [ 3.98948444e-01 9.15532642e-01 -5.13820928e-02 1.02231978e+01] [-2.61753939e-01 1.67405584e-01 9.50505258e-01 1.50185422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.649072329 meters Centerline goodness : 0.767492 Centerline is valid? [False, False] Translation: X:-275.60, Y:10.24, Z:150.20 [[ 8.77667016e-01 -3.68423332e-01 3.06536878e-01 -2.75599205e+02] [ 4.01216196e-01 9.14647909e-01 -4.94445929e-02 1.02353904e+01] [-2.62156772e-01 1.66383448e-01 9.50573708e-01 1.50201859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67907232899995 meters Centerline goodness : 0.766386 Centerline is valid? [False, False] Translation: X:-275.66, Y:10.25, Z:150.22 [[ 8.76742014e-01 -3.70105304e-01 3.07157133e-01 -2.75660732e+02] [ 4.04866239e-01 9.12663291e-01 -5.59378736e-02 1.02524863e+01] [-2.59628136e-01 1.73400637e-01 9.50013395e-01 1.50221598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.709072329 meters Centerline goodness : 0.764690 Centerline is valid? [False, False] Translation: X:-275.71, Y:10.26, Z:150.24 [[ 8.74862762e-01 -3.73727614e-01 3.08127925e-01 -2.75705724e+02] [ 4.08193813e-01 9.11317856e-01 -5.36430437e-02 1.02638458e+01] [-2.60754593e-01 1.72706214e-01 9.49831357e-01 1.50237803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.73907232899995 meters Centerline goodness : 0.763242 Centerline is valid? [False, False] Translation: X:-275.75, Y:10.27, Z:150.25 [[ 8.72502186e-01 -3.78736684e-01 3.08704486e-01 -2.75751276e+02] [ 4.12930325e-01 9.09305980e-01 -5.14896267e-02 1.02740384e+01] [-2.61205825e-01 1.72398256e-01 9.49763317e-01 1.50254344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.769072329 meters Centerline goodness : 0.762982 Centerline is valid? [False, False] Translation: X:-275.80, Y:10.29, Z:150.27 [[ 8.70869477e-01 -3.82198505e-01 3.09047984e-01 -2.75796445e+02] [ 4.15880941e-01 9.08105329e-01 -4.88646419e-02 1.02873951e+01] [-2.61972128e-01 1.71081892e-01 9.49790288e-01 1.50271740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.79907232899996 meters Centerline goodness : 0.763672 Centerline is valid? [False, False] Translation: X:-275.84, Y:10.30, Z:150.29 [[ 8.69933392e-01 -3.84585782e-01 3.08722641e-01 -2.75838703e+02] [ 4.17725541e-01 9.07369878e-01 -4.67469530e-02 1.03004338e+01] [-2.62147411e-01 1.69628068e-01 9.50002660e-01 1.50288362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.829072329 meters Centerline goodness : 0.763792 Centerline is valid? [False, False] Translation: X:-275.88, Y:10.32, Z:150.31 [[ 8.68081594e-01 -3.88266851e-01 3.09327009e-01 -2.75884834e+02] [ 4.21217536e-01 9.05838671e-01 -4.50787072e-02 1.03159681e+01] [-2.62697799e-01 1.69425957e-01 9.49886684e-01 1.50306568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.85907232899996 meters Centerline goodness : 0.763766 Centerline is valid? [False, False] Translation: X:-275.93, Y:10.33, Z:150.32 [[ 8.66203421e-01 -3.91721616e-01 3.10235086e-01 -2.75930084e+02] [ 4.24640548e-01 9.04301558e-01 -4.38075115e-02 1.03290980e+01] [-2.63385722e-01 1.69684613e-01 9.49649985e-01 1.50324091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.889072329 meters Centerline goodness : 0.762197 Centerline is valid? [False, False] Translation: X:-275.99, Y:10.35, Z:150.34 [[ 8.67775692e-01 -3.88478869e-01 3.09918565e-01 -2.75985608e+02] [ 4.22725127e-01 9.04913956e-01 -4.93376046e-02 1.03478521e+01] [-2.61283018e-01 1.73824339e-01 9.49482113e-01 1.50342276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.91907232899996 meters Centerline goodness : 0.764622 Centerline is valid? [False, False] Translation: X:-276.03, Y:10.36, Z:150.36 [[ 8.67123015e-01 -3.90475360e-01 3.09235622e-01 -2.76030635e+02] [ 4.23444382e-01 9.04810758e-01 -4.48592012e-02 1.03630043e+01] [-2.62283304e-01 1.69842532e-01 9.49926830e-01 1.50358103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.949072329 meters Centerline goodness : 0.763914 Centerline is valid? [False, False] Translation: X:-276.09, Y:10.38, Z:150.38 [[ 8.69161619e-01 -3.86948370e-01 3.07943240e-01 -2.76085549e+02] [ 4.20872147e-01 9.05753657e-01 -4.97689618e-02 1.03825146e+01] [-2.59662697e-01 1.72862004e-01 9.50102106e-01 1.50375956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.97907232899996 meters Centerline goodness : 0.765087 Centerline is valid? [False, False] Translation: X:-276.13, Y:10.40, Z:150.39 [[ 8.68569566e-01 -3.88486216e-01 3.07677378e-01 -2.76131759e+02] [ 4.21328552e-01 9.05752643e-01 -4.57646252e-02 1.03999715e+01] [-2.60900672e-01 1.69383024e-01 9.50389515e-01 1.50394248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.009072329 meters Centerline goodness : 0.765062 Centerline is valid? [False, False] Translation: X:-276.19, Y:10.42, Z:150.41 [[ 8.70602692e-01 -3.84248638e-01 3.07252237e-01 -2.76187161e+02] [ 4.18266450e-01 9.06891056e-01 -5.10077461e-02 1.04200289e+01] [-2.59044649e-01 1.72920784e-01 9.50260108e-01 1.50413303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03907232899996 meters Centerline goodness : 0.764299 Centerline is valid? [False, False] Translation: X:-276.23, Y:10.44, Z:150.43 [[ 8.69708372e-01 -3.85938344e-01 3.07666935e-01 -2.76233254e+02] [ 4.19319188e-01 9.06562088e-01 -4.81310651e-02 1.04354612e+01] [-2.60343555e-01 1.70870640e-01 9.50275990e-01 1.50431888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.069072329 meters Centerline goodness : 0.765948 Centerline is valid? [False, False] Translation: X:-276.29, Y:10.46, Z:150.45 [[ 8.71262157e-01 -3.82627139e-01 3.07406451e-01 -2.76288790e+02] [ 4.17512118e-01 9.07045517e-01 -5.43328767e-02 1.04555845e+01] [-2.58042410e-01 1.75684098e-01 9.50025901e-01 1.50451098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09907232899997 meters Centerline goodness : 0.764146 Centerline is valid? [False, False] Translation: X:-276.33, Y:10.47, Z:150.47 [[ 8.71348229e-01 -3.83550420e-01 3.06008723e-01 -2.76331828e+02] [ 4.17193376e-01 9.07408039e-01 -5.05997812e-02 1.04702302e+01] [-2.58267208e-01 1.71754842e-01 9.50683082e-01 1.50467671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.129072329 meters Centerline goodness : 0.763688 Centerline is valid? [False, False] Translation: X:-276.37, Y:10.48, Z:150.48 [[ 8.70776429e-01 -3.85678614e-01 3.04959699e-01 -2.76374733e+02] [ 4.18425093e-01 9.06998165e-01 -4.76945428e-02 1.04848011e+01] [-2.58203122e-01 1.69134074e-01 9.51170233e-01 1.50484307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15907232899997 meters Centerline goodness : 0.765290 Centerline is valid? [False, False] Translation: X:-276.42, Y:10.50, Z:150.50 [[ 8.70434520e-01 -3.86586491e-01 3.04786205e-01 -2.76418970e+02] [ 4.18350051e-01 9.07216636e-01 -4.40591790e-02 1.05002439e+01] [-2.59474432e-01 1.65857955e-01 9.51401155e-01 1.50501403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.189072329 meters Centerline goodness : 0.764506 Centerline is valid? [False, False] Translation: X:-276.48, Y:10.52, Z:150.52 [[ 8.71505311e-01 -3.83955909e-01 3.05051395e-01 -2.76476682e+02] [ 4.17453326e-01 9.07284841e-01 -5.06649538e-02 1.05209606e+01] [-2.57315398e-01 1.71499496e-01 9.50987229e-01 1.50521862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21907232899997 meters Centerline goodness : 0.765381 Centerline is valid? [False, False] Translation: X:-276.54, Y:10.54, Z:150.54 [[ 8.71696589e-01 -3.82751444e-01 3.06016976e-01 -2.76538996e+02] [ 4.17583033e-01 9.06966293e-01 -5.51049382e-02 1.05422193e+01] [-2.56455587e-01 1.75822283e-01 9.50429932e-01 1.50542999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24907232899994 meters Centerline goodness : 0.764749 Centerline is valid? [False, False] Translation: X:-276.59, Y:10.56, Z:150.56 [[ 8.70392934e-01 -3.85626580e-01 3.06118084e-01 -2.76585201e+02] [ 4.19525485e-01 9.06301258e-01 -5.11507315e-02 1.05570255e+01] [-2.57710122e-01 1.72945573e-01 9.50618389e-01 1.50560009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.279072329 meters Centerline goodness : 0.764749 Centerline is valid? [False, False] Translation: X:-276.63, Y:10.57, Z:150.58 [[ 8.70019769e-01 -3.87071234e-01 3.05354650e-01 -2.76627693e+02] [ 4.20130699e-01 9.06173891e-01 -4.83639837e-02 1.05707765e+01] [-2.57984104e-01 1.70366484e-01 9.51009707e-01 1.50576587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.30907232899995 meters Centerline goodness : 0.765214 Centerline is valid? [False, False] Translation: X:-276.67, Y:10.58, Z:150.59 [[ 8.68637883e-01 -3.90301506e-01 3.05176936e-01 -2.76670800e+02] [ 4.22915449e-01 9.04983126e-01 -4.63472225e-02 1.05841098e+01] [-2.58090586e-01 1.69322994e-01 9.51167163e-01 1.50592613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.339072329 meters Centerline goodness : 0.764635 Centerline is valid? [False, False] Translation: X:-276.73, Y:10.60, Z:150.61 [[ 8.69451878e-01 -3.88729182e-01 3.04865634e-01 -2.76727717e+02] [ 4.22626283e-01 9.04836606e-01 -5.15532764e-02 1.06036842e+01] [-2.55813323e-01 1.73667323e-01 9.50999056e-01 1.50609510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.36907232899995 meters Centerline goodness : 0.769345 Centerline is valid? [False, False] Translation: X:-276.77, Y:10.62, Z:150.63 [[ 8.68709060e-01 -3.90792847e-01 3.04344411e-01 -2.76772114e+02] [ 4.23727907e-01 9.04515119e-01 -4.80318772e-02 1.06176495e+01] [-2.56513607e-01 1.70684947e-01 9.51350313e-01 1.50626265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.399072329 meters Centerline goodness : 0.770448 Centerline is valid? [False, False] Translation: X:-276.82, Y:10.63, Z:150.64 [[ 8.67721824e-01 -3.93009142e-01 3.04306837e-01 -2.76815670e+02] [ 4.25534731e-01 9.03761988e-01 -4.62002415e-02 1.06319999e+01] [-2.56863835e-01 1.69582086e-01 9.51453040e-01 1.50643899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.42907232899995 meters Centerline goodness : 0.768976 Centerline is valid? [False, False] Translation: X:-276.88, Y:10.65, Z:150.66 [[ 8.66369535e-01 -3.92772310e-01 3.08437581e-01 -2.76876131e+02] [ 4.27458547e-01 9.02576966e-01 -5.13226158e-02 1.06495460e+01] [-2.58230553e-01 1.76308631e-01 9.49859067e-01 1.50662698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.459072329 meters Centerline goodness : 0.769735 Centerline is valid? [False, False] Translation: X:-276.92, Y:10.66, Z:150.68 [[ 8.64743915e-01 -3.95731802e-01 3.09215623e-01 -2.76923059e+02] [ 4.30154266e-01 9.01405759e-01 -4.93453666e-02 1.06635850e+01] [-2.59201213e-01 1.75681525e-01 9.49710868e-01 1.50681607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.48907232899995 meters Centerline goodness : 0.770671 Centerline is valid? [False, False] Translation: X:-276.97, Y:10.68, Z:150.70 [[ 8.62155283e-01 -3.99952246e-01 3.11008792e-01 -2.76970521e+02] [ 4.34689252e-01 8.99270015e-01 -4.85663847e-02 1.06775377e+01] [-2.60256647e-01 1.77063944e-01 9.49165337e-01 1.50700190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.519072329 meters Centerline goodness : 0.770220 Centerline is valid? [False, False] Translation: X:-277.02, Y:10.69, Z:150.72 [[ 8.59487858e-01 -4.04767982e-01 3.12159418e-01 -2.77016362e+02] [ 4.39727083e-01 8.96858685e-01 -4.77974013e-02 1.06892360e+01] [-2.60616027e-01 1.78346236e-01 9.48826594e-01 1.50718428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.54907232899996 meters Centerline goodness : 0.771871 Centerline is valid? [False, False] Translation: X:-277.06, Y:10.70, Z:150.73 [[ 8.58370839e-01 -4.08065343e-01 3.10937580e-01 -2.77057696e+02] [ 4.42301344e-01 8.95711241e-01 -4.55070786e-02 1.07010066e+01] [-2.59940424e-01 1.76590059e-01 9.49340259e-01 1.50733267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.579072329 meters Centerline goodness : 0.768441 Centerline is valid? [False, False] Translation: X:-277.12, Y:10.72, Z:150.75 [[ 8.57679852e-01 -4.13280581e-01 3.05915728e-01 -2.77116275e+02] [ 4.47983189e-01 8.92639081e-01 -5.00652832e-02 1.07185904e+01] [-2.52381325e-01 1.79985088e-01 9.50741308e-01 1.50752419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.60907232899996 meters Centerline goodness : 0.767487 Centerline is valid? [False, False] Translation: X:-277.17, Y:10.74, Z:150.77 [[ 8.58469775e-01 -4.11577082e-01 3.05996652e-01 -2.77174443e+02] [ 4.47745962e-01 8.92417355e-01 -5.58105602e-02 1.07370704e+01] [-2.50106375e-01 1.84920444e-01 9.50395302e-01 1.50770565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.639072329 meters Centerline goodness : 0.766728 Centerline is valid? [False, False] Translation: X:-277.22, Y:10.75, Z:150.79 [[ 8.58846312e-01 -4.11827835e-01 3.04599485e-01 -2.77217317e+02] [ 4.46713698e-01 8.93166761e-01 -5.19616060e-02 1.07508569e+01] [-2.50658900e-01 1.80695796e-01 9.51062114e-01 1.50787890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.66907232899996 meters Centerline goodness : 0.768060 Centerline is valid? [False, False] Translation: X:-277.26, Y:10.77, Z:150.81 [[ 8.58853595e-01 -4.11161132e-01 3.05478355e-01 -2.77260973e+02] [ 4.45986876e-01 8.93575073e-01 -5.11790553e-02 1.07665963e+01] [-2.51925005e-01 1.80194653e-01 9.50822633e-01 1.50806059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.699072329 meters Centerline goodness : 0.766843 Centerline is valid? [False, False] Translation: X:-277.32, Y:10.79, Z:150.83 [[ 8.61406439e-01 -4.06297666e-01 3.04796904e-01 -2.77316688e+02] [ 4.42155980e-01 8.95167077e-01 -5.63382163e-02 1.07865695e+01] [-2.49954068e-01 1.83297876e-01 9.50749627e-01 1.50825184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.72907232899996 meters Centerline goodness : 0.766672 Centerline is valid? [False, False] Translation: X:-277.36, Y:10.80, Z:150.84 [[ 8.61519418e-01 -4.06440548e-01 3.04286663e-01 -2.77360342e+02] [ 4.41509817e-01 8.95647727e-01 -5.37050407e-02 1.08022887e+01] [-2.50705752e-01 1.80613484e-01 9.51065400e-01 1.50843366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.759072329 meters Centerline goodness : 0.766219 Centerline is valid? [False, False] Translation: X:-277.40, Y:10.82, Z:150.86 [[ 8.64594518e-01 -3.97964836e-01 3.06757737e-01 -2.77400522e+02] [ 4.33558123e-01 8.99438518e-01 -5.51153957e-02 1.08182360e+01] [-2.53975735e-01 1.80649778e-01 9.50190499e-01 1.50857267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78907232899996 meters Centerline goodness : 0.765806 Centerline is valid? [False, False] Translation: X:-277.44, Y:10.84, Z:150.88 [[ 8.65053808e-01 -3.97167391e-01 3.06496286e-01 -2.77443305e+02] [ 4.31969950e-01 9.00360078e-01 -5.24756328e-02 1.08354501e+01] [-2.55115410e-01 1.77791431e-01 9.50424292e-01 1.50875230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.819072329 meters Centerline goodness : 0.766539 Centerline is valid? [False, False] Translation: X:-277.49, Y:10.85, Z:150.89 [[ 8.65592999e-01 -3.96764704e-01 3.05493912e-01 -2.77485358e+02] [ 4.30440569e-01 9.01284490e-01 -4.90630687e-02 1.08511796e+01] [-2.55870431e-01 1.73965622e-01 9.50929169e-01 1.50892491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84907232899997 meters Centerline goodness : 0.764988 Centerline is valid? [False, False] Translation: X:-277.53, Y:10.86, Z:150.91 [[ 8.66748047e-01 -3.92299250e-01 3.07975847e-01 -2.77529135e+02] [ 4.26422107e-01 9.03160539e-01 -4.96510559e-02 1.08649267e+01] [-2.58673560e-01 1.74362665e-01 9.50097706e-01 1.50907928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.879072329 meters Centerline goodness : 0.764517 Centerline is valid? [False, False] Translation: X:-277.57, Y:10.88, Z:150.92 [[ 8.67450416e-01 -3.91839529e-01 3.06580430e-01 -2.77567028e+02] [ 4.25348543e-01 9.03732372e-01 -4.84398307e-02 1.08787755e+01] [-2.58086019e-01 1.72422691e-01 9.50611394e-01 1.50924081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90907232899997 meters Centerline goodness : 0.763850 Centerline is valid? [False, False] Translation: X:-277.61, Y:10.89, Z:150.94 [[ 8.68798528e-01 -3.89659095e-01 3.05540352e-01 -2.77606876e+02] [ 4.22183847e-01 9.05348942e-01 -4.58703927e-02 1.08945676e+01] [-2.58746819e-01 1.68846331e-01 9.51073604e-01 1.50940330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.939072329 meters Centerline goodness : 0.762042 Centerline is valid? [False, False] Translation: X:-277.64, Y:10.91, Z:150.95 [[ 8.70185572e-01 -3.88645675e-01 3.02872267e-01 -2.77643718e+02] [ 4.19769673e-01 9.06627551e-01 -4.26603452e-02 1.09079369e+01] [-2.58012583e-01 1.64259009e-01 9.52075882e-01 1.50954370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96907232899997 meters Centerline goodness : 0.761291 Centerline is valid? [False, False] Translation: X:-277.70, Y:10.93, Z:150.97 [[ 8.71411247e-01 -3.84779246e-01 3.04281727e-01 -2.77697455e+02] [ 4.17277888e-01 9.07542990e-01 -4.73802251e-02 1.09269992e+01] [-2.57917821e-01 1.68257697e-01 9.51403040e-01 1.50969656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99907232899994 meters Centerline goodness : 0.760059 Centerline is valid? [False, False] Translation: X:-277.73, Y:10.94, Z:150.98 [[ 8.72821726e-01 -3.83413078e-01 3.01954709e-01 -2.77733782e+02] [ 4.14729445e-01 9.08842020e-01 -4.47847096e-02 1.09410541e+01] [-2.57258084e-01 1.64318576e-01 9.52269754e-01 1.50983871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.029072329 meters Centerline goodness : 0.762074 Centerline is valid? [False, False] Translation: X:-277.78, Y:10.96, Z:151.00 [[ 8.74001077e-01 -3.77447064e-01 3.06032403e-01 -2.77779335e+02] [ 4.09496671e-01 9.11166660e-01 -4.56923860e-02 1.09575026e+01] [-2.61600065e-01 1.65254445e-01 9.50923958e-01 1.50999053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05907232899995 meters Centerline goodness : 0.762843 Centerline is valid? [False, False] Translation: X:-277.82, Y:10.97, Z:151.01 [[ 8.74259019e-01 -3.73760089e-01 3.09797616e-01 -2.77824916e+02] [ 4.06543233e-01 9.12450593e-01 -4.64382961e-02 1.09718267e+01] [-2.65318237e-01 1.66545224e-01 9.49667795e-01 1.51013843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.089072329 meters Centerline goodness : 0.762052 Centerline is valid? [False, False] Translation: X:-277.87, Y:10.99, Z:151.03 [[ 8.73334731e-01 -3.75903343e-01 3.09811434e-01 -2.77866879e+02] [ 4.08565290e-01 9.11586304e-01 -4.56597678e-02 1.09870621e+01] [-2.65256201e-01 1.66454460e-01 9.49701038e-01 1.51030930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11907232899995 meters Centerline goodness : 0.761572 Centerline is valid? [False, False] Translation: X:-277.91, Y:11.00, Z:151.05 [[ 8.74320024e-01 -3.75416985e-01 3.07614343e-01 -2.77905871e+02] [ 4.06634308e-01 9.12626071e-01 -4.19785043e-02 1.10016268e+01] [-2.64977425e-01 1.61789192e-01 9.50584673e-01 1.51046532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.149072329 meters Centerline goodness : 0.758659 Centerline is valid? [False, False] Translation: X:-277.96, Y:11.02, Z:151.06 [[ 8.75756162e-01 -3.71888586e-01 3.07814919e-01 -2.77957110e+02] [ 4.04357092e-01 9.13398004e-01 -4.68980640e-02 1.10199057e+01] [-2.63716678e-01 1.65538414e-01 9.50289718e-01 1.51061940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17907232899995 meters Centerline goodness : 0.762199 Centerline is valid? [False, False] Translation: X:-278.01, Y:11.04, Z:151.08 [[ 8.77924500e-01 -3.66893690e-01 3.07632236e-01 -2.78007946e+02] [ 3.99910899e-01 9.15201931e-01 -4.97664447e-02 1.10395513e+01] [-2.63286622e-01 1.66716665e-01 9.50202983e-01 1.51076795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.209072329 meters Centerline goodness : 0.760594 Centerline is valid? [False, False] Translation: X:-278.05, Y:11.05, Z:151.09 [[ 8.77904584e-01 -3.66611931e-01 3.08024729e-01 -2.78047156e+02] [ 3.99689700e-01 9.15298413e-01 -4.97690599e-02 1.10531318e+01] [-2.63688614e-01 1.66806797e-01 9.50075685e-01 1.51092787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.23907232899995 meters Centerline goodness : 0.762054 Centerline is valid? [False, False] Translation: X:-278.09, Y:11.07, Z:151.11 [[ 8.78136411e-01 -3.64350085e-01 3.10041062e-01 -2.78085463e+02] [ 3.98105918e-01 9.15908454e-01 -5.12189538e-02 1.10659654e+01] [-2.65307600e-01 1.68406410e-01 9.49342488e-01 1.51106912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.269072329 meters Centerline goodness : 0.761339 Centerline is valid? [False, False] Translation: X:-278.12, Y:11.08, Z:151.12 [[ 8.79677899e-01 -3.58558317e-01 3.12414353e-01 -2.78118244e+02] [ 3.93613532e-01 9.17619576e-01 -5.51606967e-02 1.10765205e+01] [-2.66899199e-01 1.71494162e-01 9.48343065e-01 1.51118639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.29907232899996 meters Centerline goodness : 0.761751 Centerline is valid? [False, False] Translation: X:-278.16, Y:11.09, Z:151.13 [[ 8.81796349e-01 -3.50439184e-01 3.15638363e-01 -2.78162465e+02] [ 3.85420934e-01 9.21157857e-01 -5.40269076e-02 1.10945903e+01] [-2.71819613e-01 1.69294363e-01 9.47340233e-01 1.51133363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.329072329 meters Centerline goodness : 0.763169 Centerline is valid? [False, False] Translation: X:-278.20, Y:11.11, Z:151.15 [[ 8.82229004e-01 -3.48952327e-01 3.16076349e-01 -2.78202269e+02] [ 3.83288703e-01 9.22178568e-01 -5.17345067e-02 1.11093010e+01] [-2.73425958e-01 1.66790176e-01 9.47322164e-01 1.51149390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.35907232899996 meters Centerline goodness : 0.762795 Centerline is valid? [False, False] Translation: X:-278.24, Y:11.13, Z:151.16 [[ 8.84125275e-01 -3.42140066e-01 3.18217965e-01 -2.78244886e+02] [ 3.76234654e-01 9.25140089e-01 -5.06290593e-02 1.11270770e+01] [-2.77073966e-01 1.64487057e-01 9.46664685e-01 1.51164067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.389072329 meters Centerline goodness : 0.762469 Centerline is valid? [False, False] Translation: X:-278.28, Y:11.14, Z:151.18 [[ 8.84500962e-01 -3.42345251e-01 3.16950749e-01 -2.78284205e+02] [ 3.75455503e-01 9.25596047e-01 -4.80116939e-02 1.11430765e+01] [-2.76931785e-01 1.61467292e-01 9.47226003e-01 1.51180692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.41907232899996 meters Centerline goodness : 0.763146 Centerline is valid? [False, False] Translation: X:-278.32, Y:11.16, Z:151.20 [[ 8.84982684e-01 -3.42439778e-01 3.15500631e-01 -2.78321092e+02] [ 3.74816467e-01 9.25939002e-01 -4.63635736e-02 1.11570374e+01] [-2.76257607e-01 1.59285792e-01 9.47792050e-01 1.51195775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.449072329 meters Centerline goodness : 0.763618 Centerline is valid? [False, False] Translation: X:-278.37, Y:11.18, Z:151.21 [[ 8.86077200e-01 -3.38428629e-01 3.16754257e-01 -2.78369609e+02] [ 3.72609429e-01 9.26506510e-01 -5.24204207e-02 1.11752341e+01] [-2.75734310e-01 1.64474162e-01 9.47057992e-01 1.51212265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47907232899996 meters Centerline goodness : 0.764148 Centerline is valid? [False, False] Translation: X:-278.41, Y:11.19, Z:151.23 [[ 8.85643857e-01 -3.40170313e-01 3.16099852e-01 -2.78409522e+02] [ 3.73904711e-01 9.26062767e-01 -5.10197951e-02 1.11895584e+01] [-2.75372884e-01 1.63376592e-01 9.47353083e-01 1.51228671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.509072329 meters Centerline goodness : 0.763135 Centerline is valid? [False, False] Translation: X:-278.45, Y:11.20, Z:151.24 [[ 8.86557693e-01 -3.34548349e-01 3.19519732e-01 -2.78450472e+02] [ 3.69024695e-01 9.27945477e-01 -5.23255801e-02 1.12039599e+01] [-2.78991454e-01 1.64300317e-01 9.46133804e-01 1.51242835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53907232899996 meters Centerline goodness : 0.762476 Centerline is valid? [False, False] Translation: X:-278.49, Y:11.22, Z:151.26 [[ 8.87454356e-01 -3.34396652e-01 3.17180777e-01 -2.78488558e+02] [ 3.67511729e-01 9.28719256e-01 -4.91494941e-02 1.12189574e+01] [-2.78136469e-01 1.60185588e-01 9.47090641e-01 1.51258961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.569072329 meters Centerline goodness : 0.764671 Centerline is valid? [False, False] Translation: X:-278.53, Y:11.23, Z:151.28 [[ 8.87792541e-01 -3.34652936e-01 3.15961734e-01 -2.78527937e+02] [ 3.67002942e-01 9.29019948e-01 -4.72311032e-02 1.12348996e+01] [-2.77728726e-01 1.57890307e-01 9.47595592e-01 1.51275943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59907232899997 meters Centerline goodness : 0.764637 Centerline is valid? [False, False] Translation: X:-278.57, Y:11.25, Z:151.29 [[ 8.88083212e-01 -3.34286110e-01 3.15532891e-01 -2.78566787e+02] [ 3.66021042e-01 9.29496279e-01 -4.54451721e-02 1.12494782e+01] [-2.78094958e-01 1.55850772e-01 9.47825792e-01 1.51291644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.629072329 meters Centerline goodness : 0.765312 Centerline is valid? [False, False] Translation: X:-278.61, Y:11.26, Z:151.31 [[ 8.88336518e-01 -3.30256479e-01 3.19043710e-01 -2.78607173e+02] [ 3.63247952e-01 9.30440926e-01 -4.82763846e-02 1.12632192e+01] [-2.80907736e-01 1.58777649e-01 9.46509642e-01 1.51306632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65907232899997 meters Centerline goodness : 0.765223 Centerline is valid? [False, False] Translation: X:-278.64, Y:11.28, Z:151.32 [[ 8.88686656e-01 -3.30671331e-01 3.17635797e-01 -2.78644956e+02] [ 3.62800744e-01 9.30724288e-01 -4.61293755e-02 1.12773208e+01] [-2.80377689e-01 1.56233064e-01 9.47090060e-01 1.51321831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.689072329 meters Centerline goodness : 0.764106 Centerline is valid? [False, False] Translation: X:-278.69, Y:11.29, Z:151.33 [[ 8.90907343e-01 -3.25928205e-01 3.16314576e-01 -2.78687879e+02] [ 3.59064457e-01 9.31914141e-01 -5.10759192e-02 1.12936586e+01] [-2.78130944e-01 1.59081233e-01 9.47278385e-01 1.51334700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71907232899997 meters Centerline goodness : 0.763988 Centerline is valid? [False, False] Translation: X:-278.73, Y:11.31, Z:151.35 [[ 8.91313255e-01 -3.27557674e-01 3.13475121e-01 -2.78726358e+02] [ 3.59391969e-01 9.31948588e-01 -4.80545749e-02 1.13083395e+01] [-2.76402052e-01 1.55492121e-01 9.48379727e-01 1.51350641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74907232899994 meters Centerline goodness : 0.765081 Centerline is valid? [False, False] Translation: X:-278.77, Y:11.32, Z:151.37 [[ 8.91134917e-01 -3.28056153e-01 3.13460875e-01 -2.78765209e+02] [ 3.59767791e-01 9.31828735e-01 -4.75641196e-02 1.13221034e+01] [-2.76488149e-01 1.55159174e-01 9.48409160e-01 1.51366532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.779072329 meters Centerline goodness : 0.766962 Centerline is valid? [False, False] Translation: X:-278.80, Y:11.34, Z:151.38 [[ 8.90136081e-01 -3.30259540e-01 3.13984704e-01 -2.78804501e+02] [ 3.62359727e-01 9.30788939e-01 -4.82429247e-02 1.13357921e+01] [-2.76320803e-01 1.56718180e-01 9.48201574e-01 1.51383890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.80907232899995 meters Centerline goodness : 0.766316 Centerline is valid? [False, False] Translation: X:-278.84, Y:11.35, Z:151.40 [[ 8.89560846e-01 -3.33051532e-01 3.12663043e-01 -2.78844108e+02] [ 3.64554403e-01 9.30018688e-01 -4.65330779e-02 1.13488867e+01] [-2.75284560e-01 1.55376693e-01 9.48723613e-01 1.51399520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.839072329 meters Centerline goodness : 0.766762 Centerline is valid? [False, False] Translation: X:-278.89, Y:11.37, Z:151.41 [[ 8.90748978e-01 -3.29834605e-01 3.12690568e-01 -2.78892405e+02] [ 3.62509676e-01 9.30579962e-01 -5.10653386e-02 1.13659493e+01] [-2.74140461e-01 1.58839755e-01 9.48481386e-01 1.51413532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.86907232899995 meters Centerline goodness : 0.769737 Centerline is valid? [False, False] Translation: X:-278.93, Y:11.38, Z:151.43 [[ 8.91220777e-01 -3.31787023e-01 3.09261859e-01 -2.78927643e+02] [ 3.63019536e-01 9.30554331e-01 -4.78064199e-02 1.13798621e+01] [-2.71923412e-01 1.54874171e-01 9.49774525e-01 1.51426537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.899072329 meters Centerline goodness : 0.770128 Centerline is valid? [False, False] Translation: X:-278.97, Y:11.39, Z:151.44 [[ 8.90477896e-01 -3.34819454e-01 3.08131547e-01 -2.78965967e+02] [ 3.65663358e-01 9.29577333e-01 -4.66507323e-02 1.13924348e+01] [-2.70812529e-01 1.54213862e-01 9.50199273e-01 1.51441261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.92907232899995 meters Centerline goodness : 0.768897 Centerline is valid? [False, False] Translation: X:-279.00, Y:11.40, Z:151.46 [[ 8.90005826e-01 -3.36719852e-01 3.07423764e-01 -2.79003725e+02] [ 3.67322737e-01 9.28958703e-01 -4.59318411e-02 1.14049075e+01] [-2.70117819e-01 1.53803345e-01 9.50463516e-01 1.51456071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.959072329 meters Centerline goodness : 0.769582 Centerline is valid? [False, False] Translation: X:-279.05, Y:11.41, Z:151.47 [[ 8.86668130e-01 -3.43739093e-01 3.09294459e-01 -2.79048557e+02] [ 3.75195406e-01 9.25767417e-01 -4.67236194e-02 1.14149506e+01] [-2.70273998e-01 1.57474204e-01 9.49817794e-01 1.51473120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.98907232899995 meters Centerline goodness : 0.768891 Centerline is valid? [False, False] Translation: X:-279.09, Y:11.43, Z:151.49 [[ 8.86045663e-01 -3.45024590e-01 3.09646759e-01 -2.79085595e+02] [ 3.76737299e-01 9.25116304e-01 -4.72104941e-02 1.14266426e+01] [-2.70170484e-01 1.58486137e-01 9.49678921e-01 1.51486848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.019072329 meters Centerline goodness : 0.769592 Centerline is valid? [False, False] Translation: X:-279.12, Y:11.44, Z:151.50 [[ 8.85092249e-01 -3.47193385e-01 3.09949131e-01 -2.79123024e+02] [ 3.79170179e-01 9.24100968e-01 -4.76169843e-02 1.14380645e+01] [-2.69891990e-01 1.59668891e-01 9.49559982e-01 1.51500881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.04907232899996 meters Centerline goodness : 0.768570 Centerline is valid? [False, False] Translation: X:-279.17, Y:11.45, Z:151.52 [[ 8.82825117e-01 -3.52452652e-01 3.10478569e-01 -2.79167156e+02] [ 3.84310963e-01 9.22054271e-01 -4.60543797e-02 1.14508846e+01] [-2.70046102e-01 1.59978281e-01 9.49464087e-01 1.51516795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.079072329 meters Centerline goodness : 0.767223 Centerline is valid? [False, False] Translation: X:-279.20, Y:11.46, Z:151.53 [[ 8.82636314e-01 -3.54638522e-01 3.08520107e-01 -2.79202631e+02] [ 3.86047059e-01 9.21364244e-01 -4.53386991e-02 1.14622752e+01] [-2.68180546e-01 1.59120862e-01 9.50136699e-01 1.51529896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.10907232899996 meters Centerline goodness : 0.767952 Centerline is valid? [False, False] Translation: X:-279.23, Y:11.47, Z:151.54 [[ 8.83132705e-01 -3.56178834e-01 3.05308472e-01 -2.79234797e+02] [ 3.86963593e-01 9.21002746e-01 -4.48678027e-02 1.14749453e+01] [-2.65208979e-01 1.57767487e-01 9.51195888e-01 1.51541951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.139072329 meters Centerline goodness : 0.766295 Centerline is valid? [False, False] Translation: X:-279.28, Y:11.49, Z:151.56 [[ 8.82879051e-01 -3.57120525e-01 3.04941819e-01 -2.79275275e+02] [ 3.87425707e-01 9.20886823e-01 -4.32294100e-02 1.14894524e+01] [-2.65378793e-01 1.56308640e-01 9.51389355e-01 1.51558519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.16907232899996 meters Centerline goodness : 0.765941 Centerline is valid? [False, False] Translation: X:-279.32, Y:11.50, Z:151.57 [[ 8.83276365e-01 -3.53524047e-01 3.07966901e-01 -2.79315938e+02] [ 3.84662055e-01 9.21965058e-01 -4.48947066e-02 1.15028559e+01] [-2.68063363e-01 1.58117614e-01 9.50337231e-01 1.51572206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.199072329 meters Centerline goodness : 0.765941 Centerline is valid? [False, False] Translation: X:-279.35, Y:11.52, Z:151.59 [[ 8.83388159e-01 -3.54619737e-01 3.06382443e-01 -2.79352711e+02] [ 3.85302111e-01 9.21737105e-01 -4.40793930e-02 1.15163327e+01] [-2.66772644e-01 1.56989016e-01 9.50887378e-01 1.51587224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22907232899996 meters Centerline goodness : 0.766278 Centerline is valid? [False, False] Translation: X:-279.39, Y:11.53, Z:151.60 [[ 8.83788711e-01 -3.54971001e-01 3.04816505e-01 -2.79388831e+02] [ 3.85303601e-01 9.21752841e-01 -4.37359653e-02 1.15307128e+01] [-2.65440480e-01 1.56100249e-01 9.51406361e-01 1.51602500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.259072329 meters Centerline goodness : 0.765373 Centerline is valid? [False, False] Translation: X:-279.42, Y:11.55, Z:151.61 [[ 8.85750024e-01 -3.54140339e-01 3.00052521e-01 -2.79421302e+02] [ 3.82911017e-01 9.22869611e-01 -4.11197533e-02 1.15453280e+01] [-2.62347190e-01 1.51315238e-01 9.53036018e-01 1.51614888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28907232899996 meters Centerline goodness : 0.764368 Centerline is valid? [False, False] Translation: X:-279.46, Y:11.56, Z:151.63 [[ 8.86074329e-01 -3.53424121e-01 2.99939450e-01 -2.79456348e+02] [ 3.82545810e-01 9.22955155e-01 -4.25732850e-02 1.15573430e+01] [-2.61784236e-01 1.52463675e-01 9.53007787e-01 1.51627669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.319072329 meters Centerline goodness : 0.764292 Centerline is valid? [False, False] Translation: X:-279.50, Y:11.57, Z:151.64 [[ 8.86415200e-01 -3.49739603e-01 3.03233083e-01 -2.79496122e+02] [ 3.80038190e-01 9.23856664e-01 -4.53854347e-02 1.15703069e+01] [-2.64270820e-01 1.55470491e-01 9.51834996e-01 1.51640353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34907232899997 meters Centerline goodness : 0.762781 Centerline is valid? [False, False] Translation: X:-279.54, Y:11.58, Z:151.66 [[ 8.84683406e-01 -3.51049581e-01 3.06756358e-01 -2.79536204e+02] [ 3.83098902e-01 9.22392026e-01 -4.92765881e-02 1.15822600e+01] [-2.65651093e-01 1.61112203e-01 9.50511628e-01 1.51655497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.379072329 meters Centerline goodness : 0.763714 Centerline is valid? [False, False] Translation: X:-279.58, Y:11.60, Z:151.67 [[ 8.85026620e-01 -3.47587340e-01 3.09694887e-01 -2.79576446e+02] [ 3.80443744e-01 9.23406735e-01 -5.08188899e-02 1.15962284e+01] [-2.68310342e-01 1.62797553e-01 9.49476970e-01 1.51668901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40907232899997 meters Centerline goodness : 0.762764 Centerline is valid? [False, False] Translation: X:-279.62, Y:11.61, Z:151.68 [[ 8.85532951e-01 -3.43255111e-01 3.13061212e-01 -2.79619338e+02] [ 3.76598042e-01 9.24967617e-01 -5.10766354e-02 1.16102056e+01] [-2.72039167e-01 1.63128283e-01 9.48358506e-01 1.51683698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.439072329 meters Centerline goodness : 0.762761 Centerline is valid? [False, False] Translation: X:-279.66, Y:11.62, Z:151.70 [[ 8.85039214e-01 -3.44429230e-01 3.13167839e-01 -2.79658638e+02] [ 3.77452980e-01 9.24693254e-01 -4.97155258e-02 1.16238681e+01] [-2.72460708e-01 1.62206324e-01 9.48395630e-01 1.51699316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46907232899997 meters Centerline goodness : 0.763284 Centerline is valid? [False, False] Translation: X:-279.69, Y:11.64, Z:151.71 [[ 8.85229849e-01 -3.45693779e-01 3.11229698e-01 -2.79694660e+02] [ 3.77915882e-01 9.24598941e-01 -4.79206099e-02 1.16368375e+01] [-2.71196793e-01 1.60039400e-01 9.49125750e-01 1.51713442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49907232899994 meters Centerline goodness : 0.761838 Centerline is valid? [False, False] Translation: X:-279.73, Y:11.65, Z:151.73 [[ 8.85886513e-01 -3.46315758e-01 3.08659169e-01 -2.79728384e+02] [ 3.77788574e-01 9.24709843e-01 -4.67707193e-02 1.16483313e+01] [-2.69222734e-01 1.58041456e-01 9.50022114e-01 1.51726045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.529072329 meters Centerline goodness : 0.762058 Centerline is valid? [False, False] Translation: X:-279.76, Y:11.66, Z:151.74 [[ 8.86454980e-01 -3.47309480e-01 3.05898176e-01 -2.79764072e+02] [ 3.77807656e-01 9.24797345e-01 -4.48469256e-02 1.16624326e+01] [-2.67318059e-01 1.55325453e-01 9.51007392e-01 1.51739807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55907232899995 meters Centerline goodness : 0.761645 Centerline is valid? [False, False] Translation: X:-279.80, Y:11.68, Z:151.75 [[ 8.87340563e-01 -3.46700358e-01 3.04015766e-01 -2.79798946e+02] [ 3.76617446e-01 9.25323132e-01 -4.40045454e-02 1.16753568e+01] [-2.66056430e-01 1.53544660e-01 9.51650153e-01 1.51753903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.589072329 meters Centerline goodness : 0.762010 Centerline is valid? [False, False] Translation: X:-279.83, Y:11.69, Z:151.77 [[ 8.87635937e-01 -3.47468865e-01 3.02271123e-01 -2.79834319e+02] [ 3.77051964e-01 9.25158756e-01 -4.37389143e-02 1.16898652e+01] [-2.64450865e-01 1.52796153e-01 9.52217977e-01 1.51768270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61907232899995 meters Centerline goodness : 0.759756 Centerline is valid? [False, False] Translation: X:-279.87, Y:11.70, Z:151.78 [[ 8.87832999e-01 -3.47479423e-01 3.01679659e-01 -2.79873109e+02] [ 3.76476932e-01 9.25474232e-01 -4.19829131e-02 1.17031199e+01] [-2.64608552e-01 1.50849248e-01 9.52484550e-01 1.51782269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.649072329 meters Centerline goodness : 0.760988 Centerline is valid? [False, False] Translation: X:-279.91, Y:11.72, Z:151.80 [[ 8.87805747e-01 -3.48063129e-01 3.01086390e-01 -2.79910367e+02] [ 3.76849493e-01 9.25345033e-01 -4.14852962e-02 1.17162233e+01] [-2.64169293e-01 1.50295138e-01 9.52694052e-01 1.51796747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67907232899995 meters Centerline goodness : 0.761955 Centerline is valid? [False, False] Translation: X:-279.95, Y:11.73, Z:151.81 [[ 8.88109444e-01 -3.47869980e-01 3.00413204e-01 -2.79950604e+02] [ 3.75652753e-01 9.25969006e-01 -3.82937175e-02 1.17327260e+01] [-2.64852081e-01 1.46860059e-01 9.53040135e-01 1.51812640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.709072329 meters Centerline goodness : 0.762342 Centerline is valid? [False, False] Translation: X:-279.99, Y:11.75, Z:151.83 [[ 8.88068165e-01 -3.45212660e-01 3.03583850e-01 -2.79991513e+02] [ 3.74113718e-01 9.26482167e-01 -4.08622180e-02 1.17474654e+01] [-2.67158868e-01 1.49863318e-01 9.51928109e-01 1.51826753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.73907232899995 meters Centerline goodness : 0.760617 Centerline is valid? [False, False] Translation: X:-280.03, Y:11.76, Z:151.84 [[ 8.88475573e-01 -3.42965515e-01 3.04935750e-01 -2.80029243e+02] [ 3.72239885e-01 9.27197325e-01 -4.17443260e-02 1.17614115e+01] [-2.68418748e-01 1.50598063e-01 9.51457618e-01 1.51841153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.769072329 meters Centerline goodness : 0.760268 Centerline is valid? [False, False] Translation: X:-280.07, Y:11.78, Z:151.86 [[ 8.88643029e-01 -3.42737292e-01 3.04704307e-01 -2.80067569e+02] [ 3.71682984e-01 9.27464934e-01 -4.07499101e-02 1.17754043e+01] [-2.68636046e-01 1.49465530e-01 9.51574868e-01 1.51856613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.79907232899996 meters Centerline goodness : 0.759337 Centerline is valid? [False, False] Translation: X:-280.10, Y:11.79, Z:151.87 [[ 8.89200137e-01 -3.42819566e-01 3.02981619e-01 -2.80102256e+02] [ 3.71346754e-01 9.27621465e-01 -4.02492935e-02 1.17872036e+01] [-2.67254008e-01 1.48300918e-01 9.52146067e-01 1.51870095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.829072329 meters Centerline goodness : 0.758515 Centerline is valid? [False, False] Translation: X:-280.13, Y:11.80, Z:151.88 [[ 8.90274167e-01 -3.41961422e-01 3.00789452e-01 -2.80134765e+02] [ 3.70205785e-01 9.28060422e-01 -4.06390107e-02 1.17993301e+01] [-2.65253812e-01 1.47533857e-01 9.52824316e-01 1.51882656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.85907232899996 meters Centerline goodness : 0.760455 Centerline is valid? [False, False] Translation: X:-280.18, Y:11.82, Z:151.90 [[ 8.91353228e-01 -3.38330185e-01 3.01698705e-01 -2.80181983e+02] [ 3.68248197e-01 9.28555317e-01 -4.66721471e-02 1.18167566e+01] [-2.64353341e-01 1.52701373e-01 9.52260260e-01 1.51895927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.889072329 meters Centerline goodness : 0.757593 Centerline is valid? [False, False] Translation: X:-280.22, Y:11.83, Z:151.91 [[ 8.90271805e-01 -3.39469522e-01 3.03605925e-01 -2.80221022e+02] [ 3.70489973e-01 9.27526857e-01 -4.93062791e-02 1.18277116e+01] [-2.64864670e-01 1.56378941e-01 9.51521063e-01 1.51909478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.91907232899996 meters Centerline goodness : 0.758319 Centerline is valid? [False, False] Translation: X:-280.26, Y:11.84, Z:151.92 [[ 8.89531285e-01 -3.41268275e-01 3.03759869e-01 -2.80260820e+02] [ 3.72128520e-01 9.26920248e-01 -4.83654627e-02 1.18398031e+01] [-2.65055575e-01 1.56060303e-01 9.51520217e-01 1.51924460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.949072329 meters Centerline goodness : 0.758707 Centerline is valid? [False, False] Translation: X:-280.30, Y:11.85, Z:151.94 [[ 8.88651305e-01 -3.43338717e-01 3.04002275e-01 -2.80301860e+02] [ 3.73890667e-01 9.26291371e-01 -4.67981283e-02 1.18529085e+01] [-2.65527075e-01 1.55250831e-01 9.51521178e-01 1.51940173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97907232899996 meters Centerline goodness : 0.758955 Centerline is valid? [False, False] Translation: X:-280.34, Y:11.87, Z:151.96 [[ 8.87662592e-01 -3.45883868e-01 3.04005712e-01 -2.80340934e+02] [ 3.76395803e-01 9.25303014e-01 -4.62658697e-02 1.18665175e+01] [-2.65294784e-01 1.55494956e-01 9.51546108e-01 1.51955619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.009072329 meters Centerline goodness : 0.759068 Centerline is valid? [False, False] Translation: X:-280.38, Y:11.88, Z:151.97 [[ 8.85994145e-01 -3.50066139e-01 3.04085634e-01 -2.80381637e+02] [ 3.80546232e-01 9.23643577e-01 -4.54654592e-02 1.18794932e+01] [-2.64950825e-01 1.56000773e-01 9.51559152e-01 1.51969945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03907232899996 meters Centerline goodness : 0.758876 Centerline is valid? [False, False] Translation: X:-280.43, Y:11.90, Z:151.98 [[ 8.87010027e-01 -3.46697198e-01 3.04982400e-01 -2.80429595e+02] [ 3.78320307e-01 9.24348885e-01 -4.95265890e-02 1.18952360e+01] [-2.64739412e-01 1.59311616e-01 9.51069321e-01 1.51982801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.069072329 meters Centerline goodness : 0.759579 Centerline is valid? [False, False] Translation: X:-280.47, Y:11.91, Z:152.00 [[ 8.86466872e-01 -3.49228487e-01 3.03670791e-01 -2.80467149e+02] [ 3.80463368e-01 9.23519761e-01 -4.85682634e-02 1.19083425e+01] [-2.63484556e-01 1.58589769e-01 9.51538320e-01 1.51997456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09907232899997 meters Centerline goodness : 0.759901 Centerline is valid? [False, False] Translation: X:-280.50, Y:11.92, Z:152.01 [[ 8.86560457e-01 -3.50713418e-01 3.01679722e-01 -2.80502648e+02] [ 3.81351279e-01 9.23212789e-01 -4.74272879e-02 1.19196249e+01] [-2.61881192e-01 1.57093106e-01 9.52228963e-01 1.52011036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.129072329 meters Centerline goodness : 0.758253 Centerline is valid? [False, False] Translation: X:-280.54, Y:11.93, Z:152.03 [[ 8.85988972e-01 -3.52669508e-01 3.01077664e-01 -2.80541443e+02] [ 3.83138015e-01 9.22500033e-01 -4.68929636e-02 1.19314387e+01] [-2.61206437e-01 1.56900947e-01 9.52445951e-01 1.52026046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15907232899997 meters Centerline goodness : 0.758412 Centerline is valid? [False, False] Translation: X:-280.58, Y:11.94, Z:152.04 [[ 8.85544938e-01 -3.53330597e-01 3.01608442e-01 -2.80579549e+02] [ 3.83914846e-01 9.22177517e-01 -4.68830243e-02 1.19436346e+01] [-2.61571317e-01 1.57308984e-01 9.52278494e-01 1.52040421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.189072329 meters Centerline goodness : 0.757333 Centerline is valid? [False, False] Translation: X:-280.62, Y:11.96, Z:152.06 [[ 8.84942524e-01 -3.54672817e-01 3.01801130e-01 -2.80619479e+02] [ 3.85211875e-01 9.21661147e-01 -4.63954963e-02 1.19580631e+01] [-2.61703154e-01 1.57314727e-01 9.52241322e-01 1.52056620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21907232899997 meters Centerline goodness : 0.757300 Centerline is valid? [False, False] Translation: X:-280.66, Y:11.97, Z:152.07 [[ 8.84329920e-01 -3.55456874e-01 3.02673096e-01 -2.80658626e+02] [ 3.86254780e-01 9.21210660e-01 -4.66708072e-02 1.19704970e+01] [-2.62236223e-01 1.58181321e-01 9.51951066e-01 1.52071469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24907232899994 meters Centerline goodness : 0.755763 Centerline is valid? [False, False] Translation: X:-280.70, Y:11.98, Z:152.09 [[ 8.84575395e-01 -3.55988088e-01 3.01328478e-01 -2.80695232e+02] [ 3.86249524e-01 9.21272352e-01 -4.54814046e-02 1.19834855e+01] [-2.61414758e-01 1.56619713e-01 9.52435084e-01 1.52085859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.279072329 meters Centerline goodness : 0.759373 Centerline is valid? [False, False] Translation: X:-280.73, Y:12.00, Z:152.10 [[ 8.85190097e-01 -3.55498446e-01 3.00098894e-01 -2.80732477e+02] [ 3.84931079e-01 9.21929290e-01 -4.32948919e-02 1.19972722e+01] [-2.61278693e-01 1.53841601e-01 9.52925079e-01 1.52100266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.30907232899995 meters Centerline goodness : 0.760013 Centerline is valid? [False, False] Translation: X:-280.77, Y:12.01, Z:152.12 [[ 8.85639841e-01 -3.55468298e-01 2.98804889e-01 -2.80771999e+02] [ 3.83780896e-01 9.22557508e-01 -3.99983573e-02 1.20133760e+01] [-2.61446546e-01 1.50099747e-01 9.53475626e-01 1.52115608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.339072329 meters Centerline goodness : 0.759315 Centerline is valid? [False, False] Translation: X:-280.81, Y:12.03, Z:152.13 [[ 8.85649436e-01 -3.56857713e-01 2.97115549e-01 -2.80807456e+02] [ 3.84785767e-01 9.22164997e-01 -3.93907546e-02 1.20257864e+01] [-2.59932665e-01 1.49212234e-01 9.54028678e-01 1.52128643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.36907232899995 meters Centerline goodness : 0.758408 Centerline is valid? [False, False] Translation: X:-280.86, Y:12.04, Z:152.14 [[ 8.86021301e-01 -3.54756245e-01 2.98520120e-01 -2.80857429e+02] [ 3.84161800e-01 9.22203391e-01 -4.42788455e-02 1.20415723e+01] [-2.59588070e-01 1.53912027e-01 9.53375646e-01 1.52141142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.399072329 meters Centerline goodness : 0.759260 Centerline is valid? [False, False] Translation: X:-280.90, Y:12.05, Z:152.16 [[ 8.85310498e-01 -3.56789814e-01 2.98205215e-01 -2.80897357e+02] [ 3.85839369e-01 9.21569885e-01 -4.28593982e-02 1.20543921e+01] [-2.59525149e-01 1.53003187e-01 9.53539051e-01 1.52156263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.42907232899995 meters Centerline goodness : 0.759107 Centerline is valid? [False, False] Translation: X:-280.94, Y:12.07, Z:152.17 [[ 8.85112719e-01 -3.56946690e-01 2.98604313e-01 -2.80935276e+02] [ 3.86109824e-01 9.21449693e-01 -4.30077455e-02 1.20673303e+01] [-2.59797380e-01 1.53360761e-01 9.53407467e-01 1.52170828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.459072329 meters Centerline goodness : 0.760673 Centerline is valid? [False, False] Translation: X:-280.97, Y:12.08, Z:152.18 [[ 8.85046009e-01 -3.55415069e-01 3.00622173e-01 -2.80972348e+02] [ 3.85302820e-01 9.21709591e-01 -4.46448941e-02 1.20791211e+01] [-2.61218872e-01 1.55343356e-01 9.52697823e-01 1.52184370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.48907232899995 meters Centerline goodness : 0.758836 Centerline is valid? [False, False] Translation: X:-281.01, Y:12.09, Z:152.20 [[ 8.84825175e-01 -3.54288750e-01 3.02595260e-01 -2.81011813e+02] [ 3.84779532e-01 9.21872368e-01 -4.57826347e-02 1.20912291e+01] [-2.62733936e-01 1.56942090e-01 9.52018938e-01 1.52198498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.519072329 meters Centerline goodness : 0.759566 Centerline is valid? [False, False] Translation: X:-281.05, Y:12.11, Z:152.21 [[ 8.85867218e-01 -3.54393610e-01 2.99406815e-01 -2.81046877e+02] [ 3.83697507e-01 9.22437684e-01 -4.34159192e-02 1.21054964e+01] [-2.60797805e-01 1.53342388e-01 9.53137250e-01 1.52212156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.54907232899996 meters Centerline goodness : 0.757015 Centerline is valid? [False, False] Translation: X:-281.09, Y:12.12, Z:152.22 [[ 8.88951972e-01 -3.48231712e-01 2.97487928e-01 -2.81092738e+02] [ 3.77643982e-01 9.24811888e-01 -4.59129090e-02 1.21247421e+01] [-2.59132041e-01 1.53158897e-01 9.53620961e-01 1.52224354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.579072329 meters Centerline goodness : 0.755540 Centerline is valid? [False, False] Translation: X:-281.13, Y:12.14, Z:152.24 [[ 8.89592826e-01 -3.48667209e-01 2.95052168e-01 -2.81127255e+02] [ 3.77539992e-01 9.24882085e-01 -4.53506709e-02 1.21378471e+01] [-2.57076172e-01 1.51737625e-01 9.54404283e-01 1.52237946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.60907232899996 meters Centerline goodness : 0.754753 Centerline is valid? [False, False] Translation: X:-281.16, Y:12.15, Z:152.25 [[ 8.90143085e-01 -3.48425240e-01 2.93675229e-01 -2.81163371e+02] [ 3.76933724e-01 9.25152567e-01 -4.48742060e-02 1.21512300e+01] [-2.56059086e-01 1.50640562e-01 9.54851384e-01 1.52252337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.639072329 meters Centerline goodness : 0.755366 Centerline is valid? [False, False] Translation: X:-281.20, Y:12.17, Z:152.27 [[ 8.89785817e-01 -3.49123062e-01 2.93929050e-01 -2.81203536e+02] [ 3.77541299e-01 9.24933408e-01 -4.42804468e-02 1.21660386e+01] [-2.56405473e-01 1.50370469e-01 9.54801003e-01 1.52268848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.66907232899996 meters Centerline goodness : 0.755856 Centerline is valid? [False, False] Translation: X:-281.24, Y:12.18, Z:152.28 [[ 8.90036433e-01 -3.49171365e-01 2.93111765e-01 -2.81240623e+02] [ 3.77272452e-01 9.25075983e-01 -4.35880962e-02 1.21806346e+01] [-2.55930939e-01 1.49377988e-01 9.55084065e-01 1.52283691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.699072329 meters Centerline goodness : 0.756602 Centerline is valid? [False, False] Translation: X:-281.28, Y:12.20, Z:152.30 [[ 8.89479919e-01 -3.50872519e-01 2.92769446e-01 -2.81280372e+02] [ 3.78658008e-01 9.24566472e-01 -4.23668808e-02 1.21953148e+01] [-2.55819440e-01 1.48543985e-01 9.55244000e-01 1.52298757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72907232899996 meters Centerline goodness : 0.760520 Centerline is valid? [False, False] Translation: X:-281.33, Y:12.21, Z:152.31 [[ 8.85728377e-01 -3.57908842e-01 2.95612083e-01 -2.81325912e+02] [ 3.86811845e-01 9.21120241e-01 -4.37504064e-02 1.22079382e+01] [-2.56635616e-01 1.53097232e-01 9.54305715e-01 1.52314040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.759072329 meters Centerline goodness : 0.759907 Centerline is valid? [False, False] Translation: X:-281.37, Y:12.22, Z:152.33 [[ 8.84542720e-01 -3.60450271e-01 2.96073942e-01 -2.81366352e+02] [ 3.89292067e-01 9.20116777e-01 -4.28579464e-02 1.22180650e+01] [-2.56974443e-01 1.53168921e-01 9.54203027e-01 1.52328834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78907232899996 meters Centerline goodness : 0.758690 Centerline is valid? [False, False] Translation: X:-281.41, Y:12.23, Z:152.34 [[ 8.82983566e-01 -3.63820779e-01 2.96604894e-01 -2.81407152e+02] [ 3.92905308e-01 9.18576553e-01 -4.29247576e-02 1.22306864e+01] [-2.56837383e-01 1.54439493e-01 9.54035116e-01 1.52343689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.819072329 meters Centerline goodness : 0.758974 Centerline is valid? [False, False] Translation: X:-281.46, Y:12.24, Z:152.36 [[ 8.81389523e-01 -3.66811262e-01 2.97660892e-01 -2.81463792e+02] [ 3.98754637e-01 9.15554570e-01 -5.24839937e-02 1.22449890e+01] [-2.53273070e-01 1.64952503e-01 9.53227897e-01 1.52359661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84907232899997 meters Centerline goodness : 0.758985 Centerline is valid? [False, False] Translation: X:-281.50, Y:12.26, Z:152.37 [[ 8.79828550e-01 -3.70792920e-01 2.97345479e-01 -2.81504629e+02] [ 4.02435056e-01 9.14027916e-01 -5.09803350e-02 1.22562572e+01] [-2.52878921e-01 1.64516199e-01 9.53407925e-01 1.52373966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.879072329 meters Centerline goodness : 0.756704 Centerline is valid? [False, False] Translation: X:-281.55, Y:12.27, Z:152.39 [[ 8.77097746e-01 -3.76796662e-01 2.97865439e-01 -2.81549919e+02] [ 4.08170972e-01 9.11603704e-01 -4.87354528e-02 1.22677191e+01] [-2.53171882e-01 1.64325782e-01 9.53363014e-01 1.52388356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90907232899997 meters Centerline goodness : 0.756128 Centerline is valid? [False, False] Translation: X:-281.59, Y:12.28, Z:152.40 [[ 8.75927665e-01 -3.80103340e-01 2.97106340e-01 -2.81590388e+02] [ 4.11015405e-01 9.10415355e-01 -4.70129562e-02 1.22798435e+01] [-2.52620392e-01 1.63295232e-01 9.53686324e-01 1.52403088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.939072329 meters Centerline goodness : 0.755711 Centerline is valid? [False, False] Translation: X:-281.63, Y:12.29, Z:152.42 [[ 8.75393150e-01 -3.82502387e-01 2.95598979e-01 -2.81629187e+02] [ 4.12766895e-01 9.09713720e-01 -4.52154570e-02 1.22926172e+01] [-2.51615427e-01 1.61594774e-01 9.54241482e-01 1.52416875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96907232899997 meters Centerline goodness : 0.754934 Centerline is valid? [False, False] Translation: X:-281.67, Y:12.31, Z:152.43 [[ 8.74299468e-01 -3.85613011e-01 2.94793227e-01 -2.81670626e+02] [ 4.15144520e-01 9.08761989e-01 -4.25049978e-02 1.23052820e+01] [-2.51506399e-01 1.59543889e-01 9.54615252e-01 1.52430416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99907232899994 meters Centerline goodness : 0.756719 Centerline is valid? [False, False] Translation: X:-281.71, Y:12.32, Z:152.45 [[ 8.73430149e-01 -3.87903358e-01 2.94365010e-01 -2.81711439e+02] [ 4.17144633e-01 9.07899353e-01 -4.13415016e-02 1.23183142e+01] [-2.51217295e-01 1.58901698e-01 9.54798471e-01 1.52445687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.029072329 meters Centerline goodness : 0.756795 Centerline is valid? [False, False] Translation: X:-281.75, Y:12.33, Z:152.46 [[ 8.71742587e-01 -3.91165605e-01 2.95049709e-01 -2.81754609e+02] [ 4.20688469e-01 9.06256862e-01 -4.14694209e-02 1.23325557e+01] [-2.51169413e-01 1.60274671e-01 9.54581561e-01 1.52462550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05907232899995 meters Centerline goodness : 0.758458 Centerline is valid? [False, False] Translation: X:-281.81, Y:12.35, Z:152.48 [[ 8.71028459e-01 -3.89270684e-01 2.99629368e-01 -2.81808798e+02] [ 4.21572517e-01 9.05460690e-01 -4.91686041e-02 1.23480291e+01] [-2.52162718e-01 1.69142760e-01 9.52787852e-01 1.52478964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.089072329 meters Centerline goodness : 0.758458 Centerline is valid? [False, False] Translation: X:-281.85, Y:12.36, Z:152.50 [[ 8.70735382e-01 -3.90761049e-01 2.98539271e-01 -2.81850511e+02] [ 4.22324912e-01 9.05229836e-01 -4.69106896e-02 1.23626486e+01] [-2.51915785e-01 1.66927368e-01 9.53243773e-01 1.52495433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11907232899995 meters Centerline goodness : 0.760440 Centerline is valid? [False, False] Translation: X:-281.89, Y:12.38, Z:152.51 [[ 8.69082433e-01 -3.94257506e-01 2.98758670e-01 -2.81893688e+02] [ 4.25863547e-01 9.03597173e-01 -4.63938318e-02 1.23773111e+01] [-2.51666373e-01 1.67550491e-01 9.53200330e-01 1.52512381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.149072329 meters Centerline goodness : 0.757300 Centerline is valid? [False, False] Translation: X:-281.93, Y:12.39, Z:152.53 [[ 8.68171576e-01 -3.97252386e-01 2.97436811e-01 -2.81933218e+02] [ 4.28301048e-01 9.02527841e-01 -4.47404518e-02 1.23888663e+01] [-2.50671752e-01 1.66234887e-01 9.53692631e-01 1.52526776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17907232899995 meters Centerline goodness : 0.757471 Centerline is valid? [False, False] Translation: X:-281.99, Y:12.41, Z:152.55 [[ 8.69715771e-01 -3.93792991e-01 2.97525726e-01 -2.81990902e+02] [ 4.26199461e-01 9.03225410e-01 -5.03773481e-02 1.24107693e+01] [-2.48894550e-01 1.70619278e-01 9.53383745e-01 1.52545010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.209072329 meters Centerline goodness : 0.759310 Centerline is valid? [False, False] Translation: X:-282.03, Y:12.43, Z:152.56 [[ 8.68238565e-01 -3.97073039e-01 2.97480750e-01 -2.82033945e+02] [ 4.29336559e-01 9.01793815e-01 -4.93764628e-02 1.24262990e+01] [-2.48660238e-01 1.70589911e-01 9.53450139e-01 1.52561964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.23907232899995 meters Centerline goodness : 0.758837 Centerline is valid? [False, False] Translation: X:-282.08, Y:12.44, Z:152.58 [[ 8.67374210e-01 -3.99456629e-01 2.96810346e-01 -2.82077737e+02] [ 4.30978041e-01 9.01155688e-01 -4.66514196e-02 1.24416696e+01] [-2.48837112e-01 1.68382980e-01 9.53796238e-01 1.52578818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.269072329 meters Centerline goodness : 0.758534 Centerline is valid? [False, False] Translation: X:-282.12, Y:12.46, Z:152.60 [[ 8.66308420e-01 -4.02167839e-01 2.96261286e-01 -2.82120574e+02] [ 4.33230574e-01 9.00165436e-01 -4.48715588e-02 1.24551602e+01] [-2.48638272e-01 1.67222056e-01 9.54052301e-01 1.52595155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.29907232899996 meters Centerline goodness : 0.757489 Centerline is valid? [False, False] Translation: X:-282.16, Y:12.47, Z:152.61 [[ 8.66993596e-01 -4.02582348e-01 2.93682749e-01 -2.82157709e+02] [ 4.32625058e-01 9.00563498e-01 -4.26725321e-02 1.24680636e+01] [-2.47300755e-01 1.64051328e-01 9.54949998e-01 1.52608816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.329072329 meters Centerline goodness : 0.755604 Centerline is valid? [False, False] Translation: X:-282.21, Y:12.49, Z:152.63 [[ 8.68407433e-01 -4.00038958e-01 2.92980140e-01 -2.82214372e+02] [ 4.31672082e-01 9.00658978e-01 -4.97254374e-02 1.24890730e+01] [-2.43983081e-01 1.69653286e-01 9.54824601e-01 1.52626010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.35907232899996 meters Centerline goodness : 0.755178 Centerline is valid? [False, False] Translation: X:-282.25, Y:12.50, Z:152.64 [[ 8.67544118e-01 -4.02809635e-01 2.91738927e-01 -2.82254978e+02] [ 4.33936165e-01 8.99651789e-01 -4.82292792e-02 1.25024899e+01] [-2.43036229e-01 1.68437098e-01 9.55281286e-01 1.52640433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.389072329 meters Centerline goodness : 0.756460 Centerline is valid? [False, False] Translation: X:-282.31, Y:12.52, Z:152.66 [[ 8.70281914e-01 -3.98402738e-01 2.89628467e-01 -2.82308033e+02] [ 4.30673736e-01 9.00833752e-01 -5.49425604e-02 1.25242576e+01] [-2.39017832e-01 1.72550890e-01 9.55560917e-01 1.52658009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.41907232899996 meters Centerline goodness : 0.755403 Centerline is valid? [False, False] Translation: X:-282.35, Y:12.54, Z:152.67 [[ 8.70222945e-01 -3.99340754e-01 2.88511677e-01 -2.82351311e+02] [ 4.30533351e-01 9.01114075e-01 -5.13269593e-02 1.25398975e+01] [-2.39484987e-01 1.68879797e-01 9.56099658e-01 1.52674235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.449072329 meters Centerline goodness : 0.754129 Centerline is valid? [False, False] Translation: X:-282.39, Y:12.56, Z:152.69 [[ 8.71405440e-01 -3.98453672e-01 2.86159449e-01 -2.82392144e+02] [ 4.28296246e-01 9.02375784e-01 -4.77521677e-02 1.25565485e+01] [-2.39196331e-01 1.64172516e-01 9.56991379e-01 1.52690380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47907232899996 meters Centerline goodness : 0.755283 Centerline is valid? [False, False] Translation: X:-282.43, Y:12.57, Z:152.71 [[ 8.71343091e-01 -3.99341872e-01 2.85109255e-01 -2.82432810e+02] [ 4.28752080e-01 9.02217578e-01 -4.66379303e-02 1.25718496e+01] [-2.38606103e-01 1.62878825e-01 9.57359711e-01 1.52706714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.509072329 meters Centerline goodness : 0.760452 Centerline is valid? [False, False] Translation: X:-282.48, Y:12.59, Z:152.72 [[ 8.72644989e-01 -3.92723851e-01 2.90273492e-01 -2.82476074e+02] [ 4.23973982e-01 9.04224784e-01 -5.12211148e-02 1.25875135e+01] [-2.42356732e-01 1.67766258e-01 9.55571921e-01 1.52722590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53907232899996 meters Centerline goodness : 0.761916 Centerline is valid? [False, False] Translation: X:-282.51, Y:12.60, Z:152.74 [[ 8.74104279e-01 -3.87187304e-01 2.93304793e-01 -2.82514725e+02] [ 4.19555999e-01 9.06108926e-01 -5.42160340e-02 1.26016464e+01] [-2.44774331e-01 1.70448253e-01 9.54480445e-01 1.52735262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.569072329 meters Centerline goodness : 0.761158 Centerline is valid? [False, False] Translation: X:-282.56, Y:12.62, Z:152.75 [[ 8.75352329e-01 -3.82239359e-01 2.96059744e-01 -2.82559369e+02] [ 4.14969933e-01 9.08210278e-01 -5.43511346e-02 1.26180271e+01] [-2.48109359e-01 1.70432285e-01 9.53621823e-01 1.52749671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59907232899997 meters Centerline goodness : 0.761393 Centerline is valid? [False, False] Translation: X:-282.60, Y:12.64, Z:152.77 [[ 8.76784713e-01 -3.80852800e-01 2.93597873e-01 -2.82599912e+02] [ 4.11997652e-01 9.09802160e-01 -5.01793252e-02 1.26361853e+01] [-2.48005042e-01 1.64958099e-01 9.54611085e-01 1.52766764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.629072329 meters Centerline goodness : 0.759730 Centerline is valid? [False, False] Translation: X:-282.64, Y:12.65, Z:152.78 [[ 8.80480106e-01 -3.71422091e-01 2.94619098e-01 -2.82641634e+02] [ 4.02203974e-01 9.14212793e-01 -4.94664828e-02 1.26542877e+01] [-2.50971604e-01 1.62051226e-01 9.54333618e-01 1.52779690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65907232899997 meters Centerline goodness : 0.757888 Centerline is valid? [False, False] Translation: X:-282.69, Y:12.67, Z:152.79 [[ 8.83184344e-01 -3.63311377e-01 2.96631520e-01 -2.82685758e+02] [ 3.93907997e-01 9.17862851e-01 -4.86238259e-02 1.26726155e+01] [-2.54601463e-01 1.59789329e-01 9.53753357e-01 1.52792736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.689072329 meters Centerline goodness : 0.760375 Centerline is valid? [False, False] Translation: X:-282.72, Y:12.69, Z:152.81 [[ 8.84231531e-01 -3.61853244e-01 2.95291092e-01 -2.82723265e+02] [ 3.91583951e-01 9.18968731e-01 -4.64594458e-02 1.26885947e+01] [-2.54551779e-01 1.56712159e-01 9.54277051e-01 1.52807516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71907232899997 meters Centerline goodness : 0.758639 Centerline is valid? [False, False] Translation: X:-282.77, Y:12.71, Z:152.82 [[ 8.85709000e-01 -3.56398392e-01 2.97489082e-01 -2.82765148e+02] [ 3.86437439e-01 9.21116510e-01 -4.70157558e-02 1.27055910e+01] [-2.57265765e-01 1.56603197e-01 9.53566864e-01 1.52820811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74907232899994 meters Centerline goodness : 0.758474 Centerline is valid? [False, False] Translation: X:-282.80, Y:12.72, Z:152.83 [[ 8.88114112e-01 -3.49136854e-01 2.98926045e-01 -2.82797523e+02] [ 3.79795463e-01 9.23746826e-01 -4.94692575e-02 1.27182234e+01] [-2.58860444e-01 1.57465101e-01 9.52993186e-01 1.52832147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.779072329 meters Centerline goodness : 0.761828 Centerline is valid? [False, False] Translation: X:-282.84, Y:12.74, Z:152.85 [[ 8.90901545e-01 -3.39425026e-01 3.01803062e-01 -2.82837262e+02] [ 3.70644580e-01 9.27365303e-01 -5.11487107e-02 1.27382990e+01] [-2.62520535e-01 1.57430135e-01 9.51997228e-01 1.52845817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.80907232899995 meters Centerline goodness : 0.763036 Centerline is valid? [False, False] Translation: X:-282.87, Y:12.75, Z:152.86 [[ 8.92751372e-01 -3.32489948e-01 3.04048387e-01 -2.82871227e+02] [ 3.64519374e-01 9.29646180e-01 -5.36992176e-02 1.27515234e+01] [-2.64802972e-01 1.58771578e-01 9.51141931e-01 1.52857604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.839072329 meters Centerline goodness : 0.763008 Centerline is valid? [False, False] Translation: X:-282.90, Y:12.76, Z:152.87 [[ 8.95041371e-01 -3.24686165e-01 3.05744727e-01 -2.82901751e+02] [ 3.57574850e-01 9.32151301e-01 -5.68698380e-02 1.27641687e+01] [-2.66535496e-01 1.60227483e-01 9.50413585e-01 1.52868375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.86907232899995 meters Centerline goodness : 0.760971 Centerline is valid? [False, False] Translation: X:-282.94, Y:12.78, Z:152.88 [[ 8.98171179e-01 -3.14747017e-01 3.06957405e-01 -2.82941485e+02] [ 3.47114937e-01 9.36163878e-01 -5.57531561e-02 1.27829113e+01] [-2.69814295e-01 1.56625378e-01 9.50088805e-01 1.52881856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.899072329 meters Centerline goodness : 0.759699 Centerline is valid? [False, False] Translation: X:-282.97, Y:12.80, Z:152.90 [[ 9.00200659e-01 -3.14707648e-01 3.00994801e-01 -2.82972588e+02] [ 3.45303225e-01 9.36991335e-01 -5.30369691e-02 1.27988654e+01] [-2.65338381e-01 1.51678390e-01 9.52149783e-01 1.52896305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.92907232899995 meters Centerline goodness : 0.761115 Centerline is valid? [False, False] Translation: X:-283.01, Y:12.82, Z:152.91 [[ 9.02087439e-01 -3.10404575e-01 2.99812029e-01 -2.83009409e+02] [ 3.40279764e-01 9.38897547e-01 -5.17791333e-02 1.28172827e+01] [-2.65420299e-01 1.48729272e-01 9.52592079e-01 1.52912602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.959072329 meters Centerline goodness : 0.761571 Centerline is valid? [False, False] Translation: X:-283.04, Y:12.83, Z:152.93 [[ 9.02859823e-01 -3.11527344e-01 2.96301963e-01 -2.83044806e+02] [ 3.40521507e-01 9.38880866e-01 -5.04759585e-02 1.28332039e+01] [-2.62467603e-01 1.46469906e-01 9.53759574e-01 1.52928573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.98907232899995 meters Centerline goodness : 0.761280 Centerline is valid? [False, False] Translation: X:-283.08, Y:12.85, Z:152.94 [[ 9.03398566e-01 -3.13283075e-01 2.92787885e-01 -2.83076039e+02] [ 3.41942481e-01 9.38333300e-01 -5.10485783e-02 1.28462402e+01] [-2.58739967e-01 1.46233828e-01 9.54813750e-01 1.52942197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.019072329 meters Centerline goodness : 0.762950 Centerline is valid? [False, False] Translation: X:-283.12, Y:12.86, Z:152.96 [[ 9.03463341e-01 -3.13030789e-01 2.92857844e-01 -2.83118540e+02] [ 3.41160838e-01 9.38722065e-01 -4.90934519e-02 1.28621186e+01] [-2.59544358e-01 1.44265762e-01 9.54894819e-01 1.52959582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.04907232899996 meters Centerline goodness : 0.762837 Centerline is valid? [False, False] Translation: X:-283.15, Y:12.88, Z:152.97 [[ 9.04382810e-01 -3.13655272e-01 2.89330440e-01 -2.83152759e+02] [ 3.40655978e-01 9.39020066e-01 -4.68489134e-02 1.28769424e+01] [-2.56992680e-01 1.40931496e-01 9.56082149e-01 1.52972798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.079072329 meters Centerline goodness : 0.763190 Centerline is valid? [False, False] Translation: X:-283.19, Y:12.89, Z:152.99 [[ 9.04398382e-01 -3.15139291e-01 2.87664376e-01 -2.83191001e+02] [ 3.41413171e-01 9.38841676e-01 -4.48704141e-02 1.28916687e+01] [-2.55930875e-01 1.38793137e-01 9.56679598e-01 1.52987408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.10907232899996 meters Centerline goodness : 0.763003 Centerline is valid? [False, False] Translation: X:-283.23, Y:12.91, Z:153.00 [[ 9.03554419e-01 -3.18753204e-01 2.86331638e-01 -2.83229826e+02] [ 3.44592391e-01 9.37745099e-01 -4.34765875e-02 1.29055838e+01] [-2.54647789e-01 1.37951167e-01 9.57143657e-01 1.53000436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.139072329 meters Centerline goodness : 0.762263 Centerline is valid? [False, False] Translation: X:-283.28, Y:12.92, Z:153.02 [[ 9.04878764e-01 -3.16628762e-01 2.84500702e-01 -2.83278596e+02] [ 3.44410749e-01 9.37366366e-01 -5.22066226e-02 1.29242000e+01] [-2.50151271e-01 1.45225764e-01 9.57253268e-01 1.53015960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.16907232899996 meters Centerline goodness : 0.764739 Centerline is valid? [False, False] Translation: X:-283.32, Y:12.94, Z:153.03 [[ 9.03857326e-01 -3.19788044e-01 2.84213902e-01 -2.83320736e+02] [ 3.47171264e-01 9.36445536e-01 -5.04169713e-02 1.29373868e+01] [-2.50028095e-01 1.44240648e-01 9.57434377e-01 1.53031087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.199072329 meters Centerline goodness : 0.766045 Centerline is valid? [False, False] Translation: X:-283.36, Y:12.95, Z:153.05 [[ 9.03288696e-01 -3.21135323e-01 2.84502437e-01 -2.83360649e+02] [ 3.48449440e-01 9.36004037e-01 -4.97938837e-02 1.29495751e+01] [-2.50304855e-01 1.44112967e-01 9.57381289e-01 1.53045495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22907232899996 meters Centerline goodness : 0.765458 Centerline is valid? [False, False] Translation: X:-283.40, Y:12.96, Z:153.06 [[ 9.03417904e-01 -3.21968431e-01 2.83147348e-01 -2.83396724e+02] [ 3.48992136e-01 9.35824110e-01 -4.93733171e-02 1.29628937e+01] [-2.49079465e-01 1.43420937e-01 9.57804706e-01 1.53058918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.259072329 meters Centerline goodness : 0.764631 Centerline is valid? [False, False] Translation: X:-283.44, Y:12.98, Z:153.07 [[ 9.02369340e-01 -3.25558544e-01 2.82384860e-01 -2.83438274e+02] [ 3.52076636e-01 9.34770996e-01 -4.73838347e-02 1.29772346e+01] [-2.48538965e-01 1.42178831e-01 9.58130243e-01 1.53073216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28907232899996 meters Centerline goodness : 0.763607 Centerline is valid? [False, False] Translation: X:-283.48, Y:12.99, Z:153.09 [[ 9.01738175e-01 -3.28384765e-01 2.81125791e-01 -2.83475307e+02] [ 3.54772124e-01 9.33758774e-01 -4.72365488e-02 1.29892349e+01] [-2.46991911e-01 1.42330593e-01 9.58507693e-01 1.53086252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.319072329 meters Centerline goodness : 0.764021 Centerline is valid? [False, False] Translation: X:-283.51, Y:13.00, Z:153.10 [[ 9.00216515e-01 -3.32617425e-01 2.81026467e-01 -2.83514076e+02] [ 3.59401400e-01 9.31934505e-01 -4.82567374e-02 1.30015228e+01] [-2.45847230e-01 1.44442818e-01 9.58486000e-01 1.53099609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34907232899997 meters Centerline goodness : 0.763856 Centerline is valid? [False, False] Translation: X:-283.56, Y:13.01, Z:153.11 [[ 8.99084309e-01 -3.36057017e-01 2.80558528e-01 -2.83555486e+02] [ 3.62190797e-01 9.30991312e-01 -4.55302478e-02 1.30136132e+01] [-2.45896793e-01 1.42551248e-01 9.58756439e-01 1.53112732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.379072329 meters Centerline goodness : 0.761217 Centerline is valid? [False, False] Translation: X:-283.59, Y:13.03, Z:153.13 [[ 8.98388796e-01 -3.38660008e-01 2.79655091e-01 -2.83593284e+02] [ 3.64604116e-01 9.30075985e-01 -4.49722246e-02 1.30257470e+01] [-2.44870190e-01 1.42365940e-01 9.59046677e-01 1.53126218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40907232899997 meters Centerline goodness : 0.760978 Centerline is valid? [False, False] Translation: X:-283.63, Y:13.04, Z:153.14 [[ 8.98292069e-01 -3.40511118e-01 2.77711246e-01 -2.83629131e+02] [ 3.65997399e-01 9.29571026e-01 -4.40864078e-02 1.30380375e+01] [-2.43140416e-01 1.41244064e-01 9.59652464e-01 1.53138453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.439072329 meters Centerline goodness : 0.762445 Centerline is valid? [False, False] Translation: X:-283.67, Y:13.05, Z:153.15 [[ 8.96335420e-01 -3.45478693e-01 2.77897980e-01 -2.83669881e+02] [ 3.71274167e-01 9.27455719e-01 -4.45127255e-02 1.30501248e+01] [-2.42359873e-01 1.43074674e-01 9.59578725e-01 1.53151997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46907232899997 meters Centerline goodness : 0.761423 Centerline is valid? [False, False] Translation: X:-283.71, Y:13.06, Z:153.17 [[ 8.95120353e-01 -3.47874112e-01 2.78824596e-01 -2.83711639e+02] [ 3.73676009e-01 9.26532032e-01 -4.36421060e-02 1.30609687e+01] [-2.43157961e-01 1.43254999e-01 9.59349890e-01 1.53165761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49907232899994 meters Centerline goodness : 0.762224 Centerline is valid? [False, False] Translation: X:-283.75, Y:13.08, Z:153.18 [[ 8.94682074e-01 -3.49672217e-01 2.77980804e-01 -2.83750103e+02] [ 3.75314293e-01 9.25886769e-01 -4.32766968e-02 1.30755031e+01] [-2.42246090e-01 1.43049054e-01 9.59611276e-01 1.53179901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.529072329 meters Centerline goodness : 0.761080 Centerline is valid? [False, False] Translation: X:-283.79, Y:13.09, Z:153.19 [[ 8.93312493e-01 -3.53246448e-01 2.77866401e-01 -2.83791524e+02] [ 3.78760998e-01 9.24525217e-01 -4.23465443e-02 1.30897909e+01] [-2.41935728e-01 1.43073652e-01 9.59685903e-01 1.53193963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55907232899995 meters Centerline goodness : 0.761245 Centerline is valid? [False, False] Translation: X:-283.83, Y:13.10, Z:153.21 [[ 8.92722381e-01 -3.54987208e-01 2.77544290e-01 -2.83831511e+02] [ 3.80248615e-01 9.23961866e-01 -4.12972146e-02 1.31022623e+01] [-2.41780357e-01 1.42402780e-01 9.59824832e-01 1.53207968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.589072329 meters Centerline goodness : 0.763950 Centerline is valid? [False, False] Translation: X:-283.87, Y:13.12, Z:153.22 [[ 8.91466780e-01 -3.57551984e-01 2.78286828e-01 -2.83874954e+02] [ 3.82762837e-01 9.22967797e-01 -4.02871640e-02 1.31170055e+01] [-2.42445025e-01 1.42432524e-01 9.59652742e-01 1.53224038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61907232899995 meters Centerline goodness : 0.767718 Centerline is valid? [False, False] Translation: X:-283.92, Y:13.13, Z:153.24 [[ 8.89029087e-01 -3.61957099e-01 2.80382491e-01 -2.83920944e+02] [ 3.87639634e-01 9.20931888e-01 -4.02488581e-02 1.31310654e+01] [-2.43644817e-01 1.44469772e-01 9.59044153e-01 1.53240519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.649072329 meters Centerline goodness : 0.765966 Centerline is valid? [False, False] Translation: X:-283.98, Y:13.15, Z:153.26 [[ 8.89520159e-01 -3.61051751e-01 2.79991998e-01 -2.83975064e+02] [ 3.88898761e-01 9.19965328e-01 -4.92092454e-02 1.31511353e+01] [-2.39815846e-01 1.52661157e-01 9.58740284e-01 1.53256899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67907232899995 meters Centerline goodness : 0.765676 Centerline is valid? [False, False] Translation: X:-284.02, Y:13.16, Z:153.27 [[ 8.88218880e-01 -3.64823138e-01 2.79233414e-01 -2.84015175e+02] [ 3.92390480e-01 9.18541653e-01 -4.80722695e-02 1.31632330e+01] [-2.38949645e-01 1.52267231e-01 9.59019164e-01 1.53269677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.709072329 meters Centerline goodness : 0.765662 Centerline is valid? [False, False] Translation: X:-284.07, Y:13.18, Z:153.28 [[ 8.88126197e-01 -3.66135696e-01 2.77806608e-01 -2.84069912e+02] [ 3.95245791e-01 9.16920556e-01 -5.51131448e-02 1.31807015e+01] [-2.34547700e-01 1.58749320e-01 9.59054759e-01 1.53284061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.73907232899995 meters Centerline goodness : 0.764838 Centerline is valid? [False, False] Translation: X:-284.11, Y:13.19, Z:153.30 [[ 8.86206412e-01 -3.70405791e-01 2.78276385e-01 -2.84112830e+02] [ 3.99548056e-01 9.15099797e-01 -5.43480734e-02 1.31942502e+01] [-2.34519822e-01 1.59348400e-01 9.58962221e-01 1.53298708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.769072329 meters Centerline goodness : 0.766114 Centerline is valid? [False, False] Translation: X:-284.16, Y:13.21, Z:153.31 [[ 8.83281683e-01 -3.76413337e-01 2.79511123e-01 -2.84161367e+02] [ 4.05509777e-01 9.12582472e-01 -5.24885908e-02 1.32080683e+01] [-2.35319546e-01 1.59706704e-01 9.58706670e-01 1.53314885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.79907232899996 meters Centerline goodness : 0.766272 Centerline is valid? [False, False] Translation: X:-284.20, Y:13.22, Z:153.33 [[ 8.82407427e-01 -3.78904384e-01 2.78906078e-01 -2.84201190e+02] [ 4.07738027e-01 9.11645258e-01 -5.15036417e-02 1.32210605e+01] [-2.34748447e-01 1.59167810e-01 9.58936273e-01 1.53328580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.829072329 meters Centerline goodness : 0.765186 Centerline is valid? [False, False] Translation: X:-284.25, Y:13.24, Z:153.34 [[ 8.80819614e-01 -3.82361960e-01 2.79206265e-01 -2.84245186e+02] [ 4.11124169e-01 9.10177683e-01 -5.05322063e-02 1.32353258e+01] [-2.34805718e-01 1.59298202e-01 9.58900598e-01 1.53344476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.85907232899996 meters Centerline goodness : 0.766830 Centerline is valid? [False, False] Translation: X:-284.29, Y:13.25, Z:153.36 [[ 8.79436795e-01 -3.85442274e-01 2.79329873e-01 -2.84287840e+02] [ 4.14155930e-01 9.08841091e-01 -4.98270626e-02 1.32501177e+01] [-2.34661010e-01 1.59505876e-01 9.58901500e-01 1.53359368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.889072329 meters Centerline goodness : 0.768162 Centerline is valid? [False, False] Translation: X:-284.34, Y:13.26, Z:153.38 [[ 8.76161705e-01 -3.92056995e-01 2.80413941e-01 -2.84335838e+02] [ 4.21177752e-01 9.05608925e-01 -4.98174350e-02 1.32648566e+01] [-2.34414094e-01 1.61752242e-01 9.58585544e-01 1.53376050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.91907232899996 meters Centerline goodness : 0.767351 Centerline is valid? [False, False] Translation: X:-284.38, Y:13.28, Z:153.39 [[ 8.74476672e-01 -3.95821014e-01 2.80385940e-01 -2.84379395e+02] [ 4.24873201e-01 9.03923660e-01 -4.90385615e-02 1.32786883e+01] [-2.34036992e-01 1.62011550e-01 9.58633895e-01 1.53391740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.949072329 meters Centerline goodness : 0.766447 Centerline is valid? [False, False] Translation: X:-284.43, Y:13.30, Z:153.41 [[ 8.75913849e-01 -3.93281798e-01 2.79471566e-01 -2.84434860e+02] [ 4.23941858e-01 9.03913316e-01 -5.66923180e-02 1.32992990e+01] [-2.30322013e-01 1.68137281e-01 9.58478808e-01 1.53409641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97907232899996 meters Centerline goodness : 0.767627 Centerline is valid? [False, False] Translation: X:-284.48, Y:13.32, Z:153.43 [[ 8.77307278e-01 -3.91921439e-01 2.77000950e-01 -2.84475866e+02] [ 4.21077308e-01 9.05507466e-01 -5.24416905e-02 1.33163329e+01] [-2.30273405e-01 1.62646291e-01 9.59437514e-01 1.53425085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.009072329 meters Centerline goodness : 0.767627 Centerline is valid? [False, False] Translation: X:-284.52, Y:13.33, Z:153.44 [[ 8.76994381e-01 -3.93202058e-01 2.76175664e-01 -2.84519199e+02] [ 4.21665589e-01 9.05372794e-01 -4.99823429e-02 1.33319631e+01] [-2.30388773e-01 1.60288008e-01 9.59806630e-01 1.53441096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03907232899996 meters Centerline goodness : 0.766581 Centerline is valid? [False, False] Translation: X:-284.56, Y:13.35, Z:153.46 [[ 8.77645601e-01 -3.92570435e-01 2.75003005e-01 -2.84560079e+02] [ 4.20261962e-01 9.06148959e-01 -4.76859218e-02 1.33484031e+01] [-2.30473604e-01 1.57424642e-01 9.60260069e-01 1.53456834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.069072329 meters Centerline goodness : 0.768510 Centerline is valid? [False, False] Translation: X:-284.61, Y:13.37, Z:153.47 [[ 8.80161461e-01 -3.84949424e-01 2.77722421e-01 -2.84605144e+02] [ 4.12970000e-01 9.09469349e-01 -4.81796786e-02 1.33669628e+01] [-2.34033290e-01 1.57096924e-01 9.59452435e-01 1.53469730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09907232899997 meters Centerline goodness : 0.771019 Centerline is valid? [False, False] Translation: X:-284.64, Y:13.38, Z:153.48 [[ 8.80912851e-01 -3.84315744e-01 2.76213609e-01 -2.84643120e+02] [ 4.11755057e-01 9.10085857e-01 -4.69202000e-02 1.33826023e+01] [-2.33345928e-01 1.55064958e-01 9.59950278e-01 1.53484039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.129072329 meters Centerline goodness : 0.772905 Centerline is valid? [False, False] Translation: X:-284.68, Y:13.39, Z:153.49 [[ 8.82027095e-01 -3.79620223e-01 2.79135611e-01 -2.84675993e+02] [ 4.08790571e-01 9.11109880e-01 -5.26218221e-02 1.33935580e+01] [-2.34346905e-01 1.60521879e-01 9.58808768e-01 1.53494444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15907232899997 meters Centerline goodness : 0.774100 Centerline is valid? [False, False] Translation: X:-284.72, Y:13.41, Z:153.51 [[ 8.82383573e-01 -3.75633555e-01 2.83370186e-01 -2.84723211e+02] [ 4.05825710e-01 9.12335349e-01 -5.43111808e-02 1.34111496e+01] [-2.38127536e-01 1.62922201e-01 9.57471479e-01 1.53510067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.189072329 meters Centerline goodness : 0.776651 Centerline is valid? [False, False] Translation: X:-284.76, Y:13.42, Z:153.52 [[ 8.84528023e-01 -3.68650792e-01 2.85843961e-01 -2.84758671e+02] [ 3.99850481e-01 9.14772536e-01 -5.75395608e-02 1.34248793e+01] [-2.40270200e-01 1.65190199e-01 9.56547139e-01 1.53521250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21907232899997 meters Centerline goodness : 0.776579 Centerline is valid? [False, False] Translation: X:-284.80, Y:13.44, Z:153.54 [[ 8.85307279e-01 -3.67163645e-01 2.85345195e-01 -2.84798624e+02] [ 3.97671474e-01 9.15857254e-01 -5.53433651e-02 1.34421602e+01] [-2.41015396e-01 1.62469529e-01 9.56825601e-01 1.53537529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24907232899994 meters Centerline goodness : 0.776184 Centerline is valid? [False, False] Translation: X:-284.84, Y:13.46, Z:153.55 [[ 8.88071775e-01 -3.58467546e-01 2.87801218e-01 -2.84843125e+02] [ 3.88807803e-01 9.19723364e-01 -5.41980304e-02 1.34615612e+01] [-2.45269270e-01 1.60031101e-01 9.56155339e-01 1.53551622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.279072329 meters Centerline goodness : 0.777432 Centerline is valid? [False, False] Translation: X:-284.89, Y:13.48, Z:153.57 [[ 8.88770769e-01 -3.54006533e-01 2.91145829e-01 -2.84887278e+02] [ 3.85004155e-01 9.21267866e-01 -5.51118839e-02 1.34791792e+01] [-2.48713330e-01 1.61074185e-01 9.55089936e-01 1.53565838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.30907232899995 meters Centerline goodness : 0.777434 Centerline is valid? [False, False] Translation: X:-284.93, Y:13.50, Z:153.58 [[ 8.89277936e-01 -3.49722458e-01 2.94752363e-01 -2.84931654e+02] [ 3.81486453e-01 9.22663107e-01 -5.62216872e-02 1.34956344e+01] [-2.52295144e-01 1.62440739e-01 9.53918323e-01 1.53579804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.339072329 meters Centerline goodness : 0.778193 Centerline is valid? [False, False] Translation: X:-284.97, Y:13.51, Z:153.59 [[ 8.90634380e-01 -3.43651972e-01 2.97781334e-01 -2.84968565e+02] [ 3.76860071e-01 9.24293741e-01 -6.04778308e-02 1.35100636e+01] [-2.54454097e-01 1.66085530e-01 9.52716489e-01 1.53592986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.36907232899995 meters Centerline goodness : 0.777954 Centerline is valid? [False, False] Translation: X:-285.01, Y:13.52, Z:153.61 [[ 8.90555971e-01 -3.44820508e-01 2.96662906e-01 -2.85008366e+02] [ 3.77312778e-01 9.24243768e-01 -5.83825665e-02 1.35249086e+01] [-2.54057336e-01 1.63927648e-01 9.53195990e-01 1.53608285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.399072329 meters Centerline goodness : 0.775974 Centerline is valid? [False, False] Translation: X:-285.04, Y:13.54, Z:153.62 [[ 8.91674131e-01 -3.44161141e-01 2.94058417e-01 -2.85043686e+02] [ 3.75436834e-01 9.25177251e-01 -5.56258684e-02 1.35382253e+01] [-2.52911895e-01 1.60000509e-01 9.54167391e-01 1.53621410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.42907232899995 meters Centerline goodness : 0.775099 Centerline is valid? [False, False] Translation: X:-285.08, Y:13.55, Z:153.63 [[ 8.93281057e-01 -3.43507606e-01 2.89916329e-01 -2.85077329e+02] [ 3.73603585e-01 9.26018721e-01 -5.39415366e-02 1.35529671e+01] [-2.49938620e-01 1.56498733e-01 9.55530655e-01 1.53634870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.459072329 meters Centerline goodness : 0.775478 Centerline is valid? [False, False] Translation: X:-285.11, Y:13.57, Z:153.65 [[ 8.93458668e-01 -3.44517994e-01 2.88164815e-01 -2.85114760e+02] [ 3.74080048e-01 9.25887167e-01 -5.28873468e-02 1.35687194e+01] [-2.48587462e-01 1.55049366e-01 9.56119223e-01 1.53649629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.48907232899995 meters Centerline goodness : 0.776971 Centerline is valid? [False, False] Translation: X:-285.15, Y:13.58, Z:153.66 [[ 8.93826814e-01 -3.44884082e-01 2.86580875e-01 -2.85151852e+02] [ 3.73964671e-01 9.25983969e-01 -5.20010943e-02 1.35845984e+01] [-2.47434946e-01 1.53651095e-01 9.56643763e-01 1.53663864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.519072329 meters Centerline goodness : 0.776765 Centerline is valid? [False, False] Translation: X:-285.19, Y:13.60, Z:153.68 [[ 8.93999399e-01 -3.41681076e-01 2.89860512e-01 -2.85194198e+02] [ 3.71753387e-01 9.26751289e-01 -5.41430303e-02 1.35989910e+01] [-2.50128954e-01 1.56160464e-01 9.55536193e-01 1.53676840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.54907232899996 meters Centerline goodness : 0.779296 Centerline is valid? [False, False] Translation: X:-285.22, Y:13.61, Z:153.69 [[ 8.96981206e-01 -3.32841420e-01 2.90931787e-01 -2.85223752e+02] [ 3.63281566e-01 9.29989613e-01 -5.60876304e-02 1.36116760e+01] [-2.51895253e-01 1.55999706e-01 9.55098358e-01 1.53686594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.579072329 meters Centerline goodness : 0.781386 Centerline is valid? [False, False] Translation: X:-285.26, Y:13.63, Z:153.70 [[ 8.99902977e-01 -3.22250788e-01 2.93818075e-01 -2.85263422e+02] [ 3.52816007e-01 9.34002507e-01 -5.62155048e-02 1.36307583e+01] [-2.56311328e-01 1.54252220e-01 9.54206873e-01 1.53700970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.60907232899996 meters Centerline goodness : 0.781275 Centerline is valid? [False, False] Translation: X:-285.30, Y:13.65, Z:153.72 [[ 9.00693860e-01 -3.19609129e-01 2.94279756e-01 -2.85301067e+02] [ 3.49890625e-01 9.35159927e-01 -5.52490883e-02 1.36460527e+01] [-2.57540522e-01 1.52728242e-01 9.54121042e-01 1.53715679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.639072329 meters Centerline goodness : 0.783579 Centerline is valid? [False, False] Translation: X:-285.34, Y:13.66, Z:153.73 [[ 9.03467015e-01 -3.09437738e-01 2.96640589e-01 -2.85337374e+02] [ 3.39860984e-01 9.38820012e-01 -5.57807938e-02 1.36623542e+01] [-2.61231439e-01 1.51212670e-01 9.53358728e-01 1.53729313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.66907232899996 meters Centerline goodness : 0.784325 Centerline is valid? [False, False] Translation: X:-285.37, Y:13.68, Z:153.74 [[ 9.05370873e-01 -3.07524797e-01 2.92800413e-01 -2.85370297e+02] [ 3.36603412e-01 9.40130793e-01 -5.34063262e-02 1.36800191e+01] [-2.58846915e-01 1.46910150e-01 9.54680932e-01 1.53744506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.699072329 meters Centerline goodness : 0.786516 Centerline is valid? [False, False] Translation: X:-285.40, Y:13.69, Z:153.76 [[ 9.06851558e-01 -3.07987714e-01 2.87687017e-01 -2.85400707e+02] [ 3.35929866e-01 9.40444027e-01 -5.21167612e-02 1.36947419e+01] [-2.54502215e-01 1.43904827e-01 9.56305403e-01 1.53757478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72907232899996 meters Centerline goodness : 0.784644 Centerline is valid? [False, False] Translation: X:-285.43, Y:13.71, Z:153.77 [[ 9.08609580e-01 -3.06791119e-01 2.83386378e-01 -2.85432474e+02] [ 3.33490352e-01 9.41422323e-01 -5.00818737e-02 1.37104563e+01] [-2.51421589e-01 1.40011493e-01 9.57697221e-01 1.53769670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.759072329 meters Centerline goodness : 0.784286 Centerline is valid? [False, False] Translation: X:-285.47, Y:13.72, Z:153.78 [[ 9.09911069e-01 -3.00966157e-01 2.85449153e-01 -2.85468767e+02] [ 3.28157840e-01 9.43214515e-01 -5.15636597e-02 1.37241289e+01] [-2.53720868e-01 1.40590722e-01 9.57005731e-01 1.53780787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78907232899996 meters Centerline goodness : 0.783920 Centerline is valid? [False, False] Translation: X:-285.50, Y:13.74, Z:153.79 [[ 9.11713983e-01 -2.99450108e-01 2.81260105e-01 -2.85500241e+02] [ 3.25436359e-01 9.44263149e-01 -4.95810702e-02 1.37384174e+01] [-2.50736495e-01 1.36736019e-01 9.58349869e-01 1.53793496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.819072329 meters Centerline goodness : 0.786346 Centerline is valid? [False, False] Translation: X:-285.53, Y:13.75, Z:153.80 [[ 9.14251913e-01 -2.90837337e-01 2.82058652e-01 -2.85528401e+02] [ 3.17133610e-01 9.46982268e-01 -5.14864832e-02 1.37507485e+01] [-2.52130351e-01 1.36521894e-01 9.58014644e-01 1.53803368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84907232899997 meters Centerline goodness : 0.785737 Centerline is valid? [False, False] Translation: X:-285.55, Y:13.77, Z:153.82 [[ 9.18676949e-01 -2.82792378e-01 2.75791829e-01 -2.85553065e+02] [ 3.07196770e-01 9.50395589e-01 -4.87685321e-02 1.37693698e+01] [-2.48319969e-01 1.29524886e-01 9.59979425e-01 1.53815858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.879072329 meters Centerline goodness : 0.783455 Centerline is valid? [False, False] Translation: X:-285.58, Y:13.78, Z:153.83 [[ 9.21051267e-01 -2.82030667e-01 2.68557751e-01 -2.85576452e+02] [ 3.05256862e-01 9.51051888e-01 -4.81513637e-02 1.37837084e+01] [-2.41832195e-01 1.26328971e-01 9.62059343e-01 1.53825849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90907232899997 meters Centerline goodness : 0.781658 Centerline is valid? [False, False] Translation: X:-285.60, Y:13.80, Z:153.84 [[ 9.23807439e-01 -2.78241209e-01 2.62986019e-01 -2.85604009e+02] [ 3.00310695e-01 9.52684109e-01 -4.69731269e-02 1.37991967e+01] [-2.37472741e-01 1.22371638e-01 9.63655478e-01 1.53836952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.939072329 meters Centerline goodness : 0.782667 Centerline is valid? [False, False] Translation: X:-285.63, Y:13.81, Z:153.85 [[ 9.26155882e-01 -2.76707426e-01 2.56258235e-01 -2.85628600e+02] [ 2.97704519e-01 9.53533467e-01 -4.63243663e-02 1.38130620e+01] [-2.31532507e-01 1.19192819e-01 9.65497680e-01 1.53847017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96907232899997 meters Centerline goodness : 0.782962 Centerline is valid? [False, False] Translation: X:-285.65, Y:13.83, Z:153.86 [[ 9.27650938e-01 -2.77276505e-01 2.50162899e-01 -2.85654365e+02] [ 2.97641316e-01 9.53528277e-01 -4.68345124e-02 1.38260951e+01] [-2.25551289e-01 1.17904894e-01 9.67070345e-01 1.53857020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99907232899994 meters Centerline goodness : 0.781967 Centerline is valid? [False, False] Translation: X:-285.68, Y:13.84, Z:153.87 [[ 9.29240754e-01 -2.76765707e-01 2.44770024e-01 -2.85682720e+02] [ 2.96215233e-01 9.54021633e-01 -4.58176797e-02 1.38400954e+01] [-2.20835135e-01 1.15080265e-01 9.68498000e-01 1.53867064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.029072329 meters Centerline goodness : 0.781592 Centerline is valid? [False, False] Translation: X:-285.71, Y:13.85, Z:153.88 [[ 9.30317450e-01 -2.74776153e-01 2.42914610e-01 -2.85714679e+02] [ 2.94400445e-01 9.54485010e-01 -4.78198995e-02 1.38547356e+01] [-2.18718586e-01 1.16001856e-01 9.68868283e-01 1.53879200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05907232899995 meters Centerline goodness : 0.781879 Centerline is valid? [False, False] Translation: X:-285.75, Y:13.87, Z:153.89 [[ 9.30394390e-01 -2.75312420e-01 2.42011055e-01 -2.85748605e+02] [ 2.95058726e-01 9.54232352e-01 -4.87951459e-02 1.38688439e+01] [-2.17500869e-01 1.16806204e-01 9.69045759e-01 1.53891187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.089072329 meters Centerline goodness : 0.783306 Centerline is valid? [False, False] Translation: X:-285.78, Y:13.88, Z:153.90 [[ 9.30790143e-01 -2.75165994e-01 2.40652001e-01 -2.85782168e+02] [ 2.94753032e-01 9.54324050e-01 -4.88493410e-02 1.38822555e+01] [-2.16218315e-01 1.16401392e-01 9.69381430e-01 1.53902216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11907232899995 meters Centerline goodness : 0.782198 Centerline is valid? [False, False] Translation: X:-285.82, Y:13.90, Z:153.92 [[ 9.30895158e-01 -2.74703132e-01 2.40774572e-01 -2.85819970e+02] [ 2.94248074e-01 9.54490266e-01 -4.86456782e-02 1.38984683e+01] [-2.16453865e-01 1.16131480e-01 9.69361235e-01 1.53915618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.149072329 meters Centerline goodness : 0.783155 Centerline is valid? [False, False] Translation: X:-285.85, Y:13.91, Z:153.92 [[ 9.32208046e-01 -2.75443281e-01 2.34774697e-01 -2.85846976e+02] [ 2.94140863e-01 9.54554801e-01 -4.80238001e-02 1.39106656e+01] [-2.10877481e-01 1.13825005e-01 9.70862790e-01 1.53924818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17907232899995 meters Centerline goodness : 0.781967 Centerline is valid? [False, False] Translation: X:-285.88, Y:13.92, Z:153.94 [[ 9.33361903e-01 -2.75649679e-01 2.29897396e-01 -2.85877692e+02] [ 2.93564675e-01 9.54780546e-01 -4.70520021e-02 1.39244414e+01] [-2.06531692e-01 1.11406300e-01 9.72076796e-01 1.53936187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.209072329 meters Centerline goodness : 0.782046 Centerline is valid? [False, False] Translation: X:-285.90, Y:13.94, Z:153.95 [[ 9.35071412e-01 -2.75016139e-01 2.23623739e-01 -2.85904733e+02] [ 2.91762764e-01 9.55432277e-01 -4.49850425e-02 1.39381150e+01] [-2.01285726e-01 1.07309307e-01 9.73636877e-01 1.53945155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.23907232899995 meters Centerline goodness : 0.781446 Centerline is valid? [False, False] Translation: X:-285.93, Y:13.95, Z:153.95 [[ 9.36446896e-01 -2.75208233e-01 2.17549164e-01 -2.85931643e+02] [ 2.91130671e-01 9.55660174e-01 -4.42330605e-02 1.39509121e+01] [-1.95729769e-01 1.04757146e-01 9.75046562e-01 1.53953710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.269072329 meters Centerline goodness : 0.780956 Centerline is valid? [False, False] Translation: X:-285.96, Y:13.96, Z:153.96 [[ 9.37233676e-01 -2.74667136e-01 2.14827841e-01 -2.85964867e+02] [ 2.90118012e-01 9.56005965e-01 -4.34066181e-02 1.39643355e+01] [-1.93454326e-01 1.03007570e-01 9.75686868e-01 1.53962528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.29907232899996 meters Centerline goodness : 0.780263 Centerline is valid? [False, False] Translation: X:-286.00, Y:13.98, Z:153.97 [[ 9.37925702e-01 -2.73759758e-01 2.12957676e-01 -2.85996213e+02] [ 2.89170825e-01 9.56251132e-01 -4.43171173e-02 1.39757214e+01] [-1.91508776e-01 1.03147310e-01 9.76055849e-01 1.53969480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.329072329 meters Centerline goodness : 0.779140 Centerline is valid? [False, False] Translation: X:-286.03, Y:13.99, Z:153.98 [[ 9.38043206e-01 -2.73488031e-01 2.12789192e-01 -2.86030822e+02] [ 2.88992945e-01 9.56276981e-01 -4.49156254e-02 1.39872587e+01] [-1.91201520e-01 1.03627373e-01 9.76065237e-01 1.53977424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.35907232899996 meters Centerline goodness : 0.780687 Centerline is valid? [False, False] Translation: X:-286.06, Y:14.00, Z:153.99 [[ 9.38368951e-01 -2.73087039e-01 2.11865951e-01 -2.86064733e+02] [ 2.88484296e-01 9.56430591e-01 -4.49147562e-02 1.40000499e+01] [-1.90369439e-01 1.03266612e-01 9.76266093e-01 1.53985973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.389072329 meters Centerline goodness : 0.779309 Centerline is valid? [False, False] Translation: X:-286.10, Y:14.01, Z:154.00 [[ 9.38028774e-01 -2.73553398e-01 2.12768791e-01 -2.86101964e+02] [ 2.89177807e-01 9.56192001e-01 -4.55307970e-02 1.40136100e+01] [-1.90992711e-01 1.04237210e-01 9.76041182e-01 1.53995472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.41907232899996 meters Centerline goodness : 0.779676 Centerline is valid? [False, False] Translation: X:-286.14, Y:14.02, Z:154.00 [[ 9.39025926e-01 -2.68960561e-01 2.14220744e-01 -2.86136406e+02] [ 2.84595724e-01 9.57579495e-01 -4.52413957e-02 1.40249170e+01] [-1.92965241e-01 1.03449151e-01 9.75736998e-01 1.54002916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.449072329 meters Centerline goodness : 0.779993 Centerline is valid? [False, False] Translation: X:-286.17, Y:14.04, Z:154.01 [[ 9.39598804e-01 -2.66864891e-01 2.14329693e-01 -2.86170272e+02] [ 2.82540223e-01 9.58171276e-01 -4.55941627e-02 1.40382383e+01] [-1.93197074e-01 1.03396980e-01 9.75696651e-01 1.54012264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47907232899996 meters Centerline goodness : 0.780753 Centerline is valid? [False, False] Translation: X:-286.20, Y:14.05, Z:154.02 [[ 9.40998004e-01 -2.64425811e-01 2.11191259e-01 -2.86202625e+02] [ 2.79403106e-01 9.59165832e-01 -4.39864874e-02 1.40532234e+01] [-1.90936277e-01 1.00398690e-01 9.76454526e-01 1.54022361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.509072329 meters Centerline goodness : 0.781221 Centerline is valid? [False, False] Translation: X:-286.23, Y:14.06, Z:154.03 [[ 9.42270018e-01 -2.64467567e-01 2.05387727e-01 -2.86228269e+02] [ 2.79044947e-01 9.59220685e-01 -4.50510226e-02 1.40649056e+01] [-1.85097622e-01 9.97626355e-02 9.77643231e-01 1.54030536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53907232899996 meters Centerline goodness : 0.782438 Centerline is valid? [False, False] Translation: X:-286.26, Y:14.08, Z:154.04 [[ 9.42684538e-01 -2.65154304e-01 2.02580991e-01 -2.86260168e+02] [ 2.79460752e-01 9.59097784e-01 -4.50902363e-02 1.40782150e+01] [-1.82339109e-01 9.91193046e-02 9.78226872e-01 1.54039464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.569072329 meters Centerline goodness : 0.781599 Centerline is valid? [False, False] Translation: X:-286.30, Y:14.09, Z:154.05 [[ 9.42817613e-01 -2.66239111e-01 2.00528513e-01 -2.86295896e+02] [ 2.80076661e-01 9.58987427e-01 -4.35910529e-02 1.40914010e+01] [-1.80698679e-01 9.72617686e-02 9.78717598e-01 1.54048520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59907232899997 meters Centerline goodness : 0.781287 Centerline is valid? [False, False] Translation: X:-286.33, Y:14.10, Z:154.06 [[ 9.43320641e-01 -2.66891029e-01 1.97269732e-01 -2.86326301e+02] [ 2.80517384e-01 9.58831921e-01 -4.41740341e-02 1.41020252e+01] [-1.77358862e-01 9.70078672e-02 9.79353515e-01 1.54055730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.629072329 meters Centerline goodness : 0.781000 Centerline is valid? [False, False] Translation: X:-286.36, Y:14.11, Z:154.06 [[ 9.42981809e-01 -2.67596366e-01 1.97933051e-01 -2.86362782e+02] [ 2.81373451e-01 9.58562657e-01 -4.45714467e-02 1.41123627e+01] [-1.77804074e-01 9.77231691e-02 9.79201661e-01 1.54063151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65907232899997 meters Centerline goodness : 0.782018 Centerline is valid? [False, False] Translation: X:-286.40, Y:14.12, Z:154.07 [[ 9.42774148e-01 -2.68069528e-01 1.98281706e-01 -2.86399862e+02] [ 2.81772887e-01 9.58474992e-01 -4.39286890e-02 1.41242849e+01] [-1.78272114e-01 9.72852412e-02 9.79160168e-01 1.54071341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.689072329 meters Centerline goodness : 0.781470 Centerline is valid? [False, False] Translation: X:-286.43, Y:14.14, Z:154.08 [[ 9.43009115e-01 -2.67556890e-01 1.97856313e-01 -2.86433941e+02] [ 2.81184323e-01 9.58653989e-01 -4.37938983e-02 1.41366067e+01] [-1.77958384e-01 9.69321385e-02 9.79252252e-01 1.54079142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71907232899997 meters Centerline goodness : 0.783240 Centerline is valid? [False, False] Translation: X:-286.47, Y:14.15, Z:154.09 [[ 9.43149811e-01 -2.67473680e-01 1.97297400e-01 -2.86468349e+02] [ 2.81061548e-01 9.58685449e-01 -4.38932332e-02 1.41488027e+01] [-1.77405862e-01 9.68506072e-02 9.79360567e-01 1.54087197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74907232899994 meters Centerline goodness : 0.782820 Centerline is valid? [False, False] Translation: X:-286.51, Y:14.16, Z:154.10 [[ 9.43030314e-01 -2.67928266e-01 1.97251795e-01 -2.86505130e+02] [ 2.81466665e-01 9.58579784e-01 -4.36040549e-02 1.41621020e+01] [-1.77398824e-01 9.66397506e-02 9.79382671e-01 1.54096935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.779072329 meters Centerline goodness : 0.784834 Centerline is valid? [False, False] Translation: X:-286.54, Y:14.17, Z:154.10 [[ 9.43022591e-01 -2.66720658e-01 1.98918281e-01 -2.86540541e+02] [ 2.80594574e-01 9.58788050e-01 -4.46336176e-02 1.41733624e+01] [-1.78815763e-01 9.79059000e-02 9.78999161e-01 1.54103830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.80907232899995 meters Centerline goodness : 0.782320 Centerline is valid? [False, False] Translation: X:-286.57, Y:14.18, Z:154.11 [[ 9.43630152e-01 -2.62907763e-01 2.01101078e-01 -2.86568644e+02] [ 2.78057203e-01 9.59225719e-01 -5.06972554e-02 1.41830570e+01] [-1.79572625e-01 1.03757062e-01 9.78257709e-01 1.54110401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.839072329 meters Centerline goodness : 0.781660 Centerline is valid? [False, False] Translation: X:-286.61, Y:14.19, Z:154.12 [[ 9.42993935e-01 -2.63960604e-01 2.02699872e-01 -2.86609578e+02] [ 2.79063592e-01 9.59000199e-01 -4.94179026e-02 1.41949900e+01] [-1.81344838e-01 1.03166937e-01 9.77993166e-01 1.54120207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.86907232899995 meters Centerline goodness : 0.782825 Centerline is valid? [False, False] Translation: X:-286.64, Y:14.21, Z:154.13 [[ 9.43440607e-01 -2.65497398e-01 1.98572284e-01 -2.86639837e+02] [ 2.80115034e-01 9.58713540e-01 -4.90297410e-02 1.42073474e+01] [-1.77356669e-01 1.01879731e-01 9.78859097e-01 1.54128006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.899072329 meters Centerline goodness : 0.782825 Centerline is valid? [False, False] Translation: X:-286.67, Y:14.22, Z:154.14 [[ 9.43783313e-01 -2.66319297e-01 1.95824129e-01 -2.86672271e+02] [ 2.80479559e-01 9.58658261e-01 -4.80162130e-02 1.42196654e+01] [-1.74940775e-01 1.00241566e-01 9.79462788e-01 1.54136068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.92907232899995 meters Centerline goodness : 0.781703 Centerline is valid? [False, False] Translation: X:-286.71, Y:14.23, Z:154.14 [[ 9.43581797e-01 -2.67958031e-01 1.94555612e-01 -2.86706928e+02] [ 2.81832215e-01 9.58311775e-01 -4.70015349e-02 1.42299735e+01] [-1.73850495e-01 9.91818318e-02 9.79764752e-01 1.54143890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.959072329 meters Centerline goodness : 0.781510 Centerline is valid? [False, False] Translation: X:-286.74, Y:14.24, Z:154.15 [[ 9.43669917e-01 -2.69583422e-01 1.91864190e-01 -2.86740090e+02] [ 2.83040249e-01 9.58001941e-01 -4.60488605e-02 1.42400057e+01] [-1.71392257e-01 9.77602124e-02 9.80340571e-01 1.54150907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.98907232899995 meters Centerline goodness : 0.781226 Centerline is valid? [False, False] Translation: X:-286.77, Y:14.25, Z:154.16 [[ 9.43325084e-01 -2.71680069e-01 1.90598338e-01 -2.86774731e+02] [ 2.84905299e-01 9.57486071e-01 -4.52702414e-02 1.42516780e+01] [-1.70196231e-01 9.70070306e-02 9.80623719e-01 1.54158735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.019072329 meters Centerline goodness : 0.782540 Centerline is valid? [False, False] Translation: X:-286.81, Y:14.26, Z:154.17 [[ 9.42171517e-01 -2.74863637e-01 1.91736315e-01 -2.86814314e+02] [ 2.88305906e-01 9.56452870e-01 -4.55808193e-02 1.42627467e+01] [-1.70858239e-01 9.82236617e-02 9.80387461e-01 1.54167306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.04907232899996 meters Centerline goodness : 0.783708 Centerline is valid? [False, False] Translation: X:-286.85, Y:14.27, Z:154.17 [[ 9.42005887e-01 -2.75509065e-01 1.91623755e-01 -2.86849270e+02] [ 2.88832395e-01 9.56325860e-01 -4.49076551e-02 1.42736232e+01] [-1.70882286e-01 9.76504235e-02 9.80440533e-01 1.54174536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.079072329 meters Centerline goodness : 0.782820 Centerline is valid? [False, False] Translation: X:-286.88, Y:14.28, Z:154.18 [[ 9.42101594e-01 -2.75719292e-01 1.90849309e-01 -2.86883120e+02] [ 2.88941390e-01 9.56300012e-01 -4.47566851e-02 1.42844632e+01] [-1.70168915e-01 9.73096089e-02 9.80598481e-01 1.54181102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.10907232899996 meters Centerline goodness : 0.783338 Centerline is valid? [False, False] Translation: X:-286.92, Y:14.30, Z:154.19 [[ 9.42159389e-01 -2.77025005e-01 1.88660627e-01 -2.86917508e+02] [ 2.89838687e-01 9.56084464e-01 -4.35434611e-02 1.42968800e+01] [-1.68312867e-01 9.57060291e-02 9.81076518e-01 1.54188636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.139072329 meters Centerline goodness : 0.783291 Centerline is valid? [False, False] Translation: X:-286.95, Y:14.31, Z:154.20 [[ 9.41938462e-01 -2.78079766e-01 1.88211523e-01 -2.86952563e+02] [ 2.90870352e-01 9.55769551e-01 -4.35775596e-02 1.43094753e+01] [-1.67768806e-01 9.57925315e-02 9.81161260e-01 1.54196539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.16907232899996 meters Centerline goodness : 0.784468 Centerline is valid? [False, False] Translation: X:-286.99, Y:14.32, Z:154.20 [[ 9.41517726e-01 -2.79968553e-01 1.87515280e-01 -2.86987052e+02] [ 2.92881637e-01 9.55110652e-01 -4.45419994e-02 1.43221829e+01] [-1.66627482e-01 9.68568643e-02 9.81251257e-01 1.54204744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.199072329 meters Centerline goodness : 0.784674 Centerline is valid? [False, False] Translation: X:-287.02, Y:14.33, Z:154.21 [[ 9.41126530e-01 -2.80815085e-01 1.88211960e-01 -2.87023825e+02] [ 2.93855296e-01 9.54799193e-01 -4.48058605e-02 1.43338001e+01] [-1.67122466e-01 9.74750653e-02 9.81105852e-01 1.54212474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22907232899996 meters Centerline goodness : 0.783875 Centerline is valid? [False, False] Translation: X:-287.06, Y:14.35, Z:154.22 [[ 9.40602057e-01 -2.81804087e-01 1.89352125e-01 -2.87060824e+02] [ 2.95103924e-01 9.54378103e-01 -4.55643531e-02 1.43450218e+01] [-1.67873301e-01 9.87364791e-02 9.80851499e-01 1.54220219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.259072329 meters Centerline goodness : 0.784616 Centerline is valid? [False, False] Translation: X:-287.10, Y:14.35, Z:154.23 [[ 9.39858918e-01 -2.83198113e-01 1.90955606e-01 -2.87098288e+02] [ 2.97052872e-01 9.53668301e-01 -4.77112339e-02 1.43543146e+01] [-1.68596577e-01 1.01565740e-01 9.80438471e-01 1.54226857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28907232899996 meters Centerline goodness : 0.783844 Centerline is valid? [False, False] Translation: X:-287.13, Y:14.37, Z:154.23 [[ 9.39395415e-01 -2.85077598e-01 1.90439011e-01 -2.87134183e+02] [ 2.98879904e-01 9.53104764e-01 -4.75616565e-02 1.43653348e+01] [-1.67949566e-01 1.01597595e-01 9.80546211e-01 1.54234413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.319072329 meters Centerline goodness : 0.782710 Centerline is valid? [False, False] Translation: X:-287.17, Y:14.37, Z:154.24 [[ 9.37869884e-01 -2.89729194e-01 1.90937359e-01 -2.87171276e+02] [ 3.03920572e-01 9.51429661e-01 -4.91313101e-02 1.43742545e+01] [-1.67428692e-01 1.04108568e-01 9.80371888e-01 1.54241631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34907232899997 meters Centerline goodness : 0.783409 Centerline is valid? [False, False] Translation: X:-287.21, Y:14.39, Z:154.25 [[ 9.36962293e-01 -2.92585836e-01 1.91037141e-01 -2.87208317e+02] [ 3.06852536e-01 9.50481042e-01 -4.92677282e-02 1.43851245e+01] [-1.67162142e-01 1.04782235e-01 9.80345603e-01 1.54250105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.379072329 meters Centerline goodness : 0.785150 Centerline is valid? [False, False] Translation: X:-287.25, Y:14.40, Z:154.26 [[ 9.35865036e-01 -2.96022318e-01 1.91121482e-01 -2.87245449e+02] [ 3.10288446e-01 9.49382937e-01 -4.89195157e-02 1.43963435e+01] [-1.66966205e-01 1.05084852e-01 9.80346602e-01 1.54258144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40907232899997 meters Centerline goodness : 0.784248 Centerline is valid? [False, False] Translation: X:-287.28, Y:14.41, Z:154.27 [[ 9.34754460e-01 -2.99844273e-01 1.90597773e-01 -2.87283108e+02] [ 3.13830882e-01 9.48300789e-01 -4.72841618e-02 1.44067167e+01] [-1.66566133e-01 1.04014548e-01 9.80528784e-01 1.54265160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.439072329 meters Centerline goodness : 0.782584 Centerline is valid? [False, False] Translation: X:-287.32, Y:14.42, Z:154.27 [[ 9.34257332e-01 -3.02666457e-01 1.88563660e-01 -2.87316679e+02] [ 3.16377994e-01 9.47482678e-01 -4.67069547e-02 1.44175313e+01] [-1.64524173e-01 1.03293707e-01 9.80949645e-01 1.54272287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46907232899997 meters Centerline goodness : 0.783011 Centerline is valid? [False, False] Translation: X:-287.36, Y:14.43, Z:154.28 [[ 9.32179817e-01 -3.08927617e-01 1.88691589e-01 -2.87355036e+02] [ 3.22748421e-01 9.45329562e-01 -4.67490686e-02 1.44287092e+01] [-1.63933659e-01 1.04478451e-01 9.80923039e-01 1.54279257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49907232899994 meters Centerline goodness : 0.783233 Centerline is valid? [False, False] Translation: X:-287.39, Y:14.44, Z:154.29 [[ 9.30996922e-01 -3.12574002e-01 1.88526457e-01 -2.87391441e+02] [ 3.26623197e-01 9.43939010e-01 -4.79211093e-02 1.44401924e+01] [-1.62978585e-01 1.06191519e-01 9.80898232e-01 1.54287845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.529072329 meters Centerline goodness : 0.784355 Centerline is valid? [False, False] Translation: X:-287.43, Y:14.45, Z:154.30 [[ 9.30087181e-01 -3.14847429e-01 1.89232484e-01 -2.87429022e+02] [ 3.29059803e-01 9.43075920e-01 -4.82437030e-02 1.44517329e+01] [-1.63271193e-01 1.07139654e-01 9.80746457e-01 1.54295911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55907232899995 meters Centerline goodness : 0.784769 Centerline is valid? [False, False] Translation: X:-287.47, Y:14.46, Z:154.30 [[ 9.29057868e-01 -3.17922665e-01 1.89147185e-01 -2.87466145e+02] [ 3.32219760e-01 9.41951509e-01 -4.85529170e-02 1.44635299e+01] [-1.62731404e-01 1.07946902e-01 9.80747652e-01 1.54304917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.589072329 meters Centerline goodness : 0.784314 Centerline is valid? [False, False] Translation: X:-287.51, Y:14.48, Z:154.31 [[ 9.26852144e-01 -3.23826964e-01 1.89950521e-01 -2.87506707e+02] [ 3.38313124e-01 9.39775009e-01 -4.86534916e-02 1.44754462e+01] [-1.62755440e-01 1.09357347e-01 9.80587394e-01 1.54313554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61907232899995 meters Centerline goodness : 0.783286 Centerline is valid? [False, False] Translation: X:-287.54, Y:14.49, Z:154.32 [[ 9.26173952e-01 -3.26462487e-01 1.88743356e-01 -2.87542258e+02] [ 3.40873824e-01 9.38841259e-01 -4.88070385e-02 1.44882499e+01] [-1.61266382e-01 1.09541477e-01 9.80812836e-01 1.54321939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.649072329 meters Centerline goodness : 0.784661 Centerline is valid? [False, False] Translation: X:-287.58, Y:14.50, Z:154.33 [[ 9.25657717e-01 -3.28741583e-01 1.87314607e-01 -2.87577930e+02] [ 3.42917658e-01 9.38129826e-01 -4.81654490e-02 1.45005278e+01] [-1.59891434e-01 1.08818206e-01 9.81118406e-01 1.54330026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67907232899995 meters Centerline goodness : 0.784059 Centerline is valid? [False, False] Translation: X:-287.62, Y:14.51, Z:154.34 [[ 9.24650812e-01 -3.31915935e-01 1.86688747e-01 -2.87616215e+02] [ 3.45878498e-01 9.37100363e-01 -4.70210003e-02 1.45129521e+01] [-1.59339073e-01 1.08049630e-01 9.81293196e-01 1.54338365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.709072329 meters Centerline goodness : 0.785206 Centerline is valid? [False, False] Translation: X:-287.65, Y:14.53, Z:154.35 [[ 9.24319415e-01 -3.33752586e-01 1.85048182e-01 -2.87650611e+02] [ 3.47649029e-01 9.36415931e-01 -4.75957586e-02 1.45261781e+01] [-1.57396858e-01 1.08325504e-01 9.81576189e-01 1.54346668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.73907232899995 meters Centerline goodness : 0.784452 Centerline is valid? [False, False] Translation: X:-287.69, Y:14.54, Z:154.35 [[ 9.25139629e-01 -3.30327336e-01 1.87084252e-01 -2.87687743e+02] [ 3.44684493e-01 9.37422642e-01 -4.93091207e-02 1.45362019e+01] [-1.59088863e-01 1.10102862e-01 9.81105546e-01 1.54352445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.769072329 meters Centerline goodness : 0.783266 Centerline is valid? [False, False] Translation: X:-287.72, Y:14.55, Z:154.36 [[ 9.24997975e-01 -3.31886880e-01 1.85013096e-01 -2.87721149e+02] [ 3.46182616e-01 9.36819509e-01 -5.02673301e-02 1.45498233e+01] [-1.56640810e-01 1.10545496e-01 9.81449617e-01 1.54360979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.79907232899996 meters Centerline goodness : 0.782428 Centerline is valid? [False, False] Translation: X:-287.75, Y:14.56, Z:154.37 [[ 9.25126514e-01 -3.32777054e-01 1.82757666e-01 -2.87754344e+02] [ 3.46932015e-01 9.36506339e-01 -5.09318447e-02 1.45632484e+01] [-1.54204763e-01 1.10522885e-01 9.81837860e-01 1.54369454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.829072329 meters Centerline goodness : 0.783862 Centerline is valid? [False, False] Translation: X:-287.79, Y:14.58, Z:154.38 [[ 9.24612460e-01 -3.34555866e-01 1.82110326e-01 -2.87790283e+02] [ 3.48783383e-01 9.35774629e-01 -5.17300185e-02 1.45767796e+01] [-1.53107642e-01 1.11347275e-01 9.81916409e-01 1.54378261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.85907232899996 meters Centerline goodness : 0.784462 Centerline is valid? [False, False] Translation: X:-287.83, Y:14.59, Z:154.39 [[ 9.24966050e-01 -3.31218480e-01 1.86365566e-01 -2.87830103e+02] [ 3.46399339e-01 9.36480390e-01 -5.48814758e-02 1.45895038e+01] [-1.56349939e-01 1.15320411e-01 9.80946430e-01 1.54385698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.889072329 meters Centerline goodness : 0.785652 Centerline is valid? [False, False] Translation: X:-287.87, Y:14.60, Z:154.39 [[ 9.24553250e-01 -3.32463586e-01 1.86196810e-01 -2.87865827e+02] [ 3.47783425e-01 9.35913832e-01 -5.57852003e-02 1.46040173e+01] [-1.55717622e-01 1.16332553e-01 9.80927500e-01 1.54394751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.91907232899996 meters Centerline goodness : 0.784993 Centerline is valid? [False, False] Translation: X:-287.90, Y:14.62, Z:154.40 [[ 9.24917488e-01 -3.30387588e-01 1.88073610e-01 -2.87901382e+02] [ 3.46206252e-01 9.36385580e-01 -5.76478738e-02 1.46166737e+01] [-1.57063274e-01 1.18431786e-01 9.80461646e-01 1.54401621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.949072329 meters Centerline goodness : 0.787509 Centerline is valid? [False, False] Translation: X:-287.94, Y:14.63, Z:154.41 [[ 9.25234890e-01 -3.29344666e-01 1.88341419e-01 -2.87940236e+02] [ 3.44815719e-01 9.37036150e-01 -5.53658107e-02 1.46331793e+01] [-1.58248284e-01 1.16169461e-01 9.80541757e-01 1.54411856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97907232899996 meters Centerline goodness : 0.787619 Centerline is valid? [False, False] Translation: X:-287.98, Y:14.65, Z:154.42 [[ 9.24564820e-01 -3.31542635e-01 1.87774801e-01 -2.87978688e+02] [ 3.46713970e-01 9.36429474e-01 -5.37518582e-02 1.46485019e+01] [-1.58016825e-01 1.14801224e-01 9.80740211e-01 1.54420871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.009072329 meters Centerline goodness : 0.788307 Centerline is valid? [False, False] Translation: X:-288.02, Y:14.66, Z:154.43 [[ 9.24488999e-01 -3.33039933e-01 1.85484484e-01 -2.88016192e+02] [ 3.47451487e-01 9.36333757e-01 -5.05624270e-02 1.46629954e+01] [-1.56836077e-01 1.11191267e-01 9.81345478e-01 1.54428575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03907232899996 meters Centerline goodness : 0.788117 Centerline is valid? [False, False] Translation: X:-288.05, Y:14.68, Z:154.44 [[ 9.24760328e-01 -3.33959727e-01 1.82453382e-01 -2.88049239e+02] [ 3.47978784e-01 9.36157772e-01 -5.01935363e-02 1.46762279e+01] [-1.54042532e-01 1.09906897e-01 9.81932468e-01 1.54436562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.069072329 meters Centerline goodness : 0.786313 Centerline is valid? [False, False] Translation: X:-288.09, Y:14.69, Z:154.45 [[ 9.24579403e-01 -3.34966490e-01 1.81522387e-01 -2.88085810e+02] [ 3.48840380e-01 9.35854921e-01 -4.98593703e-02 1.46890048e+01] [-1.53177401e-01 1.09421285e-01 9.82122022e-01 1.54445106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09907232899997 meters Centerline goodness : 0.785826 Centerline is valid? [False, False] Translation: X:-288.12, Y:14.70, Z:154.45 [[ 9.26766448e-01 -3.27497558e-01 1.83981793e-01 -2.88120519e+02] [ 3.41933489e-01 9.38271064e-01 -5.22388768e-02 1.47021044e+01] [-1.55516688e-01 1.11322775e-01 9.81540524e-01 1.54451484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.129072329 meters Centerline goodness : 0.785526 Centerline is valid? [False, False] Translation: X:-288.15, Y:14.71, Z:154.46 [[ 9.27738621e-01 -3.23738949e-01 1.85725994e-01 -2.88151567e+02] [ 3.39178237e-01 9.38959295e-01 -5.75635877e-02 1.47133967e+01] [-1.55753573e-01 1.16398178e-01 9.80914007e-01 1.54457632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15907232899997 meters Centerline goodness : 0.784914 Centerline is valid? [False, False] Translation: X:-288.19, Y:14.73, Z:154.47 [[ 9.27500593e-01 -3.24415542e-01 1.85734233e-01 -2.88187445e+02] [ 3.39933756e-01 9.38658967e-01 -5.80033213e-02 1.47256510e+01] [-1.55523924e-01 1.16935450e-01 9.80886543e-01 1.54465194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.189072329 meters Centerline goodness : 0.785864 Centerline is valid? [False, False] Translation: X:-288.23, Y:14.74, Z:154.47 [[ 9.27506138e-01 -3.24192180e-01 1.86096199e-01 -2.88225492e+02] [ 3.39758481e-01 9.38719666e-01 -5.80479416e-02 1.47388226e+01] [-1.55873473e-01 1.17067584e-01 9.80815294e-01 1.54474165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21907232899997 meters Centerline goodness : 0.785557 Centerline is valid? [False, False] Translation: X:-288.26, Y:14.75, Z:154.48 [[ 9.27429308e-01 -3.25093442e-01 1.84903035e-01 -2.88259750e+02] [ 3.40599021e-01 9.38386473e-01 -5.85075642e-02 1.47521585e+01] [-1.54490082e-01 1.17239423e-01 9.81013625e-01 1.54482931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24907232899994 meters Centerline goodness : 0.785008 Centerline is valid? [False, False] Translation: X:-288.30, Y:14.77, Z:154.49 [[ 9.26633427e-01 -3.27649243e-01 1.84381301e-01 -2.88297006e+02] [ 3.43038211e-01 9.37530645e-01 -5.79747892e-02 1.47653489e+01] [-1.53867725e-01 1.16971210e-01 9.81143445e-01 1.54492110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.279072329 meters Centerline goodness : 0.784106 Centerline is valid? [False, False] Translation: X:-288.33, Y:14.78, Z:154.50 [[ 9.25464754e-01 -3.31308013e-01 1.83711703e-01 -2.88334629e+02] [ 3.46544517e-01 9.36285394e-01 -5.72412235e-02 1.47777259e+01] [-1.53042108e-01 1.16639018e-01 9.81312108e-01 1.54500360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.30907232899995 meters Centerline goodness : 0.785779 Centerline is valid? [False, False] Translation: X:-288.37, Y:14.79, Z:154.51 [[ 9.26352810e-01 -3.30970401e-01 1.79802850e-01 -2.88366112e+02] [ 3.45753564e-01 9.36570816e-01 -5.73548594e-02 1.47923494e+01] [-1.49415341e-01 1.15298312e-01 9.82029203e-01 1.54509370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.339072329 meters Centerline goodness : 0.786757 Centerline is valid? [False, False] Translation: X:-288.40, Y:14.80, Z:154.52 [[ 9.26937153e-01 -3.29176833e-01 1.80083666e-01 -2.88398658e+02] [ 3.44396716e-01 9.36896214e-01 -6.01363925e-02 1.48048754e+01] [-1.48924198e-01 1.17762880e-01 9.81811330e-01 1.54515660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.36907232899995 meters Centerline goodness : 0.788410 Centerline is valid? [False, False] Translation: X:-288.44, Y:14.82, Z:154.52 [[ 9.26462790e-01 -3.29656639e-01 1.81640302e-01 -2.88439454e+02] [ 3.44844001e-01 9.36825506e-01 -5.86565183e-02 1.48195236e+01] [-1.50828757e-01 1.16980650e-01 9.81614086e-01 1.54524803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.399072329 meters Centerline goodness : 0.786420 Centerline is valid? [False, False] Translation: X:-288.48, Y:14.83, Z:154.53 [[ 9.25704755e-01 -3.31868986e-01 1.81476397e-01 -2.88475302e+02] [ 3.47164574e-01 9.35925501e-01 -5.93314051e-02 1.48333037e+01] [-1.50158135e-01 1.17925540e-01 9.81603841e-01 1.54533473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.42907232899995 meters Centerline goodness : 0.786558 Centerline is valid? [False, False] Translation: X:-288.51, Y:14.85, Z:154.54 [[ 9.24706289e-01 -3.35048386e-01 1.80723152e-01 -2.88512092e+02] [ 3.50280227e-01 9.34766830e-01 -5.92852128e-02 1.48455842e+01] [-1.49070593e-01 1.18125156e-01 9.81745591e-01 1.54541574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.459072329 meters Centerline goodness : 0.786925 Centerline is valid? [False, False] Translation: X:-288.55, Y:14.86, Z:154.55 [[ 9.23907894e-01 -3.37912114e-01 1.79470353e-01 -2.88550475e+02] [ 3.52724203e-01 9.33970962e-01 -5.73051367e-02 1.48609267e+01] [-1.48255998e-01 1.16248205e-01 9.82092925e-01 1.54549586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.48907232899995 meters Centerline goodness : 0.790852 Centerline is valid? [False, False] Translation: X:-288.57, Y:14.87, Z:154.55 [[ 9.22675710e-01 -3.39488950e-01 1.82802590e-01 -2.88566955e+02] [ 3.54018852e-01 9.33748054e-01 -5.27752297e-02 1.48653034e+01] [-1.52774956e-01 1.13409986e-01 9.81732137e-01 1.54551206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.519072329 meters Centerline goodness : 0.788007 Centerline is valid? [False, False] Translation: X:-288.60, Y:14.88, Z:154.56 [[ 9.23069142e-01 -3.36603243e-01 1.86122583e-01 -2.88604465e+02] [ 3.51969168e-01 9.34346127e-01 -5.58123663e-02 1.48780541e+01] [-1.55116291e-01 1.17028084e-01 9.80940041e-01 1.54557300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.54907232899996 meters Centerline goodness : 0.787756 Centerline is valid? [False, False] Translation: X:-288.64, Y:14.89, Z:154.57 [[ 9.22745568e-01 -3.36700442e-01 1.87545802e-01 -2.88642213e+02] [ 3.52516431e-01 9.34034372e-01 -5.75496146e-02 1.48920283e+01] [-1.55797245e-01 1.19216629e-01 9.80568516e-01 1.54566718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.579072329 meters Centerline goodness : 0.786184 Centerline is valid? [False, False] Translation: X:-288.68, Y:14.91, Z:154.58 [[ 9.22015547e-01 -3.37839739e-01 1.89081047e-01 -2.88682087e+02] [ 3.54006850e-01 9.33413259e-01 -5.84708407e-02 1.49052301e+01] [-1.56736983e-01 1.20847010e-01 9.80219118e-01 1.54576712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.60907232899996 meters Centerline goodness : 0.788408 Centerline is valid? [False, False] Translation: X:-288.72, Y:14.92, Z:154.59 [[ 9.20795801e-01 -3.41240853e-01 1.88917373e-01 -2.88719626e+02] [ 3.57584228e-01 9.31987094e-01 -5.94438966e-02 1.49177551e+01] [-1.55783867e-01 1.22289563e-01 9.80192149e-01 1.54586272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.639072329 meters Centerline goodness : 0.789758 Centerline is valid? [False, False] Translation: X:-288.76, Y:14.93, Z:154.60 [[ 9.19582516e-01 -3.44514013e-01 1.88886451e-01 -2.88758427e+02] [ 3.60864753e-01 9.30733226e-01 -5.92645951e-02 1.49302777e+01] [-1.55385413e-01 1.22661148e-01 9.80208966e-01 1.54595665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.66907232899996 meters Centerline goodness : 0.787136 Centerline is valid? [False, False] Translation: X:-288.80, Y:14.94, Z:154.60 [[ 9.16718336e-01 -3.51478194e-01 1.89975185e-01 -2.88799718e+02] [ 3.68329413e-01 9.27691079e-01 -6.10139725e-02 1.49396286e+01] [-1.54793204e-01 1.25906076e-01 9.79891180e-01 1.54604618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.699072329 meters Centerline goodness : 0.786800 Centerline is valid? [False, False] Translation: X:-288.83, Y:14.95, Z:154.61 [[ 9.15672811e-01 -3.55409084e-01 1.87690398e-01 -2.88834260e+02] [ 3.72100651e-01 9.26146074e-01 -6.15999625e-02 1.49508334e+01] [-1.51935539e-01 1.26245130e-01 9.80294731e-01 1.54611863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72907232899996 meters Centerline goodness : 0.786091 Centerline is valid? [False, False] Translation: X:-288.87, Y:14.96, Z:154.62 [[ 9.15029829e-01 -3.58521155e-01 1.84886436e-01 -2.88867408e+02] [ 3.74964844e-01 9.24954221e-01 -6.21373950e-02 1.49605902e+01] [-1.48733918e-01 1.26183483e-01 9.80793531e-01 1.54618895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.759072329 meters Centerline goodness : 0.786488 Centerline is valid? [False, False] Translation: X:-288.91, Y:14.97, Z:154.63 [[ 9.13171322e-01 -3.63658127e-01 1.84040496e-01 -2.88907544e+02] [ 3.79911947e-01 9.22993248e-01 -6.12403210e-02 1.49736097e+01] [-1.47597595e-01 1.25842088e-01 9.81009031e-01 1.54626335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78907232899996 meters Centerline goodness : 0.785592 Centerline is valid? [False, False] Translation: X:-288.94, Y:14.99, Z:154.63 [[ 9.12961267e-01 -3.65226446e-01 1.81965295e-01 -2.88943814e+02] [ 3.81028134e-01 9.22621592e-01 -5.98912201e-02 1.49867547e+01] [-1.46011253e-01 1.24012261e-01 9.81479329e-01 1.54634816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.819072329 meters Centerline goodness : 0.785592 Centerline is valid? [False, False] Translation: X:-288.98, Y:15.00, Z:154.64 [[ 9.13187819e-01 -3.66264465e-01 1.78713033e-01 -2.88976151e+02] [ 3.81803749e-01 9.22237797e-01 -6.08550984e-02 1.50009710e+01] [-1.42526854e-01 1.23805441e-01 9.82017469e-01 1.54643775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84907232899997 meters Centerline goodness : 0.785820 Centerline is valid? [False, False] Translation: X:-289.01, Y:15.02, Z:154.65 [[ 9.13530467e-01 -3.66866212e-01 1.75702218e-01 -2.89013398e+02] [ 3.81530417e-01 9.22574926e-01 -5.73589299e-02 1.50167152e+01] [-1.41055407e-01 1.19434870e-01 9.82770921e-01 1.54651134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.879072329 meters Centerline goodness : 0.785161 Centerline is valid? [False, False] Translation: X:-289.05, Y:15.03, Z:154.66 [[ 9.13303921e-01 -3.68515906e-01 1.73412731e-01 -2.89048849e+02] [ 3.82856254e-01 9.22051738e-01 -5.69357618e-02 1.50313932e+01] [-1.38913776e-01 1.18391803e-01 9.83202087e-01 1.54659212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90907232899997 meters Centerline goodness : 0.784837 Centerline is valid? [False, False] Translation: X:-289.08, Y:15.05, Z:154.67 [[ 9.13427274e-01 -3.69564588e-01 1.70506981e-01 -2.89083341e+02] [ 3.83507016e-01 9.21806203e-01 -5.65304651e-02 1.50459559e+01] [-1.36282734e-01 1.17027092e-01 9.83733539e-01 1.54667323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.939072329 meters Centerline goodness : 0.784788 Centerline is valid? [False, False] Translation: X:-289.12, Y:15.06, Z:154.68 [[ 9.12842251e-01 -3.71627583e-01 1.69150712e-01 -2.89121403e+02] [ 3.85469576e-01 9.20967689e-01 -5.68482359e-02 1.50618898e+01] [-1.34655968e-01 1.17095925e-01 9.83949346e-01 1.54676145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96907232899997 meters Centerline goodness : 0.784592 Centerline is valid? [False, False] Translation: X:-289.16, Y:15.08, Z:154.69 [[ 9.12598494e-01 -3.72897516e-01 1.67664639e-01 -2.89157502e+02] [ 3.86582772e-01 9.20496317e-01 -5.69235467e-02 1.50761731e+01] [-1.33108033e-01 1.16764604e-01 9.84199308e-01 1.54685068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99907232899994 meters Centerline goodness : 0.783908 Centerline is valid? [False, False] Translation: X:-289.20, Y:15.09, Z:154.69 [[ 9.13385675e-01 -3.69324256e-01 1.71248949e-01 -2.89196317e+02] [ 3.84073690e-01 9.21236015e-01 -6.17381931e-02 1.50923245e+01] [-1.34959287e-01 1.22162997e-01 9.83291510e-01 1.54690281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.029072329 meters Centerline goodness : 0.786346 Centerline is valid? [False, False] Translation: X:-289.24, Y:15.11, Z:154.70 [[ 9.15447405e-01 -3.62469277e-01 1.74848712e-01 -2.89236065e+02] [ 3.77959488e-01 9.23592369e-01 -6.42165137e-02 1.51084768e+01] [-1.38212423e-01 1.24872571e-01 9.82498940e-01 1.54697565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05907232899995 meters Centerline goodness : 0.787149 Centerline is valid? [False, False] Translation: X:-289.27, Y:15.12, Z:154.70 [[ 9.16814143e-01 -3.57429248e-01 1.78034155e-01 -2.89268751e+02] [ 3.74183063e-01 9.24670979e-01 -7.05026008e-02 1.51228321e+01] [-1.39423325e-01 1.31255147e-01 9.81495401e-01 1.54703625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.089072329 meters Centerline goodness : 0.785814 Centerline is valid? [False, False] Translation: X:-289.28, Y:15.13, Z:154.71 [[ 9.16926472e-01 -3.56235114e-01 1.79839895e-01 -2.89280925e+02] [ 3.72604539e-01 9.25623599e-01 -6.62330052e-02 1.51268924e+01] [-1.42869528e-01 1.27739957e-01 9.81463602e-01 1.54707054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11907232899995 meters Centerline goodness : 0.784355 Centerline is valid? [False, False] Translation: X:-289.31, Y:15.14, Z:154.71 [[ 9.19007491e-01 -3.50159797e-01 1.81144551e-01 -2.89314531e+02] [ 3.66994476e-01 9.27688122e-01 -6.86280051e-02 1.51390780e+01] [-1.44014880e-01 1.29548700e-01 9.81059044e-01 1.54713390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.149072329 meters Centerline goodness : 0.784741 Centerline is valid? [False, False] Translation: X:-289.35, Y:15.16, Z:154.72 [[ 9.19759674e-01 -3.49356925e-01 1.78862745e-01 -2.89348390e+02] [ 3.65788934e-01 9.28211053e-01 -6.79904121e-02 1.51556251e+01] [-1.42269456e-01 1.27960852e-01 9.81521993e-01 1.54723097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17907232899995 meters Centerline goodness : 0.782591 Centerline is valid? [False, False] Translation: X:-289.38, Y:15.17, Z:154.73 [[ 9.21541636e-01 -3.43695009e-01 1.80650919e-01 -2.89383712e+02] [ 3.60892828e-01 9.29826304e-01 -7.19681242e-02 1.51705008e+01] [-1.43238891e-01 1.31517244e-01 9.80910717e-01 1.54730855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.209072329 meters Centerline goodness : 0.780234 Centerline is valid? [False, False] Translation: X:-289.41, Y:15.18, Z:154.74 [[ 9.24627654e-01 -3.34960016e-01 1.81288412e-01 -2.89412630e+02] [ 3.52448428e-01 9.32909249e-01 -7.38947737e-02 1.51826220e+01] [-1.44373842e-01 1.32219967e-01 9.80649822e-01 1.54736877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.23907232899995 meters Centerline goodness : 0.781724 Centerline is valid? [False, False] Translation: X:-289.42, Y:15.19, Z:154.74 [[ 9.26860499e-01 -3.29625798e-01 1.79656474e-01 -2.89416253e+02] [ 3.45996020e-01 9.35759214e-01 -6.81281669e-02 1.51873968e+01] [-1.45658400e-01 1.25305732e-01 9.81367466e-01 1.54739218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.269072329 meters Centerline goodness : 0.779701 Centerline is valid? [False, False] Translation: X:-289.43, Y:15.19, Z:154.74 [[ 9.28857902e-01 -3.21572794e-01 1.83885662e-01 -2.89430845e+02] [ 3.38727333e-01 9.38261520e-01 -7.02076518e-02 1.51942251e+01] [-1.49955970e-01 1.27500032e-01 9.80437121e-01 1.54736049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.29907232899996 meters Centerline goodness : 0.779674 Centerline is valid? [False, False] Translation: X:-289.45, Y:15.20, Z:154.74 [[ 9.31874359e-01 -3.10610485e-01 1.87433467e-01 -2.89448477e+02] [ 3.28003475e-01 9.42116420e-01 -6.95008720e-02 1.52045048e+01] [-1.54996447e-01 1.26244909e-01 9.79815454e-01 1.54735142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.329072329 meters Centerline goodness : 0.781232 Centerline is valid? [False, False] Translation: X:-289.45, Y:15.21, Z:154.74 [[ 9.32841516e-01 -3.08029857e-01 1.86880480e-01 -2.89451077e+02] [ 3.24902600e-01 9.43381932e-01 -6.68493176e-02 1.52078746e+01] [-1.55708082e-01 1.23077772e-01 9.80105533e-01 1.54737006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.35907232899996 meters Centerline goodness : 0.780184 Centerline is valid? [False, False] Translation: X:-289.45, Y:15.21, Z:154.74 [[ 9.33840424e-01 -3.05409899e-01 1.86190378e-01 -2.89453564e+02] [ 3.21779659e-01 9.44620508e-01 -6.44200800e-02 1.52118418e+01] [-1.56204719e-01 1.20070351e-01 9.80399509e-01 1.54739353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.389072329 meters Centerline goodness : 0.778366 Centerline is valid? [False, False] Translation: X:-289.46, Y:15.21, Z:154.74 [[ 9.34014728e-01 -3.04180557e-01 1.87325057e-01 -2.89460410e+02] [ 3.20233374e-01 9.45329420e-01 -6.16674446e-02 1.52142428e+01] [-1.58325850e-01 1.17586036e-01 9.80360367e-01 1.54741587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.41907232899996 meters Centerline goodness : 0.779323 Centerline is valid? [False, False] Translation: X:-289.50, Y:15.23, Z:154.75 [[ 9.34394170e-01 -3.03279878e-01 1.86892619e-01 -2.89495863e+02] [ 3.19216532e-01 9.45694588e-01 -6.13396463e-02 1.52279816e+01] [-1.58140258e-01 1.16974622e-01 9.80463460e-01 1.54749837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.449072329 meters Centerline goodness : 0.780154 Centerline is valid? [False, False] Translation: X:-289.53, Y:15.24, Z:154.76 [[ 9.34455067e-01 -3.03939896e-01 1.85510830e-01 -2.89532876e+02] [ 3.19526178e-01 9.45666958e-01 -6.01417147e-02 1.52444048e+01] [-1.57151996e-01 1.15475297e-01 9.80800034e-01 1.54759599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47907232899996 meters Centerline goodness : 0.778052 Centerline is valid? [False, False] Translation: X:-289.57, Y:15.26, Z:154.77 [[ 9.34264072e-01 -3.04912421e-01 1.84875796e-01 -2.89567200e+02] [ 3.20655811e-01 9.45195151e-01 -6.15302933e-02 1.52587051e+01] [-1.55982355e-01 1.16767041e-01 9.80833810e-01 1.54768305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.509072329 meters Centerline goodness : 0.777982 Centerline is valid? [False, False] Translation: X:-289.60, Y:15.27, Z:154.78 [[ 9.34156189e-01 -3.05024554e-01 1.85235624e-01 -2.89602964e+02] [ 3.20863878e-01 9.45103541e-01 -6.18519849e-02 1.52716660e+01] [-1.56200470e-01 1.17214835e-01 9.80745683e-01 1.54775927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53907232899996 meters Centerline goodness : 0.778558 Centerline is valid? [False, False] Translation: X:-289.64, Y:15.29, Z:154.78 [[ 9.34409994e-01 -3.03947303e-01 1.85725603e-01 -2.89637258e+02] [ 3.20074851e-01 9.45270797e-01 -6.33656869e-02 1.52855144e+01] [-1.56301160e-01 1.18655626e-01 9.80556368e-01 1.54783476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.569072329 meters Centerline goodness : 0.777004 Centerline is valid? [False, False] Translation: X:-289.68, Y:15.30, Z:154.79 [[ 9.34124500e-01 -3.05609426e-01 1.84429656e-01 -2.89675982e+02] [ 3.21203741e-01 9.45051343e-01 -6.08778739e-02 1.53017745e+01] [-1.55690642e-01 1.16107009e-01 9.80958504e-01 1.54793179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59907232899997 meters Centerline goodness : 0.777274 Centerline is valid? [False, False] Translation: X:-289.71, Y:15.32, Z:154.80 [[ 9.35562112e-01 -3.00923595e-01 1.84847302e-01 -2.89707818e+02] [ 3.16865537e-01 9.46369700e-01 -6.30921777e-02 1.53157407e+01] [-1.55947960e-01 1.17598390e-01 9.80739951e-01 1.54799608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.629072329 meters Centerline goodness : 0.777578 Centerline is valid? [False, False] Translation: X:-289.74, Y:15.33, Z:154.81 [[ 9.36976536e-01 -2.94879903e-01 1.87405480e-01 -2.89742635e+02] [ 3.11499777e-01 9.47964996e-01 -6.58046750e-02 1.53300036e+01] [-1.58249359e-01 1.20034202e-01 9.80075982e-01 1.54806660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65907232899997 meters Centerline goodness : 0.777729 Centerline is valid? [False, False] Translation: X:-289.75, Y:15.33, Z:154.81 [[ 9.37212156e-01 -2.93892710e-01 1.87777659e-01 -2.89746817e+02] [ 3.10332705e-01 9.48438498e-01 -6.44827695e-02 1.53316694e+01] [-1.59144545e-01 1.18707585e-01 9.80092609e-01 1.54809844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.689072329 meters Centerline goodness : 0.778321 Centerline is valid? [False, False] Translation: X:-289.75, Y:15.33, Z:154.81 [[ 9.38199543e-01 -2.91146536e-01 1.87123786e-01 -2.89748785e+02] [ 3.06961442e-01 9.49743747e-01 -6.13309680e-02 1.53336408e+01] [-1.59863347e-01 1.14980474e-01 9.80419911e-01 1.54811190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71907232899997 meters Centerline goodness : 0.777441 Centerline is valid? [False, False] Translation: X:-289.78, Y:15.35, Z:154.82 [[ 9.39766476e-01 -2.88852890e-01 1.82764819e-01 -2.89781326e+02] [ 3.03658893e-01 9.50989721e-01 -5.83937297e-02 1.53509000e+01] [-1.56940266e-01 1.10374632e-01 9.81421007e-01 1.54820160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74907232899994 meters Centerline goodness : 0.775090 Centerline is valid? [False, False] Translation: X:-289.81, Y:15.36, Z:154.83 [[ 9.41192829e-01 -2.84029347e-01 1.82984666e-01 -2.89811849e+02] [ 2.99206953e-01 9.52241747e-01 -6.09167805e-02 1.53635144e+01] [-1.56943485e-01 1.12084721e-01 9.81226660e-01 1.54825817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.779072329 meters Centerline goodness : 0.775528 Centerline is valid? [False, False] Translation: X:-289.85, Y:15.38, Z:154.84 [[ 9.40181023e-01 -2.86813176e-01 1.83841906e-01 -2.89850906e+02] [ 3.02249213e-01 9.51229758e-01 -6.17038083e-02 1.53778584e+01] [-1.57178427e-01 1.13578821e-01 9.81017224e-01 1.54835923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.80907232899995 meters Centerline goodness : 0.776944 Centerline is valid? [False, False] Translation: X:-289.88, Y:15.39, Z:154.84 [[ 9.40875914e-01 -2.83065592e-01 1.86081665e-01 -2.89879075e+02] [ 2.99776036e-01 9.51566628e-01 -6.82296192e-02 1.53876255e+01] [-1.57755645e-01 1.19978429e-01 9.80162401e-01 1.54842307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.839072329 meters Centerline goodness : 0.776497 Centerline is valid? [False, False] Translation: X:-289.88, Y:15.39, Z:154.84 [[ 9.40836896e-01 -2.82914137e-01 1.86508782e-01 -2.89880855e+02] [ 2.99708890e-01 9.51573035e-01 -6.84349415e-02 1.53887116e+01] [-1.58115515e-01 1.20284458e-01 9.80066902e-01 1.54843709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.86907232899995 meters Centerline goodness : 0.775178 Centerline is valid? [False, False] Translation: X:-289.88, Y:15.39, Z:154.85 [[ 9.41336566e-01 -2.81061183e-01 1.86788867e-01 -2.89884943e+02] [ 2.97467601e-01 9.52450841e-01 -6.59577327e-02 1.53905873e+01] [-1.59369055e-01 1.17652062e-01 9.80183400e-01 1.54845918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.899072329 meters Centerline goodness : 0.776675 Centerline is valid? [False, False] Translation: X:-289.89, Y:15.39, Z:154.85 [[ 9.41946481e-01 -2.79040679e-01 1.86743475e-01 -2.89888436e+02] [ 2.94990253e-01 9.53398660e-01 -6.33383379e-02 1.53918490e+01] [-1.60367006e-01 1.14748830e-01 9.80364794e-01 1.54848427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.92907232899995 meters Centerline goodness : 0.777425 Centerline is valid? [False, False] Translation: X:-289.89, Y:15.39, Z:154.85 [[ 9.42180589e-01 -2.77730791e-01 1.87513587e-01 -2.89893443e+02] [ 2.93405538e-01 9.54026191e-01 -6.12145201e-02 1.53939085e+01] [-1.61891716e-01 1.12692658e-01 9.80352711e-01 1.54850694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.959072329 meters Centerline goodness : 0.776502 Centerline is valid? [False, False] Translation: X:-289.91, Y:15.40, Z:154.85 [[ 9.41201626e-01 -2.79290823e-01 1.90095068e-01 -2.89910841e+02] [ 2.94169202e-01 9.54193767e-01 -5.45777940e-02 1.53967011e+01] [-1.66144452e-01 1.07288823e-01 9.80247484e-01 1.54853096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.98907232899995 meters Centerline goodness : 0.775454 Centerline is valid? [False, False] Translation: X:-289.94, Y:15.41, Z:154.86 [[ 9.41105879e-01 -2.81252003e-01 1.87662022e-01 -2.89944840e+02] [ 2.95736760e-01 9.53760379e-01 -5.36740852e-02 1.54119992e+01] [-1.63888658e-01 1.06011556e-01 9.80766057e-01 1.54861203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.019072329 meters Centerline goodness : 0.774372 Centerline is valid? [False, False] Translation: X:-289.98, Y:15.43, Z:154.87 [[ 9.40738556e-01 -2.83361421e-01 1.86325723e-01 -2.89979272e+02] [ 2.97664877e-01 9.53181755e-01 -5.32931780e-02 1.54256590e+01] [-1.62501049e-01 1.05597571e-01 9.81041570e-01 1.54869162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.04907232899996 meters Centerline goodness : 0.773355 Centerline is valid? [False, False] Translation: X:-290.01, Y:15.44, Z:154.88 [[ 9.40197155e-01 -2.85940895e-01 1.85113786e-01 -2.90014209e+02] [ 3.00138294e-01 9.52408432e-01 -5.32464413e-02 1.54395909e+01] [-1.61078596e-01 1.05621889e-01 9.81273511e-01 1.54877263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.079072329 meters Centerline goodness : 0.773510 Centerline is valid? [False, False] Translation: X:-290.05, Y:15.45, Z:154.88 [[ 9.39319672e-01 -2.89622519e-01 1.83840554e-01 -2.90050878e+02] [ 3.03645492e-01 9.51324458e-01 -5.27369899e-02 1.54537801e+01] [-1.59618196e-01 1.05359248e-01 9.81540351e-01 1.54884900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.10907232899996 meters Centerline goodness : 0.771000 Centerline is valid? [False, False] Translation: X:-290.08, Y:15.47, Z:154.89 [[ 9.39710169e-01 -2.90774463e-01 1.79986137e-01 -2.90081498e+02] [ 3.04390416e-01 9.51087990e-01 -5.27077792e-02 1.54670294e+01] [-1.55856577e-01 1.04316091e-01 9.82256016e-01 1.54892385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.139072329 meters Centerline goodness : 0.770986 Centerline is valid? [False, False] Translation: X:-290.11, Y:15.48, Z:154.90 [[ 9.39468470e-01 -2.92698084e-01 1.78120256e-01 -2.90114813e+02] [ 3.06242532e-01 9.50455527e-01 -5.33835494e-02 1.54823976e+01] [-1.53670119e-01 1.04700160e-01 9.82559602e-01 1.54900563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.16907232899996 meters Centerline goodness : 0.772929 Centerline is valid? [False, False] Translation: X:-290.15, Y:15.50, Z:154.91 [[ 9.38622379e-01 -2.95749008e-01 1.77540287e-01 -2.90152887e+02] [ 3.09155943e-01 9.49551496e-01 -5.26740935e-02 1.54967461e+01] [-1.53005334e-01 1.04328718e-01 9.82702847e-01 1.54909062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.199072329 meters Centerline goodness : 0.772610 Centerline is valid? [False, False] Translation: X:-290.19, Y:15.51, Z:154.92 [[ 9.38147156e-01 -2.98038496e-01 1.76218527e-01 -2.90188323e+02] [ 3.11356182e-01 9.48822842e-01 -5.28445209e-02 1.55107212e+01] [-1.51450462e-01 1.04442665e-01 9.82931578e-01 1.54917321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22907232899996 meters Centerline goodness : 0.773125 Centerline is valid? [False, False] Translation: X:-290.23, Y:15.52, Z:154.93 [[ 9.36695491e-01 -3.02313704e-01 1.76657810e-01 -2.90225511e+02] [ 3.16176437e-01 9.47059861e-01 -5.57680922e-02 1.55227576e+01] [-1.50446062e-01 1.08092757e-01 9.82691171e-01 1.54925643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.259072329 meters Centerline goodness : 0.773153 Centerline is valid? [False, False] Translation: X:-290.26, Y:15.54, Z:154.93 [[ 9.35780736e-01 -3.05651282e-01 1.75760369e-01 -2.90260818e+02] [ 3.19738644e-01 9.45749208e-01 -5.76683223e-02 1.55363308e+01] [-1.48598833e-01 1.10162287e-01 9.82742417e-01 1.54934551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28907232899996 meters Centerline goodness : 0.772461 Centerline is valid? [False, False] Translation: X:-290.30, Y:15.55, Z:154.94 [[ 9.33032984e-01 -3.13198792e-01 1.77076162e-01 -2.90300764e+02] [ 3.27849107e-01 9.42831574e-01 -5.98630575e-02 1.55482555e+01] [-1.48203959e-01 1.13908469e-01 9.82374902e-01 1.54942741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.319072329 meters Centerline goodness : 0.772974 Centerline is valid? [False, False] Translation: X:-290.33, Y:15.56, Z:154.95 [[ 9.32563122e-01 -3.15879081e-01 1.74775369e-01 -2.90334428e+02] [ 3.30306850e-01 9.41965242e-01 -5.99905634e-02 1.55601887e+01] [-1.45682559e-01 1.13674489e-01 9.82779071e-01 1.54949848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34907232899997 meters Centerline goodness : 0.773119 Centerline is valid? [False, False] Translation: X:-290.37, Y:15.57, Z:154.96 [[ 9.31284439e-01 -3.20285973e-01 1.73568976e-01 -2.90369707e+02] [ 3.34700983e-01 9.40375912e-01 -6.05672939e-02 1.55737674e+01] [-1.43821230e-01 1.14499085e-01 9.82957483e-01 1.54957271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.379072329 meters Centerline goodness : 0.772053 Centerline is valid? [False, False] Translation: X:-290.40, Y:15.59, Z:154.96 [[ 9.30853323e-01 -3.22789398e-01 1.71228196e-01 -2.90403400e+02] [ 3.36907579e-01 9.39608212e-01 -6.02469157e-02 1.55867599e+01] [-1.41440354e-01 1.13769119e-01 9.83387621e-01 1.54964407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40907232899997 meters Centerline goodness : 0.773118 Centerline is valid? [False, False] Translation: X:-290.44, Y:15.60, Z:154.97 [[ 9.29413059e-01 -3.26717398e-01 1.71601594e-01 -2.90443610e+02] [ 3.40764775e-01 9.38283245e-01 -5.91939222e-02 1.56021139e+01] [-1.41671216e-01 1.13491383e-01 9.83386482e-01 1.54972714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.439072329 meters Centerline goodness : 0.773678 Centerline is valid? [False, False] Translation: X:-290.46, Y:15.61, Z:154.97 [[ 9.27665091e-01 -3.29590259e-01 1.75521340e-01 -2.90457857e+02] [ 3.43839069e-01 9.37281794e-01 -5.72497475e-02 1.56050052e+01] [-1.45643997e-01 1.13459686e-01 9.82809608e-01 1.54974140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46907232899997 meters Centerline goodness : 0.776010 Centerline is valid? [False, False] Translation: X:-290.49, Y:15.62, Z:154.98 [[ 9.29839827e-01 -3.21761680e-01 1.78514192e-01 -2.90490164e+02] [ 3.36744888e-01 9.39660354e-01 -6.03431786e-02 1.56193582e+01] [-1.48326587e-01 1.16223232e-01 9.82085222e-01 1.54980535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49907232899994 meters Centerline goodness : 0.773355 Centerline is valid? [False, False] Translation: X:-290.52, Y:15.63, Z:154.99 [[ 9.31141513e-01 -3.16727151e-01 1.80719102e-01 -2.90520619e+02] [ 3.32732113e-01 9.40733161e-01 -6.56540941e-02 1.56327168e+01] [-1.49214018e-01 1.21264301e-01 9.81340994e-01 1.54986225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.529072329 meters Centerline goodness : 0.773961 Centerline is valid? [False, False] Translation: X:-290.56, Y:15.65, Z:155.00 [[ 9.30882437e-01 -3.18325020e-01 1.79240260e-01 -2.90555379e+02] [ 3.34118822e-01 9.40261467e-01 -6.53680860e-02 1.56485547e+01] [-1.47724412e-01 1.20737548e-01 9.81631266e-01 1.54995651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55907232899995 meters Centerline goodness : 0.771335 Centerline is valid? [False, False] Translation: X:-290.59, Y:15.66, Z:155.00 [[ 9.30875142e-01 -3.19644604e-01 1.76914662e-01 -2.90590387e+02] [ 3.35159115e-01 9.39893141e-01 -6.53395137e-02 1.56616434e+01] [-1.45395454e-01 1.20117490e-01 9.82054963e-01 1.55003942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.589072329 meters Centerline goodness : 0.769987 Centerline is valid? [False, False] Translation: X:-290.62, Y:15.68, Z:155.01 [[ 9.31883126e-01 -3.19495839e-01 1.71802933e-01 -2.90619737e+02] [ 3.34319934e-01 9.40222429e-01 -6.48996559e-02 1.56767832e+01] [-1.40797801e-01 1.17916039e-01 9.82991245e-01 1.55011918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61907232899995 meters Centerline goodness : 0.767649 Centerline is valid? [False, False] Translation: X:-290.65, Y:15.69, Z:155.02 [[ 9.33235596e-01 -3.15187881e-01 1.72417873e-01 -2.90650192e+02] [ 3.30636488e-01 9.41232518e-01 -6.89989794e-02 1.56897195e+01] [-1.40537666e-01 1.21399944e-01 9.82604304e-01 1.55017279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.649072329 meters Centerline goodness : 0.767002 Centerline is valid? [False, False] Translation: X:-290.69, Y:15.71, Z:155.03 [[ 9.33621653e-01 -3.14653385e-01 1.71300482e-01 -2.90687752e+02] [ 3.29818029e-01 9.41591520e-01 -6.80108671e-02 1.57082478e+01] [-1.39895232e-01 1.19994406e-01 9.82868591e-01 1.55027150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67907232899995 meters Centerline goodness : 0.768639 Centerline is valid? [False, False] Translation: X:-290.70, Y:15.72, Z:155.03 [[ 9.36736954e-01 -3.03718252e-01 1.74008913e-01 -2.90702766e+02] [ 3.19255152e-01 9.45157775e-01 -6.89414784e-02 1.57151084e+01] [-1.43527092e-01 1.20133273e-01 9.82327833e-01 1.55025719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.709072329 meters Centerline goodness : 0.768639 Centerline is valid? [False, False] Translation: X:-290.70, Y:15.72, Z:155.03 [[ 9.36736954e-01 -3.03718252e-01 1.74008913e-01 -2.90702766e+02] [ 3.19255152e-01 9.45157775e-01 -6.89414784e-02 1.57151084e+01] [-1.43527092e-01 1.20133273e-01 9.82327833e-01 1.55025719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.73907232899995 meters Centerline goodness : 0.768111 Centerline is valid? [False, False] Translation: X:-290.71, Y:15.72, Z:155.03 [[ 9.39382536e-01 -2.96564527e-01 1.72075365e-01 -2.90708605e+02] [ 3.10787525e-01 9.48454453e-01 -6.20101935e-02 1.57236096e+01] [-1.44815623e-01 1.11730170e-01 9.83130106e-01 1.55031159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.769072329 meters Centerline goodness : 0.768988 Centerline is valid? [False, False] Translation: X:-290.71, Y:15.73, Z:155.03 [[ 9.40340509e-01 -2.93880647e-01 1.71446473e-01 -2.90710883e+02] [ 3.07620748e-01 9.49653300e-01 -5.93976900e-02 1.57272262e+01] [-1.45358877e-01 1.08594546e-01 9.83401251e-01 1.55032841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.79907232899996 meters Centerline goodness : 0.768526 Centerline is valid? [False, False] Translation: X:-290.73, Y:15.73, Z:155.03 [[ 9.41882653e-01 -2.86198253e-01 1.75919382e-01 -2.90725591e+02] [ 3.00623399e-01 9.51781971e-01 -6.11281579e-02 1.57348166e+01] [-1.49942124e-01 1.10461034e-01 9.82504819e-01 1.55030574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.829072329 meters Centerline goodness : 0.768504 Centerline is valid? [False, False] Translation: X:-290.75, Y:15.75, Z:155.04 [[ 9.44516007e-01 -2.76447542e-01 1.77387342e-01 -2.90754606e+02] [ 2.91342472e-01 9.54491374e-01 -6.37634822e-02 1.57521076e+01] [-1.51687429e-01 1.11906096e-01 9.82073291e-01 1.55036526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.85907232899996 meters Centerline goodness : 0.768117 Centerline is valid? [False, False] Translation: X:-290.76, Y:15.76, Z:155.04 [[ 9.45274149e-01 -2.74013208e-01 1.77125791e-01 -2.90757593e+02] [ 2.88463315e-01 9.55529820e-01 -6.12509518e-02 1.57551347e+01] [-1.52465405e-01 1.08993234e-01 9.82280395e-01 1.55038618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.889072329 meters Centerline goodness : 0.769656 Centerline is valid? [False, False] Translation: X:-290.76, Y:15.76, Z:155.04 [[ 9.45834792e-01 -2.71975151e-01 1.77273976e-01 -2.90761413e+02] [ 2.86093218e-01 9.56373953e-01 -5.91568450e-02 1.57588214e+01] [-1.53451021e-01 1.06669484e-01 9.82382006e-01 1.55040868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.91907232899996 meters Centerline goodness : 0.770144 Centerline is valid? [False, False] Translation: X:-290.78, Y:15.77, Z:155.04 [[ 9.48842856e-01 -2.59338481e-01 1.80113260e-01 -2.90777571e+02] [ 2.73462208e-01 9.60122646e-01 -5.81629213e-02 1.57674539e+01] [-1.57846936e-01 1.04441642e-01 9.81924787e-01 1.55040985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.949072329 meters Centerline goodness : 0.769460 Centerline is valid? [False, False] Translation: X:-290.79, Y:15.78, Z:155.04 [[ 9.50431549e-01 -2.50422157e-01 1.84305761e-01 -2.90792403e+02] [ 2.65209150e-01 9.62315593e-01 -6.01066220e-02 1.57754847e+01] [-1.62308278e-01 1.06006804e-01 9.81029347e-01 1.55039421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97907232899996 meters Centerline goodness : 0.770364 Centerline is valid? [False, False] Translation: X:-290.80, Y:15.78, Z:155.05 [[ 9.52425929e-01 -2.43667502e-01 1.83060097e-01 -2.90798159e+02] [ 2.57169768e-01 9.64874169e-01 -5.36800599e-02 1.57843469e+01] [-1.63549873e-01 9.82038035e-02 9.81635091e-01 1.55045138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.009072329 meters Centerline goodness : 0.769872 Centerline is valid? [False, False] Translation: X:-290.83, Y:15.80, Z:155.05 [[ 9.54127594e-01 -2.36713139e-01 1.83323279e-01 -2.90825559e+02] [ 2.50767816e-01 9.66345617e-01 -5.73729035e-02 1.57990276e+01] [-1.63572727e-01 1.00712649e-01 9.81377056e-01 1.55051540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03907232899996 meters Centerline goodness : 0.770684 Centerline is valid? [False, False] Translation: X:-290.85, Y:15.81, Z:155.06 [[ 9.55836160e-01 -2.35547167e-01 1.75769073e-01 -2.90847082e+02] [ 2.48975704e-01 9.66747232e-01 -5.84028162e-02 1.58142768e+01] [-1.56167647e-01 9.95857523e-02 9.82697483e-01 1.55060618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.069072329 meters Centerline goodness : 0.769961 Centerline is valid? [False, False] Translation: X:-290.87, Y:15.83, Z:155.07 [[ 9.58197327e-01 -2.31777140e-01 1.67741586e-01 -2.90870154e+02] [ 2.44022144e-01 9.68139237e-01 -5.62104085e-02 1.58332562e+01] [-1.49368923e-01 9.47933247e-02 9.84227184e-01 1.55069813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09907232899997 meters Centerline goodness : 0.770311 Centerline is valid? [False, False] Translation: X:-290.87, Y:15.84, Z:155.07 [[ 9.58859937e-01 -2.29136870e-01 1.67582565e-01 -2.90872642e+02] [ 2.40896952e-01 9.69085714e-01 -5.33060715e-02 1.58358871e+01] [-1.50187483e-01 9.14831854e-02 9.84415840e-01 1.55071167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.129072329 meters Centerline goodness : 0.770257 Centerline is valid? [False, False] Translation: X:-290.90, Y:15.85, Z:155.08 [[ 9.60045017e-01 -2.29034727e-01 1.60800062e-01 -2.90896590e+02] [ 2.40121236e-01 9.69294046e-01 -5.30173885e-02 1.58503399e+01] [-1.43719719e-01 8.95105893e-02 9.85562021e-01 1.55078285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15907232899997 meters Centerline goodness : 0.770304 Centerline is valid? [False, False] Translation: X:-290.90, Y:15.85, Z:155.08 [[ 9.60556695e-01 -2.26775546e-01 1.60946227e-01 -2.90900084e+02] [ 2.37449496e-01 9.70098841e-01 -5.02590769e-02 1.58514385e+01] [-1.44736219e-01 8.64932934e-02 9.85682676e-01 1.55080551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.189072329 meters Centerline goodness : 0.769136 Centerline is valid? [False, False] Translation: X:-290.93, Y:15.86, Z:155.09 [[ 9.61186389e-01 -2.22520247e-01 1.63111816e-01 -2.90932182e+02] [ 2.33920650e-01 9.70747285e-01 -5.41372104e-02 1.58648586e+01] [-1.46293727e-01 9.01911717e-02 9.85121159e-01 1.55086378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21907232899997 meters Centerline goodness : 0.769906 Centerline is valid? [False, False] Translation: X:-290.96, Y:15.88, Z:155.09 [[ 9.62275538e-01 -2.22592520e-01 1.56455612e-01 -2.90955380e+02] [ 2.33493159e-01 9.70807015e-01 -5.49061499e-02 1.58777381e+01] [-1.39666507e-01 8.93661600e-02 9.86157673e-01 1.55093188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24907232899994 meters Centerline goodness : 0.769543 Centerline is valid? [False, False] Translation: X:-290.96, Y:15.88, Z:155.09 [[ 9.62600782e-01 -2.20822255e-01 1.56962629e-01 -2.90959031e+02] [ 2.31364492e-01 9.71466845e-01 -5.21789271e-02 1.58786113e+01] [-1.40961721e-01 8.65430549e-02 9.86225173e-01 1.55094379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.279072329 meters Centerline goodness : 0.768826 Centerline is valid? [False, False] Translation: X:-290.99, Y:15.89, Z:155.10 [[ 9.63359227e-01 -2.21644585e-01 1.51038661e-01 -2.90985333e+02] [ 2.31532497e-01 9.71481646e-01 -5.11479728e-02 1.58933190e+01] [-1.35394615e-01 8.42442299e-02 9.87203732e-01 1.55100688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.30907232899995 meters Centerline goodness : 0.769271 Centerline is valid? [False, False] Translation: X:-290.99, Y:15.89, Z:155.10 [[ 9.63118813e-01 -2.22192904e-01 1.51764504e-01 -2.90987125e+02] [ 2.32218906e-01 9.71290570e-01 -5.16624421e-02 1.58943133e+01] [-1.35928403e-01 8.49996570e-02 9.87065615e-01 1.55100987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.339072329 meters Centerline goodness : 0.769669 Centerline is valid? [False, False] Translation: X:-290.99, Y:15.89, Z:155.10 [[ 9.62688426e-01 -2.23225446e-01 1.52975143e-01 -2.90990393e+02] [ 2.33446291e-01 9.70965235e-01 -5.22430939e-02 1.58939072e+01] [-1.36871558e-01 8.60053016e-02 9.86848147e-01 1.55102173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.36907232899995 meters Centerline goodness : 0.769360 Centerline is valid? [False, False] Translation: X:-290.99, Y:15.89, Z:155.10 [[ 9.62249959e-01 -2.24296255e-01 1.54162922e-01 -2.90993887e+02] [ 2.34715283e-01 9.70626635e-01 -5.28457273e-02 1.58927623e+01] [-1.37781539e-01 8.70351926e-02 9.86631199e-01 1.55103939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.399072329 meters Centerline goodness : 0.769330 Centerline is valid? [False, False] Translation: X:-291.00, Y:15.89, Z:155.11 [[ 9.61649339e-01 -2.25793522e-01 1.55717159e-01 -2.90998206e+02] [ 2.36511012e-01 9.70133474e-01 -5.38849066e-02 1.58924460e+01] [-1.38899566e-01 8.86472076e-02 9.86330869e-01 1.55105836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.42907232899995 meters Centerline goodness : 0.768866 Centerline is valid? [False, False] Translation: X:-291.02, Y:15.89, Z:155.11 [[ 9.59154425e-01 -2.32773502e-01 1.60746030e-01 -2.91021072e+02] [ 2.43394665e-01 9.68657569e-01 -4.96140139e-02 1.58945619e+01] [-1.44159031e-01 8.67122272e-02 9.85748022e-01 1.55106195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.459072329 meters Centerline goodness : 0.767637 Centerline is valid? [False, False] Translation: X:-291.04, Y:15.90, Z:155.11 [[ 9.57721961e-01 -2.36073895e-01 1.64431634e-01 -2.91035726e+02] [ 2.46437161e-01 9.68091393e-01 -4.54728520e-02 1.58956805e+01] [-1.48449896e-01 8.40724140e-02 9.85339768e-01 1.55105345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.48907232899995 meters Centerline goodness : 0.766529 Centerline is valid? [False, False] Translation: X:-291.07, Y:15.91, Z:155.11 [[ 9.56350518e-01 -2.41723905e-01 1.64204873e-01 -2.91071568e+02] [ 2.52317684e-01 9.66515132e-01 -4.67363483e-02 1.59075281e+01] [-1.47409202e-01 8.61281243e-02 9.85318463e-01 1.55112450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.519072329 meters Centerline goodness : 0.767385 Centerline is valid? [False, False] Translation: X:-291.08, Y:15.91, Z:155.11 [[ 9.55104037e-01 -2.44254940e-01 1.67677678e-01 -2.91084673e+02] [ 2.54667546e-01 9.66056216e-01 -4.33569815e-02 1.59080977e+01] [-1.51395906e-01 8.41124907e-02 9.84887998e-01 1.55112679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.54907232899996 meters Centerline goodness : 0.766826 Centerline is valid? [False, False] Translation: X:-291.11, Y:15.92, Z:155.12 [[ 9.54877866e-01 -2.47517946e-01 1.64143617e-01 -2.91114028e+02] [ 2.57962910e-01 9.65089255e-01 -4.53637115e-02 1.59218236e+01] [-1.47184909e-01 8.56597694e-02 9.85392818e-01 1.55118859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.579072329 meters Centerline goodness : 0.765113 Centerline is valid? [False, False] Translation: X:-291.15, Y:15.93, Z:155.12 [[ 9.53459104e-01 -2.53180696e-01 1.63753696e-01 -2.91148565e+02] [ 2.64129711e-01 9.63262218e-01 -4.85941913e-02 1.59335404e+01] [-1.45434637e-01 8.95847904e-02 9.85303675e-01 1.55124273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.60907232899996 meters Centerline goodness : 0.765658 Centerline is valid? [False, False] Translation: X:-291.15, Y:15.93, Z:155.13 [[ 9.52765151e-01 -2.54753003e-01 1.65346527e-01 -2.91152584e+02] [ 2.66015506e-01 9.62691685e-01 -4.96031353e-02 1.59334274e+01] [-1.46541179e-01 9.12448787e-02 9.84987337e-01 1.55125708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.639072329 meters Centerline goodness : 0.766314 Centerline is valid? [False, False] Translation: X:-291.18, Y:15.95, Z:155.13 [[ 9.52052198e-01 -2.58820677e-01 1.63121024e-01 -2.91184225e+02] [ 2.70220793e-01 9.61409894e-01 -5.16888606e-02 1.59467283e+01] [-1.43448020e-01 9.32891858e-02 9.85251132e-01 1.55132183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.66907232899996 meters Centerline goodness : 0.764474 Centerline is valid? [False, False] Translation: X:-291.21, Y:15.95, Z:155.13 [[ 9.49665246e-01 -2.65030880e-01 1.67016628e-01 -2.91205061e+02] [ 2.76199421e-01 9.59940678e-01 -4.71993060e-02 1.59473637e+01] [-1.47816781e-01 9.09534364e-02 9.84823675e-01 1.55133374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.699072329 meters Centerline goodness : 0.763497 Centerline is valid? [False, False] Translation: X:-291.23, Y:15.96, Z:155.14 [[ 9.50189996e-01 -2.62062327e-01 1.68707758e-01 -2.91232260e+02] [ 2.74429153e-01 9.60072976e-01 -5.43002763e-02 1.59594929e+01] [-1.47741702e-01 9.78939064e-02 9.84169280e-01 1.55137111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72907232899996 meters Centerline goodness : 0.765357 Centerline is valid? [False, False] Translation: X:-291.25, Y:15.96, Z:155.14 [[ 9.48285902e-01 -2.66165029e-01 1.72945149e-01 -2.91254935e+02] [ 2.78243272e-01 9.59241167e-01 -4.93666304e-02 1.59645623e+01] [-1.52756436e-01 9.49345039e-02 9.83693505e-01 1.55141067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.759072329 meters Centerline goodness : 0.764626 Centerline is valid? [False, False] Translation: X:-291.27, Y:15.97, Z:155.14 [[ 9.48601752e-01 -2.61707313e-01 1.77943809e-01 -2.91267683e+02] [ 2.75418322e-01 9.59641716e-01 -5.68552934e-02 1.59673586e+01] [-1.55882856e-01 1.02942016e-01 9.82396802e-01 1.55137216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78907232899996 meters Centerline goodness : 0.764649 Centerline is valid? [False, False] Translation: X:-291.29, Y:15.97, Z:155.14 [[ 9.46885749e-01 -2.65302146e-01 1.81719975e-01 -2.91288932e+02] [ 2.78438528e-01 9.59120932e-01 -5.05868049e-02 1.59718577e+01] [-1.60870644e-01 9.84977669e-02 9.82048281e-01 1.55139115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.819072329 meters Centerline goodness : 0.762131 Centerline is valid? [False, False] Translation: X:-291.32, Y:15.99, Z:155.14 [[ 9.47028287e-01 -2.67981845e-01 1.76983485e-01 -2.91317068e+02] [ 2.80657664e-01 9.58479063e-01 -5.04892269e-02 1.59863250e+01] [-1.56104769e-01 9.74864976e-02 9.82917944e-01 1.55143923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84907232899997 meters Centerline goodness : 0.762814 Centerline is valid? [False, False] Translation: X:-291.33, Y:15.99, Z:155.14 [[ 9.47678644e-01 -2.62176681e-01 1.82122417e-01 -2.91331037e+02] [ 2.76126072e-01 9.59514947e-01 -5.55469129e-02 1.59909292e+01] [-1.60186076e-01 1.02929371e-01 9.81705641e-01 1.55140109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.879072329 meters Centerline goodness : 0.763552 Centerline is valid? [False, False] Translation: X:-291.33, Y:15.99, Z:155.14 [[ 9.47417677e-01 -2.62613935e-01 1.82848753e-01 -2.91333006e+02] [ 2.76689734e-01 9.59337076e-01 -5.58136739e-02 1.59910272e+01] [-1.60756139e-01 1.03471234e-01 9.81555484e-01 1.55140785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90907232899997 meters Centerline goodness : 0.763258 Centerline is valid? [False, False] Translation: X:-291.36, Y:16.00, Z:155.15 [[ 9.48073855e-01 -2.59477540e-01 1.83922189e-01 -2.91361138e+02] [ 2.74730670e-01 9.59486108e-01 -6.25257337e-02 1.60040018e+01] [-1.60246762e-01 1.09808080e-01 9.80950132e-01 1.55146093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.939072329 meters Centerline goodness : 0.762250 Centerline is valid? [False, False] Translation: X:-291.37, Y:16.01, Z:155.15 [[ 9.48462998e-01 -2.57742321e-01 1.84355195e-01 -2.91365129e+02] [ 2.72601921e-01 9.60256695e-01 -5.99605869e-02 1.60053265e+01] [-1.61573929e-01 1.07125978e-01 9.81028996e-01 1.55147914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96907232899997 meters Centerline goodness : 0.759309 Centerline is valid? [False, False] Translation: X:-291.38, Y:16.01, Z:155.15 [[ 9.47468468e-01 -2.58989745e-01 1.87690741e-01 -2.91382263e+02] [ 2.73141095e-01 9.60486638e-01 -5.34729912e-02 1.60112392e+01] [-1.66425492e-01 1.01930027e-01 9.80771546e-01 1.55148501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99907232899994 meters Centerline goodness : 0.760288 Centerline is valid? [False, False] Translation: X:-291.40, Y:16.02, Z:155.15 [[ 9.48188399e-01 -2.52745214e-01 1.92506147e-01 -2.91396901e+02] [ 2.68258656e-01 9.61546250e-01 -5.88736179e-02 1.60170477e+01] [-1.70223538e-01 1.07464722e-01 9.79528091e-01 1.55146029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.029072329 meters Centerline goodness : 0.760046 Centerline is valid? [False, False] Translation: X:-291.43, Y:16.03, Z:155.16 [[ 9.48321083e-01 -2.54024660e-01 1.90154137e-01 -2.91428633e+02] [ 2.69329204e-01 9.61234612e-01 -5.90745346e-02 1.60335008e+01] [-1.67776350e-01 1.07235689e-01 9.79975308e-01 1.55155129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05907232899995 meters Centerline goodness : 0.761224 Centerline is valid? [False, False] Translation: X:-291.46, Y:16.05, Z:155.16 [[ 9.49377600e-01 -2.49270169e-01 1.91171534e-01 -2.91461314e+02] [ 2.65122923e-01 9.62220483e-01 -6.19804714e-02 1.60497339e+01] [-1.68499284e-01 1.09526827e-01 9.79597808e-01 1.55162634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.089072329 meters Centerline goodness : 0.760919 Centerline is valid? [False, False] Translation: X:-291.47, Y:16.05, Z:155.17 [[ 9.49824964e-01 -2.47319043e-01 1.91483232e-01 -2.91465384e+02] [ 2.62817688e-01 9.62985552e-01 -5.98806248e-02 1.60531085e+01] [-1.69585967e-01 1.07201293e-01 9.79667537e-01 1.55165277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11907232899995 meters Centerline goodness : 0.763654 Centerline is valid? [False, False] Translation: X:-291.47, Y:16.05, Z:155.17 [[ 9.49606461e-01 -2.47762280e-01 1.91993287e-01 -2.91467424e+02] [ 2.63469805e-01 9.62754596e-01 -6.07227217e-02 1.60543812e+01] [-1.69797620e-01 1.08247123e-01 9.79515864e-01 1.55167316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.149072329 meters Centerline goodness : 0.761877 Centerline is valid? [False, False] Translation: X:-291.50, Y:16.07, Z:155.18 [[ 9.49808046e-01 -2.48760822e-01 1.89691143e-01 -2.91499413e+02] [ 2.64161172e-01 9.62588488e-01 -6.03512790e-02 1.60711587e+01] [-1.67581477e-01 1.07431165e-01 9.79987241e-01 1.55176950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17907232899995 meters Centerline goodness : 0.761448 Centerline is valid? [False, False] Translation: X:-291.50, Y:16.07, Z:155.18 [[ 9.50246916e-01 -2.46828815e-01 1.90016668e-01 -2.91503197e+02] [ 2.61786399e-01 9.63398472e-01 -5.77171209e-02 1.60730702e+01] [-1.68815519e-01 1.04589295e-01 9.80082854e-01 1.55178762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.209072329 meters Centerline goodness : 0.761310 Centerline is valid? [False, False] Translation: X:-291.53, Y:16.09, Z:155.19 [[ 9.51094429e-01 -2.48133650e-01 1.83981192e-01 -2.91528847e+02] [ 2.62352735e-01 9.63283133e-01 -5.70670557e-02 1.60897055e+01] [-1.63065722e-01 1.02544128e-01 9.81271763e-01 1.55185767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.23907232899995 meters Centerline goodness : 0.760064 Centerline is valid? [False, False] Translation: X:-291.55, Y:16.10, Z:155.19 [[ 9.52492505e-01 -2.48133703e-01 1.76600377e-01 -2.91551307e+02] [ 2.61521329e-01 9.63531076e-01 -5.66962096e-02 1.61044515e+01] [-1.56091711e-01 1.00187480e-01 9.82648384e-01 1.55192682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.269072329 meters Centerline goodness : 0.760822 Centerline is valid? [False, False] Translation: X:-291.56, Y:16.11, Z:155.19 [[ 9.52926918e-01 -2.46180305e-01 1.76990245e-01 -2.91555352e+02] [ 2.59186144e-01 9.64305542e-01 -5.41974580e-02 1.61063641e+01] [-1.57330327e-01 9.75196358e-02 9.82719232e-01 1.55194788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.29907232899996 meters Centerline goodness : 0.760627 Centerline is valid? [False, False] Translation: X:-291.57, Y:16.11, Z:155.19 [[ 9.53335377e-01 -2.40741067e-01 1.82196043e-01 -2.91570129e+02] [ 2.55186912e-01 9.65019002e-01 -6.01495311e-02 1.61119895e+01] [-1.61342181e-01 1.03836721e-01 9.81420723e-01 1.55192060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.329072329 meters Centerline goodness : 0.761363 Centerline is valid? [False, False] Translation: X:-291.60, Y:16.13, Z:155.20 [[ 9.54002830e-01 -2.41645020e-01 1.77443751e-01 -2.91597487e+02] [ 2.55677648e-01 9.64856933e-01 -6.06633179e-02 1.61273454e+01] [-1.56548845e-01 1.03241378e-01 9.82259475e-01 1.55199992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.35907232899996 meters Centerline goodness : 0.760722 Centerline is valid? [False, False] Translation: X:-291.60, Y:16.13, Z:155.20 [[ 9.54645964e-01 -2.39092375e-01 1.77442723e-01 -2.91600282e+02] [ 2.52570419e-01 9.65875561e-01 -5.73810446e-02 1.61282694e+01] [-1.57668219e-01 9.95953654e-02 9.82456867e-01 1.55201039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.389072329 meters Centerline goodness : 0.757989 Centerline is valid? [False, False] Translation: X:-291.63, Y:16.15, Z:155.21 [[ 9.55156617e-01 -2.40993031e-01 1.72041261e-01 -2.91627169e+02] [ 2.53979390e-01 9.65491687e-01 -5.76217983e-02 1.61452354e+01] [-1.52217955e-01 9.87327763e-02 9.83403037e-01 1.55207694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.41907232899996 meters Centerline goodness : 0.758364 Centerline is valid? [False, False] Translation: X:-291.63, Y:16.15, Z:155.21 [[ 9.55441331e-01 -2.39614286e-01 1.72385777e-01 -2.91631108e+02] [ 2.52315851e-01 9.66042666e-01 -5.56621792e-02 1.61463307e+01] [-1.53194562e-01 9.66776106e-02 9.83455574e-01 1.55210502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.449072329 meters Centerline goodness : 0.760654 Centerline is valid? [False, False] Translation: X:-291.63, Y:16.15, Z:155.21 [[ 9.55279473e-01 -2.39908142e-01 1.72873399e-01 -2.91632729e+02] [ 2.52728704e-01 9.65909846e-01 -5.60925276e-02 1.61469641e+01] [-1.53523065e-01 9.72741103e-02 9.83345522e-01 1.55211609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47907232899996 meters Centerline goodness : 0.763435 Centerline is valid? [False, False] Translation: X:-291.65, Y:16.15, Z:155.21 [[ 9.56132452e-01 -2.33244200e-01 1.77222678e-01 -2.91648229e+02] [ 2.47397559e-01 9.66917832e-01 -6.21639309e-02 1.61532607e+01] [-1.56860392e-01 1.03281410e-01 9.82205563e-01 1.55211300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.509072329 meters Centerline goodness : 0.764029 Centerline is valid? [False, False] Translation: X:-291.65, Y:16.16, Z:155.21 [[ 9.56574890e-01 -2.31186848e-01 1.77530622e-01 -2.91652066e+02] [ 2.44978920e-01 9.67679061e-01 -5.98545268e-02 1.61564615e+01] [-1.57955086e-01 1.00746597e-01 9.82293395e-01 1.55213486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53907232899996 meters Centerline goodness : 0.759761 Centerline is valid? [False, False] Translation: X:-291.66, Y:16.16, Z:155.21 [[ 9.58941227e-01 -2.18949112e-01 1.80258173e-01 -2.91664974e+02] [ 2.32582342e-01 9.70841447e-01 -5.80718366e-02 1.61631835e+01] [-1.62287329e-01 9.76123463e-02 9.81903586e-01 1.55208864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.569072329 meters Centerline goodness : 0.760276 Centerline is valid? [False, False] Translation: X:-291.68, Y:16.18, Z:155.22 [[ 9.60385309e-01 -2.19024370e-01 1.72303173e-01 -2.91684411e+02] [ 2.31826815e-01 9.71037279e-01 -5.78180827e-02 1.61795244e+01] [-1.54649235e-01 9.54721330e-02 9.83345659e-01 1.55215175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59907232899997 meters Centerline goodness : 0.759199 Centerline is valid? [False, False] Translation: X:-291.70, Y:16.19, Z:155.22 [[ 9.61897787e-01 -2.19233880e-01 1.63368154e-01 -2.91700355e+02] [ 2.31249507e-01 9.71143758e-01 -5.83392454e-02 1.61925484e+01] [-1.45864024e-01 9.38951962e-02 9.84838758e-01 1.55220870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.629072329 meters Centerline goodness : 0.759199 Centerline is valid? [False, False] Translation: X:-291.70, Y:16.19, Z:155.22 [[ 9.61897787e-01 -2.19233880e-01 1.63368154e-01 -2.91700355e+02] [ 2.31249507e-01 9.71143758e-01 -5.83392454e-02 1.61925484e+01] [-1.45864024e-01 9.38951962e-02 9.84838758e-01 1.55220870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65907232899997 meters Centerline goodness : 0.758556 Centerline is valid? [False, False] Translation: X:-291.70, Y:16.20, Z:155.22 [[ 9.63011898e-01 -2.14572792e-01 1.62992639e-01 -2.91704478e+02] [ 2.25707557e-01 9.72754395e-01 -5.29621227e-02 1.61955853e+01] [-1.47187575e-01 8.77918245e-02 9.85204757e-01 1.55223612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.689072329 meters Centerline goodness : 0.761566 Centerline is valid? [False, False] Translation: X:-291.72, Y:16.21, Z:155.22 [[ 9.64161366e-01 -2.05846963e-01 1.67391421e-01 -2.91720052e+02] [ 2.17709109e-01 9.74422674e-01 -5.57063420e-02 1.62055260e+01] [-1.51643015e-01 9.01525400e-02 9.84315455e-01 1.55222880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71907232899997 meters Centerline goodness : 0.761761 Centerline is valid? [False, False] Translation: X:-291.72, Y:16.21, Z:155.23 [[ 9.64888546e-01 -2.02887256e-01 1.66813831e-01 -2.91721784e+02] [ 2.14240752e-01 9.75344428e-01 -5.29541987e-02 1.62088839e+01] [-1.51957208e-01 8.68332204e-02 9.84565386e-01 1.55225128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74907232899994 meters Centerline goodness : 0.764145 Centerline is valid? [False, False] Translation: X:-291.73, Y:16.22, Z:155.23 [[ 9.65881094e-01 -1.98280806e-01 1.66608627e-01 -2.91726053e+02] [ 2.08835655e-01 9.76760116e-01 -4.82425668e-02 1.62151648e+01] [-1.53171087e-01 8.13904049e-02 9.84842231e-01 1.55228055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.779072329 meters Centerline goodness : 0.764066 Centerline is valid? [False, False] Translation: X:-291.74, Y:16.23, Z:155.23 [[ 9.67167330e-01 -1.98918510e-01 1.58173270e-01 -2.91742612e+02] [ 2.09023700e-01 9.76637671e-01 -4.98793771e-02 1.62304605e+01] [-1.44556042e-01 8.13036661e-02 9.86150731e-01 1.55234303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.80907232899995 meters Centerline goodness : 0.765368 Centerline is valid? [False, False] Translation: X:-291.76, Y:16.25, Z:155.24 [[ 9.67995338e-01 -2.00461199e-01 1.50997793e-01 -2.91763566e+02] [ 2.10560029e-01 9.76088589e-01 -5.39957396e-02 1.62463097e+01] [-1.36563172e-01 8.40617239e-02 9.87058320e-01 1.55243493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.839072329 meters Centerline goodness : 0.764451 Centerline is valid? [False, False] Translation: X:-291.78, Y:16.26, Z:155.25 [[ 9.69544945e-01 -1.98922663e-01 1.42871879e-01 -2.91782408e+02] [ 2.08332195e-01 9.76561586e-01 -5.40847894e-02 1.62595123e+01] [-1.28764499e-01 8.22024464e-02 9.88262345e-01 1.55250212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.86907232899995 meters Centerline goodness : 0.765478 Centerline is valid? [False, False] Translation: X:-291.78, Y:16.26, Z:155.25 [[ 9.70171849e-01 -1.95969743e-01 1.42697035e-01 -2.91784561e+02] [ 2.04923691e-01 9.77454904e-01 -5.08742816e-02 1.62615837e+01] [-1.29510097e-01 7.85987989e-02 9.88458074e-01 1.55251431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.899072329 meters Centerline goodness : 0.764211 Centerline is valid? [False, False] Translation: X:-291.79, Y:16.26, Z:155.25 [[ 9.70524208e-01 -1.93812620e-01 1.43246050e-01 -2.91787976e+02] [ 2.02448308e-01 9.78103383e-01 -4.82540660e-02 1.62643064e+01] [-1.30757199e-01 7.58316596e-02 9.88510048e-01 1.55252216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.92907232899995 meters Centerline goodness : 0.765259 Centerline is valid? [False, False] Translation: X:-291.79, Y:16.26, Z:155.25 [[ 9.70460687e-01 -1.93909968e-01 1.43544346e-01 -2.91788911e+02] [ 2.02546950e-01 9.78091334e-01 -4.80840481e-02 1.62630557e+01] [-1.31075504e-01 7.57381478e-02 9.88475060e-01 1.55252630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.959072329 meters Centerline goodness : 0.763870 Centerline is valid? [False, False] Translation: X:-291.79, Y:16.27, Z:155.25 [[ 9.70835662e-01 -1.91649735e-01 1.44043386e-01 -2.91792711e+02] [ 1.99958741e-01 9.78748510e-01 -4.54736885e-02 1.62656466e+01] [-1.32267229e-01 7.29502127e-02 9.88525997e-01 1.55254303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.98907232899995 meters Centerline goodness : 0.763953 Centerline is valid? [False, False] Translation: X:-291.79, Y:16.27, Z:155.25 [[ 9.70701267e-01 -1.91991872e-01 1.44492804e-01 -2.91793978e+02] [ 2.00373657e-01 9.78650972e-01 -4.57457435e-02 1.62659436e+01] [-1.32625212e-01 7.33580027e-02 9.88447852e-01 1.55254728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.019072329 meters Centerline goodness : 0.761791 Centerline is valid? [False, False] Translation: X:-291.82, Y:16.28, Z:155.26 [[ 9.69567139e-01 -2.00887606e-01 1.39941887e-01 -2.91818477e+02] [ 2.09775807e-01 9.76376061e-01 -5.18063523e-02 1.62788111e+01] [-1.26228655e-01 7.95861591e-02 9.88803504e-01 1.55258468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.04907232899996 meters Centerline goodness : 0.760362 Centerline is valid? [False, False] Translation: X:-291.84, Y:16.28, Z:155.26 [[ 9.68679283e-01 -2.03040607e-01 1.42950895e-01 -2.91836637e+02] [ 2.11207774e-01 9.76435575e-01 -4.43265704e-02 1.62803475e+01] [-1.30582246e-01 7.31305707e-02 9.88736667e-01 1.55258943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.079072329 meters Centerline goodness : 0.764962 Centerline is valid? [False, False] Translation: X:-291.84, Y:16.28, Z:155.26 [[ 9.68247520e-01 -2.04259100e-01 1.44135216e-01 -2.91840343e+02] [ 2.12699064e-01 9.76051399e-01 -4.56374238e-02 1.62818146e+01] [-1.31361520e-01 7.48457479e-02 9.88505066e-01 1.55261012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.10907232899996 meters Centerline goodness : 0.764467 Centerline is valid? [False, False] Translation: X:-291.85, Y:16.29, Z:155.26 [[ 9.68545219e-01 -1.98922948e-01 1.49498562e-01 -2.91854948e+02] [ 2.08460512e-01 9.76703569e-01 -5.09347975e-02 1.62867318e+01] [-1.35883679e-01 8.04972013e-02 9.87449151e-01 1.55258040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.139072329 meters Centerline goodness : 0.763574 Centerline is valid? [False, False] Translation: X:-291.86, Y:16.29, Z:155.26 [[ 9.69137295e-01 -1.96029805e-01 1.49483172e-01 -2.91857617e+02] [ 2.05059516e-01 9.77598851e-01 -4.74455610e-02 1.62872105e+01] [-1.36833833e-01 7.66342094e-02 9.87625283e-01 1.55259538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.16907232899996 meters Centerline goodness : 0.764876 Centerline is valid? [False, False] Translation: X:-291.87, Y:16.29, Z:155.26 [[ 9.70066102e-01 -1.87619463e-01 1.54177481e-01 -2.91872256e+02] [ 1.97261563e-01 9.79091077e-01 -4.96843849e-02 1.62938351e+01] [-1.41632038e-01 7.86104284e-02 9.86793173e-01 1.55255572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.199072329 meters Centerline goodness : 0.763107 Centerline is valid? [False, False] Translation: X:-291.89, Y:16.31, Z:155.26 [[ 9.70435558e-01 -1.92078773e-01 1.46152566e-01 -2.91888707e+02] [ 2.01675313e-01 9.77972968e-01 -5.38139504e-02 1.63056318e+01] [-1.32596742e-01 8.16983356e-02 9.87797290e-01 1.55261262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22907232899996 meters Centerline goodness : 0.763419 Centerline is valid? [False, False] Translation: X:-291.89, Y:16.30, Z:155.26 [[ 9.70331699e-01 -1.92241854e-01 1.46626951e-01 -2.91890005e+02] [ 2.01862149e-01 9.77941393e-01 -5.36870970e-02 1.63044488e+01] [-1.33071658e-01 8.16927235e-02 9.87733888e-01 1.55261584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.259072329 meters Centerline goodness : 0.764834 Centerline is valid? [False, False] Translation: X:-291.89, Y:16.30, Z:155.26 [[ 9.70277639e-01 -1.92262900e-01 1.46956727e-01 -2.91891062e+02] [ 2.01887543e-01 9.77945614e-01 -5.35144516e-02 1.63031503e+01] [-1.33426843e-01 8.15926083e-02 9.87694246e-01 1.55261994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28907232899996 meters Centerline goodness : 0.765646 Centerline is valid? [False, False] Translation: X:-291.89, Y:16.30, Z:155.26 [[ 9.70089589e-01 -1.92853591e-01 1.47423480e-01 -2.91892884e+02] [ 2.02641104e-01 9.77741142e-01 -5.43952365e-02 1.63047192e+01] [-1.33651685e-01 8.26423093e-02 9.87576567e-01 1.55263466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.319072329 meters Centerline goodness : 0.764828 Centerline is valid? [False, False] Translation: X:-291.90, Y:16.31, Z:155.27 [[ 9.70626525e-01 -1.90133020e-01 1.47423146e-01 -2.91895567e+02] [ 1.99479091e-01 9.78558085e-01 -5.13046499e-02 1.63064588e+01] [-1.34507403e-01 7.92054890e-02 9.87741995e-01 1.55265060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34907232899997 meters Centerline goodness : 0.766074 Centerline is valid? [False, False] Translation: X:-291.90, Y:16.31, Z:155.27 [[ 9.70906384e-01 -1.88285636e-01 1.47950375e-01 -2.91899721e+02] [ 1.97352637e-01 9.79103764e-01 -4.90688887e-02 1.63090821e+01] [-1.35619802e-01 7.68396939e-02 9.87776762e-01 1.55267503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.379072329 meters Centerline goodness : 0.764405 Centerline is valid? [False, False] Translation: X:-291.90, Y:16.31, Z:155.27 [[ 9.71228023e-01 -1.86217163e-01 1.48456378e-01 -2.91903784e+02] [ 1.94965491e-01 9.79702293e-01 -4.66033698e-02 1.63114238e+01] [-1.36764707e-01 7.42063695e-02 9.87820242e-01 1.55269763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40907232899997 meters Centerline goodness : 0.765293 Centerline is valid? [False, False] Translation: X:-291.92, Y:16.32, Z:155.28 [[ 9.72227712e-01 -1.87557830e-01 1.39983345e-01 -2.91920073e+02] [ 1.95845916e-01 9.79465819e-01 -4.78652871e-02 1.63244170e+01] [-1.28131392e-01 7.39511250e-02 9.88996247e-01 1.55275066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.439072329 meters Centerline goodness : 0.762921 Centerline is valid? [False, False] Translation: X:-291.94, Y:16.34, Z:155.28 [[ 9.72749640e-01 -1.90386980e-01 1.32328893e-01 -2.91937796e+02] [ 1.98318877e-01 9.78888025e-01 -4.94758253e-02 1.63356007e+01] [-1.20115616e-01 7.43709088e-02 9.89970306e-01 1.55278585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46907232899997 meters Centerline goodness : 0.762407 Centerline is valid? [False, False] Translation: X:-291.94, Y:16.34, Z:155.28 [[ 9.73027314e-01 -1.88459390e-01 1.33044744e-01 -2.91941545e+02] [ 1.96051816e-01 9.79496878e-01 -4.63632616e-02 1.63355673e+01] [-1.21579319e-01 7.11963836e-02 9.90025022e-01 1.55279218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49907232899994 meters Centerline goodness : 0.763514 Centerline is valid? [False, False] Translation: X:-291.94, Y:16.33, Z:155.28 [[ 9.72900626e-01 -1.88713521e-01 1.33609802e-01 -2.91942758e+02] [ 1.96330217e-01 9.79448154e-01 -4.62142860e-02 1.63347333e+01] [-1.22142614e-01 7.11935493e-02 9.89955888e-01 1.55278942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.529072329 meters Centerline goodness : 0.762482 Centerline is valid? [False, False] Translation: X:-291.94, Y:16.33, Z:155.28 [[ 9.72828890e-01 -1.88765019e-01 1.34058638e-01 -2.91943811e+02] [ 1.96367989e-01 9.79458258e-01 -4.58381225e-02 1.63333606e+01] [-1.22652206e-01 7.09174750e-02 9.89912697e-01 1.55278832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55907232899995 meters Centerline goodness : 0.762384 Centerline is valid? [False, False] Translation: X:-291.95, Y:16.33, Z:155.28 [[ 9.72465358e-01 -1.89837129e-01 1.35177631e-01 -2.91947178e+02] [ 1.97665772e-01 9.79145046e-01 -4.69384739e-02 1.63348796e+01] [-1.23447843e-01 7.23660307e-02 9.89708941e-01 1.55280404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.589072329 meters Centerline goodness : 0.762336 Centerline is valid? [False, False] Translation: X:-291.95, Y:16.33, Z:155.28 [[ 9.72205478e-01 -1.90529556e-01 1.36069821e-01 -2.91949866e+02] [ 1.98447947e-01 9.78979499e-01 -4.70909077e-02 1.63333062e+01] [-1.24237355e-01 7.27848151e-02 9.89579431e-01 1.55281590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61907232899995 meters Centerline goodness : 0.762097 Centerline is valid? [False, False] Translation: X:-291.95, Y:16.33, Z:155.28 [[ 9.72137570e-01 -1.90644257e-01 1.36393957e-01 -2.91950760e+02] [ 1.98573191e-01 9.78959552e-01 -4.69774706e-02 1.63326066e+01] [-1.24568182e-01 7.27527474e-02 9.89540199e-01 1.55281758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.649072329 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:-291.95, Y:16.33, Z:155.28 [[ 9.71828238e-01 -1.91521004e-01 1.37366589e-01 -2.91953498e+02] [ 1.99653123e-01 9.78692100e-01 -4.79625306e-02 1.63342168e+01] [-1.25253764e-01 7.40370102e-02 9.89358386e-01 1.55282782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67907232899995 meters Centerline goodness : 0.762841 Centerline is valid? [False, False] Translation: X:-291.96, Y:16.33, Z:155.28 [[ 9.71504233e-01 -1.92484828e-01 1.38308048e-01 -2.91956275e+02] [ 2.00794699e-01 9.78419818e-01 -4.87457542e-02 1.63344537e+01] [-1.25940517e-01 7.51282295e-02 9.89188928e-01 1.55284002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.709072329 meters Centerline goodness : 0.763362 Centerline is valid? [False, False] Translation: X:-291.96, Y:16.34, Z:155.28 [[ 9.71386037e-01 -1.92760854e-01 1.38753089e-01 -2.91957293e+02] [ 2.01136900e-01 9.78337745e-01 -4.89816615e-02 1.63350621e+01] [-1.26305637e-01 7.54884682e-02 9.89114946e-01 1.55283932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.73907232899995 meters Centerline goodness : 0.763398 Centerline is valid? [False, False] Translation: X:-291.96, Y:16.34, Z:155.28 [[ 9.71358258e-01 -1.92816186e-01 1.38870638e-01 -2.91957446e+02] [ 2.01198596e-01 9.78326261e-01 -4.89576468e-02 1.63351340e+01] [-1.26420965e-01 7.54959918e-02 9.89099638e-01 1.55283557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.769072329 meters Centerline goodness : 0.762609 Centerline is valid? [False, False] Translation: X:-291.97, Y:16.34, Z:155.28 [[ 9.70289323e-01 -1.95443831e-01 1.42619556e-01 -2.91971024e+02] [ 2.03549011e-01 9.78052786e-01 -4.45033550e-02 1.63374333e+01] [-1.30791548e-01 7.22111997e-02 9.88776574e-01 1.55281476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.79907232899996 meters Centerline goodness : 0.763135 Centerline is valid? [False, False] Translation: X:-291.99, Y:16.34, Z:155.28 [[ 9.70469662e-01 -1.90603681e-01 1.47847465e-01 -2.91985158e+02] [ 1.99909725e-01 9.78500054e-01 -5.07320930e-02 1.63428011e+01] [-1.34999029e-01 7.87901031e-02 9.87708146e-01 1.55277730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.829072329 meters Centerline goodness : 0.764773 Centerline is valid? [False, False] Translation: X:-291.99, Y:16.34, Z:155.28 [[ 9.70200162e-01 -1.91346800e-01 1.48654125e-01 -2.91987770e+02] [ 2.00828674e-01 9.78272058e-01 -5.14939301e-02 1.63435224e+01] [-1.35570978e-01 7.98134302e-02 9.87547632e-01 1.55279232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.85907232899996 meters Centerline goodness : 0.762827 Centerline is valid? [False, False] Translation: X:-292.01, Y:16.36, Z:155.28 [[ 9.70707215e-01 -1.94411242e-01 1.41179923e-01 -2.92006599e+02] [ 2.03686448e-01 9.77524440e-01 -5.43856628e-02 1.63569746e+01] [-1.27433641e-01 8.15489923e-02 9.88488963e-01 1.55284811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.889072329 meters Centerline goodness : 0.762632 Centerline is valid? [False, False] Translation: X:-292.01, Y:16.36, Z:155.29 [[ 9.71104609e-01 -1.92083364e-01 1.41632691e-01 -2.92009965e+02] [ 2.01017787e-01 9.78227707e-01 -5.15984721e-02 1.63593294e+01] [-1.28637814e-01 7.85782042e-02 9.88573608e-01 1.55285802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.91907232899996 meters Centerline goodness : 0.762511 Centerline is valid? [False, False] Translation: X:-292.01, Y:16.36, Z:155.29 [[ 9.71851904e-01 -1.88734410e-01 1.41007800e-01 -2.92010791e+02] [ 1.97115653e-01 9.79208472e-01 -4.79185468e-02 1.63605096e+01] [-1.29032153e-01 7.43645754e-02 9.88848125e-01 1.55286451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.949072329 meters Centerline goodness : 0.762391 Centerline is valid? [False, False] Translation: X:-292.01, Y:16.36, Z:155.29 [[ 9.72209786e-01 -1.86619211e-01 1.41355587e-01 -2.92014618e+02] [ 1.94690422e-01 9.79809868e-01 -4.54781436e-02 1.63627221e+01] [-1.30014503e-01 7.17348751e-02 9.88913715e-01 1.55288895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97907232899996 meters Centerline goodness : 0.763343 Centerline is valid? [False, False] Translation: X:-292.02, Y:16.37, Z:155.29 [[ 9.72477222e-01 -1.84744932e-01 1.41976624e-01 -2.92018848e+02] [ 1.92549000e-01 9.80334660e-01 -4.32300472e-02 1.63653837e+01] [-1.31198073e-01 6.93776932e-02 9.88925579e-01 1.55291069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.009072329 meters Centerline goodness : 0.763672 Centerline is valid? [False, False] Translation: X:-292.04, Y:16.38, Z:155.30 [[ 9.73106975e-01 -1.87054203e-01 1.34437870e-01 -2.92036993e+02] [ 1.94720017e-01 9.79769374e-01 -4.62178349e-02 1.63791596e+01] [-1.23072867e-01 7.11526418e-02 9.89843609e-01 1.55296060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03907232899996 meters Centerline goodness : 0.763459 Centerline is valid? [False, False] Translation: X:-292.04, Y:16.38, Z:155.30 [[ 9.72903366e-01 -1.87516836e-01 1.35264472e-01 -2.92039065e+02] [ 1.95246832e-01 9.79664125e-01 -4.62263550e-02 1.63781793e+01] [-1.23845531e-01 7.13837362e-02 9.89730593e-01 1.55296245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.069072329 meters Centerline goodness : 0.762787 Centerline is valid? [False, False] Translation: X:-292.04, Y:16.38, Z:155.30 [[ 9.72871055e-01 -1.87500862e-01 1.35518771e-01 -2.92039802e+02] [ 1.95201307e-01 9.79691149e-01 -4.58443237e-02 1.63766720e+01] [-1.24170690e-01 7.10540567e-02 9.89713575e-01 1.55296368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09907232899997 meters Centerline goodness : 0.764787 Centerline is valid? [False, False] Translation: X:-292.04, Y:16.38, Z:155.30 [[ 9.72679091e-01 -1.87988185e-01 1.36219778e-01 -2.92041768e+02] [ 1.95801084e-01 9.79549720e-01 -4.63063928e-02 1.63773247e+01] [-1.24728991e-01 7.17132402e-02 9.89595822e-01 1.55297016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.129072329 meters Centerline goodness : 0.764700 Centerline is valid? [False, False] Translation: X:-292.04, Y:16.38, Z:155.30 [[ 9.72419163e-01 -1.88695824e-01 1.37094337e-01 -2.92043947e+02] [ 1.96632752e-01 9.79362495e-01 -4.67403964e-02 1.63775757e+01] [-1.25445334e-01 7.24084940e-02 9.89454637e-01 1.55297394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15907232899997 meters Centerline goodness : 0.765216 Centerline is valid? [False, False] Translation: X:-292.05, Y:16.38, Z:155.30 [[ 9.71881592e-01 -1.90311147e-01 1.38664482e-01 -2.92047902e+02] [ 1.98558504e-01 9.78904793e-01 -4.81656226e-02 1.63791771e+01] [-1.26572871e-01 7.43442941e-02 9.89167445e-01 1.55298394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.189072329 meters Centerline goodness : 0.764242 Centerline is valid? [False, False] Translation: X:-292.06, Y:16.38, Z:155.29 [[ 9.72099454e-01 -1.85971881e-01 1.42958421e-01 -2.92060095e+02] [ 1.95516338e-01 9.79112991e-01 -5.57773422e-02 1.63813491e+01] [-1.29599430e-01 8.21718308e-02 9.88155746e-01 1.55294085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21907232899997 meters Centerline goodness : 0.764015 Centerline is valid? [False, False] Translation: X:-292.06, Y:16.38, Z:155.30 [[ 9.71787073e-01 -1.86908181e-01 1.43858322e-01 -2.92062642e+02] [ 1.96700699e-01 9.78803316e-01 -5.70342284e-02 1.63838332e+01] [-1.30148838e-01 8.37221582e-02 9.87953380e-01 1.55295086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24907232899994 meters Centerline goodness : 0.764036 Centerline is valid? [False, False] Translation: X:-292.07, Y:16.39, Z:155.30 [[ 9.71982406e-01 -1.85428372e-01 1.44452487e-01 -2.92066724e+02] [ 1.95005538e-01 9.79252657e-01 -5.51096485e-02 1.63861282e+01] [-1.31236589e-01 8.17346436e-02 9.87975914e-01 1.55297387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.279072329 meters Centerline goodness : 0.764898 Centerline is valid? [False, False] Translation: X:-292.07, Y:16.39, Z:155.30 [[ 9.72179935e-01 -1.83991538e-01 1.44959608e-01 -2.92070898e+02] [ 1.93398531e-01 9.79655028e-01 -5.36006973e-02 1.63895167e+01] [-1.32148334e-01 8.01444977e-02 9.87984654e-01 1.55300313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.30907232899995 meters Centerline goodness : 0.763437 Centerline is valid? [False, False] Translation: X:-292.07, Y:16.39, Z:155.30 [[ 9.72302466e-01 -1.82853129e-01 1.45576947e-01 -2.92074872e+02] [ 1.92115511e-01 9.79982154e-01 -5.22169336e-02 1.63917970e+01] [-1.33114780e-01 7.87382429e-02 9.87967988e-01 1.55302809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.339072329 meters Centerline goodness : 0.764667 Centerline is valid? [False, False] Translation: X:-292.08, Y:16.39, Z:155.30 [[ 9.72289485e-01 -1.82869345e-01 1.45643263e-01 -2.92075214e+02] [ 1.92137957e-01 9.79977447e-01 -5.22226789e-02 1.63918299e+01] [-1.33177186e-01 7.87591606e-02 9.87957910e-01 1.55303056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.36907232899995 meters Centerline goodness : 0.764288 Centerline is valid? [False, False] Translation: X:-292.08, Y:16.39, Z:155.30 [[ 9.72074870e-01 -1.83349712e-01 1.46469554e-01 -2.92077134e+02] [ 1.92697235e-01 9.79864249e-01 -5.22860342e-02 1.63911819e+01] [-1.33933650e-01 7.90502180e-02 9.87832395e-01 1.55303009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.399072329 meters Centerline goodness : 0.763627 Centerline is valid? [False, False] Translation: X:-292.09, Y:16.40, Z:155.31 [[ 9.72973902e-01 -1.85129138e-01 1.38018071e-01 -2.92093084e+02] [ 1.94017927e-01 9.79516884e-01 -5.38861561e-02 1.64040650e+01] [-1.25215133e-01 7.92078035e-02 9.88962737e-01 1.55307875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.42907232899995 meters Centerline goodness : 0.763019 Centerline is valid? [False, False] Translation: X:-292.11, Y:16.41, Z:155.31 [[ 9.72500154e-01 -1.85146635e-01 1.41294638e-01 -2.92108114e+02] [ 1.93364444e-01 9.80014223e-01 -4.67152599e-02 1.64065494e+01] [-1.29821582e-01 7.27519564e-02 9.88864758e-01 1.55307806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.459072329 meters Centerline goodness : 0.760886 Centerline is valid? [False, False] Translation: X:-292.11, Y:16.41, Z:155.31 [[ 9.72729379e-01 -1.83382639e-01 1.42015359e-01 -2.92111751e+02] [ 1.91304142e-01 9.80536124e-01 -4.41773121e-02 1.64082397e+01] [-1.31149838e-01 7.01406958e-02 9.88878154e-01 1.55308651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.48907232899995 meters Centerline goodness : 0.760206 Centerline is valid? [False, False] Translation: X:-292.12, Y:16.41, Z:155.30 [[ 9.73244925e-01 -1.77213177e-01 1.46252540e-01 -2.92124929e+02] [ 1.86158636e-01 9.81255722e-01 -4.98213887e-02 1.64141848e+01] [-1.34682135e-01 7.57145872e-02 9.87991915e-01 1.55304558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.519072329 meters Centerline goodness : 0.760206 Centerline is valid? [False, False] Translation: X:-292.12, Y:16.41, Z:155.30 [[ 9.73244925e-01 -1.77213177e-01 1.46252540e-01 -2.92124929e+02] [ 1.86158636e-01 9.81255722e-01 -4.98213887e-02 1.64141848e+01] [-1.34682135e-01 7.57145872e-02 9.87991915e-01 1.55304558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.54907232899996 meters Centerline goodness : 0.762454 Centerline is valid? [False, False] Translation: X:-292.13, Y:16.42, Z:155.31 [[ 9.73166212e-01 -1.77425633e-01 1.46518496e-01 -2.92125895e+02] [ 1.86445370e-01 9.81181882e-01 -5.02019766e-02 1.64150276e+01] [-1.34854176e-01 7.61725625e-02 9.87933243e-01 1.55305176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.579072329 meters Centerline goodness : 0.762402 Centerline is valid? [False, False] Translation: X:-292.14, Y:16.43, Z:155.31 [[ 9.73959881e-01 -1.79505806e-01 1.38491210e-01 -2.92143014e+02] [ 1.88324085e-01 9.80657673e-01 -5.33344863e-02 1.64297007e+01] [-1.26238618e-01 7.80268804e-02 9.88926497e-01 1.55311666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.60907232899996 meters Centerline goodness : 0.762724 Centerline is valid? [False, False] Translation: X:-292.14, Y:16.43, Z:155.31 [[ 9.73931991e-01 -1.79532554e-01 1.38652581e-01 -2.92143547e+02] [ 1.88370642e-01 9.80645836e-01 -5.33876987e-02 1.64298053e+01] [-1.26384246e-01 7.81140633e-02 9.88901014e-01 1.55311855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.639072329 meters Centerline goodness : 0.762583 Centerline is valid? [False, False] Translation: X:-292.14, Y:16.43, Z:155.31 [[ 9.73848173e-01 -1.79723217e-01 1.38993889e-01 -2.92144593e+02] [ 1.88594697e-01 9.80600683e-01 -5.34260266e-02 1.64295046e+01] [-1.26695606e-01 7.82423489e-02 9.88851029e-01 1.55312249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.66907232899996 meters Centerline goodness : 0.764118 Centerline is valid? [False, False] Translation: X:-292.15, Y:16.43, Z:155.31 [[ 9.73699566e-01 -1.80203444e-01 1.39412607e-01 -2.92146333e+02] [ 1.89198981e-01 9.80446990e-01 -5.41058794e-02 1.64304229e+01] [-1.26936605e-01 7.90595944e-02 9.88755116e-01 1.55313756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.699072329 meters Centerline goodness : 0.763971 Centerline is valid? [False, False] Translation: X:-292.15, Y:16.43, Z:155.31 [[ 9.73440064e-01 -1.80903896e-01 1.40314725e-01 -2.92149017e+02] [ 1.90074698e-01 9.80235592e-01 -5.48615876e-02 1.64315837e+01] [-1.27616812e-01 8.00747462e-02 9.88585851e-01 1.55314909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72907232899996 meters Centerline goodness : 0.764509 Centerline is valid? [False, False] Translation: X:-292.16, Y:16.43, Z:155.31 [[ 9.72246257e-01 -1.84077400e-01 1.44404734e-01 -2.92163529e+02] [ 1.93165973e-01 9.79811040e-01 -5.15483462e-02 1.64343920e+01] [-1.32000467e-01 7.80117675e-02 9.88175106e-01 1.55314307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.759072329 meters Centerline goodness : 0.762892 Centerline is valid? [False, False] Translation: X:-292.17, Y:16.43, Z:155.31 [[ 9.72008499e-01 -1.84677725e-01 1.45236416e-01 -2.92165440e+02] [ 1.93872996e-01 9.79657364e-01 -5.18141883e-02 1.64343817e+01] [-1.32712998e-01 7.85212505e-02 9.88039308e-01 1.55314247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78907232899996 meters Centerline goodness : 0.762229 Centerline is valid? [False, False] Translation: X:-292.18, Y:16.45, Z:155.32 [[ 9.72972002e-01 -1.86196993e-01 1.36587564e-01 -2.92180998e+02] [ 1.94820804e-01 9.79425633e-01 -5.26334848e-02 1.64477891e+01] [-1.23977165e-01 7.78210061e-02 9.89228767e-01 1.55318712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.819072329 meters Centerline goodness : 0.761813 Centerline is valid? [False, False] Translation: X:-292.18, Y:16.45, Z:155.32 [[ 9.72884909e-01 -1.86439417e-01 1.36876946e-01 -2.92181677e+02] [ 1.95108600e-01 9.79359415e-01 -5.27993514e-02 1.64479966e+01] [-1.24207845e-01 7.80735614e-02 9.89179928e-01 1.55318666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84907232899997 meters Centerline goodness : 0.761987 Centerline is valid? [False, False] Translation: X:-292.18, Y:16.45, Z:155.32 [[ 9.72788812e-01 -1.86651802e-01 1.37269926e-01 -2.92183171e+02] [ 1.95358201e-01 9.79307706e-01 -5.28354970e-02 1.64471746e+01] [-1.24567656e-01 7.82145863e-02 9.89123540e-01 1.55319732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.879072329 meters Centerline goodness : 0.763376 Centerline is valid? [False, False] Translation: X:-292.19, Y:16.45, Z:155.32 [[ 9.73246162e-01 -1.84002516e-01 1.37604442e-01 -2.92186457e+02] [ 1.92333375e-01 9.80065000e-01 -4.98043017e-02 1.64491389e+01] [-1.25697181e-01 7.49377722e-02 9.89234325e-01 1.55321084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90907232899997 meters Centerline goodness : 0.761569 Centerline is valid? [False, False] Translation: X:-292.19, Y:16.45, Z:155.32 [[ 9.73480124e-01 -1.82307371e-01 1.38204451e-01 -2.92190114e+02] [ 1.90427024e-01 9.80532558e-01 -4.78899907e-02 1.64529852e+01] [-1.26783265e-01 7.29378164e-02 9.89245206e-01 1.55322492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.939072329 meters Centerline goodness : 0.760902 Centerline is valid? [False, False] Translation: X:-292.19, Y:16.45, Z:155.32 [[ 9.73895349e-01 -1.79829778e-01 1.38524726e-01 -2.92192989e+02] [ 1.87537095e-01 9.81242246e-01 -4.46485577e-02 1.64541191e+01] [-1.27897173e-01 6.94615474e-02 9.89352013e-01 1.55323195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96907232899997 meters Centerline goodness : 0.761023 Centerline is valid? [False, False] Translation: X:-292.21, Y:16.46, Z:155.32 [[ 9.74468527e-01 -1.73444377e-01 1.42576782e-01 -2.92205752e+02] [ 1.82117946e-01 9.81998439e-01 -5.01210566e-02 1.64604957e+01] [-1.31316962e-01 7.48071828e-02 9.88513905e-01 1.55318431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99907232899994 meters Centerline goodness : 0.761686 Centerline is valid? [False, False] Translation: X:-292.22, Y:16.48, Z:155.33 [[ 9.75271843e-01 -1.75405823e-01 1.34453077e-01 -2.92223433e+02] [ 1.83848090e-01 9.81520149e-01 -5.30855534e-02 1.64780534e+01] [-1.22656889e-01 7.64917869e-02 9.89496990e-01 1.55325194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.029072329 meters Centerline goodness : 0.762710 Centerline is valid? [False, False] Translation: X:-292.22, Y:16.48, Z:155.33 [[ 9.75172754e-01 -1.75755793e-01 1.34714516e-01 -2.92224803e+02] [ 1.84306817e-01 9.81396326e-01 -5.37796336e-02 1.64795453e+01] [-1.22756249e-01 7.72732371e-02 9.89423949e-01 1.55326632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05907232899995 meters Centerline goodness : 0.763296 Centerline is valid? [False, False] Translation: X:-292.23, Y:16.48, Z:155.33 [[ 9.75408730e-01 -1.74086614e-01 1.35172703e-01 -2.92228761e+02] [ 1.82397290e-01 9.81867242e-01 -5.16521836e-02 1.64814930e+01] [-1.23729695e-01 7.50371255e-02 9.89474806e-01 1.55329223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.089072329 meters Centerline goodness : 0.762089 Centerline is valid? [False, False] Translation: X:-292.23, Y:16.48, Z:155.33 [[ 9.75685771e-01 -1.72019813e-01 1.35817744e-01 -2.92232372e+02] [ 1.80041964e-01 9.82433586e-01 -4.90829887e-02 1.64837864e+01] [-1.24988667e-01 7.23424670e-02 9.89517256e-01 1.55330208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11907232899995 meters Centerline goodness : 0.759058 Centerline is valid? [False, False] Translation: X:-292.25, Y:16.50, Z:155.33 [[ 9.77080760e-01 -1.71459435e-01 1.26154074e-01 -2.92245944e+02] [ 1.78739641e-01 9.82687119e-01 -4.87664442e-02 1.64962133e+01] [-1.15608516e-01 7.01974882e-02 9.90811275e-01 1.55334661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.149072329 meters Centerline goodness : 0.758053 Centerline is valid? [False, False] Translation: X:-292.25, Y:16.50, Z:155.34 [[ 9.78001527e-01 -1.66180718e-01 1.26083234e-01 -2.92249784e+02] [ 1.72765489e-01 9.84017466e-01 -4.31475563e-02 1.65011523e+01] [-1.16897813e-01 6.39812075e-02 9.91080878e-01 1.55336488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17907232899995 meters Centerline goodness : 0.759321 Centerline is valid? [False, False] Translation: X:-292.26, Y:16.51, Z:155.33 [[ 9.78423733e-01 -1.60294180e-01 1.30356337e-01 -2.92263005e+02] [ 1.67850853e-01 9.84586894e-01 -4.91399902e-02 1.65083378e+01] [-1.20470286e-01 6.99601549e-02 9.90248700e-01 1.55332701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.209072329 meters Centerline goodness : 0.760559 Centerline is valid? [False, False] Translation: X:-292.27, Y:16.51, Z:155.33 [[ 9.78593262e-01 -1.58670419e-01 1.31068399e-01 -2.92267075e+02] [ 1.66019895e-01 9.84995881e-01 -4.71222756e-02 1.65107730e+01] [-1.21624922e-01 6.78735033e-02 9.90252779e-01 1.55334732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.23907232899995 meters Centerline goodness : 0.760785 Centerline is valid? [False, False] Translation: X:-292.27, Y:16.51, Z:155.34 [[ 9.78881221e-01 -1.56471948e-01 1.31560190e-01 -2.92270490e+02] [ 1.63508518e-01 9.85540689e-01 -4.44355232e-02 1.65126766e+01] [-1.22705008e-01 6.50083109e-02 9.90311769e-01 1.55336292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.269072329 meters Centerline goodness : 0.761360 Centerline is valid? [False, False] Translation: X:-292.27, Y:16.52, Z:155.34 [[ 9.79243010e-01 -1.53933998e-01 1.31861488e-01 -2.92273400e+02] [ 1.60623517e-01 9.86137434e-01 -4.16298852e-02 1.65151525e+01] [-1.23625295e-01 6.19458302e-02 9.90393609e-01 1.55337678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.29907232899996 meters Centerline goodness : 0.762140 Centerline is valid? [False, False] Translation: X:-292.27, Y:16.52, Z:155.34 [[ 9.79188354e-01 -1.54187706e-01 1.31970902e-01 -2.92274144e+02] [ 1.60969666e-01 9.86052442e-01 -4.23006771e-02 1.65169179e+01] [-1.23607986e-01 6.26636424e-02 9.90350612e-01 1.55338574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.329072329 meters Centerline goodness : 0.761248 Centerline is valid? [False, False] Translation: X:-292.28, Y:16.52, Z:155.34 [[ 9.79708073e-01 -1.51177142e-01 1.31596211e-01 -2.92275398e+02] [ 1.57568964e-01 9.86716279e-01 -3.95348705e-02 1.65209060e+01] [-1.23871355e-01 5.94681104e-02 9.90514731e-01 1.55339837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.35907232899996 meters Centerline goodness : 0.762331 Centerline is valid? [False, False] Translation: X:-292.29, Y:16.53, Z:155.34 [[ 9.80658054e-01 -1.42671234e-01 1.33995152e-01 -2.92286850e+02] [ 1.49765082e-01 9.87724492e-01 -4.43931168e-02 1.65287470e+01] [-1.26016672e-01 6.36022624e-02 9.89987147e-01 1.55336351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.389072329 meters Centerline goodness : 0.762673 Centerline is valid? [False, False] Translation: X:-292.29, Y:16.54, Z:155.34 [[ 9.82175272e-01 -1.42147200e-01 1.22987434e-01 -2.92294454e+02] [ 1.49101137e-01 9.87593624e-01 -4.92715409e-02 1.65435677e+01] [-1.14457794e-01 6.67308553e-02 9.91184345e-01 1.55344254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41907232899996 meters Centerline goodness : 0.762405 Centerline is valid? [False, False] Translation: X:-292.30, Y:16.55, Z:155.35 [[ 9.83052068e-01 -1.36161948e-01 1.22754042e-01 -2.92297516e+02] [ 1.42304469e-01 9.88901356e-01 -4.27030104e-02 1.65467476e+01] [-1.15577113e-01 5.94477314e-02 9.91517977e-01 1.55346008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.449072329 meters Centerline goodness : 0.762738 Centerline is valid? [False, False] Translation: X:-292.30, Y:16.55, Z:155.35 [[ 9.83333550e-01 -1.33640460e-01 1.23269452e-01 -2.92300528e+02] [ 1.39432184e-01 9.89440263e-01 -3.95807127e-02 1.65480459e+01] [-1.16678174e-01 5.61087716e-02 9.91583587e-01 1.55346953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47907232899996 meters Centerline goodness : 0.763003 Centerline is valid? [False, False] Translation: X:-292.31, Y:16.56, Z:155.35 [[ 9.84664393e-01 -1.33536467e-01 1.12267735e-01 -2.92307411e+02] [ 1.39341384e-01 9.89197557e-01 -4.55211145e-02 1.65607794e+01] [-1.04976241e-01 6.04665622e-02 9.92634769e-01 1.55354122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.509072329 meters Centerline goodness : 0.761109 Centerline is valid? [False, False] Translation: X:-292.31, Y:16.56, Z:155.35 [[ 9.84534795e-01 -1.33973640e-01 1.12881799e-01 -2.92308821e+02] [ 1.39831263e-01 9.89122769e-01 -4.56439078e-02 1.65604485e+01] [-1.05538877e-01 6.07224199e-02 9.92559486e-01 1.55354000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53907232899996 meters Centerline goodness : 0.761397 Centerline is valid? [False, False] Translation: X:-292.32, Y:16.58, Z:155.36 [[ 9.85372094e-01 -1.34860263e-01 1.04185149e-01 -2.92324384e+02] [ 1.40353734e-01 9.88971041e-01 -4.72980821e-02 1.65759662e+01] [-9.66574633e-02 6.12289849e-02 9.93432608e-01 1.55359394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.569072329 meters Centerline goodness : 0.760989 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.58, Z:155.36 [[ 9.85325848e-01 -1.35005015e-01 1.04434755e-01 -2.92325331e+02] [ 1.40526869e-01 9.88940363e-01 -4.74252757e-02 1.65759282e+01] [-9.68770950e-02 6.14052392e-02 9.93400335e-01 1.55359947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59907232899997 meters Centerline goodness : 0.761608 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.58, Z:155.36 [[ 9.85095786e-01 -1.35889339e-01 1.05453214e-01 -2.92327962e+02] [ 1.41543299e-01 9.88763256e-01 -4.80907309e-02 1.65765298e+01] [-9.77332454e-02 6.23001721e-02 9.93260742e-01 1.55360397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.629072329 meters Centerline goodness : 0.762079 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.58, Z:155.36 [[ 9.85071997e-01 -1.35934663e-01 1.05616890e-01 -2.92328432e+02] [ 1.41598561e-01 9.88755609e-01 -4.80852710e-02 1.65764702e+01] [-9.78928376e-02 6.23226536e-02 9.93243615e-01 1.55360439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65907232899997 meters Centerline goodness : 0.761924 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.58, Z:155.36 [[ 9.84930157e-01 -1.36384768e-01 1.06356853e-01 -2.92330361e+02] [ 1.42114378e-01 9.88673086e-01 -4.82600444e-02 1.65762126e+01] [-9.85702228e-02 6.26476111e-02 9.93156175e-01 1.55360728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.689072329 meters Centerline goodness : 0.760699 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.57, Z:155.36 [[ 9.84873896e-01 -1.36401311e-01 1.06855473e-01 -2.92331612e+02] [ 1.42111480e-01 9.88698365e-01 -4.77479885e-02 1.65741605e+01] [-9.91349433e-02 6.22111369e-02 9.93127402e-01 1.55360648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71907232899997 meters Centerline goodness : 0.760531 Centerline is valid? [False, False] Translation: X:-292.33, Y:16.57, Z:155.36 [[ 9.84848482e-01 -1.36345813e-01 1.07160095e-01 -2.92332123e+02] [ 1.42036185e-01 9.88727790e-01 -4.73611591e-02 1.65731044e+01] [-9.94946682e-02 6.18641767e-02 9.93113103e-01 1.55360103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74907232899994 meters Centerline goodness : 0.760071 Centerline is valid? [False, False] Translation: X:-292.34, Y:16.57, Z:155.36 [[ 9.85096401e-01 -1.34066500e-01 1.07755533e-01 -2.92335496e+02] [ 1.39443701e-01 9.89252537e-01 -4.39871921e-02 1.65719577e+01] [-1.00700225e-01 5.83574550e-02 9.93203842e-01 1.55361176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.779072329 meters Centerline goodness : 0.761522 Centerline is valid? [False, False] Translation: X:-292.34, Y:16.57, Z:155.36 [[ 9.84970201e-01 -1.34636592e-01 1.08197468e-01 -2.92337260e+02] [ 1.40136216e-01 9.89113197e-01 -4.49101781e-02 1.65742412e+01] [-1.00972990e-01 5.93975709e-02 9.93114487e-01 1.55362548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.80907232899995 meters Centerline goodness : 0.760447 Centerline is valid? [False, False] Translation: X:-292.34, Y:16.57, Z:155.36 [[ 9.84886329e-01 -1.34878907e-01 1.08658180e-01 -2.92338802e+02] [ 1.40411457e-01 9.89072291e-01 -4.49513751e-02 1.65736731e+01] [-1.01407803e-01 5.95288482e-02 9.93062321e-01 1.55363317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.839072329 meters Centerline goodness : 0.760713 Centerline is valid? [False, False] Translation: X:-292.35, Y:16.57, Z:155.36 [[ 9.83847664e-01 -1.38979760e-01 1.12820208e-01 -2.92349498e+02] [ 1.44633767e-01 9.88526782e-01 -4.35416511e-02 1.65725243e+01] [-1.05474389e-01 5.91559633e-02 9.92660932e-01 1.55360307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.86907232899995 meters Centerline goodness : 0.761695 Centerline is valid? [False, False] Translation: X:-292.35, Y:16.57, Z:155.36 [[ 9.83703678e-01 -1.39397751e-01 1.13557655e-01 -2.92351426e+02] [ 1.45132231e-01 9.88439562e-01 -4.38619229e-02 1.65729726e+01] [-1.06130626e-01 5.96280107e-02 9.92562739e-01 1.55360579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.899072329 meters Centerline goodness : 0.762657 Centerline is valid? [False, False] Translation: X:-292.35, Y:16.57, Z:155.36 [[ 9.83489893e-01 -1.40181327e-01 1.14441368e-01 -2.92354095e+02] [ 1.46028622e-01 9.88284506e-01 -4.43776608e-02 1.65728690e+01] [-1.06879711e-01 6.03566961e-02 9.92438309e-01 1.55361618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.92907232899995 meters Centerline goodness : 0.762351 Centerline is valid? [False, False] Translation: X:-292.36, Y:16.57, Z:155.36 [[ 9.83272281e-01 -1.40967202e-01 1.15342399e-01 -2.92356803e+02] [ 1.46939416e-01 9.88122045e-01 -4.49848045e-02 1.65729953e+01] [-1.07630985e-01 6.11806562e-02 9.92306655e-01 1.55362712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.959072329 meters Centerline goodness : 0.762340 Centerline is valid? [False, False] Translation: X:-292.36, Y:16.57, Z:155.36 [[ 9.83650322e-01 -1.38031757e-01 1.15668829e-01 -2.92359219e+02] [ 1.43615520e-01 9.88768181e-01 -4.13771222e-02 1.65734945e+01] [-1.08658301e-01 5.73124586e-02 9.92425642e-01 1.55363207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.98907232899995 meters Centerline goodness : 0.761869 Centerline is valid? [False, False] Translation: X:-292.36, Y:16.58, Z:155.36 [[ 9.83824952e-01 -1.36058285e-01 1.16518698e-01 -2.92362780e+02] [ 1.41409327e-01 9.89185779e-01 -3.89216858e-02 1.65760708e+01] [-1.09963022e-01 5.47689564e-02 9.92425562e-01 1.55363984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.019072329 meters Centerline goodness : 0.761696 Centerline is valid? [False, False] Translation: X:-292.36, Y:16.58, Z:155.36 [[ 9.84170066e-01 -1.33225883e-01 1.16876623e-01 -2.92364637e+02] [ 1.38146159e-01 9.89792424e-01 -3.50227881e-02 1.65756935e+01] [-1.11017654e-01 5.06144362e-02 9.92528720e-01 1.55363417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.04907232899996 meters Centerline goodness : 0.757472 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85383589e-01 -1.34152660e-01 1.04986887e-01 -2.92367315e+02] [ 1.39162669e-01 9.89382137e-01 -4.19134706e-02 1.65854694e+01] [-9.82493467e-02 5.59111015e-02 9.93589963e-01 1.55368792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.079072329 meters Centerline goodness : 0.758422 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85296339e-01 -1.34427378e-01 1.05453328e-01 -2.92368412e+02] [ 1.39475991e-01 9.89333272e-01 -4.20252798e-02 1.65854320e+01] [-9.86791379e-02 5.61155618e-02 9.93535843e-01 1.55368744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.10907232899996 meters Centerline goodness : 0.758462 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85279811e-01 -1.34467048e-01 1.05557123e-01 -2.92369124e+02] [ 1.39528716e-01 9.89322842e-01 -4.20957340e-02 1.65853837e+01] [-9.87695835e-02 5.62043267e-02 9.93521838e-01 1.55369494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.139072329 meters Centerline goodness : 0.759494 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85247996e-01 -1.34595004e-01 1.05690922e-01 -2.92369548e+02] [ 1.39692917e-01 9.89287608e-01 -4.23782635e-02 1.65863755e+01] [-9.88548164e-02 5.65173724e-02 9.93495602e-01 1.55369553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16907232899996 meters Centerline goodness : 0.762003 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85098167e-01 -1.35173475e-01 1.06347229e-01 -2.92371723e+02] [ 1.40364820e-01 9.89169455e-01 -4.29127753e-02 1.65868931e+01] [-9.93947617e-02 5.72007060e-02 9.93402618e-01 1.55370640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.199072329 meters Centerline goodness : 0.760293 Centerline is valid? [False, False] Translation: X:-292.37, Y:16.59, Z:155.37 [[ 9.85004376e-01 -1.35490677e-01 1.06811307e-01 -2.92373427e+02] [ 1.40744958e-01 9.89100369e-01 -4.32587216e-02 1.65873352e+01] [-9.97859494e-02 5.76431830e-02 9.93337822e-01 1.55371628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22907232899996 meters Centerline goodness : 0.761018 Centerline is valid? [False, False] Translation: X:-292.38, Y:16.59, Z:155.37 [[ 9.84867567e-01 -1.36007102e-01 1.07414820e-01 -2.92375419e+02] [ 1.41367537e-01 9.88981553e-01 -4.39398182e-02 1.65887446e+01] [-1.00255149e-01 5.84598705e-02 9.93242845e-01 1.55372595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.259072329 meters Centerline goodness : 0.764285 Centerline is valid? [False, False] Translation: X:-292.38, Y:16.59, Z:155.37 [[ 9.85089651e-01 -1.33960217e-01 1.07949243e-01 -2.92379096e+02] [ 1.39075376e-01 9.89420020e-01 -4.13045291e-02 1.65897738e+01] [-1.01273979e-01 5.57017457e-02 9.93297990e-01 1.55374550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28907232899996 meters Centerline goodness : 0.761288 Centerline is valid? [False, False] Translation: X:-292.38, Y:16.59, Z:155.38 [[ 9.85505297e-01 -1.30852232e-01 1.07967601e-01 -2.92380796e+02] [ 1.35603883e-01 9.90038824e-01 -3.78776070e-02 1.65913240e+01] [-1.01935747e-01 5.19694082e-02 9.93432576e-01 1.55375179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.319072329 meters Centerline goodness : 0.761263 Centerline is valid? [False, False] Translation: X:-292.38, Y:16.59, Z:155.38 [[ 9.85889180e-01 -1.27761173e-01 1.08164725e-01 -2.92382470e+02] [ 1.32162559e-01 9.90626734e-01 -3.45214571e-02 1.65936096e+01] [-1.02740366e-01 4.83296579e-02 9.93533422e-01 1.55375134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34907232899997 meters Centerline goodness : 0.760216 Centerline is valid? [False, False] Translation: X:-292.38, Y:16.59, Z:155.38 [[ 9.86379581e-01 -1.24236304e-01 1.07799183e-01 -2.92383013e+02] [ 1.28205492e-01 9.91272991e-01 -3.06791450e-02 1.65944794e+01] [-1.03046954e-01 4.40817295e-02 9.93699213e-01 1.55375298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.379072329 meters Centerline goodness : 0.760556 Centerline is valid? [False, False] Translation: X:-292.39, Y:16.60, Z:155.37 [[ 9.87151599e-01 -1.15275382e-01 1.10649480e-01 -2.92394047e+02] [ 1.19750335e-01 9.92198671e-01 -3.46649017e-02 1.66033224e+01] [-1.05790257e-01 4.74698254e-02 9.93254769e-01 1.55370051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40907232899997 meters Centerline goodness : 0.759925 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.60, Z:155.37 [[ 9.87390942e-01 -1.12740562e-01 1.11124674e-01 -2.92397051e+02] [ 1.16908100e-01 9.92636418e-01 -3.17086335e-02 1.66046860e+01] [-1.06731549e-01 4.43001920e-02 9.93300493e-01 1.55371406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.439072329 meters Centerline goodness : 0.759925 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.60, Z:155.37 [[ 9.87390942e-01 -1.12740562e-01 1.11124674e-01 -2.92397051e+02] [ 1.16908100e-01 9.92636418e-01 -3.17086335e-02 1.66046860e+01] [-1.06731549e-01 4.43001920e-02 9.93300493e-01 1.55371406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46907232899997 meters Centerline goodness : 0.761251 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.61, Z:155.37 [[ 9.87476149e-01 -1.12403029e-01 1.10708687e-01 -2.92396382e+02] [ 1.16575729e-01 9.92667844e-01 -3.19476229e-02 1.66060662e+01] [-1.06305944e-01 4.44534615e-02 9.93339285e-01 1.55371936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49907232899994 meters Centerline goodness : 0.760688 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.61, Z:155.37 [[ 9.87541029e-01 -1.12185436e-01 1.10350100e-01 -2.92396011e+02] [ 1.16337364e-01 9.92696867e-01 -3.19146873e-02 1.66060509e+01] [-1.05963835e-01 4.43549029e-02 9.93380243e-01 1.55372643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.529072329 meters Centerline goodness : 0.763444 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.61, Z:155.37 [[ 9.87804880e-01 -1.09611889e-01 1.10574644e-01 -2.92398788e+02] [ 1.13501435e-01 9.93099842e-01 -2.94979178e-02 1.66095165e+01] [-1.06578339e-01 4.16885681e-02 9.93429978e-01 1.55374797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55907232899995 meters Centerline goodness : 0.764001 Centerline is valid? [False, False] Translation: X:-292.40, Y:16.61, Z:155.38 [[ 9.87816951e-01 -1.09736373e-01 1.10343102e-01 -2.92398702e+02] [ 1.13687038e-01 9.93058903e-01 -3.01541398e-02 1.66115576e+01] [-1.06268194e-01 4.23313510e-02 9.93436021e-01 1.55375586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.589072329 meters Centerline goodness : 0.762797 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.62, Z:155.38 [[ 9.88994253e-01 -1.09838353e-01 9.91256943e-02 -2.92405191e+02] [ 1.13864335e-01 9.92847537e-01 -3.58982122e-02 1.66248785e+01] [-9.44737009e-02 4.67900068e-02 9.94427179e-01 1.55382181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61907232899995 meters Centerline goodness : 0.762632 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89251004e-01 -1.07023192e-01 9.96417973e-02 -2.92407760e+02] [ 1.10733020e-01 9.93319926e-01 -3.24610969e-02 1.66258201e+01] [-9.55020926e-02 4.31458098e-02 9.94493735e-01 1.55382604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.649072329 meters Centerline goodness : 0.763293 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89545589e-01 -1.04011789e-01 9.99053270e-02 -2.92409445e+02] [ 1.07393343e-01 9.93791431e-01 -2.90733710e-02 1.66274674e+01] [-9.62610845e-02 3.94985932e-02 9.94572101e-01 1.55382746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67907232899995 meters Centerline goodness : 0.762672 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89514773e-01 -1.03990333e-01 1.00232352e-01 -2.92410349e+02] [ 1.07358277e-01 9.93803184e-01 -2.87998492e-02 1.66264600e+01] [-9.66163251e-02 3.92586490e-02 9.94547155e-01 1.55382914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.709072329 meters Centerline goodness : 0.761412 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89424757e-01 -1.04332762e-01 1.00763705e-01 -2.92412214e+02] [ 1.07759589e-01 9.93748907e-01 -2.91715841e-02 1.66266848e+01] [-9.70902698e-02 3.97213430e-02 9.94482627e-01 1.55383854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.73907232899995 meters Centerline goodness : 0.762959 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89409084e-01 -1.04323697e-01 1.00926858e-01 -2.92412748e+02] [ 1.07762033e-01 9.93747139e-01 -2.92227369e-02 1.66269016e+01] [-9.72471520e-02 3.97893247e-02 9.94464580e-01 1.55384060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.769072329 meters Centerline goodness : 0.763026 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89465334e-01 -1.04060219e-01 1.00647023e-01 -2.92412006e+02] [ 1.07464693e-01 9.93785787e-01 -2.90025695e-02 1.66267812e+01] [-9.70035668e-02 3.95130385e-02 9.94499386e-01 1.55383897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.79907232899996 meters Centerline goodness : 0.764279 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89332066e-01 -1.04618303e-01 1.01375900e-01 -2.92413783e+02] [ 1.08089506e-01 9.93707520e-01 -2.93602380e-02 1.66273025e+01] [-9.76663762e-02 4.00046959e-02 9.94414855e-01 1.55384039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.829072329 meters Centerline goodness : 0.763815 Centerline is valid? [False, False] Translation: X:-292.41, Y:16.63, Z:155.38 [[ 9.89298604e-01 -1.04629138e-01 1.01690783e-01 -2.92414596e+02] [ 1.08095122e-01 9.93712289e-01 -2.91775939e-02 1.66267852e+01] [-9.79985545e-02 3.98576305e-02 9.94388079e-01 1.55384087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.85907232899996 meters Centerline goodness : 0.764391 Centerline is valid? [False, False] Translation: X:-292.42, Y:16.63, Z:155.38 [[ 9.89229272e-01 -1.04859108e-01 1.02127441e-01 -2.92415795e+02] [ 1.08357592e-01 9.93679577e-01 -2.93177599e-02 1.66269055e+01] [-9.84077186e-02 4.00682698e-02 9.94339205e-01 1.55384353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.889072329 meters Centerline goodness : 0.764910 Centerline is valid? [False, False] Translation: X:-292.42, Y:16.63, Z:155.38 [[ 9.89160769e-01 -1.05076737e-01 1.02566329e-01 -2.92417081e+02] [ 1.08600837e-01 9.93650985e-01 -2.93866886e-02 1.66267252e+01] [-9.88272761e-02 4.02069486e-02 9.94291995e-01 1.55384678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91907232899996 meters Centerline goodness : 0.764492 Centerline is valid? [False, False] Translation: X:-292.42, Y:16.63, Z:155.38 [[ 9.89136613e-01 -1.05013797e-01 1.02863326e-01 -2.92417304e+02] [ 1.08502001e-01 9.93675807e-01 -2.89085744e-02 1.66255295e+01] [-9.91769995e-02 3.97554061e-02 9.94275329e-01 1.55383752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.949072329 meters Centerline goodness : 0.762679 Centerline is valid? [False, False] Translation: X:-292.43, Y:16.64, Z:155.39 [[ 9.89958756e-01 -1.06730466e-01 9.26837003e-02 -2.92427655e+02] [ 1.10264407e-01 9.93325023e-01 -3.38697397e-02 1.66386596e+01] [-8.84501056e-02 4.37493587e-02 9.95119376e-01 1.55389344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97907232899996 meters Centerline goodness : 0.763917 Centerline is valid? [False, False] Translation: X:-292.43, Y:16.64, Z:155.39 [[ 9.89425311e-01 -1.10595026e-01 9.38418595e-02 -2.92429003e+02] [ 1.14493046e-01 9.92727013e-01 -3.72077845e-02 1.66354641e+01] [-8.90443530e-02 4.75585641e-02 9.94891595e-01 1.55388621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.009072329 meters Centerline goodness : 0.762811 Centerline is valid? [False, False] Translation: X:-292.43, Y:16.64, Z:155.39 [[ 9.89070099e-01 -1.12671852e-01 9.51072675e-02 -2.92433011e+02] [ 1.16778302e-01 9.92401433e-01 -3.87585470e-02 1.66351080e+01] [-9.00175912e-02 4.94413851e-02 9.94712211e-01 1.55390273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03907232899996 meters Centerline goodness : 0.763284 Centerline is valid? [False, False] Translation: X:-292.44, Y:16.63, Z:155.39 [[ 9.88853131e-01 -1.13554266e-01 9.63063574e-02 -2.92436310e+02] [ 1.17748295e-01 9.92276281e-01 -3.90271798e-02 1.66341347e+01] [-9.11308114e-02 4.99320583e-02 9.94586328e-01 1.55390963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.069072329 meters Centerline goodness : 0.765579 Centerline is valid? [False, False] Translation: X:-292.44, Y:16.63, Z:155.39 [[ 9.88354463e-01 -1.17315990e-01 9.69144719e-02 -2.92436988e+02] [ 1.21914417e-01 9.91610725e-01 -4.29539964e-02 1.66330174e+01] [-9.10622390e-02 5.42690454e-02 9.94365395e-01 1.55391596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09907232899997 meters Centerline goodness : 0.764300 Centerline is valid? [False, False] Translation: X:-292.44, Y:16.63, Z:155.39 [[ 9.88166270e-01 -1.18131081e-01 9.78390003e-02 -2.92439321e+02] [ 1.22829598e-01 9.91475782e-01 -4.34587462e-02 1.66334757e+01] [-9.18711707e-02 5.49619922e-02 9.94252919e-01 1.55391798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.129072329 meters Centerline goodness : 0.765252 Centerline is valid? [False, False] Translation: X:-292.44, Y:16.63, Z:155.39 [[ 9.88092242e-01 -1.18316568e-01 9.83611290e-02 -2.92440054e+02] [ 1.23030556e-01 9.91457523e-01 -4.33066094e-02 1.66330283e+01] [-9.23969919e-02 5.48923492e-02 9.94208040e-01 1.55390867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15907232899997 meters Centerline goodness : 0.765984 Centerline is valid? [False, False] Translation: X:-292.45, Y:16.63, Z:155.39 [[ 9.87219420e-01 -1.22065432e-01 1.02458998e-01 -2.92449800e+02] [ 1.26828164e-01 9.91064136e-01 -4.13097417e-02 1.66316125e+01] [-9.65009464e-02 5.37764658e-02 9.93879097e-01 1.55386410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.189072329 meters Centerline goodness : 0.765450 Centerline is valid? [False, False] Translation: X:-292.45, Y:16.63, Z:155.39 [[ 9.87050753e-01 -1.22570117e-01 1.03476462e-01 -2.92452366e+02] [ 1.27387507e-01 9.90993542e-01 -4.12822355e-02 1.66307219e+01] [-9.74845369e-02 5.39292701e-02 9.93774823e-01 1.55386630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21907232899997 meters Centerline goodness : 0.768232 Centerline is valid? [False, False] Translation: X:-292.45, Y:16.63, Z:155.39 [[ 9.86870343e-01 -1.23150812e-01 1.04502647e-01 -2.92454983e+02] [ 1.28050431e-01 9.90898036e-01 -4.15231090e-02 1.66306394e+01] [-9.84378635e-02 5.43595339e-02 9.93657400e-01 1.55386969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24907232899994 meters Centerline goodness : 0.767017 Centerline is valid? [False, False] Translation: X:-292.46, Y:16.63, Z:155.39 [[ 9.86876923e-01 -1.23054749e-01 1.04553659e-01 -2.92455537e+02] [ 1.27939900e-01 9.90919433e-01 -4.13528602e-02 1.66301042e+01] [-9.85155870e-02 5.41867681e-02 9.93659133e-01 1.55387641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.279072329 meters Centerline goodness : 0.767268 Centerline is valid? [False, False] Translation: X:-292.46, Y:16.63, Z:155.39 [[ 9.86704181e-01 -1.23735508e-01 1.05377338e-01 -2.92457344e+02] [ 1.28746452e-01 9.90782150e-01 -4.21317353e-02 1.66321885e+01] [-9.91927940e-02 5.51385178e-02 9.93539397e-01 1.55387490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.30907232899995 meters Centerline goodness : 0.767170 Centerline is valid? [False, False] Translation: X:-292.46, Y:16.63, Z:155.39 [[ 9.86389788e-01 -1.25003864e-01 1.06813952e-01 -2.92460509e+02] [ 1.30104829e-01 9.90602843e-01 -4.21751182e-02 1.66304490e+01] [-1.00538152e-01 5.54981169e-02 9.93384135e-01 1.55386967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.339072329 meters Centerline goodness : 0.766604 Centerline is valid? [False, False] Translation: X:-292.46, Y:16.63, Z:155.39 [[ 9.86284340e-01 -1.25241946e-01 1.07506541e-01 -2.92461929e+02] [ 1.30360830e-01 9.90578358e-01 -4.19591517e-02 1.66295522e+01] [-1.01238608e-01 5.53982961e-02 9.93318566e-01 1.55386541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.36907232899995 meters Centerline goodness : 0.768550 Centerline is valid? [False, False] Translation: X:-292.47, Y:16.63, Z:155.39 [[ 9.86008939e-01 -1.26315469e-01 1.08769363e-01 -2.92465117e+02] [ 1.31566895e-01 9.90395365e-01 -4.25108659e-02 1.66295956e+01] [-1.02354893e-01 5.62265410e-02 9.93157617e-01 1.55386955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.399072329 meters Centerline goodness : 0.769044 Centerline is valid? [False, False] Translation: X:-292.47, Y:16.63, Z:155.39 [[ 9.85818516e-01 -1.26913579e-01 1.09794337e-01 -2.92467755e+02] [ 1.32259327e-01 9.90289369e-01 -4.28303097e-02 1.66298115e+01] [-1.03292417e-01 5.67442375e-02 9.93031101e-01 1.55387347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.42907232899995 meters Centerline goodness : 0.770086 Centerline is valid? [False, False] Translation: X:-292.47, Y:16.63, Z:155.39 [[ 9.85296838e-01 -1.30299530e-01 1.10508702e-01 -2.92468785e+02] [ 1.36037103e-01 9.89633227e-01 -4.60432780e-02 1.66264077e+01] [-1.03363665e-01 6.03995799e-02 9.92808060e-01 1.55388131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.459072329 meters Centerline goodness : 0.770214 Centerline is valid? [False, False] Translation: X:-292.47, Y:16.63, Z:155.39 [[ 9.85603051e-01 -1.27450559e-01 1.11098970e-01 -2.92471600e+02] [ 1.32851850e-01 9.90219059e-01 -4.26216067e-02 1.66275487e+01] [-1.04580170e-01 5.67676894e-02 9.92894968e-01 1.55388510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.48907232899995 meters Centerline goodness : 0.768540 Centerline is valid? [False, False] Translation: X:-292.47, Y:16.63, Z:155.39 [[ 9.85341739e-01 -1.28462076e-01 1.12245948e-01 -2.92474144e+02] [ 1.34013860e-01 9.90029948e-01 -4.33703544e-02 1.66287098e+01] [-1.05555405e-01 5.77771332e-02 9.92733529e-01 1.55388402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.519072329 meters Centerline goodness : 0.765318 Centerline is valid? [False, False] Translation: X:-292.48, Y:16.63, Z:155.39 [[ 9.85634824e-01 -1.25736845e-01 1.12757434e-01 -2.92476221e+02] [ 1.30895992e-01 9.90606790e-01 -3.95528284e-02 1.66286949e+01] [-1.06725032e-01 5.37441411e-02 9.92834999e-01 1.55387789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.54907232899996 meters Centerline goodness : 0.765598 Centerline is valid? [False, False] Translation: X:-292.48, Y:16.63, Z:155.39 [[ 9.86078735e-01 -1.22271031e-01 1.12687724e-01 -2.92476832e+02] [ 1.26976503e-01 9.91268673e-01 -3.55441329e-02 1.66293589e+01] [-1.07357793e-01 4.93580067e-02 9.92994507e-01 1.55386912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.579072329 meters Centerline goodness : 0.764519 Centerline is valid? [False, False] Translation: X:-292.49, Y:16.65, Z:155.39 [[ 9.87337676e-01 -1.21113390e-01 1.02449305e-01 -2.92488244e+02] [ 1.25373840e-01 9.91448953e-01 -3.61990935e-02 1.66461516e+01] [-9.71890616e-02 4.85851917e-02 9.94079356e-01 1.55391755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.60907232899996 meters Centerline goodness : 0.763612 Centerline is valid? [False, False] Translation: X:-292.49, Y:16.65, Z:155.39 [[ 9.87293971e-01 -1.21338760e-01 1.02603707e-01 -2.92488842e+02] [ 1.25661006e-01 9.91392574e-01 -3.67433847e-02 1.66480844e+01] [-9.72621565e-02 4.91698072e-02 9.94043461e-01 1.55392242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.639072329 meters Centerline goodness : 0.764999 Centerline is valid? [False, False] Translation: X:-292.49, Y:16.65, Z:155.39 [[ 9.87292866e-01 -1.21386243e-01 1.02558166e-01 -2.92489483e+02] [ 1.25739048e-01 9.91370256e-01 -3.70770494e-02 1.66489918e+01] [-9.71724716e-02 4.95014726e-02 9.94035771e-01 1.55393453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66907232899996 meters Centerline goodness : 0.767288 Centerline is valid? [False, False] Translation: X:-292.49, Y:16.65, Z:155.40 [[ 9.87196393e-01 -1.21918514e-01 1.02855031e-01 -2.92491978e+02] [ 1.26398522e-01 9.91243697e-01 -3.82013987e-02 1.66508882e+01] [-9.72969436e-02 5.07130069e-02 9.93962522e-01 1.55396502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.699072329 meters Centerline goodness : 0.770994 Centerline is valid? [False, False] Translation: X:-292.50, Y:16.65, Z:155.40 [[ 9.87365660e-01 -1.19845365e-01 1.03663604e-01 -2.92495811e+02] [ 1.24141452e-01 9.91610861e-01 -3.60111022e-02 1.66543983e+01] [-9.84781915e-02 4.84250759e-02 9.93960290e-01 1.55398062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72907232899996 meters Centerline goodness : 0.768580 Centerline is valid? [False, False] Translation: X:-292.50, Y:16.66, Z:155.40 [[ 9.87270600e-01 -1.20251238e-01 1.04098044e-01 -2.92496787e+02] [ 1.24610812e-01 9.91537134e-01 -3.64178182e-02 1.66554789e+01] [-9.88377886e-02 4.89259831e-02 9.93900065e-01 1.55397969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.759072329 meters Centerline goodness : 0.768257 Centerline is valid? [False, False] Translation: X:-292.50, Y:16.66, Z:155.40 [[ 9.87638014e-01 -1.16981332e-01 1.04338489e-01 -2.92498515e+02] [ 1.20941317e-01 9.92129164e-01 -3.24487248e-02 1.66557076e+01] [-9.97213628e-02 4.46664284e-02 9.94012354e-01 1.55397918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78907232899996 meters Centerline goodness : 0.766191 Centerline is valid? [False, False] Translation: X:-292.51, Y:16.67, Z:155.40 [[ 9.88022588e-01 -1.21009182e-01 9.57504200e-02 -2.92512134e+02] [ 1.24871528e-01 9.91540907e-01 -3.54080622e-02 1.66685701e+01] [-9.06557577e-02 4.69404666e-02 9.94775415e-01 1.55400455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.819072329 meters Centerline goodness : 0.766848 Centerline is valid? [False, False] Translation: X:-292.51, Y:16.67, Z:155.40 [[ 9.88074484e-01 -1.20681077e-01 9.56289271e-02 -2.92512102e+02] [ 1.24487856e-01 9.91608084e-01 -3.48737820e-02 1.66671120e+01] [-9.06178116e-02 4.63625343e-02 9.94805975e-01 1.55400707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84907232899997 meters Centerline goodness : 0.767688 Centerline is valid? [False, False] Translation: X:-292.51, Y:16.67, Z:155.40 [[ 9.87846827e-01 -1.21719266e-01 9.66595428e-02 -2.92514604e+02] [ 1.25647381e-01 9.91435074e-01 -3.56262520e-02 1.66679543e+01] [-9.14952597e-02 4.73382984e-02 9.94679699e-01 1.55400929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.879072329 meters Centerline goodness : 0.766644 Centerline is valid? [False, False] Translation: X:-292.52, Y:16.67, Z:155.40 [[ 9.88206166e-01 -1.18519611e-01 9.69622404e-02 -2.92516958e+02] [ 1.22093455e-01 9.92009879e-01 -3.17740209e-02 1.66679173e+01] [-9.24216557e-02 4.32377383e-02 9.94780747e-01 1.55401632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90907232899997 meters Centerline goodness : 0.767179 Centerline is valid? [False, False] Translation: X:-292.52, Y:16.67, Z:155.40 [[ 9.88521572e-01 -1.15573080e-01 9.73034682e-02 -2.92519272e+02] [ 1.18850766e-01 9.92500950e-01 -2.85719992e-02 1.66700525e+01] [-9.32716307e-02 3.98086293e-02 9.94844549e-01 1.55402286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93907232899994 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89401132e-01 -1.13166660e-01 9.09874052e-02 -2.92525573e+02] [ 1.17195672e-01 9.92294348e-01 -4.02131891e-02 1.66800856e+01] [-8.57354957e-02 5.04503050e-02 9.95039794e-01 1.55400791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96907232899997 meters Centerline goodness : 0.764794 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89407729e-01 -1.13013857e-01 9.11055057e-02 -2.92525651e+02] [ 1.17003222e-01 9.92338143e-01 -3.96895002e-02 1.66785421e+01] [-8.59220048e-02 4.99287360e-02 9.95050014e-01 1.55400337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99907232899994 meters Centerline goodness : 0.765110 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89406059e-01 -1.12979921e-01 9.11657125e-02 -2.92525883e+02] [ 1.16963286e-01 9.92346978e-01 -3.95861606e-02 1.66782903e+01] [-8.59955781e-02 4.98298285e-02 9.95048616e-01 1.55400380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.029072329 meters Centerline goodness : 0.765532 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89273357e-01 -1.13505734e-01 9.19493032e-02 -2.92528072e+02] [ 1.17575734e-01 9.92253570e-01 -4.01098349e-02 1.66792896e+01] [-8.66843282e-02 5.04905978e-02 9.94955540e-01 1.55400975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05907232899995 meters Centerline goodness : 0.764621 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89261916e-01 -1.13579545e-01 9.19812367e-02 -2.92528946e+02] [ 1.17675333e-01 9.92230619e-01 -4.03845761e-02 1.66798210e+01] [-8.66797377e-02 5.07748458e-02 9.94941475e-01 1.55402236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.089072329 meters Centerline goodness : 0.766492 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89245509e-01 -1.13725973e-01 9.19767654e-02 -2.92529727e+02] [ 1.17859586e-01 9.92191075e-01 -4.08165126e-02 1.66807883e+01] [-8.66166282e-02 5.12178953e-02 9.94924262e-01 1.55403511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11907232899995 meters Centerline goodness : 0.762689 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89435992e-01 -1.11399744e-01 9.27713072e-02 -2.92532749e+02] [ 1.15324377e-01 9.92598472e-01 -3.80599750e-02 1.66832858e+01] [-8.78447863e-02 4.83567023e-02 9.94959759e-01 1.55403891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.149072329 meters Centerline goodness : 0.762021 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89475649e-01 -1.11097528e-01 9.27107243e-02 -2.92532072e+02] [ 1.14955235e-01 9.92668399e-01 -3.73462789e-02 1.66817099e+01] [-8.78819269e-02 4.76108166e-02 9.94992451e-01 1.55402885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17907232899995 meters Centerline goodness : 0.759196 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89519755e-01 -1.10724546e-01 9.26861829e-02 -2.92530918e+02] [ 1.14509370e-01 9.92749625e-01 -3.65484052e-02 1.66803169e+01] [-8.79673677e-02 4.67788054e-02 9.95024364e-01 1.55400980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.209072329 meters Centerline goodness : 0.761537 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89685116e-01 -1.08692734e-01 9.33234189e-02 -2.92534577e+02] [ 1.12270395e-01 9.93096976e-01 -3.39669706e-02 1.66815135e+01] [-8.89872422e-02 4.40940623e-02 9.95056272e-01 1.55402803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.23907232899995 meters Centerline goodness : 0.762389 Centerline is valid? [False, False] Translation: X:-292.53, Y:16.68, Z:155.40 [[ 9.89665149e-01 -1.08808731e-01 9.33999629e-02 -2.92534809e+02] [ 1.12418629e-01 9.93069288e-01 -3.42846964e-02 1.66829019e+01] [-8.90221604e-02 4.44302649e-02 9.95038193e-01 1.55402905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.269072329 meters Centerline goodness : 0.762374 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.40 [[ 9.89829038e-01 -1.06804419e-01 9.39749472e-02 -2.92538238e+02] [ 1.10222268e-01 9.93393333e-01 -3.19489780e-02 1.66853163e+01] [-8.99417940e-02 4.19821580e-02 9.95061793e-01 1.55404748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.29907232899996 meters Centerline goodness : 0.761662 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.40 [[ 9.89839840e-01 -1.06688080e-01 9.39933197e-02 -2.92538292e+02] [ 1.10095786e-01 9.93411087e-01 -3.18328329e-02 1.66853201e+01] [-8.99778221e-02 4.18576747e-02 9.95063780e-01 1.55404780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.329072329 meters Centerline goodness : 0.761662 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.40 [[ 9.89839840e-01 -1.06688080e-01 9.39933197e-02 -2.92538292e+02] [ 1.10095786e-01 9.93411087e-01 -3.18328329e-02 1.66853201e+01] [-8.99778221e-02 4.18576747e-02 9.95063780e-01 1.55404780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.35907232899996 meters Centerline goodness : 0.762952 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.40 [[ 9.89727046e-01 -1.07183400e-01 9.46155051e-02 -2.92539560e+02] [ 1.10668199e-01 9.93330085e-01 -3.23711612e-02 1.66868433e+01] [-9.05147766e-02 4.25095414e-02 9.94987444e-01 1.55404485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.389072329 meters Centerline goodness : 0.760151 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.68, Z:155.40 [[ 9.89684505e-01 -1.07186871e-01 9.50555399e-02 -2.92540425e+02] [ 1.10643608e-01 9.93349425e-01 -3.18576693e-02 1.66849805e+01] [-9.10086421e-02 4.20463296e-02 9.94962076e-01 1.55404075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41907232899996 meters Centerline goodness : 0.758176 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.68, Z:155.40 [[ 9.89631435e-01 -1.07267330e-01 9.55161876e-02 -2.92541107e+02] [ 1.10712530e-01 9.93352636e-01 -3.15162872e-02 1.66840374e+01] [-9.15005887e-02 4.17643474e-02 9.94928832e-01 1.55403305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.449072329 meters Centerline goodness : 0.758326 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.41 [[ 9.90781080e-01 -1.07346414e-01 8.26413867e-02 -2.92538475e+02] [ 1.10713642e-01 9.93152566e-01 -3.72890095e-02 1.66909388e+01] [-7.80726638e-02 4.60947740e-02 9.95881484e-01 1.55407003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47907232899996 meters Centerline goodness : 0.757192 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.41 [[ 9.91080160e-01 -1.04176805e-01 8.31102268e-02 -2.92540342e+02] [ 1.07262950e-01 9.93664016e-01 -3.35631233e-02 1.66919085e+01] [-7.90871428e-02 4.21783937e-02 9.95975003e-01 1.55406576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.509072329 meters Centerline goodness : 0.758001 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.41 [[ 9.91349157e-01 -1.01213416e-01 8.35625067e-02 -2.92543006e+02] [ 1.04041655e-01 9.94114209e-01 -3.02038798e-02 1.66930463e+01] [-8.00136373e-02 3.86365723e-02 9.96044694e-01 1.55407519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53907232899996 meters Centerline goodness : 0.757874 Centerline is valid? [False, False] Translation: X:-292.54, Y:16.69, Z:155.41 [[ 9.91327447e-01 -1.01369078e-01 8.36313466e-02 -2.92543594e+02] [ 1.04235820e-01 9.94080392e-01 -3.06442037e-02 1.66945399e+01] [-8.00299071e-02 3.90958222e-02 9.96025467e-01 1.55408244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.569072329 meters Centerline goodness : 0.761532 Centerline is valid? [False, False] Translation: X:-292.55, Y:16.70, Z:155.41 [[ 9.91461288e-01 -9.95453239e-02 8.42332656e-02 -2.92547725e+02] [ 1.02304269e-01 9.94327824e-01 -2.90863346e-02 1.66989116e+01] [-8.08600711e-02 3.74553974e-02 9.96021457e-01 1.55411332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59907232899997 meters Centerline goodness : 0.761558 Centerline is valid? [False, False] Translation: X:-292.55, Y:16.70, Z:155.41 [[ 9.91567891e-01 -9.80882537e-02 8.46865462e-02 -2.92551263e+02] [ 1.00744102e-01 9.94527568e-01 -2.76684376e-02 1.67016069e+01] [-8.15091561e-02 3.59668044e-02 9.96023417e-01 1.55414011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.629072329 meters Centerline goodness : 0.762061 Centerline is valid? [False, False] Translation: X:-292.55, Y:16.70, Z:155.41 [[ 9.91551880e-01 -9.81348143e-02 8.48199753e-02 -2.92551807e+02] [ 1.00798819e-01 9.94520942e-01 -2.77072787e-02 1.67018672e+01] [-8.16361932e-02 3.60229576e-02 9.96010983e-01 1.55414379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65907232899997 meters Centerline goodness : 0.762076 Centerline is valid? [False, False] Translation: X:-292.55, Y:16.70, Z:155.41 [[ 9.91511458e-01 -9.81526748e-02 8.52706394e-02 -2.92552946e+02] [ 1.00798717e-01 9.94532483e-01 -2.72902716e-02 1.67002477e+01] [-8.21258076e-02 3.56537879e-02 9.95984016e-01 1.55414395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68907232899994 meters Centerline goodness : 0.762450 Centerline is valid? [False, False] Translation: X:-292.56, Y:16.70, Z:155.41 [[ 9.91362384e-01 -9.88413815e-02 8.62032786e-02 -2.92555385e+02] [ 1.01555294e-01 9.94444840e-01 -2.76763993e-02 1.67004147e+01] [-8.29888321e-02 3.61917405e-02 9.95893072e-01 1.55414769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71907232899997 meters Centerline goodness : 0.761811 Centerline is valid? [False, False] Translation: X:-292.56, Y:16.70, Z:155.41 [[ 9.91345022e-01 -9.87171976e-02 8.65445735e-02 -2.92556031e+02] [ 1.01401501e-01 9.94474263e-01 -2.71786018e-02 1.66990294e+01] [-8.33833555e-02 3.57191212e-02 9.95877181e-01 1.55414418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74907232899994 meters Centerline goodness : 0.760874 Centerline is valid? [False, False] Translation: X:-292.56, Y:16.70, Z:155.41 [[ 9.91239113e-01 -9.90786269e-02 8.73409743e-02 -2.92557947e+02] [ 1.01775510e-01 9.94441620e-01 -2.69742407e-02 1.66975688e+01] [-8.41829292e-02 3.56270946e-02 9.95813208e-01 1.55414383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.779072329 meters Centerline goodness : 0.759540 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91607990e-01 -1.02801115e-01 7.83933990e-02 -2.92570604e+02] [ 1.05326051e-01 9.94021384e-01 -2.87734342e-02 1.67092801e+01] [-7.49667739e-02 3.67888343e-02 9.96507182e-01 1.55416302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.80907232899995 meters Centerline goodness : 0.757574 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91631696e-01 -1.02569034e-01 7.83975287e-02 -2.92570143e+02] [ 1.05062071e-01 9.94061342e-01 -2.83550685e-02 1.67086518e+01] [-7.50236006e-02 3.63543914e-02 9.96518850e-01 1.55415476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.839072329 meters Centerline goodness : 0.758363 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91900027e-01 -9.95168773e-02 7.89349623e-02 -2.92572485e+02] [ 1.01759958e-01 9.94496997e-01 -2.49125220e-02 1.67099783e+01] [-7.60213666e-02 3.27431496e-02 9.96568431e-01 1.55415648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.86907232899995 meters Centerline goodness : 0.758829 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91947691e-01 -9.92401149e-02 7.86840332e-02 -2.92572065e+02] [ 1.01453772e-01 9.94534976e-01 -2.46437449e-02 1.67095522e+01] [-7.58083750e-02 3.24280978e-02 9.96594957e-01 1.55415875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.899072329 meters Centerline goodness : 0.759351 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91894307e-01 -9.94691686e-02 7.90668583e-02 -2.92572979e+02] [ 1.01718200e-01 9.94500701e-01 -2.49351681e-02 1.67105427e+01] [-7.61517656e-02 3.27755898e-02 9.96557409e-01 1.55415891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.92907232899995 meters Centerline goodness : 0.756155 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.91936207e-01 -9.91451173e-02 7.89481338e-02 -2.92572413e+02] [ 1.01341733e-01 9.94554589e-01 -2.43109365e-02 1.67089627e+01] [-7.61079181e-02 3.21156388e-02 9.96582245e-01 1.55415323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.959072329 meters Centerline goodness : 0.755386 Centerline is valid? [False, False] Translation: X:-292.57, Y:16.71, Z:155.42 [[ 9.92204147e-01 -9.61059372e-02 7.93383878e-02 -2.92574431e+02] [ 9.80465807e-02 9.94961725e-01 -2.09292760e-02 1.67103662e+01] [-7.69272315e-02 2.85449720e-02 9.96628008e-01 1.55415556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.98907232899995 meters Centerline goodness : 0.756692 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92535667e-01 -9.01353555e-02 8.21496630e-02 -2.92585823e+02] [ 9.26658282e-02 9.95316833e-01 -2.75217564e-02 1.67176652e+01] [-7.92842591e-02 3.49287914e-02 9.96239924e-01 1.55410377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.019072329 meters Centerline goodness : 0.758169 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92728463e-01 -8.77081340e-02 8.24468373e-02 -2.92588656e+02] [ 9.00750139e-02 9.95610177e-01 -2.54335933e-02 1.67221115e+01] [-7.98541773e-02 3.26750521e-02 9.96270872e-01 1.55412592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.04907232899996 meters Centerline goodness : 0.759885 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92714481e-01 -8.79107162e-02 8.23994262e-02 -2.92589084e+02] [ 9.03268062e-02 9.95571157e-01 -2.60603159e-02 1.67241624e+01] [-7.97435110e-02 3.33133300e-02 9.96258598e-01 1.55413525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.079072329 meters Centerline goodness : 0.759483 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92761596e-01 -8.76763729e-02 8.20808604e-02 -2.92588500e+02] [ 9.00772458e-02 9.95595037e-01 -2.60117704e-02 1.67246266e+01] [-7.94386796e-02 3.32171045e-02 9.96286164e-01 1.55413823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.10907232899996 meters Centerline goodness : 0.760070 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92908375e-01 -8.65310765e-02 8.15189073e-02 -2.92586141e+02] [ 8.88186856e-02 9.95737521e-01 -2.48602099e-02 1.67241954e+01] [-7.90202540e-02 3.19243129e-02 9.96361700e-01 1.55412216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.139072329 meters Centerline goodness : 0.760359 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92957684e-01 -8.61815389e-02 8.12882572e-02 -2.92585171e+02] [ 8.84298101e-02 9.95781820e-01 -2.44690902e-02 1.67238332e+01] [-7.88365848e-02 3.14850763e-02 9.96390226e-01 1.55411504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16907232899996 meters Centerline goodness : 0.759483 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.72, Z:155.41 [[ 9.92943979e-01 -8.61607997e-02 8.14774318e-02 -2.92585436e+02] [ 8.83968661e-02 9.95790338e-01 -2.42403812e-02 1.67231624e+01] [-7.90458687e-02 3.12716902e-02 9.96380365e-01 1.55411154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.199072329 meters Centerline goodness : 0.759844 Centerline is valid? [False, False] Translation: X:-292.58, Y:16.72, Z:155.41 [[ 9.93018638e-01 -8.57214757e-02 8.10297110e-02 -2.92584563e+02] [ 8.79214355e-02 9.95838804e-01 -2.39770365e-02 1.67231514e+01] [-7.86371835e-02 3.09338926e-02 9.96423247e-01 1.55411398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22907232899996 meters Centerline goodness : 0.760729 Centerline is valid? [False, False] Translation: X:-292.58, Y:16.72, Z:155.41 [[ 9.93068642e-01 -8.55149187e-02 8.06341819e-02 -2.92583793e+02] [ 8.77196665e-02 9.95851152e-01 -2.42021415e-02 1.67248126e+01] [-7.82299987e-02 3.11075913e-02 9.96449891e-01 1.55411725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.259072329 meters Centerline goodness : 0.762071 Centerline is valid? [False, False] Translation: X:-292.58, Y:16.72, Z:155.41 [[ 9.93058881e-01 -8.54357557e-02 8.08380536e-02 -2.92584575e+02] [ 8.76317192e-02 9.95863490e-01 -2.40122932e-02 1.67242232e+01] [-7.84521578e-02 3.09295986e-02 9.96437965e-01 1.55412201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28907232899996 meters Centerline goodness : 0.761018 Centerline is valid? [False, False] Translation: X:-292.58, Y:16.72, Z:155.41 [[ 9.93059710e-01 -8.53539108e-02 8.09142926e-02 -2.92584536e+02] [ 8.75381849e-02 9.95875932e-01 -2.38368140e-02 1.67239303e+01] [-7.85460313e-02 3.07544699e-02 9.96435991e-01 1.55411746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.319072329 meters Centerline goodness : 0.762055 Centerline is valid? [False, False] Translation: X:-292.58, Y:16.72, Z:155.41 [[ 9.93078724e-01 -8.51752228e-02 8.08692111e-02 -2.92584405e+02] [ 8.73332553e-02 9.95901270e-01 -2.35279304e-02 1.67231388e+01] [-7.85337533e-02 3.04276585e-02 9.96446992e-01 1.55411657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34907232899997 meters Centerline goodness : 0.763584 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.73, Z:155.41 [[ 9.93316707e-01 -8.21821100e-02 8.10433236e-02 -2.92586409e+02] [ 8.41193339e-02 9.96238982e-01 -2.07804670e-02 1.67268150e+01] [-7.90307356e-02 2.74588954e-02 9.96493930e-01 1.55413055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.379072329 meters Centerline goodness : 0.763353 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.73, Z:155.41 [[ 9.93276790e-01 -8.25896495e-02 8.11182363e-02 -2.92587122e+02] [ 8.45927275e-02 9.96182131e-01 -2.15692530e-02 1.67290629e+01] [-7.90271404e-02 2.82862512e-02 9.96471073e-01 1.55413951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40907232899997 meters Centerline goodness : 0.764044 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.73, Z:155.41 [[ 9.93312095e-01 -8.23694257e-02 8.09095782e-02 -2.92586547e+02] [ 8.43508645e-02 9.96206743e-01 -2.13788854e-02 1.67290308e+01] [-7.88417009e-02 2.80606983e-02 9.96492139e-01 1.55413814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43907232899994 meters Centerline goodness : 0.762076 Centerline is valid? [False, False] Translation: X:-292.59, Y:16.73, Z:155.41 [[ 9.93265803e-01 -8.24577860e-02 8.13864724e-02 -2.92587411e+02] [ 8.44197649e-02 9.96209768e-01 -2.09618833e-02 1.67274277e+01] [-7.93495283e-02 2.76913487e-02 9.96462163e-01 1.55413258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46907232899997 meters Centerline goodness : 0.761235 Centerline is valid? [False, False] Translation: X:-292.60, Y:16.74, Z:155.41 [[ 9.93671046e-01 -8.56260125e-02 7.27051524e-02 -2.92600641e+02] [ 8.75177818e-02 9.95891841e-01 -2.32395972e-02 1.67377080e+01] [-7.04165540e-02 2.94555085e-02 9.97082686e-01 1.55414581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49907232899994 meters Centerline goodness : 0.761624 Centerline is valid? [False, False] Translation: X:-292.60, Y:16.74, Z:155.41 [[ 9.93579018e-01 -8.59931568e-02 7.35249005e-02 -2.92602726e+02] [ 8.78947147e-02 9.95863637e-01 -2.30246679e-02 1.67360899e+01] [-7.12408110e-02 2.93392771e-02 9.97027559e-01 1.55414641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.529072329 meters Centerline goodness : 0.760735 Centerline is valid? [False, False] Translation: X:-292.60, Y:16.74, Z:155.42 [[ 9.93473943e-01 -8.64982902e-02 7.43476349e-02 -2.92604950e+02] [ 8.84281154e-02 9.95815526e-01 -2.30631162e-02 1.67350627e+01] [-7.20416090e-02 2.94870262e-02 9.96965657e-01 1.55415037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55907232899995 meters Centerline goodness : 0.762152 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.74, Z:155.41 [[ 9.93372915e-01 -8.69605807e-02 7.51538980e-02 -2.92606805e+02] [ 8.89389436e-02 9.95762533e-01 -2.33846757e-02 1.67355751e+01] [-7.28018909e-02 2.99138118e-02 9.96897712e-01 1.55414982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.589072329 meters Centerline goodness : 0.761123 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.42 [[ 9.93300180e-01 -8.72364593e-02 7.57928293e-02 -2.92608473e+02] [ 8.92281622e-02 9.95738750e-01 -2.32954314e-02 1.67345746e+01] [-7.34376462e-02 2.99022111e-02 9.96851428e-01 1.55415152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61907232899995 meters Centerline goodness : 0.761582 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93449691e-01 -8.59707501e-02 7.52777651e-02 -2.92606620e+02] [ 8.78242931e-02 9.95900409e-01 -2.16625941e-02 1.67315122e+01] [-7.31068076e-02 2.81319139e-02 9.96927274e-01 1.55413987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.649072329 meters Centerline goodness : 0.761518 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93402168e-01 -8.62941228e-02 7.55344771e-02 -2.92607122e+02] [ 8.81945066e-02 9.95856087e-01 -2.21896881e-02 1.67332783e+01] [-7.33066292e-02 2.87050102e-02 9.96896264e-01 1.55413879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67907232899995 meters Centerline goodness : 0.760194 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93352087e-01 -8.65566770e-02 7.58918504e-02 -2.92607782e+02] [ 8.84820126e-02 9.95826351e-01 -2.23788460e-02 1.67337296e+01] [-7.36380659e-02 2.89451371e-02 9.96864893e-01 1.55413589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.709072329 meters Centerline goodness : 0.761844 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93427238e-01 -8.61460287e-02 7.53736324e-02 -2.92606522e+02] [ 8.80402710e-02 9.95870079e-01 -2.21742097e-02 1.67341307e+01] [-7.31521251e-02 2.86643789e-02 9.96908782e-01 1.55413583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.73907232899995 meters Centerline goodness : 0.762285 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93391852e-01 -8.63044911e-02 7.56581983e-02 -2.92607216e+02] [ 8.82132693e-02 9.95852972e-01 -2.22548112e-02 1.67343688e+01] [-7.34237515e-02 2.87818051e-02 9.96885430e-01 1.55413703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.769072329 meters Centerline goodness : 0.761960 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93290411e-01 -8.68012063e-02 7.64179971e-02 -2.92609070e+02] [ 8.87574957e-02 9.95797280e-01 -2.25806002e-02 1.67347985e+01] [-7.41368103e-02 2.92117637e-02 9.96820147e-01 1.55413784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.79907232899996 meters Centerline goodness : 0.762009 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.73, Z:155.41 [[ 9.93387724e-01 -8.59517150e-02 7.61126289e-02 -2.92607563e+02] [ 8.78020641e-02 9.95910160e-01 -2.13014106e-02 1.67322832e+01] [-7.39704477e-02 2.78434057e-02 9.96871666e-01 1.55412422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.829072329 meters Centerline goodness : 0.762283 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.74, Z:155.42 [[ 9.94463910e-01 -8.34267614e-02 6.38866750e-02 -2.92609301e+02] [ 8.51894463e-02 9.96041525e-01 -2.53779240e-02 1.67423870e+01] [-6.15165832e-02 3.06798999e-02 9.97634429e-01 1.55416574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.85907232899996 meters Centerline goodness : 0.761527 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.74, Z:155.42 [[ 9.94429028e-01 -8.36758415e-02 6.41035207e-02 -2.92609443e+02] [ 8.54688135e-02 9.96007962e-01 -2.57531062e-02 1.67438376e+01] [-6.16927041e-02 3.10884882e-02 9.97610904e-01 1.55416011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.889072329 meters Centerline goodness : 0.761404 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.75, Z:155.42 [[ 9.94574909e-01 -8.13893498e-02 6.47805812e-02 -2.92612508e+02] [ 8.30277507e-02 9.96281550e-01 -2.30101373e-02 1.67451107e+01] [-6.26669177e-02 2.82638912e-02 9.97634206e-01 1.55416983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91907232899996 meters Centerline goodness : 0.763072 Centerline is valid? [False, False] Translation: X:-292.61, Y:16.75, Z:155.42 [[ 9.94565159e-01 -8.14811724e-02 6.48148301e-02 -2.92613228e+02] [ 8.31388822e-02 9.96265558e-01 -2.32994514e-02 1.67458835e+01] [-6.26743162e-02 2.85614551e-02 9.97625267e-01 1.55418027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.949072329 meters Centerline goodness : 0.764798 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94457901e-01 -8.24073745e-02 6.52878899e-02 -2.92616200e+02] [ 8.41893182e-02 9.96135490e-01 -2.50248908e-02 1.67497888e+01] [-6.29733486e-02 3.03827433e-02 9.97552628e-01 1.55421011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97907232899996 meters Centerline goodness : 0.765856 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94414732e-01 -8.26509889e-02 6.56365390e-02 -2.92617018e+02] [ 8.44607584e-02 9.96105838e-01 -2.52891120e-02 1.67507024e+01] [-6.32907696e-02 3.06915773e-02 9.97523085e-01 1.55421010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.009072329 meters Centerline goodness : 0.767005 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94399606e-01 -8.26519267e-02 6.58641230e-02 -2.92617128e+02] [ 8.44520173e-02 9.96113201e-01 -2.50269414e-02 1.67501836e+01] [-6.35395975e-02 3.04491387e-02 9.97514696e-01 1.55420269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03907232899996 meters Centerline goodness : 0.766272 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94351890e-01 -8.28123366e-02 6.63809824e-02 -2.92617915e+02] [ 8.46164848e-02 9.96103936e-01 -2.48394498e-02 1.67494300e+01] [-6.40653450e-02 3.03160792e-02 9.97485121e-01 1.55419458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.069072329 meters Centerline goodness : 0.764750 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94287927e-01 -8.31504591e-02 6.69142725e-02 -2.92619018e+02] [ 8.49745327e-02 9.96072273e-01 -2.48868446e-02 1.67492640e+01] [-6.45820990e-02 3.04306982e-02 9.97448307e-01 1.55419191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09907232899997 meters Centerline goodness : 0.766048 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94285268e-01 -8.31155073e-02 6.69971523e-02 -2.92618927e+02] [ 8.49392206e-02 9.96076375e-01 -2.48431835e-02 1.67496646e+01] [-6.46694268e-02 3.03918972e-02 9.97443832e-01 1.55418737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.129072329 meters Centerline goodness : 0.766303 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94166009e-01 -8.36392430e-02 6.81059671e-02 -2.92620954e+02] [ 8.54726167e-02 9.96040213e-01 -2.44607190e-02 1.67477233e+01] [-6.57904059e-02 3.01392107e-02 9.97378188e-01 1.55417589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15907232899997 meters Centerline goodness : 0.766324 Centerline is valid? [False, False] Translation: X:-292.62, Y:16.75, Z:155.42 [[ 9.94107863e-01 -8.37500927e-02 6.88148116e-02 -2.92622288e+02] [ 8.55785560e-02 9.96040835e-01 -2.40617271e-02 1.67462011e+01] [-6.65271905e-02 2.98090243e-02 9.97339238e-01 1.55416884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18907232899994 meters Centerline goodness : 0.765180 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.93894638e-01 -8.51842032e-02 7.01220387e-02 -2.92625776e+02] [ 8.71200314e-02 9.95883530e-01 -2.50219059e-02 1.67469344e+01] [-6.77019123e-02 3.09781723e-02 9.97224550e-01 1.55417451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21907232899997 meters Centerline goodness : 0.767952 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.93719382e-01 -8.63344788e-02 7.11909216e-02 -2.92629042e+02] [ 8.83529498e-02 9.95757554e-01 -2.57031264e-02 1.67464656e+01] [-6.86698319e-02 3.18316228e-02 9.97131487e-01 1.55418544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24907232899994 meters Centerline goodness : 0.767952 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.93719382e-01 -8.63344788e-02 7.11909216e-02 -2.92629042e+02] [ 8.83529498e-02 9.95757554e-01 -2.57031264e-02 1.67464656e+01] [-6.86698319e-02 3.18316228e-02 9.97131487e-01 1.55418544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.279072329 meters Centerline goodness : 0.766524 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.93770700e-01 -8.58396638e-02 7.10728321e-02 -2.92628772e+02] [ 8.77907211e-02 9.95830357e-01 -2.47929243e-02 1.67439399e+01] [-6.86482675e-02 3.08780169e-02 9.97162957e-01 1.55418364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.30907232899995 meters Centerline goodness : 0.765730 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.93767101e-01 -8.57450651e-02 7.12371573e-02 -2.92629086e+02] [ 8.76819290e-02 9.95846792e-01 -2.45162571e-02 1.67433495e+01] [-6.88391465e-02 3.06096611e-02 9.97158072e-01 1.55418200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.339072329 meters Centerline goodness : 0.765011 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.94004485e-01 -8.25592304e-02 7.16872226e-02 -2.92630780e+02] [ 8.42634176e-02 9.96220558e-01 -2.10778476e-02 1.67451294e+01] [-6.96761141e-02 2.69920855e-02 9.97204426e-01 1.55417911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.36907232899995 meters Centerline goodness : 0.766334 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.93970798e-01 -8.27155475e-02 7.19735489e-02 -2.92631479e+02] [ 8.44354720e-02 9.96203688e-01 -2.11863941e-02 1.67453822e+01] [-6.99478706e-02 2.71357776e-02 9.97181501e-01 1.55417970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.399072329 meters Centerline goodness : 0.766407 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.93983958e-01 -8.25864345e-02 7.19400529e-02 -2.92631649e+02] [ 8.42893398e-02 9.96220834e-01 -2.09608536e-02 1.67446812e+01] [-6.99370973e-02 2.68985318e-02 9.97188684e-01 1.55418275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.42907232899995 meters Centerline goodness : 0.765204 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.93983853e-01 -8.24148050e-02 7.21380666e-02 -2.92632039e+02] [ 8.40954979e-02 9.96245269e-01 -2.05745382e-02 1.67436252e+01] [-7.01715610e-02 2.65172454e-02 9.97182424e-01 1.55418049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.459072329 meters Centerline goodness : 0.765527 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.75, Z:155.42 [[ 9.93846152e-01 -8.32244518e-02 7.30993614e-02 -2.92634141e+02] [ 8.49866435e-02 9.96153727e-01 -2.13312502e-02 1.67450783e+01] [-7.10429197e-02 2.74124503e-02 9.97096515e-01 1.55417831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.48907232899995 meters Centerline goodness : 0.763034 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.94006496e-01 -8.20261067e-02 7.22689696e-02 -2.92631923e+02] [ 8.36618046e-02 9.96295489e-01 -1.98997880e-02 1.67424145e+01] [-7.03689463e-02 2.58266709e-02 9.97186640e-01 1.55417261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.519072329 meters Centerline goodness : 0.762567 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.94011742e-01 -8.19581495e-02 7.22739181e-02 -2.92631552e+02] [ 8.35802117e-02 9.96306169e-01 -1.97069966e-02 1.67420406e+01] [-7.03918015e-02 2.56296554e-02 9.97190110e-01 1.55416621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.54907232899996 meters Centerline goodness : 0.762613 Centerline is valid? [False, False] Translation: X:-292.63, Y:16.74, Z:155.42 [[ 9.94332705e-01 -7.82571685e-02 7.19603146e-02 -2.92631759e+02] [ 7.96057358e-02 9.96696998e-01 -1.60630440e-02 1.67438744e+01] [-7.04655812e-02 2.17004638e-02 9.97278142e-01 1.55416848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.579072329 meters Centerline goodness : 0.763259 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.75, Z:155.41 [[ 9.94548955e-01 -7.28673500e-02 7.45836792e-02 -2.92643475e+02] [ 7.48136016e-02 9.96917315e-01 -2.36387690e-02 1.67520346e+01] [-7.26312667e-02 2.90897867e-02 9.96934543e-01 1.55412245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.60907232899996 meters Centerline goodness : 0.762726 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.75, Z:155.41 [[ 9.94595843e-01 -7.26891616e-02 7.41309271e-02 -2.92642820e+02] [ 7.46618624e-02 9.96915400e-01 -2.41927811e-02 1.67546329e+01] [-7.21437099e-02 2.95967926e-02 9.96955022e-01 1.55413129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.639072329 meters Centerline goodness : 0.764966 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.94584222e-01 -7.28859484e-02 7.40936127e-02 -2.92643137e+02] [ 7.48934584e-02 9.96886005e-01 -2.46832356e-02 1.67563059e+01] [-7.20638246e-02 3.00986835e-02 9.96945773e-01 1.55413834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66907232899996 meters Centerline goodness : 0.764631 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.94510867e-01 -7.31771792e-02 7.47879414e-02 -2.92644719e+02] [ 7.51986299e-02 9.96865665e-01 -2.45766531e-02 1.67555709e+01] [-7.27550808e-02 3.00656993e-02 9.96896560e-01 1.55413676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.699072329 meters Centerline goodness : 0.764267 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94374639e-01 -7.39296987e-02 7.58516743e-02 -2.92647356e+02] [ 7.60021408e-02 9.96799055e-01 -2.48056157e-02 1.67549507e+01] [-7.37750056e-02 3.04309648e-02 9.96810516e-01 1.55413780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72907232899996 meters Centerline goodness : 0.764007 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94403740e-01 -7.37088701e-02 7.56848998e-02 -2.92647014e+02] [ 7.57577796e-02 9.96823656e-01 -2.45633409e-02 1.67545401e+01] [-7.36339624e-02 3.01595980e-02 9.96829192e-01 1.55413808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.759072329 meters Centerline goodness : 0.764252 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94394145e-01 -7.37848152e-02 7.57369509e-02 -2.92647453e+02] [ 7.58498505e-02 9.96811847e-01 -2.47576553e-02 1.67550910e+01] [-7.36687509e-02 3.03635039e-02 9.96820432e-01 1.55414343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78907232899996 meters Centerline goodness : 0.763993 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94360427e-01 -7.39134044e-02 7.60536013e-02 -2.92648318e+02] [ 7.59938839e-02 9.96799048e-01 -2.48311669e-02 1.67552517e+01] [-7.39748013e-02 3.04707382e-02 9.96794494e-01 1.55414467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.819072329 meters Centerline goodness : 0.764589 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94430224e-01 -7.34187479e-02 7.56188918e-02 -2.92647147e+02] [ 7.54466687e-02 9.96853323e-01 -2.43156805e-02 1.67544970e+01] [-7.35957168e-02 2.98854411e-02 9.96840274e-01 1.55414172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84907232899997 meters Centerline goodness : 0.763905 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94447426e-01 -7.31404705e-02 7.56623376e-02 -2.92646705e+02] [ 7.51352230e-02 9.96887896e-01 -2.38583598e-02 1.67536791e+01] [-7.36818569e-02 2.94107911e-02 9.96848027e-01 1.55413191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.879072329 meters Centerline goodness : 0.762410 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94491756e-01 -7.28422827e-02 7.53667584e-02 -2.92645922e+02] [ 7.48002538e-02 9.96921895e-01 -2.34874010e-02 1.67530091e+01] [-7.34238957e-02 2.89954793e-02 9.96879227e-01 1.55412949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90907232899997 meters Centerline goodness : 0.762912 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.75, Z:155.41 [[ 9.94594699e-01 -7.20476015e-02 7.47698304e-02 -2.92643677e+02] [ 7.39384211e-02 9.97001391e-01 -2.28327751e-02 1.67531616e+01] [-7.29005783e-02 2.82377203e-02 9.96939385e-01 1.55411719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93907232899994 meters Centerline goodness : 0.761706 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.75, Z:155.41 [[ 9.94812228e-01 -6.87598320e-02 7.49714335e-02 -2.92645458e+02] [ 7.03991836e-02 9.97329370e-01 -1.94443233e-02 1.67549221e+01] [-7.34342242e-02 2.46213783e-02 9.96996089e-01 1.55412690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96907232899997 meters Centerline goodness : 0.762524 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94777016e-01 -6.89762847e-02 7.52393546e-02 -2.92646374e+02] [ 7.06454909e-02 9.97305927e-01 -1.97510074e-02 1.67555915e+01] [-7.36743032e-02 2.49631693e-02 9.96969878e-01 1.55413171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99907232899994 meters Centerline goodness : 0.761499 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94775912e-01 -6.90582805e-02 7.51787144e-02 -2.92646812e+02] [ 7.07542479e-02 9.97290613e-01 -2.01313179e-02 1.67568694e+01] [-7.35847920e-02 2.53453636e-02 9.96966845e-01 1.55414184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.029072329 meters Centerline goodness : 0.761700 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94852598e-01 -6.85716433e-02 7.46072208e-02 -2.92645339e+02] [ 7.02208742e-02 9.97336755e-01 -1.97085331e-02 1.67564053e+01] [-7.30570770e-02 2.48460697e-02 9.97018223e-01 1.55413972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05907232899995 meters Centerline goodness : 0.759634 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.94823293e-01 -6.87401545e-02 7.48425523e-02 -2.92645600e+02] [ 7.04062534e-02 9.97320835e-01 -1.98522432e-02 1.67570043e+01] [-7.32773905e-02 2.50188576e-02 9.96997734e-01 1.55413485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.089072329 meters Centerline goodness : 0.759555 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.94933772e-01 -6.79205849e-02 7.41187139e-02 -2.92643223e+02] [ 6.95055717e-02 9.97400308e-01 -1.90158226e-02 1.67560603e+01] [-7.26344622e-02 2.40711477e-02 9.97068109e-01 1.55412441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11907232899995 meters Centerline goodness : 0.759608 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.95148453e-01 -6.45066722e-02 7.42862427e-02 -2.92644484e+02] [ 6.58381962e-02 9.97708132e-01 -1.56145700e-02 1.67582524e+01] [-7.31087445e-02 2.04296874e-02 9.97114707e-01 1.55412822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.149072329 meters Centerline goodness : 0.759236 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.95121846e-01 -6.47180949e-02 7.44585843e-02 -2.92645561e+02] [ 6.60788694e-02 9.97686803e-01 -1.59570229e-02 1.67588065e+01] [-7.32536388e-02 2.07993211e-02 9.97096431e-01 1.55413845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17907232899995 meters Centerline goodness : 0.758585 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.76, Z:155.41 [[ 9.95118170e-01 -6.47697211e-02 7.44628186e-02 -2.92646046e+02] [ 6.61483538e-02 9.97678330e-01 -1.61970987e-02 1.67595351e+01] [-7.32408589e-02 2.10436201e-02 9.97092244e-01 1.55414595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.209072329 meters Centerline goodness : 0.759211 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.95290239e-01 -6.34656418e-02 7.32765474e-02 -2.92642881e+02] [ 6.47583282e-02 9.97782142e-01 -1.53998510e-02 1.67597044e+01] [-7.21366690e-02 2.00725881e-02 9.97192756e-01 1.55414034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.23907232899995 meters Centerline goodness : 0.758213 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.95381754e-01 -6.29021139e-02 7.25154338e-02 -2.92640615e+02] [ 6.41815964e-02 9.97818647e-01 -1.54489576e-02 1.67616407e+01] [-7.13854800e-02 2.00317668e-02 9.97247633e-01 1.55413417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.269072329 meters Centerline goodness : 0.756939 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.76, Z:155.41 [[ 9.95505687e-01 -6.19127670e-02 7.16605677e-02 -2.92637930e+02] [ 6.31063816e-02 9.97901292e-01 -1.45119073e-02 1.67604494e+01] [-7.06117008e-02 1.89689254e-02 9.97323502e-01 1.55412410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.29907232899996 meters Centerline goodness : 0.755079 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.96214484e-01 -5.78821774e-02 6.48564262e-02 -2.92646448e+02] [ 5.95384899e-02 9.97939817e-01 -2.39016619e-02 1.67720632e+01] [-6.33393298e-02 2.76726355e-02 9.97608317e-01 1.55413034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.329072329 meters Centerline goodness : 0.755608 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.96272035e-01 -5.74959071e-02 6.43137109e-02 -2.92645261e+02] [ 5.91258457e-02 9.97968386e-01 -2.37325594e-02 1.67722776e+01] [-6.28185252e-02 2.74466878e-02 9.97647489e-01 1.55413212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.35907232899996 meters Centerline goodness : 0.755836 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.96426976e-01 -5.42640629e-02 6.47201100e-02 -2.92647248e+02] [ 5.56965396e-02 9.98236506e-01 -2.05371417e-02 1.67748159e+01] [-6.34915477e-02 2.40684482e-02 9.97692103e-01 1.55413991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.389072329 meters Centerline goodness : 0.757110 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96436881e-01 -5.43070403e-02 6.45312935e-02 -2.92646988e+02] [ 5.57655656e-02 9.98222633e-01 -2.10184775e-02 1.67769411e+01] [-6.32751464e-02 2.45422103e-02 9.97694310e-01 1.55414492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41907232899996 meters Centerline goodness : 0.756465 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96386909e-01 -5.45592362e-02 6.50877657e-02 -2.92648402e+02] [ 5.60341857e-02 9.98206852e-01 -2.10535061e-02 1.67767313e+01] [-6.38223905e-02 2.46245778e-02 9.97657422e-01 1.55414605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.449072329 meters Centerline goodness : 0.755715 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96157256e-01 -5.83397235e-02 6.53237948e-02 -2.92647747e+02] [ 6.00671760e-02 9.97886245e-01 -2.47987068e-02 1.67758942e+01] [-6.37389667e-02 2.86272276e-02 9.97555926e-01 1.55413646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47907232899996 meters Centerline goodness : 0.754844 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96131596e-01 -5.84036775e-02 6.56570875e-02 -2.92648214e+02] [ 6.01314974e-02 9.97885971e-01 -2.46534557e-02 1.67755371e+01] [-6.40784340e-02 2.85061452e-02 9.97537645e-01 1.55413129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.509072329 meters Centerline goodness : 0.754702 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.96084283e-01 -5.85570165e-02 6.62357673e-02 -2.92649630e+02] [ 6.02861850e-02 9.97882518e-01 -2.44142757e-02 1.67744115e+01] [-6.46658871e-02 2.83117780e-02 9.97505271e-01 1.55413100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53907232899996 meters Centerline goodness : 0.754836 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.95812524e-01 -6.25227039e-02 6.66957939e-02 -2.92650005e+02] [ 6.45355511e-02 9.97509425e-01 -2.84624178e-02 1.67739801e+01] [-6.47501357e-02 3.26474819e-02 9.97367315e-01 1.55412981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.569072329 meters Centerline goodness : 0.753533 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.95885991e-01 -6.19232759e-02 6.61558825e-02 -2.92648516e+02] [ 6.38742186e-02 9.97570904e-01 -2.77916499e-02 1.67729429e+01] [-6.42742335e-02 3.19029701e-02 9.97422189e-01 1.55412637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59907232899997 meters Centerline goodness : 0.752834 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.95928093e-01 -6.16719147e-02 6.57556768e-02 -2.92646920e+02] [ 6.36026246e-02 9.97591294e-01 -2.76824063e-02 1.67736990e+01] [-6.38900637e-02 3.17519197e-02 9.97451691e-01 1.55411750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.629072329 meters Centerline goodness : 0.752668 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.77, Z:155.41 [[ 9.95987557e-01 -6.12571103e-02 6.52407352e-02 -2.92645466e+02] [ 6.31545663e-02 9.97626784e-01 -2.74280816e-02 1.67738534e+01] [-6.34057398e-02 3.14382783e-02 9.97492530e-01 1.55411426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65907232899997 meters Centerline goodness : 0.753174 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.95916216e-01 -6.18499178e-02 6.57683631e-02 -2.92646638e+02] [ 6.38208150e-02 9.97560059e-01 -2.82989700e-02 1.67762993e+01] [-6.38576032e-02 3.23807937e-02 9.97433552e-01 1.55411431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68907232899994 meters Centerline goodness : 0.753152 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96107315e-01 -5.84165923e-02 6.60130191e-02 -2.92648466e+02] [ 6.01582944e-02 9.97882952e-01 -2.47102106e-02 1.67773553e+01] [-6.44297801e-02 2.85852522e-02 9.97512750e-01 1.55412382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71907232899997 meters Centerline goodness : 0.753808 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96289213e-01 -5.51441928e-02 6.60826851e-02 -2.92650301e+02] [ 5.66891572e-02 9.98155256e-01 -2.17353447e-02 1.67800882e+01] [-6.47622014e-02 2.54008612e-02 9.97577392e-01 1.55414142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74907232899994 meters Centerline goodness : 0.754627 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.78, Z:155.41 [[ 9.96385180e-01 -5.43962990e-02 6.52504013e-02 -2.92648035e+02] [ 5.58881820e-02 9.98210672e-01 -2.12594877e-02 1.67801687e+01] [-6.39772095e-02 2.48293648e-02 9.97642431e-01 1.55413734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.779072329 meters Centerline goodness : 0.753676 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.78, Z:155.41 [[ 9.96771066e-01 -4.90518504e-02 6.35716748e-02 -2.92644259e+02] [ 5.02279961e-02 9.98592472e-01 -1.70359632e-02 1.67833089e+01] [-6.26465503e-02 2.01740331e-02 9.97831859e-01 1.55413737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.80907232899995 meters Centerline goodness : 0.752664 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.79, Z:155.41 [[ 9.96900768e-01 -4.59822774e-02 6.38317176e-02 -2.92645767e+02] [ 4.69895103e-02 9.98792041e-01 -1.43681891e-02 1.67875651e+01] [-6.30939295e-02 1.73230799e-02 9.97857238e-01 1.55414573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.839072329 meters Centerline goodness : 0.754666 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.79, Z:155.42 [[ 9.96967641e-01 -4.57250418e-02 6.29662019e-02 -2.92644032e+02] [ 4.67403244e-02 9.98798226e-01 -1.47460114e-02 1.67895554e+01] [-6.22162688e-02 1.76443569e-02 9.97906715e-01 1.55415239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.86907232899995 meters Centerline goodness : 0.753132 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.80, Z:155.42 [[ 9.96736849e-01 -6.00059165e-02 5.39902115e-02 -2.92649119e+02] [ 6.09150983e-02 9.98024863e-01 -1.53532762e-02 1.67995659e+01] [-5.29622860e-02 1.85919952e-02 9.98423424e-01 1.55423117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.899072329 meters Centerline goodness : 0.751073 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.80, Z:155.42 [[ 9.96768432e-01 -5.94100320e-02 5.40660778e-02 -2.92648835e+02] [ 6.02587759e-02 9.98081717e-01 -1.42044481e-02 1.67960976e+01] [-5.31184770e-02 1.74165011e-02 9.98436324e-01 1.55422144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.92907232899995 meters Centerline goodness : 0.751442 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.80, Z:155.42 [[ 9.96746828e-01 -5.95938332e-02 5.42617353e-02 -2.92649326e+02] [ 6.04625599e-02 9.98064995e-01 -1.45101505e-02 1.67969706e+01] [-5.32920230e-02 1.77437499e-02 9.98421314e-01 1.55422123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.959072329 meters Centerline goodness : 0.751601 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.80, Z:155.42 [[ 9.96971862e-01 -5.58765254e-02 5.40825287e-02 -2.92650029e+02] [ 5.65398829e-02 9.98341784e-01 -1.08131459e-02 1.67981879e+01] [-5.33886472e-02 1.38382220e-02 9.98477920e-01 1.55422918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.98907232899995 meters Centerline goodness : 0.752809 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.81, Z:155.43 [[ 9.97494222e-01 -4.93794593e-02 5.06650451e-02 -2.92643263e+02] [ 4.99207358e-02 9.98708253e-01 -9.47343493e-03 1.68050144e+01] [-5.01318056e-02 1.19789329e-02 9.98670770e-01 1.55427766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.019072329 meters Centerline goodness : 0.753285 Centerline is valid? [False, False] Translation: X:-292.64, Y:16.81, Z:155.43 [[ 9.97685358e-01 -4.58167749e-02 5.02468888e-02 -2.92643016e+02] [ 4.62021873e-02 9.98910731e-01 -6.53528346e-03 1.68093886e+01] [-4.98927308e-02 8.84167279e-03 9.98715445e-01 1.55428356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.04907232899996 meters Centerline goodness : 0.752221 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98310935e-01 -3.94509039e-02 4.26486083e-02 -2.92654849e+02] [ 3.99784930e-02 9.99133332e-01 -1.15889739e-02 1.68268214e+01] [-4.21544506e-02 1.32744264e-02 9.99022919e-01 1.55430975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.079072329 meters Centerline goodness : 0.751734 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.83, Z:155.43 [[ 9.98450941e-01 -3.56659557e-02 4.27043043e-02 -2.92655547e+02] [ 3.60350356e-02 9.99319269e-01 -7.90408337e-03 1.68283653e+01] [-4.23933275e-02 9.43069061e-03 9.99056489e-01 1.55431214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.10907232899996 meters Centerline goodness : 0.752709 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98473151e-01 -3.55763616e-02 4.22574244e-02 -2.92654579e+02] [ 3.59556919e-02 9.99319327e-01 -8.25055599e-03 1.68299352e+01] [-4.19351361e-02 9.75735356e-03 9.99072689e-01 1.55431488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.139072329 meters Centerline goodness : 0.752709 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98473151e-01 -3.55763616e-02 4.22574244e-02 -2.92654579e+02] [ 3.59556919e-02 9.99319327e-01 -8.25055599e-03 1.68299352e+01] [-4.19351361e-02 9.75735356e-03 9.99072689e-01 1.55431488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16907232899996 meters Centerline goodness : 0.752387 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98592288e-01 -3.39151092e-02 4.07824376e-02 -2.92651839e+02] [ 3.42707296e-02 9.99380145e-01 -8.05247523e-03 1.68316669e+01] [-4.04840578e-02 9.43878356e-03 9.99135602e-01 1.55433178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.199072329 meters Centerline goodness : 0.753464 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98546530e-01 -3.45830189e-02 4.13381435e-02 -2.92653544e+02] [ 3.49836617e-02 9.99347288e-01 -9.00785135e-03 1.68340313e+01] [-4.09996429e-02 1.04409183e-02 9.99104607e-01 1.55433750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22907232899996 meters Centerline goodness : 0.753737 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98579055e-01 -3.40668252e-02 4.09795400e-02 -2.92653020e+02] [ 3.44351719e-02 9.99372332e-01 -8.31631903e-03 1.68321115e+01] [-4.06705079e-02 9.71563950e-03 9.99125376e-01 1.55434145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.259072329 meters Centerline goodness : 0.751475 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.83, Z:155.43 [[ 9.98523937e-01 -3.47065011e-02 4.17780549e-02 -2.92655311e+02] [ 3.50901046e-02 9.99348143e-01 -8.48368801e-03 1.68307260e+01] [-4.14563825e-02 9.93716187e-03 9.99090897e-01 1.55434395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28907232899996 meters Centerline goodness : 0.751129 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.83, Z:155.43 [[ 9.98515080e-01 -3.46715846e-02 4.20180381e-02 -2.92655685e+02] [ 3.50462047e-02 9.99351954e-01 -8.21190270e-03 1.68298859e+01] [-4.17060888e-02 9.67228144e-03 9.99083104e-01 1.55433994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.319072329 meters Centerline goodness : 0.750424 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98410647e-01 -3.77828886e-02 4.18166539e-02 -2.92653503e+02] [ 3.82739345e-02 9.99206684e-01 -1.10049207e-02 1.68272139e+01] [-4.13676823e-02 1.25879179e-02 9.99064692e-01 1.55432119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34907232899997 meters Centerline goodness : 0.751681 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98438823e-01 -3.72572829e-02 4.16150432e-02 -2.92652554e+02] [ 3.77109063e-02 9.99236949e-01 -1.01688994e-02 1.68253499e+01] [-4.12044232e-02 1.17223649e-02 9.99081969e-01 1.55431359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.379072329 meters Centerline goodness : 0.748975 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.83, Z:155.43 [[ 9.98404340e-01 -3.75341024e-02 4.21896279e-02 -2.92653436e+02] [ 3.79990064e-02 9.99224983e-01 -1.02717219e-02 1.68255902e+01] [-4.17713904e-02 1.18584957e-02 9.99056819e-01 1.55430600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40907232899997 meters Centerline goodness : 0.748895 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.82, Z:155.43 [[ 9.98237904e-01 -4.12519829e-02 4.26539628e-02 -2.92653376e+02] [ 4.18572163e-02 9.99033812e-01 -1.33946316e-02 1.68225305e+01] [-4.20601959e-02 1.51564051e-02 9.99000112e-01 1.55429331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43907232899994 meters Centerline goodness : 0.747368 Centerline is valid? [False, False] Translation: X:-292.65, Y:16.82, Z:155.43 [[ 9.98203311e-01 -4.13391467e-02 4.33730971e-02 -2.92654835e+02] [ 4.19336081e-02 9.99037295e-01 -1.28862634e-02 1.68206241e+01] [-4.27986345e-02 1.46819012e-02 9.98975835e-01 1.55428722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46907232899997 meters Centerline goodness : 0.747550 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.82, Z:155.43 [[ 9.98173354e-01 -4.13813533e-02 4.40174784e-02 -2.92656208e+02] [ 4.19693551e-02 9.99040466e-01 -1.25187878e-02 1.68192383e+01] [-4.34571978e-02 1.43433056e-02 9.98952322e-01 1.55428344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49907232899994 meters Centerline goodness : 0.748964 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.82, Z:155.43 [[ 9.97945221e-01 -4.57436331e-02 4.48648683e-02 -2.92657528e+02] [ 4.65346715e-02 9.98776265e-01 -1.67480261e-02 1.68188990e+01] [-4.40438500e-02 1.88013845e-02 9.98852665e-01 1.55427924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.529072329 meters Centerline goodness : 0.749095 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.82, Z:155.43 [[ 9.97835933e-01 -4.70945643e-02 4.58862946e-02 -2.92661233e+02] [ 4.79420257e-02 9.98695999e-01 -1.75460439e-02 1.68182427e+01] [-4.50001356e-02 1.97079550e-02 9.98792563e-01 1.55429421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55907232899995 meters Centerline goodness : 0.749885 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.82, Z:155.43 [[ 9.97586601e-01 -5.12336773e-02 4.68624002e-02 -2.92663481e+02] [ 5.22768622e-02 9.98405194e-01 -2.13119190e-02 1.68160300e+01] [-4.56957758e-02 2.37103041e-02 9.98673980e-01 1.55429846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.589072329 meters Centerline goodness : 0.750340 Centerline is valid? [False, False] Translation: X:-292.66, Y:16.82, Z:155.43 [[ 9.97308602e-01 -5.56370575e-02 4.77500792e-02 -2.92664800e+02] [ 5.69062136e-02 9.98050144e-01 -2.56435820e-02 1.68159873e+01] [-4.62302400e-02 2.82918411e-02 9.98530088e-01 1.55429405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61907232899995 meters Centerline goodness : 0.751234 Centerline is valid? [False, False] Translation: X:-292.67, Y:16.81, Z:155.43 [[ 9.97212042e-01 -5.63775603e-02 4.88847066e-02 -2.92667499e+02] [ 5.76619371e-02 9.98016223e-01 -2.52728996e-02 1.68134169e+01] [-4.73629058e-02 2.80212267e-02 9.98484635e-01 1.55428992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.649072329 meters Centerline goodness : 0.750308 Centerline is valid? [False, False] Translation: X:-292.67, Y:16.81, Z:155.43 [[ 9.96908410e-01 -6.04469954e-02 5.01974473e-02 -2.92668991e+02] [ 6.18992595e-02 9.97692444e-01 -2.78974697e-02 1.68082652e+01] [-4.83952957e-02 3.09184070e-02 9.98349612e-01 1.55426850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67907232899995 meters Centerline goodness : 0.750706 Centerline is valid? [False, False] Translation: X:-292.67, Y:16.81, Z:155.43 [[ 9.96824535e-01 -6.10012023e-02 5.11830051e-02 -2.92671419e+02] [ 6.24814013e-02 9.97657910e-01 -2.78346646e-02 1.68069509e+01] [-4.93651819e-02 3.09442625e-02 9.98301323e-01 1.55426755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.709072329 meters Centerline goodness : 0.751621 Centerline is valid? [False, False] Translation: X:-292.67, Y:16.81, Z:155.43 [[ 9.96693192e-01 -6.20270477e-02 5.24912063e-02 -2.92674399e+02] [ 6.35545644e-02 9.97586950e-01 -2.79480792e-02 1.68059239e+01] [-5.06310055e-02 3.11917160e-02 9.98230223e-01 1.55426316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.73907232899995 meters Centerline goodness : 0.751782 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.81, Z:155.43 [[ 9.96666834e-01 -6.21694243e-02 5.28221948e-02 -2.92675327e+02] [ 6.37094432e-02 9.97575963e-01 -2.79875851e-02 1.68059819e+01] [-5.09541798e-02 3.12595704e-02 9.98211656e-01 1.55426525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.769072329 meters Centerline goodness : 0.752448 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.81, Z:155.43 [[ 9.96603465e-01 -6.25755701e-02 5.35334627e-02 -2.92677061e+02] [ 6.41546355e-02 9.97538514e-01 -2.83036201e-02 1.68066706e+01] [-5.16305757e-02 3.16419056e-02 9.98164853e-01 1.55426565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.79907232899996 meters Centerline goodness : 0.752224 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.80, Z:155.43 [[ 9.96296451e-01 -6.66289111e-02 5.43504307e-02 -2.92678485e+02] [ 6.84289101e-02 9.97144050e-01 -3.19566559e-02 1.68041923e+01] [-5.20659714e-02 3.55574436e-02 9.98010422e-01 1.55426525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.829072329 meters Centerline goodness : 0.754058 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.80, Z:155.43 [[ 9.96264929e-01 -6.68116567e-02 5.47027742e-02 -2.92678950e+02] [ 6.86291697e-02 9.97127362e-01 -3.20478076e-02 1.68046496e+01] [-5.24044658e-02 3.56823127e-02 9.97988249e-01 1.55425932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.85907232899996 meters Centerline goodness : 0.750361 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.80, Z:155.43 [[ 9.96397047e-01 -6.40949369e-02 5.55406459e-02 -2.92681999e+02] [ 6.57462226e-02 9.97431272e-01 -2.84304866e-02 1.68041613e+01] [-5.35757268e-02 3.19796406e-02 9.98051574e-01 1.55426255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.889072329 meters Centerline goodness : 0.750538 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.80, Z:155.43 [[ 9.96295351e-01 -6.48738225e-02 5.64531760e-02 -2.92683416e+02] [ 6.65751245e-02 9.97365839e-01 -2.87947053e-02 1.68043994e+01] [-5.44364467e-02 3.24464082e-02 9.97989932e-01 1.55425090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91907232899996 meters Centerline goodness : 0.750016 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.80, Z:155.42 [[ 9.96529113e-01 -6.09469495e-02 5.67027020e-02 -2.92684675e+02] [ 6.24041057e-02 9.97755318e-01 -2.42909957e-02 1.68031934e+01] [-5.50949603e-02 2.77451658e-02 9.98095562e-01 1.55424913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.949072329 meters Centerline goodness : 0.750549 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96650835e-01 -5.82288727e-02 5.74152535e-02 -2.92687867e+02] [ 5.95445233e-02 9.97994625e-01 -2.14750758e-02 1.68054721e+01] [-5.60496449e-02 2.48219161e-02 9.98119387e-01 1.55426137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97907232899996 meters Centerline goodness : 0.751803 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96804581e-01 -5.52640002e-02 5.76759652e-02 -2.92690166e+02] [ 5.64219294e-02 9.98232928e-01 -1.86436940e-02 1.68084829e+01] [-5.65437225e-02 2.18383088e-02 9.98161257e-01 1.55427855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.009072329 meters Centerline goodness : 0.751056 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96851292e-01 -5.49933872e-02 5.71246790e-02 -2.92688917e+02] [ 5.61485786e-02 9.98245093e-01 -1.88168089e-02 1.68100159e+01] [-5.59896304e-02 2.19650298e-02 9.98189711e-01 1.55428131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03907232899996 meters Centerline goodness : 0.751366 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96846035e-01 -5.49240624e-02 5.72829010e-02 -2.92689345e+02] [ 5.60706146e-02 9.98253482e-01 -1.86029897e-02 1.68094074e+01] [-5.61611037e-02 2.17562040e-02 9.98184651e-01 1.55428167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.069072329 meters Centerline goodness : 0.751816 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96976481e-01 -5.34251833e-02 5.64238144e-02 -2.92686417e+02] [ 5.44634475e-02 9.98370605e-01 -1.70255005e-02 1.68073183e+01] [-5.54222873e-02 2.00470590e-02 9.98261732e-01 1.55426879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09907232899997 meters Centerline goodness : 0.752925 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.97006472e-01 -5.32995745e-02 5.60111557e-02 -2.92685469e+02] [ 5.43400516e-02 9.98374005e-01 -1.72193110e-02 1.68084786e+01] [-5.50022999e-02 2.02114136e-02 9.98281647e-01 1.55427025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.129072329 meters Centerline goodness : 0.752771 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.81, Z:155.43 [[ 9.97053473e-01 -5.30337515e-02 5.54237543e-02 -2.92684132e+02] [ 5.40690415e-02 9.98386474e-01 -1.73489788e-02 1.68097560e+01] [-5.44142452e-02 2.02945689e-02 9.98312186e-01 1.55427209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15907232899997 meters Centerline goodness : 0.754538 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.81, Z:155.43 [[ 9.96970863e-01 -5.38743177e-02 5.60950594e-02 -2.92686074e+02] [ 5.49904775e-02 9.98314611e-01 -1.85468266e-02 1.68128627e+01] [-5.50013197e-02 2.15753398e-02 9.98253154e-01 1.55427860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18907232899994 meters Centerline goodness : 0.754250 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.82, Z:155.43 [[ 9.97131805e-01 -5.09489038e-02 5.59676097e-02 -2.92687724e+02] [ 5.19112733e-02 9.98525482e-01 -1.58770936e-02 1.68156218e+01] [-5.50761639e-02 1.87369049e-02 9.98306338e-01 1.55429920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21907232899997 meters Centerline goodness : 0.755231 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.82, Z:155.43 [[ 9.97499280e-01 -4.53147452e-02 5.42379926e-02 -2.92684472e+02] [ 4.60473693e-02 9.98863105e-01 -1.23343543e-02 1.68205506e+01] [-5.36174016e-02 1.48010264e-02 9.98451854e-01 1.55431319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24907232899994 meters Centerline goodness : 0.756177 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.83, Z:155.44 [[ 9.98059869e-01 -3.58664368e-02 5.08929886e-02 -2.92679460e+02] [ 3.63093627e-02 9.99310117e-01 -7.80509470e-03 1.68276060e+01] [-5.05779375e-02 9.63784378e-03 9.98673612e-01 1.55437722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.279072329 meters Centerline goodness : 0.757893 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.83, Z:155.44 [[ 9.98179043e-01 -3.42004727e-02 4.96882846e-02 -2.92676786e+02] [ 3.46047594e-02 9.99374423e-01 -7.29886247e-03 1.68294536e+01] [-4.94075762e-02 9.00502269e-03 9.98738104e-01 1.55438271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.30907232899995 meters Centerline goodness : 0.757163 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.83, Z:155.44 [[ 9.98231939e-01 -3.39975596e-02 4.87561412e-02 -2.92675006e+02] [ 3.44220110e-02 9.99376224e-01 -7.89229802e-03 1.68318602e+01] [-4.84574094e-02 9.55662839e-03 9.98779530e-01 1.55439112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.339072329 meters Centerline goodness : 0.757137 Centerline is valid? [False, False] Translation: X:-292.67, Y:16.83, Z:155.44 [[ 9.98285087e-01 -3.34020569e-02 4.80748070e-02 -2.92673194e+02] [ 3.37942079e-02 9.99401658e-01 -7.36732404e-03 1.68311104e+01] [-4.77999581e-02 8.97933974e-03 9.98816567e-01 1.55438805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.36907232899995 meters Centerline goodness : 0.756130 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98872137e-01 -3.05063251e-02 3.63843149e-02 -2.92676369e+02] [ 3.09559398e-02 9.99450401e-01 -1.18585945e-02 1.68423516e+01] [-3.60025560e-02 1.29715303e-02 9.99267509e-01 1.55442769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.399072329 meters Centerline goodness : 0.755043 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98995683e-01 -2.66022610e-02 3.60547388e-02 -2.92675615e+02] [ 2.69145590e-02 9.99604071e-01 -8.20418946e-03 1.68445511e+01] [-3.58222137e-02 9.16634725e-03 9.99316140e-01 1.55442453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.42907232899995 meters Centerline goodness : 0.754206 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.99008047e-01 -2.64137137e-02 3.58502208e-02 -2.92675026e+02] [ 2.67181792e-02 9.99610671e-01 -8.04028512e-03 1.68444691e+01] [-3.56238895e-02 8.99016216e-03 9.99324830e-01 1.55442327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.459072329 meters Centerline goodness : 0.755798 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98979820e-01 -2.67112564e-02 3.64119297e-02 -2.92676658e+02] [ 2.70262325e-02 9.99601209e-01 -8.18568846e-03 1.68443916e+01] [-3.61787590e-02 9.16141486e-03 9.99303340e-01 1.55442653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.48907232899995 meters Centerline goodness : 0.758696 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98847460e-01 -3.07290116e-02 3.68711282e-02 -2.92677635e+02] [ 3.11889807e-02 9.99441884e-01 -1.19652671e-02 1.68426803e+01] [-3.64828691e-02 1.31014496e-02 9.99248394e-01 1.55442805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.519072329 meters Centerline goodness : 0.758476 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98798118e-01 -3.12626588e-02 3.77487234e-02 -2.92679989e+02] [ 3.17473029e-02 9.99420141e-01 -1.23081124e-02 1.68430313e+01] [-3.73420502e-02 1.34917397e-02 9.99211461e-01 1.55443105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.54907232899996 meters Centerline goodness : 0.757578 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98638487e-01 -3.52333239e-02 3.84679743e-02 -2.92681430e+02] [ 3.58630140e-02 9.99231751e-01 -1.58035379e-02 1.68403461e+01] [-3.78816102e-02 1.71615986e-02 9.99134857e-01 1.55442949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.579072329 meters Centerline goodness : 0.758033 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98612162e-01 -3.52865518e-02 3.90974293e-02 -2.92682753e+02] [ 3.59087963e-02 9.99237503e-01 -1.53287531e-02 1.68385250e+01] [-3.85267188e-02 1.67114209e-02 9.99117821e-01 1.55442509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.60907232899996 meters Centerline goodness : 0.757838 Centerline is valid? [False, False] Translation: X:-292.68, Y:16.84, Z:155.44 [[ 9.98563210e-01 -3.57621876e-02 3.99071573e-02 -2.92684881e+02] [ 3.64008894e-02 9.99218690e-01 -1.53942990e-02 1.68379035e+01] [-3.93254436e-02 1.68248367e-02 9.99084798e-01 1.55442606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.639072329 meters Centerline goodness : 0.757640 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.84, Z:155.44 [[ 9.98517160e-01 -3.61887902e-02 4.06675898e-02 -2.92686356e+02] [ 3.68452273e-02 9.99200624e-01 -1.55094018e-02 1.68378765e+01] [-4.00738146e-02 1.69848105e-02 9.99052354e-01 1.55442009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66907232899996 meters Centerline goodness : 0.756725 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.83, Z:155.44 [[ 9.98283774e-01 -4.07645130e-02 4.20447455e-02 -2.92688967e+02] [ 4.15730675e-02 9.98963459e-01 -1.85388144e-02 1.68330799e+01] [-4.12454387e-02 2.02549267e-02 9.98943718e-01 1.55441000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.699072329 meters Centerline goodness : 0.756640 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.83, Z:155.44 [[ 9.98084672e-01 -4.46302901e-02 4.28383634e-02 -2.92690249e+02] [ 4.55955636e-02 9.98721512e-01 -2.18262860e-02 1.68298564e+01] [-4.18094816e-02 2.37377208e-02 9.98843575e-01 1.55440469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72907232899996 meters Centerline goodness : 0.756306 Centerline is valid? [False, False] Translation: X:-292.69, Y:16.82, Z:155.44 [[ 9.97791234e-01 -4.94744664e-02 4.43275361e-02 -2.92693340e+02] [ 5.06026778e-02 9.98413353e-01 -2.47011332e-02 1.68233103e+01] [-4.30351285e-02 2.68896662e-02 9.98711632e-01 1.55439661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.759072329 meters Centerline goodness : 0.755799 Centerline is valid? [False, False] Translation: X:-292.70, Y:16.82, Z:155.44 [[ 9.97629759e-01 -5.13968949e-02 4.57517516e-02 -2.92697035e+02] [ 5.26120125e-02 9.98282660e-01 -2.57625207e-02 1.68230991e+01] [-4.43490667e-02 2.81085490e-02 9.98620583e-01 1.55439831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78907232899996 meters Centerline goodness : 0.754180 Centerline is valid? [False, False] Translation: X:-292.70, Y:16.82, Z:155.44 [[ 9.97505780e-01 -5.25473252e-02 4.71274545e-02 -2.92699831e+02] [ 5.38076241e-02 9.98215788e-01 -2.58839884e-02 1.68218001e+01] [-4.56832348e-02 2.83552444e-02 9.98553465e-01 1.55438849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.819072329 meters Centerline goodness : 0.754622 Centerline is valid? [False, False] Translation: X:-292.70, Y:16.81, Z:155.44 [[ 9.96782857e-01 -6.37552604e-02 4.85716284e-02 -2.92699993e+02] [ 6.46407416e-02 9.97765798e-01 -1.68815600e-02 1.68137237e+01] [-4.73868213e-02 1.99669556e-02 9.98677030e-01 1.55438105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84907232899997 meters Centerline goodness : 0.753227 Centerline is valid? [False, False] Translation: X:-292.70, Y:16.81, Z:155.44 [[ 9.96451751e-01 -6.81176985e-02 4.94356879e-02 -2.92701115e+02] [ 6.92278247e-02 9.97377702e-01 -2.11004150e-02 1.68132971e+01] [-4.78687411e-02 2.44478706e-02 9.98554398e-01 1.55437658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.879072329 meters Centerline goodness : 0.754653 Centerline is valid? [False, False] Translation: X:-292.71, Y:16.81, Z:155.43 [[ 9.95895413e-01 -7.29451635e-02 5.35847864e-02 -2.92710591e+02] [ 7.41476926e-02 9.97030233e-01 -2.08046660e-02 1.68117588e+01] [-5.19080523e-02 2.46924598e-02 9.98346551e-01 1.55434043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90907232899997 meters Centerline goodness : 0.754832 Centerline is valid? [False, False] Translation: X:-292.71, Y:16.81, Z:155.44 [[ 9.96010081e-01 -7.07350305e-02 5.44102359e-02 -2.92714278e+02] [ 7.17991702e-02 9.97259271e-01 -1.78556915e-02 1.68119354e+01] [-5.29980893e-02 2.16910585e-02 9.98359004e-01 1.55435264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93907232899994 meters Centerline goodness : 0.753982 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95916853e-01 -7.13479843e-02 5.53090171e-02 -2.92716086e+02] [ 7.24575499e-02 9.97203232e-01 -1.83198791e-02 1.68128910e+01] [-5.38472442e-02 2.22526322e-02 9.98301204e-01 1.55434728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96907232899997 meters Centerline goodness : 0.754775 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95834003e-01 -7.17954962e-02 5.62142751e-02 -2.92717958e+02] [ 7.29112813e-02 9.97175020e-01 -1.80533816e-02 1.68113903e+01] [-5.47593194e-02 2.20768261e-02 9.98255494e-01 1.55434122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99907232899994 meters Centerline goodness : 0.754971 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95729430e-01 -7.23443187e-02 5.73515632e-02 -2.92720126e+02] [ 7.34715648e-02 9.97138565e-01 -1.77935721e-02 1.68098389e+01] [-5.59001916e-02 2.19312925e-02 9.98195465e-01 1.55433144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.029072329 meters Centerline goodness : 0.754934 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95568503e-01 -7.35732073e-02 5.85690969e-02 -2.92723443e+02] [ 7.47741348e-02 9.97027369e-01 -1.85809950e-02 1.68103748e+01] [-5.70279293e-02 2.28781069e-02 9.98110418e-01 1.55433633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.05907232899995 meters Centerline goodness : 0.754934 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95568503e-01 -7.35732073e-02 5.85690969e-02 -2.92723443e+02] [ 7.47741348e-02 9.97027369e-01 -1.85809950e-02 1.68103748e+01] [-5.70279293e-02 2.28781069e-02 9.98110418e-01 1.55433633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.089072329 meters Centerline goodness : 0.756507 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.81, Z:155.43 [[ 9.95253392e-01 -7.73290341e-02 5.90838842e-02 -2.92724653e+02] [ 7.87615207e-02 9.96643809e-01 -2.23101041e-02 1.68084205e+01] [-5.71603686e-02 2.68577434e-02 9.98003684e-01 1.55434675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.11907232899995 meters Centerline goodness : 0.757189 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.81, Z:155.43 [[ 9.95105007e-01 -7.83617233e-02 6.02118371e-02 -2.92727389e+02] [ 7.98859947e-02 9.96530821e-01 -2.33356262e-02 1.68107055e+01] [-5.81743316e-02 2.80314810e-02 9.97912813e-01 1.55434815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.149072329 meters Centerline goodness : 0.756802 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.81, Z:155.43 [[ 9.95075383e-01 -7.84586704e-02 6.05740814e-02 -2.92728026e+02] [ 7.99835920e-02 9.96526845e-01 -2.31705079e-02 1.68101642e+01] [-5.85457710e-02 2.79013346e-02 9.97894738e-01 1.55434420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.17907232899995 meters Centerline goodness : 0.757304 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.81, Z:155.43 [[ 9.94969460e-01 -7.90673976e-02 6.15152038e-02 -2.92729748e+02] [ 8.06345098e-02 9.96468549e-01 -2.34202213e-02 1.68104836e+01] [-5.94461899e-02 2.82626533e-02 9.97831335e-01 1.55433590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.209072329 meters Centerline goodness : 0.756548 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.81, Z:155.43 [[ 9.94431545e-01 -8.24934406e-02 6.55799907e-02 -2.92738259e+02] [ 8.40221553e-02 9.96244680e-01 -2.09001307e-02 1.68072317e+01] [-6.36095932e-02 2.62939215e-02 9.97628412e-01 1.55428053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.23907232899995 meters Centerline goodness : 0.754885 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.81, Z:155.43 [[ 9.94214678e-01 -8.39716074e-02 6.69771821e-02 -2.92741475e+02] [ 8.55748953e-02 9.96101156e-01 -2.14341924e-02 1.68062907e+01] [-6.49161849e-02 2.70417540e-02 9.97524252e-01 1.55427866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.269072329 meters Centerline goodness : 0.755226 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.80, Z:155.43 [[ 9.93871786e-01 -8.73610857e-02 6.77267560e-02 -2.92742509e+02] [ 8.91654799e-02 9.95725510e-01 -2.40878677e-02 1.68012858e+01] [-6.53329164e-02 2.99791408e-02 9.97413085e-01 1.55427747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.29907232899996 meters Centerline goodness : 0.756821 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.80, Z:155.43 [[ 9.93822847e-01 -8.75305039e-02 6.82243291e-02 -2.92743885e+02] [ 8.93524080e-02 9.95707949e-01 -2.41211018e-02 1.68011568e+01] [-6.58201746e-02 3.00681101e-02 9.97378370e-01 1.55428025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.329072329 meters Centerline goodness : 0.755220 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.93721514e-01 -8.80322446e-02 6.90498075e-02 -2.92746178e+02] [ 8.98870082e-02 9.95657317e-01 -2.42246217e-02 1.68004061e+01] [-6.66173983e-02 3.02792084e-02 9.97319052e-01 1.55428486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.35907232899996 meters Centerline goodness : 0.755907 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.93666080e-01 -8.83049352e-02 6.94979162e-02 -2.92747307e+02] [ 9.01810445e-02 9.95628129e-01 -2.43311975e-02 1.68003619e+01] [-6.70455155e-02 3.04444803e-02 9.97285332e-01 1.55428557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.389072329 meters Centerline goodness : 0.755325 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.93736592e-01 -8.79482800e-02 6.89397314e-02 -2.92745783e+02] [ 8.98050587e-02 9.95662693e-01 -2.43074872e-02 1.68012397e+01] [-6.65029169e-02 3.03463761e-02 9.97324651e-01 1.55428309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41907232899996 meters Centerline goodness : 0.755772 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.93738953e-01 -8.78964720e-02 6.89717597e-02 -2.92746071e+02] [ 8.97427362e-02 9.95672465e-01 -2.41367739e-02 1.68007065e+01] [-6.65517447e-02 3.01753669e-02 9.97326583e-01 1.55428604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.449072329 meters Centerline goodness : 0.753678 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.93987676e-01 -8.47333156e-02 6.93452554e-02 -2.92747600e+02] [ 8.63403551e-02 9.96054567e-01 -2.05095940e-02 1.68017176e+01] [-6.73338125e-02 2.63735777e-02 9.97381869e-01 1.55428245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47907232899996 meters Centerline goodness : 0.754901 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.80, Z:155.43 [[ 9.94305372e-01 -8.10415061e-02 6.92033292e-02 -2.92748242e+02] [ 8.23769293e-02 9.96461956e-01 -1.66617093e-02 1.68028136e+01] [-6.76081947e-02 2.22675848e-02 9.97463426e-01 1.55428408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.509072329 meters Centerline goodness : 0.753294 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.81, Z:155.42 [[ 9.94731171e-01 -7.43978079e-02 7.05327112e-02 -2.92758144e+02] [ 7.62321898e-02 9.96808889e-01 -2.36789314e-02 1.68133683e+01] [-6.85459729e-02 2.89310342e-02 9.97228381e-01 1.55423381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53907232899996 meters Centerline goodness : 0.753236 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.81, Z:155.42 [[ 9.94773422e-01 -7.40955026e-02 7.02545088e-02 -2.92757271e+02] [ 7.58959517e-02 9.96843227e-01 -2.33106121e-02 1.68126761e+01] [-6.83055198e-02 2.85208102e-02 9.97256697e-01 1.55423004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.569072329 meters Centerline goodness : 0.752226 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.81, Z:155.42 [[ 9.94906144e-01 -7.29718681e-02 6.95476221e-02 -2.92754784e+02] [ 7.46652957e-02 9.96964498e-01 -2.20654508e-02 1.68107461e+01] [-6.77263530e-02 2.71458463e-02 9.97334570e-01 1.55421759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59907232899997 meters Centerline goodness : 0.752062 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.81, Z:155.42 [[ 9.95222593e-01 -6.91371944e-02 6.89350352e-02 -2.92753676e+02] [ 7.05641967e-02 9.97336003e-01 -1.84821804e-02 1.68134705e+01] [-6.74735864e-02 2.32582288e-02 9.97449934e-01 1.55421258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.629072329 meters Centerline goodness : 0.751682 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.82, Z:155.42 [[ 9.95259497e-01 -6.91181725e-02 6.84193810e-02 -2.92752646e+02] [ 7.05699213e-02 9.97325278e-01 -1.90309213e-02 1.68158021e+01] [-6.69209957e-02 2.37690555e-02 9.97475119e-01 1.55421715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65907232899997 meters Centerline goodness : 0.755011 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.82, Z:155.42 [[ 9.95423871e-01 -6.78627762e-02 6.72752550e-02 -2.92750491e+02] [ 6.92600891e-02 9.97424155e-01 -1.86572880e-02 1.68169776e+01] [-6.58358291e-02 2.32314001e-02 9.97559996e-01 1.55422705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68907232899994 meters Centerline goodness : 0.756103 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.82, Z:155.42 [[ 9.95463921e-01 -6.77293381e-02 6.68155583e-02 -2.92749574e+02] [ 6.91344897e-02 9.97427455e-01 -1.89445238e-02 1.68183649e+01] [-6.53605722e-02 2.34778495e-02 9.97585478e-01 1.55423040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71907232899997 meters Centerline goodness : 0.756843 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.82, Z:155.42 [[ 9.95737368e-01 -6.39808219e-02 6.64345371e-02 -2.92749468e+02] [ 6.51336369e-02 9.97758759e-01 -1.53319464e-02 1.68204879e+01] [-6.53046908e-02 1.95937150e-02 9.97672984e-01 1.55423277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74907232899994 meters Centerline goodness : 0.755925 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.83, Z:155.43 [[ 9.96610516e-01 -6.19454412e-02 5.41317153e-02 -2.92750655e+02] [ 6.30941532e-02 9.97811659e-01 -1.97742301e-02 1.68308673e+01] [-5.27883333e-02 2.31226004e-02 9.98337987e-01 1.55427678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.779072329 meters Centerline goodness : 0.756255 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.83, Z:155.43 [[ 9.96811532e-01 -5.85030566e-02 5.42601241e-02 -2.92751765e+02] [ 5.94736613e-02 9.98094361e-01 -1.64478156e-02 1.68335721e+01] [-5.31944764e-02 1.96224205e-02 9.98391360e-01 1.55427983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.80907232899995 meters Centerline goodness : 0.757702 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96996880e-01 -5.50835850e-02 5.44336309e-02 -2.92753198e+02] [ 5.58751310e-02 9.98351466e-01 -1.31270574e-02 1.68358150e+01] [-5.36208098e-02 1.61291215e-02 9.98431099e-01 1.55428637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.839072329 meters Centerline goodness : 0.758112 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.97261172e-01 -5.11650935e-02 5.34068228e-02 -2.92752346e+02] [ 5.17888113e-02 9.98604322e-01 -1.03598584e-02 1.68405634e+01] [-5.28022210e-02 1.30973604e-02 9.98519096e-01 1.55430516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.86907232899995 meters Centerline goodness : 0.759355 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.97364270e-01 -5.03222616e-02 5.22702945e-02 -2.92750139e+02] [ 5.09232454e-02 9.98650181e-01 -1.02293226e-02 1.68415274e+01] [-5.16849764e-02 1.28641338e-02 9.98580581e-01 1.55431385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.899072329 meters Centerline goodness : 0.759151 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.85, Z:155.43 [[ 9.97692539e-01 -4.11782381e-02 5.39810238e-02 -2.92761127e+02] [ 4.20564641e-02 9.98999074e-01 -1.52349591e-02 1.68536314e+01] [-5.32996440e-02 1.74700560e-02 9.98425733e-01 1.55427778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.92907232899995 meters Centerline goodness : 0.758111 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.85, Z:155.43 [[ 9.97793524e-01 -3.99593915e-02 5.30219767e-02 -2.92758003e+02] [ 4.07626990e-02 9.99068570e-01 -1.41561110e-02 1.68528395e+01] [-5.24069208e-02 1.62861948e-02 9.98493002e-01 1.55426680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.959072329 meters Centerline goodness : 0.757006 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97959327e-01 -3.61436627e-02 5.26385567e-02 -2.92757456e+02] [ 3.67501157e-02 9.99268280e-01 -1.05987922e-02 1.68551580e+01] [-5.22169608e-02 1.25116366e-02 9.98557383e-01 1.55426683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.98907232899995 meters Centerline goodness : 0.757230 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.98248222e-01 -3.04818632e-02 5.07084236e-02 -2.92753625e+02] [ 3.08823827e-02 9.99497569e-01 -7.13363696e-03 1.68606089e+01] [-5.04654996e-02 8.68713735e-03 9.98688023e-01 1.55428211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.019072329 meters Centerline goodness : 0.759253 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.98369156e-01 -2.69840352e-02 5.03079566e-02 -2.92753947e+02] [ 2.72346384e-02 9.99619809e-01 -4.30243816e-03 1.68646823e+01] [-5.01727329e-02 5.66554057e-03 9.98724486e-01 1.55429790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.04907232899996 meters Centerline goodness : 0.761086 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98433923e-01 -2.65354806e-02 4.92500809e-02 -2.92752014e+02] [ 2.67987571e-02 9.99629833e-01 -4.69299109e-03 1.68668156e+01] [-4.91073194e-02 6.00548246e-03 9.98775453e-01 1.55430926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.079072329 meters Centerline goodness : 0.761233 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98439611e-01 -2.68601421e-02 4.89579032e-02 -2.92751991e+02] [ 2.71675237e-02 9.99615075e-01 -5.62378731e-03 1.68695876e+01] [-4.87880023e-02 6.94507701e-03 9.98785010e-01 1.55432097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.10907232899996 meters Centerline goodness : 0.760864 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98485655e-01 -2.63768593e-02 4.82768915e-02 -2.92750298e+02] [ 2.66713554e-02 9.99629312e-01 -5.46605339e-03 1.68700042e+01] [-4.81148185e-02 6.74538603e-03 9.98819035e-01 1.55432119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.139072329 meters Centerline goodness : 0.763165 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98555143e-01 -2.56824920e-02 4.72020818e-02 -2.92748023e+02] [ 2.59639153e-02 9.99648519e-01 -5.35857678e-03 1.68707276e+01] [-4.70478696e-02 6.57638526e-03 9.98870987e-01 1.55432732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16907232899996 meters Centerline goodness : 0.761403 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98592238e-01 -2.54014176e-02 4.65651228e-02 -2.92746534e+02] [ 2.56811759e-02 9.99655494e-01 -5.41942576e-03 1.68714733e+01] [-4.64114197e-02 6.60764360e-03 9.98900555e-01 1.55432886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.199072329 meters Centerline goodness : 0.762387 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98615259e-01 -2.53427086e-02 4.61010960e-02 -2.92745684e+02] [ 2.56321794e-02 9.99655199e-01 -5.69867315e-03 1.68726173e+01] [-4.59407805e-02 6.87245353e-03 9.98920524e-01 1.55433357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22907232899996 meters Centerline goodness : 0.761759 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98681527e-01 -2.45965606e-02 4.50579332e-02 -2.92742985e+02] [ 2.48719800e-02 9.99675171e-01 -5.56208449e-03 1.68738256e+01] [-4.49064889e-02 6.67543105e-03 9.98968891e-01 1.55433347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.259072329 meters Centerline goodness : 0.761417 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98682268e-01 -2.45425496e-02 4.50709461e-02 -2.92742927e+02] [ 2.48129863e-02 9.99677252e-01 -5.45053879e-03 1.68734538e+01] [-4.49226294e-02 6.56170121e-03 9.98968919e-01 1.55433139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28907232899996 meters Centerline goodness : 0.761059 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98763317e-01 -2.31009585e-02 4.40247830e-02 -2.92739645e+02] [ 2.33085715e-02 9.99719461e-01 -4.20827583e-03 1.68719907e+01] [-4.39152172e-02 5.22922633e-03 9.99021576e-01 1.55432134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.319072329 meters Centerline goodness : 0.760715 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98792167e-01 -2.27988334e-02 4.35249432e-02 -2.92738029e+02] [ 2.30006245e-02 9.99726874e-01 -4.14100954e-03 1.68725241e+01] [-4.34186452e-02 5.13710877e-03 9.99043758e-01 1.55431561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34907232899997 meters Centerline goodness : 0.760500 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98814342e-01 -2.25638917e-02 4.31367610e-02 -2.92737233e+02] [ 2.27569805e-02 9.99733063e-01 -3.99033035e-03 1.68721838e+01] [-4.30352089e-02 4.96726162e-03 9.99061208e-01 1.55431754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.379072329 meters Centerline goodness : 0.762189 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.87, Z:155.43 [[ 9.98875280e-01 -2.19122085e-02 4.20479459e-02 -2.92734867e+02] [ 2.21094998e-02 9.99746595e-01 -4.23271412e-03 1.68742093e+01] [-4.19445426e-02 5.15761255e-03 9.99106628e-01 1.55432455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40907232899997 meters Centerline goodness : 0.762070 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.88, Z:155.43 [[ 9.98888156e-01 -2.20016468e-02 4.16938753e-02 -2.92734444e+02] [ 2.22163590e-02 9.99742170e-01 -4.69334562e-03 1.68756747e+01] [-4.15798640e-02 5.61441345e-03 9.99119409e-01 1.55433158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43907232899994 meters Centerline goodness : 0.764320 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.88, Z:155.43 [[ 9.98879595e-01 -2.22208260e-02 4.17826493e-02 -2.92734857e+02] [ 2.24517897e-02 9.99735088e-01 -5.06657996e-03 1.68766934e+01] [-4.16589970e-02 5.99899859e-03 9.99113877e-01 1.55433462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46907232899997 meters Centerline goodness : 0.764052 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.88, Z:155.43 [[ 9.98903843e-01 -2.19566921e-02 4.13402506e-02 -2.92734007e+02] [ 2.21784842e-02 9.99741950e-01 -4.91402017e-03 1.68765190e+01] [-4.12216871e-02 5.82549773e-03 9.99133042e-01 1.55433807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49907232899994 meters Centerline goodness : 0.763693 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.88, Z:155.43 [[ 9.98924899e-01 -2.19318956e-02 4.08416146e-02 -2.92732630e+02] [ 2.21654812e-02 9.99740398e-01 -5.27523332e-03 1.68783114e+01] [-4.07153162e-02 6.17483596e-03 9.99151707e-01 1.55433691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.529072329 meters Centerline goodness : 0.766063 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.88, Z:155.43 [[ 9.98930621e-01 -2.20340816e-02 4.06461896e-02 -2.92732236e+02] [ 2.22792095e-02 9.99736173e-01 -5.58763596e-03 1.68794706e+01] [-4.05123476e-02 6.48722563e-03 9.99157978e-01 1.55433897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.55907232899995 meters Centerline goodness : 0.767117 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98880229e-01 -2.31135128e-02 4.12801846e-02 -2.92735153e+02] [ 2.34125537e-02 9.99702929e-01 -6.77541990e-03 1.68810964e+01] [-4.11113177e-02 7.73430752e-03 9.99124637e-01 1.55435765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.589072329 meters Centerline goodness : 0.765610 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98856308e-01 -2.33481520e-02 4.17245596e-02 -2.92736780e+02] [ 2.36563361e-02 9.99696285e-01 -6.90767499e-03 1.68806341e+01] [-4.15506058e-02 7.88682494e-03 9.99105272e-01 1.55436467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.61907232899995 meters Centerline goodness : 0.766141 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98786652e-01 -2.67656673e-02 4.13379199e-02 -2.92735432e+02] [ 2.72226775e-02 9.99573907e-01 -1.05323209e-02 1.68797931e+01] [-4.10384015e-02 1.16448704e-02 9.99089709e-01 1.55436349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.649072329 meters Centerline goodness : 0.765604 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98736901e-01 -2.73374112e-02 4.21576623e-02 -2.92737844e+02] [ 2.78029796e-02 9.99558307e-01 -1.04969100e-02 1.68779881e+01] [-4.18520832e-02 1.16557600e-02 9.99055827e-01 1.55436681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.67907232899995 meters Centerline goodness : 0.766734 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98724517e-01 -2.73973962e-02 4.24113424e-02 -2.92738425e+02] [ 2.78596762e-02 9.99558287e-01 -1.03474020e-02 1.68773184e+01] [-4.21091169e-02 1.15157703e-02 9.99046650e-01 1.55436562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.709072329 meters Centerline goodness : 0.767294 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98740811e-01 -2.71725527e-02 4.21716063e-02 -2.92737722e+02] [ 2.76205319e-02 9.99567691e-01 -1.00766067e-02 1.68769290e+01] [-4.18795680e-02 1.12287206e-02 9.99059567e-01 1.55436395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.73907232899995 meters Centerline goodness : 0.767284 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98711652e-01 -2.75283947e-02 4.26289032e-02 -2.92738501e+02] [ 2.79884309e-02 9.99555872e-01 -1.02325758e-02 1.68771274e+01] [-4.23282841e-02 1.14125088e-02 9.99038573e-01 1.55435910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.769072329 meters Centerline goodness : 0.767657 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98711579e-01 -2.73550092e-02 4.27420761e-02 -2.92738943e+02] [ 2.77973574e-02 9.99565644e-01 -9.78930914e-03 1.68756760e+01] [-4.24557242e-02 1.09648132e-02 9.99038180e-01 1.55436083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.79907232899996 meters Centerline goodness : 0.767250 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98673382e-01 -2.78684938e-02 4.32992339e-02 -2.92740716e+02] [ 2.83379666e-02 9.99545674e-01 -1.02667063e-02 1.68763473e+01] [-4.29934443e-02 1.14800985e-02 9.99009395e-01 1.55436689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.829072329 meters Centerline goodness : 0.767334 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.88, Z:155.44 [[ 9.98642221e-01 -2.81164540e-02 4.38540698e-02 -2.92742089e+02] [ 2.85955007e-02 9.99537638e-01 -1.03347367e-02 1.68760932e+01] [-4.35432172e-02 1.15747335e-02 9.98984491e-01 1.55436638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.85907232899996 meters Centerline goodness : 0.766056 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.98530372e-01 -3.16567718e-02 4.39880050e-02 -2.92741827e+02] [ 3.22842794e-02 9.99385801e-01 -1.36288346e-02 1.68734394e+01] [-4.35295427e-02 1.50289263e-02 9.98939092e-01 1.55436159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.889072329 meters Centerline goodness : 0.766420 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.98415203e-01 -3.50061090e-02 4.40642198e-02 -2.92741113e+02] [ 3.57656709e-02 9.99222846e-01 -1.65686730e-02 1.68700581e+01] [-4.34499703e-02 1.81184014e-02 9.98891297e-01 1.55435196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91907232899996 meters Centerline goodness : 0.771999 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98419887e-01 -3.48209675e-02 4.41047570e-02 -2.92741080e+02] [ 3.55660864e-02 9.99235633e-01 -1.62235687e-02 1.68692046e+01] [-4.35061244e-02 1.77665672e-02 9.98895173e-01 1.55434981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.949072329 meters Centerline goodness : 0.771999 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98419887e-01 -3.48209675e-02 4.41047570e-02 -2.92741080e+02] [ 3.55660864e-02 9.99235633e-01 -1.62235687e-02 1.68692046e+01] [-4.35061244e-02 1.77665672e-02 9.98895173e-01 1.55434981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97907232899996 meters Centerline goodness : 0.767714 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98361218e-01 -3.54292134e-02 4.49405128e-02 -2.92742951e+02] [ 3.62082253e-02 9.99205720e-01 -1.66401136e-02 1.68698119e+01] [-4.43152714e-02 1.82400603e-02 9.98851068e-01 1.55434712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.009072329 meters Centerline goodness : 0.768204 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98234993e-01 -3.87039086e-02 4.50433706e-02 -2.92741650e+02] [ 3.96107903e-02 9.99026492e-01 -1.94178832e-02 1.68666996e+01] [-4.42479725e-02 2.11678140e-02 9.98796296e-01 1.55432959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03907232899996 meters Centerline goodness : 0.767963 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98215303e-01 -3.87526077e-02 4.54361481e-02 -2.92742404e+02] [ 3.96550028e-02 9.99030288e-01 -1.91301816e-02 1.68656517e+01] [-4.46507437e-02 2.08978106e-02 9.98784057e-01 1.55432564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.069072329 meters Centerline goodness : 0.771843 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98159785e-01 -3.93341064e-02 4.61505304e-02 -2.92744277e+02] [ 4.02698310e-02 9.98998081e-01 -1.95236988e-02 1.68660630e+01] [-4.53363440e-02 2.13462450e-02 9.98743688e-01 1.55432728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09907232899997 meters Centerline goodness : 0.768835 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98171428e-01 -3.91340533e-02 4.60687212e-02 -2.92744201e+02] [ 4.00555149e-02 9.99011984e-01 -1.92512872e-02 1.68655550e+01] [-4.52698237e-02 2.10613911e-02 9.98752753e-01 1.55432949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.129072329 meters Centerline goodness : 0.768787 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.43 [[ 9.98161335e-01 -3.93186815e-02 4.61301497e-02 -2.92744571e+02] [ 4.02613697e-02 9.98995216e-01 -1.96870754e-02 1.68670771e+01] [-4.53097290e-02 2.15081405e-02 9.98741422e-01 1.55433335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15907232899997 meters Centerline goodness : 0.772788 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.98039203e-01 -4.10719781e-02 4.72317969e-02 -2.92748059e+02] [ 4.20913966e-02 9.98897338e-01 -2.07947686e-02 1.68667608e+01] [-4.63256339e-02 2.27420465e-02 9.98667480e-01 1.55434235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18907232899994 meters Centerline goodness : 0.767894 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.97982827e-01 -4.14267738e-02 4.81050926e-02 -2.92749972e+02] [ 4.24604579e-02 9.98884342e-01 -2.06683329e-02 1.68658113e+01] [-4.71952014e-02 2.26692056e-02 9.98628419e-01 1.55433800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21907232899997 meters Centerline goodness : 0.771914 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.87, Z:155.43 [[ 9.97896104e-01 -4.22612438e-02 4.91665736e-02 -2.92752699e+02] [ 4.33326773e-02 9.98841361e-01 -2.09335651e-02 1.68651657e+01] [-4.82249288e-02 2.30200423e-02 9.98571196e-01 1.55433820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24907232899994 meters Centerline goodness : 0.771237 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.97862976e-01 -4.22979022e-02 4.98032929e-02 -2.92753642e+02] [ 4.33544829e-02 9.98852902e-01 -2.03289977e-02 1.68630764e+01] [-4.88862897e-02 2.24447501e-02 9.98552134e-01 1.55432755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.279072329 meters Centerline goodness : 0.770125 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.97828759e-01 -4.24452962e-02 5.03603372e-02 -2.92754699e+02] [ 4.35018659e-02 9.98851682e-01 -2.00724903e-02 1.68620705e+01] [-4.94505247e-02 2.22196767e-02 9.98529384e-01 1.55432181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.30907232899995 meters Centerline goodness : 0.770152 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.97825122e-01 -4.23155689e-02 5.05412558e-02 -2.92754555e+02] [ 4.33548131e-02 9.98866562e-01 -1.96456301e-02 1.68611454e+01] [-4.96526545e-02 2.17941099e-02 9.98528733e-01 1.55431205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.339072329 meters Centerline goodness : 0.769598 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97757596e-01 -4.27649075e-02 5.14872998e-02 -2.92756762e+02] [ 4.38192458e-02 9.98848652e-01 -1.95254976e-02 1.68600078e+01] [-5.05930139e-02 2.17378482e-02 9.98482755e-01 1.55431008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.36907232899995 meters Centerline goodness : 0.769912 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97661713e-01 -4.35837679e-02 5.26456286e-02 -2.92759825e+02] [ 4.46888367e-02 9.98800762e-01 -1.99986365e-02 1.68600887e+01] [-5.17108781e-02 2.23045459e-02 9.98412987e-01 1.55431308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.399072329 meters Centerline goodness : 0.770796 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97485345e-01 -4.71374686e-02 5.29249131e-02 -2.92759914e+02] [ 4.84165568e-02 9.98558895e-01 -2.31510487e-02 1.68567869e+01] [-5.17573609e-02 2.56552739e-02 9.98330097e-01 1.55430958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.42907232899995 meters Centerline goodness : 0.770829 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97631468e-01 -4.35091914e-02 5.32766770e-02 -2.92761299e+02] [ 4.45903262e-02 9.98819399e-01 -1.92746302e-02 1.68575984e+01] [-5.23751549e-02 2.16046021e-02 9.98393752e-01 1.55430971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.459072329 meters Centerline goodness : 0.772269 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97588724e-01 -4.40835636e-02 5.36038982e-02 -2.92761413e+02] [ 4.52168956e-02 9.98774630e-01 -2.01164530e-02 1.68602997e+01] [-5.26514086e-02 2.24917486e-02 9.98359630e-01 1.55430159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.48907232899995 meters Centerline goodness : 0.770824 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97574746e-01 -4.41328278e-02 5.38230390e-02 -2.92761876e+02] [ 4.52529423e-02 9.98779867e-01 -1.97724348e-02 1.68589326e+01] [-5.28847542e-02 2.21601325e-02 9.98354712e-01 1.55429905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.519072329 meters Centerline goodness : 0.772845 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97710925e-01 -4.15820721e-02 5.33276802e-02 -2.92758906e+02] [ 4.25263366e-02 9.98955839e-01 -1.66955869e-02 1.68569202e+01] [-5.25777604e-02 1.89252003e-02 9.98437487e-01 1.55427327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.54907232899996 meters Centerline goodness : 0.773111 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97727877e-01 -4.15242855e-02 5.30548521e-02 -2.92758344e+02] [ 4.24786448e-02 9.98952930e-01 -1.69884821e-02 1.68584176e+01] [-5.22938654e-02 1.92035804e-02 9.98447081e-01 1.55427539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.579072329 meters Centerline goodness : 0.772138 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97705195e-01 -4.16906300e-02 5.33501155e-02 -2.92759362e+02] [ 4.26578295e-02 9.98943043e-01 -1.71203620e-02 1.68585416e+01] [-5.25799681e-02 1.93568743e-02 9.98429095e-01 1.55427970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.60907232899996 meters Centerline goodness : 0.771546 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97670081e-01 -4.19912425e-02 5.37693618e-02 -2.92761043e+02] [ 4.29792426e-02 9.98925274e-01 -1.73517226e-02 1.68583929e+01] [-5.29829541e-02 1.96222609e-02 9.98402611e-01 1.55428889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.639072329 meters Centerline goodness : 0.771683 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97696357e-01 -4.16909040e-02 5.35149351e-02 -2.92760065e+02] [ 4.26618438e-02 9.98942696e-01 -1.71305846e-02 1.68584361e+01] [-5.27441640e-02 1.93741676e-02 9.98420099e-01 1.55428358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66907232899996 meters Centerline goodness : 0.772790 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97758771e-01 -4.08672711e-02 5.29839781e-02 -2.92757953e+02] [ 4.17724777e-02 9.98997572e-01 -1.60907385e-02 1.68566845e+01] [-5.22732809e-02 1.82679475e-02 9.98465716e-01 1.55427071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.699072329 meters Centerline goodness : 0.773066 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97832726e-01 -4.01374835e-02 5.21424303e-02 -2.92756199e+02] [ 4.09964199e-02 9.99038925e-01 -1.55086960e-02 1.68559790e+01] [-5.14698375e-02 1.76127373e-02 9.98519227e-01 1.55427385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72907232899996 meters Centerline goodness : 0.771482 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.97890758e-01 -3.95801669e-02 5.14533292e-02 -2.92754257e+02] [ 4.04264117e-02 9.99062116e-01 -1.55110931e-02 1.68577209e+01] [-5.07911403e-02 1.75584499e-02 9.98554936e-01 1.55427150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.759072329 meters Centerline goodness : 0.771698 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97856106e-01 -3.99495117e-02 5.18384915e-02 -2.92755421e+02] [ 4.08169326e-02 9.99041973e-01 -1.57833765e-02 1.68580499e+01] [-5.11582906e-02 1.78654269e-02 9.98530749e-01 1.55427483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78907232899996 meters Centerline goodness : 0.773888 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97826237e-01 -4.03492658e-02 5.21031517e-02 -2.92756009e+02] [ 4.12490515e-02 9.99015756e-01 -1.63105977e-02 1.68594949e+01] [-5.13937488e-02 1.84243479e-02 9.98508501e-01 1.55427484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.819072329 meters Centerline goodness : 0.774637 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.86, Z:155.43 [[ 9.97894663e-01 -3.95358974e-02 5.14116144e-02 -2.92753988e+02] [ 4.03869053e-02 9.99062012e-01 -1.56202850e-02 1.68589296e+01] [-5.07458289e-02 1.76637550e-02 9.98555383e-01 1.55427033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84907232899997 meters Centerline goodness : 0.773849 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97815362e-01 -4.03627084e-02 5.23006276e-02 -2.92756818e+02] [ 4.12694068e-02 9.99013887e-01 -1.63734531e-02 1.68599478e+01] [-5.15881764e-02 1.84960989e-02 9.98497148e-01 1.55428052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.879072329 meters Centerline goodness : 0.775954 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97646191e-01 -4.41796898e-02 5.24426526e-02 -2.92756571e+02] [ 4.52941663e-02 9.98768308e-01 -2.02560020e-02 1.68592938e+01] [-5.14831555e-02 2.25836695e-02 9.98418481e-01 1.55427844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90907232899997 meters Centerline goodness : 0.773619 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97580863e-01 -4.46272409e-02 5.32994495e-02 -2.92758945e+02] [ 4.57574487e-02 9.98748817e-01 -2.01756504e-02 1.68579626e+01] [-5.23323785e-02 2.25656895e-02 9.98374735e-01 1.55428128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93907232899994 meters Centerline goodness : 0.774047 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97479988e-01 -4.55705602e-02 5.43782744e-02 -2.92761755e+02] [ 4.67218577e-02 9.98705866e-01 -2.00913387e-02 1.68557301e+01] [-5.33923280e-02 2.25813623e-02 9.98318257e-01 1.55428102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96907232899997 meters Centerline goodness : 0.773401 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.86, Z:155.43 [[ 9.97474508e-01 -4.55228209e-02 5.45186135e-02 -2.92761732e+02] [ 4.66695534e-02 9.98711184e-01 -1.99480400e-02 1.68556478e+01] [-5.35402580e-02 2.24420208e-02 9.98313476e-01 1.55427506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99907232899994 meters Centerline goodness : 0.774689 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.85, Z:155.43 [[ 9.97384374e-01 -4.62179653e-02 5.55725710e-02 -2.92763870e+02] [ 4.73842627e-02 9.98679383e-01 -1.98550138e-02 1.68543444e+01] [-5.45815226e-02 2.24363459e-02 9.98257215e-01 1.55426744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.029072329 meters Centerline goodness : 0.774897 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.85, Z:155.43 [[ 9.97308100e-01 -4.67409052e-02 5.64963785e-02 -2.92766072e+02] [ 4.79328240e-02 9.98651734e-01 -1.99288457e-02 1.68537002e+01] [-5.54887140e-02 2.25832302e-02 9.98203887e-01 1.55426560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.05907232899995 meters Centerline goodness : 0.774342 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.85, Z:155.43 [[ 9.97134876e-01 -5.02444383e-02 5.65467600e-02 -2.92765103e+02] [ 5.16310621e-02 9.98393612e-01 -2.33330166e-02 1.68519208e+01] [-5.52835696e-02 2.61857339e-02 9.98127264e-01 1.55425649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.089072329 meters Centerline goodness : 0.773060 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.85, Z:155.42 [[ 9.96937035e-01 -5.35992559e-02 5.69532110e-02 -2.92764947e+02] [ 5.51576349e-02 9.98135139e-01 -2.61510832e-02 1.68480072e+01] [-5.54453226e-02 2.92123877e-02 9.98034294e-01 1.55424577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.11907232899995 meters Centerline goodness : 0.773382 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.42 [[ 9.96964243e-01 -5.30634481e-02 5.69786634e-02 -2.92764917e+02] [ 5.45619161e-02 9.98195563e-01 -2.50722076e-02 1.68449204e+01] [-5.55454312e-02 2.81049595e-02 9.98060527e-01 1.55424256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.149072329 meters Centerline goodness : 0.774431 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96593575e-01 -6.12089615e-02 5.52694282e-02 -2.92754915e+02] [ 6.24279280e-02 9.97836795e-01 -2.06030366e-02 1.68394204e+01] [-5.38887786e-02 2.39832097e-02 9.98258887e-01 1.55428066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.17907232899995 meters Centerline goodness : 0.773696 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96627544e-01 -6.08719841e-02 5.50285372e-02 -2.92754434e+02] [ 6.20572408e-02 9.97870347e-01 -2.00915320e-02 1.68382107e+01] [-5.36883341e-02 2.34386933e-02 9.98282621e-01 1.55428204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.209072329 meters Centerline goodness : 0.774088 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96642041e-01 -6.08561189e-02 5.47829738e-02 -2.92754017e+02] [ 6.20544654e-02 9.97863355e-01 -2.04442734e-02 1.68399173e+01] [-5.34217629e-02 2.37751506e-02 9.98288965e-01 1.55428575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.23907232899995 meters Centerline goodness : 0.779604 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96622575e-01 -6.10037645e-02 5.49725740e-02 -2.92754712e+02] [ 6.22166969e-02 9.97849465e-01 -2.06283018e-02 1.68404800e+01] [-5.35959495e-02 2.39788432e-02 9.98274756e-01 1.55428914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.269072329 meters Centerline goodness : 0.779834 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96570478e-01 -6.12903694e-02 5.55947179e-02 -2.92755969e+02] [ 6.25103186e-02 9.97834270e-01 -2.04750950e-02 1.68395712e+01] [-5.42193886e-02 2.38801188e-02 9.98243456e-01 1.55428431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.29907232899996 meters Centerline goodness : 0.774611 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96548608e-01 -6.13499031e-02 5.59201307e-02 -2.92756543e+02] [ 6.25678373e-02 9.97834362e-01 -2.02941187e-02 1.68389669e+01] [-5.45539857e-02 2.37228774e-02 9.98228976e-01 1.55428032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.329072329 meters Centerline goodness : 0.774621 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96498984e-01 -6.16998074e-02 5.64172785e-02 -2.92757664e+02] [ 6.29422734e-02 9.97806276e-01 -2.05159914e-02 1.68393628e+01] [-5.50276818e-02 2.39951964e-02 9.98196466e-01 1.55427847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.35907232899996 meters Centerline goodness : 0.772324 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96546904e-01 -6.11885541e-02 5.61269092e-02 -2.92756705e+02] [ 6.23802648e-02 9.97857411e-01 -1.97304207e-02 1.68375134e+01] [-5.47993764e-02 2.31635011e-02 9.98228671e-01 1.55427410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.389072329 meters Centerline goodness : 0.775664 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96563202e-01 -6.10223730e-02 5.60183311e-02 -2.92756262e+02] [ 6.22030592e-02 9.97871451e-01 -1.95792335e-02 1.68374928e+01] [-5.47043220e-02 2.29964552e-02 9.98237747e-01 1.55427123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41907232899996 meters Centerline goodness : 0.776111 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.84, Z:155.43 [[ 9.96601218e-01 -6.06323241e-02 5.57649854e-02 -2.92755562e+02] [ 6.17924279e-02 9.97902048e-01 -1.93183676e-02 1.68374576e+01] [-5.44766756e-02 2.26985625e-02 9.98257015e-01 1.55426967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.449072329 meters Centerline goodness : 0.774604 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96704566e-01 -5.96300967e-02 5.49932667e-02 -2.92753683e+02] [ 6.07149826e-02 9.97987905e-01 -1.82710571e-02 1.68356514e+01] [-5.37931102e-02 2.15497613e-02 9.98319543e-01 1.55426831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47907232899996 meters Centerline goodness : 0.773457 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96759701e-01 -5.92185885e-02 5.44358072e-02 -2.92752152e+02] [ 6.02900252e-02 9.98013974e-01 -1.82543210e-02 1.68366955e+01] [-5.32467011e-02 2.14771077e-02 9.98350401e-01 1.55426603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.509072329 meters Centerline goodness : 0.775450 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.96963115e-01 -5.55308918e-02 5.45973173e-02 -2.92753300e+02] [ 5.63912938e-02 9.98305676e-01 -1.43456770e-02 1.68373057e+01] [-5.37081835e-02 1.73809242e-02 9.98405396e-01 1.55426743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53907232899996 meters Centerline goodness : 0.775156 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.97450994e-01 -4.92905951e-02 5.15941034e-02 -2.92747361e+02] [ 4.99530558e-02 9.98683860e-01 -1.16293021e-02 1.68417105e+01] [-5.09529831e-02 1.41769421e-02 9.98600425e-01 1.55429629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.569072329 meters Centerline goodness : 0.775612 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.84, Z:155.43 [[ 9.97540716e-01 -4.85653010e-02 5.05364412e-02 -2.92745022e+02] [ 4.92231768e-02 9.98717446e-01 -1.18550017e-02 1.68444129e+01] [-4.98958837e-02 1.43134111e-02 9.98651855e-01 1.55430173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59907232899997 meters Centerline goodness : 0.776763 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.85, Z:155.43 [[ 9.97736443e-01 -4.48942089e-02 5.00649524e-02 -2.92744802e+02] [ 4.53828943e-02 9.98932070e-01 -8.66679207e-03 1.68479086e+01] [-4.96223977e-02 1.09192667e-02 9.98708359e-01 1.55430912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.629072329 meters Centerline goodness : 0.777346 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.43 [[ 9.98127529e-01 -3.70377551e-02 4.86789449e-02 -2.92742426e+02] [ 3.71833423e-02 9.99306278e-01 -2.08830357e-03 1.68551780e+01] [-4.85678291e-02 3.89443916e-03 9.98812294e-01 1.55431481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65907232899997 meters Centerline goodness : 0.777964 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.98752568e-01 -3.41739556e-02 3.64067141e-02 -2.92742689e+02] [ 3.44265888e-02 9.99387152e-01 -6.33487145e-03 1.68679507e+01] [-3.61679147e-02 7.58032810e-03 9.99316977e-01 1.55435714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68907232899994 meters Centerline goodness : 0.779804 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99126310e-01 -2.20931048e-02 3.54755003e-02 -2.92750486e+02] [ 2.25780788e-02 9.99656229e-01 -1.33287132e-02 1.68837783e+01] [-3.51688321e-02 1.41180367e-02 9.99281659e-01 1.55438774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71907232899997 meters Centerline goodness : 0.783065 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.89, Z:155.44 [[ 9.99218298e-01 -1.81443558e-02 3.51222968e-02 -2.92750680e+02] [ 1.85019949e-02 9.99779962e-01 -9.88456224e-03 1.68863473e+01] [-3.49352195e-02 1.05266680e-02 9.99334138e-01 1.55440109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74907232899994 meters Centerline goodness : 0.782365 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.89, Z:155.44 [[ 9.99269432e-01 -1.72611886e-02 3.40977002e-02 -2.92747991e+02] [ 1.76096300e-02 9.99795477e-01 -9.94514854e-03 1.68887051e+01] [-3.39190614e-02 1.05383308e-02 9.99369021e-01 1.55440269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.779072329 meters Centerline goodness : 0.783132 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.89, Z:155.45 [[ 9.99545688e-01 -7.36215329e-03 2.92269860e-02 -2.92735944e+02] [ 7.56847168e-03 9.99947173e-01 -6.95483494e-03 1.68888032e+01] [-2.91742394e-02 7.17287889e-03 9.99548605e-01 1.55445691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.80907232899995 meters Centerline goodness : 0.784591 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.89, Z:155.45 [[ 9.99570963e-01 -7.27032889e-03 2.83730939e-02 -2.92733898e+02] [ 7.49283072e-03 9.99941946e-01 -7.74357573e-03 1.68923946e+01] [-2.83151484e-02 7.95284824e-03 9.99567409e-01 1.55446042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.839072329 meters Centerline goodness : 0.785037 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.89, Z:155.45 [[ 9.99615708e-01 -5.78801521e-03 2.71096769e-02 -2.92730284e+02] [ 5.97903789e-03 9.99957830e-01 -6.97053909e-03 1.68930840e+01] [-2.70681882e-02 7.12995015e-03 9.99608162e-01 1.55445741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.86907232899995 meters Centerline goodness : 0.785037 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.89, Z:155.45 [[ 9.99615708e-01 -5.78801521e-03 2.71096769e-02 -2.92730284e+02] [ 5.97903789e-03 9.99957830e-01 -6.97053909e-03 1.68930840e+01] [-2.70681882e-02 7.12995015e-03 9.99608162e-01 1.55445741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.899072329 meters Centerline goodness : 0.785091 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.90, Z:155.45 [[ 9.99656788e-01 -1.50834615e-03 2.61539751e-02 -2.92728056e+02] [ 1.60075432e-03 9.99992549e-01 -3.51265955e-03 1.68963808e+01] [-2.61484819e-02 3.55332005e-03 9.99651755e-01 1.55446099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.92907232899995 meters Centerline goodness : 0.782144 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.90, Z:155.45 [[ 9.99678176e-01 -8.23858653e-04 2.53547827e-02 -2.92725713e+02] [ 9.04997792e-04 9.99994506e-01 -3.18884278e-03 1.68967286e+01] [-2.53520163e-02 3.21076255e-03 9.99673430e-01 1.55445681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.959072329 meters Centerline goodness : 0.782690 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.90, Z:155.45 [[ 9.99688020e-01 -6.22449824e-04 2.49694749e-02 -2.92724913e+02] [ 7.03030447e-04 9.99994573e-01 -3.21851662e-03 1.68971896e+01] [-2.49673361e-02 3.23506681e-03 9.99683033e-01 1.55445883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.98907232899995 meters Centerline goodness : 0.782801 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.90, Z:155.45 [[ 9.99701677e-01 -9.78582619e-05 2.44243096e-02 -2.92723956e+02] [ 1.67712813e-04 9.99995902e-01 -2.85800995e-03 1.68966004e+01] [-2.44239298e-02 2.86125361e-03 9.99697597e-01 1.55446428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.019072329 meters Centerline goodness : 0.781986 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.90, Z:155.45 [[ 9.99723055e-01 1.71376416e-03 2.34707595e-02 -2.92720730e+02] [-1.67665893e-03 9.99997314e-01 -1.60050055e-03 1.68964690e+01] [-2.34734393e-02 1.56070484e-03 9.99723243e-01 1.55445593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.04907232899996 meters Centerline goodness : 0.783825 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.90, Z:155.45 [[ 9.99743510e-01 2.90256470e-03 2.24608380e-02 -2.92718191e+02] [-2.87936748e-03 9.99995287e-01 -1.06505694e-03 1.68971019e+01] [-2.24638236e-02 1.00011075e-03 9.99747156e-01 1.55445827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.079072329 meters Centerline goodness : 0.783356 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.90, Z:155.45 [[ 9.99764933e-01 7.07260936e-05 2.16811903e-02 -2.92716166e+02] [ 1.96818256e-05 9.99991307e-01 -4.16963629e-03 1.68956614e+01] [-2.16812967e-02 4.16908287e-03 9.99756240e-01 1.55445719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.10907232899996 meters Centerline goodness : 0.781727 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.89, Z:155.45 [[ 9.99758242e-01 -3.91254955e-03 2.16367658e-02 -2.92716324e+02] [ 4.08819414e-03 9.99959002e-01 -8.07961055e-03 1.68945079e+01] [-2.16042668e-02 8.16611254e-03 9.99733250e-01 1.55445992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.139072329 meters Centerline goodness : 0.783398 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.89, Z:155.45 [[ 9.99742121e-01 -4.02150100e-03 2.23499339e-02 -2.92717909e+02] [ 4.19474204e-03 9.99961481e-01 -7.70983096e-03 1.68929096e+01] [-2.23180679e-02 7.80159496e-03 9.99720480e-01 1.55445554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16907232899996 meters Centerline goodness : 0.782950 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.89, Z:155.45 [[ 9.99696334e-01 -8.50302339e-03 2.31287390e-02 -2.92719672e+02] [ 8.77214305e-03 9.99894711e-01 -1.15592613e-02 1.68907189e+01] [-2.30280151e-02 1.17586398e-02 9.99665667e-01 1.55445213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.199072329 meters Centerline goodness : 0.782234 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.89, Z:155.44 [[ 9.99674627e-01 -1.01943702e-02 2.33819157e-02 -2.92719881e+02] [ 1.04754162e-02 9.99873975e-01 -1.19289732e-02 1.68871141e+01] [-2.32573607e-02 1.21700271e-02 9.99655433e-01 1.55444066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22907232899996 meters Centerline goodness : 0.780659 Centerline is valid? [False, False] Translation: X:-292.71, Y:16.88, Z:155.45 [[ 9.99586408e-01 -1.98201898e-02 2.08368203e-02 -2.92710608e+02] [ 2.00035624e-02 9.99762670e-01 -8.62910837e-03 1.68752682e+01] [-2.06608446e-02 9.04235007e-03 9.99745650e-01 1.55447957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.259072329 meters Centerline goodness : 0.780263 Centerline is valid? [False, False] Translation: X:-292.71, Y:16.87, Z:155.45 [[ 9.99563092e-01 -2.00921082e-02 2.16779082e-02 -2.92712739e+02] [ 2.02735618e-02 9.99760979e-01 -8.18337133e-03 1.68730130e+01] [-2.15083055e-02 8.61928437e-03 9.99731514e-01 1.55447790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28907232899996 meters Centerline goodness : 0.779975 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.87, Z:155.45 [[ 9.99503812e-01 -2.15188187e-02 2.30015149e-02 -2.92716393e+02] [ 2.17325563e-02 9.99722558e-01 -9.08306948e-03 1.68735071e+01] [-2.27996764e-02 9.57844430e-03 9.99694167e-01 1.55448115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.319072329 meters Centerline goodness : 0.780656 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.87, Z:155.45 [[ 9.99371100e-01 -2.59515890e-02 2.41644202e-02 -2.92718477e+02] [ 2.62536700e-02 9.99580022e-01 -1.22688319e-02 1.68693873e+01] [-2.38358760e-02 1.28955208e-02 9.99632711e-01 1.55446947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34907232899997 meters Centerline goodness : 0.778778 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.87, Z:155.45 [[ 9.99320692e-01 -2.68006063e-02 2.52959055e-02 -2.92721231e+02] [ 2.71202272e-02 9.99555542e-01 -1.23778806e-02 1.68682951e+01] [-2.49529279e-02 1.30555029e-02 9.99603374e-01 1.55446671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.379072329 meters Centerline goodness : 0.780457 Centerline is valid? [False, False] Translation: X:-292.72, Y:16.87, Z:155.45 [[ 9.99272499e-01 -2.75300867e-02 2.63925476e-02 -2.92723869e+02] [ 2.78703009e-02 9.99532002e-01 -1.26104749e-02 1.68680117e+01] [-2.60330285e-02 1.33368690e-02 9.99572113e-01 1.55446425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40907232899997 meters Centerline goodness : 0.781177 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.87, Z:155.45 [[ 9.99231484e-01 -2.81126900e-02 2.73151614e-02 -2.92726240e+02] [ 2.84680778e-02 9.99513894e-01 -1.27099884e-02 1.68674581e+01] [-2.69445714e-02 1.34778307e-02 9.99546066e-01 1.55446471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43907232899994 meters Centerline goodness : 0.781545 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.87, Z:155.45 [[ 9.99176203e-01 -2.89307688e-02 2.84592070e-02 -2.92729096e+02] [ 2.93085357e-02 9.99486554e-01 -1.29475506e-02 1.68670109e+01] [-2.80700122e-02 1.37709821e-02 9.99511098e-01 1.55446464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46907232899997 meters Centerline goodness : 0.782902 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.87, Z:155.45 [[ 9.99111445e-01 -2.99488729e-02 2.96544375e-02 -2.92732035e+02] [ 3.03558640e-02 9.99449723e-01 -1.33706281e-02 1.68669528e+01] [-2.92376841e-02 1.42589337e-02 9.99470780e-01 1.55446346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49907232899994 meters Centerline goodness : 0.781235 Centerline is valid? [False, False] Translation: X:-292.73, Y:16.86, Z:155.45 [[ 9.98931887e-01 -3.44141938e-02 3.08342193e-02 -2.92734230e+02] [ 3.49488858e-02 9.99244963e-01 -1.69729195e-02 1.68641073e+01] [-3.02268289e-02 1.80324121e-02 9.99380394e-01 1.55445580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.529072329 meters Centerline goodness : 0.782158 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.45 [[ 9.98882257e-01 -3.49568056e-02 3.18160024e-02 -2.92736605e+02] [ 3.55054314e-02 9.99227505e-01 -1.68451011e-02 1.68626970e+01] [-3.12025738e-02 1.79559135e-02 9.99351782e-01 1.55445311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.55907232899995 meters Centerline goodness : 0.781491 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.98858936e-01 -3.50742203e-02 3.24133555e-02 -2.92737932e+02] [ 3.56213960e-02 9.99229785e-01 -1.64606221e-02 1.68612113e+01] [-3.18110468e-02 1.75964485e-02 9.99338993e-01 1.55444973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.589072329 meters Centerline goodness : 0.779730 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.98864184e-01 -3.48397776e-02 3.25043379e-02 -2.92737442e+02] [ 3.53713029e-02 9.99247379e-01 -1.59231423e-02 1.68599773e+01] [-3.19251157e-02 1.70547773e-02 9.99344746e-01 1.55443853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.61907232899995 meters Centerline goodness : 0.780658 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.98945768e-01 -3.16243573e-02 3.32754035e-02 -2.92739619e+02] [ 3.20575939e-02 9.99407007e-01 -1.25676459e-02 1.68617534e+01] [-3.28582277e-02 1.36211261e-02 9.99367201e-01 1.55443787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.649072329 meters Centerline goodness : 0.779815 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.98949382e-01 -3.16885153e-02 3.31054495e-02 -2.92738717e+02] [ 3.21314980e-02 9.99399938e-01 -1.29356310e-02 1.68635548e+01] [-3.26756732e-02 1.39857683e-02 9.99368150e-01 1.55443193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.67907232899995 meters Centerline goodness : 0.778763 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.99028418e-01 -2.82975277e-02 3.37856504e-02 -2.92740582e+02] [ 2.86242323e-02 9.99547668e-01 -9.22562325e-03 1.68642876e+01] [-3.35093057e-02 1.01837481e-02 9.99386521e-01 1.55442937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.709072329 meters Centerline goodness : 0.777498 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.99052300e-01 -2.78982275e-02 3.34094526e-02 -2.92739229e+02] [ 2.82097917e-02 9.99562485e-01 -8.89076677e-03 1.68641944e+01] [-3.31467988e-02 9.82481468e-03 9.99402203e-01 1.55442321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.73907232899995 meters Centerline goodness : 0.777657 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.86, Z:155.44 [[ 9.99097527e-01 -2.70589550e-02 3.27405716e-02 -2.92737002e+02] [ 2.73417771e-02 9.99592334e-01 -8.22154068e-03 1.68638885e+01] [-3.25047580e-02 9.10930637e-03 9.99430068e-01 1.55441636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.769072329 meters Centerline goodness : 0.780938 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99112899e-01 -2.71390754e-02 3.22007187e-02 -2.92735972e+02] [ 2.74508633e-02 9.99580075e-01 -9.28030756e-03 1.68683949e+01] [-3.19353378e-02 1.01560125e-02 9.99438337e-01 1.55442517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.79907232899996 meters Centerline goodness : 0.783244 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99072898e-01 -2.79558039e-02 3.27386230e-02 -2.92737801e+02] [ 2.83110825e-02 9.99544650e-01 -1.04390769e-02 1.68715130e+01] [-3.24318827e-02 1.13562646e-02 9.99409430e-01 1.55443407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.829072329 meters Centerline goodness : 0.783024 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99065713e-01 -2.80318438e-02 3.28925183e-02 -2.92738606e+02] [ 2.83926916e-02 9.99541117e-01 -1.05551111e-02 1.68718343e+01] [-3.25815453e-02 1.14791568e-02 9.99403158e-01 1.55444066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.85907232899996 meters Centerline goodness : 0.782395 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99005908e-01 -2.89374608e-02 3.39089698e-02 -2.92741247e+02] [ 2.93176853e-02 9.99512122e-01 -1.07699527e-02 1.68705927e+01] [-3.35807712e-02 1.17533789e-02 9.99366895e-01 1.55443998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.889072329 meters Centerline goodness : 0.780588 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.98990377e-01 -2.88444508e-02 3.44415969e-02 -2.92742379e+02] [ 2.92083250e-02 9.99522228e-01 -1.01088776e-02 1.68681454e+01] [-3.41335566e-02 1.11046528e-02 9.99355586e-01 1.55443552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91907232899996 meters Centerline goodness : 0.779499 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.98992296e-01 -2.86589459e-02 3.45406684e-02 -2.92742240e+02] [ 2.90103652e-02 9.99531888e-01 -9.71611100e-03 1.68672014e+01] [-3.42460460e-02 1.07083574e-02 9.99356062e-01 1.55442918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.949072329 meters Centerline goodness : 0.779643 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99022038e-01 -2.81819634e-02 3.40696889e-02 -2.92740451e+02] [ 2.85237768e-02 9.99547124e-01 -9.58861787e-03 1.68685342e+01] [-3.37840335e-02 1.05510368e-02 9.99373461e-01 1.55442189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97907232899996 meters Centerline goodness : 0.778617 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99046716e-01 -2.78318391e-02 3.36310679e-02 -2.92739105e+02] [ 2.81599715e-02 9.99559954e-01 -9.32278585e-03 1.68685290e+01] [-3.33567984e-02 1.02609485e-02 9.99390833e-01 1.55441796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.009072329 meters Centerline goodness : 0.779369 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99157947e-01 -2.37529314e-02 3.34543890e-02 -2.92739147e+02] [ 2.39430611e-02 9.99699306e-01 -5.29409590e-03 1.68693196e+01] [-3.33185792e-02 6.09063847e-03 9.99426224e-01 1.55442060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03907232899996 meters Centerline goodness : 0.779373 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99277527e-01 -1.95520714e-02 3.25905081e-02 -2.92737647e+02] [ 1.96242618e-02 9.99805627e-01 -1.89664978e-03 1.68727100e+01] [-3.25470899e-02 2.53484416e-03 9.99466989e-01 1.55442896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.069072329 meters Centerline goodness : 0.778817 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99257964e-01 -2.00545735e-02 3.28836646e-02 -2.92738489e+02] [ 2.01525575e-02 9.99793402e-01 -2.65096105e-03 1.68747569e+01] [-3.28237070e-02 3.31168388e-03 9.99455670e-01 1.55443093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09907232899997 meters Centerline goodness : 0.777689 Centerline is valid? [False, False] Translation: X:-292.74, Y:16.87, Z:155.44 [[ 9.99233393e-01 -2.03616055e-02 3.34369770e-02 -2.92740259e+02] [ 2.04626227e-02 9.99787022e-01 -2.68167123e-03 1.68739608e+01] [-3.33752526e-02 3.36382369e-03 9.99437230e-01 1.55443529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.129072329 meters Centerline goodness : 0.777780 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.89, Z:155.45 [[ 9.99492637e-01 -1.94743637e-02 2.52035347e-02 -2.92749079e+02] [ 1.98258073e-02 9.99708616e-01 -1.37702574e-02 1.68863141e+01] [-2.49280238e-02 1.42629512e-02 9.99587496e-01 1.55445693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15907232899997 meters Centerline goodness : 0.776913 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.89, Z:155.45 [[ 9.99497684e-01 -1.92173137e-02 2.52006952e-02 -2.92748928e+02] [ 1.95596768e-02 9.99718755e-01 -1.34100529e-02 1.68856173e+01] [-2.49359024e-02 1.38962342e-02 9.99592465e-01 1.55445457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18907232899994 meters Centerline goodness : 0.775826 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.45 [[ 9.99472251e-01 -1.94700197e-02 2.60026386e-02 -2.92750889e+02] [ 1.98135857e-02 9.99718897e-01 -1.30210822e-02 1.68834145e+01] [-2.57418085e-02 1.35294158e-02 9.99577068e-01 1.55445162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21907232899997 meters Centerline goodness : 0.775403 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99458136e-01 -1.95514258e-02 2.64797293e-02 -2.92751800e+02] [ 1.98985771e-02 9.99718642e-01 -1.29106272e-02 1.68829846e+01] [-2.62198578e-02 1.34305403e-02 9.99565976e-01 1.55444693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24907232899994 meters Centerline goodness : 0.775862 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99456148e-01 -1.94270322e-02 2.66457822e-02 -2.92751902e+02] [ 1.97683478e-02 9.99725109e-01 -1.26063043e-02 1.68822070e+01] [-2.63935544e-02 1.31261914e-02 9.99565447e-01 1.55444167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.279072329 meters Centerline goodness : 0.774546 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99418140e-01 -2.01727408e-02 2.75034958e-02 -2.92753445e+02] [ 2.05364186e-02 9.99704516e-01 -1.30052245e-02 1.68826644e+01] [-2.72330180e-02 1.35624806e-02 9.99537104e-01 1.55443328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.30907232899995 meters Centerline goodness : 0.772924 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99421412e-01 -1.98997173e-02 2.75833832e-02 -2.92753371e+02] [ 2.02510871e-02 9.99716554e-01 -1.25181608e-02 1.68815978e+01] [-2.73264570e-02 1.30695114e-02 9.99541121e-01 1.55442909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.339072329 meters Centerline goodness : 0.773393 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.88, Z:155.44 [[ 9.99389075e-01 -2.03951454e-02 2.83816064e-02 -2.92755218e+02] [ 2.07653661e-02 9.99702290e-01 -1.28113426e-02 1.68818923e+01] [-2.81118678e-02 1.33928702e-02 9.99515059e-01 1.55442652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.36907232899995 meters Centerline goodness : 0.773089 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99395121e-01 -2.01734257e-02 2.83271165e-02 -2.92754513e+02] [ 2.05382697e-02 9.99709058e-01 -1.26483080e-02 1.68821788e+01] [-2.80637152e-02 1.32224473e-02 9.99518682e-01 1.55441883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.399072329 meters Centerline goodness : 0.772026 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99393838e-01 -2.01439315e-02 2.83932820e-02 -2.92754808e+02] [ 2.05071259e-02 9.99710824e-01 -1.25589205e-02 1.68819771e+01] [-2.81320853e-02 1.31335724e-02 9.99517931e-01 1.55442083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.42907232899995 meters Centerline goodness : 0.774445 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.88, Z:155.44 [[ 9.99396939e-01 -2.02881202e-02 2.81806738e-02 -2.92754634e+02] [ 2.06659495e-02 9.99699539e-01 -1.31814536e-02 1.68843692e+01] [-2.79047797e-02 1.37558848e-02 9.99515932e-01 1.55442749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.459072329 meters Centerline goodness : 0.775906 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.89, Z:155.44 [[ 9.99409189e-01 -2.02544999e-02 2.77674119e-02 -2.92753609e+02] [ 2.06396990e-02 9.99693703e-01 -1.36566138e-02 1.68868248e+01] [-2.74822990e-02 1.42216564e-02 9.99521119e-01 1.55442966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.48907232899995 meters Centerline goodness : 0.776391 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99348305e-01 -2.17903385e-02 2.87775231e-02 -2.92755987e+02] [ 2.22339832e-02 9.99637431e-01 -1.51873880e-02 1.68898446e+01] [-2.84361509e-02 1.58173294e-02 9.99470458e-01 1.55443047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.519072329 meters Centerline goodness : 0.775465 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99324613e-01 -2.19996712e-02 2.94335247e-02 -2.92757260e+02] [ 2.24484169e-02 9.99635416e-01 -1.50034708e-02 1.68889906e+01] [-2.90927223e-02 1.56540737e-02 9.99454133e-01 1.55442436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.54907232899996 meters Centerline goodness : 0.773303 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99270037e-01 -2.29147894e-02 3.05664031e-02 -2.92760047e+02] [ 2.33855474e-02 9.99611970e-01 -1.51335800e-02 1.68874930e+01] [-3.02077596e-02 1.58373451e-02 9.99418166e-01 1.55442205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.579072329 meters Centerline goodness : 0.775037 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99293195e-01 -2.22618511e-02 3.02905893e-02 -2.92759405e+02] [ 2.27068082e-02 9.99638084e-01 -1.44257614e-02 1.68860455e+01] [-2.99584825e-02 1.51033678e-02 9.99437030e-01 1.55442193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.60907232899996 meters Centerline goodness : 0.774743 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99260319e-01 -2.27655994e-02 3.09926196e-02 -2.92761339e+02] [ 2.32350874e-02 9.99619384e-01 -1.48734232e-02 1.68868089e+01] [-3.06422209e-02 1.55825378e-02 9.99408945e-01 1.55442468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.639072329 meters Centerline goodness : 0.776884 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99220933e-01 -2.32554500e-02 3.18859219e-02 -2.92763455e+02] [ 2.37460672e-02 9.99604051e-01 -1.50952323e-02 1.68868755e+01] [-3.15222502e-02 1.58406374e-02 9.99377517e-01 1.55442314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66907232899996 meters Centerline goodness : 0.775555 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99204018e-01 -2.31941987e-02 3.24555086e-02 -2.92764578e+02] [ 2.36798094e-02 9.99612118e-01 -1.46587945e-02 1.68854295e+01] [-3.21029207e-02 1.54156666e-02 9.99365679e-01 1.55441785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.699072329 meters Centerline goodness : 0.776427 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99173761e-01 -2.35690985e-02 3.31103022e-02 -2.92765929e+02] [ 2.40696750e-02 9.99600695e-01 -1.48020512e-02 1.68855773e+01] [-3.27482100e-02 1.55867754e-02 9.99342087e-01 1.55441321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72907232899996 meters Centerline goodness : 0.774295 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.88, Z:155.44 [[ 9.99194588e-01 -2.30493790e-02 3.28466255e-02 -2.92764808e+02] [ 2.35240679e-02 9.99623279e-01 -1.41392166e-02 1.68845294e+01] [-3.25083513e-02 1.49005150e-02 9.99360386e-01 1.55440676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.759072329 meters Centerline goodness : 0.774295 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.88, Z:155.44 [[ 9.99194588e-01 -2.30493790e-02 3.28466255e-02 -2.92764808e+02] [ 2.35240679e-02 9.99623279e-01 -1.41392166e-02 1.68845294e+01] [-3.25083513e-02 1.49005150e-02 9.99360386e-01 1.55440676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78907232899996 meters Centerline goodness : 0.775941 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99149753e-01 -2.38160811e-02 3.36536028e-02 -2.92766498e+02] [ 2.43229314e-02 9.99595593e-01 -1.47324852e-02 1.68856940e+01] [-3.32891230e-02 1.55385132e-02 9.99324967e-01 1.55440337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.819072329 meters Centerline goodness : 0.776650 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99088828e-01 -2.48286425e-02 3.47138615e-02 -2.92769550e+02] [ 2.53729429e-02 9.99560537e-01 -1.53279580e-02 1.68857160e+01] [-3.43180336e-02 1.61947844e-02 9.99279741e-01 1.55440806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84907232899997 meters Centerline goodness : 0.775115 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99080536e-01 -2.47109189e-02 3.50350193e-02 -2.92770323e+02] [ 2.52475841e-02 9.99569299e-01 -1.49591464e-02 1.68847157e+01] [-3.46502754e-02 1.58299416e-02 9.99274122e-01 1.55440726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.879072329 meters Centerline goodness : 0.775205 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99048485e-01 -2.50733378e-02 3.56854745e-02 -2.92771669e+02] [ 2.56284061e-02 9.99556234e-01 -1.51829067e-02 1.68850806e+01] [-3.52889523e-02 1.60830217e-02 9.99247730e-01 1.55440276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90907232899997 meters Centerline goodness : 0.773414 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98999143e-01 -2.57047693e-02 3.66056974e-02 -2.92773755e+02] [ 2.62731258e-02 9.99540283e-01 -1.51309173e-02 1.68835926e+01] [-3.61999325e-02 1.60775196e-02 9.99215231e-01 1.55439769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93907232899994 meters Centerline goodness : 0.773663 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98902611e-01 -2.90621648e-02 3.67282596e-02 -2.92773084e+02] [ 2.97439185e-02 9.99392682e-01 -1.81539508e-02 1.68805696e+01] [-3.61783608e-02 1.92264712e-02 9.99160382e-01 1.55438680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96907232899997 meters Centerline goodness : 0.774625 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98893430e-01 -2.90497244e-02 3.69868766e-02 -2.92773879e+02] [ 2.97345320e-02 9.99393916e-01 -1.81013080e-02 1.68804718e+01] [-3.64386215e-02 1.91810651e-02 9.99151797e-01 1.55438947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99907232899994 meters Centerline goodness : 0.774769 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.44 [[ 9.98814919e-01 -3.04245036e-02 3.79882449e-02 -2.92777388e+02] [ 3.11705560e-02 9.99329585e-01 -1.92035692e-02 1.68810085e+01] [-3.73785180e-02 2.03649261e-02 9.99093647e-01 1.55440248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.029072329 meters Centerline goodness : 0.774009 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.44 [[ 9.98820196e-01 -3.01986716e-02 3.80296841e-02 -2.92777423e+02] [ 3.09310060e-02 9.99344364e-01 -1.88179625e-02 1.68801237e+01] [-3.74364730e-02 1.99720574e-02 9.99099408e-01 1.55440090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.05907232899995 meters Centerline goodness : 0.772350 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.44 [[ 9.98861464e-01 -2.95113467e-02 3.74814194e-02 -2.92775557e+02] [ 3.02150818e-02 9.99374970e-01 -1.83498817e-02 1.68803306e+01] [-3.69164626e-02 1.94614939e-02 9.99128833e-01 1.55439451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.089072329 meters Centerline goodness : 0.771461 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98878095e-01 -2.92245818e-02 3.72622410e-02 -2.92774575e+02] [ 2.99126235e-02 9.99389658e-01 -1.80429189e-02 1.68801512e+01] [-3.67122015e-02 1.91372878e-02 9.99142622e-01 1.55438801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.11907232899995 meters Centerline goodness : 0.769102 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98917542e-01 -2.82344959e-02 3.69669815e-02 -2.92772812e+02] [ 2.88671145e-02 9.99443870e-01 -1.66925498e-02 1.68775784e+01] [-3.64751173e-02 1.77416109e-02 9.99177062e-01 1.55437290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.149072329 meters Centerline goodness : 0.768004 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.98869340e-01 -2.87094063e-02 3.78920974e-02 -2.92774970e+02] [ 2.93670560e-02 9.99425568e-01 -1.69147971e-02 1.68775337e+01] [-3.73847172e-02 1.80084516e-02 9.99138668e-01 1.55437051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.17907232899995 meters Centerline goodness : 0.767377 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.44 [[ 9.98874139e-01 -2.84146571e-02 3.79876469e-02 -2.92775025e+02] [ 2.90558548e-02 9.99442671e-01 -1.64348455e-02 1.68762166e+01] [-3.74994847e-02 1.75201057e-02 9.99143050e-01 1.55436669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.209072329 meters Centerline goodness : 0.764045 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99025039e-01 -2.36089443e-02 3.73040063e-02 -2.92773164e+02] [ 2.40663228e-02 9.99640015e-01 -1.18596812e-02 1.68766332e+01] [-3.70105828e-02 1.27458888e-02 9.99233586e-01 1.55436092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.23907232899995 meters Centerline goodness : 0.763563 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.43 [[ 9.99096141e-01 -2.13063377e-02 3.67823555e-02 -2.92770334e+02] [ 2.16727224e-02 9.99719113e-01 -9.59102112e-03 1.68761052e+01] [-3.65676743e-02 1.03795260e-02 9.99277274e-01 1.55434198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.269072329 meters Centerline goodness : 0.766300 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99154504e-01 -1.82073938e-02 3.68614783e-02 -2.92771333e+02] [ 1.84856956e-02 9.99803033e-01 -7.22321761e-03 1.68812610e+01] [-3.67227018e-02 7.89852048e-03 9.99294279e-01 1.55435293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.29907232899996 meters Centerline goodness : 0.768157 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99187522e-01 -1.77636932e-02 3.61766069e-02 -2.92769979e+02] [ 1.80442835e-02 9.99809474e-01 -7.44442814e-03 1.68830594e+01] [-3.60374738e-02 8.09116065e-03 9.99317684e-01 1.55435975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.329072329 meters Centerline goodness : 0.770819 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99190936e-01 -1.80029596e-02 3.59634235e-02 -2.92770128e+02] [ 1.83096780e-02 9.99798594e-01 -8.21753451e-03 1.68855848e+01] [-3.58082403e-02 8.86936470e-03 9.99319320e-01 1.55437128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.35907232899996 meters Centerline goodness : 0.774024 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99203076e-01 -1.80287165e-02 3.56114993e-02 -2.92769772e+02] [ 1.83526805e-02 9.99792925e-01 -8.79130695e-03 1.68879057e+01] [-3.54456290e-02 9.43786742e-03 9.99327041e-01 1.55438063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.389072329 meters Centerline goodness : 0.773709 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99173202e-01 -1.85177335e-02 3.61939936e-02 -2.92771468e+02] [ 1.88642842e-02 9.99779200e-01 -9.25685234e-03 1.68886585e+01] [-3.60145861e-02 9.93197258e-03 9.99301909e-01 1.55438459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41907232899996 meters Centerline goodness : 0.772030 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99171539e-01 -1.83937954e-02 3.63029453e-02 -2.92771947e+02] [ 1.87314854e-02 9.99784187e-01 -8.98388017e-03 1.68874334e+01] [-3.61298630e-02 9.65644547e-03 9.99300448e-01 1.55438605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.449072329 meters Centerline goodness : 0.771550 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99202011e-01 -1.76714603e-02 3.58198471e-02 -2.92769970e+02] [ 1.79803564e-02 9.99803724e-01 -8.31986790e-03 1.68868349e+01] [-3.56657923e-02 8.95728235e-03 9.99323630e-01 1.55437573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47907232899996 meters Centerline goodness : 0.771585 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99263614e-01 -1.60615394e-02 3.48461812e-02 -2.92766869e+02] [ 1.63199655e-02 9.99841295e-01 -7.14446626e-03 1.68862450e+01] [-3.47258998e-02 7.70789365e-03 9.99367150e-01 1.55436743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.509072329 meters Centerline goodness : 0.771743 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99291847e-01 -1.56289466e-02 3.42277653e-02 -2.92765093e+02] [ 1.58784957e-02 9.99849207e-01 -7.03117784e-03 1.68870159e+01] [-3.41127140e-02 7.56968412e-03 9.99389325e-01 1.55436435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53907232899996 meters Centerline goodness : 0.769519 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99383747e-01 -1.09319656e-02 3.33559493e-02 -2.92762592e+02] [ 1.10360078e-02 9.99934789e-01 -2.93663121e-03 1.68893339e+01] [-3.33216710e-02 3.30293802e-03 9.99439221e-01 1.55436029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.569072329 meters Centerline goodness : 0.768607 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99691676e-01 -1.18399127e-02 2.18259015e-02 -2.92755721e+02] [ 1.19556882e-02 9.99915102e-01 -5.18166298e-03 1.68918573e+01] [-2.17626981e-02 5.44100903e-03 9.99748359e-01 1.55440255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59907232899997 meters Centerline goodness : 0.770221 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99699911e-01 -1.14611706e-02 2.16501584e-02 -2.92755758e+02] [ 1.15724357e-02 9.99920431e-01 -5.02094720e-03 1.68916564e+01] [-2.15908898e-02 5.26998553e-03 9.99753000e-01 1.55440963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.629072329 meters Centerline goodness : 0.772309 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99696285e-01 -1.13275537e-02 2.18866293e-02 -2.92756406e+02] [ 1.14329996e-02 9.99923601e-01 -4.69871048e-03 1.68904517e+01] [-2.18317323e-02 4.94751323e-03 9.99749417e-01 1.55440947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65907232899997 meters Centerline goodness : 0.771481 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99680969e-01 -1.15558268e-02 2.24593682e-02 -2.92757868e+02] [ 1.16645966e-02 9.99920836e-01 -4.71799853e-03 1.68899329e+01] [-2.24030699e-02 4.97847281e-03 9.99736624e-01 1.55440865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68907232899994 meters Centerline goodness : 0.769969 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99688946e-01 -1.13471963e-02 2.22092664e-02 -2.92757085e+02] [ 1.14532579e-02 9.99923578e-01 -4.65419074e-03 1.68902376e+01] [-2.21547571e-02 4.90711149e-03 9.99742510e-01 1.55440671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71907232899997 meters Centerline goodness : 0.769556 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99702340e-01 -1.11783482e-02 2.16858672e-02 -2.92755924e+02] [ 1.12864701e-02 9.99924447e-01 -4.86984979e-03 1.68918156e+01] [-2.16297919e-02 5.11315712e-03 9.99752973e-01 1.55441069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74907232899994 meters Centerline goodness : 0.769792 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99704023e-01 -1.11163442e-02 2.16400959e-02 -2.92756062e+02] [ 1.12232348e-02 9.99925380e-01 -4.82429737e-03 1.68918225e+01] [-2.15848525e-02 5.06574136e-03 9.99754186e-01 1.55441482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.779072329 meters Centerline goodness : 0.773552 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.90, Z:155.44 [[ 9.99732610e-01 -7.64003576e-03 2.18251589e-02 -2.92757090e+02] [ 7.68032785e-03 9.99968952e-01 -1.76290396e-03 1.68950243e+01] [-2.18110126e-02 1.93005696e-03 9.99760249e-01 1.55442203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.80907232899995 meters Centerline goodness : 0.772370 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.90, Z:155.44 [[ 9.99732333e-01 -7.78244530e-03 2.17875330e-02 -2.92757168e+02] [ 7.82939772e-03 9.99967206e-01 -2.07053978e-03 1.68960064e+01] [-2.17707046e-02 2.24056882e-03 9.99760479e-01 1.55442490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.839072329 meters Centerline goodness : 0.773475 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.90, Z:155.44 [[ 9.99749535e-01 -7.28990655e-03 2.11595030e-02 -2.92755430e+02] [ 7.33353758e-03 9.99971139e-01 -1.98514232e-03 1.68969791e+01] [-2.11444208e-02 2.13981913e-03 9.99774142e-01 1.55442360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.86907232899995 meters Centerline goodness : 0.772882 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.90, Z:155.44 [[ 9.99754966e-01 -7.24701121e-03 2.09162517e-02 -2.92754513e+02] [ 7.29246641e-03 9.99971209e-01 -2.09774388e-03 1.68979278e+01] [-2.09004471e-02 2.24976092e-03 9.99779031e-01 1.55441981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.899072329 meters Centerline goodness : 0.772254 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.90, Z:155.44 [[ 9.99753337e-01 -7.20645001e-03 2.10079233e-02 -2.92754696e+02] [ 7.24970821e-03 9.99971753e-01 -1.98370534e-03 1.68977477e+01] [-2.09930345e-02 2.13551735e-03 9.99777341e-01 1.55441920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.92907232899995 meters Centerline goodness : 0.773598 Centerline is valid? [False, False] Translation: X:-292.75, Y:16.90, Z:155.44 [[ 9.99755105e-01 -7.10848166e-03 2.09570828e-02 -2.92754748e+02] [ 7.15021187e-03 9.99972599e-01 -1.91696220e-03 1.68976392e+01] [-2.09428819e-02 2.06634033e-03 9.99778538e-01 1.55442166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.959072329 meters Centerline goodness : 0.772884 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.90, Z:155.44 [[ 9.99702411e-01 -1.13912806e-02 2.15714752e-02 -2.92755904e+02] [ 1.15208553e-02 9.99916273e-01 -5.89204005e-03 1.68964988e+01] [-2.15025512e-02 6.13880849e-03 9.99749946e-01 1.55441720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.98907232899995 meters Centerline goodness : 0.771924 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99675988e-01 -1.18444677e-02 2.25306002e-02 -2.92758194e+02] [ 1.19757804e-02 9.99912029e-01 -5.70222044e-03 1.68947018e+01] [-2.24610784e-02 5.97019437e-03 9.99729892e-01 1.55441335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.019072329 meters Centerline goodness : 0.769958 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99633579e-01 -1.30463944e-02 2.37170788e-02 -2.92761196e+02] [ 1.31963130e-02 9.99893854e-01 -6.17563417e-03 1.68938929e+01] [-2.36339916e-02 6.48634929e-03 9.99699636e-01 1.55441163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.04907232899996 meters Centerline goodness : 0.770042 Centerline is valid? [False, False] Translation: X:-292.76, Y:16.89, Z:155.44 [[ 9.99517762e-01 -1.81167300e-02 2.52195949e-02 -2.92764256e+02] [ 1.83569511e-02 9.99787997e-01 -9.32645488e-03 1.68893344e+01] [-2.50452835e-02 9.78491217e-03 9.99638429e-01 1.55439723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.079072329 meters Centerline goodness : 0.770341 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.89, Z:155.44 [[ 9.99475787e-01 -1.87877128e-02 2.63661414e-02 -2.92766692e+02] [ 1.90379191e-02 9.99775778e-01 -9.27094215e-03 1.68880698e+01] [-2.61860497e-02 9.76803866e-03 9.99609362e-01 1.55438953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.10907232899996 meters Centerline goodness : 0.769467 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99366811e-01 -2.28427930e-02 2.72797399e-02 -2.92768271e+02] [ 2.31859154e-02 9.99655151e-01 -1.23285128e-02 1.68840539e+01] [-2.69887148e-02 1.29532123e-02 9.99551811e-01 1.55438080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.139072329 meters Centerline goodness : 0.769853 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99310752e-01 -2.38229418e-02 2.84690877e-02 -2.92771321e+02] [ 2.41929190e-02 9.99626348e-01 -1.27227040e-02 1.68836005e+01] [-2.81553579e-02 1.34026853e-02 9.99513704e-01 1.55438048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16907232899996 meters Centerline goodness : 0.768708 Centerline is valid? [False, False] Translation: X:-292.77, Y:16.88, Z:155.44 [[ 9.99236877e-01 -2.54173682e-02 2.96584101e-02 -2.92774857e+02] [ 2.58288278e-02 9.99574224e-01 -1.35735939e-02 1.68832811e+01] [-2.93007772e-02 1.43292775e-02 9.99467927e-01 1.55438552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.199072329 meters Centerline goodness : 0.768397 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.44 [[ 9.99192911e-01 -2.59132225e-02 3.06925186e-02 -2.92777122e+02] [ 2.63369942e-02 9.99562175e-01 -1.34840974e-02 1.68821529e+01] [-3.03296642e-02 1.42815632e-02 9.99437916e-01 1.55437966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22907232899996 meters Centerline goodness : 0.765090 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.88, Z:155.43 [[ 9.99046957e-01 -2.98117986e-02 3.18815729e-02 -2.92777950e+02] [ 3.03212309e-02 9.99418204e-01 -1.56165198e-02 1.68758208e+01] [-3.13974678e-02 1.65683251e-02 9.99369646e-01 1.55434799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.259072329 meters Centerline goodness : 0.763122 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.87, Z:155.43 [[ 9.98905836e-01 -3.36893056e-02 3.24370329e-02 -2.92778201e+02] [ 3.43181630e-02 9.99229777e-01 -1.90293600e-02 1.68734825e+01] [-3.17709633e-02 2.01217181e-02 9.99292611e-01 1.55433479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28907232899996 meters Centerline goodness : 0.762453 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.87, Z:155.43 [[ 9.98884148e-01 -3.36835965e-02 3.31039869e-02 -2.92779351e+02] [ 3.43059468e-02 9.99241706e-01 -1.84150620e-02 1.68713944e+01] [-3.24585989e-02 1.95301772e-02 9.99282248e-01 1.55432565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.319072329 meters Centerline goodness : 0.762925 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.87, Z:155.43 [[ 9.98690139e-01 -3.81951451e-02 3.40461039e-02 -2.92780877e+02] [ 3.89740925e-02 9.98986494e-01 -2.25167549e-02 1.68706255e+01] [-3.31515673e-02 2.38141771e-02 9.99166582e-01 1.55431975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34907232899997 meters Centerline goodness : 0.765084 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.87, Z:155.43 [[ 9.98576674e-01 -4.00582751e-02 3.52130715e-02 -2.92784901e+02] [ 4.09282755e-02 9.98865504e-01 -2.43430086e-02 1.68732379e+01] [-3.41979835e-02 2.57495709e-02 9.99083309e-01 1.55433615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.379072329 meters Centerline goodness : 0.770304 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.87, Z:155.44 [[ 9.98469090e-01 -4.18288949e-02 3.61914218e-02 -2.92789047e+02] [ 4.27812064e-02 9.98747365e-01 -2.59512796e-02 1.68744572e+01] [-3.50605738e-02 2.74598632e-02 9.99007864e-01 1.55435929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40907232899997 meters Centerline goodness : 0.772234 Centerline is valid? [False, False] Translation: X:-292.78, Y:16.87, Z:155.44 [[ 9.98327163e-01 -4.67442381e-02 3.40272167e-02 -2.92782761e+02] [ 4.74229887e-02 9.98686082e-01 -1.94208583e-02 1.68667473e+01] [-3.30746945e-02 2.10020426e-02 9.99232195e-01 1.55444273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43907232899994 meters Centerline goodness : 0.771611 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.87, Z:155.44 [[ 9.98238662e-01 -4.78173592e-02 3.51151584e-02 -2.92785022e+02] [ 4.85467064e-02 9.98616239e-01 -2.02194099e-02 1.68681773e+01] [-3.40997287e-02 2.18885219e-02 9.99178713e-01 1.55443765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46907232899997 meters Centerline goodness : 0.768017 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.86, Z:155.44 [[ 9.98109204e-01 -4.94353999e-02 3.65261326e-02 -2.92787812e+02] [ 5.01814380e-02 9.98543874e-01 -1.97978628e-02 1.68638434e+01] [-3.54942307e-02 2.15933629e-02 9.99136570e-01 1.55442262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49907232899994 meters Centerline goodness : 0.767797 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.86, Z:155.44 [[ 9.98067132e-01 -4.96810830e-02 3.73335033e-02 -2.92789888e+02] [ 5.04370791e-02 9.98535135e-01 -1.95878716e-02 1.68625237e+01] [-3.63056681e-02 2.14330037e-02 9.99110867e-01 1.55442265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.529072329 meters Centerline goodness : 0.769061 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.86, Z:155.44 [[ 9.98002028e-01 -5.02684123e-02 3.82758380e-02 -2.92792359e+02] [ 5.10495599e-02 9.98501576e-01 -1.97115292e-02 1.68617530e+01] [-3.72276173e-02 2.16261108e-02 9.99072778e-01 1.55442386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.55907232899995 meters Centerline goodness : 0.767398 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.86, Z:155.44 [[ 9.97751562e-01 -5.43211705e-02 3.92559664e-02 -2.92793098e+02] [ 5.52485760e-02 9.98209111e-01 -2.29383156e-02 1.68584963e+01] [-3.79396271e-02 2.50555764e-02 9.98965867e-01 1.55440562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.589072329 meters Centerline goodness : 0.766733 Centerline is valid? [False, False] Translation: X:-292.79, Y:16.86, Z:155.44 [[ 9.97742614e-01 -5.42863266e-02 3.95306241e-02 -2.92793187e+02] [ 5.52178967e-02 9.98212435e-01 -2.28673941e-02 1.68590257e+01] [-3.82185737e-02 2.49985715e-02 9.98956662e-01 1.55439721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.61907232899995 meters Centerline goodness : 0.768182 Centerline is valid? [False, False] Translation: X:-292.80, Y:16.86, Z:155.44 [[ 9.96996174e-01 -6.34423025e-02 4.44263742e-02 -2.92804896e+02] [ 6.46609944e-02 9.97553961e-01 -2.65527828e-02 1.68605103e+01] [-4.26331359e-02 2.93456764e-02 9.98659725e-01 1.55436141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.649072329 meters Centerline goodness : 0.768376 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.86, Z:155.44 [[ 9.97485368e-01 -5.54259589e-02 4.41690427e-02 -2.92806080e+02] [ 5.62789023e-02 9.98247247e-01 -1.83062758e-02 1.68612766e+01] [-4.30769823e-02 2.07460275e-02 9.98856334e-01 1.55436870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.67907232899995 meters Centerline goodness : 0.768376 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.86, Z:155.44 [[ 9.97485368e-01 -5.54259589e-02 4.41690427e-02 -2.92806080e+02] [ 5.62789023e-02 9.98247247e-01 -1.83062758e-02 1.68612766e+01] [-4.30769823e-02 2.07460275e-02 9.98856334e-01 1.55436870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.709072329 meters Centerline goodness : 0.768667 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97623805e-01 -5.25555207e-02 4.45495333e-02 -2.92808324e+02] [ 5.33082741e-02 9.98451828e-01 -1.58800211e-02 1.68660199e+01] [-4.36459802e-02 1.82171458e-02 9.98880956e-01 1.55438070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.73907232899995 meters Centerline goodness : 0.768373 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97768500e-01 -4.95319133e-02 4.47728603e-02 -2.92809998e+02] [ 5.01657677e-02 9.98654391e-01 -1.31454672e-02 1.68697785e+01] [-4.40614934e-02 1.53621980e-02 9.98910701e-01 1.55439101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.769072329 meters Centerline goodness : 0.768451 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97718391e-01 -5.00224157e-02 4.53406123e-02 -2.92811444e+02] [ 5.06804373e-02 9.98623935e-01 -1.34806889e-02 1.68703071e+01] [-4.46038840e-02 1.57478133e-02 9.98880623e-01 1.55439160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.79907232899996 meters Centerline goodness : 0.767105 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97746046e-01 -4.95036763e-02 4.53013700e-02 -2.92810818e+02] [ 5.01205557e-02 9.98663900e-01 -1.25835450e-02 1.68681711e+01] [-4.46179111e-02 1.48257121e-02 9.98894109e-01 1.55438303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.829072329 meters Centerline goodness : 0.768706 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97652954e-01 -5.03989205e-02 4.63522629e-02 -2.92813154e+02] [ 5.10475136e-02 9.98612698e-01 -1.29163217e-02 1.68677047e+01] [-4.56369896e-02 1.52521743e-02 9.98841647e-01 1.55437854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.85907232899996 meters Centerline goodness : 0.764289 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97684773e-01 -4.98326916e-02 4.62795380e-02 -2.92812563e+02] [ 5.04391294e-02 9.98654693e-01 -1.20290765e-02 1.68656735e+01] [-4.56178365e-02 1.43355261e-02 9.98856099e-01 1.55437154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.889072329 meters Centerline goodness : 0.763387 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.86, Z:155.44 [[ 9.97678585e-01 -4.96957783e-02 4.65593233e-02 -2.92813543e+02] [ 5.02865962e-02 9.98667407e-01 -1.16046822e-02 1.68641026e+01] [-4.59205749e-02 1.39190528e-02 9.98848117e-01 1.55437458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91907232899996 meters Centerline goodness : 0.766776 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.86, Z:155.44 [[ 9.97444056e-01 -5.36741827e-02 4.71639379e-02 -2.92814315e+02] [ 5.44649221e-02 9.98393146e-01 -1.56428131e-02 1.68637193e+01] [-4.62485371e-02 1.81716112e-02 9.98764670e-01 1.55437184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.949072329 meters Centerline goodness : 0.766640 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.86, Z:155.44 [[ 9.97460128e-01 -5.33194577e-02 4.72263536e-02 -2.92814823e+02] [ 5.40776102e-02 9.98425215e-01 -1.49232146e-02 1.68614407e+01] [-4.63562845e-02 1.74391999e-02 9.98772732e-01 1.55437555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97907232899996 meters Centerline goodness : 0.769611 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.86, Z:155.44 [[ 9.97403605e-01 -5.39855643e-02 4.76613817e-02 -2.92815845e+02] [ 5.47899608e-02 9.98373922e-01 -1.57344340e-02 1.68636795e+01] [-4.67344483e-02 1.83049464e-02 9.98739616e-01 1.55437606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.009072329 meters Centerline goodness : 0.770596 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97425588e-01 -5.38379445e-02 4.73674205e-02 -2.92814994e+02] [ 5.46455036e-02 9.98378874e-01 -1.59214304e-02 1.68652027e+01] [-4.64334549e-02 1.84688586e-02 9.98750637e-01 1.55437432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03907232899996 meters Centerline goodness : 0.769080 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97199097e-01 -5.77827059e-02 4.74880941e-02 -2.92814154e+02] [ 5.87901774e-02 9.98068016e-01 -2.00985382e-02 1.68657258e+01] [-4.62349999e-02 2.28340777e-02 9.98669580e-01 1.55436638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.069072329 meters Centerline goodness : 0.767982 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.87, Z:155.44 [[ 9.97723150e-01 -4.93293734e-02 4.59905399e-02 -2.92812390e+02] [ 4.99514877e-02 9.98673712e-01 -1.24766353e-02 1.68695462e+01] [-4.53140786e-02 1.47455237e-02 9.98863957e-01 1.55437894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09907232899997 meters Centerline goodness : 0.771611 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.88, Z:155.44 [[ 9.97882511e-01 -4.62244108e-02 4.57580430e-02 -2.92812541e+02] [ 4.67359784e-02 9.98855471e-01 -1.01732896e-02 1.68755822e+01] [-4.52354173e-02 1.22902946e-02 9.98900749e-01 1.55438484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.129072329 meters Centerline goodness : 0.772884 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.88, Z:155.44 [[ 9.97869588e-01 -4.67267994e-02 4.55290196e-02 -2.92812520e+02] [ 4.72894305e-02 9.98816637e-01 -1.13593449e-02 1.68793731e+01] [-4.49443564e-02 1.34881863e-02 9.98898430e-01 1.55439349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15907232899997 meters Centerline goodness : 0.773024 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.88, Z:155.44 [[ 9.98102765e-01 -4.25792513e-02 4.44733328e-02 -2.92811298e+02] [ 4.29752239e-02 9.99044226e-01 -7.98533821e-03 1.68828147e+01] [-4.40908166e-02 9.88143958e-03 9.98978657e-01 1.55440875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18907232899994 meters Centerline goodness : 0.775503 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.90, Z:155.45 [[ 9.98673902e-01 -3.96491329e-02 3.28387470e-02 -2.92815686e+02] [ 4.00740165e-02 9.99119983e-01 -1.23827352e-02 1.68995231e+01] [-3.23188837e-02 1.36822950e-02 9.99383953e-01 1.55445843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21907232899997 meters Centerline goodness : 0.774317 Centerline is valid? [False, False] Translation: X:-292.81, Y:16.90, Z:155.45 [[ 9.98703589e-01 -3.92024722e-02 3.24701155e-02 -2.92814921e+02] [ 3.96161888e-02 9.99140521e-01 -1.21974148e-02 1.68997024e+01] [-3.19640393e-02 1.34679442e-02 9.99398276e-01 1.55446042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24907232899994 meters Centerline goodness : 0.772451 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.90, Z:155.45 [[ 9.98832859e-01 -3.55293232e-02 3.27198106e-02 -2.92816862e+02] [ 3.58251296e-02 9.99321934e-01 -8.49896939e-03 1.69005503e+01] [-3.23956618e-02 9.66124135e-03 9.99428427e-01 1.55447288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.279072329 meters Centerline goodness : 0.773567 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.90, Z:155.45 [[ 9.98885416e-01 -3.46767593e-02 3.20226312e-02 -2.92815083e+02] [ 3.49547536e-02 9.99355563e-01 -8.16239100e-03 1.69009115e+01] [-3.17189494e-02 9.27263651e-03 9.99453814e-01 1.55447243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.30907232899995 meters Centerline goodness : 0.772681 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.90, Z:155.45 [[ 9.99018389e-01 -3.07616557e-02 3.18744367e-02 -2.92815116e+02] [ 3.09159354e-02 9.99512485e-01 -4.35863380e-03 1.69023184e+01] [-3.17248187e-02 5.33978334e-03 9.99482377e-01 1.55447243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.339072329 meters Centerline goodness : 0.770934 Centerline is valid? [False, False] Translation: X:-292.83, Y:16.91, Z:155.44 [[ 9.99160605e-01 -2.36905768e-02 3.34191781e-02 -2.92826038e+02] [ 2.40556926e-02 9.99654784e-01 -1.05658485e-02 1.69112241e+01] [-3.31573302e-02 1.13609011e-02 9.99385572e-01 1.55442902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.36907232899995 meters Centerline goodness : 0.772665 Centerline is valid? [False, False] Translation: X:-292.83, Y:16.91, Z:155.44 [[ 9.99222849e-01 -2.02346956e-02 3.38268393e-02 -2.92827243e+02] [ 2.04939489e-02 9.99763070e-01 -7.33502247e-03 1.69139755e+01] [-3.36704027e-02 8.02256756e-03 9.99400792e-01 1.55442944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.399072329 meters Centerline goodness : 0.772543 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.91, Z:155.44 [[ 9.99292728e-01 -1.85005533e-02 3.27379525e-02 -2.92824412e+02] [ 1.87044749e-02 9.99807449e-01 -5.93362547e-03 1.69123893e+01] [-3.26218734e-02 6.54177499e-03 9.99446356e-01 1.55442708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.42907232899995 meters Centerline goodness : 0.773998 Centerline is valid? [False, False] Translation: X:-292.82, Y:16.91, Z:155.44 [[ 9.99290215e-01 -1.87524624e-02 3.26712532e-02 -2.92824464e+02] [ 1.89782816e-02 9.99798010e-01 -6.61549418e-03 1.69146319e+01] [-3.25405971e-02 7.23084284e-03 9.99444258e-01 1.55443064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.459072329 meters Centerline goodness : 0.772640 Centerline is valid? [False, False] Translation: X:-292.83, Y:16.91, Z:155.44 [[ 9.99271259e-01 -1.90286992e-02 3.30886649e-02 -2.92826078e+02] [ 1.92600691e-02 9.99792140e-01 -6.68777544e-03 1.69138119e+01] [-3.29545274e-02 7.32019176e-03 9.99430045e-01 1.55443701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.48907232899995 meters Centerline goodness : 0.772723 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.92, Z:155.44 [[ 9.99375192e-01 -9.14048632e-03 3.41420237e-02 -2.92838303e+02] [ 9.52465671e-03 9.99892958e-01 -1.11064806e-02 1.69247113e+01] [-3.40368504e-02 1.14247323e-02 9.99355276e-01 1.55441453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.519072329 meters Centerline goodness : 0.772490 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.92, Z:155.44 [[ 9.99400245e-01 -8.38636030e-03 3.35979183e-02 -2.92837228e+02] [ 8.74298623e-03 9.99906843e-01 -1.04817068e-02 1.69239479e+01] [-3.35068851e-02 1.07691665e-02 9.99380465e-01 1.55441813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.54907232899996 meters Centerline goodness : 0.772067 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.92, Z:155.44 [[ 9.99399586e-01 -8.43392612e-03 3.36056113e-02 -2.92838080e+02] [ 8.79831156e-03 9.99903939e-01 -1.07099072e-02 1.69243052e+01] [-3.35120566e-02 1.09991495e-02 9.99377787e-01 1.55442923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.579072329 meters Centerline goodness : 0.772097 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.93, Z:155.44 [[ 9.99381728e-01 -9.01766759e-03 3.39829826e-02 -2.92839372e+02] [ 9.41638479e-03 9.99888483e-01 -1.15911236e-02 1.69266921e+01] [-3.38746680e-02 1.19039539e-02 9.99355193e-01 1.55443493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.60907232899996 meters Centerline goodness : 0.774139 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.93, Z:155.44 [[ 9.99373186e-01 -9.21702594e-03 3.41801206e-02 -2.92840064e+02] [ 9.62189685e-03 9.99885261e-01 -1.16997049e-02 1.69266574e+01] [-3.40683623e-02 1.20212490e-02 9.99347205e-01 1.55443750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.639072329 meters Centerline goodness : 0.773203 Centerline is valid? [False, False] Translation: X:-292.84, Y:16.93, Z:155.44 [[ 9.99378127e-01 -9.15722166e-03 3.40515124e-02 -2.92839810e+02] [ 9.56202183e-03 9.99885315e-01 -1.17440892e-02 1.69273313e+01] [-3.39400640e-02 1.20623871e-02 9.99351075e-01 1.55443864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66907232899996 meters Centerline goodness : 0.772927 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.94, Z:155.45 [[ 9.99531510e-01 -1.63514737e-02 2.58725520e-02 -2.92847446e+02] [ 1.64899669e-02 9.99850775e-01 -5.14861359e-03 1.69379622e+01] [-2.57845038e-02 5.57283904e-03 9.99651991e-01 1.55451756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.699072329 meters Centerline goodness : 0.771640 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.94, Z:155.45 [[ 9.99511071e-01 -1.66984644e-02 2.64344559e-02 -2.92848845e+02] [ 1.68439155e-02 9.99844141e-01 -5.28924188e-03 1.69379296e+01] [-2.63420136e-02 5.73191555e-03 9.99636556e-01 1.55451659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72907232899996 meters Centerline goodness : 0.771444 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.94, Z:155.45 [[ 9.99492378e-01 -1.67057212e-02 2.71275638e-02 -2.92849618e+02] [ 1.68331716e-02 9.99848291e-01 -4.47662357e-03 1.69352303e+01] [-2.70486630e-02 4.93099407e-03 9.99621956e-01 1.55450081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.759072329 meters Centerline goodness : 0.768766 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.93, Z:155.45 [[ 9.99486443e-01 -1.66914408e-02 2.73540933e-02 -2.92849923e+02] [ 1.68149856e-02 9.99849403e-01 -4.29270651e-03 1.69345267e+01] [-2.72783225e-02 4.75046064e-03 9.99616590e-01 1.55449603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78907232899996 meters Centerline goodness : 0.769400 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.93, Z:155.45 [[ 9.99498861e-01 -1.62471804e-02 2.71671804e-02 -2.92849133e+02] [ 1.63534705e-02 9.99859446e-01 -3.69483571e-03 1.69332639e+01] [-2.71033313e-02 4.13726176e-03 9.99624076e-01 1.55449045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.819072329 meters Centerline goodness : 0.769002 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.93, Z:155.45 [[ 9.99486414e-01 -1.65506384e-02 2.74405644e-02 -2.92850041e+02] [ 1.66687847e-02 9.99852732e-01 -4.08238354e-03 1.69342113e+01] [-2.73689572e-02 4.53768775e-03 9.99615101e-01 1.55449367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84907232899997 meters Centerline goodness : 0.769445 Centerline is valid? [False, False] Translation: X:-292.85, Y:16.94, Z:155.45 [[ 9.99439146e-01 -1.78325760e-02 2.83441650e-02 -2.92853392e+02] [ 1.79908981e-02 9.99823888e-01 -5.34051413e-03 1.69358626e+01] [-2.82439381e-02 5.84745586e-03 9.99583957e-01 1.55450728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.879072329 meters Centerline goodness : 0.770608 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99409416e-01 -1.83480544e-02 2.90545865e-02 -2.92855636e+02] [ 1.85216625e-02 9.99812112e-01 -5.71740622e-03 1.69360895e+01] [-2.89442242e-02 6.25216885e-03 9.99561475e-01 1.55451324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90907232899997 meters Centerline goodness : 0.770552 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99369190e-01 -1.91560217e-02 2.99043326e-02 -2.92857934e+02] [ 1.93575234e-02 9.99791734e-01 -6.46328734e-03 1.69373891e+01] [-2.97742937e-02 7.03808405e-03 9.99531869e-01 1.55451561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93907232899994 meters Centerline goodness : 0.770814 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99369314e-01 -1.90734807e-02 2.99528925e-02 -2.92858197e+02] [ 1.92701396e-02 9.99794523e-01 -6.29070068e-03 1.69368015e+01] [-2.98267523e-02 6.86392964e-03 9.99531516e-01 1.55451669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96907232899997 meters Centerline goodness : 0.770681 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99343401e-01 -1.95241336e-02 3.05217127e-02 -2.92859879e+02] [ 1.97337855e-02 9.99783598e-01 -6.58284763e-03 1.69371125e+01] [-3.03865833e-02 7.18083427e-03 9.99512427e-01 1.55451978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99907232899994 meters Centerline goodness : 0.769620 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99326288e-01 -1.97587475e-02 3.09283304e-02 -2.92860843e+02] [ 1.99747479e-02 9.99778098e-01 -6.69055167e-03 1.69371904e+01] [-3.07892704e-02 7.30382976e-03 9.99499212e-01 1.55451833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.029072329 meters Centerline goodness : 0.767481 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99331221e-01 -1.95538400e-02 3.08991487e-02 -2.92860524e+02] [ 1.97599977e-02 9.99784391e-01 -6.38071256e-03 1.69365785e+01] [-3.07677191e-02 6.98701239e-03 9.99502141e-01 1.55451424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.05907232899995 meters Centerline goodness : 0.766510 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99314093e-01 -1.98266295e-02 3.12769667e-02 -2.92861208e+02] [ 2.00388532e-02 9.99778160e-01 -6.48647420e-03 1.69369013e+01] [-3.11414233e-02 7.10877962e-03 9.99489708e-01 1.55450968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.089072329 meters Centerline goodness : 0.765316 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99299750e-01 -2.00768659e-02 3.15741941e-02 -2.92861953e+02] [ 2.02981055e-02 9.99771508e-01 -6.70209599e-03 1.69374228e+01] [-3.14324226e-02 7.33829917e-03 9.99478940e-01 1.55450931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.11907232899995 meters Centerline goodness : 0.766097 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99264176e-01 -2.06966466e-02 3.22917096e-02 -2.92863884e+02] [ 2.09395822e-02 9.99754794e-01 -7.20317229e-03 1.69382421e+01] [-3.21347099e-02 7.87404694e-03 9.99452530e-01 1.55451074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.149072329 meters Centerline goodness : 0.764974 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99257575e-01 -2.06693625e-02 3.25126976e-02 -2.92864647e+02] [ 2.09072350e-02 9.99756960e-01 -6.99338978e-03 1.69374921e+01] [-3.23602468e-02 7.66794833e-03 9.99446856e-01 1.55451293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.17907232899995 meters Centerline goodness : 0.763035 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99276592e-01 -2.02127759e-02 3.22139014e-02 -2.92864237e+02] [ 2.04326760e-02 9.99770025e-01 -6.51170627e-03 1.69365498e+01] [-3.20748733e-02 7.16521186e-03 9.99459785e-01 1.55451654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.209072329 meters Centerline goodness : 0.761799 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99304326e-01 -1.97872133e-02 3.16121844e-02 -2.92862751e+02] [ 1.99984031e-02 9.99779665e-01 -6.37846652e-03 1.69370917e+01] [-3.14790071e-02 7.00622239e-03 9.99479857e-01 1.55451635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.23907232899995 meters Centerline goodness : 0.762008 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99384199e-01 -1.61240081e-02 3.11647009e-02 -2.92862165e+02] [ 1.62380536e-02 9.99862340e-01 -3.40981110e-03 1.69412669e+01] [-3.11054310e-02 3.91376542e-03 9.99508446e-01 1.55452179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.269072329 meters Centerline goodness : 0.761217 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.94, Z:155.45 [[ 9.99437351e-01 -1.48850500e-02 3.00568783e-02 -2.92859434e+02] [ 1.49788088e-02 9.99883616e-01 -2.89661916e-03 1.69422363e+01] [-3.00102638e-02 3.34520562e-03 9.99543993e-01 1.55452305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.29907232899996 meters Centerline goodness : 0.760896 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.45 [[ 9.99566709e-01 -7.59189206e-03 2.84386718e-02 -2.92877030e+02] [ 7.87415361e-03 9.99920716e-01 -9.82646674e-03 1.69634558e+01] [-2.83618156e-02 1.00461395e-02 9.99547239e-01 1.55454342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.329072329 meters Centerline goodness : 0.760629 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.45 [[ 9.99569184e-01 -7.64474598e-03 2.83373311e-02 -2.92877086e+02] [ 7.93335964e-03 9.99917658e-01 -1.00865295e-02 1.69645734e+01] [-2.82578888e-02 1.03069943e-02 9.99547526e-01 1.55454854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.35907232899996 meters Centerline goodness : 0.760018 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99576146e-01 -7.55081610e-03 2.81160651e-02 -2.92876648e+02] [ 7.84016595e-03 9.99917291e-01 -1.01952846e-02 1.69655170e+01] [-2.80367569e-02 1.04113979e-02 9.99552671e-01 1.55455059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.389072329 meters Centerline goodness : 0.760387 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99569593e-01 -7.64417820e-03 2.83230369e-02 -2.92877353e+02] [ 7.93879714e-03 9.99915395e-01 -1.03042893e-02 1.69657032e+01] [-2.82418728e-02 1.05247051e-02 9.99545710e-01 1.55455281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41907232899996 meters Centerline goodness : 0.760501 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99563903e-01 -7.76430093e-03 2.84906906e-02 -2.92878839e+02] [ 8.06079605e-03 9.99914394e-01 -1.03066827e-02 1.69650678e+01] [-2.84082274e-02 1.05318457e-02 9.99540921e-01 1.55456652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.449072329 meters Centerline goodness : 0.761971 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99582424e-01 -7.40326794e-03 2.79315234e-02 -2.92877467e+02] [ 7.70092243e-03 9.99914544e-01 -1.05641002e-02 1.69674913e+01] [-2.78509276e-02 1.07747874e-02 9.99554015e-01 1.55456886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47907232899996 meters Centerline goodness : 0.759343 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99572579e-01 -7.86666231e-03 2.81562534e-02 -2.92878169e+02] [ 8.18022151e-03 9.99905612e-01 -1.10385894e-02 1.69683942e+01] [-2.80667589e-02 1.12641957e-02 9.99542583e-01 1.55456951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.509072329 meters Centerline goodness : 0.760576 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99577105e-01 -7.64964907e-03 2.80551982e-02 -2.92878096e+02] [ 7.95669045e-03 9.99909492e-01 -1.08489304e-02 1.69681616e+01] [-2.79696684e-02 1.10675690e-02 9.99547501e-01 1.55457125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53907232899996 meters Centerline goodness : 0.759965 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99597874e-01 -7.23829756e-03 2.74171055e-02 -2.92876621e+02] [ 7.53745670e-03 9.99913012e-01 -1.08238187e-02 1.69692588e+01] [-2.73363745e-02 1.10261214e-02 9.99565479e-01 1.55457359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.569072329 meters Centerline goodness : 0.759965 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99597874e-01 -7.23829756e-03 2.74171055e-02 -2.92876621e+02] [ 7.53745670e-03 9.99913012e-01 -1.08238187e-02 1.69692588e+01] [-2.73363745e-02 1.10261214e-02 9.99565479e-01 1.55457359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59907232899997 meters Centerline goodness : 0.757898 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99607668e-01 -6.97701629e-03 2.71262284e-02 -2.92876099e+02] [ 7.26950687e-03 9.99916340e-01 -1.06989522e-02 1.69695493e+01] [-2.70493122e-02 1.08919490e-02 9.99574760e-01 1.55457648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.629072329 meters Centerline goodness : 0.757181 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99586466e-01 -7.39589234e-03 2.77884315e-02 -2.92877764e+02] [ 7.69805015e-03 9.99912237e-01 -1.07823103e-02 1.69690710e+01] [-2.77062479e-02 1.09917682e-02 9.99555674e-01 1.55457528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65907232899997 meters Centerline goodness : 0.754135 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99561143e-01 -7.88309484e-03 2.85548178e-02 -2.92879897e+02] [ 8.19792829e-03 9.99906711e-01 -1.09253417e-02 1.69685181e+01] [-2.84660284e-02 1.11546374e-02 9.99532520e-01 1.55457678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68907232899994 meters Centerline goodness : 0.755724 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99532950e-01 -8.37633908e-03 2.93890885e-02 -2.92882113e+02] [ 8.70116839e-03 9.99902273e-01 -1.09422931e-02 1.69674449e+01] [-2.92945600e-02 1.11929019e-02 9.99508153e-01 1.55457652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71907232899997 meters Centerline goodness : 0.753513 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99543126e-01 -1.42124123e-02 2.66748245e-02 -2.92874430e+02] [ 1.43730013e-02 9.99879659e-01 -5.83818701e-03 1.69584423e+01] [-2.65886397e-02 6.21891698e-03 9.99627115e-01 1.55462648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74907232899994 meters Centerline goodness : 0.749524 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99494594e-01 -1.73828601e-02 2.66156447e-02 -2.92873141e+02] [ 1.76182562e-02 9.99807495e-01 -8.63544511e-03 1.69555549e+01] [-2.64604123e-02 9.10000195e-03 9.99608442e-01 1.55461260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.779072329 meters Centerline goodness : 0.746690 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.95, Z:155.46 [[ 9.99419985e-01 -2.06424826e-02 2.70847207e-02 -2.92872844e+02] [ 2.09461848e-02 9.99720335e-01 -1.09776282e-02 1.69506553e+01] [-2.68505405e-02 1.15385826e-02 9.99572864e-01 1.55459264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.80907232899995 meters Centerline goodness : 0.743486 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.95, Z:155.46 [[ 9.99468842e-01 -1.71258463e-02 2.77261653e-02 -2.92875284e+02] [ 1.73253498e-02 9.99825601e-01 -6.97131217e-03 1.69497785e+01] [-2.76019402e-02 7.44797481e-03 9.99591247e-01 1.55459931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.839072329 meters Centerline goodness : 0.744379 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.95, Z:155.46 [[ 9.99501743e-01 -1.61623433e-02 2.71117084e-02 -2.92873022e+02] [ 1.63421063e-02 9.99845835e-01 -6.42202797e-03 1.69508478e+01] [-2.70037337e-02 6.86189057e-03 9.99611781e-01 1.55459166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.86907232899995 meters Centerline goodness : 0.743534 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.95, Z:155.46 [[ 9.99417666e-01 -2.03949245e-02 2.73564534e-02 -2.92872458e+02] [ 2.06899297e-02 9.99730335e-01 -1.05443675e-02 1.69510730e+01] [-2.71340247e-02 1.11042303e-02 9.99570128e-01 1.55457762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.899072329 meters Centerline goodness : 0.744948 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.95, Z:155.46 [[ 9.99429765e-01 -2.00961851e-02 2.71346156e-02 -2.92871620e+02] [ 2.03851442e-02 9.99737955e-01 -1.04147768e-02 1.69516639e+01] [-2.69182078e-02 1.09619810e-02 9.99577533e-01 1.55457394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.92907232899995 meters Centerline goodness : 0.746170 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.95, Z:155.46 [[ 9.99439077e-01 -2.01141193e-02 2.67760058e-02 -2.92871250e+02] [ 2.04151290e-02 9.99730896e-01 -1.10162469e-02 1.69543056e+01] [-2.65472182e-02 1.15567032e-02 9.99580756e-01 1.55458272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.959072329 meters Centerline goodness : 0.745850 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99466073e-01 -1.96942480e-02 2.60711719e-02 -2.92869833e+02] [ 1.99901811e-02 9.99738119e-01 -1.11394035e-02 1.69561382e+01] [-2.58449621e-02 1.16546233e-02 9.99598023e-01 1.55458869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.98907232899995 meters Centerline goodness : 0.744490 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99510248e-01 -1.65354688e-02 2.65676899e-02 -2.92871735e+02] [ 1.67602749e-02 9.99825406e-01 -8.26134149e-03 1.69596430e+01] [-2.64264462e-02 8.70257727e-03 9.99612879e-01 1.55459566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.019072329 meters Centerline goodness : 0.742977 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99532187e-01 -1.61677570e-02 2.59617011e-02 -2.92869947e+02] [ 1.63901218e-02 9.99830595e-01 -8.37526814e-03 1.69617126e+01] [-2.58218938e-02 8.79686553e-03 9.99627853e-01 1.55459343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.04907232899996 meters Centerline goodness : 0.738831 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99579225e-01 -1.27860826e-02 2.60362921e-02 -2.92870609e+02] [ 1.29282667e-02 9.99902380e-01 -5.30000100e-03 1.69650359e+01] [-2.59659842e-02 5.63437502e-03 9.99646948e-01 1.55459831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.079072329 meters Centerline goodness : 0.739787 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99593558e-01 -1.25612906e-02 2.55916403e-02 -2.92869692e+02] [ 1.27017658e-02 9.99905103e-01 -5.33395801e-03 1.69658808e+01] [-2.55222104e-02 5.65684909e-03 9.99658250e-01 1.55460156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.10907232899996 meters Centerline goodness : 0.743897 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99623722e-01 -1.18233299e-02 2.47512129e-02 -2.92868570e+02] [ 1.19635411e-02 9.99913173e-01 -5.52442360e-03 1.69679008e+01] [-2.46837468e-02 5.81845703e-03 9.99678377e-01 1.55461688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.139072329 meters Centerline goodness : 0.745919 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99629416e-01 -1.18634816e-02 2.45008053e-02 -2.92868346e+02] [ 1.20114089e-02 9.99910458e-01 -5.89932838e-03 1.69694484e+01] [-2.44286249e-02 6.19143137e-03 9.99682404e-01 1.55462240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16907232899996 meters Centerline goodness : 0.745051 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99646162e-01 -1.13688517e-02 2.40478608e-02 -2.92867191e+02] [ 1.15048358e-02 9.99918559e-01 -5.52394676e-03 1.69692972e+01] [-2.39831013e-02 5.79865887e-03 9.99695547e-01 1.55462182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.199072329 meters Centerline goodness : 0.746341 Centerline is valid? [False, False] Translation: X:-292.86, Y:16.97, Z:155.46 [[ 9.99678008e-01 -1.02270196e-02 2.32225930e-02 -2.92864849e+02] [ 1.03378289e-02 9.99935721e-01 -4.65658760e-03 1.69686305e+01] [-2.31734773e-02 4.89515941e-03 9.99719474e-01 1.55461760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22907232899996 meters Centerline goodness : 0.747329 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99668497e-01 -1.05553220e-02 2.34836452e-02 -2.92865794e+02] [ 1.06774906e-02 9.99930075e-01 -5.08298665e-03 1.69696257e+01] [-2.34283505e-02 5.33204803e-03 9.99711299e-01 1.55462138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.259072329 meters Centerline goodness : 0.748152 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99674751e-01 -1.03539946e-02 2.33063918e-02 -2.92865748e+02] [ 1.04737769e-02 9.99932531e-01 -5.02326665e-03 1.69698164e+01] [-2.32528084e-02 5.26573878e-03 9.99715749e-01 1.55462634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28907232899996 meters Centerline goodness : 0.752803 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99682775e-01 -1.00708810e-02 2.30851881e-02 -2.92865988e+02] [ 1.01885888e-02 9.99935660e-01 -4.98690723e-03 1.69700602e+01] [-2.30334802e-02 5.22053075e-03 9.99721064e-01 1.55463694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.319072329 meters Centerline goodness : 0.753818 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99681326e-01 -1.00552187e-02 2.31546636e-02 -2.92866436e+02] [ 1.01715033e-02 9.99936215e-01 -4.90978991e-03 1.69698816e+01] [-2.31038177e-02 5.14374303e-03 9.99719839e-01 1.55463989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34907232899997 meters Centerline goodness : 0.757440 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99651033e-01 -1.08355392e-02 2.40915535e-02 -2.92869290e+02] [ 1.09650379e-02 9.99926102e-01 -5.24967853e-03 1.69691450e+01] [-2.40328901e-02 5.51201136e-03 9.99695973e-01 1.55464451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.379072329 meters Centerline goodness : 0.757902 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99622795e-01 -1.14805187e-02 2.49492734e-02 -2.92871682e+02] [ 1.16229634e-02 9.99916927e-01 -5.57187269e-03 1.69688985e+01] [-2.48832328e-02 5.85975544e-03 9.99673191e-01 1.55464655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40907232899997 meters Centerline goodness : 0.758480 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99590555e-01 -1.22064646e-02 2.58790445e-02 -2.92873825e+02] [ 1.23624131e-02 9.99906325e-01 -5.87464333e-03 1.69686824e+01] [-2.58049117e-02 6.19216542e-03 9.99647820e-01 1.55464227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43907232899994 meters Centerline goodness : 0.756076 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.97, Z:155.46 [[ 9.99597695e-01 -1.17128407e-02 2.58313473e-02 -2.92873440e+02] [ 1.18445679e-02 9.99917587e-01 -4.95240798e-03 1.69660103e+01] [-2.57712117e-02 5.25637675e-03 9.99654048e-01 1.55463640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46907232899997 meters Centerline goodness : 0.756122 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99561729e-01 -1.45991618e-02 2.57529544e-02 -2.92871452e+02] [ 1.47956405e-02 9.99862744e-01 -7.45538054e-03 1.69629118e+01] [-2.56405773e-02 7.83314451e-03 9.99640537e-01 1.55461387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49907232899994 meters Centerline goodness : 0.756577 Centerline is valid? [False, False] Translation: X:-292.87, Y:16.96, Z:155.46 [[ 9.99560819e-01 -1.42726043e-02 2.59703989e-02 -2.92872143e+02] [ 1.44538662e-02 9.99872379e-01 -6.80526684e-03 1.69609311e+01] [-2.58699556e-02 7.17765076e-03 9.99639548e-01 1.55461426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.529072329 meters Centerline goodness : 0.761352 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99510762e-01 -1.58172637e-02 2.69824060e-02 -2.92876017e+02] [ 1.60486600e-02 9.99836087e-01 -8.38091788e-03 1.69632080e+01] [-2.68454201e-02 8.80984908e-03 9.99600775e-01 1.55463034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.55907232899995 meters Centerline goodness : 0.759952 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99472625e-01 -1.67326359e-02 2.78296728e-02 -2.92878095e+02] [ 1.69890458e-02 9.99815144e-01 -9.00274293e-03 1.69639606e+01] [-2.76738888e-02 9.47079469e-03 9.99572138e-01 1.55462912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.589072329 meters Centerline goodness : 0.757961 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99491149e-01 -1.60668144e-02 2.75553961e-02 -2.92876054e+02] [ 1.62984933e-02 9.99833514e-01 -8.20384756e-03 1.69631617e+01] [-2.74189988e-02 8.64878446e-03 9.99586613e-01 1.55460972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.61907232899995 meters Centerline goodness : 0.757401 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99486333e-01 -1.60224236e-02 2.77552041e-02 -2.92876211e+02] [ 1.62491385e-02 9.99836271e-01 -7.96216783e-03 1.69624919e+01] [-2.76230865e-02 8.40907608e-03 9.99583039e-01 1.55460390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.649072329 meters Centerline goodness : 0.759208 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99475656e-01 -1.61791469e-02 2.80472434e-02 -2.92877162e+02] [ 1.64117479e-02 9.99832647e-01 -8.08290698e-03 1.69627759e+01] [-2.79117751e-02 8.53897304e-03 9.99573919e-01 1.55460682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.67907232899995 meters Centerline goodness : 0.760682 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.96, Z:155.46 [[ 9.99445034e-01 -1.68410975e-02 2.87402471e-02 -2.92879397e+02] [ 1.71002329e-02 9.99815101e-01 -8.79460809e-03 1.69641483e+01] [-2.85868222e-02 9.28119230e-03 9.99548224e-01 1.55461391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.709072329 meters Centerline goodness : 0.766152 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99390664e-01 -1.84847316e-02 2.96076911e-02 -2.92883431e+02] [ 1.88044221e-02 9.99767458e-01 -1.05557282e-02 1.69662319e+01] [-2.94056863e-02 1.11060517e-02 9.99505859e-01 1.55463892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.73907232899995 meters Centerline goodness : 0.768355 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99401439e-01 -1.83015808e-02 2.93567048e-02 -2.92883430e+02] [ 1.86174090e-02 9.99771321e-01 -1.05212667e-02 1.69666064e+01] [-2.91574358e-02 1.10615148e-02 9.99513625e-01 1.55464744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.769072329 meters Centerline goodness : 0.767256 Centerline is valid? [False, False] Translation: X:-292.88, Y:16.97, Z:155.46 [[ 9.99385869e-01 -1.85408900e-02 2.97341615e-02 -2.92884240e+02] [ 1.88673909e-02 9.99764331e-01 -1.07379309e-02 1.69673192e+01] [-2.95280633e-02 1.12923425e-02 9.99500163e-01 1.55464619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.79907232899996 meters Centerline goodness : 0.767184 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.97, Z:155.46 [[ 9.99343589e-01 -1.92186076e-02 3.07088984e-02 -2.92886416e+02] [ 1.95625185e-02 9.99748801e-01 -1.09381157e-02 1.69669004e+01] [-3.04909690e-02 1.15316792e-02 9.99468519e-01 1.55464158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.829072329 meters Centerline goodness : 0.766857 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.97, Z:155.46 [[ 9.99342902e-01 -1.89716650e-02 3.08843164e-02 -2.92886469e+02] [ 1.92993997e-02 9.99760193e-01 -1.03483793e-02 1.69652925e+01] [-3.06805841e-02 1.09376281e-02 9.99469394e-01 1.55463483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.85907232899996 meters Centerline goodness : 0.764761 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99250787e-01 -2.24978500e-02 3.14914468e-02 -2.92886276e+02] [ 2.29245891e-02 9.99649308e-01 -1.32560895e-02 1.69619956e+01] [-3.11821695e-02 1.39680864e-02 9.99416112e-01 1.55461226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.889072329 meters Centerline goodness : 0.761417 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99257072e-01 -2.20128081e-02 3.16344739e-02 -2.92886392e+02] [ 2.24109567e-02 9.99673337e-01 -1.22868994e-02 1.69592849e+01] [-3.13536709e-02 1.29867300e-02 9.99423980e-01 1.55460701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91907232899996 meters Centerline goodness : 0.763822 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99235870e-01 -2.23161180e-02 3.20884232e-02 -2.92887490e+02] [ 2.27330984e-02 9.99661039e-01 -1.26891140e-02 1.69604957e+01] [-3.17943747e-02 1.34088872e-02 9.99404482e-01 1.55460682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.949072329 meters Centerline goodness : 0.764971 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99213012e-01 -2.24393772e-02 3.27082634e-02 -2.92889421e+02] [ 2.28556478e-02 9.99661762e-01 -1.24088946e-02 1.69588305e+01] [-3.24187524e-02 1.31466975e-02 9.99387907e-01 1.55461054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97907232899996 meters Centerline goodness : 0.763268 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99183677e-01 -2.26845739e-02 3.34273820e-02 -2.92891164e+02] [ 2.31101875e-02 9.99656001e-01 -1.24015609e-02 1.69584524e+01] [-3.31345589e-02 1.31639503e-02 9.99364204e-01 1.55460916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.009072329 meters Centerline goodness : 0.764943 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.96, Z:155.46 [[ 9.99157059e-01 -2.27910362e-02 3.41429286e-02 -2.92892473e+02] [ 2.32133644e-02 9.99658218e-01 -1.20244590e-02 1.69570183e+01] [-3.38572093e-02 1.28068953e-02 9.99344622e-01 1.55460139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03907232899996 meters Centerline goodness : 0.765761 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.96, Z:155.46 [[ 9.99084907e-01 -2.39868025e-02 3.54116046e-02 -2.92895240e+02] [ 2.44602854e-02 9.99616291e-01 -1.29986593e-02 1.69586036e+01] [-3.50862206e-02 1.38529423e-02 9.99288273e-01 1.55459709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.069072329 meters Centerline goodness : 0.766057 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.96, Z:155.46 [[ 9.98996230e-01 -2.58998988e-02 3.65476068e-02 -2.92899014e+02] [ 2.64295144e-02 9.99551473e-01 -1.40830888e-02 1.69574178e+01] [-3.61664636e-02 1.50348882e-02 9.99232675e-01 1.55460730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09907232899997 meters Centerline goodness : 0.765459 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.96, Z:155.46 [[ 9.98886883e-01 -2.81542833e-02 3.78461502e-02 -2.92902713e+02] [ 2.87774803e-02 9.99457399e-01 -1.60238464e-02 1.69595603e+01] [-3.73744749e-02 1.70951268e-02 9.99155096e-01 1.55461459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.129072329 meters Centerline goodness : 0.766749 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.96, Z:155.46 [[ 9.98876224e-01 -2.80796181e-02 3.81814541e-02 -2.92903688e+02] [ 2.86934759e-02 9.99466122e-01 -1.56254874e-02 1.69580671e+01] [-3.77223122e-02 1.67034865e-02 9.99148648e-01 1.55461582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15907232899997 meters Centerline goodness : 0.767224 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.96, Z:155.46 [[ 9.98857839e-01 -2.83539032e-02 3.84587182e-02 -2.92904534e+02] [ 2.89884895e-02 9.99450973e-01 -1.60443150e-02 1.69594684e+01] [-3.79826844e-02 1.71408499e-02 9.99131376e-01 1.55461834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18907232899994 meters Centerline goodness : 0.768153 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98829846e-01 -2.86630514e-02 3.89534235e-02 -2.92905745e+02] [ 2.93138756e-02 9.99438314e-01 -1.62404746e-02 1.69599409e+01] [-3.84660423e-02 1.73633466e-02 9.99109042e-01 1.55461892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21907232899997 meters Centerline goodness : 0.766330 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98796785e-01 -2.89379873e-02 3.95926059e-02 -2.92907017e+02] [ 2.96039570e-02 9.99428160e-01 -1.63388513e-02 1.69599820e+01] [-3.90971518e-02 1.74912900e-02 9.99082313e-01 1.55461388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24907232899994 meters Centerline goodness : 0.766242 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98748905e-01 -2.92463100e-02 4.05620331e-02 -2.92908932e+02] [ 2.99064431e-02 9.99428381e-01 -1.57643738e-02 1.69572375e+01] [-4.00777973e-02 1.69577172e-02 9.99052654e-01 1.55460421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.279072329 meters Centerline goodness : 0.765534 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98711171e-01 -2.95900628e-02 4.12362017e-02 -2.92910401e+02] [ 3.02675883e-02 9.99415298e-01 -1.59039155e-02 1.69572389e+01] [-4.07414930e-02 1.71315384e-02 9.99022843e-01 1.55460078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.30907232899995 meters Centerline goodness : 0.766514 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98709563e-01 -2.94341606e-02 4.13864667e-02 -2.92910653e+02] [ 3.01017464e-02 9.99425084e-01 -1.56008370e-02 1.69566359e+01] [-4.09034754e-02 1.68265100e-02 9.99021408e-01 1.55459853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.339072329 meters Centerline goodness : 0.766392 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98715288e-01 -2.95103956e-02 4.11935573e-02 -2.92910181e+02] [ 3.01922486e-02 9.99415571e-01 -1.60294826e-02 1.69587154e+01] [-4.06964463e-02 1.72526154e-02 9.99022596e-01 1.55459959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.36907232899995 meters Centerline goodness : 0.765673 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98691846e-01 -2.98252699e-02 4.15337111e-02 -2.92910834e+02] [ 3.05290175e-02 9.99399100e-01 -1.64139678e-02 1.69599354e+01] [-4.10192025e-02 1.76604792e-02 9.99002269e-01 1.55459718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.399072329 meters Centerline goodness : 0.766302 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98681841e-01 -2.98939860e-02 4.17244439e-02 -2.92910820e+02] [ 3.06048316e-02 9.99395314e-01 -1.65030381e-02 1.69606314e+01] [-4.12058721e-02 1.77582541e-02 9.98992853e-01 1.55459018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.42907232899995 meters Centerline goodness : 0.764238 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98536497e-01 -3.37901585e-02 4.22266405e-02 -2.92910826e+02] [ 3.46608510e-02 9.99197786e-01 -2.00601603e-02 1.69588993e+01] [-4.15149297e-02 2.14944135e-02 9.98906653e-01 1.55457622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.459072329 meters Centerline goodness : 0.764032 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98547623e-01 -3.35039360e-02 4.21915905e-02 -2.92910742e+02] [ 3.43593904e-02 9.99215047e-01 -1.97160282e-02 1.69583672e+01] [-4.14979076e-02 2.11370705e-02 9.98914985e-01 1.55457610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.48907232899995 meters Centerline goodness : 0.764032 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98547623e-01 -3.35039360e-02 4.21915905e-02 -2.92910742e+02] [ 3.43593904e-02 9.99215047e-01 -1.97160282e-02 1.69583672e+01] [-4.14979076e-02 2.11370705e-02 9.98914985e-01 1.55457610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.519072329 meters Centerline goodness : 0.766493 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98503648e-01 -3.42208904e-02 4.26543814e-02 -2.92912877e+02] [ 3.51292703e-02 9.99167720e-01 -2.07316440e-02 1.69606463e+01] [-4.19094257e-02 2.21990394e-02 9.98874768e-01 1.55459150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.54907232899996 meters Centerline goodness : 0.767471 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98535634e-01 -3.22636130e-02 4.34240403e-02 -2.92916753e+02] [ 3.31011867e-02 9.99276876e-01 -1.87092675e-02 1.69633881e+01] [-4.27890108e-02 2.01192576e-02 9.98881533e-01 1.55461421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.579072329 meters Centerline goodness : 0.767894 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98536613e-01 -3.21609378e-02 4.34776551e-02 -2.92917577e+02] [ 3.29946608e-02 9.99282512e-01 -1.85960838e-02 1.69631025e+01] [-4.28483929e-02 2.00034010e-02 9.98881314e-01 1.55462372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.60907232899996 meters Centerline goodness : 0.767908 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98544013e-01 -3.20197629e-02 4.34118565e-02 -2.92917623e+02] [ 3.28506217e-02 9.99287882e-01 -1.85624523e-02 1.69634459e+01] [-4.27865768e-02 1.99615321e-02 9.98884801e-01 1.55462673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.639072329 meters Centerline goodness : 0.767897 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98564473e-01 -3.17351963e-02 4.31494067e-02 -2.92917176e+02] [ 3.25571690e-02 9.99298979e-01 -1.84818987e-02 1.69639990e+01] [-4.25326314e-02 1.98601899e-02 9.98897666e-01 1.55463007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66907232899996 meters Centerline goodness : 0.767292 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98529721e-01 -3.20536366e-02 4.37145411e-02 -2.92918706e+02] [ 3.28945015e-02 9.99284744e-01 -1.86534575e-02 1.69640801e+01] [-4.30853628e-02 2.00639997e-02 9.98869905e-01 1.55463141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.699072329 meters Centerline goodness : 0.765483 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98518976e-01 -3.20658684e-02 4.39503604e-02 -2.92918815e+02] [ 3.29049430e-02 9.99287204e-01 -1.85026465e-02 1.69637347e+01] [-4.33257294e-02 1.99214277e-02 9.98862362e-01 1.55462366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72907232899996 meters Centerline goodness : 0.764788 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98540166e-01 -3.17233947e-02 4.37168570e-02 -2.92918060e+02] [ 3.25389859e-02 9.99307060e-01 -1.80724831e-02 1.69629771e+01] [-4.31132433e-02 1.94686024e-02 9.98880484e-01 1.55462044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.759072329 meters Centerline goodness : 0.764713 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98533580e-01 -3.18352240e-02 4.37859315e-02 -2.92918080e+02] [ 3.26616077e-02 9.99299120e-01 -1.82889971e-02 1.69638559e+01] [-4.31730085e-02 1.96922967e-02 9.98873518e-01 1.55461830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78907232899996 meters Centerline goodness : 0.763639 Centerline is valid? [False, False] Translation: X:-292.92, Y:16.96, Z:155.46 [[ 9.98693649e-01 -2.72595773e-02 4.32193423e-02 -2.92916667e+02] [ 2.78730992e-02 9.99518173e-01 -1.36569478e-02 1.69637457e+01] [-4.28262355e-02 1.48437640e-02 9.98972260e-01 1.55461277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.819072329 meters Centerline goodness : 0.760806 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98759456e-01 -2.57871464e-02 4.25978025e-02 -2.92914190e+02] [ 2.63357007e-02 9.99576656e-01 -1.23668458e-02 1.69629993e+01] [-4.22608633e-02 1.34733472e-02 9.99015760e-01 1.55460080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84907232899997 meters Centerline goodness : 0.758126 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98868110e-01 -2.31143516e-02 4.15719375e-02 -2.92911255e+02] [ 2.35471653e-02 9.99673193e-01 -9.95178202e-03 1.69610228e+01] [-4.13283225e-02 1.09194190e-02 9.99085950e-01 1.55459364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.879072329 meters Centerline goodness : 0.759093 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98909890e-01 -2.24476800e-02 4.09283959e-02 -2.92909803e+02] [ 2.28592481e-02 9.99692450e-01 -9.61564308e-03 1.69612833e+01] [-4.06999595e-02 1.05407533e-02 9.99115812e-01 1.55459571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90907232899997 meters Centerline goodness : 0.758117 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98944454e-01 -2.20772918e-02 4.02811618e-02 -2.92908611e+02] [ 2.24808971e-02 9.99701234e-01 -9.59434995e-03 1.69619753e+01] [-4.00573099e-02 1.04897793e-02 9.99142320e-01 1.55460127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93907232899994 meters Centerline goodness : 0.758967 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.99001582e-01 -2.10732466e-02 3.93923415e-02 -2.92906721e+02] [ 2.14493410e-02 9.99728072e-01 -9.14922610e-03 1.69623675e+01] [-3.91888257e-02 9.98503111e-03 9.99181933e-01 1.55460609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96907232899997 meters Centerline goodness : 0.759963 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.96, Z:155.46 [[ 9.98995210e-01 -2.12230995e-02 3.94734059e-02 -2.92907383e+02] [ 2.16087089e-02 9.99722614e-01 -9.36793292e-03 1.69627598e+01] [-3.92636399e-02 1.02114895e-02 9.99176707e-01 1.55461247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99907232899994 meters Centerline goodness : 0.760397 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99065334e-01 -1.78512811e-02 3.93673650e-02 -2.92908085e+02] [ 1.81230063e-02 9.99814269e-01 -6.55623884e-03 1.69668075e+01] [-3.92430160e-02 7.26356595e-03 9.99203296e-01 1.55462491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.029072329 meters Centerline goodness : 0.760359 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99085822e-01 -1.77822247e-02 3.88755965e-02 -2.92907145e+02] [ 1.80663523e-02 9.99812498e-01 -6.96956426e-03 1.69687931e+01] [-3.87443729e-02 7.66553307e-03 9.99219752e-01 1.55462942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.05907232899995 meters Centerline goodness : 0.760742 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99072265e-01 -1.79399127e-02 3.91505835e-02 -2.92907621e+02] [ 1.82313908e-02 9.99808580e-01 -7.10074354e-03 1.69690672e+01] [-3.90157026e-02 7.80792552e-03 9.99208092e-01 1.55462595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.089072329 meters Centerline goodness : 0.756881 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99087099e-01 -1.75419916e-02 3.89518592e-02 -2.92906662e+02] [ 1.78130682e-02 9.99819398e-01 -6.62312685e-03 1.69682511e+01] [-3.88286416e-02 7.31093271e-03 9.99219139e-01 1.55461849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.11907232899995 meters Centerline goodness : 0.756185 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99095079e-01 -1.73700288e-02 3.88240281e-02 -2.92906300e+02] [ 1.76357353e-02 9.99823273e-01 -6.51187538e-03 1.69681163e+01] [-3.87040554e-02 7.19067293e-03 9.99224845e-01 1.55461709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.149072329 meters Centerline goodness : 0.756641 Centerline is valid? [False, False] Translation: X:-292.91, Y:16.97, Z:155.46 [[ 9.99084827e-01 -1.75897650e-02 3.89885665e-02 -2.92907077e+02] [ 1.78697895e-02 9.99816889e-01 -6.84537643e-03 1.69688566e+01] [-3.88610187e-02 7.53582921e-03 9.99216209e-01 1.55462233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.17907232899995 meters Centerline goodness : 0.758013 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.97, Z:155.46 [[ 9.99148531e-01 -1.65211978e-02 3.78056068e-02 -2.92904902e+02] [ 1.67786906e-02 9.99838075e-01 -6.50383368e-03 1.69694177e+01] [-3.76920340e-02 7.13262444e-03 9.99263947e-01 1.55463318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.209072329 meters Centerline goodness : 0.756463 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.97, Z:155.46 [[ 9.99181426e-01 -1.61825387e-02 3.70756387e-02 -2.92903002e+02] [ 1.64489310e-02 9.99840958e-01 -6.89135235e-03 1.69720338e+01] [-3.69582225e-02 7.49556589e-03 9.99288700e-01 1.55463260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.23907232899995 meters Centerline goodness : 0.756559 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.97, Z:155.46 [[ 9.99231686e-01 -1.50197598e-02 3.62000683e-02 -2.92899919e+02] [ 1.52437046e-02 9.99866293e-01 -5.91825042e-03 1.69715811e+01] [-3.61063374e-02 6.46552649e-03 9.99327038e-01 1.55462126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.269072329 meters Centerline goodness : 0.753797 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.98, Z:155.46 [[ 9.99334284e-01 -1.02013142e-02 3.50274574e-02 -2.92897034e+02] [ 1.02852959e-02 9.99944645e-01 -2.21824204e-03 1.69759473e+01] [-3.50028895e-02 2.57703309e-03 9.99383889e-01 1.55462282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.29907232899996 meters Centerline goodness : 0.753573 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.98, Z:155.46 [[ 9.99364353e-01 -9.97915417e-03 3.42243565e-02 -2.92895226e+02] [ 1.00775692e-02 9.99945563e-01 -2.70428611e-03 1.69785203e+01] [-3.41955070e-02 3.04746546e-03 9.99410516e-01 1.55462687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.329072329 meters Centerline goodness : 0.754462 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.98, Z:155.46 [[ 9.99392628e-01 -9.65796546e-03 3.34828177e-02 -2.92893889e+02] [ 9.75929629e-03 9.99948275e-01 -2.86424112e-03 1.69798249e+01] [-3.34534231e-02 3.18927020e-03 9.99435189e-01 1.55463462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.35907232899996 meters Centerline goodness : 0.755163 Centerline is valid? [False, False] Translation: X:-292.90, Y:16.98, Z:155.46 [[ 9.99381047e-01 -9.98174229e-03 3.37325873e-02 -2.92895122e+02] [ 1.01015220e-02 9.99943258e-01 -3.38230064e-03 1.69809408e+01] [-3.36969120e-02 3.72095763e-03 9.99425171e-01 1.55464313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.389072329 meters Centerline goodness : 0.755775 Centerline is valid? [False, False] Translation: X:-292.89, Y:16.98, Z:155.47 [[ 9.99466757e-01 -4.60385228e-03 3.23265439e-02 -2.92893253e+02] [ 4.60446386e-03 9.99989398e-01 5.55242300e-05 1.69842726e+01] [-3.23264568e-02 9.33517810e-05 9.99477359e-01 1.55467026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41907232899996 meters Centerline goodness : 0.756238 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.00, Z:155.47 [[ 9.99566882e-01 2.55277991e-03 2.93177558e-02 -2.92904572e+02] [-2.34180778e-03 9.99971135e-01 -7.22813604e-03 1.69986839e+01] [-2.93353614e-02 7.15634886e-03 9.99544008e-01 1.55466533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.449072329 meters Centerline goodness : 0.755054 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.00, Z:155.47 [[ 9.99580967e-01 8.24271383e-03 2.77479268e-02 -2.92900726e+02] [-8.16648692e-03 9.99962566e-01 -2.85932613e-03 1.70006942e+01] [-2.77704567e-02 2.63152490e-03 9.99610863e-01 1.55466991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47907232899996 meters Centerline goodness : 0.754713 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.00, Z:155.47 [[ 9.99601951e-01 9.42283450e-03 2.65922858e-02 -2.92897756e+02] [-9.35717738e-03 9.99952860e-01 -2.59238848e-03 1.70023756e+01] [-2.66154599e-02 2.34252784e-03 9.99643001e-01 1.55467085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.509072329 meters Centerline goodness : 0.753061 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.02, Z:155.47 [[ 9.99781320e-01 1.36584346e-02 1.58353760e-02 -2.92903770e+02] [-1.35527691e-02 9.99885299e-01 -6.76097549e-03 1.70171560e+01] [-1.59259040e-02 6.54488380e-03 9.99851754e-01 1.55471045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53907232899996 meters Centerline goodness : 0.754901 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.02, Z:155.48 [[ 9.99721517e-01 1.97407627e-02 1.29302334e-02 -2.92898036e+02] [-1.96803924e-02 9.99794897e-01 -4.77965387e-03 1.70225095e+01] [-1.30219354e-02 4.52385074e-03 9.99904977e-01 1.55475509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.569072329 meters Centerline goodness : 0.755978 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.03, Z:155.48 [[ 9.99652771e-01 2.29003094e-02 1.30350877e-02 -2.92899748e+02] [-2.28726356e-02 9.99735814e-01 -2.26818293e-03 1.70263671e+01] [-1.30835861e-02 1.96924854e-03 9.99912467e-01 1.55477754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59907232899997 meters Centerline goodness : 0.757868 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.03, Z:155.48 [[ 9.99646393e-01 2.36898298e-02 1.20781422e-02 -2.92897534e+02] [-2.36632446e-02 9.99717249e-01 -2.33929445e-03 1.70284266e+01] [-1.21301446e-02 2.05265922e-03 9.99924320e-01 1.55478312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.629072329 meters Centerline goodness : 0.757505 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.03, Z:155.48 [[ 9.99621425e-01 2.52471597e-02 1.09355866e-02 -2.92895508e+02] [-2.52255146e-02 9.99679553e-01 -2.11277739e-03 1.70304709e+01] [-1.09854239e-02 1.83612174e-03 9.99937973e-01 1.55479778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65907232899997 meters Centerline goodness : 0.756271 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.04, Z:155.49 [[ 9.99667955e-01 2.57295451e-02 -1.40398280e-03 -2.92899521e+02] [-2.57357273e-02 9.99658295e-01 -4.57890451e-03 1.70432705e+01] [ 1.28568992e-03 4.61351662e-03 9.99988531e-01 1.55485525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68907232899994 meters Centerline goodness : 0.755190 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.49 [[ 9.99686067e-01 2.45047379e-02 -5.22362239e-03 -2.92889206e+02] [-2.44822880e-02 9.99690933e-01 4.31923404e-03 1.70387744e+01] [ 5.32784964e-03 -4.18999186e-03 9.99977029e-01 1.55491555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71907232899997 meters Centerline goodness : 0.755317 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.49 [[ 9.99573462e-01 2.86349244e-02 -5.73884310e-03 -2.92887876e+02] [-2.85905723e-02 9.99561803e-01 7.66693353e-03 1.70422902e+01] [ 5.95587042e-03 -7.49958649e-03 9.99954141e-01 1.55492111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74907232899994 meters Centerline goodness : 0.755073 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.49 [[ 9.99563452e-01 2.88255815e-02 -6.47999655e-03 -2.92886505e+02] [-2.87789910e-02 9.99560071e-01 7.17171161e-03 1.70447859e+01] [ 6.68387457e-03 -6.98209305e-03 9.99953287e-01 1.55492957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.779072329 meters Centerline goodness : 0.757621 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.05, Z:155.49 [[ 9.99443165e-01 3.26685454e-02 -6.79156864e-03 -2.92886402e+02] [-3.25998439e-02 9.99418540e-01 9.99161224e-03 1.70491466e+01] [ 7.11403105e-03 -9.76464448e-03 9.99927018e-01 1.55494431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.80907232899995 meters Centerline goodness : 0.756252 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.50 [[ 9.99416622e-01 3.32694354e-02 -7.71757288e-03 -2.92884502e+02] [-3.31931469e-02 9.99400800e-01 9.81106008e-03 1.70511446e+01] [ 8.03935694e-03 -9.54916599e-03 9.99922088e-01 1.55495222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.839072329 meters Centerline goodness : 0.757590 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.50 [[ 9.99403371e-01 3.34881739e-02 -8.45249275e-03 -2.92882913e+02] [-3.34103194e-02 9.99399468e-01 9.18987466e-03 1.70543269e+01] [ 8.75516888e-03 -8.90199123e-03 9.99922048e-01 1.55495826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.86907232899995 meters Centerline goodness : 0.757857 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.06, Z:155.50 [[ 9.99327757e-01 3.54174525e-02 -9.46770154e-03 -2.92879784e+02] [-3.53208334e-02 9.99324127e-01 1.01846860e-02 1.70553724e+01] [ 9.82201820e-03 -9.84343232e-03 9.99903313e-01 1.55495622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.899072329 meters Centerline goodness : 0.758154 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.06, Z:155.50 [[ 9.99326037e-01 3.53876181e-02 -9.75648198e-03 -2.92879446e+02] [-3.52914293e-02 9.99328413e-01 9.86093184e-03 1.70565002e+01] [ 1.00988845e-02 -9.50996574e-03 9.99903782e-01 1.55496098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.92907232899995 meters Centerline goodness : 0.757320 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.06, Z:155.50 [[ 9.99426397e-01 3.21442986e-02 -1.06593473e-02 -2.92877143e+02] [-3.20805412e-02 9.99466676e-01 6.09939041e-03 1.70574140e+01] [ 1.08497231e-02 -5.75393415e-03 9.99924585e-01 1.55495915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.959072329 meters Centerline goodness : 0.757979 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.06, Z:155.50 [[ 9.99516975e-01 2.88754460e-02 -1.14901997e-02 -2.92875266e+02] [-2.88478496e-02 9.99580535e-01 2.56029870e-03 1.70571672e+01] [ 1.15593098e-02 -2.22759446e-03 9.99930708e-01 1.55495907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.98907232899995 meters Centerline goodness : 0.756927 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.06, Z:155.50 [[ 9.99520625e-01 2.87727162e-02 -1.14303089e-02 -2.92875468e+02] [-2.87471765e-02 9.99583851e-01 2.39246609e-03 1.70576140e+01] [ 1.14943900e-02 -2.06273009e-03 9.99931810e-01 1.55495989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.019072329 meters Centerline goodness : 0.757435 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.06, Z:155.50 [[ 9.99517486e-01 2.87483031e-02 -1.17613624e-02 -2.92874761e+02] [-2.87263356e-02 9.99585247e-01 2.03249342e-03 1.70594095e+01] [ 1.18149150e-02 -1.69365187e-03 9.99928767e-01 1.55496304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.04907232899996 meters Centerline goodness : 0.758644 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.06, Z:155.50 [[ 9.99597905e-01 2.38290219e-02 -1.53689898e-02 -2.92865769e+02] [-2.37117315e-02 9.99688648e-01 7.76925392e-03 1.70552510e+01] [ 1.55493384e-02 -7.40170458e-03 9.99851705e-01 1.55503716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.079072329 meters Centerline goodness : 0.759525 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.50 [[ 9.99601746e-01 2.38140413e-02 -1.51406888e-02 -2.92866672e+02] [-2.36971264e-02 9.99688324e-01 7.85499477e-03 1.70545178e+01] [ 1.53230290e-02 -7.49307567e-03 9.99854519e-01 1.55503993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.10907232899996 meters Centerline goodness : 0.760519 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.50 [[ 9.99673737e-01 2.00787172e-02 -1.57881075e-02 -2.92865541e+02] [-2.00199428e-02 9.99792083e-01 3.87199885e-03 1.70548573e+01] [ 1.58625696e-02 -3.55465856e-03 9.99867863e-01 1.55504407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.139072329 meters Centerline goodness : 0.761398 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.50 [[ 9.99752148e-01 1.59087051e-02 -1.55741939e-02 -2.92866248e+02] [-1.59107586e-02 9.99873416e-01 -7.94668864e-06 1.70537899e+01] [ 1.55720960e-02 2.55741957e-04 9.99878715e-01 1.55504305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16907232899996 meters Centerline goodness : 0.760634 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.51 [[ 9.99790878e-01 1.43779467e-02 -1.45421946e-02 -2.92869847e+02] [-1.43953599e-02 9.99895784e-01 -1.09345838e-03 1.70542168e+01] [ 1.45249574e-02 1.30256984e-03 9.99893659e-01 1.55505114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.199072329 meters Centerline goodness : 0.759220 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.51 [[ 9.99792414e-01 1.43528521e-02 -1.44611397e-02 -2.92870136e+02] [-1.43711371e-02 9.99896056e-01 -1.16129489e-03 1.70545401e+01] [ 1.44429687e-02 1.36887684e-03 9.99894758e-01 1.55505165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22907232899996 meters Centerline goodness : 0.760512 Centerline is valid? [False, False] Translation: X:-292.87, Y:17.05, Z:155.51 [[ 9.99831814e-01 1.24184615e-02 -1.34953869e-02 -2.92873860e+02] [-1.24533011e-02 9.99919328e-01 -2.50062661e-03 1.70546131e+01] [ 1.34632442e-02 2.66826816e-03 9.99905806e-01 1.55506345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.259072329 meters Centerline goodness : 0.762493 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99850060e-01 1.17799803e-02 -1.26921111e-02 -2.92876499e+02] [-1.18178362e-02 9.99925927e-01 -2.91176980e-03 1.70544141e+01] [ 1.26568704e-02 3.06132650e-03 9.99915212e-01 1.55506857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28907232899996 meters Centerline goodness : 0.761422 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99891691e-01 7.76384572e-03 -1.25031472e-02 -2.92876848e+02] [-7.84589643e-03 9.99947920e-01 -6.52677794e-03 1.70528148e+01] [ 1.24518231e-02 6.62416943e-03 9.99900531e-01 1.55506521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.319072329 meters Centerline goodness : 0.760391 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99895572e-01 7.88417286e-03 -1.21113500e-02 -2.92877530e+02] [-7.95930114e-03 9.99949304e-01 -6.16750470e-03 1.70519146e+01] [ 1.20621103e-02 6.26325852e-03 9.99907634e-01 1.55506016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34907232899997 meters Centerline goodness : 0.761061 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99895979e-01 8.10636559e-03 -1.19297521e-02 -2.92877932e+02] [-8.17481130e-03 9.99950341e-01 -5.69985950e-03 1.70506287e+01] [ 1.18829545e-02 5.79679006e-03 9.99912592e-01 1.55505829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.379072329 meters Centerline goodness : 0.761061 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99895979e-01 8.10636559e-03 -1.19297521e-02 -2.92877932e+02] [-8.17481130e-03 9.99950341e-01 -5.69985950e-03 1.70506287e+01] [ 1.18829545e-02 5.79679006e-03 9.99912592e-01 1.55505829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40907232899997 meters Centerline goodness : 0.762025 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.51 [[ 9.99912346e-01 7.35259847e-03 -1.10109235e-02 -2.92880221e+02] [-7.42135012e-03 9.99953140e-01 -6.21616137e-03 1.70514484e+01] [ 1.09647025e-02 6.29733241e-03 9.99920056e-01 1.55505719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43907232899994 meters Centerline goodness : 0.760359 Centerline is valid? [False, False] Translation: X:-292.88, Y:17.05, Z:155.50 [[ 9.99937404e-01 5.93734388e-03 -9.48341378e-03 -2.92883769e+02] [-5.99706151e-03 9.99962291e-01 -6.28108508e-03 1.70491796e+01] [ 9.44576321e-03 6.33756453e-03 9.99935304e-01 1.55504632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46907232899997 meters Centerline goodness : 0.759928 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.05, Z:155.50 [[ 9.99949555e-01 5.51137304e-03 -8.39720428e-03 -2.92886130e+02] [-5.56211980e-03 9.99966339e-01 -6.03197141e-03 1.70474081e+01] [ 8.36367718e-03 6.07837338e-03 9.99946550e-01 1.55503847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49907232899994 meters Centerline goodness : 0.759073 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.50 [[ 9.99968258e-01 1.53299464e-03 -7.81881293e-03 -2.92887245e+02] [-1.60552540e-03 9.99955664e-01 -9.27861521e-03 1.70440561e+01] [ 7.80424220e-03 9.29087399e-03 9.99926384e-01 1.55503075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.529072329 meters Centerline goodness : 0.759262 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.50 [[ 9.99976991e-01 1.36157068e-04 -6.78219884e-03 -2.92890896e+02] [-2.05159814e-04 9.99948218e-01 -1.01744401e-02 1.70438415e+01] [ 6.78046232e-03 1.01755974e-02 9.99925238e-01 1.55504034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.55907232899995 meters Centerline goodness : 0.760186 Centerline is valid? [False, False] Translation: X:-292.89, Y:17.04, Z:155.50 [[ 9.99982192e-01 -3.14695068e-04 -5.95962723e-03 -2.92893207e+02] [ 2.52995596e-04 9.99946397e-01 -1.03508334e-02 1.70435441e+01] [ 5.96256513e-03 1.03491413e-02 9.99928669e-01 1.55504230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.589072329 meters Centerline goodness : 0.762207 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.05, Z:155.50 [[ 9.99986979e-01 -1.94716748e-03 -4.71698706e-03 -2.92896865e+02] [ 1.89236552e-03 9.99930988e-01 -1.15947361e-02 1.70450745e+01] [ 4.73923842e-03 1.15856589e-02 9.99921653e-01 1.55504810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.61907232899995 meters Centerline goodness : 0.761511 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.04, Z:155.50 [[ 9.99988839e-01 -2.09953641e-03 -4.23249465e-03 -2.92897937e+02] [ 2.05077257e-03 9.99931851e-01 -1.14929033e-02 1.70445249e+01] [ 4.25633598e-03 1.14840952e-02 9.99924997e-01 1.55504556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.649072329 meters Centerline goodness : 0.761381 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.04, Z:155.50 [[ 9.99991876e-01 -2.52866709e-03 -3.13894281e-03 -2.92900398e+02] [ 2.49371266e-03 9.99935393e-01 -1.10901421e-02 1.70422075e+01] [ 3.16678329e-03 1.10822244e-02 9.99933576e-01 1.55503857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.67907232899995 meters Centerline goodness : 0.762132 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.04, Z:155.50 [[ 9.99991855e-01 -3.52590309e-03 -1.96409607e-03 -2.92903400e+02] [ 3.50279927e-03 9.99926061e-01 -1.16448710e-02 1.70425080e+01] [ 2.00500953e-03 1.16378963e-02 9.99930267e-01 1.55503739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.709072329 meters Centerline goodness : 0.760924 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.04, Z:155.50 [[ 9.99991405e-01 -4.01146875e-03 -1.04814252e-03 -2.92905861e+02] [ 3.99896350e-03 9.99923880e-01 -1.16723319e-02 1.70415282e+01] [ 1.09488593e-03 1.16680401e-02 9.99931327e-01 1.55503757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.73907232899995 meters Centerline goodness : 0.760837 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.04, Z:155.50 [[ 9.99986664e-01 -5.15753551e-03 2.66034430e-04 -2.92909482e+02] [ 5.16038906e-03 9.99912763e-01 -1.21587997e-02 1.70410889e+01] [-2.03301781e-04 1.21600104e-02 9.99926044e-01 1.55503865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.769072329 meters Centerline goodness : 0.759377 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.04, Z:155.50 [[ 9.99951800e-01 -9.68532636e-03 1.60978185e-03 -2.92912043e+02] [ 9.70879885e-03 9.99836176e-01 -1.52761168e-02 1.70366738e+01] [-1.46156396e-03 1.52910095e-02 9.99882017e-01 1.55502369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.79907232899996 meters Centerline goodness : 0.759276 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.03, Z:155.50 [[ 9.99945648e-01 -1.00876350e-02 2.63451755e-03 -2.92914520e+02] [ 1.01259780e-02 9.99836659e-01 -1.49706266e-02 1.70346200e+01] [-2.48306901e-03 1.49964899e-02 9.99884463e-01 1.55501939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.829072329 meters Centerline goodness : 0.757616 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.03, Z:155.50 [[ 9.99927697e-01 -1.12788363e-02 4.16993018e-03 -2.92917569e+02] [ 1.13381471e-02 9.99830809e-01 -1.44844769e-02 1.70308275e+01] [-4.00585662e-03 1.45307089e-02 9.99886399e-01 1.55500191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.85907232899996 meters Centerline goodness : 0.756664 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.03, Z:155.50 [[ 9.99921335e-01 -1.15699675e-02 4.84360048e-03 -2.92918684e+02] [ 1.16393570e-02 9.99826371e-01 -1.45517124e-02 1.70308429e+01] [-4.67439665e-03 1.46069441e-02 9.99882387e-01 1.55499302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.889072329 meters Centerline goodness : 0.756589 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.03, Z:155.50 [[ 9.99922202e-01 -1.13455265e-02 5.18360509e-03 -2.92919239e+02] [ 1.14165520e-02 9.99838432e-01 -1.38842147e-02 1.70288894e+01] [-5.02524386e-03 1.39423134e-02 9.99890173e-01 1.55498737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91907232899996 meters Centerline goodness : 0.755864 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.03, Z:155.50 [[ 9.99917275e-01 -1.16494777e-02 5.45280376e-03 -2.92920226e+02] [ 1.17260578e-02 9.99829996e-01 -1.42294732e-02 1.70296804e+01] [-5.28611084e-03 1.42922360e-02 9.99883888e-01 1.55499151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.949072329 meters Centerline goodness : 0.758331 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.03, Z:155.50 [[ 9.99940880e-01 -8.83565235e-03 6.33779476e-03 -2.92923301e+02] [ 8.90886640e-03 9.99892818e-01 -1.16182972e-02 1.70327704e+01] [-6.23446023e-03 1.16740729e-02 9.99912420e-01 1.55500142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97907232899996 meters Centerline goodness : 0.759988 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.03, Z:155.50 [[ 9.99952642e-01 -6.50751156e-03 7.23649915e-03 -2.92926925e+02] [ 6.57365778e-03 9.99936487e-01 -9.15473192e-03 1.70344778e+01] [-7.17646502e-03 9.20186863e-03 9.99931910e-01 1.55501576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.009072329 meters Centerline goodness : 0.760416 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99960940e-01 -3.86195594e-03 7.95008290e-03 -2.92929579e+02] [ 3.91621849e-03 9.99969067e-01 -6.82119204e-03 1.70383551e+01] [-7.92349384e-03 6.85205986e-03 9.99945132e-01 1.55502698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03907232899996 meters Centerline goodness : 0.762631 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99957304e-01 -4.28307015e-03 8.18807651e-03 -2.92930222e+02] [ 4.34427392e-03 9.99962650e-01 -7.47162830e-03 1.70405748e+01] [-8.15576918e-03 7.50688054e-03 9.99938563e-01 1.55502858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.069072329 meters Centerline goodness : 0.761681 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99959793e-01 -4.19863408e-03 7.92366248e-03 -2.92929601e+02] [ 4.25840510e-03 9.99962494e-01 -7.54162280e-03 1.70415021e+01] [-7.89170079e-03 7.57506174e-03 9.99940168e-01 1.55503007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09907232899997 meters Centerline goodness : 0.762941 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99951114e-01 -4.68138527e-03 8.70941090e-03 -2.92931466e+02] [ 4.74833528e-03 9.99959217e-01 -7.68235718e-03 1.70414781e+01] [-8.67309162e-03 7.72333683e-03 9.99932562e-01 1.55502885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.129072329 meters Centerline goodness : 0.762896 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99948039e-01 -4.78951781e-03 8.99890048e-03 -2.92932314e+02] [ 4.85987890e-03 9.99957666e-01 -7.81332384e-03 1.70418833e+01] [-8.96109747e-03 7.85665142e-03 9.99928983e-01 1.55503005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15907232899997 meters Centerline goodness : 0.760545 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.04, Z:155.50 [[ 9.99939372e-01 -4.96734241e-03 9.82742500e-03 -2.92934414e+02] [ 5.03818249e-03 9.99961410e-01 -7.19683047e-03 1.70387716e+01] [-9.79129665e-03 7.24590650e-03 9.99925811e-01 1.55502708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18907232899994 meters Centerline goodness : 0.760031 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99928747e-01 -5.39518408e-03 1.06486090e-02 -2.92936326e+02] [ 5.47321745e-03 9.99958284e-01 -7.31254663e-03 1.70383529e+01] [-1.06087123e-02 7.37030774e-03 9.99916563e-01 1.55502348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21907232899997 meters Centerline goodness : 0.760041 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99921687e-01 -5.52291412e-03 1.12301531e-02 -2.92937673e+02] [ 5.60300490e-03 9.99959006e-01 -7.11285115e-03 1.70373275e+01] [-1.11904091e-02 7.17521673e-03 9.99911642e-01 1.55502070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24907232899994 meters Centerline goodness : 0.760627 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99930062e-01 -4.92364590e-03 1.07530494e-02 -2.92936419e+02] [ 4.99444114e-03 9.99965966e-01 -6.56683623e-03 1.70367124e+01] [-1.07203507e-02 6.62008243e-03 9.99920621e-01 1.55501975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.279072329 meters Centerline goodness : 0.759908 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99922626e-01 -5.16103001e-03 1.13183482e-02 -2.92937146e+02] [ 5.23456803e-03 9.99965322e-01 -6.47726875e-03 1.70361882e+01] [-1.12845264e-02 6.53601424e-03 9.99914966e-01 1.55500963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.30907232899995 meters Centerline goodness : 0.759141 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99908539e-01 -5.82259662e-03 1.22069718e-02 -2.92939313e+02] [ 5.90632709e-03 9.99959202e-01 -6.83444068e-03 1.70364255e+01] [-1.21666796e-02 6.90591397e-03 9.99902135e-01 1.55500766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.339072329 meters Centerline goodness : 0.759553 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.04, Z:155.50 [[ 9.99889849e-01 -6.55889196e-03 1.33143124e-02 -2.92942137e+02] [ 6.65320534e-03 9.99953003e-01 -7.05171793e-03 1.70357396e+01] [-1.32674352e-02 7.13952403e-03 9.99886495e-01 1.55500668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.36907232899995 meters Centerline goodness : 0.758812 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99858658e-01 -8.62348272e-03 1.44325618e-02 -2.92945861e+02] [ 8.74868442e-03 9.99924451e-01 -8.63440922e-03 1.70369158e+01] [-1.43570128e-02 8.75945475e-03 9.99858564e-01 1.55501619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.399072329 meters Centerline goodness : 0.760485 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99849952e-01 -8.80242656e-03 1.49195023e-02 -2.92946728e+02] [ 8.93270796e-03 9.99922357e-01 -8.68825924e-03 1.70372090e+01] [-1.48418662e-02 8.82022714e-03 9.99850950e-01 1.55501112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.42907232899995 meters Centerline goodness : 0.759548 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99833369e-01 -9.12753329e-03 1.58089466e-02 -2.92948765e+02] [ 9.25885202e-03 9.99923074e-01 -8.25343146e-03 1.70350930e+01] [-1.57323970e-02 8.39842888e-03 9.99840966e-01 1.55500676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.459072329 meters Centerline goodness : 0.760854 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99794759e-01 -1.09247343e-02 1.70613333e-02 -2.92952286e+02] [ 1.10910834e-02 9.99891578e-01 -9.68606764e-03 1.70367789e+01] [-1.69536658e-02 9.87330834e-03 9.99807527e-01 1.55501066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.48907232899995 meters Centerline goodness : 0.759676 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.03, Z:155.50 [[ 9.99786572e-01 -1.08096749e-02 1.76057061e-02 -2.92953706e+02] [ 1.09696381e-02 9.99899195e-01 -9.01478656e-03 1.70342232e+01] [-1.75064845e-02 9.20599078e-03 9.99804367e-01 1.55500941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.519072329 meters Centerline goodness : 0.761087 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99739148e-01 -1.28586243e-02 1.88757044e-02 -2.92957490e+02] [ 1.30577938e-02 9.99859963e-01 -1.04665773e-02 1.70350101e+01] [-1.87384753e-02 1.07103221e-02 9.99767052e-01 1.55501506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.54907232899996 meters Centerline goodness : 0.762215 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99737302e-01 -1.28317299e-02 1.89913917e-02 -2.92957679e+02] [ 1.30321568e-02 9.99860285e-01 -1.04676975e-02 1.70354531e+01] [-1.88544196e-02 1.07124465e-02 9.99764850e-01 1.55501404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.579072329 meters Centerline goodness : 0.759967 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99728166e-01 -1.29384926e-02 1.93955806e-02 -2.92958690e+02] [ 1.31422956e-02 9.99859370e-01 -1.04173193e-02 1.70351848e+01] [-1.92580685e-02 1.06693900e-02 9.99757616e-01 1.55501354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.60907232899996 meters Centerline goodness : 0.761077 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.03, Z:155.50 [[ 9.99669029e-01 -1.67501261e-02 1.95260207e-02 -2.92958161e+02] [ 1.70259181e-02 9.99756403e-01 -1.40447048e-02 1.70339625e+01] [-1.92860137e-02 1.43725049e-02 9.99710699e-01 1.55500352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.639072329 meters Centerline goodness : 0.759225 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.03, Z:155.50 [[ 9.99633196e-01 -1.76586087e-02 2.05340322e-02 -2.92960597e+02] [ 1.79589217e-02 9.99733086e-01 -1.45338690e-02 1.70341440e+01] [-2.02719035e-02 1.48973070e-02 9.99683510e-01 1.55500125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66907232899996 meters Centerline goodness : 0.759394 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.03, Z:155.50 [[ 9.99576038e-01 -1.92367443e-02 2.18561773e-02 -2.92963494e+02] [ 1.95712028e-02 9.99693019e-01 -1.51932526e-02 1.70338999e+01] [-2.15571992e-02 1.56145629e-02 9.99645674e-01 1.55499498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.699072329 meters Centerline goodness : 0.759151 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.04, Z:155.50 [[ 9.99536563e-01 -2.00647332e-02 2.28924843e-02 -2.92965539e+02] [ 2.04294354e-02 9.99666285e-01 -1.58100085e-02 1.70350837e+01] [-2.25676211e-02 1.62703621e-02 9.99612914e-01 1.55498784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72907232899996 meters Centerline goodness : 0.757713 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99497495e-01 -2.08459318e-02 2.38789402e-02 -2.92968087e+02] [ 2.12291776e-02 9.99648034e-01 -1.59100513e-02 1.70339805e+01] [-2.35388758e-02 1.64089866e-02 9.99588248e-01 1.55498699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.759072329 meters Centerline goodness : 0.759196 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99504379e-01 -2.06147829e-02 2.37913164e-02 -2.92967951e+02] [ 2.09903227e-02 9.99657270e-01 -1.56444450e-02 1.70335383e+01] [-2.34606555e-02 1.61360787e-02 9.99594530e-01 1.55498793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78907232899996 meters Centerline goodness : 0.759587 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99468072e-01 -2.12728128e-02 2.47192276e-02 -2.92970374e+02] [ 2.16665201e-02 9.99640870e-01 -1.57699908e-02 1.70324944e+01] [-2.43748781e-02 1.62971819e-02 9.99570041e-01 1.55498798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.819072329 meters Centerline goodness : 0.758960 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99434873e-01 -2.18616375e-02 2.55343724e-02 -2.92972409e+02] [ 2.22778805e-02 9.99621653e-01 -1.61321557e-02 1.70327729e+01] [-2.51720363e-02 1.66918907e-02 9.99543771e-01 1.55498702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84907232899997 meters Centerline goodness : 0.758154 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99471341e-01 -2.08181660e-02 2.49728282e-02 -2.92970080e+02] [ 2.11993630e-02 9.99661260e-01 -1.50980764e-02 1.70316880e+01] [-2.46500547e-02 1.56195027e-02 9.99574112e-01 1.55497450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.879072329 meters Centerline goodness : 0.757771 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99472138e-01 -2.07361639e-02 2.50091197e-02 -2.92969912e+02] [ 2.11135943e-02 9.99665700e-01 -1.49232541e-02 1.70314774e+01] [-2.46913081e-02 1.54434091e-02 9.99575830e-01 1.55497053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90907232899997 meters Centerline goodness : 0.756469 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99461145e-01 -2.08555815e-02 2.53468990e-02 -2.92970859e+02] [ 2.12368699e-02 9.99663915e-01 -1.48678550e-02 1.70311564e+01] [-2.50283025e-02 1.53981322e-02 9.99568148e-01 1.55497127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93907232899994 meters Centerline goodness : 0.754309 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99472223e-01 -2.05122125e-02 2.51897712e-02 -2.92969842e+02] [ 2.08822511e-02 9.99676558e-01 -1.45158897e-02 1.70308973e+01] [-2.48838707e-02 1.50342477e-02 9.99577293e-01 1.55496241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96907232899997 meters Centerline goodness : 0.756167 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99521572e-01 -1.70262899e-02 2.58211756e-02 -2.92971978e+02] [ 1.73160121e-02 9.99789131e-01 -1.10385393e-02 1.70326218e+01] [-2.56277853e-02 1.14803779e-02 9.99605631e-01 1.55496720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99907232899994 meters Centerline goodness : 0.756212 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.03, Z:155.50 [[ 9.99532471e-01 -1.68274578e-02 2.55279346e-02 -2.92971604e+02] [ 1.71137874e-02 9.99792601e-01 -1.10396078e-02 1.70331167e+01] [-2.53368716e-02 1.14713262e-02 9.99613151e-01 1.55497227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.029072329 meters Centerline goodness : 0.757486 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.04, Z:155.50 [[ 9.99588370e-01 -1.32026762e-02 2.54711402e-02 -2.92971933e+02] [ 1.34079458e-02 9.99878862e-01 -7.90501804e-03 1.70366033e+01] [-2.53636873e-02 8.24327977e-03 9.99644303e-01 1.55497761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.05907232899995 meters Centerline goodness : 0.757040 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.04, Z:155.50 [[ 9.99612688e-01 -1.25953899e-02 2.48159119e-02 -2.92969944e+02] [ 1.27905377e-02 9.99888389e-01 -7.72083855e-03 1.70376087e+01] [-2.47158952e-02 8.03525703e-03 9.99662223e-01 1.55497411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.089072329 meters Centerline goodness : 0.758228 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.04, Z:155.50 [[ 9.99640020e-01 -1.18411174e-02 2.40752698e-02 -2.92968044e+02] [ 1.20190083e-02 9.99901430e-01 -7.25771650e-03 1.70377524e+01] [-2.39869572e-02 7.54446474e-03 9.99683803e-01 1.55497393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.11907232899995 meters Centerline goodness : 0.757248 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.04, Z:155.50 [[ 9.99697077e-01 -7.85226461e-03 2.33258608e-02 -2.92966849e+02] [ 7.95317226e-03 9.99959399e-01 -4.23638217e-03 1.70420966e+01] [-2.32916486e-02 4.42061346e-03 9.99718939e-01 1.55498418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.149072329 meters Centerline goodness : 0.757938 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99723147e-01 -6.93396216e-03 2.24844375e-02 -2.92964685e+02] [ 7.01639788e-03 9.99968942e-01 -3.58952989e-03 1.70415207e+01] [-2.24588496e-02 3.74629588e-03 9.99740749e-01 1.55498367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.17907232899995 meters Centerline goodness : 0.756616 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99734999e-01 -6.52004808e-03 2.20776110e-02 -2.92963995e+02] [ 6.59628102e-03 9.99972526e-01 -3.38189006e-03 1.70412607e+01] [-2.20549544e-02 3.52662399e-03 9.99750540e-01 1.55498737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.209072329 meters Centerline goodness : 0.754982 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99757913e-01 -5.62676845e-03 2.12709819e-02 -2.92962063e+02] [ 5.69015515e-03 9.99979546e-01 -2.92061178e-03 1.70413533e+01] [-2.12541132e-02 3.04093993e-03 9.99769481e-01 1.55498912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.23907232899995 meters Centerline goodness : 0.757323 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99761594e-01 -5.71612055e-03 2.10732463e-02 -2.92961578e+02] [ 5.78804677e-03 9.99977625e-01 -3.35374083e-03 1.70429510e+01] [-2.10536045e-02 3.47491421e-03 9.99772309e-01 1.55498957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.269072329 meters Centerline goodness : 0.756244 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99780364e-01 -5.08416924e-03 2.03316353e-02 -2.92960090e+02] [ 5.15052135e-03 9.99981576e-01 -3.21245859e-03 1.70436618e+01] [-2.03149280e-02 3.31647154e-03 9.99788130e-01 1.55499571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.29907232899996 meters Centerline goodness : 0.756244 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99780364e-01 -5.08416924e-03 2.03316353e-02 -2.92960090e+02] [ 5.15052135e-03 9.99981576e-01 -3.21245859e-03 1.70436618e+01] [-2.03149280e-02 3.31647154e-03 9.99788130e-01 1.55499571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.329072329 meters Centerline goodness : 0.757118 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99774202e-01 -5.32432055e-03 2.05717408e-02 -2.92961190e+02] [ 5.39651384e-03 9.99979469e-01 -3.45542357e-03 1.70439568e+01] [-2.05529206e-02 3.56565902e-03 9.99782408e-01 1.55500214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.35907232899996 meters Centerline goodness : 0.757054 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99784106e-01 -5.17509774e-03 2.01235914e-02 -2.92960255e+02] [ 5.25106757e-03 9.99979278e-01 -3.72415637e-03 1.70455501e+01] [-2.01039015e-02 3.82902269e-03 9.99790564e-01 1.55500579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.389072329 meters Centerline goodness : 0.756098 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99786350e-01 -5.23720703e-03 1.99956268e-02 -2.92960156e+02] [ 5.31673220e-03 9.99978159e-01 -3.92604037e-03 1.70461671e+01] [-1.99746286e-02 4.03151296e-03 9.99792359e-01 1.55500921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41907232899996 meters Centerline goodness : 0.756278 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99784789e-01 -5.30755657e-03 2.00550603e-02 -2.92960110e+02] [ 5.38891589e-03 9.99977460e-01 -4.00493454e-03 1.70466130e+01] [-2.00333519e-02 4.11214767e-03 9.99790856e-01 1.55500609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.449072329 meters Centerline goodness : 0.752469 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99791611e-01 -4.90122347e-03 1.98169749e-02 -2.92958398e+02] [ 4.97236895e-03 9.99981363e-01 -3.54245006e-03 1.70462326e+01] [-1.97992432e-02 3.64024916e-03 9.99797349e-01 1.55499109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47907232899996 meters Centerline goodness : 0.749446 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99802932e-01 -4.27704399e-03 1.93856478e-02 -2.92957050e+02] [ 4.33235038e-03 9.99986662e-01 -2.81185690e-03 1.70446917e+01] [-1.93733628e-02 2.89528819e-03 9.99808127e-01 1.55498692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.509072329 meters Centerline goodness : 0.749890 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99792480e-01 -4.60658653e-03 1.98438033e-02 -2.92958225e+02] [ 4.66926407e-03 9.99984252e-01 -3.11337052e-03 1.70451785e+01] [-1.98291488e-02 3.20538039e-03 9.99798245e-01 1.55498635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53907232899996 meters Centerline goodness : 0.748974 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.50 [[ 9.99803704e-01 -4.16303193e-03 1.93706884e-02 -2.92957164e+02] [ 4.21996047e-03 9.99986894e-01 -2.89895425e-03 1.70452560e+01] [-1.93583660e-02 2.98012874e-03 9.99808168e-01 1.55498857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.569072329 meters Centerline goodness : 0.751997 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99782706e-01 -7.97013322e-03 1.92618356e-02 -2.92957676e+02] [ 8.10290799e-03 9.99943880e-01 -6.82496450e-03 1.70444733e+01] [-1.92063587e-02 6.97955836e-03 9.99791179e-01 1.55500005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59907232899997 meters Centerline goodness : 0.749833 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.04, Z:155.50 [[ 9.99804245e-01 -6.78928162e-03 1.85843214e-02 -2.92955473e+02] [ 6.89842031e-03 9.99959299e-01 -5.81482721e-03 1.70434306e+01] [-1.85440865e-02 5.94189139e-03 9.99810387e-01 1.55499343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.629072329 meters Centerline goodness : 0.750346 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99821932e-01 -5.73240130e-03 1.79789953e-02 -2.92953132e+02] [ 5.81918995e-03 9.99971650e-01 -4.77862925e-03 1.70421115e+01] [-1.79510926e-02 4.88240151e-03 9.99826945e-01 1.55498256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65907232899997 meters Centerline goodness : 0.750319 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.04, Z:155.50 [[ 9.99823391e-01 -5.74346538e-03 1.78941219e-02 -2.92952906e+02] [ 5.83258593e-03 9.99970827e-01 -4.93223508e-03 1.70430555e+01] [-1.78652717e-02 5.03573301e-03 9.99827722e-01 1.55498316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68907232899994 meters Centerline goodness : 0.751874 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99823719e-01 -6.11050134e-03 1.77536877e-02 -2.92953010e+02] [ 6.21463409e-03 9.99963775e-01 -5.81617687e-03 1.70460205e+01] [-1.77175048e-02 5.92548426e-03 9.99825474e-01 1.55499143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71907232899997 meters Centerline goodness : 0.752929 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99831673e-01 -5.76791900e-03 1.74171359e-02 -2.92952225e+02] [ 5.86602665e-03 9.99967187e-01 -5.58699768e-03 1.70460476e+01] [-1.73843391e-02 5.68822662e-03 9.99832700e-01 1.55499267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74907232899994 meters Centerline goodness : 0.752549 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99842378e-01 -5.30759316e-03 1.69425113e-02 -2.92950864e+02] [ 5.40046535e-03 9.99970617e-01 -5.44056944e-03 1.70467635e+01] [-1.69131372e-02 5.53120933e-03 9.99841663e-01 1.55499141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.779072329 meters Centerline goodness : 0.754733 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99853547e-01 -4.90584767e-03 1.63956174e-02 -2.92949449e+02] [ 4.99713092e-03 9.99972217e-01 -5.53121651e-03 1.70482703e+01] [-1.63680266e-02 5.61233750e-03 9.99850283e-01 1.55499308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.80907232899995 meters Centerline goodness : 0.755199 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99859442e-01 -4.63820550e-03 1.61115827e-02 -2.92948854e+02] [ 4.72522073e-03 9.99974434e-01 -5.36692408e-03 1.70484826e+01] [-1.60862779e-02 5.44230050e-03 9.99855796e-01 1.55499529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.839072329 meters Centerline goodness : 0.755050 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.50 [[ 9.99869359e-01 -4.24912160e-03 1.55951705e-02 -2.92947417e+02] [ 4.33241994e-03 9.99976509e-01 -5.31139879e-03 1.70494861e+01] [-1.55722354e-02 5.37826973e-03 9.99864281e-01 1.55499448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.86907232899995 meters Centerline goodness : 0.755026 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99889017e-01 -2.74232853e-03 1.46435480e-02 -2.92944783e+02] [ 2.80575706e-03 9.99986764e-01 -4.31271426e-03 1.70491362e+01] [-1.46315273e-02 4.35332186e-03 9.99883477e-01 1.55499346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.899072329 meters Centerline goodness : 0.754199 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99897886e-01 -2.32708477e-03 1.40997181e-02 -2.92943903e+02] [ 2.38609535e-03 9.99988459e-01 -4.16985460e-03 1.70493832e+01] [-1.40898518e-02 4.20307207e-03 9.99891899e-01 1.55500028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.92907232899995 meters Centerline goodness : 0.755352 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99912227e-01 -1.36815768e-03 1.31782432e-02 -2.92941393e+02] [ 1.42250095e-03 9.99990521e-01 -4.11522072e-03 1.70516929e+01] [-1.31724880e-02 4.13360558e-03 9.99904695e-01 1.55500200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.959072329 meters Centerline goodness : 0.753327 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99913506e-01 -1.23046442e-03 1.30944864e-02 -2.92940752e+02] [ 1.28247615e-03 9.99991319e-01 -3.96437758e-03 1.70515300e+01] [-1.30894947e-02 3.98082805e-03 9.99906405e-01 1.55499596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.98907232899995 meters Centerline goodness : 0.752297 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99909520e-01 -1.34794746e-03 1.33841264e-02 -2.92941148e+02] [ 1.40075026e-03 9.99991271e-01 -3.93659034e-03 1.70514178e+01] [-1.33787033e-02 3.95498198e-03 9.99902679e-01 1.55499057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.019072329 meters Centerline goodness : 0.752197 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99919060e-01 -3.69412306e-04 1.27175554e-02 -2.92939192e+02] [ 4.06914615e-04 9.99995577e-01 -2.94640022e-03 1.70498488e+01] [-1.27164107e-02 2.95133670e-03 9.99914788e-01 1.55498654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.04907232899996 meters Centerline goodness : 0.753023 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.05, Z:155.50 [[ 9.99932541e-01 1.69574813e-03 1.14907711e-02 -2.92935871e+02] [-1.67439240e-03 9.99996854e-01 -1.86787656e-03 1.70502415e+01] [-1.14939024e-02 1.84851050e-03 9.99932234e-01 1.55498663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.079072329 meters Centerline goodness : 0.753283 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.05, Z:155.50 [[ 9.99940100e-01 2.18985422e-03 1.07238704e-02 -2.92934513e+02] [-2.16902147e-03 9.99995739e-01 -1.95389797e-03 1.70514328e+01] [-1.07281035e-02 1.93052062e-03 9.99940589e-01 1.55499452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.10907232899996 meters Centerline goodness : 0.752946 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.05, Z:155.50 [[ 9.99944502e-01 4.19775298e-03 9.66294313e-03 -2.92931456e+02] [-4.19128240e-03 9.99990979e-01 -6.89781405e-04 1.70514767e+01] [-9.66575149e-03 6.49243000e-04 9.99953075e-01 1.55499121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.139072329 meters Centerline goodness : 0.753883 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.05, Z:155.51 [[ 9.99909471e-01 1.23766645e-02 5.27901999e-03 -2.92922141e+02] [-1.23823598e-02 9.99922787e-01 1.04754850e-03 1.70540539e+01] [-5.26564722e-03 -1.11282039e-03 9.99985517e-01 1.55505928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16907232899996 meters Centerline goodness : 0.754730 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.06, Z:155.51 [[ 9.99906085e-01 1.30501202e-02 4.18505268e-03 -2.92919835e+02] [-1.30528927e-02 9.99914605e-01 6.35846435e-04 1.70570534e+01] [-4.17639742e-03 -6.90413763e-04 9.99991040e-01 1.55506851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.199072329 meters Centerline goodness : 0.752882 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.06, Z:155.51 [[ 9.99846599e-01 1.72111777e-02 3.24878155e-03 -2.92918612e+02] [-1.72230834e-02 9.99844925e-01 3.67298068e-03 1.70612455e+01] [-3.18506142e-03 -3.72837128e-03 9.99987977e-01 1.55508797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22907232899996 meters Centerline goodness : 0.756221 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.06, Z:155.51 [[ 9.99767561e-01 2.13913643e-02 2.68944180e-03 -2.92917567e+02] [-2.14097607e-02 9.99746220e-01 7.00834681e-03 1.70646658e+01] [-2.53884117e-03 -7.06429810e-03 9.99971825e-01 1.55509701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.259072329 meters Centerline goodness : 0.756039 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.51 [[ 9.99762647e-01 2.17063769e-02 1.86615614e-03 -2.92915980e+02] [-2.17181773e-02 9.99742646e-01 6.55454132e-03 1.70670275e+01] [-1.72340053e-03 -6.59351509e-03 9.99976777e-01 1.55510487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28907232899996 meters Centerline goodness : 0.755241 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.51 [[ 9.99773600e-01 2.12013745e-02 1.80314633e-03 -2.92916289e+02] [-2.12110928e-02 9.99759597e-01 5.55309700e-03 1.70699797e+01] [-1.68497956e-03 -5.59008648e-03 9.99982956e-01 1.55511147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.319072329 meters Centerline goodness : 0.755038 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.51 [[ 9.99772144e-01 2.12930710e-02 1.50502828e-03 -2.92915867e+02] [-2.13010117e-02 9.99758126e-01 5.47324187e-03 1.70702310e+01] [-1.38812213e-03 -5.50405338e-03 9.99983889e-01 1.55511554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34907232899997 meters Centerline goodness : 0.755087 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.51 [[ 9.99769112e-01 2.14453479e-02 1.34928963e-03 -2.92915378e+02] [-2.14525169e-02 9.99754495e-01 5.54427527e-03 1.70703167e+01] [-1.23005946e-03 -5.57194082e-03 9.99983720e-01 1.55511354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.379072329 meters Centerline goodness : 0.753483 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.51 [[ 9.99736441e-01 2.29533267e-02 4.38561994e-04 -2.92911947e+02] [-2.29557518e-02 9.99714018e-01 6.70186965e-03 1.70697175e+01] [-2.84606370e-04 -6.71017084e-03 9.99977446e-01 1.55510143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40907232899997 meters Centerline goodness : 0.753626 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.51 [[ 9.99741536e-01 2.27336651e-02 2.03876221e-04 -2.92911438e+02] [-2.27344824e-02 9.99723252e-01 6.04676441e-03 1.70719952e+01] [-6.63546816e-05 -6.04983656e-03 9.99981697e-01 1.55510299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43907232899994 meters Centerline goodness : 0.752272 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.51 [[ 9.99726609e-01 2.33745788e-02 -5.80207295e-04 -2.92909683e+02] [-2.33706025e-02 9.99708200e-01 6.10977403e-03 1.70728872e+01] [ 7.22851386e-04 -6.09454388e-03 9.99981167e-01 1.55510716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46907232899997 meters Centerline goodness : 0.751455 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.51 [[ 9.99723712e-01 2.34888121e-02 -8.80531352e-04 -2.92909649e+02] [-2.34830780e-02 9.99706002e-01 6.03784791e-03 1.70729786e+01] [ 1.02209435e-03 -6.01550213e-03 9.99981384e-01 1.55511565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49907232899994 meters Centerline goodness : 0.753824 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.51 [[ 9.99711431e-01 2.39653286e-02 -1.64873282e-03 -2.92907949e+02] [-2.39553918e-02 9.99696183e-01 5.80351527e-03 1.70749353e+01] [ 1.78731505e-03 -5.76234452e-03 9.99981800e-01 1.55512046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.529072329 meters Centerline goodness : 0.753370 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.51 [[ 9.99710323e-01 2.39750500e-02 -2.11355950e-03 -2.92907462e+02] [-2.39633930e-02 9.99698370e-01 5.37814895e-03 1.70765583e+01] [ 2.24186338e-03 -5.32594296e-03 9.99983304e-01 1.55513021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.55907232899995 meters Centerline goodness : 0.757730 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99722719e-01 2.34228480e-02 -2.41984209e-03 -2.92908409e+02] [-2.34128441e-02 9.99717545e-01 4.08288190e-03 1.70800877e+01] [ 2.51479131e-03 -4.02509441e-03 9.99988737e-01 1.55515433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.589072329 meters Centerline goodness : 0.757255 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99796730e-01 1.99068077e-02 -3.19662682e-03 -2.92906771e+02] [-1.99058127e-02 9.99801801e-01 3.42791761e-04 1.70797404e+01] [ 3.20281715e-03 -2.79090627e-04 9.99994832e-01 1.55515601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.61907232899995 meters Centerline goodness : 0.758992 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99859032e-01 1.63818346e-02 -3.68118132e-03 -2.92905505e+02] [-1.63931571e-02 9.99860919e-01 -3.06695185e-03 1.70783192e+01] [ 3.63042704e-03 3.12686569e-03 9.99988521e-01 1.55515267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.649072329 meters Centerline goodness : 0.758322 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.07, Z:155.52 [[ 9.99921531e-01 1.05324001e-02 -6.78230658e-03 -2.92897412e+02] [-1.05177521e-02 9.99942285e-01 2.19179094e-03 1.70693110e+01] [ 6.80499996e-03 -2.12028434e-03 9.99974598e-01 1.55520916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.67907232899995 meters Centerline goodness : 0.757611 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.07, Z:155.52 [[ 9.99934284e-01 9.62170806e-03 -6.23303124e-03 -2.92899974e+02] [-9.61387788e-03 9.99952960e-01 1.28498662e-03 1.70702579e+01] [ 6.24510180e-03 -1.22497857e-03 9.99979749e-01 1.55522158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.709072329 meters Centerline goodness : 0.757673 Centerline is valid? [False, False] Translation: X:-292.90, Y:17.07, Z:155.52 [[ 9.99955294e-01 6.52102726e-03 -6.84731654e-03 -2.92898159e+02] [-6.53446699e-03 9.99976764e-01 -1.94223824e-03 1.70696404e+01] [ 6.83449205e-03 1.98689497e-03 9.99974671e-01 1.55521907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.73907232899995 meters Centerline goodness : 0.756436 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99995105e-01 1.67436063e-03 -2.64315497e-03 -2.92909706e+02] [-1.67727619e-03 9.99997987e-01 -1.10122837e-03 1.70697302e+01] [ 2.64130580e-03 1.10565628e-03 9.99995901e-01 1.55518305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.769072329 meters Centerline goodness : 0.755986 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997159e-01 1.48418454e-03 -1.86538526e-03 -2.92911355e+02] [-1.48560511e-03 9.99998607e-01 -7.60390073e-04 1.70680284e+01] [ 1.86425410e-03 7.63159139e-04 9.99997971e-01 1.55517671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.79907232899996 meters Centerline goodness : 0.753306 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997849e-01 1.61164876e-03 -1.30550067e-03 -2.92911651e+02] [-1.61152994e-03 9.99998697e-01 9.20635313e-05 1.70654047e+01] [ 1.30564734e-03 -8.99594799e-05 9.99999144e-01 1.55515918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.829072329 meters Centerline goodness : 0.753313 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99999352e-01 1.03247566e-03 -4.80424884e-04 -2.92913309e+02] [-1.03255513e-03 9.99999453e-01 -1.65181293e-04 1.70654521e+01] [ 4.80254075e-04 1.65677251e-04 9.99999871e-01 1.55515206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.85907232899996 meters Centerline goodness : 0.751002 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.06, Z:155.51 [[ 9.99999436e-01 1.03273006e-03 -2.48294064e-04 -2.92913804e+02] [-1.03270377e-03 9.99999461e-01 1.06016373e-04 1.70642460e+01] [ 2.48403417e-04 -1.05759899e-04 9.99999964e-01 1.55514901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.889072329 meters Centerline goodness : 0.751007 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.06, Z:155.51 [[ 9.99999377e-01 1.05500877e-03 -3.64575433e-04 -2.92913505e+02] [-1.05499999e-03 9.99999443e-01 2.42719571e-05 1.70646268e+01] [ 3.64600838e-04 -2.38873148e-05 9.99999933e-01 1.55514901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91907232899996 meters Centerline goodness : 0.752587 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.06, Z:155.51 [[ 9.99999314e-01 1.09065236e-03 -4.27183651e-04 -2.92913391e+02] [-1.09064696e-03 9.99999405e-01 1.28891928e-05 1.70646158e+01] [ 4.27197455e-04 -1.24232775e-05 9.99999909e-01 1.55514934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.949072329 meters Centerline goodness : 0.752751 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99998092e-01 1.61496545e-03 -1.09920726e-03 -2.92911799e+02] [-1.61500022e-03 9.99998695e-01 -3.07447919e-05 1.70659824e+01] [ 1.09915617e-03 3.25199532e-05 9.99999395e-01 1.55515171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97907232899996 meters Centerline goodness : 0.751532 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99998039e-01 1.50634772e-03 -1.28566685e-03 -2.92911516e+02] [-1.50683610e-03 9.99998793e-01 -3.78976663e-04 1.70672858e+01] [ 1.28509443e-03 3.80913210e-04 9.99999102e-01 1.55515458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.009072329 meters Centerline goodness : 0.751160 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99996641e-01 1.92639045e-03 -1.73412775e-03 -2.92910643e+02] [-1.92673098e-03 9.99998125e-01 -1.94717028e-04 1.70674497e+01] [ 1.73374940e-03 1.98057571e-04 9.99998477e-01 1.55515861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03907232899996 meters Centerline goodness : 0.751076 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997824e-01 1.51679583e-03 -1.43195864e-03 -2.92911552e+02] [-1.51791375e-03 9.99998544e-01 -7.79929981e-04 1.70690520e+01] [ 1.43077356e-03 7.82101874e-04 9.99998671e-01 1.55516104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.069072329 meters Centerline goodness : 0.753768 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99998695e-01 1.16924571e-03 -1.11495094e-03 -2.92912479e+02] [-1.17052218e-03 9.99998660e-01 -1.14490078e-03 1.70698762e+01] [ 1.11361077e-03 1.14620436e-03 9.99998723e-01 1.55516292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09907232899997 meters Centerline goodness : 0.752817 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99998070e-01 1.43723046e-03 -1.33988281e-03 -2.92911620e+02] [-1.43850775e-03 9.99998511e-01 -9.52809958e-04 1.70699779e+01] [ 1.33851141e-03 9.54735550e-04 9.99998648e-01 1.55515956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.129072329 meters Centerline goodness : 0.753149 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997853e-01 1.51184682e-03 -1.41684704e-03 -2.92911383e+02] [-1.51323344e-03 9.99998377e-01 -9.78105876e-04 1.70704515e+01] [ 1.41536599e-03 9.80247796e-04 9.99998518e-01 1.55515950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15907232899997 meters Centerline goodness : 0.753559 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997017e-01 1.69728934e-03 -1.75664851e-03 -2.92910712e+02] [-1.69905199e-03 9.99998054e-01 -1.00240922e-03 1.70709341e+01] [ 1.75494372e-03 1.00539087e-03 9.99997955e-01 1.55516241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18907232899994 meters Centerline goodness : 0.753559 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99997017e-01 1.69728934e-03 -1.75664851e-03 -2.92910712e+02] [-1.69905199e-03 9.99998054e-01 -1.00240922e-03 1.70709341e+01] [ 1.75494372e-03 1.00539087e-03 9.99997955e-01 1.55516241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21907232899997 meters Centerline goodness : 0.755138 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99999736e-01 -7.68175901e-05 -7.22393878e-04 -2.92913808e+02] [ 7.47279162e-05 9.99995815e-01 -2.89228932e-03 1.70747026e+01] [ 7.22613034e-04 2.89223457e-03 9.99995556e-01 1.55516982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24907232899994 meters Centerline goodness : 0.755914 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99999133e-01 4.12356486e-04 -1.25041656e-03 -2.92912616e+02] [-4.15873163e-04 9.99995956e-01 -2.81344946e-03 1.70758110e+01] [ 1.24925136e-03 2.81396704e-03 9.99995260e-01 1.55517377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.279072329 meters Centerline goodness : 0.759540 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99996589e-01 1.52291265e-03 -2.12212111e-03 -2.92911112e+02] [-1.52793024e-03 9.99996037e-01 -2.36481152e-03 1.70763567e+01] [ 2.11851130e-03 2.36804591e-03 9.99994952e-01 1.55518595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.30907232899995 meters Centerline goodness : 0.759432 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99998516e-01 9.15557178e-04 -1.45960300e-03 -2.92913043e+02] [-9.19863632e-04 9.99995218e-01 -2.95249189e-03 1.70775747e+01] [ 1.45689285e-03 2.95383014e-03 9.99994576e-01 1.55518935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.339072329 meters Centerline goodness : 0.759694 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.08, Z:155.52 [[ 9.99998217e-01 1.14436253e-03 -1.50195818e-03 -2.92912722e+02] [-1.14841914e-03 9.99995688e-01 -2.70279877e-03 1.70771817e+01] [ 1.49885872e-03 2.70451883e-03 9.99995219e-01 1.55518611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.36907232899995 meters Centerline goodness : 0.756710 Centerline is valid? [False, False] Translation: X:-292.91, Y:17.07, Z:155.52 [[ 9.99999566e-01 7.65449353e-04 -5.31534026e-04 -2.92914155e+02] [-7.66547433e-04 9.99997566e-01 -2.06874749e-03 1.70740748e+01] [ 5.29949211e-04 2.06915404e-03 9.99997719e-01 1.55516759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.399072329 meters Centerline goodness : 0.756533 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99999742e-01 7.16699507e-04 5.70022507e-05 -2.92915173e+02] [-7.16598971e-04 9.99998221e-01 -1.74460828e-03 1.70728196e+01] [-5.82525092e-05 1.74456698e-03 9.99998477e-01 1.55515964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.42907232899995 meters Centerline goodness : 0.756007 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99999346e-01 1.01273333e-04 1.13914197e-03 -2.92917526e+02] [-9.94599582e-05 9.99998728e-01 -1.59182204e-03 1.70708049e+01] [-1.13930173e-03 1.59170770e-03 9.99998084e-01 1.55515153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.459072329 meters Centerline goodness : 0.755231 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99997866e-01 -3.91331280e-04 2.02858265e-03 -2.92919915e+02] [ 3.94663880e-04 9.99998573e-01 -1.64268190e-03 1.70697970e+01] [-2.02793692e-03 1.64347900e-03 9.99996593e-01 1.55515184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.48907232899995 meters Centerline goodness : 0.755987 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99995118e-01 -1.08415846e-03 2.93048781e-03 -2.92922570e+02] [ 1.08990224e-03 9.99997487e-01 -1.95912121e-03 1.70694904e+01] [-2.92835645e-03 1.96230559e-03 9.99993787e-01 1.55515567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.519072329 meters Centerline goodness : 0.757812 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99993505e-01 -1.19081504e-03 3.40185656e-03 -2.92923738e+02] [ 1.19734762e-03 9.99997442e-01 -1.91890602e-03 1.70691589e+01] [-3.39956279e-03 1.92296676e-03 9.99992373e-01 1.55515503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.54907232899996 meters Centerline goodness : 0.758372 Centerline is valid? [False, False] Translation: X:-292.92, Y:17.07, Z:155.52 [[ 9.99977932e-01 -5.46103158e-03 3.78315784e-03 -2.92924798e+02] [ 5.48299612e-03 9.99968031e-01 -5.82003880e-03 1.70677699e+01] [-3.75125348e-03 5.84065341e-03 9.99975907e-01 1.55515601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.579072329 meters Centerline goodness : 0.756279 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.07, Z:155.51 [[ 9.99971014e-01 -5.90204658e-03 4.81018505e-03 -2.92927104e+02] [ 5.92858672e-03 9.99967179e-01 -5.52203239e-03 1.70658311e+01] [-4.77743588e-03 5.55038993e-03 9.99973184e-01 1.55514964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.60907232899996 meters Centerline goodness : 0.755854 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.06, Z:155.51 [[ 9.99964701e-01 -6.17694238e-03 5.69588559e-03 -2.92928958e+02] [ 6.20672947e-03 9.99967078e-01 -5.22681695e-03 1.70642909e+01] [-5.66341232e-03 5.26198526e-03 9.99970118e-01 1.55514283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.639072329 meters Centerline goodness : 0.753295 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.06, Z:155.51 [[ 9.99952018e-01 -6.92507224e-03 6.92852956e-03 -2.92931672e+02] [ 6.95887546e-03 9.99963944e-01 -4.86669119e-03 1.70617006e+01] [-6.89457756e-03 4.91467245e-03 9.99964155e-01 1.55513449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66907232899996 meters Centerline goodness : 0.756565 Centerline is valid? [False, False] Translation: X:-292.93, Y:17.06, Z:155.51 [[ 9.99941262e-01 -7.53667250e-03 7.78916473e-03 -2.92934149e+02] [ 7.57756338e-03 9.99957594e-01 -5.23360178e-03 1.70619029e+01] [-7.74939048e-03 5.29231726e-03 9.99955968e-01 1.55513812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.699072329 meters Centerline goodness : 0.756488 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.06, Z:155.51 [[ 9.99882163e-01 -1.25684852e-02 8.81440879e-03 -2.92936534e+02] [ 1.26562732e-02 9.99870145e-01 -9.97556061e-03 1.70626196e+01] [-8.68788651e-03 1.00859427e-02 9.99911393e-01 1.55513801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72907232899996 meters Centerline goodness : 0.756365 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.06, Z:155.51 [[ 9.99850185e-01 -1.40817187e-02 1.00653841e-02 -2.92940546e+02] [ 1.41918088e-02 9.99839320e-01 -1.09510653e-02 1.70625840e+01] [-9.90955696e-03 1.10922707e-02 9.99889375e-01 1.55514665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.759072329 meters Centerline goodness : 0.755923 Centerline is valid? [False, False] Translation: X:-292.94, Y:17.06, Z:155.51 [[ 9.99774530e-01 -1.83259716e-02 1.07260066e-02 -2.92942173e+02] [ 1.84840746e-02 9.99719144e-01 -1.48314662e-02 1.70608763e+01] [-1.04511931e-02 1.50263825e-02 9.99832476e-01 1.55514717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78907232899996 meters Centerline goodness : 0.757657 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.06, Z:155.52 [[ 9.99723821e-01 -2.01647994e-02 1.20690745e-02 -2.92946356e+02] [ 2.03560221e-02 9.99665772e-01 -1.59366357e-02 1.70602989e+01] [-1.17436817e-02 1.61779127e-02 9.99800161e-01 1.55515430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.819072329 meters Centerline goodness : 0.758316 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.51 [[ 9.99580106e-01 -2.53585964e-02 1.40197209e-02 -2.92950152e+02] [ 2.56157402e-02 9.99501097e-01 -1.84767927e-02 1.70541132e+01] [-1.35441808e-02 1.88281600e-02 9.99730992e-01 1.55513156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84907232899997 meters Centerline goodness : 0.757570 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.51 [[ 9.99576852e-01 -2.51779444e-02 1.45666584e-02 -2.92951069e+02] [ 2.54352428e-02 9.99518763e-01 -1.77564433e-02 1.70517966e+01] [-1.41125777e-02 1.81194362e-02 9.99736226e-01 1.55512328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.879072329 meters Centerline goodness : 0.755870 Centerline is valid? [False, False] Translation: X:-292.95, Y:17.05, Z:155.51 [[ 9.99560102e-01 -2.53476374e-02 1.53980610e-02 -2.92952526e+02] [ 2.56146339e-02 9.99520499e-01 -1.73971814e-02 1.70504352e+01] [-1.49497002e-02 1.77839441e-02 9.99730082e-01 1.55511316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90907232899997 meters Centerline goodness : 0.755771 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.05, Z:155.51 [[ 9.99338911e-01 -3.02025150e-02 2.02373385e-02 -2.92962848e+02] [ 3.05356336e-02 9.99399802e-01 -1.63588365e-02 1.70522360e+01] [-1.97311140e-02 1.69659818e-02 9.99661362e-01 1.55505113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93907232899994 meters Centerline goodness : 0.756352 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99289290e-01 -3.11195257e-02 2.12718207e-02 -2.92965274e+02] [ 3.14852260e-02 9.99358295e-01 -1.70786046e-02 1.70533514e+01] [-2.07266924e-02 1.77362147e-02 9.99627846e-01 1.55504934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96907232899997 meters Centerline goodness : 0.754944 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99275019e-01 -3.11011437e-02 2.19580567e-02 -2.92966516e+02] [ 3.14656065e-02 9.99369418e-01 -1.64523974e-02 1.70511137e+01] [-2.14325220e-02 1.71313933e-02 9.99623510e-01 1.55504143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99907232899994 meters Centerline goodness : 0.755489 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99261949e-01 -3.12182813e-02 2.23824785e-02 -2.92967275e+02] [ 3.15888977e-02 9.99366383e-01 -1.64004445e-02 1.70509737e+01] [-2.18563029e-02 1.70953780e-02 9.99614951e-01 1.55503658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.029072329 meters Centerline goodness : 0.755194 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99262548e-01 -3.11384333e-02 2.24668449e-02 -2.92967076e+02] [ 3.15090442e-02 9.99369978e-01 -1.63348385e-02 1.70511785e+01] [-2.19440490e-02 1.70307011e-02 9.99614133e-01 1.55503077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.05907232899995 meters Centerline goodness : 0.755150 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99318806e-01 -2.86276770e-02 2.32890453e-02 -2.92970300e+02] [ 2.89527245e-02 9.99486321e-01 -1.37416773e-02 1.70535963e+01] [-2.28836899e-02 1.44065978e-02 9.99634326e-01 1.55504255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.089072329 meters Centerline goodness : 0.755172 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99296335e-01 -2.90316327e-02 2.37486575e-02 -2.92971557e+02] [ 2.93730166e-02 9.99468296e-01 -1.41545389e-02 1.70546394e+01] [-2.33251008e-02 1.48421486e-02 9.99617752e-01 1.55504439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.11907232899995 meters Centerline goodness : 0.755299 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99294964e-01 -2.89974212e-02 2.38479473e-02 -2.92971765e+02] [ 2.93390314e-02 9.99470044e-01 -1.41015274e-02 1.70547437e+01] [-2.34264010e-02 1.47912610e-02 9.99616137e-01 1.55504386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.149072329 meters Centerline goodness : 0.754133 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99250814e-01 -2.97412315e-02 2.47642819e-02 -2.92973707e+02] [ 3.01057377e-02 9.99441852e-01 -1.44785712e-02 1.70549322e+01] [-2.43198492e-02 1.52132711e-02 9.99588466e-01 1.55503901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.17907232899995 meters Centerline goodness : 0.755572 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.05, Z:155.50 [[ 9.99244730e-01 -2.96770262e-02 2.50847230e-02 -2.92974544e+02] [ 3.00408033e-02 9.99447068e-01 -1.42516036e-02 1.70543361e+01] [-2.46479076e-02 1.49944050e-02 9.99583738e-01 1.55503949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.209072329 meters Centerline goodness : 0.754865 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.05, Z:155.50 [[ 9.99172575e-01 -3.10364820e-02 2.62850326e-02 -2.92978036e+02] [ 3.14415070e-02 9.99390945e-01 -1.51383669e-02 1.70548441e+01] [-2.57991819e-02 1.59522821e-02 9.99539858e-01 1.55504623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.23907232899995 meters Centerline goodness : 0.753255 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.06, Z:155.50 [[ 9.99106919e-01 -3.21816329e-02 2.73807748e-02 -2.92981017e+02] [ 3.26236392e-02 9.99341986e-01 -1.58522423e-02 1.70552121e+01] [-2.68526068e-02 1.67313455e-02 9.99499374e-01 1.55504893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.269072329 meters Centerline goodness : 0.754877 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.05, Z:155.50 [[ 9.99096118e-01 -3.20871479e-02 2.78812221e-02 -2.92981855e+02] [ 3.25233064e-02 9.99353354e-01 -1.53332716e-02 1.70535693e+01] [-2.73711918e-02 1.62262016e-02 9.99493636e-01 1.55504181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.29907232899996 meters Centerline goodness : 0.754424 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.05, Z:155.50 [[ 9.99039159e-01 -3.29566271e-02 2.88897684e-02 -2.92983728e+02] [ 3.34152035e-02 9.99320785e-01 -1.55367929e-02 1.70531809e+01] [-2.83581057e-02 1.64872220e-02 9.99461850e-01 1.55503210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.329072329 meters Centerline goodness : 0.754259 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.05, Z:155.50 [[ 9.99037230e-01 -3.29217143e-02 2.89961009e-02 -2.92984012e+02] [ 3.33798787e-02 9.99323140e-01 -1.54610676e-02 1.70532881e+01] [-2.84674697e-02 1.64140685e-02 9.99459945e-01 1.55503283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.35907232899996 meters Centerline goodness : 0.754308 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.05, Z:155.50 [[ 9.99042688e-01 -3.28119305e-02 2.89324230e-02 -2.92984046e+02] [ 3.32698746e-02 9.99326342e-01 -1.54912195e-02 1.70538216e+01] [-2.84046356e-02 1.64389676e-02 9.99461323e-01 1.55503625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.389072329 meters Centerline goodness : 0.754527 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.99006314e-01 -3.32879875e-02 2.96360376e-02 -2.92985922e+02] [ 3.37668191e-02 9.99304747e-01 -1.58058095e-02 1.70541797e+01] [-2.90892895e-02 1.67908183e-02 9.99435782e-01 1.55503780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41907232899996 meters Centerline goodness : 0.754459 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98832139e-01 -3.74389553e-02 3.05398547e-02 -2.92986646e+02] [ 3.80404739e-02 9.99088666e-01 -1.93587039e-02 1.70519880e+01] [-2.97872531e-02 2.04978462e-02 9.99346065e-01 1.55502009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.449072329 meters Centerline goodness : 0.755572 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98829816e-01 -3.73271811e-02 3.07519204e-02 -2.92986658e+02] [ 3.79232054e-02 9.99099405e-01 -1.90317827e-02 1.70512125e+01] [-3.00138225e-02 2.01757234e-02 9.99345841e-01 1.55501209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47907232899996 meters Centerline goodness : 0.753553 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98834663e-01 -3.70423052e-02 3.09383859e-02 -2.92987358e+02] [ 3.76233686e-02 9.99122299e-01 -1.84150400e-02 1.70493289e+01] [-3.02290957e-02 1.95575865e-02 9.99351641e-01 1.55501427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.509072329 meters Centerline goodness : 0.754306 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98814329e-01 -3.72649290e-02 3.13250975e-02 -2.92988286e+02] [ 3.78602892e-02 9.99109320e-01 -1.86323948e-02 1.70499690e+01] [-3.06028619e-02 1.97962802e-02 9.99335565e-01 1.55501416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53907232899996 meters Centerline goodness : 0.755038 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98902664e-01 -3.42017199e-02 3.19954685e-02 -2.92990929e+02] [ 3.46997160e-02 9.99283085e-01 -1.51408505e-02 1.70501633e+01] [-3.14546874e-02 1.62344696e-02 9.99373326e-01 1.55502117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.569072329 meters Centerline goodness : 0.753489 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98932347e-01 -3.37137582e-02 3.15839887e-02 -2.92989414e+02] [ 3.41969714e-02 9.99304245e-01 -1.48859981e-02 1.70505327e+01] [-3.10601511e-02 1.59501818e-02 9.99390243e-01 1.55501438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59907232899997 meters Centerline goodness : 0.754033 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98960972e-01 -3.32905841e-02 3.11241457e-02 -2.92988275e+02] [ 3.37603654e-02 9.99321962e-01 -1.46919908e-02 1.70508609e+01] [-3.06139374e-02 1.57274879e-02 9.99407541e-01 1.55501429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.629072329 meters Centerline goodness : 0.753511 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.98974217e-01 -3.31629876e-02 3.08339011e-02 -2.92987700e+02] [ 3.36305372e-02 9.99325183e-01 -1.47704622e-02 1.70517491e+01] [-3.03232612e-02 1.57922716e-02 9.99415381e-01 1.55501684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65907232899997 meters Centerline goodness : 0.753195 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.05, Z:155.50 [[ 9.99060541e-01 -2.98886633e-02 3.13799670e-02 -2.92989291e+02] [ 3.02667128e-02 9.99474053e-01 -1.16423015e-02 1.70546000e+01] [-3.10154900e-02 1.25811325e-02 9.99439720e-01 1.55501654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68907232899994 meters Centerline goodness : 0.753613 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.06, Z:155.50 [[ 9.99152378e-01 -2.62618582e-02 3.16992215e-02 -2.92990163e+02] [ 2.65309772e-02 9.99615181e-01 -8.09915275e-03 1.70567098e+01] [-3.14743242e-02 8.93329905e-03 9.99464638e-01 1.55501433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71907232899997 meters Centerline goodness : 0.754027 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.06, Z:155.50 [[ 9.99146660e-01 -2.64373844e-02 3.17335372e-02 -2.92990276e+02] [ 2.67170789e-02 9.99607554e-01 -8.42235095e-03 1.70578568e+01] [-3.14984185e-02 9.26299124e-03 9.99460878e-01 1.55501513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74907232899994 meters Centerline goodness : 0.753405 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.06, Z:155.50 [[ 9.99287426e-01 -2.17391200e-02 3.08553263e-02 -2.92988700e+02] [ 2.18792267e-02 9.99751755e-01 -4.21038095e-03 1.70590934e+01] [-3.07561367e-02 4.88247142e-03 9.99514993e-01 1.55502002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.779072329 meters Centerline goodness : 0.755167 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.06, Z:155.50 [[ 9.99364605e-01 -1.82408446e-02 3.06212122e-02 -2.92988943e+02] [ 1.82907761e-02 9.99831797e-01 -1.35127865e-03 1.70633764e+01] [-3.05914132e-02 1.91050579e-03 9.99530147e-01 1.55502935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.80907232899995 meters Centerline goodness : 0.754033 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.08, Z:155.50 [[ 9.99628373e-01 -1.18457001e-02 2.45519021e-02 -2.92999081e+02] [ 1.20512961e-02 9.99893404e-01 -8.24295039e-03 1.70787031e+01] [-2.44516415e-02 8.53576932e-03 9.99664573e-01 1.55503634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.839072329 meters Centerline goodness : 0.755514 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.08, Z:155.51 [[ 9.99769123e-01 -5.23279742e-03 2.08403312e-02 -2.92992123e+02] [ 5.38114602e-03 9.99960538e-01 -7.06863584e-03 1.70833568e+01] [-2.08025201e-02 7.17914872e-03 9.99757828e-01 1.55509912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.86907232899995 meters Centerline goodness : 0.757432 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.09, Z:155.51 [[ 9.99782216e-01 -1.91034051e-03 2.07814941e-02 -2.92993298e+02] [ 2.00222188e-03 9.99988309e-01 -4.40139907e-03 1.70874789e+01] [-2.07728429e-02 4.44204968e-03 9.99774353e-01 1.55511712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.899072329 meters Centerline goodness : 0.757998 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.09, Z:155.52 [[ 9.99841346e-01 4.44564440e-03 1.72487129e-02 -2.92986210e+02] [-4.39418127e-03 9.99985784e-01 -3.02034577e-03 1.70927568e+01] [-1.72618951e-02 2.94407261e-03 9.99846668e-01 1.55516898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.92907232899995 meters Centerline goodness : 0.757997 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.09, Z:155.52 [[ 9.99851279e-01 6.26181493e-03 1.60688732e-02 -2.92982821e+02] [-6.23057450e-03 9.99978603e-01 -1.99348516e-03 1.70936065e+01] [-1.60810122e-02 1.89307037e-03 9.99868900e-01 1.55516644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.959072329 meters Centerline goodness : 0.757676 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99860327e-01 7.54666827e-03 1.49122213e-02 -2.92980130e+02] [-7.52075396e-03 9.99970111e-01 -1.79310619e-03 1.70957611e+01] [-1.49253076e-02 1.68070460e-03 9.99887199e-01 1.55517174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.98907232899995 meters Centerline goodness : 0.757023 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99868804e-01 8.67025415e-03 1.36821786e-02 -2.92977208e+02] [-8.65006783e-03 9.99961411e-01 -1.53386440e-03 1.70972326e+01] [-1.36949496e-02 1.41531139e-03 9.99905218e-01 1.55517584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.019072329 meters Centerline goodness : 0.757079 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99825509e-01 1.35016593e-02 1.29095589e-02 -2.92975102e+02] [-1.35371326e-02 9.99904819e-01 2.66440274e-03 1.70986821e+01] [-1.28723563e-02 -2.83869623e-03 9.99913118e-01 1.55517593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.04907232899996 meters Centerline goodness : 0.755753 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99825120e-01 1.41858492e-02 1.21857057e-02 -2.92973528e+02] [-1.42221037e-02 9.99894674e-01 2.89367455e-03 1.70990811e+01] [-1.21433730e-02 -3.06647488e-03 9.99921565e-01 1.55517940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.079072329 meters Centerline goodness : 0.757593 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99879677e-01 1.05941269e-02 1.13311918e-02 -2.92971841e+02] [-1.05814840e-02 9.99943324e-01 -1.17513607e-03 1.70995461e+01] [-1.13429991e-02 1.05509385e-03 9.99935109e-01 1.55518502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.10907232899996 meters Centerline goodness : 0.757593 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99879677e-01 1.05941269e-02 1.13311918e-02 -2.92971841e+02] [-1.05814840e-02 9.99943324e-01 -1.17513607e-03 1.70995461e+01] [-1.13429991e-02 1.05509385e-03 9.99935109e-01 1.55518502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.139072329 meters Centerline goodness : 0.759128 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99881479e-01 9.85506325e-03 1.18281941e-02 -2.92974035e+02] [-9.82997914e-03 9.99949315e-01 -2.17697360e-03 1.71015243e+01] [-1.18490488e-02 2.06044468e-03 9.99927675e-01 1.55519774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16907232899996 meters Centerline goodness : 0.758829 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99881693e-01 9.61117273e-03 1.20093935e-02 -2.92975248e+02] [-9.58218745e-03 9.99951042e-01 -2.46876518e-03 1.71018759e+01] [-1.20325333e-02 2.35339684e-03 9.99924837e-01 1.55520793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.199072329 meters Centerline goodness : 0.760261 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99878935e-01 9.59605247e-03 1.22486906e-02 -2.92975737e+02] [-9.56770275e-03 9.99951417e-01 -2.37101433e-03 1.71015981e+01] [-1.22708479e-02 2.25353546e-03 9.99922171e-01 1.55520610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22907232899996 meters Centerline goodness : 0.758757 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99875382e-01 9.57723166e-03 1.25497468e-02 -2.92976154e+02] [-9.55086225e-03 9.99952058e-01 -2.15944270e-03 1.71009102e+01] [-1.25698266e-02 2.03931270e-03 9.99918917e-01 1.55520050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.259072329 meters Centerline goodness : 0.758435 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99874950e-01 9.86978100e-03 1.23560334e-02 -2.92975325e+02] [-9.84744404e-03 9.99949769e-01 -1.86731494e-03 1.71006489e+01] [-1.23738427e-02 1.74540609e-03 9.99921918e-01 1.55519566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28907232899996 meters Centerline goodness : 0.759302 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99874987e-01 9.60243663e-03 1.25620111e-02 -2.92975421e+02] [-9.57678249e-03 9.99951935e-01 -2.10076415e-03 1.71012698e+01] [-1.25815797e-02 1.98019788e-03 9.99918888e-01 1.55519025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.319072329 meters Centerline goodness : 0.758608 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.10, Z:155.52 [[ 9.99872827e-01 9.75407871e-03 1.26169614e-02 -2.92975387e+02] [-9.73198233e-03 9.99951002e-01 -1.81153733e-03 1.71005610e+01] [-1.26340131e-02 1.68851891e-03 9.99918762e-01 1.55518711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34907232899997 meters Centerline goodness : 0.757475 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99900490e-01 6.58121955e-03 1.24778748e-02 -2.92973759e+02] [-6.52535228e-03 9.99968527e-01 -4.51274588e-03 1.70974250e+01] [-1.25071814e-02 4.43087429e-03 9.99911965e-01 1.55516916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.379072329 meters Centerline goodness : 0.756655 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99921190e-01 3.29786142e-03 1.21135366e-02 -2.92972170e+02] [-3.20631687e-03 9.99966215e-01 -7.56887270e-03 1.70951632e+01] [-1.21380885e-02 7.52943636e-03 9.99897982e-01 1.55516004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40907232899997 meters Centerline goodness : 0.757100 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.52 [[ 9.99915470e-01 3.06482171e-03 1.26356451e-02 -2.92973251e+02] [-2.96800899e-03 9.99966153e-01 -7.67351949e-03 1.70951978e+01] [-1.26587354e-02 7.63536814e-03 9.99890723e-01 1.55515602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43907232899994 meters Centerline goodness : 0.756260 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99908986e-01 2.90074655e-03 1.31759617e-02 -2.92974355e+02] [-2.80151034e-03 9.99967621e-01 -7.54383374e-03 1.70944254e+01] [-1.31974178e-02 7.50623455e-03 9.99884736e-01 1.55515146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46907232899997 meters Centerline goodness : 0.756782 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.09, Z:155.51 [[ 9.99902400e-01 2.85524519e-03 1.36761794e-02 -2.92975230e+02] [-2.75664219e-03 9.99970112e-01 -7.22326795e-03 1.70932661e+01] [-1.36963948e-02 7.18486262e-03 9.99880386e-01 1.55514520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49907232899994 meters Centerline goodness : 0.756749 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.09, Z:155.51 [[ 9.99896811e-01 2.51136186e-03 1.41442495e-02 -2.92976237e+02] [-2.40490319e-03 9.99968692e-01 -7.53862614e-03 1.70938570e+01] [-1.41627389e-02 7.50383269e-03 9.99871546e-01 1.55514257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.529072329 meters Centerline goodness : 0.756245 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.09, Z:155.51 [[ 9.99892493e-01 2.21566571e-03 1.44946151e-02 -2.92977691e+02] [-2.10302753e-03 9.99967511e-01 -7.78166838e-03 1.70939164e+01] [-1.45113858e-02 7.75034922e-03 9.99864667e-01 1.55514981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.55907232899995 meters Centerline goodness : 0.757229 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.09, Z:155.52 [[ 9.99892259e-01 2.26984013e-03 1.45023653e-02 -2.92978102e+02] [-2.15730916e-03 9.99967483e-01 -7.77042824e-03 1.70940112e+01] [-1.45195314e-02 7.73830496e-03 9.99864642e-01 1.55515533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.589072329 meters Centerline goodness : 0.756799 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99927110e-01 -3.45386485e-03 1.15691460e-02 -2.92969974e+02] [ 3.48448754e-03 9.99990476e-01 -2.62781686e-03 1.70874681e+01] [-1.15599597e-02 2.66793786e-03 9.99929622e-01 1.55521976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.61907232899995 meters Centerline goodness : 0.756444 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99934215e-01 -2.89934542e-03 1.10977614e-02 -2.92968706e+02] [ 2.92252890e-03 9.99993580e-01 -2.07337564e-03 1.70866021e+01] [-1.10916787e-02 2.10567277e-03 9.99936268e-01 1.55521825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.649072329 meters Centerline goodness : 0.757410 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99940136e-01 -2.39658277e-03 1.06761934e-02 -2.92967002e+02] [ 2.41474371e-03 9.99995659e-01 -1.68850353e-03 1.70868509e+01] [-1.06721004e-02 1.71418272e-03 9.99941582e-01 1.55521034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.67907232899995 meters Centerline goodness : 0.756396 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99945116e-01 -2.24626247e-03 1.02332096e-02 -2.92965627e+02] [ 2.26495999e-03 9.99995786e-01 -1.81591856e-03 1.70880943e+01] [-1.02290875e-02 1.83899671e-03 9.99945990e-01 1.55520822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.709072329 meters Centerline goodness : 0.755601 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.09, Z:155.52 [[ 9.99948093e-01 -2.36250285e-03 9.91114742e-03 -2.92964835e+02] [ 2.38687148e-03 9.99994156e-01 -2.44760174e-03 1.70907610e+01] [-9.90530704e-03 2.47113133e-03 9.99947888e-01 1.55521072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.73907232899995 meters Centerline goodness : 0.755598 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99943797e-01 -2.65251639e-03 1.02648040e-02 -2.92966155e+02] [ 2.68004527e-03 9.99992847e-01 -2.66904472e-03 1.70908523e+01] [-1.02576509e-02 2.69640485e-03 9.99943753e-01 1.55521612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.769072329 meters Centerline goodness : 0.756803 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99945661e-01 -2.38217003e-03 1.01489117e-02 -2.92966407e+02] [ 2.40728779e-03 9.99994068e-01 -2.46342501e-03 1.70905226e+01] [-1.01429832e-02 2.48772250e-03 9.99945464e-01 1.55522367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.79907232899996 meters Centerline goodness : 0.758019 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99945789e-01 -2.50212214e-03 1.01073745e-02 -2.92966466e+02] [ 2.53095962e-03 9.99992761e-01 -2.84133020e-03 1.70918679e+01] [-1.01001919e-02 2.86675753e-03 9.99944882e-01 1.55522623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.829072329 meters Centerline goodness : 0.756673 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.09, Z:155.52 [[ 9.99945563e-01 -2.46797643e-03 1.01380075e-02 -2.92966493e+02] [ 2.49580760e-03 9.99993149e-01 -2.73349675e-03 1.70914783e+01] [-1.01311919e-02 2.75865046e-03 9.99944873e-01 1.55522472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.85907232899996 meters Centerline goodness : 0.755208 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.09, Z:155.52 [[ 9.99952626e-01 2.02134247e-03 9.52159809e-03 -2.92964656e+02] [-2.03347443e-03 9.99997133e-01 1.26464295e-03 1.70932557e+01] [-9.51901451e-03 -1.28394496e-03 9.99953869e-01 1.55522161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.889072329 meters Centerline goodness : 0.755719 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.09, Z:155.52 [[ 9.99958679e-01 2.72223684e-03 8.67353195e-03 -2.92962529e+02] [-2.73426442e-03 9.99995316e-01 1.37514271e-03 1.70945118e+01] [-8.66974787e-03 -1.39880162e-03 9.99961439e-01 1.55522257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91907232899996 meters Centerline goodness : 0.756236 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.52 [[ 9.99959950e-01 2.53040122e-03 8.58464790e-03 -2.92962843e+02] [-2.53858786e-03 9.99996333e-01 9.42875113e-04 1.70956181e+01] [-8.58223057e-03 -9.64630233e-04 9.99962707e-01 1.55522991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.949072329 meters Centerline goodness : 0.757642 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.52 [[ 9.99962686e-01 2.25693333e-03 8.33866442e-03 -2.92963002e+02] [-2.25756888e-03 9.99997449e-01 6.68055672e-05 1.70983662e+01] [-8.33849237e-03 -8.56281837e-05 9.99965231e-01 1.55524110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97907232899996 meters Centerline goodness : 0.756433 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.52 [[ 9.99965114e-01 2.37948290e-03 8.00684978e-03 -2.92962749e+02] [-2.38009564e-03 9.99997165e-01 6.69985403e-05 1.70982400e+01] [-8.00666766e-03 -8.60532711e-05 9.99967942e-01 1.55524857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.009072329 meters Centerline goodness : 0.757867 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99967973e-01 2.44780928e-03 7.61979199e-03 -2.92962098e+02] [-2.44681152e-03 9.99996997e-01 -1.40262826e-04 1.70992409e+01] [-7.62011244e-03 1.21614139e-04 9.99970959e-01 1.55525317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03907232899996 meters Centerline goodness : 0.756696 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99971301e-01 2.88785309e-03 7.00414931e-03 -2.92960613e+02] [-2.88773493e-03 9.99995830e-01 -2.69827334e-05 1.70998229e+01] [-7.00419803e-03 6.75583241e-06 9.99975470e-01 1.55525437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.069072329 meters Centerline goodness : 0.754091 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99969090e-01 2.53092581e-03 7.44399540e-03 -2.92961767e+02] [-2.52900670e-03 9.99996766e-01 -2.67207147e-04 1.70999668e+01] [-7.44464761e-03 2.48372973e-04 9.99972257e-01 1.55525427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09907232899997 meters Centerline goodness : 0.755474 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99965605e-01 1.95709348e-03 8.05971033e-03 -2.92963675e+02] [-1.95253313e-03 9.99997929e-01 -5.73649614e-04 1.70998250e+01] [-8.06081633e-03 5.57893032e-04 9.99967355e-01 1.55525781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.129072329 meters Centerline goodness : 0.756268 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99958967e-01 1.14389194e-03 8.98642538e-03 -2.92966380e+02] [-1.13343979e-03 9.99998675e-01 -1.16811147e-03 1.71002735e+01] [-8.98774967e-03 1.15787796e-03 9.99958939e-01 1.55526172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15907232899997 meters Centerline goodness : 0.755872 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99952696e-01 6.71100625e-04 9.70340354e-03 -2.92968532e+02] [-6.58021981e-04 9.99998871e-01 -1.35097060e-03 1.70998421e+01] [-9.70429922e-03 1.34452164e-03 9.99952008e-01 1.55526525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18907232899994 meters Centerline goodness : 0.756372 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99944955e-01 -1.38247513e-04 1.04913456e-02 -2.92971003e+02] [ 1.55461784e-04 9.99998643e-01 -1.64000899e-03 1.70990774e+01] [-1.04911047e-02 1.64154972e-03 9.99943619e-01 1.55526958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21907232899997 meters Centerline goodness : 0.757050 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99947020e-01 1.01380917e-04 1.02930233e-02 -2.92970324e+02] [-8.72371146e-05 9.99999051e-01 -1.37455516e-03 1.70989035e+01] [-1.02931529e-02 1.37358440e-03 9.99946081e-01 1.55526721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24907232899994 meters Centerline goodness : 0.755332 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99952131e-01 4.93001221e-04 9.77204567e-03 -2.92969049e+02] [-4.82463773e-04 9.99999300e-01 -1.08065368e-03 1.70985624e+01] [-9.77257159e-03 1.07588729e-03 9.99951668e-01 1.55526698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.279072329 meters Centerline goodness : 0.754604 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99958634e-01 1.05684880e-03 9.03396562e-03 -2.92967214e+02] [-1.04903977e-03 9.99999072e-01 -8.69102388e-04 1.70989382e+01] [-9.03487575e-03 8.59589448e-04 9.99958815e-01 1.55526724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.30907232899995 meters Centerline goodness : 0.755118 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99962554e-01 1.31748577e-03 8.55311136e-03 -2.92966066e+02] [-1.30938902e-03 9.99998689e-01 -9.52175301e-04 1.70997352e+01] [-8.55435462e-03 9.40940295e-04 9.99962968e-01 1.55526807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.339072329 meters Centerline goodness : 0.755298 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99967981e-01 1.46973765e-03 7.86622740e-03 -2.92964870e+02] [-1.45894598e-03 9.99997987e-01 -1.37746152e-03 1.71017373e+01] [-7.86823607e-03 1.36594101e-03 9.99968112e-01 1.55527611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.36907232899995 meters Centerline goodness : 0.757156 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99968878e-01 1.00335253e-03 7.82542599e-03 -2.92965035e+02] [-9.84997452e-04 9.99996756e-01 -2.34907051e-03 1.71048240e+01] [-7.82775755e-03 2.34128937e-03 9.99966622e-01 1.55528132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.399072329 meters Centerline goodness : 0.758854 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99968299e-01 9.91188304e-04 7.90048675e-03 -2.92965276e+02] [-9.72417914e-04 9.99996697e-01 -2.37933966e-03 1.71050004e+01] [-7.90281903e-03 2.37158166e-03 9.99965960e-01 1.55528115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.42907232899995 meters Centerline goodness : 0.757766 Centerline is valid? [False, False] Translation: X:-292.96, Y:17.10, Z:155.53 [[ 9.99972514e-01 1.64217592e-03 7.23007057e-03 -2.92963708e+02] [-1.62849183e-03 9.99996873e-01 -1.89814345e-03 1.71046643e+01] [-7.23316505e-03 1.88631716e-03 9.99972061e-01 1.55528330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.459072329 meters Centerline goodness : 0.759497 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99968164e-01 2.31857018e-04 7.97605107e-03 -2.92966295e+02] [-2.04223837e-04 9.99993975e-01 -3.46515905e-03 1.71079559e+01] [-7.97680644e-03 3.46341984e-03 9.99962187e-01 1.55529382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.48907232899995 meters Centerline goodness : 0.758778 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99963391e-01 -2.42358122e-04 8.55329058e-03 -2.92967948e+02] [ 2.75521340e-04 9.99992449e-01 -3.87628145e-03 1.71087088e+01] [-8.55228655e-03 3.87849615e-03 9.99955907e-01 1.55529643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.519072329 meters Centerline goodness : 0.757270 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99953726e-01 -1.00071300e-03 9.56789173e-03 -2.92970721e+02] [ 1.04008954e-03 9.99991007e-01 -4.11139802e-03 1.71079205e+01] [-9.56369136e-03 4.12115923e-03 9.99945774e-01 1.55529677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.54907232899996 meters Centerline goodness : 0.756212 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99944705e-01 -2.07746803e-03 1.03087776e-02 -2.92972512e+02] [ 2.11536922e-03 9.99991039e-01 -3.66705282e-03 1.71031472e+01] [-1.03010670e-02 3.68865692e-03 9.99940139e-01 1.55528897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.579072329 meters Centerline goodness : 0.756311 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99952978e-01 -1.13581125e-03 9.63076549e-03 -2.92970057e+02] [ 1.16414446e-03 9.99995010e-01 -2.93685191e-03 1.71030921e+01] [-9.62738172e-03 2.94792542e-03 9.99949310e-01 1.55528013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.60907232899996 meters Centerline goodness : 0.755028 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.10, Z:155.53 [[ 9.99957227e-01 -1.04360769e-03 9.18991052e-03 -2.92968092e+02] [ 1.07213960e-03 9.99994619e-01 -3.10032079e-03 1.71046878e+01] [-9.18662555e-03 3.11004105e-03 9.99952966e-01 1.55527026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.639072329 meters Centerline goodness : 0.756643 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99952298e-01 2.67647611e-03 9.39347493e-03 -2.92969003e+02] [-2.67915856e-03 9.99996374e-01 2.72993551e-04 1.71071160e+01] [-9.39271021e-03 -2.98147138e-04 9.99955843e-01 1.55527564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66907232899996 meters Centerline goodness : 0.754058 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99952723e-01 2.22666323e-03 9.46535738e-03 -2.92969544e+02] [-2.22215431e-03 9.99997412e-01 -4.86850752e-04 1.71091641e+01] [-9.46641694e-03 4.65794250e-04 9.99955084e-01 1.55528042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.699072329 meters Centerline goodness : 0.757025 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99953719e-01 2.12008622e-03 9.38425136e-03 -2.92970286e+02] [-2.11157315e-03 9.99997350e-01 -9.16980296e-04 1.71101591e+01] [-9.38617057e-03 8.97122324e-04 9.99955546e-01 1.55529333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72907232899996 meters Centerline goodness : 0.756294 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99957035e-01 2.11670824e-03 9.02480204e-03 -2.92969719e+02] [-2.10579059e-03 9.99997040e-01 -1.21906952e-03 1.71113932e+01] [-9.02735574e-03 1.20001280e-03 9.99958533e-01 1.55529834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.759072329 meters Centerline goodness : 0.758584 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99957281e-01 2.05180519e-03 9.01251560e-03 -2.92969965e+02] [-2.03892291e-03 9.99996887e-01 -1.43833212e-03 1.71122522e+01] [-9.01543872e-03 1.41989485e-03 9.99958352e-01 1.55530251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78907232899996 meters Centerline goodness : 0.755371 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99953814e-01 2.29168814e-03 9.33367787e-03 -2.92970787e+02] [-2.28470560e-03 9.99997102e-01 -7.58695096e-04 1.71098658e+01] [-9.33538952e-03 7.37335349e-04 9.99956152e-01 1.55530100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.819072329 meters Centerline goodness : 0.756018 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99949089e-01 1.79380422e-03 9.92984027e-03 -2.92972652e+02] [-1.78170708e-03 9.99997660e-01 -1.22697350e-03 1.71103885e+01] [-9.93201798e-03 1.20921897e-03 9.99949945e-01 1.55530431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84907232899997 meters Centerline goodness : 0.755240 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99948817e-01 1.51058756e-03 1.00041097e-02 -2.92972909e+02] [-1.49522951e-03 9.99997693e-01 -1.54247597e-03 1.71110460e+01] [-1.00064167e-02 1.52743858e-03 9.99948768e-01 1.55530472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.879072329 meters Centerline goodness : 0.753829 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99952918e-01 3.50000608e-03 9.05045551e-03 -2.92969678e+02] [-3.49844094e-03 9.99993863e-01 -1.88760521e-04 1.71116719e+01] [-9.05106063e-03 1.57089149e-04 9.99959026e-01 1.55529766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90907232899997 meters Centerline goodness : 0.754633 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99955220e-01 3.18688962e-03 8.91071856e-03 -2.92969574e+02] [-3.17913448e-03 9.99994556e-01 -8.84345015e-04 1.71139244e+01] [-8.91348836e-03 8.55977042e-04 9.99959908e-01 1.55530136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93907232899994 meters Centerline goodness : 0.755694 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99955141e-01 3.03293803e-03 8.97309645e-03 -2.92970639e+02] [-3.02279891e-03 9.99994778e-01 -1.14329379e-03 1.71140645e+01] [-8.97651713e-03 1.11611864e-03 9.99959087e-01 1.55531224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96907232899997 meters Centerline goodness : 0.757383 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99950101e-01 2.34063653e-03 9.71164349e-03 -2.92972933e+02] [-2.32386937e-03 9.99995790e-01 -1.73742591e-03 1.71145716e+01] [-9.71566929e-03 1.71477063e-03 9.99951331e-01 1.55531693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99907232899994 meters Centerline goodness : 0.757383 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99950101e-01 2.34063653e-03 9.71164349e-03 -2.92972933e+02] [-2.32386937e-03 9.99995790e-01 -1.73742591e-03 1.71145716e+01] [-9.71566929e-03 1.71477063e-03 9.99951331e-01 1.55531693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.029072329 meters Centerline goodness : 0.757840 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99951533e-01 2.45237540e-03 9.53510347e-03 -2.92972468e+02] [-2.43639726e-03 9.99995609e-01 -1.68697247e-03 1.71148028e+01] [-9.53919869e-03 1.66365940e-03 9.99953117e-01 1.55531643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.05907232899995 meters Centerline goodness : 0.758000 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99948856e-01 2.34219330e-03 9.83869399e-03 -2.92973046e+02] [-2.32648609e-03 9.99996002e-01 -1.60761526e-03 1.71144027e+01] [-9.84242000e-03 1.58464346e-03 9.99950307e-01 1.55531313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.089072329 meters Centerline goodness : 0.757185 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99944523e-01 2.07352829e-03 1.03271688e-02 -2.92974179e+02] [-2.05676303e-03 9.99996550e-01 -1.63376913e-03 1.71139403e+01] [-1.03305208e-02 1.61243796e-03 9.99945339e-01 1.55531098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.11907232899995 meters Centerline goodness : 0.755202 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99944490e-01 -1.21872911e-03 1.04657290e-02 -2.92973339e+02] [ 1.26321057e-03 9.99990194e-01 -4.24464305e-03 1.71099992e+01] [-1.04604533e-02 4.25762785e-03 9.99936224e-01 1.55529366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.149072329 meters Centerline goodness : 0.755689 Centerline is valid? [False, False] Translation: X:-292.97, Y:17.11, Z:155.53 [[ 9.99934617e-01 -1.67897976e-03 1.13112145e-02 -2.92974891e+02] [ 1.72914941e-03 9.99988705e-01 -4.42707118e-03 1.71099973e+01] [-1.13036538e-02 4.44634050e-03 9.99926226e-01 1.55528507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.17907232899995 meters Centerline goodness : 0.755045 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99925022e-01 -2.04371008e-03 1.20737017e-02 -2.92976892e+02] [ 2.09481146e-03 9.99988896e-01 -4.22132413e-03 1.71081803e+01] [-1.20649405e-02 4.24629975e-03 9.99918200e-01 1.55528392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.209072329 meters Centerline goodness : 0.755326 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99927042e-01 -1.77547982e-03 1.19481543e-02 -2.92976512e+02] [ 1.82319618e-03 9.99990402e-01 -3.98391095e-03 1.71079203e+01] [-1.19409662e-02 4.00540412e-03 9.99920682e-01 1.55528298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.23907232899995 meters Centerline goodness : 0.758303 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99911780e-01 -5.58007990e-03 1.20538081e-02 -2.92976764e+02] [ 5.67083343e-03 9.99955735e-01 -7.50802166e-03 1.71058927e+01] [-1.20113792e-02 7.57571444e-03 9.99899163e-01 1.55528215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.269072329 meters Centerline goodness : 0.757816 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99907818e-01 -5.63368777e-03 1.23538595e-02 -2.92977429e+02] [ 5.72684249e-03 9.99955339e-01 -7.51816929e-03 1.71060150e+01] [-1.23109527e-02 7.58822485e-03 9.99895424e-01 1.55528051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.29907232899996 meters Centerline goodness : 0.760385 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99907411e-01 -5.59931448e-03 1.24022909e-02 -2.92978217e+02] [ 5.69311632e-03 9.99955360e-01 -7.54091885e-03 1.71058991e+01] [-1.23595133e-02 7.61082833e-03 9.99894653e-01 1.55528928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.329072329 meters Centerline goodness : 0.760989 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99913007e-01 -5.38007316e-03 1.20430081e-02 -2.92977333e+02] [ 5.47118450e-03 9.99956566e-01 -7.54537958e-03 1.71067122e+01] [-1.20018903e-02 7.61061270e-03 9.99899012e-01 1.55528994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.35907232899996 meters Centerline goodness : 0.761337 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99905013e-01 -5.85260273e-03 1.24784350e-02 -2.92978587e+02] [ 5.95227443e-03 9.99950560e-01 -7.96539555e-03 1.71075297e+01] [-1.24311998e-02 8.03891401e-03 9.99890415e-01 1.55529182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.389072329 meters Centerline goodness : 0.763142 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99914670e-01 -2.53750788e-03 1.28145653e-02 -2.92979490e+02] [ 2.60182488e-03 9.99984091e-01 -5.00488002e-03 1.71108812e+01] [-1.28016615e-02 5.03779421e-03 9.99905365e-01 1.55529345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41907232899996 meters Centerline goodness : 0.760888 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99918652e-01 -2.15736196e-03 1.25712301e-02 -2.92978856e+02] [ 2.21583561e-03 9.99986783e-01 -4.63931641e-03 1.71104080e+01] [-1.25610553e-02 4.66679479e-03 9.99910216e-01 1.55529315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.449072329 meters Centerline goodness : 0.761202 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99922351e-01 -2.14522899e-03 1.22756082e-02 -2.92978377e+02] [ 2.20554035e-03 9.99985554e-01 -4.90167865e-03 1.71116875e+01] [-1.22649157e-02 4.92837238e-03 9.99912638e-01 1.55529759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47907232899996 meters Centerline goodness : 0.761897 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99924676e-01 -2.24922764e-03 1.20657773e-02 -2.92977764e+02] [ 2.31312987e-03 9.99983360e-01 -5.28481687e-03 1.71134220e+01] [-1.20536897e-02 5.31232851e-03 9.99913240e-01 1.55529742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.509072329 meters Centerline goodness : 0.762104 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.12, Z:155.53 [[ 9.99925282e-01 1.17292447e-03 1.21677424e-02 -2.92978465e+02] [-1.14517770e-03 9.99996729e-01 -2.28707135e-03 1.71169839e+01] [-1.21703852e-02 2.27296623e-03 9.99923355e-01 1.55530518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53907232899996 meters Centerline goodness : 0.764313 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.12, Z:155.53 [[ 9.99915471e-01 3.71009400e-04 1.29966444e-02 -2.92981212e+02] [-3.31408711e-04 9.99995297e-01 -3.04901449e-03 1.71180793e+01] [-1.29977145e-02 3.04444956e-03 9.99910891e-01 1.55531408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.569072329 meters Centerline goodness : 0.762370 Centerline is valid? [False, False] Translation: X:-292.98, Y:17.11, Z:155.53 [[ 9.99895977e-01 -3.99527779e-03 1.38590139e-02 -2.92984444e+02] [ 4.08943797e-03 9.99968705e-01 -6.77247454e-03 1.71147201e+01] [-1.38315223e-02 6.82844563e-03 9.99881024e-01 1.55532597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59907232899997 meters Centerline goodness : 0.764359 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99890757e-01 -3.89138186e-03 1.42593972e-02 -2.92985479e+02] [ 3.98293131e-03 9.99971604e-01 -6.39752492e-03 1.71132595e+01] [-1.42340970e-02 6.45362023e-03 9.99877863e-01 1.55532524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.629072329 meters Centerline goodness : 0.761429 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99871571e-01 -4.91320140e-03 1.52545878e-02 -2.92988083e+02] [ 5.01901035e-03 9.99963560e-01 -6.90568649e-03 1.71129269e+01] [-1.52201029e-02 6.98136253e-03 9.99859795e-01 1.55532499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65907232899997 meters Centerline goodness : 0.764058 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99844548e-01 -6.39067534e-03 1.64328362e-02 -2.92989985e+02] [ 6.51183612e-03 9.99951931e-01 -7.33018296e-03 1.71118985e+01] [-1.63852014e-02 7.43605141e-03 9.99838102e-01 1.55530884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68907232899994 meters Centerline goodness : 0.761633 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99836422e-01 -6.35643164e-03 1.69329636e-02 -2.92990902e+02] [ 6.47213916e-03 9.99956021e-01 -6.78725647e-03 1.71099091e+01] [-1.68890762e-02 6.89573872e-03 9.99833590e-01 1.55530281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71907232899997 meters Centerline goodness : 0.758663 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99850740e-01 -4.95196724e-03 1.65521947e-02 -2.92989577e+02] [ 5.03233196e-03 9.99975735e-01 -4.81711076e-03 1.71056719e+01] [-1.65279389e-02 4.89968790e-03 9.99851399e-01 1.55529651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74907232899994 meters Centerline goodness : 0.759627 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99844689e-01 -5.27441964e-03 1.68160119e-02 -2.92989913e+02] [ 5.36466371e-03 9.99971427e-01 -5.32597117e-03 1.71074046e+01] [-1.67874400e-02 5.41535624e-03 9.99844416e-01 1.55529299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.779072329 meters Centerline goodness : 0.760870 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99800611e-01 -9.87329008e-03 1.73567396e-02 -2.92990798e+02] [ 1.00437610e-02 9.99901908e-01 -9.76201936e-03 1.71077263e+01] [-1.72586538e-02 9.93439987e-03 9.99801704e-01 1.55528815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.80907232899995 meters Centerline goodness : 0.760479 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.11, Z:155.53 [[ 9.99748434e-01 -1.37416571e-02 1.77266738e-02 -2.92991353e+02] [ 1.39772842e-02 9.99814684e-01 -1.32375355e-02 1.71051844e+01] [-1.75414831e-02 1.34819761e-02 9.99755236e-01 1.55528283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.839072329 meters Centerline goodness : 0.759330 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.10, Z:155.53 [[ 9.99741452e-01 -1.37618716e-02 1.81008302e-02 -2.92992132e+02] [ 1.39994769e-02 9.99816628e-01 -1.30662109e-02 1.71045670e+01] [-1.79176954e-02 1.33162349e-02 9.99750786e-01 1.55528020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.86907232899995 meters Centerline goodness : 0.760634 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.10, Z:155.53 [[ 9.99707216e-01 -1.47685730e-02 1.91669381e-02 -2.92994270e+02] [ 1.50278571e-02 9.99796544e-01 -1.34548859e-02 1.71045259e+01] [-1.89643290e-02 1.37389845e-02 9.99725760e-01 1.55527204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.899072329 meters Centerline goodness : 0.759452 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99694586e-01 -1.49343696e-02 1.96900645e-02 -2.92995086e+02] [ 1.51994342e-02 9.99794934e-01 -1.33816235e-02 1.71041711e+01] [-1.94861806e-02 1.36768144e-02 9.99716577e-01 1.55526483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.92907232899995 meters Centerline goodness : 0.759289 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99690604e-01 -1.49098209e-02 1.99096517e-02 -2.92995503e+02] [ 1.51729614e-02 9.99798649e-01 -1.31317304e-02 1.71034744e+01] [-1.97098511e-02 1.34297558e-02 9.99715541e-01 1.55526259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.959072329 meters Centerline goodness : 0.760310 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99691115e-01 -1.49030807e-02 1.98890012e-02 -2.92995465e+02] [ 1.51689375e-02 9.99796702e-01 -1.32837810e-02 1.71042961e+01] [-1.96869885e-02 1.35813728e-02 9.99713943e-01 1.55526316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.98907232899995 meters Centerline goodness : 0.759111 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99695068e-01 -1.46525108e-02 1.98765122e-02 -2.92995602e+02] [ 1.49121119e-02 9.99804608e-01 -1.29759608e-02 1.71035550e+01] [-1.96824981e-02 1.32684048e-02 9.99718235e-01 1.55526514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.019072329 meters Centerline goodness : 0.758281 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.10, Z:155.53 [[ 9.99697920e-01 -1.44149444e-02 1.99067439e-02 -2.92994589e+02] [ 1.46677573e-02 9.99812870e-01 -1.26127883e-02 1.71033531e+01] [-1.97212061e-02 1.29009655e-02 9.99722281e-01 1.55525030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.04907232899996 meters Centerline goodness : 0.757487 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.10, Z:155.52 [[ 9.99696076e-01 -1.43304186e-02 2.00597805e-02 -2.92994384e+02] [ 1.45802715e-02 9.99817244e-01 -1.23650697e-02 1.71029793e+01] [-1.98789178e-02 1.26537887e-02 9.99722317e-01 1.55524194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.079072329 meters Centerline goodness : 0.754328 Centerline is valid? [False, False] Translation: X:-292.99, Y:17.10, Z:155.52 [[ 9.99696945e-01 -1.41118051e-02 2.01711349e-02 -2.92994458e+02] [ 1.43536667e-02 9.99826209e-01 -1.18964134e-02 1.71017826e+01] [-1.99997494e-02 1.21823379e-02 9.99725763e-01 1.55523835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.10907232899996 meters Centerline goodness : 0.756601 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99661123e-01 -1.51474943e-02 2.11705536e-02 -2.92996552e+02] [ 1.54237413e-02 9.99797223e-01 -1.29468418e-02 1.71039905e+01] [-2.09701485e-02 1.32689835e-02 9.99692046e-01 1.55523440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.139072329 meters Centerline goodness : 0.758182 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99567582e-01 -1.95165106e-02 2.19944253e-02 -2.92998627e+02] [ 1.98921061e-02 9.99657773e-01 -1.69894350e-02 1.71028339e+01] [-2.16553237e-02 1.74196039e-02 9.99613728e-01 1.55523726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16907232899996 meters Centerline goodness : 0.758598 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99502656e-01 -2.15976169e-02 2.29778775e-02 -2.93002645e+02] [ 2.20334944e-02 9.99578787e-01 -1.88884524e-02 1.71044749e+01] [-2.25602533e-02 1.93853412e-02 9.99557524e-01 1.55525666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.199072329 meters Centerline goodness : 0.760430 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99218296e-01 -3.07340338e-02 2.48639360e-02 -2.93002047e+02] [ 3.09960978e-02 9.99467214e-01 -1.02239990e-02 1.71003365e+01] [-2.45364641e-02 1.09866918e-02 9.99638562e-01 1.55526662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22907232899996 meters Centerline goodness : 0.759209 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99240858e-01 -3.01109359e-02 2.47192156e-02 -2.93000773e+02] [ 3.03482819e-02 9.99496275e-01 -9.28326180e-03 1.70985973e+01] [-2.44272362e-02 1.00264002e-02 9.99651330e-01 1.55525425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.259072329 meters Centerline goodness : 0.757430 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99221818e-01 -3.03521181e-02 2.51894287e-02 -2.93001770e+02] [ 3.05937614e-02 9.99488973e-01 -9.26367077e-03 1.70982065e+01] [-2.48953841e-02 1.00271013e-02 9.99639774e-01 1.55525115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28907232899996 meters Centerline goodness : 0.754687 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99232998e-01 -3.00760963e-02 2.50767597e-02 -2.93001281e+02] [ 3.03054845e-02 9.99501786e-01 -8.81805078e-03 1.70972408e+01] [-2.47990535e-02 9.57125067e-03 9.99646637e-01 1.55524790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.319072329 meters Centerline goodness : 0.754887 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99264601e-01 -2.94244009e-02 2.45858126e-02 -2.92999861e+02] [ 2.96399335e-02 9.99524936e-01 -8.44852589e-03 1.70974651e+01] [-2.43255399e-02 9.17103470e-03 9.99662023e-01 1.55524567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34907232899997 meters Centerline goodness : 0.753772 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99376258e-01 -2.55078324e-02 2.44222483e-02 -2.93000374e+02] [ 2.56326055e-02 9.99659861e-01 -4.80959645e-03 1.70990924e+01] [-2.42912589e-02 5.43260235e-03 9.99690163e-01 1.55525441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.379072329 meters Centerline goodness : 0.754342 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99400288e-01 -2.51061906e-02 2.38483393e-02 -2.92999025e+02] [ 2.52227972e-02 9.99671265e-01 -4.60130073e-03 1.70992282e+01] [-2.37249784e-02 5.20006310e-03 9.99704999e-01 1.55525524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40907232899997 meters Centerline goodness : 0.755033 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.53 [[ 9.99485926e-01 -2.13727057e-02 2.38974998e-02 -2.92999294e+02] [ 2.14053152e-02 9.99770264e-01 -1.10955560e-03 1.71016176e+01] [-2.38682955e-02 1.62051872e-03 9.99713798e-01 1.55525424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43907232899994 meters Centerline goodness : 0.753045 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99491592e-01 -2.14314410e-02 2.36061501e-02 -2.92997875e+02] [ 2.14735761e-02 9.99768241e-01 -1.53285197e-03 1.71035658e+01] [-2.35678280e-02 2.03898112e-03 9.99720161e-01 1.55524591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46907232899997 meters Centerline goodness : 0.751673 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99506909e-01 -2.10573938e-02 2.32921710e-02 -2.92997077e+02] [ 2.10905593e-02 9.99776874e-01 -1.17912258e-03 1.71028328e+01] [-2.32621446e-02 1.66978607e-03 9.99728005e-01 1.55524511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49907232899994 meters Centerline goodness : 0.752846 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.10, Z:155.52 [[ 9.99513295e-01 -2.08664496e-02 2.31897679e-02 -2.92996915e+02] [ 2.08955619e-02 9.99781150e-01 -1.01376336e-03 1.71026197e+01] [-2.31635392e-02 1.49783318e-03 9.99730567e-01 1.55524614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.529072329 meters Centerline goodness : 0.753403 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.11, Z:155.52 [[ 9.99601905e-01 -1.31410746e-02 2.49668614e-02 -2.93008438e+02] [ 1.33261906e-02 9.99884827e-01 -7.26260287e-03 1.71143997e+01] [-2.48685475e-02 7.59242481e-03 9.99661898e-01 1.55520866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.55907232899995 meters Centerline goodness : 0.754511 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.11, Z:155.52 [[ 9.99626151e-01 -1.25750086e-02 2.42781414e-02 -2.93007174e+02] [ 1.27492816e-02 9.99893964e-01 -7.03678518e-03 1.71149279e+01] [-2.41870794e-02 7.34368335e-03 9.99680477e-01 1.55521623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.589072329 meters Centerline goodness : 0.755536 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99653229e-01 -1.18516157e-02 2.35151103e-02 -2.93005785e+02] [ 1.20137017e-02 9.99904958e-01 -6.76358702e-03 1.71155716e+01] [-2.34327159e-02 7.04374513e-03 9.99700602e-01 1.55522438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.61907232899995 meters Centerline goodness : 0.756685 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99633490e-01 -1.23448294e-02 2.40933593e-02 -2.93007657e+02] [ 1.25211392e-02 9.99895824e-01 -7.18068093e-03 1.71159807e+01] [-2.40022051e-02 7.47972545e-03 9.99683924e-01 1.55523048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.649072329 meters Centerline goodness : 0.757379 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99620998e-01 -1.26488428e-02 2.44513324e-02 -2.93009032e+02] [ 1.28354968e-02 9.99889555e-01 -7.49187564e-03 1.71164376e+01] [-2.43538683e-02 7.80288120e-03 9.99672949e-01 1.55523678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.67907232899995 meters Centerline goodness : 0.756829 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99603632e-01 -1.30150708e-02 2.49637109e-02 -2.93010274e+02] [ 1.32090330e-02 9.99883717e-01 -7.62066163e-03 1.71160913e+01] [-2.48616246e-02 7.94738752e-03 9.99659311e-01 1.55523519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.709072329 meters Centerline goodness : 0.757148 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.11, Z:155.52 [[ 9.99603314e-01 -1.28147211e-02 2.50798367e-02 -2.93010593e+02] [ 1.29963484e-02 9.99890390e-01 -7.09240840e-03 1.71141477e+01] [-2.49862005e-02 7.41554123e-03 9.99660292e-01 1.55523418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.73907232899995 meters Centerline goodness : 0.754368 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.11, Z:155.52 [[ 9.99627014e-01 -1.21199205e-02 2.44732396e-02 -2.93009020e+02] [ 1.22819060e-02 9.99903581e-01 -6.47944719e-03 1.71132380e+01] [-2.43923496e-02 6.77760848e-03 9.99679487e-01 1.55523231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.769072329 meters Centerline goodness : 0.754027 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.11, Z:155.52 [[ 9.99655491e-01 -1.11291276e-02 2.37706119e-02 -2.93006509e+02] [ 1.12652800e-02 9.99920855e-01 -5.60154610e-03 1.71125096e+01] [-2.37063903e-02 5.86739892e-03 9.99701746e-01 1.55522286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.79907232899996 meters Centerline goodness : 0.754309 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.11, Z:155.52 [[ 9.99667567e-01 -1.08811957e-02 2.33742547e-02 -2.93004361e+02] [ 1.10191230e-02 9.99922581e-01 -5.78014344e-03 1.71148158e+01] [-2.33095503e-02 6.03578571e-03 9.99710075e-01 1.55520948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.829072329 meters Centerline goodness : 0.752889 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.11, Z:155.52 [[ 9.99662401e-01 -1.09239994e-02 2.35743459e-02 -2.93004824e+02] [ 1.10592927e-02 9.99923072e-01 -5.61627663e-03 1.71141158e+01] [-2.35111802e-02 5.87509618e-03 9.99706311e-01 1.55520812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.85907232899996 meters Centerline goodness : 0.753992 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99711414e-01 -6.50537912e-03 2.31250628e-02 -2.93003886e+02] [ 6.54334373e-03 9.99977365e-01 -1.56641917e-03 1.71156160e+01] [-2.31143492e-02 1.71728236e-03 9.99731353e-01 1.55521047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.889072329 meters Centerline goodness : 0.754679 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99700665e-01 -7.32761051e-03 2.33428083e-02 -2.93004869e+02] [ 7.39886595e-03 9.99968224e-01 -2.96766092e-03 1.71195297e+01] [-2.33203207e-02 3.13948290e-03 9.99723115e-01 1.55521793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91907232899996 meters Centerline goodness : 0.754679 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99700665e-01 -7.32761051e-03 2.33428083e-02 -2.93004869e+02] [ 7.39886595e-03 9.99968224e-01 -2.96766092e-03 1.71195297e+01] [-2.33203207e-02 3.13948290e-03 9.99723115e-01 1.55521793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.949072329 meters Centerline goodness : 0.756435 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99701624e-01 -7.31506798e-03 2.33056191e-02 -2.93005410e+02] [ 7.38464051e-03 9.99968526e-01 -2.90056074e-03 1.71188589e+01] [-2.32836678e-02 3.07179890e-03 9.99724179e-01 1.55522602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97907232899996 meters Centerline goodness : 0.757244 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99707431e-01 -7.43529152e-03 2.30166935e-02 -2.93006000e+02] [ 7.51956307e-03 9.99965330e-01 -3.57694051e-03 1.71208228e+01] [-2.29892999e-02 3.74896949e-03 9.99728682e-01 1.55524516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.009072329 meters Centerline goodness : 0.759564 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99711287e-01 -7.38283283e-03 2.28656096e-02 -2.93005654e+02] [ 7.47021333e-03 9.99965109e-01 -3.73842415e-03 1.71218732e+01] [-2.28372116e-02 3.90815580e-03 9.99731558e-01 1.55524652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03907232899996 meters Centerline goodness : 0.758145 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99720263e-01 -7.08169812e-03 2.25664448e-02 -2.93005037e+02] [ 7.16139663e-03 9.99968396e-01 -3.45287041e-03 1.71214455e+01] [-2.25412794e-02 3.61351178e-03 9.99739383e-01 1.55524799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.069072329 meters Centerline goodness : 0.758323 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99702337e-01 -9.99092594e-03 2.22580166e-02 -2.93003215e+02] [ 1.01287701e-02 9.99930164e-01 -6.08890283e-03 1.71185043e+01] [-2.21956284e-02 6.31253672e-03 9.99733718e-01 1.55523545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09907232899997 meters Centerline goodness : 0.757568 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99659385e-01 -1.17869996e-02 2.32847613e-02 -2.93006932e+02] [ 1.19647770e-02 9.99900214e-01 -7.51041345e-03 1.71192265e+01] [-2.31939126e-02 7.78645227e-03 9.99700662e-01 1.55524790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.129072329 meters Centerline goodness : 0.757547 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99647565e-01 -1.20682376e-02 2.36453623e-02 -2.93007954e+02] [ 1.22528608e-02 9.99895447e-01 -7.67874064e-03 1.71194943e+01] [-2.35502213e-02 7.96575772e-03 9.99690919e-01 1.55524948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15907232899997 meters Centerline goodness : 0.757777 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99664191e-01 -1.14349750e-02 2.32539737e-02 -2.93006465e+02] [ 1.16025427e-02 9.99907596e-01 -7.08386910e-03 1.71192172e+01] [-2.31708210e-02 7.35129549e-03 9.99704492e-01 1.55524318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18907232899994 meters Centerline goodness : 0.756376 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99667899e-01 -1.11590307e-02 2.32286036e-02 -2.93005900e+02] [ 1.13146389e-02 9.99914348e-01 -6.57837364e-03 1.71182486e+01] [-2.31532057e-02 6.83901222e-03 9.99708536e-01 1.55523520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21907232899997 meters Centerline goodness : 0.756493 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99682934e-01 -1.04255263e-02 2.29202727e-02 -2.93003890e+02] [ 1.05580851e-02 9.99928186e-01 -5.67008728e-03 1.71168112e+01] [-2.28595131e-02 5.91028368e-03 9.99721217e-01 1.55521756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24907232899994 meters Centerline goodness : 0.756774 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99671583e-01 -1.06528082e-02 2.33075885e-02 -2.93004607e+02] [ 1.07914411e-02 9.99924773e-01 -5.83029844e-03 1.71171108e+01] [-2.32437261e-02 6.07990614e-03 9.99711340e-01 1.55521360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.279072329 meters Centerline goodness : 0.756744 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.52 [[ 9.99670547e-01 -1.05167204e-02 2.34135806e-02 -2.93005165e+02] [ 1.06489091e-02 9.99928017e-01 -5.52830471e-03 1.71158850e+01] [-2.33537556e-02 5.77581249e-03 9.99710579e-01 1.55521649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.30907232899995 meters Centerline goodness : 0.758044 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99697569e-01 -9.86275410e-03 2.25276801e-02 -2.93002911e+02] [ 9.99226947e-03 9.99934149e-01 -5.64385111e-03 1.71180462e+01] [-2.24705328e-02 5.86724689e-03 9.99730289e-01 1.55521884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.339072329 meters Centerline goodness : 0.759025 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99711070e-01 -9.57819842e-03 2.20462072e-02 -2.93001717e+02] [ 9.70742080e-03 9.99936281e-01 -5.76189492e-03 1.71195857e+01] [-2.19896139e-02 5.97424195e-03 9.99740349e-01 1.55522068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.36907232899995 meters Centerline goodness : 0.759331 Centerline is valid? [False, False] Translation: X:-293.00, Y:17.12, Z:155.52 [[ 9.99698541e-01 -1.02263119e-02 2.23215273e-02 -2.93003897e+02] [ 1.03794643e-02 9.99923308e-01 -6.75615731e-03 1.71215800e+01] [-2.22507248e-02 6.98580610e-03 9.99728015e-01 1.55524230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.399072329 meters Centerline goodness : 0.760440 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.53 [[ 9.99668303e-01 -1.13406426e-02 2.31230258e-02 -2.93006865e+02] [ 1.15215474e-02 9.99903936e-01 -7.70541847e-03 1.71222689e+01] [-2.30334201e-02 7.96927564e-03 9.99702932e-01 1.55525373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.42907232899995 meters Centerline goodness : 0.762351 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.12, Z:155.53 [[ 9.99635476e-01 -1.22972526e-02 2.40352421e-02 -2.93009405e+02] [ 1.25013607e-02 9.99886904e-01 -8.36030006e-03 1.71226248e+01] [-2.39297151e-02 8.65772576e-03 9.99676154e-01 1.55525549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.459072329 meters Centerline goodness : 0.759527 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99754666e-01 -1.64367781e-02 1.48472360e-02 -2.93020847e+02] [ 1.65867314e-02 9.99812085e-01 -1.00337008e-02 1.71353394e+01] [-1.46795242e-02 1.02775063e-02 9.99839429e-01 1.55526357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.48907232899995 meters Centerline goodness : 0.758619 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.13, Z:155.53 [[ 9.99749085e-01 -1.63064596e-02 1.53579120e-02 -2.93021395e+02] [ 1.64495631e-02 9.99822019e-01 -9.23812322e-03 1.71327274e+01] [-1.52045375e-02 9.48843618e-03 9.99839383e-01 1.55525072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.519072329 meters Centerline goodness : 0.758171 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.13, Z:155.52 [[ 9.99807200e-01 -1.21573753e-02 1.54195024e-02 -2.93021314e+02] [ 1.22369388e-02 9.99912241e-01 -5.07610944e-03 1.71333546e+01] [-1.53564371e-02 5.26381827e-03 9.99868227e-01 1.55524463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.54907232899996 meters Centerline goodness : 0.757971 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.13, Z:155.52 [[ 9.99870433e-01 -6.92451498e-03 1.45316107e-02 -2.93018847e+02] [ 6.92937236e-03 9.99975951e-01 -2.83939409e-04 1.71338407e+01] [-1.45292950e-02 3.84597561e-04 9.99894370e-01 1.55524189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.579072329 meters Centerline goodness : 0.757661 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.13, Z:155.53 [[ 9.99889293e-01 -5.92781011e-03 1.36478261e-02 -2.93017616e+02] [ 5.92398213e-03 9.99982402e-01 3.20892859e-04 1.71334154e+01] [-1.36494881e-02 -2.40007857e-04 9.99906813e-01 1.55525347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.60907232899996 meters Centerline goodness : 0.759441 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99902985e-01 -5.53518898e-03 1.27820707e-02 -2.93016271e+02] [ 5.54108104e-03 9.99984558e-01 -4.25594277e-04 1.71364748e+01] [-1.27795176e-02 4.96379478e-04 9.99918215e-01 1.55526811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.639072329 meters Centerline goodness : 0.759471 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99917220e-01 -4.68530304e-03 1.19833947e-02 -2.93014308e+02] [ 4.68490723e-03 9.99989024e-01 6.11013609e-05 1.71365054e+01] [-1.19835495e-02 -4.95521037e-06 9.99928195e-01 1.55526912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66907232899996 meters Centerline goodness : 0.758588 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99919265e-01 -4.64734303e-03 1.18264827e-02 -2.93014454e+02] [ 4.64780831e-03 9.99989199e-01 -1.18577817e-05 1.71366806e+01] [-1.18262998e-02 6.68240488e-05 9.99930065e-01 1.55527569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.699072329 meters Centerline goodness : 0.757911 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99929933e-01 -3.98612367e-03 1.11462765e-02 -2.93012568e+02] [ 3.98270701e-03 9.99992015e-01 3.28709532e-04 1.71366701e+01] [-1.11474977e-02 -2.84294147e-04 9.99937824e-01 1.55527345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72907232899996 meters Centerline goodness : 0.757906 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99930324e-01 -4.09216962e-03 1.10725393e-02 -2.93012606e+02] [ 4.09211121e-03 9.99991627e-01 2.79316010e-05 1.71376939e+01] [-1.10725609e-02 1.73804074e-05 9.99938697e-01 1.55527648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.759072329 meters Centerline goodness : 0.759498 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99949216e-01 -2.85916921e-03 9.66389313e-03 -2.93010505e+02] [ 2.86117698e-03 9.99995888e-01 -1.93940545e-04 1.71399042e+01] [-9.66329888e-03 2.21580805e-04 9.99953285e-01 1.55530071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78907232899996 meters Centerline goodness : 0.761002 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99945289e-01 -3.26154188e-03 9.93888828e-03 -2.93011923e+02] [ 3.26926060e-03 9.99994367e-01 -7.60470542e-04 1.71410087e+01] [-9.93635199e-03 7.92921752e-04 9.99950319e-01 1.55531017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.819072329 meters Centerline goodness : 0.760513 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99951518e-01 -2.86441520e-03 9.42103288e-03 -2.93011207e+02] [ 2.87031970e-03 9.99995693e-01 -6.13274980e-04 1.71411073e+01] [-9.41923563e-03 6.40286624e-04 9.99955433e-01 1.55531766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84907232899997 meters Centerline goodness : 0.761227 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99961295e-01 -2.33454803e-03 8.48284030e-03 -2.93008947e+02] [ 2.34061388e-03 9.99997012e-01 -7.05214695e-04 1.71430889e+01] [-8.48116860e-03 7.25042453e-04 9.99963771e-01 1.55532107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.879072329 meters Centerline goodness : 0.762229 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99965848e-01 -2.08018208e-03 7.99852841e-03 -2.93007380e+02] [ 2.08639653e-03 9.99997528e-01 -7.68684171e-04 1.71444562e+01] [-7.99690964e-03 7.85346020e-04 9.99967716e-01 1.55531707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90907232899997 meters Centerline goodness : 0.760179 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99969310e-01 -1.68524500e-03 7.65107758e-03 -2.93006132e+02] [ 1.68811936e-03 9.99998507e-01 -3.69238874e-04 1.71440645e+01] [-7.65044390e-03 3.82143474e-04 9.99970662e-01 1.55531218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93907232899994 meters Centerline goodness : 0.759319 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99970153e-01 -1.44740173e-03 7.58935234e-03 -2.93005232e+02] [ 1.44710993e-03 9.99998952e-01 4.39399331e-05 1.71433847e+01] [-7.58940799e-03 -3.29559944e-05 9.99971199e-01 1.55530149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96907232899997 meters Centerline goodness : 0.760573 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99964507e-01 -1.92168900e-03 8.20321381e-03 -2.93006952e+02] [ 1.92504022e-03 9.99998067e-01 -4.00649773e-04 1.71441294e+01] [-8.20242802e-03 4.16427069e-04 9.99966273e-01 1.55530265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99907232899994 meters Centerline goodness : 0.760654 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99958041e-01 -2.40980198e-03 8.83787998e-03 -2.93008664e+02] [ 2.41724167e-03 9.99996733e-01 -8.31210291e-04 1.71448492e+01] [-8.83584805e-03 8.52538707e-04 9.99960600e-01 1.55530394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.029072329 meters Centerline goodness : 0.760722 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99927548e-01 -7.08275212e-03 9.73311212e-03 -2.93010903e+02] [ 7.13214328e-03 9.99961818e-01 -5.04924321e-03 1.71439534e+01] [-9.69697795e-03 5.11829533e-03 9.99939884e-01 1.55530359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.05907232899995 meters Centerline goodness : 0.759572 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.14, Z:155.53 [[ 9.99916936e-01 -7.32845962e-03 1.06026202e-02 -2.93013142e+02] [ 7.37859232e-03 9.99961747e-01 -4.69696460e-03 1.71419368e+01] [-1.05677931e-02 4.77480686e-03 9.99932759e-01 1.55530208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.089072329 meters Centerline goodness : 0.759765 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99893345e-01 -8.51808649e-03 1.18633940e-02 -2.93016517e+02] [ 8.58076403e-03 9.99949442e-01 -5.24243021e-03 1.71415104e+01] [-1.18181387e-02 5.34366806e-03 9.99915885e-01 1.55530250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.11907232899995 meters Centerline goodness : 0.758050 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99816551e-01 -1.37807228e-02 1.33024878e-02 -2.93018981e+02] [ 1.38997531e-02 9.99863808e-01 -8.89737672e-03 1.71391200e+01] [-1.31780638e-02 9.08064580e-03 9.99871932e-01 1.55528083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.149072329 meters Centerline goodness : 0.758636 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99819037e-01 -1.35953247e-02 1.33064255e-02 -2.93018541e+02] [ 1.37103142e-02 9.99869120e-01 -8.58891195e-03 1.71389224e+01] [-1.31879149e-02 8.76979294e-03 9.99874577e-01 1.55527503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.17907232899995 meters Centerline goodness : 0.760358 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99786808e-01 -1.47557520e-02 1.44431767e-02 -2.93021565e+02] [ 1.48913632e-02 9.99845613e-01 -9.32721612e-03 1.71394946e+01] [-1.43033167e-02 9.54030623e-03 9.99852188e-01 1.55527610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.209072329 meters Centerline goodness : 0.759470 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.14, Z:155.53 [[ 9.99701770e-01 -1.90562027e-02 1.52719462e-02 -2.93023023e+02] [ 1.92565797e-02 9.99728976e-01 -1.30827286e-02 1.71378350e+01] [-1.50185000e-02 1.33729124e-02 9.99797784e-01 1.55526881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.23907232899995 meters Centerline goodness : 0.758987 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.14, Z:155.53 [[ 9.99672854e-01 -1.97305900e-02 1.62754156e-02 -2.93025594e+02] [ 1.99478421e-02 9.99712610e-01 -1.32959204e-02 1.71372801e+01] [-1.60084018e-02 1.36162301e-02 9.99779140e-01 1.55526784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.269072329 meters Centerline goodness : 0.761691 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.14, Z:155.53 [[ 9.99633457e-01 -2.07391474e-02 1.74023102e-02 -2.93028008e+02] [ 2.09843706e-02 9.99681369e-01 -1.40291472e-02 1.71386077e+01] [-1.71058127e-02 1.43891814e-02 9.99750140e-01 1.55526229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.29907232899996 meters Centerline goodness : 0.758388 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.14, Z:155.52 [[ 9.99502898e-01 -2.38283295e-02 2.06438482e-02 -2.93034538e+02] [ 2.41064839e-02 9.99620502e-01 -1.33315177e-02 1.71375739e+01] [-2.03183461e-02 1.38225412e-02 9.99698005e-01 1.55522201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.329072329 meters Centerline goodness : 0.762165 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.14, Z:155.52 [[ 9.99488223e-01 -2.41314048e-02 2.09992169e-02 -2.93035520e+02] [ 2.44230653e-02 9.99607214e-01 -1.37452678e-02 1.71389827e+01] [-2.06592760e-02 1.42510986e-02 9.99685001e-01 1.55522449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.35907232899996 meters Centerline goodness : 0.762537 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.14, Z:155.52 [[ 9.99454717e-01 -2.48146409e-02 2.17830612e-02 -2.93038359e+02] [ 2.51265007e-02 9.99583968e-01 -1.41615760e-02 1.71388998e+01] [-2.14225843e-02 1.47011860e-02 9.99662417e-01 1.55523636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.389072329 meters Centerline goodness : 0.764261 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.14, Z:155.52 [[ 9.99452872e-01 -2.47464430e-02 2.19446869e-02 -2.93038692e+02] [ 2.50572869e-02 9.99587913e-01 -1.40048504e-02 1.71387229e+01] [-2.15890735e-02 1.45470623e-02 9.99661090e-01 1.55523487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41907232899996 meters Centerline goodness : 0.763512 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.14, Z:155.52 [[ 9.99414078e-01 -2.54143996e-02 2.29261434e-02 -2.93041169e+02] [ 2.57451077e-02 9.99567013e-01 -1.42469455e-02 1.71383443e+01] [-2.25541392e-02 1.48288339e-02 9.99635642e-01 1.55523372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.449072329 meters Centerline goodness : 0.760011 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.14, Z:155.52 [[ 9.99475463e-01 -2.18710144e-02 2.38842447e-02 -2.93043444e+02] [ 2.21120320e-02 9.99706738e-01 -9.87399530e-03 1.71367184e+01] [-2.36612861e-02 1.03969452e-02 9.99665968e-01 1.55522631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47907232899996 meters Centerline goodness : 0.758165 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99431916e-01 -2.26974312e-02 2.49132994e-02 -2.93045886e+02] [ 2.29463576e-02 9.99689136e-01 -9.75168719e-03 1.71341340e+01] [-2.46842165e-02 1.03178169e-02 9.99642052e-01 1.55522128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.509072329 meters Centerline goodness : 0.757326 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99441210e-01 -2.21654394e-02 2.50192142e-02 -2.93045247e+02] [ 2.23942595e-02 9.99709575e-01 -8.90291196e-03 1.71322268e+01] [-2.48146111e-02 9.45822387e-03 9.99647326e-01 1.55520760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53907232899996 meters Centerline goodness : 0.752949 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99403480e-01 -2.27578670e-02 2.59762250e-02 -2.93047260e+02] [ 2.29846906e-02 9.99699962e-01 -8.46701090e-03 1.71290382e+01] [-2.57757401e-02 9.05901565e-03 9.99626703e-01 1.55519870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.569072329 meters Centerline goodness : 0.753022 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99422175e-01 -2.22764479e-02 2.56724805e-02 -2.93046856e+02] [ 2.24882993e-02 9.99715153e-01 -7.99308987e-03 1.71283012e+01] [-2.54871101e-02 8.56580169e-03 9.99638452e-01 1.55520323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59907232899997 meters Centerline goodness : 0.756013 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99518936e-01 -1.80662612e-02 2.52092703e-02 -2.93046779e+02] [ 1.81808162e-02 9.99825372e-01 -4.32236704e-03 1.71304611e+01] [-2.51267790e-02 4.77861281e-03 9.99672851e-01 1.55521661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.629072329 meters Centerline goodness : 0.754884 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99522035e-01 -1.79294595e-02 2.51840493e-02 -2.93047048e+02] [ 1.80405419e-02 9.99828474e-01 -4.19055026e-03 1.71301989e+01] [-2.51045953e-02 4.64288122e-03 9.99674048e-01 1.55522100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65907232899997 meters Centerline goodness : 0.755421 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99525567e-01 -1.78292800e-02 2.51148794e-02 -2.93047015e+02] [ 1.79422072e-02 9.99829872e-01 -4.27826381e-03 1.71308674e+01] [-2.50343283e-02 4.72685044e-03 9.99675417e-01 1.55522314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68907232899994 meters Centerline goodness : 0.754833 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99458227e-01 -2.12282010e-02 2.51518482e-02 -2.93046165e+02] [ 2.14170820e-02 9.99744238e-01 -7.26416339e-03 1.71277291e+01] [-2.49912102e-02 7.79890706e-03 9.99657249e-01 1.55521146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71907232899997 meters Centerline goodness : 0.753372 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99447946e-01 -2.13543390e-02 2.54518434e-02 -2.93046513e+02] [ 2.15497641e-02 9.99740177e-01 -7.42880295e-03 1.71285732e+01] [-2.52865932e-02 7.97318307e-03 9.99648446e-01 1.55520594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74907232899994 meters Centerline goodness : 0.752413 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99508889e-01 -1.78613706e-02 2.57478470e-02 -2.93047632e+02] [ 1.79695786e-02 9.99830623e-01 -3.97735476e-03 1.71304552e+01] [-2.56724449e-02 4.43807940e-03 9.99660557e-01 1.55520913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.779072329 meters Centerline goodness : 0.753038 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99572296e-01 -1.40036471e-02 2.56733858e-02 -2.93048475e+02] [ 1.40194126e-02 9.99901629e-01 -4.34184107e-04 1.71325149e+01] [-2.56647801e-02 7.93924194e-04 9.99670290e-01 1.55522093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.80907232899995 meters Centerline goodness : 0.753038 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99572296e-01 -1.40036471e-02 2.56733858e-02 -2.93048475e+02] [ 1.40194126e-02 9.99901629e-01 -4.34184107e-04 1.71325149e+01] [-2.56647801e-02 7.93924194e-04 9.99670290e-01 1.55522093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.839072329 meters Centerline goodness : 0.754857 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.13, Z:155.52 [[ 9.99568698e-01 -1.42709739e-02 2.56662847e-02 -2.93049067e+02] [ 1.43029832e-02 9.99897141e-01 -1.06397675e-03 1.71343296e+01] [-2.56484607e-02 1.43062229e-03 9.99670000e-01 1.55522969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.86907232899995 meters Centerline goodness : 0.756321 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.14, Z:155.52 [[ 9.99566998e-01 -1.45488158e-02 2.55763339e-02 -2.93049023e+02] [ 1.45990326e-02 9.99891848e-01 -1.77777171e-03 1.71368743e+01] [-2.55477033e-02 2.15039167e-03 9.99671291e-01 1.55523406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.899072329 meters Centerline goodness : 0.756074 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.14, Z:155.52 [[ 9.99540684e-01 -1.52584179e-02 2.61839888e-02 -2.93050639e+02] [ 1.53332890e-02 9.99878897e-01 -2.66101937e-03 1.71390004e+01] [-2.61402149e-02 3.06128379e-03 9.99653599e-01 1.55523581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.92907232899995 meters Centerline goodness : 0.756249 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.14, Z:155.52 [[ 9.99517692e-01 -1.57101752e-02 2.67875728e-02 -2.93052425e+02] [ 1.57888053e-02 9.99871632e-01 -2.72633037e-03 1.71380486e+01] [-2.67413030e-02 3.14795921e-03 9.99637431e-01 1.55523789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.959072329 meters Centerline goodness : 0.753875 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.14, Z:155.52 [[ 9.99459736e-01 -1.92047710e-02 2.66723083e-02 -2.93051204e+02] [ 1.93702356e-02 9.99794620e-01 -5.95913465e-03 1.71357134e+01] [-2.65523865e-02 6.47256404e-03 9.99626469e-01 1.55522632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.98907232899995 meters Centerline goodness : 0.753044 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.14, Z:155.52 [[ 9.99546831e-01 -1.47194059e-02 2.62577765e-02 -2.93049947e+02] [ 1.47656277e-02 9.99889754e-01 -1.56727847e-03 1.71360838e+01] [-2.62318123e-02 1.95428078e-03 9.99653977e-01 1.55522018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.019072329 meters Centerline goodness : 0.750738 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.15, Z:155.53 [[ 9.99823375e-01 -1.15879560e-02 1.47965690e-02 -2.93056907e+02] [ 1.16091810e-02 9.99931701e-01 -1.34936286e-03 1.71540361e+01] [-1.47799220e-02 1.52090058e-03 9.99889614e-01 1.55526600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.04907232899996 meters Centerline goodness : 0.750591 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.16, Z:155.53 [[ 9.99870422e-01 -7.25114460e-03 1.43721917e-02 -2.93056108e+02] [ 7.21322834e-03 9.99970371e-01 2.68825299e-03 1.71551678e+01] [-1.43912587e-02 -2.58423475e-03 9.99893101e-01 1.55526801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.079072329 meters Centerline goodness : 0.749722 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.16, Z:155.53 [[ 9.99896704e-01 -5.88221467e-03 1.31141632e-02 -2.93053198e+02] [ 5.84435825e-03 9.99978649e-01 2.92313998e-03 1.71573377e+01] [-1.31310777e-02 -2.84619416e-03 9.99909733e-01 1.55527397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.10907232899996 meters Centerline goodness : 0.750283 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.16, Z:155.53 [[ 9.99927691e-01 -1.12713664e-03 1.19725628e-02 -2.93051389e+02] [ 1.05713226e-03 9.99982319e-01 5.85178752e-03 1.71623269e+01] [-1.19789468e-02 -5.83870780e-03 9.99911203e-01 1.55529369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.139072329 meters Centerline goodness : 0.752235 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.17, Z:155.53 [[ 9.99932380e-01 -1.40847045e-03 1.15434641e-02 -2.93051071e+02] [ 1.35373899e-03 9.99987813e-01 4.74778067e-03 1.71658855e+01] [-1.15500106e-02 -4.73183278e-03 9.99922100e-01 1.55530470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16907232899996 meters Centerline goodness : 0.753196 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.54 [[ 9.99955140e-01 5.79695668e-03 7.49091490e-03 -2.93043137e+02] [-5.84505830e-03 9.99962338e-01 6.41546944e-03 1.71681983e+01] [-7.45344258e-03 -6.45896647e-03 9.99951363e-01 1.55536961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.199072329 meters Centerline goodness : 0.751722 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.54 [[ 9.99955635e-01 7.05778389e-03 6.23823326e-03 -2.93040429e+02] [-7.09796657e-03 9.99954053e-01 6.44286077e-03 1.71708713e+01] [-6.19247431e-03 -6.48685371e-03 9.99959786e-01 1.55537899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22907232899996 meters Centerline goodness : 0.752414 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.54 [[ 9.99916998e-01 1.17854951e-02 5.20560226e-03 -2.93038117e+02] [-1.18368932e-02 9.99880379e-01 9.95569791e-03 1.71747191e+01] [-5.08764673e-03 -1.00164897e-02 9.99936891e-01 1.55538684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.259072329 meters Centerline goodness : 0.750796 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.18, Z:155.54 [[ 9.99863024e-01 1.58962103e-02 4.60919564e-03 -2.93036805e+02] [-1.59559743e-02 9.99785122e-01 1.32331547e-02 1.71784271e+01] [-4.39784822e-03 -1.33048862e-02 9.99901815e-01 1.55539268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28907232899996 meters Centerline goodness : 0.751624 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.54 [[ 9.99792494e-01 2.03692563e-02 2.48573528e-04 -2.93026409e+02] [-2.03707707e-02 9.99723632e-01 1.17341751e-02 1.71808733e+01] [-9.48840971e-06 -1.17368039e-02 9.99931121e-01 1.55544175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.319072329 meters Centerline goodness : 0.753445 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.54 [[ 9.99701689e-01 2.44229012e-02 2.32985758e-04 -2.93026462e+02] [-2.44236034e-02 9.99584256e-01 1.53232510e-02 1.71830362e+01] [ 1.41349350e-04 -1.53243703e-02 9.99882565e-01 1.55544652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34907232899997 meters Centerline goodness : 0.751693 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99683657e-01 2.51414636e-02 -7.02440541e-04 -2.93024517e+02] [-2.51279749e-02 9.99569845e-01 1.51231581e-02 1.71853402e+01] [ 1.08235671e-03 -1.51007231e-02 9.99885392e-01 1.55545461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.379072329 meters Centerline goodness : 0.753362 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99552763e-01 2.98633811e-02 -1.56632809e-03 -2.93022047e+02] [-2.98296193e-02 9.99386193e-01 1.83693113e-02 1.71900325e+01] [ 2.11393641e-03 -1.83143729e-02 9.99830043e-01 1.55545981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40907232899997 meters Centerline goodness : 0.754057 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99529500e-01 3.05803173e-02 -2.37140568e-03 -2.93020193e+02] [-3.05312575e-02 9.99362205e-01 1.85209727e-02 1.71909248e+01] [ 2.93627043e-03 -1.84398565e-02 9.99825660e-01 1.55546361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43907232899994 meters Centerline goodness : 0.753179 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99483122e-01 3.19445671e-02 -3.61030100e-03 -2.93017278e+02] [-3.18712045e-02 9.99314776e-01 1.88203052e-02 1.71921989e+01] [ 4.20903364e-03 -1.86955128e-02 9.99816364e-01 1.55547057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46907232899997 meters Centerline goodness : 0.754372 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99493307e-01 3.16043439e-02 -3.78076001e-03 -2.93017432e+02] [-3.15314717e-02 9.99340842e-01 1.79902258e-02 1.71947827e+01] [ 4.34683718e-03 -1.78618973e-02 9.99831015e-01 1.55547885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49907232899994 meters Centerline goodness : 0.753347 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.20, Z:155.55 [[ 9.99578622e-01 2.86132016e-02 -4.88491028e-03 -2.93015491e+02] [-2.85401250e-02 9.99488549e-01 1.44257526e-02 1.71950063e+01] [ 5.29517885e-03 -1.42802579e-02 9.99884011e-01 1.55548793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.529072329 meters Centerline goodness : 0.755338 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.19, Z:155.55 [[ 9.99574073e-01 2.87749135e-02 -4.86580336e-03 -2.93015974e+02] [-2.87010479e-02 9.99481059e-01 1.46240330e-02 1.71943771e+01] [ 5.28408358e-03 -1.44781506e-02 9.99881224e-01 1.55549273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.55907232899995 meters Centerline goodness : 0.756220 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.19, Z:155.55 [[ 9.99659224e-01 2.55175716e-02 -5.50361280e-03 -2.93014470e+02] [-2.54549070e-02 9.99613559e-01 1.11704820e-02 1.71937484e+01] [ 5.78652956e-03 -1.10265814e-02 9.99922462e-01 1.55549204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.589072329 meters Centerline goodness : 0.755419 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.19, Z:155.55 [[ 9.99737419e-01 2.20675214e-02 -6.17394230e-03 -2.93012898e+02] [-2.20204924e-02 9.99728751e-01 7.58435110e-03 1.71932699e+01] [ 6.33963546e-03 -7.44640635e-03 9.99952179e-01 1.55549089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.61907232899995 meters Centerline goodness : 0.753803 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.19, Z:155.55 [[ 9.99822761e-01 1.79459899e-02 -5.69104957e-03 -2.93014174e+02] [-1.79216288e-02 9.99830135e-01 4.30309333e-03 1.71895815e+01] [ 5.76730613e-03 -4.20033778e-03 9.99974547e-01 1.55548500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.649072329 meters Centerline goodness : 0.753229 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.19, Z:155.55 [[ 9.99880658e-01 1.42262321e-02 -6.02358683e-03 -2.93013457e+02] [-1.42228762e-02 9.99898670e-01 5.99601253e-04 1.71888983e+01] [ 6.03150652e-03 -5.13856966e-04 9.99981678e-01 1.55548429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.67907232899995 meters Centerline goodness : 0.754164 Centerline is valid? [False, False] Translation: X:-293.01, Y:17.19, Z:155.55 [[ 9.99929167e-01 1.03898503e-02 -5.80612853e-03 -2.93014105e+02] [-1.04055753e-02 9.99942256e-01 -2.68473286e-03 1.71859418e+01] [ 5.77789929e-03 2.74495880e-03 9.99979540e-01 1.55548192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.709072329 meters Centerline goodness : 0.754783 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.18, Z:155.55 [[ 9.99968069e-01 6.12098314e-03 -5.13754108e-03 -2.93015645e+02] [-6.15406391e-03 9.99960274e-01 -6.44810956e-03 1.71842409e+01] [ 5.09786821e-03 6.47952042e-03 9.99966013e-01 1.55547732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.73907232899995 meters Centerline goodness : 0.755351 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.18, Z:155.55 [[ 9.99980835e-01 4.74147034e-03 -3.98104041e-03 -2.93019620e+02] [-4.76782524e-03 9.99966609e-01 -6.63691798e-03 1.71814234e+01] [ 3.94943873e-03 6.65577169e-03 9.99970051e-01 1.55548420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.769072329 meters Centerline goodness : 0.755599 Centerline is valid? [False, False] Translation: X:-293.02, Y:17.18, Z:155.55 [[ 9.99986272e-01 4.23905024e-03 -3.07993991e-03 -2.93021734e+02] [-4.25942617e-03 9.99968886e-01 -6.63952882e-03 1.71804159e+01] [ 3.05169878e-03 6.65255645e-03 9.99973215e-01 1.55548007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.79907232899996 meters Centerline goodness : 0.755298 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.55 [[ 9.99995091e-01 2.62559154e-03 -1.70978166e-03 -2.93025586e+02] [-2.63782161e-03 9.99970669e-01 -7.19047136e-03 1.71792194e+01] [ 1.69085227e-03 7.19494617e-03 9.99972687e-01 1.55547985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.829072329 meters Centerline goodness : 0.754774 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.55 [[ 9.99998380e-01 1.71583284e-03 -5.43752009e-04 -2.93028335e+02] [-1.71994633e-03 9.99969205e-01 -7.65705751e-03 1.71794314e+01] [ 5.30597033e-04 7.65798033e-03 9.99970536e-01 1.55547562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.85907232899996 meters Centerline goodness : 0.755097 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.55 [[ 9.99996934e-01 -2.47073675e-03 -1.68664227e-04 -2.93029298e+02] [ 2.46864809e-03 9.99931659e-01 -1.14273054e-02 1.71776666e+01] [ 1.96886563e-04 1.14268539e-02 9.99934692e-01 1.55547360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.889072329 meters Centerline goodness : 0.755469 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.55 [[ 9.99973829e-01 -7.17286733e-03 9.43724114e-04 -2.93031505e+02] [ 7.18629845e-03 9.99860239e-01 -1.50950248e-02 1.71750061e+01] [-8.35317608e-04 1.51014116e-02 9.99885618e-01 1.55546258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91907232899996 meters Centerline goodness : 0.755618 Centerline is valid? [False, False] Translation: X:-293.03, Y:17.18, Z:155.55 [[ 9.99991801e-01 -3.62759013e-03 1.79961457e-03 -2.93033900e+02] [ 3.64767525e-03 9.99929658e-01 -1.12859645e-02 1.71752548e+01] [-1.75854713e-03 1.12924364e-02 9.99934692e-01 1.55546341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.949072329 meters Centerline goodness : 0.756325 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.18, Z:155.55 [[ 9.99985667e-01 -4.58675554e-03 2.76189729e-03 -2.93036357e+02] [ 4.61988448e-03 9.99915992e-01 -1.21105313e-02 1.71768965e+01] [-2.70611722e-03 1.21231174e-02 9.99922851e-01 1.55546374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97907232899996 meters Centerline goodness : 0.756855 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.18, Z:155.55 [[ 9.99984494e-01 -4.58612634e-03 3.15886901e-03 -2.93037283e+02] [ 4.62319963e-03 9.99919327e-01 -1.18306811e-02 1.71759022e+01] [-3.10435717e-03 1.18451017e-02 9.99925025e-01 1.55546183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.009072329 meters Centerline goodness : 0.755773 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.55 [[ 9.99969974e-01 -6.25534204e-03 4.57412550e-03 -2.93040584e+02] [ 6.31137851e-03 9.99903932e-01 -1.23406962e-02 1.71740547e+01] [-4.49649080e-03 1.23691947e-02 9.99913389e-01 1.55545460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03907232899996 meters Centerline goodness : 0.754436 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.54 [[ 9.99967657e-01 -6.15739585e-03 5.17405521e-03 -2.93041625e+02] [ 6.21781585e-03 9.99911708e-01 -1.17436989e-02 1.71720338e+01] [-5.10128778e-03 1.17754904e-02 9.99917654e-01 1.55544655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.069072329 meters Centerline goodness : 0.753875 Centerline is valid? [False, False] Translation: X:-293.04, Y:17.17, Z:155.54 [[ 9.99947357e-01 -7.76413618e-03 6.70828256e-03 -2.93044602e+02] [ 7.84439916e-03 9.99896958e-01 -1.20224599e-02 1.71705846e+01] [-6.61424731e-03 1.20744494e-02 9.99905225e-01 1.55543078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09907232899997 meters Centerline goodness : 0.754759 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.17, Z:155.54 [[ 9.99936673e-01 -8.31815825e-03 7.58010118e-03 -2.93046858e+02] [ 8.41062504e-03 9.99889599e-01 -1.22495068e-02 1.71705112e+01] [-7.47737099e-03 1.23124845e-02 9.99896240e-01 1.55543076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.129072329 meters Centerline goodness : 0.754842 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.17, Z:155.54 [[ 9.99926919e-01 -8.79071317e-03 8.29945244e-03 -2.93048504e+02] [ 8.89418625e-03 9.99882140e-01 -1.25139766e-02 1.71707721e+01] [-8.18846749e-03 1.25868789e-02 9.99887253e-01 1.55542758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15907232899997 meters Centerline goodness : 0.754774 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.17, Z:155.54 [[ 9.99923899e-01 -8.88582251e-03 8.55792694e-03 -2.93049260e+02] [ 8.99302263e-03 9.99880547e-01 -1.25704718e-02 1.71712226e+01] [-8.44520569e-03 1.26464768e-02 9.99884366e-01 1.55542984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18907232899994 meters Centerline goodness : 0.756233 Centerline is valid? [False, False] Translation: X:-293.05, Y:17.17, Z:155.54 [[ 9.99902715e-01 -1.02406771e-02 9.47046912e-03 -2.93052547e+02] [ 1.03688567e-02 9.99853942e-01 -1.35860849e-02 1.71717470e+01] [-9.32995517e-03 1.36829611e-02 9.99862855e-01 1.55544087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21907232899997 meters Centerline goodness : 0.756196 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.17, Z:155.54 [[ 9.99921115e-01 -7.00897084e-03 1.04229851e-02 -2.93055370e+02] [ 7.11505286e-03 9.99922913e-01 -1.01756888e-02 1.71728613e+01] [-1.03508605e-02 1.02490462e-02 9.99893903e-01 1.55544461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24907232899994 meters Centerline goodness : 0.756126 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.54 [[ 9.99888267e-01 -9.44939090e-03 1.15828499e-02 -2.93058498e+02] [ 9.59168001e-03 9.99878457e-01 -1.22910952e-02 1.71750583e+01] [-1.14652987e-02 1.24008208e-02 9.99857373e-01 1.55544780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.279072329 meters Centerline goodness : 0.755696 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.54 [[ 9.99861228e-01 -1.07668078e-02 1.27121909e-02 -2.93061490e+02] [ 1.09324051e-02 9.99855343e-01 -1.30298334e-02 1.71751869e+01] [-1.25700623e-02 1.31670000e-02 9.99834298e-01 1.55544801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.30907232899995 meters Centerline goodness : 0.755516 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.55 [[ 9.99878526e-01 -7.62104734e-03 1.35960320e-02 -2.93064510e+02] [ 7.75272098e-03 9.99923302e-01 -9.65843569e-03 1.71760834e+01] [-1.35213818e-02 9.76266868e-03 9.99860922e-01 1.55545550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.339072329 meters Centerline goodness : 0.756672 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99862238e-01 -8.29196685e-03 1.43787791e-02 -2.93066294e+02] [ 8.43370159e-03 9.99916170e-01 -9.82475719e-03 1.71756416e+01] [-1.42961072e-02 9.94467004e-03 9.99848351e-01 1.55545197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.36907232899995 meters Centerline goodness : 0.754787 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99852432e-01 -8.54283897e-03 1.49041767e-02 -2.93067081e+02] [ 8.69059381e-03 9.99913453e-01 -9.87721334e-03 1.71757258e+01] [-1.48185073e-02 1.00052819e-02 9.99840140e-01 1.55544422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.399072329 meters Centerline goodness : 0.755188 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99851262e-01 -8.37223036e-03 1.50784757e-02 -2.93067076e+02] [ 8.51493607e-03 9.99919329e-01 -9.42499747e-03 1.71745708e+01] [-1.49983511e-02 9.55198787e-03 9.99841892e-01 1.55543740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.42907232899995 meters Centerline goodness : 0.754589 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99843085e-01 -8.52537450e-03 1.55281258e-02 -2.93068074e+02] [ 8.67241165e-03 9.99917962e-01 -9.42649065e-03 1.71743882e+01] [-1.54464875e-02 9.55967780e-03 9.99834996e-01 1.55543512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.459072329 meters Centerline goodness : 0.754109 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99833378e-01 -8.80782874e-03 1.59886748e-02 -2.93069389e+02] [ 8.96234535e-03 9.99913578e-01 -9.61833767e-03 1.71745656e+01] [-1.59025764e-02 9.76003108e-03 9.99825910e-01 1.55543695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.48907232899995 meters Centerline goodness : 0.754482 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99835265e-01 -8.72110668e-03 1.59181010e-02 -2.93069646e+02] [ 8.87631541e-03 9.99913499e-01 -9.70598681e-03 1.71751547e+01] [-1.58320771e-02 9.84568197e-03 9.99826189e-01 1.55544325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.519072329 meters Centerline goodness : 0.756306 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99826134e-01 -9.02458746e-03 1.63174319e-02 -2.93071156e+02] [ 9.18970261e-03 9.99907043e-01 -1.00724348e-02 1.71759950e+01] [-1.62250155e-02 1.02206359e-02 9.99816127e-01 1.55545018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.54907232899996 meters Centerline goodness : 0.757245 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99845181e-01 -8.22529647e-03 1.55550220e-02 -2.93069542e+02] [ 8.37660657e-03 9.99917990e-01 -9.68740462e-03 1.71765717e+01] [-1.54740646e-02 9.81620312e-03 9.99832084e-01 1.55545477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.579072329 meters Centerline goodness : 0.755889 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99878460e-01 -4.03720542e-03 1.50587681e-02 -2.93069175e+02] [ 4.12674619e-03 9.99973963e-01 -5.91976178e-03 1.71784722e+01] [-1.50344767e-02 5.98118601e-03 9.99869086e-01 1.55546689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.60907232899996 meters Centerline goodness : 0.755242 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99889586e-01 -3.72954694e-03 1.43842649e-02 -2.93067736e+02] [ 3.81889923e-03 9.99973554e-01 -6.18935107e-03 1.71804345e+01] [-1.43608010e-02 6.24359973e-03 9.99877385e-01 1.55547242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.639072329 meters Centerline goodness : 0.755796 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99900341e-01 -2.69161125e-03 1.38586812e-02 -2.93065725e+02] [ 2.76567441e-03 9.99981983e-01 -5.32778176e-03 1.71800103e+01] [-1.38440912e-02 5.36557940e-03 9.99889770e-01 1.55546461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66907232899996 meters Centerline goodness : 0.755294 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99883629e-01 -3.74968298e-03 1.47874069e-02 -2.93068220e+02] [ 3.83885993e-03 9.99974590e-01 -6.00683365e-03 1.71801879e+01] [-1.47645075e-02 6.06290142e-03 9.99872617e-01 1.55546505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.699072329 meters Centerline goodness : 0.754217 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99892353e-01 -2.75515173e-03 1.44115026e-02 -2.93066915e+02] [ 2.82442134e-03 9.99984547e-01 -4.78840717e-03 1.71776919e+01] [-1.43980871e-02 4.82859587e-03 9.99884683e-01 1.55545893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72907232899996 meters Centerline goodness : 0.754217 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99892353e-01 -2.75515173e-03 1.44115026e-02 -2.93066915e+02] [ 2.82442134e-03 9.99984547e-01 -4.78840717e-03 1.71776919e+01] [-1.43980871e-02 4.82859587e-03 9.99884683e-01 1.55545893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.759072329 meters Centerline goodness : 0.753771 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99891296e-01 -2.55886151e-03 1.45206394e-02 -2.93067060e+02] [ 2.62346513e-03 9.99986738e-01 -4.43178589e-03 1.71766692e+01] [-1.45091065e-02 4.46939853e-03 9.99884749e-01 1.55545631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78907232899996 meters Centerline goodness : 0.754553 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99893546e-01 -2.35154757e-03 1.44002411e-02 -2.93066970e+02] [ 2.41307640e-03 9.99988028e-01 -4.25687998e-03 1.71766252e+01] [-1.43900584e-02 4.29117570e-03 9.99887250e-01 1.55545935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.819072329 meters Centerline goodness : 0.755163 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99885839e-01 -2.67057433e-03 1.48719916e-02 -2.93068105e+02] [ 2.73853268e-03 9.99985894e-01 -4.55106391e-03 1.71771076e+01] [-1.48596279e-02 4.59127180e-03 9.99879049e-01 1.55545797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84907232899997 meters Centerline goodness : 0.753979 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99872921e-01 -3.14368882e-03 1.56288120e-02 -2.93069655e+02] [ 3.21140713e-03 9.99985557e-01 -4.30970783e-03 1.71752214e+01] [-1.56150379e-02 4.35935063e-03 9.99868575e-01 1.55545004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.879072329 meters Centerline goodness : 0.751989 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99869400e-01 -3.30977047e-03 1.58185922e-02 -2.93070156e+02] [ 3.37870969e-03 9.99984903e-01 -4.33337754e-03 1.71750434e+01] [-1.58040109e-02 4.38625803e-03 9.99865488e-01 1.55544974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90907232899997 meters Centerline goodness : 0.753019 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99884215e-01 -1.11544789e-03 1.51760352e-02 -2.93067509e+02] [ 1.15081407e-03 9.99996642e-01 -2.32186303e-03 1.71742010e+01] [-1.51733943e-02 2.33905899e-03 9.99882142e-01 1.55543777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93907232899994 meters Centerline goodness : 0.752968 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99871654e-01 -2.27365679e-03 1.58589622e-02 -2.93068668e+02] [ 2.33380757e-03 9.99990150e-01 -3.77538197e-03 1.71778375e+01] [-1.58502221e-02 3.81190918e-03 9.99867111e-01 1.55543238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96907232899997 meters Centerline goodness : 0.752866 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99890898e-01 -2.80577234e-04 1.47686290e-02 -2.93065517e+02] [ 3.13962442e-04 9.99997401e-01 -2.25827894e-03 1.71770471e+01] [-1.47679570e-02 2.26266935e-03 9.99888388e-01 1.55542851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99907232899994 meters Centerline goodness : 0.753588 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99883029e-01 -1.06149803e-03 1.52578557e-02 -2.93067230e+02] [ 1.11141891e-03 9.99994056e-01 -3.26370801e-03 1.71793921e+01] [-1.52543006e-02 3.28028412e-03 9.99878266e-01 1.55543515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.029072329 meters Centerline goodness : 0.757108 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99895810e-01 -1.17414297e-04 1.44345494e-02 -2.93065382e+02] [ 1.60827657e-04 9.99995468e-01 -3.00647663e-03 1.71806599e+01] [-1.44341309e-02 3.00848486e-03 9.99891297e-01 1.55543920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.05907232899995 meters Centerline goodness : 0.755291 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.54 [[ 9.99904076e-01 2.99728927e-04 1.38473149e-02 -2.93064303e+02] [-2.60039378e-04 9.99995854e-01 -2.86793869e-03 1.71811642e+01] [-1.38481171e-02 2.86406274e-03 9.99900008e-01 1.55544493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.089072329 meters Centerline goodness : 0.756784 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.54 [[ 9.99914752e-01 8.27199197e-04 1.30309245e-02 -2.93062190e+02] [-7.85518004e-04 9.99994560e-01 -3.20343027e-03 1.71841961e+01] [-1.30335035e-02 3.19292116e-03 9.99909962e-01 1.55544774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.11907232899995 meters Centerline goodness : 0.756209 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.55 [[ 9.99911039e-01 7.67247056e-04 1.33163944e-02 -2.93063220e+02] [-7.25350175e-04 9.99994773e-01 -3.15080776e-03 1.71837407e+01] [-1.33187422e-02 3.14086841e-03 9.99906369e-01 1.55545147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.149072329 meters Centerline goodness : 0.758046 Centerline is valid? [False, False] Translation: X:-293.06, Y:17.18, Z:155.55 [[ 9.99902974e-01 -3.02682426e-03 1.35971136e-02 -2.93064541e+02] [ 3.11806507e-03 9.99972733e-01 -6.69412702e-03 1.71815577e+01] [-1.35764809e-02 6.73587420e-03 9.99885147e-01 1.55545827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.17907232899995 meters Centerline goodness : 0.758858 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99884173e-01 -4.08840653e-03 1.46603506e-02 -2.93067548e+02] [ 4.19361426e-03 9.99965625e-01 -7.15279830e-03 1.71810216e+01] [-1.46306031e-02 7.21344967e-03 9.99866947e-01 1.55546081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.209072329 meters Centerline goodness : 0.758637 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99866549e-01 -4.64519619e-03 1.56622804e-02 -2.93070037e+02] [ 4.75853616e-03 9.99962707e-01 -7.20700728e-03 1.71800779e+01] [-1.56282183e-02 7.28057502e-03 9.99851365e-01 1.55545857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.23907232899995 meters Centerline goodness : 0.758082 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.55 [[ 9.99842278e-01 -8.17074049e-03 1.57689043e-02 -2.93069970e+02] [ 8.33144328e-03 9.99913753e-01 -1.01524768e-02 1.71765019e+01] [-1.56845910e-02 1.02822533e-02 9.99824119e-01 1.55545270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.269072329 meters Centerline goodness : 0.757219 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.18, Z:155.54 [[ 9.99812109e-01 -9.29986616e-03 1.70076203e-02 -2.93072342e+02] [ 9.48682713e-03 9.99895094e-01 -1.09453343e-02 1.71776575e+01] [-1.69040460e-02 1.11046261e-02 9.99795449e-01 1.55544277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.29907232899996 meters Centerline goodness : 0.756165 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99813828e-01 -8.75215057e-03 1.71961984e-02 -2.93072216e+02] [ 8.92129705e-03 9.99912335e-01 -9.78430458e-03 1.71744573e+01] [-1.71090572e-02 9.93589541e-03 9.99804260e-01 1.55543204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.329072329 meters Centerline goodness : 0.754433 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99813421e-01 -8.24257923e-03 1.74695166e-02 -2.93071462e+02] [ 8.39734568e-03 9.99925980e-01 -8.80446751e-03 1.71725019e+01] [-1.73956520e-02 8.94952235e-03 9.99808630e-01 1.55541184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.35907232899996 meters Centerline goodness : 0.755536 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.17, Z:155.54 [[ 9.99786125e-01 -9.26634390e-03 1.84888918e-02 -2.93073937e+02] [ 9.44491118e-03 9.99909368e-01 -9.59425129e-03 1.71737578e+01] [-1.83983125e-02 9.76682526e-03 9.99783032e-01 1.55541060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.389072329 meters Centerline goodness : 0.755592 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99774312e-01 -9.42889640e-03 1.90373482e-02 -2.93075112e+02] [ 9.61000986e-03 9.99909219e-01 -9.44462180e-03 1.71730889e+01] [-1.89465676e-02 9.62543936e-03 9.99774164e-01 1.55540713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41907232899996 meters Centerline goodness : 0.755474 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99710446e-01 -1.35087188e-02 1.99132829e-02 -2.93076987e+02] [ 1.37606011e-02 9.99826347e-01 -1.25666729e-02 1.71690962e+01] [-1.97400652e-02 1.28370529e-02 9.99722732e-01 1.55540168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.449072329 meters Centerline goodness : 0.755079 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99678254e-01 -1.42115869e-02 2.10099737e-02 -2.93079635e+02] [ 1.44869104e-02 9.99810406e-01 -1.30108081e-02 1.71695632e+01] [-2.08210861e-02 1.33109915e-02 9.99694603e-01 1.55540009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47907232899996 meters Centerline goodness : 0.756555 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99634638e-01 -1.56075503e-02 2.20679536e-02 -2.93083241e+02] [ 1.59168068e-02 9.99776582e-01 -1.39083179e-02 1.71693391e+01] [-2.18459484e-02 1.42544877e-02 9.99659724e-01 1.55541012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.509072329 meters Centerline goodness : 0.757641 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.17, Z:155.54 [[ 9.99617059e-01 -1.58975007e-02 2.26496043e-02 -2.93085066e+02] [ 1.62185054e-02 9.99769610e-01 -1.40601426e-02 1.71691399e+01] [-2.24208650e-02 1.44221011e-02 9.99644591e-01 1.55541458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53907232899996 meters Centerline goodness : 0.757549 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.17, Z:155.54 [[ 9.99595146e-01 -1.64862169e-02 2.31894155e-02 -2.93085634e+02] [ 1.68252583e-02 9.99753268e-01 -1.45021905e-02 1.71700621e+01] [-2.29446077e-02 1.48864872e-02 9.99625899e-01 1.55540385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.569072329 meters Centerline goodness : 0.755756 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99611277e-01 -1.58505945e-02 2.29358692e-02 -2.93084749e+02] [ 1.61631471e-02 9.99778137e-01 -1.35066318e-02 1.71677334e+01] [-2.27166925e-02 1.38720973e-02 9.99645696e-01 1.55539873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59907232899997 meters Centerline goodness : 0.754711 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.17, Z:155.54 [[ 9.99647078e-01 -1.25037554e-02 2.34387560e-02 -2.93085733e+02] [ 1.27491327e-02 9.99865172e-01 -1.03488297e-02 1.71707317e+01] [-2.33061965e-02 1.06440012e-02 9.99671709e-01 1.55539472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.629072329 meters Centerline goodness : 0.756094 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.17, Z:155.54 [[ 9.99655576e-01 -1.21404668e-02 2.32666964e-02 -2.93085709e+02] [ 1.23762238e-02 9.99873249e-01 -1.00157374e-02 1.71701192e+01] [-2.31421516e-02 1.03002416e-02 9.99679121e-01 1.55539998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65907232899997 meters Centerline goodness : 0.754019 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99679426e-01 -1.13122411e-02 2.26512441e-02 -2.93084597e+02] [ 1.15290332e-02 9.99888758e-01 -9.46325911e-03 1.71697888e+01] [-2.25416736e-02 9.72137238e-03 9.99698639e-01 1.55540550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68907232899994 meters Centerline goodness : 0.755192 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99724528e-01 -7.54765938e-03 2.22238609e-02 -2.93083837e+02] [ 7.69406143e-03 9.99949213e-01 -6.50948448e-03 1.71741989e+01] [-2.21736009e-02 6.67868305e-03 9.99731827e-01 1.55541039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71907232899997 meters Centerline goodness : 0.753386 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.17, Z:155.54 [[ 9.99747641e-01 -6.54230326e-03 2.14907427e-02 -2.93081166e+02] [ 6.66642319e-03 9.99961483e-01 -5.70895070e-03 1.71740390e+01] [-2.14525652e-02 5.85077638e-03 9.99752747e-01 1.55540063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74907232899994 meters Centerline goodness : 0.752360 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99768885e-01 -2.85384809e-03 2.13080257e-02 -2.93080683e+02] [ 2.90912357e-03 9.99992483e-01 -2.56356880e-03 1.71778808e+01] [-2.13005495e-02 2.62496400e-03 9.99769672e-01 1.55540181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.779072329 meters Centerline goodness : 0.753751 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99767863e-01 -2.96632233e-03 2.13405883e-02 -2.93081128e+02] [ 3.02742232e-03 9.99991409e-01 -2.83135091e-03 1.71786037e+01] [-2.13320063e-02 2.89530063e-03 9.99768255e-01 1.55540686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.80907232899995 meters Centerline goodness : 0.754754 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99771121e-01 -2.82678899e-03 2.12064696e-02 -2.93081384e+02] [ 2.88733310e-03 9.99991842e-01 -2.82490809e-03 1.71786995e+01] [-2.11983112e-02 2.88549167e-03 9.99771127e-01 1.55541502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.839072329 meters Centerline goodness : 0.756125 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99777977e-01 -2.85814756e-03 2.08764932e-02 -2.93081053e+02] [ 2.92868069e-03 9.99990104e-01 -3.34879900e-03 1.71807935e+01] [-2.08667152e-02 3.40919607e-03 9.99776454e-01 1.55542274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.86907232899995 meters Centerline goodness : 0.758193 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99781961e-01 -2.97412060e-03 2.06684564e-02 -2.93081758e+02] [ 3.05584637e-03 9.99987633e-01 -3.92367251e-03 1.71824675e+01] [-2.06565314e-02 3.98597662e-03 9.99778685e-01 1.55544086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.899072329 meters Centerline goodness : 0.759495 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99775265e-01 -3.29060112e-03 2.09425786e-02 -2.93082853e+02] [ 3.38144807e-03 9.99985021e-01 -4.30397349e-03 1.71831903e+01] [-2.09281023e-02 4.37382248e-03 9.99771416e-01 1.55544631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.92907232899995 meters Centerline goodness : 0.760337 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99785116e-01 -3.00425034e-03 2.05108603e-02 -2.93081897e+02] [ 3.09155424e-03 9.99986291e-01 -4.22609114e-03 1.71836303e+01] [-2.04978828e-02 4.28859346e-03 9.99780698e-01 1.55544821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.959072329 meters Centerline goodness : 0.758209 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99785538e-01 -3.09066875e-03 2.04774346e-02 -2.93081582e+02] [ 3.18186769e-03 9.99985158e-01 -4.42254697e-03 1.71845081e+01] [-2.04634621e-02 4.48675499e-03 9.99780534e-01 1.55544495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.98907232899995 meters Centerline goodness : 0.756771 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99801692e-01 -6.74070771e-04 1.99028357e-02 -2.93077933e+02] [ 7.12786853e-04 9.99997868e-01 -1.93822470e-03 1.71832117e+01] [-1.99014868e-02 1.95202681e-03 9.99800040e-01 1.55541828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.019072329 meters Centerline goodness : 0.755224 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99810344e-01 -2.61072251e-04 1.94732783e-02 -2.93076702e+02] [ 2.88969074e-04 9.99998936e-01 -1.42976931e-03 1.71819919e+01] [-1.94728843e-02 1.43512532e-03 9.99809355e-01 1.55541513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.04907232899996 meters Centerline goodness : 0.755586 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.18, Z:155.54 [[ 9.99814033e-01 4.52976677e-05 1.92846239e-02 -2.93075947e+02] [-2.20209822e-05 9.99999271e-01 -1.20721813e-03 1.71821044e+01] [-1.92846645e-02 1.20656896e-03 9.99813306e-01 1.55541174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.079072329 meters Centerline goodness : 0.756693 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.20, Z:155.54 [[ 9.99823627e-01 6.07380394e-03 1.77714190e-02 -2.93092444e+02] [-5.91145626e-03 9.99940448e-01 -9.17363926e-03 1.72010999e+01] [-1.78260796e-02 9.06696631e-03 9.99799991e-01 1.55542090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.10907232899996 meters Centerline goodness : 0.757322 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.20, Z:155.54 [[ 9.99830000e-01 6.26017873e-03 1.73430388e-02 -2.93091839e+02] [-6.10040367e-03 9.99938607e-01 -9.25027045e-03 1.72019003e+01] [-1.73998824e-02 9.14289836e-03 9.99806807e-01 1.55542778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.139072329 meters Centerline goodness : 0.755836 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.20, Z:155.54 [[ 9.99797042e-01 1.17140837e-02 1.63907011e-02 -2.93089301e+02] [-1.16413480e-02 9.99921994e-01 -4.52601739e-03 1.72033158e+01] [-1.64424407e-02 4.33428894e-03 9.99855420e-01 1.55543004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16907232899996 meters Centerline goodness : 0.756834 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.54 [[ 9.99746895e-01 1.60519237e-02 1.57633281e-02 -2.93088317e+02] [-1.60394352e-02 9.99870938e-01 -9.18364508e-04 1.72061064e+01] [-1.57760352e-02 6.65297184e-04 9.99875329e-01 1.55544143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.199072329 meters Centerline goodness : 0.759349 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.21, Z:155.55 [[ 9.99646607e-01 2.39577684e-02 1.15189442e-02 -2.93078742e+02] [-2.39655217e-02 9.99712642e-01 5.35510476e-04 1.72090367e+01] [-1.15028045e-02 -8.11378737e-04 9.99933511e-01 1.55550493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22907232899996 meters Centerline goodness : 0.758076 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.21, Z:155.55 [[ 9.99654180e-01 2.38292298e-02 1.11215196e-02 -2.93078724e+02] [-2.38288803e-02 9.99716038e-01 -1.63953275e-04 1.72112741e+01] [-1.11222684e-02 -1.01116782e-04 9.99938141e-01 1.55551849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.259072329 meters Centerline goodness : 0.759213 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.21, Z:155.55 [[ 9.99652945e-01 2.40994903e-02 1.06397411e-02 -2.93078045e+02] [-2.40986685e-02 9.99709564e-01 -2.05458187e-04 1.72119043e+01] [-1.06416023e-02 -5.10167107e-05 9.99943375e-01 1.55552610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28907232899996 meters Centerline goodness : 0.758655 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.21, Z:155.55 [[ 9.99635828e-01 2.51482463e-02 9.78658602e-03 -2.93075976e+02] [-2.51537029e-02 9.99683501e-01 4.34847126e-04 1.72116046e+01] [-9.77255294e-03 -6.80857644e-04 9.99952016e-01 1.55552801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.319072329 meters Centerline goodness : 0.759687 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99616830e-01 2.62032678e-02 8.92082354e-03 -2.93073527e+02] [-2.62138255e-02 9.99655787e-01 1.06860608e-03 1.72117206e+01] [-8.88975191e-03 -1.30204553e-03 9.99959638e-01 1.55552605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34907232899997 meters Centerline goodness : 0.760192 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99621540e-01 2.61261213e-02 8.61410105e-03 -2.93072487e+02] [-2.61318159e-02 9.99658355e-01 5.49177974e-04 1.72140859e+01] [-8.59681019e-03 -7.74072235e-04 9.99962747e-01 1.55552385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.379072329 meters Centerline goodness : 0.759122 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99625097e-01 2.59034064e-02 8.87011868e-03 -2.93073832e+02] [-2.59076840e-02 9.99664272e-01 3.67665043e-04 1.72139025e+01] [-8.85761695e-03 -5.97331436e-04 9.99960592e-01 1.55553171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40907232899997 meters Centerline goodness : 0.759734 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99626896e-01 2.57129047e-02 9.21495523e-03 -2.93074886e+02] [-2.57170110e-02 9.99669209e-01 3.27377002e-04 1.72135064e+01] [-9.20348919e-03 -5.64235961e-04 9.99957488e-01 1.55553312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43907232899994 meters Centerline goodness : 0.759512 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99626539e-01 2.57469639e-02 9.15842284e-03 -2.93074266e+02] [-2.57510044e-02 9.99668336e-01 3.23521174e-04 1.72141100e+01] [-9.14705563e-03 -5.59238939e-04 9.99958008e-01 1.55552737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46907232899997 meters Centerline goodness : 0.759272 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.21, Z:155.55 [[ 9.99610294e-01 2.66089679e-02 8.43931733e-03 -2.93072221e+02] [-2.66158175e-02 9.99645491e-01 7.00348445e-04 1.72149345e+01] [-8.41768997e-03 -9.24694846e-04 9.99964143e-01 1.55552607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49907232899994 meters Centerline goodness : 0.759083 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99609439e-01 2.66915116e-02 8.27846402e-03 -2.93072192e+02] [-2.66983167e-02 9.99643282e-01 7.12583848e-04 1.72151066e+01] [-8.25649100e-03 -9.33326595e-04 9.99965479e-01 1.55553105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.529072329 meters Centerline goodness : 0.758990 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99608456e-01 2.68224632e-02 7.96811867e-03 -2.93071713e+02] [-2.68275566e-02 9.99639934e-01 5.33003565e-04 1.72161331e+01] [-7.95095316e-03 -7.46560025e-04 9.99968112e-01 1.55553557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.55907232899995 meters Centerline goodness : 0.758854 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99620200e-01 2.62639217e-02 8.34641299e-03 -2.93072937e+02] [-2.62637080e-02 9.99655040e-01 -1.35221246e-04 1.72175169e+01] [-8.34708525e-03 -8.40378652e-05 9.99965159e-01 1.55553860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.589072329 meters Centerline goodness : 0.759191 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99610600e-01 2.68372439e-02 7.64263414e-03 -2.93071487e+02] [-2.68388674e-02 9.99639767e-01 1.09921377e-04 1.72178581e+01] [-7.63693103e-03 -3.14998218e-04 9.99970789e-01 1.55554376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.61907232899995 meters Centerline goodness : 0.759191 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99610600e-01 2.68372439e-02 7.64263414e-03 -2.93071487e+02] [-2.68388674e-02 9.99639767e-01 1.09921377e-04 1.72178581e+01] [-7.63693103e-03 -3.14998218e-04 9.99970789e-01 1.55554376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.649072329 meters Centerline goodness : 0.760147 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.55 [[ 9.99603600e-01 2.72403349e-02 7.11392276e-03 -2.93070428e+02] [-2.72416226e-02 9.99628875e-01 8.41603103e-05 1.72191568e+01] [-7.10899004e-03 -2.77921748e-04 9.99974692e-01 1.55554946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.67907232899995 meters Centerline goodness : 0.760376 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.56 [[ 9.99610672e-01 2.70029680e-02 7.02450615e-03 -2.93071614e+02] [-2.69997852e-02 9.99635289e-01 -5.47558426e-04 1.72207751e+01] [-7.03672994e-03 3.57685089e-04 9.99975178e-01 1.55556801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.709072329 meters Centerline goodness : 0.761568 Centerline is valid? [False, False] Translation: X:-293.07, Y:17.22, Z:155.56 [[ 9.99613277e-01 2.67455616e-02 7.61387093e-03 -2.93073110e+02] [-2.67411659e-02 9.99642161e-01 -6.78566813e-04 1.72206825e+01] [-7.62929503e-03 4.74700610e-04 9.99970784e-01 1.55556677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.73907232899995 meters Centerline goodness : 0.758952 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.22, Z:155.56 [[ 9.99621504e-01 2.61786430e-02 8.45738844e-03 -2.93075136e+02] [-2.61733849e-02 9.99657150e-01 -7.31822349e-04 1.72196674e+01] [-8.47364695e-03 5.10186874e-04 9.99963968e-01 1.55556275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.769072329 meters Centerline goodness : 0.758786 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.23, Z:155.56 [[ 9.99712827e-01 2.39612965e-02 -3.44958961e-04 -2.93088415e+02] [-2.39614103e-02 9.99712830e-01 -3.29809528e-04 1.72344418e+01] [ 3.36957235e-04 3.37980519e-04 9.99999886e-01 1.55558305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.79907232899996 meters Centerline goodness : 0.758830 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.23, Z:155.56 [[ 9.99820821e-01 1.86282271e-02 -3.36373947e-03 -2.93080040e+02] [-1.86094682e-02 9.99811566e-01 5.52456076e-03 1.72255726e+01] [ 3.46601840e-03 -5.46097348e-03 9.99979082e-01 1.55563858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.829072329 meters Centerline goodness : 0.759262 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.22, Z:155.56 [[ 9.99884846e-01 1.47617784e-02 -3.51930432e-03 -2.93080076e+02] [-1.47553108e-02 9.99889411e-01 1.85666745e-03 1.72241540e+01] [ 3.54632283e-03 -1.80452522e-03 9.99992084e-01 1.55564079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.85907232899996 meters Centerline goodness : 0.758526 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.22, Z:155.56 [[ 9.99946717e-01 1.00524720e-02 -2.34746171e-03 -2.93082976e+02] [-1.00561263e-02 9.99948234e-01 -1.55008620e-03 1.72201461e+01] [ 2.33175800e-03 1.57360998e-03 9.99996043e-01 1.55563242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.889072329 meters Centerline goodness : 0.758312 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.22, Z:155.56 [[ 9.99975448e-01 6.55046236e-03 -2.48904145e-03 -2.93082139e+02] [-6.56197074e-03 9.99967687e-01 -4.64393017e-03 1.72175932e+01] [ 2.45854113e-03 4.66014917e-03 9.99986119e-01 1.55562421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91907232899996 meters Centerline goodness : 0.757380 Centerline is valid? [False, False] Translation: X:-293.08, Y:17.22, Z:155.56 [[ 9.99980587e-01 6.05051729e-03 -1.48862002e-03 -2.93084278e+02] [-6.05745283e-03 9.99970611e-01 -4.69949443e-03 1.72170658e+01] [ 1.46014190e-03 4.70842045e-03 9.99987849e-01 1.55561723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.949072329 meters Centerline goodness : 0.758557 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99997858e-01 1.91004653e-03 -7.97842350e-04 -2.93085898e+02] [-1.91646268e-03 9.99965195e-01 -8.12005897e-03 1.72141141e+01] [ 7.82304891e-04 8.12157061e-03 9.99966713e-01 1.55561255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97907232899996 meters Centerline goodness : 0.757969 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99999062e-01 1.34728553e-03 2.44876147e-04 -2.93088279e+02] [-1.34521938e-03 9.99965060e-01 -8.25043226e-03 1.72135696e+01] [-2.55983279e-04 8.25009511e-03 9.99965935e-01 1.55560742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.009072329 meters Centerline goodness : 0.758247 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99999144e-01 6.88924541e-06 1.30826083e-03 -2.93091362e+02] [ 4.57283017e-06 9.99961621e-01 -8.76110255e-03 1.72124516e+01] [-1.30827097e-03 8.76110104e-03 9.99960765e-01 1.55560967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03907232899996 meters Centerline goodness : 0.757479 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99998741e-01 3.38463513e-05 1.58642357e-03 -2.93092171e+02] [-2.03342456e-05 9.99963733e-01 -8.51658030e-03 1.72116659e+01] [-1.58665429e-03 8.51653731e-03 9.99962475e-01 1.55561053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.069072329 meters Centerline goodness : 0.758173 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99998138e-01 -7.56415693e-06 1.92996866e-03 -2.93092804e+02] [ 2.38307068e-05 9.99964479e-01 -8.42851730e-03 1.72115521e+01] [-1.92983635e-03 8.42854759e-03 9.99962617e-01 1.55560683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09907232899997 meters Centerline goodness : 0.757542 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99995073e-01 -1.05170438e-03 2.95768319e-03 -2.93095140e+02] [ 1.07762274e-03 9.99960917e-01 -8.77516325e-03 1.72107999e+01] [-2.94833872e-03 8.77830729e-03 9.99957123e-01 1.55560133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.129072329 meters Centerline goodness : 0.757038 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99995723e-01 -6.66900646e-04 2.84770083e-03 -2.93094508e+02] [ 6.90495238e-04 9.99965378e-01 -8.29255942e-03 1.72100085e+01] [-2.84207192e-03 8.29449028e-03 9.99961561e-01 1.55559634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15907232899997 meters Centerline goodness : 0.757424 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99996935e-01 9.48590308e-04 2.28692932e-03 -2.93091839e+02] [-9.32825872e-04 9.99975866e-01 -6.88451615e-03 1.72093846e+01] [-2.29340471e-03 6.88236174e-03 9.99973686e-01 1.55558262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18907232899994 meters Centerline goodness : 0.756470 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99997184e-01 9.89122672e-04 2.15728988e-03 -2.93091494e+02] [-9.73922700e-04 9.99974776e-01 -7.03557041e-03 1.72104244e+01] [-2.16419451e-03 7.03344956e-03 9.99972923e-01 1.55558288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21907232899997 meters Centerline goodness : 0.758732 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99997059e-01 7.95510813e-04 2.29094958e-03 -2.93092248e+02] [-7.78403600e-04 9.99971882e-01 -7.45853759e-03 1.72119140e+01] [-2.29681851e-03 7.45673238e-03 9.99969560e-01 1.55558979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24907232899994 meters Centerline goodness : 0.760036 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.21, Z:155.56 [[ 9.99995362e-01 1.76781988e-04 3.04054510e-03 -2.93094534e+02] [-1.52414455e-04 9.99967887e-01 -8.01256453e-03 1.72129158e+01] [-3.04186394e-03 8.01206394e-03 9.99963276e-01 1.55559483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.279072329 meters Centerline goodness : 0.759447 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99991232e-01 -8.51246926e-04 4.10021530e-03 -2.93097718e+02] [ 8.85304341e-04 9.99965066e-01 -8.31160974e-03 1.72114902e+01] [-4.09299683e-03 8.31516680e-03 9.99957052e-01 1.55559853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.30907232899995 meters Centerline goodness : 0.757992 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99987644e-01 -1.18161076e-03 4.82859704e-03 -2.93099311e+02] [ 1.22204406e-03 9.99964146e-01 -8.37936271e-03 1.72112649e+01] [-4.81852277e-03 8.38515994e-03 9.99953234e-01 1.55559412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.339072329 meters Centerline goodness : 0.757215 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99989322e-01 -6.02695470e-04 4.58175092e-03 -2.93098360e+02] [ 6.37675841e-04 9.99970634e-01 -7.63709370e-03 1.72098360e+01] [-4.57701353e-03 7.63993382e-03 9.99960340e-01 1.55558896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.36907232899995 meters Centerline goodness : 0.757082 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99988162e-01 -8.43625115e-04 4.79218349e-03 -2.93098857e+02] [ 8.81855613e-04 9.99967761e-01 -7.98117518e-03 1.72110798e+01] [-4.78529587e-03 7.98530671e-03 9.99956667e-01 1.55558868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.399072329 meters Centerline goodness : 0.757385 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99988630e-01 -9.59488477e-04 4.67101779e-03 -2.93098712e+02] [ 9.98427074e-04 9.99964715e-01 -8.34103032e-03 1.72126152e+01] [-4.66284985e-03 8.34559916e-03 9.99954303e-01 1.55559215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.42907232899995 meters Centerline goodness : 0.757762 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99989002e-01 -8.93303821e-04 4.60401963e-03 -2.93098574e+02] [ 9.31707181e-04 9.99964738e-01 -8.34588368e-03 1.72131158e+01] [-4.59640188e-03 8.35008150e-03 9.99954574e-01 1.55559272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.459072329 meters Centerline goodness : 0.757600 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99983478e-01 -1.55392726e-03 5.53426710e-03 -2.93100369e+02] [ 1.60170475e-03 9.99961400e-01 -8.63908574e-03 1.72131692e+01] [-5.52062896e-03 8.64780727e-03 9.99947368e-01 1.55558468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.48907232899995 meters Centerline goodness : 0.755930 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99976371e-01 -2.15262502e-03 6.52873051e-03 -2.93102694e+02] [ 2.20832963e-03 9.99961120e-01 -8.53705425e-03 1.72115535e+01] [-6.51009959e-03 8.55127011e-03 9.99942246e-01 1.55557936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.519072329 meters Centerline goodness : 0.755556 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99975155e-01 -1.80800226e-03 6.81321793e-03 -2.93102977e+02] [ 1.86155507e-03 9.99967361e-01 -7.86200792e-03 1.72098711e+01] [-6.79878103e-03 7.87449577e-03 9.99945883e-01 1.55557169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.54907232899996 meters Centerline goodness : 0.753751 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99962642e-01 -3.18834592e-03 8.03424698e-03 -2.93105503e+02] [ 3.25053469e-03 9.99964768e-01 -7.73932702e-03 1.72065520e+01] [-8.00928827e-03 7.76515349e-03 9.99937775e-01 1.55555891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.579072329 meters Centerline goodness : 0.753859 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99960407e-01 -3.26337239e-03 8.27857650e-03 -2.93106336e+02] [ 3.32760082e-03 9.99964381e-01 -7.75651692e-03 1.72065667e+01] [-8.25296923e-03 7.78375761e-03 9.99935649e-01 1.55556143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.60907232899996 meters Centerline goodness : 0.754597 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99959591e-01 -3.23917670e-03 8.38595321e-03 -2.93107009e+02] [ 3.30414667e-03 9.99964546e-01 -7.74524860e-03 1.72066765e+01] [-8.36056766e-03 7.77264404e-03 9.99934841e-01 1.55556697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.639072329 meters Centerline goodness : 0.755682 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99950886e-01 -4.05623115e-03 9.04282253e-03 -2.93109565e+02] [ 4.13427746e-03 9.99954225e-01 -8.62882588e-03 1.72083021e+01] [-9.00740808e-03 8.66578762e-03 9.99921882e-01 1.55557917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66907232899996 meters Centerline goodness : 0.755942 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99943612e-01 -4.33401921e-03 9.69478846e-03 -2.93111621e+02] [ 4.41770074e-03 9.99953029e-01 -8.62690214e-03 1.72075361e+01] [-9.65694393e-03 8.66924436e-03 9.99915790e-01 1.55558391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.699072329 meters Centerline goodness : 0.754580 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99946409e-01 -4.02760478e-03 9.53721584e-03 -2.93111286e+02] [ 4.10719559e-03 9.99956783e-01 -8.34045914e-03 1.72071676e+01] [-9.50321159e-03 8.37918338e-03 9.99919736e-01 1.55558432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72907232899996 meters Centerline goodness : 0.755482 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99934351e-01 -4.81724674e-03 1.03965310e-02 -2.93113287e+02] [ 4.90962989e-03 9.99948530e-01 -8.87880601e-03 1.72077729e+01] [-1.03532244e-02 8.92926625e-03 9.99906535e-01 1.55558144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.759072329 meters Centerline goodness : 0.752458 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99924340e-01 -5.38321158e-03 1.10605134e-02 -2.93114654e+02] [ 5.48078886e-03 9.99946164e-01 -8.81084037e-03 1.72065163e+01] [-1.10124874e-02 8.87079408e-03 9.99900012e-01 1.55557522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78907232899996 meters Centerline goodness : 0.751736 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99927778e-01 -2.06880829e-03 1.18388436e-02 -2.93116718e+02] [ 2.13414847e-03 9.99982547e-01 -5.50916634e-03 1.72083962e+01] [-1.18272396e-02 5.53403431e-03 9.99914742e-01 1.55557597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.819072329 meters Centerline goodness : 0.752791 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99931110e-01 -1.84302414e-03 1.15921820e-02 -2.93115858e+02] [ 1.90536911e-03 9.99983769e-01 -5.36944815e-03 1.72086963e+01] [-1.15820978e-02 5.39116564e-03 9.99918392e-01 1.55557309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84907232899997 meters Centerline goodness : 0.751795 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99941531e-01 -2.42764013e-04 1.08109372e-02 -2.93113388e+02] [ 2.87541235e-04 9.99991387e-01 -4.14048291e-03 1.72079750e+01] [-1.08098389e-02 4.14334941e-03 9.99932988e-01 1.55556773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.879072329 meters Centerline goodness : 0.750010 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99939295e-01 -3.26700851e-04 1.10136000e-02 -2.93114107e+02] [ 3.72154766e-04 9.99991422e-01 -4.12527470e-03 1.72076344e+01] [-1.10121578e-02 4.12912304e-03 9.99930839e-01 1.55556960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90907232899997 meters Centerline goodness : 0.750267 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99944337e-01 3.39277810e-04 1.05455406e-02 -2.93112127e+02] [-3.01032433e-04 9.99993373e-01 -3.62806296e-03 1.72077442e+01] [-1.05467017e-02 3.62468646e-03 9.99937812e-01 1.55556011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93907232899994 meters Centerline goodness : 0.750519 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99941820e-01 2.41108570e-04 1.07841533e-02 -2.93112415e+02] [-2.01633502e-04 9.99993277e-01 -3.66140736e-03 1.72079295e+01] [-1.07849636e-02 3.65901989e-03 9.99935146e-01 1.55555533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96907232899997 meters Centerline goodness : 0.748586 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99942720e-01 4.54240963e-04 1.06935073e-02 -2.93111888e+02] [-4.18176565e-04 9.99994219e-01 -3.37454537e-03 1.72074646e+01] [-1.06949783e-02 3.36988030e-03 9.99937129e-01 1.55555084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99907232899994 meters Centerline goodness : 0.749140 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99943578e-01 4.40033204e-04 1.06135824e-02 -2.93111772e+02] [-4.02872372e-04 9.99993783e-01 -3.50313645e-03 1.72080030e+01] [-1.06150579e-02 3.49866288e-03 9.99937538e-01 1.55555193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.029072329 meters Centerline goodness : 0.751074 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99953519e-01 1.62037681e-03 9.50443868e-03 -2.93110338e+02] [-1.59121244e-03 9.99994005e-01 -3.07526043e-03 1.72083420e+01] [-9.50936479e-03 3.05999391e-03 9.99950103e-01 1.55557161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.05907232899995 meters Centerline goodness : 0.750372 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99957426e-01 1.82432318e-03 9.04533167e-03 -2.93109861e+02] [-1.79461111e-03 9.99992972e-01 -3.29182515e-03 1.72095869e+01] [-9.05127344e-03 3.27545215e-03 9.99953672e-01 1.55558152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.089072329 meters Centerline goodness : 0.752480 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99962995e-01 1.63187822e-03 8.44664185e-03 -2.93108266e+02] [-1.59581412e-03 9.99989590e-01 -4.27461774e-03 1.72137195e+01] [-8.45352958e-03 4.26098029e-03 9.99955190e-01 1.55558377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.11907232899995 meters Centerline goodness : 0.751462 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99966085e-01 2.15568205e-03 7.94871000e-03 -2.93106736e+02] [-2.12553595e-03 9.99990525e-01 -3.79907692e-03 1.72133434e+01] [-7.95682428e-03 3.78205280e-03 9.99961192e-01 1.55558008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.149072329 meters Centerline goodness : 0.751750 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99969194e-01 3.43225451e-03 7.05904027e-03 -2.93103814e+02] [-3.41028037e-03 9.99989310e-01 -3.12259231e-03 1.72143043e+01] [-7.06968234e-03 3.09842281e-03 9.99970209e-01 1.55557340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.17907232899995 meters Centerline goodness : 0.752002 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.56 [[ 9.99970330e-01 3.37675258e-03 6.92361097e-03 -2.93103521e+02] [-3.35411753e-03 9.99989001e-01 -3.27826384e-03 1.72149936e+01] [-6.93460471e-03 3.25494397e-03 9.99970658e-01 1.55557392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.209072329 meters Centerline goodness : 0.753483 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.56 [[ 9.99973631e-01 3.79336158e-03 6.19253163e-03 -2.93102213e+02] [-3.77088187e-03 9.99986273e-01 -3.63778157e-03 1.72176236e+01] [-6.20624605e-03 3.61433434e-03 9.99974209e-01 1.55558408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.23907232899995 meters Centerline goodness : 0.753331 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.56 [[ 9.99974556e-01 3.95542339e-03 5.93648249e-03 -2.93102043e+02] [-3.93369702e-03 9.99985539e-01 -3.66702980e-03 1.72181792e+01] [-5.95090130e-03 3.64358417e-03 9.99975655e-01 1.55559067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.269072329 meters Centerline goodness : 0.751524 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.56 [[ 9.99971740e-01 3.69302280e-03 6.54837349e-03 -2.93103919e+02] [-3.66914233e-03 9.99986589e-01 -3.65505056e-03 1.72173168e+01] [-6.56178386e-03 3.63092036e-03 9.99971879e-01 1.55559385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.29907232899996 meters Centerline goodness : 0.751474 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99968890e-01 3.51581014e-03 7.06108372e-03 -2.93105091e+02] [-3.49072331e-03 9.99987563e-01 -3.56201770e-03 1.72165856e+01] [-7.07351928e-03 3.53725859e-03 9.99968726e-01 1.55559112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.329072329 meters Centerline goodness : 0.752461 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99964016e-01 2.47130859e-03 8.11533230e-03 -2.93108083e+02] [-2.43743335e-03 9.99988287e-01 -4.18146732e-03 1.72167483e+01] [-8.12557094e-03 4.16153628e-03 9.99958327e-01 1.55559240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.35907232899996 meters Centerline goodness : 0.751525 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99959222e-01 1.73505601e-04 9.02912785e-03 -2.93111476e+02] [-1.19984963e-04 9.99982423e-01 -5.92775759e-03 1.72170243e+01] [-9.02999764e-03 5.92643250e-03 9.99941667e-01 1.55560294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.389072329 meters Centerline goodness : 0.752449 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99951626e-01 -3.11375753e-03 9.33010155e-03 -2.93111896e+02] [ 3.19159443e-03 9.99960134e-01 -8.33931420e-03 1.72117209e+01] [-9.30376299e-03 8.36868869e-03 9.99921699e-01 1.55559566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41907232899996 meters Centerline goodness : 0.752536 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.56 [[ 9.99930937e-01 -4.88637880e-03 1.06885484e-02 -2.93114900e+02] [ 4.98661740e-03 9.99943651e-01 -9.37166999e-03 1.72118660e+01] [-1.06421526e-02 9.42432246e-03 9.99898958e-01 1.55558871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.449072329 meters Centerline goodness : 0.750278 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99916193e-01 -5.54826778e-03 1.16971834e-02 -2.93117100e+02] [ 5.65581074e-03 9.99941859e-01 -9.18097486e-03 1.72098467e+01] [-1.16455649e-02 9.24636248e-03 9.99889437e-01 1.55558118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47907232899996 meters Centerline goodness : 0.748979 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99917614e-01 -4.82728097e-03 1.18938110e-02 -2.93117179e+02] [ 4.91962066e-03 9.99957892e-01 -7.74668906e-03 1.72058176e+01] [-1.18559147e-02 7.80456388e-03 9.99899258e-01 1.55557281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.509072329 meters Centerline goodness : 0.750262 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99912417e-01 -5.12127401e-03 1.22037556e-02 -2.93117419e+02] [ 5.22103177e-03 9.99953105e-01 -8.15655884e-03 1.72073043e+01] [-1.21614113e-02 8.21956066e-03 9.99892264e-01 1.55556648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53907232899996 meters Centerline goodness : 0.750262 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99912417e-01 -5.12127401e-03 1.22037556e-02 -2.93117419e+02] [ 5.22103177e-03 9.99953105e-01 -8.15655884e-03 1.72073043e+01] [-1.21614113e-02 8.21956066e-03 9.99892264e-01 1.55556648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.569072329 meters Centerline goodness : 0.747544 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99911813e-01 -4.95989712e-03 1.23193584e-02 -2.93117298e+02] [ 5.05535974e-03 9.99957344e-01 -7.72997754e-03 1.72062942e+01] [-1.22804930e-02 7.79157464e-03 9.99894235e-01 1.55556053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59907232899997 meters Centerline goodness : 0.750607 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99916091e-01 -5.03160524e-03 1.19370982e-02 -2.93116221e+02] [ 5.13382966e-03 9.99950283e-01 -8.54845946e-03 1.72103552e+01] [-1.18934923e-02 8.60902519e-03 9.99892209e-01 1.55556307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.629072329 meters Centerline goodness : 0.750199 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99923688e-01 -4.57480761e-03 1.14755545e-02 -2.93115383e+02] [ 4.66978006e-03 9.99954957e-01 -8.26296879e-03 1.72103198e+01] [-1.14372362e-02 8.31592655e-03 9.99900012e-01 1.55556772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65907232899997 meters Centerline goodness : 0.750497 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99930642e-01 -9.78551423e-04 1.17368477e-02 -2.93116520e+02] [ 1.03738679e-03 9.99986923e-01 -5.00783629e-03 1.72130200e+01] [-1.17317938e-02 5.01966460e-03 9.99918581e-01 1.55557478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68907232899994 meters Centerline goodness : 0.752004 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.56 [[ 9.99935142e-01 -9.75558875e-04 1.13472187e-02 -2.93115697e+02] [ 1.03644745e-03 9.99985091e-01 -5.36130496e-03 1.72147888e+01] [-1.13418192e-02 5.37271803e-03 9.99921245e-01 1.55557808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71907232899997 meters Centerline goodness : 0.753734 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.56 [[ 9.99933859e-01 -1.31187551e-03 1.14260969e-02 -2.93115867e+02] [ 1.38005956e-03 9.99981277e-01 -5.96155781e-03 1.72169598e+01] [-1.14180622e-02 5.97693221e-03 9.99916949e-01 1.55557887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74907232899994 meters Centerline goodness : 0.751249 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.56 [[ 9.99920918e-01 -2.71922757e-03 1.22785582e-02 -2.93118557e+02] [ 2.80987447e-03 9.99968884e-01 -7.37132968e-03 1.72193562e+01] [-1.22581318e-02 7.40524795e-03 9.99897445e-01 1.55558587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.779072329 meters Centerline goodness : 0.752378 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.56 [[ 9.99928936e-01 -2.31513114e-03 1.16946101e-02 -2.93116903e+02] [ 2.40102985e-03 9.99970205e-01 -7.33646203e-03 1.72207267e+01] [-1.16772768e-02 7.36401978e-03 9.99904702e-01 1.55558605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.80907232899995 meters Centerline goodness : 0.752361 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.56 [[ 9.99936442e-01 -1.60036433e-03 1.11602490e-02 -2.93115276e+02] [ 1.67574191e-03 9.99975828e-01 -6.74803536e-03 1.72202899e+01] [-1.11491799e-02 6.76630817e-03 9.99914953e-01 1.55558270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.839072329 meters Centerline goodness : 0.753328 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.56 [[ 9.99931308e-01 -1.78736192e-03 1.15837730e-02 -2.93116315e+02] [ 1.86646303e-03 9.99974992e-01 -6.82140406e-03 1.72202294e+01] [-1.15712910e-02 6.84255617e-03 9.99909638e-01 1.55558193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.86907232899995 meters Centerline goodness : 0.754049 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99938104e-01 -9.20075739e-04 1.10879151e-02 -2.93114699e+02] [ 9.86576884e-04 9.99981551e-01 -5.99364747e-03 1.72192555e+01] [-1.10821959e-02 6.00421557e-03 9.99920564e-01 1.55557780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.899072329 meters Centerline goodness : 0.751369 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99944309e-01 -1.23673343e-04 1.05529270e-02 -2.93113357e+02] [ 1.76807308e-04 9.99987313e-01 -5.03421346e-03 1.72172385e+01] [-1.05521705e-02 5.03579894e-03 9.99931644e-01 1.55557666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.92907232899995 meters Centerline goodness : 0.752175 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.56 [[ 9.99941176e-01 3.91576784e-03 1.01149490e-02 -2.93112298e+02] [-3.90002240e-03 9.99991153e-01 -1.57590662e-03 1.72202494e+01] [-1.01210304e-02 1.53636539e-03 9.99947601e-01 1.55557844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.959072329 meters Centerline goodness : 0.752952 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.56 [[ 9.99916755e-01 1.13520802e-02 6.13303725e-03 -2.93103700e+02] [-1.13570228e-02 9.99935209e-01 7.71684162e-04 1.72237008e+01] [-6.12387967e-03 -8.41272967e-04 9.99980895e-01 1.55562852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.98907232899995 meters Centerline goodness : 0.753095 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.56 [[ 9.99923298e-01 1.10299232e-02 5.63372464e-03 -2.93103320e+02] [-1.10280067e-02 9.99939121e-01 -3.71140620e-04 1.72274678e+01] [-5.63747531e-03 3.08983399e-04 9.99984062e-01 1.55564203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.019072329 meters Centerline goodness : 0.752336 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.57 [[ 9.99923445e-01 1.12445340e-02 5.16373152e-03 -2.93102829e+02] [-1.12422644e-02 9.99936694e-01 -4.68343994e-04 1.72280294e+01] [-5.16867094e-03 4.10256105e-04 9.99986558e-01 1.55565092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.04907232899996 meters Centerline goodness : 0.752520 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.57 [[ 9.99917069e-01 1.21649413e-02 4.22726395e-03 -2.93100599e+02] [-1.21635329e-02 9.99925957e-01 -3.58721203e-04 1.72296920e+01] [-4.23131477e-03 3.07272989e-04 9.99991001e-01 1.55565497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.079072329 meters Centerline goodness : 0.753897 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.57 [[ 9.99917650e-01 1.22277972e-02 3.89537925e-03 -2.93099917e+02] [-1.22259244e-02 9.99925133e-01 -5.04243072e-04 1.72305056e+01] [-3.90125340e-03 4.56576936e-04 9.99992286e-01 1.55565685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.10907232899996 meters Centerline goodness : 0.754849 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.57 [[ 9.99928865e-01 1.09861725e-02 4.64415059e-03 -2.93103230e+02] [-1.09784766e-02 9.99938324e-01 -1.67938778e-03 1.72315381e+01] [-4.66231420e-03 1.62828261e-03 9.99987806e-01 1.55567321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.139072329 meters Centerline goodness : 0.753798 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.57 [[ 9.99965139e-01 6.78519501e-03 4.86647368e-03 -2.93104286e+02] [-6.75705603e-03 9.99960492e-01 -5.77553160e-03 1.72310197e+01] [-4.90546952e-03 5.74244722e-03 9.99971480e-01 1.55567828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16907232899996 meters Centerline goodness : 0.754016 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.23, Z:155.57 [[ 9.99964626e-01 6.14818278e-03 5.73991779e-03 -2.93107087e+02] [-6.11433308e-03 9.99963924e-01 -5.89628379e-03 1.72296551e+01] [-5.77596215e-03 5.86097944e-03 9.99966143e-01 1.55568419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.199072329 meters Centerline goodness : 0.753714 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.23, Z:155.57 [[ 9.99981297e-01 2.19271360e-03 5.70941276e-03 -2.93107060e+02] [-2.13694723e-03 9.99950133e-01 -9.75529307e-03 1.72288677e+01] [-5.73051861e-03 9.74290990e-03 9.99936116e-01 1.55568369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22907232899996 meters Centerline goodness : 0.753242 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.57 [[ 9.99976037e-01 -5.28925003e-03 4.46652751e-03 -2.93099729e+02] [ 5.29900993e-03 9.99983592e-01 -2.17612179e-03 1.72158160e+01] [-4.45494417e-03 2.19973781e-03 9.99987657e-01 1.55571239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.259072329 meters Centerline goodness : 0.753837 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99976428e-01 -4.74411404e-03 4.96345279e-03 -2.93100566e+02] [ 4.74868608e-03 9.99988311e-01 -9.09760560e-04 1.72118389e+01] [-4.95907876e-03 9.33308995e-04 9.99987268e-01 1.55570457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28907232899996 meters Centerline goodness : 0.750906 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99977369e-01 -4.25986904e-03 5.20724357e-03 -2.93100992e+02] [ 4.26002614e-03 9.99990926e-01 -1.90787969e-05 1.72093774e+01] [-5.20711504e-03 4.12613589e-05 9.99986442e-01 1.55570090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.319072329 meters Centerline goodness : 0.752097 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99968217e-01 -4.91618042e-03 6.27664002e-03 -2.93103217e+02] [ 4.91648532e-03 9.99987913e-01 -3.31486041e-05 1.72080321e+01] [-6.27640120e-03 6.40065591e-05 9.99980301e-01 1.55569242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34907232899997 meters Centerline goodness : 0.749796 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99969163e-01 -4.65958282e-03 6.32150565e-03 -2.93103146e+02] [ 4.65705368e-03 9.99989070e-01 4.14747098e-04 1.72067510e+01] [-6.32336910e-03 -3.85294717e-04 9.99979933e-01 1.55568906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.379072329 meters Centerline goodness : 0.751232 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99974823e-01 -4.21942663e-03 5.70525260e-03 -2.93101631e+02] [ 4.21700858e-03 9.99991013e-01 4.35791784e-04 1.72078901e+01] [-5.70704012e-03 -4.11721713e-04 9.99983630e-01 1.55568998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40907232899997 meters Centerline goodness : 0.752091 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99973717e-01 -4.36480380e-03 5.78904950e-03 -2.93101987e+02] [ 4.36365923e-03 9.99990457e-01 2.10328954e-04 1.72086152e+01] [-5.78991231e-03 -1.85061987e-04 9.99983221e-01 1.55569228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43907232899994 meters Centerline goodness : 0.751304 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99975725e-01 -4.17325740e-03 5.57964168e-03 -2.93101730e+02] [ 4.17207561e-03 9.99991272e-01 2.23427322e-04 1.72090628e+01] [-5.58052540e-03 -2.00143212e-04 9.99984409e-01 1.55569650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46907232899997 meters Centerline goodness : 0.751703 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99968374e-01 -4.72984090e-03 6.39365553e-03 -2.93104112e+02] [ 4.73021491e-03 9.99988812e-01 -4.33765509e-05 1.72086496e+01] [-6.39337883e-03 7.36185437e-05 9.99979559e-01 1.55569975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49907232899994 meters Centerline goodness : 0.751791 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.21, Z:155.57 [[ 9.99971427e-01 -4.44989851e-03 6.11095785e-03 -2.93103416e+02] [ 4.44952742e-03 9.99990098e-01 7.43192874e-05 1.72090720e+01] [-6.11122806e-03 -4.71262893e-05 9.99981325e-01 1.55570087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.529072329 meters Centerline goodness : 0.753372 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99964959e-01 -5.00807422e-03 6.70823830e-03 -2.93105106e+02] [ 5.01190976e-03 9.99987286e-01 -5.55077435e-04 1.72106042e+01] [-6.70537314e-03 5.88679069e-04 9.99977345e-01 1.55570372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.55907232899995 meters Centerline goodness : 0.753656 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99965077e-01 -4.95001357e-03 6.73358662e-03 -2.93105272e+02] [ 4.95305944e-03 9.99987639e-01 -4.35737932e-04 1.72103343e+01] [-6.73134648e-03 4.69074570e-04 9.99977234e-01 1.55570495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.589072329 meters Centerline goodness : 0.753398 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99956143e-01 -5.35328760e-03 7.68472005e-03 -2.93107071e+02] [ 5.35282662e-03 9.99985670e-01 8.05526160e-05 1.72076184e+01] [-7.68504116e-03 -3.94141091e-05 9.99970469e-01 1.55569419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.61907232899995 meters Centerline goodness : 0.751424 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99952556e-01 -5.37015518e-03 8.12694447e-03 -2.93108030e+02] [ 5.36759017e-03 9.99985537e-01 3.37396924e-04 1.72065893e+01] [-8.12863881e-03 -2.93758810e-04 9.99966919e-01 1.55569101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.649072329 meters Centerline goodness : 0.751020 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99953548e-01 -5.21150696e-03 8.10814768e-03 -2.93108043e+02] [ 5.20702124e-03 9.99986278e-01 5.74247196e-04 1.72058744e+01] [-8.11102911e-03 -5.32001224e-04 9.99966964e-01 1.55569090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.67907232899995 meters Centerline goodness : 0.752788 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99944136e-01 -5.96143361e-03 8.72848452e-03 -2.93109868e+02] [ 5.96360641e-03 9.99982193e-01 -2.22926587e-04 1.72075085e+01] [-8.72700013e-03 2.74967379e-04 9.99961881e-01 1.55569510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.709072329 meters Centerline goodness : 0.752898 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99945921e-01 -5.88802364e-03 8.57242624e-03 -2.93109776e+02] [ 5.89023949e-03 9.99982625e-01 -2.33262055e-04 1.72077127e+01] [-8.57090384e-03 2.83743084e-04 9.99963229e-01 1.55569870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.73907232899995 meters Centerline goodness : 0.753896 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99944757e-01 -6.10066420e-03 8.55952461e-03 -2.93109674e+02] [ 6.10676067e-03 9.99981118e-01 -6.86288159e-04 1.72094411e+01] [-8.55517617e-03 7.38521215e-04 9.99963131e-01 1.55569839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.769072329 meters Centerline goodness : 0.754247 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99941306e-01 -6.23188835e-03 8.86276688e-03 -2.93110438e+02] [ 6.23856514e-03 9.99980276e-01 -7.25906696e-04 1.72093947e+01] [-8.85806830e-03 7.81155038e-04 9.99960461e-01 1.55569781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.79907232899996 meters Centerline goodness : 0.753272 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99933580e-01 -6.69521426e-03 9.38130113e-03 -2.93111747e+02] [ 6.70570169e-03 9.99976926e-01 -1.08689950e-03 1.72099787e+01] [-9.37380764e-03 1.14973551e-03 9.99955404e-01 1.55569754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.829072329 meters Centerline goodness : 0.753994 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99938368e-01 -6.31204471e-03 9.13334877e-03 -2.93111276e+02] [ 6.31857440e-03 9.99979802e-01 -6.86249318e-04 1.72095742e+01] [-9.12883266e-03 7.43916767e-04 9.99958055e-01 1.55570013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.85907232899996 meters Centerline goodness : 0.754409 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99939133e-01 -6.21681148e-03 9.11492243e-03 -2.93111269e+02] [ 6.22235865e-03 9.99980473e-01 -5.80349093e-04 1.72094918e+01] [-9.11113652e-03 6.37030085e-04 9.99958290e-01 1.55570056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.889072329 meters Centerline goodness : 0.753983 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99939121e-01 -6.16580744e-03 9.15080272e-03 -2.93110919e+02] [ 6.17070352e-03 9.99980833e-01 -5.06906171e-04 1.72095159e+01] [-9.14750183e-03 5.63342201e-04 9.99958002e-01 1.55569416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91907232899996 meters Centerline goodness : 0.753830 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99935775e-01 -6.21110708e-03 9.47990925e-03 -2.93111836e+02] [ 6.21518902e-03 9.99980605e-01 -4.01188794e-04 1.72088799e+01] [-9.47723356e-03 4.60082456e-04 9.99954984e-01 1.55569461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.949072329 meters Centerline goodness : 0.754924 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99931321e-01 -6.32706005e-03 9.86512574e-03 -2.93113355e+02] [ 6.33161120e-03 9.99979863e-01 -4.30173311e-04 1.72085820e+01] [-9.86220535e-03 4.92605908e-04 9.99951246e-01 1.55570141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97907232899996 meters Centerline goodness : 0.754573 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99919337e-01 -7.06633644e-03 1.05539978e-02 -2.93115592e+02] [ 7.08067614e-03 9.99974058e-01 -1.32195139e-03 1.72104953e+01] [-1.05443826e-02 1.39657419e-03 9.99943431e-01 1.55570830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.009072329 meters Centerline goodness : 0.754487 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99928825e-01 -6.34073851e-03 1.01064577e-02 -2.93114960e+02] [ 6.34558661e-03 9.99979766e-01 -4.47709079e-04 1.72085797e+01] [-1.01034144e-02 5.11808616e-04 9.99948828e-01 1.55571392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03907232899996 meters Centerline goodness : 0.754855 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99926188e-01 -6.54910311e-03 1.02336527e-02 -2.93115125e+02] [ 6.55817695e-03 9.99978131e-01 -8.53360469e-04 1.72101941e+01] [-1.02278402e-02 9.20411586e-04 9.99947271e-01 1.55571247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.069072329 meters Centerline goodness : 0.752506 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99925444e-01 -6.20948705e-03 1.05142280e-02 -2.93114796e+02] [ 6.20825859e-03 9.99980717e-01 1.49471926e-04 1.72073196e+01] [-1.05149534e-02 -8.41857355e-05 9.99944713e-01 1.55569642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09907232899997 meters Centerline goodness : 0.750089 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99912324e-01 -6.85678242e-03 1.13282178e-02 -2.93116451e+02] [ 6.85639698e-03 9.99976492e-01 7.28613184e-05 1.72065535e+01] [-1.13284511e-02 4.81582814e-06 9.99935831e-01 1.55568926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.129072329 meters Centerline goodness : 0.748507 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99917420e-01 -6.54491472e-03 1.10596689e-02 -2.93115122e+02] [ 6.54148835e-03 9.99978544e-01 3.45954897e-04 1.72068573e+01] [-1.10616958e-02 -2.73579634e-04 9.99938780e-01 1.55568135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15907232899997 meters Centerline goodness : 0.748881 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99921149e-01 -6.35599263e-03 1.08303636e-02 -2.93114728e+02] [ 6.35093200e-03 9.99979707e-01 5.01591691e-04 1.72066802e+01] [-1.08333320e-02 -4.32769237e-04 9.99941224e-01 1.55568373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18907232899994 meters Centerline goodness : 0.751480 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99919848e-01 -6.58747060e-03 1.08121585e-02 -2.93115216e+02] [ 6.58796568e-03 9.99978299e-01 -1.01730635e-05 1.72083833e+01] [-1.08118568e-02 8.14023770e-05 9.99941547e-01 1.55569218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21907232899997 meters Centerline goodness : 0.751326 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99923977e-01 -6.38778613e-03 1.05468492e-02 -2.93114784e+02] [ 6.38683590e-03 9.99979596e-01 1.23775536e-04 1.72084330e+01] [-1.05474247e-02 -5.64051315e-05 9.99944373e-01 1.55569548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24907232899994 meters Centerline goodness : 0.750502 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99918928e-01 -6.72013745e-03 1.08155937e-02 -2.93115562e+02] [ 6.72432387e-03 9.99977330e-01 -3.50753841e-04 1.72096015e+01] [-1.08129914e-02 4.23452960e-04 9.99941448e-01 1.55569678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.279072329 meters Centerline goodness : 0.750271 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99910068e-01 -7.08368029e-03 1.13876214e-02 -2.93116967e+02] [ 7.09083082e-03 9.99974687e-01 -5.87668178e-04 1.72097848e+01] [-1.13831703e-02 6.68363024e-04 9.99934986e-01 1.55569550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.30907232899995 meters Centerline goodness : 0.749885 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.21, Z:155.57 [[ 9.99922503e-01 -6.29640106e-03 1.07397547e-02 -2.93115823e+02] [ 6.29509378e-03 9.99980174e-01 1.55524113e-04 1.72082378e+01] [-1.07405210e-02 -8.79042968e-05 9.99942315e-01 1.55570057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.339072329 meters Centerline goodness : 0.749958 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99946242e-01 -2.06113201e-03 1.01619068e-02 -2.93114746e+02] [ 2.02162919e-03 9.99990367e-01 3.89608421e-03 1.72102757e+01] [-1.01698392e-02 -3.87533116e-03 9.99940776e-01 1.55570516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.36907232899995 meters Centerline goodness : 0.749655 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.21, Z:155.57 [[ 9.99954285e-01 -2.29006931e-03 9.28354574e-03 -2.93112988e+02] [ 2.26362881e-03 9.99993355e-01 2.85761181e-03 1.72141259e+01] [-9.29002818e-03 -2.83646667e-03 9.99952824e-01 1.55571254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.399072329 meters Centerline goodness : 0.750141 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99962387e-01 7.26770855e-03 4.73347647e-03 -2.93100936e+02] [-7.28908417e-03 9.99963244e-01 4.51435388e-03 1.72172294e+01] [-4.70049348e-03 -4.54868679e-03 9.99978607e-01 1.55577054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.42907232899995 meters Centerline goodness : 0.750141 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99962387e-01 7.26770855e-03 4.73347647e-03 -2.93100936e+02] [-7.28908417e-03 9.99963244e-01 4.51435388e-03 1.72172294e+01] [-4.70049348e-03 -4.54868679e-03 9.99978607e-01 1.55577054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.459072329 meters Centerline goodness : 0.752262 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99966416e-01 6.86324554e-03 4.47910389e-03 -2.93100721e+02] [-6.87959982e-03 9.99969688e-01 3.64610326e-03 1.72199361e+01] [-4.45394402e-03 -3.67679525e-03 9.99983322e-01 1.55577668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.48907232899995 meters Centerline goodness : 0.752587 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99968334e-01 6.57198013e-03 4.48776579e-03 -2.93101319e+02] [-6.58615089e-03 9.99973349e-01 3.15019739e-03 1.72210299e+01] [-4.46694315e-03 -3.17965473e-03 9.99984968e-01 1.55578372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.519072329 meters Centerline goodness : 0.753897 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99972117e-01 6.20076113e-03 4.16114956e-03 -2.93101885e+02] [-6.20995046e-03 9.99978300e-01 2.19908666e-03 1.72235934e+01] [-4.14742325e-03 -2.22486587e-03 9.99988924e-01 1.55580272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.54907232899996 meters Centerline goodness : 0.754069 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99974242e-01 5.66095689e-03 4.41225578e-03 -2.93103429e+02] [-5.66790423e-03 9.99982715e-01 1.56364425e-03 1.72244523e+01] [-4.40332779e-03 -1.58861222e-03 9.99989043e-01 1.55581357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.579072329 meters Centerline goodness : 0.752673 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99975027e-01 6.23258082e-03 3.33173824e-03 -2.93101395e+02] [-6.23782541e-03 9.99979318e-01 1.56606393e-03 1.72255860e+01] [-3.32190871e-03 -1.58680762e-03 9.99993223e-01 1.55582310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.60907232899996 meters Centerline goodness : 0.752071 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99943893e-01 1.01004825e-02 3.19245439e-03 -2.93100547e+02] [-1.01166647e-02 9.99935850e-01 5.09405185e-03 1.72281519e+01] [-3.14079721e-03 -5.12606302e-03 9.99981929e-01 1.55581822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.639072329 meters Centerline goodness : 0.751534 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99942803e-01 1.02951585e-02 2.89841803e-03 -2.93099755e+02] [-1.03101553e-02 9.99933288e-01 5.20763366e-03 1.72280577e+01] [-2.84461126e-03 -5.23721894e-03 9.99982240e-01 1.55581688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66907232899996 meters Centerline goodness : 0.750575 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99966096e-01 7.99447489e-03 1.97354609e-03 -2.93096972e+02] [-7.99995094e-03 9.99964128e-01 2.78260352e-03 1.72256318e+01] [-1.95122985e-03 -2.79829745e-03 9.99994181e-01 1.55580991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.699072329 meters Centerline goodness : 0.750774 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99966137e-01 8.04591269e-03 1.72845255e-03 -2.93096817e+02] [-8.05053023e-03 9.99963999e-01 2.68135354e-03 1.72259536e+01] [-1.70681639e-03 -2.69517770e-03 9.99994911e-01 1.55581562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72907232899996 meters Centerline goodness : 0.751307 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99967872e-01 7.88386414e-03 1.44914890e-03 -2.93096567e+02] [-7.88704902e-03 9.99966465e-01 2.20534021e-03 1.72274220e+01] [-1.43171370e-03 -2.21669887e-03 9.99996518e-01 1.55582153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.759072329 meters Centerline goodness : 0.752002 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99968667e-01 7.81554511e-03 1.25800874e-03 -2.93096506e+02] [-7.81796060e-03 9.99967583e-01 1.92676008e-03 1.72282490e+01] [-1.24290928e-03 -1.93653477e-03 9.99997353e-01 1.55582650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78907232899996 meters Centerline goodness : 0.750471 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99966626e-01 8.14747326e-03 6.04427853e-04 -2.93095445e+02] [-8.14863853e-03 9.99964896e-01 1.95114086e-03 1.72289090e+01] [-5.88509767e-04 -1.95600101e-03 9.99997914e-01 1.55583438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.819072329 meters Centerline goodness : 0.751518 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99968009e-01 7.97991626e-03 5.49246761e-04 -2.93095587e+02] [-7.98078078e-03 9.99966889e-01 1.59024704e-03 1.72300030e+01] [-5.36538536e-04 -1.59457958e-03 9.99998585e-01 1.55583814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84907232899997 meters Centerline goodness : 0.749534 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.23, Z:155.58 [[ 9.99987855e-01 4.91723732e-03 -3.32047936e-04 -2.93093633e+02] [-4.91773621e-03 9.99986755e-01 -1.51875595e-03 1.72284061e+01] [ 3.24575455e-04 1.52037043e-03 9.99998792e-01 1.55584022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.879072329 meters Centerline goodness : 0.749304 Centerline is valid? [False, False] Translation: X:-293.09, Y:17.23, Z:155.58 [[ 9.99989056e-01 4.67554845e-03 1.62309516e-04 -2.93094910e+02] [-4.67528473e-03 9.99987809e-01 -1.58879713e-03 1.72282141e+01] [-1.69736035e-04 1.58802090e-03 9.99998725e-01 1.55583981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90907232899997 meters Centerline goodness : 0.747755 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.23, Z:155.58 [[ 9.99998775e-01 -4.38429963e-04 1.50250480e-03 -2.93097886e+02] [ 4.46530530e-04 9.99985346e-01 -5.39528752e-03 1.72255208e+01] [-1.50011732e-03 5.39595183e-03 9.99984317e-01 1.55582967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93907232899994 meters Centerline goodness : 0.745689 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99996812e-01 -7.22836669e-04 2.41952342e-03 -2.93099867e+02] [ 7.35095030e-04 9.99986880e-01 -5.06938696e-03 1.72237304e+01] [-2.41582734e-03 5.07114938e-03 9.99984223e-01 1.55582340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96907232899997 meters Centerline goodness : 0.743969 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99981845e-01 -4.91020183e-03 3.49281246e-03 -2.93101903e+02] [ 4.93740990e-03 9.99957201e-01 -7.82423337e-03 1.72182934e+01] [-3.45424441e-03 7.84133676e-03 9.99963290e-01 1.55581006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99907232899994 meters Centerline goodness : 0.742215 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.58 [[ 9.99969935e-01 -6.21395684e-03 4.63860237e-03 -2.93105231e+02] [ 6.25290978e-03 9.99944910e-01 -8.43083190e-03 1.72178154e+01] [-4.58595800e-03 8.45958318e-03 9.99953701e-01 1.55581362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.029072329 meters Centerline goodness : 0.741823 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.22, Z:155.58 [[ 9.99973569e-01 -5.81856211e-03 4.35946217e-03 -2.93104251e+02] [ 5.85338163e-03 9.99950728e-01 -8.01738861e-03 1.72174555e+01] [-4.31259770e-03 8.04269430e-03 9.99958357e-01 1.55581028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.05907232899995 meters Centerline goodness : 0.745016 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.58 [[ 9.99953577e-01 -7.82227483e-03 5.62631297e-03 -2.93107684e+02] [ 7.87846613e-03 9.99918607e-01 -1.00353882e-02 1.72214931e+01] [-5.54735546e-03 1.00792491e-02 9.99933816e-01 1.55581489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.089072329 meters Centerline goodness : 0.743523 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.58 [[ 9.99904964e-01 -1.21555778e-02 6.50423559e-03 -2.93109331e+02] [ 1.22430928e-02 9.99832711e-01 -1.35888273e-02 1.72191111e+01] [-6.33796745e-03 1.36671678e-02 9.99886513e-01 1.55580736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.11907232899995 meters Centerline goodness : 0.742030 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.22, Z:155.58 [[ 9.99848974e-01 -1.59723711e-02 6.84924743e-03 -2.93109351e+02] [ 1.60861604e-02 9.99727890e-01 -1.68932560e-02 1.72165596e+01] [-6.57755832e-03 1.70008827e-02 9.99833839e-01 1.55579696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.149072329 meters Centerline goodness : 0.741594 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.22, Z:155.57 [[ 9.99699736e-01 -2.13800432e-02 1.19721440e-02 -2.93121942e+02] [ 2.15648737e-02 9.99646854e-01 -1.55281816e-02 1.72178444e+01] [-1.16359229e-02 1.57816968e-02 9.99807753e-01 1.55574116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.17907232899995 meters Centerline goodness : 0.740299 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.22, Z:155.57 [[ 9.99646675e-01 -2.30786332e-02 1.31872165e-02 -2.93125578e+02] [ 2.32966150e-02 9.99590397e-01 -1.66224305e-02 1.72181960e+01] [-1.27981920e-02 1.69237748e-02 9.99774871e-01 1.55574715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.209072329 meters Centerline goodness : 0.741362 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.22, Z:155.57 [[ 9.99636424e-01 -2.31963861e-02 1.37457843e-02 -2.93126778e+02] [ 2.34216473e-02 9.99590167e-01 -1.64597576e-02 1.72175788e+01] [-1.33583440e-02 1.67757222e-02 9.99770038e-01 1.55574408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.23907232899995 meters Centerline goodness : 0.740302 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.22, Z:155.57 [[ 9.99595206e-01 -2.42379100e-02 1.48979290e-02 -2.93129932e+02] [ 2.44905934e-02 9.99555179e-01 -1.70192352e-02 1.72177054e+01] [-1.44787914e-02 1.73772050e-02 9.99744166e-01 1.55574654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.269072329 meters Centerline goodness : 0.743613 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.22, Z:155.58 [[ 9.99553804e-01 -2.52509002e-02 1.59556924e-02 -2.93133016e+02] [ 2.55287535e-02 9.99521651e-01 -1.74571721e-02 1.72170928e+01] [-1.55072507e-02 1.78567117e-02 9.99720292e-01 1.55575127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.29907232899996 meters Centerline goodness : 0.742671 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.22, Z:155.58 [[ 9.99540993e-01 -2.54684227e-02 1.64061881e-02 -2.93134415e+02] [ 2.57568746e-02 9.99512989e-01 -1.76172989e-02 1.72173868e+01] [-1.59495133e-02 1.80317846e-02 9.99710192e-01 1.55575471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.329072329 meters Centerline goodness : 0.742938 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99530868e-01 -2.55920418e-02 1.68252902e-02 -2.93135717e+02] [ 2.58866041e-02 9.99511193e-01 -1.75288266e-02 1.72167694e+01] [-1.63684674e-02 1.79561529e-02 9.99704781e-01 1.55575753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.35907232899996 meters Centerline goodness : 0.741231 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99496286e-01 -2.63245461e-02 1.77254611e-02 -2.93137868e+02] [ 2.66424858e-02 9.99483922e-01 -1.79462198e-02 1.72169745e+01] [-1.72438872e-02 1.84094304e-02 9.99681820e-01 1.55575584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.389072329 meters Centerline goodness : 0.741408 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99569414e-01 -2.27276498e-02 1.85590958e-02 -2.93140202e+02] [ 2.29900104e-02 9.99636996e-01 -1.40476480e-02 1.72171593e+01] [-1.82330887e-02 1.44682731e-02 9.99729075e-01 1.55575493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41907232899996 meters Centerline goodness : 0.740396 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99558311e-01 -2.29490848e-02 1.88817790e-02 -2.93140703e+02] [ 2.32192095e-02 9.99629355e-01 -1.42134387e-02 1.72176389e+01] [-1.85485951e-02 1.46455808e-02 9.99720689e-01 1.55575044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.449072329 meters Centerline goodness : 0.739878 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99605620e-01 -2.01557751e-02 1.95537421e-02 -2.93143034e+02] [ 2.03829360e-02 9.99726239e-01 -1.14883489e-02 1.72205348e+01] [-1.93168324e-02 1.18823808e-02 9.99742801e-01 1.55575703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47907232899996 meters Centerline goodness : 0.740356 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99619819e-01 -1.99397929e-02 1.90426647e-02 -2.93142173e+02] [ 2.01611982e-02 9.99730527e-01 -1.15064577e-02 1.72211339e+01] [-1.88080969e-02 1.18860061e-02 9.99752459e-01 1.55576282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.509072329 meters Centerline goodness : 0.737894 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.22, Z:155.58 [[ 9.99684528e-01 -1.63498628e-02 1.90663466e-02 -2.93142886e+02] [ 1.65108287e-02 9.99829106e-01 -8.31576583e-03 1.72244284e+01] [-1.89271266e-02 8.62794363e-03 9.99783638e-01 1.55577093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53907232899996 meters Centerline goodness : 0.738267 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99689298e-01 -1.64101747e-02 1.87620071e-02 -2.93142356e+02] [ 1.65742407e-02 9.99825456e-01 -8.62278027e-03 1.72258211e+01] [-1.86172310e-02 8.93106718e-03 9.99786795e-01 1.55577467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.569072329 meters Centerline goodness : 0.739798 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99694313e-01 -1.63952375e-02 1.85061407e-02 -2.93141871e+02] [ 1.65604542e-02 9.99824052e-01 -8.81000274e-03 1.72268833e+01] [-1.83584425e-02 9.11377973e-03 9.99789931e-01 1.55577729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59907232899997 meters Centerline goodness : 0.738737 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99717477e-01 -1.56999836e-02 1.78458955e-02 -2.93140275e+02] [ 1.58515456e-02 9.99839211e-01 -8.38332637e-03 1.72271424e+01] [-1.77114080e-02 8.66384292e-03 9.99805603e-01 1.55577929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.629072329 meters Centerline goodness : 0.737969 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99729612e-01 -1.53725277e-02 1.74467492e-02 -2.93139221e+02] [ 1.55161742e-02 9.99846579e-01 -8.12813734e-03 1.72269648e+01] [-1.73191225e-02 8.39664639e-03 9.99814755e-01 1.55577836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65907232899997 meters Centerline goodness : 0.736872 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99718724e-01 -1.56473212e-02 1.78223168e-02 -2.93140159e+02] [ 1.57991367e-02 9.99839820e-01 -8.40956790e-03 1.72275727e+01] [-1.76878748e-02 8.68877971e-03 9.99805803e-01 1.55577783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68907232899994 meters Centerline goodness : 0.736624 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99721776e-01 -1.55588219e-02 1.77283011e-02 -2.93139769e+02] [ 1.57089490e-02 9.99841652e-01 -8.36065601e-03 1.72278487e+01] [-1.75954119e-02 8.63682286e-03 9.99807885e-01 1.55577569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71907232899997 meters Centerline goodness : 0.736107 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99727033e-01 -1.52579491e-02 1.76933381e-02 -2.93139574e+02] [ 1.54002233e-02 9.99849940e-01 -7.93293274e-03 1.72269878e+01] [-1.75696428e-02 8.20324867e-03 9.99811990e-01 1.55577374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74907232899994 meters Centerline goodness : 0.736217 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99730370e-01 -1.51496364e-02 1.75976209e-02 -2.93139507e+02] [ 1.52905975e-02 9.99851855e-01 -7.90348843e-03 1.72271561e+01] [-1.74752789e-02 8.17043555e-03 9.99813912e-01 1.55577607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.779072329 meters Centerline goodness : 0.735790 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99726553e-01 -1.53639101e-02 1.76286465e-02 -2.93139875e+02] [ 1.55130737e-02 9.99844748e-01 -8.35610840e-03 1.72287615e+01] [-1.74975271e-02 8.62729794e-03 9.99809685e-01 1.55578095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.80907232899995 meters Centerline goodness : 0.737624 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99724853e-01 -1.55069286e-02 1.75997980e-02 -2.93139847e+02] [ 1.56609612e-02 9.99839959e-01 -8.64812715e-03 1.72299399e+01] [-1.74628754e-02 8.92137741e-03 9.99807710e-01 1.55578216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.839072329 meters Centerline goodness : 0.735195 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99734762e-01 -1.51130047e-02 1.73782502e-02 -2.93138669e+02] [ 1.52556233e-02 9.99850787e-01 -8.10365080e-03 1.72291188e+01] [-1.72531867e-02 8.36661744e-03 9.99816147e-01 1.55577355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.86907232899995 meters Centerline goodness : 0.736350 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99733752e-01 -1.52180069e-02 1.73446725e-02 -2.93138387e+02] [ 1.53651217e-02 9.99846829e-01 -8.38037479e-03 1.72304841e+01] [-1.72144832e-02 8.64464654e-03 9.99814449e-01 1.55577150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.899072329 meters Centerline goodness : 0.735115 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99729367e-01 -1.52922595e-02 1.75311279e-02 -2.93138957e+02] [ 1.54418261e-02 9.99845247e-01 -8.42810168e-03 1.72306167e+01] [-1.73995302e-02 8.69653339e-03 9.99810795e-01 1.55577302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.92907232899995 meters Centerline goodness : 0.735949 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99706967e-01 -1.58300693e-02 1.83136501e-02 -2.93141042e+02] [ 1.59946338e-02 9.99832693e-01 -8.87458325e-03 1.72314877e+01] [-1.81701008e-02 9.16490282e-03 9.99792905e-01 1.55577474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.959072329 meters Centerline goodness : 0.736500 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99718468e-01 -1.54753986e-02 1.79860414e-02 -2.93140511e+02] [ 1.56303857e-02 9.99841634e-01 -8.50867538e-03 1.72306937e+01] [-1.78515178e-02 8.78740868e-03 9.99802033e-01 1.55577816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.98907232899995 meters Centerline goodness : 0.737122 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.23, Z:155.58 [[ 9.99768024e-01 -1.18559386e-02 1.79815155e-02 -2.93140594e+02] [ 1.19530883e-02 9.99914487e-01 -5.30492960e-03 1.72339691e+01] [-1.79170829e-02 5.51863363e-03 9.99824246e-01 1.55577854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.019072329 meters Centerline goodness : 0.737417 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.24, Z:155.58 [[ 9.99764701e-01 -1.21630318e-02 1.79611664e-02 -2.93140791e+02] [ 1.22708233e-02 9.99907284e-01 -5.90339503e-03 1.72360859e+01] [-1.78876979e-02 6.12240426e-03 9.99821257e-01 1.55578323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.04907232899996 meters Centerline goodness : 0.737983 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.24, Z:155.58 [[ 9.99790779e-01 -1.12771156e-02 1.70653144e-02 -2.93138942e+02] [ 1.13730192e-02 9.99920016e-01 -5.53321953e-03 1.72365337e+01] [-1.70015507e-02 5.72614601e-03 9.99839066e-01 1.55578899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.079072329 meters Centerline goodness : 0.741031 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.24, Z:155.58 [[ 9.99834831e-01 -7.21274440e-03 1.66819439e-02 -2.93139495e+02] [ 7.24833934e-03 9.99971579e-01 -2.07426235e-03 1.72387282e+01] [-1.66665087e-02 2.19483614e-03 9.99858695e-01 1.55580841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.10907232899996 meters Centerline goodness : 0.740587 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.24, Z:155.58 [[ 9.99820938e-01 -7.78003122e-03 1.72500156e-02 -2.93140766e+02] [ 7.82768097e-03 9.99965728e-01 -2.69650510e-03 1.72400606e+01] [-1.72284455e-02 2.83104987e-03 9.99847571e-01 1.55580593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.139072329 meters Centerline goodness : 0.738367 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.24, Z:155.58 [[ 9.99853090e-01 -5.67533710e-03 1.61737109e-02 -2.93137269e+02] [ 5.68750416e-03 9.99983577e-01 -7.06375772e-04 1.72376425e+01] [-1.61694363e-02 7.98260046e-04 9.99868947e-01 1.55579459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16907232899996 meters Centerline goodness : 0.736568 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.24, Z:155.58 [[ 9.99886805e-01 -9.34049793e-04 1.50168264e-02 -2.93134801e+02] [ 8.84849091e-04 9.99994221e-01 3.28268190e-03 1.72396450e+01] [-1.50198058e-02 -3.26902269e-03 9.99881852e-01 1.55580050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.199072329 meters Centerline goodness : 0.739111 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.24, Z:155.59 [[ 9.99918246e-01 6.74512871e-03 1.08630084e-02 -2.93125772e+02] [-6.79908716e-03 9.99964694e-01 4.93792600e-03 1.72431684e+01] [-1.08293180e-02 -5.01138084e-03 9.99928803e-01 1.55585842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22907232899996 meters Centerline goodness : 0.738169 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.59 [[ 9.99927379e-01 6.91752255e-03 9.86838043e-03 -2.93123629e+02] [-6.95557087e-03 9.99968489e-01 3.82648118e-03 1.72482320e+01] [-9.84159969e-03 -3.89484352e-03 9.99943985e-01 1.55586652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.259072329 meters Centerline goodness : 0.742159 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.59 [[ 9.99933832e-01 7.71896717e-03 8.52936256e-03 -2.93121216e+02] [-7.74357856e-03 9.99965939e-01 2.85624218e-03 1.72522345e+01] [-8.50702480e-03 -2.92210098e-03 9.99959545e-01 1.55588360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28907232899996 meters Centerline goodness : 0.740726 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.59 [[ 9.99934521e-01 8.92681990e-03 7.16006272e-03 -2.93118784e+02] [-8.95046780e-03 9.99954572e-01 3.27753493e-03 1.72528088e+01] [-7.13047949e-03 -3.34140623e-03 9.99968995e-01 1.55589675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.319072329 meters Centerline goodness : 0.740764 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.26, Z:155.59 [[ 9.99930892e-01 1.02104675e-02 5.82728744e-03 -2.93116133e+02] [-1.02293583e-02 9.99942490e-01 3.22122667e-03 1.72555974e+01] [-5.79406209e-03 -3.28061347e-03 9.99977833e-01 1.55590962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34907232899997 meters Centerline goodness : 0.740764 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.26, Z:155.59 [[ 9.99930892e-01 1.02104675e-02 5.82728744e-03 -2.93116133e+02] [-1.02293583e-02 9.99942490e-01 3.22122667e-03 1.72555974e+01] [-5.79406209e-03 -3.28061347e-03 9.99977833e-01 1.55590962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.379072329 meters Centerline goodness : 0.741521 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99768690e-01 2.14179684e-02 1.95881134e-03 -2.93108250e+02] [-2.14329570e-02 9.99738432e-01 7.98095152e-03 1.72603934e+01] [-1.78736321e-03 -8.02108857e-03 9.99966233e-01 1.55598215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40907232899997 meters Centerline goodness : 0.741825 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99775303e-01 2.11354843e-02 1.62334506e-03 -2.93108124e+02] [-2.11466019e-02 9.99750693e-01 7.16745849e-03 1.72628160e+01] [-1.47145264e-03 -7.20017621e-03 9.99972996e-01 1.55599199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43907232899994 meters Centerline goodness : 0.743452 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99778183e-01 2.10043038e-02 1.55050589e-03 -2.93108349e+02] [-2.10144356e-02 9.99755800e-01 6.83627549e-03 1.72637276e+01] [-1.40653605e-03 -6.86734210e-03 9.99975430e-01 1.55599744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46907232899997 meters Centerline goodness : 0.741494 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99778192e-01 2.10355552e-02 1.03513909e-03 -2.93107325e+02] [-2.10419202e-02 9.99756945e-01 6.57933270e-03 1.72647467e+01] [-8.96487581e-04 -6.59965467e-03 9.99977820e-01 1.55600097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49907232899994 meters Centerline goodness : 0.740326 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99777820e-01 2.10479883e-02 1.13732664e-03 -2.93107315e+02] [-2.10551254e-02 9.99756017e-01 6.67741638e-03 1.72644728e+01] [-9.96502972e-04 -6.69987934e-03 9.99977059e-01 1.55599655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.529072329 meters Centerline goodness : 0.740510 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.26, Z:155.60 [[ 9.99772315e-01 2.13190213e-02 9.04318154e-04 -2.93106703e+02] [-2.13248588e-02 9.99747886e-01 7.02961804e-03 1.72634677e+01] [-7.54225586e-04 -7.04730196e-03 9.99974883e-01 1.55599483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.55907232899995 meters Centerline goodness : 0.739562 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.26, Z:155.60 [[ 9.99756533e-01 2.20652130e-02 1.36780867e-05 -2.93104578e+02] [-2.20646953e-02 9.99728430e-01 7.49771485e-03 1.72631015e+01] [ 1.51764303e-04 -7.49619121e-03 9.99971892e-01 1.55599605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.589072329 meters Centerline goodness : 0.740129 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99743112e-01 2.26492913e-02 -8.48585824e-04 -2.93102432e+02] [-2.26426331e-02 9.99717902e-01 7.17134422e-03 1.72656554e+01] [ 1.01077230e-03 -7.15028776e-03 9.99973926e-01 1.55599919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.61907232899995 meters Centerline goodness : 0.738411 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99740668e-01 2.27318525e-02 -1.36357174e-03 -2.93101706e+02] [-2.27218663e-02 9.99717741e-01 6.93944661e-03 1.72666604e+01] [ 1.52093333e-03 -6.90666409e-03 9.99974992e-01 1.55600728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.649072329 meters Centerline goodness : 0.738574 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99715870e-01 2.37172119e-02 -2.38199456e-03 -2.93099351e+02] [-2.37006776e-02 9.99696345e-01 6.74501714e-03 1.72699798e+01] [ 2.54124426e-03 -6.68664579e-03 9.99974415e-01 1.55601499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.67907232899995 meters Centerline goodness : 0.737039 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99717188e-01 2.36629958e-02 -2.36763643e-03 -2.93099456e+02] [-2.36467170e-02 9.99698045e-01 6.68224787e-03 1.72703466e+01] [ 2.52504352e-03 -6.62437122e-03 9.99974871e-01 1.55601598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.709072329 meters Centerline goodness : 0.737681 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99717750e-01 2.36234212e-02 -2.52092182e-03 -2.93099356e+02] [-2.36067289e-02 9.99700466e-01 6.45765868e-03 1.72710968e+01] [ 2.67271871e-03 -6.39632529e-03 9.99975972e-01 1.55601935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.73907232899995 meters Centerline goodness : 0.737853 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99787288e-01 2.03325855e-02 -3.45887183e-03 -2.93097337e+02] [-2.03221743e-02 9.99788925e-01 3.01898008e-03 1.72701424e+01] [ 3.51952542e-03 -2.94804611e-03 9.99989461e-01 1.55602101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.769072329 meters Centerline goodness : 0.738319 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99790700e-01 2.01200376e-02 -3.70687171e-03 -2.93097463e+02] [-2.01110729e-02 9.99794775e-01 2.43999935e-03 1.72718768e+01] [ 3.75520385e-03 -2.36493949e-03 9.99990153e-01 1.55603182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.79907232899996 meters Centerline goodness : 0.737726 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99776212e-01 2.06692788e-02 -4.50625682e-03 -2.93095938e+02] [-2.06583621e-02 9.99783577e-01 2.45579229e-03 1.72730704e+01] [ 4.55604102e-03 -2.36215083e-03 9.99986831e-01 1.55603998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.829072329 meters Centerline goodness : 0.737238 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.28, Z:155.61 [[ 9.99818447e-01 1.86571580e-02 -3.87084756e-03 -2.93099906e+02] [-1.86563168e-02 9.99825924e-01 2.53328577e-04 1.72755786e+01] [ 3.87490013e-03 -1.81066826e-04 9.99992476e-01 1.55606703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.85907232899996 meters Centerline goodness : 0.737134 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.61 [[ 9.99856539e-01 1.62455101e-02 -4.79417790e-03 -2.93097388e+02] [-1.62563612e-02 9.99865363e-01 -2.23317788e-03 1.72731149e+01] [ 4.75725331e-03 2.31079339e-03 9.99986014e-01 1.55606211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.889072329 meters Centerline goodness : 0.736180 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.61 [[ 9.99859089e-01 1.61772399e-02 -4.48325775e-03 -2.93098159e+02] [-1.61869040e-02 9.99866719e-01 -2.12776701e-03 1.72724659e+01] [ 4.44823882e-03 2.20003724e-03 9.99987686e-01 1.55606060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91907232899996 meters Centerline goodness : 0.735658 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99879335e-01 1.51798846e-02 -3.29955070e-03 -2.93100389e+02] [-1.51873038e-02 9.99882168e-01 -2.23525385e-03 1.72713343e+01] [ 3.26523101e-03 2.28509541e-03 9.99992058e-01 1.55604696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.949072329 meters Centerline goodness : 0.734340 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99881078e-01 1.51445524e-02 -2.91056553e-03 -2.93101287e+02] [-1.51505204e-02 9.99883144e-01 -2.03943896e-03 1.72703576e+01] [ 2.87933902e-03 2.08329301e-03 9.99993685e-01 1.55604434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97907232899996 meters Centerline goodness : 0.733823 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99887428e-01 1.48103967e-02 -2.40500889e-03 -2.93102876e+02] [-1.48158976e-02 9.99887626e-01 -2.28577082e-03 1.72704421e+01] [ 2.37088546e-03 2.32114587e-03 9.99994496e-01 1.55604754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.009072329 meters Centerline goodness : 0.733842 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.27, Z:155.60 [[ 9.99892164e-01 1.45528231e-02 -1.96870209e-03 -2.93104160e+02] [-1.45577274e-02 9.99890905e-01 -2.50013790e-03 1.72705837e+01] [ 1.93210325e-03 2.52852812e-03 9.99994937e-01 1.55604960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03907232899996 meters Centerline goodness : 0.733347 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.27, Z:155.61 [[ 9.99899696e-01 1.41132856e-02 -1.18877097e-03 -2.93106800e+02] [-1.41162407e-02 9.99897198e-01 -2.51518071e-03 1.72693052e+01] [ 1.15315130e-03 2.53170940e-03 9.99996130e-01 1.55605649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.069072329 meters Centerline goodness : 0.734242 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.27, Z:155.61 [[ 9.99944751e-01 1.04036775e-02 -1.50294146e-03 -2.93105669e+02] [-1.04124994e-02 9.99927870e-01 -5.98625472e-03 1.72679448e+01] [ 1.44055399e-03 6.00157337e-03 9.99980953e-01 1.55605090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09907232899997 meters Centerline goodness : 0.734113 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.26, Z:155.61 [[ 9.99986605e-01 3.82433262e-03 -3.48766711e-03 -2.93097997e+02] [-3.82156602e-03 9.99992378e-01 7.99572625e-04 1.72575468e+01] [ 3.49069836e-03 -7.86233565e-04 9.99993598e-01 1.55609656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.129072329 meters Centerline goodness : 0.732125 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.26, Z:155.61 [[ 9.99995236e-01 1.72981020e-03 -2.55640373e-03 -2.93101684e+02] [-1.73160295e-03 9.99998256e-01 -6.99230275e-04 1.72575095e+01] [ 2.55518974e-03 7.03653621e-04 9.99996488e-01 1.55610910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15907232899997 meters Centerline goodness : 0.730657 Centerline is valid? [False, False] Translation: X:-293.10, Y:17.26, Z:155.61 [[ 9.99998243e-01 1.11296874e-03 -1.50846958e-03 -2.93104717e+02] [-1.11415686e-03 9.99999070e-01 -7.87017509e-04 1.72562374e+01] [ 1.50759225e-03 7.88696798e-04 9.99998553e-01 1.55611221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18907232899994 meters Centerline goodness : 0.729646 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.25, Z:155.61 [[ 9.99994383e-01 -3.29356001e-03 -6.20948376e-04 -2.93106766e+02] [ 3.29075955e-03 9.99984647e-01 -4.45830098e-03 1.72538619e+01] [ 6.35622524e-04 4.45623254e-03 9.99989869e-01 1.55610870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21907232899997 meters Centerline goodness : 0.729280 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.25, Z:155.61 [[ 9.99994361e-01 -3.35814217e-03 2.24063610e-05 -2.93108418e+02] [ 3.35820600e-03 9.99985866e-01 -4.12187004e-03 1.72524405e+01] [-8.56421872e-06 4.12192204e-03 9.99991505e-01 1.55610809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24907232899994 meters Centerline goodness : 0.727560 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.25, Z:155.61 [[ 9.99990723e-01 -4.13345784e-03 1.21158412e-03 -2.93110961e+02] [ 4.13887243e-03 9.99981305e-01 -4.50110513e-03 1.72527533e+01] [-1.19295634e-03 4.50607796e-03 9.99989136e-01 1.55610163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.279072329 meters Centerline goodness : 0.726314 Centerline is valid? [False, False] Translation: X:-293.11, Y:17.25, Z:155.61 [[ 9.99981985e-01 -5.43919668e-03 2.53877107e-03 -2.93113812e+02] [ 5.45038054e-03 9.99975381e-01 -4.41929394e-03 1.72504664e+01] [-2.51467116e-03 4.43305160e-03 9.99987012e-01 1.55609079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.30907232899995 meters Centerline goodness : 0.725666 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99992870e-01 -1.85531187e-03 3.28909911e-03 -2.93116338e+02] [ 1.85734199e-03 9.99998086e-01 -6.14278756e-04 1.72504761e+01] [-3.28795314e-03 6.20383358e-04 9.99994402e-01 1.55609683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.339072329 meters Centerline goodness : 0.725174 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99989776e-01 -2.36763203e-03 3.85253856e-03 -2.93117679e+02] [ 2.37220880e-03 9.99996486e-01 -1.18385235e-03 1.72520799e+01] [-3.84972210e-03 1.19297928e-03 9.99991878e-01 1.55609623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.36907232899995 meters Centerline goodness : 0.725483 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99992092e-01 -1.98183174e-03 3.44808159e-03 -2.93116567e+02] [ 1.98484497e-03 9.99997651e-01 -8.70682928e-04 1.72518617e+01] [-3.44634794e-03 8.77519950e-04 9.99993676e-01 1.55609556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.399072329 meters Centerline goodness : 0.723687 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99987060e-01 -2.73400492e-03 4.29022028e-03 -2.93118953e+02] [ 2.73995401e-03 9.99995292e-01 -1.38139992e-03 1.72521703e+01] [-4.28642333e-03 1.39313705e-03 9.99989843e-01 1.55609853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.42907232899995 meters Centerline goodness : 0.722741 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99982276e-01 -3.19327099e-03 5.02499778e-03 -2.93121128e+02] [ 3.20132473e-03 9.99993603e-01 -1.59550885e-03 1.72520172e+01] [-5.01987074e-03 1.61156722e-03 9.99986102e-01 1.55610229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.459072329 meters Centerline goodness : 0.720324 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99979675e-01 -3.50918364e-03 5.32315189e-03 -2.93122382e+02] [ 3.51953945e-03 9.99991930e-01 -1.93731020e-03 1.72528229e+01] [-5.31631055e-03 1.95600587e-03 9.99983955e-01 1.55610921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.48907232899995 meters Centerline goodness : 0.720045 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99978581e-01 -3.55235669e-03 5.49718742e-03 -2.93122601e+02] [ 3.56305664e-03 9.99991775e-01 -1.93787293e-03 1.72530710e+01] [-5.49025818e-03 1.95741821e-03 9.99983013e-01 1.55610651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.519072329 meters Centerline goodness : 0.717911 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99979185e-01 -3.33156994e-03 5.52541512e-03 -2.93122626e+02] [ 3.34012636e-03 9.99993236e-01 -1.54005284e-03 1.72520106e+01] [-5.52024695e-03 1.55847637e-03 9.99983549e-01 1.55610533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.54907232899996 meters Centerline goodness : 0.720038 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.25, Z:155.61 [[ 9.99976298e-01 -3.47165751e-03 5.94573938e-03 -2.93123824e+02] [ 3.48053327e-03 9.99992843e-01 -1.48309802e-03 1.72516198e+01] [-5.94054802e-03 1.50375721e-03 9.99981224e-01 1.55610698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.579072329 meters Centerline goodness : 0.719337 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99968922e-01 -4.02287382e-03 6.78025181e-03 -2.93125717e+02] [ 4.03615372e-03 9.99989961e-01 -1.94607056e-03 1.72525593e+01] [-6.77235495e-03 1.97337622e-03 9.99975120e-01 1.55610445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.60907232899996 meters Centerline goodness : 0.717724 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99964792e-01 -4.01236152e-03 7.36987507e-03 -2.93127046e+02] [ 4.02351869e-03 9.99990781e-01 -1.49968633e-03 1.72508379e+01] [-7.36378984e-03 1.52928636e-03 9.99971718e-01 1.55610170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.639072329 meters Centerline goodness : 0.717771 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99947519e-01 -5.40026458e-03 8.70607002e-03 -2.93130178e+02] [ 5.41886022e-03 9.99983084e-01 -2.11376759e-03 1.72505846e+01] [-8.69450784e-03 2.16083363e-03 9.99959867e-01 1.55609749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66907232899996 meters Centerline goodness : 0.716486 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99924041e-01 -7.37960655e-03 9.87181616e-03 -2.93133799e+02] [ 7.41514519e-03 9.99966141e-01 -3.56826517e-03 1.72517670e+01] [-9.84514951e-03 3.64119508e-03 9.99944906e-01 1.55610459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.699072329 meters Centerline goodness : 0.714820 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99924453e-01 -7.20591542e-03 9.95808116e-03 -2.93133824e+02] [ 7.23805140e-03 9.99968701e-01 -3.19486252e-03 1.72509584e+01] [-9.93474758e-03 3.26669826e-03 9.99945313e-01 1.55610198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72907232899996 meters Centerline goodness : 0.714095 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99922845e-01 -7.21790803e-03 1.01097132e-02 -2.93134703e+02] [ 7.25028027e-03 9.99968695e-01 -3.16911108e-03 1.72507658e+01] [-1.00865223e-02 3.24216482e-03 9.99943874e-01 1.55610910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.759072329 meters Centerline goodness : 0.711731 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.25, Z:155.61 [[ 9.99923502e-01 -7.19814207e-03 1.00586466e-02 -2.93134900e+02] [ 7.23044721e-03 9.99968807e-01 -3.17901263e-03 1.72509638e+01] [-1.00354499e-02 3.25149796e-03 9.99944357e-01 1.55611371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78907232899996 meters Centerline goodness : 0.712914 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99919209e-01 -7.50603824e-03 1.02583851e-02 -2.93135268e+02] [ 7.54405353e-03 9.99964801e-01 -3.67211765e-03 1.72526319e+01] [-1.02304610e-02 3.74921079e-03 9.99940639e-01 1.55611268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.819072329 meters Centerline goodness : 0.710188 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99911038e-01 -7.81224627e-03 1.08112923e-02 -2.93136720e+02] [ 7.85342412e-03 9.99962049e-01 -3.77158235e-03 1.72525595e+01] [-1.07814175e-02 3.85615249e-03 9.99934443e-01 1.55611349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84907232899997 meters Centerline goodness : 0.709756 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99899480e-01 -8.20501836e-03 1.15631768e-02 -2.93139127e+02] [ 8.24931697e-03 9.99958797e-01 -3.78853138e-03 1.72516118e+01] [-1.15316153e-02 3.88353887e-03 9.99925967e-01 1.55612000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.879072329 meters Centerline goodness : 0.708173 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99888816e-01 -8.56644856e-03 1.22054108e-02 -2.93140780e+02] [ 8.61682154e-03 9.99954549e-01 -4.08050833e-03 1.72520833e+01] [-1.21699006e-02 4.18522649e-03 9.99917185e-01 1.55612060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90907232899997 meters Centerline goodness : 0.708131 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99882003e-01 -8.57830164e-03 1.27433133e-02 -2.93142078e+02] [ 8.62553244e-03 9.99956116e-01 -3.65599309e-03 1.72503544e+01] [-1.27113918e-02 3.76547955e-03 9.99912117e-01 1.55611848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93907232899994 meters Centerline goodness : 0.708248 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99880866e-01 -8.38141496e-03 1.29616951e-02 -2.93142277e+02] [ 8.42243526e-03 9.99959684e-01 -3.11338906e-03 1.72487730e+01] [-1.29350780e-02 3.22218719e-03 9.99911147e-01 1.55611277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96907232899997 meters Centerline goodness : 0.706644 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99877594e-01 -8.23770398e-03 1.33017765e-02 -2.93142891e+02] [ 8.27380300e-03 9.99962231e-01 -2.66110242e-03 1.72473758e+01] [-1.32793528e-02 2.77083296e-03 9.99907986e-01 1.55610884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99907232899994 meters Centerline goodness : 0.706780 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99875172e-01 -8.04467616e-03 1.35986445e-02 -2.93143357e+02] [ 8.07516545e-03 9.99965000e-01 -2.18866273e-03 1.72460074e+01] [-1.35805614e-02 2.29820083e-03 9.99905139e-01 1.55610436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.029072329 meters Centerline goodness : 0.706712 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99856692e-01 -8.83546485e-03 1.44405582e-02 -2.93146038e+02] [ 8.87352893e-03 9.99957317e-01 -2.57396988e-03 1.72456124e+01] [-1.44171996e-02 2.70173972e-03 9.99892417e-01 1.55611084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.05907232899995 meters Centerline goodness : 0.706521 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99868527e-01 -8.30195918e-03 1.39285921e-02 -2.93144603e+02] [ 8.33212990e-03 9.99963062e-01 -2.10946879e-03 1.72452778e+01] [-1.39105649e-02 2.22524629e-03 9.99900767e-01 1.55610907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.089072329 meters Centerline goodness : 0.708144 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99850718e-01 -9.19890240e-03 1.46260392e-02 -2.93145749e+02] [ 9.24359658e-03 9.99952803e-01 -2.99113348e-03 1.72475300e+01] [-1.45978338e-02 3.12588416e-03 9.99888560e-01 1.55610271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.11907232899995 meters Centerline goodness : 0.708258 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99869984e-01 -8.26496259e-03 1.38457424e-02 -2.93144355e+02] [ 8.29132565e-03 9.99963919e-01 -1.84773509e-03 1.72450590e+01] [-1.38299714e-02 1.96229442e-03 9.99902436e-01 1.55610865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.149072329 meters Centerline goodness : 0.709915 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.61 [[ 9.99892785e-01 -4.51818171e-03 1.39285767e-02 -2.93144809e+02] [ 4.49740704e-03 9.99988728e-01 1.52247673e-03 1.72478601e+01] [-1.39352985e-02 -1.45967102e-03 9.99901834e-01 1.55611163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.17907232899995 meters Centerline goodness : 0.711203 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99867919e-01 -6.14383653e-03 1.50465121e-02 -2.93147608e+02] [ 6.14590125e-03 9.99981110e-01 -9.09865254e-05 1.72508272e+01] [-1.50456689e-02 1.83448886e-04 9.99886791e-01 1.55611250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.209072329 meters Centerline goodness : 0.712123 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99848693e-01 -6.74792427e-03 1.60329707e-02 -2.93150265e+02] [ 6.75112951e-03 9.99977200e-01 -1.45799478e-04 1.72492835e+01] [-1.60316213e-02 2.54018079e-04 9.99871453e-01 1.55611271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.23907232899995 meters Centerline goodness : 0.712123 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99848693e-01 -6.74792427e-03 1.60329707e-02 -2.93150265e+02] [ 6.75112951e-03 9.99977200e-01 -1.45799478e-04 1.72492835e+01] [-1.60316213e-02 2.54018079e-04 9.99871453e-01 1.55611271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.269072329 meters Centerline goodness : 0.713545 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99847468e-01 -6.64872127e-03 1.61503987e-02 -2.93151258e+02] [ 6.64706138e-03 9.99977896e-01 1.56455015e-04 1.72477567e+01] [-1.61510820e-02 -4.90784588e-05 9.99869562e-01 1.55612062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.29907232899996 meters Centerline goodness : 0.715666 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99857187e-01 -6.47241330e-03 1.56113004e-02 -2.93149857e+02] [ 6.47382406e-03 9.99979044e-01 -3.98338021e-05 1.72493069e+01] [-1.56107155e-02 1.40892926e-04 9.99878135e-01 1.55612047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.329072329 meters Centerline goodness : 0.715571 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99840754e-01 -7.26333673e-03 1.63006543e-02 -2.93150849e+02] [ 7.27478418e-03 9.99973332e-01 -6.43082248e-04 1.72505285e+01] [-1.62955486e-02 7.61563581e-04 9.99866929e-01 1.55611121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.35907232899996 meters Centerline goodness : 0.714893 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99835193e-01 -7.30811842e-03 1.66186004e-02 -2.93151545e+02] [ 7.31654976e-03 9.99973134e-01 -4.46599976e-04 1.72496952e+01] [-1.66148901e-02 5.68117190e-04 9.99861802e-01 1.55610876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.389072329 meters Centerline goodness : 0.714732 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99845173e-01 -6.94325126e-03 1.61685076e-02 -2.93150388e+02] [ 6.94639938e-03 9.99975864e-01 -1.38554747e-04 1.72494077e+01] [-1.61671553e-02 2.50846206e-04 9.99869272e-01 1.55610815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41907232899996 meters Centerline goodness : 0.717970 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99865957e-01 -6.15318154e-03 1.51725491e-02 -2.93148168e+02] [ 6.15184043e-03 9.99981068e-01 1.35061563e-04 1.72502141e+01] [-1.51730929e-02 -4.17043582e-05 9.99884881e-01 1.55611303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.449072329 meters Centerline goodness : 0.719666 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99863353e-01 -6.34172307e-03 1.52662026e-02 -2.93148828e+02] [ 6.34598972e-03 9.99979837e-01 -2.31056450e-04 1.72511049e+01] [-1.52644295e-02 3.27904042e-04 9.99883438e-01 1.55611878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47907232899996 meters Centerline goodness : 0.720291 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99858823e-01 -6.17618607e-03 1.56265675e-02 -2.93149493e+02] [ 6.17336993e-03 9.99980918e-01 2.28446258e-04 1.72496497e+01] [-1.56276802e-02 -1.31945425e-04 9.99877872e-01 1.55611407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.509072329 meters Centerline goodness : 0.720642 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99866133e-01 -5.86937022e-03 1.52730855e-02 -2.93148823e+02] [ 5.86227918e-03 9.99982687e-01 5.09011963e-04 1.72491565e+01] [-1.52758086e-02 -4.19408732e-04 9.99883230e-01 1.55611644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53907232899996 meters Centerline goodness : 0.721186 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99884295e-01 -1.64339307e-03 1.51227269e-02 -2.93149212e+02] [ 1.57336632e-03 9.99987991e-01 4.64129690e-03 1.72496352e+01] [-1.51301728e-02 -4.61696628e-03 9.99874873e-01 1.55612585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.569072329 meters Centerline goodness : 0.724636 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.25, Z:155.61 [[ 9.99899984e-01 -1.14048432e-03 1.40968462e-02 -2.93147145e+02] [ 1.07841947e-03 9.99989696e-01 4.40956462e-03 1.72516122e+01] [-1.41017300e-02 -4.39392128e-03 9.99890911e-01 1.55613377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59907232899997 meters Centerline goodness : 0.724479 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.25, Z:155.62 [[ 9.99919514e-01 -3.73764551e-04 1.26817423e-02 -2.93144729e+02] [ 3.23529716e-04 9.99992095e-01 3.96301384e-03 1.72543960e+01] [-1.26831232e-02 -3.95859195e-03 9.99911730e-01 1.55615065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.629072329 meters Centerline goodness : 0.723763 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99922120e-01 -6.52606690e-04 1.24630907e-02 -2.93144457e+02] [ 6.11726927e-04 9.99994422e-01 3.28359672e-03 1.72565151e+01] [-1.24651641e-02 -3.27571699e-03 9.99916941e-01 1.55615419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65907232899997 meters Centerline goodness : 0.724372 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99928396e-01 -3.37940034e-04 1.19619535e-02 -2.93143554e+02] [ 2.95685239e-04 9.99993712e-01 3.53402496e-03 1.72559863e+01] [-1.19630725e-02 -3.53023493e-03 9.99922208e-01 1.55615772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68907232899994 meters Centerline goodness : 0.725183 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99937680e-01 1.10075740e-04 1.11634675e-02 -2.93141416e+02] [-1.50168649e-04 9.99993542e-01 3.59066402e-03 1.72567498e+01] [-1.11630001e-02 -3.59211666e-03 9.99931240e-01 1.55615549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71907232899997 meters Centerline goodness : 0.725332 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99933848e-01 3.76711638e-03 1.08678163e-02 -2.93140871e+02] [-3.83982603e-03 9.99970334e-01 6.67727358e-03 1.72606106e+01] [-1.08423399e-02 -6.71856239e-03 9.99918649e-01 1.55615946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74907232899994 meters Centerline goodness : 0.726092 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99913013e-01 1.12060649e-02 6.95627269e-03 -2.93131988e+02] [-1.12560201e-02 9.99910841e-01 7.18418581e-03 1.72667683e+01] [-6.87514602e-03 -7.26186083e-03 9.99949998e-01 1.55622369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.779072329 meters Centerline goodness : 0.726644 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99945040e-01 8.64450033e-03 5.93204357e-03 -2.93128981e+02] [-8.66969196e-03 9.99953453e-01 4.23421021e-03 1.72661695e+01] [-5.89516482e-03 -4.28540649e-03 9.99973441e-01 1.55621866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.80907232899995 meters Centerline goodness : 0.725848 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99968757e-01 6.07979028e-03 5.05189164e-03 -2.93126088e+02] [-6.08739545e-03 9.99980359e-01 1.49139878e-03 1.72643694e+01] [-5.04272502e-03 -1.52210504e-03 9.99986127e-01 1.55620930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.839072329 meters Centerline goodness : 0.724491 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99966966e-01 6.27858777e-03 5.16193718e-03 -2.93126640e+02] [-6.28897731e-03 9.99978226e-01 1.99895877e-03 1.72623865e+01] [-5.14927415e-03 -2.03135604e-03 9.99984679e-01 1.55621045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.86907232899995 meters Centerline goodness : 0.724149 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99934450e-01 1.04624791e-02 4.65110897e-03 -2.93125607e+02] [-1.04890846e-02 9.99928553e-01 5.73314347e-03 1.72644510e+01] [-4.59079376e-03 -5.78155353e-03 9.99972749e-01 1.55621511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.899072329 meters Centerline goodness : 0.726861 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99937289e-01 1.02163634e-02 4.58739045e-03 -2.93125333e+02] [-1.02403669e-02 9.99933837e-01 5.23986380e-03 1.72662671e+01] [-4.53355458e-03 -5.28651176e-03 9.99975750e-01 1.55621367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.92907232899995 meters Centerline goodness : 0.724403 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.27, Z:155.62 [[ 9.99937083e-01 1.03935772e-02 4.21937029e-03 -2.93124796e+02] [-1.04159730e-02 9.99931595e-01 5.32104210e-03 1.72662551e+01] [-4.16377700e-03 -5.36465616e-03 9.99976941e-01 1.55621844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.959072329 meters Centerline goodness : 0.728619 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99939668e-01 1.02458155e-02 3.96013668e-03 -2.93125510e+02] [-1.02645360e-02 9.99936102e-01 4.73617605e-03 1.72679016e+01] [-3.91135765e-03 -4.77653928e-03 9.99980943e-01 1.55623721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.98907232899995 meters Centerline goodness : 0.730026 Centerline is valid? [False, False] Translation: X:-293.12, Y:17.27, Z:155.62 [[ 9.99974309e-01 6.27232219e-03 3.46976299e-03 -2.93124840e+02] [-6.27468166e-03 9.99980090e-01 6.69541293e-04 1.72677223e+01] [-3.46549433e-03 -6.91295750e-04 9.99993756e-01 1.55624378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.019072329 meters Centerline goodness : 0.729709 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99973060e-01 6.35989892e-03 3.66491861e-03 -2.93125768e+02] [-6.36336403e-03 9.99979317e-01 9.34596760e-04 1.72663821e+01] [-3.65889887e-03 -9.57892793e-04 9.99992847e-01 1.55624782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.04907232899996 meters Centerline goodness : 0.730407 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99971502e-01 6.21739645e-03 4.28250048e-03 -2.93126733e+02] [-6.22266130e-03 9.99979898e-01 1.21716165e-03 1.72649807e+01] [-4.27484682e-03 -1.24377551e-03 9.99990089e-01 1.55623672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.079072329 meters Centerline goodness : 0.729752 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99971327e-01 5.95809662e-03 4.67404506e-03 -2.93127300e+02] [-5.96300554e-03 9.99981683e-01 1.03701986e-03 1.72653617e+01] [-4.66778079e-03 -1.06486148e-03 9.99988539e-01 1.55623001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.10907232899996 meters Centerline goodness : 0.730540 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99970824e-01 6.20846916e-03 4.45034481e-03 -2.93126765e+02] [-6.21456035e-03 9.99979770e-01 1.35618060e-03 1.72646292e+01] [-4.44183497e-03 -1.38379797e-03 9.99989178e-01 1.55622901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.139072329 meters Centerline goodness : 0.730571 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99971973e-01 6.11908407e-03 4.31385173e-03 -2.93127031e+02] [-6.12381167e-03 9.99980662e-01 1.08355683e-03 1.72654981e+01] [-4.30713793e-03 -1.10994368e-03 9.99990108e-01 1.55623733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16907232899996 meters Centerline goodness : 0.730857 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99973853e-01 5.78235551e-03 4.34254099e-03 -2.93127528e+02] [-5.78457272e-03 9.99983145e-01 4.98193240e-04 1.72671956e+01] [-4.33958707e-03 -5.23299958e-04 9.99990447e-01 1.55624319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.199072329 meters Centerline goodness : 0.731192 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99974910e-01 4.97873413e-03 5.03899322e-03 -2.93129572e+02] [-4.97758811e-03 9.99987583e-01 -2.39945291e-04 1.72683196e+01] [-5.04012527e-03 2.14857238e-04 9.99987275e-01 1.55624602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22907232899996 meters Centerline goodness : 0.730702 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99985894e-01 9.04393654e-04 5.23394024e-03 -2.93129283e+02] [-8.82998316e-04 9.99991251e-01 -4.08867521e-03 1.72676215e+01] [-5.23759222e-03 4.08399597e-03 9.99977944e-01 1.55623513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.259072329 meters Centerline goodness : 0.729949 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99985499e-01 1.47436905e-03 5.17962641e-03 -2.93129002e+02] [-1.45820904e-03 9.99994062e-01 -3.12231016e-03 1.72650473e+01] [-5.18419909e-03 3.11471191e-03 9.99981711e-01 1.55623171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28907232899996 meters Centerline goodness : 0.729519 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99980992e-01 1.00774350e-03 6.08273789e-03 -2.93131748e+02] [-9.89776632e-04 9.99995141e-01 -2.95603414e-03 1.72628513e+01] [-6.08568725e-03 2.94995740e-03 9.99977131e-01 1.55623508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.319072329 meters Centerline goodness : 0.729857 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99977992e-01 8.13883520e-04 6.58430113e-03 -2.93133089e+02] [-7.94225492e-04 9.99995222e-01 -2.98765462e-03 1.72624650e+01] [-6.58670127e-03 2.98235945e-03 9.99973860e-01 1.55623532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34907232899997 meters Centerline goodness : 0.729396 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99977974e-01 9.40965428e-04 6.57009107e-03 -2.93132970e+02] [-9.22947546e-04 9.99995807e-01 -2.74490341e-03 1.72619748e+01] [-6.57264638e-03 2.73877911e-03 9.99974649e-01 1.55623340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.379072329 meters Centerline goodness : 0.730201 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99975624e-01 9.53667110e-04 6.91676504e-03 -2.93133684e+02] [-9.36012439e-04 9.99996297e-01 -2.55523436e-03 1.72613829e+01] [-6.91917627e-03 2.54869790e-03 9.99972814e-01 1.55623062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40907232899997 meters Centerline goodness : 0.728445 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99970285e-01 4.95842465e-05 7.70887969e-03 -2.93135923e+02] [-2.59999468e-05 9.99995320e-01 -3.05943809e-03 1.72613119e+01] [-7.70899531e-03 3.05914675e-03 9.99965606e-01 1.55623231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43907232899994 meters Centerline goodness : 0.729597 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99968937e-01 -5.27250619e-05 7.88172600e-03 -2.93136073e+02] [ 7.77899324e-05 9.99994941e-01 -3.17985184e-03 1.72618550e+01] [-7.88151847e-03 3.18036618e-03 9.99963883e-01 1.55622819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46907232899997 meters Centerline goodness : 0.728476 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.26, Z:155.62 [[ 9.99959531e-01 -4.28567551e-03 7.91004757e-03 -2.93135569e+02] [ 4.34387039e-03 9.99963519e-01 -7.35462611e-03 1.72621149e+01] [-7.87823947e-03 7.38868870e-03 9.99941669e-01 1.55622085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49907232899994 meters Centerline goodness : 0.728181 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99964668e-01 -3.81090523e-03 7.49270327e-03 -2.93134480e+02] [ 3.86224463e-03 9.99969084e-01 -6.84943177e-03 1.72613000e+01] [-7.46636909e-03 6.87812842e-03 9.99948471e-01 1.55621966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.529072329 meters Centerline goodness : 0.726352 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99965489e-01 -3.68504722e-03 7.44589817e-03 -2.93134031e+02] [ 3.73470959e-03 9.99970802e-01 -6.66690247e-03 1.72612126e+01] [-7.42111291e-03 6.69448066e-03 9.99950054e-01 1.55621506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.55907232899995 meters Centerline goodness : 0.727922 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99970423e-01 -3.22261537e-03 6.98345972e-03 -2.93132715e+02] [ 3.26664337e-03 9.99974804e-01 -6.30240330e-03 1.72610436e+01] [-6.96297355e-03 6.32502936e-03 9.99955755e-01 1.55621352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.589072329 meters Centerline goodness : 0.727950 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99970945e-01 -3.31111291e-03 6.86630584e-03 -2.93132702e+02] [ 3.35626728e-03 9.99972751e-01 -6.57516182e-03 1.72622565e+01] [-6.84434764e-03 6.59801593e-03 9.99954810e-01 1.55621841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.61907232899995 meters Centerline goodness : 0.727520 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99968771e-01 -3.34566311e-03 7.15984015e-03 -2.93133783e+02] [ 3.39187685e-03 9.99973432e-01 -6.45219845e-03 1.72618158e+01] [-7.13806304e-03 6.47628225e-03 9.99953552e-01 1.55622289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.649072329 meters Centerline goodness : 0.729053 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99968238e-01 -3.26020134e-03 7.27288329e-03 -2.93134226e+02] [ 3.30603843e-03 9.99974694e-01 -6.29937023e-03 1.72615207e+01] [-7.25216203e-03 6.32321458e-03 9.99953710e-01 1.55622484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.67907232899995 meters Centerline goodness : 0.729761 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99971364e-01 -3.09884772e-03 6.90429701e-03 -2.93132572e+02] [ 3.14395221e-03 9.99973727e-01 -6.53156729e-03 1.72637064e+01] [-6.88387528e-03 6.55308703e-03 9.99954834e-01 1.55621678e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.709072329 meters Centerline goodness : 0.727183 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99972282e-01 -2.78615755e-03 6.90456406e-03 -2.93132265e+02] [ 2.82730259e-03 9.99978263e-01 -5.95652793e-03 1.72622456e+01] [-6.88781815e-03 5.97588411e-03 9.99958423e-01 1.55621162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.73907232899995 meters Centerline goodness : 0.726452 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99965993e-01 -3.13165161e-03 7.62922936e-03 -2.93133911e+02] [ 3.17844241e-03 9.99976168e-01 -6.12871209e-03 1.72623578e+01] [-7.60985455e-03 6.15275274e-03 9.99952116e-01 1.55620863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.769072329 meters Centerline goodness : 0.724985 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99973197e-01 1.53480077e-03 7.15884319e-03 -2.93133229e+02] [-1.52328017e-03 9.99997537e-01 -1.61445771e-03 1.72619198e+01] [-7.16130343e-03 1.60350951e-03 9.99973072e-01 1.55621368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.79907232899996 meters Centerline goodness : 0.724783 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99974823e-01 1.74277314e-03 6.87866849e-03 -2.93132634e+02] [-1.73254203e-03 9.99997385e-01 -1.49304593e-03 1.72618623e+01] [-6.88125254e-03 1.48109075e-03 9.99975227e-01 1.55621473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.829072329 meters Centerline goodness : 0.724841 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99969504e-01 4.07001291e-04 7.79904204e-03 -2.93134864e+02] [-3.84723070e-04 9.99995842e-01 -2.85782032e-03 1.72646102e+01] [-7.80017275e-03 2.85473269e-03 9.99965503e-01 1.55621395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.85907232899996 meters Centerline goodness : 0.723156 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99975686e-01 1.09010885e-03 6.88762806e-03 -2.93133051e+02] [-1.07378282e-03 9.99996607e-01 -2.37359573e-03 1.72641679e+01] [-6.89019216e-03 2.36614220e-03 9.99973463e-01 1.55621994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.889072329 meters Centerline goodness : 0.724360 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99980680e-01 1.79896137e-03 5.95014475e-03 -2.93130733e+02] [-1.78514465e-03 9.99995700e-01 -2.32657698e-03 1.72659179e+01] [-5.95430459e-03 2.31591016e-03 9.99979591e-01 1.55622229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91907232899996 meters Centerline goodness : 0.723350 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99983575e-01 2.00855509e-03 5.36801372e-03 -2.93129797e+02] [-1.99551926e-03 9.99995050e-01 -2.43268077e-03 1.72667620e+01] [-5.37287332e-03 2.42192884e-03 9.99982633e-01 1.55622987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.949072329 meters Centerline goodness : 0.724718 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99982152e-01 1.73933550e-03 5.71585698e-03 -2.93130688e+02] [-1.72369161e-03 9.99994759e-01 -2.74071559e-03 1.72675873e+01] [-5.72059405e-03 2.73081430e-03 9.99979909e-01 1.55622987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97907232899996 meters Centerline goodness : 0.722668 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99980267e-01 1.76291901e-03 6.02966217e-03 -2.93131173e+02] [-1.74767478e-03 9.99995266e-01 -2.53254153e-03 1.72668988e+01] [-6.03409829e-03 2.52195366e-03 9.99978614e-01 1.55622484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.009072329 meters Centerline goodness : 0.721916 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99978997e-01 2.04626031e-03 6.14967917e-03 -2.93130747e+02] [-2.03438241e-03 9.99996054e-01 -1.93710175e-03 1.72653649e+01] [-6.15361872e-03 1.92455027e-03 9.99979214e-01 1.55621306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03907232899996 meters Centerline goodness : 0.719181 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.26, Z:155.62 [[ 9.99981628e-01 2.98912298e-03 5.27349238e-03 -2.93128299e+02] [-2.98273287e-03 9.99994808e-01 -1.21918982e-03 1.72648075e+01] [-5.27710931e-03 1.20343800e-03 9.99985352e-01 1.55620954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.069072329 meters Centerline goodness : 0.720686 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99983541e-01 3.18014363e-03 4.77548919e-03 -2.93127209e+02] [-3.17337253e-03 9.99993950e-01 -1.42479302e-03 1.72661514e+01] [-4.77999134e-03 1.40961517e-03 9.99987582e-01 1.55621185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09907232899997 meters Centerline goodness : 0.720633 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99984127e-01 3.15334415e-03 4.66933824e-03 -2.93127329e+02] [-3.14630335e-03 9.99993904e-01 -1.51445765e-03 1.72662721e+01] [-4.67408538e-03 1.49974245e-03 9.99987952e-01 1.55621644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.129072329 meters Centerline goodness : 0.722785 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99984891e-01 2.87706595e-03 4.68406696e-03 -2.93127789e+02] [-2.86767383e-03 9.99993867e-01 -2.01060448e-03 1.72676362e+01] [-4.68982287e-03 1.99714172e-03 9.99987008e-01 1.55622148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15907232899997 meters Centerline goodness : 0.722785 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99984891e-01 2.87706595e-03 4.68406696e-03 -2.93127789e+02] [-2.86767383e-03 9.99993867e-01 -2.01060448e-03 1.72676362e+01] [-4.68982287e-03 1.99714172e-03 9.99987008e-01 1.55622148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18907232899994 meters Centerline goodness : 0.720064 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99985639e-01 3.18659291e-03 4.30910419e-03 -2.93126631e+02] [-3.17905475e-03 9.99993407e-01 -1.75507670e-03 1.72676377e+01] [-4.31466850e-03 1.74135262e-03 9.99989176e-01 1.55621895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21907232899997 meters Centerline goodness : 0.720905 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99986752e-01 3.29236345e-03 3.95686542e-03 -2.93125876e+02] [-3.28524566e-03 9.99992976e-01 -1.80400070e-03 1.72680920e+01] [-3.96277705e-03 1.79097752e-03 9.99990544e-01 1.55622037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24907232899994 meters Centerline goodness : 0.720163 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99986189e-01 2.94115737e-03 4.35565239e-03 -2.93126800e+02] [-2.93158467e-03 9.99993277e-01 -2.20252044e-03 1.72692126e+01] [-4.36210107e-03 2.18972106e-03 9.99988089e-01 1.55621941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.279072329 meters Centerline goodness : 0.720130 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99983279e-01 2.16655416e-03 5.36171608e-03 -2.93129627e+02] [-2.15295915e-03 9.99994456e-01 -2.54004581e-03 1.72687722e+01] [-5.36718950e-03 2.52845978e-03 9.99982400e-01 1.55622126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.30907232899995 meters Centerline goodness : 0.721426 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99981890e-01 -3.33410253e-04 6.00896328e-03 -2.93132635e+02] [ 3.62431673e-04 9.99988273e-01 -4.82924679e-03 1.72686014e+01] [-6.00728270e-03 4.83133717e-03 9.99970285e-01 1.55623551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.339072329 meters Centerline goodness : 0.724186 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.27, Z:155.62 [[ 9.99980082e-01 -3.55254854e-04 6.30160839e-03 -2.93133402e+02] [ 3.85514324e-04 9.99988399e-01 -4.80129999e-03 1.72685388e+01] [-6.29982961e-03 4.80363372e-03 9.99968618e-01 1.55623589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.36907232899995 meters Centerline goodness : 0.723748 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99973026e-01 -1.07790926e-03 7.26539639e-03 -2.93135983e+02] [ 1.11551519e-03 9.99985993e-01 -5.17396991e-03 1.72685077e+01] [-7.25971756e-03 5.18193501e-03 9.99960221e-01 1.55623689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.399072329 meters Centerline goodness : 0.725275 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99969506e-01 -9.78414044e-04 7.74793413e-03 -2.93136955e+02] [ 1.01523451e-03 9.99988204e-01 -4.74978840e-03 1.72671033e+01] [-7.74319548e-03 4.75750952e-03 9.99958704e-01 1.55623230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.42907232899995 meters Centerline goodness : 0.726664 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99962121e-01 -1.63247225e-03 8.54936665e-03 -2.93139041e+02] [ 1.67768641e-03 9.99984632e-01 -5.28409903e-03 1.72680065e+01] [-8.54060912e-03 5.29824203e-03 9.99949492e-01 1.55623258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.459072329 meters Centerline goodness : 0.726836 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99956268e-01 -2.09536646e-03 9.11436464e-03 -2.93140129e+02] [ 2.14629262e-03 9.99982121e-01 -5.58127292e-03 1.72686576e+01] [-9.10250687e-03 5.60059093e-03 9.99942887e-01 1.55622779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.48907232899995 meters Centerline goodness : 0.727937 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99959129e-01 -1.76578768e-03 8.86696006e-03 -2.93139323e+02] [ 1.81161076e-03 9.99985033e-01 -5.16247583e-03 1.72680669e+01] [-8.85771151e-03 5.17832832e-03 9.99947362e-01 1.55622537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.519072329 meters Centerline goodness : 0.728320 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99947778e-01 -2.58418254e-03 9.88756979e-03 -2.93141796e+02] [ 2.64195673e-03 9.99979489e-01 -5.83452038e-03 1.72691494e+01] [-9.87228952e-03 5.86033822e-03 9.99934095e-01 1.55622397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.54907232899996 meters Centerline goodness : 0.728694 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99933645e-01 -3.46749459e-03 1.09855084e-02 -2.93144614e+02] [ 3.53495974e-03 9.99974977e-01 -6.12783333e-03 1.72686000e+01] [-1.09639853e-02 6.16626005e-03 9.99920881e-01 1.55622257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.579072329 meters Centerline goodness : 0.730386 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99920129e-01 -4.03619798e-03 1.19768231e-02 -2.93146367e+02] [ 4.11220457e-03 9.99971521e-01 -6.32831306e-03 1.72687163e+01] [-1.19509397e-02 6.37705876e-03 9.99908250e-01 1.55621225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.60907232899996 meters Centerline goodness : 0.727687 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99917377e-01 -3.94368925e-03 1.22346409e-02 -2.93146731e+02] [ 4.01670114e-03 9.99974239e-01 -5.94881490e-03 1.72676669e+01] [-1.22108654e-02 5.99746629e-03 9.99907458e-01 1.55620723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.639072329 meters Centerline goodness : 0.725792 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99919066e-01 -3.55818303e-03 1.22148041e-02 -2.93145820e+02] [ 3.62372959e-03 9.99979132e-01 -5.34822580e-03 1.72666497e+01] [-1.21955193e-02 5.39205609e-03 9.99911094e-01 1.55619521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66907232899996 meters Centerline goodness : 0.724927 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99924233e-01 -3.19641507e-03 1.18874167e-02 -2.93144819e+02] [ 3.25700947e-03 9.99981785e-01 -5.08149541e-03 1.72667433e+01] [-1.18709577e-02 5.11982783e-03 9.99916430e-01 1.55619332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.699072329 meters Centerline goodness : 0.728342 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99911388e-01 -3.92347690e-03 1.27209557e-02 -2.93147301e+02] [ 3.99652221e-03 9.99975644e-01 -5.72179746e-03 1.72676276e+01] [-1.26981966e-02 5.77213002e-03 9.99902714e-01 1.55619821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72907232899996 meters Centerline goodness : 0.729203 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99897762e-01 -4.58635706e-03 1.35436790e-02 -2.93149849e+02] [ 4.67049881e-03 9.99969950e-01 -6.18754063e-03 1.72678884e+01] [-1.35148937e-02 6.25016376e-03 9.99889135e-01 1.55620393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.759072329 meters Centerline goodness : 0.730022 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99895267e-01 -4.57244707e-03 1.37312589e-02 -2.93150462e+02] [ 4.65638852e-03 9.99970630e-01 -6.08742950e-03 1.72676144e+01] [-1.37030211e-02 6.15073002e-03 9.99887192e-01 1.55620582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78907232899996 meters Centerline goodness : 0.730660 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99897285e-01 -4.13052622e-03 1.37243997e-02 -2.93149893e+02] [ 4.20388696e-03 9.99977008e-01 -5.32073540e-03 1.72657476e+01] [-1.37021067e-02 5.37788470e-03 9.99891659e-01 1.55619677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.819072329 meters Centerline goodness : 0.728888 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99905709e-01 -4.08034621e-04 1.37260939e-02 -2.93149701e+02] [ 4.34838139e-04 9.99998005e-01 -1.94981404e-03 1.72688284e+01] [-1.37252709e-02 1.95559882e-03 9.99903892e-01 1.55619454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84907232899997 meters Centerline goodness : 0.728485 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99913422e-01 -5.32344284e-04 1.31477809e-02 -2.93148313e+02] [ 5.67406661e-04 9.99996293e-01 -2.66320426e-03 1.72718067e+01] [-1.31463144e-02 2.67043382e-03 9.99910018e-01 1.55619706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.879072329 meters Centerline goodness : 0.727937 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99908785e-01 -9.65458072e-04 1.34718315e-02 -2.93149597e+02] [ 1.00967716e-03 9.99994124e-01 -3.27592147e-03 1.72734089e+01] [-1.34685896e-02 3.28922486e-03 9.99903884e-01 1.55620418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90907232899997 meters Centerline goodness : 0.727920 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99924361e-01 2.56835273e-04 1.22965755e-02 -2.93146845e+02] [-2.21998345e-04 9.99995959e-01 -2.83434050e-03 1.72748049e+01] [-1.22972537e-02 2.83139630e-03 9.99920377e-01 1.55620921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93907232899994 meters Centerline goodness : 0.729371 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99934117e-01 3.30450284e-04 1.14739926e-02 -2.93144847e+02] [-2.90225718e-04 9.99993808e-01 -3.50720474e-03 1.72780095e+01] [-1.14750805e-02 3.50364363e-03 9.99928021e-01 1.55621227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96907232899997 meters Centerline goodness : 0.727661 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99925701e-01 4.44628637e-03 1.13500603e-02 -2.93144574e+02] [-4.45036004e-03 9.99990041e-01 3.33680553e-04 1.72796001e+01] [-1.13484637e-02 -3.84167615e-04 9.99935530e-01 1.55621327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99907232899994 meters Centerline goodness : 0.727143 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99933917e-01 4.86482890e-03 1.04161245e-02 -2.93142636e+02] [-4.86781711e-03 9.99988118e-01 2.61549533e-04 1.72806022e+01] [-1.04147283e-02 -3.12236038e-04 9.99945716e-01 1.55621886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.029072329 meters Centerline goodness : 0.725810 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99938672e-01 5.98222298e-03 9.32016487e-03 -2.93139627e+02] [-5.98574340e-03 9.99982024e-01 3.49871134e-04 1.72830288e+01] [-9.31790432e-03 -4.05637793e-04 9.99956505e-01 1.55621912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.05907232899995 meters Centerline goodness : 0.727014 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99906166e-01 1.02563455e-02 9.08107261e-03 -2.93139560e+02] [-1.02967611e-02 9.99937240e-01 4.41501738e-03 1.72836962e+01] [-9.03522074e-03 -4.50810874e-03 9.99949020e-01 1.55622742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.089072329 meters Centerline goodness : 0.725871 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99903747e-01 1.13853192e-02 7.92919411e-03 -2.93137202e+02] [-1.14237595e-02 9.99923131e-01 4.81964121e-03 1.72844402e+01] [-7.87371145e-03 -4.90975851e-03 9.99956949e-01 1.55623594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.11907232899995 meters Centerline goodness : 0.728536 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99901115e-01 1.17694035e-02 7.69679920e-03 -2.93137436e+02] [-1.18078136e-02 9.99917963e-01 4.96414428e-03 1.72840108e+01] [-7.63774276e-03 -5.05453577e-03 9.99958057e-01 1.55624602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.149072329 meters Centerline goodness : 0.730172 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99939995e-01 8.51954154e-03 6.88643829e-03 -2.93135520e+02] [-8.53021865e-03 9.99962458e-01 1.52257145e-03 1.72827826e+01] [-6.87320815e-03 -1.58122291e-03 9.99975129e-01 1.55624567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.17907232899995 meters Centerline goodness : 0.730892 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99936270e-01 9.00281985e-03 6.81208519e-03 -2.93135634e+02] [-9.01833804e-03 9.99956801e-01 2.25076050e-03 1.72802679e+01] [-6.79152773e-03 -2.31205075e-03 9.99974264e-01 1.55624742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.209072329 meters Centerline goodness : 0.731386 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.28, Z:155.62 [[ 9.99933561e-01 9.01650040e-03 7.18172681e-03 -2.93136641e+02] [-9.03483638e-03 9.99955998e-01 2.52480559e-03 1.72790149e+01] [-7.15864588e-03 -2.58952357e-03 9.99971024e-01 1.55624668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.23907232899995 meters Centerline goodness : 0.733012 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.28, Z:155.62 [[ 9.99954703e-01 7.05337764e-03 6.39068944e-03 -2.93133495e+02] [-7.05684595e-03 9.99974965e-01 5.20325946e-04 1.72766629e+01] [-6.38685939e-03 -5.65400487e-04 9.99979444e-01 1.55623222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.269072329 meters Centerline goodness : 0.733261 Centerline is valid? [False, False] Translation: X:-293.13, Y:17.28, Z:155.62 [[ 9.99953230e-01 6.67020633e-03 7.00326345e-03 -2.93134971e+02] [-6.67246144e-03 9.99977694e-01 2.98692091e-04 1.72768356e+01] [-7.00111490e-03 -3.45407127e-04 9.99975432e-01 1.55622980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.29907232899996 meters Centerline goodness : 0.732334 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99966446e-01 2.31258951e-03 7.85870880e-03 -2.93136585e+02] [-2.28714740e-03 9.99992120e-01 -3.24488768e-03 1.72740882e+01] [-7.86615096e-03 3.22680477e-03 9.99963855e-01 1.55621896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.329072329 meters Centerline goodness : 0.731642 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99968657e-01 2.89762344e-03 7.36805809e-03 -2.93135240e+02] [-2.87890577e-03 9.99992605e-01 -2.54971843e-03 1.72726661e+01] [-7.37539173e-03 2.52842657e-03 9.99969605e-01 1.55621674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.35907232899996 meters Centerline goodness : 0.732932 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99965855e-01 2.48522629e-03 7.88118611e-03 -2.93136508e+02] [-2.46185941e-03 9.99992550e-01 -2.97321060e-03 1.72736840e+01] [-7.88851649e-03 2.95370671e-03 9.99964523e-01 1.55621589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.389072329 meters Centerline goodness : 0.733800 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99963673e-01 2.84351994e-03 8.03533473e-03 -2.93136262e+02] [-2.82536479e-03 9.99993432e-01 -2.26986346e-03 1.72718705e+01] [-8.04173636e-03 2.24707825e-03 9.99965140e-01 1.55620585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41907232899996 meters Centerline goodness : 0.732682 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99960414e-01 2.65728406e-03 8.49167036e-03 -2.93137126e+02] [-2.63803610e-03 9.99993928e-01 -2.27708558e-03 1.72717287e+01] [-8.49766966e-03 2.25459411e-03 9.99961352e-01 1.55620114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.449072329 meters Centerline goodness : 0.731873 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99957036e-01 2.64658613e-03 8.88382618e-03 -2.93137871e+02] [-2.62861336e-03 9.99994476e-01 -2.03415626e-03 1.72708385e+01] [-8.88916068e-03 2.01071672e-03 9.99958469e-01 1.55619653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47907232899996 meters Centerline goodness : 0.731249 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99950940e-01 -1.71810233e-03 9.75529693e-03 -2.93139563e+02] [ 1.77445067e-03 9.99981776e-01 -5.77046480e-03 1.72688272e+01] [-9.74520490e-03 5.78749200e-03 9.99935766e-01 1.55618853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.509072329 meters Centerline goodness : 0.733928 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.27, Z:155.62 [[ 9.99936818e-01 -2.93253536e-03 1.08517843e-02 -2.93143132e+02] [ 3.00250676e-03 9.99974773e-01 -6.43725240e-03 1.72684043e+01] [-1.08326331e-02 6.46942823e-03 9.99920397e-01 1.55619624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53907232899996 meters Centerline goodness : 0.733324 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99920549e-01 -3.89957596e-03 1.19869965e-02 -2.93146214e+02] [ 3.98580547e-03 9.99966293e-01 -7.17813510e-03 1.72692497e+01] [-1.19586008e-02 7.22534263e-03 9.99902388e-01 1.55619866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.569072329 meters Centerline goodness : 0.734314 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99888516e-01 -8.16269184e-03 1.25030628e-02 -2.93147229e+02] [ 8.30216590e-03 9.99903436e-01 -1.11442073e-02 1.72684945e+01] [-1.24108888e-02 1.12467674e-02 9.99859730e-01 1.55619578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59907232899997 meters Centerline goodness : 0.736062 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99874178e-01 -8.57234186e-03 1.33470345e-02 -2.93149036e+02] [ 8.72059371e-03 9.99900486e-01 -1.10891805e-02 1.72677882e+01] [-1.32506460e-02 1.12041793e-02 9.99849432e-01 1.55618991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.629072329 meters Centerline goodness : 0.733997 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.27, Z:155.62 [[ 9.99856464e-01 -8.98253210e-03 1.43654455e-02 -2.93150337e+02] [ 9.13321987e-03 9.99903596e-01 -1.04586226e-02 1.72656738e+01] [-1.42701157e-02 1.05883242e-02 9.99842113e-01 1.55616984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65907232899997 meters Centerline goodness : 0.733082 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.26, Z:155.62 [[ 9.99845417e-01 -9.11968554e-03 1.50323856e-02 -2.93151586e+02] [ 9.27271720e-03 9.99905573e-01 -1.01420633e-02 1.72643738e+01] [-1.49384737e-02 1.02798865e-02 9.99835569e-01 1.55616257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68907232899994 meters Centerline goodness : 0.733032 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99809979e-01 -1.09422888e-02 1.61329369e-02 -2.93155256e+02] [ 1.11292939e-02 9.99871387e-01 -1.15476579e-02 1.72651804e+01] [-1.60045042e-02 1.17250118e-02 9.99803171e-01 1.55617192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71907232899997 meters Centerline goodness : 0.734105 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.26, Z:155.62 [[ 9.99806855e-01 -1.08136302e-02 1.64109254e-02 -2.93156325e+02] [ 1.09978538e-02 9.99877051e-01 -1.11772457e-02 1.72637278e+01] [-1.62880411e-02 1.13555719e-02 9.99802856e-01 1.55617633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74907232899994 meters Centerline goodness : 0.733853 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99775173e-01 -1.20492637e-02 1.74475730e-02 -2.93159410e+02] [ 1.22630874e-02 9.99850371e-01 -1.22005224e-02 1.72650415e+01] [-1.72979550e-02 1.24117405e-02 9.99773339e-01 1.55618212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.779072329 meters Centerline goodness : 0.734013 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99800762e-01 -8.46503713e-03 1.80770184e-02 -2.93161136e+02] [ 8.62020393e-03 9.99926522e-01 -8.52304921e-03 1.72661114e+01] [-1.80035422e-02 8.67717869e-03 9.99800270e-01 1.55618222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.80907232899995 meters Centerline goodness : 0.732844 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99784184e-01 -9.10832275e-03 1.86714757e-02 -2.93162296e+02] [ 9.28208250e-03 9.99914222e-01 -9.24071678e-03 1.72680099e+01] [-1.85857067e-02 9.41203266e-03 9.99782969e-01 1.55617835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.839072329 meters Centerline goodness : 0.733391 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99792735e-01 -8.70881360e-03 1.84022564e-02 -2.93161649e+02] [ 8.87207148e-03 9.99921844e-01 -8.80868395e-03 1.72672763e+01] [-1.83241050e-02 8.97012435e-03 9.99791860e-01 1.55617877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.86907232899995 meters Centerline goodness : 0.733219 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99795070e-01 -8.51927602e-03 1.83640910e-02 -2.93161619e+02] [ 8.67914169e-03 9.99924980e-01 -8.64329060e-03 1.72670438e+01] [-1.82890787e-02 8.80090388e-03 9.99794006e-01 1.55617939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.899072329 meters Centerline goodness : 0.734800 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99797896e-01 -8.30016249e-03 1.83105146e-02 -2.93161555e+02] [ 8.45370433e-03 9.99929620e-01 -8.32404120e-03 1.72662097e+01] [-1.82401350e-02 8.47715055e-03 9.99797697e-01 1.55617973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.92907232899995 meters Centerline goodness : 0.734632 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99815534e-01 -7.22540636e-03 1.77958071e-02 -2.93158978e+02] [ 7.35741788e-03 9.99945820e-01 -7.36385879e-03 1.72658592e+01] [-1.77416360e-02 7.49343160e-03 9.99814524e-01 1.55616441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.959072329 meters Centerline goodness : 0.734042 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99807451e-01 -7.56584539e-03 1.81057439e-02 -2.93159511e+02] [ 7.70740321e-03 9.99940176e-01 -7.76142583e-03 1.72670121e+01] [-1.80459390e-02 7.89947965e-03 9.99805952e-01 1.55616098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.98907232899995 meters Centerline goodness : 0.734605 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99823253e-01 -4.07207480e-03 1.83543272e-02 -2.93160497e+02] [ 4.15598030e-03 9.99981078e-01 -4.53560591e-03 1.72698359e+01] [-1.83355106e-02 4.61108448e-03 9.99821258e-01 1.55616608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.019072329 meters Centerline goodness : 0.736079 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99813032e-01 -4.74705829e-03 1.87447573e-02 -2.93161769e+02] [ 4.85263823e-03 9.99972596e-01 -5.59104277e-03 1.72728787e+01] [-1.87177027e-02 5.68095895e-03 9.99808669e-01 1.55617144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.04907232899996 meters Centerline goodness : 0.736079 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99813032e-01 -4.74705829e-03 1.87447573e-02 -2.93161769e+02] [ 4.85263823e-03 9.99972596e-01 -5.59104277e-03 1.72728787e+01] [-1.87177027e-02 5.68095895e-03 9.99808669e-01 1.55617144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.079072329 meters Centerline goodness : 0.736854 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.27, Z:155.62 [[ 9.99799719e-01 -5.29241253e-03 1.93005830e-02 -2.93163370e+02] [ 5.41152430e-03 9.99966603e-01 -6.12441037e-03 1.72740244e+01] [-1.92675255e-02 6.22762934e-03 9.99794969e-01 1.55617437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.10907232899996 meters Centerline goodness : 0.737708 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99814542e-01 2.67923940e-03 1.90709948e-02 -2.93163370e+02] [-2.70544227e-03 9.99995431e-01 1.34829678e-03 1.72774220e+01] [-1.90672953e-02 -1.39964220e-03 9.99817223e-01 1.55618293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.139072329 meters Centerline goodness : 0.735495 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99821404e-01 2.82139015e-03 1.86869145e-02 -2.93162223e+02] [-2.84552566e-03 9.99995151e-01 1.26510938e-03 1.72782339e+01] [-1.86832545e-02 -1.31805753e-03 9.99824584e-01 1.55617994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16907232899996 meters Centerline goodness : 0.733824 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.62 [[ 9.99987138e-01 9.34225918e-04 4.98499175e-03 -2.93160708e+02] [-9.14690914e-04 9.99991900e-01 -3.91960541e-03 1.72860017e+01] [-4.98861317e-03 3.91499527e-03 9.99979893e-01 1.55623555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.199072329 meters Centerline goodness : 0.734172 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.62 [[ 9.99972795e-01 6.25591277e-03 3.90801579e-03 -2.93157879e+02] [-6.25894660e-03 9.99980120e-01 7.64563552e-04 1.72866094e+01] [-3.90315506e-03 -7.89002814e-04 9.99992071e-01 1.55623562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22907232899996 meters Centerline goodness : 0.734942 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.63 [[ 9.99951177e-01 9.24618591e-03 3.48586073e-03 -2.93158605e+02] [-9.25502416e-03 9.99953976e-01 2.52790932e-03 1.72929000e+01] [-3.46232677e-03 -2.56004763e-03 9.99990729e-01 1.55626094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.259072329 meters Centerline goodness : 0.738057 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.30, Z:155.63 [[ 9.99905621e-01 1.34223713e-02 2.93068582e-03 -2.93157808e+02] [-1.34395509e-02 9.99892142e-01 5.92314649e-03 1.72959668e+01] [-2.85086705e-03 -5.96197457e-03 9.99978163e-01 1.55627164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28907232899996 meters Centerline goodness : 0.737233 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.30, Z:155.63 [[ 9.99841012e-01 1.78036972e-02 -9.89539485e-04 -2.93148827e+02] [-1.77991695e-02 9.99831856e-01 4.41010410e-03 1.72998010e+01] [ 1.06788926e-03 -4.39178997e-03 9.99989786e-01 1.55632123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.319072329 meters Centerline goodness : 0.736916 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.30, Z:155.63 [[ 9.99814110e-01 1.91629504e-02 -2.12747471e-03 -2.93146025e+02] [-1.91523159e-02 9.99804515e-01 4.91129265e-03 1.73009532e+01] [ 2.22117367e-03 -4.86963362e-03 9.99985676e-01 1.55632517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34907232899997 meters Centerline goodness : 0.740062 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99808491e-01 1.93673069e-02 -2.80875865e-03 -2.93144561e+02] [-1.93545458e-02 9.99802550e-01 4.50149126e-03 1.73032113e+01] [ 2.89538582e-03 -4.44626693e-03 9.99985924e-01 1.55633047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.379072329 meters Centerline goodness : 0.738590 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99794299e-01 1.99674447e-02 -3.55830442e-03 -2.93143943e+02] [-1.99506039e-02 9.99789886e-01 4.70706355e-03 1.73030483e+01] [ 3.65154481e-03 -4.63510498e-03 9.99982591e-01 1.55634679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40907232899997 meters Centerline goodness : 0.740109 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.64 [[ 9.99762448e-01 2.13131092e-02 -4.56052034e-03 -2.93141627e+02] [-2.12887134e-02 9.99759148e-01 5.33266570e-03 1.73033816e+01] [ 4.67307761e-03 -5.23431131e-03 9.99975382e-01 1.55635175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43907232899994 meters Centerline goodness : 0.739289 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.64 [[ 9.99756053e-01 2.15036326e-02 -5.04271816e-03 -2.93141063e+02] [-2.14770424e-02 9.99755456e-01 5.26914838e-03 1.73038361e+01] [ 5.15479083e-03 -5.15956031e-03 9.99973403e-01 1.55636062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46907232899997 meters Centerline goodness : 0.737949 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.64 [[ 9.99792778e-01 1.94772617e-02 -5.91925452e-03 -2.93138355e+02] [-1.94592537e-02 9.99805892e-01 3.08479754e-03 1.73015597e+01] [ 5.97818896e-03 -2.96897403e-03 9.99977723e-01 1.55635330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49907232899994 meters Centerline goodness : 0.739350 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99843452e-01 1.63654492e-02 -6.72639950e-03 -2.93136101e+02] [-1.63663638e-02 9.99866059e-01 -8.09443801e-05 1.73001685e+01] [ 6.72417386e-03 1.91018409e-04 9.99977374e-01 1.55634854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.529072329 meters Centerline goodness : 0.739180 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99846254e-01 1.63058303e-02 -6.44891027e-03 -2.93136843e+02] [-1.63063221e-02 9.99867043e-01 -2.36772530e-05 1.72996414e+01] [ 6.44766676e-03 1.28831620e-04 9.99979205e-01 1.55634778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.55907232899995 meters Centerline goodness : 0.737644 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.64 [[ 9.99896006e-01 1.26118847e-02 -6.99409808e-03 -2.93135750e+02] [-1.26381980e-02 9.99913175e-01 -3.73086598e-03 1.72988612e+01] [ 6.94643756e-03 3.81887079e-03 9.99968581e-01 1.55635011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.589072329 meters Centerline goodness : 0.738296 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99942328e-01 8.53939607e-03 -6.51306687e-03 -2.93136939e+02] [-8.58669905e-03 9.99936708e-01 -7.26973019e-03 1.72964948e+01] [ 6.45057553e-03 7.32523667e-03 9.99952364e-01 1.55634706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.61907232899995 meters Centerline goodness : 0.737138 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.30, Z:155.63 [[ 9.99954438e-01 7.88022104e-03 -5.38732807e-03 -2.93139675e+02] [-7.91992448e-03 9.99941340e-01 -7.38860535e-03 1.72956834e+01] [ 5.32878820e-03 7.43093594e-03 9.99958192e-01 1.55634322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.649072329 meters Centerline goodness : 0.736555 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.29, Z:155.63 [[ 9.99978221e-01 4.34409161e-03 -4.96848834e-03 -2.93139379e+02] [-4.39284231e-03 9.99941902e-01 -9.84351849e-03 1.72910653e+01] [ 4.92543854e-03 9.86512990e-03 9.99939208e-01 1.55632249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.67907232899995 meters Centerline goodness : 0.734991 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.29, Z:155.63 [[ 9.99985213e-01 3.69975788e-03 -3.98557220e-03 -2.93141094e+02] [-3.73935659e-03 9.99943264e-01 -9.97430975e-03 1.72909055e+01] [ 3.94844354e-03 9.98906574e-03 9.99942313e-01 1.55631039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.709072329 meters Centerline goodness : 0.731740 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.29, Z:155.63 [[ 9.99987391e-01 3.65013584e-03 -3.44875801e-03 -2.93141536e+02] [-3.68301169e-03 9.99947377e-01 -9.57489169e-03 1.72898322e+01] [ 3.41362687e-03 9.58747278e-03 9.99948212e-01 1.55629691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.73907232899995 meters Centerline goodness : 0.731175 Centerline is valid? [False, False] Translation: X:-293.14, Y:17.29, Z:155.63 [[ 9.99992346e-01 3.23672948e-03 -2.19811097e-03 -2.93143579e+02] [-3.25640336e-03 9.99954138e-01 -9.00655250e-03 1.72876134e+01] [ 2.16885839e-03 9.01364150e-03 9.99957024e-01 1.55627846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.769072329 meters Centerline goodness : 0.730449 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99996254e-01 2.49496533e-03 -1.12549825e-03 -2.93146437e+02] [-2.50519923e-03 9.99954680e-01 -9.18490739e-03 1.72866254e+01] [ 1.10253122e-03 9.18769258e-03 9.99957184e-01 1.55627780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.79907232899996 meters Centerline goodness : 0.731366 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99996892e-01 2.42561920e-03 -5.76185602e-04 -2.93147816e+02] [-2.43076106e-03 9.99955663e-01 -9.09749062e-03 1.72861212e+01] [ 5.54093008e-04 9.09886291e-03 9.99958451e-01 1.55627692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.829072329 meters Centerline goodness : 0.731185 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.63 [[ 9.99997210e-01 2.36206313e-03 -2.80163967e-05 -2.93149393e+02] [-2.36221881e-03 9.99957753e-01 -8.88324489e-03 1.72849917e+01] [ 7.03242785e-06 8.88328629e-03 9.99960543e-01 1.55627855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.85907232899996 meters Centerline goodness : 0.734293 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99996926e-01 2.46495667e-03 -2.67922687e-04 -2.93149535e+02] [-2.46731325e-03 9.99954788e-01 -9.18341330e-03 1.72863933e+01] [ 2.45273857e-04 9.18404612e-03 9.99957796e-01 1.55629010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.889072329 meters Centerline goodness : 0.735001 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99997526e-01 2.22292491e-03 -8.05557985e-05 -2.93150432e+02] [-2.22359085e-03 9.99952248e-01 -9.51616861e-03 1.72872145e+01] [ 5.93982236e-05 9.51632419e-03 9.99954717e-01 1.55629604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91907232899996 meters Centerline goodness : 0.735656 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99993584e-01 3.51038788e-03 -7.13145897e-04 -2.93147682e+02] [-3.51625140e-03 9.99958585e-01 -8.39427694e-03 1.72870078e+01] [ 6.83649194e-04 8.39673068e-03 9.99964513e-01 1.55628500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.949072329 meters Centerline goodness : 0.736245 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.29, Z:155.63 [[ 9.99995038e-01 3.14753359e-03 -1.31453122e-04 -2.93148252e+02] [-3.14853697e-03 9.99958941e-01 -8.49723265e-03 1.72872951e+01] [ 1.04702400e-04 8.49760437e-03 9.99963889e-01 1.55627209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97907232899996 meters Centerline goodness : 0.733904 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.63 [[ 9.99992650e-01 3.83211447e-03 -1.22287012e-04 -2.93147851e+02] [-3.83291244e-03 9.99965435e-01 -7.37818799e-03 1.72843462e+01] [ 9.40087238e-05 7.37860247e-03 9.99972773e-01 1.55626475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.009072329 meters Centerline goodness : 0.734270 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.63 [[ 9.99990969e-01 4.23894121e-03 -3.05065132e-04 -2.93147066e+02] [-4.24096401e-03 9.99966734e-01 -6.96740318e-03 1.72837942e+01] [ 2.75520571e-04 6.96863403e-03 9.99975681e-01 1.55626034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03907232899996 meters Centerline goodness : 0.734319 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.63 [[ 9.99995925e-01 2.71623858e-03 8.78788322e-04 -2.93150166e+02] [-2.70912804e-03 9.99964380e-01 -7.99376885e-03 1.72846966e+01] [-9.00470002e-04 7.99135552e-03 9.99967663e-01 1.55625925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.069072329 meters Centerline goodness : 0.733505 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.63 [[ 9.99995770e-01 2.45857075e-03 1.55409745e-03 -2.93151582e+02] [-2.44611006e-03 9.99965250e-01 -7.96964658e-03 1.72842097e+01] [-1.57363739e-03 7.96581138e-03 9.99967034e-01 1.55625409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09907232899997 meters Centerline goodness : 0.734937 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99994406e-01 2.31151892e-03 2.41762026e-03 -2.93152802e+02] [-2.29366551e-03 9.99970273e-01 -7.36158645e-03 1.72820365e+01] [-2.43456484e-03 7.35600005e-03 9.99969981e-01 1.55623820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.129072329 meters Centerline goodness : 0.734146 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99993863e-01 2.40053103e-03 2.55167343e-03 -2.93152862e+02] [-2.38214519e-03 9.99971356e-01 -7.18418882e-03 1.72817664e+01] [-2.56884620e-03 7.17806627e-03 9.99970938e-01 1.55623411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15907232899997 meters Centerline goodness : 0.735647 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99993931e-01 2.25809479e-03 2.65305866e-03 -2.93153155e+02] [-2.23834145e-03 9.99969929e-01 -7.42502378e-03 1.72826786e+01] [-2.66974529e-03 7.41904026e-03 9.99968915e-01 1.55623493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18907232899994 meters Centerline goodness : 0.735851 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99994380e-01 2.09881075e-03 2.61424429e-03 -2.93153634e+02] [-2.07821692e-03 9.99966985e-01 -7.85550830e-03 1.72841491e+01] [-2.63064521e-03 7.85003119e-03 9.99965728e-01 1.55624391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21907232899997 meters Centerline goodness : 0.736844 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99994264e-01 1.94561324e-03 2.77248129e-03 -2.93154312e+02] [-1.92311067e-03 9.99965377e-01 -8.09608092e-03 1.72847768e+01] [-2.78813714e-03 8.09070269e-03 9.99963383e-01 1.55624781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24907232899994 meters Centerline goodness : 0.734652 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99994091e-01 2.26268448e-03 2.58798082e-03 -2.93153815e+02] [-2.24270452e-03 9.99967860e-01 -7.69731120e-03 1.72841111e+01] [-2.60531422e-03 7.69146164e-03 9.99967026e-01 1.55624730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.279072329 meters Centerline goodness : 0.736974 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99993687e-01 2.67717353e-03 2.33635453e-03 -2.93152730e+02] [-2.66001803e-03 9.99969705e-01 -7.31532279e-03 1.72838158e+01] [-2.35586813e-03 7.30906187e-03 9.99970513e-01 1.55624141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.30907232899995 meters Centerline goodness : 0.732968 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99991915e-01 3.09154567e-03 2.57136814e-03 -2.93153014e+02] [-3.07481699e-03 9.99974248e-01 -6.48446056e-03 1.72815129e+01] [-2.59134893e-03 6.47650165e-03 9.99975670e-01 1.55623553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.339072329 meters Centerline goodness : 0.734378 Centerline is valid? [False, False] Translation: X:-293.15, Y:17.28, Z:155.62 [[ 9.99990965e-01 2.90538498e-03 3.10290858e-03 -2.93154187e+02] [-2.88509612e-03 9.99974561e-01 -6.52324140e-03 1.72814014e+01] [-3.12178217e-03 6.51423028e-03 9.99973909e-01 1.55623232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.36907232899995 meters Centerline goodness : 0.734927 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99989572e-01 2.73429956e-03 3.65785842e-03 -2.93155701e+02] [-2.71056835e-03 9.99975350e-01 -6.47703450e-03 1.72807932e+01] [-3.67547841e-03 6.46705208e-03 9.99972334e-01 1.55623265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.399072329 meters Centerline goodness : 0.735429 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99988186e-01 1.64054579e-03 4.57572673e-03 -2.93158137e+02] [-1.60648153e-03 9.99971045e-01 -7.43832431e-03 1.72824881e+01] [-4.58779715e-03 7.43088561e-03 9.99961866e-01 1.55623339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.42907232899995 meters Centerline goodness : 0.736252 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99989010e-01 1.85712900e-03 4.30471947e-03 -2.93157087e+02] [-1.82558432e-03 9.99971540e-01 -7.32031093e-03 1.72829072e+01] [-4.31819172e-03 7.31237186e-03 9.99963941e-01 1.55622904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.459072329 meters Centerline goodness : 0.737369 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.62 [[ 9.99977350e-01 4.29701260e-03 5.18021713e-03 -2.93159826e+02] [-4.27160590e-03 9.99978844e-01 -4.90569082e-03 1.72862010e+01] [-5.20118735e-03 4.88345186e-03 9.99974549e-01 1.55623623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.48907232899995 meters Centerline goodness : 0.739110 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.62 [[ 9.99975366e-01 4.06409552e-03 5.72284385e-03 -2.93161179e+02] [-4.03590413e-03 9.99979708e-01 -4.92907745e-03 1.72858579e+01] [-5.74275996e-03 4.90585917e-03 9.99971476e-01 1.55623504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.519072329 meters Centerline goodness : 0.736959 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99973864e-01 4.22897508e-03 5.86406480e-03 -2.93161563e+02] [-4.20195769e-03 9.99980536e-01 -4.61197245e-03 1.72849320e+01] [-5.88345458e-03 4.58721136e-03 9.99972171e-01 1.55623483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.54907232899996 meters Centerline goodness : 0.739753 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.29, Z:155.62 [[ 9.99972092e-01 3.75840657e-03 6.45677023e-03 -2.93163064e+02] [-3.72537822e-03 9.99979955e-01 -5.11973810e-03 1.72861891e+01] [-6.47588286e-03 5.09554131e-03 9.99966049e-01 1.55623486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.579072329 meters Centerline goodness : 0.738163 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99968429e-01 3.06296783e-03 7.33211651e-03 -2.93165213e+02] [-3.02652183e-03 9.99983036e-01 -4.97667972e-03 1.72841534e+01] [-7.34723554e-03 4.95433179e-03 9.99960736e-01 1.55623019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.60907232899996 meters Centerline goodness : 0.739626 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99969234e-01 3.35139668e-03 7.09213729e-03 -2.93164310e+02] [-3.31690859e-03 9.99982645e-01 -4.86905051e-03 1.72847748e+01] [-7.10833232e-03 4.84537674e-03 9.99962996e-01 1.55622664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.639072329 meters Centerline goodness : 0.739492 Centerline is valid? [False, False] Translation: X:-293.16, Y:17.28, Z:155.62 [[ 9.99966724e-01 3.33248642e-03 7.44617852e-03 -2.93164814e+02] [-3.29829067e-03 9.99983981e-01 -4.59995975e-03 1.72839078e+01] [-7.46138854e-03 4.57524703e-03 9.99961697e-01 1.55621964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66907232899996 meters Centerline goodness : 0.739633 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99963565e-01 3.21007662e-03 7.90975525e-03 -2.93165995e+02] [-3.17443571e-03 9.99984772e-01 -4.51438687e-03 1.72832205e+01] [-7.92412632e-03 4.48911337e-03 9.99958527e-01 1.55621848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.699072329 meters Centerline goodness : 0.739013 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99960501e-01 2.99796117e-03 8.36713609e-03 -2.93167307e+02] [-2.95949878e-03 9.99985016e-01 -4.60544255e-03 1.72830966e+01] [-8.38081765e-03 4.58049811e-03 9.99954389e-01 1.55621994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72907232899996 meters Centerline goodness : 0.741174 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99954829e-01 2.25139331e-03 9.23421956e-03 -2.93169862e+02] [-2.20532779e-03 9.99985090e-01 -4.99571896e-03 1.72828862e+01] [-9.24532920e-03 4.97512881e-03 9.99944884e-01 1.55622310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.759072329 meters Centerline goodness : 0.740377 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99947994e-01 1.63912313e-03 1.00659232e-02 -2.93171971e+02] [-1.58478528e-03 9.99984144e-01 -5.40380394e-03 1.72834443e+01] [-1.00746211e-02 5.38757058e-03 9.99934736e-01 1.55622253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78907232899996 meters Centerline goodness : 0.741092 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.28, Z:155.62 [[ 9.99936364e-01 3.27873296e-04 1.12765487e-02 -2.93174926e+02] [-2.56279458e-04 9.99979807e-01 -6.34977312e-03 1.72845870e+01] [-1.12784029e-02 6.34647910e-03 9.99916256e-01 1.55622112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.819072329 meters Centerline goodness : 0.740318 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99925276e-01 -1.28715100e-04 1.22239579e-02 -2.93177230e+02] [ 2.04824133e-04 9.99980602e-01 -6.22517069e-03 1.72831403e+01] [-1.22229195e-02 6.22720928e-03 9.99905907e-01 1.55621773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84907232899997 meters Centerline goodness : 0.740352 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99917088e-01 -3.55989319e-04 1.28721135e-02 -2.93178780e+02] [ 4.34788416e-04 9.99981182e-01 -6.11941054e-03 1.72822932e+01] [-1.28696928e-02 6.12449981e-03 9.99898426e-01 1.55621514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.879072329 meters Centerline goodness : 0.740561 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99913997e-01 -3.17410722e-03 1.27249297e-02 -2.93176289e+02] [ 3.28234646e-03 9.99958536e-01 -8.49423586e-03 1.72798582e+01] [-1.26974404e-02 8.53527296e-03 9.99882955e-01 1.55618869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90907232899997 meters Centerline goodness : 0.740538 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99895887e-01 -6.88241494e-03 1.26825931e-02 -2.93175376e+02] [ 7.03544826e-03 9.99902506e-01 -1.20615580e-02 1.72786974e+01] [-1.25983439e-02 1.21495300e-02 9.99846824e-01 1.55617874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93907232899994 meters Centerline goodness : 0.739604 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99873646e-01 -7.92608703e-03 1.37793376e-02 -2.93178618e+02] [ 8.09705685e-03 9.99890376e-01 -1.23965039e-02 1.72773915e+01] [-1.36795712e-02 1.25065096e-02 9.99828214e-01 1.55618214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96907232899997 meters Centerline goodness : 0.739604 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.28, Z:155.62 [[ 9.99873646e-01 -7.92608703e-03 1.37793376e-02 -2.93178618e+02] [ 8.09705685e-03 9.99890376e-01 -1.23965039e-02 1.72773915e+01] [-1.36795712e-02 1.25065096e-02 9.99828214e-01 1.55618214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99907232899994 meters Centerline goodness : 0.742845 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.27, Z:155.63 [[ 9.99782919e-01 -1.69763881e-02 1.20796329e-02 -2.93171456e+02] [ 1.70900364e-02 9.99810067e-01 -9.36805938e-03 1.72694618e+01] [-1.19183028e-02 9.57246712e-03 9.99883154e-01 1.55625544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.029072329 meters Centerline goodness : 0.742750 Centerline is valid? [False, False] Translation: X:-293.17, Y:17.27, Z:155.63 [[ 9.99754671e-01 -1.78589238e-02 1.31017791e-02 -2.93174228e+02] [ 1.79919135e-02 9.99787079e-01 -1.01038471e-02 1.72706304e+01] [-1.29185456e-02 1.03370944e-02 9.99863118e-01 1.55625792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.05907232899995 meters Centerline goodness : 0.744169 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.27, Z:155.63 [[ 9.99697794e-01 -2.00182934e-02 1.42684242e-02 -2.93178454e+02] [ 2.01858050e-02 9.99727851e-01 -1.16943015e-02 1.72714106e+01] [-1.40304411e-02 1.19787870e-02 9.99829813e-01 1.55627179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.089072329 meters Centerline goodness : 0.743249 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.27, Z:155.63 [[ 9.99566536e-01 -2.48488175e-02 1.57884689e-02 -2.93180961e+02] [ 2.50901606e-02 9.99568465e-01 -1.52763696e-02 1.72684287e+01] [-1.54020559e-02 1.56658831e-02 9.99758649e-01 1.55625457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.11907232899995 meters Centerline goodness : 0.742579 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.27, Z:155.62 [[ 9.99441059e-01 -2.90031902e-02 1.66247916e-02 -2.93181814e+02] [ 2.93125206e-02 9.99395826e-01 -1.86750826e-02 1.72656314e+01] [-1.60731104e-02 1.91519589e-02 9.99687380e-01 1.55623933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.149072329 meters Centerline goodness : 0.739476 Centerline is valid? [False, False] Translation: X:-293.18, Y:17.26, Z:155.62 [[ 9.99408367e-01 -2.93704576e-02 1.78967064e-02 -2.93184028e+02] [ 2.96910415e-02 9.99398502e-01 -1.79186034e-02 1.72625333e+01] [-1.73596640e-02 1.84393740e-02 9.99679264e-01 1.55622250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.17907232899995 meters Centerline goodness : 0.739329 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.26, Z:155.62 [[ 9.99232117e-01 -3.40912891e-02 1.93121994e-02 -2.93185917e+02] [ 3.44973406e-02 9.99182073e-01 -2.10978409e-02 1.72587113e+01] [-1.85771508e-02 2.17478598e-02 9.99590876e-01 1.55620005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.209072329 meters Centerline goodness : 0.740355 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.26, Z:155.62 [[ 9.99182889e-01 -3.49446739e-02 2.03082085e-02 -2.93187994e+02] [ 3.53838968e-02 9.99138464e-01 -2.16866253e-02 1.72597499e+01] [-1.95328802e-02 2.23874885e-02 9.99558536e-01 1.55619440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.23907232899995 meters Centerline goodness : 0.740728 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.26, Z:155.62 [[ 9.99127758e-01 -3.58381347e-02 2.14324915e-02 -2.93190646e+02] [ 3.63137955e-02 9.99093112e-01 -2.22320170e-02 1.72605385e+01] [-2.06163006e-02 2.29909204e-02 9.99523079e-01 1.55619191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.269072329 meters Centerline goodness : 0.739238 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.26, Z:155.62 [[ 9.99035963e-01 -3.74646811e-02 2.28810285e-02 -2.93194232e+02] [ 3.79887653e-02 9.99015361e-01 -2.29164034e-02 1.72598552e+01] [-2.19999432e-02 2.37635332e-02 9.99475511e-01 1.55618937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.29907232899996 meters Centerline goodness : 0.738558 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.26, Z:155.62 [[ 9.99031096e-01 -3.74558336e-02 2.31069230e-02 -2.93194662e+02] [ 3.79828733e-02 9.99018072e-01 -2.28077497e-02 1.72596534e+01] [-2.22299504e-02 2.36633185e-02 9.99472799e-01 1.55618683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.329072329 meters Centerline goodness : 0.737743 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.26, Z:155.62 [[ 9.99100951e-01 -3.48853740e-02 2.40894226e-02 -2.93197982e+02] [ 3.53706942e-02 9.99173651e-01 -2.00232149e-02 1.72618494e+01] [-2.33709990e-02 2.08572727e-02 9.99509265e-01 1.55619255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.35907232899996 meters Centerline goodness : 0.737666 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.26, Z:155.62 [[ 9.99089998e-01 -3.50791509e-02 2.42616664e-02 -2.93198042e+02] [ 3.55726192e-02 9.99162602e-01 -2.02159416e-02 1.72625936e+01] [-2.35321917e-02 2.10605960e-02 9.99501219e-01 1.55618717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.389072329 meters Centerline goodness : 0.737444 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.27, Z:155.62 [[ 9.99178124e-01 -3.20381898e-02 2.48320423e-02 -2.93200620e+02] [ 3.24715615e-02 9.99323792e-01 -1.72498344e-02 1.72652043e+01] [-2.42625972e-02 1.80419924e-02 9.99542802e-01 1.55619750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41907232899996 meters Centerline goodness : 0.739018 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.27, Z:155.62 [[ 9.99222168e-01 -2.99679798e-02 2.56316226e-02 -2.93204309e+02] [ 3.03685030e-02 9.99420403e-01 -1.53822090e-02 1.72691991e+01] [-2.51557929e-02 1.61486382e-02 9.99553104e-01 1.55621611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.449072329 meters Centerline goodness : 0.741020 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.27, Z:155.62 [[ 9.99219111e-01 -3.01661295e-02 2.55181081e-02 -2.93204409e+02] [ 3.05837963e-02 9.99401910e-01 -1.61385921e-02 1.72718745e+01] [-2.50160071e-02 1.69064303e-02 9.99544082e-01 1.55622228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47907232899996 meters Centerline goodness : 0.741355 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.27, Z:155.62 [[ 9.99281007e-01 -2.73549002e-02 2.62521916e-02 -2.93207399e+02] [ 2.77067644e-02 9.99529801e-01 -1.31343499e-02 1.72736812e+01] [-2.58805590e-02 1.38522697e-02 9.99569063e-01 1.55623216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.509072329 meters Centerline goodness : 0.741109 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.28, Z:155.62 [[ 9.99292704e-01 -2.72939909e-02 2.58675409e-02 -2.93206260e+02] [ 2.76494422e-02 9.99526725e-01 -1.34845640e-02 1.72758894e+01] [-2.54872508e-02 1.41902495e-02 9.99574428e-01 1.55623104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53907232899996 meters Centerline goodness : 0.738814 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.27, Z:155.62 [[ 9.99319979e-01 -2.66645595e-02 2.54672415e-02 -2.93205124e+02] [ 2.69971844e-02 9.99553460e-01 -1.28075556e-02 1.72748391e+01] [-2.51143616e-02 1.34863900e-02 9.99593610e-01 1.55622929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.569072329 meters Centerline goodness : 0.740274 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.28, Z:155.62 [[ 9.99298620e-01 -2.70091513e-02 2.59378875e-02 -2.93205976e+02] [ 2.73572775e-02 9.99539068e-01 -1.31617411e-02 1.72760486e+01] [-2.55704444e-02 1.38620997e-02 9.99576908e-01 1.55622514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59907232899997 meters Centerline goodness : 0.740349 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.28, Z:155.62 [[ 9.99311250e-01 -2.66975527e-02 2.57733503e-02 -2.93205420e+02] [ 2.70339685e-02 9.99552641e-01 -1.27938176e-02 1.72754116e+01] [-2.54202568e-02 1.34817618e-02 9.99585941e-01 1.55622301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.629072329 meters Centerline goodness : 0.740585 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99315020e-01 -2.68432994e-02 2.54740713e-02 -2.93204739e+02] [ 2.71880760e-02 9.99542042e-01 -1.32859198e-02 1.72775750e+01] [-2.51057673e-02 1.39694102e-02 9.99587193e-01 1.55622527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65907232899997 meters Centerline goodness : 0.741509 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99327885e-01 -2.67347736e-02 2.50804832e-02 -2.93203334e+02] [ 2.70815019e-02 9.99540870e-01 -1.35883002e-02 1.72798122e+01] [-2.47056879e-02 1.42583845e-02 9.99593081e-01 1.55622062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68907232899994 meters Centerline goodness : 0.741111 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99200097e-01 -3.08808462e-02 2.54074524e-02 -2.93202444e+02] [ 3.13343282e-02 9.99353143e-01 -1.76480952e-02 1.72798392e+01] [-2.48460293e-02 1.84301039e-02 9.99521389e-01 1.55620122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71907232899997 meters Centerline goodness : 0.740384 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99221953e-01 -3.05228393e-02 2.49768785e-02 -2.93201393e+02] [ 3.09623051e-02 9.99369064e-01 -1.74014396e-02 1.72797532e+01] [-2.44299783e-02 1.81612422e-02 9.99536565e-01 1.55620193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74907232899994 meters Centerline goodness : 0.740849 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99220361e-01 -3.06345984e-02 2.49036310e-02 -2.93201411e+02] [ 3.10816935e-02 9.99358897e-01 -1.77685925e-02 1.72812122e+01] [-2.43433315e-02 1.85287865e-02 9.99531934e-01 1.55620540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.779072329 meters Centerline goodness : 0.740530 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.28, Z:155.62 [[ 9.99296390e-01 -2.74450903e-02 2.55634954e-02 -2.93204278e+02] [ 2.78216456e-02 9.99507836e-01 -1.44928193e-02 1.72825295e+01] [-2.51531572e-02 1.51938405e-02 9.99568140e-01 1.55621680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.80907232899995 meters Centerline goodness : 0.742561 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.62 [[ 9.99351217e-01 -2.48956591e-02 2.60259806e-02 -2.93207170e+02] [ 2.52262347e-02 9.99604220e-01 -1.24514979e-02 1.72872498e+01] [-2.57056918e-02 1.30999571e-02 9.99583718e-01 1.55623772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.839072329 meters Centerline goodness : 0.744808 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.62 [[ 9.99336164e-01 -2.53200559e-02 2.61939915e-02 -2.93207809e+02] [ 2.56715201e-02 9.99583681e-01 -1.31695745e-02 1.72896391e+01] [-2.58496321e-02 1.38332716e-02 9.99570126e-01 1.55624168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.86907232899995 meters Centerline goodness : 0.743097 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.62 [[ 9.99408411e-01 -2.18495313e-02 2.65598601e-02 -2.93208810e+02] [ 2.21165088e-02 9.99707367e-01 -9.80003382e-03 1.72919844e+01] [-2.63379616e-02 1.03816476e-02 9.99599186e-01 1.55623994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.899072329 meters Centerline goodness : 0.740831 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.62 [[ 9.99449623e-01 -2.06520766e-02 2.59603989e-02 -2.93206266e+02] [ 2.08757514e-02 9.99747002e-01 -8.37469020e-03 1.72894899e+01] [-2.57808763e-02 8.91202380e-03 9.99627892e-01 1.55622555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.92907232899995 meters Centerline goodness : 0.739481 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.62 [[ 9.99543713e-01 -1.62653267e-02 2.54520016e-02 -2.93205333e+02] [ 1.63781405e-02 9.99856921e-01 -4.23023400e-03 1.72905413e+01] [-2.53795538e-02 4.64516026e-03 9.99667095e-01 1.55622811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.959072329 meters Centerline goodness : 0.740766 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.62 [[ 9.99650502e-01 -7.49439005e-03 2.53516978e-02 -2.93217142e+02] [ 7.78625679e-03 9.99904318e-01 -1.14336533e-02 1.73053684e+01] [-2.52635838e-02 1.16270521e-02 9.99613207e-01 1.55622741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.98907232899995 meters Centerline goodness : 0.741269 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.62 [[ 9.99674561e-01 -6.56949336e-03 2.46498184e-02 -2.93215472e+02] [ 6.83664328e-03 9.99918639e-01 -1.07692282e-02 1.73050514e+01] [-2.45770645e-02 1.09342455e-02 9.99638140e-01 1.55623016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.019072329 meters Centerline goodness : 0.741873 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.62 [[ 9.99674136e-01 -6.54047170e-03 2.46747626e-02 -2.93215683e+02] [ 6.80868590e-03 9.99918480e-01 -1.08016714e-02 1.73053639e+01] [-2.46021031e-02 1.09661542e-02 9.99637174e-01 1.55623240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.04907232899996 meters Centerline goodness : 0.742145 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.30, Z:155.62 [[ 9.99695656e-01 -5.26571386e-03 2.41012134e-02 -2.93213115e+02] [ 5.49708771e-03 9.99939346e-01 -9.54392739e-03 1.73040541e+01] [-2.40494960e-02 9.67350924e-03 9.99663966e-01 1.55621862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.079072329 meters Centerline goodness : 0.738201 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.30, Z:155.62 [[ 9.99701892e-01 -4.82766438e-03 2.39336861e-02 -2.93212238e+02] [ 5.04226195e-03 9.99947556e-01 -8.91411414e-03 1.73026229e+01] [-2.38893966e-02 9.03213668e-03 9.99673805e-01 1.55621139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.10907232899996 meters Centerline goodness : 0.739590 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.30, Z:155.62 [[ 9.99701973e-01 -4.89587005e-03 2.39164178e-02 -2.93212404e+02] [ 5.11494452e-03 9.99945445e-01 -9.10743350e-03 1.73033055e+01] [-2.38705242e-02 9.22705039e-03 9.99672476e-01 1.55621457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.139072329 meters Centerline goodness : 0.741074 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.30, Z:155.62 [[ 9.99682703e-01 -5.43948024e-03 2.45948289e-02 -2.93214574e+02] [ 5.67697815e-03 9.99937834e-01 -9.59692703e-03 1.73040734e+01] [-2.45410976e-02 9.73350626e-03 9.99651436e-01 1.55622170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16907232899996 meters Centerline goodness : 0.743105 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.30, Z:155.62 [[ 9.99658994e-01 -9.16131914e-03 2.44533589e-02 -2.93214184e+02] [ 9.48778504e-03 9.99866961e-01 -1.32680881e-02 1.73028522e+01] [-2.43285524e-02 1.34955718e-02 9.99612921e-01 1.55622284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.199072329 meters Centerline goodness : 0.743666 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.30, Z:155.62 [[ 9.99632118e-01 -9.74441689e-03 2.53115441e-02 -2.93216658e+02] [ 1.00915036e-02 9.99856301e-01 -1.36212335e-02 1.73029664e+01] [-2.51751759e-02 1.38716540e-02 9.99586809e-01 1.55622634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22907232899996 meters Centerline goodness : 0.744106 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.63 [[ 9.99536935e-01 -1.90609918e-02 2.37190535e-02 -2.93208746e+02] [ 1.93147511e-02 9.99758150e-01 -1.05158160e-02 1.72938586e+01] [-2.35128752e-02 1.09690741e-02 9.99663355e-01 1.55628796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.259072329 meters Centerline goodness : 0.744387 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.63 [[ 9.99496888e-01 -1.97679933e-02 2.48031519e-02 -2.93211104e+02] [ 2.00357348e-02 9.99743146e-01 -1.05929579e-02 1.72930743e+01] [-2.45873796e-02 1.10845779e-02 9.99636230e-01 1.55628134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28907232899996 meters Centerline goodness : 0.742085 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.63 [[ 9.99408396e-01 -2.31225979e-02 2.54598210e-02 -2.93210839e+02] [ 2.34586567e-02 9.99640529e-01 -1.29809448e-02 1.72882363e+01] [-2.51505158e-02 1.35705184e-02 9.99591563e-01 1.55625703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.319072329 meters Centerline goodness : 0.742166 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.29, Z:155.63 [[ 9.99352642e-01 -2.41600010e-02 2.66569166e-02 -2.93213661e+02] [ 2.45269443e-02 9.99607670e-01 -1.35253566e-02 1.72883489e+01] [-2.63196857e-02 1.41704136e-02 9.99553137e-01 1.55625315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34907232899997 meters Centerline goodness : 0.742210 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.62 [[ 9.99306553e-01 -2.47814107e-02 2.77901997e-02 -2.93216185e+02] [ 2.51668149e-02 9.99590679e-01 -1.36053686e-02 1.72876461e+01] [-2.74416643e-02 1.42953248e-02 9.99521185e-01 1.55624733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.379072329 meters Centerline goodness : 0.743283 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.62 [[ 9.99169599e-01 -2.89160156e-02 2.87049901e-02 -2.93217753e+02] [ 2.94170579e-02 9.99419424e-01 -1.71887283e-02 1.72853604e+01] [-2.81912951e-02 1.80188711e-02 9.99440129e-01 1.55624116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40907232899997 meters Centerline goodness : 0.742968 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.62 [[ 9.99134434e-01 -2.93324235e-02 2.94956356e-02 -2.93219789e+02] [ 2.98536842e-02 9.99402993e-01 -1.73900987e-02 1.72854855e+01] [-2.89679327e-02 1.82555999e-02 9.99413624e-01 1.55624142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43907232899994 meters Centerline goodness : 0.743186 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.28, Z:155.62 [[ 9.98980037e-01 -3.34428175e-02 3.03391405e-02 -2.93220143e+02] [ 3.40817780e-02 9.99202710e-01 -2.07936677e-02 1.72831081e+01] [-2.96195526e-02 2.18064708e-02 9.99323351e-01 1.55622076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46907232899997 meters Centerline goodness : 0.743984 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.28, Z:155.62 [[ 9.98940991e-01 -3.37449002e-02 3.12758344e-02 -2.93222447e+02] [ 3.44001608e-02 9.99194673e-01 -2.06551205e-02 1.72819570e+01] [-3.05536421e-02 2.17091402e-02 9.99297347e-01 1.55621886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49907232899994 meters Centerline goodness : 0.744046 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.98866995e-01 -3.50267713e-02 3.22157139e-02 -2.93225797e+02] [ 3.57342116e-02 9.99126743e-01 -2.16521863e-02 1.72824797e+01] [-3.14291751e-02 2.27788574e-02 9.99246381e-01 1.55623093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.529072329 meters Centerline goodness : 0.745307 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.98824440e-01 -3.55377652e-02 3.29667199e-02 -2.93228046e+02] [ 3.62736943e-02 9.99099695e-01 -2.20004308e-02 1.72829414e+01] [-3.21551936e-02 2.31703927e-02 9.99214280e-01 1.55623608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.55907232899995 meters Centerline goodness : 0.746448 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.29, Z:155.63 [[ 9.99089166e-01 -2.78725669e-02 3.23103380e-02 -2.93229081e+02] [ 2.83685046e-02 9.99485076e-01 -1.49936835e-02 1.72873097e+01] [-3.18757882e-02 1.58966228e-02 9.99365414e-01 1.55626581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.589072329 meters Centerline goodness : 0.746567 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.29, Z:155.63 [[ 9.99100791e-01 -2.77063062e-02 3.20931511e-02 -2.93228356e+02] [ 2.81966765e-02 9.99490906e-01 -1.49290643e-02 1.72877149e+01] [-3.16631835e-02 1.58205601e-02 9.99373380e-01 1.55626327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.61907232899995 meters Centerline goodness : 0.745217 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.29, Z:155.63 [[ 9.99121731e-01 -2.70480921e-02 3.20026209e-02 -2.93227631e+02] [ 2.75037943e-02 9.99525248e-01 -1.38859776e-02 1.72850906e+01] [-3.16118384e-02 1.47539755e-02 9.99391321e-01 1.55625521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.649072329 meters Centerline goodness : 0.745901 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.99122056e-01 -2.66605717e-02 3.23161155e-02 -2.93227991e+02] [ 2.70947285e-02 9.99547397e-01 -1.30719848e-02 1.72826597e+01] [-3.19529826e-02 1.39361047e-02 9.99392211e-01 1.55624804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.67907232899995 meters Centerline goodness : 0.743889 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.99180574e-01 -2.50087204e-02 3.18236356e-02 -2.93226221e+02] [ 2.53749296e-02 9.99615754e-01 -1.11560426e-02 1.72788551e+01] [-3.15324092e-02 1.19544236e-02 9.99431238e-01 1.55623879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.709072329 meters Centerline goodness : 0.744119 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.99182717e-01 -2.49551416e-02 3.17984204e-02 -2.93226308e+02] [ 2.53219263e-02 9.99616779e-01 -1.11846089e-02 1.72790916e+01] [-3.15071211e-02 1.19806652e-02 9.99431721e-01 1.55624068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.73907232899995 meters Centerline goodness : 0.742643 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.28, Z:155.62 [[ 9.99248189e-01 -2.17918685e-02 3.20651042e-02 -2.93227809e+02] [ 2.20629707e-02 9.99723564e-01 -8.12531652e-03 1.72812638e+01] [-3.18791745e-02 8.82665927e-03 9.99452754e-01 1.55624790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.769072329 meters Centerline goodness : 0.744928 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.29, Z:155.63 [[ 9.99342060e-01 -1.81028092e-02 3.14282678e-02 -2.93226646e+02] [ 1.82757827e-02 9.99819330e-01 -5.22522241e-03 1.72862120e+01] [-3.13279985e-02 5.79616071e-03 9.99492352e-01 1.55625263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.79907232899996 meters Centerline goodness : 0.746777 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.29, Z:155.63 [[ 9.99360555e-01 -1.81392877e-02 3.08130905e-02 -2.93225121e+02] [ 1.83243942e-02 9.99815642e-01 -5.73565356e-03 1.72886701e+01] [-3.07033692e-02 6.29661714e-03 9.99508707e-01 1.55625443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.829072329 meters Centerline goodness : 0.748687 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99388164e-01 -1.80617008e-02 2.99511805e-02 -2.93224133e+02] [ 1.82688505e-02 9.99810948e-01 -6.65705774e-03 1.72925700e+01] [-2.98252804e-02 7.20015835e-03 9.99529194e-01 1.55627358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.85907232899996 meters Centerline goodness : 0.748687 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99388164e-01 -1.80617008e-02 2.99511805e-02 -2.93224133e+02] [ 1.82688505e-02 9.99810948e-01 -6.65705774e-03 1.72925700e+01] [-2.98252804e-02 7.20015835e-03 9.99529194e-01 1.55627358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.889072329 meters Centerline goodness : 0.751742 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99424273e-01 -1.72819344e-02 2.91968759e-02 -2.93222182e+02] [ 1.74710720e-02 9.99827926e-01 -6.23535179e-03 1.72929552e+01] [-2.90840930e-02 6.74186265e-03 9.99554232e-01 1.55627398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91907232899996 meters Centerline goodness : 0.751372 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99431458e-01 -1.72008365e-02 2.89981471e-02 -2.93222137e+02] [ 1.73902742e-02 9.99828972e-01 -6.29324683e-03 1.72933624e+01] [-2.88849385e-02 6.79395458e-03 9.99559654e-01 1.55628041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.949072329 meters Centerline goodness : 0.749619 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99472486e-01 -1.57482000e-02 2.84032224e-02 -2.93219679e+02] [ 1.58865060e-02 9.99862987e-01 -4.65029414e-03 1.72904655e+01] [-2.83260971e-02 5.09906901e-03 9.99585730e-01 1.55626694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97907232899996 meters Centerline goodness : 0.749812 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99498994e-01 -1.49710584e-02 2.78859901e-02 -2.93217984e+02] [ 1.50818946e-02 9.99879160e-01 -3.76853016e-03 1.72888448e+01] [-2.78262015e-02 4.18721567e-03 9.99604006e-01 1.55626153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.009072329 meters Centerline goodness : 0.750882 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99503705e-01 -1.49074024e-02 2.77509042e-02 -2.93217758e+02] [ 1.50202995e-02 9.99879722e-01 -3.86422176e-03 1.72894689e+01] [-2.76899608e-02 4.27913086e-03 9.99607400e-01 1.55626327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03907232899996 meters Centerline goodness : 0.750668 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99494957e-01 -1.51233058e-02 2.79484765e-02 -2.93219540e+02] [ 1.52462147e-02 9.99874991e-01 -4.18983423e-03 1.72894038e+01] [-2.78816185e-02 4.61382665e-03 9.99600584e-01 1.55628019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.069072329 meters Centerline goodness : 0.751138 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99496264e-01 -1.52627742e-02 2.78256286e-02 -2.93219749e+02] [ 1.53978955e-02 9.99870641e-01 -4.64820633e-03 1.72907592e+01] [-2.77510845e-02 5.07432099e-03 9.99601985e-01 1.55628732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09907232899997 meters Centerline goodness : 0.751377 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.29, Z:155.63 [[ 9.99571753e-01 -1.11048790e-02 2.70738449e-02 -2.93218368e+02] [ 1.11379179e-02 9.99937399e-01 -1.06982621e-03 1.72934836e+01] [-2.70602698e-02 1.37091433e-03 9.99632864e-01 1.55629290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.129072329 meters Centerline goodness : 0.751692 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.63 [[ 9.99849733e-01 -9.47852431e-03 1.45144582e-02 -2.93219734e+02] [ 9.55107364e-03 9.99942198e-01 -4.93728313e-03 1.73053009e+01] [-1.44668210e-02 5.07516988e-03 9.99882470e-01 1.55633695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15907232899997 meters Centerline goodness : 0.751601 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.63 [[ 9.99857423e-01 -9.37498295e-03 1.40443701e-02 -2.93218602e+02] [ 9.44963244e-03 9.99941525e-01 -5.25836268e-03 1.73072648e+01] [-1.39942518e-02 5.39032709e-03 9.99887546e-01 1.55633866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18907232899994 meters Centerline goodness : 0.753333 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99887311e-01 -5.65959892e-03 1.39044390e-02 -2.93219194e+02] [ 5.68881882e-03 9.99981691e-01 -2.06282708e-03 1.73105235e+01] [-1.38925096e-02 2.14169446e-03 9.99901201e-01 1.55635204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21907232899997 meters Centerline goodness : 0.752781 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99893822e-01 -5.52677965e-03 1.34833218e-02 -2.93218317e+02] [ 5.55653963e-03 9.99982206e-01 -2.17070677e-03 1.73113807e+01] [-1.34710849e-02 2.24539690e-03 9.99906740e-01 1.55635514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24907232899994 meters Centerline goodness : 0.752059 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99918956e-01 -8.41344876e-04 1.27032606e-02 -2.93216753e+02] [ 8.14403139e-04 9.99997409e-01 2.12587613e-03 1.73120328e+01] [-1.27050163e-02 -2.11535827e-03 9.99917050e-01 1.55635942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.279072329 meters Centerline goodness : 0.752107 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99927475e-01 -8.11359373e-04 1.20160569e-02 -2.93215259e+02] [ 7.91508983e-04 9.99998315e-01 1.65665210e-03 1.73140294e+01] [-1.20173808e-02 -1.64702114e-03 9.99926432e-01 1.55636281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.30907232899995 meters Centerline goodness : 0.752130 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.64 [[ 9.99931391e-01 3.81990010e-03 1.10734799e-02 -2.93212920e+02] [-3.87997451e-03 9.99977846e-01 5.40867361e-03 1.73168107e+01] [-1.10525739e-02 -5.45126735e-03 9.99924059e-01 1.55636473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.339072329 meters Centerline goodness : 0.752465 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.64 [[ 9.99937191e-01 3.88967681e-03 1.05111667e-02 -2.93212106e+02] [-3.94161059e-03 9.99980106e-01 4.92462839e-03 1.73187620e+01] [-1.04918024e-02 -4.96575000e-03 9.99932629e-01 1.55637312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.36907232899995 meters Centerline goodness : 0.753063 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.64 [[ 9.99944928e-01 3.64099924e-03 9.84300258e-03 -2.93211389e+02] [-3.67986146e-03 9.99985495e-01 3.93298360e-03 1.73221125e+01] [-9.82853982e-03 -3.96898789e-03 9.99943822e-01 1.55638717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.399072329 meters Centerline goodness : 0.755984 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99958308e-01 6.64918030e-03 6.25860317e-03 -2.93205302e+02] [-6.65912490e-03 9.99976596e-01 1.56945331e-03 1.73266473e+01] [-6.24802112e-03 -1.61106470e-03 9.99979183e-01 1.55645667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.42907232899995 meters Centerline goodness : 0.755030 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99961561e-01 6.58995830e-03 5.78346015e-03 -2.93204817e+02] [-6.59658168e-03 9.99977607e-01 1.12690110e-03 1.73281493e+01] [-5.77590441e-03 -1.16500885e-03 9.99982641e-01 1.55646644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.459072329 meters Centerline goodness : 0.755394 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99962241e-01 6.96875887e-03 5.19170614e-03 -2.93203931e+02] [-6.97463502e-03 9.99975056e-01 1.11458937e-03 1.73287535e+01] [-5.18380933e-03 -1.15075754e-03 9.99985902e-01 1.55647444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.48907232899995 meters Centerline goodness : 0.753987 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99960242e-01 6.83467818e-03 5.72731880e-03 -2.93205448e+02] [-6.84181143e-03 9.99975842e-01 1.22681228e-03 1.73275479e+01] [-5.71879557e-03 -1.26594874e-03 9.99982846e-01 1.55647442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.519072329 meters Centerline goodness : 0.754587 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99959966e-01 6.90600080e-03 5.68985227e-03 -2.93205276e+02] [-6.91373949e-03 9.99975200e-01 1.34154040e-03 1.73271000e+01] [-5.68044648e-03 -1.38082485e-03 9.99982913e-01 1.55647207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.54907232899996 meters Centerline goodness : 0.754222 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99959611e-01 6.58341403e-03 6.11846113e-03 -2.93206181e+02] [-6.59081834e-03 9.99977571e-01 1.19078459e-03 1.73267015e+01] [-6.11048447e-03 -1.23106216e-03 9.99980573e-01 1.55646729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.579072329 meters Centerline goodness : 0.753147 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99958995e-01 6.58529339e-03 6.21631440e-03 -2.93206442e+02] [-6.59368402e-03 9.99977377e-01 1.33024825e-03 1.73258893e+01] [-6.20741369e-03 -1.37118211e-03 9.99979794e-01 1.55646607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.60907232899996 meters Centerline goodness : 0.752907 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99962224e-01 6.17401192e-03 6.11825000e-03 -2.93206287e+02] [-6.17731614e-03 9.99980784e-01 5.21309554e-04 1.73282941e+01] [-6.11491386e-03 -5.59084225e-04 9.99981147e-01 1.55646723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.639072329 meters Centerline goodness : 0.752574 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99965090e-01 5.94709238e-03 5.86946461e-03 -2.93206177e+02] [-5.94714755e-03 9.99982316e-01 -8.05391345e-06 1.73299107e+01] [-5.86940871e-03 -2.68529398e-05 9.99982775e-01 1.55647458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66907232899996 meters Centerline goodness : 0.752517 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99966147e-01 6.04277283e-03 5.58485674e-03 -2.93205819e+02] [-6.04239678e-03 9.99981741e-01 -8.42054357e-05 1.73304665e+01] [-5.58526360e-03 5.04566647e-05 9.99984401e-01 1.55647917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.699072329 meters Centerline goodness : 0.753850 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99984525e-01 2.49022068e-03 4.97482221e-03 -2.93204366e+02] [-2.47152469e-03 9.99989874e-01 -3.76074239e-03 1.73299323e+01] [-4.98413692e-03 3.74838879e-03 9.99980554e-01 1.55648055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72907232899996 meters Centerline goodness : 0.754813 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99986756e-01 2.95516987e-03 4.21362579e-03 -2.93202792e+02] [-2.93980242e-03 9.99989022e-01 -3.64862587e-03 1.73306391e+01] [-4.22436184e-03 3.63619032e-03 9.99984466e-01 1.55648539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.759072329 meters Centerline goodness : 0.755034 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.34, Z:155.65 [[ 9.99989819e-01 2.67125468e-03 3.63675946e-03 -2.93200989e+02] [-2.65375856e-03 9.99984924e-01 -4.80726284e-03 1.73361720e+01] [-3.64954606e-03 4.79756281e-03 9.99981832e-01 1.55648570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78907232899996 meters Centerline goodness : 0.752638 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.34, Z:155.65 [[ 9.99989887e-01 3.21327392e-03 3.14643600e-03 -2.93199676e+02] [-3.19972601e-03 9.99985630e-01 -4.30140331e-03 1.73354794e+01] [-3.16021238e-03 4.29129208e-03 9.99985799e-01 1.55648504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.819072329 meters Centerline goodness : 0.753659 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99987715e-01 2.94119565e-03 3.98987497e-03 -2.93201931e+02] [-2.92480240e-03 9.99987283e-01 -4.10834385e-03 1.73336593e+01] [-4.00190768e-03 4.09662378e-03 9.99983601e-01 1.55648414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84907232899997 meters Centerline goodness : 0.753585 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99986627e-01 2.63293059e-03 4.45132884e-03 -2.93203669e+02] [-2.61413178e-03 9.99987663e-01 -4.22374876e-03 1.73331139e+01] [-4.46239476e-03 4.21205591e-03 9.99981173e-01 1.55649045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.879072329 meters Centerline goodness : 0.753492 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99986179e-01 3.70540815e-03 3.72993487e-03 -2.93201001e+02] [-3.69205109e-03 9.99986770e-01 -3.58158434e-03 1.73340251e+01] [-3.74315676e-03 3.56776373e-03 9.99986630e-01 1.55648241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90907232899997 meters Centerline goodness : 0.753657 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99984662e-01 3.06420467e-03 4.61378720e-03 -2.93203345e+02] [-3.04676603e-03 9.99988207e-01 -3.78197656e-03 1.73334972e+01] [-4.62532154e-03 3.76786142e-03 9.99982205e-01 1.55648235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93907232899994 meters Centerline goodness : 0.754189 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.33, Z:155.65 [[ 9.99981883e-01 2.99576964e-03 5.22109519e-03 -2.93204815e+02] [-2.97774214e-03 9.99989590e-01 -3.45718016e-03 1.73319613e+01] [-5.23139776e-03 3.44157045e-03 9.99980394e-01 1.55648014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96907232899997 meters Centerline goodness : 0.754307 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99978623e-01 2.77757190e-03 5.91940084e-03 -2.93206464e+02] [-2.75813464e-03 9.99990787e-01 -3.28929218e-03 1.73307556e+01] [-5.92848255e-03 3.27289536e-03 9.99977070e-01 1.55647682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99907232899994 meters Centerline goodness : 0.753620 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99972982e-01 1.45342322e-03 7.20577273e-03 -2.93209360e+02] [-1.42799091e-03 9.99992738e-01 -3.53332564e-03 1.73285645e+01] [-7.21085582e-03 3.52294040e-03 9.99967796e-01 1.55646855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.029072329 meters Centerline goodness : 0.753960 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99969768e-01 -2.52918192e-03 7.35301310e-03 -2.93209292e+02] [ 2.58194048e-03 9.99970930e-01 -7.17447750e-03 1.73268317e+01] [-7.33465378e-03 7.19324564e-03 9.99947229e-01 1.55646183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.05907232899995 meters Centerline goodness : 0.753634 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.33, Z:155.65 [[ 9.99971255e-01 -2.12269319e-03 7.27895281e-03 -2.93208625e+02] [ 2.17044302e-03 9.99976138e-01 -6.55837453e-03 1.73256523e+01] [-7.26485771e-03 6.57398456e-03 9.99952001e-01 1.55645503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.089072329 meters Centerline goodness : 0.753036 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.64 [[ 9.99954445e-01 -5.61725861e-03 7.71716739e-03 -2.93208721e+02] [ 5.68812281e-03 9.99941578e-01 -9.19161806e-03 1.73211699e+01] [-7.66508484e-03 9.23509553e-03 9.99927977e-01 1.55643967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.11907232899995 meters Centerline goodness : 0.754330 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.64 [[ 9.99943648e-01 -6.18737475e-03 8.62658640e-03 -2.93211297e+02] [ 6.26908794e-03 9.99935435e-01 -9.47760787e-03 1.73210034e+01] [-8.56738791e-03 9.53115461e-03 9.99917875e-01 1.55644242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.149072329 meters Centerline goodness : 0.755814 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.32, Z:155.65 [[ 9.99930308e-01 -7.00892092e-03 9.50018248e-03 -2.93214150e+02] [ 7.10531771e-03 9.99923229e-01 -1.01513510e-02 1.73216347e+01] [-9.42830313e-03 1.02181454e-02 9.99903344e-01 1.55645022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.17907232899995 meters Centerline goodness : 0.756038 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.32, Z:155.65 [[ 9.99883178e-01 -1.14950509e-02 1.00744753e-02 -2.93216417e+02] [ 1.16409067e-02 9.99826513e-01 -1.45407235e-02 1.73214332e+01] [-9.90558111e-03 1.46563009e-02 9.99843524e-01 1.55646215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.209072329 meters Centerline goodness : 0.757645 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.32, Z:155.65 [[ 9.99874315e-01 -1.17091554e-02 1.06887378e-02 -2.93217656e+02] [ 1.18632636e-02 9.99824924e-01 -1.44701065e-02 1.73210232e+01] [-1.05174337e-02 1.45950911e-02 9.99838170e-01 1.55645704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.23907232899995 meters Centerline goodness : 0.757415 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.32, Z:155.65 [[ 9.99849493e-01 -1.26274546e-02 1.18970166e-02 -2.93220398e+02] [ 1.28019795e-02 9.99809852e-01 -1.47094992e-02 1.73202427e+01] [-1.17090109e-02 1.48595907e-02 9.99821030e-01 1.55645099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.269072329 meters Centerline goodness : 0.757487 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.65 [[ 9.99688173e-01 -2.10378906e-02 1.34522985e-02 -2.93218977e+02] [ 2.11113770e-02 9.99762846e-01 -5.34424902e-03 1.73109004e+01] [-1.33366766e-02 5.62657908e-03 9.99895232e-01 1.55645008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.29907232899996 meters Centerline goodness : 0.756731 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99657534e-01 -2.17817543e-02 1.45041299e-02 -2.93221488e+02] [ 2.18632134e-02 9.99745944e-01 -5.48157724e-03 1.73100253e+01] [-1.43810466e-02 5.79680687e-03 9.99879784e-01 1.55644658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.329072329 meters Centerline goodness : 0.758734 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.31, Z:155.64 [[ 9.99627749e-01 -2.24290482e-02 1.55338430e-02 -2.93223759e+02] [ 2.25190400e-02 9.99730490e-01 -5.64277137e-03 1.73096474e+01] [-1.54030945e-02 5.99047808e-03 9.99863420e-01 1.55644064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.35907232899996 meters Centerline goodness : 0.760802 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99594116e-01 -2.31438930e-02 1.66121653e-02 -2.93226015e+02] [ 2.32431039e-02 9.99712994e-01 -5.80413637e-03 1.73091543e+01] [-1.64730672e-02 6.18789885e-03 9.99845162e-01 1.55643315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.389072329 meters Centerline goodness : 0.762699 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99571572e-01 -2.33873070e-02 1.75984776e-02 -2.93227518e+02] [ 2.34827627e-02 9.99710524e-01 -5.23710229e-03 1.73069440e+01] [-1.74709016e-02 5.64811945e-03 9.99831419e-01 1.55641830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41907232899996 meters Centerline goodness : 0.760688 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99555350e-01 -2.36700933e-02 1.81336530e-02 -2.93228714e+02] [ 2.37695386e-02 9.99703478e-01 -5.28822206e-03 1.73067343e+01] [-1.80031033e-02 5.71689922e-03 9.99821587e-01 1.55641549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.449072329 meters Centerline goodness : 0.761989 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99536187e-01 -2.40157529e-02 1.87257595e-02 -2.93230171e+02] [ 2.41212721e-02 9.99694295e-01 -5.42958968e-03 1.73066627e+01] [-1.85896393e-02 5.87876051e-03 9.99809915e-01 1.55641457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47907232899996 meters Centerline goodness : 0.760167 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99622842e-01 -2.00369406e-02 1.87801934e-02 -2.93230667e+02] [ 2.00695839e-02 9.99797382e-01 -1.55129812e-03 1.73077998e+01] [-1.87453049e-02 1.92762370e-03 9.99822433e-01 1.55641554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.509072329 meters Centerline goodness : 0.759860 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99658397e-01 -1.91041211e-02 1.78359454e-02 -2.93229064e+02] [ 1.91282127e-02 9.99816341e-01 -1.18109313e-03 1.73079637e+01] [-1.78101059e-02 1.52185942e-03 9.99840229e-01 1.55642580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53907232899996 meters Centerline goodness : 0.759381 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99644911e-01 -1.93837846e-02 1.82844441e-02 -2.93230450e+02] [ 1.94136453e-02 9.99810476e-01 -1.45701649e-03 1.73083918e+01] [-1.82527363e-02 1.81146683e-03 9.99831764e-01 1.55642903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.569072329 meters Centerline goodness : 0.760019 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99661598e-01 -1.89160226e-02 1.78570093e-02 -2.93229640e+02] [ 1.89380869e-02 9.99820089e-01 -1.06730272e-03 1.73077984e+01] [-1.78336075e-02 1.40511913e-03 9.99839981e-01 1.55643158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59907232899997 meters Centerline goodness : 0.761497 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99643312e-01 -1.94956267e-02 1.82529402e-02 -2.93230256e+02] [ 1.95296193e-02 9.99807857e-01 -1.68589730e-03 1.73094925e+01] [-1.82165654e-02 2.04176894e-03 9.99831980e-01 1.55642716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.629072329 meters Centerline goodness : 0.760043 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99622979e-01 -1.98837710e-02 1.89350254e-02 -2.93231964e+02] [ 1.99230751e-02 9.99799731e-01 -1.88934735e-03 1.73095880e+01] [-1.88936659e-02 2.26587896e-03 9.99818931e-01 1.55642655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65907232899997 meters Centerline goodness : 0.760124 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99624207e-01 -1.97485651e-02 1.90115386e-02 -2.93231725e+02] [ 1.97844255e-02 9.99802824e-01 -1.69999469e-03 1.73094970e+01] [-1.89742175e-02 2.07548822e-03 9.99817819e-01 1.55642063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68907232899994 meters Centerline goodness : 0.759855 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99610049e-01 -1.99632288e-02 1.95248200e-02 -2.93232667e+02] [ 1.99997408e-02 9.99798580e-01 -1.67653625e-03 1.73092854e+01] [-1.94874183e-02 2.06637382e-03 9.99807967e-01 1.55641510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71907232899997 meters Centerline goodness : 0.760244 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99613461e-01 -1.99488569e-02 1.93641982e-02 -2.93232423e+02] [ 1.99877478e-02 9.99798574e-01 -1.81691406e-03 1.73101004e+01] [-1.93240524e-02 2.20325846e-03 9.99810845e-01 1.55641795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74907232899994 meters Centerline goodness : 0.761089 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99641260e-01 -1.91859766e-02 1.86882292e-02 -2.93230406e+02] [ 1.92142190e-02 9.99814501e-01 -1.33284475e-03 1.73102547e+01] [-1.86591906e-02 1.69144633e-03 9.99824471e-01 1.55641480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.779072329 meters Centerline goodness : 0.761089 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99641260e-01 -1.91859766e-02 1.86882292e-02 -2.93230406e+02] [ 1.92142190e-02 9.99814501e-01 -1.33284475e-03 1.73102547e+01] [-1.86591906e-02 1.69144633e-03 9.99824471e-01 1.55641480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.80907232899995 meters Centerline goodness : 0.761019 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.31, Z:155.64 [[ 9.99636462e-01 -1.93452648e-02 1.87804271e-02 -2.93230798e+02] [ 1.93788866e-02 9.99810916e-01 -1.60990452e-03 1.73111846e+01] [-1.87457320e-02 1.97326302e-03 9.99822336e-01 1.55641706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.839072329 meters Centerline goodness : 0.759684 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.32, Z:155.65 [[ 9.99843117e-01 -1.64914023e-02 6.46329364e-03 -2.93232283e+02] [ 1.65269423e-02 9.99848379e-01 -5.48446177e-03 1.73236770e+01] [-6.37186720e-03 5.59041983e-03 9.99964073e-01 1.55645454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.86907232899995 meters Centerline goodness : 0.759181 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99885810e-01 -1.32469600e-02 7.27224623e-03 -2.93234557e+02] [ 1.32638333e-02 9.99909439e-01 -2.27693001e-03 1.73256513e+01] [-7.24142525e-03 2.37312787e-03 9.99970965e-01 1.55645524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.899072329 meters Centerline goodness : 0.758464 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99940469e-01 -8.84673209e-03 6.38706627e-03 -2.93233634e+02] [ 8.83782188e-03 9.99959935e-01 1.42191939e-03 1.73276567e+01] [-6.39938971e-03 -1.36538699e-03 9.99978592e-01 1.55647130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.92907232899995 meters Centerline goodness : 0.759554 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99948130e-01 -8.50131542e-03 5.60942057e-03 -2.93232270e+02] [ 8.49494176e-03 9.99963246e-01 1.15909315e-03 1.73295316e+01] [-5.61906821e-03 -1.11138133e-03 9.99983595e-01 1.55647974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.959072329 meters Centerline goodness : 0.758891 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99963784e-01 -7.22021728e-03 4.50551144e-03 -2.93229426e+02] [ 7.21177017e-03 9.99972212e-01 1.88827869e-03 1.73294929e+01] [-4.51902002e-03 -1.85571759e-03 9.99988067e-01 1.55648011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.98907232899995 meters Centerline goodness : 0.757753 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99970800e-01 -6.65606432e-03 3.75448202e-03 -2.93227801e+02] [ 6.64869043e-03 9.99975951e-01 1.97309632e-03 1.73303455e+01] [-3.76752478e-03 -1.94807632e-03 9.99991005e-01 1.55648436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.019072329 meters Centerline goodness : 0.758715 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99980709e-01 -5.56541911e-03 2.75825989e-03 -2.93225835e+02] [ 5.55945914e-03 9.99982205e-01 2.16374998e-03 1.73320082e+01] [-2.77025298e-03 -2.14837380e-03 9.99993855e-01 1.55649248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.04907232899996 meters Centerline goodness : 0.757944 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99981494e-01 -5.50536832e-03 2.58909301e-03 -2.93225482e+02] [ 5.49990023e-03 9.99982640e-01 2.11437096e-03 1.73324839e+01] [-2.60068846e-03 -2.10009208e-03 9.99994413e-01 1.55649382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.079072329 meters Centerline goodness : 0.757963 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99978554e-01 -5.89425735e-03 2.85466851e-03 -2.93226122e+02] [ 5.88952717e-03 9.99981274e-01 1.66257742e-03 1.73336849e+01] [-2.86441472e-03 -1.64572912e-03 9.99994543e-01 1.55649357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.10907232899996 meters Centerline goodness : 0.757937 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99978621e-01 -5.84321013e-03 2.93505174e-03 -2.93226403e+02] [ 5.83807054e-03 9.99981415e-01 1.75663166e-03 1.73334931e+01] [-2.94526156e-03 -1.73945906e-03 9.99994150e-01 1.55649422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.139072329 meters Centerline goodness : 0.757212 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99976325e-01 -6.01353190e-03 3.34468713e-03 -2.93227314e+02] [ 6.00785634e-03 9.99980500e-01 1.70435544e-03 1.73335291e+01] [-3.35487110e-03 -1.68422069e-03 9.99992954e-01 1.55649226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16907232899996 meters Centerline goodness : 0.759233 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99974016e-01 -6.25734395e-03 3.57947961e-03 -2.93227614e+02] [ 6.25240011e-03 9.99979487e-01 1.39068983e-03 1.73345478e+01] [-3.58810821e-03 -1.36827336e-03 9.99992627e-01 1.55648855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.199072329 meters Centerline goodness : 0.758154 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99966399e-01 -6.87414988e-03 4.46610144e-03 -2.93229535e+02] [ 6.86903995e-03 9.99975737e-01 1.15849053e-03 1.73344496e+01] [-4.47395671e-03 -1.12777377e-03 9.99989356e-01 1.55648346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22907232899996 meters Centerline goodness : 0.757776 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99965095e-01 -6.89178505e-03 4.72359827e-03 -2.93230153e+02] [ 6.88571114e-03 9.99975447e-01 1.30092376e-03 1.73338572e+01] [-4.73244798e-03 -1.26835302e-03 9.99987998e-01 1.55648271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.259072329 meters Centerline goodness : 0.756865 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99955054e-01 -7.60064080e-03 5.66741292e-03 -2.93232735e+02] [ 7.59509982e-03 9.99970658e-01 9.98572774e-04 1.73334645e+01] [-5.67483642e-03 -9.55483325e-04 9.99983442e-01 1.55648431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28907232899996 meters Centerline goodness : 0.757836 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.33, Z:155.65 [[ 9.99950429e-01 -7.81204396e-03 6.17338829e-03 -2.93234283e+02] [ 7.80639339e-03 9.99969089e-01 9.38877259e-04 1.73332564e+01] [-6.18053201e-03 -8.90638821e-04 9.99980504e-01 1.55648791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.319072329 meters Centerline goodness : 0.758781 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.33, Z:155.65 [[ 9.99943596e-01 -8.18398411e-03 6.76956486e-03 -2.93235610e+02] [ 8.17990853e-03 9.99966346e-01 6.29513838e-04 1.73338418e+01] [-6.77448896e-03 -5.74103909e-04 9.99976888e-01 1.55648515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34907232899997 meters Centerline goodness : 0.755803 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.33, Z:155.65 [[ 9.99919517e-01 -9.83278192e-03 8.01717909e-03 -2.93238239e+02] [ 9.83487031e-03 9.99951612e-01 -2.21105611e-04 1.73331655e+01] [-8.01461707e-03 2.99935733e-04 9.99967837e-01 1.55647646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.379072329 meters Centerline goodness : 0.755362 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.33, Z:155.65 [[ 9.99925778e-01 -9.32274484e-03 7.84373288e-03 -2.93237853e+02] [ 9.31927624e-03 9.99956460e-01 4.78646437e-04 1.73313943e+01] [-7.84785366e-03 -4.05512998e-04 9.99969123e-01 1.55647629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40907232899997 meters Centerline goodness : 0.754132 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.33, Z:155.65 [[ 9.99939696e-01 -8.51335576e-03 6.93740474e-03 -2.93235434e+02] [ 8.51026303e-03 9.99963674e-01 4.75203551e-04 1.73334778e+01] [-6.94119831e-03 -4.16135756e-04 9.99975823e-01 1.55647619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43907232899994 meters Centerline goodness : 0.752614 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.33, Z:155.65 [[ 9.99968430e-01 -4.27671612e-03 6.69685548e-03 -2.93235171e+02] [ 4.24673536e-03 9.99980926e-01 4.48468070e-03 1.73343264e+01] [-6.71590746e-03 -4.45609935e-03 9.99967519e-01 1.55647883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46907232899997 meters Centerline goodness : 0.753212 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99974558e-01 -4.03364485e-03 5.88337138e-03 -2.93233462e+02] [ 4.00967187e-03 9.99983635e-01 4.08082133e-03 1.73366030e+01] [-5.89973568e-03 -4.05712711e-03 9.99974366e-01 1.55648446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49907232899994 meters Centerline goodness : 0.751966 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99985166e-01 -2.76010973e-03 4.69572351e-03 -2.93231084e+02] [ 2.73802178e-03 9.99985189e-01 4.70378689e-03 1.73367880e+01] [-4.70863692e-03 -4.69086012e-03 9.99977912e-01 1.55649268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.529072329 meters Centerline goodness : 0.752107 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99991443e-01 1.17689640e-03 3.96604724e-03 -2.93229876e+02] [-1.20682339e-03 9.99970756e-01 7.55187069e-03 1.73417215e+01] [-3.95704349e-03 -7.55659238e-03 9.99963619e-01 1.55650273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.55907232899995 meters Centerline goodness : 0.751830 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99992471e-01 7.58438197e-04 3.80563897e-03 -2.93229693e+02] [-7.83995744e-04 9.99977122e-01 6.71871282e-03 1.73443817e+01] [-3.80045618e-03 -6.72164584e-03 9.99970188e-01 1.55650584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.589072329 meters Centerline goodness : 0.750553 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99993758e-01 -2.18780600e-03 2.77439712e-03 -2.93227011e+02] [ 2.17838287e-03 9.99991864e-01 3.39494322e-03 1.73440748e+01] [-2.78180202e-03 -3.38887833e-03 9.99990388e-01 1.55650599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.61907232899995 meters Centerline goodness : 0.753457 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99989109e-01 -3.22768708e-03 3.37096016e-03 -2.93229156e+02] [ 3.22032035e-03 9.99992420e-01 2.18849753e-03 1.73462533e+01] [-3.37799839e-03 -2.17761812e-03 9.99991924e-01 1.55651327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.649072329 meters Centerline goodness : 0.751963 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.34, Z:155.65 [[ 9.99991314e-01 -2.79725233e-03 3.08988456e-03 -2.93228888e+02] [ 2.78882630e-03 9.99992390e-01 2.72792309e-03 1.73447422e+01] [-3.09749174e-03 -2.71928224e-03 9.99991505e-01 1.55651826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.67907232899995 meters Centerline goodness : 0.752965 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99994062e-01 -2.37040019e-03 2.50148908e-03 -2.93227705e+02] [ 2.36331726e-03 9.99993201e-01 2.83065264e-03 1.73451942e+01] [-2.50818185e-03 -2.82472402e-03 9.99992865e-01 1.55652253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.709072329 meters Centerline goodness : 0.753619 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99990965e-01 -2.96611340e-03 3.04499854e-03 -2.93228754e+02] [ 2.95918047e-03 9.99993025e-01 2.27881100e-03 1.73460396e+01] [-3.05173652e-03 -2.26977971e-03 9.99992767e-01 1.55651700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.73907232899995 meters Centerline goodness : 0.753451 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99989257e-01 -3.22195587e-03 3.33240661e-03 -2.93229382e+02] [ 3.21518666e-03 9.99992761e-01 2.03469381e-03 1.73465233e+01] [-3.33893818e-03 -2.02395764e-03 9.99992378e-01 1.55651462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.769072329 meters Centerline goodness : 0.752234 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99994923e-01 -2.23054936e-03 2.27557377e-03 -2.93226793e+02] [ 2.22485800e-03 9.99994399e-01 2.50053955e-03 1.73469316e+01] [-2.28113860e-03 -2.49546403e-03 9.99994285e-01 1.55651648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.79907232899996 meters Centerline goodness : 0.752165 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.35, Z:155.65 [[ 9.99997021e-01 1.81072649e-03 1.63662589e-03 -2.93225984e+02] [-1.82024035e-03 9.99981346e-01 5.83042082e-03 1.73502279e+01] [-1.62603806e-03 -5.83338251e-03 9.99981664e-01 1.55652787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.829072329 meters Centerline goodness : 0.754610 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.35, Z:155.66 [[ 9.99923017e-01 1.20085099e-02 -3.12326175e-03 -2.93212901e+02] [-1.19848379e-02 9.99900122e-01 7.49063536e-03 1.73539834e+01] [ 3.21290117e-03 -7.45262693e-03 9.99967067e-01 1.55658759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.85907232899996 meters Centerline goodness : 0.752548 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.36, Z:155.66 [[ 9.99907667e-01 1.28851309e-02 -4.31623445e-03 -2.93210052e+02] [-1.28543271e-02 9.99892243e-01 7.09002629e-03 1.73577465e+01] [ 4.40712526e-03 -7.03388936e-03 9.99965550e-01 1.55659367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.889072329 meters Centerline goodness : 0.754893 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.36, Z:155.66 [[ 9.99810779e-01 1.85610136e-02 -5.82189039e-03 -2.93206525e+02] [-1.84975713e-02 9.99770918e-01 1.07680547e-02 1.73614631e+01] [ 6.02042271e-03 -1.06583263e-02 9.99925074e-01 1.55660670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91907232899996 meters Centerline goodness : 0.753771 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.36, Z:155.66 [[ 9.99786809e-01 1.93979790e-02 -7.07497442e-03 -2.93203860e+02] [-1.93217155e-02 9.99756136e-01 1.06929392e-02 1.73636090e+01] [ 7.28067050e-03 -1.05539589e-02 9.99917800e-01 1.55661566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.949072329 meters Centerline goodness : 0.757202 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.66 [[ 9.99694781e-01 2.34163178e-02 -7.87530644e-03 -2.93203797e+02] [-2.33153711e-02 9.99647812e-01 1.26745656e-02 1.73705404e+01] [ 8.16932451e-03 -1.24870814e-02 9.99888661e-01 1.55664996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97907232899996 meters Centerline goodness : 0.756964 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99694106e-01 2.33209574e-02 -8.23575500e-03 -2.93204020e+02] [-2.32204044e-02 9.99657132e-01 1.21008898e-02 1.73722954e+01] [ 8.51513556e-03 -1.19059506e-02 9.99892865e-01 1.55666502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.009072329 meters Centerline goodness : 0.758505 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99751910e-01 2.01837062e-02 -9.41996444e-03 -2.93201849e+02] [-2.01041342e-02 9.99762040e-01 8.46677493e-03 1.73722892e+01] [ 9.58861377e-03 -8.27529418e-03 9.99919786e-01 1.55667325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03907232899996 meters Centerline goodness : 0.758043 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99787684e-01 1.77399359e-02 -1.04823966e-02 -2.93198856e+02] [-1.76808544e-02 9.99827421e-01 5.70231660e-03 1.73710115e+01] [ 1.05817463e-02 -5.51576818e-03 9.99928799e-01 1.55666839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.069072329 meters Centerline goodness : 0.756745 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99785983e-01 1.77693697e-02 -1.05941893e-02 -2.93198813e+02] [-1.77097890e-02 9.99826970e-01 5.69144553e-03 1.73709638e+01] [ 1.06934896e-02 -5.50260661e-03 9.99927683e-01 1.55667084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09907232899997 meters Centerline goodness : 0.756055 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99695535e-01 2.22259678e-02 -1.07165412e-02 -2.93198241e+02] [-2.21193021e-02 9.99705612e-01 9.97123917e-03 1.73712191e+01] [ 1.09350069e-02 -9.73116086e-03 9.99892859e-01 1.55667000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.129072329 meters Centerline goodness : 0.754759 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99769409e-01 1.82623036e-02 -1.12967417e-02 -2.93196531e+02] [-1.81973671e-02 9.99817448e-01 5.82458498e-03 1.73718636e+01] [ 1.14010498e-02 -5.61767093e-03 9.99919226e-01 1.55666435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15907232899997 meters Centerline goodness : 0.755250 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99757294e-01 1.87502139e-02 -1.15664516e-02 -2.93195818e+02] [-1.86768330e-02 9.99804961e-01 6.42001325e-03 1.73702605e+01] [ 1.16845723e-02 -6.20243038e-03 9.99912496e-01 1.55666229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18907232899994 meters Centerline goodness : 0.754670 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.37, Z:155.67 [[ 9.99741546e-01 1.92075637e-02 -1.21618463e-02 -2.93194287e+02] [-1.91273745e-02 9.99794767e-01 6.67585918e-03 1.73701925e+01] [ 1.22875773e-02 -6.44150959e-03 9.99903757e-01 1.55666205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21907232899997 meters Centerline goodness : 0.753854 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.37, Z:155.67 [[ 9.99726335e-01 1.95666399e-02 -1.28219259e-02 -2.93192275e+02] [-1.94829850e-02 9.99788291e-01 6.61712521e-03 1.73715971e+01] [ 1.29486863e-02 -6.36550495e-03 9.99895901e-01 1.55665900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24907232899994 meters Centerline goodness : 0.754411 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.37, Z:155.67 [[ 9.99730281e-01 1.94592822e-02 -1.26768008e-02 -2.93192781e+02] [-1.93784736e-02 9.99791308e-01 6.46648581e-03 1.73718144e+01] [ 1.27999885e-02 -6.21908462e-03 9.99898737e-01 1.55665986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.279072329 meters Centerline goodness : 0.754427 Centerline is valid? [False, False] Translation: X:-293.19, Y:17.37, Z:155.67 [[ 9.99792917e-01 1.55694983e-02 -1.31039797e-02 -2.93192027e+02] [-1.55364739e-02 9.99875874e-01 2.61822322e-03 1.73711160e+01] [ 1.31431175e-02 -2.41409140e-03 9.99910711e-01 1.55666169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.30907232899995 meters Centerline goodness : 0.755802 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99882176e-01 9.89180630e-03 -1.17382667e-02 -2.93195956e+02] [-9.92024507e-03 9.99947992e-01 -2.36699158e-03 1.73709931e+01] [ 1.17142424e-02 2.48315917e-03 9.99928303e-01 1.55666275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.339072329 meters Centerline goodness : 0.756627 Centerline is valid? [False, False] Translation: X:-293.20, Y:17.37, Z:155.67 [[ 9.99918638e-01 6.08991087e-03 -1.12085033e-02 -2.93197242e+02] [-6.15013671e-03 9.99966794e-01 -5.34662575e-03 1.73668442e+01] [ 1.11755706e-02 5.41512456e-03 9.99922889e-01 1.55665838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.36907232899995 meters Centerline goodness : 0.757457 Centerline is valid? [False, False] Translation: X:-293.21, Y:17.37, Z:155.66 [[ 9.99965351e-01 -5.98347021e-03 -5.78754782e-03 -2.93212960e+02] [ 5.92815452e-03 9.99937034e-01 -9.52810082e-03 1.73690279e+01] [ 5.84419451e-03 9.49346120e-03 9.99937858e-01 1.55661161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.399072329 meters Centerline goodness : 0.757499 Centerline is valid? [False, False] Translation: X:-293.22, Y:17.37, Z:155.66 [[ 9.99961027e-01 -7.66046197e-03 -4.38890538e-03 -2.93216418e+02] [ 7.61309421e-03 9.99913670e-01 -1.07095361e-02 1.73704587e+01] [ 4.47056648e-03 1.06757056e-02 9.99933019e-01 1.55661010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.42907232899995 meters Centerline goodness : 0.759701 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.37, Z:155.66 [[ 9.99925873e-01 -1.21740036e-02 2.04026979e-04 -2.93227077e+02] [ 1.21754059e-02 9.99879286e-01 -9.65259247e-03 1.73717355e+01] [-8.64916549e-05 9.65436107e-03 9.99953392e-01 1.55655852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.459072329 meters Centerline goodness : 0.757872 Centerline is valid? [False, False] Translation: X:-293.23, Y:17.37, Z:155.66 [[ 9.99917666e-01 -1.27695941e-02 1.26478439e-03 -2.93229431e+02] [ 1.27810367e-02 9.99873238e-01 -9.49488794e-03 1.73704384e+01] [-1.14337819e-03 9.51027144e-03 9.99954123e-01 1.55655222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.48907232899995 meters Centerline goodness : 0.757298 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.37, Z:155.65 [[ 9.99812045e-01 -1.83285366e-02 6.31976572e-03 -2.93241718e+02] [ 1.83828728e-02 9.99793605e-01 -8.64968578e-03 1.73712357e+01] [-6.15992527e-03 8.76423547e-03 9.99942620e-01 1.55650090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.519072329 meters Centerline goodness : 0.759491 Centerline is valid? [False, False] Translation: X:-293.24, Y:17.37, Z:155.65 [[ 9.99800246e-01 -1.86819521e-02 7.10296635e-03 -2.93243653e+02] [ 1.87438148e-02 9.99786075e-01 -8.74495800e-03 1.73709461e+01] [-6.93807396e-03 8.87634785e-03 9.99936535e-01 1.55649988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.54907232899996 meters Centerline goodness : 0.758288 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.37, Z:155.65 [[ 9.99752181e-01 -2.05915258e-02 8.45963658e-03 -2.93247517e+02] [ 2.06740456e-02 9.99738378e-01 -9.78571126e-03 1.73706683e+01] [-8.25592062e-03 9.95818109e-03 9.99916334e-01 1.55650264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.579072329 meters Centerline goodness : 0.759474 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.37, Z:155.65 [[ 9.99720514e-01 -2.15388871e-02 9.74529409e-03 -2.93250168e+02] [ 2.16364049e-02 9.99715749e-01 -1.00143974e-02 1.73698333e+01] [-9.52682500e-03 1.02224516e-02 9.99902366e-01 1.55649237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.60907232899996 meters Centerline goodness : 0.758245 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.37, Z:155.65 [[ 9.99706847e-01 -2.17854621e-02 1.05647338e-02 -2.93251651e+02] [ 2.18888731e-02 9.99712637e-01 -9.77351535e-03 1.73684888e+01] [-1.03487773e-02 1.00019003e-02 9.99896427e-01 1.55648246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.639072329 meters Centerline goodness : 0.757762 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.37, Z:155.65 [[ 9.99755028e-01 -1.88486506e-02 1.16022155e-02 -2.93254819e+02] [ 1.89233413e-02 9.99800697e-01 -6.36185805e-03 1.73685390e+01] [-1.14799907e-02 6.57985226e-03 9.99912454e-01 1.55648532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66907232899996 meters Centerline goodness : 0.757762 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.37, Z:155.65 [[ 9.99755028e-01 -1.88486506e-02 1.16022155e-02 -2.93254819e+02] [ 1.89233413e-02 9.99800697e-01 -6.36185805e-03 1.73685390e+01] [-1.14799907e-02 6.57985226e-03 9.99912454e-01 1.55648532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.699072329 meters Centerline goodness : 0.758347 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99754523e-01 -1.88497087e-02 1.16439468e-02 -2.93255263e+02] [ 1.89247930e-02 9.99800604e-01 -6.37217182e-03 1.73685815e+01] [-1.15215115e-02 6.59096688e-03 9.99911903e-01 1.55648979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72907232899996 meters Centerline goodness : 0.757752 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99708742e-01 -2.05147597e-02 1.27112224e-02 -2.93258992e+02] [ 2.06139560e-02 9.99757684e-01 -7.72257888e-03 1.73697750e+01] [-1.25497154e-02 7.98235820e-03 9.99889387e-01 1.55650220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.759072329 meters Centerline goodness : 0.759853 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99704679e-01 -2.04388456e-02 1.31456851e-02 -2.93259977e+02] [ 2.05363381e-02 9.99762277e-01 -7.32456471e-03 1.73683131e+01] [-1.29928544e-02 7.59236584e-03 9.99886764e-01 1.55649952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78907232899996 meters Centerline goodness : 0.758035 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99709055e-01 -2.01404786e-02 1.32727860e-02 -2.93260274e+02] [ 2.02312557e-02 9.99772602e-01 -6.74091652e-03 1.73664836e+01] [-1.31340025e-02 7.00748041e-03 9.99889190e-01 1.55649731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.819072329 meters Centerline goodness : 0.757680 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99697886e-01 -2.04086779e-02 1.36975063e-02 -2.93260643e+02] [ 2.05049959e-02 9.99765743e-01 -6.92856815e-03 1.73671844e+01] [-1.35528946e-02 7.20734225e-03 9.99882180e-01 1.55648798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84907232899997 meters Centerline goodness : 0.756962 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99647982e-01 -2.19068232e-02 1.49667562e-02 -2.93263395e+02] [ 2.20219726e-02 9.99728807e-01 -7.57266929e-03 1.73667987e+01] [-1.47968042e-02 7.89960106e-03 9.99859316e-01 1.55648118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.879072329 meters Centerline goodness : 0.754895 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99640391e-01 -2.19567334e-02 1.53944709e-02 -2.93264981e+02] [ 2.20705112e-02 9.99730054e-01 -7.26027792e-03 1.73652835e+01] [-1.52309033e-02 7.59743091e-03 9.99855139e-01 1.55648719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90907232899997 meters Centerline goodness : 0.756456 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99713269e-01 -1.83789644e-02 1.53490317e-02 -2.93265001e+02] [ 1.84465905e-02 9.99820704e-01 -4.27598451e-03 1.73696560e+01] [-1.52676915e-02 4.55789576e-03 9.99873054e-01 1.55648868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93907232899994 meters Centerline goodness : 0.757445 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99709541e-01 -1.86225345e-02 1.52981835e-02 -2.93264770e+02] [ 1.86983094e-02 9.99813528e-01 -4.82517141e-03 1.73718921e+01] [-1.52054739e-02 5.10982006e-03 9.99871333e-01 1.55648853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96907232899997 meters Centerline goodness : 0.757207 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99700496e-01 -1.89039252e-02 1.55422173e-02 -2.93265407e+02] [ 1.89868510e-02 9.99806183e-01 -5.20536998e-03 1.73731187e+01] [-1.54408031e-02 5.49890871e-03 9.99865663e-01 1.55648913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99907232899994 meters Centerline goodness : 0.756907 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99704017e-01 -1.87944320e-02 1.54482271e-02 -2.93264902e+02] [ 1.88761871e-02 9.99808495e-01 -5.16352064e-03 1.73736389e+01] [-1.53482232e-02 5.45359596e-03 9.99867336e-01 1.55648595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.029072329 meters Centerline goodness : 0.755745 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99728955e-01 -1.79607250e-02 1.48131161e-02 -2.93263219e+02] [ 1.80279702e-02 9.99827719e-01 -4.41858821e-03 1.73726000e+01] [-1.47312031e-02 4.68444099e-03 9.99880517e-01 1.55648481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.05907232899995 meters Centerline goodness : 0.755765 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.37, Z:155.65 [[ 9.99780231e-01 -1.43883570e-02 1.52468110e-02 -2.93264818e+02] [ 1.44056350e-02 9.99895709e-01 -1.02399730e-03 1.73747115e+01] [-1.52304873e-02 1.24341225e-03 9.99883236e-01 1.55648943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.089072329 meters Centerline goodness : 0.755232 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.38, Z:155.65 [[ 9.99780565e-01 -1.45007611e-02 1.51178705e-02 -2.93264706e+02] [ 1.45238419e-02 9.99893518e-01 -1.41804508e-03 1.73763436e+01] [-1.50956980e-02 1.63730347e-03 9.99884713e-01 1.55649301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.11907232899995 meters Centerline goodness : 0.755477 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99725035e-01 -1.70213936e-02 1.61284255e-02 -2.93268588e+02] [ 1.70882416e-02 9.99845920e-01 -4.01601795e-03 1.73798402e+01] [-1.60575822e-02 4.29052012e-03 9.99861863e-01 1.55651019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.149072329 meters Centerline goodness : 0.756390 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99722898e-01 -1.68574105e-02 1.64302986e-02 -2.93269212e+02] [ 1.69179372e-02 9.99850573e-01 -3.55183193e-03 1.73783898e+01] [-1.63679688e-02 3.82881447e-03 9.99858705e-01 1.55650756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.17907232899995 meters Centerline goodness : 0.755166 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99707676e-01 -1.70793996e-02 1.71130306e-02 -2.93270606e+02] [ 1.71415152e-02 9.99846984e-01 -3.48963205e-03 1.73778353e+01] [-1.70508112e-02 3.78195522e-03 9.99847472e-01 1.55650234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.209072329 meters Centerline goodness : 0.755418 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99711139e-01 -1.64926837e-02 1.74822609e-02 -2.93270999e+02] [ 1.65343570e-02 9.99860785e-01 -2.24188335e-03 1.73741375e+01] [-1.74428524e-02 2.53029370e-03 9.99844660e-01 1.55649320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.23907232899995 meters Centerline goodness : 0.753280 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99705750e-01 -1.64335554e-02 1.78423889e-02 -2.93271961e+02] [ 1.64712241e-02 9.99862407e-01 -1.96628629e-03 1.73731191e+01] [-1.78076209e-02 2.25959370e-03 9.99838878e-01 1.55649322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.269072329 meters Centerline goodness : 0.754782 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99716260e-01 -1.62842848e-02 1.73844999e-02 -2.93271628e+02] [ 1.63237582e-02 9.99864487e-01 -2.13112039e-03 1.73741273e+01] [-1.73474403e-02 2.41429608e-03 9.99846607e-01 1.55650563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.29907232899996 meters Centerline goodness : 0.754290 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99723054e-01 -1.60853972e-02 1.71777772e-02 -2.93271221e+02] [ 1.61222775e-02 9.99868006e-01 -2.01065098e-03 1.73743771e+01] [-1.71431677e-02 2.28703903e-03 9.99850429e-01 1.55650767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.329072329 meters Centerline goodness : 0.755968 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99718093e-01 -1.61538649e-02 1.74008044e-02 -2.93271825e+02] [ 1.61913838e-02 9.99866876e-01 -2.01742911e-03 1.73744427e+01] [-1.73658987e-02 2.29860349e-03 9.99846559e-01 1.55650810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.35907232899996 meters Centerline goodness : 0.754543 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99700885e-01 -1.64495407e-02 1.80984093e-02 -2.93273227e+02] [ 1.64878950e-02 9.99862121e-01 -1.97202349e-03 1.73738499e+01] [-1.80634750e-02 2.26983830e-03 9.99834266e-01 1.55650291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.389072329 meters Centerline goodness : 0.754064 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99663303e-01 -1.74588428e-02 1.91955460e-02 -2.93276223e+02] [ 1.75113706e-02 9.99843357e-01 -2.57177397e-03 1.73740335e+01] [-1.91476389e-02 2.90704838e-03 9.99812441e-01 1.55650502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41907232899996 meters Centerline goodness : 0.755071 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99650902e-01 -1.75917408e-02 1.97130366e-02 -2.93277519e+02] [ 1.76443064e-02 9.99841212e-01 -2.49578249e-03 1.73734800e+01] [-1.96660013e-02 2.84273407e-03 9.99802564e-01 1.55650416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.449072329 meters Centerline goodness : 0.754225 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99623232e-01 -1.81872953e-02 2.05576469e-02 -2.93279573e+02] [ 1.82465386e-02 9.99829878e-01 -2.69790821e-03 1.73730546e+01] [-2.05050819e-02 3.07199762e-03 9.99785029e-01 1.55650226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47907232899996 meters Centerline goodness : 0.753561 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99643716e-01 -1.75227140e-02 2.01344356e-02 -2.93278490e+02] [ 1.75652695e-02 9.99843839e-01 -1.93865045e-03 1.73716055e+01] [-2.00973209e-02 2.29162653e-03 9.99795402e-01 1.55650159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.509072329 meters Centerline goodness : 0.753757 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99637734e-01 -1.76649614e-02 2.03063970e-02 -2.93278900e+02] [ 1.77121657e-02 9.99840822e-01 -2.14709169e-03 1.73724032e+01] [-2.02652364e-02 2.50598414e-03 9.99791498e-01 1.55650120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53907232899996 meters Centerline goodness : 0.752813 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99622327e-01 -1.79575528e-02 2.08021351e-02 -2.93279612e+02] [ 1.80062084e-02 9.99835555e-01 -2.15401731e-03 1.73720415e+01] [-2.07600334e-02 2.52777137e-03 9.99781292e-01 1.55649300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.569072329 meters Centerline goodness : 0.753857 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99607279e-01 -1.82714023e-02 2.12472170e-02 -2.93280638e+02] [ 1.83266489e-02 9.99829152e-01 -2.40836438e-03 1.73725404e+01] [-2.11995827e-02 2.79680885e-03 9.99771352e-01 1.55649140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59907232899997 meters Centerline goodness : 0.752966 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99664024e-01 -1.63866513e-02 2.00827700e-02 -2.93278303e+02] [ 1.64092722e-02 9.99864896e-01 -9.62102766e-04 1.73712772e+01] [-2.00642911e-02 1.29132316e-03 9.99797858e-01 1.55649850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.629072329 meters Centerline goodness : 0.753134 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99686844e-01 -1.56154212e-02 1.95543406e-02 -2.93277588e+02] [ 1.56226963e-02 9.99877934e-01 -2.19328111e-04 1.73696519e+01] [-1.95485288e-02 5.24750951e-04 9.99808772e-01 1.55650551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65907232899997 meters Centerline goodness : 0.752433 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99713878e-01 -1.47854481e-02 1.88029874e-02 -2.93276400e+02] [ 1.47801114e-02 9.99890679e-01 4.22767268e-04 1.73687536e+01] [-1.88071826e-02 -1.44736057e-04 9.99823119e-01 1.55651407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68907232899994 meters Centerline goodness : 0.753999 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99667216e-01 -1.66559800e-02 1.96986393e-02 -2.93278051e+02] [ 1.66965311e-02 9.99858806e-01 -1.89589052e-03 1.73738200e+01] [-1.96642800e-02 2.22415854e-03 9.99804165e-01 1.55650950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71907232899997 meters Centerline goodness : 0.750951 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.37, Z:155.65 [[ 9.99699916e-01 -1.56368706e-02 1.88564764e-02 -2.93275807e+02] [ 1.56534681e-02 9.99877208e-01 -7.32915648e-04 1.73714477e+01] [-1.88427005e-02 1.02786496e-03 9.99821932e-01 1.55650613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74907232899994 meters Centerline goodness : 0.750659 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.37, Z:155.65 [[ 9.99734625e-01 -1.44497937e-02 1.79411084e-02 -2.93272903e+02] [ 1.44541295e-02 9.99895527e-01 -1.12011842e-04 1.73721466e+01] [-1.79376155e-02 3.71305220e-04 9.99839039e-01 1.55649954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.779072329 meters Centerline goodness : 0.751950 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99806827e-01 -1.00335547e-02 1.69007937e-02 -2.93271252e+02] [ 9.98025462e-03 9.99944963e-01 3.23509865e-03 1.73760064e+01] [-1.69323230e-02 -3.06579949e-03 9.99851938e-01 1.55651287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.80907232899995 meters Centerline goodness : 0.753206 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99829680e-01 -9.35198458e-03 1.59107316e-02 -2.93269397e+02] [ 9.30210013e-03 9.99951594e-01 3.20639474e-03 1.73777050e+01] [-1.59399476e-02 -3.05784541e-03 9.99868275e-01 1.55652266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.839072329 meters Centerline goodness : 0.752924 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99843329e-01 -9.20995972e-03 1.51160010e-02 -2.93268197e+02] [ 9.17175980e-03 9.99954573e-01 2.59450091e-03 1.73804528e+01] [-1.51392096e-02 -2.45545410e-03 9.99882381e-01 1.55653483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.86907232899995 meters Centerline goodness : 0.752679 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.38, Z:155.65 [[ 9.99868023e-01 -8.30952257e-03 1.39602148e-02 -2.93265162e+02] [ 8.27411111e-03 9.99962408e-01 2.59244387e-03 1.73830803e+01] [-1.39812320e-02 -2.47659336e-03 9.99899191e-01 1.55653614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.899072329 meters Centerline goodness : 0.750795 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.38, Z:155.65 [[ 9.99880461e-01 -7.79165341e-03 1.33549368e-02 -2.93263152e+02] [ 7.75467254e-03 9.99965960e-01 2.81863038e-03 1.73837930e+01] [-1.33764440e-02 -2.71473028e-03 9.99906846e-01 1.55652928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.92907232899995 meters Centerline goodness : 0.751438 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.38, Z:155.65 [[ 9.99902107e-01 -6.37824833e-03 1.24537167e-02 -2.93261129e+02] [ 6.32558436e-03 9.99970904e-01 4.26359619e-03 1.73808899e+01] [-1.24805486e-02 -4.18440178e-03 9.99913360e-01 1.55653053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.959072329 meters Centerline goodness : 0.751762 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.38, Z:155.65 [[ 9.99921881e-01 -5.22406331e-03 1.13552028e-02 -2.93259137e+02] [ 5.17128719e-03 9.99975714e-01 4.67215029e-03 1.73814304e+01] [-1.13793346e-02 -4.61306429e-03 9.99924612e-01 1.55654174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.98907232899995 meters Centerline goodness : 0.751903 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.38, Z:155.66 [[ 9.99938456e-01 -4.31246478e-03 1.02218373e-02 -2.93256878e+02] [ 4.26333448e-03 9.99979280e-01 4.82333255e-03 1.73827763e+01] [-1.02424260e-02 -4.77945659e-03 9.99936123e-01 1.55655049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.019072329 meters Centerline goodness : 0.750455 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99959126e-01 4.36649105e-04 9.03077987e-03 -2.93254752e+02] [-5.09304740e-04 9.99967512e-01 8.04459909e-03 1.73873521e+01] [-9.02697381e-03 -8.04886970e-03 9.99926862e-01 1.55656619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.04907232899996 meters Centerline goodness : 0.751150 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99965783e-01 1.03029130e-03 8.20804600e-03 -2.93253029e+02] [-1.09786266e-03 9.99965513e-01 8.23208434e-03 1.73878288e+01] [-8.19928149e-03 -8.24081396e-03 9.99932428e-01 1.55657079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.079072329 meters Centerline goodness : 0.752706 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99966995e-01 8.41923983e-04 8.08079210e-03 -2.93252830e+02] [-9.04010756e-04 9.99970079e-01 7.68267851e-03 1.73896328e+01] [-8.07408208e-03 -7.68973007e-03 9.99937837e-01 1.55657241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.10907232899996 meters Centerline goodness : 0.752335 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99965021e-01 6.29448293e-04 8.34028823e-03 -2.93253751e+02] [-6.91665913e-04 9.99971941e-01 7.45910532e-03 1.73897266e+01] [-8.33535909e-03 -7.46461310e-03 9.99937399e-01 1.55657484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.139072329 meters Centerline goodness : 0.751837 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99962727e-01 6.25692769e-04 8.61118443e-03 -2.93254940e+02] [-6.90831976e-04 9.99971157e-01 7.56359422e-03 1.73888684e+01] [-8.60620357e-03 -7.56926118e-03 9.99934318e-01 1.55657980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16907232899996 meters Centerline goodness : 0.753351 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99968688e-01 1.14411225e-03 7.83027643e-03 -2.93253287e+02] [-1.20220813e-03 9.99971758e-01 7.41870987e-03 1.73905908e+01] [-7.82156746e-03 -7.42789120e-03 9.99941823e-01 1.55658513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.199072329 meters Centerline goodness : 0.752632 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99973162e-01 1.28224844e-03 7.21332417e-03 -2.93252179e+02] [-1.33398893e-03 9.99973386e-01 7.17267333e-03 1.73919302e+01] [-7.20393505e-03 -7.18210332e-03 9.99948259e-01 1.55659124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22907232899996 meters Centerline goodness : 0.753616 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99975368e-01 1.19378013e-03 6.91655420e-03 -2.93251693e+02] [-1.24034632e-03 9.99976569e-01 6.73219812e-03 1.73936486e+01] [-6.90835538e-03 -6.74061122e-03 9.99953418e-01 1.55659490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.259072329 meters Centerline goodness : 0.753951 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99971921e-01 6.70014056e-04 7.46373415e-03 -2.93253523e+02] [-7.17795615e-04 9.99979256e-01 6.40099214e-03 1.73937225e+01] [-7.45929057e-03 -6.40616985e-03 9.99951659e-01 1.55659948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28907232899996 meters Centerline goodness : 0.754253 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.39, Z:155.66 [[ 9.99968558e-01 6.23553229e-04 7.90533741e-03 -2.93254949e+02] [-6.75518131e-04 9.99978173e-01 6.57242946e-03 1.73926523e+01] [-7.90106660e-03 -6.57756301e-03 9.99947153e-01 1.55660255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.319072329 meters Centerline goodness : 0.754754 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99954999e-01 -3.66094811e-03 8.75204771e-03 -2.93257740e+02] [ 3.63549648e-03 9.99989122e-01 2.92222044e-03 1.73894252e+01] [-8.76265060e-03 -2.89027090e-03 9.99957430e-01 1.55660869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34907232899997 meters Centerline goodness : 0.753442 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99933578e-01 -7.46332769e-03 8.78282484e-03 -2.93257064e+02] [ 7.46976843e-03 9.99971855e-01 -7.00757929e-04 1.73880641e+01] [-8.77734766e-03 7.66317051e-04 9.99961185e-01 1.55659904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.379072329 meters Centerline goodness : 0.753306 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99911397e-01 -8.86326882e-03 9.93176919e-03 -2.93260068e+02] [ 8.87610451e-03 9.99959827e-01 -1.24905414e-03 1.73871757e+01] [-9.92029950e-03 1.33709889e-03 9.99949899e-01 1.55659649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40907232899997 meters Centerline goodness : 0.754583 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99940937e-01 -5.14414923e-03 9.57390623e-03 -2.93259646e+02] [ 5.12768828e-03 9.99985334e-01 1.74310933e-03 1.73914512e+01] [-9.58273263e-03 -1.69391437e-03 9.99952650e-01 1.55660407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43907232899994 meters Centerline goodness : 0.753977 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99943798e-01 -5.09611105e-03 9.29679546e-03 -2.93259324e+02] [ 5.08077521e-03 9.99985694e-01 1.67245616e-03 1.73917487e+01] [-9.30518549e-03 -1.62512724e-03 9.99955385e-01 1.55660881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46907232899997 meters Centerline goodness : 0.754489 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99945676e-01 -5.07775111e-03 9.10279223e-03 -2.93258956e+02] [ 5.06543794e-03 9.99986225e-01 1.37522630e-03 1.73931572e+01] [-9.10964989e-03 -1.32904196e-03 9.99957623e-01 1.55661104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49907232899994 meters Centerline goodness : 0.755636 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.39, Z:155.66 [[ 9.99952823e-01 -4.65884358e-03 8.52334452e-03 -2.93257606e+02] [ 4.64650975e-03 9.99988130e-01 1.46629553e-03 1.73939357e+01] [-8.53007459e-03 -1.42662255e-03 9.99962601e-01 1.55661364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.529072329 meters Centerline goodness : 0.753760 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99941876e-01 -5.48160479e-03 9.28425614e-03 -2.93259324e+02] [ 5.47583755e-03 9.99984799e-01 6.46492260e-04 1.73955532e+01] [-9.28765882e-03 -5.95615604e-04 9.99956691e-01 1.55661065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.55907232899995 meters Centerline goodness : 0.755693 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99958038e-01 -1.31173992e-03 9.06655239e-03 -2.93258596e+02] [ 1.27093460e-03 9.99989045e-01 4.50494092e-03 1.73973112e+01] [-9.07236237e-03 -4.49322889e-03 9.99948750e-01 1.55660855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.589072329 meters Centerline goodness : 0.755693 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99958038e-01 -1.31173992e-03 9.06655239e-03 -2.93258596e+02] [ 1.27093460e-03 9.99989045e-01 4.50494092e-03 1.73973112e+01] [-9.07236237e-03 -4.49322889e-03 9.99948750e-01 1.55660855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.61907232899995 meters Centerline goodness : 0.755693 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99958038e-01 -1.31173992e-03 9.06655239e-03 -2.93258596e+02] [ 1.27093460e-03 9.99989045e-01 4.50494092e-03 1.73973112e+01] [-9.07236237e-03 -4.49322889e-03 9.99948750e-01 1.55660855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.649072329 meters Centerline goodness : 0.754414 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99964883e-01 -4.64805727e-04 8.36755430e-03 -2.93256797e+02] [ 4.21267011e-04 9.99986369e-01 5.20428934e-03 1.73964402e+01] [-8.36985922e-03 -5.20058161e-03 9.99951449e-01 1.55660740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.67907232899995 meters Centerline goodness : 0.752783 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99970401e-01 9.42751280e-05 7.69339080e-03 -2.93255326e+02] [-1.35459846e-04 9.99985664e-01 5.35291410e-03 1.73969370e+01] [-7.69277586e-03 -5.35379780e-03 9.99956078e-01 1.55661029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.709072329 meters Centerline goodness : 0.753921 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99973676e-01 3.00510946e-04 7.24958553e-03 -2.93255414e+02] [-3.37468571e-04 9.99986952e-01 5.09721044e-03 1.73977047e+01] [-7.24795917e-03 -5.09952277e-03 9.99960730e-01 1.55662645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.73907232899995 meters Centerline goodness : 0.755747 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99973520e-01 -1.87024489e-05 7.27731936e-03 -2.93256406e+02] [-1.37214608e-05 9.99990075e-01 4.45539891e-03 1.73992977e+01] [-7.27733045e-03 -4.45538079e-03 9.99963594e-01 1.55663839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.769072329 meters Centerline goodness : 0.757092 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.66 [[ 9.99974451e-01 -1.66799088e-04 7.14628842e-03 -2.93256861e+02] [ 1.37744455e-04 9.99991724e-01 4.06599487e-03 1.74003202e+01] [-7.14690748e-03 -4.06490663e-03 9.99966199e-01 1.55664883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.79907232899996 meters Centerline goodness : 0.758177 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99980087e-01 4.07660580e-04 6.29762821e-03 -2.93254786e+02] [-4.33119717e-04 9.99991738e-01 4.04182013e-03 1.74018484e+01] [-6.29592849e-03 -4.04446727e-03 9.99972001e-01 1.55665039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.829072329 meters Centerline goodness : 0.757120 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99983555e-01 6.52612315e-04 5.69774483e-03 -2.93253190e+02] [-6.74174230e-04 9.99992616e-01 3.78318924e-03 1.74037153e+01] [-5.69523381e-03 -3.78696830e-03 9.99976611e-01 1.55665018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.85907232899996 meters Centerline goodness : 0.754779 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.66 [[ 9.99986647e-01 1.41413018e-03 4.97046985e-03 -2.93251316e+02] [-1.43555950e-03 9.99989680e-01 4.31040617e-03 1.74033527e+01] [-4.96432308e-03 -4.31748401e-03 9.99978357e-01 1.55664940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.889072329 meters Centerline goodness : 0.754630 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99988376e-01 1.99730623e-03 4.38852658e-03 -2.93250398e+02] [-2.01798981e-03 9.99986854e-01 4.71374172e-03 1.74027498e+01] [-4.37905411e-03 -4.72254293e-03 9.99979261e-01 1.55665615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91907232899996 meters Centerline goodness : 0.757307 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99987582e-01 1.47882571e-03 4.75910088e-03 -2.93252291e+02] [-1.49819039e-03 9.99990603e-01 4.06799002e-03 1.74035699e+01] [-4.75304031e-03 -4.07506954e-03 9.99980401e-01 1.55666714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.949072329 meters Centerline goodness : 0.756705 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99992805e-01 -5.54690066e-04 3.75265277e-03 -2.93249567e+02] [ 5.49362252e-04 9.99998840e-01 1.42062769e-03 1.74026312e+01] [-3.75343642e-03 -1.41855590e-03 9.99991950e-01 1.55666656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97907232899996 meters Centerline goodness : 0.756092 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99993313e-01 -5.75185840e-04 3.61156089e-03 -2.93249645e+02] [ 5.70583163e-04 9.99999024e-01 1.27532961e-03 1.74030146e+01] [-3.61229091e-03 -1.27326039e-03 9.99992665e-01 1.55667147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.009072329 meters Centerline goodness : 0.755225 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99994281e-01 -5.25684495e-04 3.34097305e-03 -2.93249495e+02] [ 5.21654988e-04 9.99999136e-01 1.20684506e-03 1.74031359e+01] [-3.34160458e-03 -1.20509532e-03 9.99993691e-01 1.55667782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03907232899996 meters Centerline goodness : 0.757405 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99997491e-01 5.69415133e-04 2.16664522e-03 -2.93247105e+02] [-5.72762573e-04 9.99998643e-01 1.54468119e-03 1.74039194e+01] [-2.16576271e-03 -1.54591829e-03 9.99996460e-01 1.55668633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.069072329 meters Centerline goodness : 0.756764 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.41, Z:155.67 [[ 9.99997374e-01 1.48587145e-04 2.28669693e-03 -2.93247741e+02] [-1.50491624e-04 9.99999642e-01 8.32702088e-04 1.74059788e+01] [-2.28657238e-03 -8.33044031e-04 9.99997039e-01 1.55669112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09907232899997 meters Centerline goodness : 0.756545 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.41, Z:155.67 [[ 9.99998283e-01 6.28223473e-04 1.74334514e-03 -2.93247048e+02] [-6.30385136e-04 9.99999033e-01 1.23967899e-03 1.74050789e+01] [-1.74256466e-03 -1.24077584e-03 9.99997712e-01 1.55669965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.129072329 meters Centerline goodness : 0.754482 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99996882e-01 3.04290256e-05 2.49686921e-03 -2.93249144e+02] [-3.27709854e-05 9.99999560e-01 9.37923018e-04 1.74048156e+01] [-2.49683957e-03 -9.38001919e-04 9.99996443e-01 1.55669995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15907232899997 meters Centerline goodness : 0.756869 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99996135e-01 6.88169993e-05 2.77943349e-03 -2.93249600e+02] [-7.21719287e-05 9.99999269e-01 1.20697286e-03 1.74037712e+01] [-2.77934839e-03 -1.20716880e-03 9.99995409e-01 1.55669494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18907232899994 meters Centerline goodness : 0.753579 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99987565e-01 -3.79999564e-03 3.22965058e-03 -2.93249965e+02] [ 3.80656418e-03 9.99990694e-01 -2.03011532e-03 1.74007915e+01] [-3.22190610e-03 2.04238394e-03 9.99992724e-01 1.55668268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21907232899997 meters Centerline goodness : 0.753775 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99984166e-01 -3.98483529e-03 3.97347361e-03 -2.93251493e+02] [ 3.99167880e-03 9.99990561e-01 -1.71585753e-03 1.73992630e+01] [-3.96659869e-03 1.73169119e-03 9.99990634e-01 1.55667648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24907232899994 meters Centerline goodness : 0.754531 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99979951e-01 -4.03412823e-03 4.88084764e-03 -2.93252981e+02] [ 4.03983226e-03 9.99991168e-01 -1.15936104e-03 1.73973044e+01] [-4.87612752e-03 1.17905560e-03 9.99987417e-01 1.55666396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.279072329 meters Centerline goodness : 0.753013 Centerline is valid? [False, False] Translation: X:-293.25, Y:17.40, Z:155.67 [[ 9.99974237e-01 -4.42622709e-03 5.65101836e-03 -2.93254976e+02] [ 4.43352628e-03 9.99989353e-01 -1.27978738e-03 1.73970587e+01] [-5.64529356e-03 1.30480835e-03 9.99983214e-01 1.55666392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.30907232899995 meters Centerline goodness : 0.755147 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.67 [[ 9.99970368e-01 -4.70664775e-03 6.09184431e-03 -2.93256531e+02] [ 4.71580871e-03 9.99987770e-01 -1.49031768e-03 1.73972984e+01] [-6.08475540e-03 1.51900149e-03 9.99980334e-01 1.55666964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.339072329 meters Centerline goodness : 0.755077 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.67 [[ 9.99958288e-01 -5.76156748e-03 7.08713152e-03 -2.93259102e+02] [ 5.77877984e-03 9.99980397e-01 -2.41060310e-03 1.73989376e+01] [-7.07310374e-03 2.45145752e-03 9.99971980e-01 1.55667109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.36907232899995 meters Centerline goodness : 0.757241 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.67 [[ 9.99959974e-01 -5.46098010e-03 7.08724599e-03 -2.93258906e+02] [ 5.47495596e-03 9.99983103e-01 -1.95407326e-03 1.73980546e+01] [-7.07645508e-03 1.99279740e-03 9.99972976e-01 1.55666816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.399072329 meters Centerline goodness : 0.757088 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.67 [[ 9.99940978e-01 -7.04963071e-03 8.26703938e-03 -2.93261649e+02] [ 7.07771448e-03 9.99969265e-01 -3.37275475e-03 1.74005379e+01] [-8.24300861e-03 3.43106742e-03 9.99960139e-01 1.55666572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.42907232899995 meters Centerline goodness : 0.755152 Centerline is valid? [False, False] Translation: X:-293.26, Y:17.40, Z:155.67 [[ 9.99930440e-01 -7.50921811e-03 9.09539616e-03 -2.93263332e+02] [ 7.53902372e-03 9.99966309e-01 -3.24715812e-03 1.73993511e+01] [-9.07070611e-03 3.31550266e-03 9.99953364e-01 1.55665867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.459072329 meters Centerline goodness : 0.755183 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99921975e-01 -7.72830871e-03 9.81415235e-03 -2.93265028e+02] [ 7.75833413e-03 9.99965328e-01 -3.02502143e-03 1.73981358e+01] [-9.79043378e-03 3.10092687e-03 9.99947264e-01 1.55665614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.48907232899995 meters Centerline goodness : 0.756558 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99895871e-01 -9.21905690e-03 1.11021053e-02 -2.93268440e+02] [ 9.26132257e-03 9.99950038e-01 -3.76162019e-03 1.73974647e+01] [-1.10668720e-02 3.86404867e-03 9.99931294e-01 1.55665637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.519072329 meters Centerline goodness : 0.756051 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99891569e-01 -9.34665003e-03 1.13794207e-02 -2.93269190e+02] [ 9.39080879e-03 9.99948558e-01 -3.83335071e-03 1.73975654e+01] [-1.13430064e-02 3.93979702e-03 9.99927905e-01 1.55665670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.54907232899996 meters Centerline goodness : 0.757019 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99890264e-01 -9.35361088e-03 1.14877895e-02 -2.93269657e+02] [ 9.39743767e-03 9.99948747e-01 -3.76703911e-03 1.73973906e+01] [-1.14519653e-02 3.87458152e-03 9.99926917e-01 1.55665880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.579072329 meters Centerline goodness : 0.756655 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99898164e-01 -8.92410183e-03 1.11365123e-02 -2.93268526e+02] [ 8.96236875e-03 9.99954087e-01 -3.39100351e-03 1.73972288e+01] [-1.11057393e-02 3.49046772e-03 9.99932237e-01 1.55665630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.60907232899996 meters Centerline goodness : 0.758167 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99887748e-01 -9.30970700e-03 1.17397048e-02 -2.93270050e+02] [ 9.35304082e-03 9.99949628e-01 -3.64173309e-03 1.73975975e+01] [-1.17052099e-02 3.75112624e-03 9.99924456e-01 1.55665568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.639072329 meters Centerline goodness : 0.755514 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99886818e-01 -9.24292999e-03 1.18709798e-02 -2.93270539e+02] [ 9.28519944e-03 9.99950729e-01 -3.51057246e-03 1.73971396e+01] [-1.18379469e-02 3.62039954e-03 9.99923375e-01 1.55665760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66907232899996 meters Centerline goodness : 0.756793 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99887628e-01 -9.11113799e-03 1.19045357e-02 -2.93270735e+02] [ 9.15067577e-03 9.99952782e-01 -3.27099896e-03 1.73965274e+01] [-1.18741711e-02 3.37956594e-03 9.99923788e-01 1.55665837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.699072329 meters Centerline goodness : 0.757125 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99876272e-01 -9.46049780e-03 1.25673914e-02 -2.93272282e+02] [ 9.50481276e-03 9.99948804e-01 -3.47114916e-03 1.73967937e+01] [-1.25339092e-02 3.59017039e-03 9.99915002e-01 1.55665644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72907232899996 meters Centerline goodness : 0.755291 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.40, Z:155.67 [[ 9.99869701e-01 -9.44104011e-03 1.30938296e-02 -2.93273394e+02] [ 9.48225844e-03 9.99950270e-01 -3.08941664e-03 1.73953907e+01] [-1.30640112e-02 3.21317317e-03 9.99909499e-01 1.55665208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.759072329 meters Centerline goodness : 0.755481 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99833501e-01 -1.10754953e-02 1.45018589e-02 -2.93276617e+02] [ 1.11304236e-02 9.99931163e-01 -3.71245215e-03 1.73941950e+01] [-1.44597434e-02 3.87324586e-03 9.99887951e-01 1.55664523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78907232899996 meters Centerline goodness : 0.755324 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99824752e-01 -1.13101859e-02 1.49179510e-02 -2.93277352e+02] [ 1.13688490e-02 9.99927947e-01 -3.85345657e-03 1.73946772e+01] [-1.48732928e-02 4.02238119e-03 9.99881296e-01 1.55664054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.819072329 meters Centerline goodness : 0.754828 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99809155e-01 -1.19406826e-02 1.54619788e-02 -2.93278488e+02] [ 1.20091637e-02 9.99918453e-01 -4.34375054e-03 1.73957363e+01] [-1.54088506e-02 4.52860699e-03 9.99871021e-01 1.55663765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84907232899997 meters Centerline goodness : 0.755858 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99815885e-01 -1.17154010e-02 1.51968821e-02 -2.93277993e+02] [ 1.17791530e-02 9.99922167e-01 -4.11236117e-03 1.73954170e+01] [-1.51475213e-02 4.29061042e-03 9.99876064e-01 1.55664009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.879072329 meters Centerline goodness : 0.756440 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99805643e-01 -1.20042062e-02 1.56388939e-02 -2.93279303e+02] [ 1.20736549e-02 9.99917632e-01 -4.35394569e-03 1.73960292e+01] [-1.55853401e-02 4.54191808e-03 9.99868225e-01 1.55664308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90907232899997 meters Centerline goodness : 0.758656 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99771813e-01 -1.51323856e-02 1.50775906e-02 -2.93277442e+02] [ 1.52496009e-02 9.99854148e-01 -7.68973081e-03 1.73955092e+01] [-1.49590275e-02 7.91790335e-03 9.99856757e-01 1.55664084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93907232899994 meters Centerline goodness : 0.759194 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99760256e-01 -1.55822962e-02 1.53825416e-02 -2.93278394e+02] [ 1.57110675e-02 9.99842238e-01 -8.28620798e-03 1.73971881e+01] [-1.52509967e-02 8.52589756e-03 9.99847346e-01 1.55664294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96907232899997 meters Centerline goodness : 0.758446 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99775291e-01 -1.50807292e-02 1.48976221e-02 -2.93277012e+02] [ 1.51976984e-02 9.99854320e-01 -7.76977057e-03 1.73964849e+01] [-1.47782780e-02 7.99443419e-03 9.99858836e-01 1.55664035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99907232899994 meters Centerline goodness : 0.757077 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99768302e-01 -1.51086626e-02 1.53319896e-02 -2.93277334e+02] [ 1.52249891e-02 9.99855972e-01 -7.49902221e-03 1.73956964e+01] [-1.52164812e-02 7.73071408e-03 9.99854337e-01 1.55662900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.029072329 meters Centerline goodness : 0.758466 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99775978e-01 -1.47388136e-02 1.51908564e-02 -2.93276790e+02] [ 1.48492329e-02 9.99863952e-01 -7.18181580e-03 1.73955694e+01] [-1.50829383e-02 7.40577947e-03 9.99858820e-01 1.55662623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.05907232899995 meters Centerline goodness : 0.754966 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99776099e-01 -1.45071881e-02 1.54043288e-02 -2.93277494e+02] [ 1.46112586e-02 9.99871036e-01 -6.66500848e-03 1.73939375e+01] [-1.53056517e-02 6.88859281e-03 9.99859132e-01 1.55662705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.089072329 meters Centerline goodness : 0.755185 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99779075e-01 -1.43541865e-02 1.53544290e-02 -2.93277494e+02] [ 1.44558469e-02 9.99874182e-01 -6.53054220e-03 1.73938763e+01] [-1.52587565e-02 6.75106071e-03 9.99860787e-01 1.55662848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.11907232899995 meters Centerline goodness : 0.756335 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99779343e-01 -1.41914266e-02 1.54877262e-02 -2.93277551e+02] [ 1.42888390e-02 9.99878704e-01 -6.19721421e-03 1.73931860e+01] [-1.53979003e-02 6.41714838e-03 9.99860853e-01 1.55662432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.149072329 meters Centerline goodness : 0.755137 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99771760e-01 -1.42780749e-02 1.58922601e-02 -2.93278355e+02] [ 1.43750364e-02 9.99878649e-01 -6.00375352e-03 1.73923458e+01] [-1.58046095e-02 6.23083504e-03 9.99855685e-01 1.55662028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.17907232899995 meters Centerline goodness : 0.754241 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99811814e-01 -1.16866742e-02 1.54841550e-02 -2.93275510e+02] [ 1.17351673e-02 9.99926505e-01 -3.04463678e-03 1.73898162e+01] [-1.54474353e-02 3.22577297e-03 9.99875478e-01 1.55659717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.209072329 meters Centerline goodness : 0.754802 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99817075e-01 -1.15063668e-02 1.52780982e-02 -2.93275003e+02] [ 1.15532020e-02 9.99928817e-01 -2.98079456e-03 1.73902993e+01] [-1.52427125e-02 3.15676025e-03 9.99878840e-01 1.55659765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.23907232899995 meters Centerline goodness : 0.757063 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99794441e-01 -1.26138332e-02 1.58734683e-02 -2.93277411e+02] [ 1.26819551e-02 9.99910767e-01 -4.19823710e-03 1.73924780e+01] [-1.58190960e-02 4.39868073e-03 9.99865195e-01 1.55660963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.269072329 meters Centerline goodness : 0.756723 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99799139e-01 -1.24379017e-02 1.57155944e-02 -2.93277332e+02] [ 1.25031850e-02 9.99913579e-01 -4.06263508e-03 1.73924021e+01] [-1.56637056e-02 4.25831404e-03 9.99868249e-01 1.55661356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.29907232899996 meters Centerline goodness : 0.755849 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99794022e-01 -1.26243752e-02 1.58914634e-02 -2.93278014e+02] [ 1.26959052e-02 9.99909686e-01 -4.40834776e-03 1.73934250e+01] [-1.58343755e-02 4.60919625e-03 9.99864005e-01 1.55661701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.329072329 meters Centerline goodness : 0.756860 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99809235e-01 -1.21222739e-02 1.53148303e-02 -2.93276540e+02] [ 1.21852231e-02 9.99917662e-01 -4.02373686e-03 1.73933422e+01] [-1.52647925e-02 4.20958390e-03 9.99874625e-01 1.55661645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.35907232899996 meters Centerline goodness : 0.757141 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99793787e-01 -1.27387987e-02 1.58147482e-02 -2.93277377e+02] [ 1.28139435e-02 9.99907042e-01 -4.65936288e-03 1.73950427e+01] [-1.57539234e-02 4.86105135e-03 9.99864083e-01 1.55661135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.389072329 meters Centerline goodness : 0.756927 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99790369e-01 -1.26188154e-02 1.61240075e-02 -2.93277719e+02] [ 1.26875535e-02 9.99910823e-01 -4.16792734e-03 1.73936670e+01] [-1.60699753e-02 4.37162782e-03 9.99861313e-01 1.55660472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41907232899996 meters Centerline goodness : 0.756055 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99747627e-01 -1.43013545e-02 1.73249379e-02 -2.93281406e+02] [ 1.43901163e-02 9.99883908e-01 -5.00956564e-03 1.73927920e+01] [-1.72512830e-02 5.25760924e-03 9.99837362e-01 1.55661031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.449072329 meters Centerline goodness : 0.755651 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99720472e-01 -1.49874450e-02 1.82853684e-02 -2.93284159e+02] [ 1.50845437e-02 9.99872784e-01 -5.18385764e-03 1.73919491e+01] [-1.82053494e-02 5.45823504e-03 9.99819370e-01 1.55661336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47907232899996 meters Centerline goodness : 0.755651 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99720472e-01 -1.49874450e-02 1.82853684e-02 -2.93284159e+02] [ 1.50845437e-02 9.99872784e-01 -5.18385764e-03 1.73919491e+01] [-1.82053494e-02 5.45823504e-03 9.99819370e-01 1.55661336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.509072329 meters Centerline goodness : 0.755570 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99676433e-01 -1.64379413e-02 1.94119298e-02 -2.93287289e+02] [ 1.65565970e-02 9.99845121e-01 -5.96769112e-03 1.73915004e+01] [-1.93108267e-02 6.28715567e-03 9.99793761e-01 1.55661508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53907232899996 meters Centerline goodness : 0.755193 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99702284e-01 -1.55264054e-02 1.88221767e-02 -2.93285284e+02] [ 1.56231807e-02 9.99865422e-01 -5.00545401e-03 1.73901581e+01] [-1.87419270e-02 5.29802607e-03 9.99810318e-01 1.55660774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.569072329 meters Centerline goodness : 0.754467 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99707157e-01 -1.54768910e-02 1.86028348e-02 -2.93284558e+02] [ 1.55742115e-02 9.99865718e-01 -5.09804083e-03 1.73910646e+01] [-1.85214349e-02 5.38627239e-03 9.99813955e-01 1.55660554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59907232899997 meters Centerline goodness : 0.753978 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99716385e-01 -1.52171845e-02 1.83190346e-02 -2.93283359e+02] [ 1.53096730e-02 9.99870700e-01 -4.91914837e-03 1.73914343e+01] [-1.82418104e-02 5.19821165e-03 9.99820091e-01 1.55659895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.629072329 meters Centerline goodness : 0.753382 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.39, Z:155.66 [[ 9.99700417e-01 -1.56031519e-02 1.88578109e-02 -2.93284427e+02] [ 1.57023431e-02 9.99863584e-01 -5.12337398e-03 1.73917364e+01] [-1.87752976e-02 5.41795092e-03 9.99809049e-01 1.55659455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65907232899997 meters Centerline goodness : 0.752841 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99674530e-01 -1.61225936e-02 1.97710663e-02 -2.93286830e+02] [ 1.62290833e-02 9.99854582e-01 -5.23756184e-03 1.73911151e+01] [-1.96837481e-02 5.55672346e-03 9.99790815e-01 1.55659520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68907232899994 meters Centerline goodness : 0.753986 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99676285e-01 -1.58923977e-02 1.98684893e-02 -2.93287300e+02] [ 1.59908687e-02 9.99860582e-01 -4.80711871e-03 1.73897951e+01] [-1.97893226e-02 5.12327698e-03 9.99791046e-01 1.55659708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71907232899997 meters Centerline goodness : 0.755179 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99647140e-01 -1.66267300e-02 2.07158633e-02 -2.93290001e+02] [ 1.67367829e-02 9.99846665e-01 -5.15048219e-03 1.73893844e+01] [-2.06270511e-02 5.49538170e-03 9.99772137e-01 1.55660433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74907232899994 meters Centerline goodness : 0.755137 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99624855e-01 -1.71032162e-02 2.13922832e-02 -2.93291529e+02] [ 1.72267085e-02 9.99835916e-01 -5.60183846e-03 1.73903591e+01] [-2.12929636e-02 5.96825558e-03 9.99755465e-01 1.55660173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.779072329 meters Centerline goodness : 0.754789 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99548223e-01 -2.07727841e-02 2.17219254e-02 -2.93291560e+02] [ 2.09672195e-02 9.99741768e-01 -8.76197916e-03 1.73874651e+01] [-2.15343054e-02 9.21346908e-03 9.99725655e-01 1.55659198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.80907232899995 meters Centerline goodness : 0.753709 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99533159e-01 -2.09452320e-02 2.22432312e-02 -2.93292469e+02] [ 2.11421234e-02 9.99739027e-01 -8.65375951e-03 1.73870090e+01] [-2.20561713e-02 9.11998872e-03 9.99715135e-01 1.55658587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.839072329 meters Centerline goodness : 0.753680 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99507987e-01 -2.14437759e-02 2.28899302e-02 -2.93293964e+02] [ 2.16532993e-02 9.99725521e-01 -8.94522511e-03 1.73873749e+01] [-2.26918280e-02 9.43646645e-03 9.99697971e-01 1.55658361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.86907232899995 meters Centerline goodness : 0.752682 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99499480e-01 -2.14461476e-02 2.32562499e-02 -2.93294585e+02] [ 2.16511878e-02 9.99728589e-01 -8.60087238e-03 1.73862868e+01] [-2.30654823e-02 9.10009290e-03 9.99692539e-01 1.55657887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.899072329 meters Centerline goodness : 0.750711 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99495792e-01 -2.13313987e-02 2.35187766e-02 -2.93294812e+02] [ 2.15299661e-02 9.99734392e-01 -8.22226384e-03 1.73852994e+01] [-2.33371374e-02 8.72447658e-03 9.99689583e-01 1.55657211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.92907232899995 meters Centerline goodness : 0.750486 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.38, Z:155.66 [[ 9.99488595e-01 -2.12676386e-02 2.38796175e-02 -2.93295125e+02] [ 2.14615938e-02 9.99738496e-01 -7.89548407e-03 1.73843516e+01] [-2.37054546e-02 8.40394093e-03 9.99683663e-01 1.55656277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.959072329 meters Centerline goodness : 0.749346 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.38, Z:155.66 [[ 9.99486654e-01 -2.10646431e-02 2.41393861e-02 -2.93295615e+02] [ 2.12473119e-02 9.99747336e-01 -7.33588887e-03 1.73824871e+01] [-2.39787591e-02 7.84502009e-03 9.99681687e-01 1.55655913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.98907232899995 meters Centerline goodness : 0.752355 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.38, Z:155.66 [[ 9.99514975e-01 -2.04283914e-02 2.35052387e-02 -2.93294047e+02] [ 2.05980163e-02 9.99763353e-01 -6.99710681e-03 1.73828526e+01] [-2.33567366e-02 7.47787432e-03 9.99699227e-01 1.55656025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.019072329 meters Centerline goodness : 0.751208 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99520773e-01 -2.05750321e-02 2.31277589e-02 -2.93293791e+02] [ 2.07572207e-02 9.99755161e-01 -7.66519332e-03 1.73854138e+01] [-2.29643848e-02 8.14158794e-03 9.99703132e-01 1.55657139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.04907232899996 meters Centerline goodness : 0.751975 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99556360e-01 -1.97339456e-02 2.23081684e-02 -2.93291701e+02] [ 1.99024358e-02 9.99774864e-01 -7.35620510e-03 1.73863879e+01] [-2.21579791e-02 7.79692848e-03 9.99724078e-01 1.55657258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.079072329 meters Centerline goodness : 0.752353 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99584269e-01 -1.91211101e-02 2.15794297e-02 -2.93290058e+02] [ 1.92750889e-02 9.99790061e-01 -6.95012860e-03 1.73863469e+01] [-2.14420052e-02 7.36318464e-03 9.99742979e-01 1.55657557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.10907232899996 meters Centerline goodness : 0.752853 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99580037e-01 -1.96091002e-02 2.13362007e-02 -2.93288883e+02] [ 1.97858129e-02 9.99771406e-01 -8.10293625e-03 1.73904238e+01] [-2.11724321e-02 8.52168739e-03 9.99739521e-01 1.55657009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.139072329 meters Centerline goodness : 0.752393 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.39, Z:155.66 [[ 9.99615183e-01 -1.88668761e-02 2.03353852e-02 -2.93286676e+02] [ 1.90260491e-02 9.99789625e-01 -7.66253135e-03 1.73903067e+01] [-2.01865392e-02 8.04648472e-03 9.99763851e-01 1.55657371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16907232899996 meters Centerline goodness : 0.751744 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.66 [[ 9.99728540e-01 -1.21159295e-02 1.99010256e-02 -2.93285254e+02] [ 1.21599104e-02 9.99923880e-01 -2.09045887e-03 1.73989659e+01] [-1.98741828e-02 2.33188608e-03 9.99799770e-01 1.55657117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.199072329 meters Centerline goodness : 0.752349 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99745361e-01 -1.19442368e-02 1.91454749e-02 -2.93283585e+02] [ 1.19929050e-02 9.99925132e-01 -2.42921915e-03 1.74008985e+01] [-1.91150263e-02 2.65821044e-03 9.99813757e-01 1.55657499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22907232899996 meters Centerline goodness : 0.752997 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99774861e-01 -1.08505631e-02 1.82343582e-02 -2.93280526e+02] [ 1.08889605e-02 9.99938698e-01 -2.00780456e-03 1.74027069e+01] [-1.82114546e-02 2.20590573e-03 9.99831724e-01 1.55656819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.259072329 meters Centerline goodness : 0.755642 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.41, Z:155.66 [[ 9.99790697e-01 -1.06227360e-02 1.74848290e-02 -2.93279402e+02] [ 1.06727592e-02 9.99939207e-01 -2.77012080e-03 1.74063296e+01] [-1.74543398e-02 2.95615238e-03 9.99843291e-01 1.55658203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28907232899996 meters Centerline goodness : 0.755277 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.41, Z:155.66 [[ 9.99781719e-01 -1.06775630e-02 1.79584043e-02 -2.93280913e+02] [ 1.07247670e-02 9.99939277e-01 -2.53426377e-03 1.74050592e+01] [-1.79302540e-02 2.72631029e-03 9.99835523e-01 1.55658541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.319072329 meters Centerline goodness : 0.753522 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99772209e-01 -1.07770909e-02 1.84223923e-02 -2.93282101e+02] [ 1.08245169e-02 9.99938346e-01 -2.47658986e-03 1.74046002e+01] [-1.83945660e-02 2.67543921e-03 9.99827226e-01 1.55658484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34907232899997 meters Centerline goodness : 0.753054 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99785106e-01 -1.02664533e-02 1.80094675e-02 -2.93280473e+02] [ 1.03035059e-02 9.99944985e-01 -1.96581055e-03 1.74040930e+01] [-1.79882948e-02 2.15094877e-03 9.99835884e-01 1.55657689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.379072329 meters Centerline goodness : 0.752618 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99803201e-01 -9.35237276e-03 1.74954769e-02 -2.93278162e+02] [ 9.36946368e-03 9.99955705e-01 -8.95161706e-04 1.74023085e+01] [-1.74863301e-02 1.05890877e-03 9.99846542e-01 1.55656323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40907232899997 meters Centerline goodness : 0.752160 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.40, Z:155.66 [[ 9.99793592e-01 -9.16931965e-03 1.81300111e-02 -2.93280096e+02] [ 9.17101057e-03 9.99957945e-01 -1.01249602e-05 1.73985886e+01] [-1.81291559e-02 1.76393394e-04 9.99835638e-01 1.55656562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43907232899994 meters Centerline goodness : 0.752408 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99802791e-01 -7.95415606e-04 1.98430245e-02 -2.93291787e+02] [ 8.96935992e-04 9.99986553e-01 -5.10779990e-03 1.74079103e+01] [-1.98386948e-02 5.12459053e-03 9.99790060e-01 1.55652810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46907232899997 meters Centerline goodness : 0.754076 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99807529e-01 -8.16795785e-04 1.96019874e-02 -2.93292189e+02] [ 9.25845303e-04 9.99984144e-01 -5.55475671e-03 1.74093673e+01] [-1.95971395e-02 5.57183599e-03 9.99792432e-01 1.55654257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49907232899994 meters Centerline goodness : 0.754008 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99814032e-01 -5.78692188e-04 1.92760859e-02 -2.93291747e+02] [ 6.85032209e-04 9.99984582e-01 -5.51053515e-03 1.74096512e+01] [-1.92725998e-02 5.52271511e-03 9.99799013e-01 1.55654828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.529072329 meters Centerline goodness : 0.753940 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99818249e-01 1.86526391e-04 1.90639237e-02 -2.93290891e+02] [-1.02067214e-04 9.99990177e-01 -4.43119148e-03 1.74068612e+01] [-1.90645630e-02 4.42844030e-03 9.99808447e-01 1.55654203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.55907232899995 meters Centerline goodness : 0.752279 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99812608e-01 3.17298135e-04 1.93558523e-02 -2.93291148e+02] [-2.41234940e-04 9.99992241e-01 -3.93193426e-03 1.74052376e+01] [-1.93569497e-02 3.92652814e-03 9.99804926e-01 1.55653402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.589072329 meters Centerline goodness : 0.752124 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99821480e-01 -2.65432429e-03 1.87072689e-02 -2.93289081e+02] [ 2.78239160e-03 9.99972851e-01 -6.82315857e-03 1.74026691e+01] [-1.86886502e-02 6.87399145e-03 9.99801722e-01 1.55652761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.61907232899995 meters Centerline goodness : 0.752656 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99836298e-01 -2.14464281e-03 1.79660301e-02 -2.93287796e+02] [ 2.26420731e-03 9.99975409e-01 -6.63733668e-03 1.74030133e+01] [-1.79513536e-02 6.67692895e-03 9.99816567e-01 1.55653679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.649072329 meters Centerline goodness : 0.754644 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99844146e-01 -1.99067821e-03 1.75419902e-02 -2.93286955e+02] [ 2.11152254e-03 9.99974151e-01 -6.87303381e-03 1.74045254e+01] [-1.75278548e-02 6.90900292e-03 9.99822504e-01 1.55654107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.67907232899995 meters Centerline goodness : 0.755233 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99840828e-01 -2.19018473e-03 1.77065296e-02 -2.93287712e+02] [ 2.31763887e-03 9.99971532e-01 -7.18083075e-03 1.74053302e+01] [-1.76902981e-02 7.22072510e-03 9.99817441e-01 1.55654612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.709072329 meters Centerline goodness : 0.754740 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.66 [[ 9.99819226e-01 -3.49834207e-03 1.86889546e-02 -2.93290643e+02] [ 3.65856392e-03 9.99956791e-01 -8.54577668e-03 1.74077692e+01] [-1.86582510e-02 8.61260656e-03 9.99788824e-01 1.55655264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.73907232899995 meters Centerline goodness : 0.755042 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.66 [[ 9.99810360e-01 -3.85601136e-03 1.90885941e-02 -2.93292035e+02] [ 4.02296021e-03 9.99953928e-01 -8.71533968e-03 1.74076190e+01] [-1.90541082e-02 8.79047956e-03 9.99779810e-01 1.55655712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.769072329 meters Centerline goodness : 0.755258 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.65 [[ 9.99810677e-01 -3.60393478e-03 1.91212631e-02 -2.93291578e+02] [ 3.76155510e-03 9.99959193e-01 -8.21364354e-03 1.74063996e+01] [-1.90908814e-02 8.28401419e-03 9.99783433e-01 1.55654903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.79907232899996 meters Centerline goodness : 0.751943 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99824679e-01 -2.50319909e-03 1.85565579e-02 -2.93289345e+02] [ 2.62839473e-03 9.99973930e-01 -6.72538967e-03 1.74030552e+01] [-1.85392391e-02 6.77298452e-03 9.99805193e-01 1.55653623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.829072329 meters Centerline goodness : 0.750805 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99835558e-01 -1.44209578e-03 1.80769821e-02 -2.93286954e+02] [ 1.54339183e-03 9.99983180e-01 -5.59089473e-03 1.74014546e+01] [-1.80686155e-02 5.61787522e-03 9.99820966e-01 1.55652104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.85907232899996 meters Centerline goodness : 0.749393 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99834761e-01 -1.26475934e-03 1.81342442e-02 -2.93287130e+02] [ 1.36004669e-03 9.99985330e-01 -5.24318374e-03 1.74001901e+01] [-1.81273468e-02 5.26698078e-03 9.99821813e-01 1.55652013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.889072329 meters Centerline goodness : 0.751643 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99832336e-01 -1.12963495e-03 1.82763237e-02 -2.93287570e+02] [ 1.22034953e-03 9.99986989e-01 -4.95311135e-03 1.73990906e+01] [-1.82704907e-02 4.97458440e-03 9.99820705e-01 1.55652025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91907232899996 meters Centerline goodness : 0.751606 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99830519e-01 -1.14367537e-03 1.83745845e-02 -2.93288020e+02] [ 1.23562040e-03 9.99986770e-01 -4.99335060e-03 1.73992525e+01] [-1.83686307e-02 5.01520834e-03 9.99818704e-01 1.55652325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.949072329 meters Centerline goodness : 0.752375 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99820888e-01 -1.45649905e-03 1.88698117e-02 -2.93289414e+02] [ 1.55609214e-03 9.99984933e-01 -5.26429877e-03 1.73997692e+01] [-1.88618600e-02 5.29271904e-03 9.99808090e-01 1.55652529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97907232899996 meters Centerline goodness : 0.753693 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99780360e-01 -6.32202637e-03 1.99815721e-02 -2.93291898e+02] [ 6.51181272e-03 9.99934170e-01 -9.44731873e-03 1.73982508e+01] [-1.99205305e-02 9.57535998e-03 9.99755713e-01 1.55652058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.009072329 meters Centerline goodness : 0.752698 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.40, Z:155.65 [[ 9.99759248e-01 -6.89340665e-03 2.08309008e-02 -2.93294193e+02] [ 7.09612576e-03 9.99928032e-01 -9.67345648e-03 1.73978651e+01] [-2.07627185e-02 9.81894627e-03 9.99736214e-01 1.55652191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03907232899996 meters Centerline goodness : 0.754701 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.65 [[ 9.99736763e-01 -7.56754856e-03 2.16595481e-02 -2.93296584e+02] [ 7.78642008e-03 9.99919295e-01 -1.00386484e-02 1.73978006e+01] [-2.15818322e-02 1.02046562e-02 9.99715004e-01 1.55652542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.069072329 meters Centerline goodness : 0.754625 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.65 [[ 9.99738841e-01 -7.44807202e-03 2.16049803e-02 -2.93296402e+02] [ 7.66229741e-03 9.99922132e-01 -9.84977875e-03 1.73975408e+01] [-2.15299361e-02 1.00127502e-02 9.99718064e-01 1.55652503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09907232899997 meters Centerline goodness : 0.755909 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.66 [[ 9.99767137e-01 -1.69553800e-02 1.33486298e-02 -2.93298816e+02] [ 1.69883305e-02 9.99852905e-01 -2.35894045e-03 1.74020276e+01] [-1.33066696e-02 2.58516208e-03 9.99908121e-01 1.55659326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.129072329 meters Centerline goodness : 0.752294 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.66 [[ 9.99735077e-01 -1.78642451e-02 1.45136147e-02 -2.93301406e+02] [ 1.79013637e-02 9.99836801e-01 -2.43161783e-03 1.74007967e+01] [-1.44678070e-02 2.69078713e-03 9.99891715e-01 1.55658685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15907232899997 meters Centerline goodness : 0.752795 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.66 [[ 9.99732062e-01 -1.77641530e-02 1.48404400e-02 -2.93301778e+02] [ 1.77970283e-02 9.99839444e-01 -2.08612294e-03 1.73998864e+01] [-1.48009991e-02 2.34967972e-03 9.99887698e-01 1.55658019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18907232899994 meters Centerline goodness : 0.755535 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.40, Z:155.66 [[ 9.99709149e-01 -1.84603755e-02 1.55187314e-02 -2.93304545e+02] [ 1.84999271e-02 9.99825960e-01 -2.40894334e-03 1.73993266e+01] [-1.54715606e-02 2.69533810e-03 9.99876675e-01 1.55659436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21907232899997 meters Centerline goodness : 0.756257 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99683596e-01 -1.93119524e-02 1.61169431e-02 -2.93306037e+02] [ 1.93717973e-02 9.99805992e-01 -3.56533272e-03 1.74025194e+01] [-1.60449628e-02 3.87641879e-03 9.99863757e-01 1.55659579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24907232899994 meters Centerline goodness : 0.758765 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99629783e-01 -2.11066547e-02 1.71699116e-02 -2.93308722e+02] [ 2.11986726e-02 9.99761786e-01 -5.19499915e-03 1.74052208e+01] [-1.70561724e-02 5.55705521e-03 9.99839090e-01 1.55659769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.279072329 meters Centerline goodness : 0.757737 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99609297e-01 -2.15050508e-02 1.78545717e-02 -2.93309912e+02] [ 2.16025297e-02 9.99752670e-01 -5.28478964e-03 1.74052044e+01] [-1.77365061e-02 5.66842877e-03 9.99826628e-01 1.55658992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.30907232899995 meters Centerline goodness : 0.758082 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99586570e-01 -2.20011222e-02 1.85105344e-02 -2.93310928e+02] [ 2.21081771e-02 9.99739907e-01 -5.59881371e-03 1.74057213e+01] [-1.83825398e-02 6.00573316e-03 9.99812989e-01 1.55658104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.339072329 meters Centerline goodness : 0.755846 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99533921e-01 -2.33050254e-02 1.97184347e-02 -2.93313534e+02] [ 2.34232852e-02 9.99708883e-01 -5.78783812e-03 1.74039257e+01] [-1.95778086e-02 6.24701105e-03 9.99788820e-01 1.55657289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.36907232899995 meters Centerline goodness : 0.755344 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99572347e-01 -2.21512918e-02 1.90904204e-02 -2.93311647e+02] [ 2.22422053e-02 9.99742198e-01 -4.56313706e-03 1.74017233e+01] [-1.89844195e-02 4.98579867e-03 9.99807348e-01 1.55656879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.399072329 meters Centerline goodness : 0.755344 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99572347e-01 -2.21512918e-02 1.90904204e-02 -2.93311647e+02] [ 2.22422053e-02 9.99742198e-01 -4.56313706e-03 1.74017233e+01] [-1.89844195e-02 4.98579867e-03 9.99807348e-01 1.55656879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.42907232899995 meters Centerline goodness : 0.759058 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99630283e-01 -1.90820304e-02 1.93693896e-02 -2.93314104e+02] [ 1.91220936e-02 9.99815379e-01 -1.88526187e-03 1.74047265e+01] [-1.93298390e-02 2.25494814e-03 9.99810618e-01 1.55658929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.459072329 meters Centerline goodness : 0.759120 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99634035e-01 -1.91649373e-02 1.90918936e-02 -2.93314012e+02] [ 1.92146070e-02 9.99812450e-01 -2.42156187e-03 1.74066802e+01] [-1.90419038e-02 2.78751890e-03 9.99814801e-01 1.55659872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.48907232899995 meters Centerline goodness : 0.759011 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.41, Z:155.66 [[ 9.99621762e-01 -1.94405493e-02 1.94524520e-02 -2.93315219e+02] [ 1.94963439e-02 9.99806329e-01 -2.68271700e-03 1.74070548e+01] [-1.93965311e-02 3.06095399e-03 9.99807184e-01 1.55660261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.519072329 meters Centerline goodness : 0.760313 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99630276e-01 -1.89670480e-02 1.94823511e-02 -2.93314752e+02] [ 1.90069831e-02 9.99817608e-01 -1.86667580e-03 1.74048882e+01] [-1.94433923e-02 2.23628636e-03 9.99808458e-01 1.55659405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.54907232899996 meters Centerline goodness : 0.758473 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99661884e-01 -1.80411942e-02 1.87252094e-02 -2.93312610e+02] [ 1.80603163e-02 9.99836536e-01 -8.52578288e-04 1.74030369e+01] [-1.87067669e-02 1.19047322e-03 9.99824304e-01 1.55659004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.579072329 meters Centerline goodness : 0.759100 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99675133e-01 -1.77407519e-02 1.83000923e-02 -2.93311020e+02] [ 1.77590026e-02 9.99841948e-01 -8.35261938e-04 1.74041875e+01] [-1.82823818e-02 1.15998198e-03 9.99832190e-01 1.55658359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.60907232899996 meters Centerline goodness : 0.758291 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99665768e-01 -1.78236139e-02 1.87262108e-02 -2.93311772e+02] [ 1.78391325e-02 9.99840651e-01 -6.61978138e-04 1.74032326e+01] [-1.87114279e-02 9.95816239e-04 9.99824430e-01 1.55657846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.639072329 meters Centerline goodness : 0.758303 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99665247e-01 -1.77240462e-02 1.88481532e-02 -2.93312406e+02] [ 1.77357652e-02 9.99842606e-01 -4.54768130e-04 1.74025402e+01] [-1.88371263e-02 7.88902315e-04 9.99822254e-01 1.55658270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66907232899996 meters Centerline goodness : 0.760101 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99702536e-01 -1.66669733e-02 1.78059515e-02 -2.93309801e+02] [ 1.66718129e-02 9.99861008e-01 -1.23377683e-04 1.74036904e+01] [-1.78014203e-02 4.20198474e-04 9.99841454e-01 1.55658448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.699072329 meters Centerline goodness : 0.761344 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99724227e-01 -1.61968779e-02 1.70038635e-02 -2.93307356e+02] [ 1.62022555e-02 9.99868719e-01 -1.78534192e-04 1.74057713e+01] [-1.69987395e-02 4.53985898e-04 9.99855408e-01 1.55658109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72907232899996 meters Centerline goodness : 0.762861 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.41, Z:155.66 [[ 9.99734352e-01 -1.59273064e-02 1.66597489e-02 -2.93306448e+02] [ 1.59291368e-02 9.99873123e-01 2.28299983e-05 1.74057541e+01] [-1.66579988e-02 2.42551487e-04 9.99861216e-01 1.55658067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.759072329 meters Centerline goodness : 0.762019 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.40, Z:155.66 [[ 9.99745524e-01 -1.54871574e-02 1.64022891e-02 -2.93305382e+02] [ 1.54809697e-02 9.99880036e-01 5.04157694e-04 1.74049485e+01] [-1.64081294e-02 -2.50106058e-04 9.99865346e-01 1.55657459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78907232899996 meters Centerline goodness : 0.762629 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.41, Z:155.66 [[ 9.99757432e-01 -1.52952447e-02 1.58471669e-02 -2.93304181e+02] [ 1.52921481e-02 9.99883018e-01 3.16568037e-04 1.74060746e+01] [-1.58501551e-02 -7.41540245e-05 9.99874376e-01 1.55657767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.819072329 meters Centerline goodness : 0.761576 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.41, Z:155.66 [[ 9.99792022e-01 -1.39960585e-02 1.48331877e-02 -2.93301424e+02] [ 1.39784585e-02 9.99901465e-01 1.28954528e-03 1.74053245e+01] [-1.48497746e-02 -1.08193198e-03 9.99889151e-01 1.55657525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84907232899997 meters Centerline goodness : 0.763667 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.41, Z:155.66 [[ 9.99845259e-01 -1.01374989e-02 1.43766686e-02 -2.93301206e+02] [ 1.00755902e-02 9.99939682e-01 4.37210631e-03 1.74089911e+01] [-1.44201236e-02 -4.22657635e-03 9.99887092e-01 1.55658672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.879072329 meters Centerline goodness : 0.762851 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.41, Z:155.66 [[ 9.99865459e-01 -9.45601337e-03 1.34032542e-02 -2.93299104e+02] [ 9.39667329e-03 9.99945799e-01 4.48337341e-03 1.74098641e+01] [-1.34449226e-02 -4.35682421e-03 9.99900121e-01 1.55659191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90907232899997 meters Centerline goodness : 0.763144 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.41, Z:155.66 [[ 9.99886349e-01 -8.72046996e-03 1.22981053e-02 -2.93297348e+02] [ 8.66623750e-03 9.99952518e-01 4.45624195e-03 1.74110947e+01] [-1.23363819e-02 -4.34915719e-03 9.99914446e-01 1.55660638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93907232899994 meters Centerline goodness : 0.764655 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.66 [[ 9.99908855e-01 -7.68596521e-03 1.10998781e-02 -2.93294676e+02] [ 7.63306370e-03 9.99959345e-01 4.80048070e-03 1.74117532e+01] [-1.11363231e-02 -4.71531708e-03 9.99926871e-01 1.55661172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96907232899997 meters Centerline goodness : 0.765623 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.41, Z:155.66 [[ 9.99912276e-01 -7.84812609e-03 1.06699296e-02 -2.93293992e+02] [ 7.80363492e-03 9.99960710e-01 4.20503021e-03 1.74137687e+01] [-1.07025120e-02 -4.12139709e-03 9.99934233e-01 1.55661714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99907232899994 meters Centerline goodness : 0.766782 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.66 [[ 9.99945019e-01 -3.77094834e-03 9.78463758e-03 -2.93292693e+02] [ 3.69906813e-03 9.99966118e-01 7.35395873e-03 1.74177597e+01] [-9.81203745e-03 -7.31736036e-03 9.99925087e-01 1.55663072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.029072329 meters Centerline goodness : 0.765797 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.66 [[ 9.99948181e-01 -3.83736331e-03 9.42916782e-03 -2.93292202e+02] [ 3.77160408e-03 9.99968513e-01 6.98193579e-03 1.74189761e+01] [-9.45566315e-03 -6.94601091e-03 9.99931169e-01 1.55663574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.05907232899995 meters Centerline goodness : 0.766354 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.66 [[ 9.99948163e-01 -3.98749868e-03 9.36862874e-03 -2.93292096e+02] [ 3.92525262e-03 9.99970164e-01 6.65311474e-03 1.74198636e+01] [-9.39487850e-03 -6.61599563e-03 9.99933980e-01 1.55663566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.089072329 meters Centerline goodness : 0.766220 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.66 [[ 9.99949212e-01 -3.92131934e-03 9.28425858e-03 -2.93292166e+02] [ 3.85889231e-03 9.99969892e-01 6.73235785e-03 1.74195333e+01] [-9.31037877e-03 -6.69618897e-03 9.99934237e-01 1.55663870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.11907232899995 meters Centerline goodness : 0.768304 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.66 [[ 9.99949914e-01 -4.22101384e-03 9.07485183e-03 -2.93291951e+02] [ 4.16662586e-03 9.99973296e-01 6.00383897e-03 1.74218514e+01] [-9.09995178e-03 -5.96572675e-03 9.99940799e-01 1.55664311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.149072329 meters Centerline goodness : 0.767802 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.67 [[ 9.99947033e-01 -4.46316571e-03 9.27425524e-03 -2.93293033e+02] [ 4.41001939e-03 9.99973784e-01 5.74309183e-03 1.74220811e+01] [-9.29964447e-03 -5.70188799e-03 9.99940501e-01 1.55665023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.17907232899995 meters Centerline goodness : 0.768397 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.67 [[ 9.99943354e-01 -4.92463595e-03 9.43590616e-03 -2.93294727e+02] [ 4.87708499e-03 9.99975326e-01 5.05576465e-03 1.74231432e+01] [-9.46057114e-03 -5.00945855e-03 9.99942700e-01 1.55666644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.209072329 meters Centerline goodness : 0.768698 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99933765e-01 -5.56863689e-03 1.00724912e-02 -2.93296639e+02] [ 5.52447229e-03 9.99975028e-01 4.40719634e-03 1.74241850e+01] [-1.00967817e-02 -4.35125924e-03 9.99939559e-01 1.55666942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.23907232899995 meters Centerline goodness : 0.767807 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99935336e-01 -5.49812777e-03 9.95466258e-03 -2.93296503e+02] [ 5.45331044e-03 9.99974898e-01 4.52370423e-03 1.74237053e+01] [-9.97928461e-03 -4.46912584e-03 9.99940219e-01 1.55667064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.269072329 meters Centerline goodness : 0.767930 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.42, Z:155.67 [[ 9.99944294e-01 -5.07786092e-03 9.25332267e-03 -2.93294854e+02] [ 5.03478361e-03 9.99976408e-01 4.67269850e-03 1.74241653e+01] [-9.27683168e-03 -4.62584972e-03 9.99946270e-01 1.55667238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.29907232899996 meters Centerline goodness : 0.767998 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99935363e-01 -5.58650562e-03 9.90260879e-03 -2.93296717e+02] [ 5.54411248e-03 9.99975372e-01 4.30330226e-03 1.74244566e+01] [-9.92640533e-03 -4.24812292e-03 9.99941708e-01 1.55667441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.329072329 meters Centerline goodness : 0.769582 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99911838e-01 -9.23823655e-03 9.53792884e-03 -2.93295559e+02] [ 9.23271004e-03 9.99957183e-01 6.23293777e-04 1.74236322e+01] [-9.54327860e-03 -5.35177894e-04 9.99954319e-01 1.55667254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.35907232899996 meters Centerline goodness : 0.770863 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99903574e-01 -9.46270510e-03 1.01636448e-02 -2.93297322e+02] [ 9.45534285e-03 9.99954999e-01 7.72179313e-04 1.74224587e+01] [-1.01704943e-02 -6.76004108e-04 9.99948051e-01 1.55667394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.389072329 meters Centerline goodness : 0.768984 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99848051e-01 -1.36029896e-02 1.09011195e-02 -2.93298617e+02] [ 1.36331045e-02 9.99903438e-01 -2.69301371e-03 1.74197078e+01] [-1.08634339e-02 2.84122061e-03 9.99936955e-01 1.55666667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41907232899996 meters Centerline goodness : 0.771083 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99845400e-01 -1.36024038e-02 1.11423238e-02 -2.93298873e+02] [ 1.36316833e-02 9.99903817e-01 -2.55605442e-03 1.74195534e+01] [-1.11064836e-02 2.70754789e-03 9.99934655e-01 1.55666183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.449072329 meters Centerline goodness : 0.772431 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99761316e-01 -1.82511640e-02 1.20086232e-02 -2.93300824e+02] [ 1.83343901e-02 9.99808395e-01 -6.85732516e-03 1.74190294e+01] [-1.18811682e-02 7.07585921e-03 9.99904380e-01 1.55666090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47907232899996 meters Centerline goodness : 0.772787 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.42, Z:155.67 [[ 9.99734972e-01 -1.89689605e-02 1.30447347e-02 -2.93303613e+02] [ 1.90631933e-02 9.99792802e-01 -7.13780972e-03 1.74186418e+01] [-1.29066351e-02 7.38459230e-03 9.99889437e-01 1.55666283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.509072329 meters Centerline goodness : 0.772513 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.42, Z:155.67 [[ 9.99706044e-01 -1.97736866e-02 1.40294952e-02 -2.93306030e+02] [ 1.98837080e-02 9.99772289e-01 -7.74647746e-03 1.74195856e+01] [-1.38731241e-02 8.02315872e-03 9.99871574e-01 1.55666231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53907232899996 meters Centerline goodness : 0.773144 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.42, Z:155.67 [[ 9.99644483e-01 -2.18521854e-02 1.52771119e-02 -2.93309778e+02] [ 2.19905844e-02 9.99718110e-01 -8.95069977e-03 1.74192639e+01] [-1.50772131e-02 9.28347026e-03 9.99843235e-01 1.55666838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.569072329 meters Centerline goodness : 0.771622 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.42, Z:155.67 [[ 9.99585155e-01 -2.35936243e-02 1.65184226e-02 -2.93312989e+02] [ 2.37615262e-02 9.99667207e-01 -1.00431143e-02 1.74198821e+01] [-1.62759719e-02 1.04314509e-02 9.99813121e-01 1.55666885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59907232899997 meters Centerline goodness : 0.772015 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.42, Z:155.66 [[ 9.99539534e-01 -2.44181628e-02 1.80131633e-02 -2.93315364e+02] [ 2.45842399e-02 9.99656737e-01 -9.05664077e-03 1.74160463e+01] [-1.77858335e-02 9.49531042e-03 9.99796731e-01 1.55664491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.629072329 meters Centerline goodness : 0.771443 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.42, Z:155.66 [[ 9.99505148e-01 -2.50366927e-02 1.90426510e-02 -2.93317566e+02] [ 2.52169921e-02 9.99638856e-01 -9.28770784e-03 1.74159067e+01] [-1.88032403e-02 9.76331018e-03 9.99775533e-01 1.55663883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65907232899997 meters Centerline goodness : 0.772030 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.42, Z:155.66 [[ 9.99475199e-01 -2.54867906e-02 1.99937467e-02 -2.93319581e+02] [ 2.56776949e-02 9.99626545e-01 -9.35026377e-03 1.74154309e+01] [-1.97479717e-02 9.85875007e-03 9.99756382e-01 1.55663289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68907232899994 meters Centerline goodness : 0.773426 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.41, Z:155.66 [[ 9.99340356e-01 -2.97410022e-02 2.08404902e-02 -2.93321055e+02] [ 3.00173579e-02 9.99463851e-01 -1.30755346e-02 1.74133610e+01] [-2.04404370e-02 1.36924858e-02 9.99697306e-01 1.55662721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71907232899997 meters Centerline goodness : 0.774461 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.41, Z:155.66 [[ 9.99270894e-01 -3.12429694e-02 2.19444309e-02 -2.93324186e+02] [ 3.15588599e-02 9.99401031e-01 -1.41992397e-02 1.74144707e+01] [-2.14876604e-02 1.48814281e-02 9.99658353e-01 1.55663157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74907232899994 meters Centerline goodness : 0.775295 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99205926e-01 -3.25735962e-02 2.29451142e-02 -2.93326230e+02] [ 3.29297478e-02 9.99340265e-01 -1.53188542e-02 1.74166742e+01] [-2.24309863e-02 1.60622667e-02 9.99619355e-01 1.55662670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.779072329 meters Centerline goodness : 0.774592 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99203095e-01 -3.26811558e-02 2.29154118e-02 -2.93325847e+02] [ 3.30413354e-02 9.99333489e-01 -1.55193011e-02 1.74178253e+01] [-2.23929498e-02 1.62640895e-02 9.99616944e-01 1.55662312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.80907232899995 meters Centerline goodness : 0.775932 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99192337e-01 -3.29851419e-02 2.29489483e-02 -2.93325835e+02] [ 3.33571565e-02 9.99315079e-01 -1.60210168e-02 1.74197042e+01] [-2.24047746e-02 1.67735888e-02 9.99608260e-01 1.55662294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.839072329 meters Centerline goodness : 0.775047 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99152103e-01 -3.36023028e-02 2.37899296e-02 -2.93328189e+02] [ 3.39951668e-02 9.99288959e-01 -1.63065724e-02 1.74196129e+01] [-2.32250757e-02 1.71014887e-02 9.99583981e-01 1.55662567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.86907232899995 meters Centerline goodness : 0.776452 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99131007e-01 -3.39345469e-02 2.42007884e-02 -2.93328975e+02] [ 3.43432357e-02 9.99270952e-01 -1.66765095e-02 1.74207570e+01] [-2.36172351e-02 1.74931511e-02 9.99568015e-01 1.55662283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.899072329 meters Centerline goodness : 0.774765 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99240874e-01 -3.01676417e-02 2.46493127e-02 -2.93330551e+02] [ 3.04865513e-02 9.99454922e-01 -1.26660815e-02 1.74208024e+01] [-2.42537711e-02 1.34079389e-02 9.99615917e-01 1.55662326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.92907232899995 meters Centerline goodness : 0.773837 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99262055e-01 -2.97491409e-02 2.42967888e-02 -2.93329649e+02] [ 3.00524955e-02 9.99473657e-01 -1.22170777e-02 1.74199970e+01] [-2.39205527e-02 1.29382413e-02 9.99630136e-01 1.55662214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.959072329 meters Centerline goodness : 0.773531 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99293413e-01 -2.91320612e-02 2.37486418e-02 -2.93328021e+02] [ 2.94154165e-02 9.99499139e-01 -1.16706384e-02 1.74194422e+01] [-2.33967573e-02 1.23609683e-02 9.99649838e-01 1.55661906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.98907232899995 meters Centerline goodness : 0.771739 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99336532e-01 -2.68755572e-02 2.45804721e-02 -2.93330942e+02] [ 2.71121201e-02 9.99588747e-01 -9.34186721e-03 1.74224218e+01] [-2.43192954e-02 1.00020979e-02 9.99654205e-01 1.55662672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.019072329 meters Centerline goodness : 0.772779 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99342929e-01 -2.67185615e-02 2.44913821e-02 -2.93330645e+02] [ 2.69493979e-02 9.99594976e-01 -9.14405139e-03 1.74221867e+01] [-2.42371466e-02 9.79807111e-03 9.99658221e-01 1.55662579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.04907232899996 meters Centerline goodness : 0.773410 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99338648e-01 -2.67220577e-02 2.46616809e-02 -2.93330942e+02] [ 2.69534124e-02 9.99595299e-01 -9.09684328e-03 1.74221855e+01] [-2.44086139e-02 9.75554352e-03 9.99654465e-01 1.55662365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.079072329 meters Centerline goodness : 0.772849 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.42, Z:155.66 [[ 9.99316995e-01 -2.68545303e-02 2.53845794e-02 -2.93332577e+02] [ 2.70853798e-02 9.99594438e-01 -8.79436384e-03 1.74207478e+01] [-2.51381159e-02 9.47590823e-03 9.99639076e-01 1.55662024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.10907232899996 meters Centerline goodness : 0.773201 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99262702e-01 -2.77667108e-02 2.65153260e-02 -2.93335651e+02] [ 2.80194631e-02 9.99564960e-01 -9.20876044e-03 1.74203540e+01] [-2.62480938e-02 9.94491604e-03 9.99605990e-01 1.55662233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.139072329 meters Centerline goodness : 0.772146 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99244752e-01 -2.78251292e-02 2.71235548e-02 -2.93336852e+02] [ 2.80731481e-02 9.99567079e-01 -8.80647029e-03 1.74188511e+01] [-2.68667713e-02 9.56126279e-03 9.99593297e-01 1.55661707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16907232899996 meters Centerline goodness : 0.773084 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99231211e-01 -2.79850318e-02 2.74558703e-02 -2.93337508e+02] [ 2.82399950e-02 9.99561168e-01 -8.94283471e-03 1.74193576e+01] [-2.71935563e-02 9.71131319e-03 9.99583014e-01 1.55661483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.199072329 meters Centerline goodness : 0.774293 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99184984e-01 -2.87791292e-02 2.83042340e-02 -2.93339960e+02] [ 2.90625021e-02 9.99530998e-01 -9.65169979e-03 1.74206153e+01] [-2.80131917e-02 1.04664254e-02 9.99552758e-01 1.55661944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22907232899996 meters Centerline goodness : 0.776396 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99146560e-01 -2.95055848e-02 2.89062765e-02 -2.93341922e+02] [ 2.98160403e-02 9.99501625e-01 -1.03684772e-02 1.74220972e+01] [-2.85859424e-02 1.12214991e-02 9.99528350e-01 1.55662658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.259072329 meters Centerline goodness : 0.777664 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99138105e-01 -2.96435945e-02 2.90569082e-02 -2.93341959e+02] [ 2.99595529e-02 9.99495968e-01 -1.04993173e-02 1.74227410e+01] [-2.87310251e-02 1.13607999e-02 9.99522616e-01 1.55662198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28907232899996 meters Centerline goodness : 0.777664 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99138105e-01 -2.96435945e-02 2.90569082e-02 -2.93341959e+02] [ 2.99595529e-02 9.99495968e-01 -1.04993173e-02 1.74227410e+01] [-2.87310251e-02 1.13607999e-02 9.99522616e-01 1.55662198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.319072329 meters Centerline goodness : 0.776611 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.42, Z:155.66 [[ 9.99055843e-01 -3.11635450e-02 3.02697055e-02 -2.93344050e+02] [ 3.15142378e-02 9.99440792e-01 -1.11783477e-02 1.74226388e+01] [-2.99044215e-02 1.21217203e-02 9.99479259e-01 1.55660918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34907232899997 meters Centerline goodness : 0.775190 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.99038512e-01 -3.11600066e-02 3.08399885e-02 -2.93345192e+02] [ 3.15029084e-02 9.99446429e-01 -1.06958996e-02 1.74209341e+01] [-3.04896321e-02 1.16571649e-02 9.99467104e-01 1.55660410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.379072329 meters Centerline goodness : 0.774810 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.98985606e-01 -3.18068493e-02 3.18760749e-02 -2.93347815e+02] [ 3.21681555e-02 9.99423180e-01 -1.08865925e-02 1.74204905e+01] [-3.15114199e-02 1.19009438e-02 9.99432538e-01 1.55660414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40907232899997 meters Centerline goodness : 0.776978 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.98932559e-01 -3.23881446e-02 3.29355596e-02 -2.93350417e+02] [ 3.27671271e-02 9.99402118e-01 -1.10327493e-02 1.74199797e+01] [-3.25585377e-02 1.21001762e-02 9.99396582e-01 1.55660310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43907232899994 meters Centerline goodness : 0.775962 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.98822205e-01 -3.56254761e-02 3.29397689e-02 -2.93349855e+02] [ 3.60999854e-02 9.99251170e-01 -1.39244548e-02 1.74166920e+01] [-3.24190373e-02 1.50971798e-02 9.99360336e-01 1.55659851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46907232899997 meters Centerline goodness : 0.774970 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.98775659e-01 -3.60985598e-02 3.38242199e-02 -2.93351740e+02] [ 3.65859994e-02 9.99233773e-01 -1.39044035e-02 1.74158468e+01] [-3.32963739e-02 1.51248727e-02 9.99331071e-01 1.55659301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49907232899994 meters Centerline goodness : 0.770754 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.41, Z:155.66 [[ 9.98873636e-01 -3.37950835e-02 3.33069214e-02 -2.93348313e+02] [ 3.41805275e-02 9.99354346e-01 -1.10716989e-02 1.74119040e+01] [-3.29112476e-02 1.21976763e-02 9.99383843e-01 1.55656355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.529072329 meters Centerline goodness : 0.769887 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.41, Z:155.66 [[ 9.98907490e-01 -3.33792604e-02 3.27055112e-02 -2.93346389e+02] [ 3.37518475e-02 9.99370728e-01 -1.09069541e-02 1.74125932e+01] [-3.23208644e-02 1.19989096e-02 9.99405517e-01 1.55655789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.55907232899995 meters Centerline goodness : 0.769780 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.41, Z:155.66 [[ 9.99042321e-01 -2.92159734e-02 3.25709757e-02 -2.93347256e+02] [ 2.94494427e-02 9.99543740e-01 -6.71138201e-03 1.74126397e+01] [-3.23600353e-02 7.66415174e-03 9.99446891e-01 1.55657003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.589072329 meters Centerline goodness : 0.775246 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.99031609e-01 -2.97424973e-02 3.24226560e-02 -2.93348665e+02] [ 3.00184942e-02 9.99516854e-01 -8.05909512e-03 1.74159668e+01] [-3.21672935e-02 9.02457008e-03 9.99441755e-01 1.55659669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.61907232899995 meters Centerline goodness : 0.774788 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.99162768e-01 -2.56608864e-02 3.18634945e-02 -2.93348334e+02] [ 2.58113511e-02 9.99657498e-01 -4.31978727e-03 1.74178567e+01] [-3.17417316e-02 5.13861045e-03 9.99482895e-01 1.55660803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.649072329 meters Centerline goodness : 0.777347 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.99193800e-01 -2.54641589e-02 3.10375066e-02 -2.93346622e+02] [ 2.56242192e-02 9.99660265e-01 -4.77013454e-03 1.74199769e+01] [-3.09054946e-02 5.56160073e-03 9.99506838e-01 1.55661341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.67907232899995 meters Centerline goodness : 0.773571 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.42, Z:155.66 [[ 9.99223799e-01 -2.51138864e-02 3.03494986e-02 -2.93345011e+02] [ 2.52637035e-02 9.99670408e-01 -4.56299757e-03 1.74198667e+01] [-3.02249011e-02 5.32619650e-03 9.99528933e-01 1.55661420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.709072329 meters Centerline goodness : 0.770358 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.43, Z:155.67 [[ 9.99664962e-01 -1.91534373e-02 1.74100327e-02 -2.93345320e+02] [ 1.92374373e-02 9.99804036e-01 -4.67018940e-03 1.74341094e+01] [-1.73171708e-02 5.00354912e-03 9.99837527e-01 1.55665778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.73907232899995 meters Centerline goodness : 0.770276 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.67 [[ 9.99744767e-01 -1.49631527e-02 1.69264414e-02 -2.93344933e+02] [ 1.49784146e-02 9.99887517e-01 -7.75241319e-04 1.74354265e+01] [-1.69129374e-02 1.02857471e-03 9.99856437e-01 1.55666654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.769072329 meters Centerline goodness : 0.769781 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.67 [[ 9.99914319e-01 -5.95069765e-03 1.16595187e-02 -2.93332413e+02] [ 5.94329260e-03 9.99982114e-01 6.69654169e-04 1.74379003e+01] [-1.16632951e-02 -6.00300861e-04 9.99931801e-01 1.55672928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.79907232899996 meters Centerline goodness : 0.771108 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.67 [[ 9.99931618e-01 -5.19712133e-03 1.04760831e-02 -2.93329647e+02] [ 5.19210679e-03 9.99986393e-01 5.05805852e-04 1.74403394e+01] [-1.04785692e-02 -4.51378322e-04 9.99944996e-01 1.55673406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.829072329 meters Centerline goodness : 0.773345 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.67 [[ 9.99947975e-01 -1.53917822e-03 1.00835499e-02 -2.93329371e+02] [ 1.50591441e-03 9.99993403e-01 3.30558230e-03 1.74449616e+01] [-1.00885713e-02 -3.29022537e-03 9.99943696e-01 1.55674476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.85907232899996 meters Centerline goodness : 0.775087 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99960340e-01 -4.85750124e-04 8.89280185e-03 -2.93326711e+02] [ 4.60772695e-04 9.99995944e-01 2.81055772e-03 1.74489200e+01] [-8.89413101e-03 -2.80634869e-03 9.99956508e-01 1.55675388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.889072329 meters Centerline goodness : 0.772922 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99966026e-01 -3.24209415e-04 8.23659605e-03 -2.93325306e+02] [ 3.02442845e-04 9.99996459e-01 2.64377381e-03 1.74499656e+01] [-8.23742403e-03 -2.64119289e-03 9.99962584e-01 1.55675716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91907232899996 meters Centerline goodness : 0.773267 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.45, Z:155.68 [[ 9.99962850e-01 3.68944568e-03 7.79011824e-03 -2.93324202e+02] [-3.73743943e-03 9.99974072e-01 6.15530686e-03 1.74526232e+01] [-7.76720659e-03 -6.18419328e-03 9.99950712e-01 1.55675841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.949072329 meters Centerline goodness : 0.771848 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.45, Z:155.68 [[ 9.99964819e-01 3.79820108e-03 7.47899315e-03 -2.93323787e+02] [-3.84408968e-03 9.99973817e-01 6.13088022e-03 1.74529046e+01] [-7.45551101e-03 -6.15941444e-03 9.99953237e-01 1.55676309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97907232899996 meters Centerline goodness : 0.771365 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.45, Z:155.68 [[ 9.99966267e-01 4.20693249e-03 7.05457466e-03 -2.93323286e+02] [-4.25216773e-03 9.99970418e-01 6.40949247e-03 1.74523875e+01] [-7.02740168e-03 -6.43927349e-03 9.99954575e-01 1.55676993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.009072329 meters Centerline goodness : 0.771259 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.45, Z:155.68 [[ 9.99980486e-01 1.30144048e-03 6.11019535e-03 -2.93321338e+02] [-1.32160161e-03 9.99993693e-01 3.29671125e-03 1.74506164e+01] [-6.10586634e-03 -3.30472216e-03 9.99975898e-01 1.55677411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03907232899996 meters Centerline goodness : 0.774517 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.45, Z:155.68 [[ 9.99977103e-01 5.93337720e-04 6.74102467e-03 -2.93323504e+02] [-6.09767437e-04 9.99996848e-01 2.43547906e-03 1.74523813e+01] [-6.73955837e-03 -2.43953376e-03 9.99974313e-01 1.55678129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.069072329 meters Centerline goodness : 0.774320 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99974504e-01 -1.49978568e-03 6.98154476e-03 -2.93326493e+02] [ 1.49653408e-03 9.99998769e-01 4.70943235e-04 1.74506003e+01] [-6.98224248e-03 -4.60483109e-04 9.99975518e-01 1.55680714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09907232899997 meters Centerline goodness : 0.774159 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99963154e-01 -2.78626201e-03 8.11953364e-03 -2.93329925e+02] [ 2.78859628e-03 9.99996074e-01 -2.76180927e-04 1.74504265e+01] [-8.11873225e-03 2.98812852e-04 9.99966998e-01 1.55681231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12907232899994 meters Centerline goodness : 0.773842 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99958132e-01 -2.65991385e-03 8.75553958e-03 -2.93331145e+02] [ 2.65661131e-03 9.99996396e-01 3.88803237e-04 1.74479449e+01] [-8.75654221e-03 -3.65526893e-04 9.99961594e-01 1.55680527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15907232899997 meters Centerline goodness : 0.772623 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99950411e-01 -2.96629330e-03 9.50662561e-03 -2.93333027e+02] [ 2.96061339e-03 9.99995430e-01 6.11486513e-04 1.74462607e+01] [-9.50839602e-03 -5.83310748e-04 9.99954624e-01 1.55680285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18907232899994 meters Centerline goodness : 0.767614 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99941859e-01 -5.07582308e-03 9.51392698e-03 -2.93330406e+02] [ 5.08217079e-03 9.99986879e-01 -6.43144921e-04 1.74411949e+01] [-9.51053765e-03 6.91458929e-04 9.99954535e-01 1.55676926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21907232899997 meters Centerline goodness : 0.767295 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99929840e-01 -5.67012481e-03 1.04002412e-02 -2.93332255e+02] [ 5.67965772e-03 9.99983477e-01 -8.87297724e-04 1.74411219e+01] [-1.03950382e-02 9.46305281e-04 9.99945522e-01 1.55676292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24907232899994 meters Centerline goodness : 0.768841 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99929225e-01 -5.52899080e-03 1.05344741e-02 -2.93332716e+02] [ 5.53589632e-03 9.99984481e-01 -6.26469566e-04 1.74402588e+01] [-1.05308468e-02 6.84742984e-04 9.99944315e-01 1.55676421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.279072329 meters Centerline goodness : 0.768639 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99939327e-01 -5.12204275e-03 9.75223141e-03 -2.93331114e+02] [ 5.12866909e-03 9.99986634e-01 -6.54580951e-04 1.74413463e+01] [-9.74874827e-03 7.04557204e-04 9.99952232e-01 1.55677026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.30907232899995 meters Centerline goodness : 0.770709 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99942771e-01 -5.22749751e-03 9.33418438e-03 -2.93330477e+02] [ 5.23898908e-03 9.99985548e-01 -1.20710065e-03 1.74435496e+01] [-9.32773936e-03 1.25593326e-03 9.99955707e-01 1.55677703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.339072329 meters Centerline goodness : 0.771488 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99948550e-01 -5.11371016e-03 8.76050835e-03 -2.93329332e+02] [ 5.12764576e-03 9.99985623e-01 -1.56900860e-03 1.74455542e+01] [-8.75235894e-03 1.61384866e-03 9.99960395e-01 1.55678356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.36907232899995 meters Centerline goodness : 0.771765 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99944888e-01 -5.15377058e-03 9.14659262e-03 -2.93330227e+02] [ 5.16708374e-03 9.99985624e-01 -1.43249832e-03 1.74450706e+01] [-9.13907836e-03 1.47968058e-03 9.99957143e-01 1.55678221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.399072329 meters Centerline goodness : 0.771889 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99942537e-01 -5.08291087e-03 9.43852769e-03 -2.93330617e+02] [ 5.09371254e-03 9.99986399e-01 -1.12073729e-03 1.74441670e+01] [-9.43270271e-03 1.16875004e-03 9.99954828e-01 1.55677686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.42907232899995 meters Centerline goodness : 0.768837 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99940001e-01 -5.04139178e-03 9.72519738e-03 -2.93331020e+02] [ 5.05024553e-03 9.99986855e-01 -8.86049487e-04 1.74434708e+01] [-9.72060262e-03 9.35110959e-04 9.99952317e-01 1.55677212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.459072329 meters Centerline goodness : 0.768901 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99938398e-01 -4.92488909e-03 9.94709858e-03 -2.93331454e+02] [ 4.93043042e-03 9.99987704e-01 -5.32634142e-04 1.74423244e+01] [-9.94435310e-03 5.81644808e-04 9.99950385e-01 1.55676993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.48907232899995 meters Centerline goodness : 0.768397 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.44, Z:155.68 [[ 9.99921720e-01 -5.68496517e-03 1.11460801e-02 -2.93334474e+02] [ 5.68824532e-03 9.99983787e-01 -2.62607215e-04 1.74392743e+01] [-1.11444064e-02 3.25988296e-04 9.99937846e-01 1.55676695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.519072329 meters Centerline goodness : 0.768778 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99910322e-01 -6.18623673e-03 1.18776710e-02 -2.93336272e+02] [ 6.19460339e-03 9.99980590e-01 -6.67740674e-04 1.74398531e+01] [-1.18733096e-02 7.41258253e-04 9.99929235e-01 1.55676578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.54907232899996 meters Centerline goodness : 0.769147 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99907185e-01 -6.33958629e-03 1.20594805e-02 -2.93337051e+02] [ 6.34973458e-03 9.99979517e-01 -8.03416378e-04 1.74400703e+01] [-1.20541402e-02 8.79916309e-04 9.99926959e-01 1.55677005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.579072329 meters Centerline goodness : 0.769031 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99908319e-01 -6.44527495e-03 1.19084566e-02 -2.93336819e+02] [ 6.45883484e-03 9.99978536e-01 -1.10056952e-03 1.74413073e+01] [-1.19011075e-02 1.17738337e-03 9.99928486e-01 1.55677257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.60907232899996 meters Centerline goodness : 0.769446 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99911498e-01 -6.36665007e-03 1.16816948e-02 -2.93336164e+02] [ 6.38025797e-03 9.99979010e-01 -1.12799306e-03 1.74418998e+01] [-1.16742681e-02 1.20242546e-03 9.99931130e-01 1.55677235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.639072329 meters Centerline goodness : 0.768308 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99905198e-01 -6.54277199e-03 1.21155902e-02 -2.93337045e+02] [ 6.55715966e-03 9.99977842e-01 -1.14819128e-03 1.74418086e+01] [-1.21078094e-02 1.22752629e-03 9.99925944e-01 1.55676897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66907232899996 meters Centerline goodness : 0.769464 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99894528e-01 -6.96305436e-03 1.27455407e-02 -2.93338254e+02] [ 6.98070206e-03 9.99974736e-01 -1.34065239e-03 1.74416937e+01] [-1.27358836e-02 1.42948381e-03 9.99917874e-01 1.55676271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.699072329 meters Centerline goodness : 0.766651 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99890154e-01 -6.88788693e-03 1.31239189e-02 -2.93338975e+02] [ 6.90029604e-03 9.99975787e-01 -9.00486279e-04 1.74400977e+01] [-1.31173987e-02 9.90946290e-04 9.99913472e-01 1.55675837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72907232899996 meters Centerline goodness : 0.766994 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99894359e-01 -6.52087263e-03 1.29903449e-02 -2.93338217e+02] [ 6.52749430e-03 9.99978586e-01 -4.67403970e-04 1.74394242e+01] [-1.29870188e-02 5.52148995e-04 9.99915513e-01 1.55675268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.759072329 meters Centerline goodness : 0.768245 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.67 [[ 9.99883620e-01 -7.20708985e-03 1.34463747e-02 -2.93338687e+02] [ 7.22717019e-03 9.99972839e-01 -1.44537057e-03 1.74421546e+01] [-1.34355925e-02 1.54238160e-03 9.99908549e-01 1.55674491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78907232899996 meters Centerline goodness : 0.767537 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99870808e-01 -7.89272303e-03 1.40026128e-02 -2.93340557e+02] [ 7.92262824e-03 9.99966449e-01 -2.08150286e-03 1.74431925e+01] [-1.39857143e-02 2.19217144e-03 9.99899792e-01 1.55675093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.819072329 meters Centerline goodness : 0.769910 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.44, Z:155.68 [[ 9.99890464e-01 -6.87943575e-03 1.31046790e-02 -2.93338078e+02] [ 6.90250174e-03 9.99974706e-01 -1.71571808e-03 1.74446796e+01] [-1.30925443e-02 1.80598522e-03 9.99912658e-01 1.55675107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84907232899997 meters Centerline goodness : 0.771000 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.45, Z:155.68 [[ 9.99906170e-01 -4.04913801e-03 1.30864685e-02 -2.93339824e+02] [ 4.04529061e-03 9.99991766e-01 3.20455470e-04 1.74501255e+01] [-1.30876583e-02 -2.67486833e-04 9.99914317e-01 1.55677484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87907232899994 meters Centerline goodness : 0.770627 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.45, Z:155.68 [[ 9.99906499e-01 -4.30281461e-03 1.29799817e-02 -2.93339903e+02] [ 4.30485922e-03 9.99990726e-01 -1.29584544e-04 1.74514715e+01] [-1.29793037e-02 1.85449422e-04 9.99915748e-01 1.55678004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90907232899997 meters Centerline goodness : 0.770942 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.45, Z:155.68 [[ 9.99916487e-01 -3.91911257e-03 1.23149917e-02 -2.93338148e+02] [ 3.91972414e-03 9.99992318e-01 -2.55243576e-05 1.74520173e+01] [-1.23147971e-02 7.37935963e-05 9.99924167e-01 1.55677920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93907232899994 meters Centerline goodness : 0.768959 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.45, Z:155.68 [[ 9.99923773e-01 -3.50490342e-03 1.18390432e-02 -2.93336948e+02] [ 3.50011430e-03 9.99993784e-01 4.25215386e-04 1.74511010e+01] [-1.18404599e-02 -3.83744969e-04 9.99929826e-01 1.55677835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96907232899997 meters Centerline goodness : 0.768269 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.45, Z:155.68 [[ 9.99935827e-01 7.09320345e-04 1.13065844e-02 -2.93335589e+02] [-7.56260391e-04 9.99991112e-01 4.14783259e-03 1.74534480e+01] [-1.13035418e-02 -4.15611714e-03 9.99927476e-01 1.55677837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99907232899994 meters Centerline goodness : 0.766139 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.45, Z:155.68 [[ 9.99964630e-01 5.11479574e-03 6.67659627e-03 -2.93325782e+02] [-5.13634261e-03 9.99981644e-01 3.21407657e-03 1.74530722e+01] [-6.66003436e-03 -3.24825617e-03 9.99972546e-01 1.55683428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.029072329 meters Centerline goodness : 0.766082 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.46, Z:155.68 [[ 9.99940530e-01 8.91766589e-03 6.27787384e-03 -2.93325742e+02] [-8.95635843e-03 9.99940902e-01 6.16242315e-03 1.74570304e+01] [-6.22254840e-03 -6.21828356e-03 9.99961306e-01 1.55684904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.05907232899995 meters Centerline goodness : 0.769490 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.46, Z:155.69 [[ 9.99917375e-01 1.26954057e-02 2.01731614e-03 -2.93316816e+02] [-1.27004260e-02 9.99916232e-01 2.49557720e-03 1.74620659e+01] [-1.98546479e-03 -2.52099178e-03 9.99994851e-01 1.55692634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.089072329 meters Centerline goodness : 0.770310 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.69 [[ 9.99910747e-01 1.33359208e-02 8.07179294e-04 -2.93314921e+02] [-1.33378356e-02 9.99908130e-01 2.41518027e-03 1.74634622e+01] [-7.74896486e-04 -2.42573074e-03 9.99996758e-01 1.55694193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.11907232899995 meters Centerline goodness : 0.770616 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.69 [[ 9.99903833e-01 1.38678369e-02 -8.33502289e-05 -2.93312876e+02] [-1.38676038e-02 9.99901100e-01 2.34098569e-03 1.74649197e+01] [ 1.15806393e-04 -2.33960469e-03 9.99997256e-01 1.55694617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.149072329 meters Centerline goodness : 0.769279 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.69 [[ 9.99887729e-01 1.49437134e-02 -1.10235589e-03 -2.93310326e+02] [-1.49400462e-02 9.99883067e-01 3.26312397e-03 1.74634777e+01] [ 1.15099017e-03 -3.24628837e-03 9.99994068e-01 1.55694528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.17907232899995 meters Centerline goodness : 0.767849 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.69 [[ 9.99881674e-01 1.52905822e-02 -1.68385726e-03 -2.93309084e+02] [-1.52848374e-02 9.99877490e-01 3.37329366e-03 1.74637471e+01] [ 1.73523059e-03 -3.34715703e-03 9.99992893e-01 1.55694790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.209072329 meters Centerline goodness : 0.767849 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.69 [[ 9.99881674e-01 1.52905822e-02 -1.68385726e-03 -2.93309084e+02] [-1.52848374e-02 9.99877490e-01 3.37329366e-03 1.74637471e+01] [ 1.73523059e-03 -3.34715703e-03 9.99992893e-01 1.55694790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.23907232899995 meters Centerline goodness : 0.767660 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.70 [[ 9.99876953e-01 1.55641376e-02 -1.95882289e-03 -2.93308805e+02] [-1.55568913e-02 9.99872279e-01 3.66172921e-03 1.74629001e+01] [ 2.01556437e-03 -3.63080545e-03 9.99991377e-01 1.55695228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.269072329 meters Centerline goodness : 0.765800 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.70 [[ 9.99866908e-01 1.60868031e-02 -2.71673665e-03 -2.93307043e+02] [-1.60765786e-02 9.99863753e-01 3.74433098e-03 1.74637655e+01] [ 2.77660082e-03 -3.70015681e-03 9.99989300e-01 1.55695484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.29907232899996 meters Centerline goodness : 0.766541 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.70 [[ 9.99868579e-01 1.59867146e-02 -2.69257557e-03 -2.93307437e+02] [-1.59770492e-02 9.99865972e-01 3.57371036e-03 1.74641514e+01] [ 2.74934658e-03 -3.53022129e-03 9.99989989e-01 1.55695864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.329072329 meters Centerline goodness : 0.765546 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.70 [[ 9.99864028e-01 1.62195355e-02 -2.97539074e-03 -2.93306667e+02] [-1.62083392e-02 9.99861607e-01 3.74926289e-03 1.74639905e+01] [ 3.03579027e-03 -3.70052695e-03 9.99988545e-01 1.55695727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.35907232899996 meters Centerline goodness : 0.764559 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.46, Z:155.70 [[ 9.99862216e-01 1.63324819e-02 -2.96638650e-03 -2.93306728e+02] [-1.63208289e-02 9.99859158e-01 3.91095310e-03 1.74634631e+01] [ 3.02984428e-03 -3.86200035e-03 9.99987952e-01 1.55695665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.389072329 meters Centerline goodness : 0.765275 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.46, Z:155.70 [[ 9.99891334e-01 1.41388367e-02 -4.17302670e-03 -2.93303875e+02] [-1.41336010e-02 9.99899294e-01 1.28149722e-03 1.74620834e+01] [ 4.19072533e-03 -1.22237807e-03 9.99990472e-01 1.55695823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41907232899996 meters Centerline goodness : 0.765879 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.46, Z:155.70 [[ 9.99887875e-01 1.41887549e-02 -4.78705537e-03 -2.93303058e+02] [-1.41846766e-02 9.99899001e-01 8.84832644e-04 1.74636842e+01] [ 4.79912655e-03 -8.16830600e-04 9.99988151e-01 1.55696851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.449072329 meters Centerline goodness : 0.765495 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99886827e-01 1.40921878e-02 -5.26719523e-03 -2.93302370e+02] [-1.40905173e-02 9.99900661e-01 3.54132540e-04 1.74657021e+01] [ 5.27166250e-03 -2.79874957e-04 9.99986066e-01 1.55697658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47907232899996 meters Centerline goodness : 0.768534 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99880191e-01 1.42473029e-02 -6.05132533e-03 -2.93300862e+02] [-1.42472889e-02 9.99898501e-01 4.54305976e-05 1.74673622e+01] [ 6.05135839e-03 4.07898255e-05 9.99981690e-01 1.55698401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.509072329 meters Centerline goodness : 0.766263 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99875382e-01 1.44117723e-02 -6.44369117e-03 -2.93299961e+02] [-1.44121381e-02 9.99896140e-01 -1.03254909e-05 1.74678717e+01] [ 6.44287311e-03 1.03191571e-04 9.99979239e-01 1.55698481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53907232899996 meters Centerline goodness : 0.765037 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99862610e-01 1.50483177e-02 -6.95050947e-03 -2.93299236e+02] [-1.50455301e-02 9.99886707e-01 4.53190077e-04 1.74670025e+01] [ 6.95654177e-03 -3.48553715e-04 9.99975742e-01 1.55699101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.569072329 meters Centerline goodness : 0.764139 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99854226e-01 1.53726605e-02 -7.43020216e-03 -2.93298337e+02] [-1.53688390e-02 9.99881729e-01 5.71143903e-04 1.74669788e+01] [ 7.43810339e-03 -4.56867064e-04 9.99972233e-01 1.55699465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59907232899997 meters Centerline goodness : 0.764034 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.47, Z:155.70 [[ 9.99848633e-01 1.55005895e-02 -7.90206988e-03 -2.93297308e+02] [-1.54978861e-02 9.99879819e-01 4.03237288e-04 1.74680066e+01] [ 7.90737062e-03 -2.80710872e-04 9.99968697e-01 1.55699690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62907232899994 meters Centerline goodness : 0.764228 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.47, Z:155.70 [[ 9.99813011e-01 1.70911214e-02 -9.04632050e-03 -2.93294118e+02] [-1.70825095e-02 9.99853554e-01 1.02838708e-03 1.74700185e+01] [ 9.06257200e-03 -8.73660925e-04 9.99958552e-01 1.55699740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65907232899997 meters Centerline goodness : 0.763232 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.47, Z:155.70 [[ 9.99799565e-01 1.74671606e-02 -9.78412446e-03 -2.93292590e+02] [-1.74584763e-02 9.99847116e-01 9.72308117e-04 1.74710901e+01] [ 9.79961209e-03 -8.01297327e-04 9.99951662e-01 1.55700280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68907232899994 meters Centerline goodness : 0.763282 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.47, Z:155.70 [[ 9.99799033e-01 1.72839684e-02 -1.01566861e-02 -2.93292401e+02] [-1.72815638e-02 9.99850610e-01 3.24471275e-04 1.74731753e+01] [ 1.01607769e-02 -1.48882649e-04 9.99948367e-01 1.55701381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71907232899997 meters Centerline goodness : 0.764634 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.47, Z:155.70 [[ 9.99795215e-01 1.72832039e-02 -1.05270155e-02 -2.93291940e+02] [-1.72846937e-02 9.99850607e-01 -5.05430465e-05 1.74746226e+01] [ 1.05245693e-02 2.32488934e-04 9.99944588e-01 1.55702062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74907232899994 meters Centerline goodness : 0.764934 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.70 [[ 9.99791929e-01 1.72864849e-02 -1.08293769e-02 -2.93291799e+02] [-1.72904705e-02 9.99850471e-01 -2.74518277e-04 1.74753172e+01] [ 1.08230121e-02 4.61706179e-04 9.99941323e-01 1.55702857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.779072329 meters Centerline goodness : 0.764994 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.70 [[ 9.99797779e-01 1.69177289e-02 -1.08715999e-02 -2.93292080e+02] [-1.69288280e-02 9.99856265e-01 -9.29707299e-04 1.74771565e+01] [ 1.08543087e-02 1.11356274e-03 9.99940470e-01 1.55703389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.80907232899995 meters Centerline goodness : 0.764556 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.70 [[ 9.99794942e-01 1.68800112e-02 -1.11865945e-02 -2.93291132e+02] [-1.68935180e-02 9.99856674e-01 -1.11401498e-03 1.74779776e+01] [ 1.11661865e-02 1.30276748e-03 9.99936808e-01 1.55703214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.839072329 meters Centerline goodness : 0.763904 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.70 [[ 9.99783047e-01 1.71390489e-02 -1.18368918e-02 -2.93289541e+02] [-1.71540761e-02 9.99852174e-01 -1.16915667e-03 1.74789712e+01] [ 1.18151038e-02 1.37195396e-03 9.99929258e-01 1.55703363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.86907232899995 meters Centerline goodness : 0.764795 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.70 [[ 9.99772310e-01 1.73047673e-02 -1.24848973e-02 -2.93288598e+02] [-1.73245476e-02 9.99848826e-01 -1.47792417e-03 1.74805285e+01] [ 1.24574348e-02 1.69388286e-03 9.99920968e-01 1.55704417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.899072329 meters Centerline goodness : 0.765188 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.71 [[ 9.99772031e-01 1.70649193e-02 -1.28325426e-02 -2.93288627e+02] [-1.70942563e-02 9.99851506e-01 -2.17993498e-03 1.74827442e+01] [ 1.27934366e-02 2.39880080e-03 9.99915283e-01 1.55705722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.92907232899995 meters Centerline goodness : 0.766359 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.48, Z:155.71 [[ 9.99764196e-01 1.71431476e-02 -1.33291120e-02 -2.93287689e+02] [-1.71782994e-02 9.99849248e-01 -2.52720387e-03 1.74845281e+01] [ 1.32837784e-02 2.75557942e-03 9.99907970e-01 1.55706326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.959072329 meters Centerline goodness : 0.764324 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.71 [[ 9.99676883e-01 2.15739454e-02 -1.34422946e-02 -2.93286648e+02] [-2.15533399e-02 9.99766295e-01 1.67588909e-03 1.74851579e+01] [ 1.34753086e-02 -1.38562123e-03 9.99908244e-01 1.55705563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.98907232899995 meters Centerline goodness : 0.761493 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.71 [[ 9.99657827e-01 2.20137789e-02 -1.41287704e-02 -2.93284600e+02] [-2.19893736e-02 9.99756436e-01 1.88039967e-03 1.74854524e+01] [ 1.41667238e-02 -1.56907344e-03 9.99898416e-01 1.55705171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.019072329 meters Centerline goodness : 0.760640 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.71 [[ 9.99639524e-01 2.23373326e-02 -1.48951831e-02 -2.93282934e+02] [-2.23121572e-02 9.99749333e-01 1.85423477e-03 1.74863025e+01] [ 1.49328681e-02 -1.52122269e-03 9.99887341e-01 1.55705608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.04907232899996 meters Centerline goodness : 0.763445 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.71 [[ 9.99634319e-01 2.22001161e-02 -1.54396872e-02 -2.93282726e+02] [-2.21862472e-02 9.99753283e-01 1.06899229e-03 1.74888687e+01] [ 1.54596098e-02 -7.26052659e-04 9.99880229e-01 1.55707314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.079072329 meters Centerline goodness : 0.763272 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.71 [[ 9.99635628e-01 2.20275291e-02 -1.56012598e-02 -2.93283239e+02] [-2.20201264e-02 9.99757319e-01 6.46139286e-04 1.74899208e+01] [ 1.56117065e-02 -3.02362138e-04 9.99878084e-01 1.55708495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.10907232899996 meters Centerline goodness : 0.763879 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.71 [[ 9.99633952e-01 2.18858322e-02 -1.59051119e-02 -2.93283140e+02] [-2.18863156e-02 9.99760456e-01 1.43692508e-04 1.74915505e+01] [ 1.59044467e-02 2.04464388e-04 9.99873495e-01 1.55709432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.139072329 meters Centerline goodness : 0.765683 Centerline is valid? [False, False] Translation: X:-293.27, Y:17.48, Z:155.72 [[ 9.99717042e-01 1.53898399e-02 -1.81380588e-02 -2.93274768e+02] [-1.52874065e-02 9.99866477e-01 5.77262550e-03 1.74849998e+01] [ 1.82244767e-02 -5.49370821e-03 9.99818827e-01 1.55715998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16907232899996 meters Centerline goodness : 0.763017 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.48, Z:155.72 [[ 9.99735823e-01 1.48584048e-02 -1.75359936e-02 -2.93276867e+02] [-1.47649732e-02 9.99876163e-01 5.44549656e-03 1.74846623e+01] [ 1.76147334e-02 -5.18513951e-03 9.99831404e-01 1.55716470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.199072329 meters Centerline goodness : 0.762572 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99762884e-01 1.40075965e-02 -1.66722291e-02 -2.93279457e+02] [-1.39292627e-02 9.99891436e-01 4.80534790e-03 1.74851276e+01] [ 1.67377304e-02 -4.57197662e-03 9.99849461e-01 1.55716691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22907232899996 meters Centerline goodness : 0.763538 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99792044e-01 1.27161695e-02 -1.59426581e-02 -2.93282588e+02] [-1.26590757e-02 9.99913110e-01 3.67701577e-03 1.74858464e+01] [ 1.59880304e-02 -3.47443180e-03 9.99866147e-01 1.55717973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.259072329 meters Centerline goodness : 0.763122 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99783473e-01 1.29027960e-02 -1.63255735e-02 -2.93282237e+02] [-1.28444008e-02 9.99910748e-01 3.67673072e-03 1.74861066e+01] [ 1.63715565e-02 -3.46624240e-03 9.99859969e-01 1.55718763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28907232899996 meters Centerline goodness : 0.763943 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99788643e-01 1.24073958e-02 -1.63928797e-02 -2.93282482e+02] [-1.23628022e-02 9.99919604e-01 2.81885437e-03 1.74885645e+01] [ 1.64265365e-02 -2.61559665e-03 9.99861654e-01 1.55719320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.319072329 meters Centerline goodness : 0.763648 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99784471e-01 1.23472908e-02 -1.66899850e-02 -2.93281930e+02] [-1.23064259e-02 9.99921024e-01 2.54896505e-03 1.74896081e+01] [ 1.67201397e-02 -2.34302161e-03 9.99857463e-01 1.55719608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34907232899997 meters Centerline goodness : 0.762416 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99718779e-01 1.66726739e-02 -1.68637084e-02 -2.93281247e+02] [-1.65641339e-02 9.99841314e-01 6.55564631e-03 1.74906278e+01] [ 1.69703325e-02 -6.27447000e-03 9.99836306e-01 1.55719466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37907232899994 meters Centerline goodness : 0.761609 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99701568e-01 1.69727858e-02 -1.75698405e-02 -2.93279912e+02] [-1.68597138e-02 9.99836320e-01 6.56382585e-03 1.74911354e+01] [ 1.76783711e-02 -6.26564451e-03 9.99824093e-01 1.55720058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40907232899997 meters Centerline goodness : 0.762304 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99680624e-01 1.73974541e-02 -1.83297101e-02 -2.93278352e+02] [-1.72806827e-02 9.99829485e-01 6.50986318e-03 1.74922590e+01] [ 1.84398396e-02 -6.19103418e-03 9.99810804e-01 1.55720595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43907232899994 meters Centerline goodness : 0.762305 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99705293e-01 1.64644791e-02 -1.78395111e-02 -2.93281511e+02] [-1.63699936e-02 9.99851260e-01 5.42957188e-03 1.74931949e+01] [ 1.79262527e-02 -5.13593906e-03 9.99826121e-01 1.55722679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46907232899997 meters Centerline goodness : 0.761677 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99715467e-01 1.62122208e-02 -1.74971014e-02 -2.93283112e+02] [-1.61245014e-02 9.99856765e-01 5.14286258e-03 1.74933738e+01] [ 1.75779724e-02 -4.85926723e-03 9.99833687e-01 1.55723527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49907232899994 meters Centerline goodness : 0.762647 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.72 [[ 9.99737876e-01 1.54355214e-02 -1.69092748e-02 -2.93285273e+02] [-1.53643314e-02 9.99872578e-01 4.33197234e-03 1.74946907e+01] [ 1.69739864e-02 -4.07103712e-03 9.99847644e-01 1.55724172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.529072329 meters Centerline goodness : 0.761110 Centerline is valid? [False, False] Translation: X:-293.28, Y:17.49, Z:155.72 [[ 9.99788468e-01 1.16434817e-02 -1.69543314e-02 -2.93284682e+02] [-1.16264591e-02 9.99931803e-01 1.10224670e-03 1.74919794e+01] [ 1.69660091e-02 -9.04894696e-04 9.99855657e-01 1.55723232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.55907232899995 meters Centerline goodness : 0.760718 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.72 [[ 9.99820447e-01 1.02967567e-02 -1.59075830e-02 -2.93288057e+02] [-1.02983906e-02 9.99946970e-01 -2.07934269e-05 1.74930917e+01] [ 1.59065253e-02 1.84612196e-04 9.99873466e-01 1.55723841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.589072329 meters Centerline goodness : 0.761389 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.72 [[ 9.99837570e-01 9.76809291e-03 -1.51465649e-02 -2.93290636e+02] [-9.77360062e-03 9.99952195e-01 -2.89646001e-04 1.74924739e+01] [ 1.51430115e-02 4.37635429e-04 9.99885242e-01 1.55724459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.61907232899995 meters Centerline goodness : 0.762488 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.73 [[ 9.99872401e-01 5.47749807e-03 -1.50059363e-02 -2.93292282e+02] [-5.54464759e-03 9.99974785e-01 -4.43692094e-03 1.74915339e+01] [ 1.49812547e-02 4.51955742e-03 9.99877560e-01 1.55725910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.649072329 meters Centerline goodness : 0.762917 Centerline is valid? [False, False] Translation: X:-293.29, Y:17.49, Z:155.73 [[ 9.99883554e-01 5.19575255e-03 -1.43485948e-02 -2.93294051e+02] [-5.26159648e-03 9.99975784e-01 -4.55494510e-03 1.74913649e+01] [ 1.43245810e-02 4.62991121e-03 9.99886679e-01 1.55725937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.67907232899995 meters Centerline goodness : 0.761949 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.49, Z:155.73 [[ 9.99891283e-01 5.09842413e-03 -1.38357240e-02 -2.93295029e+02] [-5.15909061e-03 9.99977219e-01 -4.35262761e-03 1.74905784e+01] [ 1.38132173e-02 4.42353417e-03 9.99894808e-01 1.55725424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.709072329 meters Centerline goodness : 0.760604 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.49, Z:155.72 [[ 9.99958060e-01 -6.96279255e-04 -9.13202532e-03 -2.93305805e+02] [ 6.65228559e-04 9.99993989e-01 -3.40279501e-03 1.74929732e+01] [ 9.13433972e-03 3.39657742e-03 9.99952512e-01 1.55718672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.73907232899995 meters Centerline goodness : 0.760196 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.49, Z:155.72 [[ 9.99962404e-01 -3.65947695e-04 -8.66347492e-03 -2.93306396e+02] [ 3.44192736e-04 9.99996785e-01 -2.51247014e-03 1.74901735e+01] [ 8.66436650e-03 2.50939378e-03 9.99959315e-01 1.55717692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.769072329 meters Centerline goodness : 0.762224 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.49, Z:155.72 [[ 9.99970886e-01 -2.08650058e-03 -7.33986840e-03 -2.93310484e+02] [ 2.06271402e-03 9.99992602e-01 -3.24681364e-03 1.74881870e+01] [ 7.34658858e-03 3.23157906e-03 9.99967792e-01 1.55718035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.79907232899996 meters Centerline goodness : 0.760999 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.49, Z:155.72 [[ 9.99973935e-01 -3.90562722e-03 -6.07254753e-03 -2.93314371e+02] [ 3.87607757e-03 9.99980628e-01 -4.87028212e-03 1.74902915e+01] [ 6.09145140e-03 4.84661751e-03 9.99969702e-01 1.55718760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.829072329 meters Centerline goodness : 0.761365 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99971368e-01 -5.55302698e-03 -5.14069245e-03 -2.93318007e+02] [ 5.52336364e-03 9.99968119e-01 -5.76662450e-03 1.74887799e+01] [ 5.17255078e-03 5.73806547e-03 9.99970159e-01 1.55719876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.85907232899996 meters Centerline goodness : 0.760754 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99973872e-01 -5.40225296e-03 -4.80324526e-03 -2.93318621e+02] [ 5.37688830e-03 9.99971615e-01 -5.27805717e-03 1.74872123e+01] [ 4.83162232e-03 5.25209275e-03 9.99974535e-01 1.55719441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.889072329 meters Centerline goodness : 0.759505 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99975089e-01 -5.61653036e-03 -4.27493358e-03 -2.93319711e+02] [ 5.59400981e-03 9.99970509e-01 -5.26189773e-03 1.74868474e+01] [ 4.30436111e-03 5.23785264e-03 9.99977018e-01 1.55719051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91907232899996 meters Centerline goodness : 0.760555 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976100e-01 -5.63077228e-03 -4.01165791e-03 -2.93320150e+02] [ 5.61044160e-03 9.99971453e-01 -5.06125619e-03 1.74862004e+01] [ 4.04004217e-03 5.03862806e-03 9.99979145e-01 1.55718721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.949072329 meters Centerline goodness : 0.759329 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99977136e-01 -5.47566105e-03 -3.96794442e-03 -2.93320305e+02] [ 5.45662034e-03 9.99973623e-01 -4.79367342e-03 1.74855627e+01] [ 3.99408829e-03 4.77191226e-03 9.99980638e-01 1.55718760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97907232899996 meters Centerline goodness : 0.759534 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976389e-01 -5.79571096e-03 -3.69204765e-03 -2.93320554e+02] [ 5.77699502e-03 9.99970511e-01 -5.05990965e-03 1.74864626e+01] [ 3.72126456e-03 5.03846124e-03 9.99980383e-01 1.55718238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.009072329 meters Centerline goodness : 0.761285 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976294e-01 -5.80595573e-03 -3.70161302e-03 -2.93320523e+02] [ 5.78683732e-03 9.99969970e-01 -5.15484445e-03 1.74871110e+01] [ 3.73143066e-03 5.13330162e-03 9.99979863e-01 1.55718270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03907232899996 meters Centerline goodness : 0.761398 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976852e-01 -5.86297303e-03 -3.45279453e-03 -2.93321197e+02] [ 5.84515002e-03 9.99969658e-01 -5.14957459e-03 1.74871179e+01] [ 3.48288158e-03 5.12927328e-03 9.99980780e-01 1.55718335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.069072329 meters Centerline goodness : 0.762815 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976008e-01 -6.00585621e-03 -3.45165244e-03 -2.93321681e+02] [ 5.98703303e-03 9.99967291e-01 -5.43808471e-03 1.74881381e+01] [ 3.48419989e-03 5.41728908e-03 9.99979256e-01 1.55719073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09907232899997 meters Centerline goodness : 0.762815 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976008e-01 -6.00585621e-03 -3.45165244e-03 -2.93321681e+02] [ 5.98703303e-03 9.99967291e-01 -5.43808471e-03 1.74881381e+01] [ 3.48419989e-03 5.41728908e-03 9.99979256e-01 1.55719073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12907232899994 meters Centerline goodness : 0.763588 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99974716e-01 -6.43944824e-03 -3.01677369e-03 -2.93322741e+02] [ 6.42148147e-03 9.99961811e-01 -5.92792717e-03 1.74895721e+01] [ 3.05483106e-03 5.90840513e-03 9.99977879e-01 1.55719044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15907232899997 meters Centerline goodness : 0.763554 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99975958e-01 -6.49406986e-03 -2.43127611e-03 -2.93323378e+02] [ 6.48062880e-03 9.99963897e-01 -5.49604687e-03 1.74882413e+01] [ 2.46688004e-03 5.48015853e-03 9.99981941e-01 1.55717813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18907232899994 meters Centerline goodness : 0.762571 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99976892e-01 -6.51889710e-03 -1.92868974e-03 -2.93324008e+02] [ 6.50882459e-03 9.99965383e-01 -5.18344453e-03 1.74873620e+01] [ 1.96241332e-03 5.17077125e-03 9.99984706e-01 1.55716884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21907232899997 meters Centerline goodness : 0.763994 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99978237e-01 -6.25074316e-03 -2.11060939e-03 -2.93322785e+02] [ 6.24024647e-03 9.99968309e-01 -4.94378942e-03 1.74876536e+01] [ 2.14144486e-03 4.93051110e-03 9.99985552e-01 1.55715950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24907232899994 meters Centerline goodness : 0.764611 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99980340e-01 -5.76684054e-03 -2.46251609e-03 -2.93322267e+02] [ 5.75576989e-03 9.99973403e-01 -4.47933638e-03 1.74866736e+01] [ 2.48828222e-03 4.46507464e-03 9.99986936e-01 1.55716432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.279072329 meters Centerline goodness : 0.764508 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99979154e-01 -6.08360673e-03 -2.16375734e-03 -2.93323564e+02] [ 6.07290845e-03 9.99969471e-01 -4.91697970e-03 1.74876718e+01] [ 2.19360425e-03 4.90373690e-03 9.99985571e-01 1.55717145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.30907232899995 meters Centerline goodness : 0.764309 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99979906e-01 -5.84906450e-03 -2.44446727e-03 -2.93323093e+02] [ 5.83728479e-03 9.99971449e-01 -4.79859766e-03 1.74877531e+01] [ 2.47246478e-03 4.78423218e-03 9.99985499e-01 1.55717496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.339072329 meters Centerline goodness : 0.764211 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99981394e-01 -5.28258766e-03 -3.05066216e-03 -2.93321559e+02] [ 5.26933480e-03 9.99976716e-01 -4.33607751e-03 1.74873884e+01] [ 3.07349684e-03 4.31992187e-03 9.99985946e-01 1.55717517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.36907232899995 meters Centerline goodness : 0.765783 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99993779e-01 -2.88828815e-03 -2.02459896e-03 -2.93324429e+02] [ 2.88357520e-03 9.99993135e-01 -2.32691170e-03 1.74923191e+01] [ 2.03130585e-03 2.32105914e-03 9.99995243e-01 1.55718038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.399072329 meters Centerline goodness : 0.765394 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99993149e-01 -2.95715919e-03 -2.22637038e-03 -2.93323887e+02] [ 2.95165919e-03 9.99992594e-01 -2.46963363e-03 1.74932305e+01] [ 2.23365699e-03 2.46304523e-03 9.99994472e-01 1.55718074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.42907232899995 meters Centerline goodness : 0.766277 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99992719e-01 -2.45444546e-03 -2.92181594e-03 -2.93322267e+02] [ 2.44766298e-03 9.99994307e-01 -2.32263990e-03 1.74942675e+01] [ 2.92750010e-03 2.31547137e-03 9.99993034e-01 1.55718462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.459072329 meters Centerline goodness : 0.766631 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99993162e-01 -2.29362302e-03 -2.90106368e-03 -2.93322125e+02] [ 2.28735608e-03 9.99995048e-01 -2.16169801e-03 1.74943686e+01] [ 2.90600743e-03 2.15504746e-03 9.99993455e-01 1.55718304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.48907232899995 meters Centerline goodness : 0.767047 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.49, Z:155.72 [[ 9.99994069e-01 -2.58880639e-03 -2.27143499e-03 -2.93323907e+02] [ 2.58345144e-03 9.99993884e-01 -2.35729182e-03 1.74945141e+01] [ 2.27752367e-03 2.35140970e-03 9.99994642e-01 1.55718546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.519072329 meters Centerline goodness : 0.766791 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99992028e-01 -3.78940687e-03 -1.25857133e-03 -2.93327281e+02] [ 3.78506182e-03 9.99986930e-01 -3.43699108e-03 1.74958859e+01] [ 1.27157904e-03 3.43219991e-03 9.99993302e-01 1.55719465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.54907232899996 meters Centerline goodness : 0.767208 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99990196e-01 -4.41742863e-03 -3.08197216e-04 -2.93329934e+02] [ 4.41623286e-03 9.99983111e-01 -3.77827372e-03 1.74959073e+01] [ 3.24882265e-04 3.77687561e-03 9.99992815e-01 1.55719712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.579072329 meters Centerline goodness : 0.764865 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.49, Z:155.72 [[ 9.99960591e-01 -8.85667000e-03 6.13797945e-04 -2.93331877e+02] [ 8.86095684e-03 9.99933552e-01 -7.37399547e-03 1.74932570e+01] [-5.48448114e-04 7.37914370e-03 9.99972623e-01 1.55719073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.60907232899996 meters Centerline goodness : 0.766141 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.49, Z:155.72 [[ 9.99957643e-01 -9.07888943e-03 1.51198624e-03 -2.93333920e+02] [ 9.08908372e-03 9.99935040e-01 -6.87775139e-03 1.74908515e+01] [-1.44944568e-03 6.89120264e-03 9.99975205e-01 1.55718527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.639072329 meters Centerline goodness : 0.764308 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99949823e-01 -9.63072962e-03 2.75701261e-03 -2.93336582e+02] [ 9.64788796e-03 9.99933742e-01 -6.27938641e-03 1.74874529e+01] [-2.69635486e-03 6.30567068e-03 9.99976484e-01 1.55717502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66907232899996 meters Centerline goodness : 0.762699 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99943556e-01 -1.00456740e-02 3.45951959e-03 -2.93338367e+02] [ 1.00677488e-02 9.99928686e-01 -6.42372767e-03 1.74870749e+01] [-3.39474220e-03 6.45819467e-03 9.99973383e-01 1.55717424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.699072329 meters Centerline goodness : 0.763364 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99971380e-01 -6.41292609e-03 4.01426806e-03 -2.93339711e+02] [ 6.42422566e-03 9.99975421e-01 -2.80831391e-03 1.74883973e+01] [-3.99615989e-03 2.83402210e-03 9.99987999e-01 1.55717205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72907232899996 meters Centerline goodness : 0.761857 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99973056e-01 -6.27701365e-03 3.80604009e-03 -2.93339354e+02] [ 6.28733683e-03 9.99976572e-01 -2.70644278e-03 1.74883282e+01] [-3.78896254e-03 2.73029972e-03 9.99989095e-01 1.55717406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.759072329 meters Centerline goodness : 0.764745 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99976477e-01 -6.00337165e-03 3.31722816e-03 -2.93338253e+02] [ 6.01232739e-03 9.99978290e-01 -2.69642378e-03 1.74891005e+01] [-3.30096851e-03 2.71630462e-03 9.99990863e-01 1.55717690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78907232899996 meters Centerline goodness : 0.763622 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99975613e-01 -6.16134808e-03 3.28791049e-03 -2.93338422e+02] [ 6.17138046e-03 9.99976306e-01 -3.04992181e-03 1.74903560e+01] [-3.26904095e-03 3.07013837e-03 9.99989944e-01 1.55718047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.819072329 meters Centerline goodness : 0.763608 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99970528e-01 -6.68257382e-03 3.77978245e-03 -2.93339903e+02] [ 6.69581324e-03 9.99971454e-01 -3.50095215e-03 1.74910232e+01] [-3.75627919e-03 3.52615768e-03 9.99986728e-01 1.55718356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84907232899997 meters Centerline goodness : 0.762969 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99977516e-01 -5.97087442e-03 3.05219295e-03 -2.93338220e+02] [ 5.97950073e-03 9.99978132e-01 -2.82499863e-03 1.74901410e+01] [-3.03525850e-03 2.84318571e-03 9.99991352e-01 1.55718522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87907232899994 meters Centerline goodness : 0.764943 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99991358e-01 -2.55051563e-03 3.28319945e-03 -2.93338933e+02] [ 2.55002597e-03 9.99996737e-01 1.53319600e-04 1.74938559e+01] [-3.28357978e-03 -1.44946031e-04 9.99994599e-01 1.55718832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90907232899997 meters Centerline goodness : 0.764770 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.50, Z:155.72 [[ 9.99991134e-01 -2.69985924e-03 3.23163879e-03 -2.93338755e+02] [ 2.70056897e-03 9.99996330e-01 -2.15278271e-04 1.74953567e+01] [-3.23104571e-03 2.24003625e-04 9.99994755e-01 1.55718876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93907232899994 meters Centerline goodness : 0.764489 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99989179e-01 -2.83051662e-03 3.69194679e-03 -2.93340137e+02] [ 2.83098664e-03 9.99995985e-01 -1.22089177e-04 1.74946593e+01] [-3.69158639e-03 1.32539707e-04 9.99993177e-01 1.55719119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96907232899997 meters Centerline goodness : 0.763307 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99989230e-01 -2.68195482e-03 3.78781066e-03 -2.93340449e+02] [ 2.68155510e-03 9.99996399e-01 1.10603722e-04 1.74940440e+01] [-3.78809365e-03 -1.00445308e-04 9.99992820e-01 1.55719160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99907232899994 meters Centerline goodness : 0.764636 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99988363e-01 -2.75303213e-03 3.96158063e-03 -2.93340872e+02] [ 2.75277374e-03 9.99996209e-01 7.06748736e-05 1.74941303e+01] [-3.96176018e-03 -5.97687160e-05 9.99992150e-01 1.55719101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.029072329 meters Centerline goodness : 0.763897 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.50, Z:155.72 [[ 9.99987953e-01 -2.86571521e-03 3.98505053e-03 -2.93341046e+02] [ 2.86640407e-03 9.99995878e-01 -1.67161664e-04 1.74950021e+01] [-3.98455507e-03 1.78582416e-04 9.99992046e-01 1.55719250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.05907232899995 meters Centerline goodness : 0.763958 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.50, Z:155.72 [[ 9.99990520e-01 -2.57814862e-03 3.50897675e-03 -2.93340049e+02] [ 2.57830180e-03 9.99996675e-01 -3.91292710e-05 1.74951352e+01] [-3.50886420e-03 4.81761011e-05 9.99993843e-01 1.55719528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.089072329 meters Centerline goodness : 0.764978 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.49, Z:155.72 [[ 9.99996089e-01 -1.47631701e-03 2.37550348e-03 -2.93337851e+02] [ 1.47498554e-03 9.99998754e-01 5.62151706e-04 1.74948627e+01] [-2.37633043e-03 -5.58645674e-04 9.99997020e-01 1.55720375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.11907232899995 meters Centerline goodness : 0.763682 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.50, Z:155.72 [[ 9.99998703e-01 -7.55931838e-04 1.42226642e-03 -2.93335913e+02] [ 7.54791182e-04 9.99999393e-01 8.02364651e-04 1.74954474e+01] [-1.42287209e-03 -8.01290096e-04 9.99998667e-01 1.55720969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.149072329 meters Centerline goodness : 0.761504 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99999887e-01 1.24465194e-04 4.58407611e-04 -2.93333272e+02] [-1.24922104e-04 9.99999495e-01 9.96840286e-04 1.74970607e+01] [-4.58283307e-04 -9.96897439e-04 9.99999398e-01 1.55720875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.17907232899995 meters Centerline goodness : 0.762756 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99999597e-01 8.08210829e-04 -3.91265855e-04 -2.93331102e+02] [-8.07661167e-04 9.99998690e-01 1.40295594e-03 1.74970686e+01] [ 3.92399227e-04 -1.40263936e-03 9.99998939e-01 1.55720789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.209072329 meters Centerline goodness : 0.762186 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99999770e-01 6.37100743e-04 -2.31284206e-04 -2.93331440e+02] [-6.36811309e-04 9.99999017e-01 1.24934479e-03 1.74972800e+01] [ 2.32079937e-04 -1.24919722e-03 9.99999193e-01 1.55720600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.23907232899995 meters Centerline goodness : 0.762663 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99999334e-01 8.40001003e-04 -7.91778387e-04 -2.93329828e+02] [-8.39154640e-04 9.99999077e-01 1.06866700e-03 1.74985432e+01] [ 7.92675338e-04 -1.06800186e-03 9.99999116e-01 1.55720334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.269072329 meters Centerline goodness : 0.761777 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99997875e-01 1.26108385e-03 -1.63087317e-03 -2.93328328e+02] [-1.25935923e-03 9.99998647e-01 1.05808067e-03 1.74993704e+01] [ 1.63220529e-03 -1.05602457e-03 9.99998110e-01 1.55721192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.29907232899996 meters Centerline goodness : 0.763096 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99998334e-01 7.74854182e-04 -1.65277128e-03 -2.93328700e+02] [-7.74647268e-04 9.99999692e-01 1.25828613e-04 1.75022136e+01] [ 1.65286827e-03 -1.24548089e-04 9.99998626e-01 1.55721871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.329072329 meters Centerline goodness : 0.763061 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.50, Z:155.72 [[ 9.99995141e-01 1.35673900e-03 -2.80679912e-03 -2.93326932e+02] [-1.35710484e-03 9.99999071e-01 -1.28438349e-04 1.75043074e+01] [ 2.80662225e-03 1.32246845e-04 9.99996053e-01 1.55723541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.35907232899996 meters Centerline goodness : 0.764428 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.51, Z:155.72 [[ 9.99992234e-01 1.60586761e-03 -3.59895797e-03 -2.93325080e+02] [-1.60758847e-03 9.99998595e-01 -4.75313126e-04 1.75064894e+01] [ 3.59818962e-03 4.81095078e-04 9.99993411e-01 1.55723922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.389072329 meters Centerline goodness : 0.764800 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.51, Z:155.73 [[ 9.99970200e-01 6.01167643e-03 -4.84334296e-03 -2.93322814e+02] [-5.99847535e-03 9.99978267e-01 2.73554537e-03 1.75107429e+01] [ 4.85968292e-03 -2.70641118e-03 9.99984529e-01 1.55725387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41907232899996 meters Centerline goodness : 0.765291 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.51, Z:155.73 [[ 9.99957202e-01 6.95379392e-03 -6.10241744e-03 -2.93320068e+02] [-6.93618825e-03 9.99971735e-01 2.90146830e-03 1.75119650e+01] [ 6.12242117e-03 -2.85901661e-03 9.99977171e-01 1.55726089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.449072329 meters Centerline goodness : 0.764795 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.51, Z:155.73 [[ 9.99941587e-01 8.07595126e-03 -7.18337209e-03 -2.93317292e+02] [-8.05209107e-03 9.99961989e-01 3.34432903e-03 1.75127373e+01] [ 7.21010768e-03 -3.28629251e-03 9.99968607e-01 1.55726185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47907232899996 meters Centerline goodness : 0.764347 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.51, Z:155.73 [[ 9.99866955e-01 1.20187405e-02 -1.10282690e-02 -2.93308871e+02] [-1.19857021e-02 9.99923496e-01 3.05700618e-03 1.75128980e+01] [ 1.10641666e-02 -2.92441791e-03 9.99934514e-01 1.55730279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.509072329 meters Centerline goodness : 0.764754 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.51, Z:155.73 [[ 9.99852863e-01 1.24079371e-02 -1.18446350e-02 -2.93307340e+02] [-1.23733481e-02 9.99918980e-01 2.98905916e-03 1.75139241e+01] [ 1.18807634e-02 -2.84206156e-03 9.99925382e-01 1.55731033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53907232899996 meters Centerline goodness : 0.764198 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.51, Z:155.73 [[ 9.99830623e-01 1.31488471e-02 -1.28776590e-02 -2.93305192e+02] [-1.31094172e-02 9.99909133e-01 3.14152817e-03 1.75149625e+01] [ 1.29177963e-02 -2.97217746e-03 9.99912144e-01 1.55731768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.569072329 meters Centerline goodness : 0.765456 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.52, Z:155.73 [[ 9.99810323e-01 1.36401166e-02 -1.39019885e-02 -2.93303716e+02] [-1.36016203e-02 9.99903404e-01 2.85992633e-03 1.75166132e+01] [ 1.39396554e-02 -2.67029429e-03 9.99899273e-01 1.55733409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59907232899997 meters Centerline goodness : 0.767062 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.52, Z:155.73 [[ 9.99798827e-01 1.38183096e-02 -1.45382412e-02 -2.93302732e+02] [-1.37824315e-02 9.99901727e-01 2.56515331e-03 1.75179868e+01] [ 1.45722586e-02 -2.36426496e-03 9.99891024e-01 1.55734305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62907232899994 meters Centerline goodness : 0.767100 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.52, Z:155.74 [[ 9.99783698e-01 1.40619194e-02 -1.53238526e-02 -2.93301349e+02] [-1.40281706e-02 9.99898938e-01 2.30764224e-03 1.75193332e+01] [ 1.53547538e-02 -2.09217747e-03 9.99879920e-01 1.55735104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65907232899997 meters Centerline goodness : 0.765928 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.52, Z:155.74 [[ 9.99775545e-01 1.41332229e-02 -1.57832644e-02 -2.93300453e+02] [-1.41014512e-02 9.99898317e-01 2.12248554e-03 1.75202472e+01] [ 1.58116570e-02 -1.89944221e-03 9.99873184e-01 1.55735421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68907232899994 meters Centerline goodness : 0.766714 Centerline is valid? [False, False] Translation: X:-293.30, Y:17.52, Z:155.74 [[ 9.99801613e-01 1.29400497e-02 -1.51423161e-02 -2.93302913e+02] [-1.29282263e-02 9.99916041e-01 8.78450700e-04 1.75220807e+01] [ 1.51524120e-02 -6.82513137e-04 9.99884963e-01 1.55736273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71907232899997 meters Centerline goodness : 0.766514 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.52, Z:155.74 [[ 9.99832970e-01 1.15523360e-02 -1.41624692e-02 -2.93306164e+02] [-1.15513393e-02 9.99933269e-01 1.52172639e-04 1.75214502e+01] [ 1.41632821e-02 1.14482657e-05 9.99899696e-01 1.55736693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74907232899994 meters Centerline goodness : 0.767252 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.52, Z:155.74 [[ 9.99847871e-01 1.09094961e-02 -1.36094559e-02 -2.93308162e+02] [-1.09182006e-02 9.99940235e-01 -5.65454325e-04 1.75227585e+01] [ 1.36024737e-02 7.13959073e-04 9.99907227e-01 1.55737354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.779072329 meters Centerline goodness : 0.766290 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.52, Z:155.74 [[ 9.99857719e-01 1.05473503e-02 -1.31641421e-02 -2.93309694e+02] [-1.05591123e-02 9.99943911e-01 -8.24304728e-04 1.75228114e+01] [ 1.31547095e-02 9.63189099e-04 9.99913009e-01 1.55737769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.80907232899995 meters Centerline goodness : 0.765655 Centerline is valid? [False, False] Translation: X:-293.31, Y:17.52, Z:155.74 [[ 9.99886087e-01 9.14012528e-03 -1.20112821e-02 -2.93312807e+02] [-9.16250021e-03 9.99956387e-01 -1.80911845e-03 1.75241531e+01] [ 1.19942227e-02 1.91896574e-03 9.99926225e-01 1.55737822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.839072329 meters Centerline goodness : 0.766385 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.74 [[ 9.99902819e-01 8.53766232e-03 -1.10209531e-02 -2.93315194e+02] [-8.55983838e-03 9.99961430e-01 -1.96657282e-03 1.75237494e+01] [ 1.10037381e-02 2.06071928e-03 9.99937334e-01 1.55737465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.86907232899995 meters Centerline goodness : 0.767430 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.74 [[ 9.99920510e-01 7.81675366e-03 -9.89304738e-03 -2.93317701e+02] [-7.83872034e-03 9.99966893e-01 -2.18359106e-03 1.75231003e+01] [ 9.87565125e-03 2.26096632e-03 9.99948678e-01 1.55736821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.899072329 meters Centerline goodness : 0.764829 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99967698e-01 4.98208967e-03 -6.30733187e-03 -2.93325478e+02] [-4.98594992e-03 9.99987392e-01 -5.96450024e-04 1.75212889e+01] [ 6.30428078e-03 6.27878798e-04 9.99979931e-01 1.55732242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.92907232899995 meters Centerline goodness : 0.763330 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99973081e-01 4.58281329e-03 -5.73022588e-03 -2.93327154e+02] [-4.58749259e-03 9.99989154e-01 -8.03722051e-04 1.75211865e+01] [ 5.72648043e-03 8.29987784e-04 9.99983259e-01 1.55732403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.959072329 meters Centerline goodness : 0.765803 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99967159e-01 4.97868597e-03 -6.39475733e-03 -2.93325751e+02] [-4.98453938e-03 9.99987172e-01 -8.99733239e-04 1.75226925e+01] [ 6.39019581e-03 9.31578611e-04 9.99979149e-01 1.55732922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.98907232899995 meters Centerline goodness : 0.765109 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.73 [[ 9.99962666e-01 5.21518442e-03 -6.88975050e-03 -2.93324773e+02] [-5.22167647e-03 9.99985939e-01 -9.24624451e-04 1.75233272e+01] [ 6.88483154e-03 9.60565979e-04 9.99975838e-01 1.55733318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.019072329 meters Centerline goodness : 0.765109 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.73 [[ 9.99962666e-01 5.21518442e-03 -6.88975050e-03 -2.93324773e+02] [-5.22167647e-03 9.99985939e-01 -9.24624451e-04 1.75233272e+01] [ 6.88483154e-03 9.60565979e-04 9.99975838e-01 1.55733318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.04907232899996 meters Centerline goodness : 0.764578 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.73 [[ 9.99958244e-01 5.50512344e-03 -7.29403517e-03 -2.93323991e+02] [-5.51074836e-03 9.99984533e-01 -7.51294013e-04 1.75232187e+01] [ 7.28978639e-03 7.91458235e-04 9.99973116e-01 1.55733597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.079072329 meters Centerline goodness : 0.762189 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.73 [[ 9.99957251e-01 5.48296576e-03 -7.44540135e-03 -2.93323725e+02] [-5.49003397e-03 9.99984498e-01 -9.29233497e-04 1.75239114e+01] [ 7.44019098e-03 9.70069280e-04 9.99971851e-01 1.55733697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.10907232899996 meters Centerline goodness : 0.763594 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.52, Z:155.73 [[ 9.99961012e-01 5.17855361e-03 -7.15243967e-03 -2.93324566e+02] [-5.18787117e-03 9.99985718e-01 -1.28477225e-03 1.75247711e+01] [ 7.14568425e-03 1.32182810e-03 9.99973596e-01 1.55733807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.139072329 meters Centerline goodness : 0.763798 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.53, Z:155.73 [[ 9.99959279e-01 5.19777696e-03 -7.37727715e-03 -2.93324144e+02] [-5.20879060e-03 9.99985347e-01 -1.47448682e-03 1.75257771e+01] [ 7.36950500e-03 1.51285347e-03 9.99971700e-01 1.55734056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16907232899996 meters Centerline goodness : 0.765537 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99969180e-01 4.27697716e-03 -6.58375306e-03 -2.93326482e+02] [-4.29213127e-03 9.99988168e-01 -2.28933784e-03 1.75271437e+01] [ 6.57388372e-03 2.31752561e-03 9.99975706e-01 1.55734465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.199072329 meters Centerline goodness : 0.764010 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99973207e-01 4.00981721e-03 -6.12434534e-03 -2.93327296e+02] [-4.02392575e-03 9.99989275e-01 -2.29309825e-03 1.75272562e+01] [ 6.11508475e-03 2.31768072e-03 9.99978617e-01 1.55734063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22907232899996 meters Centerline goodness : 0.763940 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99976884e-01 3.98451845e-03 -5.50959059e-03 -2.93328511e+02] [-3.99493361e-03 9.99990252e-01 -1.88065731e-03 1.75256968e+01] [ 5.50204336e-03 1.90262428e-03 9.99983054e-01 1.55733465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.259072329 meters Centerline goodness : 0.765154 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99976102e-01 4.35963045e-03 -5.36562185e-03 -2.93328727e+02] [-4.36538518e-03 9.99989909e-01 -1.06127600e-03 1.75232454e+01] [ 5.36094094e-03 1.08467364e-03 9.99985042e-01 1.55733075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28907232899996 meters Centerline goodness : 0.765287 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99974880e-01 4.41014181e-03 -5.54883677e-03 -2.93328432e+02] [-4.41703576e-03 9.99989487e-01 -1.23077339e-03 1.75242468e+01] [ 5.54335055e-03 1.25525189e-03 9.99983848e-01 1.55733373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.319072329 meters Centerline goodness : 0.765566 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99977056e-01 4.18293232e-03 -5.32823600e-03 -2.93329543e+02] [-4.19092071e-03 9.99990110e-01 -1.48897546e-03 1.75245439e+01] [ 5.32195502e-03 1.51127151e-03 9.99984696e-01 1.55734044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34907232899997 meters Centerline goodness : 0.767446 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.74 [[ 9.99972769e-01 4.45744448e-03 -5.88145782e-03 -2.93328843e+02] [-4.46673523e-03 9.99988796e-01 -1.56747741e-03 1.75252920e+01] [ 5.87440498e-03 1.59370564e-03 9.99981476e-01 1.55735050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37907232899994 meters Centerline goodness : 0.766555 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.74 [[ 9.99965721e-01 4.89172668e-03 -6.68044694e-03 -2.93327065e+02] [-4.90263243e-03 9.99986675e-01 -1.61708928e-03 1.75264784e+01] [ 6.67244756e-03 1.64978562e-03 9.99976378e-01 1.55735436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40907232899997 meters Centerline goodness : 0.766192 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.74 [[ 9.99957597e-01 5.35161959e-03 -7.49425733e-03 -2.93325276e+02] [-5.36301666e-03 9.99984492e-01 -1.50150377e-03 1.75271497e+01] [ 7.48610563e-03 1.54163193e-03 9.99970790e-01 1.55735782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43907232899994 meters Centerline goodness : 0.768725 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.53, Z:155.74 [[ 9.99959278e-01 5.09346062e-03 -7.44976341e-03 -2.93324752e+02] [-5.10729070e-03 9.99985267e-01 -1.83860036e-03 1.75287014e+01] [ 7.44028882e-03 1.87657360e-03 9.99970560e-01 1.55735053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46907232899997 meters Centerline goodness : 0.768039 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99963886e-01 4.91526133e-03 -6.93304839e-03 -2.93326022e+02] [-4.92763309e-03 9.99986295e-01 -1.76850915e-03 1.75281093e+01] [ 6.92426069e-03 1.80260880e-03 9.99974402e-01 1.55734891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49907232899994 meters Centerline goodness : 0.768904 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99970938e-01 4.64007542e-03 -6.04913134e-03 -2.93328488e+02] [-4.64886214e-03 9.99988158e-01 -1.43930796e-03 1.75262468e+01] [ 6.04238121e-03 1.46738771e-03 9.99980668e-01 1.55734968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.529072329 meters Centerline goodness : 0.769912 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.73 [[ 9.99978671e-01 3.92249571e-03 -5.22218817e-03 -2.93330547e+02] [-3.93388181e-03 9.99989904e-01 -2.17184733e-03 1.75278560e+01] [ 5.21361638e-03 2.19234448e-03 9.99984006e-01 1.55734944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.55907232899995 meters Centerline goodness : 0.769801 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.53, Z:155.74 [[ 9.99983779e-01 3.60644448e-03 -4.40862206e-03 -2.93332818e+02] [-3.61505414e-03 9.99991571e-01 -1.94650969e-03 1.75261157e+01] [ 4.40156492e-03 1.96241553e-03 9.99988388e-01 1.55735045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.589072329 meters Centerline goodness : 0.771849 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.52, Z:155.73 [[ 9.99993224e-01 -9.50366445e-04 -3.55643799e-03 -2.93334706e+02] [ 9.29010398e-04 9.99981558e-01 -6.00173945e-03 1.75249923e+01] [ 3.56207625e-03 5.99839481e-03 9.99975665e-01 1.55734559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.61907232899995 meters Centerline goodness : 0.772511 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.53, Z:155.73 [[ 9.99993025e-01 -2.95854720e-03 -2.27964707e-03 -2.93338506e+02] [ 2.94188648e-03 9.99969191e-01 -7.27748415e-03 1.75252295e+01] [ 2.30110762e-03 7.27072692e-03 9.99970920e-01 1.55734922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.649072329 meters Centerline goodness : 0.772098 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.52, Z:155.73 [[ 9.99993490e-01 -3.33262483e-03 -1.38315555e-03 -2.93340169e+02] [ 3.32258016e-03 9.99968545e-01 -7.20199398e-03 1.75245483e+01] [ 1.40711359e-03 7.19735145e-03 9.99973109e-01 1.55733995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.67907232899995 meters Centerline goodness : 0.770583 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.52, Z:155.73 [[ 9.99992586e-01 -3.84378520e-03 -2.30435792e-04 -2.93342779e+02] [ 3.84212618e-03 9.99969411e-01 -6.81288848e-03 1.75220147e+01] [ 2.56616023e-04 6.81195261e-03 9.99976765e-01 1.55733281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.709072329 meters Centerline goodness : 0.772156 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.52, Z:155.73 [[ 9.99991707e-01 -4.05044067e-03 4.23415155e-04 -2.93344457e+02] [ 4.05316853e-03 9.99969651e-01 -6.65344993e-03 1.75208750e+01] [-3.96452901e-04 6.65511093e-03 9.99977776e-01 1.55733149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.73907232899995 meters Centerline goodness : 0.770960 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99987407e-01 -4.80337052e-03 1.45384520e-03 -2.93346968e+02] [ 4.81358076e-03 9.99963189e-01 -7.10284899e-03 1.75212546e+01] [-1.41967406e-03 7.10975774e-03 9.99973718e-01 1.55732979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.769072329 meters Centerline goodness : 0.770963 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99982677e-01 -5.35855020e-03 2.43554889e-03 -2.93349508e+02] [ 5.37553352e-03 9.99960905e-01 -7.02087664e-03 1.75196747e+01] [-2.39783196e-03 7.03384739e-03 9.99972387e-01 1.55732856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.79907232899996 meters Centerline goodness : 0.771942 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99981440e-01 -5.36378772e-03 2.88966260e-03 -2.93350303e+02] [ 5.38330667e-03 9.99962458e-01 -6.78985743e-03 1.75188127e+01] [-2.85313476e-03 6.80528735e-03 9.99972773e-01 1.55732301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.829072329 meters Centerline goodness : 0.769652 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99976334e-01 -5.82935375e-03 3.65375732e-03 -2.93352182e+02] [ 5.85462408e-03 9.99958750e-01 -6.94414766e-03 1.75185036e+01] [-3.61312671e-03 6.96537470e-03 9.99969214e-01 1.55732106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.85907232899996 meters Centerline goodness : 0.770332 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99972887e-01 -6.10887356e-03 4.11169755e-03 -2.93352959e+02] [ 6.13744231e-03 9.99956862e-01 -6.97178633e-03 1.75185687e+01] [-4.06893041e-03 6.99683262e-03 9.99967244e-01 1.55731589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.889072329 meters Centerline goodness : 0.770650 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99971092e-01 -6.31949247e-03 4.22842361e-03 -2.93353081e+02] [ 6.35029890e-03 9.99953101e-01 -7.31223601e-03 1.75199910e+01] [-4.18201569e-03 7.33887638e-03 9.99964325e-01 1.55731434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91907232899996 meters Centerline goodness : 0.771857 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99964980e-01 -6.71480892e-03 4.99504669e-03 -2.93354813e+02] [ 6.75142209e-03 9.99950200e-01 -7.34950709e-03 1.75195778e+01] [-4.94544741e-03 7.38297338e-03 9.99960516e-01 1.55731074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.949072329 meters Centerline goodness : 0.771587 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99956196e-01 -7.25070635e-03 5.91887081e-03 -2.93356921e+02] [ 7.29514714e-03 9.99945102e-01 -7.52158281e-03 1.75194330e+01] [-5.86400909e-03 7.56443237e-03 9.99954195e-01 1.55730714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97907232899996 meters Centerline goodness : 0.770468 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99938078e-01 -8.58131341e-03 7.08529230e-03 -2.93360239e+02] [ 8.63624227e-03 9.99932607e-01 -7.75866466e-03 1.75165374e+01] [-7.01823527e-03 7.81937453e-03 9.99944799e-01 1.55730757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.009072329 meters Centerline goodness : 0.770721 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99928254e-01 -9.15481336e-03 7.72503888e-03 -2.93362784e+02] [ 9.21781885e-03 9.99924219e-01 -8.16020619e-03 1.75163624e+01] [-7.64974830e-03 8.23082874e-03 9.99936865e-01 1.55731919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03907232899996 meters Centerline goodness : 0.771426 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99921858e-01 -9.49299548e-03 8.13392320e-03 -2.93363863e+02] [ 9.56200563e-03 9.99918260e-01 -8.48777585e-03 1.75171331e+01] [-8.05268391e-03 8.56488922e-03 9.99930896e-01 1.55731971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.069072329 meters Centerline goodness : 0.771287 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99928003e-01 -9.16596955e-03 7.74423340e-03 -2.93362412e+02] [ 9.22997191e-03 9.99923208e-01 -8.26959898e-03 1.75174649e+01] [-7.66783981e-03 8.34048265e-03 9.99935818e-01 1.55731368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09907232899997 meters Centerline goodness : 0.766967 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99969339e-01 -3.55998526e-03 6.97480046e-03 -2.93358723e+02] [ 3.57827621e-03 9.99990187e-01 -2.61171186e-03 1.75161935e+01] [-6.96543436e-03 2.63658954e-03 9.99972265e-01 1.55729088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12907232899994 meters Centerline goodness : 0.766656 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99977518e-01 -2.71854158e-03 6.12965585e-03 -2.93356072e+02] [ 2.73029611e-03 9.99994448e-01 -1.91009745e-03 1.75156983e+01] [-6.12442914e-03 1.92679028e-03 9.99979389e-01 1.55728466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15907232899997 meters Centerline goodness : 0.768204 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99984635e-01 -1.82288803e-03 5.23511289e-03 -2.93353212e+02] [ 1.83148020e-03 9.99996983e-01 -1.63693414e-03 1.75173400e+01] [-5.23211315e-03 1.64649699e-03 9.99984957e-01 1.55727982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18907232899994 meters Centerline goodness : 0.767864 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99989190e-01 -1.32409675e-03 4.45722165e-03 -2.93352049e+02] [ 1.33116047e-03 9.99997862e-01 -1.58218782e-03 1.75180951e+01] [-4.45511715e-03 1.58810399e-03 9.99988815e-01 1.55729093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21907232899997 meters Centerline goodness : 0.771739 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99988886e-01 -1.89407432e-03 4.31740942e-03 -2.93353065e+02] [ 1.90675737e-03 9.99993874e-01 -2.93543169e-03 1.75218921e+01] [-4.31182305e-03 2.94363132e-03 9.99986372e-01 1.55731140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24907232899994 meters Centerline goodness : 0.771480 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99988560e-01 -2.07668801e-03 4.30892286e-03 -2.93353227e+02] [ 2.09110863e-03 9.99992219e-01 -3.34488515e-03 1.75234152e+01] [-4.30194305e-03 3.35385731e-03 9.99985122e-01 1.55731442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.279072329 meters Centerline goodness : 0.769576 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99992513e-01 -1.25952773e-03 3.65899687e-03 -2.93351077e+02] [ 1.26906912e-03 9.99995798e-01 -2.60650171e-03 1.75228675e+01] [-3.65569854e-03 2.61112572e-03 9.99989909e-01 1.55730898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.30907232899995 meters Centerline goodness : 0.769387 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99992611e-01 -1.24193715e-03 3.63803026e-03 -2.93351132e+02] [ 1.25139221e-03 9.99995843e-01 -2.59782779e-03 1.75230732e+01] [-3.63478880e-03 2.60236120e-03 9.99990008e-01 1.55731070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.339072329 meters Centerline goodness : 0.769981 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99990223e-01 -1.65593753e-03 4.10019488e-03 -2.93352328e+02] [ 1.66846647e-03 9.99993944e-01 -3.05415959e-03 1.75242037e+01] [-4.09511255e-03 3.06097077e-03 9.99986930e-01 1.55731114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.36907232899995 meters Centerline goodness : 0.768312 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.52, Z:155.73 [[ 9.99986966e-01 -1.86517622e-03 4.75283929e-03 -2.93353876e+02] [ 1.87858179e-03 9.99994266e-01 -2.81763707e-03 1.75226728e+01] [-4.74755665e-03 2.82652894e-03 9.99984736e-01 1.55730780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.399072329 meters Centerline goodness : 0.769592 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.52, Z:155.73 [[ 9.99984704e-01 8.43102855e-04 5.46636041e-03 -2.93356976e+02] [-8.42397883e-04 9.99999637e-01 -1.31266793e-04 1.75244208e+01] [-5.46646909e-03 1.26659935e-04 9.99985051e-01 1.55732095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.42907232899995 meters Centerline goodness : 0.769022 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99986235e-01 6.90139611e-04 5.20126532e-03 -2.93355860e+02] [-6.86903109e-04 9.99999569e-01 -6.24013593e-04 1.75265833e+01] [-5.20169374e-03 6.20432239e-04 9.99986279e-01 1.55731537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.459072329 meters Centerline goodness : 0.768311 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99990370e-01 1.59480225e-03 4.08868031e-03 -2.93353021e+02] [-1.59408261e-03 9.99998713e-01 -1.79262106e-04 1.75270363e+01] [-4.08896094e-03 1.72742685e-04 9.99991625e-01 1.55731604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.48907232899995 meters Centerline goodness : 0.769120 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99992875e-01 1.99667496e-03 3.20351152e-03 -2.93351247e+02] [-1.99608602e-03 9.99997990e-01 -1.87027956e-04 1.75278574e+01] [-3.20387852e-03 1.80632139e-04 9.99994851e-01 1.55732253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.519072329 meters Centerline goodness : 0.769460 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99992882e-01 1.49601022e-03 3.46375424e-03 -2.93352376e+02] [-1.49280583e-03 9.99998456e-01 -9.27519217e-04 1.75297664e+01] [-3.46513647e-03 9.22341903e-04 9.99993571e-01 1.55732901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.54907232899996 meters Centerline goodness : 0.772082 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99994212e-01 1.62584444e-03 2.98866807e-03 -2.93351879e+02] [-1.62211016e-03 9.99997901e-01 -1.25147723e-03 1.75311057e+01] [-2.99069651e-03 1.24662204e-03 9.99994751e-01 1.55733861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.579072329 meters Centerline goodness : 0.772793 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99995355e-01 1.51054417e-03 2.64745310e-03 -2.93351470e+02] [-1.50587210e-03 9.99997307e-01 -1.76584943e-03 1.75328917e+01] [-2.65011336e-03 1.76185450e-03 9.99994936e-01 1.55734513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.60907232899996 meters Centerline goodness : 0.773195 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99995979e-01 1.57087512e-03 2.36098403e-03 -2.93351003e+02] [-1.56652460e-03 9.99997074e-01 -1.84339252e-03 1.75334382e+01] [-2.36387287e-03 1.83968657e-03 9.99995514e-01 1.55734885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.639072329 meters Centerline goodness : 0.773585 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99994176e-01 3.12404368e-03 1.37403624e-03 -2.93347962e+02] [-3.12320249e-03 9.99994934e-01 -6.13926032e-04 1.75325448e+01] [-1.37594721e-03 6.09631063e-04 9.99998868e-01 1.55734270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66907232899996 meters Centerline goodness : 0.773609 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99994497e-01 2.95193441e-03 1.51407169e-03 -2.93348340e+02] [-2.95067178e-03 9.99995298e-01 -8.35491707e-04 1.75330284e+01] [-1.51653089e-03 8.31019581e-04 9.99998505e-01 1.55734214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.699072329 meters Centerline goodness : 0.772841 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99995741e-01 1.55634089e-03 2.46887805e-03 -2.93351350e+02] [-1.55244565e-03 9.99997549e-01 -1.57886850e-03 1.75321975e+01] [-2.47132925e-03 1.57502898e-03 9.99995706e-01 1.55734632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72907232899996 meters Centerline goodness : 0.771285 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.73 [[ 9.99994118e-01 1.17172978e-03 3.22347222e-03 -2.93353447e+02] [-1.16668632e-03 9.99998093e-01 -1.56604068e-03 1.75309964e+01] [-3.22530105e-03 1.56227068e-03 9.99993578e-01 1.55734708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.759072329 meters Centerline goodness : 0.771949 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99992232e-01 9.19140464e-04 3.83287662e-03 -2.93355153e+02] [-9.12956640e-04 9.99998279e-01 -1.61480154e-03 1.75305557e+01] [-3.83435426e-03 1.61128974e-03 9.99991351e-01 1.55734836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78907232899996 meters Centerline goodness : 0.773863 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99988482e-01 3.02340271e-04 4.78995935e-03 -2.93357374e+02] [-2.93239249e-04 9.99998151e-01 -1.90060913e-03 1.75305609e+01] [-4.79052513e-03 1.89918264e-03 9.99986722e-01 1.55734436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.819072329 meters Centerline goodness : 0.771607 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99987466e-01 4.70432911e-04 4.98458355e-03 -2.93357531e+02] [-4.63370984e-04 9.99998888e-01 -1.41781382e-03 1.75290024e+01] [-4.98524499e-03 1.41548634e-03 9.99986572e-01 1.55733875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84907232899997 meters Centerline goodness : 0.772063 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99986147e-01 3.68710854e-04 5.25067707e-03 -2.93357326e+02] [-3.62261891e-04 9.99999179e-01 -1.22911350e-03 1.75284808e+01] [-5.25112595e-03 1.22719436e-03 9.99985460e-01 1.55732529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87907232899994 meters Centerline goodness : 0.770572 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99988544e-01 6.12320104e-04 4.74727299e-03 -2.93355888e+02] [-6.06747401e-04 9.99999125e-01 -1.17522583e-03 1.75290479e+01] [-4.74798845e-03 1.17233197e-03 9.99988041e-01 1.55732308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90907232899997 meters Centerline goodness : 0.770572 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99988544e-01 6.12320104e-04 4.74727299e-03 -2.93355888e+02] [-6.06747401e-04 9.99999125e-01 -1.17522583e-03 1.75290479e+01] [-4.74798845e-03 1.17233197e-03 9.99988041e-01 1.55732308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93907232899994 meters Centerline goodness : 0.773134 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99990335e-01 6.44951790e-04 4.34894416e-03 -2.93355096e+02] [-6.38916268e-04 9.99998831e-01 -1.38905973e-03 1.75302119e+01] [-4.34983496e-03 1.38626769e-03 9.99989579e-01 1.55732646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96907232899997 meters Centerline goodness : 0.771793 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99988196e-01 -6.13405860e-05 4.85842880e-03 -2.93356496e+02] [ 7.23268521e-05 9.99997441e-01 -2.26113621e-03 1.75324579e+01] [-4.85827767e-03 2.26146092e-03 9.99985641e-01 1.55732827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99907232899994 meters Centerline goodness : 0.771036 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99987392e-01 2.72438875e-05 5.02137882e-03 -2.93356824e+02] [-1.72060491e-05 9.99998002e-01 -1.99905270e-03 1.75317315e+01] [-5.02142325e-03 1.99894110e-03 9.99985395e-01 1.55732708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.029072329 meters Centerline goodness : 0.770847 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99987707e-01 1.62855002e-04 4.95580655e-03 -2.93356695e+02] [-1.53524141e-04 9.99998215e-01 -1.88313588e-03 1.75316656e+01] [-4.95610438e-03 1.88235190e-03 9.99985947e-01 1.55732740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.05907232899995 meters Centerline goodness : 0.770553 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99985677e-01 6.40740458e-07 5.35218611e-03 -2.93357735e+02] [ 9.76343937e-06 9.99998111e-01 -1.94388584e-03 1.75316067e+01] [-5.35217724e-03 1.94391025e-03 9.99983788e-01 1.55732743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.089072329 meters Centerline goodness : 0.771791 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99982351e-01 -3.79989448e-04 5.92896161e-03 -2.93359612e+02] [ 3.92961441e-04 9.99997532e-01 -2.18689156e-03 1.75316728e+01] [-5.92811598e-03 2.18918282e-03 9.99980032e-01 1.55733308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.11907232899995 meters Centerline goodness : 0.771144 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99977948e-01 -6.76770497e-04 6.60643597e-03 -2.93361449e+02] [ 6.91504166e-04 9.99997279e-01 -2.22816986e-03 1.75311739e+01] [-6.60491003e-03 2.23268910e-03 9.99975695e-01 1.55733387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.149072329 meters Centerline goodness : 0.771933 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99974590e-01 -8.27602540e-04 7.08063038e-03 -2.93362651e+02] [ 8.43089445e-04 9.99997259e-01 -2.18451612e-03 1.75306473e+01] [-7.07880306e-03 2.19043021e-03 9.99972546e-01 1.55733323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.17907232899995 meters Centerline goodness : 0.771709 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99976848e-01 -5.41322073e-04 6.78304495e-03 -2.93362003e+02] [ 5.54144508e-04 9.99998063e-01 -1.88862889e-03 1.75301587e+01] [-6.78200945e-03 1.89234395e-03 9.99975211e-01 1.55733416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.209072329 meters Centerline goodness : 0.770790 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99971539e-01 -1.22080067e-03 7.44512252e-03 -2.93363534e+02] [ 1.23986548e-03 9.99995963e-01 -2.55663475e-03 1.75315192e+01] [-7.44197133e-03 2.56579294e-03 9.99969016e-01 1.55733264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.23907232899995 meters Centerline goodness : 0.772316 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99965225e-01 -1.76963351e-03 8.14964913e-03 -2.93365195e+02] [ 1.79177015e-03 9.99994723e-01 -2.70976964e-03 1.75311128e+01] [-8.14481083e-03 2.72427770e-03 9.99963120e-01 1.55733001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.269072329 meters Centerline goodness : 0.769615 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99961232e-01 -1.88347329e-03 8.60159554e-03 -2.93365459e+02] [ 1.90488822e-03 9.99995105e-01 -2.48213266e-03 1.75304453e+01] [-8.59687840e-03 2.49842151e-03 9.99959925e-01 1.55731736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.29907232899996 meters Centerline goodness : 0.769380 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99961577e-01 -1.77780052e-03 8.58397487e-03 -2.93364929e+02] [ 1.79773307e-03 9.99995705e-01 -2.31490829e-03 1.75303507e+01] [-8.57982255e-03 2.33025104e-03 9.99960478e-01 1.55731047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.329072329 meters Centerline goodness : 0.770192 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99964432e-01 -1.43794768e-03 8.31071611e-03 -2.93364100e+02] [ 1.45351764e-03 9.99997199e-01 -1.86774337e-03 1.75293957e+01] [-8.30800711e-03 1.87975671e-03 9.99963721e-01 1.55730779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.35907232899996 meters Centerline goodness : 0.770763 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99965456e-01 -1.32882269e-03 8.20491004e-03 -2.93363669e+02] [ 1.34397555e-03 9.99997401e-01 -1.84156609e-03 1.75298246e+01] [-8.20244160e-03 1.85252967e-03 9.99964643e-01 1.55730615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.389072329 meters Centerline goodness : 0.772071 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.73 [[ 9.99960747e-01 -1.90406598e-03 8.65324755e-03 -2.93364987e+02] [ 1.92680590e-03 9.99994711e-01 -2.62032880e-03 1.75318475e+01] [-8.64821250e-03 2.63689907e-03 9.99959127e-01 1.55730906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41907232899996 meters Centerline goodness : 0.770458 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99955564e-01 -2.16968743e-03 9.17398903e-03 -2.93366511e+02] [ 2.19421998e-03 9.99994042e-01 -2.66492283e-03 1.75315171e+01] [-9.16815232e-03 2.68493416e-03 9.99954367e-01 1.55731182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.449072329 meters Centerline goodness : 0.771108 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99947919e-01 -2.64897659e-03 9.85611226e-03 -2.93368279e+02] [ 2.68025083e-03 9.99991411e-01 -3.16122589e-03 1.75325629e+01] [-9.84765360e-03 3.18747810e-03 9.99946430e-01 1.55731241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47907232899996 meters Centerline goodness : 0.772191 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99934940e-01 -3.86343062e-03 1.07326233e-02 -2.93371629e+02] [ 3.90665577e-03 9.99984331e-01 -4.00941289e-03 1.75325658e+01] [-1.07169650e-02 4.05108070e-03 9.99934366e-01 1.55732553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.509072329 meters Centerline goodness : 0.773113 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99928754e-01 -4.09257176e-03 1.12132650e-02 -2.93372841e+02] [ 4.13878328e-03 9.99983026e-01 -4.10104586e-03 1.75325098e+01] [-1.11962908e-02 4.14716295e-03 9.99928720e-01 1.55732502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53907232899996 meters Centerline goodness : 0.771839 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99905263e-01 -5.65487251e-03 1.25494168e-02 -2.93375194e+02] [ 5.71089088e-03 9.99973869e-01 -4.43248535e-03 1.75309296e+01] [-1.25240237e-02 4.50373378e-03 9.99911429e-01 1.55730951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.569072329 meters Centerline goodness : 0.770319 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99894967e-01 -5.88106501e-03 1.32464577e-02 -2.93376496e+02] [ 5.93712652e-03 9.99973568e-01 -4.19684759e-03 1.75297800e+01] [-1.32214257e-02 4.27505268e-03 9.99903454e-01 1.55730217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59907232899997 meters Centerline goodness : 0.768735 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99873588e-01 -6.90479057e-03 1.43224108e-02 -2.93378907e+02] [ 6.97130117e-03 9.99965124e-01 -4.59909699e-03 1.75293364e+01] [-1.42901555e-02 4.69836145e-03 9.99886852e-01 1.55729707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62907232899994 meters Centerline goodness : 0.769332 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99864596e-01 -7.03950933e-03 1.48739395e-02 -2.93380362e+02] [ 7.10671170e-03 9.99964756e-01 -4.47011346e-03 1.75284563e+01] [-1.48419478e-02 4.57521299e-03 9.99879385e-01 1.55729717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65907232899997 meters Centerline goodness : 0.769078 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99854022e-01 -7.26271144e-03 1.54656646e-02 -2.93381454e+02] [ 7.33378094e-03 9.99962785e-01 -4.54356188e-03 1.75285427e+01] [-1.54320905e-02 4.65632042e-03 9.99870076e-01 1.55729132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68907232899994 meters Centerline goodness : 0.768399 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99828083e-01 -8.35587703e-03 1.65524553e-02 -2.93383999e+02] [ 8.44350274e-03 9.99950671e-01 -5.23102595e-03 1.75290597e+01] [-1.65079289e-02 5.36988734e-03 9.99849315e-01 1.55728776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71907232899997 meters Centerline goodness : 0.767112 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99829684e-01 -8.03849907e-03 1.66128145e-02 -2.93383830e+02] [ 8.11699589e-03 9.99956184e-01 -4.66306157e-03 1.75276794e+01] [-1.65746026e-02 4.79711352e-03 9.99851124e-01 1.55728280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74907232899994 meters Centerline goodness : 0.767576 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99815153e-01 -8.43300396e-03 1.72784613e-02 -2.93385325e+02] [ 8.51815825e-03 9.99951906e-01 -4.86069395e-03 1.75278791e+01] [-1.72366401e-02 5.00697613e-03 9.99838901e-01 1.55728037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.779072329 meters Centerline goodness : 0.765803 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99769314e-01 -1.22958292e-02 1.76105587e-02 -2.93385805e+02] [ 1.24434802e-02 9.99888134e-01 -8.29933136e-03 1.75255603e+01] [-1.75065416e-02 8.51655346e-03 9.99810477e-01 1.55727645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.80907232899995 meters Centerline goodness : 0.766514 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99763285e-01 -1.23336833e-02 1.79235919e-02 -2.93386408e+02] [ 1.24827971e-02 9.99888205e-01 -8.23148797e-03 1.75254106e+01] [-1.78200636e-02 8.45327601e-03 9.99805475e-01 1.55727387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.839072329 meters Centerline goodness : 0.767755 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99755072e-01 -1.24624706e-02 1.82888699e-02 -2.93387211e+02] [ 1.26148584e-02 9.99886472e-01 -8.24068660e-03 1.75253089e+01] [-1.81840943e-02 8.46937973e-03 9.99798784e-01 1.55727201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.86907232899995 meters Centerline goodness : 0.765959 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99737071e-01 -1.29015359e-02 1.89562458e-02 -2.93388796e+02] [ 1.30654406e-02 9.99878104e-01 -8.54821317e-03 1.75258259e+01] [-1.88436501e-02 8.79363730e-03 9.99783771e-01 1.55727058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.899072329 meters Centerline goodness : 0.766603 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99736116e-01 -1.28616925e-02 1.90335526e-02 -2.93388483e+02] [ 1.30235225e-02 9.99879882e-01 -8.40296184e-03 1.75257379e+01] [-1.89231900e-02 8.64862833e-03 9.99783534e-01 1.55726356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.92907232899995 meters Centerline goodness : 0.763869 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.52, Z:155.73 [[ 9.99738311e-01 -1.26983307e-02 1.90279189e-02 -2.93388421e+02] [ 1.28544570e-02 9.99884526e-01 -8.10539204e-03 1.75249900e+01] [-1.89227967e-02 8.34786451e-03 9.99786098e-01 1.55726253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.959072329 meters Centerline goodness : 0.765582 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99746016e-01 -1.26427098e-02 1.86564952e-02 -2.93388243e+02] [ 1.28030604e-02 9.99881904e-01 -8.50062190e-03 1.75268272e+01] [-1.85468210e-02 8.73732311e-03 9.99789815e-01 1.55727489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.98907232899995 meters Centerline goodness : 0.765928 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99745749e-01 -1.27249590e-02 1.86148378e-02 -2.93388460e+02] [ 1.28892622e-02 9.99878791e-01 -8.73327340e-03 1.75276441e+01] [-1.85014510e-02 8.97098448e-03 9.99788587e-01 1.55727984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.019072329 meters Centerline goodness : 0.766930 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.73 [[ 9.99766119e-01 -1.19954542e-02 1.79948903e-02 -2.93386824e+02] [ 1.21420220e-02 9.99893815e-01 -8.05794188e-03 1.75266084e+01] [-1.78963209e-02 8.27455163e-03 9.99805608e-01 1.55727837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.04907232899996 meters Centerline goodness : 0.764890 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.73 [[ 9.99793632e-01 -1.09014824e-02 1.71421139e-02 -2.93384444e+02] [ 1.10227100e-02 9.99914792e-01 -6.99340789e-03 1.75250532e+01] [-1.70644148e-02 7.18091722e-03 9.99828605e-01 1.55727483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.079072329 meters Centerline goodness : 0.763505 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99915893e-01 -2.50728968e-03 1.27247740e-02 -2.93373758e+02] [ 2.55194333e-03 9.99990639e-01 -3.49416701e-03 1.75255366e+01] [-1.27158940e-02 3.52634603e-03 9.99912932e-01 1.55730936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.10907232899996 meters Centerline goodness : 0.762288 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99922023e-01 1.08290757e-03 1.24408975e-02 -2.93373619e+02] [-1.07577390e-03 9.99999253e-01 -5.80082026e-04 1.75297071e+01] [-1.24415164e-02 5.66653200e-04 9.99922441e-01 1.55731748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.139072329 meters Centerline goodness : 0.762869 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.73 [[ 9.99915270e-01 4.69734604e-03 1.21403310e-02 -2.93373217e+02] [-4.72614714e-03 9.99986083e-01 2.34474926e-03 1.75338654e+01] [-1.21291479e-02 -2.40192758e-03 9.99923554e-01 1.55732364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16907232899996 meters Centerline goodness : 0.762082 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.74 [[ 9.99892688e-01 1.26729577e-02 7.34899899e-03 -2.93362769e+02] [-1.27029536e-02 9.99911115e-01 4.04941886e-03 1.75370642e+01] [-7.29702765e-03 -4.14233830e-03 9.99964797e-01 1.55738505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.199072329 meters Centerline goodness : 0.762067 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.74 [[ 9.99837423e-01 1.66654423e-02 6.88406049e-03 -2.93361885e+02] [-1.67159073e-02 9.99833342e-01 7.33938810e-03 1.75404908e+01] [-6.76059906e-03 -7.45326820e-03 9.99949370e-01 1.55739215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22907232899996 meters Centerline goodness : 0.762912 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.55, Z:155.75 [[ 9.99715933e-01 2.36712975e-02 2.77894599e-03 -2.93353674e+02] [-2.36911923e-02 9.99692240e-01 7.35888395e-03 1.75462131e+01] [-2.60389641e-03 -7.42263008e-03 9.99969062e-01 1.55747019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.259072329 meters Centerline goodness : 0.765098 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.55, Z:155.75 [[ 9.99696720e-01 2.45736004e-02 1.61424505e-03 -2.93351700e+02] [-2.45842296e-02 9.99673723e-01 6.93271449e-03 1.75494367e+01] [-1.44335660e-03 -6.97029691e-03 9.99974666e-01 1.55748641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28907232899996 meters Centerline goodness : 0.765708 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.55, Z:155.75 [[ 9.99705557e-01 2.42463718e-02 9.55064554e-04 -2.93350957e+02] [-2.42515558e-02 9.99688754e-01 5.85290690e-03 1.75531489e+01] [-8.12855537e-04 -5.87434536e-03 9.99982416e-01 1.55750035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.319072329 meters Centerline goodness : 0.766694 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.55, Z:155.75 [[ 9.99663312e-01 2.59462854e-02 -2.29766995e-04 -2.93347996e+02] [-2.59441649e-02 9.99640942e-01 6.69982167e-03 1.75540918e+01] [ 4.03519981e-04 -6.69160481e-03 9.99977530e-01 1.55750348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34907232899997 meters Centerline goodness : 0.765934 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.56, Z:155.75 [[ 9.99552925e-01 2.98933314e-02 -5.81814385e-04 -2.93346924e+02] [-2.98859538e-02 9.99502466e-01 1.00822049e-02 1.75572881e+01] [ 8.82915606e-04 -1.00603094e-02 9.99949004e-01 1.55750650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37907232899994 meters Centerline goodness : 0.765739 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.56, Z:155.75 [[ 9.99544189e-01 3.01654049e-02 -1.20967777e-03 -2.93345499e+02] [-3.01516933e-02 9.99494419e-01 1.00886617e-02 1.75579803e+01] [ 1.51339475e-03 -1.00475894e-02 9.99948376e-01 1.55750907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40907232899997 meters Centerline goodness : 0.765967 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99518321e-01 3.09537382e-02 -2.23423719e-03 -2.93343451e+02] [-3.09293227e-02 9.99469110e-01 1.02408399e-02 1.75590026e+01] [ 2.55004333e-03 -1.01668036e-02 9.99945065e-01 1.55751738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43907232899994 meters Centerline goodness : 0.765367 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99519871e-01 3.08797469e-02 -2.54327395e-03 -2.93343193e+02] [-3.08532859e-02 9.99475307e-01 9.85823246e-03 1.75602568e+01] [ 2.84635924e-03 -9.77503088e-03 9.99948172e-01 1.55752448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46907232899997 meters Centerline goodness : 0.766180 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99612328e-01 2.75848992e-02 -3.77709605e-03 -2.93340940e+02] [-2.75610259e-02 9.99600690e-01 6.23308150e-03 1.75599891e+01] [ 3.94752675e-03 -6.12656447e-03 9.99973441e-01 1.55753185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49907232899994 meters Centerline goodness : 0.766760 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99554292e-01 2.94811100e-02 -4.69901310e-03 -2.93337602e+02] [-2.94451965e-02 9.99537980e-01 7.53702005e-03 1.75600165e+01] [ 4.91904178e-03 -7.39529738e-03 9.99960556e-01 1.55752296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.529072329 meters Centerline goodness : 0.765203 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99559104e-01 2.93351064e-02 -4.58788686e-03 -2.93337650e+02] [-2.93011497e-02 9.99543963e-01 7.30130812e-03 1.75608639e+01] [ 4.79997926e-03 -7.16365864e-03 9.99962820e-01 1.55751999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.55907232899995 meters Centerline goodness : 0.765230 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.75 [[ 9.99633950e-01 2.64954108e-02 -5.47351087e-03 -2.93335215e+02] [-2.64714264e-02 9.99639848e-01 4.40885267e-03 1.75591449e+01] [ 5.58835394e-03 -4.26234717e-03 9.99975301e-01 1.55751412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.589072329 meters Centerline goodness : 0.763867 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.75 [[ 9.99689610e-01 2.40677875e-02 -6.43623357e-03 -2.93332110e+02] [-2.40562490e-02 9.99708868e-01 1.86419902e-03 1.75574130e+01] [ 6.47922692e-03 -1.70878875e-03 9.99977550e-01 1.55750429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.61907232899995 meters Centerline goodness : 0.763626 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.75 [[ 9.99694293e-01 2.39380914e-02 -6.18775118e-03 -2.93332700e+02] [-2.39274262e-02 9.99712092e-01 1.79192876e-03 1.75573814e+01] [ 6.22886504e-03 -1.64332400e-03 9.99979250e-01 1.55750312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.649072329 meters Centerline goodness : 0.763225 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.55, Z:155.76 [[ 9.99778556e-01 1.88129279e-02 -9.42932002e-03 -2.93323136e+02] [-1.87386269e-02 9.99793149e-01 7.90714772e-03 1.75508324e+01] [ 9.57612616e-03 -7.72870422e-03 9.99924280e-01 1.55756759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.67907232899995 meters Centerline goodness : 0.765149 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99795635e-01 1.80950438e-02 -9.01433687e-03 -2.93325250e+02] [-1.80321920e-02 9.99812863e-01 7.00558581e-03 1.75525371e+01] [ 9.13941634e-03 -6.84160585e-03 9.99934830e-01 1.55757987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.709072329 meters Centerline goodness : 0.766457 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99800953e-01 1.78159413e-02 -8.98038184e-03 -2.93326317e+02] [-1.77574017e-02 9.99820826e-01 6.55673105e-03 1.75535498e+01] [ 9.09558713e-03 -6.39595770e-03 9.99938179e-01 1.55759273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.73907232899995 meters Centerline goodness : 0.766325 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99784087e-01 1.83506681e-02 -9.74841495e-03 -2.93325540e+02] [-1.82852678e-02 9.99809984e-01 6.75611784e-03 1.75540342e+01] [ 9.87054187e-03 -6.57640673e-03 9.99929659e-01 1.55760919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.769072329 meters Centerline goodness : 0.770441 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.55, Z:155.76 [[ 9.99810779e-01 1.62657969e-02 -1.06690765e-02 -2.93322622e+02] [-1.62185886e-02 9.99858359e-01 4.49647891e-03 1.75523097e+01] [ 1.07407042e-02 -4.32259072e-03 9.99932974e-01 1.55760198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.79907232899996 meters Centerline goodness : 0.768553 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.55, Z:155.76 [[ 9.99856501e-01 1.26828086e-02 -1.12304485e-02 -2.93321585e+02] [-1.26715124e-02 9.99919134e-01 1.07643989e-03 1.75504555e+01] [ 1.12431926e-02 -9.33978659e-04 9.99936357e-01 1.55760429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.829072329 meters Centerline goodness : 0.768553 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.55, Z:155.76 [[ 9.99856501e-01 1.26828086e-02 -1.12304485e-02 -2.93321585e+02] [-1.26715124e-02 9.99919134e-01 1.07643989e-03 1.75504555e+01] [ 1.12431926e-02 -9.33978659e-04 9.99936357e-01 1.55760429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.85907232899996 meters Centerline goodness : 0.767890 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.55, Z:155.76 [[ 9.99908684e-01 8.62368525e-03 -1.04045600e-02 -2.93323563e+02] [-8.64468430e-03 9.99960684e-01 -1.97497099e-03 1.75459048e+01] [ 1.03871194e-02 2.06473478e-03 9.99943921e-01 1.55759798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.889072329 meters Centerline goodness : 0.768352 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.54, Z:155.76 [[ 9.99923027e-01 8.01552414e-03 -9.47050529e-03 -2.93326180e+02] [-8.03612826e-03 9.99965421e-01 -2.13956150e-03 1.75449649e+01] [ 9.45302810e-03 2.21550300e-03 9.99952865e-01 1.55759900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91907232899996 meters Centerline goodness : 0.767469 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.54, Z:155.76 [[ 9.99933043e-01 7.63850952e-03 -8.69265437e-03 -2.93328035e+02] [-7.65799441e-03 9.99968234e-01 -2.21046163e-03 1.75443637e+01] [ 8.67549361e-03 2.27688193e-03 9.99959775e-01 1.55759623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.949072329 meters Centerline goodness : 0.766895 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99978566e-01 4.41915504e-03 -4.83090923e-03 -2.93336213e+02] [-4.42312428e-03 9.99989889e-01 -8.11259542e-04 1.75427026e+01] [ 4.82727531e-03 8.32609866e-04 9.99988002e-01 1.55754622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97907232899996 meters Centerline goodness : 0.764920 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99983725e-01 4.01353270e-03 -4.05482628e-03 -2.93338047e+02] [-4.01673578e-03 9.99991627e-01 -7.82106565e-04 1.75416560e+01] [ 4.05165332e-03 7.98381002e-04 9.99991473e-01 1.55754259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.009072329 meters Centerline goodness : 0.765972 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.54, Z:155.75 [[ 9.99988096e-01 2.07329722e-03 -4.41701909e-03 -2.93334877e+02] [-2.08282600e-03 9.99995512e-01 -2.15378044e-03 1.75387066e+01] [ 4.41253384e-03 2.16295468e-03 9.99987926e-01 1.55751686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03907232899996 meters Centerline goodness : 0.765976 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99992687e-01 1.48925980e-03 -3.52255768e-03 -2.93336951e+02] [-1.49827767e-03 9.99995604e-01 -2.55878175e-03 1.75393375e+01] [ 3.51873150e-03 2.56404081e-03 9.99990522e-01 1.55751411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.069072329 meters Centerline goodness : 0.767114 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99995519e-01 1.12802630e-03 -2.77312966e-03 -2.93338937e+02] [-1.13521025e-03 9.99996001e-01 -2.59034916e-03 1.75386680e+01] [ 2.77019658e-03 2.59348563e-03 9.99992800e-01 1.55751444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09907232899997 meters Centerline goodness : 0.766646 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99992174e-01 -3.34057072e-03 -2.11933317e-03 -2.93341003e+02] [ 3.32648192e-03 9.99972576e-01 -6.61680929e-03 1.75370832e+01] [ 2.14137897e-03 6.60970759e-03 9.99975863e-01 1.55751909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12907232899994 meters Centerline goodness : 0.768119 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.54, Z:155.75 [[ 9.99992207e-01 -3.59539038e-03 -1.63050030e-03 -2.93342421e+02] [ 3.58424983e-03 9.99970559e-01 -6.78480804e-03 1.75372903e+01] [ 1.65484633e-03 6.77891105e-03 9.99975654e-01 1.55752159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15907232899997 meters Centerline goodness : 0.766449 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99988039e-01 -4.85766780e-03 -5.70420478e-04 -2.93345632e+02] [ 4.85318807e-03 9.99959279e-01 -7.60837538e-03 1.75379194e+01] [ 6.07356210e-04 7.60551601e-03 9.99970893e-01 1.55752713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18907232899994 meters Centerline goodness : 0.768911 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99985930e-01 -5.28269789e-03 4.82959623e-04 -2.93348154e+02] [ 5.28602344e-03 9.99960357e-01 -7.16540272e-03 1.75355312e+01] [-4.45087819e-04 7.16785483e-03 9.99974212e-01 1.55752341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21907232899997 meters Centerline goodness : 0.768888 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99984955e-01 -5.35312001e-03 1.19711173e-03 -2.93349763e+02] [ 5.36119758e-03 9.99962171e-01 -6.84932794e-03 1.75341482e+01] [-1.16040117e-03 6.85564285e-03 9.99975827e-01 1.55751974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24907232899994 meters Centerline goodness : 0.768192 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99978632e-01 -6.11342597e-03 2.31562082e-03 -2.93352471e+02] [ 6.12930016e-03 9.99957332e-01 -6.91134989e-03 1.75330009e+01] [-2.27326999e-03 6.92539534e-03 9.99973435e-01 1.55751624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.279072329 meters Centerline goodness : 0.767362 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99978893e-01 -5.80828277e-03 2.91174140e-03 -2.93353074e+02] [ 5.82530117e-03 9.99965800e-01 -5.87074675e-03 1.75296363e+01] [-2.87754286e-03 5.88758461e-03 9.99978528e-01 1.55750210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.30907232899995 meters Centerline goodness : 0.768620 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99989507e-01 -2.44171380e-03 3.87615501e-03 -2.93355291e+02] [ 2.45084885e-03 9.99994227e-01 -2.35373068e-03 1.75307905e+01] [-3.87038550e-03 2.36320585e-03 9.99989718e-01 1.55749825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.339072329 meters Centerline goodness : 0.767735 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99993583e-01 -1.72554760e-03 3.13964802e-03 -2.93353124e+02] [ 1.73133321e-03 9.99996807e-01 -1.84097316e-03 1.75307452e+01] [-3.13646131e-03 1.84639712e-03 9.99993377e-01 1.55749488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.36907232899995 meters Centerline goodness : 0.767747 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99997028e-01 -6.17501908e-04 2.35855873e-03 -2.93350593e+02] [ 6.19830810e-04 9.99999321e-01 -9.86822506e-04 1.75301426e+01] [-2.35794777e-03 9.88281481e-04 9.99996732e-01 1.55748883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.399072329 meters Centerline goodness : 0.767472 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99996863e-01 -7.05123176e-04 2.40367103e-03 -2.93350954e+02] [ 7.07875753e-04 9.99999095e-01 -1.14449714e-03 1.75307102e+01] [-2.40286184e-03 1.14619505e-03 9.99996456e-01 1.55749237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.42907232899995 meters Centerline goodness : 0.768290 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99998461e-01 -3.56653218e-04 1.71799631e-03 -2.93349439e+02] [ 3.58673310e-04 9.99999245e-01 -1.17567754e-03 1.75318007e+01] [-1.71757571e-03 1.17629193e-03 9.99997833e-01 1.55749606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.459072329 meters Centerline goodness : 0.770762 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99999724e-01 2.53922585e-04 6.98199807e-04 -2.93347480e+02] [-2.53004033e-04 9.99999103e-01 -1.31537426e-03 1.75340359e+01] [-6.98533183e-04 1.31519725e-03 9.99998891e-01 1.55750656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.48907232899995 meters Centerline goodness : 0.770766 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99999733e-01 -2.75696393e-05 7.30643053e-04 -2.93347738e+02] [ 2.89044266e-05 9.99998331e-01 -1.82691893e-03 1.75358376e+01] [-7.30591466e-04 1.82693956e-03 9.99998064e-01 1.55750979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.519072329 meters Centerline goodness : 0.771389 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99999874e-01 2.68174997e-04 4.25007081e-04 -2.93347427e+02] [-2.67480660e-04 9.99998631e-01 -1.63292149e-03 1.75358241e+01] [-4.25444408e-04 1.63280760e-03 9.99998576e-01 1.55751653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.54907232899996 meters Centerline goodness : 0.770321 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99999871e-01 3.54212142e-04 3.62854856e-04 -2.93347524e+02] [-3.53656461e-04 9.99998767e-01 -1.53033368e-03 1.75357672e+01] [-3.63396471e-04 1.53020516e-03 9.99998763e-01 1.55752003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.579072329 meters Centerline goodness : 0.771419 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99999802e-01 2.10096911e-04 5.93218789e-04 -2.93348309e+02] [-2.09125032e-04 9.99998637e-01 -1.63790239e-03 1.75360864e+01] [-5.93562098e-04 1.63777801e-03 9.99998483e-01 1.55752309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.60907232899996 meters Centerline goodness : 0.770644 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99998936e-01 -4.71561290e-04 1.38016980e-03 -2.93350396e+02] [ 4.74793193e-04 9.99997144e-01 -2.34228078e-03 1.75375615e+01] [-1.37906133e-03 2.34293359e-03 9.99996304e-01 1.55752447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.639072329 meters Centerline goodness : 0.770250 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99998862e-01 -2.42581750e-04 1.48918805e-03 -2.93350678e+02] [ 2.45385568e-04 9.99998197e-01 -1.88288939e-03 1.75362894e+01] [-1.48872861e-03 1.88325267e-03 9.99997119e-01 1.55752389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66907232899996 meters Centerline goodness : 0.772253 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99997855e-01 -4.56912271e-04 2.02032512e-03 -2.93351769e+02] [ 4.60700750e-04 9.99998136e-01 -1.87511501e-03 1.75360333e+01] [-2.01946459e-03 1.87604175e-03 9.99996201e-01 1.55751950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.699072329 meters Centerline goodness : 0.771405 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99995577e-01 -6.73527196e-04 2.89686562e-03 -2.93353049e+02] [ 6.77370191e-04 9.99998892e-01 -1.32582801e-03 1.75336973e+01] [-2.89596943e-03 1.32778439e-03 9.99994925e-01 1.55750436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72907232899996 meters Centerline goodness : 0.769393 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99994710e-01 -6.46376614e-04 3.18785826e-03 -2.93353606e+02] [ 6.49948719e-04 9.99999162e-01 -1.11962575e-03 1.75330916e+01] [-3.18713189e-03 1.12169178e-03 9.99994292e-01 1.55750131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.759072329 meters Centerline goodness : 0.770418 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99993405e-01 -7.15786399e-04 3.56053972e-03 -2.93354606e+02] [ 7.19257966e-04 9.99999267e-01 -9.73826627e-04 1.75323302e+01] [-3.55984006e-03 9.76381151e-04 9.99993187e-01 1.55750129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78907232899996 meters Centerline goodness : 0.771514 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99989255e-01 -1.10077490e-03 4.50318918e-03 -2.93356623e+02] [ 1.10485265e-03 9.99998982e-01 -9.03136828e-04 1.75312165e+01] [-4.50219044e-03 9.08102484e-04 9.99989453e-01 1.55749494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.819072329 meters Centerline goodness : 0.770454 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99988652e-01 -8.28668134e-04 4.69137323e-03 -2.93357039e+02] [ 8.30257530e-04 9.99999599e-01 -3.36853850e-04 1.75294018e+01] [-4.69109221e-03 3.40745076e-04 9.99988939e-01 1.55749265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84907232899997 meters Centerline goodness : 0.769636 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99987402e-01 -8.39619860e-04 4.94874532e-03 -2.93357482e+02] [ 8.41118231e-04 9.99999601e-01 -3.00704582e-04 1.75294997e+01] [-4.94849087e-03 3.04863274e-04 9.99987710e-01 1.55748972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87907232899994 meters Centerline goodness : 0.769529 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99980400e-01 -4.41454669e-03 4.43964372e-03 -2.93355875e+02] [ 4.43106874e-03 9.99983269e-01 -3.71855710e-03 1.75280204e+01] [-4.42315369e-03 3.73815659e-03 9.99983231e-01 1.55748634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90907232899997 meters Centerline goodness : 0.768962 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.53, Z:155.75 [[ 9.99985539e-01 -3.80391781e-03 3.80147373e-03 -2.93354286e+02] [ 3.81623574e-03 9.99987475e-01 -3.23831890e-03 1.75276999e+01] [-3.78910782e-03 3.25277939e-03 9.99987531e-01 1.55748702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93907232899994 meters Centerline goodness : 0.769016 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99981173e-01 -4.29761972e-03 4.37995112e-03 -2.93355982e+02] [ 4.31390811e-03 9.99983790e-01 -3.71621278e-03 1.75287671e+01] [-4.36390925e-03 3.73503752e-03 9.99983503e-01 1.55749047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96907232899997 meters Centerline goodness : 0.769346 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99969747e-01 -5.71626108e-03 5.27533231e-03 -2.93359434e+02] [ 5.74226241e-03 9.99971375e-01 -4.92693880e-03 1.75301939e+01] [-5.24701764e-03 4.95708209e-03 9.99973948e-01 1.55750502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99907232899994 meters Centerline goodness : 0.768926 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99961605e-01 -6.34528481e-03 6.04369533e-03 -2.93361449e+02] [ 6.37845909e-03 9.99964611e-01 -5.48570580e-03 1.75314487e+01] [-6.00867308e-03 5.52404464e-03 9.99966690e-01 1.55750614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.029072329 meters Centerline goodness : 0.768224 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99955530e-01 -6.55946419e-03 6.77583596e-03 -2.93363282e+02] [ 6.59569828e-03 9.99963995e-01 -5.33911197e-03 1.75305137e+01] [-6.74057028e-03 5.38356591e-03 9.99962790e-01 1.55750517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.05907232899995 meters Centerline goodness : 0.767345 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.53, Z:155.75 [[ 9.99921268e-01 -1.02646474e-02 7.21765297e-03 -2.93363491e+02] [ 1.03246559e-02 9.99912031e-01 -8.32661753e-03 1.75270248e+01] [-7.13154824e-03 8.40048175e-03 9.99939285e-01 1.55749251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.089072329 meters Centerline goodness : 0.766200 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.75 [[ 9.99894678e-01 -1.17953531e-02 8.45590492e-03 -2.93366778e+02] [ 1.18690790e-02 9.99891517e-01 -8.72236190e-03 1.75252807e+01] [-8.35210426e-03 8.82180705e-03 9.99926206e-01 1.55749069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.11907232899995 meters Centerline goodness : 0.765454 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.52, Z:155.75 [[ 9.99858859e-01 -1.35890940e-02 9.87918340e-03 -2.93370086e+02] [ 1.36825177e-02 9.99861721e-01 -9.45135161e-03 1.75237016e+01] [-9.74938201e-03 9.58518974e-03 9.99906532e-01 1.55748464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.149072329 meters Centerline goodness : 0.763642 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.52, Z:155.75 [[ 9.99853612e-01 -1.35559878e-02 1.04398207e-02 -2.93371238e+02] [ 1.36507191e-02 9.99865807e-01 -9.05686579e-03 1.75222470e+01] [-1.03156450e-02 9.19805104e-03 9.99904487e-01 1.55748015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.17907232899995 meters Centerline goodness : 0.763089 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.52, Z:155.75 [[ 9.99854877e-01 -1.33714894e-02 1.05559188e-02 -2.93371372e+02] [ 1.34631539e-02 9.99871858e-01 -8.66093258e-03 1.75212165e+01] [-1.04387566e-02 8.80179164e-03 9.99906776e-01 1.55747741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.209072329 meters Centerline goodness : 0.764196 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.52, Z:155.75 [[ 9.99881979e-01 -1.01962525e-02 1.14919242e-02 -2.93373591e+02] [ 1.02572454e-02 9.99933553e-01 -5.26106790e-03 1.75225997e+01] [-1.14375174e-02 5.37832247e-03 9.99920125e-01 1.55747381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.23907232899995 meters Centerline goodness : 0.762016 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99857806e-01 -1.12365938e-02 1.25740511e-02 -2.93376005e+02] [ 1.13119924e-02 9.99918366e-01 -5.94139375e-03 1.75234191e+01] [-1.25062636e-02 6.08278649e-03 9.99903292e-01 1.55746956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.269072329 meters Centerline goodness : 0.762118 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99856691e-01 -1.10845807e-02 1.27956795e-02 -2.93375971e+02] [ 1.11569086e-02 9.99922106e-01 -5.59504978e-03 1.75227869e+01] [-1.27326641e-02 5.73700818e-03 9.99902478e-01 1.55746107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.29907232899996 meters Centerline goodness : 0.761211 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99829987e-01 -1.19926028e-02 1.40062095e-02 -2.93378400e+02] [ 1.20747748e-02 9.99910293e-01 -5.79706750e-03 1.75219902e+01] [-1.39354311e-02 5.96520375e-03 9.99885103e-01 1.55745135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.329072329 meters Centerline goodness : 0.761409 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99835283e-01 -1.17554203e-02 1.38281505e-02 -2.93378033e+02] [ 1.18323330e-02 9.99914905e-01 -5.49343251e-03 1.75214603e+01] [-1.37623962e-02 5.65614693e-03 9.99889296e-01 1.55745217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.35907232899996 meters Centerline goodness : 0.760491 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99839280e-01 -1.16723318e-02 1.36077586e-02 -2.93377668e+02] [ 1.17488887e-02 9.99915523e-01 -5.55967101e-03 1.75222968e+01] [-1.35417147e-02 5.71865350e-03 9.99891954e-01 1.55745541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.389072329 meters Centerline goodness : 0.761654 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99821018e-01 -1.22869083e-02 1.43862454e-02 -2.93379771e+02] [ 1.23767478e-02 9.99904353e-01 -6.17253216e-03 1.75236701e+01] [-1.43090280e-02 6.34948232e-03 9.99877460e-01 1.55745741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41907232899996 meters Centerline goodness : 0.761091 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.75 [[ 9.99822523e-01 -1.21216544e-02 1.44218154e-02 -2.93380503e+02] [ 1.22076229e-02 9.99908149e-01 -5.88797700e-03 1.75227482e+01] [-1.43491187e-02 6.06298811e-03 9.99878664e-01 1.55746553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.449072329 meters Centerline goodness : 0.761844 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.75 [[ 9.99766138e-01 -1.51445417e-02 1.54373622e-02 -2.93384399e+02] [ 1.52850294e-02 9.99842460e-01 -9.02349772e-03 1.75262850e+01] [-1.52982735e-02 9.25734800e-03 9.99840119e-01 1.55748343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47907232899996 meters Centerline goodness : 0.761193 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.53, Z:155.75 [[ 9.99758665e-01 -1.52041734e-02 1.58570037e-02 -2.93385392e+02] [ 1.53470968e-02 9.99842341e-01 -8.93086117e-03 1.75258612e+01] [-1.57187174e-02 9.17206481e-03 9.99834384e-01 1.55748177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.509072329 meters Centerline goodness : 0.759177 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.52, Z:155.75 [[ 9.99748239e-01 -1.52826239e-02 1.64286617e-02 -2.93386406e+02] [ 1.54263950e-02 9.99843499e-01 -8.66041843e-03 1.75249207e+01] [-1.62937367e-02 8.91167310e-03 9.99827533e-01 1.55747471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53907232899996 meters Centerline goodness : 0.757432 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.74 [[ 9.99793322e-01 -1.21366916e-02 1.63099510e-02 -2.93384160e+02] [ 1.22114334e-02 9.99915353e-01 -4.49083257e-03 1.75216459e+01] [-1.62540666e-02 4.68907229e-03 9.99856899e-01 1.55744472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.569072329 meters Centerline goodness : 0.757944 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.74 [[ 9.99819268e-01 -1.08109203e-02 1.56382431e-02 -2.93381458e+02] [ 1.08565573e-02 9.99937043e-01 -2.83634890e-03 1.75186216e+01] [-1.56065950e-02 3.00561377e-03 9.99873692e-01 1.55743085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59907232899997 meters Centerline goodness : 0.756753 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.74 [[ 9.99840211e-01 -9.73846361e-03 1.49904670e-02 -2.93378719e+02] [ 9.76951048e-03 9.99950279e-01 -1.99927241e-03 1.75188112e+01] [-1.49702518e-02 2.14540248e-03 9.99885638e-01 1.55741832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62907232899994 meters Centerline goodness : 0.757201 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.74 [[ 9.99870850e-01 -6.13396230e-03 1.48545893e-02 -2.93379728e+02] [ 6.11897924e-03 9.99980724e-01 1.05388882e-03 1.75219216e+01] [-1.48607675e-02 -9.62857785e-04 9.99889109e-01 1.55743565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65907232899997 meters Centerline goodness : 0.757271 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.52, Z:155.74 [[ 9.99878073e-01 -6.18789901e-03 1.43369672e-02 -2.93379102e+02] [ 6.18050633e-03 9.99980744e-01 5.59887853e-04 1.75237858e+01] [-1.43401557e-02 -4.71209871e-04 9.99897064e-01 1.55744517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68907232899994 meters Centerline goodness : 0.757747 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.75 [[ 9.99881956e-01 -6.38795017e-03 1.39738242e-02 -2.93378847e+02] [ 6.39020983e-03 9.99979576e-01 -1.17062056e-04 1.75260463e+01] [-1.39727910e-02 2.06343906e-04 9.99902354e-01 1.55745454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71907232899997 meters Centerline goodness : 0.757747 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.53, Z:155.75 [[ 9.99881956e-01 -6.38795017e-03 1.39738242e-02 -2.93378847e+02] [ 6.39020983e-03 9.99979576e-01 -1.17062056e-04 1.75260463e+01] [-1.39727910e-02 2.06343906e-04 9.99902354e-01 1.55745454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74907232899994 meters Centerline goodness : 0.757909 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.75 [[ 9.99947687e-01 -2.82608753e-03 9.83040215e-03 -2.93370291e+02] [ 2.83871632e-03 9.99995163e-01 -1.27095081e-03 1.75262040e+01] [-9.82676278e-03 1.29879005e-03 9.99950873e-01 1.55750644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.779072329 meters Centerline goodness : 0.759223 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.75 [[ 9.99950420e-01 7.47588359e-04 9.92973452e-03 -2.93371129e+02] [-7.66090838e-04 9.99997977e-01 1.85966792e-03 1.75292718e+01] [-9.92832417e-03 -1.86718279e-03 9.99948970e-01 1.55751394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.80907232899995 meters Centerline goodness : 0.758283 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.75 [[ 9.99960509e-01 1.74346860e-03 8.71443068e-03 -2.93368409e+02] [-1.76289813e-03 9.99995977e-01 2.22239668e-03 1.75300489e+01] [-8.71052094e-03 -2.23767157e-03 9.99959559e-01 1.55751932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.839072329 meters Centerline goodness : 0.759433 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.53, Z:155.75 [[ 9.99949633e-01 5.60810164e-03 8.32355392e-03 -2.93367828e+02] [-5.65343438e-03 9.99969261e-01 5.43282112e-03 1.75336190e+01] [-8.29283025e-03 -5.47960415e-03 9.99950600e-01 1.55752577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.86907232899995 meters Centerline goodness : 0.761951 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.54, Z:155.75 [[ 9.99952597e-01 5.35702457e-03 8.13056891e-03 -2.93367573e+02] [-5.39653091e-03 9.99973702e-01 4.84485265e-03 1.75355253e+01] [-8.10440110e-03 -4.88849986e-03 9.99955210e-01 1.55752889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.899072329 meters Centerline goodness : 0.761828 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.54, Z:155.75 [[ 9.99955111e-01 5.45920875e-03 7.74425820e-03 -2.93366991e+02] [-5.49619117e-03 9.99973556e-01 4.76224639e-03 1.75360146e+01] [-7.71805532e-03 -4.80459654e-03 9.99958673e-01 1.55753355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.92907232899995 meters Centerline goodness : 0.759299 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.54, Z:155.75 [[ 9.99955926e-01 5.61872615e-03 7.52167526e-03 -2.93367177e+02] [-5.65492173e-03 9.99972493e-01 4.79958182e-03 1.75357122e+01] [-7.49450082e-03 -4.84190477e-03 9.99960193e-01 1.55754180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.959072329 meters Centerline goodness : 0.760043 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.54, Z:155.75 [[ 9.99959109e-01 5.89539098e-03 6.85740920e-03 -2.93365793e+02] [-5.92779367e-03 9.99971317e-01 4.71452088e-03 1.75365702e+01] [-6.82941857e-03 -4.75497741e-03 9.99965374e-01 1.55754537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.98907232899995 meters Centerline goodness : 0.761604 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.75 [[ 9.99927893e-01 1.04957589e-02 5.83509572e-03 -2.93363297e+02] [-1.05455468e-02 9.99907684e-01 8.56823064e-03 1.75390301e+01] [-5.74462697e-03 -8.62914709e-03 9.99946267e-01 1.55754843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.019072329 meters Centerline goodness : 0.760838 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.75 [[ 9.99914606e-01 1.21798092e-02 4.73636663e-03 -2.93359809e+02] [-1.22262296e-02 9.99876261e-01 9.89860203e-03 1.75383834e+01] [-4.61521747e-03 -9.95566465e-03 9.99939790e-01 1.55754066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.04907232899996 meters Centerline goodness : 0.760464 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.75 [[ 9.99915166e-01 1.23511326e-02 4.13654436e-03 -2.93358010e+02] [-1.23904444e-02 9.99876990e-01 9.61669882e-03 1.75401715e+01] [-4.01725840e-03 -9.66713662e-03 9.99945203e-01 1.55753697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.079072329 meters Centerline goodness : 0.760099 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.54, Z:155.75 [[ 9.99909983e-01 1.29695617e-02 3.43735868e-03 -2.93356096e+02] [-1.30040241e-02 9.99863412e-01 1.02006623e-02 1.75392236e+01] [-3.30459106e-03 -1.02444436e-02 9.99942064e-01 1.55753432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.10907232899996 meters Centerline goodness : 0.759306 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99902066e-01 1.38015862e-02 2.31820859e-03 -2.93353513e+02] [-1.38248929e-02 9.99850780e-01 1.03580810e-02 1.75403850e+01] [-2.17490471e-03 -1.03891156e-02 9.99943666e-01 1.55753861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.139072329 meters Centerline goodness : 0.760122 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99893762e-01 1.44994924e-02 1.49325163e-03 -2.93351354e+02] [-1.45143293e-02 9.99839978e-01 1.04571613e-02 1.75415000e+01] [-1.34138915e-03 -1.04777239e-02 9.99944207e-01 1.55753802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16907232899996 meters Centerline goodness : 0.761176 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.75 [[ 9.99893333e-01 1.45681135e-02 1.04500608e-03 -2.93350676e+02] [-1.45781088e-02 9.99840708e-01 1.02974586e-02 1.75421621e+01] [-8.94825073e-04 -1.03115944e-02 9.99946434e-01 1.55754398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.199072329 meters Centerline goodness : 0.761128 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.54, Z:155.76 [[ 9.99885784e-01 1.51131962e-02 -1.01844712e-04 -2.93348458e+02] [-1.51114229e-02 9.99835837e-01 9.99723144e-03 1.75445847e+01] [ 2.52918113e-04 -9.99455057e-03 9.99950021e-01 1.55755509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22907232899996 meters Centerline goodness : 0.762418 Centerline is valid? [False, False] Translation: X:-293.35, Y:17.55, Z:155.76 [[ 9.99868995e-01 1.61392686e-02 -1.23191709e-03 -2.93345699e+02] [-1.61259873e-02 9.99818740e-01 1.01212709e-02 1.75466685e+01] [ 1.39504371e-03 -1.01000791e-02 9.99948020e-01 1.55755945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.259072329 meters Centerline goodness : 0.763410 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99864926e-01 1.62818686e-02 -2.24266390e-03 -2.93344017e+02] [-1.62603817e-02 9.99824658e-01 9.28728325e-03 1.75503548e+01] [ 2.39348499e-03 -9.24956221e-03 9.99954357e-01 1.55757439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28907232899996 meters Centerline goodness : 0.764652 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99871774e-01 1.58341095e-02 -2.39073904e-03 -2.93344645e+02] [-1.58135423e-02 9.99839759e-01 8.38971961e-03 1.75527650e+01] [ 2.52319969e-03 -8.35083778e-03 9.99961948e-01 1.55758762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.319072329 meters Centerline goodness : 0.763964 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99873164e-01 1.56830129e-02 -2.77470954e-03 -2.93344373e+02] [-1.56608541e-02 9.99846662e-01 7.83519164e-03 1.75545192e+01] [ 2.89716349e-03 -7.79074353e-03 9.99965455e-01 1.55759708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34907232899997 meters Centerline goodness : 0.765926 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99848458e-01 1.69333994e-02 -4.03991332e-03 -2.93341378e+02] [-1.69005393e-02 9.99824899e-01 8.03390065e-03 1.75567372e+01] [ 4.17524717e-03 -7.96440647e-03 9.99959567e-01 1.55760264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37907232899994 meters Centerline goodness : 0.766718 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99826556e-01 1.79068815e-02 -5.11873197e-03 -2.93338475e+02] [-1.78640356e-02 9.99805999e-01 8.29704161e-03 1.75582430e+01] [ 5.26631307e-03 -8.20416133e-03 9.99952478e-01 1.55760232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40907232899997 meters Centerline goodness : 0.765724 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99805119e-01 1.87442547e-02 -6.19488780e-03 -2.93335714e+02] [-1.86905259e-02 9.99788157e-01 8.62007157e-03 1.75590887e+01] [ 6.35515227e-03 -8.50260597e-03 9.99943657e-01 1.55760285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43907232899994 meters Centerline goodness : 0.766502 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99715369e-01 2.29299899e-02 -6.58764792e-03 -2.93334552e+02] [-2.28484884e-02 9.99664599e-01 1.21916366e-02 1.75618678e+01] [ 6.86499252e-03 -1.20376487e-02 9.99903979e-01 1.55760479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46907232899997 meters Centerline goodness : 0.766494 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99714039e-01 2.29776635e-02 -6.62324174e-03 -2.93334569e+02] [-2.28960054e-02 9.99663996e-01 1.21518835e-02 1.75621186e+01] [ 6.90023819e-03 -1.19967628e-02 9.99904228e-01 1.55760613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49907232899994 meters Centerline goodness : 0.766518 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99710536e-01 2.31200687e-02 -6.65634465e-03 -2.93334674e+02] [-2.30369388e-02 9.99658876e-01 1.23057741e-02 1.75616462e+01] [ 6.93858435e-03 -1.21488702e-02 9.99902126e-01 1.55760811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.529072329 meters Centerline goodness : 0.766555 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99784054e-01 1.94213931e-02 -7.39287214e-03 -2.93333792e+02] [-1.93595053e-02 9.99777696e-01 8.35277215e-03 1.75614344e+01] [ 7.55345114e-03 -8.20784606e-03 9.99937786e-01 1.55761842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.55907232899995 meters Centerline goodness : 0.766865 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99828465e-01 1.64765753e-02 -8.45947674e-03 -2.93331802e+02] [-1.64338047e-02 9.99851945e-01 5.10080102e-03 1.75605714e+01] [ 8.54226800e-03 -4.96090467e-03 9.99951208e-01 1.55762542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.589072329 meters Centerline goodness : 0.766270 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99841327e-01 1.59091817e-02 -8.01360671e-03 -2.93333623e+02] [-1.58735572e-02 9.99863927e-01 4.48966904e-03 1.75615737e+01] [ 8.08394324e-03 -4.36175221e-03 9.99957812e-01 1.55763335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.61907232899995 meters Centerline goodness : 0.765621 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99838125e-01 1.60615284e-02 -8.10871535e-03 -2.93333609e+02] [-1.60233273e-02 9.99860315e-01 4.75431055e-03 1.75606854e+01] [ 8.18394418e-03 -4.62361235e-03 9.99955822e-01 1.55763543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.649072329 meters Centerline goodness : 0.765478 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99837956e-01 1.61169851e-02 -8.01898248e-03 -2.93333749e+02] [-1.60779868e-02 9.99858714e-01 4.90417578e-03 1.75603500e+01] [ 8.09689003e-03 -4.77445199e-03 9.99955822e-01 1.55763402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.67907232899995 meters Centerline goodness : 0.766514 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99878645e-01 1.27942080e-02 -8.88834592e-03 -2.93331725e+02] [-1.27828932e-02 9.99917413e-01 1.32864155e-03 1.75600434e+01] [ 8.90461077e-03 -1.21486154e-03 9.99959615e-01 1.55763540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.709072329 meters Centerline goodness : 0.763991 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99929315e-01 8.57766216e-03 -8.23344111e-03 -2.93332935e+02] [-8.59497874e-03 9.99960920e-01 -2.07012452e-03 1.75570703e+01] [ 8.21536251e-03 2.14074444e-03 9.99963962e-01 1.55762573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.73907232899995 meters Centerline goodness : 0.762836 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99939018e-01 8.21383506e-03 -7.38196260e-03 -2.93334816e+02] [-8.22888584e-03 9.99964120e-01 -2.01080361e-03 1.75561879e+01] [ 7.36518133e-03 2.07142632e-03 9.99970731e-01 1.55762000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.769072329 meters Centerline goodness : 0.762010 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99955572e-01 7.11727107e-03 -6.18045953e-03 -2.93337197e+02] [-7.13362466e-03 9.99971102e-01 -2.62801270e-03 1.75568797e+01] [ 6.16157665e-03 2.67198503e-03 9.99977447e-01 1.55761031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.79907232899996 meters Centerline goodness : 0.760962 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99968549e-01 6.26131002e-03 -4.86790645e-03 -2.93340338e+02] [-6.27310644e-03 9.99977415e-01 -2.41182435e-03 1.75548804e+01] [ 4.85269533e-03 2.44228539e-03 9.99985243e-01 1.55760442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.829072329 meters Centerline goodness : 0.761986 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99974431e-01 5.92911847e-03 -3.99782498e-03 -2.93342471e+02] [-5.93871561e-03 9.99979502e-01 -2.39300886e-03 1.75540877e+01] [ 3.98355460e-03 2.41668962e-03 9.99989145e-01 1.55760242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.85907232899996 meters Centerline goodness : 0.762368 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99990069e-01 2.10766631e-03 -3.92670014e-03 -2.93342337e+02] [-2.13104237e-03 9.99979977e-01 -5.95846162e-03 1.75525749e+01] [ 3.91406307e-03 5.96677041e-03 9.99974539e-01 1.55759787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.889072329 meters Centerline goodness : 0.762619 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99989965e-01 2.21756514e-03 -3.89256770e-03 -2.93342386e+02] [-2.24001582e-03 9.99980829e-01 -5.77272222e-03 1.75521851e+01] [ 3.87969168e-03 5.78138370e-03 9.99975762e-01 1.55759689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91907232899996 meters Centerline goodness : 0.762862 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99993796e-01 1.63773562e-03 -3.11858088e-03 -2.93344369e+02] [-1.65669531e-03 9.99980103e-01 -6.08674173e-03 1.75522311e+01] [ 3.10855036e-03 6.09187050e-03 9.99976613e-01 1.55759626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.949072329 meters Centerline goodness : 0.761545 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99990626e-01 2.33472534e-03 -3.64656402e-03 -2.93342910e+02] [-2.35419364e-03 9.99982951e-01 -5.34366776e-03 1.75509694e+01] [ 3.63402585e-03 5.35220239e-03 9.99979074e-01 1.55759437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97907232899996 meters Centerline goodness : 0.762590 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99985700e-01 2.82826401e-03 -4.53869867e-03 -2.93340987e+02] [-2.85332765e-03 9.99980665e-01 -5.52526807e-03 1.75529207e+01] [ 4.52298400e-03 5.53813945e-03 9.99974435e-01 1.55760219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.009072329 meters Centerline goodness : 0.760649 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99975899e-01 4.23049072e-03 -5.50502990e-03 -2.93338260e+02] [-4.25412965e-03 9.99981751e-01 -4.28945991e-03 1.75517660e+01] [ 5.48678292e-03 4.31277564e-03 9.99975647e-01 1.55760040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03907232899996 meters Centerline goodness : 0.761266 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99971353e-01 4.44746208e-03 -6.12486589e-03 -2.93336788e+02] [-4.47560735e-03 9.99979454e-01 -4.58923284e-03 1.75538098e+01] [ 6.10432961e-03 4.61651387e-03 9.99970712e-01 1.55760344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.069072329 meters Centerline goodness : 0.759318 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99955012e-01 6.23562757e-03 -7.14774434e-03 -2.93333479e+02] [-6.25704989e-03 9.99975988e-01 -2.97863925e-03 1.75519539e+01] [ 7.12899903e-03 3.02322904e-03 9.99970018e-01 1.55759444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09907232899997 meters Centerline goodness : 0.759395 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99948621e-01 6.63865084e-03 -7.66058888e-03 -2.93331868e+02] [-6.66079694e-03 9.99973701e-01 -2.86903082e-03 1.75526240e+01] [ 7.64134092e-03 2.91990904e-03 9.99966541e-01 1.55759116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12907232899994 meters Centerline goodness : 0.759053 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99937280e-01 7.34639345e-03 -8.45373298e-03 -2.93330079e+02] [-7.36669374e-03 9.99970051e-01 -2.37271221e-03 1.75521108e+01] [ 8.43604892e-03 2.43483946e-03 9.99961452e-01 1.55759359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15907232899997 meters Centerline goodness : 0.758044 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.55, Z:155.76 [[ 9.99921708e-01 8.27867452e-03 -9.38307283e-03 -2.93327457e+02] [-8.30093676e-03 9.99962818e-01 -2.33613897e-03 1.75546937e+01] [ 9.36338382e-03 2.41384437e-03 9.99953249e-01 1.55759408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18907232899994 meters Centerline goodness : 0.758386 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99902365e-01 9.32459417e-03 -1.04073533e-02 -2.93324820e+02] [-9.34433591e-03 9.99954630e-01 -1.84989003e-03 1.75552636e+01] [ 1.03896317e-02 1.94695922e-03 9.99944131e-01 1.55759510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21907232899997 meters Centerline goodness : 0.758603 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99875592e-01 1.09951027e-02 -1.13096388e-02 -2.93322021e+02] [-1.10056143e-02 9.99939060e-01 -8.67618750e-04 1.75559996e+01] [ 1.12994100e-02 9.91980334e-04 9.99935668e-01 1.55759238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24907232899994 meters Centerline goodness : 0.759381 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99864536e-01 1.12469261e-02 -1.20173659e-02 -2.93320472e+02] [-1.12632479e-02 9.99935734e-01 -1.29136867e-03 1.75584110e+01] [ 1.20020696e-02 1.42654831e-03 9.99926955e-01 1.55759774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.279072329 meters Centerline goodness : 0.758851 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99858660e-01 1.14080771e-02 -1.23497249e-02 -2.93319663e+02] [-1.14258607e-02 9.99933784e-01 -1.37039822e-03 1.75591229e+01] [ 1.23332735e-02 1.51131076e-03 9.99922800e-01 1.55759839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.30907232899995 meters Centerline goodness : 0.758164 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99846417e-01 1.18648126e-02 -1.28983627e-02 -2.93318569e+02] [-1.18826175e-02 9.99928548e-01 -1.30464228e-03 1.75596871e+01] [ 1.28819618e-02 1.45770822e-03 9.99915962e-01 1.55760243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.339072329 meters Centerline goodness : 0.759303 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99837019e-01 1.20482011e-02 -1.34453100e-02 -2.93317366e+02] [-1.20705450e-02 9.99925897e-01 -1.58191695e-03 1.75614160e+01] [ 1.34252544e-02 1.74395134e-03 9.99908356e-01 1.55760619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.36907232899995 meters Centerline goodness : 0.760015 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99844102e-01 1.16004005e-02 -1.33117735e-02 -2.93318050e+02] [-1.16307678e-02 9.99929927e-01 -2.20608781e-03 1.75630403e+01] [ 1.32852492e-02 2.36057003e-03 9.99908961e-01 1.55761065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.399072329 meters Centerline goodness : 0.760911 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99830392e-01 1.20687192e-02 -1.39116188e-02 -2.93316708e+02] [-1.20981519e-02 9.99924747e-01 -2.03347654e-03 1.75634343e+01] [ 1.38860305e-02 2.20143652e-03 9.99901161e-01 1.55761373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.42907232899995 meters Centerline goodness : 0.761644 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99843010e-01 1.15655850e-02 -1.34235703e-02 -2.93318581e+02] [-1.15999783e-02 9.99929625e-01 -2.48712948e-03 1.75639890e+01] [ 1.33938605e-02 2.64245215e-03 9.99906807e-01 1.55762101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.459072329 meters Centerline goodness : 0.761506 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99860278e-01 1.09130886e-02 -1.26620749e-02 -2.93320978e+02] [-1.09525821e-02 9.99935355e-01 -3.05389460e-03 1.75646504e+01] [ 1.26279289e-02 3.19215032e-03 9.99915169e-01 1.55762545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.48907232899995 meters Centerline goodness : 0.761678 Centerline is valid? [False, False] Translation: X:-293.32, Y:17.56, Z:155.76 [[ 9.99868611e-01 1.06855480e-02 -1.21893685e-02 -2.93322377e+02] [-1.07242761e-02 9.99937637e-01 -3.11627302e-03 1.75644399e+01] [ 1.21553092e-02 3.24658573e-03 9.99920851e-01 1.55762707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.519072329 meters Centerline goodness : 0.761585 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99893904e-01 9.49950032e-03 -1.10426636e-02 -2.93325847e+02] [-9.54118564e-03 9.99947531e-01 -3.72840039e-03 1.75642201e+01] [ 1.10066663e-02 3.83336492e-03 9.99932077e-01 1.55763115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.54907232899996 meters Centerline goodness : 0.762128 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99902121e-01 9.34749453e-03 -1.04102607e-02 -2.93327472e+02] [-9.38435579e-03 9.99949849e-01 -3.49765636e-03 1.75629966e+01] [ 1.03770443e-02 3.59500760e-03 9.99939695e-01 1.55762961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.579072329 meters Centerline goodness : 0.761334 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99908536e-01 9.17569188e-03 -9.93606741e-03 -2.93328515e+02] [-9.21080678e-03 9.99951475e-01 -3.49410935e-03 1.75628173e+01] [ 9.90352439e-03 3.58530896e-03 9.99944531e-01 1.55762667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.60907232899996 meters Centerline goodness : 0.760454 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99900243e-01 9.72448508e-03 -1.02439916e-02 -2.93327497e+02] [-9.75372284e-03 9.99948489e-01 -2.80805267e-03 1.75615359e+01] [ 1.02161571e-02 2.90768960e-03 9.99943586e-01 1.55762319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.639072329 meters Centerline goodness : 0.760454 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99900243e-01 9.72448508e-03 -1.02439916e-02 -2.93327497e+02] [-9.75372284e-03 9.99948489e-01 -2.80805267e-03 1.75615359e+01] [ 1.02161571e-02 2.90768960e-03 9.99943586e-01 1.55762319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66907232899996 meters Centerline goodness : 0.761690 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99900952e-01 9.64201091e-03 -1.02526947e-02 -2.93327469e+02] [-9.67263997e-03 9.99948891e-01 -2.94203541e-03 1.75621406e+01] [ 1.02238036e-02 3.04091463e-03 9.99943112e-01 1.55762285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.699072329 meters Centerline goodness : 0.760604 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99903762e-01 9.50291393e-03 -1.01075207e-02 -2.93327895e+02] [-9.53542763e-03 9.99949501e-01 -3.17346944e-03 1.75629387e+01] [ 1.00768531e-02 3.26954356e-03 9.99943882e-01 1.55762387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72907232899996 meters Centerline goodness : 0.761406 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99904148e-01 9.63244064e-03 -9.94536198e-03 -2.93328365e+02] [-9.66137021e-03 9.99949224e-01 -2.86491473e-03 1.75619726e+01] [ 9.91726087e-03 2.96072594e-03 9.99946440e-01 1.55762346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.759072329 meters Centerline goodness : 0.760592 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99913527e-01 9.25130524e-03 -9.34626625e-03 -2.93329866e+02] [-9.28119197e-03 9.99951938e-01 -3.15942082e-03 1.75624201e+01] [ 9.31658828e-03 3.24589211e-03 9.99951331e-01 1.55762252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78907232899996 meters Centerline goodness : 0.761240 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99917686e-01 9.11676671e-03 -9.02809805e-03 -2.93330632e+02] [-9.14545849e-03 9.99953243e-01 -3.14188477e-03 1.75622363e+01] [ 8.99903210e-03 3.22419224e-03 9.99954310e-01 1.55762125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.819072329 meters Centerline goodness : 0.762296 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99935448e-01 8.09798234e-03 -7.97014497e-03 -2.93333196e+02] [-8.12583940e-03 9.99960968e-01 -3.46902105e-03 1.75620383e+01] [ 7.94174180e-03 3.53356123e-03 9.99962221e-01 1.55761803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84907232899997 meters Centerline goodness : 0.763449 Centerline is valid? [False, False] Translation: X:-293.33, Y:17.56, Z:155.76 [[ 9.99935410e-01 8.15094140e-03 -7.92067600e-03 -2.93333392e+02] [-8.17798264e-03 9.99960821e-01 -3.38763655e-03 1.75620965e+01] [ 7.89275325e-03 3.45219289e-03 9.99962893e-01 1.55761914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87907232899994 meters Centerline goodness : 0.764171 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99956181e-01 6.33366003e-03 -6.89350127e-03 -2.93337468e+02] [-6.36639725e-03 9.99968512e-01 -4.73745977e-03 1.75625431e+01] [ 6.86327875e-03 4.78113895e-03 9.99965017e-01 1.55763392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90907232899997 meters Centerline goodness : 0.764595 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99979173e-01 -1.64640658e-03 -6.24036473e-03 -2.93339558e+02] [ 1.57309151e-03 9.99929902e-01 -1.17352785e-02 1.75575233e+01] [ 6.25924833e-03 1.17252175e-02 9.99911667e-01 1.55763604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93907232899994 meters Centerline goodness : 0.763651 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.56, Z:155.76 [[ 9.99966892e-01 -5.81605862e-03 -5.69112668e-03 -2.93340909e+02] [ 5.72751695e-03 9.99864200e-01 -1.54523858e-02 1.75554252e+01] [ 5.78022581e-03 1.54192782e-02 9.99864408e-01 1.55763432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96907232899997 meters Centerline goodness : 0.764743 Centerline is valid? [False, False] Translation: X:-293.34, Y:17.55, Z:155.76 [[ 9.99961185e-01 -7.64051870e-03 -4.38769870e-03 -2.93344951e+02] [ 7.56813249e-03 9.99838769e-01 -1.62837238e-02 1.75540761e+01] [ 4.51140736e-03 1.62498851e-02 9.99857784e-01 1.55763829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99907232899994 meters Centerline goodness : 0.763751 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.55, Z:155.76 [[ 9.99906466e-01 -1.36607720e-02 6.64711466e-04 -2.93357543e+02] [ 1.36690851e-02 9.99798011e-01 -1.47340890e-02 1.75538573e+01] [-4.63298171e-04 1.47417969e-02 9.99891226e-01 1.55757568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.029072329 meters Centerline goodness : 0.762427 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.55, Z:155.75 [[ 9.99845773e-01 -1.69298459e-02 4.67018628e-03 -2.93366057e+02] [ 1.69898913e-02 9.99769421e-01 -1.31319839e-02 1.75530965e+01] [-4.44678697e-03 1.32093045e-02 9.99902865e-01 1.55752477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.05907232899995 meters Centerline goodness : 0.760633 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.55, Z:155.74 [[ 9.99678603e-01 -2.37281172e-02 8.92568314e-03 -2.93374279e+02] [ 2.38405848e-02 9.99634943e-01 -1.27124649e-02 1.75484951e+01] [-8.62078190e-03 1.29211727e-02 9.99879355e-01 1.55744305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.089072329 meters Centerline goodness : 0.759555 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.55, Z:155.74 [[ 9.99674827e-01 -2.36101138e-02 9.63345235e-03 -2.93375145e+02] [ 2.37244992e-02 9.99647260e-01 -1.19374696e-02 1.75461242e+01] [-9.34820924e-03 1.21621367e-02 9.99882340e-01 1.55742860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.11907232899995 meters Centerline goodness : 0.760462 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.55, Z:155.74 [[ 9.99644815e-01 -2.43413553e-02 1.08508755e-02 -2.93377558e+02] [ 2.44704000e-02 9.99629455e-01 -1.19227906e-02 1.75450878e+01] [-1.05566379e-02 1.21840810e-02 9.99870044e-01 1.55741803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.149072329 meters Centerline goodness : 0.761031 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.54, Z:155.74 [[ 9.99629377e-01 -2.45514313e-02 1.17616244e-02 -2.93379457e+02] [ 2.46879446e-02 9.99627839e-01 -1.16055727e-02 1.75436178e+01] [-1.14723138e-02 1.18916417e-02 9.99863478e-01 1.55741156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.17907232899995 meters Centerline goodness : 0.762186 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.54, Z:155.74 [[ 9.99619078e-01 -2.46646112e-02 1.23836686e-02 -2.93381195e+02] [ 2.48061606e-02 9.99627165e-01 -1.14098665e-02 1.75424793e+01] [-1.20976316e-02 1.17127115e-02 9.99858220e-01 1.55741339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.209072329 meters Centerline goodness : 0.762739 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.54, Z:155.74 [[ 9.99597018e-01 -2.51286837e-02 1.32041927e-02 -2.93383356e+02] [ 2.52838893e-02 9.99611587e-01 -1.17218071e-02 1.75428307e+01] [-1.29045104e-02 1.20509368e-02 9.99844112e-01 1.55741449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.23907232899995 meters Centerline goodness : 0.764587 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.54, Z:155.74 [[ 9.99569708e-01 -2.57198036e-02 1.41028817e-02 -2.93386063e+02] [ 2.58891054e-02 9.99593315e-01 -1.19565486e-02 1.75423359e+01] [-1.37896262e-02 1.23165148e-02 9.99829060e-01 1.55741974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.269072329 meters Centerline goodness : 0.764176 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.54, Z:155.74 [[ 9.99521462e-01 -2.69254657e-02 1.52271514e-02 -2.93389505e+02] [ 2.71195759e-02 9.99551670e-01 -1.26881266e-02 1.75424519e+01] [-1.48786909e-02 1.30950087e-02 9.99803553e-01 1.55742738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.29907232899996 meters Centerline goodness : 0.763953 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.54, Z:155.74 [[ 9.99482162e-01 -2.77253061e-02 1.63314001e-02 -2.93392399e+02] [ 2.79386323e-02 9.99525334e-01 -1.29822766e-02 1.75420604e+01] [-1.59637106e-02 1.34318309e-02 9.99782349e-01 1.55742807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.329072329 meters Centerline goodness : 0.765398 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99436244e-01 -2.86647040e-02 1.74793612e-02 -2.93395435e+02] [ 2.88993110e-02 9.99493571e-01 -1.33203632e-02 1.75414598e+01] [-1.70886849e-02 1.38179953e-02 9.99758491e-01 1.55742882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.35907232899996 meters Centerline goodness : 0.766398 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99282194e-01 -3.30064084e-02 1.85923085e-02 -2.93397555e+02] [ 3.33225049e-02 9.99300804e-01 -1.69562265e-02 1.75390365e+01] [-1.80196447e-02 1.75635975e-02 9.99683356e-01 1.55742288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.389072329 meters Centerline goodness : 0.766003 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99279701e-01 -3.29058984e-02 1.89018561e-02 -2.93398458e+02] [ 3.32207457e-02 9.99310312e-01 -1.65916631e-02 1.75376814e+01] [-1.83428561e-02 1.72076459e-02 9.99683668e-01 1.55742336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41907232899996 meters Centerline goodness : 0.767398 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99217978e-01 -3.40345391e-02 2.01266407e-02 -2.93400998e+02] [ 3.43873278e-02 9.99256227e-01 -1.74500611e-02 1.75390526e+01] [-1.95177663e-02 1.81285161e-02 9.99645144e-01 1.55741692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.449072329 meters Centerline goodness : 0.765752 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99308903e-01 -3.06464790e-02 2.10359254e-02 -2.93403217e+02] [ 3.09275465e-02 9.99434878e-01 -1.31685457e-02 1.75373902e+01] [-2.06204680e-02 1.38100345e-02 9.99691992e-01 1.55740916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47907232899996 meters Centerline goodness : 0.765919 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.54, Z:155.74 [[ 9.99346818e-01 -2.86350452e-02 2.20447565e-02 -2.93406540e+02] [ 2.88786285e-02 9.99524455e-01 -1.08115300e-02 1.75393019e+01] [-2.17246845e-02 1.14410904e-02 9.99698524e-01 1.55741539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.509072329 meters Centerline goodness : 0.763042 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99506518e-01 -2.32287474e-02 2.11458433e-02 -2.93403060e+02] [ 2.33499792e-02 9.99712199e-01 -5.50435331e-03 1.75390063e+01] [-2.10118983e-02 5.99539201e-03 9.99761249e-01 1.55739595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53907232899996 meters Centerline goodness : 0.762053 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99582413e-01 -1.94337133e-02 2.13852826e-02 -2.93403794e+02] [ 1.94735931e-02 9.99808997e-01 -1.65814158e-03 1.75399810e+01] [-2.13489741e-02 2.07389746e-03 9.99769934e-01 1.55739412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.569072329 meters Centerline goodness : 0.761719 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.54, Z:155.74 [[ 9.99660948e-01 -1.53681617e-02 2.10192415e-02 -2.93403166e+02] [ 1.53287713e-02 9.99880439e-01 2.03385749e-03 1.75423013e+01] [-2.10479850e-02 -1.71096877e-03 9.99777003e-01 1.55739573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59907232899997 meters Centerline goodness : 0.761590 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.55, Z:155.74 [[ 9.99870513e-01 -1.30128471e-02 9.46694529e-03 -2.93406357e+02] [ 1.30394802e-02 9.99911182e-01 -2.75700341e-03 1.75549836e+01] [-9.43022799e-03 2.88009046e-03 9.99951387e-01 1.55743323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62907232899994 meters Centerline goodness : 0.763538 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.56, Z:155.75 [[ 9.99932096e-01 -8.27142234e-03 8.20897007e-03 -2.93404249e+02] [ 8.27199268e-03 9.99965786e-01 -3.55262976e-05 1.75603940e+01] [-8.20839536e-03 1.03428426e-04 9.99966305e-01 1.55745154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65907232899997 meters Centerline goodness : 0.763747 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.56, Z:155.75 [[ 9.99945826e-01 -7.49755377e-03 7.22017817e-03 -2.93402221e+02] [ 7.49665326e-03 9.99971888e-01 1.51777267e-04 1.75613285e+01] [-7.22111316e-03 -9.76418722e-05 9.99973923e-01 1.55745862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68907232899994 meters Centerline goodness : 0.764282 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.56, Z:155.75 [[ 9.99960376e-01 -6.47640345e-03 6.10759057e-03 -2.93399362e+02] [ 6.47429677e-03 9.99978975e-01 3.64637564e-04 1.75630319e+01] [-6.10982369e-03 -3.25080762e-04 9.99981282e-01 1.55746037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71907232899997 meters Centerline goodness : 0.764636 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.57, Z:155.75 [[ 9.99980752e-01 -2.54037376e-03 5.66048979e-03 -2.93398895e+02] [ 2.51942732e-03 9.99989964e-01 3.70452835e-03 1.75659088e+01] [-5.66984387e-03 -3.69019586e-03 9.99977117e-01 1.55746849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74907232899994 meters Centerline goodness : 0.764240 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.57, Z:155.75 [[ 9.99986404e-01 -2.05567149e-03 4.79221407e-03 -2.93396950e+02] [ 2.03846608e-03 9.99991470e-01 3.59240775e-03 1.75674730e+01] [-4.79955800e-03 -3.58259014e-03 9.99982064e-01 1.55747254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.779072329 meters Centerline goodness : 0.765097 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.57, Z:155.75 [[ 9.99991417e-01 -1.60277667e-03 3.82050346e-03 -2.93395078e+02] [ 1.59020977e-03 9.99993323e-01 3.29010209e-03 1.75692129e+01] [-3.82575125e-03 -3.28399845e-03 9.99987289e-01 1.55748158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.80907232899995 meters Centerline goodness : 0.765313 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.57, Z:155.75 [[ 9.99993619e-01 -1.47104046e-03 3.25533283e-03 -2.93394146e+02] [ 1.46074508e-03 9.99993932e-01 3.16274105e-03 1.75698387e+01] [-3.25996560e-03 -3.15796566e-03 9.99989700e-01 1.55748766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.839072329 meters Centerline goodness : 0.764631 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.57, Z:155.75 [[ 9.99997210e-01 -4.89876385e-04 2.31082991e-03 -2.93391602e+02] [ 4.81471840e-04 9.99993273e-01 3.63617972e-03 1.75702820e+01] [-2.31259564e-03 -3.63505697e-03 9.99990719e-01 1.55748601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.86907232899995 meters Centerline goodness : 0.763503 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.57, Z:155.75 [[ 9.99998641e-01 -1.18710090e-04 1.64434922e-03 -2.93389950e+02] [ 1.12677984e-04 9.99993267e-01 3.66799194e-03 1.75710001e+01] [-1.64477357e-03 -3.66780168e-03 9.99991921e-01 1.55748587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.899072329 meters Centerline goodness : 0.761731 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.57, Z:155.75 [[ 9.99998013e-01 1.91876107e-03 5.40917376e-04 -2.93386444e+02] [-1.92144421e-03 9.99985633e-01 5.00426358e-03 1.75709527e+01] [-5.31307618e-04 -5.00529298e-03 9.99987332e-01 1.55747920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.92907232899995 meters Centerline goodness : 0.763774 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.57, Z:155.75 [[ 9.99997557e-01 2.18668994e-03 -3.23061341e-04 -2.93384948e+02] [-2.18516916e-03 9.99986870e-01 4.63507950e-03 1.75728643e+01] [ 3.33192581e-04 -4.63436223e-03 9.99989206e-01 1.55748880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.959072329 meters Centerline goodness : 0.763752 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.58, Z:155.75 [[ 9.99992370e-01 3.64592772e-03 -1.40286179e-03 -2.93382362e+02] [-3.63884575e-03 9.99980789e-01 5.01809451e-03 1.75751125e+01] [ 1.42113045e-03 -5.01295142e-03 9.99986425e-01 1.55749338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.98907232899995 meters Centerline goodness : 0.767081 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.58, Z:155.75 [[ 9.99967729e-01 7.74241469e-03 -2.14380016e-03 -2.93381221e+02] [-7.72485648e-03 9.99937511e-01 8.08083025e-03 1.75795028e+01] [ 2.20623134e-03 -8.06400893e-03 9.99965052e-01 1.55750610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.019072329 meters Centerline goodness : 0.764449 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.58, Z:155.75 [[ 9.99965739e-01 7.80977634e-03 -2.74363676e-03 -2.93379990e+02] [-7.78856737e-03 9.99940347e-01 7.65769508e-03 1.75814024e+01] [ 2.80327798e-03 -7.63606372e-03 9.99966916e-01 1.55751031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.04907232899996 meters Centerline goodness : 0.765855 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.58, Z:155.75 [[ 9.99964727e-01 7.75800600e-03 -3.21842976e-03 -2.93379349e+02] [-7.73461043e-03 9.99944029e-01 7.21910020e-03 1.75828970e+01] [ 3.27425544e-03 -7.19395226e-03 9.99968763e-01 1.55751780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.079072329 meters Centerline goodness : 0.766068 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.58, Z:155.76 [[ 9.99908728e-01 1.13949819e-02 -7.25877207e-03 -2.93370504e+02] [-1.13553410e-02 9.99920515e-01 5.47911567e-03 1.75842001e+01] [ 7.32062952e-03 -5.39618975e-03 9.99958644e-01 1.55757112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.10907232899996 meters Centerline goodness : 0.765578 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.59, Z:155.76 [[ 9.99885504e-01 1.26261042e-02 -8.34030091e-03 -2.93367781e+02] [-1.25787800e-02 9.99904624e-01 5.70246060e-03 1.75861478e+01] [ 8.41150530e-03 -5.59689688e-03 9.99948959e-01 1.55757428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.139072329 meters Centerline goodness : 0.765819 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.59, Z:155.76 [[ 9.99853704e-01 1.41802785e-02 -9.56506725e-03 -2.93365106e+02] [-1.41208435e-02 9.99880744e-01 6.25292813e-03 1.75874730e+01] [ 9.65259483e-03 -6.11694653e-03 9.99934703e-01 1.55758170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16907232899996 meters Centerline goodness : 0.767815 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.59, Z:155.76 [[ 9.99786567e-01 1.80527307e-02 -1.00458228e-02 -2.93364869e+02] [-1.79629832e-02 9.99798563e-01 8.95347022e-03 1.75922854e+01] [ 1.02054338e-02 -8.77110632e-03 9.99909454e-01 1.55759872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.199072329 meters Centerline goodness : 0.767261 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99782141e-01 1.79443062e-02 -1.06617624e-02 -2.93364023e+02] [-1.78574594e-02 9.99807034e-01 8.18574992e-03 1.75950395e+01] [ 1.08065927e-02 -7.99357459e-03 9.99909656e-01 1.55760922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22907232899996 meters Centerline goodness : 0.769107 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99776004e-01 1.79493287e-02 -1.12144420e-02 -2.93363401e+02] [-1.78624605e-02 9.99810037e-01 7.79884125e-03 1.75963720e+01] [ 1.13522956e-02 -7.59677682e-03 9.99906703e-01 1.55761973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.259072329 meters Centerline goodness : 0.768197 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99767517e-01 1.79635483e-02 -1.19257207e-02 -2.93362247e+02] [-1.78787082e-02 9.99814361e-01 7.18295094e-03 1.75990385e+01] [ 1.20525381e-02 -6.96806454e-03 9.99903087e-01 1.55762977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28907232899996 meters Centerline goodness : 0.768185 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99743816e-01 1.86918052e-02 -1.27639276e-02 -2.93360152e+02] [-1.85988884e-02 9.99799936e-01 7.35996015e-03 1.76001178e+01] [ 1.28989449e-02 -7.12067978e-03 9.99891451e-01 1.55763142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.319072329 meters Centerline goodness : 0.768224 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99748630e-01 1.85466009e-02 -1.25976687e-02 -2.93360645e+02] [-1.84575114e-02 9.99804067e-01 7.15174437e-03 1.76006910e+01] [ 1.27278410e-02 -6.91742502e-03 9.99895070e-01 1.55763159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34907232899997 meters Centerline goodness : 0.767330 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99786653e-01 1.55942231e-02 -1.35450575e-02 -2.93358144e+02] [-1.55431596e-02 9.99871720e-01 3.86703211e-03 1.76003760e+01] [ 1.36036233e-02 -3.65567410e-03 9.99900784e-01 1.55763001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37907232899994 meters Centerline goodness : 0.767245 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99800077e-01 1.50968520e-02 -1.31107251e-02 -2.93359960e+02] [-1.50540581e-02 9.99881047e-01 3.35662448e-03 1.76009627e+01] [ 1.31598400e-02 -3.15858380e-03 9.99908417e-01 1.55763787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40907232899997 meters Centerline goodness : 0.769770 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99810016e-01 1.47764928e-02 -1.27116867e-02 -2.93361367e+02] [-1.47391073e-02 9.99886783e-01 3.02971250e-03 1.76013281e+01] [ 1.27550160e-02 -2.84177799e-03 9.99914613e-01 1.55764225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43907232899994 meters Centerline goodness : 0.767061 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99820523e-01 1.43807015e-02 -1.23335545e-02 -2.93363035e+02] [-1.43488252e-02 9.99893488e-01 2.66912999e-03 1.76014313e+01] [ 1.23706248e-02 -2.49167893e-03 9.99920376e-01 1.55764992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46907232899997 meters Centerline goodness : 0.768408 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.77 [[ 9.99827103e-01 1.41922932e-02 -1.20142988e-02 -2.93364368e+02] [-1.41622678e-02 9.99896380e-01 2.58054967e-03 1.76010180e+01] [ 1.20496778e-02 -2.40995378e-03 9.99924496e-01 1.55765522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49907232899994 meters Centerline goodness : 0.766312 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.77 [[ 9.99832519e-01 1.40697605e-02 -1.17036969e-02 -2.93365274e+02] [-1.40410068e-02 9.99898206e-01 2.53536337e-03 1.76006902e+01] [ 1.17381775e-02 -2.37060706e-03 9.99928295e-01 1.55765525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.529072329 meters Centerline goodness : 0.766312 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.77 [[ 9.99832519e-01 1.40697605e-02 -1.17036969e-02 -2.93365274e+02] [-1.40410068e-02 9.99898206e-01 2.53536337e-03 1.76006902e+01] [ 1.17381775e-02 -2.37060706e-03 9.99928295e-01 1.55765525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.55907232899995 meters Centerline goodness : 0.763410 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99856832e-01 1.15387065e-02 -1.23763162e-02 -2.93362644e+02] [-1.15366676e-02 9.99933423e-01 2.36128744e-04 1.75977093e+01] [ 1.23782169e-02 -9.33134922e-05 9.99923383e-01 1.55764226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.589072329 meters Centerline goodness : 0.763924 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99858249e-01 1.14664105e-02 -1.23289706e-02 -2.93362967e+02] [-1.14656969e-02 9.99934258e-01 1.28562020e-04 1.75979261e+01] [ 1.23296342e-02 1.28164445e-05 9.99923987e-01 1.55764457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.61907232899995 meters Centerline goodness : 0.762977 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.76 [[ 9.99870203e-01 1.09891784e-02 -1.17820235e-02 -2.93364767e+02] [-1.09936361e-02 9.99939519e-01 -3.13645430e-04 1.75984759e+01] [ 1.17778642e-02 4.43131998e-04 9.99930540e-01 1.55764907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.649072329 meters Centerline goodness : 0.764345 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99909749e-01 6.96913275e-03 -1.14858723e-02 -2.93365310e+02] [-7.01453540e-03 9.99967725e-01 -3.91737819e-03 1.75967534e+01] [ 1.14582009e-02 3.99759270e-03 9.99926362e-01 1.55764451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.67907232899995 meters Centerline goodness : 0.763689 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99920741e-01 6.63052562e-03 -1.07027149e-02 -2.93367394e+02] [-6.67184146e-03 9.99970411e-01 -3.82923716e-03 1.75956930e+01] [ 1.06770084e-02 3.90034047e-03 9.99935392e-01 1.55764427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.709072329 meters Centerline goodness : 0.763473 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99935653e-01 5.70913477e-03 -9.80281838e-03 -2.93370134e+02] [-5.75518425e-03 9.99972507e-01 -4.67581012e-03 1.75971121e+01] [ 9.77585404e-03 4.73192627e-03 9.99941019e-01 1.55764972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.73907232899995 meters Centerline goodness : 0.763017 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99947479e-01 5.07401661e-03 -8.90465441e-03 -2.93372210e+02] [-5.11872224e-03 9.99974375e-01 -5.00488929e-03 1.75975945e+01] [ 8.87903133e-03 5.05020688e-03 9.99947828e-01 1.55764706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.769072329 meters Centerline goodness : 0.761609 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99958992e-01 4.40259697e-03 -7.91404717e-03 -2.93374377e+02] [-4.44356362e-03 9.99976782e-01 -5.16633847e-03 1.75971492e+01] [ 7.89111811e-03 5.20129317e-03 9.99955337e-01 1.55764080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.79907232899996 meters Centerline goodness : 0.759893 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99955486e-01 4.89267574e-03 -8.06764494e-03 -2.93373255e+02] [-4.92894760e-03 9.99977807e-01 -4.48222946e-03 1.75960031e+01] [ 8.04553580e-03 4.52179494e-03 9.99957410e-01 1.55763146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.829072329 meters Centerline goodness : 0.758118 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.59, Z:155.76 [[ 9.99954822e-01 5.18653843e-03 -7.96578151e-03 -2.93373110e+02] [-5.21846906e-03 9.99978412e-01 -3.99293381e-03 1.75949800e+01] [ 7.94490004e-03 4.03432260e-03 9.99960301e-01 1.55762517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.85907232899996 meters Centerline goodness : 0.758497 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99966864e-01 4.25444495e-03 -6.94054475e-03 -2.93375997e+02] [-4.28759595e-03 9.99979438e-01 -4.76856083e-03 1.75959543e+01] [ 6.92011446e-03 4.79816107e-03 9.99964544e-01 1.55762792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.889072329 meters Centerline goodness : 0.759544 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.59, Z:155.76 [[ 9.99957468e-01 5.20109121e-03 -7.61653917e-03 -2.93374463e+02] [-5.23137518e-03 9.99978469e-01 -3.96156932e-03 1.75946971e+01] [ 7.59577069e-03 4.00124580e-03 9.99963146e-01 1.55762971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91907232899996 meters Centerline goodness : 0.760708 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99960699e-01 4.75853894e-03 -7.48048205e-03 -2.93375239e+02] [-4.79442397e-03 9.99977051e-01 -4.78656331e-03 1.75968497e+01] [ 7.45753334e-03 4.82223980e-03 9.99960565e-01 1.55763599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.949072329 meters Centerline goodness : 0.759902 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99959502e-01 4.82214408e-03 -7.59874700e-03 -2.93374917e+02] [-4.85945875e-03 9.99976188e-01 -4.89984616e-03 1.75976806e+01] [ 7.57493830e-03 4.93657352e-03 9.99959124e-01 1.55763606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97907232899996 meters Centerline goodness : 0.761171 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99955585e-01 5.07306894e-03 -7.94298618e-03 -2.93374185e+02] [-5.11096557e-03 9.99975619e-01 -4.75807315e-03 1.75979571e+01] [ 7.91865449e-03 4.79845816e-03 9.99957134e-01 1.55763850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.009072329 meters Centerline goodness : 0.760734 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.76 [[ 9.99957959e-01 4.65355014e-03 -7.90096964e-03 -2.93374391e+02] [-4.69708641e-03 9.99973840e-01 -5.50065807e-03 1.76005023e+01] [ 7.87516536e-03 5.53753835e-03 9.99953658e-01 1.55764179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03907232899996 meters Centerline goodness : 0.760975 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99972780e-01 3.17138780e-03 -6.66189008e-03 -2.93377747e+02] [-3.21654193e-03 9.99971854e-01 -6.77823327e-03 1.76024190e+01] [ 6.64020617e-03 6.79947702e-03 9.99954836e-01 1.55764415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.069072329 meters Centerline goodness : 0.759769 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99978188e-01 2.91960037e-03 -5.92451460e-03 -2.93379571e+02] [-2.95783654e-03 9.99974789e-01 -6.45542645e-03 1.76006413e+01] [ 5.90551797e-03 6.47280939e-03 9.99961613e-01 1.55764175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09907232899997 meters Centerline goodness : 0.759291 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99978376e-01 3.02131531e-03 -5.84118268e-03 -2.93379499e+02] [-3.05791045e-03 9.99975691e-01 -6.26627617e-03 1.76004293e+01] [ 5.82210829e-03 6.28400248e-03 9.99963307e-01 1.55763786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12907232899994 meters Centerline goodness : 0.756806 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99982359e-01 2.88447222e-03 -5.19245504e-03 -2.93380866e+02] [-2.91559447e-03 9.99977772e-01 -5.99618827e-03 1.75992133e+01] [ 5.17504379e-03 6.01122158e-03 9.99968542e-01 1.55763335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15907232899997 meters Centerline goodness : 0.755689 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.76 [[ 9.99987029e-01 2.61496241e-03 -4.37090081e-03 -2.93382745e+02] [-2.64070475e-03 9.99979143e-01 -5.89412271e-03 1.75983131e+01] [ 4.35539674e-03 5.90558851e-03 9.99973077e-01 1.55762980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18907232899994 meters Centerline goodness : 0.756427 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99991278e-01 2.30676985e-03 -3.48163200e-03 -2.93385390e+02] [-2.32622691e-03 9.99981643e-01 -5.59482360e-03 1.75961501e+01] [ 3.46866212e-03 5.60287387e-03 9.99978288e-01 1.55763302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21907232899997 meters Centerline goodness : 0.757376 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99991706e-01 2.30061141e-03 -3.36090544e-03 -2.93385876e+02] [-2.31928615e-03 9.99981836e-01 -5.56317033e-03 1.75961177e+01] [ 3.34804570e-03 5.57091909e-03 9.99978878e-01 1.55763557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24907232899994 meters Centerline goodness : 0.758183 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99993011e-01 2.14936976e-03 -3.05905800e-03 -2.93386234e+02] [-2.16663334e-03 9.99981684e-01 -5.65135085e-03 1.75965949e+01] [ 3.04685513e-03 5.65793921e-03 9.99979352e-01 1.55763026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.279072329 meters Centerline goodness : 0.753789 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.76 [[ 9.99998001e-01 1.01082494e-03 -1.72546109e-03 -2.93388291e+02] [-1.01995672e-03 9.99985436e-01 -5.29971624e-03 1.75942032e+01] [ 1.72007888e-03 5.30146554e-03 9.99984468e-01 1.55760731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.30907232899995 meters Centerline goodness : 0.754060 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.76 [[ 9.99998859e-01 9.76801433e-04 -1.15250657e-03 -2.93389274e+02] [-9.82588210e-04 9.99986861e-01 -5.03119886e-03 1.75932800e+01] [ 1.14757694e-03 5.03232556e-03 9.99986679e-01 1.55760013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.339072329 meters Centerline goodness : 0.753765 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.76 [[ 9.99999852e-01 5.42253444e-04 -5.40490725e-05 -2.93391482e+02] [-5.42506223e-04 9.99988371e-01 -4.79201806e-03 1.75916990e+01] [ 5.14499556e-05 4.79204667e-03 9.99988517e-01 1.55759059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.36907232899995 meters Centerline goodness : 0.751110 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.76 [[ 9.99999786e-01 3.87280873e-04 5.26554853e-04 -2.93392994e+02] [-3.84829035e-04 9.99989121e-01 -4.64853251e-03 1.75907690e+01] [-5.28349413e-04 4.64832888e-03 9.99989057e-01 1.55759064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.399072329 meters Centerline goodness : 0.752565 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.76 [[ 9.99999280e-01 -5.98871877e-05 1.19831312e-03 -2.93394663e+02] [ 6.59012063e-05 9.99987401e-01 -5.01932729e-03 1.75915850e+01] [-1.19799743e-03 5.01940265e-03 9.99986685e-01 1.55759054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.42907232899995 meters Centerline goodness : 0.753959 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99998501e-01 -2.55004782e-04 1.71274623e-03 -2.93396079e+02] [ 2.63641958e-04 9.99987241e-01 -5.04455006e-03 1.75912554e+01] [-1.71143799e-03 5.04499405e-03 9.99985809e-01 1.55759156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.459072329 meters Centerline goodness : 0.754832 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99995440e-01 -1.27617078e-03 2.73690113e-03 -2.93399211e+02] [ 1.29164236e-03 9.99983155e-01 -5.65865601e-03 1.75914177e+01] [-2.72963362e-03 5.66216531e-03 9.99980244e-01 1.55759796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.48907232899995 meters Centerline goodness : 0.754541 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99993262e-01 -1.40272621e-03 3.39231764e-03 -2.93400847e+02] [ 1.42127658e-03 9.99984018e-01 -5.47213399e-03 1.75905518e+01] [-3.38458752e-03 5.47691854e-03 9.99979274e-01 1.55759716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.519072329 meters Centerline goodness : 0.755186 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99987871e-01 -2.10333165e-03 4.45358496e-03 -2.93403576e+02] [ 2.12770922e-03 9.99982743e-01 -5.47604963e-03 1.75891674e+01] [-4.44199015e-03 5.48545914e-03 9.99975089e-01 1.55759651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.54907232899996 meters Centerline goodness : 0.755819 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99984914e-01 -2.31245793e-03 4.98241119e-03 -2.93404688e+02] [ 2.33976419e-03 9.99982238e-01 -5.48169090e-03 1.75889493e+01] [-4.96964652e-03 5.49326587e-03 9.99972563e-01 1.55759305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.579072329 meters Centerline goodness : 0.754188 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99977589e-01 -3.02411930e-03 5.97299819e-03 -2.93406896e+02] [ 3.05832952e-03 9.99978926e-01 -5.72667222e-03 1.75886745e+01] [-5.95555417e-03 5.74481128e-03 9.99965764e-01 1.55758808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.60907232899996 meters Centerline goodness : 0.753704 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99975385e-01 -2.82898908e-03 6.42076085e-03 -2.93407541e+02] [ 2.86102705e-03 9.99983477e-01 -4.98605898e-03 1.75863103e+01] [-6.40654925e-03 5.00430622e-03 9.99966956e-01 1.55758016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.639072329 meters Centerline goodness : 0.751880 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99975492e-01 -2.49558582e-03 6.54118496e-03 -2.93407541e+02] [ 2.52433692e-03 9.99987174e-01 -4.39083072e-03 1.75846313e+01] [-6.53014337e-03 4.40723527e-03 9.99968966e-01 1.55757509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66907232899996 meters Centerline goodness : 0.752637 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99974951e-01 -2.28720830e-03 6.69814925e-03 -2.93407892e+02] [ 2.31368540e-03 9.99989531e-01 -3.94782051e-03 1.75833530e+01] [-6.68904964e-03 3.96321903e-03 9.99969774e-01 1.55757368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.699072329 meters Centerline goodness : 0.750282 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99969433e-01 -2.72996249e-03 7.32662970e-03 -2.93409253e+02] [ 2.76146349e-03 9.99986973e-01 -4.29285384e-03 1.75841311e+01] [-7.31481492e-03 4.31295484e-03 9.99963945e-01 1.55757103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72907232899996 meters Centerline goodness : 0.749218 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99966054e-01 -2.84488283e-03 7.73293763e-03 -2.93410218e+02] [ 2.87798286e-03 9.99986731e-01 -4.27264392e-03 1.75838246e+01] [-7.72067984e-03 4.29475414e-03 9.99960972e-01 1.55756965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.759072329 meters Centerline goodness : 0.747485 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99962696e-01 -2.85683995e-03 8.15141720e-03 -2.93410810e+02] [ 2.88965601e-03 9.99987757e-01 -4.01687687e-03 1.75829546e+01] [-8.13984183e-03 4.04028181e-03 9.99958709e-01 1.55756258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78907232899996 meters Centerline goodness : 0.748432 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99959334e-01 -2.91479909e-03 8.53426784e-03 -2.93411272e+02] [ 2.94785452e-03 9.99988193e-01 -3.86324414e-03 1.75826597e+01] [-8.52290649e-03 3.88824482e-03 9.99956120e-01 1.55755543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.819072329 meters Centerline goodness : 0.746748 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99954578e-01 -2.98748800e-03 9.05076012e-03 -2.93412249e+02] [ 3.02042426e-03 9.99988859e-01 -3.62757849e-03 1.75818800e+01] [-9.03982194e-03 3.65475086e-03 9.99952461e-01 1.55755102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84907232899997 meters Centerline goodness : 0.750502 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99955225e-01 -2.89611597e-03 9.00887153e-03 -2.93412324e+02] [ 2.92881194e-03 9.99989165e-01 -3.61823444e-03 1.75820843e+01] [-8.99829509e-03 3.64445772e-03 9.99952873e-01 1.55755364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87907232899994 meters Centerline goodness : 0.749754 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99948426e-01 -3.46221483e-03 9.54772321e-03 -2.93414140e+02] [ 3.50354060e-03 9.99984553e-01 -4.31501356e-03 1.75836840e+01] [-9.53263622e-03 4.34824185e-03 9.99945109e-01 1.55756047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90907232899997 meters Centerline goodness : 0.752711 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99950865e-01 -3.35831322e-03 9.32677890e-03 -2.93413765e+02] [ 3.39879649e-03 9.99984858e-01 -4.32808759e-03 1.75841747e+01] [-9.31210260e-03 4.35957476e-03 9.99947138e-01 1.55756361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93907232899994 meters Centerline goodness : 0.751217 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99958712e-01 -2.60080749e-03 8.70690072e-03 -2.93411658e+02] [ 2.63384875e-03 9.99989366e-01 -3.78552349e-03 1.75845541e+01] [-8.69696271e-03 3.80829985e-03 9.99954929e-01 1.55755854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96907232899997 meters Centerline goodness : 0.752933 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.58, Z:155.76 [[ 9.99963593e-01 -2.10326010e-03 8.26978576e-03 -2.93410885e+02] [ 2.13043674e-03 9.99992355e-01 -3.27882242e-03 1.75836072e+01] [-8.26282632e-03 3.29632130e-03 9.99960429e-01 1.55756245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99907232899994 meters Centerline goodness : 0.753758 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99961895e-01 -2.47220213e-03 8.37237470e-03 -2.93411430e+02] [ 2.50591553e-03 9.99988785e-01 -4.01864921e-03 1.75859578e+01] [-8.36234589e-03 4.03947655e-03 9.99956876e-01 1.55756776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.029072329 meters Centerline goodness : 0.755247 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99966030e-01 -2.21768634e-03 7.93861564e-03 -2.93410933e+02] [ 2.24903359e-03 9.99989701e-01 -3.94195714e-03 1.75861717e+01] [-7.92979186e-03 3.95967745e-03 9.99960719e-01 1.55757589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.05907232899995 meters Centerline goodness : 0.752917 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99965019e-01 -2.51115893e-03 7.97837718e-03 -2.93411358e+02] [ 2.54716644e-03 9.99986603e-01 -4.50618547e-03 1.75878761e+01] [-7.96695454e-03 4.52635009e-03 9.99958019e-01 1.55758104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.089072329 meters Centerline goodness : 0.752401 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99971805e-01 -1.43762746e-03 7.37033465e-03 -2.93408757e+02] [ 1.46265538e-03 9.99993179e-01 -3.39149986e-03 1.75866971e+01] [-7.36540867e-03 3.40218450e-03 9.99967087e-01 1.55756806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.11907232899995 meters Centerline goodness : 0.752454 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99976187e-01 -7.60724357e-04 6.85907677e-03 -2.93406826e+02] [ 7.79189075e-04 9.99996079e-01 -2.68974187e-03 1.75859220e+01] [-6.85700373e-03 2.69502234e-03 9.99972859e-01 1.55755987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.149072329 meters Centerline goodness : 0.753145 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99977644e-01 -6.15647417e-04 6.65827341e-03 -2.93405943e+02] [ 6.33477621e-04 9.99996219e-01 -2.67612463e-03 1.75865506e+01] [-6.65660069e-03 2.68028267e-03 9.99974253e-01 1.55755527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.17907232899995 meters Centerline goodness : 0.754070 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99977111e-01 -6.52925977e-04 6.73428506e-03 -2.93406457e+02] [ 6.71151310e-04 9.99996118e-01 -2.70444537e-03 1.75865952e+01] [-6.73249311e-03 2.70890319e-03 9.99973667e-01 1.55755980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.209072329 meters Centerline goodness : 0.755332 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99977380e-01 -6.53154109e-04 6.69425934e-03 -2.93406832e+02] [ 6.71966489e-04 9.99995831e-01 -2.80836200e-03 1.75869197e+01] [-6.69239714e-03 2.81279679e-03 9.99973650e-01 1.55756636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.23907232899995 meters Centerline goodness : 0.755037 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99980211e-01 -2.97934561e-04 6.28402047e-03 -2.93406033e+02] [ 3.13889443e-04 9.99996730e-01 -2.53812742e-03 1.75866595e+01] [-6.28324372e-03 2.54004968e-03 9.99977034e-01 1.55756902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.269072329 meters Centerline goodness : 0.755338 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99983676e-01 8.30191855e-05 5.71328757e-03 -2.93404209e+02] [-6.81144805e-05 9.99996594e-01 -2.60892420e-03 1.75882497e+01] [-5.71348470e-03 2.60849245e-03 9.99980276e-01 1.55756513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.29907232899996 meters Centerline goodness : 0.756458 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99977755e-01 3.84290054e-03 5.45167941e-03 -2.93404111e+02] [-3.84564951e-03 9.99992484e-01 4.93849564e-04 1.75918240e+01] [-5.44974062e-03 -5.14803827e-04 9.99985018e-01 1.55757412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.329072329 meters Centerline goodness : 0.755405 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99980472e-01 4.15597185e-03 4.66718238e-03 -2.93402703e+02] [-4.15804003e-03 9.99991261e-01 4.33516379e-04 1.75926748e+01] [-4.66533991e-03 -4.52914244e-04 9.99989015e-01 1.55758176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.35907232899996 meters Centerline goodness : 0.756255 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99982625e-01 4.49091836e-03 3.81851061e-03 -2.93401303e+02] [-4.49212404e-03 9.99989863e-01 3.07227441e-04 1.75935986e+01] [-3.81709217e-03 -3.24375326e-04 9.99992662e-01 1.55759192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.389072329 meters Centerline goodness : 0.756673 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.60, Z:155.76 [[ 9.99954181e-01 9.16424264e-03 2.76615898e-03 -2.93399115e+02] [-9.17533601e-03 9.99949806e-01 4.02470033e-03 1.75963243e+01] [-2.72913681e-03 -4.04989636e-03 9.99988075e-01 1.55760072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41907232899996 meters Centerline goodness : 0.756610 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.60, Z:155.76 [[ 9.99952619e-01 9.58563270e-03 1.69575583e-03 -2.93396841e+02] [-9.59170998e-03 9.99947472e-01 3.61273964e-03 1.75990068e+01] [-1.66103636e-03 -3.62883366e-03 9.99992036e-01 1.55760800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.449072329 meters Centerline goodness : 0.756610 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.60, Z:155.76 [[ 9.99952619e-01 9.58563270e-03 1.69575583e-03 -2.93396841e+02] [-9.59170998e-03 9.99947472e-01 3.61273964e-03 1.75990068e+01] [-1.66103636e-03 -3.62883366e-03 9.99992036e-01 1.55760800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47907232899996 meters Centerline goodness : 0.757166 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99904808e-01 1.37646473e-02 9.53998281e-04 -2.93394767e+02] [-1.37709107e-02 9.99881346e-01 6.90337213e-03 1.76031846e+01] [-8.58862603e-04 -6.91585240e-03 9.99975716e-01 1.55760873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.509072329 meters Centerline goodness : 0.754863 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99902038e-01 1.39952523e-02 2.16281646e-04 -2.93393193e+02] [-1.39964024e-02 9.99878767e-01 6.82287727e-03 1.76041069e+01] [-1.20767537e-04 -6.82523605e-03 9.99976701e-01 1.55761242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53907232899996 meters Centerline goodness : 0.754674 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.60, Z:155.76 [[ 9.99877966e-01 1.56045808e-02 -7.41148908e-04 -2.93389948e+02] [-1.55983894e-02 9.99848448e-01 7.73116299e-03 1.76049952e+01] [ 8.61678143e-04 -7.71865879e-03 9.99969839e-01 1.55760567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.569072329 meters Centerline goodness : 0.755188 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.61, Z:155.76 [[ 9.99794891e-01 2.01861473e-02 -1.64185007e-03 -2.93387766e+02] [-2.01663203e-02 9.99732680e-01 1.13087279e-02 1.76081173e+01] [ 1.86969082e-03 -1.12732983e-02 9.99934706e-01 1.55761138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59907232899997 meters Centerline goodness : 0.755603 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.61, Z:155.76 [[ 9.99790383e-01 2.03324840e-02 -2.40404107e-03 -2.93386357e+02] [-2.03052477e-02 9.99734871e-01 1.08574753e-02 1.76102229e+01] [ 2.62416313e-03 -1.08063847e-02 9.99938166e-01 1.55761918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62907232899994 meters Centerline goodness : 0.755993 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.61, Z:155.76 [[ 9.99783926e-01 2.05485513e-02 -3.13981290e-03 -2.93385066e+02] [-2.05141362e-02 9.99733095e-01 1.06258482e-02 1.76115919e+01] [ 3.35732065e-03 -1.05591417e-02 9.99938615e-01 1.55762724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65907232899997 meters Centerline goodness : 0.756815 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.61, Z:155.76 [[ 9.99788766e-01 2.02478314e-02 -3.52820927e-03 -2.93384545e+02] [-2.02123486e-02 9.99747502e-01 9.81796217e-03 1.76142883e+01] [ 3.72611085e-03 -9.74457489e-03 9.99945578e-01 1.55763399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68907232899994 meters Centerline goodness : 0.756319 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.62, Z:155.77 [[ 9.99693276e-01 2.36525178e-02 -7.34243705e-03 -2.93376003e+02] [-2.35948222e-02 9.99690803e-01 7.84745020e-03 1.76168832e+01] [ 7.52577874e-03 -7.67179971e-03 9.99942251e-01 1.55768869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71907232899997 meters Centerline goodness : 0.756397 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.62, Z:155.77 [[ 9.99698355e-01 2.34595612e-02 -7.26969606e-03 -2.93376637e+02] [-2.34042712e-02 9.99697198e-01 7.59951860e-03 1.76171351e+01] [ 7.44577615e-03 -7.42708430e-03 9.99944698e-01 1.55769331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74907232899994 meters Centerline goodness : 0.754675 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99667553e-01 2.44503364e-02 -8.18320187e-03 -2.93374381e+02] [-2.43831708e-02 9.99668980e-01 8.20927043e-03 1.76164412e+01] [ 8.38121249e-03 -8.00700887e-03 9.99932819e-01 1.55769336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.779072329 meters Centerline goodness : 0.753721 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99655027e-01 2.47493576e-02 -8.79180067e-03 -2.93373041e+02] [-2.46778792e-02 9.99662252e-01 8.14764503e-03 1.76172745e+01] [ 8.99048024e-03 -7.92787132e-03 9.99928157e-01 1.55769628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.80907232899995 meters Centerline goodness : 0.754324 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99639571e-01 2.50633180e-02 -9.62069780e-03 -2.93371377e+02] [-2.49871477e-02 9.99656101e-01 7.95754049e-03 1.76185471e+01] [ 9.81683162e-03 -7.71427857e-03 9.99922057e-01 1.55770256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.839072329 meters Centerline goodness : 0.754394 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99604508e-01 2.60360036e-02 -1.06280019e-02 -2.93368776e+02] [-2.59501386e-02 9.99630108e-01 8.13865232e-03 1.76205161e+01] [ 1.08359686e-02 -7.85963542e-03 9.99910400e-01 1.55770520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.86907232899995 meters Centerline goodness : 0.753589 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99608382e-01 2.58599750e-02 -1.06931687e-02 -2.93368877e+02] [-2.57775875e-02 9.99637490e-01 7.77205579e-03 1.76216060e+01] [ 1.08902775e-02 -7.49336802e-03 9.99912622e-01 1.55770866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.899072329 meters Centerline goodness : 0.754710 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99608276e-01 2.58612303e-02 -1.07000661e-02 -2.93369046e+02] [-2.57785766e-02 9.99637311e-01 7.79174332e-03 1.76215348e+01] [ 1.08976894e-02 -7.51285863e-03 9.99912395e-01 1.55771077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.92907232899995 meters Centerline goodness : 0.754613 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99683986e-01 2.23272718e-02 -1.15508373e-02 -2.93367184e+02] [-2.22832868e-02 9.99744001e-01 3.92274785e-03 1.76221257e+01] [ 1.16354645e-02 -3.66411758e-03 9.99925592e-01 1.55771299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.959072329 meters Centerline goodness : 0.756099 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99759951e-01 1.83830034e-02 -1.19208238e-02 -2.93366778e+02] [-1.83838531e-02 9.99831002e-01 3.83087792e-05 1.76213960e+01] [ 1.19195134e-02 1.80851090e-04 9.99928944e-01 1.55771681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.98907232899995 meters Centerline goodness : 0.755241 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99782189e-01 1.76527289e-02 -1.11335531e-02 -2.93369164e+02] [-1.76589256e-02 9.99843964e-01 -4.58509706e-04 1.76214282e+01] [ 1.11237220e-02 6.55016424e-04 9.99937915e-01 1.55771925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.019072329 meters Centerline goodness : 0.755187 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99843064e-01 1.40029943e-02 -1.08518889e-02 -2.93369481e+02] [-1.40398661e-02 9.99895894e-01 -3.32902872e-03 1.76176963e+01] [ 1.08041428e-02 3.48086534e-03 9.99935575e-01 1.55770981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.04907232899996 meters Centerline goodness : 0.752774 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.62, Z:155.77 [[ 9.99890789e-01 1.00530343e-02 -1.08326358e-02 -2.93369687e+02] [-1.01284992e-02 9.99924662e-01 -6.93423566e-03 1.76160035e+01] [ 1.07621095e-02 7.04319671e-03 9.99917282e-01 1.55770902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.079072329 meters Centerline goodness : 0.753522 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.61, Z:155.77 [[ 9.99906242e-01 9.49823523e-03 -9.86357692e-03 -2.93372321e+02] [-9.56708911e-03 9.99930033e-01 -6.95705652e-03 1.76149578e+01] [ 9.79680703e-03 7.05076996e-03 9.99927152e-01 1.55770892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.10907232899996 meters Centerline goodness : 0.753963 Centerline is valid? [False, False] Translation: X:-293.36, Y:17.60, Z:155.78 [[ 9.99918433e-01 6.52607532e-04 -1.27554403e-02 -2.93363918e+02] [-7.01684735e-04 9.99992368e-01 -3.84345413e-03 1.76043846e+01] [ 1.27528347e-02 3.85209093e-03 9.99911259e-01 1.55776054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.139072329 meters Centerline goodness : 0.752405 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.78 [[ 9.99933994e-01 -1.11433950e-04 -1.14888866e-02 -2.93366837e+02] [ 7.20067147e-05 9.99994108e-01 -3.43212818e-03 1.76014560e+01] [ 1.14892013e-02 3.43107436e-03 9.99928110e-01 1.55775133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16907232899996 meters Centerline goodness : 0.750570 Centerline is valid? [False, False] Translation: X:-293.37, Y:17.60, Z:155.77 [[ 9.99948570e-01 -1.61263222e-03 -1.00128663e-02 -2.93370378e+02] [ 1.57550775e-03 9.99991860e-01 -3.71445872e-03 1.75996834e+01] [ 1.00187749e-02 3.69849234e-03 9.99942971e-01 1.55774387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.199072329 meters Centerline goodness : 0.750058 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.60, Z:155.77 [[ 9.99961954e-01 -6.75262058e-03 -5.52197948e-03 -2.93380904e+02] [ 6.74620104e-03 9.99976548e-01 -1.18034574e-03 1.75956382e+01] [ 5.52982040e-03 1.14304845e-03 9.99984057e-01 1.55767254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22907232899996 meters Centerline goodness : 0.749550 Centerline is valid? [False, False] Translation: X:-293.38, Y:17.59, Z:155.77 [[ 9.99954930e-01 -8.48574676e-03 -4.25793618e-03 -2.93384705e+02] [ 8.47740080e-03 9.99962117e-01 -1.97433090e-03 1.75944519e+01] [ 4.27452854e-03 1.93814568e-03 9.99988986e-01 1.55767530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.259072329 meters Centerline goodness : 0.749990 Centerline is valid? [False, False] Translation: X:-293.39, Y:17.59, Z:155.77 [[ 9.99943311e-01 -1.02359710e-02 -2.93259381e-03 -2.93388758e+02] [ 1.02275727e-02 9.99943594e-01 -2.86459860e-03 1.75935392e+01] [ 2.96175034e-03 2.83444289e-03 9.99991597e-01 1.55767969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28907232899996 meters Centerline goodness : 0.749707 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99825346e-01 -1.86033381e-02 1.78682416e-03 -2.93399552e+02] [ 1.86111236e-02 9.99816921e-01 -4.44410769e-03 1.75895766e+01] [-1.70382180e-03 4.47658632e-03 9.99988529e-01 1.55762014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.319072329 meters Centerline goodness : 0.749780 Centerline is valid? [False, False] Translation: X:-293.40, Y:17.59, Z:155.76 [[ 9.99811213e-01 -1.92089583e-02 2.92492087e-03 -2.93402344e+02] [ 1.92213239e-02 9.99806178e-01 -4.25996120e-03 1.75877636e+01] [-2.84252454e-03 4.31537783e-03 9.99986649e-01 1.55761670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34907232899997 meters Centerline goodness : 0.750429 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99785894e-01 -2.02535413e-02 4.23785770e-03 -2.93405201e+02] [ 2.02737352e-02 9.99783051e-01 -4.77768630e-03 1.75880294e+01] [-4.14017323e-03 4.86258057e-03 9.99979607e-01 1.55761036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37907232899994 meters Centerline goodness : 0.748803 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99745910e-01 -2.17695390e-02 5.84826795e-03 -2.93408861e+02] [ 2.17976132e-02 9.99750975e-01 -4.78034982e-03 1.75861408e+01] [-5.74274557e-03 4.90661347e-03 9.99971473e-01 1.55760140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40907232899997 meters Centerline goodness : 0.748077 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99711966e-01 -2.29127759e-02 7.14067909e-03 -2.93411951e+02] [ 2.29504624e-02 9.99722864e-01 -5.24122929e-03 1.75859343e+01] [-7.01860904e-03 5.40360153e-03 9.99960769e-01 1.55759807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43907232899994 meters Centerline goodness : 0.748893 Centerline is valid? [False, False] Translation: X:-293.41, Y:17.59, Z:155.76 [[ 9.99681287e-01 -2.37874580e-02 8.45467007e-03 -2.93414799e+02] [ 2.38346678e-02 9.99700632e-01 -5.52765812e-03 1.75856283e+01] [-8.32065008e-03 5.72741063e-03 9.99948980e-01 1.55759074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46907232899997 meters Centerline goodness : 0.749154 Centerline is valid? [False, False] Translation: X:-293.43, Y:17.58, Z:155.75 [[ 9.99375279e-01 -3.26544055e-02 1.35181699e-02 -2.93425885e+02] [ 3.27634548e-02 9.99431710e-01 -7.92551711e-03 1.75848064e+01] [-1.32516846e-02 8.36346782e-03 9.99877215e-01 1.55752917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49907232899994 meters Centerline goodness : 0.750825 Centerline is valid? [False, False] Translation: X:-293.43, Y:17.58, Z:155.75 [[ 9.99313856e-01 -3.39140203e-02 1.48881311e-02 -2.93429411e+02] [ 3.40366466e-02 9.99388070e-01 -8.06181103e-03 1.75830166e+01] [-1.46056122e-02 8.56302152e-03 9.99856665e-01 1.55752720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.529072329 meters Centerline goodness : 0.749076 Centerline is valid? [False, False] Translation: X:-293.43, Y:17.58, Z:155.75 [[ 9.99148016e-01 -3.81790703e-02 1.56716444e-02 -2.93430917e+02] [ 3.83672955e-02 9.99192954e-01 -1.18908485e-02 1.75813656e+01] [-1.52050152e-02 1.24819963e-02 9.99806485e-01 1.55752502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.55907232899995 meters Centerline goodness : 0.749875 Centerline is valid? [False, False] Translation: X:-293.43, Y:17.58, Z:155.75 [[ 9.99073504e-01 -3.94784422e-02 1.71343540e-02 -2.93434589e+02] [ 3.96885965e-02 9.99138792e-01 -1.21032923e-02 1.75797600e+01] [-1.66417786e-02 1.27721171e-02 9.99779938e-01 1.55752297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.589072329 meters Centerline goodness : 0.749885 Centerline is valid? [False, False] Translation: X:-293.44, Y:17.57, Z:155.75 [[ 9.98831349e-01 -4.43883637e-02 1.91209114e-02 -2.93437956e+02] [ 4.46722216e-02 9.98893787e-01 -1.46831192e-02 1.75740601e+01] [-1.84479999e-02 1.55201333e-02 9.99709356e-01 1.55749991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.61907232899995 meters Centerline goodness : 0.749865 Centerline is valid? [False, False] Translation: X:-293.44, Y:17.57, Z:155.75 [[ 9.98612076e-01 -4.75725072e-02 2.26003867e-02 -2.93444748e+02] [ 4.79068241e-02 9.98746723e-01 -1.44885774e-02 1.75738818e+01] [-2.18828042e-02 1.55511811e-02 9.99639587e-01 1.55746135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.649072329 meters Centerline goodness : 0.745888 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.57, Z:155.74 [[ 9.98378902e-01 -5.03839070e-02 2.64769534e-02 -2.93452326e+02] [ 5.06987490e-02 9.98649414e-01 -1.13571258e-02 1.75675621e+01] [-2.58689776e-02 1.26810632e-02 9.99584907e-01 1.55740190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.67907232899995 meters Centerline goodness : 0.744949 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.57, Z:155.74 [[ 9.98382371e-01 -5.01846475e-02 2.67234584e-02 -2.93452794e+02] [ 5.04895954e-02 9.98665529e-01 -1.08610366e-02 1.75661814e+01] [-2.61427395e-02 1.21927241e-02 9.99583861e-01 1.55739919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.709072329 meters Centerline goodness : 0.744859 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.57, Z:155.74 [[ 9.98100405e-01 -5.48986333e-02 2.79592904e-02 -2.93454845e+02] [ 5.53383507e-02 9.98351904e-01 -1.52033599e-02 1.75658648e+01] [-2.70785671e-02 1.67217007e-02 9.99493440e-01 1.55739219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.73907232899995 meters Centerline goodness : 0.746851 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.57, Z:155.74 [[ 9.98019651e-01 -5.57531454e-02 2.91266620e-02 -2.93457322e+02] [ 5.62301120e-02 9.98292478e-01 -1.58209394e-02 1.75669598e+01] [-2.81948605e-02 1.74274039e-02 9.99450517e-01 1.55738663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.769072329 meters Centerline goodness : 0.746084 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.57, Z:155.74 [[ 9.97970882e-01 -5.61785588e-02 2.99681205e-02 -2.93459202e+02] [ 5.66678470e-02 9.98269087e-01 -1.57348084e-02 1.75659895e+01] [-2.90322895e-02 1.74011095e-02 9.99427000e-01 1.55738268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.79907232899996 meters Centerline goodness : 0.745077 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.57, Z:155.74 [[ 9.98138663e-01 -5.27523960e-02 3.06005536e-02 -2.93461108e+02] [ 5.31396378e-02 9.98515202e-01 -1.19820569e-02 1.75667363e+01] [-2.99230357e-02 1.35858566e-02 9.99459872e-01 1.55737956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.829072329 meters Centerline goodness : 0.745678 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.57, Z:155.74 [[ 9.98074064e-01 -5.36107075e-02 3.12098510e-02 -2.93462949e+02] [ 5.40369051e-02 9.98454626e-01 -1.29758582e-02 1.75690635e+01] [-3.04659752e-02 1.46373512e-02 9.99428623e-01 1.55738481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.85907232899996 meters Centerline goodness : 0.745285 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.58, Z:155.73 [[ 9.98414024e-01 -4.50053417e-02 3.38224091e-02 -2.93473100e+02] [ 4.55691378e-02 9.98831646e-01 -1.60871683e-02 1.75776874e+01] [-3.30588841e-02 1.76029125e-02 9.99298378e-01 1.55732039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.889072329 meters Centerline goodness : 0.747309 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.58, Z:155.73 [[ 9.98412287e-01 -4.52950192e-02 3.34853053e-02 -2.93472328e+02] [ 4.58830153e-02 9.98802077e-01 -1.70046837e-02 1.75812928e+01] [-3.26749650e-02 1.85140919e-02 9.99294539e-01 1.55732256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91907232899996 meters Centerline goodness : 0.747089 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.58, Z:155.73 [[ 9.98459015e-01 -4.48322379e-02 3.27057402e-02 -2.93470465e+02] [ 4.54056606e-02 9.98823876e-01 -1.70056235e-02 1.75824659e+01] [-3.19048740e-02 1.84644438e-02 9.99320341e-01 1.55732388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.949072329 meters Centerline goodness : 0.747734 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.58, Z:155.73 [[ 9.98632913e-01 -4.09823893e-02 3.24460820e-02 -2.93470918e+02] [ 4.14364721e-02 9.99050631e-01 -1.34482501e-02 1.75846228e+01] [-3.18641373e-02 1.47743164e-02 9.99383008e-01 1.55733331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97907232899996 meters Centerline goodness : 0.748759 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.59, Z:155.73 [[ 9.98773596e-01 -3.75369232e-02 3.22844113e-02 -2.93471444e+02] [ 3.78956532e-02 9.99225774e-01 -1.05721839e-02 1.75889343e+01] [-3.18625686e-02 1.17826570e-02 9.99422806e-01 1.55734140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.009072329 meters Centerline goodness : 0.748175 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.59, Z:155.74 [[ 9.99033209e-01 -3.18400835e-02 3.03126412e-02 -2.93467853e+02] [ 3.20628299e-02 9.99462102e-01 -6.89069213e-03 1.75933529e+01] [-3.00769359e-02 7.85593933e-03 9.99516714e-01 1.55735874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03907232899996 meters Centerline goodness : 0.746361 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.60, Z:155.73 [[ 9.99281739e-01 -2.20068962e-02 3.08496724e-02 -2.93479129e+02] [ 2.23538226e-02 9.99690195e-01 -1.09462525e-02 1.76048414e+01] [-3.05992219e-02 1.16279984e-02 9.99464095e-01 1.55732326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.069072329 meters Centerline goodness : 0.746706 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.61, Z:155.73 [[ 9.99388497e-01 -1.78488965e-02 3.00673947e-02 -2.93477974e+02] [ 1.80790977e-02 9.99809162e-01 -7.40177312e-03 1.76078120e+01] [-2.99295432e-02 7.94083828e-03 9.99520468e-01 1.55733268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09907232899997 meters Centerline goodness : 0.745516 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.61, Z:155.74 [[ 9.99498026e-01 -1.34845829e-02 2.86681439e-02 -2.93476161e+02] [ 1.36334606e-02 9.99894539e-01 -5.00402956e-03 1.76137736e+01] [-2.85976433e-02 5.39236368e-03 9.99576459e-01 1.55735871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12907232899994 meters Centerline goodness : 0.748622 Centerline is valid? [False, False] Translation: X:-293.49, Y:17.63, Z:155.74 [[ 9.99650842e-01 -3.90238246e-03 2.61336105e-02 -2.93490056e+02] [ 4.16274316e-03 9.99942174e-01 -9.91569457e-03 1.76311816e+01] [-2.60934044e-02 1.00210199e-02 9.99609280e-01 1.55736654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15907232899997 meters Centerline goodness : 0.749342 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.63, Z:155.74 [[ 9.99758245e-01 4.12181532e-03 2.15977193e-02 -2.93479763e+02] [-3.94348039e-03 9.99957835e-01 -8.29321313e-03 1.76345640e+01] [-2.16309917e-02 8.20603802e-03 9.99732345e-01 1.55742299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18907232899994 meters Centerline goodness : 0.747700 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.64, Z:155.74 [[ 9.99739048e-01 7.81838240e-03 2.14641336e-02 -2.93479844e+02] [-7.71140018e-03 9.99957452e-01 -5.06248601e-03 1.76375556e+01] [-2.15028008e-02 4.89564642e-03 9.99756802e-01 1.55742986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21907232899997 meters Centerline goodness : 0.747679 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.64, Z:155.74 [[ 9.99712307e-01 1.18208454e-02 2.08703138e-02 -2.93478682e+02] [-1.17860796e-02 9.99928943e-01 -1.78802526e-03 1.76409725e+01] [-2.08899668e-02 1.54153168e-03 9.99780592e-01 1.55743651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24907232899994 meters Centerline goodness : 0.746700 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.64, Z:155.74 [[ 9.99668969e-01 1.57901762e-02 2.03130966e-02 -2.93477684e+02] [-1.58247992e-02 9.99873587e-01 1.54484574e-03 1.76441358e+01] [-2.02861353e-02 -1.86578502e-03 9.99792474e-01 1.55744445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.279072329 meters Centerline goodness : 0.745711 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.65, Z:155.75 [[ 9.99539172e-01 2.60961291e-02 1.55059937e-02 -2.93464643e+02] [-2.61569101e-02 9.99650891e-01 3.73001228e-03 1.76469824e+01] [-1.54032415e-02 -4.13388227e-03 9.99872817e-01 1.55750240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.30907232899995 meters Centerline goodness : 0.748656 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.65, Z:155.75 [[ 9.99444987e-01 2.98028187e-02 1.48831969e-02 -2.93463501e+02] [-2.98976697e-02 9.99533788e-01 6.19166823e-03 1.76530029e+01] [-1.46917290e-02 -6.63320468e-03 9.99870068e-01 1.55751501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.339072329 meters Centerline goodness : 0.748656 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.65, Z:155.75 [[ 9.99444987e-01 2.98028187e-02 1.48831969e-02 -2.93463501e+02] [-2.98976697e-02 9.99533788e-01 6.19166823e-03 1.76530029e+01] [-1.46917290e-02 -6.63320468e-03 9.99870068e-01 1.55751501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.36907232899995 meters Centerline goodness : 0.748057 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.67, Z:155.75 [[ 9.98887639e-01 4.44322642e-02 1.57879042e-02 -2.93471485e+02] [-4.45004847e-02 9.99001370e-01 3.99617766e-03 1.76705396e+01] [-1.55945787e-02 -4.69430186e-03 9.99867378e-01 1.55750322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.399072329 meters Centerline goodness : 0.748359 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.67, Z:155.75 [[ 9.98687774e-01 4.89480202e-02 1.50605639e-02 -2.93469239e+02] [-4.90655452e-02 9.98767136e-01 7.53531796e-03 1.76738855e+01] [-1.46731574e-02 -8.26438471e-03 9.99858189e-01 1.55750701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.42907232899995 meters Centerline goodness : 0.749717 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.69, Z:155.75 [[ 9.98390567e-01 5.62967365e-02 6.85223125e-03 -2.93478301e+02] [-5.63229266e-02 9.98405782e-01 3.69098394e-03 1.76914022e+01] [-6.63351694e-03 -4.07098127e-03 9.99969711e-01 1.55752776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.459072329 meters Centerline goodness : 0.750068 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.70, Z:155.76 [[ 9.97496555e-01 7.06709477e-02 2.49811092e-03 -2.93464438e+02] [-7.06900249e-02 9.97461074e-01 8.62127759e-03 1.76964883e+01] [-1.88249454e-03 -8.77628621e-03 9.99959716e-01 1.55759370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.48907232899995 meters Centerline goodness : 0.752227 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.70, Z:155.76 [[ 9.97040859e-01 7.68703329e-02 -6.90658710e-04 -2.93457307e+02] [-7.68599155e-02 9.96993766e-01 9.79715780e-03 1.77025186e+01] [ 1.44169321e-03 -9.71508266e-03 9.99951768e-01 1.55764708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.519072329 meters Centerline goodness : 0.750482 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.71, Z:155.77 [[ 9.96609749e-01 8.22511087e-02 -1.94015546e-03 -2.93453741e+02] [-8.22192571e-02 9.96529825e-01 1.29731114e-02 1.77076607e+01] [ 3.00047558e-03 -1.27696112e-02 9.99913963e-01 1.55766432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.54907232899996 meters Centerline goodness : 0.751858 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.72, Z:155.77 [[ 9.95293125e-01 9.68087687e-02 -4.43361124e-03 -2.93445662e+02] [-9.66949226e-02 9.95089949e-01 2.11207103e-02 1.77177231e+01] [ 6.45651195e-03 -2.05925901e-02 9.99767102e-01 1.55771922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.579072329 meters Centerline goodness : 0.750541 Centerline is valid? [False, False] Translation: X:-293.45, Y:17.74, Z:155.77 [[ 9.94476753e-01 1.04222972e-01 -1.23919159e-02 -2.93453749e+02] [-1.04008482e-01 9.94433652e-01 1.68507116e-02 1.77356801e+01] [ 1.40791694e-02 -1.54687766e-02 9.99781223e-01 1.55773919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.60907232899996 meters Centerline goodness : 0.751937 Centerline is valid? [False, False] Translation: X:-293.46, Y:17.76, Z:155.77 [[ 9.92448873e-01 1.22171176e-01 -1.09287593e-02 -2.93460073e+02] [-1.21991965e-01 9.92405490e-01 1.57893629e-02 1.77558365e+01] [ 1.27747657e-02 -1.43369146e-02 9.99815612e-01 1.55774707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.639072329 meters Centerline goodness : 0.752730 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.78, Z:155.78 [[ 9.91440921e-01 1.29231728e-01 -1.85488582e-02 -2.93470078e+02] [-1.29022877e-01 9.91568387e-01 1.20512094e-02 1.77751464e+01] [ 1.99498601e-02 -9.55483513e-03 9.99755324e-01 1.55777831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66907232899996 meters Centerline goodness : 0.754838 Centerline is valid? [False, False] Translation: X:-293.47, Y:17.78, Z:155.78 [[ 9.90531583e-01 1.36146676e-01 -1.76427084e-02 -2.93471516e+02] [-1.35836352e-01 9.90572478e-01 1.77384302e-02 1.77814053e+01] [ 1.98914097e-02 -1.51739542e-02 9.99686992e-01 1.55780146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.699072329 meters Centerline goodness : 0.755502 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.81, Z:155.79 [[ 9.88127665e-01 1.51556066e-01 -2.51888002e-02 -2.93478217e+02] [-1.51083672e-01 9.88324362e-01 1.97149457e-02 1.78077433e+01] [ 2.78826246e-02 -1.56752668e-02 9.99488292e-01 1.55785519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72907232899996 meters Centerline goodness : 0.753796 Centerline is valid? [False, False] Translation: X:-293.49, Y:17.83, Z:155.79 [[ 9.86819453e-01 1.58342512e-01 -3.33918661e-02 -2.93487225e+02] [-1.57840226e-01 9.87314966e-01 1.71936082e-02 1.78273713e+01] [ 3.56907682e-02 -1.16964073e-02 9.99294433e-01 1.55788599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.759072329 meters Centerline goodness : 0.755270 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.85, Z:155.79 [[ 9.85255722e-01 1.66082039e-01 -4.10842959e-02 -2.93498085e+02] [-1.65511432e-01 9.86062296e-01 1.69444617e-02 1.78474542e+01] [ 4.33258459e-02 -9.89470722e-03 9.99011995e-01 1.55792019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78907232899996 meters Centerline goodness : 0.753748 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.87, Z:155.80 [[ 9.82647995e-01 1.79199736e-01 -4.78578383e-02 -2.93508013e+02] [-1.78430168e-01 9.83750710e-01 1.99302749e-02 1.78720217e+01] [ 5.06516824e-02 -1.10451625e-02 9.98655302e-01 1.55796276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.819072329 meters Centerline goodness : 0.754862 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.88, Z:155.80 [[ 9.82014959e-01 1.82666533e-01 -4.77447239e-02 -2.93507060e+02] [-1.81784422e-01 9.83086786e-01 2.22440026e-02 1.78777585e+01] [ 5.10004420e-02 -1.31646962e-02 9.98611859e-01 1.55797589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84907232899997 meters Centerline goodness : 0.756960 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.88, Z:155.80 [[ 9.80705761e-01 1.89913829e-01 -4.63567534e-02 -2.93508383e+02] [-1.88757722e-01 9.81618749e-01 2.81984833e-02 1.78829332e+01] [ 5.08599402e-02 -1.89042198e-02 9.98526863e-01 1.55799438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87907232899994 meters Centerline goodness : 0.758391 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.89, Z:155.80 [[ 9.79362703e-01 1.97091625e-01 -4.47614502e-02 -2.93509895e+02] [-1.95672849e-01 9.80073653e-01 3.41726709e-02 1.78879552e+01] [ 5.06046652e-02 -2.47088388e-02 9.98413061e-01 1.55800982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90907232899997 meters Centerline goodness : 0.759185 Centerline is valid? [False, False] Translation: X:-293.52, Y:17.91, Z:155.81 [[ 9.76782081e-01 2.07630344e-01 -5.27864141e-02 -2.93518014e+02] [-2.05982041e-01 9.77929186e-01 3.50129260e-02 1.79117759e+01] [ 5.88911209e-02 -2.33269454e-02 9.97991828e-01 1.55806476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93907232899994 meters Centerline goodness : 0.758208 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.89, Z:155.81 [[ 9.75929305e-01 2.10611903e-01 -5.66093409e-02 -2.93478929e+02] [-2.08950131e-01 9.77338807e-01 3.38924583e-02 1.78897549e+01] [ 6.24646609e-02 -2.12481141e-02 9.97820968e-01 1.55812022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96907232899997 meters Centerline goodness : 0.761537 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.90, Z:155.81 [[ 9.74984199e-01 2.14907787e-01 -5.67490536e-02 -2.93476631e+02] [-2.13112197e-01 9.76361821e-01 3.60664027e-02 1.78965254e+01] [ 6.31585601e-02 -2.30702573e-02 9.97736819e-01 1.55813977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99907232899994 meters Centerline goodness : 0.761170 Centerline is valid? [False, False] Translation: X:-293.48, Y:17.90, Z:155.82 [[ 9.74199944e-01 2.18593034e-01 -5.61387116e-02 -2.93476653e+02] [-2.16638310e-01 9.75476884e-01 3.88933450e-02 1.79004054e+01] [ 6.32638297e-02 -2.57280989e-02 9.97665151e-01 1.55815082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.029072329 meters Centerline goodness : 0.762271 Centerline is valid? [False, False] Translation: X:-293.49, Y:17.92, Z:155.82 [[ 9.72855087e-01 2.22175083e-01 -6.47395691e-02 -2.93486316e+02] [-2.20395471e-01 9.74833994e-01 3.35338665e-02 1.79160235e+01] [ 7.05607223e-02 -1.83552847e-02 9.97338592e-01 1.55817886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.05907232899995 meters Centerline goodness : 0.762333 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.93, Z:155.82 [[ 9.71790352e-01 2.24329612e-01 -7.27992895e-02 -2.93498283e+02] [-2.22861875e-01 9.74453581e-01 2.77993503e-02 1.79338964e+01] [ 7.71757458e-02 -1.07909542e-02 9.96959106e-01 1.55820227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.089072329 meters Centerline goodness : 0.760946 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.93, Z:155.82 [[ 9.71813617e-01 2.24164831e-01 -7.29960483e-02 -2.93498309e+02] [-2.22722788e-01 9.74495713e-01 2.74347545e-02 1.79348401e+01] [ 7.72842432e-02 -1.04035847e-02 9.96954819e-01 1.55820835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.11907232899995 meters Centerline goodness : 0.761522 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.94, Z:155.82 [[ 9.71817891e-01 2.24068866e-01 -7.32333952e-02 -2.93498294e+02] [-2.22647848e-01 9.74521399e-01 2.71289151e-02 1.79358620e+01] [ 7.74462560e-02 -1.00591073e-02 9.96945782e-01 1.55821596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.149072329 meters Centerline goodness : 0.761793 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.94, Z:155.82 [[ 9.71925814e-01 2.23676229e-01 -7.30010702e-02 -2.93499602e+02] [-2.22289241e-01 9.74614949e-01 2.67057039e-02 1.79364106e+01] [ 7.71213654e-02 -9.72861056e-03 9.96974247e-01 1.55822113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.17907232899995 meters Centerline goodness : 0.761210 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.94, Z:155.82 [[ 9.71997593e-01 2.23448151e-01 -7.27434122e-02 -2.93500699e+02] [-2.22073759e-01 9.74667862e-01 2.65669780e-02 1.79362611e+01] [ 7.68370082e-02 -9.66863564e-03 9.96996786e-01 1.55822338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.209072329 meters Centerline goodness : 0.760862 Centerline is valid? [False, False] Translation: X:-293.50, Y:17.94, Z:155.82 [[ 9.72289203e-01 2.22361575e-01 -7.21736444e-02 -2.93504110e+02] [-2.21056824e-01 9.74922512e-01 2.56900069e-02 1.79362663e+01] [ 7.60761811e-02 -9.02363971e-03 9.97061176e-01 1.55823498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.23907232899995 meters Centerline goodness : 0.760782 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.93, Z:155.83 [[ 9.74031797e-01 2.14051434e-01 -7.37837486e-02 -2.93507951e+02] [-2.11985765e-01 9.76650583e-01 3.48665170e-02 1.79331946e+01] [ 7.95241690e-02 -1.83199918e-02 9.96664580e-01 1.55826262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.269072329 meters Centerline goodness : 0.760914 Centerline is valid? [False, False] Translation: X:-293.51, Y:17.93, Z:155.83 [[ 9.74414543e-01 2.12535915e-01 -7.31080226e-02 -2.93512187e+02] [-2.10559356e-01 9.76994983e-01 3.38461277e-02 1.79323753e+01] [ 7.86196890e-02 -1.75865809e-02 9.96749546e-01 1.55827496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.29907232899996 meters Centerline goodness : 0.759914 Centerline is valid? [False, False] Translation: X:-293.53, Y:17.94, Z:155.82 [[ 9.75998354e-01 2.06270252e-01 -6.98555325e-02 -2.93531878e+02] [-2.03996958e-01 9.78221059e-01 3.83249329e-02 1.79375700e+01] [ 7.62394465e-02 -2.31547553e-02 9.96820648e-01 1.55824632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.329072329 meters Centerline goodness : 0.760404 Centerline is valid? [False, False] Translation: X:-293.53, Y:17.93, Z:155.82 [[ 9.76851154e-01 2.02115723e-01 -7.00789336e-02 -2.93533903e+02] [-2.00096209e-01 9.79157913e-01 3.48035669e-02 1.79347697e+01] [ 7.56526905e-02 -1.99753755e-02 9.96934128e-01 1.55824532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.35907232899996 meters Centerline goodness : 0.761937 Centerline is valid? [False, False] Translation: X:-293.54, Y:17.93, Z:155.82 [[ 9.77650351e-01 1.98059440e-01 -7.05141713e-02 -2.93535361e+02] [-1.96284606e-01 9.80046109e-01 3.13365327e-02 1.79323039e+01] [ 7.53136353e-02 -1.67953258e-02 9.97018442e-01 1.55824661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.389072329 meters Centerline goodness : 0.762466 Centerline is valid? [False, False] Translation: X:-293.54, Y:17.93, Z:155.82 [[ 9.78502123e-01 1.93809484e-01 -7.05087156e-02 -2.93538076e+02] [-1.92283490e-01 9.80943106e-01 2.78869627e-02 1.79289234e+01] [ 7.45697963e-02 -1.37297903e-02 9.97121276e-01 1.55824638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41907232899996 meters Centerline goodness : 0.763039 Centerline is valid? [False, False] Translation: X:-293.54, Y:17.92, Z:155.82 [[ 9.80058026e-01 1.85515168e-01 -7.12066601e-02 -2.93540464e+02] [-1.84435220e-01 9.82609251e-01 2.15106717e-02 1.79227278e+01] [ 7.39588788e-02 -7.94869042e-03 9.97229614e-01 1.55823827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.449072329 meters Centerline goodness : 0.762355 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.93, Z:155.82 [[ 9.81265497e-01 1.80692140e-01 -6.68459088e-02 -2.93557990e+02] [-1.79348347e-01 9.83451572e-01 2.56354411e-02 1.79275991e+01] [ 7.03718368e-02 -1.31664705e-02 9.97433932e-01 1.55819865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47907232899996 meters Centerline goodness : 0.761598 Centerline is valid? [False, False] Translation: X:-293.55, Y:17.91, Z:155.82 [[ 9.83355421e-01 1.67371630e-01 -7.07025638e-02 -2.93550649e+02] [-1.65843700e-01 9.85782461e-01 2.69964260e-02 1.79119241e+01] [ 7.42157831e-02 -1.48215072e-02 9.97132058e-01 1.55822571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.509072329 meters Centerline goodness : 0.760689 Centerline is valid? [False, False] Translation: X:-293.55, Y:17.91, Z:155.82 [[ 9.84134601e-01 1.62809974e-01 -7.05124100e-02 -2.93553206e+02] [-1.61523792e-01 9.86586306e-01 2.36119883e-02 1.79083185e+01] [ 7.34108453e-02 -1.18479428e-02 9.97231404e-01 1.55822110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53907232899996 meters Centerline goodness : 0.760447 Centerline is valid? [False, False] Translation: X:-293.58, Y:17.92, Z:155.82 [[ 9.85112361e-01 1.58632430e-01 -6.62524632e-02 -2.93575180e+02] [-1.56939483e-01 9.87150845e-01 3.00534199e-02 1.79170789e+01] [ 7.01686221e-02 -1.92083682e-02 9.97350191e-01 1.55819815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.569072329 meters Centerline goodness : 0.761355 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.91, Z:155.82 [[ 9.86724935e-01 1.47569135e-01 -6.78030381e-02 -2.93574347e+02] [-1.46459626e-01 9.88992005e-01 2.10806211e-02 1.79086373e+01] [ 7.01675116e-02 -1.08703669e-02 9.97475992e-01 1.55817641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59907232899997 meters Centerline goodness : 0.761070 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.90, Z:155.82 [[ 9.87747084e-01 1.38850330e-01 -7.12480465e-02 -2.93567471e+02] [-1.37435229e-01 9.90209746e-01 2.44175495e-02 1.78994349e+01] [ 7.39408948e-02 -1.43263717e-02 9.97159716e-01 1.55823788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62907232899994 meters Centerline goodness : 0.760040 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.90, Z:155.82 [[ 9.88224185e-01 1.35176819e-01 -7.16951046e-02 -2.93567334e+02] [-1.33960543e-01 9.90752713e-01 2.15321662e-02 1.78959831e+01] [ 7.39427691e-02 -1.16742923e-02 9.97194153e-01 1.55823143e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65907232899997 meters Centerline goodness : 0.761591 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.89, Z:155.83 [[ 9.89599095e-01 1.24369996e-01 -7.22892507e-02 -2.93573344e+02] [-1.22506068e-01 9.92023648e-01 2.96874481e-02 1.78924689e+01] [ 7.54048740e-02 -2.05227999e-02 9.96941783e-01 1.55827199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68907232899994 meters Centerline goodness : 0.760325 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.88, Z:155.83 [[ 9.90470939e-01 1.14771084e-01 -7.61243533e-02 -2.93565781e+02] [-1.12688306e-01 9.93142697e-01 3.11276413e-02 1.78830878e+01] [ 7.91748986e-02 -2.22526997e-02 9.96612338e-01 1.55832625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71907232899997 meters Centerline goodness : 0.760086 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.88, Z:155.83 [[ 9.91237635e-01 1.07123218e-01 -7.72823863e-02 -2.93564933e+02] [-1.05519470e-01 9.94113977e-01 2.45569369e-02 1.78789149e+01] [ 7.94581184e-02 -1.61869636e-02 9.96706772e-01 1.55832391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74907232899994 meters Centerline goodness : 0.760022 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.87, Z:155.84 [[ 9.92329919e-01 9.40582810e-02 -8.02145315e-02 -2.93559271e+02] [-9.23098258e-02 9.95410334e-01 2.52420952e-02 1.78650299e+01] [ 8.22206017e-02 -1.76438969e-02 9.96457960e-01 1.55837865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.779072329 meters Centerline goodness : 0.760697 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.86, Z:155.84 [[ 9.92704923e-01 8.98393733e-02 -8.04103422e-02 -2.93559782e+02] [-8.83703231e-02 9.95852324e-01 2.16526116e-02 1.78631158e+01] [ 8.20220831e-02 -1.43887662e-02 9.96526639e-01 1.55837759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.80907232899995 meters Centerline goodness : 0.760275 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.86, Z:155.84 [[ 9.93090558e-01 8.54663838e-02 -8.04154290e-02 -2.93560810e+02] [-8.42798216e-02 9.96278777e-01 1.80419272e-02 1.78607882e+01] [ 8.16581635e-02 -1.11398695e-02 9.96598137e-01 1.55837597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.839072329 meters Centerline goodness : 0.758956 Centerline is valid? [False, False] Translation: X:-293.56, Y:17.86, Z:155.84 [[ 9.93554851e-01 8.08936281e-02 -7.94038960e-02 -2.93563095e+02] [-7.99062296e-02 9.96681244e-01 1.55400415e-02 1.78552338e+01] [ 8.03974642e-02 -9.09501763e-03 9.96721390e-01 1.55835126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.86907232899995 meters Centerline goodness : 0.758527 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.86, Z:155.84 [[ 9.93813850e-01 7.89010903e-02 -7.81578512e-02 -2.93567487e+02] [-7.80317824e-02 9.96850881e-01 1.41195706e-02 1.78562249e+01] [ 7.90257723e-02 -7.93342835e-03 9.96841004e-01 1.55835596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.899072329 meters Centerline goodness : 0.756278 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.85, Z:155.84 [[ 9.93990586e-01 7.76538740e-02 -7.71530340e-02 -2.93571444e+02] [-7.68263246e-02 9.96951166e-01 1.36414182e-02 1.78546203e+01] [ 7.79771162e-02 -7.63205727e-03 9.96925936e-01 1.55836205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.92907232899995 meters Centerline goodness : 0.758239 Centerline is valid? [False, False] Translation: X:-293.58, Y:17.85, Z:155.84 [[ 9.94454793e-01 7.24839464e-02 -7.61954222e-02 -2.93575149e+02] [-7.19459849e-02 9.97360528e-01 9.78533314e-03 1.78519745e+01] [ 7.67035861e-02 -4.24911674e-03 9.97044886e-01 1.55836045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.959072329 meters Centerline goodness : 0.757707 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.84, Z:155.84 [[ 9.95498806e-01 6.64867682e-02 -6.75398907e-02 -2.93570783e+02] [-6.55703529e-02 9.97724456e-01 1.56983757e-02 1.78400183e+01] [ 6.84299350e-02 -1.11990997e-02 9.97593065e-01 1.55835950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.98907232899995 meters Centerline goodness : 0.758446 Centerline is valid? [False, False] Translation: X:-293.57, Y:17.84, Z:155.84 [[ 9.95656579e-01 6.50850949e-02 -6.65725669e-02 -2.93574972e+02] [-6.42303186e-02 9.97823818e-01 1.49028138e-02 1.78389600e+01] [ 6.73976440e-02 -1.05621074e-02 9.97670286e-01 1.55837038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.019072329 meters Centerline goodness : 0.757078 Centerline is valid? [False, False] Translation: X:-293.58, Y:17.83, Z:155.84 [[ 9.96072174e-01 5.95394219e-02 -6.55383972e-02 -2.93579117e+02] [-5.89279754e-02 9.98199123e-01 1.12252079e-02 1.78341657e+01] [ 6.60887130e-02 -7.31907214e-03 9.97786908e-01 1.55836809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.04907232899996 meters Centerline goodness : 0.757996 Centerline is valid? [False, False] Translation: X:-293.58, Y:17.83, Z:155.84 [[ 9.96274595e-01 5.76011869e-02 -6.41797039e-02 -2.93583318e+02] [-5.70708486e-02 9.98319367e-01 1.00677306e-02 1.78342776e+01] [ 6.46517546e-02 -6.36743402e-03 9.97887572e-01 1.55836793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.079072329 meters Centerline goodness : 0.756191 Centerline is valid? [False, False] Translation: X:-293.58, Y:17.83, Z:155.84 [[ 9.96540721e-01 5.34012079e-02 -6.36781146e-02 -2.93584938e+02] [-5.30510733e-02 9.98566002e-01 7.17791200e-03 1.78293286e+01] [ 6.39701096e-02 -3.77488927e-03 9.97944675e-01 1.55835916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.10907232899996 meters Centerline goodness : 0.754095 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.83, Z:155.84 [[ 9.96602214e-01 5.31437884e-02 -6.29266619e-02 -2.93586777e+02] [-5.27887999e-02 9.98579078e-01 7.29166691e-03 1.78283780e+01] [ 6.32247548e-02 -3.94506842e-03 9.97991516e-01 1.55835558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.139072329 meters Centerline goodness : 0.755028 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.83, Z:155.84 [[ 9.96712288e-01 5.22923507e-02 -6.18880065e-02 -2.93589802e+02] [-5.19679077e-02 9.98625320e-01 6.84160589e-03 1.78282142e+01] [ 6.21606939e-02 -3.60292245e-03 9.98059651e-01 1.55835552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16907232899996 meters Centerline goodness : 0.754589 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.82, Z:155.84 [[ 9.97518222e-01 4.52496140e-02 -5.39432083e-02 -2.93585441e+02] [-4.46361124e-02 9.98924796e-01 1.25247645e-02 1.78159610e+01] [ 5.44519491e-02 -1.00858657e-02 9.98465453e-01 1.55836152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.199072329 meters Centerline goodness : 0.754313 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.82, Z:155.84 [[ 9.97625888e-01 4.39855117e-02 -5.29892624e-02 -2.93588955e+02] [-4.34324773e-02 9.98989668e-01 1.15439983e-02 1.78165468e+01] [ 5.34434943e-02 -9.21513666e-03 9.98528354e-01 1.55836896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22907232899996 meters Centerline goodness : 0.755485 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.82, Z:155.84 [[ 9.97694919e-01 4.34031652e-02 -5.21633384e-02 -2.93591337e+02] [-4.28688216e-02 9.99016580e-01 1.13197540e-02 1.78159000e+01] [ 5.26033531e-02 -9.05748016e-03 9.98574408e-01 1.55836857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.259072329 meters Centerline goodness : 0.755485 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.82, Z:155.84 [[ 9.97694919e-01 4.34031652e-02 -5.21633384e-02 -2.93591337e+02] [-4.28688216e-02 9.99016580e-01 1.13197540e-02 1.78159000e+01] [ 5.26033531e-02 -9.05748016e-03 9.98574408e-01 1.55836857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28907232899996 meters Centerline goodness : 0.754612 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.81, Z:155.84 [[ 9.97781890e-01 4.25203479e-02 -5.12183487e-02 -2.93594508e+02] [-4.20127191e-02 9.99057095e-01 1.09477364e-02 1.78149700e+01] [ 5.16355562e-02 -8.77163103e-03 9.98627472e-01 1.55837218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.319072329 meters Centerline goodness : 0.753471 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.81, Z:155.84 [[ 9.97804964e-01 4.23565106e-02 -5.09036336e-02 -2.93595506e+02] [-4.18552117e-02 9.99064506e-01 1.08744372e-02 1.78147055e+01] [ 5.13166168e-02 -8.71998511e-03 9.98644364e-01 1.55837280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34907232899997 meters Centerline goodness : 0.753688 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97834696e-01 4.19947875e-02 -5.06197404e-02 -2.93596643e+02] [-4.15134104e-02 9.99082517e-01 1.05242887e-02 1.78152500e+01] [ 5.10152630e-02 -8.40010239e-03 9.98662546e-01 1.55837647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37907232899994 meters Centerline goodness : 0.754642 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97819813e-01 4.20300548e-02 -5.08831453e-02 -2.93596315e+02] [-4.15618163e-02 9.99083602e-01 1.02260726e-02 1.78168993e+01] [ 5.12663185e-02 -8.08898188e-03 9.98652258e-01 1.55838231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40907232899997 meters Centerline goodness : 0.753080 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97841415e-01 4.18501968e-02 -5.06070211e-02 -2.93597374e+02] [-4.13909590e-02 9.99092086e-01 1.00892577e-02 1.78168181e+01] [ 5.09833117e-02 -7.97280603e-03 9.98667681e-01 1.55838494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43907232899994 meters Centerline goodness : 0.752154 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97928990e-01 4.07664519e-02 -4.97576858e-02 -2.93599880e+02] [-4.03303825e-02 9.99138955e-01 9.73703458e-03 1.78150369e+01] [ 5.01117865e-02 -7.71012258e-03 9.98713854e-01 1.55838217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46907232899997 meters Centerline goodness : 0.752212 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97929317e-01 4.07213704e-02 -4.97880341e-02 -2.93600140e+02] [-4.02915954e-02 9.99141789e-01 9.60589447e-03 1.78154463e+01] [ 5.01364707e-02 -7.57996438e-03 9.98713612e-01 1.55838567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49907232899994 meters Centerline goodness : 0.751757 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97926671e-01 4.07815154e-02 -4.97918421e-02 -2.93600220e+02] [-4.03493011e-02 9.99138983e-01 9.65535825e-03 1.78152480e+01] [ 5.01427306e-02 -7.62627348e-03 9.98712945e-01 1.55838580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.529072329 meters Centerline goodness : 0.751426 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97938642e-01 4.06448488e-02 -4.96635063e-02 -2.93600840e+02] [-4.02199434e-02 9.99145443e-01 9.52570190e-03 1.78154231e+01] [ 5.00082367e-02 -7.50860260e-03 9.98720580e-01 1.55838820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.55907232899995 meters Centerline goodness : 0.752561 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.97936059e-01 4.07614785e-02 -4.96197914e-02 -2.93600466e+02] [-4.03310595e-02 9.99139817e-01 9.64529699e-03 1.78156120e+01] [ 4.99702659e-02 -7.62417091e-03 9.98721605e-01 1.55838222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.589072329 meters Centerline goodness : 0.751169 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.82, Z:155.84 [[ 9.98011992e-01 3.99154792e-02 -4.87731367e-02 -2.93603017e+02] [-3.95148023e-02 9.99177070e-01 9.15227028e-03 1.78155861e+01] [ 4.90983171e-02 -7.20681463e-03 9.98767950e-01 1.55838287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.61907232899995 meters Centerline goodness : 0.750628 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98071371e-01 3.94165240e-02 -4.79570262e-02 -2.93605202e+02] [-3.90339424e-02 9.99198352e-01 8.88848561e-03 1.78153288e+01] [ 4.82689348e-02 -6.99939122e-03 9.98809851e-01 1.55838135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.649072329 meters Centerline goodness : 0.752366 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98081231e-01 3.93467161e-02 -4.78089091e-02 -2.93606317e+02] [-3.89676473e-02 9.99201409e-01 8.83552506e-03 1.78150868e+01] [ 4.81183782e-02 -6.95557103e-03 9.98817422e-01 1.55838863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.67907232899995 meters Centerline goodness : 0.752656 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98127004e-01 3.86339245e-02 -4.74331597e-02 -2.93608257e+02] [-3.83018622e-02 9.99235065e-01 7.89003308e-03 1.78172281e+01] [ 4.77016993e-02 -6.05847673e-03 9.98843252e-01 1.55839957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.709072329 meters Centerline goodness : 0.753978 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98132548e-01 3.85101739e-02 -4.74171186e-02 -2.93609278e+02] [-3.81882544e-02 9.99241075e-01 7.67671774e-03 1.78175781e+01] [ 4.76767643e-02 -5.85160484e-03 9.98845676e-01 1.55841061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.73907232899995 meters Centerline goodness : 0.754026 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98152791e-01 3.82513510e-02 -4.71999898e-02 -2.93610013e+02] [-3.79467622e-02 9.99252858e-01 7.33273941e-03 1.78184633e+01] [ 4.74452119e-02 -5.52810753e-03 9.98858544e-01 1.55841190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.769072329 meters Centerline goodness : 0.754543 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98160513e-01 3.81627678e-02 -4.71083193e-02 -2.93610312e+02] [-3.78635538e-02 9.99256777e-01 7.22802517e-03 1.78187247e+01] [ 4.73491488e-02 -5.43104093e-03 9.98863635e-01 1.55841185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.79907232899996 meters Centerline goodness : 0.753693 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98137822e-01 3.85408816e-02 -4.72809656e-02 -2.93609694e+02] [-3.82189656e-02 9.99239766e-01 7.69414307e-03 1.78178547e+01] [ 4.75415600e-02 -5.87278561e-03 9.98851996e-01 1.55840944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.829072329 meters Centerline goodness : 0.754076 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98156458e-01 3.82178365e-02 -4.71495817e-02 -2.93610405e+02] [-3.79170340e-02 9.99254532e-01 7.25804879e-03 1.78189437e+01] [ 4.73918201e-02 -5.45689598e-03 9.98861471e-01 1.55841339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.85907232899996 meters Centerline goodness : 0.753817 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98174940e-01 3.80905770e-02 -4.68603988e-02 -2.93611336e+02] [-3.77926826e-02 9.99259467e-01 7.22702031e-03 1.78187066e+01] [ 4.71009785e-02 -5.44285039e-03 9.98875304e-01 1.55841393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.889072329 meters Centerline goodness : 0.753603 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98157880e-01 3.84113047e-02 -4.69618726e-02 -2.93611233e+02] [-3.80967079e-02 9.99245337e-01 7.57610251e-03 1.78179105e+01] [ 4.72174402e-02 -5.77305368e-03 9.98867952e-01 1.55841551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91907232899996 meters Centerline goodness : 0.753252 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98110326e-01 3.88926185e-02 -4.75724915e-02 -2.93609806e+02] [-3.85672510e-02 9.99226041e-01 7.73862597e-03 1.78185111e+01] [ 4.78366477e-02 -5.88926227e-03 9.98837811e-01 1.55841833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.949072329 meters Centerline goodness : 0.754314 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98056756e-01 4.13204957e-02 -4.66404101e-02 -2.93612188e+02] [-4.09031872e-02 9.99114394e-01 9.86697254e-03 1.78225121e+01] [ 4.70068133e-02 -7.94005718e-03 9.98863011e-01 1.55842272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97907232899996 meters Centerline goodness : 0.754535 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.98025275e-01 4.15287249e-02 -4.71265956e-02 -2.93611333e+02] [-4.11141435e-02 9.99107048e-01 9.73308942e-03 1.78236303e+01] [ 4.74887166e-02 -7.77629963e-03 9.98841504e-01 1.55842853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.009072329 meters Centerline goodness : 0.754513 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.97944207e-01 4.24916792e-02 -4.79772606e-02 -2.93609727e+02] [-4.20433941e-02 9.99062538e-01 1.03149544e-02 1.78231749e+01] [ 4.83705834e-02 -8.27662210e-03 9.98795166e-01 1.55843591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03907232899996 meters Centerline goodness : 0.753905 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.82, Z:155.84 [[ 9.97912422e-01 4.27020134e-02 -4.84493061e-02 -2.93609146e+02] [-4.22555962e-02 9.99054748e-01 1.02016920e-02 1.78240488e+01] [ 4.88391421e-02 -8.13314086e-03 9.98773543e-01 1.55844362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.069072329 meters Centerline goodness : 0.754137 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.83, Z:155.85 [[ 9.97541418e-01 4.92320760e-02 -4.98730641e-02 -2.93605569e+02] [-4.85501670e-02 9.98711179e-01 1.47940015e-02 1.78264312e+01] [ 5.05371260e-02 -1.23362836e-02 9.98645991e-01 1.55845831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09907232899997 meters Centerline goodness : 0.754475 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.83, Z:155.85 [[ 9.97322869e-01 5.34415449e-02 -4.99108801e-02 -2.93605473e+02] [-5.25814225e-02 9.98447278e-01 1.83909769e-02 1.78285157e+01] [ 5.08162246e-02 -1.57173567e-02 9.98584336e-01 1.55846498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12907232899994 meters Centerline goodness : 0.754746 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.83, Z:155.85 [[ 9.97077977e-01 5.76163173e-02 -5.01584312e-02 -2.93604877e+02] [-5.65933714e-02 9.98164014e-01 2.15822181e-02 1.78320864e+01] [ 5.13098289e-02 -1.86805196e-02 9.98508057e-01 1.55847413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15907232899997 meters Centerline goodness : 0.754602 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.83, Z:155.85 [[ 9.97101175e-01 5.71750777e-02 -5.02021557e-02 -2.93605282e+02] [-5.61903741e-02 9.98203118e-01 2.08129069e-02 1.78342777e+01] [ 5.13019279e-02 -1.79316960e-02 9.98522191e-01 1.55848024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18907232899994 meters Centerline goodness : 0.754062 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.83, Z:155.85 [[ 9.97065408e-01 5.73683670e-02 -5.06896694e-02 -2.93604499e+02] [-5.63795774e-02 9.98194236e-01 2.07270434e-02 1.78348495e+01] [ 5.17872125e-02 -1.78083559e-02 9.98499348e-01 1.55848595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21907232899997 meters Centerline goodness : 0.754373 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.84, Z:155.85 [[ 9.96972187e-01 5.81207806e-02 -5.16568850e-02 -2.93602345e+02] [-5.71166457e-02 9.98152728e-01 2.07079573e-02 1.78365855e+01] [ 5.27650233e-02 -1.76947894e-02 9.98450172e-01 1.55849323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24907232899994 meters Centerline goodness : 0.754083 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.84, Z:155.85 [[ 9.96927789e-01 5.82413046e-02 -5.23730179e-02 -2.93600875e+02] [-5.72499945e-02 9.98154805e-01 2.02342282e-02 1.78389716e+01] [ 5.34548473e-02 -1.71737095e-02 9.98422577e-01 1.55849974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.279072329 meters Centerline goodness : 0.754578 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.84, Z:155.85 [[ 9.96855617e-01 5.87177278e-02 -5.32081483e-02 -2.93599050e+02] [-5.77270980e-02 9.98132672e-01 1.99687578e-02 1.78411814e+01] [ 5.42813113e-02 -1.68344164e-02 9.98383765e-01 1.55850698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.30907232899995 meters Centerline goodness : 0.754429 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.84, Z:155.85 [[ 9.96856570e-01 5.85741447e-02 -5.33483763e-02 -2.93599291e+02] [-5.75998602e-02 9.98146900e-01 1.96220014e-02 1.78421268e+01] [ 5.43988583e-02 -1.64874620e-02 9.98383157e-01 1.55851389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.339072329 meters Centerline goodness : 0.754003 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.84, Z:155.85 [[ 9.96848525e-01 5.84055395e-02 -5.36825068e-02 -2.93599415e+02] [-5.74526798e-02 9.98165004e-01 1.91262752e-02 1.78435373e+01] [ 5.47010800e-02 -1.59817953e-02 9.98374867e-01 1.55852572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.36907232899995 meters Centerline goodness : 0.753784 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.85, Z:155.85 [[ 9.96798224e-01 5.84936780e-02 -5.45141352e-02 -2.93597922e+02] [-5.75671600e-02 9.98171778e-01 1.84153288e-02 1.78467389e+01] [ 5.54916516e-02 -1.52181431e-02 9.98343170e-01 1.55853684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.399072329 meters Centerline goodness : 0.755505 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.85, Z:155.85 [[ 9.96738910e-01 5.88668657e-02 -5.51927306e-02 -2.93596492e+02] [-5.79273869e-02 9.98149905e-01 1.84711989e-02 1.78473058e+01] [ 5.61779603e-02 -1.52137920e-02 9.98304852e-01 1.55854134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.42907232899995 meters Centerline goodness : 0.753311 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.85, Z:155.85 [[ 9.96585427e-01 6.05807859e-02 -5.61021915e-02 -2.93592871e+02] [-5.95696450e-02 9.98033182e-01 1.95249839e-02 1.78476796e+01] [ 5.71746876e-02 -1.61163268e-02 9.98234100e-01 1.55853203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.459072329 meters Centerline goodness : 0.752961 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.85, Z:155.85 [[ 9.96501020e-01 6.12390591e-02 -5.68814078e-02 -2.93590841e+02] [-6.02070108e-02 9.97991785e-01 1.96853457e-02 1.78484851e+01] [ 5.79726898e-02 -1.61918076e-02 9.98186853e-01 1.55853348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.48907232899995 meters Centerline goodness : 0.752740 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.85, Z:155.85 [[ 9.96467556e-01 6.13297580e-02 -5.73678462e-02 -2.93589965e+02] [-6.03045206e-02 9.97990774e-01 1.94365725e-02 1.78496270e+01] [ 5.84446215e-02 -1.59083734e-02 9.98163889e-01 1.55853832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.519072329 meters Centerline goodness : 0.754193 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.85, Z:155.85 [[ 9.96423860e-01 6.13950866e-02 -5.80528657e-02 -2.93588813e+02] [-6.03859743e-02 9.97994605e-01 1.89816572e-02 1.78516400e+01] [ 5.91018273e-02 -1.54081973e-02 9.98133038e-01 1.55854722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.54907232899996 meters Centerline goodness : 0.753223 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.85, Z:155.86 [[ 9.96154077e-01 6.55243126e-02 -5.81688838e-02 -2.93588598e+02] [-6.43281334e-02 9.97681714e-01 2.22056196e-02 1.78547378e+01] [ 5.94890396e-02 -1.83783228e-02 9.98059763e-01 1.55855712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.579072329 meters Centerline goodness : 0.753054 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96098381e-01 6.58046222e-02 -5.88027809e-02 -2.93587297e+02] [-6.46027160e-02 9.97666003e-01 2.21141502e-02 1.78556941e+01] [ 6.01207487e-02 -1.82290499e-02 9.98024648e-01 1.55856205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.60907232899996 meters Centerline goodness : 0.752261 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96090469e-01 6.55705166e-02 -5.91970061e-02 -2.93586914e+02] [-6.43997584e-02 9.97693083e-01 2.14751618e-02 1.78579914e+01] [ 6.04685810e-02 -1.75789311e-02 9.98015296e-01 1.55857056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.639072329 meters Centerline goodness : 0.753674 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96093137e-01 6.52583075e-02 -5.94963498e-02 -2.93586866e+02] [-6.41258389e-02 9.97726052e-01 2.07509452e-02 1.78603968e+01] [ 6.07152297e-02 -1.68546208e-02 9.98012817e-01 1.55858051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66907232899996 meters Centerline goodness : 0.754626 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96117953e-01 6.50223562e-02 -5.93390065e-02 -2.93587791e+02] [-6.39077408e-02 9.97745352e-01 2.04942043e-02 1.78606131e+01] [ 6.05377994e-02 -1.66224230e-02 9.98027490e-01 1.55858519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.699072329 meters Centerline goodness : 0.754193 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96145304e-01 6.48649321e-02 -5.90514597e-02 -2.93588744e+02] [-6.37580415e-02 9.97756010e-01 2.04415318e-02 1.78603479e+01] [ 6.02448874e-02 -1.65977305e-02 9.98045625e-01 1.55858581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72907232899996 meters Centerline goodness : 0.754315 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96198903e-01 6.44081489e-02 -5.86458519e-02 -2.93590242e+02] [-6.33306719e-02 9.97791143e-01 2.00514560e-02 1.78605538e+01] [ 5.98077888e-02 -1.62611572e-02 9.98077453e-01 1.55858848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.759072329 meters Centerline goodness : 0.755230 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96195724e-01 6.43914574e-02 -5.87181408e-02 -2.93590172e+02] [-6.33194409e-02 9.97794083e-01 1.99403277e-02 1.78609490e+01] [ 5.98726002e-02 -1.61464693e-02 9.98075430e-01 1.55858938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78907232899996 meters Centerline goodness : 0.754152 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96177029e-01 6.45527321e-02 -5.88580685e-02 -2.93590050e+02] [-6.34701296e-02 9.97781647e-01 2.00829950e-02 1.78605558e+01] [ 6.00239128e-02 -1.62704891e-02 9.98064327e-01 1.55859147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.819072329 meters Centerline goodness : 0.756199 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96254609e-01 6.38523685e-02 -5.83063305e-02 -2.93591735e+02] [-6.28144587e-02 9.97835377e-01 1.94654358e-02 1.78615467e+01] [ 5.94230335e-02 -1.57300495e-02 9.98108946e-01 1.55859245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84907232899997 meters Centerline goodness : 0.756421 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96278825e-01 6.36649982e-02 -5.80970893e-02 -2.93592786e+02] [-6.26384694e-02 9.97849184e-01 1.93243033e-02 1.78613920e+01] [ 5.92024148e-02 -1.56132814e-02 9.98123890e-01 1.55859685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87907232899994 meters Centerline goodness : 0.754971 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96286417e-01 6.37006930e-02 -5.79275138e-02 -2.93593889e+02] [-6.26705602e-02 9.97845095e-01 1.94311134e-02 1.78603810e+01] [ 5.90404608e-02 -1.57286046e-02 9.98131672e-01 1.55860252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90907232899997 meters Centerline goodness : 0.754882 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96258045e-01 6.37688471e-02 -5.83390295e-02 -2.93593270e+02] [-6.27417029e-02 9.97843675e-01 1.92737936e-02 1.78612186e+01] [ 5.94422992e-02 -1.55413819e-02 9.98110755e-01 1.55860815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93907232899994 meters Centerline goodness : 0.753742 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.86, Z:155.86 [[ 9.96392566e-01 6.22369808e-02 -5.76924051e-02 -2.93596327e+02] [-6.13045757e-02 9.97960468e-01 1.77947686e-02 1.78632165e+01] [ 5.86822322e-02 -1.41937667e-02 9.98175802e-01 1.55861966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96907232899997 meters Centerline goodness : 0.753990 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.86, Z:155.86 [[ 9.96271762e-01 6.33226618e-02 -5.85902408e-02 -2.93594285e+02] [-6.23371745e-02 9.97883685e-01 1.84994013e-02 1.78625442e+01] [ 5.96376767e-02 -1.47780810e-02 9.98110693e-01 1.55862388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99907232899994 meters Centerline goodness : 0.756140 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.86 [[ 9.96256196e-01 6.31408225e-02 -5.90493699e-02 -2.93593430e+02] [-6.21879991e-02 9.97905022e-01 1.78387086e-02 1.78651806e+01] [ 6.00520135e-02 -1.40997618e-02 9.98095663e-01 1.55862902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.029072329 meters Centerline goodness : 0.752627 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.86 [[ 9.96207904e-01 6.32892399e-02 -5.97016249e-02 -2.93592251e+02] [-6.23401942e-02 9.97899249e-01 1.76291817e-02 1.78664080e+01] [ 6.06919442e-02 -1.38405193e-02 9.98060583e-01 1.55863633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.05907232899995 meters Centerline goodness : 0.753731 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.86 [[ 9.96136307e-01 6.36593664e-02 -6.04974614e-02 -2.93590342e+02] [-6.27264037e-02 9.97882547e-01 1.71994414e-02 1.78693316e+01] [ 6.14642664e-02 -1.33381999e-02 9.98020158e-01 1.55864255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.089072329 meters Centerline goodness : 0.754322 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.86 [[ 9.96147051e-01 6.33298361e-02 -6.06661713e-02 -2.93590340e+02] [-6.24369278e-02 9.97912436e-01 1.65045770e-02 1.78715334e+01] [ 6.15847589e-02 -1.26531763e-02 9.98021650e-01 1.55864835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.11907232899995 meters Centerline goodness : 0.753178 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.87 [[ 9.96155813e-01 6.30944795e-02 -6.07674449e-02 -2.93590696e+02] [-6.22223347e-02 9.97931786e-01 1.61409818e-02 1.78723799e+01] [ 6.16601716e-02 -1.22978406e-02 9.98021436e-01 1.55865537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.149072329 meters Centerline goodness : 0.753178 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.87 [[ 9.96155813e-01 6.30944795e-02 -6.07674449e-02 -2.93590696e+02] [-6.22223347e-02 9.97931786e-01 1.61409818e-02 1.78723799e+01] [ 6.16601716e-02 -1.22978406e-02 9.98021436e-01 1.55865537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.17907232899995 meters Centerline goodness : 0.752458 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.87 [[ 9.96063402e-01 6.38070770e-02 -6.15333710e-02 -2.93588787e+02] [-6.29156969e-02 9.97885426e-01 1.63184488e-02 1.78734643e+01] [ 6.24444866e-02 -1.23827948e-02 9.97971619e-01 1.55865923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.209072329 meters Centerline goodness : 0.753539 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.87, Z:155.87 [[ 9.96054985e-01 6.36904204e-02 -6.17899407e-02 -2.93588548e+02] [-6.28157851e-02 9.97896914e-01 1.59977179e-02 1.78745466e+01] [ 6.26788925e-02 -1.20532231e-02 9.97960959e-01 1.55866447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.23907232899995 meters Centerline goodness : 0.753144 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.96010799e-01 6.38537757e-02 -6.23312372e-02 -2.93587321e+02] [-6.29892930e-02 9.97890090e-01 1.57390410e-02 1.78761296e+01] [ 6.32047210e-02 -1.17500542e-02 9.97931410e-01 1.55866814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.269072329 meters Centerline goodness : 0.752941 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95997980e-01 6.36998528e-02 -6.26925166e-02 -2.93587153e+02] [-6.28717494e-02 9.97907434e-01 1.50962402e-02 1.78784331e+01] [ 6.35229567e-02 -1.10942365e-02 9.97918710e-01 1.55867886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.29907232899996 meters Centerline goodness : 0.753096 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95999153e-01 6.35365858e-02 -6.28393881e-02 -2.93587557e+02] [-6.27280841e-02 9.97921529e-01 1.47583888e-02 1.78793341e+01] [ 6.36464758e-02 -1.07575483e-02 9.97914526e-01 1.55868798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.329072329 meters Centerline goodness : 0.754110 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95756002e-01 6.74741537e-02 -6.25877211e-02 -2.93588545e+02] [-6.64713117e-02 9.97626478e-01 1.79714923e-02 1.78819989e+01] [ 6.36517790e-02 -1.37349335e-02 9.97877649e-01 1.55869993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.35907232899996 meters Centerline goodness : 0.754628 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95807175e-01 6.69304735e-02 -6.23568993e-02 -2.93589482e+02] [-6.59780155e-02 9.97672607e-01 1.72125112e-02 1.78839424e+01] [ 6.33638119e-02 -1.30261576e-02 9.97905480e-01 1.55870324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.389072329 meters Centerline goodness : 0.754200 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95779786e-01 6.72028787e-02 -6.25011344e-02 -2.93589187e+02] [-6.62301349e-02 9.97650732e-01 1.75096265e-02 1.78831016e+01] [ 6.35309998e-02 -1.32962736e-02 9.97891287e-01 1.55870334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41907232899996 meters Centerline goodness : 0.752077 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95753514e-01 6.73195017e-02 -6.27935093e-02 -2.93588772e+02] [-6.63416185e-02 9.97642923e-01 1.75324617e-02 1.78831276e+01] [ 6.38257767e-02 -1.32921873e-02 9.97872531e-01 1.55870680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.449072329 meters Centerline goodness : 0.752670 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.88, Z:155.87 [[ 9.95674587e-01 6.78218771e-02 -6.35004657e-02 -2.93586784e+02] [-6.68474611e-02 9.97612376e-01 1.73483086e-02 1.78849778e+01] [ 6.45254453e-02 -1.30284251e-02 9.97831011e-01 1.55870763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47907232899996 meters Centerline goodness : 0.753687 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.87 [[ 9.95732641e-01 6.71856346e-02 -6.32660941e-02 -2.93588046e+02] [-6.62596252e-02 9.97663904e-01 1.66251915e-02 1.78862821e+01] [ 6.42352725e-02 -1.23622582e-02 9.97858209e-01 1.55871380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.509072329 meters Centerline goodness : 0.752957 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.87 [[ 9.95500435e-01 7.08219138e-02 -6.29534770e-02 -2.93589154e+02] [-6.97258135e-02 9.97376686e-01 1.94436922e-02 1.78899907e+01] [ 6.41653698e-02 -1.49667217e-02 9.97827040e-01 1.55872579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53907232899996 meters Centerline goodness : 0.752868 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.87 [[ 9.95528251e-01 7.04422108e-02 -6.29396313e-02 -2.93589797e+02] [-6.93812782e-02 9.97411379e-01 1.88885787e-02 1.78912771e+01] [ 6.41072577e-02 -1.44372816e-02 9.97838576e-01 1.55873233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.569072329 meters Centerline goodness : 0.753607 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.87 [[ 9.95512256e-01 7.03956479e-02 -6.32439760e-02 -2.93589586e+02] [-6.93473574e-02 9.97418732e-01 1.86230171e-02 1.78922243e+01] [ 6.43917057e-02 -1.41536391e-02 9.97824325e-01 1.55873935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59907232899997 meters Centerline goodness : 0.754450 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.87 [[ 9.95539710e-01 7.00254611e-02 -6.32227786e-02 -2.93590495e+02] [-6.90144461e-02 9.97452562e-01 1.80386546e-02 1.78935980e+01] [ 6.43248876e-02 -1.35949120e-02 9.97836403e-01 1.55874898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62907232899994 meters Centerline goodness : 0.753768 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.88 [[ 9.95664592e-01 6.88428152e-02 -6.25514682e-02 -2.93593545e+02] [-6.79104677e-02 9.97548044e-01 1.69135522e-02 1.78947783e+01] [ 6.35624713e-02 -1.25923256e-02 9.97898414e-01 1.55875942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65907232899997 meters Centerline goodness : 0.752505 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.89, Z:155.88 [[ 9.95638779e-01 6.89610071e-02 -6.28315382e-02 -2.93593105e+02] [-6.80232902e-02 9.97539811e-01 1.69457006e-02 1.78948241e+01] [ 6.38455534e-02 -1.25977887e-02 9.97880274e-01 1.55876278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68907232899994 meters Centerline goodness : 0.754000 Centerline is valid? [False, False] Translation: X:-293.59, Y:17.90, Z:155.88 [[ 9.95698157e-01 6.84820152e-02 -6.24130838e-02 -2.93594446e+02] [-6.75804968e-02 9.97578284e-01 1.64451915e-02 1.78957388e+01] [ 6.33881368e-02 -1.21565397e-02 9.97914908e-01 1.55876428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71907232899997 meters Centerline goodness : 0.753870 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.90, Z:155.88 [[ 9.95810968e-01 6.73690522e-02 -6.18217389e-02 -2.93597871e+02] [-6.65303045e-02 9.97663552e-01 1.55291818e-02 1.78954208e+01] [ 6.27234819e-02 -1.13511105e-02 9.97966391e-01 1.55877972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74907232899994 meters Centerline goodness : 0.753746 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.90, Z:155.88 [[ 9.95902082e-01 6.65698233e-02 -6.12168467e-02 -2.93600433e+02] [-6.57837247e-02 9.97724579e-01 1.47704528e-02 1.78962530e+01] [ 6.20608190e-02 -1.06828525e-02 9.98015196e-01 1.55878783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.779072329 meters Centerline goodness : 0.754210 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.90, Z:155.88 [[ 9.96063734e-01 6.48722160e-02 -6.04039212e-02 -2.93604299e+02] [-6.41744197e-02 9.97848414e-01 1.34233943e-02 1.78967452e+01] [ 6.11447623e-02 -9.49416968e-03 9.98083753e-01 1.55880075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.80907232899995 meters Centerline goodness : 0.753585 Centerline is valid? [False, False] Translation: X:-293.60, Y:17.90, Z:155.88 [[ 9.96055874e-01 6.50528499e-02 -6.03392345e-02 -2.93604604e+02] [-6.43360968e-02 9.97833577e-01 1.37484473e-02 1.78957067e+01] [ 6.11028899e-02 -9.81223082e-03 9.98083242e-01 1.55880106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.839072329 meters Centerline goodness : 0.751719 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.89, Z:155.88 [[ 9.96461524e-01 5.94169310e-02 -5.94479576e-02 -2.93607899e+02] [-5.89654334e-02 9.98216498e-01 9.32202192e-03 1.78943820e+01] [ 5.98958180e-02 -5.78366159e-03 9.98187878e-01 1.55879855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.86907232899995 meters Centerline goodness : 0.752530 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.89, Z:155.88 [[ 9.96522248e-01 5.91088547e-02 -5.87328879e-02 -2.93609776e+02] [-5.86636054e-02 9.98234692e-01 9.27796110e-03 1.78937014e+01] [ 5.91776160e-02 -5.80021169e-03 9.98230618e-01 1.55879627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.899072329 meters Centerline goodness : 0.752561 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.89, Z:155.88 [[ 9.96668518e-01 5.77465050e-02 -5.75952013e-02 -2.93613665e+02] [-5.73390985e-02 9.98316829e-01 8.70269375e-03 1.78921652e+01] [ 5.80008089e-02 -5.37124395e-03 9.98302086e-01 1.55879860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.92907232899995 meters Centerline goodness : 0.750954 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.88 [[ 9.96801562e-01 5.63668814e-02 -5.66517556e-02 -2.93617118e+02] [-5.60246321e-02 9.98400364e-01 7.61272485e-03 1.78932271e+01] [ 5.69902389e-02 -4.41448226e-03 9.98364976e-01 1.55880561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.959072329 meters Centerline goodness : 0.751232 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.88 [[ 9.96848340e-01 5.61070639e-02 -5.60837230e-02 -2.93618694e+02] [-5.57674935e-02 9.98414836e-01 7.60276969e-03 1.78927022e+01] [ 5.64213902e-02 -4.45115969e-03 9.98397122e-01 1.55880536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.98907232899995 meters Centerline goodness : 0.751970 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.88, Z:155.89 [[ 9.97072260e-01 4.94521093e-02 -5.83215034e-02 -2.93609549e+02] [-4.87156831e-02 9.98714806e-01 1.39827927e-02 1.78840824e+01] [ 5.89380276e-02 -1.11006828e-02 9.98199922e-01 1.55885666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.019072329 meters Centerline goodness : 0.750340 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.88, Z:155.89 [[ 9.97103282e-01 4.93504860e-02 -5.78755105e-02 -2.93610785e+02] [-4.86098708e-02 9.98717800e-01 1.41363250e-02 1.78829173e+01] [ 5.84989371e-02 -1.12820549e-02 9.98223717e-01 1.55885507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.04907232899996 meters Centerline goodness : 0.751299 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.88, Z:155.89 [[ 9.97135565e-01 4.91007994e-02 -5.75306544e-02 -2.93611869e+02] [-4.83754478e-02 9.98732019e-01 1.39345014e-02 1.78830387e+01] [ 5.81419017e-02 -1.11115157e-02 9.98246489e-01 1.55885593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.079072329 meters Centerline goodness : 0.751231 Centerline is valid? [False, False] Translation: X:-293.61, Y:17.88, Z:155.89 [[ 9.97203160e-01 4.82151160e-02 -5.71065781e-02 -2.93614825e+02] [-4.75448693e-02 9.98784000e-01 1.30386476e-02 1.78836745e+01] [ 5.76657964e-02 -1.02870558e-02 9.98282942e-01 1.55887395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.10907232899996 meters Centerline goodness : 0.752505 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.88, Z:155.89 [[ 9.97206115e-01 4.81147461e-02 -5.71396067e-02 -2.93615075e+02] [-4.74617030e-02 9.98791908e-01 1.27323004e-02 1.78847689e+01] [ 5.76831882e-02 -9.98478476e-03 9.98285006e-01 1.55887799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.139072329 meters Centerline goodness : 0.752469 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97340518e-01 4.64232581e-02 -5.61851669e-02 -2.93618861e+02] [-4.58589925e-02 9.98884103e-01 1.12916494e-02 1.78861951e+01] [ 5.66466652e-02 -8.68502428e-03 9.98356512e-01 1.55888876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16907232899996 meters Centerline goodness : 0.752711 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97349656e-01 4.62590004e-02 -5.61584156e-02 -2.93619261e+02] [-4.57091177e-02 9.98893812e-01 1.10376400e-02 1.78867931e+01] [ 5.66068840e-02 -8.44143485e-03 9.98360858e-01 1.55889213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.199072329 meters Centerline goodness : 0.752192 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97388941e-01 4.57975100e-02 -5.58380567e-02 -2.93621191e+02] [-4.52662996e-02 9.98917199e-01 1.07420244e-02 1.78864315e+01] [ 5.62695532e-02 -8.18639415e-03 9.98382051e-01 1.55890214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22907232899996 meters Centerline goodness : 0.752214 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97407980e-01 4.55409661e-02 -5.57076443e-02 -2.93621838e+02] [-4.50299387e-02 9.98931552e-01 1.03951229e-02 1.78871755e+01] [ 5.61215275e-02 -7.85966668e-03 9.98393009e-01 1.55890493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.259072329 meters Centerline goodness : 0.749848 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97436422e-01 4.52333958e-02 -5.54483902e-02 -2.93622962e+02] [-4.47358164e-02 9.98946952e-01 1.01829867e-02 1.78870581e+01] [ 5.58506115e-02 -7.67635278e-03 9.98409627e-01 1.55890846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28907232899996 meters Centerline goodness : 0.750566 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97409090e-01 4.54615665e-02 -5.57525982e-02 -2.93622456e+02] [-4.49572253e-02 9.98936144e-01 1.02678031e-02 1.78871810e+01] [ 5.61600759e-02 -7.73471803e-03 9.98391817e-01 1.55891197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.319072329 meters Centerline goodness : 0.750801 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97346678e-01 4.60774659e-02 -5.63601882e-02 -2.93621074e+02] [-4.55495950e-02 9.98905672e-01 1.06157343e-02 1.78871273e+01] [ 5.67876578e-02 -8.02038359e-03 9.98354063e-01 1.55891507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34907232899997 meters Centerline goodness : 0.750933 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97371930e-01 4.57266034e-02 -5.61988583e-02 -2.93621602e+02] [-4.52262773e-02 9.98925271e-01 1.01432711e-02 1.78884173e+01] [ 5.66022771e-02 -7.57494870e-03 9.98368070e-01 1.55891587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37907232899994 meters Centerline goodness : 0.751809 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97385177e-01 4.54360526e-02 -5.61994031e-02 -2.93621694e+02] [-4.49595651e-02 9.98941571e-01 9.71465820e-03 1.78897207e+01] [ 5.65813158e-02 -7.16255537e-03 9.98372302e-01 1.55891693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40907232899997 meters Centerline goodness : 0.751080 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97402410e-01 4.52061964e-02 -5.60787991e-02 -2.93622281e+02] [-4.47467094e-02 9.98953922e-01 9.42301529e-03 1.78902677e+01] [ 5.64461150e-02 -6.88919644e-03 9.98381878e-01 1.55891926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43907232899994 meters Centerline goodness : 0.750399 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97387026e-01 4.51907256e-02 -5.63641620e-02 -2.93622169e+02] [-4.47460927e-02 9.98956703e-01 9.12647219e-03 1.78914320e+01] [ 5.67177893e-02 -6.58054894e-03 9.98368564e-01 1.55892737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46907232899997 meters Centerline goodness : 0.751379 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.89, Z:155.89 [[ 9.97386945e-01 4.50163671e-02 -5.65049500e-02 -2.93622093e+02] [-4.45933928e-02 9.98967119e-01 8.72494750e-03 1.78929015e+01] [ 5.68393526e-02 -6.18240129e-03 9.98364195e-01 1.55893155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49907232899994 meters Centerline goodness : 0.752602 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.89 [[ 9.97304343e-01 4.76895188e-02 -5.57651945e-02 -2.93625408e+02] [-4.71441127e-02 9.98826909e-01 1.10561139e-02 1.78955473e+01] [ 5.62270376e-02 -8.39730978e-03 9.98382695e-01 1.55894971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.529072329 meters Centerline goodness : 0.753543 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97181616e-01 5.10133364e-02 -5.50133012e-02 -2.93628241e+02] [-5.03099708e-02 9.98634168e-01 1.40962769e-02 1.78968852e+01] [ 5.56572604e-02 -1.12888306e-02 9.98386114e-01 1.55896189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.55907232899995 meters Centerline goodness : 0.751223 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97221477e-01 5.05471388e-02 -5.47203166e-02 -2.93629117e+02] [-4.98760846e-02 9.98663342e-01 1.35611741e-02 1.78980886e+01] [ 5.53326528e-02 -1.07942589e-02 9.98409626e-01 1.55896236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.589072329 meters Centerline goodness : 0.751895 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97246050e-01 5.03025632e-02 -5.44974086e-02 -2.93629607e+02] [-4.96473509e-02 9.98678098e-01 1.33115249e-02 1.78985625e+01] [ 5.50949722e-02 -1.05692136e-02 9.98425178e-01 1.55896044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.61907232899995 meters Centerline goodness : 0.751527 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97336749e-01 4.91790700e-02 -5.38593446e-02 -2.93632607e+02] [-4.85890710e-02 9.98744215e-01 1.22104269e-02 1.78996048e+01] [ 5.43922063e-02 -9.56093191e-03 9.98473874e-01 1.55897207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.649072329 meters Centerline goodness : 0.750661 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97399009e-01 4.85787740e-02 -5.32477119e-02 -2.93634788e+02] [-4.80213854e-02 9.98777799e-01 1.16985079e-02 1.78997334e+01] [ 5.37509316e-02 -9.11105127e-03 9.98512807e-01 1.55897640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.67907232899995 meters Centerline goodness : 0.751203 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97369505e-01 4.88921272e-02 -5.35129050e-02 -2.93634271e+02] [-4.83151914e-02 9.98759775e-01 1.20231075e-02 1.78990111e+01] [ 5.40343723e-02 -9.40599452e-03 9.98494774e-01 1.55897776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.709072329 meters Centerline goodness : 0.750415 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97125845e-01 5.33391195e-02 -5.38050857e-02 -2.93632945e+02] [-5.25686186e-02 9.98494891e-01 1.56362541e-02 1.79017674e+01] [ 5.45581272e-02 -1.27628541e-02 9.98429026e-01 1.55897967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.73907232899995 meters Centerline goodness : 0.752237 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.90, Z:155.90 [[ 9.97164388e-01 5.26306900e-02 -5.37884106e-02 -2.93633265e+02] [-5.19174754e-02 9.98545044e-01 1.45729736e-02 1.79047957e+01] [ 5.44771365e-02 -1.17390918e-02 9.98446010e-01 1.55898367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.769072329 meters Centerline goodness : 0.751623 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.91, Z:155.90 [[ 9.96806040e-01 5.79615716e-02 -5.49379091e-02 -2.93630761e+02] [-5.70488921e-02 9.98208397e-01 1.80394050e-02 1.79091010e+01] [ 5.58850745e-02 -1.48476410e-02 9.98326803e-01 1.55900416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.79907232899996 meters Centerline goodness : 0.751433 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.91, Z:155.90 [[ 9.96770699e-01 5.78347705e-02 -5.57073863e-02 -2.93629558e+02] [-5.69670702e-02 9.98230606e-01 1.70413958e-02 1.79129256e+01] [ 5.65944032e-02 -1.38128774e-02 9.98301697e-01 1.55901666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.829072329 meters Centerline goodness : 0.751983 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.92, Z:155.90 [[ 9.96754416e-01 5.76006574e-02 -5.62387642e-02 -2.93629024e+02] [-5.67638847e-02 9.98253482e-01 1.63660086e-02 1.79151313e+01] [ 5.70832351e-02 -1.31205606e-02 9.98283204e-01 1.55902738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.85907232899996 meters Centerline goodness : 0.751823 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.92, Z:155.90 [[ 9.96465457e-01 6.19323810e-02 -5.67536195e-02 -2.93627644e+02] [-6.09158270e-02 9.97952964e-01 1.94716360e-02 1.79194474e+01] [ 5.78433676e-02 -1.59456190e-02 9.98198318e-01 1.55903784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.889072329 meters Centerline goodness : 0.752981 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.92, Z:155.90 [[ 9.96458725e-01 6.16688534e-02 -5.71573371e-02 -2.93627048e+02] [-6.06828573e-02 9.97979465e-01 1.88302466e-02 1.79215342e+01] [ 5.82030884e-02 -1.52950930e-02 9.98187588e-01 1.55904407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91907232899996 meters Centerline goodness : 0.751596 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96228032e-01 6.53649283e-02 -5.70713085e-02 -2.93627404e+02] [-6.42225012e-02 9.97701180e-01 2.16292605e-02 1.79255417e+01] [ 5.83539069e-02 -1.78824135e-02 9.98135783e-01 1.55905469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.949072329 meters Centerline goodness : 0.751523 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96112531e-01 6.63032009e-02 -5.79975165e-02 -2.93625071e+02] [-6.51298638e-02 9.97636574e-01 2.18944670e-02 1.79266692e+01] [ 5.93121169e-02 -1.80319826e-02 9.98076610e-01 1.55905897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97907232899996 meters Centerline goodness : 0.751837 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96115397e-01 6.61595650e-02 -5.81122040e-02 -2.93625206e+02] [-6.50021083e-02 9.97651560e-01 2.15891356e-02 1.79274978e+01] [ 5.94040587e-02 -1.77278546e-02 9.98076591e-01 1.55906386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.009072329 meters Centerline goodness : 0.750184 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95980725e-01 6.74874829e-02 -5.88883317e-02 -2.93622174e+02] [-6.62607264e-02 9.97547637e-01 2.25439022e-02 1.79270415e+01] [ 6.02653474e-02 -1.85513084e-02 9.98009988e-01 1.55905545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03907232899996 meters Centerline goodness : 0.749685 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95885860e-01 6.81525654e-02 -5.97208626e-02 -2.93620087e+02] [-6.69004592e-02 9.97500880e-01 2.27227565e-02 1.79280572e+01] [ 6.11202271e-02 -1.86339187e-02 9.97956459e-01 1.55905890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.069072329 meters Centerline goodness : 0.749685 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95885860e-01 6.81525654e-02 -5.97208626e-02 -2.93620087e+02] [-6.69004592e-02 9.97500880e-01 2.27227565e-02 1.79280572e+01] [ 6.11202271e-02 -1.86339187e-02 9.97956459e-01 1.55905890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09907232899997 meters Centerline goodness : 0.752182 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95876879e-01 6.80891200e-02 -5.99425880e-02 -2.93619966e+02] [-6.68540003e-02 9.97511806e-01 2.23772115e-02 1.79292057e+01] [ 6.13170839e-02 -1.82775458e-02 9.97950974e-01 1.55906469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12907232899994 meters Centerline goodness : 0.749197 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95901331e-01 6.78607735e-02 -5.97950962e-02 -2.93620761e+02] [-6.66495980e-02 9.97533333e-01 2.20245508e-02 1.79298871e+01] [ 6.11422046e-02 -1.79489603e-02 9.97967668e-01 1.55906870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15907232899997 meters Centerline goodness : 0.748918 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95938525e-01 6.76601116e-02 -5.94017165e-02 -2.93622281e+02] [-6.64612121e-02 9.97547896e-01 2.19340526e-02 1.79292695e+01] [ 6.07401177e-02 -1.78970579e-02 9.97993153e-01 1.55907249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18907232899994 meters Centerline goodness : 0.749674 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95955172e-01 6.75383538e-02 -5.92609934e-02 -2.93623182e+02] [-6.63495065e-02 9.97558119e-01 2.18069079e-02 1.79293021e+01] [ 6.05890877e-02 -1.77867650e-02 9.98004305e-01 1.55907803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21907232899997 meters Centerline goodness : 0.749023 Centerline is valid? [False, False] Translation: X:-293.62, Y:17.93, Z:155.91 [[ 9.95971080e-01 6.74480541e-02 -5.90962516e-02 -2.93623919e+02] [-6.62641968e-02 9.97564581e-01 2.17706884e-02 1.79290671e+01] [ 6.04207180e-02 -1.77670104e-02 9.98014865e-01 1.55908037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24907232899994 meters Centerline goodness : 0.749512 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96018264e-01 6.70789541e-02 -5.87199426e-02 -2.93625554e+02] [-6.59176846e-02 9.97593471e-01 2.14971069e-02 1.79290259e+01] [ 6.00206348e-02 -1.75408285e-02 9.98043006e-01 1.55908629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.279072329 meters Centerline goodness : 0.749890 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96011674e-01 6.70251124e-02 -5.88929580e-02 -2.93625436e+02] [-6.58754645e-02 9.97601501e-01 2.12524747e-02 1.79297956e+01] [ 6.01761529e-02 -1.72881119e-02 9.98038051e-01 1.55909011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.30907232899995 meters Centerline goodness : 0.749029 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96055055e-01 6.66310198e-02 -5.86057527e-02 -2.93626593e+02] [-6.55144081e-02 9.97635346e-01 2.07744641e-02 1.79307190e+01] [ 5.98513941e-02 -1.68529888e-02 9.98065022e-01 1.55909390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.339072329 meters Centerline goodness : 0.750231 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96041855e-01 6.66922535e-02 -5.87602439e-02 -2.93626664e+02] [-6.55723470e-02 9.97631269e-01 2.07874443e-02 1.79306003e+01] [ 6.00074182e-02 -1.68521175e-02 9.98055668e-01 1.55909922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.36907232899995 meters Centerline goodness : 0.750855 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96066485e-01 6.63760104e-02 -5.87007962e-02 -2.93626910e+02] [-6.52877024e-02 9.97660595e-01 2.02695345e-02 1.79320993e+01] [ 5.99088821e-02 -1.63573639e-02 9.98069818e-01 1.55910027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.399072329 meters Centerline goodness : 0.749098 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96326241e-01 6.19842902e-02 -5.90928816e-02 -2.93626569e+02] [-6.11257979e-02 9.97998138e-01 1.62281762e-02 1.79316539e+01] [ 5.99804778e-02 -1.25564582e-02 9.98120573e-01 1.55909979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.42907232899995 meters Centerline goodness : 0.750866 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96316421e-01 6.20818073e-02 -5.91560494e-02 -2.93626269e+02] [-6.12176196e-02 9.97991137e-01 1.63123439e-02 1.79316190e+01] [ 6.00499128e-02 -1.26308635e-02 9.98115459e-01 1.55909785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.459072329 meters Centerline goodness : 0.748336 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96526433e-01 5.82243771e-02 -5.95398154e-02 -2.93625550e+02] [-5.75494772e-02 9.98258150e-01 1.29893542e-02 1.79293478e+01] [ 6.01924030e-02 -9.51774958e-03 9.98141416e-01 1.55909275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.48907232899995 meters Centerline goodness : 0.749995 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96556382e-01 5.80058386e-02 -5.92511565e-02 -2.93626493e+02] [-5.73445760e-02 9.98272364e-01 1.28018168e-02 1.79294240e+01] [ 5.98913722e-02 -9.35999978e-03 9.98161016e-01 1.55909377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.519072329 meters Centerline goodness : 0.749517 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96679228e-01 5.66254776e-02 -5.85155737e-02 -2.93630008e+02] [-5.60458761e-02 9.98361957e-01 1.15005639e-02 1.79308636e+01] [ 5.90709476e-02 -8.18281657e-03 9.98220249e-01 1.55910799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.54907232899996 meters Centerline goodness : 0.751013 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96677060e-01 5.66765848e-02 -5.85030228e-02 -2.93630350e+02] [-5.60904697e-02 9.98358141e-01 1.16138519e-02 1.79303138e+01] [ 5.90652025e-02 -8.29379770e-03 9.98219673e-01 1.55911062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.579072329 meters Centerline goodness : 0.750556 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96700793e-01 5.64268066e-02 -5.83399058e-02 -2.93631247e+02] [-5.58585875e-02 9.98374444e-01 1.13264367e-02 1.79307291e+01] [ 5.88841857e-02 -8.03028368e-03 9.98232522e-01 1.55911542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.60907232899996 meters Centerline goodness : 0.749123 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96681971e-01 5.65644160e-02 -5.85279027e-02 -2.93630956e+02] [-5.59934724e-02 9.98366611e-01 1.13508232e-02 1.79310751e+01] [ 5.90743566e-02 -8.03598032e-03 9.98221240e-01 1.55911775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.639072329 meters Centerline goodness : 0.751227 Centerline is valid? [False, False] Translation: X:-293.63, Y:17.93, Z:155.91 [[ 9.96748495e-01 5.61440332e-02 -5.77952051e-02 -2.93633068e+02] [-5.55829067e-02 9.98390442e-01 1.12723462e-02 1.79302629e+01] [ 5.83350554e-02 -8.02326858e-03 9.98264819e-01 1.55911738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66907232899996 meters Centerline goodness : 0.750184 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.96868000e-01 5.48405866e-02 -5.69798271e-02 -2.93636550e+02] [-5.43498342e-02 9.98470588e-01 1.01281838e-02 1.79310919e+01] [ 5.74481170e-02 -6.99961815e-03 9.98323955e-01 1.55912790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.699072329 meters Centerline goodness : 0.748569 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.96908785e-01 5.46847494e-02 -5.64132373e-02 -2.93638428e+02] [-5.41892183e-02 9.98477790e-01 1.02777288e-02 1.79295257e+01] [ 5.68893995e-02 -7.18896889e-03 9.98354604e-01 1.55912926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72907232899996 meters Centerline goodness : 0.748649 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.96973499e-01 5.42368210e-02 -5.56974862e-02 -2.93640442e+02] [-5.37558626e-02 9.98503043e-01 1.00984895e-02 1.79289038e+01] [ 5.61618195e-02 -7.07386001e-03 9.98396620e-01 1.55912782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.759072329 meters Centerline goodness : 0.747337 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.96989535e-01 5.42162215e-02 -5.54298433e-02 -2.93640991e+02] [-5.37295568e-02 9.98503082e-01 1.02338076e-02 1.79282089e+01] [ 5.59017077e-02 -7.22477819e-03 9.98410137e-01 1.55912432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78907232899996 meters Centerline goodness : 0.746982 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.97079626e-01 5.33635696e-02 -5.46310313e-02 -2.93643484e+02] [-5.29072984e-02 9.98551679e-01 9.76537937e-03 1.79280434e+01] [ 5.50730235e-02 -6.84648054e-03 9.98458856e-01 1.55912552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.819072329 meters Centerline goodness : 0.748596 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.97047265e-01 5.36254420e-02 -5.49641969e-02 -2.93642920e+02] [-5.31634189e-02 9.98537393e-01 9.83490491e-03 1.79283727e+01] [ 5.54112071e-02 -6.88378042e-03 9.98439889e-01 1.55912942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84907232899997 meters Centerline goodness : 0.749182 Centerline is valid? [False, False] Translation: X:-293.64, Y:17.93, Z:155.91 [[ 9.97073103e-01 5.30169618e-02 -5.50856542e-02 -2.93643958e+02] [-5.26106478e-02 9.98576316e-01 8.80121216e-03 1.79313027e+01] [ 5.54738432e-02 -5.87735996e-03 9.98442842e-01 1.55914662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87907232899994 meters Centerline goodness : 0.749246 Centerline is valid? [False, False] Translation: X:-293.65, Y:17.93, Z:155.92 [[ 9.97109889e-01 5.26384537e-02 -5.47819507e-02 -2.93645143e+02] [-5.22570599e-02 9.98598570e-01 8.37234400e-03 1.79323005e+01] [ 5.51458849e-02 -5.48540331e-03 9.98463240e-01 1.55915086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90907232899997 meters Centerline goodness : 0.748833 Centerline is valid? [False, False] Translation: X:-293.65, Y:17.93, Z:155.92 [[ 9.97128536e-01 5.26175691e-02 -5.44616692e-02 -2.93646136e+02] [-5.22298373e-02 9.98598751e-01 8.51934242e-03 1.79314603e+01] [ 5.48336220e-02 -5.65035531e-03 9.98479518e-01 1.55915106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93907232899994 meters Centerline goodness : 0.749076 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.91 [[ 9.97993337e-01 4.73958968e-02 -4.19872373e-02 -2.93655339e+02] [-4.71296094e-02 9.98862035e-01 7.30997837e-03 1.79268720e+01] [ 4.22859203e-02 -5.31646762e-03 9.99091405e-01 1.55910917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96907232899997 meters Centerline goodness : 0.748880 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.91 [[ 9.98062918e-01 4.65569446e-02 -4.12657535e-02 -2.93658287e+02] [-4.63240112e-02 9.98904771e-01 6.58357805e-03 1.79271667e+01] [ 4.15270693e-02 -4.65922990e-03 9.99126516e-01 1.55911799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99907232899994 meters Centerline goodness : 0.748400 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.91 [[ 9.98574117e-01 4.42590531e-02 -2.98474360e-02 -2.93665790e+02] [-4.40891873e-02 9.99007572e-01 6.32576532e-03 1.79235851e+01] [ 3.00977870e-02 -5.00079632e-03 9.99534449e-01 1.55907903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.029072329 meters Centerline goodness : 0.749137 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.91 [[ 9.98606289e-01 4.39250089e-02 -2.92587443e-02 -2.93667663e+02] [-4.37584144e-02 9.99022213e-01 6.31031072e-03 1.79224839e+01] [ 2.95073160e-02 -5.02119971e-03 9.99551953e-01 1.55908053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.05907232899995 meters Centerline goodness : 0.747942 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.91 [[ 9.98668364e-01 4.30739198e-02 -2.83925233e-02 -2.93670101e+02] [-4.29273298e-02 9.99061635e-01 5.75272859e-03 1.79227882e+01] [ 2.86136733e-02 -4.52625283e-03 9.99580297e-01 1.55908110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.089072329 meters Centerline goodness : 0.748309 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.92, Z:155.91 [[ 9.98754196e-01 3.84396997e-02 -3.18189538e-02 -2.93662019e+02] [-3.81100414e-02 9.99214065e-01 1.09030862e-02 1.79161239e+01] [ 3.22130576e-02 -9.67688142e-03 9.99434178e-01 1.55913744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.11907232899995 meters Centerline goodness : 0.747301 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.91, Z:155.91 [[ 9.98857445e-01 3.50237188e-02 -3.25137530e-02 -2.93660793e+02] [-3.47908556e-02 9.99364948e-01 7.70049057e-03 1.79141186e+01] [ 3.27628048e-02 -6.56051105e-03 9.99441623e-01 1.55913908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.149072329 meters Centerline goodness : 0.748389 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.91, Z:155.91 [[ 9.98852867e-01 3.49956724e-02 -3.26841551e-02 -2.93660627e+02] [-3.47685933e-02 9.99367318e-01 7.49054561e-03 1.79149286e+01] [ 3.29256131e-02 -6.34557086e-03 9.99437661e-01 1.55914268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.17907232899995 meters Centerline goodness : 0.747206 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.92, Z:155.91 [[ 9.98834834e-01 3.52168751e-02 -3.29961597e-02 -2.93659949e+02] [-3.49843590e-02 9.99358977e-01 7.59797314e-03 1.79150440e+01] [ 3.32425853e-02 -6.43477074e-03 9.99426598e-01 1.55914403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.209072329 meters Centerline goodness : 0.746826 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.92, Z:155.91 [[ 9.98869288e-01 3.47361579e-02 -3.24583419e-02 -2.93661323e+02] [-3.45211354e-02 9.99378307e-01 7.16181559e-03 1.79156616e+01] [ 3.26869367e-02 -6.03321883e-03 9.99447430e-01 1.55914246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.23907232899995 meters Centerline goodness : 0.746250 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.91, Z:155.91 [[ 9.98879764e-01 3.47116365e-02 -3.21608466e-02 -2.93662170e+02] [-3.44922153e-02 9.99377919e-01 7.35264020e-03 1.79145542e+01] [ 3.23960622e-02 -6.23510466e-03 9.99455661e-01 1.55914138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.269072329 meters Centerline goodness : 0.745449 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.91, Z:155.91 [[ 9.98940175e-01 3.37592791e-02 -3.12863863e-02 -2.93665416e+02] [-3.35601690e-02 9.99413103e-01 6.86767473e-03 1.79134793e+01] [ 3.14998722e-02 -5.81041979e-03 9.99486867e-01 1.55914754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.29907232899996 meters Centerline goodness : 0.745467 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.91, Z:155.92 [[ 9.98981008e-01 3.30240221e-02 -3.07629650e-02 -2.93667969e+02] [-3.28465431e-02 9.99440821e-01 6.25697444e-03 1.79133648e+01] [ 3.09523935e-02 -5.24014158e-03 9.99507124e-01 1.55915840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.329072329 meters Centerline goodness : 0.745286 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.91, Z:155.92 [[ 9.98972251e-01 3.31642674e-02 -3.08961531e-02 -2.93668046e+02] [-3.29841754e-02 9.99435888e-01 6.32062706e-03 1.79132610e+01] [ 3.10883431e-02 -5.29504692e-03 9.99502615e-01 1.55916329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.35907232899996 meters Centerline goodness : 0.746671 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.92 [[ 9.99008245e-01 3.22892049e-02 -3.06583410e-02 -2.93670046e+02] [-3.21439243e-02 9.99469620e-01 5.21991647e-03 1.79150641e+01] [ 3.08106274e-02 -4.22926020e-03 9.99516292e-01 1.55917836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.389072329 meters Centerline goodness : 0.745559 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.92 [[ 9.99002952e-01 3.20777789e-02 -3.10502618e-02 -2.93669745e+02] [-3.19523318e-02 9.99479137e-01 4.52804448e-03 1.79174188e+01] [ 3.11793384e-02 -3.53140154e-03 9.99507568e-01 1.55918816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41907232899996 meters Centerline goodness : 0.746862 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.92 [[ 9.98888656e-01 3.55438377e-02 -3.09530055e-02 -2.93670352e+02] [-3.53339704e-02 9.99348890e-01 7.30114929e-03 1.79213059e+01] [ 3.11923625e-02 -6.19934262e-03 9.99494174e-01 1.55919742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.449072329 meters Centerline goodness : 0.745750 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.92 [[ 9.98883589e-01 3.53965437e-02 -3.12835388e-02 -2.93669875e+02] [-3.51980250e-02 9.99356716e-01 6.87403323e-03 1.79227455e+01] [ 3.15067316e-02 -5.76524020e-03 9.99486912e-01 1.55920248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47907232899996 meters Centerline goodness : 0.746431 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.92, Z:155.92 [[ 9.98777606e-01 3.75483372e-02 -3.21467872e-02 -2.93666767e+02] [-3.73016061e-02 9.99270072e-01 8.24096994e-03 1.79231847e+01] [ 3.24327570e-02 -7.03176943e-03 9.99449184e-01 1.55919722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.509072329 meters Centerline goodness : 0.744337 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.93, Z:155.92 [[ 9.98743200e-01 3.77710236e-02 -3.29449708e-02 -2.93665062e+02] [-3.75346982e-02 9.99265173e-01 7.76275689e-03 1.79255536e+01] [ 3.32139693e-02 -6.51642111e-03 9.99427020e-01 1.55920330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53907232899996 meters Centerline goodness : 0.743224 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98703468e-01 3.81836780e-02 -3.36658604e-02 -2.93663401e+02] [-3.79449677e-02 9.99250153e-01 7.70143033e-03 1.79267247e+01] [ 3.39346851e-02 -6.41399520e-03 9.99403471e-01 1.55920664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.569072329 meters Centerline goodness : 0.743604 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98664477e-01 3.85736847e-02 -3.43705233e-02 -2.93661679e+02] [-3.83360056e-02 9.99236399e-01 7.54782664e-03 1.79283364e+01] [ 3.46354255e-02 -6.22011777e-03 9.99380657e-01 1.55920970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59907232899997 meters Centerline goodness : 0.742432 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98690420e-01 3.82246767e-02 -3.40047028e-02 -2.93663018e+02] [-3.80016807e-02 9.99251878e-01 7.18034553e-03 1.79287841e+01] [ 3.42537295e-02 -5.87870643e-03 9.99395879e-01 1.55921322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62907232899994 meters Centerline goodness : 0.742438 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98702602e-01 3.80256503e-02 -3.38697879e-02 -2.93663984e+02] [-3.78120387e-02 9.99260871e-01 6.92543407e-03 1.79290326e+01] [ 3.41080979e-02 -5.63576329e-03 9.99402259e-01 1.55922010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65907232899997 meters Centerline goodness : 0.742999 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98695263e-01 3.78353804e-02 -3.42965694e-02 -2.93663463e+02] [-3.76453329e-02 9.99272112e-01 6.17043770e-03 1.79319272e+01] [ 3.45050662e-02 -4.87128114e-03 9.99392651e-01 1.55922935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68907232899994 meters Centerline goodness : 0.742753 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98705290e-01 3.76910382e-02 -3.41632886e-02 -2.93663929e+02] [-3.75073546e-02 9.99278327e-01 6.00188633e-03 1.79321581e+01] [ 3.43648512e-02 -4.71274104e-03 9.99398242e-01 1.55922983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71907232899997 meters Centerline goodness : 0.741684 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98711206e-01 3.76920870e-02 -3.39887310e-02 -2.93664686e+02] [-3.75059191e-02 9.99277796e-01 6.09860703e-03 1.79314555e+01] [ 3.41940534e-02 -4.81596858e-03 9.99403609e-01 1.55923190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74907232899994 meters Centerline goodness : 0.742187 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98666632e-01 3.82772132e-02 -3.46383170e-02 -2.93663045e+02] [-3.80775703e-02 9.99254257e-01 6.40531659e-03 1.79315714e+01] [ 3.48576634e-02 -5.07783299e-03 9.99379387e-01 1.55923270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.779072329 meters Centerline goodness : 0.741247 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98654836e-01 3.84184570e-02 -3.48215669e-02 -2.93662661e+02] [-3.82163064e-02 9.99248656e-01 6.45267750e-03 1.79314996e+01] [ 3.50433059e-02 -5.11324592e-03 9.99372714e-01 1.55923282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.80907232899995 meters Centerline goodness : 0.741582 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98620283e-01 3.88917599e-02 -3.52840238e-02 -2.93661181e+02] [-3.86791138e-02 9.99229290e-01 6.68965936e-03 1.79316150e+01] [ 3.55170027e-02 -5.31567475e-03 9.99354935e-01 1.55922888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.839072329 meters Centerline goodness : 0.741381 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98627536e-01 3.87086468e-02 -3.52800799e-02 -2.93661464e+02] [-3.85070798e-02 9.99237990e-01 6.37527266e-03 1.79323579e+01] [ 3.54999743e-02 -5.00798998e-03 9.99357129e-01 1.55923147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.86907232899995 meters Centerline goodness : 0.741502 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98595427e-01 3.90576274e-02 -3.58004966e-02 -2.93660434e+02] [-3.88525117e-02 9.99224412e-01 6.40757186e-03 1.79328632e+01] [ 3.60229947e-02 -5.00763274e-03 9.99338415e-01 1.55923594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.899072329 meters Centerline goodness : 0.743356 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.93, Z:155.92 [[ 9.98610513e-01 3.87710954e-02 -3.56909630e-02 -2.93661404e+02] [-3.85826365e-02 9.99237673e-01 5.95424400e-03 1.79337026e+01] [ 3.58946073e-02 -4.56891920e-03 9.99345137e-01 1.55924325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.92907232899995 meters Centerline goodness : 0.744884 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98643587e-01 3.81247156e-02 -3.54611354e-02 -2.93663029e+02] [-3.79696253e-02 9.99266199e-01 5.03697483e-03 1.79356247e+01] [ 3.56271472e-02 -3.68369659e-03 9.99358363e-01 1.55925519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.959072329 meters Centerline goodness : 0.744884 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98643587e-01 3.81247156e-02 -3.54611354e-02 -2.93663029e+02] [-3.79696253e-02 9.99266199e-01 5.03697483e-03 1.79356247e+01] [ 3.56271472e-02 -3.68369659e-03 9.99358363e-01 1.55925519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.98907232899995 meters Centerline goodness : 0.748212 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98607155e-01 3.93439138e-02 -3.51540385e-02 -2.93664660e+02] [-3.91921609e-02 9.99219204e-01 4.99577946e-03 1.79398638e+01] [ 3.53231438e-02 -3.61105838e-03 9.99369419e-01 1.55927322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.019072329 meters Centerline goodness : 0.746548 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.94, Z:155.93 [[ 9.98616360e-01 3.90290251e-02 -3.52434445e-02 -2.93665028e+02] [-3.88971839e-02 9.99233447e-01 4.41906585e-03 1.79415993e+01] [ 3.53889003e-02 -3.04208071e-03 9.99368987e-01 1.55928099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.04907232899996 meters Centerline goodness : 0.745801 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98526283e-01 4.04356570e-02 -3.61969687e-02 -2.93662545e+02] [-4.02699915e-02 9.99174808e-01 5.29450021e-03 1.79413462e+01] [ 3.63811858e-02 -3.82904599e-03 9.99330650e-01 1.55928239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.079072329 meters Centerline goodness : 0.745555 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98499248e-01 4.06448692e-02 -3.67048629e-02 -2.93661473e+02] [-4.04822146e-02 9.99166914e-01 5.16410372e-03 1.79423325e+01] [ 3.68841789e-02 -3.67045954e-03 9.99312806e-01 1.55928560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.10907232899996 meters Centerline goodness : 0.746479 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.94, Z:155.93 [[ 9.98343391e-01 4.45400484e-02 -3.64233016e-02 -2.93662277e+02] [-4.42594351e-02 9.98984123e-01 8.47497422e-03 1.79448300e+01] [ 3.67637758e-02 -6.84885975e-03 9.99300514e-01 1.55929218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.139072329 meters Centerline goodness : 0.748069 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.93 [[ 9.98339655e-01 4.43003495e-02 -3.68159361e-02 -2.93661742e+02] [-4.40445542e-02 9.98999657e-01 7.73059227e-03 1.79474080e+01] [ 3.71215755e-02 -6.09621532e-03 9.99292162e-01 1.55929894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16907232899996 meters Centerline goodness : 0.750016 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.93 [[ 9.98361089e-01 4.38820848e-02 -3.67355151e-02 -2.93662274e+02] [-4.36515449e-02 9.99021908e-01 7.05475986e-03 1.79490717e+01] [ 3.70091620e-02 -5.43963576e-03 9.99300121e-01 1.55930251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.199072329 meters Centerline goodness : 0.750645 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.93 [[ 9.98363449e-01 4.38122516e-02 -3.67547315e-02 -2.93662777e+02] [-4.35860300e-02 9.99025613e-01 6.93413550e-03 1.79490714e+01] [ 3.70227183e-02 -5.32079460e-03 9.99300259e-01 1.55930819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22907232899996 meters Centerline goodness : 0.752202 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.93 [[ 9.98380963e-01 4.34385960e-02 -3.67224763e-02 -2.93663350e+02] [-4.32367106e-02 9.99045154e-01 6.27436083e-03 1.79508701e+01] [ 3.69599614e-02 -4.67644333e-03 9.99305805e-01 1.55931438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.259072329 meters Centerline goodness : 0.751352 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98436224e-01 4.26151949e-02 -3.61808246e-02 -2.93666297e+02] [-4.24394243e-02 9.99083277e-01 5.61264067e-03 1.79504389e+01] [ 3.63868405e-02 -4.06837039e-03 9.99329498e-01 1.55932813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28907232899996 meters Centerline goodness : 0.751678 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98474315e-01 4.21516275e-02 -3.56690591e-02 -2.93668264e+02] [-4.19890266e-02 9.99104037e-01 5.29581059e-03 1.79502886e+01] [ 3.58603280e-02 -3.79002178e-03 9.99349625e-01 1.55933363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.319072329 meters Centerline goodness : 0.752368 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98285307e-01 4.66563924e-02 -3.53500496e-02 -2.93668495e+02] [-4.63381433e-02 9.98878036e-01 9.76965930e-03 1.79495055e+01] [ 3.57662052e-02 -8.11485167e-03 9.99327238e-01 1.55932993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34907232899997 meters Centerline goodness : 0.752976 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98304189e-01 4.62766226e-02 -3.53160103e-02 -2.93668683e+02] [-4.59788857e-02 9.98900072e-01 9.19717318e-03 1.79510725e+01] [ 3.57027794e-02 -7.55778571e-03 9.99333874e-01 1.55933061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37907232899994 meters Centerline goodness : 0.750216 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98247617e-01 4.69195746e-02 -3.60589578e-02 -2.93666837e+02] [-4.66001714e-02 9.98867026e-01 9.64825235e-03 1.79506530e+01] [ 3.64707958e-02 -7.95099130e-03 9.99303089e-01 1.55933135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40907232899997 meters Centerline goodness : 0.752065 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.93 [[ 9.98259982e-01 4.64685011e-02 -3.62999565e-02 -2.93666378e+02] [-4.61848409e-02 9.98895765e-01 8.61462604e-03 1.79538460e+01] [ 3.66601816e-02 -6.92312872e-03 9.99303808e-01 1.55933423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43907232899994 meters Centerline goodness : 0.753423 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.93 [[ 9.98206366e-01 4.70534601e-02 -3.70138133e-02 -2.93664702e+02] [-4.67593259e-02 9.98867659e-01 8.77301427e-03 1.79545242e+01] [ 3.73847017e-02 -7.02653773e-03 9.99276244e-01 1.55933744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46907232899997 meters Centerline goodness : 0.756935 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.96, Z:155.93 [[ 9.98180093e-01 4.71028566e-02 -3.76539854e-02 -2.93663680e+02] [-4.68313083e-02 9.98870279e-01 8.06193069e-03 1.79574787e+01] [ 3.79911869e-02 -6.28387333e-03 9.99258316e-01 1.55934798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49907232899994 meters Centerline goodness : 0.757053 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.96, Z:155.94 [[ 9.98172085e-01 4.71064711e-02 -3.78611804e-02 -2.93663461e+02] [-4.68411899e-02 9.98871394e-01 7.86394509e-03 1.79582042e+01] [ 3.81888928e-02 -6.07610773e-03 9.99252065e-01 1.55935191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.529072329 meters Centerline goodness : 0.758118 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.96, Z:155.94 [[ 9.98228434e-01 4.63852071e-02 -3.72613296e-02 -2.93665805e+02] [-4.61489795e-02 9.98908797e-01 7.17548049e-03 1.79589247e+01] [ 3.75535061e-02 -5.44319631e-03 9.99279794e-01 1.55935915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.55907232899995 meters Centerline goodness : 0.758127 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.96, Z:155.94 [[ 9.98270826e-01 4.59315366e-02 -3.66831279e-02 -2.93667877e+02] [-4.57108757e-02 9.98931349e-01 6.83197460e-03 1.79588295e+01] [ 3.69577295e-02 -5.14334303e-03 9.99303594e-01 1.55936420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.589072329 meters Centerline goodness : 0.758473 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.94 [[ 9.98496778e-01 3.78600048e-02 -3.96333791e-02 -2.93660370e+02] [-3.74618713e-02 9.99240335e-01 1.07405975e-02 1.79509490e+01] [ 4.00099101e-02 -9.23971147e-03 9.99156562e-01 1.55943357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.61907232899995 meters Centerline goodness : 0.760050 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.94 [[ 9.98546996e-01 3.72103287e-02 -3.89780597e-02 -2.93662605e+02] [-3.68349014e-02 9.99268218e-01 1.03062771e-02 1.79508504e+01] [ 3.93330362e-02 -8.85554903e-03 9.99186915e-01 1.55943773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.649072329 meters Centerline goodness : 0.758797 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.94 [[ 9.98655227e-01 3.38649996e-02 -3.92542820e-02 -2.93661569e+02] [-3.35926769e-02 9.99406888e-01 7.57653644e-03 1.79474460e+01] [ 3.94875792e-02 -6.24769131e-03 9.99200529e-01 1.55942808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.67907232899995 meters Centerline goodness : 0.759856 Centerline is valid? [False, False] Translation: X:-293.66, Y:17.95, Z:155.94 [[ 9.98731473e-01 3.26044052e-02 -3.83718337e-02 -2.93664645e+02] [-3.23836090e-02 9.99455266e-01 6.36182845e-03 1.79492324e+01] [ 3.85583548e-02 -5.11113985e-03 9.99243278e-01 1.55943536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.709072329 meters Centerline goodness : 0.759074 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.94 [[ 9.98746813e-01 3.23483200e-02 -3.81888608e-02 -2.93665528e+02] [-3.21371649e-02 9.99464667e-01 6.13037018e-03 1.79495268e+01] [ 3.83667242e-02 -4.89540597e-03 9.99251735e-01 1.55943977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.73907232899995 meters Centerline goodness : 0.760878 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.95 [[ 9.98800501e-01 3.13953000e-02 -3.75751904e-02 -2.93668018e+02] [-3.12237512e-02 9.99499184e-01 5.14377607e-03 1.79512883e+01] [ 3.77178626e-02 -3.96436772e-03 9.99280565e-01 1.55945008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.769072329 meters Centerline goodness : 0.761712 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.95 [[ 9.98853097e-01 3.04496485e-02 -3.69500951e-02 -2.93670848e+02] [-3.03173835e-02 9.99531771e-01 4.13472915e-03 1.79527053e+01] [ 3.70586950e-02 -3.00975681e-03 9.99308558e-01 1.55946284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.79907232899996 meters Centerline goodness : 0.760535 Centerline is valid? [False, False] Translation: X:-293.67, Y:17.95, Z:155.95 [[ 9.98910462e-01 2.96508725e-02 -3.60376838e-02 -2.93674087e+02] [-2.95350919e-02 9.99556743e-01 3.74100721e-03 1.79519634e+01] [ 3.61326340e-02 -2.67255494e-03 9.99343430e-01 1.55946990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.829072329 meters Centerline goodness : 0.760531 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.98957637e-01 2.90180915e-02 -3.52361939e-02 -2.93676836e+02] [-2.89131699e-02 9.99575856e-01 3.48368374e-03 1.79509811e+01] [ 3.53223385e-02 -2.46126241e-03 9.99372941e-01 1.55947487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.85907232899996 meters Centerline goodness : 0.760612 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.98983589e-01 2.88007928e-02 -3.46742397e-02 -2.93678324e+02] [-2.86990378e-02 9.99582217e-01 3.42884209e-03 1.79504774e+01] [ 3.47585067e-02 -2.43023966e-03 9.99392786e-01 1.55947371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.889072329 meters Centerline goodness : 0.758596 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.98982727e-01 2.91967297e-02 -3.43665892e-02 -2.93678810e+02] [-2.90673377e-02 9.99568383e-01 4.25877816e-03 1.79477994e+01] [ 3.44760984e-02 -3.25550057e-03 9.99400220e-01 1.55946690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91907232899996 meters Centerline goodness : 0.757845 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.99009433e-01 2.88525025e-02 -3.38775274e-02 -2.93680085e+02] [-2.87287955e-02 9.99578699e-01 4.13280721e-03 1.79474972e+01] [ 3.39824966e-02 -3.15545283e-03 9.99417447e-01 1.55946510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.949072329 meters Centerline goodness : 0.757104 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.99016930e-01 2.87150197e-02 -3.37730915e-02 -2.93680473e+02] [-2.85972361e-02 9.99583150e-01 3.96548826e-03 1.79479821e+01] [ 3.38728822e-02 -2.99577283e-03 9.99421659e-01 1.55946619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97907232899996 meters Centerline goodness : 0.760408 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.94 [[ 9.99349340e-01 3.01635468e-02 -1.97751633e-02 -2.93686740e+02] [-3.00413600e-02 9.99527864e-01 6.44709050e-03 1.79456324e+01] [ 1.99602939e-02 -5.84882284e-03 9.99783666e-01 1.55942237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.009072329 meters Centerline goodness : 0.761858 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.94 [[ 9.99485384e-01 2.51830762e-02 -1.98690748e-02 -2.93688309e+02] [-2.51632947e-02 9.99682579e-01 1.24501428e-03 1.79476823e+01] [ 1.98941212e-02 -7.44402187e-04 9.99801815e-01 1.55944194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03907232899996 meters Centerline goodness : 0.762349 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99491997e-01 2.48936993e-02 -1.99010275e-02 -2.93690405e+02] [-2.48841307e-02 9.99690077e-01 7.28338960e-04 1.79482545e+01] [ 1.99129908e-02 -2.32749193e-04 9.99801690e-01 1.55946847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.069072329 meters Centerline goodness : 0.762939 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.94, Z:155.95 [[ 9.99502801e-01 2.11187239e-02 -2.34126309e-02 -2.93682902e+02] [-2.09673474e-02 9.99757762e-01 6.69235968e-03 1.79448322e+01] [ 2.35482936e-02 -6.19813148e-03 9.99703487e-01 1.55954412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09907232899997 meters Centerline goodness : 0.761826 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.99536087e-01 2.01441458e-02 -2.28434700e-02 -2.93684612e+02] [-2.00159930e-02 9.99782692e-01 5.82490579e-03 1.79463144e+01] [ 2.29558437e-02 -5.36496880e-03 9.99722085e-01 1.55954658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12907232899994 meters Centerline goodness : 0.762074 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.96 [[ 9.99585824e-01 1.86174350e-02 -2.19447223e-02 -2.93687868e+02] [-1.85256273e-02 9.99818794e-01 4.37950415e-03 1.79482183e+01] [ 2.20222809e-02 -3.97115052e-03 9.99749593e-01 1.55955569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15907232899997 meters Centerline goodness : 0.760977 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99647291e-01 1.49169051e-02 -2.19722590e-02 -2.93687319e+02] [-1.48937616e-02 9.99888342e-01 1.21658206e-03 1.79456905e+01] [ 2.19879532e-02 -8.88903368e-04 9.99757841e-01 1.55954616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18907232899994 meters Centerline goodness : 0.760864 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.94, Z:155.95 [[ 9.99667929e-01 1.45651213e-02 -2.12576598e-02 -2.93689090e+02] [-1.45421424e-02 9.99893495e-01 1.23516527e-03 1.79446275e+01] [ 2.12733861e-02 -9.25623189e-04 9.99773267e-01 1.55954283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21907232899997 meters Centerline goodness : 0.759426 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.94, Z:155.95 [[ 9.99676091e-01 1.45319701e-02 -2.08934088e-02 -2.93690092e+02] [-1.45029916e-02 9.99893643e-01 1.53783416e-03 1.79431105e+01] [ 2.09135344e-02 -1.23431911e-03 9.99780526e-01 1.55954121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24907232899994 meters Centerline goodness : 0.760527 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.94, Z:155.95 [[ 9.99653966e-01 1.51361406e-02 -2.15138668e-02 -2.93688537e+02] [-1.51010412e-02 9.99884365e-01 1.79301557e-03 1.79434371e+01] [ 2.15385184e-02 -1.46751333e-03 9.99766942e-01 1.55954181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.279072329 meters Centerline goodness : 0.761207 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.94, Z:155.95 [[ 9.99674477e-01 1.45016797e-02 -2.09914419e-02 -2.93689413e+02] [-1.44808565e-02 9.99894493e-01 1.14365710e-03 1.79449953e+01] [ 2.10058121e-02 -8.39310753e-04 9.99779001e-01 1.55953635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.30907232899995 meters Centerline goodness : 0.762793 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99668270e-01 1.46898684e-02 -2.11555395e-02 -2.93688766e+02] [-1.46691712e-02 9.99891760e-01 1.13319390e-03 1.79455048e+01] [ 2.11698960e-02 -8.22483755e-04 9.99775554e-01 1.55953312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.339072329 meters Centerline goodness : 0.761927 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99644019e-01 1.53233905e-02 -2.18409819e-02 -2.93687237e+02] [-1.52944145e-02 9.99881919e-01 1.49311624e-03 1.79453366e+01] [ 2.18612825e-02 -1.15853969e-03 9.99760342e-01 1.55953578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.36907232899995 meters Centerline goodness : 0.760724 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99634472e-01 1.54496501e-02 -2.21862713e-02 -2.93686570e+02] [-1.54232415e-02 9.99880129e-01 1.36094491e-03 1.79462322e+01] [ 2.22046379e-02 -1.01826323e-03 9.99752928e-01 1.55953885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.399072329 meters Centerline goodness : 0.758685 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.95 [[ 9.99619424e-01 1.57453509e-02 -2.26515334e-02 -2.93685640e+02] [-1.57171754e-02 9.99875467e-01 1.42137156e-03 1.79466020e+01] [ 2.26710926e-02 -1.06481250e-03 9.99742411e-01 1.55954234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.42907232899995 meters Centerline goodness : 0.760377 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.99586617e-01 1.66446065e-02 -2.34425378e-02 -2.93683416e+02] [-1.66134650e-02 9.99860828e-01 1.52256281e-03 1.79481678e+01] [ 2.34646177e-02 -1.13247163e-03 9.99724027e-01 1.55954215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.459072329 meters Centerline goodness : 0.760199 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.95, Z:155.95 [[ 9.99574339e-01 1.67532409e-02 -2.38845012e-02 -2.93682381e+02] [-1.67302079e-02 9.99859363e-01 1.16386217e-03 1.79501193e+01] [ 2.39006406e-02 -7.63774089e-04 9.99714047e-01 1.55954504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.48907232899995 meters Centerline goodness : 0.759966 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.95, Z:155.96 [[ 9.99547336e-01 1.91380116e-02 -2.32133554e-02 -2.93685399e+02] [-1.90725769e-02 9.99813489e-01 3.03698909e-03 1.79545098e+01] [ 2.32671477e-02 -2.59287585e-03 9.99725921e-01 1.55956253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.519072329 meters Centerline goodness : 0.761284 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99542645e-01 1.91150890e-02 -2.34332018e-02 -2.93685150e+02] [-1.90547127e-02 9.99814530e-01 2.79713401e-03 1.79555583e+01] [ 2.34823231e-02 -2.34934179e-03 9.99721492e-01 1.55956718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.54907232899996 meters Centerline goodness : 0.761059 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99540324e-01 1.91385221e-02 -2.35129441e-02 -2.93685401e+02] [-1.90792362e-02 9.99814212e-01 2.74319007e-03 1.79557335e+01] [ 2.35610763e-02 -2.29332008e-03 9.99719769e-01 1.55957286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.579072329 meters Centerline goodness : 0.762652 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99545197e-01 1.89184251e-02 -2.34838919e-02 -2.93686646e+02] [-1.88700023e-02 9.99819342e-01 2.28187088e-03 1.79566674e+01] [ 2.35228188e-02 -1.83769199e-03 9.99721611e-01 1.55958777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.60907232899996 meters Centerline goodness : 0.765633 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99569035e-01 1.83193201e-02 -2.29378739e-02 -2.93688345e+02] [-1.82885908e-02 9.99831550e-01 1.54875572e-03 1.79584316e+01] [ 2.29623822e-02 -1.12858687e-03 9.99735693e-01 1.55959147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.639072329 meters Centerline goodness : 0.763799 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99518782e-01 1.97188207e-02 -2.39452001e-02 -2.93686155e+02] [-1.96623616e-02 9.99803320e-01 2.59102782e-03 1.79571976e+01] [ 2.39915826e-02 -2.11896179e-03 9.99709915e-01 1.55959567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66907232899996 meters Centerline goodness : 0.763427 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.96, Z:155.96 [[ 9.99419489e-01 2.40049053e-02 -2.41753736e-02 -2.93685213e+02] [-2.38624538e-02 9.99696249e-01 6.16380901e-03 1.79596857e+01] [ 2.43159919e-02 -5.58334712e-03 9.99688731e-01 1.55959503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.699072329 meters Centerline goodness : 0.762671 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.96, Z:155.96 [[ 9.99415423e-01 2.39126978e-02 -2.44334887e-02 -2.93684828e+02] [-2.37771071e-02 9.99700315e-01 5.82495558e-03 1.79607275e+01] [ 2.45654567e-02 -5.24059277e-03 9.99684487e-01 1.55959820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72907232899996 meters Centerline goodness : 0.763275 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.96, Z:155.96 [[ 9.99412054e-01 2.37455249e-02 -2.47324925e-02 -2.93684300e+02] [-2.36227897e-02 9.99707195e-01 5.24295406e-03 1.79628013e+01] [ 2.48497474e-02 -4.65562102e-03 9.99680357e-01 1.55960215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.759072329 meters Centerline goodness : 0.763728 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.96, Z:155.96 [[ 9.99406236e-01 2.37332972e-02 -2.49781099e-02 -2.93684125e+02] [-2.36187326e-02 9.99709169e-01 4.87171319e-03 1.79641126e+01] [ 2.50864673e-02 -4.27886925e-03 9.99676128e-01 1.55960815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78907232899996 meters Centerline goodness : 0.762479 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.96, Z:155.96 [[ 9.99405444e-01 2.37012383e-02 -2.50401468e-02 -2.93684283e+02] [-2.35903369e-02 9.99710590e-01 4.71513986e-03 1.79645192e+01] [ 2.51446546e-02 -4.12163095e-03 9.99675327e-01 1.55961151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.819072329 meters Centerline goodness : 0.763681 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99383386e-01 2.40224482e-02 -2.56080181e-02 -2.93682982e+02] [-2.39112772e-02 9.99703323e-01 4.63870942e-03 1.79654584e+01] [ 2.57118539e-02 -4.02352871e-03 9.99661299e-01 1.55961420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84907232899997 meters Centerline goodness : 0.764569 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99380041e-01 2.39213406e-02 -2.58322198e-02 -2.93682640e+02] [-2.38192580e-02 9.99707238e-01 4.25229736e-03 1.79670010e+01] [ 2.59263778e-02 -3.63435680e-03 9.99657248e-01 1.55961754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87907232899994 meters Centerline goodness : 0.764569 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99380041e-01 2.39213406e-02 -2.58322198e-02 -2.93682640e+02] [-2.38192580e-02 9.99707238e-01 4.25229736e-03 1.79670010e+01] [ 2.59263778e-02 -3.63435680e-03 9.99657248e-01 1.55961754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90907232899997 meters Centerline goodness : 0.760159 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99347640e-01 2.44830171e-02 -2.65494937e-02 -2.93681164e+02] [-2.43714975e-02 9.99692771e-01 4.51597063e-03 1.79671758e+01] [ 2.66519015e-02 -3.86597368e-03 9.99637299e-01 1.55962260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93907232899994 meters Centerline goodness : 0.763667 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99322421e-01 2.49094208e-02 -2.70965056e-02 -2.93680147e+02] [-2.47984592e-02 9.99682684e-01 4.42346308e-03 1.79682684e+01] [ 2.71980934e-02 -3.74851425e-03 9.99623035e-01 1.55962887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96907232899997 meters Centerline goodness : 0.764321 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99340545e-01 2.44340481e-02 -2.68598476e-02 -2.93681466e+02] [-2.43413219e-02 9.99696583e-01 3.77382898e-03 1.79695518e+01] [ 2.69439078e-02 -3.11753611e-03 9.99632086e-01 1.55963698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99907232899994 meters Centerline goodness : 0.764532 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.96 [[ 9.99361714e-01 2.37812912e-02 -2.66573653e-02 -2.93683067e+02] [-2.37135303e-02 9.99714717e-01 2.85521545e-03 1.79714289e+01] [ 2.67176611e-02 -2.22125276e-03 9.99640552e-01 1.55964973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.029072329 meters Centerline goodness : 0.765559 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.97 [[ 9.99361946e-01 2.36194241e-02 -2.67922482e-02 -2.93683059e+02] [-2.35622127e-02 9.99719373e-01 2.44910831e-03 1.79728253e+01] [ 2.68425761e-02 -1.81626099e-03 9.99638023e-01 1.55965444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.05907232899995 meters Centerline goodness : 0.763895 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.97 [[ 9.99342752e-01 2.38956319e-02 -2.72591835e-02 -2.93682012e+02] [-2.38370555e-02 9.99712801e-01 2.47184387e-03 1.79734536e+01] [ 2.73104210e-02 -1.82044059e-03 9.99625343e-01 1.55965677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.089072329 meters Centerline goodness : 0.763451 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.98, Z:155.97 [[ 9.99318068e-01 2.42412673e-02 -2.78524764e-02 -2.93680491e+02] [-2.41898288e-02 9.99705001e-01 2.18232512e-03 1.79760550e+01] [ 2.78971623e-02 -1.50709028e-03 9.99609662e-01 1.55966023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.11907232899995 meters Centerline goodness : 0.763075 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.98, Z:155.97 [[ 9.99336344e-01 2.39991213e-02 -2.74027906e-02 -2.93681917e+02] [-2.39524390e-02 9.99711037e-01 2.03058080e-03 1.79760412e+01] [ 2.74436044e-02 -1.37286952e-03 9.99622411e-01 1.55966269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.149072329 meters Centerline goodness : 0.762324 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.97 [[ 9.99369278e-01 2.35304294e-02 -2.65963337e-02 -2.93684093e+02] [-2.34823264e-02 9.99722005e-01 2.11955655e-03 1.79741513e+01] [ 2.66388142e-02 -1.49367591e-03 9.99644008e-01 1.55965949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.17907232899995 meters Centerline goodness : 0.762554 Centerline is valid? [False, False] Translation: X:-293.68, Y:17.97, Z:155.97 [[ 9.99358326e-01 2.38538137e-02 -2.67194890e-02 -2.93683547e+02] [-2.37982152e-02 9.99713909e-01 2.39692989e-03 1.79737577e+01] [ 2.67690207e-02 -1.75951569e-03 9.99640097e-01 1.55965588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.209072329 meters Centerline goodness : 0.762499 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99386356e-01 2.34026934e-02 -2.60619557e-02 -2.93685250e+02] [-2.33517759e-02 9.99724764e-01 2.25638737e-03 1.79731868e+01] [ 2.61075881e-02 -1.64640980e-03 9.99657783e-01 1.55965356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.23907232899995 meters Centerline goodness : 0.764107 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99421960e-01 2.27091599e-02 -2.52990098e-02 -2.93687825e+02] [-2.26676033e-02 9.99741197e-01 1.92822288e-03 1.79726236e+01] [ 2.53362507e-02 -1.35364037e-03 9.99678069e-01 1.55965828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.269072329 meters Centerline goodness : 0.764200 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99438450e-01 2.24594640e-02 -2.48668061e-02 -2.93689154e+02] [-2.24212900e-02 9.99746968e-01 1.81292507e-03 1.79724371e+01] [ 2.49012314e-02 -1.25436115e-03 9.99689129e-01 1.55965981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.29907232899996 meters Centerline goodness : 0.764438 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99496458e-01 2.10127559e-02 -2.37759410e-02 -2.93693066e+02] [-2.10011600e-02 9.99779179e-01 7.37334179e-04 1.79731207e+01] [ 2.37861842e-02 -2.37640559e-04 9.99717040e-01 1.55967041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.329072329 meters Centerline goodness : 0.764401 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99512809e-01 2.06829501e-02 -2.33743352e-02 -2.93694345e+02] [-2.06763697e-02 9.99786084e-01 5.23195337e-04 1.79731877e+01] [ 2.33801563e-02 -3.96440449e-05 9.99726646e-01 1.55967248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.35907232899996 meters Centerline goodness : 0.764100 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.97 [[ 9.99523446e-01 2.04333398e-02 -2.31378403e-02 -2.93695195e+02] [-2.04332833e-02 9.99791190e-01 2.38888621e-04 1.79738173e+01] [ 2.31378902e-02 2.34007270e-04 9.99732256e-01 1.55967515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.389072329 meters Centerline goodness : 0.766380 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.98, Z:155.97 [[ 9.99561858e-01 1.93378113e-02 -2.24084954e-02 -2.93697216e+02] [-1.93587655e-02 9.99812343e-01 -7.18529976e-04 1.79754858e+01] [ 2.23903955e-02 1.15201597e-03 9.99748640e-01 1.55967638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41907232899996 meters Centerline goodness : 0.765112 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.98, Z:155.97 [[ 9.99571497e-01 1.91799501e-02 -2.21122594e-02 -2.93698207e+02] [-1.92014915e-02 9.99815344e-01 -7.62253805e-04 1.79753087e+01] [ 2.20935563e-02 1.18651554e-03 9.99755204e-01 1.55967854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.449072329 meters Centerline goodness : 0.766711 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99800064e-01 1.80642941e-02 -8.57404700e-03 -2.93705700e+02] [-1.80510108e-02 9.99835748e-01 1.62411970e-03 1.79729754e+01] [ 8.60197727e-03 -1.46902476e-03 9.99961923e-01 1.55963642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47907232899996 meters Centerline goodness : 0.767242 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99811450e-01 1.76791648e-02 -8.03189225e-03 -2.93707672e+02] [-1.76687062e-02 9.99842956e-01 1.37122852e-03 1.79726403e+01] [ 8.05487306e-03 -1.22905683e-03 9.99966804e-01 1.55964224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.509072329 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99862772e-01 1.41817204e-02 -8.56241822e-03 -2.93706593e+02] [-1.41999070e-02 9.99897040e-01 -2.06694938e-03 1.79711479e+01] [ 8.53222373e-03 2.18825128e-03 9.99961206e-01 1.55964243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53907232899996 meters Centerline goodness : 0.765928 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99911069e-01 1.04487652e-02 -8.28713063e-03 -2.93707177e+02] [-1.04915669e-02 9.99931760e-01 -5.13829835e-03 1.79677885e+01] [ 8.23287624e-03 5.22478638e-03 9.99952460e-01 1.55963714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.569072329 meters Centerline goodness : 0.765703 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99916479e-01 1.03601641e-02 -7.72669868e-03 -2.93708569e+02] [-1.03979720e-02 9.99934085e-01 -4.86912495e-03 1.79664965e+01] [ 7.67574444e-03 4.94906027e-03 9.99958294e-01 1.55963506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59907232899997 meters Centerline goodness : 0.764149 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.96, Z:155.96 [[ 9.99924101e-01 1.00907737e-02 -7.06885649e-03 -2.93709575e+02] [-1.01221742e-02 9.99938999e-01 -4.42047643e-03 1.79644769e+01] [ 7.02381926e-03 4.49169311e-03 9.99965245e-01 1.55962343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62907232899994 meters Centerline goodness : 0.765331 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.96, Z:155.96 [[ 9.99901513e-01 1.15016155e-02 -8.04217192e-03 -2.93706918e+02] [-1.15306428e-02 9.99927139e-01 -3.57238311e-03 1.79648099e+01] [ 8.00049778e-03 3.66476269e-03 9.99961280e-01 1.55962251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65907232899997 meters Centerline goodness : 0.765271 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99903317e-01 1.12702257e-02 -8.14480905e-03 -2.93706586e+02] [-1.13046077e-02 9.99927332e-01 -4.18771140e-03 1.79673561e+01] [ 8.09702072e-03 4.27938040e-03 9.99958062e-01 1.55962303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68907232899994 meters Centerline goodness : 0.764826 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.96 [[ 9.99889126e-01 1.18274898e-02 -9.04687675e-03 -2.93705228e+02] [-1.18685114e-02 9.99919467e-01 -4.49416229e-03 1.79697243e+01] [ 8.99299352e-03 4.60103696e-03 9.99948977e-01 1.55963749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71907232899997 meters Centerline goodness : 0.766301 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.96 [[ 9.99865513e-01 1.29636782e-02 -1.00448083e-02 -2.93702933e+02] [-1.30061255e-02 9.99906713e-01 -4.17205777e-03 1.79712572e+01] [ 9.98978599e-03 4.30214072e-03 9.99940846e-01 1.55964307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74907232899994 meters Centerline goodness : 0.767954 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99867958e-01 8.96906215e-03 -1.35507320e-02 -2.93693971e+02] [-8.93350200e-03 9.99956497e-01 2.68248049e-03 1.79680071e+01] [ 1.35742018e-02 -2.56107080e-03 9.99904586e-01 1.55971920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.779072329 meters Centerline goodness : 0.767117 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99840178e-01 1.01199024e-02 -1.47378829e-02 -2.93691212e+02] [-1.00855691e-02 9.99946254e-01 2.40206102e-03 1.79713849e+01] [ 1.47613994e-02 -2.25303718e-03 9.99888506e-01 1.55972730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.80907232899995 meters Centerline goodness : 0.767694 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99826961e-01 1.05118305e-02 -1.53476293e-02 -2.93689890e+02] [-1.04757893e-02 9.99942182e-01 2.42683803e-03 1.79720708e+01] [ 1.53722525e-02 -2.26563956e-03 9.99879273e-01 1.55973031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.839072329 meters Centerline goodness : 0.768931 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99810502e-01 1.10434517e-02 -1.60313200e-02 -2.93688684e+02] [-1.10077544e-02 9.99936737e-01 2.31326134e-03 1.79733472e+01] [ 1.60558522e-02 -2.13635415e-03 9.99868814e-01 1.55973824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.86907232899995 meters Centerline goodness : 0.768905 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.98, Z:155.97 [[ 9.99812523e-01 1.07526367e-02 -1.61027842e-02 -2.93689175e+02] [-1.07272100e-02 9.99941076e-01 1.66456888e-03 1.79751366e+01] [ 1.61197339e-02 -1.49151887e-03 9.99868956e-01 1.55974733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.899072329 meters Centerline goodness : 0.769587 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.98, Z:155.98 [[ 9.99809768e-01 1.07023844e-02 -1.63060106e-02 -2.93689400e+02] [-1.06813747e-02 9.99942007e-01 1.37501316e-03 1.79760004e+01] [ 1.63197809e-02 -1.20058098e-03 9.99866103e-01 1.55975710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.92907232899995 meters Centerline goodness : 0.767385 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.98, Z:155.98 [[ 9.99815910e-01 1.05146297e-02 -1.60495743e-02 -2.93690014e+02] [-1.04920149e-02 9.99943843e-01 1.49261333e-03 1.79751970e+01] [ 1.60643673e-02 -1.32394619e-03 9.99870083e-01 1.55975481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.959072329 meters Centerline goodness : 0.766427 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.98 [[ 9.99829059e-01 1.01675110e-02 -1.54426354e-02 -2.93691508e+02] [-1.01478559e-02 9.99947597e-01 1.35060568e-03 1.79748929e+01] [ 1.54555585e-02 -1.19366516e-03 9.99879843e-01 1.55975217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.98907232899995 meters Centerline goodness : 0.765810 Centerline is valid? [False, False] Translation: X:-293.69, Y:17.97, Z:155.97 [[ 9.99851481e-01 9.25528821e-03 -1.45380902e-02 -2.93694191e+02] [-9.23475864e-03 9.99956265e-01 1.47862144e-03 1.79717101e+01] [ 1.45511395e-02 -1.34414608e-03 9.99893223e-01 1.55974951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.019072329 meters Centerline goodness : 0.764029 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.97 [[ 9.99860972e-01 9.07523282e-03 -1.39884440e-02 -2.93695712e+02] [-9.05469516e-03 9.99957834e-01 1.53082359e-03 1.79707780e+01] [ 1.40017467e-02 -1.40394967e-03 9.99900985e-01 1.55974881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.04907232899996 meters Centerline goodness : 0.763232 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.98 [[ 9.99873507e-01 8.52362914e-03 -1.34282696e-02 -2.93697732e+02] [-8.50841582e-03 9.99963095e-01 1.18965483e-03 1.79704753e+01] [ 1.34379142e-02 -1.07525104e-03 9.99909129e-01 1.55975408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.079072329 meters Centerline goodness : 0.765004 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.98 [[ 9.99901512e-01 6.76313977e-03 -1.22974093e-02 -2.93700860e+02] [-6.75980637e-03 9.99977103e-01 3.12611032e-04 1.79698590e+01] [ 1.22992420e-02 -2.29452137e-04 9.99924335e-01 1.55975226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.10907232899996 meters Centerline goodness : 0.762985 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.98 [[ 9.99909499e-01 6.50634761e-03 -1.17754247e-02 -2.93702194e+02] [-6.50312936e-03 9.99978806e-01 3.11572677e-04 1.79694183e+01] [ 1.17772023e-02 -2.34967370e-04 9.99930619e-01 1.55975079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.139072329 meters Centerline goodness : 0.762825 Centerline is valid? [False, False] Translation: X:-293.70, Y:17.97, Z:155.98 [[ 9.99919100e-01 6.08107766e-03 -1.11720441e-02 -2.93704225e+02] [-6.07929280e-03 9.99981502e-01 1.93714113e-04 1.79685183e+01] [ 1.11730155e-02 -1.25780314e-04 9.99937572e-01 1.55975469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16907232899996 meters Centerline goodness : 0.764784 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99929485e-01 5.48470525e-03 -1.05329580e-02 -2.93706331e+02] [-5.48881974e-03 9.99984871e-01 -3.61762489e-04 1.79695866e+01] [ 1.05308145e-02 4.19550487e-04 9.99944461e-01 1.55976050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.199072329 meters Centerline goodness : 0.765270 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99942050e-01 1.30407246e-03 -1.06862939e-02 -2.93706349e+02] [-1.35202173e-03 9.99989046e-01 -4.48099306e-03 1.79694308e+01] [ 1.06803333e-02 4.49518149e-03 9.99932860e-01 1.55976601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22907232899996 meters Centerline goodness : 0.766018 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99953703e-01 5.15185016e-04 -9.60863418e-03 -2.93709030e+02] [-5.58323305e-04 9.99989776e-01 -4.48739197e-03 1.79682717e+01] [ 9.60622410e-03 4.49254894e-03 9.99943767e-01 1.55976203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.259072329 meters Centerline goodness : 0.765778 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99953685e-01 6.60968244e-04 -9.60158989e-03 -2.93708793e+02] [-7.03039247e-04 9.99990165e-01 -4.37895634e-03 1.79684628e+01] [ 9.59860111e-03 4.38550382e-03 9.99944316e-01 1.55975877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28907232899996 meters Centerline goodness : 0.764446 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99960737e-01 6.33936891e-05 -8.86115186e-03 -2.93710630e+02] [-1.04862110e-04 9.99989046e-01 -4.67941398e-03 1.79686621e+01] [ 8.86075815e-03 4.68015946e-03 9.99949790e-01 1.55975754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.319072329 meters Centerline goodness : 0.766762 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99965875e-01 -3.61829835e-04 -8.25334951e-03 -2.93712063e+02] [ 3.20654922e-04 9.99987500e-01 -4.98965084e-03 1.79695086e+01] [ 8.25505175e-03 4.98683409e-03 9.99953492e-01 1.55975610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34907232899997 meters Centerline goodness : 0.768308 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.98 [[ 9.99972388e-01 -9.60126470e-04 -7.36897595e-03 -2.93714392e+02] [ 9.21536634e-04 9.99985855e-01 -5.23840781e-03 1.79692353e+01] [ 7.37390125e-03 5.23147239e-03 9.99959128e-01 1.55975573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37907232899994 meters Centerline goodness : 0.766929 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99978432e-01 -1.14887112e-03 -6.46654927e-03 -2.93716381e+02] [ 1.11929440e-03 9.99988906e-01 -4.57556470e-03 1.79662050e+01] [ 6.47173426e-03 4.56822804e-03 9.99968623e-01 1.55974819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40907232899997 meters Centerline goodness : 0.767159 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99982507e-01 -1.49343071e-03 -5.72318200e-03 -2.93718207e+02] [ 1.46651480e-03 9.99987859e-01 -4.70427749e-03 1.79659580e+01] [ 5.73013803e-03 4.69580206e-03 9.99972557e-01 1.55974638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43907232899994 meters Centerline goodness : 0.768840 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99984613e-01 -1.58657218e-03 -5.31559612e-03 -2.93719349e+02] [ 1.56213234e-03 9.99988205e-01 -4.59876231e-03 1.79653799e+01] [ 5.32282969e-03 4.59038788e-03 9.99975298e-01 1.55974706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46907232899997 meters Centerline goodness : 0.769484 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99985141e-01 -1.60190278e-03 -5.21066487e-03 -2.93719314e+02] [ 1.57765136e-03 9.99987921e-01 -4.65497430e-03 1.79660953e+01] [ 5.21805874e-03 4.64668452e-03 9.99975590e-01 1.55974392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49907232899994 meters Centerline goodness : 0.767606 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99985354e-01 -1.39153507e-03 -5.23017347e-03 -2.93718883e+02] [ 1.36887213e-03 9.99989670e-01 -4.33420088e-03 1.79657253e+01] [ 5.23615064e-03 4.32697796e-03 9.99976930e-01 1.55973874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.529072329 meters Centerline goodness : 0.766878 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.96, Z:155.97 [[ 9.99987447e-01 -1.34066471e-03 -4.82797173e-03 -2.93719424e+02] [ 1.32147532e-03 9.99991224e-01 -3.97562763e-03 1.79647555e+01] [ 4.83325934e-03 3.96919768e-03 9.99980442e-01 1.55973162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.55907232899995 meters Centerline goodness : 0.766755 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.96, Z:155.97 [[ 9.99989396e-01 -1.18775732e-03 -4.44929483e-03 -2.93720227e+02] [ 1.17192322e-03 9.99992978e-01 -3.55970674e-03 1.79635453e+01] [ 4.45349165e-03 3.55445476e-03 9.99983766e-01 1.55972857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.589072329 meters Centerline goodness : 0.767642 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.96, Z:155.97 [[ 9.99990110e-01 -1.16233740e-03 -4.29291629e-03 -2.93720445e+02] [ 1.14692285e-03 9.99992893e-01 -3.59141098e-03 1.79639869e+01] [ 4.29706021e-03 3.58645182e-03 9.99984336e-01 1.55972622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.61907232899995 meters Centerline goodness : 0.770266 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99992042e-01 -2.07804745e-03 -3.40557803e-03 -2.93722585e+02] [ 2.06332381e-03 9.99988535e-01 -4.32121590e-03 1.79652000e+01] [ 3.41451867e-03 4.31415470e-03 9.99984864e-01 1.55972450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.649072329 meters Centerline goodness : 0.770211 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99991606e-01 -1.81429059e-03 -3.67375417e-03 -2.93722107e+02] [ 1.79899170e-03 9.99989715e-01 -4.16340715e-03 1.79652561e+01] [ 3.68127002e-03 4.15676315e-03 9.99984585e-01 1.55972733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.67907232899995 meters Centerline goodness : 0.771450 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99990400e-01 -1.90009754e-03 -3.94836780e-03 -2.93721700e+02] [ 1.88137827e-03 9.99986999e-01 -4.73933368e-03 1.79677775e+01] [ 3.95732166e-03 4.73185981e-03 9.99980974e-01 1.55973275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.709072329 meters Centerline goodness : 0.771685 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99988364e-01 -8.86976871e-04 -4.74195270e-03 -2.93719925e+02] [ 8.65151556e-04 9.99989033e-01 -4.60267253e-03 1.79695035e+01] [ 4.74598316e-03 4.59851646e-03 9.99978164e-01 1.55973968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.73907232899995 meters Centerline goodness : 0.773145 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99987876e-01 -7.28496217e-04 -4.87001872e-03 -2.93719832e+02] [ 7.06455836e-04 9.99989508e-01 -4.52591747e-03 1.79694727e+01] [ 4.87326474e-03 4.52242214e-03 9.99977899e-01 1.55974281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.769072329 meters Centerline goodness : 0.773145 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99987876e-01 -7.28496217e-04 -4.87001872e-03 -2.93719832e+02] [ 7.06455836e-04 9.99989508e-01 -4.52591747e-03 1.79694727e+01] [ 4.87326474e-03 4.52242214e-03 9.99977899e-01 1.55974281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.79907232899996 meters Centerline goodness : 0.774482 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99985289e-01 2.85420869e-05 -5.42410380e-03 -2.93718477e+02] [-5.18969024e-05 9.99990729e-01 -4.30565445e-03 1.79703745e+01] [ 5.42393063e-03 4.30587260e-03 9.99976020e-01 1.55974549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.829072329 meters Centerline goodness : 0.773154 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99981248e-01 7.51356037e-04 -6.07767689e-03 -2.93716933e+02] [-7.75495134e-04 9.99991817e-01 -3.97038274e-03 1.79707697e+01] [ 6.07464399e-03 3.97502149e-03 9.99973649e-01 1.55974792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.85907232899996 meters Centerline goodness : 0.773588 Centerline is valid? [False, False] Translation: X:-293.72, Y:17.97, Z:155.97 [[ 9.99978461e-01 1.02285566e-03 -6.48311647e-03 -2.93715897e+02] [-1.04876124e-03 9.99991475e-01 -3.99371280e-03 1.79717235e+01] [ 6.47897621e-03 4.00042602e-03 9.99971009e-01 1.55974892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.889072329 meters Centerline goodness : 0.774647 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.97, Z:155.97 [[ 9.99961745e-01 5.30170955e-03 -6.95700807e-03 -2.93714441e+02] [-5.30508448e-03 9.99985819e-01 -4.66748915e-04 1.79747738e+01] [ 6.95443485e-03 5.03638575e-04 9.99975691e-01 1.55974808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91907232899996 meters Centerline goodness : 0.773117 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99951906e-01 5.95505313e-03 -7.79249170e-03 -2.93712607e+02] [-5.95827311e-03 9.99982173e-01 -3.90064697e-04 1.79758899e+01] [ 7.79002993e-03 4.36475731e-04 9.99969562e-01 1.55975265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.949072329 meters Centerline goodness : 0.773564 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99947247e-01 6.11853415e-03 -8.25020069e-03 -2.93711770e+02] [-6.12460647e-03 9.99980992e-01 -7.10956609e-04 1.79775356e+01] [ 8.24569386e-03 7.61448337e-04 9.99965714e-01 1.55975781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97907232899996 meters Centerline goodness : 0.775022 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99934542e-01 7.02153697e-03 -9.03377184e-03 -2.93710050e+02] [-7.02624108e-03 9.99975196e-01 -4.89092750e-04 1.79780169e+01] [ 9.03011358e-03 5.52534194e-04 9.99959075e-01 1.55976195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.009072329 meters Centerline goodness : 0.775128 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99938879e-01 6.63476495e-03 -8.84410066e-03 -2.93710985e+02] [-6.64467501e-03 9.99977328e-01 -1.09161597e-03 1.79793521e+01] [ 8.83665753e-03 1.15031543e-03 9.99960294e-01 1.55976756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03907232899996 meters Centerline goodness : 0.774806 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99931490e-01 7.03608466e-03 -9.35465616e-03 -2.93709841e+02] [-7.04765882e-03 9.99974439e-01 -1.20487341e-03 1.79805936e+01] [ 9.34593945e-03 1.27071928e-03 9.99955518e-01 1.55977067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.069072329 meters Centerline goodness : 0.775302 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99931566e-01 6.96716737e-03 -9.39797835e-03 -2.93709887e+02] [-6.98091684e-03 9.99974609e-01 -1.43101407e-03 1.79814817e+01] [ 9.38776961e-03 1.49652264e-03 9.99954814e-01 1.55977291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09907232899997 meters Centerline goodness : 0.773985 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99925752e-01 7.23636748e-03 -9.80433853e-03 -2.93709237e+02] [-7.25048841e-03 9.99972727e-01 -1.40549532e-03 1.79820176e+01] [ 9.79390045e-03 1.47647721e-03 9.99950949e-01 1.55977860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12907232899994 meters Centerline goodness : 0.774516 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99931519e-01 6.85776099e-03 -9.48306270e-03 -2.93710400e+02] [-6.87685687e-03 9.99974389e-01 -1.98254276e-03 1.79836412e+01] [ 9.46922403e-03 2.04762065e-03 9.99953069e-01 1.55978365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15907232899997 meters Centerline goodness : 0.776222 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99943810e-01 6.09660624e-03 -8.67225722e-03 -2.93712530e+02] [-6.11909279e-03 9.99977979e-01 -2.56876359e-03 1.79843984e+01] [ 8.65640551e-03 2.62168560e-03 9.99959096e-01 1.55978356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18907232899994 meters Centerline goodness : 0.774879 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99940872e-01 6.47527535e-03 -8.73635842e-03 -2.93712329e+02] [-6.49290383e-03 9.99976939e-01 -1.99097760e-03 1.79827961e+01] [ 8.72326482e-03 2.04758421e-03 9.99959855e-01 1.55978161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21907232899997 meters Centerline goodness : 0.775052 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.98, Z:155.98 [[ 9.99922108e-01 8.19496935e-03 -9.41382299e-03 -2.93709391e+02] [-8.20362209e-03 9.99965962e-01 -8.80905047e-04 1.79836420e+01] [ 9.40628357e-03 9.58063877e-04 9.99955301e-01 1.55977048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24907232899994 meters Centerline goodness : 0.776338 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.99, Z:155.98 [[ 9.99918759e-01 8.13689136e-03 -9.81150287e-03 -2.93708673e+02] [-8.15192068e-03 9.99965658e-01 -1.49278767e-03 1.79862140e+01] [ 9.79901928e-03 1.57264899e-03 9.99950752e-01 1.55977586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.279072329 meters Centerline goodness : 0.776843 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.99, Z:155.98 [[ 9.99917506e-01 8.01552686e-03 -1.00365768e-02 -2.93708548e+02] [-8.03873091e-03 9.99965104e-01 -2.27374425e-03 1.79890114e+01] [ 1.00180013e-02 2.35423802e-03 9.99947047e-01 1.55978373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.30907232899995 meters Centerline goodness : 0.776670 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.99, Z:155.98 [[ 9.99914395e-01 8.03747942e-03 -1.03248432e-02 -2.93708215e+02] [-8.06472560e-03 9.99964100e-01 -2.59997556e-03 1.79904281e+01] [ 1.03035753e-02 2.68302002e-03 9.99943317e-01 1.55978983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.339072329 meters Centerline goodness : 0.777015 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.99, Z:155.98 [[ 9.99905139e-01 8.44052348e-03 -1.08844161e-02 -2.93706989e+02] [-8.47149525e-03 9.99960189e-01 -2.80255576e-03 1.79922356e+01] [ 1.08603277e-02 2.89449719e-03 9.99936836e-01 1.55979396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.36907232899995 meters Centerline goodness : 0.777673 Centerline is valid? [False, False] Translation: X:-293.71, Y:17.99, Z:155.98 [[ 9.99902689e-01 8.45605772e-03 -1.10954109e-02 -2.93706683e+02] [-8.48987172e-03 9.99959448e-01 -3.00401165e-03 1.79933396e+01] [ 1.10695589e-02 3.09791794e-03 9.99933932e-01 1.55979799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.399072329 meters Centerline goodness : 0.776676 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99857761e-01 1.25624336e-02 -1.12536121e-02 -2.93706331e+02] [-1.25580877e-02 9.99921040e-01 4.56759428e-04 1.79960419e+01] [ 1.12584615e-02 -3.15370611e-04 9.99936572e-01 1.55980080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.42907232899995 meters Centerline goodness : 0.778636 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99848876e-01 1.28012195e-02 -1.17624011e-02 -2.93705308e+02] [-1.27984322e-02 9.99918048e-01 3.12217147e-04 1.79971364e+01] [ 1.17654339e-02 -1.61629670e-04 9.99930772e-01 1.55980479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.459072329 meters Centerline goodness : 0.777340 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.00, Z:155.98 [[ 9.99836941e-01 1.31571586e-02 -1.23685128e-02 -2.93703954e+02] [-1.31567521e-02 9.99913440e-01 1.14236542e-04 1.79987917e+01] [ 1.23689452e-02 4.85115414e-05 9.99923500e-01 1.55980845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.48907232899995 meters Centerline goodness : 0.776759 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.00, Z:155.98 [[ 9.99842871e-01 1.27773645e-02 -1.22870532e-02 -2.93704509e+02] [-1.27859468e-02 9.99918064e-01 -6.20179793e-04 1.80010306e+01] [ 1.22781221e-02 7.77183953e-04 9.99924319e-01 1.55981311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.519072329 meters Centerline goodness : 0.777941 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99847403e-01 1.25481598e-02 -1.21537569e-02 -2.93705308e+02] [-1.25599688e-02 9.99920719e-01 -8.95789277e-04 1.80014562e+01] [ 1.21415529e-02 1.04830339e-03 9.99925739e-01 1.55981841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.54907232899996 meters Centerline goodness : 0.779539 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99854116e-01 1.22397233e-02 -1.19136854e-02 -2.93706745e+02] [-1.22567994e-02 9.99923956e-01 -1.36135886e-03 1.80023761e+01] [ 1.18961168e-02 1.50718391e-03 9.99928103e-01 1.55982898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.579072329 meters Centerline goodness : 0.780452 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99851168e-01 1.22715037e-02 -1.21265077e-02 -2.93706574e+02] [-1.22918233e-02 9.99923169e-01 -1.60252031e-03 1.80034275e+01] [ 1.21059107e-02 1.75133870e-03 9.99925187e-01 1.55983400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.60907232899996 meters Centerline goodness : 0.780940 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.98 [[ 9.99853802e-01 1.20979113e-02 -1.20836879e-02 -2.93707005e+02] [-1.21219327e-02 9.99924690e-01 -1.91665538e-03 1.80043502e+01] [ 1.20595904e-02 2.06285282e-03 9.99925153e-01 1.55983808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.639072329 meters Centerline goodness : 0.781131 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.98 [[ 9.99852930e-01 1.20922617e-02 -1.21612575e-02 -2.93707140e+02] [-1.21202486e-02 9.99924060e-01 -2.23024684e-03 1.80056538e+01] [ 1.21333653e-02 2.37731630e-03 9.99923562e-01 1.55984320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66907232899996 meters Centerline goodness : 0.781175 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.98 [[ 9.99864026e-01 1.17102677e-02 -1.16102615e-02 -2.93709049e+02] [-1.17387827e-02 9.99928240e-01 -2.39091755e-03 1.80051153e+01] [ 1.15814301e-02 2.52688279e-03 9.99929740e-01 1.55984784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.699072329 meters Centerline goodness : 0.780692 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.00, Z:155.99 [[ 9.99866406e-01 1.16997867e-02 -1.14142132e-02 -2.93709816e+02] [-1.17274207e-02 9.99928453e-01 -2.35709097e-03 1.80048530e+01] [ 1.13858191e-02 2.49063535e-03 9.99932078e-01 1.55985023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72907232899996 meters Centerline goodness : 0.782178 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99865761e-01 1.17526908e-02 -1.14164025e-02 -2.93709940e+02] [-1.17813267e-02 9.99927610e-01 -2.44429834e-03 1.80053293e+01] [ 1.13868490e-02 2.57847059e-03 9.99931843e-01 1.55985157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.759072329 meters Centerline goodness : 0.783263 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99877330e-01 1.12424560e-02 -1.09056197e-02 -2.93711740e+02] [-1.12743618e-02 9.99932328e-01 -2.86856993e-03 1.80056048e+01] [ 1.08726320e-02 2.99117194e-03 9.99936417e-01 1.55985659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78907232899996 meters Centerline goodness : 0.784531 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99853187e-01 1.25324833e-02 -1.16850620e-02 -2.93710002e+02] [-1.25599730e-02 9.99918516e-01 -2.28214040e-03 1.80060040e+01] [ 1.16555090e-02 2.42856942e-03 9.99929123e-01 1.55986141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.819072329 meters Centerline goodness : 0.784715 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99851627e-01 1.24290462e-02 -1.19265621e-02 -2.93709338e+02] [-1.24631069e-02 9.99918452e-01 -2.78580186e-03 1.80081430e+01] [ 1.18909646e-02 2.93403054e-03 9.99924995e-01 1.55986150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84907232899997 meters Centerline goodness : 0.782554 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99837719e-01 1.29335429e-02 -1.25402664e-02 -2.93707812e+02] [-1.29672021e-02 9.99912525e-01 -2.60649814e-03 1.80086232e+01] [ 1.25054582e-02 2.76868733e-03 9.99917971e-01 1.55986215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87907232899994 meters Centerline goodness : 0.784399 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.01, Z:155.99 [[ 9.99817190e-01 1.38057518e-02 -1.32283065e-02 -2.93705932e+02] [-1.38420273e-02 9.99900671e-01 -2.65464186e-03 1.80110943e+01] [ 1.31903432e-02 2.83726315e-03 9.99908978e-01 1.55986369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90907232899997 meters Centerline goodness : 0.783089 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:155.99 [[ 9.99796164e-01 1.45869480e-02 -1.39588998e-02 -2.93704236e+02] [-1.46221512e-02 9.99890154e-01 -2.42318715e-03 1.80120997e+01] [ 1.39220195e-02 2.62680236e-03 9.99899634e-01 1.55986753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93907232899994 meters Centerline goodness : 0.784096 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:155.99 [[ 9.99797066e-01 1.45460022e-02 -1.39369996e-02 -2.93704178e+02] [-1.45847730e-02 9.99890033e-01 -2.68427275e-03 1.80132625e+01] [ 1.38964216e-02 2.88699600e-03 9.99899272e-01 1.55986631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96907232899997 meters Centerline goodness : 0.784064 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:155.99 [[ 9.99796236e-01 1.45544819e-02 -1.39876498e-02 -2.93704271e+02] [-1.45945363e-02 9.99889669e-01 -2.76575526e-03 1.80136956e+01] [ 1.39458524e-02 2.96933497e-03 9.99898343e-01 1.55986883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99907232899994 meters Centerline goodness : 0.783707 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:155.99 [[ 9.99791864e-01 1.46298540e-02 -1.42195571e-02 -2.93703846e+02] [-1.46736965e-02 9.99887883e-01 -2.98381846e-03 1.80149213e+01] [ 1.41743100e-02 3.19185088e-03 9.99894445e-01 1.55987171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.029072329 meters Centerline goodness : 0.783584 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:155.99 [[ 9.99781433e-01 1.50596454e-02 -1.45015208e-02 -2.93703078e+02] [-1.51017051e-02 9.99882056e-01 -2.79523116e-03 1.80155707e+01] [ 1.44577153e-02 3.01361791e-03 9.99890940e-01 1.55987205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.05907232899995 meters Centerline goodness : 0.786420 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.02, Z:155.99 [[ 9.99819225e-01 1.34201611e-02 -1.34690836e-02 -2.93706916e+02] [-1.34786492e-02 9.99900080e-01 -4.26104779e-03 1.80172553e+01] [ 1.34105538e-02 4.44182256e-03 9.99900209e-01 1.55988476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.089072329 meters Centerline goodness : 0.784370 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.02, Z:155.99 [[ 9.99837317e-01 1.27998759e-02 -1.27083485e-02 -2.93709245e+02] [-1.28589807e-02 9.99906830e-01 -4.58009576e-03 1.80169072e+01] [ 1.26485398e-02 4.74276707e-03 9.99908756e-01 1.55988774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.11907232899995 meters Centerline goodness : 0.784237 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.02, Z:155.99 [[ 9.99831392e-01 1.31430663e-02 -1.28236790e-02 -2.93708933e+02] [-1.31996037e-02 9.99903488e-01 -4.33419879e-03 1.80167939e+01] [ 1.27654767e-02 4.50273549e-03 9.99908380e-01 1.55988733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.149072329 meters Centerline goodness : 0.784773 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99842017e-01 7.85789919e-03 -1.59434927e-02 -2.93700384e+02] [-7.82618310e-03 9.99967272e-01 2.05070023e-03 1.80104658e+01] [ 1.59590851e-02 -1.92559956e-03 9.99870791e-01 1.55995329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.17907232899995 meters Centerline goodness : 0.785512 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99843677e-01 7.86900176e-03 -1.58334951e-02 -2.93700546e+02] [-7.83723653e-03 9.99967152e-01 2.06725541e-03 1.80105907e+01] [ 1.58492422e-02 -1.94284140e-03 9.99872505e-01 1.55995095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.209072329 meters Centerline goodness : 0.782555 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99855942e-01 7.31445691e-03 -1.53164489e-02 -2.93702079e+02] [-7.29099303e-03 9.99972161e-01 1.58721945e-03 1.80113982e+01] [ 1.53276322e-02 -1.47531868e-03 9.99881437e-01 1.55995231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.23907232899995 meters Centerline goodness : 0.782715 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99845939e-01 7.77030802e-03 -1.57391298e-02 -2.93701123e+02] [-7.74142697e-03 9.99968239e-01 1.89507956e-03 1.80113331e+01] [ 1.57533552e-02 -1.77294428e-03 9.99874336e-01 1.55995349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.269072329 meters Centerline goodness : 0.783052 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99855909e-01 7.24119331e-03 -1.53533574e-02 -2.93702195e+02] [-7.22250937e-03 9.99973108e-01 1.27202870e-03 1.80128138e+01] [ 1.53621555e-02 -1.16095564e-03 9.99881321e-01 1.55995458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.29907232899996 meters Centerline goodness : 0.784949 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.01, Z:156.00 [[ 9.99843595e-01 7.79216433e-03 -1.58766391e-02 -2.93701330e+02] [-7.77017144e-03 9.99968766e-01 1.44645175e-03 1.80132841e+01] [ 1.58874142e-02 -1.32286131e-03 9.99872912e-01 1.55996123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.329072329 meters Centerline goodness : 0.784613 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99861778e-01 6.57882676e-03 -1.52690277e-02 -2.93703761e+02] [-6.58147845e-03 9.99978334e-01 -1.23420880e-04 1.80169316e+01] [ 1.52678849e-02 2.23896597e-04 9.99883414e-01 1.55997269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.35907232899996 meters Centerline goodness : 0.786180 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99860178e-01 6.64574752e-03 -1.53446560e-02 -2.93704159e+02] [-6.64974070e-03 9.99977868e-01 -2.09224628e-04 1.80172075e+01] [ 1.53429260e-02 3.11233358e-04 9.99882242e-01 1.55998012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.389072329 meters Centerline goodness : 0.784051 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99856717e-01 6.81209406e-03 -1.54964619e-02 -2.93704222e+02] [-6.81671185e-03 9.99976736e-01 -2.45188379e-04 1.80177371e+01] [ 1.54944312e-02 3.50788164e-04 9.99879893e-01 1.55998587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41907232899996 meters Centerline goodness : 0.784805 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.02, Z:156.00 [[ 9.99863280e-01 6.63867835e-03 -1.51442994e-02 -2.93705588e+02] [-6.64349594e-03 9.99977896e-01 -2.67825204e-04 1.80171400e+01] [ 1.51421866e-02 3.68399678e-04 9.99885283e-01 1.55998993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.449072329 meters Centerline goodness : 0.784155 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99845162e-01 7.66209116e-03 -1.58412154e-02 -2.93703781e+02] [-7.66096060e-03 9.99970646e-01 1.32050754e-04 1.80181437e+01] [ 1.58417621e-02 -1.06713810e-05 9.99874511e-01 1.55999145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47907232899996 meters Centerline goodness : 0.781869 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.02, Z:156.00 [[ 9.99851830e-01 7.29282143e-03 -1.55927132e-02 -2.93705085e+02] [-7.29737828e-03 9.99973346e-01 -2.35364727e-04 1.80185969e+01] [ 1.55905811e-02 3.49115780e-04 9.99878399e-01 1.55999901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.509072329 meters Centerline goodness : 0.783289 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99837878e-01 7.89120805e-03 -1.61847414e-02 -2.93703708e+02] [-7.89629999e-03 9.99968792e-01 -2.50732572e-04 1.80201429e+01] [ 1.61822578e-02 3.78491496e-04 9.99868987e-01 1.56000235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53907232899996 meters Centerline goodness : 0.782329 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99836487e-01 7.74620558e-03 -1.63399792e-02 -2.93703345e+02] [-7.75849985e-03 9.99969665e-01 -6.89146837e-04 1.80220583e+01] [ 1.63341452e-02 8.15807879e-04 9.99866256e-01 1.56000348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.569072329 meters Centerline goodness : 0.780421 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.02, Z:156.00 [[ 9.99813984e-01 1.10263953e-02 -1.58245592e-02 -2.93704737e+02] [-1.09904033e-02 9.99936820e-01 2.35960686e-03 1.80245807e+01] [ 1.58495773e-02 -2.18524965e-03 9.99872000e-01 1.56000534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59907232899997 meters Centerline goodness : 0.780760 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.03, Z:156.00 [[ 9.99805042e-01 1.12257322e-02 -1.62437889e-02 -2.93703987e+02] [-1.11924602e-02 9.99935077e-01 2.13775538e-03 1.80259012e+01] [ 1.62667322e-02 -1.95553065e-03 9.99865776e-01 1.56001013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62907232899994 meters Centerline goodness : 0.780329 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.03, Z:156.00 [[ 9.99809597e-01 1.09090760e-02 -1.61790306e-02 -2.93704711e+02] [-1.08843316e-02 9.99939457e-01 1.61667569e-03 1.80270660e+01] [ 1.61956875e-02 -1.44026993e-03 9.99867804e-01 1.56001659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65907232899997 meters Centerline goodness : 0.779241 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.03, Z:156.00 [[ 9.99802225e-01 1.11355436e-02 -1.64775861e-02 -2.93704457e+02] [-1.11125820e-02 9.99937152e-01 1.48441411e-03 1.80278512e+01] [ 1.64930802e-02 -1.30101200e-03 9.99863133e-01 1.56002311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68907232899994 meters Centerline goodness : 0.779241 Centerline is valid? [False, False] Translation: X:-293.70, Y:18.03, Z:156.00 [[ 9.99802225e-01 1.11355436e-02 -1.64775861e-02 -2.93704457e+02] [-1.11125820e-02 9.99937152e-01 1.48441411e-03 1.80278512e+01] [ 1.64930802e-02 -1.30101200e-03 9.99863133e-01 1.56002311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71907232899997 meters Centerline goodness : 0.779928 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.00 [[ 9.99825461e-01 9.96382357e-03 -1.58040840e-02 -2.93707598e+02] [-9.96073762e-03 9.99950353e-01 2.73968070e-04 1.80293713e+01] [ 1.58060291e-02 -1.16499918e-04 9.99875070e-01 1.56003851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74907232899994 meters Centerline goodness : 0.779513 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99804413e-01 1.08024852e-02 -1.65662809e-02 -2.93706385e+02] [-1.08002075e-02 9.99941650e-01 2.26949840e-04 1.80310587e+01] [ 1.65677659e-02 -4.79861797e-05 9.99862744e-01 1.56005041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.779072329 meters Centerline goodness : 0.780052 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99804472e-01 1.07995205e-02 -1.65646419e-02 -2.93706865e+02] [-1.07985297e-02 9.99941683e-01 1.49262413e-04 1.80312722e+01] [ 1.65652879e-02 2.96405492e-05 9.99862786e-01 1.56005567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.80907232899995 meters Centerline goodness : 0.778428 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99803155e-01 1.07705921e-02 -1.66627060e-02 -2.93707097e+02] [-1.07746914e-02 9.99941939e-01 -1.56259293e-04 1.80324139e+01] [ 1.66600556e-02 3.35764050e-04 9.99861155e-01 1.56006215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.839072329 meters Centerline goodness : 0.777063 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99830946e-01 9.67352586e-03 -1.56365784e-02 -2.93710325e+02] [-9.68677517e-03 9.99952784e-01 -7.71809987e-04 1.80321290e+01] [ 1.56283740e-02 9.23147529e-04 9.99877443e-01 1.56006635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.86907232899995 meters Centerline goodness : 0.776639 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99854613e-01 8.86987322e-03 -1.45628788e-02 -2.93712973e+02] [-8.87999359e-03 9.99960373e-01 -6.30426221e-04 1.80300195e+01] [ 1.45567099e-02 7.59652836e-04 9.99893757e-01 1.56005968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.899072329 meters Centerline goodness : 0.774484 Centerline is valid? [False, False] Translation: X:-293.71, Y:18.03, Z:156.01 [[ 9.99865100e-01 8.46433307e-03 -1.40761204e-02 -2.93714229e+02] [-8.47893386e-03 9.99963575e-01 -9.77917699e-04 1.80306050e+01] [ 1.40673303e-02 1.09713627e-03 9.99900448e-01 1.56005890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.92907232899995 meters Centerline goodness : 0.773719 Centerline is valid? [False, False] Translation: X:-293.72, Y:18.03, Z:156.01 [[ 9.99876528e-01 8.13610740e-03 -1.34436668e-02 -2.93715746e+02] [-8.14751895e-03 9.99966493e-01 -7.94289959e-04 1.80294074e+01] [ 1.34367539e-02 9.03724417e-04 9.99909314e-01 1.56005505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.959072329 meters Centerline goodness : 0.775188 Centerline is valid? [False, False] Translation: X:-293.72, Y:18.03, Z:156.01 [[ 9.99900658e-01 6.79777927e-03 -1.23476361e-02 -2.93718910e+02] [-6.82263465e-03 9.99974781e-01 -1.97195993e-03 1.80313057e+01] [ 1.23339198e-02 2.05600744e-03 9.99921821e-01 1.56005894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.98907232899995 meters Centerline goodness : 0.774455 Centerline is valid? [False, False] Translation: X:-293.72, Y:18.03, Z:156.01 [[ 9.99902020e-01 6.84009114e-03 -1.22132532e-02 -2.93719452e+02] [-6.86279791e-03 9.99974798e-01 -1.81824940e-03 1.80308194e+01] [ 1.22005084e-02 1.90188833e-03 9.99923762e-01 1.56006077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.019072329 meters Centerline goodness : 0.775011 Centerline is valid? [False, False] Translation: X:-293.72, Y:18.03, Z:156.01 [[ 9.99923242e-01 5.48098604e-03 -1.11116982e-02 -2.93723010e+02] [-5.50771172e-03 9.99982010e-01 -2.37601148e-03 1.80296219e+01] [ 1.10984754e-02 2.43702913e-03 9.99935440e-01 1.56006495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.04907232899996 meters Centerline goodness : 0.776650 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.01 [[ 9.99935203e-01 4.93680585e-03 -1.02575291e-02 -2.93725267e+02] [-4.96267772e-03 9.99984565e-01 -2.49831175e-03 1.80290705e+01] [ 1.02450371e-02 2.54905468e-03 9.99944269e-01 1.56006402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.079072329 meters Centerline goodness : 0.775923 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.01 [[ 9.99938897e-01 4.88242899e-03 -9.91787259e-03 -2.93726205e+02] [-4.90642228e-03 9.99985092e-01 -2.39630884e-03 1.80286664e+01] [ 9.90602493e-03 2.44482368e-03 9.99947945e-01 1.56006413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.10907232899996 meters Centerline goodness : 0.777079 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.01 [[ 9.99955793e-01 4.50842616e-04 -9.39192105e-03 -2.93727591e+02] [-5.10758613e-04 9.99979529e-01 -6.37810382e-03 1.80275546e+01] [ 9.38885327e-03 6.38261887e-03 9.99935554e-01 1.56006283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.139072329 meters Centerline goodness : 0.776713 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.01 [[ 9.99954031e-01 1.06472297e-03 -9.52900953e-03 -2.93727044e+02] [-1.11729950e-03 9.99984174e-01 -5.51390130e-03 1.80256091e+01] [ 9.52298795e-03 5.52429459e-03 9.99939396e-01 1.56005888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16907232899996 meters Centerline goodness : 0.776381 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.02, Z:156.00 [[ 9.99961660e-01 1.06352637e-03 -8.69176973e-03 -2.93728671e+02] [-1.10511490e-03 9.99987958e-01 -4.78141654e-03 1.80228176e+01] [ 8.68657991e-03 4.79083862e-03 9.99950794e-01 1.56004898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.199072329 meters Centerline goodness : 0.772303 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.02, Z:156.00 [[ 9.99963810e-01 1.34403380e-03 -8.40069780e-03 -2.93729506e+02] [-1.37836896e-03 9.99990716e-01 -4.08272629e-03 1.80205583e+01] [ 8.39513249e-03 4.09415780e-03 9.99956379e-01 1.56004830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22907232899996 meters Centerline goodness : 0.775588 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.02, Z:156.00 [[ 9.99969636e-01 1.06347808e-03 -7.71987493e-03 -2.93731170e+02] [-1.09594024e-03 9.99990571e-01 -4.20200039e-03 1.80205421e+01] [ 7.71533340e-03 4.21033332e-03 9.99961373e-01 1.56004668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.259072329 meters Centerline goodness : 0.774901 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99987033e-01 -3.38273725e-03 -3.80659311e-03 -2.93741050e+02] [ 3.36939490e-03 9.99988177e-01 -3.50603638e-03 1.80201934e+01] [ 3.81840810e-03 3.49316500e-03 9.99986609e-01 1.56000543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28907232899996 meters Centerline goodness : 0.774090 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99987902e-01 -3.50664933e-03 -3.44944727e-03 -2.93742182e+02] [ 3.49487733e-03 9.99988069e-01 -3.41285060e-03 1.80195514e+01] [ 3.46137378e-03 3.40075392e-03 9.99988227e-01 1.56000720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.319072329 meters Centerline goodness : 0.774790 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99988434e-01 -3.48769183e-03 -3.31162736e-03 -2.93742469e+02] [ 3.47644038e-03 9.99988186e-01 -3.39725709e-03 1.80199768e+01] [ 3.32343682e-03 3.38570513e-03 9.99988746e-01 1.56000658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34907232899997 meters Centerline goodness : 0.775408 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99988442e-01 -3.31586660e-03 -3.48142678e-03 -2.93741962e+02] [ 3.30417126e-03 9.99988897e-01 -3.35974769e-03 1.80208167e+01] [ 3.49252860e-03 3.34820563e-03 9.99988296e-01 1.56000635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37907232899994 meters Centerline goodness : 0.775889 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99989264e-01 -3.36525142e-03 -3.18538427e-03 -2.93742458e+02] [ 3.35469541e-03 9.99988883e-01 -3.31345249e-03 1.80208547e+01] [ 3.19649946e-03 3.30273092e-03 9.99989437e-01 1.56000257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40907232899997 meters Centerline goodness : 0.774557 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99989632e-01 -3.69615556e-03 -2.65957409e-03 -2.93743251e+02] [ 3.68687539e-03 9.99987128e-01 -3.48582902e-03 1.80211583e+01] [ 2.67242402e-03 3.47598737e-03 9.99990388e-01 1.55999456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43907232899994 meters Centerline goodness : 0.773517 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99990952e-01 -3.47356397e-03 -2.45563624e-03 -2.93743761e+02] [ 3.46656101e-03 9.99989929e-01 -2.85031915e-03 1.80190834e+01] [ 2.46551227e-03 2.84178075e-03 9.99992923e-01 1.55999251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46907232899997 meters Centerline goodness : 0.774539 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99992928e-01 -2.37962013e-03 -2.91222899e-03 -2.93741944e+02] [ 2.37380417e-03 9.99995185e-01 -1.99891161e-03 1.80187936e+01] [ 2.91697161e-03 1.99198441e-03 9.99993762e-01 1.55998503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49907232899994 meters Centerline goodness : 0.772402 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99993245e-01 -2.90083279e-03 -2.25716159e-03 -2.93743543e+02] [ 2.89568599e-03 9.99993208e-01 -2.28014501e-03 1.80189270e+01] [ 2.26376058e-03 2.27359357e-03 9.99994853e-01 1.55998328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.529072329 meters Centerline goodness : 0.773784 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99992629e-01 -3.51480565e-03 -1.54535882e-03 -2.93745286e+02] [ 3.51034446e-03 9.99989691e-01 -2.88012821e-03 1.80202811e+01] [ 1.55546598e-03 2.87468224e-03 9.99994658e-01 1.55998245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.55907232899995 meters Centerline goodness : 0.774353 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99993572e-01 -3.15956813e-03 -1.69496372e-03 -2.93745078e+02] [ 3.15539677e-03 9.99992001e-01 -2.45808641e-03 1.80194921e+01] [ 1.70271665e-03 2.45272233e-03 9.99995542e-01 1.55998422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.589072329 meters Centerline goodness : 0.774413 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99992881e-01 -3.63137704e-03 -1.02551095e-03 -2.93746921e+02] [ 3.62864596e-03 9.99989898e-01 -2.65256314e-03 1.80192425e+01] [ 1.03513304e-03 2.64882304e-03 9.99995956e-01 1.55998493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.61907232899995 meters Centerline goodness : 0.775381 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99993912e-01 -3.25261462e-03 -1.26376408e-03 -2.93746272e+02] [ 3.24952513e-03 9.99991746e-01 -2.43907988e-03 1.80196342e+01] [ 1.27168703e-03 2.43495840e-03 9.99996227e-01 1.55998490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.649072329 meters Centerline goodness : 0.772978 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99994939e-01 -2.86371163e-03 -1.38618232e-03 -2.93745618e+02] [ 2.86092502e-03 9.99993891e-01 -2.00809850e-03 1.80191906e+01] [ 1.39192446e-03 2.00412257e-03 9.99997023e-01 1.55997981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.67907232899995 meters Centerline goodness : 0.772543 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99993972e-01 -3.38786546e-03 -7.60952297e-04 -2.93746965e+02] [ 3.38604673e-03 9.99991438e-01 -2.37878655e-03 1.80198729e+01] [ 7.69004791e-04 2.37619559e-03 9.99996881e-01 1.55997604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.709072329 meters Centerline goodness : 0.770788 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.02, Z:156.00 [[ 9.99994792e-01 -3.12289596e-03 -8.15096842e-04 -2.93746678e+02] [ 3.12121275e-03 9.99993011e-01 -2.05820354e-03 1.80193503e+01] [ 8.21518700e-04 2.05564873e-03 9.99997550e-01 1.55997354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.73907232899995 meters Centerline goodness : 0.772242 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99996547e-01 -2.16474545e-03 -1.49022041e-03 -2.93744727e+02] [ 2.16240632e-03 9.99996430e-01 -1.56947861e-03 1.80199578e+01] [ 1.49361261e-03 1.56625073e-03 9.99997658e-01 1.55997150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.769072329 meters Centerline goodness : 0.771937 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99996745e-01 -1.50203298e-03 -2.06233355e-03 -2.93743092e+02] [ 1.49948929e-03 9.99998114e-01 -1.23439831e-03 1.80206414e+01] [ 2.06418377e-03 1.23130184e-03 9.99997112e-01 1.55997049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.79907232899996 meters Centerline goodness : 0.772565 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99996343e-01 -1.29073499e-03 -2.37672839e-03 -2.93742366e+02] [ 1.28727862e-03 9.99998113e-01 -1.45521271e-03 1.80225139e+01] [ 2.37860220e-03 1.45214788e-03 9.99996117e-01 1.55997272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.829072329 meters Centerline goodness : 0.773656 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.02, Z:156.00 [[ 9.99996418e-01 -1.29839272e-03 -2.34057791e-03 -2.93742530e+02] [ 1.29451211e-03 9.99997786e-01 -1.65872336e-03 1.80236579e+01] [ 2.34272641e-03 1.65568751e-03 9.99995885e-01 1.55997418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.85907232899996 meters Centerline goodness : 0.776371 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99995547e-01 -6.54128481e-04 -2.91169591e-03 -2.93741708e+02] [ 6.48930765e-04 9.99998195e-01 -1.78570321e-03 1.80257756e+01] [ 2.91285874e-03 1.78380576e-03 9.99994167e-01 1.55998536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.889072329 meters Centerline goodness : 0.776149 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99995570e-01 -6.52586977e-04 -2.90420076e-03 -2.93741962e+02] [ 6.46952744e-04 9.99997908e-01 -1.94054541e-03 1.80266381e+01] [ 2.90546105e-03 1.93865794e-03 9.99993900e-01 1.55998894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91907232899996 meters Centerline goodness : 0.775232 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99995227e-01 -3.34096508e-04 -3.07140949e-03 -2.93741403e+02] [ 3.28944431e-04 9.99998538e-01 -1.67778277e-03 1.80265378e+01] [ 3.07196554e-03 1.67676444e-03 9.99993876e-01 1.55998716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.949072329 meters Centerline goodness : 0.775419 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99995526e-01 -2.47895150e-04 -2.98100872e-03 -2.93741408e+02] [ 2.43328584e-04 9.99998797e-01 -1.53215108e-03 1.80264056e+01] [ 2.98138495e-03 1.53141886e-03 9.99994383e-01 1.55998326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97907232899996 meters Centerline goodness : 0.775474 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99993426e-01 7.64117260e-04 -3.54462742e-03 -2.93739039e+02] [-7.66589609e-04 9.99999464e-01 -6.96185686e-04 1.80259574e+01] [ 3.54409355e-03 6.98898384e-04 9.99993475e-01 1.55997244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.009072329 meters Centerline goodness : 0.772939 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99992065e-01 9.67630660e-04 -3.86434271e-03 -2.93738271e+02] [-9.70567631e-04 9.99999242e-01 -7.58215431e-04 1.80269510e+01] [ 3.86360611e-03 7.61960020e-04 9.99992246e-01 1.55997303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03907232899996 meters Centerline goodness : 0.770992 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99992909e-01 9.99148174e-04 -3.63106149e-03 -2.93738358e+02] [-1.00136342e-03 9.99999314e-01 -6.08314621e-04 1.80267851e+01] [ 3.63045120e-03 6.11946320e-04 9.99993223e-01 1.55996536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.069072329 meters Centerline goodness : 0.771751 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99992359e-01 1.09886100e-03 -3.75159130e-03 -2.93738274e+02] [-1.10136260e-03 9.99999173e-01 -6.64809836e-04 1.80273324e+01] [ 3.75085766e-03 6.68936619e-04 9.99992742e-01 1.55996817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09907232899997 meters Centerline goodness : 0.771322 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99992059e-01 1.18361919e-03 -3.80530067e-03 -2.93738186e+02] [-1.18665048e-03 9.99998980e-01 -7.94437868e-04 1.80282413e+01] [ 3.80435648e-03 7.98947122e-04 9.99992444e-01 1.55996951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12907232899994 meters Centerline goodness : 0.772340 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99990016e-01 1.57403985e-03 -4.18220741e-03 -2.93737444e+02] [-1.57691273e-03 9.99998523e-01 -6.83720411e-04 1.80287051e+01] [ 4.18112503e-03 6.90308560e-04 9.99991021e-01 1.55997197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15907232899997 meters Centerline goodness : 0.771739 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99987124e-01 2.03899624e-03 -4.64700622e-03 -2.93736765e+02] [-2.04145965e-03 9.99997778e-01 -5.25426564e-04 1.80289398e+01] [ 4.64592455e-03 5.34906474e-04 9.99989065e-01 1.55997840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18907232899994 meters Centerline goodness : 0.772809 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99976927e-01 3.64674806e-03 -5.73114693e-03 -2.93734494e+02] [-3.64732528e-03 9.99993344e-01 -9.02667907e-05 1.80306499e+01] [ 5.73077961e-03 1.11168065e-04 9.99983573e-01 1.55998896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21907232899997 meters Centerline goodness : 0.772836 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99975863e-01 3.61339095e-03 -5.93432620e-03 -2.93734318e+02] [-3.61605404e-03 9.99993366e-01 -4.38091626e-04 1.80321715e+01] [ 5.93270384e-03 4.59539896e-04 9.99982296e-01 1.55999386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24907232899994 meters Centerline goodness : 0.773839 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99974187e-01 3.70260821e-03 -6.15760085e-03 -2.93733826e+02] [-3.70721401e-03 9.99992857e-01 -7.36741361e-04 1.80338810e+01] [ 6.15482900e-03 7.59549887e-04 9.99980770e-01 1.55999591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.279072329 meters Centerline goodness : 0.771987 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99975313e-01 3.67535439e-03 -5.98869605e-03 -2.93734487e+02] [-3.67941710e-03 9.99993008e-01 -6.67520121e-04 1.80335346e+01] [ 5.98620080e-03 6.89538552e-04 9.99981845e-01 1.55999778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.30907232899995 meters Centerline goodness : 0.770571 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99977952e-01 3.55698107e-03 -5.60742142e-03 -2.93735555e+02] [-3.56007188e-03 9.99993516e-01 -5.41315254e-04 1.80326549e+01] [ 5.60545961e-03 5.61266142e-04 9.99984132e-01 1.55999760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.339072329 meters Centerline goodness : 0.772111 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99975586e-01 3.84997827e-03 -5.83132927e-03 -2.93734941e+02] [-3.85325576e-03 9.99992424e-01 -5.50917380e-04 1.80335157e+01] [ 5.82916408e-03 5.73373534e-04 9.99982846e-01 1.55999723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.36907232899995 meters Centerline goodness : 0.769653 Centerline is valid? [False, False] Translation: X:-293.73, Y:18.03, Z:156.00 [[ 9.99970661e-01 4.44322651e-03 -6.23980137e-03 -2.93734171e+02] [-4.44332450e-03 9.99990128e-01 -1.84004213e-06 1.80324904e+01] [ 6.23973160e-03 2.95654504e-05 9.99980532e-01 1.55999956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.399072329 meters Centerline goodness : 0.769611 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99981002e-01 3.18697558e-03 -5.27630019e-03 -2.93736610e+02] [-3.19163508e-03 9.99994524e-01 -8.74914087e-04 1.80333951e+01] [ 5.27348297e-03 8.91737489e-04 9.99985697e-01 1.55999761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.42907232899995 meters Centerline goodness : 0.771055 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99977483e-01 3.71441195e-03 -5.58892240e-03 -2.93735881e+02] [-3.71692273e-03 9.99992996e-01 -4.38922012e-04 1.80329395e+01] [ 5.58725292e-03 4.59685722e-04 9.99984286e-01 1.55999786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.459072329 meters Centerline goodness : 0.770567 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99980981e-01 3.50773233e-03 -5.07274816e-03 -2.93737280e+02] [-3.50972770e-03 9.99993767e-01 -3.84501707e-04 1.80320812e+01] [ 5.07136781e-03 4.02298359e-04 9.99987060e-01 1.55999720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.48907232899995 meters Centerline goodness : 0.770605 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99986074e-01 2.99054279e-03 -4.34836537e-03 -2.93739540e+02] [-2.99316508e-03 9.99995342e-01 -5.96668881e-04 1.80317458e+01] [ 4.34656075e-03 6.09675947e-04 9.99990368e-01 1.56000061e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.519072329 meters Centerline goodness : 0.770612 Centerline is valid? [False, False] Translation: X:-293.74, Y:18.03, Z:156.00 [[ 9.99992487e-01 2.08379524e-03 -3.26853994e-03 -2.93742523e+02] [-2.08646291e-03 9.99997493e-01 -8.12967681e-04 1.80304380e+01] [ 3.26683768e-03 8.19781261e-04 9.99994328e-01 1.56000051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.54907232899996 meters Centerline goodness : 0.771649 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99997575e-01 4.34693362e-04 -2.15910666e-03 -2.93746340e+02] [-4.38047304e-04 9.99998698e-01 -1.55316343e-03 1.80293185e+01] [ 2.15842870e-03 1.55410546e-03 9.99996463e-01 1.56000912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.579072329 meters Centerline goodness : 0.771649 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99997575e-01 4.34693362e-04 -2.15910666e-03 -2.93746340e+02] [-4.38047304e-04 9.99998698e-01 -1.55316343e-03 1.80293185e+01] [ 2.15842870e-03 1.55410546e-03 9.99996463e-01 1.56000912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.60907232899996 meters Centerline goodness : 0.772889 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99999099e-01 1.18520831e-04 -1.33703332e-03 -2.93748374e+02] [-1.20337171e-04 9.99999070e-01 -1.35848630e-03 1.80278665e+01] [ 1.33687106e-03 1.35864597e-03 9.99998183e-01 1.56000667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.639072329 meters Centerline goodness : 0.772160 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99999723e-01 -7.49651911e-06 -7.43991037e-04 -2.93749713e+02] [ 6.69377184e-06 9.99999418e-01 -1.07897100e-03 1.80266368e+01] [ 7.43998693e-04 1.07896572e-03 9.99999141e-01 1.56000275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66907232899996 meters Centerline goodness : 0.772644 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99999957e-01 -2.81449687e-04 -8.61218708e-05 -2.93751276e+02] [ 2.81356980e-04 9.99999383e-01 -1.07459711e-03 1.80261594e+01] [ 8.64242627e-05 1.07457283e-03 9.99999419e-01 1.56000063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.699072329 meters Centerline goodness : 0.772825 Centerline is valid? [False, False] Translation: X:-293.75, Y:18.03, Z:156.00 [[ 9.99999291e-01 -8.43725828e-04 8.40588135e-04 -2.93753592e+02] [ 8.44757727e-04 9.99998889e-01 -1.22799393e-03 1.80259125e+01] [-8.39551111e-04 1.22870315e-03 9.99998893e-01 1.55999869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72907232899996 meters Centerline goodness : 0.772476 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99997430e-01 -1.49681619e-03 1.70263209e-03 -2.93755986e+02] [ 1.49908483e-03 9.99997989e-01 -1.33193662e-03 1.80249062e+01] [-1.70063500e-03 1.33448559e-03 9.99997663e-01 1.55999953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.759072329 meters Centerline goodness : 0.770423 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99995654e-01 -1.56411857e-03 2.49911548e-03 -2.93757615e+02] [ 1.56509376e-03 9.99998700e-01 -3.88306454e-04 1.80209116e+01] [-2.49850488e-03 3.92216117e-04 9.99996802e-01 1.55998952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78907232899996 meters Centerline goodness : 0.769991 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99995938e-01 -1.44154328e-03 2.45892982e-03 -2.93757504e+02] [ 1.44242294e-03 9.99998896e-01 -3.56002347e-04 1.80213662e+01] [-2.45841391e-03 3.59547718e-04 9.99996913e-01 1.55998944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.819072329 meters Centerline goodness : 0.769856 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99995357e-01 -1.43173464e-03 2.69002641e-03 -2.93758114e+02] [ 1.43203697e-03 9.99998969e-01 -1.10468498e-04 1.80204707e+01] [-2.68986548e-03 1.14320202e-04 9.99996376e-01 1.55998912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84907232899997 meters Centerline goodness : 0.770827 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99991319e-01 -2.15398808e-03 3.56676408e-03 -2.93760412e+02] [ 2.15657642e-03 9.99997414e-01 -7.21996104e-04 1.80215062e+01] [-3.56519969e-03 7.29681836e-04 9.99993378e-01 1.55998987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87907232899994 meters Centerline goodness : 0.770654 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99991413e-01 -2.02290884e-03 3.61686694e-03 -2.93760844e+02] [ 2.02457599e-03 9.99997846e-01 -4.57334704e-04 1.80207214e+01] [-3.61593400e-03 4.64653399e-04 9.99993355e-01 1.55999361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90907232899997 meters Centerline goodness : 0.771293 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99991649e-01 -1.90181279e-03 3.61729791e-03 -2.93761097e+02] [ 1.90328892e-03 9.99998107e-01 -4.04677256e-04 1.80209486e+01] [-3.61652144e-03 4.11558640e-04 9.99993376e-01 1.55999670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93907232899994 meters Centerline goodness : 0.770727 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99986453e-01 -2.73772615e-03 4.42696782e-03 -2.93763151e+02] [ 2.74025722e-03 9.99996085e-01 -5.65774398e-04 1.80198001e+01] [-4.42540156e-03 5.77897764e-04 9.99990041e-01 1.55999383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96907232899997 meters Centerline goodness : 0.769522 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99991361e-01 -1.66905533e-03 3.80696824e-03 -2.93761178e+02] [ 1.66799752e-03 9.99998569e-01 2.81018564e-04 1.80191863e+01] [-3.80743183e-03 -2.74666122e-04 9.99992714e-01 1.55998796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99907232899994 meters Centerline goodness : 0.768363 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99992896e-01 -1.35547810e-03 3.51712568e-03 -2.93759951e+02] [ 1.35373427e-03 9.99998960e-01 4.98143498e-04 1.80191935e+01] [-3.51779724e-03 -4.93378706e-04 9.99993691e-01 1.55998088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.029072329 meters Centerline goodness : 0.767710 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99994143e-01 -1.20061376e-03 3.20497200e-03 -2.93759442e+02] [ 1.19910977e-03 9.99999170e-01 4.71146635e-04 1.80196387e+01] [-3.20553500e-03 -4.67300762e-04 9.99994753e-01 1.55998439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.05907232899995 meters Centerline goodness : 0.768788 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99994237e-01 -1.31138663e-03 3.13151776e-03 -2.93759355e+02] [ 1.31128427e-03 9.99999140e-01 3.47402084e-05 1.80214848e+01] [-3.13156062e-03 -3.06336983e-05 9.99995096e-01 1.55998631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.089072329 meters Centerline goodness : 0.770627 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99995436e-01 -1.15966254e-03 2.78984189e-03 -2.93759042e+02] [ 1.16029138e-03 9.99999302e-01 -2.23796140e-04 1.80230064e+01] [-2.78958042e-03 2.27032149e-04 9.99996083e-01 1.55999526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.11907232899995 meters Centerline goodness : 0.770006 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99994397e-01 -1.28577988e-03 3.09076416e-03 -2.93760349e+02] [ 1.28647109e-03 9.99999148e-01 -2.21659395e-04 1.80225876e+01] [-3.09047652e-03 2.25634332e-04 9.99995199e-01 1.56000212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.149072329 meters Centerline goodness : 0.771287 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99996519e-01 -7.32387804e-04 2.53488547e-03 -2.93759105e+02] [ 7.32808175e-04 9.99999718e-01 -1.64909415e-04 1.80237772e+01] [-2.53476397e-03 1.66766425e-04 9.99996774e-01 1.56000552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.17907232899995 meters Centerline goodness : 0.771784 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99991919e-01 -2.06330770e-03 3.45017895e-03 -2.93762289e+02] [ 2.06785956e-03 9.99996996e-01 -1.31626472e-03 1.80248616e+01] [-3.44745273e-03 1.32338857e-03 9.99993182e-01 1.56001490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.209072329 meters Centerline goodness : 0.771148 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99994148e-01 -1.36193477e-03 3.13840937e-03 -2.93761168e+02] [ 1.36370514e-03 9.99998912e-01 -5.62025964e-04 1.80235115e+01] [-3.13764051e-03 5.66302540e-04 9.99994917e-01 1.56000932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.23907232899995 meters Centerline goodness : 0.770046 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99995250e-01 -1.08385518e-03 2.88525192e-03 -2.93760433e+02] [ 1.08482777e-03 9.99999355e-01 -3.35544700e-04 1.80232441e+01] [-2.88488637e-03 3.38673108e-04 9.99995781e-01 1.56000747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.269072329 meters Centerline goodness : 0.771024 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99994246e-01 -1.29227241e-03 3.13664306e-03 -2.93760963e+02] [ 1.29374942e-03 9.99999053e-01 -4.68907560e-04 1.80235247e+01] [-3.13603413e-03 4.72962892e-04 9.99994971e-01 1.56000651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.29907232899996 meters Centerline goodness : 0.771560 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99993493e-01 -1.38787456e-03 3.32994270e-03 -2.93761688e+02] [ 1.38983350e-03 9.99998862e-01 -5.86037535e-04 1.80238744e+01] [-3.32912557e-03 5.90661787e-04 9.99994284e-01 1.56000965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.329072329 meters Centerline goodness : 0.773052 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99993096e-01 -1.40143163e-03 3.44136825e-03 -2.93762380e+02] [ 1.40360417e-03 9.99998817e-01 -6.28965801e-04 1.80240211e+01] [-3.44048273e-03 6.33791778e-04 9.99993881e-01 1.56001478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.35907232899996 meters Centerline goodness : 0.770885 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99981222e-01 -5.08224104e-03 3.42452007e-03 -2.93762030e+02] [ 5.09635658e-03 9.99978502e-01 -4.12586140e-03 1.80224909e+01] [-3.40347783e-03 4.14323650e-03 9.99985625e-01 1.56001104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.389072329 meters Centerline goodness : 0.771278 Centerline is valid? [False, False] Translation: X:-293.76, Y:18.02, Z:156.00 [[ 9.99973316e-01 -5.76943919e-03 4.48121192e-03 -2.93764895e+02] [ 5.78895200e-03 9.99973766e-01 -4.35366432e-03 1.80219844e+01] [-4.45597616e-03 4.37948966e-03 9.99980482e-01 1.56001195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41907232899996 meters Centerline goodness : 0.770935 Centerline is valid? [False, False] Translation: X:-293.77, Y:18.02, Z:156.00 [[ 9.99953000e-01 -7.78069666e-03 5.78436016e-03 -2.93768944e+02] [ 7.81025157e-03 9.99956471e-01 -5.10454320e-03 1.80202665e+01] [-5.74439147e-03 5.14948060e-03 9.99970242e-01 1.56001618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.449072329 meters Centerline goodness : 0.771352 Centerline is valid? [False, False] Translation: X:-293.77, Y:18.02, Z:156.00 [[ 9.99946645e-01 -8.06257921e-03 6.45766236e-03 -2.93770348e+02] [ 8.09559154e-03 9.99954212e-01 -5.10239648e-03 1.80199333e+01] [-6.41622820e-03 5.15440284e-03 9.99966131e-01 1.56001157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47907232899996 meters Centerline goodness : 0.769872 Centerline is valid? [False, False] Translation: X:-293.77, Y:18.02, Z:156.00 [[ 9.99938520e-01 -8.39064386e-03 7.24932569e-03 -2.93772299e+02] [ 8.42696476e-03 9.99952020e-01 -4.99431067e-03 1.80190223e+01] [-7.20707239e-03 5.05509343e-03 9.99961251e-01 1.56000932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.509072329 meters Centerline goodness : 0.768912 Centerline is valid? [False, False] Translation: X:-293.77, Y:18.02, Z:156.00 [[ 9.99883857e-01 -1.28913084e-02 8.12940213e-03 -2.93773943e+02] [ 1.29618738e-02 9.99878245e-01 -8.68815895e-03 1.80167316e+01] [-8.01641060e-03 8.79252216e-03 9.99929212e-01 1.56000104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53907232899996 meters Centerline goodness : 0.770006 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.02, Z:156.00 [[ 9.99863891e-01 -1.37091113e-02 9.17935265e-03 -2.93776674e+02] [ 1.37906080e-02 9.99865521e-01 -8.87462137e-03 1.80158636e+01] [-9.05645505e-03 9.00000231e-03 9.99918487e-01 1.56000019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.569072329 meters Centerline goodness : 0.767290 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.01, Z:156.00 [[ 9.99824554e-01 -1.56092729e-02 1.03543253e-02 -2.93780072e+02] [ 1.57107496e-02 9.99828624e-01 -9.79256518e-03 1.80148127e+01] [-1.01996960e-02 9.95352133e-03 9.99898442e-01 1.56000154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59907232899997 meters Centerline goodness : 0.768260 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.01, Z:156.00 [[ 9.99818586e-01 -1.57264729e-02 1.07458485e-02 -2.93781058e+02] [ 1.58310368e-02 9.99827475e-01 -9.71585634e-03 1.80145963e+01] [-1.05911984e-02 9.88421167e-03 9.99895059e-01 1.56000145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62907232899994 meters Centerline goodness : 0.768721 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.02, Z:156.00 [[ 9.99803094e-01 -1.62148301e-02 1.14391142e-02 -2.93782857e+02] [ 1.63307780e-02 9.99815463e-01 -1.01165634e-02 1.80154528e+01] [-1.12729649e-02 1.03013810e-02 9.99883394e-01 1.56000233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65907232899997 meters Centerline goodness : 0.767857 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.02, Z:156.00 [[ 9.99787636e-01 -1.66582806e-02 1.21319788e-02 -2.93784367e+02] [ 1.67819462e-02 9.99807512e-01 -1.01638997e-02 1.80150960e+01] [-1.19603304e-02 1.03653395e-02 9.99874747e-01 1.55999892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68907232899994 meters Centerline goodness : 0.765506 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99781251e-01 -1.66228349e-02 1.26937822e-02 -2.93785430e+02] [ 1.67459633e-02 9.99813150e-01 -9.65600605e-03 1.80133722e+01] [-1.25309002e-02 9.86646341e-03 9.99872807e-01 1.55999244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71907232899997 meters Centerline goodness : 0.767539 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99711053e-01 -2.02362196e-02 1.29732951e-02 -2.93785975e+02] [ 2.04019736e-02 9.99710249e-01 -1.27741153e-02 1.80100110e+01] [-1.27110362e-02 1.30351051e-02 9.99834244e-01 1.55999035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74907232899994 meters Centerline goodness : 0.767091 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99683327e-01 -2.10136027e-02 1.38446749e-02 -2.93788657e+02] [ 2.12012411e-02 9.99683420e-01 -1.35486696e-02 1.80114976e+01] [-1.35555856e-02 1.38379034e-02 9.99812362e-01 1.55999660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.779072329 meters Centerline goodness : 0.768610 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99661870e-01 -2.15566985e-02 1.45414911e-02 -2.93790768e+02] [ 2.17588406e-02 9.99666767e-01 -1.38891007e-02 1.80116277e+01] [-1.42372422e-02 1.42008104e-02 9.99797799e-01 1.56000114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.80907232899995 meters Centerline goodness : 0.768103 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99651971e-01 -2.18135500e-02 1.48359629e-02 -2.93791825e+02] [ 2.20235365e-02 9.99657441e-01 -1.41409137e-02 1.80121116e+01] [-1.45224172e-02 1.44627326e-02 9.99789942e-01 1.56000505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.839072329 meters Centerline goodness : 0.765854 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.01, Z:156.00 [[ 9.99703835e-01 -1.85895602e-02 1.57057359e-02 -2.93794437e+02] [ 1.87591081e-02 9.99766585e-01 -1.07178155e-02 1.80133681e+01] [-1.55028305e-02 1.10092669e-02 9.99819213e-01 1.56000750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.86907232899995 meters Centerline goodness : 0.766417 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99677377e-01 -1.92786257e-02 1.65370995e-02 -2.93796381e+02] [ 1.94634897e-02 9.99749043e-01 -1.10915906e-02 1.80136043e+01] [-1.63191188e-02 1.14098819e-02 9.99801731e-01 1.56000568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.899072329 meters Centerline goodness : 0.765672 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99655607e-01 -1.96931259e-02 1.73449795e-02 -2.93798323e+02] [ 1.98877071e-02 9.99740399e-01 -1.11181707e-02 1.80129714e+01] [-1.71215252e-02 1.14592936e-02 9.99787746e-01 1.56000320e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.92907232899995 meters Centerline goodness : 0.765467 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99635019e-01 -2.01217325e-02 1.80262425e-02 -2.93799635e+02] [ 2.03276867e-02 9.99729332e-01 -1.13157958e-02 1.80131693e+01] [-1.77936700e-02 1.16780975e-02 9.99773478e-01 1.55999699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.959072329 meters Centerline goodness : 0.763420 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99642157e-01 -1.97753035e-02 1.80137574e-02 -2.93799223e+02] [ 1.99705606e-02 9.99743046e-01 -1.07246997e-02 1.80117942e+01] [-1.77970445e-02 1.10806068e-02 9.99780219e-01 1.55999067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.98907232899995 meters Centerline goodness : 0.764506 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99605712e-01 -2.06550808e-02 1.90207534e-02 -2.93801553e+02] [ 2.08692628e-02 9.99720241e-01 -1.11316240e-02 1.80116452e+01] [-1.87855076e-02 1.15241841e-02 9.99757119e-01 1.55998686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.019072329 meters Centerline goodness : 0.763638 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.01, Z:156.00 [[ 9.99608063e-01 -2.06100090e-02 1.89459260e-02 -2.93801699e+02] [ 2.08253364e-02 9.99719954e-01 -1.12391988e-02 1.80124051e+01] [-1.87089802e-02 1.16293490e-02 9.99757337e-01 1.55999180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.04907232899996 meters Centerline goodness : 0.765000 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.02, Z:156.00 [[ 9.99618247e-01 -1.94343909e-02 1.96383531e-02 -2.93806043e+02] [ 1.96400454e-02 9.99753708e-01 -1.03340335e-02 1.80155954e+01] [-1.94326807e-02 1.07157866e-02 9.99753741e-01 1.56002342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.079072329 meters Centerline goodness : 0.766238 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.02, Z:156.00 [[ 9.99606910e-01 -1.96895654e-02 1.99586081e-02 -2.93807087e+02] [ 1.99053362e-02 9.99744926e-01 -1.06705069e-02 1.80167192e+01] [-1.97434195e-02 1.10635952e-02 9.99743864e-01 1.56002693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.10907232899996 meters Centerline goodness : 0.765812 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.02, Z:156.00 [[ 9.99545394e-01 -2.16156183e-02 2.10183516e-02 -2.93810931e+02] [ 2.18734065e-02 9.99687362e-01 -1.21133325e-02 1.80171916e+01] [-2.07499433e-02 1.25675687e-02 9.99705705e-01 1.56004041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.139072329 meters Centerline goodness : 0.766264 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99465425e-01 -2.50130787e-02 2.10525782e-02 -2.93811445e+02] [ 2.53357330e-02 9.99563412e-01 -1.52015031e-02 1.80138865e+01] [-2.06631505e-02 1.57267592e-02 9.99662795e-01 1.56004679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16907232899996 meters Centerline goodness : 0.766945 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99469871e-01 -2.48222426e-02 2.10673298e-02 -2.93811388e+02] [ 2.51394626e-02 9.99572481e-01 -1.49285580e-02 1.80134633e+01] [-2.06877628e-02 1.54502653e-02 9.99666597e-01 1.56004463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.199072329 meters Centerline goodness : 0.768532 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99426475e-01 -2.56817627e-02 2.20718951e-02 -2.93813476e+02] [ 2.60201634e-02 9.99546099e-01 -1.51837646e-02 1.80129539e+01] [-2.16719309e-02 1.57493706e-02 9.99641078e-01 1.56003822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22907232899996 meters Centerline goodness : 0.764042 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99433541e-01 -2.53302748e-02 2.21579517e-02 -2.93813505e+02] [ 2.56548311e-02 9.99565872e-01 -1.44878204e-02 1.80110854e+01] [-2.17813518e-02 1.50480721e-02 9.99649503e-01 1.56003425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.259072329 meters Centerline goodness : 0.766267 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99419152e-01 -2.55285203e-02 2.25754912e-02 -2.93814437e+02] [ 2.58617000e-02 9.99559030e-01 -1.45917223e-02 1.80113093e+01] [-2.21930310e-02 1.51670873e-02 9.99638649e-01 1.56003242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28907232899996 meters Centerline goodness : 0.764865 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.01, Z:156.00 [[ 9.99423389e-01 -2.52088706e-02 2.27465009e-02 -2.93814604e+02] [ 2.55285542e-02 9.99577800e-01 -1.38749573e-02 1.80091350e+01] [-2.23871254e-02 1.44476421e-02 9.99644978e-01 1.56002708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.319072329 meters Centerline goodness : 0.766352 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.01, Z:156.00 [[ 9.99443360e-01 -2.34447287e-02 2.37342665e-02 -2.93818076e+02] [ 2.37306669e-02 9.99648293e-01 -1.18383463e-02 1.80113357e+01] [-2.34483722e-02 1.23949866e-02 9.99648207e-01 1.56003716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34907232899997 meters Centerline goodness : 0.766848 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.01, Z:156.00 [[ 9.99455347e-01 -2.32247113e-02 2.34440397e-02 -2.93817509e+02] [ 2.35075266e-02 9.99653299e-01 -1.18607492e-02 1.80121476e+01] [-2.31604492e-02 1.24054006e-02 9.99654790e-01 1.56004043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37907232899994 meters Centerline goodness : 0.766695 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.01, Z:156.01 [[ 9.99495834e-01 -2.06269214e-02 2.41372624e-02 -2.93820696e+02] [ 2.08573783e-02 9.99738877e-01 -9.33525233e-03 1.80149808e+01] [-2.39384021e-02 9.83398583e-03 9.99665067e-01 1.56005652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40907232899997 meters Centerline goodness : 0.766678 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99535345e-01 -1.76448705e-02 2.48546208e-02 -2.93823271e+02] [ 1.78127798e-02 9.99819882e-01 -6.55051746e-03 1.80182728e+01] [-2.47345610e-02 6.99020362e-03 9.99669615e-01 1.56006540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43907232899994 meters Centerline goodness : 0.767111 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99561252e-01 -1.70337277e-02 2.42312934e-02 -2.93821588e+02] [ 1.71893963e-02 9.99832839e-01 -6.23054449e-03 1.80188095e+01] [-2.41211135e-02 6.64433215e-03 9.99686963e-01 1.56006424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46907232899997 meters Centerline goodness : 0.766182 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99574321e-01 -1.66244840e-02 2.39750642e-02 -2.93821054e+02] [ 1.67662339e-02 9.99843055e-01 -5.72352915e-03 1.80177590e+01] [-2.38761507e-02 6.12306429e-03 9.99696173e-01 1.56006484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49907232899994 meters Centerline goodness : 0.766182 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99574321e-01 -1.66244840e-02 2.39750642e-02 -2.93821054e+02] [ 1.67662339e-02 9.99843055e-01 -5.72352915e-03 1.80177590e+01] [-2.38761507e-02 6.12306429e-03 9.99696173e-01 1.56006484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.529072329 meters Centerline goodness : 0.765316 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99557393e-01 -1.70081677e-02 2.44077837e-02 -2.93822516e+02] [ 1.71625314e-02 9.99833928e-01 -6.12886491e-03 1.80183790e+01] [-2.42994895e-02 6.54505158e-03 9.99683298e-01 1.56007002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.55907232899995 meters Centerline goodness : 0.766245 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99542409e-01 -1.73262534e-02 2.47946189e-02 -2.93824017e+02] [ 1.74913166e-02 9.99826173e-01 -6.45587984e-03 1.80189722e+01] [-2.46784527e-02 6.88661621e-03 9.99671720e-01 1.56007689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.589072329 meters Centerline goodness : 0.766324 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99550376e-01 -1.70786695e-02 2.46447837e-02 -2.93823915e+02] [ 1.72367788e-02 9.99832105e-01 -6.21740470e-03 1.80187419e+01] [-2.45344610e-02 6.63940588e-03 9.99676937e-01 1.56008045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.61907232899995 meters Centerline goodness : 0.766264 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99548063e-01 -1.71447253e-02 2.46926911e-02 -2.93823712e+02] [ 1.73048004e-02 9.99830515e-01 -6.28364856e-03 1.80190947e+01] [-2.45807746e-02 6.70811083e-03 9.99675341e-01 1.56007647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.649072329 meters Centerline goodness : 0.766444 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99544300e-01 -1.71193349e-02 2.48620156e-02 -2.93823664e+02] [ 1.72771850e-02 9.99831835e-01 -6.14816323e-03 1.80190722e+01] [-2.47525822e-02 6.57490716e-03 9.99671986e-01 1.56006977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.67907232899995 meters Centerline goodness : 0.765948 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99520723e-01 -1.74682314e-02 2.55574686e-02 -2.93824563e+02] [ 1.76227640e-02 9.99827688e-01 -5.83376849e-03 1.80173385e+01] [-2.54511591e-02 6.28136574e-03 9.99656332e-01 1.56005665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.709072329 meters Centerline goodness : 0.766051 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99541532e-01 -1.68822231e-02 2.51339517e-02 -2.93823134e+02] [ 1.70236559e-02 9.99840376e-01 -5.42385133e-03 1.80175611e+01] [-2.50383731e-02 5.84923641e-03 9.99669378e-01 1.56005190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.73907232899995 meters Centerline goodness : 0.765812 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99534507e-01 -1.70633171e-02 2.52905752e-02 -2.93823586e+02] [ 1.72114232e-02 9.99835908e-01 -5.65009887e-03 1.80183476e+01] [-2.51900158e-02 6.08275558e-03 9.99664175e-01 1.56005298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.769072329 meters Centerline goodness : 0.766201 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99531493e-01 -1.71595816e-02 2.53445082e-02 -2.93823756e+02] [ 1.73129669e-02 9.99833035e-01 -5.84501917e-03 1.80192412e+01] [-2.52399785e-02 6.28106937e-03 9.99661689e-01 1.56005399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.79907232899996 meters Centerline goodness : 0.766553 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99525763e-01 -1.72171256e-02 2.55307593e-02 -2.93824497e+02] [ 1.73742100e-02 9.99831390e-01 -5.94372563e-03 1.80194661e+01] [-2.54241207e-02 6.38448367e-03 9.99656367e-01 1.56005832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.829072329 meters Centerline goodness : 0.767151 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99556722e-01 -1.64150042e-02 2.48376275e-02 -2.93823252e+02] [ 1.65511138e-02 9.99849057e-01 -5.28434818e-03 1.80185673e+01] [-2.47471358e-02 5.69309614e-03 9.99677532e-01 1.56006386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.85907232899996 meters Centerline goodness : 0.766098 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99583528e-01 -1.56795619e-02 2.42264816e-02 -2.93821612e+02] [ 1.58032789e-02 9.99862997e-01 -4.92368332e-03 1.80189728e+01] [-2.41459613e-02 5.30449059e-03 9.99694371e-01 1.56006322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.889072329 meters Centerline goodness : 0.765360 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99592913e-01 -1.55471406e-02 2.39226894e-02 -2.93820860e+02] [ 1.56713567e-02 9.99864627e-01 -5.01369959e-03 1.80199032e+01] [-2.38415022e-02 5.38655958e-03 9.99701239e-01 1.56006346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91907232899996 meters Centerline goodness : 0.766569 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99606623e-01 -1.52116908e-02 2.35627504e-02 -2.93820142e+02] [ 1.53274791e-02 9.99871286e-01 -4.74124621e-03 1.80196006e+01] [-2.34875952e-02 5.10053868e-03 9.99711117e-01 1.56006561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.949072329 meters Centerline goodness : 0.765730 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99639030e-01 -1.43379820e-02 2.27207355e-02 -2.93817584e+02] [ 1.44401999e-02 9.99886311e-01 -4.34121049e-03 1.80205719e+01] [-2.26559082e-02 4.66773540e-03 9.99732425e-01 1.56006199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97907232899996 meters Centerline goodness : 0.764898 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.02, Z:156.01 [[ 9.99656777e-01 -1.39280680e-02 2.21886914e-02 -2.93816533e+02] [ 1.40218900e-02 9.99893371e-01 -4.07840604e-03 1.80205685e+01] [-2.21295211e-02 4.38813362e-03 9.99745482e-01 1.56006569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.009072329 meters Centerline goodness : 0.765454 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.02, Z:156.01 [[ 9.99687685e-01 -1.30108293e-02 2.13365894e-02 -2.93814173e+02] [ 1.30911766e-02 9.99907717e-01 -3.63035709e-03 1.80214645e+01] [-2.12873864e-02 3.90854433e-03 9.99765758e-01 1.56006459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03907232899996 meters Centerline goodness : 0.765949 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.02, Z:156.01 [[ 9.99751948e-01 -8.69160062e-03 2.05060568e-02 -2.93812948e+02] [ 8.69596514e-03 9.99962182e-01 -1.23679350e-04 1.80245214e+01] [-2.05042063e-02 3.01968627e-04 9.99789721e-01 1.56007704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.069072329 meters Centerline goodness : 0.766240 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.03, Z:156.01 [[ 9.99761051e-01 -8.83956391e-03 1.99925742e-02 -2.93812067e+02] [ 8.86183056e-03 9.99960207e-01 -1.02542439e-03 1.80278018e+01] [-1.99827143e-02 1.20235017e-03 9.99799603e-01 1.56008344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09907232899997 meters Centerline goodness : 0.767249 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.03, Z:156.01 [[ 9.99801956e-01 -7.15154128e-03 1.85715979e-02 -2.93808840e+02] [ 7.16712059e-03 9.99974018e-01 -7.72454363e-04 1.80301209e+01] [-1.85655911e-02 9.05406265e-04 9.99827235e-01 1.56009195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12907232899994 meters Centerline goodness : 0.767487 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.03, Z:156.01 [[ 9.99815131e-01 -6.90780655e-03 1.79439591e-02 -2.93807640e+02] [ 6.92426665e-03 9.99975661e-01 -8.55338065e-04 1.80309022e+01] [-1.79376138e-02 9.79428697e-04 9.99838628e-01 1.56009710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15907232899997 meters Centerline goodness : 0.768207 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.03, Z:156.01 [[ 9.99826836e-01 -6.75866986e-03 1.73383541e-02 -2.93806164e+02] [ 6.78172363e-03 9.99976196e-01 -1.27118756e-03 1.80333967e+01] [-1.73293498e-02 1.38855136e-03 9.99848871e-01 1.56009908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18907232899994 meters Centerline goodness : 0.767184 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.03, Z:156.01 [[ 9.99847758e-01 -5.88096287e-03 1.64279010e-02 -2.93803519e+02] [ 5.89878735e-03 9.99982065e-01 -1.03676743e-03 1.80347162e+01] [-1.64215091e-02 1.13351428e-03 9.99864515e-01 1.56009649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21907232899997 meters Centerline goodness : 0.768237 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.03, Z:156.01 [[ 9.99858339e-01 -5.49561567e-03 1.59091393e-02 -2.93802807e+02] [ 5.50795968e-03 9.99984563e-01 -7.32194536e-04 1.80338119e+01] [-1.59048698e-02 8.19717710e-04 9.99873174e-01 1.56010318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24907232899994 meters Centerline goodness : 0.767902 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.03, Z:156.01 [[ 9.99879685e-01 -4.31278934e-03 1.49001880e-02 -2.93800163e+02] [ 4.31592241e-03 9.99990670e-01 -1.78120911e-04 1.80344351e+01] [-1.48992808e-02 2.42407536e-04 9.99888970e-01 1.56010323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.279072329 meters Centerline goodness : 0.768040 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.04, Z:156.01 [[ 9.99902572e-01 5.66576912e-04 1.39472343e-02 -2.93798312e+02] [-6.21755918e-04 9.99991997e-01 3.95225053e-03 1.80358936e+01] [-1.39448834e-02 -3.96053725e-03 9.99894922e-01 1.56011149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.30907232899995 meters Centerline goodness : 0.769571 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.04, Z:156.01 [[ 9.99910259e-01 2.42241731e-03 1.31759268e-02 -2.93795649e+02] [-2.48581103e-03 9.99985404e-01 4.79708183e-03 1.80381405e+01] [-1.31641140e-02 -4.82940420e-03 9.99901687e-01 1.56010691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.339072329 meters Centerline goodness : 0.767744 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.04, Z:156.01 [[ 9.99922069e-01 -1.00277083e-03 1.24438932e-02 -2.93794023e+02] [ 9.96314130e-04 9.99999366e-01 5.25053074e-04 1.80401369e+01] [-1.24444119e-02 -5.12614129e-04 9.99922434e-01 1.56011282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.36907232899995 meters Centerline goodness : 0.768595 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.04, Z:156.01 [[ 9.99927534e-01 -8.07554502e-04 1.20114290e-02 -2.93793583e+02] [ 8.00919857e-04 9.99999524e-01 5.57161101e-04 1.80400960e+01] [-1.20118732e-02 -5.47500534e-04 9.99927705e-01 1.56012094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.399072329 meters Centerline goodness : 0.768804 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.04, Z:156.01 [[ 9.99930505e-01 -9.61641815e-04 1.17499361e-02 -2.93793375e+02] [ 9.62327050e-04 9.99999536e-01 -5.26645559e-05 1.80423422e+01] [-1.17498800e-02 6.39681772e-05 9.99930966e-01 1.56012858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.42907232899995 meters Centerline goodness : 0.768944 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.04, Z:156.01 [[ 9.99937659e-01 -6.98293185e-04 1.11441160e-02 -2.93792130e+02] [ 6.99011921e-04 9.99999754e-01 -6.05998010e-05 1.80430646e+01] [-1.11440709e-02 6.83858930e-05 9.99937901e-01 1.56013304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.459072329 meters Centerline goodness : 0.769839 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.04, Z:156.01 [[ 9.99937780e-01 -9.48839633e-04 1.11146380e-02 -2.93792387e+02] [ 9.54269634e-04 9.99999428e-01 -4.83251851e-04 1.80442159e+01] [-1.11141731e-02 4.93828145e-04 9.99938114e-01 1.56013737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.48907232899995 meters Centerline goodness : 0.769914 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.01 [[ 9.99935511e-01 3.10705414e-03 1.09233910e-02 -2.93792070e+02] [-3.14222592e-03 9.99989930e-01 3.20417264e-03 1.80460546e+01] [-1.09133254e-02 -3.23828977e-03 9.99935204e-01 1.56014057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.519072329 meters Centerline goodness : 0.769719 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.01 [[ 9.99937857e-01 3.26412679e-03 1.06596051e-02 -2.93791673e+02] [-3.29814888e-03 9.99989519e-01 3.17566542e-03 1.80462424e+01] [-1.06491276e-02 -3.21062504e-03 9.99938142e-01 1.56014335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.54907232899996 meters Centerline goodness : 0.768781 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.01 [[ 9.99934890e-01 2.94129942e-03 1.10255936e-02 -2.93792714e+02] [-2.97305961e-03 9.99991475e-01 2.86530462e-03 1.80464423e+01] [-1.10170719e-02 -2.89789781e-03 9.99935111e-01 1.56014356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.579072329 meters Centerline goodness : 0.768291 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.01 [[ 9.99935281e-01 2.92441106e-03 1.09946320e-02 -2.93792997e+02] [-2.95621704e-03 9.99991490e-01 2.87772643e-03 1.80459552e+01] [-1.09861228e-02 -2.91004271e-03 9.99935416e-01 1.56014674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.60907232899996 meters Centerline goodness : 0.769324 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.02 [[ 9.99944176e-01 3.71524518e-03 9.89152233e-03 -2.93790477e+02] [-3.74128926e-03 9.99989580e-01 2.61576936e-03 1.80486433e+01] [-9.88170104e-03 -2.65263038e-03 9.99947656e-01 1.56015335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.639072329 meters Centerline goodness : 0.768419 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.02 [[ 9.99950076e-01 4.22061045e-03 9.05715853e-03 -2.93788593e+02] [-4.24386793e-03 9.99987743e-01 2.55017519e-03 1.80501023e+01] [-9.04628422e-03 -2.58848526e-03 9.99955731e-01 1.56015727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66907232899996 meters Centerline goodness : 0.769544 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.02 [[ 9.99924751e-01 9.29150452e-03 8.00997672e-03 -2.93786248e+02] [-9.34415960e-03 9.99934814e-01 6.56151909e-03 1.80526251e+01] [-7.94848820e-03 -6.63587184e-03 9.99946392e-01 1.56016563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.699072329 meters Centerline goodness : 0.768643 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99929560e-01 8.98485474e-03 7.75549961e-03 -2.93785938e+02] [-9.02885249e-03 9.99943238e-01 5.65685796e-03 1.80556615e+01] [-7.70423335e-03 -5.72648275e-03 9.99953925e-01 1.56017099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72907232899996 meters Centerline goodness : 0.768442 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99931690e-01 9.19106428e-03 7.22079046e-03 -2.93785380e+02] [-9.23174147e-03 9.99941592e-01 5.62035499e-03 1.80560149e+01] [-7.16871166e-03 -5.68663153e-03 9.99958135e-01 1.56018103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.759072329 meters Centerline goodness : 0.770206 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99933113e-01 9.57602962e-03 6.48605301e-03 -2.93784282e+02] [-9.60863493e-03 9.99941262e-01 5.01462061e-03 1.80587116e+01] [-6.43765188e-03 -5.07660731e-03 9.99966392e-01 1.56019361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78907232899996 meters Centerline goodness : 0.771701 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99935390e-01 9.36205816e-03 6.44729679e-03 -2.93784595e+02] [-9.39195257e-03 9.99945212e-01 4.62217302e-03 1.80596009e+01] [-6.40367050e-03 -4.68242708e-03 9.99968533e-01 1.56019890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.819072329 meters Centerline goodness : 0.771915 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99935639e-01 9.32535808e-03 6.46184101e-03 -2.93784643e+02] [-9.35485023e-03 9.99945895e-01 4.54895305e-03 1.80598991e+01] [-6.41907078e-03 -4.60910983e-03 9.99968775e-01 1.56019915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84907232899997 meters Centerline goodness : 0.772026 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99965320e-01 6.28050189e-03 5.46936758e-03 -2.93782790e+02] [-6.28714037e-03 9.99979519e-01 1.19741101e-03 1.80587223e+01] [-5.46173522e-03 -1.23175617e-03 9.99984326e-01 1.56020584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87907232899994 meters Centerline goodness : 0.773495 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99965635e-01 6.23436310e-03 5.46453052e-03 -2.93782976e+02] [-6.23996160e-03 9.99980023e-01 1.00806714e-03 1.80594892e+01] [-5.45813670e-03 -1.04213096e-03 9.99984561e-01 1.56020837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90907232899997 meters Centerline goodness : 0.774398 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99982497e-01 2.25600256e-03 5.46954279e-03 -2.93783044e+02] [-2.24172051e-03 9.99994066e-01 -2.61592150e-03 1.80577213e+01] [-5.47541185e-03 2.60361453e-03 9.99981620e-01 1.56020778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93907232899994 meters Centerline goodness : 0.772486 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99983728e-01 2.65059818e-03 5.05161905e-03 -2.93782235e+02] [-2.63868383e-03 9.99993725e-01 -2.36372919e-03 1.80576713e+01] [-5.05785264e-03 2.35036110e-03 9.99984447e-01 1.56021050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96907232899997 meters Centerline goodness : 0.775171 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99985558e-01 2.74334666e-03 4.62135406e-03 -2.93781198e+02] [-2.73152319e-03 9.99992985e-01 -2.56281520e-03 1.80590800e+01] [-4.62835234e-03 2.55015485e-03 9.99986037e-01 1.56021265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99907232899994 meters Centerline goodness : 0.774334 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99984176e-01 2.26217915e-03 5.15068826e-03 -2.93782494e+02] [-2.24688859e-03 9.99993058e-01 -2.97249891e-03 1.80599452e+01] [-5.15737683e-03 2.96087886e-03 9.99982317e-01 1.56021217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.029072329 meters Centerline goodness : 0.776644 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99981062e-01 2.02168660e-03 5.81281933e-03 -2.93784162e+02] [-2.00548256e-03 9.99994091e-01 -2.79211782e-03 1.80583953e+01] [-5.81842977e-03 2.78040744e-03 9.99979207e-01 1.56021047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.05907232899995 meters Centerline goodness : 0.775397 Centerline is valid? [False, False] Translation: X:-293.78, Y:18.06, Z:156.02 [[ 9.99979824e-01 2.19833891e-03 5.95972157e-03 -2.93784539e+02] [-2.18377242e-03 9.99994615e-01 -2.44956331e-03 1.80572745e+01] [-5.96507445e-03 2.43649921e-03 9.99979240e-01 1.56020940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.089072329 meters Centerline goodness : 0.774985 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99980055e-01 2.08321798e-03 5.96231882e-03 -2.93785348e+02] [-2.06795458e-03 9.99994572e-01 -2.56499864e-03 1.80571994e+01] [-5.96762991e-03 2.55261768e-03 9.99978936e-01 1.56021937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.11907232899995 meters Centerline goodness : 0.776552 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99980322e-01 2.16974536e-03 5.88627847e-03 -2.93785486e+02] [-2.15522083e-03 9.99994620e-01 -2.47274474e-03 1.80570502e+01] [-5.89161203e-03 2.46000985e-03 9.99979618e-01 1.56022391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.149072329 meters Centerline goodness : 0.773208 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99976160e-01 1.18528357e-03 6.80255534e-03 -2.93788172e+02] [-1.16325545e-03 9.99994071e-01 -3.24125651e-03 1.80579659e+01] [-6.80635681e-03 3.23326613e-03 9.99971609e-01 1.56022796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.17907232899995 meters Centerline goodness : 0.773279 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.06, Z:156.02 [[ 9.99970214e-01 3.74460378e-04 7.70912447e-03 -2.93790631e+02] [-3.47897492e-04 9.99994000e-01 -3.44669512e-03 1.80567352e+01] [-7.71036886e-03 3.44391047e-03 9.99964344e-01 1.56022808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.209072329 meters Centerline goodness : 0.774547 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.02 [[ 9.99962017e-01 -3.40883167e-04 8.70905753e-03 -2.93793167e+02] [ 3.68922572e-04 9.99994754e-01 -3.21816462e-03 1.80541151e+01] [-8.70791482e-03 3.22125535e-03 9.99956897e-01 1.56022421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.23907232899995 meters Centerline goodness : 0.773289 Centerline is valid? [False, False] Translation: X:-293.79, Y:18.05, Z:156.02 [[ 9.99953761e-01 -5.85306224e-04 9.59859850e-03 -2.93794835e+02] [ 6.08653626e-04 9.99996863e-01 -2.42963546e-03 1.80506784e+01] [-9.59714631e-03 2.43536534e-03 9.99950981e-01 1.56021236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.269072329 meters Centerline goodness : 0.772207 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.05, Z:156.02 [[ 9.99946733e-01 -9.90298456e-04 1.02738210e-02 -2.93796467e+02] [ 1.01505311e-03 9.99996594e-01 -2.40455362e-03 1.80498004e+01] [-1.02714048e-02 2.41485401e-03 9.99944332e-01 1.56021015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.29907232899996 meters Centerline goodness : 0.775294 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.05, Z:156.02 [[ 9.99933550e-01 -2.04700756e-03 1.13448615e-02 -2.93799218e+02] [ 2.07967789e-03 9.99993723e-01 -2.86869800e-03 1.80495433e+01] [-1.13389180e-02 2.89210103e-03 9.99931530e-01 1.56020966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.329072329 meters Centerline goodness : 0.776282 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.05, Z:156.02 [[ 9.99917578e-01 -3.50147468e-03 1.23521623e-02 -2.93802825e+02] [ 3.55062158e-03 9.99985859e-01 -3.95912639e-03 1.80502081e+01] [-1.23381248e-02 4.00265793e-03 9.99915871e-01 1.56022216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.35907232899996 meters Centerline goodness : 0.776049 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.05, Z:156.02 [[ 9.99914059e-01 -3.43684979e-03 1.26515497e-02 -2.93803701e+02] [ 3.48350183e-03 9.99987208e-01 -3.66726921e-03 1.80492579e+01] [-1.26387840e-02 3.71102574e-03 9.99913241e-01 1.56022332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.389072329 meters Centerline goodness : 0.776049 Centerline is valid? [False, False] Translation: X:-293.80, Y:18.05, Z:156.02 [[ 9.99914059e-01 -3.43684979e-03 1.26515497e-02 -2.93803701e+02] [ 3.48350183e-03 9.99987208e-01 -3.66726921e-03 1.80492579e+01] [-1.26387840e-02 3.71102574e-03 9.99913241e-01 1.56022332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41907232899996 meters Centerline goodness : 0.774142 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.05, Z:156.02 [[ 9.99870879e-01 -8.28680223e-03 1.37678480e-02 -2.93806107e+02] [ 8.39004877e-03 9.99936988e-01 -7.45834653e-03 1.80466317e+01] [-1.37051746e-02 7.57289642e-03 9.99877402e-01 1.56021602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.449072329 meters Centerline goodness : 0.773905 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.04, Z:156.02 [[ 9.99841277e-01 -9.69425322e-03 1.49480152e-02 -2.93809222e+02] [ 9.80854127e-03 9.99923078e-01 -7.59143648e-03 1.80438526e+01] [-1.48732721e-02 7.73684977e-03 9.99859454e-01 1.56021262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47907232899996 meters Centerline goodness : 0.775698 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.04, Z:156.02 [[ 9.99804097e-01 -1.14544797e-02 1.61419366e-02 -2.93812821e+02] [ 1.15910667e-02 9.99897592e-01 -8.39362572e-03 1.80423166e+01] [-1.60441390e-02 8.57908365e-03 9.99834479e-01 1.56021559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.509072329 meters Centerline goodness : 0.774134 Centerline is valid? [False, False] Translation: X:-293.81, Y:18.04, Z:156.02 [[ 9.99742232e-01 -1.53442778e-02 1.67338563e-02 -2.93813568e+02] [ 1.55399526e-02 9.99811647e-01 -1.16266861e-02 1.80392120e+01] [-1.65523013e-02 1.18837325e-02 9.99792378e-01 1.56020578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53907232899996 meters Centerline goodness : 0.772793 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.04, Z:156.02 [[ 9.99559121e-01 -2.07799473e-02 2.12074828e-02 -2.93824763e+02] [ 2.10074229e-02 9.99723545e-01 -1.05603611e-02 1.80380693e+01] [-2.09821762e-02 1.10012198e-02 9.99719321e-01 1.56015491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.569072329 meters Centerline goodness : 0.772069 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99539012e-01 -2.09847576e-02 2.19409117e-02 -2.93826389e+02] [ 2.12102767e-02 9.99724052e-01 -1.00967594e-02 1.80358655e+01] [-2.17229791e-02 1.05574778e-02 9.99708283e-01 1.56014990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59907232899997 meters Centerline goodness : 0.771596 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.03, Z:156.01 [[ 9.99499745e-01 -2.17362751e-02 2.29737721e-02 -2.93828172e+02] [ 2.19672874e-02 9.99710152e-01 -9.85137572e-03 1.80340421e+01] [-2.27529810e-02 1.03511190e-02 9.99687529e-01 1.56013579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62907232899994 meters Centerline goodness : 0.770903 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.03, Z:156.01 [[ 9.99484354e-01 -2.19799723e-02 2.34074086e-02 -2.93828837e+02] [ 2.22186647e-02 9.99703256e-01 -9.98649024e-03 1.80344628e+01] [-2.31809598e-02 1.05014221e-02 9.99676129e-01 1.56012984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65907232899997 meters Centerline goodness : 0.771201 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.03, Z:156.01 [[ 9.99461212e-01 -2.24784768e-02 2.39165971e-02 -2.93830094e+02] [ 2.27309187e-02 9.99688187e-01 -1.03360776e-02 1.80349929e+01] [-2.36768003e-02 1.08741549e-02 9.99660523e-01 1.56012947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68907232899994 meters Centerline goodness : 0.771219 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.03, Z:156.01 [[ 9.99469575e-01 -2.23006569e-02 2.37328943e-02 -2.93829937e+02] [ 2.25473648e-02 9.99693957e-01 -1.01788322e-02 1.80348235e+01] [-2.34986364e-02 1.07085473e-02 9.99666515e-01 1.56013335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71907232899997 meters Centerline goodness : 0.772840 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99466630e-01 -2.24339628e-02 2.37312524e-02 -2.93830174e+02] [ 2.26897838e-02 9.99686716e-01 -1.05661135e-02 1.80364065e+01] [-2.34867780e-02 1.10989348e-02 9.99662536e-01 1.56013765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74907232899994 meters Centerline goodness : 0.774263 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99529191e-01 -1.89563428e-02 2.41257669e-02 -2.93831932e+02] [ 1.91295110e-02 9.99792738e-01 -6.96726937e-03 1.80371244e+01] [-2.39886926e-02 7.42550324e-03 9.99684653e-01 1.56014447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.779072329 meters Centerline goodness : 0.772867 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99534682e-01 -1.88701334e-02 2.39653512e-02 -2.93831710e+02] [ 1.90448303e-02 9.99793546e-01 -7.08234104e-03 1.80378940e+01] [-2.38267587e-02 7.53546154e-03 9.99687702e-01 1.56014742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.80907232899995 meters Centerline goodness : 0.774254 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.02 [[ 9.99553455e-01 -1.83964429e-02 2.35470199e-02 -2.93830924e+02] [ 1.85606701e-02 9.99804782e-01 -6.77496856e-03 1.80376862e+01] [-2.34177878e-02 7.20899170e-03 9.99699774e-01 1.56015041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.839072329 meters Centerline goodness : 0.772994 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99554341e-01 -1.83031732e-02 2.35820428e-02 -2.93830829e+02] [ 1.84661862e-02 9.99806946e-01 -6.71344915e-03 1.80379100e+01] [-2.34546128e-02 7.14592763e-03 9.99699363e-01 1.56014806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.86907232899995 meters Centerline goodness : 0.773437 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99579562e-01 -1.75930557e-02 2.30474067e-02 -2.93829045e+02] [ 1.77381043e-02 9.99824034e-01 -6.10422932e-03 1.80374380e+01] [-2.29359591e-02 6.51048018e-03 9.99715737e-01 1.56014160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.899072329 meters Centerline goodness : 0.771561 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99594142e-01 -1.71760458e-02 2.27273828e-02 -2.93828058e+02] [ 1.73091131e-02 9.99834102e-01 -5.67120999e-03 1.80369676e+01] [-2.26262034e-02 6.06229913e-03 9.99725614e-01 1.56013809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.92907232899995 meters Centerline goodness : 0.771995 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99647918e-01 -1.33235713e-02 2.29460794e-02 -2.93828330e+02] [ 1.33692002e-02 9.99908942e-01 -1.83626149e-03 1.80381418e+01] [-2.29195244e-02 2.14238570e-03 9.99735018e-01 1.56013169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.959072329 meters Centerline goodness : 0.773202 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99640395e-01 -1.35067674e-02 2.31656514e-02 -2.93828816e+02] [ 1.35586758e-02 9.99905903e-01 -2.08513764e-03 1.80388515e+01] [-2.31353081e-02 2.39848337e-03 9.99729466e-01 1.56013050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.98907232899995 meters Centerline goodness : 0.774172 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99672236e-01 -1.26708449e-02 2.22456821e-02 -2.93826780e+02] [ 1.27187110e-02 9.99917091e-01 -2.01153298e-03 1.80404057e+01] [-2.22183499e-02 2.29381007e-03 9.99750511e-01 1.56013597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.019072329 meters Centerline goodness : 0.774390 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99669865e-01 -1.29161302e-02 2.22111546e-02 -2.93826833e+02] [ 1.29772151e-02 9.99912391e-01 -2.60824948e-03 1.80426627e+01] [-2.21755202e-02 2.89562734e-03 9.99749900e-01 1.56013881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.04907232899996 meters Centerline goodness : 0.774571 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99697194e-01 -1.21489143e-02 2.13991593e-02 -2.93825339e+02] [ 1.21947068e-02 9.99923620e-01 -2.01072566e-03 1.80417021e+01] [-2.13730967e-02 2.27107327e-03 9.99768990e-01 1.56014441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.079072329 meters Centerline goodness : 0.773692 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.04, Z:156.01 [[ 9.99705926e-01 -1.19625822e-02 2.10940535e-02 -2.93824251e+02] [ 1.20104939e-02 9.99925568e-01 -2.14610785e-03 1.80430061e+01] [-2.10668105e-02 2.39882674e-03 9.99775192e-01 1.56014011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.10907232899996 meters Centerline goodness : 0.775899 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.04, Z:156.01 [[ 9.99713354e-01 -1.18989945e-02 2.07755534e-02 -2.93823552e+02] [ 1.19531583e-02 9.99925471e-01 -2.48486201e-03 1.80447919e+01] [-2.07444377e-02 2.73248322e-03 9.99781077e-01 1.56014221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.139072329 meters Centerline goodness : 0.777924 Centerline is valid? [False, False] Translation: X:-293.82, Y:18.05, Z:156.02 [[ 9.99699635e-01 -1.25307135e-02 2.10623117e-02 -2.93824899e+02] [ 1.26061879e-02 9.99914572e-01 -3.45443717e-03 1.80472767e+01] [-2.10172258e-02 3.71891504e-03 9.99772197e-01 1.56015210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16907232899996 meters Centerline goodness : 0.777473 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.05, Z:156.02 [[ 9.99699738e-01 -1.24972938e-02 2.10772728e-02 -2.93825056e+02] [ 1.25719519e-02 9.99915144e-01 -3.41333240e-03 1.80472130e+01] [-2.10328269e-02 3.67728997e-03 9.99772023e-01 1.56015346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.199072329 meters Centerline goodness : 0.777468 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.05, Z:156.02 [[ 9.99687940e-01 -1.26314483e-02 2.15515300e-02 -2.93826208e+02] [ 1.27048631e-02 9.99913933e-01 -3.27296161e-03 1.80463591e+01] [-2.15083329e-02 3.54574949e-03 9.99762381e-01 1.56015156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22907232899996 meters Centerline goodness : 0.776247 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99673930e-01 -1.27016092e-02 2.21518159e-02 -2.93827121e+02] [ 1.27672112e-02 9.99914512e-01 -2.82255760e-03 1.80445735e+01] [-2.21140711e-02 3.10445416e-03 9.99750634e-01 1.56014132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.259072329 meters Centerline goodness : 0.776162 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99656605e-01 -1.29474692e-02 2.27823599e-02 -2.93828711e+02] [ 1.30137827e-02 9.99911495e-01 -2.76488387e-03 1.80438354e+01] [-2.27445453e-02 3.06041910e-03 9.99736625e-01 1.56014062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28907232899996 meters Centerline goodness : 0.777386 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99634306e-01 -1.32124333e-02 2.35941717e-02 -2.93829967e+02] [ 1.32726257e-02 9.99909043e-01 -2.39637579e-03 1.80419928e+01] [-2.35603637e-02 2.70865606e-03 9.99718747e-01 1.56012737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.319072329 meters Centerline goodness : 0.777978 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99615102e-01 -1.34560035e-02 2.42607347e-02 -2.93831540e+02] [ 1.35168932e-02 9.99905887e-01 -2.34755700e-03 1.80411976e+01] [-2.42268627e-02 2.67458319e-03 9.99702909e-01 1.56012460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34907232899997 meters Centerline goodness : 0.775951 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99598164e-01 -1.37324022e-02 2.47978216e-02 -2.93833095e+02] [ 1.37964306e-02 9.99901914e-01 -2.41277017e-03 1.80406544e+01] [-2.47622561e-02 2.75392206e-03 9.99689575e-01 1.56012655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37907232899994 meters Centerline goodness : 0.778339 Centerline is valid? [False, False] Translation: X:-293.83, Y:18.04, Z:156.01 [[ 9.99548477e-01 -1.72155604e-02 2.46265308e-02 -2.93832501e+02] [ 1.73647749e-02 9.99832059e-01 -5.85811651e-03 1.80393662e+01] [-2.45215442e-02 6.28310560e-03 9.99679557e-01 1.56012664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40907232899997 meters Centerline goodness : 0.777659 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.04, Z:156.01 [[ 9.99492268e-01 -1.87034140e-02 2.57951151e-02 -2.93836066e+02] [ 1.88942031e-02 9.99795761e-01 -7.17251703e-03 1.80412743e+01] [-2.56556961e-02 7.65625346e-03 9.99641519e-01 1.56013521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43907232899994 meters Centerline goodness : 0.779428 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.04, Z:156.01 [[ 9.99396299e-01 -2.28438558e-02 2.61762312e-02 -2.93837556e+02] [ 2.31465997e-02 9.99667974e-01 -1.13215323e-02 1.80408710e+01] [-2.59089125e-02 1.19205882e-02 9.99593231e-01 1.56014649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46907232899997 meters Centerline goodness : 0.779593 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.04, Z:156.02 [[ 9.99349859e-01 -2.36503313e-02 2.72125170e-02 -2.93840582e+02] [ 2.39771796e-02 9.99643477e-01 -1.17479651e-02 1.80407093e+01] [-2.69249719e-02 1.23928067e-02 9.99560636e-01 1.56015210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49907232899994 meters Centerline goodness : 0.779237 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.04, Z:156.02 [[ 9.99329046e-01 -2.37647368e-02 2.78692535e-02 -2.93842212e+02] [ 2.40913911e-02 9.99644253e-01 -1.14443074e-02 1.80392200e+01] [-2.75873682e-02 1.21080379e-02 9.99546063e-01 1.56015060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.529072329 meters Centerline goodness : 0.776993 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.04, Z:156.01 [[ 9.99283598e-01 -2.46315736e-02 2.87328573e-02 -2.93842964e+02] [ 2.49477100e-02 9.99631531e-01 -1.06964589e-02 1.80355342e+01] [-2.84587995e-02 1.14056149e-02 9.99529894e-01 1.56012460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.55907232899995 meters Centerline goodness : 0.777808 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.03, Z:156.01 [[ 9.99300158e-01 -2.40751176e-02 2.86283460e-02 -2.93841843e+02] [ 2.43659421e-02 9.99654545e-01 -9.85348950e-03 1.80340289e+01] [-2.83812322e-02 1.05441502e-02 9.99541558e-01 1.56011163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.589072329 meters Centerline goodness : 0.776788 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.03, Z:156.01 [[ 9.99282039e-01 -2.43233273e-02 2.90479309e-02 -2.93842172e+02] [ 2.46196133e-02 9.99648008e-01 -9.88613126e-03 1.80343290e+01] [-2.87972426e-02 1.05941822e-02 9.99529130e-01 1.56010194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.61907232899995 meters Centerline goodness : 0.777110 Centerline is valid? [False, False] Translation: X:-293.84, Y:18.03, Z:156.01 [[ 9.99253130e-01 -2.47312271e-02 2.96908715e-02 -2.93843945e+02] [ 2.50405800e-02 9.99635485e-01 -1.00928569e-02 1.80343278e+01] [-2.94304400e-02 1.08287955e-02 9.99508172e-01 1.56010382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.649072329 meters Centerline goodness : 0.777168 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.99224898e-01 -2.50486257e-02 3.03672587e-02 -2.93845833e+02] [ 2.53671645e-02 9.99626672e-01 -1.01500106e-02 1.80338834e+01] [-3.01016779e-02 1.09124745e-02 9.99487272e-01 1.56010614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.67907232899995 meters Centerline goodness : 0.778979 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.99181735e-01 -2.56252871e-02 3.12922606e-02 -2.93848135e+02] [ 2.59647575e-02 9.99607813e-01 -1.04905897e-02 1.80341620e+01] [-3.10111638e-02 1.12945016e-02 9.99455223e-01 1.56010585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.709072329 meters Centerline goodness : 0.777253 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.99060870e-01 -2.94371866e-02 3.17935667e-02 -2.93848450e+02] [ 2.98879797e-02 9.99458019e-01 -1.37977214e-02 1.80316517e+01] [-3.13701691e-02 1.47350090e-02 9.99399216e-01 1.56009589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.73907232899995 meters Centerline goodness : 0.776126 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.99000689e-01 -3.02775927e-02 3.28768915e-02 -2.93851078e+02] [ 3.07551954e-02 9.99427212e-01 -1.41196862e-02 1.80314066e+01] [-3.24305499e-02 1.51167115e-02 9.99359667e-01 1.56009367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.769072329 meters Centerline goodness : 0.774477 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.98935742e-01 -3.11421562e-02 3.40227922e-02 -2.93853827e+02] [ 3.16442817e-02 9.99396593e-01 -1.43209645e-02 1.80307560e+01] [-3.35562769e-02 1.53823501e-02 9.99318448e-01 1.56009180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.79907232899996 meters Centerline goodness : 0.775940 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.03, Z:156.01 [[ 9.98916282e-01 -3.13655647e-02 3.43869657e-02 -2.93854912e+02] [ 3.18778579e-02 9.99387281e-01 -1.44521287e-02 1.80309014e+01] [-3.39125970e-02 1.55326495e-02 9.99304094e-01 1.56009412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.829072329 meters Centerline goodness : 0.776114 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.03, Z:156.01 [[ 9.98848762e-01 -3.23635548e-02 3.54083561e-02 -2.93857822e+02] [ 3.29253144e-02 9.99339184e-01 -1.53986549e-02 1.80325867e+01] [-3.48866025e-02 1.65467586e-02 9.99254287e-01 1.56009972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.85907232899996 meters Centerline goodness : 0.775874 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.03, Z:156.01 [[ 9.98676784e-01 -3.65335252e-02 3.61936732e-02 -2.93859790e+02] [ 3.72403136e-02 9.99124746e-01 -1.90499458e-02 1.80302822e+01] [-3.54660328e-02 2.03726024e-02 9.99163209e-01 1.56010372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.889072329 meters Centerline goodness : 0.775421 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.03, Z:156.01 [[ 9.98685226e-01 -3.61763822e-02 3.63192657e-02 -2.93859958e+02] [ 3.68601533e-02 9.99152186e-01 -1.83368031e-02 1.80284980e+01] [-3.56251145e-02 1.96514281e-02 9.99171993e-01 1.56010058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91907232899996 meters Centerline goodness : 0.774102 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.03, Z:156.01 [[ 9.98602493e-01 -3.71880969e-02 3.75513744e-02 -2.93862886e+02] [ 3.79082484e-02 9.99107150e-01 -1.86511909e-02 1.80278826e+01] [-3.68242444e-02 2.00486325e-02 9.99120627e-01 1.56009727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.949072329 meters Centerline goodness : 0.771771 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98351830e-01 -4.19679709e-02 3.91447785e-02 -2.93865495e+02] [ 4.28503769e-02 9.98839646e-01 -2.19819607e-02 1.80238917e+01] [-3.81768184e-02 2.36230992e-02 9.98991732e-01 1.56007888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97907232899996 meters Centerline goodness : 0.771510 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98294695e-01 -4.24069144e-02 4.01167740e-02 -2.93867772e+02] [ 4.32990448e-02 9.98827833e-01 -2.16368405e-02 1.80216891e+01] [-3.91521988e-02 2.33369611e-02 9.98960706e-01 1.56007465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.009072329 meters Centerline goodness : 0.770818 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98257862e-01 -4.25978981e-02 4.08247600e-02 -2.93869178e+02] [ 4.34956460e-02 9.98825251e-01 -2.13599384e-02 1.80204738e+01] [-3.98669126e-02 2.30984257e-02 9.98937982e-01 1.56006810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03907232899996 meters Centerline goodness : 0.770542 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98226680e-01 -4.28655503e-02 4.13042390e-02 -2.93870376e+02] [ 4.37757182e-02 9.98812398e-01 -2.13887665e-02 1.80202791e+01] [-4.03383448e-02 2.31589601e-02 9.98917655e-01 1.56006767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.069072329 meters Centerline goodness : 0.770903 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98210327e-01 -4.29945915e-02 4.15645172e-02 -2.93870937e+02] [ 4.39151253e-02 9.98804034e-01 -2.14933362e-02 1.80207868e+01] [-4.05907103e-02 2.32801812e-02 9.98904614e-01 1.56006640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09907232899997 meters Centerline goodness : 0.769351 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98179278e-01 -4.31999151e-02 4.20938966e-02 -2.93872202e+02] [ 4.41310713e-02 9.98795485e-01 -2.14482579e-02 1.80203928e+01] [-4.11166310e-02 2.32668554e-02 9.98883415e-01 1.56006493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12907232899994 meters Centerline goodness : 0.769491 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98188572e-01 -4.31395563e-02 4.19351168e-02 -2.93871388e+02] [ 4.40721337e-02 9.98795378e-01 -2.15740618e-02 1.80214886e+01] [-4.09539054e-02 2.33831520e-02 9.98887384e-01 1.56005864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15907232899997 meters Centerline goodness : 0.770293 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98173414e-01 -4.33684334e-02 4.20596602e-02 -2.93871408e+02] [ 4.43233272e-02 9.98774033e-01 -2.20425389e-02 1.80235818e+01] [-4.10521461e-02 2.38665003e-02 9.98871919e-01 1.56005534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18907232899994 meters Centerline goodness : 0.769830 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.02, Z:156.01 [[ 9.98187259e-01 -4.32907875e-02 4.18103380e-02 -2.93871095e+02] [ 4.42471117e-02 9.98773378e-01 -2.22245778e-02 1.80245013e+01] [-4.07969330e-02 2.40342770e-02 9.98878353e-01 1.56005999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21907232899997 meters Centerline goodness : 0.770763 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.03, Z:156.01 [[ 9.98256653e-01 -4.08565242e-02 4.25957587e-02 -2.93874580e+02] [ 4.17289331e-02 9.98932821e-01 -1.97968563e-02 1.80273392e+01] [-4.17414707e-02 2.15398191e-02 9.98896234e-01 1.56007506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24907232899994 meters Centerline goodness : 0.767374 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.03, Z:156.01 [[ 9.98514890e-01 -3.54321982e-02 4.13832662e-02 -2.93871964e+02] [ 3.60665868e-02 9.99241493e-01 -1.46847136e-02 1.80274947e+01] [-4.08315650e-02 1.61554583e-02 9.99035427e-01 1.56007500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.279072329 meters Centerline goodness : 0.768758 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.03, Z:156.01 [[ 9.98684518e-01 -3.11776144e-02 4.07085999e-02 -2.93870987e+02] [ 3.16500543e-02 9.99438338e-01 -1.10128105e-02 1.80303803e+01] [-4.03423823e-02 1.22867527e-02 9.99110368e-01 1.56008096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.30907232899995 meters Centerline goodness : 0.768758 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.03, Z:156.01 [[ 9.98684518e-01 -3.11776144e-02 4.07085999e-02 -2.93870987e+02] [ 3.16500543e-02 9.99438338e-01 -1.10128105e-02 1.80303803e+01] [-4.03423823e-02 1.22867527e-02 9.99110368e-01 1.56008096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.339072329 meters Centerline goodness : 0.767166 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.03, Z:156.01 [[ 9.98860842e-01 -2.65198956e-02 3.96700524e-02 -2.93869621e+02] [ 2.68107424e-02 9.99617279e-01 -6.81760564e-03 1.80315668e+01] [-3.94740676e-02 7.87342286e-03 9.99189575e-01 1.56009303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.36907232899995 meters Centerline goodness : 0.768609 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.05, Z:156.01 [[ 9.99208653e-01 -9.56219007e-03 3.86087085e-02 -2.93874774e+02] [ 9.94871297e-03 9.99902177e-01 -9.83160123e-03 1.80495804e+01] [-3.85109200e-02 1.02079280e-02 9.99206038e-01 1.56010952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.399072329 meters Centerline goodness : 0.769772 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.06, Z:156.01 [[ 9.99203152e-01 -1.04729814e-02 3.85146477e-02 -2.93874688e+02] [ 1.09296835e-02 9.99872209e-01 -1.16665020e-02 1.80550429e+01] [-3.83875428e-02 1.20781584e-02 9.99189929e-01 1.56011330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.42907232899995 meters Centerline goodness : 0.768084 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.06, Z:156.01 [[ 9.99277344e-01 -6.05491661e-03 3.75250358e-02 -2.93873133e+02] [ 6.36639163e-03 9.99946223e-01 -8.18653233e-03 1.80579299e+01] [-3.74734490e-02 8.41951535e-03 9.99262154e-01 1.56012569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.459072329 meters Centerline goodness : 0.768251 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.06, Z:156.01 [[ 9.99306787e-01 -2.18410810e-03 3.71641720e-02 -2.93872831e+02] [ 2.36403539e-03 9.99985694e-01 -4.79816310e-03 1.80608972e+01] [-3.71531606e-02 4.88269437e-03 9.99297654e-01 1.56013392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.48907232899995 meters Centerline goodness : 0.768727 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.06, Z:156.01 [[ 9.99338798e-01 -1.88459271e-03 3.63099968e-02 -2.93870926e+02] [ 2.08361809e-03 9.99983009e-01 -5.44422256e-03 1.80644202e+01] [-3.62991198e-02 5.51627900e-03 9.99325745e-01 1.56013874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.519072329 meters Centerline goodness : 0.768839 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.01 [[ 9.99371046e-01 -1.02798344e-03 3.54465280e-02 -2.93868352e+02] [ 1.21098106e-03 9.99986049e-01 -5.14155616e-03 1.80657793e+01] [-3.54407480e-02 5.18124743e-03 9.99358348e-01 1.56013421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.54907232899996 meters Centerline goodness : 0.769137 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.01 [[ 9.99387842e-01 -9.69050719e-04 3.49714446e-02 -2.93867945e+02] [ 1.16267338e-03 9.99984107e-01 -5.51668161e-03 1.80670701e+01] [-3.49655429e-02 5.55396490e-03 9.99373086e-01 1.56014511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.579072329 meters Centerline goodness : 0.770042 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.02 [[ 9.99391838e-01 -1.00043227e-03 3.48561732e-02 -2.93868433e+02] [ 1.19999910e-03 9.99983006e-01 -5.70498769e-03 1.80673207e+01] [-3.48498734e-02 5.74334552e-03 9.99376055e-01 1.56015494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.60907232899996 meters Centerline goodness : 0.768755 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.02 [[ 9.99400049e-01 -7.36728116e-04 3.46265590e-02 -2.93868343e+02] [ 9.28279361e-04 9.99984355e-01 -5.51616605e-03 1.80668109e+01] [-3.46219534e-02 5.54499975e-03 9.99385098e-01 1.56016069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.639072329 meters Centerline goodness : 0.771571 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.02 [[ 9.99393439e-01 2.85342301e-03 3.47075307e-02 -2.93869274e+02] [-2.77462315e-03 9.99993463e-01 -2.31834933e-03 1.80698371e+01] [-3.47139191e-02 2.22064279e-03 9.99394823e-01 1.56017106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66907232899996 meters Centerline goodness : 0.772643 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.07, Z:156.02 [[ 9.99379054e-01 1.59742201e-03 3.51987905e-02 -2.93871414e+02] [-1.45394592e-03 9.99990532e-01 -4.10138499e-03 1.80740033e+01] [-3.52050089e-02 4.04766111e-03 9.99371915e-01 1.56018343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.699072329 meters Centerline goodness : 0.772496 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.09, Z:156.02 [[ 9.99688010e-01 -5.65836676e-05 2.49775619e-02 -2.93882824e+02] [ 3.11124344e-04 9.99948063e-01 -1.01870050e-02 1.80898744e+01] [-2.49756882e-02 1.01915979e-02 9.99636107e-01 1.56024554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72907232899996 meters Centerline goodness : 0.773606 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.09, Z:156.02 [[ 9.99679979e-01 -1.08758383e-05 2.52970178e-02 -2.93883809e+02] [ 2.60334169e-04 9.99951376e-01 -9.85790300e-03 1.80887137e+01] [-2.52956805e-02 9.86133394e-03 9.99631373e-01 1.56024656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.759072329 meters Centerline goodness : 0.773822 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.10, Z:156.03 [[ 9.99805527e-01 -4.61739764e-03 1.91725559e-02 -2.93897997e+02] [ 4.75698317e-03 9.99962467e-01 -7.24127389e-03 1.80998474e+01] [-1.91384005e-02 7.33106918e-03 9.99789966e-01 1.56030540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78907232899996 meters Centerline goodness : 0.772533 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.10, Z:156.03 [[ 9.99802398e-01 -4.57942514e-03 1.93440709e-02 -2.93898315e+02] [ 4.71901406e-03 9.99963113e-01 -7.17663593e-03 1.81000245e+01] [-1.93104925e-02 7.26650276e-03 9.99787129e-01 1.56030347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.819072329 meters Centerline goodness : 0.773265 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.10, Z:156.03 [[ 9.99772308e-01 -6.11617618e-03 2.04432224e-02 -2.93901717e+02] [ 6.28795314e-03 9.99945377e-01 -8.34894416e-03 1.81010481e+01] [-2.03910421e-02 8.47558919e-03 9.99756155e-01 1.56030992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84907232899997 meters Centerline goodness : 0.771860 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.10, Z:156.03 [[ 9.99746891e-01 -9.38817195e-03 2.04454466e-02 -2.93900593e+02] [ 9.61856759e-03 9.99891018e-01 -1.11997666e-02 1.80982571e+01] [-2.03380730e-02 1.13935877e-02 9.99728238e-01 1.56029504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87907232899994 meters Centerline goodness : 0.770500 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.10, Z:156.03 [[ 9.99736953e-01 -9.39003984e-03 2.09249326e-02 -2.93901448e+02] [ 9.61772980e-03 9.99895345e-01 -1.08073354e-02 1.80969632e+01] [-2.08212614e-02 1.10057429e-02 9.99722636e-01 1.56028819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90907232899997 meters Centerline goodness : 0.770328 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.09, Z:156.03 [[ 9.99702585e-01 -1.02370908e-02 2.21346699e-02 -2.93904066e+02] [ 1.04730273e-02 9.99889293e-01 -1.05696128e-02 1.80947220e+01] [-2.20240174e-02 1.07982862e-02 9.99699125e-01 1.56027895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93907232899994 meters Centerline goodness : 0.769644 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.09, Z:156.03 [[ 9.99673875e-01 -1.09229763e-02 2.30831776e-02 -2.93906732e+02] [ 1.11754056e-02 9.99878848e-01 -1.08350812e-02 1.80944464e+01] [-2.29620297e-02 1.10895115e-02 9.99674831e-01 1.56028129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96907232899997 meters Centerline goodness : 0.769975 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.09, Z:156.03 [[ 9.99638163e-01 -1.17703199e-02 2.41868382e-02 -2.93909381e+02] [ 1.20468819e-02 9.99863348e-01 -1.13206780e-02 1.80949194e+01] [-2.40502850e-02 1.16079577e-02 9.99643356e-01 1.56027854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.99907232899994 meters Centerline goodness : 0.770739 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.08, Z:156.03 [[ 9.99552654e-01 -2.06354351e-02 2.16488147e-02 -2.93900585e+02] [ 2.08090844e-02 9.99752831e-01 -7.82679800e-03 1.80849514e+01] [-2.14819544e-02 8.27378872e-03 9.99735000e-01 1.56032971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.029072329 meters Centerline goodness : 0.771961 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.08, Z:156.03 [[ 9.99509297e-01 -2.14910895e-02 2.27881045e-02 -2.93903500e+02] [ 2.16801087e-02 9.99732305e-01 -8.08026094e-03 1.80845374e+01] [-2.26083506e-02 8.57034452e-03 9.99707663e-01 1.56032846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.05907232899995 meters Centerline goodness : 0.770756 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.08, Z:156.03 [[ 9.99371158e-01 -2.61640560e-02 2.39317890e-02 -2.93905988e+02] [ 2.64600076e-02 9.99576221e-01 -1.21344991e-02 1.80832360e+01] [-2.36041595e-02 1.27601037e-02 9.99639947e-01 1.56032588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.089072329 meters Centerline goodness : 0.773497 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.08, Z:156.03 [[ 9.99283802e-01 -2.81347162e-02 2.53045519e-02 -2.93910357e+02] [ 2.84805902e-02 9.99504345e-01 -1.34134504e-02 1.80836838e+01] [-2.49146260e-02 1.41245323e-02 9.99589795e-01 1.56033565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.11907232899995 meters Centerline goodness : 0.774401 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.08, Z:156.03 [[ 9.99189617e-01 -3.00882644e-02 2.67358592e-02 -2.93914531e+02] [ 3.04839745e-02 9.99429809e-01 -1.45184212e-02 1.80835089e+01] [-2.62837806e-02 1.53216710e-02 9.99537097e-01 1.56034084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.149072329 meters Centerline goodness : 0.774170 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.08, Z:156.03 [[ 9.99122530e-01 -3.10887214e-02 2.80653136e-02 -2.93917828e+02] [ 3.15002730e-02 9.99400827e-01 -1.43429234e-02 1.80810811e+01] [-2.76025945e-02 1.52144030e-02 9.99503186e-01 1.56033674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.17907232899995 meters Centerline goodness : 0.773173 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.08, Z:156.03 [[ 9.98968087e-01 -3.49616336e-02 2.89904305e-02 -2.93919092e+02] [ 3.54677162e-02 9.99223997e-01 -1.71302529e-02 1.80764827e+01] [-2.83690323e-02 1.81408003e-02 9.99432894e-01 1.56032358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.209072329 meters Centerline goodness : 0.773407 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.08, Z:156.03 [[ 9.98899909e-01 -3.58399862e-02 3.02401437e-02 -2.93922222e+02] [ 3.63783487e-02 9.99185822e-01 -1.74444656e-02 1.80761165e+01] [-2.95903135e-02 1.85253616e-02 9.99390426e-01 1.56032229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.23907232899995 meters Centerline goodness : 0.772226 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.07, Z:156.03 [[ 9.98754692e-01 -3.93269007e-02 3.06995168e-02 -2.93922895e+02] [ 3.99632253e-02 9.98992955e-01 -2.03964775e-02 1.80724546e+01] [-2.98664707e-02 2.15979293e-02 9.99320531e-01 1.56031795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.269072329 meters Centerline goodness : 0.771564 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.07, Z:156.03 [[ 9.98691257e-01 -4.01079213e-02 3.17352751e-02 -2.93925357e+02] [ 4.07718817e-02 9.98956954e-01 -2.05586635e-02 1.80717959e+01] [-3.08776085e-02 2.18256644e-02 9.99284851e-01 1.56031443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.29907232899996 meters Centerline goodness : 0.769942 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.07, Z:156.03 [[ 9.98740535e-01 -3.78608285e-02 3.29226510e-02 -2.93928361e+02] [ 3.84524041e-02 9.99106747e-01 -1.75248775e-02 1.80722860e+01] [-3.22297363e-02 1.87687606e-02 9.99304247e-01 1.56030934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.329072329 meters Centerline goodness : 0.769496 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.07, Z:156.03 [[ 9.98674003e-01 -3.86092157e-02 3.40523652e-02 -2.93930202e+02] [ 3.92164232e-02 9.99080146e-01 -1.73474444e-02 1.80709248e+01] [-3.33512708e-02 1.86598537e-02 9.99269484e-01 1.56029409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.35907232899996 meters Centerline goodness : 0.768513 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.07, Z:156.03 [[ 9.98627738e-01 -3.90688441e-02 3.48750018e-02 -2.93932132e+02] [ 3.97001937e-02 9.99056660e-01 -1.75978706e-02 1.80713827e+01] [-3.41545743e-02 1.89582660e-02 9.99236733e-01 1.56029199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.389072329 meters Centerline goodness : 0.772747 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.07, Z:156.03 [[ 9.98419547e-01 -4.35921928e-02 3.54700992e-02 -2.93933762e+02] [ 4.43998455e-02 9.98764701e-01 -2.23097848e-02 1.80724104e+01] [-3.44537506e-02 2.38493922e-02 9.99121687e-01 1.56030052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41907232899996 meters Centerline goodness : 0.773924 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.07, Z:156.03 [[ 9.98336322e-01 -4.46444048e-02 3.64892414e-02 -2.93937201e+02] [ 4.55087637e-02 9.98694255e-01 -2.32107078e-02 1.80735688e+01] [-3.54053676e-02 2.48326729e-02 9.99064462e-01 1.56031277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.449072329 meters Centerline goodness : 0.776062 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.07, Z:156.03 [[ 9.98262720e-01 -4.54839636e-02 3.74533057e-02 -2.93940176e+02] [ 4.63970299e-02 9.98637574e-01 -2.38812090e-02 1.80743817e+01] [-3.63160663e-02 2.55774428e-02 9.99012982e-01 1.56032095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47907232899996 meters Centerline goodness : 0.775298 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.07, Z:156.03 [[ 9.98156731e-01 -4.67049756e-02 3.87528854e-02 -2.93943603e+02] [ 4.76597462e-02 9.98573087e-01 -2.40901994e-02 1.80722782e+01] [-3.75724562e-02 2.58927474e-02 9.98958396e-01 1.56032081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.509072329 meters Centerline goodness : 0.775139 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.07, Z:156.03 [[ 9.98150922e-01 -4.66050260e-02 3.90219083e-02 -2.93943989e+02] [ 4.75521729e-02 9.98587411e-01 -2.37059908e-02 1.80713006e+01] [-3.78619680e-02 2.55177331e-02 9.98957115e-01 1.56031578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53907232899996 meters Centerline goodness : 0.773312 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98218290e-01 -4.43971331e-02 3.98640269e-02 -2.93946863e+02] [ 4.52642697e-02 9.98751778e-01 -2.11194490e-02 1.80732222e+01] [-3.88766247e-02 2.28862363e-02 9.98981896e-01 1.56032063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.569072329 meters Centerline goodness : 0.773370 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98214897e-01 -4.44376357e-02 3.99038245e-02 -2.93947214e+02] [ 4.53101162e-02 9.98747299e-01 -2.12326615e-02 1.80737668e+01] [-3.89103077e-02 2.30028060e-02 9.98977907e-01 1.56032436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59907232899997 meters Centerline goodness : 0.773859 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98205261e-01 -4.44232621e-02 4.01600622e-02 -2.93948559e+02] [ 4.52973077e-02 9.98750223e-01 -2.11221755e-02 1.80732226e+01] [-3.91715551e-02 2.29034094e-02 9.98969981e-01 1.56033344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62907232899994 meters Centerline goodness : 0.773429 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98196222e-01 -4.44528970e-02 4.03514846e-02 -2.93948967e+02] [ 4.53302345e-02 9.98749328e-01 -2.10938419e-02 1.80732366e+01] [-3.93633358e-02 2.28849355e-02 9.98962866e-01 1.56033167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65907232899997 meters Centerline goodness : 0.773579 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98205517e-01 -4.42421449e-02 4.03531738e-02 -2.93948589e+02] [ 4.51064991e-02 9.98766318e-01 -2.07664471e-02 1.80728031e+01] [-3.93846387e-02 2.25493725e-02 9.98969657e-01 1.56032510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68907232899994 meters Centerline goodness : 0.770330 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98374928e-01 -4.01266716e-02 4.04642218e-02 -2.93948379e+02] [ 4.08141106e-02 9.99033662e-01 -1.63079635e-02 1.80725227e+01] [-3.97707354e-02 1.79329731e-02 9.99047895e-01 1.56031050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71907232899997 meters Centerline goodness : 0.770075 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.07, Z:156.03 [[ 9.98414668e-01 -3.95967298e-02 4.00031117e-02 -2.93946914e+02] [ 4.02585118e-02 9.99063178e-01 -1.58751157e-02 1.80724510e+01] [-3.93370332e-02 1.74604141e-02 9.99073437e-01 1.56030544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.74907232899994 meters Centerline goodness : 0.768498 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98523314e-01 -3.63310668e-02 4.03886694e-02 -2.93948344e+02] [ 3.68728511e-02 9.99238612e-01 -1.27510186e-02 1.80752148e+01] [-3.98946598e-02 1.42214347e-02 9.99102681e-01 1.56030746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.779072329 meters Centerline goodness : 0.769971 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98549122e-01 -3.60479078e-02 4.00024809e-02 -2.93947283e+02] [ 3.65848161e-02 9.99248935e-01 -1.27717705e-02 1.80764168e+01] [-3.95120409e-02 1.42167236e-02 9.99117953e-01 1.56030635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.80907232899995 meters Centerline goodness : 0.769477 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98663405e-01 -3.24710778e-02 4.02123547e-02 -2.93948508e+02] [ 3.28696154e-02 9.99416477e-01 -9.28947979e-03 1.80783875e+01] [-3.98872505e-02 1.05988281e-02 9.99147973e-01 1.56031114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.839072329 meters Centerline goodness : 0.771922 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98723086e-01 -3.16532210e-02 3.93734870e-02 -2.93946824e+02] [ 3.20406837e-02 9.99443773e-01 -9.24875957e-03 1.80801910e+01] [-3.90588334e-02 1.04985031e-02 9.99181760e-01 1.56031791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.86907232899995 meters Centerline goodness : 0.772470 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98754471e-01 -3.12193834e-02 3.89211719e-02 -2.93946239e+02] [ 3.15943364e-02 9.99459748e-01 -9.05593658e-03 1.80804122e+01] [-3.86174239e-02 1.02743457e-02 9.99201247e-01 1.56032593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.899072329 meters Centerline goodness : 0.773764 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.08, Z:156.03 [[ 9.98851797e-01 -2.79795277e-02 3.88874416e-02 -2.93947666e+02] [ 2.82479747e-02 9.99580644e-01 -6.37084781e-03 1.80843411e+01] [-3.86928806e-02 7.46202426e-03 9.99223288e-01 1.56034365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.92907232899995 meters Centerline goodness : 0.774109 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.09, Z:156.03 [[ 9.98881262e-01 -2.77005260e-02 3.83263035e-02 -2.93946325e+02] [ 2.79725754e-02 9.99587033e-01 -6.58020316e-03 1.80860665e+01] [-3.81282009e-02 7.64492705e-03 9.99243612e-01 1.56034518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.959072329 meters Centerline goodness : 0.772907 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.09, Z:156.03 [[ 9.98926322e-01 -2.71659749e-02 3.75261595e-02 -2.93944501e+02] [ 2.74252130e-02 9.99603302e-01 -6.41070023e-03 1.80867191e+01] [-3.73371200e-02 7.43298012e-03 9.99275082e-01 1.56034720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.98907232899995 meters Centerline goodness : 0.771538 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.09, Z:156.04 [[ 9.99075420e-01 -2.26992895e-02 3.65109084e-02 -2.93942557e+02] [ 2.28051817e-02 9.99736836e-01 -2.48639778e-03 1.80888223e+01] [-3.64448606e-02 3.31673680e-03 9.99330161e-01 1.56035146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.019072329 meters Centerline goodness : 0.771326 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.11, Z:156.04 [[ 9.99548195e-01 -1.68523853e-02 2.48877975e-02 -2.93946721e+02] [ 1.69336077e-02 9.99851945e-01 -3.05639019e-03 1.81065405e+01] [-2.48326053e-02 3.47644950e-03 9.99685579e-01 1.56040446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.04907232899996 meters Centerline goodness : 0.774990 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.11, Z:156.05 [[ 9.99768015e-01 -7.26695155e-03 2.02757953e-02 -2.93934038e+02] [ 7.31818719e-03 9.99970211e-01 -2.45388173e-03 1.81116851e+01] [-2.02573591e-02 2.60169453e-03 9.99791414e-01 1.56046751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.079072329 meters Centerline goodness : 0.775281 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.11, Z:156.05 [[ 9.99875676e-01 2.63047060e-03 1.55471591e-02 -2.93922670e+02] [-2.62397048e-03 9.99996461e-01 -4.38474669e-04 1.81145910e+01] [-1.55482574e-02 3.97624869e-04 9.99879039e-01 1.56053585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.10907232899996 meters Centerline goodness : 0.776645 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.12, Z:156.06 [[ 9.99883626e-01 1.02771286e-02 1.12744962e-02 -2.93913569e+02] [-1.02807609e-02 9.99947117e-01 2.64260928e-04 1.81197150e+01] [-1.12711842e-02 -3.80140575e-04 9.99936406e-01 1.56060679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.139072329 meters Centerline goodness : 0.778581 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.12, Z:156.07 [[ 9.99684006e-01 2.43167105e-02 6.37074041e-03 -2.93900202e+02] [-2.43477193e-02 9.99691854e-01 4.83587628e-03 1.81246003e+01] [-6.25118469e-03 -4.98946117e-03 9.99968013e-01 1.56067997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16907232899996 meters Centerline goodness : 0.778125 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.13, Z:156.07 [[ 9.99567692e-01 2.88939094e-02 5.43789233e-03 -2.93898385e+02] [-2.89374813e-02 9.99548305e-01 8.11219172e-03 1.81285486e+01] [-5.20104313e-03 -8.26604367e-03 9.99952310e-01 1.56069399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.199072329 meters Centerline goodness : 0.778125 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.13, Z:156.07 [[ 9.99567692e-01 2.88939094e-02 5.43789233e-03 -2.93898385e+02] [-2.89374813e-02 9.99548305e-01 8.11219172e-03 1.81285486e+01] [-5.20104313e-03 -8.26604367e-03 9.99952310e-01 1.56069399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22907232899996 meters Centerline goodness : 0.779323 Centerline is valid? [False, False] Translation: X:-293.89, Y:18.13, Z:156.08 [[ 9.99454201e-01 3.30072287e-02 1.35041937e-03 -2.93889828e+02] [-3.30156884e-02 9.99431610e-01 6.81328318e-03 1.81307465e+01] [-1.12476421e-03 -6.85414952e-03 9.99975877e-01 1.56075080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.259072329 meters Centerline goodness : 0.782079 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.14, Z:156.08 [[ 9.98964154e-01 4.54383527e-02 -2.44440219e-03 -2.93879683e+02] [-4.54092632e-02 9.98909336e-01 1.08691341e-02 1.81381061e+01] [ 2.93561172e-03 -1.07468768e-02 9.99937941e-01 1.56082326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28907232899996 meters Centerline goodness : 0.784185 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.14, Z:156.08 [[ 9.98745858e-01 4.99679533e-02 -3.14891309e-03 -2.93878018e+02] [-4.99206279e-02 9.98659947e-01 1.36470179e-02 1.81441644e+01] [ 3.82660693e-03 -1.34727069e-02 9.99901917e-01 1.56083819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.319072329 meters Centerline goodness : 0.781729 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.15, Z:156.09 [[ 9.98868429e-01 4.72132887e-02 -5.72426425e-03 -2.93873130e+02] [-4.71707307e-02 9.98859765e-01 7.35479340e-03 1.81496275e+01] [ 6.06498123e-03 -7.07645320e-03 9.99956569e-01 1.56087098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34907232899997 meters Centerline goodness : 0.781322 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.15, Z:156.09 [[ 9.98820848e-01 4.80827313e-02 -6.70555388e-03 -2.93871013e+02] [-4.80313041e-02 9.98816685e-01 7.63043887e-03 1.81498044e+01] [ 7.06451144e-03 -7.29936493e-03 9.99948405e-01 1.56087616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37907232899994 meters Centerline goodness : 0.782585 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.15, Z:156.09 [[ 9.98791931e-01 4.85385603e-02 -7.66073768e-03 -2.93868736e+02] [-4.84845928e-02 9.98798838e-01 7.07993597e-03 1.81528401e+01] [ 7.99518579e-03 -6.69995517e-03 9.99945592e-01 1.56088098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40907232899997 meters Centerline goodness : 0.780950 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.09 [[ 9.98590901e-01 5.24590175e-02 -8.01644626e-03 -2.93867404e+02] [-5.23777556e-02 9.98576959e-01 1.00313728e-02 1.81569164e+01] [ 8.53127448e-03 -9.59735411e-03 9.99917551e-01 1.56088414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43907232899994 meters Centerline goodness : 0.782787 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.09 [[ 9.98519656e-01 5.36154216e-02 -9.15877240e-03 -2.93864456e+02] [-5.35220387e-02 9.98515042e-01 1.01539027e-02 1.81591973e+01] [ 9.68957779e-03 -9.64867529e-03 9.99906503e-01 1.56088833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46907232899997 meters Centerline goodness : 0.781796 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.09 [[ 9.98219076e-01 5.87969383e-02 -1.00794822e-02 -2.93861540e+02] [-5.86597953e-02 9.98188078e-01 1.34011024e-02 1.81648775e+01] [ 1.08491628e-02 -1.27859757e-02 9.99859397e-01 1.56089930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.49907232899994 meters Centerline goodness : 0.782091 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98202753e-01 5.89412564e-02 -1.08254992e-02 -2.93860093e+02] [-5.88006915e-02 9.98186725e-01 1.28740017e-02 1.81675299e+01] [ 1.15646794e-02 -1.22143171e-02 9.99858524e-01 1.56090798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.529072329 meters Centerline goodness : 0.783986 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98196772e-01 5.89485968e-02 -1.13255370e-02 -2.93859372e+02] [-5.88092669e-02 9.98193888e-01 1.22650872e-02 1.81699579e+01] [ 1.20280915e-02 -1.15769239e-02 9.99860640e-01 1.56091688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.55907232899995 meters Centerline goodness : 0.782709 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98192981e-01 5.89704379e-02 -1.15438240e-02 -2.93859166e+02] [-5.88309349e-02 9.98194954e-01 1.20728806e-02 1.81707087e+01] [ 1.22349300e-02 -1.13719308e-02 9.99860483e-01 1.56092150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.589072329 meters Centerline goodness : 0.786144 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98185470e-01 5.90149931e-02 -1.19582203e-02 -2.93858774e+02] [-5.88761934e-02 9.98197372e-01 1.16447361e-02 1.81722084e+01] [ 1.26238781e-02 -1.09195519e-02 9.99860691e-01 1.56093097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.61907232899995 meters Centerline goodness : 0.786336 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98197367e-01 5.87434904e-02 -1.22971030e-02 -2.93858521e+02] [-5.86106727e-02 9.98221448e-01 1.08962902e-02 1.81745569e+01] [ 1.29153181e-02 -1.01559067e-02 9.99865017e-01 1.56094021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.649072329 meters Centerline goodness : 0.786524 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.18, Z:156.09 [[ 9.98223445e-01 5.83583159e-02 -1.20108387e-02 -2.93859713e+02] [-5.82332707e-02 9.98247675e-01 1.05102689e-02 1.81750199e+01] [ 1.26031534e-02 -9.79216640e-03 9.99872629e-01 1.56094471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.67907232899995 meters Centerline goodness : 0.785662 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98246596e-01 5.80461502e-02 -1.15921754e-02 -2.93861067e+02] [-5.79275954e-02 9.98267508e-01 1.03139192e-02 1.81748877e+01] [ 1.21707754e-02 -9.62432786e-03 9.99879615e-01 1.56094664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.709072329 meters Centerline goodness : 0.784577 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.09 [[ 9.98433310e-01 5.46087800e-02 -1.21986593e-02 -2.93859929e+02] [-5.45250846e-02 9.98487218e-01 7.09160896e-03 1.81729791e+01] [ 1.25674695e-02 -6.41536567e-03 9.99900446e-01 1.56094423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.73907232899995 meters Centerline goodness : 0.785190 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.10 [[ 9.98887011e-01 4.54170116e-02 -1.27292864e-02 -2.93862556e+02] [-4.52095346e-02 9.98847154e-01 1.61388327e-02 1.81679541e+01] [ 1.34475890e-02 -1.55453852e-02 9.99788729e-01 1.56096740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.769072329 meters Centerline goodness : 0.783691 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.10 [[ 9.99160121e-01 3.86478170e-02 -1.36160901e-02 -2.93861001e+02] [-3.85173064e-02 9.99210654e-01 9.72040816e-03 1.81643393e+01] [ 1.39810148e-02 -9.18778909e-03 9.99860048e-01 1.56096500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.79907232899996 meters Centerline goodness : 0.781700 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.10 [[ 9.99286749e-01 3.50274426e-02 -1.41092872e-02 -2.93860126e+02] [-3.49403739e-02 9.99369091e-01 6.37104423e-03 1.81621663e+01] [ 1.43235469e-02 -5.87351630e-03 9.99880162e-01 1.56096347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.829072329 meters Centerline goodness : 0.783001 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.10 [[ 9.99362423e-01 3.24875471e-02 -1.48089900e-02 -2.93857722e+02] [-3.24332436e-02 9.99466324e-01 3.89252580e-03 1.81600561e+01] [ 1.49275454e-02 -3.40974043e-03 9.99882764e-01 1.56095278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.85907232899996 meters Centerline goodness : 0.780840 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99512717e-01 2.58202584e-02 -1.75397487e-02 -2.93848763e+02] [-2.56506311e-02 9.99622655e-01 9.82814884e-03 1.81529932e+01] [ 1.77868955e-02 -9.37345412e-03 9.99797862e-01 1.56100776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.889072329 meters Centerline goodness : 0.780099 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99573408e-01 2.26912379e-02 -1.83877388e-02 -2.93847037e+02] [-2.25737117e-02 9.99723566e-01 6.57412434e-03 1.81518121e+01] [ 1.85318308e-02 -6.15624035e-03 9.99809318e-01 1.56101050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91907232899996 meters Centerline goodness : 0.779995 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99647428e-01 1.87135574e-02 -1.88367500e-02 -2.93846050e+02] [-1.86717339e-02 9.99822802e-01 2.39376045e-03 1.81527902e+01] [ 1.88782079e-02 -2.04120169e-03 9.99819707e-01 1.56101118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.949072329 meters Centerline goodness : 0.780237 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99652484e-01 1.85984048e-02 -1.86818318e-02 -2.93846715e+02] [-1.85597599e-02 9.99825244e-01 2.23985068e-03 1.81531995e+01] [ 1.87202247e-02 -1.89234198e-03 9.99822970e-01 1.56101444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97907232899996 meters Centerline goodness : 0.780131 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99673818e-01 1.80593146e-02 -1.80587402e-02 -2.93848810e+02] [-1.80274349e-02 9.99835636e-01 1.92658088e-03 1.81527818e+01] [ 1.80905648e-02 -1.60039970e-03 9.99835071e-01 1.56101859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.009072329 meters Centerline goodness : 0.779211 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99691137e-01 1.75222950e-02 -1.76238236e-02 -2.93851082e+02] [-1.74982049e-02 9.99845739e-01 1.52019905e-03 1.81522502e+01] [ 1.76477423e-02 -1.21134424e-03 9.99843533e-01 1.56102977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03907232899996 meters Centerline goodness : 0.780150 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99695428e-01 1.73906484e-02 -1.75104932e-02 -2.93851751e+02] [-1.73716802e-02 9.99848339e-01 1.23478142e-03 1.81530277e+01] [ 1.75293112e-02 -9.30218654e-04 9.99845917e-01 1.56103407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.069072329 meters Centerline goodness : 0.781015 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99705729e-01 1.70820736e-02 -1.72237880e-02 -2.93853019e+02] [-1.70686146e-02 9.99853890e-01 9.28130180e-04 1.81533567e+01] [ 1.72371258e-02 -6.33870858e-04 9.99851229e-01 1.56103991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09907232899997 meters Centerline goodness : 0.783171 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99699573e-01 1.71655427e-02 -1.74959504e-02 -2.93852776e+02] [-1.71560905e-02 9.99852585e-01 6.90214817e-04 1.81545156e+01] [ 1.75052192e-02 -3.89845349e-04 9.99846696e-01 1.56104623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12907232899994 meters Centerline goodness : 0.781092 Centerline is valid? [False, False] Translation: X:-293.85, Y:18.15, Z:156.10 [[ 9.99704208e-01 1.70252677e-02 -1.73676973e-02 -2.93853358e+02] [-1.70182974e-02 9.99855028e-01 5.49065441e-04 1.81546737e+01] [ 1.73745274e-02 -2.53334395e-04 9.99849019e-01 1.56104886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15907232899997 meters Centerline goodness : 0.780805 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.11 [[ 9.99723746e-01 1.64383141e-02 -1.67991977e-02 -2.93855286e+02] [-1.64400710e-02 9.99864852e-01 3.35206686e-05 1.81552293e+01] [ 1.67974783e-02 2.42668593e-04 9.99858883e-01 1.56105291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18907232899994 meters Centerline goodness : 0.783224 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.15, Z:156.11 [[ 9.99732198e-01 1.62454966e-02 -1.64807929e-02 -2.93856726e+02] [-1.62469712e-02 9.99868008e-01 4.44170242e-05 1.81543163e+01] [ 1.64793391e-02 2.23357839e-04 9.99864182e-01 1.56105890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21907232899997 meters Centerline goodness : 0.782546 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.11 [[ 9.99742064e-01 1.59879356e-02 -1.61304373e-02 -2.93857695e+02] [-1.59937085e-02 9.99872066e-01 -2.28943828e-04 1.81550921e+01] [ 1.61247134e-02 4.86870289e-04 9.99869870e-01 1.56105979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.24907232899994 meters Centerline goodness : 0.780826 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.11 [[ 9.99787294e-01 1.42586980e-02 -1.49015405e-02 -2.93861607e+02] [-1.42781860e-02 9.99897339e-01 -1.20221133e-03 1.81550936e+01] [ 1.48828687e-02 1.41472258e-03 9.99888243e-01 1.56106444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.279072329 meters Centerline goodness : 0.781795 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.15, Z:156.11 [[ 9.99795351e-01 1.40803424e-02 -1.45258728e-02 -2.93862879e+02] [-1.40983941e-02 9.99899962e-01 -1.14107179e-03 1.81542309e+01] [ 1.45083530e-02 1.34562975e-03 9.99893843e-01 1.56106591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.30907232899995 meters Centerline goodness : 0.781164 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.15, Z:156.11 [[ 9.99809807e-01 1.36411732e-02 -1.39380072e-02 -2.93864386e+02] [-1.36635881e-02 9.99905502e-01 -1.51422421e-03 1.81548762e+01] [ 1.39160343e-02 1.70437941e-03 9.99901715e-01 1.56106514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.339072329 meters Centerline goodness : 0.781473 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99825494e-01 1.29284876e-02 -1.34846782e-02 -2.93866408e+02] [-1.29593883e-02 9.99913589e-01 -2.20668352e-03 1.81557525e+01] [ 1.34549838e-02 2.38105162e-03 9.99906643e-01 1.56107522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.36907232899995 meters Centerline goodness : 0.781984 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99837946e-01 1.23582478e-02 -1.30903129e-02 -2.93868096e+02] [-1.23959869e-02 9.99919230e-01 -2.80577490e-03 1.81567947e+01] [ 1.30545811e-02 2.96758756e-03 9.99910382e-01 1.56108310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.399072329 meters Centerline goodness : 0.781115 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99852251e-01 1.18432739e-02 -1.24584354e-02 -2.93869797e+02] [-1.18818465e-02 9.99924828e-01 -3.02665107e-03 1.81566154e+01] [ 1.24216535e-02 3.17423310e-03 9.99917810e-01 1.56108257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.42907232899995 meters Centerline goodness : 0.781576 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99844658e-01 1.22383555e-02 -1.26839380e-02 -2.93869283e+02] [-1.22736213e-02 9.99921014e-01 -2.70624829e-03 1.81562575e+01] [ 1.26498161e-02 2.86150575e-03 9.99915893e-01 1.56108246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.459072329 meters Centerline goodness : 0.781272 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99857532e-01 1.16823767e-02 -1.21835380e-02 -2.93870875e+02] [-1.17213460e-02 9.99926398e-01 -3.13202592e-03 1.81567458e+01] [ 1.21460518e-02 3.27438716e-03 9.99920873e-01 1.56108480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.48907232899995 meters Centerline goodness : 0.781095 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99848849e-01 1.20529179e-02 -1.25302474e-02 -2.93870133e+02] [-1.20911731e-02 9.99922453e-01 -2.98176033e-03 1.81570898e+01] [ 1.24933368e-02 3.13281502e-03 9.99917048e-01 1.56108688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.519072329 meters Centerline goodness : 0.780321 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99859539e-01 1.15406022e-02 -1.21539170e-02 -2.93871494e+02] [-1.15847662e-02 9.99926523e-01 -3.56960558e-03 1.81585120e+01] [ 1.21118285e-02 3.70990447e-03 9.99919767e-01 1.56109222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.54907232899996 meters Centerline goodness : 0.780312 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99864656e-01 1.13386093e-02 -1.19207907e-02 -2.93872100e+02] [-1.13849623e-02 9.99927863e-01 -3.82777027e-03 1.81592484e+01] [ 1.18765292e-02 3.96296996e-03 9.99921618e-01 1.56109207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.579072329 meters Centerline goodness : 0.779996 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99870655e-01 1.12309005e-02 -1.15126188e-02 -2.93873129e+02] [-1.12737589e-02 9.99929734e-01 -3.66461149e-03 1.81584581e+01] [ 1.14706530e-02 3.79392798e-03 9.99927012e-01 1.56109065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.60907232899996 meters Centerline goodness : 0.780857 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99866444e-01 1.14178433e-02 -1.16930269e-02 -2.93872979e+02] [-1.14609659e-02 9.99927741e-01 -3.62753873e-03 1.81586941e+01] [ 1.16507633e-02 3.76106763e-03 9.99925054e-01 1.56109451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.639072329 meters Centerline goodness : 0.780773 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99875464e-01 1.11105687e-02 -1.12076340e-02 -2.93874308e+02] [-1.11533099e-02 9.99930737e-01 -3.75830942e-03 1.81587285e+01] [ 1.11651008e-02 3.88284360e-03 9.99930130e-01 1.56109470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66907232899996 meters Centerline goodness : 0.779662 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99865735e-01 1.16181730e-02 -1.15555400e-02 -2.93873214e+02] [-1.16592851e-02 9.99925914e-01 -3.49679244e-03 1.81589571e+01] [ 1.15140575e-02 3.63105228e-03 9.99927118e-01 1.56109199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.699072329 meters Centerline goodness : 0.780620 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99873625e-01 1.11808738e-02 -1.13014408e-02 -2.93874162e+02] [-1.12266646e-02 9.99928993e-01 -3.99647693e-03 1.81600352e+01] [ 1.12559543e-02 4.12284936e-03 9.99928150e-01 1.56109522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72907232899996 meters Centerline goodness : 0.779747 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99871940e-01 1.12323193e-02 -1.13990186e-02 -2.93874136e+02] [-1.12804734e-02 9.99927683e-01 -4.16893769e-03 1.81611065e+01] [ 1.13513674e-02 4.29699014e-03 9.99926338e-01 1.56109877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.759072329 meters Centerline goodness : 0.781126 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99862958e-01 1.15761546e-02 -1.18346289e-02 -2.93873196e+02] [-1.16272434e-02 9.99923339e-01 -4.25723537e-03 1.81626113e+01] [ 1.17844393e-02 4.39425606e-03 9.99920906e-01 1.56110306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78907232899996 meters Centerline goodness : 0.780899 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99859094e-01 1.17244911e-02 -1.20136830e-02 -2.93872729e+02] [-1.17768790e-02 9.99921408e-01 -4.29925859e-03 1.81635370e+01] [ 1.19623322e-02 4.44013649e-03 9.99918591e-01 1.56110328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.819072329 meters Centerline goodness : 0.779867 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.16, Z:156.11 [[ 9.99849297e-01 1.21505823e-02 -1.23994236e-02 -2.93871393e+02] [-1.22044067e-02 9.99916387e-01 -4.27448018e-03 1.81649604e+01] [ 1.23464494e-02 4.42516361e-03 9.99913988e-01 1.56110049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84907232899997 meters Centerline goodness : 0.779588 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99847420e-01 1.22663781e-02 -1.24367418e-02 -2.93871231e+02] [-1.23187434e-02 9.99915540e-01 -4.14270333e-03 1.81650852e+01] [ 1.23848755e-02 4.29527627e-03 9.99914079e-01 1.56109962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87907232899994 meters Centerline goodness : 0.780847 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99846122e-01 1.23016979e-02 -1.25060169e-02 -2.93871318e+02] [-1.23558438e-02 9.99914582e-01 -4.26157718e-03 1.81658433e+01] [ 1.24525240e-02 4.41544381e-03 9.99912715e-01 1.56110299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90907232899997 meters Centerline goodness : 0.780258 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99842902e-01 1.25556013e-02 -1.25110875e-02 -2.93871408e+02] [-1.26071426e-02 9.99912328e-01 -4.04933021e-03 1.81657246e+01] [ 1.24591488e-02 4.20642313e-03 9.99913534e-01 1.56110427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93907232899994 meters Centerline goodness : 0.779525 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99855195e-01 1.20950268e-02 -1.19707809e-02 -2.93873125e+02] [-1.21474258e-02 9.99916910e-01 -4.31424891e-03 1.81658967e+01] [ 1.19176053e-02 4.45903836e-03 9.99919041e-01 1.56110714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96907232899997 meters Centerline goodness : 0.781642 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99856937e-01 1.20414230e-02 -1.18789838e-02 -2.93873511e+02] [-1.20934613e-02 9.99917545e-01 -4.31863557e-03 1.81660668e+01] [ 1.18260018e-02 4.46167576e-03 9.99920116e-01 1.56110884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.99907232899994 meters Centerline goodness : 0.781295 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99857547e-01 1.20367825e-02 -1.18321983e-02 -2.93873870e+02] [-1.20893338e-02 9.99917329e-01 -4.37993807e-03 1.81665390e+01] [ 1.17784997e-02 4.52235753e-03 9.99920404e-01 1.56111151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.029072329 meters Centerline goodness : 0.780324 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99861858e-01 1.18014138e-02 -1.17043078e-02 -2.93874835e+02] [-1.18562722e-02 9.99918998e-01 -4.62876533e-03 1.81667210e+01] [ 1.16487338e-02 4.76689536e-03 9.99920789e-01 1.56111838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.05907232899995 meters Centerline goodness : 0.782961 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.17, Z:156.11 [[ 9.99842994e-01 1.27105425e-02 -1.23462474e-02 -2.93872848e+02] [-1.27653639e-02 9.99908963e-01 -4.37171403e-03 1.81681902e+01] [ 1.22895566e-02 4.52863198e-03 9.99914225e-01 1.56111653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.089072329 meters Centerline goodness : 0.782025 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.12 [[ 9.99833608e-01 9.04748392e-03 -1.58398065e-02 -2.93863378e+02] [-9.00196274e-03 9.99955151e-01 2.94279311e-03 1.81646950e+01] [ 1.58657210e-02 -2.79971410e-03 9.99870212e-01 1.56118267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.11907232899995 meters Centerline goodness : 0.782025 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.12 [[ 9.99833608e-01 9.04748392e-03 -1.58398065e-02 -2.93863378e+02] [-9.00196274e-03 9.99955151e-01 2.94279311e-03 1.81646950e+01] [ 1.58657210e-02 -2.79971410e-03 9.99870212e-01 1.56118267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.149072329 meters Centerline goodness : 0.784147 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.16, Z:156.12 [[ 9.99802119e-01 1.05405555e-02 -1.68706502e-02 -2.93860650e+02] [-1.04780182e-02 9.99937918e-01 3.79098220e-03 1.81648594e+01] [ 1.69095619e-02 -3.61346105e-03 9.99850494e-01 1.56118322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.17907232899995 meters Centerline goodness : 0.785185 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99797737e-01 1.04113587e-02 -1.72072517e-02 -2.93860232e+02] [-1.03577151e-02 9.99941225e-01 3.20369163e-03 1.81670216e+01] [ 1.72395951e-02 -3.02481583e-03 9.99846812e-01 1.56118946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.209072329 meters Centerline goodness : 0.784652 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99789264e-01 1.04913763e-02 -1.76453721e-02 -2.93859560e+02] [-1.04414157e-02 9.99941220e-01 2.92112681e-03 1.81684593e+01] [ 1.76749816e-02 -2.73626856e-03 9.99840041e-01 1.56119567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.23907232899995 meters Centerline goodness : 0.784509 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99787427e-01 1.03625298e-02 -1.78246779e-02 -2.93860134e+02] [-1.03231357e-02 9.99944068e-01 2.30068206e-03 1.81702173e+01] [ 1.78475218e-02 -2.11618643e-03 9.99838481e-01 1.56120949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.269072329 meters Centerline goodness : 0.786800 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99788682e-01 1.02501496e-02 -1.78192566e-02 -2.93860792e+02] [-1.02157157e-02 9.99945773e-01 2.02235604e-03 1.81707559e+01] [ 1.78390198e-02 -1.83989222e-03 9.99839179e-01 1.56121692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.29907232899996 meters Centerline goodness : 0.786550 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99791477e-01 1.00795397e-02 -1.77596433e-02 -2.93861237e+02] [-1.00499584e-02 9.99947959e-01 1.75411428e-03 1.81715162e+01] [ 1.77763997e-02 -1.57526483e-03 9.99840746e-01 1.56121987e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.329072329 meters Centerline goodness : 0.785444 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99791484e-01 1.00990007e-02 -1.77482195e-02 -2.93861017e+02] [-1.00672971e-02 9.99947566e-01 1.87473570e-03 1.81714059e+01] [ 1.77662218e-02 -1.69566818e-03 9.99840730e-01 1.56121591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.35907232899996 meters Centerline goodness : 0.784995 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99801708e-01 9.66625756e-03 -1.74100093e-02 -2.93862186e+02] [-9.64197222e-03 9.99952422e-01 1.47830889e-03 1.81721884e+01] [ 1.74234706e-02 -1.31014893e-03 9.99847341e-01 1.56121887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.389072329 meters Centerline goodness : 0.785707 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99808684e-01 9.43940871e-03 -1.71316518e-02 -2.93862794e+02] [-9.41716131e-03 9.99954707e-01 1.37882346e-03 1.81723614e+01] [ 1.71438912e-02 -1.21722814e-03 9.99852292e-01 1.56121707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41907232899996 meters Centerline goodness : 0.786017 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99809613e-01 9.29203158e-03 -1.71579587e-02 -2.93863058e+02] [-9.27376105e-03 9.99956343e-01 1.14410323e-03 1.81731514e+01] [ 1.71678406e-02 -9.84766598e-04 9.99852137e-01 1.56122068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.449072329 meters Centerline goodness : 0.786418 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99811502e-01 9.21796561e-03 -1.70877264e-02 -2.93863500e+02] [-9.20209557e-03 9.99957153e-01 1.00713513e-03 1.81734866e+01] [ 1.70962779e-02 -8.49702392e-04 9.99853487e-01 1.56122314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47907232899996 meters Centerline goodness : 0.786351 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99815720e-01 8.99200925e-03 -1.69608440e-02 -2.93864125e+02] [-8.98324401e-03 9.99959474e-01 5.92910647e-04 1.81747430e+01] [ 1.69654881e-02 -4.40437985e-04 9.99855979e-01 1.56122684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.509072329 meters Centerline goodness : 0.786607 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.17, Z:156.12 [[ 9.99800965e-01 9.52513135e-03 -1.75300533e-02 -2.93863125e+02] [-9.51172307e-03 9.99954403e-01 8.48093509e-04 1.81747540e+01] [ 1.75373321e-02 -6.81183696e-04 9.99845977e-01 1.56123242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53907232899996 meters Centerline goodness : 0.786863 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.18, Z:156.12 [[ 9.99791487e-01 9.59123620e-03 -1.80275204e-02 -2.93862267e+02] [-9.58882108e-03 9.99954002e-01 2.20404254e-04 1.81775130e+01] [ 1.80288051e-02 -4.74956294e-05 9.99837467e-01 1.56123955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.569072329 meters Centerline goodness : 0.787555 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.18, Z:156.12 [[ 9.99785557e-01 9.73424729e-03 -1.82779983e-02 -2.93861859e+02] [-9.73571085e-03 9.99952607e-01 8.91039591e-06 1.81789801e+01] [ 1.82772187e-02 1.69040821e-04 9.99832943e-01 1.56124348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59907232899997 meters Centerline goodness : 0.787132 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.18, Z:156.12 [[ 9.99791545e-01 9.45867792e-03 -1.80941989e-02 -2.93862778e+02] [-9.46726631e-03 9.99955109e-01 -3.89047335e-04 1.81801631e+01] [ 1.80897068e-02 5.60268836e-04 9.99836211e-01 1.56124936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62907232899994 meters Centerline goodness : 0.789544 Centerline is valid? [False, False] Translation: X:-293.86, Y:18.18, Z:156.13 [[ 9.99795378e-01 9.33002700e-03 -1.79486401e-02 -2.93863721e+02] [-9.34186158e-03 9.99956198e-01 -5.75626092e-04 1.81805895e+01] [ 1.79424833e-02 7.43182017e-04 9.99838744e-01 1.56125594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65907232899997 meters Centerline goodness : 0.786545 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.13 [[ 9.99816300e-01 8.52302190e-03 -1.71675359e-02 -2.93866182e+02] [-8.54629190e-03 9.99962657e-01 -1.28255552e-03 1.81816334e+01] [ 1.71559636e-02 1.42903869e-03 9.99851804e-01 1.56126019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68907232899994 meters Centerline goodness : 0.787246 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.13 [[ 9.99823688e-01 8.40843436e-03 -1.67896025e-02 -2.93867315e+02] [-8.42924490e-03 9.99963790e-01 -1.16910623e-03 1.81808510e+01] [ 1.67791642e-02 1.31042378e-03 9.99858361e-01 1.56126057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71907232899997 meters Centerline goodness : 0.786259 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.13 [[ 9.99828394e-01 8.50169865e-03 -1.64591716e-02 -2.93867603e+02] [-8.51252169e-03 9.99963595e-01 -5.87620137e-04 1.81791569e+01] [ 1.64535766e-02 7.27628353e-04 9.99864366e-01 1.56125139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.74907232899994 meters Centerline goodness : 0.785201 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.12 [[ 9.99838629e-01 8.14616717e-03 -1.60111075e-02 -2.93868535e+02] [-8.15788642e-03 9.99966502e-01 -6.66767578e-04 1.81790404e+01] [ 1.60051396e-02 7.97276778e-04 9.99871592e-01 1.56124710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.779072329 meters Centerline goodness : 0.784895 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.13 [[ 9.99860601e-01 7.18249703e-03 -1.50728540e-02 -2.93871513e+02] [-7.20144705e-03 9.99973345e-01 -1.20332780e-03 1.81788878e+01] [ 1.50638094e-02 1.31170642e-03 9.99885674e-01 1.56125149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.80907232899995 meters Centerline goodness : 0.785135 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.12 [[ 9.99859824e-01 7.41057773e-03 -1.50138270e-02 -2.93871639e+02] [-7.42386249e-03 9.99972099e-01 -8.29294146e-04 1.81779975e+01] [ 1.50072625e-02 9.40638486e-04 9.99886942e-01 1.56124977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.839072329 meters Centerline goodness : 0.784496 Centerline is valid? [False, False] Translation: X:-293.87, Y:18.18, Z:156.13 [[ 9.99868626e-01 7.10809289e-03 -1.45672823e-02 -2.93873011e+02] [-7.12467607e-03 9.99974029e-01 -1.08680480e-03 1.81783955e+01] [ 1.45591788e-02 1.19044919e-03 9.99893301e-01 1.56125192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.86907232899995 meters Centerline goodness : 0.784278 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.18, Z:156.13 [[ 9.99895756e-01 5.33699951e-03 -1.34161797e-02 -2.93877074e+02] [-5.36687325e-03 9.99983196e-01 -2.19167868e-03 1.81782545e+01] [ 1.34042572e-02 2.26345314e-03 9.99907597e-01 1.56126117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.899072329 meters Centerline goodness : 0.786322 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.18, Z:156.13 [[ 9.99915772e-01 3.90735428e-03 -1.23766616e-02 -2.93880760e+02] [-3.94613661e-03 9.99987376e-01 -3.11063564e-03 1.81783066e+01] [ 1.23643510e-02 3.15921363e-03 9.99918568e-01 1.56127007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.92907232899995 meters Centerline goodness : 0.784696 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.18, Z:156.13 [[ 9.99928780e-01 -3.66209570e-04 -1.19290126e-02 -2.93881890e+02] [ 2.84791321e-04 9.99976661e-01 -6.82621333e-03 1.81765776e+01] [ 1.19312340e-02 6.82232989e-03 9.99905546e-01 1.56126761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.959072329 meters Centerline goodness : 0.784613 Centerline is valid? [False, False] Translation: X:-293.88, Y:18.18, Z:156.13 [[ 9.99937816e-01 -8.07306181e-04 -1.11225679e-02 -2.93883669e+02] [ 7.30380548e-04 9.99975800e-01 -6.91850245e-03 1.81764104e+01] [ 1.11278841e-02 6.90994853e-03 9.99914208e-01 1.56126261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.98907232899995 meters Centerline goodness : 0.785109 Centerline is valid? [False, False] Translation: X:-293.89, Y:18.18, Z:156.13 [[ 9.99948059e-01 -1.67508254e-03 -1.00535041e-02 -2.93886326e+02] [ 1.60372022e-03 9.99973494e-01 -7.10212229e-03 1.81757103e+01] [ 1.00651342e-02 7.08563039e-03 9.99924241e-01 1.56125899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.019072329 meters Centerline goodness : 0.784955 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.17, Z:156.12 [[ 9.99965830e-01 -5.83247578e-03 -5.85841236e-03 -2.93896671e+02] [ 5.80191120e-03 9.99969540e-01 -5.22072790e-03 1.81747084e+01] [ 5.88868368e-03 5.18655952e-03 9.99969211e-01 1.56120519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.04907232899996 meters Centerline goodness : 0.783693 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.17, Z:156.12 [[ 9.99967970e-01 -6.32179011e-03 -4.90865635e-03 -2.93898783e+02] [ 6.29680473e-03 9.99967226e-01 -5.08894246e-03 1.81733666e+01] [ 4.94066670e-03 5.05787061e-03 9.99975004e-01 1.56119869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.079072329 meters Centerline goodness : 0.783036 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.17, Z:156.12 [[ 9.99970118e-01 -6.44763727e-03 -4.26512633e-03 -2.93900034e+02] [ 6.42738712e-03 9.99968088e-01 -4.74463090e-03 1.81720010e+01] [ 4.29558188e-03 4.71707550e-03 9.99979648e-01 1.56119181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.10907232899996 meters Centerline goodness : 0.781788 Centerline is valid? [False, False] Translation: X:-293.90, Y:18.17, Z:156.12 [[ 9.99970609e-01 -6.86186124e-03 -3.41996349e-03 -2.93902085e+02] [ 6.84612692e-03 9.99966024e-01 -4.59139365e-03 1.81706221e+01] [ 3.45135280e-03 4.56784520e-03 9.99983611e-01 1.56118799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.139072329 meters Centerline goodness : 0.784270 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99961940e-01 -8.47434020e-03 -2.07478472e-03 -2.93905435e+02] [ 8.46314814e-03 9.99949902e-01 -5.34495065e-03 1.81704550e+01] [ 2.11997571e-03 5.32718801e-03 9.99983563e-01 1.56118451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16907232899996 meters Centerline goodness : 0.782356 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99978872e-01 -6.43536324e-03 -9.17444174e-04 -2.93909404e+02] [ 6.43272987e-03 9.99975263e-01 -2.84495286e-03 1.81715273e+01] [ 9.35729784e-04 2.83899108e-03 9.99995532e-01 1.56119383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.199072329 meters Centerline goodness : 0.782064 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99975572e-01 -6.98805066e-03 -1.52706862e-04 -2.93911654e+02] [ 6.98756942e-03 9.99971228e-01 -2.95255891e-03 1.81709684e+01] [ 1.73335100e-04 2.95141974e-03 9.99995630e-01 1.56119617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22907232899996 meters Centerline goodness : 0.783808 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99974015e-01 -7.20506696e-03 2.38233168e-04 -2.93912741e+02] [ 7.20576603e-03 9.99969305e-01 -3.07674452e-03 1.81710919e+01] [-2.16057705e-04 3.07838122e-03 9.99995238e-01 1.56119663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.259072329 meters Centerline goodness : 0.783788 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99974525e-01 -7.13780286e-03 4.46098947e-05 -2.93911879e+02] [ 7.13791302e-03 9.99968787e-01 -3.38745640e-03 1.81732971e+01] [-2.04295064e-05 3.38768852e-03 9.99994262e-01 1.56119337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28907232899996 meters Centerline goodness : 0.783370 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99977788e-01 -6.66444324e-03 -8.91219348e-05 -2.93911356e+02] [ 6.66417440e-03 9.99974049e-01 -2.73687032e-03 1.81719228e+01] [ 1.07359339e-04 2.73621561e-03 9.99996251e-01 1.56119000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.319072329 meters Centerline goodness : 0.781783 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99977594e-01 -6.68541355e-03 3.41640962e-04 -2.93912375e+02] [ 6.68624578e-03 9.99974532e-01 -2.49584090e-03 1.81710608e+01] [-3.24946533e-04 2.49806928e-03 9.99996827e-01 1.56118783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34907232899997 meters Centerline goodness : 0.782125 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99973583e-01 -7.16556881e-03 1.21979154e-03 -2.93914459e+02] [ 7.16857363e-03 9.99971237e-01 -2.47710673e-03 1.81699468e+01] [-1.20200658e-03 2.48578546e-03 9.99996188e-01 1.56118398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37907232899994 meters Centerline goodness : 0.780137 Centerline is valid? [False, False] Translation: X:-293.91, Y:18.17, Z:156.12 [[ 9.99976012e-01 -6.83594195e-03 1.11588524e-03 -2.93914146e+02] [ 6.83826030e-03 9.99974441e-01 -2.08716249e-03 1.81693253e+01] [-1.10158900e-03 2.09474314e-03 9.99997199e-01 1.56118264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40907232899997 meters Centerline goodness : 0.783016 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99968332e-01 -7.71922717e-03 1.93602264e-03 -2.93916600e+02] [ 7.72491186e-03 9.99965822e-01 -2.94618497e-03 1.81709351e+01] [-1.91321420e-03 2.96104728e-03 9.99993786e-01 1.56118708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43907232899994 meters Centerline goodness : 0.782384 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99971478e-01 -7.33457944e-03 1.80175661e-03 -2.93916561e+02] [ 7.33891952e-03 9.99970156e-01 -2.41411945e-03 1.81697038e+01] [-1.78399628e-03 2.42727354e-03 9.99995463e-01 1.56119002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46907232899997 meters Centerline goodness : 0.780626 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99975937e-01 -6.78281042e-03 1.45565336e-03 -2.93915351e+02] [ 6.78559848e-03 9.99975136e-01 -1.91901416e-03 1.81694025e+01] [-1.44260086e-03 1.92884546e-03 9.99997099e-01 1.56118559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.49907232899994 meters Centerline goodness : 0.780350 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99970200e-01 -7.42151712e-03 2.12601304e-03 -2.93916355e+02] [ 7.42640514e-03 9.99969778e-01 -2.30055956e-03 1.81701770e+01] [-2.10887515e-03 2.31627964e-03 9.99995094e-01 1.56117611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.529072329 meters Centerline goodness : 0.780383 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99961015e-01 -8.27381778e-03 3.08411200e-03 -2.93918818e+02] [ 8.28223418e-03 9.99961985e-01 -2.72624244e-03 1.81703082e+01] [-3.06143833e-03 2.75167949e-03 9.99991528e-01 1.56117508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.55907232899995 meters Centerline goodness : 0.782013 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99959404e-01 -8.37147770e-03 3.33299116e-03 -2.93919218e+02] [ 8.38082643e-03 9.99960958e-01 -2.80089288e-03 1.81707650e+01] [-3.30941342e-03 2.82871240e-03 9.99990523e-01 1.56117184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.589072329 meters Centerline goodness : 0.781654 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99955374e-01 -8.64079228e-03 3.81930287e-03 -2.93920380e+02] [ 8.65162652e-03 9.99958571e-01 -2.82934754e-03 1.81705737e+01] [-3.79469684e-03 2.86226446e-03 9.99988704e-01 1.56117002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.61907232899995 meters Centerline goodness : 0.780519 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99953728e-01 -8.67858763e-03 4.15013737e-03 -2.93921052e+02] [ 8.68980512e-03 9.99958618e-01 -2.69257040e-03 1.81702109e+01] [-4.12659792e-03 2.72850969e-03 9.99987763e-01 1.56116715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.649072329 meters Centerline goodness : 0.780080 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99955786e-01 -8.42251773e-03 4.18188586e-03 -2.93921179e+02] [ 8.43320388e-03 9.99961203e-01 -2.54431894e-03 1.81702768e+01] [-4.16029404e-03 2.57947314e-03 9.99988019e-01 1.56116752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.67907232899995 meters Centerline goodness : 0.780001 Centerline is valid? [False, False] Translation: X:-293.92, Y:18.17, Z:156.12 [[ 9.99949949e-01 -8.85205622e-03 4.66259739e-03 -2.93922559e+02] [ 8.86569058e-03 9.99956460e-01 -2.91169153e-03 1.81709559e+01] [-4.63661993e-03 2.95288295e-03 9.99984891e-01 1.56116903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.709072329 meters Centerline goodness : 0.783040 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99966579e-01 -5.94181678e-03 5.61562868e-03 -2.93925707e+02] [ 5.94137995e-03 9.99982345e-01 9.44681301e-05 1.81728182e+01] [-5.61609085e-03 -6.11003893e-05 9.99984228e-01 1.56117641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.73907232899995 meters Centerline goodness : 0.782694 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99965327e-01 -6.10621165e-03 5.66202562e-03 -2.93925844e+02] [ 6.10763362e-03 9.99981321e-01 -2.33885281e-04 1.81742630e+01] [-5.66049171e-03 2.68458750e-04 9.99983943e-01 1.56117702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.769072329 meters Centerline goodness : 0.780409 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99962196e-01 -6.32682623e-03 5.96465413e-03 -2.93926573e+02] [ 6.32912338e-03 9.99979904e-01 -3.66329952e-04 1.81743489e+01] [-5.96221656e-03 4.04067135e-04 9.99982144e-01 1.56117601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.79907232899996 meters Centerline goodness : 0.780451 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99950477e-01 -7.19879266e-03 6.87173015e-03 -2.93929041e+02] [ 7.20416516e-03 9.99973763e-01 -7.57393809e-04 1.81739393e+01] [-6.86609753e-03 8.06861380e-04 9.99976103e-01 1.56117652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.829072329 meters Centerline goodness : 0.779785 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99946320e-01 -7.42845503e-03 7.22328455e-03 -2.93929760e+02] [ 7.43493362e-03 9.99971982e-01 -8.70463936e-04 1.81741014e+01] [-7.21661596e-03 9.24121851e-04 9.99973533e-01 1.56117385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.85907232899996 meters Centerline goodness : 0.781582 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99957613e-01 -6.38027832e-03 6.63808709e-03 -2.93927781e+02] [ 6.38071396e-03 9.99979642e-01 -4.44511367e-05 1.81737293e+01] [-6.63766834e-03 8.68049876e-05 9.99977967e-01 1.56116809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.889072329 meters Centerline goodness : 0.779536 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99957711e-01 -6.39934367e-03 6.60488944e-03 -2.93927408e+02] [ 6.40080138e-03 9.99979495e-01 -1.99587208e-04 1.81746051e+01] [-6.60347677e-03 2.41855353e-04 9.99978168e-01 1.56116472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91907232899996 meters Centerline goodness : 0.781996 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99958840e-01 -6.32967107e-03 6.50023618e-03 -2.93927269e+02] [ 6.33204431e-03 9.99979893e-01 -3.44585224e-04 1.81756583e+01] [-6.49792437e-03 3.85730824e-04 9.99978814e-01 1.56116703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.949072329 meters Centerline goodness : 0.780933 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99955861e-01 -6.52925395e-03 6.75610791e-03 -2.93928171e+02] [ 6.53350840e-03 9.99978472e-01 -6.07839766e-04 1.81765839e+01] [-6.75199372e-03 6.51954024e-04 9.99976993e-01 1.56117091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97907232899996 meters Centerline goodness : 0.782402 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99954068e-01 -6.61687689e-03 6.93386779e-03 -2.93928888e+02] [ 6.62228883e-03 9.99977785e-01 -7.57839866e-04 1.81772317e+01] [-6.92869923e-03 8.03723133e-04 9.99975673e-01 1.56117545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.009072329 meters Centerline goodness : 0.782402 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99954068e-01 -6.61687689e-03 6.93386779e-03 -2.93928888e+02] [ 6.62228883e-03 9.99977785e-01 -7.57839866e-04 1.81772317e+01] [-6.92869923e-03 8.03723133e-04 9.99975673e-01 1.56117545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03907232899996 meters Centerline goodness : 0.782633 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99952390e-01 -6.65877806e-03 7.13295506e-03 -2.93929287e+02] [ 6.66415122e-03 9.99977528e-01 -7.29784587e-04 1.81773947e+01] [-7.12793530e-03 7.77284933e-04 9.99974294e-01 1.56117405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.069072329 meters Centerline goodness : 0.781004 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.18, Z:156.12 [[ 9.99940528e-01 -7.25895517e-03 8.13934525e-03 -2.93931103e+02] [ 7.26418522e-03 9.99973427e-01 -6.13185006e-04 1.81762431e+01] [-8.13467788e-03 6.72274250e-04 9.99966687e-01 1.56116243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09907232899997 meters Centerline goodness : 0.782187 Centerline is valid? [False, False] Translation: X:-293.93, Y:18.17, Z:156.12 [[ 9.99924936e-01 -8.05746168e-03 9.23033518e-03 -2.93933946e+02] [ 8.06433686e-03 9.99967232e-01 -7.07868836e-04 1.81749802e+01] [-9.22432910e-03 7.82252233e-04 9.99957149e-01 1.56116069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12907232899994 meters Centerline goodness : 0.782124 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.17, Z:156.12 [[ 9.99901040e-01 -9.43334098e-03 1.04365797e-02 -2.93937696e+02] [ 9.44991952e-03 9.99954162e-01 -1.54032968e-03 1.81748792e+01] [-1.04215708e-02 1.63880209e-03 9.99944351e-01 1.56116717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15907232899997 meters Centerline goodness : 0.783883 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.17, Z:156.12 [[ 9.99888018e-01 -9.76431571e-03 1.13405968e-02 -2.93940008e+02] [ 9.77904352e-03 9.99951410e-01 -1.24395463e-03 1.81730397e+01] [-1.13278994e-02 1.35471552e-03 9.99934920e-01 1.56116541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18907232899994 meters Centerline goodness : 0.781756 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.17, Z:156.12 [[ 9.99826932e-01 -1.39455438e-02 1.23137118e-02 -2.93941861e+02] [ 1.40022070e-02 9.99891714e-01 -4.52746418e-03 1.81695676e+01] [-1.22492405e-02 4.69909976e-03 9.99913934e-01 1.56115636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21907232899997 meters Centerline goodness : 0.783016 Centerline is valid? [False, False] Translation: X:-293.94, Y:18.17, Z:156.12 [[ 9.99805314e-01 -1.45341653e-02 1.33451520e-02 -2.93944463e+02] [ 1.45930924e-02 9.99884144e-01 -4.32890590e-03 1.81676588e+01] [-1.32806889e-02 4.52281016e-03 9.99901579e-01 1.56115356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.24907232899994 meters Centerline goodness : 0.782296 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99763700e-01 -1.58385645e-02 1.48890724e-02 -2.93947478e+02] [ 1.59003471e-02 9.99865418e-01 -4.04034216e-03 1.81648409e+01] [-1.48230754e-02 4.27612884e-03 9.99880988e-01 1.56113712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.279072329 meters Centerline goodness : 0.780067 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99731742e-01 -1.67102879e-02 1.60377469e-02 -2.93950547e+02] [ 1.67803974e-02 9.99850180e-01 -4.24694980e-03 1.81638430e+01] [-1.59643763e-02 4.51493029e-03 9.99862368e-01 1.56113729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.30907232899995 meters Centerline goodness : 0.782367 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99716246e-01 -1.69772741e-02 1.67092907e-02 -2.93952136e+02] [ 1.70505223e-02 9.99845592e-01 -4.25101610e-03 1.81634862e+01] [-1.66345400e-02 4.53471199e-03 9.99851353e-01 1.56113529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.339072329 meters Centerline goodness : 0.780721 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99700928e-01 -1.71294579e-02 1.74538091e-02 -2.93953926e+02] [ 1.71983081e-02 9.99844868e-01 -3.80226414e-03 1.81617581e+01] [-1.73859708e-02 4.10130297e-03 9.99840441e-01 1.56113329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.36907232899995 meters Centerline goodness : 0.784771 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99701195e-01 -1.69529230e-02 1.76101962e-02 -2.93954140e+02] [ 1.70172476e-02 9.99849038e-01 -3.50927168e-03 1.81613483e+01] [-1.75480453e-02 3.80790016e-03 9.99838770e-01 1.56113087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.399072329 meters Centerline goodness : 0.784066 Centerline is valid? [False, False] Translation: X:-293.95, Y:18.16, Z:156.11 [[ 9.99699593e-01 -1.68171631e-02 1.78299163e-02 -2.93954683e+02] [ 1.68763313e-02 9.99852549e-01 -3.17321550e-03 1.81605168e+01] [-1.77739228e-02 3.47316582e-03 9.99835999e-01 1.56113042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.42907232899995 meters Centerline goodness : 0.784160 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.16, Z:156.11 [[ 9.99668770e-01 -1.75254996e-02 1.88469332e-02 -2.93956819e+02] [ 1.75896000e-02 9.99840039e-01 -3.24072059e-03 1.81595711e+01] [-1.87871232e-02 3.57115719e-03 9.99817129e-01 1.56112385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.459072329 meters Centerline goodness : 0.783737 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.16, Z:156.11 [[ 9.99648433e-01 -1.78790074e-02 1.95793398e-02 -2.93958735e+02] [ 1.79472043e-02 9.99833447e-01 -3.31293232e-03 1.81591499e+01] [-1.95168469e-02 3.66316201e-03 9.99802818e-01 1.56112433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.48907232899995 meters Centerline goodness : 0.784662 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.16, Z:156.11 [[ 9.99613665e-01 -1.88045095e-02 2.04673196e-02 -2.93961136e+02] [ 1.88836883e-02 9.99814907e-01 -3.68215986e-03 1.81582121e+01] [-2.03942900e-02 4.06723580e-03 9.99783742e-01 1.56112483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.519072329 meters Centerline goodness : 0.781890 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.16, Z:156.11 [[ 9.99620896e-01 -1.84203956e-02 2.04634866e-02 -2.93960956e+02] [ 1.84871391e-02 9.99824363e-01 -3.07719812e-03 1.81567745e+01] [-2.04032092e-02 3.45434286e-03 9.99785865e-01 1.56112123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.54907232899996 meters Centerline goodness : 0.780891 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.16, Z:156.11 [[ 9.99620067e-01 -1.83461270e-02 2.05704052e-02 -2.93961133e+02] [ 1.84107289e-02 9.99826140e-01 -2.95554468e-03 1.81565852e+01] [-2.05126060e-02 3.33313793e-03 9.99784038e-01 1.56111935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.579072329 meters Centerline goodness : 0.780473 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.17, Z:156.12 [[ 9.99815672e-01 -1.61341332e-02 1.04072996e-02 -2.93971627e+02] [ 1.61850501e-02 9.99857362e-01 -4.82689128e-03 1.81748718e+01] [-1.03279374e-02 4.99444422e-03 9.99934192e-01 1.56116622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.60907232899996 meters Centerline goodness : 0.781345 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.18, Z:156.12 [[ 9.99854155e-01 -1.29567751e-02 1.11261663e-02 -2.93973818e+02] [ 1.29764835e-02 9.99914355e-01 -1.70099380e-03 1.81771827e+01] [-1.11031740e-02 1.84512423e-03 9.99936656e-01 1.56116957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.639072329 meters Centerline goodness : 0.782553 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.18, Z:156.12 [[ 9.99860878e-01 -1.26586188e-02 1.08620701e-02 -2.93972738e+02] [ 1.26780186e-02 9.99918153e-01 -1.71901667e-03 1.81785363e+01] [-1.08394207e-02 1.85648705e-03 9.99939528e-01 1.56116577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66907232899996 meters Centerline goodness : 0.780995 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.18, Z:156.12 [[ 9.99888898e-01 -9.40757005e-03 1.15624248e-02 -2.93975177e+02] [ 9.38894648e-03 9.99954538e-01 1.66392641e-03 1.81795022e+01] [-1.15775526e-02 -1.55518255e-03 9.99931769e-01 1.56117217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.699072329 meters Centerline goodness : 0.782726 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.18, Z:156.12 [[ 9.99888348e-01 -9.48608267e-03 1.15458368e-02 -2.93975367e+02] [ 9.47084533e-03 9.99954207e-01 1.37368848e-03 1.81804602e+01] [-1.15583390e-02 -1.26418627e-03 9.99932401e-01 1.56117557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72907232899996 meters Centerline goodness : 0.786620 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.18, Z:156.12 [[ 9.99896987e-01 -9.05838353e-03 1.11338199e-02 -2.93974217e+02] [ 9.04175535e-03 9.99957932e-01 1.54291478e-03 1.81809375e+01] [-1.11473278e-02 -1.44208656e-03 9.99936827e-01 1.56117477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.759072329 meters Centerline goodness : 0.783266 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.18, Z:156.12 [[ 9.99918172e-01 -7.89435991e-03 1.00661596e-02 -2.93971520e+02] [ 7.87513721e-03 9.99967094e-01 1.94784654e-03 1.81818580e+01] [-1.00812054e-02 -1.86841476e-03 9.99947438e-01 1.56117654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78907232899996 meters Centerline goodness : 0.782134 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.18, Z:156.12 [[ 9.99931585e-01 -7.10940619e-03 9.28878143e-03 -2.93969873e+02] [ 7.08719407e-03 9.99971952e-01 2.42201645e-03 1.81817036e+01] [-9.30574000e-03 -2.35601935e-03 9.99953925e-01 1.56118070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.819072329 meters Centerline goodness : 0.784509 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.19, Z:156.12 [[ 9.99955043e-01 -3.33972520e-03 8.87459285e-03 -2.93969858e+02] [ 3.29343002e-03 9.99980920e-01 5.22610208e-03 1.81860115e+01] [-8.89187727e-03 -5.19663927e-03 9.99946963e-01 1.56119560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84907232899997 meters Centerline goodness : 0.784045 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.19, Z:156.12 [[ 9.99960678e-01 -3.04398788e-03 8.32930696e-03 -2.93968692e+02] [ 3.00279731e-03 9.99983224e-01 4.95330261e-03 1.81877744e+01] [-8.34424502e-03 -4.92809661e-03 9.99953043e-01 1.56119913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87907232899994 meters Centerline goodness : 0.783692 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.19, Z:156.12 [[ 9.99972753e-01 -1.98839254e-03 7.10907688e-03 -2.93965959e+02] [ 1.95313985e-03 9.99985780e-01 4.96233620e-03 1.81895452e+01] [-7.11884286e-03 -4.94831597e-03 9.99962417e-01 1.56120624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90907232899997 meters Centerline goodness : 0.781866 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.19, Z:156.12 [[ 9.99982428e-01 -5.21301446e-04 5.90532970e-03 -2.93963285e+02] [ 4.87227419e-04 9.99983235e-01 5.77001627e-03 1.81895748e+01] [-5.90823861e-03 -5.76703764e-03 9.99965916e-01 1.56121132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93907232899994 meters Centerline goodness : 0.782478 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.19, Z:156.12 [[ 9.99987014e-01 -3.09975199e-05 5.09607405e-03 -2.93961496e+02] [ 4.17268878e-06 9.99986146e-01 5.26374923e-03 1.81928275e+01] [-5.09616662e-03 -5.26365961e-03 9.99973161e-01 1.56121703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96907232899997 meters Centerline goodness : 0.783655 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.12 [[ 9.99982234e-01 3.54401451e-03 4.79290117e-03 -2.93961742e+02] [-3.58159983e-03 9.99962726e-01 7.85615892e-03 1.81977593e+01] [-4.76488018e-03 -7.87318560e-03 9.99957654e-01 1.56123363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.99907232899994 meters Centerline goodness : 0.785041 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.12 [[ 9.99984172e-01 3.83508635e-03 4.11688045e-03 -2.93960802e+02] [-3.86617085e-03 9.99963879e-01 7.56928245e-03 1.81992386e+01] [-4.08770289e-03 -7.58507920e-03 9.99962878e-01 1.56124448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.029072329 meters Centerline goodness : 0.787465 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.13 [[ 9.99984091e-01 4.66522343e-03 3.17065748e-03 -2.93958921e+02] [-4.68825601e-03 9.99962393e-01 7.29610235e-03 1.82016941e+01] [-3.13650029e-03 -7.31085113e-03 9.99968356e-01 1.56125485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.05907232899995 meters Centerline goodness : 0.788133 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.13 [[ 9.99984999e-01 4.68468652e-03 2.83811843e-03 -2.93958499e+02] [-4.70430291e-03 9.99964818e-01 6.94496917e-03 1.82030153e+01] [-2.80548357e-03 -6.95821636e-03 9.99971856e-01 1.56126035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.089072329 meters Centerline goodness : 0.788841 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.13 [[ 9.99986174e-01 4.38506044e-03 2.90224357e-03 -2.93959029e+02] [-4.40361435e-03 9.99969710e-01 6.41774125e-03 1.82045736e+01] [-2.87401348e-03 -6.43043288e-03 9.99975194e-01 1.56126521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.11907232899995 meters Centerline goodness : 0.789637 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.21, Z:156.13 [[ 9.99988600e-01 3.93951191e-03 2.69828545e-03 -2.93960078e+02] [-3.95413413e-03 9.99977411e-01 5.43535328e-03 1.82068880e+01] [-2.67681186e-03 -5.44596070e-03 9.99981588e-01 1.56128691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.149072329 meters Centerline goodness : 0.789842 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.21, Z:156.13 [[ 9.99989261e-01 3.47584811e-03 3.06519923e-03 -2.93961855e+02] [-3.49074490e-03 9.99982058e-01 4.86809190e-03 1.82078246e+01] [-3.04822349e-03 -4.87873945e-03 9.99983453e-01 1.56129734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.17907232899995 meters Centerline goodness : 0.788543 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.21, Z:156.13 [[ 9.99996923e-01 1.37480589e-04 2.47679245e-03 -2.93960742e+02] [-1.41082209e-04 9.99998933e-01 1.45403069e-03 1.82066346e+01] [-2.47658991e-03 -1.45437565e-03 9.99995876e-01 1.56130077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.209072329 meters Centerline goodness : 0.787295 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.20, Z:156.13 [[ 9.99992246e-01 -1.18365454e-03 3.75589149e-03 -2.93964312e+02] [ 1.17874272e-03 9.99998448e-01 1.30970709e-03 1.82037975e+01] [-3.75743590e-03 -1.30526971e-03 9.99992089e-01 1.56129805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.23907232899995 meters Centerline goodness : 0.785085 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99985034e-01 -2.38424785e-03 4.92415519e-03 -2.93967381e+02] [ 2.38031221e-03 9.99996843e-01 8.04957926e-04 1.82031546e+01] [-4.92605886e-03 -7.93224852e-04 9.99987552e-01 1.56129660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.269072329 meters Centerline goodness : 0.785686 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99966622e-01 -6.13582132e-03 5.39507822e-03 -2.93967556e+02] [ 6.14651931e-03 9.99979172e-01 -1.96857825e-03 1.81989308e+01] [-5.38288700e-03 2.00167349e-03 9.99983509e-01 1.56128034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.29907232899996 meters Centerline goodness : 0.784695 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99959746e-01 -6.48774524e-03 6.19796161e-03 -2.93969371e+02] [ 6.49961448e-03 9.99977078e-01 -1.89680436e-03 1.81981250e+01] [-6.18551356e-03 1.93701237e-03 9.99978993e-01 1.56127619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.329072329 meters Centerline goodness : 0.784137 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99955082e-01 -6.66307328e-03 6.74074688e-03 -2.93970558e+02] [ 6.67488716e-03 9.99976223e-01 -1.73162962e-03 1.81974201e+01] [-6.72904863e-03 1.77654557e-03 9.99975782e-01 1.56127279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.35907232899996 meters Centerline goodness : 0.784507 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99940934e-01 -7.53760992e-03 7.83020828e-03 -2.93973181e+02] [ 7.55234879e-03 9.99969761e-01 -1.85444749e-03 1.81963087e+01] [-7.81599341e-03 1.91347442e-03 9.99967624e-01 1.56126937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.389072329 meters Centerline goodness : 0.784413 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99940896e-01 -7.34973134e-03 8.01159053e-03 -2.93973740e+02] [ 7.36183723e-03 9.99971802e-01 -1.48260473e-03 1.81953780e+01] [-8.00046787e-03 1.54149713e-03 9.99966808e-01 1.56126965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41907232899996 meters Centerline goodness : 0.786274 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99957940e-01 -5.99425717e-03 6.94166992e-03 -2.93971008e+02] [ 6.00618104e-03 9.99980521e-01 -1.69815152e-03 1.81993856e+01] [-6.93135554e-03 1.73977303e-03 9.99974464e-01 1.56127663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.449072329 meters Centerline goodness : 0.785163 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99963138e-01 -4.07980101e-03 7.55502696e-03 -2.93974523e+02] [ 4.07718252e-03 9.99991623e-01 3.61958002e-04 1.82000526e+01] [-7.55644038e-03 -3.31141436e-04 9.99971395e-01 1.56129699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47907232899996 meters Centerline goodness : 0.783902 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99971015e-01 -3.20893656e-03 6.90454551e-03 -2.93973002e+02] [ 3.20284903e-03 9.99994473e-01 8.92546009e-04 1.81998119e+01] [-6.90737147e-03 -8.70405921e-04 9.99975765e-01 1.56129869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.509072329 meters Centerline goodness : 0.783810 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99973920e-01 -4.92683280e-05 7.22192139e-03 -2.93974359e+02] [ 2.39926353e-05 9.99993875e-01 3.49990193e-03 1.82037331e+01] [-7.22204959e-03 -3.49963738e-03 9.99967797e-01 1.56130634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53907232899996 meters Centerline goodness : 0.783608 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99978539e-01 4.95474868e-04 6.53273787e-03 -2.93972972e+02] [-5.19107524e-04 9.99993326e-01 3.61637378e-03 1.82044767e+01] [-6.53090245e-03 -3.61968736e-03 9.99972122e-01 1.56131106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.569072329 meters Centerline goodness : 0.784267 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.20, Z:156.13 [[ 9.99982989e-01 1.23646509e-03 5.70029142e-03 -2.93971113e+02] [-1.25856848e-03 9.99991698e-01 3.87563439e-03 1.82049045e+01] [-5.69545201e-03 -3.88274266e-03 9.99976243e-01 1.56131486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59907232899997 meters Centerline goodness : 0.782071 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99982531e-01 9.95217450e-04 5.82644721e-03 -2.93971789e+02] [-1.01560554e-03 9.99993369e-01 3.49732023e-03 1.82058745e+01] [-5.82292798e-03 -3.50317651e-03 9.99976910e-01 1.56131923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62907232899994 meters Centerline goodness : 0.781531 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99984475e-01 1.32765156e-03 5.41166532e-03 -2.93970838e+02] [-1.34666405e-03 9.99992929e-01 3.51111379e-03 1.82065425e+01] [-5.40696552e-03 -3.51834698e-03 9.99979193e-01 1.56132009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65907232899997 meters Centerline goodness : 0.785834 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99987295e-01 1.49368090e-03 4.81447999e-03 -2.93969992e+02] [-1.50913760e-03 9.99993714e-01 3.20842838e-03 1.82078969e+01] [-4.80965736e-03 -3.21565333e-03 9.99983263e-01 1.56132963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68907232899994 meters Centerline goodness : 0.787366 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99989102e-01 2.15318937e-03 4.14239486e-03 -2.93968519e+02] [-2.16663910e-03 9.99992387e-01 3.24510619e-03 1.82094555e+01] [-4.13537600e-03 -3.25404590e-03 9.99986155e-01 1.56133394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71907232899997 meters Centerline goodness : 0.785610 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99989459e-01 1.64148036e-03 4.28803472e-03 -2.93969364e+02] [-1.65222590e-03 9.99995501e-01 2.50359659e-03 1.82112442e+01] [-4.28390582e-03 -2.51065500e-03 9.99987672e-01 1.56133964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.74907232899994 meters Centerline goodness : 0.788211 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99991580e-01 2.27722531e-03 3.41367460e-03 -2.93967262e+02] [-2.28602920e-03 9.99994066e-01 2.57732915e-03 1.82123834e+01] [-3.40778519e-03 -2.58511121e-03 9.99990852e-01 1.56134196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.779072329 meters Centerline goodness : 0.785516 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.13 [[ 9.99992389e-01 2.78505197e-03 2.73232325e-03 -2.93965865e+02] [-2.79219484e-03 9.99992686e-01 2.61389009e-03 1.82134248e+01] [-2.72502344e-03 -2.62149938e-03 9.99992851e-01 1.56134692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.80907232899995 meters Centerline goodness : 0.789457 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.21, Z:156.14 [[ 9.99993179e-01 2.67668686e-03 2.54523307e-03 -2.93966009e+02] [-2.68216881e-03 9.99994086e-01 2.15284152e-03 1.82148402e+01] [-2.53945553e-03 -2.15965358e-03 9.99994444e-01 1.56135547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.839072329 meters Centerline goodness : 0.789801 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994061e-01 2.75796618e-03 2.06675922e-03 -2.93965337e+02] [-2.76134404e-03 9.99994854e-01 1.63331087e-03 1.82170952e+01] [-2.06224396e-03 -1.63900820e-03 9.99996530e-01 1.56136388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.86907232899995 meters Centerline goodness : 0.789499 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994508e-01 2.68012147e-03 1.94985002e-03 -2.93965770e+02] [-2.68256941e-03 9.99995616e-01 1.25391855e-03 1.82181823e+01] [-1.94648082e-03 -1.25914227e-03 9.99997313e-01 1.56137341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.899072329 meters Centerline goodness : 0.788098 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994703e-01 2.44268990e-03 2.15115148e-03 -2.93966925e+02] [-2.44482923e-03 9.99996519e-01 9.92439580e-04 1.82183630e+01] [-2.14871977e-03 -9.97693521e-04 9.99997194e-01 1.56138131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.92907232899995 meters Centerline goodness : 0.788098 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994703e-01 2.44268990e-03 2.15115148e-03 -2.93966925e+02] [-2.44482923e-03 9.99996519e-01 9.92439580e-04 1.82183630e+01] [-2.14871977e-03 -9.97693521e-04 9.99997194e-01 1.56138131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.959072329 meters Centerline goodness : 0.789186 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99973729e-01 7.01486665e-03 1.82577448e-03 -2.93965975e+02] [-7.02423401e-03 9.99961935e-01 5.17580527e-03 1.82193329e+01] [-1.78939739e-03 -5.18849396e-03 9.99984939e-01 1.56138048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.98907232899995 meters Centerline goodness : 0.787969 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.22, Z:156.14 [[ 9.99972648e-01 7.25199974e-03 1.45320205e-03 -2.93964977e+02] [-7.25945397e-03 9.99960173e-01 5.19163728e-03 1.82200819e+01] [-1.41549442e-03 -5.20204473e-03 9.99985467e-01 1.56137959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.019072329 meters Centerline goodness : 0.787236 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.22, Z:156.14 [[ 9.99972800e-01 7.24972871e-03 1.35701441e-03 -2.93964689e+02] [-7.25633437e-03 9.99961530e-01 4.92786404e-03 1.82210916e+01] [-1.32123653e-03 -4.93757696e-03 9.99986937e-01 1.56137877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.04907232899996 meters Centerline goodness : 0.785024 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.22, Z:156.14 [[ 9.99970585e-01 7.60037304e-03 1.03161738e-03 -2.93964216e+02] [-7.60565036e-03 9.99957494e-01 5.21186922e-03 1.82205972e+01] [-9.91961380e-04 -5.21956203e-03 9.99985886e-01 1.56138219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.079072329 meters Centerline goodness : 0.785958 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.22, Z:156.14 [[ 9.99989201e-01 4.64345771e-03 1.91843033e-04 -2.93962318e+02] [-4.64377231e-03 9.99987818e-01 1.67331703e-03 1.82213024e+01] [-1.84070719e-04 -1.67418984e-03 9.99998582e-01 1.56138641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.10907232899996 meters Centerline goodness : 0.787326 Centerline is valid? [False, False] Translation: X:-293.96, Y:18.22, Z:156.14 [[ 9.99990040e-01 4.44754775e-03 3.72220976e-04 -2.93963865e+02] [-4.44807974e-03 9.99989069e-01 1.44081930e-03 1.82213967e+01] [-3.65808795e-04 -1.44246061e-03 9.99998893e-01 1.56140056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.139072329 meters Centerline goodness : 0.789177 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99993892e-01 3.33060436e-03 1.05999642e-03 -2.93966516e+02] [-3.33076696e-03 9.99994441e-01 1.51664059e-04 1.82237978e+01] [-1.05948539e-03 -1.55193734e-04 9.99999427e-01 1.56141140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16907232899996 meters Centerline goodness : 0.786757 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99993711e-01 3.22433870e-03 1.47705893e-03 -2.93967628e+02] [-3.22503971e-03 9.99994688e-01 4.72463198e-04 1.82220823e+01] [-1.47552770e-03 -4.77223801e-04 9.99998798e-01 1.56140998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.199072329 meters Centerline goodness : 0.787254 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994068e-01 2.54266937e-03 2.32365522e-03 -2.93969596e+02] [-2.54301089e-03 9.99996756e-01 1.44032485e-04 1.82220138e+01] [-2.32328145e-03 -1.49940711e-04 9.99997290e-01 1.56140567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22907232899996 meters Centerline goodness : 0.785564 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994473e-01 1.07461106e-03 3.14643024e-03 -2.93972640e+02] [-1.07284226e-03 9.99999266e-01 -5.63795095e-04 1.82203478e+01] [-3.14703379e-03 5.60416355e-04 9.99994891e-01 1.56141312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.259072329 meters Centerline goodness : 0.786477 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99994626e-01 2.45373590e-03 2.17425183e-03 -2.93970035e+02] [-2.45374962e-03 9.99996990e-01 3.64379065e-06 1.82218346e+01] [-2.17423635e-03 -8.97884067e-06 9.99997636e-01 1.56141331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28907232899996 meters Centerline goodness : 0.786077 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.22, Z:156.14 [[ 9.99995532e-01 2.40341321e-03 1.77737544e-03 -2.93969388e+02] [-2.40256332e-03 9.99996999e-01 -4.80150669e-04 1.82236581e+01] [-1.77852411e-03 4.75878266e-04 9.99998305e-01 1.56141945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.319072329 meters Centerline goodness : 0.787633 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99995805e-01 1.80866823e-03 2.26244498e-03 -2.93970787e+02] [-1.80600945e-03 9.99997677e-01 -1.17666906e-03 1.82252450e+01] [-2.26456793e-03 1.17257812e-03 9.99996748e-01 1.56142174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34907232899997 meters Centerline goodness : 0.787033 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99995842e-01 1.90589170e-03 2.16398420e-03 -2.93970754e+02] [-1.90346753e-03 9.99997559e-01 -1.12174015e-03 1.82251347e+01] [-2.16611683e-03 1.11761641e-03 9.99997029e-01 1.56142391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37907232899994 meters Centerline goodness : 0.786308 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99996149e-01 2.22009085e-03 1.66556608e-03 -2.93969749e+02] [-2.21830397e-03 9.99996963e-01 -1.07391898e-03 1.82255349e+01] [-1.66794522e-03 1.07022011e-03 9.99998036e-01 1.56142763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40907232899997 meters Centerline goodness : 0.785050 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99996310e-01 2.37239285e-03 1.32318199e-03 -2.93969053e+02] [-2.37084967e-03 9.99996509e-01 -1.16661640e-03 1.82263850e+01] [-1.32594505e-03 1.16347503e-03 9.99998444e-01 1.56143003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43907232899994 meters Centerline goodness : 0.785270 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99996493e-01 2.19786293e-03 1.47747894e-03 -2.93969700e+02] [-2.19589021e-03 9.99996697e-01 -1.33548908e-03 1.82265015e+01] [-1.48040928e-03 1.33224001e-03 9.99998017e-01 1.56143349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46907232899997 meters Centerline goodness : 0.785400 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99996314e-01 2.05982903e-03 1.76902137e-03 -2.93970555e+02] [-2.05751224e-03 9.99997025e-01 -1.31046895e-03 1.82259923e+01] [-1.77171545e-03 1.30682434e-03 9.99997577e-01 1.56143415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.49907232899994 meters Centerline goodness : 0.785477 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99996269e-01 2.16569561e-03 1.66496709e-03 -2.93970729e+02] [-2.16342420e-03 9.99996728e-01 -1.36482679e-03 1.82263768e+01] [-1.66791745e-03 1.36121966e-03 9.99997683e-01 1.56143948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.529072329 meters Centerline goodness : 0.786956 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99995918e-01 1.67146730e-03 2.31738333e-03 -2.93972625e+02] [-1.66778144e-03 9.99997343e-01 -1.59155075e-03 1.82261605e+01] [-2.32003740e-03 1.58767937e-03 9.99996048e-01 1.56144152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.55907232899995 meters Centerline goodness : 0.786530 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99995774e-01 1.62887281e-03 2.40807757e-03 -2.93973031e+02] [-1.62479403e-03 9.99997244e-01 -1.69478145e-03 1.82266942e+01] [-2.41083151e-03 1.69086166e-03 9.99995664e-01 1.56144494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.589072329 meters Centerline goodness : 0.788099 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99995297e-01 1.35465204e-03 2.75143603e-03 -2.93974022e+02] [-1.34946601e-03 9.99997311e-01 -1.88582999e-03 1.82270558e+01] [-2.75398328e-03 1.88210815e-03 9.99994437e-01 1.56144656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.61907232899995 meters Centerline goodness : 0.787130 Centerline is valid? [False, False] Translation: X:-293.97, Y:18.23, Z:156.14 [[ 9.99994195e-01 1.27805839e-03 3.15859013e-03 -2.93974954e+02] [-1.27328034e-03 9.99998043e-01 -1.51426418e-03 1.82256157e+01] [-3.16051927e-03 1.51023362e-03 9.99993865e-01 1.56144408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.649072329 meters Centerline goodness : 0.787765 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.23, Z:156.14 [[ 9.99993588e-01 1.19590061e-03 3.37551051e-03 -2.93975302e+02] [-1.19054548e-03 9.99998030e-01 -1.58803068e-03 1.82259151e+01] [-3.37740298e-03 1.58400180e-03 9.99993042e-01 1.56144099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.67907232899995 meters Centerline goodness : 0.786246 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.23, Z:156.14 [[ 9.99991546e-01 6.55704466e-04 4.05920355e-03 -2.93977014e+02] [-6.48509828e-04 9.99998217e-01 -1.77348847e-03 1.82255733e+01] [-4.06035919e-03 1.77084104e-03 9.99990189e-01 1.56143955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.709072329 meters Centerline goodness : 0.784565 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.22, Z:156.14 [[ 9.99989032e-01 4.09225189e-04 4.66575731e-03 -2.93978014e+02] [-4.01924635e-04 9.99998694e-01 -1.56553954e-03 1.82245395e+01] [-4.66639187e-03 1.56364709e-03 9.99987890e-01 1.56143161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.73907232899995 meters Centerline goodness : 0.785686 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.23, Z:156.14 [[ 9.99986336e-01 1.18138066e-05 5.22760895e-03 -2.93979143e+02] [-2.01182178e-06 9.99998242e-01 -1.87504300e-03 1.82252169e+01] [-5.22762191e-03 1.87500686e-03 9.99984578e-01 1.56142730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.769072329 meters Centerline goodness : 0.784385 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.22, Z:156.14 [[ 9.99985685e-01 1.82507544e-04 5.34752739e-03 -2.93979456e+02] [-1.74783378e-04 9.99998941e-01 -1.44486864e-03 1.82238460e+01] [-5.34778542e-03 1.44391330e-03 9.99984658e-01 1.56142659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.79907232899996 meters Centerline goodness : 0.785092 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.22, Z:156.14 [[ 9.99984376e-01 1.24787492e-04 5.58860168e-03 -2.93980480e+02] [-1.16386656e-04 9.99998863e-01 -1.50350901e-03 1.82238718e+01] [-5.58878295e-03 1.50283508e-03 9.99983253e-01 1.56143215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.829072329 meters Centerline goodness : 0.786372 Centerline is valid? [False, False] Translation: X:-293.98, Y:18.22, Z:156.14 [[ 9.99979400e-01 -7.79100018e-04 6.37117076e-03 -2.93983191e+02] [ 7.93412826e-04 9.99997167e-01 -2.24427697e-03 1.82246461e+01] [-6.36940419e-03 2.24928571e-03 9.99977185e-01 1.56144108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.85907232899996 meters Centerline goodness : 0.786526 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99973944e-01 -1.27535438e-03 7.10520540e-03 -2.93985099e+02] [ 1.29210582e-03 9.99996396e-01 -2.35353866e-03 1.82240424e+01] [-7.10217820e-03 2.36265801e-03 9.99971988e-01 1.56144093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.889072329 meters Centerline goodness : 0.785368 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99971348e-01 -1.21482078e-03 7.47182816e-03 -2.93985665e+02] [ 1.22958566e-03 9.99997300e-01 -1.97179758e-03 1.82229494e+01] [-7.46941260e-03 1.98092833e-03 9.99970141e-01 1.56143538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91907232899996 meters Centerline goodness : 0.785916 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99968226e-01 -1.30991729e-03 7.86329408e-03 -2.93986327e+02] [ 1.32420738e-03 9.99997481e-01 -1.81238569e-03 1.82223044e+01] [-7.86090020e-03 1.82274073e-03 9.99967441e-01 1.56143014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.949072329 meters Centerline goodness : 0.783611 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99960743e-01 -1.91134486e-03 8.65215963e-03 -2.93987899e+02] [ 1.92717513e-03 9.99996484e-01 -1.82166486e-03 1.82214342e+01] [-8.64864738e-03 1.83826757e-03 9.99960910e-01 1.56142313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97907232899996 meters Centerline goodness : 0.783493 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99957277e-01 -2.02110131e-03 9.01991503e-03 -2.93988673e+02] [ 2.03733151e-03 9.99996322e-01 -1.79054912e-03 1.82213587e+01] [-9.01626297e-03 1.80884918e-03 9.99957717e-01 1.56142085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.009072329 meters Centerline goodness : 0.785304 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99943180e-01 -3.28206520e-03 1.01422733e-02 -2.93991692e+02] [ 3.30740211e-03 9.99991449e-01 -2.48238686e-03 1.82214199e+01] [-1.01340393e-02 2.51579038e-03 9.99945485e-01 1.56142187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03907232899996 meters Centerline goodness : 0.784666 Centerline is valid? [False, False] Translation: X:-293.99, Y:18.22, Z:156.14 [[ 9.99938456e-01 -3.29539612e-03 1.05936110e-02 -2.93992635e+02] [ 3.31882254e-03 9.99992085e-01 -2.19455457e-03 1.82205866e+01] [-1.05862952e-02 2.22957782e-03 9.99941478e-01 1.56141853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.069072329 meters Centerline goodness : 0.781939 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99921770e-01 -4.20010560e-03 1.17819280e-02 -2.93995612e+02] [ 4.22458967e-03 9.99988967e-01 -2.05398616e-03 1.82181682e+01] [-1.17731711e-02 2.10359928e-03 9.99928481e-01 1.56141553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09907232899997 meters Centerline goodness : 0.783427 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99912928e-01 -4.41970353e-03 1.24338962e-02 -2.93997552e+02] [ 4.44435972e-03 9.99988211e-01 -1.95604984e-03 1.82172212e+01] [-1.24251044e-02 2.01114023e-03 9.99920783e-01 1.56141848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12907232899994 meters Centerline goodness : 0.786141 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99900181e-01 -4.90134673e-03 1.32515921e-02 -2.93999863e+02] [ 4.92931758e-03 9.99985690e-01 -2.07891621e-03 1.82166674e+01] [-1.32412130e-02 2.14403000e-03 9.99910033e-01 1.56142177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15907232899997 meters Centerline goodness : 0.786072 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99890064e-01 -5.15637453e-03 1.39022116e-02 -2.94001440e+02] [ 5.18521761e-03 9.99984477e-01 -2.03946608e-03 1.82159814e+01] [-1.38914795e-02 2.11132786e-03 9.99901280e-01 1.56142004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18907232899994 meters Centerline goodness : 0.785638 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99882347e-01 -5.34366821e-03 1.43783732e-02 -2.94002282e+02] [ 5.37309036e-03 9.99983548e-01 -2.00842588e-03 1.82156733e+01] [-1.43674043e-02 2.08544588e-03 9.99894609e-01 1.56141480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21907232899997 meters Centerline goodness : 0.786110 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.21, Z:156.14 [[ 9.99869216e-01 -5.72029662e-03 1.51270841e-02 -2.94004053e+02] [ 5.75119365e-03 9.99981462e-01 -1.99978455e-03 1.82148439e+01] [-1.51153643e-02 2.08652180e-03 9.99883579e-01 1.56141227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.24907232899994 meters Centerline goodness : 0.786671 Centerline is valid? [False, False] Translation: X:-294.00, Y:18.22, Z:156.14 [[ 9.99862222e-01 -5.89715466e-03 1.55164892e-02 -2.94004964e+02] [ 5.93105433e-03 9.99980122e-01 -2.13964091e-03 1.82151706e+01] [-1.55035629e-02 2.23137525e-03 9.99877323e-01 1.56141124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.279072329 meters Centerline goodness : 0.786219 Centerline is valid? [False, False] Translation: X:-294.01, Y:18.22, Z:156.14 [[ 9.99848789e-01 -6.40742779e-03 1.61661247e-02 -2.94007059e+02] [ 6.44901093e-03 9.99976026e-01 -2.52142024e-03 1.82153829e+01] [-1.61495813e-02 2.62529449e-03 9.99866140e-01 1.56141753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.30907232899995 meters Centerline goodness : 0.787490 Centerline is valid? [False, False] Translation: X:-294.01, Y:18.22, Z:156.14 [[ 9.99831340e-01 -6.86527035e-03 1.70341012e-02 -2.94009903e+02] [ 6.91266854e-03 9.99972394e-01 -2.72522865e-03 1.82150477e+01] [-1.70149215e-02 2.84252011e-03 9.99851195e-01 1.56142650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.339072329 meters Centerline goodness : 0.786000 Centerline is valid? [False, False] Translation: X:-294.01, Y:18.21, Z:156.14 [[ 9.99817328e-01 -7.16057216e-03 1.77210974e-02 -2.94011822e+02] [ 7.20909773e-03 9.99970434e-01 -2.67592779e-03 1.82141415e+01] [-1.77014123e-02 2.80319210e-03 9.99839388e-01 1.56142916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.36907232899995 meters Centerline goodness : 0.787300 Centerline is valid? [False, False] Translation: X:-294.01, Y:18.21, Z:156.14 [[ 9.99800132e-01 -7.61436629e-03 1.84855825e-02 -2.94013789e+02] [ 7.66750991e-03 9.99966668e-01 -2.80569671e-03 1.82136735e+01] [-1.84636027e-02 2.94687432e-03 9.99825190e-01 1.56142969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.399072329 meters Centerline goodness : 0.788838 Centerline is valid? [False, False] Translation: X:-294.02, Y:18.21, Z:156.14 [[ 9.99770477e-01 -8.93823555e-03 1.94705193e-02 -2.94017297e+02] [ 9.01188658e-03 9.99952553e-01 -3.69824195e-03 1.82130535e+01] [-1.94365397e-02 3.87285923e-03 9.99803592e-01 1.56144018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.42907232899995 meters Centerline goodness : 0.787573 Centerline is valid? [False, False] Translation: X:-294.02, Y:18.21, Z:156.14 [[ 9.99744508e-01 -9.74077383e-03 2.03969453e-02 -2.94019723e+02] [ 9.81648353e-03 9.99945283e-01 -3.61498554e-03 1.82109849e+01] [-2.03606164e-02 3.81428822e-03 9.99785425e-01 1.56143929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.459072329 meters Centerline goodness : 0.788075 Centerline is valid? [False, False] Translation: X:-294.02, Y:18.21, Z:156.14 [[ 9.99742962e-01 -9.57705377e-03 2.05497093e-02 -2.94019899e+02] [ 9.64666024e-03 9.99948055e-01 -3.29077071e-03 1.82102647e+01] [-2.05171259e-02 3.48816092e-03 9.99783417e-01 1.56143561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.48907232899995 meters Centerline goodness : 0.786877 Centerline is valid? [False, False] Translation: X:-294.03, Y:18.22, Z:156.15 [[ 9.99796203e-01 -1.57233666e-02 1.26620413e-02 -2.94034969e+02] [ 1.58113732e-02 9.99851318e-01 -6.88057332e-03 1.82237278e+01] [-1.25519729e-02 7.07937534e-03 9.99896160e-01 1.56145004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.519072329 meters Centerline goodness : 0.788280 Centerline is valid? [False, False] Translation: X:-294.04, Y:18.22, Z:156.15 [[ 9.99751130e-01 -1.74606430e-02 1.38853791e-02 -2.94038875e+02] [ 1.75757929e-02 9.99811789e-01 -8.21455257e-03 1.82245292e+01] [-1.37393344e-02 8.45655476e-03 9.99869850e-01 1.56146036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.54907232899996 meters Centerline goodness : 0.789382 Centerline is valid? [False, False] Translation: X:-294.04, Y:18.22, Z:156.15 [[ 9.99715048e-01 -1.86560068e-02 1.48921461e-02 -2.94042469e+02] [ 1.87888762e-02 9.99784458e-01 -8.83261811e-03 1.82237353e+01] [-1.47241549e-02 9.10990793e-03 9.99850093e-01 1.56147338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.579072329 meters Centerline goodness : 0.787201 Centerline is valid? [False, False] Translation: X:-294.04, Y:18.22, Z:156.15 [[ 9.99707422e-01 -1.87781685e-02 1.52463558e-02 -2.94043242e+02] [ 1.89164422e-02 9.99780773e-01 -8.97629876e-03 1.82243142e+01] [-1.50744549e-02 9.26207930e-03 9.99843475e-01 1.56147148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.60907232899996 meters Centerline goodness : 0.789332 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99678120e-01 -1.95045564e-02 1.62243158e-02 -2.94045398e+02] [ 1.96566713e-02 9.99763816e-01 -9.26969485e-03 1.82242731e+01] [-1.60396826e-02 9.58562717e-03 9.99825407e-01 1.56146727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.639072329 meters Centerline goodness : 0.788991 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99673320e-01 -1.94351984e-02 1.65989685e-02 -2.94046057e+02] [ 1.95865656e-02 9.99767605e-01 -9.00570345e-03 1.82238030e+01] [-1.64200833e-02 9.32787826e-03 9.99821670e-01 1.56146281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66907232899996 meters Centerline goodness : 0.791703 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99654616e-01 -1.96390898e-02 1.74629683e-02 -2.94048004e+02] [ 1.97937359e-02 9.99765993e-01 -8.72734565e-03 1.82225744e+01] [-1.72874847e-02 9.06998875e-03 9.99809421e-01 1.56145937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.699072329 meters Centerline goodness : 0.793556 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99632507e-01 -1.99651610e-02 1.83369350e-02 -2.94049843e+02] [ 2.01264965e-02 9.99759967e-01 -8.65637920e-03 1.82218877e+01] [-1.81597075e-02 9.02225630e-03 9.99794391e-01 1.56145425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72907232899996 meters Centerline goodness : 0.791933 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99624819e-01 -1.98901092e-02 1.88309777e-02 -2.94050937e+02] [ 2.00472977e-02 9.99765441e-01 -8.19567724e-03 1.82205326e+01] [-1.86635478e-02 8.57011259e-03 9.99789090e-01 1.56145144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.759072329 meters Centerline goodness : 0.794055 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99617629e-01 -2.00028243e-02 1.90914470e-02 -2.94051657e+02] [ 2.01660706e-02 9.99761383e-01 -8.39686781e-03 1.82212055e+01] [-1.89189304e-02 8.77865656e-03 9.99782481e-01 1.56145282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78907232899996 meters Centerline goodness : 0.792487 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99589365e-01 -2.05927120e-02 1.99258974e-02 -2.94053791e+02] [ 2.07688385e-02 9.99746686e-01 -8.67285758e-03 1.82211512e+01] [-1.97422523e-02 9.08313395e-03 9.99763842e-01 1.56145360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.819072329 meters Centerline goodness : 0.792487 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99589365e-01 -2.05927120e-02 1.99258974e-02 -2.94053791e+02] [ 2.07688385e-02 9.99746686e-01 -8.67285758e-03 1.82211512e+01] [-1.97422523e-02 9.08313395e-03 9.99763842e-01 1.56145360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84907232899997 meters Centerline goodness : 0.792638 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99583022e-01 -2.05613109e-02 2.02735165e-02 -2.94054599e+02] [ 2.07388943e-02 9.99748037e-01 -8.58836502e-03 1.82210096e+01] [-2.00918203e-02 9.00523418e-03 9.99757583e-01 1.56145368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87907232899994 meters Centerline goodness : 0.792722 Centerline is valid? [False, False] Translation: X:-294.06, Y:18.22, Z:156.15 [[ 9.99566838e-01 -2.08783237e-02 2.07420503e-02 -2.94055764e+02] [ 2.10647725e-02 9.99739283e-01 -8.81145614e-03 1.82213349e+01] [-2.05526741e-02 9.24456592e-03 9.99746031e-01 1.56145368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90907232899997 meters Centerline goodness : 0.788271 Centerline is valid? [False, False] Translation: X:-294.06, Y:18.22, Z:156.15 [[ 9.99572164e-01 -2.06331771e-02 2.07306693e-02 -2.94055821e+02] [ 2.08139344e-02 9.99746878e-01 -8.54169399e-03 1.82210698e+01] [-2.05491797e-02 8.96952634e-03 9.99748608e-01 1.56145451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93907232899994 meters Centerline goodness : 0.782136 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99600718e-01 -1.97821459e-02 2.01760296e-02 -2.94054269e+02] [ 1.99434047e-02 9.99770505e-01 -7.82292869e-03 1.82206603e+01] [-2.00166450e-02 8.22218386e-03 9.99765837e-01 1.56145153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96907232899997 meters Centerline goodness : 0.773528 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.14 [[ 9.99634601e-01 -1.85844175e-02 1.96286318e-02 -2.94052206e+02] [ 1.87215342e-02 9.99801442e-01 -6.82502349e-03 1.82201433e+01] [-1.94978953e-02 7.19000773e-03 9.99784045e-01 1.56144355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.99907232899994 meters Centerline goodness : 0.653132 Centerline is valid? [False, False] Translation: X:-294.03, Y:18.20, Z:156.14 [[ 9.99648854e-01 -1.58929010e-02 2.12034094e-02 -2.94027388e+02] [ 1.59755872e-02 9.99865402e-01 -3.73598220e-03 1.81998919e+01] [-2.11411799e-02 4.07340724e-03 9.99768202e-01 1.56143956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.029072329 meters Centerline goodness : 0.757057 Centerline is valid? [False, False] Translation: X:-294.05, Y:18.22, Z:156.15 [[ 9.99681867e-01 -1.66242810e-02 1.89683499e-02 -2.94052984e+02] [ 1.66974392e-02 9.99853724e-01 -3.70500910e-03 1.82235331e+01] [-1.89039822e-02 4.02055328e-03 9.99813220e-01 1.56145766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.05907232899995 meters Centerline goodness : 0.496677 Centerline is valid? [False, False] Translation: X:-294.03, Y:18.20, Z:156.15 [[ 9.99632134e-01 -1.68078170e-02 2.12860005e-02 -2.94031497e+02] [ 1.67534318e-02 9.99855922e-01 2.73074193e-03 1.82045692e+01] [-2.13288315e-02 -2.37312382e-03 9.99769698e-01 1.56145812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.089072329 meters Centerline goodness : 0.645363 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.25, Z:156.15 [[ 9.99826751e-01 -9.30862565e-03 1.61188488e-02 -2.94072598e+02] [ 9.32899381e-03 9.99955777e-01 -1.18889212e-03 1.82481471e+01] [-1.61070690e-02 1.33905879e-03 9.99869376e-01 1.56148252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.11907232899995 meters Centerline goodness : 0.612604 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.25, Z:156.15 [[ 9.99859140e-01 -5.08894093e-03 1.59938088e-02 -2.94072879e+02] [ 5.04414025e-03 9.99983245e-01 2.84021939e-03 1.82489835e+01] [-1.60079946e-02 -2.75914430e-03 9.99868057e-01 1.56148906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.149072329 meters Centerline goodness : 0.587184 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.25, Z:156.15 [[ 9.99875474e-01 -1.06243396e-03 1.57450731e-02 -2.94072661e+02] [ 9.68654516e-04 9.99981755e-01 5.96254333e-03 1.82529222e+01] [-1.57511206e-02 -5.94654930e-03 9.99858260e-01 1.56149535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.17907232899995 meters Centerline goodness : 0.555644 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.26, Z:156.15 [[ 9.99877333e-01 2.41517774e-03 1.54753611e-02 -2.94073824e+02] [-2.54313879e-03 9.99962698e-01 8.25435868e-03 1.82585701e+01] [-1.54548481e-02 -8.29270213e-03 9.99846178e-01 1.56151773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.209072329 meters Centerline goodness : 0.546658 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.26, Z:156.15 [[ 9.99887268e-01 2.74774292e-03 1.47615021e-02 -2.94072936e+02] [-2.85991910e-03 9.99967155e-01 7.58351203e-03 1.82618288e+01] [-1.47401797e-02 -7.62487382e-03 9.99862285e-01 1.56153043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.23907232899995 meters Centerline goodness : 0.328239 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.27, Z:156.16 [[ 9.99840682e-01 1.05537879e-02 1.43953897e-02 -2.94074045e+02] [-1.07588910e-02 9.99840642e-01 1.42455946e-02 1.82673095e+01] [-1.42427507e-02 -1.43982035e-02 9.99794897e-01 1.56155347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.269072329 meters Centerline goodness : 0.250733 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.27, Z:156.16 [[ 9.99789496e-01 1.51013600e-02 1.38892802e-02 -2.94073260e+02] [-1.53493635e-02 9.99721490e-01 1.79259293e-02 1.82703347e+01] [-1.36147060e-02 -1.81353474e-02 9.99742841e-01 1.56156057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.29907232899996 meters Centerline goodness : 0.331850 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.27, Z:156.16 [[ 9.99725129e-01 1.88428963e-02 1.39503628e-02 -2.94074195e+02] [-1.91358997e-02 9.99592603e-01 2.11765122e-02 1.82735113e+01] [-1.35456526e-02 -2.14376441e-02 9.99678420e-01 1.56156950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.329072329 meters Centerline goodness : 0.220012 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.28, Z:156.16 [[ 9.99727214e-01 1.91308466e-02 1.33980653e-02 -2.94073425e+02] [-1.94024991e-02 9.99602635e-01 2.04478527e-02 1.82772302e+01] [-1.30015567e-02 -2.07022307e-02 9.99701144e-01 1.56157722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.35907232899996 meters Centerline goodness : 0.205087 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.28, Z:156.16 [[ 9.99654989e-01 2.27266384e-02 1.31682430e-02 -2.94074797e+02] [-2.30233386e-02 9.99474085e-01 2.28359362e-02 1.82836004e+01] [-1.26423335e-02 -2.31312344e-02 9.99652498e-01 1.56160038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.389072329 meters Centerline goodness : 0.204586 Centerline is valid? [False, False] Translation: X:-294.07, Y:18.29, Z:156.16 [[ 9.99655764e-01 2.29557890e-02 1.27037791e-02 -2.94074408e+02] [-2.32335590e-02 9.99484269e-01 2.21675145e-02 1.82871631e+01] [-1.21883546e-02 -2.24550377e-02 9.99673554e-01 1.56160972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41907232899996 meters Centerline goodness : 0.200052 Centerline is valid? [False, False] Translation: X:-294.08, Y:18.29, Z:156.16 [[ 9.99565960e-01 2.65935522e-02 1.26757123e-02 -2.94076080e+02] [-2.69017262e-02 9.99330514e-01 2.47955722e-02 1.82929938e+01] [-1.20078237e-02 -2.51258085e-02 9.99612178e-01 1.56162928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.449072329 meters Centerline goodness : 0.199414 Centerline is valid? [False, False] Translation: X:-294.08, Y:18.30, Z:156.16 [[ 9.99575144e-01 2.63509786e-02 1.24562550e-02 -2.94076805e+02] [-2.66433621e-02 9.99358762e-01 2.39206004e-02 1.82962202e+01] [-1.18179363e-02 -2.42423141e-02 9.99636257e-01 1.56164263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47907232899996 meters Centerline goodness : 0.199935 Centerline is valid? [False, False] Translation: X:-294.08, Y:18.30, Z:156.17 [[ 9.99572409e-01 2.66217936e-02 1.20946287e-02 -2.94077069e+02] [-2.69013746e-02 9.99360097e-01 2.35735699e-02 1.82982764e+01] [-1.14593186e-02 -2.38888522e-02 9.99648942e-01 1.56165593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.509072329 meters Centerline goodness : 0.195459 Centerline is valid? [False, False] Translation: X:-294.08, Y:18.30, Z:156.17 [[ 9.99449000e-01 3.09632576e-02 1.19571339e-02 -2.94078571e+02] [-3.12740110e-02 9.99153070e-01 2.67409431e-02 1.83033760e+01] [-1.11190203e-02 -2.71001564e-02 9.99570882e-01 1.56167630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53907232899996 meters Centerline goodness : 0.114186 Centerline is valid? [False, False] Translation: X:-294.10, Y:18.32, Z:156.17 [[ 9.99345856e-01 3.45525474e-02 1.06761683e-02 -2.94098553e+02] [-3.47700810e-02 9.99176563e-01 2.09102013e-02 1.83236861e+01] [-9.94487642e-03 -2.12677342e-02 9.99724353e-01 1.56166478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.569072329 meters Centerline goodness : 0.116739 Centerline is valid? [False, False] Translation: X:-294.10, Y:18.33, Z:156.17 [[ 9.99320962e-01 3.53689302e-02 1.03273150e-02 -2.94098866e+02] [-3.55744392e-02 9.99157885e-01 2.04445415e-02 1.83277760e+01] [-9.59551661e-03 -2.07980473e-02 9.99737649e-01 1.56167834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59907232899997 meters Centerline goodness : 0.121915 Centerline is valid? [False, False] Translation: X:-294.10, Y:18.33, Z:156.17 [[ 9.99328025e-01 3.51989302e-02 1.02242100e-02 -2.94099897e+02] [-3.53967073e-02 9.99176106e-01 1.98540065e-02 1.83297006e+01] [-9.51694656e-03 -2.02025684e-02 9.99750611e-01 1.56169192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62907232899994 meters Centerline goodness : 0.195140 Centerline is valid? [False, False] Translation: X:-294.10, Y:18.33, Z:156.17 [[ 9.99326528e-01 3.52756898e-02 1.01052488e-02 -2.94100624e+02] [-3.54682218e-02 9.99179505e-01 1.95530795e-02 1.83310826e+01] [-9.40720909e-03 -1.98983263e-02 9.99757751e-01 1.56170261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65907232899997 meters Centerline goodness : 0.195763 Centerline is valid? [False, False] Translation: X:-294.10, Y:18.33, Z:156.17 [[ 9.99332969e-01 3.51181826e-02 1.00165315e-02 -2.94102009e+02] [-3.53033943e-02 9.99196857e-01 1.89554844e-02 1.83330200e+01] [-9.34280465e-03 -1.92964581e-02 9.99770153e-01 1.56171874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68907232899994 meters Centerline goodness : 0.199865 Centerline is valid? [False, False] Translation: X:-294.11, Y:18.34, Z:156.17 [[ 9.99336251e-01 3.50257050e-02 1.00128496e-02 -2.94105118e+02] [-3.52030853e-02 9.99215809e-01 1.81248176e-02 1.83360748e+01] [-9.37016306e-03 -1.84652704e-02 9.99785594e-01 1.56174836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71907232899997 meters Centerline goodness : 0.205010 Centerline is valid? [False, False] Translation: X:-294.11, Y:18.34, Z:156.18 [[ 9.99351734e-01 3.45726651e-02 1.00420842e-02 -2.94107341e+02] [-3.47432104e-02 9.99245894e-01 1.73364375e-02 1.83382873e+01] [-9.43514457e-03 -1.76740931e-02 9.99799282e-01 1.56176814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.74907232899994 meters Centerline goodness : 0.212136 Centerline is valid? [False, False] Translation: X:-294.11, Y:18.35, Z:156.18 [[ 9.99238278e-01 3.75932886e-02 1.04693674e-02 -2.94111573e+02] [-3.77928764e-02 9.99093994e-01 1.95675446e-02 1.83454182e+01] [-9.72427379e-03 -1.99483071e-02 9.99753721e-01 1.56179617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.779072329 meters Centerline goodness : 0.108258 Centerline is valid? [False, False] Translation: X:-294.11, Y:18.35, Z:156.18 [[ 9.99261592e-01 3.69010024e-02 1.07045106e-02 -2.94114489e+02] [-3.70955204e-02 9.99138966e-01 1.85808966e-02 1.83484190e+01] [-1.00096400e-02 -1.89642657e-02 9.99770055e-01 1.56181440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.80907232899995 meters Centerline goodness : 0.107653 Centerline is valid? [False, False] Translation: X:-294.12, Y:18.35, Z:156.18 [[ 9.99274271e-01 3.65284308e-02 1.07983779e-02 -2.94116749e+02] [-3.67182971e-02 9.99164593e-01 1.79411167e-02 1.83505813e+01] [-1.01339960e-02 -1.83245943e-02 9.99780732e-01 1.56183181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.839072329 meters Centerline goodness : 0.108446 Centerline is valid? [False, False] Translation: X:-294.12, Y:18.35, Z:156.18 [[ 9.99281726e-01 3.62881166e-02 1.09181209e-02 -2.94118762e+02] [-3.64756214e-02 9.99181394e-01 1.74948591e-02 1.83521978e+01] [-1.02743277e-02 -1.78805382e-02 9.99787340e-01 1.56184642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.86907232899995 meters Centerline goodness : 0.108052 Centerline is valid? [False, False] Translation: X:-294.13, Y:18.36, Z:156.19 [[ 9.99181993e-01 3.87260067e-02 1.16465088e-02 -2.94125114e+02] [-3.89487361e-02 9.99049996e-01 1.95473964e-02 1.83587775e+01] [-1.08784520e-02 -1.99850233e-02 9.99741096e-01 1.56188516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.899072329 meters Centerline goodness : 0.247057 Centerline is valid? [False, False] Translation: X:-294.13, Y:18.36, Z:156.19 [[ 9.99183398e-01 3.86824074e-02 1.16708118e-02 -2.94126108e+02] [-3.89000367e-02 9.99061785e-01 1.90351715e-02 1.83625282e+01] [-1.09235358e-02 -1.94736224e-02 9.99750696e-01 1.56189327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.92907232899995 meters Centerline goodness : 0.248451 Centerline is valid? [False, False] Translation: X:-294.14, Y:18.37, Z:156.19 [[ 9.99212002e-01 3.74644213e-02 1.31069164e-02 -2.94135754e+02] [-3.77149090e-02 9.99099887e-01 1.94165168e-02 1.83700311e+01] [-1.23676901e-02 -1.98955428e-02 9.99725566e-01 1.56192821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.959072329 meters Centerline goodness : 0.243264 Centerline is valid? [False, False] Translation: X:-294.16, Y:18.39, Z:156.20 [[ 9.99281346e-01 3.39768458e-02 1.68037347e-02 -2.94159116e+02] [-3.43403935e-02 9.99171500e-01 2.18414920e-02 1.83853463e+01] [-1.60477078e-02 -2.24028424e-02 9.99620220e-01 1.56197524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.98907232899995 meters Centerline goodness : 0.093623 Centerline is valid? [False, False] Translation: X:-294.16, Y:18.39, Z:156.20 [[ 9.99480623e-01 3.17243763e-02 5.66110250e-03 -2.94164426e+02] [-3.18508136e-02 9.99208029e-01 2.38503925e-02 1.83937745e+01] [-4.89998024e-03 -2.40183159e-02 9.99699510e-01 1.56196152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.019072329 meters Centerline goodness : 0.289300 Centerline is valid? [False, False] Translation: X:-294.18, Y:18.41, Z:156.20 [[ 9.99584308e-01 2.85899896e-02 -3.71814216e-03 -2.94182789e+02] [-2.84836744e-02 9.99254810e-01 2.60481392e-02 1.84127961e+01] [ 4.46008747e-03 -2.59314048e-02 9.99653775e-01 1.56197479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.04907232899996 meters Centerline goodness : 0.278147 Centerline is valid? [False, False] Translation: X:-294.19, Y:18.42, Z:156.20 [[ 9.99615175e-01 2.75629544e-02 -3.12831011e-03 -2.94187339e+02] [-2.74755973e-02 9.99305214e-01 2.51829641e-02 1.84153891e+01] [ 3.82025349e-03 -2.50873209e-02 9.99677964e-01 1.56199640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.079072329 meters Centerline goodness : 0.270467 Centerline is valid? [False, False] Translation: X:-294.19, Y:18.42, Z:156.20 [[ 9.99618024e-01 2.74738256e-02 -2.99933211e-03 -2.94190083e+02] [-2.73907995e-02 9.99314796e-01 2.48934066e-02 1.84168118e+01] [ 3.68119407e-03 -2.48017438e-02 9.99685612e-01 1.56201586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.10907232899996 meters Centerline goodness : 0.282978 Centerline is valid? [False, False] Translation: X:-294.22, Y:18.44, Z:156.21 [[ 9.99689563e-01 2.49073022e-02 6.35641838e-04 -2.94216154e+02] [-2.49153367e-02 9.99298533e-01 2.79583162e-02 1.84367566e+01] [ 6.11702734e-05 -2.79654741e-02 9.99608888e-01 1.56207897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.139072329 meters Centerline goodness : 0.112008 Centerline is valid? [False, False] Translation: X:-294.24, Y:18.45, Z:156.20 [[ 9.99611545e-01 2.77497975e-02 2.58976035e-03 -2.94237061e+02] [-2.78026921e-02 9.99341641e-01 2.33086669e-02 1.84512269e+01] [-1.94124457e-03 -2.33716149e-02 9.99724962e-01 1.56203175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16907232899996 meters Centerline goodness : 0.113050 Centerline is valid? [False, False] Translation: X:-294.24, Y:18.46, Z:156.21 [[ 9.99588372e-01 2.85399533e-02 2.92536386e-03 -2.94242528e+02] [-2.86010459e-02 9.99313231e-01 2.35594347e-02 1.84589909e+01] [-2.25096964e-03 -2.36334055e-02 9.99718158e-01 1.56207117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.199072329 meters Centerline goodness : 0.280323 Centerline is valid? [False, False] Translation: X:-294.26, Y:18.47, Z:156.21 [[ 9.99567319e-01 2.89147850e-02 5.39538507e-03 -2.94259602e+02] [-2.90551632e-02 9.99183823e-01 2.80621629e-02 1.84722378e+01] [-4.57957007e-03 -2.82067848e-02 9.99591619e-01 1.56209818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22907232899996 meters Centerline goodness : 0.270428 Centerline is valid? [False, False] Translation: X:-294.26, Y:18.48, Z:156.21 [[ 9.99579660e-01 2.83798795e-02 5.92340220e-03 -2.94263271e+02] [-2.85338263e-02 9.99207199e-01 2.77631761e-02 1.84751257e+01] [-5.13079053e-03 -2.79205234e-02 9.99596978e-01 1.56211271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.259072329 meters Centerline goodness : 0.315798 Centerline is valid? [False, False] Translation: X:-294.29, Y:18.49, Z:156.22 [[ 9.99662229e-01 2.39539522e-02 1.00814567e-02 -2.94288125e+02] [-2.42341980e-02 9.99295395e-01 2.86603696e-02 1.84930374e+01] [-9.38782414e-03 -2.88950050e-02 9.99538367e-01 1.56215698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28907232899996 meters Centerline goodness : 0.278633 Centerline is valid? [False, False] Translation: X:-294.31, Y:18.51, Z:156.21 [[ 9.99624556e-01 2.34121581e-02 1.42343617e-02 -2.94313777e+02] [-2.37765227e-02 9.99379375e-01 2.59911930e-02 1.85076325e+01] [-1.36170175e-02 -2.63198784e-02 9.99560824e-01 1.56210291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.319072329 meters Centerline goodness : 0.285694 Centerline is valid? [False, False] Translation: X:-294.34, Y:18.52, Z:156.21 [[ 9.99588917e-01 2.30014083e-02 1.71152364e-02 -2.94339465e+02] [-2.33217426e-02 9.99552012e-01 1.87582251e-02 1.85222834e+01] [-1.66761034e-02 -1.91496711e-02 9.99677547e-01 1.56207286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34907232899997 meters Centerline goodness : 0.114449 Centerline is valid? [False, False] Translation: X:-294.37, Y:18.54, Z:156.21 [[ 9.99669112e-01 1.27909544e-02 2.23172007e-02 -2.94371291e+02] [-1.31952919e-02 9.99749729e-01 1.80655521e-02 1.85395869e+01] [-2.20805397e-02 -1.83540564e-02 9.99587704e-01 1.56211751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37907232899994 meters Centerline goodness : 0.199274 Centerline is valid? [False, False] Translation: X:-294.38, Y:18.55, Z:156.21 [[ 9.99876538e-01 9.88404818e-03 1.22152960e-02 -2.94377121e+02] [-1.01175087e-02 9.99764461e-01 1.92004757e-02 1.85453498e+01] [-1.20226404e-02 -1.93216936e-02 9.99741031e-01 1.56209209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40907232899997 meters Centerline goodness : 0.305964 Centerline is valid? [False, False] Translation: X:-294.38, Y:18.55, Z:156.21 [[ 9.99873169e-01 9.17201948e-03 1.30199703e-02 -2.94384831e+02] [-9.41413447e-03 9.99781606e-01 1.86578069e-02 1.85518844e+01] [-1.28459971e-02 -1.87780122e-02 9.99741150e-01 1.56213571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43907232899994 meters Centerline goodness : 0.313375 Centerline is valid? [False, False] Translation: X:-294.40, Y:18.57, Z:156.22 [[ 9.99936340e-01 1.08393353e-02 3.13452123e-03 -2.94400111e+02] [-1.09100111e-02 9.99664641e-01 2.34856752e-02 1.85694963e+01] [-2.87890093e-03 -2.35183778e-02 9.99719260e-01 1.56215068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46907232899997 meters Centerline goodness : 0.314633 Centerline is valid? [False, False] Translation: X:-294.42, Y:18.59, Z:156.21 [[ 9.99886304e-01 1.37378246e-02 6.21702021e-03 -2.94420464e+02] [-1.38579537e-02 9.99709681e-01 1.97106963e-02 1.85850057e+01] [-5.94443320e-03 -1.97946104e-02 9.99786396e-01 1.56209449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.49907232899994 meters Centerline goodness : 0.129149 Centerline is valid? [False, False] Translation: X:-294.44, Y:18.61, Z:156.21 [[ 9.99902956e-01 1.36658446e-02 -2.70615411e-03 -2.94438565e+02] [-1.35980092e-02 9.99627283e-01 2.36725384e-02 1.86070164e+01] [ 3.02865071e-03 -2.36334428e-02 9.99716104e-01 1.56210218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.529072329 meters Centerline goodness : 0.544687 Centerline is valid? [False, False] Translation: X:-294.46, Y:18.62, Z:156.20 [[ 9.99874723e-01 1.58159896e-02 -6.26062595e-04 -2.94455060e+02] [-1.58029902e-02 9.99729166e-01 1.70839180e-02 1.86187045e+01] [ 8.96092105e-04 -1.70718841e-02 9.99853863e-01 1.56203896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.55907232899995 meters Centerline goodness : 0.155953 Centerline is valid? [False, False] Translation: X:-294.46, Y:18.63, Z:156.21 [[ 9.99866033e-01 1.63654926e-02 -2.93920870e-04 -2.94461820e+02] [-1.63584005e-02 9.99729578e-01 1.65279490e-02 1.86272598e+01] [ 5.64329415e-04 -1.65209268e-02 9.99863361e-01 1.56209170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.589072329 meters Centerline goodness : 0.192406 Centerline is valid? [False, False] Translation: X:-294.49, Y:18.65, Z:156.21 [[ 9.99795876e-01 1.98473520e-02 3.78016618e-03 -2.94493069e+02] [-1.98928119e-02 9.99725294e-01 1.23940145e-02 1.86531292e+01] [-3.53313938e-03 -1.24666827e-02 9.99916046e-01 1.56207015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.61907232899995 meters Centerline goodness : 0.301386 Centerline is valid? [False, False] Translation: X:-294.50, Y:18.66, Z:156.21 [[ 9.99801074e-01 1.95293797e-02 4.05159755e-03 -2.94495876e+02] [-1.95752120e-02 9.99741104e-01 1.15989678e-02 1.86583239e+01] [-3.82402796e-03 -1.16759714e-02 9.99924521e-01 1.56208783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.649072329 meters Centerline goodness : 0.207514 Centerline is valid? [False, False] Translation: X:-294.52, Y:18.68, Z:156.22 [[ 9.99774814e-01 2.00213407e-02 7.03324642e-03 -2.94517648e+02] [-2.01236967e-02 9.99687994e-01 1.47970269e-02 1.86763658e+01] [-6.73479568e-03 -1.49352298e-02 9.99865782e-01 1.56215883e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.67907232899995 meters Centerline goodness : 0.190684 Centerline is valid? [False, False] Translation: X:-294.53, Y:18.69, Z:156.22 [[ 9.99766507e-01 1.92460190e-02 9.82459679e-03 -2.94533232e+02] [-1.94121763e-02 9.99665205e-01 1.71068724e-02 1.86891348e+01] [-9.49206837e-03 -1.72935949e-02 9.99805397e-01 1.56219539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.709072329 meters Centerline goodness : 0.189484 Centerline is valid? [False, False] Translation: X:-294.55, Y:18.71, Z:156.22 [[ 9.99805878e-01 1.97007606e-02 2.92341472e-04 -2.94550553e+02] [-1.97025432e-02 9.99583307e-01 2.10955350e-02 1.87092080e+01] [ 1.23378430e-04 -2.10971998e-02 9.99777422e-01 1.56220955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.73907232899995 meters Centerline goodness : 0.189484 Centerline is valid? [False, False] Translation: X:-294.55, Y:18.71, Z:156.22 [[ 9.99805878e-01 1.97007606e-02 2.92341472e-04 -2.94550553e+02] [-1.97025432e-02 9.99583307e-01 2.10955350e-02 1.87092080e+01] [ 1.23378430e-04 -2.10971998e-02 9.99777422e-01 1.56220955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.769072329 meters Centerline goodness : 0.184346 Centerline is valid? [False, False] Translation: X:-294.57, Y:18.72, Z:156.22 [[ 9.99741120e-01 2.24175572e-02 3.89172348e-03 -2.94571738e+02] [-2.24823562e-02 9.99594196e-01 1.74924800e-02 1.87225505e+01] [-3.49800553e-03 -1.75754466e-02 9.99839421e-01 1.56215338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.79907232899996 meters Centerline goodness : 0.179070 Centerline is valid? [False, False] Translation: X:-294.58, Y:18.73, Z:156.22 [[ 9.99751458e-01 2.18112400e-02 4.61424032e-03 -2.94579436e+02] [-2.18850725e-02 9.99622566e-01 1.66062997e-02 1.87285262e+01] [-4.25029476e-03 -1.67031554e-02 9.99851459e-01 1.56220413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.829072329 meters Centerline goodness : 0.179966 Centerline is valid? [False, False] Translation: X:-294.59, Y:18.74, Z:156.23 [[ 9.99752888e-01 2.15839227e-02 5.31945289e-03 -2.94586640e+02] [-2.16659019e-02 9.99639330e-01 1.58681550e-02 1.87357394e+01] [-4.97503729e-03 -1.59794845e-02 9.99859943e-01 1.56225034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.85907232899996 meters Centerline goodness : 0.200972 Centerline is valid? [False, False] Translation: X:-294.61, Y:18.75, Z:156.23 [[ 9.99767535e-01 1.92983742e-02 9.61505004e-03 -2.94613135e+02] [-1.94739315e-02 9.99638963e-01 1.85124048e-02 1.87544868e+01] [-9.25431934e-03 -1.86953441e-02 9.99782397e-01 1.56230544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.889072329 meters Centerline goodness : 0.423985 Centerline is valid? [False, False] Translation: X:-294.62, Y:18.77, Z:156.23 [[ 9.99829759e-01 1.83744942e-02 -1.68242747e-03 -2.94619975e+02] [-1.83353664e-02 9.99613595e-01 2.08919679e-02 1.87655741e+01] [ 2.06565672e-03 -2.08575633e-02 9.99780323e-01 1.56229929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91907232899996 meters Centerline goodness : 0.155161 Centerline is valid? [False, False] Translation: X:-294.64, Y:18.78, Z:156.22 [[ 9.99796904e-01 2.01205243e-02 1.14725878e-03 -2.94637906e+02] [-2.01349747e-02 9.99693461e-01 1.44072121e-02 1.87778487e+01] [-8.57026435e-04 -1.44273861e-02 9.99895553e-01 1.56224407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.949072329 meters Centerline goodness : 0.158758 Centerline is valid? [False, False] Translation: X:-294.66, Y:18.79, Z:156.23 [[ 9.99836425e-01 1.76635718e-02 3.88870998e-03 -2.94657855e+02] [-1.77133079e-02 9.99756625e-01 1.31502479e-02 1.87940004e+01] [-3.65548322e-03 -1.32169787e-02 9.99905970e-01 1.56231848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97907232899996 meters Centerline goodness : 0.159911 Centerline is valid? [False, False] Translation: X:-294.67, Y:18.80, Z:156.24 [[ 9.99841845e-01 1.71702569e-02 4.63336613e-03 -2.94665403e+02] [-1.72261446e-02 9.99775905e-01 1.23044435e-02 1.87995979e+01] [-4.42105736e-03 -1.23823125e-02 9.99913563e-01 1.56236871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.009072329 meters Centerline goodness : 0.171419 Centerline is valid? [False, False] Translation: X:-294.67, Y:18.81, Z:156.24 [[ 9.99845619e-01 1.67026821e-02 5.45521927e-03 -2.94672612e+02] [-1.67645744e-02 9.99793282e-01 1.15039952e-02 1.88060278e+01] [-5.26194400e-03 -1.15936736e-02 9.99918946e-01 1.56241131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03907232899996 meters Centerline goodness : 0.189663 Centerline is valid? [False, False] Translation: X:-294.70, Y:18.82, Z:156.25 [[ 9.99845294e-01 1.45690599e-02 9.85550994e-03 -2.94699232e+02] [-1.47099870e-02 9.99788376e-01 1.43812511e-02 1.88235913e+01] [-9.64390297e-03 -1.45240006e-02 9.99848013e-01 1.56246488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.069072329 meters Centerline goodness : 0.191294 Centerline is valid? [False, False] Translation: X:-294.71, Y:18.83, Z:156.25 [[ 9.99855853e-01 1.18100419e-02 1.21981689e-02 -2.94713024e+02] [-1.19718835e-02 9.99840132e-01 1.32810044e-02 1.88338105e+01] [-1.20393696e-02 -1.34251250e-02 9.99837397e-01 1.56249930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09907232899997 meters Centerline goodness : 0.189262 Centerline is valid? [False, False] Translation: X:-294.74, Y:18.86, Z:156.25 [[ 9.99944449e-01 9.70768561e-03 4.10612162e-03 -2.94736346e+02] [-9.77638672e-03 9.99806738e-01 1.70560301e-02 1.88575953e+01] [-3.93975349e-03 -1.70952257e-02 9.99846104e-01 1.56250224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12907232899994 meters Centerline goodness : 0.184396 Centerline is valid? [False, False] Translation: X:-294.74, Y:18.87, Z:156.25 [[ 9.99891463e-01 1.39459668e-02 4.75095701e-03 -2.94742817e+02] [-1.40407952e-02 9.99690264e-01 2.05482860e-02 1.88660523e+01] [-4.46291976e-03 -2.06127630e-02 9.99777573e-01 1.56254607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15907232899997 meters Centerline goodness : 0.081904 Centerline is valid? [False, False] Translation: X:-294.75, Y:18.87, Z:156.26 [[ 9.99824380e-01 1.79785309e-02 5.28966894e-03 -2.94748335e+02] [-1.80994340e-02 9.99553528e-01 2.37730087e-02 1.88741185e+01] [-4.85990347e-03 -2.38645737e-02 9.99703388e-01 1.56258659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18907232899994 meters Centerline goodness : 0.087174 Centerline is valid? [False, False] Translation: X:-294.78, Y:18.90, Z:156.25 [[ 9.99665309e-01 2.38563399e-02 1.00072303e-02 -2.94776326e+02] [-2.40849095e-02 9.99436530e-01 2.33781957e-02 1.88970622e+01] [-9.44387335e-03 -2.36113945e-02 9.99676605e-01 1.56253552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21907232899997 meters Centerline goodness : 0.114774 Centerline is valid? [False, False] Translation: X:-294.78, Y:18.90, Z:156.26 [[ 9.99537396e-01 2.85925169e-02 1.03663695e-02 -2.94781373e+02] [-2.88607030e-02 9.99226338e-01 2.67167777e-02 1.89047818e+01] [-9.59444948e-03 -2.70035991e-02 9.99589292e-01 1.56258007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.24907232899994 meters Centerline goodness : 0.146400 Centerline is valid? [False, False] Translation: X:-294.78, Y:18.91, Z:156.26 [[ 9.99420185e-01 3.24033954e-02 1.04553407e-02 -2.94782683e+02] [-3.27014650e-02 9.99023103e-01 2.97229555e-02 1.89113217e+01] [-9.48200223e-03 -3.00476267e-02 9.99503493e-01 1.56259717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.279072329 meters Centerline goodness : 0.468966 Centerline is valid? [False, False] Translation: X:-294.79, Y:18.92, Z:156.27 [[ 9.99085906e-01 4.13380159e-02 1.08867032e-02 -2.94788537e+02] [-4.17065891e-02 9.98476068e-01 3.61400282e-02 1.89245148e+01] [-9.37615557e-03 -3.65610401e-02 9.99287435e-01 1.56265957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.30907232899995 meters Centerline goodness : 0.462767 Centerline is valid? [False, False] Translation: X:-294.79, Y:18.93, Z:156.27 [[ 9.99032755e-01 4.25955258e-02 1.09167881e-02 -2.94792335e+02] [-4.29580880e-02 9.98447254e-01 3.54638368e-02 1.89330064e+01] [-9.38923633e-03 -3.58984989e-02 9.99311333e-01 1.56270327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.339072329 meters Centerline goodness : 0.470913 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.94, Z:156.27 [[ 9.98870264e-01 4.61608274e-02 1.12860150e-02 -2.94795409e+02] [-4.65606923e-02 9.98185066e-01 3.81926201e-02 1.89400312e+01] [-9.50252871e-03 -3.86749571e-02 9.99206660e-01 1.56273080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.36907232899995 meters Centerline goodness : 0.470287 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.94, Z:156.27 [[ 9.98877617e-01 4.60471731e-02 1.10979671e-02 -2.94795825e+02] [-4.64339059e-02 9.98215089e-01 3.75569902e-02 1.89439484e+01] [-9.34876502e-03 -3.80301589e-02 9.99232860e-01 1.56274423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.399072329 meters Centerline goodness : 0.466737 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.95, Z:156.28 [[ 9.98819972e-01 4.72438154e-02 1.12554398e-02 -2.94800116e+02] [-4.76312587e-02 9.98176372e-01 3.70836060e-02 1.89516686e+01] [-9.48294301e-03 -3.75759571e-02 9.99248778e-01 1.56278916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.42907232899995 meters Centerline goodness : 0.276300 Centerline is valid? [False, False] Translation: X:-294.81, Y:18.96, Z:156.28 [[ 9.98784231e-01 4.78545727e-02 1.18321208e-02 -2.94807100e+02] [-4.82566157e-02 9.98170821e-01 3.64185509e-02 1.89595257e+01] [-1.00676835e-02 -3.69452525e-02 9.99266576e-01 1.56284278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.459072329 meters Centerline goodness : 0.104874 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.96, Z:156.29 [[ 9.98895368e-01 4.69391674e-02 -2.18150568e-03 -2.94796045e+02] [-4.68274728e-02 9.98226589e-01 3.67541084e-02 1.89610735e+01] [ 3.90284422e-03 -3.66113542e-02 9.99321958e-01 1.56288274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.48907232899995 meters Centerline goodness : 0.104543 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.96, Z:156.29 [[ 9.98907667e-01 4.66824869e-02 -2.05376409e-03 -2.94797489e+02] [-4.65769089e-02 9.98250663e-01 3.64170926e-02 1.89632036e+01] [ 3.75021181e-03 -3.62816550e-02 9.99334567e-01 1.56289251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.519072329 meters Centerline goodness : 0.110315 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.97, Z:156.29 [[ 9.98870279e-01 4.74932827e-02 -1.59837946e-03 -2.94803521e+02] [-4.74049910e-02 9.98225832e-01 3.60271483e-02 1.89717427e+01] [ 3.30659121e-03 -3.59106765e-02 9.99349533e-01 1.56294109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.54907232899996 meters Centerline goodness : 0.133541 Centerline is valid? [False, False] Translation: X:-294.80, Y:18.98, Z:156.30 [[ 9.98873380e-01 4.74199651e-02 -1.82157648e-03 -2.94803578e+02] [-4.73256640e-02 9.98249533e-01 3.54704246e-02 1.89756459e+01] [ 3.50039417e-03 -3.53442556e-02 9.99369066e-01 1.56295280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.579072329 meters Centerline goodness : 0.104163 Centerline is valid? [False, False] Translation: X:-294.81, Y:18.98, Z:156.30 [[ 9.98682412e-01 5.12936742e-02 -1.54903094e-03 -2.94805195e+02] [-5.11948775e-02 9.97932377e-01 3.88594331e-02 1.89803149e+01] [ 3.53907123e-03 -3.87289299e-02 9.99243486e-01 1.56296702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.60907232899996 meters Centerline goodness : 0.103892 Centerline is valid? [False, False] Translation: X:-294.81, Y:18.98, Z:156.30 [[ 9.98472098e-01 5.52411609e-02 -1.37228702e-03 -2.94805546e+02] [-5.51329969e-02 9.97573302e-01 4.25189367e-02 1.89833219e+01] [ 3.71775231e-03 -4.23783136e-02 9.99094719e-01 1.56297271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.639072329 meters Centerline goodness : 0.104962 Centerline is valid? [False, False] Translation: X:-294.81, Y:18.99, Z:156.30 [[ 9.98241796e-01 5.92585281e-02 -1.32060168e-03 -2.94805350e+02] [-5.91346653e-02 9.97183386e-01 4.61344428e-02 1.89866314e+01] [ 4.05074123e-03 -4.59752357e-02 9.98934367e-01 1.56297895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66907232899996 meters Centerline goodness : 0.188961 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.00, Z:156.30 [[ 9.97829564e-01 6.58284835e-02 -1.66478198e-03 -2.94805334e+02] [-6.56654480e-02 9.96611139e-01 4.95407507e-02 1.89955034e+01] [ 4.92033275e-03 -4.93239071e-02 9.98770716e-01 1.56301474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.699072329 meters Centerline goodness : 0.081943 Centerline is valid? [False, False] Translation: X:-294.80, Y:19.00, Z:156.30 [[ 9.97725608e-01 6.73781161e-02 -1.94952831e-03 -2.94804955e+02] [-6.72015920e-02 9.96531671e-01 4.90772232e-02 1.90007199e+01] [ 5.24949754e-03 -4.88345909e-02 9.98793084e-01 1.56302962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72907232899996 meters Centerline goodness : 0.399416 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.01, Z:156.31 [[ 9.97611337e-01 6.90438712e-02 -2.13637117e-03 -2.94806693e+02] [-6.88584279e-02 9.96438106e-01 4.86787275e-02 1.90067658e+01] [ 5.48972943e-03 -4.84153433e-02 9.98812203e-01 1.56306429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.759072329 meters Centerline goodness : 0.370128 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.01, Z:156.31 [[ 9.97300252e-01 7.33944284e-02 -2.33768980e-03 -2.94805698e+02] [-7.31752667e-02 9.95972438e-01 5.18100682e-02 1.90116096e+01] [ 6.13084495e-03 -5.14991330e-02 9.98654220e-01 1.56307768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78907232899996 meters Centerline goodness : 0.194011 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.01, Z:156.31 [[ 9.97302296e-01 7.33562756e-02 -2.64331693e-03 -2.94805058e+02] [-7.31245850e-02 9.96001602e-01 5.13186536e-02 1.90145484e+01] [ 6.39729320e-03 -5.09869196e-02 9.98678832e-01 1.56308538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.819072329 meters Centerline goodness : 0.206256 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.02, Z:156.31 [[ 9.97623108e-01 6.88406998e-02 -3.01530101e-03 -2.94806117e+02] [-6.86261525e-02 9.96554315e-01 4.65827055e-02 1.90171285e+01] [ 6.21169728e-03 -4.62650550e-02 9.98909886e-01 1.56310161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84907232899997 meters Centerline goodness : 0.364913 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.02, Z:156.31 [[ 9.97925707e-01 6.42957925e-02 -3.21474434e-03 -2.94807021e+02] [-6.41036705e-02 9.97052052e-01 4.21654599e-02 1.90185859e+01] [ 5.91632911e-03 -4.18719195e-02 9.99105470e-01 1.56310839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87907232899994 meters Centerline goodness : 0.082801 Centerline is valid? [False, False] Translation: X:-294.81, Y:19.02, Z:156.31 [[ 9.98162181e-01 6.05197746e-02 -3.10128350e-03 -2.94811731e+02] [-6.03582000e-02 9.97449523e-01 3.80964250e-02 1.90217449e+01] [ 5.39896081e-03 -3.78392228e-02 9.99269255e-01 1.56314670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90907232899997 meters Centerline goodness : 0.142920 Centerline is valid? [False, False] Translation: X:-294.82, Y:19.02, Z:156.32 [[ 9.98641117e-01 5.20601470e-02 -2.37906758e-03 -2.94820904e+02] [-5.19645569e-02 9.98190343e-01 3.02609293e-02 1.90230602e+01] [ 3.95015072e-03 -3.00961811e-02 9.99539202e-01 1.56319194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93907232899994 meters Centerline goodness : 0.223255 Centerline is valid? [False, False] Translation: X:-294.83, Y:19.02, Z:156.32 [[ 9.98830316e-01 4.83094386e-02 -2.04876497e-03 -2.94826509e+02] [-4.82387408e-02 9.98487390e-01 2.63809841e-02 1.90243470e+01] [ 3.32011652e-03 -2.62512969e-02 9.99649862e-01 1.56322997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96907232899997 meters Centerline goodness : 0.135387 Centerline is valid? [False, False] Translation: X:-294.83, Y:19.03, Z:156.32 [[ 9.98996360e-01 4.47350859e-02 -2.24618971e-03 -2.94826808e+02] [-4.46728410e-02 9.98744482e-01 2.26670995e-02 1.90253973e+01] [ 3.25738422e-03 -2.25440062e-02 9.99740545e-01 1.56323380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.99907232899994 meters Centerline goodness : 0.234153 Centerline is valid? [False, False] Translation: X:-294.83, Y:19.03, Z:156.33 [[ 9.99176463e-01 4.05448840e-02 -1.58353690e-03 -2.94834189e+02] [-4.05088655e-02 9.99009016e-01 1.84395594e-02 1.90281037e+01] [ 2.32959744e-03 -1.83602264e-02 9.99828723e-01 1.56327825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 51741.72 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%| | 0/15056 [00:00