+ python -m lidar_slam --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters Centerline goodness : 0.137229 Centerline is valid? [0, False] SLAMing on 0.031346184 meters Centerline goodness : 0.127357 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999855e-01 -4.94780224e-04 -2.11554844e-04 1.07827229e-03] [ 4.94920588e-04 9.99999657e-01 6.63954310e-04 -3.02551860e-03] [ 2.11226260e-04 -6.64058917e-04 9.99999757e-01 -4.31115355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061346184 meters Centerline goodness : 0.125764 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999814e-01 -4.62007464e-04 -3.97001358e-04 2.30392551e-03] [ 4.62476246e-04 9.99999195e-01 1.18152872e-03 -5.08210011e-03] [ 3.96455164e-04 -1.18171210e-03 9.99999223e-01 -9.35298324e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091346184 meters Centerline goodness : 0.127465 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999681e-01 -6.86429807e-04 -4.07903785e-04 3.04291490e-03] [ 6.87038068e-04 9.99998650e-01 1.49292360e-03 -7.41261547e-03] [ 4.06878447e-04 -1.49320337e-03 9.99998802e-01 -1.17482787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters Centerline goodness : 0.128530 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999384e-01 -1.06340814e-03 -3.19169674e-04 3.66486642e-03] [ 1.06399293e-03 9.99997745e-01 1.83767686e-03 -1.01532195e-02] [ 3.17214754e-04 -1.83801533e-03 9.99998261e-01 -1.60085335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151346184 meters Centerline goodness : 0.131553 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99998684 -0.00493251 -0.00140817 0.00784633] [ 0.00493058 0.99998691 -0.00136837 -0.01300757] [ 0.0014149 0.0013614 0.99999807 -0.00172018] [ 0. 0. 0. 1. ]] SLAMing on 0.181346184 meters Centerline goodness : 0.131401 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99987189e-01 -4.76246010e-03 -1.71472917e-03 9.98772181e-03] [ 4.76159328e-03 9.99988534e-01 -5.09239257e-04 -1.67501356e-02] [ 1.71713474e-03 5.01067890e-04 9.99998400e-01 -2.49561530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.211346184 meters Centerline goodness : 0.131634 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99985737e-01 -5.05024733e-03 -1.73822123e-03 1.11537543e-02] [ 5.05011875e-03 9.99987245e-01 -7.83538907e-05 -1.97861450e-02] [ 1.73859477e-03 6.95745495e-05 9.99998486e-01 -2.97562352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241346184 meters Centerline goodness : 0.134447 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.00 [[ 0.99996082 -0.00807261 -0.0036316 0.01917315] [ 0.00806019 0.99996166 -0.00342246 -0.02320471] [ 0.00365909 0.00339306 0.99998755 -0.00270646] [ 0. 0. 0. 1. ]] SLAMing on 0.271346184 meters Centerline goodness : 0.138344 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.00 [[ 0.99992379 -0.01144758 -0.00462222 0.02327987] [ 0.011413 0.99990719 -0.00744004 -0.02275011] [ 0.00470696 0.00738672 0.99996164 -0.00245644] [ 0. 0. 0. 1. ]] SLAMing on 0.30134618399999996 meters Centerline goodness : 0.139235 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.00 [[ 0.99992025 -0.0115214 -0.00517135 0.02613751] [ 0.01148673 0.99991168 -0.00668453 -0.02615767] [ 0.00524791 0.00662459 0.99996429 -0.00320026] [ 0. 0. 0. 1. ]] SLAMing on 0.33134618399999993 meters Centerline goodness : 0.151938 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 0.99987714 -0.01550364 -0.00231072 0.05846792] [ 0.01547732 0.99981968 -0.01100311 -0.02756913] [ 0.00248089 0.010966 0.99993679 -0.00119898] [ 0. 0. 0. 1. ]] SLAMing on 0.36134618399999996 meters Centerline goodness : 0.154016 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 0.99988461 -0.01503405 -0.00217624 0.05832895] [ 0.01500999 0.99983031 -0.01067918 -0.0315325 ] [ 0.00233643 0.01064529 0.99994061 -0.00106942] [ 0. 0. 0. 1. ]] SLAMing on 0.391346184 meters Centerline goodness : 0.209388 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.00 [[ 9.99883156e-01 -1.51765815e-02 -1.82889725e-03 5.76523026e-02] [ 1.51551558e-02 9.99822325e-01 -1.12089242e-02 -3.47326553e-02] [ 1.99868545e-03 1.11798973e-02 9.99935505e-01 -7.27432155e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42134618399999996 meters Centerline goodness : 0.211589 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.04, Z:-0.00 [[ 9.99871130e-01 -1.59847831e-02 -1.48687390e-03 5.68017507e-02] [ 1.59651139e-02 9.99795487e-01 -1.24136628e-02 -3.78811500e-02] [ 1.68499952e-03 1.23883249e-02 9.99921842e-01 -8.10293100e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45134618399999993 meters Centerline goodness : 0.187975 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:0.00 [[ 9.99728089e-01 -2.27341291e-02 -5.18715166e-03 6.85853846e-02] [ 2.26355899e-02 9.99575835e-01 -1.83243201e-02 -3.87138763e-02] [ 5.60153891e-03 1.82019233e-02 9.99818640e-01 3.19085796e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48134618399999995 meters Centerline goodness : 0.198577 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.04, Z:-0.00 [[ 0.99971203 -0.02317503 -0.00622746 0.07271079] [ 0.02306609 0.99958887 -0.01703071 -0.0425981 ] [ 0.00661959 0.01688216 0.99983557 -0.00158815] [ 0. 0. 0. 1. ]] SLAMing on 0.511346184 meters Centerline goodness : 0.204478 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.00 [[ 0.99969301 -0.0237321 -0.00711866 0.07637152] [ 0.02361721 0.99959604 -0.01581116 -0.04591968] [ 0.00749101 0.01563818 0.99984965 -0.00326279] [ 0. 0. 0. 1. ]] SLAMing on 0.541346184 meters Centerline goodness : 0.111524 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.00 [[ 0.99967527 -0.02418178 -0.00803714 0.07992082] [ 0.02406385 0.99960584 -0.01445997 -0.049428 ] [ 0.00838364 0.01426187 0.99986315 -0.00472942] [ 0. 0. 0. 1. ]] SLAMing on 0.5713461839999999 meters Centerline goodness : 0.673834 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.05, Z:-0.00 [[ 0.99953192 -0.02868111 -0.01064611 0.08885884] [ 0.02849297 0.99944215 -0.01742224 -0.05238599] [ 0.01113986 0.01711074 0.99979154 -0.00495655] [ 0. 0. 0. 1. ]] SLAMing on 0.601346184 meters Centerline goodness : 0.638155 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.01 [[ 0.99950106 -0.0293906 -0.01156795 0.09282269] [ 0.02919771 0.9994374 -0.01650378 -0.05597289] [ 0.0120465 0.01615778 0.99979688 -0.00692051] [ 0. 0. 0. 1. ]] SLAMing on 0.631346184 meters Centerline goodness : 0.607391 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.01 [[ 0.99948172 -0.03159124 -0.00618732 0.11051593] [ 0.03153595 0.99946354 -0.00883846 -0.06155964] [ 0.00646322 0.00863876 0.9999418 -0.01396433] [ 0. 0. 0. 1. ]] SLAMing on 0.6613461839999999 meters Centerline goodness : 0.107421 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.06, Z:-0.01 [[ 0.99935842 -0.0345732 -0.00935059 0.12187336] [ 0.03446851 0.99934376 -0.0111342 -0.06434153] [ 0.00972939 0.01080476 0.99989429 -0.01432989] [ 0. 0. 0. 1. ]] SLAMing on 0.6913461839999999 meters Centerline goodness : 0.220910 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.07, Z:-0.02 [[ 0.9993449 -0.03484292 -0.0097851 0.12491806] [ 0.03474602 0.99934709 -0.00990485 -0.06670149] [ 0.01012382 0.00955837 0.99990307 -0.01627809] [ 0. 0. 0. 1. ]] SLAMing on 0.721346184 meters Centerline goodness : 0.219150 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99932722 -0.03514261 -0.01049342 0.12855779] [ 0.03505093 0.99934681 -0.00879678 -0.06902908] [ 0.01079571 0.00842306 0.99990625 -0.01804979] [ 0. 0. 0. 1. ]] SLAMing on 0.751346184 meters Centerline goodness : 0.219150 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99932722 -0.03514261 -0.01049342 0.12855779] [ 0.03505093 0.99934681 -0.00879678 -0.06902908] [ 0.01079571 0.00842306 0.99990625 -0.01804979] [ 0. 0. 0. 1. ]] SLAMing on 0.781346184 meters Centerline goodness : 0.221583 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.07, Z:-0.02 [[ 0.99931013 -0.03549007 -0.01094196 0.13145342] [ 0.03540581 0.99934257 -0.00780093 -0.07116228] [ 0.01121163 0.00740814 0.99990971 -0.01958124] [ 0. 0. 0. 1. ]] SLAMing on 0.8113461839999999 meters Centerline goodness : 0.231611 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.07, Z:-0.02 [[ 0.99915862 -0.03902244 -0.01262145 0.13917821] [ 0.0388976 0.99919327 -0.00998971 -0.07313177] [ 0.01300109 0.00949036 0.99987044 -0.0212268 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8413461839999999 meters Centerline goodness : 0.237037 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.08, Z:-0.02 [[ 0.99913552 -0.0393647 -0.01336511 0.1431669 ] [ 0.03924777 0.99918986 -0.0089017 -0.07591653] [ 0.01370469 0.00836946 0.99987106 -0.02355071] [ 0. 0. 0. 1. ]] SLAMing on 0.871346184 meters Centerline goodness : 0.102129 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.03 [[ 0.9991032 -0.03988967 -0.01419909 0.14779126] [ 0.03977966 0.99917686 -0.00794825 -0.07878902] [ 0.01450446 0.00737629 0.9998676 -0.02632826] [ 0. 0. 0. 1. ]] SLAMing on 0.9013461839999999 meters Centerline goodness : 0.145164 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.08, Z:-0.03 [[ 0.99907606 -0.04029972 -0.01493177 0.15177819] [ 0.04020171 0.9991684 -0.00680704 -0.08157622] [ 0.01519367 0.00620047 0.99986534 -0.02851402] [ 0. 0. 0. 1. ]] SLAMing on 0.9313461839999999 meters Centerline goodness : 0.153881 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.08, Z:-0.03 [[ 0.99904774 -0.04078033 -0.01551066 0.15510033] [ 0.04069356 0.99915443 -0.00586953 -0.08333268] [ 0.01573691 0.00523275 0.99986247 -0.03035957] [ 0. 0. 0. 1. ]] SLAMing on 0.9613461839999999 meters Centerline goodness : 0.158071 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.04 [[ 9.98926616e-01 -4.52484256e-02 -9.90933607e-03 1.73567018e-01] [ 4.52476222e-02 9.98975755e-01 -3.05366217e-04 -8.58809630e-02] [ 9.91300382e-03 -1.43335453e-04 9.99950855e-01 -3.56996278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.991346184 meters Centerline goodness : 0.828899 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 9.98919329e-01 -4.53408711e-02 -1.02166175e-02 1.76383633e-01] [ 4.53502003e-02 9.98970917e-01 6.83215116e-04 -8.73595321e-02] [ 1.01751262e-02 -1.14580243e-03 9.99947576e-01 -3.73176261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.021346184 meters Centerline goodness : 0.222595 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 0.99890959 -0.04544636 -0.0106891 0.17919132] [ 0.0454664 0.99896452 0.00163967 -0.08926635] [ 0.01060352 -0.00212388 0.99994153 -0.0386948 ] [ 0. 0. 0. 1. ]] SLAMing on 1.051346184 meters Centerline goodness : 0.169595 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.04 [[ 0.99891051 -0.04532901 -0.01109426 0.18237603] [ 0.04536142 0.99896703 0.00268714 -0.09122057] [ 0.010961 -0.00318746 0.99993485 -0.0405161 ] [ 0. 0. 0. 1. ]] SLAMing on 1.081346184 meters Centerline goodness : 0.154183 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.04 [[ 0.99894721 -0.04526166 -0.00747287 0.1986393 ] [ 0.04523721 0.99897045 -0.00340993 -0.09031132] [ 0.00761951 0.00306829 0.99996626 -0.04222241] [ 0. 0. 0. 1. ]] SLAMing on 1.1113461839999998 meters Centerline goodness : 0.157331 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.04 [[ 0.99895265 -0.04506598 -0.00791607 0.20154654] [ 0.04504905 0.99898212 -0.00230444 -0.09113984] [ 0.00801187 0.00194541 0.99996601 -0.04375691] [ 0. 0. 0. 1. ]] SLAMing on 1.1413461839999999 meters Centerline goodness : 0.166333 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.09, Z:-0.05 [[ 9.98963624e-01 -4.47054904e-02 -8.54967411e-03 2.04903990e-01] [ 4.46974207e-02 9.98999929e-01 -1.13271289e-03 -9.16306053e-02] [ 8.59176231e-03 7.49390588e-04 9.99962809e-01 -4.56048218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.171346184 meters Centerline goodness : 0.170497 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.09, Z:-0.05 [[ 9.98960627e-01 -4.45197085e-02 -9.78061927e-03 2.10676166e-01] [ 4.45269637e-02 9.99008045e-01 5.25186627e-04 -9.43634448e-02] [ 9.74753618e-03 -9.60142041e-04 9.99952031e-01 -4.77036211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.201346184 meters Centerline goodness : 0.179795 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.09, Z:-0.05 [[ 9.98908381e-01 -4.55263246e-02 -1.04594490e-02 2.15910625e-01] [ 4.55216460e-02 9.98963118e-01 -6.85069091e-04 -9.45134606e-02] [ 1.04797925e-02 2.08189921e-04 9.99945064e-01 -5.04496544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231346184 meters Centerline goodness : 0.308088 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.05 [[ 9.98932304e-01 -4.48364546e-02 -1.11329928e-02 2.19494102e-01] [ 4.48479800e-02 9.98993513e-01 7.87635096e-04 -9.65316766e-02] [ 1.10864728e-02 -1.28608638e-03 9.99937716e-01 -5.26308649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.261346184 meters Centerline goodness : 0.324303 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.10, Z:-0.05 [[ 0.99895128 -0.04418586 -0.01199797 0.22337876] [ 0.04421424 0.99901984 0.00211082 -0.09827304] [ 0.01189295 -0.00263909 0.99992579 -0.05451652] [ 0. 0. 0. 1. ]] SLAMing on 1.291346184 meters Centerline goodness : 0.809325 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:-0.06 [[ 9.99083996e-01 -4.12735670e-02 -1.12987045e-02 2.37309729e-01] [ 4.12799840e-02 9.99147562e-01 3.35225386e-04 -1.00909427e-01] [ 1.12752371e-02 -8.01328660e-04 9.99936111e-01 -5.60251166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3213461839999998 meters Centerline goodness : 0.385785 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.10, Z:-0.06 [[ 0.99910218 -0.04064858 -0.01193839 0.24066602] [ 0.04067499 0.99917047 0.00197785 -0.10389164] [ 0.01184809 -0.00246166 0.99992678 -0.05786279] [ 0. 0. 0. 1. ]] SLAMing on 1.3513461839999998 meters Centerline goodness : 0.826732 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.11, Z:-0.06 [[ 0.99910464 -0.04035136 -0.01271571 0.24397608] [ 0.04039924 0.99917738 0.00353107 -0.10759148] [ 0.01256276 -0.00404161 0.99991292 -0.05947171] [ 0. 0. 0. 1. ]] SLAMing on 1.3813461839999999 meters Centerline goodness : 0.823553 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.11, Z:-0.06 [[ 0.99897501 -0.04317156 -0.01360661 0.24821443] [ 0.04319111 0.99906617 0.0011461 -0.10934205] [ 0.01354442 -0.00173261 0.99990677 -0.06109205] [ 0. 0. 0. 1. ]] SLAMing on 1.411346184 meters Centerline goodness : 0.750417 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.06 [[ 9.98836070e-01 -4.57256784e-02 -1.53514387e-02 2.55527681e-01] [ 4.57279383e-02 9.98953910e-01 -2.03952614e-04 -1.17131656e-01] [ 1.53447056e-02 -4.98274417e-04 9.99882139e-01 -6.18520180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441346184 meters Centerline goodness : 0.838272 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.12, Z:-0.06 [[ 0.99882516 -0.04561005 -0.01637165 0.25914449] [ 0.04564357 0.99895638 0.00167915 -0.12269076] [ 0.01627797 -0.00242444 0.99986457 -0.06378683] [ 0. 0. 0. 1. ]] SLAMing on 1.471346184 meters Centerline goodness : 0.544068 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.13, Z:-0.07 [[ 9.98678482e-01 -4.83626499e-02 -1.73880126e-02 2.63293408e-01] [ 4.83574169e-02 9.98829835e-01 -7.21522997e-04 -1.25334486e-01] [ 1.74025605e-02 -1.20269884e-04 9.99848557e-01 -6.50012649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501346184 meters Centerline goodness : 0.838374 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.13, Z:-0.07 [[ 9.98538303e-01 -5.08641471e-02 -1.82783082e-02 2.68669426e-01] [ 5.08432570e-02 9.98705354e-01 -1.60608437e-03 -1.32243468e-01] [ 1.83363364e-02 6.74408039e-04 9.99831648e-01 -6.61623880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.531346184 meters Centerline goodness : 0.640904 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.14, Z:-0.07 [[ 9.98559631e-01 -5.01132394e-02 -1.91657730e-02 2.72111907e-01] [ 5.01338076e-02 9.98742333e-01 5.93913265e-04 -1.37369129e-01] [ 1.91119059e-02 -1.55391099e-03 9.99816143e-01 -6.78724021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561346184 meters Centerline goodness : 0.756073 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.14, Z:-0.07 [[ 0.99857305 -0.04936849 -0.02036226 0.2761479 ] [ 0.04943797 0.99877292 0.00292241 -0.14347168] [ 0.020193 -0.00392491 0.9997884 -0.06994214] [ 0. 0. 0. 1. ]] SLAMing on 1.5913461839999998 meters Centerline goodness : 0.698209 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.15, Z:-0.07 [[ 9.98421880e-01 -5.18717929e-02 -2.15190002e-02 2.80714257e-01] [ 5.19037690e-02 9.98651658e-01 9.29717302e-04 -1.47887716e-01] [ 2.14417592e-02 -2.04516731e-03 9.99768007e-01 -7.14257971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6213461839999999 meters Centerline goodness : 0.780470 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.15, Z:-0.07 [[ 9.98268649e-01 -5.42904093e-02 -2.26330781e-02 2.85451691e-01] [ 5.42842364e-02 9.98525129e-01 -8.87487624e-04 -1.52429190e-01] [ 2.26478793e-02 -3.42668289e-04 9.99743445e-01 -7.34523464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6513461839999999 meters Centerline goodness : 0.787020 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.16, Z:-0.08 [[ 0.99828464 -0.05343528 -0.02392571 0.28973102] [ 0.0534847 0.99856764 0.00143001 -0.15906981] [ 0.02381503 -0.00270722 0.99971272 -0.07549905] [ 0. 0. 0. 1. ]] SLAMing on 1.681346184 meters Centerline goodness : 0.869382 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.08 [[ 0.99820937 -0.05406468 -0.02559418 0.29747745] [ 0.05412708 0.99853252 0.00175109 -0.16937367] [ 0.02546195 -0.0031333 0.99967088 -0.07738938] [ 0. 0. 0. 1. ]] SLAMing on 1.711346184 meters Centerline goodness : 0.874024 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.17, Z:-0.08 [[ 9.98071348e-01 -5.58989165e-02 -2.69980629e-02 3.02576752e-01] [ 5.59210852e-02 9.98435190e-01 6.62126929e-05 -1.73953894e-01] [ 2.69521149e-02 -1.57584597e-03 9.99635484e-01 -7.86719568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741346184 meters Centerline goodness : 0.811752 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.18, Z:-0.08 [[ 0.99809301 -0.05494377 -0.02813405 0.30654909] [ 0.05503674 0.9984811 0.00254026 -0.18168697] [ 0.02795174 -0.00408383 0.99960093 -0.08068375] [ 0. 0. 0. 1. ]] SLAMing on 1.771346184 meters Centerline goodness : 0.875970 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.08 [[ 9.97932429e-01 -5.62371452e-02 -3.11167121e-02 3.19466994e-01] [ 5.62775792e-02 9.98415071e-01 4.24465558e-04 -1.95073109e-01] [ 3.10435236e-02 -2.17476118e-03 9.99515668e-01 -8.27114417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8013461839999998 meters Centerline goodness : 0.886814 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.20, Z:-0.08 [[ 9.97766585e-01 -5.84941244e-02 -3.22533652e-02 3.23903173e-01] [ 5.84934085e-02 9.98287327e-01 -9.66553640e-04 -2.01249758e-01] [ 3.22546635e-02 -9.22214344e-04 9.99479258e-01 -8.42377208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8313461839999998 meters Centerline goodness : 0.885854 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.21, Z:-0.09 [[ 0.99782047 -0.05952613 -0.02847707 0.3416236 ] [ 0.05978199 0.99817762 0.00821846 -0.21239509] [ 0.02793596 -0.00990296 0.99956066 -0.08871364] [ 0. 0. 0. 1. ]] SLAMing on 1.8613461839999998 meters Centerline goodness : 0.702807 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.22, Z:-0.09 [[ 0.99765953 -0.06156419 -0.02975421 0.34626014] [ 0.06179901 0.99806381 0.00703725 -0.21959066] [ 0.02926336 -0.00885956 0.99953247 -0.08986024] [ 0. 0. 0. 1. ]] SLAMing on 1.8913461839999999 meters Centerline goodness : 0.884340 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.24, Z:-0.10 [[ 0.99744551 -0.06398462 -0.03175583 0.35385216] [ 0.06443387 0.99783294 0.01333026 -0.24049027] [ 0.03083408 -0.01534236 0.99940676 -0.0956093 ] [ 0. 0. 0. 1. ]] SLAMing on 1.921346184 meters Centerline goodness : 0.684641 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.25, Z:-0.10 [[ 0.99730567 -0.06624466 -0.03151263 0.35600648] [ 0.066691 0.99768464 0.01332903 -0.24983192] [ 0.03055669 -0.01539473 0.99941447 -0.09734377] [ 0. 0. 0. 1. ]] SLAMing on 1.951346184 meters Centerline goodness : 0.686472 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.26, Z:-0.10 [[ 0.9971739 -0.06757468 -0.03283089 0.36208971] [ 0.06826348 0.99746013 0.02033197 -0.26284064] [ 0.03137358 -0.02251566 0.99925409 -0.10166531] [ 0. 0. 0. 1. ]] SLAMing on 1.981346184 meters Centerline goodness : 0.652123 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.27, Z:-0.10 [[ 0.99698504 -0.07022094 -0.03301296 0.36548688] [ 0.07091072 0.99727794 0.02020818 -0.27258846] [ 0.03150406 -0.02248822 0.99925061 -0.103652 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0113461839999998 meters Centerline goodness : 0.632250 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.29, Z:-0.11 [[ 0.99642392 -0.07622487 -0.03645727 0.37639097] [ 0.07709371 0.99675739 0.02304939 -0.29316109] [ 0.03458212 -0.02577759 0.99906936 -0.10841307] [ 0. 0. 0. 1. ]] SLAMing on 2.041346184 meters Centerline goodness : 0.871327 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.30, Z:-0.11 [[ 0.99619121 -0.07908434 -0.03672523 0.38019802] [ 0.07996112 0.99653143 0.02305038 -0.30246863] [ 0.03477492 -0.02589918 0.99905953 -0.11047646] [ 0. 0. 0. 1. ]] SLAMing on 2.071346184 meters Centerline goodness : 0.878241 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.31, Z:-0.11 [[ 0.99595524 -0.08189795 -0.03695791 0.38379537] [ 0.08277746 0.99630427 0.02292783 -0.31189766] [ 0.03494358 -0.02589438 0.99905377 -0.11244063] [ 0. 0. 0. 1. ]] SLAMing on 2.101346184 meters Centerline goodness : 0.879032 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.32, Z:-0.11 [[ 0.99568827 -0.08491041 -0.03735084 0.38745182] [ 0.08580138 0.9960483 0.02293282 -0.32104057] [ 0.035256 -0.02603869 0.99903904 -0.11387354] [ 0. 0. 0. 1. ]] SLAMing on 2.131346184 meters Centerline goodness : 0.882656 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.33, Z:-0.12 [[ 0.99537152 -0.08836707 -0.03777293 0.3910285 ] [ 0.08924535 0.99576154 0.02223132 -0.32931211] [ 0.03564831 -0.02549948 0.99903903 -0.11512185] [ 0. 0. 0. 1. ]] SLAMing on 2.161346184 meters Centerline goodness : 0.878346 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.35, Z:-0.12 [[ 0.99459566 -0.09218107 -0.04777158 0.41320634] [ 0.09362872 0.99518464 0.02900341 -0.35021898] [ 0.04486798 -0.03331946 0.99843712 -0.11714111] [ 0. 0. 0. 1. ]] SLAMing on 2.191346184 meters Centerline goodness : 0.876554 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.12 [[ 0.99423107 -0.09569898 -0.04843844 0.41807794] [ 0.09711936 0.99488253 0.02786715 -0.35731892] [ 0.0455237 -0.0324107 0.99843735 -0.11942524] [ 0. 0. 0. 1. ]] SLAMing on 2.2213461839999997 meters Centerline goodness : 0.874528 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.36, Z:-0.12 [[ 0.99386379 -0.09910525 -0.04912136 0.42273076] [ 0.10048682 0.99458549 0.02649704 -0.36346029] [ 0.0462294 -0.03127049 0.99844128 -0.12150764] [ 0. 0. 0. 1. ]] SLAMing on 2.251346184 meters Centerline goodness : 0.878809 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.12 [[ 0.99344869 -0.10304192 -0.04941726 0.42591751] [ 0.10431264 0.99425837 0.02385732 -0.36737407] [ 0.04667522 -0.02885587 0.99849325 -0.12309984] [ 0. 0. 0. 1. ]] SLAMing on 2.2813461839999998 meters Centerline goodness : 0.872759 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.12 [[ 0.99270578 -0.10299795 -0.06266308 0.4287619 ] [ 0.10479784 0.99414994 0.02614011 -0.38004017] [ 0.05960412 -0.03251639 0.99769235 -0.1230107 ] [ 0. 0. 0. 1. ]] SLAMing on 2.311346184 meters Centerline goodness : 0.868339 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.13 [[ 0.99233062 -0.10629057 -0.06310508 0.43276364] [ 0.10794419 0.99388175 0.02339068 -0.38241357] [ 0.06023278 -0.03002312 0.99773274 -0.12560697] [ 0. 0. 0. 1. ]] SLAMing on 2.341346184 meters Centerline goodness : 0.866454 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.13 [[ 0.99193501 -0.10968881 -0.0635082 0.43676898] [ 0.11119458 0.99358365 0.0206712 -0.38504373] [ 0.06083331 -0.02756626 0.99776721 -0.12822311] [ 0. 0. 0. 1. ]] SLAMing on 2.371346184 meters Centerline goodness : 0.863974 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.13 [[ 0.99152553 -0.11312954 -0.06386565 0.44062407] [ 0.11448236 0.99326357 0.01792407 -0.38769558] [ 0.06140768 -0.02508367 0.99779753 -0.13074299] [ 0. 0. 0. 1. ]] SLAMing on 2.401346184 meters Centerline goodness : 0.862541 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.39, Z:-0.13 [[ 0.99062047 -0.1207924 -0.06387711 0.44555771] [ 0.12176591 0.99249154 0.01155915 -0.39183815] [ 0.06200123 -0.01922879 0.99789083 -0.13416074] [ 0. 0. 0. 1. ]] SLAMing on 2.4313461839999997 meters Centerline goodness : 0.862930 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.14 [[ 0.99047393 -0.1211879 -0.06538269 0.45056787] [ 0.12230466 0.99240292 0.01334229 -0.39598 ] [ 0.06326905 -0.0212118 0.99777106 -0.13537745] [ 0. 0. 0. 1. ]] SLAMing on 2.461346184 meters Centerline goodness : 0.859590 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.14 [[ 0.99032502 -0.12161254 -0.06683371 0.45507167] [ 0.12285182 0.99231554 0.01474138 -0.39868904] [ 0.06452739 -0.0228094 0.99765522 -0.13625693] [ 0. 0. 0. 1. ]] SLAMing on 2.4913461839999997 meters Centerline goodness : 0.858095 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.14 [[ 0.99017684 -0.1219656 -0.06836821 0.45985195] [ 0.12333075 0.99223501 0.01609978 -0.40124515] [ 0.06587372 -0.02437353 0.99753024 -0.13734058] [ 0. 0. 0. 1. ]] SLAMing on 2.521346184 meters Centerline goodness : 0.856640 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98945978 -0.12676118 -0.0700067 0.4671871 ] [ 0.12795184 0.9916981 0.0127755 -0.40109559] [ 0.06780607 -0.02159833 0.99746471 -0.1407447 ] [ 0. 0. 0. 1. ]] SLAMing on 2.551346184 meters Centerline goodness : 0.856008 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98930579 -0.12725969 -0.07126726 0.47125322] [ 0.12852667 0.99161464 0.01346489 -0.40215346] [ 0.06895612 -0.02248064 0.99736637 -0.14192646] [ 0. 0. 0. 1. ]] SLAMing on 2.581346184 meters Centerline goodness : 0.857191 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.40, Z:-0.14 [[ 0.98916953 -0.12763703 -0.07247364 0.47477768] [ 0.12898706 0.99154397 0.01424437 -0.40363289] [ 0.07004269 -0.02343826 0.9972686 -0.1425823 ] [ 0. 0. 0. 1. ]] SLAMing on 2.611346184 meters Centerline goodness : 0.855842 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.14 [[ 0.98906022 -0.12786085 -0.07356281 0.47848887] [ 0.12930546 0.99148826 0.01520273 -0.40623492] [ 0.07099283 -0.02454849 0.9971747 -0.14368785] [ 0. 0. 0. 1. ]] SLAMing on 2.6413461839999997 meters Centerline goodness : 0.867320 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.40, Z:-0.15 [[ 0.98802493 -0.13550639 -0.0737886 0.48412495] [ 0.13637973 0.99063257 0.00690526 -0.40292769] [ 0.07216168 -0.01688584 0.99725 -0.14807732] [ 0. 0. 0. 1. ]] SLAMing on 2.671346184 meters Centerline goodness : 0.867320 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.40, Z:-0.15 [[ 0.98802493 -0.13550639 -0.0737886 0.48412495] [ 0.13637973 0.99063257 0.00690526 -0.40292769] [ 0.07216168 -0.01688584 0.99725 -0.14807732] [ 0. 0. 0. 1. ]] SLAMing on 2.7013461839999997 meters Centerline goodness : 0.866654 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.15 [[ 0.98780632 -0.13629905 -0.07524118 0.48854556] [ 0.13719877 0.99051952 0.0068971 -0.40275316] [ 0.07358779 -0.017136 0.99714151 -0.14943445] [ 0. 0. 0. 1. ]] SLAMing on 2.731346184 meters Centerline goodness : 0.865108 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.15 [[ 0.98762062 -0.13675263 -0.07683895 0.49387853] [ 0.13771913 0.99044369 0.00739831 -0.40304746] [ 0.07509291 -0.01788892 0.99701607 -0.15147311] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters Centerline goodness : 0.861987 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.15 [[ 0.98744393 -0.13719911 -0.07830002 0.49875869] [ 0.13823841 0.99036679 0.00798511 -0.40401704] [ 0.07645019 -0.01870892 0.99689786 -0.15322613] [ 0. 0. 0. 1. ]] SLAMing on 2.791346184 meters Centerline goodness : 0.859727 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.40, Z:-0.16 [[ 0.98674181 -0.14173608 -0.07906631 0.50402434] [ 0.14244528 0.98979693 0.00337401 -0.4005734 ] [ 0.07778137 -0.0145919 0.99686365 -0.15649896] [ 0. 0. 0. 1. ]] SLAMing on 2.821346184 meters Centerline goodness : 0.856183 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.40, Z:-0.16 [[ 0.9866127 -0.14207143 -0.08006924 0.50721638] [ 0.1428154 0.98974275 0.0036134 -0.40110029] [ 0.07873459 -0.01500014 0.99678275 -0.15751183] [ 0. 0. 0. 1. ]] SLAMing on 2.851346184 meters Centerline goodness : 0.853955 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.40, Z:-0.16 [[ 0.98648174 -0.14232141 -0.08123044 0.51107601] [ 0.14311274 0.98969841 0.00397424 -0.40151401] [ 0.07982802 -0.01554563 0.99668742 -0.15898748] [ 0. 0. 0. 1. ]] SLAMing on 2.881346184 meters Centerline goodness : 0.851224 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.16 [[ 0.9863962 -0.14226876 -0.08235369 0.51527329] [ 0.14310303 0.98969851 0.00428765 -0.40120572] [ 0.08089533 -0.01601438 0.99659394 -0.16107935] [ 0. 0. 0. 1. ]] SLAMing on 2.9113461839999997 meters Centerline goodness : 0.843309 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.40, Z:-0.17 [[ 0.98623 -0.14268371 -0.0836166 0.52109592] [ 0.1434696 0.98964876 0.0034355 -0.3978031 ] [ 0.08226088 -0.01538463 0.99649208 -0.16525952] [ 0. 0. 0. 1. ]] SLAMing on 2.941346184 meters Centerline goodness : 0.836720 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.40, Z:-0.17 [[ 0.98617947 -0.1424676 -0.08457557 0.52500059] [ 0.14325082 0.98968113 0.00323404 -0.39514753] [ 0.0832421 -0.01530486 0.99641182 -0.16774668] [ 0. 0. 0. 1. ]] SLAMing on 2.9713461839999997 meters Centerline goodness : 0.833250 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.39, Z:-0.17 [[ 0.98649638 -0.13917479 -0.08634387 0.5286256 ] [ 0.1403122 0.99008101 0.00721723 -0.39466786] [ 0.08448297 -0.01923487 0.99623925 -0.16870415] [ 0. 0. 0. 1. ]] SLAMing on 3.001346184 meters Centerline goodness : 0.831158 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.39, Z:-0.17 [[ 0.98642711 -0.13956128 -0.08651128 0.52984536] [ 0.1405743 0.99005372 0.0057002 -0.39048015] [ 0.08485528 -0.01778409 0.99623456 -0.1703191 ] [ 0. 0. 0. 1. ]] SLAMing on 3.0313461839999998 meters Centerline goodness : 0.818437 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.39, Z:-0.17 [[ 0.98672188 -0.13618188 -0.08851229 0.53609635] [ 0.13746896 0.99046889 0.00858311 -0.38742802] [ 0.0864998 -0.02063683 0.9960381 -0.17448619] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters Centerline goodness : 0.811308 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.39, Z:-0.18 [[ 0.98702083 -0.13326639 -0.08961005 0.53894084] [ 0.13479766 0.99080948 0.01123199 -0.38592589] [ 0.08728964 -0.02316543 0.99591359 -0.17621752] [ 0. 0. 0. 1. ]] SLAMing on 3.091346184 meters Centerline goodness : 0.802116 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.38, Z:-0.18 [[ 0.98733573 -0.12983178 -0.09116946 0.54234171] [ 0.13168675 0.99118373 0.01460884 -0.38381863] [ 0.088469 -0.02642964 0.99572823 -0.17770581] [ 0. 0. 0. 1. ]] SLAMing on 3.121346184 meters Centerline goodness : 0.788691 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.38, Z:-0.18 [[ 0.98761165 -0.12633204 -0.09307768 0.54755334] [ 0.12840112 0.991584 0.0165626 -0.37672896] [ 0.09020195 -0.02830869 0.99552108 -0.18138175] [ 0. 0. 0. 1. ]] SLAMing on 3.151346184 meters Centerline goodness : 0.776549 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.37, Z:-0.18 [[ 0.98757694 -0.12600381 -0.09388726 0.55116429] [ 0.12800412 0.99165137 0.01557258 -0.37180038] [ 0.09114123 -0.02739708 0.99546104 -0.18452868] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters Centerline goodness : 0.764648 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.37, Z:-0.19 [[ 0.98768748 -0.12399873 -0.09538212 0.55546705] [ 0.12625409 0.9918353 0.01796214 -0.3696531 ] [ 0.09237608 -0.02978336 0.99527866 -0.18662931] [ 0. 0. 0. 1. ]] SLAMing on 3.211346184 meters Centerline goodness : 0.758366 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.37, Z:-0.19 [[ 0.98749546 -0.12497065 -0.09609917 0.55788179] [ 0.12709851 0.99175574 0.01632526 -0.36519395] [ 0.09326672 -0.02833518 0.99523788 -0.18820181] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters Centerline goodness : 0.734428 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98747066 -0.12309089 -0.09874379 0.56518359] [ 0.12554954 0.99190423 0.01906057 -0.36064002] [ 0.0955982 -0.03121899 0.99493033 -0.19118676] [ 0. 0. 0. 1. ]] SLAMing on 3.271346184 meters Centerline goodness : 0.723923 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98729098 -0.12407511 -0.09930702 0.56739746] [ 0.12642726 0.99181743 0.01772921 -0.35750165] [ 0.09629468 -0.030059 0.99489889 -0.192723 ] [ 0. 0. 0. 1. ]] SLAMing on 3.301346184 meters Centerline goodness : 0.713306 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.36, Z:-0.19 [[ 0.98710899 -0.12498775 -0.09996949 0.57009709] [ 0.1272858 0.99172168 0.01692412 -0.35590011] [ 0.0970266 -0.02943065 0.99484656 -0.19429338] [ 0. 0. 0. 1. ]] SLAMing on 3.331346184 meters Centerline goodness : 0.703720 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.35, Z:-0.20 [[ 0.98695258 -0.12576489 -0.10053755 0.57239114] [ 0.12802057 0.99163784 0.01628257 -0.35474804] [ 0.09764906 -0.028941 0.99480002 -0.19556997] [ 0. 0. 0. 1. ]] SLAMing on 3.361346184 meters Centerline goodness : 0.736740 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.35, Z:-0.20 [[ 0.98680814 -0.12654227 -0.100979 0.57480884] [ 0.12870949 0.99156558 0.01521713 -0.35280799] [ 0.09820169 -0.02801334 0.99477218 -0.1976348 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3913461839999997 meters Centerline goodness : 0.685163 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98676897 -0.12670354 -0.10115939 0.57563764] [ 0.12881756 0.99156054 0.01461991 -0.35139304] [ 0.09845326 -0.02745758 0.9947628 -0.1984211 ] [ 0. 0. 0. 1. ]] SLAMing on 3.421346184 meters Centerline goodness : 0.724819 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98681395 -0.12639118 -0.10111132 0.57557913] [ 0.12844062 0.99161843 0.01399616 -0.34934764] [ 0.09849486 -0.02679841 0.99477666 -0.19906502] [ 0. 0. 0. 1. ]] SLAMing on 3.4513461839999997 meters Centerline goodness : 0.715958 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98685992 -0.12609823 -0.10102836 0.5757781 ] [ 0.12804293 0.99168374 0.01297532 -0.3471231 ] [ 0.09855202 -0.02574079 0.99479893 -0.20032811] [ 0. 0. 0. 1. ]] SLAMing on 3.481346184 meters Centerline goodness : 0.717274 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.20 [[ 0.98697127 -0.12545339 -0.10074299 0.57562049] [ 0.12731873 0.99178585 0.01227905 -0.3457675 ] [ 0.09837502 -0.02494554 0.99483671 -0.20169365] [ 0. 0. 0. 1. ]] SLAMing on 3.5113461839999998 meters Centerline goodness : 0.708050 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.21 [[ 0.98792172 -0.12411777 -0.09276558 0.58731434] [ 0.12545547 0.99206104 0.00870771 -0.33965576] [ 0.09094834 -0.02024049 0.9956499 -0.20570116] [ 0. 0. 0. 1. ]] SLAMing on 3.541346184 meters Centerline goodness : 0.707471 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.21 [[ 0.98808524 -0.12318565 -0.09226508 0.58541181] [ 0.12446283 0.99219041 0.00819668 -0.33794367] [ 0.09053481 -0.01958259 0.99570074 -0.20542516] [ 0. 0. 0. 1. ]] SLAMing on 3.571346184 meters Centerline goodness : 0.706997 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.20 [[ 0.98848115 -0.11977162 -0.09251901 0.58401034] [ 0.12141741 0.99252472 0.01234918 -0.33946723] [ 0.09034832 -0.02344035 0.99563434 -0.20362508] [ 0. 0. 0. 1. ]] SLAMing on 3.6013461839999996 meters Centerline goodness : 0.715115 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.20 [[ 0.98951091 -0.11826267 -0.08295844 0.58954636] [ 0.11965333 0.99274346 0.01197926 -0.33813538] [ 0.08093975 -0.02177986 0.99648101 -0.20110164] [ 0. 0. 0. 1. ]] SLAMing on 3.631346184 meters Centerline goodness : 0.726248 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.20 [[ 0.98966753 -0.11744519 -0.08224844 0.58604744] [ 0.11890607 0.99281938 0.01307758 -0.34066224] [ 0.08012195 -0.02272229 0.99652605 -0.19822568] [ 0. 0. 0. 1. ]] SLAMing on 3.6613461839999997 meters Centerline goodness : 0.731355 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.20 [[ 0.98978641 -0.11665885 -0.08193645 0.58396933] [ 0.11822922 0.99287949 0.01456609 -0.3436467 ] [ 0.07965376 -0.0241046 0.99653111 -0.19578778] [ 0. 0. 0. 1. ]] SLAMing on 3.691346184 meters Centerline goodness : 0.741981 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.19 [[ 0.99003874 -0.11401474 -0.0826071 0.58303216] [ 0.11599749 0.99305613 0.01959846 -0.34798469] [ 0.07979897 -0.02898545 0.99638947 -0.19224268] [ 0. 0. 0. 1. ]] SLAMing on 3.7213461839999997 meters Centerline goodness : 0.757070 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:-0.19 [[ 0.99057421 -0.11589369 -0.07301634 0.58796594] [ 0.1174198 0.99293766 0.01695256 -0.34407907] [ 0.07053598 -0.02536633 0.99718666 -0.18810496] [ 0. 0. 0. 1. ]] SLAMing on 3.751346184 meters Centerline goodness : 0.762504 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.19 [[ 0.99088791 -0.11241824 -0.07418416 0.58881736] [ 0.11437803 0.99317775 0.02270726 -0.34662512] [ 0.07112535 -0.03098539 0.996986 -0.18576521] [ 0. 0. 0. 1. ]] SLAMing on 3.7813461839999998 meters Centerline goodness : 0.770762 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.18 [[ 0.9908778 -0.11267444 -0.07393006 0.58636636] [ 0.11462169 0.99315134 0.02263369 -0.34597708] [ 0.0708735 -0.03090121 0.99700655 -0.18310251] [ 0. 0. 0. 1. ]] SLAMing on 3.811346184 meters Centerline goodness : 0.775776 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.35, Z:-0.18 [[ 0.99093749 -0.1121479 -0.07393064 0.58538544] [ 0.1141577 0.99318393 0.02353086 -0.34673114] [ 0.07078779 -0.03175737 0.99698574 -0.18159407] [ 0. 0. 0. 1. ]] SLAMing on 3.841346184 meters Centerline goodness : 0.780757 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.18 [[ 0.99085161 -0.1129319 -0.07388819 0.58304111] [ 0.1149507 0.99308959 0.0236519 -0.34646387] [ 0.07070654 -0.03192903 0.99698602 -0.17804103] [ 0. 0. 0. 1. ]] SLAMing on 3.8713461839999996 meters Centerline goodness : 0.783318 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.18 [[ 0.9908098 -0.11322359 -0.07400248 0.58254374] [ 0.1152556 0.99305126 0.02377688 -0.34606066] [ 0.07079616 -0.03208756 0.99697457 -0.17677851] [ 0. 0. 0. 1. ]] SLAMing on 3.901346184 meters Centerline goodness : 0.789694 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.17 [[ 0.99079476 -0.11341914 -0.0739043 0.58084215] [ 0.11545354 0.99302654 0.02384906 -0.34567196] [ 0.07068399 -0.03216203 0.99698013 -0.17465589] [ 0. 0. 0. 1. ]] SLAMing on 3.9313461839999997 meters Centerline goodness : 0.793705 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.35, Z:-0.17 [[ 0.99075512 -0.11345525 -0.07437881 0.58047658] [ 0.11556299 0.99299398 0.02466082 -0.34545357] [ 0.07105982 -0.03302827 0.99692509 -0.17243069] [ 0. 0. 0. 1. ]] SLAMing on 3.961346184 meters Centerline goodness : 0.810004 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.17 [[ 0.99055791 -0.11509842 -0.07448074 0.57721596] [ 0.11719757 0.99280783 0.02444078 -0.34389154] [ 0.07113197 -0.03293897 0.9969229 -0.16703783] [ 0. 0. 0. 1. ]] SLAMing on 3.9913461839999997 meters Centerline goodness : 0.806308 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.17 [[ 0.99042154 -0.11595099 -0.07497033 0.57718473] [ 0.11807307 0.99270245 0.02450687 -0.34285171] [ 0.07158163 -0.03312411 0.99688458 -0.16513785] [ 0. 0. 0. 1. ]] SLAMing on 4.0213461839999995 meters Centerline goodness : 0.807337 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.99000975 -0.11819078 -0.07688721 0.57984474] [ 0.12041754 0.99240889 0.0249841 -0.33952564] [ 0.07335066 -0.03399307 0.99672672 -0.16231994] [ 0. 0. 0. 1. ]] SLAMing on 4.051346184 meters Centerline goodness : 0.808449 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98983656 -0.11926888 -0.07745017 0.5802021 ] [ 0.12148759 0.99228856 0.02457986 -0.33740304] [ 0.07392131 -0.03373928 0.99669318 -0.16092435] [ 0. 0. 0. 1. ]] SLAMing on 4.081346184 meters Centerline goodness : 0.814513 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98966493 -0.12037244 -0.07793458 0.58007405] [ 0.12259136 0.99215909 0.02432502 -0.33538367] [ 0.07439543 -0.03362773 0.99666168 -0.159034 ] [ 0. 0. 0. 1. ]] SLAMing on 4.111346183999999 meters Centerline goodness : 0.809930 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.16 [[ 0.98953571 -0.120996 -0.07860686 0.58085423] [ 0.12327644 0.99206197 0.02481851 -0.33506142] [ 0.07497994 -0.03424917 0.99659671 -0.15764196] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters Centerline goodness : 0.817944 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.16 [[ 0.98895901 -0.12568833 -0.0785017 0.58038264] [ 0.12770186 0.99158688 0.02115885 -0.33497485] [ 0.07518184 -0.03095005 0.99668941 -0.15545451] [ 0. 0. 0. 1. ]] SLAMing on 4.171346184 meters Centerline goodness : 0.820578 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.15 [[ 0.98880345 -0.12669674 -0.07883957 0.58058748] [ 0.12872737 0.99145318 0.02120989 -0.33516205] [ 0.07547852 -0.03112123 0.99666166 -0.15415409] [ 0. 0. 0. 1. ]] SLAMing on 4.201346184 meters Centerline goodness : 0.823909 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.9886833 -0.12716636 -0.07958678 0.58152593] [ 0.1292518 0.99137644 0.0216037 -0.33445487] [ 0.07615319 -0.03164595 0.99659381 -0.15292236] [ 0. 0. 0. 1. ]] SLAMing on 4.2313461839999995 meters Centerline goodness : 0.831838 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.15 [[ 0.98890002 -0.12437974 -0.08127991 0.58415487] [ 0.1268969 0.99156042 0.0265541 -0.33559935] [ 0.07729115 -0.03657351 0.99633752 -0.15181567] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters Centerline goodness : 0.830022 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98883239 -0.12484373 -0.08139126 0.58349513] [ 0.12729948 0.99153144 0.02569518 -0.33294172] [ 0.07749411 -0.03576929 0.99635095 -0.15095235] [ 0. 0. 0. 1. ]] SLAMing on 4.291346184 meters Centerline goodness : 0.855588 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98892251 -0.12444739 -0.08090185 0.58178391] [ 0.12677439 0.99163455 0.02427274 -0.32950726] [ 0.07720439 -0.03426014 0.99642648 -0.15096459] [ 0. 0. 0. 1. ]] SLAMing on 4.321346184 meters Centerline goodness : 0.831116 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98925027 -0.1210469 -0.08204602 0.58395007] [ 0.12375545 0.99189606 0.02875418 -0.33104973] [ 0.07790052 -0.03859872 0.99621366 -0.15117979] [ 0. 0. 0. 1. ]] SLAMing on 4.351346184 meters Centerline goodness : 0.827617 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98926338 -0.12096126 -0.08201432 0.58351103] [ 0.12363808 0.99192184 0.02836715 -0.32981595] [ 0.07792047 -0.03820267 0.99622736 -0.15097781] [ 0. 0. 0. 1. ]] SLAMing on 4.381346184 meters Centerline goodness : 0.821652 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98927343 -0.12087619 -0.08201847 0.5829008 ] [ 0.12354938 0.99193419 0.02832158 -0.32924204] [ 0.07793352 -0.03815112 0.99622832 -0.15027052] [ 0. 0. 0. 1. ]] SLAMing on 4.411346184 meters Centerline goodness : 0.854083 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98929615 -0.12077354 -0.08189559 0.58218438] [ 0.12344402 0.99194647 0.02835091 -0.3292023 ] [ 0.077812 -0.03815697 0.99623759 -0.14969663] [ 0. 0. 0. 1. ]] SLAMing on 4.4413461839999995 meters Centerline goodness : 0.826625 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98928742 -0.12053105 -0.08235695 0.58297563] [ 0.12328603 0.99194121 0.0292095 -0.32992394] [ 0.0781726 -0.03905006 0.99617475 -0.14915903] [ 0. 0. 0. 1. ]] SLAMing on 4.471346184 meters Centerline goodness : 0.854136 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98925121 -0.12068143 -0.08257137 0.58300514] [ 0.12346842 0.9919098 0.02950409 -0.33009665] [ 0.07834276 -0.03938191 0.99614832 -0.14838334] [ 0. 0. 0. 1. ]] SLAMing on 4.501346184 meters Centerline goodness : 0.854614 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98927797 -0.12041824 -0.08263498 0.58261971] [ 0.12324657 0.99192233 0.03000633 -0.33075394] [ 0.07835417 -0.03986908 0.99612804 -0.14756881] [ 0. 0. 0. 1. ]] SLAMing on 4.531346184 meters Centerline goodness : 0.855676 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98935567 -0.11988361 -0.08248198 0.58054459] [ 0.12276721 0.99195723 0.03080701 -0.33109914] [ 0.07812534 -0.04060517 0.99611628 -0.14516118] [ 0. 0. 0. 1. ]] SLAMing on 4.561346184 meters Centerline goodness : 0.855676 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.15 [[ 0.98935567 -0.11988361 -0.08248198 0.58054459] [ 0.12276721 0.99195723 0.03080701 -0.33109914] [ 0.07812534 -0.04060517 0.99611628 -0.14516118] [ 0. 0. 0. 1. ]] SLAMing on 4.591346184 meters Centerline goodness : 0.859403 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98935473 -0.11983721 -0.0825606 0.57974135] [ 0.12276821 0.99193941 0.03137166 -0.33174675] [ 0.07813562 -0.04117352 0.99609215 -0.14359033] [ 0. 0. 0. 1. ]] SLAMing on 4.621346184 meters Centerline goodness : 0.861106 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98933711 -0.11981872 -0.08279834 0.58014118] [ 0.12282915 0.99190346 0.03225709 -0.33364887] [ 0.07826296 -0.04208318 0.99604413 -0.14287103] [ 0. 0. 0. 1. ]] SLAMing on 4.651346183999999 meters Centerline goodness : 0.860055 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98921286 -0.12051359 -0.08327295 0.58109784] [ 0.12360258 0.99178381 0.03297397 -0.33552813] [ 0.07861495 -0.04291103 0.99598109 -0.14194566] [ 0. 0. 0. 1. ]] SLAMing on 4.681346184 meters Centerline goodness : 0.863143 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98868779 -0.12495141 -0.08296748 0.58062425] [ 0.12778216 0.99135708 0.02971286 -0.33644698] [ 0.07853774 -0.03997851 0.9961092 -0.14027852] [ 0. 0. 0. 1. ]] SLAMing on 4.711346184 meters Centerline goodness : 0.864259 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98854683 -0.12552464 -0.08377783 0.58219127] [ 0.12845212 0.99124665 0.03049802 -0.33738522] [ 0.07921624 -0.04091016 0.99601764 -0.13935929] [ 0. 0. 0. 1. ]] SLAMing on 4.741346184 meters Centerline goodness : 0.864123 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98841011 -0.12631427 -0.08420309 0.58271166] [ 0.12927092 0.99113655 0.03061641 -0.33755737] [ 0.07958947 -0.04114658 0.99597815 -0.1383646 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7713461839999995 meters Centerline goodness : 0.863460 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98830991 -0.1268648 -0.08455081 0.58315715] [ 0.12985724 0.99105223 0.03086373 -0.33809612] [ 0.07987875 -0.04148246 0.99594106 -0.13750575] [ 0. 0. 0. 1. ]] SLAMing on 4.801346184 meters Centerline goodness : 0.865069 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.98828824 -0.12705735 -0.08451498 0.58237923] [ 0.13003884 0.99103229 0.03073913 -0.33778481] [ 0.07985144 -0.04136936 0.99594795 -0.13654278] [ 0. 0. 0. 1. ]] SLAMing on 4.831346184 meters Centerline goodness : 0.864649 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.34, Z:-0.14 [[ 0.9885901 -0.12395048 -0.08559139 0.58358633] [ 0.12729449 0.99125557 0.03476362 -0.33784489] [ 0.08053398 -0.04526228 0.99572366 -0.13594232] [ 0. 0. 0. 1. ]] SLAMing on 4.861346183999999 meters Centerline goodness : 0.861384 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.14 [[ 0.98863209 -0.12370472 -0.08546186 0.58258393] [ 0.12696134 0.99133286 0.03376363 -0.33478221] [ 0.08054443 -0.04423016 0.99576919 -0.13571521] [ 0. 0. 0. 1. ]] SLAMing on 4.891346184 meters Centerline goodness : 0.865104 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98918112 -0.11948602 -0.08511058 0.57892744] [ 0.12298512 0.99171438 0.03711117 -0.33374015] [ 0.07997112 -0.04717701 0.99568014 -0.1334927 ] [ 0. 0. 0. 1. ]] SLAMing on 4.921346184 meters Centerline goodness : 0.867458 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98923562 -0.11923067 -0.08483472 0.57698382] [ 0.12266349 0.99177854 0.03645532 -0.33111245] [ 0.07979066 -0.04646903 0.99572791 -0.13227202] [ 0. 0. 0. 1. ]] SLAMing on 4.951346184 meters Centerline goodness : 0.830197 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:-0.13 [[ 0.98922385 -0.11904098 -0.08523741 0.57664209] [ 0.12245953 0.99181855 0.03605029 -0.32792332] [ 0.08024858 -0.04609994 0.99570827 -0.13120905] [ 0. 0. 0. 1. ]] SLAMing on 4.9813461839999995 meters Centerline goodness : 0.869379 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98917529 -0.11952082 -0.08512939 0.57442144] [ 0.12285049 0.99180806 0.03499322 -0.3240123 ] [ 0.08024959 -0.04507261 0.99575522 -0.12905917] [ 0. 0. 0. 1. ]] SLAMing on 5.011346184 meters Centerline goodness : 0.869353 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98912806 -0.11981076 -0.08527048 0.5746863 ] [ 0.12314704 0.99177153 0.03498615 -0.32415912] [ 0.08037712 -0.04510659 0.9957434 -0.12875561] [ 0. 0. 0. 1. ]] SLAMing on 5.041346184 meters Centerline goodness : 0.870316 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98878993 -0.1233421 -0.08414993 0.57247752] [ 0.12623115 0.99155009 0.02990164 -0.32133525] [ 0.07975074 -0.04018878 0.99600436 -0.128588 ] [ 0. 0. 0. 1. ]] SLAMing on 5.071346183999999 meters Centerline goodness : 0.872485 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98870243 -0.12367794 -0.08468341 0.57386947] [ 0.12661186 0.99149317 0.03017846 -0.32157413] [ 0.08023061 -0.04055944 0.99595079 -0.12855694] [ 0. 0. 0. 1. ]] SLAMing on 5.101346184 meters Centerline goodness : 0.872664 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.32, Z:-0.13 [[ 0.98844128 -0.12533035 -0.08530025 0.57468161] [ 0.12826982 0.99128915 0.02987762 -0.32043396] [ 0.08081264 -0.04047372 0.99590722 -0.1272014 ] [ 0. 0. 0. 1. ]] SLAMing on 5.131346184 meters Centerline goodness : 0.870702 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.13 [[ 0.98833133 -0.12583511 -0.08582956 0.5752023 ] [ 0.1288134 0.99121283 0.0300706 -0.31971862] [ 0.08129143 -0.04077571 0.99585594 -0.12606663] [ 0. 0. 0. 1. ]] SLAMing on 5.161346184 meters Centerline goodness : 0.873075 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98822213 -0.12638016 -0.08628491 0.57553415] [ 0.12940155 0.99112776 0.03034814 -0.31885591] [ 0.08168397 -0.04115611 0.99580817 -0.12486087] [ 0. 0. 0. 1. ]] SLAMing on 5.1913461839999995 meters Centerline goodness : 0.874629 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98812676 -0.12694149 -0.08655268 0.5755056 ] [ 0.12997089 0.99105502 0.03029039 -0.31826091] [ 0.08193337 -0.04118007 0.99578669 -0.12379784] [ 0. 0. 0. 1. ]] SLAMing on 5.221346184 meters Centerline goodness : 0.873930 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98783878 -0.12857468 -0.08742477 0.57713929] [ 0.1316385 0.99083738 0.03020897 -0.31787754] [ 0.08273963 -0.04135006 0.99571297 -0.12275127] [ 0. 0. 0. 1. ]] SLAMing on 5.251346184 meters Centerline goodness : 0.873324 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98772643 -0.12890039 -0.08821108 0.57915694] [ 0.13205552 0.99076074 0.03089497 -0.31872674] [ 0.0834137 -0.04216453 0.99562257 -0.12264153] [ 0. 0. 0. 1. ]] SLAMing on 5.281346183999999 meters Centerline goodness : 0.873470 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.9876052 -0.12961783 -0.08851656 0.57971747] [ 0.13280547 0.99065405 0.03110086 -0.31952661] [ 0.08365806 -0.04247086 0.99558905 -0.12193726] [ 0. 0. 0. 1. ]] SLAMing on 5.311346184 meters Centerline goodness : 0.871219 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98742106 -0.13040539 -0.0894096 0.5815626 ] [ 0.13372246 0.99049731 0.03214628 -0.32101317] [ 0.08436792 -0.04369799 0.99547604 -0.12097347] [ 0. 0. 0. 1. ]] SLAMing on 5.341346184 meters Centerline goodness : 0.875479 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98730573 -0.13103506 -0.089762 0.58165466] [ 0.13433325 0.99042844 0.03171875 -0.31906119] [ 0.08474657 -0.04337412 0.99545804 -0.12008526] [ 0. 0. 0. 1. ]] SLAMing on 5.371346184 meters Centerline goodness : 0.874320 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98727867 -0.13117519 -0.08985487 0.58102339] [ 0.13442856 0.99043387 0.03114024 -0.31667764] [ 0.08491048 -0.04282316 0.99546792 -0.119317 ] [ 0. 0. 0. 1. ]] SLAMing on 5.401346183999999 meters Centerline goodness : 0.876171 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.32, Z:-0.12 [[ 0.98730766 -0.13075789 -0.09014406 0.58112752] [ 0.13402064 0.9904898 0.03111963 -0.31528903] [ 0.08521763 -0.04280581 0.99544242 -0.11887389] [ 0. 0. 0. 1. ]] SLAMing on 5.431346184 meters Centerline goodness : 0.877298 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98756994 -0.12918902 -0.08953109 0.57909251] [ 0.1324125 0.99070896 0.03102705 -0.31392889] [ 0.0846909 -0.04249641 0.99550063 -0.11876515] [ 0. 0. 0. 1. ]] SLAMing on 5.461346184 meters Centerline goodness : 0.876266 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.9877098 -0.12851903 -0.08895065 0.57752589] [ 0.13165656 0.99083131 0.03032917 -0.31274515] [ 0.08423721 -0.04166736 0.99557417 -0.11894802] [ 0. 0. 0. 1. ]] SLAMing on 5.491346184 meters Centerline goodness : 0.876957 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98782908 -0.12791549 -0.08849487 0.57639466] [ 0.13095757 0.9909506 0.02944537 -0.31090496] [ 0.08392752 -0.04067606 0.99564132 -0.11941327] [ 0. 0. 0. 1. ]] SLAMing on 5.5213461839999995 meters Centerline goodness : 0.876314 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.31, Z:-0.12 [[ 0.98796536 -0.12689705 -0.08843971 0.57643278] [ 0.12988673 0.9911079 0.02888894 -0.30855016] [ 0.08398737 -0.04002841 0.99566252 -0.12055301] [ 0. 0. 0. 1. ]] SLAMing on 5.551346184 meters Centerline goodness : 0.878794 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.30, Z:-0.12 [[ 0.9883857 -0.12307549 -0.08914108 0.57688484] [ 0.12627662 0.9915047 0.03118737 -0.30409008] [ 0.08454539 -0.04208159 0.99553062 -0.12136483] [ 0. 0. 0. 1. ]] SLAMing on 5.581346184 meters Centerline goodness : 0.880296 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.30, Z:-0.12 [[ 0.98847151 -0.12249873 -0.08898385 0.57565829] [ 0.12558848 0.99162949 0.02997492 -0.30035371] [ 0.08456712 -0.04080471 0.99558193 -0.12123142] [ 0. 0. 0. 1. ]] SLAMing on 5.611346183999999 meters Centerline goodness : 0.877781 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.30, Z:-0.12 [[ 0.98861003 -0.12174173 -0.08848251 0.57404033] [ 0.12470284 0.99177823 0.02872521 -0.29733313] [ 0.08425797 -0.03943205 0.99566345 -0.1215699 ] [ 0. 0. 0. 1. ]] SLAMing on 5.641346184 meters Centerline goodness : 0.878781 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98875783 -0.12098508 -0.08786679 0.5721528 ] [ 0.12377097 0.99194446 0.02696164 -0.29283718] [ 0.08389702 -0.03753389 0.99576729 -0.12203445] [ 0. 0. 0. 1. ]] SLAMing on 5.671346184 meters Centerline goodness : 0.877223 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98870382 -0.12134191 -0.08798232 0.57168838] [ 0.1240784 0.99192353 0.02631082 -0.2907107 ] [ 0.08407913 -0.03693032 0.9957745 -0.12127891] [ 0. 0. 0. 1. ]] SLAMing on 5.701346184 meters Centerline goodness : 0.880506 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.29, Z:-0.12 [[ 0.98856439 -0.1221475 -0.08843317 0.57209103] [ 0.12483711 0.99184874 0.02552973 -0.28770408] [ 0.08459394 -0.03627752 0.99575489 -0.12065885] [ 0. 0. 0. 1. ]] SLAMing on 5.7313461839999995 meters Centerline goodness : 0.879084 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.28, Z:-0.12 [[ 0.98817755 -0.12469068 -0.08920407 0.57231567] [ 0.12723434 0.99159666 0.02339864 -0.28110027] [ 0.08553686 -0.03447183 0.99573849 -0.11890017] [ 0. 0. 0. 1. ]] SLAMing on 5.761346184 meters Centerline goodness : 0.879581 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.28, Z:-0.12 [[ 0.98820409 -0.13058058 -0.08000864 0.58129279] [ 0.13291058 0.99082516 0.02450059 -0.27596262] [ 0.07607527 -0.03484558 0.99649302 -0.12425629] [ 0. 0. 0. 1. ]] SLAMing on 5.791346184 meters Centerline goodness : 0.879142 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.27, Z:-0.12 [[ 0.98802946 -0.13163858 -0.08043055 0.58191593] [ 0.13392024 0.99071008 0.02364114 -0.27316282] [ 0.07657127 -0.03412942 0.99647982 -0.12384988] [ 0. 0. 0. 1. ]] SLAMing on 5.821346183999999 meters Centerline goodness : 0.882083 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.27, Z:-0.12 [[ 0.98784651 -0.13266128 -0.08099546 0.58392741] [ 0.13489775 0.99059785 0.02277039 -0.27076864] [ 0.07721318 -0.03341975 0.99645434 -0.12482792] [ 0. 0. 0. 1. ]] SLAMing on 5.851346184 meters Centerline goodness : 0.879471 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.27, Z:-0.13 [[ 0.98765471 -0.13388472 -0.08132064 0.58560019] [ 0.13603797 0.99046994 0.02151669 -0.26844597] [ 0.0776649 -0.03231375 0.99645571 -0.12604146] [ 0. 0. 0. 1. ]] SLAMing on 5.881346184 meters Centerline goodness : 0.882635 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.26, Z:-0.13 [[ 0.98736568 -0.13500945 -0.08295463 0.59027668] [ 0.13712389 0.99034552 0.02031742 -0.26135886] [ 0.0794107 -0.03143578 0.99634619 -0.12825966] [ 0. 0. 0. 1. ]] SLAMing on 5.911346184 meters Centerline goodness : 0.880626 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.26, Z:-0.13 [[ 0.98723586 -0.13578593 -0.08323181 0.59040204] [ 0.13776784 0.99029133 0.01852321 -0.25655607] [ 0.07990854 -0.02975344 0.99635805 -0.12833243] [ 0. 0. 0. 1. ]] SLAMing on 5.9413461839999995 meters Centerline goodness : 0.877395 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.25, Z:-0.13 [[ 0.98719313 -0.13597464 -0.08343027 0.59053649] [ 0.13785957 0.99030178 0.017237 -0.25209378] [ 0.08027735 -0.02851791 0.99636453 -0.12870075] [ 0. 0. 0. 1. ]] SLAMing on 5.971346184 meters Centerline goodness : 0.879755 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.25, Z:-0.13 [[ 0.9874914 -0.1332296 -0.08432442 0.59125023] [ 0.13524629 0.99063652 0.01864757 -0.24620969] [ 0.08105045 -0.02981888 0.99626385 -0.12916367] [ 0. 0. 0. 1. ]] SLAMing on 6.001346184 meters Centerline goodness : 0.880707 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.24, Z:-0.13 [[ 0.98760797 -0.13254061 -0.08404455 0.59007223] [ 0.13443568 0.99077165 0.01727974 -0.24249875] [ 0.08097869 -0.02836419 0.99631216 -0.1294912 ] [ 0. 0. 0. 1. ]] SLAMing on 6.031346183999999 meters Centerline goodness : 0.879289 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.24, Z:-0.13 [[ 0.98789437 -0.1297232 -0.08506821 0.59197734] [ 0.13187565 0.99106109 0.02016734 -0.24033894] [ 0.08169162 -0.03114163 0.99617101 -0.13036685] [ 0. 0. 0. 1. ]] SLAMing on 6.061346184 meters Centerline goodness : 0.880005 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.23, Z:-0.13 [[ 0.98806376 -0.12864127 -0.08474334 0.59041227] [ 0.130555 0.99128804 0.0174187 -0.23335652] [ 0.08176429 -0.02827445 0.99625055 -0.13128194] [ 0. 0. 0. 1. ]] SLAMing on 6.091346184 meters Centerline goodness : 0.880202 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.23, Z:-0.13 [[ 0.98834988 -0.13252357 -0.07484669 0.59767615] [ 0.13374406 0.99094901 0.01151455 -0.22505077] [ 0.0726433 -0.0213907 0.99712857 -0.13324537] [ 0. 0. 0. 1. ]] SLAMing on 6.121346184 meters Centerline goodness : 0.879255 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98857981 -0.13012965 -0.07600151 0.60008082] [ 0.13160836 0.99119187 0.01476178 -0.22348275] [ 0.07341113 -0.02459563 0.99699843 -0.13399118] [ 0. 0. 0. 1. ]] SLAMing on 6.151346183999999 meters Centerline goodness : 0.882652 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98862091 -0.12989441 -0.0758692 0.59878406] [ 0.13130882 0.99124349 0.01394054 -0.22081385] [ 0.07339405 -0.02374421 0.99702032 -0.13327827] [ 0. 0. 0. 1. ]] SLAMing on 6.181346184 meters Centerline goodness : 0.883164 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98859639 -0.1298381 -0.07628394 0.59949784] [ 0.13125109 0.99125325 0.01378951 -0.21817915] [ 0.0738263 -0.02364461 0.99699078 -0.13336518] [ 0. 0. 0. 1. ]] SLAMing on 6.211346184 meters Centerline goodness : 0.882861 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.22, Z:-0.13 [[ 0.98840467 -0.13098014 -0.07681412 0.60090718] [ 0.13237789 0.99110909 0.01337402 -0.21624915] [ 0.07437944 -0.02338744 0.99695573 -0.13339776] [ 0. 0. 0. 1. ]] SLAMing on 6.241346184 meters Centerline goodness : 0.882193 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.13 [[ 0.98812081 -0.13232692 -0.07814631 0.60463442] [ 0.13379698 0.99091181 0.01386221 -0.21428909] [ 0.07560176 -0.02415328 0.99684552 -0.13385397] [ 0. 0. 0. 1. ]] SLAMing on 6.2713461839999995 meters Centerline goodness : 0.878597 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.13 [[ 0.98751571 -0.13608639 -0.07932976 0.6077558 ] [ 0.13744871 0.99043683 0.01194744 -0.20998164] [ 0.07694523 -0.02270206 0.99677683 -0.13379698] [ 0. 0. 0. 1. ]] SLAMing on 6.301346184 meters Centerline goodness : 0.880593 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98746065 -0.13609011 -0.08000597 0.61036315] [ 0.13748719 0.99042847 0.01219497 -0.20901157] [ 0.07758057 -0.02304185 0.99671978 -0.13525898] [ 0. 0. 0. 1. ]] SLAMing on 6.331346184 meters Centerline goodness : 0.881639 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98750049 -0.1359532 -0.07974651 0.60950088] [ 0.1372894 0.9904643 0.01149342 -0.20726667] [ 0.07742351 -0.02229811 0.99674891 -0.13524435] [ 0. 0. 0. 1. ]] SLAMing on 6.361346183999999 meters Centerline goodness : 0.885893 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.98780985 -0.13320519 -0.08054864 0.61064832] [ 0.13480844 0.99076144 0.0147804 -0.20684076] [ 0.07783566 -0.02545886 0.99664109 -0.13538933] [ 0. 0. 0. 1. ]] SLAMing on 6.391346184 meters Centerline goodness : 0.886199 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.14 [[ 0.98860326 -0.13382158 -0.06895919 0.61288393] [ 0.13498466 0.99076921 0.01247071 -0.19813523] [ 0.06665379 -0.02163702 0.99754153 -0.13714554] [ 0. 0. 0. 1. ]] SLAMing on 6.421346184 meters Centerline goodness : 0.888559 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.14 [[ 0.98899957 -0.13044975 -0.06973313 0.61377192] [ 0.13182674 0.99115153 0.01550363 -0.19617602] [ 0.06709365 -0.02452578 0.9974452 -0.13763209] [ 0. 0. 0. 1. ]] SLAMing on 6.451346184 meters Centerline goodness : 0.888168 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.98920679 -0.12902305 -0.06944765 0.61182749] [ 0.13032011 0.99136648 0.01446284 -0.19274018] [ 0.06698204 -0.02335716 0.99748075 -0.13730411] [ 0. 0. 0. 1. ]] SLAMing on 6.4813461839999995 meters Centerline goodness : 0.888168 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.98920679 -0.12902305 -0.06944765 0.61182749] [ 0.13032011 0.99136648 0.01446284 -0.19274018] [ 0.06698204 -0.02335716 0.99748075 -0.13730411] [ 0. 0. 0. 1. ]] SLAMing on 6.511346184 meters Centerline goodness : 0.888335 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.14 [[ 0.9897181 -0.1248397 -0.06980776 0.61127206] [ 0.12619472 0.99188699 0.0153324 -0.1863964 ] [ 0.06732731 -0.02398413 0.99744263 -0.13846698] [ 0. 0. 0. 1. ]] SLAMing on 6.541346184 meters Centerline goodness : 0.887219 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.14 [[ 0.98982228 -0.12406775 -0.06970682 0.60988972] [ 0.12531022 0.99202265 0.01372654 -0.18188813] [ 0.06744773 -0.02232181 0.99747308 -0.13833719] [ 0. 0. 0. 1. ]] SLAMing on 6.571346183999999 meters Centerline goodness : 0.887763 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.14 [[ 0.98991533 -0.12343487 -0.06950879 0.60872947] [ 0.12455803 0.99213919 0.01204639 -0.17750458] [ 0.06747545 -0.02058278 0.9975086 -0.13866176] [ 0. 0. 0. 1. ]] SLAMing on 6.601346184 meters Centerline goodness : 0.885611 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.14 [[ 0.98990853 -0.12305658 -0.07027223 0.61017113] [ 0.12404791 0.99222679 0.00990507 -0.16845859] [ 0.0685071 -0.01852224 0.99747867 -0.14041633] [ 0. 0. 0. 1. ]] SLAMing on 6.631346184 meters Centerline goodness : 0.883097 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.14 [[ 0.9899096 -0.12240238 -0.07139084 0.61370503] [ 0.12348672 0.99228568 0.01096173 -0.16522787] [ 0.06949836 -0.01966694 0.99738818 -0.14250605] [ 0. 0. 0. 1. ]] SLAMing on 6.661346184 meters Centerline goodness : 0.882533 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.14 [[ 0.98985176 -0.12213608 -0.07263796 0.61737043] [ 0.12335264 0.99228432 0.01248802 -0.16197104] [ 0.07055227 -0.02132137 0.99728019 -0.14408572] [ 0. 0. 0. 1. ]] SLAMing on 6.6913461839999995 meters Centerline goodness : 0.883742 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.14 [[ 0.98979012 -0.1225636 -0.07275767 0.61746432] [ 0.12369691 0.99225612 0.01126336 -0.15786392] [ 0.07081377 -0.02014826 0.99728605 -0.14386234] [ 0. 0. 0. 1. ]] SLAMing on 6.721346184 meters Centerline goodness : 0.887909 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.15 [[ 0.98999037 -0.12470197 -0.06609445 0.62731417] [ 0.12622957 0.99181042 0.01944704 -0.14840287] [ 0.06312808 -0.02759545 0.99762384 -0.15095807] [ 0. 0. 0. 1. ]] SLAMing on 6.751346184 meters Centerline goodness : 0.890894 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.15 [[ 0.99007446 -0.12328437 -0.06747976 0.62938434] [ 0.12501496 0.99191007 0.02203781 -0.144938 ] [ 0.06421694 -0.03025505 0.99747723 -0.15064422] [ 0. 0. 0. 1. ]] SLAMing on 6.781346183999999 meters Centerline goodness : 0.891268 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99012466 -0.12668488 -0.06003422 0.63944522] [ 0.1284352 0.99137075 0.02623794 -0.13872615] [ 0.05619221 -0.03368934 0.99785142 -0.1588569 ] [ 0. 0. 0. 1. ]] SLAMing on 6.811346184 meters Centerline goodness : 0.891469 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.9902967 -0.12454032 -0.06166161 0.64143053] [ 0.12644092 0.99158085 0.02793044 -0.13055676] [ 0.05766401 -0.03545597 0.99770624 -0.1590805 ] [ 0. 0. 0. 1. ]] SLAMing on 6.841346184 meters Centerline goodness : 0.893663 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.99041415 -0.12285957 -0.06312956 0.64449647] [ 0.12499631 0.99167036 0.03107765 -0.12743642] [ 0.05878553 -0.03867071 0.99752135 -0.15980186] [ 0. 0. 0. 1. ]] SLAMing on 6.871346184 meters Centerline goodness : 0.891953 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99035684 -0.12293377 -0.06387973 0.64593922] [ 0.12510417 0.99165444 0.03115153 -0.12374072] [ 0.05951704 -0.03884276 0.99747128 -0.16012352] [ 0. 0. 0. 1. ]] SLAMing on 6.901346183999999 meters Centerline goodness : 0.893680 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99028013 -0.12311149 -0.06472109 0.64801993] [ 0.1253192 0.9916251 0.03122119 -0.1201723 ] [ 0.06033537 -0.03902852 0.99741487 -0.16101916] [ 0. 0. 0. 1. ]] SLAMing on 6.931346184 meters Centerline goodness : 0.894816 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.16 [[ 0.99033611 -0.12199444 -0.06596772 0.64949436] [ 0.12436431 0.99168494 0.03308324 -0.11515816] [ 0.06138322 -0.04096756 0.99727316 -0.16056883] [ 0. 0. 0. 1. ]] SLAMing on 6.961346184 meters Centerline goodness : 0.895348 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.99025816 -0.1224347 -0.06632137 0.64876723] [ 0.12477029 0.99166026 0.0322848 -0.1117897 ] [ 0.06181549 -0.04024523 0.99727587 -0.15908338] [ 0. 0. 0. 1. ]] SLAMing on 6.991346183999999 meters Centerline goodness : 0.896025 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.99023148 -0.12220471 -0.06713886 0.65018714] [ 0.12463268 0.99164617 0.03323511 -0.10917778] [ 0.0625165 -0.04127815 0.99718995 -0.15903173] [ 0. 0. 0. 1. ]] SLAMing on 7.0213461839999995 meters Centerline goodness : 0.895416 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.16 [[ 0.990221 -0.1212415 -0.06901352 0.65306842] [ 0.12396968 0.99160671 0.03671024 -0.10527229] [ 0.06398346 -0.04490683 0.99694006 -0.15833098] [ 0. 0. 0. 1. ]] SLAMing on 7.051346184 meters Centerline goodness : 0.896892 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.16 [[ 0.99007416 -0.12207475 -0.06964852 0.65287688] [ 0.12480025 0.991521 0.03620784 -0.1020025 ] [ 0.06463791 -0.0445406 0.99691428 -0.156578 ] [ 0. 0. 0. 1. ]] SLAMing on 7.081346184 meters Centerline goodness : 0.895457 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.99017981 -0.12675286 -0.0589717 0.65837666] [ 0.12879081 0.99115111 0.03213104 -0.09478195] [ 0.05437716 -0.03941052 0.99774242 -0.15856021] [ 0. 0. 0. 1. ]] SLAMing on 7.111346183999999 meters Centerline goodness : 0.896153 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.99004788 -0.12757632 -0.05940946 0.65920211] [ 0.1295824 0.99107702 0.03122091 -0.09219194] [ 0.0548963 -0.03860862 0.99774534 -0.1586378 ] [ 0. 0. 0. 1. ]] SLAMing on 7.141346184 meters Centerline goodness : 0.894081 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.16 [[ 0.98985905 -0.12852246 -0.06050658 0.66369682] [ 0.13050964 0.99098979 0.03010757 -0.08833093] [ 0.0560919 -0.03769895 0.99771363 -0.16218778] [ 0. 0. 0. 1. ]] SLAMing on 7.171346184 meters Centerline goodness : 0.895422 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.16 [[ 0.98976185 -0.12890345 -0.06128114 0.66582006] [ 0.13092246 0.99093425 0.03014322 -0.08642939] [ 0.05684001 -0.03785769 0.99766528 -0.16291235] [ 0. 0. 0. 1. ]] SLAMing on 7.201346183999999 meters Centerline goodness : 0.893760 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98965301 -0.12947573 -0.06183008 0.66655961] [ 0.13151719 0.99085503 0.03015857 -0.08420385] [ 0.05735984 -0.03797823 0.99763095 -0.16241045] [ 0. 0. 0. 1. ]] SLAMing on 7.2313461839999995 meters Centerline goodness : 0.893077 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98939186 -0.13091478 -0.06296879 0.66935409] [ 0.13298907 0.99066503 0.02994502 -0.08035152] [ 0.05846073 -0.03800152 0.99756615 -0.16312614] [ 0. 0. 0. 1. ]] SLAMing on 7.261346184 meters Centerline goodness : 0.892308 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98925882 -0.13160085 -0.06362541 0.67076409] [ 0.13369793 0.99057124 0.02989108 -0.07888037] [ 0.05909181 -0.0380766 0.99752611 -0.16312975] [ 0. 0. 0. 1. ]] SLAMing on 7.291346184 meters Centerline goodness : 0.893048 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98910655 -0.13235477 -0.06442404 0.67200431] [ 0.13450533 0.99045085 0.03025596 -0.07740601] [ 0.05980433 -0.03859174 0.99746384 -0.16240892] [ 0. 0. 0. 1. ]] SLAMing on 7.321346183999999 meters Centerline goodness : 0.891092 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.16 [[ 0.98897653 -0.13309367 -0.064896 0.67238895] [ 0.13526032 0.99034967 0.03020218 -0.07576825] [ 0.06025002 -0.0386471 0.99743488 -0.16157552] [ 0. 0. 0. 1. ]] SLAMing on 7.351346184 meters Centerline goodness : 0.892005 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98882302 -0.1339805 -0.06540834 0.6734208 ] [ 0.13614228 0.99024175 0.02977501 -0.07276609] [ 0.0607808 -0.03834706 0.99741426 -0.16170417] [ 0. 0. 0. 1. ]] SLAMing on 7.381346184 meters Centerline goodness : 0.890958 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98882563 -0.13373643 -0.06586688 0.67442968] [ 0.13593096 0.99026319 0.03002637 -0.07168463] [ 0.06120993 -0.0386442 0.99737654 -0.16202716] [ 0. 0. 0. 1. ]] SLAMing on 7.411346184 meters Centerline goodness : 0.892212 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98885773 -0.13346947 -0.06592643 0.67365493] [ 0.13564669 0.99031161 0.02971351 -0.06999568] [ 0.06132186 -0.03832514 0.99738198 -0.16118982] [ 0. 0. 0. 1. ]] SLAMing on 7.4413461839999995 meters Centerline goodness : 0.885902 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.16 [[ 0.98898884 -0.1323641 -0.06618776 0.67461154] [ 0.13451135 0.99048489 0.02909275 -0.06576902] [ 0.06170714 -0.03767542 0.99738297 -0.16298351] [ 0. 0. 0. 1. ]] SLAMing on 7.471346184 meters Centerline goodness : 0.886556 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.16 [[ 0.98900237 -0.13233668 -0.06604024 0.67493097] [ 0.1343912 0.99054158 0.02768352 -0.06413463] [ 0.06175206 -0.0362543 0.99743286 -0.16424867] [ 0. 0. 0. 1. ]] SLAMing on 7.501346184 meters Centerline goodness : 0.885906 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.06, Z:-0.16 [[ 0.98900954 -0.13235493 -0.06589617 0.67489515] [ 0.13432132 0.99058762 0.02634312 -0.06295531] [ 0.06178929 -0.03490486 0.99747869 -0.16489869] [ 0. 0. 0. 1. ]] SLAMing on 7.531346183999999 meters Centerline goodness : 0.887233 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.17 [[ 0.9890239 -0.13195207 -0.06648585 0.67671626] [ 0.13397315 0.99061987 0.02689751 -0.06193533] [ 0.06231302 -0.0355096 0.99742476 -0.1658684 ] [ 0. 0. 0. 1. ]] SLAMing on 7.561346184 meters Centerline goodness : 0.887495 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.16 [[ 0.9891322 -0.13026668 -0.06817681 0.67831095] [ 0.13255198 0.99071813 0.03012557 -0.05858227] [ 0.06361965 -0.03883514 0.99721832 -0.16443485] [ 0. 0. 0. 1. ]] SLAMing on 7.591346184 meters Centerline goodness : 0.885488 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.06, Z:-0.16 [[ 0.98914074 -0.13005171 -0.06846269 0.67840186] [ 0.13233685 0.99075208 0.02995463 -0.05648509] [ 0.06393391 -0.03868948 0.99720388 -0.16423992] [ 0. 0. 0. 1. ]] SLAMing on 7.621346184 meters Centerline goodness : 0.886254 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98921513 -0.12927881 -0.06885072 0.67987136] [ 0.13158351 0.99084971 0.0300437 -0.05475528] [ 0.06433671 -0.0387793 0.99717449 -0.16568307] [ 0. 0. 0. 1. ]] SLAMing on 7.651346183999999 meters Centerline goodness : 0.885076 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98945773 -0.12746366 -0.06874891 0.67816782] [ 0.12970883 0.99112122 0.02922915 -0.05109731] [ 0.06441284 -0.03783835 0.99720572 -0.16513914] [ 0. 0. 0. 1. ]] SLAMing on 7.681346184 meters Centerline goodness : 0.884626 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.98964487 -0.12595838 -0.0688296 0.67777047] [ 0.12823602 0.99129818 0.02972269 -0.04957223] [ 0.06448683 -0.03824134 0.99718556 -0.16514889] [ 0. 0. 0. 1. ]] SLAMing on 7.711346184 meters Centerline goodness : 0.886036 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.05, Z:-0.17 [[ 0.99001933 -0.1227195 -0.06929389 0.67790422] [ 0.12509437 0.99165963 0.03102535 -0.04624654] [ 0.06490854 -0.03938397 0.99711373 -0.16591627] [ 0. 0. 0. 1. ]] SLAMing on 7.741346183999999 meters Centerline goodness : 0.886139 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99020019 -0.12096841 -0.06978705 0.67898186] [ 0.12347895 0.99180357 0.03284254 -0.04482534] [ 0.06524213 -0.04113792 0.99702113 -0.16669339] [ 0. 0. 0. 1. ]] SLAMing on 7.7713461839999995 meters Centerline goodness : 0.888612 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99039878 -0.12508885 -0.0588476 0.68342542] [ 0.12695636 0.99148045 0.02913077 -0.03746767] [ 0.05470231 -0.03632215 0.99784185 -0.16874942] [ 0. 0. 0. 1. ]] SLAMing on 7.801346184 meters Centerline goodness : 0.884937 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.04, Z:-0.17 [[ 0.99035474 -0.12523021 -0.05928639 0.6838645 ] [ 0.12710324 0.99146727 0.02893828 -0.03522796] [ 0.05515657 -0.03619466 0.99782148 -0.16836783] [ 0. 0. 0. 1. ]] SLAMing on 7.831346184 meters Centerline goodness : 0.885769 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99014163 -0.12637562 -0.06040485 0.68593614] [ 0.12824882 0.99134114 0.0281955 -0.03111147] [ 0.05631859 -0.03566439 0.99777566 -0.16855528] [ 0. 0. 0. 1. ]] SLAMing on 7.861346183999999 meters Centerline goodness : 0.884169 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99008776 -0.12659431 -0.06082847 0.68750627] [ 0.12847427 0.99131628 0.02804286 -0.02965726] [ 0.05675018 -0.03557979 0.99775423 -0.1695382 ] [ 0. 0. 0. 1. ]] SLAMing on 7.891346184 meters Centerline goodness : 0.882058 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99000039 -0.12716635 -0.06105686 0.68784394] [ 0.12901425 0.99126616 0.02732637 -0.02795896] [ 0.0570486 -0.03493032 0.99776016 -0.16943333] [ 0. 0. 0. 1. ]] SLAMing on 7.921346184 meters Centerline goodness : 0.881069 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.03, Z:-0.17 [[ 0.99000499 -0.12685049 -0.06163666 0.68929196] [ 0.12874728 0.99128692 0.02782779 -0.02655419] [ 0.05756965 -0.0354852 0.99771065 -0.17000632] [ 0. 0. 0. 1. ]] SLAMing on 7.951346183999999 meters Centerline goodness : 0.889904 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.9902577 -0.12448208 -0.06240117 0.68951684] [ 0.12655603 0.991492 0.03044975 -0.02409787] [ 0.05807981 -0.03805035 0.99758654 -0.16932125] [ 0. 0. 0. 1. ]] SLAMing on 7.9813461839999995 meters Centerline goodness : 0.888669 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99034541 -0.12348922 -0.06297913 0.68945062] [ 0.1256401 0.99157871 0.03140415 -0.02197134] [ 0.05857069 -0.03901366 0.99752063 -0.16837604] [ 0. 0. 0. 1. ]] SLAMing on 8.011346184 meters Centerline goodness : 0.886743 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99039683 -0.12289808 -0.06332596 0.68919237] [ 0.1250723 0.99164484 0.03158198 -0.01950507] [ 0.05891549 -0.03919901 0.99749306 -0.16760536] [ 0. 0. 0. 1. ]] SLAMing on 8.041346184 meters Centerline goodness : 0.887947 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.99051267 -0.12218671 -0.06288919 0.68715772] [ 0.1242629 0.99178902 0.03022041 -0.01634189] [ 0.05868027 -0.03774849 0.99756287 -0.16661896] [ 0. 0. 0. 1. ]] SLAMing on 8.071346184000001 meters Centerline goodness : 0.888429 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.02, Z:-0.17 [[ 0.9905432 -0.12194745 -0.06287279 0.68667946] [ 0.12401534 0.99182381 0.0300952 -0.01538145] [ 0.05868869 -0.03760778 0.99756769 -0.16615414] [ 0. 0. 0. 1. ]] SLAMing on 8.101346184 meters Centerline goodness : 0.885350 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.17 [[ 0.99059177 -0.12156292 -0.06285229 0.68637087] [ 0.12362549 0.99187457 0.0300263 -0.01488034] [ 0.0586915 -0.03751396 0.99757106 -0.1658979 ] [ 0. 0. 0. 1. ]] SLAMing on 8.131346184 meters Centerline goodness : 0.891172 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.17 [[ 0.990594 -0.12153375 -0.06287355 0.6868002 ] [ 0.12359433 0.99187987 0.02997945 -0.01429323] [ 0.0587195 -0.03746828 0.99757112 -0.16632306] [ 0. 0. 0. 1. ]] SLAMing on 8.161346184000001 meters Centerline goodness : 0.883254 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99056605 -0.12159426 -0.063196 0.68641603] [ 0.12367279 0.99186715 0.03007648 -0.01335378] [ 0.0590249 -0.03760837 0.99754783 -0.16497075] [ 0. 0. 0. 1. ]] SLAMing on 8.191346184 meters Centerline goodness : 0.885873 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.9905443 -0.12131838 -0.06406122 0.68683724] [ 0.12351245 0.99184407 0.03146436 -0.01213738] [ 0.05972153 -0.0390792 0.99744983 -0.16339356] [ 0. 0. 0. 1. ]] SLAMing on 8.221346184 meters Centerline goodness : 0.883898 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99045844 -0.12169659 -0.06466852 0.68669916] [ 0.12393406 0.99178144 0.03177928 -0.01076417] [ 0.0602696 -0.03949068 0.99740065 -0.16150783] [ 0. 0. 0. 1. ]] SLAMing on 8.251346184 meters Centerline goodness : 0.883685 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99027933 -0.12280853 -0.0653063 0.68853007] [ 0.12509483 0.99162408 0.03213976 -0.01084492] [ 0.06081226 -0.03999682 0.99734754 -0.16158052] [ 0. 0. 0. 1. ]] SLAMing on 8.281346184 meters Centerline goodness : 0.885877 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.99011927 -0.1238973 -0.06567564 0.68907004] [ 0.12619162 0.9914895 0.032004 -0.01095246] [ 0.0611515 -0.03997549 0.99732766 -0.1608502 ] [ 0. 0. 0. 1. ]] SLAMing on 8.311346184000001 meters Centerline goodness : 0.884890 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98999916 -0.12477134 -0.06583146 0.68909677] [ 0.1270489 0.99139266 0.03160973 -0.01062996] [ 0.06132084 -0.03965742 0.99732996 -0.16009124] [ 0. 0. 0. 1. ]] SLAMing on 8.341346184 meters Centerline goodness : 0.885063 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98972357 -0.12737719 -0.06497932 0.68775353] [ 0.12941458 0.99119075 0.02815611 -0.0094705 ] [ 0.06082046 -0.03627604 0.99748931 -0.15971241] [ 0. 0. 0. 1. ]] SLAMing on 8.371346184 meters Centerline goodness : 0.885063 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98972357 -0.12737719 -0.06497932 0.68775353] [ 0.12941458 0.99119075 0.02815611 -0.0094705 ] [ 0.06082046 -0.03627604 0.99748931 -0.15971241] [ 0. 0. 0. 1. ]] SLAMing on 8.401346184000001 meters Centerline goodness : 0.883959 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98959679 -0.12832584 -0.06504357 0.68846027] [ 0.13030107 0.99110467 0.02707702 -0.00911753] [ 0.0609903 -0.03527058 0.997515 -0.16019489] [ 0. 0. 0. 1. ]] SLAMing on 8.431346184 meters Centerline goodness : 0.884801 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98945562 -0.1292873 -0.06528679 0.68916003] [ 0.13121995 0.9910065 0.02621903 -0.00865436] [ 0.06130984 -0.0345095 0.99752203 -0.1602003 ] [ 0. 0. 0. 1. ]] SLAMing on 8.461346184 meters Centerline goodness : 0.884945 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98923209 -0.13157825 -0.06408611 0.6879709 ] [ 0.13322119 0.99084085 0.02205745 -0.00802254] [ 0.06059685 -0.03035757 0.99770058 -0.16104668] [ 0. 0. 0. 1. ]] SLAMing on 8.491346184000001 meters Centerline goodness : 0.884762 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98923698 -0.13150446 -0.06416215 0.68904117] [ 0.13313098 0.99085974 0.02175134 -0.0084214 ] [ 0.0607153 -0.0300592 0.99770241 -0.16217216] [ 0. 0. 0. 1. ]] SLAMing on 8.521346184 meters Centerline goodness : 0.884968 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98919948 -0.13171914 -0.06429976 0.68895895] [ 0.13334925 0.99083071 0.02173641 -0.00842452] [ 0.06084707 -0.03007597 0.99769388 -0.16150282] [ 0. 0. 0. 1. ]] SLAMing on 8.551346184 meters Centerline goodness : 0.886016 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98932708 -0.13080533 -0.06420197 0.68714468] [ 0.13251248 0.99091268 0.02307602 -0.00898406] [ 0.06060008 -0.0313373 0.99767009 -0.15911517] [ 0. 0. 0. 1. ]] SLAMing on 8.581346184000001 meters Centerline goodness : 0.888842 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98935711 -0.13054733 -0.06426425 0.68648074] [ 0.13227821 0.99093541 0.02344097 -0.00901912] [ 0.06062157 -0.03169225 0.99765757 -0.15791936] [ 0. 0. 0. 1. ]] SLAMing on 8.611346184 meters Centerline goodness : 0.888923 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.01, Z:-0.16 [[ 0.98948197 -0.12953723 -0.0643858 0.68639753] [ 0.13132441 0.99104086 0.02432916 -0.00915885] [ 0.06065743 -0.03252869 0.99762847 -0.15763394] [ 0. 0. 0. 1. ]] SLAMing on 8.641346184000001 meters Centerline goodness : 0.886018 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.98974074 -0.12812056 -0.06323284 0.68439026] [ 0.12984369 0.99124587 0.02392136 -0.00963851] [ 0.05961447 -0.03188633 0.99771207 -0.15815164] [ 0. 0. 0. 1. ]] SLAMing on 8.671346184 meters Centerline goodness : 0.888495 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.98986362 -0.12758915 -0.06237811 0.68313665] [ 0.12920705 0.99135975 0.02261386 -0.00977986] [ 0.05895387 -0.03044433 0.99779636 -0.15883828] [ 0. 0. 0. 1. ]] SLAMing on 8.701346184 meters Centerline goodness : 0.891839 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99003807 -0.12633592 -0.06215996 0.68296312] [ 0.12796271 0.99151434 0.02290995 -0.00986032] [ 0.05873814 -0.03063588 0.99780322 -0.15948503] [ 0. 0. 0. 1. ]] SLAMing on 8.731346184000001 meters Centerline goodness : 0.889411 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.9902323 -0.12492897 -0.0619092 0.68139474] [ 0.12654212 0.99169815 0.02284429 -0.00893955] [ 0.05854132 -0.03045527 0.99782032 -0.1586908 ] [ 0. 0. 0. 1. ]] SLAMing on 8.761346184 meters Centerline goodness : 0.889218 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99071201 -0.12110302 -0.06183672 0.68073587] [ 0.12279671 0.99213302 0.02435242 -0.00682658] [ 0.0584011 -0.03171958 0.99778915 -0.15954825] [ 0. 0. 0. 1. ]] SLAMing on 8.791346184 meters Centerline goodness : 0.887983 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.16 [[ 0.99089383 -0.11972621 -0.06160404 0.68082393] [ 0.12138796 0.99231578 0.02396552 -0.00565607] [ 0.05826136 -0.03122527 0.99781291 -0.16090351] [ 0. 0. 0. 1. ]] SLAMing on 8.821346184000001 meters Centerline goodness : 0.887506 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99110109 -0.11844756 -0.06073551 0.67984434] [ 0.12000718 0.99251357 0.02269565 -0.00455299] [ 0.05759257 -0.02978238 0.99789584 -0.16249092] [ 0. 0. 0. 1. ]] SLAMing on 8.851346184 meters Centerline goodness : 0.888728 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99135686 -0.11677904 -0.05978493 0.67861569] [ 0.11817282 0.99278507 0.02032193 -0.00245844] [ 0.05698041 -0.02721124 0.9980044 -0.16442072] [ 0. 0. 0. 1. ]] SLAMing on 8.881346184 meters Centerline goodness : 0.888165 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.99140357 -0.11639382 -0.05976155 0.67850426] [ 0.11776126 0.99284289 0.01988153 -0.00167246] [ 0.05701974 -0.02674822 0.99801467 -0.16455964] [ 0. 0. 0. 1. ]] SLAMing on 8.911346184000001 meters Centerline goodness : 0.888923 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 0.9914521 -0.11590652 -0.05990332 0.67883245] [ 0.11730499 0.99288701 0.02036959 -0.00105757] [ 0.05711626 -0.02722243 0.99799633 -0.16479033] [ 0. 0. 0. 1. ]] SLAMing on 8.941346184 meters Centerline goodness : 0.887832 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91475413e-01 -1.15649889e-01 -6.00134013e-02 6.77918966e-01] [ 1.17070796e-01 9.92907509e-01 2.07149033e-02 -2.62153045e-04] [ 5.71920805e-02 -2.75641339e-02 9.97982607e-01 -1.63208994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.971346184 meters Centerline goodness : 0.888584 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91624921e-01 -1.14249956e-01 -6.02242742e-02 6.76298126e-01] [ 1.15812692e-01 9.93001983e-01 2.31188822e-02 -3.51058713e-04] [ 5.71614924e-02 -2.98999950e-02 9.97917108e-01 -1.60417814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001346184 meters Centerline goodness : 0.889424 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91664237e-01 -1.13986531e-01 -6.00758868e-02 6.76254128e-01] [ 1.15590968e-01 9.93008514e-01 2.39336244e-02 -7.15976221e-04] [ 5.69277563e-02 -3.06783493e-02 9.97906844e-01 -1.60541161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.031346184 meters Centerline goodness : 0.890804 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:-0.16 [[ 9.91665780e-01 -1.14090383e-01 -5.98528602e-02 6.75848754e-01] [ 1.15663882e-01 9.93010200e-01 2.35076382e-02 -8.47075678e-04] [ 5.67525052e-02 -3.02345345e-02 9.97930371e-01 -1.60400978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061346184000001 meters Centerline goodness : 0.892439 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 9.91660248e-01 -1.14525465e-01 -5.91089738e-02 6.75008160e-01] [ 1.15962198e-01 9.93021640e-01 2.14660503e-02 2.08215350e-04] [ 5.62380807e-02 -2.81414353e-02 9.98020710e-01 -1.61185932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.091346184 meters Centerline goodness : 0.891173 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 9.91600858e-01 -1.14951927e-01 -5.92772514e-02 6.75418075e-01] [ 1.16360878e-01 9.92987494e-01 2.08801936e-02 8.63567207e-04] [ 5.64613509e-02 -2.76023709e-02 9.98023159e-01 -1.61115410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121346184 meters Centerline goodness : 0.890984 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99153385 -0.11540794 -0.05951159 0.67561145] [ 0.11681105 0.99293942 0.02065173 0.001647 ] [ 0.05670803 -0.0274285 0.99801397 -0.16055134] [ 0. 0. 0. 1. ]] SLAMing on 9.151346184000001 meters Centerline goodness : 0.890446 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.9914147 -0.11630723 -0.05974547 0.67593227] [ 0.11772269 0.99283006 0.02073278 0.00223901] [ 0.05690572 -0.02758818 0.99799831 -0.16001501] [ 0. 0. 0. 1. ]] SLAMing on 9.181346184 meters Centerline goodness : 0.888841 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99111609 -0.11880619 -0.05978278 0.67768406] [ 0.120135 0.99257316 0.0191341 0.00220605] [ 0.05706553 -0.02614612 0.99802801 -0.16125084] [ 0. 0. 0. 1. ]] SLAMing on 9.211346184 meters Centerline goodness : 0.891537 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99093376 -0.12070538 -0.05899573 0.67616931] [ 0.12183747 0.99242156 0.01597123 0.00244314] [ 0.05662082 -0.02301433 0.99813046 -0.16058519] [ 0. 0. 0. 1. ]] SLAMing on 9.241346184000001 meters Centerline goodness : 0.890031 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99084288 -0.12140211 -0.05909248 0.67733531] [ 0.12255536 0.99232804 0.01628613 0.00216103] [ 0.05666195 -0.0233791 0.99811965 -0.16137367] [ 0. 0. 0. 1. ]] SLAMing on 9.271346184 meters Centerline goodness : 0.888528 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99080918 -0.12141154 -0.05963553 0.67785791] [ 0.1226471 0.99229603 0.01750102 0.00278482] [ 0.05705128 -0.0246543 0.99806679 -0.16054558] [ 0. 0. 0. 1. ]] SLAMing on 9.301346184 meters Centerline goodness : 0.889264 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99080951 -0.12100503 -0.06045072 0.67880154] [ 0.12236844 0.99229567 0.01937193 0.00370932] [ 0.05764088 -0.02659116 0.99798319 -0.15963151] [ 0. 0. 0. 1. ]] SLAMing on 9.331346184000001 meters Centerline goodness : 0.889393 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99085866 -0.12030957 -0.06103057 0.67857755] [ 0.12181041 0.99232084 0.0214843 0.00510886] [ 0.05797714 -0.02872206 0.99790465 -0.15791972] [ 0. 0. 0. 1. ]] SLAMing on 9.361346184 meters Centerline goodness : 0.890683 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99082924 -0.12059408 -0.06094652 0.67839335] [ 0.12204756 0.9923083 0.02070329 0.00572473] [ 0.05798104 -0.0279518 0.9979263 -0.15781115] [ 0. 0. 0. 1. ]] SLAMing on 9.391346184 meters Centerline goodness : 0.893078 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99079429 -0.12090315 -0.0609024 0.67984948] [ 0.12233607 0.99227983 0.02036242 0.00557551] [ 0.05797034 -0.02762553 0.997936 -0.15962177] [ 0. 0. 0. 1. ]] SLAMing on 9.421346184 meters Centerline goodness : 0.891100 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99056366 -0.12351044 -0.05940374 0.67755633] [ 0.12467381 0.99206422 0.01627931 0.0051015 ] [ 0.05692166 -0.02353178 0.99810129 -0.15935745] [ 0. 0. 0. 1. ]] SLAMing on 9.451346184 meters Centerline goodness : 0.892516 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.16 [[ 0.99043605 -0.12408898 -0.06031874 0.67967746] [ 0.12539064 0.991939 0.01828142 0.00481709] [ 0.05756399 -0.02566998 0.99801174 -0.15924024] [ 0. 0. 0. 1. ]] SLAMing on 9.481346184000001 meters Centerline goodness : 0.890950 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.99018133 -0.12560851 -0.06134677 0.68090339] [ 0.12697281 0.99172696 0.01885604 0.00566099] [ 0.05847076 -0.02646027 0.99793839 -0.15758961] [ 0. 0. 0. 1. ]] SLAMing on 9.511346184 meters Centerline goodness : 0.894980 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98994563 -0.12705279 -0.06217109 0.68271057] [ 0.12847506 0.99152249 0.01942426 0.00615198] [ 0.05917613 -0.0272164 0.99787647 -0.15714822] [ 0. 0. 0. 1. ]] SLAMing on 9.541346184 meters Centerline goodness : 0.899496 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98975249 -0.12840457 -0.06246821 0.68422482] [ 0.12979707 0.99136324 0.01875199 0.00673536] [ 0.05952084 -0.02666802 0.99787078 -0.15766102] [ 0. 0. 0. 1. ]] SLAMing on 9.571346184000001 meters Centerline goodness : 0.895908 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98967913 -0.12888766 -0.06263535 0.6843658 ] [ 0.13024564 0.99131677 0.01808699 0.00754868] [ 0.05976028 -0.0260583 0.99787257 -0.15731177] [ 0. 0. 0. 1. ]] SLAMing on 9.601346184 meters Centerline goodness : 0.896282 Centerline is valid? [False, False] Translation: X:0.68, Y:0.01, Z:-0.16 [[ 0.98963209 -0.12924279 -0.06264684 0.68396059] [ 0.13056939 0.99128385 0.01754865 0.00863427] [ 0.05983276 -0.02554647 0.99788147 -0.1567026 ] [ 0. 0. 0. 1. ]] SLAMing on 9.631346184 meters Centerline goodness : 0.896793 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98959476 -0.12929072 -0.06313579 0.68603852] [ 0.13064638 0.99126886 0.0178204 0.01077054] [ 0.06028053 -0.02588343 0.99784583 -0.15820999] [ 0. 0. 0. 1. ]] SLAMing on 9.661346184000001 meters Centerline goodness : 0.897290 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98950087 -0.12985184 -0.06345499 0.68643068] [ 0.13118778 0.99120582 0.01734345 0.01207966] [ 0.06064487 -0.02548587 0.99783399 -0.15781823] [ 0. 0. 0. 1. ]] SLAMing on 9.691346184 meters Centerline goodness : 0.895858 Centerline is valid? [False, False] Translation: X:0.69, Y:0.01, Z:-0.16 [[ 0.98947875 -0.1299313 -0.06363697 0.68648749] [ 0.13125624 0.99120126 0.01708422 0.01354143] [ 0.06085727 -0.02525722 0.99782687 -0.15745498] [ 0. 0. 0. 1. ]] SLAMing on 9.721346184 meters Centerline goodness : 0.898046 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98954147 -0.12937594 -0.06379299 0.68603941] [ 0.13071306 0.99127043 0.0172346 0.01612975] [ 0.06100636 -0.02539293 0.99781432 -0.15669575] [ 0. 0. 0. 1. ]] SLAMing on 9.751346184 meters Centerline goodness : 0.897644 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98954313 -0.12924416 -0.06403397 0.68734664] [ 0.13061381 0.99127587 0.01766848 0.01729876] [ 0.06119178 -0.02584744 0.9977913 -0.15787583] [ 0. 0. 0. 1. ]] SLAMing on 9.781346184 meters Centerline goodness : 0.895966 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98950636 -0.12948431 -0.0641169 0.68748075] [ 0.13084555 0.99124849 0.01748952 0.01860071] [ 0.06129116 -0.0256954 0.99778913 -0.15779706] [ 0. 0. 0. 1. ]] SLAMing on 9.811346184000001 meters Centerline goodness : 0.896056 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98938813 -0.13014951 -0.06459291 0.68910519] [ 0.13152945 0.99115648 0.0175739 0.02007837] [ 0.06173445 -0.02588328 0.99775694 -0.15846078] [ 0. 0. 0. 1. ]] SLAMing on 9.841346184 meters Centerline goodness : 0.897473 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98909612 -0.13217655 -0.06494782 0.68999421] [ 0.13354064 0.9908956 0.01711172 0.02204051] [ 0.06209474 -0.02559831 0.99774194 -0.15791243] [ 0. 0. 0. 1. ]] SLAMing on 9.871346184 meters Centerline goodness : 0.895914 Centerline is valid? [False, False] Translation: X:0.69, Y:0.02, Z:-0.16 [[ 0.98888531 -0.13332789 -0.06579912 0.69190865] [ 0.1347454 0.99072434 0.01757723 0.02331959] [ 0.06284526 -0.02624799 0.99767806 -0.15770455] [ 0. 0. 0. 1. ]] SLAMing on 9.901346184000001 meters Centerline goodness : 0.894120 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.16 [[ 0.98862352 -0.13474361 -0.06684086 0.69417123] [ 0.13624882 0.99050235 0.01847567 0.02505702] [ 0.06371655 -0.02737247 0.99759258 -0.15744909] [ 0. 0. 0. 1. ]] SLAMing on 9.931346184 meters Centerline goodness : 0.894593 Centerline is valid? [False, False] Translation: X:0.69, Y:0.03, Z:-0.16 [[ 0.98834809 -0.13639748 -0.06755573 0.69496026] [ 0.13791047 0.99027671 0.01824134 0.02711857] [ 0.06441079 -0.02734543 0.99754873 -0.15615069] [ 0. 0. 0. 1. ]] SLAMing on 9.961346184 meters Centerline goodness : 0.894788 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98785193 -0.13916148 -0.06915662 0.6996181 ] [ 0.1407339 0.98987671 0.0183864 0.03139299] [ 0.06589785 -0.02789572 0.99743636 -0.15754573] [ 0. 0. 0. 1. ]] SLAMing on 9.991346184000001 meters Centerline goodness : 0.893655 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98766149 -0.14049904 -0.06917223 0.70028227] [ 0.1419737 0.98972682 0.01686062 0.03348594] [ 0.06609271 -0.02647323 0.99746224 -0.15804993] [ 0. 0. 0. 1. ]] SLAMing on 10.021346184 meters Centerline goodness : 0.893786 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.16 [[ 0.98742902 -0.14206734 -0.06928776 0.70137704] [ 0.14346807 0.98953117 0.01565166 0.03482694] [ 0.06633881 -0.02539549 0.99747393 -0.15878991] [ 0. 0. 0. 1. ]] SLAMing on 10.051346184 meters Centerline goodness : 0.893668 Centerline is valid? [False, False] Translation: X:0.70, Y:0.04, Z:-0.16 [[ 0.98704918 -0.14398672 -0.07072303 0.70482684] [ 0.14547773 0.98922596 0.01637754 0.03724429] [ 0.06760291 -0.02645406 0.99736153 -0.1591266 ] [ 0. 0. 0. 1. ]] SLAMing on 10.081346184000001 meters Centerline goodness : 0.892491 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98690729 -0.14445469 -0.07174145 0.70630285] [ 0.14605997 0.98911863 0.01763032 0.03895498] [ 0.06841402 -0.02787804 0.99726743 -0.15834917] [ 0. 0. 0. 1. ]] SLAMing on 10.111346184 meters Centerline goodness : 0.892999 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98680614 -0.14493448 -0.07216401 0.70611428] [ 0.14656102 0.98904235 0.01775098 0.04105602] [ 0.06880054 -0.02809321 0.99723481 -0.1567162 ] [ 0. 0. 0. 1. ]] SLAMing on 10.141346184 meters Centerline goodness : 0.891192 Centerline is valid? [False, False] Translation: X:0.71, Y:0.04, Z:-0.16 [[ 0.98668001 -0.14548816 -0.07277192 0.70643578] [ 0.14713574 0.98895635 0.01778777 0.04322413] [ 0.06938035 -0.02825818 0.99718997 -0.15549471] [ 0. 0. 0. 1. ]] SLAMing on 10.171346184 meters Centerline goodness : 0.888266 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98667466 -0.14495039 -0.0739088 0.70925852] [ 0.14676195 0.98897624 0.01967029 0.0457885 ] [ 0.07024283 -0.03025518 0.997071 -0.15666073] [ 0. 0. 0. 1. ]] SLAMing on 10.201346184 meters Centerline goodness : 0.890130 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658587 -0.14551549 -0.07398352 0.70966141] [ 0.14728424 0.98891146 0.01901255 0.04713197] [ 0.07039653 -0.02965412 0.99707821 -0.15675216] [ 0. 0. 0. 1. ]] SLAMing on 10.231346184000001 meters Centerline goodness : 0.891687 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658826 -0.14529197 -0.07438981 0.71174778] [ 0.14708694 0.98893685 0.01921846 0.04829262] [ 0.07077453 -0.02990248 0.99704403 -0.15843374] [ 0. 0. 0. 1. ]] SLAMing on 10.261346184 meters Centerline goodness : 0.891579 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658347 -0.14530495 -0.07442803 0.71251077] [ 0.14704357 0.98895869 0.01840915 0.05137771] [ 0.07093131 -0.02910633 0.99705645 -0.15957428] [ 0. 0. 0. 1. ]] SLAMing on 10.291346184 meters Centerline goodness : 0.891579 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98658347 -0.14530495 -0.07442803 0.71251077] [ 0.14704357 0.98895869 0.01840915 0.05137771] [ 0.07093131 -0.02910633 0.99705645 -0.15957428] [ 0. 0. 0. 1. ]] SLAMing on 10.321346184000001 meters Centerline goodness : 0.890882 Centerline is valid? [False, False] Translation: X:0.71, Y:0.05, Z:-0.16 [[ 0.98652377 -0.1456062 -0.07463029 0.71241066] [ 0.14729526 0.98893558 0.01762184 0.05373817] [ 0.0712387 -0.02837705 0.99705556 -0.15905614] [ 0. 0. 0. 1. ]] SLAMing on 10.351346184 meters Centerline goodness : 0.890495 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98653772 -0.14495928 -0.07569764 0.71613321] [ 0.14674112 0.98900186 0.01850325 0.0559223 ] [ 0.07218288 -0.02936211 0.99695913 -0.16147789] [ 0. 0. 0. 1. ]] SLAMing on 10.381346184 meters Centerline goodness : 0.890258 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98670334 -0.14399587 -0.07537716 0.7173056 ] [ 0.14569966 0.98917255 0.01758596 0.05867753] [ 0.07202871 -0.02833455 0.99700001 -0.16414041] [ 0. 0. 0. 1. ]] SLAMing on 10.411346184000001 meters Centerline goodness : 0.890109 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.16 [[ 0.98683777 -0.1433399 -0.07486581 0.71692997] [ 0.1449578 0.98929832 0.01661522 0.05988115] [ 0.071683 -0.02724891 0.99705519 -0.16496811] [ 0. 0. 0. 1. ]] SLAMing on 10.441346184 meters Centerline goodness : 0.888012 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98698519 -0.14246519 -0.07459163 0.71682549] [ 0.14403182 0.98944313 0.01603495 0.06113108] [ 0.07151976 -0.02656983 0.99708524 -0.16574874] [ 0. 0. 0. 1. ]] SLAMing on 10.471346184 meters Centerline goodness : 0.888007 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98706655 -0.14169095 -0.07498864 0.71749931] [ 0.14327176 0.98955223 0.01611139 0.06278098] [ 0.07192234 -0.02664677 0.99705422 -0.16591931] [ 0. 0. 0. 1. ]] SLAMing on 10.501346184 meters Centerline goodness : 0.889987 Centerline is valid? [False, False] Translation: X:0.72, Y:0.06, Z:-0.17 [[ 0.98750535 -0.13852981 -0.07511769 0.71719429] [ 0.14026421 0.98994495 0.01830155 0.06456703] [ 0.07182707 -0.0286092 0.99700671 -0.16618317] [ 0. 0. 0. 1. ]] SLAMing on 10.531346184 meters Centerline goodness : 0.889798 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98772494 -0.13708678 -0.07487763 0.71773671] [ 0.13885208 0.9901332 0.01887734 0.06552664] [ 0.07155099 -0.02904254 0.99701404 -0.16776405] [ 0. 0. 0. 1. ]] SLAMing on 10.561346184 meters Centerline goodness : 0.891471 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98783359 -0.13650179 -0.07451213 0.7169413 ] [ 0.1382064 0.99023626 0.01819708 0.06675681] [ 0.07130068 -0.02827374 0.99705407 -0.16771661] [ 0. 0. 0. 1. ]] SLAMing on 10.591346184 meters Centerline goodness : 0.890745 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98796536 -0.13574599 -0.07414501 0.71653899] [ 0.13745162 0.99033787 0.01838361 0.0676089 ] [ 0.07093311 -0.02835372 0.99707801 -0.16824779] [ 0. 0. 0. 1. ]] SLAMing on 10.621346184 meters Centerline goodness : 0.892732 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98793302 -0.13608273 -0.07395838 0.71570666] [ 0.13767077 0.99033569 0.01679211 0.07189995] [ 0.07095851 -0.02677139 0.99711994 -0.16655746] [ 0. 0. 0. 1. ]] SLAMing on 10.651346184000001 meters Centerline goodness : 0.894613 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98790071 -0.13632512 -0.07394357 0.71547798] [ 0.13786315 0.99032063 0.01608699 0.07346146] [ 0.07103478 -0.02608644 0.99713267 -0.16587935] [ 0. 0. 0. 1. ]] SLAMing on 10.681346184 meters Centerline goodness : 0.893391 Centerline is valid? [False, False] Translation: X:0.72, Y:0.07, Z:-0.17 [[ 0.98788097 -0.13643201 -0.07401007 0.715767 ] [ 0.13794371 0.99031579 0.01568965 0.07422233] [ 0.07115277 -0.02570874 0.99713406 -0.16571786] [ 0. 0. 0. 1. ]] SLAMing on 10.711346184 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.98741801 -0.13985059 -0.07380714 0.71738621] [ 0.14098619 0.98995713 0.01038128 0.07889949] [ 0.07161408 -0.02065645 0.9972185 -0.16424162] [ 0. 0. 0. 1. ]] SLAMing on 10.741346184000001 meters Centerline goodness : 0.893851 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.9873704 -0.14022047 -0.07374227 0.71705609] [ 0.14131588 0.98991578 0.00982692 0.0800577 ] [ 0.0716207 -0.02012376 0.99722892 -0.16384034] [ 0. 0. 0. 1. ]] SLAMing on 10.771346184 meters Centerline goodness : 0.894564 Centerline is valid? [False, False] Translation: X:0.72, Y:0.08, Z:-0.16 [[ 0.98726114 -0.14120759 -0.07332024 0.71507329] [ 0.14219115 0.98980403 0.00834626 0.08285499] [ 0.07139412 -0.01866543 0.99727352 -0.16188941] [ 0. 0. 0. 1. ]] SLAMing on 10.801346184 meters Centerline goodness : 0.895603 Centerline is valid? [False, False] Translation: X:0.71, Y:0.08, Z:-0.16 [[ 0.98719808 -0.14174393 -0.07313413 0.71409298] [ 0.14266109 0.98974358 0.00744665 0.08475603] [ 0.07132851 -0.01778471 0.99729431 -0.16078877] [ 0. 0. 0. 1. ]] SLAMing on 10.831346184000001 meters Centerline goodness : 0.894666 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98714769 -0.14214477 -0.07303632 0.71363975] [ 0.14300727 0.98969901 0.00669198 0.08629703] [ 0.07133275 -0.0170507 0.99730683 -0.16010829] [ 0. 0. 0. 1. ]] SLAMing on 10.861346184 meters Centerline goodness : 0.894323 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98712525 -0.14237876 -0.07288372 0.71356466] [ 0.14321276 0.98967174 0.00632092 0.08675295] [ 0.07123099 -0.01667741 0.99732041 -0.16025825] [ 0. 0. 0. 1. ]] SLAMing on 10.891346184 meters Centerline goodness : 0.894822 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98708006 -0.1428028 -0.07266576 0.7129116 ] [ 0.14358818 0.98962126 0.00567449 0.08776188] [ 0.07110125 -0.01603512 0.99734021 -0.15972891] [ 0. 0. 0. 1. ]] SLAMing on 10.921346184 meters Centerline goodness : 0.892449 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98700961 -0.14339122 -0.07246365 0.71187641] [ 0.14410733 0.98955078 0.00472556 0.08944735] [ 0.07102886 -0.01510672 0.99735986 -0.15862217] [ 0. 0. 0. 1. ]] SLAMing on 10.951346184 meters Centerline goodness : 0.892687 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98694342 -0.14397438 -0.07220855 0.71074698] [ 0.1446284 0.98947842 0.00388474 0.090852 ] [ 0.07088949 -0.01427742 0.99738199 -0.15756629] [ 0. 0. 0. 1. ]] SLAMing on 10.981346184000001 meters Centerline goodness : 0.895743 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98685501 -0.14474699 -0.07187133 0.70938625] [ 0.14531681 0.98938139 0.00273609 0.092814 ] [ 0.07071212 -0.01314423 0.99741016 -0.15626884] [ 0. 0. 0. 1. ]] SLAMing on 11.011346184 meters Centerline goodness : 0.896495 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98682369 -0.14495407 -0.0718841 0.709329 ] [ 0.14549288 0.98935665 0.00228915 0.09377768] [ 0.07078719 -0.01271761 0.99741036 -0.15594797] [ 0. 0. 0. 1. ]] SLAMing on 11.041346184 meters Centerline goodness : 0.895527 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.16 [[ 0.98677654 -0.14529843 -0.07183617 0.70894248] [ 0.14579349 0.98931364 0.00166877 0.09479735] [ 0.07082603 -0.01211995 0.99741505 -0.15527745] [ 0. 0. 0. 1. ]] SLAMing on 11.071346184000001 meters Centerline goodness : 0.897817 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 0.986734 -0.14566605 -0.07167573 0.70833805] [ 0.14611527 0.98926703 0.0010363 0.09605741] [ 0.07075549 -0.01149547 0.99742745 -0.15469254] [ 0. 0. 0. 1. ]] SLAMing on 11.101346184 meters Centerline goodness : 0.897637 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86683992e-01 -1.46184101e-01 -7.13085472e-02 7.06974683e-01] [ 1.46552607e-01 9.89202876e-01 -6.48179454e-05 9.88269777e-02] [ 7.05480953e-02 -1.03864987e-02 9.97454303e-01 -1.53388558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131346184 meters Centerline goodness : 0.898006 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86655084e-01 -1.46317161e-01 -7.14355149e-02 7.07038219e-01] [ 1.46656544e-01 9.89187348e-01 -4.99184489e-04 9.97109815e-02] [ 7.07361468e-02 -9.98396282e-03 9.97445095e-01 -1.52844785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161346184000001 meters Centerline goodness : 0.897898 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86653452e-01 -1.46324315e-01 -7.14434087e-02 7.07336363e-01] [ 1.46659004e-01 9.89186947e-01 -5.66738872e-04 9.95701484e-02] [ 7.07538150e-02 -9.91864428e-03 9.97444494e-01 -1.53015401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.191346184 meters Centerline goodness : 0.897092 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86636838e-01 -1.46490588e-01 -7.13320231e-02 7.07198394e-01] [ 1.46820009e-01 9.89163023e-01 -6.31469638e-04 9.89840120e-02] [ 7.06515040e-02 -9.84993705e-03 9.97452427e-01 -1.53051414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221346184 meters Centerline goodness : 0.899844 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86614890e-01 -1.46563086e-01 -7.14865130e-02 7.07619749e-01] [ 1.46897942e-01 9.89151484e-01 -5.79086238e-04 9.85617113e-02] [ 7.07958632e-02 -9.92988655e-03 9.97441398e-01 -1.53139316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.251346184 meters Centerline goodness : 0.900580 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86605998e-01 -1.46513882e-01 -7.17097430e-02 7.08357867e-01] [ 1.46854467e-01 9.89157968e-01 -5.28180529e-04 9.86626458e-02] [ 7.10096495e-02 -1.00097900e-02 9.97425403e-01 -1.53457834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281346184 meters Centerline goodness : 0.897540 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86640306e-01 -1.46098498e-01 -7.20842246e-02 7.09726691e-01] [ 1.46468288e-01 9.89215354e-01 -1.57599582e-04 9.78111093e-02] [ 7.13298468e-02 -1.04025589e-02 9.97398536e-01 -1.53943488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.311346184 meters Centerline goodness : 0.900883 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86634677e-01 -1.45963919e-01 -7.24330684e-02 7.10540668e-01] [ 1.46329907e-01 9.89235812e-01 -2.56440747e-04 9.80045740e-02] [ 7.16908163e-02 -1.03461108e-02 9.97373242e-01 -1.53757181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341346184 meters Centerline goodness : 0.900228 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86634625e-01 -1.45743083e-01 -7.28770871e-02 7.11625001e-01] [ 1.46098940e-01 9.89269880e-01 -4.52394613e-04 9.88455896e-02] [ 7.21610406e-02 -1.02009170e-02 9.97340827e-01 -1.53564120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.371346184 meters Centerline goodness : 0.899506 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86649584e-01 -1.45490946e-01 -7.31777506e-02 7.12600962e-01] [ 1.45850092e-01 9.89306604e-01 -4.40315370e-04 9.92195846e-02] [ 7.24592939e-02 -1.02385447e-02 9.97318817e-01 -1.53769314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401346184000001 meters Centerline goodness : 0.904126 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.15 [[ 9.86709692e-01 -1.44876443e-01 -7.35853270e-02 7.14498414e-01] [ 1.45286211e-01 9.89389645e-01 2.18241795e-04 9.75280574e-02] [ 7.27729424e-02 -1.09062746e-02 9.97288901e-01 -1.54889318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.431346184 meters Centerline goodness : 0.902631 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.16 [[ 9.86713388e-01 -1.44755594e-01 -7.37733560e-02 7.15153575e-01] [ 1.45171293e-01 9.89406499e-01 2.75609577e-04 9.71945589e-02] [ 7.29519418e-02 -1.09817211e-02 9.97274995e-01 -1.55014907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461346184 meters Centerline goodness : 0.901617 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 9.86689926e-01 -1.44777122e-01 -7.40444133e-02 7.15576688e-01] [ 1.45173710e-01 9.89406182e-01 -2.62253765e-05 9.76293471e-02] [ 7.32637971e-02 -1.07234259e-02 9.97254944e-01 -1.54474523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.491346184000001 meters Centerline goodness : 0.904487 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 9.86653319e-01 -1.44912527e-01 -7.42670014e-02 7.15658553e-01] [ 1.45263180e-01 9.89392812e-01 -6.86902362e-04 9.87872059e-02] [ 7.35787781e-02 -1.01105263e-02 9.97238156e-01 -1.53404999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521346184 meters Centerline goodness : 0.904280 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98665147 -0.14478499 -0.07453978 0.71618452] [ 0.14508621 0.98941804 -0.00138662 0.10052854] [ 0.07395176 -0.00944659 0.99721708 -0.15230713] [ 0. 0. 0. 1. ]] SLAMing on 11.551346184 meters Centerline goodness : 0.901895 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98624061 -0.14729305 -0.07506135 0.71989364] [ 0.14727289 0.98907869 -0.00583402 0.10390236] [ 0.07510089 -0.00530075 0.99716185 -0.15158362] [ 0. 0. 0. 1. ]] SLAMing on 11.581346184000001 meters Centerline goodness : 0.901361 Centerline is valid? [False, False] Translation: X:0.72, Y:0.10, Z:-0.15 [[ 0.98626267 -0.14692213 -0.0754972 0.7213441 ] [ 0.14690607 0.98913346 -0.00579653 0.10432184] [ 0.07552845 -0.00537409 0.99712917 -0.15193516] [ 0. 0. 0. 1. ]] SLAMing on 11.611346184 meters Centerline goodness : 0.904170 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98589619 -0.14906737 -0.07607647 0.72591618] [ 0.14877684 0.98882512 -0.00950411 0.10690479] [ 0.07664308 -0.00194835 0.99705669 -0.15239981] [ 0. 0. 0. 1. ]] SLAMing on 11.641346184 meters Centerline goodness : 0.904817 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98591078 -0.14889449 -0.07622569 0.72676686] [ 0.14863622 0.98885024 -0.00908215 0.10611263] [ 0.07672807 -0.00237571 0.99704923 -0.1532392 ] [ 0. 0. 0. 1. ]] SLAMing on 11.671346184 meters Centerline goodness : 0.899873 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98590691 -0.14885956 -0.07634399 0.72730199] [ 0.14861796 0.98885492 -0.00886818 0.10553327] [ 0.07681325 -0.00260289 0.9970421 -0.15365575] [ 0. 0. 0. 1. ]] SLAMing on 11.701346184 meters Centerline goodness : 0.901273 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98582889 -0.14940035 -0.0762951 0.72675813] [ 0.14915612 0.98877341 -0.00892172 0.10509274] [ 0.07677148 -0.00258459 0.99704537 -0.15352788] [ 0. 0. 0. 1. ]] SLAMing on 11.731346184000001 meters Centerline goodness : 0.903727 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98580597 -0.1495434 -0.07631096 0.72694531] [ 0.14931076 0.98875136 -0.00877723 0.10407697] [ 0.07676514 -0.0027414 0.99704543 -0.15376847] [ 0. 0. 0. 1. ]] SLAMing on 11.761346184 meters Centerline goodness : 0.902263 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98580938 -0.14945982 -0.07643057 0.72761087] [ 0.14925673 0.98876284 -0.00839491 0.10234838] [ 0.07682641 -0.003132 0.99703956 -0.15425231] [ 0. 0. 0. 1. ]] SLAMing on 11.791346184 meters Centerline goodness : 0.900790 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98578583 -0.14966614 -0.0763305 0.72752578] [ 0.14946155 0.9887317 -0.00841847 0.10141883] [ 0.07673035 -0.00310966 0.99704703 -0.15431936] [ 0. 0. 0. 1. ]] SLAMing on 11.821346184000001 meters Centerline goodness : 0.901976 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575807 -0.14985502 -0.07631836 0.72731278] [ 0.14962014 0.98870422 -0.00881869 0.10183275] [ 0.07677781 -0.00272567 0.9970445 -0.15372206] [ 0. 0. 0. 1. ]] SLAMing on 11.851346184 meters Centerline goodness : 0.900565 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575602 -0.14969506 -0.07665804 0.72794314] [ 0.1494293 0.98872939 -0.00922372 0.10301165] [ 0.0771748 -0.00236262 0.99701478 -0.15303346] [ 0. 0. 0. 1. ]] SLAMing on 11.881346184 meters Centerline goodness : 0.902416 Centerline is valid? [False, False] Translation: X:0.73, Y:0.10, Z:-0.15 [[ 0.98575525 -0.14941451 -0.07721323 0.72914031] [ 0.14910682 0.98877285 -0.00976746 0.10437466] [ 0.07780574 -0.00188469 0.99696676 -0.15205709] [ 0. 0. 0. 1. ]] SLAMing on 11.911346184000001 meters Centerline goodness : 0.900588 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 9.85809036e-01 -1.48633257e-01 -7.80301137e-02 7.30841790e-01] [ 1.48203837e-01 9.88892296e-01 -1.12982153e-02 1.08278116e-01] [ 7.88426689e-02 -4.26479520e-04 9.96886980e-01 -1.49222364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941346184 meters Centerline goodness : 0.900090 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 9.85834803e-01 -1.48177462e-01 -7.85695885e-02 7.32219909e-01] [ 1.47733931e-01 9.88960739e-01 -1.14604347e-02 1.08765428e-01] [ 7.94004165e-02 -3.09298802e-04 9.96842755e-01 -1.48647306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.971346184 meters Centerline goodness : 0.901992 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98587909 -0.14762513 -0.07905218 0.73410996] [ 0.14725852 0.98904252 -0.01047949 0.10868493] [ 0.079733 -0.00130959 0.9968154 -0.14981069] [ 0. 0. 0. 1. ]] SLAMing on 12.001346184 meters Centerline goodness : 0.903345 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.15 [[ 0.98587685 -0.14755183 -0.07921674 0.73444213] [ 0.14718671 0.98905341 -0.01046087 0.1080909 ] [ 0.07989311 -0.00134652 0.99680253 -0.14947495] [ 0. 0. 0. 1. ]] SLAMing on 12.031346184 meters Centerline goodness : 0.902305 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.9858813 -0.14748458 -0.07928653 0.73501094] [ 0.14716735 0.98906244 -0.00986199 0.10565016] [ 0.07987382 -0.00194563 0.99680308 -0.1501735 ] [ 0. 0. 0. 1. ]] SLAMing on 12.061346184 meters Centerline goodness : 0.904014 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98534565 -0.15086221 -0.07958986 0.73781106] [ 0.15022274 0.9885531 -0.01399651 0.10717776] [ 0.08079034 0.0018352 0.99672943 -0.14997392] [ 0. 0. 0. 1. ]] SLAMing on 12.091346184 meters Centerline goodness : 0.904894 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98513418 -0.15203252 -0.07997969 0.73991462] [ 0.15137914 0.98837369 -0.01420583 0.10679156] [ 0.08120956 0.00188739 0.99669526 -0.15114858] [ 0. 0. 0. 1. ]] SLAMing on 12.121346184 meters Centerline goodness : 0.903429 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98484832 -0.15378047 -0.08015831 0.74117745] [ 0.15303319 0.98810072 -0.01542094 0.10658732] [ 0.08157592 0.0029204 0.99666285 -0.15144244] [ 0. 0. 0. 1. ]] SLAMing on 12.151346184000001 meters Centerline goodness : 0.901837 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:-0.15 [[ 0.98430727 -0.15746697 -0.07964516 0.74165642] [ 0.15652115 0.98751018 -0.01802161 0.10558944] [ 0.08148822 0.00527265 0.99666036 -0.15155641] [ 0. 0. 0. 1. ]] SLAMing on 12.181346184 meters Centerline goodness : 0.905969 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98410727 -0.15846116 -0.0801433 0.74336013] [ 0.15757267 0.98735528 -0.01733204 0.10415364] [ 0.08187637 0.00442819 0.99663266 -0.1517328 ] [ 0. 0. 0. 1. ]] SLAMing on 12.211346184 meters Centerline goodness : 0.905969 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98410727 -0.15846116 -0.0801433 0.74336013] [ 0.15757267 0.98735528 -0.01733204 0.10415364] [ 0.08187637 0.00442819 0.99663266 -0.1517328 ] [ 0. 0. 0. 1. ]] SLAMing on 12.241346184000001 meters Centerline goodness : 0.903631 Centerline is valid? [False, False] Translation: X:0.74, Y:0.10, Z:-0.15 [[ 0.98393401 -0.15933205 -0.0805429 0.74457949] [ 0.15848608 0.98721775 -0.01683057 0.10286005] [ 0.08219503 0.00379525 0.99660904 -0.15168854] [ 0. 0. 0. 1. ]] SLAMing on 12.271346184 meters Centerline goodness : 0.904853 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98376524 -0.1602752 -0.08073301 0.74514942] [ 0.15948254 0.98706758 -0.01621484 0.09993685] [ 0.08228777 0.00307609 0.99660386 -0.15095116] [ 0. 0. 0. 1. ]] SLAMing on 12.301346184 meters Centerline goodness : 0.902979 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98375952 -0.15996063 -0.08142357 0.74684095] [ 0.15931283 0.98712263 -0.01443375 0.09838389] [ 0.08268388 0.00122752 0.99657507 -0.15117663] [ 0. 0. 0. 1. ]] SLAMing on 12.331346184000001 meters Centerline goodness : 0.902908 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 9.83782250e-01 -1.59610901e-01 -8.18342468e-02 7.48104393e-01] [ 1.59051769e-01 9.87179997e-01 -1.33487039e-02 9.74003642e-02] [ 8.29157302e-02 1.16336173e-04 9.96556555e-01 -1.51536072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361346184 meters Centerline goodness : 0.904403 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 9.83748515e-01 -1.59818801e-01 -8.18340442e-02 7.48905216e-01] [ 1.59234582e-01 9.87146284e-01 -1.36587695e-02 9.66073073e-02] [ 8.29651008e-02 4.05984368e-04 9.96552371e-01 -1.52106023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.391346184 meters Centerline goodness : 0.905027 Centerline is valid? [False, False] Translation: X:0.75, Y:0.10, Z:-0.15 [[ 0.98373076 -0.16044559 -0.08081464 0.74858899] [ 0.15970612 0.98704173 -0.01557474 0.09530154] [ 0.08226632 0.00241476 0.99660746 -0.15361647] [ 0. 0. 0. 1. ]] SLAMing on 12.421346184 meters Centerline goodness : 0.903641 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.15 [[ 0.98370826 -0.16034588 -0.081285 0.75042639] [ 0.15964263 0.98705907 -0.01512053 0.09473363] [ 0.08265761 0.00189764 0.9965762 -0.15455551] [ 0. 0. 0. 1. ]] SLAMing on 12.451346184 meters Centerline goodness : 0.904293 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.98370025 -0.16032232 -0.08142835 0.75167213] [ 0.15962371 0.98706304 -0.01506056 0.0943644 ] [ 0.08278945 0.00181718 0.9965654 -0.15565692] [ 0. 0. 0. 1. ]] SLAMing on 12.481346184000001 meters Centerline goodness : 0.903035 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.98369017 -0.16030973 -0.08157473 0.75377397] [ 0.15961241 0.98706516 -0.01504142 0.09371183] [ 0.08293086 0.00177576 0.99655372 -0.15771686] [ 0. 0. 0. 1. ]] SLAMing on 12.511346184 meters Centerline goodness : 0.905765 Centerline is valid? [False, False] Translation: X:0.75, Y:0.09, Z:-0.16 [[ 0.9838235 -0.15985819 -0.08084974 0.75279989] [ 0.15910978 0.98713672 -0.01565806 0.09126504] [ 0.08231282 0.00254078 0.9966033 -0.15763423] [ 0. 0. 0. 1. ]] SLAMing on 12.541346184 meters Centerline goodness : 0.906777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83723706e-01 -1.59734930e-01 -8.22947246e-02 7.55762396e-01] [ 1.59146646e-01 9.87159869e-01 -1.37017786e-02 9.13138235e-02] [ 8.34267022e-02 3.81834998e-04 9.96513843e-01 -1.57865600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.571346184000001 meters Centerline goodness : 0.905982 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83637236e-01 -1.59898438e-01 -8.30076960e-02 7.56677893e-01] [ 1.59401744e-01 9.87133132e-01 -1.26199771e-02 9.11130602e-02] [ 8.39575615e-02 -8.18092094e-04 9.96468995e-01 -1.56997911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601346184 meters Centerline goodness : 0.906371 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83460700e-01 -1.60963414e-01 -8.30411403e-02 7.57453904e-01] [ 1.60456441e-01 9.86960090e-01 -1.27871658e-02 9.06323446e-02] [ 8.40165571e-02 -7.48810841e-04 9.96464077e-01 -1.57373390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.631346184 meters Centerline goodness : 0.907918 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 9.83423548e-01 -1.61124540e-01 -8.31685475e-02 7.59651129e-01] [ 1.60598560e-01 9.86933928e-01 -1.30201742e-02 8.98151954e-02] [ 8.41797308e-02 -5.52403119e-04 9.96450434e-01 -1.59578789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661346184000001 meters Centerline goodness : 0.906791 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98341279 -0.16162992 -0.08231073 0.75965614] [ 0.16089567 0.98684937 -0.01552084 0.08878792] [ 0.08373693 0.00201996 0.99648585 -0.1610487 ] [ 0. 0. 0. 1. ]] SLAMing on 12.691346184 meters Centerline goodness : 0.907093 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.9834606 -0.16154049 -0.08191415 0.7604537 ] [ 0.16076803 0.98686279 -0.01598347 0.08762089] [ 0.08342 0.00254994 0.99651121 -0.1627308 ] [ 0. 0. 0. 1. ]] SLAMing on 12.721346184 meters Centerline goodness : 0.908277 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98404737 -0.15835858 -0.08107606 0.75821792] [ 0.15769921 0.98738053 -0.01451343 0.08594815] [ 0.08235125 0.00149627 0.99660224 -0.16251833] [ 0. 0. 0. 1. ]] SLAMing on 12.751346184 meters Centerline goodness : 0.906163 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98443703 -0.15553487 -0.08180849 0.75912279] [ 0.15513883 0.98782902 -0.01121457 0.08552399] [ 0.08255706 -0.00165164 0.99658497 -0.16266106] [ 0. 0. 0. 1. ]] SLAMing on 12.781346184 meters Centerline goodness : 0.910047 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.16 [[ 0.98484429 -0.15295048 -0.08177941 0.75906141] [ 0.15266059 0.98822986 -0.00982311 0.08536152] [ 0.0823193 -0.00281026 0.99660204 -0.16339925] [ 0. 0. 0. 1. ]] SLAMing on 12.811346184 meters Centerline goodness : 0.907328 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98565465 -0.1479652 -0.08118628 0.75742181] [ 0.14778546 0.98898502 -0.00825193 0.08410655] [ 0.08151301 -0.0038646 0.99666479 -0.16413838] [ 0. 0. 0. 1. ]] SLAMing on 12.841346184 meters Centerline goodness : 0.913401 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98591889 -0.1460507 -0.081444 0.75816232] [ 0.14601579 0.98926145 -0.00641676 0.08354729] [ 0.08150658 -0.0055657 0.99665726 -0.1649042 ] [ 0. 0. 0. 1. ]] SLAMing on 12.871346184 meters Centerline goodness : 0.908976 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.986034 -0.14530624 -0.08138206 0.75725391] [ 0.1453169 0.98936802 -0.0058237 0.08353785] [ 0.08136303 -0.00608382 0.99666596 -0.16389162] [ 0. 0. 0. 1. ]] SLAMing on 12.901346184000001 meters Centerline goodness : 0.908251 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98600019 -0.14533794 -0.08173436 0.75735823] [ 0.14537548 0.98936114 -0.00552343 0.08387421] [ 0.08166756 -0.00643606 0.99663884 -0.16307543] [ 0. 0. 0. 1. ]] SLAMing on 12.931346184 meters Centerline goodness : 0.909873 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98568624 -0.14698737 -0.08256724 0.75938714] [ 0.14704775 0.98911475 -0.00538267 0.08440282] [ 0.08245966 -0.0068357 0.99657096 -0.16319193] [ 0. 0. 0. 1. ]] SLAMing on 12.961346184 meters Centerline goodness : 0.906818 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98537274 -0.14874247 -0.0831639 0.76135293] [ 0.14876755 0.98885441 -0.00593002 0.0846267 ] [ 0.08311903 -0.00652881 0.99651824 -0.16364251] [ 0. 0. 0. 1. ]] SLAMing on 12.991346184000001 meters Centerline goodness : 0.903511 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98501435 -0.15152807 -0.08237697 0.76077709] [ 0.15127045 0.98844776 -0.00939604 0.08457441] [ 0.0828491 -0.00320597 0.99655695 -0.16376443] [ 0. 0. 0. 1. ]] SLAMing on 13.021346184 meters Centerline goodness : 0.905680 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.84429509e-01 -1.55975669e-01 -8.10563546e-02 7.60401919e-01] [ 1.55424098e-01 9.87760850e-01 -1.31092895e-02 8.17599947e-02] [ 8.21090239e-02 3.07060614e-04 9.96623306e-01 -1.64388601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051346184 meters Centerline goodness : 0.905033 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.84062946e-01 -1.57792190e-01 -8.19862320e-02 7.62471160e-01] [ 1.57320230e-01 9.87471961e-01 -1.22258880e-02 8.14112135e-02] [ 8.28882549e-02 -8.67049523e-04 9.96558471e-01 -1.63962739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081346184000001 meters Centerline goodness : 0.905879 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98380164 -0.15891546 -0.08294709 0.76378073] [ 0.15859323 0.98728816 -0.01050149 0.08116356] [ 0.08356153 -0.00282346 0.99649862 -0.1625442 ] [ 0. 0. 0. 1. ]] SLAMing on 13.111346184 meters Centerline goodness : 0.906545 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98364197 -0.15967315 -0.08338443 0.76414953] [ 0.15942228 0.98716281 -0.00970142 0.0811127 ] [ 0.08386306 -0.00375061 0.99647023 -0.16149568] [ 0. 0. 0. 1. ]] SLAMing on 13.141346184 meters Centerline goodness : 0.910534 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98361882 -0.16000903 -0.08301276 0.7640039 ] [ 0.15970693 0.98711063 -0.01031011 0.0805676 ] [ 0.08359249 -0.00311649 0.99649515 -0.1620077 ] [ 0. 0. 0. 1. ]] SLAMing on 13.171346184 meters Centerline goodness : 0.909616 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 0.98362016 -0.16027079 -0.08249028 0.76385974] [ 0.15985588 0.98707158 -0.01165316 0.07993524] [ 0.08329147 -0.00172427 0.99652374 -0.16267228] [ 0. 0. 0. 1. ]] SLAMing on 13.201346184 meters Centerline goodness : 0.906555 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.16 [[ 9.83616516e-01 -1.60536257e-01 -8.20162146e-02 7.63962759e-01] [ 1.60015840e-01 9.87029857e-01 -1.29225156e-02 7.91077521e-02] [ 8.30269849e-02 -4.13093720e-04 9.96547214e-01 -1.63534946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231346184 meters Centerline goodness : 0.909037 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98367219 -0.16014485 -0.08211368 0.7655396 ] [ 0.15968403 0.98709289 -0.01219171 0.07824067] [ 0.08300627 -0.00111959 0.9965484 -0.16520431] [ 0. 0. 0. 1. ]] SLAMing on 13.261346184 meters Centerline goodness : 0.909379 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98400481 -0.15764748 -0.08295669 0.7665061 ] [ 0.15754878 0.98748059 -0.00777596 0.07730909] [ 0.08314398 -0.00541814 0.99652282 -0.16504185] [ 0. 0. 0. 1. ]] SLAMing on 13.291346184 meters Centerline goodness : 0.906101 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.16 [[ 0.98414434 -0.15661269 -0.08326094 0.76634546] [ 0.15666549 0.98763386 -0.00593967 0.07793112] [ 0.08316155 -0.00719862 0.99651008 -0.16439339] [ 0. 0. 0. 1. ]] SLAMing on 13.321346184000001 meters Centerline goodness : 0.905637 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98439704 -0.16073273 -0.07160625 0.76972494] [ 0.16088245 0.9869666 -0.00370951 0.08205424] [ 0.07126921 -0.00786856 0.99742608 -0.17229493] [ 0. 0. 0. 1. ]] SLAMing on 13.351346184 meters Centerline goodness : 0.908061 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.17 [[ 0.98492984 -0.15816898 -0.06996981 0.76787445] [ 0.15819747 0.98739396 -0.00516917 0.08017545] [ 0.06990537 -0.00597778 0.99753572 -0.17422694] [ 0. 0. 0. 1. ]] SLAMing on 13.381346184 meters Centerline goodness : 0.909575 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98519434 -0.15676277 -0.06940856 0.76763683] [ 0.15680266 0.98761776 -0.00490734 0.07900446] [ 0.06931842 -0.00604876 0.99757625 -0.17546256] [ 0. 0. 0. 1. ]] SLAMing on 13.411346184000001 meters Centerline goodness : 0.908111 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98541855 -0.15550221 -0.06906037 0.76659325] [ 0.15555326 0.98781646 -0.00467085 0.07834929] [ 0.06894529 -0.00613982 0.99760155 -0.1751687 ] [ 0. 0. 0. 1. ]] SLAMing on 13.441346184 meters Centerline goodness : 0.907145 Centerline is valid? [False, False] Translation: X:0.77, Y:0.08, Z:-0.18 [[ 0.98567385 -0.1539662 -0.06885833 0.76627399] [ 0.15403207 0.98805612 -0.00438388 0.07810317] [ 0.06871087 -0.00628532 0.99761682 -0.17549257] [ 0. 0. 0. 1. ]] SLAMing on 13.471346184 meters Centerline goodness : 0.908414 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.18 [[ 0.9863316 -0.15045937 -0.067171 0.76390787] [ 0.15049103 0.98860059 -0.00461752 0.0756266 ] [ 0.06710004 -0.00555423 0.99773079 -0.17713874] [ 0. 0. 0. 1. ]] SLAMing on 13.501346184 meters Centerline goodness : 0.909166 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98658402 -0.14913982 -0.06640247 0.76309368] [ 0.14913829 0.98880367 -0.00500797 0.07408017] [ 0.0664059 -0.00496236 0.99778035 -0.17807714] [ 0. 0. 0. 1. ]] SLAMing on 13.531346184 meters Centerline goodness : 0.908242 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98669956 -0.14856303 -0.06597736 0.76263488] [ 0.14853733 0.98889248 -0.00532221 0.07270769] [ 0.0660352 -0.00454867 0.99780693 -0.17839196] [ 0. 0. 0. 1. ]] SLAMing on 13.561346184 meters Centerline goodness : 0.908539 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.18 [[ 0.98676983 -0.14776463 -0.06671514 0.76539795] [ 0.14784858 0.98900307 -0.00370471 0.07148083] [ 0.0665289 -0.00620804 0.99776519 -0.18004788] [ 0. 0. 0. 1. ]] SLAMing on 13.591346184 meters Centerline goodness : 0.911523 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98695427 -0.14731617 -0.06495546 0.76224506] [ 0.14722504 0.9890835 -0.00621363 0.06788131] [ 0.06516174 -0.0034305 0.99786882 -0.17982009] [ 0. 0. 0. 1. ]] SLAMing on 13.621346184 meters Centerline goodness : 0.910569 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.18 [[ 0.98702604 -0.14715939 -0.06421608 0.76071392] [ 0.14702821 0.989109 -0.00678966 0.06519698] [ 0.06451586 -0.00274 0.99791292 -0.17927878] [ 0. 0. 0. 1. ]] SLAMing on 13.651346184000001 meters Centerline goodness : 0.913234 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98712779 -0.14653296 -0.0640845 0.760839 ] [ 0.14646214 0.98919911 -0.00582697 0.06273766] [ 0.06424617 -0.00363399 0.99792746 -0.17935214] [ 0. 0. 0. 1. ]] SLAMing on 13.681346184 meters Centerline goodness : 0.917405 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98721641 -0.14610681 -0.06369111 0.75965268] [ 0.14610017 0.98925822 -0.00478688 0.05845048] [ 0.06370635 -0.0045796 0.99795818 -0.17821026] [ 0. 0. 0. 1. ]] SLAMing on 13.711346184 meters Centerline goodness : 0.918225 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.18 [[ 0.98723865 -0.14619796 -0.06313483 0.75835406] [ 0.14612828 0.98924897 -0.00574478 0.05616311] [ 0.06329594 -0.00355431 0.99798847 -0.1774213 ] [ 0. 0. 0. 1. ]] SLAMing on 13.741346184000001 meters Centerline goodness : 0.920214 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98731228 -0.14588694 -0.06270142 0.75880895] [ 0.14582976 0.98929434 -0.00551215 0.05353045] [ 0.06283431 -0.00370152 0.99801711 -0.17857882] [ 0. 0. 0. 1. ]] SLAMing on 13.771346184 meters Centerline goodness : 0.918548 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 9.87200525e-01 -1.47144220e-01 -6.15118094e-02 7.56637752e-01] [ 1.46878697e-01 9.89115001e-01 -8.84104255e-03 5.21419285e-02] [ 6.21431617e-02 -3.06892555e-04 9.98067199e-01 -1.78049908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801346184 meters Centerline goodness : 0.920351 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 9.87203012e-01 -1.46962972e-01 -6.19039467e-02 7.59705999e-01] [ 1.46731646e-01 9.89141587e-01 -8.29131078e-03 5.04172071e-02] [ 6.24502837e-02 -8.98061018e-04 9.98047672e-01 -1.80672145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.831346184000001 meters Centerline goodness : 0.916524 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98719215 -0.14783629 -0.05996745 0.75675363] [ 0.14740206 0.98900833 -0.01162567 0.04697646] [ 0.06102701 0.00263744 0.99813263 -0.18079102] [ 0. 0. 0. 1. ]] SLAMing on 13.861346184 meters Centerline goodness : 0.916540 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.18 [[ 0.98721897 -0.14759597 -0.06011762 0.75739357] [ 0.14717694 0.9890449 -0.011364 0.04526269] [ 0.0611363 0.00237083 0.99812661 -0.18097974] [ 0. 0. 0. 1. ]] SLAMing on 13.891346184 meters Centerline goodness : 0.916777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 0.98718372 -0.14775778 -0.06029871 0.75782594] [ 0.14734772 0.98902116 -0.0112157 0.04378858] [ 0.06129391 0.00218708 0.99811736 -0.18068917] [ 0. 0. 0. 1. ]] SLAMing on 13.921346184 meters Centerline goodness : 0.919393 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 9.87252948e-01 -1.47162268e-01 -6.06208148e-02 7.60068949e-01] [ 1.46828196e-01 9.89111930e-01 -9.95344537e-03 4.14843384e-02] [ 6.14255428e-02 9.25723416e-04 9.98111239e-01 -1.82402679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.951346184 meters Centerline goodness : 0.918353 Centerline is valid? [False, False] Translation: X:0.76, Y:0.04, Z:-0.18 [[ 0.98716384 -0.14840777 -0.0590142 0.75725989] [ 0.14795708 0.98892147 -0.01195912 0.03609509] [ 0.06013524 0.00307404 0.99818551 -0.18133276] [ 0. 0. 0. 1. ]] SLAMing on 13.981346184 meters Centerline goodness : 0.919913 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 0.98708849 -0.14869106 -0.05955909 0.75935643] [ 0.14832105 0.98888234 -0.01061065 0.03326856] [ 0.06047464 0.00163978 0.99816839 -0.18201531] [ 0. 0. 0. 1. ]] SLAMing on 14.011346184 meters Centerline goodness : 0.919968 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 9.86909866e-01 -1.49763723e-01 -5.98309670e-02 7.59946160e-01] [ 1.49438301e-01 9.88721465e-01 -9.90246305e-03 3.05453510e-02] [ 6.06391911e-02 8.31800417e-04 9.98159404e-01 -1.81049996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041346184 meters Centerline goodness : 0.921684 Centerline is valid? [False, False] Translation: X:0.76, Y:0.03, Z:-0.18 [[ 9.86619608e-01 -1.51311394e-01 -6.07174637e-02 7.61694278e-01] [ 1.51050238e-01 9.88486068e-01 -8.89493186e-03 2.84453119e-02] [ 6.13642715e-02 -3.95473162e-04 9.98115359e-01 -1.79911804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071346184000001 meters Centerline goodness : 0.922076 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98596093 -0.15604941 -0.05941067 0.75934702] [ 0.15561093 0.98774595 -0.01196558 0.02280753] [ 0.06054987 0.00255265 0.99816191 -0.17724614] [ 0. 0. 0. 1. ]] SLAMing on 14.101346184 meters Centerline goodness : 0.922779 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98571224 -0.15737237 -0.06004436 0.76265924] [ 0.15699047 0.98753824 -0.01105534 0.01918902] [ 0.06103591 0.00147099 0.99813449 -0.1786078 ] [ 0. 0. 0. 1. ]] SLAMing on 14.131346184 meters Centerline goodness : 0.922779 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98571224 -0.15737237 -0.06004436 0.76265924] [ 0.15699047 0.98753824 -0.01105534 0.01918902] [ 0.06103591 0.00147099 0.99813449 -0.1786078 ] [ 0. 0. 0. 1. ]] SLAMing on 14.161346184000001 meters Centerline goodness : 0.925931 Centerline is valid? [False, False] Translation: X:0.76, Y:0.02, Z:-0.18 [[ 0.98534575 -0.15977945 -0.0597016 0.76332668] [ 0.15928546 0.98714731 -0.01297462 0.01627274] [ 0.06100735 0.00327489 0.99813194 -0.17874474] [ 0. 0. 0. 1. ]] SLAMing on 14.191346184 meters Centerline goodness : 0.925354 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98461129 -0.16411888 -0.0600467 0.76664443] [ 0.16354631 0.9864311 -0.01436256 0.01102123] [ 0.0615891 0.00432112 0.99809224 -0.17956989] [ 0. 0. 0. 1. ]] SLAMing on 14.221346184 meters Centerline goodness : 0.926184 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98437746 -0.16514113 -0.06106901 0.77002695] [ 0.16464316 0.98626576 -0.01313309 0.00881598] [ 0.06239909 0.00287333 0.99804714 -0.18033645] [ 0. 0. 0. 1. ]] SLAMing on 14.251346184 meters Centerline goodness : 0.925650 Centerline is valid? [False, False] Translation: X:0.77, Y:0.01, Z:-0.18 [[ 0.98407417 -0.16638445 -0.06256393 0.77359426] [ 0.16598458 0.98606045 -0.01157189 0.00701172] [ 0.0636172 0.00100295 0.99797387 -0.18010527] [ 0. 0. 0. 1. ]] SLAMing on 14.281346184 meters Centerline goodness : 0.925533 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.18 [[ 0.98377833 -0.16755535 -0.06407335 0.77746645] [ 0.16727387 0.98586205 -0.00977093 0.00560573] [ 0.06480465 -0.00110537 0.99789736 -0.1803131 ] [ 0. 0. 0. 1. ]] SLAMing on 14.311346184 meters Centerline goodness : 0.926713 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.18 [[ 9.83040990e-01 -1.71619479e-01 -6.46310004e-02 7.80076349e-01] [ 1.71245217e-01 9.85163311e-01 -1.13281040e-02 2.88815309e-03] [ 6.56162136e-02 6.82409339e-05 9.97844932e-01 -1.79921274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341346184 meters Centerline goodness : 0.927272 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.18 [[ 9.82678308e-01 -1.73369526e-01 -6.54702305e-02 7.83833535e-01] [ 1.73013989e-01 9.84856759e-01 -1.11051255e-02 9.86270621e-04] [ 6.64040893e-02 -4.14499826e-04 9.97792727e-01 -1.81282480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.371346184 meters Centerline goodness : 0.928873 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 9.82147712e-01 -1.76134443e-01 -6.60494441e-02 7.86896708e-01] [ 1.75700013e-01 9.84365966e-01 -1.23753689e-02 -6.17863584e-04] [ 6.71965536e-02 5.49552090e-04 9.97739606e-01 -1.82101425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401346184 meters Centerline goodness : 0.930664 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 9.81053180e-01 -1.81531534e-01 -6.76827932e-02 7.90792161e-01] [ 1.81143847e-01 9.83384934e-01 -1.18734544e-02 -3.55655419e-03] [ 6.87136455e-02 -6.11831315e-04 9.97636237e-01 -1.79842452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.431346184 meters Centerline goodness : 0.930875 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.00, Z:-0.18 [[ 0.98058491 -0.18335179 -0.06953672 0.79434877] [ 0.18312964 0.98304179 -0.00961082 -0.00440796] [ 0.07011966 -0.00331001 0.9975331 -0.17839706] [ 0. 0. 0. 1. ]] SLAMing on 14.461346184 meters Centerline goodness : 0.931888 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.9801169 -0.18518552 -0.07125437 0.79818429] [ 0.18510065 0.98268821 -0.00785019 -0.00530424] [ 0.07147457 -0.00549512 0.99742729 -0.17767511] [ 0. 0. 0. 1. ]] SLAMing on 14.491346184000001 meters Centerline goodness : 0.932724 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.97964269 -0.18728972 -0.07226867 0.80150075] [ 0.18725579 0.98228402 -0.00730513 -0.00664154] [ 0.07235654 -0.00637631 0.99735845 -0.17786398] [ 0. 0. 0. 1. ]] SLAMing on 14.521346184 meters Centerline goodness : 0.932683 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.01, Z:-0.18 [[ 0.97878963 -0.19161605 -0.07248548 0.80445563] [ 0.19143702 0.98145917 -0.00947436 -0.00935539] [ 0.07295697 -0.004603 0.99732447 -0.17845368] [ 0. 0. 0. 1. ]] SLAMing on 14.551346184 meters Centerline goodness : 0.934717 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97860077 -0.19218927 -0.07351072 0.80826992] [ 0.19207966 0.98134144 -0.00862452 -0.01026468] [ 0.07379665 -0.00567995 0.99725713 -0.18002097] [ 0. 0. 0. 1. ]] SLAMing on 14.581346184000001 meters Centerline goodness : 0.931515 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 0.97844769 -0.1865425 -0.08855517 0.81216242] [ 0.18699857 0.982355 -0.0031917 -0.01585391] [ 0.087588 -0.01343678 0.99606616 -0.17873604] [ 0. 0. 0. 1. ]] SLAMing on 14.611346184 meters Centerline goodness : 0.934109 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 0.97885603 -0.18466721 -0.08797102 0.81055535] [ 0.18513792 0.98270842 -0.00284926 -0.01579492] [ 0.08697603 -0.01349775 0.99611896 -0.1789493 ] [ 0. 0. 0. 1. ]] SLAMing on 14.641346184 meters Centerline goodness : 0.933940 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.02, Z:-0.18 [[ 9.79248410e-01 -1.82003137e-01 -8.91482394e-02 8.12327779e-01] [ 1.82783276e-01 9.83153048e-01 5.97804155e-04 -1.51626221e-02] [ 8.75375611e-02 -1.68802060e-02 9.96018190e-01 -1.79349484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.671346184 meters Centerline goodness : 0.930461 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97963705 -0.17947726 -0.08999539 0.81463207] [ 0.18044743 0.98358094 0.00269539 -0.01416025] [ 0.08803399 -0.01887994 0.99593853 -0.18120259] [ 0. 0. 0. 1. ]] SLAMing on 14.701346184 meters Centerline goodness : 0.930387 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.97988967 -0.17840501 -0.08937499 0.81374175] [ 0.17929612 0.98379316 0.00197801 -0.01363782] [ 0.08757362 -0.01796283 0.99599608 -0.18220841] [ 0. 0. 0. 1. ]] SLAMing on 14.731346184 meters Centerline goodness : 0.932455 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.98049541 -0.17519726 -0.08907679 0.81426285] [ 0.17613107 0.9843631 0.00267169 -0.01353613] [ 0.08721583 -0.01830877 0.99602118 -0.1849307 ] [ 0. 0. 0. 1. ]] SLAMing on 14.761346184 meters Centerline goodness : 0.932131 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98058294 -0.17457193 -0.08934055 0.81521821] [ 0.17556774 0.98446165 0.00335079 -0.01342518] [ 0.08736739 -0.01897105 0.9959955 -0.18555487] [ 0. 0. 0. 1. ]] SLAMing on 14.791346184 meters Centerline goodness : 0.931830 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98051079 -0.17486761 -0.0895539 0.81601082] [ 0.17587769 0.98440597 0.00345335 -0.0133042 ] [ 0.08755352 -0.01913658 0.99597599 -0.18582758] [ 0. 0. 0. 1. ]] SLAMing on 14.821346184000001 meters Centerline goodness : 0.930619 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 0.98036249 -0.17527034 -0.09038642 0.81886124] [ 0.17639011 0.9843101 0.00449058 -0.01357754] [ 0.0881812 -0.02034567 0.99589665 -0.1867984 ] [ 0. 0. 0. 1. ]] SLAMing on 14.851346184 meters Centerline goodness : 0.926092 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.19 [[ 9.79531296e-01 -1.79966760e-01 -9.01687648e-02 8.20994049e-01] [ 1.80788487e-01 9.83521528e-01 9.62609155e-04 -1.40071761e-02] [ 8.85096837e-02 -1.72443803e-02 9.95926035e-01 -1.87938355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881346184 meters Centerline goodness : 0.921153 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.19 [[ 9.79138390e-01 -1.81860532e-01 -9.06353169e-02 8.24123677e-01] [ 1.82669180e-01 9.83174229e-01 6.37919677e-04 -1.51920351e-02] [ 8.89942953e-02 -1.71808906e-02 9.95883945e-01 -1.89414509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.911346184000001 meters Centerline goodness : 0.921263 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97871332 -0.18354865 -0.09181572 0.82837909] [ 0.18445662 0.98283962 0.00142968 -0.01591505] [ 0.08997771 -0.01833526 0.99577499 -0.19059612] [ 0. 0. 0. 1. ]] SLAMing on 14.941346184 meters Centerline goodness : 0.920494 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97824669 -0.18562361 -0.09261362 0.83024253] [ 0.18657559 0.98243922 0.00165242 -0.01586242] [ 0.09068052 -0.01889592 0.99570075 -0.18979423] [ 0. 0. 0. 1. ]] SLAMing on 14.971346184 meters Centerline goodness : 0.917172 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.19 [[ 0.97762333 -0.1879308 -0.09452326 0.83382963] [ 0.18909015 0.98195391 0.00338074 -0.01553454] [ 0.09218214 -0.02117851 0.99551691 -0.18830468] [ 0. 0. 0. 1. ]] SLAMing on 15.001346184 meters Centerline goodness : 0.919791 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97758843 -0.18780155 -0.09513902 0.83523666] [ 0.18908303 0.98195053 0.00455705 -0.01603399] [ 0.09256599 -0.0224441 0.99545356 -0.18826247] [ 0. 0. 0. 1. ]] SLAMing on 15.031346184 meters Centerline goodness : 0.921392 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.977707 -0.18723569 -0.0950359 0.83519031] [ 0.18854689 0.98205182 0.00492932 -0.01640009] [ 0.09240724 -0.02273816 0.99546164 -0.18851714] [ 0. 0. 0. 1. ]] SLAMing on 15.061346184 meters Centerline goodness : 0.920956 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97784675 -0.18646768 -0.09510807 0.83537171] [ 0.18781405 0.98219016 0.005327 -0.0162266 ] [ 0.0924209 -0.02307162 0.9954527 -0.18884316] [ 0. 0. 0. 1. ]] SLAMing on 15.091346184 meters Centerline goodness : 0.922684 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.19 [[ 0.97792884 -0.18583947 -0.09549276 0.83612072] [ 0.18726073 0.98229152 0.00606465 -0.01535598] [ 0.09267468 -0.02381284 0.99541165 -0.18910412] [ 0. 0. 0. 1. ]] SLAMing on 15.121346184 meters Centerline goodness : 0.919896 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.19 [[ 0.97819557 -0.18336207 -0.09752835 0.83951144] [ 0.18523551 0.98263873 0.01043679 -0.01297909] [ 0.09392143 -0.02827494 0.99517802 -0.18948874] [ 0. 0. 0. 1. ]] SLAMing on 15.151346184 meters Centerline goodness : 0.923426 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.01, Z:-0.19 [[ 0.97843468 -0.18740875 -0.08685351 0.84493496] [ 0.18870624 0.98200932 0.0069035 -0.00602587] [ 0.08399718 -0.02314442 0.99619717 -0.19092492] [ 0. 0. 0. 1. ]] SLAMing on 15.181346184 meters Centerline goodness : 0.919664 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.19 [[ 0.97836881 -0.18758443 -0.08721553 0.84614522] [ 0.18889898 0.98197159 0.00699744 -0.00482631] [ 0.08433056 -0.02332101 0.99616489 -0.19160391] [ 0. 0. 0. 1. ]] SLAMing on 15.211346184 meters Centerline goodness : 0.918626 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.19 [[ 0.9782323 -0.18797277 -0.08790797 0.84962638] [ 0.18923458 0.98191251 0.00617195 -0.00241771] [ 0.08515778 -0.02267282 0.99610948 -0.19442943] [ 0. 0. 0. 1. ]] SLAMing on 15.241346184000001 meters Centerline goodness : 0.917880 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.20 [[ 0.97817699 -0.18796902 -0.08852917 0.85157237] [ 0.18925385 0.98190815 0.0062742 -0.0010095 ] [ 0.08574816 -0.02289177 0.99605382 -0.1953671 ] [ 0. 0. 0. 1. ]] SLAMing on 15.271346184 meters Centerline goodness : 0.917468 Centerline is valid? [False, False] Translation: X:0.85, Y:0.00, Z:-0.20 [[ 9.78134225e-01 -1.87787107e-01 -8.93836647e-02 8.53330650e-01] [ 1.89217986e-01 9.81904625e-01 7.73697392e-03 7.50833079e-04] [ 8.63133299e-02 -2.44807960e-02 9.95967218e-01 -1.95632822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301346184 meters Centerline goodness : 0.920193 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.20 [[ 0.97815335 -0.18668164 -0.09146577 0.85737125] [ 0.18849795 0.98200552 0.01156174 0.00188227] [ 0.08766153 -0.02855027 0.9957411 -0.19587199] [ 0. 0. 0. 1. ]] SLAMing on 15.331346184000001 meters Centerline goodness : 0.920622 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.19 [[ 0.97798492 -0.18705061 -0.09250715 0.85744443] [ 0.18906012 0.98187435 0.01338003 0.00447976] [ 0.08832765 -0.03057488 0.99562212 -0.19366992] [ 0. 0. 0. 1. ]] SLAMing on 15.361346184 meters Centerline goodness : 0.920716 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97783664 -0.18753926 -0.09308347 0.85869395] [ 0.18958819 0.9817695 0.01360019 0.00540266] [ 0.08883594 -0.03094629 0.99556542 -0.19354047] [ 0. 0. 0. 1. ]] SLAMing on 15.391346184 meters Centerline goodness : 0.923528 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97779783 -0.18768186 -0.09320362 0.85952217] [ 0.1897615 0.98173188 0.01389561 0.00552304] [ 0.08889301 -0.03127356 0.9955501 -0.1940756 ] [ 0. 0. 0. 1. ]] SLAMing on 15.421346184 meters Centerline goodness : 0.924183 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97763805 -0.18787373 -0.09448436 0.8628187 ] [ 0.19010452 0.98164758 0.01510955 0.00621476] [ 0.08991165 -0.03273357 0.99541168 -0.1949151 ] [ 0. 0. 0. 1. ]] SLAMing on 15.451346184 meters Centerline goodness : 0.925606 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.9774749 -0.18853613 -0.09485226 0.862698 ] [ 0.19074428 0.98152975 0.01469572 0.00764047] [ 0.09032964 -0.03245722 0.99538288 -0.19376727] [ 0. 0. 0. 1. ]] SLAMing on 15.481346184 meters Centerline goodness : 0.925406 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.19 [[ 0.97749383 -0.18822277 -0.09527859 0.86387426] [ 0.1904857 0.98157294 0.01515783 0.00829919] [ 0.09066983 -0.03296589 0.99533524 -0.19424324] [ 0. 0. 0. 1. ]] SLAMing on 15.511346184 meters Centerline goodness : 0.925642 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.97742694 -0.18788851 -0.09661516 0.86674988] [ 0.19040961 0.98154893 0.01748914 0.00909979] [ 0.0915465 -0.03549081 0.99516815 -0.19459612] [ 0. 0. 0. 1. ]] SLAMing on 15.541346184 meters Centerline goodness : 0.925904 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.9772767 -0.18845244 -0.09703573 0.86629464] [ 0.19094793 0.98145255 0.01702296 0.01206363] [ 0.09202794 -0.03516491 0.99513531 -0.19335405] [ 0. 0. 0. 1. ]] SLAMing on 15.571346184000001 meters Centerline goodness : 0.924487 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.9770728 -0.18931435 -0.09741055 0.86648985] [ 0.19181953 0.98128394 0.01694395 0.01318488] [ 0.09237968 -0.03524072 0.99510004 -0.19239487] [ 0. 0. 0. 1. ]] SLAMing on 15.601346184 meters Centerline goodness : 0.922138 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.19 [[ 0.97688945 -0.19016551 -0.09759136 0.86755274] [ 0.19260964 0.98114207 0.01617911 0.01412193] [ 0.09267428 -0.03460223 0.99509505 -0.19299832] [ 0. 0. 0. 1. ]] SLAMing on 15.631346184 meters Centerline goodness : 0.920938 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.20 [[ 0.97630873 -0.19258033 -0.09866143 0.87201091] [ 0.19501891 0.98067529 0.01560781 0.01580899] [ 0.09374907 -0.03447888 0.99499865 -0.19510402] [ 0. 0. 0. 1. ]] SLAMing on 15.661346184000001 meters Centerline goodness : 0.918716 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.19 [[ 0.9759358 -0.19408429 -0.09940121 0.87276756] [ 0.19653006 0.9803778 0.01533983 0.0173864 ] [ 0.09447352 -0.03450601 0.99492919 -0.1937471 ] [ 0. 0. 0. 1. ]] SLAMing on 15.691346184 meters Centerline goodness : 0.921064 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.19 [[ 0.97572213 -0.19482779 -0.10004229 0.87374614] [ 0.19730754 0.98022028 0.01542525 0.01886117] [ 0.09505821 -0.03478985 0.99486361 -0.19323112] [ 0. 0. 0. 1. ]] SLAMing on 15.721346184 meters Centerline goodness : 0.918361 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.97560725 -0.19484038 -0.10113223 0.87662336] [ 0.19745935 0.98017273 0.01646894 0.01979438] [ 0.09591824 -0.03603672 0.99473667 -0.19400794] [ 0. 0. 0. 1. ]] SLAMing on 15.751346184 meters Centerline goodness : 0.917091 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97553516 -0.19521711 -0.10110106 0.87833847] [ 0.19774004 0.98013246 0.01546712 0.02141489] [ 0.09607299 -0.03508045 0.99475592 -0.19632022] [ 0. 0. 0. 1. ]] SLAMing on 15.781346184 meters Centerline goodness : 0.916077 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97548046 -0.19560811 -0.10087287 0.87820126] [ 0.19802091 0.98009217 0.01438985 0.02216717] [ 0.09604994 -0.03401195 0.99479525 -0.19667054] [ 0. 0. 0. 1. ]] SLAMing on 15.811346184 meters Centerline goodness : 0.916903 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97554637 -0.19527077 -0.10088908 0.87866467] [ 0.19766945 0.98016509 0.01425456 0.0226439 ] [ 0.09610445 -0.03384868 0.99479556 -0.19733965] [ 0. 0. 0. 1. ]] SLAMing on 15.841346184 meters Centerline goodness : 0.918144 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97563325 -0.19494751 -0.10067389 0.87739181] [ 0.19731268 0.98024065 0.01399898 0.0230351 ] [ 0.09595557 -0.03352211 0.99482099 -0.19646286] [ 0. 0. 0. 1. ]] SLAMing on 15.871346184 meters Centerline goodness : 0.918931 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.20 [[ 0.97593618 -0.19214351 -0.10309921 0.88130664] [ 0.19506295 0.98060806 0.0189285 0.02478403] [ 0.09746292 -0.03858384 0.99449096 -0.1968751 ] [ 0. 0. 0. 1. ]] SLAMing on 15.901346184 meters Centerline goodness : 0.918550 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97602374 -0.19124746 -0.10393305 0.88276479] [ 0.19435096 0.98071767 0.02050737 0.02622484] [ 0.098007 -0.04021517 0.99437285 -0.19720246] [ 0. 0. 0. 1. ]] SLAMing on 15.931346184 meters Centerline goodness : 0.920382 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97644049 -0.1954171 -0.09152123 0.88452882] [ 0.19767283 0.98013453 0.01617885 0.03253801] [ 0.0865415 -0.03388895 0.99567169 -0.1991529 ] [ 0. 0. 0. 1. ]] SLAMing on 15.961346184 meters Centerline goodness : 0.919194 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97662971 -0.19445034 -0.09156134 0.88461556] [ 0.19673865 0.98031577 0.01657987 0.03265037] [ 0.08653506 -0.03420604 0.9956614 -0.19951953] [ 0. 0. 0. 1. ]] SLAMing on 15.991346184000001 meters Centerline goodness : 0.918586 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97675356 -0.19403 -0.09113095 0.88342021] [ 0.19625822 0.98042047 0.01607503 0.0329755 ] [ 0.08622761 -0.03358654 0.99570917 -0.19918099] [ 0. 0. 0. 1. ]] SLAMing on 16.021346184 meters Centerline goodness : 0.918586 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.20 [[ 0.97675356 -0.19403 -0.09113095 0.88342021] [ 0.19625822 0.98042047 0.01607503 0.0329755 ] [ 0.08622761 -0.03358654 0.99570917 -0.19918099] [ 0. 0. 0. 1. ]] SLAMing on 16.051346184 meters Centerline goodness : 0.920722 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.97681677 -0.19306736 -0.09248778 0.88634086] [ 0.19558781 0.9805036 0.01892369 0.03340903] [ 0.08703106 -0.03657446 0.99553398 -0.19984108] [ 0. 0. 0. 1. ]] SLAMing on 16.081346183999997 meters Centerline goodness : 0.918575 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.20 [[ 0.97670879 -0.19313286 -0.09348607 0.88799576] [ 0.19579068 0.98044055 0.02005848 0.03478956] [ 0.08778358 -0.03789499 0.99541851 -0.19958065] [ 0. 0. 0. 1. ]] SLAMing on 16.111346184 meters Centerline goodness : 0.922696 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97665033 -0.19331802 -0.09371384 0.88915107] [ 0.19598894 0.98040008 0.0201001 0.03508429] [ 0.08799135 -0.03799765 0.99539625 -0.20032286] [ 0. 0. 0. 1. ]] SLAMing on 16.141346184 meters Centerline goodness : 0.923406 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97644745 -0.19397842 -0.09446027 0.89189875] [ 0.19669736 0.98025432 0.02028851 0.03618212] [ 0.08865956 -0.03839075 0.99532187 -0.20175763] [ 0. 0. 0. 1. ]] SLAMing on 16.171346183999997 meters Centerline goodness : 0.920072 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97626403 -0.19493185 -0.09439339 0.89212078] [ 0.19756414 0.9800999 0.01930302 0.03693253] [ 0.08875218 -0.0374936 0.99534782 -0.20184553] [ 0. 0. 0. 1. ]] SLAMing on 16.201346184 meters Centerline goodness : 0.919747 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97615986 -0.19541102 -0.09448 0.89311384] [ 0.19802143 0.98001353 0.0190001 0.03740322] [ 0.08887885 -0.0372562 0.99534543 -0.2026789 ] [ 0. 0. 0. 1. ]] SLAMing on 16.231346184 meters Centerline goodness : 0.919311 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97600872 -0.19618117 -0.09444539 0.89354753] [ 0.198703 0.97989465 0.01798899 0.03824713] [ 0.08901743 -0.036324 0.9953675 -0.2030329 ] [ 0. 0. 0. 1. ]] SLAMing on 16.261346183999997 meters Centerline goodness : 0.919321 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.9759265 -0.19623882 -0.09517242 0.89593522] [ 0.19886832 0.97984424 0.01888551 0.03906544] [ 0.08954807 -0.03735765 0.99528164 -0.20412956] [ 0. 0. 0. 1. ]] SLAMing on 16.291346184 meters Centerline goodness : 0.917762 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97587227 -0.19651937 -0.09514965 0.89490413] [ 0.19913066 0.97979489 0.01868025 0.04121728] [ 0.08955611 -0.03717675 0.99528769 -0.20313526] [ 0. 0. 0. 1. ]] SLAMing on 16.321346184 meters Centerline goodness : 0.916842 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97593392 -0.19617726 -0.09522323 0.8953238 ] [ 0.19881715 0.97985274 0.01898257 0.0415498 ] [ 0.08958079 -0.03745775 0.99527494 -0.20362619] [ 0. 0. 0. 1. ]] SLAMing on 16.351346183999997 meters Centerline goodness : 0.917169 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.21 [[ 0.97613117 -0.19533666 -0.09492909 0.89586917] [ 0.19797643 0.98001985 0.0191423 0.04079108] [ 0.0892932 -0.03747912 0.99529997 -0.20507439] [ 0. 0. 0. 1. ]] SLAMing on 16.381346183999998 meters Centerline goodness : 0.919797 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97651123 -0.19447808 -0.09275826 0.89251772] [ 0.19684276 0.9802881 0.01697546 0.03835534] [ 0.08762846 -0.03483552 0.99554394 -0.20600106] [ 0. 0. 0. 1. ]] SLAMing on 16.411346184 meters Centerline goodness : 0.922687 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97648178 -0.19468021 -0.09264422 0.89208131] [ 0.19703312 0.98025154 0.01687828 0.03784914] [ 0.08752877 -0.03473532 0.99555621 -0.2054655 ] [ 0. 0. 0. 1. ]] SLAMing on 16.441346183999997 meters Centerline goodness : 0.922824 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97639306 -0.19511076 -0.09267354 0.8924168 ] [ 0.19744056 0.98017456 0.01658504 0.03755601] [ 0.08760033 -0.03449104 0.99555841 -0.2054193 ] [ 0. 0. 0. 1. ]] SLAMing on 16.471346183999998 meters Centerline goodness : 0.922368 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.21 [[ 0.97635129 -0.19530241 -0.09270995 0.89248414] [ 0.19763001 0.98013719 0.01653709 0.03696221] [ 0.08763873 -0.03446827 0.99555582 -0.20512151] [ 0. 0. 0. 1. ]] SLAMing on 16.501346184 meters Centerline goodness : 0.924486 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97664567 -0.19300924 -0.09439638 0.89255682] [ 0.19582096 0.98040609 0.02140189 0.03733774] [ 0.08841602 -0.03938685 0.99530462 -0.2020817 ] [ 0. 0. 0. 1. ]] SLAMing on 16.531346184 meters Centerline goodness : 0.926354 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97695675 -0.1907227 -0.09581419 0.89335092] [ 0.19391047 0.98069925 0.025054 0.03809582] [ 0.08918654 -0.04305604 0.99508388 -0.20066349] [ 0. 0. 0. 1. ]] SLAMing on 16.561346183999998 meters Centerline goodness : 0.928934 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97724931 -0.18881891 -0.09659818 0.89494971] [ 0.19227012 0.98095165 0.0276777 0.03860997] [ 0.08953207 -0.04562096 0.99493856 -0.20155024] [ 0. 0. 0. 1. ]] SLAMing on 16.591346184 meters Centerline goodness : 0.924283 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.20 [[ 0.97732001 -0.18860396 -0.09630232 0.8944822 ] [ 0.19195897 0.98103786 0.02676688 0.03918183] [ 0.08942788 -0.0446459 0.99499216 -0.2019279 ] [ 0. 0. 0. 1. ]] SLAMing on 16.621346184 meters Centerline goodness : 0.925471 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97732094 -0.18831873 -0.09684954 0.89729767] [ 0.19171977 0.98107783 0.02701528 0.04045776] [ 0.08992945 -0.04497057 0.99493233 -0.20427804] [ 0. 0. 0. 1. ]] SLAMing on 16.651346183999998 meters Centerline goodness : 0.924362 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97718642 -0.18891722 -0.09704111 0.89710164] [ 0.19229932 0.98097345 0.02668463 0.0415293 ] [ 0.09015356 -0.04473679 0.99492259 -0.20345485] [ 0. 0. 0. 1. ]] SLAMing on 16.681346184 meters Centerline goodness : 0.926916 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97697178 -0.18979684 -0.09748488 0.89763312] [ 0.19316744 0.98081325 0.02630023 0.04304219] [ 0.09062277 -0.04452549 0.99488944 -0.20292749] [ 0. 0. 0. 1. ]] SLAMing on 16.711346184 meters Centerline goodness : 0.923178 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.20 [[ 0.97663582 -0.19138138 -0.09775296 0.89819376] [ 0.19467556 0.98054229 0.02526351 0.04453334] [ 0.09101595 -0.04370336 0.99489 -0.20257695] [ 0. 0. 0. 1. ]] SLAMing on 16.741346183999998 meters Centerline goodness : 0.921385 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97623706 -0.19322674 -0.09810519 0.89926364] [ 0.19647134 0.9802041 0.02447331 0.04549195] [ 0.09143421 -0.04316661 0.99487508 -0.2023416 ] [ 0. 0. 0. 1. ]] SLAMing on 16.771346184 meters Centerline goodness : 0.921422 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97562371 -0.19588774 -0.09892612 0.90057403] [ 0.19914052 0.97967564 0.02405605 0.04731838] [ 0.09220322 -0.04316985 0.99480397 -0.2011351 ] [ 0. 0. 0. 1. ]] SLAMing on 16.801346184 meters Centerline goodness : 0.922339 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97547795 -0.19604568 -0.10004424 0.90251507] [ 0.19951372 0.97955463 0.02582634 0.04856529] [ 0.09293566 -0.04515322 0.99464775 -0.20083964] [ 0. 0. 0. 1. ]] SLAMing on 16.831346183999997 meters Centerline goodness : 0.924285 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97533901 -0.19645499 -0.10059447 0.90207395] [ 0.19997738 0.97945231 0.02611919 0.04993203] [ 0.09339624 -0.04559169 0.99458461 -0.19904732] [ 0. 0. 0. 1. ]] SLAMing on 16.861346184 meters Centerline goodness : 0.924982 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.20 [[ 0.97546997 -0.19493275 -0.10227196 0.90486074] [ 0.19886229 0.97957887 0.02964833 0.05162303] [ 0.09440402 -0.04925909 0.99431455 -0.19935275] [ 0. 0. 0. 1. ]] SLAMing on 16.891346184 meters Centerline goodness : 0.923710 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.20 [[ 0.97538168 -0.19484493 -0.10327646 0.90694849] [ 0.19895339 0.97951863 0.0309969 0.05291635] [ 0.09512163 -0.05078102 0.99416959 -0.19961544] [ 0. 0. 0. 1. ]] SLAMing on 16.921346183999997 meters Centerline goodness : 0.919806 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.20 [[ 0.97531436 -0.19510017 -0.10343032 0.90649359] [ 0.19921712 0.97946518 0.03099182 0.05398586] [ 0.09525988 -0.05083186 0.99415375 -0.19880495] [ 0. 0. 0. 1. ]] SLAMing on 16.951346184 meters Centerline goodness : 0.918249 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97514219 -0.19593889 -0.10346814 0.90598137] [ 0.19999354 0.97932907 0.03028464 0.05542903] [ 0.09539542 -0.05022479 0.99417161 -0.19804868] [ 0. 0. 0. 1. ]] SLAMing on 16.981346184 meters Centerline goodness : 0.917472 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97493402 -0.19720996 -0.10301399 0.90628135] [ 0.20103535 0.97918167 0.02807217 0.0578902 ] [ 0.0953333 -0.04807796 0.9942837 -0.19950989] [ 0. 0. 0. 1. ]] SLAMing on 17.011346183999997 meters Centerline goodness : 0.918194 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.9748336 -0.1976804 -0.1030627 0.90619848] [ 0.20143196 0.97912319 0.02725698 0.059427 ] [ 0.09552291 -0.04733114 0.99430133 -0.19941632] [ 0. 0. 0. 1. ]] SLAMing on 17.041346184 meters Centerline goodness : 0.915879 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.20 [[ 0.97467235 -0.19834187 -0.10331658 0.90560566] [ 0.20202922 0.97902268 0.0264344 0.06182176] [ 0.09590623 -0.04663785 0.99429719 -0.19830461] [ 0. 0. 0. 1. ]] SLAMing on 17.071346184 meters Centerline goodness : 0.913312 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97475646 -0.19673541 -0.10556995 0.91056428] [ 0.20079913 0.97919571 0.0292486 0.0651698 ] [ 0.0976194 -0.04970861 0.99398164 -0.20048759] [ 0. 0. 0. 1. ]] SLAMing on 17.101346183999997 meters Centerline goodness : 0.913866 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.9746847 -0.19722393 -0.10532071 0.91037734] [ 0.201111 0.97918088 0.02755309 0.06669553] [ 0.0976939 -0.04803673 0.99405653 -0.20087998] [ 0. 0. 0. 1. ]] SLAMing on 17.131346183999998 meters Centerline goodness : 0.911125 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.974835 -0.19684152 -0.10464292 0.90983187] [ 0.20061051 0.9793072 0.0266987 0.06703785] [ 0.09722215 -0.0470193 0.99415142 -0.20197578] [ 0. 0. 0. 1. ]] SLAMing on 17.161346184 meters Centerline goodness : 0.910248 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97498568 -0.196193 -0.10445686 0.90898079] [ 0.199937 0.9794486 0.02656365 0.06814973] [ 0.09709852 -0.04678397 0.9941746 -0.20179458] [ 0. 0. 0. 1. ]] SLAMing on 17.191346183999997 meters Centerline goodness : 0.914362 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.20 [[ 0.97538465 -0.19358608 -0.10558981 0.907483 ] [ 0.19773397 0.97978914 0.03024101 0.07034476] [ 0.09760151 -0.05037531 0.99394983 -0.19878117] [ 0. 0. 0. 1. ]] SLAMing on 17.221346183999998 meters Centerline goodness : 0.915573 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97570158 -0.19743442 -0.0950057 0.91149654] [ 0.20092908 0.97918683 0.02864716 0.0770307 ] [ 0.08737239 -0.04704049 0.99506445 -0.19952436] [ 0. 0. 0. 1. ]] SLAMing on 17.251346184 meters Centerline goodness : 0.911733 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97589896 -0.19636544 -0.09519371 0.9110089 ] [ 0.19990612 0.97938247 0.02911227 0.07826925] [ 0.08751441 -0.04744044 0.99503298 -0.19900643] [ 0. 0. 0. 1. ]] SLAMing on 17.281346184 meters Centerline goodness : 0.914679 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97610286 -0.19551969 -0.0948433 0.90953893] [ 0.19896372 0.97960001 0.02823565 0.08000192] [ 0.08738787 -0.04643128 0.9950917 -0.1986564 ] [ 0. 0. 0. 1. ]] SLAMing on 17.311346183999998 meters Centerline goodness : 0.909291 Centerline is valid? [False, False] Translation: X:0.91, Y:0.08, Z:-0.20 [[ 0.97667489 -0.19283801 -0.09444396 0.90952515] [ 0.19616293 0.98019403 0.02719857 0.08341127] [ 0.08732849 -0.04509056 0.99515857 -0.20132925] [ 0. 0. 0. 1. ]] SLAMing on 17.341346184 meters Centerline goodness : 0.908009 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97692776 -0.19142261 -0.09470762 0.91043745] [ 0.19475985 0.98047206 0.02726051 0.08539888] [ 0.0876399 -0.04507679 0.99513182 -0.20260096] [ 0. 0. 0. 1. ]] SLAMing on 17.371346184 meters Centerline goodness : 0.906055 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97694411 -0.19106771 -0.09525404 0.91097031] [ 0.19441414 0.98054516 0.02709844 0.08790815] [ 0.08822325 -0.04499239 0.99508409 -0.20244706] [ 0. 0. 0. 1. ]] SLAMing on 17.401346183999998 meters Centerline goodness : 0.905992 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.20 [[ 0.97666874 -0.19210118 -0.09599642 0.91089183] [ 0.19538322 0.98038338 0.02595811 0.09333853] [ 0.08912671 -0.04410856 0.99504315 -0.20128336] [ 0. 0. 0. 1. ]] SLAMing on 17.431346184 meters Centerline goodness : 0.902653 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97643138 -0.19289133 -0.09682298 0.91295553] [ 0.1961875 0.98023027 0.02567275 0.09548276] [ 0.08995676 -0.04406313 0.99497046 -0.20167872] [ 0. 0. 0. 1. ]] SLAMing on 17.461346184 meters Centerline goodness : 0.903709 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97618869 -0.19388813 -0.09727813 0.91320291] [ 0.19718217 0.9800382 0.02538325 0.09702355] [ 0.09041478 -0.04396035 0.99493349 -0.20068863] [ 0. 0. 0. 1. ]] SLAMing on 17.491346183999998 meters Centerline goodness : 0.901834 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97597004 -0.19484416 -0.09756141 0.91268278] [ 0.1981161 0.97986068 0.02496125 0.09909899] [ 0.09073303 -0.04368992 0.99491643 -0.1993087 ] [ 0. 0. 0. 1. ]] SLAMing on 17.521346184 meters Centerline goodness : 0.901704 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97555518 -0.19613059 -0.09912055 0.91308217] [ 0.19953228 0.97955785 0.02555964 0.1024819 ] [ 0.09208128 -0.04471259 0.99474711 -0.1960753 ] [ 0. 0. 0. 1. ]] SLAMing on 17.551346184 meters Centerline goodness : 0.900939 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.20 [[ 0.97536524 -0.19637057 -0.10050496 0.91488724] [ 0.19993769 0.97944628 0.02664394 0.10420877] [ 0.09320713 -0.04608231 0.99457974 -0.19504121] [ 0. 0. 0. 1. ]] SLAMing on 17.581346183999997 meters Centerline goodness : 0.900395 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97531914 -0.19625345 -0.10117883 0.91518685] [ 0.19993078 0.97942445 0.02748492 0.10584554] [ 0.09370301 -0.04703533 0.99448852 -0.19403141] [ 0. 0. 0. 1. ]] SLAMing on 17.611346184 meters Centerline goodness : 0.901819 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97519163 -0.19641017 -0.10209965 0.91652901] [ 0.2001567 0.97937099 0.02774464 0.10841377] [ 0.09454411 -0.04749227 0.9943872 -0.19379337] [ 0. 0. 0. 1. ]] SLAMing on 17.641346184 meters Centerline goodness : 0.901424 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.97489301 -0.19794671 -0.10198392 0.91665976] [ 0.20147203 0.97916466 0.02540841 0.11195636] [ 0.09482954 -0.04531739 0.99446151 -0.19428583] [ 0. 0. 0. 1. ]] SLAMing on 17.671346183999997 meters Centerline goodness : 0.906156 Centerline is valid? [False, False] Translation: X:0.92, Y:0.11, Z:-0.19 [[ 0.9746249 -0.19898993 -0.10251497 0.91801266] [ 0.20244461 0.97899043 0.02437026 0.11329419] [ 0.09551174 -0.04450546 0.99443289 -0.19429771] [ 0. 0. 0. 1. ]] SLAMing on 17.701346184 meters Centerline goodness : 0.901684 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97428961 -0.19987376 -0.10397225 0.92094564] [ 0.20347442 0.97875713 0.02515235 0.11545813] [ 0.09673629 -0.04566136 0.9942621 -0.19449856] [ 0. 0. 0. 1. ]] SLAMing on 17.731346184 meters Centerline goodness : 0.898427 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97396467 -0.20112079 -0.10460999 0.92111997] [ 0.20470442 0.9785142 0.02461832 0.11774692] [ 0.0974111 -0.0453915 0.99420857 -0.19314163] [ 0. 0. 0. 1. ]] SLAMing on 17.761346183999997 meters Centerline goodness : 0.898582 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.97365305 -0.20201058 -0.1057897 0.92365759] [ 0.20560317 0.9783382 0.02411849 0.12104152] [ 0.09862591 -0.04523374 0.99409599 -0.19369523] [ 0. 0. 0. 1. ]] SLAMing on 17.791346184 meters Centerline goodness : 0.896876 Centerline is valid? [False, False] Translation: X:0.92, Y:0.12, Z:-0.19 [[ 0.9734577 -0.20285074 -0.10597965 0.92389881] [ 0.20636469 0.97820008 0.02319961 0.1229497 ] [ 0.09896325 -0.04445429 0.99409763 -0.19349666] [ 0. 0. 0. 1. ]] SLAMing on 17.821346184 meters Centerline goodness : 0.898294 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.19 [[ 0.97337595 -0.20283891 -0.10675038 0.9254736 ] [ 0.20642907 0.97817657 0.02361417 0.12468127] [ 0.09963085 -0.04502185 0.9940054 -0.19398403] [ 0. 0. 0. 1. ]] SLAMing on 17.851346183999997 meters Centerline goodness : 0.898065 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97337735 -0.20245419 -0.10746553 0.92720907] [ 0.2061324 0.97822525 0.02418268 0.12584278] [ 0.10022961 -0.045691 0.99391466 -0.19472018] [ 0. 0. 0. 1. ]] SLAMing on 17.881346183999998 meters Centerline goodness : 0.897997 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97338851 -0.20250487 -0.10726876 0.92600721] [ 0.20598111 0.97830258 0.0222676 0.13004409] [ 0.10043201 -0.04377036 0.99398067 -0.19412016] [ 0. 0. 0. 1. ]] SLAMing on 17.911346184 meters Centerline goodness : 0.897997 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97338851 -0.20250487 -0.10726876 0.92600721] [ 0.20598111 0.97830258 0.0222676 0.13004409] [ 0.10043201 -0.04377036 0.99398067 -0.19412016] [ 0. 0. 0. 1. ]] SLAMing on 17.941346183999997 meters Centerline goodness : 0.898906 Centerline is valid? [False, False] Translation: X:0.93, Y:0.13, Z:-0.19 [[ 0.97337711 -0.20246803 -0.10744162 0.92553062] [ 0.20585726 0.97834943 0.02133493 0.13294764] [ 0.1007958 -0.04288457 0.99398245 -0.19353798] [ 0. 0. 0. 1. ]] SLAMing on 17.971346183999998 meters Centerline goodness : 0.897667 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.19 [[ 0.97342679 -0.20179956 -0.10824607 0.92762406] [ 0.20522429 0.97848154 0.02137422 0.13564817] [ 0.10160347 -0.04302096 0.99389433 -0.19478411] [ 0. 0. 0. 1. ]] SLAMing on 18.001346184 meters Centerline goodness : 0.898131 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.20 [[ 0.97392776 -0.19971518 -0.10760371 0.9268423 ] [ 0.20298385 0.97897329 0.02022028 0.13933139] [ 0.10130286 -0.04153491 0.99398822 -0.1965806 ] [ 0. 0. 0. 1. ]] SLAMing on 18.031346183999997 meters Centerline goodness : 0.898659 Centerline is valid? [False, False] Translation: X:0.93, Y:0.14, Z:-0.20 [[ 0.97413767 -0.19882753 -0.10734716 0.92552191] [ 0.20202521 0.97918271 0.01967342 0.1411247 ] [ 0.10120086 -0.04085145 0.99402693 -0.1960167 ] [ 0. 0. 0. 1. ]] SLAMing on 18.061346183999998 meters Centerline goodness : 0.897164 Centerline is valid? [False, False] Translation: X:0.92, Y:0.14, Z:-0.20 [[ 0.97433692 -0.19778055 -0.10747292 0.92467728] [ 0.20099871 0.97938983 0.01987671 0.1431043 ] [ 0.10132666 -0.04096853 0.9940093 -0.19528175] [ 0. 0. 0. 1. ]] SLAMing on 18.091346184 meters Centerline goodness : 0.895282 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.19 [[ 0.97443167 -0.19684119 -0.10833501 0.92524948] [ 0.20018309 0.9795381 0.0207809 0.1454393 ] [ 0.10202774 -0.0419364 0.99389722 -0.19468067] [ 0. 0. 0. 1. ]] SLAMing on 18.121346184 meters Centerline goodness : 0.897714 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.19 [[ 0.97480288 -0.19420438 -0.10974519 0.92584111] [ 0.19778777 0.97998285 0.02266277 0.15036811] [ 0.1031472 -0.04379799 0.99370136 -0.19414928] [ 0. 0. 0. 1. ]] SLAMing on 18.151346183999998 meters Centerline goodness : 0.895124 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.19 [[ 0.97500013 -0.1932823 -0.10962073 0.92435879] [ 0.19680247 0.98019284 0.02215376 0.15288701] [ 0.10316753 -0.04317355 0.99372658 -0.19331764] [ 0. 0. 0. 1. ]] SLAMing on 18.181346184 meters Centerline goodness : 0.897026 Centerline is valid? [False, False] Translation: X:0.92, Y:0.15, Z:-0.19 [[ 0.97514961 -0.19272815 -0.1092662 0.92359201] [ 0.19615969 0.98033677 0.0214756 0.15494005] [ 0.10297872 -0.04237554 0.99378051 -0.19358048] [ 0. 0. 0. 1. ]] SLAMing on 18.211346184 meters Centerline goodness : 0.897766 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97522897 -0.19256828 -0.10883897 0.92283501] [ 0.19585077 0.98042526 0.0202183 0.15661632] [ 0.10281507 -0.04103367 0.99385376 -0.19373772] [ 0. 0. 0. 1. ]] SLAMing on 18.241346183999998 meters Centerline goodness : 0.897504 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.9752416 -0.19266478 -0.10855459 0.92181408] [ 0.19578023 0.98046928 0.01871063 0.1599555 ] [ 0.10282956 -0.03950023 0.99391439 -0.19341435] [ 0. 0. 0. 1. ]] SLAMing on 18.271346184 meters Centerline goodness : 0.895344 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97517706 -0.19280924 -0.10887744 0.92242481] [ 0.19594739 0.98043423 0.01879742 0.16161523] [ 0.10312286 -0.03966507 0.99387744 -0.19354632] [ 0. 0. 0. 1. ]] SLAMing on 18.301346184 meters Centerline goodness : 0.897314 Centerline is valid? [False, False] Translation: X:0.92, Y:0.16, Z:-0.19 [[ 0.97499889 -0.19331227 -0.10957888 0.92269666] [ 0.19644145 0.98034261 0.01841543 0.16375574] [ 0.10386492 -0.03948085 0.9938075 -0.19236867] [ 0. 0. 0. 1. ]] SLAMing on 18.331346183999997 meters Centerline goodness : 0.897092 Centerline is valid? [False, False] Translation: X:0.92, Y:0.17, Z:-0.19 [[ 0.97483284 -0.19348024 -0.11075349 0.92458979] [ 0.19673354 0.98027023 0.0191362 0.16653127] [ 0.10486588 -0.04044352 0.99366366 -0.19242276] [ 0. 0. 0. 1. ]] SLAMing on 18.361346184 meters Centerline goodness : 0.896035 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.19 [[ 0.97458028 -0.19423426 -0.11165273 0.92500802] [ 0.1974017 0.98015845 0.01794365 0.17247062] [ 0.1059521 -0.03952796 0.99358527 -0.1915761 ] [ 0. 0. 0. 1. ]] SLAMing on 18.391346184 meters Centerline goodness : 0.895298 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97452966 -0.19436997 -0.11185817 0.92561273] [ 0.19745765 0.98016203 0.01711343 0.17541165] [ 0.10631279 -0.0387648 0.99357681 -0.19154953] [ 0. 0. 0. 1. ]] SLAMing on 18.421346183999997 meters Centerline goodness : 0.893651 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97447715 -0.1945548 -0.11199424 0.92587517] [ 0.19754474 0.98016096 0.01614202 0.1785013 ] [ 0.10663187 -0.0378539 0.99357774 -0.19116087] [ 0. 0. 0. 1. ]] SLAMing on 18.451346184 meters Centerline goodness : 0.893205 Centerline is valid? [False, False] Translation: X:0.93, Y:0.18, Z:-0.19 [[ 0.97445297 -0.19469706 -0.1119574 0.92569698] [ 0.19749341 0.98019924 0.0143459 0.18492751] [ 0.10694745 -0.03609025 0.99360945 -0.19025736] [ 0. 0. 0. 1. ]] SLAMing on 18.481346184 meters Centerline goodness : 0.895705 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97439498 -0.19497227 -0.11198321 0.92552506] [ 0.19765622 0.98018146 0.01327904 0.18816032] [ 0.10717482 -0.03507321 0.99362137 -0.18961608] [ 0. 0. 0. 1. ]] SLAMing on 18.511346183999997 meters Centerline goodness : 0.889624 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97436283 -0.19515827 -0.1119389 0.92547475] [ 0.19775038 0.98017357 0.01243219 0.19080741] [ 0.10729331 -0.03424942 0.99363732 -0.18938362] [ 0. 0. 0. 1. ]] SLAMing on 18.541346184 meters Centerline goodness : 0.893563 Centerline is valid? [False, False] Translation: X:0.93, Y:0.19, Z:-0.19 [[ 0.97432786 -0.19545386 -0.11172735 0.92509869] [ 0.19790989 0.98015597 0.01122246 0.19441377] [ 0.10731676 -0.0330463 0.99367553 -0.18896136] [ 0. 0. 0. 1. ]] SLAMing on 18.571346184 meters Centerline goodness : 0.894306 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.19 [[ 0.97422246 -0.19613209 -0.11145761 0.92373207] [ 0.19846326 0.98005618 0.01011059 0.19682157] [ 0.10725171 -0.0319702 0.99371776 -0.18779375] [ 0. 0. 0. 1. ]] SLAMing on 18.601346183999997 meters Centerline goodness : 0.895798 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.19 [[ 0.9740901 -0.1969459 -0.11117914 0.92198976] [ 0.19913308 0.97993283 0.00881292 0.19922581] [ 0.10721242 -0.03072402 0.99376131 -0.18603373] [ 0. 0. 0. 1. ]] SLAMing on 18.631346183999998 meters Centerline goodness : 0.894517 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97397718 -0.19759474 -0.11101697 0.92071181] [ 0.19967453 0.97983101 0.0078274 0.20091853] [ 0.10723122 -0.02979097 0.99378769 -0.18467513] [ 0. 0. 0. 1. ]] SLAMing on 18.661346184 meters Centerline goodness : 0.893296 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97387661 -0.19813627 -0.11093403 0.91978876] [ 0.20011864 0.97974725 0.00691755 0.2026179 ] [ 0.10731669 -0.02893681 0.9938037 -0.18348267] [ 0. 0. 0. 1. ]] SLAMing on 18.691346183999997 meters Centerline goodness : 0.895520 Centerline is valid? [False, False] Translation: X:0.92, Y:0.20, Z:-0.18 [[ 0.97381194 -0.19850248 -0.11084703 0.91929763] [ 0.2004182 0.97969016 0.00630335 0.20404934] [ 0.10734452 -0.02835404 0.99381749 -0.18298395] [ 0. 0. 0. 1. ]] SLAMing on 18.721346183999998 meters Centerline goodness : 0.893284 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.9737895 -0.19845581 -0.11112742 0.91996252] [ 0.20033597 0.97970947 0.00590344 0.20538224] [ 0.10770102 -0.02801153 0.99378863 -0.18272636] [ 0. 0. 0. 1. ]] SLAMing on 18.751346184 meters Centerline goodness : 0.894616 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.97389514 -0.19761592 -0.11169697 0.92264399] [ 0.1995566 0.97986568 0.00635781 0.20552921] [ 0.10819162 -0.0284817 0.99372198 -0.18417716] [ 0. 0. 0. 1. ]] SLAMing on 18.781346183999997 meters Centerline goodness : 0.894076 Centerline is valid? [False, False] Translation: X:0.92, Y:0.21, Z:-0.18 [[ 0.97395363 -0.19711652 -0.11206877 0.92423642] [ 0.19907595 0.97996278 0.00645933 0.20566016] [ 0.10854998 -0.02860129 0.99367946 -0.18464685] [ 0. 0. 0. 1. ]] SLAMing on 18.811346183999998 meters Centerline goodness : 0.894480 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97400625 -0.19661813 -0.11248615 0.92566624] [ 0.19855959 0.98006912 0.00621347 0.20680983] [ 0.10902252 -0.02838716 0.99363387 -0.18458666] [ 0. 0. 0. 1. ]] SLAMing on 18.841346184 meters Centerline goodness : 0.893296 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97406295 -0.19599176 -0.11308671 0.92737843] [ 0.19789013 0.98020762 0.00570206 0.20896018] [ 0.1097309 -0.02793291 0.99356876 -0.18401946] [ 0. 0. 0. 1. ]] SLAMing on 18.871346184 meters Centerline goodness : 0.896652 Centerline is valid? [False, False] Translation: X:0.93, Y:0.21, Z:-0.18 [[ 0.97504551 -0.19031798 -0.11430359 0.9289141 ] [ 0.19262931 0.98122633 0.00942517 0.21171721] [ 0.11036392 -0.03120819 0.99340115 -0.18351298] [ 0. 0. 0. 1. ]] SLAMing on 18.901346183999998 meters Centerline goodness : 0.897072 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.18 [[ 0.97517985 -0.18898306 -0.11536751 0.93193651] [ 0.19107072 0.98154978 0.00721201 0.21644436] [ 0.111876 -0.02907636 0.9932967 -0.17965395] [ 0. 0. 0. 1. ]] SLAMing on 18.931346184 meters Centerline goodness : 0.897350 Centerline is valid? [False, False] Translation: X:0.93, Y:0.22, Z:-0.18 [[ 0.97596978 -0.1842961 -0.1162667 0.93230615] [ 0.18681065 0.98233413 0.0110195 0.21711718] [ 0.1121819 -0.03247455 0.9931569 -0.17933592] [ 0. 0. 0. 1. ]] SLAMing on 18.961346184 meters Centerline goodness : 0.897160 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.17 [[ 0.97751513 -0.17709001 -0.11446961 0.95135853] [ 0.17853133 0.98393134 0.00238198 0.22630505] [ 0.11220841 -0.02276484 0.9934239 -0.16876403] [ 0. 0. 0. 1. ]] SLAMing on 18.991346183999998 meters Centerline goodness : 0.897844 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.17 [[ 0.97754002 -0.17651257 -0.11514699 0.95348071] [ 0.17791614 0.98404373 0.00194587 0.22751015] [ 0.1129662 -0.02238868 0.99334656 -0.16811069] [ 0. 0. 0. 1. ]] SLAMing on 19.021346184 meters Centerline goodness : 0.895157 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.9770166 -0.1792475 -0.11536418 0.95695824] [ 0.18012737 0.9836392 -0.00283825 0.23114702] [ 0.11398548 -0.01800723 0.99331921 -0.16684533] [ 0. 0. 0. 1. ]] SLAMing on 19.051346184 meters Centerline goodness : 0.893848 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.97704063 -0.17899319 -0.11555542 0.95820614] [ 0.1799252 0.98367737 -0.00239992 0.22983275] [ 0.11409882 -0.01844651 0.99329814 -0.16776546] [ 0. 0. 0. 1. ]] SLAMing on 19.081346183999997 meters Centerline goodness : 0.893084 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.17 [[ 0.97630818 -0.18322315 -0.11511562 0.95934599] [ 0.18370131 0.9829604 -0.00653263 0.22970179] [ 0.11435102 -0.01476903 0.99333062 -0.16766097] [ 0. 0. 0. 1. ]] SLAMing on 19.111346184 meters Centerline goodness : 0.895776 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.97546678 -0.1878423 -0.11480341 0.95943346] [ 0.18770136 0.98215119 -0.01213457 0.23251048] [ 0.11503369 -0.00971188 0.99331411 -0.16482815] [ 0. 0. 0. 1. ]] SLAMing on 19.141346184 meters Centerline goodness : 0.894650 Centerline is valid? [False, False] Translation: X:0.96, Y:0.24, Z:-0.16 [[ 0.9746289 -0.19231396 -0.11451573 0.95978005] [ 0.19156539 0.98132184 -0.01761091 0.23556316] [ 0.11576362 -0.00477315 0.99326532 -0.16217578] [ 0. 0. 0. 1. ]] SLAMing on 19.171346183999997 meters Centerline goodness : 0.897107 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.97452329 -0.1930468 -0.11418093 0.95834096] [ 0.19227203 0.98117903 -0.0178655 0.23453932] [ 0.11548081 -0.00454345 0.99329932 -0.16141965] [ 0. 0. 0. 1. ]] SLAMing on 19.201346184 meters Centerline goodness : 0.898707 Centerline is valid? [False, False] Translation: X:0.96, Y:0.23, Z:-0.16 [[ 0.9741362 -0.19529081 -0.11366687 0.95526633] [ 0.19441552 0.98073824 -0.01884426 0.23240159] [ 0.11515756 -0.00374172 0.99334019 -0.15974172] [ 0. 0. 0. 1. ]] SLAMing on 19.231346184 meters Centerline goodness : 0.898062 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 0.97401572 -0.19609504 -0.11331422 0.95393338] [ 0.19523177 0.9805774 -0.01877567 0.23030516] [ 0.11479518 -0.00383474 0.99338178 -0.15949767] [ 0. 0. 0. 1. ]] SLAMing on 19.261346183999997 meters Centerline goodness : 0.894202 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 0.97386217 -0.19712435 -0.11284705 0.95234429] [ 0.19625579 0.98037123 -0.01886583 0.22819101] [ 0.11435091 -0.00377417 0.99343325 -0.15924014] [ 0. 0. 0. 1. ]] SLAMing on 19.291346184 meters Centerline goodness : 0.893228 Centerline is valid? [False, False] Translation: X:0.95, Y:0.23, Z:-0.16 [[ 9.72945860e-01 -2.02167948e-01 -1.11823409e-01 9.51837851e-01] [ 2.00879406e-01 9.79350824e-01 -2.27909388e-02 2.26347626e-01] [ 1.14121945e-01 -2.88670437e-04 9.93466707e-01 -1.59391021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321346184 meters Centerline goodness : 0.892368 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72845726e-01 -2.02935305e-01 -1.11303436e-01 9.50712325e-01] [ 2.01652211e-01 9.79192108e-01 -2.27859791e-02 2.24234647e-01] [ 1.13611526e-01 -2.77341665e-04 9.93525211e-01 -1.59632418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.351346183999997 meters Centerline goodness : 0.894050 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72701968e-01 -2.03952949e-01 -1.10698128e-01 9.48656330e-01] [ 2.02641017e-01 9.78980691e-01 -2.30959873e-02 2.22648036e-01] [ 1.13081825e-01 3.35309446e-05 9.93585678e-01 -1.58976864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381346183999998 meters Centerline goodness : 0.894974 Centerline is valid? [False, False] Translation: X:0.95, Y:0.22, Z:-0.16 [[ 9.72560084e-01 -2.05031225e-01 -1.09950349e-01 9.46013226e-01] [ 2.03659015e-01 9.78755218e-01 -2.36902628e-02 2.21787043e-01] [ 1.12471721e-01 6.47824263e-04 9.93654715e-01 -1.57749358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.411346184 meters Centerline goodness : 0.894329 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97233579 -0.20657992 -0.10903144 0.94234422] [ 0.20511519 0.97842848 -0.02460615 0.22111356] [ 0.1117626 0.00156143 0.99373371 -0.15584973] [ 0. 0. 0. 1. ]] SLAMing on 19.441346183999997 meters Centerline goodness : 0.894258 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97226507 -0.20701634 -0.10883418 0.9415788 ] [ 0.20553759 0.97833601 -0.02475804 0.22027515] [ 0.11160171 0.00170186 0.99375156 -0.15541724] [ 0. 0. 0. 1. ]] SLAMing on 19.471346183999998 meters Centerline goodness : 0.894397 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.16 [[ 0.97223052 -0.20728083 -0.10863915 0.94115561] [ 0.20582456 0.97828028 -0.0245752 0.21876492] [ 0.11137351 0.00153216 0.99377744 -0.15551494] [ 0. 0. 0. 1. ]] SLAMing on 19.501346184 meters Centerline goodness : 0.895323 Centerline is valid? [False, False] Translation: X:0.94, Y:0.22, Z:-0.15 [[ 0.97203482 -0.20845215 -0.10814806 0.93923882] [ 0.20699666 0.97803131 -0.02464004 0.21558961] [ 0.11090846 0.00156469 0.99382939 -0.15482796] [ 0. 0. 0. 1. ]] SLAMing on 19.531346183999997 meters Centerline goodness : 0.894414 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97202116 -0.20856684 -0.10804973 0.93892217] [ 0.2071244 0.97800702 -0.02453065 0.21443462] [ 0.11078968 0.00146458 0.9938428 -0.15456427] [ 0. 0. 0. 1. ]] SLAMing on 19.561346183999998 meters Centerline goodness : 0.892452 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97203182 -0.20847406 -0.10813279 0.93920041] [ 0.20704226 0.97802695 -0.02442911 0.21409261] [ 0.11084962 0.00135781 0.99383626 -0.15458698] [ 0. 0. 0. 1. ]] SLAMing on 19.591346184 meters Centerline goodness : 0.894293 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.15 [[ 0.97205473 -0.20824993 -0.10835855 0.93971659] [ 0.20680836 0.97807463 -0.02450128 0.21443738] [ 0.11108514 0.00140713 0.9938099 -0.15427889] [ 0. 0. 0. 1. ]] SLAMing on 19.621346184 meters Centerline goodness : 0.891620 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97294297 -0.20369492 -0.10904294 0.93986341] [ 0.20274928 0.97903031 -0.01980881 0.2121733 ] [ 0.11079129 -0.00283554 0.99383965 -0.15515337] [ 0. 0. 0. 1. ]] SLAMing on 19.651346183999998 meters Centerline goodness : 0.892548 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97305208 -0.20287962 -0.10958794 0.94220296] [ 0.20200353 0.97919744 -0.01915583 0.21111388] [ 0.11119456 -0.00349753 0.9937925 -0.15624272] [ 0. 0. 0. 1. ]] SLAMing on 19.681346184 meters Centerline goodness : 0.893588 Centerline is valid? [False, False] Translation: X:0.94, Y:0.21, Z:-0.16 [[ 0.97316939 -0.20200964 -0.1101519 0.94479815] [ 0.20122356 0.97937395 -0.01832356 0.20927389] [ 0.11158143 -0.00433323 0.99374585 -0.15755416] [ 0. 0. 0. 1. ]] SLAMing on 19.711346184 meters Centerline goodness : 0.893588 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97333386 -0.20067894 -0.11112677 0.94851608] [ 0.19999062 0.97964291 -0.01742203 0.20824408] [ 0.11236078 -0.00526686 0.99365352 -0.15889212] [ 0. 0. 0. 1. ]] SLAMing on 19.741346183999998 meters Centerline goodness : 0.893847 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334546 -0.20038222 -0.11155975 0.94956544] [ 0.19968177 0.97970394 -0.01753235 0.2094357 ] [ 0.11280869 -0.00521142 0.99360306 -0.15876361] [ 0. 0. 0. 1. ]] SLAMing on 19.771346184 meters Centerline goodness : 0.892321 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334536 -0.20012332 -0.11202441 0.95067262] [ 0.19941122 0.97975709 -0.0176413 0.21030563] [ 0.11328715 -0.00516784 0.99354885 -0.15858387] [ 0. 0. 0. 1. ]] SLAMing on 19.801346184 meters Centerline goodness : 0.892321 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334536 -0.20012332 -0.11202441 0.95067262] [ 0.19941122 0.97975709 -0.0176413 0.21030563] [ 0.11328715 -0.00516784 0.99354885 -0.15858387] [ 0. 0. 0. 1. ]] SLAMing on 19.831346183999997 meters Centerline goodness : 0.893100 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97330808 -0.20028792 -0.11205413 0.95178779] [ 0.19958273 0.97972306 -0.01759152 0.21042419] [ 0.11330538 -0.0052421 0.99354638 -0.15981877] [ 0. 0. 0. 1. ]] SLAMing on 19.861346184 meters Centerline goodness : 0.891343 Centerline is valid? [False, False] Translation: X:0.95, Y:0.21, Z:-0.16 [[ 0.97334038 -0.19993248 -0.11240777 0.95344636] [ 0.19936226 0.97978851 -0.0164064 0.20557175] [ 0.11341602 -0.00644085 0.99352671 -0.16092657] [ 0. 0. 0. 1. ]] SLAMing on 19.891346184 meters Centerline goodness : 0.891929 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97323637 -0.20040037 -0.11247511 0.95426787] [ 0.1999313 0.9796865 -0.01555128 0.20371655] [ 0.11330683 -0.00735223 0.99353284 -0.1611962 ] [ 0. 0. 0. 1. ]] SLAMing on 19.921346183999997 meters Centerline goodness : 0.891561 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97308796 -0.20097611 -0.11273166 0.95452223] [ 0.20055205 0.97956501 -0.0152076 0.20233605] [ 0.11348435 -0.00781023 0.99350909 -0.1602271 ] [ 0. 0. 0. 1. ]] SLAMing on 19.951346184 meters Centerline goodness : 0.892879 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.973158 -0.20077066 -0.1124929 0.95401946] [ 0.2003988 0.9796038 -0.01472105 0.20095123] [ 0.11315402 -0.00821754 0.99354348 -0.15988973] [ 0. 0. 0. 1. ]] SLAMing on 19.981346184 meters Centerline goodness : 0.895134 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97344566 -0.19968789 -0.11192983 0.95248322] [ 0.19935697 0.97982323 -0.01425592 0.19944208] [ 0.11251818 -0.00843663 0.99361385 -0.15905834] [ 0. 0. 0. 1. ]] SLAMing on 20.011346183999997 meters Centerline goodness : 0.896162 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97373736 -0.19866155 -0.11121665 0.95123122] [ 0.19829862 0.98003546 -0.01442759 0.19865916] [ 0.11186247 -0.00800542 0.99369145 -0.15905298] [ 0. 0. 0. 1. ]] SLAMing on 20.041346184 meters Centerline goodness : 0.895713 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.16 [[ 0.97487984 -0.19454406 -0.10845234 0.94885389] [ 0.19407603 0.98087246 -0.01495678 0.19594426] [ 0.10928767 -0.00646694 0.99398913 -0.16308204] [ 0. 0. 0. 1. ]] SLAMing on 20.071346184 meters Centerline goodness : 0.899256 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.16 [[ 0.97552308 -0.19200541 -0.10718505 0.94727728] [ 0.19147709 0.98137788 -0.01529636 0.19493843] [ 0.10812603 -0.00560153 0.99412141 -0.16446924] [ 0. 0. 0. 1. ]] SLAMing on 20.101346183999997 meters Centerline goodness : 0.898802 Centerline is valid? [False, False] Translation: X:0.95, Y:0.19, Z:-0.17 [[ 0.97621166 -0.18897542 -0.10629713 0.94538063] [ 0.1885383 0.98196261 -0.01423855 0.19402534] [ 0.10707054 -0.00614124 0.99423246 -0.16504477] [ 0. 0. 0. 1. ]] SLAMing on 20.131346183999998 meters Centerline goodness : 0.903222 Centerline is valid? [False, False] Translation: X:0.95, Y:0.20, Z:-0.17 [[ 0.97706436 -0.19105762 -0.09403309 0.9460043 ] [ 0.19044327 0.98157507 -0.01554838 0.19931896] [ 0.09527117 -0.0027162 0.99544765 -0.16657817] [ 0. 0. 0. 1. ]] SLAMing on 20.161346184 meters Centerline goodness : 0.903432 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97758866 -0.18835461 -0.09403702 0.94430101] [ 0.18785258 0.98209396 -0.01424304 0.19917055] [ 0.09503593 -0.00374126 0.99546681 -0.16522639] [ 0. 0. 0. 1. ]] SLAMing on 20.191346183999997 meters Centerline goodness : 0.902966 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97837368 -0.18486232 -0.09279476 0.9420607 ] [ 0.18440197 0.98275701 -0.01358599 0.19709015] [ 0.09370623 -0.00381936 0.99559256 -0.16583769] [ 0. 0. 0. 1. ]] SLAMing on 20.221346183999998 meters Centerline goodness : 0.904678 Centerline is valid? [False, False] Translation: X:0.94, Y:0.20, Z:-0.17 [[ 0.97850509 -0.18473939 -0.09164682 0.94029456] [ 0.18412749 0.98278543 -0.01516139 0.19526179] [ 0.09287007 -0.0020392 0.99567615 -0.16568418] [ 0. 0. 0. 1. ]] SLAMing on 20.251346184 meters Centerline goodness : 0.904604 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.17 [[ 9.78576902e-01 -1.84883947e-01 -9.05824113e-02 9.39352268e-01] [ 1.84146634e-01 9.82760217e-01 -1.65036973e-02 1.92760315e-01] [ 9.20720589e-02 -5.30309191e-04 9.95752205e-01 -1.66214019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281346183999997 meters Centerline goodness : 0.905623 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.17 [[ 9.78499110e-01 -1.85660161e-01 -8.98320475e-02 9.38120517e-01] [ 1.84809073e-01 9.82613698e-01 -1.77743241e-02 1.90268104e-01] [ 9.15701843e-02 7.90382874e-04 9.95798311e-01 -1.65341792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.311346183999998 meters Centerline goodness : 0.905499 Centerline is valid? [False, False] Translation: X:0.94, Y:0.19, Z:-0.16 [[ 9.78412335e-01 -1.86236172e-01 -8.95845491e-02 9.36991063e-01] [ 1.85459099e-01 9.82505007e-01 -1.69951365e-02 1.85891186e-01] [ 9.11823771e-02 1.39814302e-05 9.95834210e-01 -1.63352625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341346184 meters Centerline goodness : 0.899932 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.16 [[ 9.78438464e-01 -1.86175688e-01 -8.94247487e-02 9.37831004e-01] [ 1.85479392e-01 9.82516123e-01 -1.61078877e-02 1.83651423e-01] [ 9.08601544e-02 -8.25871050e-04 9.95863319e-01 -1.64378907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.371346184 meters Centerline goodness : 0.904050 Centerline is valid? [False, False] Translation: X:0.94, Y:0.18, Z:-0.16 [[ 0.97828134 -0.18776557 -0.0878049 0.93573942] [ 0.18680145 0.98221111 -0.01914543 0.18154843] [ 0.0898378 0.00232753 0.99595369 -0.16422799] [ 0. 0. 0. 1. ]] SLAMing on 20.401346183999998 meters Centerline goodness : 0.904229 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97775273 -0.19248615 -0.08335869 0.93101306] [ 0.19088066 0.98124474 -0.02689506 0.17411886] [ 0.08697221 0.01038516 0.99615661 -0.16473779] [ 0. 0. 0. 1. ]] SLAMing on 20.431346184 meters Centerline goodness : 0.910741 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97715488 -0.19599411 -0.08218671 0.92978794] [ 0.19417511 0.98051873 -0.02964883 0.1700282 ] [ 0.0863966 0.01301288 0.99617583 -0.16364044] [ 0. 0. 0. 1. ]] SLAMing on 20.461346184 meters Centerline goodness : 0.909638 Centerline is valid? [False, False] Translation: X:0.93, Y:0.17, Z:-0.16 [[ 0.97642654 -0.1998686 -0.08150924 0.92886066] [ 0.19793616 0.97971763 -0.0312194 0.16554505] [ 0.08609582 0.01434982 0.99618351 -0.16160007] [ 0. 0. 0. 1. ]] SLAMing on 20.491346183999998 meters Centerline goodness : 0.911567 Centerline is valid? [False, False] Translation: X:0.93, Y:0.16, Z:-0.16 [[ 0.9755559 -0.20387652 -0.08200635 0.93085165] [ 0.20198832 0.97890396 -0.03078577 0.16124987] [ 0.08655284 0.01346891 0.99615621 -0.16053695] [ 0. 0. 0. 1. ]] SLAMing on 20.521346184 meters Centerline goodness : 0.908166 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.16 [[ 0.97362654 -0.21288229 -0.08205181 0.93147012] [ 0.21088774 0.97697471 -0.03235406 0.15197406] [ 0.08705015 0.01419705 0.99610276 -0.15563629] [ 0. 0. 0. 1. ]] SLAMing on 20.551346184 meters Centerline goodness : 0.912580 Centerline is valid? [False, False] Translation: X:0.93, Y:0.15, Z:-0.15 [[ 0.97255838 -0.21784428 -0.08169501 0.93203107] [ 0.2156914 0.97585476 -0.0344195 0.14696865] [ 0.08722055 0.01585406 0.99606286 -0.15383438] [ 0. 0. 0. 1. ]] SLAMing on 20.581346183999997 meters Centerline goodness : 0.914597 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:-0.15 [[ 0.97155492 -0.22226875 -0.08171679 0.93502161] [ 0.21997701 0.97483437 -0.03616716 0.14244359] [ 0.08769916 0.01716257 0.99599915 -0.15437959] [ 0. 0. 0. 1. ]] SLAMing on 20.611346184 meters Centerline goodness : 0.915200 Centerline is valid? [False, False] Translation: X:0.94, Y:0.14, Z:-0.15 [[ 0.97064926 -0.22634635 -0.0812855 0.9359844 ] [ 0.22388972 0.97386234 -0.03828238 0.13747672] [ 0.08782597 0.01895978 0.99595538 -0.1535077 ] [ 0. 0. 0. 1. ]] SLAMing on 20.641346184 meters Centerline goodness : 0.916655 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96921651 -0.22742822 -0.09431736 0.93635091] [ 0.22492017 0.97369097 -0.03656233 0.12453296] [ 0.10015126 0.01422294 0.99487056 -0.14838879] [ 0. 0. 0. 1. ]] SLAMing on 20.671346183999997 meters Centerline goodness : 0.915998 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96864061 -0.2301724 -0.09357369 0.93514432] [ 0.22749539 0.97301856 -0.03848032 0.12176564] [ 0.09990604 0.01598602 0.99486845 -0.1466015 ] [ 0. 0. 0. 1. ]] SLAMing on 20.701346184 meters Centerline goodness : 0.917704 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.15 [[ 0.96864062 -0.23041259 -0.09298053 0.93539918] [ 0.22778811 0.97296657 -0.03806099 0.11605124] [ 0.09923668 0.01568756 0.99494019 -0.14692227] [ 0. 0. 0. 1. ]] SLAMing on 20.731346184 meters Centerline goodness : 0.918371 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96881531 -0.2295508 -0.09329158 0.93722736] [ 0.22702643 0.9731866 -0.03697092 0.11440378] [ 0.09927682 0.01463834 0.99495218 -0.14839929] [ 0. 0. 0. 1. ]] SLAMing on 20.761346183999997 meters Centerline goodness : 0.919262 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96915584 -0.22807976 -0.0933626 0.93810126] [ 0.2255966 0.97353753 -0.03648086 0.11313028] [ 0.09921254 0.01429335 0.9949636 -0.14956968] [ 0. 0. 0. 1. ]] SLAMing on 20.791346184 meters Centerline goodness : 0.920396 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.15 [[ 0.96971459 -0.22558666 -0.09361771 0.93954357] [ 0.22324164 0.97413653 -0.03494563 0.11206217] [ 0.0990797 0.01298792 0.99499474 -0.15147931] [ 0. 0. 0. 1. ]] SLAMing on 20.821346184 meters Centerline goodness : 0.919518 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.9708732 -0.22079615 -0.09302839 0.93996848] [ 0.21863072 0.97524995 -0.03298709 0.1106351 ] [ 0.09800936 0.01168742 0.99511686 -0.15520982] [ 0. 0. 0. 1. ]] SLAMing on 20.851346183999997 meters Centerline goodness : 0.920994 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97124888 -0.21919846 -0.09288515 0.94107108] [ 0.21705537 0.9756113 -0.03270399 0.11018182] [ 0.09778846 0.01160249 0.99513959 -0.15741395] [ 0. 0. 0. 1. ]] SLAMing on 20.881346183999998 meters Centerline goodness : 0.920444 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97161314 -0.21739508 -0.09331278 0.94299466] [ 0.21534518 0.97602578 -0.0316248 0.10973845] [ 0.09795076 0.01063261 0.99513446 -0.15931851] [ 0. 0. 0. 1. ]] SLAMing on 20.911346184 meters Centerline goodness : 0.918892 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.16 [[ 0.97188714 -0.21597436 -0.0937575 0.94489105] [ 0.21399783 0.97634946 -0.03076784 0.10985343] [ 0.09818515 0.00983897 0.99511953 -0.16107757] [ 0. 0. 0. 1. ]] SLAMing on 20.941346183999997 meters Centerline goodness : 0.918098 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97208514 -0.21493697 -0.0940881 0.94631852] [ 0.21308248 0.97659023 -0.02945142 0.10846613] [ 0.09821572 0.00858076 0.99512815 -0.16212454] [ 0. 0. 0. 1. ]] SLAMing on 20.971346183999998 meters Centerline goodness : 0.918860 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97213532 -0.21465353 -0.09421665 0.94617994] [ 0.21298124 0.97666697 -0.02757924 0.10582266] [ 0.09793827 0.00674437 0.99516964 -0.1612634 ] [ 0. 0. 0. 1. ]] SLAMing on 21.001346184 meters Centerline goodness : 0.918413 Centerline is valid? [False, False] Translation: X:0.95, Y:0.11, Z:-0.16 [[ 0.97196744 -0.21496498 -0.09523313 0.94906415] [ 0.21340688 0.97660731 -0.02637565 0.10565392] [ 0.09867521 0.00531286 0.99510551 -0.16206086] [ 0. 0. 0. 1. ]] SLAMing on 21.031346183999997 meters Centerline goodness : 0.913994 Centerline is valid? [False, False] Translation: X:0.95, Y:0.10, Z:-0.17 [[ 0.97138117 -0.21817521 -0.09390532 0.95073284] [ 0.21623949 0.97586563 -0.03044264 0.10450176] [ 0.0982808 0.00926537 0.99511559 -0.16527515] [ 0. 0. 0. 1. ]] SLAMing on 21.061346183999998 meters Centerline goodness : 0.911479 Centerline is valid? [False, False] Translation: X:0.95, Y:0.10, Z:-0.17 [[ 0.97114447 -0.21924559 -0.09386051 0.95334794] [ 0.21724536 0.97561988 -0.03114965 0.10335911] [ 0.0984016 0.00986005 0.99509794 -0.16760184] [ 0. 0. 0. 1. ]] SLAMing on 21.091346184 meters Centerline goodness : 0.911645 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97100974 -0.21954692 -0.09454753 0.95633226] [ 0.21762233 0.97556153 -0.0303353 0.10240707] [ 0.09889695 0.00888022 0.99505806 -0.16912088] [ 0. 0. 0. 1. ]] SLAMing on 21.121346183999997 meters Centerline goodness : 0.912951 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97084751 -0.21999224 -0.09517631 0.95774344] [ 0.21815541 0.97547043 -0.02942209 0.10219874] [ 0.0993143 0.00780114 0.99502553 -0.16902339] [ 0. 0. 0. 1. ]] SLAMing on 21.151346183999998 meters Centerline goodness : 0.910370 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.97054483 -0.22074177 -0.09651839 0.96150873] [ 0.21902806 0.97531279 -0.02813677 0.1029006 ] [ 0.10034658 0.00616776 0.99493343 -0.17009042] [ 0. 0. 0. 1. ]] SLAMing on 21.181346184 meters Centerline goodness : 0.908921 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.17 [[ 0.9704071 -0.22104703 -0.09720223 0.96442157] [ 0.2193527 0.97524607 -0.02791949 0.10358869] [ 0.10096761 0.0057717 0.99487297 -0.17176866] [ 0. 0. 0. 1. ]] SLAMing on 21.211346184 meters Centerline goodness : 0.905773 Centerline is valid? [False, False] Translation: X:0.97, Y:0.10, Z:-0.17 [[ 0.97021985 -0.22162747 -0.09774814 0.96702108] [ 0.21994222 0.97511589 -0.02782826 0.10391118] [ 0.10148327 0.00550059 0.99482204 -0.17319968] [ 0. 0. 0. 1. ]] SLAMing on 21.241346183999998 meters Centerline goodness : 0.905168 Centerline is valid? [False, False] Translation: X:0.97, Y:0.10, Z:-0.17 [[ 0.9701195 -0.22187375 -0.09818446 0.96943224] [ 0.22022708 0.97506259 -0.02744026 0.10427458] [ 0.10182427 0.00499745 0.99478985 -0.1748077 ] [ 0. 0. 0. 1. ]] SLAMing on 21.271346184 meters Centerline goodness : 0.905984 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.18 [[ 0.96979216 -0.22239951 -0.10020795 0.97388215] [ 0.22098344 0.97495301 -0.02515828 0.10620639] [ 0.10329324 0.00225401 0.99464839 -0.17547615] [ 0. 0. 0. 1. ]] SLAMing on 21.301346184 meters Centerline goodness : 0.907009 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 9.69660261e-01 -2.22242013e-01 -1.01820756e-01 9.77100864e-01] [ 2.21053988e-01 9.74991499e-01 -2.29501878e-02 1.07814399e-01] [ 1.04374868e-01 -2.53999179e-04 9.94537994e-01 -1.75832309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.331346183999997 meters Centerline goodness : 0.905050 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 0.96937677 -0.22295059 -0.10296458 0.97928015] [ 0.22188635 0.97482828 -0.02182362 0.10973321] [ 0.10523837 -0.00169112 0.99444559 -0.17568193] [ 0. 0. 0. 1. ]] SLAMing on 21.361346184 meters Centerline goodness : 0.905615 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.18 [[ 0.96891852 -0.22392967 -0.10513039 0.98345985] [ 0.22306343 0.97459711 -0.02007907 0.11288774] [ 0.10695608 -0.00399577 0.99425572 -0.17573592] [ 0. 0. 0. 1. ]] SLAMing on 21.391346184 meters Centerline goodness : 0.906724 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96868506 -0.2243167 -0.10644844 0.98603072] [ 0.22364988 0.97449743 -0.01831638 0.11501868] [ 0.1078424 -0.00606438 0.99414951 -0.17581361] [ 0. 0. 0. 1. ]] SLAMing on 21.421346183999997 meters Centerline goodness : 0.907661 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96852448 -0.22410635 -0.10833594 0.98928067] [ 0.22377276 0.97451991 -0.01538461 0.1170458 ] [ 0.10902331 -0.00934226 0.99399529 -0.17573125] [ 0. 0. 0. 1. ]] SLAMing on 21.451346184 meters Centerline goodness : 0.908697 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.18 [[ 0.96842597 -0.22349291 -0.11046297 0.99354893] [ 0.22352194 0.97462153 -0.0122806 0.11952198] [ 0.11040421 -0.01279804 0.99380437 -0.17650575] [ 0. 0. 0. 1. ]] SLAMing on 21.481346184 meters Centerline goodness : 0.908368 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.18 [[ 0.96814222 -0.22384939 -0.11221452 0.99781922] [ 0.22401271 0.97452054 -0.01131463 0.12434744] [ 0.11188813 -0.01418331 0.99361959 -0.17817765] [ 0. 0. 0. 1. ]] SLAMing on 21.511346183999997 meters Centerline goodness : 0.908001 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.18 [[ 0.96798151 -0.22412486 -0.11304797 1.0003121 ] [ 0.2243125 0.97445264 -0.01122274 0.12729044] [ 0.11267519 -0.01449467 0.99352615 -0.17946883] [ 0. 0. 0. 1. ]] SLAMing on 21.541346184 meters Centerline goodness : 0.904559 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.18 [[ 0.96723624 -0.22647603 -0.11472861 1.00375158] [ 0.22658501 0.97391418 -0.01226364 0.13405964] [ 0.11451324 -0.01413394 0.99332117 -0.17994883] [ 0. 0. 0. 1. ]] SLAMing on 21.571346184 meters Centerline goodness : 0.902552 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.96691613 -0.22752673 -0.11534639 1.00671702] [ 0.22755891 0.97367666 -0.0130657 0.13717384] [ 0.11528288 -0.01361466 0.9932394 -0.18197158] [ 0. 0. 0. 1. ]] SLAMing on 21.601346183999997 meters Centerline goodness : 0.900264 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.96665272 -0.22844139 -0.11574559 1.00914856] [ 0.22843457 0.97346562 -0.01350325 0.13941202] [ 0.11575905 -0.01338734 0.9931871 -0.18370127] [ 0. 0. 0. 1. ]] SLAMing on 21.631346183999998 meters Centerline goodness : 0.901580 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.18 [[ 0.9663933 -0.22936655 -0.11608176 1.01015033] [ 0.22933029 0.97325012 -0.01385028 0.1413353 ] [ 0.11615338 -0.01323625 0.99314309 -0.18400401] [ 0. 0. 0. 1. ]] SLAMing on 21.661346184 meters Centerline goodness : 0.903344 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96568999 -0.23595352 -0.10848402 1.01743168] [ 0.23649548 0.97159942 -0.00802867 0.14926033] [ 0.10729741 -0.01790277 0.99406577 -0.1904054 ] [ 0. 0. 0. 1. ]] SLAMing on 21.691346183999997 meters Centerline goodness : 0.899146 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96525071 -0.23701834 -0.11006082 1.02045851] [ 0.23773662 0.97130626 -0.0067413 0.15145231] [ 0.10850057 -0.01965844 0.99390199 -0.19026259] [ 0. 0. 0. 1. ]] SLAMing on 21.721346183999998 meters Centerline goodness : 0.899146 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96525071 -0.23701834 -0.11006082 1.02045851] [ 0.23773662 0.97130626 -0.0067413 0.15145231] [ 0.10850057 -0.01965844 0.99390199 -0.19026259] [ 0. 0. 0. 1. ]] SLAMing on 21.751346184 meters Centerline goodness : 0.896561 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96488292 -0.23831083 -0.11049388 1.02150034] [ 0.23900093 0.970993 -0.00715178 0.15288523] [ 0.10899314 -0.01950751 0.99385107 -0.19013079] [ 0. 0. 0. 1. ]] SLAMing on 21.781346183999997 meters Centerline goodness : 0.899844 Centerline is valid? [False, False] Translation: X:1.02, Y:0.15, Z:-0.19 [[ 0.96467467 -0.23880884 -0.11123452 1.02344154] [ 0.23958453 0.97085349 -0.00653823 0.15363937] [ 0.10955381 -0.0203428 0.99377268 -0.19060169] [ 0. 0. 0. 1. ]] SLAMing on 21.811346183999998 meters Centerline goodness : 0.895554 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96425559 -0.23984894 -0.11262168 1.02592691] [ 0.2407851 0.97056333 -0.00541823 0.15603209] [ 0.11060603 -0.02189306 0.99362317 -0.19044869] [ 0. 0. 0. 1. ]] SLAMing on 21.841346184 meters Centerline goodness : 0.896099 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96401118 -0.24034287 -0.11365628 1.02868935] [ 0.24133905 0.97042736 -0.00511859 0.15821517] [ 0.11152538 -0.02249532 0.99350695 -0.19144271] [ 0. 0. 0. 1. ]] SLAMing on 21.871346183999997 meters Centerline goodness : 0.895648 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96397442 -0.2403165 -0.11402319 1.03015506] [ 0.24131846 0.97043237 -0.00514009 0.15971885] [ 0.11188705 -0.02256099 0.99346479 -0.19258352] [ 0. 0. 0. 1. ]] SLAMing on 21.901346183999998 meters Centerline goodness : 0.892744 Centerline is valid? [False, False] Translation: X:1.03, Y:0.16, Z:-0.19 [[ 0.96414174 -0.23905475 -0.11525417 1.03201872] [ 0.24027925 0.97069801 -0.00335528 0.16343376] [ 0.11267909 -0.02445822 0.99333037 -0.19352015] [ 0. 0. 0. 1. ]] SLAMing on 21.931346184 meters Centerline goodness : 0.894673 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.19 [[ 0.9643533 -0.23802261 -0.11561982 1.03276754] [ 0.23928432 0.97094476 -0.00304606 0.1657847 ] [ 0.11298548 -0.02472854 0.99328887 -0.19444718] [ 0. 0. 0. 1. ]] SLAMing on 21.961346184 meters Centerline goodness : 0.892190 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.19 [[ 0.96456241 -0.2373348 -0.11528894 1.03174094] [ 0.2385125 0.97113248 -0.00367204 0.16761594] [ 0.11283234 -0.02395594 0.99332521 -0.19466321] [ 0. 0. 0. 1. ]] SLAMing on 21.991346183999998 meters Centerline goodness : 0.889776 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 0.96490913 -0.23557708 -0.11599057 1.03410957] [ 0.23688911 0.97153338 -0.00253926 0.16929261] [ 0.1132869 -0.02502675 0.99324707 -0.19691557] [ 0. 0. 0. 1. ]] SLAMing on 22.021346184 meters Centerline goodness : 0.890598 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 0.96521405 -0.2344148 -0.11580823 1.03409652] [ 0.23571867 0.97181812 -0.00250054 0.17068268] [ 0.1131307 -0.0248846 0.99326844 -0.19796765] [ 0. 0. 0. 1. ]] SLAMing on 22.051346184 meters Centerline goodness : 0.891341 Centerline is valid? [False, False] Translation: X:1.03, Y:0.17, Z:-0.20 [[ 9.65668218e-01 -2.31961697e-01 -1.16955819e-01 1.03410236e+00] [ 2.33569876e-01 9.72340018e-01 4.58722430e-05 1.73373145e-01] [ 1.13710182e-01 -2.73616534e-02 9.93137118e-01 -1.97215492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081346183999997 meters Centerline goodness : 0.890160 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96573865 -0.23081348 -0.11863385 1.03659853] [ 0.23275726 0.97253137 0.00260749 0.17550628] [ 0.1147733 -0.03013104 0.99293465 -0.19734234] [ 0. 0. 0. 1. ]] SLAMing on 22.111346184 meters Centerline goodness : 0.889903 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96571166 -0.23049395 -0.11947191 1.03835959] [ 0.23253549 0.97258249 0.00324642 0.17777577] [ 0.115448 -0.03091656 0.99283227 -0.19806122] [ 0. 0. 0. 1. ]] SLAMing on 22.141346184 meters Centerline goodness : 0.887691 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96536027 -0.23126303 -0.12081789 1.04117805] [ 0.23336527 0.97238336 0.00335412 0.18196214] [ 0.11670562 -0.03143264 0.99266902 -0.19893936] [ 0. 0. 0. 1. ]] SLAMing on 22.171346183999997 meters Centerline goodness : 0.889741 Centerline is valid? [False, False] Translation: X:1.04, Y:0.18, Z:-0.20 [[ 0.96495142 -0.23223951 -0.12220296 1.04375862] [ 0.23443129 0.97212575 0.00367255 0.18477888] [ 0.11794373 -0.03219203 0.99249834 -0.19898109] [ 0. 0. 0. 1. ]] SLAMing on 22.201346184 meters Centerline goodness : 0.886658 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.20 [[ 0.96454363 -0.23387185 -0.1223092 1.04460453] [ 0.23589273 0.97177682 0.00210605 0.18674766] [ 0.1183647 -0.03088322 0.99248981 -0.19937188] [ 0. 0. 0. 1. ]] SLAMing on 22.231346184 meters Centerline goodness : 0.885315 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96363117 -0.23789939 -0.12173265 1.04712952] [ 0.23943636 0.97090988 -0.00205805 0.18854053] [ 0.11868104 -0.02716402 0.99256079 -0.20185021] [ 0. 0. 0. 1. ]] SLAMing on 22.261346183999997 meters Centerline goodness : 0.888636 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96329449 -0.23899452 -0.12225115 1.04747796] [ 0.24059285 0.97062458 -0.00173568 0.18875506] [ 0.11907479 -0.02774078 0.99249768 -0.20068919] [ 0. 0. 0. 1. ]] SLAMing on 22.291346184 meters Centerline goodness : 0.885655 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62828433e-01 -2.40082448e-01 -1.23781366e-01 1.04895509e+00] [ 2.41850573e-01 9.70313205e-01 -7.63935133e-04 1.90145468e-01] [ 1.20290102e-01 -2.92010560e-02 9.92309221e-01 -1.98813735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321346184 meters Centerline goodness : 0.883840 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62509140e-01 -2.40869002e-01 -1.24732831e-01 1.05008188e+00] [ 2.42748687e-01 9.70089201e-01 -1.32981913e-04 1.91329499e-01] [ 1.21034004e-01 -3.01507347e-02 9.92190356e-01 -1.97883730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351346183999997 meters Centerline goodness : 0.885772 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 9.62384039e-01 -2.41270753e-01 -1.24921516e-01 1.05011932e+00] [ 2.43150722e-01 9.69988497e-01 -2.03973579e-04 1.91717779e-01] [ 1.21221647e-01 -3.01784559e-02 9.92166606e-01 -1.97277981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381346183999998 meters Centerline goodness : 0.884199 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96266437 -0.23977146 -0.12564614 1.05057015] [ 0.24186701 0.9703083 0.00146861 0.19207405] [ 0.12156336 -0.03180344 0.99207404 -0.19699709] [ 0. 0. 0. 1. ]] SLAMing on 22.411346184 meters Centerline goodness : 0.884265 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:-0.20 [[ 0.96258714 -0.23934875 -0.1270361 1.05320106] [ 0.24160871 0.97037064 0.00245947 0.19432769] [ 0.12268343 -0.03306048 0.99189505 -0.19755959] [ 0. 0. 0. 1. ]] SLAMing on 22.441346183999997 meters Centerline goodness : 0.882057 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96251411 -0.23941772 -0.12745882 1.0536723 ] [ 0.24164066 0.97036365 0.00204218 0.19761447] [ 0.12319247 -0.03276486 0.99184176 -0.19774931] [ 0. 0. 0. 1. ]] SLAMing on 22.471346183999998 meters Centerline goodness : 0.880268 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96254633 -0.2390563 -0.1278931 1.05506515] [ 0.24130711 0.97044637 0.00217333 0.19899428] [ 0.12359384 -0.03295345 0.99178558 -0.19870625] [ 0. 0. 0. 1. ]] SLAMing on 22.501346184 meters Centerline goodness : 0.879775 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96261624 -0.23858781 -0.1282413 1.05590261] [ 0.24086118 0.97055687 0.00229134 0.20042628] [ 0.12391879 -0.03309403 0.99174035 -0.19927673] [ 0. 0. 0. 1. ]] SLAMing on 22.531346183999997 meters Centerline goodness : 0.880584 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96274106 -0.23813538 -0.12814517 1.05520399] [ 0.24038083 0.97067633 0.00212352 0.20170323] [ 0.1238818 -0.03284805 0.99175315 -0.19903405] [ 0. 0. 0. 1. ]] SLAMing on 22.561346183999998 meters Centerline goodness : 0.880279 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.20 [[ 0.96322395 -0.23647687 -0.12758652 1.05515529] [ 0.23868842 0.97109391 0.00210954 0.20188022] [ 0.12339963 -0.03248539 0.9918252 -0.20065186] [ 0. 0. 0. 1. ]] SLAMing on 22.591346184 meters Centerline goodness : 0.882404 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96317665 -0.2367642 -0.12741061 1.05447954] [ 0.23894459 0.97103137 0.00188668 0.20132114] [ 0.123273 -0.03226128 0.99184826 -0.20006641] [ 0. 0. 0. 1. ]] SLAMing on 22.621346183999997 meters Centerline goodness : 0.882894 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.63036178e-01 -2.37548010e-01 -1.27012844e-01 1.05245462e+00] [ 2.39605722e-01 9.70869813e-01 9.50981554e-04 2.02207360e-01] [ 1.23087032e-01 -3.13488338e-02 9.91900617e-01 -1.98422086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.651346183999998 meters Centerline goodness : 0.883292 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.62860570e-01 -2.38453753e-01 -1.26646478e-01 1.04991335e+00] [ 2.40323584e-01 9.70692687e-01 -5.30704346e-04 2.04876378e-01] [ 1.23061359e-01 -2.99251413e-02 9.91947775e-01 -1.95979648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681346184 meters Centerline goodness : 0.881657 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96358956 -0.2354454 -0.12673054 1.04581048] [ 0.2375956 0.97136228 0.00190846 0.20617613] [ 0.12265192 -0.03194959 0.99193535 -0.19305668] [ 0. 0. 0. 1. ]] SLAMing on 22.711346184 meters Centerline goodness : 0.879683 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96360994 -0.2352831 -0.12687693 1.04615259] [ 0.23741283 0.97140733 0.00171535 0.20636979] [ 0.12284558 -0.03177514 0.99191698 -0.19271035] [ 0. 0. 0. 1. ]] SLAMing on 22.741346183999998 meters Centerline goodness : 0.878702 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96370192 -0.23475117 -0.12716324 1.04755213] [ 0.23691813 0.97152761 0.00197546 0.20552075] [ 0.12307886 -0.03203103 0.99187984 -0.19310776] [ 0. 0. 0. 1. ]] SLAMing on 22.771346184 meters Centerline goodness : 0.880862 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96387407 -0.23380117 -0.12760796 1.04961251] [ 0.23602079 0.97174518 0.0023444 0.20648148] [ 0.12345429 -0.03237784 0.99182192 -0.19425156] [ 0. 0. 0. 1. ]] SLAMing on 22.801346184 meters Centerline goodness : 0.881460 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96383314 -0.23380144 -0.12791622 1.04992105] [ 0.23596317 0.97176033 0.00179933 0.20864254] [ 0.12388322 -0.03191778 0.99178334 -0.19373248] [ 0. 0. 0. 1. ]] SLAMing on 22.831346183999997 meters Centerline goodness : 0.880900 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96378625 -0.23391113 -0.1280689 1.04987116] [ 0.23601772 0.97174787 0.00131177 0.21001557] [ 0.12414385 -0.0314908 0.99176441 -0.19311387] [ 0. 0. 0. 1. ]] SLAMing on 22.861346184 meters Centerline goodness : 0.883080 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96383336 -0.23374168 -0.12802379 1.04962169] [ 0.23584083 0.97179086 0.00127499 0.209848 ] [ 0.12411433 -0.03142211 0.99177028 -0.19283376] [ 0. 0. 0. 1. ]] SLAMing on 22.891346184 meters Centerline goodness : 0.880738 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96359276 -0.23567508 -0.12627846 1.04718566] [ 0.23734708 0.97142314 -0.00185535 0.20860329] [ 0.12310708 -0.02818402 0.9919931 -0.19225022] [ 0. 0. 0. 1. ]] SLAMing on 22.921346183999997 meters Centerline goodness : 0.879502 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96335049 -0.23636469 -0.12683679 1.04991683] [ 0.2380985 0.9712398 -0.0015334 0.20740624] [ 0.12355138 -0.02872244 0.99192241 -0.19361439] [ 0. 0. 0. 1. ]] SLAMing on 22.951346184 meters Centerline goodness : 0.877523 Centerline is valid? [False, False] Translation: X:1.05, Y:0.21, Z:-0.19 [[ 0.96290526 -0.23877244 -0.12570277 1.04834978] [ 0.24019469 0.97071672 -0.00394318 0.20653189] [ 0.1229633 -0.02639623 0.99206011 -0.19272993] [ 0. 0. 0. 1. ]] SLAMing on 22.981346184 meters Centerline goodness : 0.880540 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96249521 -0.24050238 -0.12554514 1.04811782] [ 0.24193082 0.97028537 -0.00397218 0.20442512] [ 0.12276993 -0.02655004 0.99207996 -0.19158137] [ 0. 0. 0. 1. ]] SLAMing on 23.011346183999997 meters Centerline goodness : 0.882601 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96242936 -0.24057131 -0.1259173 1.0491217 ] [ 0.24207823 0.97025069 -0.00342515 0.20366248] [ 0.12299534 -0.02718537 0.99203483 -0.19157744] [ 0. 0. 0. 1. ]] SLAMing on 23.041346184 meters Centerline goodness : 0.879151 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.9625794 -0.24013631 -0.12560039 1.04875006] [ 0.2416297 0.97036245 -0.00343535 0.20313565] [ 0.12270285 -0.02704199 0.99207497 -0.19181076] [ 0. 0. 0. 1. ]] SLAMing on 23.071346184 meters Centerline goodness : 0.883349 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.9628703 -0.23926744 -0.12502749 1.04731582] [ 0.24072676 0.97058651 -0.00352801 0.20334353] [ 0.12219413 -0.02670044 0.99214701 -0.19165507] [ 0. 0. 0. 1. ]] SLAMing on 23.101346183999997 meters Centerline goodness : 0.879867 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96403494 -0.23466915 -0.12476784 1.04678823] [ 0.23635459 0.97166596 -0.00133001 0.20410175] [ 0.12154477 -0.02820727 0.99218507 -0.19382013] [ 0. 0. 0. 1. ]] SLAMing on 23.131346183999998 meters Centerline goodness : 0.881096 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 0.96451857 -0.23307908 -0.12400837 1.04612864] [ 0.23473403 0.97205877 -0.00130016 0.2044496 ] [ 0.12084646 -0.02785496 0.99228032 -0.1954299 ] [ 0. 0. 0. 1. ]] SLAMing on 23.161346184 meters Centerline goodness : 0.880422 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 0.96489139 -0.23190192 -0.12331302 1.04487548] [ 0.23346898 0.97236261 -0.00178849 0.20433143] [ 0.12031972 -0.02706407 0.99236621 -0.19567212] [ 0. 0. 0. 1. ]] SLAMing on 23.191346183999997 meters Centerline goodness : 0.882167 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.20 [[ 9.65462954e-01 -2.29491310e-01 -1.23349190e-01 1.04524035e+00] [ 2.31228096e-01 9.72899537e-01 -2.41821494e-04 2.03974336e-01] [ 1.20061866e-01 -2.82883288e-02 9.92363300e-01 -1.96935147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221346183999998 meters Centerline goodness : 0.882697 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 0.96625168 -0.22645102 -0.12279102 1.04240061] [ 0.22832374 0.97358451 0.0012134 0.20312622] [ 0.11927266 -0.02920855 0.99243181 -0.19583163] [ 0. 0. 0. 1. ]] SLAMing on 23.251346184 meters Centerline goodness : 0.879979 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.20 [[ 9.66326310e-01 -2.26315488e-01 -1.22453102e-01 1.04202114e+00] [ 2.28137401e-01 9.73628548e-01 8.81584834e-04 2.02451991e-01] [ 1.19024319e-01 -2.87880309e-02 9.92473909e-01 -1.95874793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281346183999997 meters Centerline goodness : 0.879351 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.9659246 -0.22886793 -0.12086829 1.03971277] [ 0.2303401 0.97310845 -0.00183802 0.20004906] [ 0.11803862 -0.02606543 0.99266685 -0.19481288] [ 0. 0. 0. 1. ]] SLAMing on 23.311346183999998 meters Centerline goodness : 0.878885 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96569495 -0.22966574 -0.12118958 1.03927951] [ 0.23120883 0.97290319 -0.00136427 0.19875419] [ 0.11821905 -0.02670263 0.99262844 -0.19292618] [ 0. 0. 0. 1. ]] SLAMing on 23.341346184 meters Centerline goodness : 0.883931 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96558632 -0.22919115 -0.12294096 1.04174801] [ 0.23120815 0.97290181 0.0022038 0.19771927] [ 0.11910439 -0.03055292 0.99241154 -0.19226072] [ 0. 0. 0. 1. ]] SLAMing on 23.371346183999997 meters Centerline goodness : 0.879194 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96561556 -0.22901677 -0.12303624 1.04054994] [ 0.23110721 0.97292426 0.00280195 0.19729779] [ 0.11906325 -0.03114017 0.99239822 -0.19056448] [ 0. 0. 0. 1. ]] SLAMing on 23.401346183999998 meters Centerline goodness : 0.881198 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96566417 -0.22883661 -0.12298993 1.04024447] [ 0.23093401 0.97296514 0.00288358 0.19664653] [ 0.11900505 -0.03118713 0.99240373 -0.19015026] [ 0. 0. 0. 1. ]] SLAMing on 23.431346184 meters Centerline goodness : 0.882717 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96641572 -0.22650735 -0.12138812 1.03891723] [ 0.22849567 0.97354163 0.00253299 0.19517468] [ 0.11760265 -0.03018458 0.99260189 -0.19264525] [ 0. 0. 0. 1. ]] SLAMing on 23.461346184 meters Centerline goodness : 0.882919 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96690056 -0.22433849 -0.12155473 1.03963982] [ 0.22644464 0.97401731 0.00361872 0.19495221] [ 0.11758459 -0.03102436 0.99257813 -0.19383001] [ 0. 0. 0. 1. ]] SLAMing on 23.491346183999998 meters Centerline goodness : 0.886744 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96728101 -0.22298201 -0.12102261 1.03813034] [ 0.22508079 0.97433276 0.00378193 0.19469795] [ 0.11707299 -0.03089805 0.99264255 -0.19367322] [ 0. 0. 0. 1. ]] SLAMing on 23.521346184 meters Centerline goodness : 0.886382 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96756546 -0.22208077 -0.12040438 1.03660669] [ 0.22412865 0.97455303 0.00356849 0.1939691 ] [ 0.11654796 -0.03043882 0.99271852 -0.19331688] [ 0. 0. 0. 1. ]] SLAMing on 23.551346184 meters Centerline goodness : 0.889910 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96736248 -0.22273275 -0.12083029 1.03673642] [ 0.22481539 0.97439431 0.00371148 0.19377104] [ 0.11690968 -0.03075485 0.99266624 -0.19212105] [ 0. 0. 0. 1. ]] SLAMing on 23.581346183999997 meters Centerline goodness : 0.889394 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96702584 -0.22387717 -0.12140855 1.03740662] [ 0.22599189 0.97412193 0.0037587 0.19357431] [ 0.11742524 -0.0310721 0.99259551 -0.19101866] [ 0. 0. 0. 1. ]] SLAMing on 23.611346184 meters Centerline goodness : 0.889394 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96702584 -0.22387717 -0.12140855 1.03740662] [ 0.22599189 0.97412193 0.0037587 0.19357431] [ 0.11742524 -0.0310721 0.99259551 -0.19101866] [ 0. 0. 0. 1. ]] SLAMing on 23.641346184 meters Centerline goodness : 0.889935 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65629650e-01 -2.30045248e-01 -1.20989927e-01 1.03873310e+00] [ 2.31723903e-01 9.72781575e-01 -2.00903510e-04 1.92696706e-01] [ 1.17742989e-01 -2.78422597e-02 9.92653715e-01 -1.90508139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.671346183999997 meters Centerline goodness : 0.888095 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96472965 -0.23436165 -0.1198804 1.03889263] [ 0.2356054 0.971841 -0.00389344 0.19175695] [ 0.11741716 -0.02448835 0.99278071 -0.19083997] [ 0. 0. 0. 1. ]] SLAMing on 23.701346184 meters Centerline goodness : 0.891334 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96374897 -0.2384969 -0.11961253 1.04045469] [ 0.23942441 0.97089142 -0.00676819 0.19131929] [ 0.11774497 -0.02211533 0.99279758 -0.19109596] [ 0. 0. 0. 1. ]] SLAMing on 23.731346184 meters Centerline goodness : 0.890408 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96229974 -0.24420015 -0.11977269 1.04216347] [ 0.24488796 0.96950801 -0.00917053 0.19060221] [ 0.11836002 -0.02050609 0.99275899 -0.18992 ] [ 0. 0. 0. 1. ]] SLAMing on 23.761346183999997 meters Centerline goodness : 0.894889 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96180494 -0.24615489 -0.11974568 1.04169117] [ 0.24676211 0.96902486 -0.00996434 0.19012641] [ 0.11848931 -0.01996494 0.99275459 -0.18839313] [ 0. 0. 0. 1. ]] SLAMing on 23.791346184 meters Centerline goodness : 0.893331 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96156132 -0.24681401 -0.12034395 1.04282055] [ 0.24750666 0.96884064 -0.00939487 0.18967101] [ 0.1189129 -0.02075219 0.9926878 -0.18784004] [ 0. 0. 0. 1. ]] SLAMing on 23.821346184 meters Centerline goodness : 0.899098 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96167614 -0.24643685 -0.12019934 1.04168699] [ 0.24722172 0.968921 -0.0085741 0.18886892] [ 0.11857664 -0.02147038 0.99271275 -0.18673684] [ 0. 0. 0. 1. ]] SLAMing on 23.851346183999997 meters Centerline goodness : 0.894812 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96203007 -0.24506269 -0.12017661 1.04204986] [ 0.24590835 0.96926028 -0.00797412 0.18842575] [ 0.11843658 -0.02188109 0.9927205 -0.18758771] [ 0. 0. 0. 1. ]] SLAMing on 23.881346183999998 meters Centerline goodness : 0.894396 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96244344 -0.24372187 -0.11959214 1.04059593] [ 0.24450911 0.9696117 -0.00827302 0.18827684] [ 0.11797425 -0.02127906 0.99278864 -0.18760173] [ 0. 0. 0. 1. ]] SLAMing on 23.911346184 meters Centerline goodness : 0.895675 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.9627834 -0.24208576 -0.12017739 1.04191775] [ 0.24302915 0.96999396 -0.00696708 0.1886402 ] [ 0.11825797 -0.02249882 0.99272799 -0.18846397] [ 0. 0. 0. 1. ]] SLAMing on 23.941346183999997 meters Centerline goodness : 0.897847 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96333635 -0.23918332 -0.12155008 1.04203946] [ 0.24062965 0.9706128 -0.00285564 0.18875906] [ 0.11866108 -0.02649761 0.99258119 -0.1871724 ] [ 0. 0. 0. 1. ]] SLAMing on 23.971346183999998 meters Centerline goodness : 0.892253 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96326101 -0.23941017 -0.12170042 1.04131805] [ 0.24085168 0.97055747 -0.00294408 0.18932903] [ 0.1188221 -0.02647583 0.99256251 -0.18596027] [ 0. 0. 0. 1. ]] SLAMing on 24.001346184 meters Centerline goodness : 0.894210 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96309746 -0.24024718 -0.12134487 1.04119057] [ 0.24155701 0.97037831 -0.00401919 0.1893428 ] [ 0.11871603 -0.02544083 0.99260227 -0.18605422] [ 0. 0. 0. 1. ]] SLAMing on 24.031346183999997 meters Centerline goodness : 0.897204 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96318119 -0.24056761 -0.1200384 1.04115769] [ 0.24166119 0.97034464 -0.00558132 0.18765017] [ 0.11782131 -0.0236328 0.99275356 -0.18817515] [ 0. 0. 0. 1. ]] SLAMing on 24.061346183999998 meters Centerline goodness : 0.897943 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96341614 -0.23973957 -0.11980936 1.04151009] [ 0.24086149 0.97054533 -0.005244 0.18695444] [ 0.11753761 -0.02380531 0.99278307 -0.18919674] [ 0. 0. 0. 1. ]] SLAMing on 24.091346184 meters Centerline goodness : 0.893286 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 0.96377959 -0.23806639 -0.12022186 1.0411753 ] [ 0.23931483 0.97093312 -0.00415728 0.1862144 ] [ 0.11771709 -0.02476417 0.99273835 -0.18826885] [ 0. 0. 0. 1. ]] SLAMing on 24.121346183999997 meters Centerline goodness : 0.894643 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.64355587e-01 -2.35338854e-01 -1.20970767e-01 1.04078921e+00] [ 2.36972821e-01 9.71515859e-01 -9.04064897e-04 1.85712312e-01] [ 1.17737780e-01 -2.77949438e-02 9.92655658e-01 -1.87453206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.151346183999998 meters Centerline goodness : 0.893056 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65284568e-01 -2.36818716e-01 -1.10193465e-01 1.04342962e+00] [ 2.38230042e-01 9.71208686e-01 -3.68542871e-04 1.93249147e-01] [ 1.07108128e-01 -2.58956449e-02 9.93910089e-01 -1.88957022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181346184 meters Centerline goodness : 0.895025 Centerline is valid? [False, False] Translation: X:1.04, Y:0.19, Z:-0.19 [[ 9.65532196e-01 -2.35828932e-01 -1.10146691e-01 1.04276609e+00] [ 2.37205900e-01 9.71459200e-01 -6.19648288e-04 1.94130151e-01] [ 1.07149148e-01 -2.55291547e-02 9.93915149e-01 -1.88649893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.211346184 meters Centerline goodness : 0.893725 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96558791 -0.23554919 -0.11025685 1.04285801] [ 0.23685428 0.97154432 -0.00129554 0.19526231] [ 0.10742458 -0.02486385 0.99390228 -0.18874719] [ 0. 0. 0. 1. ]] SLAMing on 24.241346183999998 meters Centerline goodness : 0.894291 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96549733 -0.23605265 -0.10997296 1.04341701] [ 0.23715579 0.9714666 -0.00312789 0.19724527] [ 0.1075734 -0.02306076 0.99392966 -0.19004422] [ 0. 0. 0. 1. ]] SLAMing on 24.271346184 meters Centerline goodness : 0.891271 Centerline is valid? [False, False] Translation: X:1.04, Y:0.20, Z:-0.19 [[ 0.96527635 -0.23680941 -0.11028541 1.04496233] [ 0.23783269 0.97129801 -0.00397359 0.19797394] [ 0.10806098 -0.02239387 0.99389202 -0.19060609] [ 0. 0. 0. 1. ]] SLAMing on 24.301346184 meters Centerline goodness : 0.890288 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96509871 -0.23727312 -0.11084194 1.04645675] [ 0.23828075 0.97118697 -0.0042594 0.19817184] [ 0.10865889 -0.02230076 0.99382892 -0.19068338] [ 0. 0. 0. 1. ]] SLAMing on 24.331346183999997 meters Centerline goodness : 0.890341 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96476402 -0.23833396 -0.11147787 1.0489092 ] [ 0.23931483 0.97093067 -0.0046953 0.19985103] [ 0.10935633 -0.02214845 0.99375582 -0.19200969] [ 0. 0. 0. 1. ]] SLAMing on 24.361346184 meters Centerline goodness : 0.891807 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96441922 -0.23955745 -0.11183823 1.05022902] [ 0.24046801 0.97064161 -0.00547627 0.20048937] [ 0.10986672 -0.02161209 0.99371134 -0.19218071] [ 0. 0. 0. 1. ]] SLAMing on 24.391346184 meters Centerline goodness : 0.896376 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96412669 -0.24026974 -0.1128281 1.05302421] [ 0.2412292 0.97045384 -0.00527517 0.20183505] [ 0.11076192 -0.0221315 0.99360052 -0.19312185] [ 0. 0. 0. 1. ]] SLAMing on 24.421346183999997 meters Centerline goodness : 0.888588 Centerline is valid? [False, False] Translation: X:1.05, Y:0.20, Z:-0.19 [[ 0.96406186 -0.23992339 -0.1141118 1.05454498] [ 0.24108442 0.97049702 -0.00372126 0.20272697] [ 0.11163797 -0.02392305 0.99346095 -0.19242685] [ 0. 0. 0. 1. ]] SLAMing on 24.451346184 meters Centerline goodness : 0.891939 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.64395787e-01 -2.37474384e-01 -1.16390216e-01 1.05680185e+00] [ 2.39180387e-01 9.70974889e-01 7.12203495e-04 2.04920173e-01] [ 1.12842847e-01 -2.85251030e-02 9.93203308e-01 -1.92050107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481346184 meters Centerline goodness : 0.891561 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 9.64403422e-01 -2.37577037e-01 -1.16117142e-01 1.05665774e+00] [ 2.39180316e-01 9.70975159e-01 -1.29923939e-04 2.05133542e-01] [ 1.12777728e-01 -2.76476357e-02 9.93235517e-01 -1.92209858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.511346183999997 meters Centerline goodness : 0.889630 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96433397 -0.23814345 -0.11553218 1.05683474] [ 0.23955958 0.97088022 -0.00167328 0.20470989] [ 0.11256639 -0.02606324 0.99330233 -0.19294527] [ 0. 0. 0. 1. ]] SLAMing on 24.541346184 meters Centerline goodness : 0.890930 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.64270753e-01 -2.38216284e-01 -1.15909086e-01 1.05740932e+00] [ 2.39747844e-01 9.70834903e-01 -7.49282713e-04 2.03649934e-01] [ 1.12707077e-01 -2.70664420e-02 9.93259544e-01 -1.92484559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.571346184 meters Centerline goodness : 0.894205 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96409321 -0.23829798 -0.11721077 1.05830013] [ 0.24008072 0.97075228 0.00112518 0.20392184] [ 0.11351449 -0.02922483 0.99310642 -0.19066209] [ 0. 0. 0. 1. ]] SLAMing on 24.601346183999997 meters Centerline goodness : 0.891381 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.9637102 -0.23941316 -0.11808465 1.05787031] [ 0.24132708 0.97044183 0.00197165 0.20433792] [ 0.11412224 -0.03039712 0.99300158 -0.1878639 ] [ 0. 0. 0. 1. ]] SLAMing on 24.631346183999998 meters Centerline goodness : 0.893901 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96329076 -0.24061218 -0.11906595 1.05894119] [ 0.24267169 0.97010416 0.00289355 0.20400887] [ 0.11481015 -0.03168126 0.99288213 -0.1863606 ] [ 0. 0. 0. 1. ]] SLAMing on 24.661346184 meters Centerline goodness : 0.893239 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.62221601e-01 -2.44796895e-01 -1.19180833e-01 1.06104322e+00] [ 2.46630309e-01 9.69109417e-01 6.54759918e-04 2.03542481e-01] [ 1.15338984e-01 -3.00236298e-02 9.92872348e-01 -1.86387805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691346183999997 meters Centerline goodness : 0.892624 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96149092 -0.24838219 -0.11764991 1.06092511] [ 0.24967675 0.96832162 -0.00384126 0.20321544] [ 0.11487705 -0.02568111 0.9930477 -0.18746744] [ 0. 0. 0. 1. ]] SLAMing on 24.721346183999998 meters Centerline goodness : 0.891803 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96091632 -0.25133686 -0.11605867 1.06130866] [ 0.25211921 0.96766202 -0.00813102 0.20180232] [ 0.11434919 -0.02144739 0.99320908 -0.18914054] [ 0. 0. 0. 1. ]] SLAMing on 24.751346184 meters Centerline goodness : 0.901035 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96003609 -0.25506467 -0.11520731 1.06262923] [ 0.25547127 0.96674857 -0.01147297 0.19995124] [ 0.11430285 -0.0184177 0.99327521 -0.18992619] [ 0. 0. 0. 1. ]] SLAMing on 24.781346183999997 meters Centerline goodness : 0.902763 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.95964612 -0.25594642 -0.1164936 1.06302558] [ 0.25651708 0.96648456 -0.01032367 0.20079147] [ 0.11523157 -0.01997553 0.99313779 -0.18734747] [ 0. 0. 0. 1. ]] SLAMing on 24.811346183999998 meters Centerline goodness : 0.899612 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.95949438 -0.25491249 -0.11995896 1.06758892] [ 0.25613851 0.9666253 -0.00534684 0.2021814 ] [ 0.11731834 -0.02559585 0.99276445 -0.1861168 ] [ 0. 0. 0. 1. ]] SLAMing on 24.841346184 meters Centerline goodness : 0.901219 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.96021149 -0.25173779 -0.12092135 1.06709098] [ 0.25333575 0.96737585 -0.00222589 0.20278735] [ 0.11753674 -0.02849638 0.9926596 -0.18520135] [ 0. 0. 0. 1. ]] SLAMing on 24.871346183999997 meters Centerline goodness : 0.900350 Centerline is valid? [False, False] Translation: X:1.07, Y:0.20, Z:-0.19 [[ 0.96090108 -0.24966149 -0.11974245 1.0662071 ] [ 0.25115307 0.96794358 -0.00271398 0.20168706] [ 0.11658151 -0.02746582 0.99280128 -0.18707785] [ 0. 0. 0. 1. ]] SLAMing on 24.901346183999998 meters Centerline goodness : 0.900861 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.9615565 -0.2477195 -0.11850805 1.06432501] [ 0.24906965 0.96847919 -0.00351567 0.20065251] [ 0.11564348 -0.02613625 0.99294687 -0.18786572] [ 0. 0. 0. 1. ]] SLAMing on 24.931346184 meters Centerline goodness : 0.900492 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 9.62596755e-01 -2.43406403e-01 -1.18999199e-01 1.06363056e+00] [ 2.45076689e-01 9.69503500e-01 -6.16259560e-04 2.01376317e-01] [ 1.15520141e-01 -2.85707202e-02 9.92894159e-01 -1.88050957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961346184 meters Centerline goodness : 0.900592 Centerline is valid? [False, False] Translation: X:1.06, Y:0.20, Z:-0.19 [[ 0.96283468 -0.24194137 -0.1200573 1.0635691 ] [ 0.24390097 0.96979869 0.00168157 0.20297281] [ 0.11602457 -0.03090117 0.99276554 -0.18683221] [ 0. 0. 0. 1. ]] SLAMing on 24.991346183999998 meters Centerline goodness : 0.902365 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.18 [[ 0.96277392 -0.24186021 -0.12070636 1.06275429] [ 0.24385009 0.96981132 0.00177071 0.20505798] [ 0.11663413 -0.03113905 0.99268668 -0.18491021] [ 0. 0. 0. 1. ]] SLAMing on 25.021346184 meters Centerline goodness : 0.900733 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96244765 -0.24275242 -0.12151454 1.06403439] [ 0.24474805 0.96958548 0.00154688 0.20875584] [ 0.11744322 -0.03122924 0.99258845 -0.18510497] [ 0. 0. 0. 1. ]] SLAMing on 25.051346184 meters Centerline goodness : 0.899973 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.19 [[ 9.62124119e-01 -2.44225523e-01 -1.21124206e-01 1.06544940e+00] [ 2.45998829e-01 9.69270072e-01 -3.22675921e-04 2.09610376e-01] [ 1.17480874e-01 -2.94859586e-02 9.92637307e-01 -1.86885825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081346183999997 meters Centerline goodness : 0.899360 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96158317 -0.2470855 -0.11961001 1.06448505] [ 0.24837203 0.96865532 -0.00426654 0.2100488 ] [ 0.11691507 -0.02560515 0.99281179 -0.18747752] [ 0. 0. 0. 1. ]] SLAMing on 25.111346184 meters Centerline goodness : 0.900093 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:-0.19 [[ 0.96109127 -0.24943331 -0.11868693 1.06384219] [ 0.25038859 0.96811985 -0.00703577 0.20983913] [ 0.11665813 -0.02295584 0.9929068 -0.18726121] [ 0. 0. 0. 1. ]] SLAMing on 25.141346184 meters Centerline goodness : 0.903385 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.96006596 -0.25207411 -0.12137543 1.06669767] [ 0.25336186 0.96735886 -0.00496003 0.21056641] [ 0.11866389 -0.02598994 0.99259428 -0.18380825] [ 0. 0. 0. 1. ]] SLAMing on 25.171346183999997 meters Centerline goodness : 0.902294 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95951347 -0.25337572 -0.12302291 1.06826553] [ 0.25489298 0.9669629 -0.00350887 0.21113605] [ 0.11984765 -0.02799087 0.99239763 -0.18160769] [ 0. 0. 0. 1. ]] SLAMing on 25.201346184 meters Centerline goodness : 0.898237 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95901971 -0.25492245 -0.12367599 1.06851374] [ 0.25646921 0.966546 -0.00351926 0.21141754] [ 0.12043567 -0.02834405 0.99231641 -0.17983705] [ 0. 0. 0. 1. ]] SLAMing on 25.231346184 meters Centerline goodness : 0.901718 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95846773 -0.25671314 -0.12424961 1.06984596] [ 0.25827604 0.96606431 -0.00363908 0.21068089] [ 0.12096731 -0.02860276 0.99224432 -0.17901732] [ 0. 0. 0. 1. ]] SLAMing on 25.261346183999997 meters Centerline goodness : 0.900665 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95827108 -0.25699714 -0.12517588 1.07264482] [ 0.2586665 0.965962 -0.00301053 0.21005216] [ 0.12168885 -0.0294939 0.99213 -0.17965144] [ 0. 0. 0. 1. ]] SLAMing on 25.291346184 meters Centerline goodness : 0.901779 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95806163 -0.25765597 -0.12542452 1.07295363] [ 0.25931195 0.96578824 -0.00322325 0.20989333] [ 0.12196402 -0.02943601 0.99209793 -0.17899518] [ 0. 0. 0. 1. ]] SLAMing on 25.321346184 meters Centerline goodness : 0.900848 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95789677 -0.25784971 -0.12628264 1.07388463] [ 0.25960388 0.96571155 -0.00265063 0.2100635 ] [ 0.12263607 -0.03024443 0.99199076 -0.17793682] [ 0. 0. 0. 1. ]] SLAMing on 25.351346183999997 meters Centerline goodness : 0.903081 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95775628 -0.2582789 -0.126471 1.07518579] [ 0.25999963 0.96560407 -0.00299576 0.20966615] [ 0.12289465 -0.03001321 0.99196578 -0.17840929] [ 0. 0. 0. 1. ]] SLAMing on 25.381346183999998 meters Centerline goodness : 0.899595 Centerline is valid? [False, False] Translation: X:1.07, Y:0.21, Z:-0.18 [[ 0.95737564 -0.2602562 -0.125294 1.07464738] [ 0.26152511 0.96517476 -0.0065043 0.20932012] [ 0.12262339 -0.02654047 0.99209834 -0.17875823] [ 0. 0. 0. 1. ]] SLAMing on 25.411346184 meters Centerline goodness : 0.900661 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95686186 -0.26239521 -0.12475629 1.07508887] [ 0.26338395 0.96465096 -0.00879902 0.20843512] [ 0.12265509 -0.02443936 0.9921484 -0.17878783] [ 0. 0. 0. 1. ]] SLAMing on 25.441346183999997 meters Centerline goodness : 0.904700 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95605017 -0.2646335 -0.12624259 1.07623394] [ 0.26581647 0.96399297 -0.00769113 0.2082181 ] [ 0.1237323 -0.02620425 0.99196958 -0.17589661] [ 0. 0. 0. 1. ]] SLAMing on 25.471346183999998 meters Centerline goodness : 0.901084 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95569317 -0.2651163 -0.1279215 1.07809404] [ 0.26654043 0.96380399 -0.00617007 0.20845017] [ 0.12492704 -0.02819956 0.9917651 -0.17408987] [ 0. 0. 0. 1. ]] SLAMing on 25.501346184 meters Centerline goodness : 0.902025 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95536537 -0.26587764 -0.12878698 1.07972328] [ 0.2673203 0.96358732 -0.00627211 0.20881175] [ 0.12576511 -0.02843522 0.99165245 -0.17350233] [ 0. 0. 0. 1. ]] SLAMing on 25.531346183999997 meters Centerline goodness : 0.902025 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95536537 -0.26587764 -0.12878698 1.07972328] [ 0.2673203 0.96358732 -0.00627211 0.20881175] [ 0.12576511 -0.02843522 0.99165245 -0.17350233] [ 0. 0. 0. 1. ]] SLAMing on 25.561346183999998 meters Centerline goodness : 0.905777 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95540474 -0.26603596 -0.12816649 1.07974309] [ 0.26730322 0.96358305 -0.00752915 0.20837113] [ 0.12550208 -0.02706593 0.99172409 -0.17434171] [ 0. 0. 0. 1. ]] SLAMing on 25.591346184 meters Centerline goodness : 0.905554 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95617336 -0.26338728 -0.12790487 1.08099394] [ 0.26476013 0.96429269 -0.00645672 0.2070053 ] [ 0.12503835 -0.02769036 0.99176542 -0.17705043] [ 0. 0. 0. 1. ]] SLAMing on 25.621346183999997 meters Centerline goodness : 0.904944 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.95644158 -0.26215116 -0.12843784 1.07982431] [ 0.26361763 0.96461011 -0.00575216 0.20738174] [ 0.12540037 -0.02835687 0.99170088 -0.17498609] [ 0. 0. 0. 1. ]] SLAMing on 25.651346183999998 meters Centerline goodness : 0.910924 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 0.9568439 -0.25986581 -0.13007504 1.08046334] [ 0.26181224 0.9651163 -0.00220866 0.20795432] [ 0.1261115 -0.0319419 0.99150169 -0.17358823] [ 0. 0. 0. 1. ]] SLAMing on 25.681346184 meters Centerline goodness : 0.906849 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 9.57389989e-01 -2.57129832e-01 -1.31486345e-01 1.08048133e+00] [ 2.59392842e-01 9.65771891e-01 8.62924310e-05 2.10814124e-01] [ 1.26963627e-01 -3.41892322e-02 9.91317978e-01 -1.72477818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.711346183999996 meters Centerline goodness : 0.905954 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.17 [[ 9.57656091e-01 -2.56039157e-01 -1.31676733e-01 1.08196426e+00] [ 2.58267168e-01 9.66073519e-01 -1.63457336e-04 2.12185332e-01] [ 1.27251256e-01 -3.38512410e-02 9.91292697e-01 -1.74268115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741346183999998 meters Centerline goodness : 0.906250 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95776854 -0.25594222 -0.13104583 1.0816973 ] [ 0.25795323 0.96615594 -0.0016835 0.21330368] [ 0.12704159 -0.03219129 0.99137488 -0.17526992] [ 0. 0. 0. 1. ]] SLAMing on 25.771346184 meters Centerline goodness : 0.906593 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95802786 -0.25516234 -0.13067056 1.08220659] [ 0.25701114 0.96640438 -0.00280226 0.21433872] [ 0.12699564 -0.03089914 0.99142188 -0.17669699] [ 0. 0. 0. 1. ]] SLAMing on 25.801346184 meters Centerline goodness : 0.907614 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.18 [[ 0.95800287 -0.25524921 -0.13068416 1.08213224] [ 0.2570821 0.96638511 -0.00293569 0.21455812] [ 0.12704056 -0.03078416 0.9914197 -0.17647794] [ 0. 0. 0. 1. ]] SLAMing on 25.831346183999997 meters Centerline goodness : 0.907709 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.18 [[ 0.95780925 -0.25579405 -0.13103753 1.08183083] [ 0.25764216 0.96623593 -0.00294085 0.21510207] [ 0.12736542 -0.03094402 0.99137305 -0.1751208 ] [ 0. 0. 0. 1. ]] SLAMing on 25.861346184 meters Centerline goodness : 0.908014 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95751362 -0.25647043 -0.13187336 1.08176635] [ 0.25838712 0.96603779 -0.00266123 0.21628237] [ 0.12807717 -0.03152621 0.991263 -0.17305579] [ 0. 0. 0. 1. ]] SLAMing on 25.891346184 meters Centerline goodness : 0.910264 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 9.56861693e-01 -2.57228969e-01 -1.35088704e-01 1.08599012e+00] [ 2.59628638e-01 9.65708521e-01 1.51685165e-04 2.19149107e-01] [ 1.30417295e-01 -3.52180380e-02 9.90833497e-01 -1.71648659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921346183999997 meters Centerline goodness : 0.911336 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 9.56557411e-01 -2.57993496e-01 -1.35783929e-01 1.08726083e+00] [ 2.60451357e-01 9.65486908e-01 3.48591603e-04 2.19711089e-01] [ 1.31007671e-01 -3.56985563e-02 9.90738413e-01 -1.71328690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.951346184 meters Centerline goodness : 0.910693 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95610589 -0.26019608 -0.1347573 1.08571621] [ 0.26221607 0.96500498 -0.00285093 0.22023355] [ 0.13078327 -0.03260974 0.99087453 -0.17047507] [ 0. 0. 0. 1. ]] SLAMing on 25.981346184 meters Centerline goodness : 0.908740 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95582817 -0.26110817 -0.13496307 1.0884886 ] [ 0.26304883 0.96477593 -0.00356682 0.22046524] [ 0.13114044 -0.03209261 0.99084421 -0.17258126] [ 0. 0. 0. 1. ]] SLAMing on 26.011346183999997 meters Centerline goodness : 0.908579 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95547449 -0.26357144 -0.13265969 1.08649683] [ 0.26489127 0.96424575 -0.00792095 0.22108318] [ 0.13000428 -0.02757213 0.99112999 -0.17381134] [ 0. 0. 0. 1. ]] SLAMing on 26.041346184 meters Centerline goodness : 0.909708 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95539057 -0.26355989 -0.13328554 1.08755644] [ 0.26495336 0.9642321 -0.00749494 0.22174814] [ 0.13049356 -0.02815386 0.99104934 -0.17371222] [ 0. 0. 0. 1. ]] SLAMing on 26.071346184 meters Centerline goodness : 0.910361 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95542907 -0.26315744 -0.13380376 1.08782999] [ 0.26471626 0.96430559 -0.00632706 0.22192568] [ 0.13069273 -0.02937498 0.99098765 -0.17319642] [ 0. 0. 0. 1. ]] SLAMing on 26.101346183999997 meters Centerline goodness : 0.915588 Centerline is valid? [False, False] Translation: X:1.09, Y:0.22, Z:-0.17 [[ 0.95602939 -0.26076042 -0.13420807 1.08591943] [ 0.26264009 0.96488631 -0.00381885 0.2204379 ] [ 0.13049134 -0.03159748 0.99094582 -0.17088061] [ 0. 0. 0. 1. ]] SLAMing on 26.131346183999998 meters Centerline goodness : 0.913048 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95633854 -0.25959746 -0.13426005 1.08467491] [ 0.26158299 0.96517649 -0.00294556 0.22030826] [ 0.1303493 -0.03230319 0.99094176 -0.16962878] [ 0. 0. 0. 1. ]] SLAMing on 26.161346184 meters Centerline goodness : 0.914534 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95652234 -0.25896709 -0.13416803 1.08377832] [ 0.26099004 0.96533801 -0.00259351 0.21982033] [ 0.13018914 -0.03253577 0.9909552 -0.16868792] [ 0. 0. 0. 1. ]] SLAMing on 26.191346183999997 meters Centerline goodness : 0.914403 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95616877 -0.26138412 -0.13198346 1.08225904] [ 0.26283665 0.96481774 -0.00660567 0.21897605] [ 0.1290666 -0.02837395 0.99122991 -0.16983263] [ 0. 0. 0. 1. ]] SLAMing on 26.221346183999998 meters Centerline goodness : 0.914443 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95569045 -0.26356826 -0.13110127 1.08118865] [ 0.26461263 0.96430593 -0.00970751 0.21898061] [ 0.12898032 -0.02541368 0.99132145 -0.16890958] [ 0. 0. 0. 1. ]] SLAMing on 26.251346184 meters Centerline goodness : 0.915150 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95538346 -0.26417211 -0.13211941 1.08230569] [ 0.26537776 0.96410508 -0.0087205 0.21962562] [ 0.12968071 -0.02673013 0.99119545 -0.167914 ] [ 0. 0. 0. 1. ]] SLAMing on 26.281346183999997 meters Centerline goodness : 0.915678 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95532626 -0.26431675 -0.13224368 1.08225194] [ 0.265496 0.96407034 -0.00895794 0.22039357] [ 0.12985994 -0.02655241 0.99117676 -0.16748794] [ 0. 0. 0. 1. ]] SLAMing on 26.311346183999998 meters Centerline goodness : 0.914922 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95563277 -0.26314486 -0.13236615 1.08321806] [ 0.2643394 0.96438971 -0.00878472 0.22080233] [ 0.12996421 -0.02659462 0.99116196 -0.16858577] [ 0. 0. 0. 1. ]] SLAMing on 26.341346184 meters Centerline goodness : 0.913880 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95625101 -0.26116976 -0.13181187 1.08324936] [ 0.26239887 0.96492408 -0.00826791 0.2209052 ] [ 0.12934778 -0.02668109 0.99124027 -0.17057039] [ 0. 0. 0. 1. ]] SLAMing on 26.371346183999997 meters Centerline goodness : 0.913902 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.9581938 -0.25476385 -0.13023065 1.07945099] [ 0.25604675 0.96663847 -0.00708078 0.22027635] [ 0.12768989 -0.02656038 0.99145844 -0.17213557] [ 0. 0. 0. 1. ]] SLAMing on 26.401346183999998 meters Centerline goodness : 0.917912 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.17 [[ 0.95931708 -0.24998057 -0.13122676 1.07978535] [ 0.25176834 0.9677827 -0.00305728 0.2204124 ] [ 0.12776325 -0.03010584 0.99134766 -0.17265595] [ 0. 0. 0. 1. ]] SLAMing on 26.431346184 meters Centerline goodness : 0.918115 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 0.96037483 -0.25161667 -0.11987178 1.07957044] [ 0.25304346 0.96744887 -0.00341772 0.22773637] [ 0.11682977 -0.02705048 0.9927835 -0.17197857] [ 0. 0. 0. 1. ]] SLAMing on 26.461346183999996 meters Centerline goodness : 0.921508 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 9.61219121e-01 -2.47487326e-01 -1.21687407e-01 1.08002356e+00] [ 2.49332665e-01 9.68417894e-01 -6.43438968e-05 2.29870477e-01] [ 1.17860187e-01 -3.02787970e-02 9.92568472e-01 -1.70770718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.491346183999998 meters Centerline goodness : 0.915672 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.17 [[ 0.96194523 -0.24416519 -0.12265697 1.08190533] [ 0.24620163 0.96921748 0.00149452 0.23393902] [ 0.11851637 -0.03163599 0.992448 -0.17308828] [ 0. 0. 0. 1. ]] SLAMing on 26.521346184 meters Centerline goodness : 0.915601 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.18 [[ 9.61913859e-01 -2.44369524e-01 -1.22495971e-01 1.08400101e+00] [ 2.46234875e-01 9.69210182e-01 9.23163386e-05 2.34896571e-01] [ 1.18701783e-01 -3.02515805e-02 9.92469006e-01 -1.75468554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.551346184 meters Centerline goodness : 0.914631 Centerline is valid? [False, False] Translation: X:1.08, Y:0.24, Z:-0.18 [[ 0.96154227 -0.24629977 -0.12154374 1.08333318] [ 0.2477672 0.96881455 -0.0031278 0.23548937] [ 0.11852372 -0.02710704 0.99258115 -0.17552852] [ 0. 0. 0. 1. ]] SLAMing on 26.581346183999997 meters Centerline goodness : 0.911730 Centerline is valid? [False, False] Translation: X:1.08, Y:0.24, Z:-0.17 [[ 0.96014901 -0.25162676 -0.12164646 1.0833741 ] [ 0.25275992 0.96750865 -0.00627947 0.23730763] [ 0.11927409 -0.02471812 0.99255363 -0.17317389] [ 0. 0. 0. 1. ]] SLAMing on 26.611346184 meters Centerline goodness : 0.910762 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95957074 -0.25298028 -0.12338953 1.08617048] [ 0.25428662 0.96711434 -0.0053072 0.23806642] [ 0.1206744 -0.02628367 0.99234412 -0.17219074] [ 0. 0. 0. 1. ]] SLAMing on 26.641346184 meters Centerline goodness : 0.911598 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95911631 -0.2544118 -0.123978 1.08693848] [ 0.25568328 0.96674312 -0.00581434 0.2392012 ] [ 0.12133411 -0.02612247 0.99226793 -0.17121113] [ 0. 0. 0. 1. ]] SLAMing on 26.671346183999997 meters Centerline goodness : 0.914261 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95874176 -0.25538893 -0.12486283 1.08918974] [ 0.25664223 0.96648648 -0.0062174 0.24001166] [ 0.12226609 -0.02608419 0.99215453 -0.17132629] [ 0. 0. 0. 1. ]] SLAMing on 26.701346184 meters Centerline goodness : 0.909697 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95833321 -0.25704477 -0.12460111 1.08923465] [ 0.25813864 0.96607827 -0.00756435 0.24080385] [ 0.1223188 -0.02491519 0.99217808 -0.17128497] [ 0. 0. 0. 1. ]] SLAMing on 26.731346184 meters Centerline goodness : 0.909141 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.95838289 -0.2568547 -0.12461103 1.08900173] [ 0.25791973 0.96613496 -0.00778782 0.24155462] [ 0.12239141 -0.02467593 0.99217511 -0.17093799] [ 0. 0. 0. 1. ]] SLAMing on 26.761346183999997 meters Centerline goodness : 0.906973 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.17 [[ 0.958369 -0.25625961 -0.12593597 1.09013767] [ 0.25744781 0.96626664 -0.00702827 0.24317257] [ 0.12348878 -0.02568626 0.99201348 -0.16981772] [ 0. 0. 0. 1. ]] SLAMing on 26.791346184 meters Centerline goodness : 0.909878 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95891125 -0.25359772 -0.12719045 1.08983204] [ 0.25507241 0.96690989 -0.0048301 0.24624359] [ 0.1242066 -0.02781114 0.99186655 -0.16867978] [ 0. 0. 0. 1. ]] SLAMing on 26.821346184 meters Centerline goodness : 0.903545 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95912289 -0.25247225 -0.12783211 1.09131137] [ 0.25397669 0.9671991 -0.00466295 0.24851574] [ 0.12481637 -0.02799403 0.99178486 -0.16970613] [ 0. 0. 0. 1. ]] SLAMing on 26.851346183999997 meters Centerline goodness : 0.906753 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95935227 -0.251809 -0.12741843 1.09120118] [ 0.25317331 0.96740449 -0.00564105 0.25039105] [ 0.12468563 -0.02684719 0.99183301 -0.17087164] [ 0. 0. 0. 1. ]] SLAMing on 26.881346183999998 meters Centerline goodness : 0.905112 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95936 -0.25210333 -0.12677657 1.0903145 ] [ 0.25319483 0.96738468 -0.0076978 0.25340715] [ 0.12458236 -0.02471421 0.99190143 -0.17148013] [ 0. 0. 0. 1. ]] SLAMing on 26.911346184 meters Centerline goodness : 0.904656 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.17 [[ 0.95913012 -0.25229628 -0.12812493 1.09338886] [ 0.25350121 0.96730912 -0.00708565 0.25482531] [ 0.1257241 -0.02568377 0.99173272 -0.17231642] [ 0. 0. 0. 1. ]] SLAMing on 26.941346183999997 meters Centerline goodness : 0.903306 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.17 [[ 0.95880072 -0.25327315 -0.12866191 1.09393674] [ 0.25447921 0.96705105 -0.0072533 0.25588472] [ 0.1262597 -0.02578731 0.99166199 -0.17147636] [ 0. 0. 0. 1. ]] SLAMing on 26.971346183999998 meters Centerline goodness : 0.905867 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.17 [[ 0.95830297 -0.25470345 -0.12954369 1.09454157] [ 0.25592919 0.96666737 -0.00737828 0.25730861] [ 0.12710493 -0.02608338 0.99154626 -0.16998128] [ 0. 0. 0. 1. ]] SLAMing on 27.001346184 meters Centerline goodness : 0.905196 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95717583 -0.25786652 -0.13160276 1.09704989] [ 0.25910801 0.96581604 -0.00790027 0.2595365 ] [ 0.12914127 -0.02653738 0.99127105 -0.16756652] [ 0. 0. 0. 1. ]] SLAMing on 27.031346183999997 meters Centerline goodness : 0.906403 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95665212 -0.25964457 -0.13191445 1.098103 ] [ 0.26077542 0.96535814 -0.00893488 0.26011347] [ 0.12966458 -0.02585247 0.99122084 -0.16720047] [ 0. 0. 0. 1. ]] SLAMing on 27.061346183999998 meters Centerline goodness : 0.905737 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95640674 -0.26032757 -0.1323469 1.09958199] [ 0.26138598 0.96518641 -0.00962105 0.26051711] [ 0.13024405 -0.02539198 0.99115677 -0.16736186] [ 0. 0. 0. 1. ]] SLAMing on 27.091346184 meters Centerline goodness : 0.902168 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95630899 -0.26054065 -0.13263364 1.10047054] [ 0.26157839 0.96513198 -0.00984924 0.26111913] [ 0.1305751 -0.02527518 0.99111619 -0.16756744] [ 0. 0. 0. 1. ]] SLAMing on 27.121346183999997 meters Centerline goodness : 0.905396 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.17 [[ 0.95644923 -0.25988663 -0.13290528 1.10026425] [ 0.26082485 0.96532784 -0.01060966 0.26348456] [ 0.13105447 -0.0245174 0.99107196 -0.16708487] [ 0. 0. 0. 1. ]] SLAMing on 27.151346183999998 meters Centerline goodness : 0.905006 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95669515 -0.2586373 -0.13357072 1.10028059] [ 0.25962474 0.9656549 -0.01027657 0.26523542] [ 0.13164112 -0.02484672 0.990986 -0.16625678] [ 0. 0. 0. 1. ]] SLAMing on 27.181346184 meters Centerline goodness : 0.905995 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95730815 -0.25563968 -0.13494243 1.10106677] [ 0.25698872 0.96638433 -0.00762393 0.26670588] [ 0.13235523 -0.02738023 0.99082411 -0.16587492] [ 0. 0. 0. 1. ]] SLAMing on 27.211346183999996 meters Centerline goodness : 0.903346 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95832954 -0.25129942 -0.13584216 1.1005856 ] [ 0.25302844 0.96744757 -0.00467004 0.27061298] [ 0.13259374 -0.02989649 0.99071949 -0.16555917] [ 0. 0. 0. 1. ]] SLAMing on 27.241346183999998 meters Centerline goodness : 0.905000 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.17 [[ 0.95835899 -0.25103095 -0.13613048 1.10174384] [ 0.2527051 0.96752977 -0.00512535 0.27295922] [ 0.13299692 -0.02948894 0.99067766 -0.16585018] [ 0. 0. 0. 1. ]] SLAMing on 27.271346184 meters Centerline goodness : 0.904172 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95854927 -0.24995352 -0.13677185 1.10424343] [ 0.25163375 0.96780885 -0.00514637 0.27587574] [ 0.13365536 -0.02948336 0.99058921 -0.16810031] [ 0. 0. 0. 1. ]] SLAMing on 27.301346184 meters Centerline goodness : 0.904644 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95942442 -0.24645674 -0.13698123 1.10208763] [ 0.24853752 0.96862026 -0.00197131 0.27849347] [ 0.13316863 -0.03215365 0.99057168 -0.16849332] [ 0. 0. 0. 1. ]] SLAMing on 27.331346183999997 meters Centerline goodness : 0.903537 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95933918 -0.24687462 -0.13682568 1.1012897 ] [ 0.2488331 0.96854212 -0.00287324 0.2806179 ] [ 0.13323076 -0.03129035 0.99059097 -0.16764546] [ 0. 0. 0. 1. ]] SLAMing on 27.361346184 meters Centerline goodness : 0.904181 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95929902 -0.24709192 -0.13671492 1.10104833] [ 0.24899727 0.96849871 -0.00325762 0.28145487] [ 0.13321316 -0.03091661 0.99060508 -0.16755029] [ 0. 0. 0. 1. ]] SLAMing on 27.391346184 meters Centerline goodness : 0.901775 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95925472 -0.24730804 -0.13663499 1.10125621] [ 0.24918666 0.96844932 -0.00345322 0.28152838] [ 0.13317808 -0.0307351 0.99061544 -0.16793965] [ 0. 0. 0. 1. ]] SLAMing on 27.421346183999997 meters Centerline goodness : 0.901775 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95925472 -0.24730804 -0.13663499 1.10125621] [ 0.24918666 0.96844932 -0.00345322 0.28152838] [ 0.13317808 -0.0307351 0.99061544 -0.16793965] [ 0. 0. 0. 1. ]] SLAMing on 27.451346184 meters Centerline goodness : 0.902807 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.9591908 -0.24753726 -0.13666863 1.10124239] [ 0.24938422 0.9683975 -0.00371273 0.28212706] [ 0.1332686 -0.03052178 0.99060986 -0.16787543] [ 0. 0. 0. 1. ]] SLAMing on 27.481346184 meters Centerline goodness : 0.902837 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.9590708 -0.24810056 -0.13648924 1.10022186] [ 0.2498724 0.96826936 -0.00427029 0.28322524] [ 0.13321781 -0.03000938 0.99063235 -0.16726341] [ 0. 0. 0. 1. ]] SLAMing on 27.511346183999997 meters Centerline goodness : 0.903360 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.17 [[ 0.95896111 -0.24866791 -0.13622723 1.09905393] [ 0.25034883 0.96814316 -0.00492815 0.28427434] [ 0.13311294 -0.02937842 0.99066536 -0.16646941] [ 0. 0. 0. 1. ]] SLAMing on 27.541346184 meters Centerline goodness : 0.903800 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.17 [[ 0.95888401 -0.24898434 -0.13619194 1.0982378 ] [ 0.25054936 0.96808642 -0.00580498 0.28652021] [ 0.13329091 -0.0285565 0.99066546 -0.16522601] [ 0. 0. 0. 1. ]] SLAMing on 27.571346184 meters Centerline goodness : 0.900804 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95885297 -0.24906567 -0.13626176 1.09807376] [ 0.25055443 0.96808141 -0.00639195 0.28797652] [ 0.13350449 -0.02801205 0.99065225 -0.16446031] [ 0. 0. 0. 1. ]] SLAMing on 27.601346183999997 meters Centerline goodness : 0.902990 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95883941 -0.24909813 -0.13629787 1.09788771] [ 0.25050986 0.96808893 -0.00697311 0.28920956] [ 0.13368545 -0.02745787 0.99064336 -0.16358262] [ 0. 0. 0. 1. ]] SLAMing on 27.631346183999998 meters Centerline goodness : 0.902406 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95878116 -0.24944581 -0.13607156 1.09668616] [ 0.25072475 0.96802589 -0.00793577 0.2911448 ] [ 0.13370034 -0.02650784 0.99066723 -0.16216107] [ 0. 0. 0. 1. ]] SLAMing on 27.661346184 meters Centerline goodness : 0.901530 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95876037 -0.24947999 -0.13615539 1.09684837] [ 0.25073308 0.96802198 -0.00814639 0.2915363 ] [ 0.13383377 -0.02632822 0.990654 -0.16193931] [ 0. 0. 0. 1. ]] SLAMing on 27.691346183999997 meters Centerline goodness : 0.903875 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95879408 -0.24919295 -0.13644332 1.09818556] [ 0.25048 0.96808928 -0.00793206 0.29109361] [ 0.13406593 -0.02657112 0.99061612 -0.16256978] [ 0. 0. 0. 1. ]] SLAMing on 27.721346183999998 meters Centerline goodness : 0.897592 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95893435 -0.24827849 -0.13712292 1.10147416] [ 0.24969761 0.96829834 -0.00703049 0.29052508] [ 0.13452141 -0.02749749 0.99052909 -0.16489528] [ 0. 0. 0. 1. ]] SLAMing on 27.751346184 meters Centerline goodness : 0.900360 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95890944 -0.24821263 -0.13741604 1.10204991] [ 0.2495809 0.96832522 -0.00745961 0.29207935] [ 0.13491499 -0.02714333 0.99048533 -0.16454043] [ 0. 0. 0. 1. ]] SLAMing on 27.781346183999997 meters Centerline goodness : 0.901169 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95883271 -0.2485206 -0.13739482 1.1014709 ] [ 0.24981169 0.96826103 -0.0080439 0.29350738] [ 0.13503312 -0.02661008 0.9904837 -0.16380693] [ 0. 0. 0. 1. ]] SLAMing on 27.811346183999998 meters Centerline goodness : 0.901190 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95866874 -0.2493885 -0.13696575 1.09975816] [ 0.25061713 0.96804914 -0.00848038 0.29265663] [ 0.13470449 -0.02619609 0.99053948 -0.16289428] [ 0. 0. 0. 1. ]] SLAMing on 27.841346184 meters Centerline goodness : 0.898785 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95857022 -0.24991672 -0.1366922 1.09857199] [ 0.25110151 0.96792087 -0.00878751 0.29202985] [ 0.13450338 -0.02590017 0.99057459 -0.16205897] [ 0. 0. 0. 1. ]] SLAMing on 27.871346183999997 meters Centerline goodness : 0.899088 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95846159 -0.2504911 -0.13640231 1.09740917] [ 0.25163154 0.96778033 -0.00909952 0.29128178] [ 0.13428682 -0.02560159 0.99061173 -0.16128264] [ 0. 0. 0. 1. ]] SLAMing on 27.901346183999998 meters Centerline goodness : 0.899961 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95836603 -0.25099623 -0.13614497 1.09667206] [ 0.25212985 0.96765028 -0.00913656 0.28992125] [ 0.13403396 -0.02557004 0.99064679 -0.16111044] [ 0. 0. 0. 1. ]] SLAMing on 27.931346184 meters Centerline goodness : 0.899152 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.9572544 -0.25580901 -0.13500286 1.09618187] [ 0.25633932 0.96648922 -0.01373832 0.29118819] [ 0.1339932 -0.02145547 0.99074996 -0.16041788] [ 0. 0. 0. 1. ]] SLAMing on 27.961346183999996 meters Centerline goodness : 0.898768 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95715702 -0.25625297 -0.13485121 1.09550636] [ 0.25675221 0.96637622 -0.01397535 0.29107489] [ 0.13389823 -0.02124674 0.9907673 -0.16007408] [ 0. 0. 0. 1. ]] SLAMing on 27.991346183999998 meters Centerline goodness : 0.896213 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95706978 -0.2566426 -0.13472939 1.094993 ] [ 0.25713623 0.96627339 -0.01402518 0.29042446] [ 0.13378489 -0.02122074 0.99078317 -0.15987446] [ 0. 0. 0. 1. ]] SLAMing on 28.021346184 meters Centerline goodness : 0.898466 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95693697 -0.25735096 -0.13432097 1.09354059] [ 0.25781127 0.9660901 -0.01425745 0.28942024] [ 0.13343533 -0.02098598 0.99083531 -0.15926409] [ 0. 0. 0. 1. ]] SLAMing on 28.051346184 meters Centerline goodness : 0.899508 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95650672 -0.25961462 -0.13302309 1.08827036] [ 0.2599047 0.96551009 -0.01548565 0.28830469] [ 0.13245544 -0.0197612 0.99099195 -0.15656734] [ 0. 0. 0. 1. ]] SLAMing on 28.081346183999997 meters Centerline goodness : 0.894787 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95637624 -0.26027 -0.13268009 1.08674358] [ 0.26049305 0.96534342 -0.01598251 0.2883939 ] [ 0.13224163 -0.01927695 0.99103005 -0.15559635] [ 0. 0. 0. 1. ]] SLAMing on 28.111346184 meters Centerline goodness : 0.893015 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95631056 -0.26053961 -0.13262436 1.08659477] [ 0.2607509 0.96527217 -0.01608144 0.28801678] [ 0.13220845 -0.01920306 0.99103591 -0.15552616] [ 0. 0. 0. 1. ]] SLAMing on 28.141346184 meters Centerline goodness : 0.894654 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95628468 -0.26060441 -0.13268366 1.08748827] [ 0.26087404 0.96524587 -0.0156574 0.28622679] [ 0.13215274 -0.01964079 0.99103476 -0.15651841] [ 0. 0. 0. 1. ]] SLAMing on 28.171346183999997 meters Centerline goodness : 0.893325 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95628195 -0.26050538 -0.13289765 1.08810369] [ 0.26077656 0.96527199 -0.01567088 0.28626259] [ 0.13236473 -0.01967081 0.99100587 -0.15657284] [ 0. 0. 0. 1. ]] SLAMing on 28.201346184 meters Centerline goodness : 0.892450 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95633258 -0.26013961 -0.13324931 1.08933316] [ 0.26041764 0.96536927 -0.01564669 0.28646108] [ 0.13270512 -0.01973703 0.99095903 -0.15679353] [ 0. 0. 0. 1. ]] SLAMing on 28.231346184 meters Centerline goodness : 0.891980 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95640083 -0.25967408 -0.13366687 1.09067987] [ 0.25995329 0.96549408 -0.01566767 0.28701153] [ 0.13312305 -0.01976257 0.99090246 -0.15695222] [ 0. 0. 0. 1. ]] SLAMing on 28.261346183999997 meters Centerline goodness : 0.895447 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95747946 -0.25518924 -0.13457907 1.09040089] [ 0.25594895 0.96661679 -0.01192119 0.28831379] [ 0.13312855 -0.02303108 0.99083115 -0.15713454] [ 0. 0. 0. 1. ]] SLAMing on 28.291346184 meters Centerline goodness : 0.895745 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95845407 -0.2511604 -0.13521928 1.08919155] [ 0.25243249 0.96758195 -0.00793763 0.2875533 ] [ 0.13282935 -0.02652589 0.9907839 -0.15703486] [ 0. 0. 0. 1. ]] SLAMing on 28.321346184 meters Centerline goodness : 0.894179 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95841991 -0.25124099 -0.13531166 1.08872092] [ 0.25241819 0.96757941 -0.00866879 0.28926513] [ 0.13310273 -0.02584679 0.99076516 -0.15578158] [ 0. 0. 0. 1. ]] SLAMing on 28.351346183999997 meters Centerline goodness : 0.895049 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.9584346 -0.25132785 -0.13504601 1.08753792] [ 0.25238023 0.96758098 -0.00955311 0.2904119 ] [ 0.13306891 -0.02492691 0.99079327 -0.15390925] [ 0. 0. 0. 1. ]] SLAMing on 28.381346183999998 meters Centerline goodness : 0.894290 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95843827 -0.25127648 -0.13511557 1.08756202] [ 0.25229376 0.96760082 -0.00982368 0.29075934] [ 0.13320639 -0.02467343 0.99078115 -0.15338402] [ 0. 0. 0. 1. ]] SLAMing on 28.411346184 meters Centerline goodness : 0.893065 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95847655 -0.25104162 -0.13528049 1.08841902] [ 0.25208776 0.96765653 -0.00962341 0.2903897 ] [ 0.13332092 -0.02487874 0.99076061 -0.15386956] [ 0. 0. 0. 1. ]] SLAMing on 28.441346183999997 meters Centerline goodness : 0.891653 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95776211 -0.25364761 -0.13547929 1.09355971] [ 0.25431767 0.96703826 -0.01263009 0.29083544] [ 0.13421725 -0.02235815 0.99069967 -0.15610354] [ 0. 0. 0. 1. ]] SLAMing on 28.471346183999998 meters Centerline goodness : 0.893727 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95777096 -0.25351704 -0.13566096 1.09440751] [ 0.25422675 0.96706567 -0.01235896 0.2900924 ] [ 0.13432626 -0.0226516 0.99067823 -0.15663366] [ 0. 0. 0. 1. ]] SLAMing on 28.501346184 meters Centerline goodness : 0.893836 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.16 [[ 0.95770482 -0.25375415 -0.13568458 1.09405907] [ 0.25440544 0.9670128 -0.01281058 0.29079298] [ 0.13445946 -0.02225014 0.99066926 -0.15590193] [ 0. 0. 0. 1. ]] SLAMing on 28.531346183999997 meters Centerline goodness : 0.893172 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95760806 -0.25410979 -0.13570195 1.0932078 ] [ 0.25466537 0.96693439 -0.01354353 0.29219461] [ 0.13465642 -0.0215892 0.99065713 -0.15458516] [ 0. 0. 0. 1. ]] SLAMing on 28.561346183999998 meters Centerline goodness : 0.894856 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95750624 -0.25452148 -0.13564888 1.0918752 ] [ 0.25494711 0.96684598 -0.01451999 0.2939052 ] [ 0.13484722 -0.0206803 0.99065057 -0.15255165] [ 0. 0. 0. 1. ]] SLAMing on 28.591346184 meters Centerline goodness : 0.894478 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95749177 -0.25457072 -0.13565865 1.0916985 ] [ 0.25498484 0.96683468 -0.01460951 0.29343449] [ 0.13487864 -0.02060241 0.99064792 -0.15206547] [ 0. 0. 0. 1. ]] SLAMing on 28.621346183999997 meters Centerline goodness : 0.893313 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.9574844 -0.25460159 -0.13565271 1.09163042] [ 0.25500856 0.96682761 -0.01466335 0.29278766] [ 0.1348861 -0.02055268 0.99064793 -0.15170412] [ 0. 0. 0. 1. ]] SLAMing on 28.651346183999998 meters Centerline goodness : 0.895709 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95746069 -0.25467167 -0.13568849 1.0915603 ] [ 0.25505598 0.9668124 -0.01484032 0.29270862] [ 0.13496473 -0.02039914 0.9906404 -0.15124891] [ 0. 0. 0. 1. ]] SLAMing on 28.681346184 meters Centerline goodness : 0.891911 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.15 [[ 0.95754147 -0.25414292 -0.13610921 1.09352015] [ 0.25461364 0.9669381 -0.01423385 0.29197328] [ 0.13522661 -0.02102575 0.99059158 -0.15256453] [ 0. 0. 0. 1. ]] SLAMing on 28.711346183999996 meters Centerline goodness : 0.889903 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95765034 -0.25345491 -0.13662517 1.09604617] [ 0.25406931 0.96709572 -0.01321564 0.2894704 ] [ 0.13547919 -0.0220563 0.99053466 -0.15415028] [ 0. 0. 0. 1. ]] SLAMing on 28.741346183999998 meters Centerline goodness : 0.894226 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.16 [[ 0.95684912 -0.25659539 -0.13637655 1.09934777] [ 0.25682545 0.96632187 -0.01620901 0.28740193] [ 0.1359428 -0.01951539 0.99052446 -0.15514745] [ 0. 0. 0. 1. ]] SLAMing on 28.771346184 meters Centerline goodness : 0.892306 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95678021 -0.25691332 -0.13626145 1.09838759] [ 0.25709186 0.96624454 -0.01659077 0.28741952] [ 0.13592427 -0.01915799 0.99053398 -0.15404322] [ 0. 0. 0. 1. ]] SLAMing on 28.801346183999996 meters Centerline goodness : 0.892456 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95667281 -0.25737072 -0.1361523 1.09696127] [ 0.25743617 0.96613805 -0.01743243 0.28853309] [ 0.13602851 -0.0183734 0.99053453 -0.15211468] [ 0. 0. 0. 1. ]] SLAMing on 28.831346183999997 meters Centerline goodness : 0.893736 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95656876 -0.25777554 -0.13611755 1.09570169] [ 0.25774317 0.96604262 -0.01816879 0.28939208] [ 0.13617882 -0.01770367 0.99052608 -0.15027788] [ 0. 0. 0. 1. ]] SLAMing on 28.861346184 meters Centerline goodness : 0.894464 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95659559 -0.25764441 -0.13617721 1.09550877] [ 0.2576214 0.96607641 -0.01809916 0.28765858] [ 0.13622074 -0.01776859 0.99051915 -0.14923014] [ 0. 0. 0. 1. ]] SLAMing on 28.891346184 meters Centerline goodness : 0.893763 Centerline is valid? [False, False] Translation: X:1.10, Y:0.29, Z:-0.15 [[ 0.95667959 -0.25720199 -0.13642322 1.09671908] [ 0.25726895 0.96618234 -0.01744622 0.28505355] [ 0.13629691 -0.01840701 0.99049701 -0.1495865 ] [ 0. 0. 0. 1. ]] SLAMing on 28.921346183999997 meters Centerline goodness : 0.894692 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95673743 -0.25697692 -0.13644174 1.097324 ] [ 0.2571069 0.96623388 -0.01697431 0.28292663] [ 0.13619664 -0.01884015 0.99050266 -0.14995639] [ 0. 0. 0. 1. ]] SLAMing on 28.951346184 meters Centerline goodness : 0.892515 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95675425 -0.25685577 -0.13655192 1.09789979] [ 0.2570396 0.96625847 -0.01658953 0.28129751] [ 0.13620556 -0.01922715 0.990494 -0.15021756] [ 0. 0. 0. 1. ]] SLAMing on 28.981346184 meters Centerline goodness : 0.892945 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.9567017 -0.25698571 -0.13667556 1.09821596] [ 0.257207 0.9662181 -0.01634428 0.27995906] [ 0.13625865 -0.01951731 0.99048102 -0.15032605] [ 0. 0. 0. 1. ]] SLAMing on 29.011346183999997 meters Centerline goodness : 0.896704 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95666515 -0.25711837 -0.13668188 1.09795582] [ 0.25731471 0.96618616 -0.0165362 0.27975922] [ 0.1363119 -0.01935065 0.99047696 -0.14972655] [ 0. 0. 0. 1. ]] SLAMing on 29.041346184 meters Centerline goodness : 0.893485 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95665662 -0.25712222 -0.13673436 1.09778572] [ 0.25730263 0.96618726 -0.01665964 0.27917908] [ 0.13639456 -0.01924456 0.99046765 -0.14895922] [ 0. 0. 0. 1. ]] SLAMing on 29.071346184 meters Centerline goodness : 0.890920 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95667566 -0.25709703 -0.13664845 1.09734213] [ 0.25726733 0.96619563 -0.01671908 0.27820429] [ 0.13632756 -0.01916044 0.99047851 -0.14812263] [ 0. 0. 0. 1. ]] SLAMing on 29.101346183999997 meters Centerline goodness : 0.890657 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95663339 -0.2572482 -0.13665989 1.09701532] [ 0.25739098 0.966159 -0.01693148 0.27799092] [ 0.13639077 -0.0189778 0.99047332 -0.14745149] [ 0. 0. 0. 1. ]] SLAMing on 29.131346183999998 meters Centerline goodness : 0.889906 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95654909 -0.25766869 -0.13645761 1.09595391] [ 0.25774338 0.96605621 -0.01742845 0.27834358] [ 0.13631649 -0.01849988 0.99049259 -0.14650794] [ 0. 0. 0. 1. ]] SLAMing on 29.161346184 meters Centerline goodness : 0.892438 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.15 [[ 0.95646938 -0.25809081 -0.13621845 1.0948009 ] [ 0.25809928 0.96595242 -0.01790786 0.27856183] [ 0.13620239 -0.01802957 0.99051696 -0.14550837] [ 0. 0. 0. 1. ]] SLAMing on 29.191346183999997 meters Centerline goodness : 0.887488 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.14 [[ 0.95646198 -0.25811179 -0.13623062 1.0945693 ] [ 0.25812661 0.96594591 -0.01786483 0.27702962] [ 0.13620253 -0.01807772 0.99051606 -0.14476502] [ 0. 0. 0. 1. ]] SLAMing on 29.221346183999998 meters Centerline goodness : 0.888189 Centerline is valid? [False, False] Translation: X:1.10, Y:0.28, Z:-0.15 [[ 0.95652158 -0.25783349 -0.1363391 1.09552195] [ 0.25789667 0.96601386 -0.01750778 0.2756194 ] [ 0.13621955 -0.01841483 0.99050751 -0.1452627 ] [ 0. 0. 0. 1. ]] SLAMing on 29.251346184 meters Centerline goodness : 0.884392 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95656606 -0.25755318 -0.13655672 1.09658911] [ 0.25766481 0.96608188 -0.01716538 0.274351 ] [ 0.13634597 -0.01876604 0.99048352 -0.14570009] [ 0. 0. 0. 1. ]] SLAMing on 29.281346183999997 meters Centerline goodness : 0.887451 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95657369 -0.25752534 -0.13655575 1.09673427] [ 0.25765541 0.96608679 -0.01702922 0.27357611] [ 0.13631016 -0.01889463 0.99048601 -0.14571627] [ 0. 0. 0. 1. ]] SLAMing on 29.311346183999998 meters Centerline goodness : 0.886534 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95653612 -0.2576077 -0.13666355 1.09667506] [ 0.25769671 0.9660701 -0.01734835 0.2741374 ] [ 0.13649564 -0.01862342 0.9904656 -0.14509681] [ 0. 0. 0. 1. ]] SLAMing on 29.341346184 meters Centerline goodness : 0.886534 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.15 [[ 0.95653612 -0.2576077 -0.13666355 1.09667506] [ 0.25769671 0.9660701 -0.01734835 0.2741374 ] [ 0.13649564 -0.01862342 0.9904656 -0.14509681] [ 0. 0. 0. 1. ]] SLAMing on 29.371346183999997 meters Centerline goodness : 0.887519 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95650291 -0.25762209 -0.13686871 1.09690832] [ 0.25767799 0.96607022 -0.01761747 0.27462896] [ 0.13676343 -0.01841689 0.99043252 -0.14458199] [ 0. 0. 0. 1. ]] SLAMing on 29.401346183999998 meters Centerline goodness : 0.887891 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95648101 -0.2576318 -0.13700341 1.09712766] [ 0.25768416 0.96606776 -0.01766209 0.27435635] [ 0.13690489 -0.01841015 0.9904131 -0.14430026] [ 0. 0. 0. 1. ]] SLAMing on 29.431346184 meters Centerline goodness : 0.888261 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95645977 -0.25783119 -0.1367764 1.09636882] [ 0.25791334 0.96601082 -0.01742981 0.27095966] [ 0.13662143 -0.01860555 0.99044859 -0.14337528] [ 0. 0. 0. 1. ]] SLAMing on 29.461346183999996 meters Centerline goodness : 0.883889 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95642733 -0.25809744 -0.13650083 1.09535358] [ 0.25817211 0.96594105 -0.01746545 0.26887922] [ 0.13635954 -0.01853627 0.99048598 -0.14234705] [ 0. 0. 0. 1. ]] SLAMing on 29.491346183999998 meters Centerline goodness : 0.884155 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95637762 -0.25837504 -0.1363238 1.09446403] [ 0.25842529 0.9658702 -0.01763878 0.26760896] [ 0.13622852 -0.01836018 0.99050729 -0.14130047] [ 0. 0. 0. 1. ]] SLAMing on 29.521346184 meters Centerline goodness : 0.887814 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95634645 -0.25843176 -0.13643497 1.09401229] [ 0.25844148 0.96586009 -0.01795235 0.26792633] [ 0.13641655 -0.01809179 0.99048635 -0.14013317] [ 0. 0. 0. 1. ]] SLAMing on 29.551346183999996 meters Centerline goodness : 0.885933 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95618111 -0.25870794 -0.13706893 1.09495484] [ 0.25885732 0.96576513 -0.01704707 0.26825513] [ 0.13678661 -0.01918121 0.99041481 -0.14002138] [ 0. 0. 0. 1. ]] SLAMing on 29.581346183999997 meters Centerline goodness : 0.886245 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95621358 -0.2584379 -0.13735149 1.09620733] [ 0.25864872 0.9658284 -0.01662341 0.26701282] [ 0.13695409 -0.01963025 0.99038287 -0.14064602] [ 0. 0. 0. 1. ]] SLAMing on 29.611346184 meters Centerline goodness : 0.888584 Centerline is valid? [False, False] Translation: X:1.10, Y:0.27, Z:-0.14 [[ 0.95564215 -0.26130924 -0.13588808 1.09627719] [ 0.26103594 0.96511885 -0.02014543 0.26683445] [ 0.13641234 -0.01621985 0.99051935 -0.14210032] [ 0. 0. 0. 1. ]] SLAMing on 29.641346184 meters Centerline goodness : 0.885516 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95458092 -0.2671061 -0.13202119 1.09453685] [ 0.26572684 0.96363326 -0.02828754 0.264645 ] [ 0.13477578 -0.00807882 0.99084319 -0.14416744] [ 0. 0. 0. 1. ]] SLAMing on 29.671346183999997 meters Centerline goodness : 0.888869 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95423329 -0.26824986 -0.13221511 1.09561182] [ 0.26687996 0.96331387 -0.02831041 0.26315139] [ 0.13495891 -0.00827082 0.99081668 -0.14396703] [ 0. 0. 0. 1. ]] SLAMing on 29.701346184 meters Centerline goodness : 0.889789 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95405141 -0.26868923 -0.13263482 1.09567891] [ 0.26750338 0.96317804 -0.02701851 0.26175706] [ 0.13501053 -0.00970321 0.99079665 -0.14283678] [ 0. 0. 0. 1. ]] SLAMing on 29.731346184 meters Centerline goodness : 0.889362 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.9538887 -0.26868248 -0.13381355 1.09668046] [ 0.26781388 0.96315167 -0.02479084 0.26084595] [ 0.13554361 -0.01218943 0.9906964 -0.14155224] [ 0. 0. 0. 1. ]] SLAMing on 29.761346183999997 meters Centerline goodness : 0.888362 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95355544 -0.26948391 -0.13457505 1.09605936] [ 0.26881957 0.96290552 -0.02343067 0.26001567] [ 0.13589725 -0.01383396 0.99062635 -0.13891208] [ 0. 0. 0. 1. ]] SLAMing on 29.791346184 meters Centerline goodness : 0.889644 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95327394 -0.27032353 -0.13488509 1.09757016] [ 0.26961448 0.96267301 -0.02384774 0.2599951 ] [ 0.13629684 -0.01363355 0.99057423 -0.13934476] [ 0. 0. 0. 1. ]] SLAMing on 29.821346184 meters Centerline goodness : 0.893165 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95295004 -0.27166727 -0.13447349 1.09875161] [ 0.27067817 0.96232036 -0.02593952 0.2602342 ] [ 0.13645349 -0.01167997 0.99057762 -0.14044481] [ 0. 0. 0. 1. ]] SLAMing on 29.851346183999997 meters Centerline goodness : 0.886556 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95193005 -0.2756714 -0.13354572 1.10123644] [ 0.27409639 0.96122142 -0.03040649 0.26140029] [ 0.13674921 -0.00765955 0.99057609 -0.14311143] [ 0. 0. 0. 1. ]] SLAMing on 29.881346183999998 meters Centerline goodness : 0.890908 Centerline is valid? [False, False] Translation: X:1.10, Y:0.26, Z:-0.14 [[ 0.95125021 -0.27780449 -0.13396905 1.10286162] [ 0.27602126 0.96061592 -0.032083 0.26225585] [ 0.13760561 -0.00645935 0.99046604 -0.14280073] [ 0. 0. 0. 1. ]] SLAMing on 29.911346184 meters Centerline goodness : 0.888597 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.95072368 -0.27870548 -0.13582248 1.10684277] [ 0.27706806 0.96034356 -0.03120141 0.26245865] [ 0.13913225 -0.00796816 0.99024175 -0.14281641] [ 0. 0. 0. 1. ]] SLAMing on 29.941346183999997 meters Centerline goodness : 0.890082 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94969149 -0.28055261 -0.13919881 1.10895681] [ 0.27939267 0.95976239 -0.02821149 0.26312378] [ 0.14151259 -0.01209891 0.98986252 -0.13798123] [ 0. 0. 0. 1. ]] SLAMing on 29.971346183999998 meters Centerline goodness : 0.891273 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94955553 -0.28000391 -0.14121655 1.11139114] [ 0.27915344 0.95988881 -0.02620744 0.26299095] [ 0.14289037 -0.01453567 0.98963178 -0.1365637 ] [ 0. 0. 0. 1. ]] SLAMing on 30.001346184 meters Centerline goodness : 0.888363 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94969677 -0.27926243 -0.14173406 1.11306292] [ 0.27852112 0.96009283 -0.02545082 0.26248522] [ 0.14318531 -0.01530537 0.98957754 -0.137335 ] [ 0. 0. 0. 1. ]] SLAMing on 30.031346183999997 meters Centerline goodness : 0.887433 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94995565 -0.27874025 -0.14102531 1.11273782] [ 0.27790948 0.96025653 -0.02595606 0.26162586] [ 0.14265547 -0.01453516 0.98966567 -0.13817523] [ 0. 0. 0. 1. ]] SLAMing on 30.061346183999998 meters Centerline goodness : 0.890769 Centerline is valid? [False, False] Translation: X:1.11, Y:0.26, Z:-0.14 [[ 0.94994056 -0.2787751 -0.14105806 1.1123998 ] [ 0.2778524 0.96025545 -0.02659929 0.26401294] [ 0.14286699 -0.01392557 0.98964393 -0.13755986] [ 0. 0. 0. 1. ]] SLAMing on 30.091346184 meters Centerline goodness : 0.888607 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95011419 -0.27688612 -0.14358654 1.11650513] [ 0.27650486 0.96073707 -0.02300748 0.26504073] [ 0.14431937 -0.01784264 0.98937028 -0.1382448 ] [ 0. 0. 0. 1. ]] SLAMing on 30.121346183999997 meters Centerline goodness : 0.887727 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95002853 -0.27682989 -0.14426018 1.11865802] [ 0.27645808 0.96075016 -0.023023 0.26677608] [ 0.14497144 -0.01800938 0.98927193 -0.1393491 ] [ 0. 0. 0. 1. ]] SLAMing on 30.151346183999998 meters Centerline goodness : 0.886123 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95026677 -0.276726 -0.14288379 1.11934792] [ 0.27587629 0.96083806 -0.02612477 0.26842004] [ 0.14451759 -0.01459275 0.98939462 -0.14257417] [ 0. 0. 0. 1. ]] SLAMing on 30.181346184 meters Centerline goodness : 0.883822 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95029768 -0.2764397 -0.14323203 1.12062928] [ 0.27558972 0.96091987 -0.02614031 0.26922181] [ 0.14486072 -0.0146322 0.98934386 -0.14339884] [ 0. 0. 0. 1. ]] SLAMing on 30.211346183999996 meters Centerline goodness : 0.882916 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.9502999 -0.27639417 -0.14330517 1.12085167] [ 0.27551128 0.96093611 -0.02636885 0.2699854 ] [ 0.14499531 -0.01442387 0.9893272 -0.1432588 ] [ 0. 0. 0. 1. ]] SLAMing on 30.241346183999998 meters Centerline goodness : 0.883453 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95024619 -0.27668252 -0.14310471 1.11999437] [ 0.27572683 0.96086046 -0.02686785 0.27047931] [ 0.14493752 -0.01392673 0.98934279 -0.1424447 ] [ 0. 0. 0. 1. ]] SLAMing on 30.271346184 meters Centerline goodness : 0.880814 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.95023787 -0.27661897 -0.1432827 1.12039036] [ 0.27565325 0.96087931 -0.02694877 0.27081454] [ 0.14513192 -0.0138886 0.98931483 -0.14234392] [ 0. 0. 0. 1. ]] SLAMing on 30.301346183999996 meters Centerline goodness : 0.883423 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94996255 -0.27703554 -0.14429989 1.12165718] [ 0.27621001 0.96074204 -0.0261298 0.27152599] [ 0.14587385 -0.01503474 0.98918895 -0.14167019] [ 0. 0. 0. 1. ]] SLAMing on 30.331346183999997 meters Centerline goodness : 0.887308 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94951901 -0.27784445 -0.14565753 1.12367439] [ 0.27713355 0.96049127 -0.025564 0.27310349] [ 0.1470056 -0.01609309 0.98900474 -0.14098751] [ 0. 0. 0. 1. ]] SLAMing on 30.361346184 meters Centerline goodness : 0.885854 Centerline is valid? [False, False] Translation: X:1.12, Y:0.27, Z:-0.14 [[ 0.94948349 -0.27789661 -0.14578952 1.12418533] [ 0.27719261 0.96047496 -0.02553638 0.27343363] [ 0.14712366 -0.0161654 0.988986 -0.14142409] [ 0. 0. 0. 1. ]] SLAMing on 30.391346184 meters Centerline goodness : 0.882953 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94853605 -0.28106829 -0.14587659 1.12612339] [ 0.28004528 0.95958036 -0.02793163 0.27531448] [ 0.14783101 -0.01435789 0.98890841 -0.1421768 ] [ 0. 0. 0. 1. ]] SLAMing on 30.421346183999997 meters Centerline goodness : 0.881678 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94828278 -0.28198367 -0.14575658 1.12807308] [ 0.28079079 0.95932693 -0.02912701 0.27569512] [ 0.14804155 -0.01330646 0.98889162 -0.14389431] [ 0. 0. 0. 1. ]] SLAMing on 30.451346184 meters Centerline goodness : 0.880502 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.15 [[ 0.94813255 -0.28266047 -0.14542257 1.12920991] [ 0.28128817 0.95914332 -0.030349 0.27625002] [ 0.14805955 -0.01213077 0.98890405 -0.14526509] [ 0. 0. 0. 1. ]] SLAMing on 30.481346184 meters Centerline goodness : 0.881459 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94809597 -0.28286215 -0.14526883 1.12868485] [ 0.28141697 0.95908991 -0.03083893 0.27754394] [ 0.14804904 -0.01164285 0.98891149 -0.14493377] [ 0. 0. 0. 1. ]] SLAMing on 30.511346183999997 meters Centerline goodness : 0.880809 Centerline is valid? [False, False] Translation: X:1.13, Y:0.28, Z:-0.14 [[ 0.94904556 -0.27946038 -0.1456517 1.1263374 ] [ 0.27850862 0.96004546 -0.02730696 0.27674604] [ 0.14746347 -0.0146497 0.988959 -0.14444544] [ 0. 0. 0. 1. ]] SLAMing on 30.541346184 meters Centerline goodness : 0.882518 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95000183 -0.27594196 -0.14612513 1.12393491] [ 0.27544449 0.96101649 -0.02403423 0.27776019] [ 0.14706071 -0.0174168 0.98897412 -0.14374194] [ 0. 0. 0. 1. ]] SLAMing on 30.571346184 meters Centerline goodness : 0.882055 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95092024 -0.27257839 -0.14646406 1.12101765] [ 0.2724994 0.96192682 -0.02099677 0.27994016] [ 0.14661098 -0.01994511 0.98899313 -0.1429926 ] [ 0. 0. 0. 1. ]] SLAMing on 30.601346183999997 meters Centerline goodness : 0.881416 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95182531 -0.269276 -0.14669363 1.11789033] [ 0.2695202 0.9628153 -0.01858911 0.28414933] [ 0.14624447 -0.02184331 0.98900729 -0.14195537] [ 0. 0. 0. 1. ]] SLAMing on 30.631346183999998 meters Centerline goodness : 0.877226 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95187903 -0.26905327 -0.14675372 1.1188274 ] [ 0.26928684 0.96287937 -0.01865263 0.2846317 ] [ 0.14632469 -0.02176379 0.98899718 -0.1425962 ] [ 0. 0. 0. 1. ]] SLAMing on 30.661346184 meters Centerline goodness : 0.878864 Centerline is valid? [False, False] Translation: X:1.12, Y:0.28, Z:-0.14 [[ 0.95191392 -0.26896965 -0.14668068 1.11959212] [ 0.26921097 0.96290194 -0.01858273 0.28408075] [ 0.1462373 -0.02179889 0.98900933 -0.14339679] [ 0. 0. 0. 1. ]] SLAMing on 30.691346183999997 meters Centerline goodness : 0.877684 Centerline is valid? [False, False] Translation: X:1.12, Y:0.29, Z:-0.14 [[ 0.95183893 -0.26954311 -0.1461135 1.11860422] [ 0.26968373 0.96275702 -0.01922509 0.28603402] [ 0.14585379 -0.02110524 0.98908101 -0.1439423 ] [ 0. 0. 0. 1. ]] SLAMing on 30.721346183999998 meters Centerline goodness : 0.878384 Centerline is valid? [False, False] Translation: X:1.12, Y:0.29, Z:-0.14 [[ 0.95163558 -0.27046671 -0.14573083 1.11669601] [ 0.27044194 0.96252089 -0.02036416 0.28859279] [ 0.1457768 -0.02003247 0.98911467 -0.14278249] [ 0. 0. 0. 1. ]] SLAMing on 30.751346184 meters Centerline goodness : 0.879532 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95144642 -0.27141116 -0.1452091 1.11471987] [ 0.27127068 0.96227065 -0.02115211 0.29007838] [ 0.14547138 -0.01926587 0.98917486 -0.14207755] [ 0. 0. 0. 1. ]] SLAMing on 30.781346183999997 meters Centerline goodness : 0.881666 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.9511411 -0.2727363 -0.14472566 1.1125774 ] [ 0.27251919 0.96190534 -0.02171213 0.29039844] [ 0.14513407 -0.01878922 0.98923357 -0.14159327] [ 0. 0. 0. 1. ]] SLAMing on 30.811346183999998 meters Centerline goodness : 0.879005 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95102385 -0.27327235 -0.14448482 1.11155822] [ 0.27300211 0.96175991 -0.02208453 0.29033089] [ 0.1449948 -0.01844175 0.98926054 -0.1409523 ] [ 0. 0. 0. 1. ]] SLAMing on 30.841346184 meters Centerline goodness : 0.882849 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95090812 -0.27380577 -0.14423642 1.11030454] [ 0.27345443 0.9616183 -0.02264754 0.29059111] [ 0.1449014 -0.01790636 0.98928406 -0.13989746] [ 0. 0. 0. 1. ]] SLAMing on 30.871346183999997 meters Centerline goodness : 0.881315 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95080858 -0.27428799 -0.14397619 1.10900257] [ 0.27382067 0.96149498 -0.02344474 0.29181078] [ 0.14486299 -0.01713219 0.98930339 -0.13867108] [ 0. 0. 0. 1. ]] SLAMing on 30.901346183999998 meters Centerline goodness : 0.880388 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95191949 -0.27012447 -0.14450622 1.10775085] [ 0.27014907 0.96261429 -0.01982963 0.29244897] [ 0.14446022 -0.02016201 0.98930518 -0.13876655] [ 0. 0. 0. 1. ]] SLAMing on 30.931346184 meters Centerline goodness : 0.879188 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95307307 -0.26553258 -0.14541037 1.10890529] [ 0.26614131 0.96380758 -0.01561241 0.29172755] [ 0.14429322 -0.02381994 0.98924824 -0.14036039] [ 0. 0. 0. 1. ]] SLAMing on 30.961346183999996 meters Centerline goodness : 0.876218 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.14 [[ 0.95334611 -0.26401579 -0.14637917 1.11267957] [ 0.26467163 0.96421666 -0.0153352 0.29436667] [ 0.14518997 -0.02412266 0.98910969 -0.14177955] [ 0. 0. 0. 1. ]] SLAMing on 30.991346183999998 meters Centerline goodness : 0.879371 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95655715 -0.25483601 -0.1416228 1.10845648] [ 0.25471218 0.96682408 -0.01931075 0.29595061] [ 0.14184541 -0.01760122 0.98973233 -0.14701467] [ 0. 0. 0. 1. ]] SLAMing on 31.021346184 meters Centerline goodness : 0.875674 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95760378 -0.25030159 -0.14263278 1.10891048] [ 0.25076527 0.96793153 -0.01501076 0.29558731] [ 0.14181598 -0.02139299 0.98966184 -0.14801071] [ 0. 0. 0. 1. ]] SLAMing on 31.051346183999996 meters Centerline goodness : 0.881529 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95855291 -0.24621644 -0.14336593 1.10813402] [ 0.2472305 0.96889448 -0.01098054 0.29510122] [ 0.14161005 -0.024919 0.98960883 -0.14829278] [ 0. 0. 0. 1. ]] SLAMing on 31.081346183999997 meters Centerline goodness : 0.879539 Centerline is valid? [False, False] Translation: X:1.11, Y:0.29, Z:-0.15 [[ 0.95943904 -0.24244707 -0.14386154 1.10638427] [ 0.24398996 0.96975184 -0.00709015 0.29440635] [ 0.14122898 -0.02829821 0.98957243 -0.1481219 ] [ 0. 0. 0. 1. ]] SLAMing on 31.111346184 meters Centerline goodness : 0.881102 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.15 [[ 0.95928664 -0.24315728 -0.1436791 1.10436556] [ 0.24445445 0.96962059 -0.00882808 0.29794106] [ 0.14146083 -0.02665434 0.98958495 -0.14535341] [ 0. 0. 0. 1. ]] SLAMing on 31.141346184 meters Centerline goodness : 0.882921 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.15 [[ 0.95925976 -0.24330918 -0.14360138 1.10432325] [ 0.24455818 0.96959134 -0.00916182 0.29855628] [ 0.14146381 -0.02633032 0.9895932 -0.14529436] [ 0. 0. 0. 1. ]] SLAMing on 31.171346183999997 meters Centerline goodness : 0.878844 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95930192 -0.24309345 -0.14368509 1.10535026] [ 0.24436378 0.96964175 -0.00901223 0.2982388 ] [ 0.14151388 -0.02646598 0.98958242 -0.14607459] [ 0. 0. 0. 1. ]] SLAMing on 31.201346184 meters Centerline goodness : 0.877242 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95941492 -0.24259351 -0.14377553 1.10692152] [ 0.24391009 0.96975911 -0.00866827 0.29802729] [ 0.14153049 -0.02675184 0.98957236 -0.14751551] [ 0. 0. 0. 1. ]] SLAMing on 31.231346184 meters Centerline goodness : 0.877242 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95941492 -0.24259351 -0.14377553 1.10692152] [ 0.24391009 0.96975911 -0.00866827 0.29802729] [ 0.14153049 -0.02675184 0.98957236 -0.14751551] [ 0. 0. 0. 1. ]] SLAMing on 31.261346183999997 meters Centerline goodness : 0.880591 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95937033 -0.24278342 -0.14375252 1.10667342] [ 0.24402684 0.96972494 -0.00918958 0.29963992] [ 0.14163148 -0.02626326 0.989571 -0.14715199] [ 0. 0. 0. 1. ]] SLAMing on 31.291346184 meters Centerline goodness : 0.879981 Centerline is valid? [False, False] Translation: X:1.11, Y:0.30, Z:-0.15 [[ 0.95924291 -0.2434458 -0.14348236 1.10507037] [ 0.24455027 0.96958338 -0.01016073 0.30191448] [ 0.1415917 -0.02534204 0.98960071 -0.14596032] [ 0. 0. 0. 1. ]] SLAMing on 31.321346184 meters Centerline goodness : 0.879738 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95908349 -0.24431582 -0.14306863 1.10298269] [ 0.24528657 0.96938721 -0.01108789 0.30347142] [ 0.14139785 -0.0244586 0.98965066 -0.14463622] [ 0. 0. 0. 1. ]] SLAMing on 31.351346183999997 meters Centerline goodness : 0.881897 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95867013 -0.24643575 -0.1422006 1.09860579] [ 0.24724643 0.96887556 -0.01222084 0.30312934] [ 0.14078633 -0.02344284 0.98976242 -0.14244421] [ 0. 0. 0. 1. ]] SLAMing on 31.381346183999998 meters Centerline goodness : 0.880623 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95843712 -0.24766668 -0.14163158 1.09643036] [ 0.24844856 0.96856546 -0.01242004 0.30106679] [ 0.14025549 -0.02328433 0.98984152 -0.14183191] [ 0. 0. 0. 1. ]] SLAMing on 31.411346184 meters Centerline goodness : 0.881041 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95727768 -0.25274325 -0.14050014 1.09536811] [ 0.25288569 0.96734436 -0.01713825 0.30161095] [ 0.14024359 -0.01912441 0.98993232 -0.14040085] [ 0. 0. 0. 1. ]] SLAMing on 31.441346183999997 meters Centerline goodness : 0.874963 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.14 [[ 0.95609445 -0.25785889 -0.13925588 1.09493881] [ 0.2574879 0.96605356 -0.02098829 0.29921046] [ 0.13994065 -0.01578992 0.99003399 -0.14039967] [ 0. 0. 0. 1. ]] SLAMing on 31.471346183999998 meters Centerline goodness : 0.876817 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95613166 -0.25743022 -0.13979244 1.09656609] [ 0.2570566 0.96616736 -0.02103639 0.30052393] [ 0.14047829 -0.01582101 0.98995734 -0.14078566] [ 0. 0. 0. 1. ]] SLAMing on 31.501346184 meters Centerline goodness : 0.879901 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95616251 -0.257107 -0.1401758 1.09797563] [ 0.25673725 0.96625244 -0.02102887 0.30132851] [ 0.14085187 -0.01588133 0.98990329 -0.14127815] [ 0. 0. 0. 1. ]] SLAMing on 31.531346183999997 meters Centerline goodness : 0.877115 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95618828 -0.25689626 -0.14038621 1.09896584] [ 0.25654573 0.96630605 -0.02090232 0.3014076 ] [ 0.14102577 -0.01602893 0.98987616 -0.14178439] [ 0. 0. 0. 1. ]] SLAMing on 31.561346183999998 meters Centerline goodness : 0.875955 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95618243 -0.2569237 -0.1403758 1.0993995 ] [ 0.25660078 0.96629559 -0.0207093 0.30093516] [ 0.14096523 -0.01621867 0.98988169 -0.1424681 ] [ 0. 0. 0. 1. ]] SLAMing on 31.591346184 meters Centerline goodness : 0.877347 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95612836 -0.25708843 -0.14044253 1.09917227] [ 0.25669543 0.96625935 -0.02122093 0.30209773] [ 0.14115957 -0.01576102 0.98986139 -0.1417326 ] [ 0. 0. 0. 1. ]] SLAMing on 31.621346183999997 meters Centerline goodness : 0.879543 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95602655 -0.2575268 -0.14033239 1.09809976] [ 0.25702242 0.96615449 -0.02202217 0.30404461] [ 0.14125407 -0.01501479 0.98985951 -0.14061791] [ 0. 0. 0. 1. ]] SLAMing on 31.651346183999998 meters Centerline goodness : 0.878269 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95593339 -0.25791218 -0.14025924 1.0972618 ] [ 0.25729953 0.96606265 -0.02280142 0.30564326] [ 0.14137998 -0.014292 0.98985223 -0.13951541] [ 0. 0. 0. 1. ]] SLAMing on 31.681346184 meters Centerline goodness : 0.875654 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95596952 -0.25765872 -0.14047867 1.09757548] [ 0.25693349 0.9661411 -0.02359142 0.3081761 ] [ 0.14180075 -0.01354099 0.9898026 -0.1384574 ] [ 0. 0. 0. 1. ]] SLAMing on 31.711346183999996 meters Centerline goodness : 0.873247 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95598225 -0.25761613 -0.14047017 1.0973789 ] [ 0.25678713 0.96616216 -0.02431137 0.3100425 ] [ 0.14197996 -0.0128297 0.98978639 -0.13754461] [ 0. 0. 0. 1. ]] SLAMing on 31.741346183999998 meters Centerline goodness : 0.877549 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95598937 -0.25760535 -0.14044151 1.09701026] [ 0.2566559 0.96617564 -0.0251471 0.31215528] [ 0.1421692 -0.01200478 0.98976957 -0.13638516] [ 0. 0. 0. 1. ]] SLAMing on 31.771346184 meters Centerline goodness : 0.874892 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.956026 -0.2573426 -0.14067367 1.09753233] [ 0.2563306 0.96625058 -0.02558203 0.31369752] [ 0.14250936 -0.01160188 0.98972546 -0.13585755] [ 0. 0. 0. 1. ]] SLAMing on 31.801346183999996 meters Centerline goodness : 0.874502 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.95612442 -0.25683205 -0.14093752 1.09872592] [ 0.25581789 0.96638648 -0.02558077 0.31360747] [ 0.14277007 -0.01159594 0.98968795 -0.13581615] [ 0. 0. 0. 1. ]] SLAMing on 31.831346183999997 meters Centerline goodness : 0.875020 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.14 [[ 0.956113 -0.25696932 -0.14076472 1.09831458] [ 0.25594027 0.96635144 -0.0256801 0.31324684] [ 0.14262718 -0.01147429 0.98970997 -0.13560575] [ 0. 0. 0. 1. ]] SLAMing on 31.861346184 meters Centerline goodness : 0.873412 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95607358 -0.25706159 -0.14086396 1.09824851] [ 0.25599148 0.96632987 -0.02597972 0.31362842] [ 0.14279944 -0.01122145 0.98968803 -0.13497882] [ 0. 0. 0. 1. ]] SLAMing on 31.891346184 meters Centerline goodness : 0.872607 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95603575 -0.25700904 -0.14121613 1.09873233] [ 0.25592463 0.96634426 -0.02610266 0.31400521] [ 0.14317202 -0.01118561 0.98963461 -0.13443508] [ 0. 0. 0. 1. ]] SLAMing on 31.921346183999997 meters Centerline goodness : 0.875645 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95601113 -0.25705426 -0.14130048 1.09891143] [ 0.25598709 0.96633066 -0.0259936 0.31320864] [ 0.14322475 -0.01132092 0.98962544 -0.13434284] [ 0. 0. 0. 1. ]] SLAMing on 31.951346184 meters Centerline goodness : 0.871922 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95595061 -0.25736064 -0.14115214 1.09821706] [ 0.25629721 0.96624885 -0.02597865 0.31230777] [ 0.14307397 -0.01134259 0.989647 -0.13397879] [ 0. 0. 0. 1. ]] SLAMing on 31.981346184 meters Centerline goodness : 0.873741 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95588788 -0.25766752 -0.14101704 1.09788087] [ 0.25667865 0.96616103 -0.02547426 0.30973794] [ 0.14280905 -0.01184552 0.98967937 -0.13429746] [ 0. 0. 0. 1. ]] SLAMing on 32.011346184 meters Centerline goodness : 0.874328 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95590314 -0.2576299 -0.14098236 1.0981757 ] [ 0.2566942 0.9661667 -0.0250999 0.3079062 ] [ 0.14267894 -0.01219628 0.98969388 -0.1346056 ] [ 0. 0. 0. 1. ]] SLAMing on 32.041346184 meters Centerline goodness : 0.875498 Centerline is valid? [False, False] Translation: X:1.10, Y:0.31, Z:-0.13 [[ 0.95589834 -0.25774878 -0.14079747 1.09802822] [ 0.25684854 0.96613223 -0.02484639 0.3058689 ] [ 0.14243311 -0.012413 0.98972659 -0.1346996 ] [ 0. 0. 0. 1. ]] SLAMing on 32.071346184 meters Centerline goodness : 0.873182 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.14 [[ 0.95587191 -0.25799836 -0.14051949 1.09790724] [ 0.25717547 0.96605911 -0.02430172 0.30259655] [ 0.14201994 -0.01290883 0.98977962 -0.13530407] [ 0. 0. 0. 1. ]] SLAMing on 32.101346184 meters Centerline goodness : 0.873400 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.13 [[ 0.95584385 -0.25809684 -0.14052956 1.09775786] [ 0.25727394 0.96603268 -0.02430998 0.30176703] [ 0.14203047 -0.01291805 0.98977799 -0.13487632] [ 0. 0. 0. 1. ]] SLAMing on 32.131346183999995 meters Centerline goodness : 0.876035 Centerline is valid? [False, False] Translation: X:1.10, Y:0.30, Z:-0.13 [[ 0.95575971 -0.25852958 -0.14030622 1.09662557] [ 0.25767542 0.96591986 -0.02453966 0.30108305] [ 0.14186879 -0.01269944 0.98980401 -0.13401818] [ 0. 0. 0. 1. ]] SLAMing on 32.161346183999996 meters Centerline goodness : 0.876242 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95557082 -0.25955442 -0.13969935 1.09378231] [ 0.25865186 0.96564964 -0.0248996 0.29871096] [ 0.14136343 -0.01234016 0.98988085 -0.13209029] [ 0. 0. 0. 1. ]] SLAMing on 32.191346184 meters Centerline goodness : 0.874296 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95547427 -0.26006382 -0.13941211 1.09250618] [ 0.25913747 0.9655148 -0.02507872 0.29818042] [ 0.14112653 -0.01216483 0.98991682 -0.13144289] [ 0. 0. 0. 1. ]] SLAMing on 32.221346184 meters Centerline goodness : 0.874319 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95538713 -0.26049998 -0.13919479 1.09141943] [ 0.25955337 0.96539903 -0.02523427 0.29719468] [ 0.14095205 -0.01201998 0.98994345 -0.13059597] [ 0. 0. 0. 1. ]] SLAMing on 32.251346184 meters Centerline goodness : 0.874898 Centerline is valid? [False, False] Translation: X:1.09, Y:0.30, Z:-0.13 [[ 0.95439821 -0.26442515 -0.1385763 1.09303319] [ 0.26302087 0.96436356 -0.02868694 0.29554269] [ 0.14122348 -0.0090697 0.98993619 -0.13078996] [ 0. 0. 0. 1. ]] SLAMing on 32.281346184 meters Centerline goodness : 0.877420 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.95440486 -0.26448596 -0.13841437 1.09326777] [ 0.2631672 0.96434149 -0.02808037 0.29227046] [ 0.14090558 -0.00962608 0.98997624 -0.13135536] [ 0. 0. 0. 1. ]] SLAMing on 32.311346184 meters Centerline goodness : 0.876698 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.95438315 -0.26467212 -0.1382081 1.09302171] [ 0.2634042 0.96428716 -0.02772189 0.2896907 ] [ 0.14060951 -0.00994729 0.99001516 -0.13144742] [ 0. 0. 0. 1. ]] SLAMing on 32.341346183999995 meters Centerline goodness : 0.872103 Centerline is valid? [False, False] Translation: X:1.09, Y:0.29, Z:-0.13 [[ 0.954373 -0.26473891 -0.13815021 1.09314039] [ 0.26352971 0.96426465 -0.02730887 0.28750998] [ 0.14044309 -0.01034384 0.99003472 -0.13164254] [ 0. 0. 0. 1. ]] SLAMing on 32.371346184 meters Centerline goodness : 0.873865 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95423784 -0.2653775 -0.13785834 1.09191564] [ 0.26418901 0.96408765 -0.02718746 0.28408171] [ 0.14012246 -0.01047735 0.99007874 -0.13070344] [ 0. 0. 0. 1. ]] SLAMing on 32.401346184 meters Centerline goodness : 0.877349 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95421955 -0.26545464 -0.13783643 1.09168194] [ 0.26426934 0.96406616 -0.02716893 0.28325806] [ 0.14009556 -0.01050082 0.9900823 -0.13024195] [ 0. 0. 0. 1. ]] SLAMing on 32.431346184 meters Centerline goodness : 0.879362 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95420329 -0.26539265 -0.13806821 1.09179761] [ 0.26417845 0.96408493 -0.02738583 0.2832899 ] [ 0.14037748 -0.010343 0.99004403 -0.12932143] [ 0. 0. 0. 1. ]] SLAMing on 32.461346184 meters Centerline goodness : 0.880968 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95419671 -0.26530568 -0.1382806 1.09188949] [ 0.26405639 0.96411105 -0.02764234 0.28321707] [ 0.14065153 -0.01013764 0.99000726 -0.12831991] [ 0. 0. 0. 1. ]] SLAMing on 32.491346184 meters Centerline goodness : 0.879838 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95643339 -0.26049548 -0.13182288 1.08709257] [ 0.25929511 0.96543461 -0.02649648 0.27642466] [ 0.13416858 -0.00883891 0.9909191 -0.13443687] [ 0. 0. 0. 1. ]] SLAMing on 32.521346183999995 meters Centerline goodness : 0.883955 Centerline is valid? [False, False] Translation: X:1.09, Y:0.28, Z:-0.13 [[ 0.95662008 -0.2594988 -0.13243265 1.08942598] [ 0.25837282 0.96569748 -0.02592042 0.275287 ] [ 0.13461619 -0.009421 0.99085303 -0.1349266 ] [ 0. 0. 0. 1. ]] SLAMing on 32.551346183999996 meters Centerline goodness : 0.879729 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.14 [[ 0.95771122 -0.25506488 -0.13315828 1.08924276] [ 0.25452787 0.96683019 -0.02132966 0.27222036] [ 0.13418189 -0.01346483 0.99086524 -0.13553445] [ 0. 0. 0. 1. ]] SLAMing on 32.581346184 meters Centerline goodness : 0.881565 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.9589012 -0.24993899 -0.1343093 1.08934437] [ 0.24995356 0.96810806 -0.01702924 0.27072371] [ 0.13428219 -0.01724173 0.99079313 -0.13463803] [ 0. 0. 0. 1. ]] SLAMing on 32.611346184 meters Centerline goodness : 0.880288 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.9590269 -0.24915156 -0.13487367 1.09081099] [ 0.24917987 0.96830896 -0.01694543 0.27048491] [ 0.13482137 -0.01735668 0.99071789 -0.13399959] [ 0. 0. 0. 1. ]] SLAMing on 32.641346184 meters Centerline goodness : 0.884334 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.95916056 -0.24830392 -0.13548502 1.09281689] [ 0.2484003 0.9685175 -0.01646615 0.26901918] [ 0.13530822 -0.01786084 0.99064256 -0.13391142] [ 0. 0. 0. 1. ]] SLAMing on 32.671346184 meters Centerline goodness : 0.881502 Centerline is valid? [False, False] Translation: X:1.09, Y:0.27, Z:-0.13 [[ 0.95929607 -0.24751448 -0.13596925 1.09469462] [ 0.24771833 0.96870504 -0.01568965 0.26632168] [ 0.13559751 -0.01863106 0.99058881 -0.13418361] [ 0. 0. 0. 1. ]] SLAMing on 32.701346183999995 meters Centerline goodness : 0.888109 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95949411 -0.24842418 -0.13287768 1.09477787] [ 0.24815359 0.96853708 -0.01886034 0.26090796] [ 0.13338233 -0.01487769 0.99095298 -0.13895665] [ 0. 0. 0. 1. ]] SLAMing on 32.731346183999996 meters Centerline goodness : 0.888052 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95946462 -0.24969232 -0.13069579 1.09348511] [ 0.24893531 0.96826187 -0.02236433 0.25826947] [ 0.13213195 -0.01107701 0.99117024 -0.1403058 ] [ 0. 0. 0. 1. ]] SLAMing on 32.761346184 meters Centerline goodness : 0.886615 Centerline is valid? [False, False] Translation: X:1.09, Y:0.26, Z:-0.14 [[ 0.95949941 -0.25033164 -0.12920892 1.09255669] [ 0.24923054 0.96812436 -0.02488689 0.25592941] [ 0.13132028 -0.00832385 0.99130505 -0.14087776] [ 0. 0. 0. 1. ]] SLAMing on 32.791346184 meters Centerline goodness : 0.891987 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.14 [[ 0.95961785 -0.24995098 -0.12906625 1.09298119] [ 0.24889295 0.96822041 -0.02452629 0.25354335] [ 0.13109495 -0.00858782 0.99133262 -0.14093935] [ 0. 0. 0. 1. ]] SLAMing on 32.821346184 meters Centerline goodness : 0.892158 Centerline is valid? [False, False] Translation: X:1.09, Y:0.25, Z:-0.14 [[ 0.96013478 -0.24881949 -0.12739727 1.09071679] [ 0.24765725 0.9685215 -0.02513931 0.24763281] [ 0.12964214 -0.00741373 0.99153313 -0.14062671] [ 0. 0. 0. 1. ]] SLAMing on 32.851346184 meters Centerline goodness : 0.892573 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.14 [[ 0.96044556 -0.24843689 -0.12579123 1.08894393] [ 0.24714131 0.9686291 -0.02605452 0.24340285] [ 0.12831795 -0.00606426 0.99171454 -0.14096828] [ 0. 0. 0. 1. ]] SLAMing on 32.881346183999995 meters Centerline goodness : 0.894286 Centerline is valid? [False, False] Translation: X:1.09, Y:0.24, Z:-0.14 [[ 0.96073921 -0.24838154 -0.12363973 1.08651778] [ 0.24687101 0.96865414 -0.02763797 0.23876612] [ 0.1266289 -0.00397018 0.99194222 -0.1413749 ] [ 0. 0. 0. 1. ]] SLAMing on 32.911346183999996 meters Centerline goodness : 0.899754 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.14 [[ 9.60777210e-01 -2.49661306e-01 -1.20732702e-01 1.08348211e+00] [ 2.47830083e-01 9.68332797e-01 -3.01967500e-02 2.29961713e-01] [ 1.24448395e-01 -9.08846242e-04 9.92225665e-01 -1.41121849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941346184 meters Centerline goodness : 0.899677 Centerline is valid? [False, False] Translation: X:1.08, Y:0.23, Z:-0.14 [[ 9.60828499e-01 -2.50094700e-01 -1.19420419e-01 1.08330854e+00] [ 2.48186406e-01 9.68221380e-01 -3.08361337e-02 2.25335964e-01] [ 1.23337356e-01 -1.02885064e-05 9.92364800e-01 -1.42389262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.971346184 meters Centerline goodness : 0.898816 Centerline is valid? [False, False] Translation: X:1.08, Y:0.22, Z:-0.14 [[ 0.96083806 -0.25082863 -0.11779315 1.08155826] [ 0.24874514 0.96802994 -0.03230938 0.22072878] [ 0.12213141 0.00174361 0.99251241 -0.14225525] [ 0. 0. 0. 1. ]] SLAMing on 33.001346184 meters Centerline goodness : 0.907021 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 9.61126661e-01 -2.50362290e-01 -1.16422785e-01 1.07805123e+00] [ 2.48492424e-01 9.68152127e-01 -3.05446172e-02 2.11229752e-01] [ 1.20362187e-01 4.27065851e-04 9.92729954e-01 -1.39205714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.031346184 meters Centerline goodness : 0.908040 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 0.96116565 -0.25005933 -0.11675152 1.07753714] [ 0.24840185 0.96822958 -0.02877493 0.20824993] [ 0.12023772 -0.00134382 0.99274422 -0.13735222] [ 0. 0. 0. 1. ]] SLAMing on 33.061346184 meters Centerline goodness : 0.910639 Centerline is valid? [False, False] Translation: X:1.08, Y:0.21, Z:-0.14 [[ 0.96113922 -0.25021124 -0.11664363 1.07689242] [ 0.24869557 0.96818811 -0.02760964 0.20522429] [ 0.11984122 -0.00247205 0.99278999 -0.13611795] [ 0. 0. 0. 1. ]] SLAMing on 33.091346183999995 meters Centerline goodness : 0.913758 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.96095016 -0.25087464 -0.11677629 1.07858298] [ 0.24946648 0.96801356 -0.02676232 0.20282695] [ 0.11975502 -0.00341452 0.9927976 -0.13684221] [ 0. 0. 0. 1. ]] SLAMing on 33.121346184 meters Centerline goodness : 0.908344 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.95956578 -0.25757601 -0.1135258 1.0770559 ] [ 0.25554394 0.9662559 -0.0323549 0.19607741] [ 0.11802882 0.00203583 0.99300808 -0.13712306] [ 0. 0. 0. 1. ]] SLAMing on 33.151346184 meters Centerline goodness : 0.908344 Centerline is valid? [False, False] Translation: X:1.08, Y:0.20, Z:-0.14 [[ 0.95956578 -0.25757601 -0.1135258 1.0770559 ] [ 0.25554394 0.9662559 -0.0323549 0.19607741] [ 0.11802882 0.00203583 0.99300808 -0.13712306] [ 0. 0. 0. 1. ]] SLAMing on 33.181346184 meters Centerline goodness : 0.911538 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:-0.14 [[ 0.95846643 -0.2617569 -0.11324942 1.08057883] [ 0.25949973 0.96512683 -0.03449761 0.19314896] [ 0.11833004 0.00367661 0.99296751 -0.13879863] [ 0. 0. 0. 1. ]] SLAMing on 33.211346184 meters Centerline goodness : 0.911372 Centerline is valid? [False, False] Translation: X:1.08, Y:0.19, Z:-0.14 [[ 0.95721914 -0.26623611 -0.1133572 1.08417131] [ 0.26376897 0.96389462 -0.03651154 0.19121259] [ 0.11898509 0.00504944 0.9928832 -0.13971892] [ 0. 0. 0. 1. ]] SLAMing on 33.241346184 meters Centerline goodness : 0.909931 Centerline is valid? [False, False] Translation: X:1.09, Y:0.19, Z:-0.14 [[ 0.95469037 -0.27437569 -0.11525747 1.09022528] [ 0.27188328 0.96161381 -0.03712646 0.1884935 ] [ 0.12101977 0.00410769 0.9926416 -0.13805964] [ 0. 0. 0. 1. ]] SLAMing on 33.271346183999995 meters Centerline goodness : 0.909464 Centerline is valid? [False, False] Translation: X:1.09, Y:0.19, Z:-0.14 [[ 0.95367942 -0.27729749 -0.11662618 1.09473954] [ 0.27495167 0.96078128 -0.03606806 0.18692782] [ 0.12205384 0.0023308 0.99252074 -0.13838592] [ 0. 0. 0. 1. ]] SLAMing on 33.301346183999996 meters Centerline goodness : 0.910239 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95282186 -0.28028705 -0.11648893 1.09644439] [ 0.27782586 0.95991132 -0.03718943 0.1846257 ] [ 0.12224276 0.00307127 0.99249548 -0.13826253] [ 0. 0. 0. 1. ]] SLAMing on 33.331346184 meters Centerline goodness : 0.908764 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95227253 -0.28183604 -0.11724107 1.09986165] [ 0.27954254 0.95946153 -0.03591025 0.18199145] [ 0.1226091 0.00142248 0.99245402 -0.13902724] [ 0. 0. 0. 1. ]] SLAMing on 33.361346184 meters Centerline goodness : 0.910095 Centerline is valid? [False, False] Translation: X:1.10, Y:0.18, Z:-0.14 [[ 0.95146935 -0.28470112 -0.11683902 1.10211878] [ 0.28230844 0.95861399 -0.03689388 0.17761284] [ 0.12250725 0.00211875 0.99246536 -0.1397217 ] [ 0. 0. 0. 1. ]] SLAMing on 33.391346184 meters Centerline goodness : 0.911017 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.95136408 -0.28473546 -0.11760997 1.10548551] [ 0.28243537 0.95860543 -0.03613717 0.17631012] [ 0.12303109 0.00116239 0.99240214 -0.14138145] [ 0. 0. 0. 1. ]] SLAMing on 33.421346184 meters Centerline goodness : 0.909493 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 9.51373918e-01 -2.84389561e-01 -1.18364885e-01 1.10780042e+00] [ 2.82244218e-01 9.58708778e-01 -3.48665993e-02 1.75263004e-01] [ 1.23393151e-01 -2.36631099e-04 9.92357836e-01 -1.42140992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451346183999995 meters Centerline goodness : 0.910543 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.95137129 -0.28363778 -0.12017603 1.11140161] [ 0.2818614 0.95892498 -0.03189087 0.17535123] [ 0.12428525 -0.00353292 0.99224024 -0.14273915] [ 0. 0. 0. 1. ]] SLAMing on 33.481346183999996 meters Centerline goodness : 0.910883 Centerline is valid? [False, False] Translation: X:1.11, Y:0.18, Z:-0.14 [[ 0.9515984 -0.28266355 -0.1206723 1.1130359 ] [ 0.28100032 0.95920873 -0.0309424 0.17532358] [ 0.12449621 -0.00446421 0.99221004 -0.1439086 ] [ 0. 0. 0. 1. ]] SLAMing on 33.511346184 meters Centerline goodness : 0.907979 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95166999 -0.28234428 -0.12085502 1.11565657] [ 0.28068025 0.95930268 -0.03093498 0.1749324 ] [ 0.12467085 -0.00448172 0.99218803 -0.14625166] [ 0. 0. 0. 1. ]] SLAMing on 33.541346184 meters Centerline goodness : 0.904768 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95182442 -0.28173407 -0.12106272 1.11871361] [ 0.28009078 0.95948126 -0.03073872 0.17404425] [ 0.12481756 -0.00465069 0.99216881 -0.14910805] [ 0. 0. 0. 1. ]] SLAMing on 33.571346184 meters Centerline goodness : 0.911164 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95204809 -0.28071674 -0.12166567 1.12069276] [ 0.27926533 0.95977063 -0.02917552 0.17226256] [ 0.12496119 -0.00620051 0.99214225 -0.15009637] [ 0. 0. 0. 1. ]] SLAMing on 33.601346184 meters Centerline goodness : 0.912027 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95223466 -0.27996664 -0.12193369 1.12138068] [ 0.2786292 0.95998357 -0.02823658 0.17170366] [ 0.12495964 -0.00708644 0.99213652 -0.15045757] [ 0. 0. 0. 1. ]] SLAMing on 33.631346183999995 meters Centerline goodness : 0.912457 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95238912 -0.27932897 -0.1221896 1.12260298] [ 0.27806969 0.96016458 -0.02759017 0.17091982] [ 0.12502886 -0.00770065 0.99212322 -0.15127696] [ 0. 0. 0. 1. ]] SLAMing on 33.661346183999996 meters Centerline goodness : 0.913012 Centerline is valid? [False, False] Translation: X:1.12, Y:0.17, Z:-0.15 [[ 0.95294843 -0.27744697 -0.1221166 1.12417319] [ 0.2762853 0.96070504 -0.02668809 0.1695015 ] [ 0.12472257 -0.00830665 0.99215688 -0.15371455] [ 0. 0. 0. 1. ]] SLAMing on 33.691346184 meters Centerline goodness : 0.913735 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.15 [[ 0.95323079 -0.27581251 -0.12360628 1.12644415] [ 0.27501567 0.961145 -0.02380471 0.16968785] [ 0.12536919 -0.01130228 0.99204578 -0.15395329] [ 0. 0. 0. 1. ]] SLAMing on 33.721346184 meters Centerline goodness : 0.913406 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.15 [[ 0.9535522 -0.27411943 -0.12488688 1.12825026] [ 0.27363513 0.96159649 -0.02135449 0.17047464] [ 0.12594446 -0.01381082 0.99194115 -0.15425647] [ 0. 0. 0. 1. ]] SLAMing on 33.751346184 meters Centerline goodness : 0.914571 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95398012 -0.27192143 -0.12641463 1.13118749] [ 0.27185247 0.96216809 -0.01813294 0.17060277] [ 0.12656285 -0.01706767 0.99181175 -0.15538765] [ 0. 0. 0. 1. ]] SLAMing on 33.781346184 meters Centerline goodness : 0.914558 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95457447 -0.26959716 -0.1269053 1.13249678] [ 0.26975233 0.96279194 -0.01629001 0.17121696] [ 0.12657514 -0.01868297 0.99178106 -0.15710051] [ 0. 0. 0. 1. ]] SLAMing on 33.811346184 meters Centerline goodness : 0.913672 Centerline is valid? [False, False] Translation: X:1.13, Y:0.17, Z:-0.16 [[ 0.95473305 -0.26871649 -0.12757839 1.1349289 ] [ 0.2689421 0.96302705 -0.01578115 0.17274756] [ 0.12710209 -0.01924441 0.99170293 -0.15899007] [ 0. 0. 0. 1. ]] SLAMing on 33.841346183999995 meters Centerline goodness : 0.910047 Centerline is valid? [False, False] Translation: X:1.14, Y:0.17, Z:-0.16 [[ 0.95480257 -0.26831321 -0.1279065 1.13758874] [ 0.26850848 0.96314377 -0.0160399 0.17428796] [ 0.12749606 -0.01902904 0.99165652 -0.16161803] [ 0. 0. 0. 1. ]] SLAMing on 33.871346184 meters Centerline goodness : 0.906108 Centerline is valid? [False, False] Translation: X:1.14, Y:0.18, Z:-0.16 [[ 0.9548205 -0.26828745 -0.12782668 1.13983292] [ 0.2683973 0.9631637 -0.0166905 0.17509159] [ 0.12759587 -0.0183719 0.99165607 -0.16428256] [ 0. 0. 0. 1. ]] SLAMing on 33.901346184 meters Centerline goodness : 0.906939 Centerline is valid? [False, False] Translation: X:1.14, Y:0.18, Z:-0.17 [[ 0.95460705 -0.26844997 -0.12907358 1.14298013] [ 0.26867528 0.96309803 -0.01599336 0.17752438] [ 0.12860392 -0.0194115 0.99150604 -0.16561916] [ 0. 0. 0. 1. ]] SLAMing on 33.931346184 meters Centerline goodness : 0.907044 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.17 [[ 0.95446137 -0.26771642 -0.13164882 1.14693885] [ 0.268422 0.96321782 -0.01269128 0.17980242] [ 0.13020415 -0.0232241 0.99121517 -0.16547136] [ 0. 0. 0. 1. ]] SLAMing on 33.961346184 meters Centerline goodness : 0.906848 Centerline is valid? [False, False] Translation: X:1.15, Y:0.18, Z:-0.17 [[ 0.95420523 -0.26832636 -0.13226243 1.14779579] [ 0.26901146 0.96304924 -0.01299958 0.18219714] [ 0.13086336 -0.02317584 0.99112949 -0.16532872] [ 0. 0. 0. 1. ]] SLAMing on 33.991346184 meters Centerline goodness : 0.905623 Centerline is valid? [False, False] Translation: X:1.15, Y:0.19, Z:-0.17 [[ 0.9538576 -0.26879521 -0.13380889 1.15196099] [ 0.26952739 0.96290556 -0.01295619 0.18583252] [ 0.13232789 -0.0237068 0.99092246 -0.16728483] [ 0. 0. 0. 1. ]] SLAMing on 34.021346183999995 meters Centerline goodness : 0.906672 Centerline is valid? [False, False] Translation: X:1.15, Y:0.19, Z:-0.17 [[ 0.95352775 -0.26947851 -0.1347819 1.15383324] [ 0.27026829 0.96270059 -0.01275249 0.1887181 ] [ 0.13319114 -0.02426742 0.99079322 -0.16750826] [ 0. 0. 0. 1. ]] SLAMing on 34.051346183999996 meters Centerline goodness : 0.905817 Centerline is valid? [False, False] Translation: X:1.16, Y:0.19, Z:-0.17 [[ 0.95309237 -0.2698963 -0.137007 1.15769295] [ 0.27103101 0.96251157 -0.01066168 0.19150088] [ 0.13474837 -0.02697158 0.9905127 -0.16747102] [ 0. 0. 0. 1. ]] SLAMing on 34.081346184 meters Centerline goodness : 0.905366 Centerline is valid? [False, False] Translation: X:1.16, Y:0.19, Z:-0.17 [[ 0.95268039 -0.27092155 -0.13784627 1.15934935] [ 0.272078 0.96221518 -0.01074712 0.19386115] [ 0.1355494 -0.02726636 0.99039533 -0.167502 ] [ 0. 0. 0. 1. ]] SLAMing on 34.111346184 meters Centerline goodness : 0.905527 Centerline is valid? [False, False] Translation: X:1.16, Y:0.20, Z:-0.17 [[ 0.95190374 -0.27268418 -0.13972334 1.16356133] [ 0.27393494 0.96169005 -0.01057779 0.19822083] [ 0.13725494 -0.02820607 0.99013408 -0.16830198] [ 0. 0. 0. 1. ]] SLAMing on 34.141346184 meters Centerline goodness : 0.903479 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.9517853 -0.27847488 -0.12867204 1.16717918] [ 0.27920938 0.96014675 -0.01266291 0.20683081] [ 0.12707035 -0.02387407 0.99160635 -0.16922869] [ 0. 0. 0. 1. ]] SLAMing on 34.171346184 meters Centerline goodness : 0.903473 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.95158793 -0.27796271 -0.1312141 1.17133883] [ 0.27918867 0.9601909 -0.00933357 0.20968042] [ 0.12858497 -0.02775177 0.99131012 -0.16957371] [ 0. 0. 0. 1. ]] SLAMing on 34.201346183999995 meters Centerline goodness : 0.904883 Centerline is valid? [False, False] Translation: X:1.17, Y:0.21, Z:-0.17 [[ 0.95113888 -0.27861005 -0.13308373 1.17424262] [ 0.28009302 0.95994094 -0.00782841 0.21249726] [ 0.1299336 -0.02982992 0.99107388 -0.16917289] [ 0. 0. 0. 1. ]] SLAMing on 34.231346183999996 meters Centerline goodness : 0.906146 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.95034343 -0.2805139 -0.13475655 1.1781865 ] [ 0.2820695 0.95936224 -0.00780328 0.21610238] [ 0.13146927 -0.03059491 0.99084801 -0.16992918] [ 0. 0. 0. 1. ]] SLAMing on 34.261346184 meters Centerline goodness : 0.908598 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.94990902 -0.28159906 -0.13555376 1.18116502] [ 0.28318547 0.95903314 -0.00783748 0.21763759] [ 0.13220758 -0.03094196 0.99073899 -0.17121668] [ 0. 0. 0. 1. ]] SLAMing on 34.291346184 meters Centerline goodness : 0.902200 Centerline is valid? [False, False] Translation: X:1.18, Y:0.22, Z:-0.17 [[ 0.94896564 -0.28399153 -0.1371606 1.18494399] [ 0.28564031 0.95830411 -0.00792797 0.22093817] [ 0.13369304 -0.03165522 0.9905171 -0.17166499] [ 0. 0. 0. 1. ]] SLAMing on 34.321346184 meters Centerline goodness : 0.901762 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94840978 -0.28500244 -0.13889741 1.18836447] [ 0.28688163 0.95794241 -0.00672859 0.22248389] [ 0.13497339 -0.03346565 0.99028392 -0.17154121] [ 0. 0. 0. 1. ]] SLAMing on 34.351346184 meters Centerline goodness : 0.901751 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94791623 -0.28609544 -0.14001507 1.18965803] [ 0.28812278 0.95757462 -0.00600984 0.22391909] [ 0.13579426 -0.03464471 0.99013113 -0.17044953] [ 0. 0. 0. 1. ]] SLAMing on 34.381346183999995 meters Centerline goodness : 0.904418 Centerline is valid? [False, False] Translation: X:1.19, Y:0.22, Z:-0.17 [[ 0.94761335 -0.28660859 -0.14101226 1.19018386] [ 0.28882433 0.95736937 -0.00493931 0.22481251] [ 0.13641647 -0.03604722 0.98999553 -0.16897027] [ 0. 0. 0. 1. ]] SLAMing on 34.411346183999996 meters Centerline goodness : 0.906061 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.47812138e-01 -2.84478477e-01 -1.43958835e-01 1.19420035e+00] [ 2.87412767e-01 9.57806721e-01 -4.31291558e-04 2.26214129e-01] [ 1.38007433e-01 -4.09668237e-02 9.89583583e-01 -1.68843519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441346184 meters Centerline goodness : 0.905016 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.47957515e-01 -2.83879646e-01 -1.44183553e-01 1.19376495e+00] [ 2.86903321e-01 9.57959524e-01 1.86906462e-04 2.26369092e-01] [ 1.38068949e-01 -4.15439195e-02 9.89550943e-01 -1.68259812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.471346184 meters Centerline goodness : 0.904791 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.48303678e-01 -2.82774647e-01 -1.44078563e-01 1.19361599e+00] [ 2.85846292e-01 9.58275263e-01 6.46460270e-04 2.26134051e-01] [ 1.37884120e-01 -4.17973636e-02 9.89566041e-01 -1.68719151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501346184 meters Centerline goodness : 0.903673 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.48680535e-01 -2.81542798e-01 -1.44010053e-01 1.19395010e+00] [ 2.84658449e-01 9.58628400e-01 1.07636494e-03 2.25988914e-01] [ 1.37749084e-01 -4.20148049e-02 9.89575639e-01 -1.69738330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.531346184 meters Centerline goodness : 0.903409 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.49187387e-01 -2.79814062e-01 -1.44039561e-01 1.19420004e+00] [ 2.82887701e-01 9.59152619e-01 8.95919261e-04 2.28934845e-01] [ 1.37905231e-01 -4.15974156e-02 9.89571525e-01 -1.71472210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561346184 meters Centerline goodness : 0.903768 Centerline is valid? [False, False] Translation: X:1.20, Y:0.23, Z:-0.17 [[ 0.94940839 -0.27875234 -0.14464041 1.1953571 ] [ 0.28190656 0.95944089 0.00136929 0.23102447] [ 0.13839223 -0.04207509 0.98948334 -0.17241507] [ 0. 0. 0. 1. ]] SLAMing on 34.591346183999995 meters Centerline goodness : 0.902567 Centerline is valid? [False, False] Translation: X:1.19, Y:0.23, Z:-0.17 [[ 9.49590511e-01 -2.78052526e-01 -1.44791761e-01 1.19460626e+00] [ 2.81140506e-01 9.59666192e-01 9.03002260e-04 2.33197331e-01] [ 1.38700675e-01 -4.15643112e-02 9.89461738e-01 -1.72131102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621346184 meters Centerline goodness : 0.903200 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.17 [[ 9.50274730e-01 -2.75942246e-01 -1.44339230e-01 1.19333057e+00] [ 2.78855963e-01 9.60332937e-01 -4.60930165e-05 2.37206165e-01] [ 1.38626436e-01 -4.02060540e-02 9.89528264e-01 -1.73512337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.651346184 meters Centerline goodness : 0.897736 Centerline is valid? [False, False] Translation: X:1.19, Y:0.24, Z:-0.17 [[ 0.95040812 -0.27568818 -0.14394594 1.19338233] [ 0.2784159 0.96045981 -0.00124135 0.23933868] [ 0.13859652 -0.03889705 0.98958477 -0.17491017] [ 0. 0. 0. 1. ]] SLAMing on 34.681346184 meters Centerline goodness : 0.899516 Centerline is valid? [False, False] Translation: X:1.20, Y:0.24, Z:-0.18 [[ 0.95044037 -0.27995893 -0.13522613 1.20016737] [ 0.28273133 0.95919819 0.00135454 0.2447621 ] [ 0.12932944 -0.03952008 0.99081384 -0.18353384] [ 0. 0. 0. 1. ]] SLAMing on 34.711346184 meters Centerline goodness : 0.897079 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 9.50278264e-01 -2.80496324e-01 -1.35251742e-01 1.20022867e+00] [ 2.83167196e-01 9.59070413e-01 5.31653245e-04 2.46252535e-01] [ 1.29566818e-01 -3.88040752e-02 9.90811124e-01 -1.83479278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741346184 meters Centerline goodness : 0.896006 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 0.94946422 -0.28183268 -0.13815948 1.2037855 ] [ 0.28491994 0.95854755 0.00268722 0.2496376 ] [ 0.13167509 -0.04191581 0.99040635 -0.18174447] [ 0. 0. 0. 1. ]] SLAMing on 34.771346183999995 meters Centerline goodness : 0.897451 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:-0.18 [[ 0.948994 -0.2830509 -0.1388977 1.20375228] [ 0.28618381 0.95817092 0.00270392 0.25131501] [ 0.13232239 -0.04231628 0.99030304 -0.17999143] [ 0. 0. 0. 1. ]] SLAMing on 34.801346183999996 meters Centerline goodness : 0.897539 Centerline is valid? [False, False] Translation: X:1.21, Y:0.25, Z:-0.18 [[ 0.94841593 -0.28437864 -0.14012855 1.20612927] [ 0.28763909 0.95773367 0.00315786 0.25259811] [ 0.1333078 -0.04330142 0.99012828 -0.17961486] [ 0. 0. 0. 1. ]] SLAMing on 34.831346184 meters Centerline goodness : 0.897797 Centerline is valid? [False, False] Translation: X:1.21, Y:0.25, Z:-0.18 [[ 0.94759218 -0.2867524 -0.14086206 1.2073857 ] [ 0.28999785 0.95702368 0.00263279 0.2534542 ] [ 0.13405337 -0.04334451 0.99002573 -0.17840617] [ 0. 0. 0. 1. ]] SLAMing on 34.861346184 meters Centerline goodness : 0.895969 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.46084435e-01 -2.91480058e-01 -1.41292663e-01 1.20796513e+00] [ 2.94544208e-01 9.55637512e-01 8.09756469e-04 2.55356595e-01] [ 1.34788541e-01 -4.23830333e-02 9.89967539e-01 -1.76359581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.891346184 meters Centerline goodness : 0.893449 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.45616515e-01 -2.92399642e-01 -1.42519672e-01 1.21049306e+00] [ 2.95551083e-01 9.55326426e-01 9.88498832e-04 2.56699896e-01] [ 1.35863772e-01 -4.30565841e-02 9.89791476e-01 -1.76249451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921346184 meters Centerline goodness : 0.894528 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 9.45420730e-01 -2.92902462e-01 -1.42785820e-01 1.21055595e+00] [ 2.95999004e-01 9.55188134e-01 4.66697007e-04 2.58087903e-01] [ 1.36250624e-01 -4.27056856e-02 9.89753500e-01 -1.75717353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.951346183999995 meters Centerline goodness : 0.893420 Centerline is valid? [False, False] Translation: X:1.21, Y:0.26, Z:-0.18 [[ 0.94547138 -0.29124224 -0.14581433 1.21401733] [ 0.29493876 0.95550811 0.00392169 0.2611072 ] [ 0.13818462 -0.04671414 0.9893042 -0.17517374] [ 0. 0. 0. 1. ]] SLAMing on 34.981346183999996 meters Centerline goodness : 0.893502 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94532823 -0.29111998 -0.14698198 1.21519716] [ 0.2949357 0.95550706 0.00438048 0.26279097] [ 0.13916707 -0.04749122 0.98912947 -0.17437056] [ 0. 0. 0. 1. ]] SLAMing on 35.011346184 meters Centerline goodness : 0.893197 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.9453445 -0.29082826 -0.14745404 1.21584683] [ 0.29471451 0.95557359 0.00474 0.26322903] [ 0.13952466 -0.04793778 0.98905755 -0.17416273] [ 0. 0. 0. 1. ]] SLAMing on 35.041346184 meters Centerline goodness : 0.893197 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.9453445 -0.29082826 -0.14745404 1.21584683] [ 0.29471451 0.95557359 0.00474 0.26322903] [ 0.13952466 -0.04793778 0.98905755 -0.17416273] [ 0. 0. 0. 1. ]] SLAMing on 35.071346184 meters Centerline goodness : 0.894796 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94513445 -0.29124014 -0.14798669 1.21589522] [ 0.29516996 0.95543255 0.00483148 0.26357438] [ 0.13998418 -0.04824762 0.98897755 -0.17284895] [ 0. 0. 0. 1. ]] SLAMing on 35.101346184 meters Centerline goodness : 0.894784 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94493857 -0.29168791 -0.14835519 1.21651585] [ 0.29564585 0.95528522 0.0048668 0.26408524] [ 0.14030194 -0.04845942 0.98892217 -0.17259581] [ 0. 0. 0. 1. ]] SLAMing on 35.131346183999995 meters Centerline goodness : 0.892577 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94479128 -0.29195341 -0.14877044 1.21783484] [ 0.29594978 0.95519056 0.00497156 0.26400215] [ 0.14065265 -0.04872567 0.98885926 -0.17291543] [ 0. 0. 0. 1. ]] SLAMing on 35.161346183999996 meters Centerline goodness : 0.894409 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94465779 -0.29233924 -0.14886041 1.21772646] [ 0.29631657 0.95507784 0.00477644 0.26383316] [ 0.14077694 -0.04862191 0.98884668 -0.17228001] [ 0. 0. 0. 1. ]] SLAMing on 35.191346184 meters Centerline goodness : 0.895307 Centerline is valid? [False, False] Translation: X:1.22, Y:0.26, Z:-0.17 [[ 0.94448762 -0.29212584 -0.1503517 1.21890178] [ 0.29636573 0.95505503 0.00610242 0.26466656] [ 0.14181147 -0.05032275 0.98861374 -0.17072208] [ 0. 0. 0. 1. ]] SLAMing on 35.221346184 meters Centerline goodness : 0.891295 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.9443014 -0.29258331 -0.15063156 1.21901912] [ 0.29678613 0.95492691 0.00570853 0.2657103 ] [ 0.14217191 -0.05009593 0.98857349 -0.17017455] [ 0. 0. 0. 1. ]] SLAMing on 35.251346184 meters Centerline goodness : 0.895904 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94422606 -0.29230512 -0.15164057 1.22194161] [ 0.2966602 0.95496149 0.00642412 0.26655168] [ 0.1429331 -0.05105155 0.98841483 -0.17151787] [ 0. 0. 0. 1. ]] SLAMing on 35.281346184 meters Centerline goodness : 0.894007 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94476708 -0.29105245 -0.15067727 1.21936879] [ 0.29524825 0.95540319 0.00576325 0.26695008] [ 0.14228014 -0.04993213 0.98856621 -0.17120787] [ 0. 0. 0. 1. ]] SLAMing on 35.311346183999994 meters Centerline goodness : 0.895947 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94525262 -0.2891362 -0.15131999 1.22061707] [ 0.29347462 0.95594357 0.00667305 0.26744522] [ 0.14272395 -0.0507163 0.98846231 -0.17206757] [ 0. 0. 0. 1. ]] SLAMing on 35.341346183999995 meters Centerline goodness : 0.893283 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94574225 -0.28787172 -0.15067008 1.21905998] [ 0.29209629 0.95636873 0.00621418 0.2679249 ] [ 0.14230727 -0.04988718 0.98856457 -0.17221104] [ 0. 0. 0. 1. ]] SLAMing on 35.371346184 meters Centerline goodness : 0.891452 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94652593 -0.28561512 -0.15004222 1.21773689] [ 0.28973284 0.95708958 0.00586758 0.26958253] [ 0.14192797 -0.04902597 0.98866218 -0.17341164] [ 0. 0. 0. 1. ]] SLAMing on 35.401346184 meters Centerline goodness : 0.892972 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94663392 -0.28522138 -0.15010989 1.2168541 ] [ 0.28934151 0.95720781 0.00589139 0.27035238] [ 0.14200601 -0.04901001 0.98865177 -0.17254832] [ 0. 0. 0. 1. ]] SLAMing on 35.431346184 meters Centerline goodness : 0.893102 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94664787 -0.28486946 -0.15068907 1.21667804] [ 0.28910491 0.95727524 0.00651721 0.27134502] [ 0.14239436 -0.04973445 0.98855973 -0.17159711] [ 0. 0. 0. 1. ]] SLAMing on 35.461346184 meters Centerline goodness : 0.890457 Centerline is valid? [False, False] Translation: X:1.22, Y:0.27, Z:-0.17 [[ 0.94666031 -0.28476552 -0.15080736 1.21607464] [ 0.28897644 0.95731539 0.00631344 0.27255373] [ 0.14257236 -0.04955646 0.98854301 -0.17093394] [ 0. 0. 0. 1. ]] SLAMing on 35.491346184 meters Centerline goodness : 0.888200 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94677454 -0.2850185 -0.14960757 1.21476885] [ 0.28882249 0.95737481 0.00387847 0.27394681] [ 0.14212508 -0.04688207 0.98873785 -0.17170025] [ 0. 0. 0. 1. ]] SLAMing on 35.521346183999995 meters Centerline goodness : 0.889594 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94697543 -0.28472057 -0.14890174 1.21351947] [ 0.28837894 0.95751128 0.00312028 0.27388932] [ 0.14168668 -0.04589495 0.98884707 -0.17177639] [ 0. 0. 0. 1. ]] SLAMing on 35.551346183999996 meters Centerline goodness : 0.889175 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94750364 -0.28326676 -0.14831318 1.21260243] [ 0.2869475 0.95793961 0.00358269 0.27362839] [ 0.14106021 -0.0459527 0.98893395 -0.17256607] [ 0. 0. 0. 1. ]] SLAMing on 35.581346184 meters Centerline goodness : 0.888340 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.9478668 -0.28223738 -0.1479547 1.21124165] [ 0.28588734 0.95825661 0.00356378 0.2741709 ] [ 0.14077274 -0.04567636 0.98898772 -0.17226224] [ 0. 0. 0. 1. ]] SLAMing on 35.611346184 meters Centerline goodness : 0.893204 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94861266 -0.27902416 -0.14926334 1.21036746] [ 0.28319959 0.95903506 0.00705305 0.27539598] [ 0.1411808 -0.04896193 0.98877232 -0.17068707] [ 0. 0. 0. 1. ]] SLAMing on 35.641346184 meters Centerline goodness : 0.891020 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94882273 -0.27776188 -0.15027896 1.20980086] [ 0.28222261 0.95930874 0.00878252 0.27638657] [ 0.14172448 -0.05074517 0.98860462 -0.16887604] [ 0. 0. 0. 1. ]] SLAMing on 35.671346184 meters Centerline goodness : 0.886931 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94890205 -0.27725495 -0.15071363 1.20852976] [ 0.28181139 0.95942445 0.00933047 0.2777606 ] [ 0.14201142 -0.05132652 0.98853343 -0.16720022] [ 0. 0. 0. 1. ]] SLAMing on 35.701346183999995 meters Centerline goodness : 0.888414 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94913508 -0.27683032 -0.15002527 1.20788665] [ 0.28127522 0.95958646 0.00883551 0.27858853] [ 0.14151628 -0.05058449 0.98864268 -0.1682113 ] [ 0. 0. 0. 1. ]] SLAMing on 35.731346183999996 meters Centerline goodness : 0.885829 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94898856 -0.2784498 -0.14794059 1.2053367 ] [ 0.28227362 0.95932048 0.00508204 0.27868674] [ 0.14050735 -0.04658252 0.98898319 -0.16843744] [ 0. 0. 0. 1. ]] SLAMing on 35.761346184 meters Centerline goodness : 0.887718 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94866089 -0.27909591 -0.14882202 1.20826011] [ 0.28301315 0.95910087 0.00539156 0.27882221] [ 0.14123057 -0.04723335 0.9888493 -0.16941979] [ 0. 0. 0. 1. ]] SLAMing on 35.791346184 meters Centerline goodness : 0.888823 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94740099 -0.28294893 -0.14957026 1.20886234] [ 0.28673733 0.95800112 0.00394356 0.27910165] [ 0.14217265 -0.0466235 0.98874324 -0.16669777] [ 0. 0. 0. 1. ]] SLAMing on 35.821346184 meters Centerline goodness : 0.884523 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94687887 -0.2843974 -0.15012836 1.20934909] [ 0.28819785 0.95756362 0.00372911 0.279117 ] [ 0.14269691 -0.04679769 0.98865948 -0.16538057] [ 0. 0. 0. 1. ]] SLAMing on 35.851346184 meters Centerline goodness : 0.885873 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94647431 -0.28496373 -0.15159835 1.21267165] [ 0.28899533 0.95731854 0.0047863 0.2797782 ] [ 0.14376398 -0.04834132 0.98843059 -0.16587494] [ 0. 0. 0. 1. ]] SLAMing on 35.881346183999995 meters Centerline goodness : 0.886577 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94621054 -0.28587595 -0.15152741 1.21232723] [ 0.28983138 0.95706845 0.00421474 0.27960239] [ 0.14381721 -0.04790542 0.98844407 -0.16497849] [ 0. 0. 0. 1. ]] SLAMing on 35.911346183999996 meters Centerline goodness : 0.886040 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94627498 -0.28589052 -0.15109687 1.21279875] [ 0.28975431 0.9570938 0.00372742 0.27923601] [ 0.14354824 -0.04730814 0.98851193 -0.16600148] [ 0. 0. 0. 1. ]] SLAMing on 35.941346184 meters Centerline goodness : 0.887893 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94643981 -0.28542254 -0.1509492 1.21243862] [ 0.28931927 0.95722413 0.00404064 0.27883219] [ 0.14333892 -0.04749674 0.98853326 -0.16595402] [ 0. 0. 0. 1. ]] SLAMing on 35.971346184 meters Centerline goodness : 0.886909 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94688568 -0.28421494 -0.15043064 1.21071338] [ 0.28810574 0.95758909 0.00426821 0.27885451] [ 0.14283765 -0.04738144 0.98861135 -0.165546 ] [ 0. 0. 0. 1. ]] SLAMing on 36.001346184 meters Centerline goodness : 0.888739 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94791176 -0.28018919 -0.1515167 1.20925044] [ 0.28466641 0.95859104 0.00826171 0.27848404] [ 0.14292771 -0.05096308 0.98842017 -0.16366266] [ 0. 0. 0. 1. ]] SLAMing on 36.031346184 meters Centerline goodness : 0.885922 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94807064 -0.2799016 -0.15105349 1.20832168] [ 0.28429927 0.95870304 0.00789971 0.27837764] [ 0.1426043 -0.05043389 0.98849402 -0.16342806] [ 0. 0. 0. 1. ]] SLAMing on 36.061346183999994 meters Centerline goodness : 0.887931 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94811092 -0.28013984 -0.15035741 1.20820119] [ 0.28434716 0.95869722 0.0068062 0.27761239] [ 0.14224054 -0.04920673 0.98860828 -0.16405624] [ 0. 0. 0. 1. ]] SLAMing on 36.091346183999995 meters Centerline goodness : 0.888186 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.94825828 -0.28016949 -0.14936963 1.2083417 ] [ 0.28422549 0.9587381 0.00609233 0.27641413] [ 0.14149947 -0.04823176 0.98876266 -0.16564181] [ 0. 0. 0. 1. ]] SLAMing on 36.121346184 meters Centerline goodness : 0.891552 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.16 [[ 0.94828656 -0.28050891 -0.14855086 1.20673949] [ 0.28442167 0.95868439 0.00534312 0.2745081 ] [ 0.1409146 -0.04731789 0.98889033 -0.16469525] [ 0. 0. 0. 1. ]] SLAMing on 36.151346184 meters Centerline goodness : 0.892343 Centerline is valid? [False, False] Translation: X:1.21, Y:0.27, Z:-0.17 [[ 0.94833219 -0.28067116 -0.14795184 1.2062091 ] [ 0.28449093 0.95866632 0.00487939 0.27407631] [ 0.14046694 -0.04671824 0.98898253 -0.1650469 ] [ 0. 0. 0. 1. ]] SLAMing on 36.181346184 meters Centerline goodness : 0.894046 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94861269 -0.28081318 -0.14586951 1.20389549] [ 0.2841072 0.95879078 0.0018277 0.27280817] [ 0.1393451 -0.04317636 0.98930215 -0.16590499] [ 0. 0. 0. 1. ]] SLAMing on 36.211346184 meters Centerline goodness : 0.894154 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94894303 -0.27994298 -0.14539275 1.20317862] [ 0.28317219 0.95906778 0.00158181 0.27267707] [ 0.13899868 -0.04267223 0.98937275 -0.1662564 ] [ 0. 0. 0. 1. ]] SLAMing on 36.241346184 meters Centerline goodness : 0.895356 Centerline is valid? [False, False] Translation: X:1.20, Y:0.27, Z:-0.17 [[ 0.94920804 -0.2791946 -0.14510158 1.20185688] [ 0.28244502 0.95928164 0.00188029 0.27329466] [ 0.13866832 -0.042768 0.98941498 -0.16586137] [ 0. 0. 0. 1. ]] SLAMing on 36.271346183999995 meters Centerline goodness : 0.896172 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 9.49729240e-01 -2.83280334e-01 -1.33291494e-01 1.20328511e+00] [ 2.85846417e-01 9.58275436e-01 1.20902070e-04 2.79662022e-01] [ 1.27695715e-01 -3.82157202e-02 9.91076870e-01 -1.66786292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301346183999996 meters Centerline goodness : 0.897102 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95063263 -0.2796577 -0.134496 1.2030838 ] [ 0.2826527 0.95921657 0.00332041 0.27959344] [ 0.12808221 -0.04117215 0.99090857 -0.16585728] [ 0. 0. 0. 1. ]] SLAMing on 36.331346184 meters Centerline goodness : 0.893120 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95101567 -0.27853558 -0.13411613 1.2014008 ] [ 0.28148404 0.9595607 0.00316096 0.27990261] [ 0.12781212 -0.04075768 0.99096058 -0.16518732] [ 0. 0. 0. 1. ]] SLAMing on 36.361346184 meters Centerline goodness : 0.893491 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95132503 -0.27723781 -0.13461011 1.2027393 ] [ 0.28023726 0.95992443 0.00348693 0.2807542 ] [ 0.12824882 -0.04103997 0.99089251 -0.1661129 ] [ 0. 0. 0. 1. ]] SLAMing on 36.391346184 meters Centerline goodness : 0.895812 Centerline is valid? [False, False] Translation: X:1.20, Y:0.28, Z:-0.17 [[ 0.95116415 -0.27781054 -0.13456619 1.20303768] [ 0.28071003 0.95978886 0.00268905 0.28120208] [ 0.12840809 -0.0403318 0.99090096 -0.16611301] [ 0. 0. 0. 1. ]] SLAMing on 36.421346184 meters Centerline goodness : 0.896759 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.95082557 -0.27856005 -0.13540695 1.20543778] [ 0.28146163 0.95956951 0.0023868 0.28199879] [ 0.12926752 -0.04038129 0.99078719 -0.16660871] [ 0. 0. 0. 1. ]] SLAMing on 36.451346183999995 meters Centerline goodness : 0.896366 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 0.95046949 -0.27982142 -0.13530603 1.20589986] [ 0.28260337 0.95923581 0.00141279 0.28242684] [ 0.12939506 -0.03958075 0.99080285 -0.16664807] [ 0. 0. 0. 1. ]] SLAMing on 36.481346183999996 meters Centerline goodness : 0.899978 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.17 [[ 9.49513952e-01 -2.82611073e-01 -1.36213938e-01 1.20709638e+00] [ 2.85384212e-01 9.58412802e-01 8.67901582e-04 2.83699047e-01] [ 1.30303904e-01 -3.96973922e-02 9.90679065e-01 -1.65072903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.511346184 meters Centerline goodness : 0.899579 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 9.48893446e-01 -2.84201065e-01 -1.37226027e-01 1.20853891e+00] [ 2.87012205e-01 9.57926647e-01 7.30379622e-04 2.84756812e-01] [ 1.31244893e-01 -4.00785969e-02 9.90539491e-01 -1.63953480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541346184 meters Centerline goodness : 0.897645 Centerline is valid? [False, False] Translation: X:1.21, Y:0.29, Z:-0.16 [[ 9.48411380e-01 -2.85613430e-01 -1.37625658e-01 1.20955954e+00] [ 2.88398181e-01 9.57510520e-01 3.07010135e-04 2.85090427e-01] [ 1.31690329e-01 -3.99821613e-02 9.90484267e-01 -1.63449903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.571346184 meters Centerline goodness : 0.897582 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94730656 -0.28935583 -0.13741721 1.21112258] [ 0.29194608 0.95643381 -0.00136272 0.28385088] [ 0.13182478 -0.0388275 0.99051232 -0.1633447 ] [ 0. 0. 0. 1. ]] SLAMing on 36.601346184 meters Centerline goodness : 0.898952 Centerline is valid? [False, False] Translation: X:1.21, Y:0.28, Z:-0.16 [[ 0.94661715 -0.29136609 -0.13791943 1.21193315] [ 0.29394787 0.9558199 -0.00172145 0.28390991] [ 0.13232771 -0.03891157 0.99044196 -0.16208958] [ 0. 0. 0. 1. ]] SLAMing on 36.631346183999995 meters Centerline goodness : 0.900214 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 9.45877205e-01 -2.92809017e-01 -1.39925666e-01 1.21611286e+00] [ 2.95646283e-01 9.55297331e-01 -5.33088052e-04 2.85390867e-01] [ 1.33826708e-01 -4.08642672e-02 9.90161867e-01 -1.62211479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661346183999996 meters Centerline goodness : 0.902096 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94419545 -0.2973451 -0.14170688 1.21931599] [ 0.30017835 0.953882 -0.00144742 0.28734264] [ 0.13560202 -0.04117069 0.9899076 -0.16020522] [ 0. 0. 0. 1. ]] SLAMing on 36.691346184 meters Centerline goodness : 0.899555 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94340895 -0.30008251 -0.14117376 1.22006429] [ 0.30256279 0.95312077 -0.00406893 0.28752031] [ 0.13577665 -0.03887526 0.98997647 -0.16025335] [ 0. 0. 0. 1. ]] SLAMing on 36.721346184 meters Centerline goodness : 0.902677 Centerline is valid? [False, False] Translation: X:1.22, Y:0.29, Z:-0.16 [[ 0.94260265 -0.30275039 -0.1408632 1.22098242] [ 0.30488516 0.95236557 -0.00669796 0.28793773] [ 0.13618107 -0.03663359 0.99000641 -0.15999417] [ 0. 0. 0. 1. ]] SLAMing on 36.751346184 meters Centerline goodness : 0.903111 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.9415382 -0.3051995 -0.14268528 1.22512227] [ 0.30748554 0.95153195 -0.00629138 0.28905548] [ 0.13768973 -0.03795009 0.98974811 -0.15978987] [ 0. 0. 0. 1. ]] SLAMing on 36.781346184 meters Centerline goodness : 0.901085 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94108373 -0.30602631 -0.14390729 1.22684118] [ 0.30841347 0.95123365 -0.0059734 0.29014093] [ 0.13871748 -0.03876147 0.98957315 -0.15877562] [ 0. 0. 0. 1. ]] SLAMing on 36.811346183999994 meters Centerline goodness : 0.903238 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94093935 -0.30612773 -0.14463386 1.22700662] [ 0.30859681 0.95117643 -0.00560449 0.29108121] [ 0.13928801 -0.03936007 0.98946937 -0.15750135] [ 0. 0. 0. 1. ]] SLAMing on 36.841346183999995 meters Centerline goodness : 0.902053 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94115057 -0.30431927 -0.14705572 1.23027951] [ 0.30735944 0.95159107 -0.00214875 0.29171776] [ 0.14059081 -0.04317666 0.98912588 -0.15730808] [ 0. 0. 0. 1. ]] SLAMing on 36.871346184 meters Centerline goodness : 0.901579 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94093306 -0.30438877 -0.14829851 1.23172404] [ 0.30759619 0.951516 -0.00137125 0.29296623] [ 0.1415258 -0.0443258 0.98894169 -0.15648078] [ 0. 0. 0. 1. ]] SLAMing on 36.901346184 meters Centerline goodness : 0.902893 Centerline is valid? [False, False] Translation: X:1.23, Y:0.29, Z:-0.16 [[ 0.94063543 -0.30492246 -0.14908818 1.23442299] [ 0.30818606 0.95132525 -0.0012725 0.29308469] [ 0.14221936 -0.04474994 0.98882309 -0.15729963] [ 0. 0. 0. 1. ]] SLAMing on 36.931346184 meters Centerline goodness : 0.903500 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.94035364 -0.30564967 -0.14937642 1.23538216] [ 0.30887759 0.95110034 -0.00166925 0.29282735] [ 0.14258217 -0.04456934 0.98877899 -0.15696965] [ 0. 0. 0. 1. ]] SLAMing on 36.961346184 meters Centerline goodness : 0.903500 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.94035364 -0.30564967 -0.14937642 1.23538216] [ 0.30887759 0.95110034 -0.00166925 0.29282735] [ 0.14258217 -0.04456934 0.98877899 -0.15696965] [ 0. 0. 0. 1. ]] SLAMing on 36.991346184 meters Centerline goodness : 0.905254 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 9.40095381e-01 -3.05857350e-01 -1.50572094e-01 1.23765359e+00] [ 3.09232234e-01 9.50985973e-01 -1.05102228e-03 2.93302614e-01] [ 1.43513412e-01 -4.55736840e-02 9.88598472e-01 -1.56790254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021346183999995 meters Centerline goodness : 0.905110 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93972947 -0.30726401 -0.14999117 1.2371299 ] [ 0.31037297 0.9506107 -0.00281237 0.29417759] [ 0.14344736 -0.04391034 0.98868334 -0.1565511 ] [ 0. 0. 0. 1. ]] SLAMing on 37.051346183999996 meters Centerline goodness : 0.902444 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93973501 -0.30688417 -0.1507323 1.24038876] [ 0.31007374 0.95070933 -0.00245795 0.29439551] [ 0.14405691 -0.04442831 0.98857156 -0.15852807] [ 0. 0. 0. 1. ]] SLAMing on 37.081346184 meters Centerline goodness : 0.908991 Centerline is valid? [False, False] Translation: X:1.24, Y:0.29, Z:-0.16 [[ 0.93970416 -0.30686042 -0.15097273 1.24126341] [ 0.30999052 0.95073511 -0.00293822 0.29476302] [ 0.1444367 -0.04403906 0.98853356 -0.15868346] [ 0. 0. 0. 1. ]] SLAMing on 37.111346184 meters Centerline goodness : 0.902646 Centerline is valid? [False, False] Translation: X:1.24, Y:0.30, Z:-0.16 [[ 9.40114247e-01 -3.04345281e-01 -1.53489910e-01 1.24415165e+00] [ 3.08014291e-01 9.51381721e-01 1.30862502e-04 2.96403228e-01] [ 1.45987668e-01 -4.74001115e-02 9.88150206e-01 -1.58418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141346184 meters Centerline goodness : 0.900924 Centerline is valid? [False, False] Translation: X:1.24, Y:0.30, Z:-0.16 [[ 9.40254434e-01 -3.03636201e-01 -1.54034598e-01 1.24411621e+00] [ 3.07321856e-01 9.51605623e-01 1.22195244e-04 2.97788526e-01] [ 1.46543086e-01 -4.74530931e-02 9.88065447e-01 -1.57678216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.171346184 meters Centerline goodness : 0.905009 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.9408618 -0.30076889 -0.15593958 1.24764718] [ 0.3050114 0.95234244 0.00345389 0.29819557] [ 0.14746906 -0.05081298 0.98776056 -0.15923802] [ 0. 0. 0. 1. ]] SLAMing on 37.201346183999995 meters Centerline goodness : 0.904870 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94133402 -0.29946813 -0.15559273 1.24685439] [ 0.30359098 0.95279811 0.00287837 0.2999726 ] [ 0.14738648 -0.04994605 0.9878171 -0.15976622] [ 0. 0. 0. 1. ]] SLAMing on 37.231346183999996 meters Centerline goodness : 0.906931 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94150592 -0.29858577 -0.15624706 1.24834662] [ 0.30272908 0.95307235 0.00286326 0.30144866] [ 0.14805982 -0.04999631 0.98771385 -0.16045313] [ 0. 0. 0. 1. ]] SLAMing on 37.261346184 meters Centerline goodness : 0.904553 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94177236 -0.2977022 -0.1563273 1.24871493] [ 0.30178916 0.95337133 0.00253279 0.3028526 ] [ 0.14828395 -0.0495632 0.98770206 -0.16119164] [ 0. 0. 0. 1. ]] SLAMing on 37.291346184 meters Centerline goodness : 0.906026 Centerline is valid? [False, False] Translation: X:1.25, Y:0.30, Z:-0.16 [[ 0.94185931 -0.29759014 -0.15601652 1.24833155] [ 0.30147013 0.95347478 0.00126749 0.3046353 ] [ 0.14838063 -0.04822812 0.98775363 -0.16146618] [ 0. 0. 0. 1. ]] SLAMing on 37.321346184 meters Centerline goodness : 0.904369 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41788284e-01 -2.97921382e-01 -1.55812959e-01 1.24840979e+00] [ 3.01582541e-01 9.53440060e-01 -1.49388407e-04 3.06303077e-01] [ 1.48602823e-01 -4.68497757e-02 9.87786566e-01 -1.61823031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.351346184 meters Centerline goodness : 0.903726 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94189353 -0.29809918 -0.15483366 1.24767319] [ 0.30147836 0.95347144 -0.00173441 0.30715352] [ 0.1481465 -0.04504537 0.98793903 -0.16285669] [ 0. 0. 0. 1. ]] SLAMing on 37.381346183999995 meters Centerline goodness : 0.906240 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94177572 -0.2983943 -0.15498175 1.24815056] [ 0.30166683 0.95341009 -0.00251409 0.30797874] [ 0.14851136 -0.04438515 0.98791413 -0.16274362] [ 0. 0. 0. 1. ]] SLAMing on 37.411346183999996 meters Centerline goodness : 0.908681 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41620513e-01 -2.97766772e-01 -1.57117022e-01 1.25104757e+00] [ 3.01517828e-01 9.53460538e-01 4.14047556e-05 3.09352188e-01] [ 1.49792551e-01 -4.74125707e-02 9.87579992e-01 -1.62367910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441346184 meters Centerline goodness : 0.905840 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 9.41345920e-01 -2.98143829e-01 -1.58044662e-01 1.25068689e+00] [ 3.02030210e-01 9.53298165e-01 6.00722222e-04 3.10622747e-01] [ 1.50484585e-01 -4.82997500e-02 9.87431782e-01 -1.60032263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.471346184 meters Centerline goodness : 0.909193 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94118984 -0.2981906 -0.15888379 1.25101096] [ 0.30224587 0.95322893 0.00142768 0.31116495] [ 0.15102691 -0.04936569 0.98729626 -0.15867946] [ 0. 0. 0. 1. ]] SLAMing on 37.501346184 meters Centerline goodness : 0.909403 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94079566 -0.30008617 -0.15764456 1.24917004] [ 0.30369317 0.95276905 -0.00126616 0.31106891] [ 0.15057881 -0.04668438 0.98749511 -0.15741614] [ 0. 0. 0. 1. ]] SLAMing on 37.531346184 meters Centerline goodness : 0.910237 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94055117 -0.30095317 -0.15745058 1.25015502] [ 0.30440152 0.95254099 -0.0023183 0.31110926] [ 0.15067583 -0.04574772 0.98752415 -0.15802659] [ 0. 0. 0. 1. ]] SLAMing on 37.561346183999994 meters Centerline goodness : 0.908981 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94039388 -0.30143339 -0.15747146 1.25018734] [ 0.30480895 0.95240928 -0.0028417 0.31141949] [ 0.15083386 -0.04532639 0.98751945 -0.1575168 ] [ 0. 0. 0. 1. ]] SLAMing on 37.591346183999995 meters Centerline goodness : 0.909557 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94055538 -0.30072382 -0.15786311 1.24997331] [ 0.30422893 0.95259673 -0.00205476 0.31186906] [ 0.1509978 -0.04609391 0.98745887 -0.15681444] [ 0. 0. 0. 1. ]] SLAMing on 37.621346184 meters Centerline goodness : 0.912610 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.16 [[ 0.94035582 -0.3010993 -0.15833555 1.25017122] [ 0.30460909 0.95247491 -0.0022016 0.31282221] [ 0.15147354 -0.04616016 0.98738291 -0.155888 ] [ 0. 0. 0. 1. ]] SLAMing on 37.651346184 meters Centerline goodness : 0.909766 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 0.94030999 -0.30096995 -0.15885279 1.25024476] [ 0.30453915 0.95249779 -0.00196415 0.31366746] [ 0.15189808 -0.04652998 0.98730033 -0.15495325] [ 0. 0. 0. 1. ]] SLAMing on 37.681346184 meters Centerline goodness : 0.911444 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.40498378e-01 -2.99431805e-01 -1.60634352e-01 1.25015954e+00] [ 3.03508334e-01 9.52828374e-01 8.83845783e-04 3.14733232e-01] [ 1.52792317e-01 -4.95851203e-02 9.87013588e-01 -1.52498863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.711346184 meters Centerline goodness : 0.911842 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 0.94065765 -0.29877766 -0.1609195 1.25103859] [ 0.30291817 0.95301574 0.00125826 0.31495852] [ 0.15298287 -0.04992903 0.98696673 -0.15304406] [ 0. 0. 0. 1. ]] SLAMing on 37.741346184 meters Centerline goodness : 0.913277 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.40865941e-01 -2.98568065e-01 -1.60088701e-01 1.24999909e+00] [ 3.02517143e-01 9.53143893e-01 3.10758769e-04 3.14669204e-01] [ 1.52494785e-01 -4.87219590e-02 9.87102584e-01 -1.53240104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.771346183999995 meters Centerline goodness : 0.912737 Centerline is valid? [False, False] Translation: X:1.25, Y:0.31, Z:-0.15 [[ 9.41025092e-01 -2.98171784e-01 -1.59891723e-01 1.24971226e+00] [ 3.02029762e-01 9.53298479e-01 -1.82146592e-04 3.14610044e-01] [ 1.52478847e-01 -4.81206545e-02 9.87134542e-01 -1.53091655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801346183999996 meters Centerline goodness : 0.915147 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94198211 -0.29456313 -0.16094181 1.24925834] [ 0.29886018 0.95429332 0.00261785 0.31574856] [ 0.15281457 -0.05056507 0.98696043 -0.15244126] [ 0. 0. 0. 1. ]] SLAMing on 37.831346184 meters Centerline goodness : 0.915162 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94197392 -0.29435089 -0.16137746 1.2501226 ] [ 0.29857558 0.95438385 0.00202432 0.31852251] [ 0.15342018 -0.05009022 0.98689068 -0.15226505] [ 0. 0. 0. 1. ]] SLAMing on 37.861346184 meters Centerline goodness : 0.913444 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 9.42114120e-01 -2.94119687e-01 -1.60980107e-01 1.25031766e+00] [ 2.98098032e-01 9.54535079e-01 5.88935166e-04 3.20478743e-01] [ 1.53487942e-01 -4.85426974e-02 9.86957475e-01 -1.53458422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.891346184 meters Centerline goodness : 0.908493 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94191897 -0.29353121 -0.16318114 1.24584577] [ 0.29530997 0.95530175 -0.0138056 0.32177176] [ 0.1599396 -0.03518526 0.98649953 -0.15043488] [ 0. 0. 0. 1. ]] SLAMing on 37.921346184 meters Centerline goodness : 0.907904 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.9419741 -0.29367996 -0.16259419 1.24596836] [ 0.29523061 0.95530672 -0.01509805 0.32238585] [ 0.15976132 -0.03378081 0.98657751 -0.1514348 ] [ 0. 0. 0. 1. ]] SLAMing on 37.951346183999995 meters Centerline goodness : 0.908791 Centerline is valid? [False, False] Translation: X:1.25, Y:0.32, Z:-0.15 [[ 0.94186041 -0.29340284 -0.16374901 1.24707956] [ 0.29518602 0.95533878 -0.01389376 0.32436902] [ 0.16051225 -0.03525044 0.98640419 -0.15103933] [ 0. 0. 0. 1. ]] SLAMing on 37.981346183999996 meters Centerline goodness : 0.911776 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94199471 -0.29175998 -0.16589778 1.2481718 ] [ 0.29416273 0.95569815 -0.01045664 0.32570237] [ 0.16159903 -0.03895084 0.98608751 -0.14936967] [ 0. 0. 0. 1. ]] SLAMing on 38.011346184 meters Centerline goodness : 0.912623 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94231407 -0.29657978 -0.15519222 1.24978029] [ 0.2985968 0.95431942 -0.01069562 0.33323253] [ 0.15127506 -0.03626127 0.98782639 -0.14913055] [ 0. 0. 0. 1. ]] SLAMing on 38.041346184 meters Centerline goodness : 0.912513 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94239667 -0.29629844 -0.15522808 1.25077806] [ 0.29825403 0.95442219 -0.01108177 0.33300552] [ 0.15143663 -0.03585397 0.9878165 -0.14975914] [ 0. 0. 0. 1. ]] SLAMing on 38.071346184 meters Centerline goodness : 0.912377 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94236993 -0.29662374 -0.15476844 1.25077312] [ 0.29840458 0.95436225 -0.0121407 0.33323489] [ 0.15130637 -0.03474258 0.98787617 -0.15024972] [ 0. 0. 0. 1. ]] SLAMing on 38.101346184 meters Centerline goodness : 0.910049 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94265787 -0.29590502 -0.15439032 1.25100338] [ 0.29758586 0.95461128 -0.01264725 0.33410101] [ 0.15112512 -0.03402235 0.98792898 -0.15140068] [ 0. 0. 0. 1. ]] SLAMing on 38.131346183999995 meters Centerline goodness : 0.911633 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94254485 -0.29646168 -0.15401197 1.25096645] [ 0.29796234 0.95447806 -0.01378662 0.33492826] [ 0.15108825 -0.03289526 0.98797279 -0.15179266] [ 0. 0. 0. 1. ]] SLAMing on 38.161346183999996 meters Centerline goodness : 0.908467 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94250775 -0.29668178 -0.15381499 1.25209192] [ 0.29808566 0.95443058 -0.01439467 0.33503226] [ 0.15107637 -0.03228296 0.98799481 -0.15298136] [ 0. 0. 0. 1. ]] SLAMing on 38.191346184 meters Centerline goodness : 0.913666 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.94239086 -0.29680731 -0.15428829 1.25135781] [ 0.29831913 0.95436637 -0.01380331 0.33464587] [ 0.15134448 -0.03301903 0.98792945 -0.15103957] [ 0. 0. 0. 1. ]] SLAMing on 38.221346184 meters Centerline goodness : 0.915385 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94214664 -0.29777968 -0.15390571 1.24881279] [ 0.29909189 0.95410477 -0.01510407 0.33663882] [ 0.15133986 -0.03180171 0.98797009 -0.14876836] [ 0. 0. 0. 1. ]] SLAMing on 38.251346184 meters Centerline goodness : 0.915156 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94192947 -0.29870115 -0.15344868 1.24648277] [ 0.29985613 0.95384837 -0.01611146 0.33766415] [ 0.15117928 -0.03083667 0.98802526 -0.146982 ] [ 0. 0. 0. 1. ]] SLAMing on 38.281346184 meters Centerline goodness : 0.910932 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.94060562 -0.30348645 -0.15217438 1.24615461] [ 0.30400892 0.95245087 -0.02039393 0.33701751] [ 0.1511279 -0.02707972 0.98814323 -0.14603624] [ 0. 0. 0. 1. ]] SLAMing on 38.311346183999994 meters Centerline goodness : 0.911428 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.93939965 -0.3075876 -0.15138749 1.24759194] [ 0.30753648 0.95122485 -0.02434354 0.33726779] [ 0.15149131 -0.02368887 0.98817469 -0.14599497] [ 0. 0. 0. 1. ]] SLAMing on 38.341346183999995 meters Centerline goodness : 0.911623 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.15 [[ 0.93827014 -0.31124253 -0.15092126 1.24832444] [ 0.31073793 0.95009694 -0.02752724 0.33739028] [ 0.15195747 -0.02106897 0.98816245 -0.14524012] [ 0. 0. 0. 1. ]] SLAMing on 38.371346184 meters Centerline goodness : 0.909070 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.14 [[ 0.93669894 -0.31445801 -0.15398457 1.2541322 ] [ 0.31420752 0.94898142 -0.0266063 0.33767093] [ 0.15449506 -0.02346102 0.98771497 -0.14418232] [ 0. 0. 0. 1. ]] SLAMing on 38.401346184 meters Centerline goodness : 0.908460 Centerline is valid? [False, False] Translation: X:1.25, Y:0.34, Z:-0.14 [[ 0.93665396 -0.31458354 -0.15400184 1.25431114] [ 0.31436293 0.94893492 -0.02642842 0.33682118] [ 0.15445167 -0.02365819 0.98771705 -0.14437909] [ 0. 0. 0. 1. ]] SLAMing on 38.431346184 meters Centerline goodness : 0.906877 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.9366434 -0.31450632 -0.1542236 1.25503276] [ 0.31429563 0.9489582 -0.02639301 0.33646787] [ 0.15465251 -0.02375097 0.9876834 -0.14440308] [ 0. 0. 0. 1. ]] SLAMing on 38.461346184 meters Centerline goodness : 0.908469 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93667803 -0.31390944 -0.15522609 1.25703695] [ 0.31382367 0.94913326 -0.02570543 0.33612004] [ 0.15539943 -0.02463591 0.98754448 -0.14451831] [ 0. 0. 0. 1. ]] SLAMing on 38.491346184 meters Centerline goodness : 0.907246 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.9366729 -0.31384708 -0.15538302 1.25726576] [ 0.31372909 0.94915842 -0.02592985 0.33668305] [ 0.15562111 -0.02446039 0.98751393 -0.14415636] [ 0. 0. 0. 1. ]] SLAMing on 38.521346183999995 meters Centerline goodness : 0.908626 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93689914 -0.31258334 -0.15656198 1.25889255] [ 0.31273156 0.94952987 -0.02433086 0.33648004] [ 0.1562657 -0.02616631 0.9873684 -0.14403197] [ 0. 0. 0. 1. ]] SLAMing on 38.551346183999996 meters Centerline goodness : 0.911045 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93772466 -0.30894347 -0.15882817 1.26071467] [ 0.30980355 0.95059128 -0.01994946 0.33518119] [ 0.15714393 -0.03049844 0.98710467 -0.14311493] [ 0. 0. 0. 1. ]] SLAMing on 38.581346184 meters Centerline goodness : 0.912901 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93821178 -0.3072039 -0.1593249 1.26195441] [ 0.30821457 0.95112804 -0.01895309 0.33512176] [ 0.15736085 -0.03132425 0.98704425 -0.14397026] [ 0. 0. 0. 1. ]] SLAMing on 38.611346184 meters Centerline goodness : 0.912648 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.14 [[ 0.93828458 -0.30677497 -0.15972216 1.26311025] [ 0.30778317 0.95126657 -0.01901157 0.33528869] [ 0.15777062 -0.03132153 0.98697892 -0.14374748] [ 0. 0. 0. 1. ]] SLAMing on 38.641346184 meters Centerline goodness : 0.912030 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93856331 -0.30584034 -0.15987685 1.26545843] [ 0.30680609 0.95157782 -0.01922694 0.33587501] [ 0.15801564 -0.03100549 0.9869497 -0.14608814] [ 0. 0. 0. 1. ]] SLAMing on 38.671346184 meters Centerline goodness : 0.909590 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93870729 -0.3057746 -0.15915561 1.26761762] [ 0.30623859 0.95169551 -0.02221675 0.33795979] [ 0.158261 -0.02788456 0.9870035 -0.14939228] [ 0. 0. 0. 1. ]] SLAMing on 38.701346183999995 meters Centerline goodness : 0.909565 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93888718 -0.30512015 -0.15935041 1.26826704] [ 0.30557561 0.95190786 -0.0222481 0.33970035] [ 0.15847525 -0.02780514 0.98697136 -0.1503304 ] [ 0. 0. 0. 1. ]] SLAMing on 38.731346183999996 meters Centerline goodness : 0.913196 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93913491 -0.30441116 -0.15924657 1.26699372] [ 0.30479965 0.95214866 -0.02258569 0.34158203] [ 0.15850175 -0.02732729 0.98698045 -0.14983632] [ 0. 0. 0. 1. ]] SLAMing on 38.761346184 meters Centerline goodness : 0.908008 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.94037093 -0.30004193 -0.16024152 1.26587674] [ 0.30093946 0.95344951 -0.01922169 0.34253467] [ 0.15854951 -0.03014748 0.98689066 -0.14874395] [ 0. 0. 0. 1. ]] SLAMing on 38.791346184 meters Centerline goodness : 0.910766 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.94114838 -0.29758349 -0.16026164 1.26566387] [ 0.29863077 0.95419745 -0.01808009 0.34202582] [ 0.15830159 -0.03084301 0.98690897 -0.14910518] [ 0. 0. 0. 1. ]] SLAMing on 38.821346184 meters Centerline goodness : 0.906629 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94114353 -0.29772064 -0.16003521 1.26472636] [ 0.29870164 0.95416798 -0.0184608 0.34132567] [ 0.15819664 -0.03042852 0.98693867 -0.14780782] [ 0. 0. 0. 1. ]] SLAMing on 38.851346184 meters Centerline goodness : 0.904212 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94131729 -0.29806955 -0.15835499 1.26347126] [ 0.29876422 0.95411809 -0.01996539 0.33911702] [ 0.15704044 -0.02851704 0.98718037 -0.1487049 ] [ 0. 0. 0. 1. ]] SLAMing on 38.881346183999995 meters Centerline goodness : 0.904212 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94131729 -0.29806955 -0.15835499 1.26347126] [ 0.29876422 0.95411809 -0.01996539 0.33911702] [ 0.15704044 -0.02851704 0.98718037 -0.1487049 ] [ 0. 0. 0. 1. ]] SLAMing on 38.911346183999996 meters Centerline goodness : 0.904499 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94075627 -0.29944957 -0.15908362 1.26465411] [ 0.30014232 0.95367989 -0.02023003 0.33918581] [ 0.15777272 -0.0287162 0.98705782 -0.14762727] [ 0. 0. 0. 1. ]] SLAMing on 38.941346184 meters Centerline goodness : 0.907297 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.94065375 -0.29979558 -0.15903815 1.26463207] [ 0.30047771 0.95357241 -0.02031779 0.33887412] [ 0.15774558 -0.02867541 0.98706335 -0.14770582] [ 0. 0. 0. 1. ]] SLAMing on 38.971346184 meters Centerline goodness : 0.905641 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93929126 -0.30437596 -0.15838943 1.26589793] [ 0.30446548 0.95221333 -0.02430138 0.33971832] [ 0.15821728 -0.02539804 0.98707762 -0.14789564] [ 0. 0. 0. 1. ]] SLAMing on 39.001346184 meters Centerline goodness : 0.904527 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93801232 -0.30869263 -0.15761266 1.26698763] [ 0.30813017 0.95091375 -0.02861555 0.34081224] [ 0.15870945 -0.02172348 0.98708632 -0.14733618] [ 0. 0. 0. 1. ]] SLAMing on 39.031346184 meters Centerline goodness : 0.906297 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93700322 -0.31192043 -0.15725967 1.26886213] [ 0.31099571 0.9499025 -0.03109511 0.34035371] [ 0.15908055 -0.01977086 0.98706762 -0.14778223] [ 0. 0. 0. 1. ]] SLAMing on 39.061346183999994 meters Centerline goodness : 0.897874 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93674116 -0.31648969 -0.14950011 1.23807209] [ 0.31476975 0.94849775 -0.0356654 0.32870399] [ 0.15308825 -0.01364886 0.98811826 -0.15095677] [ 0. 0. 0. 1. ]] SLAMing on 39.091346183999995 meters Centerline goodness : 0.905982 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93629068 -0.31674693 -0.15176019 1.2407801 ] [ 0.315461 0.94836023 -0.0331246 0.32770146] [ 0.15441545 -0.01686017 0.98786214 -0.14919765] [ 0. 0. 0. 1. ]] SLAMing on 39.121346184 meters Centerline goodness : 0.900742 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93586567 -0.31607741 -0.15572579 1.24510625] [ 0.31562995 0.94846159 -0.02825508 0.32733814] [ 0.15663073 -0.02270876 0.98739614 -0.14664543] [ 0. 0. 0. 1. ]] SLAMing on 39.151346184 meters Centerline goodness : 0.900862 Centerline is valid? [False, False] Translation: X:1.24, Y:0.33, Z:-0.15 [[ 0.93565344 -0.31684725 -0.15543636 1.24332956] [ 0.31628389 0.94822095 -0.02900922 0.32804211] [ 0.1565795 -0.02201944 0.98741987 -0.14519349] [ 0. 0. 0. 1. ]] SLAMing on 39.181346184 meters Centerline goodness : 0.901223 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93485302 -0.31834663 -0.15717906 1.24829412] [ 0.31779005 0.94770691 -0.02934434 0.3289538 ] [ 0.15830135 -0.02251729 0.98713406 -0.1459316 ] [ 0. 0. 0. 1. ]] SLAMing on 39.211346184 meters Centerline goodness : 0.901976 Centerline is valid? [False, False] Translation: X:1.25, Y:0.33, Z:-0.15 [[ 0.93482624 -0.31811362 -0.15780883 1.25178715] [ 0.31751711 0.94778847 -0.02966308 0.32834478] [ 0.15900562 -0.02237718 0.98702405 -0.14753067] [ 0. 0. 0. 1. ]] SLAMing on 39.241346184 meters Centerline goodness : 0.898889 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93459696 -0.31824499 -0.15889824 1.25566041] [ 0.31761398 0.94774406 -0.03004278 0.32886689] [ 0.16015583 -0.02239041 0.98683777 -0.14871882] [ 0. 0. 0. 1. ]] SLAMing on 39.271346183999995 meters Centerline goodness : 0.904684 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93459726 -0.31792204 -0.15954163 1.25729043] [ 0.31721709 0.94786045 -0.0305594 0.33106103] [ 0.16093871 -0.02204861 0.98671809 -0.14928718] [ 0. 0. 0. 1. ]] SLAMing on 39.301346183999996 meters Centerline goodness : 0.902985 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93466791 -0.31702915 -0.16089877 1.25890656] [ 0.31638359 0.94814703 -0.03030888 0.33289398] [ 0.16216449 -0.02257699 0.98650543 -0.14841234] [ 0. 0. 0. 1. ]] SLAMing on 39.331346184 meters Centerline goodness : 0.903300 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93510136 -0.31433739 -0.16363816 1.26354458] [ 0.31432614 0.94894094 -0.02664916 0.33437718] [ 0.16365978 -0.02651609 0.98616042 -0.14950625] [ 0. 0. 0. 1. ]] SLAMing on 39.361346184 meters Centerline goodness : 0.902431 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93552973 -0.31242346 -0.16485056 1.26653508] [ 0.31257843 0.94954472 -0.02568163 0.33589127] [ 0.16455652 -0.0275028 0.98598415 -0.15092111] [ 0. 0. 0. 1. ]] SLAMing on 39.391346184 meters Centerline goodness : 0.897922 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93678204 -0.30958426 -0.16308587 1.26582079] [ 0.30941065 0.95054179 -0.02711723 0.33602998] [ 0.163415 -0.02505757 0.98623915 -0.15415599] [ 0. 0. 0. 1. ]] SLAMing on 39.421346184 meters Centerline goodness : 0.899039 Centerline is valid? [False, False] Translation: X:1.26, Y:0.34, Z:-0.15 [[ 0.93733632 -0.3081336 -0.16264782 1.26487249] [ 0.30790587 0.95102655 -0.02724833 0.3357605 ] [ 0.16307852 -0.02453937 0.98630787 -0.1542524 ] [ 0. 0. 0. 1. ]] SLAMing on 39.451346183999995 meters Centerline goodness : 0.896989 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93826163 -0.3046274 -0.16391236 1.26597591] [ 0.30494279 0.95207173 -0.02386038 0.33505698] [ 0.16332485 -0.02759661 0.9861863 -0.1544124 ] [ 0. 0. 0. 1. ]] SLAMing on 39.481346183999996 meters Centerline goodness : 0.896331 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93975825 -0.2992173 -0.16529806 1.26428557] [ 0.30032708 0.95365025 -0.01883751 0.33393865] [ 0.16327304 -0.03194077 0.98606374 -0.15234291] [ 0. 0. 0. 1. ]] SLAMing on 39.511346184 meters Centerline goodness : 0.896574 Centerline is valid? [False, False] Translation: X:1.26, Y:0.33, Z:-0.15 [[ 0.93978011 -0.2990881 -0.16540752 1.26454239] [ 0.30013796 0.95370237 -0.0192092 0.3349523 ] [ 0.16349479 -0.03159265 0.98603821 -0.15185005] [ 0. 0. 0. 1. ]] SLAMing on 39.541346184 meters Centerline goodness : 0.898916 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.9398118 -0.29879998 -0.16574786 1.26582793] [ 0.2998615 0.95378992 -0.01917995 0.33522624] [ 0.1638196 -0.03167586 0.98598163 -0.15221063] [ 0. 0. 0. 1. ]] SLAMing on 39.571346184 meters Centerline goodness : 0.897594 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.15 [[ 0.93983018 -0.298984 -0.1653112 1.26715911] [ 0.29985598 0.95376947 -0.02025339 0.33582397] [ 0.16372422 -0.0305348 0.98603347 -0.15420061] [ 0. 0. 0. 1. ]] SLAMing on 39.601346184 meters Centerline goodness : 0.897991 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.16 [[ 0.93982644 -0.30006853 -0.1633559 1.26615585] [ 0.30030201 0.95354576 -0.02385774 0.33736988] [ 0.16292628 -0.02663397 0.98627869 -0.15602673] [ 0. 0. 0. 1. ]] SLAMing on 39.631346183999995 meters Centerline goodness : 0.896978 Centerline is valid? [False, False] Translation: X:1.27, Y:0.34, Z:-0.16 [[ 0.93992597 -0.29977304 -0.16332574 1.26663677] [ 0.29999206 0.9536419 -0.02391423 0.3382227 ] [ 0.16292311 -0.02651882 0.98628232 -0.15674091] [ 0. 0. 0. 1. ]] SLAMing on 39.661346183999996 meters Centerline goodness : 0.897851 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.93998374 -0.30585242 -0.15127743 1.26869432] [ 0.30531897 0.95185809 -0.02732223 0.34566882] [ 0.15235121 -0.02050541 0.98811368 -0.15783651] [ 0. 0. 0. 1. ]] SLAMing on 39.691346184 meters Centerline goodness : 0.895623 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94001555 -0.30535096 -0.15209061 1.27127415] [ 0.30494048 0.95199992 -0.02659793 0.34592286] [ 0.15291196 -0.02137612 0.9880086 -0.15900455] [ 0. 0. 0. 1. ]] SLAMing on 39.721346184 meters Centerline goodness : 0.896279 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94010881 -0.30523028 -0.15175606 1.27013987] [ 0.30479436 0.95204371 -0.02670542 0.34577646] [ 0.1526297 -0.02114839 0.98805714 -0.15820025] [ 0. 0. 0. 1. ]] SLAMing on 39.751346184 meters Centerline goodness : 0.895880 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.9400828 -0.30497574 -0.15242742 1.26990183] [ 0.30470394 0.95209978 -0.02571981 0.34557584] [ 0.15297003 -0.02226649 0.98797995 -0.15649171] [ 0. 0. 0. 1. ]] SLAMing on 39.781346184 meters Centerline goodness : 0.898329 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.16 [[ 0.94003867 -0.30359845 -0.15541971 1.27321914] [ 0.30413534 0.95239957 -0.02089861 0.34555665] [ 0.15436645 -0.02762312 0.98762744 -0.1554394 ] [ 0. 0. 0. 1. ]] SLAMing on 39.811346183999994 meters Centerline goodness : 0.894020 Centerline is valid? [False, False] Translation: X:1.27, Y:0.35, Z:-0.15 [[ 0.93974449 -0.30420289 -0.1560157 1.27386744] [ 0.30475712 0.95219972 -0.02094714 0.34542464] [ 0.15493029 -0.02786194 0.98753244 -0.15430897] [ 0. 0. 0. 1. ]] SLAMing on 39.841346183999995 meters Centerline goodness : 0.895784 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.9395671 -0.30462427 -0.1562617 1.27544897] [ 0.30519471 0.95206006 -0.02092451 0.34486621] [ 0.15514464 -0.02803026 0.98749402 -0.15486933] [ 0. 0. 0. 1. ]] SLAMing on 39.871346184 meters Centerline goodness : 0.895499 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93940737 -0.30540861 -0.15569002 1.2758872 ] [ 0.30583065 0.95183556 -0.02183318 0.34412524] [ 0.15485934 -0.02710453 0.98756465 -0.15557098] [ 0. 0. 0. 1. ]] SLAMing on 39.901346184 meters Centerline goodness : 0.901352 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93917984 -0.30613378 -0.1556385 1.27664039] [ 0.30648198 0.95161389 -0.02235601 0.34325985] [ 0.15495168 -0.02670409 0.98756107 -0.15555562] [ 0. 0. 0. 1. ]] SLAMing on 39.931346184 meters Centerline goodness : 0.898403 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93920633 -0.30611354 -0.15551836 1.27574654] [ 0.306485 0.95161692 -0.02218499 0.34269972] [ 0.15478503 -0.02682776 0.98758385 -0.15442923] [ 0. 0. 0. 1. ]] SLAMing on 39.961346184 meters Centerline goodness : 0.898817 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93912316 -0.30592636 -0.15638656 1.27760658] [ 0.30646723 0.95164408 -0.02124564 0.34263169] [ 0.15532395 -0.02797508 0.9874674 -0.15460734] [ 0. 0. 0. 1. ]] SLAMing on 39.991346184 meters Centerline goodness : 0.897598 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93866837 -0.30697696 -0.15705682 1.27969247] [ 0.30753207 0.95129778 -0.02136729 0.34264543] [ 0.15596707 -0.02824321 0.98735839 -0.15477563] [ 0. 0. 0. 1. ]] SLAMing on 40.021346183999995 meters Centerline goodness : 0.904101 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93750339 -0.31106993 -0.15595798 1.2809687 ] [ 0.3110417 0.95006163 -0.02521804 0.34208737] [ 0.15601427 -0.02486744 0.98744172 -0.15547583] [ 0. 0. 0. 1. ]] SLAMing on 40.051346183999996 meters Centerline goodness : 0.896963 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93739046 -0.31122667 -0.15632363 1.28300071] [ 0.31118603 0.95001036 -0.02536879 0.34126621] [ 0.15640451 -0.02486526 0.98738004 -0.15615521] [ 0. 0. 0. 1. ]] SLAMing on 40.081346184 meters Centerline goodness : 0.901327 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.16 [[ 0.93739929 -0.31110681 -0.15650917 1.28343564] [ 0.31115765 0.95003437 -0.02481135 0.34011561] [ 0.15640807 -0.02544088 0.98736481 -0.15586186] [ 0. 0. 0. 1. ]] SLAMing on 40.111346184 meters Centerline goodness : 0.907111 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93776937 -0.30950315 -0.15746875 1.28240013] [ 0.30992946 0.95049396 -0.02247126 0.33832447] [ 0.15662802 -0.02773134 0.98726827 -0.15309675] [ 0. 0. 0. 1. ]] SLAMing on 40.141346184 meters Centerline goodness : 0.899058 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93813116 -0.30821277 -0.15784426 1.28294787] [ 0.30886615 0.95087369 -0.0209983 0.33721859] [ 0.1565619 -0.02905358 0.98724073 -0.1532147 ] [ 0. 0. 0. 1. ]] SLAMing on 40.171346184 meters Centerline goodness : 0.901177 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93824348 -0.30797394 -0.1576427 1.28285102] [ 0.30855444 0.95096593 -0.02139986 0.33642891] [ 0.15650344 -0.02856307 0.98726431 -0.15307842] [ 0. 0. 0. 1. ]] SLAMing on 40.201346183999995 meters Centerline goodness : 0.902085 Centerline is valid? [False, False] Translation: X:1.28, Y:0.34, Z:-0.15 [[ 0.93827035 -0.30773685 -0.15794549 1.28448213] [ 0.30832426 0.95104076 -0.02139205 0.33545032] [ 0.15679572 -0.0286269 0.98721609 -0.1536172 ] [ 0. 0. 0. 1. ]] SLAMing on 40.231346183999996 meters Centerline goodness : 0.902921 Centerline is valid? [False, False] Translation: X:1.29, Y:0.34, Z:-0.15 [[ 0.93823726 -0.30795342 -0.15771979 1.28503833] [ 0.30841072 0.95099448 -0.02218849 0.33522321] [ 0.15682367 -0.02782441 0.98723459 -0.15420106] [ 0. 0. 0. 1. ]] SLAMing on 40.261346184 meters Centerline goodness : 0.906906 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93817523 -0.30815305 -0.1576989 1.28699684] [ 0.30850038 0.95094868 -0.0228938 0.33474515] [ 0.15701836 -0.02717177 0.98722182 -0.15587816] [ 0. 0. 0. 1. ]] SLAMing on 40.291346184 meters Centerline goodness : 0.906063 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.9380735 -0.30835738 -0.15790449 1.28795429] [ 0.30864011 0.95089217 -0.0233528 0.334748 ] [ 0.15735116 -0.02682902 0.98717821 -0.15603245] [ 0. 0. 0. 1. ]] SLAMing on 40.321346184 meters Centerline goodness : 0.908575 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93821296 -0.30764675 -0.15846109 1.28981054] [ 0.3080775 0.95109606 -0.0224617 0.33466515] [ 0.15762199 -0.02774444 0.9871097 -0.15709443] [ 0. 0. 0. 1. ]] SLAMing on 40.351346184 meters Centerline goodness : 0.908835 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93821587 -0.30731694 -0.15908265 1.29039698] [ 0.30793564 0.95116715 -0.02137049 0.33414093] [ 0.1578817 -0.02893709 0.98703395 -0.15646667] [ 0. 0. 0. 1. ]] SLAMing on 40.381346183999995 meters Centerline goodness : 0.911294 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93813269 -0.30779338 -0.15865151 1.28996264] [ 0.30834091 0.95102662 -0.02177738 0.33187103] [ 0.15758474 -0.02848868 0.98709445 -0.15581312] [ 0. 0. 0. 1. ]] SLAMing on 40.411346183999996 meters Centerline goodness : 0.907967 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93813079 -0.30851848 -0.15724814 1.28902086] [ 0.30873394 0.9508537 -0.02367675 0.33010649] [ 0.15682469 -0.02633595 0.98727526 -0.15628898] [ 0. 0. 0. 1. ]] SLAMing on 40.441346184 meters Centerline goodness : 0.909358 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93831453 -0.30844368 -0.15629568 1.28903206] [ 0.30856309 0.95089811 -0.02411635 0.32824233] [ 0.1560598 -0.02559835 0.98741585 -0.15756147] [ 0. 0. 0. 1. ]] SLAMing on 40.471346184 meters Centerline goodness : 0.911053 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93857711 -0.30790449 -0.15578139 1.28885224] [ 0.30794332 0.95108929 -0.02449654 0.32697319] [ 0.15570461 -0.02497995 0.98748776 -0.15799399] [ 0. 0. 0. 1. ]] SLAMing on 40.501346184 meters Centerline goodness : 0.915108 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93910375 -0.31215284 -0.14368282 1.29035865] [ 0.31168892 0.9498198 -0.02631288 0.33160162] [ 0.14468643 -0.02007382 0.98927391 -0.15893581] [ 0. 0. 0. 1. ]] SLAMing on 40.531346184 meters Centerline goodness : 0.916425 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.9396367 -0.3100574 -0.14473176 1.28990307] [ 0.30999017 0.95044693 -0.02359518 0.3299758 ] [ 0.14487572 -0.02269452 0.98918956 -0.15694178] [ 0. 0. 0. 1. ]] SLAMing on 40.561346183999994 meters Centerline goodness : 0.917456 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93960535 -0.30995446 -0.14515516 1.28953609] [ 0.30998442 0.95046358 -0.02299197 0.32976752] [ 0.14509116 -0.02339246 0.98914172 -0.15561913] [ 0. 0. 0. 1. ]] SLAMing on 40.591346183999995 meters Centerline goodness : 0.916657 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.15 [[ 0.93960381 -0.30984629 -0.14539589 1.28931527] [ 0.30992804 0.9504897 -0.02267008 0.32942698] [ 0.14522154 -0.02376137 0.9891138 -0.15469824] [ 0. 0. 0. 1. ]] SLAMing on 40.621346184 meters Centerline goodness : 0.915899 Centerline is valid? [False, False] Translation: X:1.29, Y:0.33, Z:-0.16 [[ 0.93978833 -0.31006937 -0.14371804 1.2899603 ] [ 0.30981312 0.95047571 -0.02473348 0.32661643] [ 0.1442696 -0.0212815 0.98930955 -0.15713665] [ 0. 0. 0. 1. ]] SLAMing on 40.651346184 meters Centerline goodness : 0.916423 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93980108 -0.31091323 -0.14179875 1.28882342] [ 0.31027359 0.95025897 -0.02716973 0.32403754] [ 0.14319296 -0.01846226 0.98952257 -0.15812295] [ 0. 0. 0. 1. ]] SLAMing on 40.681346184 meters Centerline goodness : 0.920177 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93976306 -0.31133837 -0.1411163 1.28835835] [ 0.31046748 0.95015016 -0.02871629 0.32232679] [ 0.14302216 -0.01682551 0.98957646 -0.15787557] [ 0. 0. 0. 1. ]] SLAMing on 40.711346184 meters Centerline goodness : 0.922932 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.93962514 -0.31155321 -0.14155983 1.28757866] [ 0.31084596 0.95005788 -0.02765548 0.31985033] [ 0.14310619 -0.01801752 0.98954332 -0.15537895] [ 0. 0. 0. 1. ]] SLAMing on 40.741346184 meters Centerline goodness : 0.925501 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.93907672 -0.31277288 -0.14250626 1.28878473] [ 0.3121248 0.94964406 -0.02746388 0.31979402] [ 0.14392018 -0.01868905 0.98941281 -0.15398149] [ 0. 0. 0. 1. ]] SLAMing on 40.771346183999995 meters Centerline goodness : 0.925501 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.93907672 -0.31277288 -0.14250626 1.28878473] [ 0.3121248 0.94964406 -0.02746388 0.31979402] [ 0.14392018 -0.01868905 0.98941281 -0.15398149] [ 0. 0. 0. 1. ]] SLAMing on 40.801346183999996 meters Centerline goodness : 0.922617 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.15 [[ 0.938833 -0.31320296 -0.14316598 1.29142596] [ 0.31269638 0.94948019 -0.02661474 0.31873714] [ 0.14426907 -0.01978069 0.98934077 -0.15497053] [ 0. 0. 0. 1. ]] SLAMing on 40.831346184 meters Centerline goodness : 0.924642 Centerline is valid? [False, False] Translation: X:1.29, Y:0.32, Z:-0.16 [[ 0.9384789 -0.31418002 -0.14334667 1.29432207] [ 0.31366818 0.94915573 -0.0267519 0.31776381] [ 0.14446323 -0.0198572 0.98931091 -0.15672461] [ 0. 0. 0. 1. ]] SLAMing on 40.861346184 meters Centerline goodness : 0.922014 Centerline is valid? [False, False] Translation: X:1.29, Y:0.31, Z:-0.16 [[ 0.93761822 -0.31830226 -0.13984182 1.29189939] [ 0.31700276 0.94788208 -0.03207514 0.31312586] [ 0.14276315 -0.014256 0.98965421 -0.15712908] [ 0. 0. 0. 1. ]] SLAMing on 40.891346184 meters Centerline goodness : 0.922532 Centerline is valid? [False, False] Translation: X:1.30, Y:0.31, Z:-0.16 [[ 0.93738681 -0.3185871 -0.14074172 1.29510345] [ 0.31749146 0.9477614 -0.03078152 0.31116058] [ 0.14319616 -0.01583011 0.98956772 -0.1579723 ] [ 0. 0. 0. 1. ]] SLAMing on 40.921346184 meters Centerline goodness : 0.926569 Centerline is valid? [False, False] Translation: X:1.30, Y:0.31, Z:-0.16 [[ 0.93730367 -0.31827599 -0.14199373 1.29746643] [ 0.31752374 0.94782075 -0.02853939 0.30907103] [ 0.143668 -0.01833631 0.98945606 -0.15760874] [ 0. 0. 0. 1. ]] SLAMing on 40.951346183999995 meters Centerline goodness : 0.930734 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93808315 -0.31526052 -0.14356466 1.29706512] [ 0.31527438 0.94871553 -0.02325763 0.30412255] [ 0.14353423 -0.02344467 0.98936761 -0.15467565] [ 0. 0. 0. 1. ]] SLAMing on 40.981346183999996 meters Centerline goodness : 0.930207 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93839579 -0.3141178 -0.14402549 1.29562688] [ 0.3143562 0.94905708 -0.02169885 0.30258356] [ 0.1435044 -0.0249132 0.98933605 -0.1524854 ] [ 0. 0. 0. 1. ]] SLAMing on 41.011346184 meters Centerline goodness : 0.931255 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.15 [[ 0.93880328 -0.31257371 -0.14472757 1.29721611] [ 0.31306135 0.94952256 -0.01998769 0.30164662] [ 0.14366972 -0.0265441 0.98926964 -0.15318869] [ 0. 0. 0. 1. ]] SLAMing on 41.041346184 meters Centerline goodness : 0.929489 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93870372 -0.31463567 -0.14085353 1.29588764] [ 0.31420176 0.94900293 -0.02589791 0.29914257] [ 0.14181882 -0.01994596 0.98969166 -0.15692278] [ 0. 0. 0. 1. ]] SLAMing on 41.071346184 meters Centerline goodness : 0.928540 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93831053 -0.31655366 -0.13916586 1.2968078 ] [ 0.31565192 0.94842887 -0.02909557 0.2975793 ] [ 0.14119923 -0.01662729 0.98984156 -0.15937499] [ 0. 0. 0. 1. ]] SLAMing on 41.101346184 meters Centerline goodness : 0.931450 Centerline is valid? [False, False] Translation: X:1.30, Y:0.30, Z:-0.16 [[ 0.93805772 -0.31696394 -0.13993418 1.29960336] [ 0.31619957 0.94827171 -0.02825962 0.29625327] [ 0.1416529 -0.01773797 0.98975746 -0.16010867] [ 0. 0. 0. 1. ]] SLAMing on 41.131346183999995 meters Centerline goodness : 0.932201 Centerline is valid? [False, False] Translation: X:1.30, Y:0.29, Z:-0.16 [[ 0.93762142 -0.3169189 -0.14292824 1.30027918] [ 0.3169232 0.94816379 -0.02334771 0.29467278] [ 0.14291871 -0.02340597 0.98945763 -0.15503806] [ 0. 0. 0. 1. ]] SLAMing on 41.161346183999996 meters Centerline goodness : 0.932848 Centerline is valid? [False, False] Translation: X:1.30, Y:0.29, Z:-0.15 [[ 0.93718584 -0.31741042 -0.14468355 1.30354259] [ 0.31772761 0.9479375 -0.02153271 0.29472257] [ 0.14398567 -0.02578981 0.98924366 -0.15468067] [ 0. 0. 0. 1. ]] SLAMing on 41.191346184 meters Centerline goodness : 0.932392 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93663042 -0.31909073 -0.14458413 1.30560475] [ 0.31927354 0.94739379 -0.02257004 0.29355694] [ 0.14418 -0.0250221 0.98923507 -0.15550899] [ 0. 0. 0. 1. ]] SLAMing on 41.221346184 meters Centerline goodness : 0.932040 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93519057 -0.3240066 -0.14296266 1.30881156] [ 0.32364813 0.94580886 -0.0264099 0.28931205] [ 0.14377233 -0.02157131 0.98937566 -0.1577864 ] [ 0. 0. 0. 1. ]] SLAMing on 41.251346184 meters Centerline goodness : 0.931034 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93456907 -0.32517099 -0.14437616 1.31282223] [ 0.32504192 0.94536511 -0.02515083 0.28807612] [ 0.1446665 -0.02342312 0.98920319 -0.15806354] [ 0. 0. 0. 1. ]] SLAMing on 41.281346184 meters Centerline goodness : 0.927958 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.16 [[ 0.93378367 -0.32738068 -0.14446432 1.31242655] [ 0.32723443 0.94460021 -0.02545742 0.28713099] [ 0.1447953 -0.02350198 0.98918248 -0.15607611] [ 0. 0. 0. 1. ]] SLAMing on 41.311346183999994 meters Centerline goodness : 0.929145 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.16 [[ 0.93298198 -0.32872465 -0.14657667 1.31680051] [ 0.32886063 0.94407323 -0.02400864 0.28783915] [ 0.14627134 -0.02580367 0.98890792 -0.15574195] [ 0. 0. 0. 1. ]] SLAMing on 41.341346183999995 meters Centerline goodness : 0.930861 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.15 [[ 0.93160743 -0.33188914 -0.14817962 1.32029098] [ 0.33211996 0.94293387 -0.02391753 0.28903711] [ 0.14766155 -0.02693166 0.98867121 -0.15480457] [ 0. 0. 0. 1. ]] SLAMing on 41.371346184 meters Centerline goodness : 0.929161 Centerline is valid? [False, False] Translation: X:1.32, Y:0.29, Z:-0.16 [[ 0.9311418 -0.33279856 -0.14906395 1.32396523] [ 0.33309334 0.94259522 -0.02372938 0.289479 ] [ 0.14840407 -0.02755679 0.98854279 -0.15617894] [ 0. 0. 0. 1. ]] SLAMing on 41.401346184 meters Centerline goodness : 0.928639 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.93066321 -0.33457398 -0.14807511 1.32538057] [ 0.33453033 0.94202757 -0.025952 0.28899613] [ 0.14817371 -0.02538304 0.98863555 -0.1581272 ] [ 0. 0. 0. 1. ]] SLAMing on 41.431346184 meters Centerline goodness : 0.929827 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.93000804 -0.33691979 -0.14686762 1.32704225] [ 0.33646647 0.94125862 -0.02867982 0.28816097] [ 0.14790322 -0.02274356 0.98874029 -0.16018896] [ 0. 0. 0. 1. ]] SLAMing on 41.461346184 meters Centerline goodness : 0.929926 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.92916464 -0.33872916 -0.14803927 1.33059975] [ 0.33841798 0.94057724 -0.02806631 0.28750252] [ 0.14874924 -0.02402093 0.98858316 -0.16039612] [ 0. 0. 0. 1. ]] SLAMing on 41.491346184 meters Centerline goodness : 0.931502 Centerline is valid? [False, False] Translation: X:1.33, Y:0.29, Z:-0.16 [[ 0.92919567 -0.33734121 -0.15098447 1.33465248] [ 0.33773651 0.94093959 -0.02380644 0.28836489] [ 0.15009815 -0.02887213 0.98824943 -0.15986176] [ 0. 0. 0. 1. ]] SLAMing on 41.521346183999995 meters Centerline goodness : 0.935015 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92932899 -0.33563691 -0.1539334 1.3366215 ] [ 0.33685307 0.94136739 -0.01890639 0.28969899] [ 0.15125357 -0.03428268 0.98790033 -0.15786138] [ 0. 0. 0. 1. ]] SLAMing on 41.551346183999996 meters Centerline goodness : 0.935078 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92937224 -0.33517974 -0.15466664 1.33830168] [ 0.33651855 0.94150021 -0.01823789 0.29052066] [ 0.15173165 -0.0350984 0.98779836 -0.15839727] [ 0. 0. 0. 1. ]] SLAMing on 41.581346184 meters Centerline goodness : 0.931516 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92912996 -0.33614735 -0.15402103 1.33881626] [ 0.33727892 0.94120234 -0.01952154 0.29065289] [ 0.15152707 -0.03381 0.9878747 -0.15949484] [ 0. 0. 0. 1. ]] SLAMing on 41.611346184 meters Centerline goodness : 0.931710 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92832477 -0.33920195 -0.1521682 1.33925809] [ 0.33969277 0.94024111 -0.02356869 0.29081768] [ 0.15106934 -0.02981103 0.98807356 -0.16143394] [ 0. 0. 0. 1. ]] SLAMing on 41.641346184 meters Centerline goodness : 0.932697 Centerline is valid? [False, False] Translation: X:1.34, Y:0.29, Z:-0.16 [[ 0.92700552 -0.34217361 -0.15355127 1.34424465] [ 0.34277532 0.93912649 -0.02337773 0.29105728] [ 0.1522033 -0.0309623 0.98786411 -0.16238177] [ 0. 0. 0. 1. ]] SLAMing on 41.671346184 meters Centerline goodness : 0.934510 Centerline is valid? [False, False] Translation: X:1.35, Y:0.29, Z:-0.16 [[ 0.92657064 -0.34167236 -0.15724774 1.34838598] [ 0.34309742 0.93911066 -0.01885028 0.29232468] [ 0.15411365 -0.03648518 0.98737927 -0.16020029] [ 0. 0. 0. 1. ]] SLAMing on 41.701346183999995 meters Centerline goodness : 0.938745 Centerline is valid? [False, False] Translation: X:1.35, Y:0.29, Z:-0.16 [[ 0.9260374 -0.34136322 -0.16101521 1.35314827] [ 0.34361706 0.93899768 -0.01451429 0.29480096] [ 0.15614755 -0.04188679 0.9868452 -0.15875798] [ 0. 0. 0. 1. ]] SLAMing on 41.731346183999996 meters Centerline goodness : 0.932655 Centerline is valid? [False, False] Translation: X:1.35, Y:0.30, Z:-0.16 [[ 0.92537314 -0.34263599 -0.16212688 1.35469659] [ 0.34495189 0.93850774 -0.01453993 0.29680504] [ 0.15713923 -0.04247111 0.98666279 -0.15783686] [ 0. 0. 0. 1. ]] SLAMing on 41.761346184 meters Centerline goodness : 0.931718 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92476656 -0.34479742 -0.16100169 1.35743993] [ 0.3465798 0.93785186 -0.01778551 0.29764963] [ 0.15712814 -0.03935249 0.98679386 -0.16127565] [ 0. 0. 0. 1. ]] SLAMing on 41.791346184 meters Centerline goodness : 0.930891 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92472678 -0.34559002 -0.15952403 1.35643829] [ 0.34692915 0.93767202 -0.02028171 0.29681728] [ 0.15659038 -0.03658849 0.98698568 -0.16182962] [ 0. 0. 0. 1. ]] SLAMing on 41.821346184 meters Centerline goodness : 0.933203 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.92443812 -0.34621343 -0.15984499 1.3569099 ] [ 0.34752672 0.93744431 -0.02057532 0.29715346] [ 0.15696922 -0.03652979 0.98692768 -0.16123055] [ 0. 0. 0. 1. ]] SLAMing on 41.851346184 meters Centerline goodness : 0.935089 Centerline is valid? [False, False] Translation: X:1.36, Y:0.30, Z:-0.16 [[ 0.9235895 -0.34654852 -0.1639712 1.36182321] [ 0.34868313 0.93709507 -0.01652018 0.30025676] [ 0.15938165 -0.04191612 0.98632679 -0.15926946] [ 0. 0. 0. 1. ]] SLAMing on 41.881346183999995 meters Centerline goodness : 0.934210 Centerline is valid? [False, False] Translation: X:1.37, Y:0.30, Z:-0.16 [[ 0.92261001 -0.34782912 -0.1667503 1.36694216] [ 0.35042053 0.9364788 -0.01459136 0.30310846] [ 0.16123342 -0.0449706 0.98589119 -0.15911515] [ 0. 0. 0. 1. ]] SLAMing on 41.911346183999996 meters Centerline goodness : 0.933613 Centerline is valid? [False, False] Translation: X:1.37, Y:0.30, Z:-0.16 [[ 0.92170401 -0.34965789 -0.16793179 1.37024264] [ 0.35234222 0.93575843 -0.01453016 0.30466571] [ 0.16222417 -0.04577696 0.98569153 -0.15941269] [ 0. 0. 0. 1. ]] SLAMing on 41.941346184 meters Centerline goodness : 0.931915 Centerline is valid? [False, False] Translation: X:1.37, Y:0.31, Z:-0.16 [[ 0.92077573 -0.35196687 -0.16820039 1.37196301] [ 0.35450523 0.93492211 -0.01570628 0.30546693] [ 0.16278236 -0.04516596 0.98562769 -0.15930863] [ 0. 0. 0. 1. ]] SLAMing on 41.971346184 meters Centerline goodness : 0.932347 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91983759 -0.35378103 -0.16952224 1.3761533 ] [ 0.35641738 0.93419561 -0.01565919 0.3073296 ] [ 0.16390686 -0.04601676 0.98540195 -0.16052648] [ 0. 0. 0. 1. ]] SLAMing on 42.001346184 meters Centerline goodness : 0.931792 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91956592 -0.35374777 -0.17105854 1.37958406] [ 0.3566084 0.93413742 -0.01475576 0.30975992] [ 0.165012 -0.04743202 0.98515037 -0.16154204] [ 0. 0. 0. 1. ]] SLAMing on 42.031346184 meters Centerline goodness : 0.929477 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91948633 -0.35339693 -0.17220772 1.38223007] [ 0.3564448 0.93421229 -0.01394616 0.3118462 ] [ 0.1658071 -0.04855924 0.98496193 -0.1625388 ] [ 0. 0. 0. 1. ]] SLAMing on 42.061346183999994 meters Centerline goodness : 0.931138 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.91967775 -0.35294225 -0.172118 1.3821827 ] [ 0.35594022 0.93440125 -0.01417272 0.31246956] [ 0.16582943 -0.04822938 0.98497438 -0.16282308] [ 0. 0. 0. 1. ]] SLAMing on 42.091346183999995 meters Centerline goodness : 0.933385 Centerline is valid? [False, False] Translation: X:1.38, Y:0.31, Z:-0.16 [[ 0.92051949 -0.35000826 -0.17360322 1.38426865] [ 0.35350261 0.93536407 -0.0114002 0.31430116] [ 0.16637238 -0.05087508 0.98474969 -0.16440434] [ 0. 0. 0. 1. ]] SLAMing on 42.121346184 meters Centerline goodness : 0.934191 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92085907 -0.34823433 -0.17536084 1.38557839] [ 0.35222016 0.93587497 -0.00888833 0.31642498] [ 0.16721104 -0.05358073 0.9844641 -0.164013 ] [ 0. 0. 0. 1. ]] SLAMing on 42.151346184 meters Centerline goodness : 0.936137 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92111373 -0.34669663 -0.17706197 1.38724854] [ 0.35116418 0.93629149 -0.00647771 0.31852235] [ 0.16802742 -0.05621111 0.98417839 -0.16392872] [ 0. 0. 0. 1. ]] SLAMing on 42.181346184 meters Centerline goodness : 0.930671 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92092851 -0.34654495 -0.17831788 1.38867815] [ 0.3512369 0.93626998 -0.00558306 0.32161472] [ 0.16888846 -0.05749022 0.98395709 -0.16395774] [ 0. 0. 0. 1. ]] SLAMing on 42.211346184 meters Centerline goodness : 0.930219 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92067493 -0.34716526 -0.17842075 1.38894866] [ 0.35175451 0.93607124 -0.00627646 0.3228365 ] [ 0.1691935 -0.05698173 0.98393427 -0.16382521] [ 0. 0. 0. 1. ]] SLAMing on 42.241346183999994 meters Centerline goodness : 0.936236 Centerline is valid? [False, False] Translation: X:1.39, Y:0.32, Z:-0.16 [[ 0.92055161 -0.34733772 -0.17872112 1.3900137 ] [ 0.351951 0.93599752 -0.00625659 0.32400525] [ 0.16945568 -0.05714156 0.98387988 -0.16443572] [ 0. 0. 0. 1. ]] SLAMing on 42.271346183999995 meters Centerline goodness : 0.930518 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.92024902 -0.34683868 -0.18123097 1.39127351] [ 0.35206657 0.93596828 -0.00353735 0.32739371] [ 0.17085333 -0.06055012 0.9834342 -0.16239855] [ 0. 0. 0. 1. ]] SLAMing on 42.301346183999996 meters Centerline goodness : 0.929808 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.91996032 -0.34675811 -0.1828437 1.39350239] [ 0.35232633 0.93587471 -0.00216528 0.32964192] [ 0.17186962 -0.06242867 0.98313961 -0.16214742] [ 0. 0. 0. 1. ]] SLAMing on 42.331346184 meters Centerline goodness : 0.927859 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.91970927 -0.34744967 -0.18279381 1.39414656] [ 0.35287154 0.9356668 -0.00305203 0.3307356 ] [ 0.17209453 -0.06169575 0.98314653 -0.16256041] [ 0. 0. 0. 1. ]] SLAMing on 42.361346184 meters Centerline goodness : 0.926988 Centerline is valid? [False, False] Translation: X:1.39, Y:0.33, Z:-0.16 [[ 0.9195327 -0.34840015 -0.18187071 1.39476128] [ 0.35348662 0.93542761 -0.00473202 0.33107146] [ 0.17177552 -0.05993762 0.98331107 -0.16426888] [ 0. 0. 0. 1. ]] SLAMing on 42.391346184 meters Centerline goodness : 0.926623 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.17 [[ 0.91940837 -0.34906687 -0.18121965 1.3957474 ] [ 0.35390283 0.93526292 -0.00600415 0.3318559 ] [ 0.17158387 -0.05861389 0.98342432 -0.16620921] [ 0. 0. 0. 1. ]] SLAMing on 42.421346184 meters Centerline goodness : 0.926470 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.17 [[ 0.91941727 -0.34830404 -0.18263675 1.396528 ] [ 0.35350158 0.93542376 -0.00436067 0.33307373] [ 0.1723616 -0.06055311 0.98317079 -0.16506231] [ 0. 0. 0. 1. ]] SLAMing on 42.451346183999995 meters Centerline goodness : 0.931271 Centerline is valid? [False, False] Translation: X:1.40, Y:0.33, Z:-0.16 [[ 0.91937613 -0.34772295 -0.18394641 1.39681754] [ 0.3532782 0.9355143 -0.00274125 0.33471364] [ 0.17303769 -0.06246401 0.98293245 -0.16373841] [ 0. 0. 0. 1. ]] SLAMing on 42.481346183999996 meters Centerline goodness : 0.926427 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.91950749 -0.35304868 -0.17280801 1.40012719] [ 0.35770083 0.93382541 -0.00449769 0.3430728 ] [ 0.16296041 -0.05767791 0.98494526 -0.16506277] [ 0. 0. 0. 1. ]] SLAMing on 42.511346184 meters Centerline goodness : 0.927018 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92009813 -0.35125077 -0.17332723 1.40141011] [ 0.3559739 0.93448696 -0.00408671 0.34386065] [ 0.1634075 -0.0579398 0.98485581 -0.16629646] [ 0. 0. 0. 1. ]] SLAMing on 42.541346184 meters Centerline goodness : 0.926408 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92080064 -0.3496487 -0.17283508 1.40031809] [ 0.3543812 0.93509372 -0.00370221 0.34330487] [ 0.16291146 -0.05784051 0.98494382 -0.16671967] [ 0. 0. 0. 1. ]] SLAMing on 42.571346184 meters Centerline goodness : 0.926688 Centerline is valid? [False, False] Translation: X:1.40, Y:0.34, Z:-0.17 [[ 0.92151836 -0.34720668 -0.17392939 1.40165091] [ 0.3522461 0.93590523 -0.00201979 0.34379358] [ 0.16348271 -0.05940468 0.98475606 -0.16715006] [ 0. 0. 0. 1. ]] SLAMing on 42.601346184 meters Centerline goodness : 0.930267 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22249417e-01 -3.44157932e-01 -1.76100340e-01 1.40183473e+00] [ 3.49761698e-01 9.36838330e-01 8.35772013e-04 3.47158979e-01] [ 1.64689911e-01 -6.23639443e-02 9.84371867e-01 -1.65810002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.631346183999995 meters Centerline goodness : 0.930708 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22398144e-01 -3.43602826e-01 -1.76405107e-01 1.40183457e+00] [ 3.49135477e-01 9.37072195e-01 3.47281304e-04 3.48750210e-01] [ 1.65184994e-01 -6.19096130e-02 9.84317590e-01 -1.65655117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661346183999996 meters Centerline goodness : 0.930708 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22398144e-01 -3.43602826e-01 -1.76405107e-01 1.40183457e+00] [ 3.49135477e-01 9.37072195e-01 3.47281304e-04 3.48750210e-01] [ 1.65184994e-01 -6.19096130e-02 9.84317590e-01 -1.65655117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.691346184 meters Centerline goodness : 0.925520 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.22577799e-01 -3.43421872e-01 -1.75817017e-01 1.40241722e+00] [ 3.48641909e-01 9.37255135e-01 -1.27762403e-03 3.49891000e-01] [ 1.65224166e-01 -6.01184727e-02 9.84422036e-01 -1.67348026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721346184 meters Centerline goodness : 0.922467 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 0.92299326 -0.34261441 -0.17521077 1.40431267] [ 0.34761695 0.93763387 -0.00227598 0.35000828] [ 0.16506334 -0.05880551 0.98452832 -0.17037941] [ 0. 0. 0. 1. ]] SLAMing on 42.751346184 meters Centerline goodness : 0.919864 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 0.92378918 -0.34115353 -0.17386149 1.40338313] [ 0.34575318 0.93831668 -0.00406643 0.35123257] [ 0.16452441 -0.05635664 0.98476172 -0.17257784] [ 0. 0. 0. 1. ]] SLAMing on 42.781346184 meters Centerline goodness : 0.921769 Centerline is valid? [False, False] Translation: X:1.40, Y:0.35, Z:-0.17 [[ 9.24649240e-01 -3.37939793e-01 -1.75557624e-01 1.40453611e+00] [ 3.43067795e-01 9.39309863e-01 -1.21216085e-03 3.52115917e-01] [ 1.65312645e-01 -5.91073435e-02 9.84468410e-01 -1.72375289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.811346183999994 meters Centerline goodness : 0.921493 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92581115 -0.34009486 -0.16495215 1.40571335] [ 0.34456469 0.93876119 -0.00161273 0.3591581 ] [ 0.15539915 -0.05534361 0.98630025 -0.17132789] [ 0. 0. 0. 1. ]] SLAMing on 42.841346183999995 meters Centerline goodness : 0.922794 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92707437 -0.33571201 -0.16682492 1.40617261] [ 0.34078339 0.94013994 0.0018899 0.35990769] [ 0.15620431 -0.05860324 0.98598472 -0.17051469] [ 0. 0. 0. 1. ]] SLAMing on 42.871346184 meters Centerline goodness : 0.923577 Centerline is valid? [False, False] Translation: X:1.40, Y:0.36, Z:-0.17 [[ 0.92897923 -0.33019147 -0.1672459 1.40427405] [ 0.33561283 0.94198961 0.00442709 0.36109757] [ 0.15608211 -0.06024254 0.98590528 -0.17068002] [ 0. 0. 0. 1. ]] SLAMing on 42.901346184 meters Centerline goodness : 0.922683 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.17 [[ 0.92960683 -0.32836748 -0.16734973 1.40561383] [ 0.33374467 0.94265384 0.00426925 0.36179254] [ 0.15635098 -0.0598208 0.98588835 -0.17246681] [ 0. 0. 0. 1. ]] SLAMing on 42.931346184 meters Centerline goodness : 0.923221 Centerline is valid? [False, False] Translation: X:1.40, Y:0.36, Z:-0.17 [[ 0.93083407 -0.32492841 -0.16724075 1.40494202] [ 0.33026419 0.94387849 0.00435433 0.36366188] [ 0.1564401 -0.05928679 0.98590647 -0.17392524] [ 0. 0. 0. 1. ]] SLAMing on 42.961346184 meters Centerline goodness : 0.920853 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.17 [[ 0.93151747 -0.32854829 -0.1559847 1.40704286] [ 0.33310287 0.94288487 0.00325625 0.37075748] [ 0.14600578 -0.0549922 0.9877541 -0.17482029] [ 0. 0. 0. 1. ]] SLAMing on 42.991346183999994 meters Centerline goodness : 0.920257 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.17 [[ 0.93204317 -0.32706773 -0.15595589 1.40635046] [ 0.3315465 0.94343449 0.00287692 0.37193713] [ 0.14619322 -0.05438804 0.98775983 -0.17487815] [ 0. 0. 0. 1. ]] SLAMing on 43.021346183999995 meters Centerline goodness : 0.921091 Centerline is valid? [False, False] Translation: X:1.41, Y:0.37, Z:-0.18 [[ 0.93269348 -0.32570418 -0.15491821 1.40518118] [ 0.32993593 0.94400179 0.00170256 0.37231617] [ 0.14568854 -0.05270105 0.98792583 -0.17591796] [ 0. 0. 0. 1. ]] SLAMing on 43.051346183999996 meters Centerline goodness : 0.920931 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 9.34382688e-01 -3.21543884e-01 -1.53422692e-01 1.40285694e+00] [ 3.25509915e-01 9.45538310e-01 7.74121872e-04 3.72683837e-01] [ 1.44818119e-01 -5.06639336e-02 9.88160350e-01 -1.77998451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081346184 meters Centerline goodness : 0.922405 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 0.935273 -0.31814434 -0.15507609 1.40370659] [ 0.32257352 0.94653756 0.00360299 0.37389506] [ 0.14563907 -0.05339322 0.98789596 -0.17758061] [ 0. 0. 0. 1. ]] SLAMing on 43.111346184 meters Centerline goodness : 0.924036 Centerline is valid? [False, False] Translation: X:1.40, Y:0.37, Z:-0.18 [[ 0.93607741 -0.31500077 -0.15663203 1.40397468] [ 0.31994068 0.94741371 0.00672402 0.37481978] [ 0.14627726 -0.05640716 0.98763414 -0.17678266] [ 0. 0. 0. 1. ]] SLAMing on 43.141346184 meters Centerline goodness : 0.923916 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.18 [[ 0.93661807 -0.3131358 -0.15713868 1.40323368] [ 0.31819397 0.94799616 0.00747548 0.37541648] [ 0.14662602 -0.05700225 0.98754825 -0.17583261] [ 0. 0. 0. 1. ]] SLAMing on 43.171346184 meters Centerline goodness : 0.923786 Centerline is valid? [False, False] Translation: X:1.40, Y:0.38, Z:-0.18 [[ 0.93694634 -0.3120652 -0.15731134 1.40301567] [ 0.31713922 0.94834853 0.00760186 0.37531369] [ 0.1468137 -0.05701213 0.9875198 -0.17531368] [ 0. 0. 0. 1. ]] SLAMing on 43.201346183999995 meters Centerline goodness : 0.926075 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.9374181 -0.31531079 -0.14773766 1.40887377] [ 0.31979792 0.94745962 0.00704027 0.37958865] [ 0.1377556 -0.05384587 0.98900153 -0.17563211] [ 0. 0. 0. 1. ]] SLAMing on 43.231346183999996 meters Centerline goodness : 0.925971 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.93719746 -0.31584032 -0.14800616 1.4097299 ] [ 0.3203056 0.94729031 0.00673698 0.37918308] [ 0.13807699 -0.05372108 0.98896349 -0.17534781] [ 0. 0. 0. 1. ]] SLAMing on 43.261346184 meters Centerline goodness : 0.927113 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.18 [[ 0.9366782 -0.31739811 -0.14796079 1.41073243] [ 0.32167907 0.94683384 0.00531559 0.3790271 ] [ 0.13840712 -0.05257489 0.98897894 -0.17512576] [ 0. 0. 0. 1. ]] SLAMing on 43.291346184 meters Centerline goodness : 0.927453 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.17 [[ 0.93552232 -0.32110534 -0.14727302 1.41102442] [ 0.32490845 0.94574362 0.0018726 0.37910376] [ 0.13868122 -0.04960211 0.98909411 -0.1742205 ] [ 0. 0. 0. 1. ]] SLAMing on 43.321346184 meters Centerline goodness : 0.925073 Centerline is valid? [False, False] Translation: X:1.41, Y:0.38, Z:-0.17 [[ 0.93469254 -0.32284598 -0.14872906 1.41401617] [ 0.32674523 0.94511057 0.00189056 0.37998302] [ 0.13995504 -0.05036361 0.98887618 -0.1734996 ] [ 0. 0. 0. 1. ]] SLAMing on 43.351346184 meters Centerline goodness : 0.925554 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 9.33897257e-01 -3.24928345e-01 -1.49189425e-01 1.41534939e+00] [ 3.28775354e-01 9.44407406e-01 1.19087351e-03 3.79993860e-01] [ 1.40508650e-01 -5.01619595e-02 9.88807917e-01 -1.72707234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381346183999995 meters Centerline goodness : 0.927124 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93245408 -0.3292472 -0.14874702 1.41642651] [ 0.3327445 0.9430159 -0.00145467 0.37760158] [ 0.14074975 -0.04813834 0.98887421 -0.17134474] [ 0. 0. 0. 1. ]] SLAMing on 43.411346183999996 meters Centerline goodness : 0.924870 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93178064 -0.33106211 -0.14893862 1.41818163] [ 0.33438354 0.94243262 -0.00289801 0.3769153 ] [ 0.14132403 -0.04710231 0.9888422 -0.17111318] [ 0. 0. 0. 1. ]] SLAMing on 43.441346184 meters Centerline goodness : 0.927567 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93129303 -0.33238888 -0.14903332 1.41916928] [ 0.33563849 0.94198423 -0.00353812 0.37624549] [ 0.14156306 -0.04672629 0.98882585 -0.17076004] [ 0. 0. 0. 1. ]] SLAMing on 43.471346184 meters Centerline goodness : 0.928156 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93109442 -0.33266985 -0.14964609 1.41987104] [ 0.33597405 0.94186516 -0.00338519 0.37591079] [ 0.14207259 -0.04712528 0.98873383 -0.16969504] [ 0. 0. 0. 1. ]] SLAMing on 43.501346184 meters Centerline goodness : 0.929137 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93134698 -0.33007163 -0.15377097 1.42222296] [ 0.33429316 0.94246761 0.00169799 0.37675722] [ 0.1443637 -0.052986 0.98810506 -0.16608612] [ 0. 0. 0. 1. ]] SLAMing on 43.531346184 meters Centerline goodness : 0.926558 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 0.93116043 -0.32988744 -0.15528855 1.4249687 ] [ 0.33433793 0.94244938 0.00270492 0.3781905 ] [ 0.14545928 -0.05443757 0.98786545 -0.16627998] [ 0. 0. 0. 1. ]] SLAMing on 43.561346183999994 meters Centerline goodness : 0.925428 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.17 [[ 9.30692818e-01 -3.31740186e-01 -1.54140608e-01 1.42494193e+00] [ 3.35629076e-01 9.41993851e-01 -8.41081190e-04 3.78041034e-01] [ 1.45478525e-01 -5.09512816e-02 9.88048564e-01 -1.66694016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.591346183999995 meters Centerline goodness : 0.924848 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.17 [[ 0.93004408 -0.33520495 -0.15051792 1.42426456] [ 0.33812664 0.94107804 -0.00651973 0.37368547] [ 0.14383455 -0.04483048 0.98858578 -0.16900968] [ 0. 0. 0. 1. ]] SLAMing on 43.621346184 meters Centerline goodness : 0.927477 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.17 [[ 0.92952071 -0.33646639 -0.1509358 1.4255273 ] [ 0.339392 0.94062097 -0.00672768 0.37262062] [ 0.14423701 -0.04497289 0.98852067 -0.1682758 ] [ 0. 0. 0. 1. ]] SLAMing on 43.651346184 meters Centerline goodness : 0.930882 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.17 [[ 0.92901119 -0.33679242 -0.15332672 1.42784929] [ 0.34015263 0.94035915 -0.00456696 0.37267947] [ 0.1457203 -0.04791173 0.988165 -0.16580673] [ 0. 0. 0. 1. ]] SLAMing on 43.681346184 meters Centerline goodness : 0.930491 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 9.28698588e-01 -3.36073614e-01 -1.56759236e-01 1.43046065e+00] [ 3.40268906e-01 9.40328169e-01 -7.80379370e-05 3.73365081e-01] [ 1.47431352e-01 -5.32678201e-02 9.87636844e-01 -1.62804524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.711346184 meters Centerline goodness : 0.928729 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92773425 -0.33743386 -0.15952288 1.43304827] [ 0.34215867 0.93963939 0.00229538 0.37474731] [ 0.14911944 -0.05671164 0.98719156 -0.16007832] [ 0. 0. 0. 1. ]] SLAMing on 43.741346183999994 meters Centerline goodness : 0.926103 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92701004 -0.3403447 -0.15753688 1.43360596] [ 0.34433965 0.93884289 -0.00205592 0.37371898] [ 0.14860211 -0.05234034 0.98751096 -0.16182867] [ 0. 0. 0. 1. ]] SLAMing on 43.771346183999995 meters Centerline goodness : 0.925313 Centerline is valid? [False, False] Translation: X:1.43, Y:0.37, Z:-0.16 [[ 0.92637401 -0.3432085 -0.15504553 1.43476798] [ 0.34639531 0.93806373 -0.0068356 0.37170865] [ 0.14778862 -0.04737472 0.98788368 -0.16477241] [ 0. 0. 0. 1. ]] SLAMing on 43.801346183999996 meters Centerline goodness : 0.925502 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.17 [[ 0.92594281 -0.34497866 -0.15368679 1.43674333] [ 0.3477198 0.93754997 -0.00953942 0.36955575] [ 0.14737994 -0.04460698 0.98807357 -0.1670634 ] [ 0. 0. 0. 1. ]] SLAMing on 43.831346184 meters Centerline goodness : 0.931310 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.16 [[ 0.92522411 -0.34517865 -0.15751838 1.43878592] [ 0.34881605 0.93717875 -0.00483164 0.36930351] [ 0.14929066 -0.05047459 0.98750424 -0.1621186 ] [ 0. 0. 0. 1. ]] SLAMing on 43.861346184 meters Centerline goodness : 0.928505 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.16 [[ 9.24767578e-01 -3.44282106e-01 -1.62094903e-01 1.44257464e+00] [ 3.48986157e-01 9.37127697e-01 5.84756524e-04 3.70975491e-01] [ 1.51702302e-01 -5.71096411e-02 9.86775000e-01 -1.58535528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.891346184 meters Centerline goodness : 0.928914 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.92392556 -0.34508202 -0.16516645 1.44652174] [ 0.35037481 0.93660438 0.00311754 0.37272694] [ 0.15361981 -0.06075054 0.98626078 -0.1567514 ] [ 0. 0. 0. 1. ]] SLAMing on 43.921346184 meters Centerline goodness : 0.925990 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.9219529 -0.35181842 -0.16194647 1.44739692] [ 0.35587741 0.93452321 -0.00420056 0.37040983] [ 0.15282057 -0.05376037 0.9867906 -0.15840302] [ 0. 0. 0. 1. ]] SLAMing on 43.951346183999995 meters Centerline goodness : 0.926076 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.92071578 -0.35580511 -0.16026594 1.44917213] [ 0.35923964 0.93321098 -0.00800934 0.36840709] [ 0.1524117 -0.05019956 0.98704138 -0.15999778] [ 0. 0. 0. 1. ]] SLAMing on 43.981346183999996 meters Centerline goodness : 0.927049 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.16 [[ 0.91924525 -0.35995595 -0.15943612 1.45013234] [ 0.36292555 0.93175185 -0.0111144 0.36709916] [ 0.1525556 -0.04764658 0.98714568 -0.15924284] [ 0. 0. 0. 1. ]] SLAMing on 44.011346184 meters Centerline goodness : 0.928306 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.16 [[ 0.91692986 -0.36387866 -0.1638046 1.45607983] [ 0.36771522 0.92990934 -0.00735691 0.36611046] [ 0.15500045 -0.05348767 0.98646537 -0.15500672] [ 0. 0. 0. 1. ]] SLAMing on 44.041346184 meters Centerline goodness : 0.930053 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.91586334 -0.36559615 -0.16593308 1.45872783] [ 0.36979922 0.92909265 -0.00594906 0.36589663] [ 0.15634216 -0.05591339 0.98611907 -0.15237803] [ 0. 0. 0. 1. ]] SLAMing on 44.071346184 meters Centerline goodness : 0.928317 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.91493898 -0.36709488 -0.16771408 1.46210522] [ 0.37155775 0.92839579 -0.00510792 0.36601416] [ 0.15758014 -0.05764203 0.98582245 -0.15134973] [ 0. 0. 0. 1. ]] SLAMing on 44.101346184 meters Centerline goodness : 0.929865 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.15 [[ 0.9139528 -0.3697166 -0.16733177 1.46230427] [ 0.37383562 0.92746578 -0.00735899 0.36597864] [ 0.15791523 -0.05582881 0.98587318 -0.1501734 ] [ 0. 0. 0. 1. ]] SLAMing on 44.131346183999995 meters Centerline goodness : 0.927154 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91252233 -0.37316948 -0.16747398 1.46685741] [ 0.37698462 0.92616954 -0.0096213 0.36684498] [ 0.15869968 -0.05435546 0.98582955 -0.1520715 ] [ 0. 0. 0. 1. ]] SLAMing on 44.161346183999996 meters Centerline goodness : 0.928592 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91207351 -0.37415695 -0.1677155 1.46832257] [ 0.37789097 0.92579281 -0.01030002 0.36687103] [ 0.15912363 -0.05398379 0.98578163 -0.15212755] [ 0. 0. 0. 1. ]] SLAMing on 44.191346184 meters Centerline goodness : 0.927689 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91173028 -0.37460651 -0.16857598 1.46857478] [ 0.37847228 0.92556048 -0.0098255 0.36744248] [ 0.15970797 -0.05484313 0.98563969 -0.15051317] [ 0. 0. 0. 1. ]] SLAMing on 44.221346184 meters Centerline goodness : 0.929652 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91208863 -0.37211202 -0.17212488 1.46990552] [ 0.37690766 0.92623639 -0.00517358 0.3691066 ] [ 0.16135348 -0.06015642 0.98506155 -0.14732649] [ 0. 0. 0. 1. ]] SLAMing on 44.251346184 meters Centerline goodness : 0.930563 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.91206037 -0.37207156 -0.17236194 1.47143215] [ 0.37684185 0.92626179 -0.00541388 0.36950897] [ 0.16166663 -0.06001541 0.98501881 -0.14813464] [ 0. 0. 0. 1. ]] SLAMing on 44.281346184 meters Centerline goodness : 0.932320 Centerline is valid? [False, False] Translation: X:1.47, Y:0.37, Z:-0.15 [[ 0.9115078 -0.37410504 -0.17087698 1.47141118] [ 0.37828586 0.92564835 -0.00865656 0.36936563] [ 0.16141046 -0.05674982 0.98525434 -0.14896376] [ 0. 0. 0. 1. ]] SLAMing on 44.311346183999994 meters Centerline goodness : 0.930820 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.91019454 -0.37720685 -0.17105813 1.47558875] [ 0.38115056 0.92445381 -0.01045934 0.37020364] [ 0.16208067 -0.05567887 0.98520542 -0.15063785] [ 0. 0. 0. 1. ]] SLAMing on 44.341346183999995 meters Centerline goodness : 0.929709 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90940546 -0.37838884 -0.17263718 1.47771614] [ 0.38250692 0.92389774 -0.01007147 0.37139591] [ 0.16331003 -0.05687586 0.98493399 -0.14916173] [ 0. 0. 0. 1. ]] SLAMing on 44.371346184 meters Centerline goodness : 0.928998 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90885492 -0.37877356 -0.1746806 1.48098467] [ 0.38322925 0.9236112 -0.00881445 0.37261094] [ 0.16467564 -0.05893166 0.9845857 -0.14827177] [ 0. 0. 0. 1. ]] SLAMing on 44.401346184 meters Centerline goodness : 0.930299 Centerline is valid? [False, False] Translation: X:1.48, Y:0.37, Z:-0.15 [[ 0.90827288 -0.37927292 -0.1766138 1.48442071] [ 0.38398462 0.92330441 -0.00804885 0.37435865] [ 0.16612101 -0.06050643 0.98424732 -0.14779222] [ 0. 0. 0. 1. ]] SLAMing on 44.431346184 meters Centerline goodness : 0.929203 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90740456 -0.38089264 -0.17758872 1.48808026] [ 0.38562917 0.92261542 -0.00842258 0.3747127 ] [ 0.16705419 -0.06084071 0.98406875 -0.14808779] [ 0. 0. 0. 1. ]] SLAMing on 44.461346184 meters Centerline goodness : 0.931544 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90723834 -0.38101921 -0.17816554 1.49041504] [ 0.38583805 0.9225304 -0.00816506 0.37409968] [ 0.16747417 -0.06133539 0.98396665 -0.148482 ] [ 0. 0. 0. 1. ]] SLAMing on 44.491346183999994 meters Centerline goodness : 0.932924 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.15 [[ 0.90705898 -0.38107742 -0.17895254 1.49068239] [ 0.38605063 0.92244661 -0.00756002 0.37370213] [ 0.16795512 -0.06222736 0.98382866 -0.14676996] [ 0. 0. 0. 1. ]] SLAMing on 44.521346183999995 meters Centerline goodness : 0.934561 Centerline is valid? [False, False] Translation: X:1.49, Y:0.37, Z:-0.14 [[ 0.9070225 -0.37926466 -0.18294396 1.49395451] [ 0.38530043 0.92278707 -0.00275696 0.37474018] [ 0.16986394 -0.06798776 0.98311948 -0.14389944] [ 0. 0. 0. 1. ]] SLAMing on 44.551346183999996 meters Centerline goodness : 0.933066 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90685681 -0.37922759 -0.18384005 1.49576871] [ 0.38532571 0.92277651 -0.00275823 0.37580908] [ 0.17068927 -0.06833698 0.9829523 -0.14385679] [ 0. 0. 0. 1. ]] SLAMing on 44.581346184 meters Centerline goodness : 0.933066 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90685681 -0.37922759 -0.18384005 1.49576871] [ 0.38532571 0.92277651 -0.00275823 0.37580908] [ 0.17068927 -0.06833698 0.9829523 -0.14385679] [ 0. 0. 0. 1. ]] SLAMing on 44.611346184 meters Centerline goodness : 0.935034 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.14 [[ 0.90670706 -0.37942886 -0.1841631 1.49794103] [ 0.38538935 0.92274664 -0.00370028 0.37694337] [ 0.17133987 -0.06761943 0.98288873 -0.14499828] [ 0. 0. 0. 1. ]] SLAMing on 44.641346184 meters Centerline goodness : 0.934029 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.15 [[ 0.90676497 -0.37927005 -0.1842051 1.50034536] [ 0.38508782 0.92286887 -0.00451872 0.37737305] [ 0.17171096 -0.06683772 0.98287744 -0.14674599] [ 0. 0. 0. 1. ]] SLAMing on 44.671346184 meters Centerline goodness : 0.931143 Centerline is valid? [False, False] Translation: X:1.50, Y:0.38, Z:-0.15 [[ 0.9060812 -0.38049084 -0.18505021 1.50479717] [ 0.38620383 0.92239663 -0.0055738 0.37897069] [ 0.17281047 -0.06641678 0.98271326 -0.14852912] [ 0. 0. 0. 1. ]] SLAMing on 44.701346183999995 meters Centerline goodness : 0.928505 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.90552165 -0.38150165 -0.18570684 1.50731388] [ 0.38719299 0.9219788 -0.0060568 0.37978544] [ 0.17352845 -0.06641982 0.98258653 -0.14893008] [ 0. 0. 0. 1. ]] SLAMing on 44.731346183999996 meters Centerline goodness : 0.927160 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.90519804 -0.38164766 -0.18698015 1.51104187] [ 0.38757254 0.92182424 -0.00525278 0.38078283] [ 0.17436755 -0.06771357 0.98234965 -0.14998253] [ 0. 0. 0. 1. ]] SLAMing on 44.761346184 meters Centerline goodness : 0.929073 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 0.9049861 -0.38190562 -0.18747868 1.5114797 ] [ 0.38793097 0.92167534 -0.00491183 0.38064891] [ 0.17467033 -0.06828365 0.98225639 -0.14894997] [ 0. 0. 0. 1. ]] SLAMing on 44.791346184 meters Centerline goodness : 0.935113 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 9.05509273e-01 -3.78873969e-01 -1.91069289e-01 1.51396729e+00] [ 3.86136126e-01 9.22441426e-01 8.41573689e-04 3.79815982e-01] [ 1.75931377e-01 -7.45408077e-02 9.81576191e-01 -1.46316028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821346184 meters Centerline goodness : 0.935562 Centerline is valid? [False, False] Translation: X:1.51, Y:0.38, Z:-0.15 [[ 9.05635795e-01 -3.78442955e-01 -1.91323643e-01 1.51328722e+00] [ 3.85806620e-01 9.22578696e-01 1.34263037e-03 3.79650445e-01] [ 1.76003008e-01 -7.50298621e-02 9.81526088e-01 -1.45130381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.851346184 meters Centerline goodness : 0.936961 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90570494 -0.37808491 -0.19170385 1.51504497] [ 0.38556024 0.92268084 0.00183671 0.37893576] [ 0.17618704 -0.0755769 0.9814511 -0.14573347] [ 0. 0. 0. 1. ]] SLAMing on 44.881346183999995 meters Centerline goodness : 0.939580 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 9.05510628e-01 -3.78800396e-01 -1.91208686e-01 1.51681480e+00] [ 3.86027451e-01 9.22487103e-01 5.93483849e-04 3.77821248e-01] [ 1.76162735e-01 -7.43492076e-02 9.81549228e-01 -1.46877506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.911346183999996 meters Centerline goodness : 0.937382 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90440963 -0.38230492 -0.18943647 1.51716219] [ 0.38878362 0.92132352 -0.00320354 0.37691018] [ 0.175757 -0.07075249 0.98188775 -0.14746757] [ 0. 0. 0. 1. ]] SLAMing on 44.941346184 meters Centerline goodness : 0.934854 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90388633 -0.38274815 -0.19103235 1.52113865] [ 0.38945947 0.9210399 -0.00261329 0.37830293] [ 0.17694865 -0.07203724 0.98158026 -0.14807712] [ 0. 0. 0. 1. ]] SLAMing on 44.971346184 meters Centerline goodness : 0.933821 Centerline is valid? [False, False] Translation: X:1.52, Y:0.38, Z:-0.15 [[ 0.90337131 -0.38341793 -0.19212228 1.52403517] [ 0.39027245 0.92069643 -0.00234528 0.3789977 ] [ 0.17778552 -0.07286137 0.98136819 -0.14831161] [ 0. 0. 0. 1. ]] SLAMing on 45.001346184 meters Centerline goodness : 0.933263 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.15 [[ 0.90262237 -0.38459175 -0.19329262 1.52686296] [ 0.39169496 0.92009376 -0.0015926 0.37849648] [ 0.17845984 -0.07427423 0.98113986 -0.14779035] [ 0. 0. 0. 1. ]] SLAMing on 45.031346184 meters Centerline goodness : 0.936121 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.15 [[ 9.02510407e-01 -3.84454812e-01 -1.94086226e-01 1.52838086e+00] [ 3.91775279e-01 9.20060654e-01 -7.23799991e-04 3.77024453e-01] [ 1.78849368e-01 -7.53849482e-02 9.80984206e-01 -1.47009534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061346183999994 meters Centerline goodness : 0.938190 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 9.02658881e-01 -3.83697749e-01 -1.94892233e-01 1.53068541e+00] [ 3.91340164e-01 9.20245772e-01 7.71930898e-04 3.74951886e-01] [ 1.79052565e-01 -7.69659488e-02 9.80824358e-01 -1.47195748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.091346183999995 meters Centerline goodness : 0.940544 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.90345726 -0.38210321 -0.19432475 1.53145217] [ 0.38997461 0.92082235 0.00245063 0.37000797] [ 0.17800218 -0.07799576 0.98093419 -0.1482019 ] [ 0. 0. 0. 1. ]] SLAMing on 45.121346184 meters Centerline goodness : 0.943209 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.9040984 -0.38049005 -0.19450813 1.53228808] [ 0.38860615 0.92139576 0.00388817 0.36759148] [ 0.17773955 -0.07910234 0.9808932 -0.14860033] [ 0. 0. 0. 1. ]] SLAMing on 45.151346184 meters Centerline goodness : 0.946177 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.15 [[ 0.90444492 -0.37942736 -0.19497247 1.53276503] [ 0.38776486 0.92174471 0.00500992 0.36655574] [ 0.17781394 -0.08013467 0.98079592 -0.14827975] [ 0. 0. 0. 1. ]] SLAMing on 45.181346184 meters Centerline goodness : 0.940079 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90508144 -0.37667985 -0.1973319 1.53714063] [ 0.38585654 0.92251675 0.00880809 0.36625899] [ 0.17872415 -0.08411384 0.98029717 -0.14956938] [ 0. 0. 0. 1. ]] SLAMing on 45.211346184 meters Centerline goodness : 0.938471 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90516601 -0.37694935 -0.19642731 1.53817302] [ 0.38573327 0.92258338 0.00705315 0.36654398] [ 0.17856189 -0.08215281 0.98049302 -0.15170075] [ 0. 0. 0. 1. ]] SLAMing on 45.241346183999994 meters Centerline goodness : 0.936654 Centerline is valid? [False, False] Translation: X:1.54, Y:0.37, Z:-0.15 [[ 0.90533577 -0.37702729 -0.19549313 1.53979311] [ 0.38551078 0.92268493 0.00582783 0.3655392 ] [ 0.17818132 -0.08064085 0.98068775 -0.15420747] [ 0. 0. 0. 1. ]] SLAMing on 45.271346183999995 meters Centerline goodness : 0.936319 Centerline is valid? [False, False] Translation: X:1.54, Y:0.36, Z:-0.16 [[ 0.9056095 -0.37674598 -0.19476627 1.54117423] [ 0.38505779 0.92287756 0.00524515 0.36408919] [ 0.17776933 -0.07974633 0.98083566 -0.15623282] [ 0. 0. 0. 1. ]] SLAMing on 45.301346183999996 meters Centerline goodness : 0.935187 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90583348 -0.3756796 -0.19578188 1.54523967] [ 0.38442382 0.92312808 0.00727121 0.3615238 ] [ 0.17800011 -0.08184972 0.98062051 -0.15786155] [ 0. 0. 0. 1. ]] SLAMing on 45.331346184 meters Centerline goodness : 0.935739 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90575036 -0.37576709 -0.19599842 1.54557437] [ 0.38465178 0.92302766 0.00793413 0.36013265] [ 0.17793058 -0.08257748 0.98057211 -0.15713589] [ 0. 0. 0. 1. ]] SLAMing on 45.361346184 meters Centerline goodness : 0.939499 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90577131 -0.37561944 -0.19618454 1.54663136] [ 0.38465823 0.92301797 0.00871066 0.35838503] [ 0.17780996 -0.08335387 0.9805283 -0.15712729] [ 0. 0. 0. 1. ]] SLAMing on 45.391346184 meters Centerline goodness : 0.935303 Centerline is valid? [False, False] Translation: X:1.55, Y:0.36, Z:-0.16 [[ 0.90574365 -0.37529744 -0.19692706 1.54971507] [ 0.38459565 0.92303294 0.0098167 0.3566214 ] [ 0.17808598 -0.0846287 0.98036899 -0.15812862] [ 0. 0. 0. 1. ]] SLAMing on 45.421346184 meters Centerline goodness : 0.937093 Centerline is valid? [False, False] Translation: X:1.55, Y:0.35, Z:-0.16 [[ 0.90543229 -0.37576284 -0.19747065 1.55276694] [ 0.38537048 0.9226939 0.01120571 0.35307036] [ 0.17799427 -0.08624537 0.98024475 -0.15843964] [ 0. 0. 0. 1. ]] SLAMing on 45.451346183999995 meters Centerline goodness : 0.936614 Centerline is valid? [False, False] Translation: X:1.56, Y:0.35, Z:-0.16 [[ 0.90525927 -0.3753981 -0.19895203 1.55580604] [ 0.38540891 0.9226582 0.01272089 0.35342605] [ 0.17878933 -0.08819359 0.97992666 -0.15864294] [ 0. 0. 0. 1. ]] SLAMing on 45.481346183999996 meters Centerline goodness : 0.935648 Centerline is valid? [False, False] Translation: X:1.56, Y:0.35, Z:-0.16 [[ 0.90522765 -0.37501104 -0.199824 1.55738724] [ 0.38523932 0.92271778 0.01351154 0.35415175] [ 0.17931419 -0.08921108 0.97973864 -0.15884127] [ 0. 0. 0. 1. ]] SLAMing on 45.511346184 meters Centerline goodness : 0.929126 Centerline is valid? [False, False] Translation: X:1.56, Y:0.36, Z:-0.16 [[ 0.90527407 -0.37438501 -0.20078528 1.56150385] [ 0.38465021 0.92296669 0.01329264 0.35656912] [ 0.18034156 -0.08926558 0.97954509 -0.16179941] [ 0. 0. 0. 1. ]] SLAMing on 45.541346184 meters Centerline goodness : 0.928220 Centerline is valid? [False, False] Translation: X:1.56, Y:0.36, Z:-0.16 [[ 0.90534455 -0.3744316 -0.20038021 1.56224029] [ 0.38449942 0.92304169 0.01241877 0.35659894] [ 0.18030931 -0.08828934 0.9796395 -0.16299215] [ 0. 0. 0. 1. ]] SLAMing on 45.571346184 meters Centerline goodness : 0.925923 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.90556168 -0.37352154 -0.20109627 1.56577297] [ 0.38377375 0.92333341 0.0131573 0.35620431] [ 0.18076437 -0.08909022 0.97948312 -0.16505055] [ 0. 0. 0. 1. ]] SLAMing on 45.601346184 meters Centerline goodness : 0.925854 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.9054355 -0.37321028 -0.20223905 1.56874615] [ 0.38373799 0.92333432 0.01410281 0.35666106] [ 0.18147094 -0.09037599 0.97923464 -0.16584552] [ 0. 0. 0. 1. ]] SLAMing on 45.631346183999995 meters Centerline goodness : 0.920780 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.17 [[ 0.90515074 -0.37333008 -0.2032899 1.57000685] [ 0.38411496 0.92316441 0.01493876 0.35757281] [ 0.18209291 -0.09160852 0.97900462 -0.16518805] [ 0. 0. 0. 1. ]] SLAMing on 45.661346183999996 meters Centerline goodness : 0.919847 Centerline is valid? [False, False] Translation: X:1.57, Y:0.36, Z:-0.16 [[ 0.90529683 -0.37124811 -0.20642795 1.57423004] [ 0.3830854 0.92351441 0.01914963 0.35804849] [ 0.18352992 -0.09641563 0.9782744 -0.16472324] [ 0. 0. 0. 1. ]] SLAMing on 45.691346184 meters Centerline goodness : 0.913581 Centerline is valid? [False, False] Translation: X:1.58, Y:0.36, Z:-0.17 [[ 0.90479063 -0.37619596 -0.19957585 1.58383 ] [ 0.3885441 0.92108357 0.02526932 0.36255411] [ 0.17431982 -0.10040746 0.9795565 -0.17068442] [ 0. 0. 0. 1. ]] SLAMing on 45.721346184 meters Centerline goodness : 0.914687 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.90457074 -0.37628856 -0.20039637 1.58732166] [ 0.38883288 0.9209448 0.02587798 0.36203437] [ 0.1748164 -0.10132916 0.97937308 -0.1719964 ] [ 0. 0. 0. 1. ]] SLAMing on 45.751346184 meters Centerline goodness : 0.914426 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.90447694 -0.37606421 -0.20123908 1.59049341] [ 0.38880829 0.92093694 0.02651925 0.36178835] [ 0.17535556 -0.10222947 0.97918311 -0.17316988] [ 0. 0. 0. 1. ]] SLAMing on 45.781346184 meters Centerline goodness : 0.906053 Centerline is valid? [False, False] Translation: X:1.59, Y:0.36, Z:-0.17 [[ 0.904024 -0.37534458 -0.20458997 1.59489225] [ 0.38898485 0.92077011 0.02954967 0.36439627] [ 0.17728902 -0.10629601 0.97840164 -0.17243315] [ 0. 0. 0. 1. ]] SLAMing on 45.811346183999994 meters Centerline goodness : 0.902370 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.17 [[ 0.90354439 -0.37564899 -0.20614408 1.59814945] [ 0.38956468 0.92050771 0.03008183 0.3667224 ] [ 0.178457 -0.10748672 0.97805915 -0.17292559] [ 0. 0. 0. 1. ]] SLAMing on 45.841346183999995 meters Centerline goodness : 0.908297 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.17 [[ 0.90325736 -0.37585177 -0.20703042 1.60160995] [ 0.38989562 0.92036313 0.03021765 0.36785245] [ 0.17918581 -0.10801457 0.97786773 -0.17449312] [ 0. 0. 0. 1. ]] SLAMing on 45.871346184 meters Centerline goodness : 0.900545 Centerline is valid? [False, False] Translation: X:1.60, Y:0.37, Z:-0.18 [[ 0.90307379 -0.37614927 -0.20729077 1.60469654] [ 0.39016046 0.92026292 0.02984916 0.36768139] [ 0.17953427 -0.10783265 0.97782389 -0.17627657] [ 0. 0. 0. 1. ]] SLAMing on 45.901346184 meters Centerline goodness : 0.897070 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.18 [[ 0.90265466 -0.37680508 -0.20792427 1.60800552] [ 0.39099701 0.91989057 0.03037566 0.36620118] [ 0.17982187 -0.1087165 0.97767317 -0.17701439] [ 0. 0. 0. 1. ]] SLAMing on 45.931346184 meters Centerline goodness : 0.898925 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.17 [[ 0.90220745 -0.37679679 -0.20987114 1.60950246] [ 0.39153292 0.91960345 0.0321163 0.36715595] [ 0.1808969 -0.11114703 0.97720144 -0.17497511] [ 0. 0. 0. 1. ]] SLAMing on 45.961346184 meters Centerline goodness : 0.896627 Centerline is valid? [False, False] Translation: X:1.61, Y:0.37, Z:-0.17 [[ 0.90212164 -0.37498846 -0.21344836 1.61213831] [ 0.3909143 0.91970641 0.03641612 0.36865223] [ 0.1826542 -0.11629179 0.9762754 -0.17240044] [ 0. 0. 0. 1. ]] SLAMing on 45.991346183999994 meters Centerline goodness : 0.894224 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.17 [[ 0.90115333 -0.37838472 -0.21153646 1.62695783] [ 0.39523116 0.91760549 0.04233778 0.3789116 ] [ 0.17808705 -0.12175863 0.97645268 -0.17226865] [ 0. 0. 0. 1. ]] SLAMing on 46.021346183999995 meters Centerline goodness : 0.892286 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.17 [[ 0.90105923 -0.37854503 -0.21165047 1.62919099] [ 0.39529495 0.9176066 0.04171381 0.3795343 ] [ 0.17842131 -0.12125097 0.97645483 -0.1739027 ] [ 0. 0. 0. 1. ]] SLAMing on 46.051346183999996 meters Centerline goodness : 0.894476 Centerline is valid? [False, False] Translation: X:1.63, Y:0.38, Z:-0.18 [[ 0.90090679 -0.37889194 -0.21167866 1.63252099] [ 0.39549767 0.91755717 0.04087098 0.37962073] [ 0.17874158 -0.12053936 0.97648436 -0.17627453] [ 0. 0. 0. 1. ]] SLAMing on 46.081346184 meters Centerline goodness : 0.893752 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.18 [[ 0.90059487 -0.37936705 -0.21215448 1.63672877] [ 0.39592434 0.91740135 0.04023288 0.37988336] [ 0.17936778 -0.12023065 0.97640759 -0.1785143 ] [ 0. 0. 0. 1. ]] SLAMing on 46.111346184 meters Centerline goodness : 0.894644 Centerline is valid? [False, False] Translation: X:1.64, Y:0.38, Z:-0.18 [[ 0.89912753 -0.38256275 -0.21263918 1.6394003 ] [ 0.3988698 0.91621081 0.03821821 0.38309174] [ 0.18020145 -0.11917839 0.9763831 -0.17882615] [ 0. 0. 0. 1. ]] SLAMing on 46.141346184 meters Centerline goodness : 0.892487 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.89842084 -0.38355931 -0.2138276 1.64037137] [ 0.40002393 0.91570969 0.0381656 0.3852387 ] [ 0.18116524 -0.11982493 0.97612558 -0.17743287] [ 0. 0. 0. 1. ]] SLAMing on 46.171346184 meters Centerline goodness : 0.893108 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.89789816 -0.38406957 -0.21510338 1.64143816] [ 0.40078108 0.91536129 0.03857763 0.38685325] [ 0.18208081 -0.12084815 0.97582903 -0.17601509] [ 0. 0. 0. 1. ]] SLAMing on 46.201346183999995 meters Centerline goodness : 0.891295 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8976039 -0.38450041 -0.2155613 1.64193447] [ 0.40128046 0.91514197 0.03858967 0.38777916] [ 0.18243145 -0.12113878 0.9757275 -0.17544808] [ 0. 0. 0. 1. ]] SLAMing on 46.231346183999996 meters Centerline goodness : 0.892538 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8974968 -0.3844724 -0.21605665 1.64373995] [ 0.40139546 0.91507325 0.0390209 0.3868747 ] [ 0.1827052 -0.12174529 0.97560079 -0.17530697] [ 0. 0. 0. 1. ]] SLAMing on 46.261346184 meters Centerline goodness : 0.893433 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.18 [[ 0.8977012 -0.38388415 -0.21625338 1.64467052] [ 0.40084074 0.91531181 0.0391278 0.38675757] [ 0.18291873 -0.12180823 0.97555292 -0.17557348] [ 0. 0. 0. 1. ]] SLAMing on 46.291346184 meters Centerline goodness : 0.893512 Centerline is valid? [False, False] Translation: X:1.64, Y:0.39, Z:-0.17 [[ 0.89751374 -0.38416776 -0.21652765 1.64454731] [ 0.40115868 0.91517392 0.03909481 0.3875386 ] [ 0.1831415 -0.12195007 0.9754934 -0.17480126] [ 0. 0. 0. 1. ]] SLAMing on 46.321346184 meters Centerline goodness : 0.893248 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89700227 -0.38515446 -0.21689389 1.64553263] [ 0.40215749 0.9147477 0.03880711 0.38844868] [ 0.18345646 -0.12203557 0.97542352 -0.17419846] [ 0. 0. 0. 1. ]] SLAMing on 46.351346184 meters Centerline goodness : 0.895208 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89652201 -0.38630888 -0.21682651 1.64684636] [ 0.4031743 0.91433392 0.03799964 0.38843921] [ 0.18357223 -0.12148639 0.97547029 -0.17445636] [ 0. 0. 0. 1. ]] SLAMing on 46.381346183999995 meters Centerline goodness : 0.893356 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.8961429 -0.38728627 -0.21665008 1.64834332] [ 0.40401326 0.91399317 0.03727953 0.38793768] [ 0.18357885 -0.1209373 0.97553728 -0.17496427] [ 0. 0. 0. 1. ]] SLAMing on 46.411346183999996 meters Centerline goodness : 0.897926 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89597476 -0.3878935 -0.21625878 1.64757559] [ 0.40456572 0.91375255 0.03718694 0.38680345] [ 0.18318244 -0.12080945 0.97562763 -0.17380222] [ 0. 0. 0. 1. ]] SLAMing on 46.441346184 meters Centerline goodness : 0.899293 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89599279 -0.38733978 -0.21717462 1.64955574] [ 0.40432529 0.91381327 0.03829319 0.38687759] [ 0.18362457 -0.12211961 0.97538137 -0.17392254] [ 0. 0. 0. 1. ]] SLAMing on 46.471346184 meters Centerline goodness : 0.899293 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89599279 -0.38733978 -0.21717462 1.64955574] [ 0.40432529 0.91381327 0.03829319 0.38687759] [ 0.18362457 -0.12211961 0.97538137 -0.17392254] [ 0. 0. 0. 1. ]] SLAMing on 46.501346184 meters Centerline goodness : 0.899310 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89576529 -0.38771828 -0.21743752 1.64986041] [ 0.4047509 0.91362351 0.03832491 0.38742912] [ 0.18379677 -0.12233815 0.97532155 -0.17340093] [ 0. 0. 0. 1. ]] SLAMing on 46.531346184 meters Centerline goodness : 0.898708 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.17 [[ 0.89627681 -0.38711162 -0.21640811 1.64971174] [ 0.40394761 0.91399081 0.03804114 0.38609997] [ 0.18306886 -0.12151294 0.97556158 -0.1746177 ] [ 0. 0. 0. 1. ]] SLAMing on 46.561346183999994 meters Centerline goodness : 0.899267 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89655346 -0.38678021 -0.21585404 1.65021001] [ 0.40354713 0.91416598 0.03808253 0.38478337] [ 0.18259685 -0.1212503 0.97568271 -0.1753479 ] [ 0. 0. 0. 1. ]] SLAMing on 46.591346183999995 meters Centerline goodness : 0.893128 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89674934 -0.38664142 -0.21528826 1.65069923] [ 0.40330815 0.9142772 0.03794394 0.38377075] [ 0.18216245 -0.12085371 0.97581311 -0.1761009 ] [ 0. 0. 0. 1. ]] SLAMing on 46.621346184 meters Centerline goodness : 0.895539 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89687891 -0.38654121 -0.21492815 1.65114412] [ 0.40316363 0.91434025 0.03796047 0.38328272] [ 0.18184417 -0.12069716 0.97589184 -0.17654449] [ 0. 0. 0. 1. ]] SLAMing on 46.651346184 meters Centerline goodness : 0.903000 Centerline is valid? [False, False] Translation: X:1.65, Y:0.38, Z:-0.18 [[ 0.89762209 -0.38353959 -0.21719106 1.65309084] [ 0.40118101 0.91502743 0.04217344 0.38432276] [ 0.1825606 -0.12498874 0.97521764 -0.17613313] [ 0. 0. 0. 1. ]] SLAMing on 46.681346184 meters Centerline goodness : 0.902141 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89792334 -0.38268792 -0.21744799 1.65316736] [ 0.40044378 0.91532621 0.04269315 0.38611241] [ 0.18269769 -0.12541087 0.97513777 -0.17652568] [ 0. 0. 0. 1. ]] SLAMing on 46.711346184 meters Centerline goodness : 0.900861 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89812325 -0.38259313 -0.2167882 1.65244576] [ 0.40012997 0.91549581 0.04199319 0.38745705] [ 0.18240238 -0.12445852 0.97531505 -0.17728126] [ 0. 0. 0. 1. ]] SLAMing on 46.741346183999994 meters Centerline goodness : 0.901007 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.18 [[ 0.89804422 -0.38471876 -0.21332616 1.65335466] [ 0.40095731 0.91534262 0.03716339 0.38754489] [ 0.18096907 -0.11890905 0.97627395 -0.18230353] [ 0. 0. 0. 1. ]] SLAMing on 46.771346183999995 meters Centerline goodness : 0.901492 Centerline is valid? [False, False] Translation: X:1.65, Y:0.39, Z:-0.19 [[ 0.8975279 -0.38722347 -0.21095414 1.65428455] [ 0.40252396 0.91480018 0.03339296 0.38756215] [ 0.18005035 -0.11488521 0.97692541 -0.18525951] [ 0. 0. 0. 1. ]] SLAMing on 46.801346183999996 meters Centerline goodness : 0.902993 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89722846 -0.38815417 -0.21051706 1.6553693 ] [ 0.40327914 0.9144952 0.03262629 0.38760792] [ 0.17985281 -0.11417037 0.97704559 -0.18614155] [ 0. 0. 0. 1. ]] SLAMing on 46.831346184 meters Centerline goodness : 0.900656 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89699576 -0.38827353 -0.21128719 1.65552627] [ 0.4036218 0.91431879 0.03332552 0.38896924] [ 0.18024443 -0.11517297 0.97685574 -0.18490713] [ 0. 0. 0. 1. ]] SLAMing on 46.861346184 meters Centerline goodness : 0.900863 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89764425 -0.38417724 -0.21596911 1.65526343] [ 0.40139773 0.91499898 0.04070292 0.39204201] [ 0.18197438 -0.12322625 0.97555144 -0.17969875] [ 0. 0. 0. 1. ]] SLAMing on 46.891346184 meters Centerline goodness : 0.903091 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89791331 -0.38313081 -0.21670825 1.65655173] [ 0.40071641 0.91522726 0.04225424 0.3934891 ] [ 0.1821484 -0.1247792 0.97532154 -0.18018966] [ 0. 0. 0. 1. ]] SLAMing on 46.921346184 meters Centerline goodness : 0.901504 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.18 [[ 0.89802158 -0.38363822 -0.21535777 1.65729334] [ 0.40081045 0.91524663 0.04092188 0.39295356] [ 0.18140627 -0.12306637 0.97567742 -0.18221883] [ 0. 0. 0. 1. ]] SLAMing on 46.951346183999995 meters Centerline goodness : 0.898790 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89770792 -0.38559695 -0.21315602 1.6591816 ] [ 0.40194591 0.91488355 0.0377832 0.39190421] [ 0.18044385 -0.11959546 0.97628733 -0.18578176] [ 0. 0. 0. 1. ]] SLAMing on 46.981346183999996 meters Centerline goodness : 0.899818 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89679602 -0.3899088 -0.20911248 1.66122035] [ 0.40486475 0.91380124 0.03243206 0.38971322] [ 0.1784417 -0.11374721 0.97735364 -0.19072306] [ 0. 0. 0. 1. ]] SLAMing on 47.011346184 meters Centerline goodness : 0.900180 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89615941 -0.3910174 -0.20977058 1.66357976] [ 0.40609398 0.91325148 0.03254851 0.39007493] [ 0.17884626 -0.11435522 0.97720873 -0.19080685] [ 0. 0. 0. 1. ]] SLAMing on 47.041346184 meters Centerline goodness : 0.904964 Centerline is valid? [False, False] Translation: X:1.66, Y:0.39, Z:-0.19 [[ 0.89469587 -0.39277231 -0.21271864 1.66481026] [ 0.40880005 0.91192969 0.03559156 0.39303453] [ 0.18000507 -0.11880301 0.97646506 -0.18626141] [ 0. 0. 0. 1. ]] SLAMing on 47.071346184 meters Centerline goodness : 0.906090 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.8947147 -0.39191793 -0.21421005 1.66726649] [ 0.40847232 0.9119992 0.03752088 0.39406026] [ 0.18065429 -0.12106935 0.97606672 -0.18631774] [ 0. 0. 0. 1. ]] SLAMing on 47.101346184 meters Centerline goodness : 0.907477 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89478564 -0.39201905 -0.21372815 1.66762517] [ 0.4084767 0.91200564 0.03731609 0.3934234 ] [ 0.18029266 -0.12069287 0.9761802 -0.18686023] [ 0. 0. 0. 1. ]] SLAMing on 47.131346183999995 meters Centerline goodness : 0.910345 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89524049 -0.39208099 -0.21170016 1.66754703] [ 0.40793373 0.91232514 0.03539655 0.39162084] [ 0.17926106 -0.11804807 0.97669347 -0.18917488] [ 0. 0. 0. 1. ]] SLAMing on 47.161346183999996 meters Centerline goodness : 0.912773 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89619207 -0.39221948 -0.20737323 1.66704943] [ 0.406989 0.9128618 0.03229989 0.38710073] [ 0.17663445 -0.11334553 0.97772852 -0.19415456] [ 0. 0. 0. 1. ]] SLAMing on 47.191346184 meters Centerline goodness : 0.912966 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.20 [[ 0.89605069 -0.39242628 -0.20759282 1.66904255] [ 0.40726289 0.91273232 0.03250616 0.38689309] [ 0.17672041 -0.11367202 0.97767508 -0.19511496] [ 0. 0. 0. 1. ]] SLAMing on 47.221346184 meters Centerline goodness : 0.912132 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89480592 -0.39435173 -0.20930618 1.67064688] [ 0.40959081 0.91165779 0.03339822 0.38955185] [ 0.17764496 -0.11561481 0.97727963 -0.19280905] [ 0. 0. 0. 1. ]] SLAMing on 47.251346184 meters Centerline goodness : 0.914615 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89420534 -0.39495048 -0.21073901 1.67228447] [ 0.41055438 0.91118762 0.0343834 0.39122863] [ 0.17844304 -0.11726564 0.97693749 -0.19171259] [ 0. 0. 0. 1. ]] SLAMing on 47.281346184 meters Centerline goodness : 0.912196 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.89389194 -0.39543256 -0.21116415 1.67303385] [ 0.41112155 0.91092693 0.03451377 0.39189509] [ 0.17870724 -0.11766571 0.97684108 -0.19131813] [ 0. 0. 0. 1. ]] SLAMing on 47.311346183999994 meters Centerline goodness : 0.912068 Centerline is valid? [False, False] Translation: X:1.67, Y:0.39, Z:-0.19 [[ 0.8933451 -0.39764608 -0.20931346 1.67194231] [ 0.41260181 0.91036691 0.03149329 0.39204849] [ 0.17802887 -0.11449749 0.97734132 -0.19193871] [ 0. 0. 0. 1. ]] SLAMing on 47.341346183999995 meters Centerline goodness : 0.910256 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89281877 -0.40014549 -0.20678063 1.67544013] [ 0.41433094 0.90967594 0.02862802 0.38883764] [ 0.17664799 -0.11123525 0.97796841 -0.19598 ] [ 0. 0. 0. 1. ]] SLAMing on 47.371346184 meters Centerline goodness : 0.914686 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89272599 -0.40078645 -0.20593816 1.67653888] [ 0.4148137 0.90946854 0.0282235 0.38685612] [ 0.17598268 -0.11062182 0.97815792 -0.19697777] [ 0. 0. 0. 1. ]] SLAMing on 47.401346184 meters Centerline goodness : 0.913160 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89264107 -0.40050732 -0.20684729 1.67895698] [ 0.41492121 0.90936876 0.02981363 0.38633528] [ 0.17615989 -0.11243819 0.97791889 -0.19714516] [ 0. 0. 0. 1. ]] SLAMing on 47.431346184 meters Centerline goodness : 0.913897 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89251587 -0.40016141 -0.20805352 1.68020048] [ 0.41501405 0.90926983 0.03149153 0.38703824] [ 0.17657509 -0.11445182 0.97761036 -0.19614481] [ 0. 0. 0. 1. ]] SLAMing on 47.461346184 meters Centerline goodness : 0.915774 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.19 [[ 0.89220831 -0.40029416 -0.2091146 1.67987444] [ 0.41558137 0.90895078 0.03317543 0.38959469] [ 0.17679494 -0.11650353 0.97732823 -0.19420939] [ 0. 0. 0. 1. ]] SLAMing on 47.491346183999994 meters Centerline goodness : 0.916715 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89231953 -0.39999874 -0.20920532 1.68300527] [ 0.41527832 0.90909191 0.03310306 0.38995934] [ 0.17694568 -0.11641694 0.97731127 -0.19696444] [ 0. 0. 0. 1. ]] SLAMing on 47.521346183999995 meters Centerline goodness : 0.917182 Centerline is valid? [False, False] Translation: X:1.68, Y:0.39, Z:-0.20 [[ 0.89228875 -0.40077426 -0.20784795 1.68452877] [ 0.41553018 0.90905003 0.03102774 0.38976519] [ 0.17650907 -0.1140528 0.97766891 -0.1997757 ] [ 0. 0. 0. 1. ]] SLAMing on 47.551346183999996 meters Centerline goodness : 0.914985 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89185439 -0.40303077 -0.20533373 1.68592068] [ 0.41692122 0.90852304 0.02761493 0.38889639] [ 0.17542076 -0.11023648 0.97830234 -0.20323521] [ 0. 0. 0. 1. ]] SLAMing on 47.581346184 meters Centerline goodness : 0.914619 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89195503 -0.40268375 -0.20557731 1.68785737] [ 0.41670938 0.90860074 0.02824863 0.38816979] [ 0.17541243 -0.1108625 0.97823309 -0.20430098] [ 0. 0. 0. 1. ]] SLAMing on 47.611346184 meters Centerline goodness : 0.916724 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89204714 -0.40222619 -0.20607276 1.68928923] [ 0.41646181 0.90868589 0.02914653 0.38810088] [ 0.17553191 -0.11182151 0.9781025 -0.2046306 ] [ 0. 0. 0. 1. ]] SLAMing on 47.641346184 meters Centerline goodness : 0.919748 Centerline is valid? [False, False] Translation: X:1.69, Y:0.39, Z:-0.20 [[ 0.89292889 -0.39895032 -0.20860643 1.69191957] [ 0.41434455 0.90947543 0.03424972 0.38752275] [ 0.17605848 -0.1170175 0.97739977 -0.20381921] [ 0. 0. 0. 1. ]] SLAMing on 47.671346184 meters Centerline goodness : 0.918950 Centerline is valid? [False, False] Translation: X:1.70, Y:0.39, Z:-0.20 [[ 0.89307766 -0.39786813 -0.21003154 1.69532715] [ 0.41376387 0.90966552 0.03616765 0.38755497] [ 0.17666849 -0.11920399 0.97702541 -0.20466448] [ 0. 0. 0. 1. ]] SLAMing on 47.701346183999995 meters Centerline goodness : 0.918467 Centerline is valid? [False, False] Translation: X:1.70, Y:0.39, Z:-0.21 [[ 0.89317042 -0.39781121 -0.20974472 1.69659228] [ 0.41368727 0.90969661 0.03626182 0.3866729 ] [ 0.17637871 -0.11915671 0.97708353 -0.20579438] [ 0. 0. 0. 1. ]] SLAMing on 47.731346183999996 meters Centerline goodness : 0.919117 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89361004 -0.39779274 -0.20789908 1.69870876] [ 0.4132047 0.90996735 0.03494709 0.38385283] [ 0.17527968 -0.11713395 0.97752579 -0.20917311] [ 0. 0. 0. 1. ]] SLAMing on 47.761346184 meters Centerline goodness : 0.919442 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89361014 -0.39758993 -0.20828626 1.70132885] [ 0.41310381 0.91000062 0.03527201 0.38371569] [ 0.17551683 -0.11756328 0.9774317 -0.21058421] [ 0. 0. 0. 1. ]] SLAMing on 47.791346184 meters Centerline goodness : 0.919106 Centerline is valid? [False, False] Translation: X:1.70, Y:0.38, Z:-0.21 [[ 0.89343304 -0.39727128 -0.20964954 1.70485114] [ 0.4131287 0.90994972 0.03627931 0.3847638 ] [ 0.17635782 -0.11902537 0.97710331 -0.21154671] [ 0. 0. 0. 1. ]] SLAMing on 47.821346184 meters Centerline goodness : 0.919533 Centerline is valid? [False, False] Translation: X:1.71, Y:0.39, Z:-0.21 [[ 0.89381399 -0.39631486 -0.20983584 1.7063325 ] [ 0.41230478 0.91029503 0.0369829 0.38615377] [ 0.17635565 -0.11957216 0.97703694 -0.21321311] [ 0. 0. 0. 1. ]] SLAMing on 47.851346184 meters Centerline goodness : 0.919526 Centerline is valid? [False, False] Translation: X:1.71, Y:0.39, Z:-0.22 [[ 0.89449639 -0.39495562 -0.2094905 1.70842667] [ 0.41090864 0.91091908 0.03715531 0.38555129] [ 0.17615419 -0.11931675 0.97710451 -0.21600532] [ 0. 0. 0. 1. ]] SLAMing on 47.881346183999995 meters Centerline goodness : 0.919974 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89503324 -0.39443495 -0.20817438 1.7083832 ] [ 0.41002251 0.91136149 0.03608006 0.38439417] [ 0.17549088 -0.11764904 0.97742604 -0.21782724] [ 0. 0. 0. 1. ]] SLAMing on 47.911346183999996 meters Centerline goodness : 0.918525 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89617066 -0.39204877 -0.20778815 1.70962048] [ 0.40777939 0.91231485 0.03738431 0.38199821] [ 0.17491174 -0.11823445 0.97745921 -0.21985636] [ 0. 0. 0. 1. ]] SLAMing on 47.941346184 meters Centerline goodness : 0.918760 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89645682 -0.39043373 -0.20958691 1.71349207] [ 0.40681344 0.91263882 0.03991518 0.38265578] [ 0.17569292 -0.12104501 0.97697498 -0.22097899] [ 0. 0. 0. 1. ]] SLAMing on 47.971346184 meters Centerline goodness : 0.920993 Centerline is valid? [False, False] Translation: X:1.71, Y:0.38, Z:-0.22 [[ 0.89610678 -0.39067902 -0.21062418 1.71327128] [ 0.40734956 0.91236164 0.04077477 0.38407517] [ 0.17623558 -0.12233622 0.97671637 -0.21908319] [ 0. 0. 0. 1. ]] SLAMing on 48.001346184 meters Centerline goodness : 0.920512 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.22 [[ 0.89676367 -0.39349094 -0.20243468 1.71846648] [ 0.41043306 0.91062036 0.0481172 0.38812475] [ 0.16540746 -0.12623565 0.97811295 -0.22367303] [ 0. 0. 0. 1. ]] SLAMing on 48.031346184 meters Centerline goodness : 0.919276 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.89761705 -0.39110226 -0.20327975 1.71963698] [ 0.40827399 0.91154153 0.04903459 0.39035745] [ 0.1661204 -0.12700812 0.9778921 -0.22513824] [ 0. 0. 0. 1. ]] SLAMing on 48.061346183999994 meters Centerline goodness : 0.920065 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.89804591 -0.39125758 -0.20107474 1.72034359] [ 0.40762589 0.9119912 0.04596945 0.3904362 ] [ 0.1653925 -0.12324595 0.97849668 -0.22929226] [ 0. 0. 0. 1. ]] SLAMing on 48.091346183999995 meters Centerline goodness : 0.917351 Centerline is valid? [False, False] Translation: X:1.72, Y:0.39, Z:-0.23 [[ 0.8984177 -0.3911734 -0.19957205 1.72335634] [ 0.40695875 0.91240305 0.04364915 0.39016075] [ 0.16501576 -0.12043276 0.97891049 -0.2342541 ] [ 0. 0. 0. 1. ]] SLAMing on 48.121346184 meters Centerline goodness : 0.916589 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.24 [[ 0.89864284 -0.39025546 -0.20035398 1.72725832] [ 0.40626644 0.91267096 0.04448925 0.39022117] [ 0.16549508 -0.12137704 0.97871293 -0.23653017] [ 0. 0. 0. 1. ]] SLAMing on 48.151346184 meters Centerline goodness : 0.918667 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.24 [[ 0.89872228 -0.38835072 -0.20367124 1.73050321] [ 0.40552087 0.9127729 0.04897417 0.39191933] [ 0.16688643 -0.12660711 0.97781366 -0.23513305] [ 0. 0. 0. 1. ]] SLAMing on 48.181346184 meters Centerline goodness : 0.916913 Centerline is valid? [False, False] Translation: X:1.73, Y:0.39, Z:-0.23 [[ 0.898328 -0.38739464 -0.20720086 1.73233811] [ 0.40574331 0.91243932 0.05316807 0.39471825] [ 0.16846119 -0.13183273 0.97685258 -0.23194594] [ 0. 0. 0. 1. ]] SLAMing on 48.211346184 meters Centerline goodness : 0.916143 Centerline is valid? [False, False] Translation: X:1.74, Y:0.40, Z:-0.23 [[ 0.89721677 -0.38753626 -0.21170193 1.73833025] [ 0.40733625 0.91144277 0.05787283 0.39814198] [ 0.17052637 -0.13815835 0.9756193 -0.23010264] [ 0. 0. 0. 1. ]] SLAMing on 48.241346183999994 meters Centerline goodness : 0.916576 Centerline is valid? [False, False] Translation: X:1.74, Y:0.40, Z:-0.23 [[ 0.89629304 -0.39037175 -0.21040122 1.7420606 ] [ 0.40947201 0.91068341 0.05466622 0.39785171] [ 0.17026876 -0.13515037 0.97608551 -0.23346763] [ 0. 0. 0. 1. ]] SLAMing on 48.271346183999995 meters Centerline goodness : 0.918582 Centerline is valid? [False, False] Translation: X:1.75, Y:0.39, Z:-0.24 [[ 0.89438074 -0.39691878 -0.20624881 1.74629534] [ 0.41426794 0.90892836 0.0472368 0.39442042] [ 0.16871622 -0.12768995 0.97735874 -0.23856268] [ 0. 0. 0. 1. ]] SLAMing on 48.301346183999996 meters Centerline goodness : 0.919480 Centerline is valid? [False, False] Translation: X:1.75, Y:0.40, Z:-0.24 [[ 0.8938291 -0.39739003 -0.20772748 1.75022095] [ 0.41511401 0.90849082 0.04821603 0.39545471] [ 0.16955794 -0.12932747 0.9769977 -0.23919814] [ 0. 0. 0. 1. ]] SLAMing on 48.331346184 meters Centerline goodness : 0.920990 Centerline is valid? [False, False] Translation: X:1.75, Y:0.40, Z:-0.24 [[ 0.89376236 -0.3959699 -0.21070518 1.75351001] [ 0.41468389 0.90849614 0.05169178 0.39802422] [ 0.17095645 -0.13357621 0.976182 -0.23847729] [ 0. 0. 0. 1. ]] SLAMing on 48.361346184 meters Centerline goodness : 0.918329 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.24 [[ 0.89382552 -0.3940496 -0.21401134 1.75694957] [ 0.41392426 0.9085992 0.05580506 0.40081998] [ 0.17246057 -0.13846447 0.97523584 -0.23760668] [ 0. 0. 0. 1. ]] SLAMing on 48.391346184 meters Centerline goodness : 0.918329 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.24 [[ 0.89382552 -0.3940496 -0.21401134 1.75694957] [ 0.41392426 0.9085992 0.05580506 0.40081998] [ 0.17246057 -0.13846447 0.97523584 -0.23760668] [ 0. 0. 0. 1. ]] SLAMing on 48.421346184 meters Centerline goodness : 0.920599 Centerline is valid? [False, False] Translation: X:1.76, Y:0.40, Z:-0.23 [[ 0.8932278 -0.39357188 -0.21735978 1.75874123] [ 0.41448794 0.90814384 0.058945 0.40479083] [ 0.17419485 -0.14274432 0.97431012 -0.23478985] [ 0. 0. 0. 1. ]] SLAMing on 48.451346183999995 meters Centerline goodness : 0.919892 Centerline is valid? [False, False] Translation: X:1.76, Y:0.41, Z:-0.24 [[ 0.89258499 -0.3951927 -0.21705937 1.7602778 ] [ 0.41584404 0.90761246 0.05756182 0.40585886] [ 0.17425777 -0.14164166 0.97445978 -0.23585397] [ 0. 0. 0. 1. ]] SLAMing on 48.481346183999996 meters Centerline goodness : 0.918536 Centerline is valid? [False, False] Translation: X:1.76, Y:0.41, Z:-0.24 [[ 0.89182397 -0.39709519 -0.21671505 1.76446953] [ 0.41738526 0.90702433 0.05564533 0.40710556] [ 0.17446933 -0.14007951 0.97464772 -0.23905723] [ 0. 0. 0. 1. ]] SLAMing on 48.511346184 meters Centerline goodness : 0.920688 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.8911419 -0.39870655 -0.21656224 1.76905001] [ 0.41875713 0.90647467 0.05427833 0.40762185] [ 0.17466706 -0.13905668 0.97475877 -0.24219509] [ 0. 0. 0. 1. ]] SLAMing on 48.541346184 meters Centerline goodness : 0.921924 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.88990773 -0.40094643 -0.21749985 1.77203161] [ 0.42125287 0.90529053 0.05472732 0.40736215] [ 0.17495783 -0.1403247 0.97452488 -0.24131401] [ 0. 0. 0. 1. ]] SLAMing on 48.571346184 meters Centerline goodness : 0.923243 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.24 [[ 0.88936886 -0.40114802 -0.21932463 1.7732293 ] [ 0.42207233 0.90479096 0.05664152 0.40842548] [ 0.17572131 -0.14294606 0.97400639 -0.23920694] [ 0. 0. 0. 1. ]] SLAMing on 48.601346184 meters Centerline goodness : 0.925026 Centerline is valid? [False, False] Translation: X:1.77, Y:0.41, Z:-0.23 [[ 0.88852533 -0.40077558 -0.22338683 1.7744977 ] [ 0.42306289 0.90405962 0.06077831 0.41204958] [ 0.17759655 -0.14850974 0.97283314 -0.23458294] [ 0. 0. 0. 1. ]] SLAMing on 48.631346183999995 meters Centerline goodness : 0.924471 Centerline is valid? [False, False] Translation: X:1.78, Y:0.41, Z:-0.24 [[ 0.88808573 -0.40121525 -0.22434363 1.77758628] [ 0.42366924 0.90377193 0.06083314 0.41410954] [ 0.17834829 -0.14907254 0.97260951 -0.23577885] [ 0. 0. 0. 1. ]] SLAMing on 48.661346183999996 meters Centerline goodness : 0.923650 Centerline is valid? [False, False] Translation: X:1.78, Y:0.42, Z:-0.24 [[ 0.88771148 -0.40188829 -0.22461997 1.7820686 ] [ 0.4243055 0.90350693 0.06033303 0.41502677] [ 0.17869856 -0.14886582 0.97257688 -0.23877068] [ 0. 0. 0. 1. ]] SLAMing on 48.691346184 meters Centerline goodness : 0.921678 Centerline is valid? [False, False] Translation: X:1.78, Y:0.42, Z:-0.24 [[ 0.88699394 -0.40420369 -0.22329606 1.78434518] [ 0.42587422 0.90297553 0.05715195 0.41591282] [ 0.17852985 -0.14578947 0.97307375 -0.24153458] [ 0. 0. 0. 1. ]] SLAMing on 48.721346184 meters Centerline goodness : 0.923677 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.24 [[ 0.88657555 -0.40491048 -0.22367677 1.78859923] [ 0.4265982 0.90265217 0.05685981 0.41778794] [ 0.17887918 -0.14583063 0.97300343 -0.24436708] [ 0. 0. 0. 1. ]] SLAMing on 48.751346184 meters Centerline goodness : 0.924227 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88711197 -0.40247452 -0.22593498 1.79327806] [ 0.42500657 0.90321368 0.05978677 0.41907783] [ 0.18000492 -0.14906141 0.97230598 -0.24616354] [ 0. 0. 0. 1. ]] SLAMing on 48.781346184 meters Centerline goodness : 0.922887 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88736403 -0.4019359 -0.22590398 1.79309328] [ 0.42444199 0.90348318 0.0597255 0.42038935] [ 0.18009462 -0.1488814 0.97231695 -0.2467479 ] [ 0. 0. 0. 1. ]] SLAMing on 48.811346183999994 meters Centerline goodness : 0.925534 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88884716 -0.39715667 -0.22851107 1.79382696] [ 0.42088045 0.90481863 0.06452046 0.42163149] [ 0.18113634 -0.15352466 0.97140095 -0.24601936] [ 0. 0. 0. 1. ]] SLAMing on 48.841346183999995 meters Centerline goodness : 0.926671 Centerline is valid? [False, False] Translation: X:1.79, Y:0.42, Z:-0.25 [[ 0.88908148 -0.39633816 -0.22902006 1.79240261] [ 0.42018929 0.90511681 0.06484227 0.42385043] [ 0.18159044 -0.15388184 0.97125964 -0.24505515] [ 0. 0. 0. 1. ]] SLAMing on 48.871346184 meters Centerline goodness : 0.923368 Centerline is valid? [False, False] Translation: X:1.79, Y:0.43, Z:-0.25 [[ 0.88931467 -0.39586021 -0.22894127 1.79187499] [ 0.41962892 0.90540008 0.06451564 0.42594878] [ 0.18174427 -0.15344509 0.97129997 -0.24572239] [ 0. 0. 0. 1. ]] SLAMing on 48.901346184 meters Centerline goodness : 0.923326 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88991833 -0.39458521 -0.22879658 1.79621537] [ 0.41826552 0.90604671 0.06429081 0.42722256] [ 0.18193219 -0.15291129 0.97134897 -0.2503775 ] [ 0. 0. 0. 1. ]] SLAMing on 48.931346184 meters Centerline goodness : 0.924098 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88993059 -0.39501924 -0.22799857 1.79631634] [ 0.41837217 0.90607563 0.06317973 0.42759459] [ 0.18162674 -0.15161383 0.97160948 -0.251552 ] [ 0. 0. 0. 1. ]] SLAMing on 48.961346184 meters Centerline goodness : 0.924655 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88973713 -0.395286 -0.22829107 1.7975041 ] [ 0.41866631 0.90594868 0.06305167 0.42900065] [ 0.18189655 -0.15167719 0.97154911 -0.25227663] [ 0. 0. 0. 1. ]] SLAMing on 48.991346183999994 meters Centerline goodness : 0.924793 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88898473 -0.39652702 -0.22906868 1.79730154] [ 0.42005619 0.90530423 0.06306384 0.43203505] [ 0.18237033 -0.15228451 0.97136527 -0.25097946] [ 0. 0. 0. 1. ]] SLAMing on 49.021346183999995 meters Centerline goodness : 0.925036 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88868696 -0.39699998 -0.22940468 1.79695853] [ 0.42060667 0.90504299 0.06314436 0.43323101] [ 0.18255279 -0.15260471 0.97128074 -0.25010056] [ 0. 0. 0. 1. ]] SLAMing on 49.051346183999996 meters Centerline goodness : 0.927599 Centerline is valid? [False, False] Translation: X:1.80, Y:0.43, Z:-0.25 [[ 0.88883371 -0.39556741 -0.23130298 1.79611363] [ 0.41999677 0.90512093 0.06602139 0.43487991] [ 0.18324126 -0.15582854 0.97063902 -0.24748405] [ 0. 0. 0. 1. ]] SLAMing on 49.081346184 meters Centerline goodness : 0.926716 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88872103 -0.39560513 -0.23167111 1.7966715 ] [ 0.42010845 0.90506406 0.06609037 0.43642388] [ 0.18353151 -0.1560629 0.97054653 -0.24767615] [ 0. 0. 0. 1. ]] SLAMing on 49.111346184 meters Centerline goodness : 0.927386 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88853645 -0.39613476 -0.23147403 1.79681268] [ 0.42048366 0.9049405 0.06539253 0.43769262] [ 0.18356597 -0.1554347 0.97064081 -0.24817823] [ 0. 0. 0. 1. ]] SLAMing on 49.141346184 meters Centerline goodness : 0.926509 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.8883922 -0.39674378 -0.23098414 1.79780693] [ 0.42078837 0.90488819 0.06414442 0.43894677] [ 0.18356592 -0.15418084 0.97084078 -0.2498243 ] [ 0. 0. 0. 1. ]] SLAMing on 49.171346184 meters Centerline goodness : 0.923235 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88810584 -0.39789563 -0.23010233 1.79960123] [ 0.42143522 0.90472919 0.06210838 0.44009406] [ 0.18346764 -0.15213204 0.97118251 -0.25231452] [ 0. 0. 0. 1. ]] SLAMing on 49.201346183999995 meters Centerline goodness : 0.925480 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.26 [[ 0.88667538 -0.40142456 -0.22948879 1.80490627] [ 0.42438192 0.90354672 0.05918879 0.44296584] [ 0.18359401 -0.14987214 0.97150995 -0.25624829] [ 0. 0. 0. 1. ]] SLAMing on 49.231346183999996 meters Centerline goodness : 0.930298 Centerline is valid? [False, False] Translation: X:1.80, Y:0.44, Z:-0.25 [[ 0.88614311 -0.40217592 -0.23022798 1.80405704] [ 0.42530198 0.90310087 0.05938893 0.44494382] [ 0.18403429 -0.15054351 0.97132283 -0.25442932] [ 0. 0. 0. 1. ]] SLAMing on 49.261346184 meters Centerline goodness : 0.932815 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88644091 -0.39981695 -0.23317146 1.80412595] [ 0.42413645 0.90337502 0.06341796 0.44690249] [ 0.1852857 -0.15511279 0.97036551 -0.25142382] [ 0. 0. 0. 1. ]] SLAMing on 49.291346184 meters Centerline goodness : 0.933856 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88682979 -0.39748555 -0.23566537 1.80357253] [ 0.4228515 0.90372144 0.06696399 0.44913151] [ 0.18635862 -0.15903712 0.96952445 -0.24882086] [ 0. 0. 0. 1. ]] SLAMing on 49.321346184 meters Centerline goodness : 0.931890 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88705984 -0.3974503 -0.23485763 1.80246484] [ 0.4224958 0.90395875 0.06599903 0.45071947] [ 0.18607027 -0.15777145 0.96978659 -0.24968812] [ 0. 0. 0. 1. ]] SLAMing on 49.351346184 meters Centerline goodness : 0.931713 Centerline is valid? [False, False] Translation: X:1.80, Y:0.45, Z:-0.25 [[ 0.88642357 -0.40088133 -0.23140314 1.80166774] [ 0.42441163 0.90343477 0.06066616 0.45066638] [ 0.18473771 -0.1519861 0.97096457 -0.25257981] [ 0. 0. 0. 1. ]] SLAMing on 49.381346183999995 meters Centerline goodness : 0.932289 Centerline is valid? [False, False] Translation: X:1.81, Y:0.45, Z:-0.26 [[ 0.88492826 -0.4049675 -0.23000716 1.80622909] [ 0.42764713 0.90215103 0.05693381 0.45163801] [ 0.18444485 -0.14874424 0.97152213 -0.25609912] [ 0. 0. 0. 1. ]] SLAMing on 49.411346183999996 meters Centerline goodness : 0.933524 Centerline is valid? [False, False] Translation: X:1.81, Y:0.45, Z:-0.25 [[ 0.88418747 -0.40472059 -0.23326758 1.80955828] [ 0.428494 0.90155123 0.05998554 0.45385378] [ 0.1860253 -0.15299222 0.97056065 -0.25410225] [ 0. 0. 0. 1. ]] SLAMing on 49.441346184 meters Centerline goodness : 0.934182 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88399899 -0.40318335 -0.23661989 1.81040096] [ 0.42817941 0.90144946 0.06364959 0.45723026] [ 0.18763842 -0.15758194 0.96951522 -0.25118223] [ 0. 0. 0. 1. ]] SLAMing on 49.471346184 meters Centerline goodness : 0.934354 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88442761 -0.40077723 -0.23909289 1.81100449] [ 0.42671952 0.90192611 0.06663133 0.46035846] [ 0.1889398 -0.16095619 0.96870783 -0.2499121 ] [ 0. 0. 0. 1. ]] SLAMing on 49.501346184 meters Centerline goodness : 0.935133 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.25 [[ 0.88594081 -0.39854865 -0.23720848 1.81092734] [ 0.42383553 0.90339542 0.06511644 0.46128326] [ 0.18834099 -0.15822669 0.96927395 -0.25430532] [ 0. 0. 0. 1. ]] SLAMing on 49.531346184 meters Centerline goodness : 0.935319 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88620594 -0.40027925 -0.23327141 1.80915718] [ 0.42403043 0.90363685 0.06032115 0.4603 ] [ 0.18664733 -0.15237114 0.97053893 -0.25780196] [ 0. 0. 0. 1. ]] SLAMing on 49.561346183999994 meters Centerline goodness : 0.931739 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88649789 -0.40074308 -0.2313579 1.80901263] [ 0.42369782 0.9039638 0.0577027 0.46130177] [ 0.1860152 -0.14917916 0.97115597 -0.26073491] [ 0. 0. 0. 1. ]] SLAMing on 49.591346183999995 meters Centerline goodness : 0.930964 Centerline is valid? [False, False] Translation: X:1.81, Y:0.46, Z:-0.26 [[ 0.88623066 -0.39961596 -0.2343124 1.81118189] [ 0.42350961 0.90388494 0.06026293 0.46489521] [ 0.18770942 -0.15264041 0.97029175 -0.25937012] [ 0. 0. 0. 1. ]] SLAMing on 49.621346184 meters Centerline goodness : 0.934563 Centerline is valid? [False, False] Translation: X:1.81, Y:0.47, Z:-0.26 [[ 0.88592418 -0.39849112 -0.23736718 1.81252687] [ 0.42339559 0.90374998 0.06302493 0.46909671] [ 0.18940571 -0.15633553 0.96937334 -0.25748256] [ 0. 0. 0. 1. ]] SLAMing on 49.651346184 meters Centerline goodness : 0.934827 Centerline is valid? [False, False] Translation: X:1.81, Y:0.47, Z:-0.26 [[ 0.88523543 -0.39872769 -0.23952967 1.81256478] [ 0.42422985 0.90327445 0.0642207 0.4745446 ] [ 0.19075446 -0.15846607 0.96876274 -0.25575274] [ 0. 0. 0. 1. ]] SLAMing on 49.681346184 meters Centerline goodness : 0.928913 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88478509 -0.40103809 -0.23732634 1.81118883] [ 0.42553399 0.90290395 0.0607065 0.47535451] [ 0.18993727 -0.15470263 0.96953129 -0.25699363] [ 0. 0. 0. 1. ]] SLAMing on 49.711346184 meters Centerline goodness : 0.933163 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88410531 -0.40407951 -0.23468607 1.81027079] [ 0.42740803 0.90228669 0.05657834 0.47536015] [ 0.18889197 -0.15032792 0.97042328 -0.25854857] [ 0. 0. 0. 1. ]] SLAMing on 49.741346183999994 meters Centerline goodness : 0.930804 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.8832573 -0.40737744 -0.23216408 1.8092297 ] [ 0.42957812 0.90150573 0.05244098 0.4755142 ] [ 0.18793397 -0.14605149 0.97126195 -0.25966586] [ 0. 0. 0. 1. ]] SLAMing on 49.771346183999995 meters Centerline goodness : 0.934166 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.8829848 -0.40813343 -0.23187267 1.80776951] [ 0.43026345 0.90119133 0.05222596 0.47643679] [ 0.18764648 -0.14588106 0.97134315 -0.25849478] [ 0. 0. 0. 1. ]] SLAMing on 49.801346183999996 meters Centerline goodness : 0.934285 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.26 [[ 0.88255723 -0.40835478 -0.23310752 1.80633456] [ 0.43083034 0.90087496 0.05300489 0.47939355] [ 0.18835593 -0.14720965 0.97100534 -0.25612192] [ 0. 0. 0. 1. ]] SLAMing on 49.831346184 meters Centerline goodness : 0.934314 Centerline is valid? [False, False] Translation: X:1.81, Y:0.48, Z:-0.25 [[ 0.88203047 -0.40880405 -0.2343107 1.8055881 ] [ 0.4315229 0.90052913 0.05324723 0.48289445] [ 0.18923593 -0.14807611 0.97070244 -0.25441302] [ 0. 0. 0. 1. ]] SLAMing on 49.861346184 meters Centerline goodness : 0.933480 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.8817249 -0.409526 -0.23420005 1.80566261] [ 0.43195749 0.90040606 0.05178471 0.48675442] [ 0.18966796 -0.14682433 0.97080826 -0.25540588] [ 0. 0. 0. 1. ]] SLAMing on 49.891346184 meters Centerline goodness : 0.934355 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.88149233 -0.41022492 -0.23385206 1.80708897] [ 0.43238483 0.90026869 0.0505929 0.48759595] [ 0.18977522 -0.14571134 0.97095498 -0.25691849] [ 0. 0. 0. 1. ]] SLAMing on 49.921346184 meters Centerline goodness : 0.930689 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.88101847 -0.41152407 -0.23335466 1.80778727] [ 0.43334622 0.89988842 0.049111 0.48854662] [ 0.18978279 -0.14439106 0.97115072 -0.25767778] [ 0. 0. 0. 1. ]] SLAMing on 49.951346183999995 meters Centerline goodness : 0.932716 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.8803585 -0.41322566 -0.23283786 1.80733123] [ 0.43475575 0.89927738 0.0478291 0.4894252 ] [ 0.18962161 -0.14333436 0.97133872 -0.25716654] [ 0. 0. 0. 1. ]] SLAMing on 49.981346183999996 meters Centerline goodness : 0.934523 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87994218 -0.41363436 -0.23368434 1.8080993 ] [ 0.43539348 0.89894357 0.04830083 0.48985861] [ 0.19009016 -0.14424658 0.97111207 -0.25605288] [ 0. 0. 0. 1. ]] SLAMing on 50.011346184 meters Centerline goodness : 0.936516 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87942415 -0.41405979 -0.23487795 1.81015542] [ 0.43611792 0.8985626 0.04885086 0.49031502] [ 0.19082537 -0.14539511 0.97079655 -0.25537333] [ 0. 0. 0. 1. ]] SLAMing on 50.041346184 meters Centerline goodness : 0.934040 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.26 [[ 0.87857289 -0.41530151 -0.23586931 1.81270932] [ 0.43750161 0.89789997 0.04866187 0.49122337] [ 0.19157769 -0.14594621 0.97056566 -0.25515545] [ 0. 0. 0. 1. ]] SLAMing on 50.071346184 meters Centerline goodness : 0.935928 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.25 [[ 0.8773057 -0.41854896 -0.23484351 1.81244758] [ 0.44003589 0.89682797 0.04547533 0.49229058] [ 0.19158057 -0.14323534 0.97096886 -0.2546536 ] [ 0. 0. 0. 1. ]] SLAMing on 50.101346184 meters Centerline goodness : 0.932018 Centerline is valid? [False, False] Translation: X:1.81, Y:0.49, Z:-0.25 [[ 0.87566777 -0.42261192 -0.2336774 1.81327907] [ 0.44328561 0.89540654 0.04177312 0.4933661 ] [ 0.19158245 -0.1401652 0.97141643 -0.25474782] [ 0. 0. 0. 1. ]] SLAMing on 50.131346183999995 meters Centerline goodness : 0.934669 Centerline is valid? [False, False] Translation: X:1.82, Y:0.49, Z:-0.25 [[ 0.87515901 -0.42315413 -0.23460029 1.815369 ] [ 0.44395823 0.89507755 0.04168058 0.49412726] [ 0.19234814 -0.14062987 0.97119794 -0.25452009] [ 0. 0. 0. 1. ]] SLAMing on 50.161346183999996 meters Centerline goodness : 0.931278 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87464607 -0.42373409 -0.23546482 1.81696025] [ 0.44468931 0.89471232 0.04172873 0.49522265] [ 0.19299139 -0.14120655 0.97098663 -0.25417068] [ 0. 0. 0. 1. ]] SLAMing on 50.191346184 meters Centerline goodness : 0.931466 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87406504 -0.42492056 -0.23548426 1.81760879] [ 0.4457991 0.89418479 0.04119134 0.49576048] [ 0.19306339 -0.14098258 0.97100486 -0.25390881] [ 0. 0. 0. 1. ]] SLAMing on 50.221346184 meters Centerline goodness : 0.930066 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87394894 -0.42480713 -0.23611893 1.81988923] [ 0.44583269 0.89415523 0.04146844 0.49527971] [ 0.19351088 -0.14151084 0.97083893 -0.2542522 ] [ 0. 0. 0. 1. ]] SLAMing on 50.251346184 meters Centerline goodness : 0.929360 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87368058 -0.42534742 -0.23613942 1.82024933] [ 0.4463495 0.89390643 0.04127263 0.49509002] [ 0.19353134 -0.1414598 0.97084229 -0.25392459] [ 0. 0. 0. 1. ]] SLAMing on 50.281346184 meters Centerline goodness : 0.929360 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87368058 -0.42534742 -0.23613942 1.82024933] [ 0.4463495 0.89390643 0.04127263 0.49509002] [ 0.19353134 -0.1414598 0.97084229 -0.25392459] [ 0. 0. 0. 1. ]] SLAMing on 50.311346183999994 meters Centerline goodness : 0.933870 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87318153 -0.42589408 -0.2369984 1.82233077] [ 0.44711157 0.89350824 0.04164454 0.49526213] [ 0.19402386 -0.14232797 0.97061707 -0.25356582] [ 0. 0. 0. 1. ]] SLAMing on 50.341346183999995 meters Centerline goodness : 0.932384 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.8729193 -0.42602785 -0.23772286 1.82387818] [ 0.44742369 0.89333649 0.04197557 0.49565981] [ 0.19448375 -0.14300412 0.97042563 -0.25350295] [ 0. 0. 0. 1. ]] SLAMing on 50.371346184 meters Centerline goodness : 0.929076 Centerline is valid? [False, False] Translation: X:1.82, Y:0.50, Z:-0.25 [[ 0.87287782 -0.42625745 -0.23746348 1.82385542] [ 0.447546 0.89329241 0.04160822 0.49560894] [ 0.19438851 -0.14259472 0.97050495 -0.25363239] [ 0. 0. 0. 1. ]] SLAMing on 50.401346184 meters Centerline goodness : 0.927671 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87285708 -0.42618134 -0.23767621 1.82528577] [ 0.44748094 0.89332945 0.04151264 0.49542907] [ 0.19463124 -0.14259018 0.97045697 -0.2541552 ] [ 0. 0. 0. 1. ]] SLAMing on 50.431346184 meters Centerline goodness : 0.927786 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.26 [[ 0.87199927 -0.42889043 -0.2359455 1.82554401] [ 0.4493189 0.89255738 0.03812932 0.49564938] [ 0.19424159 -0.13926351 0.97101796 -0.2551243 ] [ 0. 0. 0. 1. ]] SLAMing on 50.461346184 meters Centerline goodness : 0.927612 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.26 [[ 0.87162855 -0.42897189 -0.23716404 1.82845216] [ 0.44968536 0.89235062 0.03864527 0.49641924] [ 0.19505574 -0.14033351 0.97070066 -0.25544314] [ 0. 0. 0. 1. ]] SLAMing on 50.491346183999994 meters Centerline goodness : 0.925529 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87129389 -0.42902298 -0.23829862 1.82960401] [ 0.45003195 0.89214862 0.03926934 0.49714128] [ 0.19575033 -0.14145713 0.9703977 -0.25441991] [ 0. 0. 0. 1. ]] SLAMing on 50.521346183999995 meters Centerline goodness : 0.929414 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.8715459 -0.42704459 -0.24091631 1.82913126] [ 0.44914373 0.89242744 0.0429322 0.4970291 ] [ 0.19666637 -0.14562343 0.96959587 -0.25078855] [ 0. 0. 0. 1. ]] SLAMing on 50.551346183999996 meters Centerline goodness : 0.926430 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87168285 -0.426295 -0.24174694 1.83184874] [ 0.44866178 0.89263222 0.04370739 0.4973736 ] [ 0.19715886 -0.1465616 0.96935447 -0.25192813] [ 0. 0. 0. 1. ]] SLAMing on 50.581346184 meters Centerline goodness : 0.926075 Centerline is valid? [False, False] Translation: X:1.83, Y:0.50, Z:-0.25 [[ 0.87186787 -0.42671161 -0.24034065 1.83244798] [ 0.44854128 0.89277108 0.04207756 0.49643261] [ 0.1966142 -0.14448877 0.96977619 -0.25375922] [ 0. 0. 0. 1. ]] SLAMing on 50.611346184 meters Centerline goodness : 0.928978 Centerline is valid? [False, False] Translation: X:1.83, Y:0.49, Z:-0.26 [[ 0.871243 -0.4296366 -0.2373774 1.83412144] [ 0.4502424 0.89210274 0.03787454 0.49429413] [ 0.19549273 -0.1398753 0.97067888 -0.25696902] [ 0. 0. 0. 1. ]] SLAMing on 50.641346184 meters Centerline goodness : 0.927239 Centerline is valid? [False, False] Translation: X:1.84, Y:0.49, Z:-0.26 [[ 0.87084083 -0.42975654 -0.23863268 1.83630574] [ 0.45070446 0.89183685 0.03863314 0.49444816] [ 0.19621858 -0.14119613 0.97034114 -0.25637152] [ 0. 0. 0. 1. ]] SLAMing on 50.671346183999994 meters Centerline goodness : 0.930420 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87106493 -0.42731666 -0.2421701 1.83844654] [ 0.44956989 0.89222361 0.04270778 0.49563014] [ 0.19782013 -0.14607364 0.9692934 -0.25412635] [ 0. 0. 0. 1. ]] SLAMing on 50.701346183999995 meters Centerline goodness : 0.928428 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87281071 -0.42076656 -0.24729934 1.8381233 ] [ 0.44517006 0.89404943 0.04999241 0.4984852 ] [ 0.2000627 -0.15372418 0.96764859 -0.25039649] [ 0. 0. 0. 1. ]] SLAMing on 50.731346183999996 meters Centerline goodness : 0.927621 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.25 [[ 0.87352524 -0.41999139 -0.24609122 1.83718188] [ 0.44397081 0.89470175 0.04897646 0.49887593] [ 0.19960855 -0.15203949 0.96800848 -0.25215006] [ 0. 0. 0. 1. ]] SLAMing on 50.761346184 meters Centerline goodness : 0.922896 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87429206 -0.4195963 -0.24403346 1.8388534 ] [ 0.44280569 0.89539158 0.04687267 0.49807905] [ 0.1988379 -0.1490398 0.96863338 -0.25662086] [ 0. 0. 0. 1. ]] SLAMing on 50.791346184 meters Centerline goodness : 0.926612 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87438587 -0.42149603 -0.24039644 1.83878002] [ 0.44319423 0.8954409 0.04200556 0.49722741] [ 0.19755563 -0.14327138 0.96976548 -0.26070045] [ 0. 0. 0. 1. ]] SLAMing on 50.821346184 meters Centerline goodness : 0.932457 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87392172 -0.42128402 -0.24244713 1.84081203] [ 0.44353767 0.8952131 0.04321862 0.50007891] [ 0.19883453 -0.14530413 0.9692015 -0.25998167] [ 0. 0. 0. 1. ]] SLAMing on 50.851346184 meters Centerline goodness : 0.923655 Centerline is valid? [False, False] Translation: X:1.84, Y:0.50, Z:-0.26 [[ 0.87381744 -0.41943598 -0.2460011 1.84264811] [ 0.44290179 0.89535684 0.04662756 0.50321984] [ 0.20070149 -0.1496983 0.96814737 -0.2577176 ] [ 0. 0. 0. 1. ]] SLAMing on 50.881346183999995 meters Centerline goodness : 0.923618 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87417135 -0.42310733 -0.23833723 1.84629845] [ 0.44580269 0.89382434 0.04835295 0.51391575] [ 0.19257313 -0.14852014 0.96997802 -0.25544849] [ 0. 0. 0. 1. ]] SLAMing on 50.911346183999996 meters Centerline goodness : 0.924214 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87449719 -0.42267084 -0.237916 1.84714429] [ 0.44517548 0.89416807 0.04777288 0.51355691] [ 0.19254468 -0.14769162 0.97011016 -0.25667543] [ 0. 0. 0. 1. ]] SLAMing on 50.941346184 meters Centerline goodness : 0.921692 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87441832 -0.42465556 -0.23464921 1.84604188] [ 0.44587303 0.89403543 0.04356472 0.5121475 ] [ 0.19128471 -0.14271755 0.97110342 -0.25890157] [ 0. 0. 0. 1. ]] SLAMing on 50.971346184 meters Centerline goodness : 0.920181 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87465285 -0.42518541 -0.23280842 1.84827182] [ 0.44565788 0.89425907 0.04110685 0.51037138] [ 0.19071301 -0.13970713 0.97165347 -0.2621242 ] [ 0. 0. 0. 1. ]] SLAMing on 51.001346184 meters Centerline goodness : 0.932130 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87481133 -0.4245472 -0.23337696 1.8516239 ] [ 0.44522681 0.89444129 0.04180752 0.50928117] [ 0.19099272 -0.14047938 0.97148717 -0.2635843 ] [ 0. 0. 0. 1. ]] SLAMing on 51.031346184 meters Centerline goodness : 0.930140 Centerline is valid? [False, False] Translation: X:1.85, Y:0.51, Z:-0.26 [[ 0.87393282 -0.42323711 -0.23898068 1.85218716] [ 0.44583853 0.89385957 0.04736108 0.51328151] [ 0.1935702 -0.1479372 0.96986863 -0.25716327] [ 0. 0. 0. 1. ]] SLAMing on 51.061346183999994 meters Centerline goodness : 0.920500 Centerline is valid? [False, False] Translation: X:1.85, Y:0.52, Z:-0.25 [[ 0.87297924 -0.42315907 -0.2425771 1.85374684] [ 0.44683016 0.89322806 0.04986414 0.51799673] [ 0.19557621 -0.15192112 0.96884979 -0.25437544] [ 0. 0. 0. 1. ]] SLAMing on 51.091346183999995 meters Centerline goodness : 0.919401 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.87110118 -0.42700857 -0.24258279 1.85892561] [ 0.44999245 0.89184593 0.04601769 0.5232111 ] [ 0.19669653 -0.14924649 0.96903868 -0.25772931] [ 0. 0. 0. 1. ]] SLAMing on 51.121346184 meters Centerline goodness : 0.919816 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.87013485 -0.4309501 -0.23905512 1.86045076] [ 0.45232595 0.89094187 0.0402965 0.5222349 ] [ 0.19561844 -0.14319422 0.97016949 -0.2613242 ] [ 0. 0. 0. 1. ]] SLAMing on 51.151346184 meters Centerline goodness : 0.916452 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.86901154 -0.43467773 -0.23637726 1.86238386] [ 0.4548175 0.88986942 0.0356855 0.52057175] [ 0.1948332 -0.13851962 0.97100584 -0.2637218 ] [ 0. 0. 0. 1. ]] SLAMing on 51.181346184 meters Centerline goodness : 0.920589 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.26 [[ 0.86855084 -0.43546794 -0.23661597 1.86533278] [ 0.45564338 0.88945047 0.0355947 0.51903822] [ 0.19495783 -0.1387283 0.97095103 -0.26426106] [ 0. 0. 0. 1. ]] SLAMing on 51.211346184 meters Centerline goodness : 0.927596 Centerline is valid? [False, False] Translation: X:1.86, Y:0.52, Z:-0.26 [[ 0.86779599 -0.43401162 -0.24200006 1.86369645] [ 0.45624461 0.88886555 0.04193912 0.52062872] [ 0.19690345 -0.14680582 0.96936942 -0.25571708] [ 0. 0. 0. 1. ]] SLAMing on 51.241346183999994 meters Centerline goodness : 0.921654 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8680103 -0.43097648 -0.24661182 1.86594823] [ 0.45493443 0.88927513 0.04716364 0.52268306] [ 0.19897934 -0.15313074 0.96796601 -0.25254135] [ 0. 0. 0. 1. ]] SLAMing on 51.271346183999995 meters Centerline goodness : 0.922112 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8678045 -0.43073318 -0.2477585 1.86597464] [ 0.4549454 0.88925043 0.04752208 0.52431928] [ 0.19985002 -0.15395646 0.96765561 -0.25106418] [ 0. 0. 0. 1. ]] SLAMing on 51.301346183999996 meters Centerline goodness : 0.920392 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86781155 -0.43145599 -0.2464728 1.86675354] [ 0.45506833 0.88929144 0.04553621 0.52440979] [ 0.19953928 -0.15167882 0.96807934 -0.25297403] [ 0. 0. 0. 1. ]] SLAMing on 51.331346184 meters Centerline goodness : 0.924746 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.8673257 -0.4309624 -0.24903322 1.86670017] [ 0.45258396 0.89106491 0.03422125 0.51970183] [ 0.20715669 -0.14238941 0.96789016 -0.25283637] [ 0. 0. 0. 1. ]] SLAMing on 51.361346184 meters Centerline goodness : 0.922826 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86688153 -0.43184375 -0.24905299 1.86834376] [ 0.45335384 0.89069809 0.03357384 0.51993042] [ 0.20733237 -0.14201367 0.96790775 -0.25335568] [ 0. 0. 0. 1. ]] SLAMing on 51.391346184 meters Centerline goodness : 0.923518 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86661708 -0.43131945 -0.25087522 1.87008645] [ 0.45347512 0.89056734 0.03535729 0.52153797] [ 0.20817099 -0.1444069 0.9673735 -0.25247491] [ 0. 0. 0. 1. ]] SLAMing on 51.421346183999994 meters Centerline goodness : 0.924434 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86661108 -0.42897169 -0.25488924 1.86948269] [ 0.45268566 0.89077431 0.03996029 0.52339217] [ 0.20990695 -0.15001474 0.96614422 -0.24734859] [ 0. 0. 0. 1. ]] SLAMing on 51.451346183999995 meters Centerline goodness : 0.924340 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86671475 -0.42842587 -0.25545414 1.87212437] [ 0.45237037 0.89090213 0.04067478 0.52347467] [ 0.21015851 -0.15081332 0.96596519 -0.24861984] [ 0. 0. 0. 1. ]] SLAMing on 51.481346183999996 meters Centerline goodness : 0.924595 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86615123 -0.43116969 -0.25273454 1.87106354] [ 0.45391452 0.89028604 0.0367748 0.52310084] [ 0.20914985 -0.14657241 0.96683653 -0.2500156 ] [ 0. 0. 0. 1. ]] SLAMing on 51.511346184 meters Centerline goodness : 0.924501 Centerline is valid? [False, False] Translation: X:1.87, Y:0.52, Z:-0.25 [[ 0.86538668 -0.43346252 -0.25142818 1.87474557] [ 0.45556096 0.88953884 0.0344219 0.52292063] [ 0.20873453 -0.14432912 0.96726367 -0.25329614] [ 0. 0. 0. 1. ]] SLAMing on 51.541346184 meters Centerline goodness : 0.926745 Centerline is valid? [False, False] Translation: X:1.88, Y:0.52, Z:-0.25 [[ 0.86507572 -0.43356428 -0.25232124 1.87621529] [ 0.45585913 0.88937596 0.03468206 0.52385538] [ 0.20937154 -0.14502555 0.96702179 -0.252936 ] [ 0. 0. 0. 1. ]] SLAMing on 51.571346184 meters Centerline goodness : 0.925899 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86549408 -0.43072524 -0.25572596 1.87876822] [ 0.45440577 0.8899421 0.03896743 0.52571509] [ 0.21079705 -0.14992943 0.96596365 -0.25182463] [ 0. 0. 0. 1. ]] SLAMing on 51.601346184 meters Centerline goodness : 0.925518 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86585371 -0.43027587 -0.25526463 1.87768998] [ 0.4537571 0.89029557 0.03844859 0.52694936] [ 0.21071747 -0.149119 0.96610645 -0.25226412] [ 0. 0. 0. 1. ]] SLAMing on 51.631346183999995 meters Centerline goodness : 0.923408 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.25 [[ 0.86639429 -0.42974608 -0.25432112 1.8766274 ] [ 0.45288491 0.89077453 0.03762972 0.52772176] [ 0.21037156 -0.14778037 0.96638748 -0.25335239] [ 0. 0. 0. 1. ]] SLAMing on 51.661346183999996 meters Centerline goodness : 0.924558 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86765636 -0.42811781 -0.25275994 1.87637787] [ 0.45084031 0.89183552 0.0370462 0.52742124] [ 0.20956016 -0.14609774 0.96681952 -0.25652424] [ 0. 0. 0. 1. ]] SLAMing on 51.691346184 meters Centerline goodness : 0.922046 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86830592 -0.42658955 -0.253113 1.87839089] [ 0.44954693 0.89244499 0.03807217 0.52722757] [ 0.20964824 -0.14684446 0.96668729 -0.25819474] [ 0. 0. 0. 1. ]] SLAMing on 51.721346184 meters Centerline goodness : 0.926590 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86857041 -0.42604013 -0.25313088 1.87760423] [ 0.44901482 0.89270697 0.03820946 0.52738305] [ 0.20969294 -0.14684712 0.96667719 -0.25768563] [ 0. 0. 0. 1. ]] SLAMing on 51.751346184 meters Centerline goodness : 0.927362 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86953754 -0.42982803 -0.24321254 1.88216157] [ 0.45231368 0.89083352 0.04275482 0.53234021] [ 0.19828467 -0.14718528 0.96903028 -0.26277716] [ 0. 0. 0. 1. ]] SLAMing on 51.781346184 meters Centerline goodness : 0.926230 Centerline is valid? [False, False] Translation: X:1.88, Y:0.53, Z:-0.26 [[ 0.86969891 -0.42786642 -0.2460775 1.8828178 ] [ 0.45142884 0.89111903 0.0460313 0.53436943] [ 0.19958909 -0.15111985 0.96815649 -0.26049381] [ 0. 0. 0. 1. ]] SLAMing on 51.811346183999994 meters Centerline goodness : 0.927196 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86951838 -0.42747088 -0.24739935 1.88561704] [ 0.4513915 0.89109872 0.04678449 0.53632557] [ 0.20045823 -0.15235394 0.96778343 -0.26133544] [ 0. 0. 0. 1. ]] SLAMing on 51.841346183999995 meters Centerline goodness : 0.926746 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86930552 -0.42819228 -0.24689933 1.88583219] [ 0.45183003 0.8909317 0.04572012 0.53683518] [ 0.20039344 -0.15130128 0.96796198 -0.26193208] [ 0. 0. 0. 1. ]] SLAMing on 51.871346184 meters Centerline goodness : 0.925281 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86905324 -0.42988987 -0.24482886 1.88643543] [ 0.45255515 0.89072807 0.04239512 0.5369182 ] [ 0.1998507 -0.14764218 0.96863899 -0.26431785] [ 0. 0. 0. 1. ]] SLAMing on 51.901346184 meters Centerline goodness : 0.921758 Centerline is valid? [False, False] Translation: X:1.89, Y:0.53, Z:-0.27 [[ 0.86920704 -0.43155525 -0.24132799 1.88783333] [ 0.45287745 0.89075098 0.03827159 0.53485731] [ 0.19844684 -0.14255794 0.96968865 -0.26874486] [ 0. 0. 0. 1. ]] SLAMing on 51.931346184 meters Centerline goodness : 0.924441 Centerline is valid? [False, False] Translation: X:1.89, Y:0.53, Z:-0.27 [[ 0.86956365 -0.43063908 -0.24167962 1.88933109] [ 0.45208945 0.89113053 0.0387493 0.53427659] [ 0.19868113 -0.14295579 0.9695821 -0.26941766] [ 0. 0. 0. 1. ]] SLAMing on 51.961346184 meters Centerline goodness : 0.930846 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86973846 -0.42885408 -0.24421136 1.89125107] [ 0.45124295 0.89142885 0.04164613 0.53544308] [ 0.19983694 -0.1464199 0.96882734 -0.26819498] [ 0. 0. 0. 1. ]] SLAMing on 51.991346183999994 meters Centerline goodness : 0.928317 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86981437 -0.42640137 -0.24820322 1.89026216] [ 0.450283 0.89169491 0.0461021 0.53998413] [ 0.20166356 -0.15186196 0.96761033 -0.26403777] [ 0. 0. 0. 1. ]] SLAMing on 52.021346183999995 meters Centerline goodness : 0.923185 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86990053 -0.42617468 -0.24829057 1.89056672] [ 0.44997687 0.89187109 0.04568133 0.54100993] [ 0.20197495 -0.15146323 0.96760788 -0.2644014 ] [ 0. 0. 0. 1. ]] SLAMing on 52.051346183999996 meters Centerline goodness : 0.922743 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.87030073 -0.42634116 -0.24659654 1.89171676] [ 0.44948835 0.89221119 0.04381119 0.53999142] [ 0.20133768 -0.14897118 0.96812743 -0.26721513] [ 0. 0. 0. 1. ]] SLAMing on 52.081346184 meters Centerline goodness : 0.922609 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.87004387 -0.42812115 -0.2444094 1.89303222] [ 0.45031624 0.89194334 0.04064933 0.53857174] [ 0.2005965 -0.14542822 0.96881973 -0.26964834] [ 0. 0. 0. 1. ]] SLAMing on 52.111346184 meters Centerline goodness : 0.920627 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86974811 -0.42959251 -0.2428755 1.89368671] [ 0.45130529 0.89150508 0.0392712 0.53521352] [ 0.19965413 -0.14376705 0.96926223 -0.27003775] [ 0. 0. 0. 1. ]] SLAMing on 52.141346184 meters Centerline goodness : 0.923980 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.8692185 -0.43003268 -0.24398995 1.8938197 ] [ 0.45206253 0.89109208 0.03992952 0.53613166] [ 0.20024651 -0.14500619 0.96895539 -0.26817671] [ 0. 0. 0. 1. ]] SLAMing on 52.171346183999994 meters Centerline goodness : 0.925951 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86856009 -0.42993366 -0.24649628 1.89456474] [ 0.45277501 0.89063599 0.04198001 0.53813022] [ 0.20148985 -0.14806952 0.96823409 -0.26523499] [ 0. 0. 0. 1. ]] SLAMing on 52.201346183999995 meters Centerline goodness : 0.925951 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86856009 -0.42993366 -0.24649628 1.89456474] [ 0.45277501 0.89063599 0.04198001 0.53813022] [ 0.20148985 -0.14806952 0.96823409 -0.26523499] [ 0. 0. 0. 1. ]] SLAMing on 52.231346183999996 meters Centerline goodness : 0.925111 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86846658 -0.42887653 -0.24865783 1.89364911] [ 0.4525933 0.89059788 0.04466227 0.53987317] [ 0.20229954 -0.15132856 0.96756114 -0.26235084] [ 0. 0. 0. 1. ]] SLAMing on 52.261346184 meters Centerline goodness : 0.921988 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.26 [[ 0.86760687 -0.43223317 -0.24583084 1.89240085] [ 0.45466664 0.88975236 0.04023669 0.54021253] [ 0.20133694 -0.14668071 0.96847726 -0.26374254] [ 0. 0. 0. 1. ]] SLAMing on 52.291346184 meters Centerline goodness : 0.921555 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86675804 -0.43593264 -0.24226688 1.89281956] [ 0.45688214 0.88882906 0.03523662 0.53856557] [ 0.19997305 -0.14122903 0.96956956 -0.26655694] [ 0. 0. 0. 1. ]] SLAMing on 52.321346184 meters Centerline goodness : 0.922989 Centerline is valid? [False, False] Translation: X:1.89, Y:0.54, Z:-0.27 [[ 0.86501889 -0.44130146 -0.23873697 1.89384941] [ 0.46074183 0.88703577 0.02974069 0.53596791] [ 0.19864362 -0.13572237 0.97062874 -0.26817164] [ 0. 0. 0. 1. ]] SLAMing on 52.351346184 meters Centerline goodness : 0.927128 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.86425282 -0.44138066 -0.24135074 1.89565746] [ 0.46165013 0.8864876 0.03192011 0.53748443] [ 0.19986551 -0.13900665 0.96991285 -0.26557776] [ 0. 0. 0. 1. ]] SLAMing on 52.381346183999995 meters Centerline goodness : 0.923686 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.8642547 -0.43907846 -0.24550748 1.8976495 ] [ 0.46086068 0.88672166 0.0364984 0.53908089] [ 0.20167114 -0.14468866 0.96870736 -0.26213943] [ 0. 0. 0. 1. ]] SLAMing on 52.411346183999996 meters Centerline goodness : 0.924474 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86518701 -0.43544176 -0.24868033 1.89611492] [ 0.45870107 0.8876139 0.04165209 0.53912058] [ 0.20259506 -0.15010678 0.96768962 -0.25786895] [ 0. 0. 0. 1. ]] SLAMing on 52.441346184 meters Centerline goodness : 0.925504 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86525373 -0.43654289 -0.24650819 1.89577958] [ 0.45883975 0.88768266 0.03854335 0.53875663] [ 0.20199522 -0.14645753 0.96837396 -0.25953244] [ 0. 0. 0. 1. ]] SLAMing on 52.471346184 meters Centerline goodness : 0.924470 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86538828 -0.43706965 -0.24509846 1.8992753 ] [ 0.45867459 0.88786674 0.03619775 0.53755694] [ 0.20179383 -0.14374554 0.96882221 -0.26304684] [ 0. 0. 0. 1. ]] SLAMing on 52.501346184 meters Centerline goodness : 0.923280 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.8645795 -0.44096059 -0.2409482 1.90009342] [ 0.46072463 0.88704242 0.02980858 0.5370577 ] [ 0.20058687 -0.13678266 0.97008011 -0.26708284] [ 0. 0. 0. 1. ]] SLAMing on 52.531346184 meters Centerline goodness : 0.925542 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.27 [[ 0.86424976 -0.44110624 -0.24186286 1.90085104] [ 0.46105189 0.88686502 0.03002648 0.53865741] [ 0.20125485 -0.1374617 0.96984574 -0.26637592] [ 0. 0. 0. 1. ]] SLAMing on 52.561346183999994 meters Centerline goodness : 0.925639 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.8636492 -0.44108863 -0.24403048 1.90107272] [ 0.46169102 0.88647583 0.03165455 0.54088414] [ 0.20236466 -0.14000511 0.9692508 -0.26369649] [ 0. 0. 0. 1. ]] SLAMing on 52.591346183999995 meters Centerline goodness : 0.920726 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86292177 -0.44229566 -0.24441883 1.90032795] [ 0.46310901 0.88571491 0.03223561 0.54013153] [ 0.20222773 -0.14100937 0.96913379 -0.26121634] [ 0. 0. 0. 1. ]] SLAMing on 52.621346184 meters Centerline goodness : 0.916396 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86225524 -0.44490827 -0.24201763 1.90005284] [ 0.46481863 0.88492207 0.02926709 0.53823395] [ 0.20114558 -0.13773 0.96983035 -0.26214646] [ 0. 0. 0. 1. ]] SLAMing on 52.651346184 meters Centerline goodness : 0.917152 Centerline is valid? [False, False] Translation: X:1.90, Y:0.54, Z:-0.26 [[ 0.86158226 -0.44766393 -0.23931783 1.89960303] [ 0.46659755 0.88408545 0.02606994 0.5355978 ] [ 0.19990684 -0.13412651 0.97059123 -0.26301419] [ 0. 0. 0. 1. ]] SLAMing on 52.681346184 meters Centerline goodness : 0.918395 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86153956 -0.44769937 -0.23940521 1.90228792] [ 0.46674994 0.88399002 0.02657318 0.53309858] [ 0.19973502 -0.13463622 0.97055603 -0.26377798] [ 0. 0. 0. 1. ]] SLAMing on 52.711346184 meters Centerline goodness : 0.920606 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.8613012 -0.44756973 -0.24050277 1.9001393 ] [ 0.46722421 0.88367105 0.02875792 0.53149126] [ 0.19965416 -0.13713795 0.97022234 -0.25941428] [ 0. 0. 0. 1. ]] SLAMing on 52.741346183999994 meters Centerline goodness : 0.922039 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86116407 -0.44705151 -0.24195331 1.90091438] [ 0.46716296 0.88366171 0.03001264 0.53269984] [ 0.20038768 -0.13887743 0.96982361 -0.25816913] [ 0. 0. 0. 1. ]] SLAMing on 52.771346183999995 meters Centerline goodness : 0.923546 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.86062835 -0.44782249 -0.24243322 1.90217359] [ 0.46792191 0.8832768 0.02951595 0.53396554] [ 0.20091773 -0.13884208 0.969719 -0.25801456] [ 0. 0. 0. 1. ]] SLAMing on 52.801346183999996 meters Centerline goodness : 0.921359 Centerline is valid? [False, False] Translation: X:1.90, Y:0.53, Z:-0.26 [[ 0.85952013 -0.45206595 -0.23845654 1.90415083] [ 0.47047125 0.88210148 0.02353246 0.53343978] [ 0.19970465 -0.13241357 0.97086801 -0.26265491] [ 0. 0. 0. 1. ]] SLAMing on 52.831346184 meters Centerline goodness : 0.918293 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.27 [[ 0.85881239 -0.45423786 -0.2368739 1.9063654 ] [ 0.47191626 0.88139837 0.02078332 0.53311358] [ 0.1993397 -0.12963362 0.97131808 -0.26504152] [ 0. 0. 0. 1. ]] SLAMing on 52.861346184 meters Centerline goodness : 0.919571 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.27 [[ 0.85839124 -0.45480054 -0.23732034 1.90885202] [ 0.47258859 0.8810342 0.02094669 0.53233129] [ 0.19956077 -0.13013534 0.97120559 -0.26537457] [ 0. 0. 0. 1. ]] SLAMing on 52.891346184 meters Centerline goodness : 0.925510 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.8580076 -0.45457227 -0.23913805 1.91016069] [ 0.4731602 0.88065934 0.02363379 0.53072115] [ 0.19985589 -0.13342858 0.97069791 -0.2625779 ] [ 0. 0. 0. 1. ]] SLAMing on 52.921346183999994 meters Centerline goodness : 0.924889 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.85818105 -0.45351357 -0.24052178 1.91157691] [ 0.47262687 0.88089758 0.02536327 0.53037645] [ 0.20037247 -0.13544334 0.97031231 -0.26171722] [ 0. 0. 0. 1. ]] SLAMing on 52.951346183999995 meters Centerline goodness : 0.923702 Centerline is valid? [False, False] Translation: X:1.91, Y:0.53, Z:-0.26 [[ 0.85837262 -0.45238799 -0.24195361 1.91406339] [ 0.47200244 0.8811858 0.02693121 0.5299608 ] [ 0.20102273 -0.1373197 0.969914 -0.26156045] [ 0. 0. 0. 1. ]] SLAMing on 52.981346183999996 meters Centerline goodness : 0.926565 Centerline is valid? [False, False] Translation: X:1.92, Y:0.53, Z:-0.26 [[ 0.85822381 -0.45223652 -0.24276331 1.91833796] [ 0.47215779 0.88107369 0.0278599 0.52800482] [ 0.2012931 -0.13853262 0.96968541 -0.26268377] [ 0. 0. 0. 1. ]] SLAMing on 53.011346184 meters Centerline goodness : 0.926638 Centerline is valid? [False, False] Translation: X:1.92, Y:0.53, Z:-0.26 [[ 0.85826334 -0.45188599 -0.24327576 1.92193102] [ 0.47199566 0.88114173 0.02844905 0.52672253] [ 0.2015047 -0.13924188 0.96953987 -0.26419431] [ 0. 0. 0. 1. ]] SLAMing on 53.041346184 meters Centerline goodness : 0.926428 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.85840954 -0.45112528 -0.24417012 1.92615135] [ 0.47150893 0.88137682 0.02922714 0.52583393] [ 0.20202078 -0.14021725 0.96929187 -0.26581089] [ 0. 0. 0. 1. ]] SLAMing on 53.071346184 meters Centerline goodness : 0.926768 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.8578573 -0.45172414 -0.24500233 1.92865672] [ 0.47230847 0.88093894 0.02951759 0.52554859] [ 0.20249829 -0.14103856 0.96907305 -0.26572507] [ 0. 0. 0. 1. ]] SLAMing on 53.101346184 meters Centerline goodness : 0.926968 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.27 [[ 0.85748883 -0.45136245 -0.2469511 1.93238427] [ 0.47251392 0.88078241 0.03086968 0.52644671] [ 0.20357677 -0.14315824 0.96853612 -0.26565486] [ 0. 0. 0. 1. ]] SLAMing on 53.131346183999995 meters Centerline goodness : 0.927686 Centerline is valid? [False, False] Translation: X:1.93, Y:0.53, Z:-0.26 [[ 0.85712036 -0.45183726 -0.24736162 1.93311916] [ 0.47311411 0.8804518 0.03110752 0.52608178] [ 0.20373445 -0.14369316 0.96842374 -0.26484916] [ 0. 0. 0. 1. ]] SLAMing on 53.161346183999996 meters Centerline goodness : 0.933304 Centerline is valid? [False, False] Translation: X:1.93, Y:0.52, Z:-0.26 [[ 0.85680486 -0.45294573 -0.24642563 1.93443435] [ 0.4739926 0.87999882 0.03054657 0.52262273] [ 0.20301832 -0.14297638 0.96868019 -0.26492956] [ 0. 0. 0. 1. ]] SLAMing on 53.191346184 meters Centerline goodness : 0.931614 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.26 [[ 0.85675175 -0.45269529 -0.24706965 1.93634161] [ 0.47404527 0.87993479 0.03155702 0.52100019] [ 0.20311947 -0.14415873 0.96848373 -0.26469899] [ 0. 0. 0. 1. ]] SLAMing on 53.221346184 meters Centerline goodness : 0.929367 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.26 [[ 0.8566462 -0.45249202 -0.24780689 1.9381329 ] [ 0.47414554 0.8798468 0.0324903 0.52024658] [ 0.2033305 -0.14532922 0.96826449 -0.26457605] [ 0. 0. 0. 1. ]] SLAMing on 53.251346184 meters Centerline goodness : 0.932060 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.27 [[ 0.85646242 -0.45207227 -0.2492043 1.94182408] [ 0.47413798 0.879814 0.03347393 0.52032026] [ 0.2041208 -0.14682639 0.96787226 -0.26505861] [ 0. 0. 0. 1. ]] SLAMing on 53.281346184 meters Centerline goodness : 0.930738 Centerline is valid? [False, False] Translation: X:1.94, Y:0.52, Z:-0.27 [[ 0.85655415 -0.45162538 -0.24969882 1.94485545] [ 0.47393697 0.87988928 0.03433074 0.5183606 ] [ 0.20420268 -0.14774764 0.96771478 -0.2660159 ] [ 0. 0. 0. 1. ]] SLAMing on 53.311346183999994 meters Centerline goodness : 0.932124 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85662261 -0.45094868 -0.25068502 1.94686718] [ 0.47360296 0.88003058 0.03530475 0.51842007] [ 0.20468985 -0.14896802 0.96742472 -0.26621869] [ 0. 0. 0. 1. ]] SLAMing on 53.341346183999995 meters Centerline goodness : 0.933448 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85657669 -0.45077394 -0.25115578 1.94741807] [ 0.47356509 0.88003819 0.03562147 0.51890311] [ 0.20496945 -0.14945113 0.967291 -0.2659587 ] [ 0. 0. 0. 1. ]] SLAMing on 53.371346184 meters Centerline goodness : 0.932921 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85643305 -0.45055564 -0.2520358 1.95001402] [ 0.47357 0.88001845 0.03604138 0.52031122] [ 0.20555751 -0.15022362 0.96704652 -0.26710179] [ 0. 0. 0. 1. ]] SLAMing on 53.401346184 meters Centerline goodness : 0.933820 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85650229 -0.45043914 -0.25200874 1.95118601] [ 0.47339197 0.88012459 0.03578745 0.52083932] [ 0.20567902 -0.14995095 0.967063 -0.26824939] [ 0. 0. 0. 1. ]] SLAMing on 53.431346184 meters Centerline goodness : 0.929271 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85674622 -0.44969465 -0.25250868 1.95393877] [ 0.4727516 0.88046012 0.03599857 0.5213124 ] [ 0.20613546 -0.15021552 0.96692475 -0.26993448] [ 0. 0. 0. 1. ]] SLAMing on 53.461346184 meters Centerline goodness : 0.930216 Centerline is valid? [False, False] Translation: X:1.95, Y:0.52, Z:-0.27 [[ 0.85739567 -0.44923093 -0.25112595 1.954866 ] [ 0.47182427 0.88100118 0.03491119 0.52061789] [ 0.20555907 -0.14842002 0.96732464 -0.27300397] [ 0. 0. 0. 1. ]] SLAMing on 53.491346183999994 meters Centerline goodness : 0.927875 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85773431 -0.44797873 -0.25220411 1.95726304] [ 0.4709383 0.88143162 0.03599193 0.52133876] [ 0.20617706 -0.14964408 0.96700448 -0.27397724] [ 0. 0. 0. 1. ]] SLAMing on 53.521346183999995 meters Centerline goodness : 0.932188 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85858176 -0.44487932 -0.25479353 1.95967434] [ 0.46890936 0.88236492 0.0394481 0.52221881] [ 0.20727123 -0.15334449 0.96619051 -0.27383961] [ 0. 0. 0. 1. ]] SLAMing on 53.551346183999996 meters Centerline goodness : 0.931943 Centerline is valid? [False, False] Translation: X:1.96, Y:0.52, Z:-0.27 [[ 0.85930494 -0.44181002 -0.25767989 1.96155168] [ 0.46701673 0.88319782 0.04309273 0.52390572] [ 0.20854352 -0.15737061 0.96526892 -0.2729925 ] [ 0. 0. 0. 1. ]] SLAMing on 53.581346184 meters Centerline goodness : 0.934739 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86056928 -0.44520031 -0.24742111 1.96540473] [ 0.46978634 0.88148034 0.04788747 0.52944091] [ 0.19677733 -0.15744554 0.96772392 -0.27750696] [ 0. 0. 0. 1. ]] SLAMing on 53.611346184 meters Centerline goodness : 0.932631 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86132026 -0.44279083 -0.24912586 1.96797977] [ 0.4680544 0.88227865 0.05009453 0.53073472] [ 0.19761703 -0.15975189 0.96717467 -0.27891424] [ 0. 0. 0. 1. ]] SLAMing on 53.641346184 meters Centerline goodness : 0.930761 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.8613543 -0.44260423 -0.24933966 1.97057542] [ 0.46785746 0.88239473 0.04988933 0.53101141] [ 0.19793477 -0.1596278 0.96713018 -0.28065351] [ 0. 0. 0. 1. ]] SLAMing on 53.671346183999994 meters Centerline goodness : 0.935014 Centerline is valid? [False, False] Translation: X:1.97, Y:0.53, Z:-0.28 [[ 0.86127267 -0.44252829 -0.24975608 1.97355894] [ 0.46779765 0.88244086 0.04963357 0.53179197] [ 0.19843071 -0.15958334 0.96703589 -0.28239433] [ 0. 0. 0. 1. ]] SLAMing on 53.701346183999995 meters Centerline goodness : 0.936366 Centerline is valid? [False, False] Translation: X:1.98, Y:0.53, Z:-0.28 [[ 0.86146735 -0.4407489 -0.25221896 1.97665061] [ 0.4669043 0.88277136 0.05210673 0.53411366] [ 0.19968569 -0.16265036 0.96626626 -0.2830783 ] [ 0. 0. 0. 1. ]] SLAMing on 53.731346183999996 meters Centerline goodness : 0.934125 Centerline is valid? [False, False] Translation: X:1.98, Y:0.54, Z:-0.28 [[ 0.86112956 -0.44122658 -0.25253711 1.97591729] [ 0.46735875 0.8825564 0.051672 0.5362376 ] [ 0.20007918 -0.16252172 0.96620651 -0.28239297] [ 0. 0. 0. 1. ]] SLAMing on 53.761346184 meters Centerline goodness : 0.937783 Centerline is valid? [False, False] Translation: X:1.98, Y:0.54, Z:-0.28 [[ 0.86111998 -0.44000411 -0.25469347 1.97847067] [ 0.46690643 0.88267343 0.05372152 0.53840978] [ 0.20117347 -0.1651787 0.96552847 -0.28247197] [ 0. 0. 0. 1. ]] SLAMing on 53.791346184 meters Centerline goodness : 0.940951 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86207405 -0.44266711 -0.24672689 1.98342212] [ 0.46958689 0.88081548 0.06043373 0.5453364 ] [ 0.19056884 -0.16795806 0.96719885 -0.28727679] [ 0. 0. 0. 1. ]] SLAMing on 53.821346184 meters Centerline goodness : 0.938393 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86227909 -0.44222464 -0.24680385 1.98188481] [ 0.46915147 0.88104643 0.06044907 0.5466686 ] [ 0.19071358 -0.16791235 0.96717825 -0.2865319 ] [ 0. 0. 0. 1. ]] SLAMing on 53.851346184 meters Centerline goodness : 0.939239 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.8626301 -0.44183736 -0.24627029 1.98049084] [ 0.46851226 0.88143807 0.05969256 0.54834936] [ 0.1906976 -0.16687325 0.96736123 -0.28708362] [ 0. 0. 0. 1. ]] SLAMing on 53.881346183999995 meters Centerline goodness : 0.940030 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86276565 -0.44120425 -0.24692964 1.98303922] [ 0.46801166 0.88169366 0.05984454 0.54972404] [ 0.19131263 -0.16719776 0.96718374 -0.28879828] [ 0. 0. 0. 1. ]] SLAMing on 53.911346183999996 meters Centerline goodness : 0.942010 Centerline is valid? [False, False] Translation: X:1.98, Y:0.55, Z:-0.29 [[ 0.86241668 -0.44196374 -0.24679045 1.98287968] [ 0.46857637 0.88145732 0.05889976 0.55129462] [ 0.19150369 -0.1664363 0.96727726 -0.28890896] [ 0. 0. 0. 1. ]] SLAMing on 53.941346184 meters Centerline goodness : 0.938960 Centerline is valid? [False, False] Translation: X:1.98, Y:0.56, Z:-0.29 [[ 0.86142277 -0.44263649 -0.24904569 1.98491697] [ 0.46975604 0.88079777 0.05936788 0.55677204] [ 0.1930805 -0.16813156 0.96667042 -0.2886667 ] [ 0. 0. 0. 1. ]] SLAMing on 53.971346184 meters Centerline goodness : 0.938885 Centerline is valid? [False, False] Translation: X:1.99, Y:0.56, Z:-0.29 [[ 0.86038823 -0.44387744 -0.25040947 1.9853061 ] [ 0.47123102 0.88002207 0.05918179 0.56073132] [ 0.1940964 -0.16892002 0.96632945 -0.28746417] [ 0. 0. 0. 1. ]] SLAMing on 54.001346184 meters Centerline goodness : 0.942386 Centerline is valid? [False, False] Translation: X:1.99, Y:0.56, Z:-0.29 [[ 0.85955516 -0.44476996 -0.25168357 1.98587567] [ 0.47227553 0.87949412 0.0587019 0.56456978] [ 0.19524538 -0.16932151 0.96602767 -0.28656898] [ 0. 0. 0. 1. ]] SLAMing on 54.031346184 meters Centerline goodness : 0.940657 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85892087 -0.44580951 -0.25200958 1.98580809] [ 0.4732386 0.87902845 0.05791552 0.56741733] [ 0.1957043 -0.16900551 0.96599015 -0.28643732] [ 0. 0. 0. 1. ]] SLAMing on 54.061346183999994 meters Centerline goodness : 0.935417 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85849274 -0.4475694 -0.25034346 1.98764497] [ 0.47402155 0.87883465 0.05434362 0.56994902] [ 0.19568796 -0.1653218 0.96663071 -0.29017903] [ 0. 0. 0. 1. ]] SLAMing on 54.091346183999995 meters Centerline goodness : 0.935417 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85849274 -0.4475694 -0.25034346 1.98764497] [ 0.47402155 0.87883465 0.05434362 0.56994902] [ 0.19568796 -0.1653218 0.96663071 -0.29017903] [ 0. 0. 0. 1. ]] SLAMing on 54.121346184 meters Centerline goodness : 0.936176 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.8583043 -0.44825515 -0.24976197 1.98802457] [ 0.47443025 0.87867221 0.05339556 0.57013354] [ 0.19552407 -0.16432427 0.96683394 -0.29099488] [ 0. 0. 0. 1. ]] SLAMing on 54.151346184 meters Centerline goodness : 0.935112 Centerline is valid? [False, False] Translation: X:1.99, Y:0.57, Z:-0.29 [[ 0.85831859 -0.44778391 -0.2505569 1.98940429] [ 0.47414971 0.87880457 0.05370821 0.57093636] [ 0.19614088 -0.16490024 0.96661092 -0.29110597] [ 0. 0. 0. 1. ]] SLAMing on 54.181346184 meters Centerline goodness : 0.940784 Centerline is valid? [False, False] Translation: X:2.00, Y:0.58, Z:-0.29 [[ 0.8578922 -0.45027316 -0.24753799 1.99578643] [ 0.47820178 0.87591425 0.06400999 0.57949685] [ 0.18800008 -0.17328678 0.96676143 -0.29288947] [ 0. 0. 0. 1. ]] SLAMing on 54.211346184 meters Centerline goodness : 0.939113 Centerline is valid? [False, False] Translation: X:2.00, Y:0.58, Z:-0.29 [[ 0.8572516 -0.45005411 -0.25014194 1.99553308] [ 0.47880093 0.87545704 0.06576197 0.58249522] [ 0.18939208 -0.17614275 0.96597328 -0.2897156 ] [ 0. 0. 0. 1. ]] SLAMing on 54.241346183999994 meters Centerline goodness : 0.939250 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.856759 -0.45028812 -0.2514053 1.99654293] [ 0.4792846 0.87518896 0.06580691 0.58511764] [ 0.19039508 -0.17687535 0.96564218 -0.28912097] [ 0. 0. 0. 1. ]] SLAMing on 54.271346183999995 meters Centerline goodness : 0.938805 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85590031 -0.45146147 -0.2522245 1.99921805] [ 0.48045483 0.87461582 0.06488697 0.58732429] [ 0.19130557 -0.17671926 0.9654908 -0.28979106] [ 0. 0. 0. 1. ]] SLAMing on 54.301346183999996 meters Centerline goodness : 0.937565 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85357895 -0.45687971 -0.25032761 2.00172702] [ 0.48457121 0.8727276 0.05947508 0.58992286] [ 0.19129485 -0.17206823 0.96633266 -0.29207564] [ 0. 0. 0. 1. ]] SLAMing on 54.331346184 meters Centerline goodness : 0.937880 Centerline is valid? [False, False] Translation: X:2.00, Y:0.59, Z:-0.29 [[ 0.85286448 -0.45768219 -0.25129504 2.00433783] [ 0.48546209 0.87226861 0.05894092 0.5916533 ] [ 0.19222057 -0.17226283 0.96611426 -0.2923664 ] [ 0. 0. 0. 1. ]] SLAMing on 54.361346184 meters Centerline goodness : 0.939133 Centerline is valid? [False, False] Translation: X:2.01, Y:0.59, Z:-0.29 [[ 0.85222179 -0.45810604 -0.25269918 2.00527153] [ 0.48618969 0.87185065 0.05912722 0.59377133] [ 0.19322941 -0.17324924 0.96573656 -0.29110874] [ 0. 0. 0. 1. ]] SLAMing on 54.391346184 meters Centerline goodness : 0.934000 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.8519886 -0.45602753 -0.25720481 2.0053567 ] [ 0.48566169 0.87188144 0.06289262 0.59816367] [ 0.19557133 -0.17849832 0.96430815 -0.28692156] [ 0. 0. 0. 1. ]] SLAMing on 54.421346183999994 meters Centerline goodness : 0.936110 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85180637 -0.45590461 -0.25802497 2.00576668] [ 0.48565725 0.87189601 0.06272464 0.60007573] [ 0.19637449 -0.17874095 0.96409996 -0.28641983] [ 0. 0. 0. 1. ]] SLAMing on 54.451346183999995 meters Centerline goodness : 0.932248 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85168223 -0.45640774 -0.25754486 2.00618977] [ 0.48583115 0.87188666 0.06149587 0.60101547] [ 0.19648274 -0.17749825 0.96430747 -0.28740006] [ 0. 0. 0. 1. ]] SLAMing on 54.481346183999996 meters Centerline goodness : 0.939627 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.8517205 -0.4564263 -0.25738536 2.00793745] [ 0.48567391 0.87202456 0.06077844 0.60111983] [ 0.19670548 -0.17677159 0.96439554 -0.28872089] [ 0. 0. 0. 1. ]] SLAMing on 54.511346184 meters Centerline goodness : 0.935053 Centerline is valid? [False, False] Translation: X:2.01, Y:0.60, Z:-0.29 [[ 0.85186769 -0.45589692 -0.25783608 2.00773884] [ 0.48509157 0.87239096 0.06016801 0.60364394] [ 0.19750346 -0.17632929 0.96431342 -0.28883382] [ 0. 0. 0. 1. ]] SLAMing on 54.541346184 meters Centerline goodness : 0.937549 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85208851 -0.45364492 -0.26105834 2.00975025] [ 0.48394083 0.87284303 0.06281971 0.60628516] [ 0.19936511 -0.17986475 0.96327682 -0.28743313] [ 0. 0. 0. 1. ]] SLAMing on 54.571346184 meters Centerline goodness : 0.939460 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85177702 -0.45312675 -0.26296777 2.01027496] [ 0.48392196 0.87280294 0.06351822 0.60962239] [ 0.20073724 -0.18135924 0.96271148 -0.28621634] [ 0. 0. 0. 1. ]] SLAMing on 54.601346184 meters Centerline goodness : 0.939187 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85138409 -0.45365883 -0.2633226 2.00980576] [ 0.48427419 0.87269773 0.06226701 0.61324027] [ 0.20155306 -0.18053348 0.96269623 -0.28616011] [ 0. 0. 0. 1. ]] SLAMing on 54.631346183999995 meters Centerline goodness : 0.938252 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85109229 -0.45388559 -0.26387455 2.01149105] [ 0.48448158 0.872627 0.06164183 0.61433232] [ 0.20228572 -0.18030525 0.96258532 -0.28636042] [ 0. 0. 0. 1. ]] SLAMing on 54.661346183999996 meters Centerline goodness : 0.938587 Centerline is valid? [False, False] Translation: X:2.01, Y:0.61, Z:-0.29 [[ 0.85025472 -0.45654101 -0.26198707 2.00930338] [ 0.48619842 0.87188415 0.0585587 0.61477889] [ 0.20168792 -0.17716751 0.96329313 -0.28588061] [ 0. 0. 0. 1. ]] SLAMing on 54.691346184 meters Centerline goodness : 0.939289 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.29 [[ 0.84862532 -0.45983627 -0.26150654 2.01136608] [ 0.4888827 0.87057143 0.05566944 0.61580862] [ 0.2020613 -0.17508852 0.96359496 -0.28600751] [ 0. 0. 0. 1. ]] SLAMing on 54.721346184 meters Centerline goodness : 0.942739 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.29 [[ 0.84800048 -0.46053286 -0.26230645 2.01292641] [ 0.48972187 0.87010721 0.05555111 0.61614008] [ 0.20265162 -0.17556457 0.96338435 -0.28522177] [ 0. 0. 0. 1. ]] SLAMing on 54.751346184 meters Centerline goodness : 0.939616 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84754163 -0.46116411 -0.26268015 2.01297972] [ 0.49038964 0.86974614 0.05531416 0.61668195] [ 0.20295614 -0.17569668 0.96329616 -0.28426155] [ 0. 0. 0. 1. ]] SLAMing on 54.781346184 meters Centerline goodness : 0.942108 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84657819 -0.46265214 -0.26316984 2.0132105 ] [ 0.4919053 0.86892084 0.05482473 0.61734051] [ 0.20330898 -0.17586806 0.96319047 -0.28277906] [ 0. 0. 0. 1. ]] SLAMing on 54.811346183999994 meters Centerline goodness : 0.943050 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84600138 -0.46363284 -0.26329879 2.01379082] [ 0.49282669 0.86843114 0.05430661 0.6173195 ] [ 0.20347854 -0.17570414 0.96318458 -0.28212783] [ 0. 0. 0. 1. ]] SLAMing on 54.841346183999995 meters Centerline goodness : 0.940295 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84592536 -0.4638199 -0.26321358 2.01302458] [ 0.49301853 0.86831757 0.05438134 0.61601611] [ 0.20332983 -0.17577172 0.96320366 -0.28081194] [ 0. 0. 0. 1. ]] SLAMing on 54.871346184 meters Centerline goodness : 0.945041 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84608145 -0.46227731 -0.26541641 2.01372412] [ 0.49234407 0.86855129 0.0567095 0.61624928] [ 0.20431225 -0.17865705 0.96246463 -0.27873918] [ 0. 0. 0. 1. ]] SLAMing on 54.901346184 meters Centerline goodness : 0.940416 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84604349 -0.46111912 -0.26754358 2.01416861] [ 0.49192586 0.8686754 0.05841231 0.61753305] [ 0.20547349 -0.18103096 0.96177359 -0.27670427] [ 0. 0. 0. 1. ]] SLAMing on 54.931346184 meters Centerline goodness : 0.942798 Centerline is valid? [False, False] Translation: X:2.01, Y:0.62, Z:-0.28 [[ 0.84580714 -0.46149884 -0.26763614 2.01314328] [ 0.49221462 0.86854908 0.05785558 0.61893056] [ 0.20575484 -0.18066908 0.96178149 -0.2759223 ] [ 0. 0. 0. 1. ]] SLAMing on 54.961346184 meters Centerline goodness : 0.937953 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84554644 -0.46170236 -0.26810846 2.01501895] [ 0.49240802 0.86847248 0.05735761 0.61982206] [ 0.20636267 -0.18051727 0.96167976 -0.27640581] [ 0. 0. 0. 1. ]] SLAMing on 54.991346183999994 meters Centerline goodness : 0.937776 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84494435 -0.46434343 -0.26543215 2.01654021] [ 0.49358025 0.86811178 0.05254016 0.62073875] [ 0.2060281 -0.17540558 0.96269689 -0.27982647] [ 0. 0. 0. 1. ]] SLAMing on 55.021346183999995 meters Centerline goodness : 0.937259 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84488795 -0.46414683 -0.26595502 2.01994628] [ 0.49341244 0.8682251 0.05224305 0.62169077] [ 0.20666037 -0.17536504 0.96256875 -0.2817016 ] [ 0. 0. 0. 1. ]] SLAMing on 55.051346183999996 meters Centerline goodness : 0.937540 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84458965 -0.46425104 -0.2667195 2.02100799] [ 0.4936347 0.86810662 0.05211223 0.62237603] [ 0.20734781 -0.17567545 0.96236429 -0.28103494] [ 0. 0. 0. 1. ]] SLAMing on 55.081346184 meters Centerline goodness : 0.941402 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84565813 -0.4604306 -0.26993703 2.0184465 ] [ 0.49127494 0.8691683 0.05652786 0.62410979] [ 0.20859355 -0.18041654 0.96121725 -0.27712753] [ 0. 0. 0. 1. ]] SLAMing on 55.111346184 meters Centerline goodness : 0.940062 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84644534 -0.45743987 -0.27254183 2.01863292] [ 0.48943257 0.86998476 0.0598521 0.62477401] [ 0.2097285 -0.18405238 0.96028052 -0.27518693] [ 0. 0. 0. 1. ]] SLAMing on 55.141346184 meters Centerline goodness : 0.938608 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.846557 -0.45696402 -0.27299292 2.01824898] [ 0.48904259 0.87020082 0.05989883 0.62539269] [ 0.21018705 -0.18421294 0.96014947 -0.27436501] [ 0. 0. 0. 1. ]] SLAMing on 55.171346183999994 meters Centerline goodness : 0.937618 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84588934 -0.4604324 -0.26920851 2.01718856] [ 0.49087044 0.86947577 0.05530012 0.62359394] [ 0.20860831 -0.17892428 0.96149294 -0.27627952] [ 0. 0. 0. 1. ]] SLAMing on 55.201346183999995 meters Centerline goodness : 0.937309 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84468275 -0.46333043 -0.26802233 2.01827833] [ 0.49293669 0.86850218 0.0521286 0.6240287 ] [ 0.20862521 -0.17615017 0.96200137 -0.27660168] [ 0. 0. 0. 1. ]] SLAMing on 55.231346183999996 meters Centerline goodness : 0.935441 Centerline is valid? [False, False] Translation: X:2.02, Y:0.62, Z:-0.28 [[ 0.84374911 -0.46473233 -0.26853547 2.01905613] [ 0.49438416 0.86770407 0.05171034 0.6247704 ] [ 0.20897785 -0.17639023 0.96188084 -0.27553014] [ 0. 0. 0. 1. ]] SLAMing on 55.261346184 meters Centerline goodness : 0.935500 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84263149 -0.46569253 -0.27037499 2.02042119] [ 0.4957313 0.86693208 0.0517615 0.62707898] [ 0.21029181 -0.17764922 0.96136263 -0.27334155] [ 0. 0. 0. 1. ]] SLAMing on 55.291346184 meters Centerline goodness : 0.934711 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84130873 -0.4675776 -0.27123939 2.01988179] [ 0.49764066 0.86589016 0.05087236 0.63054854] [ 0.21107674 -0.17777911 0.96116658 -0.27163533] [ 0. 0. 0. 1. ]] SLAMing on 55.321346184 meters Centerline goodness : 0.932120 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.84085512 -0.46791405 -0.27206454 2.0225334 ] [ 0.49809236 0.86564423 0.05063657 0.63103855] [ 0.21181753 -0.17809129 0.9609458 -0.27168642] [ 0. 0. 0. 1. ]] SLAMing on 55.351346184 meters Centerline goodness : 0.932606 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83994269 -0.4705446 -0.27034063 2.02156132] [ 0.49984572 0.86479554 0.04778007 0.63029614] [ 0.21130672 -0.17526113 0.96157839 -0.27108573] [ 0. 0. 0. 1. ]] SLAMing on 55.381346183999995 meters Centerline goodness : 0.931053 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83815212 -0.47509971 -0.2679203 2.0192081 ] [ 0.50336022 0.86293169 0.04446784 0.62838797] [ 0.21007026 -0.17213124 0.96241432 -0.269087 ] [ 0. 0. 0. 1. ]] SLAMing on 55.411346183999996 meters Centerline goodness : 0.931710 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.27 [[ 0.83749991 -0.47505315 -0.27003407 2.02187983] [ 0.50396127 0.86251947 0.04564214 0.62862508] [ 0.2112272 -0.174312 0.96176837 -0.26729329] [ 0. 0. 0. 1. ]] SLAMing on 55.441346184 meters Centerline goodness : 0.931504 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83591072 -0.47643321 -0.27251543 2.02195219] [ 0.50600754 0.86128229 0.04635934 0.63100317] [ 0.21262558 -0.17664713 0.9610339 -0.26305244] [ 0. 0. 0. 1. ]] SLAMing on 55.471346184 meters Centerline goodness : 0.935237 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83520203 -0.47708891 -0.27353929 2.0228699 ] [ 0.50680462 0.86083113 0.04603091 0.63285839] [ 0.21351031 -0.17707608 0.96075877 -0.26198829] [ 0. 0. 0. 1. ]] SLAMing on 55.501346184 meters Centerline goodness : 0.929724 Centerline is valid? [False, False] Translation: X:2.02, Y:0.63, Z:-0.26 [[ 0.83468244 -0.47767733 -0.27409779 2.02449564] [ 0.50738146 0.86052368 0.0454208 0.63382023] [ 0.21417115 -0.17698407 0.96062863 -0.26185764] [ 0. 0. 0. 1. ]] SLAMing on 55.531346184 meters Centerline goodness : 0.930936 Centerline is valid? [False, False] Translation: X:2.03, Y:0.63, Z:-0.26 [[ 0.83438994 -0.47785594 -0.2746764 2.02818884] [ 0.50757798 0.86043073 0.04498393 0.6344319 ] [ 0.21484418 -0.17695383 0.9604839 -0.26331043] [ 0. 0. 0. 1. ]] SLAMing on 55.561346183999994 meters Centerline goodness : 0.932723 Centerline is valid? [False, False] Translation: X:2.03, Y:0.63, Z:-0.27 [[ 0.83371481 -0.47977545 -0.27337728 2.03046181] [ 0.50869619 0.85990992 0.0422269 0.63460955] [ 0.21482041 -0.17427118 0.96097958 -0.26520486] [ 0. 0. 0. 1. ]] SLAMing on 55.591346183999995 meters Centerline goodness : 0.930497 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83329748 -0.479749 -0.27469293 2.03184117] [ 0.50891966 0.85977679 0.04224508 0.63631129] [ 0.21590757 -0.17499935 0.96060353 -0.264231 ] [ 0. 0. 0. 1. ]] SLAMing on 55.621346184 meters Centerline goodness : 0.930610 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83280359 -0.47960222 -0.27644148 2.03308521] [ 0.50915077 0.85962844 0.04247872 0.63879485] [ 0.21726407 -0.17612683 0.96009149 -0.26280503] [ 0. 0. 0. 1. ]] SLAMing on 55.651346184 meters Centerline goodness : 0.931662 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83208404 -0.48018295 -0.2775977 2.03384999] [ 0.50992415 0.85917981 0.04227791 0.64046496] [ 0.21820521 -0.17673255 0.95976669 -0.26140206] [ 0. 0. 0. 1. ]] SLAMing on 55.681346184 meters Centerline goodness : 0.933200 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83183682 -0.48040886 -0.27794755 2.03617113] [ 0.51015939 0.85905406 0.04199421 0.63978102] [ 0.21859758 -0.17672988 0.95967789 -0.2615506 ] [ 0. 0. 0. 1. ]] SLAMing on 55.711346184 meters Centerline goodness : 0.933705 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83193054 -0.48056521 -0.27739622 2.03710056] [ 0.51007164 0.85913698 0.04135902 0.63851944] [ 0.21844564 -0.17589978 0.95986497 -0.26209494] [ 0. 0. 0. 1. ]] SLAMing on 55.741346183999994 meters Centerline goodness : 0.931937 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83224282 -0.48016413 -0.27715394 2.0369591 ] [ 0.50958215 0.85943363 0.04122939 0.63763237] [ 0.21839854 -0.17554557 0.95994053 -0.26180713] [ 0. 0. 0. 1. ]] SLAMing on 55.771346183999995 meters Centerline goodness : 0.933515 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83208496 -0.4797103 -0.27841094 2.03717498] [ 0.5093948 0.85953554 0.04141971 0.63914338] [ 0.21943463 -0.1762858 0.95956853 -0.26023727] [ 0. 0. 0. 1. ]] SLAMing on 55.801346183999996 meters Centerline goodness : 0.934052 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83211857 -0.47905511 -0.27943674 2.03594246] [ 0.50900663 0.8597457 0.04182804 0.64063346] [ 0.2202066 -0.17704104 0.95925259 -0.25829242] [ 0. 0. 0. 1. ]] SLAMing on 55.831346184 meters Centerline goodness : 0.936686 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.8321088 -0.47857613 -0.28028525 2.03511863] [ 0.50864254 0.85996771 0.04169295 0.6425769 ] [ 0.22108302 -0.17725807 0.95901088 -0.25681828] [ 0. 0. 0. 1. ]] SLAMing on 55.861346184 meters Centerline goodness : 0.930310 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83310659 -0.47817703 -0.27799306 2.03413234] [ 0.50740873 0.86077621 0.04000873 0.64211149] [ 0.22015856 -0.17438764 0.95974953 -0.25963001] [ 0. 0. 0. 1. ]] SLAMing on 55.891346184 meters Centerline goodness : 0.930737 Centerline is valid? [False, False] Translation: X:2.03, Y:0.64, Z:-0.26 [[ 0.83314582 -0.47931471 -0.27590842 2.0346291 ] [ 0.50757247 0.86080203 0.03728341 0.64103448] [ 0.21963204 -0.17110604 0.96046056 -0.26136958] [ 0. 0. 0. 1. ]] SLAMing on 55.921346183999994 meters Centerline goodness : 0.934366 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.8332339 -0.47911081 -0.27599656 2.03662965] [ 0.50735197 0.86093693 0.03716953 0.64005289] [ 0.21980731 -0.17099832 0.96043965 -0.26201193] [ 0. 0. 0. 1. ]] SLAMing on 55.951346183999995 meters Centerline goodness : 0.935226 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83303179 -0.47938978 -0.2761222 2.03602635] [ 0.50764722 0.86076591 0.03709913 0.63986801] [ 0.21989163 -0.17107742 0.96040626 -0.26080402] [ 0. 0. 0. 1. ]] SLAMing on 55.981346183999996 meters Centerline goodness : 0.933549 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83291702 -0.47702512 -0.28052855 2.03716489] [ 0.50689555 0.86103807 0.04086978 0.64201752] [ 0.22204985 -0.17623981 0.95897518 -0.25683564] [ 0. 0. 0. 1. ]] SLAMing on 56.011346184 meters Centerline goodness : 0.933549 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83291702 -0.47702512 -0.28052855 2.03716489] [ 0.50689555 0.86103807 0.04086978 0.64201752] [ 0.22204985 -0.17623981 0.95897518 -0.25683564] [ 0. 0. 0. 1. ]] SLAMing on 56.041346184 meters Centerline goodness : 0.937410 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83257532 -0.47730086 -0.28107336 2.0370537 ] [ 0.50718732 0.86088596 0.04045221 0.64369331] [ 0.22266424 -0.17623636 0.95883335 -0.25599323] [ 0. 0. 0. 1. ]] SLAMing on 56.071346184 meters Centerline goodness : 0.934858 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83252318 -0.47773054 -0.2804972 2.03777021] [ 0.50725552 0.86089904 0.03930241 0.64427894] [ 0.22270381 -0.17500392 0.95904986 -0.25708311] [ 0. 0. 0. 1. ]] SLAMing on 56.101346184 meters Centerline goodness : 0.938085 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83255705 -0.47941168 -0.27751252 2.03962336] [ 0.50757467 0.86087307 0.03557413 0.64357132] [ 0.2218484 -0.17047582 0.96006317 -0.26140321] [ 0. 0. 0. 1. ]] SLAMing on 56.131346183999995 meters Centerline goodness : 0.937567 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83232369 -0.47988956 -0.27738651 2.03985824] [ 0.5079047 0.8607034 0.03496399 0.64353806] [ 0.22196866 -0.16998727 0.96012199 -0.26115045] [ 0. 0. 0. 1. ]] SLAMing on 56.161346183999996 meters Centerline goodness : 0.936658 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83181562 -0.48024243 -0.27829835 2.04066868] [ 0.50846655 0.8603664 0.03509172 0.64445316] [ 0.22258602 -0.17069525 0.95985343 -0.26003039] [ 0. 0. 0. 1. ]] SLAMing on 56.191346184 meters Centerline goodness : 0.939916 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.26 [[ 0.83115737 -0.48079842 -0.27930326 2.04056018] [ 0.50922397 0.85991885 0.03507882 0.64583656] [ 0.2233123 -0.17138393 0.95956197 -0.25815569] [ 0. 0. 0. 1. ]] SLAMing on 56.221346184 meters Centerline goodness : 0.936096 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.26 [[ 0.83161463 -0.4801958 -0.27897867 2.03723878] [ 0.50866533 0.86022737 0.03561548 0.64521299] [ 0.22288268 -0.17152513 0.95963662 -0.25604964] [ 0. 0. 0. 1. ]] SLAMing on 56.251346184 meters Centerline goodness : 0.936278 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83208754 -0.47887133 -0.27984386 2.03893845] [ 0.50767105 0.86077571 0.03654161 0.64461475] [ 0.22338407 -0.17247444 0.95934984 -0.25613945] [ 0. 0. 0. 1. ]] SLAMing on 56.281346184 meters Centerline goodness : 0.937976 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83202226 -0.47909454 -0.27965583 2.03918108] [ 0.50777574 0.86073051 0.03614955 0.6439309 ] [ 0.22338925 -0.17207968 0.95941953 -0.25582545] [ 0. 0. 0. 1. ]] SLAMing on 56.311346183999994 meters Centerline goodness : 0.943784 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.26 [[ 0.83115297 -0.48112692 -0.27875011 2.04071146] [ 0.50930893 0.8598951 0.03442132 0.64297441] [ 0.22313483 -0.1705793 0.95974661 -0.25633488] [ 0. 0. 0. 1. ]] SLAMing on 56.341346183999995 meters Centerline goodness : 0.944339 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.25 [[ 0.83050748 -0.48185545 -0.27941483 2.04100256] [ 0.51017646 0.85938217 0.03438397 0.64345936] [ 0.22355602 -0.17110701 0.95955463 -0.25490898] [ 0. 0. 0. 1. ]] SLAMing on 56.371346184 meters Centerline goodness : 0.943347 Centerline is valid? [False, False] Translation: X:2.04, Y:0.64, Z:-0.25 [[ 0.83001159 -0.48213856 -0.28039824 2.04151115] [ 0.51071867 0.85904847 0.03467217 0.6447553 ] [ 0.22415888 -0.17198292 0.95925735 -0.25389416] [ 0. 0. 0. 1. ]] SLAMing on 56.401346184 meters Centerline goodness : 0.943198 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.25 [[ 0.82926371 -0.48262899 -0.28176402 2.04269004] [ 0.51140591 0.85865229 0.03435454 0.64749938] [ 0.22535683 -0.17258476 0.9588685 -0.25310433] [ 0. 0. 0. 1. ]] SLAMing on 56.431346184 meters Centerline goodness : 0.943111 Centerline is valid? [False, False] Translation: X:2.04, Y:0.65, Z:-0.25 [[ 0.8289464 -0.48314908 -0.28180639 2.04316215] [ 0.51182441 0.8584245 0.03381042 0.64791135] [ 0.22557404 -0.17226241 0.95887539 -0.25286245] [ 0. 0. 0. 1. ]] SLAMing on 56.461346184 meters Centerline goodness : 0.940130 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82868364 -0.48329006 -0.28233693 2.04537498] [ 0.51203982 0.85830094 0.03368565 0.64798197] [ 0.22605011 -0.17248249 0.9587237 -0.25324177] [ 0. 0. 0. 1. ]] SLAMing on 56.491346183999994 meters Centerline goodness : 0.939565 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82694098 -0.48754002 -0.28013096 2.0466129 ] [ 0.51508893 0.85662325 0.02966481 0.64785687] [ 0.22550391 -0.1688234 0.95950333 -0.25427879] [ 0. 0. 0. 1. ]] SLAMing on 56.521346183999995 meters Centerline goodness : 0.936609 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82611777 -0.48856009 -0.28078188 2.04899597] [ 0.51620813 0.85595756 0.02942501 0.64797424] [ 0.22596149 -0.16925041 0.95932044 -0.25407924] [ 0. 0. 0. 1. ]] SLAMing on 56.551346183999996 meters Centerline goodness : 0.939877 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82549697 -0.48865737 -0.28243359 2.05159669] [ 0.51682468 0.85555405 0.03032365 0.64911156] [ 0.22681933 -0.17100073 0.95880746 -0.2535745 ] [ 0. 0. 0. 1. ]] SLAMing on 56.581346184 meters Centerline goodness : 0.942085 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.8248185 -0.4876182 -0.28618688 2.05095475] [ 0.51713773 0.85525747 0.03321489 0.65177279] [ 0.22856728 -0.17539429 0.95759795 -0.24894956] [ 0. 0. 0. 1. ]] SLAMing on 56.611346184 meters Centerline goodness : 0.939935 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82517603 -0.48628802 -0.28741691 2.05106131] [ 0.51630424 0.85570937 0.03451665 0.65210267] [ 0.22916031 -0.17687688 0.95718343 -0.24783312] [ 0. 0. 0. 1. ]] SLAMing on 56.641346184 meters Centerline goodness : 0.941175 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82556339 -0.4859497 -0.28687626 2.04970278] [ 0.51575067 0.85605978 0.0341014 0.65220451] [ 0.22901166 -0.17610949 0.95736049 -0.24773496] [ 0. 0. 0. 1. ]] SLAMing on 56.671346183999994 meters Centerline goodness : 0.940212 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.826975 -0.48423912 -0.2857006 2.05024806] [ 0.51361411 0.85736643 0.03351643 0.65167297] [ 0.22872014 -0.1744571 0.95773264 -0.25055368] [ 0. 0. 0. 1. ]] SLAMing on 56.701346183999995 meters Centerline goodness : 0.941157 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.82728092 -0.48312852 -0.28669341 2.0530393 ] [ 0.51273921 0.85787536 0.03388745 0.65286561] [ 0.22957522 -0.1750334 0.95742286 -0.25182866] [ 0. 0. 0. 1. ]] SLAMing on 56.731346183999996 meters Centerline goodness : 0.941599 Centerline is valid? [False, False] Translation: X:2.05, Y:0.65, Z:-0.25 [[ 0.8270053 -0.48353811 -0.28679806 2.05264451] [ 0.51301586 0.85773732 0.03318766 0.65439479] [ 0.2299499 -0.17457833 0.95741603 -0.25143658] [ 0. 0. 0. 1. ]] SLAMing on 56.761346184 meters Centerline goodness : 0.934754 Centerline is valid? [False, False] Translation: X:2.05, Y:0.66, Z:-0.25 [[ 0.82666861 -0.48346206 -0.28789487 2.05352432] [ 0.51317077 0.85764048 0.03329526 0.65642959] [ 0.2308133 -0.17526337 0.95708305 -0.25083485] [ 0. 0. 0. 1. ]] SLAMing on 56.791346184 meters Centerline goodness : 0.937085 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.8273255 -0.48088055 -0.29032122 2.05535895] [ 0.51143929 0.85859448 0.03528983 0.65965823] [ 0.232298 -0.17767786 0.95627832 -0.25137891] [ 0. 0. 0. 1. ]] SLAMing on 56.821346184 meters Centerline goodness : 0.937799 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82758236 -0.4798 -0.29137501 2.05755467] [ 0.51053678 0.8591288 0.03535389 0.66141226] [ 0.23336586 -0.17801591 0.95595539 -0.25205791] [ 0. 0. 0. 1. ]] SLAMing on 56.851346184 meters Centerline goodness : 0.932858 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82788779 -0.47951332 -0.290979 2.05759844] [ 0.51005727 0.85943124 0.03492161 0.66170118] [ 0.23333107 -0.17732713 0.95609189 -0.25286111] [ 0. 0. 0. 1. ]] SLAMing on 56.881346183999995 meters Centerline goodness : 0.935154 Centerline is valid? [False, False] Translation: X:2.05, Y:0.66, Z:-0.25 [[ 0.82811884 -0.48098029 -0.28788392 2.05443796] [ 0.51028722 0.85940744 0.03202828 0.66012117] [ 0.23200461 -0.17342671 0.95712958 -0.25330209] [ 0. 0. 0. 1. ]] SLAMing on 56.911346183999996 meters Centerline goodness : 0.932362 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82830686 -0.48002812 -0.28893035 2.05594469] [ 0.50969971 0.85972441 0.0328656 0.66008667] [ 0.23262406 -0.17449052 0.95678582 -0.25288691] [ 0. 0. 0. 1. ]] SLAMing on 56.941346184 meters Centerline goodness : 0.940663 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82856922 -0.47841961 -0.29083967 2.05840939] [ 0.50879099 0.8601987 0.03449539 0.6607789 ] [ 0.23367664 -0.17655842 0.95614976 -0.25257045] [ 0. 0. 0. 1. ]] SLAMing on 56.971346184 meters Centerline goodness : 0.936186 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.8282998 -0.47858648 -0.29133216 2.05806901] [ 0.50906177 0.86003798 0.03450773 0.66118357] [ 0.2340418 -0.17688881 0.95599937 -0.2512888 ] [ 0. 0. 0. 1. ]] SLAMing on 57.001346184 meters Centerline goodness : 0.937158 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82746058 -0.47927892 -0.29257597 2.05951646] [ 0.51007842 0.85942592 0.03474332 0.66150473] [ 0.23479563 -0.17798542 0.95561091 -0.24972269] [ 0. 0. 0. 1. ]] SLAMing on 57.031346184 meters Centerline goodness : 0.938237 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82694234 -0.47943506 -0.2937829 2.06286362] [ 0.510483 0.8591843 0.03477715 0.66204893] [ 0.23574027 -0.17872987 0.95523932 -0.249767 ] [ 0. 0. 0. 1. ]] SLAMing on 57.061346183999994 meters Centerline goodness : 0.936543 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82641199 -0.48026057 -0.29392688 2.06457727] [ 0.51126853 0.85873343 0.03437123 0.66201911] [ 0.23589769 -0.17868035 0.95520972 -0.24998103] [ 0. 0. 0. 1. ]] SLAMing on 57.091346183999995 meters Centerline goodness : 0.935361 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82475391 -0.4842311 -0.29206375 2.06415617] [ 0.51427878 0.85705161 0.03130274 0.66149442] [ 0.23515595 -0.17601925 0.95588645 -0.24946076] [ 0. 0. 0. 1. ]] SLAMing on 57.121346184 meters Centerline goodness : 0.938224 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82446957 -0.48466645 -0.29214443 2.06504625] [ 0.51471446 0.85679481 0.03117195 0.66038395] [ 0.23519983 -0.17607129 0.95586607 -0.24889694] [ 0. 0. 0. 1. ]] SLAMing on 57.151346184 meters Centerline goodness : 0.940219 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.25 [[ 0.82347459 -0.48748146 -0.29026097 2.06224296] [ 0.51674251 0.85565038 0.02897609 0.65832309] [ 0.2342366 -0.17385125 0.95650873 -0.2466336 ] [ 0. 0. 0. 1. ]] SLAMing on 57.181346184 meters Centerline goodness : 0.940625 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82329585 -0.48633447 -0.29268197 2.06510727] [ 0.51646671 0.85575212 0.03082919 0.6594241 ] [ 0.23546992 -0.17654204 0.95571273 -0.24580023] [ 0. 0. 0. 1. ]] SLAMing on 57.211346184 meters Centerline goodness : 0.940595 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82305786 -0.48629096 -0.29342268 2.06422296] [ 0.51661974 0.85565158 0.03105522 0.66054204] [ 0.23596571 -0.17714818 0.95547826 -0.24422217] [ 0. 0. 0. 1. ]] SLAMing on 57.241346183999994 meters Centerline goodness : 0.938024 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82323407 -0.48558454 -0.29409746 2.06356505] [ 0.51618174 0.85589123 0.03172707 0.66157673] [ 0.23630926 -0.17792654 0.9552487 -0.24350691] [ 0. 0. 0. 1. ]] SLAMing on 57.271346183999995 meters Centerline goodness : 0.942381 Centerline is valid? [False, False] Translation: X:2.06, Y:0.66, Z:-0.24 [[ 0.82311287 -0.48604517 -0.2936755 2.06434269] [ 0.51635161 0.85582237 0.03080723 0.6617123 ] [ 0.23636036 -0.17699764 0.95540861 -0.24407154] [ 0. 0. 0. 1. ]] SLAMing on 57.301346183999996 meters Centerline goodness : 0.939274 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82306327 -0.48686831 -0.29244845 2.06549522] [ 0.51651388 0.85578922 0.02895198 0.66122883] [ 0.23617843 -0.174883 0.95584292 -0.24551808] [ 0. 0. 0. 1. ]] SLAMing on 57.331346184 meters Centerline goodness : 0.932982 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82318216 -0.48634505 -0.292984 2.06923437] [ 0.516116 0.85602318 0.02913076 0.66079781] [ 0.23663349 -0.17519365 0.95567347 -0.24716307] [ 0. 0. 0. 1. ]] SLAMing on 57.361346184 meters Centerline goodness : 0.940067 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.25 [[ 0.82312158 -0.48634404 -0.29315583 2.06769284] [ 0.51617351 0.85598494 0.0292349 0.66118407] [ 0.23671876 -0.17538315 0.95561759 -0.24572975] [ 0. 0. 0. 1. ]] SLAMing on 57.391346184 meters Centerline goodness : 0.937649 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.24 [[ 0.82265188 -0.48630853 -0.29452998 2.06733363] [ 0.51650583 0.85576977 0.02966202 0.66320105] [ 0.23762495 -0.17652797 0.95518179 -0.24381569] [ 0. 0. 0. 1. ]] SLAMing on 57.421346183999994 meters Centerline goodness : 0.937989 Centerline is valid? [False, False] Translation: X:2.07, Y:0.66, Z:-0.24 [[ 0.82247424 -0.4864429 -0.29480404 2.06663139] [ 0.51662221 0.85571005 0.02935637 0.66456397] [ 0.23798658 -0.17644718 0.95510669 -0.24306444] [ 0. 0. 0. 1. ]] SLAMing on 57.451346183999995 meters Centerline goodness : 0.938400 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82439264 -0.48992222 -0.28346602 2.07071755] [ 0.51895855 0.85416244 0.03299318 0.66901345] [ 0.22596194 -0.17430645 0.95841456 -0.24972556] [ 0. 0. 0. 1. ]] SLAMing on 57.481346183999996 meters Centerline goodness : 0.940025 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82498147 -0.48934263 -0.2827532 2.06993946] [ 0.51810794 0.85469755 0.03250009 0.66858231] [ 0.22576479 -0.17330865 0.95864194 -0.2502377 ] [ 0. 0. 0. 1. ]] SLAMing on 57.511346184 meters Centerline goodness : 0.936045 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82570256 -0.48843464 -0.2822178 2.07012177] [ 0.51700177 0.85537765 0.03222195 0.66808289] [ 0.22566448 -0.17251285 0.95880908 -0.25125703] [ 0. 0. 0. 1. ]] SLAMing on 57.541346184 meters Centerline goodness : 0.939449 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82590385 -0.4883381 -0.28179555 2.06994385] [ 0.51670449 0.85557611 0.03171739 0.66772135] [ 0.22560873 -0.17180054 0.95895009 -0.25142159] [ 0. 0. 0. 1. ]] SLAMing on 57.571346184 meters Centerline goodness : 0.940171 Centerline is valid? [False, False] Translation: X:2.07, Y:0.67, Z:-0.25 [[ 0.82627033 -0.48564715 -0.28534924 2.07398159] [ 0.51555888 0.85610436 0.03583804 0.66742813] [ 0.22688408 -0.17672624 0.95775333 -0.25076967] [ 0. 0. 0. 1. ]] SLAMing on 57.60134618399999 meters Centerline goodness : 0.943757 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82674751 -0.49161942 -0.27349387 2.07537521] [ 0.52001101 0.85331043 0.03807703 0.67234954] [ 0.21465576 -0.17369992 0.96111979 -0.25316638] [ 0. 0. 0. 1. ]] SLAMing on 57.631346183999995 meters Centerline goodness : 0.939504 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.8259471 -0.49250555 -0.27431672 2.07528646] [ 0.52108884 0.85265081 0.03811857 0.67304461] [ 0.21512277 -0.1744273 0.96088361 -0.25120564] [ 0. 0. 0. 1. ]] SLAMing on 57.661346183999996 meters Centerline goodness : 0.939957 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82440768 -0.49600449 -0.27263806 2.07590355] [ 0.52371469 0.85117023 0.03510206 0.67298603] [ 0.21465062 -0.17172297 0.96147612 -0.25156027] [ 0. 0. 0. 1. ]] SLAMing on 57.691346184 meters Centerline goodness : 0.939236 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82426959 -0.49632535 -0.27247165 2.07922654] [ 0.52393086 0.85105271 0.03472376 0.6719368 ] [ 0.21465345 -0.17137805 0.96153703 -0.25329832] [ 0. 0. 0. 1. ]] SLAMing on 57.721346184 meters Centerline goodness : 0.940271 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82419592 -0.4964232 -0.27251622 2.08173296] [ 0.52405684 0.85097208 0.03479877 0.67072491] [ 0.21462878 -0.17149499 0.96152169 -0.25422192] [ 0. 0. 0. 1. ]] SLAMing on 57.751346184 meters Centerline goodness : 0.941971 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82355932 -0.49706881 -0.27326296 2.08168828] [ 0.52498892 0.85037381 0.03536965 0.67003121] [ 0.21479451 -0.17258903 0.9612889 -0.25208744] [ 0. 0. 0. 1. ]] SLAMing on 57.781346184 meters Centerline goodness : 0.938458 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82310406 -0.49761393 -0.27364225 2.08085189] [ 0.52559082 0.85000775 0.03522935 0.67095548] [ 0.21506741 -0.17282128 0.96118615 -0.25063761] [ 0. 0. 0. 1. ]] SLAMing on 57.811346183999994 meters Centerline goodness : 0.942147 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82372989 -0.49470739 -0.27700842 2.08513717] [ 0.52401184 0.85082925 0.03874501 0.6714151 ] [ 0.21651943 -0.17707112 0.96008602 -0.25052716] [ 0. 0. 0. 1. ]] SLAMing on 57.841346183999995 meters Centerline goodness : 0.939860 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82401534 -0.49425073 -0.27697461 2.08435664] [ 0.52349718 0.85115336 0.0385831 0.67186252] [ 0.21667814 -0.17678849 0.96010229 -0.25015962] [ 0. 0. 0. 1. ]] SLAMing on 57.871346184 meters Centerline goodness : 0.940138 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82552389 -0.49179582 -0.27685225 2.08626566] [ 0.52103766 0.85264116 0.03902326 0.67139348] [ 0.21686415 -0.17646508 0.96011979 -0.25301346] [ 0. 0. 0. 1. ]] SLAMing on 57.901346184 meters Centerline goodness : 0.940138 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82552389 -0.49179582 -0.27685225 2.08626566] [ 0.52103766 0.85264116 0.03902326 0.67139348] [ 0.21686415 -0.17646508 0.96011979 -0.25301346] [ 0. 0. 0. 1. ]] SLAMing on 57.931346184 meters Centerline goodness : 0.937429 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.25 [[ 0.82606142 -0.4909302 -0.27678526 2.0884261 ] [ 0.52011399 0.85320833 0.03894848 0.67123087] [ 0.2170345 -0.17613372 0.96014214 -0.2549646 ] [ 0. 0. 0. 1. ]] SLAMing on 57.961346184 meters Centerline goodness : 0.938755 Centerline is valid? [False, False] Translation: X:2.09, Y:0.67, Z:-0.26 [[ 0.82645047 -0.49064897 -0.27612174 2.08795944] [ 0.51958205 0.85355567 0.03843458 0.67095895] [ 0.21682738 -0.17523218 0.96035388 -0.25550713] [ 0. 0. 0. 1. ]] SLAMing on 57.991346183999994 meters Centerline goodness : 0.937264 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.82921613 -0.48535257 -0.27718854 2.08432647] [ 0.51496516 0.85621504 0.04131215 0.67191113] [ 0.21728204 -0.17699914 0.95992699 -0.25493079] [ 0. 0. 0. 1. ]] SLAMing on 58.021346183999995 meters Centerline goodness : 0.940683 Centerline is valid? [False, False] Translation: X:2.08, Y:0.67, Z:-0.25 [[ 0.83138041 -0.48065644 -0.27888349 2.0823352 ] [ 0.51111854 0.85836796 0.04429755 0.67345246] [ 0.21809275 -0.17937064 0.95930273 -0.25451688] [ 0. 0. 0. 1. ]] SLAMing on 58.051346183999996 meters Centerline goodness : 0.938928 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83434908 -0.48109518 -0.26908928 2.0845993 ] [ 0.51033228 0.858684 0.04714618 0.68157707] [ 0.20838086 -0.17666131 0.9619606 -0.25713773] [ 0. 0. 0. 1. ]] SLAMing on 58.081346184 meters Centerline goodness : 0.934159 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83660948 -0.47662472 -0.27002492 2.08341175] [ 0.50638518 0.86089467 0.04933974 0.68250721] [ 0.20894648 -0.17801471 0.96158834 -0.25802596] [ 0. 0. 0. 1. ]] SLAMing on 58.111346184 meters Centerline goodness : 0.936287 Centerline is valid? [False, False] Translation: X:2.08, Y:0.68, Z:-0.26 [[ 0.83968682 -0.47309769 -0.26665449 2.0802761 ] [ 0.50173013 0.86371756 0.0475274 0.68210117] [ 0.20782906 -0.17369672 0.96261962 -0.2625938 ] [ 0. 0. 0. 1. ]] SLAMing on 58.141346184 meters Centerline goodness : 0.932527 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84117707 -0.47835068 -0.25219391 2.08115945] [ 0.50453913 0.86206888 0.04772324 0.68640099] [ 0.19458007 -0.16738539 0.96649921 -0.26917222] [ 0. 0. 0. 1. ]] SLAMing on 58.171346183999994 meters Centerline goodness : 0.934242 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84167055 -0.47781846 -0.25155557 2.07874381] [ 0.50370422 0.86260507 0.04684602 0.68848647] [ 0.19460922 -0.16613852 0.96670846 -0.26928371] [ 0. 0. 0. 1. ]] SLAMing on 58.201346183999995 meters Centerline goodness : 0.935837 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84207374 -0.47570769 -0.25419288 2.0785814 ] [ 0.50260891 0.86307786 0.04980861 0.68976488] [ 0.19569391 -0.16970213 0.96587012 -0.26700856] [ 0. 0. 0. 1. ]] SLAMing on 58.231346183999996 meters Centerline goodness : 0.931586 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.26 [[ 0.84238418 -0.47402871 -0.25629215 2.07775197] [ 0.50180741 0.86338728 0.05245679 0.6902211 ] [ 0.19641336 -0.17279808 0.96517492 -0.26438746] [ 0. 0. 0. 1. ]] SLAMing on 58.261346184 meters Centerline goodness : 0.928526 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.26 [[ 0.84248667 -0.47373378 -0.25650051 2.078462 ] [ 0.50145744 0.86361609 0.05203539 0.69099324] [ 0.19686705 -0.17246321 0.96514238 -0.26483707] [ 0. 0. 0. 1. ]] SLAMing on 58.291346184 meters Centerline goodness : 0.933198 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84206532 -0.47530946 -0.25496454 2.07916598] [ 0.50224324 0.86331795 0.04933402 0.69118827] [ 0.19666654 -0.16959668 0.96569107 -0.26637143] [ 0. 0. 0. 1. ]] SLAMing on 58.321346184 meters Centerline goodness : 0.932487 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84125336 -0.47726112 -0.25399725 2.0802224 ] [ 0.50359435 0.8626613 0.04699163 0.69202069] [ 0.19668632 -0.16744345 0.96606272 -0.2673703 ] [ 0. 0. 0. 1. ]] SLAMing on 58.35134618399999 meters Centerline goodness : 0.930568 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.27 [[ 0.84035299 -0.47844805 -0.25474365 2.08096846] [ 0.50482494 0.86197347 0.04640594 0.69327651] [ 0.19737943 -0.16759832 0.96589449 -0.26620309] [ 0. 0. 0. 1. ]] SLAMing on 58.381346183999995 meters Centerline goodness : 0.925988 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83951537 -0.47719351 -0.25980819 2.08404561] [ 0.50527012 0.86149046 0.05036169 0.69667879] [ 0.19979001 -0.17355272 0.9643461 -0.26297426] [ 0. 0. 0. 1. ]] SLAMing on 58.411346183999996 meters Centerline goodness : 0.931254 Centerline is valid? [False, False] Translation: X:2.09, Y:0.70, Z:-0.26 [[ 0.83895032 -0.47744349 -0.26117059 2.08507872] [ 0.50590114 0.86108553 0.05094847 0.69748521] [ 0.2005652 -0.17486973 0.96394719 -0.26153032] [ 0. 0. 0. 1. ]] SLAMing on 58.441346184 meters Centerline goodness : 0.929720 Centerline is valid? [False, False] Translation: X:2.09, Y:0.70, Z:-0.26 [[ 0.83850875 -0.4780491 -0.26148065 2.08606583] [ 0.50653026 0.86072985 0.05070713 0.69739919] [ 0.2008237 -0.17496623 0.96387585 -0.26105399] [ 0. 0. 0. 1. ]] SLAMing on 58.471346184 meters Centerline goodness : 0.926915 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83816636 -0.47941267 -0.26007814 2.08492986] [ 0.50727931 0.86039731 0.04882795 0.69667742] [ 0.20036179 -0.1728582 0.96435221 -0.26080472] [ 0. 0. 0. 1. ]] SLAMing on 58.501346184 meters Centerline goodness : 0.926832 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83769257 -0.48008018 -0.26037315 2.08464206] [ 0.50793229 0.86003553 0.04841163 0.69782657] [ 0.2006887 -0.172806 0.96429359 -0.26007438] [ 0. 0. 0. 1. ]] SLAMing on 58.531346184 meters Centerline goodness : 0.925746 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83750338 -0.48006467 -0.26100958 2.08464629] [ 0.50794799 0.86004923 0.04800174 0.69996223] [ 0.20143715 -0.17278091 0.96414202 -0.25967723] [ 0. 0. 0. 1. ]] SLAMing on 58.561346183999994 meters Centerline goodness : 0.925271 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83756672 -0.47988357 -0.26113932 2.08435173] [ 0.50764708 0.86026363 0.04733842 0.70171604] [ 0.20193173 -0.1722157 0.96413968 -0.25986702] [ 0. 0. 0. 1. ]] SLAMing on 58.591346183999995 meters Centerline goodness : 0.925979 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.26 [[ 0.83841902 -0.47825225 -0.2613969 2.08475033] [ 0.5059453 0.86128473 0.04698909 0.70464581] [ 0.20266452 -0.17164908 0.96408697 -0.26180844] [ 0. 0. 0. 1. ]] SLAMing on 58.621346184 meters Centerline goodness : 0.925164 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83846983 -0.47825841 -0.26122259 2.08344583] [ 0.50580272 0.86139865 0.04643235 0.70607651] [ 0.20281012 -0.17105922 0.96416119 -0.26155607] [ 0. 0. 0. 1. ]] SLAMing on 58.651346184 meters Centerline goodness : 0.924187 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83855773 -0.4778389 -0.26170771 2.08340559] [ 0.50541338 0.86163908 0.04621044 0.70768472] [ 0.20341645 -0.1710207 0.96404028 -0.26148899] [ 0. 0. 0. 1. ]] SLAMing on 58.681346184 meters Centerline goodness : 0.927254 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83980263 -0.4748175 -0.2632107 2.08217507] [ 0.50306747 0.86288552 0.04849438 0.70942829] [ 0.20409472 -0.17313845 0.96351877 -0.26104231] [ 0. 0. 0. 1. ]] SLAMing on 58.711346184 meters Centerline goodness : 0.927034 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.84021391 -0.47337615 -0.26449122 2.08176213] [ 0.50212502 0.86335345 0.04991283 0.70982389] [ 0.20472186 -0.17474511 0.96309559 -0.25965418] [ 0. 0. 0. 1. ]] SLAMing on 58.741346183999994 meters Centerline goodness : 0.929058 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.8399269 -0.47366662 -0.2648825 2.08021164] [ 0.50248272 0.86314905 0.049848 0.71066671] [ 0.20502175 -0.17496756 0.9629914 -0.25787888] [ 0. 0. 0. 1. ]] SLAMing on 58.771346183999995 meters Centerline goodness : 0.929166 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83898773 -0.47525801 -0.26500834 2.08081836] [ 0.50387731 0.86240652 0.04860704 0.71224339] [ 0.20544403 -0.1743124 0.96302022 -0.25753626] [ 0. 0. 0. 1. ]] SLAMing on 58.801346183999996 meters Centerline goodness : 0.928347 Centerline is valid? [False, False] Translation: X:2.08, Y:0.71, Z:-0.26 [[ 0.83822815 -0.4764123 -0.26533918 2.08235154] [ 0.50492072 0.86184958 0.04764851 0.71394746] [ 0.20598212 -0.17391557 0.96297702 -0.2579046 ] [ 0. 0. 0. 1. ]] SLAMing on 58.831346184 meters Centerline goodness : 0.923140 Centerline is valid? [False, False] Translation: X:2.08, Y:0.72, Z:-0.26 [[ 0.83715631 -0.47797632 -0.26590967 2.08343589] [ 0.50637744 0.86106014 0.04644701 0.7163999 ] [ 0.20676365 -0.17353406 0.96287835 -0.25755437] [ 0. 0. 0. 1. ]] SLAMing on 58.861346184 meters Centerline goodness : 0.922243 Centerline is valid? [False, False] Translation: X:2.08, Y:0.72, Z:-0.26 [[ 0.83494537 -0.48128021 -0.26689996 2.08494936] [ 0.50949933 0.85932952 0.04430804 0.72137717] [ 0.20803043 -0.17298015 0.96270515 -0.2569009 ] [ 0. 0. 0. 1. ]] SLAMing on 58.891346184 meters Centerline goodness : 0.923118 Centerline is valid? [False, False] Translation: X:2.09, Y:0.72, Z:-0.26 [[ 0.83390674 -0.48290297 -0.26721577 2.08551064] [ 0.51094487 0.85853735 0.04299948 0.72402497] [ 0.20865014 -0.17239008 0.96267688 -0.25669823] [ 0. 0. 0. 1. ]] SLAMing on 58.921346183999994 meters Centerline goodness : 0.923562 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.26 [[ 0.83309825 -0.48364904 -0.26838575 2.08721727] [ 0.51182813 0.85803425 0.04253459 0.72675023] [ 0.20971236 -0.17280287 0.96237202 -0.25650855] [ 0. 0. 0. 1. ]] SLAMing on 58.951346183999995 meters Centerline goodness : 0.919236 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83209206 -0.48418906 -0.27052498 2.08606862] [ 0.51296269 0.85731518 0.04335846 0.72955245] [ 0.21093148 -0.17484745 0.96173608 -0.25311237] [ 0. 0. 0. 1. ]] SLAMing on 58.981346183999996 meters Centerline goodness : 0.924524 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83166068 -0.48420899 -0.27181274 2.08545351] [ 0.51336968 0.85703807 0.04401499 0.73057595] [ 0.21164142 -0.17614596 0.96134308 -0.25089432] [ 0. 0. 0. 1. ]] SLAMing on 59.011346184 meters Centerline goodness : 0.922400 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.8312161 -0.48437954 -0.27286673 2.08504902] [ 0.51380333 0.85676454 0.04427942 0.73159752] [ 0.21233449 -0.1770056 0.9610323 -0.24903147] [ 0. 0. 0. 1. ]] SLAMing on 59.041346184 meters Centerline goodness : 0.920776 Centerline is valid? [False, False] Translation: X:2.09, Y:0.73, Z:-0.25 [[ 0.83062745 -0.48490843 -0.27371856 2.08587865] [ 0.51446308 0.85637958 0.04406525 0.73325499] [ 0.21303938 -0.1774199 0.96079988 -0.24842579] [ 0. 0. 0. 1. ]] SLAMing on 59.071346184 meters Centerline goodness : 0.917784 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.25 [[ 0.82823243 -0.4895051 -0.27279261 2.0877101 ] [ 0.51794292 0.85451772 0.03917389 0.73967222] [ 0.2139303 -0.17373608 0.96127499 -0.25063798] [ 0. 0. 0. 1. ]] SLAMing on 59.10134618399999 meters Centerline goodness : 0.915189 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.24 [[ 0.82645177 -0.48595672 -0.28429482 2.08557177] [ 0.51493596 0.85660467 0.03270176 0.73901503] [ 0.22763663 -0.17342005 0.95817903 -0.24435042] [ 0. 0. 0. 1. ]] SLAMing on 59.131346183999995 meters Centerline goodness : 0.917941 Centerline is valid? [False, False] Translation: X:2.09, Y:0.74, Z:-0.24 [[ 0.82535768 -0.48650506 -0.28652665 2.08791829] [ 0.51588814 0.85603744 0.03254741 0.74389877] [ 0.22944306 -0.17467896 0.95751926 -0.24391019] [ 0. 0. 0. 1. ]] SLAMing on 59.161346183999996 meters Centerline goodness : 0.917814 Centerline is valid? [False, False] Translation: X:2.09, Y:0.75, Z:-0.24 [[ 0.8248704 -0.48425768 -0.29169046 2.08683951] [ 0.51524826 0.85630763 0.0354468 0.75167694] [ 0.23261138 -0.17953202 0.95585574 -0.2397226 ] [ 0. 0. 0. 1. ]] SLAMing on 59.191346184 meters Centerline goodness : 0.917305 Centerline is valid? [False, False] Translation: X:2.09, Y:0.76, Z:-0.24 [[ 0.82559655 -0.48178416 -0.29372496 2.08637327] [ 0.51349053 0.85729149 0.03713185 0.75533364] [ 0.23391838 -0.18148091 0.9551685 -0.23931296] [ 0. 0. 0. 1. ]] SLAMing on 59.221346184 meters Centerline goodness : 0.910637 Centerline is valid? [False, False] Translation: X:2.09, Y:0.76, Z:-0.24 [[ 0.82652052 -0.47922381 -0.29531063 2.0864853 ] [ 0.51152852 0.85839481 0.03869006 0.75792402] [ 0.23495191 -0.18303794 0.95461757 -0.23963142] [ 0. 0. 0. 1. ]] SLAMing on 59.251346184 meters Centerline goodness : 0.911122 Centerline is valid? [False, False] Translation: X:2.08, Y:0.76, Z:-0.24 [[ 0.82676022 -0.47926125 -0.294578 2.08473925] [ 0.5110517 0.85874527 0.037185 0.76047443] [ 0.23514614 -0.18128767 0.9549037 -0.24012008] [ 0. 0. 0. 1. ]] SLAMing on 59.281346184 meters Centerline goodness : 0.913882 Centerline is valid? [False, False] Translation: X:2.08, Y:0.77, Z:-0.24 [[ 0.82648687 -0.47921022 -0.29542684 2.08384119] [ 0.5108216 0.85894135 0.03579185 0.76671956] [ 0.2366025 -0.18049191 0.95469468 -0.24027058] [ 0. 0. 0. 1. ]] SLAMing on 59.311346183999994 meters Centerline goodness : 0.909016 Centerline is valid? [False, False] Translation: X:2.08, Y:0.77, Z:-0.24 [[ 0.82655371 -0.47724692 -0.29840298 2.08449446] [ 0.50982537 0.85945498 0.03761961 0.77064622] [ 0.23851008 -0.18322803 0.95369829 -0.23871391] [ 0. 0. 0. 1. ]] SLAMing on 59.341346183999995 meters Centerline goodness : 0.908979 Centerline is valid? [False, False] Translation: X:2.08, Y:0.78, Z:-0.24 [[ 0.82635506 -0.47566967 -0.30145593 2.08431182] [ 0.50917982 0.85977005 0.03913269 0.77568444] [ 0.24056855 -0.18583278 0.95267673 -0.23674905] [ 0. 0. 0. 1. ]] SLAMing on 59.371346184 meters Centerline goodness : 0.906950 Centerline is valid? [False, False] Translation: X:2.08, Y:0.78, Z:-0.24 [[ 0.82570811 -0.47640588 -0.30206547 2.08187716] [ 0.50974027 0.85949614 0.03783175 0.78053525] [ 0.24160084 -0.18521292 0.9525362 -0.23514096] [ 0. 0. 0. 1. ]] SLAMing on 59.401346184 meters Centerline goodness : 0.900908 Centerline is valid? [False, False] Translation: X:2.08, Y:0.79, Z:-0.24 [[ 0.82492056 -0.47754073 -0.30242508 2.0813357 ] [ 0.51023494 0.85932877 0.03484766 0.78809844] [ 0.2432414 -0.18305439 0.95253594 -0.2355414 ] [ 0. 0. 0. 1. ]] SLAMing on 59.431346184 meters Centerline goodness : 0.901720 Centerline is valid? [False, False] Translation: X:2.08, Y:0.79, Z:-0.24 [[ 0.82460267 -0.47820229 -0.30224658 2.08091181] [ 0.51049063 0.85923864 0.03329087 0.79124561] [ 0.24378217 -0.18174579 0.95264827 -0.23582407] [ 0. 0. 0. 1. ]] SLAMing on 59.461346184 meters Centerline goodness : 0.902571 Centerline is valid? [False, False] Translation: X:2.03, Y:0.78, Z:-0.24 [[ 0.82431367 -0.48208809 -0.29681315 2.03075142] [ 0.51033827 0.85971848 0.02095181 0.78263272] [ 0.24507514 -0.16874597 0.9547057 -0.24300752] [ 0. 0. 0. 1. ]] SLAMing on 59.491346183999994 meters Centerline goodness : 0.902083 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.25 [[ 0.8243489 -0.48536947 -0.29131662 1.98364472] [ 0.50983294 0.86022145 0.00945703 0.77039113] [ 0.24600666 -0.1563187 0.95657994 -0.24984837] [ 0. 0. 0. 1. ]] SLAMing on 59.521346183999995 meters Centerline goodness : 0.896237 Centerline is valid? [False, False] Translation: X:1.94, Y:0.76, Z:-0.26 [[ 8.24505860e-01 -4.87944740e-01 -2.86531005e-01 1.93553373e+00] [ 5.09188913e-01 8.60654674e-01 -4.28152454e-04 7.56181466e-01] [ 2.46813163e-01 -1.45545396e-01 9.58070874e-01 -2.57969830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.551346183999996 meters Centerline goodness : 0.902908 Centerline is valid? [False, False] Translation: X:1.89, Y:0.74, Z:-0.27 [[ 0.82479672 -0.49045286 -0.28136519 1.88743248] [ 0.50834269 0.86108695 -0.01081575 0.74185472] [ 0.24758451 -0.13410914 0.95953981 -0.26536803] [ 0. 0. 0. 1. ]] SLAMing on 59.581346184 meters Centerline goodness : 0.897631 Centerline is valid? [False, False] Translation: X:1.84, Y:0.73, Z:-0.27 [[ 0.82590972 -0.49174865 -0.27578324 1.83882902] [ 0.50635541 0.86207536 -0.0207429 0.73039384] [ 0.24794623 -0.12251258 0.96099601 -0.27339267] [ 0. 0. 0. 1. ]] SLAMing on 59.611346184 meters Centerline goodness : 0.894612 Centerline is valid? [False, False] Translation: X:1.79, Y:0.72, Z:-0.28 [[ 0.82693034 -0.4936137 -0.26931716 1.79010009] [ 0.5048348 0.86265812 -0.03102904 0.71609585] [ 0.24764499 -0.11030183 0.96255154 -0.27958265] [ 0. 0. 0. 1. ]] SLAMing on 59.641346184 meters Centerline goodness : 0.898412 Centerline is valid? [False, False] Translation: X:1.74, Y:0.70, Z:-0.29 [[ 0.82800849 -0.49482383 -0.26372583 1.73762695] [ 0.50337566 0.86318061 -0.03914301 0.70013017] [ 0.24701192 -0.10034242 0.96380315 -0.28682663] [ 0. 0. 0. 1. ]] SLAMing on 59.671346183999994 meters Centerline goodness : 0.900373 Centerline is valid? [False, False] Translation: X:1.68, Y:0.69, Z:-0.29 [[ 0.8301824 -0.49414357 -0.25810719 1.68263608] [ 0.50028055 0.86462944 -0.04620935 0.68905155] [ 0.24600113 -0.09076382 0.96501056 -0.29326308] [ 0. 0. 0. 1. ]] SLAMing on 59.701346183999995 meters Centerline goodness : 0.900199 Centerline is valid? [False, False] Translation: X:1.63, Y:0.67, Z:-0.30 [[ 0.83154724 -0.49412642 -0.253709 1.63180088] [ 0.49822047 0.86545246 -0.05261568 0.67281372] [ 0.24557188 -0.08265059 0.9658485 -0.30257221] [ 0. 0. 0. 1. ]] SLAMing on 59.731346183999996 meters Centerline goodness : 0.898605 Centerline is valid? [False, False] Translation: X:1.58, Y:0.66, Z:-0.31 [[ 0.83280008 -0.49410338 -0.24961146 1.58237611] [ 0.4962325 0.866184 -0.05897957 0.65592174] [ 0.24535145 -0.07474713 0.96654826 -0.31259627] [ 0. 0. 0. 1. ]] SLAMing on 59.761346184 meters Centerline goodness : 0.900116 Centerline is valid? [False, False] Translation: X:1.53, Y:0.64, Z:-0.32 [[ 0.83396333 -0.49462221 -0.24465083 1.53308762] [ 0.49450117 0.86663229 -0.06646099 0.64306197] [ 0.24489539 -0.0655541 0.96733082 -0.32332074] [ 0. 0. 0. 1. ]] SLAMing on 59.791346184 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:1.48, Y:0.62, Z:-0.33 [[ 0.8354146 -0.49453382 -0.23983068 1.48172251] [ 0.49285602 0.86718083 -0.07134671 0.62493172] [ 0.24325993 -0.05859791 0.96818949 -0.33449588] [ 0. 0. 0. 1. ]] SLAMing on 59.821346184 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:1.44, Y:0.60, Z:-0.35 [[ 0.83715062 -0.4935758 -0.23571543 1.43675882] [ 0.49048347 0.86814109 -0.07587494 0.60413621] [ 0.24208429 -0.05209577 0.96885563 -0.34558398] [ 0. 0. 0. 1. ]] SLAMing on 59.85134618399999 meters Centerline goodness : 0.902318 Centerline is valid? [False, False] Translation: X:1.38, Y:0.59, Z:-0.36 [[ 0.83890686 -0.49244065 -0.23181348 1.3846508 ] [ 0.48837143 0.86907048 -0.07880253 0.58564828] [ 0.24026782 -0.0471031 0.96956314 -0.35763391] [ 0. 0. 0. 1. ]] SLAMing on 59.881346183999995 meters Centerline goodness : 0.904486 Centerline is valid? [False, False] Translation: X:1.33, Y:0.57, Z:-0.37 [[ 0.84149482 -0.4897507 -0.22810242 1.33201218] [ 0.48455224 0.87088423 -0.08227867 0.57271537] [ 0.23894684 -0.04129047 0.97015437 -0.3684287 ] [ 0. 0. 0. 1. ]] SLAMing on 59.911346183999996 meters Centerline goodness : 0.902147 Centerline is valid? [False, False] Translation: X:1.29, Y:0.56, Z:-0.38 [[ 0.84408829 -0.48695366 -0.22447961 1.28599249] [ 0.48043368 0.87273849 -0.08666604 0.55678302] [ 0.23811434 -0.03469378 0.97061728 -0.37894534] [ 0. 0. 0. 1. ]] SLAMing on 59.941346184 meters Centerline goodness : 0.907230 Centerline is valid? [False, False] Translation: X:1.24, Y:0.54, Z:-0.39 [[ 0.84899921 -0.47887901 -0.22332765 1.24049578] [ 0.47218305 0.8772848 -0.08610772 0.53945739] [ 0.23715714 -0.03234615 0.97093265 -0.39127019] [ 0. 0. 0. 1. ]] SLAMing on 59.971346184 meters Centerline goodness : 0.905081 Centerline is valid? [False, False] Translation: X:1.19, Y:0.53, Z:-0.40 [[ 0.85519253 -0.4685496 -0.221601 1.19365863] [ 0.46153719 0.88296378 -0.08578105 0.52639361] [ 0.23585834 -0.02891779 0.9713571 -0.40180001] [ 0. 0. 0. 1. ]] SLAMing on 60.001346184 meters Centerline goodness : 0.904910 Centerline is valid? [False, False] Translation: X:1.15, Y:0.51, Z:-0.41 [[ 0.85860615 -0.46354546 -0.21890886 1.1486098 ] [ 0.45566834 0.88575159 -0.08837688 0.50962189] [ 0.23486558 -0.0238689 0.97173476 -0.41254247] [ 0. 0. 0. 1. ]] SLAMing on 60.031346184 meters Centerline goodness : 0.902190 Centerline is valid? [False, False] Translation: X:1.10, Y:0.49, Z:-0.42 [[ 0.86142443 -0.45961403 -0.21610855 1.10229608] [ 0.45086262 0.88791878 -0.09123124 0.49187074] [ 0.23381799 -0.01884645 0.97209771 -0.4234029 ] [ 0. 0. 0. 1. ]] SLAMing on 60.061346183999994 meters Centerline goodness : 0.907411 Centerline is valid? [False, False] Translation: X:1.05, Y:0.47, Z:-0.44 [[ 0.86427414 -0.45544183 -0.21354848 1.05414555] [ 0.44624774 0.89013105 -0.09235622 0.47252386] [ 0.23214902 -0.01547443 0.97255713 -0.43596049] [ 0. 0. 0. 1. ]] SLAMing on 60.091346183999995 meters Centerline goodness : 0.906495 Centerline is valid? [False, False] Translation: X:1.01, Y:0.46, Z:-0.44 [[ 0.86834003 -0.4489147 -0.21085821 1.00704517] [ 0.43882378 0.89351982 -0.09516315 0.45818786] [ 0.23112613 -0.00989563 0.97287347 -0.44420242] [ 0. 0. 0. 1. ]] SLAMing on 60.121346184 meters Centerline goodness : 0.908581 Centerline is valid? [False, False] Translation: X:0.96, Y:0.44, Z:-0.46 [[ 0.8710166 -0.44463763 -0.20887186 0.96101869] [ 0.43393473 0.89569037 -0.09715665 0.43958113] [ 0.23028402 -0.0060117 0.97310489 -0.45614028] [ 0. 0. 0. 1. ]] SLAMing on 60.151346184 meters Centerline goodness : 0.909025 Centerline is valid? [False, False] Translation: X:0.92, Y:0.42, Z:-0.47 [[ 0.87413497 -0.43953688 -0.20662862 0.91755106] [ 0.42819109 0.89822288 -0.09923731 0.42196456] [ 0.22921702 -0.00172973 0.97337381 -0.46800371] [ 0. 0. 0. 1. ]] SLAMing on 60.181346184 meters Centerline goodness : 0.909203 Centerline is valid? [False, False] Translation: X:0.89, Y:0.41, Z:-0.48 [[ 0.87563711 -0.43573518 -0.2083135 0.88622987] [ 0.42577478 0.90004509 -0.09292295 0.40804145] [ 0.22798134 -0.00732785 0.97363793 -0.48108179] [ 0. 0. 0. 1. ]] SLAMing on 60.211346184 meters Centerline goodness : 0.908036 Centerline is valid? [False, False] Translation: X:0.85, Y:0.39, Z:-0.49 [[ 0.87849345 -0.42958516 -0.20905942 0.85394469] [ 0.42151553 0.90291392 -0.08408993 0.39379465] [ 0.22488644 -0.01424934 0.97428078 -0.49470902] [ 0. 0. 0. 1. ]] SLAMing on 60.241346183999994 meters Centerline goodness : 0.909859 Centerline is valid? [False, False] Translation: X:0.81, Y:0.37, Z:-0.50 [[ 0.88082719 -0.42661201 -0.20529409 0.80691445] [ 0.41755594 0.90439614 -0.08783316 0.37476189] [ 0.22313786 -0.00835593 0.97475108 -0.50438984] [ 0. 0. 0. 1. ]] SLAMing on 60.271346183999995 meters Centerline goodness : 0.908803 Centerline is valid? [False, False] Translation: X:0.77, Y:0.35, Z:-0.52 [[ 0.88519908 -0.42075452 -0.19846465 0.76644542] [ 0.41287375 0.90712286 -0.08162953 0.35399691] [ 0.21437781 -0.00968246 0.97670282 -0.52254985] [ 0. 0. 0. 1. ]] SLAMing on 60.301346183999996 meters Centerline goodness : 0.912995 Centerline is valid? [False, False] Translation: X:0.74, Y:0.34, Z:-0.53 [[ 0.88768663 -0.41620807 -0.19693475 0.735363 ] [ 0.40949862 0.90916924 -0.07564497 0.34102516] [ 0.21053106 -0.01349548 0.97749401 -0.53330943] [ 0. 0. 0. 1. ]] SLAMing on 60.331346184 meters Centerline goodness : 0.913762 Centerline is valid? [False, False] Translation: X:0.71, Y:0.33, Z:-0.54 [[ 0.8895332 -0.41234499 -0.19672897 0.70552244] [ 0.40673681 0.91085572 -0.07005018 0.32706586] [ 0.20807655 -0.01770496 0.97795229 -0.54415389] [ 0. 0. 0. 1. ]] SLAMing on 60.361346184 meters Centerline goodness : 0.915465 Centerline is valid? [False, False] Translation: X:0.68, Y:0.31, Z:-0.55 [[ 0.89118025 -0.40909248 -0.19606402 0.67782412] [ 0.40420175 0.91226876 -0.06623179 0.31382673] [ 0.20595801 -0.02022496 0.9783518 -0.55406787] [ 0. 0. 0. 1. ]] SLAMing on 60.391346184 meters Centerline goodness : 0.914211 Centerline is valid? [False, False] Translation: X:0.64, Y:0.30, Z:-0.56 [[ 0.89332973 -0.40548721 -0.19375787 0.63533102] [ 0.39949896 0.91399175 -0.0708496 0.29586834] [ 0.2058217 -0.01411402 0.97848772 -0.56338443] [ 0. 0. 0. 1. ]] SLAMing on 60.421346183999994 meters Centerline goodness : 0.913559 Centerline is valid? [False, False] Translation: X:0.61, Y:0.28, Z:-0.57 [[ 0.8941573 -0.40439148 -0.19222448 0.6078408 ] [ 0.39869351 0.91446729 -0.06923191 0.28263877] [ 0.2037798 -0.01473443 0.97890586 -0.57287667] [ 0. 0. 0. 1. ]] SLAMing on 60.451346183999995 meters Centerline goodness : 0.914575 Centerline is valid? [False, False] Translation: X:0.58, Y:0.27, Z:-0.58 [[ 0.89543184 -0.40227018 -0.19073679 0.57881605] [ 0.39719215 0.9153675 -0.06588428 0.26876273] [ 0.20109754 -0.01676427 0.97942776 -0.58313461] [ 0. 0. 0. 1. ]] SLAMing on 60.481346183999996 meters Centerline goodness : 0.912196 Centerline is valid? [False, False] Translation: X:0.53, Y:0.25, Z:-0.59 [[ 0.89707539 -0.40041055 -0.18688801 0.53068498] [ 0.39413616 0.91628427 -0.07127285 0.24987699] [ 0.19978094 -0.0097222 0.97979235 -0.58975645] [ 0. 0. 0. 1. ]] SLAMing on 60.511346184 meters Centerline goodness : 0.917568 Centerline is valid? [False, False] Translation: X:0.50, Y:0.23, Z:-0.60 [[ 0.89918627 -0.39722239 -0.18351683 0.50253685] [ 0.39171459 0.91764795 -0.06694716 0.23495329] [ 0.19499675 -0.01168825 0.98073424 -0.59892308] [ 0. 0. 0. 1. ]] SLAMing on 60.541346184 meters Centerline goodness : 0.916134 Centerline is valid? [False, False] Translation: X:0.47, Y:0.22, Z:-0.61 [[ 0.90039807 -0.3957003 -0.18084409 0.4698304 ] [ 0.39113698 0.91825562 -0.06179379 0.21860764] [ 0.19051293 -0.0150958 0.98156861 -0.60925002] [ 0. 0. 0. 1. ]] SLAMing on 60.571346184 meters Centerline goodness : 0.914949 Centerline is valid? [False, False] Translation: X:0.44, Y:0.20, Z:-0.62 [[ 0.90062665 -0.39605101 -0.17892801 0.43514749] [ 0.39223544 0.91804905 -0.05776944 0.20166369] [ 0.18714433 -0.01815321 0.98216468 -0.61898654] [ 0. 0. 0. 1. ]] SLAMing on 60.60134618399999 meters Centerline goodness : 0.916258 Centerline is valid? [False, False] Translation: X:0.41, Y:0.19, Z:-0.63 [[ 0.90161023 -0.39460571 -0.17715903 0.40818542] [ 0.39097514 0.91866728 -0.05647001 0.1888155 ] [ 0.18503359 -0.01835084 0.98256085 -0.62673574] [ 0. 0. 0. 1. ]] SLAMing on 60.631346183999995 meters Centerline goodness : 0.914857 Centerline is valid? [False, False] Translation: X:0.38, Y:0.18, Z:-0.63 [[ 0.90268553 -0.39361608 -0.17385402 0.38194075] [ 0.39002235 0.91911032 -0.05584612 0.17548741] [ 0.18177295 -0.01739547 0.98318665 -0.63395383] [ 0. 0. 0. 1. ]] SLAMing on 60.661346183999996 meters Centerline goodness : 0.913557 Centerline is valid? [False, False] Translation: X:0.33, Y:0.15, Z:-0.64 [[ 0.90318276 -0.39461272 -0.16894287 0.33496692] [ 0.38972261 0.91880067 -0.06262284 0.1548265 ] [ 0.17993659 -0.00928098 0.98363443 -0.64157098] [ 0. 0. 0. 1. ]] SLAMing on 60.691346184 meters Centerline goodness : 0.912527 Centerline is valid? [False, False] Translation: X:0.31, Y:0.14, Z:-0.65 [[ 0.90462793 -0.39273528 -0.16555151 0.30705501] [ 0.38836164 0.9195909 -0.05939537 0.14050565] [ 0.17556632 -0.01056315 0.98441093 -0.65071307] [ 0. 0. 0. 1. ]] SLAMing on 60.721346184 meters Centerline goodness : 0.913045 Centerline is valid? [False, False] Translation: X:0.28, Y:0.13, Z:-0.66 [[ 0.90628808 -0.39014606 -0.1625668 0.27718595] [ 0.38649156 0.92065967 -0.05486386 0.12597589] [ 0.17107361 -0.01310823 0.98517105 -0.65979531] [ 0. 0. 0. 1. ]] SLAMing on 60.751346184 meters Centerline goodness : 0.916209 Centerline is valid? [False, False] Translation: X:0.25, Y:0.11, Z:-0.67 [[ 0.90781419 -0.38784484 -0.15952988 0.24534667] [ 0.38478276 0.92160034 -0.05094149 0.1118501 ] [ 0.16678018 -0.01513894 0.98587787 -0.66682806] [ 0. 0. 0. 1. ]] SLAMing on 60.781346184 meters Centerline goodness : 0.917079 Centerline is valid? [False, False] Translation: X:0.21, Y:0.10, Z:-0.67 [[ 0.90842591 -0.38794764 -0.15575299 0.20938148] [ 0.38544761 0.92152172 -0.0472002 0.09578741] [ 0.16184096 -0.01715673 0.9866677 -0.67294908] [ 0. 0. 0. 1. ]] SLAMing on 60.811346183999994 meters Centerline goodness : 0.916657 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.68 [[ 0.90945839 -0.38715084 -0.15165641 0.18376233] [ 0.38440138 0.92190382 -0.04825894 0.08412231] [ 0.15849611 -0.01440744 0.98725448 -0.6775493 ] [ 0. 0. 0. 1. ]] SLAMing on 60.841346183999995 meters Centerline goodness : 0.917595 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:-0.68 [[ 0.91064809 -0.38591275 -0.14761911 0.13799201] [ 0.38205286 0.9225126 -0.05482803 0.0668176 ] [ 0.15733933 -0.00646926 0.98752341 -0.68311994] [ 0. 0. 0. 1. ]] SLAMing on 60.871346184 meters Centerline goodness : 0.916974 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.69 [[ 9.11827884e-01 -3.84695849e-01 -1.43453875e-01 9.26802425e-02] [ 3.79905486e-01 9.23043135e-01 -6.05243179e-02 4.83060465e-02] [ 1.55697568e-01 6.88846791e-04 9.87804532e-01 -6.91255288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901346184 meters Centerline goodness : 0.917320 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.70 [[ 9.12968135e-01 -3.82747709e-01 -1.41397932e-01 6.73619346e-02] [ 3.78164481e-01 9.23852798e-01 -5.90561804e-02 3.62951905e-02] [ 1.53234493e-01 4.44735179e-04 9.88189755e-01 -6.99446885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.931346184 meters Centerline goodness : 0.920263 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.71 [[ 0.91394857 -0.38113427 -0.13940834 0.03585809] [ 0.37721947 0.92451567 -0.05455489 0.02212027] [ 0.14967794 -0.00272718 0.98873104 -0.70886444] [ 0. 0. 0. 1. ]] SLAMing on 60.961346184 meters Centerline goodness : 0.918674 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:-0.72 [[ 9.15515233e-01 -3.78207865e-01 -1.37079058e-01 -3.83752619e-04] [ 3.75326840e-01 9.25684861e-01 -4.73001141e-02 7.58924416e-03] [ 1.44781284e-01 -8.14547458e-03 9.89430155e-01 -7.17283820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.991346183999994 meters Centerline goodness : 0.918885 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.00, Z:-0.72 [[ 0.91697735 -0.3760411 -0.13321273 -0.03067648] [ 0.37354998 0.9265569 -0.04418954 -0.00472956] [ 0.14004626 -0.00924081 0.99010184 -0.72382288] [ 0. 0. 0. 1. ]] SLAMing on 61.021346183999995 meters Centerline goodness : 0.919018 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-0.73 [[ 0.91826815 -0.37396579 -0.13012763 -0.05989488] [ 0.37183002 0.92738315 -0.04126644 -0.0172967 ] [ 0.13611041 -0.0104917 0.99063812 -0.73097999] [ 0. 0. 0. 1. ]] SLAMing on 61.051346183999996 meters Centerline goodness : 0.920695 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.03, Z:-0.74 [[ 0.91909779 -0.37283761 -0.12748086 -0.08699419] [ 0.37061643 0.92785302 -0.04162012 -0.02756952] [ 0.13380105 -0.00899354 0.9909674 -0.73651542] [ 0. 0. 0. 1. ]] SLAMing on 61.081346184 meters Centerline goodness : 0.918531 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.04, Z:-0.74 [[ 0.92105694 -0.36913701 -0.12406443 -0.12882883] [ 0.36602056 0.92937407 -0.04788311 -0.04203998] [ 0.1329777 -0.00130706 0.99111817 -0.74314628] [ 0. 0. 0. 1. ]] SLAMing on 61.111346184 meters Centerline goodness : 0.917989 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.05, Z:-0.75 [[ 9.21450097e-01 -3.67478986e-01 -1.26051239e-01 -1.54204403e-01] [ 3.64064252e-01 9.30031810e-01 -4.99805176e-02 -4.91518549e-02] [ 1.35598452e-01 1.63802915e-04 9.90763863e-01 -7.46694087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141346184 meters Centerline goodness : 0.917057 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.06, Z:-0.75 [[ 0.92200887 -0.36574133 -0.12701546 -0.1798373 ] [ 0.36194469 0.93071306 -0.05262365 -0.05575699] [ 0.1374616 0.0025469 0.99050382 -0.7489087 ] [ 0. 0. 0. 1. ]] SLAMing on 61.171346183999994 meters Centerline goodness : 0.917847 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.07, Z:-0.76 [[ 0.92368491 -0.36160305 -0.12668633 -0.20969403] [ 0.35843575 0.93233127 -0.04777258 -0.06715336] [ 0.13538834 -0.0012821 0.99079178 -0.75706324] [ 0. 0. 0. 1. ]] SLAMing on 61.201346183999995 meters Centerline goodness : 0.915850 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.08, Z:-0.77 [[ 0.9248485 -0.35920529 -0.12500728 -0.23874543] [ 0.35649518 0.93325127 -0.04419552 -0.07904122] [ 0.13253847 -0.00369033 0.99117099 -0.76585781] [ 0. 0. 0. 1. ]] SLAMing on 61.231346183999996 meters Centerline goodness : 0.917755 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.09, Z:-0.77 [[ 0.92612161 -0.35658751 -0.12306144 -0.26633924] [ 0.35417979 0.93424857 -0.0416687 -0.09016216] [ 0.12982851 -0.00499559 0.99152388 -0.77318108] [ 0. 0. 0. 1. ]] SLAMing on 61.261346184 meters Centerline goodness : 0.917993 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.10, Z:-0.78 [[ 0.92789074 -0.35270103 -0.12091637 -0.30009313] [ 0.35096304 0.93569332 -0.03609641 -0.1017542 ] [ 0.12587188 -0.00894365 0.99200619 -0.78055222] [ 0. 0. 0. 1. ]] SLAMing on 61.291346184 meters Centerline goodness : 0.919249 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.11, Z:-0.79 [[ 0.93055224 -0.34755584 -0.11522791 -0.32274051] [ 0.34587672 0.93763033 -0.03490943 -0.11056396] [ 0.12017416 -0.0073696 0.99272547 -0.78508489] [ 0. 0. 0. 1. ]] SLAMing on 61.321346184 meters Centerline goodness : 0.919079 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.12, Z:-0.79 [[ 0.93235461 -0.34424426 -0.11050234 -0.34999382] [ 0.34269513 0.9388555 -0.03332264 -0.12101798] [ 0.11521685 -0.0068001 0.99331709 -0.78995446] [ 0. 0. 0. 1. ]] SLAMing on 61.35134618399999 meters Centerline goodness : 0.916617 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.13, Z:-0.80 [[ 0.93391985 -0.34139804 -0.10602405 -0.38031968] [ 0.34009001 0.93989013 -0.03074619 -0.13175289] [ 0.11014764 -0.00734324 0.99388811 -0.79602207] [ 0. 0. 0. 1. ]] SLAMing on 61.381346183999995 meters Centerline goodness : 0.919097 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.14, Z:-0.80 [[ 0.93543159 -0.33805295 -0.10338252 -0.40238137] [ 0.33664653 0.94111086 -0.03129646 -0.140291 ] [ 0.10787428 -0.00552767 0.99414918 -0.80062298] [ 0. 0. 0. 1. ]] SLAMing on 61.411346183999996 meters Centerline goodness : 0.916788 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.15, Z:-0.80 [[ 0.93653373 -0.33519592 -0.10270474 -0.42478918] [ 0.3335999 0.94214198 -0.03285726 -0.14797252] [ 0.10777606 -0.00349036 0.99416907 -0.80432992] [ 0. 0. 0. 1. ]] SLAMing on 61.441346184 meters Centerline goodness : 0.914888 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.16, Z:-0.81 [[ 0.93788914 -0.33203556 -0.10058009 -0.45126058] [ 0.33043282 0.94326335 -0.03268656 -0.15587424] [ 0.10572661 -0.0025786 0.99439189 -0.80812986] [ 0. 0. 0. 1. ]] SLAMing on 61.471346184 meters Centerline goodness : 0.920049 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.17, Z:-0.82 [[ 0.93947443 -0.32842802 -0.097585 -0.47869659] [ 0.32713918 0.94451914 -0.02938623 -0.16679679] [ 0.10182216 -0.00431626 0.99479325 -0.81509454] [ 0. 0. 0. 1. ]] SLAMing on 61.501346184 meters Centerline goodness : 0.916059 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.18, Z:-0.82 [[ 0.94108081 -0.32469476 -0.09455269 -0.4999096 ] [ 0.32329074 0.9458165 -0.03023659 -0.1751958 ] [ 0.09924716 -0.00211293 0.99506057 -0.81910197] [ 0. 0. 0. 1. ]] SLAMing on 61.531346184 meters Centerline goodness : 0.919323 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.18, Z:-0.82 [[ 0.94290924 -0.32072999 -0.08974649 -0.51767319] [ 0.31914259 0.94716957 -0.03190314 -0.1828685 ] [ 0.09523744 0.00143984 0.99545354 -0.82349389] [ 0. 0. 0. 1. ]] SLAMing on 61.561346183999994 meters Centerline goodness : 0.918192 Centerline is valid? [False, False] Translation: X:-0.54, Y:-0.19, Z:-0.83 [[ 0.94397806 -0.31727785 -0.09077547 -0.54018587] [ 0.31549105 0.94832705 -0.0337816 -0.18939909] [ 0.09680299 0.00325024 0.99529826 -0.82639866] [ 0. 0. 0. 1. ]] SLAMing on 61.591346183999995 meters Centerline goodness : 0.920517 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94490203 -0.31432874 -0.09141991 -0.56138198] [ 0.31231141 0.94929864 -0.0359676 -0.19623023] [ 0.09809045 0.00543438 0.99516267 -0.82979215] [ 0. 0. 0. 1. ]] SLAMing on 61.621346184 meters Centerline goodness : 0.913686 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94509315 -0.31358991 -0.0919799 -0.55899305] [ 0.31162818 0.9495467 -0.03534038 -0.19616096] [ 0.0984216 0.00473642 0.99513354 -0.83140241] [ 0. 0. 0. 1. ]] SLAMing on 61.651346184 meters Centerline goodness : 0.917802 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.20, Z:-0.83 [[ 0.94509326 -0.31360443 -0.09192931 -0.55905271] [ 0.31163291 0.94954134 -0.03544261 -0.19536544] [ 0.09840564 0.00484837 0.99513458 -0.83150217] [ 0. 0. 0. 1. ]] SLAMing on 61.681346184 meters Centerline goodness : 0.916475 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94696759 -0.30919271 -0.08747717 -0.58583246] [ 0.30759873 0.95099495 -0.03149027 -0.20603325] [ 0.09292691 0.00291239 0.99566867 -0.83773317] [ 0. 0. 0. 1. ]] SLAMing on 61.711346184 meters Centerline goodness : 0.916475 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94696759 -0.30919271 -0.08747717 -0.58583246] [ 0.30759873 0.95099495 -0.03149027 -0.20603325] [ 0.09292691 0.00291239 0.99566867 -0.83773317] [ 0. 0. 0. 1. ]] SLAMing on 61.741346183999994 meters Centerline goodness : 0.920003 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 9.47956205e-01 -3.06068803e-01 -8.77548903e-02 -5.88237061e-01] [ 3.04839616e-01 9.52009088e-01 -2.74135902e-02 -2.08022491e-01] [ 9.19338978e-02 -7.64284127e-04 9.95764819e-01 -8.38132131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771346183999995 meters Centerline goodness : 0.916175 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 9.48012610e-01 -3.05854523e-01 -8.78925564e-02 -5.87626271e-01] [ 3.04615789e-01 9.52078005e-01 -2.75080773e-02 -2.07480452e-01] [ 9.20940396e-02 -6.95456256e-04 9.95750071e-01 -8.38198422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters Centerline goodness : 0.918413 Centerline is valid? [False, False] Translation: X:-0.59, Y:-0.21, Z:-0.84 [[ 0.94820365 -0.30512926 -0.08835138 -0.58512104] [ 0.30396319 0.95230969 -0.02669497 -0.20787603] [ 0.09228329 -0.0015433 0.9957316 -0.84035928] [ 0. 0. 0. 1. ]] SLAMing on 61.831346184 meters Centerline goodness : 0.917080 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.22, Z:-0.85 [[ 0.94925232 -0.30210809 -0.08746842 -0.60934546] [ 0.3009715 0.95327259 -0.02622051 -0.21658335] [ 0.09130268 -0.00143562 0.99582215 -0.84564603] [ 0. 0. 0. 1. ]] SLAMing on 61.861346184 meters Centerline goodness : 0.913022 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 0.9497594 -0.29994716 -0.08937994 -0.63160386] [ 0.29850333 0.95395498 -0.02942206 -0.22201028] [ 0.0940895 0.00126367 0.99556294 -0.84769577] [ 0. 0. 0. 1. ]] SLAMing on 61.891346184 meters Centerline goodness : 0.913168 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 9.49867492e-01 -2.99477776e-01 -8.98042857e-02 -6.29796028e-01] [ 2.98060325e-01 9.54102861e-01 -2.91165345e-02 -2.21862830e-01] [ 9.44022809e-02 8.89754943e-04 9.95533735e-01 -8.48734593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921346183999994 meters Centerline goodness : 0.910432 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.22, Z:-0.85 [[ 9.49982197e-01 -2.99037119e-01 -9.00590191e-02 -6.28247740e-01] [ 2.97671689e-01 9.54241429e-01 -2.85457591e-02 -2.22483025e-01] [ 9.44742887e-02 3.09942667e-04 9.95527254e-01 -8.50108688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.951346183999995 meters Centerline goodness : 0.911947 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95111311 -0.29639924 -0.08678334 -0.65346149] [ 0.29498707 0.95506214 -0.02896439 -0.23169429] [ 0.09146851 0.00194845 0.99580606 -0.85430946] [ 0. 0. 0. 1. ]] SLAMing on 61.981346183999996 meters Centerline goodness : 0.908497 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95107027 -0.29654538 -0.08675355 -0.65377903] [ 0.29509997 0.955016 -0.02933334 -0.2310786 ] [ 0.09154969 0.0022971 0.99579786 -0.85364737] [ 0. 0. 0. 1. ]] SLAMing on 62.011346184 meters Centerline goodness : 0.909125 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.23, Z:-0.85 [[ 0.95106687 -0.29657507 -0.08668936 -0.65386487] [ 0.29512912 0.95500672 -0.02934222 -0.23096501] [ 0.09149109 0.00232185 0.99580319 -0.85365503] [ 0. 0. 0. 1. ]] SLAMing on 62.041346184 meters Centerline goodness : 0.907868 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95220651 -0.29368115 -0.08398892 -0.67765513] [ 0.29225686 0.95589834 -0.02905674 -0.24084687] [ 0.08881829 0.00312167 0.99604295 -0.85820528] [ 0. 0. 0. 1. ]] SLAMing on 62.071346184 meters Centerline goodness : 0.906837 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95223059 -0.29357239 -0.08409611 -0.6771151 ] [ 0.29217992 0.95593289 -0.02869147 -0.24132481] [ 0.08881326 0.0027497 0.9960445 -0.85893717] [ 0. 0. 0. 1. ]] SLAMing on 62.10134618399999 meters Centerline goodness : 0.906495 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.24, Z:-0.86 [[ 0.95226099 -0.29341043 -0.08431685 -0.67617827] [ 0.29204168 0.95598347 -0.02841216 -0.24189708] [ 0.08894193 0.00243175 0.99603384 -0.8595477 ] [ 0. 0. 0. 1. ]] SLAMing on 62.131346183999995 meters Centerline goodness : 0.907880 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.24, Z:-0.86 [[ 0.95232821 -0.29313996 -0.08449815 -0.67492807] [ 0.29185099 0.95606832 -0.02750233 -0.24351821] [ 0.08884804 0.00153037 0.99604402 -0.86124908] [ 0. 0. 0. 1. ]] SLAMing on 62.161346183999996 meters Centerline goodness : 0.904903 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.25, Z:-0.87 [[ 0.95212412 -0.29378488 -0.08455826 -0.69683968] [ 0.2921702 0.9558587 -0.03115642 -0.25300073] [ 0.08997904 0.00495937 0.99593131 -0.86601422] [ 0. 0. 0. 1. ]] SLAMing on 62.191346184 meters Centerline goodness : 0.903782 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.26, Z:-0.87 [[ 0.95218608 -0.2934654 -0.084969 -0.69502031] [ 0.29192638 0.95596119 -0.03028509 -0.25504486] [ 0.09011469 0.00403235 0.99592323 -0.86751382] [ 0. 0. 0. 1. ]] SLAMing on 62.221346184 meters Centerline goodness : 0.904107 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 0.95229693 -0.29296423 -0.08545482 -0.69291407] [ 0.29151644 0.95611891 -0.02923685 -0.25693652] [ 0.09027032 0.00293068 0.99591299 -0.86935692] [ 0. 0. 0. 1. ]] SLAMing on 62.251346184 meters Centerline goodness : 0.904482 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 0.95239295 -0.29238264 -0.08637164 -0.68993802] [ 0.29107444 0.95630067 -0.02765329 -0.2596791 ] [ 0.0906826 0.00119622 0.99587913 -0.87195994] [ 0. 0. 0. 1. ]] SLAMing on 62.281346184 meters Centerline goodness : 0.902353 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.26, Z:-0.87 [[ 9.52411686e-01 -2.92206941e-01 -8.67587638e-02 -6.88700431e-01] [ 2.90938733e-01 9.56354881e-01 -2.72028423e-02 -2.61207949e-01] [ 9.09210266e-02 6.66820057e-04 9.95857883e-01 -8.72431685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.311346183999994 meters Centerline goodness : 0.904648 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.27, Z:-0.88 [[ 0.9534728 -0.2892998 -0.08482478 -0.70980505] [ 0.28798427 0.95723663 -0.02762405 -0.2712018 ] [ 0.08918902 0.00191058 0.99601289 -0.87704723] [ 0. 0. 0. 1. ]] SLAMing on 62.341346183999995 meters Centerline goodness : 0.903438 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.28, Z:-0.88 [[ 9.53693573e-01 -2.88289107e-01 -8.57785437e-02 -7.05876913e-01] [ 2.87122435e-01 9.57543411e-01 -2.59099030e-02 -2.75635250e-01] [ 8.96062222e-02 8.11635845e-05 9.95977268e-01 -8.79497065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.371346184 meters Centerline goodness : 0.902331 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95388939 -0.28743887 -0.08645189 -0.70309008] [ 0.28636287 0.95779843 -0.02486921 -0.27743034] [ 0.08995186 -0.00103413 0.99594558 -0.88121346] [ 0. 0. 0. 1. ]] SLAMing on 62.401346184 meters Centerline goodness : 0.896201 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95402484 -0.28682313 -0.08700055 -0.70092542] [ 0.28581935 0.95798163 -0.02405197 -0.27922761] [ 0.09024359 -0.00192026 0.99591787 -0.88239969] [ 0. 0. 0. 1. ]] SLAMing on 62.431346184 meters Centerline goodness : 0.898844 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.28, Z:-0.88 [[ 0.95418474 -0.28611718 -0.08756963 -0.69863279] [ 0.28518435 0.95819059 -0.02325268 -0.28122998] [ 0.09056139 -0.00278613 0.99588698 -0.88339296] [ 0. 0. 0. 1. ]] SLAMing on 62.461346184 meters Centerline goodness : 0.896895 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:-0.88 [[ 0.95425338 -0.28575218 -0.08801238 -0.69713878] [ 0.28491014 0.95829586 -0.02225443 -0.2852225 ] [ 0.09070116 -0.00383925 0.99587075 -0.88378193] [ 0. 0. 0. 1. ]] SLAMing on 62.491346183999994 meters Centerline goodness : 0.897377 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.29, Z:-0.88 [[ 0.95429597 -0.28548932 -0.08840275 -0.69610927] [ 0.28469376 0.95837174 -0.02175027 -0.28727039] [ 0.09093217 -0.00441152 0.99584732 -0.88377849] [ 0. 0. 0. 1. ]] SLAMing on 62.521346183999995 meters Centerline goodness : 0.895103 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.29, Z:-0.88 [[ 0.95442546 -0.2848622 -0.08902572 -0.69378302] [ 0.28415026 0.95855323 -0.02084044 -0.28983216] [ 0.09127254 -0.00540604 0.99581128 -0.88476458] [ 0. 0. 0. 1. ]] SLAMing on 62.551346183999996 meters Centerline goodness : 0.893553 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.30, Z:-0.88 [[ 0.95350728 -0.28691139 -0.09222643 -0.70612328] [ 0.28524608 0.95795147 -0.03104288 -0.29860905] [ 0.097255 0.00329238 0.99525405 -0.88416447] [ 0. 0. 0. 1. ]] SLAMing on 62.581346184 meters Centerline goodness : 0.894050 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.89 [[ 0.95256761 -0.29004654 -0.09213007 -0.70252176] [ 0.28809925 0.95699428 -0.03406999 -0.30053024] [ 0.09804983 0.00591137 0.99516395 -0.88503512] [ 0. 0. 0. 1. ]] SLAMing on 62.611346184 meters Centerline goodness : 0.890994 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.30, Z:-0.89 [[ 0.95256104 -0.28993548 -0.09254663 -0.70090739] [ 0.28808422 0.95703397 -0.03306754 -0.30465814] [ 0.09815772 0.00483763 0.99515911 -0.88594272] [ 0. 0. 0. 1. ]] SLAMing on 62.641346184 meters Centerline goodness : 0.891929 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.32, Z:-0.89 [[ 0.95283001 -0.289825 -0.0900913 -0.7310283 ] [ 0.28828825 0.95707631 -0.02991349 -0.32043686] [ 0.09489393 0.00253021 0.99548417 -0.89090217] [ 0. 0. 0. 1. ]] SLAMing on 62.671346183999994 meters Centerline goodness : 0.890851 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.33, Z:-0.89 [[ 0.95269919 -0.29022932 -0.0901731 -0.73080688] [ 0.28872964 0.9569548 -0.0295414 -0.32524522] [ 0.09486537 0.00210842 0.99548788 -0.89011379] [ 0. 0. 0. 1. ]] SLAMing on 62.701346183999995 meters Centerline goodness : 0.885956 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.34, Z:-0.89 [[ 0.95332541 -0.28965157 -0.08527972 -0.74913879] [ 0.28788486 0.95710988 -0.03260351 -0.33732625] [ 0.09106572 0.00653102 0.99582347 -0.89372006] [ 0. 0. 0. 1. ]] SLAMing on 62.731346183999996 meters Centerline goodness : 0.881959 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.36, Z:-0.90 [[ 0.95200502 -0.29454045 -0.08326084 -0.77648577] [ 0.29280821 0.95561596 -0.03258036 -0.35748102] [ 0.08916162 0.00663721 0.99599506 -0.90155798] [ 0. 0. 0. 1. ]] SLAMing on 62.761346184 meters Centerline goodness : 0.883340 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.37, Z:-0.91 [[ 0.95233806 -0.29426102 -0.08039072 -0.80051731] [ 0.2925728 0.95569769 -0.03229679 -0.37109924] [ 0.08633291 0.00723732 0.99624006 -0.90690122] [ 0. 0. 0. 1. ]] SLAMing on 62.791346184 meters Centerline goodness : 0.884282 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.38, Z:-0.91 [[ 0.95217019 -0.29471295 -0.08072301 -0.79935962] [ 0.29308304 0.95556409 -0.03161649 -0.37653259] [ 0.0864538 0.00644573 0.99623501 -0.90707125] [ 0. 0. 0. 1. ]] SLAMing on 62.821346184 meters Centerline goodness : 0.885410 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.40, Z:-0.91 [[ 0.9520476 -0.29572159 -0.07844816 -0.82526533] [ 0.29424912 0.9552586 -0.02997425 -0.39509443] [ 0.08380231 0.00545361 0.99646748 -0.91183529] [ 0. 0. 0. 1. ]] SLAMing on 62.85134618399999 meters Centerline goodness : 0.888715 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.41, Z:-0.92 [[ 0.95273252 -0.29400395 -0.07656648 -0.84738765] [ 0.29260057 0.95578887 -0.02919844 -0.4084174 ] [ 0.08176585 0.0054149 0.99663686 -0.91702643] [ 0. 0. 0. 1. ]] SLAMing on 62.881346183999995 meters Centerline goodness : 0.886069 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.41, Z:-0.92 [[ 0.95274383 -0.29382597 -0.07710707 -0.84550513] [ 0.29251225 0.95584976 -0.02806805 -0.41374214] [ 0.0819499 0.0041869 0.99662766 -0.9174777 ] [ 0. 0. 0. 1. ]] SLAMing on 62.911346183999996 meters Centerline goodness : 0.888136 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.42, Z:-0.92 [[ 0.95274953 -0.29370065 -0.07751297 -0.84410265] [ 0.29246944 0.95589244 -0.02704214 -0.4191082 ] [ 0.08203636 0.00309421 0.99662453 -0.91749901] [ 0. 0. 0. 1. ]] SLAMing on 62.941346184 meters Centerline goodness : 0.885546 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.44, Z:-0.92 [[ 0.95234216 -0.29513308 -0.07707714 -0.86884145] [ 0.29388896 0.95545038 -0.02727354 -0.43698103] [ 0.08169271 0.00332162 0.99665203 -0.92041246] [ 0. 0. 0. 1. ]] SLAMing on 62.971346184 meters Centerline goodness : 0.883273 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.44, Z:-0.92 [[ 0.95152169 -0.29766048 -0.07749006 -0.86353423] [ 0.29621844 0.95465679 -0.02974986 -0.44016451] [ 0.08283177 0.00535365 0.99654916 -0.92198589] [ 0. 0. 0. 1. ]] SLAMing on 63.001346184 meters Centerline goodness : 0.884992 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.45, Z:-0.92 [[ 0.95160385 -0.29637815 -0.08130253 -0.87551079] [ 0.2943263 0.95501028 -0.03643355 -0.44814287] [ 0.08844286 0.01074084 0.99602334 -0.92269504] [ 0. 0. 0. 1. ]] SLAMing on 63.031346184 meters Centerline goodness : 0.882870 Centerline is valid? [False, False] Translation: X:-0.88, Y:-0.46, Z:-0.91 [[ 0.95227636 -0.29116595 -0.09160855 -0.87701784] [ 0.28841281 0.95657251 -0.0422738 -0.46055249] [ 0.09993891 0.01383526 0.99489738 -0.91455363] [ 0. 0. 0. 1. ]] SLAMing on 63.061346183999994 meters Centerline goodness : 0.884343 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.47, Z:-0.91 [[ 0.95296756 -0.2835519 -0.10701008 -0.87393657] [ 0.28096258 0.95893157 -0.03886221 -0.46997007] [ 0.11363479 0.0069686 0.99349815 -0.90876475] [ 0. 0. 0. 1. ]] SLAMing on 63.091346183999995 meters Centerline goodness : 0.884539 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.48, Z:-0.90 [[ 9.53293526e-01 -2.75769588e-01 -1.23217645e-01 -8.69431362e-01] [ 2.73520393e-01 9.61223749e-01 -3.51496513e-02 -4.79495292e-01] [ 1.28132932e-01 -1.94603809e-04 9.91756983e-01 -9.02032499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121346184 meters Centerline goodness : 0.885658 Centerline is valid? [False, False] Translation: X:-0.87, Y:-0.49, Z:-0.89 [[ 0.95332521 -0.26889161 -0.13736208 -0.86838465] [ 0.26643143 0.96316847 -0.03634278 -0.48906223] [ 0.14207509 -0.00195109 0.98985396 -0.89194151] [ 0. 0. 0. 1. ]] SLAMing on 63.151346184 meters Centerline goodness : 0.888534 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.50, Z:-0.89 [[ 0.95296364 -0.27024126 -0.13722231 -0.86469748] [ 0.26768507 0.96279166 -0.03710695 -0.49879248] [ 0.14214432 -0.00137079 0.98984499 -0.89243264] [ 0. 0. 0. 1. ]] SLAMing on 63.181346184 meters Centerline goodness : 0.889367 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.50, Z:-0.89 [[ 9.52658800e-01 -2.71509339e-01 -1.36835263e-01 -8.63604023e-01] [ 2.68862273e-01 9.62435511e-01 -3.78281022e-02 -5.04306341e-01] [ 1.41965799e-01 -7.52565339e-04 9.89871277e-01 -8.91998964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211346184 meters Centerline goodness : 0.893144 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.51, Z:-0.89 [[ 0.95231304 -0.2722268 -0.13781305 -0.86143611] [ 0.26990144 0.96222765 -0.03565334 -0.51000943] [ 0.14231333 -0.0032428 0.98981635 -0.89055921] [ 0. 0. 0. 1. ]] SLAMing on 63.241346183999994 meters Centerline goodness : 0.895599 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.52, Z:-0.89 [[ 0.95084149 -0.27718384 -0.13809267 -0.86169035] [ 0.27490121 0.9608086 -0.0357234 -0.51814227] [ 0.14258257 -0.00399455 0.98977485 -0.88543733] [ 0. 0. 0. 1. ]] SLAMing on 63.271346183999995 meters Centerline goodness : 0.897057 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.52, Z:-0.88 [[ 0.94987244 -0.28060955 -0.13784278 -0.85999213] [ 0.27812491 0.95981779 -0.03736762 -0.52175803] [ 0.14278967 -0.00284304 0.98974897 -0.88482552] [ 0. 0. 0. 1. ]] SLAMing on 63.301346183999996 meters Centerline goodness : 0.897342 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.53, Z:-0.89 [[ 0.94892552 -0.28389879 -0.13762937 -0.85645803] [ 0.2811683 0.95885323 -0.03930477 -0.52560698] [ 0.14312495 -0.00139972 0.98970364 -0.88598012] [ 0. 0. 0. 1. ]] SLAMing on 63.331346184 meters Centerline goodness : 0.899176 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.88 [[ 9.47207282e-01 -2.85423508e-01 -1.46054053e-01 -8.62036783e-01] [ 2.82185205e-01 9.58401304e-01 -4.28771467e-02 -5.39282690e-01] [ 1.52216541e-01 -6.00747388e-04 9.88346986e-01 -8.83226953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361346184 meters Centerline goodness : 0.899054 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.54, Z:-0.88 [[ 0.94691483 -0.28583698 -0.14713777 -0.85860169] [ 0.28288961 0.95827427 -0.04103535 -0.54281277] [ 0.15272776 -0.00276676 0.98826443 -0.88348929] [ 0. 0. 0. 1. ]] SLAMing on 63.391346184 meters Centerline goodness : 0.902963 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94679678 -0.28596941 -0.1476393 -0.85754576] [ 0.28334047 0.95822617 -0.03899728 -0.54633411] [ 0.15262387 -0.00490968 0.98827215 -0.88268787] [ 0. 0. 0. 1. ]] SLAMing on 63.421346183999994 meters Centerline goodness : 0.906461 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94686259 -0.28571319 -0.14771328 -0.85725316] [ 0.28332007 0.95829387 -0.03745114 -0.54968814] [ 0.15225301 -0.00638906 0.9883209 -0.88210571] [ 0. 0. 0. 1. ]] SLAMing on 63.451346183999995 meters Centerline goodness : 0.902715 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.55, Z:-0.88 [[ 0.94704969 -0.28487179 -0.14813828 -0.85530769] [ 0.28277642 0.95852972 -0.03547202 -0.55275119] [ 0.15209992 -0.00829624 0.9883303 -0.88284392] [ 0. 0. 0. 1. ]] SLAMing on 63.481346183999996 meters Centerline goodness : 0.910385 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.88 [[ 0.9477211 -0.28271385 -0.14797838 -0.85365131] [ 0.28096578 0.95914926 -0.03302905 -0.55822341] [ 0.15127112 -0.01027453 0.98843891 -0.88478994] [ 0. 0. 0. 1. ]] SLAMing on 63.511346184 meters Centerline goodness : 0.910915 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.88 [[ 0.94819185 -0.28129335 -0.14766945 -0.85408591] [ 0.27969528 0.95955829 -0.03191305 -0.56065961] [ 0.15067437 -0.01104275 0.98852177 -0.88492452] [ 0. 0. 0. 1. ]] SLAMing on 63.541346184 meters Centerline goodness : 0.910647 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.89 [[ 0.94955437 -0.27665355 -0.14767977 -0.85454956] [ 0.2755497 0.96087028 -0.02829602 -0.56490235] [ 0.1497293 -0.01382451 0.98863038 -0.88559055] [ 0. 0. 0. 1. ]] SLAMing on 63.571346184 meters Centerline goodness : 0.911188 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.57, Z:-0.89 [[ 0.95003172 -0.27517846 -0.14736538 -0.85500921] [ 0.27415918 0.96128845 -0.02759102 -0.56647284] [ 0.1492531 -0.01418922 0.98869721 -0.88594689] [ 0. 0. 0. 1. ]] SLAMing on 63.60134618399999 meters Centerline goodness : 0.912834 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.95046459 -0.27366884 -0.14738533 -0.85425826] [ 0.27280081 0.96170628 -0.02647169 -0.5678808 ] [ 0.14898588 -0.01504643 0.98872484 -0.88698776] [ 0. 0. 0. 1. ]] SLAMing on 63.631346183999995 meters Centerline goodness : 0.912834 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.95046459 -0.27366884 -0.14738533 -0.85425826] [ 0.27280081 0.96170628 -0.02647169 -0.5678808 ] [ 0.14898588 -0.01504643 0.98872484 -0.88698776] [ 0. 0. 0. 1. ]] SLAMing on 63.661346183999996 meters Centerline goodness : 0.914434 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.56, Z:-0.89 [[ 0.95117784 -0.27830368 -0.13344577 -0.85388696] [ 0.2769886 0.96044451 -0.02869947 -0.56430564] [ 0.13615442 -0.00966465 0.99064048 -0.8901897 ] [ 0. 0. 0. 1. ]] SLAMing on 63.691346184 meters Centerline goodness : 0.911334 Centerline is valid? [False, False] Translation: X:-0.86, Y:-0.57, Z:-0.89 [[ 0.95202608 -0.27611892 -0.13192679 -0.85550284] [ 0.27468766 0.9610872 -0.02929309 -0.5671407 ] [ 0.13488152 -0.00835088 0.99082654 -0.89174092] [ 0. 0. 0. 1. ]] SLAMing on 63.721346184 meters Centerline goodness : 0.912914 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.89 [[ 0.9524067 -0.2746029 -0.1323432 -0.85324849] [ 0.27330227 0.96151314 -0.02825518 -0.56785538] [ 0.13500868 -0.00925927 0.99080115 -0.89363643] [ 0. 0. 0. 1. ]] SLAMing on 63.751346184 meters Centerline goodness : 0.908880 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95294391 -0.27255328 -0.13271254 -0.85183063] [ 0.2714483 0.96208253 -0.02670243 -0.56845755] [ 0.13495825 -0.01057867 0.99079481 -0.89509383] [ 0. 0. 0. 1. ]] SLAMing on 63.781346184 meters Centerline goodness : 0.912656 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95369467 -0.26930465 -0.1339458 -0.84852324] [ 0.26867832 0.96295353 -0.02307488 -0.56931438] [ 0.13519775 -0.01398195 0.99071998 -0.89736997] [ 0. 0. 0. 1. ]] SLAMing on 63.811346183999994 meters Centerline goodness : 0.911297 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95482133 -0.26602884 -0.13245714 -0.85082705] [ 0.26537025 0.9638739 -0.02292874 -0.57139707] [ 0.13377169 -0.01325733 0.9909235 -0.89888233] [ 0. 0. 0. 1. ]] SLAMing on 63.841346183999995 meters Centerline goodness : 0.914338 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95541939 -0.26322983 -0.13373053 -0.84811143] [ 0.26301115 0.96459328 -0.01961983 -0.57171629] [ 0.1341601 -0.01642746 0.9908235 -0.9002993 ] [ 0. 0. 0. 1. ]] SLAMing on 63.871346184 meters Centerline goodness : 0.913731 Centerline is valid? [False, False] Translation: X:-0.85, Y:-0.57, Z:-0.90 [[ 0.95560512 -0.26191256 -0.13498393 -0.84520993] [ 0.26203762 0.96490509 -0.01715959 -0.57104835] [ 0.13474099 -0.01897308 0.99069919 -0.90140173] [ 0. 0. 0. 1. ]] SLAMing on 63.901346184 meters Centerline goodness : 0.916319 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95533737 -0.26236 -0.13600642 -0.84262447] [ 0.26270456 0.96474804 -0.01573322 -0.57096424] [ 0.1353397 -0.02069898 0.99058302 -0.90174296] [ 0. 0. 0. 1. ]] SLAMing on 63.931346184 meters Centerline goodness : 0.916862 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95511414 -0.26288809 -0.13655341 -0.83958534] [ 0.26330686 0.96459057 -0.01531464 -0.57120897] [ 0.13574417 -0.02132822 0.99051433 -0.90331296] [ 0. 0. 0. 1. ]] SLAMing on 63.961346184 meters Centerline goodness : 0.912713 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.57, Z:-0.90 [[ 0.95478094 -0.26385083 -0.13702589 -0.83691084] [ 0.26433355 0.96431475 -0.01499431 -0.57198651] [ 0.13609235 -0.02190426 0.99045397 -0.90439366] [ 0. 0. 0. 1. ]] SLAMing on 63.991346183999994 meters Centerline goodness : 0.916410 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.57, Z:-0.90 [[ 0.95412897 -0.2658958 -0.13761294 -0.83444666] [ 0.26641281 0.96374245 -0.01499053 -0.57280131] [ 0.13660936 -0.02235895 0.99037264 -0.9044304 ] [ 0. 0. 0. 1. ]] SLAMing on 64.021346184 meters Centerline goodness : 0.917158 Centerline is valid? [False, False] Translation: X:-0.83, Y:-0.57, Z:-0.90 [[ 0.95258853 -0.2701128 -0.14005061 -0.82947171] [ 0.27102562 0.96248595 -0.01288015 -0.57387213] [ 0.13827584 -0.02568782 0.99006057 -0.90243511] [ 0. 0. 0. 1. ]] SLAMing on 64.051346184 meters Centerline goodness : 0.915371 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.95149296 -0.27271956 -0.14242609 -0.82487277] [ 0.27397045 0.96167362 -0.01113734 -0.57283689] [ 0.14000478 -0.02842344 0.98974278 -0.90122031] [ 0. 0. 0. 1. ]] SLAMing on 64.081346184 meters Centerline goodness : 0.913163 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.95020495 -0.27592742 -0.14482615 -0.81950986] [ 0.27746165 0.96068568 -0.00990217 -0.5716058 ] [ 0.14186469 -0.03077461 0.98940757 -0.900461 ] [ 0. 0. 0. 1. ]] SLAMing on 64.111346184 meters Centerline goodness : 0.913844 Centerline is valid? [False, False] Translation: X:-0.82, Y:-0.57, Z:-0.90 [[ 0.94877902 -0.27996181 -0.1464232 -0.81541826] [ 0.28158163 0.95948543 -0.00997471 -0.57038101] [ 0.14328346 -0.03176628 0.98917175 -0.89970589] [ 0. 0. 0. 1. ]] SLAMing on 64.141346184 meters Centerline goodness : 0.910397 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.90 [[ 0.94667371 -0.28622528 -0.14793234 -0.81105928] [ 0.28781479 0.95762277 -0.01101279 -0.56848366] [ 0.14481552 -0.0321516 0.98893617 -0.89849737] [ 0. 0. 0. 1. ]] SLAMing on 64.171346184 meters Centerline goodness : 0.907450 Centerline is valid? [False, False] Translation: X:-0.81, Y:-0.57, Z:-0.90 [[ 0.94629804 -0.2869175 -0.14899118 -0.80757817] [ 0.28862831 0.95738384 -0.01048234 -0.56773763] [ 0.14564931 -0.03308365 0.98878296 -0.89969064] [ 0. 0. 0. 1. ]] SLAMing on 64.201346184 meters Centerline goodness : 0.907261 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.57, Z:-0.90 [[ 0.94598433 -0.28737397 -0.15009945 -0.80486233] [ 0.28926721 0.95720083 -0.0095427 -0.56689214] [ 0.14641764 -0.0343916 0.98862485 -0.90011016] [ 0. 0. 0. 1. ]] SLAMing on 64.231346184 meters Centerline goodness : 0.910006 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 0.94587802 -0.28615064 -0.15307705 -0.80351955] [ 0.28882545 0.95736896 -0.00495233 -0.56385138] [ 0.14796833 -0.03952825 0.98820185 -0.89699008] [ 0. 0. 0. 1. ]] SLAMing on 64.26134618399999 meters Centerline goodness : 0.907429 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 9.46282659e-01 -2.83252563e-01 -1.55939461e-01 -8.00369904e-01] [ 2.86723674e-01 9.58013296e-01 -2.44204541e-04 -5.61145287e-01] [ 1.49461248e-01 -4.44804485e-02 9.87766584e-01 -8.96515056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29134618399999 meters Centerline goodness : 0.907910 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.56, Z:-0.90 [[ 0.94665755 -0.28046064 -0.1586862 -0.79560848] [ 0.2845963 0.9586411 0.00349207 -0.55813067] [ 0.15114372 -0.0484673 0.98732289 -0.89797642] [ 0. 0. 0. 1. ]] SLAMing on 64.32134618399999 meters Centerline goodness : 0.902449 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 9.46540093e-01 -2.81206398e-01 -1.58065852e-01 -7.93899568e-01] [ 2.84869683e-01 9.58566101e-01 5.41900294e-04 -5.53920890e-01] [ 1.51364181e-01 -4.55410994e-02 9.87428424e-01 -9.01624822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.351346184 meters Centerline goodness : 0.902918 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 9.46382337e-01 -2.81524560e-01 -1.58443665e-01 -7.90884207e-01] [ 2.85132145e-01 9.58488215e-01 3.82044642e-05 -5.52689577e-01] [ 1.51855630e-01 -4.52135381e-02 9.87368018e-01 -9.03981021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381346184 meters Centerline goodness : 0.900424 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.91 [[ 9.46180394e-01 -2.81772288e-01 -1.59207534e-01 -7.88309788e-01] [ 2.85484646e-01 9.58383170e-01 4.65784423e-04 -5.51548911e-01] [ 1.52450576e-01 -4.58920227e-02 9.87245027e-01 -9.05163232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.411346184 meters Centerline goodness : 0.900888 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.55, Z:-0.90 [[ 0.94553699 -0.28254112 -0.16164871 -0.78545551] [ 0.28676488 0.95799652 0.00292853 -0.54839442] [ 0.15403147 -0.04912421 0.98684402 -0.90365745] [ 0. 0. 0. 1. ]] SLAMing on 64.441346184 meters Centerline goodness : 0.903554 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.55, Z:-0.90 [[ 0.94543082 -0.2821017 -0.1630313 -0.78247749] [ 0.28660522 0.95803912 0.00429948 -0.54657776] [ 0.15497748 -0.05079048 0.98661153 -0.90454838] [ 0. 0. 0. 1. ]] SLAMing on 64.471346184 meters Centerline goodness : 0.897214 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94522791 -0.28669056 -0.15605355 -0.77388505] [ 0.29147767 0.9565424 0.00820964 -0.5416467 ] [ 0.14691821 -0.05324611 0.98771448 -0.91166307] [ 0. 0. 0. 1. ]] SLAMing on 64.501346184 meters Centerline goodness : 0.895508 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94512124 -0.28713756 -0.15587771 -0.77215309] [ 0.29172819 0.95647625 0.00691731 -0.53957913] [ 0.14710711 -0.05201162 0.98775214 -0.91399367] [ 0. 0. 0. 1. ]] SLAMing on 64.531346184 meters Centerline goodness : 0.897800 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94498126 -0.28708704 -0.15681663 -0.77048789] [ 0.29182068 0.95644332 0.00754121 -0.53778339] [ 0.14782123 -0.05288864 0.98759894 -0.91431476] [ 0. 0. 0. 1. ]] SLAMing on 64.561346184 meters Centerline goodness : 0.899127 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.54, Z:-0.91 [[ 0.94487771 -0.28671205 -0.15812123 -0.76885382] [ 0.29165686 0.95648524 0.00850123 -0.53541591] [ 0.14880321 -0.05414976 0.98738311 -0.91408403] [ 0. 0. 0. 1. ]] SLAMing on 64.591346184 meters Centerline goodness : 0.896507 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.53, Z:-0.91 [[ 0.94471803 -0.28526765 -0.16164843 -0.76585245] [ 0.29104346 0.95662497 0.01274281 -0.53122057] [ 0.15100181 -0.05908508 0.98676614 -0.91216377] [ 0. 0. 0. 1. ]] SLAMing on 64.621346184 meters Centerline goodness : 0.896145 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94496127 -0.28307785 -0.16405831 -0.76217829] [ 0.28953171 0.95702874 0.01635163 -0.5298351 ] [ 0.15237973 -0.06295174 0.98631511 -0.91265421] [ 0. 0. 0. 1. ]] SLAMing on 64.65134618399999 meters Centerline goodness : 0.893082 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94501433 -0.28256227 -0.16464047 -0.76140415] [ 0.28914038 0.95713659 0.01695279 -0.5284972 ] [ 0.15279319 -0.06362484 0.98620795 -0.91276786] [ 0. 0. 0. 1. ]] SLAMing on 64.68134618399999 meters Centerline goodness : 0.895007 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.53, Z:-0.91 [[ 0.94496584 -0.28242017 -0.16516174 -0.76067796] [ 0.28905249 0.95716062 0.01709393 -0.52728433] [ 0.15325864 -0.06389359 0.98611835 -0.9127144 ] [ 0. 0. 0. 1. ]] SLAMing on 64.71134618399999 meters Centerline goodness : 0.892229 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.52, Z:-0.91 [[ 0.94449023 -0.28355295 -0.16593951 -0.75887012] [ 0.29020492 0.95681709 0.01679767 -0.5244722 ] [ 0.15401073 -0.0640217 0.98599286 -0.91318652] [ 0. 0. 0. 1. ]] SLAMing on 64.741346184 meters Centerline goodness : 0.892491 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.52, Z:-0.91 [[ 0.94422272 -0.2837884 -0.16705568 -0.75522852] [ 0.29052005 0.95672113 0.01681635 -0.52266656] [ 0.15505341 -0.0644114 0.98580404 -0.91481976] [ 0. 0. 0. 1. ]] SLAMing on 64.771346184 meters Centerline goodness : 0.891288 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.52, Z:-0.92 [[ 0.94372351 -0.28465951 -0.16838916 -0.75008569] [ 0.29139075 0.95646724 0.01618164 -0.51849369] [ 0.15645246 -0.06433803 0.98558777 -0.91796742] [ 0. 0. 0. 1. ]] SLAMing on 64.801346184 meters Centerline goodness : 0.892383 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.52, Z:-0.92 [[ 0.94358697 -0.28468391 -0.16911148 -0.74942002] [ 0.29140388 0.95646948 0.01580869 -0.51594838] [ 0.15724949 -0.06419662 0.98547014 -0.91766158] [ 0. 0. 0. 1. ]] SLAMing on 64.831346184 meters Centerline goodness : 0.886694 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.51, Z:-0.92 [[ 0.94402514 -0.28199375 -0.17116092 -0.74719749] [ 0.28935053 0.95703169 0.01914699 -0.51404332] [ 0.15840709 -0.06760074 0.98505702 -0.91781852] [ 0. 0. 0. 1. ]] SLAMing on 64.861346184 meters Centerline goodness : 0.892507 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.94456266 -0.27876441 -0.17346983 -0.74443194] [ 0.28683104 0.95770992 0.02279619 -0.51259179] [ 0.15977901 -0.07128896 0.98457532 -0.91791321] [ 0. 0. 0. 1. ]] SLAMing on 64.891346184 meters Centerline goodness : 0.893319 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.9447672 -0.27800363 -0.17357685 -0.74479948] [ 0.28603515 0.95795265 0.02259696 -0.51052572] [ 0.15999637 -0.07099795 0.98456105 -0.91805793] [ 0. 0. 0. 1. ]] SLAMing on 64.921346184 meters Centerline goodness : 0.893969 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.51, Z:-0.92 [[ 0.9449799 -0.27756011 -0.1731282 -0.74645685] [ 0.28540013 0.95816375 0.02165647 -0.50808589] [ 0.15987419 -0.06987574 0.98466117 -0.91774009] [ 0. 0. 0. 1. ]] SLAMing on 64.951346184 meters Centerline goodness : 0.890180 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.94485112 -0.27750685 -0.17391465 -0.7442936 ] [ 0.28545116 0.9581418 0.02195289 -0.50682572] [ 0.16054282 -0.07038635 0.98451601 -0.91862975] [ 0. 0. 0. 1. ]] SLAMing on 64.981346184 meters Centerline goodness : 0.887966 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.51, Z:-0.92 [[ 0.9444589 -0.27865984 -0.17420127 -0.7433863 ] [ 0.28647622 0.95785842 0.02094326 -0.50538313] [ 0.16102411 -0.06968458 0.98448733 -0.91865512] [ 0. 0. 0. 1. ]] SLAMing on 65.01134618399999 meters Centerline goodness : 0.894229 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94417327 -0.27913411 -0.17498854 -0.74070212] [ 0.28702085 0.95769444 0.02098552 -0.50431905] [ 0.16172777 -0.07003932 0.9843468 -0.91970745] [ 0. 0. 0. 1. ]] SLAMing on 65.04134618399999 meters Centerline goodness : 0.889971 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94371784 -0.27981442 -0.17635341 -0.73864596] [ 0.28792948 0.95740554 0.02170817 -0.5032483 ] [ 0.16276748 -0.07126374 0.98408751 -0.91887756] [ 0. 0. 0. 1. ]] SLAMing on 65.07134618399999 meters Centerline goodness : 0.890267 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94372745 -0.2795218 -0.17676555 -0.73857079] [ 0.28773371 0.95745462 0.0221353 -0.50253244] [ 0.16305769 -0.0717511 0.98400405 -0.91825746] [ 0. 0. 0. 1. ]] SLAMing on 65.101346184 meters Centerline goodness : 0.891447 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94390612 -0.27835861 -0.17764493 -0.73927408] [ 0.28685172 0.95768584 0.02353571 -0.50102187] [ 0.16357667 -0.07317325 0.98381317 -0.91654416] [ 0. 0. 0. 1. ]] SLAMing on 65.131346184 meters Centerline goodness : 0.890014 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94370045 -0.27896182 -0.17779133 -0.74005483] [ 0.2874031 0.957531 0.02310487 -0.49987016] [ 0.16379534 -0.07290186 0.98379693 -0.91536877] [ 0. 0. 0. 1. ]] SLAMing on 65.161346184 meters Centerline goodness : 0.891270 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94337468 -0.27988461 -0.17806969 -0.73917456] [ 0.28828168 0.95727814 0.0226328 -0.49976622] [ 0.16412765 -0.07268544 0.98375756 -0.91510728] [ 0. 0. 0. 1. ]] SLAMing on 65.191346184 meters Centerline goodness : 0.890373 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.50, Z:-0.92 [[ 0.94276563 -0.28135942 -0.17896884 -0.73598903] [ 0.28979663 0.95682752 0.02233835 -0.50021042] [ 0.16495721 -0.07292439 0.98360111 -0.91549321] [ 0. 0. 0. 1. ]] SLAMing on 65.221346184 meters Centerline goodness : 0.892212 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.94054721 -0.28961161 -0.17747132 -0.73451943] [ 0.2968719 0.95479593 0.0152253 -0.49894596] [ 0.16503947 -0.06700636 0.98400819 -0.91579443] [ 0. 0. 0. 1. ]] SLAMing on 65.251346184 meters Centerline goodness : 0.892128 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.93978944 -0.29159845 -0.1782306 -0.73157265] [ 0.29884953 0.95418736 0.01467809 -0.49905704] [ 0.16578528 -0.06705845 0.98387926 -0.91609288] [ 0. 0. 0. 1. ]] SLAMing on 65.281346184 meters Centerline goodness : 0.893311 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.92 [[ 0.93906506 -0.29331829 -0.17922385 -0.72927981] [ 0.30062836 0.95363171 0.01446213 -0.49883066] [ 0.16667154 -0.06746066 0.98370202 -0.91554425] [ 0. 0. 0. 1. ]] SLAMing on 65.311346184 meters Centerline goodness : 0.893317 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.91 [[ 0.93852005 -0.29416329 -0.18068776 -0.72675111] [ 0.30169654 0.95328455 0.01509193 -0.49854962] [ 0.16780736 -0.06867695 0.98342471 -0.91463249] [ 0. 0. 0. 1. ]] SLAMing on 65.341346184 meters Centerline goodness : 0.892753 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.50, Z:-0.91 [[ 0.93813824 -0.29429129 -0.18245351 -0.72747583] [ 0.30229693 0.95306052 0.01709422 -0.4977866 ] [ 0.16885856 -0.07119188 0.98306587 -0.91054244] [ 0. 0. 0. 1. ]] SLAMing on 65.371346184 meters Centerline goodness : 0.896463 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93888324 -0.29062066 -0.18449362 -0.72413641] [ 0.29946692 0.95386629 0.02141662 -0.49921057] [ 0.16975813 -0.07535744 0.98260034 -0.91126742] [ 0. 0. 0. 1. ]] SLAMing on 65.40134618399999 meters Centerline goodness : 0.893338 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93908858 -0.29036186 -0.18385493 -0.72467337] [ 0.29902254 0.95402255 0.02065153 -0.49937819] [ 0.16940533 -0.07437038 0.98273642 -0.91179302] [ 0. 0. 0. 1. ]] SLAMing on 65.43134618399999 meters Centerline goodness : 0.892252 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94005902 -0.28731275 -0.18368568 -0.72200886] [ 0.29621679 0.95485752 0.02242157 -0.50169951] [ 0.16895165 -0.07548838 0.98272928 -0.91527148] [ 0. 0. 0. 1. ]] SLAMing on 65.46134618399999 meters Centerline goodness : 0.893780 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94042363 -0.28634148 -0.18333564 -0.72312366] [ 0.2952189 0.95516433 0.02251425 -0.50134852] [ 0.1686689 -0.07529708 0.98279253 -0.91527248] [ 0. 0. 0. 1. ]] SLAMing on 65.491346184 meters Centerline goodness : 0.896717 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94052693 -0.28570077 -0.18380468 -0.72449885] [ 0.29466383 0.95532755 0.02285824 -0.49968579] [ 0.16906306 -0.07565938 0.98269697 -0.91348786] [ 0. 0. 0. 1. ]] SLAMing on 65.521346184 meters Centerline goodness : 0.896717 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94052693 -0.28570077 -0.18380468 -0.72449885] [ 0.29466383 0.95532755 0.02285824 -0.49968579] [ 0.16906306 -0.07565938 0.98269697 -0.91348786] [ 0. 0. 0. 1. ]] SLAMing on 65.551346184 meters Centerline goodness : 0.899763 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94183304 -0.27884039 -0.18761281 -0.72146198] [ 0.28942266 0.9566983 0.03103037 -0.49884193] [ 0.17083633 -0.08352483 0.98175279 -0.91278363] [ 0. 0. 0. 1. ]] SLAMing on 65.581346184 meters Centerline goodness : 0.898358 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94197475 -0.27845188 -0.1874783 -0.72126916] [ 0.28900969 0.95682439 0.03099175 -0.49850039] [ 0.17075409 -0.08337649 0.98177971 -0.91342389] [ 0. 0. 0. 1. ]] SLAMing on 65.611346184 meters Centerline goodness : 0.898252 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94212813 -0.27849443 -0.18664252 -0.72078532] [ 0.28878728 0.95692709 0.02987398 -0.49926759] [ 0.17028355 -0.0820451 0.98197358 -0.91508711] [ 0. 0. 0. 1. ]] SLAMing on 65.641346184 meters Centerline goodness : 0.900181 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94229291 -0.27836792 -0.18599831 -0.72028301] [ 0.28846075 0.95705111 0.02904433 -0.50041288] [ 0.16992488 -0.08102148 0.98212069 -0.9163021 ] [ 0. 0. 0. 1. ]] SLAMing on 65.671346184 meters Centerline goodness : 0.894715 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.942609 -0.27763314 -0.18549424 -0.7214852 ] [ 0.28765508 0.9572966 0.02894431 -0.50074382] [ 0.16953711 -0.08064153 0.98221897 -0.91609343] [ 0. 0. 0. 1. ]] SLAMing on 65.701346184 meters Centerline goodness : 0.901174 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94247998 -0.2777837 -0.1859239 -0.72179936] [ 0.28790165 0.95721231 0.02927846 -0.4999514 ] [ 0.16983556 -0.08112216 0.98212783 -0.91498592] [ 0. 0. 0. 1. ]] SLAMing on 65.731346184 meters Centerline goodness : 0.898725 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94217278 -0.27840593 -0.18654919 -0.72155108] [ 0.28860202 0.95699859 0.02936965 -0.49895772] [ 0.17035063 -0.08150975 0.98200653 -0.91390611] [ 0. 0. 0. 1. ]] SLAMing on 65.76134618399999 meters Centerline goodness : 0.896914 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94198649 -0.27916609 -0.18635381 -0.72028611] [ 0.2891821 0.95685401 0.02835705 -0.49879432] [ 0.17039706 -0.08060215 0.98207339 -0.91494826] [ 0. 0. 0. 1. ]] SLAMing on 65.79134618399999 meters Centerline goodness : 0.894344 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94177853 -0.28078352 -0.18496974 -0.72003002] [ 0.29008553 0.95668089 0.0247397 -0.49864412] [ 0.17001052 -0.07695637 0.98243277 -0.9165463 ] [ 0. 0. 0. 1. ]] SLAMing on 65.82134618399999 meters Centerline goodness : 0.894612 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94152554 -0.28293856 -0.18296292 -0.72122282] [ 0.29145227 0.95635758 0.02087485 -0.49857727] [ 0.16907168 -0.07297916 0.98289817 -0.91800847] [ 0. 0. 0. 1. ]] SLAMing on 65.851346184 meters Centerline goodness : 0.896004 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94160593 -0.28244833 -0.18330636 -0.72093051] [ 0.2911201 0.95644067 0.0216869 -0.4992345 ] [ 0.16919623 -0.07378468 0.98281659 -0.91736147] [ 0. 0. 0. 1. ]] SLAMing on 65.881346184 meters Centerline goodness : 0.897730 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94148099 -0.28189881 -0.18478802 -0.72035958] [ 0.29108725 0.9563938 0.02406455 -0.49907917] [ 0.16994635 -0.07644575 0.98248373 -0.91550027] [ 0. 0. 0. 1. ]] SLAMing on 65.911346184 meters Centerline goodness : 0.895078 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94124856 -0.28236616 -0.18525795 -0.72071215] [ 0.2916594 0.95621068 0.02441163 -0.499052 ] [ 0.17025261 -0.07700964 0.98238667 -0.91386185] [ 0. 0. 0. 1. ]] SLAMing on 65.941346184 meters Centerline goodness : 0.893830 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94069889 -0.28497718 -0.18404781 -0.72160717] [ 0.29378895 0.95561855 0.02193702 -0.50096059] [ 0.16962795 -0.07470734 0.98267246 -0.91310687] [ 0. 0. 0. 1. ]] SLAMing on 65.971346184 meters Centerline goodness : 0.894418 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94048623 -0.28550679 -0.18431365 -0.71990127] [ 0.29440121 0.95542292 0.0222477 -0.50215102] [ 0.16974562 -0.07518582 0.98261565 -0.91370245] [ 0. 0. 0. 1. ]] SLAMing on 66.001346184 meters Centerline goodness : 0.893477 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93978959 -0.28854393 -0.18313365 -0.72092271] [ 0.29675188 0.95477522 0.01850966 -0.50144706] [ 0.16951062 -0.07174044 0.98291376 -0.91330266] [ 0. 0. 0. 1. ]] SLAMing on 66.031346184 meters Centerline goodness : 0.895488 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.93955196 -0.28943025 -0.18295419 -0.71910914] [ 0.29751703 0.95455053 0.01780176 -0.50214503] [ 0.16948665 -0.07115766 0.98296025 -0.91485259] [ 0. 0. 0. 1. ]] SLAMing on 66.061346184 meters Centerline goodness : 0.891491 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.939531 -0.28932586 -0.18322678 -0.71806061] [ 0.29742621 0.95457935 0.0177739 -0.50172276] [ 0.16976205 -0.07119557 0.98290998 -0.91527854] [ 0. 0. 0. 1. ]] SLAMing on 66.091346184 meters Centerline goodness : 0.891364 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.93972749 -0.2884834 -0.18354721 -0.71762829] [ 0.29667389 0.9548047 0.01823676 -0.50138643] [ 0.16999074 -0.07159125 0.98284172 -0.91531822] [ 0. 0. 0. 1. ]] SLAMing on 66.121346184 meters Centerline goodness : 0.894392 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.93998763 -0.28746992 -0.18380504 -0.71738042] [ 0.29573678 0.95508717 0.01866151 -0.5004522 ] [ 0.17018521 -0.0718995 0.98278556 -0.91568805] [ 0. 0. 0. 1. ]] SLAMing on 66.15134618399999 meters Centerline goodness : 0.889656 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94090947 -0.28497293 -0.18297483 -0.71931595] [ 0.29322405 0.95585179 0.01915782 -0.50055147] [ 0.16943736 -0.07167839 0.98293092 -0.91606624] [ 0. 0. 0. 1. ]] SLAMing on 66.18134618399999 meters Centerline goodness : 0.888452 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94117199 -0.28408073 -0.18301209 -0.71949637] [ 0.29242227 0.95608536 0.01974855 -0.50067836] [ 0.16936499 -0.0721036 0.98291229 -0.91607246] [ 0. 0. 0. 1. ]] SLAMing on 66.21134618399999 meters Centerline goodness : 0.889263 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94129767 -0.2835672 -0.18316206 -0.71988829] [ 0.29197503 0.95621438 0.02011546 -0.50046061] [ 0.16943811 -0.07241338 0.98287691 -0.91553102] [ 0. 0. 0. 1. ]] SLAMing on 66.241346184 meters Centerline goodness : 0.889764 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.92 [[ 0.94116942 -0.28333925 -0.18417112 -0.71828163] [ 0.29201395 0.95617818 0.02123996 -0.49980635] [ 0.17008229 -0.07377093 0.98266468 -0.9153692 ] [ 0. 0. 0. 1. ]] SLAMing on 66.271346184 meters Centerline goodness : 0.892387 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.50, Z:-0.91 [[ 0.94011841 -0.28600733 -0.18541085 -0.71717847] [ 0.29472161 0.95535947 0.02067515 -0.49710815] [ 0.17122077 -0.07408167 0.98244356 -0.91348014] [ 0. 0. 0. 1. ]] SLAMing on 66.301346184 meters Centerline goodness : 0.890574 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.91 [[ 0.93949566 -0.28728265 -0.18659201 -0.71373744] [ 0.29610384 0.95493256 0.02064782 -0.49599613] [ 0.17225103 -0.07464914 0.98222049 -0.91411738] [ 0. 0. 0. 1. ]] SLAMing on 66.331346184 meters Centerline goodness : 0.892521 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.49, Z:-0.91 [[ 0.93852992 -0.29131268 -0.18519859 -0.71408071] [ 0.29930352 0.95402166 0.01612702 -0.49494507] [ 0.17198546 -0.07056628 0.98256878 -0.91449672] [ 0. 0. 0. 1. ]] SLAMing on 66.361346184 meters Centerline goodness : 0.886897 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93735038 -0.29334124 -0.18794997 -0.70375594] [ 0.30211866 0.95307633 0.01923091 -0.49915267] [ 0.17348945 -0.07480929 0.98199032 -0.92224796] [ 0. 0. 0. 1. ]] SLAMing on 66.391346184 meters Centerline goodness : 0.887739 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.9366273 -0.29655906 -0.1864994 -0.70496687] [ 0.30469111 0.95231868 0.01588893 -0.49932107] [ 0.17289486 -0.07170671 0.98232658 -0.92195165] [ 0. 0. 0. 1. ]] SLAMing on 66.421346184 meters Centerline goodness : 0.889126 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.50, Z:-0.92 [[ 0.93622747 -0.29741195 -0.18714769 -0.70556865] [ 0.30565371 0.95200567 0.01615587 -0.49897316] [ 0.17336071 -0.07232796 0.98219893 -0.91971368] [ 0. 0. 0. 1. ]] SLAMing on 66.451346184 meters Centerline goodness : 0.885198 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93663441 -0.29378078 -0.19081101 -0.70214651] [ 0.30332474 0.95262805 0.02222397 -0.49885446] [ 0.17524295 -0.07869344 0.98137518 -0.91791999] [ 0. 0. 0. 1. ]] SLAMing on 66.481346184 meters Centerline goodness : 0.886504 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.91 [[ 0.93749623 -0.2896471 -0.19288695 -0.70490703] [ 0.30013571 0.95351654 0.0269214 -0.49635989] [ 0.1761232 -0.08313097 0.9808516 -0.91393508] [ 0. 0. 0. 1. ]] SLAMing on 66.51134618399999 meters Centerline goodness : 0.883809 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.91 [[ 0.9381449 -0.28639827 -0.19457691 -0.70225445] [ 0.29764807 0.95418409 0.03063233 -0.49639961] [ 0.17688915 -0.08665301 0.98040884 -0.91488482] [ 0. 0. 0. 1. ]] SLAMing on 66.54134618399999 meters Centerline goodness : 0.883229 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93823142 -0.28655389 -0.19392957 -0.70277787] [ 0.29754258 0.954253 0.02948951 -0.49593523] [ 0.17660754 -0.08537029 0.98057212 -0.91551889] [ 0. 0. 0. 1. ]] SLAMing on 66.57134618399999 meters Centerline goodness : 0.880092 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.50, Z:-0.92 [[ 0.93818559 -0.28712457 -0.19330621 -0.70265683] [ 0.29783556 0.95420068 0.02819659 -0.49552155] [ 0.17635698 -0.08402709 0.98073323 -0.91655478] [ 0. 0. 0. 1. ]] SLAMing on 66.601346184 meters Centerline goodness : 0.881229 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93780758 -0.28841142 -0.19322475 -0.70283623] [ 0.29891346 0.95389954 0.02695197 -0.49400059] [ 0.17654375 -0.08303324 0.98078427 -0.91630334] [ 0. 0. 0. 1. ]] SLAMing on 66.631346184 meters Centerline goodness : 0.881117 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93745147 -0.28916537 -0.19382499 -0.70222964] [ 0.29966 0.9536765 0.02655225 -0.49176456] [ 0.17716835 -0.08297304 0.98067673 -0.91590345] [ 0. 0. 0. 1. ]] SLAMing on 66.661346184 meters Centerline goodness : 0.880951 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93703078 -0.28979488 -0.19491601 -0.69943784] [ 0.30030034 0.95348936 0.0260334 -0.48779403] [ 0.178306 -0.08292744 0.98047438 -0.91732225] [ 0. 0. 0. 1. ]] SLAMing on 66.691346184 meters Centerline goodness : 0.883031 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.49, Z:-0.92 [[ 0.93689508 -0.29031656 -0.19479194 -0.69940865] [ 0.30067605 0.95339232 0.02523891 -0.48649953] [ 0.17838587 -0.08221549 0.98051981 -0.91760775] [ 0. 0. 0. 1. ]] SLAMing on 66.721346184 meters Centerline goodness : 0.880484 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93675263 -0.29011054 -0.19578148 -0.6976052 ] [ 0.3006433 0.95338915 0.02574381 -0.48493966] [ 0.17918739 -0.08297597 0.98030958 -0.91780515] [ 0. 0. 0. 1. ]] SLAMing on 66.751346184 meters Centerline goodness : 0.881830 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93654811 -0.29020903 -0.19661219 -0.6972944 ] [ 0.30086798 0.95331046 0.02603111 -0.4826047 ] [ 0.17987799 -0.0835337 0.98013572 -0.91708443] [ 0. 0. 0. 1. ]] SLAMing on 66.781346184 meters Centerline goodness : 0.881700 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.91 [[ 0.93665564 -0.28841799 -0.19872411 -0.69793559] [ 0.29969091 0.95360976 0.02852681 -0.4782411 ] [ 0.1812776 -0.08627561 0.97964021 -0.9145557 ] [ 0. 0. 0. 1. ]] SLAMing on 66.811346184 meters Centerline goodness : 0.878843 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93654597 -0.28879229 -0.19869738 -0.69753084] [ 0.29987135 0.95358447 0.02745614 -0.47632297] [ 0.18154561 -0.08529758 0.97967623 -0.91516075] [ 0. 0. 0. 1. ]] SLAMing on 66.841346184 meters Centerline goodness : 0.879583 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.48, Z:-0.92 [[ 0.93633092 -0.28968987 -0.19840411 -0.69628739] [ 0.3005105 0.95342098 0.02611275 -0.47546099] [ 0.18159804 -0.0840727 0.97977239 -0.91666785] [ 0. 0. 0. 1. ]] SLAMing on 66.871346184 meters Centerline goodness : 0.882374 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.92 [[ 0.93516848 -0.29384255 -0.19777884 -0.69380106] [ 0.30382379 0.9524864 0.0214654 -0.47286946] [ 0.18207421 -0.08016368 0.98001162 -0.91841288] [ 0. 0. 0. 1. ]] SLAMing on 66.90134618399999 meters Centerline goodness : 0.881129 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.92 [[ 0.93473249 -0.2946721 -0.19860395 -0.69461066] [ 0.30475398 0.95218722 0.02155261 -0.47149015] [ 0.18275719 -0.08067127 0.97984282 -0.91597962] [ 0. 0. 0. 1. ]] SLAMing on 66.93134618399999 meters Centerline goodness : 0.878267 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.91 [[ 0.93491454 -0.29175503 -0.20202429 -0.69216225] [ 0.30301981 0.95261379 0.02656992 -0.47097999] [ 0.18469922 -0.08605796 0.97902003 -0.91342379] [ 0. 0. 0. 1. ]] SLAMing on 66.96134618399999 meters Centerline goodness : 0.875744 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.91 [[ 0.93467565 -0.29068288 -0.20465799 -0.69230737] [ 0.30275997 0.95260422 0.02969165 -0.46746743] [ 0.18632721 -0.08971431 0.97838311 -0.91012066] [ 0. 0. 0. 1. ]] SLAMing on 66.991346184 meters Centerline goodness : 0.874370 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.91 [[ 0.9360441 -0.29256427 -0.19551877 -0.71785755] [ 0.30026302 0.95380097 0.01028725 -0.46795136] [ 0.18347631 -0.06833637 0.980646 -0.91076992] [ 0. 0. 0. 1. ]] SLAMing on 67.021346184 meters Centerline goodness : 0.876245 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.93570076 -0.29338309 -0.1959348 -0.71376232] [ 0.30104913 0.95355753 0.00987188 -0.46912187] [ 0.18393886 -0.06822312 0.98056723 -0.91313437] [ 0. 0. 0. 1. ]] SLAMing on 67.051346184 meters Centerline goodness : 0.874420 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.9348192 -0.29686015 -0.19490281 -0.71247202] [ 0.30376119 0.95273044 0.00581877 -0.46832767] [ 0.18396248 -0.06464341 0.9808053 -0.91435484] [ 0. 0. 0. 1. ]] SLAMing on 67.081346184 meters Centerline goodness : 0.876078 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.47, Z:-0.91 [[ 0.93403828 -0.29786075 -0.19710776 -0.70901274] [ 0.30502555 0.95232319 0.0063206 -0.46500744] [ 0.18582764 -0.06602658 0.98036145 -0.91387861] [ 0. 0. 0. 1. ]] SLAMing on 67.111346184 meters Centerline goodness : 0.877597 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.46, Z:-0.91 [[ 0.93330085 -0.29877292 -0.19920909 -0.70820379] [ 0.30622153 0.95193491 0.0069497 -0.460969 ] [ 0.18755771 -0.06748827 0.97993236 -0.9113584 ] [ 0. 0. 0. 1. ]] SLAMing on 67.141346184 meters Centerline goodness : 0.876629 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.46, Z:-0.91 [[ 0.93364734 -0.29560809 -0.20228324 -0.704355 ] [ 0.30407031 0.95258152 0.01138817 -0.46010416] [ 0.18932484 -0.07214086 0.97926084 -0.91106419] [ 0. 0. 0. 1. ]] SLAMing on 67.171346184 meters Centerline goodness : 0.876033 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.91 [[ 0.93399598 -0.29527929 -0.20115082 -0.72195389] [ 0.30167512 0.95341003 0.00119864 -0.46019129] [ 0.19142528 -0.06180172 0.97955955 -0.90890382] [ 0. 0. 0. 1. ]] SLAMing on 67.201346184 meters Centerline goodness : 0.876676 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.91 [[ 9.33876098e-01 -2.95858624e-01 -2.00855940e-01 -7.23238686e-01] [ 3.02118392e-01 9.53270260e-01 5.37291065e-04 -4.60271315e-01] [ 1.91311032e-01 -6.11840369e-02 9.79620642e-01 -9.07764384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.231346184 meters Centerline goodness : 0.876636 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.46, Z:-0.91 [[ 9.33710407e-01 -2.96720364e-01 -2.00354440e-01 -7.25149371e-01] [ 3.02799348e-01 9.53054276e-01 -3.17983145e-04 -4.60248646e-01] [ 1.91043008e-01 -6.03702898e-02 9.79723429e-01 -9.06510027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26134618399999 meters Centerline goodness : 0.873061 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93384524 -0.29796756 -0.19785955 -0.74866899] [ 0.30245536 0.95313112 -0.00786246 -0.46340649] [ 0.19092886 -0.05250136 0.98019885 -0.90690811] [ 0. 0. 0. 1. ]] SLAMing on 67.29134618399999 meters Centerline goodness : 0.876021 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93381695 -0.2980045 -0.19793741 -0.74819011] [ 0.30247097 0.95312504 -0.00799766 -0.46324035] [ 0.19104244 -0.05240197 0.98018203 -0.90700226] [ 0. 0. 0. 1. ]] SLAMing on 67.32134618399999 meters Centerline goodness : 0.876024 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93384569 -0.29768189 -0.19828696 -0.74686619] [ 0.30216929 0.95322109 -0.00795394 -0.46260751] [ 0.19137905 -0.05248848 0.98011174 -0.90743883] [ 0. 0. 0. 1. ]] SLAMing on 67.351346184 meters Centerline goodness : 0.876478 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.46, Z:-0.91 [[ 0.93386147 -0.29741569 -0.19861184 -0.74584901] [ 0.30188808 0.95330902 -0.00809328 -0.46158061] [ 0.19174553 -0.05240055 0.98004481 -0.90758347] [ 0. 0. 0. 1. ]] SLAMing on 67.381346184 meters Centerline goodness : 0.878325 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93650478 -0.29285444 -0.19286023 -0.77520676] [ 0.29502835 0.9553187 -0.01801233 -0.46616243] [ 0.18951797 -0.0400306 0.9810609 -0.91324286] [ 0. 0. 0. 1. ]] SLAMing on 67.411346184 meters Centerline goodness : 0.876053 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.936569 -0.29245133 -0.19315985 -0.77428117] [ 0.2946041 0.95544713 -0.01814416 -0.46527666] [ 0.1898603 -0.03991243 0.98099952 -0.91319466] [ 0. 0. 0. 1. ]] SLAMing on 67.441346184 meters Centerline goodness : 0.876053 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.936569 -0.29245133 -0.19315985 -0.77428117] [ 0.2946041 0.95544713 -0.01814416 -0.46527666] [ 0.1898603 -0.03991243 0.98099952 -0.91319466] [ 0. 0. 0. 1. ]] SLAMing on 67.471346184 meters Centerline goodness : 0.877391 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.91 [[ 0.93779744 -0.28764449 -0.19441352 -0.77357846] [ 0.29056428 0.9567536 -0.01396231 -0.46579795] [ 0.19002202 -0.0433958 0.98082029 -0.91382791] [ 0. 0. 0. 1. ]] SLAMing on 67.501346184 meters Centerline goodness : 0.875684 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.9378627 -0.28709829 -0.19490545 -0.7725446 ] [ 0.28999454 0.95692382 -0.01414087 -0.46418835] [ 0.19056949 -0.04325932 0.98072009 -0.91352371] [ 0. 0. 0. 1. ]] SLAMing on 67.531346184 meters Centerline goodness : 0.873527 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.93789655 -0.28668985 -0.19534326 -0.77181755] [ 0.28951216 0.9570633 -0.01457884 -0.4619234 ] [ 0.19113548 -0.04288081 0.98062657 -0.91300032] [ 0. 0. 0. 1. ]] SLAMing on 67.561346184 meters Centerline goodness : 0.874916 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.91 [[ 0.93800438 -0.28601421 -0.19581537 -0.77065241] [ 0.28880983 0.95727282 -0.01475243 -0.45971844] [ 0.19166813 -0.04271556 0.98052981 -0.91289617] [ 0. 0. 0. 1. ]] SLAMing on 67.591346184 meters Centerline goodness : 0.875984 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94083296 -0.28018378 -0.19060533 -0.7961956 ] [ 0.2808228 0.95945403 -0.02421818 -0.46291277] [ 0.1896626 -0.03074106 0.98136797 -0.91744104] [ 0. 0. 0. 1. ]] SLAMing on 67.621346184 meters Centerline goodness : 0.872790 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94088704 -0.27976392 -0.19095477 -0.79519521] [ 0.28037452 0.95958104 -0.02437959 -0.46223447] [ 0.19005711 -0.03060041 0.98129604 -0.91716147] [ 0. 0. 0. 1. ]] SLAMing on 67.65134618399999 meters Centerline goodness : 0.872031 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94090807 -0.27968937 -0.19096035 -0.79541078] [ 0.28019233 0.95962015 -0.02492841 -0.4607346 ] [ 0.19022161 -0.03005029 0.98128116 -0.91647304] [ 0. 0. 0. 1. ]] SLAMing on 67.68134618399999 meters Centerline goodness : 0.879284 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94092195 -0.27954342 -0.19110563 -0.79545403] [ 0.27994007 0.95967916 -0.02548454 -0.45909456] [ 0.19052412 -0.02951916 0.98123859 -0.91564417] [ 0. 0. 0. 1. ]] SLAMing on 67.71134618399999 meters Centerline goodness : 0.873096 Centerline is valid? [False, False] Translation: X:-0.80, Y:-0.46, Z:-0.92 [[ 0.94202078 -0.27520322 -0.1919897 -0.79606554] [ 0.2762529 0.96083721 -0.02182161 -0.45935634] [ 0.19047622 -0.0324813 0.98115431 -0.91539744] [ 0. 0. 0. 1. ]] SLAMing on 67.741346184 meters Centerline goodness : 0.880730 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.9420777 -0.27468792 -0.19244782 -0.79440708] [ 0.27578663 0.96097624 -0.02159615 -0.45924068] [ 0.19086998 -0.03272928 0.98106954 -0.91584256] [ 0. 0. 0. 1. ]] SLAMing on 67.771346184 meters Centerline goodness : 0.881960 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.94214071 -0.27425382 -0.19275821 -0.79290777] [ 0.27542643 0.96108778 -0.02122633 -0.45968596] [ 0.19107896 -0.03309251 0.98101668 -0.91652073] [ 0. 0. 0. 1. ]] SLAMing on 67.801346184 meters Centerline goodness : 0.869933 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.92 [[ 0.94157442 -0.27579117 -0.19333092 -0.79244699] [ 0.27700639 0.96063266 -0.02126859 -0.45969665] [ 0.19158569 -0.03352794 0.98090305 -0.91522587] [ 0. 0. 0. 1. ]] SLAMing on 67.831346184 meters Centerline goodness : 0.875072 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94116264 -0.27638049 -0.1944909 -0.79140526] [ 0.27787743 0.96040618 -0.02010208 -0.46013666] [ 0.19234609 -0.03512531 0.98069832 -0.91362626] [ 0. 0. 0. 1. ]] SLAMing on 67.861346184 meters Centerline goodness : 0.874579 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94080949 -0.27707714 -0.19520695 -0.79083633] [ 0.2787975 0.96015851 -0.01917266 -0.46140704] [ 0.19274192 -0.03638539 0.98057466 -0.91227209] [ 0. 0. 0. 1. ]] SLAMing on 67.891346184 meters Centerline goodness : 0.874706 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.46, Z:-0.91 [[ 0.94062784 -0.27789822 -0.19491496 -0.79207679] [ 0.27956979 0.95992833 -0.01945077 -0.46403767] [ 0.19250972 -0.0361964 0.98062726 -0.91114495] [ 0. 0. 0. 1. ]] SLAMing on 67.921346184 meters Centerline goodness : 0.873939 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93938763 -0.2828519 -0.19376708 -0.79071364] [ 0.28392014 0.95857607 -0.02283155 -0.46679617] [ 0.19219843 -0.0335667 0.98078185 -0.91171727] [ 0. 0. 0. 1. ]] SLAMing on 67.951346184 meters Centerline goodness : 0.876862 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93887267 -0.28376537 -0.19492387 -0.78706721] [ 0.28503045 0.95826286 -0.02213435 -0.46757974] [ 0.19306927 -0.03477791 0.98056859 -0.91236165] [ 0. 0. 0. 1. ]] SLAMing on 67.981346184 meters Centerline goodness : 0.878170 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.47, Z:-0.91 [[ 0.93829905 -0.2849431 -0.1959651 -0.78648441] [ 0.28631366 0.95788524 -0.02191694 -0.46703333] [ 0.19395715 -0.03554283 0.98036592 -0.91036538] [ 0. 0. 0. 1. ]] SLAMing on 68.01134618399999 meters Centerline goodness : 0.882059 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.9383647 -0.28286467 -0.19864356 -0.78423647] [ 0.28524992 0.95830025 -0.01712024 -0.46695012] [ 0.19520288 -0.04059803 0.97992226 -0.90907304] [ 0. 0. 0. 1. ]] SLAMing on 68.04134618399999 meters Centerline goodness : 0.882537 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93851004 -0.28238452 -0.19864008 -0.78342524] [ 0.28481531 0.95843449 -0.01683966 -0.46821238] [ 0.19513877 -0.04077155 0.97992783 -0.90946103] [ 0. 0. 0. 1. ]] SLAMing on 68.07134618399999 meters Centerline goodness : 0.882505 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93878365 -0.28225029 -0.19753487 -0.78289609] [ 0.28441472 0.9585336 -0.0179335 -0.4702884 ] [ 0.19440554 -0.03934615 0.98013181 -0.91123728] [ 0. 0. 0. 1. ]] SLAMing on 68.101346184 meters Centerline goodness : 0.881219 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.47, Z:-0.91 [[ 0.93912451 -0.28129902 -0.19727142 -0.77992629] [ 0.28353344 0.95880403 -0.01742488 -0.47304568] [ 0.19404624 -0.03956891 0.98019404 -0.9142778 ] [ 0. 0. 0. 1. ]] SLAMing on 68.131346184 meters Centerline goodness : 0.884407 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.48, Z:-0.92 [[ 0.93961243 -0.28060944 -0.19592554 -0.77858986] [ 0.28269197 0.95904475 -0.0178441 -0.4770946 ] [ 0.19290859 -0.03862004 0.98045641 -0.91734746] [ 0. 0. 0. 1. ]] SLAMing on 68.161346184 meters Centerline goodness : 0.888181 Centerline is valid? [False, False] Translation: X:-0.78, Y:-0.48, Z:-0.92 [[ 0.94019387 -0.27729547 -0.19784516 -0.77746385] [ 0.28026759 0.95982844 -0.01339541 -0.47802012] [ 0.1936119 -0.0428553 0.98014175 -0.91611812] [ 0. 0. 0. 1. ]] SLAMing on 68.191346184 meters Centerline goodness : 0.891674 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.92 [[ 0.94131427 -0.2795125 -0.18920942 -0.77221252] [ 0.28332224 0.95899796 -0.00717006 -0.47227746] [ 0.18345557 -0.04685795 0.98191058 -0.92038015] [ 0. 0. 0. 1. ]] SLAMing on 68.221346184 meters Centerline goodness : 0.888936 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.92 [[ 9.43663214e-01 -2.70197769e-01 -1.91031161e-01 -7.73616711e-01] [ 2.75274856e-01 9.61365566e-01 4.14829947e-05 -4.70919237e-01] [ 1.83639572e-01 -5.26252214e-02 9.81583972e-01 -9.20024760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.251346184 meters Centerline goodness : 0.889529 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.93 [[ 9.45487568e-01 -2.73146225e-01 -1.77325687e-01 -7.71352661e-01] [ 2.77578315e-01 9.60702993e-01 1.94273131e-04 -4.66119027e-01] [ 1.70304253e-01 -4.94054481e-02 9.84152205e-01 -9.29541619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281346184 meters Centerline goodness : 0.887918 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.93 [[ 0.94641136 -0.27131632 -0.17519415 -0.77231146] [ 0.27522477 0.96137769 -0.00206402 -0.46645968] [ 0.16898775 -0.04626435 0.98453174 -0.93286629] [ 0. 0. 0. 1. ]] SLAMing on 68.311346184 meters Centerline goodness : 0.885364 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.94 [[ 0.94774157 -0.26805956 -0.17300288 -0.77171977] [ 0.27157986 0.96240975 -0.00344279 -0.4663717 ] [ 0.16742253 -0.04372123 0.9849153 -0.93886344] [ 0. 0. 0. 1. ]] SLAMing on 68.341346184 meters Centerline goodness : 0.888000 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.47, Z:-0.94 [[ 0.94792052 -0.26726461 -0.17325217 -0.77231226] [ 0.27082085 0.96262436 -0.00322529 -0.46520492] [ 0.16763877 -0.04386298 0.98487222 -0.93817586] [ 0. 0. 0. 1. ]] SLAMing on 68.371346184 meters Centerline goodness : 0.891009 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94825817 -0.27221974 -0.16341009 -0.76823399] [ 0.2751641 0.96138538 -0.00478228 -0.45726743] [ 0.1584019 -0.04042976 0.98654664 -0.93801433] [ 0. 0. 0. 1. ]] SLAMing on 68.40134618399999 meters Centerline goodness : 0.888966 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.94 [[ 0.94840285 -0.2715005 -0.16376663 -0.76769504] [ 0.2745078 0.96157471 -0.00442114 -0.45494096] [ 0.15867419 -0.04076219 0.9864892 -0.9386603 ] [ 0. 0. 0. 1. ]] SLAMing on 68.43134618399999 meters Centerline goodness : 0.891078 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.45, Z:-0.94 [[ 0.94810033 -0.27360393 -0.16200818 -0.76910286] [ 0.27597327 0.96113084 -0.00814051 -0.45473379] [ 0.15793833 -0.03699191 0.98675584 -0.93918492] [ 0. 0. 0. 1. ]] SLAMing on 68.46134618399999 meters Centerline goodness : 0.892583 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94819201 -0.27366002 -0.16137565 -0.76847165] [ 0.27601141 0.96112017 -0.00810751 -0.45643363] [ 0.15732009 -0.03685405 0.98685975 -0.94061367] [ 0. 0. 0. 1. ]] SLAMing on 68.491346184 meters Centerline goodness : 0.892282 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94766732 -0.27587406 -0.16068648 -0.77025651] [ 0.27798875 0.96053614 -0.00962215 -0.45841103] [ 0.15699967 -0.03555044 0.9869586 -0.93824992] [ 0. 0. 0. 1. ]] SLAMing on 68.521346184 meters Centerline goodness : 0.897579 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94712159 -0.27710521 -0.16178191 -0.76866591] [ 0.27940035 0.9601339 -0.00885147 -0.45846874] [ 0.15778508 -0.0368185 0.98678684 -0.93698468] [ 0. 0. 0. 1. ]] SLAMing on 68.551346184 meters Centerline goodness : 0.894461 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.94 [[ 0.94638217 -0.27904081 -0.16277907 -0.7673396 ] [ 0.28140136 0.95954937 -0.00884758 -0.45841295] [ 0.15866339 -0.03743306 0.98662287 -0.93536803] [ 0. 0. 0. 1. ]] SLAMing on 68.581346184 meters Centerline goodness : 0.894571 Centerline is valid? [False, False] Translation: X:-0.77, Y:-0.46, Z:-0.93 [[ 0.94572738 -0.28075958 -0.16362696 -0.76534922] [ 0.28320947 0.9590191 -0.00864681 -0.45883748] [ 0.15934905 -0.03816318 0.98648439 -0.93470822] [ 0. 0. 0. 1. ]] SLAMing on 68.611346184 meters Centerline goodness : 0.893492 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94452893 -0.28488507 -0.16341848 -0.76265545] [ 0.28701858 0.95786284 -0.0109135 -0.46058896] [ 0.15964158 -0.03659602 0.98649648 -0.93518325] [ 0. 0. 0. 1. ]] SLAMing on 68.641346184 meters Centerline goodness : 0.892640 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94411387 -0.28659869 -0.16281951 -0.76178924] [ 0.28852479 0.95739459 -0.01220852 -0.46256111] [ 0.15938146 -0.03545123 0.98658034 -0.93569017] [ 0. 0. 0. 1. ]] SLAMing on 68.671346184 meters Centerline goodness : 0.891707 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.46, Z:-0.94 [[ 0.94381881 -0.2874905 -0.16295788 -0.7603939 ] [ 0.28945519 0.95711535 -0.01207872 -0.46483742] [ 0.159442 -0.03576888 0.98655909 -0.93561714] [ 0. 0. 0. 1. ]] SLAMing on 68.701346184 meters Centerline goodness : 0.894749 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94337254 -0.28784976 -0.16489624 -0.75848458] [ 0.2904066 0.95686177 -0.00891964 -0.46743695] [ 0.16035042 -0.03947241 0.98627059 -0.93307336] [ 0. 0. 0. 1. ]] SLAMing on 68.731346184 meters Centerline goodness : 0.895280 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94324953 -0.28748447 -0.16623175 -0.75692706] [ 0.29036652 0.95688817 -0.00723329 -0.46741291] [ 0.16114466 -0.04144534 0.98606018 -0.93212078] [ 0. 0. 0. 1. ]] SLAMing on 68.76134618399999 meters Centerline goodness : 0.897392 Centerline is valid? [False, False] Translation: X:-0.76, Y:-0.47, Z:-0.93 [[ 0.94300269 -0.28787965 -0.1669468 -0.75611872] [ 0.29086631 0.95673942 -0.00681713 -0.46759967] [ 0.16168709 -0.04213063 0.98594234 -0.93113748] [ 0. 0. 0. 1. ]] SLAMing on 68.79134618399999 meters Centerline goodness : 0.892746 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.93 [[ 0.94271948 -0.28814344 -0.16808732 -0.75260026] [ 0.29127165 0.95661974 -0.00628388 -0.46770984] [ 0.1626063 -0.04303513 0.98575208 -0.93205752] [ 0. 0. 0. 1. ]] SLAMing on 68.82134618399999 meters Centerline goodness : 0.891359 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.93 [[ 0.9412751 -0.29315146 -0.16752137 -0.74875092] [ 0.29572071 0.95522241 -0.0099707 -0.46820369] [ 0.16294309 -0.04015437 0.98581802 -0.93436331] [ 0. 0. 0. 1. ]] SLAMing on 68.851346184 meters Centerline goodness : 0.895771 Centerline is valid? [False, False] Translation: X:-0.75, Y:-0.47, Z:-0.94 [[ 0.94050242 -0.2958843 -0.16705592 -0.74642387] [ 0.29808364 0.95446 -0.01233924 -0.46868027] [ 0.16309918 -0.03819155 0.98587021 -0.93574066] [ 0. 0. 0. 1. ]] SLAMing on 68.881346184 meters Centerline goodness : 0.895200 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 0.94013278 -0.29668013 -0.16772376 -0.74336274] [ 0.29900139 0.95417928 -0.01183508 -0.47032142] [ 0.16354977 -0.03902309 0.98576299 -0.93652401] [ 0. 0. 0. 1. ]] SLAMing on 68.911346184 meters Centerline goodness : 0.895103 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 0.94020761 -0.29598221 -0.16853538 -0.74161194] [ 0.298642 0.9543135 -0.00993461 -0.47240485] [ 0.16377606 -0.04099115 0.98564554 -0.93644963] [ 0. 0. 0. 1. ]] SLAMing on 68.941346184 meters Centerline goodness : 0.893702 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.93 [[ 0.94107404 -0.29174274 -0.17107258 -0.74164856] [ 0.29561934 0.9553013 -0.00293759 -0.47528835] [ 0.16428288 -0.04780787 0.98525405 -0.93304567] [ 0. 0. 0. 1. ]] SLAMing on 68.971346184 meters Centerline goodness : 0.892815 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.93 [[ 9.41610869e-01 -2.89437088e-01 -1.72032393e-01 -7.40988747e-01] [ 2.93708249e-01 9.55894888e-01 -6.54257116e-04 -4.75962410e-01] [ 1.64634251e-01 -4.99112773e-02 9.85091076e-01 -9.32601538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001346184 meters Centerline goodness : 0.893590 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.48, Z:-0.94 [[ 9.42309241e-01 -2.87158971e-01 -1.72026218e-01 -7.38096683e-01] [ 2.91465317e-01 9.56581368e-01 -2.35197142e-04 -4.75468286e-01] [ 1.64624614e-01 -4.99180478e-02 9.85092343e-01 -9.36395103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.031346184 meters Centerline goodness : 0.893761 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.47, Z:-0.94 [[ 9.42516953e-01 -2.86522821e-01 -1.71949020e-01 -7.35905832e-01] [ 2.90740588e-01 9.56801674e-01 -6.83815225e-04 -4.74588123e-01] [ 1.64717039e-01 -4.93480518e-02 9.85105612e-01 -9.39026188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061346184 meters Centerline goodness : 0.895454 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 0.94242861 -0.28682149 -0.17193531 -0.7344066 ] [ 0.29088506 0.95675662 -0.00162829 -0.47300817] [ 0.16496727 -0.04847886 0.9851069 -0.9406078 ] [ 0. 0. 0. 1. ]] SLAMing on 69.091346184 meters Centerline goodness : 0.896441 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 0.94233304 -0.28689761 -0.17233167 -0.73240187] [ 0.29097639 0.95672879 -0.00166273 -0.47151913] [ 0.16535171 -0.0485776 0.98503758 -0.94196731] [ 0. 0. 0. 1. ]] SLAMing on 69.121346184 meters Centerline goodness : 0.901473 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42017340e-01 -2.86945792e-01 -1.73969662e-01 -7.29281148e-01] [ 2.91398209e-01 9.56601840e-01 5.34163323e-05 -4.69805797e-01] [ 1.66404371e-01 -5.07447671e-02 9.84751011e-01 -9.42115693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15134618399999 meters Centerline goodness : 0.900693 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.41984292e-01 -2.87045525e-01 -1.73984083e-01 -7.29760565e-01] [ 2.91549276e-01 9.56555749e-01 3.43657008e-04 -4.69861049e-01] [ 1.66326830e-01 -5.10486529e-02 9.84748405e-01 -9.41324805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18134618399999 meters Centerline goodness : 0.899037 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42059379e-01 -2.86945030e-01 -1.73743134e-01 -7.29538858e-01] [ 2.91476027e-01 9.56577952e-01 5.89583264e-04 -4.70370421e-01] [ 1.66029673e-01 -5.11973808e-02 9.84790829e-01 -9.41783219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21134618399999 meters Centerline goodness : 0.898439 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42300662e-01 -2.86400406e-01 -1.73332831e-01 -7.28803925e-01] [ 2.90927754e-01 9.56744734e-01 7.46165890e-04 -4.71962920e-01] [ 1.65621571e-01 -5.11304439e-02 9.84863022e-01 -9.42994432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241346184 meters Centerline goodness : 0.902305 Centerline is valid? [False, False] Translation: X:-0.73, Y:-0.47, Z:-0.94 [[ 9.42132888e-01 -2.86614410e-01 -1.73890196e-01 -7.26887203e-01] [ 2.91198171e-01 9.56662343e-01 8.86539965e-04 -4.71234474e-01] [ 1.66100107e-01 -5.14717455e-02 9.84764649e-01 -9.43631055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.271346184 meters Centerline goodness : 0.906692 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.94 [[ 0.94195717 -0.28671877 -0.17466838 -0.72492775] [ 0.29138317 0.95660578 0.00110858 -0.46933071] [ 0.16677093 -0.05193966 0.98462669 -0.94437154] [ 0. 0. 0. 1. ]] SLAMing on 69.301346184 meters Centerline goodness : 0.905585 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94208095 -0.2857761 -0.17554346 -0.72355457] [ 0.29065567 0.95682523 0.00218402 -0.46581283] [ 0.16734027 -0.05308022 0.98446926 -0.9451464 ] [ 0. 0. 0. 1. ]] SLAMing on 69.331346184 meters Centerline goodness : 0.905585 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94208095 -0.2857761 -0.17554346 -0.72355457] [ 0.29065567 0.95682523 0.00218402 -0.46581283] [ 0.16734027 -0.05308022 0.98446926 -0.9451464 ] [ 0. 0. 0. 1. ]] SLAMing on 69.361346184 meters Centerline goodness : 0.907111 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94231077 -0.2851692 -0.17529672 -0.72400905] [ 0.28997146 0.95703348 0.00186398 -0.46500812] [ 0.16723329 -0.05258749 0.98451388 -0.94542654] [ 0. 0. 0. 1. ]] SLAMing on 69.391346184 meters Centerline goodness : 0.901548 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94265375 -0.28418938 -0.17504374 -0.72277041] [ 0.28897155 0.95733577 0.00191642 -0.4652401 ] [ 0.16703101 -0.05238918 0.98455879 -0.9472958 ] [ 0. 0. 0. 1. ]] SLAMing on 69.421346184 meters Centerline goodness : 0.904535 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94282468 -0.28550178 -0.17196035 -0.72456995] [ 0.2895108 0.95717298 -0.00184149 -0.46711301] [ 0.16512155 -0.04804818 0.98510215 -0.94998892] [ 0. 0. 0. 1. ]] SLAMing on 69.451346184 meters Centerline goodness : 0.901197 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94282381 -0.28539111 -0.17214873 -0.72433668] [ 0.28946573 0.95718721 -0.00149603 -0.46741252] [ 0.16520551 -0.04842067 0.98506983 -0.94951161] [ 0. 0. 0. 1. ]] SLAMing on 69.481346184 meters Centerline goodness : 0.904437 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.47, Z:-0.95 [[ 0.94301222 -0.28357219 -0.17411135 -0.72322595] [ 0.28838316 0.95751198 0.00244139 -0.4671993 ] [ 0.16602139 -0.05251304 0.98472294 -0.94781057] [ 0. 0. 0. 1. ]] SLAMing on 69.51134618399999 meters Centerline goodness : 0.906756 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.95 [[ 0.94319535 -0.28825937 -0.16519404 -0.71938611] [ 0.29255312 0.95624769 0.00173966 -0.45721938] [ 0.15746495 -0.04996887 0.98625955 -0.9461508 ] [ 0. 0. 0. 1. ]] SLAMing on 69.54134618399999 meters Centerline goodness : 0.903087 Centerline is valid? [False, False] Translation: X:-0.72, Y:-0.46, Z:-0.95 [[ 0.94327663 -0.28758416 -0.16590525 -0.71542759] [ 0.29185507 0.95646149 0.00142786 -0.45550641] [ 0.15827135 -0.04976716 0.98614066 -0.94917144] [ 0. 0. 0. 1. ]] SLAMing on 69.57134618399999 meters Centerline goodness : 0.902631 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94335467 -0.28818466 -0.16441281 -0.71424348] [ 0.29187359 0.95645522 -0.00179675 -0.45442381] [ 0.15777129 -0.04629278 0.98638998 -0.95279282] [ 0. 0. 0. 1. ]] SLAMing on 69.601346184 meters Centerline goodness : 0.903765 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.96 [[ 0.94340034 -0.28848825 -0.16361639 -0.71266055] [ 0.29176454 0.95648107 -0.00417303 -0.4534277 ] [ 0.15769985 -0.04380063 0.98651521 -0.95546862] [ 0. 0. 0. 1. ]] SLAMing on 69.631346184 meters Centerline goodness : 0.902347 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.96 [[ 9.44473470e-01 -2.84309932e-01 -1.64735327e-01 -7.11892193e-01] [ 2.88187275e-01 9.57573992e-01 -3.79768068e-04 -4.53097578e-01] [ 1.57854236e-01 -4.71159440e-02 9.86337735e-01 -9.56289233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661346184 meters Centerline goodness : 0.900217 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94501513 -0.28140593 -0.16660463 -0.71217791] [ 0.28599742 0.95822311 0.00373471 -0.45218264] [ 0.15859344 -0.05117785 0.98601671 -0.9539755 ] [ 0. 0. 0. 1. ]] SLAMing on 69.691346184 meters Centerline goodness : 0.901275 Centerline is valid? [False, False] Translation: X:-0.71, Y:-0.45, Z:-0.95 [[ 0.94547924 -0.27859117 -0.16868896 -0.71165382] [ 0.28388939 0.9588265 0.00765268 -0.4507535 ] [ 0.15961148 -0.05512445 0.98563963 -0.95202346] [ 0. 0. 0. 1. ]] SLAMing on 69.721346184 meters Centerline goodness : 0.901417 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 0.94652655 -0.27975873 -0.16069394 -0.70472582] [ 0.28558577 0.95825222 0.01390901 -0.44545263] [ 0.15009416 -0.05905715 0.98690628 -0.95837514] [ 0. 0. 0. 1. ]] SLAMing on 69.751346184 meters Centerline goodness : 0.901447 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.94656222 -0.27993248 -0.16018045 -0.70425118] [ 0.28552598 0.95828865 0.01256072 -0.44450399] [ 0.14998295 -0.05762518 0.98700783 -0.95990691] [ 0. 0. 0. 1. ]] SLAMing on 69.781346184 meters Centerline goodness : 0.900520 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.94634907 -0.28083468 -0.1598603 -0.70313805] [ 0.2860917 0.95814584 0.01039678 -0.44275044] [ 0.1502497 -0.05557369 0.9870849 -0.96136724] [ 0. 0. 0. 1. ]] SLAMing on 69.811346184 meters Centerline goodness : 0.900923 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.945942 -0.28209396 -0.16005231 -0.70147339] [ 0.287095 0.95786401 0.00854452 -0.44038585] [ 0.15089799 -0.05403283 0.98707155 -0.96247248] [ 0. 0. 0. 1. ]] SLAMing on 69.841346184 meters Centerline goodness : 0.899496 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.96 [[ 0.9451092 -0.28307165 -0.16321469 -0.69521351] [ 0.28826543 0.95751225 0.00856381 -0.43428868] [ 0.15385589 -0.05514289 0.98655341 -0.96357711] [ 0. 0. 0. 1. ]] SLAMing on 69.87134618399999 meters Centerline goodness : 0.904276 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94477617 -0.28380026 -0.16387618 -0.69489118] [ 0.28895089 0.9573106 0.00798723 -0.43162834] [ 0.15461363 -0.05489832 0.98644858 -0.96281567] [ 0. 0. 0. 1. ]] SLAMing on 69.90134618399999 meters Centerline goodness : 0.897647 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94470315 -0.28331942 -0.16512437 -0.69321927] [ 0.2885249 0.95743957 0.00792833 -0.42944252] [ 0.15585036 -0.05513241 0.98624089 -0.96239161] [ 0. 0. 0. 1. ]] SLAMing on 69.93134618399999 meters Centerline goodness : 0.896953 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94553683 -0.28062273 -0.16495756 -0.69323014] [ 0.28581687 0.95824963 0.00814608 -0.42806854] [ 0.15578455 -0.05485007 0.98626703 -0.96380965] [ 0. 0. 0. 1. ]] SLAMing on 69.96134618399999 meters Centerline goodness : 0.899087 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94603817 -0.2792228 -0.16445793 -0.69365621] [ 0.28437423 0.95867853 0.00817211 -0.42808309] [ 0.15538045 -0.05449873 0.98635024 -0.96477536] [ 0. 0. 0. 1. ]] SLAMing on 69.991346184 meters Centerline goodness : 0.897654 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.96 [[ 0.94633345 -0.2782765 -0.16436297 -0.69445442] [ 0.28340785 0.95896477 0.00815858 -0.42776229] [ 0.15534795 -0.05430249 0.98636619 -0.96424656] [ 0. 0. 0. 1. ]] SLAMing on 70.021346184 meters Centerline goodness : 0.897702 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.96 [[ 0.94635085 -0.2777606 -0.16513365 -0.69510832] [ 0.28306732 0.95905745 0.00903893 -0.42733382] [ 0.155862 -0.05529794 0.98622978 -0.96218561] [ 0. 0. 0. 1. ]] SLAMing on 70.051346184 meters Centerline goodness : 0.903289 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94644608 -0.28245902 -0.15638643 -0.69304855] [ 0.28752813 0.95771657 0.01032179 -0.42057706] [ 0.1468584 -0.05473451 0.98764201 -0.95776705] [ 0. 0. 0. 1. ]] SLAMing on 70.081346184 meters Centerline goodness : 0.900165 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94616699 -0.28310878 -0.15689944 -0.69279063] [ 0.28822405 0.95750668 0.01038582 -0.42030632] [ 0.14729195 -0.05504891 0.98755997 -0.95650815] [ 0. 0. 0. 1. ]] SLAMing on 70.111346184 meters Centerline goodness : 0.899875 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94576447 -0.28451789 -0.15677733 -0.69103832] [ 0.28938764 0.95717269 0.00867343 -0.42052602] [ 0.14759523 -0.05357244 0.98759589 -0.95727209] [ 0. 0. 0. 1. ]] SLAMing on 70.141346184 meters Centerline goodness : 0.901875 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94512781 -0.2875926 -0.1549965 -0.6878277 ] [ 0.29167004 0.95651168 0.00374064 -0.42188396] [ 0.14718018 -0.04874322 0.98790794 -0.96169773] [ 0. 0. 0. 1. ]] SLAMing on 70.171346184 meters Centerline goodness : 0.904935 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.96 [[ 0.94508704 -0.28746505 -0.15548094 -0.68581293] [ 0.2915464 0.95654986 0.00361505 -0.42157005] [ 0.14768607 -0.04874645 0.98783228 -0.96267617] [ 0. 0. 0. 1. ]] SLAMing on 70.201346184 meters Centerline goodness : 0.904028 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.42, Z:-0.96 [[ 0.94548926 -0.28470654 -0.15808934 -0.68324922] [ 0.28945382 0.95716363 0.00736756 -0.42028399] [ 0.14921977 -0.05272551 0.98739733 -0.96172752] [ 0. 0. 0. 1. ]] SLAMing on 70.231346184 meters Centerline goodness : 0.905456 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.42, Z:-0.96 [[ 0.94735333 -0.27618936 -0.16199105 -0.68407603] [ 0.28233363 0.95918686 0.01575705 -0.41636008] [ 0.15102776 -0.06066302 0.98666641 -0.95828005] [ 0. 0. 0. 1. ]] SLAMing on 70.26134618399999 meters Centerline goodness : 0.904862 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94833805 -0.272252 -0.16289196 -0.68378399] [ 0.27877362 0.96018499 0.01816752 -0.41488814] [ 0.15146027 -0.06263893 0.98647664 -0.95884827] [ 0. 0. 0. 1. ]] SLAMing on 70.29134618399999 meters Centerline goodness : 0.901567 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94896611 -0.2706856 -0.16184137 -0.68416044] [ 0.27695122 0.96073254 0.0170591 -0.41400101] [ 0.15086862 -0.06101067 0.98666933 -0.96109663] [ 0. 0. 0. 1. ]] SLAMing on 70.32134618399999 meters Centerline goodness : 0.901116 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94906227 -0.27201624 -0.15902192 -0.68456862] [ 0.27723701 0.96073641 0.01118893 -0.41350552] [ 0.14973458 -0.05470575 0.98721165 -0.96493393] [ 0. 0. 0. 1. ]] SLAMing on 70.351346184 meters Centerline goodness : 0.901298 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.94884202 -0.2727412 -0.15909448 -0.68393084] [ 0.2778435 0.96057088 0.01032305 -0.41315191] [ 0.150006 -0.05399831 0.98720939 -0.96502281] [ 0. 0. 0. 1. ]] SLAMing on 70.381346184 meters Centerline goodness : 0.902211 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.9487384 -0.27292236 -0.15940147 -0.68364999] [ 0.27808326 0.96049869 0.01058144 -0.41296257] [ 0.15021699 -0.0543659 0.98715713 -0.96451654] [ 0. 0. 0. 1. ]] SLAMing on 70.411346184 meters Centerline goodness : 0.903762 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94937905 -0.27648154 -0.14912205 -0.68056848] [ 0.28122017 0.95957721 0.01126022 -0.40834135] [ 0.13998088 -0.05262634 0.98875468 -0.96391789] [ 0. 0. 0. 1. ]] SLAMing on 70.441346184 meters Centerline goodness : 0.904527 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94959945 -0.27554404 -0.14945355 -0.68179675] [ 0.28043516 0.9597944 0.01228107 -0.40899461] [ 0.1400607 -0.05357413 0.98869248 -0.96188233] [ 0. 0. 0. 1. ]] SLAMing on 70.471346184 meters Centerline goodness : 0.906030 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.94985731 -0.27414632 -0.15038248 -0.68110714] [ 0.27921494 0.96013686 0.01327523 -0.40939347] [ 0.1407484 -0.05459861 0.98853876 -0.96081708] [ 0. 0. 0. 1. ]] SLAMing on 70.501346184 meters Centerline goodness : 0.907651 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.950131 -0.27336566 -0.15007429 -0.68148509] [ 0.27831235 0.960408 0.01259792 -0.40934332] [ 0.14068871 -0.0537372 0.98859446 -0.96099741] [ 0. 0. 0. 1. ]] SLAMing on 70.531346184 meters Centerline goodness : 0.910864 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95105428 -0.27092834 -0.14863915 -0.68071073] [ 0.27560539 0.96120293 0.01142748 -0.41100298] [ 0.13977636 -0.05183391 0.98882547 -0.96473503] [ 0. 0. 0. 1. ]] SLAMing on 70.561346184 meters Centerline goodness : 0.911531 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95132984 -0.27005383 -0.14846707 -0.68099103] [ 0.27469817 0.9614638 0.01132632 -0.41163215] [ 0.139687 -0.0515587 0.98885249 -0.96476219] [ 0. 0. 0. 1. ]] SLAMing on 70.591346184 meters Centerline goodness : 0.909799 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95177744 -0.26846046 -0.14848799 -0.68161474] [ 0.27315633 0.96189724 0.01180336 -0.41215986] [ 0.13966145 -0.05179461 0.98884377 -0.96428755] [ 0. 0. 0. 1. ]] SLAMing on 70.62134618399999 meters Centerline goodness : 0.914744 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.96 [[ 0.95309182 -0.26349034 -0.14895914 -0.68211613] [ 0.26865594 0.96311432 0.01532272 -0.41301984] [ 0.13942729 -0.05462271 0.98872463 -0.9646756 ] [ 0. 0. 0. 1. ]] SLAMing on 70.65134618399999 meters Centerline goodness : 0.917066 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.95360709 -0.26196061 -0.14835819 -0.68289368] [ 0.26701536 0.9635773 0.01488591 -0.41348812] [ 0.13905507 -0.05380922 0.98882165 -0.96531667] [ 0. 0. 0. 1. ]] SLAMing on 70.68134618399999 meters Centerline goodness : 0.915852 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.41, Z:-0.97 [[ 0.95411671 -0.26047197 -0.14770127 -0.68317526] [ 0.26539394 0.96403392 0.01430578 -0.41446872] [ 0.13866278 -0.0528484 0.98892855 -0.96638437] [ 0. 0. 0. 1. ]] SLAMing on 70.71134618399999 meters Centerline goodness : 0.916678 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95556239 -0.25720033 -0.1440434 -0.68730154] [ 0.26151481 0.96513051 0.01153702 -0.41773526] [ 0.13605336 -0.04869383 0.98950412 -0.96926323] [ 0. 0. 0. 1. ]] SLAMing on 70.741346184 meters Centerline goodness : 0.918841 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95623207 -0.25504583 -0.14342893 -0.68875904] [ 0.25933837 0.96571498 0.01175555 -0.41871013] [ 0.13551326 -0.04843766 0.9895908 -0.96941836] [ 0. 0. 0. 1. ]] SLAMing on 70.771346184 meters Centerline goodness : 0.922226 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95692113 -0.25257845 -0.14319943 -0.69071331] [ 0.25696725 0.96633639 0.01272104 -0.4198619 ] [ 0.13516576 -0.04897059 0.9896121 -0.96824546] [ 0. 0. 0. 1. ]] SLAMing on 70.801346184 meters Centerline goodness : 0.922981 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95800664 -0.24900296 -0.14219988 -0.69378958] [ 0.25350653 0.96722958 0.01419071 -0.42222684] [ 0.1340064 -0.04964339 0.98973624 -0.96768968] [ 0. 0. 0. 1. ]] SLAMing on 70.831346184 meters Centerline goodness : 0.924349 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.42, Z:-0.97 [[ 0.95806026 -0.24878216 -0.14222512 -0.69301095] [ 0.25328789 0.96728653 0.01421291 -0.42398691] [ 0.13403652 -0.04964072 0.98973229 -0.96793532] [ 0. 0. 0. 1. ]] SLAMing on 70.861346184 meters Centerline goodness : 0.925685 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.43, Z:-0.97 [[ 0.95796121 -0.24983019 -0.14105036 -0.69398092] [ 0.2540281 0.96711874 0.0122907 -0.42654279] [ 0.13334186 -0.04760477 0.98992613 -0.96774323] [ 0. 0. 0. 1. ]] SLAMing on 70.891346184 meters Centerline goodness : 0.928083 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.43, Z:-0.97 [[ 0.95764001 -0.25266062 -0.13816012 -0.69688053] [ 0.25631966 0.96654953 0.00906891 -0.43391701] [ 0.13124724 -0.04409791 0.99036838 -0.96701307] [ 0. 0. 0. 1. ]] SLAMing on 70.921346184 meters Centerline goodness : 0.927740 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.97 [[ 0.95705459 -0.25551976 -0.13695316 -0.69815373] [ 0.25882774 0.96590087 0.00661185 -0.43705715] [ 0.13059372 -0.04177518 0.99055546 -0.965737 ] [ 0. 0. 0. 1. ]] SLAMing on 70.951346184 meters Centerline goodness : 0.928926 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.44, Z:-0.96 [[ 0.95628808 -0.25873564 -0.13626806 -0.69820713] [ 0.26177093 0.96511939 0.00453251 -0.44010199] [ 0.13034222 -0.0400054 0.99066163 -0.96457918] [ 0. 0. 0. 1. ]] SLAMing on 70.981346184 meters Centerline goodness : 0.931626 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 9.54284447e-01 -2.66690905e-01 -1.34970943e-01 -6.98903560e-01] [ 2.69170889e-01 9.63092423e-01 1.30420370e-04 -4.45462139e-01] [ 1.29954711e-01 -3.64547069e-02 9.90849548e-01 -9.61149111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01134618399999 meters Centerline goodness : 0.934204 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 9.53189071e-01 -2.70380626e-01 -1.35369542e-01 -6.97016823e-01] [ 2.72774438e-01 9.62077596e-01 -8.97759533e-04 -4.48397548e-01] [ 1.30478740e-01 -3.60696161e-02 9.90794773e-01 -9.59598793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04134618399999 meters Centerline goodness : 0.930181 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.45, Z:-0.96 [[ 0.95214061 -0.27423214 -0.13499998 -0.69583113] [ 0.27637712 0.96104471 -0.00295902 -0.45137614] [ 0.13055248 -0.0344935 0.99084118 -0.95869459] [ 0. 0. 0. 1. ]] SLAMing on 71.07134618399999 meters Centerline goodness : 0.937383 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.46, Z:-0.96 [[ 0.9511178 -0.27806993 -0.13435788 -0.69436397] [ 0.27995056 0.96000102 -0.00507191 -0.45502904] [ 0.13039404 -0.03278958 0.99091989 -0.95849789] [ 0. 0. 0. 1. ]] SLAMing on 71.101346184 meters Centerline goodness : 0.938068 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.46, Z:-0.96 [[ 0.94886437 -0.2870437 -0.13138614 -0.69366382] [ 0.28795713 0.95756292 -0.01240726 -0.46281516] [ 0.12937192 -0.02606077 0.99125362 -0.95808816] [ 0. 0. 0. 1. ]] SLAMing on 71.131346184 meters Centerline goodness : 0.937805 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.96 [[ 0.94771537 -0.2910365 -0.13089433 -0.69229729] [ 0.29164525 0.95641011 -0.01492472 -0.46634942] [ 0.1295323 -0.02403033 0.99128398 -0.9571661 ] [ 0. 0. 0. 1. ]] SLAMing on 71.161346184 meters Centerline goodness : 0.940008 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.47, Z:-0.96 [[ 0.94671132 -0.29425075 -0.13097392 -0.6895234 ] [ 0.29473487 0.95544313 -0.01611783 -0.46966877] [ 0.12988082 -0.02334365 0.99125478 -0.95711506] [ 0. 0. 0. 1. ]] SLAMing on 71.191346184 meters Centerline goodness : 0.941405 Centerline is valid? [False, False] Translation: X:-0.69, Y:-0.48, Z:-0.96 [[ 0.94564139 -0.29829995 -0.12953568 -0.68973203] [ 0.29851963 0.95423041 -0.01817542 -0.47765117] [ 0.12902861 -0.02148151 0.99140817 -0.95519652] [ 0. 0. 0. 1. ]] SLAMing on 71.221346184 meters Centerline goodness : 0.942891 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.48, Z:-0.95 [[ 0.94575826 -0.29293207 -0.14047105 -0.68452206] [ 0.29346557 0.95581176 -0.0173732 -0.48386887] [ 0.13935305 -0.02479257 0.98993235 -0.94985606] [ 0. 0. 0. 1. ]] SLAMing on 71.251346184 meters Centerline goodness : 0.942891 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.48, Z:-0.95 [[ 0.94575826 -0.29293207 -0.14047105 -0.68452206] [ 0.29346557 0.95581176 -0.0173732 -0.48386887] [ 0.13935305 -0.02479257 0.98993235 -0.94985606] [ 0. 0. 0. 1. ]] SLAMing on 71.281346184 meters Centerline goodness : 0.943923 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.49, Z:-0.95 [[ 0.94602762 -0.29165091 -0.14132053 -0.68241656] [ 0.29257387 0.95613037 -0.01467114 -0.48778249] [ 0.1393997 -0.02746739 0.98985517 -0.94986564] [ 0. 0. 0. 1. ]] SLAMing on 71.311346184 meters Centerline goodness : 0.946227 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.49, Z:-0.95 [[ 0.94638719 -0.2901296 -0.14204258 -0.68016076] [ 0.29136945 0.95652951 -0.01245549 -0.49128827] [ 0.13948163 -0.02959915 0.98978218 -0.95035261] [ 0. 0. 0. 1. ]] SLAMing on 71.341346184 meters Centerline goodness : 0.945716 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94703649 -0.28874615 -0.14052593 -0.681988 ] [ 0.28993452 0.95696622 -0.01239443 -0.49725602] [ 0.13805741 -0.02900534 0.98999941 -0.95047305] [ 0. 0. 0. 1. ]] SLAMing on 71.37134618399999 meters Centerline goodness : 0.945241 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94748303 -0.28717443 -0.14073649 -0.67987989] [ 0.28854676 0.95740259 -0.01100206 -0.49988925] [ 0.13790099 -0.0301848 0.98998596 -0.95211325] [ 0. 0. 0. 1. ]] SLAMing on 71.40134618399999 meters Centerline goodness : 0.943125 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.50, Z:-0.95 [[ 0.94776548 -0.28609393 -0.14103493 -0.67788034] [ 0.28762902 0.95769156 -0.00981943 -0.50235351] [ 0.13787724 -0.03125922 0.98995592 -0.95333772] [ 0. 0. 0. 1. ]] SLAMing on 71.43134618399999 meters Centerline goodness : 0.942236 Centerline is valid? [False, False] Translation: X:-0.68, Y:-0.51, Z:-0.95 [[ 0.94714708 -0.28843684 -0.14041584 -0.67696269] [ 0.28978579 0.95702607 -0.01119398 -0.50612264] [ 0.13761037 -0.03008817 0.99002934 -0.95317658] [ 0. 0. 0. 1. ]] SLAMing on 71.46134618399999 meters Centerline goodness : 0.942506 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.51, Z:-0.95 [[ 0.94665681 -0.28946942 -0.14159213 -0.67216573] [ 0.29101007 0.95666602 -0.0101622 -0.50792173] [ 0.13839803 -0.03158462 0.98987292 -0.95464816] [ 0. 0. 0. 1. ]] SLAMing on 71.491346184 meters Centerline goodness : 0.945646 Centerline is valid? [False, False] Translation: X:-0.67, Y:-0.51, Z:-0.96 [[ 0.94577426 -0.29258586 -0.14108354 -0.66910024] [ 0.29379673 0.95578432 -0.01264209 -0.51004885] [ 0.13854433 -0.02949332 0.98991697 -0.95627922] [ 0. 0. 0. 1. ]] SLAMing on 71.521346184 meters Centerline goodness : 0.942412 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.51, Z:-0.96 [[ 0.9444769 -0.29674589 -0.141086 -0.66497118] [ 0.29766837 0.95455127 -0.01501403 -0.51191954] [ 0.13912917 -0.02781644 0.98988349 -0.95752551] [ 0. 0. 0. 1. ]] SLAMing on 71.551346184 meters Centerline goodness : 0.946039 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.96 [[ 0.94201206 -0.29866429 -0.15301279 -0.66457674] [ 0.30015842 0.95378968 -0.01379014 -0.52075052] [ 0.15006065 -0.0329376 0.98812799 -0.95568085] [ 0. 0. 0. 1. ]] SLAMing on 71.581346184 meters Centerline goodness : 0.944302 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.95 [[ 0.9414071 -0.2997049 -0.15469207 -0.66089634] [ 0.30157712 0.95336899 -0.01178155 -0.52261707] [ 0.15100962 -0.03556035 0.98789248 -0.95485927] [ 0. 0. 0. 1. ]] SLAMing on 71.611346184 meters Centerline goodness : 0.944662 Centerline is valid? [False, False] Translation: X:-0.66, Y:-0.52, Z:-0.95 [[ 0.9410872 -0.29995753 -0.15614213 -0.65805996] [ 0.30222509 0.95318845 -0.00958028 -0.52487596] [ 0.15170655 -0.03817419 0.98768814 -0.95390303] [ 0. 0. 0. 1. ]] SLAMing on 71.641346184 meters Centerline goodness : 0.950020 Centerline is valid? [False, True] Translation: X:-0.66, Y:-0.53, Z:-0.95 [[ 0.9408202 -0.29977314 -0.15809307 -0.65587903] [ 0.30273847 0.95305747 -0.00555725 -0.52920053] [ 0.1523377 -0.04263249 0.98740858 -0.95103434] [ 0. 0. 0. 1. ]] SLAMing on 71.671346184 meters Centerline goodness : 0.947700 Centerline is valid? [True, False] Translation: X:-0.65, Y:-0.53, Z:-0.95 [[ 0.94098506 -0.29799495 -0.16045601 -0.65179704] [ 0.30168321 0.95340714 -0.00144042 -0.5300888 ] [ 0.15340915 -0.04705147 0.98704194 -0.95108637] [ 0. 0. 0. 1. ]] SLAMing on 71.701346184 meters Centerline goodness : 0.948769 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.53, Z:-0.95 [[ 9.40987247e-01 -2.97459976e-01 -1.61432847e-01 -6.49211801e-01] [ 3.01356248e-01 9.53511551e-01 -3.66326943e-04 -5.30073015e-01] [ 1.54037052e-01 -4.83040880e-02 9.86883631e-01 -9.51787465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731346184 meters Centerline goodness : 0.944675 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.53, Z:-0.95 [[ 9.40958910e-01 -2.97122467e-01 -1.62217663e-01 -6.46489058e-01] [ 3.01126664e-01 9.53584145e-01 1.01986761e-04 -5.29436695e-01] [ 1.54657889e-01 -4.89440291e-02 9.86754995e-01 -9.53051563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76134618399999 meters Centerline goodness : 0.946494 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.53, Z:-0.95 [[ 9.40812350e-01 -2.97036524e-01 -1.63222015e-01 -6.43502690e-01] [ 3.01210481e-01 9.53557286e-01 8.65068233e-04 -5.28918695e-01] [ 1.55384585e-01 -4.99780485e-02 9.86588985e-01 -9.54027745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79134618399999 meters Centerline goodness : 0.945135 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.53, Z:-0.95 [[ 0.94026455 -0.29804424 -0.16453631 -0.63940132] [ 0.30240027 0.95317985 0.00149809 -0.5288404 ] [ 0.1563862 -0.05116443 0.98636989 -0.95493467] [ 0. 0. 0. 1. ]] SLAMing on 71.82134618399999 meters Centerline goodness : 0.946279 Centerline is valid? [False, False] Translation: X:-0.64, Y:-0.53, Z:-0.96 [[ 0.93994872 -0.29834096 -0.16579831 -0.63586639] [ 0.3029276 0.95301029 0.00249949 -0.52882099] [ 0.1572618 -0.05257428 0.98615651 -0.95559416] [ 0. 0. 0. 1. ]] SLAMing on 71.851346184 meters Centerline goodness : 0.947687 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.53, Z:-0.96 [[ 0.93941401 -0.29910682 -0.16744082 -0.63151363] [ 0.30395971 0.95267834 0.00353212 -0.52839539] [ 0.15846076 -0.05421339 0.9858758 -0.95606164] [ 0. 0. 0. 1. ]] SLAMing on 71.881346184 meters Centerline goodness : 0.946347 Centerline is valid? [False, False] Translation: X:-0.63, Y:-0.53, Z:-0.96 [[ 0.93815419 -0.30217774 -0.16898323 -0.62705507] [ 0.30710496 0.95167032 0.00318504 -0.52664574] [ 0.15985388 -0.05488364 0.98561378 -0.95628313] [ 0. 0. 0. 1. ]] SLAMing on 71.911346184 meters Centerline goodness : 0.945696 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.53, Z:-0.96 [[ 0.93771622 -0.30284938 -0.17020737 -0.62427992] [ 0.30799481 0.95137947 0.00403655 -0.52609797] [ 0.16070933 -0.05620813 0.9854 -0.95615754] [ 0. 0. 0. 1. ]] SLAMing on 71.941346184 meters Centerline goodness : 0.949526 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.53, Z:-0.96 [[ 0.93723494 -0.30355665 -0.17159264 -0.62186433] [ 0.30897926 0.95105472 0.00517025 -0.52564976] [ 0.16162452 -0.0578643 0.98515442 -0.95530328] [ 0. 0. 0. 1. ]] SLAMing on 71.971346184 meters Centerline goodness : 0.946663 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.53, Z:-0.95 [[ 0.93626851 -0.30579211 -0.17289437 -0.6196886 ] [ 0.31148382 0.95023171 0.00612594 -0.52522814] [ 0.16241645 -0.05958932 0.98492132 -0.95374296] [ 0. 0. 0. 1. ]] SLAMing on 72.001346184 meters Centerline goodness : 0.947501 Centerline is valid? [False, False] Translation: X:-0.62, Y:-0.52, Z:-0.95 [[ 0.93578594 -0.30660325 -0.17406644 -0.61649267] [ 0.31247415 0.94990266 0.00669668 -0.52402448] [ 0.16329295 -0.06065792 0.98471114 -0.95428186] [ 0. 0. 0. 1. ]] SLAMing on 72.031346184 meters Centerline goodness : 0.946315 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.52, Z:-0.96 [[ 0.9352783 -0.30744216 -0.17531062 -0.6127824 ] [ 0.3134402 0.94958277 0.00691367 -0.52223951] [ 0.16434639 -0.06141561 0.9844889 -0.95529734] [ 0. 0. 0. 1. ]] SLAMing on 72.061346184 meters Centerline goodness : 0.947351 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.52, Z:-0.96 [[ 0.93472464 -0.30850682 -0.17638988 -0.60889241] [ 0.31455951 0.94921388 0.00673265 -0.52028929] [ 0.16535465 -0.06177829 0.98429736 -0.95673143] [ 0. 0. 0. 1. ]] SLAMing on 72.091346184 meters Centerline goodness : 0.947189 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.52, Z:-0.96 [[ 0.93331927 -0.31287584 -0.1761359 -0.60529094] [ 0.31829275 0.94798878 0.00264555 -0.51687631] [ 0.16614712 -0.05853192 0.9843623 -0.95918622] [ 0. 0. 0. 1. ]] SLAMing on 72.12134618399999 meters Centerline goodness : 0.948592 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.52, Z:-0.96 [[ 0.93279051 -0.31366888 -0.17752097 -0.60249293] [ 0.31931674 0.94764182 0.00343549 -0.51603123] [ 0.16714869 -0.05989001 0.98411102 -0.95883395] [ 0. 0. 0. 1. ]] SLAMing on 72.15134618399999 meters Centerline goodness : 0.948469 Centerline is valid? [False, False] Translation: X:-0.60, Y:-0.51, Z:-0.96 [[ 0.93234188 -0.31335536 -0.18040797 -0.59898554] [ 0.31981549 0.94745295 0.0071389 -0.514691 ] [ 0.16869104 -0.06435316 0.98356596 -0.95707402] [ 0. 0. 0. 1. ]] SLAMing on 72.18134618399999 meters Centerline goodness : 0.951568 Centerline is valid? [False, True] Translation: X:-0.59, Y:-0.51, Z:-0.96 [[ 0.93085831 -0.31776026 -0.18036414 -0.58976307] [ 0.32584245 0.94528359 0.01629805 -0.50655806] [ 0.16531639 -0.07394147 0.98346487 -0.95727001] [ 0. 0. 0. 1. ]] SLAMing on 72.21134618399999 meters Centerline goodness : 0.946598 Centerline is valid? [True, False] Translation: X:-0.59, Y:-0.50, Z:-0.96 [[ 0.93059861 -0.31801193 -0.1812585 -0.58683513] [ 0.32614612 0.94518093 0.01617751 -0.50437544] [ 0.16617744 -0.07417153 0.98330242 -0.95877362] [ 0. 0. 0. 1. ]] SLAMing on 72.241346184 meters Centerline goodness : 0.948578 Centerline is valid? [False, False] Translation: X:-0.58, Y:-0.50, Z:-0.96 [[ 0.93061396 -0.31788648 -0.18139966 -0.58367796] [ 0.32588275 0.94528621 0.01531057 -0.5029363 ] [ 0.16660758 -0.07336325 0.98329027 -0.96193216] [ 0. 0. 0. 1. ]] SLAMing on 72.271346184 meters Centerline goodness : 0.951095 Centerline is valid? [False, True] Translation: X:-0.58, Y:-0.50, Z:-0.97 [[ 0.93180048 -0.31358658 -0.18278763 -0.58025772] [ 0.32212922 0.94651887 0.01829747 -0.50213873] [ 0.16727409 -0.07593083 0.98298214 -0.96511746] [ 0. 0. 0. 1. ]] SLAMing on 72.301346184 meters Centerline goodness : 0.947249 Centerline is valid? [True, False] Translation: X:-0.58, Y:-0.49, Z:-0.97 [[ 0.93315352 -0.31563449 -0.17204471 -0.57610996] [ 0.32333915 0.94611163 0.01801629 -0.49452826] [ 0.15708694 -0.07244076 0.98492438 -0.96718157] [ 0. 0. 0. 1. ]] SLAMing on 72.331346184 meters Centerline goodness : 0.949628 Centerline is valid? [False, False] Translation: X:-0.57, Y:-0.49, Z:-0.97 [[ 0.93418706 -0.31122905 -0.17444487 -0.57404563] [ 0.3197341 0.94724609 0.02224752 -0.49101312] [ 0.15831814 -0.07655932 0.98441558 -0.96789448] [ 0. 0. 0. 1. ]] SLAMing on 72.361346184 meters Centerline goodness : 0.950549 Centerline is valid? [False, True] Translation: X:-0.57, Y:-0.49, Z:-0.97 [[ 0.93530492 -0.30687428 -0.17616151 -0.57379305] [ 0.31601394 0.94840632 0.02570308 -0.48743091] [ 0.15918507 -0.07970971 0.98402565 -0.96818528] [ 0. 0. 0. 1. ]] SLAMing on 72.391346184 meters Centerline goodness : 0.950499 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.44, Z:-0.94 [[ 0.93695699 -0.31055037 -0.16021879 -0.56198543] [ 0.30821173 0.9504811 -0.03988993 -0.44196152] [ 0.16467277 -0.01200616 0.98627518 -0.93593463] [ 0. 0. 0. 1. ]] SLAMing on 72.421346184 meters Centerline goodness : 0.951465 Centerline is valid? [True, True] Translation: X:-0.54, Y:-0.43, Z:-0.93 [[ 0.93781808 -0.3079422 -0.16021502 -0.53590343] [ 0.30556337 0.95133517 -0.03990507 -0.43393357] [ 0.16470664 -0.01153214 0.98627518 -0.93252243] [ 0. 0. 0. 1. ]] SLAMing on 72.451346184 meters Centerline goodness : 0.949587 Centerline is valid? [True, False] Translation: X:-0.53, Y:-0.43, Z:-0.93 [[ 0.93868806 -0.30438519 -0.16190854 -0.53300359] [ 0.30253999 0.95243589 -0.03654351 -0.43285804] [ 0.16533081 -0.01468085 0.98612889 -0.93430228] [ 0. 0. 0. 1. ]] SLAMing on 72.481346184 meters Centerline goodness : 0.951733 Centerline is valid? [False, True] Translation: X:-0.53, Y:-0.43, Z:-0.94 [[ 0.93946063 -0.30068985 -0.16431473 -0.52984566] [ 0.29932037 0.95355979 -0.03363088 -0.42801422] [ 0.16679638 -0.01758786 0.98583449 -0.93579028] [ 0. 0. 0. 1. ]] SLAMing on 72.51134618399999 meters Centerline goodness : 0.951794 Centerline is valid? [True, True] Translation: X:-0.50, Y:-0.42, Z:-0.93 [[ 0.93976302 -0.30063418 -0.16267929 -0.50402879] [ 0.29811764 0.95367988 -0.04025611 -0.41571796] [ 0.16724633 -0.01066636 0.98585744 -0.92965017] [ 0. 0. 0. 1. ]] SLAMing on 72.54134618399999 meters Centerline goodness : 0.952809 Centerline is valid? [True, True] Translation: X:-0.48, Y:-0.41, Z:-0.93 [[ 0.94035476 -0.29878373 -0.162669 -0.47642514] [ 0.29623264 0.95426533 -0.04029767 -0.40653343] [ 0.16726967 -0.01029376 0.98585744 -0.92660631] [ 0. 0. 0. 1. ]] SLAMing on 72.57134618399999 meters Centerline goodness : 0.953290 Centerline is valid? [True, True] Translation: X:-0.45, Y:-0.40, Z:-0.92 [[ 0.94077164 -0.29747411 -0.16265876 -0.44914377] [ 0.29489654 0.95467733 -0.04033895 -0.39662992] [ 0.16728642 -0.01001776 0.98585744 -0.92395648] [ 0. 0. 0. 1. ]] SLAMing on 72.601346184 meters Centerline goodness : 0.952867 Centerline is valid? [True, True] Translation: X:-0.42, Y:-0.38, Z:-0.92 [[ 0.94238699 -0.2923221 -0.16264857 -0.42324781] [ 0.28966142 0.95627701 -0.04038001 -0.38369931] [ 0.16734105 -0.00905942 0.98585744 -0.92352901] [ 0. 0. 0. 1. ]] SLAMing on 72.631346184 meters Centerline goodness : 0.950639 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.37, Z:-0.92 [[ 0.94331541 -0.2893141 -0.16264496 -0.39692184] [ 0.28660662 0.95719639 -0.04039453 -0.37425326] [ 0.16736987 -0.00851034 0.98585744 -0.91997712] [ 0. 0. 0. 1. ]] SLAMing on 72.661346184 meters Centerline goodness : 0.949247 Centerline is valid? [True, False] Translation: X:-0.39, Y:-0.37, Z:-0.93 [[ 0.94485772 -0.29079218 -0.15061141 -0.39326824] [ 0.28840716 0.9567561 -0.03793513 -0.36768953] [ 0.15512963 -0.00759411 0.98786493 -0.92690196] [ 0. 0. 0. 1. ]] SLAMing on 72.691346184 meters Centerline goodness : 0.947509 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.37, Z:-0.93 [[ 0.94602701 -0.2862621 -0.15194376 -0.391185 ] [ 0.28435764 0.95809402 -0.03459172 -0.36605187] [ 0.15547871 -0.01048166 0.98778363 -0.92900098] [ 0. 0. 0. 1. ]] SLAMing on 72.721346184 meters Centerline goodness : 0.950270 Centerline is valid? [False, True] Translation: X:-0.39, Y:-0.36, Z:-0.93 [[ 0.94779593 -0.27930532 -0.15385514 -0.39035254] [ 0.27829113 0.96007281 -0.02853491 -0.36476584] [ 0.15568209 -0.01577125 0.9876813 -0.92992535] [ 0. 0. 0. 1. ]] SLAMing on 72.751346184 meters Centerline goodness : 0.950015 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.35, Z:-0.92 [[ 0.94817891 -0.27935216 -0.15139068 -0.36580302] [ 0.27676945 0.96017251 -0.03830693 -0.35126993] [ 0.15606229 -0.0055785 0.98773146 -0.91858388] [ 0. 0. 0. 1. ]] SLAMing on 72.781346184 meters Centerline goodness : 0.947905 Centerline is valid? [True, False] Translation: X:-0.36, Y:-0.35, Z:-0.92 [[ 0.94878402 -0.27509517 -0.1553433 -0.36110469] [ 0.27355203 0.96133623 -0.03165346 -0.34905562] [ 0.15804485 -0.01246218 0.98735329 -0.91830724] [ 0. 0. 0. 1. ]] SLAMing on 72.811346184 meters Centerline goodness : 0.947783 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.35, Z:-0.92 [[ 0.94863928 -0.27529841 -0.15586632 -0.35868734] [ 0.27375971 0.96127608 -0.03168464 -0.34807465] [ 0.15855329 -0.01261262 0.98726986 -0.91970268] [ 0. 0. 0. 1. ]] SLAMing on 72.841346184 meters Centerline goodness : 0.950332 Centerline is valid? [False, True] Translation: X:-0.35, Y:-0.35, Z:-0.92 [[ 0.9483017 -0.27619392 -0.15633556 -0.3547406 ] [ 0.27454555 0.96102547 -0.03247742 -0.34697529] [ 0.15921252 -0.01212284 0.9871699 -0.92235655] [ 0. 0. 0. 1. ]] SLAMing on 72.87134618399999 meters Centerline goodness : 0.947592 Centerline is valid? [True, False] Translation: X:-0.35, Y:-0.35, Z:-0.93 [[ 0.94805792 -0.27676704 -0.15679982 -0.35071038] [ 0.27504863 0.96086401 -0.03299398 -0.34625863] [ 0.15979495 -0.01184737 0.98707913 -0.9251967 ] [ 0. 0. 0. 1. ]] SLAMing on 72.90134618399999 meters Centerline goodness : 0.944666 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:-0.93 [[ 0.94760678 -0.28169592 -0.150628 -0.34199579] [ 0.28043634 0.95940411 -0.02998681 -0.34130182] [ 0.15296029 -0.01382586 0.98813562 -0.93193479] [ 0. 0. 0. 1. ]] SLAMing on 72.93134618399999 meters Centerline goodness : 0.944457 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:-0.93 [[ 0.94769071 -0.28116595 -0.15108943 -0.34077248] [ 0.27996299 0.95955369 -0.02962157 -0.33922098] [ 0.153307 -0.01422737 0.98807618 -0.93294733] [ 0. 0. 0. 1. ]] SLAMing on 72.96134618399999 meters Centerline goodness : 0.942613 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:-0.93 [[ 0.94805662 -0.27960568 -0.15168821 -0.33959325] [ 0.27859801 0.95999087 -0.0282963 -0.33877203] [ 0.15353111 -0.01543354 0.98802328 -0.93369789] [ 0. 0. 0. 1. ]] SLAMing on 72.991346184 meters Centerline goodness : 0.940709 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:-0.93 [[ 0.94842529 -0.27830641 -0.1517729 -0.34020471] [ 0.27743299 0.96035603 -0.02733546 -0.33905333] [ 0.15336366 -0.01618117 0.98803733 -0.93341739] [ 0. 0. 0. 1. ]] SLAMing on 73.021346184 meters Centerline goodness : 0.942572 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.34, Z:-0.94 [[ 0.94920977 -0.28047221 -0.14260489 -0.33523522] [ 0.28052231 0.95963552 -0.02017168 -0.33625981] [ 0.14250631 -0.02085669 0.98957413 -0.93853324] [ 0. 0. 0. 1. ]] SLAMing on 73.051346184 meters Centerline goodness : 0.945902 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.34, Z:-0.94 [[ 0.94930545 -0.27980427 -0.14327851 -0.33400633] [ 0.28005334 0.95979949 -0.01884328 -0.336739 ] [ 0.14279107 -0.0222376 0.98950301 -0.93861105] [ 0. 0. 0. 1. ]] SLAMing on 73.081346184 meters Centerline goodness : 0.942461 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.34, Z:-0.94 [[ 0.9492347 -0.27970252 -0.1439444 -0.33133009] [ 0.28004688 0.95981222 -0.01828264 -0.33638822] [ 0.1432733 -0.02295667 0.98941688 -0.94002279] [ 0. 0. 0. 1. ]] SLAMing on 73.111346184 meters Centerline goodness : 0.939786 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.34, Z:-0.94 [[ 0.94820097 -0.28358955 -0.14314989 -0.3287778 ] [ 0.28339221 0.95874711 -0.02219977 -0.33577902] [ 0.14354017 -0.01951772 0.98945201 -0.94233885] [ 0. 0. 0. 1. ]] SLAMing on 73.141346184 meters Centerline goodness : 0.939786 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.34, Z:-0.94 [[ 0.94820097 -0.28358955 -0.14314989 -0.3287778 ] [ 0.28339221 0.95874711 -0.02219977 -0.33577902] [ 0.14354017 -0.01951772 0.98945201 -0.94233885] [ 0. 0. 0. 1. ]] SLAMing on 73.171346184 meters Centerline goodness : 0.939425 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.34, Z:-0.94 [[ 0.94762638 -0.28515369 -0.1438458 -0.32426057] [ 0.28494068 0.95828049 -0.02252356 -0.33594418] [ 0.1442673 -0.0196436 0.98934376 -0.94463116] [ 0. 0. 0. 1. ]] SLAMing on 73.201346184 meters Centerline goodness : 0.936272 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.34, Z:-0.95 [[ 0.94707637 -0.28708069 -0.14363504 -0.32118836] [ 0.28666541 0.95772934 -0.02403015 -0.33653067] [ 0.14446209 -0.01841681 0.98933893 -0.9468709 ] [ 0. 0. 0. 1. ]] SLAMing on 73.231346184 meters Centerline goodness : 0.936664 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.34, Z:-0.95 [[ 0.94679818 -0.28808164 -0.1434649 -0.3193248 ] [ 0.28762861 0.95743258 -0.02434394 -0.33825536] [ 0.14437102 -0.01821581 0.98935595 -0.9481397 ] [ 0. 0. 0. 1. ]] SLAMing on 73.26134618399999 meters Centerline goodness : 0.939368 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.34, Z:-0.95 [[ 0.94671375 -0.28747708 -0.14522398 -0.31724695] [ 0.28760334 0.95752837 -0.02058494 -0.34146377] [ 0.14497378 -0.02227886 0.98918464 -0.94637335] [ 0. 0. 0. 1. ]] SLAMing on 73.29134618399999 meters Centerline goodness : 0.940263 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.34, Z:-0.95 [[ 0.94696333 -0.28555485 -0.14737329 -0.31491498] [ 0.28640769 0.95797657 -0.0158596 -0.34282374] [ 0.14570894 -0.02719039 0.98895378 -0.94517937] [ 0. 0. 0. 1. ]] SLAMing on 73.32134618399999 meters Centerline goodness : 0.939177 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.34, Z:-0.94 [[ 0.94691545 -0.28523101 -0.1483051 -0.31307524] [ 0.28634062 0.95802154 -0.01427528 -0.34413024] [ 0.14615123 -0.02894829 0.98883862 -0.94497322] [ 0. 0. 0. 1. ]] SLAMing on 73.351346184 meters Centerline goodness : 0.940743 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.35, Z:-0.95 [[ 0.94682349 -0.28628322 -0.14685772 -0.31171132] [ 0.28711239 0.95776359 -0.01598067 -0.34841927] [ 0.14522998 -0.0270338 0.98902853 -0.9474192 ] [ 0. 0. 0. 1. ]] SLAMing on 73.381346184 meters Centerline goodness : 0.941745 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.35, Z:-0.95 [[ 0.94662837 -0.28688038 -0.14695024 -0.31072729] [ 0.28776008 0.95757382 -0.01570117 -0.35023573] [ 0.14522006 -0.02742323 0.98901926 -0.94739908] [ 0. 0. 0. 1. ]] SLAMing on 73.411346184 meters Centerline goodness : 0.941018 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.35, Z:-0.95 [[ 0.94640556 -0.28709856 -0.14795583 -0.30800106] [ 0.28817167 0.95746745 -0.01460065 -0.35072472] [ 0.14585471 -0.02881854 0.98888619 -0.947807 ] [ 0. 0. 0. 1. ]] SLAMing on 73.441346184 meters Centerline goodness : 0.938221 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.35, Z:-0.95 [[ 0.94580279 -0.28857857 -0.14892782 -0.30374837] [ 0.28967896 0.95701053 -0.01472898 -0.34993186] [ 0.14677596 -0.02921054 0.98873837 -0.94968646] [ 0. 0. 0. 1. ]] SLAMing on 73.471346184 meters Centerline goodness : 0.938948 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.35, Z:-0.95 [[ 0.94570632 -0.28880149 -0.14910822 -0.300327 ] [ 0.28986269 0.95694996 -0.01504681 -0.35025635] [ 0.14703464 -0.02899104 0.98870639 -0.95250584] [ 0. 0. 0. 1. ]] SLAMing on 73.501346184 meters Centerline goodness : 0.933274 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.35, Z:-0.96 [[ 0.9456934 -0.2886133 -0.14955388 -0.29657851] [ 0.28974556 0.95699167 -0.01464398 -0.35120869] [ 0.14734827 -0.02948386 0.98864513 -0.95510678] [ 0. 0. 0. 1. ]] SLAMing on 73.531346184 meters Centerline goodness : 0.935384 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:-0.96 [[ 0.94547031 -0.28885784 -0.15048937 -0.29394733] [ 0.29026224 0.95685835 -0.01303553 -0.35379035] [ 0.14776242 -0.03135667 0.98852568 -0.95511088] [ 0. 0. 0. 1. ]] SLAMing on 73.561346184 meters Centerline goodness : 0.937075 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.35, Z:-0.95 [[ 0.94528641 -0.2887758 -0.15179639 -0.29197955] [ 0.29050536 0.95680841 -0.01114882 -0.35482306] [ 0.14845957 -0.03355884 0.98834891 -0.95417018] [ 0. 0. 0. 1. ]] SLAMing on 73.591346184 meters Centerline goodness : 0.942257 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:-0.95 [[ 0.94538696 -0.2872296 -0.15408649 -0.28848851] [ 0.28970607 0.95709273 -0.00662626 -0.35631261] [ 0.14937832 -0.03837541 0.98803514 -0.95352196] [ 0. 0. 0. 1. ]] SLAMing on 73.62134618399999 meters Centerline goodness : 0.937430 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:-0.95 [[ 0.94562222 -0.28657362 -0.15386415 -0.29087138] [ 0.28928306 0.9572307 -0.00496918 -0.35980708] [ 0.14870753 -0.03981132 0.98807952 -0.95095618] [ 0. 0. 0. 1. ]] SLAMing on 73.65134618399999 meters Centerline goodness : 0.935936 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:-0.95 [[ 0.94567966 -0.28617618 -0.15425035 -0.28839671] [ 0.28895512 0.95733169 -0.00458048 -0.36038856] [ 0.14897957 -0.04023976 0.98802118 -0.95254293] [ 0. 0. 0. 1. ]] SLAMing on 73.68134618399999 meters Centerline goodness : 0.936243 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.36, Z:-0.95 [[ 0.94542856 -0.28712708 -0.15402233 -0.28610126] [ 0.28977087 0.95708029 -0.00549281 -0.36054238] [ 0.14898887 -0.03943812 0.9880521 -0.95471116] [ 0. 0. 0. 1. ]] SLAMing on 73.71134618399999 meters Centerline goodness : 0.931312 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.36, Z:-0.96 [[ 0.94429202 -0.29149109 -0.15279246 -0.28221578] [ 0.29339684 0.95593382 -0.01043178 -0.35980036] [ 0.14910025 -0.03497818 0.98820324 -0.95894741] [ 0. 0. 0. 1. ]] SLAMing on 73.741346184 meters Centerline goodness : 0.931838 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.36, Z:-0.96 [[ 0.94386562 -0.29231466 -0.15385004 -0.2785531 ] [ 0.29437158 0.95564126 -0.00975453 -0.35990088] [ 0.14987684 -0.03608212 0.98804606 -0.95988473] [ 0. 0. 0. 1. ]] SLAMing on 73.771346184 meters Centerline goodness : 0.930762 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:-0.96 [[ 0.94375193 -0.2913607 -0.15633692 -0.27453225] [ 0.29410624 0.95575516 -0.00579624 -0.36009731] [ 0.15110861 -0.04050945 0.98768678 -0.95942049] [ 0. 0. 0. 1. ]] SLAMing on 73.801346184 meters Centerline goodness : 0.931902 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.36, Z:-0.96 [[ 0.94355768 -0.29462376 -0.15131339 -0.26504767] [ 0.29846159 0.95441758 0.00278642 -0.35630516] [ 0.14359522 -0.04779038 0.98848191 -0.96330502] [ 0. 0. 0. 1. ]] SLAMing on 73.831346184 meters Centerline goodness : 0.929531 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.36, Z:-0.96 [[ 0.94392032 -0.29232 -0.15350388 -0.2634753 ] [ 0.29698495 0.95484971 0.00787252 -0.35748964] [ 0.14427184 -0.05301937 0.98811668 -0.96145471] [ 0. 0. 0. 1. ]] SLAMing on 73.861346184 meters Centerline goodness : 0.930063 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.36, Z:-0.96 [[ 0.94398353 -0.29189082 -0.15393128 -0.2622274 ] [ 0.29668643 0.95493586 0.00864077 -0.35837732] [ 0.14447233 -0.05382607 0.98804377 -0.96177593] [ 0. 0. 0. 1. ]] SLAMing on 73.891346184 meters Centerline goodness : 0.927934 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.36, Z:-0.96 [[ 0.94409394 -0.29120805 -0.15454611 -0.26005839] [ 0.29614962 0.95509473 0.00945864 -0.35863949] [ 0.14485174 -0.05469862 0.9879403 -0.96287118] [ 0. 0. 0. 1. ]] SLAMing on 73.921346184 meters Centerline goodness : 0.925999 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.36, Z:-0.96 [[ 0.94397092 -0.29124509 -0.15522631 -0.25798894] [ 0.29629148 0.95504617 0.00990835 -0.35814935] [ 0.14536254 -0.05534543 0.98782924 -0.96358712] [ 0. 0. 0. 1. ]] SLAMing on 73.951346184 meters Centerline goodness : 0.926274 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.36, Z:-0.97 [[ 0.94321138 -0.29315138 -0.15625159 -0.25344475] [ 0.29813481 0.95448194 0.00893714 -0.3554838 ] [ 0.14651938 -0.05501365 0.98767685 -0.96586511] [ 0. 0. 0. 1. ]] SLAMing on 73.981346184 meters Centerline goodness : 0.925815 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.35, Z:-0.97 [[ 0.94271009 -0.29412208 -0.15744806 -0.24924919] [ 0.29918381 0.95415372 0.00892942 -0.35370507] [ 0.14760331 -0.05552377 0.9874869 -0.96751048] [ 0. 0. 0. 1. ]] SLAMing on 74.01134618399999 meters Centerline goodness : 0.922009 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.35, Z:-0.97 [[ 0.94233413 -0.29492796 -0.15818938 -0.24677743] [ 0.30002884 0.95388914 0.00884282 -0.35211287] [ 0.14828714 -0.05579426 0.98736919 -0.96842716] [ 0. 0. 0. 1. ]] SLAMing on 74.04134618399999 meters Centerline goodness : 0.923275 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:-0.97 [[ 0.94178219 -0.29605424 -0.15936809 -0.24433536] [ 0.30125928 0.95349987 0.00899143 -0.34939976] [ 0.1492955 -0.05647909 0.98717828 -0.96866859] [ 0. 0. 0. 1. ]] SLAMing on 74.07134618399999 meters Centerline goodness : 0.922532 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:-0.97 [[ 0.94166734 -0.29596504 -0.16021021 -0.24220688] [ 0.30131467 0.95347614 0.0096285 -0.34864475] [ 0.14990691 -0.05734053 0.98703596 -0.96923457] [ 0. 0. 0. 1. ]] SLAMing on 74.101346184 meters Centerline goodness : 0.922460 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:-0.97 [[ 0.94142598 -0.29616253 -0.16126026 -0.24005418] [ 0.30168431 0.95335188 0.01033324 -0.34724235] [ 0.15067746 -0.05837767 0.98685782 -0.96942437] [ 0. 0. 0. 1. ]] SLAMing on 74.131346184 meters Centerline goodness : 0.923713 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.35, Z:-0.97 [[ 0.94125174 -0.29604031 -0.16249705 -0.23735023] [ 0.30179508 0.95330495 0.01137531 -0.3458729 ] [ 0.15154169 -0.05974784 0.98664346 -0.96997 ] [ 0. 0. 0. 1. ]] SLAMing on 74.161346184 meters Centerline goodness : 0.920758 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.97 [[ 0.94118027 -0.29515156 -0.1645152 -0.23364383] [ 0.30139464 0.95339971 0.01379372 -0.3437127 ] [ 0.15277751 -0.06256637 0.9862781 -0.97082781] [ 0. 0. 0. 1. ]] SLAMing on 74.191346184 meters Centerline goodness : 0.921214 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.97 [[ 0.94103016 -0.29515232 -0.16537032 -0.23202663] [ 0.30156143 0.95333638 0.01450661 -0.34209807] [ 0.15337189 -0.06352047 0.98612485 -0.97109943] [ 0. 0. 0. 1. ]] SLAMing on 74.221346184 meters Centerline goodness : 0.923359 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.97 [[ 0.9405318 -0.29584403 -0.1669618 -0.22917814] [ 0.30254238 0.95300783 0.01562666 -0.34004577] [ 0.15449285 -0.06521039 0.98583952 -0.97085175] [ 0. 0. 0. 1. ]] SLAMing on 74.251346184 meters Centerline goodness : 0.920317 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.34, Z:-0.97 [[ 0.93981417 -0.29767766 -0.1677419 -0.2278084 ] [ 0.30444154 0.95240402 0.01555415 -0.33889692] [ 0.15512794 -0.06568561 0.98570823 -0.97000389] [ 0. 0. 0. 1. ]] SLAMing on 74.281346184 meters Centerline goodness : 0.918760 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.97 [[ 0.93780691 -0.30363221 -0.16830235 -0.22366033] [ 0.31001915 0.95064918 0.0124205 -0.33724388] [ 0.15622522 -0.06382498 0.98565717 -0.9702596 ] [ 0. 0. 0. 1. ]] SLAMing on 74.311346184 meters Centerline goodness : 0.920424 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.97 [[ 0.93709624 -0.30533972 -0.16916943 -0.22010926] [ 0.31180371 0.95006565 0.01239766 -0.3368285 ] [ 0.15693657 -0.06436546 0.98550901 -0.97116094] [ 0. 0. 0. 1. ]] SLAMing on 74.341346184 meters Centerline goodness : 0.916765 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.34, Z:-0.97 [[ 0.93628195 -0.30705106 -0.17057476 -0.21680992] [ 0.31369634 0.94943714 0.0127952 -0.33544588] [ 0.15802124 -0.06548859 0.98526166 -0.97107043] [ 0. 0. 0. 1. ]] SLAMing on 74.37134618399999 meters Centerline goodness : 0.911888 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.33, Z:-0.97 [[ 0.93616002 -0.30725622 -0.17087433 -0.21727056] [ 0.31396041 0.94934682 0.01301818 -0.33450877] [ 0.15821908 -0.06583487 0.98520683 -0.97014536] [ 0. 0. 0. 1. ]] SLAMing on 74.40134618399999 meters Centerline goodness : 0.912054 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.33, Z:-0.98 [[ 0.93636965 -0.31085404 -0.1630388 -0.21001114] [ 0.31795833 0.94791864 0.01878196 -0.32954441] [ 0.14870907 -0.0694264 0.98644087 -0.97604837] [ 0. 0. 0. 1. ]] SLAMing on 74.43134618399999 meters Centerline goodness : 0.909919 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.33, Z:-0.98 [[ 0.93676685 -0.30881688 -0.16462081 -0.20882592] [ 0.3164472 0.94836265 0.02166705 -0.32818238] [ 0.14942907 -0.07239077 0.98611892 -0.97566317] [ 0. 0. 0. 1. ]] SLAMing on 74.46134618399999 meters Centerline goodness : 0.916753 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.32, Z:-0.98 [[ 0.9368068 -0.30765286 -0.16656149 -0.20722158] [ 0.31573409 0.94855016 0.02376103 -0.3237227 ] [ 0.15068178 -0.07484863 0.98574474 -0.97551152] [ 0. 0. 0. 1. ]] SLAMing on 74.491346184 meters Centerline goodness : 0.914737 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:-0.98 [[ 0.93634929 -0.30880259 -0.16700591 -0.2046688 ] [ 0.31678893 0.94822139 0.02282477 -0.32105049] [ 0.15131023 -0.07427758 0.98569166 -0.97726464] [ 0. 0. 0. 1. ]] SLAMing on 74.521346184 meters Centerline goodness : 0.912807 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:-0.98 [[ 0.93560882 -0.31054035 -0.16793101 -0.20069269] [ 0.31854424 0.94764481 0.02233566 -0.31964564] [ 0.15220283 -0.07439089 0.98554568 -0.97880819] [ 0. 0. 0. 1. ]] SLAMing on 74.551346184 meters Centerline goodness : 0.908511 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.32, Z:-0.98 [[ 0.93470318 -0.313056 -0.16830303 -0.19806633] [ 0.32097163 0.94684765 0.02137134 -0.31885852] [ 0.1526669 -0.07399635 0.98550361 -0.97957919] [ 0. 0. 0. 1. ]] SLAMing on 74.581346184 meters Centerline goodness : 0.903597 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.31, Z:-0.98 [[ 0.93279868 -0.31962249 -0.1665175 -0.18524737] [ 0.32830268 0.94419365 0.02675264 -0.31269064] [ 0.14867402 -0.07962297 0.98567551 -0.9845547 ] [ 0. 0. 0. 1. ]] SLAMing on 74.611346184 meters Centerline goodness : 0.901092 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:-0.98 [[ 0.93241644 -0.31912167 -0.16959054 -0.18140854] [ 0.32859699 0.94398309 0.03033056 -0.31025859] [ 0.15041146 -0.08400766 0.98504777 -0.98352929] [ 0. 0. 0. 1. ]] SLAMing on 74.641346184 meters Centerline goodness : 0.895350 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.31, Z:-0.98 [[ 0.93241532 -0.3175102 -0.17259473 -0.17720297] [ 0.32779038 0.94413961 0.03396869 -0.30737314] [ 0.15216812 -0.08824782 0.98440702 -0.98365992] [ 0. 0. 0. 1. ]] SLAMing on 74.671346184 meters Centerline goodness : 0.890593 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:-0.99 [[ 0.9329365 -0.31501738 -0.1743374 -0.17438254] [ 0.32572796 0.94478121 0.03591311 -0.30300485] [ 0.15339744 -0.09029122 0.98403085 -0.98582804] [ 0. 0. 0. 1. ]] SLAMing on 74.701346184 meters Centerline goodness : 0.889067 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:-0.99 [[ 0.93335434 -0.31376565 -0.17435823 -0.17308193] [ 0.32438815 0.94525999 0.03543835 -0.30108644] [ 0.15369452 -0.08963628 0.98404437 -0.98818693] [ 0. 0. 0. 1. ]] SLAMing on 74.731346184 meters Centerline goodness : 0.887730 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:-0.99 [[ 0.93425941 -0.31043377 -0.17547144 -0.17041117] [ 0.32151979 0.94613978 0.03800706 -0.30008722] [ 0.15422184 -0.09192599 0.9837506 -0.99068062] [ 0. 0. 0. 1. ]] SLAMing on 74.76134618399999 meters Centerline goodness : 0.880741 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.30, Z:-0.99 [[ 0.93537174 -0.30617691 -0.17701808 -0.16958931] [ 0.31780715 0.94727421 0.0408678 -0.29602917] [ 0.15517189 -0.0944842 0.98335874 -0.99203954] [ 0. 0. 0. 1. ]] SLAMing on 74.79134618399999 meters Centerline goodness : 0.880116 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.99 [[ 0.93531548 -0.30605606 -0.17752362 -0.17113904] [ 0.3177289 0.94730185 0.04083565 -0.29303512] [ 0.15567046 -0.0945986 0.98326894 -0.99056207] [ 0. 0. 0. 1. ]] SLAMing on 74.82134618399999 meters Centerline goodness : 0.876830 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.99 [[ 0.93575066 -0.30358274 -0.17946649 -0.17025465] [ 0.31596387 0.94773739 0.0442795 -0.29148554] [ 0.15664461 -0.0981395 0.98276707 -0.98952567] [ 0. 0. 0. 1. ]] SLAMing on 74.851346184 meters Centerline goodness : 0.870863 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.99 [[ 0.93627964 -0.30106496 -0.18094285 -0.17018967] [ 0.31396365 0.94828219 0.04677294 -0.28856891] [ 0.15750319 -0.10060203 0.98238077 -0.98903773] [ 0. 0. 0. 1. ]] SLAMing on 74.881346184 meters Centerline goodness : 0.872607 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.99 [[ 0.93628403 -0.30139766 -0.18036536 -0.16983152] [ 0.31403425 0.94832162 0.04548177 -0.28826747] [ 0.15733627 -0.09922475 0.98254758 -0.99035255] [ 0. 0. 0. 1. ]] SLAMing on 74.911346184 meters Centerline goodness : 0.872109 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.29, Z:-0.99 [[ 0.93613977 -0.30165948 -0.1806762 -0.16646051] [ 0.31425567 0.94827074 0.04501075 -0.28764597] [ 0.15775204 -0.09891487 0.98251216 -0.9929504 ] [ 0. 0. 0. 1. ]] SLAMing on 74.941346184 meters Centerline goodness : 0.872568 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.29, Z:-0.99 [[ 0.93568086 -0.30274192 -0.18124198 -0.1642784 ] [ 0.31528295 0.9479668 0.04422225 -0.28559637] [ 0.15842345 -0.09852042 0.98244376 -0.9939661 ] [ 0. 0. 0. 1. ]] SLAMing on 74.971346184 meters Centerline goodness : 0.869679 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.28, Z:-0.99 [[ 0.93407055 -0.30560248 -0.18471419 -0.16166751] [ 0.31857917 0.94685234 0.04447414 -0.27674239] [ 0.16130565 -0.10038808 0.98178548 -0.99128429] [ 0. 0. 0. 1. ]] SLAMing on 75.001346184 meters Centerline goodness : 0.866248 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93371967 -0.30563985 -0.18641853 -0.1597429 ] [ 0.31895041 0.94668266 0.0454157 -0.27271197] [ 0.16259834 -0.1018638 0.98142017 -0.99127462] [ 0. 0. 0. 1. ]] SLAMing on 75.031346184 meters Centerline goodness : 0.866290 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93366704 -0.30580443 -0.18641222 -0.15997696] [ 0.31890977 0.94675535 0.04416856 -0.27016412] [ 0.16297982 -0.10068741 0.98147828 -0.9916072 ] [ 0. 0. 0. 1. ]] SLAMing on 75.061346184 meters Centerline goodness : 0.866290 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93366704 -0.30580443 -0.18641222 -0.15997696] [ 0.31890977 0.94675535 0.04416856 -0.27016412] [ 0.16297982 -0.10068741 0.98147828 -0.9916072 ] [ 0. 0. 0. 1. ]] SLAMing on 75.091346184 meters Centerline goodness : 0.862596 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93411637 -0.30497171 -0.1855232 -0.15899956] [ 0.31768036 0.94724941 0.04239987 -0.26853545] [ 0.16280598 -0.09854349 0.9817247 -0.99489991] [ 0. 0. 0. 1. ]] SLAMing on 75.12134618399999 meters Centerline goodness : 0.863181 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93412283 -0.30466347 -0.18599653 -0.15848325] [ 0.31745976 0.94731154 0.04266315 -0.26776094] [ 0.16319875 -0.09889903 0.98162373 -0.99481625] [ 0. 0. 0. 1. ]] SLAMing on 75.15134618399999 meters Centerline goodness : 0.864319 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.27, Z:-0.99 [[ 0.93395344 -0.30472671 -0.1867421 -0.16029199] [ 0.31769897 0.9472045 0.04325503 -0.26591153] [ 0.16370199 -0.09972595 0.98145626 -0.99223197] [ 0. 0. 0. 1. ]] SLAMing on 75.18134618399999 meters Centerline goodness : 0.861261 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.99 [[ 0.93366452 -0.30345321 -0.19022803 -0.1608844 ] [ 0.31743003 0.94710859 0.04715401 -0.26095095] [ 0.16585757 -0.10441012 0.98060685 -0.9875918 ] [ 0. 0. 0. 1. ]] SLAMing on 75.21134618399999 meters Centerline goodness : 0.861230 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.99 [[ 0.93320436 -0.30432852 -0.1910858 -0.15910429] [ 0.31836449 0.94680843 0.04688114 -0.25943081] [ 0.16665438 -0.10458462 0.98045315 -0.98764214] [ 0. 0. 0. 1. ]] SLAMing on 75.241346184 meters Centerline goodness : 0.860224 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.99 [[ 0.93204409 -0.30855533 -0.1899669 -0.15896238] [ 0.32176804 0.94587006 0.04236923 -0.25741376] [ 0.16661075 -0.10061527 0.98087585 -0.98809889] [ 0. 0. 0. 1. ]] SLAMing on 75.271346184 meters Centerline goodness : 0.859154 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.26, Z:-0.98 [[ 0.92966418 -0.30747521 -0.2029372 -0.15812617] [ 0.32096124 0.94639118 0.03643658 -0.25726524] [ 0.18085463 -0.09900876 0.9785136 -0.98295934] [ 0. 0. 0. 1. ]] SLAMing on 75.301346184 meters Centerline goodness : 0.856528 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.98 [[ 0.92910001 -0.30841596 -0.20409008 -0.15719761] [ 0.32190152 0.94609977 0.03570206 -0.25324259] [ 0.18207849 -0.09886769 0.97830087 -0.9822713 ] [ 0. 0. 0. 1. ]] SLAMing on 75.331346184 meters Centerline goodness : 0.856348 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.98 [[ 0.9294787 -0.30557162 -0.20662849 -0.15529652] [ 0.31988376 0.94665461 0.03897994 -0.25033045] [ 0.18369465 -0.10232812 0.97764269 -0.98162987] [ 0. 0. 0. 1. ]] SLAMing on 75.361346184 meters Centerline goodness : 0.856268 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.25, Z:-0.98 [[ 0.93005031 -0.30270371 -0.20827116 -0.15557135] [ 0.31763817 0.94729801 0.04162293 -0.24737864] [ 0.18469544 -0.10486629 0.97718507 -0.98071768] [ 0. 0. 0. 1. ]] SLAMing on 75.391346184 meters Centerline goodness : 0.855741 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.24, Z:-0.98 [[ 0.93297564 -0.29973977 -0.19928001 -0.16778873] [ 0.312826 0.9490883 0.03703097 -0.2425974 ] [ 0.17803467 -0.09688896 0.97924266 -0.98353128] [ 0. 0. 0. 1. ]] SLAMing on 75.421346184 meters Centerline goodness : 0.854512 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.24, Z:-0.98 [[ 0.9353453 -0.29811485 -0.19041193 -0.19267853] [ 0.30754119 0.95129563 0.02133193 -0.24227127] [ 0.17477867 -0.07851223 0.98147249 -0.98449936] [ 0. 0. 0. 1. ]] SLAMing on 75.451346184 meters Centerline goodness : 0.854169 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.24, Z:-0.98 [[ 0.93537174 -0.29874216 -0.18929561 -0.19570788] [ 0.3079279 0.95119043 0.02042506 -0.23963061] [ 0.17395435 -0.07739442 0.98170769 -0.98411392] [ 0. 0. 0. 1. ]] SLAMing on 75.481346184 meters Centerline goodness : 0.855910 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.24, Z:-0.98 [[ 0.93592526 -0.29577252 -0.19121332 -0.1940171 ] [ 0.30563334 0.95185619 0.02362314 -0.23870242] [ 0.17502051 -0.08055066 0.98126419 -0.98381338] [ 0. 0. 0. 1. ]] SLAMing on 75.51134618399999 meters Centerline goodness : 0.853625 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.23, Z:-0.98 [[ 0.93568287 -0.29632727 -0.19154037 -0.21415238] [ 0.30435383 0.95246698 0.01324377 -0.23470859] [ 0.17851139 -0.07068802 0.98139538 -0.981494 ] [ 0. 0. 0. 1. ]] SLAMing on 75.54134618399999 meters Centerline goodness : 0.852740 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.23, Z:-0.98 [[ 0.9355882 -0.29690824 -0.19110264 -0.21535802] [ 0.30478157 0.95234 0.01251915 -0.23287723] [ 0.17827765 -0.06995733 0.98149022 -0.98140267] [ 0. 0. 0. 1. ]] SLAMing on 75.57134618399999 meters Centerline goodness : 0.850653 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.23, Z:-0.98 [[ 0.93487557 -0.29858562 -0.19197473 -0.23457056] [ 0.30451765 0.95250556 0.00146706 -0.2319801 ] [ 0.18241896 -0.05983122 0.98139877 -0.97893738] [ 0. 0. 0. 1. ]] SLAMing on 75.601346184 meters Centerline goodness : 0.851943 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.23, Z:-0.98 [[ 9.34751184e-01 -2.99207926e-01 -1.91611170e-01 -2.35648993e-01] [ 3.04911876e-01 9.52380522e-01 2.97146677e-04 -2.28358403e-01] [ 1.82397838e-01 -5.87022796e-02 9.81470871e-01 -9.78886578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.631346184 meters Centerline goodness : 0.848957 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.23, Z:-0.98 [[ 0.9344082 -0.29895362 -0.19366997 -0.25236305] [ 0.30298073 0.95295232 -0.00919541 -0.22704542] [ 0.18730724 -0.050086 0.98102364 -0.97773921] [ 0. 0. 0. 1. ]] SLAMing on 75.661346184 meters Centerline goodness : 0.849580 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-0.98 [[ 0.93444918 -0.29856855 -0.19406584 -0.25090365] [ 0.30255403 0.95308508 -0.00948064 -0.22422706] [ 0.18779188 -0.04985623 0.98094269 -0.97856446] [ 0. 0. 0. 1. ]] SLAMing on 75.691346184 meters Centerline goodness : 0.846739 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-0.98 [[ 0.934535 -0.29796851 -0.19457415 -0.24889025] [ 0.301957 0.95327381 -0.00953978 -0.22179571] [ 0.188325 -0.04983777 0.98084142 -0.97967 ] [ 0. 0. 0. 1. ]] SLAMing on 75.721346184 meters Centerline goodness : 0.848896 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.22, Z:-0.98 [[ 0.93539239 -0.29474105 -0.19536836 -0.24656009] [ 0.29914526 0.95417999 -0.0072571 -0.21733022] [ 0.18855555 -0.05165528 0.98070308 -0.98255152] [ 0. 0. 0. 1. ]] SLAMing on 75.751346184 meters Centerline goodness : 0.849539 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-0.98 [[ 0.9353556 -0.29481232 -0.19543693 -0.24684669] [ 0.29905535 0.95420121 -0.0081212 -0.21356537] [ 0.18888039 -0.05085024 0.98068265 -0.98233634] [ 0. 0. 0. 1. ]] SLAMing on 75.781346184 meters Centerline goodness : 0.845926 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-0.98 [[ 0.93529962 -0.29511391 -0.19524958 -0.24792488] [ 0.29916406 0.95415827 -0.00910294 -0.21058987] [ 0.1889854 -0.04989768 0.98071134 -0.98159845] [ 0. 0. 0. 1. ]] SLAMing on 75.811346184 meters Centerline goodness : 0.846480 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.21, Z:-0.98 [[ 0.93671251 -0.29405031 -0.19001078 -0.27211483] [ 0.29687295 0.95481294 -0.01409618 -0.21398426] [ 0.18556973 -0.04320499 0.9816808 -0.98305754] [ 0. 0. 0. 1. ]] SLAMing on 75.841346184 meters Centerline goodness : 0.847078 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-0.98 [[ 0.93676287 -0.29532615 -0.18777057 -0.27863504] [ 0.29784782 0.95449071 -0.01530213 -0.21161588] [ 0.18374439 -0.04159258 0.98209371 -0.98158509] [ 0. 0. 0. 1. ]] SLAMing on 75.87134618399999 meters Centerline goodness : 0.847810 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-0.98 [[ 0.93666086 -0.29584069 -0.18746923 -0.28017039] [ 0.29816033 0.9543755 -0.01636531 -0.20871361] [ 0.18375757 -0.04056714 0.98213414 -0.9806429 ] [ 0. 0. 0. 1. ]] SLAMing on 75.90134618399999 meters Centerline goodness : 0.847036 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.21, Z:-0.98 [[ 0.9375648 -0.29292037 -0.18753641 -0.28426434] [ 0.29564908 0.95519554 -0.01389631 -0.2057684 ] [ 0.18320445 -0.04241628 0.98215935 -0.97970279] [ 0. 0. 0. 1. ]] SLAMing on 75.93134618399999 meters Centerline goodness : 0.848890 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:-0.98 [[ 0.93751813 -0.29312992 -0.18744226 -0.28454303] [ 0.29575468 0.95515459 -0.01445251 -0.20398505] [ 0.1832728 -0.04188743 0.98216929 -0.97965547] [ 0. 0. 0. 1. ]] SLAMing on 75.96134618399999 meters Centerline goodness : 0.848324 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:-0.98 [[ 0.93755424 -0.29292359 -0.18758418 -0.28354795] [ 0.29555106 0.95521765 -0.01445023 -0.20320874] [ 0.18341654 -0.04189283 0.98214223 -0.98039155] [ 0. 0. 0. 1. ]] SLAMing on 75.991346184 meters Centerline goodness : 0.846284 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:-0.98 [[ 0.93757975 -0.2927368 -0.18774819 -0.28235067] [ 0.29536316 0.95527539 -0.01447544 -0.20224262] [ 0.18358872 -0.04188202 0.98211052 -0.98131104] [ 0. 0. 0. 1. ]] SLAMing on 76.021346184 meters Centerline goodness : 0.844691 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:-0.98 [[ 0.9376143 -0.29261877 -0.18775962 -0.28179052] [ 0.2951607 0.95533116 -0.01491766 -0.19852203] [ 0.18373781 -0.04143225 0.98210172 -0.98236393] [ 0. 0. 0. 1. ]] SLAMing on 76.051346184 meters Centerline goodness : 0.842342 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.20, Z:-0.98 [[ 0.93756275 -0.29271002 -0.18787478 -0.28162067] [ 0.29516139 0.9553227 -0.01543689 -0.19595144] [ 0.18399957 -0.04098033 0.98207167 -0.98246541] [ 0. 0. 0. 1. ]] SLAMing on 76.081346184 meters Centerline goodness : 0.842093 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-0.98 [[ 0.93749866 -0.29296085 -0.18780365 -0.28172373] [ 0.29532543 0.95526425 -0.01590931 -0.19343014] [ 0.18406292 -0.04054824 0.98207774 -0.98290279] [ 0. 0. 0. 1. ]] SLAMing on 76.111346184 meters Centerline goodness : 0.841035 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-0.98 [[ 0.93743174 -0.2931949 -0.18777242 -0.28185729] [ 0.29548529 0.95520785 -0.01632177 -0.19195781] [ 0.18414715 -0.04018345 0.98207694 -0.9829372 ] [ 0. 0. 0. 1. ]] SLAMing on 76.141346184 meters Centerline goodness : 0.843601 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-0.98 [[ 0.93720425 -0.29436252 -0.18707994 -0.28408159] [ 0.29649225 0.95488135 -0.01714502 -0.1908089 ] [ 0.183686 -0.03939936 0.98219506 -0.98254026] [ 0. 0. 0. 1. ]] SLAMing on 76.171346184 meters Centerline goodness : 0.846785 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-0.98 [[ 0.93703245 -0.29521515 -0.18659639 -0.28590371] [ 0.29720407 0.95464656 -0.01787959 -0.18997712] [ 0.18341193 -0.03870345 0.98227395 -0.98179975] [ 0. 0. 0. 1. ]] SLAMing on 76.201346184 meters Centerline goodness : 0.844841 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-0.98 [[ 0.93679756 -0.29641914 -0.18586563 -0.28862294] [ 0.298199 0.95431527 -0.01896646 -0.18853586] [ 0.18299643 -0.03765721 0.9823921 -0.98074812] [ 0. 0. 0. 1. ]] SLAMing on 76.231346184 meters Centerline goodness : 0.848609 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-0.98 [[ 0.93639628 -0.29858005 -0.1844233 -0.29410915] [ 0.29995605 0.9537205 -0.02106127 -0.18509723] [ 0.18217676 -0.03559719 0.98262122 -0.97859097] [ 0. 0. 0. 1. ]] SLAMing on 76.26134618399999 meters Centerline goodness : 0.849238 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:-0.98 [[ 0.93625284 -0.29926658 -0.18403841 -0.29562945] [ 0.30047081 0.95353769 -0.02198078 -0.18275735] [ 0.18206567 -0.0347186 0.98267325 -0.9780501 ] [ 0. 0. 0. 1. ]] SLAMing on 76.29134618399999 meters Centerline goodness : 0.848183 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.18, Z:-0.98 [[ 0.93619535 -0.29946885 -0.18400185 -0.29554864] [ 0.30058077 0.95349112 -0.02249201 -0.18037936] [ 0.18217979 -0.0342505 0.98266852 -0.97844497] [ 0. 0. 0. 1. ]] SLAMing on 76.32134618399999 meters Centerline goodness : 0.847796 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:-0.98 [[ 0.93571664 -0.29925967 -0.18675659 -0.31225739] [ 0.29883886 0.95379731 -0.03108097 -0.17894092] [ 0.18742921 -0.02672714 0.98191443 -0.97893721] [ 0. 0. 0. 1. ]] SLAMing on 76.351346184 meters Centerline goodness : 0.847839 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.18, Z:-0.98 [[ 0.9356554 -0.29962291 -0.18648078 -0.31277513] [ 0.29912904 0.95369389 -0.03146078 -0.1775037 ] [ 0.18727195 -0.02634537 0.98195475 -0.97925067] [ 0. 0. 0. 1. ]] SLAMing on 76.381346184 meters Centerline goodness : 0.843053 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.98 [[ 0.93713804 -0.29768577 -0.18208648 -0.33714482] [ 0.29666876 0.95439457 -0.03344621 -0.18269382] [ 0.18373881 -0.02267566 0.98271352 -0.9840886 ] [ 0. 0. 0. 1. ]] SLAMing on 76.411346184 meters Centerline goodness : 0.845139 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.99 [[ 0.9380112 -0.2948678 -0.18217568 -0.33979063] [ 0.2944303 0.95519965 -0.03007371 -0.18187278] [ 0.18288191 -0.02542857 0.98280598 -0.98515649] [ 0. 0. 0. 1. ]] SLAMing on 76.441346184 meters Centerline goodness : 0.843262 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.99 [[ 0.93796855 -0.29499371 -0.18219141 -0.33969542] [ 0.29449775 0.95516845 -0.03040242 -0.18014307] [ 0.18299201 -0.02513845 0.98279295 -0.98539996] [ 0. 0. 0. 1. ]] SLAMing on 76.471346184 meters Centerline goodness : 0.841031 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.99 [[ 0.93793205 -0.29512945 -0.18215948 -0.33961165] [ 0.29457993 0.95513362 -0.03069893 -0.17887454] [ 0.18304681 -0.02486702 0.98278965 -0.98563049] [ 0. 0. 0. 1. ]] SLAMing on 76.501346184 meters Centerline goodness : 0.841904 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.99 [[ 0.93782363 -0.29577347 -0.18167251 -0.34092861] [ 0.2951099 0.95495022 -0.03130854 -0.17728577] [ 0.18274844 -0.02425147 0.98286056 -0.98560335] [ 0. 0. 0. 1. ]] SLAMing on 76.531346184 meters Centerline goodness : 0.841206 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.99 [[ 0.93769401 -0.2963643 -0.18137848 -0.34204278] [ 0.29561342 0.95477833 -0.03179692 -0.17649487] [ 0.18259971 -0.02380214 0.98289918 -0.9852327 ] [ 0. 0. 0. 1. ]] SLAMing on 76.561346184 meters Centerline goodness : 0.844108 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.18, Z:-0.98 [[ 0.93755793 -0.29701369 -0.18101933 -0.3432685 ] [ 0.29617495 0.95458786 -0.03228657 -0.17564897] [ 0.18238841 -0.02334286 0.98294943 -0.98494844] [ 0. 0. 0. 1. ]] SLAMing on 76.591346184 meters Centerline goodness : 0.841213 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.17, Z:-0.98 [[ 0.93725058 -0.2983136 -0.18047258 -0.3454637 ] [ 0.29728934 0.95420501 -0.03334432 -0.17317048] [ 0.18215491 -0.02240059 0.98301465 -0.98446677] [ 0. 0. 0. 1. ]] SLAMing on 76.62134618399999 meters Centerline goodness : 0.841063 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.17, Z:-0.98 [[ 0.93711663 -0.29884425 -0.18029015 -0.34616479] [ 0.29771414 0.95405138 -0.03394476 -0.17135215] [ 0.18215026 -0.02186473 0.98302758 -0.9843714 ] [ 0. 0. 0. 1. ]] SLAMing on 76.65134618399999 meters Centerline goodness : 0.838597 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.17, Z:-0.98 [[ 0.9370284 -0.29921262 -0.18013769 -0.34676722] [ 0.29798951 0.95394679 -0.03446412 -0.17000666] [ 0.18215387 -0.02138528 0.98303746 -0.98412447] [ 0. 0. 0. 1. ]] SLAMing on 76.68134618399999 meters Centerline goodness : 0.840770 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.17, Z:-0.98 [[ 0.9370408 -0.2991901 -0.18011059 -0.34653603] [ 0.29792952 0.9539584 -0.03466086 -0.16941519] [ 0.1821882 -0.02118163 0.9830355 -0.98427597] [ 0. 0. 0. 1. ]] SLAMing on 76.71134618399999 meters Centerline goodness : 0.840695 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.17, Z:-0.98 [[ 0.93746958 -0.29730171 -0.18100408 -0.3642324 ] [ 0.29461782 0.95468401 -0.04217555 -0.16969476] [ 0.18534056 -0.01378873 0.9825776 -0.98474602] [ 0. 0. 0. 1. ]] SLAMing on 76.741346184 meters Centerline goodness : 0.841208 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.99 [[ 0.93861796 -0.29323222 -0.18168984 -0.36521359] [ 0.29124072 0.95588837 -0.03816113 -0.1696192 ] [ 0.18486527 -0.01709676 0.98261515 -0.98565127] [ 0. 0. 0. 1. ]] SLAMing on 76.771346184 meters Centerline goodness : 0.841764 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.99 [[ 0.93969439 -0.28934242 -0.18236069 -0.36676761] [ 0.28798787 0.95701385 -0.03445986 -0.1689681 ] [ 0.18449241 -0.02013593 0.98262765 -0.98587491] [ 0. 0. 0. 1. ]] SLAMing on 76.801346184 meters Centerline goodness : 0.841107 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.99 [[ 0.94072099 -0.28557057 -0.18301218 -0.36833116] [ 0.28486843 0.95807525 -0.03068856 -0.16850021] [ 0.18410319 -0.02326502 0.98263154 -0.98632564] [ 0. 0. 0. 1. ]] SLAMing on 76.831346184 meters Centerline goodness : 0.837815 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.17, Z:-0.99 [[ 0.94076413 -0.28536458 -0.18311175 -0.36735962] [ 0.28474375 0.95812635 -0.0302472 -0.1700555 ] [ 0.18407567 -0.02368444 0.98262668 -0.98698715] [ 0. 0. 0. 1. ]] SLAMing on 76.861346184 meters Centerline goodness : 0.835976 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94019993 -0.28635033 -0.18446565 -0.38617636] [ 0.28416636 0.95799161 -0.03874991 -0.17357548] [ 0.18781259 -0.01598627 0.98207478 -0.98724386] [ 0. 0. 0. 1. ]] SLAMing on 76.891346184 meters Centerline goodness : 0.836136 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94016763 -0.28647453 -0.18443742 -0.38600146] [ 0.28430424 0.95795319 -0.0386882 -0.17451719] [ 0.1877656 -0.01606294 0.98208251 -0.98734362] [ 0. 0. 0. 1. ]] SLAMing on 76.921346184 meters Centerline goodness : 0.838513 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94107615 -0.28329304 -0.18471797 -0.38883486] [ 0.28171134 0.95884906 -0.03531565 -0.17433251] [ 0.18712132 -0.01880243 0.98215685 -0.98722401] [ 0. 0. 0. 1. ]] SLAMing on 76.951346184 meters Centerline goodness : 0.838513 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94107615 -0.28329304 -0.18471797 -0.38883486] [ 0.28171134 0.95884906 -0.03531565 -0.17433251] [ 0.18712132 -0.01880243 0.98215685 -0.98722401] [ 0. 0. 0. 1. ]] SLAMing on 76.981346184 meters Centerline goodness : 0.836313 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94105727 -0.28326062 -0.18486382 -0.38871209] [ 0.28161134 0.95886488 -0.03568176 -0.17293092] [ 0.18736666 -0.01848117 0.98211617 -0.98686361] [ 0. 0. 0. 1. ]] SLAMing on 77.01134618399999 meters Centerline goodness : 0.834842 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94110604 -0.28293801 -0.18510946 -0.38760356] [ 0.28130051 0.95895868 -0.03561272 -0.17256455] [ 0.18758852 -0.01855604 0.98207241 -0.98728301] [ 0. 0. 0. 1. ]] SLAMing on 77.04134618399999 meters Centerline goodness : 0.834515 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94114757 -0.28260366 -0.1854088 -0.38637873] [ 0.28099505 0.95905394 -0.03545869 -0.17271563] [ 0.1878378 -0.01872709 0.98202152 -0.98767158] [ 0. 0. 0. 1. ]] SLAMing on 77.07134618399999 meters Centerline goodness : 0.836140 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94111497 -0.28282375 -0.18523862 -0.38704405] [ 0.28112022 0.9589986 -0.03595974 -0.17197438] [ 0.18781385 -0.01823208 0.98203541 -0.98701447] [ 0. 0. 0. 1. ]] SLAMing on 77.101346184 meters Centerline goodness : 0.835016 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94110078 -0.28294988 -0.18511801 -0.38733682] [ 0.28122322 0.95896383 -0.03608138 -0.17178108] [ 0.1877307 -0.01810326 0.98205369 -0.98698812] [ 0. 0. 0. 1. ]] SLAMing on 77.131346184 meters Centerline goodness : 0.833128 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94110198 -0.28294157 -0.18512466 -0.3870002 ] [ 0.28123636 0.9589642 -0.03596894 -0.17221644] [ 0.18770503 -0.01821334 0.98205656 -0.98728067] [ 0. 0. 0. 1. ]] SLAMing on 77.161346184 meters Centerline goodness : 0.834006 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94123869 -0.2823845 -0.18528011 -0.38529818] [ 0.28084383 0.95911259 -0.03506825 -0.17359489] [ 0.18760722 -0.01902719 0.98205982 -0.98889987] [ 0. 0. 0. 1. ]] SLAMing on 77.191346184 meters Centerline goodness : 0.830753 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94122286 -0.28246357 -0.18524003 -0.38557683] [ 0.28089654 0.95909196 -0.03520994 -0.17315187] [ 0.18760775 -0.01889288 0.98206232 -0.98867983] [ 0. 0. 0. 1. ]] SLAMing on 77.221346184 meters Centerline goodness : 0.830875 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94111096 -0.28293851 -0.18508367 -0.38677191] [ 0.28126525 0.95896215 -0.0357974 -0.1717232 ] [ 0.1876167 -0.01836828 0.98207056 -0.98785352] [ 0. 0. 0. 1. ]] SLAMing on 77.251346184 meters Centerline goodness : 0.834275 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94090334 -0.28392741 -0.18462432 -0.38944205] [ 0.28208329 0.95868597 -0.03674553 -0.17082001] [ 0.18742981 -0.01750544 0.982122 -0.98601688] [ 0. 0. 0. 1. ]] SLAMing on 77.281346184 meters Centerline goodness : 0.834617 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.17, Z:-0.99 [[ 0.94083033 -0.28434582 -0.18435222 -0.39009507] [ 0.28250277 0.95856206 -0.03675537 -0.17292379] [ 0.18716428 -0.01749944 0.98217275 -0.98566648] [ 0. 0. 0. 1. ]] SLAMing on 77.311346184 meters Centerline goodness : 0.832998 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94076985 -0.28474059 -0.1840513 -0.39049189] [ 0.28293138 0.95844205 -0.03658788 -0.17588063] [ 0.18682056 -0.01765311 0.98223543 -0.98558746] [ 0. 0. 0. 1. ]] SLAMing on 77.341346184 meters Centerline goodness : 0.832113 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94074033 -0.28532931 -0.1832889 -0.39142902] [ 0.28350658 0.95826992 -0.03664395 -0.17819803] [ 0.18609584 -0.01749117 0.98237589 -0.98579249] [ 0. 0. 0. 1. ]] SLAMing on 77.37134618399999 meters Centerline goodness : 0.831494 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94070451 -0.2853605 -0.18342415 -0.39072946] [ 0.28356597 0.95825742 -0.03651117 -0.17852974] [ 0.18618639 -0.01766662 0.9823556 -0.98623137] [ 0. 0. 0. 1. ]] SLAMing on 77.40134618399999 meters Centerline goodness : 0.835948 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94185078 -0.28039471 -0.18519156 -0.38808037] [ 0.2794352 0.95963747 -0.03181034 -0.17785901] [ 0.18663621 -0.02178845 0.98218745 -0.98865377] [ 0. 0. 0. 1. ]] SLAMing on 77.43134618399999 meters Centerline goodness : 0.833582 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94192696 -0.27983226 -0.18565426 -0.38635507] [ 0.27887747 0.95980055 -0.03178459 -0.17621064] [ 0.18708542 -0.02183603 0.98210093 -0.98931542] [ 0. 0. 0. 1. ]] SLAMing on 77.46134618399999 meters Centerline goodness : 0.831918 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94201228 -0.27939242 -0.18588368 -0.38505284] [ 0.27847304 0.95992464 -0.03158235 -0.17649935] [ 0.18725819 -0.02201264 0.98206406 -0.98981237] [ 0. 0. 0. 1. ]] SLAMing on 77.491346184 meters Centerline goodness : 0.830530 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94283824 -0.27994129 -0.18080078 -0.38855218] [ 0.27861673 0.95982791 -0.03321307 -0.181931 ] [ 0.18283535 -0.01905957 0.98295878 -0.99276534] [ 0. 0. 0. 1. ]] SLAMing on 77.521346184 meters Centerline goodness : 0.833268 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.18, Z:-0.99 [[ 0.94269236 -0.28071822 -0.18035631 -0.3906001 ] [ 0.27930501 0.95961022 -0.03371862 -0.18242233] [ 0.18253719 -0.01858813 0.98302322 -0.99158351] [ 0. 0. 0. 1. ]] SLAMing on 77.551346184 meters Centerline goodness : 0.834334 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.18, Z:-0.99 [[ 0.94335605 -0.27842745 -0.18043703 -0.39502908] [ 0.27753551 0.96022496 -0.0306932 -0.18320937] [ 0.18180597 -0.02112307 0.98310753 -0.99040229] [ 0. 0. 0. 1. ]] SLAMing on 77.581346184 meters Centerline goodness : 0.837427 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.18, Z:-0.99 [[ 0.94390156 -0.27670999 -0.18022602 -0.40199242] [ 0.27621494 0.96067767 -0.02834995 -0.18150701] [ 0.18098383 -0.02302156 0.98321659 -0.98787402] [ 0. 0. 0. 1. ]] SLAMing on 77.611346184 meters Centerline goodness : 0.836314 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.18, Z:-0.99 [[ 0.94387291 -0.27682586 -0.18019813 -0.40235411] [ 0.27627158 0.96065161 -0.02867923 -0.18188298] [ 0.18104678 -0.02271407 0.98321215 -0.98705238] [ 0. 0. 0. 1. ]] SLAMing on 77.641346184 meters Centerline goodness : 0.835774 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.18, Z:-0.99 [[ 0.94399904 -0.2771671 -0.17900895 -0.40209515] [ 0.27648448 0.96057279 -0.02926159 -0.18462817] [ 0.18006148 -0.02187028 0.9834122 -0.9876311 ] [ 0. 0. 0. 1. ]] SLAMing on 77.671346184 meters Centerline goodness : 0.833407 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94398993 -0.27798087 -0.177791 -0.40026746] [ 0.27707492 0.96036679 -0.03041581 -0.18705628] [ 0.17919959 -0.02054921 0.98359811 -0.9890797 ] [ 0. 0. 0. 1. ]] SLAMing on 77.701346184 meters Centerline goodness : 0.830917 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.19, Z:-0.99 [[ 0.9432671 -0.28030594 -0.17797687 -0.39445713] [ 0.27895642 0.95973361 -0.03308642 -0.18595594] [ 0.1800847 -0.01843846 0.98347828 -0.99165382] [ 0. 0. 0. 1. ]] SLAMing on 77.731346184 meters Centerline goodness : 0.833359 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.19, Z:-0.99 [[ 0.94324066 -0.28026341 -0.17818381 -0.3936746 ] [ 0.27894983 0.95974167 -0.03290786 -0.185669 ] [ 0.1802333 -0.01866431 0.9834468 -0.99224718] [ 0. 0. 0. 1. ]] SLAMing on 77.76134618399999 meters Centerline goodness : 0.833559 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.19, Z:-0.99 [[ 0.94323626 -0.28009101 -0.17847795 -0.39276933] [ 0.27882836 0.95978594 -0.03264491 -0.18585989] [ 0.18044417 -0.01897285 0.98340222 -0.9925984 ] [ 0. 0. 0. 1. ]] SLAMing on 77.79134618399999 meters Centerline goodness : 0.833142 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.19, Z:-0.99 [[ 0.94423689 -0.27609957 -0.1794038 -0.3933702 ] [ 0.27553821 0.96086616 -0.0285467 -0.18872777] [ 0.18026477 -0.02247775 0.98336126 -0.9924337 ] [ 0. 0. 0. 1. ]] SLAMing on 77.82134618399999 meters Centerline goodness : 0.835396 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.19, Z:-0.99 [[ 0.94519572 -0.27225925 -0.18022195 -0.39453523] [ 0.2723631 0.96187854 -0.02465787 -0.19075847] [ 0.18006496 -0.02577929 0.98331686 -0.99208193] [ 0. 0. 0. 1. ]] SLAMing on 77.851346184 meters Centerline goodness : 0.835197 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94607356 -0.26898894 -0.18052635 -0.39710953] [ 0.26966094 0.96272013 -0.02128212 -0.19201715] [ 0.179521 -0.02854646 0.98333987 -0.9914485 ] [ 0. 0. 0. 1. ]] SLAMing on 77.881346184 meters Centerline goodness : 0.834433 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94600734 -0.2693205 -0.18037899 -0.39824111] [ 0.26988017 0.96264471 -0.02190572 -0.19097426] [ 0.17954054 -0.02795774 0.98335322 -0.9903734 ] [ 0. 0. 0. 1. ]] SLAMing on 77.911346184 meters Centerline goodness : 0.836768 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.9460797 -0.26915609 -0.18024485 -0.39756768] [ 0.26976087 0.96268458 -0.02162138 -0.19283048] [ 0.17933847 -0.02816746 0.98338411 -0.99095046] [ 0. 0. 0. 1. ]] SLAMing on 77.941346184 meters Centerline goodness : 0.833234 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94615382 -0.26869136 -0.18054891 -0.3956239 ] [ 0.26940755 0.96279694 -0.02101499 -0.19459223] [ 0.17947848 -0.02875783 0.98334148 -0.99200763] [ 0. 0. 0. 1. ]] SLAMing on 77.971346184 meters Centerline goodness : 0.831111 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.20, Z:-0.99 [[ 0.94612937 -0.2687244 -0.18062783 -0.3951051 ] [ 0.26945569 0.96278492 -0.02094835 -0.19501076] [ 0.17953508 -0.02885135 0.98332841 -0.99232547] [ 0. 0. 0. 1. ]] SLAMing on 78.001346184 meters Centerline goodness : 0.831477 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94584944 -0.27007155 -0.18008384 -0.39827345] [ 0.2705751 0.96244197 -0.02223902 -0.1931092 ] [ 0.17932637 -0.02769144 0.98339984 -0.99041809] [ 0. 0. 0. 1. ]] SLAMing on 78.031346184 meters Centerline goodness : 0.829538 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94567478 -0.27094975 -0.17968148 -0.40018663] [ 0.27134534 0.9622107 -0.02285325 -0.19280129] [ 0.17908353 -0.02714399 0.98345935 -0.98944367] [ 0. 0. 0. 1. ]] SLAMing on 78.061346184 meters Centerline goodness : 0.831184 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.19, Z:-0.99 [[ 0.94562318 -0.27118702 -0.17959508 -0.4002076 ] [ 0.27159802 0.96214119 -0.02277804 -0.19393692] [ 0.17897293 -0.02723823 0.98347688 -0.98956577] [ 0. 0. 0. 1. ]] SLAMing on 78.091346184 meters Centerline goodness : 0.828689 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.99 [[ 0.94659107 -0.27153323 -0.17388228 -0.41998695] [ 0.27086967 0.9622087 -0.02800072 -0.20097287] [ 0.17491417 -0.0205942 0.98436828 -0.99484961] [ 0. 0. 0. 1. ]] SLAMing on 78.12134618399999 meters Centerline goodness : 0.824983 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.99 [[ 0.94652687 -0.27198154 -0.17353076 -0.42099324] [ 0.2712653 0.96208857 -0.02829718 -0.20098054] [ 0.17464827 -0.02028883 0.98442183 -0.99459339] [ 0. 0. 0. 1. ]] SLAMing on 78.15134618399999 meters Centerline goodness : 0.826705 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.99 [[ 0.94642422 -0.27249366 -0.17328702 -0.42250125] [ 0.27163083 0.96196018 -0.02914274 -0.19887616] [ 0.17463642 -0.0194887 0.9844401 -0.99348761] [ 0. 0. 0. 1. ]] SLAMing on 78.18134618399999 meters Centerline goodness : 0.829746 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.20, Z:-0.99 [[ 0.94727824 -0.26931525 -0.17358925 -0.42563538] [ 0.2689666 0.96279899 -0.02598227 -0.19775661] [ 0.17412897 -0.02207727 0.98447534 -0.99278744] [ 0. 0. 0. 1. ]] SLAMing on 78.21134618399999 meters Centerline goodness : 0.827010 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.20, Z:-0.99 [[ 0.94726431 -0.26925745 -0.17375485 -0.4251764 ] [ 0.2688937 0.96281661 -0.02608354 -0.19791231] [ 0.17431724 -0.02201358 0.98444345 -0.99260047] [ 0. 0. 0. 1. ]] SLAMing on 78.241346184 meters Centerline goodness : 0.827061 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.99 [[ 0.94729415 -0.26917375 -0.17372188 -0.42467397] [ 0.26885619 0.96283444 -0.02581057 -0.19941701] [ 0.17421294 -0.022256 0.98445646 -0.99292885] [ 0. 0. 0. 1. ]] SLAMing on 78.271346184 meters Centerline goodness : 0.827322 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.20, Z:-0.99 [[ 0.94701246 -0.270513 -0.17317654 -0.42677746] [ 0.27011893 0.96246778 -0.02629717 -0.20143787] [ 0.17379057 -0.02187451 0.98453966 -0.99200537] [ 0. 0. 0. 1. ]] SLAMing on 78.301346184 meters Centerline goodness : 0.827054 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.20, Z:-0.99 [[ 0.94689716 -0.27100401 -0.17303932 -0.42748596] [ 0.27056205 0.96233508 -0.02659643 -0.20153072] [ 0.17372954 -0.02163379 0.98455575 -0.99156957] [ 0. 0. 0. 1. ]] SLAMing on 78.331346184 meters Centerline goodness : 0.827507 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.20, Z:-0.99 [[ 0.94689 -0.27089795 -0.17324442 -0.42648957] [ 0.27050269 0.9623586 -0.02634823 -0.20192504] [ 0.17386094 -0.02191421 0.98452635 -0.99221116] [ 0. 0. 0. 1. ]] SLAMing on 78.361346184 meters Centerline goodness : 0.825687 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-0.99 [[ 0.94697149 -0.27032652 -0.17369103 -0.42403258] [ 0.27005377 0.96250326 -0.02566016 -0.20286464] [ 0.1741148 -0.02260647 0.98446584 -0.9937611 ] [ 0. 0. 0. 1. ]] SLAMing on 78.391346184 meters Centerline goodness : 0.826638 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.20, Z:-1.00 [[ 0.94710655 -0.26953266 -0.17418764 -0.42071367] [ 0.26944929 0.96270075 -0.02458331 -0.20464259] [ 0.17431658 -0.02365173 0.98440557 -0.99614135] [ 0. 0. 0. 1. ]] SLAMing on 78.421346184 meters Centerline goodness : 0.824684 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.21, Z:-1.00 [[ 0.94708151 -0.26960942 -0.17420497 -0.42075835] [ 0.26951663 0.9626803 -0.02464604 -0.20511987] [ 0.1743485 -0.02360933 0.98440094 -0.99583185] [ 0. 0. 0. 1. ]] SLAMing on 78.451346184 meters Centerline goodness : 0.825400 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.94921173 -0.267155 -0.16620858 -0.43151156] [ 0.26673593 0.96343855 -0.02526071 -0.21049954] [ 0.16688028 -0.02035604 0.98576701 -1.00035773] [ 0. 0. 0. 1. ]] SLAMing on 78.481346184 meters Centerline goodness : 0.826855 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.94920171 -0.2673114 -0.16601422 -0.43221664] [ 0.26687369 0.96339777 -0.02536072 -0.21162572] [ 0.16671694 -0.02023239 0.9857972 -0.99964218] [ 0. 0. 0. 1. ]] SLAMing on 78.51134618399999 meters Centerline goodness : 0.828211 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.94920347 -0.26728341 -0.16604925 -0.43247903] [ 0.2668262 0.96340784 -0.02547786 -0.21230499] [ 0.16678296 -0.02012262 0.98578828 -0.99883572] [ 0. 0. 0. 1. ]] SLAMing on 78.54134618399999 meters Centerline goodness : 0.828908 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.9491876 -0.2672161 -0.16624816 -0.43259011] [ 0.26670554 0.96343237 -0.02581113 -0.21197663] [ 0.16706601 -0.0198397 0.98574608 -0.99776848] [ 0. 0. 0. 1. ]] SLAMing on 78.57134618399999 meters Centerline goodness : 0.830324 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.95016134 -0.26323731 -0.16703159 -0.43349543] [ 0.26336487 0.96445011 -0.02179311 -0.21371435] [ 0.16683039 -0.02328329 0.98571066 -0.99764311] [ 0. 0. 0. 1. ]] SLAMing on 78.601346184 meters Centerline goodness : 0.831768 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.95121981 -0.25854587 -0.16832975 -0.4327012 ] [ 0.25935366 0.96562281 -0.01755749 -0.21406213] [ 0.16708246 -0.0269559 0.98557437 -0.99815522] [ 0. 0. 0. 1. ]] SLAMing on 78.631346184 meters Centerline goodness : 0.834924 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.21, Z:-1.00 [[ 0.95128877 -0.25798481 -0.16880019 -0.43082317] [ 0.25884219 0.96576482 -0.01729256 -0.21465863] [ 0.16748251 -0.02724239 0.98549859 -0.99860196] [ 0. 0. 0. 1. ]] SLAMing on 78.661346184 meters Centerline goodness : 0.831600 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95141054 -0.25734024 -0.16909756 -0.42868583] [ 0.25830264 0.96592027 -0.01666675 -0.21721217] [ 0.16762378 -0.02782142 0.98545839 -0.99946412] [ 0. 0. 0. 1. ]] SLAMing on 78.691346184 meters Centerline goodness : 0.833800 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.9515071 -0.25744161 -0.16839853 -0.42838523] [ 0.25837723 0.96589947 -0.01671596 -0.21998444] [ 0.16695943 -0.02760499 0.98557725 -1.00006995] [ 0. 0. 0. 1. ]] SLAMing on 78.721346184 meters Centerline goodness : 0.832633 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95239136 -0.25394345 -0.16871104 -0.43078476] [ 0.25542552 0.96673823 -0.01322844 -0.22020696] [ 0.16645869 -0.03049446 0.98557678 -0.99959693] [ 0. 0. 0. 1. ]] SLAMing on 78.751346184 meters Centerline goodness : 0.838262 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95325546 -0.25039735 -0.1691307 -0.43330337] [ 0.25238269 0.96757571 -0.01001129 -0.2190733 ] [ 0.16615356 -0.03314234 0.98554279 -0.99874354] [ 0. 0. 0. 1. ]] SLAMing on 78.781346184 meters Centerline goodness : 0.840131 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.22, Z:-1.00 [[ 0.95421132 -0.24640863 -0.16959819 -0.43500235] [ 0.24896162 0.9684923 -0.00638484 -0.21927032] [ 0.16582782 -0.03613095 0.98549261 -0.99835042] [ 0. 0. 0. 1. ]] SLAMing on 78.811346184 meters Centerline goodness : 0.839542 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95428305 -0.24606329 -0.16969596 -0.43380433] [ 0.2486937 0.96856412 -0.00591577 -0.22172485] [ 0.16581707 -0.036557 0.98547871 -0.99883803] [ 0. 0. 0. 1. ]] SLAMing on 78.841346184 meters Centerline goodness : 0.837797 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95346491 -0.24927699 -0.1696044 -0.43037956] [ 0.25138764 0.96784214 -0.00926558 -0.22268556] [ 0.16645998 -0.03380205 0.98546867 -0.99931881] [ 0. 0. 0. 1. ]] SLAMing on 78.87134618399999 meters Centerline goodness : 0.837797 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.22, Z:-1.00 [[ 0.95346491 -0.24927699 -0.1696044 -0.43037956] [ 0.25138764 0.96784214 -0.00926558 -0.22268556] [ 0.16645998 -0.03380205 0.98546867 -0.99931881] [ 0. 0. 0. 1. ]] SLAMing on 78.90134618399999 meters Centerline goodness : 0.838985 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-1.00 [[ 0.95350151 -0.24905309 -0.16972754 -0.42892392] [ 0.25129572 0.96787312 -0.00848976 -0.2259325 ] [ 0.16638912 -0.0345568 0.98545446 -1.00029526] [ 0. 0. 0. 1. ]] SLAMing on 78.93134618399999 meters Centerline goodness : 0.838360 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.23, Z:-1.00 [[ 0.95341443 -0.24943433 -0.16965681 -0.42921416] [ 0.2516958 0.96776997 -0.0083972 -0.22717914] [ 0.16628332 -0.03469589 0.98546743 -1.00015425] [ 0. 0. 0. 1. ]] SLAMing on 78.96134618399999 meters Centerline goodness : 0.842113 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.23, Z:-1.00 [[ 0.95331575 -0.25007901 -0.16926186 -0.43735098] [ 0.25253458 0.96756096 -0.00721661 -0.22690188] [ 0.16557588 -0.03586477 0.98554469 -0.99680427] [ 0. 0. 0. 1. ]] SLAMing on 78.991346184 meters Centerline goodness : 0.842972 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.23, Z:-1.00 [[ 0.95318964 -0.25081897 -0.16887676 -0.43910372] [ 0.25318564 0.96738685 -0.0077278 -0.22732276] [ 0.16530744 -0.03539111 0.98560688 -0.99565886] [ 0. 0. 0. 1. ]] SLAMing on 79.021346184 meters Centerline goodness : 0.843173 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.23, Z:-1.00 [[ 0.95321403 -0.25073051 -0.16887046 -0.43843973] [ 0.25315115 0.96739846 -0.00739668 -0.23066809] [ 0.16521959 -0.03569914 0.9856105 -0.99557169] [ 0. 0. 0. 1. ]] SLAMing on 79.051346184 meters Centerline goodness : 0.838067 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.9546585 -0.24941955 -0.16253321 -0.46217596] [ 0.24913088 0.96820867 -0.02248934 -0.23931721] [ 0.16297534 -0.0190224 0.98644675 -1.00071121] [ 0. 0. 0. 1. ]] SLAMing on 79.081346184 meters Centerline goodness : 0.838727 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95469111 -0.24909765 -0.16283503 -0.46089174] [ 0.24885425 0.96828594 -0.02222383 -0.23952026] [ 0.16320677 -0.0193053 0.98640299 -1.00129798] [ 0. 0. 0. 1. ]] SLAMing on 79.111346184 meters Centerline goodness : 0.840772 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95554331 -0.24546872 -0.16334653 -0.46231014] [ 0.24582798 0.96914012 -0.01833096 -0.24054741] [ 0.16280535 -0.02263912 0.98639844 -1.00146076] [ 0. 0. 0. 1. ]] SLAMing on 79.141346184 meters Centerline goodness : 0.843712 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95632602 -0.24212753 -0.16375228 -0.46578282] [ 0.2429253 0.96992204 -0.0154443 -0.2387621 ] [ 0.16256644 -0.02500978 0.98638059 -0.99942627] [ 0. 0. 0. 1. ]] SLAMing on 79.171346184 meters Centerline goodness : 0.841898 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95633737 -0.24198389 -0.16389825 -0.46547629] [ 0.24277527 0.96995883 -0.01549342 -0.23953744] [ 0.16272371 -0.0249735 0.98635557 -0.99890944] [ 0. 0. 0. 1. ]] SLAMing on 79.201346184 meters Centerline goodness : 0.841420 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95649309 -0.24121135 -0.16412813 -0.46321181] [ 0.24215498 0.97012862 -0.01454029 -0.24289879] [ 0.16273268 -0.02583676 0.98633186 -1.00014907] [ 0. 0. 0. 1. ]] SLAMing on 79.231346184 meters Centerline goodness : 0.841675 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95662964 -0.24039895 -0.16452381 -0.46048127] [ 0.24151047 0.97030406 -0.01351782 -0.24624385] [ 0.16288779 -0.02680268 0.98628048 -1.00159901] [ 0. 0. 0. 1. ]] SLAMing on 79.26134618399999 meters Centerline goodness : 0.843184 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95651082 -0.24098487 -0.16435734 -0.46192028] [ 0.24197687 0.97017715 -0.01426481 -0.24498345] [ 0.16289334 -0.02612623 0.98629771 -1.00033496] [ 0. 0. 0. 1. ]] SLAMing on 79.29134618399999 meters Centerline goodness : 0.844409 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95725273 -0.23778805 -0.1646938 -0.46471212] [ 0.23928464 0.9708873 -0.01098717 -0.24519765] [ 0.16251174 -0.0288912 0.98628355 -0.99922806] [ 0. 0. 0. 1. ]] SLAMing on 79.32134618399999 meters Centerline goodness : 0.843536 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95719136 -0.23788818 -0.16490575 -0.46484015] [ 0.23929143 0.9708785 -0.01159956 -0.24341376] [ 0.16286284 -0.02835754 0.98624112 -0.9982879 ] [ 0. 0. 0. 1. ]] SLAMing on 79.351346184 meters Centerline goodness : 0.843380 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95736199 -0.23671989 -0.16559506 -0.46133109] [ 0.23828117 0.97113764 -0.01066611 -0.24569209] [ 0.16334048 -0.02924686 0.98613615 -0.99970637] [ 0. 0. 0. 1. ]] SLAMing on 79.381346184 meters Centerline goodness : 0.842107 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95739837 -0.23659436 -0.16556408 -0.46066529] [ 0.23817137 0.97116579 -0.01055459 -0.24679562] [ 0.16328733 -0.02932768 0.98614255 -1.00007976] [ 0. 0. 0. 1. ]] SLAMing on 79.411346184 meters Centerline goodness : 0.842363 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.957371 -0.23699991 -0.16514179 -0.46179579] [ 0.23850584 0.97107941 -0.01094307 -0.24658232] [ 0.1629593 -0.0289107 0.98620913 -0.99973944] [ 0. 0. 0. 1. ]] SLAMing on 79.441346184 meters Centerline goodness : 0.845226 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.00 [[ 0.95722465 -0.23793066 -0.16465103 -0.46401468] [ 0.23925576 0.97088203 -0.01203203 -0.24486161] [ 0.16271951 -0.02787635 0.98627849 -0.99835421] [ 0. 0. 0. 1. ]] SLAMing on 79.471346184 meters Centerline goodness : 0.847405 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95703497 -0.23918543 -0.1639341 -0.46733092] [ 0.24029959 0.97060767 -0.01329866 -0.2428761 ] [ 0.16229654 -0.02666602 0.98638165 -0.99654703] [ 0. 0. 0. 1. ]] SLAMing on 79.501346184 meters Centerline goodness : 0.847816 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95702793 -0.23930753 -0.16379697 -0.46721032] [ 0.24042496 0.97057707 -0.01326642 -0.24352662] [ 0.16215234 -0.02668455 0.98640486 -0.99684585] [ 0. 0. 0. 1. ]] SLAMing on 79.531346184 meters Centerline goodness : 0.848203 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95706837 -0.23915926 -0.16377723 -0.4662527 ] [ 0.24034618 0.97060248 -0.01282743 -0.24532795] [ 0.16203038 -0.0270865 0.98641395 -0.99767654] [ 0. 0. 0. 1. ]] SLAMing on 79.561346184 meters Centerline goodness : 0.849269 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95610661 -0.24330184 -0.16329225 -0.46445357] [ 0.243954 0.96964882 -0.01635902 -0.24578582] [ 0.16231632 -0.02419483 0.9864421 -0.99828075] [ 0. 0. 0. 1. ]] SLAMing on 79.591346184 meters Centerline goodness : 0.846784 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95602315 -0.24373097 -0.16314088 -0.46478024] [ 0.24440451 0.96953731 -0.01624299 -0.2467205 ] [ 0.16213009 -0.02434369 0.98646907 -0.99847635] [ 0. 0. 0. 1. ]] SLAMing on 79.62134618399999 meters Centerline goodness : 0.845911 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.25, Z:-1.00 [[ 0.95593887 -0.24417005 -0.1629781 -0.46494422] [ 0.24485633 0.96942438 -0.01617834 -0.24756863] [ 0.16194521 -0.02444071 0.98649703 -0.99882094] [ 0. 0. 0. 1. ]] SLAMing on 79.65134618399999 meters Centerline goodness : 0.848248 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95585248 -0.24462513 -0.16280228 -0.4652889 ] [ 0.24532402 0.96930721 -0.01611359 -0.24892554] [ 0.16174722 -0.0245371 0.98652713 -0.99888087] [ 0. 0. 0. 1. ]] SLAMing on 79.68134618399999 meters Centerline goodness : 0.847710 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95564001 -0.24589343 -0.16213756 -0.46715671] [ 0.24654088 0.96899303 -0.01643471 -0.25102519] [ 0.16115135 -0.02426787 0.98663129 -0.99852475] [ 0. 0. 0. 1. ]] SLAMing on 79.71134618399999 meters Centerline goodness : 0.845898 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95560107 -0.24623563 -0.16184747 -0.46779641] [ 0.24686989 0.96890814 -0.01650058 -0.25240372] [ 0.16087836 -0.0241873 0.98667782 -0.99830224] [ 0. 0. 0. 1. ]] SLAMing on 79.741346184 meters Centerline goodness : 0.844675 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95559376 -0.24643235 -0.16159104 -0.46786505] [ 0.24708155 0.96885613 -0.01638643 -0.25415408] [ 0.16059661 -0.0242674 0.98672175 -0.99853719] [ 0. 0. 0. 1. ]] SLAMing on 79.771346184 meters Centerline goodness : 0.848001 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95554879 -0.2466837 -0.16147343 -0.46806621] [ 0.2472993 0.96879699 -0.01659644 -0.25435712] [ 0.16052905 -0.02407356 0.9867375 -0.99839687] [ 0. 0. 0. 1. ]] SLAMing on 79.801346184 meters Centerline goodness : 0.848436 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.26, Z:-1.00 [[ 0.95641954 -0.24296216 -0.16196006 -0.46955203] [ 0.24415663 0.96965138 -0.01279591 -0.2550029 ] [ 0.16015371 -0.02730536 0.98671435 -0.99841101] [ 0. 0. 0. 1. ]] SLAMing on 79.831346184 meters Centerline goodness : 0.847783 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.26, Z:-1.00 [[ 0.95729258 -0.23917452 -0.1624391 -0.47098648] [ 0.24094111 0.97049771 -0.00903222 -0.25554134] [ 0.15980705 -0.03049178 0.98667723 -0.99839017] [ 0. 0. 0. 1. ]] SLAMing on 79.861346184 meters Centerline goodness : 0.847953 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95738666 -0.23855473 -0.16279568 -0.46974919] [ 0.24032473 0.97065057 -0.0090272 -0.25450669] [ 0.1601712 -0.0304813 0.98661851 -0.99851062] [ 0. 0. 0. 1. ]] SLAMing on 79.891346184 meters Centerline goodness : 0.845367 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95739768 -0.2385938 -0.16267354 -0.46991479] [ 0.24033299 0.97064693 -0.00919692 -0.25462784] [ 0.1600929 -0.0302907 0.98663708 -0.99832334] [ 0. 0. 0. 1. ]] SLAMing on 79.921346184 meters Centerline goodness : 0.847050 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95735042 -0.23896391 -0.1624082 -0.47110125] [ 0.24059536 0.9705756 -0.00984231 -0.25365523] [ 0.15998139 -0.02965212 0.98667457 -0.997389 ] [ 0. 0. 0. 1. ]] SLAMing on 79.951346184 meters Centerline goodness : 0.847798 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.00 [[ 0.95807579 -0.23618678 -0.16219303 -0.4756752 ] [ 0.23818432 0.97119253 -0.0073012 -0.2520061 ] [ 0.15924511 -0.03163673 0.98673204 -0.9956858 ] [ 0. 0. 0. 1. ]] SLAMing on 79.981346184 meters Centerline goodness : 0.846100 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.00 [[ 0.95803254 -0.23636233 -0.1621928 -0.47589043] [ 0.23827514 0.97116604 -0.00784087 -0.25050219] [ 0.15936943 -0.0311347 0.98672793 -0.99529118] [ 0. 0. 0. 1. ]] SLAMing on 80.01134618399999 meters Centerline goodness : 0.849232 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95805747 -0.23615349 -0.16234964 -0.47483234] [ 0.23808308 0.97121387 -0.00775037 -0.25051232] [ 0.1595065 -0.0312274 0.98670286 -0.99591602] [ 0. 0. 0. 1. ]] SLAMing on 80.04134618399999 meters Centerline goodness : 0.845348 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95826871 -0.23464362 -0.16328947 -0.4696591 ] [ 0.23678599 0.9715401 -0.0064982 -0.25143278] [ 0.16016703 -0.03243764 0.9865568 -0.99903299] [ 0. 0. 0. 1. ]] SLAMing on 80.07134618399999 meters Centerline goodness : 0.845622 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95829034 -0.23430112 -0.16365392 -0.46807621] [ 0.23645065 0.97162176 -0.00649969 -0.25013609] [ 0.1605326 -0.03246748 0.9864964 -0.99978569] [ 0. 0. 0. 1. ]] SLAMing on 80.101346184 meters Centerline goodness : 0.849450 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95821555 -0.23447663 -0.16384037 -0.46781786] [ 0.23654614 0.97159472 -0.00704381 -0.24793978] [ 0.16083805 -0.03200631 0.98646172 -0.99963414] [ 0. 0. 0. 1. ]] SLAMing on 80.131346184 meters Centerline goodness : 0.847298 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95806402 -0.23533025 -0.16350229 -0.46977657] [ 0.23724599 0.97141672 -0.00799312 -0.24615955] [ 0.16070988 -0.03113235 0.98651057 -0.99838286] [ 0. 0. 0. 1. ]] SLAMing on 80.161346184 meters Centerline goodness : 0.849889 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95804333 -0.23564538 -0.16316933 -0.47050091] [ 0.23753919 0.97134427 -0.00808948 -0.24730352] [ 0.16039984 -0.03100904 0.98656491 -0.9981535 ] [ 0. 0. 0. 1. ]] SLAMing on 80.191346184 meters Centerline goodness : 0.850283 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95800241 -0.23607768 -0.16278424 -0.4715392 ] [ 0.23793764 0.97124531 -0.00825943 -0.24857327] [ 0.1600533 -0.03081995 0.98662712 -0.99770931] [ 0. 0. 0. 1. ]] SLAMing on 80.221346184 meters Centerline goodness : 0.849924 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95793374 -0.23658446 -0.1624523 -0.47283829] [ 0.23836873 0.97113571 -0.00870516 -0.24894444] [ 0.15982273 -0.03038458 0.986678 -0.99681263] [ 0. 0. 0. 1. ]] SLAMing on 80.251346184 meters Centerline goodness : 0.851130 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.9578032 -0.23718625 -0.1623444 -0.47411988] [ 0.23884357 0.9710114 -0.00951934 -0.24712599] [ 0.15989612 -0.02965726 0.98668824 -0.99562478] [ 0. 0. 0. 1. ]] SLAMing on 80.281346184 meters Centerline goodness : 0.851056 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95776233 -0.23725747 -0.16248139 -0.47376684] [ 0.23888733 0.97099864 -0.00972048 -0.24629143] [ 0.16007547 -0.02950483 0.98666373 -0.9956556 ] [ 0. 0. 0. 1. ]] SLAMing on 80.311346184 meters Centerline goodness : 0.851720 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95775358 -0.23722829 -0.16257558 -0.47314195] [ 0.2388769 0.9710022 -0.00962005 -0.24637645] [ 0.16014339 -0.02962191 0.9866492 -0.9960651 ] [ 0. 0. 0. 1. ]] SLAMing on 80.341346184 meters Centerline goodness : 0.851224 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95764297 -0.23787052 -0.16228848 -0.47334394] [ 0.23953002 0.97084195 -0.00955356 -0.24706505] [ 0.15982897 -0.02972407 0.98669711 -0.99701213] [ 0. 0. 0. 1. ]] SLAMing on 80.37134618399999 meters Centerline goodness : 0.846903 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95758754 -0.23831987 -0.161956 -0.47381933] [ 0.23996495 0.9707339 -0.0096182 -0.24800524] [ 0.15950839 -0.02965349 0.98675111 -0.99724345] [ 0. 0. 0. 1. ]] SLAMing on 80.40134618399999 meters Centerline goodness : 0.847779 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95753383 -0.23881237 -0.1615476 -0.47437433] [ 0.2404551 0.97061281 -0.00959751 -0.24976209] [ 0.15909217 -0.029655 0.98681825 -0.99752394] [ 0. 0. 0. 1. ]] SLAMing on 80.43134618399999 meters Centerline goodness : 0.848368 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.9574988 -0.23913509 -0.16127759 -0.47455214] [ 0.24079309 0.97053019 -0.00947889 -0.25160147] [ 0.1587915 -0.0297585 0.98686356 -0.99782024] [ 0. 0. 0. 1. ]] SLAMing on 80.46134618399999 meters Centerline goodness : 0.846875 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.00 [[ 0.9574062 -0.23966438 -0.16104145 -0.47516152] [ 0.2412872 0.9704053 -0.00969766 -0.2520479 ] [ 0.15859966 -0.02957263 0.9869 -0.99772729] [ 0. 0. 0. 1. ]] SLAMing on 80.491346184 meters Centerline goodness : 0.851910 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.00 [[ 0.9573476 -0.23973224 -0.16128866 -0.47510794] [ 0.24127946 0.97040187 -0.01021956 -0.24986165] [ 0.15896477 -0.02913196 0.98685436 -0.9971247 ] [ 0. 0. 0. 1. ]] SLAMing on 80.521346184 meters Centerline goodness : 0.849643 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95731184 -0.23956282 -0.16175199 -0.47440847] [ 0.24103355 0.97045708 -0.01076439 -0.2473742 ] [ 0.15955211 -0.02868278 0.98677273 -0.99655005] [ 0. 0. 0. 1. ]] SLAMing on 80.551346184 meters Centerline goodness : 0.848997 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.00 [[ 0.95822626 -0.23547207 -0.16234327 -0.47503339] [ 0.2375674 0.97134819 -0.00666523 -0.24836074] [ 0.15926131 -0.03218067 0.98671183 -0.99712911] [ 0. 0. 0. 1. ]] SLAMing on 80.581346184 meters Centerline goodness : 0.850207 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95832187 -0.23487796 -0.16263931 -0.47397548] [ 0.23693963 0.97149999 -0.00688336 -0.24656754] [ 0.15962084 -0.03193923 0.98666158 -0.99708496] [ 0. 0. 0. 1. ]] SLAMing on 80.611346184 meters Centerline goodness : 0.850774 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95832117 -0.23489627 -0.16261696 -0.47405451] [ 0.23692474 0.97150217 -0.00708567 -0.24689936] [ 0.15964713 -0.03173763 0.98666383 -0.9966254 ] [ 0. 0. 0. 1. ]] SLAMing on 80.641346184 meters Centerline goodness : 0.847658 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95832201 -0.23501276 -0.16244363 -0.47446446] [ 0.23701269 0.9714796 -0.00723712 -0.24765242] [ 0.15951148 -0.03156571 0.98669129 -0.99621314] [ 0. 0. 0. 1. ]] SLAMing on 80.671346184 meters Centerline goodness : 0.846589 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.25, Z:-1.00 [[ 0.95833148 -0.2349057 -0.16254257 -0.474182 ] [ 0.23685534 0.97151552 -0.00755865 -0.24664639] [ 0.1596882 -0.03125539 0.98667258 -0.99594467] [ 0. 0. 0. 1. ]] SLAMing on 80.701346184 meters Centerline goodness : 0.850866 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95828086 -0.23494192 -0.16278847 -0.47389204] [ 0.23679461 0.97152506 -0.00820827 -0.24402528] [ 0.16008155 -0.03068161 0.98662685 -0.9955302 ] [ 0. 0. 0. 1. ]] SLAMing on 80.731346184 meters Centerline goodness : 0.851727 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.9582695 -0.23477071 -0.16310205 -0.4733712 ] [ 0.2365462 0.97158103 -0.00872924 -0.24134155] [ 0.16051623 -0.0302162 0.98657059 -0.99518108] [ 0. 0. 0. 1. ]] SLAMing on 80.76134618399999 meters Centerline goodness : 0.851727 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.9582695 -0.23477071 -0.16310205 -0.4733712 ] [ 0.2365462 0.97158103 -0.00872924 -0.24134155] [ 0.16051623 -0.0302162 0.98657059 -0.99518108] [ 0. 0. 0. 1. ]] SLAMing on 80.79134618399999 meters Centerline goodness : 0.851805 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-0.99 [[ 0.95824463 -0.23490699 -0.16305192 -0.4739153 ] [ 0.23656442 0.97156978 -0.00945677 -0.23945744] [ 0.16063778 -0.02951038 0.98657217 -0.99431152] [ 0. 0. 0. 1. ]] SLAMing on 80.82134618399999 meters Centerline goodness : 0.850058 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-0.99 [[ 0.95824565 -0.23501267 -0.16289356 -0.47396515] [ 0.23665754 0.97154655 -0.00951349 -0.2400184 ] [ 0.16049447 -0.02943373 0.98659778 -0.99444175] [ 0. 0. 0. 1. ]] SLAMing on 80.851346184 meters Centerline goodness : 0.851200 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-0.99 [[ 0.95825798 -0.23498724 -0.16285775 -0.47366102] [ 0.23662413 0.97155429 -0.00955373 -0.24050623] [ 0.16047015 -0.02938114 0.9866033 -0.99454814] [ 0. 0. 0. 1. ]] SLAMing on 80.881346184 meters Centerline goodness : 0.851577 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-0.99 [[ 0.95826606 -0.23497168 -0.16283261 -0.47335164] [ 0.23658632 0.97156221 -0.00968454 -0.23999088] [ 0.1604776 -0.0292436 0.98660618 -0.99480755] [ 0. 0. 0. 1. ]] SLAMing on 80.911346184 meters Centerline goodness : 0.854545 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95911116 -0.23122435 -0.16322097 -0.47459036] [ 0.23341384 0.97235958 -0.0059024 -0.23957631] [ 0.16007426 -0.03243698 0.98657188 -0.99554358] [ 0. 0. 0. 1. ]] SLAMing on 80.941346184 meters Centerline goodness : 0.853402 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95906202 -0.23134038 -0.16334523 -0.47445792] [ 0.23345492 0.97234657 -0.0063992 -0.23800516] [ 0.16030857 -0.03199652 0.98654822 -0.99521058] [ 0. 0. 0. 1. ]] SLAMing on 80.971346184 meters Centerline goodness : 0.854080 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95905161 -0.23129103 -0.1634762 -0.47383308] [ 0.23340239 0.9723589 -0.00644101 -0.23768194] [ 0.16044729 -0.03197847 0.98652625 -0.99548373] [ 0. 0. 0. 1. ]] SLAMing on 81.001346184 meters Centerline goodness : 0.854364 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95907638 -0.23107896 -0.1636307 -0.47284722] [ 0.23323438 0.97240089 -0.00618346 -0.23846842] [ 0.1605435 -0.03223389 0.98650229 -0.99600127] [ 0. 0. 0. 1. ]] SLAMing on 81.031346184 meters Centerline goodness : 0.858736 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.00 [[ 0.95900183 -0.23155862 -0.16338938 -0.47382032] [ 0.23363041 0.97230246 -0.00668968 -0.23783897] [ 0.16041295 -0.03175731 0.98653898 -0.99540934] [ 0. 0. 0. 1. ]] SLAMing on 81.061346184 meters Centerline goodness : 0.856909 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-0.99 [[ 0.9588964 -0.2321451 -0.16317584 -0.47490046] [ 0.23411367 0.97218158 -0.00733217 -0.23613283] [ 0.16033867 -0.0311709 0.98656976 -0.9949444 ] [ 0. 0. 0. 1. ]] SLAMing on 81.091346184 meters Centerline goodness : 0.859485 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.9587749 -0.23276221 -0.16301057 -0.47572691] [ 0.23464499 0.97204919 -0.00788039 -0.23494376] [ 0.16028855 -0.03069409 0.98659285 -0.9946331 ] [ 0. 0. 0. 1. ]] SLAMing on 81.12134618399999 meters Centerline goodness : 0.855667 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.95861678 -0.23385335 -0.16237758 -0.47756113] [ 0.23565212 0.97180144 -0.00836908 -0.23483944] [ 0.1597559 -0.03024188 0.98669321 -0.99457355] [ 0. 0. 0. 1. ]] SLAMing on 81.15134618399999 meters Centerline goodness : 0.858961 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-0.99 [[ 0.95853151 -0.23446057 -0.16200487 -0.47839131] [ 0.23622475 0.97166071 -0.00856305 -0.23555236] [ 0.15942146 -0.03006161 0.9867528 -0.99464848] [ 0. 0. 0. 1. ]] SLAMing on 81.18134618399999 meters Centerline goodness : 0.858286 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-0.99 [[ 0.95845833 -0.23492979 -0.16175793 -0.47876518] [ 0.23666028 0.97155293 -0.00876442 -0.23618886] [ 0.15921541 -0.02988135 0.98679155 -0.99477243] [ 0. 0. 0. 1. ]] SLAMing on 81.21134618399999 meters Centerline goodness : 0.858237 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.00 [[ 0.95841309 -0.23520859 -0.16162076 -0.47874743] [ 0.23691114 0.97149023 -0.00893515 -0.23603831] [ 0.15911461 -0.02972619 0.98681249 -0.99513325] [ 0. 0. 0. 1. ]] SLAMing on 81.241346184 meters Centerline goodness : 0.854148 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.95829613 -0.23591399 -0.16128581 -0.48020653] [ 0.23743327 0.97135166 -0.01006952 -0.23275999] [ 0.15904078 -0.02864504 0.98685637 -0.99439135] [ 0. 0. 0. 1. ]] SLAMing on 81.271346184 meters Centerline goodness : 0.857429 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.9582061 -0.23637694 -0.16114284 -0.48108427] [ 0.23779047 0.97125711 -0.01073895 -0.23124145] [ 0.15904957 -0.0280281 0.98687267 -0.99371901] [ 0. 0. 0. 1. ]] SLAMing on 81.301346184 meters Centerline goodness : 0.857925 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.95816216 -0.23656762 -0.16112429 -0.48106999] [ 0.23794143 0.97121723 -0.0109982 -0.23058207] [ 0.1590885 -0.02780009 0.98687284 -0.99374099] [ 0. 0. 0. 1. ]] SLAMing on 81.331346184 meters Centerline goodness : 0.853705 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.95816297 -0.23652689 -0.16117924 -0.48050507] [ 0.23790286 0.97122676 -0.0109911 -0.23035655] [ 0.15914128 -0.02781373 0.98686395 -0.99417495] [ 0. 0. 0. 1. ]] SLAMing on 81.361346184 meters Centerline goodness : 0.859048 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.23, Z:-0.99 [[ 0.958109 -0.23670949 -0.16123201 -0.4810292 ] [ 0.23794489 0.97120592 -0.01188666 -0.22682373] [ 0.15940317 -0.02697561 0.98684495 -0.99336176] [ 0. 0. 0. 1. ]] SLAMing on 81.391346184 meters Centerline goodness : 0.859727 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95799038 -0.23727326 -0.16110811 -0.48218227] [ 0.23835742 0.97109249 -0.01284955 -0.22422204] [ 0.15949973 -0.02609157 0.98685311 -0.99236707] [ 0. 0. 0. 1. ]] SLAMing on 81.421346184 meters Centerline goodness : 0.860611 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95797996 -0.23739895 -0.16098487 -0.48187025] [ 0.23845035 0.97106711 -0.01304253 -0.22362272] [ 0.15942339 -0.02589241 0.98687069 -0.99296082] [ 0. 0. 0. 1. ]] SLAMing on 81.451346184 meters Centerline goodness : 0.858012 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95802221 -0.2372895 -0.16089483 -0.48130027] [ 0.23836826 0.97108984 -0.01284896 -0.22446104] [ 0.15929226 -0.02604263 0.98688791 -0.99363281] [ 0. 0. 0. 1. ]] SLAMing on 81.481346184 meters Centerline goodness : 0.861420 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95801637 -0.23734611 -0.16084607 -0.48120819] [ 0.238387 0.97108215 -0.01308035 -0.22395432] [ 0.15929932 -0.02581242 0.98689282 -0.99366781] [ 0. 0. 0. 1. ]] SLAMing on 81.51134618399999 meters Centerline goodness : 0.861960 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95881168 -0.23393044 -0.16111083 -0.48361952] [ 0.23542866 0.97184018 -0.01000091 -0.22192469] [ 0.1589135 -0.02834112 0.98688565 -0.99328156] [ 0. 0. 0. 1. ]] SLAMing on 81.54134618399999 meters Centerline goodness : 0.863348 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95876108 -0.23401701 -0.16128619 -0.48360748] [ 0.23542594 0.97183456 -0.01059348 -0.21956182] [ 0.15922255 -0.02781434 0.98685082 -0.99278946] [ 0. 0. 0. 1. ]] SLAMing on 81.57134618399999 meters Centerline goodness : 0.862110 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.22, Z:-0.99 [[ 0.95875346 -0.23399139 -0.16136862 -0.4831442 ] [ 0.23537614 0.97184484 -0.0107557 -0.2187325 ] [ 0.159342 -0.02767026 0.98683559 -0.9930197 ] [ 0. 0. 0. 1. ]] SLAMing on 81.601346184 meters Centerline goodness : 0.861864 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.9583806 -0.23416688 -0.16331719 -0.50007632] [ 0.23418424 0.97199819 -0.01942326 -0.22064806] [ 0.16329229 -0.01963143 0.9863824 -0.99304117] [ 0. 0. 0. 1. ]] SLAMing on 81.631346184 meters Centerline goodness : 0.858514 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.95835446 -0.23441471 -0.1631149 -0.50040321] [ 0.23442188 0.97193974 -0.0194815 -0.2210909 ] [ 0.1631046 -0.01956751 0.98641472 -0.99314398] [ 0. 0. 0. 1. ]] SLAMing on 81.661346184 meters Centerline goodness : 0.859316 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.9582857 -0.23484372 -0.16290163 -0.50130375] [ 0.2347816 0.97184419 -0.01991177 -0.22054219] [ 0.16299116 -0.01916514 0.98644137 -0.99262106] [ 0. 0. 0. 1. ]] SLAMing on 81.691346184 meters Centerline goodness : 0.859142 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.95887675 -0.23247171 -0.16282594 -0.5054629 ] [ 0.23285059 0.9723635 -0.01702426 -0.22077051] [ 0.16228366 -0.02158995 0.98650793 -0.99138455] [ 0. 0. 0. 1. ]] SLAMing on 81.721346184 meters Centerline goodness : 0.857389 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.9588299 -0.23271765 -0.16275048 -0.50605048] [ 0.23304019 0.97231183 -0.01737763 -0.22022706] [ 0.16228829 -0.02126521 0.98651422 -0.99081384] [ 0. 0. 0. 1. ]] SLAMing on 81.751346184 meters Centerline goodness : 0.858196 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.95881887 -0.23273208 -0.16279483 -0.50585283] [ 0.2330546 0.97230824 -0.01738488 -0.22074307] [ 0.16233278 -0.02127114 0.98650677 -0.99072465] [ 0. 0. 0. 1. ]] SLAMing on 81.781346184 meters Centerline goodness : 0.857047 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.95884708 -0.23261857 -0.16279092 -0.5052337 ] [ 0.23298959 0.97232923 -0.01707989 -0.22190959] [ 0.16225947 -0.02155159 0.98651274 -0.99127588] [ 0. 0. 0. 1. ]] SLAMing on 81.811346184 meters Centerline goodness : 0.855347 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.95883869 -0.23264786 -0.16279843 -0.50417601] [ 0.23311356 0.9723094 -0.01650752 -0.22359357] [ 0.16213089 -0.02212247 0.98652125 -0.99269159] [ 0. 0. 0. 1. ]] SLAMing on 81.841346184 meters Centerline goodness : 0.856002 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.95881041 -0.23270831 -0.16287858 -0.50369788] [ 0.23317731 0.97229418 -0.01650372 -0.22327513] [ 0.16220645 -0.02215565 0.98650808 -0.99309789] [ 0. 0. 0. 1. ]] SLAMing on 81.87134618399999 meters Centerline goodness : 0.855505 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.22, Z:-0.99 [[ 0.95878301 -0.23268287 -0.1630761 -0.50299447] [ 0.23315838 0.97229896 -0.01648938 -0.22311266] [ 0.16239552 -0.02221282 0.98647569 -0.99332596] [ 0. 0. 0. 1. ]] SLAMing on 81.90134618399999 meters Centerline goodness : 0.849751 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.9588195 -0.23241069 -0.16324963 -0.50127944] [ 0.23300954 0.97234704 -0.01574127 -0.22580172] [ 0.16239374 -0.02294569 0.98645921 -0.99465771] [ 0. 0. 0. 1. ]] SLAMing on 81.93134618399999 meters Centerline goodness : 0.858530 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-1.00 [[ 0.95884867 -0.23229429 -0.16324399 -0.50057342] [ 0.2329511 0.97236685 -0.01537826 -0.22752255] [ 0.16230533 -0.02328245 0.98646587 -0.99524451] [ 0. 0. 0. 1. ]] SLAMing on 81.96134618399999 meters Centerline goodness : 0.850957 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-1.00 [[ 0.9588369 -0.2324168 -0.16313867 -0.50061754] [ 0.23306297 0.97233909 -0.01543817 -0.22779203] [ 0.16221419 -0.0232189 0.98648236 -0.99531421] [ 0. 0. 0. 1. ]] SLAMing on 81.991346184 meters Centerline goodness : 0.854112 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.9587851 -0.23258209 -0.16320753 -0.50085157] [ 0.23315481 0.97230949 -0.01590872 -0.22647625] [ 0.16238831 -0.02279958 0.98646349 -0.99473249] [ 0. 0. 0. 1. ]] SLAMing on 82.021346184 meters Centerline goodness : 0.854740 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.95953369 -0.2294482 -0.16324407 -0.50459602] [ 0.23047945 0.97299227 -0.01285513 -0.2256731 ] [ 0.16178481 -0.02528947 0.98650196 -0.99334239] [ 0. 0. 0. 1. ]] SLAMing on 82.051346184 meters Centerline goodness : 0.854494 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.95950728 -0.22964566 -0.16312157 -0.50537283] [ 0.23062518 0.97295356 -0.01316825 -0.22596888] [ 0.16173374 -0.02498491 0.98651809 -0.99245915] [ 0. 0. 0. 1. ]] SLAMing on 82.081346184 meters Centerline goodness : 0.852594 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.95955437 -0.22958935 -0.16292373 -0.50539487] [ 0.23061276 0.97296057 -0.01286432 -0.22883296] [ 0.16147187 -0.02522828 0.9865548 -0.99234266] [ 0. 0. 0. 1. ]] SLAMing on 82.111346184 meters Centerline goodness : 0.851280 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.95893039 -0.23293978 -0.16183808 -0.50337606] [ 0.23355171 0.97222078 -0.01550352 -0.23355682] [ 0.16095373 -0.02293076 0.98669553 -0.99370743] [ 0. 0. 0. 1. ]] SLAMing on 82.141346184 meters Centerline goodness : 0.852708 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.95891798 -0.23287404 -0.16200617 -0.50304425] [ 0.23348892 0.97223585 -0.01550413 -0.23307223] [ 0.16111871 -0.02295946 0.98666794 -0.99366507] [ 0. 0. 0. 1. ]] SLAMing on 82.171346184 meters Centerline goodness : 0.853784 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.95976247 -0.22907775 -0.16241734 -0.50484688] [ 0.23027228 0.97305601 -0.01169082 -0.23316563] [ 0.16071928 -0.0261798 0.98665289 -0.99352555] [ 0. 0. 0. 1. ]] SLAMing on 82.201346184 meters Centerline goodness : 0.857047 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96059958 -0.22508424 -0.16305071 -0.50598834] [ 0.22686629 0.97389425 -0.00785391 -0.23346189] [ 0.16056194 -0.02944625 0.98658643 -0.99334499] [ 0. 0. 0. 1. ]] SLAMing on 82.231346184 meters Centerline goodness : 0.855180 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96097519 -0.22346742 -0.16306134 -0.50360211] [ 0.22545847 0.97423154 -0.00643327 -0.23625248] [ 0.16029712 -0.03058134 0.98659496 -0.99506704] [ 0. 0. 0. 1. ]] SLAMing on 82.26134618399999 meters Centerline goodness : 0.855384 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96116841 -0.22296948 -0.16260351 -0.50171145] [ 0.22496773 0.97434612 -0.00625799 -0.23984078] [ 0.15982744 -0.03056556 0.98667165 -0.996138 ] [ 0. 0. 0. 1. ]] SLAMing on 82.29134618399999 meters Centerline goodness : 0.855711 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96138827 -0.22183097 -0.16286075 -0.50026488] [ 0.22388496 0.97459792 -0.00586775 -0.23974401] [ 0.16002539 -0.03082088 0.98663162 -0.99631918] [ 0. 0. 0. 1. ]] SLAMing on 82.32134618399999 meters Centerline goodness : 0.858605 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.9622468 -0.21753529 -0.16358327 -0.50097236] [ 0.22016658 0.97546004 -0.00209308 -0.23878743] [ 0.16002426 -0.03400151 0.98652731 -0.99625937] [ 0. 0. 0. 1. ]] SLAMing on 82.351346184 meters Centerline goodness : 0.858138 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.9631288 -0.21287287 -0.16452375 -0.50065945] [ 0.2161263 0.97636352 0.00192165 -0.23797245] [ 0.16022592 -0.03740871 0.98637125 -0.9966252 ] [ 0. 0. 0. 1. ]] SLAMing on 82.381346184 meters Centerline goodness : 0.858992 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96331097 -0.21119225 -0.1656195 -0.49661706] [ 0.21455963 0.97670768 0.00250307 -0.23637885] [ 0.16123321 -0.03794649 0.98618655 -0.99775139] [ 0. 0. 0. 1. ]] SLAMing on 82.411346184 meters Centerline goodness : 0.856808 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96334612 -0.20789226 -0.16954367 -0.49936986] [ 0.20940258 0.97778693 -0.00912552 -0.23689109] [ 0.16767471 -0.02671185 0.98548043 -0.99577172] [ 0. 0. 0. 1. ]] SLAMing on 82.441346184 meters Centerline goodness : 0.853506 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96339479 -0.20753321 -0.16970692 -0.49818724] [ 0.20909724 0.97785521 -0.00880482 -0.2375411 ] [ 0.16777609 -0.02700273 0.98545524 -0.99644105] [ 0. 0. 0. 1. ]] SLAMing on 82.471346184 meters Centerline goodness : 0.853538 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.00 [[ 0.96333246 -0.20788477 -0.16963046 -0.49903556] [ 0.20935513 0.97779475 -0.00937358 -0.23647852] [ 0.16781239 -0.02648313 0.98546316 -0.99550285] [ 0. 0. 0. 1. ]] SLAMing on 82.501346184 meters Centerline goodness : 0.854300 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96318839 -0.20878109 -0.16934752 -0.50132313] [ 0.21006281 0.97763134 -0.0105161 -0.2343559 ] [ 0.16775501 -0.02544463 0.98550029 -0.99360254] [ 0. 0. 0. 1. ]] SLAMing on 82.531346184 meters Centerline goodness : 0.853904 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96306835 -0.20967607 -0.16892392 -0.50389664] [ 0.21076041 0.97746783 -0.01169128 -0.23271945] [ 0.16756908 -0.02434297 0.98555975 -0.99148691] [ 0. 0. 0. 1. ]] SLAMing on 82.561346184 meters Centerline goodness : 0.852525 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96308419 -0.20956673 -0.16896929 -0.50336615] [ 0.2106637 0.9774896 -0.01161408 -0.23367054] [ 0.16759965 -0.02441036 0.98555289 -0.99156099] [ 0. 0. 0. 1. ]] SLAMing on 82.591346184 meters Centerline goodness : 0.850536 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.9631105 -0.20943384 -0.16898411 -0.50276327] [ 0.21053954 0.97751707 -0.01155323 -0.23454342] [ 0.16760449 -0.0244508 0.98555106 -0.99175306] [ 0. 0. 0. 1. ]] SLAMing on 82.62134618399999 meters Centerline goodness : 0.852726 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96305164 -0.20991945 -0.16871683 -0.50362676] [ 0.21091972 0.97742754 -0.01217705 -0.2330835 ] [ 0.16746467 -0.02385858 0.98558934 -0.99140643] [ 0. 0. 0. 1. ]] SLAMing on 82.65134618399999 meters Centerline goodness : 0.851508 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96298697 -0.21019711 -0.16874023 -0.50374665] [ 0.21113221 0.97737645 -0.01258823 -0.23164481] [ 0.16756873 -0.02350419 0.98558017 -0.99120519] [ 0. 0. 0. 1. ]] SLAMing on 82.68134618399999 meters Centerline goodness : 0.851508 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96298697 -0.21019711 -0.16874023 -0.50374665] [ 0.21113221 0.97737645 -0.01258823 -0.23164481] [ 0.16756873 -0.02350419 0.98558017 -0.99120519] [ 0. 0. 0. 1. ]] SLAMing on 82.71134618399999 meters Centerline goodness : 0.851096 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96292776 -0.21040922 -0.16881378 -0.50347264] [ 0.21131023 0.977335 -0.01281775 -0.230711 ] [ 0.16768459 -0.02332951 0.98556462 -0.99134619] [ 0. 0. 0. 1. ]] SLAMing on 82.741346184 meters Centerline goodness : 0.848140 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.9628891 -0.21076027 -0.16859623 -0.50333059] [ 0.21171014 0.97725217 -0.01253019 -0.2325052 ] [ 0.1674019 -0.02362835 0.98560555 -0.99219122] [ 0. 0. 0. 1. ]] SLAMing on 82.771346184 meters Centerline goodness : 0.850686 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.23, Z:-0.99 [[ 0.96285752 -0.21119746 -0.16822912 -0.50403678] [ 0.21214706 0.97715758 -0.01251752 -0.23407647] [ 0.16703003 -0.02363673 0.98566844 -0.99223691] [ 0. 0. 0. 1. ]] SLAMing on 82.801346184 meters Centerline goodness : 0.850169 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96280785 -0.21178958 -0.16776832 -0.50538467] [ 0.21270522 0.97703383 -0.01270401 -0.23499519] [ 0.1666059 -0.02345368 0.98574459 -0.99188186] [ 0. 0. 0. 1. ]] SLAMing on 82.831346184 meters Centerline goodness : 0.850455 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.9625672 -0.2135083 -0.16696886 -0.50958315] [ 0.21420344 0.97668803 -0.01404932 -0.2330175 ] [ 0.16607613 -0.02224189 0.98586207 -0.98977196] [ 0. 0. 0. 1. ]] SLAMing on 82.861346184 meters Centerline goodness : 0.851475 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96250351 -0.21373971 -0.16703992 -0.50960695] [ 0.21440047 0.9766414 -0.01428312 -0.23242831] [ 0.16619097 -0.02206588 0.98584667 -0.9895484 ] [ 0. 0. 0. 1. ]] SLAMing on 82.891346184 meters Centerline goodness : 0.847963 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96254149 -0.21348249 -0.16714997 -0.50828932] [ 0.21422682 0.97668674 -0.01377988 -0.23357118] [ 0.16619492 -0.0225443 0.98583518 -0.99064613] [ 0. 0. 0. 1. ]] SLAMing on 82.921346184 meters Centerline goodness : 0.848617 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96258748 -0.21311848 -0.16734953 -0.50655188] [ 0.21396425 0.97675265 -0.01317441 -0.23543534] [ 0.1662668 -0.02312529 0.9858096 -0.99176798] [ 0. 0. 0. 1. ]] SLAMing on 82.951346184 meters Centerline goodness : 0.846289 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96252395 -0.21349047 -0.16724072 -0.5069039 ] [ 0.21426335 0.97668091 -0.01362384 -0.23433619] [ 0.16624938 -0.02272029 0.98582196 -0.99160181] [ 0. 0. 0. 1. ]] SLAMing on 82.981346184 meters Centerline goodness : 0.850742 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96244286 -0.21382766 -0.16727664 -0.50760014] [ 0.21443013 0.97662919 -0.01466782 -0.23140717] [ 0.16650363 -0.02175221 0.98580088 -0.99031664] [ 0. 0. 0. 1. ]] SLAMing on 83.01134618399999 meters Centerline goodness : 0.847636 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96241808 -0.21379618 -0.16745933 -0.50737305] [ 0.21428805 0.97665 -0.01534312 -0.22888246] [ 0.16682946 -0.02111803 0.98575959 -0.98971215] [ 0. 0. 0. 1. ]] SLAMing on 83.04134618399999 meters Centerline goodness : 0.843265 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96251674 -0.21318644 -0.16766953 -0.50595756] [ 0.21364518 0.97678816 -0.01551223 -0.2270909 ] [ 0.16708461 -0.02089101 0.98572121 -0.99014139] [ 0. 0. 0. 1. ]] SLAMing on 83.07134618399999 meters Centerline goodness : 0.842632 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96254016 -0.21321321 -0.16750092 -0.50590818] [ 0.21364066 0.9767865 -0.01567797 -0.22714658] [ 0.16695539 -0.02069433 0.98574725 -0.99021464] [ 0. 0. 0. 1. ]] SLAMing on 83.101346184 meters Centerline goodness : 0.844281 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96254563 -0.21334026 -0.1673076 -0.50611076] [ 0.21374172 0.97676213 -0.01581836 -0.22741826] [ 0.16679442 -0.02053472 0.98577784 -0.99015664] [ 0. 0. 0. 1. ]] SLAMing on 83.131346184 meters Centerline goodness : 0.845499 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96248201 -0.21367334 -0.16724854 -0.50641458] [ 0.21399747 0.97669826 -0.01629708 -0.22546929] [ 0.16683361 -0.02010512 0.98578006 -0.99001213] [ 0. 0. 0. 1. ]] SLAMing on 83.161346184 meters Centerline goodness : 0.845670 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96238769 -0.21407414 -0.16727881 -0.50687504] [ 0.21430548 0.97662076 -0.01688374 -0.22340636] [ 0.16698233 -0.01960006 0.98576505 -0.98947 ] [ 0. 0. 0. 1. ]] SLAMing on 83.191346184 meters Centerline goodness : 0.844980 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96230391 -0.21461305 -0.16707009 -0.50783621] [ 0.21476082 0.97651167 -0.01739968 -0.22209205] [ 0.16688009 -0.01913633 0.98579148 -0.9890518 ] [ 0. 0. 0. 1. ]] SLAMing on 83.221346184 meters Centerline goodness : 0.846913 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96149155 -0.21862872 -0.16653974 -0.5063469 ] [ 0.21815367 0.97568044 -0.02136939 -0.22245088] [ 0.16716153 -0.01578476 0.98580316 -0.98881909] [ 0. 0. 0. 1. ]] SLAMing on 83.251346184 meters Centerline goodness : 0.846248 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.961535 -0.21855973 -0.16637935 -0.50565089] [ 0.21817915 0.97568726 -0.02079018 -0.22506404] [ 0.16687811 -0.01631002 0.98584262 -0.9898502 ] [ 0. 0. 0. 1. ]] SLAMing on 83.281346184 meters Centerline goodness : 0.842709 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96147868 -0.21888666 -0.16627501 -0.50571121] [ 0.21848485 0.97561578 -0.02093371 -0.22532178] [ 0.16680264 -0.01620126 0.98585719 -0.98995943] [ 0. 0. 0. 1. ]] SLAMing on 83.311346184 meters Centerline goodness : 0.842496 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96209855 -0.21591227 -0.16657815 -0.50814106] [ 0.21601842 0.97622881 -0.017702 -0.22350298] [ 0.16644047 -0.01895288 0.98586934 -0.99000184] [ 0. 0. 0. 1. ]] SLAMing on 83.341346184 meters Centerline goodness : 0.844700 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.9620682 -0.21595129 -0.16670281 -0.50784154] [ 0.21598814 0.97622765 -0.01812985 -0.22191794] [ 0.16665506 -0.01856368 0.9858405 -0.98974773] [ 0. 0. 0. 1. ]] SLAMing on 83.37134618399999 meters Centerline goodness : 0.842926 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96210371 -0.21583234 -0.16665192 -0.50743087] [ 0.21587546 0.97625356 -0.01807665 -0.22242851] [ 0.16659606 -0.01858445 0.98585008 -0.99000653] [ 0. 0. 0. 1. ]] SLAMing on 83.40134618399999 meters Centerline goodness : 0.840794 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96219619 -0.21561158 -0.16640352 -0.50661017] [ 0.21576201 0.97629106 -0.01739313 -0.22573185] [ 0.16620843 -0.01916795 0.98590433 -0.99117941] [ 0. 0. 0. 1. ]] SLAMing on 83.43134618399999 meters Centerline goodness : 0.841230 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96217273 -0.21602082 -0.16600798 -0.50741985] [ 0.21615398 0.97620271 -0.01748499 -0.22592404] [ 0.16583456 -0.0190597 0.98596938 -0.99141785] [ 0. 0. 0. 1. ]] SLAMing on 83.46134618399999 meters Centerline goodness : 0.840261 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96207358 -0.21674155 -0.16564278 -0.50900439] [ 0.21676373 0.97605506 -0.01816576 -0.22459737] [ 0.16561375 -0.01842855 0.9860185 -0.9906344 ] [ 0. 0. 0. 1. ]] SLAMing on 83.491346184 meters Centerline goodness : 0.838213 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96195713 -0.21760774 -0.1651828 -0.51127117] [ 0.2174744 0.9758788 -0.01911664 -0.22283522] [ 0.16535832 -0.01753364 0.98607768 -0.98924481] [ 0. 0. 0. 1. ]] SLAMing on 83.521346184 meters Centerline goodness : 0.840417 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.22, Z:-0.99 [[ 0.96180619 -0.21888184 -0.16437637 -0.51498567] [ 0.21859841 0.97560914 -0.02003831 -0.2236777 ] [ 0.16475311 -0.01665944 0.98619414 -0.98698887] [ 0. 0. 0. 1. ]] SLAMing on 83.551346184 meters Centerline goodness : 0.841066 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96184386 -0.21876757 -0.16430805 -0.5142356 ] [ 0.21856669 0.97562662 -0.019527 -0.22621915] [ 0.16457518 -0.01713034 0.98621578 -0.98769556] [ 0. 0. 0. 1. ]] SLAMing on 83.581346184 meters Centerline goodness : 0.842218 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96192656 -0.21836536 -0.16435897 -0.51257389] [ 0.21831441 0.97570123 -0.01859907 -0.22858623] [ 0.16442664 -0.01799099 0.98622523 -0.98942484] [ 0. 0. 0. 1. ]] SLAMing on 83.611346184 meters Centerline goodness : 0.838314 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96192381 -0.2183255 -0.16442797 -0.51095171] [ 0.21844751 0.97569059 -0.0175656 -0.23073966] [ 0.16426584 -0.01902211 0.98623268 -0.99177712] [ 0. 0. 0. 1. ]] SLAMing on 83.641346184 meters Centerline goodness : 0.838966 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96192778 -0.2182941 -0.16444645 -0.51021885] [ 0.21848923 0.97568907 -0.01712598 -0.23204004] [ 0.16418711 -0.01945582 0.98623733 -0.99264299] [ 0. 0. 0. 1. ]] SLAMing on 83.671346184 meters Centerline goodness : 0.837106 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.9619386 -0.21826118 -0.16442685 -0.50984549] [ 0.2184991 0.97569143 -0.01686365 -0.23336518] [ 0.16411055 -0.01970532 0.98624512 -0.99295627] [ 0. 0. 0. 1. ]] SLAMing on 83.701346184 meters Centerline goodness : 0.837434 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96194342 -0.21828679 -0.16436466 -0.50984802] [ 0.21852714 0.97568549 -0.01684372 -0.23433082] [ 0.16404497 -0.01971544 0.98625582 -0.9927679 ] [ 0. 0. 0. 1. ]] SLAMing on 83.731346184 meters Centerline goodness : 0.838019 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.9618956 -0.21889034 -0.163841 -0.51255774] [ 0.21895203 0.97557127 -0.01790842 -0.23348224] [ 0.16375855 -0.01864729 0.98632419 -0.99028216] [ 0. 0. 0. 1. ]] SLAMing on 83.76134618399999 meters Centerline goodness : 0.836792 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96187683 -0.21893053 -0.16389748 -0.51292287] [ 0.21890711 0.97557162 -0.01843065 -0.23234691] [ 0.16392876 -0.01815031 0.98630519 -0.98927783] [ 0. 0. 0. 1. ]] SLAMing on 83.79134618399999 meters Centerline goodness : 0.837903 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96194285 -0.21849802 -0.1640871 -0.51174728] [ 0.21851886 0.97566394 -0.01814885 -0.23259965] [ 0.16405936 -0.01839797 0.98627889 -0.98984196] [ 0. 0. 0. 1. ]] SLAMing on 83.82134618399999 meters Centerline goodness : 0.837104 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96205428 -0.2175914 -0.16463762 -0.50882853] [ 0.21775365 0.97585068 -0.0172858 -0.23428443] [ 0.16442298 -0.01922056 0.98620264 -0.99126876] [ 0. 0. 0. 1. ]] SLAMing on 83.851346184 meters Centerline goodness : 0.838356 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96217242 -0.21655134 -0.1653171 -0.50541515] [ 0.21689396 0.97606077 -0.01619844 -0.23517764] [ 0.16486733 -0.02027059 0.98610743 -0.99332783] [ 0. 0. 0. 1. ]] SLAMing on 83.881346184 meters Centerline goodness : 0.837626 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.23, Z:-0.99 [[ 0.96211889 -0.21671173 -0.16541849 -0.50559316] [ 0.21699535 0.97603187 -0.01657752 -0.2338091 ] [ 0.16504626 -0.0199455 0.98608413 -0.99280493] [ 0. 0. 0. 1. ]] SLAMing on 83.911346184 meters Centerline goodness : 0.839527 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96209096 -0.21712614 -0.16503706 -0.50692411] [ 0.21737849 0.9759436 -0.01675372 -0.23533028] [ 0.16470453 -0.01975691 0.98614506 -0.99196864] [ 0. 0. 0. 1. ]] SLAMing on 83.941346184 meters Centerline goodness : 0.840128 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.9621543 -0.21698843 -0.16484876 -0.50663398] [ 0.2173221 0.97596498 -0.01623134 -0.23857493] [ 0.16440863 -0.02020822 0.98618529 -0.99231803] [ 0. 0. 0. 1. ]] SLAMing on 83.971346184 meters Centerline goodness : 0.840423 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96218787 -0.21695014 -0.16470319 -0.50648387] [ 0.21733053 0.97596808 -0.01592937 -0.24070176] [ 0.16420094 -0.02046799 0.98621454 -0.99253625] [ 0. 0. 0. 1. ]] SLAMing on 84.001346184 meters Centerline goodness : 0.842060 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96218749 -0.21692189 -0.1647426 -0.50635175] [ 0.21729508 0.97597523 -0.01597513 -0.24095388] [ 0.16425005 -0.02042668 0.98620721 -0.99230352] [ 0. 0. 0. 1. ]] SLAMing on 84.031346184 meters Centerline goodness : 0.838536 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96295366 -0.21313068 -0.1652137 -0.50793153] [ 0.21406654 0.97674124 -0.01233168 -0.24046717] [ 0.1639993 -0.02349189 0.98618069 -0.99210488] [ 0. 0. 0. 1. ]] SLAMing on 84.061346184 meters Centerline goodness : 0.838423 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96300442 -0.21258457 -0.1656209 -0.50653734] [ 0.21352225 0.97686035 -0.01233275 -0.23937665] [ 0.16441025 -0.02348725 0.98611238 -0.99227137] [ 0. 0. 0. 1. ]] SLAMing on 84.091346184 meters Centerline goodness : 0.834399 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96310881 -0.2117809 -0.16604299 -0.50457893] [ 0.21277837 0.97702721 -0.01196666 -0.23944741] [ 0.16476283 -0.02380516 0.9860459 -0.99290028] [ 0. 0. 0. 1. ]] SLAMing on 84.12134618399999 meters Centerline goodness : 0.835935 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96321176 -0.21091685 -0.16654483 -0.50223835] [ 0.21198586 0.97720462 -0.01153829 -0.23975402] [ 0.165182 -0.02419133 0.98596637 -0.99371076] [ 0. 0. 0. 1. ]] SLAMing on 84.15134618399999 meters Centerline goodness : 0.834955 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96341818 -0.20941562 -0.16724385 -0.49897307] [ 0.21057875 0.97751555 -0.01095183 -0.23900786] [ 0.16577694 -0.02466681 0.98585473 -0.99482822] [ 0. 0. 0. 1. ]] SLAMing on 84.18134618399999 meters Centerline goodness : 0.836952 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96340857 -0.20939296 -0.1673276 -0.49880026] [ 0.21052121 0.97752548 -0.0111698 -0.23814772] [ 0.16590587 -0.02446493 0.98583808 -0.99465555] [ 0. 0. 0. 1. ]] SLAMing on 84.21134618399999 meters Centerline goodness : 0.837669 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96335867 -0.2097078 -0.16722058 -0.49944372] [ 0.21076874 0.97746735 -0.01158132 -0.23767248] [ 0.16588134 -0.02408791 0.98585149 -0.99402155] [ 0. 0. 0. 1. ]] SLAMing on 84.241346184 meters Centerline goodness : 0.837963 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.9631947 -0.21077382 -0.16682437 -0.50145341] [ 0.21179371 0.97724243 -0.01186001 -0.23961769] [ 0.16552763 -0.02390885 0.9859153 -0.99303375] [ 0. 0. 0. 1. ]] SLAMing on 84.271346184 meters Centerline goodness : 0.837038 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96312154 -0.2113187 -0.16655721 -0.50205345] [ 0.21235504 0.97712169 -0.01177001 -0.24209418] [ 0.16523388 -0.02403332 0.98596154 -0.99294849] [ 0. 0. 0. 1. ]] SLAMing on 84.301346184 meters Centerline goodness : 0.838291 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96307187 -0.2117956 -0.16623835 -0.50247874] [ 0.21286344 0.97701339 -0.01157583 -0.24439734] [ 0.1648688 -0.02423771 0.98601765 -0.99329968] [ 0. 0. 0. 1. ]] SLAMing on 84.331346184 meters Centerline goodness : 0.837347 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96304319 -0.21201334 -0.16612694 -0.50234401] [ 0.21313506 0.97695791 -0.01125549 -0.24618027] [ 0.16468534 -0.02456795 0.98604014 -0.99377602] [ 0. 0. 0. 1. ]] SLAMing on 84.361346184 meters Centerline goodness : 0.836464 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96294464 -0.21279842 -0.16569383 -0.50327119] [ 0.2139231 0.97678584 -0.01123987 -0.24759923] [ 0.16423921 -0.02462237 0.98611319 -0.99420732] [ 0. 0. 0. 1. ]] SLAMing on 84.391346184 meters Centerline goodness : 0.838749 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.962918 -0.21301269 -0.1655733 -0.50332827] [ 0.21413495 0.97673925 -0.01125457 -0.24820987] [ 0.1641193 -0.0246178 0.98613327 -0.99435085] [ 0. 0. 0. 1. ]] SLAMing on 84.421346184 meters Centerline goodness : 0.838196 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.96294383 -0.21288036 -0.16559327 -0.50254388] [ 0.21405391 0.97676061 -0.01093803 -0.24905076] [ 0.16407347 -0.02491318 0.98613347 -0.99510627] [ 0. 0. 0. 1. ]] SLAMing on 84.451346184 meters Centerline goodness : 0.841165 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.96296924 -0.21275472 -0.16560698 -0.50197098] [ 0.21397587 0.97678096 -0.01064319 -0.25077015] [ 0.16402613 -0.02518684 0.9861344 -0.99540413] [ 0. 0. 0. 1. ]] SLAMing on 84.48134618399999 meters Centerline goodness : 0.838407 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96290707 -0.21316604 -0.16543943 -0.50300364] [ 0.21431184 0.97670215 -0.01110584 -0.2504936 ] [ 0.16395244 -0.02476174 0.98615742 -0.99452813] [ 0. 0. 0. 1. ]] SLAMing on 84.51134618399999 meters Centerline goodness : 0.842115 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96278358 -0.21381778 -0.16531709 -0.5045259 ] [ 0.21482045 0.97657978 -0.01200432 -0.24879801] [ 0.16401207 -0.02395593 0.98616741 -0.99302042] [ 0. 0. 0. 1. ]] SLAMing on 84.54134618399999 meters Centerline goodness : 0.842363 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.96263765 -0.21447354 -0.16531743 -0.50592275] [ 0.21530952 0.97645849 -0.0130625 -0.2462537 ] [ 0.16422717 -0.02301996 0.9861539 -0.99135656] [ 0. 0. 0. 1. ]] SLAMing on 84.57134618399999 meters Centerline goodness : 0.842363 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.96263765 -0.21447354 -0.16531743 -0.50592275] [ 0.21530952 0.97645849 -0.0130625 -0.2462537 ] [ 0.16422717 -0.02301996 0.9861539 -0.99135656] [ 0. 0. 0. 1. ]] SLAMing on 84.601346184 meters Centerline goodness : 0.839828 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.96260697 -0.21457733 -0.16536141 -0.50597065] [ 0.21537802 0.97644032 -0.01328952 -0.24668389] [ 0.16431717 -0.02282263 0.9861435 -0.99083131] [ 0. 0. 0. 1. ]] SLAMing on 84.631346184 meters Centerline goodness : 0.841126 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.9618493 -0.21799584 -0.16529891 -0.50269053] [ 0.21825659 0.97574662 -0.01681047 -0.2471628 ] [ 0.16495447 -0.01990844 0.98610024 -0.99151731] [ 0. 0. 0. 1. ]] SLAMing on 84.661346184 meters Centerline goodness : 0.841633 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.9611028 -0.22129878 -0.1652521 -0.49907167] [ 0.22105291 0.97505439 -0.02011335 -0.24763906] [ 0.16558085 -0.01719846 0.98604624 -0.99266755] [ 0. 0. 0. 1. ]] SLAMing on 84.691346184 meters Centerline goodness : 0.843902 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.961121 -0.22107075 -0.16545133 -0.49731162] [ 0.22095437 0.97509229 -0.01934406 -0.24863342] [ 0.16560672 -0.01796522 0.98602823 -0.99463354] [ 0. 0. 0. 1. ]] SLAMing on 84.721346184 meters Centerline goodness : 0.843877 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96188936 -0.21736269 -0.16589851 -0.49883776] [ 0.21783679 0.97586121 -0.01555726 -0.24926216] [ 0.16527549 -0.02117444 0.98602011 -0.99455734] [ 0. 0. 0. 1. ]] SLAMing on 84.751346184 meters Centerline goodness : 0.846384 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96263305 -0.2137061 -0.16633494 -0.50068796] [ 0.21473393 0.97659893 -0.01199488 -0.24943758] [ 0.1650059 -0.02417109 0.98599635 -0.9940187 ] [ 0. 0. 0. 1. ]] SLAMing on 84.781346184 meters Centerline goodness : 0.846203 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96337008 -0.21014496 -0.16660487 -0.50295569] [ 0.21172714 0.97729261 -0.00841224 -0.25045753] [ 0.1645895 -0.02717067 0.98598786 -0.99328783] [ 0. 0. 0. 1. ]] SLAMing on 84.811346184 meters Centerline goodness : 0.848522 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96338041 -0.21029497 -0.16635569 -0.50439349] [ 0.21170981 0.97728749 -0.0093869 -0.24900863] [ 0.16455135 -0.02617598 0.98602113 -0.99128258] [ 0. 0. 0. 1. ]] SLAMing on 84.841346184 meters Centerline goodness : 0.847516 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96338118 -0.21036016 -0.16626879 -0.50450924] [ 0.21174384 0.97727839 -0.0095653 -0.24909587] [ 0.16450305 -0.02599136 0.98603407 -0.99111147] [ 0. 0. 0. 1. ]] SLAMing on 84.87134618399999 meters Centerline goodness : 0.846259 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96336685 -0.21052645 -0.1661413 -0.50444112] [ 0.21189139 0.97724536 -0.00967159 -0.24929672] [ 0.16439694 -0.02588662 0.98605453 -0.99141407] [ 0. 0. 0. 1. ]] SLAMing on 84.90134618399999 meters Centerline goodness : 0.844283 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96337037 -0.21040286 -0.16627741 -0.5033443 ] [ 0.21179149 0.9772683 -0.00954065 -0.2497459 ] [ 0.16450502 -0.02602496 0.98603286 -0.9921098 ] [ 0. 0. 0. 1. ]] SLAMing on 84.93134618399999 meters Centerline goodness : 0.842493 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96342571 -0.20978303 -0.16673924 -0.50059743] [ 0.21127576 0.97738562 -0.00893865 -0.25050615] [ 0.16484371 -0.02661624 0.98596051 -0.99386007] [ 0. 0. 0. 1. ]] SLAMing on 84.96134618399999 meters Centerline goodness : 0.844629 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96342077 -0.2096153 -0.16697856 -0.49950209] [ 0.21112621 0.9774187 -0.00885466 -0.25018627] [ 0.16506404 -0.02672278 0.98592077 -0.99440078] [ 0. 0. 0. 1. ]] SLAMing on 84.991346184 meters Centerline goodness : 0.841964 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96334059 -0.20980067 -0.16720824 -0.49925087] [ 0.21126292 0.97738599 -0.00919865 -0.24920858] [ 0.16535687 -0.02646346 0.98587869 -0.99402349] [ 0. 0. 0. 1. ]] SLAMing on 85.021346184 meters Centerline goodness : 0.845803 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96315478 -0.21089271 -0.16690457 -0.50179303] [ 0.21220519 0.97717254 -0.01013827 -0.24849358] [ 0.16523265 -0.0256533 0.98592093 -0.9920542 ] [ 0. 0. 0. 1. ]] SLAMing on 85.051346184 meters Centerline goodness : 0.844434 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96306814 -0.211497 -0.16663964 -0.50326232] [ 0.21275297 0.97704975 -0.01048664 -0.24934546] [ 0.16503311 -0.02535373 0.9859621 -0.9910059 ] [ 0. 0. 0. 1. ]] SLAMing on 85.081346184 meters Centerline goodness : 0.843001 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96296675 -0.21221065 -0.16631798 -0.50499125] [ 0.21337463 0.97690798 -0.01104873 -0.24986034] [ 0.16482202 -0.02484848 0.98601027 -0.98972636] [ 0. 0. 0. 1. ]] SLAMing on 85.111346184 meters Centerline goodness : 0.843700 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.96291272 -0.21260738 -0.16612407 -0.50565832] [ 0.21374033 0.97682586 -0.01123919 -0.25018407] [ 0.16466382 -0.02468505 0.98604081 -0.98950326] [ 0. 0. 0. 1. ]] SLAMing on 85.141346184 meters Centerline goodness : 0.842729 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96291114 -0.21249195 -0.1662808 -0.504577 ] [ 0.21366798 0.97684446 -0.01099528 -0.25083476] [ 0.16476689 -0.0249414 0.98601714 -0.99022038] [ 0. 0. 0. 1. ]] SLAMing on 85.171346184 meters Centerline goodness : 0.844656 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96293177 -0.21227065 -0.16644393 -0.50335541] [ 0.2135088 0.97688331 -0.01062969 -0.2522844 ] [ 0.16485267 -0.02530158 0.98599363 -0.99094067] [ 0. 0. 0. 1. ]] SLAMing on 85.201346184 meters Centerline goodness : 0.843606 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.9630085 -0.21180497 -0.16659316 -0.50187308] [ 0.21315242 0.9769682 -0.00995914 -0.25449073] [ 0.16486561 -0.025919 0.98597542 -0.99195325] [ 0. 0. 0. 1. ]] SLAMing on 85.23134618399999 meters Centerline goodness : 0.845929 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96305579 -0.21128186 -0.16698358 -0.50075665] [ 0.21268621 0.97707303 -0.00963643 -0.25592218] [ 0.16519116 -0.02623468 0.98591258 -0.9917064 ] [ 0. 0. 0. 1. ]] SLAMing on 85.26134618399999 meters Centerline goodness : 0.844256 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96378048 -0.20764202 -0.16736777 -0.50291112] [ 0.20958546 0.97777089 -0.00616572 -0.25578822] [ 0.1649276 -0.02913545 0.98587525 -0.9908598 ] [ 0. 0. 0. 1. ]] SLAMing on 85.29134618399999 meters Centerline goodness : 0.849287 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.96447756 -0.20408218 -0.16773043 -0.50538367] [ 0.20652679 0.97843657 -0.00292737 -0.25435444] [ 0.16471101 -0.03181744 0.98582855 -0.9898478 ] [ 0. 0. 0. 1. ]] SLAMing on 85.32134618399999 meters Centerline goodness : 0.844945 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.99 [[ 9.65265581e-01 -1.99747681e-01 -1.68413839e-01 -5.06300741e-01] [ 2.02791398e-01 9.79221554e-01 8.92573505e-04 -2.55027170e-01] [ 1.64736172e-01 -3.50144484e-02 9.85715974e-01 -9.89141014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.351346184 meters Centerline goodness : 0.846714 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96535603 -0.19916384 -0.16858679 -0.50477827] [ 0.20232737 0.9793166 0.00162229 -0.25830447] [ 0.16477674 -0.03567581 0.98568548 -0.98982445] [ 0. 0. 0. 1. ]] SLAMing on 85.381346184 meters Centerline goodness : 0.845556 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96469156 -0.20240024 -0.16853588 -0.50166481] [ 0.20501966 0.97875602 -0.00189704 -0.25908492] [ 0.16533946 -0.03272311 0.98569369 -0.99011937] [ 0. 0. 0. 1. ]] SLAMing on 85.411346184 meters Centerline goodness : 0.847713 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96473862 -0.20190562 -0.16885944 -0.50006397] [ 0.20461269 0.97884202 -0.00139721 -0.26003765] [ 0.16556882 -0.03320284 0.98563915 -0.99091471] [ 0. 0. 0. 1. ]] SLAMing on 85.441346184 meters Centerline goodness : 0.846053 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96467462 -0.20195364 -0.16916738 -0.49964123] [ 0.20460617 0.97884274 -0.00178804 -0.25775223] [ 0.16594936 -0.03288781 0.98558571 -0.9906991 ] [ 0. 0. 0. 1. ]] SLAMing on 85.471346184 meters Centerline goodness : 0.849957 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96461057 -0.20200539 -0.16947056 -0.49927134] [ 0.20463407 0.97883651 -0.00199481 -0.25668865] [ 0.16628694 -0.03275524 0.98553323 -0.99034422] [ 0. 0. 0. 1. ]] SLAMing on 85.501346184 meters Centerline goodness : 0.846647 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96438848 -0.20364467 -0.16877118 -0.49929276] [ 0.20605291 0.97853526 -0.00330882 -0.26030131] [ 0.16582237 -0.03158481 0.98564971 -0.99012508] [ 0. 0. 0. 1. ]] SLAMing on 85.531346184 meters Centerline goodness : 0.845708 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96439335 -0.20366112 -0.16872349 -0.49899673] [ 0.20613497 0.97851924 -0.00291083 -0.26354721] [ 0.16569201 -0.03197263 0.98565912 -0.9902107 ] [ 0. 0. 0. 1. ]] SLAMing on 85.561346184 meters Centerline goodness : 0.844252 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.99 [[ 0.96438264 -0.20369901 -0.16873895 -0.49899485] [ 0.20619015 0.9785079 -0.00281436 -0.2651523 ] [ 0.16568567 -0.03207818 0.98565676 -0.98986447] [ 0. 0. 0. 1. ]] SLAMing on 85.591346184 meters Centerline goodness : 0.845423 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.99 [[ 9.64919294e-01 -2.01216330e-01 -1.68649767e-01 -5.03531625e-01] [ 2.04101487e-01 9.78949707e-01 -2.32456735e-04 -2.65171785e-01] [ 1.65146414e-01 -3.41973663e-02 9.85676013e-01 -9.87573653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62134618399999 meters Centerline goodness : 0.842707 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 9.64858623e-01 -2.01416701e-01 -1.68757667e-01 -5.04034412e-01] [ 2.04208101e-01 9.78927147e-01 -8.31544649e-04 -2.63901251e-01] [ 1.65368948e-01 -3.36593597e-02 9.85657222e-01 -9.86512587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65134618399999 meters Centerline goodness : 0.843148 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 9.64901604e-01 -2.00922123e-01 -1.69101137e-01 -5.02470638e-01] [ 2.03778357e-01 9.79016934e-01 -4.73661073e-04 -2.64645415e-01] [ 1.65648045e-01 -3.40021155e-02 9.85598590e-01 -9.87073948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68134618399999 meters Centerline goodness : 0.840298 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.99 [[ 0.96395884 -0.2013069 -0.17395084 -0.50635455] [ 0.20200492 0.97928629 -0.01386978 -0.26536154] [ 0.17313976 -0.02176903 0.98465666 -0.985016 ] [ 0. 0. 0. 1. ]] SLAMing on 85.71134618399999 meters Centerline goodness : 0.840915 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.99 [[ 0.96393328 -0.20134177 -0.17405207 -0.5059638 ] [ 0.20206403 0.97927581 -0.01374804 -0.26557369] [ 0.17321303 -0.02191747 0.98464048 -0.98527231] [ 0. 0. 0. 1. ]] SLAMing on 85.741346184 meters Centerline goodness : 0.843701 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.96380312 -0.20204936 -0.17395288 -0.50728864] [ 0.20265166 0.97914381 -0.01448138 -0.26379448] [ 0.17325084 -0.02129464 0.98464749 -0.98421818] [ 0. 0. 0. 1. ]] SLAMing on 85.771346184 meters Centerline goodness : 0.843206 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.9636606 -0.20284763 -0.17381335 -0.50902218] [ 0.20330565 0.97899489 -0.0153564 -0.26212645] [ 0.17327739 -0.02053887 0.98465888 -0.98270347] [ 0. 0. 0. 1. ]] SLAMing on 85.801346184 meters Centerline goodness : 0.842983 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96330255 -0.20531015 -0.17290445 -0.51126955] [ 0.20542367 0.97851784 -0.01743448 -0.2655463 ] [ 0.17276956 -0.01872399 0.98478429 -0.98081399] [ 0. 0. 0. 1. ]] SLAMing on 85.831346184 meters Centerline goodness : 0.837616 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96256498 -0.20905954 -0.17251891 -0.50954873] [ 0.20858477 0.97777702 -0.02108299 -0.26715035] [ 0.17309262 -0.01569107 0.98478055 -0.9805962 ] [ 0. 0. 0. 1. ]] SLAMing on 85.861346184 meters Centerline goodness : 0.838769 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96258636 -0.20916044 -0.17227711 -0.50971224] [ 0.20874804 0.97775006 -0.0207144 -0.27066236] [ 0.17277659 -0.01602311 0.9848307 -0.98065558] [ 0. 0. 0. 1. ]] SLAMing on 85.891346184 meters Centerline goodness : 0.839561 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96257255 -0.20934861 -0.17212567 -0.51021339] [ 0.20894752 0.97770875 -0.02065249 -0.27172156] [ 0.17261235 -0.01608572 0.98485848 -0.98044316] [ 0. 0. 0. 1. ]] SLAMing on 85.921346184 meters Centerline goodness : 0.838442 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96321151 -0.20611972 -0.17244783 -0.51346816] [ 0.20623659 0.97834677 -0.01743777 -0.27046968] [ 0.17230805 -0.01876879 0.98486429 -0.97896073] [ 0. 0. 0. 1. ]] SLAMing on 85.951346184 meters Centerline goodness : 0.839869 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96396735 -0.20210049 -0.17298074 -0.51457309] [ 0.20286476 0.97911455 -0.01343809 -0.2718578 ] [ 0.1720838 -0.02213782 0.98483353 -0.97874815] [ 0. 0. 0. 1. ]] SLAMing on 85.98134618399999 meters Centerline goodness : 0.839394 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96403031 -0.20124806 -0.17362251 -0.51243866] [ 0.20210375 0.97927884 -0.01292356 -0.27252159] [ 0.17262569 -0.02263106 0.98472748 -0.97907866] [ 0. 0. 0. 1. ]] SLAMing on 86.01134618399999 meters Centerline goodness : 0.834674 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.28, Z:-0.98 [[ 0.96431205 -0.19940966 -0.17417825 -0.50896763] [ 0.20051386 0.97962434 -0.01141722 -0.27596681] [ 0.17290596 -0.02391539 0.98464795 -0.9806054 ] [ 0. 0. 0. 1. ]] SLAMing on 86.04134618399999 meters Centerline goodness : 0.835274 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96431822 -0.19921609 -0.17436548 -0.50870893] [ 0.20028252 0.97966903 -0.01164076 -0.27487223] [ 0.17313948 -0.02369696 0.98461219 -0.98020377] [ 0. 0. 0. 1. ]] SLAMing on 86.07134618399999 meters Centerline goodness : 0.836388 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96429104 -0.19919423 -0.17454069 -0.50877736] [ 0.20017677 0.97968459 -0.01213958 -0.27291447] [ 0.17341296 -0.0232329 0.98457513 -0.97945873] [ 0. 0. 0. 1. ]] SLAMing on 86.101346184 meters Centerline goodness : 0.837539 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96428108 -0.19896806 -0.17485339 -0.50819045] [ 0.19991132 0.97973573 -0.01238416 -0.27160084] [ 0.17377416 -0.02301336 0.9845166 -0.97909164] [ 0. 0. 0. 1. ]] SLAMing on 86.131346184 meters Centerline goodness : 0.835346 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.28, Z:-0.98 [[ 0.96451091 -0.19712636 -0.17566989 -0.50347856] [ 0.19836071 0.98007086 -0.01068327 -0.27525982] [ 0.17427489 -0.02454188 0.98439116 -0.98146125] [ 0. 0. 0. 1. ]] SLAMing on 86.161346184 meters Centerline goodness : 0.835265 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.28, Z:-0.98 [[ 0.96461621 -0.19624752 -0.17607519 -0.50108621] [ 0.197623 0.98022846 -0.00986546 -0.27694612] [ 0.17452998 -0.02528013 0.98432728 -0.98268982] [ 0. 0. 0. 1. ]] SLAMing on 86.191346184 meters Centerline goodness : 0.837328 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.28, Z:-0.98 [[ 0.96462362 -0.19591549 -0.17640406 -0.49993453] [ 0.19729687 0.9802943 -0.00985021 -0.27599809] [ 0.17485771 -0.02530222 0.98426855 -0.98294571] [ 0. 0. 0. 1. ]] SLAMing on 86.221346184 meters Centerline goodness : 0.839149 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96457151 -0.19594527 -0.17665576 -0.49989003] [ 0.19723839 0.98030054 -0.01038583 -0.27336612] [ 0.17521079 -0.02482542 0.9842179 -0.98230232] [ 0. 0. 0. 1. ]] SLAMing on 86.251346184 meters Centerline goodness : 0.838836 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.9651697 -0.19271783 -0.17693864 -0.50326594] [ 0.19443624 0.9808846 -0.00774269 -0.27029524] [ 0.17504854 -0.02693028 0.98419143 -0.98041631] [ 0. 0. 0. 1. ]] SLAMing on 86.281346184 meters Centerline goodness : 0.836118 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96512939 -0.19292023 -0.17693799 -0.50378393] [ 0.19455461 0.98085713 -0.00823344 -0.26960087] [ 0.17513928 -0.02647776 0.98418756 -0.97957626] [ 0. 0. 0. 1. ]] SLAMing on 86.311346184 meters Centerline goodness : 0.835131 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96517397 -0.19291625 -0.17669895 -0.5039348 ] [ 0.19457737 0.98085418 -0.00804589 -0.27172377] [ 0.17486809 -0.02661594 0.98423206 -0.97967951] [ 0. 0. 0. 1. ]] SLAMing on 86.341346184 meters Centerline goodness : 0.834689 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96446685 -0.19737297 -0.17563485 -0.50386441] [ 0.19840039 0.98004919 -0.01186907 -0.27470576] [ 0.17447342 -0.0233987 0.98438383 -0.97961358] [ 0. 0. 0. 1. ]] SLAMing on 86.37134618399999 meters Centerline goodness : 0.835002 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96442456 -0.19795212 -0.17521479 -0.50511697] [ 0.19892114 0.97993963 -0.01219471 -0.27488772] [ 0.17411389 -0.02309305 0.9844547 -0.97929708] [ 0. 0. 0. 1. ]] SLAMing on 86.40134618399999 meters Centerline goodness : 0.836350 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96431602 -0.19867469 -0.17499421 -0.50628215] [ 0.19953186 0.9798069 -0.0128636 -0.27327294] [ 0.17401621 -0.02251234 0.98448543 -0.97874155] [ 0. 0. 0. 1. ]] SLAMing on 86.43134618399999 meters Centerline goodness : 0.834413 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96420419 -0.19924117 -0.1749664 -0.50668688] [ 0.20004295 0.97969787 -0.01322484 -0.27211225] [ 0.17404914 -0.02224935 0.98448558 -0.97864981] [ 0. 0. 0. 1. ]] SLAMing on 86.46134618399999 meters Centerline goodness : 0.835392 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96330143 -0.2038539 -0.17462514 -0.50531284] [ 0.20404083 0.97881342 -0.01707722 -0.27194395] [ 0.17440669 -0.01918015 0.98448689 -0.97893789] [ 0. 0. 0. 1. ]] SLAMing on 86.491346184 meters Centerline goodness : 0.835392 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96330143 -0.2038539 -0.17462514 -0.50531284] [ 0.20404083 0.97881342 -0.01707722 -0.27194395] [ 0.17440669 -0.01918015 0.98448689 -0.97893789] [ 0. 0. 0. 1. ]] SLAMing on 86.521346184 meters Centerline goodness : 0.834685 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96248155 -0.20794596 -0.17432083 -0.50364723] [ 0.20753584 0.97800659 -0.02078415 -0.27280936] [ 0.1748089 -0.01617346 0.98446954 -0.97890355] [ 0. 0. 0. 1. ]] SLAMing on 86.551346184 meters Centerline goodness : 0.834536 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96164786 -0.21218176 -0.17381683 -0.50257464] [ 0.21114799 0.97714361 -0.02463534 -0.27341773] [ 0.17507117 -0.01301055 0.98446981 -0.97869727] [ 0. 0. 0. 1. ]] SLAMing on 86.581346184 meters Centerline goodness : 0.838378 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.9613901 -0.21416017 -0.17281348 -0.50694144] [ 0.2129614 0.97672332 -0.02567076 -0.27399631] [ 0.17428861 -0.01212299 0.98461998 -0.97694869] [ 0. 0. 0. 1. ]] SLAMing on 86.611346184 meters Centerline goodness : 0.836941 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96131899 -0.2146008 -0.17266238 -0.50780057] [ 0.21331473 0.97663235 -0.02619321 -0.27245532] [ 0.17424875 -0.0116514 0.98463273 -0.9764141 ] [ 0. 0. 0. 1. ]] SLAMing on 86.641346184 meters Centerline goodness : 0.837897 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96132858 -0.21449665 -0.17273836 -0.50723073] [ 0.21320132 0.97665582 -0.02624131 -0.27162317] [ 0.1743346 -0.01160152 0.98461813 -0.9767451 ] [ 0. 0. 0. 1. ]] SLAMing on 86.671346184 meters Centerline goodness : 0.837796 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96138584 -0.21414429 -0.17285683 -0.50614143] [ 0.21289098 0.97673049 -0.02598038 -0.27171662] [ 0.17439808 -0.01182249 0.98460425 -0.97747943] [ 0. 0. 0. 1. ]] SLAMing on 86.701346184 meters Centerline goodness : 0.838421 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.27, Z:-0.98 [[ 0.96147665 -0.21353055 -0.17311079 -0.50479719] [ 0.21225674 0.97686645 -0.02605807 -0.27053884] [ 0.17467032 -0.0116897 0.98455758 -0.97776623] [ 0. 0. 0. 1. ]] SLAMing on 86.73134618399999 meters Centerline goodness : 0.839517 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96144017 -0.21362105 -0.17320177 -0.50517769] [ 0.2122112 0.97685521 -0.02683843 -0.26848592] [ 0.17492631 -0.01095182 0.98452062 -0.97664535] [ 0. 0. 0. 1. ]] SLAMing on 86.76134618399999 meters Centerline goodness : 0.836806 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96218158 -0.21019059 -0.17328162 -0.50821942] [ 0.20926519 0.97756916 -0.0238036 -0.26761335] [ 0.17439806 -0.01335843 0.98458462 -0.97552342] [ 0. 0. 0. 1. ]] SLAMing on 86.79134618399999 meters Centerline goodness : 0.837422 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96219767 -0.21015395 -0.17323675 -0.50831564] [ 0.20916821 0.97758173 -0.02413751 -0.26633341] [ 0.17442567 -0.01301057 0.98458438 -0.97529134] [ 0. 0. 0. 1. ]] SLAMing on 86.82134618399999 meters Centerline goodness : 0.836619 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.98 [[ 0.96221528 -0.20993664 -0.17340231 -0.50765086] [ 0.20891608 0.97763095 -0.02432676 -0.2650796 ] [ 0.17463054 -0.01281895 0.98455058 -0.97534884] [ 0. 0. 0. 1. ]] SLAMing on 86.851346184 meters Centerline goodness : 0.834976 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.96231438 -0.20916456 -0.17378499 -0.50522797] [ 0.20817379 0.97779446 -0.02411786 -0.26250167] [ 0.1749706 -0.01296852 0.98448825 -0.97694847] [ 0. 0. 0. 1. ]] SLAMing on 86.881346184 meters Centerline goodness : 0.838397 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96230868 -0.20894684 -0.17407823 -0.50403116] [ 0.20793149 0.97784254 -0.02425824 -0.26108115] [ 0.17528978 -0.01285243 0.98443299 -0.97735824] [ 0. 0. 0. 1. ]] SLAMing on 86.911346184 meters Centerline goodness : 0.836801 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96232195 -0.20882238 -0.17415416 -0.50357459] [ 0.20776213 0.97787239 -0.02450465 -0.25990521] [ 0.17541766 -0.01260128 0.98441346 -0.9773819 ] [ 0. 0. 0. 1. ]] SLAMing on 86.941346184 meters Centerline goodness : 0.835615 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96237955 -0.20862483 -0.17407263 -0.50375372] [ 0.20746324 0.97792204 -0.02504953 -0.2585202 ] [ 0.17545541 -0.01200652 0.98441416 -0.97662642] [ 0. 0. 0. 1. ]] SLAMing on 86.971346184 meters Centerline goodness : 0.835858 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96237298 -0.20850734 -0.17424965 -0.50339245] [ 0.20728517 0.97795101 -0.02539068 -0.25736501] [ 0.17570177 -0.01168407 0.9843741 -0.97622122] [ 0. 0. 0. 1. ]] SLAMing on 87.001346184 meters Centerline goodness : 0.837312 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96236005 -0.20835958 -0.17449761 -0.50279813] [ 0.20707482 0.97798633 -0.02574411 -0.25538722] [ 0.17602031 -0.01135896 0.984321 -0.97605656] [ 0. 0. 0. 1. ]] SLAMing on 87.031346184 meters Centerline goodness : 0.836201 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.98 [[ 0.96313894 -0.20434853 -0.17494302 -0.50308844] [ 0.2037256 0.97878733 -0.02170817 -0.25429223] [ 0.17566804 -0.01473239 0.98433922 -0.97758188] [ 0. 0. 0. 1. ]] SLAMing on 87.061346184 meters Centerline goodness : 0.835512 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.98 [[ 0.96312425 -0.20427733 -0.17510696 -0.50201763] [ 0.2036754 0.97880021 -0.02159806 -0.25371294] [ 0.17580673 -0.01486337 0.98431249 -0.97842557] [ 0. 0. 0. 1. ]] SLAMing on 87.091346184 meters Centerline goodness : 0.836154 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.98 [[ 0.96313911 -0.20423002 -0.17508041 -0.50097107] [ 0.20370836 0.97880331 -0.02114188 -0.2548278 ] [ 0.17568709 -0.01530278 0.98432712 -0.97973647] [ 0. 0. 0. 1. ]] SLAMing on 87.12134618399999 meters Centerline goodness : 0.829608 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96315934 -0.20426977 -0.17492268 -0.50025336] [ 0.20384351 0.97878681 -0.02059641 -0.25703746] [ 0.17541924 -0.01581923 0.98436672 -0.98096862] [ 0. 0. 0. 1. ]] SLAMing on 87.15134618399999 meters Centerline goodness : 0.831467 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.98 [[ 0.96310069 -0.20494003 -0.17446103 -0.50130901] [ 0.2044796 0.97864966 -0.02080717 -0.25826173] [ 0.17500045 -0.01563433 0.98444421 -0.98091922] [ 0. 0. 0. 1. ]] SLAMing on 87.18134618399999 meters Centerline goodness : 0.832269 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.96281523 -0.20727605 -0.17327284 -0.50668372] [ 0.20649905 0.97818341 -0.02270159 -0.25477312] [ 0.17419812 -0.01392324 0.98461219 -0.97875663] [ 0. 0. 0. 1. ]] SLAMing on 87.21134618399999 meters Centerline goodness : 0.831616 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.96265709 -0.20832393 -0.17289436 -0.50906634] [ 0.20732381 0.97797724 -0.02402811 -0.2517579 ] [ 0.17409238 -0.01271428 0.98464724 -0.97701728] [ 0. 0. 0. 1. ]] SLAMing on 87.241346184 meters Centerline goodness : 0.829229 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.96260949 -0.2090815 -0.17224372 -0.51070938] [ 0.2079942 0.97782211 -0.02454265 -0.25194276] [ 0.17355513 -0.0122007 0.98474858 -0.97682796] [ 0. 0. 0. 1. ]] SLAMing on 87.271346184 meters Centerline goodness : 0.831832 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.9626646 -0.20893171 -0.17211742 -0.50933375] [ 0.20793555 0.97784799 -0.02400255 -0.2543983 ] [ 0.17331956 -0.01268292 0.98478397 -0.9783742 ] [ 0. 0. 0. 1. ]] SLAMing on 87.301346184 meters Centerline goodness : 0.829886 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.96270462 -0.208704 -0.17216985 -0.50781087] [ 0.2078132 0.9778889 -0.02338733 -0.25654992] [ 0.17324401 -0.01326407 0.98478961 -0.97978865] [ 0. 0. 0. 1. ]] SLAMing on 87.331346184 meters Centerline goodness : 0.828610 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.96271135 -0.20864486 -0.17220387 -0.50689842] [ 0.20779869 0.97789808 -0.02313106 -0.2567855 ] [ 0.17322402 -0.0135152 0.98478971 -0.98078607] [ 0. 0. 0. 1. ]] SLAMing on 87.361346184 meters Centerline goodness : 0.832793 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.9633068 -0.20565812 -0.17246664 -0.50950495] [ 0.2053697 0.97848595 -0.01971137 -0.25555817] [ 0.17280998 -0.01643133 0.98481812 -0.98072056] [ 0. 0. 0. 1. ]] SLAMing on 87.391346184 meters Centerline goodness : 0.832720 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.98 [[ 0.96401382 -0.20208342 -0.17274158 -0.51138015] [ 0.2023792 0.97917511 -0.01608595 -0.25571917] [ 0.17239495 -0.01945223 0.98483582 -0.98058299] [ 0. 0. 0. 1. ]] SLAMing on 87.421346184 meters Centerline goodness : 0.831472 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.96398744 -0.20205176 -0.17292571 -0.51137958] [ 0.2022345 0.97919389 -0.01674897 -0.2532332 ] [ 0.17271195 -0.01882575 0.98479245 -0.97973473] [ 0. 0. 0. 1. ]] SLAMing on 87.451346184 meters Centerline goodness : 0.834077 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.98 [[ 0.96398598 -0.2019186 -0.17308933 -0.51132291] [ 0.20198233 0.97923401 -0.01743281 -0.25139032] [ 0.17301497 -0.018156 0.98475184 -0.97871632] [ 0. 0. 0. 1. ]] SLAMing on 87.48134618399999 meters Centerline goodness : 0.833716 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96664835 -0.19646983 -0.16428807 -0.5213754 ] [ 0.19591726 0.98042207 -0.01972307 -0.25222655] [ 0.16494664 -0.0131216 0.9862152 -0.9844141 ] [ 0. 0. 0. 1. ]] SLAMing on 87.51134618399999 meters Centerline goodness : 0.830097 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.9667143 -0.19596224 -0.16450614 -0.51991754] [ 0.19538908 0.9805255 -0.01982032 -0.25094692] [ 0.1651865 -0.01298212 0.9861769 -0.98501858] [ 0. 0. 0. 1. ]] SLAMing on 87.54134618399999 meters Centerline goodness : 0.831652 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96675563 -0.19542597 -0.16490073 -0.51798395] [ 0.19484687 0.98063297 -0.01984128 -0.24902883] [ 0.16558459 -0.01294872 0.98611058 -0.98593716] [ 0. 0. 0. 1. ]] SLAMing on 87.57134618399999 meters Centerline goodness : 0.831534 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96754594 -0.19085638 -0.16561613 -0.51730702] [ 0.19088319 0.98148389 -0.01590547 -0.24658755] [ 0.16558523 -0.01622407 0.98606202 -0.98737454] [ 0. 0. 0. 1. ]] SLAMing on 87.601346184 meters Centerline goodness : 0.832362 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96825223 -0.18694714 -0.16594693 -0.51834634] [ 0.18756956 0.98217734 -0.01205565 -0.24681924] [ 0.16524308 -0.01945369 0.98606099 -0.98779554] [ 0. 0. 0. 1. ]] SLAMing on 87.631346184 meters Centerline goodness : 0.833995 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96820592 -0.1872814 -0.1658402 -0.51900844] [ 0.18777766 0.98212783 -0.01282457 -0.24464535] [ 0.16527808 -0.01872426 0.98606925 -0.98704207] [ 0. 0. 0. 1. ]] SLAMing on 87.661346184 meters Centerline goodness : 0.831050 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96814627 -0.18779746 -0.16560468 -0.52007406] [ 0.18819209 0.98204016 -0.01344878 -0.24371929] [ 0.16515609 -0.0181451 0.98610051 -0.98632358] [ 0. 0. 0. 1. ]] SLAMing on 87.691346184 meters Centerline goodness : 0.830760 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.9679833 -0.18921063 -0.16494746 -0.52209467] [ 0.18948204 0.981781 -0.01423453 -0.24435084] [ 0.1646356 -0.0174758 0.98619963 -0.98598761] [ 0. 0. 0. 1. ]] SLAMing on 87.721346184 meters Centerline goodness : 0.829537 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96798158 -0.18931567 -0.16483701 -0.52154251] [ 0.18963317 0.98175583 -0.01395526 -0.24562553] [ 0.16447164 -0.01775013 0.98622209 -0.98691543] [ 0. 0. 0. 1. ]] SLAMing on 87.751346184 meters Centerline goodness : 0.829813 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96797788 -0.18936062 -0.1648071 -0.52048812] [ 0.18972842 0.98174166 -0.01365417 -0.24598272] [ 0.16438356 -0.01805165 0.9862313 -0.98838146] [ 0. 0. 0. 1. ]] SLAMing on 87.781346184 meters Centerline goodness : 0.830082 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.99 [[ 0.96794169 -0.18925552 -0.16514003 -0.51815783] [ 0.18969028 0.98175415 -0.01328119 -0.24500585] [ 0.16464045 -0.01847004 0.9861807 -0.99063252] [ 0. 0. 0. 1. ]] SLAMing on 87.811346184 meters Centerline goodness : 0.826349 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96793357 -0.18926701 -0.16517444 -0.51741348] [ 0.18970374 0.98175164 -0.01327436 -0.24457255] [ 0.16467267 -0.01848551 0.98617503 -0.99134409] [ 0. 0. 0. 1. ]] SLAMing on 87.841346184 meters Centerline goodness : 0.827600 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96791033 -0.18942572 -0.16512871 -0.51714819] [ 0.18984276 0.98172305 -0.01340059 -0.24410648] [ 0.16464908 -0.01837792 0.98618098 -0.99177418] [ 0. 0. 0. 1. ]] SLAMing on 87.87134618399999 meters Centerline goodness : 0.830151 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96775559 -0.19066051 -0.16461377 -0.52007173] [ 0.19080047 0.98151253 -0.01511088 -0.24058184] [ 0.16445153 -0.01678475 0.98624235 -0.98955526] [ 0. 0. 0. 1. ]] SLAMing on 87.90134618399999 meters Centerline goodness : 0.829565 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96763387 -0.19160823 -0.16422844 -0.52235271] [ 0.19150041 0.98135147 -0.01663986 -0.2379067 ] [ 0.16435415 -0.01534852 0.98628198 -0.98740549] [ 0. 0. 0. 1. ]] SLAMing on 87.93134618399999 meters Centerline goodness : 0.828432 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96757082 -0.19219562 -0.16391328 -0.52381595] [ 0.19194327 0.98124948 -0.01752842 -0.23611825] [ 0.1642087 -0.01450206 0.98631901 -0.98635006] [ 0. 0. 0. 1. ]] SLAMing on 87.96134618399999 meters Centerline goodness : 0.825285 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96754819 -0.1925316 -0.1636523 -0.52459454] [ 0.19218402 0.98119186 -0.01810631 -0.23533207] [ 0.16406034 -0.01393263 0.98635191 -0.98577748] [ 0. 0. 0. 1. ]] SLAMing on 87.991346184 meters Centerline goodness : 0.824068 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96758766 -0.19235912 -0.16362177 -0.52389709] [ 0.1919865 0.98122806 -0.01823961 -0.23514408] [ 0.16405882 -0.01376475 0.98635452 -0.98614791] [ 0. 0. 0. 1. ]] SLAMing on 88.021346184 meters Centerline goodness : 0.820466 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.96759447 -0.19204636 -0.16394858 -0.52244565] [ 0.19166826 0.98128964 -0.01827371 -0.23429584] [ 0.16439044 -0.0137422 0.98629962 -0.98667051] [ 0. 0. 0. 1. ]] SLAMing on 88.051346184 meters Centerline goodness : 0.821551 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.9676008 -0.19167882 -0.16434086 -0.52100515] [ 0.19127388 0.98136354 -0.01843635 -0.23253587] [ 0.16481198 -0.01359509 0.9862313 -0.98698535] [ 0. 0. 0. 1. ]] SLAMing on 88.081346184 meters Centerline goodness : 0.820337 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.96837729 -0.18711239 -0.16502841 -0.52078155] [ 0.18728513 0.98219627 -0.01465456 -0.23054125] [ 0.16483234 -0.01671623 0.98617994 -0.98768089] [ 0. 0. 0. 1. ]] SLAMing on 88.111346184 meters Centerline goodness : 0.821966 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.96910903 -0.1830615 -0.16527609 -0.52221652] [ 0.18377328 0.98290589 -0.01110799 -0.22997978] [ 0.16448428 -0.01960847 0.98618478 -0.98743632] [ 0. 0. 0. 1. ]] SLAMing on 88.141346184 meters Centerline goodness : 0.823635 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.96981499 -0.17913472 -0.16543773 -0.52416246] [ 0.1803606 0.98357035 -0.00770794 -0.22871677] [ 0.16410041 -0.02236318 0.98619012 -0.98699964] [ 0. 0. 0. 1. ]] SLAMing on 88.171346184 meters Centerline goodness : 0.822168 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.99 [[ 0.9705108 -0.17505339 -0.16572597 -0.52591524] [ 0.17666359 0.98425812 -0.0050915 -0.22550053] [ 0.16400842 -0.02433639 0.9861587 -0.98549554] [ 0. 0. 0. 1. ]] SLAMing on 88.201346184 meters Centerline goodness : 0.820702 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.99 [[ 0.9705444 -0.17494203 -0.16564679 -0.52555934] [ 0.17649936 0.98428601 -0.00538817 -0.22500395] [ 0.16398644 -0.0240071 0.98617043 -0.98557904] [ 0. 0. 0. 1. ]] SLAMing on 88.23134618399999 meters Centerline goodness : 0.821880 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.23, Z:-0.99 [[ 0.97057255 -0.17474292 -0.16569198 -0.52469429] [ 0.17629809 0.98432206 -0.00539093 -0.22521059] [ 0.1640363 -0.02397889 0.98616282 -0.98604614] [ 0. 0. 0. 1. ]] SLAMing on 88.26134618399999 meters Centerline goodness : 0.820205 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97057725 -0.17434042 -0.16608797 -0.52221151] [ 0.17594269 0.98438703 -0.00513266 -0.22361581] [ 0.16438967 -0.02424032 0.98609758 -0.98800196] [ 0. 0. 0. 1. ]] SLAMing on 88.29134618399999 meters Centerline goodness : 0.817636 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.9705305 -0.17438153 -0.16631786 -0.52109405] [ 0.1760093 0.98437571 -0.00501777 -0.22298697] [ 0.16459427 -0.0244036 0.98605943 -0.98895395] [ 0. 0. 0. 1. ]] SLAMing on 88.32134618399999 meters Centerline goodness : 0.822259 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.9704984 -0.17466596 -0.16620664 -0.52101998] [ 0.1762934 0.98432483 -0.00502736 -0.2229634 ] [ 0.16447944 -0.02442209 0.98607813 -0.98950262] [ 0. 0. 0. 1. ]] SLAMing on 88.351346184 meters Centerline goodness : 0.817784 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97033922 -0.17593997 -0.16579182 -0.52293324] [ 0.17751747 0.98410298 -0.00537354 -0.22459793] [ 0.16410165 -0.02421679 0.98614613 -0.98900189] [ 0. 0. 0. 1. ]] SLAMing on 88.381346184 meters Centerline goodness : 0.817784 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97033922 -0.17593997 -0.16579182 -0.52293324] [ 0.17751747 0.98410298 -0.00537354 -0.22459793] [ 0.16410165 -0.02421679 0.98614613 -0.98900189] [ 0. 0. 0. 1. ]] SLAMing on 88.411346184 meters Centerline goodness : 0.819560 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97026915 -0.17659467 -0.16550561 -0.52425394] [ 0.17809063 0.98399654 -0.00587718 -0.22474336] [ 0.16389483 -0.02377255 0.98619134 -0.98816905] [ 0. 0. 0. 1. ]] SLAMing on 88.441346184 meters Centerline goodness : 0.818820 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.99 [[ 0.97018718 -0.17730435 -0.16522715 -0.52577338] [ 0.1786617 0.98388753 -0.00673161 -0.2235512 ] [ 0.16375848 -0.02298885 0.98623257 -0.98699103] [ 0. 0. 0. 1. ]] SLAMing on 88.471346184 meters Centerline goodness : 0.818467 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.99 [[ 0.9701152 -0.17787618 -0.16503505 -0.5269516 ] [ 0.17908339 0.9838041 -0.00765775 -0.22182519] [ 0.16372429 -0.02212614 0.98625797 -0.98587203] [ 0. 0. 0. 1. ]] SLAMing on 88.501346184 meters Centerline goodness : 0.815615 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.99 [[ 0.97019352 -0.17727476 -0.16522163 -0.52592858] [ 0.17840526 0.98392381 -0.00809356 -0.21980081] [ 0.16400028 -0.02162409 0.98622325 -0.98558212] [ 0. 0. 0. 1. ]] SLAMing on 88.531346184 meters Centerline goodness : 0.817683 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97021073 -0.17686181 -0.16556281 -0.52477478] [ 0.17795858 0.98400292 -0.00830635 -0.21880075] [ 0.16438337 -0.02140442 0.98616427 -0.98544254] [ 0. 0. 0. 1. ]] SLAMing on 88.561346184 meters Centerline goodness : 0.816740 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97021045 -0.17661035 -0.16583263 -0.52401494] [ 0.17764972 0.98405564 -0.00866416 -0.21769829] [ 0.16471872 -0.02105406 0.98611585 -0.9850132 ] [ 0. 0. 0. 1. ]] SLAMing on 88.591346184 meters Centerline goodness : 0.816161 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97023377 -0.17637564 -0.16594598 -0.52326927] [ 0.17743656 0.98409527 -0.00852979 -0.21758619] [ 0.16481111 -0.02116899 0.98609795 -0.98548364] [ 0. 0. 0. 1. ]] SLAMing on 88.62134618399999 meters Centerline goodness : 0.813680 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97022817 -0.17648512 -0.16586231 -0.52322636] [ 0.17755741 0.98407408 -0.0084602 -0.21812711] [ 0.1647139 -0.02124176 0.98611263 -0.9857306 ] [ 0. 0. 0. 1. ]] SLAMing on 88.65134618399999 meters Centerline goodness : 0.815266 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.22, Z:-0.99 [[ 0.97018835 -0.17685441 -0.16570182 -0.52389151] [ 0.1779001 0.98401071 -0.0086301 -0.21839615] [ 0.16457863 -0.02110555 0.98613814 -0.98544004] [ 0. 0. 0. 1. ]] SLAMing on 88.68134618399999 meters Centerline goodness : 0.816580 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97009642 -0.17781348 -0.16521292 -0.52649746] [ 0.17873865 0.98385195 -0.00937225 -0.21855607] [ 0.16421157 -0.02043795 0.98621339 -0.98373761] [ 0. 0. 0. 1. ]] SLAMing on 88.71134618399999 meters Centerline goodness : 0.817244 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97004415 -0.17826255 -0.1650358 -0.52750427] [ 0.17911058 0.98377962 -0.00985175 -0.21798255] [ 0.16411505 -0.02000302 0.98623837 -0.98303115] [ 0. 0. 0. 1. ]] SLAMing on 88.741346184 meters Centerline goodness : 0.819415 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97001424 -0.1788804 -0.1645423 -0.52927831] [ 0.17961726 0.98368039 -0.01051305 -0.21700398] [ 0.16373761 -0.01935683 0.986314 -0.98222028] [ 0. 0. 0. 1. ]] SLAMing on 88.771346184 meters Centerline goodness : 0.817552 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97004858 -0.17884067 -0.16438298 -0.52867717] [ 0.17964433 0.9836799 -0.01008772 -0.21918278] [ 0.16350433 -0.01974489 0.98634501 -0.98321153] [ 0. 0. 0. 1. ]] SLAMing on 88.801346184 meters Centerline goodness : 0.817552 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97004858 -0.17884067 -0.16438298 -0.52867717] [ 0.17964433 0.9836799 -0.01008772 -0.21918278] [ 0.16350433 -0.01974489 0.98634501 -0.98321153] [ 0. 0. 0. 1. ]] SLAMing on 88.831346184 meters Centerline goodness : 0.818925 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97005413 -0.17895593 -0.16422471 -0.52848144] [ 0.17981893 0.98365171 -0.00971965 -0.22098614] [ 0.16327931 -0.02010213 0.98637507 -0.98394077] [ 0. 0. 0. 1. ]] SLAMing on 88.861346184 meters Centerline goodness : 0.817475 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.97001717 -0.17928695 -0.16408195 -0.52859009] [ 0.18018268 0.98358698 -0.00953191 -0.22260658] [ 0.16309782 -0.02031861 0.98640066 -0.98434052] [ 0. 0. 0. 1. ]] SLAMing on 88.891346184 meters Centerline goodness : 0.816401 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.96993076 -0.17971375 -0.16412582 -0.52904207] [ 0.18061987 0.98350699 -0.00951077 -0.2241038 ] [ 0.16312811 -0.02041959 0.98639356 -0.9838177 ] [ 0. 0. 0. 1. ]] SLAMing on 88.921346184 meters Centerline goodness : 0.816067 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.22, Z:-0.98 [[ 0.9699102 -0.17988508 -0.16405961 -0.52944782] [ 0.18078428 0.98347632 -0.00955868 -0.22468269] [ 0.16306821 -0.02038833 0.98640411 -0.98347876] [ 0. 0. 0. 1. ]] SLAMing on 88.951346184 meters Centerline goodness : 0.818855 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.98 [[ 0.96994762 -0.1794449 -0.16432022 -0.52803092] [ 0.18046159 0.98354227 -0.00884462 -0.22655037] [ 0.163203 -0.02107467 0.98636739 -0.98439181] [ 0. 0. 0. 1. ]] SLAMing on 88.98134618399999 meters Centerline goodness : 0.817636 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.99 [[ 0.96998877 -0.17901704 -0.16454389 -0.52646744] [ 0.18014253 0.9836065 -0.00818076 -0.22822927] [ 0.16331093 -0.02170611 0.98633584 -0.98552147] [ 0. 0. 0. 1. ]] SLAMing on 89.01134618399999 meters Centerline goodness : 0.818868 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.99 [[ 0.97000534 -0.17880999 -0.16467129 -0.52552792] [ 0.18001676 0.98363349 -0.00768971 -0.23000494] [ 0.1633512 -0.02218453 0.98631853 -0.98619451] [ 0. 0. 0. 1. ]] SLAMing on 89.04134618399999 meters Centerline goodness : 0.820054 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.99 [[ 0.97000227 -0.17894846 -0.16453889 -0.52578471] [ 0.18017785 0.9836051 -0.00754652 -0.231378 ] [ 0.16319173 -0.02232612 0.98634173 -0.98617836] [ 0. 0. 0. 1. ]] SLAMing on 89.07134618399999 meters Centerline goodness : 0.821852 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.98 [[ 0.96994872 -0.17947151 -0.16428466 -0.52752115] [ 0.18060521 0.98352203 -0.00813455 -0.23218053] [ 0.1630375 -0.02178057 0.98637943 -0.98439263] [ 0. 0. 0. 1. ]] SLAMing on 89.101346184 meters Centerline goodness : 0.822667 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.98 [[ 0.96991318 -0.17957549 -0.16438088 -0.52784669] [ 0.18063862 0.98351208 -0.00858303 -0.2316753 ] [ 0.16321188 -0.02136874 0.9863596 -0.98339665] [ 0. 0. 0. 1. ]] SLAMing on 89.131346184 meters Centerline goodness : 0.825330 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.98 [[ 0.96990367 -0.17951658 -0.16450127 -0.52760678] [ 0.18055645 0.98352584 -0.00873448 -0.2314329 ] [ 0.16335923 -0.02123016 0.9863382 -0.98312467] [ 0. 0. 0. 1. ]] SLAMing on 89.161346184 meters Centerline goodness : 0.822985 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.23, Z:-0.98 [[ 0.96990052 -0.17931066 -0.16474427 -0.52675294] [ 0.180368 0.98356122 -0.00864362 -0.23189603] [ 0.16358597 -0.02133115 0.98629844 -0.983183 ] [ 0. 0. 0. 1. ]] SLAMing on 89.191346184 meters Centerline goodness : 0.824043 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.98 [[ 0.9699829 -0.17852223 -0.16511505 -0.5242496 ] [ 0.17979329 0.98367704 -0.00733913 -0.23570798] [ 0.16373008 -0.02256775 0.98624701 -0.98494671] [ 0. 0. 0. 1. ]] SLAMing on 89.221346184 meters Centerline goodness : 0.823742 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.97002292 -0.17817897 -0.16525066 -0.52304345] [ 0.1795579 0.98372473 -0.00667941 -0.23803531] [ 0.16375129 -0.02319288 0.98622898 -0.98580522] [ 0. 0. 0. 1. ]] SLAMing on 89.251346184 meters Centerline goodness : 0.824393 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.99 [[ 0.96997956 -0.17877186 -0.16486439 -0.52452767] [ 0.18012718 0.98361971 -0.00681679 -0.23950223] [ 0.16338251 -0.02308441 0.98629269 -0.98512639] [ 0. 0. 0. 1. ]] SLAMing on 89.281346184 meters Centerline goodness : 0.824842 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96989321 -0.17948985 -0.16459206 -0.52643352] [ 0.1807285 0.98350409 -0.00754384 -0.23913067] [ 0.16323101 -0.02242976 0.98633288 -0.98355081] [ 0. 0. 0. 1. ]] SLAMing on 89.311346184 meters Centerline goodness : 0.826012 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.9698211 -0.18017911 -0.16426358 -0.52848545] [ 0.1812912 0.98339424 -0.00832244 -0.23886928] [ 0.16303539 -0.02170827 0.98638137 -0.98181538] [ 0. 0. 0. 1. ]] SLAMing on 89.341346184 meters Centerline goodness : 0.826281 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96980889 -0.18038936 -0.16410482 -0.52937355] [ 0.18145042 0.98336225 -0.00862772 -0.23931199] [ 0.16293083 -0.02140964 0.98640518 -0.98091736] [ 0. 0. 0. 1. ]] SLAMing on 89.37134618399999 meters Centerline goodness : 0.826768 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96980479 -0.18039506 -0.1641228 -0.52953868] [ 0.18143611 0.98336379 -0.00875178 -0.23993092] [ 0.1629712 -0.02129028 0.98640109 -0.98036103] [ 0. 0. 0. 1. ]] SLAMing on 89.40134618399999 meters Centerline goodness : 0.826308 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96983865 -0.1799139 -0.16445055 -0.52817861] [ 0.18103208 0.98344226 -0.00828835 -0.24146349] [ 0.16321881 -0.02173246 0.98635051 -0.98074031] [ 0. 0. 0. 1. ]] SLAMing on 89.43134618399999 meters Centerline goodness : 0.824674 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96985275 -0.17970391 -0.16459694 -0.52762429] [ 0.18085734 0.98347617 -0.00807744 -0.24269401] [ 0.16332871 -0.02193463 0.98632784 -0.98068849] [ 0. 0. 0. 1. ]] SLAMing on 89.46134618399999 meters Centerline goodness : 0.823651 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96987994 -0.17936162 -0.16480992 -0.52683594] [ 0.18056764 0.98353196 -0.00776017 -0.24395833] [ 0.1634877 -0.02223291 0.98629482 -0.98072618] [ 0. 0. 0. 1. ]] SLAMing on 89.491346184 meters Centerline goodness : 0.824487 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.24, Z:-0.98 [[ 0.96985559 -0.17919484 -0.16513429 -0.52595678] [ 0.1804041 0.98356188 -0.00777115 -0.24336453] [ 0.16381235 -0.02225401 0.98624047 -0.98079899] [ 0. 0. 0. 1. ]] SLAMing on 89.521346184 meters Centerline goodness : 0.822294 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.98 [[ 0.9698628 -0.17870946 -0.16561724 -0.52422244] [ 0.17998551 0.98364146 -0.00739526 -0.24342262] [ 0.16422959 -0.02263632 0.98616238 -0.98140089] [ 0. 0. 0. 1. ]] SLAMing on 89.551346184 meters Centerline goodness : 0.824285 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.98 [[ 0.96915157 -0.18269078 -0.16543675 -0.5223867 ] [ 0.18342534 0.98297255 -0.01095927 -0.24403678] [ 0.16462194 -0.01972409 0.98615951 -0.9816991 ] [ 0. 0. 0. 1. ]] SLAMing on 89.581346184 meters Centerline goodness : 0.822339 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.98 [[ 0.96840096 -0.18693054 -0.16509556 -0.52121537] [ 0.18706758 0.98223465 -0.01485945 -0.24462873] [ 0.16494026 -0.01649412 0.98616563 -0.98144931] [ 0. 0. 0. 1. ]] SLAMing on 89.611346184 meters Centerline goodness : 0.822422 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96761825 -0.19120233 -0.16479255 -0.51996618] [ 0.19074065 0.98146096 -0.01877199 -0.2452169 ] [ 0.1653267 -0.01326852 0.9861496 -0.98118323] [ 0. 0. 0. 1. ]] SLAMing on 89.641346184 meters Centerline goodness : 0.822672 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96756694 -0.19147636 -0.16477568 -0.51979352] [ 0.19108844 0.98140121 -0.01835393 -0.2484501 ] [ 0.1652254 -0.01372807 0.98616029 -0.98143651] [ 0. 0. 0. 1. ]] SLAMing on 89.671346184 meters Centerline goodness : 0.823287 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96746582 -0.19227893 -0.16443446 -0.52101252] [ 0.19193051 0.98124054 -0.01815719 -0.25098364] [ 0.16484101 -0.01399353 0.98622088 -0.98144884] [ 0. 0. 0. 1. ]] SLAMing on 89.701346184 meters Centerline goodness : 0.825733 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96740158 -0.19250666 -0.16454598 -0.52132656] [ 0.19211215 0.98119931 -0.01846174 -0.25042754] [ 0.16500641 -0.01375137 0.98619663 -0.98074812] [ 0. 0. 0. 1. ]] SLAMing on 89.73134618399999 meters Centerline goodness : 0.826139 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96740458 -0.19217657 -0.16491378 -0.52060534] [ 0.19176938 0.98126488 -0.01854024 -0.24995942] [ 0.1653871 -0.0136895 0.98613372 -0.98021711] [ 0. 0. 0. 1. ]] SLAMing on 89.76134618399999 meters Centerline goodness : 0.825543 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96747281 -0.19148439 -0.16531817 -0.51885366] [ 0.19114556 0.98139465 -0.01810827 -0.2509284 ] [ 0.16570982 -0.01408058 0.98607403 -0.98071186] [ 0. 0. 0. 1. ]] SLAMing on 89.79134618399999 meters Centerline goodness : 0.825394 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96751908 -0.19097751 -0.16563336 -0.51751136] [ 0.19068097 0.98148993 -0.01784076 -0.25153609] [ 0.16597466 -0.01432185 0.98602601 -0.98106281] [ 0. 0. 0. 1. ]] SLAMing on 89.82134618399999 meters Centerline goodness : 0.824477 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96752084 -0.19083542 -0.1657868 -0.51713136] [ 0.19052415 0.98151876 -0.01792938 -0.25111729] [ 0.16614442 -0.01423935 0.98599862 -0.98089731] [ 0. 0. 0. 1. ]] SLAMing on 89.851346184 meters Centerline goodness : 0.824620 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96817617 -0.18736383 -0.16592075 -0.51976362] [ 0.18761235 0.9821388 -0.01431697 -0.25187332] [ 0.16563969 -0.01726743 0.98603516 -0.98019739] [ 0. 0. 0. 1. ]] SLAMing on 89.881346184 meters Centerline goodness : 0.824198 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96815108 -0.18739437 -0.16603264 -0.51965648] [ 0.18761431 0.98213572 -0.01450146 -0.25164277] [ 0.16578408 -0.0171105 0.98601363 -0.97984223] [ 0. 0. 0. 1. ]] SLAMing on 89.911346184 meters Centerline goodness : 0.823681 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96814808 -0.18723477 -0.16623005 -0.51908487] [ 0.18747517 0.98216398 -0.0143868 -0.25228223] [ 0.16595887 -0.01723545 0.98598204 -0.9797879 ] [ 0. 0. 0. 1. ]] SLAMing on 89.941346184 meters Centerline goodness : 0.824867 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96815534 -0.18702356 -0.16642544 -0.5183038 ] [ 0.18728982 0.98220154 -0.01423577 -0.25309724] [ 0.16612575 -0.01738735 0.98595127 -0.97990092] [ 0. 0. 0. 1. ]] SLAMing on 89.971346184 meters Centerline goodness : 0.823912 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96814652 -0.18721255 -0.16626419 -0.51913324] [ 0.18747118 0.9821663 -0.0142802 -0.25449309] [ 0.16597252 -0.01734442 0.98597784 -0.97921087] [ 0. 0. 0. 1. ]] SLAMing on 90.001346184 meters Centerline goodness : 0.825272 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96810805 -0.18753444 -0.16612537 -0.51983901] [ 0.18777442 0.98210656 -0.01440399 -0.25516677] [ 0.16585406 -0.01724948 0.98599943 -0.97875675] [ 0. 0. 0. 1. ]] SLAMing on 90.031346184 meters Centerline goodness : 0.826571 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96805612 -0.18783245 -0.16609131 -0.5202148 ] [ 0.1880528 0.98205125 -0.01454282 -0.25548497] [ 0.16584179 -0.01715567 0.98600314 -0.97841286] [ 0. 0. 0. 1. ]] SLAMing on 90.061346184 meters Centerline goodness : 0.823955 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96799793 -0.18819436 -0.16602074 -0.52055784] [ 0.1884226 0.98198071 -0.01451949 -0.25571471] [ 0.16576165 -0.01722723 0.98601536 -0.97852734] [ 0. 0. 0. 1. ]] SLAMing on 90.091346184 meters Centerline goodness : 0.823293 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96800496 -0.18812844 -0.16605449 -0.52025034] [ 0.18839813 0.98198905 -0.0142709 -0.25710655] [ 0.16574845 -0.01747005 0.98601331 -0.97866088] [ 0. 0. 0. 1. ]] SLAMing on 90.12134618399999 meters Centerline goodness : 0.822415 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96803511 -0.1880355 -0.16598398 -0.51987666] [ 0.18836632 0.98200059 -0.01389145 -0.25916015] [ 0.16560845 -0.01781838 0.9860306 -0.97906839] [ 0. 0. 0. 1. ]] SLAMing on 90.15134618399999 meters Centerline goodness : 0.821715 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96732798 -0.1917873 -0.16581378 -0.51771141] [ 0.19156462 0.9813242 -0.01748771 -0.25972826] [ 0.166071 -0.0148477 0.98600201 -0.9793001 ] [ 0. 0. 0. 1. ]] SLAMing on 90.18134618399999 meters Centerline goodness : 0.822158 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96728791 -0.19216618 -0.16560877 -0.51846779] [ 0.19194731 0.98124957 -0.01747892 -0.26087517] [ 0.1658624 -0.01488101 0.98603662 -0.97907025] [ 0. 0. 0. 1. ]] SLAMing on 90.21134618399999 meters Centerline goodness : 0.820712 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96724638 -0.19246371 -0.16550575 -0.51874008] [ 0.19227354 0.98118844 -0.01732437 -0.26187929] [ 0.16572664 -0.01506544 0.98605665 -0.9792205 ] [ 0. 0. 0. 1. ]] SLAMing on 90.241346184 meters Centerline goodness : 0.821847 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96710739 -0.19314363 -0.16552595 -0.51891496] [ 0.19300934 0.98104874 -0.01705207 -0.26362957] [ 0.16568252 -0.01545688 0.986058 -0.9795992 ] [ 0. 0. 0. 1. ]] SLAMing on 90.271346184 meters Centerline goodness : 0.823331 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96705755 -0.19349778 -0.16540348 -0.51930957] [ 0.19335761 0.98097922 -0.01710585 -0.26402352] [ 0.16556732 -0.01543967 0.98607762 -0.97960734] [ 0. 0. 0. 1. ]] SLAMing on 90.301346184 meters Centerline goodness : 0.823331 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96705755 -0.19349778 -0.16540348 -0.51930957] [ 0.19335761 0.98097922 -0.01710585 -0.26402352] [ 0.16556732 -0.01543967 0.98607762 -0.97960734] [ 0. 0. 0. 1. ]] SLAMing on 90.331346184 meters Centerline goodness : 0.822089 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96700973 -0.19371052 -0.16543401 -0.51927671] [ 0.19353255 0.9809404 -0.01735198 -0.2639981 ] [ 0.16564216 -0.01523733 0.9860682 -0.97942629] [ 0. 0. 0. 1. ]] SLAMing on 90.361346184 meters Centerline goodness : 0.817950 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96704773 -0.19340912 -0.16556449 -0.51835705] [ 0.19325448 0.9809979 -0.01719956 -0.26458759] [ 0.16574497 -0.01536329 0.98604897 -0.97982345] [ 0. 0. 0. 1. ]] SLAMing on 90.391346184 meters Centerline goodness : 0.818649 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.9670984 -0.19292654 -0.16583135 -0.51672252] [ 0.19281942 0.9810887 -0.01690087 -0.26498054] [ 0.16595589 -0.0156307 0.98600929 -0.98073986] [ 0. 0. 0. 1. ]] SLAMing on 90.421346184 meters Centerline goodness : 0.817893 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.9671292 -0.1925688 -0.16606735 -0.51556194] [ 0.19246055 0.98115919 -0.01689933 -0.26422824] [ 0.16619279 -0.01561758 0.9859696 -0.98122603] [ 0. 0. 0. 1. ]] SLAMing on 90.451346184 meters Centerline goodness : 0.819039 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96781858 -0.18869232 -0.16650048 -0.51718369] [ 0.18906447 0.98186828 -0.01375906 -0.26135669] [ 0.16607777 -0.01816305 0.98594537 -0.98068535] [ 0. 0. 0. 1. ]] SLAMing on 90.48134618399999 meters Centerline goodness : 0.816000 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96845088 -0.1852849 -0.16665053 -0.5197954 ] [ 0.18616939 0.98246222 -0.01043803 -0.26096066] [ 0.16566186 -0.02091651 0.98596077 -0.97986451] [ 0. 0. 0. 1. ]] SLAMing on 90.51134618399999 meters Centerline goodness : 0.818141 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96834315 -0.18573663 -0.16677365 -0.52069857] [ 0.18645232 0.98239675 -0.011496 -0.25852362] [ 0.16597312 -0.01996326 0.98592819 -0.97818932] [ 0. 0. 0. 1. ]] SLAMing on 90.54134618399999 meters Centerline goodness : 0.814717 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96828716 -0.1861829 -0.16660101 -0.52178181] [ 0.18679004 0.98232461 -0.01215869 -0.25756294] [ 0.16592001 -0.0193463 0.98594943 -0.97722925] [ 0. 0. 0. 1. ]] SLAMing on 90.57134618399999 meters Centerline goodness : 0.817707 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96756451 -0.19032206 -0.16612177 -0.5209422 ] [ 0.19026214 0.98159592 -0.01642449 -0.25692471] [ 0.16619039 -0.01571493 0.98596846 -0.97658374] [ 0. 0. 0. 1. ]] SLAMing on 90.601346184 meters Centerline goodness : 0.818131 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96756457 -0.19058304 -0.16582194 -0.52111333] [ 0.19056313 0.98154159 -0.01618028 -0.25807268] [ 0.16584482 -0.01594408 0.98602296 -0.97737356] [ 0. 0. 0. 1. ]] SLAMing on 90.631346184 meters Centerline goodness : 0.817108 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96752611 -0.19097474 -0.16559551 -0.52142958] [ 0.19097933 0.9814629 -0.0160459 -0.25918223] [ 0.16559021 -0.01610049 0.98606321 -0.9778321 ] [ 0. 0. 0. 1. ]] SLAMing on 90.661346184 meters Centerline goodness : 0.819621 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96665005 -0.19582466 -0.16504659 -0.52072292] [ 0.19517412 0.98055825 -0.02031192 -0.25737337] [ 0.16581537 -0.01257831 0.98607659 -0.9781905 ] [ 0. 0. 0. 1. ]] SLAMing on 90.691346184 meters Centerline goodness : 0.817869 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96658389 -0.19633671 -0.16482562 -0.52160004] [ 0.19564842 0.98045849 -0.02056344 -0.25721501] [ 0.16564203 -0.01237158 0.98610834 -0.97796685] [ 0. 0. 0. 1. ]] SLAMing on 90.721346184 meters Centerline goodness : 0.820475 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.9665369 -0.1966882 -0.16468206 -0.52228868] [ 0.19594524 0.98039192 -0.02090828 -0.25672644] [ 0.16556537 -0.01206004 0.98612507 -0.97754474] [ 0. 0. 0. 1. ]] SLAMing on 90.751346184 meters Centerline goodness : 0.817152 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96649511 -0.19691344 -0.16465813 -0.52261496] [ 0.1961018 0.98035142 -0.0213348 -0.25610068] [ 0.16562394 -0.01166978 0.98611994 -0.97701044] [ 0. 0. 0. 1. ]] SLAMing on 90.781346184 meters Centerline goodness : 0.818513 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96651907 -0.19673041 -0.16473627 -0.52231039] [ 0.19581025 0.98039566 -0.02197029 -0.25348295] [ 0.16582895 -0.01102234 0.98609293 -0.97660999] [ 0. 0. 0. 1. ]] SLAMing on 90.811346184 meters Centerline goodness : 0.818310 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96656219 -0.19616497 -0.16515703 -0.52074192] [ 0.19524269 0.98050901 -0.02196284 -0.25230772] [ 0.1662463 -0.01101725 0.98602271 -0.97694311] [ 0. 0. 0. 1. ]] SLAMing on 90.841346184 meters Centerline goodness : 0.819543 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96663207 -0.19529888 -0.16577332 -0.51818604] [ 0.19442612 0.98067849 -0.02163736 -0.25188266] [ 0.16679609 -0.0113153 0.98592648 -0.97776191] [ 0. 0. 0. 1. ]] SLAMing on 90.87134618399999 meters Centerline goodness : 0.819130 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.9667224 -0.19443984 -0.16625567 -0.51579859] [ 0.19364593 0.98084387 -0.02113173 -0.25160354] [ 0.1671797 -0.01176622 0.98585623 -0.97895748] [ 0. 0. 0. 1. ]] SLAMing on 90.90134618399999 meters Centerline goodness : 0.820271 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96746836 -0.1900113 -0.16703493 -0.5157534 ] [ 0.18984706 0.98166474 -0.01710046 -0.2501865 ] [ 0.16722158 -0.01516694 0.98580267 -0.97969541] [ 0. 0. 0. 1. ]] SLAMing on 90.93134618399999 meters Centerline goodness : 0.819002 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96812491 -0.18634957 -0.1673559 -0.51770164] [ 0.1867456 0.98231541 -0.0135101 -0.24990999] [ 0.16691388 -0.01817351 0.98580398 -0.97927174] [ 0. 0. 0. 1. ]] SLAMing on 90.96134618399999 meters Centerline goodness : 0.817980 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96874557 -0.1831509 -0.16729546 -0.52128806] [ 0.18402286 0.98286683 -0.0104104 -0.24957428] [ 0.16633584 -0.02070116 0.98585184 -0.97784907] [ 0. 0. 0. 1. ]] SLAMing on 90.991346184 meters Centerline goodness : 0.817238 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96875018 -0.18326607 -0.16714258 -0.5215167 ] [ 0.18409949 0.98285014 -0.0106297 -0.24994959] [ 0.16622417 -0.02047334 0.98587543 -0.97767258] [ 0. 0. 0. 1. ]] SLAMing on 91.021346184 meters Centerline goodness : 0.815768 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.9688045 -0.1830498 -0.16706469 -0.52082778] [ 0.183905 0.98288824 -0.01047204 -0.25097636] [ 0.16612282 -0.02057867 0.98589032 -0.97825591] [ 0. 0. 0. 1. ]] SLAMing on 91.051346184 meters Centerline goodness : 0.815257 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96884999 -0.18278427 -0.16709164 -0.51977693] [ 0.18365649 0.98293598 -0.01035148 -0.2512813 ] [ 0.16613248 -0.02065843 0.98588703 -0.97907151] [ 0. 0. 0. 1. ]] SLAMing on 91.081346184 meters Centerline goodness : 0.815608 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96890102 -0.1823165 -0.16730665 -0.51819403] [ 0.18314317 0.98302902 -0.01060811 -0.24857208] [ 0.16640133 -0.02036286 0.98584783 -0.97999004] [ 0. 0. 0. 1. ]] SLAMing on 91.111346184 meters Centerline goodness : 0.816473 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96883616 -0.18257545 -0.16739981 -0.51866327] [ 0.18327317 0.98299586 -0.01140523 -0.24566847] [ 0.16663563 -0.0196301 0.98582312 -0.97909559] [ 0. 0. 0. 1. ]] SLAMing on 91.141346184 meters Centerline goodness : 0.815077 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96945281 -0.1792067 -0.16747 -0.52141026] [ 0.18044389 0.98355334 -0.00792689 -0.24595593] [ 0.16613623 -0.0225342 0.9858453 -0.97837349] [ 0. 0. 0. 1. ]] SLAMing on 91.171346184 meters Centerline goodness : 0.817295 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.24, Z:-0.98 [[ 0.96938785 -0.17949759 -0.16753449 -0.52196146] [ 0.18064942 0.98351111 -0.00846704 -0.24468011] [ 0.16629184 -0.02205716 0.98582986 -0.97746014] [ 0. 0. 0. 1. ]] SLAMing on 91.201346184 meters Centerline goodness : 0.816478 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96863812 -0.18374035 -0.16727126 -0.52097149] [ 0.18428629 0.98279453 -0.01238873 -0.24572771] [ 0.16666959 -0.0188256 0.98583307 -0.9767112 ] [ 0. 0. 0. 1. ]] SLAMing on 91.23134618399999 meters Centerline goodness : 0.817021 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96859946 -0.18445336 -0.16670947 -0.52259486] [ 0.18500185 0.98266031 -0.01237062 -0.24812192] [ 0.16610058 -0.01885938 0.98592846 -0.97647809] [ 0. 0. 0. 1. ]] SLAMing on 91.26134618399999 meters Centerline goodness : 0.821009 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.25, Z:-0.98 [[ 0.96839073 -0.18616991 -0.16601253 -0.52558106] [ 0.18662957 0.98234478 -0.01296704 -0.2489251 ] [ 0.16549562 -0.01842569 0.98603838 -0.97575344] [ 0. 0. 0. 1. ]] SLAMing on 91.29134618399999 meters Centerline goodness : 0.820104 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.25, Z:-0.98 [[ 0.96836193 -0.18637589 -0.16594938 -0.52555745] [ 0.18686244 0.98230247 -0.01281736 -0.24984415] [ 0.16540134 -0.01859786 0.98605097 -0.97607933] [ 0. 0. 0. 1. ]] SLAMing on 91.32134618399999 meters Centerline goodness : 0.820223 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96840615 -0.18601841 -0.16609238 -0.52411218] [ 0.18660543 0.98235913 -0.01220428 -0.25191248] [ 0.16543259 -0.01917504 0.98603467 -0.97715789] [ 0. 0. 0. 1. ]] SLAMing on 91.351346184 meters Centerline goodness : 0.819736 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96808449 -0.18751911 -0.16627991 -0.51797252] [ 0.18782307 0.98210254 -0.01403893 -0.25499116] [ 0.16593649 -0.01764033 0.98597865 -0.98004343] [ 0. 0. 0. 1. ]] SLAMing on 91.381346184 meters Centerline goodness : 0.816636 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96813551 -0.18694861 -0.16662485 -0.51659536] [ 0.1872917 0.98220747 -0.01379492 -0.25517676] [ 0.16623912 -0.0178521 0.98592386 -0.98032433] [ 0. 0. 0. 1. ]] SLAMing on 91.411346184 meters Centerline goodness : 0.818022 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.96885915 -0.18289033 -0.16692239 -0.51835379] [ 0.18383411 0.98290729 -0.00991408 -0.25591574] [ 0.16588242 -0.02108068 0.98592019 -0.97982694] [ 0. 0. 0. 1. ]] SLAMing on 91.441346184 meters Centerline goodness : 0.818412 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.96950211 -0.17918331 -0.16720947 -0.52084247] [ 0.18061262 0.98353117 -0.00674641 -0.25408194] [ 0.16566457 -0.02365948 0.98589831 -0.97855715] [ 0. 0. 0. 1. ]] SLAMing on 91.471346184 meters Centerline goodness : 0.819202 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.97013703 -0.17495245 -0.1680053 -0.52242869] [ 0.17682126 0.98423529 -0.00388991 -0.25052104] [ 0.16603729 -0.02593316 0.98577842 -0.97639508] [ 0. 0. 0. 1. ]] SLAMing on 91.501346184 meters Centerline goodness : 0.818128 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.97015571 -0.17462724 -0.16823562 -0.5216144 ] [ 0.1765088 0.98429164 -0.00382267 -0.25109113] [ 0.16626046 -0.02598649 0.9857394 -0.97630744] [ 0. 0. 0. 1. ]] SLAMing on 91.531346184 meters Centerline goodness : 0.818768 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.97020058 -0.17447818 -0.16813148 -0.52149321] [ 0.17639193 0.98431342 -0.00360235 -0.25317375] [ 0.16612261 -0.02616204 0.985758 -0.97629018] [ 0. 0. 0. 1. ]] SLAMing on 91.561346184 meters Centerline goodness : 0.818399 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.97021881 -0.17492684 -0.16755914 -0.52316442] [ 0.17677347 0.98424364 -0.00394894 -0.25481898] [ 0.1656098 -0.02578868 0.98585412 -0.97547623] [ 0. 0. 0. 1. ]] SLAMing on 91.591346184 meters Centerline goodness : 0.820519 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.97 [[ 0.97015956 -0.17535015 -0.16745972 -0.52390581] [ 0.17708572 0.98418454 -0.00463101 -0.2533453 ] [ 0.16562331 -0.02516191 0.98586804 -0.97476419] [ 0. 0. 0. 1. ]] SLAMing on 91.62134618399999 meters Centerline goodness : 0.819681 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.97 [[ 0.97010064 -0.17564466 -0.16749238 -0.52410765] [ 0.17729438 0.98414427 -0.00517215 -0.25158288] [ 0.16574513 -0.02467795 0.9858598 -0.97444273] [ 0. 0. 0. 1. ]] SLAMing on 91.65134618399999 meters Centerline goodness : 0.819629 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.25, Z:-0.98 [[ 0.97012509 -0.1755401 -0.16746038 -0.52342235] [ 0.17724883 0.98415433 -0.00480717 -0.25268447] [ 0.16565071 -0.0250186 0.98586709 -0.97534198] [ 0. 0. 0. 1. ]] SLAMing on 91.68134618399999 meters Centerline goodness : 0.817888 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.97015263 -0.17550916 -0.16733322 -0.5231961 ] [ 0.17729556 0.98414816 -0.00432231 -0.25576483] [ 0.16543929 -0.02547414 0.98589092 -0.97575473] [ 0. 0. 0. 1. ]] SLAMing on 91.71134618399999 meters Centerline goodness : 0.817654 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.97016776 -0.17562342 -0.16712548 -0.52332015] [ 0.17747484 0.98411756 -0.00391155 -0.25894714] [ 0.16515808 -0.02586571 0.98592788 -0.97599353] [ 0. 0. 0. 1. ]] SLAMing on 91.741346184 meters Centerline goodness : 0.817103 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.98 [[ 0.97015515 -0.17587783 -0.16693102 -0.52397093] [ 0.17774845 0.98406867 -0.00378773 -0.26068195] [ 0.16493776 -0.02599704 0.9859613 -0.975717 ] [ 0. 0. 0. 1. ]] SLAMing on 91.771346184 meters Centerline goodness : 0.819391 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.26, Z:-0.97 [[ 0.96997622 -0.17732073 -0.16644364 -0.52757719] [ 0.17899848 0.9838367 -0.00498889 -0.25884767] [ 0.16463799 -0.02495405 0.98603835 -0.97330131] [ 0. 0. 0. 1. ]] SLAMing on 91.801346184 meters Centerline goodness : 0.818894 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.26, Z:-0.97 [[ 0.96989548 -0.17791595 -0.1662789 -0.52896899] [ 0.17950789 0.983741 -0.00552883 -0.25817273] [ 0.16455904 -0.02448599 0.98606326 -0.97222445] [ 0. 0. 0. 1. ]] SLAMing on 91.831346184 meters Centerline goodness : 0.820322 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.26, Z:-0.97 [[ 0.96987781 -0.1780572 -0.16623078 -0.52920568] [ 0.17966124 0.98371338 -0.0054611 -0.25907842] [ 0.16449583 -0.02456863 0.98607175 -0.97205753] [ 0. 0. 0. 1. ]] SLAMing on 91.861346184 meters Centerline goodness : 0.818910 Centerline is valid? [False, False] Translation: X:-0.53, Y:-0.26, Z:-0.97 [[ 0.96922201 -0.18154972 -0.16627808 -0.52624765] [ 0.18267813 0.98313504 -0.00861349 -0.26143677] [ 0.16503758 -0.02202698 0.98604128 -0.97260859] [ 0. 0. 0. 1. ]] SLAMing on 91.891346184 meters Centerline goodness : 0.815994 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.97 [[ 0.96925338 -0.18127505 -0.16639486 -0.52487409] [ 0.1825326 0.98316859 -0.00783435 -0.26482413] [ 0.16501437 -0.02277902 0.98602808 -0.9736713 ] [ 0. 0. 0. 1. ]] SLAMing on 91.921346184 meters Centerline goodness : 0.817820 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.97 [[ 0.96855293 -0.1848522 -0.16653794 -0.521718 ] [ 0.18555775 0.98256663 -0.01145146 -0.26412444] [ 0.16575145 -0.01981106 0.98596855 -0.97435633] [ 0. 0. 0. 1. ]] SLAMing on 91.951346184 meters Centerline goodness : 0.814250 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.97 [[ 0.96849128 -0.18531087 -0.16638665 -0.52217523] [ 0.18601826 0.98247943 -0.01146155 -0.2645036 ] [ 0.16559541 -0.01985054 0.98599397 -0.97452383] [ 0. 0. 0. 1. ]] SLAMing on 91.98134618399999 meters Centerline goodness : 0.816600 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.26, Z:-0.97 [[ 0.96847806 -0.18542121 -0.16634068 -0.52235373] [ 0.18610274 0.98246158 -0.01161952 -0.26421817] [ 0.16557784 -0.0197032 0.98599988 -0.97438403] [ 0. 0. 0. 1. ]] SLAMing on 92.01134618399999 meters Centerline goodness : 0.814084 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96848672 -0.18531682 -0.16640659 -0.52193167] [ 0.18601973 0.98247881 -0.01149122 -0.26503064] [ 0.16562046 -0.01982582 0.98599026 -0.9745369 ] [ 0. 0. 0. 1. ]] SLAMing on 92.04134618399999 meters Centerline goodness : 0.814348 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.98 [[ 0.96854945 -0.18492144 -0.16648128 -0.52107179] [ 0.185711 0.98254339 -0.01095045 -0.26728159] [ 0.16560005 -0.02031135 0.98598381 -0.97505421] [ 0. 0. 0. 1. ]] SLAMing on 92.07134618399999 meters Centerline goodness : 0.814698 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.98 [[ 0.96859933 -0.18459132 -0.16655746 -0.52052717] [ 0.1854494 0.98259746 -0.01052369 -0.26979434] [ 0.16560152 -0.02069475 0.98597559 -0.97508038] [ 0. 0. 0. 1. ]] SLAMing on 92.101346184 meters Centerline goodness : 0.817484 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.9686143 -0.1845609 -0.16650411 -0.52092054] [ 0.18545384 0.98259892 -0.01030661 -0.27124649] [ 0.16550896 -0.0208957 0.98598689 -0.9746675 ] [ 0. 0. 0. 1. ]] SLAMing on 92.131346184 meters Centerline goodness : 0.820142 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96854598 -0.18497534 -0.16644158 -0.52171791] [ 0.18582085 0.98252628 -0.01061695 -0.27069858] [ 0.1654971 -0.02064531 0.98599416 -0.97405683] [ 0. 0. 0. 1. ]] SLAMing on 92.161346184 meters Centerline goodness : 0.821825 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96845741 -0.18542869 -0.16645251 -0.52242328] [ 0.18621891 0.98244685 -0.0109866 -0.26989313] [ 0.16556798 -0.02035655 0.98598826 -0.9733651 ] [ 0. 0. 0. 1. ]] SLAMing on 92.191346184 meters Centerline goodness : 0.821825 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96845741 -0.18542869 -0.16645251 -0.52242328] [ 0.18621891 0.98244685 -0.0109866 -0.26989313] [ 0.16556798 -0.02035655 0.98598826 -0.9733651 ] [ 0. 0. 0. 1. ]] SLAMing on 92.221346184 meters Centerline goodness : 0.821067 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96836375 -0.18619545 -0.16614123 -0.52463031] [ 0.18691556 0.98230947 -0.01143185 -0.27072174] [ 0.16533066 -0.0199842 0.9860357 -0.97169215] [ 0. 0. 0. 1. ]] SLAMing on 92.251346184 meters Centerline goodness : 0.823639 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96837709 -0.1861744 -0.16608707 -0.52466926] [ 0.18693733 0.98230836 -0.01116787 -0.27299128] [ 0.16522789 -0.02023316 0.98604785 -0.97152358] [ 0. 0. 0. 1. ]] SLAMing on 92.281346184 meters Centerline goodness : 0.821440 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.97 [[ 0.96844786 -0.1858723 -0.16601273 -0.52410385] [ 0.18673535 0.98235377 -0.01053481 -0.27622972] [ 0.16504136 -0.02079803 0.98606734 -0.97204442] [ 0. 0. 0. 1. ]] SLAMing on 92.311346184 meters Centerline goodness : 0.823756 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.97 [[ 0.96790933 -0.18894121 -0.16568872 -0.5212451 ] [ 0.18930862 0.9818218 -0.01371864 -0.27748636] [ 0.16526881 -0.0180879 0.98608268 -0.97308283] [ 0. 0. 0. 1. ]] SLAMing on 92.341346184 meters Centerline goodness : 0.822026 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.97 [[ 0.96788773 -0.1889844 -0.1657656 -0.52121561] [ 0.18930379 0.98181851 -0.01401718 -0.27640449] [ 0.16540076 -0.017813 0.98606556 -0.97282378] [ 0. 0. 0. 1. ]] SLAMing on 92.37134618399999 meters Centerline goodness : 0.823531 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96786965 -0.18883226 -0.16604433 -0.52065236] [ 0.18910065 0.98185303 -0.014338 -0.27429247] [ 0.16573861 -0.01752178 0.98601405 -0.97264084] [ 0. 0. 0. 1. ]] SLAMing on 92.40134618399999 meters Centerline goodness : 0.824272 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.96786862 -0.18852088 -0.16640377 -0.5196551 ] [ 0.18877179 0.98191461 -0.01445347 -0.27287073] [ 0.16611907 -0.01742327 0.98595176 -0.97270494] [ 0. 0. 0. 1. ]] SLAMing on 92.43134618399999 meters Centerline goodness : 0.825199 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.97 [[ 0.9679684 -0.18741222 -0.16707434 -0.51660508] [ 0.1878169 0.98211101 -0.01351957 -0.27421624] [ 0.16661928 -0.01829287 0.9858516 -0.97410644] [ 0. 0. 0. 1. ]] SLAMing on 92.46134618399999 meters Centerline goodness : 0.824837 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.97 [[ 0.96800403 -0.18718395 -0.16712382 -0.51592457] [ 0.18767955 0.98214471 -0.01296742 -0.2766517 ] [ 0.16656707 -0.01881321 0.98585063 -0.97458 ] [ 0. 0. 0. 1. ]] SLAMing on 92.491346184 meters Centerline goodness : 0.828152 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.97 [[ 0.96800296 -0.18731961 -0.16697797 -0.51624073] [ 0.18785575 0.98211423 -0.01272221 -0.27878746] [ 0.16637456 -0.01905263 0.98587854 -0.97449587] [ 0. 0. 0. 1. ]] SLAMing on 92.521346184 meters Centerline goodness : 0.831624 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.98 [[ 0.96866212 -0.19506542 -0.1537634 -0.5171638 ] [ 0.19565707 0.98060583 -0.01142462 -0.27688567] [ 0.15300983 -0.0190183 0.98804165 -0.97842591] [ 0. 0. 0. 1. ]] SLAMing on 92.551346184 meters Centerline goodness : 0.829588 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.98 [[ 0.96854137 -0.19584213 -0.15353655 -0.51907086] [ 0.19630441 0.98046593 -0.01229413 -0.27583298] [ 0.15294507 -0.01823253 0.98806649 -0.97675096] [ 0. 0. 0. 1. ]] SLAMing on 92.581346184 meters Centerline goodness : 0.830156 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.27, Z:-0.98 [[ 0.96845067 -0.19637037 -0.15343395 -0.52022621] [ 0.19673201 0.98037146 -0.0129741 -0.27461325] [ 0.15296999 -0.0176206 0.98807373 -0.97564594] [ 0. 0. 0. 1. ]] SLAMing on 92.611346184 meters Centerline goodness : 0.830398 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.98 [[ 0.96851769 -0.19599423 -0.15349186 -0.51922559] [ 0.19640611 0.98044134 -0.01262641 -0.2757601 ] [ 0.15296447 -0.01791784 0.98806924 -0.97637855] [ 0. 0. 0. 1. ]] SLAMing on 92.641346184 meters Centerline goodness : 0.830615 Centerline is valid? [False, False] Translation: X:-0.52, Y:-0.28, Z:-0.98 [[ 0.96858005 -0.1955947 -0.15360793 -0.51795069] [ 0.1960752 0.9805134 -0.01216533 -0.27691048] [ 0.15299411 -0.01833561 0.98805699 -0.97737065] [ 0. 0. 0. 1. ]] SLAMing on 92.671346184 meters Centerline goodness : 0.832033 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.27, Z:-0.99 [[ 0.96853971 -0.20075361 -0.14706742 -0.50999329] [ 0.20131796 0.97946199 -0.01119277 -0.27241468] [ 0.14629394 -0.01876667 0.98906314 -0.98634234] [ 0. 0. 0. 1. ]] SLAMing on 92.701346184 meters Centerline goodness : 0.829265 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-0.99 [[ 0.96841938 -0.20993551 -0.13450277 -0.50568123] [ 0.20898294 0.97768678 -0.0213233 -0.26430737] [ 0.1359781 -0.00745889 0.99068377 -0.99006857] [ 0. 0. 0. 1. ]] SLAMing on 92.73134618399999 meters Centerline goodness : 0.828521 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.9683125 -0.20971772 -0.13560742 -0.5033238 ] [ 0.20891626 0.9777233 -0.02027675 -0.26380952] [ 0.13683892 -0.00869637 0.99055514 -0.9903472 ] [ 0. 0. 0. 1. ]] SLAMing on 92.76134618399999 meters Centerline goodness : 0.828859 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96844781 -0.21531292 -0.12549574 -0.49804999] [ 0.21421455 0.97653103 -0.02234449 -0.2565738 ] [ 0.12736154 -0.00524354 0.9918425 -0.99105627] [ 0. 0. 0. 1. ]] SLAMing on 92.79134618399999 meters Centerline goodness : 0.828860 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96832943 -0.21516012 -0.12666587 -0.49557001] [ 0.21421588 0.9765564 -0.02119325 -0.25487545] [ 0.12825631 -0.00661179 0.99171901 -0.9917938 ] [ 0. 0. 0. 1. ]] SLAMing on 92.82134618399999 meters Centerline goodness : 0.830460 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.26, Z:-0.99 [[ 0.96829528 -0.21522581 -0.1268152 -0.49533616] [ 0.21432539 0.9765394 -0.02086673 -0.25515198] [ 0.12833109 -0.00697456 0.99170685 -0.99161829] [ 0. 0. 0. 1. ]] SLAMing on 92.851346184 meters Centerline goodness : 0.835179 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.99 [[ 0.9683707 -0.21452142 -0.12743134 -0.49376613] [ 0.21376373 0.97668562 -0.01975538 -0.25535639] [ 0.12869831 -0.00810967 0.99165063 -0.99221603] [ 0. 0. 0. 1. ]] SLAMing on 92.881346184 meters Centerline goodness : 0.834244 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.26, Z:-0.99 [[ 0.9685104 -0.21394757 -0.12733434 -0.49315778] [ 0.21320957 0.97681068 -0.01955942 -0.25524487] [ 0.12856624 -0.0082054 0.99166698 -0.99334142] [ 0. 0. 0. 1. ]] SLAMing on 92.911346184 meters Centerline goodness : 0.834116 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.96884681 -0.21308057 -0.12622415 -0.49407794] [ 0.21213865 0.97701357 -0.02101622 -0.25403839] [ 0.12780085 -0.00641552 0.9917791 -0.99516643] [ 0. 0. 0. 1. ]] SLAMing on 92.941346184 meters Centerline goodness : 0.834682 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.9690592 -0.21216069 -0.12614321 -0.49390434] [ 0.21120424 0.97721494 -0.02106482 -0.2531448 ] [ 0.12773816 -0.00622892 0.99178837 -0.99596328] [ 0. 0. 0. 1. ]] SLAMing on 92.971346184 meters Centerline goodness : 0.835074 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.96936148 -0.21094003 -0.12586753 -0.49418213] [ 0.20999658 0.97747934 -0.02087053 -0.25214854] [ 0.12743534 -0.00620067 0.9918275 -0.99689275] [ 0. 0. 0. 1. ]] SLAMing on 93.001346184 meters Centerline goodness : 0.836091 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.96967515 -0.21003797 -0.12495662 -0.49594743] [ 0.20892447 0.97768204 -0.02209958 -0.250488 ] [ 0.12680959 -0.00467709 0.99191605 -0.99726661] [ 0. 0. 0. 1. ]] SLAMing on 93.031346184 meters Centerline goodness : 0.836424 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.96998091 -0.20748617 -0.12683269 -0.49233897] [ 0.20686985 0.97819994 -0.018159 -0.25067896] [ 0.12783547 -0.00862398 0.99175789 -0.99841227] [ 0. 0. 0. 1. ]] SLAMing on 93.061346184 meters Centerline goodness : 0.836041 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.97000918 -0.20716092 -0.12714773 -0.49324165] [ 0.20659982 0.97826484 -0.01773159 -0.24984665] [ 0.12805744 -0.00906889 0.99172529 -0.99684401] [ 0. 0. 0. 1. ]] SLAMing on 93.091346184 meters Centerline goodness : 0.835117 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.97005342 -0.20628726 -0.1282261 -0.49144065] [ 0.20598732 0.97842803 -0.01574205 -0.24903023] [ 0.12870739 -0.01114232 0.99162002 -0.99703248] [ 0. 0. 0. 1. ]] SLAMing on 93.12134618399999 meters Centerline goodness : 0.834377 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.00 [[ 0.97005126 -0.20625251 -0.1282983 -0.49270441] [ 0.20608365 0.97842342 -0.01473587 -0.24925157] [ 0.12856937 -0.01214563 0.99162614 -0.99550904] [ 0. 0. 0. 1. ]] SLAMing on 93.15134618399999 meters Centerline goodness : 0.835997 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-0.99 [[ 0.96992793 -0.20710223 -0.12786118 -0.49458878] [ 0.20684194 0.97825225 -0.01545771 -0.24855347] [ 0.12828182 -0.01145419 0.99167161 -0.9944851 ] [ 0. 0. 0. 1. ]] SLAMing on 93.18134618399999 meters Centerline goodness : 0.836324 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.9698064 -0.20788523 -0.12751191 -0.49608287] [ 0.20753976 0.97809346 -0.0161381 -0.24754072] [ 0.12807344 -0.01081295 0.99170574 -0.99370439] [ 0. 0. 0. 1. ]] SLAMing on 93.21134618399999 meters Centerline goodness : 0.835942 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96959824 -0.20931996 -0.12674547 -0.49843439] [ 0.2088864 0.97779468 -0.01685314 -0.24709035] [ 0.12745874 -0.01013463 0.99179209 -0.99355023] [ 0. 0. 0. 1. ]] SLAMing on 93.241346184 meters Centerline goodness : 0.835993 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96957893 -0.20959987 -0.12643015 -0.49834512] [ 0.20920261 0.97773204 -0.01656308 -0.24902247] [ 0.12708643 -0.01039031 0.99183722 -0.99459008] [ 0. 0. 0. 1. ]] SLAMing on 93.271346184 meters Centerline goodness : 0.834399 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.96953283 -0.21002038 -0.12608543 -0.49851723] [ 0.20963156 0.97764129 -0.01649609 -0.25101027] [ 0.12673084 -0.01043798 0.99188222 -0.99518866] [ 0. 0. 0. 1. ]] SLAMing on 93.301346184 meters Centerline goodness : 0.833765 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.96944596 -0.21077591 -0.12549121 -0.49939268] [ 0.21037096 0.9774803 -0.01662284 -0.25177902] [ 0.12616888 -0.01028476 0.99195546 -0.9960452 ] [ 0. 0. 0. 1. ]] SLAMing on 93.331346184 meters Centerline goodness : 0.834796 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.00 [[ 0.9693454 -0.21127919 -0.12542167 -0.50020783] [ 0.21079977 0.97737731 -0.01723543 -0.2501688 ] [ 0.12622578 -0.00973177 0.9919538 -0.99532265] [ 0. 0. 0. 1. ]] SLAMing on 93.361346184 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96913757 -0.21249783 -0.12496816 -0.50315614] [ 0.21181753 0.97712721 -0.01886151 -0.24642636] [ 0.12611782 -0.00819105 0.99198145 -0.9929436 ] [ 0. 0. 0. 1. ]] SLAMing on 93.391346184 meters Centerline goodness : 0.834676 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96906867 -0.21279894 -0.12499009 -0.50369732] [ 0.21205113 0.97706573 -0.01941317 -0.24531137] [ 0.12625463 -0.0076916 0.99196805 -0.99206201] [ 0. 0. 0. 1. ]] SLAMing on 93.421346184 meters Centerline goodness : 0.834537 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-0.99 [[ 0.96903192 -0.21294529 -0.12502575 -0.50365211] [ 0.21217122 0.97703531 -0.01963096 -0.2446762 ] [ 0.1263349 -0.00750384 0.99195927 -0.9920141 ] [ 0. 0. 0. 1. ]] SLAMing on 93.451346184 meters Centerline goodness : 0.834548 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96903349 -0.21290301 -0.12508554 -0.50315017] [ 0.21215043 0.97704318 -0.01946317 -0.24522406] [ 0.12635775 -0.00767648 0.99195503 -0.99244513] [ 0. 0. 0. 1. ]] SLAMing on 93.48134618399999 meters Centerline goodness : 0.835842 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96822763 -0.21694453 -0.12437975 -0.50169423] [ 0.2157708 0.97617322 -0.02299565 -0.24692685] [ 0.12640497 -0.0045725 0.99196818 -0.99334126] [ 0. 0. 0. 1. ]] SLAMing on 93.51134618399999 meters Centerline goodness : 0.832660 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.9681715 -0.21736956 -0.12407428 -0.50249382] [ 0.21619057 0.97607899 -0.02305324 -0.24827736] [ 0.12611737 -0.00450419 0.9920051 -0.99314835] [ 0. 0. 0. 1. ]] SLAMing on 93.54134618399999 meters Centerline goodness : 0.835408 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-0.99 [[ 0.96805814 -0.21799619 -0.12385923 -0.50388618] [ 0.21670772 0.97594276 -0.02394758 -0.24643144] [ 0.1261 -0.0036586 0.99201079 -0.99191143] [ 0. 0. 0. 1. ]] SLAMing on 93.57134618399999 meters Centerline goodness : 0.833392 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.24, Z:-0.99 [[ 0.96944933 -0.21149123 -0.12425558 -0.50967387] [ 0.21096529 0.97733639 -0.01752776 -0.24397858] [ 0.12514647 -0.00922133 0.99209542 -0.98989905] [ 0. 0. 0. 1. ]] SLAMing on 93.601346184 meters Centerline goodness : 0.835603 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.97028143 -0.20738508 -0.1246811 -0.51064853] [ 0.20732912 0.97817714 -0.01356863 -0.2451907 ] [ 0.12477414 -0.01268464 0.99210408 -0.98988707] [ 0. 0. 0. 1. ]] SLAMing on 93.631346184 meters Centerline goodness : 0.831627 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-0.99 [[ 0.97040093 -0.20661516 -0.12502881 -0.50877283] [ 0.20660606 0.9783354 -0.01318267 -0.24609534] [ 0.12504385 -0.01303923 0.99206553 -0.99062632] [ 0. 0. 0. 1. ]] SLAMing on 93.661346184 meters Centerline goodness : 0.834279 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97215914 -0.20303721 -0.1169722 -0.51401449] [ 0.20238027 0.97914898 -0.01759257 -0.25225443] [ 0.11810515 -0.00657008 0.99297936 -0.99870191] [ 0. 0. 0. 1. ]] SLAMing on 93.691346184 meters Centerline goodness : 0.834718 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.9723137 -0.20234644 -0.11688449 -0.51258384] [ 0.20172449 0.97929036 -0.01725151 -0.25321985] [ 0.11795463 -0.00680458 0.99299567 -1.00058925] [ 0. 0. 0. 1. ]] SLAMing on 93.721346184 meters Centerline goodness : 0.836211 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97230007 -0.20194961 -0.11768151 -0.51187172] [ 0.20150353 0.97936032 -0.01580138 -0.25315564] [ 0.11844368 -0.00834955 0.99292567 -0.99972902] [ 0. 0. 0. 1. ]] SLAMing on 93.751346184 meters Centerline goodness : 0.838820 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97236797 -0.20005433 -0.12032787 -0.50929707] [ 0.2002603 0.97968643 -0.01050308 -0.2529482 ] [ 0.11998477 -0.01388403 0.99267864 -0.99782016] [ 0. 0. 0. 1. ]] SLAMing on 93.781346184 meters Centerline goodness : 0.839387 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.9730575 -0.19639005 -0.12078929 -0.51102351] [ 0.19700678 0.98037761 -0.00693342 -0.25246869] [ 0.11978077 -0.01704969 0.99265395 -0.99706797] [ 0. 0. 0. 1. ]] SLAMing on 93.811346184 meters Centerline goodness : 0.841511 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97312244 -0.19586826 -0.12111291 -0.51004901] [ 0.19649777 0.9804804 -0.00684156 -0.25240763] [ 0.12008888 -0.01714074 0.99261516 -0.99698016] [ 0. 0. 0. 1. ]] SLAMing on 93.841346184 meters Centerline goodness : 0.842178 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97317688 -0.19676854 -0.11920112 -0.50939479] [ 0.19692326 0.98036164 -0.01059694 -0.253432 ] [ 0.11894535 -0.01316077 0.99281358 -1.00119646] [ 0. 0. 0. 1. ]] SLAMing on 93.87134618399999 meters Centerline goodness : 0.843945 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-1.00 [[ 0.9731845 -0.19800094 -0.11707925 -0.50982667] [ 0.19767665 0.98016014 -0.01449252 -0.25517761] [ 0.11762594 -0.00903994 0.99301683 -1.00437679] [ 0. 0. 0. 1. ]] SLAMing on 93.90134618399999 meters Centerline goodness : 0.845103 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.26, Z:-1.00 [[ 0.97304498 -0.19857043 -0.11727426 -0.50986523] [ 0.19839636 0.98003197 -0.01327477 -0.25738036] [ 0.1175685 -0.01034984 0.99301084 -1.00338787] [ 0. 0. 0. 1. ]] SLAMing on 93.93134618399999 meters Centerline goodness : 0.848406 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.01 [[ 0.97304127 -0.2049351 -0.10579359 -0.50952558] [ 0.20513889 0.97869085 -0.00906953 -0.25134937] [ 0.10539789 -0.01287736 0.99434675 -1.00687871] [ 0. 0. 0. 1. ]] SLAMing on 93.96134618399999 meters Centerline goodness : 0.846186 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.25, Z:-1.00 [[ 0.97286003 -0.2038009 -0.10958359 -0.50543075] [ 0.20466303 0.97882644 -0.00344239 -0.24936087] [ 0.10796488 -0.01907875 0.99397162 -1.0043028 ] [ 0. 0. 0. 1. ]] SLAMing on 93.991346184 meters Centerline goodness : 0.846249 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.01 [[ 0.97237709 -0.2062318 -0.10932173 -0.50479257] [ 0.20676977 0.97836793 -0.00651644 -0.24642332] [ 0.10830078 -0.01626799 0.99398506 -1.00500059] [ 0. 0. 0. 1. ]] SLAMing on 94.021346184 meters Centerline goodness : 0.846398 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.01 [[ 0.97208772 -0.20793461 -0.10866764 -0.50160444] [ 0.20805326 0.97806251 -0.0103713 -0.24625597] [ 0.1084403 -0.01252684 0.99402403 -1.00899875] [ 0. 0. 0. 1. ]] SLAMing on 94.051346184 meters Centerline goodness : 0.845459 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.01 [[ 0.97177532 -0.21031423 -0.10686744 -0.50217882] [ 0.20990907 0.97760347 -0.01515402 -0.24635036] [ 0.10766109 -0.00770615 0.99415779 -1.01094696] [ 0. 0. 0. 1. ]] SLAMing on 94.081346184 meters Centerline goodness : 0.847508 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.01 [[ 0.97159829 -0.21068911 -0.10773519 -0.49930524] [ 0.21032366 0.97751866 -0.01487369 -0.24620688] [ 0.10844688 -0.00820801 0.99406836 -1.01202884] [ 0. 0. 0. 1. ]] SLAMing on 94.111346184 meters Centerline goodness : 0.847508 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.25, Z:-1.01 [[ 0.97159829 -0.21068911 -0.10773519 -0.49930524] [ 0.21032366 0.97751866 -0.01487369 -0.24620688] [ 0.10844688 -0.00820801 0.99406836 -1.01202884] [ 0. 0. 0. 1. ]] SLAMing on 94.141346184 meters Centerline goodness : 0.848377 Centerline is valid? [False, False] Translation: X:-0.50, Y:-0.24, Z:-1.01 [[ 0.97129281 -0.20989147 -0.11196364 -0.49500833] [ 0.21026646 0.97760644 -0.00858269 -0.24387247] [ 0.11125781 -0.01520589 0.99367524 -1.00885059] [ 0. 0. 0. 1. ]] SLAMing on 94.171346184 meters Centerline goodness : 0.849755 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97135203 -0.20864322 -0.11376832 -0.49390036] [ 0.20942526 0.977811 -0.00516824 -0.24318305] [ 0.11232223 -0.01880578 0.99349386 -1.00685172] [ 0. 0. 0. 1. ]] SLAMing on 94.201346184 meters Centerline goodness : 0.846568 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97138962 -0.20837429 -0.11394021 -0.49470917] [ 0.20915871 0.97786809 -0.00516038 -0.24190973] [ 0.11249378 -0.01881885 0.99347421 -1.00560035] [ 0. 0. 0. 1. ]] SLAMing on 94.23134618399999 meters Centerline goodness : 0.845800 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97155351 -0.2078867 -0.11343233 -0.49144452] [ 0.20845012 0.97800793 -0.00700322 -0.24099449] [ 0.11239359 -0.01684098 0.99352104 -1.01054885] [ 0. 0. 0. 1. ]] SLAMing on 94.26134618399999 meters Centerline goodness : 0.849339 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97155437 -0.20862329 -0.11206439 -0.49169075] [ 0.20881637 0.97790226 -0.01014351 -0.240805 ] [ 0.1117042 -0.01354591 0.99364917 -1.01258466] [ 0. 0. 0. 1. ]] SLAMing on 94.29134618399999 meters Centerline goodness : 0.849533 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97142595 -0.20874945 -0.11293936 -0.48883205] [ 0.20903809 0.97786219 -0.00941362 -0.24050949] [ 0.11240422 -0.014464 0.99355729 -1.01390279] [ 0. 0. 0. 1. ]] SLAMing on 94.32134618399999 meters Centerline goodness : 0.847248 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97089139 -0.20996782 -0.11525374 -0.48773245] [ 0.21064648 0.97754137 -0.00639784 -0.23866062] [ 0.11400864 -0.01806619 0.99331548 -1.01023002] [ 0. 0. 0. 1. ]] SLAMing on 94.351346184 meters Centerline goodness : 0.849329 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97079163 -0.21046933 -0.11517932 -0.48861739] [ 0.21105793 0.97744703 -0.0072005 -0.2365136 ] [ 0.11409717 -0.01731932 0.99331862 -1.00929286] [ 0. 0. 0. 1. ]] SLAMing on 94.381346184 meters Centerline goodness : 0.849374 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.23, Z:-1.01 [[ 0.97062924 -0.21132351 -0.11498374 -0.49036005] [ 0.21178611 0.97728063 -0.0083193 -0.23419676] [ 0.11412944 -0.01627701 0.99333254 -1.00768891] [ 0. 0. 0. 1. ]] SLAMing on 94.411346184 meters Centerline goodness : 0.849222 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.23, Z:-1.01 [[ 0.97056006 -0.2117219 -0.11483466 -0.4911734 ] [ 0.21213806 0.97720075 -0.00872624 -0.23437738] [ 0.11406405 -0.01589146 0.99334629 -1.00680445] [ 0. 0. 0. 1. ]] SLAMing on 94.441346184 meters Centerline goodness : 0.848047 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.9705703 -0.21165353 -0.11487416 -0.48985951] [ 0.21212741 0.97720741 -0.00822497 -0.23541965] [ 0.11399672 -0.01638505 0.993346 -1.00808406] [ 0. 0. 0. 1. ]] SLAMing on 94.471346184 meters Centerline goodness : 0.849617 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97053291 -0.21191532 -0.11470728 -0.49025669] [ 0.21238307 0.97715149 -0.00826988 -0.23650235] [ 0.1138389 -0.01633569 0.99336491 -1.00786246] [ 0. 0. 0. 1. ]] SLAMing on 94.501346184 meters Centerline goodness : 0.850840 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97046961 -0.21235037 -0.11443797 -0.49066066] [ 0.21281729 0.97705706 -0.00826408 -0.2381577 ] [ 0.11356731 -0.01633434 0.99339602 -1.00803292] [ 0. 0. 0. 1. ]] SLAMing on 94.531346184 meters Centerline goodness : 0.851430 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97044616 -0.21256127 -0.11424513 -0.49104156] [ 0.21302189 0.97701214 -0.00830377 -0.23869666] [ 0.11338394 -0.01627835 0.99341789 -1.00805518] [ 0. 0. 0. 1. ]] SLAMing on 94.561346184 meters Centerline goodness : 0.854475 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97045997 -0.21191487 -0.11532361 -0.48924483] [ 0.21256785 0.977123 -0.0067489 -0.23926054] [ 0.11411555 -0.01796455 0.99330505 -1.00772193] [ 0. 0. 0. 1. ]] SLAMing on 94.591346184 meters Centerline goodness : 0.853239 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.97038095 -0.21151223 -0.11671931 -0.4891274 ] [ 0.2124488 0.97716183 -0.00450148 -0.23794513] [ 0.11500577 -0.02042873 0.99315474 -1.0052462 ] [ 0. 0. 0. 1. ]] SLAMing on 94.62134618399999 meters Centerline goodness : 0.852668 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.00 [[ 0.97034248 -0.21166953 -0.11675389 -0.48943658] [ 0.21256301 0.97713513 -0.00488911 -0.23692595] [ 0.1151192 -0.02007345 0.99314884 -1.0046515 ] [ 0. 0. 0. 1. ]] SLAMing on 94.65134618399999 meters Centerline goodness : 0.852481 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.00 [[ 0.97032171 -0.21176768 -0.11674854 -0.48970852] [ 0.21265341 0.9771151 -0.00496094 -0.23764062] [ 0.11512733 -0.02001327 0.99314912 -1.00407099] [ 0. 0. 0. 1. ]] SLAMing on 94.68134618399999 meters Centerline goodness : 0.857143 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.00 [[ 0.97032201 -0.21175533 -0.11676851 -0.48955163] [ 0.21267193 0.97711237 -0.00469733 -0.23988483] [ 0.11509064 -0.02027547 0.99314805 -1.00384443] [ 0. 0. 0. 1. ]] SLAMing on 94.71134618399999 meters Centerline goodness : 0.860571 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.96977655 -0.21544998 -0.11451967 -0.49037816] [ 0.21584272 0.97638566 -0.00910813 -0.24276281] [ 0.11377771 -0.01588538 0.99337923 -1.00557523] [ 0. 0. 0. 1. ]] SLAMing on 94.741346184 meters Centerline goodness : 0.859171 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.24, Z:-1.01 [[ 0.96965793 -0.21560939 -0.11522192 -0.48692529] [ 0.21611361 0.97633338 -0.00824813 -0.24482355] [ 0.11427338 -0.01690316 0.99330553 -1.00743468] [ 0. 0. 0. 1. ]] SLAMing on 94.771346184 meters Centerline goodness : 0.860850 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.01 [[ 0.96947601 -0.21627964 -0.11549622 -0.48648364] [ 0.21685267 0.97617372 -0.00773217 -0.2463625 ] [ 0.11441669 -0.01754951 0.99327782 -1.00664927] [ 0. 0. 0. 1. ]] SLAMing on 94.801346184 meters Centerline goodness : 0.860875 Centerline is valid? [False, False] Translation: X:-0.49, Y:-0.25, Z:-1.01 [[ 0.96948443 -0.21578723 -0.1163435 -0.48619546] [ 0.21659485 0.9762443 -0.00580792 -0.24693283] [ 0.11483295 -0.01956872 0.99319206 -1.00522836] [ 0. 0. 0. 1. ]] SLAMing on 94.831346184 meters Centerline goodness : 0.860841 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.25, Z:-1.01 [[ 0.96959956 -0.21471235 -0.11736824 -0.48424982] [ 0.21572007 0.97644622 -0.00420033 -0.24534556] [ 0.11550564 -0.02124605 0.99307958 -1.00596637] [ 0. 0. 0. 1. ]] SLAMing on 94.861346184 meters Centerline goodness : 0.862086 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.01 [[ 0.97017084 -0.21274513 -0.11622411 -0.48283406] [ 0.21341975 0.97693725 -0.00675443 -0.24338812] [ 0.11498063 -0.01825157 0.99320005 -1.01069421] [ 0. 0. 0. 1. ]] SLAMing on 94.891346184 meters Centerline goodness : 0.859966 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.01 [[ 0.97045428 -0.21180903 -0.1155657 -0.48076449] [ 0.21235489 0.97716219 -0.00771044 -0.24314876] [ 0.11455957 -0.01705831 0.99326991 -1.01486575] [ 0. 0. 0. 1. ]] SLAMing on 94.921346184 meters Centerline goodness : 0.862487 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97076052 -0.2108023 -0.11483204 -0.48162943] [ 0.21121802 0.97740048 -0.00867486 -0.24300814] [ 0.11406557 -0.01583339 0.99334704 -1.01570747] [ 0. 0. 0. 1. ]] SLAMing on 94.951346184 meters Centerline goodness : 0.861806 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97101163 -0.20942997 -0.11521937 -0.48205976] [ 0.21003058 0.97766947 -0.00704009 -0.24249348] [ 0.11412087 -0.01736359 0.99331512 -1.01504165] [ 0. 0. 0. 1. ]] SLAMing on 94.98134618399999 meters Centerline goodness : 0.863876 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.01 [[ 0.97131422 -0.2066512 -0.11766039 -0.48040888] [ 0.2078903 0.97815053 -0.00177783 -0.24091833] [ 0.11545696 -0.02273362 0.9930523 -1.01317481] [ 0. 0. 0. 1. ]] SLAMing on 95.01134618399999 meters Centerline goodness : 0.860099 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.01 [[ 0.9712505 -0.2068975 -0.11775349 -0.48066769] [ 0.20809984 0.97810528 -0.00212702 -0.24003327] [ 0.11561538 -0.02243862 0.99304058 -1.01256946] [ 0. 0. 0. 1. ]] SLAMing on 95.04134618399999 meters Centerline goodness : 0.863483 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97130852 -0.20734569 -0.11647973 -0.48014586] [ 0.208294 0.97805764 -0.0041063 -0.24059084] [ 0.11477532 -0.02027355 0.99318458 -1.01551065] [ 0. 0. 0. 1. ]] SLAMing on 95.07134618399999 meters Centerline goodness : 0.859880 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97138666 -0.20730985 -0.11589043 -0.47991833] [ 0.20817049 0.97808097 -0.00476124 -0.24109139] [ 0.11433727 -0.01949996 0.99325059 -1.01680133] [ 0. 0. 0. 1. ]] SLAMing on 95.101346184 meters Centerline goodness : 0.865890 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97130952 -0.20728281 -0.11658328 -0.47730778] [ 0.20819758 0.97807684 -0.00441081 -0.24049951] [ 0.11494169 -0.01998809 0.99317112 -1.01822797] [ 0. 0. 0. 1. ]] SLAMing on 95.131346184 meters Centerline goodness : 0.861469 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97138406 -0.20704028 -0.11639301 -0.4774131 ] [ 0.20792402 0.97813402 -0.00463146 -0.24053481] [ 0.11480686 -0.01970197 0.99319244 -1.01844288] [ 0. 0. 0. 1. ]] SLAMing on 95.161346184 meters Centerline goodness : 0.860219 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97143539 -0.20681054 -0.11637302 -0.47800943] [ 0.20768042 0.97818528 -0.004734 -0.24024024] [ 0.11481341 -0.01956962 0.9931943 -1.01762176] [ 0. 0. 0. 1. ]] SLAMing on 95.191346184 meters Centerline goodness : 0.858057 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 9.71680646e-01 -2.04649664e-01 -1.18132289e-01 -4.76443319e-01] [ 2.06085212e-01 9.78534047e-01 -6.47784992e-05 -2.40459257e-01] [ 1.15609724e-01 -2.42823739e-02 9.92997864e-01 -1.01656377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221346184 meters Centerline goodness : 0.856099 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 9.71729572e-01 -2.04424868e-01 -1.18119057e-01 -4.76642855e-01] [ 2.05899510e-01 9.78573098e-01 2.87559813e-04 -2.40619459e-01] [ 1.15529347e-01 -2.46000863e-02 9.92999399e-01 -1.01629747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.251346184 meters Centerline goodness : 0.858225 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 9.71756946e-01 -2.04405978e-01 -1.17926394e-01 -4.77030603e-01] [ 2.05856433e-01 9.78582196e-01 1.21831900e-04 -2.40929701e-01] [ 1.15375766e-01 -2.43942977e-02 9.93022331e-01 -1.01607757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281346184 meters Centerline goodness : 0.858105 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97180893 -0.20391578 -0.11834593 -0.47636001] [ 0.2055117 0.97865378 0.00131101 -0.24070727] [ 0.11555235 -0.02559553 0.99297156 -1.01616617] [ 0. 0. 0. 1. ]] SLAMing on 95.311346184 meters Centerline goodness : 0.854677 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.01 [[ 0.97157771 -0.20473658 -0.11882629 -0.47609581] [ 0.2063254 0.97848282 0.00109342 -0.23987277] [ 0.11604562 -0.02557922 0.99291446 -1.01498281] [ 0. 0. 0. 1. ]] SLAMing on 95.341346184 meters Centerline goodness : 0.857125 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.02 [[ 9.71233869e-01 -2.06190699e-01 -1.19122491e-01 -4.74758536e-01] [ 2.07713969e-01 9.78189533e-01 3.79934940e-04 -2.39061683e-01] [ 1.16446035e-01 -2.51124111e-02 9.92879493e-01 -1.01538015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37134618399999 meters Centerline goodness : 0.857266 Centerline is valid? [False, False] Translation: X:-0.48, Y:-0.24, Z:-1.02 [[ 0.97030447 -0.21197799 -0.11650994 -0.47532625] [ 0.21252059 0.97712474 -0.00789004 -0.23814373] [ 0.11551726 -0.01710502 0.99315819 -1.01764016] [ 0. 0. 0. 1. ]] SLAMing on 95.40134618399999 meters Centerline goodness : 0.857322 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.02 [[ 0.96976658 -0.21484529 -0.11573368 -0.47368366] [ 0.21498161 0.97655095 -0.01145212 -0.23767923] [ 0.11548027 -0.01377473 0.99321426 -1.01985407] [ 0. 0. 0. 1. ]] SLAMing on 95.43134618399999 meters Centerline goodness : 0.855453 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.02 [[ 0.96895232 -0.21864594 -0.11543554 -0.47286855] [ 0.21835042 0.97574961 -0.0153553 -0.23631588] [ 0.11599355 -0.01032685 0.99319628 -1.01983321] [ 0. 0. 0. 1. ]] SLAMing on 95.46134618399999 meters Centerline goodness : 0.856418 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.24, Z:-1.02 [[ 0.9683675 -0.22049448 -0.11681856 -0.46925532] [ 0.22024898 0.97532574 -0.01516872 -0.23562258] [ 0.11728077 -0.01104027 0.99303743 -1.02021938] [ 0. 0. 0. 1. ]] SLAMing on 95.491346184 meters Centerline goodness : 0.856469 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.23, Z:-1.02 [[ 0.96753957 -0.22271439 -0.11943819 -0.46751649] [ 0.22278656 0.97478163 -0.01291955 -0.23338613] [ 0.11930352 -0.01410905 0.99275758 -1.01608654] [ 0. 0. 0. 1. ]] SLAMing on 95.521346184 meters Centerline goodness : 0.856396 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.23, Z:-1.02 [[ 0.96740689 -0.22222527 -0.12140772 -0.46420263] [ 0.2226853 0.97483971 -0.00993944 -0.23293122] [ 0.12056186 -0.01742023 0.99255296 -1.01596218] [ 0. 0. 0. 1. ]] SLAMing on 95.551346184 meters Centerline goodness : 0.859506 Centerline is valid? [False, False] Translation: X:-0.47, Y:-0.23, Z:-1.02 [[ 0.9670434 -0.22444432 -0.12021563 -0.46545907] [ 0.22459813 0.974372 -0.01244538 -0.23404468] [ 0.11992804 -0.01496499 0.99266979 -1.01572024] [ 0. 0. 0. 1. ]] SLAMing on 95.581346184 meters Centerline goodness : 0.857375 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.02 [[ 0.96689513 -0.22489662 -0.12056249 -0.46346403] [ 0.22509072 0.97426162 -0.01218475 -0.2352474 ] [ 0.12019972 -0.01535612 0.99263096 -1.01670872] [ 0. 0. 0. 1. ]] SLAMing on 95.611346184 meters Centerline goodness : 0.859678 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.02 [[ 0.96657788 -0.22592789 -0.12117667 -0.46271607] [ 0.22618691 0.9740125 -0.01179537 -0.23548563] [ 0.1206925 -0.01600744 0.99256087 -1.01564632] [ 0. 0. 0. 1. ]] SLAMing on 95.641346184 meters Centerline goodness : 0.857371 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.24, Z:-1.01 [[ 0.96628116 -0.22673937 -0.12202452 -0.46251462] [ 0.22711231 0.97380612 -0.01102927 -0.23510088] [ 0.121329 -0.01705589 0.9924658 -1.01370476] [ 0. 0. 0. 1. ]] SLAMing on 95.671346184 meters Centerline goodness : 0.856199 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.23, Z:-1.01 [[ 0.96561842 -0.22820315 -0.1245166 -0.45894033] [ 0.22886151 0.97341566 -0.00918457 -0.23335908] [ 0.12330236 -0.01962827 0.99217501 -1.01227947] [ 0. 0. 0. 1. ]] SLAMing on 95.701346184 meters Centerline goodness : 0.859189 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.23, Z:-1.01 [[ 0.96551758 -0.22883497 -0.12413845 -0.45852884] [ 0.22938317 0.97328428 -0.0100533 -0.23398806] [ 0.12312254 -0.01876864 0.99221398 -1.01299531] [ 0. 0. 0. 1. ]] SLAMing on 95.73134618399999 meters Centerline goodness : 0.859065 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.23, Z:-1.02 [[ 0.9657208 -0.228278 -0.12358191 -0.45656075] [ 0.22871301 0.97343346 -0.01084729 -0.23477141] [ 0.12277496 -0.01778934 0.99227509 -1.01634132] [ 0. 0. 0. 1. ]] SLAMing on 95.76134618399999 meters Centerline goodness : 0.853142 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96618163 -0.22717258 -0.1220069 -0.45484758] [ 0.22727087 0.9737408 -0.01329658 -0.23445988] [ 0.12182372 -0.0148817 0.99244018 -1.02204774] [ 0. 0. 0. 1. ]] SLAMing on 95.79134618399999 meters Centerline goodness : 0.855254 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96675512 -0.22441198 -0.12257159 -0.45383787] [ 0.22472117 0.97435552 -0.01147663 -0.23398235] [ 0.1220038 -0.01644934 0.99239332 -1.02305257] [ 0. 0. 0. 1. ]] SLAMing on 95.82134618399999 meters Centerline goodness : 0.855158 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96727665 -0.22140481 -0.12391845 -0.45283386] [ 0.22217138 0.97497664 -0.00777392 -0.23362483] [ 0.12253878 -0.0200116 0.99226195 -1.02269176] [ 0. 0. 0. 1. ]] SLAMing on 95.851346184 meters Centerline goodness : 0.855323 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96789186 -0.21775894 -0.12556432 -0.45351591] [ 0.21910452 0.97569627 -0.00316258 -0.23294763] [ 0.12320132 -0.02445068 0.99208044 -1.01991577] [ 0. 0. 0. 1. ]] SLAMing on 95.881346184 meters Centerline goodness : 0.858186 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96785717 -0.21766261 -0.12599794 -0.45338964] [ 0.21912088 0.97569492 -0.00233804 -0.23254963] [ 0.12344446 -0.02534589 0.99202775 -1.01927333] [ 0. 0. 0. 1. ]] SLAMing on 95.911346184 meters Centerline goodness : 0.853424 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96765546 -0.21853081 -0.12604443 -0.45261703] [ 0.21994473 0.97550843 -0.00276039 -0.23265982] [ 0.12356064 -0.0250517 0.99202076 -1.01953873] [ 0. 0. 0. 1. ]] SLAMing on 95.941346184 meters Centerline goodness : 0.854248 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.23, Z:-1.02 [[ 0.96702809 -0.22234185 -0.12418045 -0.45280444] [ 0.22317504 0.97475076 -0.00733894 -0.23455138] [ 0.12267674 -0.02061702 0.99223251 -1.02112199] [ 0. 0. 0. 1. ]] SLAMing on 95.971346184 meters Centerline goodness : 0.853084 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.24, Z:-1.02 [[ 0.96677799 -0.22305198 -0.12485245 -0.45064212] [ 0.22403458 0.97456086 -0.00629569 -0.23629598] [ 0.12308058 -0.02188473 0.99215535 -1.02155885] [ 0. 0. 0. 1. ]] SLAMing on 96.001346184 meters Centerline goodness : 0.853084 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.24, Z:-1.02 [[ 0.96677799 -0.22305198 -0.12485245 -0.45064212] [ 0.22403458 0.97456086 -0.00629569 -0.23629598] [ 0.12308058 -0.02188473 0.99215535 -1.02155885] [ 0. 0. 0. 1. ]] SLAMing on 96.031346184 meters Centerline goodness : 0.855610 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.24, Z:-1.02 [[ 0.96639272 -0.22446877 -0.12529521 -0.44979029] [ 0.22549564 0.97422501 -0.00611156 -0.23774385] [ 0.12343758 -0.02234736 0.99210068 -1.02054681] [ 0. 0. 0. 1. ]] SLAMing on 96.061346184 meters Centerline goodness : 0.855562 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.24, Z:-1.02 [[ 0.96568122 -0.22754269 -0.12523622 -0.44989381] [ 0.22833813 0.9735477 -0.00815913 -0.23811191] [ 0.12377999 -0.02071708 0.9920934 -1.01890031] [ 0. 0. 0. 1. ]] SLAMing on 96.091346184 meters Centerline goodness : 0.856490 Centerline is valid? [False, False] Translation: X:-0.45, Y:-0.24, Z:-1.02 [[ 0.96452413 -0.23204464 -0.12589074 -0.44788889] [ 0.23269942 0.97250047 -0.00968554 -0.24015479] [ 0.12467628 -0.01995277 0.99199683 -1.01734693] [ 0. 0. 0. 1. ]] SLAMing on 96.12134618399999 meters Centerline goodness : 0.855775 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.24, Z:-1.02 [[ 0.96404076 -0.23348149 -0.12693229 -0.44463327] [ 0.23427108 0.97213072 -0.00888396 -0.24173534] [ 0.12546902 -0.02117206 0.9918716 -1.0178723 ] [ 0. 0. 0. 1. ]] SLAMing on 96.15134618399999 meters Centerline goodness : 0.856061 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.24, Z:-1.02 [[ 0.96360943 -0.2346147 -0.1281125 -0.44007838] [ 0.23555825 0.97182769 -0.0079532 -0.24366544] [ 0.12636921 -0.02251417 0.99172775 -1.01952355] [ 0. 0. 0. 1. ]] SLAMing on 96.18134618399999 meters Centerline goodness : 0.859429 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.25, Z:-1.02 [[ 0.96274704 -0.23890936 -0.12665092 -0.44055055] [ 0.23939867 0.97085241 -0.01157017 -0.24707532] [ 0.12572357 -0.01918091 0.99187987 -1.01928057] [ 0. 0. 0. 1. ]] SLAMing on 96.21134618399999 meters Centerline goodness : 0.858519 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.25, Z:-1.02 [[ 0.9624335 -0.23946317 -0.12798104 -0.43816806] [ 0.24015892 0.97068002 -0.0101978 -0.2486711 ] [ 0.12667064 -0.02092109 0.99172418 -1.01822289] [ 0. 0. 0. 1. ]] SLAMing on 96.241346184 meters Centerline goodness : 0.861639 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.25, Z:-1.02 [[ 0.96198994 -0.24064461 -0.12909503 -0.43764421] [ 0.24160428 0.97033841 -0.00841102 -0.24994518] [ 0.12728993 -0.0230986 0.99159656 -1.015778 ] [ 0. 0. 0. 1. ]] SLAMing on 96.271346184 meters Centerline goodness : 0.861257 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.02 [[ 0.96209666 -0.23988623 -0.12970975 -0.43494102] [ 0.24099974 0.97049789 -0.00727806 -0.25188707] [ 0.12762895 -0.02425782 0.99152529 -1.01729125] [ 0. 0. 0. 1. ]] SLAMing on 96.301346184 meters Centerline goodness : 0.858671 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.25, Z:-1.02 [[ 0.96227046 -0.23981769 -0.12854195 -0.43609113] [ 0.24073185 0.97055347 -0.00860997 -0.25390313] [ 0.12682166 -0.02265902 0.9916667 -1.01782654] [ 0. 0. 0. 1. ]] SLAMing on 96.331346184 meters Centerline goodness : 0.863823 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.02 [[ 0.96242403 -0.23923062 -0.12848618 -0.43393916] [ 0.24017877 0.97069324 -0.00829451 -0.25524782] [ 0.12670496 -0.02287682 0.99167661 -1.02037428] [ 0. 0. 0. 1. ]] SLAMing on 96.361346184 meters Centerline goodness : 0.857492 Centerline is valid? [False, False] Translation: X:-0.44, Y:-0.26, Z:-1.02 [[ 0.96260181 -0.23975348 -0.12615876 -0.43542309] [ 0.24013598 0.97066011 -0.01239558 -0.25569924] [ 0.12542915 -0.01836325 0.99193262 -1.022984 ] [ 0. 0. 0. 1. ]] SLAMing on 96.391346184 meters Centerline goodness : 0.859236 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.02 [[ 0.96284052 -0.2387351 -0.12626828 -0.43420672] [ 0.23918716 0.97090185 -0.0117944 -0.25641713] [ 0.12540984 -0.01884563 0.99192601 -1.02434311] [ 0. 0. 0. 1. ]] SLAMing on 96.421346184 meters Centerline goodness : 0.867018 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.03 [[ 0.96352778 -0.23542483 -0.12723745 -0.43270663] [ 0.23628161 0.97164713 -0.00853497 -0.25666138] [ 0.12563924 -0.02184018 0.99183556 -1.02550883] [ 0. 0. 0. 1. ]] SLAMing on 96.451346184 meters Centerline goodness : 0.862591 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.03 [[ 0.96378691 -0.23437426 -0.1272144 -0.43336575] [ 0.23525511 0.97189846 -0.00827099 -0.25617228] [ 0.12557799 -0.02195636 0.99184076 -1.0253798 ] [ 0. 0. 0. 1. ]] SLAMing on 96.48134618399999 meters Centerline goodness : 0.865241 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.03 [[ 0.96418094 -0.23295988 -0.12682589 -0.43470546] [ 0.23386511 0.97223683 -0.00791557 -0.25616402] [ 0.12514881 -0.0220281 0.99189341 -1.02514238] [ 0. 0. 0. 1. ]] SLAMing on 96.51134618399999 meters Centerline goodness : 0.865243 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.26, Z:-1.03 [[ 0.96464617 -0.23107271 -0.12674053 -0.43466271] [ 0.23208072 0.97267163 -0.00695987 -0.25653739] [ 0.12488515 -0.02270022 0.99191149 -1.02608313] [ 0. 0. 0. 1. ]] SLAMing on 96.54134618399999 meters Centerline goodness : 0.869357 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.9655899 -0.23314336 -0.11524024 -0.43227534] [ 0.23379107 0.9722535 -0.00805399 -0.25162737] [ 0.11392047 -0.01916529 0.993305 -1.02741932] [ 0. 0. 0. 1. ]] SLAMing on 96.57134618399999 meters Centerline goodness : 0.869183 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.96597378 -0.23150567 -0.11532465 -0.43137907] [ 0.23222334 0.97263465 -0.0073599 -0.25180349] [ 0.11387261 -0.0196716 0.99330059 -1.02884571] [ 0. 0. 0. 1. ]] SLAMing on 96.601346184 meters Centerline goodness : 0.868313 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.96641575 -0.22957965 -0.11547201 -0.43132365] [ 0.23042512 0.97307059 -0.00615506 -0.25205147] [ 0.11377549 -0.02065931 0.99329166 -1.0293659 ] [ 0. 0. 0. 1. ]] SLAMing on 96.631346184 meters Centerline goodness : 0.870208 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.9664023 -0.22911209 -0.11650856 -0.43059933] [ 0.2301338 0.97314721 -0.00478898 -0.25118144] [ 0.11447719 -0.02218448 0.99317814 -1.0282208 ] [ 0. 0. 0. 1. ]] SLAMing on 96.661346184 meters Centerline goodness : 0.868994 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.96634102 -0.22871981 -0.11778063 -0.42866246] [ 0.22993016 0.97320122 -0.0033915 -0.24956911] [ 0.11539996 -0.02380397 0.99303385 -1.02803148] [ 0. 0. 0. 1. ]] SLAMing on 96.691346184 meters Centerline goodness : 0.868733 Centerline is valid? [False, False] Translation: X:-0.43, Y:-0.25, Z:-1.03 [[ 0.96622265 -0.22867392 -0.11883616 -0.42533589] [ 0.22991869 0.9732042 -0.00331364 -0.24655834] [ 0.1164096 -0.02412094 0.99290835 -1.0301505 ] [ 0. 0. 0. 1. ]] SLAMing on 96.721346184 meters Centerline goodness : 0.868650 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-1.03 [[ 0.96605793 -0.229919 -0.11776809 -0.42451962] [ 0.23076463 0.97298728 -0.00659148 -0.24576306] [ 0.11610236 -0.02080896 0.99301925 -1.03267086] [ 0. 0. 0. 1. ]] SLAMing on 96.751346184 meters Centerline goodness : 0.868028 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-1.04 [[ 0.96598583 -0.23052976 -0.11716402 -0.42225852] [ 0.23114642 0.97288198 -0.00848455 -0.24596478] [ 0.1159427 -0.01888609 0.99307633 -1.03619501] [ 0. 0. 0. 1. ]] SLAMing on 96.781346184 meters Centerline goodness : 0.866428 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.25, Z:-1.04 [[ 0.96577514 -0.23137115 -0.11724239 -0.42139958] [ 0.23193071 0.97269033 -0.00903739 -0.24563011] [ 0.11613153 -0.01846402 0.99306221 -1.03671125] [ 0. 0. 0. 1. ]] SLAMing on 96.811346184 meters Centerline goodness : 0.869241 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-1.04 [[ 0.96569135 -0.23012491 -0.12034424 -0.41674705] [ 0.23128789 0.97287538 -0.00440525 -0.24467868] [ 0.1180937 -0.02358005 0.99272245 -1.03606938] [ 0. 0. 0. 1. ]] SLAMing on 96.841346184 meters Centerline goodness : 0.868712 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-1.03 [[ 9.65357363e-01 -2.30151937e-01 -1.22944079e-01 -4.15761855e-01] [ 2.31858398e-01 9.72749449e-01 -4.38883346e-04 -2.41645213e-01] [ 1.19694795e-01 -2.80819380e-02 9.92413503e-01 -1.03239513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87134618399999 meters Centerline goodness : 0.865702 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 9.65312122e-01 -2.30036094e-01 -1.23514788e-01 -4.14193663e-01] [ 2.31833050e-01 9.72755573e-01 1.81038439e-04 -2.41384387e-01] [ 1.20108052e-01 -2.88095685e-02 9.92342715e-01 -1.03286940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90134618399999 meters Centerline goodness : 0.867067 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 9.65479584e-01 -2.29270531e-01 -1.23629267e-01 -4.14311487e-01] [ 2.31129052e-01 9.72922842e-01 7.10542101e-04 -2.41256090e-01] [ 1.20118831e-01 -2.92603291e-02 9.92328222e-01 -1.03270551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93134618399999 meters Centerline goodness : 0.867220 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 0.96577358 -0.22789762 -0.12387113 -0.41455592] [ 0.22986745 0.97322053 0.00165708 -0.24120769] [ 0.12017629 -0.0300743 0.99229693 -1.03242573] [ 0. 0. 0. 1. ]] SLAMing on 96.96134618399999 meters Centerline goodness : 0.866239 Centerline is valid? [False, False] Translation: X:-0.42, Y:-0.24, Z:-1.03 [[ 0.96636445 -0.22576931 -0.1231583 -0.41584161] [ 0.22770864 0.9737278 0.0017188 -0.24149551] [ 0.1195346 -0.02970519 0.99238555 -1.03311905] [ 0. 0. 0. 1. ]] SLAMing on 96.991346184 meters Centerline goodness : 0.867124 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 0.96672135 -0.22331218 -0.1248259 -0.41278876] [ 0.22574716 0.97417022 0.00553189 -0.24173815] [ 0.12036633 -0.03352689 0.99216324 -1.03405655] [ 0. 0. 0. 1. ]] SLAMing on 97.021346184 meters Centerline goodness : 0.866938 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 0.96693259 -0.22156956 -0.12628657 -0.41223328] [ 0.22442259 0.97445354 0.00864916 -0.24014584] [ 0.121144 -0.03670472 0.99195609 -1.03265894] [ 0. 0. 0. 1. ]] SLAMing on 97.051346184 meters Centerline goodness : 0.866321 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.03 [[ 0.96692813 -0.2212767 -0.12683304 -0.41312464] [ 0.22419884 0.97450126 0.00906503 -0.23739949] [ 0.12159308 -0.03720105 0.99188266 -1.03104123] [ 0. 0. 0. 1. ]] SLAMing on 97.081346184 meters Centerline goodness : 0.862652 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.04 [[ 0.96729029 -0.22048373 -0.12544488 -0.41069962] [ 0.22298825 0.97480199 0.00610938 -0.23663004] [ 0.1209369 -0.03388228 0.99208178 -1.03715698] [ 0. 0. 0. 1. ]] SLAMing on 97.111346184 meters Centerline goodness : 0.861259 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.04 [[ 0.96708638 -0.22246136 -0.12351063 -0.41006987] [ 0.22437254 0.97450212 0.00160772 -0.2369655 ] [ 0.12000371 -0.0292672 0.99234195 -1.04099161] [ 0. 0. 0. 1. ]] SLAMing on 97.141346184 meters Centerline goodness : 0.864255 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.24, Z:-1.04 [[ 0.96662983 -0.22386777 -0.12453913 -0.40877922] [ 0.22581249 0.97416957 0.00154104 -0.23532042] [ 0.12097724 -0.02961211 0.9922135 -1.03982141] [ 0. 0. 0. 1. ]] SLAMing on 97.171346184 meters Centerline goodness : 0.864462 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-1.04 [[ 0.96648878 -0.22267692 -0.12772797 -0.40672135] [ 0.22537274 0.97424839 0.00687079 -0.23353229] [ 0.1229088 -0.03542694 0.99178544 -1.03619634] [ 0. 0. 0. 1. ]] SLAMing on 97.201346184 meters Centerline goodness : 0.864231 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.03 [[ 0.96642408 -0.22808085 -0.11833693 -0.40226474] [ 0.23044106 0.97306474 0.00647608 -0.22552242] [ 0.11367242 -0.03352833 0.99295238 -1.03491852] [ 0. 0. 0. 1. ]] SLAMing on 97.23134618399999 meters Centerline goodness : 0.863186 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.03 [[ 0.96635602 -0.22823246 -0.11860011 -0.4028898 ] [ 0.2306219 0.97302076 0.00664372 -0.22520507] [ 0.11388406 -0.03377198 0.99291987 -1.03343358] [ 0. 0. 0. 1. ]] SLAMing on 97.26134618399999 meters Centerline goodness : 0.862705 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-1.04 [[ 0.96631069 -0.22993559 -0.11564285 -0.40519719] [ 0.23169624 0.97278645 0.0018361 -0.22698527] [ 0.11207361 -0.02856825 0.99328916 -1.03566814] [ 0. 0. 0. 1. ]] SLAMing on 97.29134618399999 meters Centerline goodness : 0.864805 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.23, Z:-1.04 [[ 0.96622739 -0.23118751 -0.11382869 -0.40643422] [ 0.23250135 0.97259445 -0.00177914 -0.22818605] [ 0.11112046 -0.02474627 0.9934988 -1.0370218 ] [ 0. 0. 0. 1. ]] SLAMing on 97.32134618399999 meters Centerline goodness : 0.865610 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.04 [[ 0.96622804 -0.23105182 -0.11409833 -0.40405575] [ 0.23238628 0.97262218 -0.00164755 -0.22924156] [ 0.11135524 -0.02492298 0.9934681 -1.03898734] [ 0. 0. 0. 1. ]] SLAMing on 97.351346184 meters Centerline goodness : 0.868009 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.04 [[ 9.65997866e-01 -2.31351749e-01 -1.15431760e-01 -4.03961932e-01] [ 2.32898759e-01 9.72500982e-01 -8.74886277e-05 -2.29029806e-01] [ 1.12277740e-01 -2.67993998e-02 9.93315409e-01 -1.03596892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381346184 meters Centerline goodness : 0.866557 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.03 [[ 0.96593312 -0.23044452 -0.1177647 -0.40172433] [ 0.23245982 0.97259976 0.00348452 -0.22828976] [ 0.11373493 -0.03074138 0.99303541 -1.03415778] [ 0. 0. 0. 1. ]] SLAMing on 97.411346184 meters Centerline goodness : 0.865889 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.03 [[ 0.96574513 -0.23052756 -0.11913599 -0.39892127] [ 0.23271059 0.97253535 0.00455716 -0.22681836] [ 0.11481341 -0.03212526 0.99286749 -1.03461718] [ 0. 0. 0. 1. ]] SLAMing on 97.441346184 meters Centerline goodness : 0.865065 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.04 [[ 9.65491113e-01 -2.32644301e-01 -1.17062116e-01 -3.97136821e-01] [ 2.34174160e-01 9.72194408e-01 -7.04057077e-04 -2.26899070e-01] [ 1.13970930e-01 -2.67331618e-02 9.93124345e-01 -1.03999253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.471346184 meters Centerline goodness : 0.866746 Centerline is valid? [False, False] Translation: X:-0.40, Y:-0.23, Z:-1.04 [[ 0.96533648 -0.23380834 -0.11601352 -0.39550508] [ 0.23494372 0.97200081 -0.00398362 -0.22793582] [ 0.11369664 -0.02341112 0.99323965 -1.04293544] [ 0. 0. 0. 1. ]] SLAMing on 97.501346184 meters Centerline goodness : 0.867974 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.04 [[ 0.96527952 -0.23433612 -0.11542109 -0.39482148] [ 0.23527771 0.9719121 -0.00559138 -0.22959959] [ 0.11348942 -0.02175876 0.99330092 -1.04419409] [ 0. 0. 0. 1. ]] SLAMing on 97.531346184 meters Centerline goodness : 0.865486 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.04 [[ 0.96516092 -0.23470214 -0.11566894 -0.39454184] [ 0.23570107 0.9718119 -0.00516017 -0.23047738] [ 0.11361956 -0.0222829 0.99327442 -1.04352508] [ 0. 0. 0. 1. ]] SLAMing on 97.561346184 meters Centerline goodness : 0.870622 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.04 [[ 0.9651173 -0.23273786 -0.11992366 -0.39184531] [ 0.23478657 0.97204217 0.00304833 -0.23204415] [ 0.11586139 -0.03109846 0.99277844 -1.03811259] [ 0. 0. 0. 1. ]] SLAMing on 97.591346184 meters Centerline goodness : 0.870305 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.03 [[ 0.96486177 -0.23314383 -0.12118466 -0.39212238] [ 0.23545647 0.97187241 0.0049255 -0.23222413] [ 0.11662768 -0.03328614 0.99261776 -1.03464402] [ 0. 0. 0. 1. ]] SLAMing on 97.62134618399999 meters Centerline goodness : 0.872551 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.03 [[ 0.96458116 -0.23413169 -0.12151357 -0.39112853] [ 0.23651512 0.97161296 0.00537102 -0.23292239] [ 0.11680663 -0.03392058 0.99257524 -1.03449318] [ 0. 0. 0. 1. ]] SLAMing on 97.65134618399999 meters Centerline goodness : 0.870360 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.04 [[ 0.96371651 -0.2392732 -0.11831664 -0.38876207] [ 0.24056424 0.97062705 -0.00345946 -0.23408767] [ 0.11566908 -0.02512881 0.99296989 -1.04103376] [ 0. 0. 0. 1. ]] SLAMing on 97.68134618399999 meters Centerline goodness : 0.870710 Centerline is valid? [False, False] Translation: X:-0.39, Y:-0.23, Z:-1.04 [[ 0.96331929 -0.24150912 -0.11700125 -0.38696461] [ 0.24227943 0.97017508 -0.00780915 -0.23447051] [ 0.11539768 -0.02082429 0.99310106 -1.04441115] [ 0. 0. 0. 1. ]] SLAMing on 97.71134618399999 meters Centerline goodness : 0.867591 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.24, Z:-1.05 [[ 0.96328609 -0.24139629 -0.11750632 -0.38337365] [ 0.24221482 0.97019381 -0.00748056 -0.23502277] [ 0.11580968 -0.02125586 0.99304396 -1.04721106] [ 0. 0. 0. 1. ]] SLAMing on 97.741346184 meters Centerline goodness : 0.873094 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.04 [[ 0.96325746 -0.24025347 -0.12005556 -0.38229166] [ 0.24151642 0.97038792 -0.00413623 -0.23161441] [ 0.11749421 -0.02501113 0.99275856 -1.04425433] [ 0. 0. 0. 1. ]] SLAMing on 97.771346184 meters Centerline goodness : 0.871360 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.04 [[ 9.63499644e-01 -2.37668866e-01 -1.23215042e-01 -3.77833312e-01] [ 2.39575521e-01 9.70877495e-01 6.78287350e-04 -2.29598067e-01] [ 1.19465503e-01 -3.01728374e-02 9.92379763e-01 -1.04402098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801346184 meters Centerline goodness : 0.874494 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.04 [[ 9.63966203e-01 -2.35831863e-01 -1.23095461e-01 -3.79286873e-01] [ 2.37681384e-01 9.71343110e-01 3.50667241e-04 -2.26856038e-01] [ 1.19485229e-01 -2.95955308e-02 9.92394773e-01 -1.04374463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.831346184 meters Centerline goodness : 0.872367 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.05 [[ 9.64367016e-01 -2.34707465e-01 -1.22101039e-01 -3.79657068e-01] [ 2.36394011e-01 9.71657034e-01 -6.92640872e-04 -2.27258207e-01] [ 1.18802901e-01 -2.81959943e-02 9.92517434e-01 -1.04569358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861346184 meters Centerline goodness : 0.876159 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.05 [[ 9.64763272e-01 -2.33407023e-01 -1.21461887e-01 -3.79121342e-01] [ 2.35043410e-01 9.71984477e-01 -8.78906166e-04 -2.28046558e-01] [ 1.18264211e-01 -2.77008797e-02 9.92595707e-01 -1.04799107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.891346184 meters Centerline goodness : 0.874656 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.05 [[ 9.65007298e-01 -2.32281300e-01 -1.21681195e-01 -3.78049928e-01] [ 2.34032838e-01 9.72228687e-01 1.05635517e-04 -2.28512096e-01] [ 1.18277411e-01 -2.85793344e-02 9.92569230e-01 -1.04907712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921346184 meters Centerline goodness : 0.874656 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.05 [[ 9.65007298e-01 -2.32281300e-01 -1.21681195e-01 -3.78049928e-01] [ 2.34032838e-01 9.72228687e-01 1.05635517e-04 -2.28512096e-01] [ 1.18277411e-01 -2.85793344e-02 9.92569230e-01 -1.04907712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.951346184 meters Centerline goodness : 0.874328 Centerline is valid? [False, False] Translation: X:-0.38, Y:-0.23, Z:-1.05 [[ 9.64922237e-01 -2.32486511e-01 -1.21963512e-01 -3.78484981e-01] [ 2.34278717e-01 9.72169404e-01 3.64624671e-04 -2.28506794e-01] [ 1.18484424e-01 -2.89252895e-02 9.92534518e-01 -1.04774603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98134618399999 meters Centerline goodness : 0.873967 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.05 [[ 0.9647841 -0.23830448 -0.11136702 -0.37405948] [ 0.24020765 0.9707141 0.00379831 -0.22424075] [ 0.10720038 -0.03041576 0.99377209 -1.05333127] [ 0. 0. 0. 1. ]] SLAMing on 98.01134618399999 meters Centerline goodness : 0.877171 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.05 [[ 0.96428193 -0.23957693 -0.1129746 -0.37334808] [ 0.24162865 0.97035776 0.00462761 -0.22294526] [ 0.10851711 -0.03176022 0.9935871 -1.0500825 ] [ 0. 0. 0. 1. ]] SLAMing on 98.04134618399999 meters Centerline goodness : 0.874149 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.05 [[ 0.96370812 -0.2409784 -0.11487415 -0.3698351 ] [ 0.24324859 0.96994567 0.00596028 -0.22167448] [ 0.10998539 -0.03368695 0.99336217 -1.04954428] [ 0. 0. 0. 1. ]] SLAMing on 98.07134618399999 meters Centerline goodness : 0.874018 Centerline is valid? [False, False] Translation: X:-0.37, Y:-0.22, Z:-1.05 [[ 9.62527290e-01 -2.46023061e-01 -1.14078345e-01 -3.67464733e-01] [ 2.47748648e-01 9.68823847e-01 9.80261703e-04 -2.21684560e-01] [ 1.10280654e-01 -2.92062845e-02 9.93471273e-01 -1.05129095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101346184 meters Centerline goodness : 0.868660 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 0.96220825 -0.24675268 -0.11518853 -0.36344314] [ 0.24854611 0.96861926 0.00124769 -0.22231098] [ 0.11126596 -0.0298302 0.99334286 -1.05269406] [ 0. 0. 0. 1. ]] SLAMing on 98.131346184 meters Centerline goodness : 0.871352 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 9.61886659e-01 -2.47928919e-01 -1.15348628e-01 -3.63420351e-01] [ 2.49612292e-01 9.68345847e-01 1.54268448e-04 -2.20598208e-01] [ 1.11659117e-01 -2.89408241e-02 9.93325058e-01 -1.05205383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161346184 meters Centerline goodness : 0.871776 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 0.96170374 -0.24794317 -0.11683362 -0.35984921] [ 0.24980444 0.96829539 0.00133207 -0.21964406] [ 0.11279918 -0.03046661 0.99315061 -1.05298298] [ 0. 0. 0. 1. ]] SLAMing on 98.191346184 meters Centerline goodness : 0.870841 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 0.96150677 -0.24815783 -0.11799328 -0.35702854] [ 0.25008186 0.96822345 0.00155232 -0.21862819] [ 0.11385864 -0.03100055 0.99301318 -1.05340673] [ 0. 0. 0. 1. ]] SLAMing on 98.221346184 meters Centerline goodness : 0.869140 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 0.96144671 -0.24816391 -0.11846899 -0.35680693] [ 0.25008012 0.9682242 0.00135402 -0.21803976] [ 0.11436852 -0.03092855 0.99295683 -1.0524016 ] [ 0. 0. 0. 1. ]] SLAMing on 98.251346184 meters Centerline goodness : 0.868690 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.22, Z:-1.05 [[ 0.96144834 -0.24763794 -0.11955141 -0.3555014 ] [ 0.24978752 0.9682957 0.0031036 -0.21772946] [ 0.11499255 -0.03284641 0.99282316 -1.0519455 ] [ 0. 0. 0. 1. ]] SLAMing on 98.281346184 meters Centerline goodness : 0.871065 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.05 [[ 0.96138574 -0.2474593 -0.12042159 -0.35285569] [ 0.24968797 0.96831987 0.00354336 -0.21745193] [ 0.11572978 -0.03347436 0.99271652 -1.05292609] [ 0. 0. 0. 1. ]] SLAMing on 98.311346184 meters Centerline goodness : 0.869082 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.05 [[ 0.96131816 -0.24766815 -0.12053171 -0.35160097] [ 0.24987214 0.96827326 0.00328689 -0.21796006] [ 0.11589357 -0.03327726 0.99270404 -1.05362179] [ 0. 0. 0. 1. ]] SLAMing on 98.341346184 meters Centerline goodness : 0.867497 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.05 [[ 0.96110867 -0.24851643 -0.12045625 -0.3508196 ] [ 0.25061077 0.96808516 0.00231714 -0.21811385] [ 0.11603606 -0.03241466 0.99271593 -1.05401297] [ 0. 0. 0. 1. ]] SLAMing on 98.37134618399999 meters Centerline goodness : 0.868197 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.05 [[ 0.96058395 -0.24971332 -0.12215455 -0.34744682] [ 0.25205149 0.96770626 0.00382695 -0.21893812] [ 0.11725409 -0.03446534 0.99250371 -1.05340822] [ 0. 0. 0. 1. ]] SLAMing on 98.40134618399999 meters Centerline goodness : 0.868260 Centerline is valid? [False, False] Translation: X:-0.35, Y:-0.22, Z:-1.05 [[ 0.96022339 -0.25043322 -0.12350809 -0.34507081] [ 0.25296131 0.96746361 0.0049741 -0.21916817] [ 0.1182439 -0.03601901 0.9923311 -1.05257739] [ 0. 0. 0. 1. ]] SLAMing on 98.43134618399999 meters Centerline goodness : 0.868948 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.22, Z:-1.05 [[ 0.95995496 -0.25113121 -0.12417568 -0.34418808] [ 0.25372735 0.96726129 0.00529355 -0.21955244] [ 0.11878095 -0.03658834 0.99224613 -1.05151773] [ 0. 0. 0. 1. ]] SLAMing on 98.46134618399999 meters Centerline goodness : 0.864893 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.22, Z:-1.05 [[ 0.9598187 -0.25179865 -0.12387694 -0.34201284] [ 0.25424636 0.96713079 0.00410235 -0.22174501] [ 0.11877224 -0.03543277 0.99228911 -1.05347112] [ 0. 0. 0. 1. ]] SLAMing on 98.491346184 meters Centerline goodness : 0.868896 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.22, Z:-1.05 [[ 0.9598535 -0.25203783 -0.12311858 -0.34205059] [ 0.25432366 0.96711465 0.00295626 -0.22369151] [ 0.11832469 -0.03414955 0.99238756 -1.05406025] [ 0. 0. 0. 1. ]] SLAMing on 98.521346184 meters Centerline goodness : 0.865969 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.22, Z:-1.05 [[ 0.95976576 -0.2522704 -0.12332615 -0.34119071] [ 0.25459312 0.967043 0.00319021 -0.22489254] [ 0.11845689 -0.03445985 0.99236107 -1.05400249] [ 0. 0. 0. 1. ]] SLAMing on 98.551346184 meters Centerline goodness : 0.864858 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.05 [[ 0.95967363 -0.25223021 -0.12412267 -0.33941451] [ 0.25465457 0.96702459 0.0038064 -0.22576946] [ 0.11906959 -0.03526131 0.99225958 -1.05383367] [ 0. 0. 0. 1. ]] SLAMing on 98.581346184 meters Centerline goodness : 0.863144 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.06 [[ 0.9595164 -0.25237091 -0.12504879 -0.3362309 ] [ 0.25497369 0.96693507 0.0049993 -0.22637161] [ 0.11965238 -0.03668106 0.992138 -1.05534941] [ 0. 0. 0. 1. ]] SLAMing on 98.611346184 meters Centerline goodness : 0.864258 Centerline is valid? [False, False] Translation: X:-0.34, Y:-0.23, Z:-1.05 [[ 0.95927962 -0.25302464 -0.1255434 -0.33563946] [ 0.25564413 0.96675832 0.00494277 -0.22576734] [ 0.12011949 -0.03683593 0.99207582 -1.05459365] [ 0. 0. 0. 1. ]] SLAMing on 98.641346184 meters Centerline goodness : 0.864165 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95907954 -0.25343895 -0.12623443 -0.33354401] [ 0.25608248 0.96664251 0.00490045 -0.22525059] [ 0.1207816 -0.03702635 0.99198833 -1.05512147] [ 0. 0. 0. 1. ]] SLAMing on 98.671346184 meters Centerline goodness : 0.864368 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.22, Z:-1.06 [[ 0.95862171 -0.25521641 -0.12613091 -0.33214428] [ 0.25766382 0.96622931 0.00320739 -0.22463795] [ 0.1210528 -0.03557405 0.99200842 -1.05596202] [ 0. 0. 0. 1. ]] SLAMing on 98.701346184 meters Centerline goodness : 0.862466 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 9.57668570e-01 -2.59257217e-01 -1.25126356e-01 -3.30990263e-01] [ 2.61213071e-01 9.65280833e-01 -8.02980638e-04 -2.25786605e-01] [ 1.20990251e-01 -3.19156503e-02 9.92140489e-01 -1.05685790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73134618399999 meters Centerline goodness : 0.860496 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95729024 -0.26061755 -0.12519536 -0.32998305] [ 0.26249189 0.96493291 -0.00157775 -0.22675515] [ 0.12121632 -0.03135241 0.99213085 -1.0567772 ] [ 0. 0. 0. 1. ]] SLAMing on 98.76134618399999 meters Centerline goodness : 0.860173 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95716863 -0.26095309 -0.1254261 -0.32808051] [ 0.26289188 0.96482463 -0.00113298 -0.22850136] [ 0.12130984 -0.03188905 0.99210232 -1.05775551] [ 0. 0. 0. 1. ]] SLAMing on 98.79134618399999 meters Centerline goodness : 0.863296 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 9.57309629e-01 -2.60685807e-01 -1.24904701e-01 -3.28430569e-01] [ 2.62667210e-01 9.64886285e-01 -6.26962038e-04 -2.31643658e-01] [ 1.20682273e-01 -3.22081725e-02 9.92168545e-01 -1.05780736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82134618399999 meters Centerline goodness : 0.864329 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.9575363 -0.25939217 -0.12585677 -0.3267923 ] [ 0.26163592 0.9651657 0.00134651 -0.23219664] [ 0.12112336 -0.03421798 0.99204751 -1.05797749] [ 0. 0. 0. 1. ]] SLAMing on 98.851346184 meters Centerline goodness : 0.867039 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95845915 -0.2551093 -0.12757472 -0.32741984] [ 0.25799672 0.96612483 0.00636402 -0.23147482] [ 0.12162958 -0.03901352 0.99180855 -1.05577072] [ 0. 0. 0. 1. ]] SLAMing on 98.881346184 meters Centerline goodness : 0.861927 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95884792 -0.25369432 -0.12747491 -0.3278354 ] [ 0.25661917 0.96648872 0.00679392 -0.23117423] [ 0.12147948 -0.03922684 0.99181853 -1.05614219] [ 0. 0. 0. 1. ]] SLAMing on 98.911346184 meters Centerline goodness : 0.865605 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95916472 -0.25282819 -0.12681068 -0.32766326] [ 0.25562113 0.96675851 0.00598506 -0.23161996] [ 0.12108211 -0.03815615 0.99190888 -1.05790032] [ 0. 0. 0. 1. ]] SLAMing on 98.941346184 meters Centerline goodness : 0.864464 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95947678 -0.25187283 -0.12635023 -0.32631324] [ 0.25459812 0.96703052 0.00563727 -0.23237338] [ 0.12076466 -0.03757736 0.99196968 -1.06060967] [ 0. 0. 0. 1. ]] SLAMing on 98.971346184 meters Centerline goodness : 0.861176 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95985557 -0.2509539 -0.12529738 -0.32701173] [ 0.2535257 0.96731695 0.00475745 -0.23365051] [ 0.12000838 -0.03633257 0.99210782 -1.06207272] [ 0. 0. 0. 1. ]] SLAMing on 99.001346184 meters Centerline goodness : 0.860950 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95972583 -0.25135073 -0.12549562 -0.32613588] [ 0.25393695 0.96720891 0.00479052 -0.23392677] [ 0.12017638 -0.03646556 0.99208261 -1.06225428] [ 0. 0. 0. 1. ]] SLAMing on 99.031346184 meters Centerline goodness : 0.863940 Centerline is valid? [False, False] Translation: X:-0.33, Y:-0.23, Z:-1.06 [[ 0.95942754 -0.25225535 -0.12596043 -0.32558004] [ 0.25485087 0.96696911 0.00466661 -0.23372347] [ 0.12062267 -0.0365784 0.99202429 -1.0613579 ] [ 0. 0. 0. 1. ]] SLAMing on 99.061346184 meters Centerline goodness : 0.861901 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.06 [[ 0.95886361 -0.25327806 -0.12818264 -0.32174928] [ 0.25626039 0.96658202 0.00705824 -0.23275061] [ 0.12211134 -0.03961603 0.99172546 -1.06076587] [ 0. 0. 0. 1. ]] SLAMing on 99.091346184 meters Centerline goodness : 0.860186 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.06 [[ 0.95862255 -0.25406865 -0.12842088 -0.32055793] [ 0.2570691 0.96636712 0.00707557 -0.23295947] [ 0.12230404 -0.03979584 0.99169452 -1.06107844] [ 0. 0. 0. 1. ]] SLAMing on 99.12134618399999 meters Centerline goodness : 0.860471 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.06 [[ 0.95849261 -0.25446305 -0.12860975 -0.31761938] [ 0.25746126 0.96626349 0.00696962 -0.23355917] [ 0.12249739 -0.03979236 0.99167079 -1.0635907 ] [ 0. 0. 0. 1. ]] SLAMing on 99.15134618399999 meters Centerline goodness : 0.862464 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.07 [[ 0.95809989 -0.2570926 -0.1262854 -0.31938534] [ 0.25945179 0.96575328 0.00231783 -0.23407391] [ 0.12136464 -0.03498569 0.99199124 -1.06503696] [ 0. 0. 0. 1. ]] SLAMing on 99.18134618399999 meters Centerline goodness : 0.861334 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.07 [[ 0.95799296 -0.25699586 -0.12728947 -0.31689855] [ 0.25950963 0.96573492 0.00328794 -0.23352756] [ 0.1220829 -0.03618266 0.99186016 -1.06572198] [ 0. 0. 0. 1. ]] SLAMing on 99.21134618399999 meters Centerline goodness : 0.860540 Centerline is valid? [False, False] Translation: X:-0.32, Y:-0.23, Z:-1.07 [[ 0.95787567 -0.25688771 -0.12838573 -0.31539013] [ 0.25958441 0.9657102 0.00444371 -0.23204144] [ 0.12284188 -0.03758346 0.99171435 -1.06533903] [ 0. 0. 0. 1. ]] SLAMing on 99.241346184 meters Centerline goodness : 0.862731 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.06 [[ 0.95796018 -0.25532866 -0.1308418 -0.31418006] [ 0.25861512 0.96594319 0.00848359 -0.23002668] [ 0.12421964 -0.04196461 0.99136696 -1.06275212] [ 0. 0. 0. 1. ]] SLAMing on 99.271346184 meters Centerline goodness : 0.862670 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.06 [[ 0.95807814 -0.25441923 -0.13174646 -0.31272869] [ 0.25791379 0.96611733 0.0098882 -0.22891774] [ 0.12476679 -0.0434529 0.99123413 -1.06304193] [ 0. 0. 0. 1. ]] SLAMing on 99.301346184 meters Centerline goodness : 0.861648 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.06 [[ 0.95811379 -0.25444025 -0.13144626 -0.31350636] [ 0.257862 0.9661359 0.00941279 -0.22839314] [ 0.12459996 -0.04291352 0.99127861 -1.06283122] [ 0. 0. 0. 1. ]] SLAMing on 99.331346184 meters Centerline goodness : 0.863422 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.06 [[ 0.95822635 -0.25453985 -0.13042898 -0.31397346] [ 0.25766471 0.96620617 0.0073844 -0.22792224] [ 0.12414166 -0.04068288 0.99143015 -1.06441605] [ 0. 0. 0. 1. ]] SLAMing on 99.361346184 meters Centerline goodness : 0.862736 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.07 [[ 0.95842979 -0.25363604 -0.13069471 -0.31215588] [ 0.25678888 0.9664378 0.00757995 -0.22727057] [ 0.12438576 -0.0408258 0.99139368 -1.06641817] [ 0. 0. 0. 1. ]] SLAMing on 99.391346184 meters Centerline goodness : 0.864304 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.07 [[ 0.95855594 -0.25327364 -0.13047208 -0.31303511] [ 0.25635043 0.96655805 0.00707089 -0.22624443] [ 0.12431797 -0.04022442 0.99142677 -1.06615089] [ 0. 0. 0. 1. ]] SLAMing on 99.421346184 meters Centerline goodness : 0.864882 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.23, Z:-1.07 [[ 0.95921383 -0.24951314 -0.13286091 -0.30959082] [ 0.25326376 0.96732473 0.01184602 -0.22516365] [ 0.12556391 -0.04501172 0.9910639 -1.06720132] [ 0. 0. 0. 1. ]] SLAMing on 99.451346184 meters Centerline goodness : 0.863214 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.07 [[ 0.95957917 -0.25377365 -0.12168299 -0.30673558] [ 0.25679836 0.96641741 0.00959119 -0.2178131 ] [ 0.11516257 -0.0404515 0.99252267 -1.06795569] [ 0. 0. 0. 1. ]] SLAMing on 99.48134618399999 meters Centerline goodness : 0.861790 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.22, Z:-1.07 [[ 0.95977579 -0.25225575 -0.12327805 -0.30572293] [ 0.25562903 0.96669928 0.01209546 -0.21606112] [ 0.11612165 -0.04312237 0.99229845 -1.06688684] [ 0. 0. 0. 1. ]] SLAMing on 99.51134618399999 meters Centerline goodness : 0.862694 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-1.07 [[ 0.96015075 -0.2506652 -0.12360215 -0.30518914] [ 0.25403374 0.96712051 0.01203246 -0.21361152] [ 0.11652205 -0.04295209 0.9922589 -1.06789663] [ 0. 0. 0. 1. ]] SLAMing on 99.54134618399999 meters Centerline goodness : 0.860863 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96044515 -0.24948191 -0.12370887 -0.30257651] [ 0.25285268 0.96742931 0.01208494 -0.21348443] [ 0.11666461 -0.04288704 0.99224496 -1.07109372] [ 0. 0. 0. 1. ]] SLAMing on 99.57134618399999 meters Centerline goodness : 0.860943 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96069407 -0.24891715 -0.12291117 -0.30384915] [ 0.25212195 0.96763299 0.01099667 -0.21320141] [ 0.11619564 -0.04155304 0.99235675 -1.07153476] [ 0. 0. 0. 1. ]] SLAMing on 99.601346184 meters Centerline goodness : 0.863202 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96145997 -0.24545738 -0.12387659 -0.30462431] [ 0.2489989 0.96840654 0.01372292 -0.21096318] [ 0.11659451 -0.04403917 0.99220274 -1.0706168 ] [ 0. 0. 0. 1. ]] SLAMing on 99.631346184 meters Centerline goodness : 0.861569 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96153224 -0.2445223 -0.12515826 -0.30383455] [ 0.24836999 0.96853509 0.01587854 -0.20926042] [ 0.11733751 -0.04635329 0.99200972 -1.06954587] [ 0. 0. 0. 1. ]] SLAMing on 99.661346184 meters Centerline goodness : 0.863052 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96162923 -0.24391034 -0.1256064 -0.30413109] [ 0.2478888 0.96864211 0.01684063 -0.20827626] [ 0.11756005 -0.04733086 0.99193721 -1.06867591] [ 0. 0. 0. 1. ]] SLAMing on 99.691346184 meters Centerline goodness : 0.860410 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-1.07 [[ 0.96174119 -0.24352062 -0.12550538 -0.30532026] [ 0.2474784 0.96874894 0.01673102 -0.20752285] [ 0.11750886 -0.04715078 0.99195185 -1.06782108] [ 0. 0. 0. 1. ]] SLAMing on 99.721346184 meters Centerline goodness : 0.861259 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96190092 -0.24276017 -0.12575419 -0.30487615] [ 0.24673069 0.96893872 0.01678477 -0.2073989 ] [ 0.11777343 -0.0471727 0.99191943 -1.06796844] [ 0. 0. 0. 1. ]] SLAMing on 99.751346184 meters Centerline goodness : 0.861611 Centerline is valid? [False, False] Translation: X:-0.31, Y:-0.21, Z:-1.07 [[ 0.96157694 -0.24478074 -0.12430675 -0.3050198 ] [ 0.24823718 0.96861364 0.01288094 -0.20683032] [ 0.1172522 -0.04324357 0.99216023 -1.0698797 ] [ 0. 0. 0. 1. ]] SLAMing on 99.781346184 meters Centerline goodness : 0.864696 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.9612877 -0.24552986 -0.12506415 -0.3033023 ] [ 0.24902599 0.96841105 0.01288769 -0.20688469] [ 0.11794919 -0.04353301 0.99206495 -1.06966386] [ 0. 0. 0. 1. ]] SLAMing on 99.811346184 meters Centerline goodness : 0.864696 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.9612877 -0.24552986 -0.12506415 -0.3033023 ] [ 0.24902599 0.96841105 0.01288769 -0.20688469] [ 0.11794919 -0.04353301 0.99206495 -1.06966386] [ 0. 0. 0. 1. ]] SLAMing on 99.841346184 meters Centerline goodness : 0.863507 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.21, Z:-1.07 [[ 0.96042472 -0.2473663 -0.12804009 -0.30061291] [ 0.25133916 0.9677733 0.01560323 -0.20511367] [ 0.12005406 -0.04716722 0.99164625 -1.06600063] [ 0. 0. 0. 1. ]] SLAMing on 99.87134618399999 meters Centerline goodness : 0.863918 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:-1.06 [[ 0.95987774 -0.24901057 -0.12895136 -0.29971128] [ 0.2530172 0.96733895 0.01541633 -0.20371789] [ 0.12090085 -0.0474247 0.99153108 -1.06456408] [ 0. 0. 0. 1. ]] SLAMing on 99.90134618399999 meters Centerline goodness : 0.861776 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:-1.06 [[ 0.95928906 -0.25067601 -0.13010011 -0.29690828] [ 0.25471494 0.96689797 0.01512017 -0.20251908] [ 0.12200327 -0.04764305 0.99138557 -1.06459284] [ 0. 0. 0. 1. ]] SLAMing on 99.93134618399999 meters Centerline goodness : 0.861821 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:-1.06 [[ 0.958886 -0.25217839 -0.13016797 -0.29609035] [ 0.2561066 0.96654574 0.01409784 -0.20219911] [ 0.12225813 -0.0468551 0.99139172 -1.06464142] [ 0. 0. 0. 1. ]] SLAMing on 99.96134618399999 meters Centerline goodness : 0.863836 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.95874276 -0.2524953 -0.13060799 -0.2940462 ] [ 0.25643351 0.96646065 0.01398841 -0.20251229] [ 0.12269547 -0.04690355 0.9913354 -1.06566321] [ 0. 0. 0. 1. ]] SLAMing on 99.991346184 meters Centerline goodness : 0.861514 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.95868165 -0.2524592 -0.13112528 -0.2926815 ] [ 0.25645266 0.96645194 0.01423658 -0.20231412] [ 0.12313213 -0.04727578 0.99126358 -1.06603097] [ 0. 0. 0. 1. ]] SLAMing on 100.021346184 meters Centerline goodness : 0.861249 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.95930353 -0.24971565 -0.13182876 -0.29215411] [ 0.25390746 0.96710054 0.01573391 -0.20139383] [ 0.12356266 -0.04856591 0.99114763 -1.06633707] [ 0. 0. 0. 1. ]] SLAMing on 100.051346184 meters Centerline goodness : 0.861532 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.95977143 -0.24688553 -0.13373981 -0.28821216] [ 0.25155386 0.9676579 0.01894335 -0.20147926] [ 0.12473754 -0.05182405 0.99083541 -1.06782184] [ 0. 0. 0. 1. ]] SLAMing on 100.081346184 meters Centerline goodness : 0.861992 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96007904 -0.24611214 -0.13295506 -0.28974744] [ 0.25061304 0.96792024 0.01798663 -0.20061037] [ 0.12426317 -0.05058886 0.99095885 -1.06820515] [ 0. 0. 0. 1. ]] SLAMing on 100.111346184 meters Centerline goodness : 0.863103 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96033208 -0.24536398 -0.13250964 -0.29135515] [ 0.24975988 0.96815184 0.01737863 -0.19940781] [ 0.12402536 -0.04978485 0.99102935 -1.06766031] [ 0. 0. 0. 1. ]] SLAMing on 100.141346184 meters Centerline goodness : 0.864727 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96074311 -0.24290679 -0.13404837 -0.28988534] [ 0.24770935 0.96862508 0.02013786 -0.1983924 ] [ 0.12495099 -0.05255235 0.99077016 -1.06732414] [ 0. 0. 0. 1. ]] SLAMing on 100.171346184 meters Centerline goodness : 0.861452 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96132392 -0.23989562 -0.13530117 -0.28998765] [ 0.24511282 0.96922008 0.02306829 -0.1957408 ] [ 0.12560263 -0.05534015 0.99053594 -1.0665833 ] [ 0. 0. 0. 1. ]] SLAMing on 100.201346184 meters Centerline goodness : 0.859914 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96162291 -0.23909051 -0.13459984 -0.29123845] [ 0.2442083 0.96945836 0.02264493 -0.19594572] [ 0.12507475 -0.05464628 0.99064125 -1.06680075] [ 0. 0. 0. 1. ]] SLAMing on 100.23134618399999 meters Centerline goodness : 0.862756 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.07 [[ 0.96189127 -0.23847942 -0.13376379 -0.29321401] [ 0.24351727 0.96963747 0.02241678 -0.19660579] [ 0.12435645 -0.0541363 0.99075968 -1.06645245] [ 0. 0. 0. 1. ]] SLAMing on 100.26134618399999 meters Centerline goodness : 0.863353 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.20, Z:-1.06 [[ 0.96242776 -0.2355945 -0.13501124 -0.29389088] [ 0.24121069 0.97010722 0.02663434 -0.19678282] [ 0.12470048 -0.05819978 0.99048603 -1.06437604] [ 0. 0. 0. 1. ]] SLAMing on 100.29134618399999 meters Centerline goodness : 0.863333 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.20, Z:-1.06 [[ 0.96235066 -0.23562887 -0.13549997 -0.29518193] [ 0.24132928 0.97006568 0.02706948 -0.19500909] [ 0.12506552 -0.05875044 0.99040749 -1.06226999] [ 0. 0. 0. 1. ]] SLAMing on 100.32134618399999 meters Centerline goodness : 0.862494 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.96232004 -0.23544691 -0.13603273 -0.29495569] [ 0.24123618 0.97007586 0.02753049 -0.19360514] [ 0.12548009 -0.05930916 0.99032175 -1.06169944] [ 0. 0. 0. 1. ]] SLAMing on 100.351346184 meters Centerline goodness : 0.860225 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96232188 -0.2358516 -0.13531672 -0.29501376] [ 0.2414542 0.97005394 0.02636691 -0.19297851] [ 0.12504584 -0.05804624 0.9904515 -1.06309957] [ 0. 0. 0. 1. ]] SLAMing on 100.381346184 meters Centerline goodness : 0.859258 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96200668 -0.23823158 -0.13337492 -0.2972439 ] [ 0.24318339 0.9697327 0.02191638 -0.19267319] [ 0.12411685 -0.05351827 0.9908233 -1.06333507] [ 0. 0. 0. 1. ]] SLAMing on 100.411346184 meters Centerline goodness : 0.856958 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96167378 -0.23987192 -0.13283447 -0.29714566] [ 0.24445067 0.96947434 0.01906227 -0.19255958] [ 0.12420711 -0.05080316 0.99095491 -1.06328406] [ 0. 0. 0. 1. ]] SLAMing on 100.441346184 meters Centerline goodness : 0.860739 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96112858 -0.24141779 -0.13397504 -0.29696522] [ 0.24608751 0.96905716 0.01921329 -0.19060656] [ 0.12519104 -0.05143603 0.99079843 -1.06081164] [ 0. 0. 0. 1. ]] SLAMing on 100.471346184 meters Centerline goodness : 0.860596 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.9608445 -0.24216265 -0.13466664 -0.2974606 ] [ 0.24688925 0.96885096 0.0193267 -0.18910414] [ 0.1257917 -0.0518177 0.99070246 -1.05862354] [ 0. 0. 0. 1. ]] SLAMing on 100.501346184 meters Centerline goodness : 0.859417 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96063991 -0.24281514 -0.13495102 -0.29680837] [ 0.24753578 0.9686901 0.01911898 -0.18868848] [ 0.12608334 -0.05177166 0.9906678 -1.05837794] [ 0. 0. 0. 1. ]] SLAMing on 100.531346184 meters Centerline goodness : 0.858802 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96038366 -0.24505597 -0.13270569 -0.2978399 ] [ 0.24919431 0.96833312 0.01526936 -0.19094521] [ 0.12476146 -0.04773394 0.99103786 -1.0600143 ] [ 0. 0. 0. 1. ]] SLAMing on 100.561346184 meters Centerline goodness : 0.858960 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96023692 -0.24549268 -0.13296012 -0.29782178] [ 0.24967022 0.96820761 0.01545335 -0.19176301] [ 0.12493932 -0.04803506 0.99100091 -1.05900252] [ 0. 0. 0. 1. ]] SLAMing on 100.59134618399999 meters Centerline goodness : 0.858888 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.96003801 -0.24544485 -0.13447621 -0.29538745] [ 0.24982903 0.96814947 0.01649413 -0.19170838] [ 0.12614467 -0.04943106 0.99077954 -1.05812178] [ 0. 0. 0. 1. ]] SLAMing on 100.62134618399999 meters Centerline goodness : 0.859260 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95965143 -0.24659223 -0.13513475 -0.29485729] [ 0.25101417 0.96784357 0.01645325 -0.19112206] [ 0.12673205 -0.04971012 0.99069061 -1.05676418] [ 0. 0. 0. 1. ]] SLAMing on 100.65134618399999 meters Centerline goodness : 0.860294 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.95865948 -0.25072253 -0.1345742 -0.29506447] [ 0.25472793 0.96692353 0.01313648 -0.1908014 ] [ 0.12682935 -0.04687322 0.99081644 -1.05562837] [ 0. 0. 0. 1. ]] SLAMing on 100.68134618399999 meters Centerline goodness : 0.860646 Centerline is valid? [False, False] Translation: X:-0.30, Y:-0.19, Z:-1.06 [[ 0.95799207 -0.25385392 -0.13345183 -0.29616894] [ 0.25739253 0.96625847 0.00967767 -0.19088287] [ 0.12649224 -0.04362063 0.99100805 -1.05500239] [ 0. 0. 0. 1. ]] SLAMing on 100.71134618399999 meters Centerline goodness : 0.859659 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95761079 -0.25487463 -0.13424042 -0.29254937] [ 0.25842591 0.96598502 0.00943353 -0.19190795] [ 0.12726987 -0.04372485 0.99090389 -1.05628257] [ 0. 0. 0. 1. ]] SLAMing on 100.741346184 meters Centerline goodness : 0.863740 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95696445 -0.25806488 -0.1327462 -0.29370421] [ 0.26104072 0.96531367 0.0052215 -0.19156326] [ 0.12679424 -0.03964895 0.99113631 -1.05611786] [ 0. 0. 0. 1. ]] SLAMing on 100.771346184 meters Centerline goodness : 0.861146 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95699257 -0.25763574 -0.1333756 -0.29255619] [ 0.26067034 0.96541215 0.00551004 -0.19202852] [ 0.12734284 -0.04004013 0.99105025 -1.05570966] [ 0. 0. 0. 1. ]] SLAMing on 100.801346184 meters Centerline goodness : 0.859959 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95778878 -0.25385092 -0.13490872 -0.29055894] [ 0.25748238 0.96623234 0.0098938 -0.19285509] [ 0.12784161 -0.04421279 0.99080864 -1.0564754 ] [ 0. 0. 0. 1. ]] SLAMing on 100.831346184 meters Centerline goodness : 0.860783 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95815152 -0.25256328 -0.13474961 -0.29118962] [ 0.25618343 0.96657698 0.0099495 -0.19221835] [ 0.127733 -0.04405375 0.99082973 -1.05659605] [ 0. 0. 0. 1. ]] SLAMing on 100.861346184 meters Centerline goodness : 0.859359 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95853671 -0.25145727 -0.13407693 -0.2925689 ] [ 0.25498361 0.96689843 0.00952818 -0.1916665 ] [ 0.12724284 -0.04332053 0.99092512 -1.05690141] [ 0. 0. 0. 1. ]] SLAMing on 100.891346184 meters Centerline goodness : 0.859124 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95931796 -0.24865906 -0.13370761 -0.29105708] [ 0.25216741 0.96763497 0.0097042 -0.19148372] [ 0.12696712 -0.04302612 0.99097331 -1.06049502] [ 0. 0. 0. 1. ]] SLAMing on 100.921346184 meters Centerline goodness : 0.860257 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95962457 -0.24806523 -0.13260589 -0.29212775] [ 0.2513442 0.96786202 0.00831904 -0.19209804] [ 0.12628054 -0.04131287 0.99113393 -1.0615079 ] [ 0. 0. 0. 1. ]] SLAMing on 100.951346184 meters Centerline goodness : 0.860290 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95985799 -0.2473523 -0.13224779 -0.2923973 ] [ 0.25061136 0.96805195 0.00832857 -0.19293265] [ 0.12596264 -0.04113704 0.9911817 -1.06204199] [ 0. 0. 0. 1. ]] SLAMing on 100.98134618399999 meters Centerline goodness : 0.865007 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.96005829 -0.24661225 -0.13217597 -0.29360748] [ 0.2499484 0.96821724 0.00900919 -0.19344534] [ 0.12575327 -0.04168652 0.99118532 -1.06084504] [ 0. 0. 0. 1. ]] SLAMing on 101.01134618399999 meters Centerline goodness : 0.862190 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.96018259 -0.25085526 -0.12296764 -0.29045268] [ 0.2540466 0.96713233 0.01074181 -0.18739698] [ 0.11623134 -0.04155361 0.99235255 -1.05778489] [ 0. 0. 0. 1. ]] SLAMing on 101.04134618399999 meters Centerline goodness : 0.865291 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.96000513 -0.25081736 -0.12442183 -0.28879435] [ 0.25419111 0.96708246 0.01176396 -0.18702336] [ 0.11737557 -0.04292038 0.99215967 -1.05621004] [ 0. 0. 0. 1. ]] SLAMing on 101.07134618399999 meters Centerline goodness : 0.864494 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95974835 -0.2516636 -0.12469379 -0.28770602] [ 0.25499306 0.96687758 0.0112377 -0.18717263] [ 0.11773551 -0.04258141 0.99213163 -1.05613354] [ 0. 0. 0. 1. ]] SLAMing on 101.101346184 meters Centerline goodness : 0.863537 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95929183 -0.25371374 -0.1240505 -0.28734214] [ 0.2566465 0.96647228 0.00799351 -0.18710193] [ 0.11786331 -0.03950523 0.99224371 -1.05627836] [ 0. 0. 0. 1. ]] SLAMing on 101.131346184 meters Centerline goodness : 0.864959 Centerline is valid? [False, False] Translation: X:-0.29, Y:-0.19, Z:-1.06 [[ 0.95820712 -0.2581442 -0.1232911 -0.2855744 ] [ 0.26059449 0.96544048 0.00389843 -0.18691401] [ 0.11802386 -0.03586449 0.99236289 -1.05760545] [ 0. 0. 0. 1. ]] SLAMing on 101.161346184 meters Centerline goodness : 0.865827 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.06 [[ 0.95756156 -0.25991652 -0.12457634 -0.28273186] [ 0.26242304 0.9649452 0.00386125 -0.1866478 ] [ 0.11920573 -0.03638909 0.99220251 -1.05698124] [ 0. 0. 0. 1. ]] SLAMing on 101.191346184 meters Centerline goodness : 0.867829 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.05 [[ 0.95633737 -0.26376076 -0.12589319 -0.28319359] [ 0.26642 0.96384668 0.00446782 -0.18610516] [ 0.1201633 -0.0378132 0.99203374 -1.05210674] [ 0. 0. 0. 1. ]] SLAMing on 101.221346184 meters Centerline goodness : 0.869934 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.05 [[ 0.95599293 -0.26412968 -0.12772249 -0.27997603] [ 0.2670983 0.96364811 0.006389 -0.18641639] [ 0.12139202 -0.0402223 0.99178937 -1.05157168] [ 0. 0. 0. 1. ]] SLAMing on 101.251346184 meters Centerline goodness : 0.869001 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.05 [[ 0.95553888 -0.26521914 -0.12885751 -0.27681987] [ 0.26822962 0.96333455 0.00627875 -0.18651726] [ 0.12246764 -0.04056299 0.99164324 -1.05177505] [ 0. 0. 0. 1. ]] SLAMing on 101.281346184 meters Centerline goodness : 0.870513 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.05 [[ 0.95510883 -0.26713265 -0.12809085 -0.2759034 ] [ 0.26975998 0.96292195 0.00329648 -0.18662427] [ 0.12246089 -0.03770229 0.99175696 -1.05290675] [ 0. 0. 0. 1. ]] SLAMing on 101.311346184 meters Centerline goodness : 0.869839 Centerline is valid? [False, False] Translation: X:-0.28, Y:-0.19, Z:-1.05 [[ 0.95444932 -0.27050136 -0.12591866 -0.2774672 ] [ 0.27246074 0.96216536 -0.00172386 -0.18695759] [ 0.12162088 -0.03266256 0.99203907 -1.05337706] [ 0. 0. 0. 1. ]] SLAMing on 101.34134618399999 meters Centerline goodness : 0.868592 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 9.54319244e-01 -2.70341591e-01 -1.27240732e-01 -2.74860004e-01] [ 2.72490866e-01 9.62158221e-01 -5.35259758e-04 -1.86997255e-01] [ 1.22570420e-01 -3.41611287e-02 9.91871720e-01 -1.05329777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37134618399999 meters Centerline goodness : 0.864077 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 0.95424814 -0.26906827 -0.13043294 -0.26982207] [ 0.27178412 0.96235309 0.00314961 -0.18654369] [ 0.12467508 -0.03845511 0.99145213 -1.05278588] [ 0. 0. 0. 1. ]] SLAMing on 101.40134618399999 meters Centerline goodness : 0.866763 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 0.95435281 -0.26851944 -0.13079762 -0.2708007 ] [ 0.27127758 0.96249512 0.00340886 -0.18576776] [ 0.12497672 -0.03873572 0.99140323 -1.05096269] [ 0. 0. 0. 1. ]] SLAMing on 101.43134618399999 meters Centerline goodness : 0.866045 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 0.95440875 -0.2677302 -0.13200179 -0.26788612] [ 0.27067657 0.96265951 0.00456863 -0.18612667] [ 0.12584962 -0.04009013 0.99123895 -1.05172397] [ 0. 0. 0. 1. ]] SLAMing on 101.46134618399999 meters Centerline goodness : 0.867214 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 0.95458925 -0.2667262 -0.13272712 -0.2654308 ] [ 0.26981906 0.96289503 0.00555301 -0.18678569] [ 0.12632116 -0.04111315 0.99113706 -1.05293578] [ 0. 0. 0. 1. ]] SLAMing on 101.491346184 meters Centerline goodness : 0.866219 Centerline is valid? [False, False] Translation: X:-0.27, Y:-0.19, Z:-1.05 [[ 0.95467544 -0.26662326 -0.13231343 -0.26553631] [ 0.26965147 0.96294401 0.00518739 -0.18759743] [ 0.12602734 -0.04063079 0.99119435 -1.05324333] [ 0. 0. 0. 1. ]] SLAMing on 101.521346184 meters Centerline goodness : 0.866729 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-1.06 [[ 0.95472186 -0.26651644 -0.13219365 -0.2626832 ] [ 0.26938737 0.96302361 0.00399703 -0.19038052] [ 0.12624033 -0.03942735 0.99121585 -1.05537096] [ 0. 0. 0. 1. ]] SLAMing on 101.551346184 meters Centerline goodness : 0.868277 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-1.05 [[ 9.54216206e-01 -2.69006125e-01 -1.30794254e-01 -2.64289667e-01] [ 2.71421541e-01 9.62460339e-01 6.65979676e-04 -1.91045111e-01] [ 1.25705129e-01 -3.61358666e-02 9.91409310e-01 -1.05458660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581346184 meters Centerline goodness : 0.869847 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-1.05 [[ 0.95415632 -0.26833722 -0.13259281 -0.26165926] [ 0.27121849 0.9625102 0.00382774 -0.19388572] [ 0.12659481 -0.03961388 0.9911632 -1.05338802] [ 0. 0. 0. 1. ]] SLAMing on 101.611346184 meters Centerline goodness : 0.870988 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-1.05 [[ 0.95427604 -0.267354 -0.13371267 -0.26100139] [ 0.2705441 0.96268923 0.00594512 -0.19423651] [ 0.12713429 -0.04184846 0.99100231 -1.05187465] [ 0. 0. 0. 1. ]] SLAMing on 101.641346184 meters Centerline goodness : 0.873469 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.19, Z:-1.05 [[ 0.95440436 -0.26655087 -0.13439849 -0.26086342] [ 0.26988821 0.96286682 0.00691596 -0.19462655] [ 0.12756439 -0.04287319 0.99090323 -1.05056205] [ 0. 0. 0. 1. ]] SLAMing on 101.671346184 meters Centerline goodness : 0.874944 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95514347 -0.26466469 -0.13286666 -0.26062976] [ 0.26785469 0.963438 0.00640967 -0.19769437] [ 0.12631237 -0.04171111 0.9911132 -1.05403504] [ 0. 0. 0. 1. ]] SLAMing on 101.701346184 meters Centerline goodness : 0.872935 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95510709 -0.26576132 -0.13092503 -0.2625756 ] [ 0.26838019 0.96330995 0.00245403 -0.19837995] [ 0.12546919 -0.03748154 0.99138924 -1.05465749] [ 0. 0. 0. 1. ]] SLAMing on 101.73134618399999 meters Centerline goodness : 0.872935 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95510709 -0.26576132 -0.13092503 -0.2625756 ] [ 0.26838019 0.96330995 0.00245403 -0.19837995] [ 0.12546919 -0.03748154 0.99138924 -1.05465749] [ 0. 0. 0. 1. ]] SLAMing on 101.76134618399999 meters Centerline goodness : 0.873420 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.06 [[ 0.95525258 -0.26530419 -0.13079065 -0.2606047 ] [ 0.26794893 0.96342925 0.00273024 -0.19981931] [ 0.1252832 -0.03765328 0.99140625 -1.05693178] [ 0. 0. 0. 1. ]] SLAMing on 101.79134618399999 meters Centerline goodness : 0.877643 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.06 [[ 0.95514919 -0.26542615 -0.1312973 -0.25998786] [ 0.26813859 0.96337535 0.00310247 -0.2006351 ] [ 0.1256651 -0.0381692 0.99133818 -1.05605478] [ 0. 0. 0. 1. ]] SLAMing on 101.82134618399999 meters Centerline goodness : 0.880743 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95551431 -0.26261272 -0.13426454 -0.25837445] [ 0.26623834 0.96386064 0.0094774 -0.20160372] [ 0.12692341 -0.04480216 0.9909002 -1.05276648] [ 0. 0. 0. 1. ]] SLAMing on 101.851346184 meters Centerline goodness : 0.882404 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95557128 -0.26211249 -0.13483534 -0.25934291] [ 0.2658583 0.96395769 0.01024371 -0.20101572] [ 0.12729056 -0.04563569 0.99081507 -1.0506481 ] [ 0. 0. 0. 1. ]] SLAMing on 101.881346184 meters Centerline goodness : 0.879786 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95565847 -0.26174584 -0.13492965 -0.25866427] [ 0.26552632 0.96404638 0.01050433 -0.20120367] [ 0.12732898 -0.04586593 0.9907995 -1.05126733] [ 0. 0. 0. 1. ]] SLAMing on 101.911346184 meters Centerline goodness : 0.880156 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.06 [[ 0.95588257 -0.2625858 -0.13167083 -0.25998759] [ 0.26562309 0.96405985 0.00574206 -0.20365091] [ 0.12543077 -0.04046355 0.99127686 -1.05526768] [ 0. 0. 0. 1. ]] SLAMing on 101.941346184 meters Centerline goodness : 0.881023 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.06 [[ 0.95582816 -0.2638973 -0.12942465 -0.26145268] [ 0.26636092 0.9638717 0.00179351 -0.20502027] [ 0.12427545 -0.03618796 0.99158764 -1.05692172] [ 0. 0. 0. 1. ]] SLAMing on 101.971346184 meters Centerline goodness : 0.882386 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.06 [[ 0.95588396 -0.26381276 -0.12918467 -0.26007591] [ 0.26625772 0.96390034 0.00172058 -0.20620376] [ 0.12406724 -0.03604109 0.99161906 -1.05867765] [ 0. 0. 0. 1. ]] SLAMing on 102.001346184 meters Centerline goodness : 0.884400 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.05 [[ 0.95572081 -0.26285131 -0.1323137 -0.25907616] [ 0.26607033 0.96392859 0.00694606 -0.20599033] [ 0.12571518 -0.04184325 0.99118355 -1.05364642] [ 0. 0. 0. 1. ]] SLAMing on 102.031346184 meters Centerline goodness : 0.888077 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.21, Z:-1.05 [[ 0.95543897 -0.2626805 -0.13466746 -0.25762868] [ 0.26644347 0.96379444 0.01039944 -0.20502307] [ 0.12706002 -0.04581729 0.99083628 -1.05052093] [ 0. 0. 0. 1. ]] SLAMing on 102.061346184 meters Centerline goodness : 0.886691 Centerline is valid? [False, False] Translation: X:-0.26, Y:-0.20, Z:-1.05 [[ 0.95509145 -0.2630818 -0.13633889 -0.25503373] [ 0.26711016 0.96359358 0.01181391 -0.20399023] [ 0.12826726 -0.04770087 0.99059181 -1.04972725] [ 0. 0. 0. 1. ]] SLAMing on 102.09134618399999 meters Centerline goodness : 0.887618 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.20, Z:-1.05 [[ 0.95486566 -0.26366068 -0.13680138 -0.25314749] [ 0.26775227 0.96341196 0.01208754 -0.20489584] [ 0.12860908 -0.04817086 0.99052475 -1.05012611] [ 0. 0. 0. 1. ]] SLAMing on 102.12134618399999 meters Centerline goodness : 0.886612 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.05 [[ 0.9537665 -0.26939798 -0.13324484 -0.25491149] [ 0.2723853 0.96217831 0.00437604 -0.20750899] [ 0.1270264 -0.04046765 0.99107349 -1.05166097] [ 0. 0. 0. 1. ]] SLAMing on 102.15134618399999 meters Centerline goodness : 0.889159 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.05 [[ 0.95307847 -0.27188808 -0.13311011 -0.25184541] [ 0.27461503 0.9615517 0.00221788 -0.208828 ] [ 0.12738923 -0.03866785 0.99109877 -1.05331495] [ 0. 0. 0. 1. ]] SLAMing on 102.18134618399999 meters Centerline goodness : 0.885641 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.05 [[ 0.9525032 -0.27364916 -0.13361805 -0.24919151] [ 0.27638034 0.96104631 0.00197316 -0.21017544] [ 0.12787318 -0.03880884 0.99103094 -1.05376383] [ 0. 0. 0. 1. ]] SLAMing on 102.21134618399999 meters Centerline goodness : 0.884335 Centerline is valid? [False, False] Translation: X:-0.25, Y:-0.21, Z:-1.05 [[ 0.95168358 -0.27564505 -0.13534466 -0.24713683] [ 0.27866381 0.9603823 0.00351059 -0.21019913] [ 0.12901494 -0.04105663 0.99079236 -1.05141615] [ 0. 0. 0. 1. ]] SLAMing on 102.241346184 meters Centerline goodness : 0.888933 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95135398 -0.27579415 -0.13734331 -0.24444946] [ 0.27918272 0.96022128 0.00566595 -0.20910196] [ 0.13031734 -0.0437342 0.9905073 -1.05024736] [ 0. 0. 0. 1. ]] SLAMing on 102.271346184 meters Centerline goodness : 0.890116 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95146431 -0.27472546 -0.13871403 -0.24183111] [ 0.27840567 0.96043447 0.00747763 -0.20892433] [ 0.13117144 -0.04573347 0.99030425 -1.05069883] [ 0. 0. 0. 1. ]] SLAMing on 102.301346184 meters Centerline goodness : 0.887301 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95146153 -0.27498392 -0.13822013 -0.24138921] [ 0.27847106 0.96042479 0.00617229 -0.20912497] [ 0.13105276 -0.04436301 0.9903823 -1.05174657] [ 0. 0. 0. 1. ]] SLAMing on 102.331346184 meters Centerline goodness : 0.888161 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95153577 -0.27465431 -0.13836436 -0.23953196] [ 0.2781187 0.96052813 0.00597478 -0.20918781] [ 0.13126187 -0.04416693 0.99036337 -1.0534629 ] [ 0. 0. 0. 1. ]] SLAMing on 102.361346184 meters Centerline goodness : 0.887620 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95127343 -0.27522116 -0.13904015 -0.23753448] [ 0.27869264 0.96036308 0.00575849 -0.20793636] [ 0.13194417 -0.04422737 0.99027 -1.05419075] [ 0. 0. 0. 1. ]] SLAMing on 102.391346184 meters Centerline goodness : 0.888660 Centerline is valid? [False, False] Translation: X:-0.24, Y:-0.21, Z:-1.05 [[ 0.95113972 -0.27535078 -0.13969677 -0.23574843] [ 0.2788737 0.96030959 0.00591174 -0.20694936] [ 0.13252434 -0.04458064 0.99017668 -1.05473348] [ 0. 0. 0. 1. ]] SLAMing on 102.421346184 meters Centerline goodness : 0.891261 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.21, Z:-1.06 [[ 0.95098582 -0.27538461 -0.14067443 -0.23292936] [ 0.2790061 0.9602686 0.00630998 -0.20575548] [ 0.13334757 -0.04524973 0.9900358 -1.05584781] [ 0. 0. 0. 1. ]] SLAMing on 102.451346184 meters Centerline goodness : 0.890032 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:-1.06 [[ 0.95090996 -0.27559169 -0.14078165 -0.23212534] [ 0.27912731 0.96023765 0.00562159 -0.20497638] [ 0.13363458 -0.04464163 0.99002471 -1.05639819] [ 0. 0. 0. 1. ]] SLAMing on 102.48134618399999 meters Centerline goodness : 0.888927 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:-1.06 [[ 0.95136066 -0.27412043 -0.14060901 -0.22962275] [ 0.27756929 0.96069185 0.00514361 -0.20457482] [ 0.13367196 -0.04392217 0.99005184 -1.06024832] [ 0. 0. 0. 1. ]] SLAMing on 102.51134618399999 meters Centerline goodness : 0.889178 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:-1.06 [[ 0.95149727 -0.27351257 -0.14086806 -0.22995933] [ 0.27695388 0.96086996 0.0050462 -0.20369073] [ 0.13397569 -0.0438154 0.99001552 -1.05966155] [ 0. 0. 0. 1. ]] SLAMing on 102.54134618399999 meters Centerline goodness : 0.889210 Centerline is valid? [False, False] Translation: X:-0.23, Y:-0.20, Z:-1.06 [[ 0.95181375 -0.27139848 -0.14280563 -0.22810702] [ 0.27539459 0.96129263 0.00862013 -0.20264656] [ 0.13493851 -0.04753266 0.98971321 -1.05899124] [ 0. 0. 0. 1. ]] SLAMing on 102.57134618399999 meters Centerline goodness : 0.890703 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.20, Z:-1.06 [[ 0.95214927 -0.27489008 -0.13359344 -0.22266154] [ 0.27856081 0.96037416 0.00923809 -0.19532263] [ 0.12576023 -0.04600993 0.99099316 -1.05860819] [ 0. 0. 0. 1. ]] SLAMing on 102.601346184 meters Centerline goodness : 0.893152 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95253166 -0.27245475 -0.13583756 -0.22248072] [ 0.27671662 0.9608612 0.01317855 -0.19306533] [ 0.12693048 -0.0501415 0.99064347 -1.05595756] [ 0. 0. 0. 1. ]] SLAMing on 102.631346184 meters Centerline goodness : 0.888592 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95264766 -0.27177837 -0.13637797 -0.22056782] [ 0.27610026 0.96103435 0.0134766 -0.19230697] [ 0.12740127 -0.05049245 0.99056521 -1.05729966] [ 0. 0. 0. 1. ]] SLAMing on 102.661346184 meters Centerline goodness : 0.890082 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95266344 -0.2719132 -0.13599849 -0.2202637 ] [ 0.27604094 0.96106961 0.01210752 -0.19225379] [ 0.12741182 -0.04907554 0.99063506 -1.05810652] [ 0. 0. 0. 1. ]] SLAMing on 102.691346184 meters Centerline goodness : 0.893313 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95262019 -0.27252522 -0.13507323 -0.21889876] [ 0.27633095 0.96101144 0.00991012 -0.19283695] [ 0.12710617 -0.0467655 0.99078606 -1.06089285] [ 0. 0. 0. 1. ]] SLAMing on 102.721346184 meters Centerline goodness : 0.895763 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95243422 -0.27297685 -0.13547212 -0.21775474] [ 0.27676117 0.96089113 0.00956488 -0.19310848] [ 0.12756297 -0.04660334 0.99073499 -1.06069859] [ 0. 0. 0. 1. ]] SLAMing on 102.751346184 meters Centerline goodness : 0.894790 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95220476 -0.27333313 -0.13636384 -0.21592727] [ 0.27720262 0.96076079 0.00986996 -0.19251282] [ 0.12831524 -0.04719864 0.99060965 -1.0605659 ] [ 0. 0. 0. 1. ]] SLAMing on 102.781346184 meters Centerline goodness : 0.891521 Centerline is valid? [False, False] Translation: X:-0.22, Y:-0.19, Z:-1.06 [[ 0.95199216 -0.27385454 -0.13680135 -0.21583733] [ 0.27766396 0.96063412 0.00920973 -0.19068881] [ 0.12889392 -0.0467524 0.99055569 -1.05974793] [ 0. 0. 0. 1. ]] SLAMing on 102.811346184 meters Centerline goodness : 0.889073 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.19, Z:-1.06 [[ 0.9523361 -0.27181439 -0.13846618 -0.21359862] [ 0.275911 0.96112104 0.01093028 -0.18638539] [ 0.13011175 -0.04861365 0.99030684 -1.06082173] [ 0. 0. 0. 1. ]] SLAMing on 102.84134618399999 meters Centerline goodness : 0.886151 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.06 [[ 0.95255724 -0.27098775 -0.13856533 -0.21405883] [ 0.27500413 0.96138743 0.01034142 -0.18430746] [ 0.13041257 -0.04795684 0.9902993 -1.06080068] [ 0. 0. 0. 1. ]] SLAMing on 102.87134618399999 meters Centerline goodness : 0.883955 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.07 [[ 0.95283994 -0.27430898 -0.12981001 -0.20584452] [ 0.27830856 0.96039844 0.01338568 -0.17905367] [ 0.12099752 -0.04888165 0.99144853 -1.0702076 ] [ 0. 0. 0. 1. ]] SLAMing on 102.90134618399999 meters Centerline goodness : 0.885035 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.07 [[ 0.95356003 -0.27239444 -0.12854781 -0.20742513] [ 0.27614656 0.96104086 0.01198099 -0.17793843] [ 0.12027614 -0.04692263 0.99163094 -1.07210201] [ 0. 0. 0. 1. ]] SLAMing on 102.93134618399999 meters Centerline goodness : 0.884834 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.18, Z:-1.07 [[ 0.953707 -0.27186037 -0.12858805 -0.2079334 ] [ 0.27558394 0.96120502 0.01176453 -0.17682714] [ 0.12040117 -0.04665671 0.99162831 -1.07175757] [ 0. 0. 0. 1. ]] SLAMing on 102.96134618399999 meters Centerline goodness : 0.886793 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:-1.07 [[ 0.95372192 -0.27118202 -0.12990307 -0.20766079] [ 0.2751331 0.96131615 0.01315453 -0.17463539] [ 0.12131065 -0.04828639 0.99143943 -1.06998796] [ 0. 0. 0. 1. ]] SLAMing on 102.991346184 meters Centerline goodness : 0.887796 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:-1.07 [[ 0.95345505 -0.27141021 -0.13137721 -0.2063164 ] [ 0.27560374 0.96116178 0.01451282 -0.1730216 ] [ 0.12233583 -0.05004537 0.99122621 -1.06859763] [ 0. 0. 0. 1. ]] SLAMing on 103.021346184 meters Centerline goodness : 0.887568 Centerline is valid? [False, False] Translation: X:-0.21, Y:-0.17, Z:-1.07 [[ 0.95309188 -0.27192395 -0.13294072 -0.20542452] [ 0.27626598 0.96096372 0.01502788 -0.1709294 ] [ 0.12366477 -0.05104995 0.99101005 -1.06624667] [ 0. 0. 0. 1. ]] SLAMing on 103.051346184 meters Centerline goodness : 0.885060 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-1.07 [[ 0.95221348 -0.27455496 -0.13382472 -0.20416106] [ 0.27876047 0.96026716 0.01340083 -0.16733019] [ 0.12482822 -0.0500655 0.99091441 -1.06504359] [ 0. 0. 0. 1. ]] SLAMing on 103.081346184 meters Centerline goodness : 0.880383 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.17, Z:-1.07 [[ 0.95181031 -0.27576249 -0.13420945 -0.2011554 ] [ 0.27979205 0.95998843 0.01177382 -0.16605117] [ 0.12559274 -0.04875719 0.99088304 -1.06691715] [ 0. 0. 0. 1. ]] SLAMing on 103.111346184 meters Centerline goodness : 0.878934 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.07 [[ 0.95118851 -0.27843689 -0.1330914 -0.20054181] [ 0.28190507 0.95941234 0.00758183 -0.16415148] [ 0.12557847 -0.0447309 0.99107477 -1.0686912 ] [ 0. 0. 0. 1. ]] SLAMing on 103.141346184 meters Centerline goodness : 0.877532 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.07 [[ 0.9509159 -0.27933813 -0.13315091 -0.19822954] [ 0.2826005 0.95921969 0.00587808 -0.16359404] [ 0.12607901 -0.04321807 0.99107834 -1.07042318] [ 0. 0. 0. 1. ]] SLAMing on 103.171346184 meters Centerline goodness : 0.877973 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.07 [[ 0.95081073 -0.27913898 -0.1343145 -0.19778593] [ 0.28265059 0.95919412 0.00743587 -0.162413 ] [ 0.12675803 -0.04503418 0.99091086 -1.06888012] [ 0. 0. 0. 1. ]] SLAMing on 103.201346184 meters Centerline goodness : 0.880910 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.07 [[ 0.95096367 -0.27724811 -0.13711886 -0.19693919] [ 0.2814801 0.95949066 0.01210905 -0.16127995] [ 0.12820706 -0.05011149 0.99048058 -1.06521945] [ 0. 0. 0. 1. ]] SLAMing on 103.23134618399999 meters Centerline goodness : 0.884053 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.06 [[ 0.95096331 -0.27560539 -0.14039388 -0.195781 ] [ 0.28059974 0.95967925 0.01671922 -0.1591572 ] [ 0.13012518 -0.05529385 0.98995456 -1.06093587] [ 0. 0. 0. 1. ]] SLAMing on 103.26134618399999 meters Centerline goodness : 0.883033 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:-1.06 [[ 0.9510397 -0.27408461 -0.1428325 -0.19455737] [ 0.27967373 0.95988157 0.02024782 -0.15731738] [ 0.13155267 -0.05920298 0.98953974 -1.05834762] [ 0. 0. 0. 1. ]] SLAMing on 103.29134618399999 meters Centerline goodness : 0.883528 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:-1.06 [[ 0.95095487 -0.27466792 -0.14227569 -0.19384692] [ 0.27997833 0.95983076 0.01835902 -0.15707466] [ 0.13151795 -0.05729271 0.9896568 -1.05967604] [ 0. 0. 0. 1. ]] SLAMing on 103.32134618399999 meters Centerline goodness : 0.883561 Centerline is valid? [False, False] Translation: X:-0.20, Y:-0.16, Z:-1.06 [[ 0.95057361 -0.27682184 -0.14063953 -0.19512839] [ 0.28148383 0.95946367 0.01401168 -0.15661135] [ 0.13105978 -0.05290689 0.98996171 -1.06003674] [ 0. 0. 0. 1. ]] SLAMing on 103.351346184 meters Centerline goodness : 0.883063 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.16, Z:-1.06 [[ 0.95032685 -0.27793511 -0.1401105 -0.19489781] [ 0.28230616 0.95924997 0.01194677 -0.15644401] [ 0.13108057 -0.05090739 0.9900638 -1.0605502 ] [ 0. 0. 0. 1. ]] SLAMing on 103.381346184 meters Centerline goodness : 0.884349 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-1.06 [[ 0.94989603 -0.27945253 -0.14001366 -0.19473822] [ 0.2836058 0.95888635 0.01023334 -0.1543441 ] [ 0.13139745 -0.04942929 0.99009669 -1.06038419] [ 0. 0. 0. 1. ]] SLAMing on 103.411346184 meters Centerline goodness : 0.883836 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.15, Z:-1.06 [[ 0.94971173 -0.28466165 -0.13044302 -0.18945809] [ 0.28809995 0.95756785 0.00788888 -0.1464903 ] [ 0.12266238 -0.04507279 0.99142442 -1.05962592] [ 0. 0. 0. 1. ]] SLAMing on 103.441346184 meters Centerline goodness : 0.883562 Centerline is valid? [False, False] Translation: X:-0.19, Y:-0.14, Z:-1.06 [[ 0.94944667 -0.28420532 -0.13333552 -0.18545061] [ 0.28809839 0.95754365 0.01046273 -0.14406607] [ 0.12470102 -0.04834756 0.99101573 -1.05861214] [ 0. 0. 0. 1. ]] SLAMing on 103.471346184 meters Centerline goodness : 0.879984 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.06 [[ 0.94903043 -0.28573137 -0.13303694 -0.18417176] [ 0.28922795 0.95723221 0.00732776 -0.14200991] [ 0.12525348 -0.04543227 0.99108399 -1.05944327] [ 0. 0. 0. 1. ]] SLAMing on 103.501346184 meters Centerline goodness : 0.878818 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.06 [[ 0.94881556 -0.28695055 -0.13194094 -0.18335654] [ 0.28996097 0.957031 0.00378132 -0.14323964] [ 0.12518652 -0.0418455 0.99125037 -1.06070637] [ 0. 0. 0. 1. ]] SLAMing on 103.531346184 meters Centerline goodness : 0.880147 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.06 [[ 0.94872322 -0.28713217 -0.13220956 -0.18236316] [ 0.29011146 0.95698671 0.00343248 -0.14418552] [ 0.12553722 -0.04161198 0.99121584 -1.06030588] [ 0. 0. 0. 1. ]] SLAMing on 103.561346184 meters Centerline goodness : 0.883332 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.94853997 -0.28575426 -0.136442 -0.18095852] [ 0.2896949 0.95707163 0.00952708 -0.14322754] [ 0.12786236 -0.04856337 0.99060225 -1.05411396] [ 0. 0. 0. 1. ]] SLAMing on 103.59134618399999 meters Centerline goodness : 0.883726 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.94813391 -0.2859177 -0.13889978 -0.17933899] [ 0.29032764 0.95685003 0.01216067 -0.1423177 ] [ 0.12942931 -0.05185639 0.99023178 -1.05074682] [ 0. 0. 0. 1. ]] SLAMing on 103.62134618399999 meters Centerline goodness : 0.883726 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.94813391 -0.2859177 -0.13889978 -0.17933899] [ 0.29032764 0.95685003 0.01216067 -0.1423177 ] [ 0.12942931 -0.05185639 0.99023178 -1.05074682] [ 0. 0. 0. 1. ]] SLAMing on 103.65134618399999 meters Centerline goodness : 0.885102 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.94795326 -0.28577307 -0.1404221 -0.17650707] [ 0.2903955 0.95681611 0.01316802 -0.14235432] [ 0.13059506 -0.05326062 0.99000416 -1.05021446] [ 0. 0. 0. 1. ]] SLAMing on 103.68134618399999 meters Centerline goodness : 0.883826 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.94779445 -0.286408 -0.14020035 -0.1761742 ] [ 0.29089672 0.95667667 0.01220001 -0.14316733] [ 0.13063223 -0.05234693 0.99004799 -1.0500977 ] [ 0. 0. 0. 1. ]] SLAMing on 103.71134618399999 meters Centerline goodness : 0.880833 Centerline is valid? [False, False] Translation: X:-0.18, Y:-0.14, Z:-1.05 [[ 0.9469559 -0.29096549 -0.13643167 -0.17700468] [ 0.2942338 0.95572517 0.00398286 -0.14447645] [ 0.12923231 -0.04391441 0.99064148 -1.05323018] [ 0. 0. 0. 1. ]] SLAMing on 103.741346184 meters Centerline goodness : 0.879310 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.05 [[ 9.46309531e-01 -2.93298509e-01 -1.35920037e-01 -1.74852972e-01] [ 2.96139117e-01 9.55144553e-01 7.12149372e-04 -1.44822878e-01] [ 1.29614411e-01 -4.09251535e-02 9.90719555e-01 -1.05462394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.771346184 meters Centerline goodness : 0.880178 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.06 [[ 9.45968628e-01 -2.94008646e-01 -1.36756248e-01 -1.72286087e-01] [ 2.96864597e-01 9.54919446e-01 5.12022951e-04 -1.44747606e-01] [ 1.30440661e-01 -4.10824461e-02 9.90604596e-01 -1.05501373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801346184 meters Centerline goodness : 0.877355 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.05 [[ 0.94567829 -0.29435809 -0.13800684 -0.17211043] [ 0.29737356 0.95476034 0.00129189 -0.14348395] [ 0.13138318 -0.0422613 0.99043043 -1.05250507] [ 0. 0. 0. 1. ]] SLAMing on 103.831346184 meters Centerline goodness : 0.876741 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.05 [[ 0.94557893 -0.29262892 -0.14229828 -0.16950225] [ 0.29651746 0.95500563 0.00645402 -0.14036422] [ 0.13400702 -0.04829671 0.98980278 -1.04831317] [ 0. 0. 0. 1. ]] SLAMing on 103.861346184 meters Centerline goodness : 0.876702 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.05 [[ 0.94558716 -0.2917386 -0.14406082 -0.16583332] [ 0.29584527 0.95520663 0.00747491 -0.13933106] [ 0.13542713 -0.04968789 0.9895406 -1.04891336] [ 0. 0. 0. 1. ]] SLAMing on 103.891346184 meters Centerline goodness : 0.877499 Centerline is valid? [False, False] Translation: X:-0.17, Y:-0.14, Z:-1.05 [[ 0.94575447 -0.29147706 -0.1434908 -0.16603175] [ 0.29543063 0.95534151 0.00658368 -0.13967849] [ 0.13516372 -0.04861812 0.98962975 -1.04958755] [ 0. 0. 0. 1. ]] SLAMing on 103.921346184 meters Centerline goodness : 0.876191 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.06 [[ 0.9459479 -0.29200946 -0.14111361 -0.16448578] [ 0.29533636 0.95538934 0.00276429 -0.14112414] [ 0.13401124 -0.04429085 0.98998955 -1.0550633 ] [ 0. 0. 0. 1. ]] SLAMing on 103.951346184 meters Centerline goodness : 0.876762 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.06 [[ 0.9457798 -0.29254764 -0.14112566 -0.16334225] [ 0.2957815 0.95525346 0.00203383 -0.14115979] [ 0.13421578 -0.04366592 0.9899896 -1.05580894] [ 0. 0. 0. 1. ]] SLAMing on 103.98134618399999 meters Centerline goodness : 0.877081 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.05 [[ 0.94565213 -0.29255297 -0.14196765 -0.16278342] [ 0.29589582 0.95521679 0.00255694 -0.14042547] [ 0.13486184 -0.04442561 0.989868 -1.05465843] [ 0. 0. 0. 1. ]] SLAMing on 104.01134618399999 meters Centerline goodness : 0.877523 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.05 [[ 0.94550171 -0.29245885 -0.14315841 -0.16287533] [ 0.29597473 0.95518961 0.00342952 -0.13878421] [ 0.13574044 -0.04561389 0.98969384 -1.05228005] [ 0. 0. 0. 1. ]] SLAMing on 104.04134618399999 meters Centerline goodness : 0.875966 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.05 [[ 0.94535283 -0.29138822 -0.14629054 -0.16044932] [ 0.29553188 0.95530761 0.00694865 -0.13609085] [ 0.13772772 -0.04980245 0.98921726 -1.04985083] [ 0. 0. 0. 1. ]] SLAMing on 104.07134618399999 meters Centerline goodness : 0.873061 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-1.05 [[ 0.94514941 -0.29139378 -0.14758812 -0.15807321] [ 0.2956015 0.95528619 0.00693229 -0.13468443] [ 0.13896886 -0.05017932 0.98902462 -1.04969757] [ 0. 0. 0. 1. ]] SLAMing on 104.101346184 meters Centerline goodness : 0.871921 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-1.05 [[ 0.94508025 -0.29184889 -0.14713103 -0.15818603] [ 0.29584418 0.95522009 0.00554998 -0.13424874] [ 0.13892276 -0.04877303 0.98910144 -1.05008407] [ 0. 0. 0. 1. ]] SLAMing on 104.131346184 meters Centerline goodness : 0.872565 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-1.05 [[ 0.94519135 -0.29199231 -0.14612942 -0.15746696] [ 0.29553031 0.95532975 0.00262611 -0.13478938] [ 0.13883497 -0.04566785 0.989262 -1.05173717] [ 0. 0. 0. 1. ]] SLAMing on 104.161346184 meters Centerline goodness : 0.874049 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.05 [[ 0.94563395 -0.29107385 -0.14509461 -0.15784121] [ 0.29455389 0.95563127 0.00262505 -0.13685806] [ 0.13789286 -0.04522052 0.9894143 -1.05336538] [ 0. 0. 0. 1. ]] SLAMing on 104.191346184 meters Centerline goodness : 0.874510 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.14, Z:-1.05 [[ 0.94572379 -0.29037367 -0.1459097 -0.15882487] [ 0.29409009 0.95576892 0.0040975 -0.13620856] [ 0.13826615 -0.0467857 0.98928943 -1.05097533] [ 0. 0. 0. 1. ]] SLAMing on 104.221346184 meters Centerline goodness : 0.877198 Centerline is valid? [False, False] Translation: X:-0.16, Y:-0.13, Z:-1.05 [[ 0.94647618 -0.29245551 -0.13657457 -0.15512484] [ 0.29578369 0.95524533 0.00428674 -0.12922289] [ 0.12920854 -0.04445382 0.99062052 -1.04965193] [ 0. 0. 0. 1. ]] SLAMing on 104.251346184 meters Centerline goodness : 0.877856 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94662779 -0.29187895 -0.13675709 -0.15445558] [ 0.29519464 0.95542804 0.00416882 -0.12914732] [ 0.12944477 -0.04431628 0.99059584 -1.04988191] [ 0. 0. 0. 1. ]] SLAMing on 104.281346184 meters Centerline goodness : 0.874836 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94657972 -0.29145328 -0.13799212 -0.15158511] [ 0.29488927 0.95551994 0.00468704 -0.12903338] [ 0.13048817 -0.04512905 0.99042224 -1.05020714] [ 0. 0. 0. 1. ]] SLAMing on 104.311346184 meters Centerline goodness : 0.878744 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94634515 -0.2920042 -0.13843555 -0.15123869] [ 0.29542828 0.95535478 0.00440283 -0.12874515] [ 0.13096942 -0.04506437 0.99036166 -1.04921657] [ 0. 0. 0. 1. ]] SLAMing on 104.34134618399999 meters Centerline goodness : 0.876572 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94589615 -0.29258065 -0.14027484 -0.14865363] [ 0.2962434 0.9550966 0.0055085 -0.12783148] [ 0.13236434 -0.04676596 0.99009728 -1.04802702] [ 0. 0. 0. 1. ]] SLAMing on 104.37134618399999 meters Centerline goodness : 0.874391 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.9455258 -0.29326966 -0.14132895 -0.14720664] [ 0.29700771 0.95485841 0.00564257 -0.12760295] [ 0.13329434 -0.04731099 0.98994661 -1.04675783] [ 0. 0. 0. 1. ]] SLAMing on 104.40134618399999 meters Centerline goodness : 0.875770 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94514542 -0.29432415 -0.14168071 -0.14662784] [ 0.29804516 0.95453699 0.00531287 -0.12752425] [ 0.13367577 -0.04724868 0.98989815 -1.04592608] [ 0. 0. 0. 1. ]] SLAMing on 104.43134618399999 meters Centerline goodness : 0.875593 Centerline is valid? [False, False] Translation: X:-0.15, Y:-0.13, Z:-1.05 [[ 0.94486809 -0.29492257 -0.14228482 -0.14508691] [ 0.29861763 0.95436045 0.00486231 -0.12740383] [ 0.134357 -0.047083 0.98981382 -1.0456541 ] [ 0. 0. 0. 1. ]] SLAMing on 104.46134618399999 meters Centerline goodness : 0.876649 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:-1.05 [[ 0.9447986 -0.29535283 -0.14185314 -0.14489513] [ 0.29881314 0.9543061 0.00325141 -0.12683349] [ 0.13441101 -0.04545951 0.98988237 -1.04623486] [ 0. 0. 0. 1. ]] SLAMing on 104.491346184 meters Centerline goodness : 0.874146 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.13, Z:-1.05 [[ 0.94478133 -0.2947278 -0.14326119 -0.14150016] [ 0.29837436 0.95443977 0.00417832 -0.12513855] [ 0.13550271 -0.04669306 0.9896761 -1.04755377] [ 0. 0. 0. 1. ]] SLAMing on 104.521346184 meters Centerline goodness : 0.876324 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94480417 -0.29457256 -0.14342975 -0.14142539] [ 0.29814544 0.95451369 0.00359419 -0.12357399] [ 0.13584691 -0.04615873 0.98965397 -1.04742707] [ 0. 0. 0. 1. ]] SLAMing on 104.551346184 meters Centerline goodness : 0.874161 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94492647 -0.29410747 -0.14357839 -0.14063221] [ 0.29763331 0.95467478 0.00323596 -0.12234891] [ 0.13611895 -0.04579145 0.98963366 -1.04823915] [ 0. 0. 0. 1. ]] SLAMing on 104.581346184 meters Centerline goodness : 0.873188 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94540875 -0.29302952 -0.14260434 -0.14157788] [ 0.296301 0.95509294 0.00178905 -0.12186274] [ 0.13567615 -0.04394519 0.98977816 -1.04935208] [ 0. 0. 0. 1. ]] SLAMing on 104.611346184 meters Centerline goodness : 0.875024 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94556738 -0.29223621 -0.14317933 -0.14130938] [ 0.29559345 0.9553111 0.00228403 -0.12136792] [ 0.13611332 -0.04448257 0.98969413 -1.04864975] [ 0. 0. 0. 1. ]] SLAMing on 104.641346184 meters Centerline goodness : 0.873245 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94553133 -0.29170324 -0.14449821 -0.14141044] [ 0.29527927 0.95540469 0.00346829 -0.11989883] [ 0.13704255 -0.0459467 0.98949898 -1.04619509] [ 0. 0. 0. 1. ]] SLAMing on 104.671346184 meters Centerline goodness : 0.874882 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94536028 -0.29135973 -0.14629919 -0.13916003] [ 0.29521806 0.95541732 0.00490291 -0.11751785] [ 0.13834827 -0.04782518 0.98922824 -1.04571865] [ 0. 0. 0. 1. ]] SLAMing on 104.701346184 meters Centerline goodness : 0.872891 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94491489 -0.29340973 -0.14507441 -0.13982559] [ 0.29673513 0.95495888 0.00134558 -0.1171782 ] [ 0.13814529 -0.04432013 0.98941983 -1.04588686] [ 0. 0. 0. 1. ]] SLAMing on 104.73134618399999 meters Centerline goodness : 0.874064 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 9.44680204e-01 -2.94170835e-01 -1.45061475e-01 -1.38790033e-01] [ 2.97386946e-01 9.54756903e-01 5.09617507e-04 -1.17692767e-01] [ 1.38348530e-01 -4.36208147e-02 9.89422513e-01 -1.04619822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76134618399999 meters Centerline goodness : 0.873947 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 9.44531860e-01 -2.94568196e-01 -1.45221019e-01 -1.38855614e-01] [ 2.97776428e-01 9.54635564e-01 3.72174826e-04 -1.18250240e-01] [ 1.38523518e-01 -4.35949272e-02 9.89399170e-01 -1.04514940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79134618399999 meters Centerline goodness : 0.873229 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.04 [[ 9.44134341e-01 -2.95393900e-01 -1.46125940e-01 -1.38256531e-01] [ 2.98678340e-01 9.54353673e-01 5.62693455e-04 -1.18383035e-01] [ 1.39289612e-01 -4.41759116e-02 9.89265835e-01 -1.04312147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82134618399999 meters Centerline goodness : 0.875538 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.04 [[ 9.43722942e-01 -2.96354721e-01 -1.46836260e-01 -1.37123310e-01] [ 2.99605433e-01 9.54063197e-01 2.30728263e-05 -1.18044667e-01] [ 1.40084234e-01 -4.40147155e-02 9.89160812e-01 -1.04208163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851346184 meters Centerline goodness : 0.868889 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.04 [[ 9.43571400e-01 -2.96926157e-01 -1.46655620e-01 -1.37181594e-01] [ 3.00055927e-01 9.53921261e-01 -8.18129907e-04 -1.17386587e-01] [ 1.40140838e-01 -4.32329241e-02 9.89187272e-01 -1.04194610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881346184 meters Centerline goodness : 0.873136 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.12, Z:-1.04 [[ 0.94378676 -0.29608766 -0.14696477 -0.13462397] [ 0.29914729 0.954206 -0.00134296 -0.115432 ] [ 0.1406323 -0.04269665 0.98914082 -1.04483886] [ 0. 0. 0. 1. ]] SLAMing on 104.911346184 meters Centerline goodness : 0.873407 Centerline is valid? [False, False] Translation: X:-0.14, Y:-0.12, Z:-1.05 [[ 0.94410842 -0.29539581 -0.14628946 -0.13554252] [ 0.29828438 0.9544743 -0.00228936 -0.11510311] [ 0.1403058 -0.04147446 0.98923918 -1.04521498] [ 0. 0. 0. 1. ]] SLAMing on 104.941346184 meters Centerline goodness : 0.870682 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94465483 -0.29321774 -0.14714143 -0.1336736 ] [ 0.29628984 0.95509745 -0.00108657 -0.1146141 ] [ 0.14085301 -0.04257008 0.98911487 -1.04639405] [ 0. 0. 0. 1. ]] SLAMing on 104.971346184 meters Centerline goodness : 0.874627 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94523026 -0.29052147 -0.14878518 -0.13260516] [ 0.29403001 0.95579475 0.00166123 -0.11366986] [ 0.14172547 -0.04531755 0.98886815 -1.04567047] [ 0. 0. 0. 1. ]] SLAMing on 105.001346184 meters Centerline goodness : 0.873522 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94668457 -0.29094152 -0.13835227 -0.13116329] [ 0.29420977 0.95573507 0.00333087 -0.10591167] [ 0.13125903 -0.04385788 0.99037748 -1.04606162] [ 0. 0. 0. 1. ]] SLAMing on 105.031346184 meters Centerline goodness : 0.872021 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94718019 -0.28908877 -0.13884295 -0.13017757] [ 0.2924622 0.95626833 0.0040907 -0.10592993] [ 0.13158854 -0.04448094 0.99030596 -1.0467306 ] [ 0. 0. 0. 1. ]] SLAMing on 105.061346184 meters Centerline goodness : 0.871590 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94749458 -0.28837062 -0.13818973 -0.13096851] [ 0.29159737 0.9565356 0.00325756 -0.10656188] [ 0.13124401 -0.04338228 0.99040042 -1.04696412] [ 0. 0. 0. 1. ]] SLAMing on 105.09134618399999 meters Centerline goodness : 0.872999 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94771159 -0.28775497 -0.13798486 -0.12984848] [ 0.29089915 0.95674978 0.00274666 -0.10778363] [ 0.13122662 -0.04274272 0.99043053 -1.04831002] [ 0. 0. 0. 1. ]] SLAMing on 105.12134618399999 meters Centerline goodness : 0.871172 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.05 [[ 0.94762488 -0.2876175 -0.13886421 -0.12902343] [ 0.29092837 0.95673761 0.00371938 -0.10741028] [ 0.13178685 -0.04392412 0.99030445 -1.04744068] [ 0. 0. 0. 1. ]] SLAMing on 105.15134618399999 meters Centerline goodness : 0.873711 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 0.94719792 -0.28837381 -0.14020214 -0.12847714] [ 0.29183734 0.95645806 0.00435275 -0.10630684] [ 0.13284225 -0.04503913 0.99011333 -1.04498952] [ 0. 0. 0. 1. ]] SLAMing on 105.18134618399999 meters Centerline goodness : 0.873584 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 0.94636735 -0.29086411 -0.14066593 -0.12755786] [ 0.29419441 0.95574082 0.00302334 -0.10513252] [ 0.13356079 -0.04424432 0.9900525 -1.04398507] [ 0. 0. 0. 1. ]] SLAMing on 105.21134618399999 meters Centerline goodness : 0.873604 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 9.45859573e-01 -2.93066473e-01 -1.39505237e-01 -1.28328252e-01] [ 2.95927838e-01 9.55210268e-01 -2.43186939e-04 -1.05303455e-01] [ 1.33328105e-01 -4.10534626e-02 9.90221303e-01 -1.04382442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241346184 meters Centerline goodness : 0.874021 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 0.94528295 -0.29533815 -0.1386201 -0.12803491] [ 0.29784087 0.9546114 -0.00280815 -0.10637584] [ 0.13315768 -0.03863223 0.99034165 -1.04410295] [ 0. 0. 0. 1. ]] SLAMing on 105.271346184 meters Centerline goodness : 0.877764 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 0.9440838 -0.29955647 -0.13773781 -0.12854636] [ 0.30169426 0.95338838 -0.00558306 -0.10817607] [ 0.13299007 -0.03628383 0.99045299 -1.0423722 ] [ 0. 0. 0. 1. ]] SLAMing on 105.301346184 meters Centerline goodness : 0.880609 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.11, Z:-1.04 [[ 0.94330505 -0.30144935 -0.13893841 -0.12735979] [ 0.30371095 0.95275036 -0.00513825 -0.10781256] [ 0.13392254 -0.03735018 0.99028769 -1.04020418] [ 0. 0. 0. 1. ]] SLAMing on 105.331346184 meters Centerline goodness : 0.881161 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:-1.04 [[ 0.94241104 -0.30310794 -0.14137538 -0.1239602 ] [ 0.30567371 0.95212901 -0.00373184 -0.10655003] [ 0.13573875 -0.03969781 0.98994903 -1.03825616] [ 0. 0. 0. 1. ]] SLAMing on 105.361346184 meters Centerline goodness : 0.881342 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.11, Z:-1.04 [[ 0.94150854 -0.30544213 -0.14236144 -0.12255987] [ 0.30797792 0.95138326 -0.00441617 -0.1053348 ] [ 0.13678918 -0.03968632 0.98980489 -1.03658892] [ 0. 0. 0. 1. ]] SLAMing on 105.391346184 meters Centerline goodness : 0.879103 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-1.04 [[ 0.93967804 -0.31198086 -0.1402609 -0.12173677] [ 0.31342657 0.9495336 -0.01223606 -0.1039456 ] [ 0.13699985 -0.03246354 0.99003897 -1.03757575] [ 0. 0. 0. 1. ]] SLAMing on 105.421346184 meters Centerline goodness : 0.877905 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-1.04 [[ 0.93902927 -0.31400106 -0.1400977 -0.11896418] [ 0.31515432 0.94893026 -0.0144612 -0.103568 ] [ 0.13748378 -0.03057291 0.99003207 -1.03949307] [ 0. 0. 0. 1. ]] SLAMing on 105.451346184 meters Centerline goodness : 0.877092 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.10, Z:-1.04 [[ 0.93822612 -0.31586391 -0.141286 -0.11625287] [ 0.31692628 0.94832321 -0.01551859 -0.10188726] [ 0.13888655 -0.0302173 0.98984718 -1.03900727] [ 0. 0. 0. 1. ]] SLAMing on 105.48134618399999 meters Centerline goodness : 0.879112 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.93849789 -0.3137871 -0.14408111 -0.11215755] [ 0.31550327 0.94885624 -0.01138041 -0.10132573] [ 0.14028329 -0.03477757 0.98950044 -1.03925223] [ 0. 0. 0. 1. ]] SLAMing on 105.51134618399999 meters Centerline goodness : 0.882906 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.9387089 -0.31273073 -0.14500033 -0.11309225] [ 0.31466675 0.94914969 -0.00998481 -0.10091444] [ 0.14074958 -0.03625395 0.98938122 -1.03674012] [ 0. 0. 0. 1. ]] SLAMing on 105.54134618399999 meters Centerline goodness : 0.882906 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.9387089 -0.31273073 -0.14500033 -0.11309225] [ 0.31466675 0.94914969 -0.00998481 -0.10091444] [ 0.14074958 -0.03625395 0.98938122 -1.03674012] [ 0. 0. 0. 1. ]] SLAMing on 105.57134618399999 meters Centerline goodness : 0.883556 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.93924988 -0.310202 -0.14691624 -0.11148526] [ 0.31266918 0.94983926 -0.00658572 -0.10096122] [ 0.14158972 -0.03975055 0.98912701 -1.03593461] [ 0. 0. 0. 1. ]] SLAMing on 105.601346184 meters Centerline goodness : 0.885854 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94007332 -0.30766617 -0.14698188 -0.11226672] [ 0.31015016 0.95066679 -0.00628728 -0.10047778] [ 0.14166517 -0.03967595 0.9891192 -1.03583443] [ 0. 0. 0. 1. ]] SLAMing on 105.631346184 meters Centerline goodness : 0.882953 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94034383 -0.3066655 -0.14734229 -0.11119243] [ 0.30921978 0.95097279 -0.00582065 -0.09975147] [ 0.14190351 -0.04008774 0.98906843 -1.03685716] [ 0. 0. 0. 1. ]] SLAMing on 105.661346184 meters Centerline goodness : 0.883404 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94039374 -0.3062528 -0.14788115 -0.11083831] [ 0.30874964 0.95112221 -0.00634027 -0.0986537 ] [ 0.14259477 -0.0396959 0.98898482 -1.03616461] [ 0. 0. 0. 1. ]] SLAMing on 105.691346184 meters Centerline goodness : 0.883605 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94060559 -0.30510064 -0.14891176 -0.10900498] [ 0.30779046 0.95143992 -0.00520779 -0.09727915] [ 0.1432695 -0.04093514 0.98883677 -1.03678734] [ 0. 0. 0. 1. ]] SLAMing on 105.721346184 meters Centerline goodness : 0.882520 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94124591 -0.30309467 -0.14896228 -0.11056214] [ 0.30585319 0.95206763 -0.00458875 -0.09641236] [ 0.14321299 -0.04124144 0.98883223 -1.0359438 ] [ 0. 0. 0. 1. ]] SLAMing on 105.751346184 meters Centerline goodness : 0.883680 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94165113 -0.3019702 -0.14868473 -0.11131729] [ 0.30462627 0.95245816 -0.00512706 -0.09571807] [ 0.1431642 -0.04046537 0.98887136 -1.03605395] [ 0. 0. 0. 1. ]] SLAMing on 105.781346184 meters Centerline goodness : 0.882744 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.10, Z:-1.04 [[ 0.94291524 -0.29810372 -0.14847568 -0.11334401] [ 0.30091053 0.95364513 -0.00371805 -0.09531131] [ 0.14270147 -0.04117209 0.98890907 -1.03605187] [ 0. 0. 0. 1. ]] SLAMing on 105.811346184 meters Centerline goodness : 0.885871 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.03 [[ 0.94327812 -0.29684848 -0.1486855 -0.11466027] [ 0.29967651 0.95403433 -0.00353327 -0.09430685] [ 0.14289992 -0.0412247 0.98887822 -1.03462071] [ 0. 0. 0. 1. ]] SLAMing on 105.84134618399999 meters Centerline goodness : 0.884807 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-1.03 [[ 0.94349736 -0.29617391 -0.14863966 -0.11577456] [ 0.29895282 0.9542603 -0.00380657 -0.09322759] [ 0.14296833 -0.04084476 0.9888841 -1.03385242] [ 0. 0. 0. 1. ]] SLAMing on 105.87134618399999 meters Centerline goodness : 0.881453 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-1.04 [[ 0.94432702 -0.29437687 -0.14693107 -0.11555919] [ 0.29682537 0.95491606 -0.00547869 -0.09344998] [ 0.14191964 -0.0384392 0.98913156 -1.03799623] [ 0. 0. 0. 1. ]] SLAMing on 105.90134618399999 meters Centerline goodness : 0.884291 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-1.04 [[ 0.94453805 -0.29383136 -0.14666632 -0.11554526] [ 0.29620658 0.95510583 -0.00587496 -0.09290514] [ 0.14180811 -0.03789441 0.98916858 -1.038834 ] [ 0. 0. 0. 1. ]] SLAMing on 105.93134618399999 meters Centerline goodness : 0.887020 Centerline is valid? [False, False] Translation: X:-0.12, Y:-0.09, Z:-1.04 [[ 0.94474922 -0.29300399 -0.14696111 -0.11624738] [ 0.29537983 0.95536177 -0.00588557 -0.09191373] [ 0.14212552 -0.03784896 0.98912476 -1.03781539] [ 0. 0. 0. 1. ]] SLAMing on 105.96134618399999 meters Centerline goodness : 0.883284 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94526822 -0.29673072 -0.13571617 -0.11373902] [ 0.2985198 0.95437437 -0.00744878 -0.08504671] [ 0.13173432 -0.03347287 0.99071976 -1.03877562] [ 0. 0. 0. 1. ]] SLAMing on 105.991346184 meters Centerline goodness : 0.882754 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-1.04 [[ 0.94616355 -0.2935396 -0.13641497 -0.11293656] [ 0.29556236 0.95530677 -0.00564484 -0.08411226] [ 0.13197513 -0.03497818 0.9906357 -1.03987947] [ 0. 0. 0. 1. ]] SLAMing on 106.021346184 meters Centerline goodness : 0.883099 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-1.04 [[ 0.94645628 -0.29262726 -0.13634443 -0.1135757 ] [ 0.29459836 0.95560265 -0.00594753 -0.08392648] [ 0.13203151 -0.03453777 0.99064364 -1.03945855] [ 0. 0. 0. 1. ]] SLAMing on 106.051346184 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-1.04 [[ 0.94673839 -0.29174739 -0.13627134 -0.11370506] [ 0.29368102 0.95588372 -0.00614574 -0.0843643 ] [ 0.13205256 -0.0342019 0.99065249 -1.03941921] [ 0. 0. 0. 1. ]] SLAMing on 106.081346184 meters Centerline goodness : 0.880987 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94682451 -0.29164694 -0.13588751 -0.11303033] [ 0.29341203 0.95595817 -0.00730437 -0.08549296] [ 0.13203307 -0.03295507 0.99069735 -1.0401183 ] [ 0. 0. 0. 1. ]] SLAMing on 106.111346184 meters Centerline goodness : 0.885232 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94678427 -0.29175279 -0.13594067 -0.11287744] [ 0.29350071 0.95592979 -0.00745421 -0.08575017] [ 0.13212453 -0.03284116 0.99068894 -1.0398787 ] [ 0. 0. 0. 1. ]] SLAMing on 106.141346184 meters Centerline goodness : 0.883666 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94669727 -0.29155986 -0.13695666 -0.11040067] [ 0.29344225 0.95595337 -0.00669303 -0.08584026] [ 0.1328756 -0.0338526 0.99055443 -1.04026304] [ 0. 0. 0. 1. ]] SLAMing on 106.171346184 meters Centerline goodness : 0.881103 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94592194 -0.29481543 -0.13533494 -0.11209156] [ 0.29611611 0.95508998 -0.01088069 -0.08549279] [ 0.13246484 -0.02978258 0.99074016 -1.03957015] [ 0. 0. 0. 1. ]] SLAMing on 106.201346184 meters Centerline goodness : 0.882947 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.09, Z:-1.04 [[ 0.94552994 -0.29574004 -0.13605496 -0.11006971] [ 0.29707916 0.95479149 -0.01082524 -0.08529941] [ 0.13310558 -0.03018351 0.99064215 -1.03969616] [ 0. 0. 0. 1. ]] SLAMing on 106.23134618399999 meters Centerline goodness : 0.877888 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-1.04 [[ 0.94501521 -0.29687056 -0.13716458 -0.10803536] [ 0.29825603 0.95442458 -0.01081961 -0.08431252] [ 0.13412527 -0.03068547 0.99048918 -1.0391232 ] [ 0. 0. 0. 1. ]] SLAMing on 106.26134618399999 meters Centerline goodness : 0.876899 Centerline is valid? [False, False] Translation: X:-0.11, Y:-0.08, Z:-1.04 [[ 0.94463356 -0.29757351 -0.13826581 -0.10577213] [ 0.29899326 0.95419326 -0.01087449 -0.08329603] [ 0.13516826 -0.03106814 0.99033545 -1.03881574] [ 0. 0. 0. 1. ]] SLAMing on 106.29134618399999 meters Centerline goodness : 0.875712 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-1.04 [[ 0.94359593 -0.30074421 -0.1384906 -0.1036612 ] [ 0.30193377 0.95324239 -0.01284319 -0.08146228] [ 0.13587762 -0.02969621 0.99028047 -1.03934229] [ 0. 0. 0. 1. ]] SLAMing on 106.32134618399999 meters Centerline goodness : 0.873593 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-1.04 [[ 0.94300443 -0.30253079 -0.13862816 -0.10190218] [ 0.30355331 0.95270832 -0.01422142 -0.08127366] [ 0.13637462 -0.02867018 0.99024239 -1.03967258] [ 0. 0. 0. 1. ]] SLAMing on 106.351346184 meters Centerline goodness : 0.872265 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-1.04 [[ 0.94251987 -0.30400782 -0.13869225 -0.10004551] [ 0.30491838 0.95225786 -0.01515733 -0.08189812] [ 0.13667873 -0.02800374 0.99021953 -1.04022727] [ 0. 0. 0. 1. ]] SLAMing on 106.381346184 meters Centerline goodness : 0.869938 Centerline is valid? [False, False] Translation: X:-0.10, Y:-0.08, Z:-1.04 [[ 0.94173705 -0.30584981 -0.13995437 -0.09624244] [ 0.30685231 0.95164055 -0.01489693 -0.08206952] [ 0.13774248 -0.02891633 0.99004589 -1.04081415] [ 0. 0. 0. 1. ]] SLAMing on 106.411346184 meters Centerline goodness : 0.872330 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94142701 -0.30597947 -0.14174536 -0.09395835] [ 0.3072227 0.95154082 -0.01357506 -0.08112219] [ 0.13903018 -0.03076747 0.98981007 -1.03963783] [ 0. 0. 0. 1. ]] SLAMing on 106.441346184 meters Centerline goodness : 0.871430 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94138926 -0.30545869 -0.1431127 -0.09278803] [ 0.30692129 0.95165553 -0.01229133 -0.08035571] [ 0.13994848 -0.03235341 0.98963007 -1.03838433] [ 0. 0. 0. 1. ]] SLAMing on 106.471346184 meters Centerline goodness : 0.868570 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94153584 -0.30418617 -0.14484833 -0.0896477 ] [ 0.3059527 0.95198914 -0.01046953 -0.07937329] [ 0.14107873 -0.0344593 0.98939848 -1.03892987] [ 0. 0. 0. 1. ]] SLAMing on 106.501346184 meters Centerline goodness : 0.867937 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94211276 -0.30318759 -0.14318113 -0.08991125] [ 0.30465132 0.95238678 -0.01212426 -0.08054367] [ 0.14003975 -0.0321979 0.98962223 -1.04165803] [ 0. 0. 0. 1. ]] SLAMing on 106.531346184 meters Centerline goodness : 0.870142 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94222294 -0.30258234 -0.14373535 -0.08683667] [ 0.30407192 0.95257319 -0.01202408 -0.08123016] [ 0.14055671 -0.03237652 0.98954311 -1.04361875] [ 0. 0. 0. 1. ]] SLAMing on 106.561346184 meters Centerline goodness : 0.869791 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.08, Z:-1.04 [[ 0.94227705 -0.30254201 -0.14346534 -0.08686685] [ 0.30399358 0.95259563 -0.01222609 -0.08201195] [ 0.14036336 -0.03209218 0.98957982 -1.04371881] [ 0. 0. 0. 1. ]] SLAMing on 106.59134618399999 meters Centerline goodness : 0.868626 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94221935 -0.30208229 -0.1448067 -0.08411733] [ 0.30376197 0.95268555 -0.01090439 -0.08219307] [ 0.14124927 -0.03371244 0.98939988 -1.04387064] [ 0. 0. 0. 1. ]] SLAMing on 106.62134618399999 meters Centerline goodness : 0.868225 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94170525 -0.30337899 -0.1454387 -0.08318682] [ 0.3051978 0.95223449 -0.01018692 -0.08234114] [ 0.14158224 -0.03479449 0.98931482 -1.04290682] [ 0. 0. 0. 1. ]] SLAMing on 106.65134618399999 meters Centerline goodness : 0.869748 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94142167 -0.30416618 -0.14563028 -0.08208274] [ 0.30590397 0.95200042 -0.01086113 -0.08250703] [ 0.14194367 -0.03432397 0.98927946 -1.04292618] [ 0. 0. 0. 1. ]] SLAMing on 106.68134618399999 meters Centerline goodness : 0.868667 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94129672 -0.30439362 -0.14596234 -0.08092805] [ 0.3061481 0.95192213 -0.01084406 -0.08337149] [ 0.14224564 -0.03447861 0.98923071 -1.04281195] [ 0. 0. 0. 1. ]] SLAMing on 106.71134618399999 meters Centerline goodness : 0.871285 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.9410363 -0.30461873 -0.14716693 -0.08018647] [ 0.30671036 0.95176197 -0.00882632 -0.08428475] [ 0.14275655 -0.03683174 0.98907229 -1.0410211 ] [ 0. 0. 0. 1. ]] SLAMing on 106.741346184 meters Centerline goodness : 0.869525 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94083275 -0.30512983 -0.14740935 -0.08067721] [ 0.30723062 0.95159378 -0.00886663 -0.08412332] [ 0.1429793 -0.03694665 0.98903583 -1.03958761] [ 0. 0. 0. 1. ]] SLAMing on 106.771346184 meters Centerline goodness : 0.870526 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.08, Z:-1.04 [[ 0.94072596 -0.30508197 -0.14818793 -0.07811939] [ 0.30722598 0.95159619 -0.00876849 -0.08400789] [ 0.14369018 -0.03727844 0.98892035 -1.04039774] [ 0. 0. 0. 1. ]] SLAMing on 106.801346184 meters Centerline goodness : 0.868783 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:-1.04 [[ 0.94016914 -0.30811843 -0.14541327 -0.07786588] [ 0.30947401 0.95080807 -0.01377849 -0.08523159] [ 0.14250552 -0.03204752 0.98927505 -1.04385008] [ 0. 0. 0. 1. ]] SLAMing on 106.831346184 meters Centerline goodness : 0.870479 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.09, Z:-1.05 [[ 0.93952034 -0.31065071 -0.14421396 -0.07708578] [ 0.31145701 0.95009847 -0.0175335 -0.08515121] [ 0.14246426 -0.02844337 0.98939118 -1.04520185] [ 0. 0. 0. 1. ]] SLAMing on 106.861346184 meters Centerline goodness : 0.867606 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93913635 -0.31127785 -0.14535822 -0.07275823] [ 0.31212378 0.94987951 -0.01754052 -0.08466843] [ 0.14353277 -0.02889682 0.98922359 -1.04687325] [ 0. 0. 0. 1. ]] SLAMing on 106.891346184 meters Centerline goodness : 0.868696 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93894244 -0.31125908 -0.14664544 -0.06927063] [ 0.31228375 0.9498442 -0.01657854 -0.08356148] [ 0.14445055 -0.03022869 0.98905018 -1.04804056] [ 0. 0. 0. 1. ]] SLAMing on 106.921346184 meters Centerline goodness : 0.869761 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93895508 -0.31070587 -0.1477336 -0.06959236] [ 0.31201114 0.94996232 -0.01485389 -0.08261221] [ 0.14495655 -0.0321474 0.98891564 -1.04610825] [ 0. 0. 0. 1. ]] SLAMing on 106.951346184 meters Centerline goodness : 0.869522 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93887076 -0.31035075 -0.14901043 -0.06747558] [ 0.31189576 0.95002059 -0.01348757 -0.08214369] [ 0.14574885 -0.03381264 0.98874364 -1.04586947] [ 0. 0. 0. 1. ]] SLAMing on 106.98134618399999 meters Centerline goodness : 0.866981 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93871501 -0.31063045 -0.14940836 -0.0667073 ] [ 0.31216268 0.94993002 -0.01369 -0.08214414] [ 0.14618002 -0.0337887 0.9886808 -1.04530732] [ 0. 0. 0. 1. ]] SLAMing on 107.01134618399999 meters Centerline goodness : 0.867623 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.08, Z:-1.05 [[ 0.93849396 -0.31255025 -0.14676998 -0.06858322] [ 0.31352511 0.94942686 -0.01704833 -0.08429258] [ 0.14467582 -0.03001632 0.98902373 -1.04668416] [ 0. 0. 0. 1. ]] SLAMing on 107.04134618399999 meters Centerline goodness : 0.870376 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:-1.05 [[ 0.93829449 -0.31289999 -0.14729918 -0.06617738] [ 0.3139933 0.94928389 -0.01637988 -0.08531091] [ 0.144954 -0.03088181 0.98895635 -1.04757757] [ 0. 0. 0. 1. ]] SLAMing on 107.07134618399999 meters Centerline goodness : 0.870096 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-1.05 [[ 0.93779781 -0.31378773 -0.14856828 -0.06479771] [ 0.31509574 0.94893703 -0.01527045 -0.08509834] [ 0.14577362 -0.03249263 0.98878424 -1.0459283 ] [ 0. 0. 0. 1. ]] SLAMing on 107.101346184 meters Centerline goodness : 0.871391 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:-1.04 [[ 0.9373064 -0.31407969 -0.15103196 -0.06169369] [ 0.31590263 0.94871055 -0.01240238 -0.08477687] [ 0.14718095 -0.03608656 0.98845107 -1.04413286] [ 0. 0. 0. 1. ]] SLAMing on 107.131346184 meters Centerline goodness : 0.871452 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-1.05 [[ 0.93647564 -0.31686741 -0.15036095 -0.06030133] [ 0.31845414 0.94783408 -0.01405411 -0.08567356] [ 0.14697052 -0.03472174 0.98853127 -1.04500431] [ 0. 0. 0. 1. ]] SLAMing on 107.161346184 meters Centerline goodness : 0.872744 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-1.05 [[ 0.93582222 -0.31943366 -0.148993 -0.05849722] [ 0.32044141 0.94710015 -0.01784968 -0.08613697] [ 0.14681308 -0.03103939 0.98867713 -1.04742805] [ 0. 0. 0. 1. ]] SLAMing on 107.191346184 meters Centerline goodness : 0.867283 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:-1.05 [[ 0.93520559 -0.32167903 -0.14803077 -0.05550639] [ 0.32221759 0.9464328 -0.02099493 -0.08635955] [ 0.14685481 -0.02806354 0.98875988 -1.05059759] [ 0. 0. 0. 1. ]] SLAMing on 107.221346184 meters Centerline goodness : 0.867721 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.09, Z:-1.05 [[ 0.93424399 -0.32455812 -0.1478181 -0.05249213] [ 0.32483892 0.94549157 -0.0229211 -0.08572872] [ 0.1472 -0.02660317 0.98874892 -1.05246601] [ 0. 0. 0. 1. ]] SLAMing on 107.251346184 meters Centerline goodness : 0.867149 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:-1.05 [[ 0.9339952 -0.32398812 -0.15061428 -0.04882229] [ 0.32483898 0.94556594 -0.01961353 -0.08432716] [ 0.14877028 -0.03060645 0.98839802 -1.05143828] [ 0. 0. 0. 1. ]] SLAMing on 107.281346184 meters Centerline goodness : 0.859912 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:-1.05 [[ 0.93440602 -0.32112607 -0.15415395 -0.04474001] [ 0.32282071 0.94634746 -0.01460378 -0.08081553] [ 0.15057285 -0.03611822 0.98793891 -1.05110051] [ 0. 0. 0. 1. ]] SLAMing on 107.311346184 meters Centerline goodness : 0.860120 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:-1.05 [[ 0.93483664 -0.32017645 -0.15351711 -0.04489111] [ 0.32169442 0.94671614 -0.01553237 -0.0803054 ] [ 0.15031022 -0.03486537 0.98802391 -1.05235425] [ 0. 0. 0. 1. ]] SLAMing on 107.34134618399999 meters Centerline goodness : 0.861985 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:-1.05 [[ 0.93526808 -0.3192624 -0.15279116 -0.04442675] [ 0.32063681 0.9470631 -0.01623305 -0.08061714] [ 0.14988548 -0.03380821 0.98812517 -1.05431411] [ 0. 0. 0. 1. ]] SLAMing on 107.37134618399999 meters Centerline goodness : 0.862904 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.08, Z:-1.06 [[ 0.93569616 -0.31794958 -0.1529077 -0.04233197] [ 0.3193623 0.94749933 -0.01589805 -0.08046631] [ 0.14993473 -0.03395721 0.98811259 -1.0566933 ] [ 0. 0. 0. 1. ]] SLAMing on 107.40134618399999 meters Centerline goodness : 0.863789 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:-1.06 [[ 0.9362682 -0.32153358 -0.14148502 -0.03951183] [ 0.32249095 0.94642442 -0.01674529 -0.07249164] [ 0.13928905 -0.02994955 0.98979876 -1.0583499 ] [ 0. 0. 0. 1. ]] SLAMing on 107.43134618399999 meters Centerline goodness : 0.863789 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:-1.06 [[ 0.9362682 -0.32153358 -0.14148502 -0.03951183] [ 0.32249095 0.94642442 -0.01674529 -0.07249164] [ 0.13928905 -0.02994955 0.98979876 -1.0583499 ] [ 0. 0. 0. 1. ]] SLAMing on 107.46134618399999 meters Centerline goodness : 0.864789 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:-1.06 [[ 0.93660998 -0.31947433 -0.14386763 -0.03518939] [ 0.3209029 0.94701159 -0.01379766 -0.07089795] [ 0.14065231 -0.03324452 0.98950075 -1.05936949] [ 0. 0. 0. 1. ]] SLAMing on 107.491346184 meters Centerline goodness : 0.864267 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-1.06 [[ 0.93696134 -0.31835749 -0.14405539 -0.03432718] [ 0.31984998 0.94737477 -0.0133059 -0.06999264] [ 0.14071048 -0.033609 0.98948016 -1.06048691] [ 0. 0. 0. 1. ]] SLAMing on 107.521346184 meters Centerline goodness : 0.863397 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-1.06 [[ 0.93763953 -0.31600438 -0.1448218 -0.03199628] [ 0.31766717 0.9481249 -0.0121137 -0.06735411] [ 0.14113714 -0.03464684 0.9893836 -1.06298929] [ 0. 0. 0. 1. ]] SLAMing on 107.551346184 meters Centerline goodness : 0.862466 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.07, Z:-1.06 [[ 0.93767734 -0.31569589 -0.14524914 -0.03151976] [ 0.31732603 0.94823512 -0.01242352 -0.0651783 ] [ 0.14165239 -0.03444208 0.98931711 -1.0630027 ] [ 0. 0. 0. 1. ]] SLAMing on 107.581346184 meters Centerline goodness : 0.861961 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:-1.06 [[ 0.93777766 -0.31523406 -0.14560409 -0.02966021] [ 0.3168582 0.94839034 -0.01251611 -0.06316996] [ 0.14203502 -0.03439852 0.98926376 -1.06475058] [ 0. 0. 0. 1. ]] SLAMing on 107.611346184 meters Centerline goodness : 0.860396 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:-1.07 [[ 0.93760424 -0.31544244 -0.1462681 -0.02789607] [ 0.31717777 0.94829114 -0.01192367 -0.06028365] [ 0.14246597 -0.03521331 0.98917312 -1.06578534] [ 0. 0. 0. 1. ]] SLAMing on 107.641346184 meters Centerline goodness : 0.861867 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:-1.06 [[ 0.93735014 -0.31570434 -0.1473278 -0.02783146] [ 0.31760989 0.94815726 -0.01103449 -0.05865475] [ 0.14317356 -0.03644958 0.98902617 -1.06378998] [ 0. 0. 0. 1. ]] SLAMing on 107.671346184 meters Centerline goodness : 0.860410 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.06, Z:-1.06 [[ 0.93696362 -0.31603895 -0.14905889 -0.02533896] [ 0.31819028 0.94797595 -0.00982573 -0.05642137] [ 0.14440956 -0.03822274 0.9887795 -1.06320777] [ 0. 0. 0. 1. ]] SLAMing on 107.701346184 meters Centerline goodness : 0.859963 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.06, Z:-1.06 [[ 0.93662971 -0.31704212 -0.14902712 -0.02486014] [ 0.31904831 0.94767587 -0.01089092 -0.05557784] [ 0.14468229 -0.0373461 0.98877313 -1.06309 ] [ 0. 0. 0. 1. ]] SLAMing on 107.73134618399999 meters Centerline goodness : 0.859981 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.06 [[ 0.93622635 -0.31825603 -0.14897422 -0.0238089 ] [ 0.32020944 0.94727895 -0.01133571 -0.05488652] [ 0.14472781 -0.03709016 0.9887761 -1.06339995] [ 0. 0. 0. 1. ]] SLAMing on 107.76134618399999 meters Centerline goodness : 0.860967 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.06 [[ 0.93592332 -0.31821387 -0.1509552 -0.02147891] [ 0.32057101 0.94718062 -0.00911614 -0.05333855] [ 0.14588272 -0.03985985 0.98849857 -1.06231375] [ 0. 0. 0. 1. ]] SLAMing on 107.79134618399999 meters Centerline goodness : 0.860860 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.06 [[ 0.93557476 -0.31873242 -0.15201813 -0.02123581] [ 0.32122503 0.94696439 -0.00853987 -0.05131499] [ 0.14667769 -0.04084234 0.98834081 -1.06051311] [ 0. 0. 0. 1. ]] SLAMing on 107.82134618399999 meters Centerline goodness : 0.859163 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.06 [[ 0.93525997 -0.3195196 -0.15230237 -0.01898982] [ 0.32173666 0.94677059 -0.01053394 -0.04782008] [ 0.14756121 -0.03914928 0.98827781 -1.0621032 ] [ 0. 0. 0. 1. ]] SLAMing on 107.851346184 meters Centerline goodness : 0.859152 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.06 [[ 0.93539486 -0.3200055 -0.15044249 -0.0191154 ] [ 0.3216543 0.94675496 -0.01391241 -0.04694701] [ 0.14688422 -0.03537688 0.98852087 -1.06481464] [ 0. 0. 0. 1. ]] SLAMing on 107.881346184 meters Centerline goodness : 0.858488 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.07 [[ 0.93549099 -0.31978144 -0.15032115 -0.01603992] [ 0.32127952 0.94686752 -0.01487855 -0.04626019] [ 0.1470921 -0.03437636 0.98852526 -1.06797531] [ 0. 0. 0. 1. ]] SLAMing on 107.911346184 meters Centerline goodness : 0.861593 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:-1.07 [[ 0.93549457 -0.31978044 -0.15030097 -0.01567229] [ 0.3211723 0.9468925 -0.01558716 -0.04509518] [ 0.14730333 -0.0336908 0.98851741 -1.06840433] [ 0. 0. 0. 1. ]] SLAMing on 107.941346184 meters Centerline goodness : 0.859994 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:-1.07 [[ 0.93609916 -0.31593142 -0.15461469 -0.01205986] [ 0.318513 0.94788088 -0.00844422 -0.04106626] [ 0.1492241 -0.04134216 0.98793876 -1.0671465 ] [ 0. 0. 0. 1. ]] SLAMing on 107.971346184 meters Centerline goodness : 0.859695 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:-1.07 [[ 0.93656534 -0.31357976 -0.15656658 -0.01112104] [ 0.31666551 0.9485214 -0.00548763 -0.03918027] [ 0.15022756 -0.04443972 0.98765216 -1.06590231] [ 0. 0. 0. 1. ]] SLAMing on 108.001346184 meters Centerline goodness : 0.859313 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:-1.07 [[ 0.9374807 -0.31691995 -0.14384607 -0.01015271] [ 0.31982418 0.94747189 -0.00308485 -0.0342872 ] [ 0.13726775 -0.04311346 0.98959527 -1.07193213] [ 0. 0. 0. 1. ]] SLAMing on 108.031346184 meters Centerline goodness : 0.861257 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:-1.07 [[ 0.9383978 -0.31423016 -0.14376706 -0.00847916] [ 0.31725835 0.94833713 -0.00195866 -0.03518502] [ 0.13695511 -0.0437733 0.98960962 -1.07450122] [ 0. 0. 0. 1. ]] SLAMing on 108.061346184 meters Centerline goodness : 0.861626 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:-1.07 [[ 0.93858603 -0.31388273 -0.14329655 -0.00913814] [ 0.31680815 0.94848628 -0.00252453 -0.03510513] [ 0.13670721 -0.04302803 0.98967658 -1.07448596] [ 0. 0. 0. 1. ]] SLAMing on 108.09134618399999 meters Centerline goodness : 0.863604 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:-1.07 [[ 0.93868117 -0.31333455 -0.14387186 -0.00896371] [ 0.31636012 0.94863718 -0.0019428 -0.03429534] [ 0.13709095 -0.04369165 0.98959442 -1.07368271] [ 0. 0. 0. 1. ]] SLAMing on 108.12134618399999 meters Centerline goodness : 0.863533 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:-1.07 [[ 0.93877624 -0.31193257 -0.14627794 -0.00672811] [ 0.31552074 0.94891765 0.00140183 -0.0329409 ] [ 0.13836844 -0.04746973 0.98924254 -1.0723998 ] [ 0. 0. 0. 1. ]] SLAMing on 108.15134618399999 meters Centerline goodness : 0.861245 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-1.07 [[ 0.93853761 -0.31553155 -0.13995352 0.00130369] [ 0.31913073 0.94770435 0.0034695 -0.0206808 ] [ 0.13153982 -0.04791972 0.990152 -1.07158076] [ 0. 0. 0. 1. ]] SLAMing on 108.18134618399999 meters Centerline goodness : 0.862100 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-1.07 [[ 0.93834829 -0.31617324 -0.13977469 0.00175706] [ 0.31951418 0.94758024 0.00154585 -0.01758863] [ 0.13195898 -0.04611054 0.99018213 -1.07239548] [ 0. 0. 0. 1. ]] SLAMing on 108.21134618399999 meters Centerline goodness : 0.857788 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-1.08 [[ 0.93809496 -0.31742261 -0.13863882 0.00311113] [ 0.32017859 0.94735377 -0.00255044 -0.01495735] [ 0.13214957 -0.04199663 0.99033973 -1.07513022] [ 0. 0. 0. 1. ]] SLAMing on 108.241346184 meters Centerline goodness : 0.859422 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-1.08 [[ 0.93765227 -0.31972708 -0.13631877 0.00378394] [ 0.32158974 0.94683882 -0.00873439 -0.01184684] [ 0.13186452 -0.03564889 0.99062652 -1.07893345] [ 0. 0. 0. 1. ]] SLAMing on 108.271346184 meters Centerline goodness : 0.860563 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-1.08 [[ 0.93758176 -0.31877135 -0.13901538 0.0080503 ] [ 0.32110641 0.94702471 -0.00590464 -0.00979573] [ 0.13353324 -0.03910265 0.99027262 -1.07919133] [ 0. 0. 0. 1. ]] SLAMing on 108.301346184 meters Centerline goodness : 0.859918 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-1.08 [[ 0.93731821 -0.31834035 -0.14175326 0.00940864] [ 0.32120505 0.94700549 -0.00281277 -0.00662231] [ 0.13513654 -0.0428954 0.98989803 -1.0764305 ] [ 0. 0. 0. 1. ]] SLAMing on 108.331346184 meters Centerline goodness : 0.859350 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-1.07 [[ 0.93761872 -0.31507755 -0.14696012 0.01406797] [ 0.31912656 0.94770274 0.00421328 -0.00212065] [ 0.137947 -0.05084933 0.98913344 -1.07449688] [ 0. 0. 0. 1. ]] SLAMing on 108.361346184 meters Centerline goodness : 0.857647 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-1.07 [[ 9.37473507e-01 -3.15471577e-01 -1.47041176e-01 1.40510269e-02] [ 3.19413728e-01 9.47609305e-01 3.38752652e-03 -1.53458400e-04] [ 1.38268918e-01 -5.01426865e-02 9.89124571e-01 -1.07418930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391346184 meters Centerline goodness : 0.855652 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-1.08 [[ 0.93729493 -0.31577256 -0.14753271 0.01694738] [ 0.31963733 0.9475363 0.00263318 0.0016945 ] [ 0.13896112 -0.04962503 0.98905367 -1.07617135] [ 0. 0. 0. 1. ]] SLAMing on 108.421346184 meters Centerline goodness : 0.856124 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-1.08 [[ 9.37117677e-01 -3.16946781e-01 -1.46134174e-01 1.85105961e-02] [ 3.20276816e-01 9.47323678e-01 -7.80951575e-04 3.48464774e-03] [ 1.38683884e-01 -4.60715446e-02 9.89264471e-01 -1.07965793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451346184 meters Centerline goodness : 0.857007 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-1.08 [[ 0.93701688 -0.31716475 -0.14630752 0.01894502] [ 0.32044512 0.94726631 -0.0012098 0.00440159] [ 0.13897589 -0.04574993 0.98923842 -1.07947329] [ 0. 0. 0. 1. ]] SLAMing on 108.48134618399999 meters Centerline goodness : 0.860777 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.08 [[ 0.93714908 -0.31521104 -0.14964488 0.01885918] [ 0.31931405 0.94764214 0.0035925 0.00749943] [ 0.1406774 -0.05115043 0.98873328 -1.07508216] [ 0. 0. 0. 1. ]] SLAMing on 108.51134618399999 meters Centerline goodness : 0.855575 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.07 [[ 0.93734217 -0.31292688 -0.15318753 0.02315366] [ 0.31784587 0.94810773 0.00810736 0.00960991] [ 0.14270127 -0.05628939 0.98816388 -1.07475435] [ 0. 0. 0. 1. ]] SLAMing on 108.54134618399999 meters Centerline goodness : 0.858308 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.07 [[ 0.93739436 -0.31259378 -0.15354785 0.02289155] [ 0.31751187 0.94822068 0.00798412 0.01097657] [ 0.14310146 -0.05623753 0.98810896 -1.07394685] [ 0. 0. 0. 1. ]] SLAMing on 108.57134618399999 meters Centerline goodness : 0.856229 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.08 [[ 0.93927532 -0.31114047 -0.14475316 0.01369057] [ 0.31513434 0.94903422 0.00493918 0.00856327] [ 0.13583893 -0.05025594 0.98945547 -1.07802602] [ 0. 0. 0. 1. ]] SLAMing on 108.601346184 meters Centerline goodness : 0.854972 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.08 [[ 0.9393837 -0.31099963 -0.144352 0.01478747] [ 0.31474943 0.94916899 0.00332025 0.00909825] [ 0.13598185 -0.0485537 0.98952083 -1.07941568] [ 0. 0. 0. 1. ]] SLAMing on 108.631346184 meters Centerline goodness : 0.855314 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.08 [[ 0.94025489 -0.31034123 -0.14003236 0.0101714 ] [ 0.31380554 0.94948312 0.00280967 0.00972456] [ 0.1320864 -0.04658473 0.99014294 -1.08195206] [ 0. 0. 0. 1. ]] SLAMing on 108.661346184 meters Centerline goodness : 0.853143 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.08 [[ 0.940221 -0.31040572 -0.14011696 0.01019826] [ 0.31378494 0.94949168 0.00213782 0.01225986] [ 0.13237629 -0.04597661 0.99013265 -1.08166264] [ 0. 0. 0. 1. ]] SLAMing on 108.691346184 meters Centerline goodness : 0.854895 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-1.08 [[ 0.94141546 -0.30921883 -0.13461293 0.0020088 ] [ 0.31229158 0.94998458 0.0018052 0.01202767] [ 0.127322 -0.04373793 0.99089661 -1.08279669] [ 0. 0. 0. 1. ]] SLAMing on 108.721346184 meters Centerline goodness : 0.853887 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-1.08 [[ 0.94136753 -0.30938225 -0.13457266 0.00169573] [ 0.31237538 0.949958 0.00118816 0.01277575] [ 0.12747077 -0.04315568 0.99090302 -1.08174306] [ 0. 0. 0. 1. ]] SLAMing on 108.751346184 meters Centerline goodness : 0.855158 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-1.08 [[ 9.41323306e-01 -3.09502975e-01 -1.34604388e-01 1.41404808e-03] [ 3.12431625e-01 9.49940016e-01 6.67948025e-04 1.35004951e-02] [ 1.27659363e-01 -4.26834228e-02 9.90899194e-01 -1.08079740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781346184 meters Centerline goodness : 0.858030 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 9.42653443e-01 -3.08003866e-01 -1.28600564e-01 -5.58707898e-03] [ 3.10592383e-01 9.50543195e-01 7.77645515e-05 1.04677146e-02] [ 1.22216439e-01 -4.00156605e-02 9.91696470e-01 -1.08292513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811346184 meters Centerline goodness : 0.855934 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 9.42634154e-01 -3.08076602e-01 -1.28567719e-01 -5.31053103e-03] [ 3.10657003e-01 9.50522081e-01 1.78046524e-05 9.70059805e-03] [ 1.22200971e-01 -3.99572456e-02 9.91700732e-01 -1.08277683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84134618399999 meters Centerline goodness : 0.859034 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 9.42582947e-01 -3.08213485e-01 -1.28615066e-01 -5.18989886e-03] [ 3.10764640e-01 9.50486864e-01 -2.44281894e-04 9.86422536e-03] [ 1.22322222e-01 -3.97387588e-02 9.91694562e-01 -1.08244922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87134618399999 meters Centerline goodness : 0.859900 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 0.94237255 -0.30908959 -0.12805311 -0.00775793] [ 0.31145485 0.95025955 -0.00163084 0.01277555] [ 0.12218777 -0.03834591 0.99176597 -1.08018614] [ 0. 0. 0. 1. ]] SLAMing on 108.90134618399999 meters Centerline goodness : 0.857965 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 0.94231472 -0.30932395 -0.12791268 -0.00817841] [ 0.31164187 0.95019756 -0.00198685 0.01289676] [ 0.1221569 -0.03799071 0.99178344 -1.07953256] [ 0. 0. 0. 1. ]] SLAMing on 108.93134618399999 meters Centerline goodness : 0.858163 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 0.94226711 -0.31047553 -0.12544975 -0.01064646] [ 0.31257103 0.94988925 -0.00312456 0.01105465] [ 0.12013347 -0.03626779 0.99209505 -1.07961225] [ 0. 0. 0. 1. ]] SLAMing on 108.96134618399999 meters Centerline goodness : 0.858091 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:-1.08 [[ 0.94222452 -0.31066845 -0.12529195 -0.0103538 ] [ 0.31275403 0.94982886 -0.00317138 0.00934954] [ 0.11999116 -0.03619741 0.99211485 -1.07950746] [ 0. 0. 0. 1. ]] SLAMing on 108.991346184 meters Centerline goodness : 0.855429 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.00, Z:-1.08 [[ 0.94331794 -0.30899663 -0.12112943 -0.03443376] [ 0.31030029 0.95060124 -0.00842691 0.003999 ] [ 0.11774968 -0.02963724 0.99260095 -1.07829016] [ 0. 0. 0. 1. ]] SLAMing on 109.021346184 meters Centerline goodness : 0.860015 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:-1.08 [[ 0.94323552 -0.3093181 -0.1209507 -0.03526281] [ 0.31052876 0.95051959 -0.00918682 0.00522087] [ 0.11780766 -0.02889334 0.992616 -1.0771414 ] [ 0. 0. 0. 1. ]] SLAMing on 109.051346184 meters Centerline goodness : 0.857865 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.08 [[ 0.94323228 -0.30929245 -0.12104147 -0.03489451] [ 0.31047063 0.95053569 -0.00948095 0.00610821] [ 0.11798663 -0.02863708 0.99260217 -1.07703524] [ 0. 0. 0. 1. ]] SLAMing on 109.081346184 meters Centerline goodness : 0.860223 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.08 [[ 0.94331982 -0.30892132 -0.12130676 -0.03366538] [ 0.31008522 0.95065988 -0.00964136 0.00740629] [ 0.11829989 -0.02852055 0.99256824 -1.07738659] [ 0. 0. 0. 1. ]] SLAMing on 109.111346184 meters Centerline goodness : 0.858553 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.08 [[ 0.94335689 -0.30868434 -0.12162134 -0.03248816] [ 0.30984248 0.95073791 -0.00975049 0.00833241] [ 0.11863984 -0.02848527 0.99252868 -1.07782116] [ 0. 0. 0. 1. ]] SLAMing on 109.141346184 meters Centerline goodness : 0.858188 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.07 [[ 0.94337879 -0.3022793 -0.1366151 -0.02632458] [ 0.30377774 0.95268779 -0.01025013 0.00627027] [ 0.13324994 -0.03183087 0.99057117 -1.07265645] [ 0. 0. 0. 1. ]] SLAMing on 109.171346184 meters Centerline goodness : 0.858571 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.07 [[ 0.94326179 -0.30283608 -0.1361892 -0.02778943] [ 0.30420591 0.95254109 -0.01114622 0.00754388] [ 0.13310129 -0.03091575 0.99062014 -1.07141632] [ 0. 0. 0. 1. ]] SLAMing on 109.201346184 meters Centerline goodness : 0.858648 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.07 [[ 0.94320154 -0.30312724 -0.13595856 -0.02852983] [ 0.30442519 0.95246501 -0.01164905 0.00743873] [ 0.13302692 -0.03040181 0.99064604 -1.07035433] [ 0. 0. 0. 1. ]] SLAMing on 109.23134618399999 meters Centerline goodness : 0.858866 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.07 [[ 0.94314447 -0.30337789 -0.13579533 -0.02909152] [ 0.30461779 0.95239829 -0.0120623 0.00701963] [ 0.13299067 -0.02998918 0.99066348 -1.06934151] [ 0. 0. 0. 1. ]] SLAMing on 109.26134618399999 meters Centerline goodness : 0.858983 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:-1.07 [[ 0.94305552 -0.30372274 -0.13564212 -0.02986997] [ 0.30488925 0.95230447 -0.01259952 0.00727222] [ 0.13299936 -0.02947378 0.99067778 -1.06821168] [ 0. 0. 0. 1. ]] SLAMing on 109.29134618399999 meters Centerline goodness : 0.857110 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:-1.07 [[ 9.44372994e-01 -3.01916558e-01 -1.30407208e-01 -5.58428521e-02] [ 3.02498491e-01 9.53018857e-01 -1.58025574e-02 6.04047463e-04] [ 1.29051582e-01 -2.45244751e-02 9.91334575e-01 -1.06838078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32134618399999 meters Centerline goodness : 0.855737 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:-1.07 [[ 9.44365337e-01 -3.01886293e-01 -1.30532666e-01 -5.52877546e-02] [ 3.02463768e-01 9.53028946e-01 -1.58586952e-02 3.42234493e-06] [ 1.29188931e-01 -2.45049998e-02 9.91317167e-01 -1.06820762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351346184 meters Centerline goodness : 0.855737 Centerline is valid? [False, False] Translation: X:-0.06, Y:0.00, Z:-1.07 [[ 9.44365337e-01 -3.01886293e-01 -1.30532666e-01 -5.52877546e-02] [ 3.02463768e-01 9.53028946e-01 -1.58586952e-02 3.42234493e-06] [ 1.29188931e-01 -2.45049998e-02 9.91317167e-01 -1.06820762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381346184 meters Centerline goodness : 0.857700 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.00, Z:-1.07 [[ 0.94442064 -0.30166351 -0.13064752 -0.05406283] [ 0.30228159 0.95309177 -0.01555352 -0.00153712] [ 0.12921101 -0.02480328 0.99130687 -1.06876741] [ 0. 0. 0. 1. ]] SLAMing on 109.411346184 meters Centerline goodness : 0.856605 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-1.07 [[ 0.94616677 -0.29816371 -0.1259637 -0.08681731] [ 0.29717556 0.95444082 -0.02700755 -0.0128116 ] [ 0.12827757 -0.01187969 0.99166715 -1.07115286] [ 0. 0. 0. 1. ]] SLAMing on 109.441346184 meters Centerline goodness : 0.858973 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.01, Z:-1.07 [[ 0.94625435 -0.29776372 -0.12625161 -0.08536459] [ 0.29683022 0.95456012 -0.02658571 -0.01414451] [ 0.12843101 -0.01231845 0.99164194 -1.07170073] [ 0. 0. 0. 1. ]] SLAMing on 109.471346184 meters Centerline goodness : 0.857125 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.01, Z:-1.07 [[ 0.94613698 -0.29746363 -0.1278288 -0.08220606] [ 0.29672543 0.95462958 -0.02522652 -0.01406093] [ 0.12953313 -0.01406231 0.99147538 -1.07177339] [ 0. 0. 0. 1. ]] SLAMing on 109.501346184 meters Centerline goodness : 0.860824 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94703634 -0.29428293 -0.1285291 -0.08445486] [ 0.29401145 0.9555597 -0.02151566 -0.01699446] [ 0.12914892 -0.01741292 0.99147231 -1.07029921] [ 0. 0. 0. 1. ]] SLAMing on 109.531346184 meters Centerline goodness : 0.861666 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94706755 -0.29409622 -0.12872632 -0.08380891] [ 0.29384542 0.95561402 -0.02137102 -0.01841507] [ 0.12929781 -0.01758584 0.99144985 -1.06985353] [ 0. 0. 0. 1. ]] SLAMing on 109.561346184 meters Centerline goodness : 0.860862 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94716722 -0.29367046 -0.12896481 -0.08224672] [ 0.29349987 0.95573367 -0.02075985 -0.02122905] [ 0.12935256 -0.01818811 0.99143185 -1.07033148] [ 0. 0. 0. 1. ]] SLAMing on 109.59134618399999 meters Centerline goodness : 0.862480 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94711309 -0.29409851 -0.12838559 -0.08144587] [ 0.2937894 0.95562218 -0.02177251 -0.02397721] [ 0.12909138 -0.0170973 0.9914853 -1.07084325] [ 0. 0. 0. 1. ]] SLAMing on 109.62134618399999 meters Centerline goodness : 0.863429 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94701523 -0.29385767 -0.12965269 -0.07866535] [ 0.29372835 0.95566789 -0.02055582 -0.0243908 ] [ 0.1299454 -0.01861599 0.99134638 -1.07101419] [ 0. 0. 0. 1. ]] SLAMing on 109.65134618399999 meters Centerline goodness : 0.867280 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.02, Z:-1.07 [[ 0.94680959 -0.29430305 -0.13014341 -0.07731723] [ 0.29415699 0.95553108 -0.02078516 -0.02453525] [ 0.13047321 -0.018603 0.99127729 -1.07079208] [ 0. 0. 0. 1. ]] SLAMing on 109.68134618399999 meters Centerline goodness : 0.864339 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:-1.07 [[ 0.94635144 -0.2958335 -0.1300057 -0.07547187] [ 0.29555107 0.9550757 -0.02190829 -0.02586158] [ 0.13064649 -0.01769038 0.99127118 -1.07132473] [ 0. 0. 0. 1. ]] SLAMing on 109.71134618399999 meters Centerline goodness : 0.864491 Centerline is valid? [False, False] Translation: X:-0.08, Y:-0.03, Z:-1.07 [[ 0.94592018 -0.29744667 -0.1294623 -0.07542974] [ 0.29686675 0.95461204 -0.0242072 -0.02627647] [ 0.13078662 -0.01553497 0.99128882 -1.07085571] [ 0. 0. 0. 1. ]] SLAMing on 109.741346184 meters Centerline goodness : 0.868839 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-1.07 [[ 0.94530442 -0.29913514 -0.13006816 -0.07223564] [ 0.2984124 0.95409701 -0.02547419 -0.02578503] [ 0.13171787 -0.01473309 0.99117775 -1.0718263 ] [ 0. 0. 0. 1. ]] SLAMing on 109.771346184 meters Centerline goodness : 0.866955 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-1.07 [[ 0.9446039 -0.30107295 -0.13068491 -0.06896836] [ 0.30019202 0.95350045 -0.0268634 -0.02572345] [ 0.13269596 -0.01385529 0.99105994 -1.07249482] [ 0. 0. 0. 1. ]] SLAMing on 109.801346184 meters Centerline goodness : 0.869567 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-1.07 [[ 0.94372038 -0.30327418 -0.13197203 -0.06773373] [ 0.30253871 0.95278025 -0.02607901 -0.02646979] [ 0.13364944 -0.01531536 0.99091032 -1.06970095] [ 0. 0. 0. 1. ]] SLAMing on 109.831346184 meters Centerline goodness : 0.872589 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.03, Z:-1.07 [[ 0.94336718 -0.30351855 -0.13392108 -0.0652943 ] [ 0.30306682 0.95266084 -0.02424519 -0.02569343] [ 0.13494023 -0.01771492 0.99069537 -1.0683461 ] [ 0. 0. 0. 1. ]] SLAMing on 109.861346184 meters Centerline goodness : 0.873518 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.03, Z:-1.07 [[ 0.9430627 -0.30462539 -0.13355194 -0.06442289] [ 0.3039997 0.95232932 -0.02555499 -0.02531316] [ 0.13497012 -0.01649979 0.99071228 -1.06910007] [ 0. 0. 0. 1. ]] SLAMing on 109.891346184 meters Centerline goodness : 0.873905 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.03, Z:-1.07 [[ 0.94305599 -0.30484577 -0.13309563 -0.06368339] [ 0.30405634 0.95227929 -0.02671887 -0.02582616] [ 0.13488934 -0.01527118 0.99074298 -1.06992101] [ 0. 0. 0. 1. ]] SLAMing on 109.921346184 meters Centerline goodness : 0.872761 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.03, Z:-1.07 [[ 0.94301306 -0.30492948 -0.13320806 -0.06199136] [ 0.30407941 0.9522588 -0.02718251 -0.02560988] [ 0.13513729 -0.01487237 0.99071526 -1.07114432] [ 0. 0. 0. 1. ]] SLAMing on 109.951346184 meters Centerline goodness : 0.872389 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-1.07 [[ 0.94242957 -0.3069865 -0.13261146 -0.06207894] [ 0.3058227 0.95162926 -0.02956744 -0.02465899] [ 0.13527375 -0.01269037 0.99072699 -1.07079278] [ 0. 0. 0. 1. ]] SLAMing on 109.98134618399999 meters Centerline goodness : 0.874233 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-1.07 [[ 0.94206327 -0.30725703 -0.13457307 -0.05782905] [ 0.30625486 0.95151964 -0.02860637 -0.02362682] [ 0.13683843 -0.01426465 0.99049067 -1.07124558] [ 0. 0. 0. 1. ]] SLAMing on 110.01134618399999 meters Centerline goodness : 0.872556 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.02, Z:-1.07 [[ 0.94169383 -0.3078257 -0.1358531 -0.05569367] [ 0.30688983 0.95132397 -0.0283078 -0.02264758] [ 0.13795418 -0.01503465 0.99032449 -1.07053489] [ 0. 0. 0. 1. ]] SLAMing on 110.04134618399999 meters Centerline goodness : 0.873093 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-1.07 [[ 0.94114868 -0.30848772 -0.13811042 -0.05087786] [ 0.3076702 0.9510877 -0.02777107 -0.02025526] [ 0.13992216 -0.01635575 0.99002741 -1.07127495] [ 0. 0. 0. 1. ]] SLAMing on 110.07134618399999 meters Centerline goodness : 0.873752 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-1.07 [[ 0.94099145 -0.30872661 -0.13864691 -0.04856133] [ 0.30792225 0.95100646 -0.02775966 -0.02012329] [ 0.14042425 -0.01657086 0.98995274 -1.07223354] [ 0. 0. 0. 1. ]] SLAMing on 110.101346184 meters Centerline goodness : 0.875281 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-1.07 [[ 0.94088261 -0.30880855 -0.13920201 -0.04654275] [ 0.30802424 0.95097542 -0.0276913 -0.02041277] [ 0.140929 -0.01682334 0.98987676 -1.07277757] [ 0. 0. 0. 1. ]] SLAMing on 110.131346184 meters Centerline goodness : 0.874827 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.07 [[ 0.94074647 -0.30887296 -0.13997706 -0.04365441] [ 0.30814478 0.95094488 -0.02739767 -0.02055331] [ 0.14157287 -0.01735894 0.98977563 -1.07385243] [ 0. 0. 0. 1. ]] SLAMing on 110.161346184 meters Centerline goodness : 0.879149 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.02, Z:-1.07 [[ 0.94035697 -0.31055976 -0.13885751 -0.04501039] [ 0.30962376 0.95042144 -0.02884823 -0.02317112] [ 0.14093225 -0.01586595 0.9898921 -1.07261592] [ 0. 0. 0. 1. ]] SLAMing on 110.191346184 meters Centerline goodness : 0.876474 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.07 [[ 0.93996679 -0.31157534 -0.13922373 -0.04407024] [ 0.31065264 0.95008487 -0.02887335 -0.02374012] [ 0.14127058 -0.01611023 0.98983993 -1.07199961] [ 0. 0. 0. 1. ]] SLAMing on 110.221346184 meters Centerline goodness : 0.879153 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.07 [[ 0.93987323 -0.31155311 -0.13990346 -0.04224325] [ 0.31070113 0.95008159 -0.02845679 -0.02427166] [ 0.1417855 -0.01672239 0.98975615 -1.07214364] [ 0. 0. 0. 1. ]] SLAMing on 110.251346184 meters Centerline goodness : 0.881203 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-1.07 [[ 0.94007971 -0.31127082 -0.13914243 -0.04037432] [ 0.31021271 0.95020033 -0.02978929 -0.02561453] [ 0.14148572 -0.01515945 0.98982422 -1.0749008 ] [ 0. 0. 0. 1. ]] SLAMing on 110.281346184 meters Centerline goodness : 0.880198 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.03, Z:-1.08 [[ 0.9401186 -0.31100105 -0.1394825 -0.03915532] [ 0.30996223 0.95028577 -0.02967123 -0.02534224] [ 0.14177602 -0.01533983 0.9897799 -1.07547503] [ 0. 0. 0. 1. ]] SLAMing on 110.311346184 meters Centerline goodness : 0.879365 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.08 [[ 0.94015978 -0.31023471 -0.14090428 -0.03634893] [ 0.30943958 0.95050438 -0.02808154 -0.02415195] [ 0.14264201 -0.01720023 0.98962488 -1.07619979] [ 0. 0. 0. 1. ]] SLAMing on 110.34134618399999 meters Centerline goodness : 0.881521 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.08 [[ 0.94034758 -0.31009636 -0.13995244 -0.03738994] [ 0.30915331 0.95057034 -0.02898729 -0.0234311 ] [ 0.14202349 -0.01600863 0.98973383 -1.07673948] [ 0. 0. 0. 1. ]] SLAMing on 110.37134618399999 meters Centerline goodness : 0.882404 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.02, Z:-1.08 [[ 0.94052986 -0.30992824 -0.13909734 -0.03737547] [ 0.30881886 0.9506463 -0.0300421 -0.02374714] [ 0.14154326 -0.01470039 0.98982292 -1.07805599] [ 0. 0. 0. 1. ]] SLAMing on 110.40134618399999 meters Centerline goodness : 0.883753 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-1.08 [[ 0.94055322 -0.309287 -0.14036097 -0.0335336 ] [ 0.308296 0.95083898 -0.02930548 -0.02288663] [ 0.14252448 -0.01570936 0.9896666 -1.07979816] [ 0. 0. 0. 1. ]] SLAMing on 110.43134618399999 meters Centerline goodness : 0.886348 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-1.08 [[ 0.94057244 -0.30904368 -0.1407675 -0.03223756] [ 0.30804488 0.95091787 -0.02938631 -0.02209728] [ 0.14293998 -0.01572275 0.98960647 -1.08027046] [ 0. 0. 0. 1. ]] SLAMing on 110.46134618399999 meters Centerline goodness : 0.884930 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-1.08 [[ 0.9405235 -0.30898435 -0.14122396 -0.02972738] [ 0.30789842 0.95094508 -0.03003352 -0.01950167] [ 0.14357612 -0.0152354 0.989522 -1.08215072] [ 0. 0. 0. 1. ]] SLAMing on 110.491346184 meters Centerline goodness : 0.886800 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-1.08 [[ 0.94052116 -0.30898245 -0.14124375 -0.02931748] [ 0.30783845 0.95095172 -0.03043543 -0.01841981] [ 0.14372001 -0.01485509 0.98950689 -1.08255568] [ 0. 0. 0. 1. ]] SLAMing on 110.521346184 meters Centerline goodness : 0.885383 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:-1.08 [[ 0.94042818 -0.30892084 -0.14199563 -0.02850543] [ 0.30783093 0.9509636 -0.03013891 -0.01691342] [ 0.14434322 -0.01536717 0.98940835 -1.08198438] [ 0. 0. 0. 1. ]] SLAMing on 110.551346184 meters Centerline goodness : 0.887932 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.08 [[ 0.94033807 -0.30801843 -0.14453014 -0.02360299] [ 0.30733906 0.95120061 -0.02757004 -0.01458857] [ 0.14596924 -0.0184946 0.98911624 -1.08296299] [ 0. 0. 0. 1. ]] SLAMing on 110.581346184 meters Centerline goodness : 0.885418 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.08 [[ 0.9400876 -0.30879071 -0.14451159 -0.02390421] [ 0.30793881 0.95097029 -0.02879585 -0.0114694 ] [ 0.14631812 -0.01743011 0.98908402 -1.08283236] [ 0. 0. 0. 1. ]] SLAMing on 110.611346184 meters Centerline goodness : 0.881983 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.09 [[ 0.9402346 -0.3088055 -0.1435202 -0.02310763] [ 0.30771226 0.95099632 -0.03031755 -0.01132359] [ 0.14584941 -0.01565732 0.98918289 -1.08520052] [ 0. 0. 0. 1. ]] SLAMing on 110.641346184 meters Centerline goodness : 0.880235 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.09 [[ 0.94034156 -0.30883483 -0.14275433 -0.02132047] [ 0.30752638 0.95101131 -0.03170185 -0.01156757] [ 0.14555162 -0.01409016 0.98925032 -1.08794472] [ 0. 0. 0. 1. ]] SLAMing on 110.671346184 meters Centerline goodness : 0.879656 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.09 [[ 0.93971236 -0.31004063 -0.14427576 -0.01953062] [ 0.30901635 0.95058248 -0.03003069 -0.0106467 ] [ 0.14645674 -0.01636335 0.98908173 -1.08639903] [ 0. 0. 0. 1. ]] SLAMing on 110.701346184 meters Centerline goodness : 0.885271 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:-1.08 [[ 0.93911755 -0.31036779 -0.14741122 -0.01677073] [ 0.30994976 0.95038662 -0.02638967 -0.00882791] [ 0.14828815 -0.02090707 0.98872318 -1.08346674] [ 0. 0. 0. 1. ]] SLAMing on 110.73134618399999 meters Centerline goodness : 0.883413 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:-1.08 [[ 0.93877313 -0.31593723 -0.13743609 -0.01314915] [ 0.31535603 0.94860158 -0.02656355 -0.00181699] [ 0.1387645 -0.01840415 0.99015438 -1.08247604] [ 0. 0. 0. 1. ]] SLAMing on 110.76134618399999 meters Centerline goodness : 0.881331 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:-1.08 [[ 0.93804353 -0.3189104 -0.13553781 -0.01322738] [ 0.31772194 0.94768031 -0.03089981 -0.00245452] [ 0.13830078 -0.01407797 0.99029021 -1.08357064] [ 0. 0. 0. 1. ]] SLAMing on 110.79134618399999 meters Centerline goodness : 0.882360 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:-1.09 [[ 0.93786794 -0.31931529 -0.13579938 -0.00965898] [ 0.31806109 0.94754923 -0.03142617 -0.00293392] [ 0.13871146 -0.0137189 0.99023781 -1.08589126] [ 0. 0. 0. 1. ]] SLAMing on 110.82134618399999 meters Centerline goodness : 0.882079 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:-1.09 [[ 0.9375242 -0.32027236 -0.13591903 -0.00821944] [ 0.31888061 0.9472379 -0.03248867 -0.00305421] [ 0.13915288 -0.01288302 0.99018711 -1.08607602] [ 0. 0. 0. 1. ]] SLAMing on 110.851346184 meters Centerline goodness : 0.882208 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-1.09 [[ 0.9369875 -0.32112682 -0.13759358 -0.00422668] [ 0.31982828 0.94693314 -0.03205471 -0.00202592] [ 0.14058555 -0.01397146 0.98996995 -1.08630881] [ 0. 0. 0. 1. ]] SLAMing on 110.881346184 meters Centerline goodness : 0.881392 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-1.09 [[ 9.36192354e-01 -3.22190749e-01 -1.40488423e-01 6.59245928e-04] [ 3.21213325e-01 9.46524895e-01 -3.02096429e-02 7.05552923e-04] [ 1.42709057e-01 -1.68447167e-02 9.89621332e-01 -1.08569662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.911346184 meters Centerline goodness : 0.881443 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-1.09 [[ 0.93602533 -0.32206152 -0.14189066 0.00358389] [ 0.321202 0.94654933 -0.02955734 0.00229974] [ 0.1438258 -0.01790914 0.98944095 -1.08614459] [ 0. 0. 0. 1. ]] SLAMing on 110.941346184 meters Centerline goodness : 0.880345 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.09 [[ 0.93594372 -0.32186304 -0.14287598 0.00768404] [ 0.32101634 0.94661165 -0.02957865 0.00374038] [ 0.14476834 -0.01818158 0.98929852 -1.08838484] [ 0. 0. 0. 1. ]] SLAMing on 110.971346184 meters Centerline goodness : 0.879906 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.09 [[ 0.93625111 -0.32127926 -0.14217421 0.00981417] [ 0.32020735 0.94684053 -0.03098831 0.00341011] [ 0.14457221 -0.01651239 0.98935647 -1.09140163] [ 0. 0. 0. 1. ]] SLAMing on 111.001346184 meters Centerline goodness : 0.881549 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.09 [[ 0.93726109 -0.31878313 -0.14113455 0.00899105] [ 0.31766207 0.9476966 -0.03101566 0.00270116] [ 0.14364 -0.01576332 0.98950446 -1.09312655] [ 0. 0. 0. 1. ]] SLAMing on 111.031346184 meters Centerline goodness : 0.881210 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.09 [[ 0.93763993 -0.31721363 -0.14215087 0.00929453] [ 0.31633429 0.94819362 -0.02935105 0.0034824 ] [ 0.1440971 -0.01744648 0.98940975 -1.09216211] [ 0. 0. 0. 1. ]] SLAMing on 111.061346184 meters Centerline goodness : 0.882395 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.09 [[ 0.93781806 -0.31585222 -0.14399534 0.01180899] [ 0.3153434 0.9485948 -0.02695251 0.0045274 ] [ 0.14510624 -0.02013143 0.98921125 -1.09201899] [ 0. 0. 0. 1. ]] SLAMing on 111.09134618399999 meters Centerline goodness : 0.882047 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.09 [[ 0.93802399 -0.31525106 -0.14397138 0.012164 ] [ 0.31481579 0.94878556 -0.02640034 0.00506631] [ 0.1449207 -0.02056031 0.98922963 -1.09260642] [ 0. 0. 0. 1. ]] SLAMing on 111.12134618399999 meters Centerline goodness : 0.875708 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-1.09 [[ 0.93817694 -0.31496784 -0.14359419 0.0135283 ] [ 0.31436025 0.94890531 -0.0275019 0.00521597] [ 0.1449195 -0.01933865 0.98925444 -1.09426785] [ 0. 0. 0. 1. ]] SLAMing on 111.15134618399999 meters Centerline goodness : 0.877099 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-1.10 [[ 0.93825428 -0.31529752 -0.14236002 0.01315036] [ 0.31436015 0.94884139 -0.02962612 0.00487594] [ 0.14441813 -0.01695548 0.98937148 -1.0953725 ] [ 0. 0. 0. 1. ]] SLAMing on 111.18134618399999 meters Centerline goodness : 0.881653 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93850399 -0.31387991 -0.143839 0.01524688] [ 0.31335848 0.94925491 -0.02686242 0.00533381] [ 0.14497145 -0.01986268 0.98923645 -1.09539333] [ 0. 0. 0. 1. ]] SLAMing on 111.21134618399999 meters Centerline goodness : 0.883269 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93843197 -0.31345067 -0.14523815 0.01724088] [ 0.31323194 0.94934826 -0.02497266 0.0069188 ] [ 0.14570928 -0.02205809 0.98908152 -1.09524841] [ 0. 0. 0. 1. ]] SLAMing on 111.241346184 meters Centerline goodness : 0.883269 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93843197 -0.31345067 -0.14523815 0.01724088] [ 0.31323194 0.94934826 -0.02497266 0.0069188 ] [ 0.14570928 -0.02205809 0.98908152 -1.09524841] [ 0. 0. 0. 1. ]] SLAMing on 111.271346184 meters Centerline goodness : 0.879148 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93842782 -0.31331217 -0.14556341 0.01823205] [ 0.31315421 0.94938364 -0.02459972 0.00758933] [ 0.14590291 -0.02249874 0.98904305 -1.0956268 ] [ 0. 0. 0. 1. ]] SLAMing on 111.301346184 meters Centerline goodness : 0.877955 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93814937 -0.31422688 -0.14538644 0.01902483] [ 0.31402666 0.94908677 -0.02493125 0.007656 ] [ 0.14581841 -0.02226598 0.98906078 -1.09591332] [ 0. 0. 0. 1. ]] SLAMing on 111.331346184 meters Centerline goodness : 0.877399 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93762427 -0.31535116 -0.14633651 0.02108983] [ 0.31520533 0.94869938 -0.02480097 0.00889894] [ 0.14665037 -0.02287206 0.98892393 -1.09571562] [ 0. 0. 0. 1. ]] SLAMing on 111.361346184 meters Centerline goodness : 0.878154 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93708852 -0.3163936 -0.1475134 0.02461721] [ 0.3162692 0.94834194 -0.0249271 0.01107431] [ 0.14777992 -0.02329504 0.98874589 -1.09684307] [ 0. 0. 0. 1. ]] SLAMing on 111.391346184 meters Centerline goodness : 0.872115 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-1.10 [[ 0.93607753 -0.32019286 -0.14572367 0.02437248] [ 0.31940995 0.947161 -0.02938236 0.01227808] [ 0.1474318 -0.01904142 0.98888892 -1.09774499] [ 0. 0. 0. 1. ]] SLAMing on 111.421346184 meters Centerline goodness : 0.873544 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.10 [[ 0.93554526 -0.32140979 -0.14646099 0.02788378] [ 0.32065658 0.94673983 -0.02937782 0.01337979] [ 0.14810277 -0.0194794 0.98878012 -1.09940503] [ 0. 0. 0. 1. ]] SLAMing on 111.451346184 meters Centerline goodness : 0.874883 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-1.10 [[ 0.93497419 -0.32288931 -0.14685285 0.02935727] [ 0.32212101 0.94623411 -0.02964902 0.01412788] [ 0.14853052 -0.01958332 0.9887139 -1.09937831] [ 0. 0. 0. 1. ]] SLAMing on 111.48134618399999 meters Centerline goodness : 0.874415 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-1.10 [[ 0.93442827 -0.32384654 -0.14821345 0.03182618] [ 0.32327653 0.94587229 -0.0285989 0.01505443] [ 0.14945265 -0.02119031 0.98854179 -1.09898622] [ 0. 0. 0. 1. ]] SLAMing on 111.51134618399999 meters Centerline goodness : 0.876732 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-1.10 [[ 0.93319831 -0.32590234 -0.15142185 0.03680827] [ 0.32579206 0.94507708 -0.02624606 0.01856508] [ 0.15165897 -0.02483925 0.98812073 -1.09803903] [ 0. 0. 0. 1. ]] SLAMing on 111.54134618399999 meters Centerline goodness : 0.875745 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-1.10 [[ 0.9328106 -0.327062 -0.1513104 0.03778718] [ 0.3268207 0.94469552 -0.02717719 0.01980546] [ 0.15183089 -0.0241002 0.98811263 -1.09864823] [ 0. 0. 0. 1. ]] SLAMing on 111.57134618399999 meters Centerline goodness : 0.873236 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-1.10 [[ 0.93213393 -0.32942827 -0.1503441 0.04143171] [ 0.32867172 0.94394905 -0.03057946 0.02165118] [ 0.15199091 -0.0209097 0.98816069 -1.10293317] [ 0. 0. 0. 1. ]] SLAMing on 111.601346184 meters Centerline goodness : 0.875206 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-1.10 [[ 0.9319166 -0.32992606 -0.15059959 0.04313698] [ 0.32913191 0.94377824 -0.03090012 0.0226446 ] [ 0.15232737 -0.0207708 0.98811181 -1.10396256] [ 0. 0. 0. 1. ]] SLAMing on 111.631346184 meters Centerline goodness : 0.873614 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-1.10 [[ 0.93190566 -0.32931615 -0.15199575 0.04613459] [ 0.32868812 0.94396277 -0.02997362 0.02467883] [ 0.15334913 -0.02202662 0.98792655 -1.10487242] [ 0. 0. 0. 1. ]] SLAMing on 111.661346184 meters Centerline goodness : 0.873467 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-1.10 [[ 0.93211607 -0.32824478 -0.15301962 0.04726214] [ 0.32777063 0.94431069 -0.02904712 0.02693758] [ 0.15403263 -0.02308005 0.98779616 -1.10493249] [ 0. 0. 0. 1. ]] SLAMing on 111.691346184 meters Centerline goodness : 0.871481 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-1.11 [[ 0.93345391 -0.32369696 -0.15454472 0.04795065] [ 0.3237626 0.94579589 -0.02545408 0.02996571] [ 0.15440717 -0.02627559 0.98765785 -1.10573301] [ 0. 0. 0. 1. ]] SLAMing on 111.721346184 meters Centerline goodness : 0.874547 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-1.11 [[ 0.93403029 -0.3218208 -0.15497997 0.04892617] [ 0.32200134 0.9464186 -0.02463665 0.03203673] [ 0.15460451 -0.02689238 0.98761037 -1.10727784] [ 0. 0. 0. 1. ]] SLAMing on 111.751346184 meters Centerline goodness : 0.870002 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-1.11 [[ 0.93437811 -0.32079738 -0.15500509 0.0491858 ] [ 0.32089481 0.94678259 -0.02508489 0.03378433] [ 0.15480329 -0.02630156 0.98759514 -1.10803276] [ 0. 0. 0. 1. ]] SLAMing on 111.781346184 meters Centerline goodness : 0.873237 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-1.11 [[ 0.93451109 -0.32078335 -0.15423059 0.04851233] [ 0.32061823 0.94683406 -0.02663098 0.03516284] [ 0.15457355 -0.02456219 0.98767592 -1.10882505] [ 0. 0. 0. 1. ]] SLAMing on 111.811346184 meters Centerline goodness : 0.871115 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-1.11 [[ 0.93429292 -0.32088119 -0.15534475 0.05283359] [ 0.32080716 0.94678096 -0.02624061 0.03799975] [ 0.15549757 -0.02531929 0.98751174 -1.11163692] [ 0. 0. 0. 1. ]] SLAMing on 111.84134618399999 meters Centerline goodness : 0.871503 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-1.11 [[ 0.93401109 -0.32131928 -0.15613201 0.05377395] [ 0.3214129 0.94659984 -0.02534754 0.03968148] [ 0.15593919 -0.02650796 0.98741091 -1.11127097] [ 0. 0. 0. 1. ]] SLAMing on 111.87134618399999 meters Centerline goodness : 0.870179 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-1.11 [[ 0.93351505 -0.32153083 -0.15864295 0.05739596] [ 0.32205368 0.94643912 -0.02311729 0.04247592] [ 0.15757882 -0.02951121 0.98706535 -1.11088077] [ 0. 0. 0. 1. ]] SLAMing on 111.90134618399999 meters Centerline goodness : 0.870673 Centerline is valid? [False, False] Translation: X:0.06, Y:0.05, Z:-1.11 [[ 0.93271988 -0.32837636 -0.14900531 0.0621201 ] [ 0.32821524 0.94423441 -0.02638415 0.05297371] [ 0.14935988 -0.02429679 0.98848434 -1.11008084] [ 0. 0. 0. 1. ]] SLAMing on 111.93134618399999 meters Centerline goodness : 0.868539 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-1.11 [[ 0.93232242 -0.32922813 -0.14961195 0.06550472] [ 0.32890863 0.94395844 -0.02759661 0.05513451] [ 0.15031305 -0.02347973 0.9883596 -1.11204814] [ 0. 0. 0. 1. ]] SLAMing on 111.96134618399999 meters Centerline goodness : 0.869130 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-1.11 [[ 0.93180195 -0.3303891 -0.15029358 0.06908499] [ 0.32985984 0.94357911 -0.02917099 0.0573118 ] [ 0.15145166 -0.02239423 0.98821096 -1.11376909] [ 0. 0. 0. 1. ]] SLAMing on 111.991346184 meters Centerline goodness : 0.867965 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-1.11 [[ 0.93142994 -0.33151803 -0.15011349 0.06983656] [ 0.33078021 0.94321167 -0.0305974 0.05909767] [ 0.15173239 -0.02115524 0.98819519 -1.11423746] [ 0. 0. 0. 1. ]] SLAMing on 112.021346184 meters Centerline goodness : 0.866640 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-1.11 [[ 0.93140779 -0.3301547 -0.15322339 0.07366513] [ 0.32988157 0.94360849 -0.02794948 0.06340237] [ 0.15381054 -0.02451321 0.98779624 -1.11393685] [ 0. 0. 0. 1. ]] SLAMing on 112.051346184 meters Centerline goodness : 0.864572 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.11 [[ 0.93138264 -0.32914788 -0.15552506 0.076173 ] [ 0.32927419 0.94388448 -0.02570207 0.06589372] [ 0.15525747 -0.02727192 0.98749752 -1.11325336] [ 0. 0. 0. 1. ]] SLAMing on 112.081346184 meters Centerline goodness : 0.864022 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.11 [[ 0.93119052 -0.32844166 -0.15814641 0.08010955] [ 0.32890072 0.94405892 -0.02402233 0.06908062] [ 0.15718946 -0.0296451 0.98712342 -1.1130652 ] [ 0. 0. 0. 1. ]] SLAMing on 112.111346184 meters Centerline goodness : 0.863503 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.11 [[ 0.93102443 -0.32852524 -0.15894866 0.08090052] [ 0.32898654 0.94402527 -0.02416899 0.07280249] [ 0.15799168 -0.02979005 0.98699097 -1.11262259] [ 0. 0. 0. 1. ]] SLAMing on 112.141346184 meters Centerline goodness : 0.863132 Centerline is valid? [False, False] Translation: X:0.08, Y:0.07, Z:-1.11 [[ 0.93092672 -0.3288247 -0.15890175 0.08062505] [ 0.32919867 0.94393675 -0.02473149 0.07412039] [ 0.15812553 -0.02928704 0.98698459 -1.11221241] [ 0. 0. 0. 1. ]] SLAMing on 112.171346184 meters Centerline goodness : 0.862876 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.11 [[ 0.93073765 -0.3294791 -0.15865352 0.07936645] [ 0.32968064 0.94373941 -0.02581869 0.07681358] [ 0.15823429 -0.02827457 0.98699669 -1.11118723] [ 0. 0. 0. 1. ]] SLAMing on 112.201346184 meters Centerline goodness : 0.863023 Centerline is valid? [False, False] Translation: X:0.08, Y:0.08, Z:-1.11 [[ 0.93158329 -0.3269546 -0.15891273 0.07549142] [ 0.32752744 0.94455365 -0.02332767 0.0796668 ] [ 0.15772869 -0.03031662 0.987017 -1.11054373] [ 0. 0. 0. 1. ]] SLAMing on 112.23134618399999 meters Centerline goodness : 0.860973 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-1.11 [[ 0.93146645 -0.32738156 -0.15871853 0.07489899] [ 0.32782588 0.94442991 -0.02413156 0.08206736] [ 0.15779876 -0.0295543 0.98702892 -1.11026172] [ 0. 0. 0. 1. ]] SLAMing on 112.26134618399999 meters Centerline goodness : 0.858888 Centerline is valid? [False, False] Translation: X:0.07, Y:0.08, Z:-1.11 [[ 0.93136905 -0.32771612 -0.15859958 0.07465534] [ 0.32805757 0.94433262 -0.02478165 0.08364181] [ 0.15789211 -0.02894893 0.98703194 -1.11014019] [ 0. 0. 0. 1. ]] SLAMing on 112.29134618399999 meters Centerline goodness : 0.858629 Centerline is valid? [False, False] Translation: X:0.08, Y:0.09, Z:-1.11 [[ 0.93132779 -0.32790503 -0.15845136 0.07500269] [ 0.32814514 0.94428565 -0.02540421 0.0854835 ] [ 0.15795351 -0.02833539 0.98703992 -1.1106296 ] [ 0. 0. 0. 1. ]] SLAMing on 112.32134618399999 meters Centerline goodness : 0.857902 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-1.11 [[ 0.93124566 -0.32814597 -0.1584353 0.07488279] [ 0.32827594 0.94422093 -0.02611003 0.08768295] [ 0.15816583 -0.02769565 0.98702407 -1.1104028 ] [ 0. 0. 0. 1. ]] SLAMing on 112.351346184 meters Centerline goodness : 0.856529 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-1.11 [[ 0.9311497 -0.32849554 -0.15827481 0.0742889 ] [ 0.32851319 0.94411871 -0.02681303 0.09039807] [ 0.15823817 -0.02702842 0.98703097 -1.11031832] [ 0. 0. 0. 1. ]] SLAMing on 112.381346184 meters Centerline goodness : 0.857605 Centerline is valid? [False, False] Translation: X:0.07, Y:0.09, Z:-1.11 [[ 0.93206878 -0.32580843 -0.15841926 0.07006944] [ 0.32620104 0.94498901 -0.02426208 0.0928272 ] [ 0.15760925 -0.0290626 0.9870738 -1.10924011] [ 0. 0. 0. 1. ]] SLAMing on 112.411346184 meters Centerline goodness : 0.856847 Centerline is valid? [False, False] Translation: X:0.07, Y:0.10, Z:-1.11 [[ 0.93194533 -0.3261724 -0.15839657 0.06923355] [ 0.32639874 0.94489273 -0.02532972 0.09536781] [ 0.15792962 -0.02809453 0.98705062 -1.10781689] [ 0. 0. 0. 1. ]] SLAMing on 112.441346184 meters Centerline goodness : 0.857147 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-1.11 [[ 0.93202832 -0.32548675 -0.15931603 0.04986695] [ 0.3243025 0.94533789 -0.03411987 0.09361147] [ 0.16171304 -0.0198659 0.98663784 -1.10526131] [ 0. 0. 0. 1. ]] SLAMing on 112.471346184 meters Centerline goodness : 0.855445 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-1.11 [[ 0.93210844 -0.32533595 -0.15915519 0.05021085] [ 0.3241466 0.94539143 -0.03411787 0.09384841] [ 0.16156372 -0.01978805 0.98666387 -1.10578045] [ 0. 0. 0. 1. ]] SLAMing on 112.501346184 meters Centerline goodness : 0.855002 Centerline is valid? [False, False] Translation: X:0.05, Y:0.09, Z:-1.11 [[ 0.93211163 -0.32525462 -0.15930264 0.05058589] [ 0.32400258 0.94542651 -0.03451149 0.09491733] [ 0.16183396 -0.0194459 0.98662639 -1.10537186] [ 0. 0. 0. 1. ]] SLAMing on 112.531346184 meters Centerline goodness : 0.854671 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.10 [[ 0.93208404 -0.32528359 -0.15940491 0.05057187] [ 0.32393723 0.94542721 -0.03510075 0.09690417] [ 0.16212344 -0.01892034 0.98658908 -1.10478943] [ 0. 0. 0. 1. ]] SLAMing on 112.561346184 meters Centerline goodness : 0.853339 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.10 [[ 0.932028 -0.32535107 -0.15959477 0.05062823] [ 0.32391008 0.94541392 -0.03570401 0.09927595] [ 0.16249945 -0.01841722 0.98653674 -1.10431365] [ 0. 0. 0. 1. ]] SLAMing on 112.59134618399999 meters Centerline goodness : 0.849413 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.11 [[ 0.93326581 -0.32097082 -0.16122242 0.05183269] [ 0.32019225 0.94682847 -0.0315082 0.09913927] [ 0.16276319 -0.02221665 0.98641501 -1.10563949] [ 0. 0. 0. 1. ]] SLAMing on 112.62134618399999 meters Centerline goodness : 0.850630 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.11 [[ 0.93344963 -0.32011303 -0.16186242 0.05475706] [ 0.31942929 0.9471046 -0.03094829 0.09896262] [ 0.1632076 -0.02281493 0.98632792 -1.10708528] [ 0. 0. 0. 1. ]] SLAMing on 112.65134618399999 meters Centerline goodness : 0.851157 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.9335839 -0.31939684 -0.16250154 0.05758723] [ 0.31880753 0.94733161 -0.03040676 0.09809739] [ 0.16365467 -0.02341945 0.98623967 -1.10830193] [ 0. 0. 0. 1. ]] SLAMing on 112.68134618399999 meters Centerline goodness : 0.850360 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93366465 -0.31904119 -0.1627361 0.05869635] [ 0.3184429 0.94745243 -0.03046329 0.09819078] [ 0.16390376 -0.02337966 0.98619924 -1.1083033 ] [ 0. 0. 0. 1. ]] SLAMing on 112.71134618399999 meters Centerline goodness : 0.849624 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93482523 -0.31520018 -0.1635562 0.0564086 ] [ 0.31503477 0.94867753 -0.02764116 0.10063498] [ 0.16387459 -0.02568624 0.98614671 -1.10672431] [ 0. 0. 0. 1. ]] SLAMing on 112.741346184 meters Centerline goodness : 0.850514 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93597116 -0.31123823 -0.16458663 0.05521905] [ 0.31164054 0.94989581 -0.02404406 0.10107207] [ 0.16382358 -0.02878732 0.98606953 -1.1063368 ] [ 0. 0. 0. 1. ]] SLAMing on 112.771346184 meters Centerline goodness : 0.848894 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.11 [[ 0.93711721 -0.30721405 -0.16562262 0.05421219] [ 0.30814119 0.951115 -0.02071869 0.10206299] [ 0.16389123 -0.03161931 0.98597154 -1.10568685] [ 0. 0. 0. 1. ]] SLAMing on 112.801346184 meters Centerline goodness : 0.848988 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93720947 -0.30684466 -0.16578529 0.05553617] [ 0.30781247 0.95122676 -0.02047285 0.10117028] [ 0.16398139 -0.03184343 0.98594934 -1.10618125] [ 0. 0. 0. 1. ]] SLAMing on 112.831346184 meters Centerline goodness : 0.845093 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93730723 -0.30644415 -0.16597329 0.0572014 ] [ 0.30748281 0.95134242 -0.02004817 0.09960975] [ 0.16404108 -0.03224264 0.98592644 -1.10700552] [ 0. 0. 0. 1. ]] SLAMing on 112.861346184 meters Centerline goodness : 0.844268 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93732692 -0.30638635 -0.16596884 0.05796303] [ 0.30743713 0.95135884 -0.0199692 0.09890085] [ 0.16401421 -0.03230731 0.98592879 -1.1073544 ] [ 0. 0. 0. 1. ]] SLAMing on 112.891346184 meters Centerline goodness : 0.844647 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.11 [[ 0.93720864 -0.3068718 -0.16573976 0.05706509] [ 0.30782403 0.95122114 -0.02055999 0.1000713 ] [ 0.16396444 -0.03174968 0.98595518 -1.10681768] [ 0. 0. 0. 1. ]] SLAMing on 112.921346184 meters Centerline goodness : 0.845972 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.11 [[ 0.93688953 -0.30818508 -0.16510591 0.05399324] [ 0.30887498 0.95084505 -0.02213439 0.10375436] [ 0.16381162 -0.0302596 0.98602744 -1.10500557] [ 0. 0. 0. 1. ]] SLAMing on 112.951346184 meters Centerline goodness : 0.844987 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.10 [[ 0.93677345 -0.30854924 -0.16508443 0.05350694] [ 0.30917441 0.95073791 -0.02255256 0.10390337] [ 0.1639106 -0.02991325 0.98602156 -1.10422444] [ 0. 0. 0. 1. ]] SLAMing on 112.98134618399999 meters Centerline goodness : 0.843760 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.10 [[ 0.93672593 -0.30870187 -0.16506872 0.05365184] [ 0.30932062 0.95068917 -0.02260202 0.10302379] [ 0.16390633 -0.02988725 0.98602306 -1.10402385] [ 0. 0. 0. 1. ]] SLAMing on 113.01134618399999 meters Centerline goodness : 0.845801 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.10 [[ 0.9356674 -0.31221115 -0.16447101 0.05621883] [ 0.31224512 0.94963678 -0.02632442 0.10420621] [ 0.1644065 -0.02672437 0.98603058 -1.10445122] [ 0. 0. 0. 1. ]] SLAMing on 113.04134618399999 meters Centerline goodness : 0.844156 Centerline is valid? [False, False] Translation: X:0.06, Y:0.10, Z:-1.10 [[ 0.93556101 -0.31261243 -0.16431391 0.05572005] [ 0.31262312 0.94950824 -0.02647417 0.10374507] [ 0.16429356 -0.02660013 0.98605277 -1.10421043] [ 0. 0. 0. 1. ]] SLAMing on 113.07134618399999 meters Centerline goodness : 0.847493 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-1.10 [[ 0.93539286 -0.31326868 -0.16402115 0.05429105] [ 0.31317399 0.94930852 -0.02711797 0.10429853] [ 0.16420189 -0.0260012 0.98608401 -1.10310525] [ 0. 0. 0. 1. ]] SLAMing on 113.101346184 meters Centerline goodness : 0.843799 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.10 [[ 0.93522211 -0.31385795 -0.16386819 0.05288364] [ 0.31362362 0.94913491 -0.02798466 0.10603361] [ 0.16431623 -0.02522106 0.98608523 -1.1016782 ] [ 0. 0. 0. 1. ]] SLAMing on 113.131346184 meters Centerline goodness : 0.845363 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.10 [[ 0.93525439 -0.31364332 -0.16409478 0.0538217 ] [ 0.31340987 0.9492052 -0.02799552 0.10643399] [ 0.16454022 -0.02524599 0.98604724 -1.1019128 ] [ 0. 0. 0. 1. ]] SLAMing on 113.161346184 meters Centerline goodness : 0.845363 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.10 [[ 0.93525439 -0.31364332 -0.16409478 0.0538217 ] [ 0.31340987 0.9492052 -0.02799552 0.10643399] [ 0.16454022 -0.02524599 0.98604724 -1.1019128 ] [ 0. 0. 0. 1. ]] SLAMing on 113.191346184 meters Centerline goodness : 0.845971 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.10 [[ 0.93520462 -0.31275591 -0.16606039 0.03633399] [ 0.3110441 0.94967883 -0.03690093 0.10390813] [ 0.16924502 -0.01714218 0.98542492 -1.09935202] [ 0. 0. 0. 1. ]] SLAMing on 113.221346184 meters Centerline goodness : 0.847953 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.10 [[ 0.93521921 -0.31263883 -0.16619865 0.03690288] [ 0.31088421 0.94972134 -0.03715361 0.10454662] [ 0.16945806 -0.01692177 0.98539211 -1.09914276] [ 0. 0. 0. 1. ]] SLAMing on 113.251346184 meters Centerline goodness : 0.848043 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.9352516 -0.3126909 -0.16591817 0.03601268] [ 0.31078272 0.94972012 -0.03802355 0.10692913] [ 0.16946544 -0.01600291 0.9854062 -1.09784996] [ 0. 0. 0. 1. ]] SLAMing on 113.281346184 meters Centerline goodness : 0.844946 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93521649 -0.31280471 -0.16590156 0.03569067] [ 0.31080492 0.94969104 -0.0385647 0.10808967] [ 0.16961845 -0.01549667 0.98538796 -1.09701742] [ 0. 0. 0. 1. ]] SLAMing on 113.311346184 meters Centerline goodness : 0.846719 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93524809 -0.31260951 -0.16609123 0.03650172] [ 0.31059159 0.94975655 -0.03866995 0.10847097] [ 0.16983483 -0.01542054 0.98535189 -1.09703449] [ 0. 0. 0. 1. ]] SLAMing on 113.34134618399999 meters Centerline goodness : 0.843991 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93531262 -0.3122352 -0.16643161 0.03790257] [ 0.31024981 0.94987599 -0.03847922 0.10804842] [ 0.17010395 -0.01564528 0.98530192 -1.09739708] [ 0. 0. 0. 1. ]] SLAMing on 113.37134618399999 meters Centerline goodness : 0.844580 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93543038 -0.31173976 -0.16669832 0.03947077] [ 0.30981415 0.95003292 -0.03811355 0.10730418] [ 0.1702504 -0.01599293 0.98527104 -1.09808317] [ 0. 0. 0. 1. ]] SLAMing on 113.40134618399999 meters Centerline goodness : 0.844430 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93541335 -0.3117787 -0.16672103 0.03940867] [ 0.30980711 0.95002428 -0.03838522 0.10754196] [ 0.17035672 -0.01574531 0.98525665 -1.0974539 ] [ 0. 0. 0. 1. ]] SLAMing on 113.43134618399999 meters Centerline goodness : 0.847361 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.10 [[ 0.93536854 -0.31191497 -0.16671756 0.03912546] [ 0.30988209 0.94998495 -0.03875159 0.10798283] [ 0.17046638 -0.01541577 0.9852429 -1.09661284] [ 0. 0. 0. 1. ]] SLAMing on 113.46134618399999 meters Centerline goodness : 0.844620 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-1.10 [[ 0.93674565 -0.30921612 -0.16399081 0.0143819 ] [ 0.30689233 0.95090451 -0.0399714 0.09861479] [ 0.1682994 -0.01288449 0.98565171 -1.09890733] [ 0. 0. 0. 1. ]] SLAMing on 113.491346184 meters Centerline goodness : 0.846318 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-1.10 [[ 0.93668367 -0.30940602 -0.16398664 0.0142083 ] [ 0.30707295 0.95084322 -0.04004227 0.09754377] [ 0.1683149 -0.01284892 0.98564953 -1.09827995] [ 0. 0. 0. 1. ]] SLAMing on 113.521346184 meters Centerline goodness : 0.843112 Centerline is valid? [False, False] Translation: X:0.01, Y:0.10, Z:-1.10 [[ 0.93663943 -0.30956962 -0.16393059 0.01405446] [ 0.30724446 0.95078933 -0.04000604 0.09635069] [ 0.16824811 -0.01289553 0.98566033 -1.09790475] [ 0. 0. 0. 1. ]] SLAMing on 113.551346184 meters Centerline goodness : 0.845446 Centerline is valid? [False, False] Translation: X:0.01, Y:0.09, Z:-1.10 [[ 0.93661915 -0.30953924 -0.16410369 0.01483128] [ 0.30724742 0.95079612 -0.0398217 0.09498715] [ 0.16835553 -0.01312266 0.98563899 -1.09787894] [ 0. 0. 0. 1. ]] SLAMing on 113.581346184 meters Centerline goodness : 0.844626 Centerline is valid? [False, False] Translation: X:0.00, Y:0.09, Z:-1.10 [[ 9.35518949e-01 -3.11752249e-01 -1.66177108e-01 7.75967683e-04] [ 3.07647841e-01 9.50155750e-01 -5.05653755e-02 8.93292096e-02] [ 1.73658004e-01 -3.81916145e-03 9.84798615e-01 -1.09760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611346184 meters Centerline goodness : 0.846376 Centerline is valid? [False, False] Translation: X:0.00, Y:0.09, Z:-1.10 [[ 0.93561246 -0.31141914 -0.16627521 0.00234164] [ 0.30745993 0.95026148 -0.04971436 0.08622087] [ 0.17348693 -0.00460959 0.98482538 -1.09880313] [ 0. 0. 0. 1. ]] SLAMing on 113.641346184 meters Centerline goodness : 0.849485 Centerline is valid? [False, False] Translation: X:0.00, Y:0.08, Z:-1.10 [[ 0.93556305 -0.31157886 -0.16625401 0.00242687] [ 0.30764837 0.95020829 -0.04956495 0.08483934] [ 0.17341933 -0.00477663 0.98483649 -1.09876493] [ 0. 0. 0. 1. ]] SLAMing on 113.671346184 meters Centerline goodness : 0.845960 Centerline is valid? [False, False] Translation: X:0.00, Y:0.08, Z:-1.10 [[ 0.93549189 -0.3117876 -0.16626308 0.00205577] [ 0.30782136 0.95014067 -0.0497867 0.08455873] [ 0.17349619 -0.00460427 0.98482378 -1.09797084] [ 0. 0. 0. 1. ]] SLAMing on 113.701346184 meters Centerline goodness : 0.845334 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-1.10 [[ 0.93558099 -0.31147029 -0.16635644 -0.00109607] [ 0.30763379 0.95024105 -0.04902447 0.08211394] [ 0.17334838 -0.0053105 0.98484625 -1.09530318] [ 0. 0. 0. 1. ]] SLAMing on 113.73134618399999 meters Centerline goodness : 0.846011 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-1.09 [[ 0.93551909 -0.31166348 -0.16634276 -0.00154647] [ 0.30782609 0.95017765 -0.04904624 0.08048277] [ 0.17334109 -0.00532095 0.98484748 -1.09430745] [ 0. 0. 0. 1. ]] SLAMing on 113.76134618399999 meters Centerline goodness : 0.844743 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-1.09 [[ 0.93541222 -0.3122048 -0.16592813 -0.00265951] [ 0.30838186 0.94999984 -0.04899923 0.07832914] [ 0.17292949 -0.00533475 0.98491976 -1.09389202] [ 0. 0. 0. 1. ]] SLAMing on 113.79134618399999 meters Centerline goodness : 0.847830 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.08, Z:-1.09 [[ 0.93407225 -0.31680916 -0.1647452 -0.00261955] [ 0.31238884 0.94848684 -0.05278192 0.0760903 ] [ 0.17298045 -0.00216243 0.98492289 -1.09300127] [ 0. 0. 0. 1. ]] SLAMing on 113.82134618399999 meters Centerline goodness : 0.846946 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:-1.09 [[ 0.93399197 -0.31722406 -0.1644016 -0.00302506] [ 0.31285946 0.94834757 -0.05249612 0.07343059] [ 0.17256289 -0.00240364 0.98499557 -1.09319517] [ 0. 0. 0. 1. ]] SLAMing on 113.851346184 meters Centerline goodness : 0.848628 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:-1.09 [[ 0.93385945 -0.31762502 -0.16438026 -0.00206138] [ 0.31334458 0.94821197 -0.05205035 0.06890547] [ 0.17239982 -0.00289995 0.98502279 -1.09372258] [ 0. 0. 0. 1. ]] SLAMing on 113.881346184 meters Centerline goodness : 0.849729 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:-1.09 [[ 0.93351724 -0.31906503 -0.16353311 -0.00138757] [ 0.3144917 0.9477321 -0.05384078 0.0683836 ] [ 0.17216429 -0.00116851 0.98506756 -1.09459626] [ 0. 0. 0. 1. ]] SLAMing on 113.911346184 meters Centerline goodness : 0.849313 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.07, Z:-1.10 [[ 9.33574547e-01 -3.18766824e-01 -1.63787293e-01 -1.25996788e-04] [ 3.14290006e-01 9.47831551e-01 -5.32648307e-02 6.68518228e-02] [ 1.72221825e-01 -1.75001925e-03 9.85056638e-01 -1.09528452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941346184 meters Centerline goodness : 0.850445 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-1.10 [[ 0.93446028 -0.31559422 -0.16487651 -0.00111615] [ 0.3117917 0.94887843 -0.04914944 0.0636057 ] [ 0.17195904 -0.00547893 0.98508886 -1.09553197] [ 0. 0. 0. 1. ]] SLAMing on 113.971346184 meters Centerline goodness : 0.852279 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-1.10 [[ 0.93439358 -0.31575462 -0.16494745 -0.00116535] [ 0.31192682 0.94882565 -0.04931063 0.06391323] [ 0.17207643 -0.005376 0.98506893 -1.09517401] [ 0. 0. 0. 1. ]] SLAMing on 114.001346184 meters Centerline goodness : 0.850858 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.06, Z:-1.10 [[ 9.34371219e-01 -3.15739190e-01 -1.65103573e-01 -4.89594371e-04] [ 3.11938954e-01 9.48829658e-01 -4.91565794e-02 6.29234344e-02] [ 1.72175825e-01 -5.57174280e-03 9.85050476e-01 -1.09529928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.031346184 meters Centerline goodness : 0.851266 Centerline is valid? [False, False] Translation: X:0.00, Y:0.06, Z:-1.10 [[ 0.93339738 -0.31903735 -0.16426957 0.00225827] [ 0.31475781 0.94773736 -0.05216726 0.06039546] [ 0.17232771 -0.00301235 0.98503507 -1.09610396] [ 0. 0. 0. 1. ]] SLAMing on 114.061346184 meters Centerline goodness : 0.852007 Centerline is valid? [False, False] Translation: X:0.00, Y:0.06, Z:-1.10 [[ 0.93345772 -0.3188701 -0.16425147 0.00310068] [ 0.31467856 0.94779206 -0.05164893 0.05759956] [ 0.17214554 -0.00347432 0.9850654 -1.09656586] [ 0. 0. 0. 1. ]] SLAMing on 114.09134618399999 meters Centerline goodness : 0.849903 Centerline is valid? [False, False] Translation: X:0.00, Y:0.06, Z:-1.10 [[ 0.93346296 -0.31887545 -0.16421129 0.00322466] [ 0.31471003 0.94778976 -0.05149911 0.05642953] [ 0.17205958 -0.00360643 0.98507994 -1.09647721] [ 0. 0. 0. 1. ]] SLAMing on 114.12134618399999 meters Centerline goodness : 0.851416 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.9344004 -0.31572962 -0.16495669 0.00141073] [ 0.31212478 0.9488262 -0.0480309 0.05422668] [ 0.17168 -0.00660698 0.98513061 -1.0957459 ] [ 0. 0. 0. 1. ]] SLAMing on 114.15134618399999 meters Centerline goodness : 0.852461 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.05, Z:-1.09 [[ 9.35502757e-01 -3.11940618e-01 -1.65914561e-01 -3.81033200e-04] [ 3.08950808e-01 9.50049997e-01 -4.42086018e-02 5.28660014e-02] [ 1.71417587e-01 -9.90216885e-03 9.85148698e-01 -1.09475756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18134618399999 meters Centerline goodness : 0.855167 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.09 [[ 9.35596173e-01 -3.11486529e-01 -1.66240622e-01 7.79836236e-04] [ 3.08516718e-01 9.50197379e-01 -4.40723947e-02 5.23372506e-02] [ 1.71689360e-01 -1.00540473e-02 9.85099832e-01 -1.09454648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21134618399999 meters Centerline goodness : 0.852629 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 9.35953119e-01 -3.10882615e-01 -1.65359480e-01 4.84836733e-04] [ 3.07834832e-01 9.50402502e-01 -4.44162239e-02 5.14328766e-02] [ 1.70966295e-01 -9.33190450e-03 9.85232684e-01 -1.09562891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241346184 meters Centerline goodness : 0.852263 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93608163 -0.31030269 -0.16572094 0.00207582] [ 0.30731745 0.95058813 -0.04402485 0.05047163] [ 0.17119339 -0.00971808 0.98518952 -1.09601332] [ 0. 0. 0. 1. ]] SLAMing on 114.271346184 meters Centerline goodness : 0.850663 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93618927 -0.30990762 -0.16585207 0.00300737] [ 0.3069654 0.95071458 -0.0437497 0.04956877] [ 0.17123635 -0.00995284 0.98517971 -1.09621316] [ 0. 0. 0. 1. ]] SLAMing on 114.301346184 meters Centerline goodness : 0.850917 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93614506 -0.309934 -0.16605223 0.00324214] [ 0.30709731 0.95069906 -0.04315713 0.04955482] [ 0.17124156 -0.01059286 0.98517213 -1.09586736] [ 0. 0. 0. 1. ]] SLAMing on 114.331346184 meters Centerline goodness : 0.851587 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93607577 -0.31026039 -0.16583319 0.00256846] [ 0.30735733 0.9505969 -0.04355471 0.0500679 ] [ 0.17115382 -0.01019953 0.98519152 -1.09534154] [ 0. 0. 0. 1. ]] SLAMing on 114.361346184 meters Centerline goodness : 0.850084 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93561627 -0.31228462 -0.16462231 0.0014564 ] [ 0.30901503 0.94995459 -0.04578186 0.05071299] [ 0.17068069 -0.00803651 0.98529362 -1.09508762] [ 0. 0. 0. 1. ]] SLAMing on 114.391346184 meters Centerline goodness : 0.853501 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93534451 -0.31359926 -0.16366472 0.00247509] [ 0.31005552 0.94953405 -0.04744118 0.05039966] [ 0.17028274 -0.0063713 0.98537465 -1.09669979] [ 0. 0. 0. 1. ]] SLAMing on 114.421346184 meters Centerline goodness : 0.854813 Centerline is valid? [False, False] Translation: X:0.00, Y:0.05, Z:-1.10 [[ 0.93491619 -0.31511412 -0.16320173 0.00381019] [ 0.31141065 0.94903787 -0.04848222 0.05044451] [ 0.17016205 -0.00549594 0.98540077 -1.09794012] [ 0. 0. 0. 1. ]] SLAMing on 114.451346184 meters Centerline goodness : 0.854407 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:-1.10 [[ 0.93381991 -0.31719547 -0.16543101 0.00578705] [ 0.31390688 0.94832091 -0.04636738 0.0515977 ] [ 0.17158921 -0.00863115 0.98513078 -1.0950903 ] [ 0. 0. 0. 1. ]] SLAMing on 114.48134618399999 meters Centerline goodness : 0.855362 Centerline is valid? [False, False] Translation: X:0.01, Y:0.06, Z:-1.10 [[ 0.93299967 -0.32378483 -0.15708278 0.01106292] [ 0.32137164 0.94605461 -0.04124254 0.05817865] [ 0.1619626 -0.01200268 0.9867239 -1.10067318] [ 0. 0. 0. 1. ]] SLAMing on 114.51134618399999 meters Centerline goodness : 0.856072 Centerline is valid? [False, False] Translation: X:0.01, Y:0.06, Z:-1.10 [[ 0.93245853 -0.32464566 -0.15851272 0.01427336] [ 0.32227333 0.94575062 -0.04117848 0.05944838] [ 0.16328192 -0.0126872 0.98649787 -1.10049734] [ 0. 0. 0. 1. ]] SLAMing on 114.54134618399999 meters Centerline goodness : 0.854231 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-1.10 [[ 0.93212184 -0.32576799 -0.15819006 0.01563203] [ 0.3231698 0.94538101 -0.04261482 0.05958188] [ 0.16343242 -0.01140004 0.98648866 -1.10139722] [ 0. 0. 0. 1. ]] SLAMing on 114.57134618399999 meters Centerline goodness : 0.855647 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-1.10 [[ 0.93209368 -0.32578637 -0.15831809 0.01844696] [ 0.3231326 0.94537808 -0.04296057 0.05931356] [ 0.16366642 -0.01111446 0.98645313 -1.10353019] [ 0. 0. 0. 1. ]] SLAMing on 114.601346184 meters Centerline goodness : 0.858207 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-1.10 [[ 0.93225198 -0.32532659 -0.15833146 0.01745422] [ 0.32269643 0.94553525 -0.0427797 0.06135561] [ 0.16362536 -0.01121154 0.98645884 -1.10282849] [ 0. 0. 0. 1. ]] SLAMing on 114.631346184 meters Centerline goodness : 0.855574 Centerline is valid? [False, False] Translation: X:0.02, Y:0.06, Z:-1.10 [[ 0.93235735 -0.32430867 -0.15979256 0.02055948] [ 0.32190149 0.94586495 -0.04145988 0.06394474] [ 0.16458798 -0.01278204 0.98627958 -1.10400997] [ 0. 0. 0. 1. ]] SLAMing on 114.661346184 meters Centerline goodness : 0.856752 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-1.11 [[ 0.93278902 -0.32345423 -0.15900318 0.02164158] [ 0.3207995 0.94617903 -0.04281274 0.06721107] [ 0.16429343 -0.01107289 0.98634936 -1.10727712] [ 0. 0. 0. 1. ]] SLAMing on 114.691346184 meters Centerline goodness : 0.853866 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-1.11 [[ 0.93313369 -0.32219053 -0.15954555 0.02392239] [ 0.31955852 0.94660825 -0.04260473 0.06919378] [ 0.16475397 -0.01122824 0.98627078 -1.10902762] [ 0. 0. 0. 1. ]] SLAMing on 114.721346184 meters Centerline goodness : 0.852437 Centerline is valid? [False, False] Translation: X:0.02, Y:0.07, Z:-1.11 [[ 0.93316795 -0.32185833 -0.160015 0.02410953] [ 0.31915875 0.94672471 -0.04301172 0.07152275] [ 0.16533384 -0.01093303 0.98617706 -1.10850357] [ 0. 0. 0. 1. ]] SLAMing on 114.751346184 meters Centerline goodness : 0.854579 Centerline is valid? [False, False] Translation: X:0.03, Y:0.07, Z:-1.11 [[ 0.93323987 -0.32063249 -0.16204366 0.0282692 ] [ 0.31821546 0.94711512 -0.04137481 0.07491242] [ 0.16674011 -0.01295217 0.98591581 -1.11002329] [ 0. 0. 0. 1. ]] SLAMing on 114.781346184 meters Centerline goodness : 0.850915 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-1.11 [[ 0.93416278 -0.31762254 -0.16265244 0.02860434] [ 0.3154579 0.9481101 -0.03966807 0.07791325] [ 0.1668119 -0.01425357 0.98588571 -1.11121596] [ 0. 0. 0. 1. ]] SLAMing on 114.811346184 meters Centerline goodness : 0.852194 Centerline is valid? [False, False] Translation: X:0.03, Y:0.08, Z:-1.12 [[ 0.93454139 -0.32174152 -0.15203548 0.03144779] [ 0.32026591 0.9466891 -0.03477774 0.0846111 ] [ 0.15511977 -0.01619055 0.98776299 -1.11849182] [ 0. 0. 0. 1. ]] SLAMing on 114.84134618399999 meters Centerline goodness : 0.848970 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-1.12 [[ 0.9345727 -0.32109565 -0.15320395 0.03281835] [ 0.31973533 0.94689241 -0.03411871 0.08710939] [ 0.15602303 -0.0170983 0.98760542 -1.11831403] [ 0. 0. 0. 1. ]] SLAMing on 114.87134618399999 meters Centerline goodness : 0.848159 Centerline is valid? [False, False] Translation: X:0.03, Y:0.09, Z:-1.12 [[ 0.93474484 -0.32048566 -0.15343087 0.03413586] [ 0.31910148 0.94710169 -0.0342438 0.08864505] [ 0.15628929 -0.0169508 0.98756586 -1.11934043] [ 0. 0. 0. 1. ]] SLAMing on 114.90134618399999 meters Centerline goodness : 0.849522 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-1.12 [[ 0.93578222 -0.31702306 -0.15429843 0.03704192] [ 0.31588967 0.94824017 -0.03246995 0.0914613 ] [ 0.15660569 -0.01835648 0.98749061 -1.12276062] [ 0. 0. 0. 1. ]] SLAMing on 114.93134618399999 meters Centerline goodness : 0.848245 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-1.12 [[ 0.93644268 -0.31469604 -0.15505326 0.03807251] [ 0.31371175 0.94899804 -0.03142701 0.09357414] [ 0.1570352 -0.01921243 0.98740611 -1.12345106] [ 0. 0. 0. 1. ]] SLAMing on 114.96134618399999 meters Centerline goodness : 0.847620 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.13 [[ 0.93728305 -0.31179231 -0.15583982 0.03956979] [ 0.31109191 0.9499219 -0.02949932 0.09556736] [ 0.15723332 -0.02083129 0.98734175 -1.12504941] [ 0. 0. 0. 1. ]] SLAMing on 114.991346184 meters Centerline goodness : 0.845687 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.13 [[ 0.93834094 -0.309001 -0.15503115 0.03818103] [ 0.30816064 0.95085998 -0.0300387 0.0996817 ] [ 0.15669491 -0.01958795 0.98745279 -1.12672362] [ 0. 0. 0. 1. ]] SLAMing on 115.021346184 meters Centerline goodness : 0.846205 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.13 [[ 0.9387683 -0.30758553 -0.15525859 0.03994372] [ 0.30675458 0.95131922 -0.0298892 0.10243493] [ 0.15689396 -0.01956725 0.9874216 -1.12900718] [ 0. 0. 0. 1. ]] SLAMing on 115.051346184 meters Centerline goodness : 0.846205 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.13 [[ 0.9387683 -0.30758553 -0.15525859 0.03994372] [ 0.30675458 0.95131922 -0.0298892 0.10243493] [ 0.15689396 -0.01956725 0.9874216 -1.12900718] [ 0. 0. 0. 1. ]] SLAMing on 115.081346184 meters Centerline goodness : 0.848176 Centerline is valid? [False, False] Translation: X:0.04, Y:0.10, Z:-1.13 [[ 0.93892242 -0.30701097 -0.1554637 0.04133753] [ 0.30616467 0.95150691 -0.02996317 0.10499014] [ 0.15712381 -0.0194644 0.98738708 -1.13057813] [ 0. 0. 0. 1. ]] SLAMing on 115.111346184 meters Centerline goodness : 0.848167 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.14 [[ 0.93916324 -0.31305893 -0.14130296 0.03926005] [ 0.31212048 0.94958947 -0.02933681 0.11047023] [ 0.14336395 -0.01655149 0.98953162 -1.13595346] [ 0. 0. 0. 1. ]] SLAMing on 115.141346184 meters Centerline goodness : 0.845154 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.13 [[ 0.93854485 -0.31425906 -0.14274036 0.04037083] [ 0.3134686 0.9491682 -0.02858591 0.11222194] [ 0.14446799 -0.01791546 0.98934728 -1.1341295 ] [ 0. 0. 0. 1. ]] SLAMing on 115.171346184 meters Centerline goodness : 0.843586 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.13 [[ 0.93838111 -0.3142776 -0.1437723 0.04183119] [ 0.31355456 0.94914962 -0.02825852 0.11279684] [ 0.14534245 -0.0185632 0.98920725 -1.13313779] [ 0. 0. 0. 1. ]] SLAMing on 115.20134618399999 meters Centerline goodness : 0.844656 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.13 [[ 0.93802308 -0.31512682 -0.14424905 0.04147371] [ 0.31446516 0.94885686 -0.02797012 0.11336979] [ 0.14568584 -0.01912468 0.98914604 -1.13138643] [ 0. 0. 0. 1. ]] SLAMing on 115.23134618399999 meters Centerline goodness : 0.844350 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.13 [[ 0.93793589 -0.31543872 -0.14413424 0.0412874 ] [ 0.31472583 0.94875983 -0.0283273 0.11384946] [ 0.1456843 -0.01879357 0.98915261 -1.13120342] [ 0. 0. 0. 1. ]] SLAMing on 115.26134618399999 meters Centerline goodness : 0.843014 Centerline is valid? [False, False] Translation: X:0.04, Y:0.11, Z:-1.13 [[ 0.93786517 -0.31565572 -0.14411935 0.04153621] [ 0.31490132 0.94869269 -0.02862414 0.1142285 ] [ 0.14576034 -0.01853779 0.98914623 -1.13102916] [ 0. 0. 0. 1. ]] SLAMing on 115.29134618399999 meters Centerline goodness : 0.844896 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:-1.13 [[ 0.93705225 -0.318761 -0.14256406 0.04174807] [ 0.31737327 0.94772673 -0.03298857 0.11714879] [ 0.14562724 -0.01433401 0.98923569 -1.13251648] [ 0. 0. 0. 1. ]] SLAMing on 115.32134618399999 meters Centerline goodness : 0.845091 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:-1.13 [[ 0.93672379 -0.32000064 -0.1419441 0.04347354] [ 0.31822482 0.94734428 -0.03566204 0.11901085] [ 0.14588181 -0.01176465 0.98923207 -1.13442049] [ 0. 0. 0. 1. ]] SLAMing on 115.351346184 meters Centerline goodness : 0.845292 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93642138 -0.32047034 -0.1428767 0.0463985 ] [ 0.31853295 0.94719477 -0.0368623 0.12076827] [ 0.14714534 -0.01099229 0.9890538 -1.13489637] [ 0. 0. 0. 1. ]] SLAMing on 115.381346184 meters Centerline goodness : 0.843268 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93634742 -0.31959198 -0.14530822 0.04746582] [ 0.31816225 0.94744029 -0.03361075 0.12283236] [ 0.14841259 -0.01476026 0.98881537 -1.13258437] [ 0. 0. 0. 1. ]] SLAMing on 115.411346184 meters Centerline goodness : 0.845759 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93633856 -0.31932981 -0.14594033 0.04846185] [ 0.31800803 0.94751572 -0.03293702 0.12401365] [ 0.14879853 -0.01556999 0.98874495 -1.13243248] [ 0. 0. 0. 1. ]] SLAMing on 115.441346184 meters Centerline goodness : 0.843574 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93630034 -0.31951808 -0.14577331 0.04813705] [ 0.31812882 0.94745957 -0.03338293 0.12455486] [ 0.14878077 -0.01511824 0.98875463 -1.1318211 ] [ 0. 0. 0. 1. ]] SLAMing on 115.471346184 meters Centerline goodness : 0.842741 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93623216 -0.31984025 -0.14550448 0.0473894 ] [ 0.31837887 0.94735862 -0.03386065 0.12479252] [ 0.14867492 -0.01462412 0.98877798 -1.13102792] [ 0. 0. 0. 1. ]] SLAMing on 115.501346184 meters Centerline goodness : 0.842520 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93603219 -0.32072819 -0.14483493 0.04521676] [ 0.31910834 0.94707463 -0.0349215 0.1243104 ] [ 0.1483698 -0.01353039 0.98883939 -1.12884737] [ 0. 0. 0. 1. ]] SLAMing on 115.531346184 meters Centerline goodness : 0.844072 Centerline is valid? [False, False] Translation: X:0.04, Y:0.12, Z:-1.13 [[ 0.93597063 -0.32099101 -0.14465044 0.04490462] [ 0.31930804 0.94699157 -0.03534609 0.1248217 ] [ 0.14832852 -0.01310515 0.98885131 -1.12844147] [ 0. 0. 0. 1. ]] SLAMing on 115.561346184 meters Centerline goodness : 0.844549 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93596633 -0.32098153 -0.1446993 0.04506697] [ 0.31923536 0.94700013 -0.03577075 0.1259389 ] [ 0.14851201 -0.01271291 0.98882889 -1.1279035 ] [ 0. 0. 0. 1. ]] SLAMing on 115.59134618399999 meters Centerline goodness : 0.842952 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93606842 -0.32052612 -0.14504801 0.04660162] [ 0.3187717 0.94715444 -0.03581998 0.12670621] [ 0.14886411 -0.01270725 0.98877601 -1.12812858] [ 0. 0. 0. 1. ]] SLAMing on 115.62134618399999 meters Centerline goodness : 0.845380 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93613847 -0.32021588 -0.14528098 0.0480563 ] [ 0.31849568 0.94725601 -0.03558868 0.12609859] [ 0.14901434 -0.01295543 0.98875016 -1.12872874] [ 0. 0. 0. 1. ]] SLAMing on 115.65134618399999 meters Centerline goodness : 0.844756 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93613042 -0.32026959 -0.14521438 0.04821863] [ 0.31853047 0.94723965 -0.03571265 0.12596005] [ 0.14899049 -0.0128235 0.98875548 -1.12858498] [ 0. 0. 0. 1. ]] SLAMing on 115.68134618399999 meters Centerline goodness : 0.848716 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93599192 -0.32081259 -0.14490828 0.04644102] [ 0.31894974 0.94706658 -0.03655072 0.12716172] [ 0.14896372 -0.01200728 0.98876976 -1.12663025] [ 0. 0. 0. 1. ]] SLAMing on 115.71134618399999 meters Centerline goodness : 0.849644 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.9359267 -0.32106772 -0.14476441 0.04595364] [ 0.31916053 0.94698383 -0.03685354 0.12704947] [ 0.14892204 -0.01171087 0.98877959 -1.12592768] [ 0. 0. 0. 1. ]] SLAMing on 115.741346184 meters Centerline goodness : 0.849467 Centerline is valid? [False, False] Translation: X:0.05, Y:0.13, Z:-1.13 [[ 0.93590612 -0.32121609 -0.14456821 0.04591828] [ 0.31930596 0.9469342 -0.03686911 0.12611238] [ 0.14873953 -0.01165546 0.98880772 -1.12577217] [ 0. 0. 0. 1. ]] SLAMing on 115.771346184 meters Centerline goodness : 0.848860 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93592725 -0.3211683 -0.14453755 0.04645514] [ 0.31928282 0.94694861 -0.03669905 0.12468263] [ 0.1486562 -0.01180071 0.98881853 -1.12584931] [ 0. 0. 0. 1. ]] SLAMing on 115.801346184 meters Centerline goodness : 0.848125 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.9359903 -0.32095959 -0.14459285 0.04731052] [ 0.31911465 0.94701616 -0.03641744 0.12323764] [ 0.1486203 -0.01205533 0.98882085 -1.12609242] [ 0. 0. 0. 1. ]] SLAMing on 115.831346184 meters Centerline goodness : 0.851291 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93607604 -0.32060315 -0.1448284 0.04891145] [ 0.31881195 0.9471321 -0.03605167 0.121277 ] [ 0.14872991 -0.01242592 0.98879978 -1.12643768] [ 0. 0. 0. 1. ]] SLAMing on 115.861346184 meters Centerline goodness : 0.850930 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93614124 -0.32029348 -0.14509193 0.05019348] [ 0.31852089 0.94723479 -0.03592614 0.121084 ] [ 0.14894303 -0.01258287 0.98876572 -1.12675452] [ 0. 0. 0. 1. ]] SLAMing on 115.891346184 meters Centerline goodness : 0.848900 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93622099 -0.31996296 -0.14530645 0.05131622] [ 0.31821452 0.94734411 -0.03575827 0.12119344] [ 0.14909653 -0.01276098 0.9887403 -1.12724953] [ 0. 0. 0. 1. ]] SLAMing on 115.921346184 meters Centerline goodness : 0.854006 Centerline is valid? [False, False] Translation: X:0.05, Y:0.12, Z:-1.13 [[ 0.93777644 -0.31771352 -0.14011949 0.04672899] [ 0.31607081 0.94811078 -0.03442673 0.11620652] [ 0.14378663 -0.0120031 0.98953592 -1.13156231] [ 0. 0. 0. 1. ]] SLAMing on 115.95134618399999 meters Centerline goodness : 0.852889 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.93787387 -0.31725633 -0.14050274 0.04838926] [ 0.31567898 0.94825759 -0.0339755 0.11446941] [ 0.14401174 -0.01248903 0.98949717 -1.13182951] [ 0. 0. 0. 1. ]] SLAMing on 115.98134618399999 meters Centerline goodness : 0.851715 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.93792949 -0.31705291 -0.14059065 0.04908341] [ 0.31549779 0.94832362 -0.03381508 0.11349365] [ 0.1440466 -0.01263988 0.98949018 -1.13178966] [ 0. 0. 0. 1. ]] SLAMing on 116.01134618399999 meters Centerline goodness : 0.852971 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.93903446 -0.31336192 -0.14148708 0.04785385] [ 0.31231541 0.94950067 -0.03012585 0.11108994] [ 0.14378237 -0.01589939 0.9894816 -1.13075264] [ 0. 0. 0. 1. ]] SLAMing on 116.04134618399999 meters Centerline goodness : 0.856473 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.93911928 -0.31301308 -0.14169609 0.04843363] [ 0.31191985 0.94962056 -0.03044339 0.11303442] [ 0.1440867 -0.01560785 0.98944197 -1.13034862] [ 0. 0. 0. 1. ]] SLAMing on 116.07134618399999 meters Centerline goodness : 0.853803 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.93919219 -0.31270199 -0.14189958 0.04909603] [ 0.31156644 0.94972728 -0.03073184 0.11405088] [ 0.14437581 -0.01534804 0.98940389 -1.12991758] [ 0. 0. 0. 1. ]] SLAMing on 116.101346184 meters Centerline goodness : 0.854445 Centerline is valid? [False, False] Translation: X:0.05, Y:0.11, Z:-1.13 [[ 0.9394569 -0.311678 -0.14239927 0.05268183] [ 0.3106415 0.95005267 -0.03002977 0.11165629] [ 0.14464642 -0.01602345 0.98935366 -1.13108771] [ 0. 0. 0. 1. ]] SLAMing on 116.131346184 meters Centerline goodness : 0.856015 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.938672 -0.31429674 -0.14181832 0.05641855] [ 0.31273597 0.94924024 -0.03375175 0.11324753] [ 0.14522772 -0.01266986 0.98931713 -1.13133217] [ 0. 0. 0. 1. ]] SLAMing on 116.161346184 meters Centerline goodness : 0.858039 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93875466 -0.31389763 -0.14215473 0.05834871] [ 0.3123989 0.94936616 -0.03332892 0.1124591 ] [ 0.14541876 -0.0131213 0.98928318 -1.13238241] [ 0. 0. 0. 1. ]] SLAMing on 116.191346184 meters Centerline goodness : 0.859194 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93858289 -0.31461352 -0.14170568 0.05740125] [ 0.31295507 0.94914361 -0.03443151 0.11277306] [ 0.14533166 -0.01203069 0.98930985 -1.1302058 ] [ 0. 0. 0. 1. ]] SLAMing on 116.221346184 meters Centerline goodness : 0.860839 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93843334 -0.31518618 -0.14142327 0.05634294] [ 0.31342046 0.94896248 -0.03518273 0.11324434] [ 0.14529449 -0.0113083 0.98932383 -1.12866312] [ 0. 0. 0. 1. ]] SLAMing on 116.251346184 meters Centerline goodness : 0.864972 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93832429 -0.31559049 -0.14124505 0.055902 ] [ 0.31374775 0.94883409 -0.03572429 0.11324025] [ 0.14529237 -0.01079435 0.98932988 -1.12749086] [ 0. 0. 0. 1. ]] SLAMing on 116.281346184 meters Centerline goodness : 0.860827 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93798371 -0.31673629 -0.14094211 0.05840309] [ 0.31453393 0.94847585 -0.03823567 0.11318938] [ 0.14579081 -0.00846664 0.98927921 -1.12913751] [ 0. 0. 0. 1. ]] SLAMing on 116.311346184 meters Centerline goodness : 0.860435 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93770157 -0.31797829 -0.14001988 0.06017868] [ 0.31535365 0.94808163 -0.04114966 0.11292244] [ 0.14583498 -0.00556968 0.98929325 -1.13097281] [ 0. 0. 0. 1. ]] SLAMing on 116.34134618399999 meters Centerline goodness : 0.862431 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93741373 -0.31916093 -0.13925448 0.061211 ] [ 0.31627029 0.94769325 -0.04301869 0.11258176] [ 0.14570041 -0.00371574 0.98932178 -1.13213005] [ 0. 0. 0. 1. ]] SLAMing on 116.37134618399999 meters Centerline goodness : 0.862533 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93683817 -0.32046652 -0.14012656 0.06161036] [ 0.31766388 0.94724841 -0.04254543 0.11282264] [ 0.14636905 -0.00465496 0.9892191 -1.13005836] [ 0. 0. 0. 1. ]] SLAMing on 116.40134618399999 meters Centerline goodness : 0.863090 Centerline is valid? [False, False] Translation: X:0.06, Y:0.11, Z:-1.13 [[ 0.93658042 -0.32084506 -0.1409807 0.06292755] [ 0.31808092 0.9471175 -0.04234348 0.11400265] [ 0.14711098 -0.0051852 0.9891064 -1.12945335] [ 0. 0. 0. 1. ]] SLAMing on 116.43134618399999 meters Centerline goodness : 0.865011 Centerline is valid? [False, False] Translation: X:0.06, Y:0.12, Z:-1.13 [[ 0.93640769 -0.32102749 -0.14171095 0.06432491] [ 0.31826967 0.94705418 -0.0423415 0.1152812 ] [ 0.14780073 -0.00545339 0.98900213 -1.12916154] [ 0. 0. 0. 1. ]] SLAMing on 116.46134618399999 meters Centerline goodness : 0.860347 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93643641 -0.32069912 -0.14226358 0.06572903] [ 0.3180266 0.94716128 -0.04176821 0.11640161] [ 0.14814158 -0.00613033 0.98894716 -1.12968 ] [ 0. 0. 0. 1. ]] SLAMing on 116.491346184 meters Centerline goodness : 0.863676 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93689821 -0.31954246 -0.14182512 0.06695795] [ 0.31684361 0.94755459 -0.04183821 0.11676443] [ 0.14775612 -0.00573824 0.98900718 -1.13192283] [ 0. 0. 0. 1. ]] SLAMing on 116.521346184 meters Centerline goodness : 0.865753 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93681605 -0.31996097 -0.14142373 0.06683811] [ 0.31713072 0.94741849 -0.04273536 0.11695025] [ 0.1476611 -0.00481464 0.9890263 -1.13184186] [ 0. 0. 0. 1. ]] SLAMing on 116.551346184 meters Centerline goodness : 0.866412 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93660255 -0.32059116 -0.14141065 0.06764931] [ 0.31766059 0.94720826 -0.04345413 0.11754921] [ 0.14787634 -0.00422134 0.98899685 -1.13194801] [ 0. 0. 0. 1. ]] SLAMing on 116.581346184 meters Centerline goodness : 0.866040 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93633893 -0.32128143 -0.14158975 0.06827489] [ 0.31832526 0.94697458 -0.04368264 0.11872403] [ 0.14811632 -0.00416984 0.98896116 -1.1318775 ] [ 0. 0. 0. 1. ]] SLAMing on 116.611346184 meters Centerline goodness : 0.869346 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93606242 -0.32107771 -0.14386191 0.07055443] [ 0.31838931 0.94703043 -0.04197146 0.12159822] [ 0.14971771 -0.00651619 0.98870731 -1.13027799] [ 0. 0. 0. 1. ]] SLAMing on 116.641346184 meters Centerline goodness : 0.861436 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93601234 -0.32128498 -0.14372496 0.07041413] [ 0.31851843 0.94696354 -0.04249771 0.12233168] [ 0.14975617 -0.00600067 0.98870475 -1.12976351] [ 0. 0. 0. 1. ]] SLAMing on 116.671346184 meters Centerline goodness : 0.865228 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 0.93601492 -0.32153334 -0.14315164 0.07121878] [ 0.31855953 0.94688736 -0.04386525 0.12273738] [ 0.14965262 -0.00454379 0.9887282 -1.13089275] [ 0. 0. 0. 1. ]] SLAMing on 116.70134618399999 meters Centerline goodness : 0.865011 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 9.36026549e-01 -3.22527619e-01 -1.40819862e-01 7.13438294e-02] [ 3.19027515e-01 9.46559884e-01 -4.73901999e-02 1.21793168e-01] [ 1.48579081e-01 -5.66925494e-04 9.88900367e-01 -1.13359990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73134618399999 meters Centerline goodness : 0.865076 Centerline is valid? [False, False] Translation: X:0.07, Y:0.12, Z:-1.13 [[ 9.35625698e-01 -3.23611901e-01 -1.40996064e-01 7.25058677e-02] [ 3.20010796e-01 9.46189902e-01 -4.81431124e-02 1.22375510e-01] [ 1.48988736e-01 -7.63294284e-05 9.88838890e-01 -1.13360463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76134618399999 meters Centerline goodness : 0.868873 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:-1.13 [[ 0.9351366 -0.32440402 -0.1424134 0.07523824] [ 0.32102867 0.94591644 -0.04671915 0.12352178] [ 0.14986706 -0.00202999 0.98870407 -1.13363704] [ 0. 0. 0. 1. ]] SLAMing on 116.79134618399999 meters Centerline goodness : 0.866593 Centerline is valid? [False, False] Translation: X:0.08, Y:0.12, Z:-1.13 [[ 0.93474475 -0.32476029 -0.14416316 0.07773221] [ 0.32155967 0.94578911 -0.04563252 0.12498436] [ 0.15116758 -0.0037023 0.98850122 -1.13276179] [ 0. 0. 0. 1. ]] SLAMing on 116.82134618399999 meters Centerline goodness : 0.867942 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93441069 -0.32519317 -0.14534808 0.07904591] [ 0.32216344 0.94563351 -0.04458668 0.12672735] [ 0.1519453 -0.00516356 0.98837542 -1.13190361] [ 0. 0. 0. 1. ]] SLAMing on 116.851346184 meters Centerline goodness : 0.868906 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93425822 -0.32564934 -0.14530688 0.07957614] [ 0.3225422 0.94547889 -0.04512432 0.12718447] [ 0.15207929 -0.00470984 0.98835707 -1.13179873] [ 0. 0. 0. 1. ]] SLAMing on 116.881346184 meters Centerline goodness : 0.869755 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93406659 -0.32640403 -0.14484482 0.07995557] [ 0.32307101 0.94522482 -0.04663857 0.12688766] [ 0.15213394 -0.00323163 0.9883546 -1.13184633] [ 0. 0. 0. 1. ]] SLAMing on 116.911346184 meters Centerline goodness : 0.868477 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93384937 -0.32727685 -0.14427479 0.0804124 ] [ 0.32372762 0.94492681 -0.04810147 0.12773267] [ 0.15207162 -0.0017862 0.98836786 -1.13248956] [ 0. 0. 0. 1. ]] SLAMing on 116.941346184 meters Centerline goodness : 0.870725 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93381463 -0.32726646 -0.14452303 0.08225719] [ 0.32369524 0.94493051 -0.04824638 0.12831304] [ 0.15235365 -0.00172824 0.98832453 -1.13374563] [ 0. 0. 0. 1. ]] SLAMing on 116.971346184 meters Centerline goodness : 0.870725 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93381463 -0.32726646 -0.14452303 0.08225719] [ 0.32369524 0.94493051 -0.04824638 0.12831304] [ 0.15235365 -0.00172824 0.98832453 -1.13374563] [ 0. 0. 0. 1. ]] SLAMing on 117.001346184 meters Centerline goodness : 0.870237 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93366296 -0.32744255 -0.1451029 0.08312983] [ 0.32381188 0.9448698 -0.04865106 0.12954157] [ 0.15303378 -0.00156235 0.98821972 -1.133257 ] [ 0. 0. 0. 1. ]] SLAMing on 117.031346184 meters Centerline goodness : 0.868391 Centerline is valid? [False, False] Translation: X:0.08, Y:0.13, Z:-1.13 [[ 0.93353129 -0.32762147 -0.14554551 0.08422524] [ 0.32399904 0.94480741 -0.04861676 0.13065377] [ 0.15344037 -0.00177134 0.98815632 -1.13353336] [ 0. 0. 0. 1. ]] SLAMing on 117.061346184 meters Centerline goodness : 0.869624 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.13 [[ 0.93349123 -0.3273916 -0.14631766 0.08674429] [ 0.32377675 0.94488653 -0.0485598 0.13205979] [ 0.15415165 -0.00204411 0.98804508 -1.13465358] [ 0. 0. 0. 1. ]] SLAMing on 117.09134618399999 meters Centerline goodness : 0.868115 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.14 [[ 9.33958583e-01 -3.26524139e-01 -1.45269929e-01 8.72447796e-02] [ 3.22758326e-01 9.45188603e-01 -4.94526724e-02 1.32718123e-01] [ 1.53454973e-01 -7.00331455e-04 9.88155393e-01 -1.13717691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12134618399999 meters Centerline goodness : 0.868378 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.14 [[ 9.34286417e-01 -3.25771188e-01 -1.44851732e-01 8.66973272e-02] [ 3.22007252e-01 9.45448505e-01 -4.93807032e-02 1.32454693e-01] [ 1.53036663e-01 -5.07587866e-04 9.88220381e-01 -1.13731280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15134618399999 meters Centerline goodness : 0.867110 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.14 [[ 0.934591 -0.32456622 -0.14558997 0.08843032] [ 0.32108169 0.94586003 -0.04749059 0.13245003] [ 0.15312157 -0.002362 0.98820454 -1.13826439] [ 0. 0. 0. 1. ]] SLAMing on 117.18134618399999 meters Centerline goodness : 0.869052 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.14 [[ 0.93444061 -0.32481851 -0.14599206 0.08824639] [ 0.32148381 0.94577013 -0.04655128 0.1324156 ] [ 0.15319565 -0.00343468 0.98818991 -1.13710106] [ 0. 0. 0. 1. ]] SLAMing on 117.21134618399999 meters Centerline goodness : 0.869343 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.14 [[ 0.93341184 -0.32755478 -0.14645885 0.08925889] [ 0.3243135 0.94482196 -0.04617605 0.13212136] [ 0.15350273 -0.00439731 0.98813844 -1.13559802] [ 0. 0. 0. 1. ]] SLAMing on 117.241346184 meters Centerline goodness : 0.870043 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.13 [[ 0.93240839 -0.33023998 -0.14682015 0.09048153] [ 0.32686828 0.94388875 -0.04723514 0.13251995] [ 0.15418082 -0.0039484 0.98803476 -1.13461397] [ 0. 0. 0. 1. ]] SLAMing on 117.271346184 meters Centerline goodness : 0.872137 Centerline is valid? [False, False] Translation: X:0.09, Y:0.13, Z:-1.13 [[ 0.93140246 -0.33292276 -0.14714583 0.09244758] [ 0.32943196 0.94294736 -0.04821681 0.1329189 ] [ 0.15480324 -0.00356528 0.98793889 -1.13441165] [ 0. 0. 0. 1. ]] SLAMing on 117.301346184 meters Centerline goodness : 0.871503 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:-1.13 [[ 0.92973909 -0.33717324 -0.14798456 0.09633582] [ 0.33352938 0.94143686 -0.04954581 0.13306691] [ 0.15602364 -0.00329252 0.98774783 -1.13451966] [ 0. 0. 0. 1. ]] SLAMing on 117.331346184 meters Centerline goodness : 0.868930 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:-1.13 [[ 0.92899189 -0.33912614 -0.14821447 0.09858826] [ 0.33528872 0.94073789 -0.0509283 0.13338008] [ 0.15670209 -0.00238266 0.98764304 -1.1348651 ] [ 0. 0. 0. 1. ]] SLAMing on 117.361346184 meters Centerline goodness : 0.868644 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:-1.14 [[ 0.92835449 -0.34085537 -0.14824156 0.10045072] [ 0.33685886 0.94011439 -0.05206777 0.13313184] [ 0.1571116 -0.00159913 0.98757956 -1.13522333] [ 0. 0. 0. 1. ]] SLAMing on 117.391346184 meters Centerline goodness : 0.870255 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:-1.13 [[ 9.27148440e-01 -3.44042615e-01 -1.48426577e-01 1.03053112e-01] [ 3.39828835e-01 9.38953799e-01 -5.36854415e-02 1.31146832e-01] [ 1.57835778e-01 -6.65257339e-04 9.87465151e-01 -1.13472771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421346184 meters Centerline goodness : 0.871201 Centerline is valid? [False, False] Translation: X:0.10, Y:0.13, Z:-1.13 [[ 0.92651641 -0.34530047 -0.14944873 0.10473473] [ 0.34117505 0.93849072 -0.05324235 0.13013016] [ 0.15864086 -0.00165827 0.98733496 -1.13333952] [ 0. 0. 0. 1. ]] SLAMing on 117.45134618399999 meters Centerline goodness : 0.870286 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:-1.13 [[ 0.9257148 -0.34641926 -0.15180843 0.1079011 ] [ 0.34253997 0.93807126 -0.05185243 0.13007516] [ 0.1603698 -0.00399989 0.9870489 -1.13120629] [ 0. 0. 0. 1. ]] SLAMing on 117.48134618399999 meters Centerline goodness : 0.870440 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:-1.13 [[ 0.92502008 -0.34725834 -0.15410871 0.11114104] [ 0.34362845 0.93774854 -0.05046946 0.13066005] [ 0.16204115 -0.00627088 0.98676408 -1.12968893] [ 0. 0. 0. 1. ]] SLAMing on 117.51134618399999 meters Centerline goodness : 0.872835 Centerline is valid? [False, False] Translation: X:0.11, Y:0.13, Z:-1.13 [[ 0.92423423 -0.34848815 -0.15603556 0.11369528] [ 0.34504091 0.93727869 -0.04955218 0.13101835] [ 0.16351716 -0.00804083 0.98650772 -1.12790599] [ 0. 0. 0. 1. ]] SLAMing on 117.54134618399999 meters Centerline goodness : 0.875072 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92326235 -0.35082666 -0.15654805 0.11657319] [ 0.34731739 0.93640565 -0.05015072 0.12943233] [ 0.16418668 -0.00806959 0.98639628 -1.12789081] [ 0. 0. 0. 1. ]] SLAMing on 117.57134618399999 meters Centerline goodness : 0.874618 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92274769 -0.35270848 -0.1553494 0.11866478] [ 0.34876929 0.93571757 -0.05284515 0.12885247] [ 0.1640021 -0.00541836 0.98644511 -1.13021118] [ 0. 0. 0. 1. ]] SLAMing on 117.601346184 meters Centerline goodness : 0.873886 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92225616 -0.3547371 -0.15363974 0.12032568] [ 0.35018694 0.9349648 -0.05665615 0.12842105] [ 0.16374579 -0.00155115 0.98650135 -1.13277144] [ 0. 0. 0. 1. ]] SLAMing on 117.631346184 meters Centerline goodness : 0.875962 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92150857 -0.35736368 -0.15203014 0.12008921] [ 0.35228297 0.93396358 -0.06007284 0.12820013] [ 0.16345847 0.00180001 0.98654857 -1.13322258] [ 0. 0. 0. 1. ]] SLAMing on 117.661346184 meters Centerline goodness : 0.879611 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 9.21501190e-01 -3.56912960e-01 -1.53129666e-01 1.21624512e-01] [ 3.52026453e-01 9.34137585e-01 -5.88587152e-02 1.28417955e-01] [ 1.64051615e-01 3.32682877e-04 9.86451700e-01 -1.13273784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691346184 meters Centerline goodness : 0.880115 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 9.21690014e-01 -3.56096379e-01 -1.53892453e-01 1.22550390e-01] [ 3.51355242e-01 9.34448980e-01 -5.79188945e-02 1.28503370e-01] [ 1.64429354e-01 -6.87653291e-04 9.86388622e-01 -1.13250393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721346184 meters Centerline goodness : 0.883751 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92282417 -0.35303325 -0.15415278 0.12168719] [ 0.34853201 0.93560896 -0.05622547 0.12725815] [ 0.16407619 -0.00184096 0.98644595 -1.13203695] [ 0. 0. 0. 1. ]] SLAMing on 117.751346184 meters Centerline goodness : 0.882612 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92346306 -0.35112238 -0.15469019 0.12267164] [ 0.34675571 0.93632595 -0.0552647 0.1266193 ] [ 0.16424511 -0.00260479 0.98641612 -1.13225638] [ 0. 0. 0. 1. ]] SLAMing on 117.781346184 meters Centerline goodness : 0.881468 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92397128 -0.35003094 -0.15412789 0.12215975] [ 0.34559533 0.93673619 -0.05558038 0.12570003] [ 0.16383203 -0.00191121 0.9864864 -1.13260412] [ 0. 0. 0. 1. ]] SLAMing on 117.811346184 meters Centerline goodness : 0.885563 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92437825 -0.349178 -0.15362156 0.12195763] [ 0.34470738 0.93705529 -0.05571536 0.12506846] [ 0.16340648 -0.00145242 0.98655776 -1.13312283] [ 0. 0. 0. 1. ]] SLAMing on 117.84134618399999 meters Centerline goodness : 0.886370 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92513613 -0.34694109 -0.15412663 0.12207361] [ 0.34274291 0.93788222 -0.05389093 0.12528851] [ 0.16324961 -0.00296936 0.98658033 -1.13325241] [ 0. 0. 0. 1. ]] SLAMing on 117.87134618399999 meters Centerline goodness : 0.886219 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.13 [[ 0.92532737 -0.34634269 -0.15432437 0.12209755] [ 0.34210543 0.93810403 -0.05408061 0.12634336] [ 0.16350274 -0.00275294 0.98653904 -1.13313741] [ 0. 0. 0. 1. ]] SLAMing on 117.90134618399999 meters Centerline goodness : 0.884854 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.14 [[ 0.92543622 -0.34589785 -0.1546689 0.1247099 ] [ 0.34156683 0.93826939 -0.05461373 0.12864355] [ 0.16401187 -0.00228824 0.98645571 -1.135355 ] [ 0. 0. 0. 1. ]] SLAMing on 117.93134618399999 meters Centerline goodness : 0.885976 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.14 [[ 0.92633674 -0.34483004 -0.15163271 0.12375185] [ 0.3398471 0.93866145 -0.05846897 0.12980774] [ 0.16249364 0.00263002 0.98670609 -1.1397664 ] [ 0. 0. 0. 1. ]] SLAMing on 117.96134618399999 meters Centerline goodness : 0.886894 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.14 [[ 0.92688408 -0.34388373 -0.15043235 0.12347907] [ 0.33863765 0.93900052 -0.06002138 0.13077979] [ 0.16189643 0.0046908 0.98679661 -1.14187163] [ 0. 0. 0. 1. ]] SLAMing on 117.991346184 meters Centerline goodness : 0.887431 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.14 [[ 0.92749364 -0.34219552 -0.15052498 0.12460653] [ 0.33692007 0.9396155 -0.06006305 0.13208219] [ 0.16198891 0.00499321 0.98677995 -1.14341515] [ 0. 0. 0. 1. ]] SLAMing on 118.021346184 meters Centerline goodness : 0.888761 Centerline is valid? [False, False] Translation: X:0.12, Y:0.13, Z:-1.14 [[ 0.92809364 -0.34044482 -0.15079625 0.12400197] [ 0.33522999 0.94025268 -0.05954616 0.133195 ] [ 0.16205876 0.00471299 0.98676985 -1.143026 ] [ 0. 0. 0. 1. ]] SLAMing on 118.051346184 meters Centerline goodness : 0.887219 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.14 [[ 0.93002219 -0.33913522 -0.14158398 0.12564846] [ 0.33481453 0.94073331 -0.05403763 0.13890953] [ 0.15151883 0.00285182 0.98845026 -1.14296996] [ 0. 0. 0. 1. ]] SLAMing on 118.081346184 meters Centerline goodness : 0.887902 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.14 [[ 0.93054355 -0.33665226 -0.14406233 0.12968933] [ 0.33289113 0.94162822 -0.05019752 0.14000423] [ 0.15255226 -0.00124609 0.98829462 -1.14403202] [ 0. 0. 0. 1. ]] SLAMing on 118.111346184 meters Centerline goodness : 0.887158 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.14 [[ 0.93067024 -0.3363072 -0.14404989 0.12923908] [ 0.33254244 0.94175159 -0.0501943 0.13984375] [ 0.15253992 -0.00118836 0.9882966 -1.14331729] [ 0. 0. 0. 1. ]] SLAMing on 118.141346184 meters Centerline goodness : 0.882781 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.15 [[ 0.9302086 -0.33799032 -0.14308915 0.1308573 ] [ 0.33379188 0.94114811 -0.05313388 0.1403813 ] [ 0.15262682 0.0016636 0.98828249 -1.14514375] [ 0. 0. 0. 1. ]] SLAMing on 118.171346184 meters Centerline goodness : 0.884325 Centerline is valid? [False, False] Translation: X:0.13, Y:0.14, Z:-1.15 [[ 0.92966495 -0.33912087 -0.14394482 0.13474054] [ 0.33487802 0.94074156 -0.05349786 0.1415242 ] [ 0.15355711 0.00153113 0.98813859 -1.14671425] [ 0. 0. 0. 1. ]] SLAMing on 118.20134618399999 meters Centerline goodness : 0.885130 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-1.15 [[ 0.9291228 -0.34036252 -0.14451361 0.13669588] [ 0.33612517 0.94029355 -0.05355287 0.14253407] [ 0.1541126 0.00118253 0.98805258 -1.14707398] [ 0. 0. 0. 1. ]] SLAMing on 118.23134618399999 meters Centerline goodness : 0.883717 Centerline is valid? [False, False] Translation: X:0.14, Y:0.14, Z:-1.15 [[ 9.28783840e-01 -3.40789080e-01 -1.45682468e-01 1.39450944e-01] [ 3.36603866e-01 9.40139686e-01 -5.32466745e-02 1.44153300e-01] [ 1.55107755e-01 4.17368924e-04 9.87897469e-01 -1.14756208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26134618399999 meters Centerline goodness : 0.881317 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-1.15 [[ 0.928643 -0.3417195 -0.14439515 0.14124166] [ 0.33700799 0.93979356 -0.05668936 0.1459164 ] [ 0.15507349 0.00398185 0.98789491 -1.15087806] [ 0. 0. 0. 1. ]] SLAMing on 118.29134618399999 meters Centerline goodness : 0.879643 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-1.15 [[ 0.92854916 -0.34201239 -0.14430516 0.14360027] [ 0.33704499 0.93967914 -0.05834206 0.14694246] [ 0.15555425 0.00553614 0.98781184 -1.15289347] [ 0. 0. 0. 1. ]] SLAMing on 118.32134618399999 meters Centerline goodness : 0.881152 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-1.15 [[ 0.92870562 -0.34166986 -0.14410962 0.1440019 ] [ 0.3366869 0.93980253 -0.0584221 0.14681888] [ 0.15539565 0.00573711 0.98783565 -1.15349376] [ 0. 0. 0. 1. ]] SLAMing on 118.351346184 meters Centerline goodness : 0.881192 Centerline is valid? [False, False] Translation: X:0.14, Y:0.15, Z:-1.15 [[ 0.92874415 -0.34108552 -0.14524106 0.144919 ] [ 0.33622283 0.94002082 -0.05757666 0.14741959] [ 0.15616819 0.00464063 0.98771958 -1.15234258] [ 0. 0. 0. 1. ]] SLAMing on 118.381346184 meters Centerline goodness : 0.881272 Centerline is valid? [False, False] Translation: X:0.15, Y:0.15, Z:-1.15 [[ 0.92891271 -0.33877958 -0.14949774 0.149717 ] [ 0.33475153 0.94086435 -0.05211233 0.14751036] [ 0.15831169 -0.00163679 0.98738783 -1.15055291] [ 0. 0. 0. 1. ]] SLAMing on 118.411346184 meters Centerline goodness : 0.879759 Centerline is valid? [False, False] Translation: X:0.15, Y:0.15, Z:-1.15 [[ 0.92883569 -0.33827382 -0.1511128 0.1528794 ] [ 0.33453625 0.9410399 -0.05029321 0.14717399] [ 0.15921605 -0.00383858 0.9872363 -1.15074029] [ 0. 0. 0. 1. ]] SLAMing on 118.441346184 meters Centerline goodness : 0.883412 Centerline is valid? [False, False] Translation: X:0.15, Y:0.15, Z:-1.15 [[ 0.92809335 -0.34023153 -0.1512787 0.15307134] [ 0.33652905 0.94033195 -0.05023969 0.14501677] [ 0.15934532 -0.00428256 0.98721362 -1.14873367] [ 0. 0. 0. 1. ]] SLAMing on 118.471346184 meters Centerline goodness : 0.883749 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-1.15 [[ 0.92750572 -0.34150323 -0.15201537 0.1560742 ] [ 0.33785357 0.93986758 -0.05003902 0.14495097] [ 0.1599628 -0.00494745 0.98711064 -1.14952777] [ 0. 0. 0. 1. ]] SLAMing on 118.501346184 meters Centerline goodness : 0.882218 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-1.15 [[ 0.9266983 -0.34338448 -0.15270021 0.15875099] [ 0.33965633 0.93918222 -0.0506984 0.14494895] [ 0.16082237 -0.00488347 0.98697129 -1.14952721] [ 0. 0. 0. 1. ]] SLAMing on 118.531346184 meters Centerline goodness : 0.885307 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-1.15 [[ 0.92514862 -0.34774937 -0.15221832 0.16174287] [ 0.34369435 0.93758194 -0.05304992 0.14476209] [ 0.16116522 -0.00323751 0.98692213 -1.15068857] [ 0. 0. 0. 1. ]] SLAMing on 118.561346184 meters Centerline goodness : 0.883398 Centerline is valid? [False, False] Translation: X:0.16, Y:0.14, Z:-1.15 [[ 0.92453754 -0.34940585 -0.15213773 0.16397521] [ 0.3451905 0.93696831 -0.05416561 0.14490968] [ 0.16147401 -0.00243836 0.98687395 -1.15189429] [ 0. 0. 0. 1. ]] SLAMing on 118.59134618399999 meters Centerline goodness : 0.886647 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.15 [[ 9.23991956e-01 -3.51012219e-01 -1.51754038e-01 1.65357323e-01] [ 3.46549983e-01 9.36370311e-01 -5.58009791e-02 1.44619604e-01] [ 1.61684801e-01 -1.03070336e-03 9.86841914e-01 -1.15247876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62134618399999 meters Centerline goodness : 0.886323 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.15 [[ 9.23438529e-01 -3.52161714e-01 -1.52457895e-01 1.67997730e-01] [ 3.47579743e-01 9.35938907e-01 -5.66275946e-02 1.44955171e-01] [ 1.62633346e-01 -6.99173176e-04 9.86686326e-01 -1.15264519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65134618399999 meters Centerline goodness : 0.887157 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.15 [[ 0.92275748 -0.35358298 -0.15328964 0.16937743] [ 0.34909365 0.93540169 -0.05618995 0.14473113] [ 0.16325519 -0.00166274 0.98658247 -1.15164344] [ 0. 0. 0. 1. ]] SLAMing on 118.68134618399999 meters Centerline goodness : 0.887154 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.15 [[ 0.9223012 -0.35448686 -0.15394663 0.17041697] [ 0.35007215 0.9350579 -0.05582308 0.14460167] [ 0.16373756 -0.00240674 0.986501 -1.1507903 ] [ 0. 0. 0. 1. ]] SLAMing on 118.71134618399999 meters Centerline goodness : 0.889029 Centerline is valid? [False, False] Translation: X:0.17, Y:0.14, Z:-1.15 [[ 0.92079866 -0.35805162 -0.15468959 0.17439272] [ 0.35351686 0.93369887 -0.05685285 0.14446922] [ 0.16478975 -0.00233535 0.98632595 -1.15113274] [ 0. 0. 0. 1. ]] SLAMing on 118.741346184 meters Centerline goodness : 0.889685 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.15 [[ 0.92005507 -0.35961122 -0.15549414 0.17839235] [ 0.35511666 0.93309741 -0.0567572 0.14434108] [ 0.16550171 -0.00299881 0.98620494 -1.15248603] [ 0. 0. 0. 1. ]] SLAMing on 118.771346184 meters Centerline goodness : 0.891546 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.15 [[ 0.91929174 -0.36141266 -0.15583194 0.18021691] [ 0.35691886 0.93240013 -0.05691162 0.14353477] [ 0.1658663 -0.00330098 0.98614272 -1.15226165] [ 0. 0. 0. 1. ]] SLAMing on 118.801346184 meters Centerline goodness : 0.892018 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.15 [[ 0.91883691 -0.36227288 -0.15651549 0.18199881] [ 0.35795897 0.93206057 -0.0559328 0.14232704] [ 0.16614485 -0.004633 0.98609047 -1.15184303] [ 0. 0. 0. 1. ]] SLAMing on 118.831346184 meters Centerline goodness : 0.891852 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.15 [[ 0.91815993 -0.36342024 -0.15782295 0.18311388] [ 0.35944848 0.93159825 -0.05405088 0.14115744] [ 0.16667077 -0.00710186 0.98598703 -1.14969975] [ 0. 0. 0. 1. ]] SLAMing on 118.861346184 meters Centerline goodness : 0.891852 Centerline is valid? [False, False] Translation: X:0.18, Y:0.14, Z:-1.15 [[ 0.91815993 -0.36342024 -0.15782295 0.18311388] [ 0.35944848 0.93159825 -0.05405088 0.14115744] [ 0.16667077 -0.00710186 0.98598703 -1.14969975] [ 0. 0. 0. 1. ]] SLAMing on 118.891346184 meters Centerline goodness : 0.894057 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.15 [[ 0.9179368 -0.363646 -0.15859893 0.18561718] [ 0.3597885 0.93150273 -0.05343126 0.14172869] [ 0.1671654 -0.00801555 0.98589628 -1.15065603] [ 0. 0. 0. 1. ]] SLAMing on 118.921346184 meters Centerline goodness : 0.895188 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.15 [[ 0.91786478 -0.36370896 -0.15887115 0.18840497] [ 0.35977206 0.93148107 -0.05391734 0.14240829] [ 0.16759569 -0.00766857 0.98582599 -1.15260148] [ 0. 0. 0. 1. ]] SLAMing on 118.95134618399999 meters Centerline goodness : 0.893519 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.15 [[ 0.91788793 -0.36403033 -0.15799894 0.18808334] [ 0.35989357 0.93136578 -0.05508536 0.14236274] [ 0.16720754 -0.00630062 0.98590159 -1.15328573] [ 0. 0. 0. 1. ]] SLAMing on 118.98134618399999 meters Centerline goodness : 0.892342 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.15 [[ 0.91818758 -0.3631502 -0.15828298 0.18840761] [ 0.3590781 0.93170676 -0.0546391 0.14277905] [ 0.16731552 -0.006667 0.98588086 -1.15343934] [ 0. 0. 0. 1. ]] SLAMing on 119.01134618399999 meters Centerline goodness : 0.891018 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.16 [[ 0.91861107 -0.36143735 -0.15973958 0.19171355] [ 0.35774559 0.93235215 -0.05232161 0.14366328] [ 0.16784453 -0.00908292 0.98577163 -1.15512995] [ 0. 0. 0. 1. ]] SLAMing on 119.04134618399999 meters Centerline goodness : 0.892652 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.16 [[ 0.91884731 -0.36081408 -0.15978993 0.19232257] [ 0.35714404 0.9325928 -0.05214207 0.14378225] [ 0.16783253 -0.00915742 0.98577299 -1.15566852] [ 0. 0. 0. 1. ]] SLAMing on 119.07134618399999 meters Centerline goodness : 0.892170 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.16 [[ 0.91953068 -0.35923121 -0.15942481 0.19250816] [ 0.35557899 0.93320535 -0.0518783 0.14401778] [ 0.16741239 -0.00898442 0.98584602 -1.15696929] [ 0. 0. 0. 1. ]] SLAMing on 119.101346184 meters Centerline goodness : 0.890539 Centerline is valid? [False, False] Translation: X:0.19, Y:0.14, Z:-1.16 [[ 0.91981724 -0.35856681 -0.15926735 0.19294794] [ 0.35493469 0.93346086 -0.05169319 0.14486527] [ 0.1672053 -0.00898122 0.98588119 -1.15816518] [ 0. 0. 0. 1. ]] SLAMing on 119.131346184 meters Centerline goodness : 0.892159 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-1.16 [[ 0.92011115 -0.35771001 -0.15949612 0.19432354] [ 0.35417754 0.93378415 -0.05104347 0.14602061] [ 0.16719371 -0.00952427 0.98587806 -1.15967366] [ 0. 0. 0. 1. ]] SLAMing on 119.161346184 meters Centerline goodness : 0.892907 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-1.16 [[ 0.92035853 -0.35703227 -0.15958741 0.19467051] [ 0.3535814 0.93403915 -0.05050809 0.14668333] [ 0.16709391 -0.00994159 0.98589086 -1.16017007] [ 0. 0. 0. 1. ]] SLAMing on 119.191346184 meters Centerline goodness : 0.891966 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-1.16 [[ 0.92105952 -0.35575496 -0.15839118 0.19307975] [ 0.35220838 0.93453679 -0.05089438 0.14716499] [ 0.16612831 -0.00890994 0.98606389 -1.16132692] [ 0. 0. 0. 1. ]] SLAMing on 119.221346184 meters Centerline goodness : 0.889765 Centerline is valid? [False, False] Translation: X:0.19, Y:0.15, Z:-1.16 [[ 0.92143398 -0.3549066 -0.15811621 0.1941304 ] [ 0.35131436 0.93486327 -0.05107733 0.14789309] [ 0.16594471 -0.00848411 0.98609856 -1.16330952] [ 0. 0. 0. 1. ]] SLAMing on 119.251346184 meters Centerline goodness : 0.890220 Centerline is valid? [False, False] Translation: X:0.20, Y:0.15, Z:-1.17 [[ 0.92175211 -0.35382521 -0.15868451 0.19694558] [ 0.35033892 0.9352668 -0.05038509 0.14949689] [ 0.16623987 -0.0091508 0.98604288 -1.16568878] [ 0. 0. 0. 1. ]] SLAMing on 119.281346184 meters Centerline goodness : 0.893069 Centerline is valid? [False, False] Translation: X:0.20, Y:0.15, Z:-1.17 [[ 0.92248791 -0.35177741 -0.15896132 0.19683398] [ 0.34846548 0.93603008 -0.04918838 0.15060564] [ 0.16609594 -0.01001685 0.98605872 -1.16627895] [ 0. 0. 0. 1. ]] SLAMing on 119.311346184 meters Centerline goodness : 0.894457 Centerline is valid? [False, False] Translation: X:0.20, Y:0.15, Z:-1.16 [[ 0.92275054 -0.35065076 -0.15992336 0.1962854 ] [ 0.34764082 0.93643079 -0.04736277 0.15128861] [ 0.16636495 -0.01189187 0.98599254 -1.16465918] [ 0. 0. 0. 1. ]] SLAMing on 119.34134618399999 meters Centerline goodness : 0.895336 Centerline is valid? [False, False] Translation: X:0.20, Y:0.15, Z:-1.16 [[ 0.92322402 -0.34838416 -0.16212923 0.19801927] [ 0.34601984 0.93721679 -0.04353103 0.15248999] [ 0.16711576 -0.01591103 0.98580889 -1.16403119] [ 0. 0. 0. 1. ]] SLAMing on 119.37134618399999 meters Centerline goodness : 0.895048 Centerline is valid? [False, False] Translation: X:0.20, Y:0.16, Z:-1.17 [[ 0.92397652 -0.35289222 -0.14742616 0.19665264] [ 0.34998476 0.93562063 -0.04609459 0.15824824] [ 0.15420138 -0.00900659 0.98799839 -1.16738842] [ 0. 0. 0. 1. ]] SLAMing on 119.40134618399999 meters Centerline goodness : 0.891508 Centerline is valid? [False, False] Translation: X:0.20, Y:0.16, Z:-1.17 [[ 0.92345691 -0.35518865 -0.14514945 0.19684995] [ 0.35164109 0.93478331 -0.05028629 0.1578044 ] [ 0.1535444 -0.00460329 0.98813103 -1.16958379] [ 0. 0. 0. 1. ]] SLAMing on 119.43134618399999 meters Centerline goodness : 0.889854 Centerline is valid? [False, False] Translation: X:0.20, Y:0.16, Z:-1.17 [[ 0.92258498 -0.3578773 -0.14408607 0.20014379] [ 0.35387802 0.933767 -0.05338104 0.1590691 ] [ 0.15364668 -0.00174035 0.98812432 -1.17303937] [ 0. 0. 0. 1. ]] SLAMing on 119.46134618399999 meters Centerline goodness : 0.890525 Centerline is valid? [False, False] Translation: X:0.20, Y:0.16, Z:-1.18 [[ 0.92150053 -0.36029536 -0.14499666 0.20487069] [ 0.35627686 0.93283576 -0.05370525 0.16074312] [ 0.15460782 -0.00216954 0.98797354 -1.17511622] [ 0. 0. 0. 1. ]] SLAMing on 119.491346184 meters Centerline goodness : 0.892559 Centerline is valid? [False, False] Translation: X:0.21, Y:0.16, Z:-1.17 [[ 0.9185607 -0.36629224 -0.14858075 0.21239244] [ 0.36254161 0.9304832 -0.05257947 0.16419888] [ 0.15751134 -0.00556927 0.98750147 -1.17404486] [ 0. 0. 0. 1. ]] SLAMing on 119.521346184 meters Centerline goodness : 0.892759 Centerline is valid? [False, False] Translation: X:0.22, Y:0.17, Z:-1.17 [[ 0.91733749 -0.36857626 -0.1504775 0.21647385] [ 0.36509785 0.92956294 -0.05114976 0.16526475] [ 0.15873089 -0.00801742 0.98728933 -1.17382365] [ 0. 0. 0. 1. ]] SLAMing on 119.551346184 meters Centerline goodness : 0.892399 Centerline is valid? [False, False] Translation: X:0.22, Y:0.17, Z:-1.17 [[ 0.91605089 -0.37111138 -0.15207599 0.2194036 ] [ 0.36784571 0.92853436 -0.05013464 0.1654213 ] [ 0.15981332 -0.01001462 0.98709646 -1.17244253] [ 0. 0. 0. 1. ]] SLAMing on 119.581346184 meters Centerline goodness : 0.895284 Centerline is valid? [False, False] Translation: X:0.23, Y:0.17, Z:-1.17 [[ 0.91378706 -0.3756158 -0.15461559 0.22512989] [ 0.37265217 0.92668455 -0.04884775 0.16614337] [ 0.16162787 -0.0129814 0.98676639 -1.17146183] [ 0. 0. 0. 1. ]] SLAMing on 119.611346184 meters Centerline goodness : 0.896211 Centerline is valid? [False, False] Translation: X:0.23, Y:0.17, Z:-1.17 [[ 0.91292152 -0.37740134 -0.15537866 0.22762585] [ 0.37441434 0.92595495 -0.04920709 0.16637036] [ 0.16244446 -0.01325379 0.98662867 -1.1712073 ] [ 0. 0. 0. 1. ]] SLAMing on 119.641346184 meters Centerline goodness : 0.892422 Centerline is valid? [False, False] Translation: X:0.23, Y:0.17, Z:-1.17 [[ 0.91173409 -0.37942612 -0.15740635 0.23086057] [ 0.37682478 0.92507936 -0.04723622 0.16650015] [ 0.16353602 -0.01624775 0.98640356 -1.16973155] [ 0. 0. 0. 1. ]] SLAMing on 119.671346184 meters Centerline goodness : 0.894386 Centerline is valid? [False, False] Translation: X:0.23, Y:0.17, Z:-1.17 [[ 0.9108865 -0.38042349 -0.15988668 0.23453684] [ 0.3781898 0.92461467 -0.04538933 0.16871798] [ 0.16510074 -0.01912298 0.9860913 -1.16898316] [ 0. 0. 0. 1. ]] SLAMing on 119.70134618399999 meters Centerline goodness : 0.892964 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-1.17 [[ 0.91012603 -0.38153684 -0.1615557 0.2371267 ] [ 0.37939843 0.92413235 -0.04512465 0.17036967] [ 0.16651557 -0.02022486 0.98583139 -1.16794278] [ 0. 0. 0. 1. ]] SLAMing on 119.73134618399999 meters Centerline goodness : 0.891911 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-1.17 [[ 0.90960117 -0.38245872 -0.16233003 0.24070082] [ 0.38031394 0.9237453 -0.0453424 0.17254346] [ 0.1672932 -0.02049287 0.98569419 -1.16985304] [ 0. 0. 0. 1. ]] SLAMing on 119.76134618399999 meters Centerline goodness : 0.889550 Centerline is valid? [False, False] Translation: X:0.24, Y:0.17, Z:-1.17 [[ 0.90958986 -0.38302613 -0.1610505 0.2434794 ] [ 0.3803451 0.92357692 -0.04840749 0.17452935] [ 0.16728385 -0.01722381 0.98575831 -1.17418601] [ 0. 0. 0. 1. ]] SLAMing on 119.79134618399999 meters Centerline goodness : 0.891732 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.18 [[ 0.90976946 -0.38231908 -0.16171474 0.24573169] [ 0.37964963 0.9238663 -0.04834484 0.1757195 ] [ 0.16788595 -0.01741229 0.98565264 -1.17545046] [ 0. 0. 0. 1. ]] SLAMing on 119.82134618399999 meters Centerline goodness : 0.892669 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.18 [[ 0.91023432 -0.38023341 -0.16400013 0.24893357] [ 0.37819166 0.92464536 -0.04474407 0.17612088] [ 0.16865514 -0.02129589 0.98544504 -1.17583727] [ 0. 0. 0. 1. ]] SLAMing on 119.851346184 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.17 [[ 0.91084616 -0.37751408 -0.16686041 0.2490505 ] [ 0.37632308 0.9256271 -0.03994253 0.17664145] [ 0.16952939 -0.02641192 0.98517115 -1.17271844] [ 0. 0. 0. 1. ]] SLAMing on 119.881346184 meters Centerline goodness : 0.897060 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.17 [[ 0.91104744 -0.37610824 -0.16892349 0.2516625 ] [ 0.37541371 0.92610743 -0.03727685 0.17788672] [ 0.17046143 -0.02945522 0.984924 -1.17269056] [ 0. 0. 0. 1. ]] SLAMing on 119.911346184 meters Centerline goodness : 0.891847 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.17 [[ 0.91113428 -0.37588508 -0.16895184 0.25089967] [ 0.37521661 0.92619401 -0.03710996 0.17820695] [ 0.17043126 -0.02958138 0.98492544 -1.17192385] [ 0. 0. 0. 1. ]] SLAMing on 119.941346184 meters Centerline goodness : 0.891822 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.17 [[ 0.91116832 -0.37560337 -0.1693942 0.25279292] [ 0.37499467 0.9262956 -0.03681641 0.17887637] [ 0.17073748 -0.02997598 0.98486048 -1.17296888] [ 0. 0. 0. 1. ]] SLAMing on 119.971346184 meters Centerline goodness : 0.891722 Centerline is valid? [False, False] Translation: X:0.25, Y:0.18, Z:-1.18 [[ 0.91107056 -0.3762973 -0.16837691 0.25385998] [ 0.37533456 0.92607901 -0.03875094 0.17957491] [ 0.1705122 -0.02789284 0.9849607 -1.17500347] [ 0. 0. 0. 1. ]] SLAMing on 120.001346184 meters Centerline goodness : 0.892695 Centerline is valid? [False, False] Translation: X:0.26, Y:0.18, Z:-1.18 [[ 0.91086185 -0.37643157 -0.16920393 0.25802226] [ 0.37546626 0.92601869 -0.03891624 0.18188706] [ 0.1713353 -0.02808305 0.98481245 -1.17775188] [ 0. 0. 0. 1. ]] SLAMing on 120.031346184 meters Centerline goodness : 0.893249 Centerline is valid? [False, False] Translation: X:0.26, Y:0.18, Z:-1.18 [[ 0.91084473 -0.37676085 -0.16856196 0.2587201 ] [ 0.3755208 0.92593202 -0.04042308 0.18293793] [ 0.17130675 -0.02647938 0.98486184 -1.17919301] [ 0. 0. 0. 1. ]] SLAMing on 120.061346184 meters Centerline goodness : 0.890818 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91104068 -0.37670461 -0.16762609 0.25972472] [ 0.37519566 0.92600166 -0.04182274 0.18515999] [ 0.17097686 -0.02479036 0.98496312 -1.1821064 ] [ 0. 0. 0. 1. ]] SLAMing on 120.09134618399999 meters Centerline goodness : 0.891334 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91123501 -0.37616755 -0.16777583 0.25997777] [ 0.37456764 0.92623341 -0.04231722 0.18661329] [ 0.17131795 -0.02428247 0.98491651 -1.18236078] [ 0. 0. 0. 1. ]] SLAMing on 120.12134618399999 meters Centerline goodness : 0.891782 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91180596 -0.3742089 -0.16904907 0.262607 ] [ 0.37290568 0.92697978 -0.04061814 0.18849681] [ 0.17190474 -0.0260035 0.98477032 -1.18413312] [ 0. 0. 0. 1. ]] SLAMing on 120.15134618399999 meters Centerline goodness : 0.892095 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91284421 -0.37127269 -0.16991774 0.2623932 ] [ 0.3703126 0.92810856 -0.03851069 0.18974281] [ 0.17200008 -0.02776841 0.98470548 -1.1841289 ] [ 0. 0. 0. 1. ]] SLAMing on 120.18134618399999 meters Centerline goodness : 0.888991 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91320387 -0.37017445 -0.17038066 0.26211355] [ 0.36934601 0.92852574 -0.03772904 0.1901711 ] [ 0.17216916 -0.02847511 0.98465575 -1.18338877] [ 0. 0. 0. 1. ]] SLAMing on 120.21134618399999 meters Centerline goodness : 0.890117 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.913405 -0.3690444 -0.17174845 0.26340415] [ 0.36856473 0.92890989 -0.03586714 0.19148671] [ 0.1727754 -0.0305392 0.98448769 -1.18302514] [ 0. 0. 0. 1. ]] SLAMing on 120.241346184 meters Centerline goodness : 0.887998 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91353725 -0.36856196 -0.1720807 0.26320635] [ 0.368181 0.92908308 -0.03531845 0.19373571] [ 0.1728943 -0.03109213 0.98444951 -1.18291684] [ 0. 0. 0. 1. ]] SLAMing on 120.271346184 meters Centerline goodness : 0.890438 Centerline is valid? [False, False] Translation: X:0.26, Y:0.19, Z:-1.18 [[ 0.91341298 -0.36918482 -0.17140387 0.26437371] [ 0.36862344 0.92887036 -0.03628508 0.1947031 ] [ 0.17260787 -0.03004022 0.98453243 -1.18496051] [ 0. 0. 0. 1. ]] SLAMing on 120.301346184 meters Centerline goodness : 0.885694 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.19 [[ 0.91239586 -0.37180539 -0.1711565 0.26523196] [ 0.37082965 0.92788775 -0.03885466 0.19842686] [ 0.17326039 -0.02801908 0.98447741 -1.18539461] [ 0. 0. 0. 1. ]] SLAMing on 120.331346184 meters Centerline goodness : 0.886300 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.19 [[ 0.91188406 -0.37223771 -0.17293509 0.26930081] [ 0.3713917 0.92767938 -0.03845995 0.20172884] [ 0.17474456 -0.02915565 0.98418204 -1.1864186 ] [ 0. 0. 0. 1. ]] SLAMing on 120.361346184 meters Centerline goodness : 0.885871 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.19 [[ 0.91119239 -0.37384116 -0.17312196 0.26990779] [ 0.37280762 0.92705891 -0.03970216 0.20366119] [ 0.17533656 -0.02836488 0.98409986 -1.18596949] [ 0. 0. 0. 1. ]] SLAMing on 120.391346184 meters Centerline goodness : 0.884163 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.19 [[ 0.91070059 -0.37498027 -0.17324617 0.27078471] [ 0.37385171 0.92660964 -0.04036662 0.20426696] [ 0.17566826 -0.02800648 0.98405096 -1.18569872] [ 0. 0. 0. 1. ]] SLAMing on 120.421346184 meters Centerline goodness : 0.886086 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.19 [[ 0.91051676 -0.37530545 -0.17350807 0.2720615 ] [ 0.37430639 0.92645419 -0.03971609 0.2041696 ] [ 0.17565294 -0.02878302 0.98403129 -1.18610856] [ 0. 0. 0. 1. ]] SLAMing on 120.45134618399999 meters Centerline goodness : 0.885885 Centerline is valid? [False, False] Translation: X:0.27, Y:0.20, Z:-1.18 [[ 0.91007902 -0.37568321 -0.17498084 0.2737376 ] [ 0.37490938 0.92625139 -0.03874671 0.20456064] [ 0.17663274 -0.03033939 0.98380913 -1.18470997] [ 0. 0. 0. 1. ]] SLAMing on 120.48134618399999 meters Centerline goodness : 0.885272 Centerline is valid? [False, False] Translation: X:0.28, Y:0.21, Z:-1.18 [[ 0.90942591 -0.37634736 -0.17693835 0.27531563] [ 0.37589275 0.92590835 -0.03739471 0.2055212 ] [ 0.1779021 -0.03250213 0.98351129 -1.18247399] [ 0. 0. 0. 1. ]] SLAMing on 120.51134618399999 meters Centerline goodness : 0.885629 Centerline is valid? [False, False] Translation: X:0.28, Y:0.21, Z:-1.18 [[ 0.90869699 -0.37632429 -0.18069257 0.279396 ] [ 0.37663685 0.92573968 -0.03392256 0.2071087 ] [ 0.18004016 -0.03723015 0.98295445 -1.18023738] [ 0. 0. 0. 1. ]] SLAMing on 120.54134618399999 meters Centerline goodness : 0.886033 Centerline is valid? [False, False] Translation: X:0.28, Y:0.21, Z:-1.18 [[ 0.90729146 -0.37862487 -0.18293553 0.28169329] [ 0.37925737 0.92470592 -0.03290609 0.20843493] [ 0.18162063 -0.03952424 0.98257406 -1.17744315] [ 0. 0. 0. 1. ]] SLAMing on 120.57134618399999 meters Centerline goodness : 0.884675 Centerline is valid? [False, False] Translation: X:0.28, Y:0.21, Z:-1.18 [[ 0.90654262 -0.38080258 -0.18212599 0.28407472] [ 0.38094452 0.92391188 -0.03561044 0.20887379] [ 0.18182892 -0.03709752 0.98263015 -1.17920935] [ 0. 0. 0. 1. ]] SLAMing on 120.601346184 meters Centerline goodness : 0.887109 Centerline is valid? [False, False] Translation: X:0.29, Y:0.21, Z:-1.18 [[ 0.90610268 -0.38248959 -0.18077512 0.28598412] [ 0.38214861 0.92331408 -0.03812549 0.20867965] [ 0.18149481 -0.03453735 0.98278523 -1.18179181] [ 0. 0. 0. 1. ]] SLAMing on 120.631346184 meters Centerline goodness : 0.885874 Centerline is valid? [False, False] Translation: X:0.29, Y:0.21, Z:-1.18 [[ 0.90574585 -0.38327399 -0.18090191 0.28715475] [ 0.38273198 0.92302241 -0.03931733 0.21010294] [ 0.18204582 -0.03362544 0.98271494 -1.18202265] [ 0. 0. 0. 1. ]] SLAMing on 120.661346184 meters Centerline goodness : 0.886457 Centerline is valid? [False, False] Translation: X:0.29, Y:0.21, Z:-1.18 [[ 0.90585809 -0.38161933 -0.18381463 0.29162492] [ 0.3817438 0.92356133 -0.03614046 0.21276583] [ 0.18355598 -0.03743197 0.98229631 -1.18288293] [ 0. 0. 0. 1. ]] SLAMing on 120.691346184 meters Centerline goodness : 0.882195 Centerline is valid? [False, False] Translation: X:0.29, Y:0.22, Z:-1.18 [[ 0.90580997 -0.38085211 -0.18563399 0.29395207] [ 0.38127583 0.92380421 -0.03484993 0.21517055] [ 0.18476213 -0.03921034 0.98200077 -1.18278219] [ 0. 0. 0. 1. ]] SLAMing on 120.721346184 meters Centerline goodness : 0.883503 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.18 [[ 0.90591498 -0.3800247 -0.18681346 0.29622727] [ 0.38059141 0.92410839 -0.03426172 0.21674882] [ 0.18565619 -0.04006139 0.98179777 -1.18316122] [ 0. 0. 0. 1. ]] SLAMing on 120.751346184 meters Centerline goodness : 0.882908 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.18 [[ 0.90636863 -0.37914179 -0.18640659 0.29618682] [ 0.37959442 0.92450266 -0.03468288 0.21721764] [ 0.18548312 -0.03932342 0.98186032 -1.18390951] [ 0. 0. 0. 1. ]] SLAMing on 120.781346184 meters Centerline goodness : 0.882908 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.18 [[ 0.90636863 -0.37914179 -0.18640659 0.29618682] [ 0.37959442 0.92450266 -0.03468288 0.21721764] [ 0.18548312 -0.03932342 0.98186032 -1.18390951] [ 0. 0. 0. 1. ]] SLAMing on 120.811346184 meters Centerline goodness : 0.880558 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.19 [[ 0.90621891 -0.37948144 -0.18644335 0.2980668 ] [ 0.37977618 0.92439462 -0.03556171 0.21784602] [ 0.18584224 -0.03858005 0.9818219 -1.18505365] [ 0. 0. 0. 1. ]] SLAMing on 120.84134618399999 meters Centerline goodness : 0.877608 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.19 [[ 0.90618579 -0.37950364 -0.18655909 0.30032337] [ 0.37975661 0.92439311 -0.03580906 0.21819066] [ 0.18604361 -0.03839738 0.98179092 -1.18671538] [ 0. 0. 0. 1. ]] SLAMing on 120.87134618399999 meters Centerline goodness : 0.879520 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.19 [[ 0.90630461 -0.37820804 -0.18860177 0.30189704] [ 0.37906848 0.92478287 -0.03292018 0.22001612] [ 0.18686637 -0.04165727 0.98150172 -1.18590313] [ 0. 0. 0. 1. ]] SLAMing on 120.90134618399999 meters Centerline goodness : 0.880644 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.18 [[ 0.90628817 -0.37746329 -0.1901663 0.30198184] [ 0.37859486 0.92501668 -0.03178165 0.22214138] [ 0.18790341 -0.04319265 0.98123733 -1.18394207] [ 0. 0. 0. 1. ]] SLAMing on 120.93134618399999 meters Centerline goodness : 0.879091 Centerline is valid? [False, False] Translation: X:0.30, Y:0.22, Z:-1.18 [[ 0.90649263 -0.37653974 -0.1910208 0.30334255] [ 0.37785821 0.92534738 -0.03090959 0.22431662] [ 0.18839928 -0.04415946 0.98109921 -1.18460431] [ 0. 0. 0. 1. ]] SLAMing on 120.96134618399999 meters Centerline goodness : 0.875415 Centerline is valid? [False, False] Translation: X:0.30, Y:0.23, Z:-1.19 [[ 0.90715194 -0.37620998 -0.18852431 0.30210787] [ 0.37681148 0.92566402 -0.03404747 0.22579568] [ 0.18731917 -0.04015189 0.98147815 -1.18770237] [ 0. 0. 0. 1. ]] SLAMing on 120.991346184 meters Centerline goodness : 0.876041 Centerline is valid? [False, False] Translation: X:0.30, Y:0.23, Z:-1.19 [[ 0.90758418 -0.37571865 -0.18742051 0.30348842] [ 0.37607466 0.92592635 -0.03504628 0.22639668] [ 0.18670513 -0.03867665 0.98165437 -1.19103412] [ 0. 0. 0. 1. ]] SLAMing on 121.021346184 meters Centerline goodness : 0.880514 Centerline is valid? [False, False] Translation: X:0.30, Y:0.23, Z:-1.19 [[ 0.90788891 -0.37548215 -0.18641589 0.30304039] [ 0.37555735 0.92608834 -0.0362914 0.2269449 ] [ 0.18626436 -0.0370613 0.98180041 -1.19220863] [ 0. 0. 0. 1. ]] SLAMing on 121.051346184 meters Centerline goodness : 0.874654 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90803305 -0.37855327 -0.17936945 0.30860523] [ 0.37914584 0.92477207 -0.03232735 0.23696933] [ 0.17811349 -0.03865288 0.9832505 -1.19152461] [ 0. 0. 0. 1. ]] SLAMing on 121.081346184 meters Centerline goodness : 0.874864 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90772385 -0.37814458 -0.18178032 0.30984889] [ 0.37923404 0.92481092 -0.03010482 0.23907915] [ 0.1794964 -0.04161043 0.98287823 -1.18930658] [ 0. 0. 0. 1. ]] SLAMing on 121.111346184 meters Centerline goodness : 0.875898 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90763114 -0.37809222 -0.18235128 0.30976546] [ 0.3793134 0.9247974 -0.0295147 0.24011466] [ 0.17979727 -0.04237982 0.98279036 -1.18836551] [ 0. 0. 0. 1. ]] SLAMing on 121.141346184 meters Centerline goodness : 0.873405 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90744828 -0.3789754 -0.18142567 0.31008084] [ 0.38001459 0.92448138 -0.03038221 0.24009524] [ 0.17923876 -0.04137412 0.98293522 -1.18942058] [ 0. 0. 0. 1. ]] SLAMing on 121.171346184 meters Centerline goodness : 0.874790 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90704382 -0.38004872 -0.18120284 0.31067799] [ 0.38088435 0.92408403 -0.03155669 0.24041163] [ 0.17943973 -0.04039403 0.98293932 -1.18925418] [ 0. 0. 0. 1. ]] SLAMing on 121.20134618399999 meters Centerline goodness : 0.873703 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90666984 -0.38081215 -0.18147153 0.3115518 ] [ 0.38163129 0.9237679 -0.03178715 0.24066293] [ 0.1797425 -0.04043476 0.98288232 -1.18880813] [ 0. 0. 0. 1. ]] SLAMing on 121.23134618399999 meters Centerline goodness : 0.874691 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.9060365 -0.38156327 -0.18305009 0.31356564] [ 0.38256082 0.92340137 -0.0312591 0.24188455] [ 0.18095603 -0.04170591 0.9826065 -1.18728891] [ 0. 0. 0. 1. ]] SLAMing on 121.26134618399999 meters Centerline goodness : 0.875244 Centerline is valid? [False, False] Translation: X:0.31, Y:0.24, Z:-1.19 [[ 0.90563063 -0.38246152 -0.18318394 0.31432142] [ 0.38326186 0.92306942 -0.03245292 0.24351695] [ 0.18150349 -0.04081706 0.98254285 -1.18704379] [ 0. 0. 0. 1. ]] SLAMing on 121.29134618399999 meters Centerline goodness : 0.874411 Centerline is valid? [False, False] Translation: X:0.32, Y:0.24, Z:-1.19 [[ 0.90525378 -0.38318574 -0.18353278 0.31589297] [ 0.38383258 0.92279711 -0.03343707 0.24475346] [ 0.18217613 -0.04017682 0.98244475 -1.18727338] [ 0. 0. 0. 1. ]] SLAMing on 121.32134618399999 meters Centerline goodness : 0.873553 Centerline is valid? [False, False] Translation: X:0.32, Y:0.25, Z:-1.19 [[ 0.90488698 -0.38413397 -0.18335934 0.31708418] [ 0.38461094 0.92243708 -0.03441319 0.2456369 ] [ 0.18235673 -0.03938196 0.98244342 -1.18804373] [ 0. 0. 0. 1. ]] SLAMing on 121.351346184 meters Centerline goodness : 0.872614 Centerline is valid? [False, False] Translation: X:0.32, Y:0.25, Z:-1.19 [[ 0.90376419 -0.3866767 -0.18355223 0.31944812] [ 0.38690481 0.92141435 -0.0360592 0.24722334] [ 0.18307091 -0.03842822 0.98234837 -1.18829579] [ 0. 0. 0. 1. ]] SLAMing on 121.381346184 meters Centerline goodness : 0.874356 Centerline is valid? [False, False] Translation: X:0.32, Y:0.25, Z:-1.19 [[ 0.90322071 -0.38701383 -0.18550645 0.32255852] [ 0.38752437 0.92119435 -0.03501181 0.24802629] [ 0.18443755 -0.04026487 0.98201911 -1.18744409] [ 0. 0. 0. 1. ]] SLAMing on 121.411346184 meters Centerline goodness : 0.872844 Centerline is valid? [False, False] Translation: X:0.32, Y:0.25, Z:-1.19 [[ 0.90278972 -0.38767197 -0.18622878 0.32291424] [ 0.38831404 0.9208794 -0.03454461 0.24822606] [ 0.18488622 -0.04112874 0.98189893 -1.18603544] [ 0. 0. 0. 1. ]] SLAMing on 121.441346184 meters Centerline goodness : 0.872379 Centerline is valid? [False, False] Translation: X:0.32, Y:0.25, Z:-1.19 [[ 0.90258486 -0.38787299 -0.18680236 0.32369629] [ 0.38855883 0.92077914 -0.03446445 0.24812102] [ 0.18537154 -0.04147662 0.98179279 -1.18507923] [ 0. 0. 0. 1. ]] SLAMing on 121.471346184 meters Centerline goodness : 0.873015 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90259754 -0.38758549 -0.18733704 0.32586495] [ 0.38838101 0.92087231 -0.03397622 0.24768662] [ 0.18568218 -0.0420913 0.98170792 -1.18566119] [ 0. 0. 0. 1. ]] SLAMing on 121.501346184 meters Centerline goodness : 0.873929 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90270893 -0.3870309 -0.18794595 0.32793074] [ 0.38785772 0.92109592 -0.03389247 0.24856939] [ 0.18623368 -0.04230125 0.98159443 -1.18650017] [ 0. 0. 0. 1. ]] SLAMing on 121.531346184 meters Centerline goodness : 0.872210 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90276041 -0.38685587 -0.18805898 0.32734226] [ 0.38759288 0.9211896 -0.03437271 0.25015159] [ 0.18653526 -0.04186 0.98155608 -1.18580217] [ 0. 0. 0. 1. ]] SLAMing on 121.561346184 meters Centerline goodness : 0.873182 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90283916 -0.38626614 -0.1888913 0.32774827] [ 0.38712303 0.92140572 -0.03387136 0.25144717] [ 0.18712888 -0.04254379 0.98141368 -1.18511655] [ 0. 0. 0. 1. ]] SLAMing on 121.59134618399999 meters Centerline goodness : 0.871663 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90313733 -0.3849815 -0.19008472 0.32930416] [ 0.38601978 0.92189781 -0.03306278 0.2538095 ] [ 0.18796725 -0.04351623 0.98121081 -1.18546937] [ 0. 0. 0. 1. ]] SLAMing on 121.62134618399999 meters Centerline goodness : 0.870946 Centerline is valid? [False, False] Translation: X:0.33, Y:0.25, Z:-1.19 [[ 0.90353145 -0.38420827 -0.18977599 0.32902492] [ 0.38512407 0.9222549 -0.03354614 0.25498837] [ 0.18791054 -0.04277731 0.98125416 -1.18593347] [ 0. 0. 0. 1. ]] SLAMing on 121.65134618399999 meters Centerline goodness : 0.869487 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.90476861 -0.38291338 -0.1864701 0.32938489] [ 0.38307267 0.92299099 -0.03664646 0.25531406] [ 0.18614265 -0.03827503 0.98177693 -1.19179236] [ 0. 0. 0. 1. ]] SLAMing on 121.68134618399999 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.9052009 -0.38236383 -0.18549723 0.32963612] [ 0.38227611 0.92327908 -0.03769248 0.25501541] [ 0.18567795 -0.03679189 0.98192161 -1.1933674 ] [ 0. 0. 0. 1. ]] SLAMing on 121.71134618399999 meters Centerline goodness : 0.869792 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.90546254 -0.38139649 -0.18621039 0.33027253] [ 0.381481 0.92364284 -0.03682596 0.25541055] [ 0.18603718 -0.0376912 0.98181951 -1.19293904] [ 0. 0. 0. 1. ]] SLAMing on 121.741346184 meters Centerline goodness : 0.871233 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.90577952 -0.38023964 -0.18703284 0.32924795] [ 0.38061965 0.92405699 -0.03531794 0.25569585] [ 0.18625829 -0.03919811 0.98171857 -1.19114401] [ 0. 0. 0. 1. ]] SLAMing on 121.771346184 meters Centerline goodness : 0.870373 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.90640211 -0.3837774 -0.17649399 0.33104543] [ 0.38402876 0.92269023 -0.03412683 0.2621908 ] [ 0.17594639 -0.03684613 0.98370993 -1.19121056] [ 0. 0. 0. 1. ]] SLAMing on 121.801346184 meters Centerline goodness : 0.872149 Centerline is valid? [False, False] Translation: X:0.33, Y:0.26, Z:-1.19 [[ 0.90711367 -0.38102955 -0.17877717 0.33440115] [ 0.3817844 0.92371284 -0.03154784 0.26424744] [ 0.17715942 -0.03963686 0.98338368 -1.19215109] [ 0. 0. 0. 1. ]] SLAMing on 121.831346184 meters Centerline goodness : 0.869145 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.19 [[ 0.90732865 -0.3803443 -0.17914499 0.33593275] [ 0.38102882 0.9240109 -0.03195127 0.26568652] [ 0.1776844 -0.0392691 0.98330371 -1.19308166] [ 0. 0. 0. 1. ]] SLAMing on 121.861346184 meters Centerline goodness : 0.869849 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.19 [[ 0.90731407 -0.3811181 -0.17756735 0.33524105] [ 0.38129741 0.92380892 -0.03448716 0.26702779] [ 0.17718199 -0.03641529 0.98350418 -1.1944423 ] [ 0. 0. 0. 1. ]] SLAMing on 121.891346184 meters Centerline goodness : 0.868470 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90712469 -0.38167371 -0.17734142 0.33689765] [ 0.38165962 0.92361829 -0.03556955 0.26812863] [ 0.17737175 -0.03541804 0.98350639 -1.1959619 ] [ 0. 0. 0. 1. ]] SLAMing on 121.921346184 meters Centerline goodness : 0.870254 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90668698 -0.38316925 -0.17635208 0.33703891] [ 0.38273943 0.92308144 -0.03783094 0.26895747] [ 0.17728298 -0.03319608 0.9835999 -1.19671313] [ 0. 0. 0. 1. ]] SLAMing on 121.95134618399999 meters Centerline goodness : 0.868429 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90610701 -0.38464838 -0.17611278 0.3382746 ] [ 0.38401371 0.9225004 -0.03907024 0.26941451] [ 0.17749241 -0.03222791 0.98359433 -1.19711055] [ 0. 0. 0. 1. ]] SLAMing on 121.98134618399999 meters Centerline goodness : 0.870755 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90530684 -0.3865421 -0.17608161 0.33872813] [ 0.385822 0.92171747 -0.03972765 0.2695526 ] [ 0.1776539 -0.03197045 0.98357358 -1.19625036] [ 0. 0. 0. 1. ]] SLAMing on 122.01134618399999 meters Centerline goodness : 0.870132 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90473326 -0.38753839 -0.17683812 0.33943786] [ 0.38688621 0.92127711 -0.03959227 0.27036077] [ 0.17826043 -0.03259579 0.9834433 -1.19502443] [ 0. 0. 0. 1. ]] SLAMing on 122.04134618399999 meters Centerline goodness : 0.872193 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.19 [[ 0.90433921 -0.38818648 -0.17743126 0.3404446 ] [ 0.38751296 0.921001 -0.03988568 0.27099441] [ 0.17889745 -0.03268672 0.98332461 -1.1942545 ] [ 0. 0. 0. 1. ]] SLAMing on 122.07134618399999 meters Centerline goodness : 0.872393 Centerline is valid? [False, False] Translation: X:0.34, Y:0.27, Z:-1.20 [[ 0.90389496 -0.3891078 -0.17767673 0.34387259] [ 0.38832009 0.9206275 -0.04065113 0.27072181] [ 0.17939175 -0.03225109 0.98324893 -1.19588643] [ 0. 0. 0. 1. ]] SLAMing on 122.101346184 meters Centerline goodness : 0.871549 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-1.20 [[ 0.90355549 -0.38979526 -0.17789642 0.34514679] [ 0.3889799 0.92033733 -0.04091259 0.27042214] [ 0.17967225 -0.03223134 0.98319836 -1.19580586] [ 0. 0. 0. 1. ]] SLAMing on 122.131346184 meters Centerline goodness : 0.870596 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-1.19 [[ 0.90283438 -0.39106785 -0.17876248 0.34555387] [ 0.39028388 0.91977988 -0.04103003 0.27107645] [ 0.18046766 -0.03272479 0.98303637 -1.1938325 ] [ 0. 0. 0. 1. ]] SLAMing on 122.161346184 meters Centerline goodness : 0.871242 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-1.19 [[ 0.90184313 -0.39218311 -0.18130468 0.34931199] [ 0.39181378 0.91920118 -0.03938457 0.27159916] [ 0.18210144 -0.03551897 0.98263801 -1.19238931] [ 0. 0. 0. 1. ]] SLAMing on 122.191346184 meters Centerline goodness : 0.871329 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-1.19 [[ 0.90100869 -0.39356114 -0.18246362 0.35255049] [ 0.39316468 0.91860174 -0.03990465 0.27226217] [ 0.18331631 -0.03578381 0.98240249 -1.19215534] [ 0. 0. 0. 1. ]] SLAMing on 122.221346184 meters Centerline goodness : 0.872556 Centerline is valid? [False, False] Translation: X:0.35, Y:0.27, Z:-1.19 [[ 0.89996261 -0.39633206 -0.18162657 0.35340232] [ 0.39544396 0.91749859 -0.04266624 0.27237285] [ 0.18355212 -0.03342511 0.98244154 -1.19198509] [ 0. 0. 0. 1. ]] SLAMing on 122.251346184 meters Centerline goodness : 0.870189 Centerline is valid? [False, False] Translation: X:0.36, Y:0.27, Z:-1.19 [[ 0.89874078 -0.39951491 -0.18070097 0.35529566] [ 0.39817691 0.91619244 -0.04523889 0.27118913] [ 0.18363048 -0.03129292 0.98249713 -1.19258451] [ 0. 0. 0. 1. ]] SLAMing on 122.281346184 meters Centerline goodness : 0.872834 Centerline is valid? [False, False] Translation: X:0.36, Y:0.27, Z:-1.19 [[ 0.89824854 -0.40031855 -0.18136873 0.35784601] [ 0.3989637 0.91583574 -0.04552866 0.27137152] [ 0.18432993 -0.03146349 0.98236069 -1.19287935] [ 0. 0. 0. 1. ]] SLAMing on 122.311346184 meters Centerline goodness : 0.873733 Centerline is valid? [False, False] Translation: X:0.36, Y:0.27, Z:-1.19 [[ 0.89766626 -0.40109436 -0.18253381 0.36034663] [ 0.39974017 0.91548308 -0.0458098 0.2724781 ] [ 0.18548067 -0.03184419 0.9821318 -1.19248995] [ 0. 0. 0. 1. ]] SLAMing on 122.34134618399999 meters Centerline goodness : 0.871816 Centerline is valid? [False, False] Translation: X:0.36, Y:0.28, Z:-1.19 [[ 0.89728002 -0.40117004 -0.18425844 0.3620234 ] [ 0.40003327 0.91539625 -0.04497861 0.27505349] [ 0.18671356 -0.0333511 0.98184813 -1.19159669] [ 0. 0. 0. 1. ]] SLAMing on 122.37134618399999 meters Centerline goodness : 0.869287 Centerline is valid? [False, False] Translation: X:0.36, Y:0.28, Z:-1.19 [[ 0.89728283 -0.40077994 -0.18509175 0.36409173] [ 0.39965024 0.91555994 -0.04505203 0.27608547] [ 0.18751854 -0.03354755 0.98168801 -1.19203544] [ 0. 0. 0. 1. ]] SLAMing on 122.40134618399999 meters Centerline goodness : 0.871327 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.19 [[ 0.89748879 -0.3998505 -0.18610064 0.36762474] [ 0.39885757 0.91593621 -0.04442412 0.27701446] [ 0.18821932 -0.0343575 0.98152588 -1.19399142] [ 0. 0. 0. 1. ]] SLAMing on 122.43134618399999 meters Centerline goodness : 0.871117 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.19 [[ 0.8980497 -0.39904319 -0.18512504 0.36625316] [ 0.39795328 0.91631777 -0.0446646 0.27677942] [ 0.18745646 -0.03356008 0.98169944 -1.19450036] [ 0. 0. 0. 1. ]] SLAMing on 122.46134618399999 meters Centerline goodness : 0.870081 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.19 [[ 0.89806432 -0.39865484 -0.18588922 0.36610925] [ 0.39761763 0.91647207 -0.04448789 0.27798938] [ 0.18809758 -0.03395985 0.98156305 -1.19320677] [ 0. 0. 0. 1. ]] SLAMing on 122.491346184 meters Centerline goodness : 0.872230 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.19 [[ 0.89829462 -0.3975993 -0.18703359 0.36745649] [ 0.3967882 0.91688308 -0.04341123 0.27953144] [ 0.18874821 -0.03521665 0.98139386 -1.19330071] [ 0. 0. 0. 1. ]] SLAMing on 122.521346184 meters Centerline goodness : 0.871020 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.19 [[ 0.8985383 -0.3972681 -0.18656629 0.36655079] [ 0.39635176 0.91705167 -0.043835 0.27981404] [ 0.18850518 -0.03455845 0.98146396 -1.19312635] [ 0. 0. 0. 1. ]] SLAMing on 122.551346184 meters Centerline goodness : 0.871658 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.89882338 -0.39675241 -0.18629025 0.36838917] [ 0.39575328 0.91729454 -0.04415963 0.28027174] [ 0.18840346 -0.03403327 0.98150185 -1.19545358] [ 0. 0. 0. 1. ]] SLAMing on 122.581346184 meters Centerline goodness : 0.870319 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.89864815 -0.39864239 -0.18307306 0.36813927] [ 0.39673969 0.91664725 -0.04853287 0.27884538] [ 0.18716068 -0.02901838 0.98190061 -1.19826107] [ 0. 0. 0. 1. ]] SLAMing on 122.611346184 meters Centerline goodness : 0.871360 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.89846962 -0.39920002 -0.18273391 0.3682547 ] [ 0.39715396 0.91642739 -0.04929062 0.27881441] [ 0.18713918 -0.02828737 0.98192604 -1.19829942] [ 0. 0. 0. 1. ]] SLAMing on 122.641346184 meters Centerline goodness : 0.871368 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.8979975 -0.39946623 -0.18446468 0.37042163] [ 0.39774294 0.91624538 -0.04790576 0.27903369] [ 0.18815165 -0.03035027 0.98167093 -1.19713335] [ 0. 0. 0. 1. ]] SLAMing on 122.671346184 meters Centerline goodness : 0.871368 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.8979975 -0.39946623 -0.18446468 0.37042163] [ 0.39774294 0.91624538 -0.04790576 0.27903369] [ 0.18815165 -0.03035027 0.98167093 -1.19713335] [ 0. 0. 0. 1. ]] SLAMing on 122.70134618399999 meters Centerline goodness : 0.871198 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:-1.20 [[ 0.89752976 -0.39914433 -0.18741432 0.37487836] [ 0.39808301 0.91624762 -0.04494688 0.28044003] [ 0.18965821 -0.03426529 0.98125208 -1.19699968] [ 0. 0. 0. 1. ]] SLAMing on 122.73134618399999 meters Centerline goodness : 0.874166 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.19 [[ 0.89696836 -0.39969114 -0.18893053 0.37564003] [ 0.39883082 0.9159561 -0.04425386 0.2813624 ] [ 0.19073995 -0.035657 0.98099279 -1.19477904] [ 0. 0. 0. 1. ]] SLAMing on 122.76134618399999 meters Centerline goodness : 0.872271 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.19 [[ 0.89661311 -0.40012055 -0.1897063 0.37719952] [ 0.39931814 0.91574865 -0.04415238 0.2818461 ] [ 0.19138956 -0.03616556 0.98084764 -1.19438708] [ 0. 0. 0. 1. ]] SLAMing on 122.79134618399999 meters Centerline goodness : 0.873864 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.89630291 -0.40254871 -0.18599902 0.3776316 ] [ 0.40082699 0.91487012 -0.04848082 0.28024447] [ 0.18968083 -0.03109993 0.98135313 -1.19864987] [ 0. 0. 0. 1. ]] SLAMing on 122.82134618399999 meters Centerline goodness : 0.873225 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.8961325 -0.40262714 -0.18664924 0.38175984] [ 0.40094712 0.91482265 -0.04838317 0.28035599] [ 0.19023132 -0.03147875 0.98123449 -1.20094912] [ 0. 0. 0. 1. ]] SLAMing on 122.851346184 meters Centerline goodness : 0.874207 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.89612945 -0.40264157 -0.18663274 0.38173182] [ 0.40096145 0.9148164 -0.04838244 0.27963306] [ 0.19021548 -0.03147561 0.98123767 -1.20046956] [ 0. 0. 0. 1. ]] SLAMing on 122.881346184 meters Centerline goodness : 0.872973 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.89631016 -0.40107592 -0.18911954 0.38350755] [ 0.40010263 0.91536386 -0.04502102 0.28041124] [ 0.19117004 -0.03531443 0.98092146 -1.19945629] [ 0. 0. 0. 1. ]] SLAMing on 122.911346184 meters Centerline goodness : 0.874939 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.89620735 -0.40092427 -0.18992662 0.38402486] [ 0.40007808 0.91539973 -0.04450693 0.2815171 ] [ 0.19170268 -0.03609804 0.98078897 -1.19877559] [ 0. 0. 0. 1. ]] SLAMing on 122.941346184 meters Centerline goodness : 0.872952 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:-1.20 [[ 0.89610683 -0.40109691 -0.19003636 0.38439345] [ 0.40019079 0.91533355 -0.04485333 0.28260705] [ 0.19193719 -0.03585743 0.98075194 -1.19898444] [ 0. 0. 0. 1. ]] SLAMing on 122.971346184 meters Centerline goodness : 0.875226 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:-1.20 [[ 0.89604803 -0.40081083 -0.19091516 0.38818299] [ 0.39995603 0.91544226 -0.04472856 0.28396779] [ 0.1926995 -0.03627873 0.98058695 -1.20124772] [ 0. 0. 0. 1. ]] SLAMing on 123.001346184 meters Centerline goodness : 0.872218 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:-1.20 [[ 0.89574998 -0.40299196 -0.18769509 0.38722018] [ 0.40122987 0.91466474 -0.04902039 0.28294783] [ 0.1914329 -0.03139886 0.98100334 -1.20353167] [ 0. 0. 0. 1. ]] SLAMing on 123.031346184 meters Centerline goodness : 0.873685 Centerline is valid? [False, False] Translation: X:0.39, Y:0.28, Z:-1.20 [[ 0.89585947 -0.40289881 -0.18737225 0.38767999] [ 0.40112993 0.91471014 -0.04899115 0.28244086] [ 0.19112978 -0.03127144 0.98106651 -1.20441217] [ 0. 0. 0. 1. ]] SLAMing on 123.061346184 meters Centerline goodness : 0.873834 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89624503 -0.40705631 -0.17621013 0.38920933] [ 0.40601468 0.91282586 -0.04360073 0.28645105] [ 0.17859712 -0.03246696 0.98338648 -1.21038086] [ 0. 0. 0. 1. ]] SLAMing on 123.09134618399999 meters Centerline goodness : 0.874379 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89658291 -0.4043419 -0.18068404 0.39099418] [ 0.40449069 0.91376429 -0.03771084 0.28701866] [ 0.1803507 -0.03927412 0.98281797 -1.20647495] [ 0. 0. 0. 1. ]] SLAMing on 123.12134618399999 meters Centerline goodness : 0.873768 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89638692 -0.40442426 -0.18147042 0.3917303 ] [ 0.40463208 0.91370734 -0.03757368 0.28727177] [ 0.18100656 -0.0397482 0.98267833 -1.20542027] [ 0. 0. 0. 1. ]] SLAMing on 123.15134618399999 meters Centerline goodness : 0.871011 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89631894 -0.40464601 -0.18131177 0.39451226] [ 0.40469019 0.91364516 -0.03844971 0.28739238] [ 0.18121314 -0.03891189 0.98267373 -1.20782874] [ 0. 0. 0. 1. ]] SLAMing on 123.18134618399999 meters Centerline goodness : 0.872066 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89634511 -0.40686108 -0.17615195 0.39254464] [ 0.40555911 0.91296039 -0.04500161 0.28592176] [ 0.17912915 -0.03110305 0.98333379 -1.21188816] [ 0. 0. 0. 1. ]] SLAMing on 123.21134618399999 meters Centerline goodness : 0.872727 Centerline is valid? [False, False] Translation: X:0.39, Y:0.29, Z:-1.21 [[ 0.89634649 -0.40660282 -0.17674026 0.39450817] [ 0.40528476 0.91307402 -0.04516737 0.28715159] [ 0.17974212 -0.03114452 0.98322062 -1.2128678 ] [ 0. 0. 0. 1. ]] SLAMing on 123.241346184 meters Centerline goodness : 0.873925 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.89650831 -0.40502676 -0.17951651 0.39789592] [ 0.40429435 0.91364885 -0.04233032 0.28917574] [ 0.18115997 -0.03462803 0.98284382 -1.21292194] [ 0. 0. 0. 1. ]] SLAMing on 123.271346184 meters Centerline goodness : 0.875452 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.89672578 -0.4035047 -0.18184289 0.39867512] [ 0.4033579 0.91419032 -0.03947727 0.29119513] [ 0.18216827 -0.03794748 0.98253484 -1.21141228] [ 0. 0. 0. 1. ]] SLAMing on 123.301346184 meters Centerline goodness : 0.875297 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.8982414 -0.39885865 -0.18459188 0.40052144] [ 0.39950751 0.91604922 -0.03532099 0.29346161] [ 0.18318333 -0.04201906 0.98218036 -1.21190486] [ 0. 0. 0. 1. ]] SLAMing on 123.331346184 meters Centerline goodness : 0.874985 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.89900817 -0.39757626 -0.18362309 0.40067696] [ 0.39808862 0.91665227 -0.0356941 0.29320632] [ 0.18250965 -0.04100897 0.98234846 -1.21415865] [ 0. 0. 0. 1. ]] SLAMing on 123.361346184 meters Centerline goodness : 0.876923 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.22 [[ 0.89949036 -0.39698484 -0.18253801 0.40128117] [ 0.3972217 0.91698163 -0.03687293 0.29252092] [ 0.182022 -0.03934121 0.98250713 -1.21618748] [ 0. 0. 0. 1. ]] SLAMing on 123.391346184 meters Centerline goodness : 0.877196 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.22 [[ 0.89956408 -0.39695593 -0.18223734 0.40033871] [ 0.3970863 0.91701978 -0.03737909 0.29113488] [ 0.1819531 -0.03873906 0.98254382 -1.21500432] [ 0. 0. 0. 1. ]] SLAMing on 123.421346184 meters Centerline goodness : 0.876167 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.89918415 -0.39730318 -0.18335227 0.40002985] [ 0.39755071 0.91683276 -0.03702862 0.29227032] [ 0.18281496 -0.03959627 0.98234965 -1.21266268] [ 0. 0. 0. 1. ]] SLAMing on 123.45134618399999 meters Centerline goodness : 0.879137 Centerline is valid? [False, False] Translation: X:0.40, Y:0.29, Z:-1.21 [[ 0.89878966 -0.39716414 -0.18557421 0.40234287] [ 0.39791256 0.91676162 -0.03483859 0.29403989] [ 0.18396396 -0.04252974 0.98201247 -1.21183075] [ 0. 0. 0. 1. ]] SLAMing on 123.48134618399999 meters Centerline goodness : 0.874238 Centerline is valid? [False, False] Translation: X:0.40, Y:0.30, Z:-1.21 [[ 0.89843277 -0.39791945 -0.18568432 0.40350028] [ 0.39858866 0.9164476 -0.03536759 0.29551987] [ 0.1842434 -0.04223626 0.98197274 -1.21277961] [ 0. 0. 0. 1. ]] SLAMing on 123.51134618399999 meters Centerline goodness : 0.875036 Centerline is valid? [False, False] Translation: X:0.40, Y:0.30, Z:-1.21 [[ 0.89829464 -0.40442241 -0.17178257 0.40415028] [ 0.40375002 0.91397544 -0.04043293 0.3010564 ] [ 0.17335704 -0.03303653 0.98430479 -1.21369353] [ 0. 0. 0. 1. ]] SLAMing on 123.54134618399999 meters Centerline goodness : 0.874577 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.22 [[ 0.89837351 -0.40449032 -0.17120928 0.40720232] [ 0.40356028 0.91399802 -0.04179377 0.300941 ] [ 0.17339012 -0.03154684 0.98434784 -1.21680319] [ 0. 0. 0. 1. ]] SLAMing on 123.57134618399999 meters Centerline goodness : 0.875303 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.22 [[ 0.89845969 -0.40427153 -0.1712738 0.40766826] [ 0.40337177 0.91408951 -0.04161223 0.29901177] [ 0.17338222 -0.0317001 0.9843443 -1.21646896] [ 0. 0. 0. 1. ]] SLAMing on 123.601346184 meters Centerline goodness : 0.876266 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.21 [[ 0.89829897 -0.40343758 -0.17406057 0.4093667 ] [ 0.40315101 0.91431864 -0.03860936 0.29905602] [ 0.17472329 -0.03548994 0.98397776 -1.21392252] [ 0. 0. 0. 1. ]] SLAMing on 123.631346184 meters Centerline goodness : 0.878269 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.21 [[ 0.89793824 -0.40296651 -0.17698844 0.41242499] [ 0.40324802 0.9143819 -0.03601066 0.29982218] [ 0.17634612 -0.03903489 0.98355392 -1.21218824] [ 0. 0. 0. 1. ]] SLAMing on 123.661346184 meters Centerline goodness : 0.877944 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.21 [[ 0.89781931 -0.40298613 -0.17754624 0.41307223] [ 0.40334301 0.91435144 -0.03571918 0.29927439] [ 0.17673399 -0.03954267 0.98346402 -1.21135506] [ 0. 0. 0. 1. ]] SLAMing on 123.691346184 meters Centerline goodness : 0.879262 Centerline is valid? [False, False] Translation: X:0.41, Y:0.30, Z:-1.21 [[ 0.8980706 -0.40268422 -0.17695934 0.41342185] [ 0.40294082 0.91451324 -0.03611418 0.2971063 ] [ 0.17637427 -0.03887106 0.98355537 -1.21185563] [ 0. 0. 0. 1. ]] SLAMing on 123.721346184 meters Centerline goodness : 0.878393 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:-1.21 [[ 0.89844903 -0.40147699 -0.17777954 0.41598304] [ 0.40190022 0.91500478 -0.03524868 0.29756074] [ 0.17682067 -0.03978049 0.98343885 -1.21337494] [ 0. 0. 0. 1. ]] SLAMing on 123.751346184 meters Centerline goodness : 0.878766 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:-1.21 [[ 0.89900032 -0.40032307 -0.17759465 0.41699212] [ 0.40068349 0.91553094 -0.03543782 0.29765013] [ 0.17677997 -0.03930063 0.98346546 -1.21490259] [ 0. 0. 0. 1. ]] SLAMing on 123.781346184 meters Centerline goodness : 0.881518 Centerline is valid? [False, False] Translation: X:0.42, Y:0.30, Z:-1.22 [[ 0.899386 -0.39980173 -0.17681461 0.41722004] [ 0.39995241 0.91581366 -0.03637872 0.2968184 ] [ 0.17647351 -0.03799892 0.98357165 -1.21604233] [ 0. 0. 0. 1. ]] SLAMing on 123.811346184 meters Centerline goodness : 0.880010 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.22 [[ 0.90010931 -0.398855 -0.1752653 0.41606075] [ 0.39873558 0.91630054 -0.03746003 0.29441215] [ 0.17553681 -0.03616639 0.98380833 -1.21682232] [ 0. 0. 0. 1. ]] SLAMing on 123.84134618399999 meters Centerline goodness : 0.882856 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.22 [[ 0.900068 -0.39857097 -0.17612147 0.41724682] [ 0.39860342 0.91638626 -0.03676312 0.29418587] [ 0.17604801 -0.03711331 0.98368171 -1.216212 ] [ 0. 0. 0. 1. ]] SLAMing on 123.87134618399999 meters Centerline goodness : 0.882727 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.22 [[ 0.89994006 -0.39869502 -0.1764941 0.41820832] [ 0.39878143 0.91631715 -0.03655475 0.29390649] [ 0.17629877 -0.03748548 0.98362268 -1.21612592] [ 0. 0. 0. 1. ]] SLAMing on 123.90134618399999 meters Centerline goodness : 0.882858 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.22 [[ 0.89945176 -0.40009189 -0.17582096 0.4183137 ] [ 0.39997847 0.91575014 -0.03766823 0.2916387 ] [ 0.17607882 -0.03644385 0.98370122 -1.21548173] [ 0. 0. 0. 1. ]] SLAMing on 123.93134618399999 meters Centerline goodness : 0.884776 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.22 [[ 0.89924645 -0.40019768 -0.17662852 0.42045575] [ 0.40027295 0.91565682 -0.03679871 0.290098 ] [ 0.17645786 -0.03760851 0.98358946 -1.21530579] [ 0. 0. 0. 1. ]] SLAMing on 123.96134618399999 meters Centerline goodness : 0.886783 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.21 [[ 0.89877437 -0.4013452 -0.17642752 0.42032896] [ 0.40134264 0.91516794 -0.03730588 0.28799461] [ 0.17643335 -0.03727831 0.98360643 -1.2139222 ] [ 0. 0. 0. 1. ]] SLAMing on 123.991346184 meters Centerline goodness : 0.884262 Centerline is valid? [False, False] Translation: X:0.42, Y:0.29, Z:-1.21 [[ 0.89826719 -0.4023531 -0.17671457 0.42218377] [ 0.40246931 0.91469315 -0.03680878 0.28599697] [ 0.17644974 -0.03805807 0.98357362 -1.21387771] [ 0. 0. 0. 1. ]] SLAMing on 124.021346184 meters Centerline goodness : 0.886154 Centerline is valid? [False, False] Translation: X:0.42, Y:0.28, Z:-1.21 [[ 0.89662504 -0.40660239 -0.17532265 0.42369077] [ 0.40639737 0.91287501 -0.03873487 0.28120535] [ 0.17579736 -0.03652001 0.98374874 -1.21368086] [ 0. 0. 0. 1. ]] SLAMing on 124.051346184 meters Centerline goodness : 0.884416 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:-1.21 [[ 0.8954956 -0.40909445 -0.1752979 0.42633633] [ 0.40874389 0.91178105 -0.03979634 0.27966895] [ 0.17611376 -0.03601449 0.98371078 -1.21378028] [ 0. 0. 0. 1. ]] SLAMing on 124.081346184 meters Centerline goodness : 0.887609 Centerline is valid? [False, False] Translation: X:0.43, Y:0.28, Z:-1.21 [[ 0.89445907 -0.4111546 -0.17576935 0.42872413] [ 0.41082955 0.91083593 -0.03996238 0.27782505] [ 0.17652775 -0.03646653 0.98361992 -1.21317135] [ 0. 0. 0. 1. ]] SLAMing on 124.111346184 meters Centerline goodness : 0.889370 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.21 [[ 0.89322997 -0.41319051 -0.17723945 0.43123824] [ 0.41327801 0.90980346 -0.03819606 0.27427463] [ 0.17703532 -0.0391313 0.98342627 -1.21094679] [ 0. 0. 0. 1. ]] SLAMing on 124.141346184 meters Centerline goodness : 0.891779 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.21 [[ 0.89328795 -0.41240041 -0.17878072 0.43322893] [ 0.41288601 0.91006049 -0.03626355 0.27347994] [ 0.17765637 -0.04142227 0.98322043 -1.21021442] [ 0. 0. 0. 1. ]] SLAMing on 124.171346184 meters Centerline goodness : 0.890250 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.21 [[ 0.89357971 -0.41159344 -0.17918189 0.43394039] [ 0.41224903 0.91038572 -0.03533514 0.27271824] [ 0.17766835 -0.0422928 0.9831812 -1.21024813] [ 0. 0. 0. 1. ]] SLAMing on 124.20134618399999 meters Centerline goodness : 0.892557 Centerline is valid? [False, False] Translation: X:0.43, Y:0.27, Z:-1.21 [[ 0.89427045 -0.4114116 -0.17612737 0.4336535 ] [ 0.41147111 0.91063362 -0.03792018 0.27010295] [ 0.1759883 -0.03856043 0.98363673 -1.21403187] [ 0. 0. 0. 1. ]] SLAMing on 124.23134618399999 meters Centerline goodness : 0.893179 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.22 [[ 0.89447859 -0.41123784 -0.17547505 0.43512504] [ 0.41108405 0.91076487 -0.03895195 0.26871578] [ 0.17583503 -0.03729331 0.98371299 -1.2156121 ] [ 0. 0. 0. 1. ]] SLAMing on 124.26134618399999 meters Centerline goodness : 0.890151 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.22 [[ 0.89475883 -0.41060073 -0.17553823 0.43606909] [ 0.41054197 0.91103409 -0.03836892 0.26724623] [ 0.17567562 -0.03773488 0.98372463 -1.21609536] [ 0. 0. 0. 1. ]] SLAMing on 124.29134618399999 meters Centerline goodness : 0.892112 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.22 [[ 0.89488161 -0.4094002 -0.17770307 0.43936898] [ 0.40989088 0.91143685 -0.0356697 0.26707961] [ 0.17656831 -0.04091871 0.98343749 -1.21599699] [ 0. 0. 0. 1. ]] SLAMing on 124.32134618399999 meters Centerline goodness : 0.894715 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.21 [[ 0.89509658 -0.40766394 -0.18058856 0.44067784] [ 0.40902726 0.91198306 -0.03136246 0.2653357 ] [ 0.17747905 -0.04579322 0.98305858 -1.21290685] [ 0. 0. 0. 1. ]] SLAMing on 124.351346184 meters Centerline goodness : 0.890897 Centerline is valid? [False, False] Translation: X:0.44, Y:0.27, Z:-1.21 [[ 0.89506031 -0.40742035 -0.18131659 0.44280806] [ 0.40896655 0.91203892 -0.03051838 0.26515738] [ 0.1778016 -0.04683663 0.98295113 -1.2135076 ] [ 0. 0. 0. 1. ]] SLAMing on 124.381346184 meters Centerline goodness : 0.889868 Centerline is valid? [False, False] Translation: X:0.44, Y:0.26, Z:-1.21 [[ 0.89482825 -0.40800355 -0.1811505 0.44444442] [ 0.40945895 0.91180045 -0.0310371 0.26432522] [ 0.17783636 -0.04640082 0.98296551 -1.21429697] [ 0. 0. 0. 1. ]] SLAMing on 124.411346184 meters Centerline goodness : 0.892356 Centerline is valid? [False, False] Translation: X:0.45, Y:0.26, Z:-1.22 [[ 0.89323864 -0.41215012 -0.17960237 0.44803964] [ 0.4130382 0.91007095 -0.03420984 0.26169841] [ 0.17755049 -0.04362508 0.98314428 -1.2165805 ] [ 0. 0. 0. 1. ]] SLAMing on 124.441346184 meters Centerline goodness : 0.893707 Centerline is valid? [False, False] Translation: X:0.45, Y:0.26, Z:-1.22 [[ 0.89205806 -0.41466498 -0.17968128 0.45058092] [ 0.41547846 0.90893305 -0.03490514 0.26104164] [ 0.17779219 -0.04351629 0.98310542 -1.21683587] [ 0. 0. 0. 1. ]] SLAMing on 124.471346184 meters Centerline goodness : 0.895491 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.89097625 -0.41609233 -0.18173743 0.45547701] [ 0.41725869 0.90816507 -0.03363606 0.26167478] [ 0.1790433 -0.04586259 0.98277165 -1.21683871] [ 0. 0. 0. 1. ]] SLAMing on 124.501346184 meters Centerline goodness : 0.894625 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.8901147 -0.41739223 -0.18297418 0.45773337] [ 0.41879038 0.90748921 -0.03283234 0.26179628] [ 0.17975105 -0.04740327 0.98256933 -1.21584486] [ 0. 0. 0. 1. ]] SLAMing on 124.531346184 meters Centerline goodness : 0.896158 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.88958079 -0.41823002 -0.18365642 0.45948933] [ 0.41990852 0.90701697 -0.03157621 0.26079827] [ 0.17978561 -0.0490293 0.98248321 -1.21548617] [ 0. 0. 0. 1. ]] SLAMing on 124.561346184 meters Centerline goodness : 0.896686 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.88946989 -0.41848289 -0.1836175 0.46044926] [ 0.42015044 0.90690228 -0.03165231 0.259935 ] [ 0.17976908 -0.04899319 0.98248804 -1.21577572] [ 0. 0. 0. 1. ]] SLAMing on 124.59134618399999 meters Centerline goodness : 0.896686 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.88946989 -0.41848289 -0.1836175 0.46044926] [ 0.42015044 0.90690228 -0.03165231 0.259935 ] [ 0.17976908 -0.04899319 0.98248804 -1.21577572] [ 0. 0. 0. 1. ]] SLAMing on 124.62134618399999 meters Centerline goodness : 0.893699 Centerline is valid? [False, False] Translation: X:0.46, Y:0.26, Z:-1.22 [[ 0.889474 -0.41821245 -0.18421277 0.46391519] [ 0.41998459 0.90699413 -0.03121858 0.26001526] [ 0.1801359 -0.04959841 0.98239048 -1.2177754 ] [ 0. 0. 0. 1. ]] SLAMing on 124.65134618399999 meters Centerline goodness : 0.899276 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:-1.22 [[ 0.88937661 -0.41855824 -0.18389737 0.46554548] [ 0.42025407 0.90685665 -0.03158383 0.25947987] [ 0.17998822 -0.04919369 0.9824379 -1.21924968] [ 0. 0. 0. 1. ]] SLAMing on 124.68134618399999 meters Centerline goodness : 0.899099 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:-1.22 [[ 0.88897066 -0.41894879 -0.18496778 0.46839442] [ 0.42083217 0.9066119 -0.03090547 0.26040656] [ 0.1806418 -0.05036634 0.98225851 -1.21984304] [ 0. 0. 0. 1. ]] SLAMing on 124.71134618399999 meters Centerline goodness : 0.899382 Centerline is valid? [False, False] Translation: X:0.47, Y:0.26, Z:-1.22 [[ 0.88830766 -0.41953134 -0.18682333 0.47303917] [ 0.42173207 0.90623116 -0.02978506 0.262264 ] [ 0.18180089 -0.05233109 0.9819419 -1.22081287] [ 0. 0. 0. 1. ]] SLAMing on 124.741346184 meters Centerline goodness : 0.901160 Centerline is valid? [False, False] Translation: X:0.48, Y:0.26, Z:-1.22 [[ 0.88730448 -0.42106366 -0.18813866 0.47672693] [ 0.42351553 0.90542484 -0.0289907 0.26372782] [ 0.18255234 -0.05395607 0.98171451 -1.22136693] [ 0. 0. 0. 1. ]] SLAMing on 124.771346184 meters Centerline goodness : 0.897649 Centerline is valid? [False, False] Translation: X:0.48, Y:0.26, Z:-1.22 [[ 0.8869179 -0.4213953 -0.18921588 0.48018441] [ 0.42401486 0.90520812 -0.02845467 0.26471247] [ 0.18327042 -0.05499338 0.98152314 -1.22248315] [ 0. 0. 0. 1. ]] SLAMing on 124.801346184 meters Centerline goodness : 0.897726 Centerline is valid? [False, False] Translation: X:0.48, Y:0.27, Z:-1.22 [[ 0.8865491 -0.42177701 -0.19009167 0.48397949] [ 0.42452409 0.90498096 -0.02808493 0.26546444] [ 0.18387492 -0.05579983 0.98136456 -1.22418055] [ 0. 0. 0. 1. ]] SLAMing on 124.831346184 meters Centerline goodness : 0.900179 Centerline is valid? [False, False] Translation: X:0.49, Y:0.27, Z:-1.23 [[ 0.88571405 -0.42301062 -0.19123976 0.48803611] [ 0.42596776 0.90432144 -0.0274626 0.26615296] [ 0.18455919 -0.05713796 0.98115909 -1.22520175] [ 0. 0. 0. 1. ]] SLAMing on 124.861346184 meters Centerline goodness : 0.901064 Centerline is valid? [False, False] Translation: X:0.49, Y:0.27, Z:-1.23 [[ 0.88506238 -0.4232732 -0.19366045 0.49207416] [ 0.42677213 0.90400228 -0.02540523 0.26819496] [ 0.18582284 -0.06016367 0.98073962 -1.22509473] [ 0. 0. 0. 1. ]] SLAMing on 124.891346184 meters Centerline goodness : 0.901333 Centerline is valid? [False, False] Translation: X:0.50, Y:0.27, Z:-1.23 [[ 0.88419866 -0.42418778 -0.19559512 0.49599125] [ 0.42807849 0.90342023 -0.02409768 0.27024748] [ 0.18692652 -0.06242293 0.98038862 -1.22521787] [ 0. 0. 0. 1. ]] SLAMing on 124.921346184 meters Centerline goodness : 0.901912 Centerline is valid? [False, False] Translation: X:0.50, Y:0.27, Z:-1.22 [[ 0.88185176 -0.42818205 -0.1974781 0.50077711] [ 0.43228146 0.90141624 -0.02411447 0.27305625] [ 0.18833535 -0.06410074 0.98001066 -1.22463711] [ 0. 0. 0. 1. ]] SLAMing on 124.95134618399999 meters Centerline goodness : 0.902490 Centerline is valid? [False, False] Translation: X:0.50, Y:0.27, Z:-1.22 [[ 0.88076992 -0.42987457 -0.19862581 0.50369654] [ 0.43415543 0.9005243 -0.02377057 0.27490664] [ 0.18908573 -0.06529807 0.97978709 -1.22469556] [ 0. 0. 0. 1. ]] SLAMing on 124.98134618399999 meters Centerline goodness : 0.903537 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.22 [[ 0.87986638 -0.43110371 -0.19996185 0.50637133] [ 0.43560126 0.89983892 -0.02326942 0.27650117] [ 0.18996499 -0.06662965 0.97952733 -1.22432754] [ 0. 0. 0. 1. ]] SLAMing on 125.01134618399999 meters Centerline goodness : 0.902336 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.22 [[ 0.87916357 -0.4322103 -0.20066309 0.50887396] [ 0.43678883 0.89926396 -0.02323457 0.27801733] [ 0.19049131 -0.06722041 0.97938474 -1.22494191] [ 0. 0. 0. 1. ]] SLAMing on 125.04134618399999 meters Centerline goodness : 0.901053 Centerline is valid? [False, False] Translation: X:0.51, Y:0.28, Z:-1.23 [[ 0.87793995 -0.43425846 -0.20159621 0.51313894] [ 0.43891939 0.89822192 -0.02339132 0.28013219] [ 0.19123602 -0.06794831 0.97918937 -1.22628609] [ 0. 0. 0. 1. ]] SLAMing on 125.07134618399999 meters Centerline goodness : 0.899788 Centerline is valid? [False, False] Translation: X:0.52, Y:0.28, Z:-1.23 [[ 0.87755455 -0.43445804 -0.20284037 0.51656284] [ 0.43932752 0.89803746 -0.02280479 0.28206691] [ 0.19206598 -0.06910091 0.97894623 -1.22743352] [ 0. 0. 0. 1. ]] SLAMing on 125.101346184 meters Centerline goodness : 0.900201 Centerline is valid? [False, False] Translation: X:0.52, Y:0.28, Z:-1.23 [[ 0.87723752 -0.43482016 -0.20343491 0.51816381] [ 0.43982143 0.89780593 -0.02239664 0.28342944] [ 0.19238358 -0.06982786 0.97883228 -1.22790742] [ 0. 0. 0. 1. ]] SLAMing on 125.131346184 meters Centerline goodness : 0.900052 Centerline is valid? [False, False] Translation: X:0.53, Y:0.29, Z:-1.23 [[ 0.87707407 -0.43651784 -0.20048254 0.52637684] [ 0.44285966 0.89647376 -0.0144954 0.29078648] [ 0.18605484 -0.07607209 0.97959003 -1.23402911] [ 0. 0. 0. 1. ]] SLAMing on 125.161346184 meters Centerline goodness : 0.900979 Centerline is valid? [False, False] Translation: X:0.53, Y:0.29, Z:-1.24 [[ 0.87740051 -0.43490118 -0.20255693 0.5294396 ] [ 0.44181788 0.89702223 -0.01216838 0.29363245] [ 0.18699011 -0.07881673 0.97919488 -1.23523204] [ 0. 0. 0. 1. ]] SLAMing on 125.191346184 meters Centerline goodness : 0.898600 Centerline is valid? [False, False] Translation: X:0.53, Y:0.30, Z:-1.24 [[ 0.87758457 -0.43427792 -0.20309606 0.5315866 ] [ 0.44128328 0.89728942 -0.01186428 0.29604216] [ 0.18738834 -0.07921098 0.97908694 -1.23722204] [ 0. 0. 0. 1. ]] SLAMing on 125.221346184 meters Centerline goodness : 0.897207 Centerline is valid? [False, False] Translation: X:0.53, Y:0.30, Z:-1.24 [[ 0.87766021 -0.43410137 -0.20314664 0.53365803] [ 0.44103663 0.89740575 -0.01223135 0.29767272] [ 0.18761461 -0.07886014 0.97907193 -1.23939762] [ 0. 0. 0. 1. ]] SLAMing on 125.251346184 meters Centerline goodness : 0.899781 Centerline is valid? [False, False] Translation: X:0.53, Y:0.30, Z:-1.24 [[ 0.87799247 -0.43374774 -0.20246514 0.53275216] [ 0.44047143 0.89767245 -0.01300368 0.29931704] [ 0.18738769 -0.07776297 0.97920313 -1.24020883] [ 0. 0. 0. 1. ]] SLAMing on 125.281346184 meters Centerline goodness : 0.895674 Centerline is valid? [False, False] Translation: X:0.54, Y:0.30, Z:-1.24 [[ 0.87853833 -0.43125583 -0.20539914 0.53648233] [ 0.43885383 0.89850896 -0.00943196 0.30178684] [ 0.18862056 -0.08185386 0.97863284 -1.24095875] [ 0. 0. 0. 1. ]] SLAMing on 125.311346184 meters Centerline goodness : 0.896267 Centerline is valid? [False, False] Translation: X:0.54, Y:0.30, Z:-1.24 [[ 0.87880229 -0.42949831 -0.20793684 0.53826488] [ 0.43786411 0.89901839 -0.00640047 0.30447191] [ 0.18968804 -0.08542333 0.97812131 -1.24037623] [ 0. 0. 0. 1. ]] SLAMing on 125.34134618399999 meters Centerline goodness : 0.896146 Centerline is valid? [False, False] Translation: X:0.54, Y:0.31, Z:-1.24 [[ 0.87913197 -0.42789009 -0.20985006 0.53827955] [ 0.4368234 0.89953756 -0.00418292 0.30824658] [ 0.19055785 -0.08799008 0.97772463 -1.23945673] [ 0. 0. 0. 1. ]] SLAMing on 125.37134618399999 meters Centerline goodness : 0.892572 Centerline is valid? [False, False] Translation: X:0.54, Y:0.31, Z:-1.24 [[ 0.87907318 -0.42795639 -0.20996111 0.53967374] [ 0.43684241 0.89952687 -0.00448573 0.31027272] [ 0.19078536 -0.08777663 0.97769945 -1.24098768] [ 0. 0. 0. 1. ]] SLAMing on 125.40134618399999 meters Centerline goodness : 0.892187 Centerline is valid? [False, False] Translation: X:0.54, Y:0.32, Z:-1.24 [[ 0.87956581 -0.43283158 -0.19753684 0.54284521] [ 0.44038886 0.89778523 -0.00627129 0.31712938] [ 0.18006007 -0.08147701 0.9802754 -1.24403232] [ 0. 0. 0. 1. ]] SLAMing on 125.43134618399999 meters Centerline goodness : 0.890595 Centerline is valid? [False, False] Translation: X:0.54, Y:0.32, Z:-1.25 [[ 0.8798473 -0.43249161 -0.19702724 0.54333205] [ 0.43979196 0.89806921 -0.0073981 0.31820497] [ 0.18014371 -0.0801418 0.9803701 -1.24548151] [ 0. 0. 0. 1. ]] SLAMing on 125.46134618399999 meters Centerline goodness : 0.889805 Centerline is valid? [False, False] Translation: X:0.55, Y:0.32, Z:-1.25 [[ 0.88117905 -0.4290277 -0.19864217 0.5467199 ] [ 0.43680391 0.89954192 -0.00516478 0.32151374] [ 0.1809028 -0.08221658 0.98005847 -1.24889001] [ 0. 0. 0. 1. ]] SLAMing on 125.491346184 meters Centerline goodness : 0.891175 Centerline is valid? [False, False] Translation: X:0.55, Y:0.32, Z:-1.25 [[ 0.88144823 -0.42743258 -0.20087409 0.54990734] [ 0.43572827 0.90007247 -0.00322785 0.32437932] [ 0.18218093 -0.08468133 0.97961175 -1.24980373] [ 0. 0. 0. 1. ]] SLAMing on 125.521346184 meters Centerline goodness : 0.888930 Centerline is valid? [False, False] Translation: X:0.55, Y:0.33, Z:-1.25 [[ 0.88170507 -0.4266127 -0.2014889 0.5499623 ] [ 0.43498607 0.90043215 -0.00300947 0.32711632] [ 0.18271096 -0.0849914 0.97948617 -1.25017612] [ 0. 0. 0. 1. ]] SLAMing on 125.551346184 meters Centerline goodness : 0.887753 Centerline is valid? [False, False] Translation: X:0.55, Y:0.33, Z:-1.25 [[ 8.83625915e-01 -4.21917343e-01 -2.02955654e-01 5.50492365e-01] [ 4.30656480e-01 9.02515102e-01 -1.21971528e-03 3.31915249e-01] [ 1.83685162e-01 -8.63263956e-02 9.79187170e-01 -1.25240924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581346184 meters Centerline goodness : 0.886895 Centerline is valid? [False, False] Translation: X:0.55, Y:0.33, Z:-1.25 [[ 0.88473973 -0.41985701 -0.20237516 0.54899195] [ 0.42844309 0.90356748 -0.00152446 0.33328852] [ 0.18349967 -0.08535749 0.97930688 -1.25335094] [ 0. 0. 0. 1. ]] SLAMing on 125.611346184 meters Centerline goodness : 0.887267 Centerline is valid? [False, False] Translation: X:0.55, Y:0.33, Z:-1.25 [[ 0.88568559 -0.41796352 -0.20215721 0.5480338 ] [ 0.4265296 0.90447265 -0.00131312 0.33433739] [ 0.18339451 -0.08506303 0.9793522 -1.2540824 ] [ 0. 0. 0. 1. ]] SLAMing on 125.641346184 meters Centerline goodness : 0.883985 Centerline is valid? [False, False] Translation: X:0.55, Y:0.34, Z:-1.26 [[ 8.87524713e-01 -4.13832681e-01 -2.02589228e-01 5.49246874e-01] [ 4.22793450e-01 9.06225459e-01 1.05594949e-03 3.35595423e-01] [ 1.83154530e-01 -8.65905798e-02 9.79263238e-01 -1.25711420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.671346184 meters Centerline goodness : 0.882879 Centerline is valid? [False, False] Translation: X:0.55, Y:0.34, Z:-1.26 [[ 8.87949324e-01 -4.13197949e-01 -2.02023397e-01 5.48639457e-01] [ 4.21957049e-01 9.06615766e-01 3.20267303e-04 3.36429870e-01] [ 1.83025263e-01 -8.55295777e-02 9.79380643e-01 -1.25787270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70134618399999 meters Centerline goodness : 0.883777 Centerline is valid? [False, False] Translation: X:0.55, Y:0.34, Z:-1.26 [[ 8.88637597e-01 -4.17136511e-01 -1.90578991e-01 5.51842670e-01] [ 4.24842501e-01 9.05267160e-01 -4.66820623e-04 3.42592837e-01] [ 1.72719630e-01 -8.05512208e-02 9.81671753e-01 -1.25936963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73134618399999 meters Centerline goodness : 0.882684 Centerline is valid? [False, False] Translation: X:0.55, Y:0.35, Z:-1.26 [[ 8.88016810e-01 -4.18005608e-01 -1.91565804e-01 5.53735491e-01] [ 4.25809256e-01 9.04812827e-01 -4.75341671e-04 3.45091449e-01] [ 1.73529892e-01 -8.11483811e-02 9.81479657e-01 -1.25950007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76134618399999 meters Centerline goodness : 0.880655 Centerline is valid? [False, False] Translation: X:0.55, Y:0.35, Z:-1.26 [[ 8.87116682e-01 -4.19339700e-01 -1.92816514e-01 5.54929371e-01] [ 4.27246212e-01 9.04135095e-01 -6.35305642e-04 3.47204089e-01] [ 1.74598586e-01 -8.18165352e-02 9.81234624e-01 -1.25810154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79134618399999 meters Centerline goodness : 0.880463 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 8.86091154e-01 -4.21013611e-01 -1.93881426e-01 5.56737702e-01] [ 4.28934592e-01 9.03334694e-01 -1.24330395e-03 3.49409352e-01] [ 1.75663266e-01 -8.20607696e-02 9.81024183e-01 -1.25732806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82134618399999 meters Centerline goodness : 0.878607 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 0.88482157 -0.42416561 -0.19280647 0.5589957 ] [ 0.43152828 0.90208963 -0.00420039 0.35035242] [ 0.17571038 -0.07948485 0.98122781 -1.2589909 ] [ 0. 0. 0. 1. ]] SLAMing on 125.851346184 meters Centerline goodness : 0.879936 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 0.88414993 -0.4260699 -0.19168556 0.55971114] [ 0.43291139 0.90141076 -0.0068102 0.35064896] [ 0.17568905 -0.07696162 0.98143276 -1.25980804] [ 0. 0. 0. 1. ]] SLAMing on 125.881346184 meters Centerline goodness : 0.881789 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 0.88366784 -0.42758129 -0.19053973 0.55963901] [ 0.43398841 0.90087451 -0.00889829 0.3500021 ] [ 0.17545713 -0.0748289 0.98163916 -1.25999343] [ 0. 0. 0. 1. ]] SLAMing on 125.911346184 meters Centerline goodness : 0.881912 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 0.88303955 -0.42843909 -0.19152311 0.561651 ] [ 0.43503188 0.90037601 -0.00838496 0.35002594] [ 0.17603526 -0.0759144 0.98145229 -1.2593175 ] [ 0. 0. 0. 1. ]] SLAMing on 125.941346184 meters Centerline goodness : 0.882357 Centerline is valid? [False, False] Translation: X:0.56, Y:0.35, Z:-1.26 [[ 0.88252518 -0.42864217 -0.1934301 0.5626931 ] [ 0.43563289 0.90009687 -0.00704378 0.35148149] [ 0.17712509 -0.0780482 0.98108877 -1.25721202] [ 0. 0. 0. 1. ]] SLAMing on 125.971346184 meters Centerline goodness : 0.881534 Centerline is valid? [False, False] Translation: X:0.57, Y:0.35, Z:-1.26 [[ 0.88199352 -0.42810412 -0.19701342 0.56673917] [ 0.43588289 0.89999318 -0.00428855 0.35471534] [ 0.17914668 -0.0820923 0.98039141 -1.25620775] [ 0. 0. 0. 1. ]] SLAMing on 126.001346184 meters Centerline goodness : 0.881684 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.88148519 -0.42884507 -0.1976759 0.5678463 ] [ 0.43661228 0.89963726 -0.00474386 0.35675757] [ 0.17987098 -0.08212609 0.98025595 -1.25603522] [ 0. 0. 0. 1. ]] SLAMing on 126.031346184 meters Centerline goodness : 0.883150 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.8803792 -0.43271832 -0.19413222 0.56845432] [ 0.43914293 0.89835081 -0.01092326 0.35690808] [ 0.17912553 -0.07563518 0.98091455 -1.25919105] [ 0. 0. 0. 1. ]] SLAMing on 126.061346184 meters Centerline goodness : 0.881094 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.88002601 -0.4339266 -0.1930335 0.56931948] [ 0.43989809 0.89795253 -0.01307399 0.35668801] [ 0.17900807 -0.07340962 0.98110506 -1.26028549] [ 0. 0. 0. 1. ]] SLAMing on 126.09134618399999 meters Centerline goodness : 0.883235 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.87972538 -0.43324357 -0.19591647 0.57155663] [ 0.44001651 0.89793559 -0.00985691 0.35761624] [ 0.18019081 -0.0775351 0.98057105 -1.25819324] [ 0. 0. 0. 1. ]] SLAMing on 126.12134618399999 meters Centerline goodness : 0.883560 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.87941752 -0.43320552 -0.19737732 0.57132006] [ 0.44031482 0.89780155 -0.00867387 0.35863564] [ 0.18096324 -0.07928021 0.98028922 -1.25577379] [ 0. 0. 0. 1. ]] SLAMing on 126.15134618399999 meters Centerline goodness : 0.883644 Centerline is valid? [False, False] Translation: X:0.57, Y:0.36, Z:-1.26 [[ 0.87940254 -0.4322049 -0.19962486 0.57436891] [ 0.43989098 0.8980279 -0.00646622 0.35976622] [ 0.18206343 -0.08212677 0.97985106 -1.25553733] [ 0. 0. 0. 1. ]] SLAMing on 126.18134618399999 meters Centerline goodness : 0.882417 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.87944871 -0.43197855 -0.19991123 0.57518834] [ 0.4396834 0.89812952 -0.0064713 0.36003331] [ 0.18234164 -0.08220648 0.97979264 -1.25558522] [ 0. 0. 0. 1. ]] SLAMing on 126.21134618399999 meters Centerline goodness : 0.883552 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.87960881 -0.43201953 -0.19911672 0.57565572] [ 0.43950842 0.89820902 -0.00727392 0.3595179 ] [ 0.18199091 -0.08111527 0.97994879 -1.2568425 ] [ 0. 0. 0. 1. ]] SLAMing on 126.241346184 meters Centerline goodness : 0.883991 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.87972154 -0.43247227 -0.19763032 0.57624428] [ 0.43942471 0.89822865 -0.00955117 0.36001867] [ 0.18164783 -0.07844128 0.98023009 -1.25910677] [ 0. 0. 0. 1. ]] SLAMing on 126.271346184 meters Centerline goodness : 0.884682 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.87968926 -0.4323357 -0.19807231 0.57675816] [ 0.43923931 0.89831452 -0.00999298 0.36164543] [ 0.18225155 -0.07821042 0.98013647 -1.25901637] [ 0. 0. 0. 1. ]] SLAMing on 126.301346184 meters Centerline goodness : 0.883961 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.88020744 -0.43016841 -0.20047443 0.5807166 ] [ 0.43774143 0.89907185 -0.0072281 0.36350347] [ 0.18335022 -0.08139373 0.97967227 -1.26044747] [ 0. 0. 0. 1. ]] SLAMing on 126.331346184 meters Centerline goodness : 0.882977 Centerline is valid? [False, False] Translation: X:0.58, Y:0.36, Z:-1.26 [[ 0.88046014 -0.4296339 -0.20051101 0.58030542] [ 0.43711596 0.89937246 -0.00766897 0.3648727 ] [ 0.18362893 -0.08089434 0.97966143 -1.26051392] [ 0. 0. 0. 1. ]] SLAMing on 126.361346184 meters Centerline goodness : 0.882246 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88097797 -0.4292513 -0.19905059 0.58021149] [ 0.43617157 0.89980819 -0.00997883 0.36575119] [ 0.18339077 -0.07802908 0.97993841 -1.26267706] [ 0. 0. 0. 1. ]] SLAMing on 126.391346184 meters Centerline goodness : 0.879693 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88101277 -0.42972741 -0.19786575 0.58027599] [ 0.43626083 0.89974556 -0.01159359 0.36561823] [ 0.18301091 -0.07610698 0.98016057 -1.26403287] [ 0. 0. 0. 1. ]] SLAMing on 126.421346184 meters Centerline goodness : 0.883578 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88146748 -0.4343514 -0.18534815 0.58005739] [ 0.439701 0.89804417 -0.01340507 0.37050492] [ 0.17227334 -0.06968163 0.98258148 -1.26310088] [ 0. 0. 0. 1. ]] SLAMing on 126.45134618399999 meters Centerline goodness : 0.882105 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88174014 -0.43269356 -0.18791114 0.58198552] [ 0.4387801 0.8985375 -0.01011841 0.37117518] [ 0.17322338 -0.07352986 0.98213391 -1.2618582 ] [ 0. 0. 0. 1. ]] SLAMing on 126.48134618399999 meters Centerline goodness : 0.882105 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88174014 -0.43269356 -0.18791114 0.58198552] [ 0.4387801 0.8985375 -0.01011841 0.37117518] [ 0.17322338 -0.07352986 0.98213391 -1.2618582 ] [ 0. 0. 0. 1. ]] SLAMing on 126.51134618399999 meters Centerline goodness : 0.882543 Centerline is valid? [False, False] Translation: X:0.58, Y:0.37, Z:-1.26 [[ 0.88214417 -0.43066245 -0.19066073 0.58484256] [ 0.43749215 0.89919563 -0.00691621 0.37223923] [ 0.17441984 -0.07731147 0.98163163 -1.26139672] [ 0. 0. 0. 1. ]] SLAMing on 126.54134618399999 meters Centerline goodness : 0.882193 Centerline is valid? [False, False] Translation: X:0.59, Y:0.37, Z:-1.26 [[ 0.88227374 -0.42976437 -0.19208238 0.58756476] [ 0.4368866 0.89949774 -0.00582304 0.37356711] [ 0.1752802 -0.0787807 0.98136153 -1.26204994] [ 0. 0. 0. 1. ]] SLAMing on 126.57134618399999 meters Centerline goodness : 0.880487 Centerline is valid? [False, False] Translation: X:0.59, Y:0.37, Z:-1.26 [[ 0.88228822 -0.43001161 -0.19146151 0.58776724] [ 0.43685104 0.89950543 -0.00715157 0.3738878 ] [ 0.17529593 -0.07733042 0.98147407 -1.26279834] [ 0. 0. 0. 1. ]] SLAMing on 126.601346184 meters Centerline goodness : 0.880202 Centerline is valid? [False, False] Translation: X:0.59, Y:0.38, Z:-1.27 [[ 0.88200296 -0.43078777 -0.19103058 0.5917429 ] [ 0.43719201 0.89931825 -0.00947839 0.37609289] [ 0.17588046 -0.07515707 0.98153832 -1.26658035] [ 0. 0. 0. 1. ]] SLAMing on 126.631346184 meters Centerline goodness : 0.881886 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-1.27 [[ 0.88125799 -0.43164641 -0.19252461 0.59615964] [ 0.43821964 0.89881996 -0.00928634 0.37883607] [ 0.17705338 -0.0761844 0.9812482 -1.2681389 ] [ 0. 0. 0. 1. ]] SLAMing on 126.661346184 meters Centerline goodness : 0.880800 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-1.27 [[ 0.88029469 -0.43336104 -0.19307889 0.59733737] [ 0.43984819 0.89801427 -0.01019465 0.38058155] [ 0.17780557 -0.0759511 0.98113027 -1.26749185] [ 0. 0. 0. 1. ]] SLAMing on 126.691346184 meters Centerline goodness : 0.885287 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-1.27 [[ 0.87918871 -0.43465326 -0.19520185 0.60012747] [ 0.44145362 0.89723324 -0.00955069 0.38311527] [ 0.17929283 -0.0777757 0.98071659 -1.2664124 ] [ 0. 0. 0. 1. ]] SLAMing on 126.721346184 meters Centerline goodness : 0.883816 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-1.27 [[ 0.87868164 -0.43552471 -0.19554234 0.60048677] [ 0.44229629 0.89681373 -0.00995643 0.38407802] [ 0.17970133 -0.07773912 0.98064472 -1.26568047] [ 0. 0. 0. 1. ]] SLAMing on 126.751346184 meters Centerline goodness : 0.883766 Centerline is valid? [False, False] Translation: X:0.60, Y:0.38, Z:-1.27 [[ 0.87824734 -0.43626868 -0.19583474 0.60146127] [ 0.44298043 0.89646985 -0.01049522 0.38456775] [ 0.18013868 -0.07753356 0.98058075 -1.26537796] [ 0. 0. 0. 1. ]] SLAMing on 126.781346184 meters Centerline goodness : 0.882709 Centerline is valid? [False, False] Translation: X:0.60, Y:0.39, Z:-1.27 [[ 0.87767739 -0.43708303 -0.19657271 0.60339987] [ 0.44381553 0.8960531 -0.01079881 0.38573321] [ 0.18085956 -0.07776415 0.98042978 -1.26521551] [ 0. 0. 0. 1. ]] SLAMing on 126.811346184 meters Centerline goodness : 0.882149 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-1.27 [[ 0.87732027 -0.43707683 -0.19817414 0.60677329] [ 0.44408977 0.8959266 -0.0099902 0.38750333] [ 0.18191597 -0.0792425 0.98011591 -1.2658002 ] [ 0. 0. 0. 1. ]] SLAMing on 126.84134618399999 meters Centerline goodness : 0.880226 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-1.27 [[ 0.87668473 -0.43775856 -0.19947765 0.60875685] [ 0.4448796 0.89553379 -0.01006847 0.38947367] [ 0.18304654 -0.07991667 0.97985065 -1.26516306] [ 0. 0. 0. 1. ]] SLAMing on 126.87134618399999 meters Centerline goodness : 0.880694 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-1.26 [[ 0.87617708 -0.4384698 -0.20014482 0.60974787] [ 0.44559109 0.89517566 -0.01044639 0.39066658] [ 0.1837452 -0.08002986 0.97971063 -1.26453079] [ 0. 0. 0. 1. ]] SLAMing on 126.90134618399999 meters Centerline goodness : 0.879956 Centerline is valid? [False, False] Translation: X:0.61, Y:0.39, Z:-1.26 [[ 0.87507437 -0.43996686 -0.20167796 0.61337402] [ 0.44719424 0.89437239 -0.01073985 0.39294695] [ 0.18510037 -0.08079106 0.979393 -1.26462518] [ 0. 0. 0. 1. ]] SLAMing on 126.93134618399999 meters Centerline goodness : 0.881223 Centerline is valid? [False, False] Translation: X:0.62, Y:0.39, Z:-1.26 [[ 0.87438547 -0.44072183 -0.20301309 0.61599812] [ 0.44805778 0.89393874 -0.01085203 0.39458987] [ 0.18626399 -0.08147273 0.97911589 -1.26435165] [ 0. 0. 0. 1. ]] SLAMing on 126.96134618399999 meters Centerline goodness : 0.878816 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:-1.26 [[ 0.87279271 -0.44273779 -0.20546567 0.61965389] [ 0.45033603 0.89279357 -0.0108215 0.39851121] [ 0.18822952 -0.08308367 0.97860449 -1.26334985] [ 0. 0. 0. 1. ]] SLAMing on 126.991346184 meters Centerline goodness : 0.879316 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:-1.26 [[ 0.87234803 -0.44340783 -0.20590873 0.62000269] [ 0.45097177 0.89246694 -0.01127925 0.39977989] [ 0.18876804 -0.08301959 0.97850619 -1.26257379] [ 0. 0. 0. 1. ]] SLAMing on 127.021346184 meters Centerline goodness : 0.879249 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:-1.26 [[ 0.872094 -0.44389149 -0.2059427 0.6199222 ] [ 0.45135102 0.89226723 -0.01189317 0.40125489] [ 0.1890352 -0.08258049 0.97849178 -1.26242306] [ 0. 0. 0. 1. ]] SLAMing on 127.051346184 meters Centerline goodness : 0.875446 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:-1.26 [[ 0.8726903 -0.44206744 -0.20733555 0.62194648] [ 0.44988194 0.89302668 -0.01046812 0.40340401] [ 0.18978379 -0.08414109 0.97821388 -1.2637187 ] [ 0. 0. 0. 1. ]] SLAMing on 127.081346184 meters Centerline goodness : 0.874434 Centerline is valid? [False, False] Translation: X:0.62, Y:0.40, Z:-1.26 [[ 0.87258474 -0.44209428 -0.20772223 0.62200803] [ 0.44986038 0.89303244 -0.01089546 0.40498719] [ 0.19031951 -0.08393879 0.97812717 -1.26329515] [ 0. 0. 0. 1. ]] SLAMing on 127.111346184 meters Centerline goodness : 0.873112 Centerline is valid? [False, False] Translation: X:0.62, Y:0.41, Z:-1.26 [[ 0.87214955 -0.44284729 -0.20794578 0.6222755 ] [ 0.45047742 0.89271004 -0.01178452 0.40736714] [ 0.19085402 -0.08339702 0.97806936 -1.26318165] [ 0. 0. 0. 1. ]] SLAMing on 127.141346184 meters Centerline goodness : 0.871244 Centerline is valid? [False, False] Translation: X:0.63, Y:0.41, Z:-1.26 [[ 0.87183375 -0.44298436 -0.20897552 0.62525778] [ 0.45063572 0.89262521 -0.01215253 0.4101763 ] [ 0.1919202 -0.08357685 0.97784536 -1.26437406] [ 0. 0. 0. 1. ]] SLAMing on 127.171346184 meters Centerline goodness : 0.871835 Centerline is valid? [False, False] Translation: X:0.63, Y:0.41, Z:-1.26 [[ 0.87121861 -0.44415735 -0.20905116 0.62504282] [ 0.45159407 0.89212257 -0.01342086 0.41384074] [ 0.19246023 -0.08271376 0.97781261 -1.26440668] [ 0. 0. 0. 1. ]] SLAMing on 127.20134618399999 meters Centerline goodness : 0.873636 Centerline is valid? [False, False] Translation: X:0.63, Y:0.42, Z:-1.26 [[ 0.87077576 -0.44384334 -0.21154825 0.62852531] [ 0.45169844 0.89208485 -0.01237481 0.4171239 ] [ 0.19421147 -0.08478033 0.97728921 -1.26412178] [ 0. 0. 0. 1. ]] SLAMing on 127.23134618399999 meters Centerline goodness : 0.868709 Centerline is valid? [False, False] Translation: X:0.63, Y:0.42, Z:-1.26 [[ 0.87028374 -0.44424453 -0.21272755 0.6295353 ] [ 0.45214051 0.89185565 -0.01274616 0.41963589] [ 0.19538468 -0.08508997 0.97702841 -1.26302969] [ 0. 0. 0. 1. ]] SLAMing on 127.26134618399999 meters Centerline goodness : 0.870407 Centerline is valid? [False, False] Translation: X:0.63, Y:0.42, Z:-1.26 [[ 0.87002844 -0.44441684 -0.21341085 0.63184691] [ 0.45212103 0.89184631 -0.01402633 0.42320435] [ 0.19656322 -0.08428423 0.97686185 -1.26425489] [ 0. 0. 0. 1. ]] SLAMing on 127.29134618399999 meters Centerline goodness : 0.871453 Centerline is valid? [False, False] Translation: X:0.63, Y:0.42, Z:-1.26 [[ 0.8701507 -0.44421565 -0.21333121 0.63116745] [ 0.45183982 0.89198344 -0.01436388 0.42413487] [ 0.19666857 -0.08389279 0.97687434 -1.26380598] [ 0. 0. 0. 1. ]] SLAMing on 127.32134618399999 meters Centerline goodness : 0.871547 Centerline is valid? [False, False] Translation: X:0.63, Y:0.43, Z:-1.26 [[ 0.87023686 -0.44365143 -0.21415234 0.63149807] [ 0.45133677 0.89223832 -0.01434919 0.42583832] [ 0.19744096 -0.08416763 0.97669487 -1.26307426] [ 0. 0. 0. 1. ]] SLAMing on 127.351346184 meters Centerline goodness : 0.868360 Centerline is valid? [False, False] Translation: X:0.63, Y:0.43, Z:-1.26 [[ 0.87101376 -0.44169356 -0.21503913 0.63017741] [ 0.44963103 0.89311613 -0.01324795 0.42843986] [ 0.19790645 -0.08514913 0.97651557 -1.26244891] [ 0. 0. 0. 1. ]] SLAMing on 127.381346184 meters Centerline goodness : 0.869757 Centerline is valid? [False, False] Translation: X:0.63, Y:0.43, Z:-1.26 [[ 0.87113897 -0.44124304 -0.21545645 0.62977208] [ 0.44916703 0.89334668 -0.01344172 0.43052295] [ 0.19840837 -0.08506633 0.97642093 -1.26195759] [ 0. 0. 0. 1. ]] SLAMing on 127.411346184 meters Centerline goodness : 0.869844 Centerline is valid? [False, False] Translation: X:0.63, Y:0.43, Z:-1.26 [[ 0.87124531 -0.44091945 -0.21568877 0.62908094] [ 0.44876084 0.89354365 -0.0139089 0.43257849] [ 0.19886003 -0.08467461 0.9763631 -1.26147401] [ 0. 0. 0. 1. ]] SLAMing on 127.441346184 meters Centerline goodness : 0.871010 Centerline is valid? [False, False] Translation: X:0.63, Y:0.43, Z:-1.26 [[ 0.87096315 -0.44124177 -0.21616864 0.62934123] [ 0.44900801 0.89340964 -0.01452673 0.43485887] [ 0.19953694 -0.0844092 0.97624797 -1.26098364] [ 0. 0. 0. 1. ]] SLAMing on 127.471346184 meters Centerline goodness : 0.869109 Centerline is valid? [False, False] Translation: X:0.63, Y:0.44, Z:-1.26 [[ 0.87004264 -0.44316892 -0.21593314 0.62949014] [ 0.45047809 0.89262749 -0.01690159 0.43851533] [ 0.20023812 -0.08256804 0.97626186 -1.2610502 ] [ 0. 0. 0. 1. ]] SLAMing on 127.501346184 meters Centerline goodness : 0.869558 Centerline is valid? [False, False] Translation: X:0.63, Y:0.44, Z:-1.26 [[ 0.86913628 -0.44501501 -0.21578639 0.63068093] [ 0.45199028 0.89182684 -0.01869988 0.44092228] [ 0.20076582 -0.0812806 0.97626152 -1.26144926] [ 0. 0. 0. 1. ]] SLAMing on 127.531346184 meters Centerline goodness : 0.869338 Centerline is valid? [False, False] Translation: X:0.63, Y:0.44, Z:-1.26 [[ 0.86810676 -0.44715875 -0.21549875 0.63167538] [ 0.4537648 0.89088225 -0.02064747 0.44261629] [ 0.20121671 -0.07986153 0.9762858 -1.26146344] [ 0. 0. 0. 1. ]] SLAMing on 127.561346184 meters Centerline goodness : 0.867786 Centerline is valid? [False, False] Translation: X:0.63, Y:0.44, Z:-1.26 [[ 0.86695975 -0.44932567 -0.215609 0.63312945] [ 0.45566127 0.88987442 -0.02227848 0.4442258 ] [ 0.20187523 -0.07893012 0.9762256 -1.26109302] [ 0. 0. 0. 1. ]] SLAMing on 127.59134618399999 meters Centerline goodness : 0.869293 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.26 [[ 0.86561084 -0.45063241 -0.21828491 0.63521517] [ 0.45739923 0.88900257 -0.02145651 0.4471006 ] [ 0.20372484 -0.08127036 0.97564918 -1.25842965] [ 0. 0. 0. 1. ]] SLAMing on 127.62134618399999 meters Centerline goodness : 0.869326 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.26 [[ 0.86504049 -0.45100772 -0.21976575 0.63628375] [ 0.45798098 0.88871086 -0.02112871 0.44860972] [ 0.20483742 -0.08237135 0.97532384 -1.25665224] [ 0. 0. 0. 1. ]] SLAMing on 127.65134618399999 meters Centerline goodness : 0.868043 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.26 [[ 0.86434445 -0.45187963 -0.22071127 0.63816865] [ 0.45883564 0.88825578 -0.02171458 0.4504553 ] [ 0.20586044 -0.08250132 0.97509744 -1.25605171] [ 0. 0. 0. 1. ]] SLAMing on 127.68134618399999 meters Centerline goodness : 0.868290 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.26 [[ 0.86376819 -0.45321319 -0.22023243 0.64014522] [ 0.45967859 0.88776057 -0.0240158 0.45125662] [ 0.20639795 -0.08049205 0.97515174 -1.25677955] [ 0. 0. 0. 1. ]] SLAMing on 127.71134618399999 meters Centerline goodness : 0.870416 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.26 [[ 0.86375017 -0.45283959 -0.22107003 0.64081839] [ 0.4594545 0.88788777 -0.02359807 0.45165886] [ 0.20697152 -0.08118878 0.9749724 -1.25581468] [ 0. 0. 0. 1. ]] SLAMing on 127.741346184 meters Centerline goodness : 0.872959 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.25 [[ 0.86338466 -0.45263502 -0.2229091 0.64130968] [ 0.45958562 0.88784226 -0.02274168 0.45320385] [ 0.2082018 -0.08281099 0.97457393 -1.25341425] [ 0. 0. 0. 1. ]] SLAMing on 127.771346184 meters Centerline goodness : 0.871880 Centerline is valid? [False, False] Translation: X:0.64, Y:0.45, Z:-1.25 [[ 0.86338938 -0.45242828 -0.22331016 0.63996663] [ 0.45955381 0.88787591 -0.02206032 0.45476949] [ 0.20825243 -0.08357639 0.97449778 -1.25235341] [ 0. 0. 0. 1. ]] SLAMing on 127.801346184 meters Centerline goodness : 0.869638 Centerline is valid? [False, False] Translation: X:0.64, Y:0.46, Z:-1.25 [[ 0.86330899 -0.45269944 -0.2230713 0.64130142] [ 0.45957715 0.8878359 -0.02315726 0.45561137] [ 0.20853399 -0.08252661 0.97452703 -1.2532848 ] [ 0. 0. 0. 1. ]] SLAMing on 127.831346184 meters Centerline goodness : 0.871998 Centerline is valid? [False, False] Translation: X:0.64, Y:0.46, Z:-1.25 [[ 0.86347961 -0.45264112 -0.22252861 0.64191091] [ 0.45929126 0.88796162 -0.0239938 0.45528065] [ 0.20845744 -0.08148729 0.97463086 -1.25399791] [ 0. 0. 0. 1. ]] SLAMing on 127.861346184 meters Centerline goodness : 0.870404 Centerline is valid? [False, False] Translation: X:0.64, Y:0.46, Z:-1.25 [[ 0.86416984 -0.45666381 -0.21134959 0.64341477] [ 0.46254588 0.88627803 -0.02371852 0.46215567] [ 0.19814589 -0.07726205 0.97712271 -1.25449205] [ 0. 0. 0. 1. ]] SLAMing on 127.891346184 meters Centerline goodness : 0.872718 Centerline is valid? [False, False] Translation: X:0.64, Y:0.46, Z:-1.25 [[ 0.86440712 -0.45600976 -0.211791 0.64345223] [ 0.46183043 0.88664038 -0.02411413 0.46387173] [ 0.19877873 -0.0769671 0.97701744 -1.25409552] [ 0. 0. 0. 1. ]] SLAMing on 127.921346184 meters Centerline goodness : 0.872819 Centerline is valid? [False, False] Translation: X:0.64, Y:0.47, Z:-1.25 [[ 0.86477486 -0.4552767 -0.21186686 0.64419396] [ 0.46087391 0.88710925 -0.02514791 0.46604137] [ 0.19939831 -0.07589663 0.97697493 -1.25498695] [ 0. 0. 0. 1. ]] SLAMing on 127.95134618399999 meters Centerline goodness : 0.875103 Centerline is valid? [False, False] Translation: X:0.64, Y:0.47, Z:-1.26 [[ 0.86596361 -0.45361179 -0.21057867 0.64249717] [ 0.45881012 0.88814211 -0.02639805 0.46744956] [ 0.19899826 -0.07375587 0.97722043 -1.25644395] [ 0. 0. 0. 1. ]] SLAMing on 127.98134618399999 meters Centerline goodness : 0.872989 Centerline is valid? [False, False] Translation: X:0.64, Y:0.47, Z:-1.26 [[ 0.86623316 -0.4531241 -0.21051999 0.64279232] [ 0.45818794 0.88844594 -0.02697451 0.46788596] [ 0.19925843 -0.07309151 0.97721733 -1.25661527] [ 0. 0. 0. 1. ]] SLAMing on 128.011346184 meters Centerline goodness : 0.873048 Centerline is valid? [False, False] Translation: X:0.64, Y:0.47, Z:-1.26 [[ 0.86610914 -0.4530925 -0.21109746 0.64393599] [ 0.45813731 0.8884627 -0.02728064 0.46845708] [ 0.19991288 -0.07308361 0.97708425 -1.25612073] [ 0. 0. 0. 1. ]] SLAMing on 128.041346184 meters Centerline goodness : 0.876105 Centerline is valid? [False, False] Translation: X:0.64, Y:0.47, Z:-1.26 [[ 0.86606906 -0.45295907 -0.21154779 0.64414774] [ 0.45804461 0.88851193 -0.02723391 0.46879625] [ 0.20029858 -0.07331188 0.97698815 -1.255279 ] [ 0. 0. 0. 1. ]] SLAMing on 128.071346184 meters Centerline goodness : 0.870320 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86565536 -0.45276524 -0.21364558 0.6452606 ] [ 0.45824812 0.88844178 -0.02607408 0.47034614] [ 0.20161709 -0.07533152 0.97656321 -1.25308711] [ 0. 0. 0. 1. ]] SLAMing on 128.101346184 meters Centerline goodness : 0.872536 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86529483 -0.45330206 -0.21396753 0.6462549 ] [ 0.45871688 0.8881844 -0.02659504 0.47035618] [ 0.20209821 -0.07513797 0.97647867 -1.25243296] [ 0. 0. 0. 1. ]] SLAMing on 128.131346184 meters Centerline goodness : 0.871897 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86490808 -0.45450056 -0.2129865 0.64649195] [ 0.45950021 0.88772397 -0.0283849 0.46912927] [ 0.20197417 -0.07331701 0.97664274 -1.25218974] [ 0. 0. 0. 1. ]] SLAMing on 128.161346184 meters Centerline goodness : 0.875513 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86458248 -0.45535668 -0.21247922 0.64791885] [ 0.46008479 0.88738079 -0.02961951 0.46760524] [ 0.20203742 -0.07214995 0.97671657 -1.25233872] [ 0. 0. 0. 1. ]] SLAMing on 128.191346184 meters Centerline goodness : 0.874794 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86427497 -0.45548983 -0.21344273 0.64892928] [ 0.46028055 0.88727698 -0.02968799 0.46840579] [ 0.2029054 -0.07258495 0.97650439 -1.25128962] [ 0. 0. 0. 1. ]] SLAMing on 128.221346184 meters Centerline goodness : 0.877380 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86400501 -0.4552727 -0.21499326 0.650788 ] [ 0.46022842 0.88731228 -0.02943997 0.46978549] [ 0.20416938 -0.07350973 0.9761717 -1.25028255] [ 0. 0. 0. 1. ]] SLAMing on 128.251346184 meters Centerline goodness : 0.876666 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86414414 -0.45473214 -0.21557731 0.65086732] [ 0.45972003 0.88757604 -0.02943249 0.47051364] [ 0.20472516 -0.07367129 0.97604311 -1.24936787] [ 0. 0. 0. 1. ]] SLAMing on 128.281346184 meters Centerline goodness : 0.873587 Centerline is valid? [False, False] Translation: X:0.65, Y:0.47, Z:-1.25 [[ 0.86527461 -0.45254794 -0.21563907 0.65135867] [ 0.45756138 0.88870333 -0.02905138 0.47100831] [ 0.2047863 -0.07353069 0.97604088 -1.25058876] [ 0. 0. 0. 1. ]] SLAMing on 128.311346184 meters Centerline goodness : 0.877098 Centerline is valid? [False, False] Translation: X:0.65, Y:0.48, Z:-1.25 [[ 0.86589177 -0.45748439 -0.20233505 0.65151354] [ 0.46114832 0.88676336 -0.03151141 0.47603803] [ 0.19383929 -0.066021 0.97880926 -1.25114805] [ 0. 0. 0. 1. ]] SLAMing on 128.341346184 meters Centerline goodness : 0.874991 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86597316 -0.45665047 -0.20386477 0.65543545] [ 0.46046579 0.88712957 -0.031183 0.47740909] [ 0.19509419 -0.06686911 0.97850231 -1.25215751] [ 0. 0. 0. 1. ]] SLAMing on 128.371346184 meters Centerline goodness : 0.879007 Centerline is valid? [False, False] Translation: X:0.65, Y:0.48, Z:-1.25 [[ 0.86621293 -0.45602535 -0.20424503 0.65491913] [ 0.45989895 0.88743179 -0.030948 0.47714268] [ 0.1953666 -0.06712452 0.97843047 -1.25080031] [ 0. 0. 0. 1. ]] SLAMing on 128.401346184 meters Centerline goodness : 0.881184 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86581841 -0.45631767 -0.20526241 0.657039 ] [ 0.46017468 0.8872721 -0.03142429 0.47795792] [ 0.19646307 -0.06724883 0.97820236 -1.25014205] [ 0. 0. 0. 1. ]] SLAMing on 128.431346184 meters Centerline goodness : 0.881184 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86581841 -0.45631767 -0.20526241 0.657039 ] [ 0.46017468 0.8872721 -0.03142429 0.47795792] [ 0.19646307 -0.06724883 0.97820236 -1.25014205] [ 0. 0. 0. 1. ]] SLAMing on 128.461346184 meters Centerline goodness : 0.879207 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86532798 -0.45662095 -0.20665138 0.66088063] [ 0.46056846 0.88706504 -0.03150091 0.47873575] [ 0.19769719 -0.06791849 0.97790741 -1.25044822] [ 0. 0. 0. 1. ]] SLAMing on 128.491346184 meters Centerline goodness : 0.883083 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86455576 -0.458063 -0.20669208 0.66175994] [ 0.46186945 0.88635624 -0.03239172 0.4787158 ] [ 0.19804027 -0.06746031 0.9778697 -1.24974413] [ 0. 0. 0. 1. ]] SLAMing on 128.52134618399998 meters Centerline goodness : 0.884357 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86413207 -0.45829981 -0.20793522 0.66266068] [ 0.46223913 0.8861704 -0.03220266 0.47954164] [ 0.19902451 -0.06828844 0.97761236 -1.24799857] [ 0. 0. 0. 1. ]] SLAMing on 128.55134618399998 meters Centerline goodness : 0.883450 Centerline is valid? [False, False] Translation: X:0.66, Y:0.48, Z:-1.25 [[ 0.86374825 -0.45822714 -0.20968272 0.66476934] [ 0.46231651 0.88613461 -0.03207634 0.48056053] [ 0.20050536 -0.0692339 0.9772432 -1.24638045] [ 0. 0. 0. 1. ]] SLAMing on 128.58134618399998 meters Centerline goodness : 0.883885 Centerline is valid? [False, False] Translation: X:0.67, Y:0.48, Z:-1.25 [[ 0.86356922 -0.45860979 -0.20958356 0.66658653] [ 0.462452 0.88601903 -0.03329308 0.4807503 ] [ 0.20096355 -0.06817146 0.97722377 -1.24726836] [ 0. 0. 0. 1. ]] SLAMing on 128.61134618399998 meters Centerline goodness : 0.883752 Centerline is valid? [False, False] Translation: X:0.67, Y:0.48, Z:-1.25 [[ 0.86339428 -0.45889826 -0.20967286 0.66865832] [ 0.46252234 0.88593926 -0.03441958 0.48120132] [ 0.2015525 -0.06726071 0.97716559 -1.24794751] [ 0. 0. 0. 1. ]] SLAMing on 128.64134618399999 meters Centerline goodness : 0.884024 Centerline is valid? [False, False] Translation: X:0.67, Y:0.48, Z:-1.25 [[ 0.86318106 -0.45938062 -0.20949439 0.66927993] [ 0.46271824 0.88578195 -0.03580736 0.48214886] [ 0.20201556 -0.06602864 0.977154 -1.24793585] [ 0. 0. 0. 1. ]] SLAMing on 128.671346184 meters Centerline goodness : 0.883559 Centerline is valid? [False, False] Translation: X:0.67, Y:0.48, Z:-1.25 [[ 0.86289977 -0.45944409 -0.21051154 0.67065929] [ 0.4627505 0.88574478 -0.03630636 0.48381441] [ 0.20314025 -0.06608557 0.97691696 -1.24717153] [ 0. 0. 0. 1. ]] SLAMing on 128.701346184 meters Centerline goodness : 0.885802 Centerline is valid? [False, False] Translation: X:0.67, Y:0.49, Z:-1.25 [[ 0.86285156 -0.45928553 -0.21105449 0.67097242] [ 0.46252895 0.8858414 -0.03676922 0.48553121] [ 0.20384838 -0.06589243 0.97678249 -1.24660271] [ 0. 0. 0. 1. ]] SLAMing on 128.731346184 meters Centerline goodness : 0.885850 Centerline is valid? [False, False] Translation: X:0.67, Y:0.49, Z:-1.25 [[ 0.86364464 -0.45722291 -0.21228553 0.67231498] [ 0.46077995 0.88680745 -0.03541714 0.48751161] [ 0.20444991 -0.06722909 0.97656566 -1.24764785] [ 0. 0. 0. 1. ]] SLAMing on 128.761346184 meters Centerline goodness : 0.886362 Centerline is valid? [False, False] Translation: X:0.67, Y:0.49, Z:-1.25 [[ 0.86361183 -0.45708936 -0.2127062 0.67210268] [ 0.46057778 0.88689432 -0.03586891 0.48891133] [ 0.20504322 -0.06699094 0.97645762 -1.24674697] [ 0. 0. 0. 1. ]] SLAMing on 128.791346184 meters Centerline goodness : 0.882732 Centerline is valid? [False, False] Translation: X:0.67, Y:0.49, Z:-1.25 [[ 0.86337388 -0.45709723 -0.21365316 0.67281028] [ 0.46062143 0.88686562 -0.03601777 0.49058546] [ 0.20594526 -0.06731642 0.97624538 -1.24580213] [ 0. 0. 0. 1. ]] SLAMing on 128.821346184 meters Centerline goodness : 0.887384 Centerline is valid? [False, False] Translation: X:0.67, Y:0.50, Z:-1.25 [[ 0.86372415 -0.4620844 -0.20114325 0.67461008] [ 0.46457422 0.88473643 -0.03757982 0.49851933] [ 0.1953238 -0.06098737 0.97884072 -1.24856701] [ 0. 0. 0. 1. ]] SLAMing on 128.851346184 meters Centerline goodness : 0.887128 Centerline is valid? [False, False] Translation: X:0.68, Y:0.50, Z:-1.25 [[ 0.86386822 -0.46191459 -0.20091443 0.67557833] [ 0.46409786 0.88492402 -0.03902121 0.49955199] [ 0.19581847 -0.05953478 0.97883131 -1.24927028] [ 0. 0. 0. 1. ]] SLAMing on 128.881346184 meters Centerline goodness : 0.886459 Centerline is valid? [False, False] Translation: X:0.68, Y:0.50, Z:-1.25 [[ 0.86406851 -0.46151142 -0.20097962 0.67519744] [ 0.46354191 0.88518271 -0.03975512 0.50059911] [ 0.19625113 -0.05881133 0.9787884 -1.24862847] [ 0. 0. 0. 1. ]] SLAMing on 128.911346184 meters Centerline goodness : 0.886447 Centerline is valid? [False, False] Translation: X:0.68, Y:0.50, Z:-1.25 [[ 0.86477686 -0.45862845 -0.20450167 0.67735027] [ 0.46136929 0.88643692 -0.03698604 0.50427039] [ 0.19824068 -0.06236612 0.97816722 -1.24748101] [ 0. 0. 0. 1. ]] SLAMing on 128.941346184 meters Centerline goodness : 0.887502 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.25 [[ 0.86503093 -0.45794379 -0.20496091 0.67682406] [ 0.46066489 0.88679648 -0.03714645 0.50555307] [ 0.1987696 -0.06228546 0.97806501 -1.24653844] [ 0. 0. 0. 1. ]] SLAMing on 128.971346184 meters Centerline goodness : 0.888292 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.25 [[ 0.86547731 -0.45691806 -0.20536532 0.67702496] [ 0.45956743 0.8873508 -0.03750108 0.50653797] [ 0.19936601 -0.06192288 0.97796664 -1.24618098] [ 0. 0. 0. 1. ]] SLAMing on 129.001346184 meters Centerline goodness : 0.889021 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.25 [[ 0.86592249 -0.45575309 -0.20607611 0.67800066] [ 0.45846636 0.88792992 -0.03727004 0.50750925] [ 0.19996708 -0.062206 0.97782595 -1.2462183 ] [ 0. 0. 0. 1. ]] SLAMing on 129.031346184 meters Centerline goodness : 0.887105 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.25 [[ 0.86641072 -0.45478786 -0.20615641 0.67663573] [ 0.45745277 0.88844657 -0.03741198 0.5084799 ] [ 0.20017347 -0.06189268 0.9778036 -1.24525932] [ 0. 0. 0. 1. ]] SLAMing on 129.061346184 meters Centerline goodness : 0.889212 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.25 [[ 0.86627871 -0.45429262 -0.20779658 0.67973619] [ 0.45719789 0.88860729 -0.03670385 0.50963524] [ 0.20132384 -0.06320839 0.9774832 -1.24516603] [ 0. 0. 0. 1. ]] SLAMing on 129.091346184 meters Centerline goodness : 0.890786 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.24 [[ 0.86587319 -0.45486741 -0.20822886 0.67989418] [ 0.45776665 0.88830446 -0.03694434 0.51000641] [ 0.2017754 -0.06333112 0.97738214 -1.24391141] [ 0. 0. 0. 1. ]] SLAMing on 129.121346184 meters Centerline goodness : 0.887480 Centerline is valid? [False, False] Translation: X:0.68, Y:0.51, Z:-1.24 [[ 0.86561672 -0.45443916 -0.21022072 0.68372809] [ 0.457714 0.88838141 -0.03572627 0.51139047] [ 0.20299159 -0.06529571 0.97700096 -1.24427606] [ 0. 0. 0. 1. ]] SLAMing on 129.151346184 meters Centerline goodness : 0.889152 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86533617 -0.45957119 -0.19996906 0.68705919] [ 0.46227889 0.88601164 -0.03579946 0.51847153] [ 0.19362732 -0.06146291 0.97914798 -1.24390796] [ 0. 0. 0. 1. ]] SLAMing on 129.181346184 meters Centerline goodness : 0.885379 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86509389 -0.4600578 -0.1998984 0.68737512] [ 0.46264739 0.88579347 -0.03643233 0.51851066] [ 0.19382968 -0.06096509 0.97913907 -1.24358897] [ 0. 0. 0. 1. ]] SLAMing on 129.211346184 meters Centerline goodness : 0.890203 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86499067 -0.46003743 -0.20039137 0.68928232] [ 0.46254295 0.88582399 -0.03701188 0.5191265 ] [ 0.19453833 -0.06067469 0.97901656 -1.24389229] [ 0. 0. 0. 1. ]] SLAMing on 129.241346184 meters Centerline goodness : 0.891460 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86488881 -0.46094251 -0.19874444 0.68804989] [ 0.46294521 0.88552235 -0.03913956 0.51846878] [ 0.19403373 -0.05815642 0.97926949 -1.24381442] [ 0. 0. 0. 1. ]] SLAMing on 129.27134618399998 meters Centerline goodness : 0.888841 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86447178 -0.46117778 -0.200009 0.68983772] [ 0.46322488 0.8853675 -0.03933318 0.52000472] [ 0.19522105 -0.05864672 0.97900424 -1.24301323] [ 0. 0. 0. 1. ]] SLAMing on 129.30134618399998 meters Centerline goodness : 0.894207 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.8640428 -0.46149995 -0.20111648 0.69139838] [ 0.4635951 0.88516746 -0.03947334 0.52127754] [ 0.19623871 -0.05912996 0.97877169 -1.24228044] [ 0. 0. 0. 1. ]] SLAMing on 129.33134618399998 meters Centerline goodness : 0.888878 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86396152 -0.46167358 -0.20106716 0.69331692] [ 0.46360145 0.8851263 -0.04031296 0.52085571] [ 0.19658126 -0.05838618 0.9787476 -1.24313147] [ 0. 0. 0. 1. ]] SLAMing on 129.36134618399998 meters Centerline goodness : 0.889114 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86399465 -0.46191205 -0.20037588 0.69381814] [ 0.46359552 0.88508151 -0.0413511 0.52014544] [ 0.19644956 -0.05716623 0.97884605 -1.24364792] [ 0. 0. 0. 1. ]] SLAMing on 129.39134618399999 meters Centerline goodness : 0.890224 Centerline is valid? [False, False] Translation: X:0.69, Y:0.52, Z:-1.24 [[ 0.86396058 -0.46202813 -0.20025514 0.69418536] [ 0.46362605 0.88504653 -0.04175558 0.51947378] [ 0.19652737 -0.05676832 0.97885359 -1.24331034] [ 0. 0. 0. 1. ]] SLAMing on 129.421346184 meters Centerline goodness : 0.891209 Centerline is valid? [False, False] Translation: X:0.70, Y:0.52, Z:-1.24 [[ 0.86367515 -0.46077703 -0.20432761 0.69860424] [ 0.46326418 0.88538588 -0.03844667 0.5195242 ] [ 0.19862412 -0.06145223 0.97814727 -1.24124614] [ 0. 0. 0. 1. ]] SLAMing on 129.451346184 meters Centerline goodness : 0.889800 Centerline is valid? [False, False] Translation: X:0.70, Y:0.52, Z:-1.24 [[ 0.86358886 -0.46054987 -0.20520258 0.69884039] [ 0.46326149 0.8854239 -0.03759409 0.51899971] [ 0.19900522 -0.06259662 0.97799723 -1.2397558 ] [ 0. 0. 0. 1. ]] SLAMing on 129.481346184 meters Centerline goodness : 0.893163 Centerline is valid? [False, False] Translation: X:0.70, Y:0.52, Z:-1.24 [[ 0.86346884 -0.46104114 -0.20460361 0.69883706] [ 0.46360563 0.8852184 -0.03818642 0.5182925 ] [ 0.19872439 -0.0618826 0.97809977 -1.23974715] [ 0. 0. 0. 1. ]] SLAMing on 129.511346184 meters Centerline goodness : 0.894884 Centerline is valid? [False, False] Translation: X:0.70, Y:0.52, Z:-1.24 [[ 0.86269066 -0.4630136 -0.2034287 0.70192491] [ 0.46503121 0.88435572 -0.04075453 0.51660998] [ 0.19877324 -0.05944214 0.97824119 -1.24148742] [ 0. 0. 0. 1. ]] SLAMing on 129.541346184 meters Centerline goodness : 0.892377 Centerline is valid? [False, False] Translation: X:0.70, Y:0.52, Z:-1.24 [[ 0.86182933 -0.46505575 -0.20241878 0.70297493] [ 0.46652195 0.88344346 -0.04341574 0.51674294] [ 0.19901629 -0.05701585 0.97833619 -1.24179494] [ 0. 0. 0. 1. ]] SLAMing on 129.571346184 meters Centerline goodness : 0.897546 Centerline is valid? [False, False] Translation: X:0.71, Y:0.52, Z:-1.24 [[ 0.86156216 -0.46537203 -0.2028288 0.70613804] [ 0.4669284 0.88324257 -0.04313264 0.51619776] [ 0.19921975 -0.05754508 0.9782638 -1.24320435] [ 0. 0. 0. 1. ]] SLAMing on 129.601346184 meters Centerline goodness : 0.893520 Centerline is valid? [False, False] Translation: X:0.71, Y:0.52, Z:-1.24 [[ 0.86112783 -0.4661596 -0.20286468 0.70698227] [ 0.46768619 0.88282909 -0.04338685 0.51595022] [ 0.19932004 -0.05751539 0.97824511 -1.24304796] [ 0. 0. 0. 1. ]] SLAMing on 129.631346184 meters Centerline goodness : 0.895946 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.86065831 -0.46681564 -0.20334807 0.70736919] [ 0.46855702 0.88240756 -0.04255834 0.51376903] [ 0.19930278 -0.05865198 0.97818114 -1.24125567] [ 0. 0. 0. 1. ]] SLAMing on 129.661346184 meters Centerline goodness : 0.901435 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.86041535 -0.46625147 -0.20565744 0.71071896] [ 0.46844466 0.88254158 -0.04098723 0.51352156] [ 0.2006116 -0.06107309 0.97776534 -1.24012918] [ 0. 0. 0. 1. ]] SLAMing on 129.691346184 meters Centerline goodness : 0.898681 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.86024278 -0.46625666 -0.20636638 0.71181007] [ 0.46862237 0.88247566 -0.04037061 0.51243833] [ 0.20093637 -0.06197937 0.97764162 -1.23922301] [ 0. 0. 0. 1. ]] SLAMing on 129.721346184 meters Centerline goodness : 0.899477 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.85995339 -0.4677399 -0.2042047 0.71044953] [ 0.46966479 0.88184358 -0.04203428 0.50829384] [ 0.19973771 -0.05976023 0.97802534 -1.23857819] [ 0. 0. 0. 1. ]] SLAMing on 129.751346184 meters Centerline goodness : 0.902278 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.85960001 -0.46841066 -0.20415505 0.7118441 ] [ 0.47031564 0.88148871 -0.04220018 0.50688379] [ 0.19972739 -0.05974204 0.97802856 -1.23851356] [ 0. 0. 0. 1. ]] SLAMing on 129.781346184 meters Centerline goodness : 0.900264 Centerline is valid? [False, False] Translation: X:0.71, Y:0.51, Z:-1.24 [[ 0.85910146 -0.46912307 -0.20461727 0.71358616] [ 0.47105226 0.88108989 -0.04231268 0.50650121] [ 0.20013607 -0.06003454 0.9779271 -1.23828796] [ 0. 0. 0. 1. ]] SLAMing on 129.811346184 meters Centerline goodness : 0.898990 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.8586831 -0.47022106 -0.20385165 0.71329056] [ 0.47205884 0.88053415 -0.04266214 0.50411149] [ 0.19955898 -0.05959671 0.9780718 -1.23757638] [ 0. 0. 0. 1. ]] SLAMing on 129.841346184 meters Centerline goodness : 0.900690 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.85892567 -0.46982526 -0.20374231 0.71446705] [ 0.47170888 0.88073653 -0.04235446 0.5035681 ] [ 0.19934249 -0.05972773 0.97810795 -1.23860246] [ 0. 0. 0. 1. ]] SLAMing on 129.871346184 meters Centerline goodness : 0.901930 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.85912885 -0.46999449 -0.20249149 0.71357512] [ 0.47159921 0.88074602 -0.04336622 0.50158258] [ 0.19872546 -0.05823766 0.97832334 -1.2385818 ] [ 0. 0. 0. 1. ]] SLAMing on 129.901346184 meters Centerline goodness : 0.900335 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.85932636 -0.47009868 -0.20140866 0.71394589] [ 0.47146678 0.88077429 -0.04422351 0.50008952] [ 0.19818499 -0.05695506 0.97850847 -1.23954426] [ 0. 0. 0. 1. ]] SLAMing on 129.931346184 meters Centerline goodness : 0.903691 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.85987472 -0.46930515 -0.20091825 0.71297465] [ 0.47075855 0.88118613 -0.04355904 0.49642564] [ 0.19748886 -0.05712866 0.97863909 -1.23839211] [ 0. 0. 0. 1. ]] SLAMing on 129.961346184 meters Centerline goodness : 0.906189 Centerline is valid? [False, False] Translation: X:0.71, Y:0.50, Z:-1.24 [[ 0.85982826 -0.46908868 -0.20162135 0.71320272] [ 0.47074325 0.8812341 -0.04274642 0.49546961] [ 0.19772747 -0.05815731 0.97853031 -1.23696738] [ 0. 0. 0. 1. ]] SLAMing on 129.991346184 meters Centerline goodness : 0.904756 Centerline is valid? [False, False] Translation: X:0.71, Y:0.49, Z:-1.24 [[ 0.8595119 -0.46950531 -0.20200015 0.71398902] [ 0.47127425 0.88096954 -0.04234672 0.49449343] [ 0.19783799 -0.05879996 0.97846957 -1.23617486] [ 0. 0. 0. 1. ]] SLAMing on 130.02134618399998 meters Centerline goodness : 0.903193 Centerline is valid? [False, False] Translation: X:0.72, Y:0.49, Z:-1.24 [[ 0.85844741 -0.47153099 -0.20180824 0.71722974] [ 0.47324997 0.87988855 -0.04278569 0.49201837] [ 0.19774354 -0.05877648 0.97849007 -1.23682389] [ 0. 0. 0. 1. ]] SLAMing on 130.05134618399998 meters Centerline goodness : 0.901257 Centerline is valid? [False, False] Translation: X:0.72, Y:0.49, Z:-1.24 [[ 0.85771903 -0.47273938 -0.20207805 0.71930957] [ 0.47448982 0.87921684 -0.04286202 0.49099562] [ 0.19793299 -0.0591204 0.97843104 -1.23677331] [ 0. 0. 0. 1. ]] SLAMing on 130.08134618399998 meters Centerline goodness : 0.906449 Centerline is valid? [False, False] Translation: X:0.72, Y:0.49, Z:-1.24 [[ 0.85713621 -0.47325231 -0.20334642 0.72327374] [ 0.47530729 0.87882558 -0.04181604 0.49053627] [ 0.19849557 -0.06080999 0.9782135 -1.23744431] [ 0. 0. 0. 1. ]] SLAMing on 130.11134618399998 meters Centerline goodness : 0.903937 Centerline is valid? [False, False] Translation: X:0.73, Y:0.49, Z:-1.24 [[ 0.85645721 -0.47413124 -0.2041583 0.72673233] [ 0.47631978 0.87829103 -0.04152517 0.49050265] [ 0.19899878 -0.0616801 0.97805677 -1.23819396] [ 0. 0. 0. 1. ]] SLAMing on 130.14134618399999 meters Centerline goodness : 0.898962 Centerline is valid? [False, False] Translation: X:0.73, Y:0.49, Z:-1.24 [[ 0.85559996 -0.4759199 -0.20359016 0.7302975 ] [ 0.47787229 0.8773894 -0.04273075 0.4885256 ] [ 0.19896426 -0.06072966 0.97812327 -1.23979065] [ 0. 0. 0. 1. ]] SLAMing on 130.171346184 meters Centerline goodness : 0.898350 Centerline is valid? [False, False] Translation: X:0.73, Y:0.49, Z:-1.24 [[ 0.85573729 -0.47545924 -0.20408872 0.73413482] [ 0.47753525 0.87759749 -0.04222241 0.4884686 ] [ 0.19918278 -0.06132827 0.97804144 -1.24226109] [ 0. 0. 0. 1. ]] SLAMing on 130.201346184 meters Centerline goodness : 0.902359 Centerline is valid? [False, False] Translation: X:0.74, Y:0.49, Z:-1.24 [[ 0.8557489 -0.47492948 -0.20527008 0.73773627] [ 0.47724529 0.87779643 -0.04135662 0.488886 ] [ 0.19982682 -0.0625733 0.97783118 -1.24349856] [ 0. 0. 0. 1. ]] SLAMing on 130.231346184 meters Centerline goodness : 0.900722 Centerline is valid? [False, False] Translation: X:0.74, Y:0.49, Z:-1.24 [[ 0.85551019 -0.47479557 -0.20657076 0.74059126] [ 0.47735431 0.87777363 -0.04057477 0.4893857 ] [ 0.20058709 -0.06389532 0.97759 -1.24366966] [ 0. 0. 0. 1. ]] SLAMing on 130.261346184 meters Centerline goodness : 0.898899 Centerline is valid? [False, False] Translation: X:0.74, Y:0.49, Z:-1.24 [[ 0.85560268 -0.47382451 -0.2084092 0.74383426] [ 0.47687637 0.8781196 -0.03866379 0.48959972] [ 0.20132805 -0.06630458 0.9772772 -1.24404787] [ 0. 0. 0. 1. ]] SLAMing on 130.291346184 meters Centerline goodness : 0.898899 Centerline is valid? [False, False] Translation: X:0.74, Y:0.49, Z:-1.24 [[ 0.85560268 -0.47382451 -0.2084092 0.74383426] [ 0.47687637 0.8781196 -0.03866379 0.48959972] [ 0.20132805 -0.06630458 0.9772772 -1.24404787] [ 0. 0. 0. 1. ]] SLAMing on 130.321346184 meters Centerline goodness : 0.901078 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.24 [[ 0.85569693 -0.47329764 -0.20921782 0.74594689] [ 0.4765309 0.87833646 -0.03799173 0.48961826] [ 0.20174504 -0.06718935 0.97713076 -1.24450106] [ 0. 0. 0. 1. ]] SLAMing on 130.351346184 meters Centerline goodness : 0.898726 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.25 [[ 0.8558296 -0.47248562 -0.21050662 0.74924125] [ 0.47597608 0.87867585 -0.03708807 0.49030039] [ 0.20249066 -0.06845504 0.97688865 -1.2456178 ] [ 0. 0. 0. 1. ]] SLAMing on 130.381346184 meters Centerline goodness : 0.899785 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.25 [[ 0.8560238 -0.47137926 -0.2121906 0.7521668 ] [ 0.47528395 0.87911426 -0.03554283 0.49012356] [ 0.20329393 -0.07042528 0.97658172 -1.24577528] [ 0. 0. 0. 1. ]] SLAMing on 130.411346184 meters Centerline goodness : 0.896476 Centerline is valid? [False, False] Translation: X:0.75, Y:0.49, Z:-1.25 [[ 0.85574434 -0.47187427 -0.21221756 0.75323087] [ 0.47573458 0.87885883 -0.03582973 0.49016479] [ 0.20341641 -0.07029815 0.97656538 -1.246004 ] [ 0. 0. 0. 1. ]] SLAMing on 130.441346184 meters Centerline goodness : 0.897330 Centerline is valid? [False, False] Translation: X:0.76, Y:0.49, Z:-1.25 [[ 0.85538115 -0.47200086 -0.21339699 0.75751798] [ 0.47608022 0.87869638 -0.03521793 0.49105235] [ 0.20413406 -0.07146933 0.97633059 -1.24753161] [ 0. 0. 0. 1. ]] SLAMing on 130.471346184 meters Centerline goodness : 0.896673 Centerline is valid? [False, False] Translation: X:0.76, Y:0.49, Z:-1.25 [[ 0.85379658 -0.47502661 -0.21302846 0.76001692] [ 0.47888053 0.87711852 -0.03655887 0.49069954] [ 0.20421764 -0.07080135 0.97636178 -1.24776466] [ 0. 0. 0. 1. ]] SLAMing on 130.501346184 meters Centerline goodness : 0.896334 Centerline is valid? [False, False] Translation: X:0.76, Y:0.49, Z:-1.25 [[ 0.85278776 -0.47592668 -0.21505077 0.76482981] [ 0.48011591 0.87647394 -0.03580716 0.49209308] [ 0.20552798 -0.07271339 0.97594621 -1.24798504] [ 0. 0. 0. 1. ]] SLAMing on 130.531346184 meters Centerline goodness : 0.890793 Centerline is valid? [False, False] Translation: X:0.77, Y:0.49, Z:-1.25 [[ 0.85172663 -0.47698919 -0.21689412 0.76982313] [ 0.48147517 0.87575182 -0.03521963 0.4934315 ] [ 0.20674481 -0.07443163 0.97555959 -1.24849146] [ 0. 0. 0. 1. ]] SLAMing on 130.561346184 meters Centerline goodness : 0.892034 Centerline is valid? [False, False] Translation: X:0.77, Y:0.49, Z:-1.25 [[ 0.85080567 -0.47799863 -0.21828197 0.77455485] [ 0.48269401 0.87509398 -0.0348857 0.49434715] [ 0.20769255 -0.07568245 0.975262 -1.24944009] [ 0. 0. 0. 1. ]] SLAMing on 130.591346184 meters Centerline goodness : 0.892731 Centerline is valid? [False, False] Translation: X:0.78, Y:0.50, Z:-1.25 [[ 0.84966422 -0.4791774 -0.22013571 0.78000814] [ 0.484141 0.87431001 -0.03448921 0.49543317] [ 0.2089933 -0.07727247 0.97485936 -1.25031253] [ 0. 0. 0. 1. ]] SLAMing on 130.621346184 meters Centerline goodness : 0.894761 Centerline is valid? [False, False] Translation: X:0.78, Y:0.50, Z:-1.25 [[ 0.84926274 -0.47915696 -0.22172372 0.78318877] [ 0.48445796 0.8741719 -0.03352574 0.49707035] [ 0.20988873 -0.07894366 0.97453303 -1.25070774] [ 0. 0. 0. 1. ]] SLAMing on 130.651346184 meters Centerline goodness : 0.888023 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.25 [[ 0.84897115 -0.47897555 -0.22322724 0.78707973] [ 0.48459558 0.87413027 -0.03260967 0.49844347] [ 0.21074893 -0.08049027 0.97422082 -1.25178788] [ 0. 0. 0. 1. ]] SLAMing on 130.681346184 meters Centerline goodness : 0.889384 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.25 [[ 0.84838905 -0.47978189 -0.22370818 0.79166533] [ 0.48547082 0.87364516 -0.03259156 0.49726704] [ 0.21107841 -0.08095347 0.9741111 -1.25350988] [ 0. 0. 0. 1. ]] SLAMing on 130.711346184 meters Centerline goodness : 0.890573 Centerline is valid? [False, False] Translation: X:0.79, Y:0.50, Z:-1.25 [[ 0.84828113 -0.47989127 -0.22388276 0.79424127] [ 0.48567858 0.87354341 -0.03222171 0.49621753] [ 0.21103422 -0.08140199 0.9740833 -1.25467341] [ 0. 0. 0. 1. ]] SLAMing on 130.741346184 meters Centerline goodness : 0.887159 Centerline is valid? [False, False] Translation: X:0.80, Y:0.50, Z:-1.26 [[ 0.84821482 -0.47920939 -0.22558805 0.79837335] [ 0.48539111 0.87374755 -0.03099501 0.49641285] [ 0.21196011 -0.08320801 0.9737296 -1.25533682] [ 0. 0. 0. 1. ]] SLAMing on 130.77134618399998 meters Centerline goodness : 0.888652 Centerline is valid? [False, False] Translation: X:0.80, Y:0.50, Z:-1.25 [[ 0.8484633 -0.47721017 -0.22886784 0.80030193] [ 0.48449687 0.87437572 -0.02701636 0.49658476] [ 0.21300896 -0.08796336 0.97308254 -1.25327144] [ 0. 0. 0. 1. ]] SLAMing on 130.80134618399998 meters Centerline goodness : 0.889850 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84872779 -0.48015272 -0.2216179 0.80562853] [ 0.48850194 0.87235138 -0.01920746 0.50214775] [ 0.2025512 -0.09195887 0.9749444 -1.25840582] [ 0. 0. 0. 1. ]] SLAMing on 130.83134618399998 meters Centerline goodness : 0.890099 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84865955 -0.48005994 -0.22207978 0.80541821] [ 0.48848522 0.8723643 -0.019045 0.50290865] [ 0.20287722 -0.09231996 0.97484248 -1.25765163] [ 0. 0. 0. 1. ]] SLAMing on 130.86134618399998 meters Centerline goodness : 0.891080 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84821569 -0.48242201 -0.21863014 0.80526768] [ 0.48974508 0.87155964 -0.0230988 0.50231854] [ 0.20169257 -0.08748027 0.97553437 -1.26076369] [ 0. 0. 0. 1. ]] SLAMing on 130.89134618399999 meters Centerline goodness : 0.888733 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84767548 -0.48468948 -0.2156905 0.80539606] [ 0.49102294 0.87073067 -0.02691769 0.50134948] [ 0.20085505 -0.08309152 0.9760907 -1.26304037] [ 0. 0. 0. 1. ]] SLAMing on 130.921346184 meters Centerline goodness : 0.889508 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.27 [[ 0.8475361 -0.48494138 -0.215672 0.80869683] [ 0.49123947 0.87060241 -0.02711499 0.50081947] [ 0.20091375 -0.08296567 0.97608932 -1.26516938] [ 0. 0. 0. 1. ]] SLAMing on 130.951346184 meters Centerline goodness : 0.894030 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84749724 -0.48395655 -0.21802405 0.80873845] [ 0.49105807 0.87079324 -0.02410617 0.49996567] [ 0.20152021 -0.08663256 0.97564564 -1.26186688] [ 0. 0. 0. 1. ]] SLAMing on 130.981346184 meters Centerline goodness : 0.892986 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84818161 -0.48099116 -0.22189065 0.81200091] [ 0.48930454 0.87189228 -0.01961945 0.50104669] [ 0.20290153 -0.09193124 0.97487415 -1.2608535 ] [ 0. 0. 0. 1. ]] SLAMing on 131.011346184 meters Centerline goodness : 0.894060 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84867095 -0.47875545 -0.22483514 0.81480097] [ 0.48803496 0.8726758 -0.01608828 0.50193661] [ 0.20391054 -0.09607376 0.97426399 -1.26035372] [ 0. 0. 0. 1. ]] SLAMing on 131.041346184 meters Centerline goodness : 0.894965 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84856907 -0.48017643 -0.22217364 0.81285975] [ 0.48867754 0.87226319 -0.01874018 0.50069375] [ 0.20279248 -0.09266893 0.974827 -1.26124046] [ 0. 0. 0. 1. ]] SLAMing on 131.071346184 meters Centerline goodness : 0.897402 Centerline is valid? [False, False] Translation: X:0.81, Y:0.50, Z:-1.26 [[ 0.84849911 -0.48094912 -0.22076506 0.8133798 ] [ 0.48903045 0.87203258 -0.02020879 0.49952404] [ 0.20223373 -0.0908137 0.97511763 -1.26267556] [ 0. 0. 0. 1. ]] SLAMing on 131.101346184 meters Centerline goodness : 0.894985 Centerline is valid? [False, False] Translation: X:0.82, Y:0.50, Z:-1.26 [[ 0.84816839 -0.48148287 -0.22087242 0.81627472] [ 0.48959824 0.87171492 -0.02016572 0.49893737] [ 0.20224723 -0.09103482 0.97509421 -1.26420744] [ 0. 0. 0. 1. ]] SLAMing on 131.131346184 meters Centerline goodness : 0.896508 Centerline is valid? [False, False] Translation: X:0.82, Y:0.50, Z:-1.26 [[ 0.84734164 -0.48307848 -0.2205614 0.8172928 ] [ 0.4910426 0.87088324 -0.02096519 0.49854576] [ 0.20221107 -0.09054036 0.97514775 -1.2642455 ] [ 0. 0. 0. 1. ]] SLAMing on 131.161346184 meters Centerline goodness : 0.897972 Centerline is valid? [False, False] Translation: X:0.82, Y:0.50, Z:-1.26 [[ 0.84643856 -0.48405177 -0.22189107 0.82091913] [ 0.49228976 0.87019245 -0.02039361 0.49961569] [ 0.2029595 -0.09197277 0.97485817 -1.26471822] [ 0. 0. 0. 1. ]] SLAMing on 131.191346184 meters Centerline goodness : 0.897186 Centerline is valid? [False, False] Translation: X:0.82, Y:0.50, Z:-1.26 [[ 0.84472419 -0.48662601 -0.22279178 0.82300668] [ 0.49501948 0.86864195 -0.02041745 0.49994166] [ 0.20346195 -0.09303915 0.97465222 -1.26340174] [ 0. 0. 0. 1. ]] SLAMing on 131.221346184 meters Centerline goodness : 0.896015 Centerline is valid? [False, False] Translation: X:0.82, Y:0.50, Z:-1.26 [[ 0.84445274 -0.48707437 -0.22284102 0.82458319] [ 0.49546741 0.86838451 -0.02050354 0.49971451] [ 0.20349844 -0.09309619 0.97463915 -1.26410631] [ 0. 0. 0. 1. ]] SLAMing on 131.251346184 meters Centerline goodness : 0.899926 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.26 [[ 0.84466755 -0.4865491 -0.22317417 0.82616891] [ 0.49518368 0.86857095 -0.0194325 0.49774477] [ 0.20329747 -0.0940982 0.97458487 -1.264523 ] [ 0. 0. 0. 1. ]] SLAMing on 131.281346184 meters Centerline goodness : 0.900851 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.26 [[ 0.84512439 -0.4856833 -0.22333048 0.8259042 ] [ 0.49449565 0.86898241 -0.01853714 0.49665175] [ 0.20307344 -0.09476977 0.9745665 -1.26424571] [ 0. 0. 0. 1. ]] SLAMing on 131.311346184 meters Centerline goodness : 0.900809 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.26 [[ 0.84584165 -0.48413034 -0.22398598 0.82621594] [ 0.49324545 0.86972031 -0.01719055 0.49572604] [ 0.20312762 -0.09593959 0.97444074 -1.26408498] [ 0. 0. 0. 1. ]] SLAMing on 131.341346184 meters Centerline goodness : 0.898914 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.27 [[ 0.84750583 -0.48687863 -0.21138369 0.82643289] [ 0.49577464 0.86836306 -0.01237332 0.49842089] [ 0.18958209 -0.09431221 0.97732484 -1.26910342] [ 0. 0. 0. 1. ]] SLAMing on 131.371346184 meters Centerline goodness : 0.899893 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.27 [[ 0.84903278 -0.4834659 -0.2130823 0.82677054] [ 0.49305912 0.86994687 -0.00922783 0.49854596] [ 0.18983162 -0.09722744 0.97699067 -1.26925679] [ 0. 0. 0. 1. ]] SLAMing on 131.401346184 meters Centerline goodness : 0.901378 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.27 [[ 0.84930398 -0.48258475 -0.21399697 0.82889764] [ 0.49240835 0.87032363 -0.00841387 0.49976571] [ 0.19030703 -0.09822796 0.97679809 -1.27047892] [ 0. 0. 0. 1. ]] SLAMing on 131.431346184 meters Centerline goodness : 0.895086 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.27 [[ 0.84921285 -0.48251447 -0.21451649 0.83216535] [ 0.49238764 0.87033524 -0.00842566 0.50062939] [ 0.19076676 -0.09847009 0.97668402 -1.27244345] [ 0. 0. 0. 1. ]] SLAMing on 131.461346184 meters Centerline goodness : 0.897097 Centerline is valid? [False, False] Translation: X:0.83, Y:0.50, Z:-1.27 [[ 0.84861848 -0.48378929 -0.21399673 0.83487813] [ 0.49340328 0.86974723 -0.00964154 0.50084938] [ 0.19078754 -0.0974047 0.97678679 -1.27455231] [ 0. 0. 0. 1. ]] SLAMing on 131.491346184 meters Centerline goodness : 0.898233 Centerline is valid? [False, False] Translation: X:0.84, Y:0.50, Z:-1.28 [[ 0.84670335 -0.48744484 -0.21328613 0.83902635] [ 0.49662458 0.86788302 -0.01196234 0.50009054] [ 0.19093839 -0.09579458 0.97691654 -1.27588921] [ 0. 0. 0. 1. ]] SLAMing on 131.52134618399998 meters Centerline goodness : 0.896638 Centerline is valid? [False, False] Translation: X:0.84, Y:0.50, Z:-1.28 [[ 0.84583998 -0.48804457 -0.21533051 0.84247908] [ 0.49772931 0.86726856 -0.01052505 0.50049744] [ 0.19188607 -0.09827379 0.97648451 -1.27507157] [ 0. 0. 0. 1. ]] SLAMing on 131.55134618399998 meters Centerline goodness : 0.896768 Centerline is valid? [False, False] Translation: X:0.85, Y:0.50, Z:-1.27 [[ 0.84490225 -0.4883435 -0.21831357 0.84644522] [ 0.49880113 0.86667734 -0.00823611 0.50177282] [ 0.19322947 -0.10193634 0.97584392 -1.27377435] [ 0. 0. 0. 1. ]] SLAMing on 131.58134618399998 meters Centerline goodness : 0.897399 Centerline is valid? [False, False] Translation: X:0.85, Y:0.50, Z:-1.27 [[ 0.84410231 -0.48827742 -0.22153206 0.85058416] [ 0.49963779 0.86621724 -0.00545704 0.50256806] [ 0.19455944 -0.10607949 0.97513782 -1.27243912] [ 0. 0. 0. 1. ]] SLAMing on 131.61134618399998 meters Centerline goodness : 0.896727 Centerline is valid? [False, False] Translation: X:0.85, Y:0.50, Z:-1.27 [[ 0.84409031 -0.48832376 -0.22147563 0.85219576] [ 0.49969738 0.86618343 -0.00536509 0.50163674] [ 0.19445842 -0.10614218 0.97515115 -1.27328714] [ 0. 0. 0. 1. ]] SLAMing on 131.64134618399999 meters Centerline goodness : 0.897184 Centerline is valid? [False, False] Translation: X:0.86, Y:0.50, Z:-1.28 [[ 0.84414364 -0.48827474 -0.22138045 0.85528776] [ 0.49963216 0.86622093 -0.00538659 0.50049846] [ 0.19439452 -0.10606173 0.97517264 -1.27533034] [ 0. 0. 0. 1. ]] SLAMing on 131.671346184 meters Centerline goodness : 0.896450 Centerline is valid? [False, False] Translation: X:0.86, Y:0.50, Z:-1.28 [[ 0.84343226 -0.48960106 -0.22116245 0.85875647] [ 0.50091188 0.8654797 -0.0056725 0.4980373 ] [ 0.19418887 -0.10599853 0.97522048 -1.27643537] [ 0. 0. 0. 1. ]] SLAMing on 131.701346184 meters Centerline goodness : 0.898101 Centerline is valid? [False, False] Translation: X:0.86, Y:0.50, Z:-1.28 [[ 0.84297783 -0.48982009 -0.22240651 0.86046711] [ 0.50150336 0.86514381 -0.00453495 0.49778628] [ 0.19463493 -0.10771475 0.97494347 -1.27548952] [ 0. 0. 0. 1. ]] SLAMing on 131.731346184 meters Centerline goodness : 0.896120 Centerline is valid? [False, False] Translation: X:0.86, Y:0.50, Z:-1.27 [[ 8.42851570e-01 -4.88596070e-01 -2.25555118e-01 8.64165994e-01] [ 5.01289580e-01 8.65278820e-01 -1.14881492e-03 4.98509955e-01] [ 1.95729373e-01 -1.12100150e-01 9.74229731e-01 -1.27471206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters Centerline goodness : 0.895250 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.27 [[ 8.42052886e-01 -4.88874172e-01 -2.27923192e-01 8.65027425e-01] [ 5.02337253e-01 8.64670910e-01 1.22522967e-03 4.99071626e-01] [ 1.96479570e-01 -1.15526018e-01 9.73678344e-01 -1.27179020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.791346184 meters Centerline goodness : 0.895211 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.27 [[ 0.84184867 -0.48901549 -0.22837395 0.86749625] [ 0.50260959 0.86451206 0.00158259 0.49913287] [ 0.19665812 -0.11611524 0.9735722 -1.27278787] [ 0. 0. 0. 1. ]] SLAMing on 131.821346184 meters Centerline goodness : 0.895192 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.28 [[ 0.84143706 -0.4895803 -0.22868058 0.87184726] [ 0.50321857 0.8641578 0.00153978 0.49932919] [ 0.19686226 -0.11637194 0.97350029 -1.27520345] [ 0. 0. 0. 1. ]] SLAMing on 131.851346184 meters Centerline goodness : 0.894543 Centerline is valid? [False, False] Translation: X:0.87, Y:0.50, Z:-1.28 [[ 0.83937904 -0.4939469 -0.22684642 0.87434792] [ 0.50679449 0.8620649 -0.0018586 0.49892948] [ 0.19647439 -0.11340445 0.97392877 -1.2766588 ] [ 0. 0. 0. 1. ]] SLAMing on 131.881346184 meters Centerline goodness : 0.896390 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.28 [[ 8.38265610e-01 -4.94974223e-01 -2.28716608e-01 8.78648633e-01] [ 5.08215234e-01 8.61229304e-01 -1.16717456e-03 5.00701460e-01] [ 1.97555166e-01 -1.15258862e-01 9.73492348e-01 -1.27673761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.911346184 meters Centerline goodness : 0.897094 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.28 [[ 8.37278581e-01 -4.95926219e-01 -2.30264549e-01 8.80471656e-01] [ 5.09522057e-01 8.60457459e-01 -4.84262675e-04 5.02488423e-01] [ 1.98373007e-01 -1.16919404e-01 9.73127948e-01 -1.27565745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941346184 meters Centerline goodness : 0.894192 Centerline is valid? [False, False] Translation: X:0.88, Y:0.50, Z:-1.27 [[ 0.83660216 -0.49523212 -0.23418361 0.88265045] [ 0.51006824 0.8601278 0.00325076 0.50491431] [ 0.19981795 -0.12216921 0.97218695 -1.27286563] [ 0. 0. 0. 1. ]] SLAMing on 131.971346184 meters Centerline goodness : 0.895404 Centerline is valid? [False, False] Translation: X:0.89, Y:0.51, Z:-1.27 [[ 0.83642585 -0.49467051 -0.2359934 0.88610923] [ 0.51000209 0.86016093 0.00458777 0.50677833] [ 0.20072287 -0.12419446 0.97174383 -1.27366133] [ 0. 0. 0. 1. ]] SLAMing on 132.001346184 meters Centerline goodness : 0.896713 Centerline is valid? [False, False] Translation: X:0.89, Y:0.51, Z:-1.28 [[ 0.83620438 -0.49513467 -0.23580478 0.88804763] [ 0.51034757 0.8599586 0.00406928 0.50762708] [ 0.20076751 -0.12374515 0.97179192 -1.27538329] [ 0. 0. 0. 1. ]] SLAMing on 132.031346184 meters Centerline goodness : 0.892862 Centerline is valid? [False, False] Translation: X:0.89, Y:0.51, Z:-1.28 [[ 0.83578783 -0.49568579 -0.23612348 0.89173915] [ 0.51086855 0.85965111 0.00364588 0.50859745] [ 0.2011766 -0.12367524 0.97171622 -1.27757201] [ 0. 0. 0. 1. ]] SLAMing on 132.061346184 meters Centerline goodness : 0.892702 Centerline is valid? [False, False] Translation: X:0.90, Y:0.51, Z:-1.28 [[ 0.8348086 -0.49706295 -0.23669183 0.89543412] [ 0.51225981 0.8588247 0.00316426 0.51000027] [ 0.20170395 -0.12388926 0.97157962 -1.27913179] [ 0. 0. 0. 1. ]] SLAMing on 132.091346184 meters Centerline goodness : 0.892369 Centerline is valid? [False, False] Translation: X:0.90, Y:0.51, Z:-1.28 [[ 0.83488074 -0.49517891 -0.24035806 0.90016311] [ 0.51152801 0.85924125 0.00660155 0.51191177] [ 0.20325661 -0.12846139 0.97066185 -1.27904174] [ 0. 0. 0. 1. ]] SLAMing on 132.121346184 meters Centerline goodness : 0.891906 Centerline is valid? [False, False] Translation: X:0.90, Y:0.51, Z:-1.28 [[ 0.8349325 -0.49358927 -0.24342834 0.90250109] [ 0.51096296 0.85954826 0.00967753 0.51412004] [ 0.20446168 -0.13246295 0.9698706 -1.27808565] [ 0. 0. 0. 1. ]] SLAMing on 132.151346184 meters Centerline goodness : 0.890610 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-1.28 [[ 0.83485868 -0.49180108 -0.24727045 0.90662106] [ 0.5102931 0.85990805 0.01261339 0.5189903 ] [ 0.20642657 -0.1367108 0.9688644 -1.27843345] [ 0. 0. 0. 1. ]] SLAMing on 132.181346184 meters Centerline goodness : 0.890052 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-1.28 [[ 0.83489798 -0.49160729 -0.24752301 0.90855095] [ 0.51009905 0.86002531 0.01246733 0.52050492] [ 0.20674702 -0.1366702 0.9688018 -1.28014668] [ 0. 0. 0. 1. ]] SLAMing on 132.211346184 meters Centerline goodness : 0.890226 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-1.28 [[ 0.8350284 -0.49162706 -0.24704331 0.90887319] [ 0.50989631 0.86015565 0.01174737 0.52164555] [ 0.20672038 -0.13577586 0.96893323 -1.28156299] [ 0. 0. 0. 1. ]] SLAMing on 132.241346184 meters Centerline goodness : 0.890226 Centerline is valid? [False, False] Translation: X:0.91, Y:0.52, Z:-1.28 [[ 0.8350284 -0.49162706 -0.24704331 0.90887319] [ 0.50989631 0.86015565 0.01174737 0.52164555] [ 0.20672038 -0.13577586 0.96893323 -1.28156299] [ 0. 0. 0. 1. ]] SLAMing on 132.27134618399998 meters Centerline goodness : 0.892859 Centerline is valid? [False, False] Translation: X:0.92, Y:0.53, Z:-1.29 [[ 0.83568199 -0.49228254 -0.24350258 0.91857728] [ 0.511941 0.85876894 0.02079204 0.52987126] [ 0.1988769 -0.14203449 0.96967736 -1.2889885 ] [ 0. 0. 0. 1. ]] SLAMing on 132.30134618399998 meters Centerline goodness : 0.892477 Centerline is valid? [False, False] Translation: X:0.92, Y:0.53, Z:-1.29 [[ 0.83577335 -0.49175676 -0.24425027 0.91881122] [ 0.51158352 0.85897363 0.02113315 0.53183655] [ 0.19941217 -0.14261694 0.96948192 -1.28901423] [ 0. 0. 0. 1. ]] SLAMing on 132.33134618399998 meters Centerline goodness : 0.888431 Centerline is valid? [False, False] Translation: X:0.92, Y:0.53, Z:-1.29 [[ 0.83558147 -0.49162186 -0.24517659 0.92066655] [ 0.51161316 0.85895263 0.02126869 0.53481879] [ 0.20013892 -0.1432073 0.96924511 -1.29020947] [ 0. 0. 0. 1. ]] SLAMing on 132.36134618399998 meters Centerline goodness : 0.888782 Centerline is valid? [False, False] Translation: X:0.92, Y:0.54, Z:-1.29 [[ 0.83533441 -0.49125556 -0.24674765 0.92361413] [ 0.51161504 0.85893467 0.02193828 0.53773561] [ 0.20116281 -0.14456561 0.96883141 -1.29126323] [ 0. 0. 0. 1. ]] SLAMing on 132.39134618399999 meters Centerline goodness : 0.885705 Centerline is valid? [False, False] Translation: X:0.93, Y:0.54, Z:-1.29 [[ 0.8354798 -0.49004855 -0.24864818 0.92625214] [ 0.51097786 0.85927454 0.02342848 0.54095236] [ 0.20217596 -0.14662774 0.96831048 -1.29251785] [ 0. 0. 0. 1. ]] SLAMing on 132.421346184 meters Centerline goodness : 0.885891 Centerline is valid? [False, False] Translation: X:0.93, Y:0.54, Z:-1.29 [[ 0.83567045 -0.48904961 -0.24997076 0.92922219] [ 0.51032566 0.85963973 0.02423325 0.54337588] [ 0.20303353 -0.14781751 0.96795009 -1.29421356] [ 0. 0. 0. 1. ]] SLAMing on 132.451346184 meters Centerline goodness : 0.884518 Centerline is valid? [False, False] Translation: X:0.93, Y:0.54, Z:-1.30 [[ 0.83575044 -0.48893358 -0.2499303 0.92958838] [ 0.51014833 0.85975188 0.02398718 0.54490153] [ 0.20314991 -0.14754882 0.96796666 -1.29525134] [ 0. 0. 0. 1. ]] SLAMing on 132.481346184 meters Centerline goodness : 0.882109 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.30 [[ 0.83578858 -0.4884582 -0.250731 0.93063007] [ 0.5098735 0.85990307 0.0244076 0.54709575] [ 0.20368226 -0.14824068 0.96774906 -1.29592142] [ 0. 0. 0. 1. ]] SLAMing on 132.511346184 meters Centerline goodness : 0.886484 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.30 [[ 0.83598363 -0.48719973 -0.25252286 0.93086595] [ 0.50914569 0.86029513 0.02574782 0.5512443 ] [ 0.20469986 -0.15009568 0.96724829 -1.2958944 ] [ 0. 0. 0. 1. ]] SLAMing on 132.541346184 meters Centerline goodness : 0.883287 Centerline is valid? [False, False] Translation: X:0.93, Y:0.55, Z:-1.30 [[ 0.83579622 -0.48736066 -0.25283247 0.93050052] [ 0.50932524 0.86019385 0.02558007 0.55336912] [ 0.20501821 -0.15015369 0.96717186 -1.2958957 ] [ 0. 0. 0. 1. ]] SLAMing on 132.571346184 meters Centerline goodness : 0.886933 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.30 [[ 0.83564755 -0.48709258 -0.25383853 0.93218413] [ 0.50931394 0.86018593 0.02606682 0.55603876] [ 0.20565138 -0.15106617 0.9668953 -1.29681644] [ 0. 0. 0. 1. ]] SLAMing on 132.601346184 meters Centerline goodness : 0.885502 Centerline is valid? [False, False] Translation: X:0.93, Y:0.56, Z:-1.30 [[ 0.83545831 -0.4871349 -0.25437964 0.9349048 ] [ 0.50933633 0.86018791 0.02555909 0.55970949] [ 0.20636357 -0.15091835 0.96676664 -1.29949735] [ 0. 0. 0. 1. ]] SLAMing on 132.631346184 meters Centerline goodness : 0.887866 Centerline is valid? [False, False] Translation: X:0.94, Y:0.56, Z:-1.30 [[ 0.83525519 -0.48755306 -0.2542455 0.93558796] [ 0.50960734 0.86004634 0.02491274 0.56144852] [ 0.20651663 -0.15037387 0.96681879 -1.30064709] [ 0. 0. 0. 1. ]] SLAMing on 132.661346184 meters Centerline goodness : 0.881760 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.31 [[ 0.83556651 -0.49267948 -0.24309573 0.93779876] [ 0.51413875 0.85718404 0.02994762 0.56753244] [ 0.19362321 -0.15000816 0.96953989 -1.30682445] [ 0. 0. 0. 1. ]] SLAMing on 132.691346184 meters Centerline goodness : 0.885267 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.31 [[ 0.83533169 -0.49253175 -0.24419959 0.93755203] [ 0.51419116 0.85714766 0.03008902 0.57003539] [ 0.19449531 -0.15069958 0.96925807 -1.305767 ] [ 0. 0. 0. 1. ]] SLAMing on 132.721346184 meters Centerline goodness : 0.882606 Centerline is valid? [False, False] Translation: X:0.94, Y:0.57, Z:-1.31 [[ 0.83588724 -0.49081506 -0.24575008 0.93803819] [ 0.51293018 0.857858 0.03134144 0.5742207 ] [ 0.19543582 -0.15225054 0.96882641 -1.3068801 ] [ 0. 0. 0. 1. ]] SLAMing on 132.751346184 meters Centerline goodness : 0.883368 Centerline is valid? [False, False] Translation: X:0.94, Y:0.58, Z:-1.31 [[ 0.83619034 -0.49054136 -0.24526495 0.93679242] [ 0.51239803 0.85820689 0.03048255 0.57594107] [ 0.19553512 -0.15116249 0.96897674 -1.30743791] [ 0. 0. 0. 1. ]] SLAMing on 132.781346184 meters Centerline goodness : 0.887016 Centerline is valid? [False, False] Translation: X:0.94, Y:0.58, Z:-1.31 [[ 0.83670575 -0.48966268 -0.24526302 0.9358691 ] [ 0.51142397 0.85880027 0.03012658 0.57783898] [ 0.19588008 -0.15064047 0.96898836 -1.3078874 ] [ 0. 0. 0. 1. ]] SLAMing on 132.811346184 meters Centerline goodness : 0.883226 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.31 [[ 0.83751018 -0.48819032 -0.24545248 0.93415697] [ 0.50989441 0.85971765 0.02988736 0.58191528] [ 0.19642911 -0.15018581 0.96894779 -1.30891633] [ 0. 0. 0. 1. ]] SLAMing on 132.841346184 meters Centerline goodness : 0.882009 Centerline is valid? [False, False] Translation: X:0.93, Y:0.58, Z:-1.31 [[ 0.83720107 -0.4885053 -0.24587992 0.93382069] [ 0.51023941 0.85952086 0.02965875 0.58373344] [ 0.19685047 -0.15028796 0.96884644 -1.30838743] [ 0. 0. 0. 1. ]] SLAMing on 132.871346184 meters Centerline goodness : 0.882105 Centerline is valid? [False, False] Translation: X:0.93, Y:0.59, Z:-1.31 [[ 0.83652231 -0.48916308 -0.24688034 0.93367745] [ 0.51105628 0.8590385 0.02956923 0.58621324] [ 0.19761554 -0.15090507 0.96859473 -1.30717578] [ 0. 0. 0. 1. ]] SLAMing on 132.901346184 meters Centerline goodness : 0.889910 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.31 [[ 0.8359558 -0.48843157 -0.25022492 0.93753067] [ 0.51132902 0.85879201 0.0319206 0.59011992] [ 0.19930013 -0.15463148 0.96766139 -1.30710226] [ 0. 0. 0. 1. ]] SLAMing on 132.931346184 meters Centerline goodness : 0.880533 Centerline is valid? [False, False] Translation: X:0.94, Y:0.59, Z:-1.31 [[ 0.83449058 -0.49152354 -0.24905838 0.93691779] [ 0.51359459 0.85756224 0.02841833 0.59485776] [ 0.19961478 -0.15162987 0.96807144 -1.30805145] [ 0. 0. 0. 1. ]] SLAMing on 132.961346184 meters Centerline goodness : 0.882384 Centerline is valid? [False, False] Translation: X:0.94, Y:0.60, Z:-1.31 [[ 0.83406817 -0.49278493 -0.24797843 0.93711987] [ 0.51430266 0.85720226 0.02640197 0.59594089] [ 0.19955718 -0.14955701 0.96840572 -1.30920066] [ 0. 0. 0. 1. ]] SLAMing on 132.991346184 meters Centerline goodness : 0.883445 Centerline is valid? [False, False] Translation: X:0.94, Y:0.60, Z:-1.31 [[ 0.83375336 -0.49356278 -0.24748963 0.93657591] [ 0.51472647 0.85699121 0.02495443 0.59766386] [ 0.19977986 -0.14819531 0.96856913 -1.30950579] [ 0. 0. 0. 1. ]] SLAMing on 133.02134618399998 meters Centerline goodness : 0.884065 Centerline is valid? [False, False] Translation: X:0.94, Y:0.60, Z:-1.31 [[ 0.83465222 -0.49080343 -0.24993533 0.93624383] [ 0.51280387 0.85806546 0.02749281 0.60195207] [ 0.20096731 -0.15111474 0.96787214 -1.30914054] [ 0. 0. 0. 1. ]] SLAMing on 133.05134618399998 meters Centerline goodness : 0.883939 Centerline is valid? [False, False] Translation: X:0.94, Y:0.60, Z:-1.31 [[ 0.83525381 -0.48872412 -0.25199169 0.93628914] [ 0.51140243 0.85883722 0.029431 0.60475019] [ 0.2020362 -0.15345152 0.96728176 -1.30851043] [ 0. 0. 0. 1. ]] SLAMing on 133.08134618399998 meters Centerline goodness : 0.886990 Centerline is valid? [False, False] Translation: X:0.94, Y:0.61, Z:-1.31 [[ 0.83651772 -0.49232893 -0.24052094 0.93612966] [ 0.51357724 0.85748375 0.03098439 0.6126465 ] [ 0.19098829 -0.14944507 0.97014929 -1.31022822] [ 0. 0. 0. 1. ]] SLAMing on 133.11134618399998 meters Centerline goodness : 0.885144 Centerline is valid? [False, False] Translation: X:0.94, Y:0.62, Z:-1.31 [[ 0.83668305 -0.49166975 -0.24129305 0.93580484] [ 0.51291925 0.85789638 0.03045736 0.61543022] [ 0.19202947 -0.14924701 0.96997423 -1.30984609] [ 0. 0. 0. 1. ]] SLAMing on 133.14134618399999 meters Centerline goodness : 0.879393 Centerline is valid? [False, False] Translation: X:0.94, Y:0.62, Z:-1.31 [[ 0.83712311 -0.49064332 -0.24185541 0.93553352] [ 0.51177201 0.85861347 0.02953508 0.62005267] [ 0.19316912 -0.14849932 0.96986269 -1.3108717 ] [ 0. 0. 0. 1. ]] SLAMing on 133.171346184 meters Centerline goodness : 0.883787 Centerline is valid? [False, False] Translation: X:0.93, Y:0.62, Z:-1.31 [[ 0.83700373 -0.49078691 -0.24197719 0.93451371] [ 0.51178479 0.858632 0.0287648 0.62234248] [ 0.19365197 -0.14791649 0.96985547 -1.31049285] [ 0. 0. 0. 1. ]] SLAMing on 133.201346184 meters Centerline goodness : 0.882134 Centerline is valid? [False, False] Translation: X:0.94, Y:0.63, Z:-1.31 [[ 0.83682886 -0.49024019 -0.24368424 0.93659389] [ 0.51158233 0.85873745 0.02921505 0.62581014] [ 0.19493839 -0.14911255 0.9694145 -1.31102158] [ 0. 0. 0. 1. ]] SLAMing on 133.231346184 meters Centerline goodness : 0.874388 Centerline is valid? [False, False] Translation: X:0.94, Y:0.63, Z:-1.31 [[ 0.83677721 -0.48971765 -0.24490923 0.93630872] [ 0.51126462 0.85892245 0.02933782 0.62964737] [ 0.19599078 -0.14976264 0.96910204 -1.31059114] [ 0. 0. 0. 1. ]] SLAMing on 133.261346184 meters Centerline goodness : 0.875655 Centerline is valid? [False, False] Translation: X:0.94, Y:0.63, Z:-1.31 [[ 0.83673632 -0.48899187 -0.24649399 0.93723192] [ 0.5109069 0.85911233 0.03000238 0.63163984] [ 0.19709511 -0.15103956 0.96867981 -1.30985558] [ 0. 0. 0. 1. ]] SLAMing on 133.291346184 meters Centerline goodness : 0.873648 Centerline is valid? [False, False] Translation: X:0.94, Y:0.64, Z:-1.31 [[ 0.83677323 -0.49433397 -0.23546654 0.93745362] [ 0.51460269 0.85691254 0.02974847 0.63976319] [ 0.18706855 -0.14606444 0.97142706 -1.3089521 ] [ 0. 0. 0. 1. ]] SLAMing on 133.321346184 meters Centerline goodness : 0.870468 Centerline is valid? [False, False] Translation: X:0.94, Y:0.64, Z:-1.31 [[ 0.83637807 -0.49396493 -0.23763496 0.94092508] [ 0.51462118 0.85689045 0.03006306 0.64461892] [ 0.18877703 -0.14743607 0.9708892 -1.31038846] [ 0. 0. 0. 1. ]] SLAMing on 133.351346184 meters Centerline goodness : 0.869906 Centerline is valid? [False, False] Translation: X:0.94, Y:0.65, Z:-1.31 [[ 0.83622539 -0.49422987 -0.2376214 0.94132358] [ 0.51466398 0.85690478 0.02889954 0.64648393] [ 0.1893359 -0.1464617 0.97092785 -1.31082334] [ 0. 0. 0. 1. ]] SLAMing on 133.381346184 meters Centerline goodness : 0.869828 Centerline is valid? [False, False] Translation: X:0.94, Y:0.65, Z:-1.31 [[ 0.83612483 -0.49406739 -0.23831217 0.94182306] [ 0.51448926 0.85702932 0.02831166 0.64877813] [ 0.19025265 -0.14628113 0.97077585 -1.31074612] [ 0. 0. 0. 1. ]] SLAMing on 133.411346184 meters Centerline goodness : 0.870273 Centerline is valid? [False, False] Translation: X:0.94, Y:0.65, Z:-1.31 [[ 0.83632519 -0.49238128 -0.24108266 0.94408391] [ 0.51354185 0.857537 0.03008437 0.65210446] [ 0.19192431 -0.14896635 0.97003819 -1.3105851 ] [ 0. 0. 0. 1. ]] SLAMing on 133.441346184 meters Centerline goodness : 0.868351 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83701442 -0.49004702 -0.24343536 0.94313424] [ 0.51187967 0.85846516 0.03188679 0.65715319] [ 0.19335475 -0.15129931 0.96939283 -1.30972737] [ 0. 0. 0. 1. ]] SLAMing on 133.471346184 meters Centerline goodness : 0.869224 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83718029 -0.4892183 -0.24452937 0.94296865] [ 0.51124044 0.85883942 0.03206347 0.65958805] [ 0.19432542 -0.15185621 0.96911161 -1.3089661 ] [ 0. 0. 0. 1. ]] SLAMing on 133.501346184 meters Centerline goodness : 0.864612 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83743246 -0.48874887 -0.24460463 0.9419021 ] [ 0.51066142 0.85920401 0.03151804 0.66126627] [ 0.19476087 -0.15130438 0.96911051 -1.30854062] [ 0. 0. 0. 1. ]] SLAMing on 133.531346184 meters Centerline goodness : 0.863989 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83805224 -0.48820567 -0.24356449 0.94023194] [ 0.5096611 0.85984726 0.03013707 0.66329047] [ 0.19471517 -0.14939178 0.96941637 -1.30961152] [ 0. 0. 0. 1. ]] SLAMing on 133.561346184 meters Centerline goodness : 0.865900 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83835904 -0.48796725 -0.24298578 0.93969533] [ 0.50917278 0.8601628 0.02937758 0.66377748] [ 0.19467203 -0.1483507 0.9695849 -1.31001618] [ 0. 0. 0. 1. ]] SLAMing on 133.591346184 meters Centerline goodness : 0.864119 Centerline is valid? [False, False] Translation: X:0.94, Y:0.66, Z:-1.31 [[ 0.83840363 -0.48810157 -0.24256177 0.93917679] [ 0.50909595 0.86023318 0.02863902 0.66466867] [ 0.19468093 -0.14749827 0.96971315 -1.31024612] [ 0. 0. 0. 1. ]] SLAMing on 133.621346184 meters Centerline goodness : 0.863878 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83796114 -0.4882335 -0.24382203 0.93837371] [ 0.50951736 0.85996887 0.02907916 0.66650948] [ 0.19548193 -0.14859876 0.96938394 -1.30814122] [ 0. 0. 0. 1. ]] SLAMing on 133.651346184 meters Centerline goodness : 0.861873 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83743184 -0.48864582 -0.24481252 0.93739487] [ 0.51016149 0.85957603 0.02939899 0.6680676 ] [ 0.19606928 -0.14951357 0.96912462 -1.30608015] [ 0. 0. 0. 1. ]] SLAMing on 133.681346184 meters Centerline goodness : 0.862759 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.30 [[ 0.83677096 -0.48923965 -0.24588395 0.93726228] [ 0.51096417 0.85909526 0.02951196 0.6699539 ] [ 0.19679931 -0.15033263 0.9688499 -1.30447903] [ 0. 0. 0. 1. ]] SLAMing on 133.711346184 meters Centerline goodness : 0.860140 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.30 [[ 0.83657599 -0.48947832 -0.24607234 0.9373738 ] [ 0.51123455 0.85893518 0.0294889 0.67060459] [ 0.19692601 -0.15047038 0.96880277 -1.30414245] [ 0. 0. 0. 1. ]] SLAMing on 133.741346184 meters Centerline goodness : 0.860232 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83667126 -0.49076906 -0.2431603 0.93628242] [ 0.51138089 0.85896285 0.02593067 0.67164196] [ 0.1961397 -0.14604298 0.96963945 -1.30664918] [ 0. 0. 0. 1. ]] SLAMing on 133.77134618399998 meters Centerline goodness : 0.859658 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83711373 -0.49072819 -0.24171562 0.93616577] [ 0.51082091 0.85933899 0.024464 0.67181425] [ 0.19571049 -0.14395254 0.9700387 -1.30843188] [ 0. 0. 0. 1. ]] SLAMing on 133.80134618399998 meters Centerline goodness : 0.860787 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83766504 -0.49010836 -0.24106237 0.93556054] [ 0.50998084 0.85985241 0.02394511 0.6718701 ] [ 0.19554237 -0.14299517 0.97021418 -1.30893061] [ 0. 0. 0. 1. ]] SLAMing on 133.83134618399998 meters Centerline goodness : 0.860300 Centerline is valid? [False, False] Translation: X:0.94, Y:0.67, Z:-1.31 [[ 0.83890354 -0.48672361 -0.24360005 0.93555276] [ 0.50745589 0.86126331 0.02672147 0.6741164 ] [ 0.19679781 -0.14603302 0.9695076 -1.30781656] [ 0. 0. 0. 1. ]] SLAMing on 133.86134618399998 meters Centerline goodness : 0.861287 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.31 [[ 0.83962039 -0.48443202 -0.24568928 0.93628425] [ 0.50588477 0.86211479 0.02895999 0.67579015] [ 0.19778322 -0.14860586 0.96891594 -1.30718119] [ 0. 0. 0. 1. ]] SLAMing on 133.89134618399999 meters Centerline goodness : 0.863253 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.31 [[ 0.84000332 -0.48320474 -0.24679465 0.93673913] [ 0.50484599 0.86271575 0.02919014 0.67738899] [ 0.19880881 -0.14911311 0.96862807 -1.30643522] [ 0. 0. 0. 1. ]] SLAMing on 133.921346184 meters Centerline goodness : 0.862598 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.31 [[ 0.84020406 -0.48322855 -0.24606361 0.93626305] [ 0.50455102 0.86292141 0.02819416 0.6780012 ] [ 0.19870934 -0.14784049 0.96884353 -1.30695743] [ 0. 0. 0. 1. ]] SLAMing on 133.951346184 meters Centerline goodness : 0.863493 Centerline is valid? [False, False] Translation: X:0.93, Y:0.68, Z:-1.31 [[ 0.8397356 -0.4856786 -0.24281769 0.93445036] [ 0.50575067 0.86234014 0.02420207 0.67742958] [ 0.19763702 -0.14312855 0.96976999 -1.30793494] [ 0. 0. 0. 1. ]] SLAMing on 133.981346184 meters Centerline goodness : 0.863344 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.31 [[ 0.83920037 -0.48639432 -0.24323508 0.93563837] [ 0.50651289 0.86189762 0.0240249 0.6776333 ] [ 0.19795816 -0.14336341 0.96966979 -1.30743844] [ 0. 0. 0. 1. ]] SLAMing on 134.011346184 meters Centerline goodness : 0.864158 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.31 [[ 0.8384378 -0.48735057 -0.24394974 0.9363379 ] [ 0.50754477 0.86129838 0.02373627 0.67845576] [ 0.19854563 -0.1437168 0.96949735 -1.30617188] [ 0. 0. 0. 1. ]] SLAMing on 134.041346184 meters Centerline goodness : 0.865212 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.8363986 -0.49021038 -0.24521659 0.9369984 ] [ 0.51060025 0.85950074 0.02336362 0.67934362] [ 0.19931075 -0.14474895 0.96918676 -1.30295177] [ 0. 0. 0. 1. ]] SLAMing on 134.071346184 meters Centerline goodness : 0.866385 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83518778 -0.49236574 -0.24502521 0.93733303] [ 0.51254387 0.85837436 0.0221865 0.67912073] [ 0.19939949 -0.14411606 0.96926282 -1.30147503] [ 0. 0. 0. 1. ]] SLAMing on 134.101346184 meters Centerline goodness : 0.866385 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83518778 -0.49236574 -0.24502521 0.93733303] [ 0.51254387 0.85837436 0.0221865 0.67912073] [ 0.19939949 -0.14411606 0.96926282 -1.30147503] [ 0. 0. 0. 1. ]] SLAMing on 134.131346184 meters Centerline goodness : 0.862829 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83374454 -0.49503565 -0.24456029 0.93763996] [ 0.51485904 0.85703103 0.02044485 0.67893399] [ 0.19947483 -0.14295986 0.96941852 -1.29998924] [ 0. 0. 0. 1. ]] SLAMing on 134.161346184 meters Centerline goodness : 0.866297 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83186839 -0.4992054 -0.24246432 0.93680122] [ 0.51826493 0.85503716 0.01768937 0.67656479] [ 0.19848537 -0.14037599 0.96999904 -1.29828324] [ 0. 0. 0. 1. ]] SLAMing on 134.191346184 meters Centerline goodness : 0.865521 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83074989 -0.50082134 -0.24296626 0.93820314] [ 0.51988041 0.85406785 0.01710194 0.6772876 ] [ 0.19894465 -0.14052083 0.96988397 -1.29738112] [ 0. 0. 0. 1. ]] SLAMing on 134.221346184 meters Centerline goodness : 0.865332 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83009141 -0.50162173 -0.24356498 0.93899867] [ 0.52067702 0.85359351 0.01653963 0.67870425] [ 0.19960885 -0.14054809 0.96974354 -1.29655105] [ 0. 0. 0. 1. ]] SLAMing on 134.251346184 meters Centerline goodness : 0.864923 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.82957137 -0.50187449 -0.24481286 0.94038365] [ 0.52107086 0.85335804 0.01628525 0.68058001] [ 0.20073987 -0.14107463 0.96943357 -1.29560959] [ 0. 0. 0. 1. ]] SLAMing on 134.281346184 meters Centerline goodness : 0.865258 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.82995936 -0.501582 -0.24409622 0.93945778] [ 0.52049281 0.85372604 0.0154622 0.68117852] [ 0.20063574 -0.13988332 0.96962774 -1.29589134] [ 0. 0. 0. 1. ]] SLAMing on 134.311346184 meters Centerline goodness : 0.864308 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83011753 -0.50142599 -0.24387878 0.93974243] [ 0.52020137 0.85391217 0.01498499 0.68176883] [ 0.20073719 -0.13930538 0.96968994 -1.29637253] [ 0. 0. 0. 1. ]] SLAMing on 134.341346184 meters Centerline goodness : 0.863923 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83003774 -0.50115589 -0.24470416 0.94072993] [ 0.52001315 0.85402953 0.01482857 0.68309409] [ 0.20155315 -0.13955765 0.96948439 -1.29592058] [ 0. 0. 0. 1. ]] SLAMing on 134.371346184 meters Centerline goodness : 0.863600 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.30 [[ 0.83008496 -0.50086246 -0.24514435 0.94029565] [ 0.51976227 0.85418342 0.01476041 0.68409741] [ 0.2020053 -0.13966918 0.96937422 -1.29501241] [ 0. 0. 0. 1. ]] SLAMing on 134.401346184 meters Centerline goodness : 0.863533 Centerline is valid? [False, False] Translation: X:0.94, Y:0.68, Z:-1.29 [[ 0.82981444 -0.50113315 -0.24550674 0.94027489] [ 0.52005273 0.85401005 0.01455974 0.68468427] [ 0.20236885 -0.13975834 0.96928554 -1.29402056] [ 0. 0. 0. 1. ]] SLAMing on 134.431346184 meters Centerline goodness : 0.863599 Centerline is valid? [False, False] Translation: X:0.94, Y:0.69, Z:-1.29 [[ 0.82922421 -0.50136816 -0.24701656 0.94201676] [ 0.52053181 0.85371713 0.01461844 0.6866071 ] [ 0.20355304 -0.14070194 0.96890099 -1.29308417] [ 0. 0. 0. 1. ]] SLAMing on 134.461346184 meters Centerline goodness : 0.864313 Centerline is valid? [False, False] Translation: X:0.94, Y:0.69, Z:-1.29 [[ 0.82887947 -0.50148905 -0.24792652 0.94325653] [ 0.52074483 0.85359106 0.01439186 0.68789973] [ 0.2044105 -0.14103557 0.96867193 -1.29246566] [ 0. 0. 0. 1. ]] SLAMing on 134.491346184 meters Centerline goodness : 0.861283 Centerline is valid? [False, False] Translation: X:0.94, Y:0.69, Z:-1.29 [[ 0.82870213 -0.5021234 -0.24723443 0.94374853] [ 0.52098529 0.85346779 0.01292485 0.68877113] [ 0.20451675 -0.13951635 0.96886949 -1.29318043] [ 0. 0. 0. 1. ]] SLAMing on 134.52134618399998 meters Centerline goodness : 0.861034 Centerline is valid? [False, False] Translation: X:0.94, Y:0.69, Z:-1.29 [[ 0.82848241 -0.50254458 -0.24711506 0.94365264] [ 0.52129286 0.8532876 0.01241086 0.68907363] [ 0.2046232 -0.1391015 0.96890666 -1.29266306] [ 0. 0. 0. 1. ]] SLAMing on 134.55134618399998 meters Centerline goodness : 0.860283 Centerline is valid? [False, False] Translation: X:0.94, Y:0.69, Z:-1.29 [[ 0.82827756 -0.50237128 -0.24815193 0.94432474] [ 0.52129695 0.8532831 0.01254731 0.68996088] [ 0.20544044 -0.1397535 0.96863986 -1.29142049] [ 0. 0. 0. 1. ]] SLAMing on 134.58134618399998 meters Centerline goodness : 0.856706 Centerline is valid? [False, False] Translation: X:0.95, Y:0.69, Z:-1.29 [[ 0.82840923 -0.50120778 -0.25005779 0.94628407] [ 0.52060606 0.85368877 0.01359452 0.69199887] [ 0.20665785 -0.14144343 0.96813547 -1.2910861 ] [ 0. 0. 0. 1. ]] SLAMing on 134.61134618399998 meters Centerline goodness : 0.857077 Centerline is valid? [False, False] Translation: X:0.95, Y:0.69, Z:-1.29 [[ 0.82802269 -0.50197685 -0.24979525 0.94687345] [ 0.52115842 0.85336614 0.01265416 0.69243672] [ 0.20681471 -0.14066084 0.96821599 -1.29117536] [ 0. 0. 0. 1. ]] SLAMing on 134.64134618399999 meters Centerline goodness : 0.855357 Centerline is valid? [False, False] Translation: X:0.95, Y:0.69, Z:-1.29 [[ 0.82694272 -0.50449583 -0.24829357 0.94662254] [ 0.5228629 0.85236363 0.0095201 0.69316912] [ 0.20683356 -0.13769607 0.96863805 -1.29090769] [ 0. 0. 0. 1. ]] SLAMing on 134.671346184 meters Centerline goodness : 0.856090 Centerline is valid? [False, False] Translation: X:0.95, Y:0.69, Z:-1.29 [[ 0.82616836 -0.50588219 -0.24805051 0.94815787] [ 0.52393839 0.8517183 0.00803143 0.69394595] [ 0.2072062 -0.1365985 0.96871381 -1.29122621] [ 0. 0. 0. 1. ]] SLAMing on 134.701346184 meters Centerline goodness : 0.856242 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.8252798 -0.5068212 -0.24908939 0.94939402] [ 0.52498689 0.85107548 0.00769997 0.69537926] [ 0.20809136 -0.13712329 0.96844989 -1.28989575] [ 0. 0. 0. 1. ]] SLAMing on 134.731346184 meters Centerline goodness : 0.853201 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.82488486 -0.50696709 -0.25009865 0.94897756] [ 0.52533585 0.85085796 0.00793529 0.69661179] [ 0.2087755 -0.13793149 0.96818784 -1.28807256] [ 0. 0. 0. 1. ]] SLAMing on 134.761346184 meters Centerline goodness : 0.854758 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.82436962 -0.50738134 -0.25095601 0.94843015] [ 0.52586933 0.85052921 0.00784222 0.69831301] [ 0.20946642 -0.13843495 0.96796673 -1.28643649] [ 0. 0. 0. 1. ]] SLAMing on 134.791346184 meters Centerline goodness : 0.853764 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.82400212 -0.5077565 -0.25140376 0.94949472] [ 0.5261682 0.85035062 0.00713057 0.69966752] [ 0.21016075 -0.13815626 0.96785604 -1.28620666] [ 0. 0. 0. 1. ]] SLAMing on 134.821346184 meters Centerline goodness : 0.853000 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.82381599 -0.51058664 -0.24622853 0.94829598] [ 0.52718788 0.84974691 0.00177227 0.69862275] [ 0.20832704 -0.13126872 0.96921018 -1.28976284] [ 0. 0. 0. 1. ]] SLAMing on 134.851346184 meters Centerline goodness : 0.852958 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 8.23426445e-01 -5.11361461e-01 -2.45923455e-01 9.49132012e-01] [ 5.27740498e-01 8.49405256e-01 8.22899054e-04 6.99029369e-01] [ 2.08467877e-01 -1.30461364e-01 9.69288903e-01 -1.29004097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881346184 meters Centerline goodness : 0.853367 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.29 [[ 0.82335227 -0.50985334 -0.24928019 0.94905942] [ 0.52730535 0.84966727 0.00382042 0.70120298] [ 0.20985736 -0.13459233 0.96842387 -1.28690721] [ 0. 0. 0. 1. ]] SLAMing on 134.911346184 meters Centerline goodness : 0.853575 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.28 [[ 0.82299048 -0.50930462 -0.2515859 0.94988321] [ 0.52730127 0.84966442 0.00487275 0.70346343] [ 0.21128187 -0.13667179 0.96782271 -1.28495745] [ 0. 0. 0. 1. ]] SLAMing on 134.941346184 meters Centerline goodness : 0.852683 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.28 [[ 0.82258442 -0.50965281 -0.25220801 0.94983288] [ 0.52769029 0.84942443 0.00459248 0.7044503 ] [ 0.21189108 -0.13686542 0.96766215 -1.2835958 ] [ 0. 0. 0. 1. ]] SLAMing on 134.971346184 meters Centerline goodness : 0.854633 Centerline is valid? [False, False] Translation: X:0.95, Y:0.71, Z:-1.28 [[ 0.82199726 -0.51038236 -0.2526467 0.95220892] [ 0.52830878 0.84904432 0.0036855 0.70551628] [ 0.21262723 -0.13650494 0.96755158 -1.28393357] [ 0. 0. 0. 1. ]] SLAMing on 135.001346184 meters Centerline goodness : 0.855612 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.28 [[ 8.20534528e-01 -5.14429660e-01 -2.49169047e-01 9.51425852e-01] [ 5.31067040e-01 8.47329638e-01 -5.32386337e-04 7.04202787e-01] [ 2.11402193e-01 -1.31888627e-01 9.68459861e-01 -1.28468753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031346184 meters Centerline goodness : 0.856349 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.28 [[ 8.19683806e-01 -5.15543573e-01 -2.49666342e-01 9.52560363e-01] [ 5.32169756e-01 8.46636997e-01 -1.07075174e-03 7.04251089e-01] [ 2.11928781e-01 -1.31987198e-01 9.68331333e-01 -1.28352552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061346184 meters Centerline goodness : 0.858422 Centerline is valid? [False, False] Translation: X:0.95, Y:0.70, Z:-1.28 [[ 8.18851076e-01 -5.16249729e-01 -2.50936510e-01 9.53510874e-01] [ 5.33132017e-01 8.46031658e-01 -8.28451131e-04 7.04893672e-01] [ 2.12727920e-01 -1.33103910e-01 9.68003193e-01 -1.28166407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091346184 meters Centerline goodness : 0.856718 Centerline is valid? [False, False] Translation: X:0.95, Y:0.71, Z:-1.28 [[ 8.18022337e-01 -5.16603783e-01 -2.52903117e-01 9.54308368e-01] [ 5.33953915e-01 8.45513581e-01 -3.67122059e-05 7.06334200e-01] [ 2.13851986e-01 -1.35008578e-01 9.67491608e-01 -1.27924196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121346184 meters Centerline goodness : 0.855988 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 8.18011716e-01 -5.16346410e-01 -2.53462459e-01 9.55540212e-01] [ 5.33668655e-01 8.45693520e-01 -4.87648142e-04 7.07480358e-01] [ 2.14603354e-01 -1.34866067e-01 9.67345101e-01 -1.27923618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151346184 meters Centerline goodness : 0.858432 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81809977 -0.51618845 -0.25350001 0.95705062] [ 0.53327983 0.84593752 -0.00152692 0.70898639] [ 0.21523334 -0.13393727 0.96733418 -1.28033369] [ 0. 0. 0. 1. ]] SLAMing on 135.181346184 meters Centerline goodness : 0.858634 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81867566 -0.51588495 -0.25225558 0.95638399] [ 0.5324235 0.84647218 -0.00317178 0.70988894] [ 0.2151636 -0.13171013 0.96765545 -1.28156728] [ 0. 0. 0. 1. ]] SLAMing on 135.211346184 meters Centerline goodness : 0.862252 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81889015 -0.51499263 -0.25338018 0.95729083] [ 0.53172579 0.8469117 -0.00287424 0.71109549] [ 0.21607085 -0.13237509 0.96736251 -1.28098872] [ 0. 0. 0. 1. ]] SLAMing on 135.241346184 meters Centerline goodness : 0.861604 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81886649 -0.51467174 -0.25410762 0.95674937] [ 0.53158563 0.84700093 -0.00247843 0.71135947] [ 0.21650497 -0.13305045 0.96717277 -1.279471 ] [ 0. 0. 0. 1. ]] SLAMing on 135.27134618399998 meters Centerline goodness : 0.861622 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 8.18802198e-01 -5.13520915e-01 -2.56630531e-01 9.57464790e-01] [ 5.31155227e-01 8.47274231e-01 -7.09076719e-04 7.11900966e-01] [ 2.17800562e-01 -1.35730055e-01 9.66509321e-01 -1.27688743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30134618399998 meters Centerline goodness : 0.863385 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 8.18176609e-01 -5.14023048e-01 -2.57618599e-01 9.59068879e-01] [ 5.31780229e-01 8.46881936e-01 -8.79941398e-04 7.12913567e-01] [ 2.18624848e-01 -1.36276530e-01 9.66246285e-01 -1.27616217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33134618399998 meters Centerline goodness : 0.861839 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81715054 -0.51548665 -0.25795059 0.96084943] [ 0.53310034 0.84604977 -0.00195437 0.71379196] [ 0.21924649 -0.13591654 0.96615613 -1.27575768] [ 0. 0. 0. 1. ]] SLAMing on 135.36134618399998 meters Centerline goodness : 0.860481 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81573244 -0.51827857 -0.25684219 0.9611314 ] [ 0.53520537 0.84470883 -0.00471147 0.71425831] [ 0.21939872 -0.13362001 0.96644187 -1.27522881] [ 0. 0. 0. 1. ]] SLAMing on 135.39134618399999 meters Centerline goodness : 0.863897 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.28 [[ 0.81433452 -0.5217735 -0.25418833 0.96068179] [ 0.53761512 0.84314856 -0.00839545 0.71367744] [ 0.21869905 -0.12981879 0.9671183 -1.27558704] [ 0. 0. 0. 1. ]] SLAMing on 135.421346184 meters Centerline goodness : 0.864049 Centerline is valid? [False, False] Translation: X:0.96, Y:0.71, Z:-1.27 [[ 0.81367325 -0.52263726 -0.25453122 0.96118647] [ 0.53844322 0.84261481 -0.0088989 0.71442296] [ 0.21912267 -0.12980981 0.96702361 -1.27478498] [ 0. 0. 0. 1. ]] SLAMing on 135.451346184 meters Centerline goodness : 0.864448 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81297688 -0.52323735 -0.25552156 0.96182897] [ 0.53912249 0.84217655 -0.00925211 0.71579963] [ 0.22003532 -0.13023567 0.96675909 -1.2733356 ] [ 0. 0. 0. 1. ]] SLAMing on 135.481346184 meters Centerline goodness : 0.867770 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81220718 -0.52393618 -0.25653532 0.96210469] [ 0.53989844 0.8416749 -0.009646 0.71749069] [ 0.22097323 -0.13066846 0.96648672 -1.27184937] [ 0. 0. 0. 1. ]] SLAMing on 135.511346184 meters Centerline goodness : 0.866468 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81201249 -0.5244274 -0.25614766 0.96147463] [ 0.54010449 0.84152951 -0.01073418 0.71852535] [ 0.22118511 -0.12963022 0.96657807 -1.27162838] [ 0. 0. 0. 1. ]] SLAMing on 135.541346184 meters Centerline goodness : 0.866511 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81214477 -0.5240376 -0.25652576 0.9618926 ] [ 0.53971056 0.84177982 -0.01091965 0.71904308] [ 0.22166052 -0.12958132 0.96647571 -1.27131232] [ 0. 0. 0. 1. ]] SLAMing on 135.571346184 meters Centerline goodness : 0.865689 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81224661 -0.5237991 -0.25669038 0.96133733] [ 0.53942734 0.84195798 -0.01117611 0.71935641] [ 0.22197655 -0.12938806 0.96642907 -1.27043708] [ 0. 0. 0. 1. ]] SLAMing on 135.601346184 meters Centerline goodness : 0.867532 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81249093 -0.52335759 -0.25681768 0.9613239 ] [ 0.53898575 0.84224064 -0.01118303 0.71972572] [ 0.22215501 -0.12933496 0.96639517 -1.2704055 ] [ 0. 0. 0. 1. ]] SLAMing on 135.631346184 meters Centerline goodness : 0.866862 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81260845 -0.52343433 -0.2562889 0.96073984] [ 0.53877064 0.84236492 -0.01214699 0.72019053] [ 0.22224693 -0.12821019 0.9665239 -1.27046282] [ 0. 0. 0. 1. ]] SLAMing on 135.661346184 meters Centerline goodness : 0.869045 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81253914 -0.52324792 -0.25688864 0.9611344 ] [ 0.53865645 0.84243772 -0.0121622 0.72075634] [ 0.22277652 -0.12849246 0.96636448 -1.26973423] [ 0. 0. 0. 1. ]] SLAMing on 135.691346184 meters Centerline goodness : 0.868855 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81235696 -0.52322748 -0.25750566 0.96126571] [ 0.53871595 0.84239939 -0.01218171 0.72169406] [ 0.22329642 -0.12882651 0.9662 -1.26892788] [ 0. 0. 0. 1. ]] SLAMing on 135.721346184 meters Centerline goodness : 0.871338 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81203915 -0.52377056 -0.257404 0.96110889] [ 0.53909167 0.84214781 -0.01293177 0.72275836] [ 0.22354549 -0.12826325 0.96621734 -1.26862839] [ 0. 0. 0. 1. ]] SLAMing on 135.751346184 meters Centerline goodness : 0.870433 Centerline is valid? [False, False] Translation: X:0.96, Y:0.72, Z:-1.27 [[ 0.81178837 -0.52472452 -0.25624952 0.96131623] [ 0.53943382 0.84189352 -0.0150481 0.72439101] [ 0.22363092 -0.12601378 0.96649353 -1.26989606] [ 0. 0. 0. 1. ]] SLAMing on 135.781346184 meters Centerline goodness : 0.871249 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81241279 -0.52976042 -0.24359671 0.96048378] [ 0.54301043 0.83959338 -0.01492106 0.72985005] [ 0.21242677 -0.12015349 0.96976183 -1.27016986] [ 0. 0. 0. 1. ]] SLAMing on 135.811346184 meters Centerline goodness : 0.869993 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81273774 -0.52903846 -0.2440813 0.96032227] [ 0.54237147 0.84000991 -0.01471554 0.73034281] [ 0.21281579 -0.12042286 0.96964312 -1.26961862] [ 0. 0. 0. 1. ]] SLAMing on 135.841346184 meters Centerline goodness : 0.866651 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81322339 -0.52768837 -0.24538277 0.95999844] [ 0.54135274 0.84068289 -0.0137657 0.73136378] [ 0.21355309 -0.12164405 0.96932853 -1.26837495] [ 0. 0. 0. 1. ]] SLAMing on 135.871346184 meters Centerline goodness : 0.867047 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81281921 -0.52789851 -0.24626832 0.96114934] [ 0.54161868 0.8405066 -0.01406641 0.73254854] [ 0.21441579 -0.12195008 0.96909961 -1.26760537] [ 0. 0. 0. 1. ]] SLAMing on 135.901346184 meters Centerline goodness : 0.867883 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81227056 -0.5288814 -0.24596951 0.96161803] [ 0.54238814 0.83999398 -0.01500706 0.73283752] [ 0.21454986 -0.12122115 0.96916139 -1.26745973] [ 0. 0. 0. 1. ]] SLAMing on 135.931346184 meters Centerline goodness : 0.866078 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.27 [[ 0.81143775 -0.5297199 -0.24691214 0.96424258] [ 0.54326532 0.83941774 -0.01551281 0.73369684] [ 0.21547987 -0.12155112 0.9689137 -1.26705392] [ 0. 0. 0. 1. ]] SLAMing on 135.961346184 meters Centerline goodness : 0.869179 Centerline is valid? [False, False] Translation: X:0.96, Y:0.73, Z:-1.26 [[ 0.80897523 -0.53299397 -0.24794456 0.96474447] [ 0.54657087 0.83725059 -0.01648442 0.73482365] [ 0.21637782 -0.12218379 0.96863397 -1.263834 ] [ 0. 0. 0. 1. ]] SLAMing on 135.991346184 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.8079195 -0.53387812 -0.24947993 0.96644123] [ 0.54766175 0.83653516 -0.01659936 0.73642852] [ 0.21756076 -0.12321967 0.96823769 -1.26227024] [ 0. 0. 0. 1. ]] SLAMing on 136.02134618399998 meters Centerline goodness : 0.868167 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.8079195 -0.53387812 -0.24947993 0.96644123] [ 0.54766175 0.83653516 -0.01659936 0.73642852] [ 0.21756076 -0.12321967 0.96823769 -1.26227024] [ 0. 0. 0. 1. ]] SLAMing on 136.05134618399998 meters Centerline goodness : 0.867199 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80719988 -0.53495326 -0.24950624 0.96692381] [ 0.54859128 0.83590893 -0.01743202 0.7373573 ] [ 0.21788981 -0.12280582 0.96821628 -1.26195704] [ 0. 0. 0. 1. ]] SLAMing on 136.08134618399998 meters Centerline goodness : 0.869586 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80657161 -0.53696671 -0.24720232 0.96689856] [ 0.54962203 0.83515458 -0.02079546 0.73708416] [ 0.21761862 -0.11909482 0.96874071 -1.26272109] [ 0. 0. 0. 1. ]] SLAMing on 136.11134618399998 meters Centerline goodness : 0.870882 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80652725 -0.53717487 -0.24689463 0.96742171] [ 0.54963502 0.83512759 -0.02152308 0.73738545] [ 0.21775018 -0.11834299 0.96880328 -1.26304622] [ 0. 0. 0. 1. ]] SLAMing on 136.14134618399999 meters Centerline goodness : 0.871794 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.8064423 -0.53700785 -0.24753463 0.96754363] [ 0.54955439 0.83518194 -0.02147317 0.73788927] [ 0.21826771 -0.11871687 0.96864106 -1.26196249] [ 0. 0. 0. 1. ]] SLAMing on 136.171346184 meters Centerline goodness : 0.868688 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80615209 -0.5365771 -0.24940693 0.96847597] [ 0.54952682 0.83522009 -0.02068018 0.73898917] [ 0.21940619 -0.12038442 0.96817794 -1.2601798 ] [ 0. 0. 0. 1. ]] SLAMing on 136.201346184 meters Centerline goodness : 0.869703 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80527539 -0.53659036 -0.25219504 0.96923282] [ 0.550231 0.83479071 -0.01924371 0.74032143] [ 0.22085607 -0.12326904 0.96748506 -1.25692253] [ 0. 0. 0. 1. ]] SLAMing on 136.231346184 meters Centerline goodness : 0.870171 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80494186 -0.5367755 -0.25286492 0.97146376] [ 0.55048874 0.83461846 -0.0193436 0.74090571] [ 0.2214289 -0.12362881 0.9673082 -1.25714222] [ 0. 0. 0. 1. ]] SLAMing on 136.261346184 meters Centerline goodness : 0.870579 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80423595 -0.53867832 -0.25105818 0.97004413] [ 0.5516896 0.83376759 -0.02168385 0.73993538] [ 0.22100479 -0.12106725 0.9677291 -1.25626662] [ 0. 0. 0. 1. ]] SLAMing on 136.291346184 meters Centerline goodness : 0.869393 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.26 [[ 0.80361608 -0.5399852 -0.25023427 0.97018103] [ 0.55260216 0.83312344 -0.02315569 0.73927113] [ 0.22097976 -0.11967171 0.96790838 -1.25570984] [ 0. 0. 0. 1. ]] SLAMing on 136.321346184 meters Centerline goodness : 0.871090 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.80223197 -0.5424508 -0.24934115 0.97103769] [ 0.55450178 0.83179073 -0.02553325 0.73863131] [ 0.22125019 -0.11777652 0.96807905 -1.25461881] [ 0. 0. 0. 1. ]] SLAMing on 136.351346184 meters Centerline goodness : 0.872385 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.80148576 -0.54295359 -0.25064312 0.97272457] [ 0.55522938 0.83131073 -0.02535356 0.73907777] [ 0.22212811 -0.11884391 0.9677475 -1.25329181] [ 0. 0. 0. 1. ]] SLAMing on 136.381346184 meters Centerline goodness : 0.870005 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.80079614 -0.54348669 -0.25168982 0.97292624] [ 0.55601152 0.83080034 -0.0249396 0.73911704] [ 0.22265833 -0.1199709 0.96748656 -1.25129644] [ 0. 0. 0. 1. ]] SLAMing on 136.411346184 meters Centerline goodness : 0.872606 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.8001291 -0.54372718 -0.25328674 0.97352264] [ 0.55655247 0.830449 -0.02457241 0.74004357] [ 0.22370241 -0.12130626 0.96707912 -1.24904519] [ 0. 0. 0. 1. ]] SLAMing on 136.441346184 meters Centerline goodness : 0.872129 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.79966418 -0.54423299 -0.25366839 0.97306095] [ 0.55703658 0.83011268 -0.02496372 0.74121986] [ 0.22415943 -0.12133997 0.96696906 -1.24781281] [ 0. 0. 0. 1. ]] SLAMing on 136.471346184 meters Centerline goodness : 0.871679 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.79932555 -0.54506361 -0.25295125 0.97382189] [ 0.55740926 0.82980925 -0.02667456 0.74212357] [ 0.22444062 -0.11967572 0.96711123 -1.24848844] [ 0. 0. 0. 1. ]] SLAMing on 136.501346184 meters Centerline goodness : 0.872272 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.79894396 -0.54604974 -0.25202823 0.9749157 ] [ 0.55788263 0.82942903 -0.02853866 0.74296743] [ 0.22462306 -0.11780138 0.96729898 -1.24959783] [ 0. 0. 0. 1. ]] SLAMing on 136.531346184 meters Centerline goodness : 0.875826 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.79931628 -0.54618476 -0.25055079 0.97391893] [ 0.55751485 0.82962724 -0.02993031 0.74328902] [ 0.22421124 -0.115762 0.96764068 -1.25068298] [ 0. 0. 0. 1. ]] SLAMing on 136.561346184 meters Centerline goodness : 0.873302 Centerline is valid? [False, False] Translation: X:0.97, Y:0.74, Z:-1.25 [[ 0.79918361 -0.54575106 -0.25191534 0.97404776] [ 0.55727732 0.82979341 -0.02974704 0.74495022] [ 0.22527217 -0.11661336 0.96729198 -1.24905687] [ 0. 0. 0. 1. ]] SLAMing on 136.591346184 meters Centerline goodness : 0.873363 Centerline is valid? [False, False] Translation: X:0.97, Y:0.75, Z:-1.25 [[ 0.79858601 -0.5463209 -0.25257447 0.9737543 ] [ 0.55788277 0.82937583 -0.03004252 0.74640763] [ 0.22589202 -0.11691541 0.96711095 -1.24776318] [ 0. 0. 0. 1. ]] SLAMing on 136.621346184 meters Centerline goodness : 0.871857 Centerline is valid? [False, False] Translation: X:0.97, Y:0.75, Z:-1.25 [[ 0.79754243 -0.5478556 -0.25254767 0.97390702] [ 0.55921567 0.82843697 -0.03114505 0.7475127 ] [ 0.22628282 -0.11638911 0.96708307 -1.24684337] [ 0. 0. 0. 1. ]] SLAMing on 136.651346184 meters Centerline goodness : 0.871754 Centerline is valid? [False, False] Translation: X:0.97, Y:0.75, Z:-1.25 [[ 0.79664471 -0.54886277 -0.25319335 0.9748185 ] [ 0.5602164 0.8277401 -0.03168445 0.74842702] [ 0.2269687 -0.11660181 0.9668967 -1.24563992] [ 0. 0. 0. 1. ]] SLAMing on 136.681346184 meters Centerline goodness : 0.871625 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79575357 -0.54999547 -0.25353747 0.97563321] [ 0.5612932 0.82698671 -0.03229454 0.74901512] [ 0.22743396 -0.11661036 0.96678633 -1.24472865] [ 0. 0. 0. 1. ]] SLAMing on 136.711346184 meters Centerline goodness : 0.870800 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79505268 -0.5510398 -0.25346868 0.97630829] [ 0.56222309 0.82633017 -0.0329186 0.74914577] [ 0.22758828 -0.11633392 0.96678332 -1.24427542] [ 0. 0. 0. 1. ]] SLAMing on 136.741346184 meters Centerline goodness : 0.869542 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79402066 -0.55224192 -0.25408671 0.97599817] [ 0.56351123 0.82544567 -0.03308378 0.74931128] [ 0.22800503 -0.11691151 0.96661544 -1.24209026] [ 0. 0. 0. 1. ]] SLAMing on 136.77134618399998 meters Centerline goodness : 0.866879 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79359076 -0.55183715 -0.25629955 0.97937132] [ 0.56359295 0.82542692 -0.03214633 0.75133067] [ 0.22929609 -0.11893759 0.96606271 -1.24202289] [ 0. 0. 0. 1. ]] SLAMing on 136.80134618399998 meters Centerline goodness : 0.866933 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79294051 -0.55270188 -0.25644879 0.98001955] [ 0.56436205 0.8248765 -0.03277556 0.75184484] [ 0.22965369 -0.11874089 0.96600196 -1.2414951 ] [ 0. 0. 0. 1. ]] SLAMing on 136.83134618399998 meters Centerline goodness : 0.867646 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79222258 -0.55360605 -0.25671721 0.98135238] [ 0.56513891 0.82431094 -0.03360785 0.75271604] [ 0.23022032 -0.11845599 0.96590206 -1.241249 ] [ 0. 0. 0. 1. ]] SLAMing on 136.86134618399998 meters Centerline goodness : 0.867388 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79163075 -0.55466742 -0.25625145 0.98128999] [ 0.56596617 0.82370536 -0.03452196 0.75312704] [ 0.2302239 -0.11770101 0.96599349 -1.24098476] [ 0. 0. 0. 1. ]] SLAMing on 136.89134618399999 meters Centerline goodness : 0.867263 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79133863 -0.55524671 -0.25589894 0.9817572 ] [ 0.56631818 0.82342667 -0.03538697 0.75368 ] [ 0.23036251 -0.11691714 0.96605564 -1.24122682] [ 0. 0. 0. 1. ]] SLAMing on 136.921346184 meters Centerline goodness : 0.866769 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.79122051 -0.55528814 -0.25617413 0.98320873] [ 0.56626877 0.82343759 -0.03591954 0.75434959] [ 0.2308891 -0.11664313 0.96596304 -1.24153352] [ 0. 0. 0. 1. ]] SLAMing on 136.951346184 meters Centerline goodness : 0.866102 Centerline is valid? [False, False] Translation: X:0.98, Y:0.75, Z:-1.24 [[ 0.7923408 -0.55373953 -0.25606363 0.98155471] [ 0.56471174 0.8245186 -0.03563328 0.75413552] [ 0.23086078 -0.11636844 0.96600294 -1.24101528] [ 0. 0. 0. 1. ]] SLAMing on 136.981346184 meters Centerline goodness : 0.864740 Centerline is valid? [False, False] Translation: X:0.98, Y:0.76, Z:-1.24 [[ 0.79375532 -0.55588805 -0.24686225 0.98419655] [ 0.56638028 0.82347552 -0.0331879 0.76145591] [ 0.22173378 -0.11347484 0.96848211 -1.24074574] [ 0. 0. 0. 1. ]] SLAMing on 137.011346184 meters Centerline goodness : 0.864889 Centerline is valid? [False, False] Translation: X:0.99, Y:0.76, Z:-1.24 [[ 0.7949136 -0.55294074 -0.24973768 0.98653067] [ 0.56420596 0.82505634 -0.03088149 0.76317756] [ 0.22312329 -0.11635537 0.96782097 -1.24073718] [ 0. 0. 0. 1. ]] SLAMing on 137.041346184 meters Centerline goodness : 0.862081 Centerline is valid? [False, False] Translation: X:0.99, Y:0.76, Z:-1.24 [[ 0.79576325 -0.55109482 -0.25110825 0.98758513] [ 0.56262986 0.82615884 -0.03015314 0.76488956] [ 0.22407254 -0.11728624 0.96748924 -1.24100326] [ 0. 0. 0. 1. ]] SLAMing on 137.071346184 meters Centerline goodness : 0.859994 Centerline is valid? [False, False] Translation: X:0.99, Y:0.77, Z:-1.24 [[ 0.79633013 -0.55053299 -0.25054289 0.98788798] [ 0.56173102 0.82673104 -0.03120974 0.7659903 ] [ 0.22431358 -0.11588446 0.9676023 -1.2421922 ] [ 0. 0. 0. 1. ]] SLAMing on 137.101346184 meters Centerline goodness : 0.861841 Centerline is valid? [False, False] Translation: X:0.99, Y:0.77, Z:-1.24 [[ 0.79570976 -0.55160911 -0.25014669 0.98898255] [ 0.56246245 0.82617747 -0.03266149 0.76736356] [ 0.22468193 -0.11470906 0.96765689 -1.24283693] [ 0. 0. 0. 1. ]] SLAMing on 137.131346184 meters Centerline goodness : 0.862753 Centerline is valid? [False, False] Translation: X:0.99, Y:0.77, Z:-1.24 [[ 0.79495398 -0.55199371 -0.25169647 0.99211874] [ 0.56309784 0.82575202 -0.03247183 0.7694354 ] [ 0.22576312 -0.11591613 0.96726132 -1.24308318] [ 0. 0. 0. 1. ]] SLAMing on 137.161346184 meters Centerline goodness : 0.865247 Centerline is valid? [False, False] Translation: X:0.99, Y:0.77, Z:-1.24 [[ 0.79385889 -0.55274065 -0.25350708 0.99378823] [ 0.56413322 0.82505046 -0.03233343 0.77148593] [ 0.22702813 -0.11734358 0.966793 -1.24154169] [ 0. 0. 0. 1. ]] SLAMing on 137.191346184 meters Centerline goodness : 0.859714 Centerline is valid? [False, False] Translation: X:1.00, Y:0.77, Z:-1.24 [[ 0.79186935 -0.55487205 -0.25506851 0.99656091] [ 0.56636027 0.8234918 -0.03312539 0.77429454] [ 0.22842718 -0.11822969 0.9663554 -1.2405633 ] [ 0. 0. 0. 1. ]] SLAMing on 137.221346184 meters Centerline goodness : 0.865517 Centerline is valid? [False, False] Translation: X:1.00, Y:0.77, Z:-1.24 [[ 0.79074761 -0.55674689 -0.25446241 0.99857233] [ 0.56778685 0.82243064 -0.03501346 0.77496098] [ 0.22877132 -0.1167936 0.96644862 -1.24112289] [ 0. 0. 0. 1. ]] SLAMing on 137.251346184 meters Centerline goodness : 0.867272 Centerline is valid? [False, False] Translation: X:1.00, Y:0.78, Z:-1.24 [[ 0.78948816 -0.55915942 -0.25307939 0.99944037] [ 0.56952153 0.82111789 -0.03755858 0.77518151] [ 0.22880925 -0.11448211 0.96671618 -1.24144777] [ 0. 0. 0. 1. ]] SLAMing on 137.281346184 meters Centerline goodness : 0.864008 Centerline is valid? [False, False] Translation: X:1.00, Y:0.78, Z:-1.24 [[ 0.78736597 -0.56152333 -0.25445309 1.00168196] [ 0.57196952 0.8193792 -0.03832221 0.77686927] [ 0.23001238 -0.11536581 0.96632553 -1.23969824] [ 0. 0. 0. 1. ]] SLAMing on 137.311346184 meters Centerline goodness : 0.865302 Centerline is valid? [False, False] Translation: X:1.00, Y:0.78, Z:-1.24 [[ 0.78674236 -0.56076289 -0.25803378 1.00423987] [ 0.57210626 0.81937446 -0.03633076 0.7796361 ] [ 0.23179923 -0.11903979 0.96545256 -1.23795996] [ 0. 0. 0. 1. ]] SLAMing on 137.341346184 meters Centerline goodness : 0.872429 Centerline is valid? [False, False] Translation: X:1.00, Y:0.78, Z:-1.24 [[ 0.78658506 -0.55980699 -0.26057643 1.00485039] [ 0.5718182 0.81964349 -0.03476331 0.78111865] [ 0.23304052 -0.12165805 0.96482715 -1.23577981] [ 0. 0. 0. 1. ]] SLAMing on 137.371346184 meters Centerline goodness : 0.864627 Centerline is valid? [False, False] Translation: X:1.01, Y:0.78, Z:-1.24 [[ 0.78747584 -0.55768434 -0.26243091 1.00667017] [ 0.57014571 0.82085836 -0.03354745 0.78276636] [ 0.23412749 -0.12320605 0.96436745 -1.23613086] [ 0. 0. 0. 1. ]] SLAMing on 137.401346184 meters Centerline goodness : 0.865769 Centerline is valid? [False, False] Translation: X:1.01, Y:0.78, Z:-1.24 [[ 0.787783 -0.55758833 -0.26171207 1.00777164] [ 0.56969824 0.82112588 -0.03458619 0.78312265] [ 0.23418341 -0.1218505 0.96452609 -1.23763854] [ 0. 0. 0. 1. ]] SLAMing on 137.431346184 meters Centerline goodness : 0.865912 Centerline is valid? [False, False] Translation: X:1.01, Y:0.78, Z:-1.24 [[ 0.78768974 -0.55805767 -0.26099139 1.00829292] [ 0.56978194 0.82101282 -0.0358675 0.78370493] [ 0.23429341 -0.12045572 0.96467457 -1.23841065] [ 0. 0. 0. 1. ]] SLAMing on 137.461346184 meters Centerline goodness : 0.866728 Centerline is valid? [False, False] Translation: X:1.01, Y:0.78, Z:-1.24 [[ 0.7877072 -0.55787711 -0.2613245 1.00957402] [ 0.56952447 0.8211711 -0.03633045 0.78486978] [ 0.23486006 -0.12021295 0.96456705 -1.23893802] [ 0. 0. 0. 1. ]] SLAMing on 137.491346184 meters Centerline goodness : 0.870218 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.24 [[ 0.78752795 -0.5564811 -0.26481788 1.00911843] [ 0.56910879 0.82156055 -0.03396238 0.7877729 ] [ 0.23646334 -0.12396386 0.96370019 -1.23586417] [ 0. 0. 0. 1. ]] SLAMing on 137.52134618399998 meters Centerline goodness : 0.868510 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78724943 -0.55626381 -0.26609943 1.00928569] [ 0.569099 0.82157476 -0.03378226 0.78951741] [ 0.23741243 -0.12484185 0.96335344 -1.2346016 ] [ 0. 0. 0. 1. ]] SLAMing on 137.55134618399998 meters Centerline goodness : 0.867767 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78688077 -0.55672281 -0.26622992 1.01031617] [ 0.56937277 0.8213474 -0.0346856 0.79073343] [ 0.23797751 -0.12429064 0.96328529 -1.23472878] [ 0. 0. 0. 1. ]] SLAMing on 137.58134618399998 meters Centerline goodness : 0.867387 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.24 [[ 0.78656199 -0.55857464 -0.26327666 1.00986682] [ 0.57001968 0.82073723 -0.03831402 0.79045525] [ 0.23748219 -0.11993653 0.96395925 -1.23625315] [ 0. 0. 0. 1. ]] SLAMing on 137.61134618399998 meters Centerline goodness : 0.868265 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.24 [[ 0.78651219 -0.55868249 -0.2631966 1.0095011 ] [ 0.57003906 0.82070802 -0.03864994 0.79015251] [ 0.2376006 -0.11963369 0.9639677 -1.23555303] [ 0. 0. 0. 1. ]] SLAMing on 137.64134618399999 meters Centerline goodness : 0.869160 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.24 [[ 0.78655655 -0.55802061 -0.26446511 1.01092023] [ 0.5696391 0.8210095 -0.03814061 0.79080069] [ 0.23841161 -0.12064992 0.96364075 -1.23500666] [ 0. 0. 0. 1. ]] SLAMing on 137.671346184 meters Centerline goodness : 0.870638 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78666447 -0.55732197 -0.26561482 1.00993723] [ 0.56936701 0.82125467 -0.03690485 0.79029933] [ 0.2387053 -0.12220058 0.96337262 -1.23283238] [ 0. 0. 0. 1. ]] SLAMing on 137.701346184 meters Centerline goodness : 0.869750 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78649457 -0.55721067 -0.26635045 1.01049376] [ 0.56938569 0.82124845 -0.03675479 0.79030825] [ 0.23922005 -0.12274869 0.96317523 -1.23172359] [ 0. 0. 0. 1. ]] SLAMing on 137.731346184 meters Centerline goodness : 0.873076 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.7859952 -0.55793292 -0.26631258 1.01053116] [ 0.57000491 0.82079521 -0.03727778 0.79033003] [ 0.23938659 -0.12249932 0.9631656 -1.2309986 ] [ 0. 0. 0. 1. ]] SLAMing on 137.761346184 meters Centerline goodness : 0.872724 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78516563 -0.5593054 -0.26588044 1.01106206] [ 0.57109221 0.81998542 -0.03843945 0.79048502] [ 0.23951747 -0.12166091 0.96323933 -1.23064499] [ 0. 0. 0. 1. ]] SLAMing on 137.791346184 meters Centerline goodness : 0.872815 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78395147 -0.56204401 -0.26367902 1.00994386] [ 0.57295403 0.81854611 -0.04130316 0.78981172] [ 0.23904763 -0.11869628 0.9637258 -1.23014246] [ 0. 0. 0. 1. ]] SLAMing on 137.821346184 meters Centerline goodness : 0.872014 Centerline is valid? [False, False] Translation: X:1.01, Y:0.79, Z:-1.23 [[ 0.78345791 -0.56287416 -0.263375 1.0104906 ] [ 0.57358136 0.81806544 -0.04211124 0.78994456] [ 0.23916132 -0.1180746 0.96377396 -1.23017387] [ 0. 0. 0. 1. ]] SLAMing on 137.851346184 meters Centerline goodness : 0.873284 Centerline is valid? [False, False] Translation: X:1.01, Y:0.80, Z:-1.23 [[ 0.78341891 -0.56800129 -0.25224858 1.01372316] [ 0.57758452 0.81525379 -0.04192122 0.79628996] [ 0.22945792 -0.112853 0.96675398 -1.23062954] [ 0. 0. 0. 1. ]] SLAMing on 137.881346184 meters Centerline goodness : 0.876774 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.7827964 -0.56836406 -0.2533616 1.01538559] [ 0.57808038 0.81489849 -0.04199441 0.7966586 ] [ 0.2303321 -0.1135903 0.96645971 -1.22962254] [ 0. 0. 0. 1. ]] SLAMing on 137.911346184 meters Centerline goodness : 0.876774 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.7827964 -0.56836406 -0.2533616 1.01538559] [ 0.57808038 0.81489849 -0.04199441 0.7966586 ] [ 0.2303321 -0.1135903 0.96645971 -1.22962254] [ 0. 0. 0. 1. ]] SLAMing on 137.941346184 meters Centerline goodness : 0.875801 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.78241226 -0.56768337 -0.25605985 1.01874483] [ 0.57799053 0.81502274 -0.04080289 0.7992845 ] [ 0.23185772 -0.11607549 0.9657994 -1.22935615] [ 0. 0. 0. 1. ]] SLAMing on 137.971346184 meters Centerline goodness : 0.878557 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.78191746 -0.56804393 -0.25677066 1.01889446] [ 0.57838328 0.81472902 -0.04110239 0.80059125] [ 0.23254647 -0.11637319 0.96559796 -1.22826738] [ 0. 0. 0. 1. ]] SLAMing on 138.001346184 meters Centerline goodness : 0.877063 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.78127965 -0.56866253 -0.25734225 1.02051384] [ 0.57894415 0.81429776 -0.04174727 0.80181651] [ 0.23329332 -0.1163705 0.96541811 -1.22817666] [ 0. 0. 0. 1. ]] SLAMing on 138.031346184 meters Centerline goodness : 0.879088 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.78138578 -0.56871951 -0.25689372 1.02125538] [ 0.57885855 0.81433969 -0.04211481 0.80106601] [ 0.23315027 -0.11579721 0.9655216 -1.22862773] [ 0. 0. 0. 1. ]] SLAMing on 138.061346184 meters Centerline goodness : 0.877182 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.7811865 -0.56879641 -0.25732918 1.02241032] [ 0.57896044 0.81426023 -0.04225022 0.80058792] [ 0.23356469 -0.11597812 0.96539972 -1.22810515] [ 0. 0. 0. 1. ]] SLAMing on 138.091346184 meters Centerline goodness : 0.879276 Centerline is valid? [False, False] Translation: X:1.02, Y:0.80, Z:-1.23 [[ 0.78088572 -0.56904458 -0.25769315 1.02217053] [ 0.57925612 0.81404806 -0.04228599 0.80023959] [ 0.23383722 -0.11624981 0.96530106 -1.226763 ] [ 0. 0. 0. 1. ]] SLAMing on 138.121346184 meters Centerline goodness : 0.879648 Centerline is valid? [False, False] Translation: X:1.03, Y:0.80, Z:-1.22 [[ 0.77946589 -0.56827938 -0.26361236 1.02639958] [ 0.58001656 0.81366922 -0.03902821 0.80367592] [ 0.23667219 -0.12247837 0.96383885 -1.22322657] [ 0. 0. 0. 1. ]] SLAMing on 138.151346184 meters Centerline goodness : 0.877360 Centerline is valid? [False, False] Translation: X:1.03, Y:0.81, Z:-1.22 [[ 0.77818155 -0.5694727 -0.26482884 1.02842646] [ 0.58131164 0.81272233 -0.03948657 0.80535778] [ 0.23771883 -0.12322037 0.96348664 -1.22219685] [ 0. 0. 0. 1. ]] SLAMing on 138.181346184 meters Centerline goodness : 0.875852 Centerline is valid? [False, False] Translation: X:1.03, Y:0.81, Z:-1.22 [[ 0.77678148 -0.57204406 -0.26339348 1.02874082] [ 0.58311471 0.81128816 -0.04229363 0.80568335] [ 0.23788183 -0.1207357 0.96376093 -1.22188461] [ 0. 0. 0. 1. ]] SLAMing on 138.211346184 meters Centerline goodness : 0.876329 Centerline is valid? [False, False] Translation: X:1.03, Y:0.80, Z:-1.22 [[ 0.77533248 -0.5754038 -0.26032673 1.03075459] [ 0.58522864 0.80954235 -0.04635318 0.80499882] [ 0.23741731 -0.11641154 0.96440727 -1.2239816 ] [ 0. 0. 0. 1. ]] SLAMing on 138.241346184 meters Centerline goodness : 0.874152 Centerline is valid? [False, False] Translation: X:1.03, Y:0.81, Z:-1.23 [[ 0.77461296 -0.57640182 -0.26026083 1.03374667] [ 0.58596726 0.80893835 -0.04755116 0.80581684] [ 0.23794354 -0.11567058 0.96436673 -1.22512729] [ 0. 0. 0. 1. ]] SLAMing on 138.27134618399998 meters Centerline goodness : 0.874103 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77420244 -0.57651274 -0.26123484 1.03633959] [ 0.58621294 0.8087621 -0.04752109 0.80602036] [ 0.23867335 -0.1163483 0.96410482 -1.22484816] [ 0. 0. 0. 1. ]] SLAMing on 138.30134618399998 meters Centerline goodness : 0.877466 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77415341 -0.57379902 -0.26728484 1.03855959] [ 0.58538151 0.80963659 -0.04262715 0.80628412] [ 0.240863 -0.12346365 0.96267427 -1.21984965] [ 0. 0. 0. 1. ]] SLAMing on 138.33134618399998 meters Centerline goodness : 0.877048 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77420448 -0.57161891 -0.27177058 1.04121817] [ 0.58452525 0.81041823 -0.03940202 0.80796508] [ 0.24277078 -0.12835155 0.96155511 -1.21728021] [ 0. 0. 0. 1. ]] SLAMing on 138.36134618399998 meters Centerline goodness : 0.874501 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.7741834 -0.57103999 -0.27304467 1.0418489 ] [ 0.58419128 0.81067687 -0.03903289 0.80848711] [ 0.24364034 -0.1292917 0.96120915 -1.21590828] [ 0. 0. 0. 1. ]] SLAMing on 138.39134618399999 meters Centerline goodness : 0.877291 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77430757 -0.57112609 -0.27251196 1.04297285] [ 0.58396866 0.81079149 -0.0399719 0.8083057 ] [ 0.24377938 -0.1281879 0.96132173 -1.21661579] [ 0. 0. 0. 1. ]] SLAMing on 138.421346184 meters Centerline goodness : 0.875994 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77477106 -0.57269759 -0.26785682 1.04188526] [ 0.58397438 0.8105816 -0.04394766 0.80664612] [ 0.24228853 -0.12237214 0.96245588 -1.21994963] [ 0. 0. 0. 1. ]] SLAMing on 138.451346184 meters Centerline goodness : 0.875523 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77479917 -0.57250113 -0.26819525 1.04324475] [ 0.58360882 0.81080038 -0.04476032 0.80812471] [ 0.24307815 -0.12184085 0.96232418 -1.22033053] [ 0. 0. 0. 1. ]] SLAMing on 138.481346184 meters Centerline goodness : 0.874222 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77470729 -0.57206423 -0.26939031 1.04449692] [ 0.58329198 0.81102435 -0.04483261 0.81055933] [ 0.24412924 -0.12240106 0.96198695 -1.22012026] [ 0. 0. 0. 1. ]] SLAMing on 138.511346184 meters Centerline goodness : 0.874683 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77472069 -0.57065544 -0.27232374 1.04493401] [ 0.58269525 0.81155573 -0.04293648 0.81318819] [ 0.24550783 -0.12541797 0.96124723 -1.21831519] [ 0. 0. 0. 1. ]] SLAMing on 138.541346184 meters Centerline goodness : 0.874399 Centerline is valid? [False, False] Translation: X:1.05, Y:0.81, Z:-1.22 [[ 0.77396408 -0.57154668 -0.27260594 1.04571007] [ 0.58343092 0.81097751 -0.0438616 0.81454483] [ 0.24614624 -0.12509943 0.96112547 -1.21772217] [ 0. 0. 0. 1. ]] SLAMing on 138.571346184 meters Centerline goodness : 0.872639 Centerline is valid? [False, False] Translation: X:1.05, Y:0.81, Z:-1.22 [[ 0.77307048 -0.57352244 -0.27098718 1.04549808] [ 0.58461281 0.80998006 -0.04647758 0.81462547] [ 0.24615015 -0.12249213 0.96146023 -1.21767547] [ 0. 0. 0. 1. ]] SLAMing on 138.601346184 meters Centerline goodness : 0.874024 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.772281 -0.57542007 -0.26920958 1.0448907 ] [ 0.58572639 0.80902765 -0.04897811 0.81412285] [ 0.24598098 -0.11985829 0.9618354 -1.21741108] [ 0. 0. 0. 1. ]] SLAMing on 138.631346184 meters Centerline goodness : 0.875067 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.22 [[ 0.77187238 -0.57585246 -0.26945682 1.04420025] [ 0.58624191 0.80866131 -0.04886002 0.81361275] [ 0.24603547 -0.12025318 0.96177218 -1.21589737] [ 0. 0. 0. 1. ]] SLAMing on 138.661346184 meters Centerline goodness : 0.873255 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.21 [[ 0.77169696 -0.57560148 -0.2704935 1.04324398] [ 0.58624507 0.80868947 -0.04835352 0.81386394] [ 0.2465776 -0.12126122 0.96150674 -1.21375982] [ 0. 0. 0. 1. ]] SLAMing on 138.691346184 meters Centerline goodness : 0.875003 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.21 [[ 0.77176789 -0.57507532 -0.27140872 1.0422677 ] [ 0.58598673 0.80891638 -0.04768493 0.8139834 ] [ 0.24696938 -0.12224021 0.96128219 -1.21192563] [ 0. 0. 0. 1. ]] SLAMing on 138.721346184 meters Centerline goodness : 0.872173 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.21 [[ 0.77181353 -0.57475123 -0.27196489 1.04137427] [ 0.58577396 0.80908251 -0.04748005 0.81460414] [ 0.24733125 -0.1226642 0.96113513 -1.21066812] [ 0. 0. 0. 1. ]] SLAMing on 138.751346184 meters Centerline goodness : 0.868621 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.21 [[ 0.77206868 -0.57508007 -0.2705418 1.03960958] [ 0.58562017 0.80912228 -0.04868418 0.81474908] [ 0.2468987 -0.1208472 0.96147646 -1.21105924] [ 0. 0. 0. 1. ]] SLAMing on 138.781346184 meters Centerline goodness : 0.870667 Centerline is valid? [False, False] Translation: X:1.04, Y:0.81, Z:-1.21 [[ 0.77209552 -0.57554583 -0.26947266 1.03934784] [ 0.58568007 0.80901056 -0.04980726 0.81486157] [ 0.24667259 -0.1193688 0.96171915 -1.21173982] [ 0. 0. 0. 1. ]] SLAMing on 138.811346184 meters Centerline goodness : 0.867440 Centerline is valid? [False, False] Translation: X:1.04, Y:0.82, Z:-1.21 [[ 0.77263643 -0.57551313 -0.26798803 1.0379955 ] [ 0.58513593 0.80932677 -0.05105019 0.81502568] [ 0.24626994 -0.11736619 0.96206876 -1.21259495] [ 0. 0. 0. 1. ]] SLAMing on 138.841346184 meters Centerline goodness : 0.868590 Centerline is valid? [False, False] Translation: X:1.05, Y:0.82, Z:-1.21 [[ 0.77270899 -0.5776959 -0.26303663 1.04673883] [ 0.58795951 0.80755909 -0.04638887 0.82387656] [ 0.23921628 -0.11880979 0.96366997 -1.2139327 ] [ 0. 0. 0. 1. ]] SLAMing on 138.871346184 meters Centerline goodness : 0.867468 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77258031 -0.57717494 -0.26455389 1.04726023] [ 0.58771491 0.80776089 -0.04597315 0.82547037] [ 0.24023083 -0.11996432 0.96327447 -1.21264452] [ 0. 0. 0. 1. ]] SLAMing on 138.901346184 meters Centerline goodness : 0.869181 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77266594 -0.5763528 -0.2660917 1.04804699] [ 0.58720163 0.80816692 -0.04539247 0.82673595] [ 0.24120859 -0.12117626 0.96287836 -1.21160021] [ 0. 0. 0. 1. ]] SLAMing on 138.931346184 meters Centerline goodness : 0.866271 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77240742 -0.576069 -0.26745333 1.05000299] [ 0.58702585 0.80828147 -0.04562583 0.82930678] [ 0.2424612 -0.12176029 0.96249 -1.21154072] [ 0. 0. 0. 1. ]] SLAMing on 138.961346184 meters Centerline goodness : 0.866960 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77185183 -0.57791518 -0.26506376 1.05126967] [ 0.58773175 0.80755499 -0.04925778 0.83070796] [ 0.24252038 -0.11776668 0.9629719 -1.21377091] [ 0. 0. 0. 1. ]] SLAMing on 138.99134618399998 meters Centerline goodness : 0.866281 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77125888 -0.57839848 -0.2657347 1.05277085] [ 0.58818693 0.80719032 -0.04979875 0.83159819] [ 0.243302 -0.11789395 0.96275913 -1.21315974] [ 0. 0. 0. 1. ]] SLAMing on 139.02134618399998 meters Centerline goodness : 0.867406 Centerline is valid? [False, False] Translation: X:1.05, Y:0.83, Z:-1.21 [[ 0.77056413 -0.57835361 -0.26783954 1.0544592 ] [ 0.58851057 0.80697834 -0.04940905 0.8339235 ] [ 0.24471661 -0.11955356 0.96219578 -1.21174777] [ 0. 0. 0. 1. ]] SLAMing on 139.05134618399998 meters Centerline goodness : 0.868871 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.21 [[ 0.76940627 -0.57847176 -0.27089559 1.0563274 ] [ 0.58928896 0.80646995 -0.0484226 0.83714916] [ 0.24648026 -0.12237913 0.96139005 -1.20960837] [ 0. 0. 0. 1. ]] SLAMing on 139.08134618399998 meters Centerline goodness : 0.869446 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.21 [[ 0.76894262 -0.57876966 -0.27157489 1.05746008] [ 0.589626 0.80620808 -0.04867981 0.83816433] [ 0.24712026 -0.12269563 0.96118539 -1.20901203] [ 0. 0. 0. 1. ]] SLAMing on 139.11134618399998 meters Centerline goodness : 0.871148 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.21 [[ 0.76823204 -0.57948161 -0.27206729 1.05766204] [ 0.59037871 0.80564295 -0.04891227 0.83863842] [ 0.24753285 -0.12304676 0.96103433 -1.20775161] [ 0. 0. 0. 1. ]] SLAMing on 139.14134618399999 meters Centerline goodness : 0.870197 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.21 [[ 0.76612335 -0.58219007 -0.27223102 1.05820678] [ 0.59280367 0.80375522 -0.05060984 0.84049696] [ 0.24827165 -0.12260617 0.96090005 -1.20606127] [ 0. 0. 0. 1. ]] SLAMing on 139.171346184 meters Centerline goodness : 0.869593 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.20 [[ 0.76426572 -0.58551384 -0.27031733 1.05689506] [ 0.59520392 0.80176923 -0.05383684 0.84130166] [ 0.24825433 -0.11974828 0.96126486 -1.20498355] [ 0. 0. 0. 1. ]] SLAMing on 139.201346184 meters Centerline goodness : 0.870977 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.20 [[ 0.76280442 -0.58726507 -0.2706458 1.05758776] [ 0.59679291 0.80051061 -0.05496353 0.84280533] [ 0.24893299 -0.11959307 0.96110866 -1.20374999] [ 0. 0. 0. 1. ]] SLAMing on 139.231346184 meters Centerline goodness : 0.870787 Centerline is valid? [False, False] Translation: X:1.06, Y:0.84, Z:-1.20 [[ 0.76154615 -0.58853049 -0.27143935 1.05749666] [ 0.59809722 0.79950255 -0.05545617 0.84428175] [ 0.2496541 -0.12011469 0.96085654 -1.20182218] [ 0. 0. 0. 1. ]] SLAMing on 139.261346184 meters Centerline goodness : 0.869760 Centerline is valid? [False, False] Translation: X:1.06, Y:0.85, Z:-1.20 [[ 0.76045693 -0.58945275 -0.27248985 1.05694723] [ 0.59904086 0.79875205 -0.05608214 0.84644924] [ 0.2507096 -0.1205845 0.96052281 -1.19961567] [ 0. 0. 0. 1. ]] SLAMing on 139.291346184 meters Centerline goodness : 0.868801 Centerline is valid? [False, False] Translation: X:1.06, Y:0.85, Z:-1.20 [[ 0.76026826 -0.58993183 -0.27197905 1.05631081] [ 0.59926783 0.79852511 -0.05688329 0.84704707] [ 0.25073936 -0.11974173 0.96062047 -1.19940112] [ 0. 0. 0. 1. ]] SLAMing on 139.321346184 meters Centerline goodness : 0.868376 Centerline is valid? [False, False] Translation: X:1.06, Y:0.85, Z:-1.20 [[ 0.76020789 -0.58971897 -0.27260868 1.05731222] [ 0.59895913 0.79871083 -0.05752375 0.84898731] [ 0.25165835 -0.11955145 0.96040384 -1.1992962 ] [ 0. 0. 0. 1. ]] SLAMing on 139.351346184 meters Centerline goodness : 0.870554 Centerline is valid? [False, False] Translation: X:1.06, Y:0.85, Z:-1.20 [[ 0.76101869 -0.58779552 -0.27449406 1.05644609] [ 0.59750634 0.79988496 -0.05630469 0.85182215] [ 0.25265931 -0.12116302 0.95993895 -1.19846157] [ 0. 0. 0. 1. ]] SLAMing on 139.381346184 meters Centerline goodness : 0.868052 Centerline is valid? [False, False] Translation: X:1.06, Y:0.85, Z:-1.20 [[ 0.76152779 -0.58622439 -0.27643515 1.05742867] [ 0.59638816 0.80079142 -0.05526543 0.8540882 ] [ 0.25376484 -0.12277649 0.9594422 -1.19799305] [ 0. 0. 0. 1. ]] SLAMing on 139.411346184 meters Centerline goodness : 0.866906 Centerline is valid? [False, False] Translation: X:1.06, Y:0.86, Z:-1.20 [[ 0.76210289 -0.58505913 -0.27731751 1.05734674] [ 0.5952916 0.80160953 -0.05522744 0.85561932] [ 0.25461168 -0.12299579 0.95918973 -1.19736639] [ 0. 0. 0. 1. ]] SLAMing on 139.441346184 meters Centerline goodness : 0.869909 Centerline is valid? [False, False] Translation: X:1.06, Y:0.86, Z:-1.20 [[ 0.76267482 -0.58406927 -0.27783127 1.05759229] [ 0.59424286 0.80236737 -0.05551592 0.85714558] [ 0.25534789 -0.12275866 0.95902438 -1.19733708] [ 0. 0. 0. 1. ]] SLAMing on 139.471346184 meters Centerline goodness : 0.869063 Centerline is valid? [False, False] Translation: X:1.06, Y:0.86, Z:-1.20 [[ 0.76379953 -0.58305325 -0.27687395 1.05650641] [ 0.59268063 0.80342601 -0.05688854 0.85899843] [ 0.25561678 -0.12064639 0.95922078 -1.19857673] [ 0. 0. 0. 1. ]] SLAMing on 139.501346184 meters Centerline goodness : 0.867830 Centerline is valid? [False, False] Translation: X:1.06, Y:0.86, Z:-1.20 [[ 0.7638783 -0.58256834 -0.27767622 1.05834223] [ 0.59217262 0.80377285 -0.05727823 0.86139016] [ 0.25655709 -0.12067866 0.95896565 -1.19923122] [ 0. 0. 0. 1. ]] SLAMing on 139.531346184 meters Centerline goodness : 0.870379 Centerline is valid? [False, False] Translation: X:1.06, Y:0.86, Z:-1.20 [[ 0.7638339 -0.5822893 -0.27838273 1.05922657] [ 0.59185217 0.80397672 -0.05772731 0.86305049] [ 0.25742722 -0.12066735 0.95873386 -1.19890824] [ 0. 0. 0. 1. ]] SLAMing on 139.561346184 meters Centerline goodness : 0.871839 Centerline is valid? [False, False] Translation: X:1.06, Y:0.87, Z:-1.20 [[ 0.76341243 -0.58272056 -0.27863633 1.05707521] [ 0.59214525 0.8037086 -0.05845066 0.86526525] [ 0.25800282 -0.12037122 0.95861635 -1.19724063] [ 0. 0. 0. 1. ]] SLAMing on 139.591346184 meters Centerline goodness : 0.870576 Centerline is valid? [False, False] Translation: X:1.06, Y:0.87, Z:-1.20 [[ 0.76322913 -0.58782266 -0.26822716 1.05921731] [ 0.59638414 0.8006297 -0.05760242 0.87268162] [ 0.24861064 -0.11600258 0.96163202 -1.19670016] [ 0. 0. 0. 1. ]] SLAMing on 139.621346184 meters Centerline goodness : 0.872294 Centerline is valid? [False, False] Translation: X:1.06, Y:0.87, Z:-1.20 [[ 0.76294557 -0.5881029 -0.26841954 1.05966209] [ 0.59658116 0.80044903 -0.05807119 0.87302109] [ 0.249008 -0.11582888 0.96155015 -1.19605415] [ 0. 0. 0. 1. ]] SLAMing on 139.651346184 meters Centerline goodness : 0.873423 Centerline is valid? [False, False] Translation: X:1.06, Y:0.87, Z:-1.19 [[ 0.76215987 -0.58807905 -0.27069423 1.06200168] [ 0.59698089 0.80018842 -0.05755262 0.87460806] [ 0.25045188 -0.11773499 0.96094346 -1.19448793] [ 0. 0. 0. 1. ]] SLAMing on 139.681346184 meters Centerline goodness : 0.875287 Centerline is valid? [False, False] Translation: X:1.06, Y:0.88, Z:-1.19 [[ 0.76147816 -0.58883163 -0.27097661 1.06214014] [ 0.59762543 0.79965666 -0.05825011 0.87587403] [ 0.25098776 -0.11758633 0.96082183 -1.193695 ] [ 0. 0. 0. 1. ]] SLAMing on 139.711346184 meters Centerline goodness : 0.872845 Centerline is valid? [False, False] Translation: X:1.06, Y:0.88, Z:-1.19 [[ 0.76075109 -0.58940205 -0.27177747 1.06471246] [ 0.59809071 0.79924229 -0.0591546 0.87809547] [ 0.25208189 -0.11754565 0.96054034 -1.19390553] [ 0. 0. 0. 1. ]] SLAMing on 139.74134618399998 meters Centerline goodness : 0.873910 Centerline is valid? [False, False] Translation: X:1.07, Y:0.88, Z:-1.19 [[ 0.75943335 -0.59040932 -0.27327243 1.06818059] [ 0.59914457 0.79839661 -0.05990515 0.88153709] [ 0.25354835 -0.11823572 0.96006955 -1.19425106] [ 0. 0. 0. 1. ]] SLAMing on 139.77134618399998 meters Centerline goodness : 0.873897 Centerline is valid? [False, False] Translation: X:1.07, Y:0.88, Z:-1.19 [[ 0.75851587 -0.59130183 -0.27389015 1.06856334] [ 0.59996237 0.79772492 -0.06066383 0.88346428] [ 0.25435963 -0.1183093 0.95984587 -1.19324266] [ 0. 0. 0. 1. ]] SLAMing on 139.80134618399998 meters Centerline goodness : 0.871650 Centerline is valid? [False, False] Translation: X:1.07, Y:0.89, Z:-1.19 [[ 0.75777087 -0.59236399 -0.27365709 1.06883911] [ 0.60071712 0.79706039 -0.06191669 0.88508484] [ 0.25479845 -0.11747183 0.95983234 -1.19304739] [ 0. 0. 0. 1. ]] SLAMing on 139.83134618399998 meters Centerline goodness : 0.871650 Centerline is valid? [False, False] Translation: X:1.07, Y:0.89, Z:-1.19 [[ 0.75777087 -0.59236399 -0.27365709 1.06883911] [ 0.60071712 0.79706039 -0.06191669 0.88508484] [ 0.25479845 -0.11747183 0.95983234 -1.19304739] [ 0. 0. 0. 1. ]] SLAMing on 139.86134618399998 meters Centerline goodness : 0.871870 Centerline is valid? [False, False] Translation: X:1.07, Y:0.89, Z:-1.19 [[ 0.75711701 -0.59359978 -0.2727877 1.06891909] [ 0.60139882 0.79639546 -0.06382582 0.88692019] [ 0.25513388 -0.11573059 0.95995476 -1.19352817] [ 0. 0. 0. 1. ]] SLAMing on 139.89134618399999 meters Centerline goodness : 0.871505 Centerline is valid? [False, False] Translation: X:1.07, Y:0.89, Z:-1.19 [[ 0.75677206 -0.59339867 -0.27417889 1.06998187] [ 0.60136676 0.79642038 -0.06381685 0.88863063] [ 0.25623049 -0.11658726 0.95955893 -1.19235468] [ 0. 0. 0. 1. ]] SLAMing on 139.921346184 meters Centerline goodness : 0.869803 Centerline is valid? [False, False] Translation: X:1.07, Y:0.90, Z:-1.19 [[ 0.75721685 -0.5968388 -0.26534148 1.07321043] [ 0.60433857 0.79430922 -0.06203028 0.89673511] [ 0.24778526 -0.11338572 0.96215703 -1.19137201] [ 0. 0. 0. 1. ]] SLAMing on 139.951346184 meters Centerline goodness : 0.869119 Centerline is valid? [False, False] Translation: X:1.07, Y:0.90, Z:-1.19 [[ 0.75699366 -0.59646659 -0.2668112 1.07429281] [ 0.60414784 0.79445953 -0.06196322 0.89850375] [ 0.24892969 -0.11428765 0.96175482 -1.19034696] [ 0. 0. 0. 1. ]] SLAMing on 139.981346184 meters Centerline goodness : 0.871642 Centerline is valid? [False, False] Translation: X:1.07, Y:0.90, Z:-1.19 [[ 0.75676966 -0.59634828 -0.26770956 1.0735116 ] [ 0.60413766 0.79446777 -0.06195685 0.89972629] [ 0.24963448 -0.11484636 0.96150556 -1.18869529] [ 0. 0. 0. 1. ]] SLAMing on 140.011346184 meters Centerline goodness : 0.870603 Centerline is valid? [False, False] Translation: X:1.08, Y:0.90, Z:-1.19 [[ 0.75654125 -0.59583018 -0.26950275 1.07538808] [ 0.60393628 0.79465559 -0.06150986 0.90186792] [ 0.2508113 -0.11622774 0.9610332 -1.18812006] [ 0. 0. 0. 1. ]] SLAMing on 140.041346184 meters Centerline goodness : 0.867617 Centerline is valid? [False, False] Translation: X:1.08, Y:0.90, Z:-1.19 [[ 0.75609837 -0.59609611 -0.27015678 1.0757003 ] [ 0.60417614 0.79443677 -0.06197913 0.90335806] [ 0.251568 -0.11635996 0.96081939 -1.18730191] [ 0. 0. 0. 1. ]] SLAMing on 140.071346184 meters Centerline goodness : 0.868537 Centerline is valid? [False, False] Translation: X:1.08, Y:0.90, Z:-1.19 [[ 0.75549396 -0.59719347 -0.26942315 1.07582701] [ 0.60480436 0.79382814 -0.06362832 0.9047847 ] [ 0.2518741 -0.11487749 0.96091758 -1.18741728] [ 0. 0. 0. 1. ]] SLAMing on 140.101346184 meters Centerline goodness : 0.866001 Centerline is valid? [False, False] Translation: X:1.08, Y:0.91, Z:-1.19 [[ 0.75544141 -0.5975074 -0.26887392 1.07617497] [ 0.60476508 0.79376539 -0.06477425 0.90576073] [ 0.2521259 -0.11367241 0.96099486 -1.18782666] [ 0. 0. 0. 1. ]] SLAMing on 140.131346184 meters Centerline goodness : 0.868753 Centerline is valid? [False, False] Translation: X:1.08, Y:0.91, Z:-1.19 [[ 0.75566523 -0.59733149 -0.26863571 1.07592349] [ 0.60439222 0.79399983 -0.06537819 0.9064356 ] [ 0.25234916 -0.11295731 0.96102058 -1.18780526] [ 0. 0. 0. 1. ]] SLAMing on 140.161346184 meters Centerline goodness : 0.866580 Centerline is valid? [False, False] Translation: X:1.08, Y:0.91, Z:-1.19 [[ 0.75601794 -0.59616609 -0.27022744 1.07744974] [ 0.60349799 0.79472112 -0.06487306 0.90878305] [ 0.25343057 -0.11403652 0.96060846 -1.18782009] [ 0. 0. 0. 1. ]] SLAMing on 140.191346184 meters Centerline goodness : 0.865308 Centerline is valid? [False, False] Translation: X:1.08, Y:0.91, Z:-1.19 [[ 0.75695416 -0.59351295 -0.27342781 1.07634338] [ 0.60166702 0.79627601 -0.06277989 0.9117787 ] [ 0.25498469 -0.116991 0.95984161 -1.18567181] [ 0. 0. 0. 1. ]] SLAMing on 140.221346184 meters Centerline goodness : 0.861738 Centerline is valid? [False, False] Translation: X:1.08, Y:0.92, Z:-1.19 [[ 0.75707205 -0.59231726 -0.27568491 1.07814583] [ 0.60077777 0.79697007 -0.06248828 0.91518579] [ 0.25672551 -0.11831723 0.95921481 -1.18506447] [ 0. 0. 0. 1. ]] SLAMing on 140.251346184 meters Centerline goodness : 0.860813 Centerline is valid? [False, False] Translation: X:1.08, Y:0.92, Z:-1.19 [[ 0.75712443 -0.5921978 -0.27579771 1.07822464] [ 0.60053801 0.79711297 -0.06296843 0.9167855 ] [ 0.25713169 -0.11795207 0.95915098 -1.18521527] [ 0. 0. 0. 1. ]] SLAMing on 140.281346184 meters Centerline goodness : 0.861880 Centerline is valid? [False, False] Translation: X:1.08, Y:0.92, Z:-1.19 [[ 0.7567478 -0.59308714 -0.27491893 1.07822002] [ 0.60100177 0.79665626 -0.0643092 0.91807256] [ 0.25715685 -0.11656092 0.95931429 -1.18591162] [ 0. 0. 0. 1. ]] SLAMing on 140.311346184 meters Centerline goodness : 0.860408 Centerline is valid? [False, False] Translation: X:1.08, Y:0.92, Z:-1.19 [[ 0.75567412 -0.59426624 -0.27532574 1.08061951] [ 0.60176893 0.79591635 -0.06626699 0.92218567] [ 0.2585165 -0.11560623 0.95906435 -1.18678592] [ 0. 0. 0. 1. ]] SLAMing on 140.341346184 meters Centerline goodness : 0.862098 Centerline is valid? [False, False] Translation: X:1.08, Y:0.93, Z:-1.19 [[ 0.75499935 -0.59416559 -0.27738644 1.08243065] [ 0.60190142 0.79580856 -0.06635825 0.92537549] [ 0.26017429 -0.11685886 0.95846406 -1.18556687] [ 0. 0. 0. 1. ]] SLAMing on 140.371346184 meters Centerline goodness : 0.860112 Centerline is valid? [False, False] Translation: X:1.08, Y:0.93, Z:-1.18 [[ 0.75438347 -0.59396098 -0.27949228 1.08249741] [ 0.60206389 0.79571787 -0.06597076 0.92770188] [ 0.26158106 -0.11850496 0.95787887 -1.18323257] [ 0. 0. 0. 1. ]] SLAMing on 140.401346184 meters Centerline goodness : 0.859870 Centerline is valid? [False, False] Translation: X:1.08, Y:0.93, Z:-1.18 [[ 0.7540823 -0.59251237 -0.28335309 1.08428254] [ 0.60146519 0.79629547 -0.0644449 0.93196628] [ 0.26381718 -0.12183026 0.95684789 -1.18141285] [ 0. 0. 0. 1. ]] SLAMing on 140.431346184 meters Centerline goodness : 0.861258 Centerline is valid? [False, False] Translation: X:1.08, Y:0.93, Z:-1.18 [[ 0.75356841 -0.59319701 -0.28328777 1.08475659] [ 0.60187596 0.79589525 -0.06554453 0.93377769] [ 0.26434821 -0.12111181 0.95679253 -1.18140521] [ 0. 0. 0. 1. ]] SLAMing on 140.461346184 meters Centerline goodness : 0.861279 Centerline is valid? [False, False] Translation: X:1.09, Y:0.94, Z:-1.18 [[ 0.75275094 -0.59413718 -0.28349079 1.08685011] [ 0.60245011 0.79532632 -0.06715581 0.93641846] [ 0.26536745 -0.12023746 0.95662065 -1.18176757] [ 0. 0. 0. 1. ]] SLAMing on 140.49134618399998 meters Centerline goodness : 0.861144 Centerline is valid? [False, False] Translation: X:1.09, Y:0.94, Z:-1.18 [[ 0.7515977 -0.59568497 -0.2833025 1.08721727] [ 0.60364621 0.79429128 -0.06864844 0.93865502] [ 0.26591755 -0.11941847 0.95657048 -1.18147774] [ 0. 0. 0. 1. ]] SLAMing on 140.52134618399998 meters Centerline goodness : 0.861048 Centerline is valid? [False, False] Translation: X:1.09, Y:0.95, Z:-1.18 [[ 0.74955388 -0.60189845 -0.27547638 1.091077 ] [ 0.60939701 0.78995497 -0.06787073 0.95047663] [ 0.25846522 -0.11700172 0.95890893 -1.17988303] [ 0. 0. 0. 1. ]] SLAMing on 140.55134618399998 meters Centerline goodness : 0.862216 Centerline is valid? [False, False] Translation: X:1.09, Y:0.95, Z:-1.18 [[ 0.74828034 -0.60243483 -0.27775673 1.09294674] [ 0.61022253 0.78930615 -0.06800193 0.95326141] [ 0.26020183 -0.1186089 0.95824159 -1.17774419] [ 0. 0. 0. 1. ]] SLAMing on 140.58134618399998 meters Centerline goodness : 0.860443 Centerline is valid? [False, False] Translation: X:1.09, Y:0.96, Z:-1.18 [[ 0.74721316 -0.60293838 -0.27953142 1.09430436] [ 0.6109207 0.78874491 -0.0682449 0.95556431] [ 0.26162646 -0.11977804 0.95770811 -1.17596584] [ 0. 0. 0. 1. ]] SLAMing on 140.61134618399998 meters Centerline goodness : 0.863474 Centerline is valid? [False, False] Translation: X:1.10, Y:0.96, Z:-1.17 [[ 0.74551641 -0.60391195 -0.28194972 1.09564642] [ 0.61228727 0.78768965 -0.06818588 0.95901935] [ 0.26326714 -0.12180053 0.95700316 -1.17403334] [ 0. 0. 0. 1. ]] SLAMing on 140.64134618399999 meters Centerline goodness : 0.863176 Centerline is valid? [False, False] Translation: X:1.10, Y:0.96, Z:-1.17 [[ 0.74451684 -0.60443348 -0.2834693 1.0968216 ] [ 0.61294479 0.78714696 -0.06854449 0.96155104] [ 0.26456259 -0.1227185 0.95652852 -1.17259995] [ 0. 0. 0. 1. ]] SLAMing on 140.671346184 meters Centerline goodness : 0.862399 Centerline is valid? [False, False] Translation: X:1.10, Y:0.96, Z:-1.17 [[ 0.74343251 -0.60505846 -0.28497783 1.09808849] [ 0.61359264 0.78657307 -0.06933159 0.96486131] [ 0.26610555 -0.12331694 0.95602341 -1.17122903] [ 0. 0. 0. 1. ]] SLAMing on 140.701346184 meters Centerline goodness : 0.861417 Centerline is valid? [False, False] Translation: X:1.10, Y:0.97, Z:-1.17 [[ 0.74263355 -0.60548577 -0.28615099 1.09900924] [ 0.61383442 0.78626629 -0.07065857 0.96928478] [ 0.26777363 -0.1231759 0.95557573 -1.17057906] [ 0. 0. 0. 1. ]] SLAMing on 140.731346184 meters Centerline goodness : 0.862685 Centerline is valid? [False, False] Translation: X:1.10, Y:0.97, Z:-1.17 [[ 0.74255788 -0.60519076 -0.28697029 1.10010137] [ 0.61346047 0.78650238 -0.07127591 0.97224995] [ 0.26883834 -0.12311845 0.95528414 -1.1707011 ] [ 0. 0. 0. 1. ]] SLAMing on 140.761346184 meters Centerline goodness : 0.862204 Centerline is valid? [False, False] Translation: X:1.10, Y:0.98, Z:-1.17 [[ 0.74242987 -0.60489745 -0.28791832 1.1016712 ] [ 0.61308837 0.7867309 -0.07195237 0.97517886] [ 0.27003804 -0.12309978 0.95494811 -1.1706442 ] [ 0. 0. 0. 1. ]] SLAMing on 140.791346184 meters Centerline goodness : 0.863470 Centerline is valid? [False, False] Translation: X:1.10, Y:0.98, Z:-1.17 [[ 0.74228285 -0.60494577 -0.28819576 1.10213399] [ 0.61291252 0.78678183 -0.07288755 0.97726316] [ 0.2708402 -0.12253561 0.95479349 -1.17049141] [ 0. 0. 0. 1. ]] SLAMing on 140.821346184 meters Centerline goodness : 0.862383 Centerline is valid? [False, False] Translation: X:1.04, Y:0.94, Z:-1.19 [[ 0.74634967 -0.60389139 -0.27978093 1.04148523] [ 0.60905722 0.78920911 -0.07872918 0.9369212 ] [ 0.26834953 -0.1116431 0.95683036 -1.18602544] [ 0. 0. 0. 1. ]] SLAMing on 140.851346184 meters Centerline goodness : 0.862498 Centerline is valid? [False, False] Translation: X:1.00, Y:0.91, Z:-1.20 [[ 0.74812958 -0.60325022 -0.27638976 0.99502859] [ 0.60721796 0.79035285 -0.08141698 0.90528442] [ 0.26756024 -0.10691838 0.95759071 -1.19808372] [ 0. 0. 0. 1. ]] SLAMing on 140.881346184 meters Centerline goodness : 0.858917 Centerline is valid? [False, False] Translation: X:0.95, Y:0.87, Z:-1.21 [[ 0.74911539 -0.60282137 -0.27464985 0.94720725] [ 0.60575752 0.79117104 -0.08429834 0.87265451] [ 0.26811185 -0.10322203 0.95784198 -1.21023473] [ 0. 0. 0. 1. ]] SLAMing on 140.911346184 meters Centerline goodness : 0.864293 Centerline is valid? [False, False] Translation: X:0.95, Y:0.87, Z:-1.20 [[ 0.75010076 -0.59508927 -0.28847463 0.94924716] [ 0.59747183 0.7968061 -0.09015239 0.87030674] [ 0.28350706 -0.10473209 0.95323393 -1.20085186] [ 0. 0. 0. 1. ]] SLAMing on 140.941346184 meters Centerline goodness : 0.861377 Centerline is valid? [False, False] Translation: X:0.95, Y:0.87, Z:-1.20 [[ 0.75031655 -0.59402377 -0.29010486 0.95061455] [ 0.59658475 0.79749093 -0.08997144 0.87283119] [ 0.28480117 -0.10556507 0.95275617 -1.20040805] [ 0. 0. 0. 1. ]] SLAMing on 140.971346184 meters Centerline goodness : 0.861896 Centerline is valid? [False, False] Translation: X:0.95, Y:0.88, Z:-1.20 [[ 0.75062022 -0.59276432 -0.29188996 0.95295433] [ 0.59545598 0.7983338 -0.08997396 0.8755166 ] [ 0.28635898 -0.10627135 0.95221055 -1.20012605] [ 0. 0. 0. 1. ]] SLAMing on 141.001346184 meters Centerline goodness : 0.861331 Centerline is valid? [False, False] Translation: X:0.95, Y:0.88, Z:-1.20 [[ 0.75098767 -0.59196938 -0.29255729 0.95486513] [ 0.59450906 0.79897156 -0.09057278 0.8780826 ] [ 0.28736127 -0.10590892 0.95194895 -1.20090205] [ 0. 0. 0. 1. ]] SLAMing on 141.031346184 meters Centerline goodness : 0.862953 Centerline is valid? [False, False] Translation: X:0.96, Y:0.88, Z:-1.20 [[ 0.75194973 -0.59055084 -0.29295274 0.95665733] [ 0.59284836 0.8001302 -0.09122766 0.8814175 ] [ 0.2882749 -0.10507793 0.95176479 -1.20272747] [ 0. 0. 0. 1. ]] SLAMing on 141.061346184 meters Centerline goodness : 0.863021 Centerline is valid? [False, False] Translation: X:0.96, Y:0.89, Z:-1.20 [[ 0.75244068 -0.59424529 -0.28408723 0.95930186] [ 0.59614193 0.79782817 -0.08991672 0.89044703] [ 0.28008538 -0.10169931 0.9545729 -1.20182964] [ 0. 0. 0. 1. ]] SLAMing on 141.091346184 meters Centerline goodness : 0.861692 Centerline is valid? [False, False] Translation: X:0.96, Y:0.90, Z:-1.20 [[ 0.7527576 -0.59799166 -0.27524894 0.96267953] [ 0.59959038 0.79541952 -0.08831286 0.90037045] [ 0.27174873 -0.09855844 0.95730813 -1.20190641] [ 0. 0. 0. 1. ]] SLAMing on 141.121346184 meters Centerline goodness : 0.862341 Centerline is valid? [False, False] Translation: X:0.97, Y:0.90, Z:-1.20 [[ 0.7524759 -0.59777299 -0.27649135 0.96504276] [ 0.59925581 0.79557811 -0.08915124 0.90376915] [ 0.27326267 -0.09860489 0.9568723 -1.20199461] [ 0. 0. 0. 1. ]] SLAMing on 141.151346184 meters Centerline goodness : 0.860131 Centerline is valid? [False, False] Translation: X:0.97, Y:0.91, Z:-1.20 [[ 0.75174177 -0.59830852 -0.27732874 0.96780504] [ 0.59951488 0.79522576 -0.09054226 0.90681966] [ 0.27471116 -0.0981983 0.95649928 -1.2023118 ] [ 0. 0. 0. 1. ]] SLAMing on 141.181346184 meters Centerline goodness : 0.859568 Centerline is valid? [False, False] Translation: X:0.97, Y:0.91, Z:-1.20 [[ 0.75082458 -0.59888915 -0.27855742 0.96914379] [ 0.60007733 0.79472765 -0.09118751 0.90853847] [ 0.27598849 -0.09869017 0.95608086 -1.20064528] [ 0. 0. 0. 1. ]] SLAMing on 141.211346184 meters Centerline goodness : 0.859494 Centerline is valid? [False, False] Translation: X:0.97, Y:0.91, Z:-1.20 [[ 0.74989179 -0.59956958 -0.27960442 0.96971125] [ 0.60074692 0.79415571 -0.09175971 0.91036052] [ 0.27706578 -0.09916165 0.95572042 -1.19901198] [ 0. 0. 0. 1. ]] SLAMing on 141.24134618399998 meters Centerline goodness : 0.860213 Centerline is valid? [False, False] Translation: X:0.97, Y:0.91, Z:-1.20 [[ 0.74879429 -0.59973729 -0.28217422 0.97134918] [ 0.60120084 0.7938086 -0.09179032 0.91378184] [ 0.2790424 -0.10091131 0.95496191 -1.19677073] [ 0. 0. 0. 1. ]] SLAMing on 141.27134618399998 meters Centerline goodness : 0.861088 Centerline is valid? [False, False] Translation: X:0.97, Y:0.92, Z:-1.19 [[ 0.74865883 -0.59914767 -0.28378167 0.97200203] [ 0.60081715 0.79412288 -0.09158382 0.91509789] [ 0.28022975 -0.10193586 0.9545053 -1.19490135] [ 0. 0. 0. 1. ]] SLAMing on 141.30134618399998 meters Centerline goodness : 0.862357 Centerline is valid? [False, False] Translation: X:0.97, Y:0.92, Z:-1.19 [[ 0.7484227 -0.59852758 -0.28570648 0.97387078] [ 0.60043457 0.79443406 -0.09139393 0.91698626] [ 0.28167675 -0.10314676 0.95394914 -1.19352327] [ 0. 0. 0. 1. ]] SLAMing on 141.33134618399998 meters Centerline goodness : 0.860947 Centerline is valid? [False, False] Translation: X:0.91, Y:0.87, Z:-1.21 [[ 0.75043837 -0.59956957 -0.2781341 0.91360847] [ 0.59850095 0.79499091 -0.09892454 0.87484021] [ 0.28042623 -0.09222675 0.95543464 -1.21090508] [ 0. 0. 0. 1. ]] SLAMing on 141.36134618399998 meters Centerline goodness : 0.858238 Centerline is valid? [False, False] Translation: X:0.85, Y:0.83, Z:-1.23 [[ 0.75199491 -0.60018186 -0.27255346 0.85238385] [ 0.59673671 0.79549783 -0.1053019 0.83079468] [ 0.28001598 -0.08345616 0.95636087 -1.22932877] [ 0. 0. 0. 1. ]] SLAMing on 141.39134618399999 meters Centerline goodness : 0.861090 Centerline is valid? [False, False] Translation: X:0.80, Y:0.80, Z:-1.24 [[ 0.75210824 -0.60094086 -0.27056104 0.80351711] [ 0.59669265 0.79522626 -0.10757827 0.79573161] [ 0.27980542 -0.08053128 0.95667321 -1.24432872] [ 0. 0. 0. 1. ]] SLAMing on 141.421346184 meters Centerline goodness : 0.861151 Centerline is valid? [False, False] Translation: X:0.74, Y:0.75, Z:-1.26 [[ 0.75436002 -0.60066699 -0.26483982 0.74214718] [ 0.59420921 0.7962696 -0.11344667 0.75350542] [ 0.27902757 -0.07179063 0.9575958 -1.26328259] [ 0. 0. 0. 1. ]] SLAMing on 141.451346184 meters Centerline goodness : 0.861944 Centerline is valid? [False, False] Translation: X:0.69, Y:0.72, Z:-1.28 [[ 0.7553678 -0.60001165 -0.26344924 0.69292133] [ 0.59294442 0.79698307 -0.11504307 0.71973732] [ 0.27899176 -0.06931093 0.95778891 -1.27740945] [ 0. 0. 0. 1. ]] SLAMing on 141.481346184 meters Centerline goodness : 0.859737 Centerline is valid? [False, False] Translation: X:0.65, Y:0.69, Z:-1.29 [[ 0.75837106 -0.59768777 -0.26008206 0.65204791] [ 0.58966547 0.79912205 -0.11704093 0.69142648] [ 0.27779124 -0.06460095 0.95846687 -1.29006693] [ 0. 0. 0. 1. ]] SLAMing on 141.511346184 meters Centerline goodness : 0.859580 Centerline is valid? [False, False] Translation: X:0.63, Y:0.68, Z:-1.30 [[ 0.75949809 -0.59664589 -0.25918399 0.62671181] [ 0.58837344 0.80000738 -0.11749421 0.67580603] [ 0.27745154 -0.06326035 0.95865467 -1.2976391 ] [ 0. 0. 0. 1. ]] SLAMing on 141.541346184 meters Centerline goodness : 0.859777 Centerline is valid? [False, False] Translation: X:0.58, Y:0.65, Z:-1.31 [[ 0.76268589 -0.59384767 -0.25623266 0.5847351 ] [ 0.58471219 0.80242279 -0.11928677 0.64560995] [ 0.27644509 -0.05884402 0.95922651 -1.31079672] [ 0. 0. 0. 1. ]] SLAMing on 141.571346184 meters Centerline goodness : 0.860707 Centerline is valid? [False, False] Translation: X:0.55, Y:0.62, Z:-1.32 [[ 0.76540899 -0.59223269 -0.25181248 0.5461291 ] [ 0.58180266 0.80404217 -0.12256369 0.61762138] [ 0.27505408 -0.05269382 0.95998365 -1.32367345] [ 0. 0. 0. 1. ]] SLAMing on 141.601346184 meters Centerline goodness : 0.862252 Centerline is valid? [False, False] Translation: X:0.50, Y:0.58, Z:-1.34 [[ 0.76745595 -0.58985093 -0.25117174 0.50019336] [ 0.57969128 0.80579157 -0.12107006 0.58323611] [ 0.27380536 -0.05268613 0.96034098 -1.34112134] [ 0. 0. 0. 1. ]] SLAMing on 141.631346184 meters Centerline goodness : 0.860862 Centerline is valid? [False, False] Translation: X:0.45, Y:0.55, Z:-1.36 [[ 0.76937093 -0.58797091 -0.249717 0.45422659] [ 0.57761494 0.80727038 -0.12114256 0.55118753] [ 0.27281744 -0.05103671 0.96071114 -1.35655641] [ 0. 0. 0. 1. ]] SLAMing on 141.661346184 meters Centerline goodness : 0.860324 Centerline is valid? [False, False] Translation: X:0.41, Y:0.52, Z:-1.37 [[ 0.77140275 -0.58618928 -0.24762863 0.41199504] [ 0.5753075 0.80874346 -0.12229185 0.52077633] [ 0.27195421 -0.04812634 0.96110601 -1.37155169] [ 0. 0. 0. 1. ]] SLAMing on 141.691346184 meters Centerline goodness : 0.860742 Centerline is valid? [False, False] Translation: X:0.37, Y:0.49, Z:-1.39 [[ 0.77316769 -0.58440932 -0.24632798 0.3686436 ] [ 0.5732937 0.81012881 -0.12257911 0.48931649] [ 0.27119377 -0.04644407 0.9614036 -1.38794935] [ 0. 0. 0. 1. ]] SLAMing on 141.721346184 meters Centerline goodness : 0.860742 Centerline is valid? [False, False] Translation: X:0.35, Y:0.47, Z:-1.40 [[ 0.77535333 -0.58148267 -0.24638407 0.34849622] [ 0.57146655 0.81207149 -0.11817728 0.47077178] [ 0.26879952 -0.04917111 0.96194024 -1.40104505] [ 0. 0. 0. 1. ]] SLAMing on 141.751346184 meters Centerline goodness : 0.858206 Centerline is valid? [False, False] Translation: X:0.30, Y:0.44, Z:-1.42 [[ 0.7766756 -0.58047515 -0.24458866 0.30242642] [ 0.57010254 0.81291717 -0.1189486 0.43821222] [ 0.26787703 -0.04705614 0.96230329 -1.41659563] [ 0. 0. 0. 1. ]] SLAMing on 141.781346184 meters Centerline goodness : 0.861256 Centerline is valid? [False, False] Translation: X:0.27, Y:0.41, Z:-1.43 [[ 0.78002149 -0.57840167 -0.23878438 0.26638532] [ 0.56842172 0.81450149 -0.11612092 0.41081588] [ 0.26165477 -0.04515342 0.96410474 -1.43339066] [ 0. 0. 0. 1. ]] SLAMing on 141.811346184 meters Centerline goodness : 0.861236 Centerline is valid? [False, False] Translation: X:0.22, Y:0.38, Z:-1.45 [[ 0.78129971 -0.57724687 -0.2373959 0.21878438] [ 0.56704765 0.81540508 -0.11649685 0.37759649] [ 0.26082127 -0.04359583 0.96440223 -1.44863783] [ 0. 0. 0. 1. ]] SLAMing on 141.841346184 meters Centerline goodness : 0.859699 Centerline is valid? [False, False] Translation: X:0.17, Y:0.35, Z:-1.46 [[ 0.78265827 -0.57606172 -0.23579423 0.17047244] [ 0.56579545 0.81630554 -0.11627889 0.34500011] [ 0.25946395 -0.04240467 0.96482138 -1.46446763] [ 0. 0. 0. 1. ]] SLAMing on 141.871346184 meters Centerline goodness : 0.857857 Centerline is valid? [False, False] Translation: X:0.11, Y:0.31, Z:-1.48 [[ 0.7828454 -0.57553153 -0.23646679 0.11387892] [ 0.56564305 0.81660564 -0.11490506 0.30745319] [ 0.2592316 -0.0438029 0.96482137 -1.48100571] [ 0. 0. 0. 1. ]] SLAMing on 141.901346184 meters Centerline goodness : 0.858861 Centerline is valid? [False, False] Translation: X:0.07, Y:0.28, Z:-1.50 [[ 0.78468599 -0.57367779 -0.23486527 0.06657537] [ 0.56367206 0.81798654 -0.11476855 0.27535932] [ 0.2579568 -0.04232972 0.96522872 -1.49610957] [ 0. 0. 0. 1. ]] SLAMing on 141.931346184 meters Centerline goodness : 0.858049 Centerline is valid? [False, False] Translation: X:0.02, Y:0.24, Z:-1.51 [[ 0.78650591 -0.57216672 -0.23245152 0.02083027] [ 0.56184382 0.81916607 -0.115319 0.24380508] [ 0.25639809 -0.03990238 0.96574729 -1.51074171] [ 0. 0. 0. 1. ]] SLAMing on 141.961346184 meters Centerline goodness : 0.861047 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.21, Z:-1.53 [[ 0.78771746 -0.57133316 -0.23039013 -0.02716816] [ 0.56076195 0.81983916 -0.11580061 0.21040887] [ 0.25504358 -0.03797586 0.96618353 -1.52581514] [ 0. 0. 0. 1. ]] SLAMing on 141.99134618399998 meters Centerline goodness : 0.861553 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.18, Z:-1.54 [[ 0.78916816 -0.56958475 -0.22975384 -0.07609147] [ 0.55907608 0.82107483 -0.1151957 0.1769543 ] [ 0.25425881 -0.03754109 0.96640733 -1.54138589] [ 0. 0. 0. 1. ]] SLAMing on 142.02134618399998 meters Centerline goodness : 0.860229 Centerline is valid? [False, False] Translation: X:-0.13, Y:0.14, Z:-1.56 [[ 0.79053742 -0.5671168 -0.23114739 -0.1285439 ] [ 0.55726991 0.82267226 -0.11251932 0.14156807] [ 0.25397014 -0.03986075 0.96639034 -1.55881974] [ 0. 0. 0. 1. ]] SLAMing on 142.05134618399998 meters Centerline goodness : 0.863200 Centerline is valid? [False, False] Translation: X:-0.18, Y:0.11, Z:-1.58 [[ 0.79234616 -0.56470153 -0.23086737 -0.17999404] [ 0.55527848 0.82429324 -0.11048284 0.10747348] [ 0.25269224 -0.04065503 0.96669219 -1.57534942] [ 0. 0. 0. 1. ]] SLAMing on 142.08134618399998 meters Centerline goodness : 0.864514 Centerline is valid? [False, False] Translation: X:-0.23, Y:0.08, Z:-1.59 [[ 0.79461946 -0.5619793 -0.22969367 -0.22903457] [ 0.55241409 0.82622442 -0.11041682 0.07646211] [ 0.25183049 -0.03914667 0.96697929 -1.59027786] [ 0. 0. 0. 1. ]] SLAMing on 142.11134618399998 meters Centerline goodness : 0.860548 Centerline is valid? [False, False] Translation: X:-0.27, Y:0.05, Z:-1.60 [[ 0.79710582 -0.55917274 -0.22792138 -0.27486115] [ 0.54934368 0.82822755 -0.11072779 0.0459152 ] [ 0.25068672 -0.0369454 0.96736302 -1.60481051] [ 0. 0. 0. 1. ]] SLAMing on 142.14134618399999 meters Centerline goodness : 0.860211 Centerline is valid? [False, False] Translation: X:-0.32, Y:0.02, Z:-1.62 [[ 0.79985023 -0.55587342 -0.22637214 -0.3190747 ] [ 0.5456723 0.83055538 -0.11144281 0.01719918] [ 0.2499627 -0.03438745 0.96764464 -1.61843628] [ 0. 0. 0. 1. ]] SLAMing on 142.171346184 meters Centerline goodness : 0.860137 Centerline is valid? [False, False] Translation: X:-0.36, Y:-0.01, Z:-1.63 [[ 0.80313484 -0.55245353 -0.22309083 -0.3641214 ] [ 0.54131713 0.83303574 -0.11413686 -0.00817189] [ 0.24889795 -0.02909559 0.96809259 -1.62842567] [ 0. 0. 0. 1. ]] SLAMing on 142.201346184 meters Centerline goodness : 0.861245 Centerline is valid? [False, False] Translation: X:-0.41, Y:-0.04, Z:-1.64 [[ 0.80564559 -0.54906775 -0.22239558 -0.41252441] [ 0.53831154 0.83525981 -0.11207917 -0.04079028] [ 0.24729715 -0.02942202 0.96849288 -1.64348154] [ 0. 0. 0. 1. ]] SLAMing on 142.231346184 meters Centerline goodness : 0.860360 Centerline is valid? [False, False] Translation: X:-0.46, Y:-0.07, Z:-1.66 [[ 0.80798379 -0.54605599 -0.22132565 -0.46083548] [ 0.53566398 0.83722518 -0.11008223 -0.0730096 ] [ 0.24541047 -0.02961152 0.9689669 -1.6592191 ] [ 0. 0. 0. 1. ]] SLAMing on 142.261346184 meters Centerline goodness : 0.860962 Centerline is valid? [False, False] Translation: X:-0.51, Y:-0.11, Z:-1.67 [[ 0.8101165 -0.54312958 -0.2207295 -0.5098504 ] [ 0.53324619 0.8390927 -0.10757297 -0.10635347] [ 0.24363857 -0.03055653 0.96938462 -1.67485488] [ 0. 0. 0. 1. ]] SLAMing on 142.291346184 meters Centerline goodness : 0.858848 Centerline is valid? [False, False] Translation: X:-0.56, Y:-0.14, Z:-1.69 [[ 0.81172052 -0.54108314 -0.21986095 -0.55708693] [ 0.53127755 0.84043146 -0.10686032 -0.13826755] [ 0.24259838 -0.03006647 0.96966078 -1.69013412] [ 0. 0. 0. 1. ]] SLAMing on 142.321346184 meters Centerline goodness : 0.858709 Centerline is valid? [False, False] Translation: X:-0.61, Y:-0.17, Z:-1.71 [[ 0.81278511 -0.53943295 -0.21998286 -0.60751985] [ 0.53006433 0.84144476 -0.10489288 -0.17247423] [ 0.2416861 -0.0313497 0.96984794 -1.70694878] [ 0. 0. 0. 1. ]] SLAMing on 142.351346184 meters Centerline goodness : 0.860615 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.20, Z:-1.72 [[ 0.81436276 -0.53821391 -0.21711537 -0.65127657] [ 0.5282546 0.84235063 -0.10673563 -0.20083835] [ 0.24033387 -0.02777067 0.97029296 -1.72083888] [ 0. 0. 0. 1. ]] SLAMing on 142.381346184 meters Centerline goodness : 0.860699 Centerline is valid? [False, False] Translation: X:-0.70, Y:-0.23, Z:-1.74 [[ 0.81557774 -0.53710159 -0.21530173 -0.69530508] [ 0.52689774 0.84312047 -0.10736224 -0.23111851] [ 0.23918972 -0.02587974 0.9706279 -1.73708747] [ 0. 0. 0. 1. ]] SLAMing on 142.411346184 meters Centerline goodness : 0.859705 Centerline is valid? [False, False] Translation: X:-0.74, Y:-0.26, Z:-1.75 [[ 0.81683112 -0.53551624 -0.21449771 -0.74429994] [ 0.52543503 0.84413485 -0.10655702 -0.26369321] [ 0.23812801 -0.02566552 0.9708946 -1.75245723] [ 0. 0. 0. 1. ]] SLAMing on 142.441346184 meters Centerline goodness : 0.860972 Centerline is valid? [False, False] Translation: X:-0.79, Y:-0.30, Z:-1.77 [[ 0.81815472 -0.53359205 -0.2142484 -0.79390594] [ 0.52360444 0.84535595 -0.10588538 -0.29606539] [ 0.23761576 -0.02555079 0.97102312 -1.76698544] [ 0. 0. 0. 1. ]] SLAMing on 142.471346184 meters Centerline goodness : 0.861225 Centerline is valid? [False, False] Translation: X:-0.84, Y:-0.33, Z:-1.78 [[ 0.8203113 -0.53095409 -0.21254912 -0.83967691] [ 0.52066896 0.84708159 -0.10656741 -0.32521475] [ 0.23662885 -0.02324927 0.97132191 -1.77996675] [ 0. 0. 0. 1. ]] SLAMing on 142.501346184 meters Centerline goodness : 0.859469 Centerline is valid? [False, False] Translation: X:-0.89, Y:-0.35, Z:-1.79 [[ 0.8225056 -0.52818068 -0.21097326 -0.88693163] [ 0.51772981 0.84886119 -0.1067264 -0.35371549] [ 0.23545783 -0.02144408 0.97164796 -1.79299976] [ 0. 0. 0. 1. ]] SLAMing on 142.531346184 meters Centerline goodness : 0.859380 Centerline is valid? [False, False] Translation: X:-0.94, Y:-0.38, Z:-1.81 [[ 0.82429946 -0.52530318 -0.21115628 -0.93641594] [ 0.51512969 0.85062959 -0.10521738 -0.38429791] [ 0.2348868 -0.02204224 0.97177278 -1.8079834 ] [ 0. 0. 0. 1. ]] SLAMing on 142.561346184 meters Centerline goodness : 0.858880 Centerline is valid? [False, False] Translation: X:-0.96, Y:-0.40, Z:-1.81 [[ 0.82498726 -0.52412374 -0.21140086 -0.95760521] [ 0.51329811 0.85141654 -0.1077726 -0.39633728] [ 0.23647637 -0.01960064 0.97143952 -1.81353363] [ 0. 0. 0. 1. ]] SLAMing on 142.591346184 meters Centerline goodness : 0.859019 Centerline is valid? [False, False] Translation: X:-1.00, Y:-0.42, Z:-1.83 [[ 0.82651772 -0.52300961 -0.20815718 -0.99952058] [ 0.51110972 0.85221214 -0.11180927 -0.42307436] [ 0.23587139 -0.01397882 0.97168373 -1.82520959] [ 0. 0. 0. 1. ]] SLAMing on 142.621346184 meters Centerline goodness : 0.858685 Centerline is valid? [False, False] Translation: X:-1.04, Y:-0.45, Z:-1.84 [[ 0.82836321 -0.52087922 -0.2061534 -1.04435694] [ 0.50852165 0.85355997 -0.11331863 -0.451234 ] [ 0.23498961 -0.01096448 0.97193604 -1.83817917] [ 0. 0. 0. 1. ]] SLAMing on 142.651346184 meters Centerline goodness : 0.860698 Centerline is valid? [False, False] Translation: X:-1.09, Y:-0.48, Z:-1.85 [[ 0.83053592 -0.51852551 -0.2033258 -1.08697399] [ 0.5053835 0.85503914 -0.11617049 -0.47633648] [ 0.23408888 -0.00627374 0.97219496 -1.84992887] [ 0. 0. 0. 1. ]] SLAMing on 142.681346184 meters Centerline goodness : 0.860734 Centerline is valid? [False, False] Translation: X:-1.13, Y:-0.50, Z:-1.86 [[ 0.83255878 -0.51556611 -0.20257707 -1.13344317] [ 0.50229526 0.85683577 -0.11632685 -0.50416587] [ 0.23354946 -0.00490456 0.97233255 -1.86376407] [ 0. 0. 0. 1. ]] SLAMing on 142.711346184 meters Centerline goodness : 0.861532 Centerline is valid? [False, False] Translation: X:-1.18, Y:-0.53, Z:-1.88 [[ 8.35236965e-01 -5.12002802e-01 -2.00580015e-01 -1.17670112e+00] [ 4.98135105e-01 8.58983129e-01 -1.18361318e-01 -5.29356311e-01] [ 2.32896175e-01 -1.05619883e-03 9.72501031e-01 -1.87527663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74134618399998 meters Centerline goodness : 0.860675 Centerline is valid? [False, False] Translation: X:-1.22, Y:-0.56, Z:-1.89 [[ 8.37161070e-01 -5.09667190e-01 -1.98496094e-01 -1.22385312e+00] [ 4.95552004e-01 8.60370561e-01 -1.19124762e-01 -5.56900805e-01] [ 2.31494178e-01 1.36147569e-03 9.72835336e-01 -1.88841329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77134618399998 meters Centerline goodness : 0.862722 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.59, Z:-1.90 [[ 8.39720032e-01 -5.05498904e-01 -1.98345974e-01 -1.27284965e+00] [ 4.91636502e-01 8.62826388e-01 -1.17576246e-01 -5.86493229e-01] [ 2.30572804e-01 1.21700832e-03 9.73054316e-01 -1.90157960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80134618399998 meters Centerline goodness : 0.860864 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.60, Z:-1.91 [[ 0.8414917 -0.50237976 -0.19876193 -1.29996868] [ 0.48978125 0.86464105 -0.11184893 -0.60488038] [ 0.22804836 -0.00322992 0.97364445 -1.91350424] [ 0. 0. 0. 1. ]] SLAMing on 142.83134618399998 meters Centerline goodness : 0.858677 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.63, Z:-1.93 [[ 0.84321582 -0.49975602 -0.19806816 -1.34897786] [ 0.48721956 0.86616207 -0.11126707 -0.63353667] [ 0.22716552 -0.00268053 0.97385248 -1.92718394] [ 0. 0. 0. 1. ]] SLAMing on 142.86134618399998 meters Centerline goodness : 0.860014 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.66, Z:-1.94 [[ 8.45086191e-01 -4.97334783e-01 -1.96182170e-01 -1.39431114e+00] [ 4.84440796e-01 8.67558708e-01 -1.12512237e-01 -6.60220058e-01] [ 2.26155798e-01 4.38909743e-05 9.74091142e-01 -1.94000988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89134618399999 meters Centerline goodness : 0.856650 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.68, Z:-1.95 [[ 8.45975543e-01 -4.96058431e-01 -1.95579684e-01 -1.41883934e+00] [ 4.83709143e-01 8.68287777e-01 -1.10008190e-01 -6.76532346e-01] [ 2.24389939e-01 -1.53944317e-03 9.74498222e-01 -1.95042308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921346184 meters Centerline goodness : 0.858112 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.71, Z:-1.97 [[ 0.84639866 -0.49554948 -0.19503849 -1.47162723] [ 0.4836142 0.86857522 -0.10814063 -0.7083594 ] [ 0.22299464 -0.0027933 0.97481567 -1.96729071] [ 0. 0. 0. 1. ]] SLAMing on 142.951346184 meters Centerline goodness : 0.859331 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.73, Z:-1.98 [[ 0.84665252 -0.49512344 -0.19501869 -1.50141075] [ 0.48410487 0.86879977 -0.10406455 -0.72700092] [ 0.22095699 -0.00630299 0.97526319 -1.97908307] [ 0. 0. 0. 1. ]] SLAMing on 142.981346184 meters Centerline goodness : 0.857259 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.75, Z:-1.99 [[ 0.84812289 -0.49357525 -0.1925384 -1.54818202] [ 0.48212731 0.86969738 -0.10573417 -0.75404413] [ 0.21963792 -0.00315245 0.97557637 -1.99126451] [ 0. 0. 0. 1. ]] SLAMing on 143.011346184 meters Centerline goodness : 0.860209 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.78, Z:-2.00 [[ 8.49039713e-01 -4.93066016e-01 -1.89782692e-01 -1.59571182e+00] [ 4.81122433e-01 8.69991855e-01 -1.07867402e-01 -7.81351785e-01] [ 2.18295146e-01 2.74997992e-04 9.75882756e-01 -2.00370070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041346184 meters Centerline goodness : 0.860468 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.81, Z:-2.02 [[ 8.50040647e-01 -4.91781756e-01 -1.88630864e-01 -1.64716542e+00] [ 4.79887737e-01 8.70718070e-01 -1.07507218e-01 -8.09856250e-01] [ 2.17114391e-01 8.63866489e-04 9.76145786e-01 -2.01775328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071346184 meters Centerline goodness : 0.864008 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.83, Z:-2.03 [[ 0.85037437 -0.49105818 -0.18901135 -1.67914326] [ 0.48039396 0.87111678 -0.10186853 -0.82997776] [ 0.21467433 -0.00417352 0.97667677 -2.03008907] [ 0. 0. 0. 1. ]] SLAMing on 143.101346184 meters Centerline goodness : 0.859678 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.83, Z:-2.02 [[ 0.84967642 -0.48585864 -0.20491792 -1.67208525] [ 0.47431711 0.87400503 -0.105539 -0.83241773] [ 0.23037633 -0.00752208 0.97307254 -2.02296371] [ 0. 0. 0. 1. ]] SLAMing on 143.131346184 meters Centerline goodness : 0.862335 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.86, Z:-2.04 [[ 0.85129269 -0.48395431 -0.20270418 -1.7200927 ] [ 0.47194545 0.8750823 -0.10723088 -0.85770453] [ 0.22927769 -0.00438045 0.9733512 -2.0352573 ] [ 0. 0. 0. 1. ]] SLAMing on 143.161346184 meters Centerline goodness : 0.859460 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.86, Z:-2.04 [[ 0.85092664 -0.483645 -0.20496676 -1.71536603] [ 0.47167491 0.87524659 -0.10708024 -0.85510579] [ 0.23118529 -0.00556025 0.97289385 -2.03567098] [ 0. 0. 0. 1. ]] SLAMing on 143.191346184 meters Centerline goodness : 0.858987 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.87, Z:-2.05 [[ 0.85201444 -0.48171344 -0.20499647 -1.74627674] [ 0.47104332 0.87626924 -0.101343 -0.87405837] [ 0.22845039 -0.01021652 0.97350195 -2.04816751] [ 0. 0. 0. 1. ]] SLAMing on 143.221346184 meters Centerline goodness : 0.860519 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.90, Z:-2.06 [[ 0.85410635 -0.47928257 -0.20196674 -1.79372315] [ 0.46775994 0.87764559 -0.10458899 -0.89666986] [ 0.2273829 -0.00514183 0.97379186 -2.05800809] [ 0. 0. 0. 1. ]] SLAMing on 143.251346184 meters Centerline goodness : 0.860137 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.91, Z:-2.07 [[ 0.85557611 -0.4768475 -0.20150924 -1.82437125] [ 0.46665943 0.87893208 -0.09852605 -0.91476385] [ 0.22409483 -0.00973965 0.97451867 -2.07033451] [ 0. 0. 0. 1. ]] SLAMing on 143.281346184 meters Centerline goodness : 0.862203 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.93, Z:-2.08 [[ 0.856589 -0.47497739 -0.20162282 -1.85557214] [ 0.46586403 0.87989069 -0.09361131 -0.93258445] [ 0.2218693 -0.0137424 0.97497957 -2.08130082] [ 0. 0. 0. 1. ]] SLAMing on 143.311346184 meters Centerline goodness : 0.862030 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.95, Z:-2.09 [[ 0.8580735 -0.47276676 -0.20050302 -1.88380999] [ 0.46440277 0.88104368 -0.08995605 -0.9488311 ] [ 0.21918015 -0.01592526 0.97555443 -2.09116191] [ 0. 0. 0. 1. ]] SLAMing on 143.341346184 meters Centerline goodness : 0.858686 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.97, Z:-2.10 [[ 0.86003534 -0.46982879 -0.19899778 -1.93148336] [ 0.46087908 0.8826692 -0.09211712 -0.97107966] [ 0.21892848 -0.01248993 0.97566097 -2.10186243] [ 0. 0. 0. 1. ]] SLAMing on 143.371346184 meters Centerline goodness : 0.860858 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.98, Z:-2.11 [[ 0.8605736 -0.46881439 -0.19906316 -1.95747974] [ 0.4597893 0.88321432 -0.09233775 -0.98357971] [ 0.2191047 -0.01206368 0.97562677 -2.1094299 ] [ 0. 0. 0. 1. ]] SLAMing on 143.401346184 meters Centerline goodness : 0.857808 Centerline is valid? [False, False] Translation: X:-1.98, Y:-1.00, Z:-2.12 [[ 0.86146688 -0.46726541 -0.19884129 -1.98337028] [ 0.45854926 0.88402169 -0.09076465 -0.99792125] [ 0.21819119 -0.01298779 0.97581961 -2.11884589] [ 0. 0. 0. 1. ]] SLAMing on 143.431346184 meters Centerline goodness : 0.857271 Centerline is valid? [False, False] Translation: X:-2.03, Y:-1.02, Z:-2.13 [[ 0.86305777 -0.46533112 -0.19646434 -2.03160757] [ 0.45588812 0.88509374 -0.09367541 -1.02039673] [ 0.21747945 -0.00871847 0.97602596 -2.13009198] [ 0. 0. 0. 1. ]] SLAMing on 143.461346184 meters Centerline goodness : 0.855622 Centerline is valid? [False, False] Translation: X:-2.06, Y:-1.04, Z:-2.14 [[ 0.86435425 -0.46317621 -0.1958559 -2.06281072] [ 0.45472297 0.88618229 -0.08892675 -1.03665791] [ 0.21475279 -0.01219596 0.97659229 -2.14091156] [ 0. 0. 0. 1. ]] SLAMing on 143.49134618399998 meters Centerline goodness : 0.854115 Centerline is valid? [False, False] Translation: X:-2.10, Y:-1.05, Z:-2.15 [[ 0.86517259 -0.46155902 -0.19606036 -2.0964219 ] [ 0.45422885 0.88695209 -0.08361905 -1.05371755] [ 0.21249127 -0.01671136 0.97702006 -2.15222612] [ 0. 0. 0. 1. ]] SLAMing on 143.52134618399998 meters Centerline goodness : 0.853249 Centerline is valid? [False, False] Translation: X:-2.13, Y:-1.07, Z:-2.16 [[ 0.86615649 -0.46001973 -0.19533251 -2.12833536] [ 0.45340944 0.88770042 -0.08004902 -1.06945499] [ 0.21022088 -0.01923063 0.97746476 -2.16157037] [ 0. 0. 0. 1. ]] SLAMing on 143.55134618399998 meters Centerline goodness : 0.852757 Centerline is valid? [False, False] Translation: X:-2.16, Y:-1.09, Z:-2.17 [[ 0.86638024 -0.4599914 -0.19440471 -2.16318257] [ 0.45402722 0.88766029 -0.0769317 -1.08642309] [ 0.20795326 -0.02161293 0.97789996 -2.17067851] [ 0. 0. 0. 1. ]] SLAMing on 143.58134618399998 meters Centerline goodness : 0.853147 Centerline is valid? [False, False] Translation: X:-2.19, Y:-1.10, Z:-2.18 [[ 0.86660544 -0.45997774 -0.19343083 -2.19371878] [ 0.45433476 0.88764226 -0.07530703 -1.10177345] [ 0.20633694 -0.02262087 0.97821949 -2.17921712] [ 0. 0. 0. 1. ]] SLAMing on 143.61134618399998 meters Centerline goodness : 0.850604 Centerline is valid? [False, False] Translation: X:-2.24, Y:-1.12, Z:-2.19 [[ 0.867879 -0.45884318 -0.19039164 -2.24362112] [ 0.45234972 0.88834226 -0.07891614 -1.12477356] [ 0.20534308 -0.01763394 0.97853118 -2.18790016] [ 0. 0. 0. 1. ]] SLAMing on 143.64134618399999 meters Centerline goodness : 0.850604 Centerline is valid? [False, False] Translation: X:-2.27, Y:-1.14, Z:-2.20 [[ 0.86824368 -0.45799902 -0.19076113 -2.27328159] [ 0.45201205 0.88873082 -0.07643712 -1.14044296] [ 0.20454342 -0.01986028 0.978656 -2.19738761] [ 0. 0. 0. 1. ]] SLAMing on 143.671346184 meters Centerline goodness : 0.854678 Centerline is valid? [False, False] Translation: X:-2.32, Y:-1.16, Z:-2.21 [[ 0.86968209 -0.45663089 -0.18746009 -2.32227026] [ 0.44985026 0.88953109 -0.07980718 -1.16287417] [ 0.20319401 -0.01492209 0.97902478 -2.20660965] [ 0. 0. 0. 1. ]] SLAMing on 143.701346184 meters Centerline goodness : 0.854113 Centerline is valid? [False, False] Translation: X:-2.37, Y:-1.19, Z:-2.22 [[ 0.8705788 -0.45613835 -0.18447318 -2.372653 ] [ 0.448562 0.88985117 -0.08340872 -1.18629604] [ 0.2021996 -0.0101338 0.9792919 -2.21616849] [ 0. 0. 0. 1. ]] SLAMing on 143.731346184 meters Centerline goodness : 0.853005 Centerline is valid? [False, False] Translation: X:-2.40, Y:-1.20, Z:-2.23 [[ 0.8710939 -0.4552472 -0.18424277 -2.40298285] [ 0.4482309 0.89027883 -0.08057704 -1.20249691] [ 0.20070991 -0.01239313 0.97957233 -2.22538736] [ 0. 0. 0. 1. ]] SLAMing on 143.761346184 meters Centerline goodness : 0.851781 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.22, Z:-2.23 [[ 0.87171497 -0.45430133 -0.18363906 -2.435404 ] [ 0.44796741 0.89072062 -0.0770842 -1.21869387] [ 0.19859055 -0.01506886 0.97996669 -2.23470707] [ 0. 0. 0. 1. ]] SLAMing on 143.791346184 meters Centerline goodness : 0.852684 Centerline is valid? [False, False] Translation: X:-2.49, Y:-1.24, Z:-2.24 [[ 0.87371967 -0.45130764 -0.181481 -2.486236 ] [ 0.44459578 0.89228623 -0.07848487 -1.24091378] [ 0.19735382 -0.01211191 0.9802575 -2.24424562] [ 0. 0. 0. 1. ]] SLAMing on 143.821346184 meters Centerline goodness : 0.852684 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.25, Z:-2.25 [[ 0.87469536 -0.44911371 -0.18222213 -2.5099248 ] [ 0.44256103 0.89338225 -0.07751057 -1.25402889] [ 0.19760507 -0.01284628 0.98019754 -2.25200785] [ 0. 0. 0. 1. ]] SLAMing on 143.851346184 meters Centerline goodness : 0.851404 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.27, Z:-2.26 [[ 0.8782003 -0.44574357 -0.17342693 -2.55279269] [ 0.43947723 0.89510259 -0.07517396 -1.27439514] [ 0.1887432 -0.0101994 0.98197351 -2.26433757] [ 0. 0. 0. 1. ]] SLAMing on 143.881346184 meters Centerline goodness : 0.855083 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.30, Z:-2.27 [[ 0.88018876 -0.44303912 -0.17024713 -2.60248023] [ 0.43616961 0.89648435 -0.07792226 -1.29690432] [ 0.1871465 -0.00567032 0.98231565 -2.27183773] [ 0. 0. 0. 1. ]] SLAMing on 143.911346184 meters Centerline goodness : 0.853431 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.31, Z:-2.28 [[ 0.88133842 -0.4412134 -0.16903647 -2.63681599] [ 0.43538934 0.8973464 -0.07214956 -1.31426368] [ 0.18351762 -0.0100085 0.98296547 -2.28149479] [ 0. 0. 0. 1. ]] SLAMing on 143.941346184 meters Centerline goodness : 0.853705 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.33, Z:-2.29 [[ 0.88219468 -0.44016948 -0.16728232 -2.67027685] [ 0.43490726 0.897835 -0.06890566 -1.33050313] [ 0.18052209 -0.01196409 0.98349816 -2.28886444] [ 0. 0. 0. 1. ]] SLAMing on 143.971346184 meters Centerline goodness : 0.851535 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.35, Z:-2.30 [[ 0.8835695 -0.43872911 -0.16377333 -2.71484065] [ 0.43233405 0.89860694 -0.07478528 -1.35043889] [ 0.17997833 -0.00472679 0.98365922 -2.29587672] [ 0. 0. 0. 1. ]] SLAMing on 144.001346184 meters Centerline goodness : 0.855023 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.37, Z:-2.31 [[ 0.88398261 -0.43799211 -0.16351653 -2.7449477 ] [ 0.43217111 0.89894825 -0.07155544 -1.36683117] [ 0.17833361 -0.00741335 0.98394216 -2.3053449 ] [ 0. 0. 0. 1. ]] SLAMing on 144.031346184 meters Centerline goodness : 0.855431 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.39, Z:-2.31 [[ 8.85413683e-01 -4.36184861e-01 -1.60578256e-01 -2.79255882e+00] [ 4.29665628e-01 8.99853779e-01 -7.51706375e-02 -1.38883112e+00] [ 1.77285245e-01 -2.43784635e-03 9.84156491e-01 -2.31363978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061346184 meters Centerline goodness : 0.854158 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.41, Z:-2.32 [[ 0.8859816 -0.4351051 -0.16037505 -2.83002185] [ 0.42967443 0.90034588 -0.06897234 -1.40797901] [ 0.17440323 -0.00780083 0.98464342 -2.32267274] [ 0. 0. 0. 1. ]] SLAMing on 144.091346184 meters Centerline goodness : 0.857055 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.42, Z:-2.33 [[ 0.88721015 -0.43310228 -0.15899863 -2.86245201] [ 0.42833077 0.90128397 -0.06496114 -1.42353377] [ 0.17143774 -0.01046983 0.98513932 -2.32997831] [ 0. 0. 0. 1. ]] SLAMing on 144.121346184 meters Centerline goodness : 0.858928 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.45, Z:-2.34 [[ 0.88914501 -0.43001518 -0.15655061 -2.91255753] [ 0.42470588 0.90279948 -0.06766101 -1.44515918] [ 0.17042908 -0.00632751 0.98534963 -2.33593908] [ 0. 0. 0. 1. ]] SLAMing on 144.151346184 meters Centerline goodness : 0.857158 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.47, Z:-2.34 [[ 8.91070373e-01 -4.27259259e-01 -1.53111452e-01 -2.96179509e+00] [ 4.21250096e-01 9.04128739e-01 -7.14113433e-02 -1.46726145e+00] [ 1.68943622e-01 -8.65681582e-04 9.85625336e-01 -2.34119220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181346184 meters Centerline goodness : 0.856792 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.48, Z:-2.35 [[ 0.89179726 -0.42584726 -0.15281282 -2.99198209] [ 0.42056422 0.90478388 -0.06702133 -1.484332 ] [ 0.16680342 -0.00449816 0.98597991 -2.35074457] [ 0. 0. 0. 1. ]] SLAMing on 144.211346184 meters Centerline goodness : 0.858312 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.50, Z:-2.36 [[ 8.93290122e-01 -4.23659248e-01 -1.50151919e-01 -3.03723031e+00] [ 4.17589455e-01 9.05820923e-01 -7.14667921e-02 -1.50475018e+00] [ 1.66288317e-01 1.13872157e-03 9.86076518e-01 -2.35805611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24134618399998 meters Centerline goodness : 0.858117 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.52, Z:-2.37 [[ 8.93737132e-01 -4.22630672e-01 -1.50390342e-01 -3.06862548e+00] [ 4.17310930e-01 9.06297169e-01 -6.69105964e-02 -1.52158662e+00] [ 1.64576811e-01 -2.95904891e-03 9.86359832e-01 -2.36821286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27134618399998 meters Centerline goodness : 0.860096 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.54, Z:-2.37 [[ 0.89364994 -0.42249453 -0.15128829 -3.10049488] [ 0.41737528 0.90635472 -0.06571904 -1.53632587] [ 0.1648868 -0.00441418 0.98630262 -2.37424586] [ 0. 0. 0. 1. ]] SLAMing on 144.30134618399998 meters Centerline goodness : 0.856111 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.55, Z:-2.38 [[ 0.89465634 -0.42050516 -0.15088224 -3.1327357 ] [ 0.41612082 0.90725384 -0.06110589 -1.55247662] [ 0.16258384 -0.00811647 0.98666135 -2.38244873] [ 0. 0. 0. 1. ]] SLAMing on 144.33134618399998 meters Centerline goodness : 0.858835 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.57, Z:-2.39 [[ 0.89583429 -0.41885206 -0.14847177 -3.16337817] [ 0.41488464 0.9080059 -0.05827546 -1.56767207] [ 0.15922204 -0.0093935 0.98719811 -2.38877969] [ 0. 0. 0. 1. ]] SLAMing on 144.36134618399998 meters Centerline goodness : 0.858913 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.59, Z:-2.40 [[ 0.89874088 -0.41577386 -0.13927285 -3.20587434] [ 0.4118969 0.9094472 -0.05698014 -1.58995606] [ 0.15035216 -0.00615567 0.98861334 -2.39948511] [ 0. 0. 0. 1. ]] SLAMing on 144.39134618399999 meters Centerline goodness : 0.860430 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.61, Z:-2.41 [[ 0.89938293 -0.41489446 -0.13774228 -3.235023 ] [ 0.41125791 0.90984296 -0.05525146 -1.60511472] [ 0.14824736 -0.00695538 0.98892585 -2.40584472] [ 0. 0. 0. 1. ]] SLAMing on 144.421346184 meters Centerline goodness : 0.862311 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.62, Z:-2.41 [[ 0.90009583 -0.41362961 -0.13688697 -3.25906011] [ 0.40966193 0.91043424 -0.05732885 -1.61665632] [ 0.1483395 -0.00447592 0.98892637 -2.40873592] [ 0. 0. 0. 1. ]] SLAMing on 144.451346184 meters Centerline goodness : 0.860494 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.63, Z:-2.42 [[ 0.90067289 -0.41250994 -0.13646937 -3.28986899] [ 0.40907614 0.91092213 -0.05364314 -1.63294545] [ 0.1464413 -0.00751144 0.98919084 -2.4164048 ] [ 0. 0. 0. 1. ]] SLAMing on 144.481346184 meters Centerline goodness : 0.859893 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.65, Z:-2.42 [[ 9.01552148e-01 -4.11632530e-01 -1.33275599e-01 -3.33534812e+00] [ 4.07213299e-01 9.11349910e-01 -6.01553832e-02 -1.65371577e+00] [ 1.46222617e-01 -3.83812353e-05 9.89251709e-01 -2.42074184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511346184 meters Centerline goodness : 0.859659 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.67, Z:-2.43 [[ 9.02740265e-01 -4.09521306e-01 -1.31728181e-01 -3.35806393e+00] [ 4.05044263e-01 9.12299803e-01 -6.04004516e-02 -1.66685121e+00] [ 1.44910865e-01 1.17017584e-03 9.89444022e-01 -2.42538059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541346184 meters Centerline goodness : 0.861013 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.68, Z:-2.43 [[ 9.03636554e-01 -4.07912516e-01 -1.30569358e-01 -3.38853827e+00] [ 4.03964019e-01 9.13019680e-01 -5.66403988e-02 -1.68317528e+00] [ 1.42316721e-01 -1.56298773e-03 9.89819937e-01 -2.43243492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571346184 meters Centerline goodness : 0.862658 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.70, Z:-2.44 [[ 9.04723054e-01 -4.06032536e-01 -1.28894432e-01 -3.41811616e+00] [ 4.02497015e-01 9.13852260e-01 -5.35742485e-02 -1.69874328e+00] [ 1.39543356e-01 -3.40976621e-03 9.90210092e-01 -2.43794493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601346184 meters Centerline goodness : 0.863186 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.71, Z:-2.44 [[ 9.06382625e-01 -4.03184751e-01 -1.26145130e-01 -3.43988455e+00] [ 3.99203310e-01 9.15118181e-01 -5.65281535e-02 -1.71010280e+00] [ 1.38228991e-01 8.78582610e-04 9.90399906e-01 -2.43715651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631346184 meters Centerline goodness : 0.861694 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.71, Z:-2.44 [[ 9.06438217e-01 -4.02977529e-01 -1.26407556e-01 -3.43907880e+00] [ 3.98984280e-01 9.15209462e-01 -5.65966842e-02 -1.71068280e+00] [ 1.38496583e-01 8.66769719e-04 9.90362532e-01 -2.43655010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661346184 meters Centerline goodness : 0.866065 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.72, Z:-2.43 [[ 9.07420875e-01 -3.95457599e-01 -1.42128967e-01 -3.43418330e+00] [ 3.91134054e-01 9.18480496e-01 -5.83757585e-02 -1.71604835e+00] [ 1.53627822e-01 -2.62009741e-03 9.88125310e-01 -2.42846892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691346184 meters Centerline goodness : 0.867533 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.72, Z:-2.42 [[ 0.90752614 -0.38924043 -0.15775992 -3.42777077] [ 0.38448246 0.9211205 -0.06091192 -1.72288561] [ 0.16902528 -0.00537676 0.98559705 -2.42180018] [ 0. 0. 0. 1. ]] SLAMing on 144.721346184 meters Centerline goodness : 0.864204 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.73, Z:-2.42 [[ 0.90760399 -0.38893393 -0.15806767 -3.42617601] [ 0.3842757 0.92124611 -0.0603141 -1.72533811] [ 0.16907743 -0.00600025 0.98558451 -2.42231903] [ 0. 0. 0. 1. ]] SLAMing on 144.751346184 meters Centerline goodness : 0.866584 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.73, Z:-2.42 [[ 0.90714957 -0.38932631 -0.15970182 -3.42304554] [ 0.38472312 0.92107384 -0.06009238 -1.72591411] [ 0.17049272 -0.00692821 0.98533458 -2.42129892] [ 0. 0. 0. 1. ]] SLAMing on 144.781346184 meters Centerline goodness : 0.865730 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.74, Z:-2.43 [[ 0.90835427 -0.3878238 -0.15647755 -3.45177876] [ 0.38364655 0.92169914 -0.05732375 -1.74077524] [ 0.16645673 -0.0079618 0.98601662 -2.42810934] [ 0. 0. 0. 1. ]] SLAMing on 144.811346184 meters Centerline goodness : 0.865328 Centerline is valid? [False, False] Translation: X:-3.49, Y:-1.76, Z:-2.44 [[ 0.9077557 -0.38976529 -0.1551213 -3.48789998] [ 0.38604255 0.92085747 -0.0547053 -1.75935009] [ 0.16416684 -0.01022438 0.9863796 -2.43508886] [ 0. 0. 0. 1. ]] SLAMing on 144.841346184 meters Centerline goodness : 0.868495 Centerline is valid? [False, False] Translation: X:-3.49, Y:-1.76, Z:-2.44 [[ 0.90768928 -0.38985073 -0.15529513 -3.48676703] [ 0.386178 0.92081738 -0.05442346 -1.7619066 ] [ 0.16421548 -0.01057197 0.98636784 -2.43517523] [ 0. 0. 0. 1. ]] SLAMing on 144.871346184 meters Centerline goodness : 0.870080 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.77, Z:-2.43 [[ 0.90747098 -0.38431761 -0.16969498 -3.48273936] [ 0.38000359 0.92313098 -0.05853602 -1.76785531] [ 0.17914711 -0.01136496 0.98375665 -2.42697413] [ 0. 0. 0. 1. ]] SLAMing on 144.901346184 meters Centerline goodness : 0.870218 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.77, Z:-2.43 [[ 0.90730268 -0.3846642 -0.16980961 -3.48162341] [ 0.38029079 0.92298942 -0.05890205 -1.76986652] [ 0.17938998 -0.01113504 0.98371502 -2.42633136] [ 0. 0. 0. 1. ]] SLAMing on 144.931346184 meters Centerline goodness : 0.872692 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.77, Z:-2.42 [[ 0.90707971 -0.38466399 -0.1709971 -3.48031498] [ 0.38054386 0.92296753 -0.05759607 -1.77357492] [ 0.1799799 -0.01282767 0.98358664 -2.42409135] [ 0. 0. 0. 1. ]] SLAMing on 144.961346184 meters Centerline goodness : 0.874484 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.77, Z:-2.42 [[ 0.90686957 -0.38436538 -0.17277397 -3.47890039] [ 0.38050695 0.92306396 -0.05627964 -1.77496324] [ 0.18111337 -0.0147034 0.98335231 -2.42154386] [ 0. 0. 0. 1. ]] SLAMing on 144.99134618399998 meters Centerline goodness : 0.871796 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.78, Z:-2.42 [[ 0.90684241 -0.38410673 -0.17349024 -3.47831094] [ 0.38040132 0.92315556 -0.05548564 -1.77644328] [ 0.18147089 -0.01567919 0.98327132 -2.42007678] [ 0. 0. 0. 1. ]] SLAMing on 145.02134618399998 meters Centerline goodness : 0.874345 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.78, Z:-2.42 [[ 0.90656477 -0.38535494 -0.17216819 -3.47667364] [ 0.38114216 0.92267948 -0.05825141 -1.77980201] [ 0.18130353 -0.01281188 0.98334373 -2.42088546] [ 0. 0. 0. 1. ]] SLAMing on 145.05134618399998 meters Centerline goodness : 0.876471 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.78, Z:-2.42 [[ 0.90666266 -0.38545413 -0.17142912 -3.47505514] [ 0.38093442 0.92266124 -0.05987648 -1.78164147] [ 0.18125064 -0.01101548 0.98337524 -2.42204254] [ 0. 0. 0. 1. ]] SLAMing on 145.08134618399998 meters Centerline goodness : 0.875806 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.78, Z:-2.42 [[ 0.90681766 -0.38507671 -0.17145745 -3.47355071] [ 0.38055647 0.92281924 -0.05984497 -1.7836085 ] [ 0.18126914 -0.01098077 0.98337222 -2.42251813] [ 0. 0. 0. 1. ]] SLAMing on 145.11134618399998 meters Centerline goodness : 0.877655 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.79, Z:-2.42 [[ 0.90691797 -0.38494801 -0.17121571 -3.47372756] [ 0.38040591 0.92287537 -0.05993653 -1.78504349] [ 0.18108321 -0.01077396 0.98340876 -2.4220093 ] [ 0. 0. 0. 1. ]] SLAMing on 145.14134618399999 meters Centerline goodness : 0.879491 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.79, Z:-2.42 [[ 0.90758199 -0.38431328 -0.16911012 -3.4766222 ] [ 0.37958962 0.92315831 -0.06074912 -1.78908763] [ 0.17946211 -0.00905764 0.98372319 -2.42165135] [ 0. 0. 0. 1. ]] SLAMing on 145.171346184 meters Centerline goodness : 0.878891 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.79, Z:-2.42 [[ 0.90774095 -0.38349654 -0.17010815 -3.47469806] [ 0.37886061 0.92349074 -0.0602453 -1.79000226] [ 0.18019716 -0.00976015 0.98358209 -2.42121471] [ 0. 0. 0. 1. ]] SLAMing on 145.201346184 meters Centerline goodness : 0.881018 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.79, Z:-2.42 [[ 0.90803356 -0.38283 -0.17004777 -3.47473949] [ 0.3782107 0.92376734 -0.06008805 -1.7916097 ] [ 0.18008809 -0.00975192 0.98360215 -2.42070564] [ 0. 0. 0. 1. ]] SLAMing on 145.231346184 meters Centerline goodness : 0.878293 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.79, Z:-2.42 [[ 0.90844785 -0.38187921 -0.16997286 -3.47393969] [ 0.37728471 0.92416081 -0.05985846 -1.79366967] [ 0.17994096 -0.00974987 0.98362909 -2.42107834] [ 0. 0. 0. 1. ]] SLAMing on 145.261346184 meters Centerline goodness : 0.884445 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.80, Z:-2.42 [[ 0.90935957 -0.38051566 -0.1681458 -3.47529749] [ 0.37581002 0.92473628 -0.06024653 -1.79823733] [ 0.17841527 -0.00840512 0.98391938 -2.42179576] [ 0. 0. 0. 1. ]] SLAMing on 145.291346184 meters Centerline goodness : 0.884957 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.80, Z:-2.42 [[ 0.90967648 -0.37928494 -0.16920886 -3.47385311] [ 0.37489037 0.92522323 -0.05847383 -1.79958334] [ 0.17873421 -0.0102425 0.98384408 -2.42144533] [ 0. 0. 0. 1. ]] SLAMing on 145.321346184 meters Centerline goodness : 0.888002 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.80, Z:-2.42 [[ 0.9101738 -0.37805454 -0.16928797 -3.47443106] [ 0.37390361 0.92571314 -0.05701991 -1.80120567] [ 0.17826873 -0.01139936 0.98391581 -2.42095865] [ 0. 0. 0. 1. ]] SLAMing on 145.351346184 meters Centerline goodness : 0.886861 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.80, Z:-2.42 [[ 0.91068862 -0.37774512 -0.16719705 -3.47692093] [ 0.37333718 0.92586255 -0.05829136 -1.80494222] [ 0.17682077 -0.0093356 0.98419879 -2.42082784] [ 0. 0. 0. 1. ]] SLAMing on 145.381346184 meters Centerline goodness : 0.891021 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.81, Z:-2.42 [[ 0.91066034 -0.37816097 -0.16640923 -3.47579816] [ 0.37358912 0.92570305 -0.05920326 -1.8062427 ] [ 0.1764339 -0.00825462 0.98427788 -2.42224509] [ 0. 0. 0. 1. ]] SLAMing on 145.411346184 meters Centerline goodness : 0.890390 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.81, Z:-2.42 [[ 0.91031859 -0.37987065 -0.16437258 -3.4773929 ] [ 0.37480613 0.92502536 -0.06203589 -1.80805517] [ 0.17561442 -0.00513543 0.98444563 -2.42229839] [ 0. 0. 0. 1. ]] SLAMing on 145.441346184 meters Centerline goodness : 0.892622 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.81, Z:-2.42 [[ 0.90946312 -0.38244381 -0.16313667 -3.47682428] [ 0.37712904 0.92397157 -0.06364145 -1.81175116] [ 0.17507293 -0.00364402 0.98454872 -2.42216364] [ 0. 0. 0. 1. ]] SLAMing on 145.471346184 meters Centerline goodness : 0.892849 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.81, Z:-2.42 [[ 0.90900289 -0.38317388 -0.16398636 -3.4746479 ] [ 0.37806614 0.92366201 -0.06256583 -1.81293492] [ 0.17544157 -0.00512517 0.98447651 -2.4220543 ] [ 0. 0. 0. 1. ]] SLAMing on 145.501346184 meters Centerline goodness : 0.895449 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.82, Z:-2.42 [[ 0.90863494 -0.38410069 -0.16385726 -3.47531203] [ 0.37898644 0.92327688 -0.06268236 -1.81500012] [ 0.17536196 -0.00514429 0.98449059 -2.420425 ] [ 0. 0. 0. 1. ]] SLAMing on 145.531346184 meters Centerline goodness : 0.895449 Centerline is valid? [False, False] Translation: X:-3.48, Y:-1.82, Z:-2.42 [[ 0.90863494 -0.38410069 -0.16385726 -3.47531203] [ 0.37898644 0.92327688 -0.06268236 -1.81500012] [ 0.17536196 -0.00514429 0.98449059 -2.420425 ] [ 0. 0. 0. 1. ]] SLAMing on 145.561346184 meters Centerline goodness : 0.897118 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.82, Z:-2.42 [[ 0.90844211 -0.38388411 -0.16542646 -3.47166048] [ 0.37905933 0.92335319 -0.06109759 -1.8158293 ] [ 0.17620145 -0.00720282 0.98432778 -2.42087072] [ 0. 0. 0. 1. ]] SLAMing on 145.591346184 meters Centerline goodness : 0.896057 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.82, Z:-2.42 [[ 0.9079039 -0.38467982 -0.16652914 -3.46753707] [ 0.38015432 0.92300384 -0.05955332 -1.81937815] [ 0.176616 -0.00923808 0.98423648 -2.42162954] [ 0. 0. 0. 1. ]] SLAMing on 145.621346184 meters Centerline goodness : 0.896721 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.82, Z:-2.42 [[ 0.90721385 -0.38655294 -0.16595136 -3.46682171] [ 0.38185814 0.92222937 -0.0606411 -1.82107417] [ 0.17648622 -0.00835543 0.98426765 -2.42151997] [ 0. 0. 0. 1. ]] SLAMing on 145.651346184 meters Centerline goodness : 0.897130 Centerline is valid? [False, False] Translation: X:-3.47, Y:-1.82, Z:-2.42 [[ 0.90637648 -0.38881654 -0.16523731 -3.46541438] [ 0.38387876 0.92128801 -0.0621732 -1.82265948] [ 0.17640513 -0.00707877 0.98429219 -2.4220993 ] [ 0. 0. 0. 1. ]] SLAMing on 145.681346184 meters Centerline goodness : 0.896785 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.82, Z:-2.42 [[ 0.9054312 -0.39052576 -0.16638502 -3.46070797] [ 0.38570654 0.92055466 -0.06172174 -1.82335619] [ 0.17727043 -0.00829101 0.98412725 -2.42341114] [ 0. 0. 0. 1. ]] SLAMing on 145.711346184 meters Centerline goodness : 0.899834 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.83, Z:-2.42 [[ 0.90327351 -0.3951029 -0.16730408 -3.45743971] [ 0.39037392 0.91858688 -0.06169557 -1.82642294] [ 0.17805943 -0.00958318 0.98397307 -2.42178592] [ 0. 0. 0. 1. ]] SLAMing on 145.74134618399998 meters Centerline goodness : 0.904610 Centerline is valid? [False, False] Translation: X:-3.46, Y:-1.83, Z:-2.42 [[ 0.90218018 -0.39751121 -0.16749853 -3.455397 ] [ 0.39279983 0.91754275 -0.0618352 -1.82883506] [ 0.17826725 -0.0100069 0.98393122 -2.42124212] [ 0. 0. 0. 1. ]] SLAMing on 145.77134618399998 meters Centerline goodness : 0.897956 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.83, Z:-2.42 [[ 0.90109212 -0.40007306 -0.16725591 -3.45221874] [ 0.39517796 0.91643648 -0.06307581 -1.83091892] [ 0.17851435 -0.00925874 0.98389375 -2.42222486] [ 0. 0. 0. 1. ]] SLAMing on 145.80134618399998 meters Centerline goodness : 0.903434 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.83, Z:-2.42 [[ 0.90012517 -0.40268647 -0.16618753 -3.45047104] [ 0.39753418 0.91530441 -0.06468703 -1.83384657] [ 0.17816077 -0.0078388 0.98397017 -2.42311233] [ 0. 0. 0. 1. ]] SLAMing on 145.83134618399998 meters Centerline goodness : 0.902527 Centerline is valid? [False, False] Translation: X:-3.45, Y:-1.84, Z:-2.42 [[ 0.89892564 -0.40504757 -0.16694057 -3.4468789 ] [ 0.40007965 0.91424807 -0.06392755 -1.83750209] [ 0.17851879 -0.00932341 0.98389233 -2.42300228] [ 0. 0. 0. 1. ]] SLAMing on 145.86134618399998 meters Centerline goodness : 0.903956 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.42 [[ 0.89858512 -0.40508275 -0.16867941 -3.4434239 ] [ 0.40042305 0.91420738 -0.0623398 -1.8377994 ] [ 0.17946073 -0.01152551 0.98369762 -2.42298974] [ 0. 0. 0. 1. ]] SLAMing on 145.89134618399999 meters Centerline goodness : 0.903071 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.42 [[ 0.89844736 -0.40511998 -0.1693226 -3.44209392] [ 0.40061941 0.91417718 -0.06151563 -1.83848256] [ 0.17971207 -0.01256537 0.983639 -2.42287994] [ 0. 0. 0. 1. ]] SLAMing on 145.921346184 meters Centerline goodness : 0.902223 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.42 [[ 0.89889873 -0.4037596 -0.17017417 -3.43952638] [ 0.39948151 0.91476044 -0.06023176 -1.839359 ] [ 0.17998775 -0.01383918 0.98357149 -2.42414216] [ 0. 0. 0. 1. ]] SLAMing on 145.951346184 meters Centerline goodness : 0.902817 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.43 [[ 0.90052604 -0.40079372 -0.16857414 -3.44035222] [ 0.39646699 0.91608004 -0.06009392 -1.84304539] [ 0.17851268 -0.01271794 0.98385542 -2.42638452] [ 0. 0. 0. 1. ]] SLAMing on 145.981346184 meters Centerline goodness : 0.900763 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.43 [[ 0.90107707 -0.39917419 -0.16947001 -3.43702812] [ 0.39502837 0.91677167 -0.05901097 -1.84320154] [ 0.17892096 -0.01377203 0.98376706 -2.42860563] [ 0. 0. 0. 1. ]] SLAMing on 146.011346184 meters Centerline goodness : 0.900737 Centerline is valid? [False, False] Translation: X:-3.44, Y:-1.84, Z:-2.43 [[ 0.90161977 -0.3980543 -0.16921749 -3.43592152] [ 0.39391946 0.91726072 -0.05882371 -1.84420964] [ 0.17863159 -0.01362145 0.98382174 -2.43022874] [ 0. 0. 0. 1. ]] SLAMing on 146.041346184 meters Centerline goodness : 0.904293 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.84, Z:-2.43 [[ 0.90211036 -0.39684194 -0.16945024 -3.43405202] [ 0.39282914 0.91777721 -0.05805391 -1.84494715] [ 0.17855579 -0.01419396 0.9838274 -2.43186896] [ 0. 0. 0. 1. ]] SLAMing on 146.071346184 meters Centerline goodness : 0.901726 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.84, Z:-2.43 [[ 0.90238436 -0.39555221 -0.17099973 -3.43059558] [ 0.39186162 0.91830041 -0.0562923 -1.84451905] [ 0.17929567 -0.01621094 0.98366166 -2.43306328] [ 0. 0. 0. 1. ]] SLAMing on 146.101346184 meters Centerline goodness : 0.901343 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.84, Z:-2.43 [[ 0.90327829 -0.39236086 -0.17361244 -3.42691825] [ 0.38947112 0.91957696 -0.05186955 -1.84486366] [ 0.18000159 -0.0207644 0.98344714 -2.43394566] [ 0. 0. 0. 1. ]] SLAMing on 146.131346184 meters Centerline goodness : 0.901676 Centerline is valid? [False, False] Translation: X:-3.43, Y:-1.85, Z:-2.43 [[ 0.90374369 -0.39120777 -0.17379249 -3.42592978] [ 0.38847436 0.92005138 -0.05092277 -1.8458157 ] [ 0.17981941 -0.02149279 0.98346481 -2.43486483] [ 0. 0. 0. 1. ]] SLAMing on 146.161346184 meters Centerline goodness : 0.903208 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.85, Z:-2.44 [[ 0.90411935 -0.39034051 -0.17378863 -3.42457812] [ 0.38769138 0.9204117 -0.05037557 -1.84666891] [ 0.17962071 -0.02183083 0.98349368 -2.43626704] [ 0. 0. 0. 1. ]] SLAMing on 146.191346184 meters Centerline goodness : 0.900396 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.85, Z:-2.44 [[ 0.90410368 -0.39016206 -0.17427022 -3.42198328] [ 0.38764265 0.92046848 -0.04970862 -1.84741382] [ 0.17980466 -0.02261282 0.9834424 -2.43752628] [ 0. 0. 0. 1. ]] SLAMing on 146.221346184 meters Centerline goodness : 0.900394 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.85, Z:-2.44 [[ 0.90311047 -0.39325942 -0.17244857 -3.42105955] [ 0.39021747 0.91921569 -0.05265769 -1.84944231] [ 0.17922557 -0.01973673 0.98361001 -2.43876161] [ 0. 0. 0. 1. ]] SLAMing on 146.251346184 meters Centerline goodness : 0.901019 Centerline is valid? [False, False] Translation: X:-3.42, Y:-1.85, Z:-2.44 [[ 0.90245762 -0.39441904 -0.17321623 -3.4162103 ] [ 0.39145198 0.9187026 -0.05244874 -1.84961152] [ 0.17982098 -0.02047307 0.98348628 -2.44103042] [ 0. 0. 0. 1. ]] SLAMing on 146.281346184 meters Centerline goodness : 0.902265 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.85, Z:-2.44 [[ 0.90136048 -0.39601916 -0.17526583 -3.41163762] [ 0.39344414 0.91794818 -0.05072332 -1.85013886] [ 0.18097236 -0.02323732 0.98321362 -2.44062692] [ 0. 0. 0. 1. ]] SLAMing on 146.311346184 meters Centerline goodness : 0.905898 Centerline is valid? [False, False] Translation: X:-3.41, Y:-1.85, Z:-2.44 [[ 0.90063335 -0.39643435 -0.1780432 -3.40733401] [ 0.39440181 0.91767206 -0.04822033 -1.84894722] [ 0.18250147 -0.02679173 0.98284048 -2.4397772 ] [ 0. 0. 0. 1. ]] SLAMing on 146.341346184 meters Centerline goodness : 0.905393 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.85, Z:-2.44 [[ 0.89991815 -0.39724251 -0.17984915 -3.40283507] [ 0.39553961 0.91725508 -0.04681388 -1.84818748] [ 0.183564 -0.02900881 0.98257964 -2.44031487] [ 0. 0. 0. 1. ]] SLAMing on 146.371346184 meters Centerline goodness : 0.902769 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.85, Z:-2.44 [[ 0.89916213 -0.39884428 -0.18008529 -3.39937624] [ 0.39707745 0.91656239 -0.04735904 -1.84810422] [ 0.18394829 -0.02892435 0.98251026 -2.44190308] [ 0. 0. 0. 1. ]] SLAMing on 146.401346184 meters Centerline goodness : 0.904721 Centerline is valid? [False, False] Translation: X:-3.40, Y:-1.85, Z:-2.44 [[ 0.89724962 -0.4037846 -0.17860884 -3.39537561] [ 0.40136959 0.91448928 -0.05110592 -1.84873133] [ 0.18397166 -0.02583339 0.98259201 -2.44472649] [ 0. 0. 0. 1. ]] SLAMing on 146.431346184 meters Centerline goodness : 0.903464 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.85, Z:-2.45 [[ 0.89644474 -0.40504775 -0.17978639 -3.39097451] [ 0.40277935 0.91389589 -0.05062699 -1.84817775] [ 0.1848124 -0.02702994 0.98240204 -2.44588215] [ 0. 0. 0. 1. ]] SLAMing on 146.461346184 meters Centerline goodness : 0.905985 Centerline is valid? [False, False] Translation: X:-3.39, Y:-1.85, Z:-2.45 [[ 0.89560056 -0.40642647 -0.18087888 -3.38829913] [ 0.4043259 0.91324473 -0.05004633 -1.84769969] [ 0.18552684 -0.0283125 0.98223123 -2.44559363] [ 0. 0. 0. 1. ]] SLAMing on 146.49134618399998 meters Centerline goodness : 0.906372 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.85, Z:-2.45 [[ 0.8947903 -0.40687308 -0.18386029 -3.383302 ] [ 0.40537152 0.91292079 -0.04742944 -1.845956 ] [ 0.18714765 -0.03209232 0.98180744 -2.44512305] [ 0. 0. 0. 1. ]] SLAMing on 146.52134618399998 meters Centerline goodness : 0.907095 Centerline is valid? [False, False] Translation: X:-3.38, Y:-1.84, Z:-2.44 [[ 0.8935485 -0.40825891 -0.186804 -3.37887654] [ 0.4073516 0.9121612 -0.04501794 -1.84368357] [ 0.18877434 -0.0358692 0.9813652 -2.44421365] [ 0. 0. 0. 1. ]] SLAMing on 146.55134618399998 meters Centerline goodness : 0.906813 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.84, Z:-2.45 [[ 0.89288252 -0.40902982 -0.18829605 -3.37443092] [ 0.40829288 0.91176508 -0.04451252 -1.84221177] [ 0.18988871 -0.03713549 0.98110307 -2.44530671] [ 0. 0. 0. 1. ]] SLAMing on 146.58134618399998 meters Centerline goodness : 0.908880 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.84, Z:-2.45 [[ 0.89238084 -0.40988067 -0.18882338 -3.37081553] [ 0.40919485 0.9113638 -0.04444766 -1.84175607] [ 0.19030503 -0.03760132 0.98100466 -2.44711609] [ 0. 0. 0. 1. ]] SLAMing on 146.61134618399998 meters Centerline goodness : 0.910093 Centerline is valid? [False, False] Translation: X:-3.37, Y:-1.84, Z:-2.45 [[ 0.89193744 -0.41038227 -0.18982624 -3.36734164] [ 0.40985071 0.91109492 -0.04391389 -1.84108895] [ 0.19097121 -0.03863198 0.98083514 -2.44816882] [ 0. 0. 0. 1. ]] SLAMing on 146.64134618399999 meters Centerline goodness : 0.908452 Centerline is valid? [False, False] Translation: X:-3.36, Y:-1.84, Z:-2.45 [[ 0.89069622 -0.41237075 -0.19133898 -3.36480945] [ 0.41212461 0.91011264 -0.04299173 -1.83979445] [ 0.19186856 -0.04056293 0.98058202 -2.44695341] [ 0. 0. 0. 1. ]] SLAMing on 146.671346184 meters Centerline goodness : 0.911752 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-2.45 [[ 0.89002153 -0.41559282 -0.1874681 -3.35276432] [ 0.41663476 0.90837143 -0.0357327 -1.83429523] [ 0.18514092 -0.04630286 0.98162054 -2.4537966 ] [ 0. 0. 0. 1. ]] SLAMing on 146.701346184 meters Centerline goodness : 0.909079 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-2.45 [[ 0.88974055 -0.41559856 -0.1887845 -3.35016673] [ 0.41691448 0.90828599 -0.03462482 -1.83329509] [ 0.18586035 -0.04789989 0.98140793 -2.45400732] [ 0. 0. 0. 1. ]] SLAMing on 146.731346184 meters Centerline goodness : 0.907777 Centerline is valid? [False, False] Translation: X:-3.35, Y:-1.83, Z:-2.45 [[ 0.88953821 -0.41529032 -0.19040936 -3.34735866] [ 0.41698116 0.90831399 -0.03305161 -1.83154893] [ 0.1866775 -0.04999645 0.98114824 -2.45436659] [ 0. 0. 0. 1. ]] SLAMing on 146.761346184 meters Centerline goodness : 0.908048 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.83, Z:-2.46 [[ 0.88952598 -0.41458915 -0.19198795 -3.34373414] [ 0.41662149 0.90852991 -0.0316218 -1.82981367] [ 0.18753685 -0.0518579 0.9808877 -2.45587025] [ 0. 0. 0. 1. ]] SLAMing on 146.791346184 meters Centerline goodness : 0.908414 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.83, Z:-2.46 [[ 0.88975873 -0.41422427 -0.19169676 -3.34239531] [ 0.41618493 0.90872116 -0.03187422 -1.82950043] [ 0.18740197 -0.05142094 0.98093649 -2.45776555] [ 0. 0. 0. 1. ]] SLAMing on 146.821346184 meters Centerline goodness : 0.908444 Centerline is valid? [False, False] Translation: X:-3.34, Y:-1.83, Z:-2.46 [[ 0.89034985 -0.41235167 -0.19298511 -3.33868146] [ 0.41460533 0.90949008 -0.03049955 -1.82815319] [ 0.18809458 -0.05285738 0.98072755 -2.46017277] [ 0. 0. 0. 1. ]] SLAMing on 146.851346184 meters Centerline goodness : 0.907457 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.83, Z:-2.46 [[ 0.8912362 -0.40943549 -0.19509129 -3.33489384] [ 0.41233741 0.91061846 -0.02742044 -1.82660003] [ 0.18888063 -0.05600535 0.98040171 -2.46220756] [ 0. 0. 0. 1. ]] SLAMing on 146.881346184 meters Centerline goodness : 0.905023 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.82, Z:-2.47 [[ 0.8932017 -0.4103425 -0.18387429 -3.33237009] [ 0.41289183 0.91040844 -0.02601554 -1.81873326] [ 0.17807598 -0.05268307 0.98260543 -2.46572128] [ 0. 0. 0. 1. ]] SLAMing on 146.911346184 meters Centerline goodness : 0.908113 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.82, Z:-2.47 [[ 0.89419811 -0.40743086 -0.18549889 -3.32937368] [ 0.41048699 0.91156579 -0.02341445 -1.81717168] [ 0.17863421 -0.05520773 0.98236547 -2.46798414] [ 0. 0. 0. 1. ]] SLAMing on 146.941346184 meters Centerline goodness : 0.905919 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.82, Z:-2.47 [[ 0.8947216 -0.40593275 -0.1862575 -3.3278039 ] [ 0.40915397 0.91218573 -0.0225879 -1.81507821] [ 0.17907061 -0.05599811 0.98224128 -2.46957629] [ 0. 0. 0. 1. ]] SLAMing on 146.971346184 meters Centerline goodness : 0.907041 Centerline is valid? [False, False] Translation: X:-3.33, Y:-1.81, Z:-2.47 [[ 0.89509205 -0.40466403 -0.18723578 -3.3253687 ] [ 0.40805556 0.91269599 -0.02183315 -1.81304251] [ 0.17972444 -0.05685993 0.98207234 -2.47132798] [ 0. 0. 0. 1. ]] SLAMing on 147.001346184 meters Centerline goodness : 0.901470 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.81, Z:-2.47 [[ 0.89520247 -0.40409034 -0.18794555 -3.32157966] [ 0.40745122 0.91295791 -0.02216674 -1.81042353] [ 0.18054374 -0.05673492 0.98192928 -2.4744131 ] [ 0. 0. 0. 1. ]] SLAMing on 147.031346184 meters Centerline goodness : 0.905182 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.81, Z:-2.48 [[ 0.89512249 -0.40378872 -0.18897193 -3.31822417] [ 0.40730827 0.91303518 -0.02160383 -1.80872798] [ 0.1812614 -0.05763175 0.98174482 -2.47620931] [ 0. 0. 0. 1. ]] SLAMing on 147.061346184 meters Centerline goodness : 0.902924 Centerline is valid? [False, False] Translation: X:-3.32, Y:-1.81, Z:-2.48 [[ 0.89503819 -0.4038053 -0.18933546 -3.31713829] [ 0.40737477 0.91300906 -0.02145356 -1.80749474] [ 0.18152805 -0.05792874 0.98167807 -2.47686453] [ 0. 0. 0. 1. ]] SLAMing on 147.091346184 meters Centerline goodness : 0.906590 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.81, Z:-2.48 [[ 0.89464111 -0.40407847 -0.19062496 -3.31459164] [ 0.40786951 0.91280529 -0.02071153 -1.80541046] [ 0.18237256 -0.05922072 0.98144442 -2.4773003 ] [ 0. 0. 0. 1. ]] SLAMing on 147.121346184 meters Centerline goodness : 0.904549 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.80, Z:-2.48 [[ 0.89381405 -0.40458084 -0.19341867 -3.30979897] [ 0.40890224 0.91238304 -0.01887166 -1.80218216] [ 0.18410702 -0.06222157 0.9809348 -2.47767069] [ 0. 0. 0. 1. ]] SLAMing on 147.151346184 meters Centerline goodness : 0.902913 Centerline is valid? [False, False] Translation: X:-3.31, Y:-1.80, Z:-2.48 [[ 0.89406467 -0.40998314 -0.18044995 -3.30763156] [ 0.41394176 0.91014604 -0.01692339 -1.79701724] [ 0.17117411 -0.05956517 0.98343857 -2.48367306] [ 0. 0. 0. 1. ]] SLAMing on 147.181346184 meters Centerline goodness : 0.902012 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-2.49 [[ 0.89375092 -0.41022469 -0.18145245 -3.30442245] [ 0.41426499 0.91000058 -0.01683628 -1.79484201] [ 0.17202849 -0.06012196 0.98325559 -2.48515314] [ 0. 0. 0. 1. ]] SLAMing on 147.211346184 meters Centerline goodness : 0.904754 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-2.49 [[ 0.89314317 -0.4112293 -0.18216956 -3.30044174] [ 0.41519045 0.90956336 -0.01764613 -1.79157445] [ 0.17295136 -0.05987454 0.98310878 -2.48794549] [ 0. 0. 0. 1. ]] SLAMing on 147.24134618399998 meters Centerline goodness : 0.904095 Centerline is valid? [False, False] Translation: X:-3.30, Y:-1.79, Z:-2.49 [[ 0.89283552 -0.41156337 -0.18292164 -3.29757159] [ 0.41558945 0.90938243 -0.01757842 -1.79010933] [ 0.17358036 -0.06032566 0.98297033 -2.4893505 ] [ 0. 0. 0. 1. ]] SLAMing on 147.27134618399998 meters Centerline goodness : 0.904209 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.79, Z:-2.49 [[ 0.89255635 -0.41161626 -0.18416083 -3.29441491] [ 0.41585855 0.90927403 -0.01680479 -1.78854378] [ 0.17436979 -0.06158564 0.98275245 -2.49043244] [ 0. 0. 0. 1. ]] SLAMing on 147.30134618399998 meters Centerline goodness : 0.905746 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.79, Z:-2.49 [[ 0.89194334 -0.41215862 -0.18590951 -3.29345548] [ 0.41677536 0.90887912 -0.01539649 -1.78677639] [ 0.17531507 -0.06374971 0.98244623 -2.48861732] [ 0. 0. 0. 1. ]] SLAMing on 147.33134618399998 meters Centerline goodness : 0.907183 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.79, Z:-2.49 [[ 0.89217496 -0.41043217 -0.1885982 -3.29001475] [ 0.4158336 0.90936346 -0.01185427 -1.78538403] [ 0.17636968 -0.06784939 0.98198279 -2.48873764] [ 0. 0. 0. 1. ]] SLAMing on 147.36134618399998 meters Centerline goodness : 0.902167 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-2.49 [[ 0.89218074 -0.4093651 -0.19087624 -3.28791011] [ 0.41536412 0.90960735 -0.009334 -1.7836994 ] [ 0.17744345 -0.07095553 0.98156973 -2.48791962] [ 0. 0. 0. 1. ]] SLAMing on 147.39134618399999 meters Centerline goodness : 0.905319 Centerline is valid? [False, False] Translation: X:-3.29, Y:-1.78, Z:-2.49 [[ 0.8920287 -0.40911018 -0.19212928 -3.28612112] [ 0.41539521 0.90960369 -0.00824278 -1.78198689] [ 0.1781337 -0.07245679 0.98133501 -2.48812582] [ 0. 0. 0. 1. ]] SLAMing on 147.421346184 meters Centerline goodness : 0.901561 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-2.49 [[ 0.8918859 -0.40928878 -0.19241161 -3.28388097] [ 0.41554802 0.90953133 -0.00852108 -1.78102149] [ 0.17849197 -0.07235643 0.98127731 -2.48968386] [ 0. 0. 0. 1. ]] SLAMing on 147.451346184 meters Centerline goodness : 0.901561 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-2.49 [[ 0.8918859 -0.40928878 -0.19241161 -3.28388097] [ 0.41554802 0.90953133 -0.00852108 -1.78102149] [ 0.17849197 -0.07235643 0.98127731 -2.48968386] [ 0. 0. 0. 1. ]] SLAMing on 147.481346184 meters Centerline goodness : 0.900400 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-2.49 [[ 0.89118708 -0.41077636 -0.19247951 -3.27941084] [ 0.41680496 0.90894119 -0.00997697 -1.77894179] [ 0.17905086 -0.07133506 0.98125027 -2.49318341] [ 0. 0. 0. 1. ]] SLAMing on 147.511346184 meters Centerline goodness : 0.901982 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.78, Z:-2.49 [[ 0.89084472 -0.41108623 -0.19340064 -3.27716289] [ 0.41727718 0.90872962 -0.00949873 -1.77682199] [ 0.17965368 -0.07223978 0.98107389 -2.49407793] [ 0. 0. 0. 1. ]] SLAMing on 147.541346184 meters Centerline goodness : 0.901352 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.77, Z:-2.49 [[ 0.89063923 -0.41123849 -0.19402234 -3.27664205] [ 0.41753226 0.90861542 -0.00921041 -1.77469387] [ 0.18007937 -0.07280744 0.98095387 -2.49409351] [ 0. 0. 0. 1. ]] SLAMing on 147.571346184 meters Centerline goodness : 0.900307 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.77, Z:-2.49 [[ 0.89038753 -0.41145013 -0.1947276 -3.27536212] [ 0.41776818 0.90850511 -0.00939246 -1.77117093] [ 0.18077555 -0.07298807 0.98081239 -2.49498594] [ 0. 0. 0. 1. ]] SLAMing on 147.601346184 meters Centerline goodness : 0.898368 Centerline is valid? [False, False] Translation: X:-3.28, Y:-1.77, Z:-2.49 [[ 0.89037908 -0.41136227 -0.19495174 -3.27617006] [ 0.41769418 0.90853905 -0.00939992 -1.76999639] [ 0.18098805 -0.07306071 0.98076779 -2.49423811] [ 0. 0. 0. 1. ]] SLAMing on 147.631346184 meters Centerline goodness : 0.899311 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.77, Z:-2.49 [[ 0.89047112 -0.40991258 -0.19756735 -3.27249927] [ 0.41694654 0.90890742 -0.00654831 -1.76785489] [ 0.18225467 -0.07654394 0.98026744 -2.49467005] [ 0. 0. 0. 1. ]] SLAMing on 147.661346184 meters Centerline goodness : 0.898969 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.76, Z:-2.50 [[ 0.89076713 -0.41506938 -0.18507116 -3.27036218] [ 0.42095899 0.90704301 -0.0081555 -1.75949468] [ 0.1712526 -0.07064271 0.98269128 -2.49781054] [ 0. 0. 0. 1. ]] SLAMing on 147.691346184 meters Centerline goodness : 0.898758 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.76, Z:-2.50 [[ 0.89083358 -0.41498993 -0.18492944 -3.26917174] [ 0.4207502 0.90713356 -0.00882978 -1.75894431] [ 0.17141997 -0.06994323 0.98271213 -2.49909498] [ 0. 0. 0. 1. ]] SLAMing on 147.721346184 meters Centerline goodness : 0.896859 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.76, Z:-2.50 [[ 0.89106529 -0.41406765 -0.18587799 -3.26680105] [ 0.41995437 0.9075063 -0.0084047 -1.75736777] [ 0.17216556 -0.07057114 0.98253689 -2.50038901] [ 0. 0. 0. 1. ]] SLAMing on 147.751346184 meters Centerline goodness : 0.896866 Centerline is valid? [False, False] Translation: X:-3.27, Y:-1.76, Z:-2.50 [[ 0.89141728 -0.41292847 -0.18672257 -3.26586582] [ 0.41903122 0.90794161 -0.00740817 -1.75597597] [ 0.17259223 -0.07163882 0.98238475 -2.50082216] [ 0. 0. 0. 1. ]] SLAMing on 147.781346184 meters Centerline goodness : 0.897354 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.75, Z:-2.50 [[ 0.89187238 -0.41079721 -0.1892335 -3.2624211 ] [ 0.41759672 0.90862223 -0.00431474 -1.75414573] [ 0.17371425 -0.07517509 0.98192264 -2.50159424] [ 0. 0. 0. 1. ]] SLAMing on 147.811346184 meters Centerline goodness : 0.896298 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.75, Z:-2.50 [[ 8.92017847e-01 -4.09332190e-01 -1.91706337e-01 -3.26026144e+00] [ 4.16746933e-01 9.09020759e-01 -1.80356974e-03 -1.75055432e+00] [ 1.75003299e-01 -7.82842117e-02 9.81450675e-01 -2.50170228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters Centerline goodness : 0.896406 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.75, Z:-2.50 [[ 8.91901155e-01 -4.09133617e-01 -1.92670738e-01 -3.25828747e+00] [ 4.16721151e-01 9.09033499e-01 -1.25648378e-03 -1.74809366e+00] [ 1.75658225e-01 -7.91693125e-02 9.81262660e-01 -2.50264255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871346184 meters Centerline goodness : 0.896579 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.74, Z:-2.50 [[ 0.89098166 -0.4112491 -0.19242103 -3.25747101] [ 0.41842843 0.90824245 -0.00364738 -1.74334387] [ 0.17626493 -0.07726468 0.98130568 -2.50393718] [ 0. 0. 0. 1. ]] SLAMing on 147.901346184 meters Centerline goodness : 0.894813 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.74, Z:-2.51 [[ 0.89070122 -0.41224239 -0.19159213 -3.25664137] [ 0.41901166 0.90796314 -0.00567192 -1.74086146] [ 0.1762968 -0.07522735 0.98145824 -2.50608885] [ 0. 0. 0. 1. ]] SLAMing on 147.931346184 meters Centerline goodness : 0.893890 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.74, Z:-2.51 [[ 0.89052227 -0.41295881 -0.1908798 -3.25634597] [ 0.41937593 0.90778247 -0.00740342 -1.73925988] [ 0.17633465 -0.07345749 0.9815855 -2.50727366] [ 0. 0. 0. 1. ]] SLAMing on 147.961346184 meters Centerline goodness : 0.891366 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.74, Z:-2.51 [[ 0.89063862 -0.41243683 -0.19146463 -3.2539079 ] [ 0.41888419 0.90800929 -0.00742718 -1.73660567] [ 0.1769149 -0.07358658 0.98147141 -2.50942802] [ 0. 0. 0. 1. ]] SLAMing on 147.99134618399998 meters Centerline goodness : 0.894431 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.73, Z:-2.51 [[ 0.89153929 -0.40934548 -0.19389164 -3.2538272 ] [ 0.41649506 0.909128 -0.00425872 -1.7320562 ] [ 0.17801561 -0.07695809 0.98101371 -2.5088683 ] [ 0. 0. 0. 1. ]] SLAMing on 148.02134618399998 meters Centerline goodness : 0.890417 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.73, Z:-2.51 [[ 8.92098173e-01 -4.07353747e-01 -1.95509015e-01 -3.25321052e+00] [ 4.14976256e-01 9.09829669e-01 -2.16340132e-03 -1.72946187e+00] [ 1.78761172e-01 -7.92016326e-02 9.80699518e-01 -2.50874201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05134618399998 meters Centerline goodness : 0.887024 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.73, Z:-2.51 [[ 8.92490319e-01 -4.06643213e-01 -1.95198176e-01 -3.25481634e+00] [ 4.14103260e-01 9.10225488e-01 -2.83745716e-03 -1.72740530e+00] [ 1.78828188e-01 -7.82997981e-02 9.80759716e-01 -2.50867842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters Centerline goodness : 0.890279 Centerline is valid? [False, False] Translation: X:-3.26, Y:-1.73, Z:-2.51 [[ 8.92977765e-01 -4.05718288e-01 -1.94893256e-01 -3.25583991e+00] [ 4.13129187e-01 9.10667906e-01 -2.87052483e-03 -1.72598477e+00] [ 1.78647658e-01 -7.79527776e-02 9.80820258e-01 -2.50913128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11134618399998 meters Centerline goodness : 0.888333 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.72, Z:-2.51 [[ 8.93630598e-01 -4.09769462e-01 -1.83066498e-01 -3.25482682e+00] [ 4.16294953e-01 9.09224507e-01 -3.05096458e-03 -1.71872788e+00] [ 1.67698739e-01 -7.34832239e-02 9.83095798e-01 -2.51039207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters Centerline goodness : 0.884402 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.71, Z:-2.51 [[ 8.93727331e-01 -4.08278325e-01 -1.85903919e-01 -3.25260217e+00] [ 4.15291628e-01 9.09687354e-01 -1.33483512e-03 -1.71357805e+00] [ 1.69659428e-01 -7.60113624e-02 9.82567021e-01 -2.50991879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.171346184 meters Centerline goodness : 0.885044 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.71, Z:-2.51 [[ 8.93684965e-01 -4.07868836e-01 -1.87003197e-01 -3.25020031e+00] [ 4.14960643e-01 9.09838375e-01 -1.34024967e-03 -1.71086251e+00] [ 1.70689331e-01 -7.64012060e-02 9.82358391e-01 -2.51094509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201346184 meters Centerline goodness : 0.885151 Centerline is valid? [False, False] Translation: X:-3.25, Y:-1.71, Z:-2.51 [[ 8.93320980e-01 -4.08188604e-01 -1.88041724e-01 -3.24676360e+00] [ 4.15327752e-01 9.09670478e-01 -1.57480280e-03 -1.70763171e+00] [ 1.71698822e-01 -7.66921422e-02 9.82159778e-01 -2.51284305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.231346184 meters Centerline goodness : 0.883478 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.70, Z:-2.51 [[ 0.89200441 -0.41068379 -0.18885697 -3.24462138] [ 0.41753249 0.9086538 -0.00385777 -1.70182609] [ 0.17318993 -0.07541278 0.98199703 -2.51343393] [ 0. 0. 0. 1. ]] SLAMing on 148.261346184 meters Centerline goodness : 0.880606 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.70, Z:-2.51 [[ 0.89148313 -0.41138144 -0.18979761 -3.24304954] [ 0.41823329 0.90832933 -0.0043304 -1.69888184] [ 0.17418019 -0.0755192 0.98181369 -2.51345636] [ 0. 0. 0. 1. ]] SLAMing on 148.291346184 meters Centerline goodness : 0.880641 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.70, Z:-2.51 [[ 0.89094603 -0.41195207 -0.19107763 -3.24199202] [ 0.41884701 0.90804458 -0.00471415 -1.69580729] [ 0.175449 -0.07583224 0.98156361 -2.51235867] [ 0. 0. 0. 1. ]] SLAMing on 148.321346184 meters Centerline goodness : 0.881889 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.69, Z:-2.51 [[ 0.89066655 -0.4121498 -0.19195219 -3.24251727] [ 0.41908036 0.90793581 -0.00492157 -1.69335645] [ 0.17630869 -0.07605992 0.98139194 -2.51056886] [ 0. 0. 0. 1. ]] SLAMing on 148.351346184 meters Centerline goodness : 0.877218 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.69, Z:-2.51 [[ 8.90901715e-01 -4.10226196e-01 -1.94957952e-01 -3.24006866e+00] [ 4.17696887e-01 9.08581276e-01 -3.06203149e-03 -1.68714960e+00] [ 1.78391270e-01 -7.87053604e-02 9.80806821e-01 -2.51075736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381346184 meters Centerline goodness : 0.874197 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.69, Z:-2.51 [[ 0.8912667 -0.40971675 -0.19436015 -3.24030071] [ 0.41691554 0.90893536 -0.00423494 -1.68540276] [ 0.17839594 -0.07725731 0.9809211 -2.51198877] [ 0. 0. 0. 1. ]] SLAMing on 148.411346184 meters Centerline goodness : 0.872648 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.68, Z:-2.51 [[ 0.89154722 -0.40940871 -0.19372163 -3.24062165] [ 0.41623208 0.9092387 -0.00598636 -1.68345061] [ 0.17859007 -0.07529603 0.98103827 -2.51291688] [ 0. 0. 0. 1. ]] SLAMing on 148.441346184 meters Centerline goodness : 0.874543 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.68, Z:-2.51 [[ 0.89192567 -0.40869304 -0.19349055 -3.24102378] [ 0.41532363 0.90964779 -0.00686809 -1.68150941] [ 0.17881519 -0.07423537 0.9810781 -2.51342757] [ 0. 0. 0. 1. ]] SLAMing on 148.471346184 meters Centerline goodness : 0.873796 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.68, Z:-2.51 [[ 0.89204433 -0.40784942 -0.19471969 -3.24042441] [ 0.41462458 0.9099693 -0.00650648 -1.67805878] [ 0.1798426 -0.0749315 0.98083735 -2.51305654] [ 0. 0. 0. 1. ]] SLAMing on 148.501346184 meters Centerline goodness : 0.868971 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.67, Z:-2.51 [[ 0.89262662 -0.41060149 -0.18607561 -3.23890308] [ 0.41698096 0.90889973 -0.0053058 -1.6654953 ] [ 0.17130264 -0.07285389 0.9825211 -2.51210638] [ 0. 0. 0. 1. ]] SLAMing on 148.531346184 meters Centerline goodness : 0.867798 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.66, Z:-2.51 [[ 0.89250747 -0.41004668 -0.18786199 -3.23733871] [ 0.41658033 0.90908437 -0.0051419 -1.66163847] [ 0.17289082 -0.07367043 0.98218198 -2.51138594] [ 0. 0. 0. 1. ]] SLAMing on 148.561346184 meters Centerline goodness : 0.863537 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.66, Z:-2.51 [[ 0.89239922 -0.41032004 -0.18777941 -3.23753562] [ 0.41659933 0.9090664 -0.00657816 -1.6593461 ] [ 0.17340311 -0.07235844 0.9821892 -2.5113459 ] [ 0. 0. 0. 1. ]] SLAMing on 148.591346184 meters Centerline goodness : 0.865215 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.66, Z:-2.51 [[ 0.89197435 -0.41185269 -0.186438 -3.23775042] [ 0.41740197 0.90866338 -0.01031767 -1.65554495] [ 0.17365875 -0.06861649 0.98241255 -2.51290742] [ 0. 0. 0. 1. ]] SLAMing on 148.621346184 meters Centerline goodness : 0.863147 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.65, Z:-2.51 [[ 0.89159877 -0.41256394 -0.1866618 -3.23747457] [ 0.41799973 0.90837904 -0.01112382 -1.65372651] [ 0.17414895 -0.0681066 0.98236125 -2.51242032] [ 0. 0. 0. 1. ]] SLAMing on 148.651346184 meters Centerline goodness : 0.864361 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.65, Z:-2.51 [[ 0.89111016 -0.4124233 -0.18928735 -3.23477645] [ 0.41822444 0.90828739 -0.01011603 -1.65059636] [ 0.17609941 -0.0701501 0.98186963 -2.51093906] [ 0. 0. 0. 1. ]] SLAMing on 148.681346184 meters Centerline goodness : 0.864448 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.65, Z:-2.51 [[ 0.89132686 -0.41080027 -0.19178 -3.233632 ] [ 0.41723031 0.90877001 -0.00747929 -1.64825243] [ 0.17735641 -0.07334993 0.98140944 -2.50942807] [ 0. 0. 0. 1. ]] SLAMing on 148.711346184 meters Centerline goodness : 0.862906 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.64, Z:-2.51 [[ 0.89248104 -0.40696564 -0.19456763 -3.23349582] [ 0.41413389 0.91020631 -0.00419419 -1.64442588] [ 0.17880358 -0.07683382 0.98088014 -2.50807363] [ 0. 0. 0. 1. ]] SLAMing on 148.74134618399998 meters Centerline goodness : 0.864338 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.64, Z:-2.51 [[ 0.89275319 -0.40657424 -0.19413689 -3.23372118] [ 0.41345981 0.91050567 -0.00551463 -1.64253525] [ 0.17900484 -0.0753446 0.98095895 -2.50863512] [ 0. 0. 0. 1. ]] SLAMing on 148.77134618399998 meters Centerline goodness : 0.863221 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.64, Z:-2.51 [[ 0.89287926 -0.40664721 -0.19340289 -3.23389517] [ 0.41317696 0.9106226 -0.0071612 -1.64123719] [ 0.17902912 -0.07351553 0.98109329 -2.50943981] [ 0. 0. 0. 1. ]] SLAMing on 148.80134618399998 meters Centerline goodness : 0.864719 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.64, Z:-2.51 [[ 0.89278498 -0.40682304 -0.19346833 -3.23357395] [ 0.41309764 0.9106461 -0.00860322 -1.63768196] [ 0.17968116 -0.07224048 0.9810688 -2.5100053 ] [ 0. 0. 0. 1. ]] SLAMing on 148.83134618399998 meters Centerline goodness : 0.863981 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.64, Z:-2.51 [[ 0.89248279 -0.40713309 -0.19420893 -3.23418303] [ 0.41342372 0.91049572 -0.00885326 -1.63563603] [ 0.18043085 -0.0723892 0.98092024 -2.50822696] [ 0. 0. 0. 1. ]] SLAMing on 148.86134618399998 meters Centerline goodness : 0.864198 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.63, Z:-2.51 [[ 0.89195262 -0.40760551 -0.19564836 -3.23409354] [ 0.41406241 0.91020791 -0.00859555 -1.63300947] [ 0.18158428 -0.07334381 0.98063644 -2.50594771] [ 0. 0. 0. 1. ]] SLAMing on 148.89134618399999 meters Centerline goodness : 0.863975 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.63, Z:-2.51 [[ 0.8916987 -0.40803691 -0.19590638 -3.23450469] [ 0.41434249 0.91007077 -0.00956482 -1.63038535] [ 0.18219147 -0.0726434 0.98057596 -2.5052608 ] [ 0. 0. 0. 1. ]] SLAMing on 148.921346184 meters Centerline goodness : 0.864597 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.63, Z:-2.51 [[ 0.89183478 -0.40836037 -0.19460869 -3.23528669] [ 0.41426992 0.91008499 -0.0112139 -1.63001902] [ 0.18168976 -0.07061958 0.98081686 -2.50597205] [ 0. 0. 0. 1. ]] SLAMing on 148.951346184 meters Centerline goodness : 0.864466 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.63, Z:-2.51 [[ 0.8919394 -0.40834887 -0.19415277 -3.23565664] [ 0.41404045 0.91017659 -0.01220989 -1.6293124 ] [ 0.1816992 -0.06949662 0.98089531 -2.50592478] [ 0. 0. 0. 1. ]] SLAMing on 148.981346184 meters Centerline goodness : 0.865103 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.63, Z:-2.51 [[ 0.89201283 -0.40804084 -0.19446279 -3.23574757] [ 0.41372988 0.91031645 -0.01231042 -1.62842296] [ 0.18204583 -0.06947402 0.98083264 -2.50533755] [ 0. 0. 0. 1. ]] SLAMing on 149.011346184 meters Centerline goodness : 0.862279 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.62, Z:-2.50 [[ 0.89209992 -0.41287601 -0.18355146 -3.23528525] [ 0.41778069 0.90845558 -0.01295222 -1.62142659] [ 0.172096 -0.06512958 0.98292477 -2.50386179] [ 0. 0. 0. 1. ]] SLAMing on 149.041346184 meters Centerline goodness : 0.862105 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.62, Z:-2.50 [[ 0.89190977 -0.41264777 -0.18498317 -3.23633952] [ 0.41786093 0.9084353 -0.01172839 -1.61926781] [ 0.17288493 -0.06683657 0.9826717 -2.50120741] [ 0. 0. 0. 1. ]] SLAMing on 149.071346184 meters Centerline goodness : 0.862753 Centerline is valid? [False, False] Translation: X:-3.24, Y:-1.62, Z:-2.50 [[ 0.89161285 -0.4129745 -0.18568413 -3.23512219] [ 0.4181501 0.90829533 -0.01225096 -1.61775907] [ 0.17371536 -0.06672072 0.98253311 -2.50070966] [ 0. 0. 0. 1. ]] SLAMing on 149.101346184 meters Centerline goodness : 0.862820 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.62, Z:-2.50 [[ 0.89139935 -0.41355047 -0.1854271 -3.23429343] [ 0.41845057 0.90813519 -0.01376912 -1.61697844] [ 0.1740871 -0.06531829 0.98256155 -2.50095554] [ 0. 0. 0. 1. ]] SLAMing on 149.131346184 meters Centerline goodness : 0.862200 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.62, Z:-2.50 [[ 0.89098151 -0.41501663 -0.1841552 -3.23271326] [ 0.41930776 0.90768708 -0.01688668 -1.61688012] [ 0.17416354 -0.06217199 0.98275211 -2.50256741] [ 0. 0. 0. 1. ]] SLAMing on 149.161346184 meters Centerline goodness : 0.862689 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.62, Z:-2.50 [[ 0.89077668 -0.41534043 -0.1844159 -3.23227432] [ 0.41963199 0.90753487 -0.01701338 -1.61689092] [ 0.17443021 -0.06223169 0.98270103 -2.50184777] [ 0. 0. 0. 1. ]] SLAMing on 149.191346184 meters Centerline goodness : 0.862660 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.62, Z:-2.50 [[ 0.89054779 -0.4148608 -0.18658821 -3.23046427] [ 0.419509 0.90761434 -0.01576091 -1.61543213] [ 0.17588872 -0.06423959 0.98231178 -2.49998099] [ 0. 0. 0. 1. ]] SLAMing on 149.221346184 meters Centerline goodness : 0.862039 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.8903918 -0.41427331 -0.18862677 -3.22956403] [ 0.41931331 0.90772917 -0.01428659 -1.6138868 ] [ 0.17714057 -0.06637306 0.98194493 -2.49799099] [ 0. 0. 0. 1. ]] SLAMing on 149.251346184 meters Centerline goodness : 0.861324 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.8908424 -0.4132762 -0.18868654 -3.22885979] [ 0.41820052 0.90823347 -0.01484221 -1.61307876] [ 0.17750536 -0.06568674 0.9819252 -2.49848378] [ 0. 0. 0. 1. ]] SLAMing on 149.281346184 meters Centerline goodness : 0.862815 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89130552 -0.41307316 -0.18693593 -3.22933743] [ 0.41750949 0.90851581 -0.01687736 -1.61375646] [ 0.17680583 -0.06300464 0.98222712 -2.49995231] [ 0. 0. 0. 1. ]] SLAMing on 149.311346184 meters Centerline goodness : 0.860853 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89147358 -0.41310408 -0.18606415 -3.2293348 ] [ 0.41728215 0.90859864 -0.01800342 -1.61386713] [ 0.17649492 -0.06159168 0.98237264 -2.50063506] [ 0. 0. 0. 1. ]] SLAMing on 149.341346184 meters Centerline goodness : 0.860853 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89147358 -0.41310408 -0.18606415 -3.2293348 ] [ 0.41728215 0.90859864 -0.01800342 -1.61386713] [ 0.17649492 -0.06159168 0.98237264 -2.50063506] [ 0. 0. 0. 1. ]] SLAMing on 149.371346184 meters Centerline goodness : 0.862858 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89191606 -0.41169677 -0.18706021 -3.22999224] [ 0.4162243 0.90911643 -0.01626834 -1.6143315 ] [ 0.17675713 -0.06334901 0.98221373 -2.4988588 ] [ 0. 0. 0. 1. ]] SLAMing on 149.401346184 meters Centerline goodness : 0.862227 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89185357 -0.41106724 -0.18873507 -3.22818633] [ 0.41589392 0.90928674 -0.01516151 -1.6139251 ] [ 0.1778467 -0.06497192 0.98191099 -2.49762863] [ 0. 0. 0. 1. ]] SLAMing on 149.431346184 meters Centerline goodness : 0.861268 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89169972 -0.4111277 -0.18932941 -3.22794297] [ 0.41607673 0.90921043 -0.01471557 -1.6139627 ] [ 0.17819026 -0.06565369 0.98180335 -2.49626699] [ 0. 0. 0. 1. ]] SLAMing on 149.461346184 meters Centerline goodness : 0.860958 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.8915012 -0.41147352 -0.18951291 -3.22742008] [ 0.41640438 0.90905705 -0.01492197 -1.61355591] [ 0.17841805 -0.06561105 0.98176483 -2.49584739] [ 0. 0. 0. 1. ]] SLAMing on 149.49134618399998 meters Centerline goodness : 0.860588 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89097466 -0.4131686 -0.18829726 -3.2270163 ] [ 0.41765109 0.90844607 -0.01712642 -1.61385461] [ 0.17813401 -0.06338335 0.98196274 -2.49622355] [ 0. 0. 0. 1. ]] SLAMing on 149.52134618399998 meters Centerline goodness : 0.860051 Centerline is valid? [False, False] Translation: X:-3.23, Y:-1.61, Z:-2.50 [[ 0.89073992 -0.41396676 -0.18765369 -3.22539756] [ 0.41818358 0.90817522 -0.01844648 -1.61378345] [ 0.17805866 -0.06204268 0.98206202 -2.49764688] [ 0. 0. 0. 1. ]] SLAMing on 149.55134618399998 meters Centerline goodness : 0.860263 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.50 [[ 0.89012641 -0.41558478 -0.18698735 -3.22464007] [ 0.41949013 0.90753723 -0.02010522 -1.61343989] [ 0.1780534 -0.06054316 0.98215656 -2.49800999] [ 0. 0. 0. 1. ]] SLAMing on 149.58134618399998 meters Centerline goodness : 0.859919 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.50 [[ 0.88953558 -0.41678545 -0.18712654 -3.2237526 ] [ 0.42058964 0.90701159 -0.02084038 -1.61298365] [ 0.17841191 -0.06016522 0.98211473 -2.49757287] [ 0. 0. 0. 1. ]] SLAMing on 149.61134618399998 meters Centerline goodness : 0.860639 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.50 [[ 0.88830429 -0.41868835 -0.18872083 -3.22199056] [ 0.42272163 0.90603121 -0.02034366 -1.61218219] [ 0.17950462 -0.06170502 0.98182004 -2.49527758] [ 0. 0. 0. 1. ]] SLAMing on 149.64134618399999 meters Centerline goodness : 0.859823 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88761092 -0.41982417 -0.18945847 -3.22103218] [ 0.42389348 0.90547933 -0.02053022 -1.611979 ] [ 0.18016981 -0.06208737 0.98167408 -2.49382201] [ 0. 0. 0. 1. ]] SLAMing on 149.671346184 meters Centerline goodness : 0.860937 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88675601 -0.42185584 -0.18894823 -3.22085199] [ 0.42554278 0.9046546 -0.02265811 -1.61220946] [ 0.18049134 -0.06031334 0.98172561 -2.49270954] [ 0. 0. 0. 1. ]] SLAMing on 149.701346184 meters Centerline goodness : 0.859736 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88623409 -0.4233129 -0.18813646 -3.220387 ] [ 0.42659678 0.90410355 -0.02473782 -1.61291311] [ 0.18056668 -0.05833491 0.98183131 -2.49239291] [ 0. 0. 0. 1. ]] SLAMing on 149.731346184 meters Centerline goodness : 0.863020 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.62, Z:-2.49 [[ 0.88567038 -0.42455185 -0.18799921 -3.22048913] [ 0.42787386 0.90350306 -0.02462079 -1.61508383] [ 0.18031066 -0.05863404 0.98186054 -2.49079282] [ 0. 0. 0. 1. ]] SLAMing on 149.761346184 meters Centerline goodness : 0.861659 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88537829 -0.42470057 -0.18903627 -3.21883899] [ 0.42814827 0.90338174 -0.02429986 -1.61439176] [ 0.18109208 -0.05942098 0.9816694 -2.49013894] [ 0. 0. 0. 1. ]] SLAMing on 149.791346184 meters Centerline goodness : 0.860855 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88506936 -0.42513642 -0.18950264 -3.21776217] [ 0.42853505 0.90318558 -0.02476931 -1.61350407] [ 0.18168639 -0.05928596 0.98156774 -2.48973718] [ 0. 0. 0. 1. ]] SLAMing on 149.821346184 meters Centerline goodness : 0.862346 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88491206 -0.42536333 -0.18972795 -3.21597228] [ 0.42867368 0.90310381 -0.02534541 -1.61290917] [ 0.18212504 -0.05890292 0.98150951 -2.49027442] [ 0. 0. 0. 1. ]] SLAMing on 149.851346184 meters Centerline goodness : 0.862473 Centerline is valid? [False, False] Translation: X:-3.22, Y:-1.61, Z:-2.49 [[ 0.88453519 -0.42672206 -0.18842979 -3.21568552] [ 0.42960615 0.90260135 -0.0273744 -1.61267735] [ 0.18175825 -0.05673697 0.98170508 -2.49113821] [ 0. 0. 0. 1. ]] SLAMing on 149.881346184 meters Centerline goodness : 0.860449 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88430819 -0.4270884 -0.1886651 -3.21421424] [ 0.42985234 0.90246067 -0.02813738 -1.61204568] [ 0.18227998 -0.05621602 0.98163831 -2.49131083] [ 0. 0. 0. 1. ]] SLAMing on 149.911346184 meters Centerline goodness : 0.862247 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88408056 -0.42751319 -0.18876982 -3.21392159] [ 0.43022611 0.90227142 -0.02849181 -1.61190577] [ 0.18250224 -0.05602465 0.98160795 -2.49069995] [ 0. 0. 0. 1. ]] SLAMing on 149.941346184 meters Centerline goodness : 0.862192 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.8845013 -0.42676897 -0.18848261 -3.21339801] [ 0.42942295 0.90264935 -0.02863698 -1.61245463] [ 0.18235508 -0.05560932 0.98165892 -2.49127381] [ 0. 0. 0. 1. ]] SLAMing on 149.971346184 meters Centerline goodness : 0.862469 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88455852 -0.42658882 -0.18862187 -3.21185521] [ 0.42910573 0.90277577 -0.02939703 -1.61203293] [ 0.1828237 -0.05493533 0.9816097 -2.49178792] [ 0. 0. 0. 1. ]] SLAMing on 150.001346184 meters Centerline goodness : 0.860278 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88482204 -0.42605103 -0.18860138 -3.21128153] [ 0.42849171 0.90305612 -0.02974037 -1.61214001] [ 0.18298854 -0.05449919 0.9816033 -2.49193876] [ 0. 0. 0. 1. ]] SLAMing on 150.031346184 meters Centerline goodness : 0.861735 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88529108 -0.42489682 -0.18900372 -3.21132527] [ 0.42748278 0.90355962 -0.02895666 -1.61223107] [ 0.18307972 -0.05516076 0.98154934 -2.49134075] [ 0. 0. 0. 1. ]] SLAMing on 150.061346184 meters Centerline goodness : 0.860999 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88630954 -0.42201032 -0.19069001 -3.20967384] [ 0.42507051 0.9047685 -0.02662746 -1.61163824] [ 0.18376738 -0.05745653 0.9812891 -2.49150379] [ 0. 0. 0. 1. ]] SLAMing on 150.091346184 meters Centerline goodness : 0.859757 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88640913 -0.42209685 -0.19003448 -3.20987495] [ 0.4249087 0.90481057 -0.02775673 -1.61118236] [ 0.18366123 -0.05614348 0.98138497 -2.49188734] [ 0. 0. 0. 1. ]] SLAMing on 150.121346184 meters Centerline goodness : 0.863599 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.8865272 -0.42210805 -0.18945796 -3.20987912] [ 0.42478816 0.90485085 -0.02828368 -1.61175878] [ 0.18336996 -0.05540525 0.98148139 -2.49210864] [ 0. 0. 0. 1. ]] SLAMing on 150.151346184 meters Centerline goodness : 0.863870 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88645151 -0.4231928 -0.1873808 -3.21138993] [ 0.42533074 0.90451757 -0.03068749 -1.61371379] [ 0.18247595 -0.05249584 0.98180788 -2.49220544] [ 0. 0. 0. 1. ]] SLAMing on 150.181346184 meters Centerline goodness : 0.864712 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.8860947 -0.42414735 -0.18690966 -3.21047205] [ 0.42605114 0.90413597 -0.03191499 -1.61414662] [ 0.1825284 -0.05135337 0.98185855 -2.4924602 ] [ 0. 0. 0. 1. ]] SLAMing on 150.211346184 meters Centerline goodness : 0.864992 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88568559 -0.42545022 -0.18588476 -3.21106003] [ 0.42699835 0.90362486 -0.03368272 -1.61510093] [ 0.18230041 -0.04954019 0.98199406 -2.49194317] [ 0. 0. 0. 1. ]] SLAMing on 150.24134618399998 meters Centerline goodness : 0.867483 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.61, Z:-2.49 [[ 0.88543935 -0.42558482 -0.18674771 -3.20810086] [ 0.42721603 0.90352909 -0.03349109 -1.6148824 ] [ 0.18298529 -0.05012729 0.98183687 -2.49272435] [ 0. 0. 0. 1. ]] SLAMing on 150.27134618399998 meters Centerline goodness : 0.870099 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88531628 -0.42594853 -0.18650183 -3.20785683] [ 0.42759976 0.9033526 -0.03335455 -1.61622737] [ 0.18268424 -0.05021881 0.98188825 -2.4924784 ] [ 0. 0. 0. 1. ]] SLAMing on 150.30134618399998 meters Centerline goodness : 0.869260 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88508314 -0.42649595 -0.18635729 -3.2076497 ] [ 0.42805398 0.90311808 -0.03387495 -1.61619975] [ 0.18275017 -0.04978883 0.98189788 -2.49222152] [ 0. 0. 0. 1. ]] SLAMing on 150.33134618399998 meters Centerline goodness : 0.868372 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88512207 -0.4261542 -0.18695326 -3.20636016] [ 0.42785412 0.90323628 -0.03324256 -1.61627685] [ 0.18302942 -0.050565 0.9818062 -2.49232334] [ 0. 0. 0. 1. ]] SLAMing on 150.36134618399998 meters Centerline goodness : 0.871190 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88492244 -0.42626537 -0.18764357 -3.20553037] [ 0.42802926 0.90315827 -0.03310746 -1.61609907] [ 0.1835844 -0.0510194 0.98167907 -2.49148309] [ 0. 0. 0. 1. ]] SLAMing on 150.39134618399999 meters Centerline goodness : 0.868306 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88461141 -0.42731254 -0.18672614 -3.20634256] [ 0.428853 0.90272815 -0.03416128 -1.6160264 ] [ 0.18316049 -0.0498586 0.98181788 -2.49126743] [ 0. 0. 0. 1. ]] SLAMing on 150.421346184 meters Centerline goodness : 0.869836 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.62, Z:-2.49 [[ 0.88401048 -0.42818885 -0.18756276 -3.20372137] [ 0.42972269 0.90230061 -0.03452551 -1.6150164 ] [ 0.18402143 -0.05007906 0.98164566 -2.49154522] [ 0. 0. 0. 1. ]] SLAMing on 150.451346184 meters Centerline goodness : 0.869765 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.61, Z:-2.49 [[ 0.88343922 -0.4298659 -0.18641471 -3.20429684] [ 0.43087743 0.90164397 -0.03718577 -1.6149423 ] [ 0.18406459 -0.04747053 0.98176717 -2.49114085] [ 0. 0. 0. 1. ]] SLAMing on 150.481346184 meters Centerline goodness : 0.867946 Centerline is valid? [False, False] Translation: X:-3.21, Y:-1.62, Z:-2.49 [[ 0.88254667 -0.43272484 -0.1840125 -3.20577629] [ 0.43307899 0.90044999 -0.040403 -1.61621842] [ 0.18317743 -0.04403441 0.98209317 -2.49094437] [ 0. 0. 0. 1. ]] SLAMing on 150.511346184 meters Centerline goodness : 0.867021 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.62, Z:-2.49 [[ 0.88172778 -0.43383855 -0.1853112 -3.20295521] [ 0.43430282 0.89986689 -0.04025708 -1.61507753] [ 0.18422048 -0.04498539 0.98185494 -2.49062715] [ 0. 0. 0. 1. ]] SLAMing on 150.541346184 meters Centerline goodness : 0.868641 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.61, Z:-2.49 [[ 0.88081112 -0.4350961 -0.18671678 -3.20120172] [ 0.4356477 0.89921536 -0.04028432 -1.61374809] [ 0.18542615 -0.04585986 0.9815875 -2.48920301] [ 0. 0. 0. 1. ]] SLAMing on 150.571346184 meters Centerline goodness : 0.869176 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.61, Z:-2.49 [[ 0.88000739 -0.43586996 -0.18869121 -3.19767017] [ 0.43673327 0.89873508 -0.03923405 -1.61236341] [ 0.18668435 -0.04788148 0.98125242 -2.48887744] [ 0. 0. 0. 1. ]] SLAMing on 150.601346184 meters Centerline goodness : 0.871483 Centerline is valid? [False, False] Translation: X:-3.20, Y:-1.61, Z:-2.49 [[ 0.87876958 -0.43890402 -0.18742277 -3.19692825] [ 0.43928171 0.89737627 -0.04180198 -1.61352384] [ 0.1865358 -0.04559709 0.98138947 -2.48873713] [ 0. 0. 0. 1. ]] SLAMing on 150.631346184 meters Centerline goodness : 0.868722 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87813829 -0.43991084 -0.18802021 -3.19324688] [ 0.44017893 0.89689716 -0.042638 -1.61259099] [ 0.18739171 -0.04532047 0.98123922 -2.49018681] [ 0. 0. 0. 1. ]] SLAMing on 150.661346184 meters Centerline goodness : 0.871930 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87747589 -0.44111334 -0.18829521 -3.19121973] [ 0.44123575 0.89633136 -0.04360169 -1.61205032] [ 0.18800818 -0.04482315 0.98114413 -2.49044997] [ 0. 0. 0. 1. ]] SLAMing on 150.691346184 meters Centerline goodness : 0.870630 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87681885 -0.44210863 -0.18902026 -3.19037971] [ 0.44227562 0.89581594 -0.0436586 -1.61139238] [ 0.1886292 -0.04531837 0.98100218 -2.48945013] [ 0. 0. 0. 1. ]] SLAMing on 150.721346184 meters Centerline goodness : 0.871091 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87631252 -0.44161404 -0.19249263 -3.18900788] [ 0.44255585 0.89582674 -0.04048171 -1.60909351] [ 0.19031734 -0.04971411 0.98046306 -2.48616157] [ 0. 0. 0. 1. ]] SLAMing on 150.751346184 meters Centerline goodness : 0.869864 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87618374 -0.44118552 -0.19405515 -3.18643566] [ 0.44241629 0.89594519 -0.03937068 -1.60760202] [ 0.19123255 -0.05135721 0.98020026 -2.48642823] [ 0. 0. 0. 1. ]] SLAMing on 150.781346184 meters Centerline goodness : 0.870912 Centerline is valid? [False, False] Translation: X:-3.19, Y:-1.61, Z:-2.49 [[ 0.87591941 -0.44178155 -0.19389236 -3.18520604] [ 0.44275519 0.8957178 -0.04071195 -1.60692025] [ 0.19165863 -0.05018647 0.98017768 -2.48700306] [ 0. 0. 0. 1. ]] SLAMing on 150.811346184 meters Centerline goodness : 0.868356 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.8757174 -0.4433072 -0.19130541 -3.1845556 ] [ 0.44343955 0.89519722 -0.04453428 -1.60792674] [ 0.19099844 -0.04583294 0.98051973 -2.4895294 ] [ 0. 0. 0. 1. ]] SLAMing on 150.841346184 meters Centerline goodness : 0.867419 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87563169 -0.4436789 -0.19083549 -3.18448014] [ 0.44367096 0.89505005 -0.04518274 -1.60818335] [ 0.19085394 -0.04510472 0.98058163 -2.48963678] [ 0. 0. 0. 1. ]] SLAMing on 150.871346184 meters Centerline goodness : 0.867243 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87528396 -0.44362681 -0.19254414 -3.18117552] [ 0.44397495 0.89496936 -0.04377311 -1.60690987] [ 0.19174003 -0.04717088 0.98031152 -2.49017996] [ 0. 0. 0. 1. ]] SLAMing on 150.901346184 meters Centerline goodness : 0.869715 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87498745 -0.44375414 -0.19359553 -3.17969989] [ 0.44423607 0.89485933 -0.04337157 -1.60617273] [ 0.19248708 -0.04805254 0.98012228 -2.48955683] [ 0. 0. 0. 1. ]] SLAMing on 150.931346184 meters Centerline goodness : 0.869799 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87443701 -0.44447343 -0.19443067 -3.17897512] [ 0.44505838 0.89446156 -0.04314584 -1.60629909] [ 0.19308794 -0.04880467 0.97996691 -2.48787555] [ 0. 0. 0. 1. ]] SLAMing on 150.961346184 meters Centerline goodness : 0.868746 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87433774 -0.44475147 -0.1942412 -3.17859406] [ 0.44524111 0.89434795 -0.04361309 -1.60660415] [ 0.19311621 -0.0483516 0.9799838 -2.48781338] [ 0. 0. 0. 1. ]] SLAMing on 150.99134618399998 meters Centerline goodness : 0.870352 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87428034 -0.44492788 -0.19409551 -3.1774743 ] [ 0.4452706 0.89429744 -0.04434177 -1.60665806] [ 0.19330801 -0.04765789 0.97997997 -2.48847216] [ 0. 0. 0. 1. ]] SLAMing on 151.02134618399998 meters Centerline goodness : 0.873764 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87437124 -0.445405 -0.19258586 -3.17784302] [ 0.44531025 0.89418124 -0.04624596 -1.60827211] [ 0.19280485 -0.04532432 0.98018978 -2.48898348] [ 0. 0. 0. 1. ]] SLAMing on 151.05134618399998 meters Centerline goodness : 0.873612 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87455977 -0.4446312 -0.19351567 -3.17666931] [ 0.44467385 0.89452675 -0.04568437 -1.60830045] [ 0.19341764 -0.04609764 0.98003297 -2.48846642] [ 0. 0. 0. 1. ]] SLAMing on 151.08134618399998 meters Centerline goodness : 0.872748 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87473478 -0.44401576 -0.19413673 -3.17690438] [ 0.44418716 0.89479747 -0.04511366 -1.60838682] [ 0.19374423 -0.04677056 0.97993657 -2.48723139] [ 0. 0. 0. 1. ]] SLAMing on 151.11134618399998 meters Centerline goodness : 0.873201 Centerline is valid? [False, False] Translation: X:-3.18, Y:-1.61, Z:-2.49 [[ 0.87493821 -0.4435533 -0.19427712 -3.17756028] [ 0.44376181 0.89501889 -0.04490708 -1.60879496] [ 0.19380038 -0.04692185 0.97991824 -2.48630389] [ 0. 0. 0. 1. ]] SLAMing on 151.14134618399999 meters Centerline goodness : 0.875547 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.8747635 -0.44366931 -0.19479825 -3.17424013] [ 0.44395271 0.89493598 -0.04467187 -1.60922626] [ 0.1941515 -0.04740389 0.97982553 -2.4877314 ] [ 0. 0. 0. 1. ]] SLAMing on 151.171346184 meters Centerline goodness : 0.876181 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.8740415 -0.44555821 -0.19372492 -3.17386233] [ 0.44530737 0.89412619 -0.04732557 -1.60929828] [ 0.19430082 -0.04490262 0.97991374 -2.48788426] [ 0. 0. 0. 1. ]] SLAMing on 151.201346184 meters Centerline goodness : 0.874555 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87370005 -0.44624903 -0.19367505 -3.17149693] [ 0.44593517 0.89379272 -0.04771167 -1.60939337] [ 0.19439664 -0.04468083 0.97990488 -2.48929804] [ 0. 0. 0. 1. ]] SLAMing on 151.231346184 meters Centerline goodness : 0.877225 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87328208 -0.44680215 -0.19428393 -3.16942871] [ 0.44661739 0.89347549 -0.04727002 -1.60954578] [ 0.19470828 -0.04549052 0.97980575 -2.48961743] [ 0. 0. 0. 1. ]] SLAMing on 151.261346184 meters Centerline goodness : 0.877225 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87328208 -0.44680215 -0.19428393 -3.16942871] [ 0.44661739 0.89347549 -0.04727002 -1.60954578] [ 0.19470828 -0.04549052 0.97980575 -2.48961743] [ 0. 0. 0. 1. ]] SLAMing on 151.291346184 meters Centerline goodness : 0.876444 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87303713 -0.44692861 -0.19509226 -3.16783778] [ 0.44689791 0.89336491 -0.04670545 -1.60881976] [ 0.19516258 -0.04641073 0.9796722 -2.48974368] [ 0. 0. 0. 1. ]] SLAMing on 151.321346184 meters Centerline goodness : 0.878077 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87260224 -0.44776381 -0.19512276 -3.16785434] [ 0.44765596 0.89295942 -0.04719758 -1.6086029 ] [ 0.19537008 -0.04616316 0.97964253 -2.48897556] [ 0. 0. 0. 1. ]] SLAMing on 151.351346184 meters Centerline goodness : 0.878075 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87223058 -0.44831976 -0.19550755 -3.1662934 ] [ 0.44830757 0.89264936 -0.04687684 -1.60830042] [ 0.1955355 -0.0467601 0.97958122 -2.48948131] [ 0. 0. 0. 1. ]] SLAMing on 151.381346184 meters Centerline goodness : 0.875576 Centerline is valid? [False, False] Translation: X:-3.17, Y:-1.61, Z:-2.49 [[ 0.87160368 -0.45007716 -0.19426163 -3.16555627] [ 0.44969998 0.89185574 -0.04861352 -1.60912698] [ 0.19513318 -0.04498773 0.97974443 -2.49033879] [ 0. 0. 0. 1. ]] SLAMing on 151.411346184 meters Centerline goodness : 0.878621 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.8711889 -0.45084226 -0.19434802 -3.16395111] [ 0.45042361 0.89147311 -0.0489313 -1.60938071] [ 0.19531633 -0.04491053 0.97971147 -2.49079129] [ 0. 0. 0. 1. ]] SLAMing on 151.441346184 meters Centerline goodness : 0.878988 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.87107332 -0.45110538 -0.19425552 -3.1625233 ] [ 0.45067715 0.89134183 -0.04898833 -1.60961296] [ 0.19524697 -0.0448741 0.97972697 -2.49181427] [ 0. 0. 0. 1. ]] SLAMing on 151.471346184 meters Centerline goodness : 0.878194 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.87095761 -0.45083066 -0.19540868 -3.15965033] [ 0.45062158 0.89141652 -0.04813301 -1.60864825] [ 0.19589036 -0.04613355 0.97954003 -2.49280629] [ 0. 0. 0. 1. ]] SLAMing on 151.501346184 meters Centerline goodness : 0.877873 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.87114161 -0.45002362 -0.19644603 -3.15875789] [ 0.45018574 0.89172661 -0.04643775 -1.60841693] [ 0.19607423 -0.04798335 0.97941436 -2.49260572] [ 0. 0. 0. 1. ]] SLAMing on 151.531346184 meters Centerline goodness : 0.876376 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.87105964 -0.45007666 -0.19668783 -3.1572017 ] [ 0.4502809 0.89168601 -0.04629435 -1.60839264] [ 0.1962198 -0.04823964 0.97937262 -2.4933647 ] [ 0. 0. 0. 1. ]] SLAMing on 151.561346184 meters Centerline goodness : 0.876637 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.49 [[ 0.87046228 -0.4526287 -0.19344945 -3.15882278] [ 0.45195955 0.89062545 -0.0501883 -1.61038707] [ 0.19500767 -0.04374431 0.97982572 -2.4942926 ] [ 0. 0. 0. 1. ]] SLAMing on 151.591346184 meters Centerline goodness : 0.880210 Centerline is valid? [False, False] Translation: X:-3.16, Y:-1.61, Z:-2.50 [[ 0.87011458 -0.45313419 -0.19382987 -3.15630919] [ 0.45240388 0.89037419 -0.0506412 -1.61014204] [ 0.19552837 -0.04362574 0.97972723 -2.49515457] [ 0. 0. 0. 1. ]] SLAMing on 151.621346184 meters Centerline goodness : 0.880240 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.86970457 -0.45320267 -0.1955027 -3.15248097] [ 0.45271436 0.89026226 -0.04982786 -1.60880512] [ 0.1966308 -0.04517136 0.97943651 -2.49576886] [ 0. 0. 0. 1. ]] SLAMing on 151.651346184 meters Centerline goodness : 0.880280 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.49 [[ 0.86943015 -0.45301448 -0.19715247 -3.15050664] [ 0.45281354 0.89027028 -0.04877231 -1.60822565] [ 0.19761354 -0.04686919 0.97915891 -2.49472441] [ 0. 0. 0. 1. ]] SLAMing on 151.681346184 meters Centerline goodness : 0.880861 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.49 [[ 0.86934749 -0.45260381 -0.19845589 -3.14940177] [ 0.45260985 0.89041473 -0.04802006 -1.60733202] [ 0.19844211 -0.04807697 0.97893275 -2.49372148] [ 0. 0. 0. 1. ]] SLAMing on 151.711346184 meters Centerline goodness : 0.884347 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.49 [[ 0.86976637 -0.45209426 -0.19778077 -3.14940563] [ 0.45203147 0.89070243 -0.04813251 -1.60862366] [ 0.19792425 -0.04753909 0.97906385 -2.49445877] [ 0. 0. 0. 1. ]] SLAMing on 151.74134618399998 meters Centerline goodness : 0.883611 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.86958163 -0.45307945 -0.19633337 -3.15005501] [ 0.45264045 0.8903034 -0.04976411 -1.60937497] [ 0.19734336 -0.04559447 0.97927358 -2.49505546] [ 0. 0. 0. 1. ]] SLAMing on 151.77134618399998 meters Centerline goodness : 0.884722 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.86979994 -0.45243336 -0.1968556 -3.14659831] [ 0.45213563 0.89059612 -0.04911139 -1.6096147 ] [ 0.19753846 -0.04628835 0.97920169 -2.49721821] [ 0. 0. 0. 1. ]] SLAMing on 151.80134618399998 meters Centerline goodness : 0.880856 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.86978898 -0.45257286 -0.19658314 -3.14648637] [ 0.45220502 0.89054435 -0.04941044 -1.61042291] [ 0.19742783 -0.04591922 0.97924138 -2.49710875] [ 0. 0. 0. 1. ]] SLAMing on 151.83134618399998 meters Centerline goodness : 0.882870 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.87070377 -0.45115102 -0.19580018 -3.14831528] [ 0.4507913 0.89128257 -0.04901606 -1.61260401] [ 0.19662694 -0.04558655 0.97941805 -2.49678534] [ 0. 0. 0. 1. ]] SLAMing on 151.86134618399998 meters Centerline goodness : 0.883655 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.87099443 -0.45043342 -0.1961592 -3.14899921] [ 0.45019167 0.89161764 -0.04842979 -1.6124431 ] [ 0.1967134 -0.04612716 0.97937537 -2.49590273] [ 0. 0. 0. 1. ]] SLAMing on 151.89134618399999 meters Centerline goodness : 0.884831 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.8710274 -0.45053051 -0.19578952 -3.14973719] [ 0.45030042 0.89157007 -0.0482943 -1.61340493] [ 0.19631813 -0.04609845 0.97945603 -2.49517017] [ 0. 0. 0. 1. ]] SLAMing on 151.921346184 meters Centerline goodness : 0.886656 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.87077418 -0.45098434 -0.19587103 -3.14651935] [ 0.45079022 0.89132828 -0.04818787 -1.61348715] [ 0.19631737 -0.04633599 0.97944498 -2.49746518] [ 0. 0. 0. 1. ]] SLAMing on 151.951346184 meters Centerline goodness : 0.883981 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.61, Z:-2.50 [[ 0.87020161 -0.45293096 -0.19391419 -3.14698069] [ 0.4522223 0.89047285 -0.05052826 -1.61493216] [ 0.19556113 -0.04372255 0.97971638 -2.49827684] [ 0. 0. 0. 1. ]] SLAMing on 151.981346184 meters Centerline goodness : 0.883818 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86996508 -0.4532828 -0.1941532 -3.14453657] [ 0.45272508 0.89025455 -0.04986818 -1.61596872] [ 0.19545016 -0.04451445 0.97970286 -2.49944129] [ 0. 0. 0. 1. ]] SLAMing on 152.011346184 meters Centerline goodness : 0.885884 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86894606 -0.45503453 -0.19461839 -3.14484985] [ 0.45465253 0.88930329 -0.04930254 -1.61742323] [ 0.19550913 -0.0456425 0.97963919 -2.4968936 ] [ 0. 0. 0. 1. ]] SLAMing on 152.041346184 meters Centerline goodness : 0.886771 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86861362 -0.45498998 -0.19620013 -3.141323 ] [ 0.45497095 0.88921882 -0.04786791 -1.61650789] [ 0.19624427 -0.04768664 0.9793948 -2.49761336] [ 0. 0. 0. 1. ]] SLAMing on 152.071346184 meters Centerline goodness : 0.886530 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86848955 -0.45512369 -0.19643913 -3.13915459] [ 0.45518175 0.88912752 -0.04755875 -1.61658302] [ 0.19630455 -0.04811123 0.97936195 -2.49884074] [ 0. 0. 0. 1. ]] SLAMing on 152.101346184 meters Centerline goodness : 0.886235 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86817478 -0.45644892 -0.19474837 -3.13945057] [ 0.45605789 0.88856991 -0.04954509 -1.61786036] [ 0.19566234 -0.04580273 0.97960112 -2.49969793] [ 0. 0. 0. 1. ]] SLAMing on 152.131346184 meters Centerline goodness : 0.888501 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86733005 -0.45865526 -0.1933234 -3.13849191] [ 0.45795092 0.88751111 -0.05103907 -1.61937523] [ 0.194986 -0.04426491 0.97980665 -2.50084775] [ 0. 0. 0. 1. ]] SLAMing on 152.161346184 meters Centerline goodness : 0.890752 Centerline is valid? [False, False] Translation: X:-3.14, Y:-1.62, Z:-2.50 [[ 0.86698282 -0.45881944 -0.19448782 -3.13598054] [ 0.45833898 0.88735809 -0.05020944 -1.6192275 ] [ 0.19561741 -0.04561063 0.97961906 -2.50086557] [ 0. 0. 0. 1. ]] SLAMing on 152.191346184 meters Centerline goodness : 0.888299 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.50 [[ 0.8666503 -0.45885417 -0.1958829 -3.13283959] [ 0.45867387 0.88724979 -0.04905186 -1.61831183] [ 0.19630471 -0.04733556 0.97939972 -2.50157154] [ 0. 0. 0. 1. ]] SLAMing on 152.221346184 meters Centerline goodness : 0.890955 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.50 [[ 0.86685064 -0.45866406 -0.19544118 -3.1314549 ] [ 0.45840035 0.88737532 -0.04933725 -1.61918226] [ 0.1960589 -0.04682228 0.97947362 -2.50298436] [ 0. 0. 0. 1. ]] SLAMing on 152.251346184 meters Centerline goodness : 0.887805 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.50 [[ 0.86724192 -0.45803877 -0.19517155 -3.13000937] [ 0.45774306 0.88771342 -0.04935753 -1.6201076 ] [ 0.19586407 -0.04653351 0.97952636 -2.50444756] [ 0. 0. 0. 1. ]] SLAMing on 152.281346184 meters Centerline goodness : 0.887499 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.51 [[ 0.86763447 -0.4575548 -0.19456111 -3.12919792] [ 0.45721297 0.88798512 -0.04938357 -1.62117535] [ 0.19536306 -0.04610898 0.97964649 -2.50599558] [ 0. 0. 0. 1. ]] SLAMing on 152.311346184 meters Centerline goodness : 0.890022 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.51 [[ 0.86803864 -0.45670729 -0.19474949 -3.12644868] [ 0.45643888 0.88840663 -0.04896136 -1.62133262] [ 0.19537775 -0.04639088 0.97963025 -2.50835213] [ 0. 0. 0. 1. ]] SLAMing on 152.341346184 meters Centerline goodness : 0.891445 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.51 [[ 0.86827112 -0.45678575 -0.19352529 -3.1276481 ] [ 0.45637185 0.8884164 -0.04940673 -1.62374378] [ 0.19449933 -0.04542106 0.97985047 -2.50831147] [ 0. 0. 0. 1. ]] SLAMing on 152.371346184 meters Centerline goodness : 0.892153 Centerline is valid? [False, False] Translation: X:-3.13, Y:-1.62, Z:-2.51 [[ 0.86825539 -0.45634105 -0.19464177 -3.12642693] [ 0.4562324 0.88856028 -0.04808985 -1.62376483] [ 0.19489631 -0.04704761 0.97969482 -2.50772307] [ 0. 0. 0. 1. ]] SLAMing on 152.401346184 meters Centerline goodness : 0.893345 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.62, Z:-2.51 [[ 0.86822102 -0.45550606 -0.19673963 -3.12354409] [ 0.45592071 0.88883606 -0.04589957 -1.62267227] [ 0.19577681 -0.0498467 0.9793808 -2.50770356] [ 0. 0. 0. 1. ]] SLAMing on 152.431346184 meters Centerline goodness : 0.891886 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.62, Z:-2.51 [[ 0.86828035 -0.45505196 -0.19752709 -3.12136857] [ 0.45568243 0.88900554 -0.04497414 -1.62244628] [ 0.19606825 -0.05095946 0.97926522 -2.5085674 ] [ 0. 0. 0. 1. ]] SLAMing on 152.461346184 meters Centerline goodness : 0.892152 Centerline is valid? [False, False] Translation: X:-3.12, Y:-1.62, Z:-2.51 [[ 0.86768355 -0.45721654 -0.19513662 -3.11798905] [ 0.45715123 0.88808746 -0.04809797 -1.62414851] [ 0.19528957 -0.04747313 0.97959598 -2.51294544] [ 0. 0. 0. 1. ]] SLAMing on 152.49134618399998 meters Centerline goodness : 0.893146 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.62, Z:-2.52 [[ 0.86736443 -0.45759857 -0.19565915 -3.1137442 ] [ 0.45763 0.88785753 -0.04778898 -1.62467141] [ 0.19558562 -0.04808904 0.97950687 -2.51509246] [ 0. 0. 0. 1. ]] SLAMing on 152.52134618399998 meters Centerline goodness : 0.892427 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.62, Z:-2.52 [[ 0.86706304 -0.45760778 -0.19696905 -3.10989019] [ 0.45793609 0.88776077 -0.0466407 -1.62437687] [ 0.19620454 -0.04975881 0.97929967 -2.51622785] [ 0. 0. 0. 1. ]] SLAMing on 152.55134618399998 meters Centerline goodness : 0.890885 Centerline is valid? [False, False] Translation: X:-3.11, Y:-1.62, Z:-2.52 [[ 0.86660507 -0.45734076 -0.19958728 -3.10637322] [ 0.45842645 0.88766501 -0.04354339 -1.6247223 ] [ 0.19708081 -0.05376116 0.9789121 -2.51528771] [ 0. 0. 0. 1. ]] SLAMing on 152.58134618399998 meters Centerline goodness : 0.894545 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.62, Z:-2.52 [[ 0.86640297 -0.45725336 -0.20066205 -3.10430234] [ 0.45863644 0.88761371 -0.0423617 -1.62486091] [ 0.19748042 -0.05532863 0.97874421 -2.51523189] [ 0. 0. 0. 1. ]] SLAMing on 152.61134618399998 meters Centerline goodness : 0.892589 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.62, Z:-2.52 [[ 0.86615909 -0.45704856 -0.20217577 -3.10081438] [ 0.45874422 0.88761124 -0.04123125 -1.62448342] [ 0.19829817 -0.05703414 0.97848094 -2.51571749] [ 0. 0. 0. 1. ]] SLAMing on 152.64134618399999 meters Centerline goodness : 0.892981 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.63, Z:-2.52 [[ 0.86579109 -0.45825124 -0.20102634 -3.09904694] [ 0.4596949 0.88706953 -0.04228779 -1.62595806] [ 0.19770277 -0.0557984 0.97867265 -2.51773778] [ 0. 0. 0. 1. ]] SLAMing on 152.671346184 meters Centerline goodness : 0.891321 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.63, Z:-2.52 [[ 0.86577847 -0.45798681 -0.20168225 -3.09499342] [ 0.45958219 0.88715593 -0.04169602 -1.62582163] [ 0.19801984 -0.05659005 0.97856308 -2.52010908] [ 0. 0. 0. 1. ]] SLAMing on 152.701346184 meters Centerline goodness : 0.891499 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.63, Z:-2.52 [[ 0.86591525 -0.45756115 -0.2020608 -3.09248016] [ 0.45926054 0.88734373 -0.04124158 -1.62596313] [ 0.19816793 -0.05708684 0.97850425 -2.52168274] [ 0. 0. 0. 1. ]] SLAMing on 152.731346184 meters Centerline goodness : 0.893296 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.63, Z:-2.52 [[ 0.86598106 -0.45726272 -0.20245398 -3.09071547] [ 0.45904838 0.8874695 -0.04089579 -1.62593485] [ 0.19837185 -0.05752119 0.97843749 -2.52259834] [ 0. 0. 0. 1. ]] SLAMing on 152.761346184 meters Centerline goodness : 0.894284 Centerline is valid? [False, False] Translation: X:-3.09, Y:-1.63, Z:-2.52 [[ 0.86581875 -0.45703936 -0.203649 -3.08784413] [ 0.4591579 0.88747212 -0.03958856 -1.62664151] [ 0.19882634 -0.05923053 0.97824324 -2.52298681] [ 0. 0. 0. 1. ]] SLAMing on 152.791346184 meters Centerline goodness : 0.893539 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.63, Z:-2.52 [[ 0.86557126 -0.45679754 -0.20523742 -3.08401521] [ 0.45924612 0.8874774 -0.03842987 -1.62590556] [ 0.19969824 -0.0609907 0.97795744 -2.52377973] [ 0. 0. 0. 1. ]] SLAMing on 152.821346184 meters Centerline goodness : 0.894766 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.62, Z:-2.53 [[ 0.86559946 -0.46139544 -0.19455548 -3.07940642] [ 0.46427747 0.88506229 -0.03333434 -1.62261842] [ 0.18757403 -0.06147354 0.98032494 -2.53024999] [ 0. 0. 0. 1. ]] SLAMing on 152.851346184 meters Centerline goodness : 0.892643 Centerline is valid? [False, False] Translation: X:-3.08, Y:-1.62, Z:-2.53 [[ 0.86527522 -0.46155962 -0.19560548 -3.07541407] [ 0.46460933 0.88490686 -0.03283308 -1.62188387] [ 0.18824706 -0.06247048 0.98013289 -2.53179966] [ 0. 0. 0. 1. ]] SLAMing on 152.881346184 meters Centerline goodness : 0.894543 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.53 [[ 0.86481427 -0.46203276 -0.19652484 -3.07183427] [ 0.46526573 0.88458335 -0.03225059 -1.62185839] [ 0.18874343 -0.06354551 0.97996831 -2.53296348] [ 0. 0. 0. 1. ]] SLAMing on 152.911346184 meters Centerline goodness : 0.894813 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.53 [[ 0.86480886 -0.46161886 -0.19751876 -3.06869042] [ 0.46504252 0.88472571 -0.03155742 -1.62081199] [ 0.18931742 -0.06456349 0.97979103 -2.53440921] [ 0. 0. 0. 1. ]] SLAMing on 152.941346184 meters Centerline goodness : 0.892468 Centerline is valid? [False, False] Translation: X:-3.07, Y:-1.62, Z:-2.54 [[ 0.86499645 -0.4609743 -0.19820152 -3.06592966] [ 0.46454038 0.88500975 -0.03098348 -1.62046884] [ 0.18969286 -0.06527201 0.97967147 -2.53596311] [ 0. 0. 0. 1. ]] SLAMing on 152.971346184 meters Centerline goodness : 0.895262 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.62, Z:-2.54 [[ 0.86494034 -0.46062954 -0.19924515 -3.06175016] [ 0.4643924 0.88511116 -0.0302975 -1.6202527 ] [ 0.19031003 -0.06632241 0.97948121 -2.53787773] [ 0. 0. 0. 1. ]] SLAMing on 153.001346184 meters Centerline goodness : 0.896842 Centerline is valid? [False, False] Translation: X:-3.06, Y:-1.62, Z:-2.54 [[ 0.86438531 -0.4609143 -0.20098769 -3.05761338] [ 0.46500729 0.88482299 -0.02926593 -1.61889895] [ 0.19132761 -0.0681637 0.9791565 -2.53858587] [ 0. 0. 0. 1. ]] SLAMing on 153.031346184 meters Centerline goodness : 0.896681 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.62, Z:-2.54 [[ 0.86369284 -0.46151239 -0.20258577 -3.05373068] [ 0.46590703 0.88437819 -0.02838762 -1.61777619] [ 0.19226367 -0.06986795 0.97885298 -2.53901726] [ 0. 0. 0. 1. ]] SLAMing on 153.061346184 meters Centerline goodness : 0.893090 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.62, Z:-2.54 [[ 0.86284465 -0.4625994 -0.2037177 -3.04956552] [ 0.46722948 0.88370053 -0.0277486 -1.61822185] [ 0.19286192 -0.07124018 0.97863636 -2.53978695] [ 0. 0. 0. 1. ]] SLAMing on 153.091346184 meters Centerline goodness : 0.895675 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.62, Z:-2.54 [[ 0.86263547 -0.4628143 -0.20411511 -3.04715356] [ 0.46752879 0.88355006 -0.02749762 -1.61823633] [ 0.19307221 -0.07170927 0.97856063 -2.54095085] [ 0. 0. 0. 1. ]] SLAMing on 153.121346184 meters Centerline goodness : 0.897684 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.54 [[ 0.862639 -0.46241178 -0.20501051 -3.04373172] [ 0.46729491 0.88369105 -0.02693686 -1.61793261] [ 0.19362188 -0.07256358 0.97838903 -2.54246091] [ 0. 0. 0. 1. ]] SLAMing on 153.151346184 meters Centerline goodness : 0.895932 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.54 [[ 0.86267564 -0.46218633 -0.20536443 -3.04289836] [ 0.46729694 0.88372109 -0.02589599 -1.61920895] [ 0.19345365 -0.07362633 0.97834291 -2.54234167] [ 0. 0. 0. 1. ]] SLAMing on 153.181346184 meters Centerline goodness : 0.895932 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.54 [[ 0.86267564 -0.46218633 -0.20536443 -3.04289836] [ 0.46729694 0.88372109 -0.02589599 -1.61920895] [ 0.19345365 -0.07362633 0.97834291 -2.54234167] [ 0. 0. 0. 1. ]] SLAMing on 153.211346184 meters Centerline goodness : 0.893419 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.54 [[ 0.86272907 -0.46151386 -0.20664827 -3.03967178] [ 0.46692627 0.88394859 -0.02479408 -1.61890325] [ 0.19410926 -0.07509894 0.97810109 -2.5432794 ] [ 0. 0. 0. 1. ]] SLAMing on 153.24134618399998 meters Centerline goodness : 0.894414 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.54 [[ 0.86289246 -0.46075985 -0.20764624 -3.03656415] [ 0.46640122 0.8842491 -0.02394642 -1.61835045] [ 0.19464455 -0.07618327 0.97791084 -2.5447014 ] [ 0. 0. 0. 1. ]] SLAMing on 153.27134618399998 meters Centerline goodness : 0.897303 Centerline is valid? [False, False] Translation: X:-3.04, Y:-1.62, Z:-2.55 [[ 0.86347923 -0.45960652 -0.20776299 -3.03513402] [ 0.46540712 0.88479654 -0.02304972 -1.61946707] [ 0.19442177 -0.07679142 0.97790759 -2.54595231] [ 0. 0. 0. 1. ]] SLAMing on 153.30134618399998 meters Centerline goodness : 0.896678 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.62, Z:-2.55 [[ 0.86369187 -0.45884548 -0.20855975 -3.03287821] [ 0.46484565 0.88511145 -0.02227649 -1.61912228] [ 0.19482009 -0.07770807 0.97775589 -2.54699103] [ 0. 0. 0. 1. ]] SLAMing on 153.33134618399998 meters Centerline goodness : 0.897223 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.62, Z:-2.55 [[ 0.86383481 -0.45832489 -0.20911171 -3.0312402 ] [ 0.46449727 0.88531171 -0.0215745 -1.61917514] [ 0.19501717 -0.07849502 0.97765374 -2.54771464] [ 0. 0. 0. 1. ]] SLAMing on 153.36134618399998 meters Centerline goodness : 0.896198 Centerline is valid? [False, False] Translation: X:-3.03, Y:-1.62, Z:-2.55 [[ 0.86447688 -0.4619917 -0.19809944 -3.02705992] [ 0.46830639 0.88341022 -0.01659842 -1.61590717] [ 0.1826714 -0.07842228 0.98004138 -2.55394242] [ 0. 0. 0. 1. ]] SLAMing on 153.39134618399999 meters Centerline goodness : 0.898078 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.62, Z:-2.55 [[ 0.86485035 -0.46080959 -0.19921949 -3.02454042] [ 0.46752955 0.88385381 -0.01478379 -1.61708055] [ 0.18289341 -0.08035523 0.97984337 -2.55442686] [ 0. 0. 0. 1. ]] SLAMing on 153.421346184 meters Centerline goodness : 0.893808 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.62, Z:-2.55 [[ 0.86460885 -0.46062175 -0.20069665 -3.02173213] [ 0.46768938 0.88378868 -0.01357229 -1.616421 ] [ 0.18362512 -0.08212897 0.97955942 -2.55455407] [ 0. 0. 0. 1. ]] SLAMing on 153.451346184 meters Centerline goodness : 0.894936 Centerline is valid? [False, False] Translation: X:-3.02, Y:-1.62, Z:-2.56 [[ 0.86421995 -0.46072348 -0.20213302 -3.01781296] [ 0.46810236 0.88358457 -0.01258952 -1.616034 ] [ 0.1844019 -0.08373883 0.97927715 -2.5552335 ] [ 0. 0. 0. 1. ]] SLAMing on 153.481346184 meters Centerline goodness : 0.897933 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.62, Z:-2.56 [[ 0.86357248 -0.46194228 -0.20211851 -3.01265053] [ 0.46921877 0.88298223 -0.01327144 -1.61725218] [ 0.18459769 -0.08337695 0.97927115 -2.55806318] [ 0. 0. 0. 1. ]] SLAMing on 153.511346184 meters Centerline goodness : 0.896307 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.62, Z:-2.56 [[ 0.86385048 -0.46131827 -0.20235564 -3.0098176 ] [ 0.46873379 0.88325005 -0.01256932 -1.61884152] [ 0.18452908 -0.08399291 0.97923144 -2.55968582] [ 0. 0. 0. 1. ]] SLAMing on 153.541346184 meters Centerline goodness : 0.894896 Centerline is valid? [False, False] Translation: X:-3.01, Y:-1.62, Z:-2.56 [[ 0.86418228 -0.46017785 -0.20353212 -3.00639004] [ 0.46794698 0.88368669 -0.01111152 -1.61959661] [ 0.1849719 -0.08563987 0.97900521 -2.56078182] [ 0. 0. 0. 1. ]] SLAMing on 153.571346184 meters Centerline goodness : 0.898183 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.62, Z:-2.56 [[ 0.86486768 -0.45778957 -0.20599173 -3.00393641] [ 0.46654307 0.88447222 -0.00681647 -1.6215287 ] [ 0.18531447 -0.09020867 0.97852999 -2.55986487] [ 0. 0. 0. 1. ]] SLAMing on 153.601346184 meters Centerline goodness : 0.895871 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.62, Z:-2.56 [[ 0.86491141 -0.4571638 -0.20719438 -3.00150414] [ 0.46628553 0.88461777 -0.00540338 -1.62165822] [ 0.18575806 -0.09193829 0.97828487 -2.5600567 ] [ 0. 0. 0. 1. ]] SLAMing on 153.631346184 meters Centerline goodness : 0.898685 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.62, Z:-2.56 [[ 0.86497558 -0.45691706 -0.20747057 -3.00022097] [ 0.46618805 0.88467302 -0.00472798 -1.62264009] [ 0.18570391 -0.09263071 0.97822983 -2.56035449] [ 0. 0. 0. 1. ]] SLAMing on 153.661346184 meters Centerline goodness : 0.898771 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.62, Z:-2.56 [[ 0.86527612 -0.45598262 -0.20827166 -2.99670205] [ 0.46555 0.88501479 -0.00346695 -1.62351293] [ 0.18590437 -0.093961 0.97806487 -2.56212653] [ 0. 0. 0. 1. ]] SLAMing on 153.691346184 meters Centerline goodness : 0.897811 Centerline is valid? [False, False] Translation: X:-3.00, Y:-1.63, Z:-2.56 [[ 0.8654393 -0.45647447 -0.20650878 -2.99557813] [ 0.46569985 0.88493168 -0.00442482 -1.6274234 ] [ 0.18476597 -0.0923417 0.97843474 -2.56396583] [ 0. 0. 0. 1. ]] SLAMing on 153.721346184 meters Centerline goodness : 0.899679 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.63, Z:-2.56 [[ 0.86529931 -0.45704386 -0.20583492 -2.99422076] [ 0.46615971 0.88468794 -0.00472962 -1.62937144] [ 0.18426131 -0.0918594 0.9785753 -2.56499674] [ 0. 0. 0. 1. ]] SLAMing on 153.751346184 meters Centerline goodness : 0.899714 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.63, Z:-2.57 [[ 0.86530009 -0.45679928 -0.20637389 -2.99139299] [ 0.46617025 0.88468761 -0.00362206 -1.63141646] [ 0.18423098 -0.0930712 0.9784665 -2.56576796] [ 0. 0. 0. 1. ]] SLAMing on 153.781346184 meters Centerline goodness : 0.899802 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.64, Z:-2.56 [[ 8.65164595e-01 -4.56545117e-01 -2.07501276e-01 -2.99040384e+00] [ 4.66515279e-01 8.84512575e-01 -9.99485519e-04 -1.63557516e+00] [ 1.83993798e-01 -9.59377962e-02 9.78234236e-01 -2.56335033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.811346184 meters Centerline goodness : 0.898887 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.64, Z:-2.56 [[ 8.65057525e-01 -4.56286142e-01 -2.08514831e-01 -2.98768591e+00] [ 4.66622950e-01 8.84456236e-01 4.34363772e-04 -1.63707525e+00] [ 1.84224049e-01 -9.76735555e-02 9.78019108e-01 -2.56338724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841346184 meters Centerline goodness : 0.895676 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.64, Z:-2.56 [[ 8.64991678e-01 -4.55940266e-01 -2.09542050e-01 -2.98341940e+00] [ 4.66603626e-01 8.84465005e-01 1.64665694e-03 -1.63859361e+00] [ 1.84581833e-01 -9.91974247e-02 9.77798250e-01 -2.56457077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871346184 meters Centerline goodness : 0.897462 Centerline is valid? [False, False] Translation: X:-2.98, Y:-1.64, Z:-2.57 [[ 8.65139689e-01 -4.55292965e-01 -2.10336955e-01 -2.97859676e+00] [ 4.66217016e-01 8.84666375e-01 2.66461293e-03 -1.64054094e+00] [ 1.84864852e-01 -1.00367930e-01 9.77625319e-01 -2.56652311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901346184 meters Centerline goodness : 0.895498 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.64, Z:-2.57 [[ 0.86523009 -0.45695217 -0.2063289 -2.96401085] [ 0.46858243 0.88337812 0.00857889 -1.64008227] [ 0.17834629 -0.10410481 0.97844509 -2.57374456] [ 0. 0. 0. 1. ]] SLAMing on 153.931346184 meters Centerline goodness : 0.896004 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.64, Z:-2.57 [[ 0.86536816 -0.45619306 -0.20742673 -2.96030844] [ 0.46820403 0.88356273 0.01009359 -1.64148159] [ 0.1786699 -0.1058527 0.97819848 -2.57468996] [ 0. 0. 0. 1. ]] SLAMing on 153.961346184 meters Centerline goodness : 0.897622 Centerline is valid? [False, False] Translation: X:-2.96, Y:-1.64, Z:-2.57 [[ 0.86585827 -0.45386265 -0.21047126 -2.95610782] [ 0.46705353 0.88410311 0.0149226 -1.64454436] [ 0.17930548 -0.1112222 0.97748615 -2.57339492] [ 0. 0. 0. 1. ]] SLAMing on 153.99134618399998 meters Centerline goodness : 0.895806 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.65, Z:-2.57 [[ 0.86601801 -0.45269652 -0.21231737 -2.95222229] [ 0.46647327 0.88437071 0.01706268 -1.64502303] [ 0.18004304 -0.11381696 0.97705179 -2.57366673] [ 0. 0. 0. 1. ]] SLAMing on 154.02134618399998 meters Centerline goodness : 0.895907 Centerline is valid? [False, False] Translation: X:-2.95, Y:-1.65, Z:-2.57 [[ 0.86599118 -0.45237574 -0.21310907 -2.94850784] [ 0.46643846 0.8843677 0.01813672 -1.64635062] [ 0.18026217 -0.1151085 0.97686006 -2.5748163 ] [ 0. 0. 0. 1. ]] SLAMing on 154.05134618399998 meters Centerline goodness : 0.894089 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.65, Z:-2.58 [[ 0.86579097 -0.45250499 -0.21364744 -2.94303408] [ 0.46672372 0.88420725 0.01861476 -1.64868558] [ 0.18048534 -0.11583081 0.97673347 -2.57703422] [ 0. 0. 0. 1. ]] SLAMing on 154.08134618399998 meters Centerline goodness : 0.891004 Centerline is valid? [False, False] Translation: X:-2.94, Y:-1.65, Z:-2.58 [[ 0.86516569 -0.45417666 -0.2126309 -2.93950744] [ 0.46798053 0.88357837 0.01683682 -1.65123229] [ 0.18022918 -0.11407376 0.97698752 -2.5789437 ] [ 0. 0. 0. 1. ]] SLAMing on 154.11134618399998 meters Centerline goodness : 0.891895 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.66, Z:-2.58 [[ 0.86441619 -0.45476808 -0.21440763 -2.93348517] [ 0.46921565 0.88287724 0.0190908 -1.6556822 ] [ 0.18061373 -0.11710582 0.97655768 -2.57852105] [ 0. 0. 0. 1. ]] SLAMing on 154.14134618399999 meters Centerline goodness : 0.893843 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.66, Z:-2.58 [[ 0.86469879 -0.45247198 -0.21809428 -2.92784193] [ 0.46816086 0.88332936 0.02355104 -1.65643508] [ 0.18199289 -0.12246776 0.9756435 -2.57792134] [ 0. 0. 0. 1. ]] SLAMing on 154.171346184 meters Centerline goodness : 0.895893 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.66, Z:-2.58 [[ 0.86525853 -0.44981864 -0.22133883 -2.92259553] [ 0.46669135 0.88397968 0.02791255 -1.65753366] [ 0.18310344 -0.12744849 0.97479742 -2.57774027] [ 0. 0. 0. 1. ]] SLAMing on 154.201346184 meters Centerline goodness : 0.894315 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.66, Z:-2.58 [[ 0.8656407 -0.44840336 -0.22271193 -2.91948204] [ 0.46584402 0.88435439 0.03011094 -1.66026869] [ 0.18345443 -0.12981428 0.97441917 -2.57751641] [ 0. 0. 0. 1. ]] SLAMing on 154.231346184 meters Centerline goodness : 0.894242 Centerline is valid? [False, False] Translation: X:-2.92, Y:-1.66, Z:-2.58 [[ 0.86572195 -0.44761604 -0.22397632 -2.91538361] [ 0.46546419 0.884508 0.03144348 -1.6611977 ] [ 0.18403424 -0.13147426 0.97408722 -2.57836843] [ 0. 0. 0. 1. ]] SLAMing on 154.261346184 meters Centerline goodness : 0.894191 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.66, Z:-2.58 [[ 0.8658575 -0.44697876 -0.22472378 -2.91128216] [ 0.46512062 0.88464971 0.03252235 -1.66303372] [ 0.18426503 -0.13268338 0.97387962 -2.57977446] [ 0. 0. 0. 1. ]] SLAMing on 154.291346184 meters Centerline goodness : 0.893537 Centerline is valid? [False, False] Translation: X:-2.91, Y:-1.66, Z:-2.58 [[ 0.86573221 -0.44667196 -0.22581385 -2.90587164] [ 0.46510847 0.88462687 0.03330784 -1.66434428] [ 0.18488332 -0.1338636 0.97360089 -2.58149767] [ 0. 0. 0. 1. ]] SLAMing on 154.321346184 meters Centerline goodness : 0.894707 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.67, Z:-2.58 [[ 0.86612628 -0.44619222 -0.22525045 -2.90372645] [ 0.46459737 0.8848838 0.03361472 -1.66772934] [ 0.18432185 -0.13376536 0.97372084 -2.58300654] [ 0. 0. 0. 1. ]] SLAMing on 154.351346184 meters Centerline goodness : 0.893625 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.67, Z:-2.58 [[ 0.8669497 -0.44332465 -0.22773114 -2.90056689] [ 0.4627174 0.8857215 0.03728316 -1.6681806 ] [ 0.18517782 -0.13769778 0.97301002 -2.58292108] [ 0. 0. 0. 1. ]] SLAMing on 154.381346184 meters Centerline goodness : 0.893917 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.67, Z:-2.58 [[ 0.86743029 -0.44202476 -0.22842678 -2.8989546 ] [ 0.46169591 0.88620834 0.03836235 -1.66861973] [ 0.18547661 -0.13874038 0.97280498 -2.58341136] [ 0. 0. 0. 1. ]] SLAMing on 154.411346184 meters Centerline goodness : 0.893488 Centerline is valid? [False, False] Translation: X:-2.90, Y:-1.67, Z:-2.58 [[ 0.86742187 -0.44207045 -0.22837035 -2.89717798] [ 0.46177764 0.88615589 0.03858947 -1.66986726] [ 0.18531247 -0.13892967 0.97280925 -2.58434531] [ 0. 0. 0. 1. ]] SLAMing on 154.441346184 meters Centerline goodness : 0.892245 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.67, Z:-2.58 [[ 0.86712989 -0.44191652 -0.22977279 -2.89303263] [ 0.46200681 0.88599472 0.03953564 -1.66986089] [ 0.18610602 -0.14043913 0.97244095 -2.58491531] [ 0. 0. 0. 1. ]] SLAMing on 154.471346184 meters Centerline goodness : 0.890773 Centerline is valid? [False, False] Translation: X:-2.89, Y:-1.67, Z:-2.59 [[ 0.86662353 -0.4423245 -0.23089541 -2.88978227] [ 0.46271769 0.88559371 0.04020109 -1.66974143] [ 0.1866976 -0.1416786 0.97214772 -2.58501321] [ 0. 0. 0. 1. ]] SLAMing on 154.501346184 meters Centerline goodness : 0.892366 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-2.58 [[ 0.86527757 -0.44415599 -0.23242241 -2.88448951] [ 0.46497999 0.88436942 0.04104072 -1.67074773] [ 0.18731879 -0.14358339 0.97174867 -2.58476304] [ 0. 0. 0. 1. ]] SLAMing on 154.531346184 meters Centerline goodness : 0.892325 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-2.59 [[ 0.86474294 -0.44461044 -0.23354057 -2.88021645] [ 0.46574577 0.88393446 0.04172241 -1.6714323 ] [ 0.18788433 -0.14484969 0.97145151 -2.58527843] [ 0. 0. 0. 1. ]] SLAMing on 154.561346184 meters Centerline goodness : 0.888334 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.67, Z:-2.59 [[ 0.86440069 -0.444948 -0.23416388 -2.87691768] [ 0.46626957 0.8836378 0.04215369 -1.67247532] [ 0.18815986 -0.14562117 0.97128283 -2.58594686] [ 0. 0. 0. 1. ]] SLAMing on 154.591346184 meters Centerline goodness : 0.887506 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.67, Z:-2.59 [[ 0.86364332 -0.44547251 -0.23595437 -2.87094877] [ 0.46728344 0.883052 0.04318983 -1.67335868] [ 0.18912009 -0.14755818 0.97080388 -2.58662444] [ 0. 0. 0. 1. ]] SLAMing on 154.621346184 meters Centerline goodness : 0.886730 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.67, Z:-2.59 [[ 0.8633663 -0.44541866 -0.23706721 -2.86775939] [ 0.46754247 0.88287938 0.04390934 -1.67314866] [ 0.18974371 -0.14874884 0.97050044 -2.5869694 ] [ 0. 0. 0. 1. ]] SLAMing on 154.651346184 meters Centerline goodness : 0.886738 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.67, Z:-2.59 [[ 0.86294951 -0.44587304 -0.23772962 -2.86699741] [ 0.46814869 0.88254854 0.04410085 -1.67239476] [ 0.19014454 -0.14934962 0.97032971 -2.58614378] [ 0. 0. 0. 1. ]] SLAMing on 154.681346184 meters Centerline goodness : 0.885027 Centerline is valid? [False, False] Translation: X:-2.87, Y:-1.67, Z:-2.59 [[ 0.86251626 -0.44624743 -0.23859785 -2.86607188] [ 0.4687033 0.88224527 0.04427755 -1.67039079] [ 0.19074309 -0.1500217 0.97010853 -2.58562421] [ 0. 0. 0. 1. ]] SLAMing on 154.711346184 meters Centerline goodness : 0.885724 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.67, Z:-2.59 [[ 0.86224465 -0.44620648 -0.23965378 -2.86237978] [ 0.4689093 0.88211524 0.04468529 -1.66965398] [ 0.19146339 -0.15090554 0.96982951 -2.58672798] [ 0. 0. 0. 1. ]] SLAMing on 154.74134618399998 meters Centerline goodness : 0.885081 Centerline is valid? [False, False] Translation: X:-2.86, Y:-1.67, Z:-2.59 [[ 0.86192577 -0.44634022 -0.24055014 -2.85786084] [ 0.46922121 0.88194114 0.04484743 -1.66896276] [ 0.19213385 -0.15152638 0.96960009 -2.58860059] [ 0. 0. 0. 1. ]] SLAMing on 154.77134618399998 meters Centerline goodness : 0.883576 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.67, Z:-2.59 [[ 0.86152754 -0.44665775 -0.24138592 -2.85272792] [ 0.46974412 0.88164628 0.04516979 -1.66919172] [ 0.19264156 -0.15230463 0.96937739 -2.59064618] [ 0. 0. 0. 1. ]] SLAMing on 154.80134618399998 meters Centerline goodness : 0.883980 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.67, Z:-2.59 [[ 0.86139161 -0.44647757 -0.24220296 -2.85010341] [ 0.46982507 0.8815685 0.04584093 -1.66890068] [ 0.19305156 -0.15328001 0.96914206 -2.59129969] [ 0. 0. 0. 1. ]] SLAMing on 154.83134618399998 meters Centerline goodness : 0.884689 Centerline is valid? [False, False] Translation: X:-2.85, Y:-1.67, Z:-2.59 [[ 0.86110706 -0.44647599 -0.2432156 -2.84859898] [ 0.47007965 0.88140873 0.04630079 -1.66766575] [ 0.19370016 -0.15420064 0.96886656 -2.59096697] [ 0. 0. 0. 1. ]] SLAMing on 154.86134618399998 meters Centerline goodness : 0.883574 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.67, Z:-2.59 [[ 0.86148297 -0.44409512 -0.24622472 -2.84462453] [ 0.46882213 0.88189315 0.04970189 -1.66615834] [ 0.19507153 -0.15825293 0.96793755 -2.59090338] [ 0. 0. 0. 1. ]] SLAMing on 154.89134618399999 meters Centerline goodness : 0.883580 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.66, Z:-2.59 [[ 0.86116534 -0.44452968 -0.24655146 -2.84492495] [ 0.46924759 0.88168747 0.04933456 -1.66425911] [ 0.19545066 -0.15817889 0.96787317 -2.59035865] [ 0. 0. 0. 1. ]] SLAMing on 154.921346184 meters Centerline goodness : 0.880380 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.66, Z:-2.59 [[ 0.86095205 -0.44478031 -0.24684416 -2.84084502] [ 0.46946258 0.88159798 0.0488865 -1.66196245] [ 0.19587356 -0.15797303 0.9678213 -2.59372534] [ 0. 0. 0. 1. ]] SLAMing on 154.951346184 meters Centerline goodness : 0.885507 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.66, Z:-2.60 [[ 0.860936 -0.44432436 -0.24771974 -2.83682196] [ 0.46923579 0.88169305 0.04934723 -1.66113105] [ 0.19648659 -0.15872378 0.96757417 -2.59573177] [ 0. 0. 0. 1. ]] SLAMing on 154.981346184 meters Centerline goodness : 0.876632 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.66, Z:-2.60 [[ 0.86045598 -0.4452722 -0.24768562 -2.83605608] [ 0.47008177 0.88127492 0.04876119 -1.65881207] [ 0.19656712 -0.15838935 0.96761262 -2.59657549] [ 0. 0. 0. 1. ]] SLAMing on 155.011346184 meters Centerline goodness : 0.875978 Centerline is valid? [False, False] Translation: X:-2.84, Y:-1.66, Z:-2.60 [[ 0.86011123 -0.44582003 -0.24789749 -2.83552747] [ 0.47057443 0.8810401 0.04824992 -1.65725624] [ 0.19689685 -0.15815452 0.96758399 -2.59676563] [ 0. 0. 0. 1. ]] SLAMing on 155.041346184 meters Centerline goodness : 0.875818 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.66, Z:-2.60 [[ 0.86016503 -0.44541698 -0.24843478 -2.83360102] [ 0.47031128 0.88116452 0.0485426 -1.65591116] [ 0.19729021 -0.15859632 0.96743154 -2.59792944] [ 0. 0. 0. 1. ]] SLAMing on 155.071346184 meters Centerline goodness : 0.875818 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.66, Z:-2.60 [[ 0.86016503 -0.44541698 -0.24843478 -2.83360102] [ 0.47031128 0.88116452 0.0485426 -1.65591116] [ 0.19729021 -0.15859632 0.96743154 -2.59792944] [ 0. 0. 0. 1. ]] SLAMing on 155.101346184 meters Centerline goodness : 0.875756 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.66, Z:-2.60 [[ 0.8608112 -0.44288218 -0.25071789 -2.82986471] [ 0.46874898 0.88181686 0.05170513 -1.65562739] [ 0.19818798 -0.16203211 0.9666784 -2.59860845] [ 0. 0. 0. 1. ]] SLAMing on 155.131346184 meters Centerline goodness : 0.876082 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.65, Z:-2.60 [[ 0.86254592 -0.44652874 -0.23796348 -2.82800678] [ 0.47072809 0.88063861 0.05376517 -1.65008478] [ 0.18555214 -0.15839102 0.96978487 -2.60340279] [ 0. 0. 0. 1. ]] SLAMing on 155.161346184 meters Centerline goodness : 0.878090 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.65, Z:-2.60 [[ 0.86213874 -0.44698115 -0.23858884 -2.82705917] [ 0.47124911 0.88037432 0.05352885 -1.64809062] [ 0.1861211 -0.15858408 0.96964428 -2.60337333] [ 0. 0. 0. 1. ]] SLAMing on 155.191346184 meters Centerline goodness : 0.877859 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.65, Z:-2.60 [[ 0.86168857 -0.44762858 -0.23900098 -2.82661222] [ 0.47188495 0.88006332 0.05303899 -1.64573748] [ 0.18659423 -0.15848406 0.9695697 -2.60336926] [ 0. 0. 0. 1. ]] SLAMing on 155.221346184 meters Centerline goodness : 0.876438 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.64, Z:-2.60 [[ 0.86173847 -0.44620428 -0.24147161 -2.82239161] [ 0.47129789 0.88023405 0.05537432 -1.64345354] [ 0.18784328 -0.16152324 0.96882668 -2.60424659] [ 0. 0. 0. 1. ]] SLAMing on 155.251346184 meters Centerline goodness : 0.879537 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.64, Z:-2.61 [[ 0.86167387 -0.44638141 -0.24137477 -2.82138151] [ 0.47137429 0.88022159 0.05492021 -1.64236375] [ 0.18794793 -0.16110117 0.96887666 -2.60537432] [ 0. 0. 0. 1. ]] SLAMing on 155.281346184 meters Centerline goodness : 0.879246 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.64, Z:-2.61 [[ 0.86178357 -0.44630305 -0.24112789 -2.8218947 ] [ 0.47116241 0.88036383 0.05445644 -1.64167505] [ 0.1879762 -0.16054007 0.96896431 -2.60561478] [ 0. 0. 0. 1. ]] SLAMing on 155.311346184 meters Centerline goodness : 0.878299 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.64, Z:-2.61 [[ 0.8620883 -0.44514571 -0.24217569 -2.82029871] [ 0.47035437 0.8807328 0.05546624 -1.63936346] [ 0.18860151 -0.16172519 0.96864567 -2.60665926] [ 0. 0. 0. 1. ]] SLAMing on 155.341346184 meters Centerline goodness : 0.877585 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.64, Z:-2.61 [[ 0.86288808 -0.44269443 -0.2438151 -2.82074504] [ 0.46852289 0.88158007 0.0574707 -1.63564655] [ 0.18950057 -0.16382373 0.96811741 -2.60660455] [ 0. 0. 0. 1. ]] SLAMing on 155.371346184 meters Centerline goodness : 0.878212 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.63, Z:-2.61 [[ 0.86309035 -0.44228688 -0.24383881 -2.82169295] [ 0.46807227 0.88183214 0.05727504 -1.63373954] [ 0.1896929 -0.16356771 0.96812303 -2.60675816] [ 0. 0. 0. 1. ]] SLAMing on 155.401346184 meters Centerline goodness : 0.880268 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.63, Z:-2.61 [[ 0.86479089 -0.44549254 -0.2316746 -2.81936166] [ 0.46956529 0.88093684 0.05881091 -1.62730953] [ 0.17789087 -0.15964549 0.97101398 -2.61086892] [ 0. 0. 0. 1. ]] SLAMing on 155.431346184 meters Centerline goodness : 0.877344 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.63, Z:-2.61 [[ 0.86486996 -0.44575421 -0.23087471 -2.81886975] [ 0.46945063 0.88108728 0.05745706 -1.62516122] [ 0.17780904 -0.15807717 0.97128552 -2.61330173] [ 0. 0. 0. 1. ]] SLAMing on 155.461346184 meters Centerline goodness : 0.878318 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.62, Z:-2.61 [[ 0.86455406 -0.44628553 -0.23103139 -2.8168269 ] [ 0.46994803 0.88084688 0.05707563 -1.62406597] [ 0.17803125 -0.15791772 0.97127075 -2.61468952] [ 0. 0. 0. 1. ]] SLAMing on 155.49134618399998 meters Centerline goodness : 0.876426 Centerline is valid? [False, False] Translation: X:-2.82, Y:-1.62, Z:-2.61 [[ 0.86386978 -0.44745945 -0.23132023 -2.81580307] [ 0.47107455 0.8802862 0.05643556 -1.62261822] [ 0.17837538 -0.15772204 0.9712394 -2.61468044] [ 0. 0. 0. 1. ]] SLAMing on 155.52134618399998 meters Centerline goodness : 0.876155 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86360389 -0.44713457 -0.23293562 -2.81214913] [ 0.47119133 0.88016082 0.05740783 -1.62048528] [ 0.17935178 -0.15933486 0.97079624 -2.6156408 ] [ 0. 0. 0. 1. ]] SLAMing on 155.55134618399998 meters Centerline goodness : 0.876443 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86317889 -0.44734478 -0.23410435 -2.80943754] [ 0.4717083 0.87984615 0.05798298 -1.61865423] [ 0.18003743 -0.16047865 0.97048088 -2.61620796] [ 0. 0. 0. 1. ]] SLAMing on 155.58134618399998 meters Centerline goodness : 0.877862 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86277857 -0.44781603 -0.2346784 -2.80685724] [ 0.47231976 0.87950592 0.05816689 -1.61805909] [ 0.18035297 -0.16102839 0.97033121 -2.61704541] [ 0. 0. 0. 1. ]] SLAMing on 155.61134618399998 meters Centerline goodness : 0.877308 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86295274 -0.44749554 -0.23464932 -2.80685432] [ 0.4719915 0.87968092 0.05818502 -1.61800023] [ 0.18037899 -0.16096341 0.97033716 -2.61718937] [ 0. 0. 0. 1. ]] SLAMing on 155.64134618399999 meters Centerline goodness : 0.879572 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86352086 -0.44641147 -0.23462422 -2.80840395] [ 0.47098727 0.88018146 0.05875025 -1.61681744] [ 0.1802851 -0.16123709 0.97030917 -2.61708274] [ 0. 0. 0. 1. ]] SLAMing on 155.671346184 meters Centerline goodness : 0.879141 Centerline is valid? [False, False] Translation: X:-2.81, Y:-1.62, Z:-2.62 [[ 0.86323854 -0.44700876 -0.23452588 -2.80827143] [ 0.47147383 0.87995869 0.05818182 -1.61583252] [ 0.18036531 -0.1607976 0.97036719 -2.6172298 ] [ 0. 0. 0. 1. ]] SLAMing on 155.701346184 meters Centerline goodness : 0.879313 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.61, Z:-2.62 [[ 0.86319263 -0.44661348 -0.23544611 -2.80480468] [ 0.47131711 0.88001043 0.05866705 -1.61460704] [ 0.18099354 -0.16161074 0.9701151 -2.6189388 ] [ 0. 0. 0. 1. ]] SLAMing on 155.731346184 meters Centerline goodness : 0.878588 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.61, Z:-2.62 [[ 0.86290537 -0.44665143 -0.23642507 -2.80168832] [ 0.47165189 0.87978466 0.05935866 -1.61346498] [ 0.18149052 -0.16273124 0.9698349 -2.61993222] [ 0. 0. 0. 1. ]] SLAMing on 155.761346184 meters Centerline goodness : 0.880244 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.61, Z:-2.62 [[ 0.86145499 -0.45038767 -0.23461935 -2.803606 ] [ 0.47456637 0.87842354 0.05620355 -1.61239295] [ 0.18078177 -0.15975929 0.97046119 -2.61920909] [ 0. 0. 0. 1. ]] SLAMing on 155.791346184 meters Centerline goodness : 0.878659 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.61, Z:-2.62 [[ 0.86088115 -0.4506913 -0.23613767 -2.79917577] [ 0.47527981 0.87798678 0.05699395 -1.61101316] [ 0.18163908 -0.16129648 0.97004675 -2.62018404] [ 0. 0. 0. 1. ]] SLAMing on 155.821346184 meters Centerline goodness : 0.878591 Centerline is valid? [False, False] Translation: X:-2.80, Y:-1.61, Z:-2.62 [[ 0.86024277 -0.45134808 -0.23720724 -2.79534318] [ 0.47621006 0.87745534 0.05741171 -1.61011506] [ 0.1822261 -0.16234848 0.96976112 -2.62110694] [ 0. 0. 0. 1. ]] SLAMing on 155.851346184 meters Centerline goodness : 0.878640 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.61, Z:-2.62 [[ 0.85946774 -0.45239084 -0.23802883 -2.79224982] [ 0.47742074 0.87679498 0.05744561 -1.60879847] [ 0.18271462 -0.16301255 0.96955777 -2.62175796] [ 0. 0. 0. 1. ]] SLAMing on 155.881346184 meters Centerline goodness : 0.879347 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.61, Z:-2.62 [[ 0.8579919 -0.45483951 -0.23868582 -2.79019259] [ 0.47991761 0.87547033 0.05684009 -1.60605957] [ 0.18310924 -0.16331786 0.96943194 -2.62157689] [ 0. 0. 0. 1. ]] SLAMing on 155.911346184 meters Centerline goodness : 0.877467 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.60, Z:-2.62 [[ 0.85728243 -0.45589741 -0.23921618 -2.78987044] [ 0.48105592 0.87485651 0.05666829 -1.60458003] [ 0.1834449 -0.16365709 0.96931126 -2.62064611] [ 0. 0. 0. 1. ]] SLAMing on 155.941346184 meters Centerline goodness : 0.878309 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.60, Z:-2.62 [[ 0.85668165 -0.45660838 -0.24001111 -2.78795174] [ 0.48194513 0.87435794 0.05680734 -1.60289781] [ 0.18391691 -0.16433799 0.9691066 -2.62083989] [ 0. 0. 0. 1. ]] SLAMing on 155.971346184 meters Centerline goodness : 0.879103 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.60, Z:-2.62 [[ 0.85583851 -0.45800356 -0.24036052 -2.78524473] [ 0.48329896 0.87365482 0.0561192 -1.60073718] [ 0.18428933 -0.16419497 0.96906009 -2.62222475] [ 0. 0. 0. 1. ]] SLAMing on 156.001346184 meters Centerline goodness : 0.877360 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.60, Z:-2.62 [[ 0.85534295 -0.45896172 -0.24029684 -2.78540406] [ 0.48408355 0.87328148 0.05515961 -1.59836228] [ 0.18453063 -0.16350413 0.96913097 -2.62247606] [ 0. 0. 0. 1. ]] SLAMing on 156.031346184 meters Centerline goodness : 0.881270 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.60, Z:-2.62 [[ 0.85509842 -0.45903351 -0.24102889 -2.78412663] [ 0.48431342 0.87314398 0.05531823 -1.59546237] [ 0.18506 -0.16403606 0.96894013 -2.62329283] [ 0. 0. 0. 1. ]] SLAMing on 156.061346184 meters Centerline goodness : 0.882711 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.59, Z:-2.62 [[ 0.85468746 -0.45978122 -0.24106135 -2.78455222] [ 0.48492251 0.87285852 0.05448088 -1.5929539 ] [ 0.18536317 -0.1634602 0.96897949 -2.62343139] [ 0. 0. 0. 1. ]] SLAMing on 156.091346184 meters Centerline goodness : 0.879978 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.59, Z:-2.62 [[ 0.85403589 -0.46113832 -0.2407782 -2.78486275] [ 0.48595101 0.87238565 0.05286673 -1.58979262] [ 0.18567257 -0.1621565 0.96913929 -2.62394795] [ 0. 0. 0. 1. ]] SLAMing on 156.121346184 meters Centerline goodness : 0.881621 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.59, Z:-2.62 [[ 0.85401692 -0.46091281 -0.24127678 -2.78467265] [ 0.48585647 0.87242232 0.05312994 -1.58775101] [ 0.18600698 -0.16259975 0.96900089 -2.62416614] [ 0. 0. 0. 1. ]] SLAMing on 156.151346184 meters Centerline goodness : 0.883021 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.59, Z:-2.62 [[ 0.85379346 -0.4610848 -0.24173857 -2.7861703 ] [ 0.48609957 0.87229064 0.05306839 -1.58519774] [ 0.18639726 -0.16281846 0.96888916 -2.62305702] [ 0. 0. 0. 1. ]] SLAMing on 156.181346184 meters Centerline goodness : 0.881125 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.58, Z:-2.62 [[ 0.85341973 -0.46063219 -0.24391137 -2.7858355 ] [ 0.48626564 0.87211742 0.05437765 -1.58012591] [ 0.18767126 -0.16501268 0.96827182 -2.6220088 ] [ 0. 0. 0. 1. ]] SLAMing on 156.211346184 meters Centerline goodness : 0.881994 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.57, Z:-2.63 [[ 0.85413039 -0.46654386 -0.22977839 -2.78629415] [ 0.48984294 0.87012904 0.05412338 -1.57462706] [ 0.17468592 -0.15878375 0.97173687 -2.62565789] [ 0. 0. 0. 1. ]] SLAMing on 156.24134618399998 meters Centerline goodness : 0.882956 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.57, Z:-2.63 [[ 0.85397812 -0.46686825 -0.22968546 -2.78586265] [ 0.49005295 0.87004692 0.05353933 -1.57320549] [ 0.17484132 -0.15827945 0.9717912 -2.62641857] [ 0. 0. 0. 1. ]] SLAMing on 156.27134618399998 meters Centerline goodness : 0.882684 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.57, Z:-2.63 [[ 0.85394472 -0.4668131 -0.22992162 -2.78482423] [ 0.48997318 0.87011321 0.053191 -1.57097731] [ 0.17522758 -0.1580776 0.97175448 -2.62771886] [ 0. 0. 0. 1. ]] SLAMing on 156.30134618399998 meters Centerline goodness : 0.881886 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.57, Z:-2.63 [[ 0.85399758 -0.46662522 -0.23010657 -2.78468426] [ 0.48979871 0.87021606 0.0531152 -1.56879548] [ 0.17545754 -0.15806615 0.97171485 -2.62854478] [ 0. 0. 0. 1. ]] SLAMing on 156.33134618399998 meters Centerline goodness : 0.882273 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-2.63 [[ 0.85419732 -0.46531057 -0.23201943 -2.78565236] [ 0.48903371 0.87055902 0.05452548 -1.56335278] [ 0.17661532 -0.16004084 0.97118173 -2.62779619] [ 0. 0. 0. 1. ]] SLAMing on 156.36134618399998 meters Centerline goodness : 0.885009 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-2.63 [[ 0.85411754 -0.46543247 -0.23206861 -2.78720948] [ 0.48904137 0.87059739 0.05383976 -1.56047388] [ 0.17697956 -0.15947664 0.97120824 -2.62747857] [ 0. 0. 0. 1. ]] SLAMing on 156.39134618399999 meters Centerline goodness : 0.880895 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.56, Z:-2.63 [[ 0.85400678 -0.46569171 -0.23195616 -2.78856143] [ 0.48910347 0.8706241 0.05283435 -1.55749701] [ 0.1773421 -0.15857146 0.97129031 -2.62759857] [ 0. 0. 0. 1. ]] SLAMing on 156.421346184 meters Centerline goodness : 0.879993 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.55, Z:-2.63 [[ 0.85404021 -0.4653603 -0.23249754 -2.78833023] [ 0.48883448 0.8707822 0.05271813 -1.55416331] [ 0.17792179 -0.15867621 0.97116718 -2.62844044] [ 0. 0. 0. 1. ]] SLAMing on 156.451346184 meters Centerline goodness : 0.879930 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.55, Z:-2.63 [[ 0.85399676 -0.46555679 -0.23226367 -2.78956401] [ 0.48883104 0.87083814 0.05181834 -1.55193349] [ 0.17813969 -0.15779039 0.97127156 -2.62854267] [ 0. 0. 0. 1. ]] SLAMing on 156.481346184 meters Centerline goodness : 0.880301 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.55, Z:-2.63 [[ 0.85420367 -0.46550266 -0.23161038 -2.79084729] [ 0.48848685 0.87108949 0.0508301 -1.54974858] [ 0.17809182 -0.15655788 0.97147976 -2.62946933] [ 0. 0. 0. 1. ]] SLAMing on 156.511346184 meters Centerline goodness : 0.881480 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.55, Z:-2.63 [[ 0.85422801 -0.46481256 -0.23290297 -2.78963651] [ 0.48821702 0.87116992 0.05202995 -1.54729621] [ 0.17871389 -0.15815264 0.97110715 -2.62983494] [ 0. 0. 0. 1. ]] SLAMing on 156.541346184 meters Centerline goodness : 0.883500 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.54, Z:-2.63 [[ 0.85405843 -0.46458636 -0.23397375 -2.79066407] [ 0.48830134 0.87107813 0.05277025 -1.54453349] [ 0.17929308 -0.15931857 0.97080976 -2.6285656 ] [ 0. 0. 0. 1. ]] SLAMing on 156.571346184 meters Centerline goodness : 0.881047 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.53, Z:-2.63 [[ 0.85504322 -0.46826298 -0.22277986 -2.78991184] [ 0.49064431 0.86960363 0.05529633 -1.53495621] [ 0.16783695 -0.15658642 0.97329926 -2.63140874] [ 0. 0. 0. 1. ]] SLAMing on 156.601346184 meters Centerline goodness : 0.882669 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.53, Z:-2.63 [[ 0.85494405 -0.46824376 -0.22320046 -2.78817758] [ 0.49064949 0.86961691 0.05504094 -1.53261488] [ 0.16832632 -0.15657011 0.97321737 -2.63302349] [ 0. 0. 0. 1. ]] SLAMing on 156.631346184 meters Centerline goodness : 0.884577 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.53, Z:-2.64 [[ 0.85508943 -0.46819468 -0.22274604 -2.78712557] [ 0.49043495 0.86977086 0.05451794 -1.53157922] [ 0.168213 -0.15586016 0.97335091 -2.63510776] [ 0. 0. 0. 1. ]] SLAMing on 156.661346184 meters Centerline goodness : 0.883953 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.53, Z:-2.64 [[ 0.8552685 -0.4680417 -0.22237977 -2.78595911] [ 0.49011164 0.86999209 0.05389188 -1.53032767] [ 0.168245 -0.15508294 0.97346952 -2.63720252] [ 0. 0. 0. 1. ]] SLAMing on 156.691346184 meters Centerline goodness : 0.883487 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.53, Z:-2.64 [[ 0.85529519 -0.46776617 -0.22285634 -2.78546838] [ 0.48983183 0.87017698 0.05344904 -1.52655408] [ 0.16892281 -0.15487683 0.97338494 -2.63848927] [ 0. 0. 0. 1. ]] SLAMing on 156.721346184 meters Centerline goodness : 0.882020 Centerline is valid? [False, False] Translation: X:-2.79, Y:-1.52, Z:-2.64 [[ 0.85546582 -0.46691213 -0.22398951 -2.78515086] [ 0.48932058 0.87040276 0.05444641 -1.52407624] [ 0.1695394 -0.15617972 0.97306952 -2.63843782] [ 0. 0. 0. 1. ]] SLAMing on 156.751346184 meters Centerline goodness : 0.884910 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.52, Z:-2.64 [[ 0.85579826 -0.46586218 -0.22490392 -2.78489521] [ 0.4885491 0.87078295 0.05528861 -1.52139398] [ 0.17008562 -0.15719251 0.97281108 -2.63894142] [ 0. 0. 0. 1. ]] SLAMing on 156.781346184 meters Centerline goodness : 0.887481 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.52, Z:-2.64 [[ 0.85666638 -0.46324041 -0.22700448 -2.78265559] [ 0.48667885 0.87166357 0.05784737 -1.51897918] [ 0.1710743 -0.16003417 0.97217419 -2.6402346 ] [ 0. 0. 0. 1. ]] SLAMing on 156.811346184 meters Centerline goodness : 0.884441 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.51, Z:-2.65 [[ 0.85831761 -0.46443566 -0.21815223 -2.77736441] [ 0.48758344 0.87067005 0.06477694 -1.51142942] [ 0.1598539 -0.1619666 0.97376257 -2.64865773] [ 0. 0. 0. 1. ]] SLAMing on 156.841346184 meters Centerline goodness : 0.885578 Centerline is valid? [False, False] Translation: X:-2.78, Y:-1.51, Z:-2.65 [[ 0.8586405 -0.46388515 -0.21805288 -2.77570381] [ 0.48690475 0.87109639 0.06414708 -1.5095781 ] [ 0.16018819 -0.16125027 0.97382652 -2.65118568] [ 0. 0. 0. 1. ]] SLAMing on 156.871346184 meters Centerline goodness : 0.887061 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.51, Z:-2.65 [[ 0.85887771 -0.46354146 -0.2178495 -2.77493706] [ 0.48639598 0.87143658 0.06338174 -1.50828142] [ 0.16046196 -0.16039828 0.97392215 -2.65271733] [ 0. 0. 0. 1. ]] SLAMing on 156.901346184 meters Centerline goodness : 0.886488 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.50, Z:-2.66 [[ 0.86005608 -0.45977121 -0.22116504 -2.76922167] [ 0.48374402 0.87263561 0.06707324 -1.50422669] [ 0.16215815 -0.16467402 0.97292713 -2.65618577] [ 0. 0. 0. 1. ]] SLAMing on 156.931346184 meters Centerline goodness : 0.886642 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.50, Z:-2.66 [[ 0.86033274 -0.45851881 -0.22268379 -2.76796445] [ 0.48294488 0.87298099 0.06832595 -1.50152156] [ 0.16306998 -0.16632705 0.97249344 -2.65659186] [ 0. 0. 0. 1. ]] SLAMing on 156.961346184 meters Centerline goodness : 0.886235 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.50, Z:-2.66 [[ 0.86061883 -0.45682357 -0.22504988 -2.76496916] [ 0.48202017 0.87331189 0.07058961 -1.498732 ] [ 0.16429174 -0.16922933 0.97178684 -2.65735311] [ 0. 0. 0. 1. ]] SLAMing on 156.99134618399998 meters Centerline goodness : 0.886235 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.50, Z:-2.66 [[ 0.86061883 -0.45682357 -0.22504988 -2.76496916] [ 0.48202017 0.87331189 0.07058961 -1.498732 ] [ 0.16429174 -0.16922933 0.97178684 -2.65735311] [ 0. 0. 0. 1. ]] SLAMing on 157.02134618399998 meters Centerline goodness : 0.887316 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.50, Z:-2.66 [[ 0.86060327 -0.45662219 -0.2255176 -2.76510859] [ 0.48191221 0.87336494 0.07067037 -1.4966083 ] [ 0.1646895 -0.16949884 0.97167253 -2.65745706] [ 0. 0. 0. 1. ]] SLAMing on 157.05134618399998 meters Centerline goodness : 0.886063 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.49, Z:-2.66 [[ 0.86057311 -0.45676116 -0.22535119 -2.76587627] [ 0.48191774 0.8734123 0.0700446 -1.49467801] [ 0.16483085 -0.16887924 0.97175645 -2.65771983] [ 0. 0. 0. 1. ]] SLAMing on 157.08134618399998 meters Centerline goodness : 0.883253 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.49, Z:-2.66 [[ 0.8605089 -0.45650632 -0.22611151 -2.7634039 ] [ 0.48180403 0.87347 0.07010738 -1.49209078] [ 0.16549716 -0.16926946 0.97157529 -2.6595335 ] [ 0. 0. 0. 1. ]] SLAMing on 157.11134618399998 meters Centerline goodness : 0.884489 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.49, Z:-2.66 [[ 0.8599346 -0.45896729 -0.22329689 -2.76552494] [ 0.48311609 0.87306429 0.06601206 -1.49018726] [ 0.16465517 -0.16464437 0.97251268 -2.66127689] [ 0. 0. 0. 1. ]] SLAMing on 157.14134618399999 meters Centerline goodness : 0.886085 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.49, Z:-2.66 [[ 0.85962331 -0.45953377 -0.22333043 -2.76499848] [ 0.48359515 0.87284428 0.06541089 -1.48865744] [ 0.16487418 -0.16423024 0.9725456 -2.66183431] [ 0. 0. 0. 1. ]] SLAMing on 157.171346184 meters Centerline goodness : 0.885998 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.49, Z:-2.66 [[ 0.85943883 -0.45893738 -0.22525846 -2.76214766] [ 0.4835956 0.87272224 0.06701629 -1.48603572] [ 0.16583179 -0.1665304 0.97199148 -2.66240943] [ 0. 0. 0. 1. ]] SLAMing on 157.201346184 meters Centerline goodness : 0.885085 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.48, Z:-2.66 [[ 0.85920547 -0.45919158 -0.22563035 -2.76276175] [ 0.48389835 0.87256346 0.06689845 -1.4841186 ] [ 0.16615759 -0.16666166 0.97191334 -2.6618792 ] [ 0. 0. 0. 1. ]] SLAMing on 157.231346184 meters Centerline goodness : 0.883479 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.48, Z:-2.66 [[ 0.85991225 -0.4630178 -0.21486141 -2.75828783] [ 0.48590274 0.87146447 0.06669485 -1.47575049] [ 0.15636319 -0.16175346 0.9743646 -2.66401087] [ 0. 0. 0. 1. ]] SLAMing on 157.261346184 meters Centerline goodness : 0.884225 Centerline is valid? [False, False] Translation: X:-2.76, Y:-1.47, Z:-2.67 [[ 0.86003363 -0.46247092 -0.21555231 -2.75602559] [ 0.48549438 0.87167797 0.06687836 -1.47386147] [ 0.15696291 -0.16216707 0.97419941 -2.66568118] [ 0. 0. 0. 1. ]] SLAMing on 157.291346184 meters Centerline goodness : 0.885184 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.47, Z:-2.67 [[ 0.86008019 -0.46190559 -0.21657629 -2.75451622] [ 0.48519803 0.87179364 0.06751827 -1.47216128] [ 0.15762276 -0.16315352 0.97392813 -2.66614016] [ 0. 0. 0. 1. ]] SLAMing on 157.321346184 meters Centerline goodness : 0.884270 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.47, Z:-2.67 [[ 0.86043139 -0.46021605 -0.21876703 -2.75402968] [ 0.4841988 0.87218542 0.06959968 -1.46832436] [ 0.15877452 -0.16581248 0.97329177 -2.66554271] [ 0. 0. 0. 1. ]] SLAMing on 157.351346184 meters Centerline goodness : 0.886725 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.47, Z:-2.67 [[ 0.86050117 -0.45951321 -0.21996668 -2.75159348] [ 0.48378442 0.87237114 0.07015151 -1.46545534] [ 0.15965704 -0.16678191 0.97298172 -2.66699065] [ 0. 0. 0. 1. ]] SLAMing on 157.381346184 meters Centerline goodness : 0.883331 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.46, Z:-2.67 [[ 0.8606432 -0.4593278 -0.21979821 -2.75103797] [ 0.48345211 0.87261142 0.06945048 -1.46375425] [ 0.15989789 -0.16603399 0.97307008 -2.6682872 ] [ 0. 0. 0. 1. ]] SLAMing on 157.411346184 meters Centerline goodness : 0.885558 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.46, Z:-2.67 [[ 0.86078076 -0.45919209 -0.21954294 -2.74929684] [ 0.48311121 0.87287672 0.06848205 -1.46137358] [ 0.1601875 -0.16501169 0.97319634 -2.67076731] [ 0. 0. 0. 1. ]] SLAMing on 157.441346184 meters Centerline goodness : 0.883998 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.46, Z:-2.67 [[ 0.86065294 -0.45925212 -0.21991817 -2.74923508] [ 0.48325915 0.8727841 0.06861851 -1.45989435] [ 0.16042788 -0.16533419 0.973102 -2.67059268] [ 0. 0. 0. 1. ]] SLAMing on 157.471346184 meters Centerline goodness : 0.883836 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.46, Z:-2.67 [[ 0.86036908 -0.4592401 -0.22105107 -2.74864378] [ 0.48352539 0.87259719 0.06911832 -1.45778078] [ 0.16114664 -0.16635107 0.97280989 -2.66979396] [ 0. 0. 0. 1. ]] SLAMing on 157.501346184 meters Centerline goodness : 0.881909 Centerline is valid? [False, False] Translation: X:-2.75, Y:-1.46, Z:-2.67 [[ 0.85984953 -0.45973737 -0.22203677 -2.74862273] [ 0.48426857 0.87215271 0.06952411 -1.45573209] [ 0.16168714 -0.1673057 0.97255646 -2.66850353] [ 0. 0. 0. 1. ]] SLAMing on 157.531346184 meters Centerline goodness : 0.883570 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.45, Z:-2.67 [[ 0.85893593 -0.46081082 -0.22334379 -2.74449321] [ 0.48563738 0.87136678 0.06983026 -1.45216123] [ 0.16243582 -0.16844381 0.9722352 -2.67021406] [ 0. 0. 0. 1. ]] SLAMing on 157.561346184 meters Centerline goodness : 0.883707 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.45, Z:-2.67 [[ 0.85811389 -0.46242817 -0.22316079 -2.74210886] [ 0.48702416 0.87069798 0.0685018 -1.45091395] [ 0.16262849 -0.16746704 0.97237172 -2.67151424] [ 0. 0. 0. 1. ]] SLAMing on 157.591346184 meters Centerline goodness : 0.880589 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.45, Z:-2.67 [[ 0.85721619 -0.4642568 -0.22281387 -2.74104792] [ 0.48861327 0.86990335 0.0672699 -1.44979718] [ 0.16259603 -0.16653466 0.97253727 -2.67197118] [ 0. 0. 0. 1. ]] SLAMing on 157.621346184 meters Centerline goodness : 0.881643 Centerline is valid? [False, False] Translation: X:-2.74, Y:-1.45, Z:-2.67 [[ 0.85591725 -0.46629587 -0.22354826 -2.73868919] [ 0.49075762 0.86871982 0.06695398 -1.44870503] [ 0.16298044 -0.16701507 0.97239053 -2.67141238] [ 0. 0. 0. 1. ]] SLAMing on 157.651346184 meters Centerline goodness : 0.880186 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.45, Z:-2.67 [[ 0.85532617 -0.46654852 -0.22527676 -2.73490682] [ 0.49153974 0.86817446 0.06827734 -1.44694288] [ 0.16372484 -0.16913188 0.97189947 -2.67195734] [ 0. 0. 0. 1. ]] SLAMing on 157.681346184 meters Centerline goodness : 0.882384 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.67 [[ 0.85452378 -0.46734093 -0.22667503 -2.73307352] [ 0.49264676 0.8675212 0.06860133 -1.44490621] [ 0.16458518 -0.17029218 0.97155149 -2.6711873 ] [ 0. 0. 0. 1. ]] SLAMing on 157.711346184 meters Centerline goodness : 0.882406 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.67 [[ 0.85373016 -0.46846778 -0.22733842 -2.73220749] [ 0.49387898 0.86683429 0.06842417 -1.44294313] [ 0.16501022 -0.17069344 0.97140897 -2.67071922] [ 0. 0. 0. 1. ]] SLAMing on 157.74134618399998 meters Centerline goodness : 0.882887 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.67 [[ 0.85296664 -0.47060685 -0.22578109 -2.73081643] [ 0.49533602 0.86620334 0.06583312 -1.44188576] [ 0.16459082 -0.16799096 0.97195108 -2.67285348] [ 0. 0. 0. 1. ]] SLAMing on 157.77134618399998 meters Centerline goodness : 0.881746 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.67 [[ 0.85271643 -0.47142061 -0.22502731 -2.73002594] [ 0.49581781 0.86602236 0.06457529 -1.44139762] [ 0.16443657 -0.16663696 0.97221023 -2.67409762] [ 0. 0. 0. 1. ]] SLAMing on 157.80134618399998 meters Centerline goodness : 0.882185 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.68 [[ 0.85236915 -0.47237803 -0.22433419 -2.72957168] [ 0.49645593 0.86575026 0.06330874 -1.44025516] [ 0.16431173 -0.16533446 0.97245369 -2.67515456] [ 0. 0. 0. 1. ]] SLAMing on 157.83134618399998 meters Centerline goodness : 0.881964 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.68 [[ 0.85229976 -0.47257143 -0.22419047 -2.72886109] [ 0.496555 0.86572474 0.06287924 -1.43946701] [ 0.1643723 -0.16491486 0.9725147 -2.67588297] [ 0. 0. 0. 1. ]] SLAMing on 157.86134618399998 meters Centerline goodness : 0.880837 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.68 [[ 0.85253189 -0.4719037 -0.22471374 -2.72845372] [ 0.49607876 0.86594955 0.06353933 -1.43878968] [ 0.16460632 -0.16564502 0.97235101 -2.67573126] [ 0. 0. 0. 1. ]] SLAMing on 157.89134618399999 meters Centerline goodness : 0.880976 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.68 [[ 0.85258345 -0.47122152 -0.22594633 -2.72683576] [ 0.49577264 0.86604961 0.06455663 -1.43703854] [ 0.16526025 -0.16705792 0.9719983 -2.6758576 ] [ 0. 0. 0. 1. ]] SLAMing on 157.921346184 meters Centerline goodness : 0.880788 Centerline is valid? [False, False] Translation: X:-2.73, Y:-1.44, Z:-2.68 [[ 0.85234976 -0.47113185 -0.22701247 -2.72560325] [ 0.49596574 0.86589622 0.06512855 -1.43558367] [ 0.1658851 -0.16810271 0.97171169 -2.67545773] [ 0. 0. 0. 1. ]] SLAMing on 157.951346184 meters Centerline goodness : 0.882778 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.85187863 -0.47189811 -0.22718929 -2.7229469 ] [ 0.49667711 0.86553141 0.064554 -1.43478295] [ 0.16617656 -0.16783189 0.9717087 -2.67667075] [ 0. 0. 0. 1. ]] SLAMing on 157.981346184 meters Centerline goodness : 0.884070 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.85150449 -0.47276036 -0.22679893 -2.72237419] [ 0.497343 0.86521047 0.06372421 -1.43439456] [ 0.16610253 -0.16705831 0.97185466 -2.67712136] [ 0. 0. 0. 1. ]] SLAMing on 158.011346184 meters Centerline goodness : 0.885154 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.85106349 -0.47350718 -0.22689621 -2.7207591 ] [ 0.49801775 0.86486562 0.06313303 -1.4334346 ] [ 0.16634079 -0.16672855 0.97187053 -2.67779469] [ 0. 0. 0. 1. ]] SLAMing on 158.041346184 meters Centerline goodness : 0.886890 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.85031487 -0.47476516 -0.22707414 -2.71926019] [ 0.49920165 0.86423606 0.06239995 -1.43216011] [ 0.16662034 -0.16641539 0.97187632 -2.67808804] [ 0. 0. 0. 1. ]] SLAMing on 158.071346184 meters Centerline goodness : 0.887234 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.84819741 -0.47895456 -0.22619389 -2.71844426] [ 0.50277859 0.86237812 0.05931001 -1.43025268] [ 0.16665786 -0.16403204 0.97227499 -2.6775568 ] [ 0. 0. 0. 1. ]] SLAMing on 158.101346184 meters Centerline goodness : 0.889361 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.84740939 -0.47984819 -0.22725104 -2.71600138] [ 0.50392253 0.86168871 0.05962093 -1.42895253] [ 0.16721066 -0.16504026 0.97200942 -2.67747693] [ 0. 0. 0. 1. ]] SLAMing on 158.131346184 meters Centerline goodness : 0.890452 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.43, Z:-2.68 [[ 0.84636617 -0.48129306 -0.22808178 -2.71433234] [ 0.50547953 0.86079872 0.05929595 -1.42721653] [ 0.16779377 -0.16547675 0.9718347 -2.67694029] [ 0. 0. 0. 1. ]] SLAMing on 158.161346184 meters Centerline goodness : 0.890847 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.43, Z:-2.68 [[ 0.84437533 -0.48533798 -0.2268862 -2.71522819] [ 0.50884909 0.85902134 0.05616884 -1.42535962] [ 0.16763922 -0.16287842 0.97230022 -2.67566935] [ 0. 0. 0. 1. ]] SLAMing on 158.191346184 meters Centerline goodness : 0.890248 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.42, Z:-2.68 [[ 0.84391245 -0.48564958 -0.22793917 -2.71134801] [ 0.50940047 0.85867384 0.05648355 -1.42309136] [ 0.16829419 -0.1637795 0.97203567 -2.67770696] [ 0. 0. 0. 1. ]] SLAMing on 158.221346184 meters Centerline goodness : 0.891865 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.42, Z:-2.68 [[ 0.84349851 -0.4865046 -0.22764785 -2.7108617 ] [ 0.51007276 0.85833044 0.05562939 -1.42173774] [ 0.16833313 -0.16304027 0.97215319 -2.67846044] [ 0. 0. 0. 1. ]] SLAMing on 158.251346184 meters Centerline goodness : 0.892767 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.42, Z:-2.68 [[ 0.84294607 -0.48704175 -0.22854377 -2.70931663] [ 0.51070282 0.85798163 0.05522816 -1.41907866] [ 0.16918794 -0.16327231 0.97196584 -2.67865813] [ 0. 0. 0. 1. ]] SLAMing on 158.281346184 meters Centerline goodness : 0.892284 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.42, Z:-2.68 [[ 0.84241362 -0.48734415 -0.2298586 -2.70728852] [ 0.51125438 0.85764633 0.05533286 -1.415915 ] [ 0.17017124 -0.16412937 0.97164978 -2.67905544] [ 0. 0. 0. 1. ]] SLAMing on 158.311346184 meters Centerline goodness : 0.890936 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.41, Z:-2.68 [[ 0.8414799 -0.48873497 -0.23032523 -2.7057179 ] [ 0.51249793 0.85699555 0.05389342 -1.41157243] [ 0.1710481 -0.16339143 0.97162019 -2.68012125] [ 0. 0. 0. 1. ]] SLAMing on 158.341346184 meters Centerline goodness : 0.892633 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.41, Z:-2.68 [[ 0.84096968 -0.48982414 -0.22987455 -2.70528085] [ 0.51330343 0.85659345 0.05260465 -1.41018406] [ 0.17114201 -0.16223431 0.97179753 -2.68079397] [ 0. 0. 0. 1. ]] SLAMing on 158.371346184 meters Centerline goodness : 0.891944 Centerline is valid? [False, False] Translation: X:-2.71, Y:-1.41, Z:-2.68 [[ 0.84060316 -0.49068525 -0.22937812 -2.70507271] [ 0.51388398 0.85631857 0.05139813 -1.40896889] [ 0.17120045 -0.16107917 0.97197938 -2.68144461] [ 0. 0. 0. 1. ]] SLAMing on 158.401346184 meters Centerline goodness : 0.891536 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.41, Z:-2.68 [[ 0.83997233 -0.49134985 -0.23026466 -2.70301199] [ 0.51465087 0.85587824 0.05105799 -1.406512 ] [ 0.17199117 -0.16139321 0.97178767 -2.68194879] [ 0. 0. 0. 1. ]] SLAMing on 158.431346184 meters Centerline goodness : 0.889045 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.40, Z:-2.68 [[ 0.83870092 -0.49300242 -0.23136418 -2.70174476] [ 0.51640023 0.85486437 0.05037576 -1.40156019] [ 0.17294962 -0.16172671 0.97156209 -2.68199801] [ 0. 0. 0. 1. ]] SLAMing on 158.461346184 meters Centerline goodness : 0.890736 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.40, Z:-2.68 [[ 0.83828711 -0.49330387 -0.23221974 -2.70098165] [ 0.51680985 0.85463097 0.05013474 -1.39880934] [ 0.17373052 -0.16204076 0.97137042 -2.68190236] [ 0. 0. 0. 1. ]] SLAMing on 158.49134618399998 meters Centerline goodness : 0.890693 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.40, Z:-2.68 [[ 0.83769728 -0.49372678 -0.2334462 -2.69937047] [ 0.51745526 0.85423869 0.05016295 -1.39520838] [ 0.17465199 -0.16281933 0.97107495 -2.68226039] [ 0. 0. 0. 1. ]] SLAMing on 158.52134618399998 meters Centerline goodness : 0.889160 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.39, Z:-2.68 [[ 0.83695066 -0.49480459 -0.23384184 -2.69910857] [ 0.51847389 0.85366876 0.04934041 -1.39254775] [ 0.17520961 -0.16253638 0.97102189 -2.68200957] [ 0. 0. 0. 1. ]] SLAMing on 158.55134618399998 meters Centerline goodness : 0.886053 Centerline is valid? [False, False] Translation: X:-2.70, Y:-1.39, Z:-2.68 [[ 0.83565394 -0.49670303 -0.2344538 -2.69523923] [ 0.52021579 0.85270244 0.04768736 -1.3879923 ] [ 0.17623287 -0.1618167 0.97095691 -2.68439896] [ 0. 0. 0. 1. ]] SLAMing on 158.58134618399998 meters Centerline goodness : 0.887888 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.39, Z:-2.69 [[ 0.83507913 -0.49790832 -0.23394477 -2.69497705] [ 0.5210414 0.85229445 0.04593518 -1.3857385 ] [ 0.17651832 -0.16025442 0.97116415 -2.68520789] [ 0. 0. 0. 1. ]] SLAMing on 158.61134618399998 meters Centerline goodness : 0.886905 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.38, Z:-2.69 [[ 0.83486745 -0.49766879 -0.23520655 -2.69252274] [ 0.52100091 0.85232183 0.04588617 -1.38243939] [ 0.17763556 -0.1608517 0.97086165 -2.68642113] [ 0. 0. 0. 1. ]] SLAMing on 158.64134618399999 meters Centerline goodness : 0.886660 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.37, Z:-2.69 [[ 0.8344724 -0.49623136 -0.23960435 -2.6906547 ] [ 0.52078679 0.85230273 0.04859199 -1.3742334 ] [ 0.18010257 -0.16533146 0.96965384 -2.68552587] [ 0. 0. 0. 1. ]] SLAMing on 158.671346184 meters Centerline goodness : 0.886587 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.37, Z:-2.68 [[ 0.83405191 -0.49630919 -0.24090372 -2.69136348] [ 0.5210999 0.85210926 0.04862819 -1.37020919] [ 0.18114167 -0.16609333 0.96933003 -2.68439021] [ 0. 0. 0. 1. ]] SLAMing on 158.701346184 meters Centerline goodness : 0.883865 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.37, Z:-2.69 [[ 0.83401701 -0.49604256 -0.24157277 -2.69005213] [ 0.520838 0.85230162 0.04805951 -1.36690016] [ 0.1820533 -0.16590273 0.96919187 -2.68564734] [ 0. 0. 0. 1. ]] SLAMing on 158.731346184 meters Centerline goodness : 0.884189 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.36, Z:-2.69 [[ 0.83390944 -0.49648582 -0.24103293 -2.69060398] [ 0.52091056 0.85234186 0.04653547 -1.36445017] [ 0.18233825 -0.16436296 0.96940063 -2.68650258] [ 0. 0. 0. 1. ]] SLAMing on 158.761346184 meters Centerline goodness : 0.881674 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.36, Z:-2.69 [[ 0.83419422 -0.49534765 -0.24238544 -2.6893981 ] [ 0.52000722 0.85288596 0.04666932 -1.35890635] [ 0.1836096 -0.16497345 0.9690569 -2.68821635] [ 0. 0. 0. 1. ]] SLAMing on 158.791346184 meters Centerline goodness : 0.880766 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.36, Z:-2.69 [[ 0.834169 -0.49546681 -0.24222863 -2.69019101] [ 0.5199155 0.85299507 0.04568675 -1.35612069] [ 0.18398356 -0.16404889 0.96914293 -2.68878327] [ 0. 0. 0. 1. ]] SLAMing on 158.821346184 meters Centerline goodness : 0.879654 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.35, Z:-2.69 [[ 0.83411075 -0.49533045 -0.24270765 -2.68912666] [ 0.51972888 0.85314511 0.04500353 -1.35302484] [ 0.18477323 -0.1636801 0.96905504 -2.6899608 ] [ 0. 0. 0. 1. ]] SLAMing on 158.851346184 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.35, Z:-2.69 [[ 0.83432687 -0.49401398 -0.24464028 -2.68699236] [ 0.5188925 0.85360546 0.04591606 -1.34813886] [ 0.18614311 -0.16525101 0.96852612 -2.69135606] [ 0. 0. 0. 1. ]] SLAMing on 158.881346184 meters Centerline goodness : 0.882633 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.35, Z:-2.69 [[ 0.83432687 -0.49401398 -0.24464028 -2.68699236] [ 0.5188925 0.85360546 0.04591606 -1.34813886] [ 0.18614311 -0.16525101 0.96852612 -2.69135606] [ 0. 0. 0. 1. ]] SLAMing on 158.911346184 meters Centerline goodness : 0.881465 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.35, Z:-2.69 [[ 0.83417192 -0.49412128 -0.24495177 -2.68768776] [ 0.51892509 0.85362213 0.0452329 -1.34519167] [ 0.18674571 -0.16484364 0.96847954 -2.69127507] [ 0. 0. 0. 1. ]] SLAMing on 158.941346184 meters Centerline goodness : 0.880754 Centerline is valid? [False, False] Translation: X:-2.69, Y:-1.34, Z:-2.69 [[ 0.83491342 -0.49778925 -0.23478809 -2.68522783] [ 0.52104208 0.85229993 0.04582551 -1.33717578] [ 0.17729842 -0.16059481 0.9709658 -2.69147571] [ 0. 0. 0. 1. ]] SLAMing on 158.971346184 meters Centerline goodness : 0.879994 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.33, Z:-2.69 [[ 0.83480717 -0.49750661 -0.23576292 -2.6841467 ] [ 0.5208879 0.85240309 0.04565935 -1.33353192] [ 0.17824921 -0.16092281 0.97073738 -2.69227249] [ 0. 0. 0. 1. ]] SLAMing on 159.001346184 meters Centerline goodness : 0.878167 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.33, Z:-2.69 [[ 0.8352237 -0.49671604 -0.23595452 -2.68499819] [ 0.51995914 0.85301427 0.04482359 -1.32823462] [ 0.17900798 -0.16012444 0.97072978 -2.69379161] [ 0. 0. 0. 1. ]] SLAMing on 159.031346184 meters Centerline goodness : 0.879113 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.33, Z:-2.69 [[ 0.83488935 -0.49736933 -0.23576156 -2.68454999] [ 0.52029389 0.852894 0.04319837 -1.325084 ] [ 0.17959408 -0.15873116 0.97085034 -2.69497751] [ 0. 0. 0. 1. ]] SLAMing on 159.061346184 meters Centerline goodness : 0.876755 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.32, Z:-2.70 [[ 0.83441624 -0.49815807 -0.23577125 -2.68333732] [ 0.52080706 0.85265971 0.04161049 -1.32211388] [ 0.18030404 -0.1575118 0.97091734 -2.69615974] [ 0. 0. 0. 1. ]] SLAMing on 159.091346184 meters Centerline goodness : 0.877276 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.32, Z:-2.70 [[ 0.83371871 -0.49926311 -0.23590138 -2.68296177] [ 0.52170543 0.85217553 0.04025316 -1.31915815] [ 0.18093246 -0.15663084 0.97094296 -2.69642271] [ 0. 0. 0. 1. ]] SLAMing on 159.121346184 meters Centerline goodness : 0.878115 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.31, Z:-2.70 [[ 0.83251532 -0.50016712 -0.23822488 -2.67970116] [ 0.52300734 0.851379 0.04021348 -1.31332194] [ 0.1827062 -0.1580717 0.97037713 -2.6968815 ] [ 0. 0. 0. 1. ]] SLAMing on 159.151346184 meters Centerline goodness : 0.875952 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.31, Z:-2.70 [[ 0.83188587 -0.50132506 -0.23798969 -2.67965502] [ 0.52389612 0.85089561 0.03885246 -1.31104924] [ 0.18302667 -0.15700269 0.97049029 -2.69717124] [ 0. 0. 0. 1. ]] SLAMing on 159.181346184 meters Centerline goodness : 0.876285 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.31, Z:-2.70 [[ 0.83151345 -0.50163153 -0.23864451 -2.6788621 ] [ 0.52422652 0.85071406 0.0383684 -1.30863768] [ 0.18377144 -0.15700762 0.97034873 -2.6972857 ] [ 0. 0. 0. 1. ]] SLAMing on 159.211346184 meters Centerline goodness : 0.876913 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.30, Z:-2.70 [[ 0.83156193 -0.50027948 -0.24129897 -2.67898613] [ 0.52365333 0.85097792 0.04029599 -1.30368876] [ 0.18518084 -0.15986562 0.96961386 -2.69598263] [ 0. 0. 0. 1. ]] SLAMing on 159.24134618399998 meters Centerline goodness : 0.878321 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.30, Z:-2.70 [[ 0.83138527 -0.49955228 -0.24340512 -2.67707911] [ 0.52342178 0.85108163 0.0411059 -1.30012199] [ 0.18662308 -0.16157838 0.96905328 -2.69592277] [ 0. 0. 0. 1. ]] SLAMing on 159.27134618399998 meters Centerline goodness : 0.879066 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.30, Z:-2.70 [[ 0.83144245 -0.49939284 -0.24353694 -2.67726075] [ 0.52314995 0.8512813 0.04042626 -1.2977352 ] [ 0.18712986 -0.16101844 0.96904875 -2.69628005] [ 0. 0. 0. 1. ]] SLAMing on 159.30134618399998 meters Centerline goodness : 0.877218 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.30, Z:-2.70 [[ 0.83154938 -0.49908563 -0.24380148 -2.67708827] [ 0.52275068 0.85155809 0.0397561 -1.29552843] [ 0.18776943 -0.16050655 0.96900995 -2.69666879] [ 0. 0. 0. 1. ]] SLAMing on 159.33134618399998 meters Centerline goodness : 0.874512 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.29, Z:-2.70 [[ 0.83225043 -0.50336448 -0.23234332 -2.67643427] [ 0.52508977 0.85015099 0.0390387 -1.28559865] [ 0.17787621 -0.15449107 0.97185007 -2.69804536] [ 0. 0. 0. 1. ]] SLAMing on 159.36134618399998 meters Centerline goodness : 0.873263 Centerline is valid? [False, False] Translation: X:-2.68, Y:-1.28, Z:-2.70 [[ 0.83225247 -0.50316137 -0.23277556 -2.675534 ] [ 0.52482825 0.85034326 0.03836195 -1.28301269] [ 0.17863688 -0.15409402 0.97177358 -2.69885198] [ 0. 0. 0. 1. ]] SLAMing on 159.39134618399999 meters Centerline goodness : 0.874092 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.28, Z:-2.70 [[ 0.83202609 -0.50311913 -0.23367442 -2.67390605] [ 0.52485953 0.85034132 0.03797519 -1.27986666] [ 0.17959697 -0.1542426 0.97157303 -2.6996734 ] [ 0. 0. 0. 1. ]] SLAMing on 159.421346184 meters Centerline goodness : 0.874439 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.28, Z:-2.70 [[ 0.83193659 -0.50311274 -0.23400656 -2.67366122] [ 0.52480978 0.85039527 0.03745094 -1.27753427] [ 0.18015603 -0.15396574 0.97151344 -2.70001432] [ 0. 0. 0. 1. ]] SLAMing on 159.451346184 meters Centerline goodness : 0.869758 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.83192392 -0.50230168 -0.23578722 -2.67118111] [ 0.524418 0.85060169 0.03824306 -1.27347945] [ 0.18135146 -0.15546638 0.97105193 -2.70136668] [ 0. 0. 0. 1. ]] SLAMing on 159.481346184 meters Centerline goodness : 0.874444 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.83168431 -0.50271394 -0.2357539 -2.67080351] [ 0.52470097 0.8504589 0.03753073 -1.27224684] [ 0.18163178 -0.15491401 0.97108781 -2.70154785] [ 0. 0. 0. 1. ]] SLAMing on 159.511346184 meters Centerline goodness : 0.868977 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.83112889 -0.50407577 -0.23480287 -2.67162536] [ 0.52566446 0.84992736 0.0360606 -1.27117799] [ 0.1813881 -0.15339853 0.9713739 -2.70154877] [ 0. 0. 0. 1. ]] SLAMing on 159.541346184 meters Centerline goodness : 0.868950 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.83062197 -0.5043767 -0.23594766 -2.66940344] [ 0.52617141 0.84961047 0.03613432 -1.26958207] [ 0.1822383 -0.15416287 0.97109372 -2.70164867] [ 0. 0. 0. 1. ]] SLAMing on 159.571346184 meters Centerline goodness : 0.868805 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.82992324 -0.50502272 -0.23702208 -2.66803874] [ 0.52697446 0.84911999 0.03596063 -1.26770584] [ 0.18309925 -0.15474915 0.97083849 -2.70096241] [ 0. 0. 0. 1. ]] SLAMing on 159.601346184 meters Centerline goodness : 0.869718 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.27, Z:-2.70 [[ 0.82901717 -0.50600636 -0.23809262 -2.66677562] [ 0.52806854 0.84845946 0.0354988 -1.26570227] [ 0.18404931 -0.15515833 0.9705935 -2.70000295] [ 0. 0. 0. 1. ]] SLAMing on 159.631346184 meters Centerline goodness : 0.867092 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.26, Z:-2.70 [[ 0.8279672 -0.50764547 -0.23825699 -2.66608217] [ 0.52956597 0.84757064 0.03440762 -1.26400661] [ 0.18447276 -0.15466118 0.97059246 -2.69967074] [ 0. 0. 0. 1. ]] SLAMing on 159.661346184 meters Centerline goodness : 0.867768 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.26, Z:-2.70 [[ 0.82690081 -0.51047746 -0.23589789 -2.66654868] [ 0.53141579 0.84654812 0.0308795 -1.26436436] [ 0.18393562 -0.15089415 0.97128711 -2.69995123] [ 0. 0. 0. 1. ]] SLAMing on 159.691346184 meters Centerline goodness : 0.866628 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.26, Z:-2.70 [[ 0.82641078 -0.51137366 -0.23567393 -2.6659248 ] [ 0.53210866 0.84614862 0.02988119 -1.2637 ] [ 0.18413472 -0.15009828 0.97137269 -2.69993093] [ 0. 0. 0. 1. ]] SLAMing on 159.721346184 meters Centerline goodness : 0.866207 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.26, Z:-2.70 [[ 0.82586165 -0.51199008 -0.23625981 -2.66523275] [ 0.53273918 0.84576902 0.0293893 -1.26277416] [ 0.1847742 -0.15013635 0.97124537 -2.69888274] [ 0. 0. 0. 1. ]] SLAMing on 159.751346184 meters Centerline goodness : 0.866036 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82528246 -0.51245507 -0.2372734 -2.66281048] [ 0.53335521 0.84538451 0.02927897 -1.26110042] [ 0.1855831 -0.15071442 0.97100158 -2.6991984 ] [ 0. 0. 0. 1. ]] SLAMing on 159.781346184 meters Centerline goodness : 0.868890 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82460431 -0.51387851 -0.23655147 -2.66288045] [ 0.53452009 0.84468039 0.02834255 -1.2609427 ] [ 0.18524577 -0.1498129 0.97120549 -2.69904194] [ 0. 0. 0. 1. ]] SLAMing on 159.811346184 meters Centerline goodness : 0.867458 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82425881 -0.51391286 -0.23767831 -2.66131555] [ 0.53476517 0.84451974 0.02850639 -1.25968443] [ 0.18607423 -0.15059872 0.97092554 -2.6985606 ] [ 0. 0. 0. 1. ]] SLAMing on 159.841346184 meters Centerline goodness : 0.868883 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82415108 -0.51386093 -0.23816369 -2.66212679] [ 0.53484775 0.8444571 0.02881142 -1.25907533] [ 0.18631396 -0.15112628 0.97079759 -2.69702145] [ 0. 0. 0. 1. ]] SLAMing on 159.871346184 meters Centerline goodness : 0.867676 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82414881 -0.5137362 -0.23844045 -2.66167686] [ 0.53472969 0.84453795 0.02863238 -1.25862407] [ 0.18666252 -0.15109853 0.97073495 -2.69673935] [ 0. 0. 0. 1. ]] SLAMing on 159.901346184 meters Centerline goodness : 0.865670 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82411907 -0.51350178 -0.23904746 -2.66002999] [ 0.53459987 0.84461776 0.02870235 -1.25797649] [ 0.18716502 -0.15144889 0.97058358 -2.69710806] [ 0. 0. 0. 1. ]] SLAMing on 159.931346184 meters Centerline goodness : 0.867348 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82403264 -0.51387731 -0.23853788 -2.65983126] [ 0.53478615 0.84452028 0.0280938 -1.25821234] [ 0.18701331 -0.15071696 0.97072675 -2.69733897] [ 0. 0. 0. 1. ]] SLAMing on 159.961346184 meters Centerline goodness : 0.867752 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82382218 -0.51459282 -0.23772095 -2.65908412] [ 0.53512787 0.84434801 0.0267321 -1.25890649] [ 0.18696306 -0.1492336 0.97096557 -2.69772646] [ 0. 0. 0. 1. ]] SLAMing on 159.99134618399998 meters Centerline goodness : 0.868306 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82345909 -0.51489919 -0.23831483 -2.65772688] [ 0.53548999 0.84412584 0.02649597 -1.25819866] [ 0.18752495 -0.14943356 0.97082645 -2.69759389] [ 0. 0. 0. 1. ]] SLAMing on 160.02134618399998 meters Centerline goodness : 0.868950 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82293894 -0.51559229 -0.23861282 -2.65672737] [ 0.53610406 0.84375894 0.02575428 -1.25717951] [ 0.188053 -0.1491155 0.97077322 -2.69738708] [ 0. 0. 0. 1. ]] SLAMing on 160.05134618399998 meters Centerline goodness : 0.866777 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82251327 -0.5161806 -0.23880852 -2.65579408] [ 0.53665754 0.84341961 0.02533872 -1.25682087] [ 0.18833643 -0.14899983 0.97073603 -2.69716847] [ 0. 0. 0. 1. ]] SLAMing on 160.08134618399998 meters Centerline goodness : 0.870052 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.8229562 -0.51535591 -0.23906354 -2.65658561] [ 0.53597273 0.84383605 0.0259604 -1.25763808] [ 0.18835159 -0.14949581 0.97065683 -2.69601245] [ 0. 0. 0. 1. ]] SLAMing on 160.11134618399998 meters Centerline goodness : 0.872110 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.8231649 -0.51496051 -0.23919703 -2.65683656] [ 0.53558267 0.84408458 0.02593105 -1.25794483] [ 0.18854906 -0.14945531 0.97062473 -2.69535263] [ 0. 0. 0. 1. ]] SLAMing on 160.14134618399999 meters Centerline goodness : 0.874484 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82334522 -0.5148095 -0.23890129 -2.65689462] [ 0.53531089 0.84426801 0.02556905 -1.25834874] [ 0.18853353 -0.14893861 0.97070716 -2.69530058] [ 0. 0. 0. 1. ]] SLAMing on 160.171346184 meters Centerline goodness : 0.873034 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82375179 -0.51428878 -0.23862114 -2.65613648] [ 0.53461761 0.84472495 0.02497536 -1.25839359] [ 0.18872468 -0.14814456 0.97079152 -2.69610012] [ 0. 0. 0. 1. ]] SLAMing on 160.201346184 meters Centerline goodness : 0.873013 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82520168 -0.51269844 -0.23702848 -2.65791202] [ 0.53267192 0.8459634 0.02462847 -1.2606633 ] [ 0.18789044 -0.14658187 0.97119047 -2.69670748] [ 0. 0. 0. 1. ]] SLAMing on 160.231346184 meters Centerline goodness : 0.874040 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82532515 -0.5124677 -0.23709754 -2.6576162 ] [ 0.53238553 0.84615269 0.02431591 -1.26036169] [ 0.1881596 -0.14629583 0.97118149 -2.69672455] [ 0. 0. 0. 1. ]] SLAMing on 160.261346184 meters Centerline goodness : 0.875671 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82514394 -0.51249749 -0.2376632 -2.65686965] [ 0.53243845 0.84612895 0.023981 -1.25928122] [ 0.18880351 -0.1463288 0.97105155 -2.69637838] [ 0. 0. 0. 1. ]] SLAMing on 160.291346184 meters Centerline goodness : 0.874359 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.8251544 -0.51270333 -0.23718245 -2.65775227] [ 0.53242157 0.84616164 0.02318936 -1.25900239] [ 0.18880543 -0.14541586 0.97118831 -2.69584549] [ 0. 0. 0. 1. ]] SLAMing on 160.321346184 meters Centerline goodness : 0.877247 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82494851 -0.513129 -0.23697801 -2.65679205] [ 0.53266578 0.84603022 0.02236157 -1.25881957] [ 0.18901619 -0.14467722 0.97125763 -2.69620342] [ 0. 0. 0. 1. ]] SLAMing on 160.351346184 meters Centerline goodness : 0.875365 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.82482219 -0.51378029 -0.23600462 -2.65673751] [ 0.53294638 0.84588514 0.02113046 -1.25908405] [ 0.18877638 -0.14320668 0.97152217 -2.69673237] [ 0. 0. 0. 1. ]] SLAMing on 160.381346184 meters Centerline goodness : 0.874895 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.26, Z:-2.70 [[ 0.82449219 -0.5141801 -0.23628681 -2.65495756] [ 0.53326405 0.84570195 0.02043671 -1.25854858] [ 0.18932007 -0.14285317 0.97146842 -2.69707867] [ 0. 0. 0. 1. ]] SLAMing on 160.411346184 meters Centerline goodness : 0.874685 Centerline is valid? [False, False] Translation: X:-2.66, Y:-1.26, Z:-2.70 [[ 0.8245779 -0.514306 -0.235713 -2.65555441] [ 0.53325477 0.84571422 0.02016944 -1.25884151] [ 0.18897257 -0.14232635 0.97161339 -2.69695283] [ 0. 0. 0. 1. ]] SLAMing on 160.441346184 meters Centerline goodness : 0.877497 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.26, Z:-2.70 [[ 0.82414051 -0.51469485 -0.23639296 -2.65418489] [ 0.53369259 0.84544569 0.01984468 -1.25788071] [ 0.18964345 -0.14251598 0.97145487 -2.69659403] [ 0. 0. 0. 1. ]] SLAMing on 160.471346184 meters Centerline goodness : 0.873748 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.26, Z:-2.70 [[ 0.82329149 -0.51587339 -0.2367821 -2.65236825] [ 0.53478876 0.84477288 0.01896761 -1.25663245] [ 0.19024222 -0.14224428 0.97137761 -2.69665626] [ 0. 0. 0. 1. ]] SLAMing on 160.501346184 meters Centerline goodness : 0.873156 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.26, Z:-2.70 [[ 0.82211987 -0.5175242 -0.23725012 -2.65034214] [ 0.53633573 0.84381575 0.0178596 -1.25573505] [ 0.19095261 -0.14192845 0.97128441 -2.69612812] [ 0. 0. 0. 1. ]] SLAMing on 160.531346184 meters Centerline goodness : 0.871638 Centerline is valid? [False, False] Translation: X:-2.65, Y:-1.25, Z:-2.70 [[ 0.82016352 -0.51954507 -0.23959282 -2.64534839] [ 0.53876115 0.84226957 0.01784375 -1.25338031] [ 0.19253111 -0.1437181 0.97070947 -2.69564941] [ 0. 0. 0. 1. ]] SLAMing on 160.561346184 meters Centerline goodness : 0.873855 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.25, Z:-2.69 [[ 0.8191933 -0.52071115 -0.24037936 -2.64494564] [ 0.53996287 0.84151181 0.01726185 -1.25218989] [ 0.19329363 -0.14393672 0.97052552 -2.6939244 ] [ 0. 0. 0. 1. ]] SLAMing on 160.591346184 meters Centerline goodness : 0.874616 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.25, Z:-2.69 [[ 0.8183449 -0.52107404 -0.24247366 -2.64231469] [ 0.54070834 0.84102766 0.01752037 -1.25000688] [ 0.19479764 -0.14544523 0.96999977 -2.69282656] [ 0. 0. 0. 1. ]] SLAMing on 160.621346184 meters Centerline goodness : 0.872890 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.25, Z:-2.69 [[ 0.81754169 -0.52150706 -0.24424572 -2.63877912] [ 0.54138273 0.8405983 0.01729819 -1.24709837] [ 0.19629141 -0.14637241 0.96955908 -2.69315187] [ 0. 0. 0. 1. ]] SLAMing on 160.651346184 meters Centerline goodness : 0.875015 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.25, Z:-2.69 [[ 0.8170257 -0.52235007 -0.24417087 -2.63845903] [ 0.54203503 0.84019786 0.01629653 -1.24613028] [ 0.19663935 -0.14566385 0.96959528 -2.69282013] [ 0. 0. 0. 1. ]] SLAMing on 160.681346184 meters Centerline goodness : 0.877484 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.24, Z:-2.69 [[ 0.81653087 -0.52260589 -0.24527621 -2.63702159] [ 0.54242236 0.8399523 0.0160659 -1.24445989] [ 0.19762419 -0.1461616 0.96932011 -2.69224785] [ 0. 0. 0. 1. ]] SLAMing on 160.711346184 meters Centerline goodness : 0.875689 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.24, Z:-2.69 [[ 0.81609799 -0.52310935 -0.2456434 -2.63698536] [ 0.54292629 0.83963325 0.0157181 -1.24324131] [ 0.19802808 -0.14619377 0.96923282 -2.69151742] [ 0. 0. 0. 1. ]] SLAMing on 160.74134618399998 meters Centerline goodness : 0.875448 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.24, Z:-2.69 [[ 0.81548648 -0.52348222 -0.24687681 -2.6349967 ] [ 0.54341839 0.83932235 0.01531138 -1.24109693] [ 0.19919399 -0.14664363 0.9689259 -2.6911572 ] [ 0. 0. 0. 1. ]] SLAMing on 160.77134618399998 meters Centerline goodness : 0.875448 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.24, Z:-2.69 [[ 0.81548648 -0.52348222 -0.24687681 -2.6349967 ] [ 0.54341839 0.83932235 0.01531138 -1.24109693] [ 0.19919399 -0.14664363 0.9689259 -2.6911572 ] [ 0. 0. 0. 1. ]] SLAMing on 160.80134618399998 meters Centerline goodness : 0.873663 Centerline is valid? [False, False] Translation: X:-2.64, Y:-1.24, Z:-2.69 [[ 0.81397284 -0.52666531 -0.24509562 -2.63521015] [ 0.54565766 0.8379279 0.01159937 -1.23960824] [ 0.19926347 -0.14317987 0.96942952 -2.69127143] [ 0. 0. 0. 1. ]] SLAMing on 160.83134618399998 meters Centerline goodness : 0.877733 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.24, Z:-2.69 [[ 0.81294419 -0.52820356 -0.24519937 -2.63438328] [ 0.54697932 0.83708337 0.01024981 -1.23826915] [ 0.19983833 -0.14245151 0.96941849 -2.69068579] [ 0. 0. 0. 1. ]] SLAMing on 160.86134618399998 meters Centerline goodness : 0.873490 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.24, Z:-2.69 [[ 0.81196001 -0.52867849 -0.24742674 -2.63099025] [ 0.54786908 0.83649761 0.01054651 -1.235704 ] [ 0.20139616 -0.14412081 0.9688492 -2.69006517] [ 0. 0. 0. 1. ]] SLAMing on 160.89134618399999 meters Centerline goodness : 0.872270 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.69 [[ 0.8107206 -0.53038064 -0.24784771 -2.63125045] [ 0.54942806 0.83548925 0.00930136 -1.23352354] [ 0.20214083 -0.14371529 0.96875435 -2.68848754] [ 0. 0. 0. 1. ]] SLAMing on 160.921346184 meters Centerline goodness : 0.869959 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.69 [[ 0.80982791 -0.53164102 -0.24806568 -2.63048853] [ 0.55050286 0.83479428 0.00806925 -1.23220288] [ 0.20279387 -0.14309557 0.96870961 -2.68782633] [ 0. 0. 0. 1. ]] SLAMing on 160.951346184 meters Centerline goodness : 0.872593 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.69 [[ 0.80957769 -0.53238276 -0.24729045 -2.63038793] [ 0.55088585 0.83455284 0.00680716 -1.23197467] [ 0.20275294 -0.14173973 0.96891749 -2.68828389] [ 0. 0. 0. 1. ]] SLAMing on 160.981346184 meters Centerline goodness : 0.873757 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.69 [[ 0.80910553 -0.53323279 -0.24700413 -2.63032989] [ 0.55153491 0.83413075 0.00592734 -1.23174968] [ 0.20287309 -0.14102724 0.9689963 -2.68782414] [ 0. 0. 0. 1. ]] SLAMing on 161.011346184 meters Centerline goodness : 0.871649 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.69 [[ 0.80780564 -0.5348213 -0.24782295 -2.63079985] [ 0.55319041 0.83303718 0.00542446 -1.23002839] [ 0.20354461 -0.14147519 0.96879015 -2.68543263] [ 0. 0. 0. 1. ]] SLAMing on 161.041346184 meters Centerline goodness : 0.869972 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.68 [[ 0.8070893 -0.53516128 -0.24941785 -2.62888118] [ 0.55376708 0.83265441 0.00535278 -1.22826984] [ 0.20481428 -0.14243956 0.96838117 -2.68431922] [ 0. 0. 0. 1. ]] SLAMing on 161.071346184 meters Centerline goodness : 0.870918 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.68 [[ 0.80636274 -0.53588422 -0.25021438 -2.62785391] [ 0.55450928 0.8321639 0.00476439 -1.22719082] [ 0.20566621 -0.14258803 0.96817874 -2.6830725 ] [ 0. 0. 0. 1. ]] SLAMing on 161.101346184 meters Centerline goodness : 0.871367 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.23, Z:-2.68 [[ 0.80543669 -0.53736674 -0.25001747 -2.6285041 ] [ 0.55582232 0.83129205 0.00388369 -1.2268586 ] [ 0.20575057 -0.14209335 0.96823354 -2.681661 ] [ 0. 0. 0. 1. ]] SLAMing on 161.131346184 meters Centerline goodness : 0.870285 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.22, Z:-2.68 [[ 0.80506421 -0.53724357 -0.25147758 -2.62594859] [ 0.55593303 0.83121766 0.00395835 -1.22496062] [ 0.20690601 -0.14299142 0.96785503 -2.68162186] [ 0. 0. 0. 1. ]] SLAMing on 161.161346184 meters Centerline goodness : 0.871847 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.22, Z:-2.68 [[ 0.80459784 -0.53805209 -0.25124145 -2.62602938] [ 0.55649346 0.83084713 0.0028435 -1.22395937] [ 0.20721328 -0.14210209 0.96792027 -2.68122795] [ 0. 0. 0. 1. ]] SLAMing on 161.191346184 meters Centerline goodness : 0.870379 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.22, Z:-2.68 [[ 8.03919277e-01 -5.39218699e-01 -2.50912317e-01 -2.62540652e+00] [ 5.57358479e-01 8.30270623e-01 1.48968258e-03 -1.22290808e+00] [ 2.07521861e-01 -1.41045692e-01 9.68008672e-01 -2.68132183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221346184 meters Centerline goodness : 0.871275 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.22, Z:-2.68 [[ 8.03242030e-01 -5.40274466e-01 -2.50810172e-01 -2.62483382e+00] [ 5.58173163e-01 8.29724438e-01 2.75972518e-04 -1.22172677e+00] [ 2.07954228e-01 -1.40217180e-01 9.68036250e-01 -2.68113095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251346184 meters Centerline goodness : 0.870494 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.22, Z:-2.68 [[ 8.02096414e-01 -5.41275122e-01 -2.52314458e-01 -2.62550872e+00] [ 5.59273142e-01 8.28983315e-01 -4.63958253e-04 -1.21807867e+00] [ 2.09415605e-01 -1.40740561e-01 9.67645182e-01 -2.67858277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281346184 meters Centerline goodness : 0.870104 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.21, Z:-2.68 [[ 8.02297681e-01 -5.46207480e-01 -2.40781685e-01 -2.62641083e+00] [ 5.62772765e-01 8.26611646e-01 4.07846258e-05 -1.21099708e+00] [ 1.99010668e-01 -1.35538096e-01 9.70579300e-01 -2.67756362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311346184 meters Centerline goodness : 0.869253 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.21, Z:-2.68 [[ 8.02267424e-01 -5.46038953e-01 -2.41264257e-01 -2.62605881e+00] [ 5.62518553e-01 8.26784375e-01 -6.88723841e-04 -1.20940818e+00] [ 1.99849588e-01 -1.35163080e-01 9.70459213e-01 -2.67706164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341346184 meters Centerline goodness : 0.871527 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.21, Z:-2.68 [[ 8.02429450e-01 -5.45923013e-01 -2.40987636e-01 -2.62628087e+00] [ 5.62177764e-01 8.27014930e-01 -1.57056962e-03 -1.20845700e+00] [ 2.00157783e-01 -1.34217619e-01 9.70526915e-01 -2.67723392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371346184 meters Centerline goodness : 0.873115 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.21, Z:-2.68 [[ 8.03015774e-01 -5.44787236e-01 -2.41604087e-01 -2.62869022e+00] [ 5.61095562e-01 8.27749547e-01 -1.56785817e-03 -1.20642787e+00] [ 2.00841822e-01 -1.34303966e-01 9.70373643e-01 -2.67560204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401346184 meters Centerline goodness : 0.875219 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.20, Z:-2.67 [[ 8.03154777e-01 -5.43728984e-01 -2.43518370e-01 -2.62905197e+00] [ 5.60500753e-01 8.28153762e-01 -5.02410364e-04 -1.20397200e+00] [ 2.01943829e-01 -1.36088716e-01 9.69896155e-01 -2.67401879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431346184 meters Centerline goodness : 0.875157 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.20, Z:-2.67 [[ 8.03530309e-01 -5.41757416e-01 -2.46653490e-01 -2.62623431e+00] [ 5.59259901e-01 8.28991656e-01 1.09426302e-03 -1.20054041e+00] [ 2.03880860e-01 -1.38822680e-01 9.69103121e-01 -2.67375394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461346184 meters Centerline goodness : 0.874069 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.20, Z:-2.67 [[ 8.03795981e-01 -5.41156383e-01 -2.47106841e-01 -2.62709774e+00] [ 5.58462950e-01 8.29529463e-01 -6.02521040e-05 -1.19658172e+00] [ 2.05015011e-01 -1.37951585e-01 9.68988238e-01 -2.67373390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49134618399998 meters Centerline goodness : 0.872031 Centerline is valid? [False, False] Translation: X:-2.63, Y:-1.19, Z:-2.67 [[ 8.03228079e-01 -5.41893982e-01 -2.47336949e-01 -2.62657538e+00] [ 5.58964054e-01 8.29190626e-01 -1.44655404e-03 -1.19390245e+00] [ 2.05873359e-01 -1.37090551e-01 9.68928450e-01 -2.67363765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52134618399998 meters Centerline goodness : 0.872968 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.19, Z:-2.67 [[ 8.02686352e-01 -5.41937717e-01 -2.48994239e-01 -2.62408733e+00] [ 5.59246845e-01 8.28999879e-01 -1.47189196e-03 -1.19079977e+00] [ 2.07213868e-01 -1.38067775e-01 9.68503848e-01 -2.67378214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55134618399998 meters Centerline goodness : 0.874303 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.19, Z:-2.67 [[ 8.01952829e-01 -5.42605051e-01 -2.49902818e-01 -2.62356097e+00] [ 5.59861308e-01 8.28582731e-01 -2.44420821e-03 -1.18792759e+00] [ 2.08391399e-01 -1.37950779e-01 9.68267839e-01 -2.67274508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58134618399998 meters Centerline goodness : 0.872904 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.18, Z:-2.67 [[ 0.80036342 -0.54454833 -0.25076984 -2.62337673] [ 0.56167732 0.82734707 -0.00392585 -1.18394129] [ 0.20961151 -0.13770963 0.96803878 -2.67137087] [ 0. 0. 0. 1. ]] SLAMing on 161.61134618399998 meters Centerline goodness : 0.870883 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.18, Z:-2.67 [[ 0.79943052 -0.54529247 -0.2521249 -2.62159921] [ 0.56256077 0.82674465 -0.00432081 -1.18157199] [ 0.21079902 -0.13838139 0.96768505 -2.67065837] [ 0. 0. 0. 1. ]] SLAMing on 161.64134618399999 meters Centerline goodness : 0.874018 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.67 [[ 0.79915942 -0.55075022 -0.24087013 -2.6200685 ] [ 0.56647722 0.82406363 -0.00476446 -1.17459188] [ 0.20111634 -0.13263987 0.97054566 -2.66992227] [ 0. 0. 0. 1. ]] SLAMing on 161.671346184 meters Centerline goodness : 0.876706 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.67 [[ 0.79862658 -0.55106562 -0.24191377 -2.61988377] [ 0.56689232 0.82377648 -0.00504157 -1.17344451] [ 0.2020611 -0.13311273 0.97028466 -2.66795681] [ 0. 0. 0. 1. ]] SLAMing on 161.701346184 meters Centerline goodness : 0.876821 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.67 [[ 0.79869582 -0.54967162 -0.24483892 -2.61751116] [ 0.56625539 0.82422359 -0.00321233 -1.17140137] [ 0.20356774 -0.13607569 0.96955845 -2.66709143] [ 0. 0. 0. 1. ]] SLAMing on 161.731346184 meters Centerline goodness : 0.878340 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.67 [[ 0.79866464 -0.54880946 -0.24686628 -2.6168533 ] [ 0.56576035 0.82456517 -0.00273986 -1.16917964] [ 0.205061 -0.13747892 0.96904568 -2.66541526] [ 0. 0. 0. 1. ]] SLAMing on 161.761346184 meters Centerline goodness : 0.877543 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.66 [[ 7.98824693e-01 -5.47955146e-01 -2.48242358e-01 -2.61585229e+00] [ 5.65137710e-01 8.24992890e-01 -2.46992939e-03 -1.16761524e+00] [ 2.06151590e-01 -1.38318077e-01 9.68694808e-01 -2.66475450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791346184 meters Centerline goodness : 0.875168 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.66 [[ 0.79869264 -0.54928969 -0.24570492 -2.61808029] [ 0.56557541 0.82468045 -0.00515882 -1.16824122] [ 0.20546173 -0.13484436 0.96933094 -2.66464894] [ 0. 0. 0. 1. ]] SLAMing on 161.821346184 meters Centerline goodness : 0.874677 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.66 [[ 0.79808881 -0.54972652 -0.24668807 -2.61602765] [ 0.56611835 0.82430633 -0.00539276 -1.16701452] [ 0.20631109 -0.13535074 0.96907993 -2.66440153] [ 0. 0. 0. 1. ]] SLAMing on 161.851346184 meters Centerline goodness : 0.875395 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.17, Z:-2.66 [[ 0.79730706 -0.55077207 -0.24688374 -2.6161767 ] [ 0.56707826 0.82364141 -0.00608866 -1.16631418] [ 0.20669713 -0.13514787 0.96902598 -2.66318417] [ 0. 0. 0. 1. ]] SLAMing on 161.881346184 meters Centerline goodness : 0.876305 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.17, Z:-2.66 [[ 0.79648541 -0.55168837 -0.24748926 -2.61385519] [ 0.56794632 0.82303697 -0.0068648 -1.16549231] [ 0.20748004 -0.1350929 0.96886632 -2.66322896] [ 0. 0. 0. 1. ]] SLAMing on 161.911346184 meters Centerline goodness : 0.877621 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.17, Z:-2.66 [[ 0.79580646 -0.55274629 -0.24731279 -2.6130328 ] [ 0.56880047 0.82243797 -0.00786228 -1.16551581] [ 0.20774528 -0.13441478 0.9689038 -2.6627614 ] [ 0. 0. 0. 1. ]] SLAMing on 161.941346184 meters Centerline goodness : 0.876881 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.16, Z:-2.66 [[ 0.79500554 -0.55342838 -0.24836108 -2.61083764] [ 0.56954642 0.82191653 -0.00837237 -1.16466157] [ 0.20876558 -0.13479708 0.96863134 -2.66196411] [ 0. 0. 0. 1. ]] SLAMing on 161.971346184 meters Centerline goodness : 0.877417 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.16, Z:-2.66 [[ 0.79397 -0.55493975 -0.24830125 -2.61121161] [ 0.57096086 0.82092773 -0.00901982 -1.16493596] [ 0.20884284 -0.13460883 0.96864087 -2.6603157 ] [ 0. 0. 0. 1. ]] SLAMing on 162.001346184 meters Centerline goodness : 0.877285 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.16, Z:-2.66 [[ 0.79344524 -0.55504942 -0.24972942 -2.60812306] [ 0.57127186 0.82071092 -0.00905854 -1.16388946] [ 0.2099836 -0.13547594 0.96827329 -2.66003897] [ 0. 0. 0. 1. ]] SLAMing on 162.031346184 meters Centerline goodness : 0.879388 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.16, Z:-2.66 [[ 0.79309528 -0.55549819 -0.24984322 -2.60729824] [ 0.57167121 0.82042857 -0.00943332 -1.16444408] [ 0.21021871 -0.13534665 0.96824035 -2.65944185] [ 0. 0. 0. 1. ]] SLAMing on 162.061346184 meters Centerline goodness : 0.879652 Centerline is valid? [False, False] Translation: X:-2.61, Y:-1.16, Z:-2.66 [[ 0.79248851 -0.55596735 -0.25072349 -2.6051986 ] [ 0.57223733 0.8200313 -0.00964857 -1.1640384 ] [ 0.2109654 -0.13582696 0.96801066 -2.65895718] [ 0. 0. 0. 1. ]] SLAMing on 162.091346184 meters Centerline goodness : 0.881118 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.66 [[ 0.79270671 -0.55529853 -0.25151463 -2.6026954 ] [ 0.57169249 0.82041296 -0.00950098 -1.16478386] [ 0.21162174 -0.13625754 0.96780686 -2.65913187] [ 0. 0. 0. 1. ]] SLAMing on 162.121346184 meters Centerline goodness : 0.881221 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.17, Z:-2.66 [[ 0.79263092 -0.55509911 -0.25219281 -2.60239398] [ 0.57161558 0.82046815 -0.0093617 -1.16535995] [ 0.21211284 -0.13673697 0.96763172 -2.65764106] [ 0. 0. 0. 1. ]] SLAMing on 162.151346184 meters Centerline goodness : 0.883398 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.17, Z:-2.66 [[ 0.79247289 -0.55456179 -0.25386599 -2.60098694] [ 0.57148664 0.82056695 -0.00853761 -1.16528712] [ 0.21304867 -0.1383152 0.96720172 -2.65605617] [ 0. 0. 0. 1. ]] SLAMing on 162.181346184 meters Centerline goodness : 0.885830 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.17, Z:-2.65 [[ 0.79216383 -0.55424882 -0.25550874 -2.60126054] [ 0.57159599 0.82049924 -0.00768298 -1.16541762] [ 0.21390301 -0.13996159 0.96677622 -2.65305327] [ 0. 0. 0. 1. ]] SLAMing on 162.211346184 meters Centerline goodness : 0.888504 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.17, Z:-2.65 [[ 0.79219479 -0.55410197 -0.25573116 -2.60120674] [ 0.57139623 0.82063486 -0.0080486 -1.16553998] [ 0.21432165 -0.13974776 0.96671443 -2.65199601] [ 0. 0. 0. 1. ]] SLAMing on 162.24134618399998 meters Centerline goodness : 0.887900 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.79223612 -0.55360524 -0.25667715 -2.59940142] [ 0.57103517 0.82088665 -0.0079963 -1.16499189] [ 0.21512964 -0.14023673 0.96646412 -2.65177146] [ 0. 0. 0. 1. ]] SLAMing on 162.27134618399998 meters Centerline goodness : 0.888448 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.79202711 -0.55385236 -0.25678907 -2.59944061] [ 0.57118877 0.82077439 -0.00853167 -1.16450785] [ 0.21549118 -0.13991772 0.96642981 -2.65103769] [ 0. 0. 0. 1. ]] SLAMing on 162.30134618399998 meters Centerline goodness : 0.889612 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.79180869 -0.55354765 -0.25811624 -2.59850511] [ 0.57112155 0.8208234 -0.00831352 -1.16356808] [ 0.21646978 -0.14083303 0.9660781 -2.64980352] [ 0. 0. 0. 1. ]] SLAMing on 162.33134618399998 meters Centerline goodness : 0.891143 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.79159459 -0.55360971 -0.2586393 -2.59827981] [ 0.57123962 0.82074008 -0.00842675 -1.16362223] [ 0.21694078 -0.14107445 0.96593721 -2.64849168] [ 0. 0. 0. 1. ]] SLAMing on 162.36134618399998 meters Centerline goodness : 0.890259 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.7911096 -0.55400428 -0.25927755 -2.59793103] [ 0.57167089 0.82043628 -0.00875848 -1.16303353] [ 0.21757295 -0.14129251 0.96576314 -2.64714499] [ 0. 0. 0. 1. ]] SLAMing on 162.39134618399999 meters Centerline goodness : 0.891515 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.65 [[ 0.7907694 -0.5536924 -0.26097601 -2.59622119] [ 0.57169568 0.82042313 -0.00836325 -1.1619588 ] [ 0.21874142 -0.14258545 0.96530906 -2.6458726 ] [ 0. 0. 0. 1. ]] SLAMing on 162.421346184 meters Centerline goodness : 0.894082 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.64 [[ 0.79061471 -0.55380261 -0.26121074 -2.59716579] [ 0.57187952 0.82029648 -0.00821548 -1.16266014] [ 0.21882001 -0.1428858 0.96524684 -2.64418968] [ 0. 0. 0. 1. ]] SLAMing on 162.451346184 meters Centerline goodness : 0.893763 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.16, Z:-2.64 [[ 0.79043273 -0.55409579 -0.26113973 -2.59616944] [ 0.57204303 0.82017653 -0.00878774 -1.16306209] [ 0.21904993 -0.14243705 0.96526101 -2.6440496 ] [ 0. 0. 0. 1. ]] SLAMing on 162.481346184 meters Centerline goodness : 0.893204 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.64 [[ 0.7900587 -0.55405911 -0.26234663 -2.59362254] [ 0.57218731 0.82007574 -0.00880086 -1.16303523] [ 0.2200203 -0.14315822 0.96493357 -2.64324143] [ 0. 0. 0. 1. ]] SLAMing on 162.511346184 meters Centerline goodness : 0.896729 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.64 [[ 0.7887372 -0.55488582 -0.26456637 -2.59174461] [ 0.57358798 0.81910551 -0.00793698 -1.16332843] [ 0.22111188 -0.1454919 0.96433482 -2.64020548] [ 0. 0. 0. 1. ]] SLAMing on 162.541346184 meters Centerline goodness : 0.897938 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.64 [[ 0.78808902 -0.55533452 -0.26555466 -2.59127774] [ 0.57426427 0.81863379 -0.00769801 -1.16343696] [ 0.22166698 -0.14643184 0.96406507 -2.63830318] [ 0. 0. 0. 1. ]] SLAMing on 162.571346184 meters Centerline goodness : 0.891780 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.64 [[ 0.78739405 -0.55571927 -0.26680836 -2.59049641] [ 0.57494532 0.81815892 -0.00733921 -1.16353373] [ 0.22237018 -0.14762137 0.96372166 -2.63621135] [ 0. 0. 0. 1. ]] SLAMing on 162.601346184 meters Centerline goodness : 0.888542 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.64 [[ 0.78562417 -0.55871419 -0.26576893 -2.587737 ] [ 0.57725175 0.81650354 -0.01011852 -1.16421785] [ 0.22265464 -0.14546623 0.96398366 -2.63631233] [ 0. 0. 0. 1. ]] SLAMing on 162.631346184 meters Centerline goodness : 0.892179 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.64 [[ 0.78444639 -0.56114011 -0.26413186 -2.58674675] [ 0.57894021 0.81527227 -0.01262404 -1.16535326] [ 0.22242324 -0.14301367 0.96440396 -2.63622579] [ 0. 0. 0. 1. ]] SLAMing on 162.661346184 meters Centerline goodness : 0.891169 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.17, Z:-2.64 [[ 0.78335171 -0.56288096 -0.26367618 -2.5847106 ] [ 0.58025669 0.81430533 -0.01445673 -1.16569383] [ 0.22285033 -0.14167516 0.96450292 -2.63589699] [ 0. 0. 0. 1. ]] SLAMing on 162.691346184 meters Centerline goodness : 0.891169 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.17, Z:-2.64 [[ 0.78335171 -0.56288096 -0.26367618 -2.5847106 ] [ 0.58025669 0.81430533 -0.01445673 -1.16569383] [ 0.22285033 -0.14167516 0.96450292 -2.63589699] [ 0. 0. 0. 1. ]] SLAMing on 162.721346184 meters Centerline goodness : 0.890628 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.17, Z:-2.63 [[ 0.78218075 -0.56444972 -0.26379876 -2.58491205] [ 0.58178662 0.8132036 -0.01497449 -1.16667744] [ 0.22297445 -0.14176183 0.9644615 -2.63363621] [ 0. 0. 0. 1. ]] SLAMing on 162.751346184 meters Centerline goodness : 0.892531 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.78181906 -0.56444399 -0.26488099 -2.58501947] [ 0.58205393 0.81302069 -0.01451138 -1.16669482] [ 0.22354458 -0.14282975 0.96417191 -2.6315856 ] [ 0. 0. 0. 1. ]] SLAMing on 162.781346184 meters Centerline goodness : 0.892130 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.17, Z:-2.63 [[ 0.78176738 -0.56374717 -0.26651247 -2.58369901] [ 0.58173936 0.81325761 -0.01383361 -1.16595666] [ 0.22454195 -0.14422613 0.96373219 -2.63042406] [ 0. 0. 0. 1. ]] SLAMing on 162.811346184 meters Centerline goodness : 0.893444 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.78186847 -0.5650606 -0.26341642 -2.58576675] [ 0.58209772 0.81295896 -0.01612362 -1.16832997] [ 0.22325756 -0.14072755 0.96454747 -2.63087246] [ 0. 0. 0. 1. ]] SLAMing on 162.841346184 meters Centerline goodness : 0.894543 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.78158711 -0.56631936 -0.26154152 -2.58710195] [ 0.58264367 0.81252382 -0.0182043 -1.16929888] [ 0.22281817 -0.13815727 0.96502054 -2.63051603] [ 0. 0. 0. 1. ]] SLAMing on 162.871346184 meters Centerline goodness : 0.899399 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.78131701 -0.56673901 -0.26143953 -2.58667198] [ 0.58300141 0.81226097 -0.01847871 -1.16978199] [ 0.22282974 -0.13798188 0.96504296 -2.63014249] [ 0. 0. 0. 1. ]] SLAMing on 162.901346184 meters Centerline goodness : 0.898150 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.78089121 -0.56719591 -0.2617207 -2.58670928] [ 0.58349643 0.81190329 -0.0185732 -1.16996575] [ 0.22302654 -0.13820945 0.96496493 -2.62898449] [ 0. 0. 0. 1. ]] SLAMing on 162.931346184 meters Centerline goodness : 0.898793 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.63 [[ 0.7801374 -0.56765198 -0.26297693 -2.58721938] [ 0.58425785 0.81136523 -0.01814485 -1.16999703] [ 0.2236703 -0.13949086 0.96463148 -2.62592667] [ 0. 0. 0. 1. ]] SLAMing on 162.961346184 meters Centerline goodness : 0.900672 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.77965742 -0.5683704 -0.2628486 -2.58792622] [ 0.58487948 0.81090685 -0.01860321 -1.17032172] [ 0.22371924 -0.13923062 0.96465773 -2.62458047] [ 0. 0. 0. 1. ]] SLAMing on 162.99134618399998 meters Centerline goodness : 0.901210 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.77928511 -0.56895421 -0.26268959 -2.58855692] [ 0.58539017 0.810531 -0.01891654 -1.17167696] [ 0.2236807 -0.13903452 0.96469495 -2.62280867] [ 0. 0. 0. 1. ]] SLAMing on 163.02134618399998 meters Centerline goodness : 0.900450 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.7789328 -0.56901972 -0.26359107 -2.58693072] [ 0.58556813 0.81039987 -0.01902675 -1.17045922] [ 0.22444076 -0.13952997 0.96444685 -2.62260347] [ 0. 0. 0. 1. ]] SLAMing on 163.05134618399998 meters Centerline goodness : 0.899122 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.77844082 -0.56984265 -0.2632665 -2.58668119] [ 0.58613489 0.8099651 -0.02006078 -1.16952259] [ 0.22466816 -0.13869355 0.96451455 -2.62259268] [ 0. 0. 0. 1. ]] SLAMing on 163.08134618399998 meters Centerline goodness : 0.898468 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.77814813 -0.57035642 -0.26301907 -2.58677488] [ 0.58644574 0.8097198 -0.02086248 -1.16872995] [ 0.2248708 -0.13801232 0.96456504 -2.6224868 ] [ 0. 0. 0. 1. ]] SLAMing on 163.11134618399998 meters Centerline goodness : 0.900528 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.17, Z:-2.62 [[ 0.77793898 -0.57056033 -0.26319547 -2.58796535] [ 0.58645128 0.80968948 -0.02185976 -1.16658148] [ 0.22557892 -0.13734576 0.96449484 -2.62144286] [ 0. 0. 0. 1. ]] SLAMing on 163.14134618399999 meters Centerline goodness : 0.899030 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.62 [[ 0.7775243 -0.57039356 -0.26477755 -2.58594831] [ 0.58650416 0.80965015 -0.02189759 -1.16385857] [ 0.22686743 -0.13826723 0.96406086 -2.62122201] [ 0. 0. 0. 1. ]] SLAMing on 163.171346184 meters Centerline goodness : 0.901455 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.62 [[ 0.77711113 -0.57095442 -0.26478169 -2.58709204] [ 0.58693571 0.80931951 -0.02254793 -1.16216154] [ 0.22716683 -0.13788758 0.96404473 -2.62051379] [ 0. 0. 0. 1. ]] SLAMing on 163.201346184 meters Centerline goodness : 0.903844 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.62 [[ 0.77678716 -0.57115411 -0.26530115 -2.58808074] [ 0.58705862 0.80921089 -0.02323596 -1.16001143] [ 0.22795589 -0.13769793 0.96388557 -2.61922027] [ 0. 0. 0. 1. ]] SLAMing on 163.231346184 meters Centerline goodness : 0.901985 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.16, Z:-2.62 [[ 0.77669681 -0.57048239 -0.26700546 -2.5879209 ] [ 0.58661291 0.80953401 -0.02323744 -1.15547413] [ 0.22940655 -0.13858041 0.96341481 -2.61895901] [ 0. 0. 0. 1. ]] SLAMing on 163.261346184 meters Centerline goodness : 0.901059 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.15, Z:-2.62 [[ 0.77651913 -0.57101939 -0.26637359 -2.5892959 ] [ 0.58675524 0.80939078 -0.0245939 -1.15362735] [ 0.22964392 -0.13719847 0.96355604 -2.61882645] [ 0. 0. 0. 1. ]] SLAMing on 163.291346184 meters Centerline goodness : 0.900698 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.15, Z:-2.62 [[ 0.77651061 -0.57071486 -0.26705023 -2.58865294] [ 0.58644952 0.80960095 -0.0249654 -1.15161215] [ 0.23045224 -0.13722558 0.96335918 -2.61883125] [ 0. 0. 0. 1. ]] SLAMing on 163.321346184 meters Centerline goodness : 0.896566 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.15, Z:-2.62 [[ 0.77675485 -0.5702532 -0.26732599 -2.59206342] [ 0.58587026 0.81000217 -0.0255447 -1.14820569] [ 0.23110158 -0.13677638 0.9632675 -2.61723043] [ 0. 0. 0. 1. ]] SLAMing on 163.351346184 meters Centerline goodness : 0.889658 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.14, Z:-2.62 [[ 0.77722402 -0.56884937 -0.26894836 -2.59139063] [ 0.58480105 0.81079432 -0.02490596 -1.14457404] [ 0.23222954 -0.13792377 0.96283253 -2.61761028] [ 0. 0. 0. 1. ]] SLAMing on 163.381346184 meters Centerline goodness : 0.893383 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.14, Z:-2.62 [[ 0.77835382 -0.57231889 -0.25810158 -2.59164827] [ 0.58709432 0.80916939 -0.02377291 -1.13650866] [ 0.22245359 -0.13302623 0.96582526 -2.61786099] [ 0. 0. 0. 1. ]] SLAMing on 163.411346184 meters Centerline goodness : 0.891472 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.13, Z:-2.62 [[ 0.78069074 -0.56888001 -0.25864551 -2.59294411] [ 0.58359878 0.81169435 -0.0237643 -1.13206892] [ 0.22346014 -0.13239263 0.96567994 -2.61978013] [ 0. 0. 0. 1. ]] SLAMing on 163.441346184 meters Centerline goodness : 0.889701 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.13, Z:-2.62 [[ 0.78131235 -0.56755009 -0.25968808 -2.59224746] [ 0.5822773 0.81263179 -0.02413974 -1.12839098] [ 0.2247313 -0.1323498 0.96539079 -2.62053245] [ 0. 0. 0. 1. ]] SLAMing on 163.471346184 meters Centerline goodness : 0.889792 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.13, Z:-2.62 [[ 0.78182482 -0.56680847 -0.25976549 -2.59407239] [ 0.58133934 0.81328008 -0.02490139 -1.12603728] [ 0.22537641 -0.13154338 0.96535062 -2.62002919] [ 0. 0. 0. 1. ]] SLAMing on 163.501346184 meters Centerline goodness : 0.887870 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.12, Z:-2.62 [[ 0.78220963 -0.56542149 -0.26162308 -2.5939651 ] [ 0.58037256 0.81399739 -0.0239987 -1.12290228] [ 0.22652989 -0.13306684 0.96487172 -2.61949353] [ 0. 0. 0. 1. ]] SLAMing on 163.531346184 meters Centerline goodness : 0.891177 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.12, Z:-2.62 [[ 0.78293547 -0.56312907 -0.26438173 -2.59454811] [ 0.57865903 0.81524973 -0.02283871 -1.11765245] [ 0.22839828 -0.13510564 0.96414765 -2.61859642] [ 0. 0. 0. 1. ]] SLAMing on 163.561346184 meters Centerline goodness : 0.888994 Centerline is valid? [False, False] Translation: X:-2.60, Y:-1.12, Z:-2.62 [[ 0.78281599 -0.56303504 -0.26493523 -2.59554962] [ 0.57853627 0.81532426 -0.02328374 -1.11546091] [ 0.22911768 -0.13504776 0.96398506 -2.61757969] [ 0. 0. 0. 1. ]] SLAMing on 163.591346184 meters Centerline goodness : 0.892336 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.11, Z:-2.62 [[ 0.78232717 -0.5631306 -0.26617311 -2.59474392] [ 0.57870852 0.81518891 -0.023738 -1.1129362 ] [ 0.23034896 -0.13546576 0.96363291 -2.61659375] [ 0. 0. 0. 1. ]] SLAMing on 163.621346184 meters Centerline goodness : 0.891747 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.11, Z:-2.62 [[ 0.78084169 -0.56414769 -0.26837221 -2.59172923] [ 0.57981226 0.81436946 -0.02490224 -1.10652488] [ 0.23260267 -0.13616079 0.96299337 -2.61680961] [ 0. 0. 0. 1. ]] SLAMing on 163.651346184 meters Centerline goodness : 0.887772 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.10, Z:-2.62 [[ 0.77988915 -0.57024012 -0.25806804 -2.58970675] [ 0.58454259 0.81096403 -0.02544212 -1.09695681] [ 0.22379202 -0.13100973 0.96579169 -2.61623011] [ 0. 0. 0. 1. ]] SLAMing on 163.681346184 meters Centerline goodness : 0.888698 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.09, Z:-2.62 [[ 0.77871647 -0.57105367 -0.25980447 -2.58688555] [ 0.58539712 0.81031475 -0.02646157 -1.09228618] [ 0.22563437 -0.13148273 0.96529862 -2.61630549] [ 0. 0. 0. 1. ]] SLAMing on 163.711346184 meters Centerline goodness : 0.884554 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.09, Z:-2.62 [[ 0.77772362 -0.57215021 -0.26036534 -2.58708063] [ 0.58611855 0.80972075 -0.02858926 -1.08644963] [ 0.22718057 -0.13037041 0.96508681 -2.61618315] [ 0. 0. 0. 1. ]] SLAMing on 163.74134618399998 meters Centerline goodness : 0.883123 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.08, Z:-2.62 [[ 0.77763648 -0.57208481 -0.26076901 -2.58608156] [ 0.58587325 0.80986265 -0.02958061 -1.08305771] [ 0.2281097 -0.12977462 0.96494793 -2.61714003] [ 0. 0. 0. 1. ]] SLAMing on 163.77134618399998 meters Centerline goodness : 0.884577 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.08, Z:-2.62 [[ 0.77785372 -0.57169054 -0.26098567 -2.58614917] [ 0.58526931 0.81026421 -0.03052457 -1.08046189] [ 0.22891795 -0.12900325 0.96485996 -2.617384 ] [ 0. 0. 0. 1. ]] SLAMing on 163.80134618399998 meters Centerline goodness : 0.883659 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.08, Z:-2.62 [[ 0.77775325 -0.57116325 -0.26243556 -2.58608215] [ 0.58485466 0.8105528 -0.03080894 -1.07706307] [ 0.23031481 -0.12952491 0.96445756 -2.6164302 ] [ 0. 0. 0. 1. ]] SLAMing on 163.83134618399998 meters Centerline goodness : 0.883784 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.07, Z:-2.61 [[ 0.77806345 -0.56885772 -0.26649232 -2.58693882] [ 0.58346465 0.81162112 -0.02898553 -1.07171057] [ 0.23277944 -0.13293627 0.9634011 -2.6134444 ] [ 0. 0. 0. 1. ]] SLAMing on 163.86134618399998 meters Centerline goodness : 0.884242 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.07, Z:-2.61 [[ 0.77786276 -0.56818974 -0.26849569 -2.58682364] [ 0.58326522 0.81179452 -0.02813089 -1.06886839] [ 0.23394701 -0.13472222 0.96287004 -2.61208291] [ 0. 0. 0. 1. ]] SLAMing on 163.89134618399999 meters Centerline goodness : 0.885271 Centerline is valid? [False, False] Translation: X:-2.59, Y:-1.07, Z:-2.61 [[ 0.77720683 -0.56837146 -0.27000634 -2.58635629] [ 0.58361382 0.81153502 -0.02838707 -1.06632573] [ 0.235254 -0.13551681 0.96244 -2.6105546 ] [ 0. 0. 0. 1. ]] SLAMing on 163.921346184 meters Centerline goodness : 0.881709 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.06, Z:-2.61 [[ 0.77521932 -0.57013914 -0.27198597 -2.58499678] [ 0.58543971 0.81017319 -0.02966061 -1.06237214] [ 0.23726642 -0.13623791 0.961844 -2.60813815] [ 0. 0. 0. 1. ]] SLAMing on 163.951346184 meters Centerline goodness : 0.880117 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.06, Z:-2.61 [[ 0.7740532 -0.57152109 -0.27240649 -2.58479442] [ 0.58675636 0.80919156 -0.03043028 -1.06120937] [ 0.23782058 -0.13628159 0.96170094 -2.60674228] [ 0. 0. 0. 1. ]] SLAMing on 163.981346184 meters Centerline goodness : 0.881185 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.06, Z:-2.61 [[ 0.77280483 -0.57292619 -0.27299867 -2.5843295 ] [ 0.58801596 0.80823065 -0.03162993 -1.05943344] [ 0.2387675 -0.13608381 0.96149429 -2.60512173] [ 0. 0. 0. 1. ]] SLAMing on 164.011346184 meters Centerline goodness : 0.880408 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.06, Z:-2.60 [[ 0.77118126 -0.57496169 -0.27331029 -2.58367483] [ 0.58979068 0.80687177 -0.03324004 -1.05694546] [ 0.23963811 -0.13556176 0.96135144 -2.60419929] [ 0. 0. 0. 1. ]] SLAMing on 164.041346184 meters Centerline goodness : 0.875051 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.05, Z:-2.60 [[ 0.76860793 -0.57779875 -0.27457323 -2.58238688] [ 0.59237723 0.80487758 -0.03551485 -1.05203004] [ 0.24151827 -0.13535393 0.96091011 -2.60247876] [ 0. 0. 0. 1. ]] SLAMing on 164.071346184 meters Centerline goodness : 0.874997 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.05, Z:-2.60 [[ 0.76820113 -0.5779942 -0.27529934 -2.58143418] [ 0.59246893 0.80477105 -0.03638838 -1.04958623] [ 0.24258521 -0.13515271 0.96066964 -2.60212809] [ 0. 0. 0. 1. ]] SLAMing on 164.101346184 meters Centerline goodness : 0.876058 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.05, Z:-2.60 [[ 0.76811764 -0.57772542 -0.27609531 -2.57978952] [ 0.59210087 0.80500512 -0.03719296 -1.04656925] [ 0.24374545 -0.13490771 0.96041036 -2.60262046] [ 0. 0. 0. 1. ]] SLAMing on 164.131346184 meters Centerline goodness : 0.874419 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.04, Z:-2.60 [[ 0.76875625 -0.5767697 -0.27631601 -2.57894439] [ 0.59091779 0.80583473 -0.03803367 -1.04459347] [ 0.2446017 -0.13404143 0.96031396 -2.60327885] [ 0. 0. 0. 1. ]] SLAMing on 164.161346184 meters Centerline goodness : 0.874322 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.04, Z:-2.60 [[ 0.76995008 -0.57510867 -0.27645412 -2.57908725] [ 0.58918898 0.80709817 -0.03806436 -1.04348481] [ 0.24501676 -0.13357606 0.96027299 -2.60378249] [ 0. 0. 0. 1. ]] SLAMing on 164.191346184 meters Centerline goodness : 0.872882 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.04, Z:-2.60 [[ 0.77233694 -0.57037087 -0.27959385 -2.5797869 ] [ 0.58537033 0.80999348 -0.03538545 -1.04146859] [ 0.24665202 -0.13633646 0.95946607 -2.60209637] [ 0. 0. 0. 1. ]] SLAMing on 164.221346184 meters Centerline goodness : 0.875784 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.04, Z:-2.60 [[ 0.77286801 -0.56851043 -0.2819059 -2.57913271] [ 0.58403409 0.81100224 -0.0343447 -1.03889408] [ 0.24815163 -0.13809873 0.95882715 -2.60093946] [ 0. 0. 0. 1. ]] SLAMing on 164.251346184 meters Centerline goodness : 0.872496 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.03, Z:-2.60 [[ 0.7737121 -0.57228209 -0.2717771 -2.57928563] [ 0.58679074 0.80906061 -0.03312936 -1.03174963] [ 0.23884348 -0.1338437 0.96178982 -2.59949277] [ 0. 0. 0. 1. ]] SLAMing on 164.281346184 meters Centerline goodness : 0.872360 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.03, Z:-2.60 [[ 0.77384293 -0.57184964 -0.27231437 -2.57952742] [ 0.58617475 0.80946669 -0.03410049 -1.02879395] [ 0.23992976 -0.13323539 0.96160389 -2.59887442] [ 0. 0. 0. 1. ]] SLAMing on 164.311346184 meters Centerline goodness : 0.872244 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.03, Z:-2.60 [[ 0.77320987 -0.57282728 -0.27205772 -2.57896397] [ 0.58671762 0.80899665 -0.0358729 -1.02705916] [ 0.24064275 -0.13188378 0.96161205 -2.59847128] [ 0. 0. 0. 1. ]] SLAMing on 164.341346184 meters Centerline goodness : 0.870208 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.03, Z:-2.60 [[ 0.7725035 -0.57395469 -0.27168798 -2.57755599] [ 0.58732833 0.80845937 -0.0379327 -1.02538987] [ 0.24142034 -0.13026691 0.96163754 -2.5984929 ] [ 0. 0. 0. 1. ]] SLAMing on 164.371346184 meters Centerline goodness : 0.869089 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.60 [[ 0.77186194 -0.57509165 -0.27110651 -2.57638157] [ 0.58793386 0.80792277 -0.03993216 -1.02416202] [ 0.24199777 -0.12857058 0.96172069 -2.59851644] [ 0. 0. 0. 1. ]] SLAMing on 164.401346184 meters Centerline goodness : 0.870310 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.60 [[ 0.77162134 -0.57552057 -0.2708811 -2.57622911] [ 0.58791793 0.8078475 -0.04165235 -1.02249593] [ 0.24280241 -0.12711602 0.96171124 -2.59784038] [ 0. 0. 0. 1. ]] SLAMing on 164.431346184 meters Centerline goodness : 0.872535 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.60 [[ 0.77172329 -0.57501494 -0.27166335 -2.57662882] [ 0.58742624 0.80819068 -0.04193133 -1.0214196 ] [ 0.24366693 -0.1272228 0.96147844 -2.59626057] [ 0. 0. 0. 1. ]] SLAMing on 164.461346184 meters Centerline goodness : 0.870418 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.59 [[ 0.77178093 -0.57414313 -0.27333838 -2.57571427] [ 0.58673604 0.80868988 -0.04197015 -1.01910636] [ 0.24514285 -0.12798572 0.96100189 -2.59494848] [ 0. 0. 0. 1. ]] SLAMing on 164.49134618399998 meters Centerline goodness : 0.870724 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.59 [[ 0.77195432 -0.57328978 -0.27463678 -2.57513765] [ 0.5860228 0.80920677 -0.0419723 -1.01763759] [ 0.24630023 -0.12854272 0.96063154 -2.59366901] [ 0. 0. 0. 1. ]] SLAMing on 164.52134618399998 meters Centerline goodness : 0.869023 Centerline is valid? [False, False] Translation: X:-2.58, Y:-1.02, Z:-2.59 [[ 0.77241849 -0.57219263 -0.27561797 -2.57565225] [ 0.5851722 0.80985445 -0.04134318 -1.01715098] [ 0.2468667 -0.12934974 0.96037778 -2.59237327] [ 0. 0. 0. 1. ]] SLAMing on 164.55134618399998 meters Centerline goodness : 0.870069 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.02, Z:-2.59 [[ 0.77204566 -0.57234598 -0.27634323 -2.57349835] [ 0.58526034 0.80975577 -0.04202295 -1.01607004] [ 0.24782219 -0.1292891 0.96013983 -2.59216822] [ 0. 0. 0. 1. ]] SLAMing on 164.58134618399998 meters Centerline goodness : 0.870069 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.02, Z:-2.59 [[ 0.77204566 -0.57234598 -0.27634323 -2.57349835] [ 0.58526034 0.80975577 -0.04202295 -1.01607004] [ 0.24782219 -0.1292891 0.96013983 -2.59216822] [ 0. 0. 0. 1. ]] SLAMing on 164.61134618399998 meters Centerline goodness : 0.869057 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.02, Z:-2.59 [[ 0.77155695 -0.57334593 -0.27563438 -2.57271358] [ 0.58592446 0.80921726 -0.04312719 -1.01641932] [ 0.2477749 -0.12822584 0.96029461 -2.59221079] [ 0. 0. 0. 1. ]] SLAMing on 164.64134618399999 meters Centerline goodness : 0.868058 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.02, Z:-2.59 [[ 0.76981615 -0.57588114 -0.27521628 -2.57201934] [ 0.58801154 0.80759326 -0.04511705 -1.0156887 ] [ 0.24824487 -0.12709852 0.9603231 -2.59088417] [ 0. 0. 0. 1. ]] SLAMing on 164.671346184 meters Centerline goodness : 0.868916 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.59 [[ 0.76857464 -0.57701798 -0.27630288 -2.57140872] [ 0.58919296 0.80669636 -0.04574523 -1.01480344] [ 0.24928835 -0.12763709 0.9599813 -2.58854817] [ 0. 0. 0. 1. ]] SLAMing on 164.701346184 meters Centerline goodness : 0.867847 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.59 [[ 0.7674615 -0.57804329 -0.27725223 -2.56969836] [ 0.59017198 0.80592975 -0.04662909 -1.01353221] [ 0.25039945 -0.12784047 0.95966501 -2.58706913] [ 0. 0. 0. 1. ]] SLAMing on 164.731346184 meters Centerline goodness : 0.870406 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.59 [[ 0.76706715 -0.57989652 -0.2744595 -2.57013594] [ 0.59092694 0.80519126 -0.04972307 -1.0144167 ] [ 0.24982663 -0.12404458 0.96031224 -2.5874632 ] [ 0. 0. 0. 1. ]] SLAMing on 164.761346184 meters Centerline goodness : 0.872454 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.59 [[ 0.76711861 -0.5795729 -0.27499871 -2.56913987] [ 0.59052832 0.80545224 -0.05022942 -1.01340375] [ 0.25060994 -0.12386261 0.96013161 -2.58693909] [ 0. 0. 0. 1. ]] SLAMing on 164.791346184 meters Centerline goodness : 0.869647 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.59 [[ 0.76772995 -0.5834105 -0.26499607 -2.56788006] [ 0.59349726 0.8033332 -0.04916074 -1.00672163] [ 0.24156103 -0.11953227 0.96299549 -2.58551341] [ 0. 0. 0. 1. ]] SLAMing on 164.821346184 meters Centerline goodness : 0.869042 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.01, Z:-2.58 [[ 0.76862839 -0.58160954 -0.26634703 -2.56774284] [ 0.59196971 0.80450318 -0.04844056 -1.00606337] [ 0.24245053 -0.12043658 0.96265922 -2.58454408] [ 0. 0. 0. 1. ]] SLAMing on 164.851346184 meters Centerline goodness : 0.870806 Centerline is valid? [False, False] Translation: X:-2.57, Y:-1.00, Z:-2.58 [[ 0.76873694 -0.58081745 -0.26775848 -2.56532913] [ 0.59132998 0.80497449 -0.04842434 -1.00464064] [ 0.24366445 -0.12110804 0.9622684 -2.58440907] [ 0. 0. 0. 1. ]] SLAMing on 164.881346184 meters Centerline goodness : 0.868535 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.76861662 -0.580967 -0.26777945 -2.56428506] [ 0.59124593 0.8049779 -0.04938447 -1.00452616] [ 0.24424728 -0.12036578 0.96221377 -2.5838798 ] [ 0. 0. 0. 1. ]] SLAMing on 164.911346184 meters Centerline goodness : 0.866639 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.59 [[ 0.76850224 -0.58138194 -0.26720656 -2.56167694] [ 0.59132756 0.80484996 -0.05048035 -1.00488287] [ 0.24440955 -0.11921234 0.96231616 -2.5852707 ] [ 0. 0. 0. 1. ]] SLAMing on 164.941346184 meters Centerline goodness : 0.865802 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.76790655 -0.58152018 -0.26861461 -2.5595598 ] [ 0.59154817 0.80466126 -0.05090206 -1.00326019] [ 0.24574435 -0.11981046 0.96190185 -2.58436524] [ 0. 0. 0. 1. ]] SLAMing on 164.971346184 meters Centerline goodness : 0.867454 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.7677096 -0.581354 -0.2695357 -2.558581 ] [ 0.59141419 0.80473986 -0.0512154 -1.00266387] [ 0.2466804 -0.12008868 0.96162752 -2.58314343] [ 0. 0. 0. 1. ]] SLAMing on 165.001346184 meters Centerline goodness : 0.867262 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.76760607 -0.58131017 -0.26992481 -2.55798178] [ 0.59128863 0.80479963 -0.05172353 -1.00250929] [ 0.2473028 -0.11990017 0.96149117 -2.58225248] [ 0. 0. 0. 1. ]] SLAMing on 165.031346184 meters Centerline goodness : 0.869187 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.76757577 -0.58234404 -0.26777391 -2.55822656] [ 0.59158338 0.80445258 -0.0537136 -1.00417627] [ 0.24669121 -0.11718133 0.96198336 -2.58272727] [ 0. 0. 0. 1. ]] SLAMing on 165.061346184 meters Centerline goodness : 0.866564 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.00, Z:-2.58 [[ 0.76719516 -0.58338163 -0.26660357 -2.55804067] [ 0.59197619 0.8040184 -0.05584435 -1.00480118] [ 0.24693274 -0.11497945 0.96218706 -2.58210533] [ 0. 0. 0. 1. ]] SLAMing on 165.091346184 meters Centerline goodness : 0.865548 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.01, Z:-2.58 [[ 0.76682657 -0.58411354 -0.26606088 -2.55662274] [ 0.59236453 0.80364723 -0.05705599 -1.0051268 ] [ 0.24714627 -0.11385298 0.96226619 -2.58231751] [ 0. 0. 0. 1. ]] SLAMing on 165.121346184 meters Centerline goodness : 0.869987 Centerline is valid? [False, False] Translation: X:-2.56, Y:-1.01, Z:-2.58 [[ 0.76539703 -0.58647079 -0.26498943 -2.55584636] [ 0.59413039 0.80218096 -0.05928564 -1.00657713] [ 0.24733877 -0.11206122 0.96242704 -2.58088471] [ 0. 0. 0. 1. ]] SLAMing on 165.151346184 meters Centerline goodness : 0.868777 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.76482561 -0.58663574 -0.26627108 -2.55418269] [ 0.59448947 0.80192321 -0.05917292 -1.00632142] [ 0.24824191 -0.11303839 0.96208018 -2.57964925] [ 0. 0. 0. 1. ]] SLAMing on 165.181346184 meters Centerline goodness : 0.869758 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.7645342 -0.58669791 -0.26697005 -2.55353246] [ 0.59463852 0.80181199 -0.05918244 -1.00686198] [ 0.24878201 -0.11350367 0.96188587 -2.5782227 ] [ 0. 0. 0. 1. ]] SLAMing on 165.211346184 meters Centerline goodness : 0.872723 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.76503245 -0.58631594 -0.26638125 -2.55340453] [ 0.59416852 0.80216127 -0.05916987 -1.00942195] [ 0.24837296 -0.11300849 0.96204987 -2.57766516] [ 0. 0. 0. 1. ]] SLAMing on 165.24134618399998 meters Centerline goodness : 0.873084 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.7648913 -0.58633104 -0.26675309 -2.55171669] [ 0.59406538 0.80219041 -0.05980698 -1.00910157] [ 0.24905346 -0.11272294 0.96190744 -2.57752835] [ 0. 0. 0. 1. ]] SLAMing on 165.27134618399998 meters Centerline goodness : 0.873381 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.764943 -0.58684266 -0.26547672 -2.55236265] [ 0.59410211 0.80206292 -0.06113713 -1.01068827] [ 0.24880691 -0.11095386 0.96217689 -2.57685259] [ 0. 0. 0. 1. ]] SLAMing on 165.30134618399998 meters Centerline goodness : 0.872816 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.58 [[ 0.7646992 -0.58725932 -0.26525767 -2.55175016] [ 0.5942917 0.80185691 -0.06199089 -1.01085533] [ 0.24910343 -0.11023605 0.96218267 -2.57636495] [ 0. 0. 0. 1. ]] SLAMing on 165.33134618399998 meters Centerline goodness : 0.874901 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.76424526 -0.58719532 -0.26670367 -2.55167523] [ 0.59457105 0.80170067 -0.0613294 -1.01141645] [ 0.24982885 -0.11170358 0.96182527 -2.57380037] [ 0. 0. 0. 1. ]] SLAMing on 165.36134618399998 meters Centerline goodness : 0.874520 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.76351345 -0.58749452 -0.2681369 -2.55017714] [ 0.59506209 0.80133673 -0.06132328 -1.01057371] [ 0.25089504 -0.11273696 0.96142709 -2.57234513] [ 0. 0. 0. 1. ]] SLAMing on 165.39134618399999 meters Centerline goodness : 0.872130 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.76289878 -0.58849482 -0.26769255 -2.54931947] [ 0.59583697 0.8006956 -0.06216799 -1.01066992] [ 0.25092578 -0.11207323 0.96149667 -2.57237694] [ 0. 0. 0. 1. ]] SLAMing on 165.421346184 meters Centerline goodness : 0.873445 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.76177332 -0.59090775 -0.26557378 -2.54942498] [ 0.59742227 0.79930298 -0.06481807 -1.01134654] [ 0.25057541 -0.10928301 0.96190914 -2.57233135] [ 0. 0. 0. 1. ]] SLAMing on 165.451346184 meters Centerline goodness : 0.872035 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.75953492 -0.59470106 -0.26350969 -2.54918207] [ 0.60043151 0.79681271 -0.06761294 -1.01343924] [ 0.25017736 -0.10686513 0.96228433 -2.57093421] [ 0. 0. 0. 1. ]] SLAMing on 165.481346184 meters Centerline goodness : 0.874288 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.75802319 -0.5961688 -0.26454415 -2.54739752] [ 0.60197524 0.79560866 -0.06806375 -1.01282737] [ 0.2510511 -0.10765513 0.96196867 -2.56942811] [ 0. 0. 0. 1. ]] SLAMing on 165.511346184 meters Centerline goodness : 0.871134 Centerline is valid? [False, False] Translation: X:-2.55, Y:-1.01, Z:-2.57 [[ 0.75693177 -0.59734423 -0.26501728 -2.54559818] [ 0.60310343 0.79470066 -0.06868121 -1.01296556] [ 0.25163574 -0.10784584 0.96179454 -2.56831999] [ 0. 0. 0. 1. ]] SLAMing on 165.541346184 meters Centerline goodness : 0.873219 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.01, Z:-2.57 [[ 0.7561796 -0.59832008 -0.26496318 -2.54460283] [ 0.60400947 0.79397505 -0.06910991 -1.01432697] [ 0.251724 -0.10778077 0.96177873 -2.56732901] [ 0. 0. 0. 1. ]] SLAMing on 165.571346184 meters Centerline goodness : 0.875678 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.57 [[ 0.75537426 -0.59937861 -0.26486792 -2.54298286] [ 0.60505182 0.79316171 -0.06933111 -1.0178866 ] [ 0.25163867 -0.10788788 0.96178905 -2.56558205] [ 0. 0. 0. 1. ]] SLAMing on 165.601346184 meters Centerline goodness : 0.876755 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.56 [[ 0.75485906 -0.60011177 -0.26467653 -2.54224701] [ 0.60567981 0.79264223 -0.06978722 -1.01956289] [ 0.25167393 -0.10762971 0.96180875 -2.56454961] [ 0. 0. 0. 1. ]] SLAMing on 165.631346184 meters Centerline goodness : 0.876659 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.56 [[ 0.75454417 -0.6006281 -0.26440306 -2.54180637] [ 0.60610975 0.79228648 -0.07009355 -1.02144404] [ 0.25158313 -0.10736859 0.96186169 -2.56358199] [ 0. 0. 0. 1. ]] SLAMing on 165.661346184 meters Centerline goodness : 0.878203 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75496103 -0.60056936 -0.26334444 -2.54192258] [ 0.60590235 0.7924376 -0.07017835 -1.02528443] [ 0.250831 -0.10657909 0.96214589 -2.56307095] [ 0. 0. 0. 1. ]] SLAMing on 165.691346184 meters Centerline goodness : 0.880360 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.56 [[ 0.75499834 -0.59960842 -0.26541902 -2.53865117] [ 0.60540075 0.79290959 -0.06916878 -1.02429633] [ 0.25192747 -0.10846255 0.96164881 -2.56298354] [ 0. 0. 0. 1. ]] SLAMing on 165.721346184 meters Centerline goodness : 0.881540 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.56 [[ 0.75513981 -0.59915396 -0.2660421 -2.5385391 ] [ 0.60506353 0.7931889 -0.06891656 -1.02466273] [ 0.25231327 -0.10893073 0.96149473 -2.56198243] [ 0. 0. 0. 1. ]] SLAMing on 165.751346184 meters Centerline goodness : 0.880012 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.02, Z:-2.56 [[ 0.75529425 -0.59899601 -0.26595934 -2.53810519] [ 0.60479044 0.79336484 -0.0692874 -1.02481259] [ 0.25250566 -0.10851729 0.96149097 -2.56192562] [ 0. 0. 0. 1. ]] SLAMing on 165.781346184 meters Centerline goodness : 0.882702 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.7572281 -0.60155777 -0.25442849 -2.54068721] [ 0.60461454 0.79294598 -0.075352 -1.02638378] [ 0.24707664 -0.09677251 0.96415155 -2.55889053] [ 0. 0. 0. 1. ]] SLAMing on 165.811346184 meters Centerline goodness : 0.882010 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75711832 -0.60207263 -0.25353579 -2.5409884 ] [ 0.60488708 0.79267351 -0.07602843 -1.02768431] [ 0.24674574 -0.095798 0.96433359 -2.55870801] [ 0. 0. 0. 1. ]] SLAMing on 165.841346184 meters Centerline goodness : 0.883876 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75707384 -0.60188916 -0.2541036 -2.53997713] [ 0.60476543 0.79277055 -0.07598445 -1.02790701] [ 0.24718007 -0.09614724 0.9641876 -2.55815698] [ 0. 0. 0. 1. ]] SLAMing on 165.871346184 meters Centerline goodness : 0.885551 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75652074 -0.6023421 -0.254677 -2.53895454] [ 0.60529549 0.79236429 -0.07600129 -1.02808433] [ 0.24757573 -0.09665829 0.96403497 -2.55726319] [ 0. 0. 0. 1. ]] SLAMing on 165.901346184 meters Centerline goodness : 0.884098 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75573797 -0.60327856 -0.25478442 -2.53680577] [ 0.6061741 0.79164979 -0.07644326 -1.02910481] [ 0.24781661 -0.09667264 0.96397164 -2.55696391] [ 0. 0. 0. 1. ]] SLAMing on 165.931346184 meters Centerline goodness : 0.886351 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75516347 -0.60406196 -0.25463165 -2.53628091] [ 0.60684163 0.79108651 -0.07697645 -1.02909099] [ 0.24793421 -0.09639129 0.96396958 -2.55670314] [ 0. 0. 0. 1. ]] SLAMing on 165.961346184 meters Centerline goodness : 0.892346 Centerline is valid? [False, False] Translation: X:-2.54, Y:-1.03, Z:-2.56 [[ 0.75465109 -0.60477866 -0.2544494 -2.53523942] [ 0.60743397 0.79057883 -0.07751836 -1.02960315] [ 0.24804376 -0.09606189 0.96397428 -2.55646243] [ 0. 0. 0. 1. ]] SLAMing on 165.99134618399998 meters Centerline goodness : 0.892518 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.03, Z:-2.56 [[ 0.75397276 -0.60643855 -0.25250222 -2.53497744] [ 0.60859142 0.78954155 -0.07899762 -1.03355233] [ 0.24726819 -0.09410863 0.96436612 -2.55575424] [ 0. 0. 0. 1. ]] SLAMing on 166.02134618399998 meters Centerline goodness : 0.892705 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.03, Z:-2.56 [[ 0.75391922 -0.60610646 -0.25345762 -2.5329609 ] [ 0.60850416 0.78967184 -0.07836504 -1.0341332 ] [ 0.2476459 -0.09514911 0.96416708 -2.55548958] [ 0. 0. 0. 1. ]] SLAMing on 166.05134618399998 meters Centerline goodness : 0.890771 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.03, Z:-2.55 [[ 0.75372401 -0.60575137 -0.25488311 -2.53097888] [ 0.60841149 0.78979358 -0.07785605 -1.03387545] [ 0.24846645 -0.09639183 0.96383247 -2.55468386] [ 0. 0. 0. 1. ]] SLAMing on 166.08134618399998 meters Centerline goodness : 0.890392 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.03, Z:-2.55 [[ 0.7536982 -0.60566659 -0.25516076 -2.53086922] [ 0.60840966 0.78981707 -0.07763165 -1.03487918] [ 0.24854922 -0.09673143 0.96377711 -2.55377005] [ 0. 0. 0. 1. ]] SLAMing on 166.11134618399998 meters Centerline goodness : 0.893919 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.04, Z:-2.55 [[ 0.75382528 -0.6061607 -0.25360729 -2.53047336] [ 0.60853554 0.78963184 -0.07852421 -1.03775693] [ 0.24785468 -0.09513551 0.96411477 -2.55406801] [ 0. 0. 0. 1. ]] SLAMing on 166.14134618399999 meters Centerline goodness : 0.892872 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.04, Z:-2.55 [[ 0.75295671 -0.60744757 -0.25310798 -2.52906959] [ 0.60951758 0.78875133 -0.07974752 -1.03780391] [ 0.24808169 -0.09422733 0.96414557 -2.55409341] [ 0. 0. 0. 1. ]] SLAMing on 166.171346184 meters Centerline goodness : 0.893920 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.04, Z:-2.55 [[ 0.75235912 -0.60840503 -0.25258479 -2.52721912] [ 0.61028603 0.78808535 -0.08045154 -1.03824296] [ 0.2480055 -0.09362052 0.96422429 -2.55484829] [ 0. 0. 0. 1. ]] SLAMing on 166.201346184 meters Centerline goodness : 0.896177 Centerline is valid? [False, False] Translation: X:-2.53, Y:-1.04, Z:-2.56 [[ 0.75085643 -0.61088239 -0.25107235 -2.5250143 ] [ 0.6122644 0.78636259 -0.08225673 -1.03936216] [ 0.24768309 -0.09195967 0.96446695 -2.55561081] [ 0. 0. 0. 1. ]] SLAMing on 166.231346184 meters Centerline goodness : 0.891346 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.56 [[ 0.75034451 -0.61116289 -0.25191874 -2.52211927] [ 0.61268293 0.78605274 -0.08210184 -1.039229 ] [ 0.24819901 -0.09274164 0.96425942 -2.55585086] [ 0. 0. 0. 1. ]] SLAMing on 166.261346184 meters Centerline goodness : 0.895003 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.56 [[ 0.75000892 -0.61091896 -0.25350472 -2.51886087] [ 0.61277445 0.78605637 -0.0813809 -1.038641 ] [ 0.24898613 -0.09430482 0.96390482 -2.55585751] [ 0. 0. 0. 1. ]] SLAMing on 166.291346184 meters Centerline goodness : 0.894827 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.55 [[ 0.74953445 -0.61174 -0.25292742 -2.51944201] [ 0.6135223 0.78545131 -0.08158819 -1.04116342] [ 0.24857293 -0.09402346 0.96403894 -2.55443641] [ 0. 0. 0. 1. ]] SLAMing on 166.321346184 meters Centerline goodness : 0.895360 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.56 [[ 0.74973883 -0.61151118 -0.25287498 -2.51794398] [ 0.61333036 0.7856226 -0.08138181 -1.04174052] [ 0.24843018 -0.0940808 0.96407015 -2.55535748] [ 0. 0. 0. 1. ]] SLAMing on 166.351346184 meters Centerline goodness : 0.895878 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.56 [[ 0.75006361 -0.6114424 -0.25207693 -2.51738798] [ 0.6131143 0.78576596 -0.08162546 -1.04317813] [ 0.24798274 -0.09332768 0.96425853 -2.55607578] [ 0. 0. 0. 1. ]] SLAMing on 166.381346184 meters Centerline goodness : 0.894643 Centerline is valid? [False, False] Translation: X:-2.52, Y:-1.04, Z:-2.56 [[ 0.75089661 -0.61050321 -0.2518732 -2.51582857] [ 0.61229915 0.78647746 -0.08088854 -1.04480546] [ 0.24747531 -0.09348282 0.96437386 -2.5574577 ] [ 0. 0. 0. 1. ]] SLAMing on 166.411346184 meters Centerline goodness : 0.895555 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.05, Z:-2.56 [[ 0.75070565 -0.61061104 -0.25218086 -2.51455988] [ 0.61242934 0.78637046 -0.08094316 -1.04514752] [ 0.24773236 -0.09367847 0.96428887 -2.55728327] [ 0. 0. 0. 1. ]] SLAMing on 166.441346184 meters Centerline goodness : 0.895276 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.04, Z:-2.56 [[ 0.75082711 -0.61010194 -0.25304993 -2.51186752] [ 0.61211285 0.78666791 -0.08044536 -1.04464865] [ 0.24814613 -0.09449456 0.96410283 -2.55817597] [ 0. 0. 0. 1. ]] SLAMing on 166.471346184 meters Centerline goodness : 0.891881 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.05, Z:-2.56 [[ 0.75152543 -0.60998843 -0.25124418 -2.51231984] [ 0.61153686 0.78700613 -0.08151086 -1.04775628] [ 0.2474514 -0.09238759 0.96448553 -2.55840144] [ 0. 0. 0. 1. ]] SLAMing on 166.501346184 meters Centerline goodness : 0.891881 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.05, Z:-2.56 [[ 0.75152543 -0.60998843 -0.25124418 -2.51231984] [ 0.61153686 0.78700613 -0.08151086 -1.04775628] [ 0.2474514 -0.09238759 0.96448553 -2.55840144] [ 0. 0. 0. 1. ]] SLAMing on 166.531346184 meters Centerline goodness : 0.891116 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.05, Z:-2.56 [[ 0.75161128 -0.60935431 -0.25252288 -2.50854862] [ 0.61122994 0.78733592 -0.08062326 -1.04707871] [ 0.24794846 -0.09375219 0.96422616 -2.55975683] [ 0. 0. 0. 1. ]] SLAMing on 166.561346184 meters Centerline goodness : 0.890740 Centerline is valid? [False, False] Translation: X:-2.51, Y:-1.05, Z:-2.56 [[ 0.75182555 -0.60889707 -0.25298754 -2.50604882] [ 0.61094568 0.78761492 -0.08005076 -1.04752621] [ 0.24799944 -0.09437744 0.96415205 -2.56082124] [ 0. 0. 0. 1. ]] SLAMing on 166.591346184 meters Centerline goodness : 0.892507 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.05, Z:-2.56 [[ 0.75178129 -0.60876697 -0.2534318 -2.50405377] [ 0.61099065 0.78763341 -0.07952381 -1.04804849] [ 0.24802282 -0.09505995 0.96407898 -2.5612778 ] [ 0. 0. 0. 1. ]] SLAMing on 166.621346184 meters Centerline goodness : 0.890164 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.05, Z:-2.56 [[ 0.7519402 -0.60789538 -0.25504734 -2.50128986] [ 0.61056381 0.78808793 -0.07828955 -1.0495441 ] [ 0.24859159 -0.09685362 0.96375391 -2.56059153] [ 0. 0. 0. 1. ]] SLAMing on 166.651346184 meters Centerline goodness : 0.889802 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.05, Z:-2.56 [[ 0.75194775 -0.6071438 -0.25680925 -2.49830565] [ 0.61020102 0.78845971 -0.07736926 -1.04946357] [ 0.24945802 -0.09852762 0.96336027 -2.56012108] [ 0. 0. 0. 1. ]] SLAMing on 166.681346184 meters Centerline goodness : 0.890167 Centerline is valid? [False, False] Translation: X:-2.50, Y:-1.05, Z:-2.56 [[ 0.75159087 -0.60717851 -0.25777008 -2.49649791] [ 0.61046231 0.78830321 -0.07690137 -1.04993372] [ 0.24989384 -0.09956055 0.96314109 -2.5594108 ] [ 0. 0. 0. 1. ]] SLAMing on 166.711346184 meters Centerline goodness : 0.891871 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.04, Z:-2.56 [[ 0.75075963 -0.6095552 -0.25456322 -2.48424458] [ 0.61372165 0.78618344 -0.07253508 -1.0414703 ] [ 0.24434752 -0.10177455 0.96433201 -2.56043554] [ 0. 0. 0. 1. ]] SLAMing on 166.74134618399998 meters Centerline goodness : 0.892638 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.04, Z:-2.56 [[ 0.74991671 -0.61133745 -0.25276758 -2.48342509] [ 0.61509357 0.78500107 -0.07371039 -1.04429517] [ 0.24348474 -0.10019907 0.96471515 -2.56063077] [ 0. 0. 0. 1. ]] SLAMing on 166.77134618399998 meters Centerline goodness : 0.890293 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.04, Z:-2.56 [[ 0.74973726 -0.61131443 -0.25335491 -2.48034316] [ 0.61517587 0.78495231 -0.07354272 -1.04421065] [ 0.24382925 -0.1007201 0.96457387 -2.56162761] [ 0. 0. 0. 1. ]] SLAMing on 166.80134618399998 meters Centerline goodness : 0.890936 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.05, Z:-2.56 [[ 0.74923615 -0.61164269 -0.25404412 -2.47699905] [ 0.61576059 0.7845547 -0.07288913 -1.04537924] [ 0.24389361 -0.10181919 0.9644422 -2.56211451] [ 0. 0. 0. 1. ]] SLAMing on 166.83134618399998 meters Centerline goodness : 0.891102 Centerline is valid? [False, False] Translation: X:-2.48, Y:-1.05, Z:-2.56 [[ 0.74870031 -0.61215693 -0.25438501 -2.476979 ] [ 0.61641565 0.78406902 -0.07257775 -1.04629896] [ 0.24388438 -0.10246792 0.96437583 -2.56074293] [ 0. 0. 0. 1. ]] SLAMing on 166.86134618399998 meters Centerline goodness : 0.890851 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.05, Z:-2.56 [[ 0.74829784 -0.61204877 -0.25582542 -2.47429754] [ 0.6167136 0.78392532 -0.07159208 -1.04613115] [ 0.24436587 -0.10419881 0.96406842 -2.56056392] [ 0. 0. 0. 1. ]] SLAMing on 166.89134618399999 meters Centerline goodness : 0.889562 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.05, Z:-2.56 [[ 0.74761242 -0.61252852 -0.25667971 -2.47089362] [ 0.61739584 0.78341772 -0.07126741 -1.04597703] [ 0.24474075 -0.10519259 0.96386539 -2.56111883] [ 0. 0. 0. 1. ]] SLAMing on 166.921346184 meters Centerline goodness : 0.888519 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.05, Z:-2.56 [[ 0.74554627 -0.61616656 -0.25396758 -2.47051316] [ 0.62027898 0.780909 -0.07372332 -1.04873259] [ 0.24375141 -0.1025666 0.96439895 -2.5608119 ] [ 0. 0. 0. 1. ]] SLAMing on 166.951346184 meters Centerline goodness : 0.888015 Centerline is valid? [False, False] Translation: X:-2.47, Y:-1.05, Z:-2.56 [[ 0.74492416 -0.61643909 -0.25512907 -2.4662231 ] [ 0.62075728 0.78055219 -0.0734757 -1.04773225] [ 0.24443485 -0.1036394 0.96411124 -2.56182191] [ 0. 0. 0. 1. ]] SLAMing on 166.981346184 meters Centerline goodness : 0.889292 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.05, Z:-2.56 [[ 0.74420034 -0.61727045 -0.25523135 -2.46439523] [ 0.62158418 0.7798731 -0.07369574 -1.04788303] [ 0.24453826 -0.10380337 0.96406737 -2.56200043] [ 0. 0. 0. 1. ]] SLAMing on 167.011346184 meters Centerline goodness : 0.889188 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.05, Z:-2.56 [[ 0.74199953 -0.62006332 -0.25486895 -2.46083343] [ 0.62419059 0.7776833 -0.07479831 -1.04858056] [ 0.24458701 -0.10358649 0.96407833 -2.5620938 ] [ 0. 0. 0. 1. ]] SLAMing on 167.041346184 meters Centerline goodness : 0.887007 Centerline is valid? [False, False] Translation: X:-2.46, Y:-1.05, Z:-2.56 [[ 0.74052991 -0.62129892 -0.25613101 -2.45665652] [ 0.62567863 0.77650538 -0.07460329 -1.04763849] [ 0.24523805 -0.10500974 0.96375892 -2.56229941] [ 0. 0. 0. 1. ]] SLAMing on 167.071346184 meters Centerline goodness : 0.887705 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.05, Z:-2.56 [[ 0.73899882 -0.62270698 -0.25713179 -2.45355628] [ 0.6272718 0.77521949 -0.07459782 -1.04710429] [ 0.24578616 -0.10616382 0.96349282 -2.56188271] [ 0. 0. 0. 1. ]] SLAMing on 167.101346184 meters Centerline goodness : 0.887619 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.05, Z:-2.56 [[ 0.73646467 -0.62522627 -0.25828646 -2.45047369] [ 0.63013834 0.77292458 -0.0742514 -1.04713762] [ 0.24605988 -0.10807267 0.96321069 -2.56047706] [ 0. 0. 0. 1. ]] SLAMing on 167.131346184 meters Centerline goodness : 0.887311 Centerline is valid? [False, False] Translation: X:-2.45, Y:-1.05, Z:-2.56 [[ 0.73576788 -0.6257476 -0.25900883 -2.44757276] [ 0.63085447 0.77237152 -0.07392477 -1.0465732 ] [ 0.24630929 -0.10900541 0.96304182 -2.56112619] [ 0. 0. 0. 1. ]] SLAMing on 167.161346184 meters Centerline goodness : 0.888229 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.05, Z:-2.56 [[ 0.73551224 -0.62560713 -0.26007203 -2.44315317] [ 0.63098176 0.77232256 -0.07334772 -1.04609192] [ 0.24674635 -0.11015256 0.96279938 -2.562554 ] [ 0. 0. 0. 1. ]] SLAMing on 167.191346184 meters Centerline goodness : 0.886743 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.05, Z:-2.56 [[ 0.73545225 -0.62565796 -0.26011941 -2.44058755] [ 0.63113 0.7722344 -0.07299961 -1.04658705] [ 0.24654594 -0.11048143 0.96281304 -2.56389218] [ 0. 0. 0. 1. ]] SLAMing on 167.221346184 meters Centerline goodness : 0.888048 Centerline is valid? [False, False] Translation: X:-2.44, Y:-1.05, Z:-2.57 [[ 0.73573639 -0.62477934 -0.26142444 -2.43685874] [ 0.63059623 0.77275482 -0.07209983 -1.04558735] [ 0.24706348 -0.1118068 0.96252734 -2.56535666] [ 0. 0. 0. 1. ]] SLAMing on 167.251346184 meters Centerline goodness : 0.887816 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.04, Z:-2.57 [[ 0.73610122 -0.62369076 -0.26299206 -2.43418915] [ 0.62988035 0.77342316 -0.07118535 -1.04316148] [ 0.2478018 -0.11325391 0.96216829 -2.56658377] [ 0. 0. 0. 1. ]] SLAMing on 167.281346184 meters Centerline goodness : 0.891676 Centerline is valid? [False, False] Translation: X:-2.43, Y:-1.04, Z:-2.57 [[ 0.73641453 -0.62243547 -0.26508059 -2.4312437 ] [ 0.62916455 0.77412653 -0.0698576 -1.04063299] [ 0.24868776 -0.11533516 0.96169236 -2.56753672] [ 0. 0. 0. 1. ]] SLAMing on 167.311346184 meters Centerline goodness : 0.886145 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.03, Z:-2.57 [[ 0.7362075 -0.62386593 -0.26227814 -2.42118697] [ 0.63235595 0.77220875 -0.06180288 -1.03243941] [ 0.24109019 -0.1203534 0.9630112 -2.57402621] [ 0. 0. 0. 1. ]] SLAMing on 167.341346184 meters Centerline goodness : 0.888526 Centerline is valid? [False, False] Translation: X:-2.42, Y:-1.03, Z:-2.58 [[ 0.73601947 -0.62381814 -0.26291874 -2.41781015] [ 0.63243079 0.77216047 -0.06164012 -1.03093528] [ 0.24146768 -0.12090958 0.96284694 -2.57594225] [ 0. 0. 0. 1. ]] SLAMing on 167.371346184 meters Centerline goodness : 0.887870 Centerline is valid? [False, False] Translation: X:-2.41, Y:-1.03, Z:-2.58 [[ 0.73591987 -0.62338653 -0.26421806 -2.41466808] [ 0.63234061 0.77229451 -0.06088144 -1.02974015] [ 0.24200683 -0.12227195 0.96253949 -2.57677371] [ 0. 0. 0. 1. ]] SLAMing on 167.401346184 meters Centerline goodness : 0.886763 Centerline is valid? [False, False] Translation: X:-2.41, Y:-1.03, Z:-2.58 [[ 0.73563416 -0.62344597 -0.26487263 -2.41331149] [ 0.63261458 0.77210882 -0.06038839 -1.02902472] [ 0.24215939 -0.12313853 0.96239063 -2.57698725] [ 0. 0. 0. 1. ]] SLAMing on 167.431346184 meters Centerline goodness : 0.885680 Centerline is valid? [False, False] Translation: X:-2.41, Y:-1.03, Z:-2.58 [[ 0.73503774 -0.62357794 -0.26621435 -2.41000034] [ 0.6330233 0.77180131 -0.06003531 -1.02668261] [ 0.24290128 -0.12439167 0.96204245 -2.57789312] [ 0. 0. 0. 1. ]] SLAMing on 167.461346184 meters Centerline goodness : 0.885039 Centerline is valid? [False, False] Translation: X:-2.41, Y:-1.03, Z:-2.58 [[ 0.73496126 -0.62354943 -0.26649213 -2.40795772] [ 0.6330527 0.77178384 -0.05994986 -1.0252018 ] [ 0.24305602 -0.12464274 0.96197087 -2.5794076 ] [ 0. 0. 0. 1. ]] SLAMing on 167.49134618399998 meters Centerline goodness : 0.882790 Centerline is valid? [False, False] Translation: X:-2.41, Y:-1.02, Z:-2.58 [[ 0.73499218 -0.62337014 -0.26682609 -2.40545485] [ 0.63289531 0.77190843 -0.06000747 -1.02372862] [ 0.24337218 -0.12476796 0.9618747 -2.58107759] [ 0. 0. 0. 1. ]] SLAMing on 167.52134618399998 meters Centerline goodness : 0.885497 Centerline is valid? [False, False] Translation: X:-2.40, Y:-1.02, Z:-2.58 [[ 0.73523434 -0.62359658 -0.26562713 -2.40405243] [ 0.63283416 0.77191641 -0.06054741 -1.02419201] [ 0.2427991 -0.12358138 0.96217267 -2.583321 ] [ 0. 0. 0. 1. ]] SLAMing on 167.55134618399998 meters Centerline goodness : 0.884791 Centerline is valid? [False, False] Translation: X:-2.40, Y:-1.02, Z:-2.58 [[ 0.73549599 -0.62284935 -0.26665397 -2.40100156] [ 0.63239991 0.77233732 -0.05971111 -1.0236917 ] [ 0.24313784 -0.12471466 0.96194087 -2.5844065 ] [ 0. 0. 0. 1. ]] SLAMing on 167.58134618399998 meters Centerline goodness : 0.883458 Centerline is valid? [False, False] Translation: X:-2.40, Y:-1.02, Z:-2.58 [[ 0.73558938 -0.62218375 -0.2679471 -2.39822048] [ 0.63208725 0.77265671 -0.05888393 -1.02278061] [ 0.24366774 -0.12605155 0.96163249 -2.58499709] [ 0. 0. 0. 1. ]] SLAMing on 167.61134618399998 meters Centerline goodness : 0.884393 Centerline is valid? [False, False] Translation: X:-2.39, Y:-1.02, Z:-2.58 [[ 0.73495003 -0.62177808 -0.27062979 -2.39376806] [ 0.63244589 0.7724848 -0.05726638 -1.02136322] [ 0.24466438 -0.12907077 0.96097871 -2.58486617] [ 0. 0. 0. 1. ]] SLAMing on 167.64134618399999 meters Centerline goodness : 0.883249 Centerline is valid? [False, False] Translation: X:-2.39, Y:-1.02, Z:-2.59 [[ 0.73429948 -0.62178873 -0.27236565 -2.39003786] [ 0.63289827 0.77217032 -0.05650466 -1.01972505] [ 0.24544664 -0.1308884 0.96053328 -2.58521452] [ 0. 0. 0. 1. ]] SLAMing on 167.671346184 meters Centerline goodness : 0.885463 Centerline is valid? [False, False] Translation: X:-2.39, Y:-1.02, Z:-2.59 [[ 0.73356806 -0.62206303 -0.27370692 -2.38642912] [ 0.63351893 0.77170072 -0.05596217 -1.01790839] [ 0.24603183 -0.13234646 0.96018371 -2.58606117] [ 0. 0. 0. 1. ]] SLAMing on 167.701346184 meters Centerline goodness : 0.882286 Centerline is valid? [False, False] Translation: X:-2.38, Y:-1.02, Z:-2.59 [[ 0.73149325 -0.62499879 -0.2725695 -2.38279169] [ 0.63591814 0.76957306 -0.05801238 -1.01684133] [ 0.24601981 -0.13089622 0.96038556 -2.58772293] [ 0. 0. 0. 1. ]] SLAMing on 167.731346184 meters Centerline goodness : 0.881288 Centerline is valid? [False, False] Translation: X:-2.38, Y:-1.02, Z:-2.59 [[ 0.73059056 -0.62572229 -0.27332957 -2.37855439] [ 0.63675335 0.76887172 -0.05815025 -1.01540384] [ 0.24654128 -0.1315595 0.96016118 -2.58906742] [ 0. 0. 0. 1. ]] SLAMing on 167.761346184 meters Centerline goodness : 0.881649 Centerline is valid? [False, False] Translation: X:-2.37, Y:-1.01, Z:-2.59 [[ 0.72956134 -0.6265737 -0.27412706 -2.37482991] [ 0.63771665 0.7680587 -0.05833782 -1.0135456 ] [ 0.24709862 -0.13225437 0.95992242 -2.59013145] [ 0. 0. 0. 1. ]] SLAMing on 167.791346184 meters Centerline goodness : 0.880785 Centerline is valid? [False, False] Translation: X:-2.36, Y:-1.01, Z:-2.60 [[ 0.72845985 -0.62931392 -0.27075864 -2.36452899] [ 0.64184446 0.76510606 -0.05146272 -1.00575641] [ 0.23954528 -0.1362964 0.96127069 -2.59618562] [ 0. 0. 0. 1. ]] SLAMing on 167.821346184 meters Centerline goodness : 0.878721 Centerline is valid? [False, False] Translation: X:-2.36, Y:-1.00, Z:-2.60 [[ 0.72717487 -0.6300788 -0.27242873 -2.36060531] [ 0.64295982 0.76418553 -0.05121661 -1.00344905] [ 0.2404566 -0.13791729 0.96081187 -2.59648414] [ 0. 0. 0. 1. ]] SLAMing on 167.851346184 meters Centerline goodness : 0.882534 Centerline is valid? [False, False] Translation: X:-2.36, Y:-1.00, Z:-2.60 [[ 0.72669631 -0.63006663 -0.27373073 -2.35844416] [ 0.64324757 0.76397082 -0.050805 -1.00115743] [ 0.24113282 -0.13915682 0.96046361 -2.59686132] [ 0. 0. 0. 1. ]] SLAMing on 167.881346184 meters Centerline goodness : 0.880948 Centerline is valid? [False, False] Translation: X:-2.36, Y:-1.00, Z:-2.60 [[ 0.72665408 -0.62914464 -0.27595447 -2.35501708] [ 0.64293121 0.76431838 -0.04956697 -0.99819482] [ 0.24210187 -0.1414017 0.95989179 -2.5978695 ] [ 0. 0. 0. 1. ]] SLAMing on 167.911346184 meters Centerline goodness : 0.880924 Centerline is valid? [False, False] Translation: X:-2.35, Y:-1.00, Z:-2.60 [[ 0.72675066 -0.62857054 -0.27700642 -2.35262848] [ 0.64256411 0.76464579 -0.04927658 -0.99575951] [ 0.24278559 -0.1421826 0.9596037 -2.59917741] [ 0. 0. 0. 1. ]] SLAMing on 167.941346184 meters Centerline goodness : 0.879312 Centerline is valid? [False, False] Translation: X:-2.35, Y:-1.00, Z:-2.60 [[ 0.7266672 -0.62894748 -0.27636904 -2.35079187] [ 0.64270449 0.7644875 -0.04989783 -0.99501454] [ 0.2426638 -0.14136451 0.95975536 -2.60120405] [ 0. 0. 0. 1. ]] SLAMing on 167.971346184 meters Centerline goodness : 0.876575 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.99, Z:-2.60 [[ 0.72642513 -0.62881568 -0.27730376 -2.34838945] [ 0.64281675 0.76442023 -0.04948071 -0.99373678] [ 0.24309085 -0.14231147 0.95950731 -2.60192626] [ 0. 0. 0. 1. ]] SLAMing on 168.001346184 meters Centerline goodness : 0.878248 Centerline is valid? [False, False] Translation: X:-2.35, Y:-0.99, Z:-2.60 [[ 0.72601658 -0.6287 -0.2786328 -2.34642991] [ 0.64305549 0.76425796 -0.04888163 -0.99184994] [ 0.24367921 -0.14368747 0.95915293 -2.60210418] [ 0. 0. 0. 1. ]] SLAMing on 168.031346184 meters Centerline goodness : 0.877906 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.98, Z:-2.61 [[ 0.72448594 -0.6327572 -0.27338334 -2.33957304] [ 0.64834265 0.76022172 -0.04140941 -0.98359611] [ 0.23403405 -0.14724555 0.96101343 -2.6071925 ] [ 0. 0. 0. 1. ]] SLAMing on 168.061346184 meters Centerline goodness : 0.874055 Centerline is valid? [False, False] Translation: X:-2.34, Y:-0.98, Z:-2.61 [[ 0.7241226 -0.63253022 -0.27486721 -2.33644979] [ 0.64849484 0.76012528 -0.04079223 -0.98187865] [ 0.23473583 -0.14871139 0.96061648 -2.60775935] [ 0. 0. 0. 1. ]] SLAMing on 168.091346184 meters Centerline goodness : 0.876680 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.98, Z:-2.61 [[ 0.72384803 -0.6322578 -0.27621387 -2.33383215] [ 0.64856125 0.76009749 -0.04025062 -0.98011028] [ 0.23539824 -0.15000629 0.96025298 -2.60828492] [ 0. 0. 0. 1. ]] SLAMing on 168.121346184 meters Centerline goodness : 0.876250 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.98, Z:-2.61 [[ 0.72354291 -0.63197163 -0.27766439 -2.33126987] [ 0.64862597 0.76006929 -0.03973684 -0.97793863] [ 0.23615673 -0.15134903 0.95985596 -2.608862 ] [ 0. 0. 0. 1. ]] SLAMing on 168.151346184 meters Centerline goodness : 0.878248 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.98, Z:-2.61 [[ 0.72354454 -0.63148433 -0.27876665 -2.32853075] [ 0.64844153 0.76025703 -0.03915127 -0.97666455] [ 0.23665772 -0.15243619 0.95956049 -2.60993405] [ 0. 0. 0. 1. ]] SLAMing on 168.181346184 meters Centerline goodness : 0.878340 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.98, Z:-2.61 [[ 0.72366827 -0.63108835 -0.27934158 -2.32722999] [ 0.64825171 0.76044586 -0.03862415 -0.97663215] [ 0.2367994 -0.15313258 0.95941464 -2.6101728 ] [ 0. 0. 0. 1. ]] SLAMing on 168.211346184 meters Centerline goodness : 0.876355 Centerline is valid? [False, False] Translation: X:-2.33, Y:-0.98, Z:-2.61 [[ 0.72361258 -0.6306913 -0.28038069 -2.32544257] [ 0.64819859 0.76052963 -0.03785841 -0.97586721] [ 0.23711479 -0.15434755 0.95914202 -2.61041361] [ 0. 0. 0. 1. ]] SLAMing on 168.24134618399998 meters Centerline goodness : 0.876446 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.72336848 -0.63021415 -0.28207829 -2.32253404] [ 0.64819798 0.76057231 -0.03700195 -0.9742552 ] [ 0.23786009 -0.15607653 0.95867758 -2.61069627] [ 0. 0. 0. 1. ]] SLAMing on 168.27134618399998 meters Centerline goodness : 0.876543 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.7231934 -0.62999687 -0.28301104 -2.32088068] [ 0.64827142 0.76053726 -0.03643136 -0.97287661] [ 0.23819209 -0.15712105 0.95842449 -2.61122185] [ 0. 0. 0. 1. ]] SLAMing on 168.30134618399998 meters Centerline goodness : 0.875144 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.72350423 -0.6292549 -0.283866 -2.3191603 ] [ 0.64773744 0.76101097 -0.03603498 -0.97150648] [ 0.23870032 -0.15779917 0.95818661 -2.61209998] [ 0. 0. 0. 1. ]] SLAMing on 168.33134618399998 meters Centerline goodness : 0.874940 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.7240625 -0.62825977 -0.28464567 -2.31859026] [ 0.64696643 0.76169297 -0.03547189 -0.96938183] [ 0.23909817 -0.15847233 0.9579763 -2.61323792] [ 0. 0. 0. 1. ]] SLAMing on 168.36134618399998 meters Centerline goodness : 0.877530 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.72395803 -0.62753938 -0.28649448 -2.31607963] [ 0.646737 0.76192548 -0.03465266 -0.96621554] [ 0.24003335 -0.16019951 0.95745501 -2.61408474] [ 0. 0. 0. 1. ]] SLAMing on 168.39134618399999 meters Centerline goodness : 0.877530 Centerline is valid? [False, False] Translation: X:-2.32, Y:-0.97, Z:-2.61 [[ 0.72395803 -0.62753938 -0.28649448 -2.31607963] [ 0.646737 0.76192548 -0.03465266 -0.96621554] [ 0.24003335 -0.16019951 0.95745501 -2.61408474] [ 0. 0. 0. 1. ]] SLAMing on 168.421346184 meters Centerline goodness : 0.876428 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.62 [[ 0.72397088 -0.62729588 -0.28699485 -2.31470665] [ 0.64656631 0.76206987 -0.03466304 -0.96402501] [ 0.2404541 -0.16046617 0.95730478 -2.61529918] [ 0. 0. 0. 1. ]] SLAMing on 168.451346184 meters Centerline goodness : 0.879834 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.62 [[ 0.72410639 -0.6270128 -0.28727145 -2.31378486] [ 0.64630407 0.76228992 -0.03471502 -0.96265995] [ 0.24075089 -0.16052734 0.95721992 -2.61616035] [ 0. 0. 0. 1. ]] SLAMing on 168.481346184 meters Centerline goodness : 0.878656 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.96, Z:-2.62 [[ 0.7234264 -0.62784703 -0.28716259 -2.31454206] [ 0.64700765 0.76166441 -0.03533303 -0.96064103] [ 0.24090526 -0.16023555 0.95722998 -2.61603963] [ 0. 0. 0. 1. ]] SLAMing on 168.511346184 meters Centerline goodness : 0.877182 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.95, Z:-2.62 [[ 0.72302088 -0.63098423 -0.28124669 -2.30710242] [ 0.65101643 0.75854001 -0.02818988 -0.95315912] [ 0.23112424 -0.16271434 0.95922137 -2.62279677] [ 0. 0. 0. 1. ]] SLAMing on 168.541346184 meters Centerline goodness : 0.875349 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.95, Z:-2.62 [[ 0.72233021 -0.63168777 -0.28144207 -2.30611217] [ 0.65168248 0.75795124 -0.02863319 -0.95185326] [ 0.2314066 -0.16272825 0.95915093 -2.6230136 ] [ 0. 0. 0. 1. ]] SLAMing on 168.571346184 meters Centerline goodness : 0.875295 Centerline is valid? [False, False] Translation: X:-2.31, Y:-0.95, Z:-2.62 [[ 0.72182604 -0.63195214 -0.2821412 -2.30520192] [ 0.65209996 0.75759449 -0.02856983 -0.95032808] [ 0.23180338 -0.16336182 0.9589474 -2.62296252] [ 0. 0. 0. 1. ]] SLAMing on 168.601346184 meters Centerline goodness : 0.875046 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.95, Z:-2.62 [[ 0.72182293 -0.63160876 -0.28291701 -2.30384337] [ 0.65191823 0.75775704 -0.02840571 -0.94831937] [ 0.23232366 -0.16393486 0.95872367 -2.62383067] [ 0. 0. 0. 1. ]] SLAMing on 168.631346184 meters Centerline goodness : 0.874159 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.95, Z:-2.63 [[ 0.72188354 -0.63120553 -0.28366129 -2.30146454] [ 0.65167591 0.75797271 -0.02821127 -0.94656377] [ 0.23281463 -0.16448998 0.95850947 -2.62522931] [ 0. 0. 0. 1. ]] SLAMing on 168.661346184 meters Centerline goodness : 0.875557 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.95, Z:-2.63 [[ 0.72181281 -0.63120376 -0.28384519 -2.30117871] [ 0.65163699 0.75799537 -0.02850003 -0.94535624] [ 0.23314266 -0.16439234 0.95844648 -2.62544153] [ 0. 0. 0. 1. ]] SLAMing on 168.691346184 meters Centerline goodness : 0.877235 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.94, Z:-2.63 [[ 0.722093 -0.63015159 -0.28546571 -2.29875307] [ 0.65104708 0.75853576 -0.02758989 -0.94291586] [ 0.23392176 -0.16592915 0.95799172 -2.62663643] [ 0. 0. 0. 1. ]] SLAMing on 168.721346184 meters Centerline goodness : 0.878728 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.94, Z:-2.63 [[ 0.72205702 -0.62942975 -0.28714429 -2.29560386] [ 0.65074743 0.75881515 -0.02696931 -0.94024517] [ 0.23486473 -0.16738503 0.9575076 -2.62770884] [ 0. 0. 0. 1. ]] SLAMing on 168.751346184 meters Centerline goodness : 0.877056 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.94, Z:-2.63 [[ 0.72142951 -0.62959005 -0.28836754 -2.2937756 ] [ 0.6511759 0.75845247 -0.02682902 -0.93762856] [ 0.23560436 -0.16842275 0.95714386 -2.62798622] [ 0. 0. 0. 1. ]] SLAMing on 168.781346184 meters Centerline goodness : 0.878564 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.93, Z:-2.63 [[ 0.72070904 -0.629788 -0.2897336 -2.29181779] [ 0.65167997 0.75802544 -0.02665785 -0.93477156] [ 0.23641423 -0.16960103 0.95673601 -2.62820909] [ 0. 0. 0. 1. ]] SLAMing on 168.811346184 meters Centerline goodness : 0.879216 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.93, Z:-2.63 [[ 0.71936047 -0.63120389 -0.29000373 -2.28905458] [ 0.65294782 0.7568941 -0.02775706 -0.93121584] [ 0.23702248 -0.16938997 0.9566229 -2.62993591] [ 0. 0. 0. 1. ]] SLAMing on 168.841346184 meters Centerline goodness : 0.878538 Centerline is valid? [False, False] Translation: X:-2.29, Y:-0.93, Z:-2.63 [[ 0.71907159 -0.63143939 -0.29020741 -2.28651046] [ 0.65311686 0.75673084 -0.02822767 -0.92917233] [ 0.23743296 -0.16924164 0.95654736 -2.63178866] [ 0. 0. 0. 1. ]] SLAMing on 168.871346184 meters Centerline goodness : 0.877768 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.93, Z:-2.63 [[ 0.71915542 -0.63114985 -0.29062922 -2.28495304] [ 0.65290488 0.75691586 -0.02817076 -0.92734801] [ 0.23776184 -0.16949408 0.95642097 -2.63319172] [ 0. 0. 0. 1. ]] SLAMing on 168.901346184 meters Centerline goodness : 0.878152 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.92, Z:-2.63 [[ 0.72007996 -0.63422151 -0.28151009 -2.28194501] [ 0.6552867 0.75497523 -0.02473341 -0.91868955] [ 0.2282196 -0.16665978 0.95923945 -2.63405092] [ 0. 0. 0. 1. ]] SLAMing on 168.931346184 meters Centerline goodness : 0.876668 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.92, Z:-2.63 [[ 0.72105879 -0.63150334 -0.28509253 -2.28079962] [ 0.65373556 0.75640154 -0.02205715 -0.91557775] [ 0.22957359 -0.17047062 0.95824618 -2.63362411] [ 0. 0. 0. 1. ]] SLAMing on 168.96134618399998 meters Centerline goodness : 0.876517 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.91, Z:-2.63 [[ 0.72164937 -0.62928766 -0.28847743 -2.27698783] [ 0.65261352 0.75743454 -0.01971063 -0.91278619] [ 0.23090643 -0.1740401 0.9572838 -2.63425921] [ 0. 0. 0. 1. ]] SLAMing on 168.99134618399998 meters Centerline goodness : 0.876133 Centerline is valid? [False, False] Translation: X:-2.28, Y:-0.91, Z:-2.64 [[ 0.7226962 -0.6330565 -0.27739804 -2.27549052] [ 0.65517976 0.75528752 -0.0167404 -0.90589178] [ 0.2201129 -0.16964736 0.96060923 -2.63625354] [ 0. 0. 0. 1. ]] SLAMing on 169.02134618399998 meters Centerline goodness : 0.874713 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.90, Z:-2.64 [[ 0.72253231 -0.63257395 -0.27892161 -2.27283149] [ 0.65508104 0.75538485 -0.0162037 -0.90308613] [ 0.22094319 -0.17100856 0.96017716 -2.6373972 ] [ 0. 0. 0. 1. ]] SLAMing on 169.05134618399998 meters Centerline goodness : 0.878386 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.90, Z:-2.64 [[ 0.72261347 -0.63195394 -0.28011424 -2.26998079] [ 0.6547449 0.75568444 -0.01581594 -0.90090127] [ 0.22167292 -0.17197456 0.95983638 -2.63878261] [ 0. 0. 0. 1. ]] SLAMing on 169.08134618399998 meters Centerline goodness : 0.875378 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.90, Z:-2.64 [[ 0.7224086 -0.63223892 -0.27999958 -2.26938331] [ 0.65491035 0.75553084 -0.01629694 -0.89954164] [ 0.22185188 -0.17160158 0.95986178 -2.6395775 ] [ 0. 0. 0. 1. ]] SLAMing on 169.11134618399998 meters Centerline goodness : 0.876192 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.90, Z:-2.64 [[ 0.72254326 -0.63195892 -0.28028406 -2.26785024] [ 0.65467881 0.75573223 -0.01626195 -0.89790206] [ 0.22209658 -0.17174607 0.95977935 -2.64107075] [ 0. 0. 0. 1. ]] SLAMing on 169.14134618399999 meters Centerline goodness : 0.876018 Centerline is valid? [False, False] Translation: X:-2.27, Y:-0.90, Z:-2.64 [[ 0.72323925 -0.62987656 -0.28316163 -2.26607945] [ 0.65352665 0.75677063 -0.01418257 -0.89500046] [ 0.22322167 -0.17479628 0.95896733 -2.64153374] [ 0. 0. 0. 1. ]] SLAMing on 169.171346184 meters Centerline goodness : 0.879537 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.89, Z:-2.64 [[ 0.72327056 -0.62895258 -0.28512866 -2.26424624] [ 0.65317595 0.75709182 -0.0131587 -0.89223679] [ 0.22414478 -0.17672188 0.95839892 -2.64194364] [ 0. 0. 0. 1. ]] SLAMing on 169.201346184 meters Centerline goodness : 0.879333 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.89, Z:-2.64 [[ 0.72315434 -0.62882851 -0.28569652 -2.2634085 ] [ 0.65315735 0.75710798 -0.01315213 -0.89019963] [ 0.22457355 -0.17709376 0.95822989 -2.64262207] [ 0. 0. 0. 1. ]] SLAMing on 169.231346184 meters Centerline goodness : 0.881832 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.89, Z:-2.64 [[ 0.72303979 -0.62893772 -0.28574604 -2.26338028] [ 0.65322284 0.75704711 -0.01340132 -0.88799195] [ 0.22475181 -0.17696616 0.95821167 -2.64376223] [ 0. 0. 0. 1. ]] SLAMing on 169.261346184 meters Centerline goodness : 0.882706 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.89, Z:-2.64 [[ 0.72270064 -0.62942537 -0.28553018 -2.26326414] [ 0.65353182 0.75676801 -0.01408301 -0.88628087] [ 0.22494431 -0.17642526 0.95826624 -2.64444568] [ 0. 0. 0. 1. ]] SLAMing on 169.291346184 meters Centerline goodness : 0.878382 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72215184 -0.63018179 -0.28525013 -2.26283607] [ 0.65410041 0.75626282 -0.01480539 -0.88460183] [ 0.22505416 -0.17589048 0.95833875 -2.6452517 ] [ 0. 0. 0. 1. ]] SLAMing on 169.321346184 meters Centerline goodness : 0.881408 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72162887 -0.63120199 -0.28431641 -2.26439666] [ 0.65467733 0.75573618 -0.01613736 -0.88250606] [ 0.22505413 -0.17449032 0.95859468 -2.64560368] [ 0. 0. 0. 1. ]] SLAMing on 169.351346184 meters Centerline goodness : 0.879157 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72145512 -0.63089844 -0.28542893 -2.26288943] [ 0.65468377 0.75574059 -0.01566276 -0.88080628] [ 0.22559184 -0.17556571 0.95827188 -2.64594087] [ 0. 0. 0. 1. ]] SLAMing on 169.381346184 meters Centerline goodness : 0.878868 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72097927 -0.63139932 -0.28552371 -2.2635388 ] [ 0.65512287 0.75535072 -0.01610348 -0.87934074] [ 0.22583826 -0.17544283 0.95823634 -2.64554691] [ 0. 0. 0. 1. ]] SLAMing on 169.411346184 meters Centerline goodness : 0.883155 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72087696 -0.63087317 -0.28694153 -2.26264682] [ 0.65500917 0.75546384 -0.01540677 -0.87650259] [ 0.22649367 -0.17684295 0.95782419 -2.64609651] [ 0. 0. 0. 1. ]] SLAMing on 169.441346184 meters Centerline goodness : 0.881378 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.7206578 -0.63132419 -0.28649972 -2.26269732] [ 0.65527383 0.75522353 -0.01592561 -0.87595593] [ 0.22642556 -0.17625885 0.95794795 -2.64647546] [ 0. 0. 0. 1. ]] SLAMing on 169.471346184 meters Centerline goodness : 0.878935 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72042097 -0.6318927 -0.28584128 -2.26233821] [ 0.65556796 0.75495224 -0.01666628 -0.87594842] [ 0.22632782 -0.17538165 0.95813204 -2.64686854] [ 0. 0. 0. 1. ]] SLAMing on 169.501346184 meters Centerline goodness : 0.877653 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72003829 -0.63254556 -0.28536112 -2.26149616] [ 0.65608194 0.75449823 -0.01699735 -0.87651921] [ 0.22605606 -0.17498153 0.95826934 -2.64717772] [ 0. 0. 0. 1. ]] SLAMing on 169.531346184 meters Centerline goodness : 0.880369 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.71997205 -0.632343 -0.28597653 -2.26207902] [ 0.65613207 0.75446817 -0.01638567 -0.87692046] [ 0.22612155 -0.17584115 0.95809651 -2.64576591] [ 0. 0. 0. 1. ]] SLAMing on 169.561346184 meters Centerline goodness : 0.880511 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72023385 -0.6314901 -0.28719934 -2.26074924] [ 0.65571587 0.75485141 -0.01536365 -0.87681399] [ 0.22649482 -0.17725574 0.95774762 -2.64548483] [ 0. 0. 0. 1. ]] SLAMing on 169.591346184 meters Centerline goodness : 0.880556 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72095469 -0.63117029 -0.28609158 -2.26080231] [ 0.65519855 0.75530324 -0.01522761 -0.87962924] [ 0.22569711 -0.17646837 0.95808127 -2.64588423] [ 0. 0. 0. 1. ]] SLAMing on 169.621346184 meters Centerline goodness : 0.881866 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72106093 -0.63165044 -0.28476105 -2.26153529] [ 0.65527596 0.75522117 -0.01594986 -0.88166476] [ 0.22513231 -0.17509625 0.95846583 -2.64558623] [ 0. 0. 0. 1. ]] SLAMing on 169.651346184 meters Centerline goodness : 0.881914 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72134056 -0.63102393 -0.28544107 -2.25955392] [ 0.65494833 0.75552265 -0.01510672 -0.88191042] [ 0.2251899 -0.17605206 0.95827719 -2.64617459] [ 0. 0. 0. 1. ]] SLAMing on 169.681346184 meters Centerline goodness : 0.879738 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.721531 -0.6306496 -0.28578681 -2.25930338] [ 0.65475939 0.75569779 -0.01452592 -0.88285569] [ 0.22512923 -0.17664069 0.95818312 -2.64557326] [ 0. 0. 0. 1. ]] SLAMing on 169.71134618399998 meters Centerline goodness : 0.877999 Centerline is valid? [False, False] Translation: X:-2.26, Y:-0.88, Z:-2.65 [[ 0.72191719 -0.62992321 -0.28641284 -2.25594584] [ 0.65425986 0.75614152 -0.01392971 -0.88275547] [ 0.22534329 -0.17733233 0.95800503 -2.64734646] [ 0. 0. 0. 1. ]] SLAMing on 169.74134618399998 meters Centerline goodness : 0.879189 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.88, Z:-2.65 [[ 0.72194094 -0.6300416 -0.2860924 -2.25425429] [ 0.6542998 0.75610523 -0.01402324 -0.88327676] [ 0.22515119 -0.17706625 0.95809941 -2.64834092] [ 0. 0. 0. 1. ]] SLAMing on 169.77134618399998 meters Centerline goodness : 0.876936 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.88, Z:-2.65 [[ 0.72145002 -0.63019992 -0.28698071 -2.25112688] [ 0.65471347 0.75575294 -0.01370264 -0.88290702] [ 0.22552192 -0.17800437 0.95783835 -2.64882898] [ 0. 0. 0. 1. ]] SLAMing on 169.80134618399998 meters Centerline goodness : 0.875846 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.88, Z:-2.65 [[ 0.72064407 -0.63064878 -0.28801779 -2.24835587] [ 0.65544643 0.75512194 -0.01344761 -0.88208081] [ 0.22596927 -0.17908929 0.95753063 -2.64879543] [ 0. 0. 0. 1. ]] SLAMing on 169.83134618399998 meters Centerline goodness : 0.872445 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.88, Z:-2.65 [[ 0.71802806 -0.63401119 -0.2871681 -2.24581977] [ 0.6583876 0.75252531 -0.01521303 -0.88203428] [ 0.2257465 -0.17814453 0.95775939 -2.64829455] [ 0. 0. 0. 1. ]] SLAMing on 169.86134618399998 meters Centerline goodness : 0.875200 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.88, Z:-2.65 [[ 0.71633494 -0.6368079 -0.28520161 -2.24701786] [ 0.66043792 0.75068048 -0.01733689 -0.88312564] [ 0.22513555 -0.17593894 0.95831074 -2.64703725] [ 0. 0. 0. 1. ]] SLAMing on 169.89134618399999 meters Centerline goodness : 0.873616 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.88, Z:-2.65 [[ 0.71352029 -0.63617533 -0.29354685 -2.23373356] [ 0.66237295 0.74905559 -0.01333397 -0.88017828] [ 0.22836565 -0.18492344 0.95585169 -2.6488587 ] [ 0. 0. 0. 1. ]] SLAMing on 169.921346184 meters Centerline goodness : 0.871769 Centerline is valid? [False, False] Translation: X:-2.23, Y:-0.88, Z:-2.65 [[ 0.71243957 -0.63732088 -0.29368682 -2.23177993] [ 0.6635247 0.74802955 -0.01366626 -0.88026149] [ 0.22839621 -0.18513208 0.955804 -2.64848273] [ 0. 0. 0. 1. ]] SLAMing on 169.951346184 meters Centerline goodness : 0.871545 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.65 [[ 0.71167571 -0.64090988 -0.28766682 -2.22302406] [ 0.66781067 0.7443058 -0.00614709 -0.87467696] [ 0.21805181 -0.18773224 0.95771082 -2.65475708] [ 0. 0. 0. 1. ]] SLAMing on 169.981346184 meters Centerline goodness : 0.870216 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.66 [[ 0.71140268 -0.64083546 -0.28850675 -2.2198506 ] [ 0.66799583 0.7441428 -0.00575054 -0.87439244] [ 0.21837538 -0.18863036 0.95746059 -2.65540543] [ 0. 0. 0. 1. ]] SLAMing on 170.011346184 meters Centerline goodness : 0.869552 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.88, Z:-2.65 [[ 0.7098882 -0.64346039 -0.28638693 -2.22148344] [ 0.66993826 0.74238022 -0.00737115 -0.87586953] [ 0.21735104 -0.18662887 0.95808569 -2.65430708] [ 0. 0. 0. 1. ]] SLAMing on 170.041346184 meters Centerline goodness : 0.870505 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.65 [[ 0.70949355 -0.64338243 -0.28753772 -2.21835943] [ 0.67016768 0.74217637 -0.00703764 -0.87451031] [ 0.2179316 -0.18770532 0.95774346 -2.65492879] [ 0. 0. 0. 1. ]] SLAMing on 170.071346184 meters Centerline goodness : 0.867958 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.65 [[ 0.70923979 -0.64370955 -0.28743161 -2.21780562] [ 0.67044034 0.74192805 -0.00724765 -0.87460767] [ 0.21791895 -0.18756543 0.95777374 -2.65483054] [ 0. 0. 0. 1. ]] SLAMing on 170.101346184 meters Centerline goodness : 0.871320 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.66 [[ 0.70945161 -0.64324985 -0.28793756 -2.2160382 ] [ 0.67015496 0.74218965 -0.00684479 -0.87472258] [ 0.21810719 -0.18810674 0.95762472 -2.65534634] [ 0. 0. 0. 1. ]] SLAMing on 170.131346184 meters Centerline goodness : 0.871035 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70958869 -0.642935 -0.28830277 -2.21493948] [ 0.66995733 0.7423703 -0.00659621 -0.87459426] [ 0.21826835 -0.18846996 0.95751658 -2.65557583] [ 0. 0. 0. 1. ]] SLAMing on 170.161346184 meters Centerline goodness : 0.870983 Centerline is valid? [False, False] Translation: X:-2.22, Y:-0.87, Z:-2.66 [[ 0.70945864 -0.6431332 -0.28818072 -2.21513673] [ 0.67013786 0.74220727 -0.00660363 -0.87458685] [ 0.21813684 -0.18843581 0.95755327 -2.65546855] [ 0. 0. 0. 1. ]] SLAMing on 170.191346184 meters Centerline goodness : 0.872962 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70942275 -0.6428923 -0.2888059 -2.21351716] [ 0.67007444 0.74226682 -0.00634186 -0.87392254] [ 0.21844817 -0.18902239 0.95736666 -2.65585249] [ 0. 0. 0. 1. ]] SLAMing on 170.221346184 meters Centerline goodness : 0.870823 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70907203 -0.64318069 -0.28902502 -2.21109612] [ 0.6704703 0.74191106 -0.00612793 -0.87361601] [ 0.21837223 -0.18943755 0.95730193 -2.65704036] [ 0. 0. 0. 1. ]] SLAMing on 170.251346184 meters Centerline goodness : 0.870130 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70885824 -0.64308275 -0.2897664 -2.20864011] [ 0.67058367 0.74181078 -0.00585628 -0.87272019] [ 0.21871792 -0.19016135 0.95707948 -2.65774923] [ 0. 0. 0. 1. ]] SLAMing on 170.281346184 meters Centerline goodness : 0.874724 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70860367 -0.64269231 -0.29125149 -2.20562883] [ 0.67064451 0.74176095 -0.00516013 -0.8718073 ] [ 0.21935536 -0.19166973 0.95663261 -2.65788032] [ 0. 0. 0. 1. ]] SLAMing on 170.311346184 meters Centerline goodness : 0.874724 Centerline is valid? [False, False] Translation: X:-2.21, Y:-0.87, Z:-2.66 [[ 0.70860367 -0.64269231 -0.29125149 -2.20562883] [ 0.67064451 0.74176095 -0.00516013 -0.8718073 ] [ 0.21935536 -0.19166973 0.95663261 -2.65788032] [ 0. 0. 0. 1. ]] SLAMing on 170.341346184 meters Centerline goodness : 0.871671 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.87, Z:-2.66 [[ 0.70812112 -0.64234277 -0.29318978 -2.20222864] [ 0.67087161 0.74156071 -0.00435828 -0.87049253] [ 0.22021753 -0.19360651 0.95604433 -2.65756159] [ 0. 0. 0. 1. ]] SLAMing on 170.371346184 meters Centerline goodness : 0.870037 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.87, Z:-2.66 [[ 0.70656137 -0.6436339 -0.29411976 -2.19911324] [ 0.67243208 0.74014626 -0.0043135 -0.86976187] [ 0.22046795 -0.19472781 0.95575884 -2.65730949] [ 0. 0. 0. 1. ]] SLAMing on 170.401346184 meters Centerline goodness : 0.871546 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.87, Z:-2.66 [[ 0.70613068 -0.64374501 -0.29490985 -2.19500709] [ 0.67269932 0.73990292 -0.00439179 -0.86876721] [ 0.22103185 -0.19528448 0.95551499 -2.65850594] [ 0. 0. 0. 1. ]] SLAMing on 170.431346184 meters Centerline goodness : 0.873036 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.87, Z:-2.66 [[ 0.70639214 -0.6436318 -0.29453054 -2.1930322 ] [ 0.67243398 0.74014234 -0.00467549 -0.86899506] [ 0.22100382 -0.19474962 0.95563063 -2.65989369] [ 0. 0. 0. 1. ]] SLAMing on 170.46134618399998 meters Centerline goodness : 0.873137 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.86, Z:-2.67 [[ 0.70719553 -0.64572657 -0.28794388 -2.1847427 ] [ 0.6749036 0.73790059 0.00280188 -0.86336627] [ 0.21066471 -0.19631584 0.95764318 -2.66622969] [ 0. 0. 0. 1. ]] SLAMing on 170.49134618399998 meters Centerline goodness : 0.873049 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.87, Z:-2.67 [[ 0.7088983 -0.64397334 -0.28768305 -2.1868051 ] [ 0.67330684 0.73935173 0.00411311 -0.86640732] [ 0.21005022 -0.19661474 0.95771684 -2.66533059] [ 0. 0. 0. 1. ]] SLAMing on 170.52134618399998 meters Centerline goodness : 0.878008 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.87, Z:-2.67 [[ 0.71041493 -0.64103861 -0.29048258 -2.18458579] [ 0.67146469 0.74100436 0.00690624 -0.86661537] [ 0.21082169 -0.19995509 0.95685536 -2.66503881] [ 0. 0. 0. 1. ]] SLAMing on 170.55134618399998 meters Centerline goodness : 0.879495 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.87, Z:-2.66 [[ 0.71193789 -0.63872907 -0.29183836 -2.18444822] [ 0.66974866 0.74253688 0.00870192 -0.86775437] [ 0.21114257 -0.20165358 0.95642807 -2.66438187] [ 0. 0. 0. 1. ]] SLAMing on 170.58134618399998 meters Centerline goodness : 0.878431 Centerline is valid? [False, False] Translation: X:-2.19, Y:-0.87, Z:-2.66 [[ 0.71449337 -0.63500262 -0.2937191 -2.18577003] [ 0.66695329 0.74500681 0.01175417 -0.87000343] [ 0.2113588 -0.20429519 0.95581951 -2.66301164] [ 0. 0. 0. 1. ]] SLAMing on 170.61134618399998 meters Centerline goodness : 0.878046 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.87, Z:-2.66 [[ 0.71516039 -0.63398787 -0.29428729 -2.18289049] [ 0.666036 0.74582597 0.01181822 -0.86923518] [ 0.21199449 -0.20445785 0.95564393 -2.66457519] [ 0. 0. 0. 1. ]] SLAMing on 170.64134618399999 meters Centerline goodness : 0.880229 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.87, Z:-2.67 [[ 0.71536858 -0.63366053 -0.29448621 -2.17881124] [ 0.66568725 0.74614092 0.01158524 -0.86855137] [ 0.2123871 -0.20432343 0.9555855 -2.66692134] [ 0. 0. 0. 1. ]] SLAMing on 170.671346184 meters Centerline goodness : 0.878785 Centerline is valid? [False, False] Translation: X:-2.18, Y:-0.87, Z:-2.67 [[ 0.71507483 -0.63381372 -0.29486973 -2.17552313] [ 0.66593025 0.74592421 0.01157448 -0.86866903] [ 0.21261441 -0.20463929 0.95546736 -2.66780779] [ 0. 0. 0. 1. ]] SLAMing on 170.701346184 meters Centerline goodness : 0.878745 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.87, Z:-2.67 [[ 0.71234733 -0.63736519 -0.29381438 -2.17456414] [ 0.66897977 0.74321754 0.00968288 -0.86889351] [ 0.21219647 -0.20345345 0.95581345 -2.66634778] [ 0. 0. 0. 1. ]] SLAMing on 170.731346184 meters Centerline goodness : 0.879598 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.86, Z:-2.67 [[ 0.71119661 -0.64164589 -0.28721061 -2.16726121] [ 0.6734485 0.73904941 0.01652543 -0.86295102] [ 0.20165936 -0.20517439 0.95772489 -2.6701401 ] [ 0. 0. 0. 1. ]] SLAMing on 170.761346184 meters Centerline goodness : 0.879677 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.86, Z:-2.67 [[ 0.71048758 -0.64195712 -0.28826801 -2.16468299] [ 0.67411863 0.73842628 0.01704979 -0.86315907] [ 0.20191944 -0.2064405 0.95739796 -2.66941709] [ 0. 0. 0. 1. ]] SLAMing on 170.791346184 meters Centerline goodness : 0.877871 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.87, Z:-2.67 [[ 0.70974861 -0.64390559 -0.28573154 -2.16572658] [ 0.67526524 0.73741087 0.01555862 -0.86665635] [ 0.20068326 -0.20398729 0.95818339 -2.66847385] [ 0. 0. 0. 1. ]] SLAMing on 170.821346184 meters Centerline goodness : 0.872835 Centerline is valid? [False, False] Translation: X:-2.17, Y:-0.87, Z:-2.67 [[ 0.70941004 -0.64502086 -0.2840519 -2.16507201] [ 0.67575818 0.7369877 0.01414249 -0.86803968] [ 0.20022055 -0.20198321 0.9587046 -2.66909841] [ 0. 0. 0. 1. ]] SLAMing on 170.851346184 meters Centerline goodness : 0.875121 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.87, Z:-2.67 [[ 0.70911424 -0.64526449 -0.2842371 -2.16206224] [ 0.67609386 0.73667588 0.01434367 -0.86895574] [ 0.20013515 -0.20234226 0.95864672 -2.66975923] [ 0. 0. 0. 1. ]] SLAMing on 170.881346184 meters Centerline goodness : 0.874819 Centerline is valid? [False, False] Translation: X:-2.16, Y:-0.87, Z:-2.67 [[ 0.70791934 -0.64706035 -0.28313092 -2.15867522] [ 0.67755778 0.73534421 0.01357739 -0.87263215] [ 0.19941329 -0.20144925 0.95898516 -2.66957625] [ 0. 0. 0. 1. ]] SLAMing on 170.911346184 meters Centerline goodness : 0.875024 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.67 [[ 0.70746637 -0.64664937 -0.28519454 -2.1526434 ] [ 0.67777758 0.73512386 0.01450751 -0.87267215] [ 0.20027204 -0.20356204 0.95835985 -2.66984426] [ 0. 0. 0. 1. ]] SLAMing on 170.941346184 meters Centerline goodness : 0.876725 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.87, Z:-2.67 [[ 0.70716292 -0.64598854 -0.28743593 -2.14717271] [ 0.67784995 0.73503146 0.01575464 -0.87261954] [ 0.20109713 -0.20597953 0.95767029 -2.66990263] [ 0. 0. 0. 1. ]] SLAMing on 170.971346184 meters Centerline goodness : 0.875102 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.87, Z:-2.67 [[ 0.70695056 -0.64547554 -0.28910592 -2.14408176] [ 0.67792778 0.73493477 0.01687621 -0.87296086] [ 0.20158081 -0.20792358 0.95714835 -2.66918213] [ 0. 0. 0. 1. ]] SLAMing on 171.001346184 meters Centerline goodness : 0.872771 Centerline is valid? [False, False] Translation: X:-2.14, Y:-0.88, Z:-2.67 [[ 0.70706584 -0.64427819 -0.29148503 -2.1372282 ] [ 0.6776031 0.73519072 0.01867217 -0.87501291] [ 0.20226702 -0.21071361 0.95639314 -2.66941375] [ 0. 0. 0. 1. ]] SLAMing on 171.031346184 meters Centerline goodness : 0.874501 Centerline is valid? [False, False] Translation: X:-2.13, Y:-0.88, Z:-2.67 [[ 0.7061754 -0.63929666 -0.30432891 -2.1321304 ] [ 0.67482603 0.73780331 0.01600357 -0.88220074] [ 0.21430384 -0.2166704 0.95243257 -2.66765991] [ 0. 0. 0. 1. ]] SLAMing on 171.061346184 meters Centerline goodness : 0.877542 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.88, Z:-2.67 [[ 0.70614537 -0.63852618 -0.3060115 -2.12499367] [ 0.67468021 0.737911 0.0171458 -0.88399399] [ 0.21486121 -0.21856733 0.95187341 -2.66845232] [ 0. 0. 0. 1. ]] SLAMing on 171.091346184 meters Centerline goodness : 0.874060 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.89, Z:-2.67 [[ 0.70449581 -0.64037787 -0.30594418 -2.11840439] [ 0.67656601 0.73618575 0.01699936 -0.88896924] [ 0.21434573 -0.21896741 0.95189767 -2.66752291] [ 0. 0. 0. 1. ]] SLAMing on 171.121346184 meters Centerline goodness : 0.872974 Centerline is valid? [False, False] Translation: X:-2.12, Y:-0.90, Z:-2.67 [[ 0.70242939 -0.63697479 -0.31757844 -2.11637946] [ 0.67529062 0.73740738 0.01459188 -0.89700421] [ 0.22489003 -0.22470751 0.94811972 -2.66577252] [ 0. 0. 0. 1. ]] SLAMing on 171.151346184 meters Centerline goodness : 0.874600 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.90, Z:-2.67 [[ 0.70190484 -0.63671778 -0.31924922 -2.11130634] [ 0.67571895 0.73699059 0.01577261 -0.8980197 ] [ 0.22524097 -0.22679362 0.94753953 -2.66547209] [ 0. 0. 0. 1. ]] SLAMing on 171.181346184 meters Centerline goodness : 0.874385 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.90, Z:-2.66 [[ 0.70127295 -0.63682318 -0.32042548 -2.10686281] [ 0.67649308 0.73624541 0.01731495 -0.902605 ] [ 0.22488523 -0.22890813 0.94711547 -2.6635678 ] [ 0. 0. 0. 1. ]] SLAMing on 171.21134618399998 meters Centerline goodness : 0.874158 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.90, Z:-2.66 [[ 0.70134326 -0.63577374 -0.32234979 -2.101965 ] [ 0.67615551 0.7365275 0.01846527 -0.9031106 ] [ 0.22567975 -0.23090908 0.94644051 -2.66348211] [ 0. 0. 0. 1. ]] SLAMing on 171.24134618399998 meters Centerline goodness : 0.873158 Centerline is valid? [False, False] Translation: X:-2.10, Y:-0.90, Z:-2.66 [[ 0.70171063 -0.63470967 -0.3236446 -2.09732338] [ 0.67559794 0.73701454 0.01941636 -0.90414711] [ 0.22620703 -0.23227829 0.94597948 -2.6639985 ] [ 0. 0. 0. 1. ]] SLAMing on 171.27134618399998 meters Centerline goodness : 0.872279 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.91, Z:-2.66 [[ 0.70196762 -0.63367968 -0.32510232 -2.09064682] [ 0.67528046 0.73726111 0.02103224 -0.90759417] [ 0.22635759 -0.23429919 0.94544494 -2.66458737] [ 0. 0. 0. 1. ]] SLAMing on 171.30134618399998 meters Centerline goodness : 0.871666 Centerline is valid? [False, False] Translation: X:-2.09, Y:-0.91, Z:-2.66 [[ 0.70219572 -0.63265964 -0.32659293 -2.08730654] [ 0.67483836 0.7376366 0.02203265 -0.90800602] [ 0.22696773 -0.23586867 0.94490826 -2.66434158] [ 0. 0. 0. 1. ]] SLAMing on 171.33134618399998 meters Centerline goodness : 0.874120 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.91, Z:-2.66 [[ 0.70229371 -0.63164072 -0.32834973 -2.08409082] [ 0.67446038 0.73795308 0.0229879 -0.9075872 ] [ 0.2277866 -0.23760314 0.94427645 -2.6640179 ] [ 0. 0. 0. 1. ]] SLAMing on 171.36134618399998 meters Centerline goodness : 0.872968 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.91, Z:-2.66 [[ 0.70255723 -0.63084309 -0.32931798 -2.08155745] [ 0.67408385 0.73827012 0.02383677 -0.90804206] [ 0.22808837 -0.23873463 0.94391815 -2.66412873] [ 0. 0. 0. 1. ]] SLAMing on 171.39134618399999 meters Centerline goodness : 0.875863 Centerline is valid? [False, False] Translation: X:-2.08, Y:-0.91, Z:-2.66 [[ 0.70315938 -0.62916749 -0.33123278 -2.07730615] [ 0.67326063 0.73896205 0.02559719 -0.91033684] [ 0.22866353 -0.24100489 0.9432018 -2.66342903] [ 0. 0. 0. 1. ]] SLAMing on 171.421346184 meters Centerline goodness : 0.876077 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.91, Z:-2.66 [[ 0.70348037 -0.62814128 -0.33249646 -2.07478696] [ 0.67274641 0.73939771 0.0265196 -0.91082946] [ 0.22918907 -0.24234182 0.94273157 -2.6631076 ] [ 0. 0. 0. 1. ]] SLAMing on 171.451346184 meters Centerline goodness : 0.877976 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.91, Z:-2.66 [[ 0.70392657 -0.62689298 -0.33390505 -2.072208 ] [ 0.67206034 0.73998474 0.02752246 -0.91088869] [ 0.22983101 -0.24377813 0.94220482 -2.66300653] [ 0. 0. 0. 1. ]] SLAMing on 171.481346184 meters Centerline goodness : 0.878995 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.91, Z:-2.66 [[ 0.70454755 -0.6254131 -0.33536726 -2.06994769] [ 0.67123867 0.74067795 0.02889331 -0.91234515] [ 0.23032888 -0.24546818 0.9416443 -2.6622058 ] [ 0. 0. 0. 1. ]] SLAMing on 171.511346184 meters Centerline goodness : 0.877978 Centerline is valid? [False, False] Translation: X:-2.07, Y:-0.91, Z:-2.66 [[ 0.70450368 -0.62464176 -0.3368935 -2.06610355] [ 0.67100182 0.74086767 0.02952378 -0.91155299] [ 0.23115172 -0.24685576 0.94107976 -2.66249893] [ 0. 0. 0. 1. ]] SLAMing on 171.541346184 meters Centerline goodness : 0.877773 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.91, Z:-2.66 [[ 0.70446489 -0.62380262 -0.3385255 -2.06233277] [ 0.67079349 0.74101975 0.03042726 -0.91147462] [ 0.23187348 -0.24851564 0.94046513 -2.66232259] [ 0. 0. 0. 1. ]] SLAMing on 171.571346184 meters Centerline goodness : 0.880313 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.91, Z:-2.66 [[ 0.70338071 -0.62416669 -0.34010517 -2.05950103] [ 0.6717683 0.74011077 0.03103856 -0.9119394 ] [ 0.23234226 -0.2503038 0.93987504 -2.66037699] [ 0. 0. 0. 1. ]] SLAMing on 171.601346184 meters Centerline goodness : 0.881367 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.91, Z:-2.66 [[ 0.70270208 -0.62399006 -0.34182771 -2.05556393] [ 0.67219577 0.73970055 0.03155853 -0.91067543] [ 0.23315793 -0.25195138 0.9392326 -2.6600989 ] [ 0. 0. 0. 1. ]] SLAMing on 171.631346184 meters Centerline goodness : 0.877648 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.91, Z:-2.66 [[ 0.70210767 -0.62383783 -0.34332374 -2.05121944] [ 0.67255948 0.73935257 0.03196127 -0.90951399] [ 0.23389864 -0.25334589 0.93867315 -2.66040341] [ 0. 0. 0. 1. ]] SLAMing on 171.661346184 meters Centerline goodness : 0.879881 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.91, Z:-2.66 [[ 0.70042278 -0.62664304 -0.3416525 -2.05050637] [ 0.67439113 0.73779075 0.02934992 -0.90854378] [ 0.23367613 -0.25096477 0.93936795 -2.66069596] [ 0. 0. 0. 1. ]] SLAMing on 171.691346184 meters Centerline goodness : 0.878990 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.91, Z:-2.66 [[ 0.69989241 -0.62640193 -0.34317816 -2.04626907] [ 0.67470842 0.73747794 0.02991361 -0.90802262] [ 0.23434838 -0.2524815 0.93879387 -2.66061161] [ 0. 0. 0. 1. ]] SLAMing on 171.721346184 meters Centerline goodness : 0.879754 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.91, Z:-2.66 [[ 0.69839819 -0.62695662 -0.34520338 -2.04293831] [ 0.67600407 0.73626848 0.03045052 -0.90763942] [ 0.23507121 -0.25462547 0.93803379 -2.65841572] [ 0. 0. 0. 1. ]] SLAMing on 171.751346184 meters Centerline goodness : 0.879851 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.91, Z:-2.66 [[ 0.69786798 -0.62663204 -0.34686104 -2.03993186] [ 0.67626743 0.73600506 0.03096639 -0.90606453] [ 0.23588695 -0.25618127 0.9374052 -2.65809592] [ 0. 0. 0. 1. ]] SLAMing on 171.781346184 meters Centerline goodness : 0.879830 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.90, Z:-2.66 [[ 0.6971225 -0.62674472 -0.34815409 -2.03826686] [ 0.67679292 0.73551635 0.03109712 -0.90462676] [ 0.23658307 -0.25730673 0.93692139 -2.6572706 ] [ 0. 0. 0. 1. ]] SLAMing on 171.811346184 meters Centerline goodness : 0.877280 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.90, Z:-2.66 [[ 0.697153 -0.6263307 -0.34883743 -2.03660199] [ 0.67656832 0.73572061 0.03115273 -0.90361359] [ 0.23713498 -0.25773057 0.93666534 -2.65759101] [ 0. 0. 0. 1. ]] SLAMing on 171.841346184 meters Centerline goodness : 0.878314 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.91, Z:-2.65 [[ 0.69531336 -0.62208391 -0.35993185 -2.03765293] [ 0.67379404 0.73848681 0.02527487 -0.90814031] [ 0.25008183 -0.2600939 0.93263618 -2.65224633] [ 0. 0. 0. 1. ]] SLAMing on 171.871346184 meters Centerline goodness : 0.877208 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.91, Z:-2.65 [[ 0.69538551 -0.62164708 -0.36054667 -2.03392315] [ 0.6736026 0.73864986 0.02561102 -0.90829826] [ 0.25039673 -0.26067471 0.9323895 -2.65328546] [ 0. 0. 0. 1. ]] SLAMing on 171.901346184 meters Centerline goodness : 0.880309 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.91, Z:-2.65 [[ 0.69468952 -0.6217835 -0.36165141 -2.03232987] [ 0.674232 0.7380551 0.02618935 -0.90837543] [ 0.25063457 -0.26203042 0.93194548 -2.65199587] [ 0. 0. 0. 1. ]] SLAMing on 171.931346184 meters Centerline goodness : 0.881075 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.91, Z:-2.65 [[ 0.69384203 -0.62208844 -0.36275226 -2.03234784] [ 0.67490141 0.73744094 0.0262479 -0.90648784] [ 0.25117985 -0.26303391 0.93151589 -2.65055284] [ 0. 0. 0. 1. ]] SLAMing on 171.96134618399998 meters Centerline goodness : 0.880792 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.90, Z:-2.65 [[ 0.69290859 -0.6226081 -0.36364382 -2.03208135] [ 0.67567041 0.73674319 0.02605724 -0.90405593] [ 0.25168866 -0.26375865 0.93117356 -2.64983851] [ 0. 0. 0. 1. ]] SLAMing on 171.99134618399998 meters Centerline goodness : 0.879898 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.90, Z:-2.65 [[ 0.69247221 -0.62273342 -0.36425997 -2.0307319 ] [ 0.67597905 0.73646137 0.02601877 -0.9025788 ] [ 0.25206064 -0.26424939 0.93093378 -2.65004262] [ 0. 0. 0. 1. ]] SLAMing on 172.02134618399998 meters Centerline goodness : 0.880547 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.90, Z:-2.65 [[ 0.69220013 -0.62227042 -0.365566 -2.02691301] [ 0.67601021 0.7364159 0.02649185 -0.90213511] [ 0.25272352 -0.26546401 0.93040834 -2.65020345] [ 0. 0. 0. 1. ]] SLAMing on 172.05134618399998 meters Centerline goodness : 0.879508 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69217301 -0.62178574 -0.366441 -2.02352858] [ 0.67585916 0.73654141 0.02685431 -0.90191322] [ 0.25320135 -0.26625033 0.93005367 -2.65069958] [ 0. 0. 0. 1. ]] SLAMing on 172.08134618399998 meters Centerline goodness : 0.883132 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69194385 -0.62143339 -0.36747006 -2.02004844] [ 0.67591464 0.73647481 0.02728097 -0.90169764] [ 0.25367913 -0.26725529 0.92963515 -2.65082755] [ 0. 0. 0. 1. ]] SLAMing on 172.11134618399998 meters Centerline goodness : 0.884234 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69085794 -0.62155529 -0.36930249 -2.01865694] [ 0.67676598 0.73567084 0.02786074 -0.90005554] [ 0.25436809 -0.26917917 0.92889152 -2.64903302] [ 0. 0. 0. 1. ]] SLAMing on 172.14134618399999 meters Centerline goodness : 0.887075 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69044045 -0.62133322 -0.37045514 -2.01826923] [ 0.67696105 0.73548092 0.02813448 -0.89785046] [ 0.2549818 -0.27020889 0.92842417 -2.64843587] [ 0. 0. 0. 1. ]] SLAMing on 172.171346184 meters Centerline goodness : 0.883139 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69000952 -0.62156022 -0.37087701 -2.01928261] [ 0.67728726 0.73518699 0.02796524 -0.89616401] [ 0.25528187 -0.27048655 0.92826084 -2.64770046] [ 0. 0. 0. 1. ]] SLAMing on 172.201346184 meters Centerline goodness : 0.883139 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.90, Z:-2.65 [[ 0.69000952 -0.62156022 -0.37087701 -2.01928261] [ 0.67728726 0.73518699 0.02796524 -0.89616401] [ 0.25528187 -0.27048655 0.92826084 -2.64770046] [ 0. 0. 0. 1. ]] SLAMing on 172.231346184 meters Centerline goodness : 0.884524 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.68992163 -0.62123892 -0.3715782 -2.01968228] [ 0.6772041 0.73525788 0.02811506 -0.89442634] [ 0.25573963 -0.27103147 0.92797585 -2.64730869] [ 0. 0. 0. 1. ]] SLAMing on 172.261346184 meters Centerline goodness : 0.887560 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.69158545 -0.61731777 -0.37500445 -2.01825853] [ 0.67505923 0.73708716 0.03158401 -0.89409565] [ 0.2569136 -0.27499326 0.92648481 -2.64623614] [ 0. 0. 0. 1. ]] SLAMing on 172.291346184 meters Centerline goodness : 0.887785 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.69170321 -0.61746994 -0.37453644 -2.01881024] [ 0.67494725 0.73720909 0.03112841 -0.89366221] [ 0.25689081 -0.27432396 0.92668952 -2.64663401] [ 0. 0. 0. 1. ]] SLAMing on 172.321346184 meters Centerline goodness : 0.890289 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.69183091 -0.61719957 -0.37474615 -2.0186249 ] [ 0.67471007 0.73742846 0.0310737 -0.89226154] [ 0.2571698 -0.27434275 0.92660658 -2.64720381] [ 0. 0. 0. 1. ]] SLAMing on 172.351346184 meters Centerline goodness : 0.889362 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.69274041 -0.61514215 -0.37644502 -2.0192405 ] [ 0.67331741 0.73865991 0.03201884 -0.88796714] [ 0.25836871 -0.27564773 0.92588549 -2.64825196] [ 0. 0. 0. 1. ]] SLAMing on 172.381346184 meters Centerline goodness : 0.891220 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.89, Z:-2.65 [[ 0.69277235 -0.61557407 -0.37567942 -2.02094784] [ 0.67328183 0.73873118 0.0311097 -0.88576857] [ 0.25837578 -0.27449007 0.92622738 -2.6494174 ] [ 0. 0. 0. 1. ]] SLAMing on 172.411346184 meters Centerline goodness : 0.890823 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.88, Z:-2.65 [[ 0.69281358 -0.61580875 -0.3752185 -2.02342154] [ 0.67313605 0.73890129 0.03021153 -0.88320797] [ 0.25864491 -0.27350406 0.92644392 -2.64988213] [ 0. 0. 0. 1. ]] SLAMing on 172.441346184 meters Centerline goodness : 0.889861 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.88, Z:-2.65 [[ 0.69303955 -0.615718 -0.37495003 -2.02671318] [ 0.67280825 0.73922105 0.02968668 -0.88013301] [ 0.25889234 -0.27284352 0.92656957 -2.65031929] [ 0. 0. 0. 1. ]] SLAMing on 172.471346184 meters Centerline goodness : 0.888485 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.86, Z:-2.65 [[ 0.69549324 -0.61797973 -0.3665927 -2.02748277] [ 0.67356839 0.73838046 0.03316515 -0.8642173 ] [ 0.25018949 -0.26999139 0.92979023 -2.65378311] [ 0. 0. 0. 1. ]] SLAMing on 172.501346184 meters Centerline goodness : 0.890865 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.85, Z:-2.66 [[ 0.69723651 -0.62294179 -0.3546897 -2.02757044] [ 0.67571011 0.73633301 0.0350649 -0.85418757] [ 0.23932635 -0.26411594 0.93432632 -2.65795065] [ 0. 0. 0. 1. ]] SLAMing on 172.531346184 meters Centerline goodness : 0.889931 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.85, Z:-2.66 [[ 0.69718339 -0.62363005 -0.35358293 -2.02990096] [ 0.67577164 0.73633786 0.03375262 -0.85128459] [ 0.23930736 -0.26247308 0.93479403 -2.65944099] [ 0. 0. 0. 1. ]] SLAMing on 172.561346184 meters Centerline goodness : 0.891687 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.84, Z:-2.66 [[ 0.69694581 -0.62286539 -0.35539449 -2.03345191] [ 0.67549812 0.73658957 0.03373556 -0.84288312] [ 0.24076716 -0.26358017 0.93410742 -2.66005253] [ 0. 0. 0. 1. ]] SLAMing on 172.591346184 meters Centerline goodness : 0.894605 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.83, Z:-2.66 [[ 0.69746163 -0.62854098 -0.34421434 -2.03472872] [ 0.67867013 0.73357879 0.03562326 -0.83145244] [ 0.23011766 -0.25845385 0.93821505 -2.66258565] [ 0. 0. 0. 1. ]] SLAMing on 172.621346184 meters Centerline goodness : 0.894031 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.83, Z:-2.66 [[ 0.69682524 -0.62950229 -0.3437462 -2.03700757] [ 0.67914623 0.73321537 0.03399448 -0.82672154] [ 0.23064039 -0.25714215 0.93844708 -2.66365465] [ 0. 0. 0. 1. ]] SLAMing on 172.651346184 meters Centerline goodness : 0.893346 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.81, Z:-2.67 [[ 0.69809298 -0.63592997 -0.32902777 -2.04079829] [ 0.68171796 0.73083046 0.03387415 -0.81453218] [ 0.21892193 -0.24795144 0.94371249 -2.67086427] [ 0. 0. 0. 1. ]] SLAMing on 172.681346184 meters Centerline goodness : 0.894695 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.81, Z:-2.67 [[ 0.69851568 -0.6348537 -0.33020695 -2.04008928] [ 0.68097791 0.73150771 0.03414032 -0.80986253] [ 0.21987482 -0.24871119 0.94329095 -2.6730601 ] [ 0. 0. 0. 1. ]] SLAMing on 172.71134618399998 meters Centerline goodness : 0.894607 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.80, Z:-2.67 [[ 0.6989261 -0.63358785 -0.3317661 -2.04074416] [ 0.68014504 0.73226985 0.03440326 -0.80459246] [ 0.22114482 -0.2496944 0.94273415 -2.67432543] [ 0. 0. 0. 1. ]] SLAMing on 172.74134618399998 meters Centerline goodness : 0.892646 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.80, Z:-2.68 [[ 0.70079021 -0.63739501 -0.32034463 -2.04341607] [ 0.68182914 0.73052129 0.03804828 -0.79560987] [ 0.20976678 -0.24508416 0.94653666 -2.67780869] [ 0. 0. 0. 1. ]] SLAMing on 172.77134618399998 meters Centerline goodness : 0.894241 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.79, Z:-2.68 [[ 0.70150122 -0.63563151 -0.32228655 -2.0437511 ] [ 0.68070526 0.73152403 0.03889659 -0.79104872] [ 0.21103645 -0.24666816 0.94584271 -2.67877411] [ 0. 0. 0. 1. ]] SLAMing on 172.80134618399998 meters Centerline goodness : 0.895438 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.78, Z:-2.68 [[ 0.70416422 -0.63791329 -0.31180024 -2.04602542] [ 0.68114752 0.73088395 0.04297343 -0.7793369 ] [ 0.20047646 -0.24264231 0.94917538 -2.68387808] [ 0. 0. 0. 1. ]] SLAMing on 172.83134618399998 meters Centerline goodness : 0.897008 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.78, Z:-2.69 [[ 0.70477222 -0.63670523 -0.31289387 -2.04543727] [ 0.68025487 0.73169514 0.04330738 -0.77511933] [ 0.20136889 -0.24336942 0.94880024 -2.68608078] [ 0. 0. 0. 1. ]] SLAMing on 172.86134618399998 meters Centerline goodness : 0.895272 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.77, Z:-2.69 [[ 0.70480896 -0.63643975 -0.31335088 -2.04522603] [ 0.67999789 0.73196248 0.0428229 -0.77085069] [ 0.20210689 -0.2432599 0.9486714 -2.68807924] [ 0. 0. 0. 1. ]] SLAMing on 172.89134618399999 meters Centerline goodness : 0.897085 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.76, Z:-2.70 [[ 0.7057979 -0.63511234 -0.31381786 -2.03442123] [ 0.68012956 0.73142711 0.04937777 -0.75910192] [ 0.19817446 -0.24828753 0.94819839 -2.69773598] [ 0. 0. 0. 1. ]] SLAMing on 172.921346184 meters Centerline goodness : 0.899424 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.76, Z:-2.70 [[ 0.70571989 -0.63484301 -0.31453743 -2.03171637] [ 0.67997581 0.73159252 0.04904362 -0.75540211] [ 0.19897823 -0.2484889 0.94797728 -2.70037294] [ 0. 0. 0. 1. ]] SLAMing on 172.951346184 meters Centerline goodness : 0.899383 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.75, Z:-2.70 [[ 0.70590241 -0.63406028 -0.31570452 -2.02984754] [ 0.6795169 0.73200767 0.0492094 -0.7523071 ] [ 0.1998964 -0.24926359 0.94758065 -2.70187369] [ 0. 0. 0. 1. ]] SLAMing on 172.981346184 meters Centerline goodness : 0.903471 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.75, Z:-2.70 [[ 0.70669044 -0.63048417 -0.32105814 -2.0283915 ] [ 0.67812012 0.73302803 0.05313193 -0.7462351 ] [ 0.20184577 -0.25526381 0.94556791 -2.70154309] [ 0. 0. 0. 1. ]] SLAMing on 173.011346184 meters Centerline goodness : 0.900479 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.74, Z:-2.70 [[ 0.70791157 -0.63386402 -0.31157281 -2.02747827] [ 0.67983956 0.73112395 0.05723582 -0.73766733] [ 0.19151862 -0.25233742 0.94849694 -2.70302421] [ 0. 0. 0. 1. ]] SLAMing on 173.041346184 meters Centerline goodness : 0.899901 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.73, Z:-2.70 [[ 0.7079207 -0.63306058 -0.3131814 -2.0253776 ] [ 0.67951299 0.7314042 0.05753261 -0.73412382] [ 0.19264057 -0.25353935 0.94794905 -2.70430595] [ 0. 0. 0. 1. ]] SLAMing on 173.071346184 meters Centerline goodness : 0.898528 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.73, Z:-2.71 [[ 0.70739729 -0.63307082 -0.31434123 -2.02252062] [ 0.67972731 0.73125001 0.05695789 -0.73031516] [ 0.19380364 -0.25395818 0.94759981 -2.70588849] [ 0. 0. 0. 1. ]] SLAMing on 173.101346184 meters Centerline goodness : 0.897777 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.73, Z:-2.71 [[ 0.70676738 -0.63375812 -0.3143732 -2.01977216] [ 0.68026643 0.73081662 0.05607716 -0.72793436] [ 0.1942098 -0.25349104 0.94764173 -2.70793174] [ 0. 0. 0. 1. ]] SLAMing on 173.131346184 meters Centerline goodness : 0.896635 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.72, Z:-2.71 [[ 0.70498301 -0.63646497 -0.31290781 -2.01797083] [ 0.68209474 0.7293184 0.05330512 -0.72455665] [ 0.19428258 -0.25101197 0.94828649 -2.71030003] [ 0. 0. 0. 1. ]] SLAMing on 173.161346184 meters Centerline goodness : 0.895507 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.72, Z:-2.71 [[ 0.7042703 -0.63700688 -0.3134096 -2.01777207] [ 0.6827403 0.72873283 0.05304844 -0.72277318] [ 0.19459965 -0.25133781 0.94813516 -2.70992805] [ 0. 0. 0. 1. ]] SLAMing on 173.191346184 meters Centerline goodness : 0.896668 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.72, Z:-2.71 [[ 0.70377463 -0.63669815 -0.31514559 -2.01989274] [ 0.68310435 0.72831818 0.054047 -0.72039017] [ 0.19511463 -0.25331423 0.94750313 -2.70779192] [ 0. 0. 0. 1. ]] SLAMing on 173.221346184 meters Centerline goodness : 0.899985 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.72, Z:-2.71 [[ 0.70336541 -0.63702462 -0.31539933 -2.02066453] [ 0.68343643 0.72803386 0.05367814 -0.71851878] [ 0.19542709 -0.25331074 0.94743966 -2.70744179] [ 0. 0. 0. 1. ]] SLAMing on 173.251346184 meters Centerline goodness : 0.895736 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.72, Z:-2.71 [[ 0.70301624 -0.63740985 -0.3153995 -2.02092416] [ 0.68370849 0.7278234 0.05306404 -0.71673914] [ 0.1957316 -0.2529462 0.9474742 -2.70769291] [ 0. 0. 0. 1. ]] SLAMing on 173.281346184 meters Centerline goodness : 0.894879 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.71, Z:-2.71 [[ 0.70263973 -0.63805664 -0.31493037 -2.02113148] [ 0.68405585 0.72756443 0.05213055 -0.71499842] [ 0.19586989 -0.25205896 0.94768205 -2.70852122] [ 0. 0. 0. 1. ]] SLAMing on 173.311346184 meters Centerline goodness : 0.895499 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.71, Z:-2.71 [[ 0.70284434 -0.63856407 -0.3134418 -2.02301087] [ 0.68384218 0.72787825 0.05052838 -0.71250806] [ 0.19588186 -0.24985831 0.94826216 -2.71046507] [ 0. 0. 0. 1. ]] SLAMing on 173.341346184 meters Centerline goodness : 0.897095 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.71, Z:-2.71 [[ 0.7030492 -0.63855769 -0.31299505 -2.02380987] [ 0.68357495 0.72817556 0.04985612 -0.71132007] [ 0.19607934 -0.24900688 0.94844529 -2.71115245] [ 0. 0. 0. 1. ]] SLAMing on 173.371346184 meters Centerline goodness : 0.896073 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.71, Z:-2.71 [[ 0.70309786 -0.63858386 -0.31283231 -2.02455173] [ 0.68344355 0.72833651 0.04930362 -0.70991909] [ 0.19636269 -0.24846849 0.94852786 -2.71149332] [ 0. 0. 0. 1. ]] SLAMing on 173.401346184 meters Centerline goodness : 0.897140 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.71, Z:-2.71 [[ 0.70318497 -0.63850535 -0.31279675 -2.02558125] [ 0.68329276 0.72849746 0.04901483 -0.70885067] [ 0.19657541 -0.24819825 0.94855455 -2.71143239] [ 0. 0. 0. 1. ]] SLAMing on 173.431346184 meters Centerline goodness : 0.898427 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.71, Z:-2.71 [[ 0.70242974 -0.63935198 -0.31276429 -2.02700088] [ 0.68410523 0.72775267 0.04874516 -0.70683591] [ 0.19644973 -0.24820373 0.94857915 -2.71111259] [ 0. 0. 0. 1. ]] SLAMing on 173.46134618399998 meters Centerline goodness : 0.898120 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.71, Z:-2.71 [[ 0.70155235 -0.63996956 -0.31346972 -2.02647533] [ 0.68490753 0.72700706 0.04860466 -0.70509281] [ 0.19678919 -0.24879648 0.94835348 -2.71065305] [ 0. 0. 0. 1. ]] SLAMing on 173.49134618399998 meters Centerline goodness : 0.896976 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.70, Z:-2.71 [[ 0.70076401 -0.64079809 -0.31354044 -2.02662805] [ 0.68568863 0.72630145 0.04813838 -0.70375157] [ 0.1968779 -0.24872476 0.94835388 -2.7103829 ] [ 0. 0. 0. 1. ]] SLAMing on 173.52134618399998 meters Centerline goodness : 0.897959 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.70, Z:-2.71 [[ 0.70035325 -0.64129462 -0.31344304 -2.02634661] [ 0.68608337 0.72595828 0.04768835 -0.70148375] [ 0.19696429 -0.24844675 0.94840882 -2.71161741] [ 0. 0. 0. 1. ]] SLAMing on 173.55134618399998 meters Centerline goodness : 0.894988 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.70, Z:-2.71 [[ 0.70011046 -0.64157029 -0.3134213 -2.02756501] [ 0.68627042 0.72581068 0.04724161 -0.70010551] [ 0.19717572 -0.24816611 0.94843836 -2.71133198] [ 0. 0. 0. 1. ]] SLAMing on 173.58134618399998 meters Centerline goodness : 0.892638 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.70, Z:-2.71 [[ 0.69958009 -0.64204442 -0.3136346 -2.02825912] [ 0.68671759 0.72541945 0.04675011 -0.69818004] [ 0.19750099 -0.24808384 0.9483922 -2.71115768] [ 0. 0. 0. 1. ]] SLAMing on 173.61134618399998 meters Centerline goodness : 0.893305 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.70, Z:-2.71 [[ 0.69883702 -0.64286819 -0.31360376 -2.0285449 ] [ 0.68739559 0.72482856 0.04594415 -0.69599902] [ 0.19777293 -0.24767731 0.94844178 -2.7113938 ] [ 0. 0. 0. 1. ]] SLAMing on 173.64134618399999 meters Centerline goodness : 0.891894 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.69, Z:-2.71 [[ 0.69726876 -0.6445814 -0.31357788 -2.02682765] [ 0.68881356 0.72358637 0.0442565 -0.69179359] [ 0.19837377 -0.24685537 0.94853059 -2.71307187] [ 0. 0. 0. 1. ]] SLAMing on 173.671346184 meters Centerline goodness : 0.892527 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.69, Z:-2.71 [[ 0.69650842 -0.64569965 -0.31296643 -2.02653142] [ 0.6895277 0.72298706 0.04290989 -0.68982107] [ 0.19856378 -0.24568613 0.94879437 -2.71398984] [ 0. 0. 0. 1. ]] SLAMing on 173.701346184 meters Centerline goodness : 0.887836 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.69, Z:-2.71 [[ 0.69543148 -0.64681379 -0.31306066 -2.02645827] [ 0.69050467 0.72211155 0.04193108 -0.68780811] [ 0.19894312 -0.24533004 0.94880704 -2.71366365] [ 0. 0. 0. 1. ]] SLAMing on 173.731346184 meters Centerline goodness : 0.887489 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.69, Z:-2.71 [[ 0.69452167 -0.64750042 -0.31366041 -2.02601177] [ 0.69128127 0.72139502 0.041466 -0.68608129] [ 0.19942381 -0.2456266 0.94862939 -2.71300114] [ 0. 0. 0. 1. ]] SLAMing on 173.761346184 meters Centerline goodness : 0.887217 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.69, Z:-2.71 [[ 0.69421935 -0.64740855 -0.31451814 -2.02565428] [ 0.69144194 0.72123418 0.04158489 -0.68509552] [ 0.19991882 -0.24634007 0.94834015 -2.71223373] [ 0. 0. 0. 1. ]] SLAMing on 173.791346184 meters Centerline goodness : 0.886518 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.68, Z:-2.71 [[ 0.69399426 -0.6470281 -0.31579519 -2.02563561] [ 0.69151282 0.72113308 0.04215568 -0.68416624] [ 0.20045445 -0.24763222 0.94789044 -2.71101183] [ 0. 0. 0. 1. ]] SLAMing on 173.821346184 meters Centerline goodness : 0.885384 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.68, Z:-2.71 [[ 0.69399372 -0.64638115 -0.31711847 -2.02588482] [ 0.69134708 0.72125129 0.04284614 -0.68291164] [ 0.20102717 -0.24897388 0.94741759 -2.71005683] [ 0. 0. 0. 1. ]] SLAMing on 173.851346184 meters Centerline goodness : 0.884705 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69382898 -0.64635566 -0.31753063 -2.0227905 ] [ 0.69138198 0.72123211 0.04260503 -0.68163386] [ 0.20147529 -0.24909557 0.9472904 -2.71169273] [ 0. 0. 0. 1. ]] SLAMing on 173.881346184 meters Centerline goodness : 0.883565 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69303481 -0.64849027 -0.31490176 -2.02315569] [ 0.69238256 0.72040837 0.04022648 -0.68232653] [ 0.20077138 -0.24591084 0.94827143 -2.71257433] [ 0. 0. 0. 1. ]] SLAMing on 173.911346184 meters Centerline goodness : 0.884694 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69268287 -0.64916744 -0.31428024 -2.02168422] [ 0.69275885 0.72008847 0.03946859 -0.68252551] [ 0.20068785 -0.24505964 0.94850944 -2.71334167] [ 0. 0. 0. 1. ]] SLAMing on 173.941346184 meters Centerline goodness : 0.882931 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69256101 -0.6480811 -0.3167809 -2.01828674] [ 0.69252692 0.72025341 0.04051546 -0.67996847] [ 0.20190522 -0.24743873 0.94763303 -2.71383031] [ 0. 0. 0. 1. ]] SLAMing on 173.971346184 meters Centerline goodness : 0.881879 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69242992 -0.64790904 -0.31741878 -2.01854012] [ 0.69250624 0.72027727 0.04044463 -0.67860507] [ 0.20242509 -0.24781956 0.94742258 -2.71339529] [ 0. 0. 0. 1. ]] SLAMing on 174.001346184 meters Centerline goodness : 0.883993 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69224798 -0.64808597 -0.31745441 -2.01906743] [ 0.69259107 0.72022412 0.03993527 -0.67765307] [ 0.20275684 -0.2475112 0.94743225 -2.71312958] [ 0. 0. 0. 1. ]] SLAMing on 174.031346184 meters Centerline goodness : 0.878725 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69298679 -0.64759397 -0.31684595 -2.02046443] [ 0.69184604 0.72095737 0.03961711 -0.67717364] [ 0.20277663 -0.24666275 0.94764926 -2.7137546 ] [ 0. 0. 0. 1. ]] SLAMing on 174.061346184 meters Centerline goodness : 0.880686 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69332695 -0.64678132 -0.3177604 -2.0190165 ] [ 0.69132339 0.7214393 0.0399662 -0.6759628 ] [ 0.20339544 -0.24738484 0.94732837 -2.71441573] [ 0. 0. 0. 1. ]] SLAMing on 174.091346184 meters Centerline goodness : 0.880269 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69331099 -0.64707244 -0.31720203 -2.01918409] [ 0.69136371 0.72142916 0.03944845 -0.67578259] [ 0.20331279 -0.24665202 0.94753717 -2.71488593] [ 0. 0. 0. 1. ]] SLAMing on 174.121346184 meters Centerline goodness : 0.880269 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69331099 -0.64707244 -0.31720203 -2.01918409] [ 0.69136371 0.72142916 0.03944845 -0.67578259] [ 0.20331279 -0.24665202 0.94753717 -2.71488593] [ 0. 0. 0. 1. ]] SLAMing on 174.151346184 meters Centerline goodness : 0.881467 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.72 [[ 0.69281588 -0.64808682 -0.31621139 -2.01850688] [ 0.69197988 0.72088155 0.03864762 -0.67598836] [ 0.20290394 -0.2455876 0.94790122 -2.71573346] [ 0. 0. 0. 1. ]] SLAMing on 174.181346184 meters Centerline goodness : 0.881846 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.68, Z:-2.71 [[ 0.69242043 -0.6484637 -0.31630488 -2.01906735] [ 0.69234994 0.72053797 0.0384266 -0.67583173] [ 0.20299142 -0.24560103 0.94787901 -2.71476423] [ 0. 0. 0. 1. ]] SLAMing on 174.21134618399998 meters Centerline goodness : 0.883461 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69196771 -0.64882526 -0.31655406 -2.01930463] [ 0.69275135 0.7201625 0.03823025 -0.67484947] [ 0.20316561 -0.24574735 0.94780376 -2.71440128] [ 0. 0. 0. 1. ]] SLAMing on 174.24134618399998 meters Centerline goodness : 0.882789 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69123211 -0.64962726 -0.31651633 -2.0202757 ] [ 0.69348224 0.7194818 0.03779332 -0.67391491] [ 0.20317616 -0.24562241 0.94783389 -2.71360458] [ 0. 0. 0. 1. ]] SLAMing on 174.27134618399998 meters Centerline goodness : 0.881485 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69131407 -0.64943185 -0.31673828 -2.02060274] [ 0.69335334 0.71960242 0.0378615 -0.67341585] [ 0.20333717 -0.24578574 0.94775702 -2.71349568] [ 0. 0. 0. 1. ]] SLAMing on 174.30134618399998 meters Centerline goodness : 0.879222 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69156696 -0.64897743 -0.31711738 -2.02149081] [ 0.69304686 0.71988184 0.03816013 -0.67312215] [ 0.20352198 -0.24616749 0.94761826 -2.71288699] [ 0. 0. 0. 1. ]] SLAMing on 174.33134618399998 meters Centerline goodness : 0.879846 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69224911 -0.64833011 -0.31695306 -2.02367321] [ 0.69237312 0.72051886 0.03836722 -0.67324776] [ 0.20349603 -0.24600945 0.94766487 -2.71219835] [ 0. 0. 0. 1. ]] SLAMing on 174.36134618399998 meters Centerline goodness : 0.876890 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69233893 -0.64825801 -0.31690434 -2.02329066] [ 0.69226847 0.72062348 0.03829063 -0.67294947] [ 0.2035465 -0.24589298 0.94768426 -2.71267293] [ 0. 0. 0. 1. ]] SLAMing on 174.39134618399999 meters Centerline goodness : 0.875969 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69238606 -0.64844187 -0.31642485 -2.02327739] [ 0.69224482 0.72066729 0.03789154 -0.672859 ] [ 0.20346658 -0.24527904 0.94786051 -2.7131904 ] [ 0. 0. 0. 1. ]] SLAMing on 174.421346184 meters Centerline goodness : 0.878322 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69222427 -0.64897748 -0.31567989 -2.0237093 ] [ 0.69241059 0.7205544 0.03699898 -0.67237224] [ 0.20345303 -0.24419169 0.94814412 -2.71362814] [ 0. 0. 0. 1. ]] SLAMing on 174.451346184 meters Centerline goodness : 0.877695 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69227432 -0.6491271 -0.31526225 -2.02409185] [ 0.69238618 0.72059414 0.03668055 -0.67228766] [ 0.20336579 -0.24367623 0.94829545 -2.71392324] [ 0. 0. 0. 1. ]] SLAMing on 174.481346184 meters Centerline goodness : 0.876479 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.67, Z:-2.71 [[ 0.69228652 -0.6488177 -0.31587176 -2.02395085] [ 0.69228794 0.7206741 0.03696278 -0.67155762] [ 0.20365849 -0.24426304 0.94808163 -2.71374665] [ 0. 0. 0. 1. ]] SLAMing on 174.511346184 meters Centerline goodness : 0.880705 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.67, Z:-2.71 [[ 0.69234458 -0.64830049 -0.31680507 -2.02517964] [ 0.69212363 0.72080229 0.0375359 -0.67053014] [ 0.20401928 -0.24525606 0.94774765 -2.7127531 ] [ 0. 0. 0. 1. ]] SLAMing on 174.541346184 meters Centerline goodness : 0.881062 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.67, Z:-2.71 [[ 0.69242174 -0.64665853 -0.31997636 -2.026889 ] [ 0.69169266 0.72111261 0.03946982 -0.66759039] [ 0.2052155 -0.24865506 0.94660301 -2.71039706] [ 0. 0. 0. 1. ]] SLAMing on 174.571346184 meters Centerline goodness : 0.878136 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.67, Z:-2.71 [[ 0.69193023 -0.64746446 -0.31940936 -2.02733016] [ 0.6922255 0.72063912 0.03877008 -0.6667776 ] [ 0.20507663 -0.24792949 0.9468234 -2.71070215] [ 0. 0. 0. 1. ]] SLAMing on 174.601346184 meters Centerline goodness : 0.879693 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.67, Z:-2.71 [[ 0.69150254 -0.64856272 -0.31810476 -2.0261968 ] [ 0.6927438 0.72020723 0.03751764 -0.66633259] [ 0.20476881 -0.24630864 0.94731293 -2.71235814] [ 0. 0. 0. 1. ]] SLAMing on 174.631346184 meters Centerline goodness : 0.879586 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.67, Z:-2.71 [[ 0.69035374 -0.65034961 -0.31694967 -2.02559135] [ 0.6939644 0.719109 0.03599519 -0.66540245] [ 0.2045119 -0.24480121 0.94775907 -2.71312786] [ 0. 0. 0. 1. ]] SLAMing on 174.661346184 meters Centerline goodness : 0.880217 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-2.71 [[ 0.68781843 -0.65294146 -0.31713286 -2.0245566 ] [ 0.6964519 0.71676011 0.03478057 -0.66267653] [ 0.20459851 -0.2447905 0.94774314 -2.71272764] [ 0. 0. 0. 1. ]] SLAMing on 174.691346184 meters Centerline goodness : 0.878531 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68673804 -0.65397238 -0.31734996 -2.025162 ] [ 0.69748924 0.71577206 0.03433822 -0.66163826] [ 0.20469399 -0.24492954 0.9476866 -2.71156016] [ 0. 0. 0. 1. ]] SLAMing on 174.721346184 meters Centerline goodness : 0.879183 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-2.71 [[ 0.68644433 -0.65402029 -0.31788621 -2.02450933] [ 0.69768591 0.7155799 0.03434801 -0.66027138] [ 0.20500869 -0.24536273 0.9475065 -2.71185202] [ 0. 0. 0. 1. ]] SLAMing on 174.751346184 meters Centerline goodness : 0.879124 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-2.71 [[ 0.68679673 -0.65388179 -0.31740959 -2.02497621] [ 0.69734641 0.71592546 0.03403997 -0.65987456] [ 0.20498349 -0.24472298 0.94767739 -2.71253387] [ 0. 0. 0. 1. ]] SLAMing on 174.781346184 meters Centerline goodness : 0.878644 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68776584 -0.65341166 -0.31627732 -2.02756905] [ 0.69643721 0.71683508 0.03350642 -0.65927597] [ 0.2048252 -0.24331187 0.94807488 -2.71342263] [ 0. 0. 0. 1. ]] SLAMing on 174.811346184 meters Centerline goodness : 0.875588 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68786905 -0.65349417 -0.31588217 -2.02797732] [ 0.69632583 0.71696301 0.03308144 -0.65889761] [ 0.2048573 -0.24271261 0.94822153 -2.71379603] [ 0. 0. 0. 1. ]] SLAMing on 174.841346184 meters Centerline goodness : 0.874552 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68770516 -0.65378934 -0.31562812 -2.02837734] [ 0.69648193 0.71682917 0.03269341 -0.65868085] [ 0.20487684 -0.24231271 0.94831958 -2.71365742] [ 0. 0. 0. 1. ]] SLAMing on 174.871346184 meters Centerline goodness : 0.880948 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68733674 -0.65365964 -0.31669746 -2.02873882] [ 0.6967416 0.71655354 0.03319877 -0.65871694] [ 0.20522999 -0.24347503 0.94794544 -2.71167316] [ 0. 0. 0. 1. ]] SLAMing on 174.901346184 meters Centerline goodness : 0.877559 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.6866268 -0.6542391 -0.31704074 -2.02910171] [ 0.69741332 0.715905 0.03308606 -0.65860593] [ 0.20532486 -0.24382622 0.94783463 -2.71029705] [ 0. 0. 0. 1. ]] SLAMing on 174.931346184 meters Centerline goodness : 0.878309 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68562835 -0.65517333 -0.31727224 -2.02899687] [ 0.69838903 0.71496608 0.03280653 -0.65818824] [ 0.20534492 -0.24407254 0.94776688 -2.70927177] [ 0. 0. 0. 1. ]] SLAMing on 174.96134618399998 meters Centerline goodness : 0.876113 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.6832357 -0.65887068 -0.31476724 -2.03068136] [ 0.70103027 0.71248837 0.03028019 -0.65884967] [ 0.20431727 -0.24134986 0.94868577 -2.70788087] [ 0. 0. 0. 1. ]] SLAMing on 174.99134618399998 meters Centerline goodness : 0.878215 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68245297 -0.65950337 -0.31514006 -2.03112311] [ 0.701749 0.71178837 0.03009412 -0.658296 ] [ 0.20446586 -0.24168705 0.94856791 -2.70666752] [ 0. 0. 0. 1. ]] SLAMing on 175.02134618399998 meters Centerline goodness : 0.875604 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.6824207 -0.658794 -0.31668984 -2.03028929] [ 0.70161932 0.71187708 0.03100572 -0.65708378] [ 0.20501786 -0.24335465 0.94802225 -2.70624766] [ 0. 0. 0. 1. ]] SLAMing on 175.05134618399998 meters Centerline goodness : 0.875486 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68236413 -0.65819625 -0.31805171 -2.03000119] [ 0.70148948 0.71197905 0.03159649 -0.65595612] [ 0.20564947 -0.24467024 0.94754671 -2.70548193] [ 0. 0. 0. 1. ]] SLAMing on 175.08134618399998 meters Centerline goodness : 0.875434 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.66, Z:-2.71 [[ 0.68283171 -0.65803146 -0.31738847 -2.03250285] [ 0.70109099 0.71238127 0.03137439 -0.65579856] [ 0.20545627 -0.24394162 0.94777645 -2.70517347] [ 0. 0. 0. 1. ]] SLAMing on 175.11134618399998 meters Centerline goodness : 0.871839 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.65, Z:-2.70 [[ 0.68298706 -0.65776031 -0.3176162 -2.03335375] [ 0.70086162 0.71260848 0.03133918 -0.65494985] [ 0.20572233 -0.24400926 0.94770133 -2.70494654] [ 0. 0. 0. 1. ]] SLAMing on 175.14134618399999 meters Centerline goodness : 0.873070 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.65, Z:-2.71 [[ 0.68318094 -0.65730896 -0.31813319 -2.03366447] [ 0.70055417 0.71290576 0.03145197 -0.65342072] [ 0.20612533 -0.24435692 0.94752417 -2.70517109] [ 0. 0. 0. 1. ]] SLAMing on 175.171346184 meters Centerline goodness : 0.874223 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.65, Z:-2.71 [[ 0.68310581 -0.65713424 -0.31865506 -2.03413655] [ 0.70048945 0.71297399 0.03134674 -0.65167404] [ 0.20659376 -0.24462765 0.94735228 -2.70514667] [ 0. 0. 0. 1. ]] SLAMing on 175.201346184 meters Centerline goodness : 0.870951 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.65, Z:-2.71 [[ 0.68310461 -0.65533379 -0.32234409 -2.03142746] [ 0.69990769 0.7134845 0.03269696 -0.64623723] [ 0.20856008 -0.24794655 0.94605771 -2.70598486] [ 0. 0. 0. 1. ]] SLAMing on 175.231346184 meters Centerline goodness : 0.869370 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.64, Z:-2.71 [[ 0.68249656 -0.65533414 -0.32362881 -2.03026348] [ 0.70015167 0.71326745 0.03220541 -0.64269806] [ 0.20972859 -0.24856933 0.94563587 -2.70626204] [ 0. 0. 0. 1. ]] SLAMing on 175.261346184 meters Centerline goodness : 0.868755 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.64, Z:-2.71 [[ 0.68158543 -0.65608646 -0.32402448 -2.03021533] [ 0.70079345 0.7126875 0.03106553 -0.63958741] [ 0.21054652 -0.24824805 0.94553851 -2.70629661] [ 0. 0. 0. 1. ]] SLAMing on 175.291346184 meters Centerline goodness : 0.869193 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.63, Z:-2.71 [[ 0.68023907 -0.65710014 -0.32479874 -2.02891704] [ 0.70179817 0.71174958 0.029864 -0.63431581] [ 0.21155173 -0.24825783 0.94531155 -2.70775471] [ 0. 0. 0. 1. ]] SLAMing on 175.321346184 meters Centerline goodness : 0.869518 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.63, Z:-2.71 [[ 0.67921324 -0.65803306 -0.32505673 -2.0296461 ] [ 0.70264762 0.71094753 0.02898138 -0.63193119] [ 0.21202757 -0.24808487 0.94525034 -2.70719768] [ 0. 0. 0. 1. ]] SLAMing on 175.351346184 meters Centerline goodness : 0.867252 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.63, Z:-2.71 [[ 0.67835598 -0.65854035 -0.3258186 -2.02930442] [ 0.70326638 0.71035739 0.02843897 -0.62945076] [ 0.21271945 -0.24842901 0.94500448 -2.7068285 ] [ 0. 0. 0. 1. ]] SLAMing on 175.381346184 meters Centerline goodness : 0.871008 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.63, Z:-2.71 [[ 0.67756488 -0.65906616 -0.32640103 -2.02960741] [ 0.70384883 0.70980293 0.02786803 -0.62743523] [ 0.21331353 -0.24861938 0.94482048 -2.70612186] [ 0. 0. 0. 1. ]] SLAMing on 175.411346184 meters Centerline goodness : 0.869828 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.71 [[ 0.67559297 -0.66025778 -0.3280759 -2.02936713] [ 0.70542497 0.70825987 0.02726826 -0.62295518] [ 0.21435892 -0.24985517 0.94425772 -2.70512075] [ 0. 0. 0. 1. ]] SLAMing on 175.441346184 meters Centerline goodness : 0.869450 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.70 [[ 0.67509073 -0.66097124 -0.32767289 -2.03026763] [ 0.70591624 0.70779456 0.02662918 -0.6221452 ] [ 0.21432396 -0.24928673 0.94441589 -2.70484216] [ 0. 0. 0. 1. ]] SLAMing on 175.471346184 meters Centerline goodness : 0.867718 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.71 [[ 0.67473082 -0.6616312 -0.32708175 -2.03092891] [ 0.70624114 0.70750361 0.02573118 -0.62100676] [ 0.21438697 -0.24836021 0.94464567 -2.70513029] [ 0. 0. 0. 1. ]] SLAMing on 175.501346184 meters Centerline goodness : 0.867887 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.71 [[ 0.67448335 -0.66201832 -0.32680874 -2.03151373] [ 0.70637687 0.70739882 0.02487221 -0.61949834] [ 0.21471826 -0.24762603 0.94476316 -2.70535493] [ 0. 0. 0. 1. ]] SLAMing on 175.531346184 meters Centerline goodness : 0.868222 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.71 [[ 0.67483586 -0.66190594 -0.32630828 -2.03459559] [ 0.70590521 0.70790229 0.02392038 -0.61683162] [ 0.21516134 -0.24648504 0.9449607 -2.70563163] [ 0. 0. 0. 1. ]] SLAMing on 175.561346184 meters Centerline goodness : 0.868484 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.62, Z:-2.71 [[ 0.675057 -0.66188461 -0.32589386 -2.03614612] [ 0.70560872 0.70822132 0.02321403 -0.61550777] [ 0.21543997 -0.24562434 0.94512132 -2.70587641] [ 0. 0. 0. 1. ]] SLAMing on 175.591346184 meters Centerline goodness : 0.864139 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.71 [[ 0.67572229 -0.66198653 -0.3243042 -2.03935583] [ 0.70494307 0.70893136 0.02171644 -0.6133223 ] [ 0.21553343 -0.24329028 0.94570354 -2.70719558] [ 0. 0. 0. 1. ]] SLAMing on 175.621346184 meters Centerline goodness : 0.868767 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.71 [[ 0.67549045 -0.66229363 -0.32416014 -2.04006861] [ 0.70507337 0.70882201 0.02104523 -0.6116798 ] [ 0.21583372 -0.24277254 0.9457681 -2.70742445] [ 0. 0. 0. 1. ]] SLAMing on 175.651346184 meters Centerline goodness : 0.867240 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.71 [[ 0.67520259 -0.66247192 -0.32439546 -2.04115657] [ 0.70522759 0.70868097 0.02062373 -0.61045174] [ 0.21623025 -0.24269783 0.9456967 -2.70665593] [ 0. 0. 0. 1. ]] SLAMing on 175.681346184 meters Centerline goodness : 0.866748 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.71 [[ 0.67472508 -0.66287225 -0.32457116 -2.04254175] [ 0.7055943 0.70832855 0.02018304 -0.60936621] [ 0.21652423 -0.24263356 0.94564592 -2.70556638] [ 0. 0. 0. 1. ]] SLAMing on 175.71134618399998 meters Centerline goodness : 0.866193 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.70 [[ 0.67341843 -0.66410697 -0.32476077 -2.0427638 ] [ 0.70676427 0.70718286 0.01940818 -0.60830971] [ 0.21677614 -0.24259913 0.94559704 -2.70433331] [ 0. 0. 0. 1. ]] SLAMing on 175.74134618399998 meters Centerline goodness : 0.865207 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.70 [[ 0.6730057 -0.66483004 -0.32413629 -2.04222846] [ 0.7071771 0.70679099 0.01862901 -0.60824133] [ 0.21671148 -0.24175919 0.94582695 -2.70454894] [ 0. 0. 0. 1. ]] SLAMing on 175.77134618399998 meters Centerline goodness : 0.863551 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.70 [[ 0.67267148 -0.66541707 -0.32362509 -2.04210922] [ 0.70750647 0.70647827 0.01797366 -0.60799072] [ 0.21667411 -0.24105721 0.94601467 -2.70469588] [ 0. 0. 0. 1. ]] SLAMing on 175.80134618399998 meters Centerline goodness : 0.863552 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.70 [[ 0.67232866 -0.66578549 -0.32357974 -2.04283202] [ 0.70778235 0.70621274 0.01754175 -0.60766183] [ 0.21683709 -0.24081785 0.94603828 -2.70385852] [ 0. 0. 0. 1. ]] SLAMing on 175.83134618399998 meters Centerline goodness : 0.862439 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.61, Z:-2.70 [[ 0.67264681 -0.66491737 -0.32470166 -2.04400303] [ 0.70723334 0.70675575 0.0178135 -0.60657725] [ 0.21764025 -0.24162203 0.94564873 -2.70250929] [ 0. 0. 0. 1. ]] SLAMing on 175.86134618399998 meters Centerline goodness : 0.862973 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.61, Z:-2.70 [[ 0.67313174 -0.66419395 -0.32517696 -2.04514805] [ 0.70664138 0.70734316 0.01798927 -0.60618439] [ 0.21806334 -0.24189265 0.94548206 -2.7017733 ] [ 0. 0. 0. 1. ]] SLAMing on 175.89134618399999 meters Centerline goodness : 0.863512 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.61, Z:-2.70 [[ 0.67343428 -0.66368807 -0.32558319 -2.04516715] [ 0.70616002 0.70783016 0.01773412 -0.60527445] [ 0.21868768 -0.24185659 0.94534707 -2.70154061] [ 0. 0. 0. 1. ]] SLAMing on 175.921346184 meters Centerline goodness : 0.862075 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67430098 -0.66233688 -0.32653951 -2.04369565] [ 0.7050908 0.70888502 0.01813784 -0.60441727] [ 0.2194656 -0.24247037 0.94500951 -2.7023253 ] [ 0. 0. 0. 1. ]] SLAMing on 175.951346184 meters Centerline goodness : 0.863469 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67420939 -0.66247294 -0.3264526 -2.04440495] [ 0.70513379 0.70885063 0.017808 -0.60420306] [ 0.21960881 -0.24219909 0.9450458 -2.7016984 ] [ 0. 0. 0. 1. ]] SLAMing on 175.981346184 meters Centerline goodness : 0.861863 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67379828 -0.66277952 -0.32667904 -2.04441486] [ 0.70544701 0.70854643 0.01750623 -0.60385863] [ 0.2198645 -0.24225042 0.94497319 -2.7009237 ] [ 0. 0. 0. 1. ]] SLAMing on 176.011346184 meters Centerline goodness : 0.861863 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67379828 -0.66277952 -0.32667904 -2.04441486] [ 0.70544701 0.70854643 0.01750623 -0.60385863] [ 0.2198645 -0.24225042 0.94497319 -2.7009237 ] [ 0. 0. 0. 1. ]] SLAMing on 176.041346184 meters Centerline goodness : 0.861395 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67252292 -0.66435868 -0.32609887 -2.04465974] [ 0.70670398 0.70731828 0.01644158 -0.60312388] [ 0.21973259 -0.24151271 0.94519268 -2.70036781] [ 0. 0. 0. 1. ]] SLAMing on 176.071346184 meters Centerline goodness : 0.861740 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67182196 -0.66521519 -0.32579749 -2.04480082] [ 0.70732193 0.70672001 0.01557264 -0.60231582] [ 0.21988845 -0.24090576 0.94531132 -2.6999725 ] [ 0. 0. 0. 1. ]] SLAMing on 176.101346184 meters Centerline goodness : 0.861736 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67145959 -0.6654131 -0.32614019 -2.04412363] [ 0.70756992 0.70647663 0.01534862 -0.60157999] [ 0.22019725 -0.24107296 0.9451968 -2.69975637] [ 0. 0. 0. 1. ]] SLAMing on 176.131346184 meters Centerline goodness : 0.862714 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.67089211 -0.66590832 -0.32629725 -2.04341403] [ 0.70796509 0.70609592 0.01462792 -0.60033682] [ 0.2206563 -0.24082082 0.94515402 -2.69965664] [ 0. 0. 0. 1. ]] SLAMing on 176.161346184 meters Centerline goodness : 0.860222 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.70 [[ 0.66996796 -0.66737606 -0.32519552 -2.04496359] [ 0.70891386 0.70516899 0.0133356 -0.59941687] [ 0.22041794 -0.23947003 0.94555277 -2.699322 ] [ 0. 0. 0. 1. ]] SLAMing on 176.191346184 meters Centerline goodness : 0.859437 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.70 [[ 0.66972404 -0.6677111 -0.32501016 -2.04545824] [ 0.7090557 0.70503912 0.01264332 -0.59847649] [ 0.22070279 -0.23891784 0.94562601 -2.69919102] [ 0. 0. 0. 1. ]] SLAMing on 176.221346184 meters Centerline goodness : 0.861548 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.70 [[ 0.66951081 -0.66822684 -0.32438892 -2.04633002] [ 0.70923309 0.70487557 0.0117835 -0.59774169] [ 0.22077977 -0.23795654 0.9458504 -2.69923722] [ 0. 0. 0. 1. ]] SLAMing on 176.251346184 meters Centerline goodness : 0.860780 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.70 [[ 0.6692908 -0.6691036 -0.32303282 -2.04746344] [ 0.70948285 0.7046455 0.01043082 -0.59650385] [ 0.22064432 -0.2361675 0.94633028 -2.70028239] [ 0. 0. 0. 1. ]] SLAMing on 176.281346184 meters Centerline goodness : 0.863423 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.70 [[ 0.66869589 -0.66944958 -0.32354763 -2.04803761] [ 0.70988956 0.70424155 0.01003258 -0.59547487] [ 0.22113938 -0.23639183 0.9461587 -2.69904328] [ 0. 0. 0. 1. ]] SLAMing on 176.311346184 meters Centerline goodness : 0.860932 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.70 [[ 0.66810192 -0.66981671 -0.32401452 -2.04893247] [ 0.71032379 0.70380809 0.00971027 -0.59427775] [ 0.22153994 -0.23664266 0.94600228 -2.69788763] [ 0. 0. 0. 1. ]] SLAMing on 176.341346184 meters Centerline goodness : 0.861785 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.70 [[ 0.66736519 -0.6706948 -0.32371621 -2.04907762] [ 0.71103613 0.70309611 0.00913721 -0.59365085] [ 0.22147533 -0.23627178 0.9461101 -2.69765735] [ 0. 0. 0. 1. ]] SLAMing on 176.371346184 meters Centerline goodness : 0.861563 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.70 [[ 0.66669502 -0.67238814 -0.32157725 -2.05031159] [ 0.71180864 0.7023365 0.00720369 -0.5944042 ] [ 0.22101177 -0.23370413 0.94685594 -2.69738506] [ 0. 0. 0. 1. ]] SLAMing on 176.401346184 meters Centerline goodness : 0.862210 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.70 [[ 0.66579861 -0.67346745 -0.32117567 -2.04923431] [ 0.71261088 0.70153196 0.00621591 -0.59394359] [ 0.22112878 -0.23301182 0.94699924 -2.69734765] [ 0. 0. 0. 1. ]] SLAMing on 176.431346184 meters Centerline goodness : 0.859462 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.70 [[ 0.66311669 -0.67716567 -0.31894029 -2.05089806] [ 0.71535747 0.69874861 0.00375274 -0.59443448] [ 0.22031786 -0.23064483 0.94776738 -2.69540212] [ 0. 0. 0. 1. ]] SLAMing on 176.46134618399998 meters Centerline goodness : 0.862022 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.69 [[ 0.66155393 -0.67852874 -0.3192885 -2.04944425] [ 0.71673351 0.69734024 0.0031084 -0.59351592] [ 0.22054358 -0.23090114 0.94765247 -2.69467314] [ 0. 0. 0. 1. ]] SLAMing on 176.49134618399998 meters Centerline goodness : 0.863933 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.69 [[ 6.59532394e-01 -6.81282986e-01 -3.17601187e-01 -2.05068544e+00] [ 7.18711204e-01 6.95308019e-01 9.81725441e-04 -5.93629693e-01] [ 2.20161819e-01 -2.28911011e-01 9.48223878e-01 -2.69317804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52134618399998 meters Centerline goodness : 0.864300 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.69 [[ 6.58812621e-01 -6.81602574e-01 -3.18408325e-01 -2.04967176e+00] [ 7.19290502e-01 6.94708483e-01 1.13869654e-03 -5.93602049e-01] [ 2.20424826e-01 -2.29778271e-01 9.47952975e-01 -2.69206068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55134618399998 meters Centerline goodness : 0.864518 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.59, Z:-2.69 [[ 6.58193930e-01 -6.81868873e-01 -3.19116892e-01 -2.05004443e+00] [ 7.19889926e-01 6.94086096e-01 1.72813264e-03 -5.94898521e-01] [ 2.20316238e-01 -2.30866482e-01 9.47713787e-01 -2.68984770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58134618399998 meters Centerline goodness : 0.865292 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.58160400e-01 -6.82160932e-01 -3.18561377e-01 -2.04962112e+00] [ 7.19940877e-01 6.94034299e-01 1.23521306e-03 -5.95593113e-01] [ 2.20249908e-01 -2.30158325e-01 9.47901431e-01 -2.68987140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61134618399998 meters Centerline goodness : 0.866908 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.58771244e-01 -6.82387374e-01 -3.16808963e-01 -2.04941175e+00] [ 7.19512072e-01 6.94479876e-01 2.82703470e-04 -5.97165358e-01] [ 2.19824536e-01 -2.28134110e-01 9.48489326e-01 -2.69091465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64134618399999 meters Centerline goodness : 0.868737 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.59259804e-01 -6.83240745e-01 -3.13940433e-01 -2.05122345e+00] [ 7.19394657e-01 6.94600851e-01 -9.92618161e-04 -6.00462635e-01] [ 2.18741489e-01 -2.25192677e-01 9.49442162e-01 -2.69078934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671346184 meters Centerline goodness : 0.868432 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.58848792e-01 -6.83463671e-01 -3.14317801e-01 -2.05127080e+00] [ 7.19739929e-01 6.94243172e-01 -9.23280016e-04 -6.00655508e-01] [ 2.18844016e-01 -2.25618770e-01 9.49317369e-01 -2.68966713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701346184 meters Centerline goodness : 0.869169 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.58352500e-01 -6.83443959e-01 -3.15398701e-01 -2.05100851e+00] [ 7.20080814e-01 6.93890004e-01 -5.32427274e-04 -6.00774487e-01] [ 2.19215890e-01 -2.26762029e-01 9.48959101e-01 -2.68792541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731346184 meters Centerline goodness : 0.868848 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.57683520e-01 -6.83607579e-01 -3.16438091e-01 -2.05074280e+00] [ 7.20579376e-01 6.93372408e-01 -2.57406130e-04 -6.00704091e-01] [ 2.19585406e-01 -2.27849471e-01 9.48613129e-01 -2.68616435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761346184 meters Centerline goodness : 0.867732 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.57157738e-01 -6.84325083e-01 -3.15979254e-01 -2.04949020e+00] [ 7.21062488e-01 6.92869403e-01 -9.37144722e-04 -6.01173090e-01] [ 2.19573669e-01 -2.27224935e-01 9.48765636e-01 -2.68623484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791346184 meters Centerline goodness : 0.868476 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 6.57269704e-01 -6.84103931e-01 -3.16225154e-01 -2.04621720e+00] [ 7.20870710e-01 6.93068803e-01 -1.02653221e-03 -6.00510324e-01] [ 2.19868044e-01 -2.27282742e-01 9.48683613e-01 -2.68804884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821346184 meters Centerline goodness : 0.865568 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 0.65703449 -0.68537903 -0.31394468 -2.04596006] [ 0.72123462 0.69268524 -0.00279005 -0.60126653] [ 0.21937709 -0.22459461 0.94943718 -2.68927586] [ 0. 0. 0. 1. ]] SLAMing on 176.851346184 meters Centerline goodness : 0.865089 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 0.65655136 -0.68685156 -0.31172945 -2.04637871] [ 0.72185595 0.69202906 -0.00444529 -0.60283452] [ 0.21877909 -0.2221052 0.95016051 -2.68929763] [ 0. 0. 0. 1. ]] SLAMing on 176.881346184 meters Centerline goodness : 0.864920 Centerline is valid? [False, False] Translation: X:-2.05, Y:-0.60, Z:-2.69 [[ 0.65573888 -0.68730573 -0.31243774 -2.04580771] [ 0.72250677 0.69134948 -0.00445745 -0.60219822] [ 0.21906731 -0.22281546 0.94992778 -2.68839356] [ 0. 0. 0. 1. ]] SLAMing on 176.911346184 meters Centerline goodness : 0.866688 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.69 [[ 0.65510669 -0.68753257 -0.31326378 -2.0445633 ] [ 0.72294743 0.69088857 -0.00447129 -0.60158813] [ 0.21950452 -0.22354407 0.94965563 -2.68768896] [ 0. 0. 0. 1. ]] SLAMing on 176.941346184 meters Centerline goodness : 0.865762 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.69 [[ 0.65472793 -0.68735672 -0.3144393 -2.04257308] [ 0.72312682 0.69070276 -0.00415931 -0.60104705] [ 0.22004302 -0.22465628 0.94926847 -2.6872375 ] [ 0. 0. 0. 1. ]] SLAMing on 176.971346184 meters Centerline goodness : 0.864663 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.69 [[ 0.65466547 -0.68661813 -0.31617822 -2.03968435] [ 0.72292747 0.69091486 -0.00353919 -0.59970416] [ 0.22088231 -0.22625693 0.94869321 -2.68761551] [ 0. 0. 0. 1. ]] SLAMing on 177.001346184 meters Centerline goodness : 0.862674 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.69 [[ 0.65458044 -0.6866317 -0.31632477 -2.03896081] [ 0.72293328 0.69090776 -0.00373409 -0.59978254] [ 0.22111519 -0.22623744 0.94864361 -2.68735683] [ 0. 0. 0. 1. ]] SLAMing on 177.031346184 meters Centerline goodness : 0.862676 Centerline is valid? [False, False] Translation: X:-2.04, Y:-0.60, Z:-2.69 [[ 0.65481793 -0.68601633 -0.31716726 -2.03674577] [ 0.72256042 0.69129912 -0.00345863 -0.59920117] [ 0.22163013 -0.22690773 0.94836331 -2.68798594] [ 0. 0. 0. 1. ]] SLAMing on 177.061346184 meters Centerline goodness : 0.861876 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65523675 -0.68514675 -0.31818034 -2.03408693] [ 0.7219386 0.69194931 -0.00328784 -0.59808066] [ 0.22241732 -0.22755235 0.9480245 -2.68889186] [ 0. 0. 0. 1. ]] SLAMing on 177.091346184 meters Centerline goodness : 0.861061 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65587227 -0.68477298 -0.31767521 -2.03182225] [ 0.72139385 0.69251676 -0.00338252 -0.59897357] [ 0.22231166 -0.22695044 0.94819356 -2.69055822] [ 0. 0. 0. 1. ]] SLAMing on 177.121346184 meters Centerline goodness : 0.861595 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65565714 -0.68512512 -0.31735987 -2.03116881] [ 0.72158128 0.69231914 -0.00382943 -0.59908117] [ 0.22233795 -0.22649015 0.94829745 -2.6907095 ] [ 0. 0. 0. 1. ]] SLAMing on 177.151346184 meters Centerline goodness : 0.861299 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65552378 -0.68535425 -0.31714054 -2.02999816] [ 0.72173449 0.69215861 -0.00397214 -0.59988193] [ 0.22223388 -0.22628744 0.94837023 -2.69081507] [ 0. 0. 0. 1. ]] SLAMing on 177.181346184 meters Centerline goodness : 0.861179 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65527241 -0.68518285 -0.31802914 -2.02963395] [ 0.72185514 0.6920346 -0.00364269 -0.6001986 ] [ 0.22258308 -0.22718401 0.94807394 -2.68937079] [ 0. 0. 0. 1. ]] SLAMing on 177.21134618399998 meters Centerline goodness : 0.859874 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65504324 -0.68523593 -0.31838667 -2.02968473] [ 0.72207907 0.6918026 -0.00331353 -0.60077024] [ 0.22253128 -0.22772985 0.94795514 -2.68846538] [ 0. 0. 0. 1. ]] SLAMing on 177.24134618399998 meters Centerline goodness : 0.860614 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65479926 -0.68541665 -0.31849954 -2.02930158] [ 0.72230102 0.69157091 -0.00330312 -0.60127336] [ 0.22252902 -0.22788966 0.94791726 -2.68786815] [ 0. 0. 0. 1. ]] SLAMing on 177.27134618399998 meters Centerline goodness : 0.860452 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.60, Z:-2.69 [[ 0.65409525 -0.68732192 -0.31582905 -2.03035672] [ 0.72332822 0.69048884 -0.00463087 -0.60423451] [ 0.22125933 -0.22541903 0.94880481 -2.68738584] [ 0. 0. 0. 1. ]] SLAMing on 177.30134618399998 meters Centerline goodness : 0.859416 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.61, Z:-2.69 [[ 0.6538838 -0.68844386 -0.31381688 -2.03019568] [ 0.72378713 0.69000069 -0.00558943 -0.60669982] [ 0.22038187 -0.22348178 0.94946707 -2.68767089] [ 0. 0. 0. 1. ]] SLAMing on 177.33134618399998 meters Centerline goodness : 0.860798 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.61, Z:-2.69 [[ 0.65359081 -0.68941227 -0.31229759 -2.02877033] [ 0.72427149 0.68948625 -0.00628596 -0.60913546] [ 0.21965851 -0.2220798 0.94996353 -2.68807771] [ 0. 0. 0. 1. ]] SLAMing on 177.36134618399998 meters Centerline goodness : 0.861297 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.61, Z:-2.69 [[ 0.65242062 -0.69158107 -0.30994026 -2.02978591] [ 0.72563107 0.68803972 -0.00780335 -0.61204218] [ 0.21864786 -0.21981122 0.95072401 -2.6867906 ] [ 0. 0. 0. 1. ]] SLAMing on 177.39134618399999 meters Centerline goodness : 0.861988 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.61, Z:-2.68 [[ 0.65048695 -0.69315024 -0.31049875 -2.02940483] [ 0.72750422 0.68606278 -0.00744796 -0.6149219 ] [ 0.21818419 -0.22104436 0.95054461 -2.68287539] [ 0. 0. 0. 1. ]] SLAMing on 177.421346184 meters Centerline goodness : 0.864023 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.68 [[ 0.64977543 -0.69298784 -0.31234555 -2.02773408] [ 0.72801857 0.6855271 -0.00644598 -0.61511143] [ 0.21858833 -0.22320492 0.94994669 -2.68103178] [ 0. 0. 0. 1. ]] SLAMing on 177.451346184 meters Centerline goodness : 0.864372 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.68 [[ 0.64935372 -0.69326009 -0.31261828 -2.02785467] [ 0.72848491 0.68503591 -0.00596149 -0.61747215] [ 0.21828761 -0.22386658 0.94986013 -2.67882696] [ 0. 0. 0. 1. ]] SLAMing on 177.481346184 meters Centerline goodness : 0.866977 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.68 [[ 0.64876052 -0.69484439 -0.31032413 -2.02745877] [ 0.72948701 0.6839647 -0.00640188 -0.6231438 ] [ 0.21669906 -0.22222414 0.95060925 -2.67739678] [ 0. 0. 0. 1. ]] SLAMing on 177.511346184 meters Centerline goodness : 0.868408 Centerline is valid? [False, False] Translation: X:-2.03, Y:-0.62, Z:-2.68 [[ 0.64849258 -0.69498613 -0.31056665 -2.02519177] [ 0.72977884 0.68365661 -0.00603962 -0.62466306] [ 0.2165184 -0.22272832 0.95053242 -2.6771531 ] [ 0. 0. 0. 1. ]] SLAMing on 177.541346184 meters Centerline goodness : 0.868988 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.68 [[ 0.64801151 -0.69526107 -0.31095519 -2.02372197] [ 0.73020295 0.68320507 -0.00587212 -0.62578958] [ 0.21652882 -0.22325519 0.95040643 -2.67621911] [ 0. 0. 0. 1. ]] SLAMing on 177.571346184 meters Centerline goodness : 0.869871 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.68 [[ 0.64758606 -0.6950063 -0.31240764 -2.02115495] [ 0.73045779 0.68293835 -0.00516049 -0.62566234] [ 0.21694173 -0.22485873 0.94993412 -2.67562649] [ 0. 0. 0. 1. ]] SLAMing on 177.601346184 meters Centerline goodness : 0.872648 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.67 [[ 0.64738203 -0.69486304 -0.31314832 -2.02157879] [ 0.73074363 0.68263993 -0.00405866 -0.62850058] [ 0.21658776 -0.22620363 0.94969556 -2.67287743] [ 0. 0. 0. 1. ]] SLAMing on 177.631346184 meters Centerline goodness : 0.875584 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.67 [[ 0.6475528 -0.69416669 -0.31433735 -2.01963612] [ 0.73048558 0.68292022 -0.00328464 -0.62884146] [ 0.21694742 -0.22749192 0.94930566 -2.6725326 ] [ 0. 0. 0. 1. ]] SLAMing on 177.661346184 meters Centerline goodness : 0.871951 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.67 [[ 0.64768785 -0.69392302 -0.31459703 -2.01838671] [ 0.73037844 0.68303648 -0.00291638 -0.62954483] [ 0.21690499 -0.22788598 0.94922084 -2.67261911] [ 0. 0. 0. 1. ]] SLAMing on 177.691346184 meters Centerline goodness : 0.872665 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.67 [[ 0.64887274 -0.69346065 -0.31317167 -2.01943042] [ 0.72953767 0.68393453 -0.00288842 -0.63273266] [ 0.21619192 -0.22659632 0.94969214 -2.67260768] [ 0. 0. 0. 1. ]] SLAMing on 177.721346184 meters Centerline goodness : 0.872728 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.63, Z:-2.67 [[ 0.64958198 -0.69307026 -0.31256498 -2.01941351] [ 0.7289865 0.68452221 -0.00283296 -0.63407152] [ 0.21592111 -0.22601541 0.94989216 -2.67308583] [ 0. 0. 0. 1. ]] SLAMing on 177.751346184 meters Centerline goodness : 0.872897 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.64, Z:-2.67 [[ 0.64993909 -0.69291803 -0.31215986 -2.01903961] [ 0.72873394 0.68479124 -0.0027919 -0.63547681] [ 0.21569889 -0.22566692 0.95002549 -2.67307478] [ 0. 0. 0. 1. ]] SLAMing on 177.781346184 meters Centerline goodness : 0.871512 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.64, Z:-2.67 [[ 0.65068287 -0.69339042 -0.30955053 -2.02010322] [ 0.72842005 0.68512183 -0.00350982 -0.63993377] [ 0.21451351 -0.22319903 0.95087652 -2.67294202] [ 0. 0. 0. 1. ]] SLAMing on 177.811346184 meters Centerline goodness : 0.871877 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.64, Z:-2.67 [[ 0.6511673 -0.6928452 -0.30975261 -2.01924889] [ 0.72801856 0.685551 -0.00296638 -0.64089914] [ 0.21440646 -0.22357404 0.95081256 -2.67312612] [ 0. 0. 0. 1. ]] SLAMing on 177.841346184 meters Centerline goodness : 0.870903 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.64, Z:-2.67 [[ 6.51922104e-01 -6.92007966e-01 -3.10036362e-01 -2.01908619e+00] [ 7.27379956e-01 6.86231414e-01 -2.20146327e-03 -6.42579279e-01] [ 2.14280121e-01 -2.24079053e-01 9.50722151e-01 -2.67264035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.871346184 meters Centerline goodness : 0.873046 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.64, Z:-2.67 [[ 6.52758263e-01 -6.91011888e-01 -3.10498343e-01 -2.01893780e+00] [ 7.26639310e-01 6.87017833e-01 -1.34517869e-03 -6.44363186e-01] [ 2.14247433e-01 -2.24742225e-01 9.50572969e-01 -2.67193805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901346184 meters Centerline goodness : 0.871195 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.65, Z:-2.67 [[ 6.55435277e-01 -6.88460946e-01 -3.10525559e-01 -2.02001317e+00] [ 7.24403170e-01 6.89376290e-01 6.14246524e-04 -6.49996912e-01] [ 2.13646073e-01 -2.25348298e-01 9.50564832e-01 -2.67051136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.931346184 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.65, Z:-2.67 [[ 6.57014897e-01 -6.87025635e-01 -3.10366238e-01 -2.01955923e+00] [ 7.23055760e-01 6.90788015e-01 1.51218394e-03 -6.52787877e-01] [ 2.13358368e-01 -2.25405623e-01 9.50615859e-01 -2.67072680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96134618399998 meters Centerline goodness : 0.871581 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.65, Z:-2.67 [[ 6.57014897e-01 -6.87025635e-01 -3.10366238e-01 -2.01955923e+00] [ 7.23055760e-01 6.90788015e-01 1.51218394e-03 -6.52787877e-01] [ 2.13358368e-01 -2.25405623e-01 9.50615859e-01 -2.67072680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99134618399998 meters Centerline goodness : 0.872790 Centerline is valid? [False, False] Translation: X:-2.02, Y:-0.66, Z:-2.67 [[ 6.58075629e-01 -6.86110746e-01 -3.10142726e-01 -2.01813444e+00] [ 7.22192014e-01 6.91689139e-01 2.19773838e-03 -6.55945607e-01] [ 2.13014463e-01 -2.25428878e-01 9.50687467e-01 -2.67078765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02134618399998 meters Centerline goodness : 0.875403 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.66, Z:-2.67 [[ 0.65924246 -0.68445615 -0.31131841 -2.01273564] [ 0.72125758 0.69265249 0.00447569 -0.66135259] [ 0.21257206 -0.22749133 0.95029512 -2.67062818] [ 0. 0. 0. 1. ]] SLAMing on 178.05134618399998 meters Centerline goodness : 0.876624 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.66, Z:-2.67 [[ 0.65920858 -0.68405482 -0.3122708 -2.01041779] [ 0.72130691 0.69259369 0.00550696 -0.66333021] [ 0.21250973 -0.22887332 0.94997717 -2.66964288] [ 0. 0. 0. 1. ]] SLAMing on 178.08134618399998 meters Centerline goodness : 0.878139 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.66, Z:-2.67 [[ 0.6590182 -0.68350298 -0.31387688 -2.00657684] [ 0.72136915 0.69251977 0.00655056 -0.66400027] [ 0.21288862 -0.23073804 0.9494411 -2.66925122] [ 0. 0. 0. 1. ]] SLAMing on 178.11134618399998 meters Centerline goodness : 0.879614 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.67, Z:-2.67 [[ 0.65866311 -0.68307013 -0.31555999 -2.00043095] [ 0.72176466 0.69208739 0.0084153 -0.66807261] [ 0.21264685 -0.2333029 0.94886831 -2.66824015] [ 0. 0. 0. 1. ]] SLAMing on 178.14134618399999 meters Centerline goodness : 0.882207 Centerline is valid? [False, False] Translation: X:-2.00, Y:-0.67, Z:-2.67 [[ 0.65876192 -0.68244624 -0.31670154 -1.99655589] [ 0.72165714 0.69218492 0.00953973 -0.66992045] [ 0.21270567 -0.23483434 0.94847727 -2.66810387] [ 0. 0. 0. 1. ]] SLAMing on 178.171346184 meters Centerline goodness : 0.885024 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.67, Z:-2.67 [[ 0.65946267 -0.68116261 -0.31800391 -1.99205458] [ 0.7209351 0.69291815 0.01081702 -0.67173685] [ 0.21298253 -0.2363936 0.94802769 -2.66855784] [ 0. 0. 0. 1. ]] SLAMing on 178.201346184 meters Centerline goodness : 0.886448 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-2.67 [[ 0.66179385 -0.67852358 -0.3188019 -1.98841962] [ 0.71900534 0.69487077 0.01363576 -0.67859794] [ 0.21227394 -0.23824433 0.94772328 -2.66817619] [ 0. 0. 0. 1. ]] SLAMing on 178.231346184 meters Centerline goodness : 0.888360 Centerline is valid? [False, False] Translation: X:-1.99, Y:-0.68, Z:-2.67 [[ 0.66266713 -0.67702694 -0.32016683 -1.98510987] [ 0.71813256 0.69574165 0.015139 -0.6806688 ] [ 0.21250389 -0.23995434 0.94724021 -2.66800168] [ 0. 0. 0. 1. ]] SLAMing on 178.261346184 meters Centerline goodness : 0.887883 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.68, Z:-2.67 [[ 0.66305373 -0.67577329 -0.32200965 -1.98154958] [ 0.71764237 0.69621339 0.01662386 -0.68189829] [ 0.21295347 -0.24211028 0.94659042 -2.66736282] [ 0. 0. 0. 1. ]] SLAMing on 178.291346184 meters Centerline goodness : 0.885635 Centerline is valid? [False, False] Translation: X:-1.98, Y:-0.68, Z:-2.67 [[ 0.66358208 -0.6743779 -0.32384141 -1.97826107] [ 0.71700838 0.69682901 0.01811946 -0.68312137] [ 0.21344273 -0.24422076 0.94593785 -2.66676407] [ 0. 0. 0. 1. ]] SLAMing on 178.321346184 meters Centerline goodness : 0.884223 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.69, Z:-2.67 [[ 0.66438143 -0.67268721 -0.32571342 -1.97225834] [ 0.71631145 0.69747551 0.02063523 -0.68858209] [ 0.21329608 -0.24702192 0.94524333 -2.66553933] [ 0. 0. 0. 1. ]] SLAMing on 178.351346184 meters Centerline goodness : 0.886383 Centerline is valid? [False, False] Translation: X:-1.97, Y:-0.69, Z:-2.67 [[ 0.66442533 -0.67202651 -0.32698524 -1.96668864] [ 0.71619871 0.6975603 0.0216571 -0.69065419] [ 0.21353778 -0.24857594 0.94478125 -2.66573387] [ 0. 0. 0. 1. ]] SLAMing on 178.381346184 meters Centerline goodness : 0.888077 Centerline is valid? [False, False] Translation: X:-1.96, Y:-0.69, Z:-2.67 [[ 0.66442456 -0.67135641 -0.32836044 -1.96121843] [ 0.71612915 0.69759614 0.02277421 -0.6926543 ] [ 0.21377336 -0.25028023 0.9442779 -2.66578543] [ 0. 0. 0. 1. ]] SLAMing on 178.411346184 meters Centerline goodness : 0.885990 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.70, Z:-2.66 [[ 0.66322809 -0.66496642 -0.34343581 -1.95300245] [ 0.7131175 0.70074946 0.02033769 -0.70073708] [ 0.22713858 -0.25839861 0.93895592 -2.66021213] [ 0. 0. 0. 1. ]] SLAMing on 178.441346184 meters Centerline goodness : 0.886421 Centerline is valid? [False, False] Translation: X:-1.95, Y:-0.70, Z:-2.66 [[ 0.6635629 -0.66375462 -0.34512909 -1.94980569] [ 0.71273496 0.70108826 0.02200308 -0.70293796] [ 0.22736131 -0.26058599 0.93829727 -2.65895758] [ 0. 0. 0. 1. ]] SLAMing on 178.471346184 meters Centerline goodness : 0.886772 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.70, Z:-2.66 [[ 0.66455392 -0.66035792 -0.34970775 -1.94426198] [ 0.71141778 0.70229711 0.02575869 -0.70414771] [ 0.22858878 -0.26590635 0.93650466 -2.65727036] [ 0. 0. 0. 1. ]] SLAMing on 178.501346184 meters Centerline goodness : 0.888712 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.71, Z:-2.66 [[ 0.66457069 -0.65917881 -0.35189359 -1.9415409 ] [ 0.71121868 0.70243881 0.02734436 -0.70555242] [ 0.22915889 -0.26844555 0.93564052 -2.65514825] [ 0. 0. 0. 1. ]] SLAMing on 178.531346184 meters Centerline goodness : 0.886909 Centerline is valid? [False, False] Translation: X:-1.94, Y:-0.71, Z:-2.65 [[ 0.66439431 -0.65806968 -0.35429437 -1.9363106 ] [ 0.71126969 0.70230639 0.02934566 -0.70828625] [ 0.22951171 -0.27149594 0.93467338 -2.65327194] [ 0. 0. 0. 1. ]] SLAMing on 178.561346184 meters Centerline goodness : 0.884615 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.71, Z:-2.65 [[ 0.6643832 -0.65735749 -0.35563476 -1.93150999] [ 0.71112327 0.7024213 0.03013329 -0.70927033] [ 0.22999709 -0.27292021 0.93413912 -2.65330466] [ 0. 0. 0. 1. ]] SLAMing on 178.591346184 meters Centerline goodness : 0.886495 Centerline is valid? [False, False] Translation: X:-1.93, Y:-0.71, Z:-2.65 [[ 0.66265625 -0.65152816 -0.36932066 -1.92620831] [ 0.70804551 0.70570775 0.0254584 -0.71400646] [ 0.24404559 -0.27836601 0.92895324 -2.64850075] [ 0. 0. 0. 1. ]] SLAMing on 178.621346184 meters Centerline goodness : 0.886706 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.72, Z:-2.65 [[ 0.6629635 -0.65027606 -0.37097228 -1.92088064] [ 0.70763584 0.70606284 0.02695881 -0.71693108] [ 0.24439908 -0.28038599 0.92825255 -2.64770925] [ 0. 0. 0. 1. ]] SLAMing on 178.651346184 meters Centerline goodness : 0.885695 Centerline is valid? [False, False] Translation: X:-1.92, Y:-0.72, Z:-2.65 [[ 0.66318958 -0.64937622 -0.37214258 -1.91784773] [ 0.70728265 0.70638314 0.02782287 -0.71786783] [ 0.24480773 -0.28166184 0.92775847 -2.64731105] [ 0. 0. 0. 1. ]] SLAMing on 178.681346184 meters Centerline goodness : 0.884356 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.72, Z:-2.65 [[ 0.66337861 -0.64841482 -0.37347964 -1.91475028] [ 0.7069742 0.70664902 0.0288901 -0.71920306] [ 0.24518625 -0.28320555 0.9271884 -2.64653087] [ 0. 0. 0. 1. ]] SLAMing on 178.71134618399998 meters Centerline goodness : 0.889126 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.72, Z:-2.65 [[ 0.66284538 -0.64784903 -0.37540329 -1.90918925] [ 0.70734039 0.70622875 0.03017475 -0.72139262] [ 0.24557191 -0.2855391 0.92637026 -2.64502651] [ 0. 0. 0. 1. ]] SLAMing on 178.74134618399998 meters Centerline goodness : 0.890575 Centerline is valid? [False, False] Translation: X:-1.91, Y:-0.72, Z:-2.64 [[ 0.66224154 -0.64744413 -0.37716342 -1.90534912] [ 0.7076784 0.70585923 0.03088745 -0.72137465] [ 0.24622638 -0.28736536 0.92563152 -2.64399246] [ 0. 0. 0. 1. ]] SLAMing on 178.77134618399998 meters Centerline goodness : 0.886890 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.72, Z:-2.64 [[ 0.66155367 -0.64720606 -0.37877574 -1.90131863] [ 0.70809756 0.70541593 0.03140402 -0.72087908] [ 0.24686957 -0.28898563 0.92495553 -2.643349 ] [ 0. 0. 0. 1. ]] SLAMing on 178.80134618399998 meters Centerline goodness : 0.887375 Centerline is valid? [False, False] Translation: X:-1.90, Y:-0.72, Z:-2.64 [[ 0.66067646 -0.64764722 -0.37955197 -1.89936997] [ 0.70882971 0.70467979 0.03141388 -0.72108743] [ 0.24711749 -0.28979212 0.92463694 -2.64208205] [ 0. 0. 0. 1. ]] SLAMing on 178.83134618399998 meters Centerline goodness : 0.884519 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.64 [[ 0.66037258 -0.64694159 -0.38128027 -1.89472454] [ 0.70897365 0.70448123 0.03259689 -0.72309064] [ 0.24751651 -0.29184376 0.92388463 -2.64063019] [ 0. 0. 0. 1. ]] SLAMing on 178.86134618399998 meters Centerline goodness : 0.885732 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.64 [[ 0.66031835 -0.64644872 -0.38220902 -1.89169547] [ 0.70889489 0.70453728 0.03309467 -0.72377013] [ 0.2478865 -0.29279904 0.92348308 -2.64026727] [ 0. 0. 0. 1. ]] SLAMing on 178.89134618399999 meters Centerline goodness : 0.885720 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.64 [[ 0.66044654 -0.64567874 -0.38328754 -1.88790055] [ 0.70859865 0.70480707 0.03368902 -0.72407517] [ 0.24839149 -0.29384683 0.92301447 -2.64051057] [ 0. 0. 0. 1. ]] SLAMing on 178.921346184 meters Centerline goodness : 0.886021 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.64 [[ 0.66072571 -0.64482651 -0.38423991 -1.88626987] [ 0.70817908 0.70519898 0.03430442 -0.72470378] [ 0.24884519 -0.29477647 0.92259574 -2.63981857] [ 0. 0. 0. 1. ]] SLAMing on 178.951346184 meters Centerline goodness : 0.885420 Centerline is valid? [False, False] Translation: X:-1.89, Y:-0.72, Z:-2.64 [[ 0.66088934 -0.64418913 -0.3850268 -1.88536632] [ 0.70786853 0.7054924 0.0346787 -0.72437508] [ 0.24929384 -0.29546714 0.92225362 -2.63949779] [ 0. 0. 0. 1. ]] SLAMing on 178.981346184 meters Centerline goodness : 0.885709 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.72, Z:-2.64 [[ 0.66108965 -0.64362127 -0.38563212 -1.88320479] [ 0.7075502 0.70579695 0.03497683 -0.72433393] [ 0.24966614 -0.2959769 0.92198942 -2.63985752] [ 0. 0. 0. 1. ]] SLAMing on 179.011346184 meters Centerline goodness : 0.884540 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.73, Z:-2.64 [[ 0.66155667 -0.64264988 -0.38645039 -1.87764197] [ 0.70700735 0.70630132 0.03576389 -0.72662763] [ 0.24996676 -0.29688311 0.92161654 -2.64033187] [ 0. 0. 0. 1. ]] SLAMing on 179.041346184 meters Centerline goodness : 0.885600 Centerline is valid? [False, False] Translation: X:-1.88, Y:-0.73, Z:-2.63 [[ 0.65904631 -0.63706045 -0.39976486 -1.87565352] [ 0.70457216 0.70891845 0.03182314 -0.73246702] [ 0.26312742 -0.30263611 0.91606514 -2.63457833] [ 0. 0. 0. 1. ]] SLAMing on 179.071346184 meters Centerline goodness : 0.886313 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.73, Z:-2.63 [[ 0.65854038 -0.63673734 -0.40111112 -1.87286627] [ 0.70485713 0.70861104 0.03235457 -0.73226031] [ 0.26363041 -0.30403282 0.91545784 -2.63365777] [ 0. 0. 0. 1. ]] SLAMing on 179.101346184 meters Centerline goodness : 0.883926 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.73, Z:-2.63 [[ 0.65760019 -0.63654173 -0.40295982 -1.86926087] [ 0.70548168 0.70796177 0.03295037 -0.73182599] [ 0.26430586 -0.30594894 0.91462433 -2.63215959] [ 0. 0. 0. 1. ]] SLAMing on 179.131346184 meters Centerline goodness : 0.883269 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.73, Z:-2.63 [[ 0.65738395 -0.63664661 -0.40314691 -1.86829461] [ 0.70569039 0.70774915 0.03304859 -0.73233228] [ 0.26428662 -0.30622251 0.91453833 -2.6317868 ] [ 0. 0. 0. 1. ]] SLAMing on 179.161346184 meters Centerline goodness : 0.881768 Centerline is valid? [False, False] Translation: X:-1.87, Y:-0.73, Z:-2.63 [[ 0.65783289 -0.63577038 -0.40379686 -1.86618703] [ 0.70517682 0.70822904 0.03372355 -0.73330078] [ 0.26454023 -0.30693265 0.91422689 -2.63176243] [ 0. 0. 0. 1. ]] SLAMing on 179.191346184 meters Centerline goodness : 0.879960 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.74, Z:-2.63 [[ 0.65871161 -0.63455034 -0.40428317 -1.86352967] [ 0.70433601 0.70901576 0.03474823 -0.73600715] [ 0.26459363 -0.30764026 0.91397357 -2.63154486] [ 0. 0. 0. 1. ]] SLAMing on 179.221346184 meters Centerline goodness : 0.882565 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.74, Z:-2.63 [[ 0.65857111 -0.63411063 -0.40520094 -1.86155204] [ 0.70427721 0.70906033 0.03502937 -0.73568723] [ 0.26509942 -0.30844312 0.91355632 -2.6311576 ] [ 0. 0. 0. 1. ]] SLAMing on 179.251346184 meters Centerline goodness : 0.883117 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.74, Z:-2.63 [[ 0.65846476 -0.63412216 -0.4053557 -1.86104537] [ 0.70439635 0.70893336 0.03520321 -0.73642288] [ 0.26504705 -0.30871115 0.91348097 -2.63059783] [ 0. 0. 0. 1. ]] SLAMing on 179.281346184 meters Centerline goodness : 0.883815 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.74, Z:-2.63 [[ 0.65808819 -0.63409274 -0.40601271 -1.85930418] [ 0.70464941 0.70867406 0.03535942 -0.73671211] [ 0.26530953 -0.30936623 0.91318311 -2.62982916] [ 0. 0. 0. 1. ]] SLAMing on 179.311346184 meters Centerline goodness : 0.885347 Centerline is valid? [False, False] Translation: X:-1.86, Y:-0.74, Z:-2.63 [[ 0.65715119 -0.63394613 -0.40775559 -1.85569447] [ 0.70528992 0.70800888 0.03591028 -0.73630394] [ 0.2659294 -0.31118439 0.91238469 -2.62849537] [ 0. 0. 0. 1. ]] SLAMing on 179.341346184 meters Centerline goodness : 0.883924 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.74, Z:-2.63 [[ 0.65641704 -0.6343708 -0.40827731 -1.85440465] [ 0.70596352 0.70733303 0.03599286 -0.73654279] [ 0.26595521 -0.31185521 0.9121481 -2.62745987] [ 0. 0. 0. 1. ]] SLAMing on 179.371346184 meters Centerline goodness : 0.883785 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.74, Z:-2.63 [[ 0.65582394 -0.6346129 -0.4088538 -1.8520233 ] [ 0.70650404 0.70678142 0.03622238 -0.73751494] [ 0.26598308 -0.31261237 0.91188075 -2.6265185 ] [ 0. 0. 0. 1. ]] SLAMing on 179.401346184 meters Centerline goodness : 0.888015 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.74, Z:-2.63 [[ 0.6554112 -0.63416761 -0.41020433 -1.84809347] [ 0.70673567 0.70651236 0.03694555 -0.73839989] [ 0.26638476 -0.31412056 0.91124499 -2.62551669] [ 0. 0. 0. 1. ]] SLAMing on 179.431346184 meters Centerline goodness : 0.885050 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.74, Z:-2.62 [[ 0.65285489 -0.63788153 -0.40851885 -1.84613158] [ 0.70946994 0.70387923 0.03473367 -0.73914492] [ 0.26539197 -0.31250789 0.91208877 -2.62478522] [ 0. 0. 0. 1. ]] SLAMing on 179.46134618399998 meters Centerline goodness : 0.883960 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.62 [[ 0.65212703 -0.63783047 -0.40975923 -1.84178292] [ 0.70992394 0.70341288 0.03490444 -0.73879195] [ 0.26596681 -0.31366001 0.91152567 -2.62439534] [ 0. 0. 0. 1. ]] SLAMing on 179.49134618399998 meters Centerline goodness : 0.886534 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.62 [[ 0.65133422 -0.63758432 -0.41140002 -1.83851431] [ 0.71049409 0.7027984 0.03567298 -0.73946344] [ 0.26638674 -0.31553231 0.91075653 -2.62255102] [ 0. 0. 0. 1. ]] SLAMing on 179.52134618399998 meters Centerline goodness : 0.883341 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.62 [[ 0.65121302 -0.63715643 -0.41225391 -1.83747787] [ 0.71046076 0.70281315 0.03604424 -0.73969652] [ 0.26677165 -0.3163627 0.91035572 -2.62147922] [ 0. 0. 0. 1. ]] SLAMing on 179.55134618399998 meters Centerline goodness : 0.886793 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.62 [[ 0.65131328 -0.63644615 -0.41319162 -1.835273 ] [ 0.71022288 0.70302245 0.03664562 -0.74028713] [ 0.26716002 -0.31732592 0.90990647 -2.62088584] [ 0. 0. 0. 1. ]] SLAMing on 179.58134618399998 meters Centerline goodness : 0.885255 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.74, Z:-2.62 [[ 0.65135468 -0.6358624 -0.41402426 -1.83263785] [ 0.71004702 0.70317501 0.0371232 -0.74123186] [ 0.26752627 -0.31815706 0.90950854 -2.62025009] [ 0. 0. 0. 1. ]] SLAMing on 179.61134618399998 meters Centerline goodness : 0.887763 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.74, Z:-2.62 [[ 0.65130386 -0.63511265 -0.41525317 -1.82835188] [ 0.70995172 0.7032261 0.03796842 -0.74267673] [ 0.26790265 -0.31953868 0.9089132 -2.61955973] [ 0. 0. 0. 1. ]] SLAMing on 179.64134618399999 meters Centerline goodness : 0.887147 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.74, Z:-2.62 [[ 0.65082687 -0.63484888 -0.41640279 -1.82695814] [ 0.7101703 0.70299323 0.03819247 -0.7419778 ] [ 0.26848189 -0.32057359 0.9083777 -2.61846674] [ 0. 0. 0. 1. ]] SLAMing on 179.671346184 meters Centerline goodness : 0.886541 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.74, Z:-2.62 [[ 0.65017873 -0.63481612 -0.41746391 -1.82517845] [ 0.71055735 0.70259886 0.03825047 -0.74137095] [ 0.26902765 -0.32150169 0.90788809 -2.61731717] [ 0. 0. 0. 1. ]] SLAMing on 179.701346184 meters Centerline goodness : 0.887119 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.64966318 -0.63469593 -0.41844813 -1.82277706] [ 0.71085923 0.70228341 0.03843401 -0.74137895] [ 0.26947527 -0.32242688 0.90742713 -2.61634532] [ 0. 0. 0. 1. ]] SLAMing on 179.731346184 meters Centerline goodness : 0.888754 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.64992413 -0.6338443 -0.41933284 -1.82019924] [ 0.71050161 0.70260385 0.03918295 -0.74275573] [ 0.26978897 -0.3234026 0.90698659 -2.61568938] [ 0. 0. 0. 1. ]] SLAMing on 179.761346184 meters Centerline goodness : 0.883782 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.65025769 -0.63327708 -0.41967258 -1.81856617] [ 0.71005092 0.70305339 0.03928889 -0.74276132] [ 0.27017148 -0.3235368 0.90682485 -2.61607555] [ 0. 0. 0. 1. ]] SLAMing on 179.791346184 meters Centerline goodness : 0.883945 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.65067106 -0.63276578 -0.41980309 -1.81754446] [ 0.70955421 0.70355361 0.0393083 -0.74231844] [ 0.27048103 -0.32344982 0.9067636 -2.61690275] [ 0. 0. 0. 1. ]] SLAMing on 179.821346184 meters Centerline goodness : 0.883945 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.65067106 -0.63276578 -0.41980309 -1.81754446] [ 0.70955421 0.70355361 0.0393083 -0.74231844] [ 0.27048103 -0.32344982 0.9067636 -2.61690275] [ 0. 0. 0. 1. ]] SLAMing on 179.851346184 meters Centerline goodness : 0.885631 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.62 [[ 0.65093944 -0.63223841 -0.42018143 -1.8173822 ] [ 0.70909443 0.70402363 0.03918962 -0.74055998] [ 0.27104048 -0.32345838 0.90659348 -2.6176687 ] [ 0. 0. 0. 1. ]] SLAMing on 179.881346184 meters Centerline goodness : 0.883683 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.75, Z:-2.61 [[ 0.64794431 -0.6269136 -0.43260548 -1.81942632] [ 0.70682447 0.70653328 0.0347836 -0.7456234 ] [ 0.28384386 -0.32831397 0.90091209 -2.61160724] [ 0. 0. 0. 1. ]] SLAMing on 179.911346184 meters Centerline goodness : 0.881690 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.61 [[ 0.64748674 -0.62672839 -0.4335579 -1.81793639] [ 0.70702759 0.70632595 0.03486608 -0.74468913] [ 0.28438163 -0.32911272 0.90045094 -2.61087506] [ 0. 0. 0. 1. ]] SLAMing on 179.941346184 meters Centerline goodness : 0.880160 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.74, Z:-2.61 [[ 0.64689173 -0.62700672 -0.43404338 -1.81697015] [ 0.7074981 0.70585886 0.0347809 -0.7446308 ] [ 0.2845655 -0.32958434 0.90022033 -2.60989619] [ 0. 0. 0. 1. ]] SLAMing on 179.971346184 meters Centerline goodness : 0.878200 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64637427 -0.62668434 -0.43527811 -1.81418268] [ 0.70787076 0.70544894 0.03550751 -0.7458948 ] [ 0.28481448 -0.33107179 0.89959557 -2.60810749] [ 0. 0. 0. 1. ]] SLAMing on 180.001346184 meters Centerline goodness : 0.882884 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64607956 -0.6268391 -0.43549276 -1.8133401 ] [ 0.70814656 0.70516879 0.03557268 -0.7463901 ] [ 0.28479756 -0.33137548 0.8994891 -2.60751683] [ 0. 0. 0. 1. ]] SLAMing on 180.031346184 meters Centerline goodness : 0.878614 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64558935 -0.6270727 -0.43588326 -1.81175869] [ 0.708519 0.7048009 0.03544737 -0.74626515] [ 0.28498284 -0.33171602 0.89930488 -2.60708395] [ 0. 0. 0. 1. ]] SLAMing on 180.061346184 meters Centerline goodness : 0.874987 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64602157 -0.62662932 -0.43588052 -1.81061812] [ 0.7081503 0.70515279 0.03581475 -0.74787301] [ 0.28491979 -0.33180602 0.89929165 -2.60694071] [ 0. 0. 0. 1. ]] SLAMing on 180.091346184 meters Centerline goodness : 0.878018 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64643201 -0.6261785 -0.43591988 -1.81078688] [ 0.70778759 0.70549857 0.03617299 -0.74886738] [ 0.28489011 -0.33192206 0.89925824 -2.60660306] [ 0. 0. 0. 1. ]] SLAMing on 180.121346184 meters Centerline goodness : 0.879594 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.75, Z:-2.61 [[ 0.64666379 -0.62590601 -0.43596743 -1.81139782] [ 0.70757618 0.70569977 0.03638383 -0.74930861] [ 0.28488926 -0.33200828 0.89922668 -2.60620917] [ 0. 0. 0. 1. ]] SLAMing on 180.151346184 meters Centerline goodness : 0.877334 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.76, Z:-2.60 [[ 0.64618938 -0.6191803 -0.44615585 -1.81671912] [ 0.70426031 0.70902759 0.03601796 -0.76116583] [ 0.29403519 -0.33748428 0.89423021 -2.60459825] [ 0. 0. 0. 1. ]] SLAMing on 180.181346184 meters Centerline goodness : 0.877933 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.76, Z:-2.60 [[ 0.64680434 -0.61855785 -0.44612815 -1.81569608] [ 0.70372799 0.70953075 0.03651081 -0.763067 ] [ 0.29395759 -0.33756821 0.89422404 -2.60450311] [ 0. 0. 0. 1. ]] SLAMing on 180.21134618399998 meters Centerline goodness : 0.876922 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.76, Z:-2.61 [[ 0.64650677 -0.62086206 -0.4433501 -1.81749472] [ 0.70452576 0.70882826 0.03472674 -0.76494465] [ 0.29269857 -0.33480264 0.89567558 -2.60530101] [ 0. 0. 0. 1. ]] SLAMing on 180.24134618399998 meters Centerline goodness : 0.874428 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.77, Z:-2.60 [[ 0.64626948 -0.62056057 -0.44411749 -1.8161574 ] [ 0.70474906 0.70857007 0.03545721 -0.766692 ] [ 0.29268501 -0.3359063 0.89526669 -2.60359168] [ 0. 0. 0. 1. ]] SLAMing on 180.27134618399998 meters Centerline goodness : 0.876286 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.77, Z:-2.60 [[ 0.64447475 -0.62427141 -0.44151727 -1.81846204] [ 0.70689267 0.70655907 0.03281831 -0.76656016] [ 0.2914705 -0.33325589 0.89665236 -2.60351034] [ 0. 0. 0. 1. ]] SLAMing on 180.30134618399998 meters Centerline goodness : 0.874113 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.77, Z:-2.60 [[ 0.64006268 -0.62127772 -0.45203292 -1.82072732] [ 0.70609317 0.70759322 0.02728116 -0.77345269] [ 0.30290626 -0.33663901 0.89158397 -2.59746203] [ 0. 0. 0. 1. ]] SLAMing on 180.33134618399998 meters Centerline goodness : 0.870655 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.79, Z:-2.59 [[ 0.63584162 -0.61958349 -0.46024094 -1.81996644] [ 0.70645429 0.70736055 0.02373567 -0.78677201] [ 0.31085006 -0.34023132 0.8874767 -2.59434557] [ 0. 0. 0. 1. ]] SLAMing on 180.36134618399998 meters Centerline goodness : 0.868272 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.79, Z:-2.59 [[ 0.63421976 -0.62291715 -0.45797328 -1.81871117] [ 0.70842088 0.70546246 0.02150749 -0.78815737] [ 0.30968557 -0.33807831 0.88870575 -2.59448778] [ 0. 0. 0. 1. ]] SLAMing on 180.39134618399999 meters Centerline goodness : 0.869162 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.79, Z:-2.59 [[ 0.63299253 -0.62595242 -0.4555261 -1.81877466] [ 0.71001402 0.70392178 0.01934475 -0.78935863] [ 0.30854585 -0.335675 0.89001222 -2.59485525] [ 0. 0. 0. 1. ]] SLAMing on 180.421346184 meters Centerline goodness : 0.865277 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.80, Z:-2.59 [[ 0.63232072 -0.62004731 -0.46444789 -1.82301214] [ 0.70729554 0.70664742 0.01955611 -0.80451979] [ 0.31607519 -0.34086766 0.8853845 -2.59370927] [ 0. 0. 0. 1. ]] SLAMing on 180.451346184 meters Centerline goodness : 0.864828 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.81, Z:-2.59 [[ 0.63276243 -0.61949217 -0.46458709 -1.82209582] [ 0.70689541 0.70703512 0.02000516 -0.80564116] [ 0.31608635 -0.34107299 0.88530143 -2.59366672] [ 0. 0. 0. 1. ]] SLAMing on 180.481346184 meters Centerline goodness : 0.865957 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.81, Z:-2.59 [[ 0.6330567 -0.61901192 -0.46482626 -1.82108845] [ 0.70661752 0.70730039 0.02044115 -0.80668351] [ 0.31611848 -0.34139478 0.88516592 -2.59339556] [ 0. 0. 0. 1. ]] SLAMing on 180.511346184 meters Centerline goodness : 0.865585 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.82, Z:-2.59 [[ 0.63163411 -0.61318049 -0.47439228 -1.82593102] [ 0.70412909 0.70978814 0.0200756 -0.81909648] [ 0.32440805 -0.34671383 0.88008462 -2.59235532] [ 0. 0. 0. 1. ]] SLAMing on 180.541346184 meters Centerline goodness : 0.863287 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.82, Z:-2.59 [[ 0.6307669 -0.61591555 -0.47199698 -1.8246591 ] [ 0.70554984 0.70841997 0.01845481 -0.82241304] [ 0.32300548 -0.34465808 0.88140698 -2.59238334] [ 0. 0. 0. 1. ]] SLAMing on 180.571346184 meters Centerline goodness : 0.862494 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.82, Z:-2.59 [[ 0.62912514 -0.61969971 -0.46922683 -1.82454084] [ 0.70764982 0.70638472 0.01588546 -0.82332412] [ 0.32161045 -0.34204223 0.88293478 -2.59304392] [ 0. 0. 0. 1. ]] SLAMing on 180.601346184 meters Centerline goodness : 0.862485 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.83, Z:-2.59 [[ 0.62616223 -0.61592375 -0.47807823 -1.82748922] [ 0.70649571 0.70758417 0.01372793 -0.83481141] [ 0.32982523 -0.34635613 0.87820997 -2.59201953] [ 0. 0. 0. 1. ]] SLAMing on 180.631346184 meters Centerline goodness : 0.862830 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.83, Z:-2.59 [[ 0.62443847 -0.61893591 -0.47643986 -1.82605012] [ 0.70829027 0.70582963 0.01137687 -0.83405832] [ 0.32924381 -0.34456187 0.87913345 -2.59239989] [ 0. 0. 0. 1. ]] SLAMing on 180.661346184 meters Centerline goodness : 0.860110 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.83, Z:-2.59 [[ 0.62168423 -0.62324467 -0.47442049 -1.8258733 ] [ 0.71124337 0.70289287 0.00863064 -0.83374973] [ 0.32808778 -0.34279396 0.88025605 -2.59166842] [ 0. 0. 0. 1. ]] SLAMing on 180.691346184 meters Centerline goodness : 0.861671 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.84, Z:-2.59 [[ 6.17077552e-01 -6.21582700e-01 -4.82545585e-01 -1.83057127e+00] [ 7.10075254e-01 7.04125033e-01 1.03525988e-03 -8.40240384e-01] [ 3.39128926e-01 -3.43282515e-01 8.75870245e-01 -2.58577653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721346184 meters Centerline goodness : 0.856933 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.61346208 -0.62024912 -0.48883055 -1.83570377] [ 0.70816183 0.70601438 -0.00710753 -0.84725695] [ 0.34952984 -0.34181093 0.8723498 -2.57981 ] [ 0. 0. 0. 1. ]] SLAMing on 180.751346184 meters Centerline goodness : 0.859177 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61378216 -0.61929095 -0.48964291 -1.83264896] [ 0.70787709 0.70631029 -0.0059824 -0.85090098] [ 0.34954467 -0.34293511 0.87190253 -2.5780727 ] [ 0. 0. 0. 1. ]] SLAMing on 180.781346184 meters Centerline goodness : 0.857320 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61402656 -0.61888113 -0.4898546 -1.83168501] [ 0.70756977 0.70661959 -0.0058117 -0.85083726] [ 0.34973761 -0.34303777 0.87178477 -2.5783511 ] [ 0. 0. 0. 1. ]] SLAMing on 180.811346184 meters Centerline goodness : 0.856720 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61384824 -0.61918082 -0.48969935 -1.83237473] [ 0.70764846 0.7065366 -0.0063001 -0.84938271] [ 0.34989141 -0.34266769 0.8718686 -2.57880806] [ 0. 0. 0. 1. ]] SLAMing on 180.841346184 meters Centerline goodness : 0.856212 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61358386 -0.61924523 -0.48994917 -1.83224791] [ 0.70763928 0.70654127 -0.00678901 -0.84743828] [ 0.35037337 -0.34254165 0.87172457 -2.57911246] [ 0. 0. 0. 1. ]] SLAMing on 180.871346184 meters Centerline goodness : 0.857086 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61319116 -0.61952723 -0.4900843 -1.8313908 ] [ 0.7079362 0.70624159 -0.00701038 -0.84733532] [ 0.35046103 -0.34264971 0.87164685 -2.57871573] [ 0. 0. 0. 1. ]] SLAMing on 180.901346184 meters Centerline goodness : 0.856020 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61283835 -0.61962872 -0.49039719 -1.83011837] [ 0.70821149 0.70596595 -0.00696909 -0.84785759] [ 0.35052197 -0.343034 0.87147119 -2.57804858] [ 0. 0. 0. 1. ]] SLAMing on 180.931346184 meters Centerline goodness : 0.857140 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.61108813 -0.62323326 -0.48800779 -1.83039963] [ 0.71022136 0.70391271 -0.00961865 -0.84715566] [ 0.34950955 -0.34071571 0.87278627 -2.57882605] [ 0. 0. 0. 1. ]] SLAMing on 180.96134618399998 meters Centerline goodness : 0.858689 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.85, Z:-2.58 [[ 0.60952117 -0.6238881 -0.48912941 -1.8276954 ] [ 0.71131385 0.70280286 -0.0100372 -0.84609693] [ 0.35002364 -0.34180664 0.87215347 -2.57713292] [ 0. 0. 0. 1. ]] SLAMing on 180.99134618399998 meters Centerline goodness : 0.856148 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60939555 -0.62404775 -0.48908228 -1.83584914] [ 0.70833208 0.70565478 -0.01780449 -0.85202319] [ 0.3562341 -0.33558269 0.87205592 -2.57598014] [ 0. 0. 0. 1. ]] SLAMing on 181.02134618399998 meters Centerline goodness : 0.857553 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60891943 -0.6241018 -0.48960603 -1.83556642] [ 0.70849883 0.70547929 -0.01812109 -0.85045319] [ 0.35671632 -0.33585102 0.87175545 -2.57554341] [ 0. 0. 0. 1. ]] SLAMing on 181.05134618399998 meters Centerline goodness : 0.859026 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60831168 -0.62483769 -0.48942288 -1.83603682] [ 0.70888785 0.70506379 -0.01905441 -0.84814345] [ 0.35698026 -0.33535492 0.87183839 -2.57602734] [ 0. 0. 0. 1. ]] SLAMing on 181.08134618399998 meters Centerline goodness : 0.858395 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60864811 -0.62454329 -0.48938038 -1.83531631] [ 0.70847155 0.70547838 -0.01919144 -0.84732969] [ 0.35723316 -0.33503125 0.87185924 -2.5769502 ] [ 0. 0. 0. 1. ]] SLAMing on 181.11134618399998 meters Centerline goodness : 0.858155 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60924512 -0.6240773 -0.48923196 -1.835217 ] [ 0.70783626 0.70611386 -0.01926251 -0.84667558] [ 0.35747476 -0.33456053 0.87194096 -2.57795729] [ 0. 0. 0. 1. ]] SLAMing on 181.14134618399999 meters Centerline goodness : 0.859208 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.85, Z:-2.58 [[ 0.60940019 -0.62439972 -0.48862706 -1.83593762] [ 0.70769755 0.70623641 -0.01985726 -0.84542751] [ 0.35748508 -0.33369915 0.87226675 -2.57917855] [ 0. 0. 0. 1. ]] SLAMing on 181.171346184 meters Centerline goodness : 0.861293 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.84, Z:-2.58 [[ 0.60922738 -0.62445979 -0.48876576 -1.83524764] [ 0.70742929 0.7064771 -0.02083053 -0.84138874] [ 0.35830965 -0.33307669 0.87216634 -2.58080587] [ 0. 0. 0. 1. ]] SLAMing on 181.201346184 meters Centerline goodness : 0.860757 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.84, Z:-2.58 [[ 0.60882477 -0.62405539 -0.48978288 -1.83421999] [ 0.70727999 0.70661709 -0.02114945 -0.83771944] [ 0.35928738 -0.33353732 0.87158788 -2.58113965] [ 0. 0. 0. 1. ]] SLAMing on 181.231346184 meters Centerline goodness : 0.859615 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.83, Z:-2.58 [[ 0.60817302 -0.62479049 -0.48965541 -1.83576979] [ 0.70765266 0.70621233 -0.02217783 -0.83466848] [ 0.35965719 -0.33301799 0.87163394 -2.58150452] [ 0. 0. 0. 1. ]] SLAMing on 181.261346184 meters Centerline goodness : 0.860044 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.83, Z:-2.58 [[ 0.60706902 -0.62662216 -0.48868382 -1.83777028] [ 0.7084777 0.705315 -0.02429209 -0.82930712] [ 0.35989799 -0.33147461 0.87212271 -2.58353289] [ 0. 0. 0. 1. ]] SLAMing on 181.291346184 meters Centerline goodness : 0.859612 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.83, Z:-2.58 [[ 0.60673818 -0.62723968 -0.48830233 -1.83752278] [ 0.70866657 0.7050946 -0.02516524 -0.82712254] [ 0.36008398 -0.33077483 0.87231161 -2.58472813] [ 0. 0. 0. 1. ]] SLAMing on 181.321346184 meters Centerline goodness : 0.859572 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.83, Z:-2.59 [[ 0.60678451 -0.627657 -0.48770817 -1.83829991] [ 0.7086515 0.70508888 -0.02574331 -0.82585798] [ 0.36003558 -0.32999448 0.87262708 -2.58580722] [ 0. 0. 0. 1. ]] SLAMing on 181.351346184 meters Centerline goodness : 0.859588 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.82, Z:-2.59 [[ 0.60683267 -0.62861768 -0.48640921 -1.84252625] [ 0.70868468 0.70500893 -0.02698974 -0.82278194] [ 0.35988906 -0.3283325 0.87331416 -2.58750835] [ 0. 0. 0. 1. ]] SLAMing on 181.381346184 meters Centerline goodness : 0.861922 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.82, Z:-2.59 [[ 0.6063948 -0.62918779 -0.48621813 -1.84351849] [ 0.70895548 0.70470756 -0.02773751 -0.82051627] [ 0.3600937 -0.32788713 0.87339714 -2.58802203] [ 0. 0. 0. 1. ]] SLAMing on 181.411346184 meters Centerline goodness : 0.863215 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.82, Z:-2.59 [[ 0.60604809 -0.62995179 -0.48566085 -1.84497256] [ 0.70918512 0.70443606 -0.02874531 -0.81777599] [ 0.36022517 -0.32700241 0.87367457 -2.5891841 ] [ 0. 0. 0. 1. ]] SLAMing on 181.441346184 meters Centerline goodness : 0.863584 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.81, Z:-2.59 [[ 0.60667541 -0.62793316 -0.48748835 -1.8465919 ] [ 0.70782236 0.70582371 -0.02829132 -0.81176993] [ 0.36184589 -0.32789151 0.87267102 -2.59048767] [ 0. 0. 0. 1. ]] SLAMing on 181.471346184 meters Centerline goodness : 0.867055 Centerline is valid? [False, False] Translation: X:-1.85, Y:-0.81, Z:-2.59 [[ 0.60622342 -0.62889879 -0.48680538 -1.84848469] [ 0.70811695 0.70547565 -0.02957178 -0.80844596] [ 0.362027 -0.32678804 0.87300975 -2.59181138] [ 0. 0. 0. 1. ]] SLAMing on 181.501346184 meters Centerline goodness : 0.866555 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.79, Z:-2.59 [[ 0.60797038 -0.6331175 -0.47909733 -1.84339505] [ 0.71026199 0.70337326 -0.0281773 -0.79416148] [ 0.35482379 -0.32315366 0.8773094 -2.5915189 ] [ 0. 0. 0. 1. ]] SLAMing on 181.531346184 meters Centerline goodness : 0.869028 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.78, Z:-2.59 [[ 0.60891175 -0.63898142 -0.47003108 -1.84140203] [ 0.71350104 0.70011627 -0.0274495 -0.77895332] [ 0.34661612 -0.31865334 0.88222294 -2.5922134 ] [ 0. 0. 0. 1. ]] SLAMing on 181.561346184 meters Centerline goodness : 0.868802 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.78, Z:-2.59 [[ 0.60843593 -0.63961475 -0.46978579 -1.84213505] [ 0.71387749 0.69970717 -0.0280858 -0.77756942] [ 0.34667658 -0.31828109 0.88233355 -2.59241636] [ 0. 0. 0. 1. ]] SLAMing on 181.591346184 meters Centerline goodness : 0.868562 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.78, Z:-2.59 [[ 0.60796878 -0.64005519 -0.46979072 -1.84233716] [ 0.71422837 0.69933277 -0.02848719 -0.77625025] [ 0.34677341 -0.31821854 0.88231806 -2.59248919] [ 0. 0. 0. 1. ]] SLAMing on 181.621346184 meters Centerline goodness : 0.870368 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.76, Z:-2.59 [[ 0.60928429 -0.6451983 -0.46096834 -1.83752232] [ 0.71688141 0.69665112 -0.02753667 -0.76368505] [ 0.33890072 -0.31368197 0.88698925 -2.59214316] [ 0. 0. 0. 1. ]] SLAMing on 181.651346184 meters Centerline goodness : 0.871239 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.76, Z:-2.59 [[ 0.60898546 -0.64357515 -0.46362456 -1.83969373] [ 0.7164845 0.69709785 -0.02654348 -0.75925956] [ 0.34027441 -0.31601522 0.88563407 -2.59075288] [ 0. 0. 0. 1. ]] SLAMing on 181.681346184 meters Centerline goodness : 0.870320 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.76, Z:-2.59 [[ 0.60882876 -0.64411943 -0.46307418 -1.84158982] [ 0.71661368 0.69693799 -0.02724462 -0.75717329] [ 0.34028278 -0.31525799 0.88590069 -2.59166505] [ 0. 0. 0. 1. ]] SLAMing on 181.71134618399998 meters Centerline goodness : 0.871490 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.59 [[ 0.61029179 -0.64928376 -0.45384418 -1.83731567] [ 0.71898642 0.69450902 -0.02675349 -0.74386211] [ 0.33256948 -0.30998036 0.89067935 -2.59240639] [ 0. 0. 0. 1. ]] SLAMing on 181.74134618399998 meters Centerline goodness : 0.871490 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.59 [[ 0.61029179 -0.64928376 -0.45384418 -1.83731567] [ 0.71898642 0.69450902 -0.02675349 -0.74386211] [ 0.33256948 -0.30998036 0.89067935 -2.59240639] [ 0. 0. 0. 1. ]] SLAMing on 181.77134618399998 meters Centerline goodness : 0.872094 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.60 [[ 0.61054696 -0.65035232 -0.45196712 -1.84044393] [ 0.71871888 0.6947063 -0.02874594 -0.73899274] [ 0.33267939 -0.30728656 0.89157131 -2.59613072] [ 0. 0. 0. 1. ]] SLAMing on 181.80134618399998 meters Centerline goodness : 0.873539 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.74, Z:-2.60 [[ 0.61058533 -0.65096174 -0.45103699 -1.8432939 ] [ 0.71867089 0.69471334 -0.02975787 -0.7366476 ] [ 0.33271265 -0.30597744 0.89200903 -2.5973313 ] [ 0. 0. 0. 1. ]] SLAMing on 181.83134618399998 meters Centerline goodness : 0.873457 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.72, Z:-2.60 [[ 0.61299126 -0.65332212 -0.44431061 -1.83800636] [ 0.71979032 0.69366909 -0.02692752 -0.72331693] [ 0.32579688 -0.30330414 0.89546803 -2.59701516] [ 0. 0. 0. 1. ]] SLAMing on 181.86134618399998 meters Centerline goodness : 0.875797 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.71, Z:-2.60 [[ 0.61494627 -0.65740038 -0.4355064 -1.83574376] [ 0.72182493 0.69163164 -0.02478806 -0.71014247] [ 0.31750568 -0.29911605 0.89984428 -2.59809692] [ 0. 0. 0. 1. ]] SLAMing on 181.89134618399999 meters Centerline goodness : 0.877066 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.70, Z:-2.60 [[ 0.6156782 -0.65523262 -0.43773345 -1.84039685] [ 0.72039424 0.69313904 -0.02429853 -0.70343942] [ 0.31933134 -0.30038058 0.89877639 -2.59823108] [ 0. 0. 0. 1. ]] SLAMing on 181.921346184 meters Centerline goodness : 0.876751 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.69, Z:-2.60 [[ 0.61791947 -0.65887996 -0.42901366 -1.83901498] [ 0.72221014 0.69133821 -0.02154055 -0.69139386] [ 0.31078617 -0.29652769 0.90304113 -2.59886857] [ 0. 0. 0. 1. ]] SLAMing on 181.951346184 meters Centerline goodness : 0.876650 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.68, Z:-2.60 [[ 0.62018947 -0.66231417 -0.4203629 -1.83655997] [ 0.72387391 0.68967979 -0.01866414 -0.67987177] [ 0.30227732 -0.29271443 0.90716409 -2.59958582] [ 0. 0. 0. 1. ]] SLAMing on 181.981346184 meters Centerline goodness : 0.877084 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.68, Z:-2.60 [[ 0.62120354 -0.65967677 -0.4230044 -1.83607336] [ 0.72249401 0.69117145 -0.01686488 -0.67797669] [ 0.30349393 -0.29514162 0.90597067 -2.59913506] [ 0. 0. 0. 1. ]] SLAMing on 182.011346184 meters Centerline goodness : 0.881050 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.67, Z:-2.60 [[ 0.62254215 -0.66467912 -0.41308952 -1.83523614] [ 0.725258 0.68832342 -0.01455019 -0.66507745] [ 0.2940104 -0.29053837 0.91057418 -2.60148828] [ 0. 0. 0. 1. ]] SLAMing on 182.041346184 meters Centerline goodness : 0.878410 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.66, Z:-2.60 [[ 0.62245813 -0.66471594 -0.41315686 -1.83650763] [ 0.72518178 0.68839437 -0.01498562 -0.66285449] [ 0.29437604 -0.29028591 0.91053657 -2.60192961] [ 0. 0. 0. 1. ]] SLAMing on 182.071346184 meters Centerline goodness : 0.881762 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.66, Z:-2.60 [[ 0.62333095 -0.66201859 -0.41616092 -1.83591567] [ 0.72385476 0.68982684 -0.01316105 -0.66016466] [ 0.29579183 -0.29303637 0.90919573 -2.6013672 ] [ 0. 0. 0. 1. ]] SLAMing on 182.101346184 meters Centerline goodness : 0.881267 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.66, Z:-2.60 [[ 0.62451137 -0.65926078 -0.41876099 -1.83597415] [ 0.72232781 0.69145782 -0.01134081 -0.65794754] [ 0.29703212 -0.29540025 0.90802567 -2.60111578] [ 0. 0. 0. 1. ]] SLAMing on 182.131346184 meters Centerline goodness : 0.882736 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.65, Z:-2.60 [[ 0.62794498 -0.66218343 -0.40889877 -1.83894541] [ 0.72353281 0.6902575 -0.00669673 -0.64736974] [ 0.28667991 -0.2916465 0.91255518 -2.60453833] [ 0. 0. 0. 1. ]] SLAMing on 182.161346184 meters Centerline goodness : 0.879886 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.64, Z:-2.60 [[ 0.62957461 -0.66577373 -0.40047616 -1.83646767] [ 0.72546675 0.68824727 -0.00369937 -0.63591867] [ 0.27808957 -0.28820311 0.91629971 -2.60478278] [ 0. 0. 0. 1. ]] SLAMing on 182.191346184 meters Centerline goodness : 0.879733 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.63, Z:-2.60 [[ 0.62944859 -0.66600606 -0.4002879 -1.83855115] [ 0.72550294 0.68820623 -0.00420378 -0.634273 ] [ 0.27828037 -0.28776398 0.91637979 -2.60483102] [ 0. 0. 0. 1. ]] SLAMing on 182.221346184 meters Centerline goodness : 0.884586 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.63, Z:-2.61 [[ 0.62902608 -0.66633497 -0.40040466 -1.83939318] [ 0.72572762 0.68796554 -0.00477991 -0.63178193] [ 0.27864963 -0.28757803 0.91632596 -2.60519902] [ 0. 0. 0. 1. ]] SLAMing on 182.251346184 meters Centerline goodness : 0.879087 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.63, Z:-2.61 [[ 0.62783901 -0.66711123 -0.40097479 -1.8390581 ] [ 0.72649148 0.6871518 -0.00570358 -0.62678915] [ 0.27933547 -0.28772384 0.91607133 -2.60625633] [ 0. 0. 0. 1. ]] SLAMing on 182.281346184 meters Centerline goodness : 0.881631 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.62, Z:-2.61 [[ 0.6273265 -0.66769182 -0.40081055 -1.83924051] [ 0.72689005 0.686725 -0.0062954 -0.62497241] [ 0.27945001 -0.28739593 0.91613933 -2.6068212 ] [ 0. 0. 0. 1. ]] SLAMing on 182.311346184 meters Centerline goodness : 0.882672 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.61, Z:-2.61 [[ 0.62809541 -0.67240831 -0.39161616 -1.83629733] [ 0.72958467 0.68387834 -0.0040772 -0.6132501 ] [ 0.27055936 -0.28315628 0.92011964 -2.60763407] [ 0. 0. 0. 1. ]] SLAMing on 182.341346184 meters Centerline goodness : 0.881193 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.61, Z:-2.61 [[ 0.62745377 -0.6724829 -0.39251561 -1.83608524] [ 0.72986764 0.68357423 -0.00441709 -0.60912698] [ 0.27128397 -0.28371292 0.91973474 -2.60836967] [ 0. 0. 0. 1. ]] SLAMing on 182.371346184 meters Centerline goodness : 0.883857 Centerline is valid? [False, False] Translation: X:-1.84, Y:-0.60, Z:-2.61 [[ 0.62783765 -0.67046789 -0.3953387 -1.83569878] [ 0.7290224 0.68448293 -0.00307613 -0.60481306] [ 0.27266504 -0.28627946 0.91853027 -2.60864979] [ 0. 0. 0. 1. ]] SLAMing on 182.401346184 meters Centerline goodness : 0.884284 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.59, Z:-2.61 [[ 6.29158781e-01 -6.74597004e-01 -3.86106346e-01 -1.83272566e+00] [ 7.31099310e-01 6.82270674e-01 -7.25712290e-04 -5.93874053e-01] [ 2.63918600e-01 -2.81825495e-01 9.22453990e-01 -2.60935447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431346184 meters Centerline goodness : 0.885224 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.59, Z:-2.61 [[ 6.29551678e-01 -6.72841262e-01 -3.88521969e-01 -1.83183774e+00] [ 7.30423295e-01 6.82994321e-01 7.52725661e-04 -5.91291525e-01] [ 2.64851834e-01 -2.84259377e-01 9.21439153e-01 -2.60934399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46134618399998 meters Centerline goodness : 0.888733 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.59, Z:-2.61 [[ 6.29531524e-01 -6.71381502e-01 -3.91071526e-01 -1.83346222e+00] [ 7.29869078e-01 6.83585620e-01 1.35231742e-03 -5.85314210e-01] [ 2.66422951e-01 -2.86282341e-01 9.20359295e-01 -2.60946527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49134618399998 meters Centerline goodness : 0.889822 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.57, Z:-2.61 [[ 0.63106052 -0.67582308 -0.38082251 -1.83285573] [ 0.73218048 0.68109516 0.00459626 -0.57482779] [ 0.25627011 -0.28173133 0.92463673 -2.61228714] [ 0. 0. 0. 1. ]] SLAMing on 182.52134618399998 meters Centerline goodness : 0.888507 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.57, Z:-2.61 [[ 0.63081962 -0.67606643 -0.38078968 -1.83298239] [ 0.73220474 0.68107413 0.00377572 -0.5714033 ] [ 0.25679336 -0.28119781 0.92465397 -2.61389476] [ 0. 0. 0. 1. ]] SLAMing on 182.55134618399998 meters Centerline goodness : 0.888828 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.57, Z:-2.62 [[ 0.63131049 -0.67593489 -0.38020927 -1.83191799] [ 0.7315931 0.68173591 0.00277034 -0.56767921] [ 0.25732975 -0.27990742 0.92489634 -2.61753784] [ 0. 0. 0. 1. ]] SLAMing on 182.58134618399998 meters Centerline goodness : 0.889075 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.57, Z:-2.62 [[ 0.63182178 -0.67405706 -0.38268566 -1.82930226] [ 0.73077789 0.68260238 0.00420302 -0.56529605] [ 0.25838906 -0.28231378 0.92386905 -2.61809725] [ 0. 0. 0. 1. ]] SLAMing on 182.61134618399998 meters Centerline goodness : 0.889747 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.56, Z:-2.62 [[ 0.63343223 -0.67785436 -0.37319844 -1.82695816] [ 0.73277108 0.68042999 0.00784672 -0.5560814 ] [ 0.24861648 -0.27843939 0.92771836 -2.61972838] [ 0. 0. 0. 1. ]] SLAMing on 182.64134618399999 meters Centerline goodness : 0.889098 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.55, Z:-2.62 [[ 0.6338451 -0.67555602 -0.37664898 -1.82383056] [ 0.73192368 0.6813174 0.00971241 -0.55313328] [ 0.25005623 -0.28183447 0.92630514 -2.61965747] [ 0. 0. 0. 1. ]] SLAMing on 182.671346184 meters Centerline goodness : 0.887515 Centerline is valid? [False, False] Translation: X:-1.83, Y:-0.55, Z:-2.62 [[ 0.63341876 -0.67569258 -0.37712096 -1.82588584] [ 0.73218865 0.68103454 0.00957793 -0.55132139] [ 0.25036067 -0.28219053 0.92611449 -2.61885581] [ 0. 0. 0. 1. ]] SLAMing on 182.701346184 meters Centerline goodness : 0.887978 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.55, Z:-2.62 [[ 0.63299085 -0.67493738 -0.37918612 -1.82468289] [ 0.73228464 0.68091893 0.0104219 -0.54867268] [ 0.25116088 -0.28426914 0.92526173 -2.61839332] [ 0. 0. 0. 1. ]] SLAMing on 182.731346184 meters Centerline goodness : 0.891906 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.55, Z:-2.62 [[ 0.63257329 -0.67446723 -0.38071642 -1.82275224] [ 0.73236205 0.68083133 0.01070152 -0.54604045] [ 0.25198584 -0.28559175 0.92462992 -2.61856594] [ 0. 0. 0. 1. ]] SLAMing on 182.761346184 meters Centerline goodness : 0.889802 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.54, Z:-2.63 [[ 0.63332789 -0.67782372 -0.37343111 -1.81669504] [ 0.73560918 0.67715486 0.01845102 -0.54016156] [ 0.24036415 -0.2863849 0.9274744 -2.62546351] [ 0. 0. 0. 1. ]] SLAMing on 182.791346184 meters Centerline goodness : 0.890266 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.54, Z:-2.63 [[ 0.63317548 -0.67773177 -0.3738562 -1.81424243] [ 0.73562045 0.67714584 0.01833215 -0.53915609] [ 0.24073089 -0.28662373 0.92730549 -2.62637808] [ 0. 0. 0. 1. ]] SLAMing on 182.821346184 meters Centerline goodness : 0.891405 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.54, Z:-2.63 [[ 0.63288617 -0.67805918 -0.37375237 -1.81353237] [ 0.73586556 0.6768868 0.01805963 -0.53848727] [ 0.24074255 -0.28646118 0.92735269 -2.62688829] [ 0. 0. 0. 1. ]] SLAMing on 182.851346184 meters Centerline goodness : 0.894107 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.54, Z:-2.63 [[ 0.63303612 -0.67628258 -0.37670564 -1.81366726] [ 0.73532994 0.67742777 0.01953198 -0.53525477] [ 0.24198172 -0.28936738 0.92612708 -2.62597883] [ 0. 0. 0. 1. ]] SLAMing on 182.881346184 meters Centerline goodness : 0.893466 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.53, Z:-2.63 [[ 0.63304901 -0.676375 -0.37651801 -1.81557776] [ 0.73528246 0.67748845 0.01921177 -0.53416923] [ 0.24209224 -0.28900908 0.92621007 -2.62592698] [ 0. 0. 0. 1. ]] SLAMing on 182.911346184 meters Centerline goodness : 0.891885 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.53, Z:-2.63 [[ 0.63359382 -0.6761141 -0.37606994 -1.816889 ] [ 0.73476055 0.67806447 0.01885499 -0.53364154] [ 0.24225154 -0.28826776 0.92639942 -2.62650253] [ 0. 0. 0. 1. ]] SLAMing on 182.941346184 meters Centerline goodness : 0.888547 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.53, Z:-2.63 [[ 0.63513326 -0.67307163 -0.37891994 -1.81451205] [ 0.73302655 0.67987517 0.02101988 -0.53229107] [ 0.24347037 -0.29110881 0.92519071 -2.6270489 ] [ 0. 0. 0. 1. ]] SLAMing on 182.971346184 meters Centerline goodness : 0.890345 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.53, Z:-2.63 [[ 0.6362394 -0.6725672 -0.37795871 -1.81600521] [ 0.7321382 0.68083469 0.02092314 -0.53232173] [ 0.24325518 -0.29003014 0.925586 -2.62855093] [ 0. 0. 0. 1. ]] SLAMing on 183.001346184 meters Centerline goodness : 0.890921 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.53, Z:-2.63 [[ 0.63808134 -0.67686382 -0.36702529 -1.81384473] [ 0.73459485 0.67797685 0.02679178 -0.52651303] [ 0.23070026 -0.28671023 0.92982506 -2.63430232] [ 0. 0. 0. 1. ]] SLAMing on 183.031346184 meters Centerline goodness : 0.892415 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.53, Z:-2.63 [[ 0.63781822 -0.67708707 -0.36707086 -1.81467765] [ 0.73477121 0.67779772 0.02648641 -0.52512649] [ 0.23086619 -0.28660661 0.92981582 -2.63440983] [ 0. 0. 0. 1. ]] SLAMing on 183.061346184 meters Centerline goodness : 0.889304 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.52, Z:-2.63 [[ 0.63873217 -0.67477514 -0.36972925 -1.81789286] [ 0.73356392 0.6790438 0.02799075 -0.52151741] [ 0.23217489 -0.28909863 0.92871783 -2.63337968] [ 0. 0. 0. 1. ]] SLAMing on 183.091346184 meters Centerline goodness : 0.891207 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.52, Z:-2.63 [[ 0.63934004 -0.67431732 -0.36951382 -1.82006694] [ 0.73295252 0.67971247 0.02777703 -0.52019657] [ 0.23243262 -0.28859505 0.92880998 -2.63390624] [ 0. 0. 0. 1. ]] SLAMing on 183.121346184 meters Centerline goodness : 0.888859 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.51, Z:-2.64 [[ 0.64111705 -0.67808443 -0.35940289 -1.81859167] [ 0.73439415 0.67802328 0.03081661 -0.51136944] [ 0.22278726 -0.28370043 0.93267352 -2.63575319] [ 0. 0. 0. 1. ]] SLAMing on 183.151346184 meters Centerline goodness : 0.891583 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.51, Z:-2.64 [[ 0.64224826 -0.67566633 -0.36192841 -1.815469 ] [ 0.73301725 0.67944097 0.03233696 -0.50877204] [ 0.22406 -0.28606812 0.93164486 -2.6373328 ] [ 0. 0. 0. 1. ]] SLAMing on 183.181346184 meters Centerline goodness : 0.893505 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.51, Z:-2.64 [[ 0.6418077 -0.67623179 -0.36165376 -1.81676747] [ 0.73328367 0.6792007 0.03132832 -0.50519285] [ 0.22445028 -0.28530155 0.93178597 -2.63872951] [ 0. 0. 0. 1. ]] SLAMing on 183.21134618399998 meters Centerline goodness : 0.890798 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.50, Z:-2.64 [[ 0.64159968 -0.67604931 -0.36236333 -1.81469401] [ 0.73321996 0.67928859 0.03091125 -0.50178426] [ 0.22525174 -0.28552467 0.93152419 -2.64061475] [ 0. 0. 0. 1. ]] SLAMing on 183.24134618399998 meters Centerline goodness : 0.890943 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.50, Z:-2.65 [[ 0.64326188 -0.68138151 -0.34918962 -1.81669999] [ 0.73559883 0.676513 0.03499312 -0.49651919] [ 0.21238765 -0.27937322 0.93639847 -2.64515462] [ 0. 0. 0. 1. ]] SLAMing on 183.27134618399998 meters Centerline goodness : 0.891159 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.49, Z:-2.65 [[ 0.64397341 -0.67991737 -0.35072869 -1.81735619] [ 0.73469634 0.67745784 0.03566735 -0.49301085] [ 0.21335305 -0.28064791 0.93579764 -2.64632834] [ 0. 0. 0. 1. ]] SLAMing on 183.30134618399998 meters Centerline goodness : 0.892278 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.49, Z:-2.65 [[ 0.64439478 -0.67893801 -0.35185017 -1.81767654] [ 0.734184 0.67797503 0.03638288 -0.49153909] [ 0.21384391 -0.2817677 0.935349 -2.64642109] [ 0. 0. 0. 1. ]] SLAMing on 183.33134618399998 meters Centerline goodness : 0.891032 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.49, Z:-2.65 [[ 0.64459817 -0.67791344 -0.35344953 -1.81773912] [ 0.73380588 0.67833894 0.03721844 -0.48909427] [ 0.21452769 -0.28335428 0.93471291 -2.64657061] [ 0. 0. 0. 1. ]] SLAMing on 183.36134618399998 meters Centerline goodness : 0.892414 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.49, Z:-2.65 [[ 0.64446453 -0.67773786 -0.35402948 -1.81803779] [ 0.73378982 0.67836023 0.03714691 -0.4869282 ] [ 0.21498366 -0.28372309 0.93449625 -2.64694682] [ 0. 0. 0. 1. ]] SLAMing on 183.39134618399999 meters Centerline goodness : 0.893970 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.48, Z:-2.65 [[ 0.64337052 -0.67958247 -0.35247985 -1.8181753 ] [ 0.73482691 0.67733247 0.03535718 -0.48474628] [ 0.21471793 -0.28175944 0.93515123 -2.6488141 ] [ 0. 0. 0. 1. ]] SLAMing on 183.421346184 meters Centerline goodness : 0.892621 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.48, Z:-2.65 [[ 0.64295209 -0.68030382 -0.35185128 -1.81727483] [ 0.73519098 0.67698142 0.03450188 -0.48333739] [ 0.21472501 -0.28086095 0.93541985 -2.65037184] [ 0. 0. 0. 1. ]] SLAMing on 183.451346184 meters Centerline goodness : 0.890328 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.48, Z:-2.65 [[ 0.6422008 -0.68106416 -0.35175239 -1.81618271] [ 0.73579811 0.67635718 0.03379509 -0.48167941] [ 0.21489363 -0.28052198 0.93548284 -2.65120423] [ 0. 0. 0. 1. ]] SLAMing on 183.481346184 meters Centerline goodness : 0.891374 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.48, Z:-2.65 [[ 0.64051694 -0.6826068 -0.35183234 -1.81601695] [ 0.73724574 0.67482252 0.03291324 -0.47896909] [ 0.21495758 -0.28046839 0.93548422 -2.65134237] [ 0. 0. 0. 1. ]] SLAMing on 183.511346184 meters Centerline goodness : 0.894678 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.65 [[ 0.64191325 -0.68653258 -0.34149729 -1.81642033] [ 0.73947386 0.67205995 0.03890811 -0.47339082] [ 0.20279497 -0.27750395 0.93907708 -2.65383356] [ 0. 0. 0. 1. ]] SLAMing on 183.541346184 meters Centerline goodness : 0.893125 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.65 [[ 0.64170797 -0.68577901 -0.34339195 -1.81748858] [ 0.73952881 0.67193011 0.04008823 -0.47141597] [ 0.20324373 -0.27967318 0.93833624 -2.65274202] [ 0. 0. 0. 1. ]] SLAMing on 183.571346184 meters Centerline goodness : 0.892396 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.65 [[ 0.64188348 -0.68574195 -0.34313784 -1.82087564] [ 0.73930496 0.67220534 0.03959995 -0.46931821] [ 0.20350374 -0.27910206 0.93844993 -2.65275053] [ 0. 0. 0. 1. ]] SLAMing on 183.601346184 meters Centerline goodness : 0.891768 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.65 [[ 0.64243677 -0.68574338 -0.34209796 -1.82100619] [ 0.7388679 0.67271688 0.03906706 -0.46906769] [ 0.20334509 -0.27786332 0.93885183 -2.65447041] [ 0. 0. 0. 1. ]] SLAMing on 183.631346184 meters Centerline goodness : 0.891768 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.65 [[ 0.64243677 -0.68574338 -0.34209796 -1.82100619] [ 0.7388679 0.67271688 0.03906706 -0.46906769] [ 0.20334509 -0.27786332 0.93885183 -2.65447041] [ 0. 0. 0. 1. ]] SLAMing on 183.661346184 meters Centerline goodness : 0.892858 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.66 [[ 0.64307565 -0.68523546 -0.34191531 -1.81991438] [ 0.73824032 0.67341597 0.03888646 -0.46799102] [ 0.20360485 -0.2774226 0.93892586 -2.65644917] [ 0. 0. 0. 1. ]] SLAMing on 183.691346184 meters Centerline goodness : 0.895110 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.47, Z:-2.66 [[ 0.64313192 -0.68531385 -0.34165224 -1.82061823] [ 0.7381523 0.67353597 0.03847706 -0.46706254] [ 0.20374621 -0.27693722 0.93903848 -2.65690477] [ 0. 0. 0. 1. ]] SLAMing on 183.721346184 meters Centerline goodness : 0.891283 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.66 [[ 0.64362412 -0.68367272 -0.34400524 -1.81819724] [ 0.73744307 0.67423791 0.03976127 -0.46393669] [ 0.20475768 -0.27927559 0.93812549 -2.65848418] [ 0. 0. 0. 1. ]] SLAMing on 183.751346184 meters Centerline goodness : 0.891847 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.66 [[ 0.64538915 -0.68759459 -0.33269584 -1.81888586] [ 0.7395047 0.67153164 0.04666963 -0.46046321] [ 0.191326 -0.27615022 0.94187867 -2.66317661] [ 0. 0. 0. 1. ]] SLAMing on 183.781346184 meters Centerline goodness : 0.895386 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.66 [[ 0.6457175 -0.68711439 -0.33305064 -1.81983636] [ 0.73915625 0.67190047 0.04688069 -0.45988571] [ 0.19156448 -0.27644814 0.94174279 -2.662939 ] [ 0. 0. 0. 1. ]] SLAMing on 183.811346184 meters Centerline goodness : 0.891133 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.66 [[ 0.64681184 -0.6859222 -0.33338444 -1.81861898] [ 0.73810909 0.67301925 0.04732931 -0.45912614] [ 0.19190992 -0.27668725 0.94160222 -2.66488449] [ 0. 0. 0. 1. ]] SLAMing on 183.841346184 meters Centerline goodness : 0.890167 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.67 [[ 0.64652426 -0.68646312 -0.33282844 -1.81711285] [ 0.73840501 0.67272794 0.04685246 -0.45966372] [ 0.1917405 -0.27605344 0.94182274 -2.66547929] [ 0. 0. 0. 1. ]] SLAMing on 183.871346184 meters Centerline goodness : 0.891076 Centerline is valid? [False, False] Translation: X:-1.82, Y:-0.46, Z:-2.67 [[ 0.64562204 -0.68817978 -0.33102987 -1.81761223] [ 0.73937925 0.67174694 0.04554535 -0.4608481 ] [ 0.19102492 -0.2741617 0.94252047 -2.66526489] [ 0. 0. 0. 1. ]] SLAMing on 183.901346184 meters Centerline goodness : 0.889860 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.46, Z:-2.67 [[ 0.64512243 -0.68789729 -0.33258739 -1.81410564] [ 0.73965092 0.67141665 0.04600206 -0.45966308] [ 0.19166002 -0.27567553 0.94194981 -2.66549926] [ 0. 0. 0. 1. ]] SLAMing on 183.931346184 meters Centerline goodness : 0.889742 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.46, Z:-2.66 [[ 0.64464928 -0.68757808 -0.33416117 -1.81240378] [ 0.7400378 0.6709091 0.04717018 -0.46041864] [ 0.19175859 -0.27770012 0.94133484 -2.66385858] [ 0. 0. 0. 1. ]] SLAMing on 183.96134618399998 meters Centerline goodness : 0.889417 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.46, Z:-2.66 [[ 0.64490179 -0.68668348 -0.33551078 -1.80906265] [ 0.73964808 0.6712951 0.04778719 -0.45950047] [ 0.19241206 -0.27897794 0.94082352 -2.66478248] [ 0. 0. 0. 1. ]] SLAMing on 183.99134618399998 meters Centerline goodness : 0.888641 Centerline is valid? [False, False] Translation: X:-1.81, Y:-0.46, Z:-2.67 [[ 0.64509821 -0.68610444 -0.33631681 -1.80592504] [ 0.73935036 0.6716035 0.0480602 -0.45928367] [ 0.19289722 -0.2796595 0.94052178 -2.66558065] [ 0. 0. 0. 1. ]] SLAMing on 184.02134618399998 meters Centerline goodness : 0.888061 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.46, Z:-2.67 [[ 0.6454239 -0.68542801 -0.33707035 -1.80281468] [ 0.73894135 0.67203195 0.04836048 -0.45905951] [ 0.19337442 -0.28028823 0.94023659 -2.66652438] [ 0. 0. 0. 1. ]] SLAMing on 184.05134618399998 meters Centerline goodness : 0.887231 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.46, Z:-2.67 [[ 0.64556203 -0.68474084 -0.33820059 -1.79883857] [ 0.73865999 0.67231222 0.04876164 -0.4587467 ] [ 0.1939873 -0.2812939 0.93980991 -2.66752224] [ 0. 0. 0. 1. ]] SLAMing on 184.08134618399998 meters Centerline goodness : 0.886156 Centerline is valid? [False, False] Translation: X:-1.80, Y:-0.46, Z:-2.67 [[ 0.64507562 -0.68462567 -0.3393599 -1.79504878] [ 0.73890859 0.67203672 0.04879282 -0.45698066] [ 0.1946575 -0.282231 0.93939029 -2.66853545] [ 0. 0. 0. 1. ]] SLAMing on 184.11134618399998 meters Centerline goodness : 0.885149 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.46, Z:-2.67 [[ 0.64483394 -0.68451625 -0.34003924 -1.79216814] [ 0.73901916 0.67191104 0.0488491 -0.45647564] [ 0.19503812 -0.28279508 0.93914167 -2.66905741] [ 0. 0. 0. 1. ]] SLAMing on 184.14134618399999 meters Centerline goodness : 0.884824 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.46, Z:-2.67 [[ 0.64457567 -0.68407218 -0.34141977 -1.78943837] [ 0.7390397 0.67187125 0.04908498 -0.45517218] [ 0.19581246 -0.28396175 0.93862837 -2.6692562 ] [ 0. 0. 0. 1. ]] SLAMing on 184.171346184 meters Centerline goodness : 0.886435 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.45, Z:-2.67 [[ 0.64436879 -0.68381769 -0.34231889 -1.78705541] [ 0.73901248 0.67191717 0.04886593 -0.4532244 ] [ 0.19659455 -0.28446561 0.93831226 -2.67007623] [ 0. 0. 0. 1. ]] SLAMing on 184.201346184 meters Centerline goodness : 0.883093 Centerline is valid? [False, False] Translation: X:-1.79, Y:-0.45, Z:-2.67 [[ 0.64393075 -0.6840769 -0.34262513 -1.78516675] [ 0.73930831 0.67161632 0.04852577 -0.4521393 ] [ 0.19691727 -0.28455284 0.93821813 -2.67069848] [ 0. 0. 0. 1. ]] SLAMing on 184.231346184 meters Centerline goodness : 0.885685 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.45, Z:-2.67 [[ 0.64346555 -0.68403263 -0.34358616 -1.78432968] [ 0.73962932 0.67124118 0.04882359 -0.45171461] [ 0.19723225 -0.2855427 0.93785117 -2.66969981] [ 0. 0. 0. 1. ]] SLAMing on 184.261346184 meters Centerline goodness : 0.880763 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.45, Z:-2.67 [[ 0.64306369 -0.68415645 -0.34409161 -1.7830274 ] [ 0.73994459 0.67088484 0.04894425 -0.45146386] [ 0.19736032 -0.286083 0.93765955 -2.66942729] [ 0. 0. 0. 1. ]] SLAMing on 184.291346184 meters Centerline goodness : 0.883547 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.45, Z:-2.67 [[ 0.64224395 -0.68591829 -0.34210934 -1.78291085] [ 0.7408347 0.67001125 0.04742236 -0.45289509] [ 0.19668924 -0.28390319 0.93846274 -2.66942275] [ 0. 0. 0. 1. ]] SLAMing on 184.321346184 meters Centerline goodness : 0.880379 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.45, Z:-2.67 [[ 0.6410976 -0.68609794 -0.34389458 -1.77584295] [ 0.74167454 0.669052 0.04783608 -0.45297277] [ 0.19726312 -0.28572545 0.93778901 -2.66980435] [ 0. 0. 0. 1. ]] SLAMing on 184.351346184 meters Centerline goodness : 0.882511 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.45, Z:-2.67 [[ 0.64045163 -0.68650921 -0.34427724 -1.77463645] [ 0.74219819 0.66848035 0.04770611 -0.452859 ] [ 0.19739188 -0.2860754 0.93765522 -2.66922086] [ 0. 0. 0. 1. ]] SLAMing on 184.381346184 meters Centerline goodness : 0.879666 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.45, Z:-2.67 [[ 0.64038585 -0.68654043 -0.34433733 -1.77417473] [ 0.74223683 0.66844188 0.04764391 -0.45302835] [ 0.19746003 -0.28609033 0.93763631 -2.6690653 ] [ 0. 0. 0. 1. ]] SLAMing on 184.411346184 meters Centerline goodness : 0.877962 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.46, Z:-2.67 [[ 0.64041565 -0.6879326 -0.34149163 -1.77545044] [ 0.74255208 0.66817103 0.04651751 -0.45646137] [ 0.1961739 -0.28336586 0.93873297 -2.66910265] [ 0. 0. 0. 1. ]] SLAMing on 184.441346184 meters Centerline goodness : 0.878509 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.46, Z:-2.67 [[ 0.64047389 -0.68790801 -0.34143192 -1.77450978] [ 0.74255903 0.66814613 0.04676363 -0.45790545] [ 0.19595734 -0.28348424 0.93874246 -2.66868072] [ 0. 0. 0. 1. ]] SLAMing on 184.471346184 meters Centerline goodness : 0.879391 Centerline is valid? [False, False] Translation: X:-1.78, Y:-0.47, Z:-2.67 [[ 0.63943484 -0.68356413 -0.35194199 -1.77542018] [ 0.74074063 0.67036068 0.04381645 -0.46680009] [ 0.20597672 -0.2887155 0.9349957 -2.66681641] [ 0. 0. 0. 1. ]] SLAMing on 184.501346184 meters Centerline goodness : 0.879835 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.47, Z:-2.67 [[ 0.63924025 -0.68340352 -0.35260676 -1.77317456] [ 0.740925 0.6701159 0.04443908 -0.46772834] [ 0.20591757 -0.28966242 0.93471581 -2.66640351] [ 0. 0. 0. 1. ]] SLAMing on 184.531346184 meters Centerline goodness : 0.877837 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.47, Z:-2.66 [[ 0.6371596 -0.68576813 -0.35178077 -1.7713713 ] [ 0.74292809 0.66795667 0.04349404 -0.46968492] [ 0.20514749 -0.28906046 0.93507142 -2.66453935] [ 0. 0. 0. 1. ]] SLAMing on 184.561346184 meters Centerline goodness : 0.877224 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.47, Z:-2.66 [[ 0.63680204 -0.68591421 -0.35214324 -1.76998869] [ 0.74327505 0.66754784 0.04384159 -0.47100824] [ 0.20500088 -0.2896577 0.93491874 -2.66346197] [ 0. 0. 0. 1. ]] SLAMing on 184.591346184 meters Centerline goodness : 0.879881 Centerline is valid? [False, False] Translation: X:-1.77, Y:-0.47, Z:-2.66 [[ 0.63686617 -0.68510311 -0.35360319 -1.76609452] [ 0.74310577 0.66767421 0.04477687 -0.47184082] [ 0.20541496 -0.29128144 0.93432318 -2.66304415] [ 0. 0. 0. 1. ]] SLAMing on 184.621346184 meters Centerline goodness : 0.877482 Centerline is valid? [False, False] Translation: X:-1.76, Y:-0.47, Z:-2.66 [[ 0.63672047 -0.68440106 -0.35522138 -1.76161975] [ 0.74305072 0.66768932 0.04545989 -0.4717863 ] [ 0.20606473 -0.29289274 0.93367616 -2.662943 ] [ 0. 0. 0. 1. ]] SLAMing on 184.651346184 meters Centerline goodness : 0.876836 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.48, Z:-2.66 [[ 0.63511251 -0.67893149 -0.36835326 -1.75411087] [ 0.74066364 0.67062488 0.04098347 -0.47876404] [ 0.21920189 -0.29885498 0.92878212 -2.65887023] [ 0. 0. 0. 1. ]] SLAMing on 184.681346184 meters Centerline goodness : 0.876066 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.48, Z:-2.66 [[ 0.63492766 -0.67883038 -0.36885795 -1.75076164] [ 0.74082027 0.67042799 0.04137201 -0.48006822] [ 0.21920812 -0.29952567 0.92856458 -2.65867378] [ 0. 0. 0. 1. ]] SLAMing on 184.71134618399998 meters Centerline goodness : 0.875678 Centerline is valid? [False, False] Translation: X:-1.75, Y:-0.48, Z:-2.66 [[ 0.63434379 -0.67917047 -0.36923628 -1.74763878] [ 0.74131215 0.66988308 0.041388 -0.48080871] [ 0.21923563 -0.29997356 0.92841349 -2.65842516] [ 0. 0. 0. 1. ]] SLAMing on 184.74134618399998 meters Centerline goodness : 0.876402 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.48, Z:-2.66 [[ 0.63381945 -0.67870335 -0.37099145 -1.74286299] [ 0.74158375 0.66953918 0.04208108 -0.4806913 ] [ 0.21983274 -0.30179304 0.92768234 -2.65795903] [ 0. 0. 0. 1. ]] SLAMing on 184.77134618399998 meters Centerline goodness : 0.877975 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.48, Z:-2.66 [[ 0.63300136 -0.67840471 -0.37292939 -1.73896106] [ 0.74225517 0.66870908 0.04342148 -0.48287439] [ 0.21992393 -0.30429463 0.92684316 -2.65528011] [ 0. 0. 0. 1. ]] SLAMing on 184.80134618399998 meters Centerline goodness : 0.877796 Centerline is valid? [False, False] Translation: X:-1.74, Y:-0.48, Z:-2.65 [[ 0.63288652 -0.67769661 -0.3744088 -1.73593843] [ 0.74225551 0.66864411 0.04440509 -0.48390485] [ 0.22025306 -0.30601038 0.92619989 -2.65405999] [ 0. 0. 0. 1. ]] SLAMing on 184.83134618399998 meters Centerline goodness : 0.877313 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.48, Z:-2.65 [[ 0.63241094 -0.67741996 -0.3757108 -1.73188337] [ 0.74254629 0.66828541 0.0449402 -0.48422062] [ 0.22063866 -0.30740333 0.92564668 -2.65356916] [ 0. 0. 0. 1. ]] SLAMing on 184.86134618399998 meters Centerline goodness : 0.876782 Centerline is valid? [False, False] Translation: X:-1.73, Y:-0.49, Z:-2.65 [[ 0.63033051 -0.68010738 -0.37434929 -1.72718289] [ 0.74454132 0.66616469 0.04339155 -0.48582056] [ 0.21986737 -0.30606954 0.92627198 -2.65363889] [ 0. 0. 0. 1. ]] SLAMing on 184.89134618399999 meters Centerline goodness : 0.876474 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.49, Z:-2.65 [[ 0.62984561 -0.6797008 -0.37590068 -1.7228641 ] [ 0.74477584 0.66586917 0.04389985 -0.48564797] [ 0.22046191 -0.30761187 0.92561951 -2.65319296] [ 0. 0. 0. 1. ]] SLAMing on 184.921346184 meters Centerline goodness : 0.879254 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.49, Z:-2.65 [[ 0.62949377 -0.67924988 -0.37730252 -1.72027745] [ 0.74491167 0.6656842 0.04439766 -0.48573357] [ 0.22100722 -0.3090051 0.92502522 -2.65199174] [ 0. 0. 0. 1. ]] SLAMing on 184.951346184 meters Centerline goodness : 0.876304 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.49, Z:-2.65 [[ 0.62942454 -0.67831463 -0.37909631 -1.71861381] [ 0.74482773 0.66570216 0.0455223 -0.48712512] [ 0.22148679 -0.3110143 0.92423682 -2.64941426] [ 0. 0. 0. 1. ]] SLAMing on 184.981346184 meters Centerline goodness : 0.875899 Centerline is valid? [False, False] Translation: X:-1.72, Y:-0.49, Z:-2.64 [[ 0.62697517 -0.67285413 -0.39264419 -1.71723897] [ 0.74251602 0.66864291 0.03983242 -0.49079169] [ 0.23573734 -0.31651854 0.91882747 -2.64200948] [ 0. 0. 0. 1. ]] SLAMing on 185.011346184 meters Centerline goodness : 0.878547 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62663389 -0.67259972 -0.39362365 -1.71484111] [ 0.74270706 0.66840695 0.040229 -0.49102267] [ 0.23604277 -0.31755592 0.91839101 -2.64124446] [ 0. 0. 0. 1. ]] SLAMing on 185.041346184 meters Centerline goodness : 0.875850 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62631042 -0.6727741 -0.39384041 -1.71307316] [ 0.74297235 0.66811222 0.04022626 -0.4915418 ] [ 0.2360664 -0.31780666 0.9182982 -2.64097568] [ 0. 0. 0. 1. ]] SLAMing on 185.071346184 meters Centerline goodness : 0.878224 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62579142 -0.67317931 -0.39397299 -1.71189767] [ 0.7434354 0.66760118 0.04015555 -0.49224736] [ 0.23598495 -0.31802247 0.91824442 -2.64027673] [ 0. 0. 0. 1. ]] SLAMing on 185.101346184 meters Centerline goodness : 0.878552 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62543058 -0.67347088 -0.39404767 -1.71206913] [ 0.74372714 0.66728713 0.03997293 -0.49204683] [ 0.23602233 -0.31806424 0.91822034 -2.63975593] [ 0. 0. 0. 1. ]] SLAMing on 185.131346184 meters Centerline goodness : 0.879536 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62573277 -0.67246955 -0.39527611 -1.70955611] [ 0.74323149 0.66781157 0.04043087 -0.49114203] [ 0.23678144 -0.31908057 0.91767213 -2.64003551] [ 0. 0. 0. 1. ]] SLAMing on 185.161346184 meters Centerline goodness : 0.879679 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62550306 -0.67238211 -0.39578809 -1.70849936] [ 0.74341929 0.66758108 0.04078308 -0.49207966] [ 0.23679883 -0.31974644 0.91743584 -2.63893796] [ 0. 0. 0. 1. ]] SLAMing on 185.191346184 meters Centerline goodness : 0.879542 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.49, Z:-2.64 [[ 0.62524815 -0.67240148 -0.39615781 -1.70848672] [ 0.74363688 0.66732461 0.04101277 -0.49260432] [ 0.23678881 -0.32024071 0.91726602 -2.63784486] [ 0. 0. 0. 1. ]] SLAMing on 185.221346184 meters Centerline goodness : 0.881681 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.50, Z:-2.63 [[ 0.62262077 -0.66630579 -0.41034129 -1.70710797] [ 0.74118208 0.67033046 0.03614137 -0.49677294] [ 0.25098307 -0.32663998 0.91121558 -2.62974837] [ 0. 0. 0. 1. ]] SLAMing on 185.251346184 meters Centerline goodness : 0.881423 Centerline is valid? [False, False] Translation: X:-1.71, Y:-0.50, Z:-2.63 [[ 0.62250869 -0.66614156 -0.41077775 -1.70677501] [ 0.74127664 0.67020567 0.03651439 -0.49778957] [ 0.25098183 -0.32723048 0.91100403 -2.62852283] [ 0. 0. 0. 1. ]] SLAMing on 185.281346184 meters Centerline goodness : 0.883145 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.50, Z:-2.63 [[ 0.62298059 -0.66497261 -0.41195462 -1.70306814] [ 0.7407971 0.67067094 0.03768476 -0.50059175] [ 0.25122666 -0.32865167 0.91042476 -2.62726206] [ 0. 0. 0. 1. ]] SLAMing on 185.311346184 meters Centerline goodness : 0.881574 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.50, Z:-2.63 [[ 0.62360129 -0.66392015 -0.41271232 -1.70055727] [ 0.74018029 0.67130615 0.03848613 -0.50188547] [ 0.2515046 -0.32948153 0.910048 -2.62708854] [ 0. 0. 0. 1. ]] SLAMing on 185.341346184 meters Centerline goodness : 0.883002 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.50, Z:-2.63 [[ 0.62414345 -0.66330149 -0.4128875 -1.70023298] [ 0.73973336 0.67176715 0.0390314 -0.5035382 ] [ 0.25147467 -0.32978785 0.90994531 -2.6264497 ] [ 0. 0. 0. 1. ]] SLAMing on 185.371346184 meters Centerline goodness : 0.884605 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.50, Z:-2.63 [[ 0.6248112 -0.66247244 -0.41320845 -1.70032439] [ 0.73912973 0.67239669 0.03962227 -0.50497484] [ 0.25159133 -0.33017109 0.90977407 -2.62567193] [ 0. 0. 0. 1. ]] SLAMing on 185.401346184 meters Centerline goodness : 0.884519 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62584442 -0.66091329 -0.41414054 -1.70072623] [ 0.7381649 0.67338056 0.04088037 -0.50693575] [ 0.2518558 -0.33128876 0.90929446 -2.62407609] [ 0. 0. 0. 1. ]] SLAMing on 185.431346184 meters Centerline goodness : 0.881448 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62589079 -0.66075145 -0.41432866 -1.70038363] [ 0.7381289 0.67340587 0.04111271 -0.50775171] [ 0.25184607 -0.33156003 0.90919827 -2.62346789] [ 0. 0. 0. 1. ]] SLAMing on 185.46134618399998 meters Centerline goodness : 0.881112 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62611328 -0.66048274 -0.41442094 -1.69922622] [ 0.73795823 0.67357472 0.04140951 -0.50895394] [ 0.2517932 -0.33175239 0.90914275 -2.62328214] [ 0. 0. 0. 1. ]] SLAMing on 185.49134618399998 meters Centerline goodness : 0.887129 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62651491 -0.65934951 -0.41561676 -1.69640137] [ 0.73752539 0.6739777 0.04254832 -0.51093803] [ 0.25206222 -0.33318507 0.90854408 -2.62216341] [ 0. 0. 0. 1. ]] SLAMing on 185.52134618399998 meters Centerline goodness : 0.883608 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62629002 -0.6592908 -0.41604861 -1.69640629] [ 0.73771854 0.67374669 0.04285739 -0.51168294] [ 0.25205589 -0.33376793 0.90833187 -2.62087209] [ 0. 0. 0. 1. ]] SLAMing on 185.55134618399998 meters Centerline goodness : 0.883608 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.51, Z:-2.62 [[ 0.62629002 -0.6592908 -0.41604861 -1.69640629] [ 0.73771854 0.67374669 0.04285739 -0.51168294] [ 0.25205589 -0.33376793 0.90833187 -2.62087209] [ 0. 0. 0. 1. ]] SLAMing on 185.58134618399998 meters Centerline goodness : 0.888030 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.51, Z:-2.62 [[ 0.62623837 -0.65878424 -0.41692785 -1.69464288] [ 0.73763865 0.67380723 0.04327857 -0.51210578] [ 0.25241776 -0.3346448 0.90790866 -2.6200031 ] [ 0. 0. 0. 1. ]] SLAMing on 185.61134618399998 meters Centerline goodness : 0.891829 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.61 [[ 0.62353889 -0.65445776 -0.42764973 -1.69646492] [ 0.73554471 0.67645107 0.03725498 -0.51892 ] [ 0.2649023 -0.33778542 0.90317649 -2.61383908] [ 0. 0. 0. 1. ]] SLAMing on 185.64134618399999 meters Centerline goodness : 0.887042 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.61 [[ 0.62315107 -0.65669716 -0.42477238 -1.69891911] [ 0.73643747 0.67554842 0.03597474 -0.52244499] [ 0.2633298 -0.335236 0.90458512 -2.61326045] [ 0. 0. 0. 1. ]] SLAMing on 185.671346184 meters Centerline goodness : 0.884599 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.61 [[ 0.62277679 -0.65624916 -0.42601186 -1.69758455] [ 0.73657888 0.67537069 0.03641397 -0.5220247 ] [ 0.26381929 -0.33646912 0.90398447 -2.61201206] [ 0. 0. 0. 1. ]] SLAMing on 185.701346184 meters Centerline goodness : 0.886238 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.61 [[ 0.62106992 -0.65928124 -0.42381647 -1.70034504] [ 0.7383731 0.6735189 0.03431426 -0.52221703] [ 0.26282566 -0.33424623 0.90509786 -2.61116598] [ 0. 0. 0. 1. ]] SLAMing on 185.731346184 meters Centerline goodness : 0.883690 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.52, Z:-2.61 [[ 0.62058225 -0.659124 -0.42477433 -1.69798709] [ 0.73864937 0.6732049 0.03452934 -0.52223445] [ 0.26320104 -0.33518759 0.90464053 -2.61027699] [ 0. 0. 0. 1. ]] SLAMing on 185.761346184 meters Centerline goodness : 0.886175 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.53, Z:-2.61 [[ 0.62004016 -0.66118842 -0.42235064 -1.69607329] [ 0.73958169 0.67223909 0.03336954 -0.52600759] [ 0.26185705 -0.33305326 0.90581809 -2.6105255 ] [ 0. 0. 0. 1. ]] SLAMing on 185.791346184 meters Centerline goodness : 0.884555 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.53, Z:-2.61 [[ 0.62019779 -0.66038314 -0.42337785 -1.69406982] [ 0.73934496 0.67246022 0.03415087 -0.52711453] [ 0.2621521 -0.33420258 0.90530929 -2.60947094] [ 0. 0. 0. 1. ]] SLAMing on 185.821346184 meters Centerline goodness : 0.883561 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.53, Z:-2.60 [[ 0.61892969 -0.65793043 -0.42901467 -1.70096598] [ 0.73653952 0.6758927 0.02604993 -0.53474674] [ 0.27282884 -0.33210933 0.90292182 -2.60316099] [ 0. 0. 0. 1. ]] SLAMing on 185.851346184 meters Centerline goodness : 0.884214 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.53, Z:-2.60 [[ 0.61872053 -0.65744955 -0.43005231 -1.6985744 ] [ 0.73652816 0.67589273 0.02636825 -0.53481802] [ 0.27333343 -0.33306021 0.90241882 -2.60236685] [ 0. 0. 0. 1. ]] SLAMing on 185.881346184 meters Centerline goodness : 0.883904 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.54, Z:-2.60 [[ 0.61640275 -0.65127177 -0.4425977 -1.69647638] [ 0.73376668 0.67902056 0.02274949 -0.54312441] [ 0.28571684 -0.3387863 0.89643167 -2.59663112] [ 0. 0. 0. 1. ]] SLAMing on 185.911346184 meters Centerline goodness : 0.882454 Centerline is valid? [False, False] Translation: X:-1.70, Y:-0.54, Z:-2.60 [[ 0.61598655 -0.65127193 -0.44317653 -1.69592278] [ 0.73407536 0.67867973 0.02296035 -0.54349225] [ 0.2858215 -0.33946824 0.89614027 -2.59539477] [ 0. 0. 0. 1. ]] SLAMing on 185.941346184 meters Centerline goodness : 0.882832 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.54, Z:-2.59 [[ 0.61571647 -0.65067553 -0.44442613 -1.69334872] [ 0.73410592 0.67862901 0.02347704 -0.54345643] [ 0.28632453 -0.34071105 0.89550782 -2.59447985] [ 0. 0. 0. 1. ]] SLAMing on 185.971346184 meters Centerline goodness : 0.882029 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.55, Z:-2.59 [[ 0.61404943 -0.65349416 -0.44259313 -1.69030103] [ 0.73595331 0.67667693 0.02193276 -0.5461212 ] [ 0.28515963 -0.33919568 0.89645428 -2.59391155] [ 0. 0. 0. 1. ]] SLAMing on 186.001346184 meters Centerline goodness : 0.887075 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.55, Z:-2.59 [[ 0.61415358 -0.65261972 -0.44373741 -1.68659368] [ 0.73577549 0.67683828 0.022899 -0.548051 ] [ 0.28539413 -0.34055461 0.89586425 -2.59282023] [ 0. 0. 0. 1. ]] SLAMing on 186.031346184 meters Centerline goodness : 0.881475 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-2.59 [[ 0.61387925 -0.65233229 -0.44453891 -1.68468537] [ 0.73599883 0.67657348 0.02353829 -0.54969419] [ 0.28540845 -0.34162979 0.89545022 -2.59122871] [ 0. 0. 0. 1. ]] SLAMing on 186.061346184 meters Centerline goodness : 0.882423 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-2.59 [[ 0.61306122 -0.65180191 -0.44644172 -1.68275423] [ 0.73649353 0.67600425 0.02440355 -0.55058377] [ 0.28589022 -0.34376231 0.89447988 -2.5881689 ] [ 0. 0. 0. 1. ]] SLAMing on 186.091346184 meters Centerline goodness : 0.883609 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-2.59 [[ 0.61298424 -0.65136653 -0.44718226 -1.68210563] [ 0.73644619 0.67604235 0.02477412 -0.55115725] [ 0.28617711 -0.34451182 0.8940997 -2.58688763] [ 0. 0. 0. 1. ]] SLAMing on 186.121346184 meters Centerline goodness : 0.885420 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-2.59 [[ 0.61328121 -0.65098013 -0.44733771 -1.68168511] [ 0.73625172 0.67623499 0.02529141 -0.5527168 ] [ 0.28604121 -0.3448639 0.89400745 -2.58622744] [ 0. 0. 0. 1. ]] SLAMing on 186.151346184 meters Centerline goodness : 0.885401 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.55, Z:-2.59 [[ 0.6134158 -0.65023869 -0.44823064 -1.6798914 ] [ 0.73601584 0.67646791 0.02592 -0.55356418] [ 0.28635946 -0.34580458 0.89354208 -2.58529332] [ 0. 0. 0. 1. ]] SLAMing on 186.181346184 meters Centerline goodness : 0.880852 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.57, Z:-2.58 [[ 0.61139935 -0.64554078 -0.45767667 -1.68249812] [ 0.73407331 0.67866732 0.02338881 -0.56542355] [ 0.29551177 -0.35026814 0.88881102 -2.58296059] [ 0. 0. 0. 1. ]] SLAMing on 186.21134618399998 meters Centerline goodness : 0.879961 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.57, Z:-2.58 [[ 0.60772501 -0.64143013 -0.46822826 -1.68428316] [ 0.73225679 0.68079636 0.01778506 -0.57220046] [ 0.30736022 -0.35367175 0.88342854 -2.57758931] [ 0. 0. 0. 1. ]] SLAMing on 186.24134618399998 meters Centerline goodness : 0.879879 Centerline is valid? [False, False] Translation: X:-1.69, Y:-0.57, Z:-2.58 [[ 0.60641175 -0.64449223 -0.46571939 -1.68510209] [ 0.73373548 0.67926091 0.01539004 -0.57215322] [ 0.30642622 -0.35104754 0.88479862 -2.57829967] [ 0. 0. 0. 1. ]] SLAMing on 186.27134618399998 meters Centerline goodness : 0.878134 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.57, Z:-2.58 [[ 0.60615027 -0.64377255 -0.46705326 -1.6799875 ] [ 0.73370775 0.67927861 0.01592159 -0.57229917] [ 0.30700941 -0.35233148 0.88408583 -2.57800593] [ 0. 0. 0. 1. ]] SLAMing on 186.30134618399998 meters Centerline goodness : 0.878987 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.57, Z:-2.58 [[ 0.60471735 -0.64741471 -0.4638654 -1.68143298] [ 0.73542496 0.67747793 0.01318282 -0.57251431] [ 0.30572382 -0.34911007 0.8858076 -2.57908675] [ 0. 0. 0. 1. ]] SLAMing on 186.33134618399998 meters Centerline goodness : 0.879108 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-2.57 [[ 0.60175715 -0.64141423 -0.47589507 -1.68225269] [ 0.73300971 0.68014211 0.01017241 -0.58026805] [ 0.31715155 -0.35495702 0.87944324 -2.57431698] [ 0. 0. 0. 1. ]] SLAMing on 186.36134618399998 meters Centerline goodness : 0.879385 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-2.57 [[ 0.60157595 -0.64125883 -0.47633339 -1.68236678] [ 0.73311067 0.68003008 0.01038444 -0.58065296] [ 0.31726191 -0.35545212 0.87920343 -2.57322523] [ 0. 0. 0. 1. ]] SLAMing on 186.39134618399999 meters Centerline goodness : 0.876508 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-2.57 [[ 0.60119187 -0.640531 -0.47779533 -1.68062236] [ 0.73330806 0.67980172 0.01135375 -0.58257838] [ 0.31753366 -0.35719696 0.87839781 -2.57040921] [ 0. 0. 0. 1. ]] SLAMing on 186.421346184 meters Centerline goodness : 0.875381 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-2.57 [[ 0.60086186 -0.63986111 -0.47910624 -1.67686532] [ 0.73336783 0.67972715 0.01194265 -0.5831076 ] [ 0.31801988 -0.35853699 0.87767567 -2.56924565] [ 0. 0. 0. 1. ]] SLAMing on 186.451346184 meters Centerline goodness : 0.876563 Centerline is valid? [False, False] Translation: X:-1.68, Y:-0.58, Z:-2.57 [[ 0.59910005 -0.64335665 -0.47662496 -1.67771716] [ 0.735322 0.67765035 0.00956849 -0.58360727] [ 0.31682912 -0.3562053 0.87905466 -2.5691956 ] [ 0. 0. 0. 1. ]] SLAMing on 186.481346184 meters Centerline goodness : 0.875401 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.59, Z:-2.57 [[ 0.59822092 -0.64328216 -0.4778282 -1.6742513 ] [ 0.73599867 0.67690696 0.01014513 -0.58509738] [ 0.31691905 -0.35774995 0.87839472 -2.56711681] [ 0. 0. 0. 1. ]] SLAMing on 186.511346184 meters Centerline goodness : 0.877095 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.59, Z:-2.57 [[ 0.59800851 -0.64282847 -0.47870385 -1.67096774] [ 0.73605275 0.67684122 0.01059738 -0.5862341 ] [ 0.3171942 -0.35868861 0.87791248 -2.56609469] [ 0. 0. 0. 1. ]] SLAMing on 186.541346184 meters Centerline goodness : 0.873944 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.59, Z:-2.57 [[ 0.5978642 -0.64223432 -0.47968059 -1.6672189 ] [ 0.73602413 0.67686386 0.01112673 -0.58736894] [ 0.31753249 -0.35970876 0.87737263 -2.56516916] [ 0. 0. 0. 1. ]] SLAMing on 186.571346184 meters Centerline goodness : 0.876021 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.59, Z:-2.56 [[ 0.59746877 -0.64237201 -0.47998883 -1.66529821] [ 0.73633119 0.67652944 0.01114882 -0.58774224] [ 0.31756488 -0.36009182 0.87720375 -2.56471637] [ 0. 0. 0. 1. ]] SLAMing on 186.601346184 meters Centerline goodness : 0.875115 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 0.59681104 -0.64245278 -0.48069847 -1.66313728] [ 0.73668097 0.67615179 0.01095019 -0.58703073] [ 0.31799015 -0.36065661 0.87681759 -2.56410021] [ 0. 0. 0. 1. ]] SLAMing on 186.631346184 meters Centerline goodness : 0.872438 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 0.59645846 -0.6424679 -0.48111569 -1.66157241] [ 0.73687807 0.67593763 0.01090991 -0.58704466] [ 0.31819493 -0.36103091 0.87658922 -2.56357121] [ 0. 0. 0. 1. ]] SLAMing on 186.661346184 meters Centerline goodness : 0.871349 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 0.59603346 -0.64253653 -0.48155054 -1.65986777] [ 0.73715145 0.67563981 0.01088914 -0.58708765] [ 0.31835805 -0.36146597 0.87635068 -2.56300565] [ 0. 0. 0. 1. ]] SLAMing on 186.691346184 meters Centerline goodness : 0.871467 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 0.59441809 -0.64551365 -0.47956154 -1.6608192 ] [ 0.73879104 0.67387894 0.00865938 -0.58624116] [ 0.31757667 -0.35944306 0.87746553 -2.56336418] [ 0. 0. 0. 1. ]] SLAMing on 186.721346184 meters Centerline goodness : 0.875859 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 0.58871709 -0.64196254 -0.49121918 -1.66422278] [ 0.73803184 0.67476053 0.00268917 -0.59033808] [ 0.32972897 -0.36411856 0.87103185 -2.55643932] [ 0. 0. 0. 1. ]] SLAMing on 186.751346184 meters Centerline goodness : 0.875539 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 5.87890027e-01 -6.41982168e-01 -4.92183108e-01 -1.66121562e+00] [ 7.38452029e-01 6.74301314e-01 2.51768824e-03 -5.89476256e-01] [ 3.30263406e-01 -3.64933739e-01 8.70488052e-01 -2.55557411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781346184 meters Centerline goodness : 0.872955 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 5.87373639e-01 -6.41833586e-01 -4.92992755e-01 -1.65728770e+00] [ 7.38644006e-01 6.74091278e-01 2.44546352e-03 -5.89182847e-01] [ 3.30752536e-01 -3.65582545e-01 8.70029978e-01 -2.55517358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.811346184 meters Centerline goodness : 0.875506 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 5.85313833e-01 -6.46511975e-01 -4.89315832e-01 -1.65768445e+00] [ 7.40906162e-01 6.71607655e-01 -1.10310141e-03 -5.87537617e-01] [ 3.29341427e-01 -3.61891455e-01 8.72105957e-01 -2.55773786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841346184 meters Centerline goodness : 0.872824 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.59, Z:-2.56 [[ 5.85156990e-01 -6.46390370e-01 -4.89663953e-01 -1.65727329e+00] [ 7.40831521e-01 6.71689497e-01 -1.37008005e-03 -5.85887717e-01] [ 3.29787740e-01 -3.61956779e-01 8.71910165e-01 -2.55805685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.871346184 meters Centerline goodness : 0.876194 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 5.85077910e-01 -6.46517280e-01 -4.89590896e-01 -1.65771097e+00] [ 7.40765923e-01 6.71760727e-01 -1.83651394e-03 -5.84631988e-01] [ 3.30075274e-01 -3.61597748e-01 8.71950332e-01 -2.55841810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901346184 meters Centerline goodness : 0.877191 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 5.85021849e-01 -6.46387763e-01 -4.89828844e-01 -1.65760813e+00] [ 7.40596163e-01 6.71946815e-01 -2.19109402e-03 -5.83216077e-01] [ 3.30555228e-01 -3.61483524e-01 8.71815865e-01 -2.55862441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.931346184 meters Centerline goodness : 0.877170 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 0.58500682 -0.64702718 -0.48900189 -1.65923889] [ 0.74056888 0.67197301 -0.00316349 -0.58081182] [ 0.33064294 -0.36028892 0.87227699 -2.5603434 ] [ 0. 0. 0. 1. ]] SLAMing on 186.96134618399998 meters Centerline goodness : 0.875999 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 0.58466424 -0.64739405 -0.48892605 -1.65969588] [ 0.74064348 0.67188642 -0.00398324 -0.57821239] [ 0.3310815 -0.35979103 0.87231614 -2.56121188] [ 0. 0. 0. 1. ]] SLAMing on 186.99134618399998 meters Centerline goodness : 0.875857 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 0.58461123 -0.64747795 -0.48887832 -1.66013055] [ 0.74053979 0.67199778 -0.00445073 -0.5766098 ] [ 0.3314069 -0.3594319 0.87234063 -2.56179557] [ 0. 0. 0. 1. ]] SLAMing on 187.02134618399998 meters Centerline goodness : 0.879713 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 0.58401415 -0.6475698 -0.48946995 -1.66097955] [ 0.74088265 0.67161899 -0.00456457 -0.57561709] [ 0.33169319 -0.35997402 0.87200822 -2.56065928] [ 0. 0. 0. 1. ]] SLAMing on 187.05134618399998 meters Centerline goodness : 0.877705 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.58, Z:-2.56 [[ 0.58317687 -0.64806847 -0.48980813 -1.6605369 ] [ 0.74152551 0.67090747 -0.00480484 -0.57508325] [ 0.3317298 -0.36040315 0.87181702 -2.55976941] [ 0. 0. 0. 1. ]] SLAMing on 187.08134618399998 meters Centerline goodness : 0.877824 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.57, Z:-2.56 [[ 0.58230475 -0.64831952 -0.49051297 -1.65916874] [ 0.74206433 0.6703098 -0.00503012 -0.57412779] [ 0.33205678 -0.36106311 0.87141937 -2.55879222] [ 0. 0. 0. 1. ]] SLAMing on 187.11134618399998 meters Centerline goodness : 0.878557 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.57, Z:-2.56 [[ 0.58159952 -0.64877183 -0.49075157 -1.65856231] [ 0.74258252 0.66973333 -0.00533566 -0.57352718] [ 0.33213431 -0.36132032 0.87128321 -2.558208 ] [ 0. 0. 0. 1. ]] SLAMing on 187.14134618399999 meters Centerline goodness : 0.878828 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.57, Z:-2.56 [[ 0.5808554 -0.64954148 -0.49061478 -1.65839942] [ 0.74315697 0.66909037 -0.00598272 -0.57223635] [ 0.33215165 -0.3611287 0.87135604 -2.55828159] [ 0. 0. 0. 1. ]] SLAMing on 187.171346184 meters Centerline goodness : 0.879880 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.57, Z:-2.56 [[ 0.58054648 -0.64959628 -0.49090779 -1.65694032] [ 0.74326125 0.66897217 -0.00624177 -0.5712871 ] [ 0.33245828 -0.3612491 0.87118918 -2.55845873] [ 0. 0. 0. 1. ]] SLAMing on 187.201346184 meters Centerline goodness : 0.879228 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.57, Z:-2.56 [[ 0.58022754 -0.65008714 -0.490635 -1.6558926 ] [ 0.74349169 0.66871081 -0.00677887 -0.57027748] [ 0.33249979 -0.36084976 0.87133882 -2.55928101] [ 0. 0. 0. 1. ]] SLAMing on 187.231346184 meters Centerline goodness : 0.879609 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.57, Z:-2.56 [[ 0.57951571 -0.65081983 -0.49050493 -1.65309881] [ 0.74400403 0.66813319 -0.00748679 -0.56854168] [ 0.33259517 -0.36059893 0.87140626 -2.56047327] [ 0. 0. 0. 1. ]] SLAMing on 187.261346184 meters Centerline goodness : 0.879845 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.57, Z:-2.56 [[ 0.57868895 -0.65130308 -0.49083948 -1.65173417] [ 0.74449885 0.66757499 -0.00806859 -0.5666356 ] [ 0.33292726 -0.36076022 0.87121266 -2.56057734] [ 0. 0. 0. 1. ]] SLAMing on 187.291346184 meters Centerline goodness : 0.879966 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.57, Z:-2.56 [[ 0.57673444 -0.6555051 -0.48753507 -1.65432658] [ 0.74657018 0.66521182 -0.01123409 -0.56506451] [ 0.3316781 -0.35750006 0.87303113 -2.56203194] [ 0. 0. 0. 1. ]] SLAMing on 187.321346184 meters Centerline goodness : 0.878721 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57639125 -0.65586373 -0.48745861 -1.65588727] [ 0.74686557 0.66487646 -0.01145036 -0.56435219] [ 0.33160963 -0.35746617 0.87307101 -2.56164935] [ 0. 0. 0. 1. ]] SLAMing on 187.351346184 meters Centerline goodness : 0.879254 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57581498 -0.6560555 -0.48788143 -1.65620341] [ 0.74716598 0.66453331 -0.01176795 -0.56274873] [ 0.33193389 -0.35775224 0.87283058 -2.56123175] [ 0. 0. 0. 1. ]] SLAMing on 187.381346184 meters Centerline goodness : 0.878902 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57529888 -0.65655951 -0.48781227 -1.65709141] [ 0.74754926 0.66409425 -0.01220376 -0.56159244] [ 0.33196582 -0.35764289 0.87286325 -2.56113146] [ 0. 0. 0. 1. ]] SLAMing on 187.411346184 meters Centerline goodness : 0.877411 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57464215 -0.65683991 -0.48820869 -1.65589324] [ 0.74789076 0.66370127 -0.01265018 -0.55982628] [ 0.33233387 -0.35785745 0.87263523 -2.56118462] [ 0. 0. 0. 1. ]] SLAMing on 187.441346184 meters Centerline goodness : 0.877411 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57464215 -0.65683991 -0.48820869 -1.65589324] [ 0.74789076 0.66370127 -0.01265018 -0.55982628] [ 0.33233387 -0.35785745 0.87263523 -2.56118462] [ 0. 0. 0. 1. ]] SLAMing on 187.471346184 meters Centerline goodness : 0.877590 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.56, Z:-2.56 [[ 0.57415906 -0.6574224 -0.48799299 -1.65529592] [ 0.74823913 0.66329712 -0.01323403 -0.55856829] [ 0.33238469 -0.35753701 0.87274722 -2.56173967] [ 0. 0. 0. 1. ]] SLAMing on 187.501346184 meters Centerline goodness : 0.879098 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.56, Z:-2.56 [[ 0.57355366 -0.65799405 -0.48793445 -1.65478722] [ 0.74863772 0.66283465 -0.01384888 -0.55716819] [ 0.33253234 -0.35734306 0.8727704 -2.56202149] [ 0. 0. 0. 1. ]] SLAMing on 187.531346184 meters Centerline goodness : 0.877185 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.55, Z:-2.56 [[ 0.57245913 -0.65843612 -0.48862298 -1.65182734] [ 0.74903178 0.66236401 -0.01501015 -0.55181312] [ 0.3335295 -0.35740145 0.87236591 -2.56368411] [ 0. 0. 0. 1. ]] SLAMing on 187.561346184 meters Centerline goodness : 0.877803 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.55, Z:-2.56 [[ 0.57187415 -0.65924831 -0.48821268 -1.65238976] [ 0.74942903 0.66189323 -0.01592114 -0.54953106] [ 0.33364065 -0.35677586 0.87257945 -2.56457119] [ 0. 0. 0. 1. ]] SLAMing on 187.591346184 meters Centerline goodness : 0.876743 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.55, Z:-2.57 [[ 0.57138886 -0.66010519 -0.48762271 -1.65317634] [ 0.74978068 0.66147143 -0.0168663 -0.5472761 ] [ 0.33368202 -0.35597287 0.87289153 -2.56574808] [ 0. 0. 0. 1. ]] SLAMing on 187.621346184 meters Centerline goodness : 0.878365 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.54, Z:-2.57 [[ 0.57134772 -0.65977343 -0.48811966 -1.65154202] [ 0.74948016 0.66180174 -0.017261 -0.54421118] [ 0.33442679 -0.35597397 0.87260601 -2.56708199] [ 0. 0. 0. 1. ]] SLAMing on 187.651346184 meters Centerline goodness : 0.877313 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.54, Z:-2.57 [[ 0.57086178 -0.66129049 -0.48663304 -1.65349373] [ 0.74984334 0.66134047 -0.0190724 -0.5401152 ] [ 0.33444252 -0.35401083 0.87339827 -2.56996822] [ 0. 0. 0. 1. ]] SLAMing on 187.681346184 meters Centerline goodness : 0.877754 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.54, Z:-2.57 [[ 0.57045134 -0.6620313 -0.4861068 -1.65506877] [ 0.75008799 0.66103463 -0.0200304 -0.53736801] [ 0.33459418 -0.35319651 0.87366982 -2.57117693] [ 0. 0. 0. 1. ]] SLAMing on 187.71134618399998 meters Centerline goodness : 0.874895 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.54, Z:-2.57 [[ 0.57229872 -0.65881726 -0.48829703 -1.6594296 ] [ 0.74809696 0.66333993 -0.01819562 -0.53544399] [ 0.33589451 -0.35488019 0.87248778 -2.5706159 ] [ 0. 0. 0. 1. ]] SLAMing on 187.74134618399998 meters Centerline goodness : 0.877341 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.53, Z:-2.57 [[ 0.57245246 -0.65910678 -0.48772578 -1.66233741] [ 0.74800338 0.6634339 -0.0186117 -0.53448106] [ 0.33584091 -0.35416622 0.87279847 -2.57102799] [ 0. 0. 0. 1. ]] SLAMing on 187.77134618399998 meters Centerline goodness : 0.878918 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.53, Z:-2.57 [[ 0.57294855 -0.65913948 -0.48709867 -1.6639839 ] [ 0.74769395 0.66377876 -0.01874902 -0.53444473] [ 0.33568396 -0.3534585 0.87314567 -2.57174594] [ 0. 0. 0. 1. ]] SLAMing on 187.80134618399998 meters Centerline goodness : 0.875870 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.52, Z:-2.57 [[ 0.57505003 -0.66438778 -0.47739537 -1.66067177] [ 0.74976436 0.66147515 -0.01743627 -0.52300644] [ 0.32736962 -0.34790731 0.87851559 -2.57262787] [ 0. 0. 0. 1. ]] SLAMing on 187.83134618399998 meters Centerline goodness : 0.876582 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.52, Z:-2.58 [[ 0.57528072 -0.66474618 -0.47661788 -1.66360154] [ 0.74945139 0.6618027 -0.01843381 -0.51876901] [ 0.3276808 -0.34659731 0.87891729 -2.57524748] [ 0. 0. 0. 1. ]] SLAMing on 187.86134618399998 meters Centerline goodness : 0.876876 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.52, Z:-2.58 [[ 0.5751262 -0.66535611 -0.47595283 -1.66509071] [ 0.74951035 0.66170977 -0.01934981 -0.5165645 ] [ 0.32781715 -0.34560299 0.87925792 -2.57650445] [ 0. 0. 0. 1. ]] SLAMing on 187.89134618399999 meters Centerline goodness : 0.875522 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.51, Z:-2.58 [[ 0.57504916 -0.66603366 -0.47509749 -1.66636252] [ 0.74953008 0.66165734 -0.02035248 -0.51440108] [ 0.32790717 -0.34439619 0.87969776 -2.57809547] [ 0. 0. 0. 1. ]] SLAMing on 187.921346184 meters Centerline goodness : 0.874979 Centerline is valid? [False, False] Translation: X:-1.67, Y:-0.51, Z:-2.58 [[ 0.57550849 -0.66704598 -0.47311694 -1.66940553] [ 0.7492056 0.66197317 -0.02196574 -0.51119352] [ 0.32784288 -0.34182039 0.88072576 -2.58159495] [ 0. 0. 0. 1. ]] SLAMing on 187.951346184 meters Centerline goodness : 0.875626 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.50, Z:-2.59 [[ 0.57738998 -0.66825486 -0.46910154 -1.66168077] [ 0.75167625 0.65938108 -0.0141212 -0.50164419] [ 0.31875324 -0.34445904 0.88303134 -2.5863234 ] [ 0. 0. 0. 1. ]] SLAMing on 187.981346184 meters Centerline goodness : 0.879165 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.50, Z:-2.59 [[ 0.57696286 -0.66913457 -0.46837248 -1.66365016] [ 0.7519538 0.65903968 -0.01523749 -0.49906601] [ 0.31887198 -0.34340301 0.8833997 -2.58745161] [ 0. 0. 0. 1. ]] SLAMing on 188.011346184 meters Centerline goodness : 0.875479 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.49, Z:-2.59 [[ 0.57826119 -0.67379401 -0.46001699 -1.6597491 ] [ 0.7542384 0.65646347 -0.01342203 -0.48600858] [ 0.31102803 -0.33920103 0.88780866 -2.58765907] [ 0. 0. 0. 1. ]] SLAMing on 188.041346184 meters Centerline goodness : 0.874047 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.48, Z:-2.59 [[ 0.57719049 -0.67525537 -0.45921817 -1.66208647] [ 0.75498673 0.65556767 -0.01503519 -0.48210509] [ 0.31120118 -0.33802546 0.88819627 -2.58874457] [ 0. 0. 0. 1. ]] SLAMing on 188.071346184 meters Centerline goodness : 0.873603 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.47, Z:-2.59 [[ 0.57771664 -0.67778508 -0.45480861 -1.65497448] [ 0.75833843 0.65181075 -0.00809763 -0.47159156] [ 0.30193759 -0.34022071 0.89055239 -2.5937149 ] [ 0. 0. 0. 1. ]] SLAMing on 188.101346184 meters Centerline goodness : 0.869846 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.47, Z:-2.59 [[ 0.57695071 -0.67859543 -0.45457245 -1.65575235] [ 0.75882751 0.65122874 -0.00905197 -0.46879872] [ 0.30217327 -0.33971954 0.89066377 -2.59452012] [ 0. 0. 0. 1. ]] SLAMing on 188.131346184 meters Centerline goodness : 0.869102 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.47, Z:-2.60 [[ 0.57666505 -0.6794235 -0.45369718 -1.6573331 ] [ 0.75900102 0.65100973 -0.01018731 -0.4656382 ] [ 0.30228278 -0.33848196 0.89109769 -2.59649909] [ 0. 0. 0. 1. ]] SLAMing on 188.161346184 meters Centerline goodness : 0.870371 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.46, Z:-2.60 [[ 0.57669926 -0.67979075 -0.45310318 -1.65921937] [ 0.75896006 0.65104793 -0.01078046 -0.46437981] [ 0.30232034 -0.33767013 0.89139289 -2.59720675] [ 0. 0. 0. 1. ]] SLAMing on 188.191346184 meters Centerline goodness : 0.868862 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.45, Z:-2.60 [[ 0.57881736 -0.68435087 -0.44343472 -1.65716508] [ 0.76079791 0.64893418 -0.00842433 -0.45330923] [ 0.29352515 -0.33248806 0.89626708 -2.59865254] [ 0. 0. 0. 1. ]] SLAMing on 188.221346184 meters Centerline goodness : 0.871641 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.45, Z:-2.60 [[ 0.57880532 -0.68437056 -0.44342006 -1.65916691] [ 0.76067319 0.64907466 -0.00885369 -0.45118156] [ 0.29387193 -0.33217318 0.8962702 -2.59910628] [ 0. 0. 0. 1. ]] SLAMing on 188.251346184 meters Centerline goodness : 0.869876 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.44, Z:-2.60 [[ 0.58004869 -0.68871714 -0.43498531 -1.65856121] [ 0.76311354 0.64624022 -0.0055949 -0.43772061] [ 0.28495831 -0.32869787 0.90042017 -2.60043765] [ 0. 0. 0. 1. ]] SLAMing on 188.281346184 meters Centerline goodness : 0.870630 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.44, Z:-2.60 [[ 0.57946546 -0.6890368 -0.43525633 -1.65849136] [ 0.76340024 0.64589635 -0.00616253 -0.43533482] [ 0.28537668 -0.32870382 0.90028548 -2.60079092] [ 0. 0. 0. 1. ]] SLAMing on 188.311346184 meters Centerline goodness : 0.871369 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.43, Z:-2.60 [[ 0.57913382 -0.68942657 -0.43508048 -1.65933851] [ 0.76363199 0.64561826 -0.00657641 -0.43416517] [ 0.28542985 -0.32843275 0.90036755 -2.60098324] [ 0. 0. 0. 1. ]] SLAMing on 188.341346184 meters Centerline goodness : 0.871014 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.43, Z:-2.60 [[ 0.57889986 -0.68985351 -0.43471494 -1.66248429] [ 0.76385091 0.64535565 -0.00691872 -0.43287803] [ 0.28531865 -0.32805216 0.90054153 -2.60079532] [ 0. 0. 0. 1. ]] SLAMing on 188.371346184 meters Centerline goodness : 0.871732 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.43, Z:-2.60 [[ 0.57974167 -0.68715766 -0.43785151 -1.66047676] [ 0.76276188 0.64666076 -0.00491729 -0.43172144] [ 0.28652035 -0.33112568 0.89903385 -2.59981836] [ 0. 0. 0. 1. ]] SLAMing on 188.401346184 meters Centerline goodness : 0.873950 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.42, Z:-2.60 [[ 5.81633856e-01 -6.91366091e-01 -4.28619863e-01 -1.65777637e+00] [ 7.64591885e-01 6.44511463e-01 -2.05507154e-03 -4.21291896e-01] [ 2.77671221e-01 -3.26523970e-01 9.03482590e-01 -2.60068219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431346184 meters Centerline goodness : 0.874013 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.42, Z:-2.60 [[ 5.83258760e-01 -6.88334158e-01 -4.31283324e-01 -1.65906631e+00] [ 7.62907189e-01 6.46508014e-01 -9.56413023e-05 -4.19428593e-01] [ 2.78893959e-01 -3.28973365e-01 9.02216540e-01 -2.60044362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46134618399998 meters Centerline goodness : 0.874758 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.42, Z:-2.60 [[ 5.83498288e-01 -6.88030905e-01 -4.31443183e-01 -1.66066106e+00] [ 7.62606391e-01 6.46862780e-01 -1.90200593e-04 -4.17915900e-01] [ 2.79215401e-01 -3.28910347e-01 9.02140091e-01 -2.60075118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49134618399998 meters Centerline goodness : 0.876530 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.41, Z:-2.60 [[ 5.85642909e-01 -6.92483114e-01 -4.21295051e-01 -1.65868032e+00] [ 7.64228802e-01 6.44941244e-01 2.26505598e-03 -4.08045520e-01] [ 2.70142041e-01 -3.23292326e-01 9.06920807e-01 -2.60229816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52134618399998 meters Centerline goodness : 0.876180 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.41, Z:-2.60 [[ 5.86167626e-01 -6.91845570e-01 -4.21612643e-01 -1.65729639e+00] [ 7.63627137e-01 6.45653797e-01 2.18396201e-03 -4.06559694e-01] [ 2.70704840e-01 -3.23235023e-01 9.06773406e-01 -2.60352189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55134618399998 meters Centerline goodness : 0.879962 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.85818928e-01 -6.92019504e-01 -4.21811794e-01 -1.65841959e+00] [ 7.63713881e-01 6.45552972e-01 1.57131656e-03 -4.03706781e-01] [ 2.71214476e-01 -3.23064030e-01 9.06682051e-01 -2.60406190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58134618399998 meters Centerline goodness : 0.873790 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.85439692e-01 -6.91435689e-01 -4.23293108e-01 -1.65706221e+00] [ 7.63694336e-01 6.45575747e-01 1.70771573e-03 -4.00729102e-01] [ 2.72086989e-01 -3.24266313e-01 9.05991186e-01 -2.60408265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61134618399998 meters Centerline goodness : 0.876018 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.85004006e-01 -6.91585906e-01 -4.23649911e-01 -1.65745730e+00] [ 7.63912582e-01 6.45318191e-01 1.41379846e-03 -3.99007077e-01] [ 2.72411231e-01 -3.24458576e-01 9.05824902e-01 -2.60397268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64134618399999 meters Centerline goodness : 0.871939 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.85259969e-01 -6.91376883e-01 -4.23637551e-01 -1.65801317e+00] [ 7.63638281e-01 6.45643033e-01 1.28470557e-03 -3.97712094e-01] [ 2.72630417e-01 -3.24257738e-01 9.05830875e-01 -2.60478180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671346184 meters Centerline goodness : 0.873604 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.85073419e-01 -6.91492424e-01 -4.23706647e-01 -1.65888873e+00] [ 7.63729913e-01 6.45535022e-01 1.07502181e-03 -3.97000704e-01] [ 2.72774110e-01 -3.24226407e-01 9.05798831e-01 -2.60446990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701346184 meters Centerline goodness : 0.874507 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.40, Z:-2.60 [[ 5.84686106e-01 -6.91701482e-01 -4.23900008e-01 -1.66011042e+00] [ 7.63961551e-01 6.45261240e-01 8.24600951e-04 -3.95719636e-01] [ 2.72955867e-01 -3.24325441e-01 9.05708619e-01 -2.60408906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731346184 meters Centerline goodness : 0.875121 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.39, Z:-2.60 [[ 0.58576979 -0.69704517 -0.41352362 -1.65937341] [ 0.7665414 0.64218618 0.00334691 -0.38628833] [ 0.26322621 -0.31894349 0.91048724 -2.6048093 ] [ 0. 0. 0. 1. ]] SLAMing on 188.761346184 meters Centerline goodness : 0.875468 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.38, Z:-2.61 [[ 0.58532983 -0.69723725 -0.41382267 -1.6581798 ] [ 0.76671925 0.64197628 0.00283665 -0.38417455] [ 0.26368652 -0.31894618 0.91035309 -2.60561804] [ 0. 0. 0. 1. ]] SLAMing on 188.791346184 meters Centerline goodness : 0.875378 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.38, Z:-2.61 [[ 5.84989473e-01 -6.97556769e-01 -4.13765479e-01 -1.65909307e+00] [ 7.66937403e-01 6.41717219e-01 2.45577944e-03 -3.82904392e-01] [ 2.63807387e-01 -3.18768827e-01 9.10380194e-01 -2.60565849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821346184 meters Centerline goodness : 0.877624 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.38, Z:-2.61 [[ 5.84439264e-01 -6.97884513e-01 -4.13990282e-01 -1.66082885e+00] [ 7.67277905e-01 6.41311344e-01 2.09202678e-03 -3.81082941e-01] [ 2.64036671e-01 -3.18868259e-01 9.10278897e-01 -2.60523299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851346184 meters Centerline goodness : 0.875182 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.38, Z:-2.60 [[ 5.82554594e-01 -6.99401080e-01 -4.14087279e-01 -1.66388763e+00] [ 7.68625149e-01 6.39698854e-01 8.69483066e-04 -3.77216920e-01] [ 2.64283040e-01 -3.18784418e-01 9.10236766e-01 -2.60434269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881346184 meters Centerline goodness : 0.876178 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.37, Z:-2.60 [[ 5.81356371e-01 -7.00323421e-01 -4.14212356e-01 -1.66393848e+00] [ 7.69455873e-01 6.38699971e-01 7.61083454e-05 -3.74710341e-01] [ 2.64504119e-01 -3.18762376e-01 9.10180267e-01 -2.60439333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911346184 meters Centerline goodness : 0.877411 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.37, Z:-2.60 [[ 5.80385927e-01 -7.01021445e-01 -4.14392458e-01 -1.66436133e+00] [ 7.70134775e-01 6.37881033e-01 -4.65494655e-04 -3.73097925e-01] [ 2.64659411e-01 -3.18867876e-01 9.10098167e-01 -2.60388411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941346184 meters Centerline goodness : 0.876735 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.37, Z:-2.60 [[ 5.79476482e-01 -7.02030082e-01 -4.13957451e-01 -1.66363987e+00] [ 7.70841576e-01 6.37025625e-01 -1.27208083e-03 -3.71241871e-01] [ 2.64594543e-01 -3.18358473e-01 9.10295342e-01 -2.60492808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971346184 meters Centerline goodness : 0.875680 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.37, Z:-2.61 [[ 5.78877816e-01 -7.02599899e-01 -4.13828294e-01 -1.66207287e+00] [ 7.71207773e-01 6.36580384e-01 -1.99658148e-03 -3.69253364e-01] [ 2.64837772e-01 -3.17991820e-01 9.10352765e-01 -2.60610378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001346184 meters Centerline goodness : 0.876154 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.37, Z:-2.61 [[ 5.77932389e-01 -7.03122159e-01 -4.14262457e-01 -1.66082404e+00] [ 7.71797930e-01 6.35862898e-01 -2.51597084e-03 -3.66927419e-01] [ 2.65183162e-01 -3.18272846e-01 9.10153990e-01 -2.60646234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031346184 meters Centerline goodness : 0.874850 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 5.78423341e-01 -7.07836147e-01 -4.05455826e-01 -1.65792076e+00] [ 7.74314069e-01 6.32801480e-01 -9.47832226e-05 -3.54452793e-01] [ 2.56640138e-01 -3.13895325e-01 9.14114634e-01 -2.60749629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061346184 meters Centerline goodness : 0.879358 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 5.78725900e-01 -7.07563806e-01 -4.05499436e-01 -1.65908898e+00] [ 7.74042849e-01 6.33133212e-01 -5.79532590e-05 -3.53976066e-01] [ 2.56776166e-01 -3.13840400e-01 9.14095293e-01 -2.60751750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091346184 meters Centerline goodness : 0.879681 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 5.80256487e-01 -7.04667395e-01 -4.08345773e-01 -1.65789366e+00] [ 7.72552404e-01 6.34947583e-01 2.08569556e-03 -3.53708786e-01] [ 2.57808440e-01 -3.16678747e-01 9.12824944e-01 -2.60677635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121346184 meters Centerline goodness : 0.878511 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 0.58153942 -0.70199766 -0.41110971 -1.65956794] [ 0.77130051 0.63645691 0.00425771 -0.35330766] [ 0.25866471 -0.31956515 0.91157593 -2.60507194] [ 0. 0. 0. 1. ]] SLAMing on 189.151346184 meters Centerline goodness : 0.877519 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 0.58392797 -0.70627693 -0.40025119 -1.65899469] [ 0.77347085 0.6337512 0.01011217 -0.34738637] [ 0.24651768 -0.31548741 0.91634967 -2.60949129] [ 0. 0. 0. 1. ]] SLAMing on 189.181346184 meters Centerline goodness : 0.877377 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.35, Z:-2.61 [[ 0.58383952 -0.70601825 -0.40083619 -1.65747254] [ 0.77338081 0.63386273 0.01000816 -0.34564009] [ 0.24700917 -0.31584218 0.91609508 -2.61025538] [ 0. 0. 0. 1. ]] SLAMing on 189.21134618399998 meters Centerline goodness : 0.879228 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.35, Z:-2.61 [[ 0.58466036 -0.70528757 -0.40092606 -1.65483203] [ 0.77266688 0.63473011 0.01017753 -0.34505045] [ 0.24730176 -0.31573269 0.91605388 -2.6123362 ] [ 0. 0. 0. 1. ]] SLAMing on 189.24134618399998 meters Centerline goodness : 0.878451 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58521239 -0.70444608 -0.40159952 -1.65346048] [ 0.77208921 0.63542763 0.01048723 -0.34418927] [ 0.24779974 -0.31620791 0.91575534 -2.61306629] [ 0. 0. 0. 1. ]] SLAMing on 189.27134618399998 meters Centerline goodness : 0.880232 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58616769 -0.70203595 -0.40441681 -1.65151455] [ 0.77102118 0.63669101 0.01228367 -0.34291315] [ 0.24886497 -0.31901422 0.91449229 -2.61271276] [ 0. 0. 0. 1. ]] SLAMing on 189.30134618399998 meters Centerline goodness : 0.878055 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58635319 -0.70004751 -0.40758242 -1.65312286] [ 0.77047826 0.63731712 0.01378892 -0.33991859] [ 0.25010636 -0.32211857 0.91306431 -2.61102695] [ 0. 0. 0. 1. ]] SLAMing on 189.33134618399998 meters Centerline goodness : 0.878742 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58588877 -0.70049166 -0.40748716 -1.65375955] [ 0.77078655 0.63695494 0.01328523 -0.33827968] [ 0.25024477 -0.32186929 0.9131143 -2.61134465] [ 0. 0. 0. 1. ]] SLAMing on 189.36134618399998 meters Centerline goodness : 0.878742 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58588877 -0.70049166 -0.40748716 -1.65375955] [ 0.77078655 0.63695494 0.01328523 -0.33827968] [ 0.25024477 -0.32186929 0.9131143 -2.61134465] [ 0. 0. 0. 1. ]] SLAMing on 189.39134618399999 meters Centerline goodness : 0.879910 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58589083 -0.70050668 -0.40745838 -1.65261234] [ 0.77070903 0.63705497 0.01298314 -0.33717997] [ 0.25047861 -0.32163856 0.91313148 -2.61236405] [ 0. 0. 0. 1. ]] SLAMing on 189.421346184 meters Centerline goodness : 0.878133 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.58607502 -0.70047806 -0.40724262 -1.65129174] [ 0.77054959 0.63725118 0.01281642 -0.33669025] [ 0.25053822 -0.32131201 0.91323009 -2.61354567] [ 0. 0. 0. 1. ]] SLAMing on 189.451346184 meters Centerline goodness : 0.881287 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.34, Z:-2.61 [[ 0.5862247 -0.7005541 -0.40689625 -1.65067356] [ 0.77046013 0.63736223 0.01267163 -0.33670068] [ 0.25046314 -0.32092576 0.91338649 -2.61425224] [ 0. 0. 0. 1. ]] SLAMing on 189.481346184 meters Centerline goodness : 0.879737 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.33, Z:-2.61 [[ 0.58739912 -0.7043362 -0.3985885 -1.6488902 ] [ 0.77244501 0.6348675 0.01649158 -0.32615536] [ 0.24143527 -0.31757484 0.91698159 -2.61475989] [ 0. 0. 0. 1. ]] SLAMing on 189.511346184 meters Centerline goodness : 0.879536 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.32, Z:-2.61 [[ 0.58692538 -0.70411846 -0.3996696 -1.64935576] [ 0.77262942 0.63464164 0.01654597 -0.32369068] [ 0.24199665 -0.31850775 0.91650992 -2.61442195] [ 0. 0. 0. 1. ]] SLAMing on 189.541346184 meters Centerline goodness : 0.879783 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.32, Z:-2.61 [[ 0.58627321 -0.70458927 -0.39979706 -1.65074215] [ 0.77306962 0.63411674 0.01610357 -0.3219195 ] [ 0.24217161 -0.31851206 0.91646221 -2.61410118] [ 0. 0. 0. 1. ]] SLAMing on 189.571346184 meters Centerline goodness : 0.878457 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.32, Z:-2.62 [[ 0.58544781 -0.70449676 -0.40116726 -1.64822637] [ 0.77342029 0.63369523 0.01585619 -0.31799813] [ 0.24304714 -0.31955387 0.91586757 -2.61525187] [ 0. 0. 0. 1. ]] SLAMing on 189.601346184 meters Centerline goodness : 0.877338 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.31, Z:-2.62 [[ 0.58702292 -0.70866602 -0.39140332 -1.645295 ] [ 0.77606809 0.63023502 0.02285012 -0.31196488] [ 0.23048298 -0.31716918 0.91993549 -2.62127131] [ 0. 0. 0. 1. ]] SLAMing on 189.631346184 meters Centerline goodness : 0.878073 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.31, Z:-2.62 [[ 0.58624729 -0.70821978 -0.39336859 -1.64271142] [ 0.77631429 0.62993238 0.02283248 -0.30824707] [ 0.2316252 -0.31876314 0.91909729 -2.62145644] [ 0. 0. 0. 1. ]] SLAMing on 189.661346184 meters Centerline goodness : 0.877304 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.31, Z:-2.62 [[ 0.58589444 -0.7091828 -0.39215745 -1.64538877] [ 0.77661056 0.62960757 0.0216876 -0.30652433] [ 0.23152483 -0.31726026 0.91964242 -2.62230548] [ 0. 0. 0. 1. ]] SLAMing on 189.691346184 meters Centerline goodness : 0.876683 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.31, Z:-2.62 [[ 0.58615389 -0.70907865 -0.39195803 -1.64435378] [ 0.77634604 0.62994439 0.02137506 -0.30537534] [ 0.23175516 -0.31682414 0.91973475 -2.62380177] [ 0. 0. 0. 1. ]] SLAMing on 189.721346184 meters Centerline goodness : 0.877334 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.30, Z:-2.62 [[ 0.58604728 -0.7087122 -0.39277934 -1.64347159] [ 0.77624888 0.63006514 0.02134454 -0.30316407] [ 0.23234943 -0.31740343 0.91938501 -2.62443198] [ 0. 0. 0. 1. ]] SLAMing on 189.751346184 meters Centerline goodness : 0.877538 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.30, Z:-2.62 [[ 0.58606147 -0.70856062 -0.39303156 -1.64514847] [ 0.77614262 0.63020097 0.02119853 -0.30177548] [ 0.23266842 -0.31747219 0.9192806 -2.62420688] [ 0. 0. 0. 1. ]] SLAMing on 189.781346184 meters Centerline goodness : 0.879325 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.29, Z:-2.63 [[ 0.58704556 -0.71206087 -0.38515817 -1.64638855] [ 0.77822899 0.62743457 0.02618214 -0.29055711] [ 0.22301828 -0.31511136 0.92247909 -2.6251044 ] [ 0. 0. 0. 1. ]] SLAMing on 189.811346184 meters Centerline goodness : 0.878022 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.29, Z:-2.63 [[ 0.58673119 -0.71218664 -0.3854046 -1.64751304] [ 0.77836429 0.62728198 0.02581382 -0.2887321 ] [ 0.22337311 -0.31513095 0.92238654 -2.62504669] [ 0. 0. 0. 1. ]] SLAMing on 189.841346184 meters Centerline goodness : 0.878783 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.29, Z:-2.63 [[ 0.58730734 -0.71030944 -0.3879827 -1.64525914] [ 0.77759269 0.62818809 0.02700626 -0.2860075 ] [ 0.22454331 -0.31755349 0.92127091 -2.62574597] [ 0. 0. 0. 1. ]] SLAMing on 189.871346184 meters Centerline goodness : 0.878954 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.28, Z:-2.63 [[ 0.58729419 -0.71049665 -0.3876597 -1.64614677] [ 0.77751751 0.62830839 0.02636464 -0.28371673] [ 0.22483785 -0.316896 0.92142545 -2.62714213] [ 0. 0. 0. 1. ]] SLAMing on 189.901346184 meters Centerline goodness : 0.881421 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.28, Z:-2.63 [[ 0.58761364 -0.70897616 -0.38995258 -1.64484696] [ 0.77700116 0.62890076 0.02744137 -0.28118693] [ 0.2257862 -0.31911853 0.92042596 -2.62739574] [ 0. 0. 0. 1. ]] SLAMing on 189.931346184 meters Centerline goodness : 0.883071 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.28, Z:-2.63 [[ 0.5876975 -0.70867096 -0.39038073 -1.6467825 ] [ 0.77681927 0.62912794 0.02738362 -0.27961092] [ 0.22619345 -0.31934856 0.92024617 -2.62716202] [ 0. 0. 0. 1. ]] SLAMing on 189.96134618399998 meters Centerline goodness : 0.883522 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.27, Z:-2.63 [[ 0.5901655 -0.7125075 -0.37952306 -1.65223878] [ 0.7781516 0.62723598 0.03248257 -0.27228678] [ 0.21490645 -0.31449657 0.92461188 -2.62959054] [ 0. 0. 0. 1. ]] SLAMing on 189.99134618399998 meters Centerline goodness : 0.883612 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.26, Z:-2.63 [[ 0.59202509 -0.71635528 -0.36924438 -1.6523914 ] [ 0.77938325 0.62550667 0.03609923 -0.26414489] [ 0.20510495 -0.30915453 0.92863095 -2.63106245] [ 0. 0. 0. 1. ]] SLAMing on 190.02134618399998 meters Centerline goodness : 0.884109 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.26, Z:-2.63 [[ 0.59337743 -0.71564589 -0.36844834 -1.65390954] [ 0.77819176 0.62703029 0.03536391 -0.26262513] [ 0.20572023 -0.30770761 0.92897536 -2.63308914] [ 0. 0. 0. 1. ]] SLAMing on 190.05134618399998 meters Centerline goodness : 0.883892 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.26, Z:-2.63 [[ 0.59368252 -0.71511206 -0.36899297 -1.65414848] [ 0.77785231 0.6274427 0.03551688 -0.26168936] [ 0.2061234 -0.30810778 0.92875333 -2.63314023] [ 0. 0. 0. 1. ]] SLAMing on 190.08134618399998 meters Centerline goodness : 0.883264 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.26, Z:-2.63 [[ 0.59348547 -0.71474585 -0.37001806 -1.65471253] [ 0.77781751 0.62748779 0.03548232 -0.25988241] [ 0.20682097 -0.30886477 0.92834673 -2.63237122] [ 0. 0. 0. 1. ]] SLAMing on 190.11134618399998 meters Centerline goodness : 0.885548 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.26, Z:-2.63 [[ 0.59325437 -0.71467195 -0.37053105 -1.65563071] [ 0.77791909 0.62736207 0.03547832 -0.25905722] [ 0.20710176 -0.30929085 0.92814225 -2.6314648 ] [ 0. 0. 0. 1. ]] SLAMing on 190.14134618399999 meters Centerline goodness : 0.882251 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.26, Z:-2.63 [[ 0.59261531 -0.71492522 -0.37106473 -1.65589727] [ 0.77824486 0.62699064 0.03489526 -0.25764739] [ 0.2077066 -0.30945868 0.92795113 -2.63050662] [ 0. 0. 0. 1. ]] SLAMing on 190.171346184 meters Centerline goodness : 0.883181 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.26, Z:-2.63 [[ 0.59204695 -0.71520254 -0.37143739 -1.65649879] [ 0.77861899 0.62653858 0.03466807 -0.25672036] [ 0.20792516 -0.30973333 0.92781054 -2.62958681] [ 0. 0. 0. 1. ]] SLAMing on 190.201346184 meters Centerline goodness : 0.884341 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.26, Z:-2.63 [[ 0.5912372 -0.7154187 -0.37230989 -1.65539471] [ 0.77910815 0.6259421 0.0344526 -0.25532205] [ 0.2083964 -0.31043932 0.9274688 -2.628906 ] [ 0. 0. 0. 1. ]] SLAMing on 190.231346184 meters Centerline goodness : 0.883503 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.25, Z:-2.63 [[ 0.58864065 -0.71858337 -0.37032434 -1.65495581] [ 0.78122484 0.62342523 0.03207377 -0.25433909] [ 0.20782186 -0.3081865 0.92834862 -2.62864134] [ 0. 0. 0. 1. ]] SLAMing on 190.261346184 meters Centerline goodness : 0.885104 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.25, Z:-2.63 [[ 0.5876491 -0.71941492 -0.37028463 -1.65404903] [ 0.78199961 0.62247417 0.03166257 -0.25403707] [ 0.20771409 -0.30816892 0.92837857 -2.62804154] [ 0. 0. 0. 1. ]] SLAMing on 190.291346184 meters Centerline goodness : 0.886394 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.25, Z:-2.63 [[ 0.58672943 -0.71957763 -0.3714251 -1.65309037] [ 0.78252039 0.62183146 0.03142418 -0.25270628] [ 0.20835167 -0.30908521 0.92793099 -2.62662028] [ 0. 0. 0. 1. ]] SLAMing on 190.321346184 meters Centerline goodness : 0.888679 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.25, Z:-2.63 [[ 0.58608473 -0.71968572 -0.37223266 -1.65411751] [ 0.78289686 0.62136271 0.0313192 -0.25143721] [ 0.20875151 -0.30977548 0.92761089 -2.62514825] [ 0. 0. 0. 1. ]] SLAMing on 190.351346184 meters Centerline goodness : 0.885712 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58497324 -0.71465655 -0.38350011 -1.65716832] [ 0.77983783 0.625527 0.02385212 -0.25258985] [ 0.2228436 -0.31302075 0.92323277 -2.61945671] [ 0. 0. 0. 1. ]] SLAMing on 190.381346184 meters Centerline goodness : 0.882724 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58535256 -0.71466877 -0.38289808 -1.6576889 ] [ 0.77945829 0.62602702 0.02312872 -0.25132152] [ 0.22317517 -0.31199153 0.92350101 -2.62060994] [ 0. 0. 0. 1. ]] SLAMing on 190.411346184 meters Centerline goodness : 0.883657 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58591001 -0.71445959 -0.38243556 -1.65841156] [ 0.77892817 0.62670753 0.02255181 -0.25013317] [ 0.22356288 -0.31110316 0.92370691 -2.62164508] [ 0. 0. 0. 1. ]] SLAMing on 190.441346184 meters Centerline goodness : 0.880051 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58672621 -0.71433282 -0.38141968 -1.66127448] [ 0.77827505 0.62754074 0.02192186 -0.24921107] [ 0.22369688 -0.30971155 0.92414201 -2.62254907] [ 0. 0. 0. 1. ]] SLAMing on 190.471346184 meters Centerline goodness : 0.882947 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58686128 -0.71425601 -0.38135573 -1.66194804] [ 0.7781561 0.62769024 0.02186451 -0.24909663] [ 0.22375641 -0.30958572 0.92416976 -2.62231437] [ 0. 0. 0. 1. ]] SLAMing on 190.501346184 meters Centerline goodness : 0.883369 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58683237 -0.71400937 -0.38186174 -1.6626565 ] [ 0.77808946 0.62777058 0.0219294 -0.24845034] [ 0.22406377 -0.30999147 0.92395926 -2.62149647] [ 0. 0. 0. 1. ]] SLAMing on 190.531346184 meters Centerline goodness : 0.886031 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58699287 -0.71218066 -0.38501697 -1.66444034] [ 0.77774432 0.62812738 0.02386959 -0.24791203] [ 0.22484024 -0.31345604 0.92260077 -2.61827554] [ 0. 0. 0. 1. ]] SLAMing on 190.561346184 meters Centerline goodness : 0.888723 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.58698037 -0.71166367 -0.38599076 -1.66391491] [ 0.77762058 0.62826883 0.02417654 -0.24685835] [ 0.2253004 -0.31434551 0.92218579 -2.61792322] [ 0. 0. 0. 1. ]] SLAMing on 190.591346184 meters Centerline goodness : 0.886577 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.24, Z:-2.62 [[ 0.58911895 -0.71489593 -0.37664662 -1.66207985] [ 0.77956963 0.62549139 0.03212029 -0.24258667] [ 0.21262655 -0.31254494 0.92579998 -2.62245448] [ 0. 0. 0. 1. ]] SLAMing on 190.621346184 meters Centerline goodness : 0.886951 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.24, Z:-2.62 [[ 0.58943602 -0.7151272 -0.37571035 -1.66162942] [ 0.77939153 0.62573302 0.03173384 -0.24302174] [ 0.21240064 -0.31153053 0.92619366 -2.62348526] [ 0. 0. 0. 1. ]] SLAMing on 190.651346184 meters Centerline goodness : 0.887418 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.24, Z:-2.62 [[ 0.58971293 -0.71485909 -0.37578604 -1.66024044] [ 0.77913735 0.62604872 0.03174879 -0.24286357] [ 0.21256446 -0.31151161 0.92616244 -2.62416979] [ 0. 0. 0. 1. ]] SLAMing on 190.681346184 meters Centerline goodness : 0.889925 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59162865 -0.7134176 -0.37551413 -1.66163592] [ 0.77769879 0.6277928 0.0325699 -0.24536565] [ 0.21250913 -0.31130617 0.92624421 -2.62374144] [ 0. 0. 0. 1. ]] SLAMing on 190.71134618399998 meters Centerline goodness : 0.891193 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59241365 -0.7125358 -0.37595053 -1.66328525] [ 0.77700523 0.62863139 0.03294617 -0.24553307] [ 0.21285898 -0.31163329 0.92605386 -2.62286478] [ 0. 0. 0. 1. ]] SLAMing on 190.74134618399998 meters Centerline goodness : 0.891672 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59301532 -0.71183756 -0.37632449 -1.66424513] [ 0.77646559 0.62928234 0.03324041 -0.24594735] [ 0.21315258 -0.31191509 0.92589144 -2.62200009] [ 0. 0. 0. 1. ]] SLAMing on 190.77134618399998 meters Centerline goodness : 0.892386 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59336104 -0.71117967 -0.37702274 -1.66385263] [ 0.77607612 0.62974908 0.03349557 -0.24527968] [ 0.21360835 -0.31247331 0.92559813 -2.6219211 ] [ 0. 0. 0. 1. ]] SLAMing on 190.80134618399998 meters Centerline goodness : 0.888812 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59364303 -0.71057124 -0.37772538 -1.66387224] [ 0.77578876 0.63007841 0.03395586 -0.24563187] [ 0.21386855 -0.31319276 0.92529484 -2.62099554] [ 0. 0. 0. 1. ]] SLAMing on 190.83134618399998 meters Centerline goodness : 0.889531 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59338286 -0.71051076 -0.37824759 -1.6630602 ] [ 0.7759612 0.62985461 0.03416703 -0.24588507] [ 0.21396495 -0.31377958 0.92507371 -2.62012661] [ 0. 0. 0. 1. ]] SLAMing on 190.86134618399998 meters Centerline goodness : 0.889247 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.59333416 -0.70976954 -0.37971275 -1.66011176] [ 0.77584325 0.62996684 0.0347711 -0.24508029] [ 0.21452698 -0.31522846 0.92445075 -2.62006963] [ 0. 0. 0. 1. ]] SLAMing on 190.89134618399999 meters Centerline goodness : 0.885985 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.25, Z:-2.62 [[ 0.5929495 -0.70968666 -0.38046777 -1.65983797] [ 0.77611792 0.62960716 0.03515392 -0.24557989] [ 0.21459696 -0.31613236 0.92412579 -2.61848917] [ 0. 0. 0. 1. ]] SLAMing on 190.921346184 meters Centerline goodness : 0.889138 Centerline is valid? [False, False] Translation: X:-1.66, Y:-0.24, Z:-2.62 [[ 0.5936178 -0.70641933 -0.38547327 -1.65673212] [ 0.77514262 0.63064379 0.03797797 -0.24452065] [ 0.21626795 -0.32134116 0.92193711 -2.61590469] [ 0. 0. 0. 1. ]] SLAMing on 190.951346184 meters Centerline goodness : 0.888816 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.24, Z:-2.62 [[ 0.59359748 -0.70530614 -0.38753747 -1.65449792] [ 0.7749594 0.63080868 0.03896582 -0.24263942] [ 0.21697916 -0.32345582 0.92103006 -2.61595551] [ 0. 0. 0. 1. ]] SLAMing on 190.981346184 meters Centerline goodness : 0.885236 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.24, Z:-2.62 [[ 0.59306158 -0.70583799 -0.38738959 -1.65381767] [ 0.77533223 0.63038612 0.0383833 -0.24200106] [ 0.21711262 -0.32311929 0.92111673 -2.61590965] [ 0. 0. 0. 1. ]] SLAMing on 191.011346184 meters Centerline goodness : 0.885617 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.24, Z:-2.62 [[ 0.59251442 -0.70594136 -0.38803795 -1.64924895] [ 0.77561992 0.63004863 0.03811124 -0.24018816] [ 0.21757848 -0.32355143 0.92085508 -2.61775608] [ 0. 0. 0. 1. ]] SLAMing on 191.041346184 meters Centerline goodness : 0.883024 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.24, Z:-2.62 [[ 0.59215894 -0.70569396 -0.38902933 -1.64696104] [ 0.77572608 0.62991837 0.03810392 -0.23846947] [ 0.21816701 -0.32434377 0.920437 -2.61809665] [ 0. 0. 0. 1. ]] SLAMing on 191.071346184 meters Centerline goodness : 0.884872 Centerline is valid? [False, False] Translation: X:-1.65, Y:-0.24, Z:-2.62 [[ 0.59160598 -0.70585814 -0.3895724 -1.6457506 ] [ 0.77600942 0.62959339 0.0377034 -0.23676839] [ 0.21865896 -0.32461741 0.92022378 -2.61822652] [ 0. 0. 0. 1. ]] SLAMing on 191.101346184 meters Centerline goodness : 0.877602 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.24, Z:-2.62 [[ 0.59141691 -0.70561402 -0.39030104 -1.6425659 ] [ 0.77601513 0.62958844 0.03766847 -0.23522059] [ 0.21914963 -0.32515728 0.9199164 -2.6195878 ] [ 0. 0. 0. 1. ]] SLAMing on 191.131346184 meters Centerline goodness : 0.877564 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.23, Z:-2.62 [[ 0.59334524 -0.70915983 -0.38083299 -1.64016244] [ 0.77799052 0.62664587 0.04522951 -0.23102875] [ 0.20657247 -0.32312117 0.92353696 -2.62409069] [ 0. 0. 0. 1. ]] SLAMing on 191.161346184 meters Centerline goodness : 0.875971 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.23, Z:-2.62 [[ 0.59267736 -0.7088533 -0.38244025 -1.63916893] [ 0.77829939 0.62625024 0.045395 -0.22927937] [ 0.2073249 -0.3245576 0.92286443 -2.6230318 ] [ 0. 0. 0. 1. ]] SLAMing on 191.191346184 meters Centerline goodness : 0.875349 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.23, Z:-2.62 [[ 0.59186401 -0.70860877 -0.3841492 -1.63919935] [ 0.77875324 0.62566144 0.0457292 -0.22790322] [ 0.20794323 -0.3262229 0.92213786 -2.62109616] [ 0. 0. 0. 1. ]] SLAMing on 191.221346184 meters Centerline goodness : 0.874620 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.23, Z:-2.62 [[ 0.59147497 -0.70843029 -0.38507646 -1.6353269 ] [ 0.77887942 0.62551481 0.04558588 -0.22631897] [ 0.20857661 -0.32689104 0.92175813 -2.62212737] [ 0. 0. 0. 1. ]] SLAMing on 191.251346184 meters Centerline goodness : 0.874620 Centerline is valid? [False, False] Translation: X:-1.64, Y:-0.23, Z:-2.62 [[ 0.59147497 -0.70843029 -0.38507646 -1.6353269 ] [ 0.77887942 0.62551481 0.04558588 -0.22631897] [ 0.20857661 -0.32689104 0.92175813 -2.62212737] [ 0. 0. 0. 1. ]] SLAMing on 191.281346184 meters Centerline goodness : 0.874277 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.23, Z:-2.62 [[ 0.59079563 -0.70892753 -0.3852042 -1.63290028] [ 0.77937855 0.62491678 0.04525581 -0.22627206] [ 0.20863748 -0.32695683 0.92172102 -2.62204552] [ 0. 0. 0. 1. ]] SLAMing on 191.311346184 meters Centerline goodness : 0.873139 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.22, Z:-2.62 [[ 0.58831485 -0.71010709 -0.38682497 -1.62925643] [ 0.78116115 0.62271121 0.04492226 -0.22476442] [ 0.20898063 -0.32860107 0.92105832 -2.62024326] [ 0. 0. 0. 1. ]] SLAMing on 191.341346184 meters Centerline goodness : 0.872914 Centerline is valid? [False, False] Translation: X:-1.63, Y:-0.22, Z:-2.62 [[ 0.58673071 -0.71049163 -0.38852119 -1.62528727] [ 0.782223 0.62137297 0.04497558 -0.22309307] [ 0.2094618 -0.33029876 0.9203415 -2.61949352] [ 0. 0. 0. 1. ]] SLAMing on 191.371346184 meters Centerline goodness : 0.872839 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.22, Z:-2.62 [[ 0.58534054 -0.71078758 -0.39007366 -1.62089708] [ 0.7831367 0.62021834 0.04501245 -0.22156204] [ 0.20993654 -0.33182861 0.91968278 -2.6191535 ] [ 0. 0. 0. 1. ]] SLAMing on 191.401346184 meters Centerline goodness : 0.870491 Centerline is valid? [False, False] Translation: X:-1.62, Y:-0.22, Z:-2.62 [[ 0.58271716 -0.7135262 -0.38900009 -1.61692725] [ 0.78523529 0.61768285 0.04328322 -0.22114204] [ 0.20939498 -0.33067848 0.92022035 -2.61913515] [ 0. 0. 0. 1. ]] SLAMing on 191.431346184 meters Centerline goodness : 0.867540 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.57944908 -0.7092059 -0.40157908 -1.61226543] [ 0.78351069 0.62039746 0.03489975 -0.22124245] [ 0.22438753 -0.33486413 0.91515914 -2.61328242] [ 0. 0. 0. 1. ]] SLAMing on 191.46134618399998 meters Centerline goodness : 0.867210 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.57895945 -0.70942336 -0.40190104 -1.61072368] [ 0.78379644 0.62005315 0.03460099 -0.22067569] [ 0.22465326 -0.33504118 0.91502914 -2.61314232] [ 0. 0. 0. 1. ]] SLAMing on 191.49134618399998 meters Centerline goodness : 0.864549 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.57975215 -0.70668839 -0.40556005 -1.60679289] [ 0.78274234 0.62128333 0.03635181 -0.21865828] [ 0.2262783 -0.33852407 0.91334527 -2.61293026] [ 0. 0. 0. 1. ]] SLAMing on 191.52134618399998 meters Centerline goodness : 0.866794 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.58162912 -0.70515095 -0.40554866 -1.60806843] [ 0.78130091 0.62304495 0.03720052 -0.22009615] [ 0.22644306 -0.33849244 0.91331616 -2.61315444] [ 0. 0. 0. 1. ]] SLAMing on 191.55134618399998 meters Centerline goodness : 0.866720 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.58337791 -0.70206553 -0.40837998 -1.60583797] [ 0.77965458 0.62497363 0.03932812 -0.2195803 ] [ 0.22761581 -0.34133848 0.91196441 -2.61330867] [ 0. 0. 0. 1. ]] SLAMing on 191.58134618399998 meters Centerline goodness : 0.869307 Centerline is valid? [False, False] Translation: X:-1.61, Y:-0.22, Z:-2.61 [[ 0.5840005 -0.70157116 -0.40833972 -1.60630935] [ 0.77917682 0.625552 0.03960038 -0.22034915] [ 0.22765525 -0.34129548 0.91197066 -2.61312999] [ 0. 0. 0. 1. ]] SLAMing on 191.61134618399998 meters Centerline goodness : 0.868398 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.58429632 -0.70170403 -0.4076877 -1.60481188] [ 0.77904361 0.62572154 0.03954249 -0.22203692] [ 0.22735185 -0.34071103 0.91226483 -2.6133788 ] [ 0. 0. 0. 1. ]] SLAMing on 191.64134618399999 meters Centerline goodness : 0.870116 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.58399309 -0.70173141 -0.40807488 -1.60381694] [ 0.77928256 0.62541002 0.03976178 -0.22235209] [ 0.22731203 -0.34122624 0.91208218 -2.6128307 ] [ 0. 0. 0. 1. ]] SLAMing on 191.671346184 meters Centerline goodness : 0.871413 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.58384953 -0.70081754 -0.40984692 -1.60166722] [ 0.77918701 0.62548514 0.04044685 -0.22127081] [ 0.2280073 -0.34296227 0.91125713 -2.61221406] [ 0. 0. 0. 1. ]] SLAMing on 191.701346184 meters Centerline goodness : 0.867674 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.58253761 -0.70133154 -0.41083331 -1.60227141] [ 0.78024732 0.62413306 0.04089056 -0.22209653] [ 0.22773681 -0.34437187 0.91079304 -2.60907336] [ 0. 0. 0. 1. ]] SLAMing on 191.731346184 meters Centerline goodness : 0.871029 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.581775 -0.70172964 -0.41123395 -1.59994893] [ 0.78083051 0.62340483 0.04086731 -0.22196029] [ 0.22768743 -0.3448796 0.91061325 -2.60885483] [ 0. 0. 0. 1. ]] SLAMing on 191.761346184 meters Centerline goodness : 0.869097 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.22, Z:-2.61 [[ 0.58086509 -0.70186958 -0.41228005 -1.59563846] [ 0.78142562 0.62265353 0.04094617 -0.22110377] [ 0.22796876 -0.3459504 0.91013657 -2.6089275 ] [ 0. 0. 0. 1. ]] SLAMing on 191.791346184 meters Centerline goodness : 0.870947 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.22, Z:-2.61 [[ 0.57810717 -0.70471643 -0.41129898 -1.59190969] [ 0.78372151 0.61985394 0.03951815 -0.22192458] [ 0.2270962 -0.34518958 0.91064343 -2.60774903] [ 0. 0. 0. 1. ]] SLAMing on 191.821346184 meters Centerline goodness : 0.868070 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.22, Z:-2.61 [[ 0.5770633 -0.70498354 -0.4123059 -1.5890279 ] [ 0.78442568 0.61896062 0.03954885 -0.22136178] [ 0.22731982 -0.34624553 0.91018665 -2.60688743] [ 0. 0. 0. 1. ]] SLAMing on 191.851346184 meters Centerline goodness : 0.867664 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.22, Z:-2.61 [[ 0.57613597 -0.70492731 -0.41369655 -1.58604374] [ 0.78500237 0.61821157 0.03982118 -0.22047762] [ 0.22768096 -0.34769519 0.90954353 -2.60609804] [ 0. 0. 0. 1. ]] SLAMing on 191.881346184 meters Centerline goodness : 0.865223 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.5751091 -0.70544021 -0.41425069 -1.58274094] [ 0.78573438 0.61729276 0.03963751 -0.2202373 ] [ 0.22775206 -0.3482869 0.90929931 -2.60572924] [ 0. 0. 0. 1. ]] SLAMing on 191.911346184 meters Centerline goodness : 0.865474 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.57515103 -0.70541944 -0.41422784 -1.58225826] [ 0.78571333 0.61731683 0.03967995 -0.22077249] [ 0.22771881 -0.3482863 0.90930787 -2.60552587] [ 0. 0. 0. 1. ]] SLAMing on 191.941346184 meters Centerline goodness : 0.866289 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.57598568 -0.70441857 -0.41477099 -1.58221148] [ 0.78500988 0.61817313 0.04026756 -0.22121645] [ 0.22803506 -0.34879286 0.9090344 -2.60538818] [ 0. 0. 0. 1. ]] SLAMing on 191.971346184 meters Centerline goodness : 0.867089 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57886358 -0.70034968 -0.41764492 -1.58297483] [ 0.78247223 0.62121222 0.04280886 -0.22123045] [ 0.22946496 -0.35157604 0.9076013 -2.60497463] [ 0. 0. 0. 1. ]] SLAMing on 192.001346184 meters Centerline goodness : 0.865679 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.57958394 -0.70008615 -0.41708733 -1.58380636] [ 0.78194561 0.62187831 0.04276017 -0.2217619 ] [ 0.22944176 -0.35092271 0.90785997 -2.60551057] [ 0. 0. 0. 1. ]] SLAMing on 192.031346184 meters Centerline goodness : 0.866253 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.58001132 -0.70009051 -0.41648548 -1.58394084] [ 0.78164323 0.62227399 0.04253164 -0.22193025] [ 0.22939208 -0.35021189 0.90814696 -2.60633416] [ 0. 0. 0. 1. ]] SLAMing on 192.061346184 meters Centerline goodness : 0.863876 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.5798337 -0.70000669 -0.41687349 -1.58253027] [ 0.78171933 0.62217693 0.04255296 -0.22120258] [ 0.22958171 -0.35055171 0.90796792 -2.60672502] [ 0. 0. 0. 1. ]] SLAMing on 192.091346184 meters Centerline goodness : 0.865508 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.57878676 -0.70238607 -0.41431835 -1.58473275] [ 0.78277965 0.62095923 0.04081254 -0.22224354] [ 0.22860865 -0.34794173 0.9092165 -2.60646934] [ 0. 0. 0. 1. ]] SLAMing on 192.121346184 meters Centerline goodness : 0.865507 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.61 [[ 0.57831597 -0.7026063 -0.41460226 -1.58454132] [ 0.78312798 0.62052107 0.04079428 -0.22220722] [ 0.22860712 -0.34827861 0.90908789 -2.60571155] [ 0. 0. 0. 1. ]] SLAMing on 192.151346184 meters Centerline goodness : 0.864707 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57881498 -0.70176891 -0.41532351 -1.58460989] [ 0.78271061 0.62099892 0.04152642 -0.22312664] [ 0.2287735 -0.34911423 0.90872545 -2.60463587] [ 0. 0. 0. 1. ]] SLAMing on 192.181346184 meters Centerline goodness : 0.864957 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57894578 -0.70161911 -0.41539428 -1.58459586] [ 0.7825819 0.62116036 0.04153766 -0.22339015] [ 0.22888285 -0.3491281 0.90869259 -2.60435567] [ 0. 0. 0. 1. ]] SLAMing on 192.21134618399998 meters Centerline goodness : 0.864254 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57935805 -0.70099264 -0.41587686 -1.58268506] [ 0.78221749 0.62159024 0.04196873 -0.22406082] [ 0.22908523 -0.34962107 0.90845202 -2.60435698] [ 0. 0. 0. 1. ]] SLAMing on 192.24134618399998 meters Centerline goodness : 0.862656 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57897259 -0.70107372 -0.4162768 -1.58184514] [ 0.78251953 0.6211966 0.04216604 -0.224562 ] [ 0.22902823 -0.35015771 0.90825968 -2.60344774] [ 0. 0. 0. 1. ]] SLAMing on 192.27134618399998 meters Centerline goodness : 0.863978 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57846282 -0.70127331 -0.41664915 -1.58098158] [ 0.78289639 0.62071926 0.04220004 -0.22483167] [ 0.22902839 -0.35060427 0.90808735 -2.60253313] [ 0. 0. 0. 1. ]] SLAMing on 192.30134618399998 meters Centerline goodness : 0.862430 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.22, Z:-2.60 [[ 0.57825446 -0.70082629 -0.41768923 -1.57901576] [ 0.78294982 0.62062441 0.04260182 -0.22498498] [ 0.22937165 -0.3516644 0.90759065 -2.60162383] [ 0. 0. 0. 1. ]] SLAMing on 192.33134618399998 meters Centerline goodness : 0.862556 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.23, Z:-2.60 [[ 0.57831575 -0.69967218 -0.41953514 -1.57647942] [ 0.78273836 0.62082057 0.04361742 -0.22627125] [ 0.22993815 -0.35361089 0.90669057 -2.59951457] [ 0. 0. 0. 1. ]] SLAMing on 192.36134618399998 meters Centerline goodness : 0.862026 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.23, Z:-2.60 [[ 0.57746303 -0.7021235 -0.41660418 -1.57797332] [ 0.78369789 0.61973181 0.04183417 -0.22812914] [ 0.22881011 -0.35064951 0.90812491 -2.59953346] [ 0. 0. 0. 1. ]] SLAMing on 192.39134618399999 meters Centerline goodness : 0.862463 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.59 [[ 0.57558834 -0.69649091 -0.42848393 -1.5744819 ] [ 0.78091695 0.62363604 0.03531022 -0.23197649] [ 0.24262477 -0.35493451 0.90285919 -2.59495738] [ 0. 0. 0. 1. ]] SLAMing on 192.421346184 meters Centerline goodness : 0.862114 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.60 [[ 0.57576263 -0.69663091 -0.42802193 -1.57315201] [ 0.78082767 0.62375714 0.03514513 -0.23265605] [ 0.24249855 -0.35444661 0.90308474 -2.59554579] [ 0. 0. 0. 1. ]] SLAMing on 192.451346184 meters Centerline goodness : 0.859744 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.60 [[ 0.57586871 -0.6963465 -0.4283419 -1.57237084] [ 0.78073707 0.62385339 0.03544814 -0.23299637] [ 0.24253836 -0.35483588 0.90292117 -2.59527249] [ 0. 0. 0. 1. ]] SLAMing on 192.481346184 meters Centerline goodness : 0.858319 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.60 [[ 0.57577226 -0.69637059 -0.42843238 -1.57162451] [ 0.7808105 0.62375963 0.03548089 -0.23332585] [ 0.24253097 -0.35495341 0.90287696 -2.59502861] [ 0. 0. 0. 1. ]] SLAMing on 192.511346184 meters Centerline goodness : 0.859148 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.59 [[ 0.57573625 -0.69639841 -0.42843556 -1.57012438] [ 0.78089081 0.62364872 0.03566272 -0.23432572] [ 0.24235782 -0.3550937 0.90286829 -2.5948387 ] [ 0. 0. 0. 1. ]] SLAMing on 192.541346184 meters Centerline goodness : 0.858278 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.24, Z:-2.59 [[ 0.57560559 -0.69593203 -0.42936792 -1.56778278] [ 0.78099755 0.62346895 0.03645949 -0.23607241] [ 0.24232424 -0.35632159 0.90239342 -2.59321895] [ 0. 0. 0. 1. ]] SLAMing on 192.571346184 meters Centerline goodness : 0.856945 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.24, Z:-2.59 [[ 0.57504267 -0.69603038 -0.42996237 -1.56757298] [ 0.7814156 0.62293247 0.03667158 -0.23624761] [ 0.24231299 -0.35706702 0.90210174 -2.59190891] [ 0. 0. 0. 1. ]] SLAMing on 192.601346184 meters Centerline goodness : 0.855609 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.24, Z:-2.59 [[ 0.57407159 -0.6964068 -0.43064996 -1.56570583] [ 0.78215139 0.62200116 0.03679335 -0.23633368] [ 0.24224164 -0.35795548 0.90176874 -2.5907238 ] [ 0. 0. 0. 1. ]] SLAMing on 192.631346184 meters Centerline goodness : 0.856532 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.59 [[ 0.56919611 -0.69407925 -0.44076046 -1.5589373 ] [ 0.78190891 0.62271071 0.02915172 -0.24165436] [ 0.25423265 -0.36122758 0.89715127 -2.58581478] [ 0. 0. 0. 1. ]] SLAMing on 192.661346184 meters Centerline goodness : 0.854473 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.59 [[ 0.56823206 -0.69534984 -0.44000106 -1.55586774] [ 0.78270563 0.62175127 0.0282358 -0.24151906] [ 0.25393746 -0.36043579 0.89755323 -2.5863808 ] [ 0. 0. 0. 1. ]] SLAMing on 192.691346184 meters Centerline goodness : 0.855202 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:-2.59 [[ 0.56755033 -0.6955738 -0.44052662 -1.55372972] [ 0.7831752 0.62116075 0.02821213 -0.24135438] [ 0.25401423 -0.36102133 0.89729614 -2.58581462] [ 0. 0. 0. 1. ]] SLAMing on 192.721346184 meters Centerline goodness : 0.855409 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:-2.58 [[ 0.56646174 -0.6957919 -0.44158207 -1.55118007] [ 0.78394397 0.62017987 0.02843896 -0.24151448] [ 0.25407271 -0.36228518 0.89677004 -2.5841522 ] [ 0. 0. 0. 1. ]] SLAMing on 192.751346184 meters Centerline goodness : 0.855024 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:-2.58 [[ 0.56608957 -0.69600161 -0.44172882 -1.55059355] [ 0.78423817 0.61980786 0.02843776 -0.24162806] [ 0.25399427 -0.36251892 0.8966978 -2.58370184] [ 0. 0. 0. 1. ]] SLAMing on 192.781346184 meters Centerline goodness : 0.851581 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.24, Z:-2.58 [[ 0.56577659 -0.69598843 -0.44215037 -1.54994299] [ 0.7844561 0.6195246 0.02859873 -0.24190144] [ 0.25401864 -0.36302805 0.89648489 -2.58286577] [ 0. 0. 0. 1. ]] SLAMing on 192.811346184 meters Centerline goodness : 0.850704 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.25, Z:-2.58 [[ 0.56559375 -0.69691308 -0.44092615 -1.54987356] [ 0.78490159 0.61896415 0.02851096 -0.24562395] [ 0.25304782 -0.36220925 0.89709044 -2.58135274] [ 0. 0. 0. 1. ]] SLAMing on 192.841346184 meters Centerline goodness : 0.850953 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.25, Z:-2.57 [[ 0.56439102 -0.6940282 -0.4469761 -1.55302456] [ 0.78215377 0.62274245 0.02067167 -0.25251259] [ 0.26400427 -0.36127095 0.89430702 -2.57407989] [ 0. 0. 0. 1. ]] SLAMing on 192.871346184 meters Centerline goodness : 0.852308 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56272864 -0.6894599 -0.45604991 -1.55676467] [ 0.77963415 0.62604216 0.01554984 -0.26111844] [ 0.27478548 -0.36430242 0.88981834 -2.56856495] [ 0. 0. 0. 1. ]] SLAMing on 192.901346184 meters Centerline goodness : 0.853559 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.5631667 -0.68892822 -0.45631259 -1.55764908] [ 0.77931096 0.62643231 0.01603088 -0.26199297] [ 0.27480482 -0.36463746 0.88967513 -2.56778305] [ 0. 0. 0. 1. ]] SLAMing on 192.931346184 meters Centerline goodness : 0.850448 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56423318 -0.68826386 -0.45599757 -1.55946993] [ 0.77853249 0.62739085 0.01636722 -0.26238586] [ 0.27482374 -0.36424385 0.88983051 -2.56827214] [ 0. 0. 0. 1. ]] SLAMing on 192.96134618399998 meters Centerline goodness : 0.849726 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56436549 -0.68839047 -0.45564257 -1.55894839] [ 0.77842863 0.62752667 0.01609788 -0.26205378] [ 0.27484623 -0.36377031 0.89001725 -2.56909417] [ 0. 0. 0. 1. ]] SLAMing on 192.99134618399998 meters Centerline goodness : 0.852544 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56386585 -0.69072648 -0.4527165 -1.56075765] [ 0.77916549 0.62665388 0.0143542 -0.26302349] [ 0.27378172 -0.36083492 0.89153897 -2.57022842] [ 0. 0. 0. 1. ]] SLAMing on 193.02134618399998 meters Centerline goodness : 0.853421 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56276666 -0.69077115 -0.45401421 -1.55860717] [ 0.77980413 0.62585871 0.01436656 -0.261754 ] [ 0.27422474 -0.36212718 0.89087861 -2.56899977] [ 0. 0. 0. 1. ]] SLAMing on 193.05134618399998 meters Centerline goodness : 0.849688 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.56089948 -0.69404068 -0.4513306 -1.55986239] [ 0.78158328 0.62368057 0.01225258 -0.26207197] [ 0.27298234 -0.35962491 0.8922727 -2.56906229] [ 0. 0. 0. 1. ]] SLAMing on 193.08134618399998 meters Centerline goodness : 0.850015 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.57 [[ 0.55962159 -0.69492031 -0.45156333 -1.55790642] [ 0.78254001 0.6224877 0.01184095 -0.26146247] [ 0.2728641 -0.35999283 0.89216049 -2.56849493] [ 0. 0. 0. 1. ]] SLAMing on 193.11134618399998 meters Centerline goodness : 0.850202 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.55321856 -0.69278435 -0.46260033 -1.55750238] [ 0.78272665 0.62235261 0.00402672 -0.26400235] [ 0.28511088 -0.36431726 0.88655779 -2.56128087] [ 0. 0. 0. 1. ]] SLAMing on 193.14134618399999 meters Centerline goodness : 0.849187 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.55164755 -0.69360863 -0.46324081 -1.55712833] [ 0.78378465 0.62102279 0.00351029 -0.26241769] [ 0.28524833 -0.36501748 0.8862255 -2.5599985 ] [ 0. 0. 0. 1. ]] SLAMing on 193.171346184 meters Centerline goodness : 0.849187 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.55164755 -0.69360863 -0.46324081 -1.55712833] [ 0.78378465 0.62102279 0.00351029 -0.26241769] [ 0.28524833 -0.36501748 0.8862255 -2.5599985 ] [ 0. 0. 0. 1. ]] SLAMing on 193.201346184 meters Centerline goodness : 0.851436 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.55073888 -0.69389704 -0.46388962 -1.55626429] [ 0.78438952 0.62025899 0.00344463 -0.2616722 ] [ 0.28534149 -0.36576724 0.88588631 -2.55904144] [ 0. 0. 0. 1. ]] SLAMing on 193.231346184 meters Centerline goodness : 0.846867 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.55017118 -0.69436679 -0.46386036 -1.55610957] [ 0.78489361 0.61962117 0.0034094 -0.26190364] [ 0.28505032 -0.36595679 0.88590177 -2.55840357] [ 0. 0. 0. 1. ]] SLAMing on 193.261346184 meters Centerline goodness : 0.847574 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.26, Z:-2.56 [[ 0.54986601 -0.69426777 -0.46437014 -1.55498559] [ 0.7849491 0.61955204 0.00319102 -0.26070548] [ 0.28548604 -0.36626156 0.88563547 -2.55840984] [ 0. 0. 0. 1. ]] SLAMing on 193.291346184 meters Centerline goodness : 0.847158 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 0.54943417 -0.6947618 -0.46414235 -1.55557067] [ 0.78523084 0.61919739 0.0026672 -0.25928364] [ 0.28554267 -0.36592434 0.8857566 -2.55886727] [ 0. 0. 0. 1. ]] SLAMing on 193.321346184 meters Centerline goodness : 0.844735 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.26, Z:-2.56 [[ 5.48784009e-01 -6.95064104e-01 -4.64458828e-01 -1.55536291e+00] [ 7.85507906e-01 6.18848348e-01 2.01289295e-03 -2.56584065e-01] [ 2.86030489e-01 -3.65940725e-01 8.85592426e-01 -2.55945922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351346184 meters Centerline goodness : 0.843861 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.25, Z:-2.56 [[ 5.48213795e-01 -6.95942967e-01 -4.63815719e-01 -1.55663438e+00] [ 7.85844408e-01 6.18423587e-01 9.12430027e-04 -2.53485954e-01] [ 2.86199582e-01 -3.64987196e-01 8.85931231e-01 -2.56106096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381346184 meters Centerline goodness : 0.843900 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.25, Z:-2.56 [[ 5.48013163e-01 -6.96302304e-01 -4.63513404e-01 -1.55768656e+00] [ 7.85918566e-01 6.18329931e-01 3.21810131e-04 -2.51636835e-01] [ 2.86380134e-01 -3.64460146e-01 8.86089849e-01 -2.56195117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411346184 meters Centerline goodness : 0.847120 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.25, Z:-2.56 [[ 5.47406140e-01 -6.97040414e-01 -4.63121128e-01 -1.55985022e+00] [ 7.86250668e-01 6.17907311e-01 -6.64889624e-04 -2.49087604e-01] [ 2.86629386e-01 -3.63765332e-01 8.86294747e-01 -2.56253108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441346184 meters Centerline goodness : 0.840993 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.56 [[ 0.54623825 -0.6988269 -0.46180595 -1.56335924] [ 0.78697288 0.61698128 -0.00278998 -0.24414364] [ 0.28687534 -0.36190477 0.88697659 -2.56457858] [ 0. 0. 0. 1. ]] SLAMing on 193.471346184 meters Centerline goodness : 0.840481 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.57 [[ 0.54609057 -0.6991586 -0.46147843 -1.56265455] [ 0.78697952 0.61696942 -0.00346144 -0.24220095] [ 0.28713817 -0.36128381 0.88714468 -2.56610907] [ 0. 0. 0. 1. ]] SLAMing on 193.501346184 meters Centerline goodness : 0.843164 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.57 [[ 0.546063 -0.69964651 -0.46077106 -1.5628894 ] [ 0.78700065 0.61693857 -0.00409526 -0.24092215] [ 0.28713268 -0.36039085 0.88750958 -2.56751912] [ 0. 0. 0. 1. ]] SLAMing on 193.531346184 meters Centerline goodness : 0.844429 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.24, Z:-2.57 [[ 0.54582595 -0.7002811 -0.4600874 -1.56437853] [ 0.78715681 0.61673376 -0.00486078 -0.23917889] [ 0.28715534 -0.35950779 0.88786033 -2.56858783] [ 0. 0. 0. 1. ]] SLAMing on 193.561346184 meters Centerline goodness : 0.842425 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.24, Z:-2.57 [[ 0.54589621 -0.70095583 -0.45897522 -1.56828659] [ 0.78703981 0.61687293 -0.0060104 -0.23619892] [ 0.28734242 -0.35795071 0.88842874 -2.5702299 ] [ 0. 0. 0. 1. ]] SLAMing on 193.591346184 meters Centerline goodness : 0.840818 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.57 [[ 0.54633478 -0.70094425 -0.4584708 -1.56959456] [ 0.78661309 0.61741117 -0.00657997 -0.23438674] [ 0.28767719 -0.35704426 0.88868511 -2.57180006] [ 0. 0. 0. 1. ]] SLAMing on 193.621346184 meters Centerline goodness : 0.841265 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.23, Z:-2.57 [[ 0.54748166 -0.69851356 -0.4608065 -1.56943495] [ 0.7852964 0.619096 -0.00545039 -0.23149105] [ 0.28909063 -0.3588857 0.88748389 -2.57249197] [ 0. 0. 0. 1. ]] SLAMing on 193.651346184 meters Centerline goodness : 0.841227 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.22, Z:-2.58 [[ 5.50931594e-01 -7.02342171e-01 -4.50765853e-01 -1.57280277e+00] [ 7.86657867e-01 6.17388981e-01 -4.96144273e-04 -2.21180534e-01] [ 2.78646334e-01 -3.54325163e-01 8.92642089e-01 -2.57747920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681346184 meters Centerline goodness : 0.843343 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.21, Z:-2.58 [[ 0.55394931 -0.70673652 -0.44007233 -1.57381972] [ 0.78870821 0.61474266 0.00555198 -0.21454266] [ 0.26660745 -0.35016417 0.89794517 -2.58249818] [ 0. 0. 0. 1. ]] SLAMing on 193.71134618399998 meters Centerline goodness : 0.841304 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.21, Z:-2.58 [[ 0.55386176 -0.70731148 -0.43925804 -1.57552772] [ 0.78874088 0.61470786 0.00469765 -0.21286028] [ 0.26669267 -0.34906263 0.89834865 -2.58368591] [ 0. 0. 0. 1. ]] SLAMing on 193.74134618399998 meters Centerline goodness : 0.841884 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.21, Z:-2.59 [[ 0.55374167 -0.70791253 -0.43844043 -1.58011693] [ 0.78866745 0.61481068 0.00338893 -0.20889132] [ 0.2671588 -0.34766029 0.89875386 -2.5852338 ] [ 0. 0. 0. 1. ]] SLAMing on 193.77134618399998 meters Centerline goodness : 0.842102 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:-2.59 [[ 0.55622499 -0.7121927 -0.42824679 -1.58036433] [ 0.79093705 0.61181869 0.00982178 -0.20199762] [ 0.25501439 -0.34417937 0.90360844 -2.59040946] [ 0. 0. 0. 1. ]] SLAMing on 193.80134618399998 meters Centerline goodness : 0.842914 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:-2.59 [[ 0.555711 -0.71308345 -0.42743101 -1.58165533] [ 0.79129461 0.61137137 0.00882554 -0.2001044 ] [ 0.25502574 -0.34312831 0.90400489 -2.59149647] [ 0. 0. 0. 1. ]] SLAMing on 193.83134618399998 meters Centerline goodness : 0.841206 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.20, Z:-2.59 [[ 0.55521876 -0.71350642 -0.42736486 -1.58198492] [ 0.79152836 0.61107872 0.00810268 -0.19788339] [ 0.25537226 -0.34277016 0.90404293 -2.59230054] [ 0. 0. 0. 1. ]] SLAMing on 193.86134618399998 meters Centerline goodness : 0.844867 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.19, Z:-2.60 [[ 0.55731058 -0.717449 -0.4179376 -1.58490687] [ 0.79370669 0.60812899 0.01445097 -0.18946252] [ 0.24379214 -0.33977355 0.90836079 -2.59587393] [ 0. 0. 0. 1. ]] SLAMing on 193.89134618399999 meters Centerline goodness : 0.844138 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:-2.60 [[ 0.55724238 -0.71758848 -0.41778906 -1.58706071] [ 0.79369627 0.60815149 0.01407096 -0.18815211] [ 0.24398188 -0.33943855 0.90843509 -2.5959494 ] [ 0. 0. 0. 1. ]] SLAMing on 193.921346184 meters Centerline goodness : 0.844408 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.19, Z:-2.60 [[ 0.55755165 -0.71748918 -0.41754692 -1.58891982] [ 0.79340056 0.60854476 0.01374099 -0.18679632] [ 0.24423698 -0.33894328 0.90855146 -2.59667608] [ 0. 0. 0. 1. ]] SLAMing on 193.951346184 meters Centerline goodness : 0.844528 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.18, Z:-2.60 [[ 0.55739751 -0.71835342 -0.4162648 -1.59259736] [ 0.7934209 0.60855021 0.01224391 -0.1836748 ] [ 0.24452257 -0.33709792 0.90916099 -2.59838185] [ 0. 0. 0. 1. ]] SLAMing on 193.981346184 meters Centerline goodness : 0.845067 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.18, Z:-2.60 [[ 0.55675963 -0.7181052 -0.41754478 -1.59091653] [ 0.79356966 0.60836351 0.01187549 -0.17944038] [ 0.24549115 -0.33796266 0.90857874 -2.59968175] [ 0. 0. 0. 1. ]] SLAMing on 194.011346184 meters Centerline goodness : 0.845700 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.17, Z:-2.61 [[ 0.55858453 -0.72279311 -0.40688259 -1.5908283 ] [ 0.79620811 0.60473028 0.01881293 -0.17393444] [ 0.23245637 -0.33447183 0.91328672 -2.60514595] [ 0. 0. 0. 1. ]] SLAMing on 194.041346184 meters Centerline goodness : 0.846626 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.17, Z:-2.61 [[ 0.55673231 -0.72455439 -0.40628816 -1.59160954] [ 0.79756672 0.60297446 0.01758203 -0.17135235] [ 0.23224225 -0.3338304 0.91357583 -2.60540504] [ 0. 0. 0. 1. ]] SLAMing on 194.071346184 meters Centerline goodness : 0.845043 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.17, Z:-2.61 [[ 0.55577486 -0.72396837 -0.40863689 -1.58946679] [ 0.79793291 0.60248199 0.01784751 -0.16736115] [ 0.23327533 -0.33598401 0.91252253 -2.60553602] [ 0. 0. 0. 1. ]] SLAMing on 194.101346184 meters Centerline goodness : 0.848902 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.16, Z:-2.61 [[ 0.55753845 -0.72719515 -0.40042238 -1.58817666] [ 0.80026742 0.59906498 0.02632897 -0.16124911] [ 0.22073273 -0.3351244 0.91595235 -2.61066698] [ 0. 0. 0. 1. ]] SLAMing on 194.131346184 meters Centerline goodness : 0.847813 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.16, Z:-2.61 [[ 0.55734298 -0.72715497 -0.40076734 -1.58974591] [ 0.80031795 0.59900509 0.02615499 -0.15960224] [ 0.22104294 -0.3353186 0.91580645 -2.61063068] [ 0. 0. 0. 1. ]] SLAMing on 194.161346184 meters Centerline goodness : 0.848408 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.16, Z:-2.61 [[ 0.55902631 -0.7246131 -0.40302039 -1.59030747] [ 0.79869868 0.60112162 0.02707795 -0.15564785] [ 0.22264323 -0.33702914 0.91479033 -2.61259709] [ 0. 0. 0. 1. ]] SLAMing on 194.191346184 meters Centerline goodness : 0.850181 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.15, Z:-2.61 [[ 0.5600514 -0.72423981 -0.40226749 -1.59214382] [ 0.79789308 0.60221002 0.02664065 -0.15497487] [ 0.22295529 -0.33588658 0.91513449 -2.61397548] [ 0. 0. 0. 1. ]] SLAMing on 194.221346184 meters Centerline goodness : 0.850718 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.15, Z:-2.62 [[ 0.56215339 -0.72123591 -0.40472501 -1.59137416] [ 0.79604813 0.6045702 0.02832396 -0.15316974] [ 0.22425642 -0.338103 0.91399968 -2.61527725] [ 0. 0. 0. 1. ]] SLAMing on 194.251346184 meters Centerline goodness : 0.853298 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.15, Z:-2.62 [[ 0.56779066 -0.72192055 -0.39553064 -1.59707723] [ 0.79525866 0.60513277 0.03712142 -0.14896108] [ 0.21254983 -0.33562636 0.9177023 -2.61947503] [ 0. 0. 0. 1. ]] SLAMing on 194.281346184 meters Centerline goodness : 0.852050 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.15, Z:-2.62 [[ 0.56863039 -0.72134972 -0.39536573 -1.59990248] [ 0.79456026 0.60605629 0.03701024 -0.1482681 ] [ 0.21291656 -0.33518704 0.91777785 -2.61970151] [ 0. 0. 0. 1. ]] SLAMing on 194.311346184 meters Centerline goodness : 0.854906 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.15, Z:-2.62 [[ 0.56887474 -0.72090179 -0.39583095 -1.60025945] [ 0.7942573 0.60645504 0.03698142 -0.14648407] [ 0.2133937 -0.33542942 0.91757846 -2.62051056] [ 0. 0. 0. 1. ]] SLAMing on 194.341346184 meters Centerline goodness : 0.853902 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.14, Z:-2.63 [[ 0.57107174 -0.72469237 -0.38561385 -1.59899791] [ 0.79605759 0.60357504 0.04460358 -0.14169636] [ 0.20042302 -0.33244268 0.92158151 -2.62649477] [ 0. 0. 0. 1. ]] SLAMing on 194.371346184 meters Centerline goodness : 0.853753 Centerline is valid? [False, False] Translation: X:-1.60, Y:-0.14, Z:-2.63 [[ 0.56965792 -0.7259252 -0.38538613 -1.59575062] [ 0.79703349 0.60236666 0.04349743 -0.13886269] [ 0.20056788 -0.33194431 0.92172963 -2.62856132] [ 0. 0. 0. 1. ]] SLAMing on 194.401346184 meters Centerline goodness : 0.852258 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:-2.63 [[ 0.56903402 -0.72583034 -0.38648492 -1.59228708] [ 0.79736836 0.60191802 0.04357054 -0.13722336] [ 0.20100742 -0.33296397 0.92126598 -2.62920018] [ 0. 0. 0. 1. ]] SLAMing on 194.431346184 meters Centerline goodness : 0.852925 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:-2.63 [[ 0.56826331 -0.72575061 -0.38776652 -1.5903298 ] [ 0.79781803 0.60130761 0.04376693 -0.13627083] [ 0.20140308 -0.33423826 0.92071797 -2.62844022] [ 0. 0. 0. 1. ]] SLAMing on 194.46134618399998 meters Centerline goodness : 0.852697 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.14, Z:-2.63 [[ 0.567725 -0.72508981 -0.38978594 -1.58772742] [ 0.79804878 0.60095062 0.04445793 -0.13511222] [ 0.20200611 -0.33630807 0.91983173 -2.62756081] [ 0. 0. 0. 1. ]] SLAMing on 194.49134618399998 meters Centerline goodness : 0.852924 Centerline is valid? [False, False] Translation: X:-1.59, Y:-0.13, Z:-2.63 [[ 0.56785295 -0.72458129 -0.39054447 -1.58525465] [ 0.79787118 0.60116385 0.04476168 -0.13489348] [ 0.20234774 -0.33702223 0.91949519 -2.62786553] [ 0. 0. 0. 1. ]] SLAMing on 194.52134618399998 meters Centerline goodness : 0.850149 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.14, Z:-2.63 [[ 0.56872505 -0.72361989 -0.39105764 -1.58230571] [ 0.7971583 0.60207299 0.04524115 -0.13506756] [ 0.20270785 -0.33746461 0.91925359 -2.62907725] [ 0. 0. 0. 1. ]] SLAMing on 194.55134618399998 meters Centerline goodness : 0.851406 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.14, Z:-2.63 [[ 0.57191424 -0.72041764 -0.39231687 -1.57864339] [ 0.79463311 0.6052731 0.04693292 -0.13720974] [ 0.20364755 -0.33858958 0.91863201 -2.63046663] [ 0. 0. 0. 1. ]] SLAMing on 194.58134618399998 meters Centerline goodness : 0.850302 Centerline is valid? [False, False] Translation: X:-1.58, Y:-0.14, Z:-2.63 [[ 0.57311083 -0.71908307 -0.39301848 -1.57710693] [ 0.79365001 0.60650704 0.04763254 -0.13788662] [ 0.20411672 -0.33921785 0.91829604 -2.63081584] [ 0. 0. 0. 1. ]] SLAMing on 194.61134618399998 meters Centerline goodness : 0.850628 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:-2.63 [[ 0.57418132 -0.71732963 -0.39465684 -1.57443262] [ 0.79264815 0.60774062 0.04858246 -0.13729635] [ 0.20499935 -0.34071915 0.91754331 -2.63141787] [ 0. 0. 0. 1. ]] SLAMing on 194.64134618399999 meters Centerline goodness : 0.848655 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:-2.63 [[ 0.57453438 -0.71637685 -0.39587177 -1.57304813] [ 0.79226363 0.60818953 0.04923259 -0.13741578] [ 0.20549598 -0.34192062 0.91698511 -2.6307919 ] [ 0. 0. 0. 1. ]] SLAMing on 194.671346184 meters Centerline goodness : 0.848673 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:-2.63 [[ 0.57476056 -0.71485409 -0.39828875 -1.56975201] [ 0.79184639 0.60864647 0.05028676 -0.13587253] [ 0.20646934 -0.34428636 0.91588062 -2.63075205] [ 0. 0. 0. 1. ]] SLAMing on 194.701346184 meters Centerline goodness : 0.848328 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.14, Z:-2.63 [[ 0.57427709 -0.71533386 -0.39812472 -1.56897204] [ 0.79222942 0.6081697 0.05002156 -0.13584198] [ 0.20634527 -0.34413235 0.91596646 -2.63068957] [ 0. 0. 0. 1. ]] SLAMing on 194.731346184 meters Centerline goodness : 0.848644 Centerline is valid? [False, False] Translation: X:-1.57, Y:-0.13, Z:-2.63 [[ 0.5740062 -0.71513519 -0.39887159 -1.56517614] [ 0.79232142 0.60804805 0.05004332 -0.13455159] [ 0.20674535 -0.34475968 0.91564028 -2.63187537] [ 0. 0. 0. 1. ]] SLAMing on 194.761346184 meters Centerline goodness : 0.846085 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.14, Z:-2.63 [[ 0.57248421 -0.71771034 -0.39642615 -1.56087973] [ 0.79364253 0.60647929 0.04810823 -0.13511667] [ 0.20589648 -0.34216185 0.91680527 -2.63373643] [ 0. 0. 0. 1. ]] SLAMing on 194.791346184 meters Centerline goodness : 0.848148 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.13, Z:-2.63 [[ 0.57185806 -0.71814882 -0.39653579 -1.55868642] [ 0.79409012 0.6059144 0.04783963 -0.13498567] [ 0.20591077 -0.34224263 0.91677191 -2.6337711 ] [ 0. 0. 0. 1. ]] SLAMing on 194.821346184 meters Centerline goodness : 0.847328 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.13, Z:-2.63 [[ 0.57134142 -0.71778394 -0.39793869 -1.55626671] [ 0.79430361 0.60561905 0.04803486 -0.133568 ] [ 0.2065206 -0.34352844 0.91615362 -2.63346796] [ 0. 0. 0. 1. ]] SLAMing on 194.851346184 meters Centerline goodness : 0.846212 Centerline is valid? [False, False] Translation: X:-1.56, Y:-0.13, Z:-2.63 [[ 0.57108405 -0.71708777 -0.39955993 -1.55702288] [ 0.79433772 0.60552982 0.04859239 -0.1329009 ] [ 0.20710045 -0.34513586 0.91541829 -2.63142939] [ 0. 0. 0. 1. ]] SLAMing on 194.881346184 meters Centerline goodness : 0.846632 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:-2.63 [[ 0.57161996 -0.71503799 -0.40245656 -1.5546666 ] [ 0.79368306 0.60626025 0.05015689 -0.13162618] [ 0.20812933 -0.34809363 0.914064 -2.63075379] [ 0. 0. 0. 1. ]] SLAMing on 194.911346184 meters Centerline goodness : 0.849253 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:-2.63 [[ 0.57194522 -0.71467072 -0.40264676 -1.55479026] [ 0.79344278 0.60654832 0.05047472 -0.13265095] [ 0.20815191 -0.34834594 0.91396274 -2.63001041] [ 0. 0. 0. 1. ]] SLAMing on 194.941346184 meters Centerline goodness : 0.848004 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:-2.63 [[ 0.57228157 -0.71424884 -0.40291735 -1.55102652] [ 0.79308167 0.6070288 0.05037362 -0.13225699] [ 0.20860314 -0.34837426 0.91384906 -2.63138383] [ 0. 0. 0. 1. ]] SLAMing on 194.971346184 meters Centerline goodness : 0.844751 Centerline is valid? [False, False] Translation: X:-1.55, Y:-0.13, Z:-2.63 [[ 0.56998433 -0.70886696 -0.41548225 -1.54616028] [ 0.79059759 0.61086847 0.04236947 -0.13165348] [ 0.22377069 -0.3526292 0.90861396 -2.62770497] [ 0. 0. 0. 1. ]] SLAMing on 195.001346184 meters Centerline goodness : 0.847878 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.56969127 -0.70917662 -0.41535573 -1.54474417] [ 0.79077395 0.61066899 0.04195162 -0.13060314] [ 0.22389376 -0.35235196 0.90869119 -2.62869249] [ 0. 0. 0. 1. ]] SLAMing on 195.031346184 meters Centerline goodness : 0.844766 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.56963812 -0.70922949 -0.41533835 -1.54492516] [ 0.79080082 0.61064049 0.04185997 -0.13050254] [ 0.22393409 -0.35229494 0.90870336 -2.62856514] [ 0. 0. 0. 1. ]] SLAMing on 195.061346184 meters Centerline goodness : 0.844766 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.56963812 -0.70922949 -0.41533835 -1.54492516] [ 0.79080082 0.61064049 0.04185997 -0.13050254] [ 0.22393409 -0.35229494 0.90870336 -2.62856514] [ 0. 0. 0. 1. ]] SLAMing on 195.091346184 meters Centerline goodness : 0.846575 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.56991122 -0.70858299 -0.41606652 -1.54463352] [ 0.7905033 0.61099978 0.0422352 -0.13032396] [ 0.22428941 -0.35297227 0.90835282 -2.6281666 ] [ 0. 0. 0. 1. ]] SLAMing on 195.121346184 meters Centerline goodness : 0.844397 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.57003516 -0.7083024 -0.41637438 -1.54497198] [ 0.79040798 0.6111014 0.04254766 -0.13083326] [ 0.22431035 -0.3533593 0.90819716 -2.62747122] [ 0. 0. 0. 1. ]] SLAMing on 195.151346184 meters Centerline goodness : 0.845186 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.5701324 -0.70811438 -0.41656099 -1.54375492] [ 0.79035248 0.6111539 0.04282373 -0.13153637] [ 0.22425878 -0.35364521 0.9080986 -2.62731098] [ 0. 0. 0. 1. ]] SLAMing on 195.181346184 meters Centerline goodness : 0.842535 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.56957655 -0.70833621 -0.41694409 -1.53856302] [ 0.7908358 0.61050397 0.04316995 -0.13311313] [ 0.22396719 -0.3543229 0.90790637 -2.62714978] [ 0. 0. 0. 1. ]] SLAMing on 195.21134618399998 meters Centerline goodness : 0.844536 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.63 [[ 0.5689908 -0.70840627 -0.41762427 -1.53647753] [ 0.79129748 0.60987615 0.04358198 -0.1336634 ] [ 0.22382533 -0.35526278 0.90757401 -2.62632666] [ 0. 0. 0. 1. ]] SLAMing on 195.24134618399998 meters Centerline goodness : 0.844753 Centerline is valid? [False, False] Translation: X:-1.54, Y:-0.13, Z:-2.62 [[ 0.56822361 -0.70840569 -0.41866849 -1.53531667] [ 0.79183067 0.60915611 0.04396612 -0.13400075] [ 0.22388862 -0.35649714 0.90707424 -2.62454077] [ 0. 0. 0. 1. ]] SLAMing on 195.27134618399998 meters Centerline goodness : 0.843078 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:-2.62 [[ 0.56843862 -0.7073336 -0.42018653 -1.53160866] [ 0.79168489 0.60923806 0.04543153 -0.13679523] [ 0.22385838 -0.35848037 0.90629976 -2.62253764] [ 0. 0. 0. 1. ]] SLAMing on 195.30134618399998 meters Centerline goodness : 0.842550 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:-2.62 [[ 0.56836347 -0.70688627 -0.42104011 -1.52852769] [ 0.79174712 0.60910267 0.04615672 -0.13800761] [ 0.2238291 -0.35959109 0.90586687 -2.62182617] [ 0. 0. 0. 1. ]] SLAMing on 195.33134618399998 meters Centerline goodness : 0.841549 Centerline is valid? [False, False] Translation: X:-1.53, Y:-0.14, Z:-2.62 [[ 0.56816678 -0.70652347 -0.42191362 -1.52579977] [ 0.79184699 0.60893693 0.04662785 -0.1386638 ] [ 0.22397512 -0.36058342 0.90543622 -2.62109947] [ 0. 0. 0. 1. ]] SLAMing on 195.36134618399998 meters Centerline goodness : 0.841569 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:-2.62 [[ 0.56836924 -0.70612815 -0.42230256 -1.52419303] [ 0.79171588 0.60906806 0.04713883 -0.14007435] [ 0.22392494 -0.3611359 0.90522841 -2.62043662] [ 0. 0. 0. 1. ]] SLAMing on 195.39134618399999 meters Centerline goodness : 0.840666 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.14, Z:-2.62 [[ 0.56842073 -0.70585376 -0.42269179 -1.5224802 ] [ 0.79165874 0.60912025 0.04742323 -0.14120506] [ 0.22399626 -0.36158399 0.90503187 -2.61973706] [ 0. 0. 0. 1. ]] SLAMing on 195.421346184 meters Centerline goodness : 0.841266 Centerline is valid? [False, False] Translation: X:-1.52, Y:-0.15, Z:-2.62 [[ 0.56868928 -0.70673533 -0.42085351 -1.51772197] [ 0.79168859 0.60912221 0.04689668 -0.14521114] [ 0.22320768 -0.35985456 0.90591557 -2.62030503] [ 0. 0. 0. 1. ]] SLAMing on 195.451346184 meters Centerline goodness : 0.839582 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.15, Z:-2.62 [[ 0.56626274 -0.70177509 -0.43227101 -1.5138994 ] [ 0.78946457 0.61250448 0.03979906 -0.14958032] [ 0.23683794 -0.36379937 0.90086503 -2.61523067] [ 0. 0. 0. 1. ]] SLAMing on 195.481346184 meters Centerline goodness : 0.837553 Centerline is valid? [False, False] Translation: X:-1.51, Y:-0.15, Z:-2.61 [[ 0.56472215 -0.70374223 -0.43108673 -1.50844882] [ 0.7908898 0.61070882 0.03909052 -0.15304146] [ 0.23575882 -0.36301738 0.90146334 -2.6139984 ] [ 0. 0. 0. 1. ]] SLAMing on 195.511346184 meters Centerline goodness : 0.836604 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.15, Z:-2.61 [[ 0.56431329 -0.70295011 -0.43291067 -1.50387568] [ 0.79106388 0.61042549 0.03998328 -0.15391892] [ 0.23615346 -0.36502309 0.90054966 -2.61240879] [ 0. 0. 0. 1. ]] SLAMing on 195.541346184 meters Centerline goodness : 0.838823 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-2.60 [[ 0.5613408 -0.69726171 -0.44578315 -1.50153377] [ 0.78899529 0.61345804 0.03399511 -0.15931216] [ 0.24976577 -0.37080364 0.89449523 -2.60478282] [ 0. 0. 0. 1. ]] SLAMing on 195.571346184 meters Centerline goodness : 0.837823 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.16, Z:-2.60 [[ 0.56139998 -0.69624855 -0.44728964 -1.49886869] [ 0.78884572 0.6135954 0.03497302 -0.16048791] [ 0.25010495 -0.37247637 0.89370514 -2.6031525 ] [ 0. 0. 0. 1. ]] SLAMing on 195.601346184 meters Centerline goodness : 0.836611 Centerline is valid? [False, False] Translation: X:-1.50, Y:-0.17, Z:-2.60 [[ 0.56125968 -0.69729757 -0.4458292 -1.49574059] [ 0.78924403 0.61310011 0.03467165 -0.16511082] [ 0.24916148 -0.37132783 0.89444631 -2.60193045] [ 0. 0. 0. 1. ]] SLAMing on 195.631346184 meters Centerline goodness : 0.833741 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-2.60 [[ 0.55894023 -0.69207072 -0.4567537 -1.4948244 ] [ 0.78669134 0.61669872 0.02827413 -0.17198781] [ 0.26211172 -0.37512773 0.88914376 -2.59590654] [ 0. 0. 0. 1. ]] SLAMing on 195.661346184 meters Centerline goodness : 0.835571 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-2.60 [[ 0.55919983 -0.69152175 -0.45726711 -1.49344421] [ 0.78650066 0.61691427 0.02887021 -0.17340661] [ 0.26213023 -0.3757851 0.88886067 -2.59501792] [ 0. 0. 0. 1. ]] SLAMing on 195.691346184 meters Centerline goodness : 0.834649 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.17, Z:-2.59 [[ 0.55923752 -0.69107436 -0.45789696 -1.49242028] [ 0.78644007 0.61696931 0.02934092 -0.17436976] [ 0.26223161 -0.37651706 0.88852095 -2.59395931] [ 0. 0. 0. 1. ]] SLAMing on 195.721346184 meters Centerline goodness : 0.833615 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-2.59 [[ 0.55933289 -0.69071927 -0.45831605 -1.48967724] [ 0.78640546 0.61698724 0.0298865 -0.17602959] [ 0.26213197 -0.37713875 0.88828666 -2.59331913] [ 0. 0. 0. 1. ]] SLAMing on 195.751346184 meters Centerline goodness : 0.831274 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-2.59 [[ 0.55942767 -0.69036442 -0.45873484 -1.48808017] [ 0.78632037 0.6170775 0.03025935 -0.17700011] [ 0.26218497 -0.37764047 0.88805783 -2.59277003] [ 0. 0. 0. 1. ]] SLAMing on 195.781346184 meters Centerline goodness : 0.832262 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-2.59 [[ 0.55944781 -0.69012359 -0.45907253 -1.48663684] [ 0.786314 0.61706879 0.03060065 -0.17804618] [ 0.2621611 -0.37809462 0.88787162 -2.5921297 ] [ 0. 0. 0. 1. ]] SLAMing on 195.811346184 meters Centerline goodness : 0.832212 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-2.59 [[ 0.55829596 -0.69298398 -0.45615659 -1.48704416] [ 0.78764449 0.61544543 0.02903589 -0.18083899] [ 0.26061808 -0.37549984 0.88942571 -2.59182159] [ 0. 0. 0. 1. ]] SLAMing on 195.841346184 meters Centerline goodness : 0.832620 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.18, Z:-2.59 [[ 0.55788784 -0.69266027 -0.45714647 -1.48535027] [ 0.78779473 0.61524573 0.02919158 -0.18070915] [ 0.26103757 -0.37642321 0.88891223 -2.59066357] [ 0. 0. 0. 1. ]] SLAMing on 195.871346184 meters Centerline goodness : 0.834209 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:-2.59 [[ 0.55750795 -0.69263808 -0.45764328 -1.48452453] [ 0.78804273 0.61492154 0.02932854 -0.18100309] [ 0.26110064 -0.37699335 0.88865205 -2.58970692] [ 0. 0. 0. 1. ]] SLAMing on 195.901346184 meters Centerline goodness : 0.834944 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.58 [[ 0.55381346 -0.6887875 -0.46782735 -1.48424919] [ 0.7862311 0.61755837 0.02150125 -0.18609057] [ 0.27410091 -0.3797281 0.8835583 -2.58329398] [ 0. 0. 0. 1. ]] SLAMing on 195.931346184 meters Centerline goodness : 0.833326 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.58 [[ 0.55371159 -0.68893398 -0.46773224 -1.48326887] [ 0.78630585 0.61746801 0.02136258 -0.18609335] [ 0.27409229 -0.37960931 0.88361201 -2.58355474] [ 0. 0. 0. 1. ]] SLAMing on 195.96134618399998 meters Centerline goodness : 0.832818 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.58 [[ 0.55300367 -0.68935914 -0.46794329 -1.4837028 ] [ 0.78675708 0.6169067 0.02096253 -0.18503837] [ 0.27422664 -0.37975005 0.88350985 -2.58300894] [ 0. 0. 0. 1. ]] SLAMing on 195.99134618399998 meters Centerline goodness : 0.832644 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:-2.58 [[ 0.55218948 -0.6899171 -0.46808245 -1.48397286] [ 0.7873051 0.61622247 0.02050745 -0.18384935] [ 0.27429448 -0.37984769 0.88344681 -2.582614 ] [ 0. 0. 0. 1. ]] SLAMing on 196.02134618399998 meters Centerline goodness : 0.832305 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:-2.58 [[ 0.55161766 -0.68974402 -0.46901082 -1.48270164] [ 0.78757043 0.615882 0.02054714 -0.18307691] [ 0.27468305 -0.38071322 0.88295338 -2.5817146 ] [ 0. 0. 0. 1. ]] SLAMing on 196.05134618399998 meters Centerline goodness : 0.832916 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.18, Z:-2.58 [[ 0.54969475 -0.69314222 -0.46625051 -1.48406725] [ 0.78930951 0.61372609 0.01818728 -0.18325209] [ 0.27354373 -0.37801342 0.88446576 -2.58174534] [ 0. 0. 0. 1. ]] SLAMing on 196.08134618399998 meters Centerline goodness : 0.831188 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54401814 -0.69090977 -0.47611759 -1.48223058] [ 0.7890411 0.61425569 0.01020213 -0.18885359] [ 0.28540919 -0.38122649 0.87932244 -2.57469684] [ 0. 0. 0. 1. ]] SLAMing on 196.11134618399998 meters Centerline goodness : 0.830639 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54279496 -0.69128052 -0.47697471 -1.4795958 ] [ 0.78988369 0.61317164 0.01021286 -0.18870588] [ 0.28540741 -0.38229803 0.87885768 -2.57333685] [ 0. 0. 0. 1. ]] SLAMing on 196.14134618399999 meters Centerline goodness : 0.833585 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54186656 -0.69154765 -0.47764263 -1.47739285] [ 0.79055497 0.61230381 0.01033836 -0.18923623] [ 0.28531294 -0.38320477 0.87849339 -2.57194197] [ 0. 0. 0. 1. ]] SLAMing on 196.171346184 meters Centerline goodness : 0.832717 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54029885 -0.69449134 -0.47514095 -1.47593467] [ 0.79201928 0.61043853 0.00838243 -0.1899487 ] [ 0.28422282 -0.38084981 0.87986977 -2.57260438] [ 0. 0. 0. 1. ]] SLAMing on 196.201346184 meters Centerline goodness : 0.832268 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54048898 -0.69430312 -0.47519979 -1.4750897 ] [ 0.79187367 0.61062576 0.0085009 -0.19048611] [ 0.28426703 -0.38089285 0.87983686 -2.57257336] [ 0. 0. 0. 1. ]] SLAMing on 196.231346184 meters Centerline goodness : 0.831042 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.40842991e-01 -6.92743223e-01 -4.77069895e-01 -1.48101901e+00] [ 7.88500255e-01 6.15033873e-01 8.26480906e-04 -1.98541861e-01] [ 2.92841606e-01 -3.76616731e-01 8.78864968e-01 -2.56885789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261346184 meters Centerline goodness : 0.830853 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.42465426e-01 -6.91676565e-01 -4.76775409e-01 -1.48090905e+00] [ 7.87411953e-01 6.16424984e-01 1.62979323e-03 -2.00861324e-01] [ 2.92768984e-01 -3.76302762e-01 8.79023636e-01 -2.56936574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.291346184 meters Centerline goodness : 0.830886 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.43367606e-01 -6.90830461e-01 -4.76974757e-01 -1.48034123e+00] [ 7.86732991e-01 6.17289576e-01 2.18623791e-03 -2.02086830e-01] [ 2.92921226e-01 -3.76439708e-01 8.78914274e-01 -2.56934213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321346184 meters Centerline goodness : 0.829823 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.43930407e-01 -6.90340786e-01 -4.77042254e-01 -1.48004726e+00] [ 7.86322714e-01 6.17810821e-01 2.52561721e-03 -2.03140066e-01] [ 2.92978330e-01 -3.76482920e-01 8.78876732e-01 -2.56917900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.351346184 meters Centerline goodness : 0.830076 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 0.54432222 -0.68962558 -0.47762943 -1.47874384] [ 0.78592085 0.61832032 0.00289905 -0.20346379] [ 0.29332872 -0.37695694 0.87855662 -2.56892485] [ 0. 0. 0. 1. ]] SLAMing on 196.381346184 meters Centerline goodness : 0.828513 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.43158785e-01 -6.93023577e-01 -4.74022000e-01 -1.48018967e+00] [ 7.87286893e-01 6.16586500e-01 6.59906567e-04 -2.04565356e-01] [ 2.91818235e-01 -3.73549742e-01 8.80512753e-01 -2.57027102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.411346184 meters Centerline goodness : 0.828427 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 5.43023258e-01 -6.92517639e-01 -4.74915846e-01 -1.47670737e+00] [ 7.87187230e-01 6.16713578e-01 7.91599787e-04 -2.04149709e-01] [ 2.92338854e-01 -3.74277547e-01 8.80030859e-01 -2.57017169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441346184 meters Centerline goodness : 0.828461 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.42495757e-01 -6.92346661e-01 -4.75767226e-01 -1.47302745e+00] [ 7.87383847e-01 6.16462608e-01 7.28440993e-04 -2.03354158e-01] [ 2.92788371e-01 -3.75006605e-01 8.79570927e-01 -2.57005925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.471346184 meters Centerline goodness : 0.827273 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.41712125e-01 -6.92666181e-01 -4.76194849e-01 -1.47022995e+00] [ 7.87909925e-01 6.15790221e-01 5.94922758e-04 -2.03132145e-01] [ 2.92824049e-01 -3.75520925e-01 8.79339588e-01 -2.56972627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501346184 meters Centerline goodness : 0.826075 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.41178908e-01 -6.92801221e-01 -4.76604509e-01 -1.47047309e+00] [ 7.88212755e-01 6.15402676e-01 4.45637043e-04 -2.02599142e-01] [ 2.92994953e-01 -3.75906923e-01 8.79117707e-01 -2.56885442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.531346184 meters Centerline goodness : 0.825375 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.40748166e-01 -6.92640164e-01 -4.77326957e-01 -1.47067528e+00] [ 7.88357342e-01 6.15217492e-01 3.73835869e-04 -2.01898159e-01] [ 2.93400959e-01 -3.76506362e-01 8.78725689e-01 -2.56772089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561346184 meters Centerline goodness : 0.828131 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.40431617e-01 -6.92656429e-01 -4.77661741e-01 -1.47183467e+00] [ 7.88491344e-01 6.15045809e-01 2.30747711e-04 -2.01339703e-01] [ 2.93624023e-01 -3.76756851e-01 8.78543800e-01 -2.56683443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.591346184 meters Centerline goodness : 0.828854 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.40582815e-01 -6.92818552e-01 -4.77255356e-01 -1.47424869e+00] [ 7.88352572e-01 6.15223700e-01 -1.43613223e-04 -2.00775275e-01] [ 2.93718304e-01 -3.76167853e-01 8.78764647e-01 -2.56689900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621346184 meters Centerline goodness : 0.826858 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 5.40550797e-01 -6.93134193e-01 -4.76833123e-01 -1.47324071e+00] [ 7.88365924e-01 6.15206350e-01 -5.63569403e-04 -2.00234652e-01] [ 2.93741394e-01 -3.75614347e-01 8.78993661e-01 -2.56789304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.651346184 meters Centerline goodness : 0.829401 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 0.53933508 -0.69648167 -0.47331907 -1.47406069] [ 0.78964134 0.61356102 -0.00306924 -0.20028655] [ 0.2925478 -0.37209696 0.88088571 -2.56979953] [ 0. 0. 0. 1. ]] SLAMing on 196.681346184 meters Centerline goodness : 0.829095 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 0.53884731 -0.69652088 -0.47381667 -1.47245203] [ 0.78980073 0.61335385 -0.00344387 -0.19879397] [ 0.293016 -0.37236503 0.88061678 -2.56994356] [ 0. 0. 0. 1. ]] SLAMing on 196.71134618399998 meters Centerline goodness : 0.830357 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.20, Z:-2.57 [[ 0.53739933 -0.69750347 -0.47401569 -1.47576095] [ 0.79061586 0.61229486 -0.00464406 -0.19517118] [ 0.29347661 -0.37226861 0.88050415 -2.56928187] [ 0. 0. 0. 1. ]] SLAMing on 196.74134618399998 meters Centerline goodness : 0.830386 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53696029 -0.69766372 -0.47427732 -1.47658287] [ 0.79076052 0.61210409 -0.00513586 -0.19342935] [ 0.2938902 -0.37228203 0.88036052 -2.56918738] [ 0. 0. 0. 1. ]] SLAMing on 196.77134618399998 meters Centerline goodness : 0.829443 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53656073 -0.69768782 -0.47469389 -1.4768628 ] [ 0.79089607 0.61192655 -0.00541386 -0.1921114 ] [ 0.29425498 -0.37252866 0.88013431 -2.56886905] [ 0. 0. 0. 1. ]] SLAMing on 196.80134618399998 meters Centerline goodness : 0.832190 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53575922 -0.69853114 -0.47435883 -1.47910911] [ 0.79141685 0.61124489 -0.00624993 -0.19024628] [ 0.29431518 -0.37206711 0.8803094 -2.56885774] [ 0. 0. 0. 1. ]] SLAMing on 196.83134618399998 meters Centerline goodness : 0.830979 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53663569 -0.69514793 -0.47832154 -1.47615362] [ 0.79014192 0.61290904 -0.00427347 -0.18817073] [ 0.29613829 -0.3756486 0.87817438 -2.56770881] [ 0. 0. 0. 1. ]] SLAMing on 196.86134618399998 meters Centerline goodness : 0.831484 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53692142 -0.69530902 -0.47776642 -1.4777291 ] [ 0.78993639 0.61317135 -0.00462529 -0.18768272] [ 0.29616869 -0.37492166 0.87847473 -2.56839621] [ 0. 0. 0. 1. ]] SLAMing on 196.89134618399999 meters Centerline goodness : 0.832737 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53834868 -0.6953214 -0.47613953 -1.4806527 ] [ 0.78900328 0.61436789 -0.00509149 -0.18724597] [ 0.29606506 -0.37293465 0.879355 -2.57107132] [ 0. 0. 0. 1. ]] SLAMing on 196.921346184 meters Centerline goodness : 0.833546 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.5391269 -0.69508272 -0.47560719 -1.48164528] [ 0.78847443 0.61504648 -0.00508906 -0.18776887] [ 0.29605785 -0.37226046 0.87964305 -2.57176255] [ 0. 0. 0. 1. ]] SLAMing on 196.951346184 meters Centerline goodness : 0.834117 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54017076 -0.69446431 -0.47532608 -1.48229977] [ 0.7877183 0.61601663 -0.00483704 -0.18834101] [ 0.29616792 -0.37181022 0.87979641 -2.57253496] [ 0. 0. 0. 1. ]] SLAMing on 196.981346184 meters Centerline goodness : 0.834117 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54017076 -0.69446431 -0.47532608 -1.48229977] [ 0.7877183 0.61601663 -0.00483704 -0.18834101] [ 0.29616792 -0.37181022 0.87979641 -2.57253496] [ 0. 0. 0. 1. ]] SLAMing on 197.011346184 meters Centerline goodness : 0.835860 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:-2.57 [[ 0.54175696 -0.69360376 -0.47477702 -1.48551275] [ 0.78660095 0.61744561 -0.00445696 -0.18891862] [ 0.29624035 -0.37104546 0.88009483 -2.57332305] [ 0. 0. 0. 1. ]] SLAMing on 197.041346184 meters Centerline goodness : 0.834170 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:-2.57 [[ 0.54169855 -0.69376766 -0.47460417 -1.48659994] [ 0.78665968 0.6173698 -0.00459076 -0.18863514] [ 0.2961912 -0.37086515 0.88018737 -2.57333048] [ 0. 0. 0. 1. ]] SLAMing on 197.071346184 meters Centerline goodness : 0.833686 Centerline is valid? [False, False] Translation: X:-1.49, Y:-0.19, Z:-2.57 [[ 0.54146382 -0.69390945 -0.47466474 -1.48575935] [ 0.78681222 0.61717454 -0.00470416 -0.18866877] [ 0.29621525 -0.37092488 0.88015411 -2.57317843] [ 0. 0. 0. 1. ]] SLAMing on 197.101346184 meters Centerline goodness : 0.833800 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54122006 -0.69445353 -0.47414676 -1.48135912] [ 0.78706762 0.61684607 -0.00504938 -0.18947799] [ 0.29598213 -0.37045273 0.88043134 -2.5739172 ] [ 0. 0. 0. 1. ]] SLAMing on 197.131346184 meters Centerline goodness : 0.832135 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.54066571 -0.69412528 -0.47525855 -1.477914 ] [ 0.78728072 0.61657533 -0.00489173 -0.18897608] [ 0.29642818 -0.3715171 0.87983259 -2.57322033] [ 0. 0. 0. 1. ]] SLAMing on 197.161346184 meters Centerline goodness : 0.834113 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53911476 -0.69717701 -0.47254576 -1.47865291] [ 0.78881504 0.61459292 -0.00681039 -0.19002818] [ 0.29517133 -0.36907962 0.88127982 -2.57336922] [ 0. 0. 0. 1. ]] SLAMing on 197.191346184 meters Centerline goodness : 0.834205 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53873212 -0.69644629 -0.47405724 -1.47720967] [ 0.78916928 0.61415176 -0.00542735 -0.19377276] [ 0.29492295 -0.37118753 0.8804773 -2.56938032] [ 0. 0. 0. 1. ]] SLAMing on 197.221346184 meters Centerline goodness : 0.834031 Centerline is valid? [False, False] Translation: X:-1.48, Y:-0.19, Z:-2.57 [[ 0.53857551 -0.69548827 -0.47563904 -1.47582721] [ 0.7891166 0.6142262 -0.00460063 -0.19464912] [ 0.29534964 -0.37285688 0.87962852 -2.56713478] [ 0. 0. 0. 1. ]] SLAMing on 197.251346184 meters Centerline goodness : 0.833945 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.57 [[ 0.5384411 -0.69471113 -0.47692518 -1.47443263] [ 0.78905964 0.61430367 -0.0039869 -0.19506815] [ 0.29574663 -0.3741757 0.87893486 -2.56553675] [ 0. 0. 0. 1. ]] SLAMing on 197.281346184 meters Centerline goodness : 0.834995 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.56 [[ 0.53830419 -0.69423842 -0.47776733 -1.47352156] [ 0.78907441 0.61428733 -0.0035578 -0.19577724] [ 0.29595638 -0.37507879 0.87847921 -2.56411565] [ 0. 0. 0. 1. ]] SLAMing on 197.311346184 meters Centerline goodness : 0.834435 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.56 [[ 0.53862527 -0.69313098 -0.47901176 -1.46946165] [ 0.78870621 0.61476435 -0.00270374 -0.19707245] [ 0.2963534 -0.37634324 0.87780432 -2.56323211] [ 0. 0. 0. 1. ]] SLAMing on 197.341346184 meters Centerline goodness : 0.834805 Centerline is valid? [False, False] Translation: X:-1.47, Y:-0.20, Z:-2.56 [[ 5.38843459e-01 -6.92778852e-01 -4.79275692e-01 -1.46717600e+00] [ 7.88500581e-01 6.15028909e-01 -2.50511416e-03 -1.97695943e-01] [ 2.96503896e-01 -3.76559297e-01 8.77660832e-01 -2.56328262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.371346184 meters Centerline goodness : 0.835678 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 5.39144281e-01 -6.92080146e-01 -4.79946367e-01 -1.46467304e+00] [ 7.88187050e-01 6.15432359e-01 -2.04601186e-03 -1.98355537e-01] [ 2.96790529e-01 -3.77184416e-01 8.77295445e-01 -2.56296768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401346184 meters Centerline goodness : 0.833605 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.53804636 -0.69512622 -0.47676584 -1.46458885] [ 0.789431 0.61382588 -0.00406067 -0.19923559] [ 0.29547389 -0.3741889 0.87902096 -2.56445535] [ 0. 0. 0. 1. ]] SLAMing on 197.431346184 meters Centerline goodness : 0.833487 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.53783396 -0.69520164 -0.47689549 -1.46399703] [ 0.78956418 0.61365424 -0.00410784 -0.19916963] [ 0.29550472 -0.37433026 0.87895041 -2.56426185] [ 0. 0. 0. 1. ]] SLAMing on 197.46134618399998 meters Centerline goodness : 0.834452 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.53778697 -0.69461175 -0.47780718 -1.46291482] [ 0.78946031 0.61379026 -0.00373469 -0.19920652] [ 0.29586755 -0.37520133 0.8784568 -2.56334678] [ 0. 0. 0. 1. ]] SLAMing on 197.49134618399998 meters Centerline goodness : 0.837345 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.53776175 -0.69413436 -0.47852877 -1.46256649] [ 0.78948761 0.61375876 -0.00308194 -0.20084381] [ 0.29584051 -0.37613519 0.87806646 -2.56153655] [ 0. 0. 0. 1. ]] SLAMing on 197.52134618399998 meters Centerline goodness : 0.836622 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.53763591 -0.69387936 -0.47903973 -1.46175619] [ 0.78946676 0.61378588 -0.00302204 -0.20060145] [ 0.29612476 -0.37656119 0.87778802 -2.56106892] [ 0. 0. 0. 1. ]] SLAMing on 197.55134618399998 meters Centerline goodness : 0.836004 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.5372758 -0.69377808 -0.47959013 -1.46012113] [ 0.78961064 0.61360061 -0.00305253 -0.20006507] [ 0.29639458 -0.37704942 0.87748731 -2.56073955] [ 0. 0. 0. 1. ]] SLAMing on 197.58134618399998 meters Centerline goodness : 0.837472 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.56 [[ 0.5322018 -0.69101169 -0.48914629 -1.46112646] [ 0.78846321 0.61498502 -0.0109176 -0.20495567] [ 0.30836183 -0.37986349 0.87213342 -2.55530419] [ 0. 0. 0. 1. ]] SLAMing on 197.61134618399998 meters Centerline goodness : 0.836280 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.55 [[ 0.5315693 -0.69129458 -0.48943425 -1.46027799] [ 0.78884582 0.61448963 -0.01117031 -0.20429545] [ 0.30847425 -0.38015037 0.87196866 -2.55487484] [ 0. 0. 0. 1. ]] SLAMing on 197.64134618399999 meters Centerline goodness : 0.838643 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.55 [[ 0.5312541 -0.69104524 -0.49012811 -1.45894009] [ 0.78894438 0.61436495 -0.01106657 -0.20399273] [ 0.30876504 -0.38080466 0.87158015 -2.55418546] [ 0. 0. 0. 1. ]] SLAMing on 197.671346184 meters Centerline goodness : 0.835874 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.55 [[ 0.53173929 -0.69063306 -0.49018293 -1.45743721] [ 0.78859904 0.61481336 -0.01077422 -0.20480831] [ 0.30881204 -0.38082871 0.87155299 -2.55440095] [ 0. 0. 0. 1. ]] SLAMing on 197.701346184 meters Centerline goodness : 0.838923 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:-2.55 [[ 0.5319657 -0.69055871 -0.490042 -1.45738822] [ 0.78846547 0.61498581 -0.01070769 -0.20540047] [ 0.30876317 -0.38068508 0.87163305 -2.55438689] [ 0. 0. 0. 1. ]] SLAMing on 197.731346184 meters Centerline goodness : 0.838707 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:-2.55 [[ 0.53247697 -0.68995714 -0.49033398 -1.45669539] [ 0.78804988 0.61552464 -0.01033419 -0.20584335] [ 0.3089428 -0.38090492 0.87147335 -2.55438066] [ 0. 0. 0. 1. ]] SLAMing on 197.761346184 meters Centerline goodness : 0.838770 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.21, Z:-2.55 [[ 0.53253906 -0.68924295 -0.4912701 -1.45608021] [ 0.78782545 0.6158178 -0.00997466 -0.20551475] [ 0.30940784 -0.38172319 0.87095017 -2.55359291] [ 0. 0. 0. 1. ]] SLAMing on 197.791346184 meters Centerline goodness : 0.838627 Centerline is valid? [False, False] Translation: X:-1.46, Y:-0.20, Z:-2.55 [[ 0.53228945 -0.68907639 -0.491774 -1.45526955] [ 0.78787778 0.61575036 -0.01000459 -0.20497716] [ 0.30970395 -0.38213247 0.8706654 -2.55315794] [ 0. 0. 0. 1. ]] SLAMing on 197.821346184 meters Centerline goodness : 0.840169 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.53224881 -0.68879541 -0.49221144 -1.45372654] [ 0.78781758 0.61582931 -0.00988484 -0.20500613] [ 0.30992687 -0.38251163 0.87041955 -2.55289008] [ 0. 0. 0. 1. ]] SLAMing on 197.851346184 meters Centerline goodness : 0.840772 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.53281011 -0.69030407 -0.48948307 -1.45080126] [ 0.78786587 0.61575262 -0.01077388 -0.20801891] [ 0.30883774 -0.37990658 0.87194624 -2.55494371] [ 0. 0. 0. 1. ]] SLAMing on 197.881346184 meters Centerline goodness : 0.841611 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.5333538 -0.68950167 -0.4900216 -1.44864615] [ 0.78743478 0.61631458 -0.01013954 -0.20941493] [ 0.30899869 -0.38045209 0.87165132 -2.55449256] [ 0. 0. 0. 1. ]] SLAMing on 197.911346184 meters Centerline goodness : 0.840873 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.53342224 -0.68897806 -0.49068314 -1.44705003] [ 0.78729275 0.61650187 -0.00977576 -0.21005391] [ 0.30924236 -0.38109667 0.87128324 -2.55368783] [ 0. 0. 0. 1. ]] SLAMing on 197.941346184 meters Centerline goodness : 0.842052 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.53317897 -0.68871907 -0.49131073 -1.44555141] [ 0.78742555 0.61633728 -0.00945327 -0.21062529] [ 0.30932376 -0.38183033 0.87093307 -2.5527282 ] [ 0. 0. 0. 1. ]] SLAMing on 197.971346184 meters Centerline goodness : 0.842581 Centerline is valid? [False, False] Translation: X:-1.45, Y:-0.21, Z:-2.55 [[ 0.53157051 -0.69112643 -0.48967035 -1.44586528] [ 0.78896636 0.61434467 -0.01061651 -0.21241176] [ 0.30816372 -0.38069001 0.87184301 -2.5514945 ] [ 0. 0. 0. 1. ]] SLAMing on 198.001346184 meters Centerline goodness : 0.843379 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.21, Z:-2.55 [[ 0.53132529 -0.69089411 -0.49026398 -1.44431284] [ 0.78913621 0.61413312 -0.01022497 -0.21314572] [ 0.30815172 -0.38145227 0.87151402 -2.55053789] [ 0. 0. 0. 1. ]] SLAMing on 198.031346184 meters Centerline goodness : 0.843839 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.22, Z:-2.54 [[ 0.52740028 -0.68632612 -0.50080475 -1.44467394] [ 0.7869767 0.61676283 -0.0164709 -0.22055303] [ 0.32018216 -0.38543491 0.86540355 -2.54392929] [ 0. 0. 0. 1. ]] SLAMing on 198.061346184 meters Centerline goodness : 0.843136 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.22, Z:-2.54 [[ 0.52701885 -0.6862686 -0.5012849 -1.44124126] [ 0.78727401 0.61639145 -0.01616216 -0.22180818] [ 0.32007931 -0.38613081 0.86513134 -2.5430299 ] [ 0. 0. 0. 1. ]] SLAMing on 198.091346184 meters Centerline goodness : 0.845253 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.54 [[ 0.52346471 -0.68394103 -0.50814306 -1.44041572] [ 0.78633952 0.61743764 -0.02099791 -0.23610762] [ 0.32810799 -0.3885813 0.86101668 -2.53998716] [ 0. 0. 0. 1. ]] SLAMing on 198.121346184 meters Centerline goodness : 0.844725 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.54 [[ 0.52311059 -0.68381284 -0.50867997 -1.43887424] [ 0.78653224 0.61719727 -0.02084626 -0.23650918] [ 0.32821083 -0.38918829 0.86070327 -2.53906158] [ 0. 0. 0. 1. ]] SLAMing on 198.151346184 meters Centerline goodness : 0.845667 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.54 [[ 0.51903878 -0.6791888 -0.5189425 -1.44304571] [ 0.78531562 0.6186229 -0.02418858 -0.24654017] [ 0.33745833 -0.39497884 0.85446685 -2.53512518] [ 0. 0. 0. 1. ]] SLAMing on 198.181346184 meters Centerline goodness : 0.845342 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.53 [[ 0.51842345 -0.67896412 -0.5198508 -1.44123881] [ 0.78554415 0.6183322 -0.02420093 -0.24577103] [ 0.33787205 -0.39581942 0.8539142 -2.53414149] [ 0. 0. 0. 1. ]] SLAMing on 198.21134618399998 meters Centerline goodness : 0.845560 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.53 [[ 0.51790535 -0.67912115 -0.520162 -1.4392471 ] [ 0.78586673 0.6179185 -0.02429424 -0.24569137] [ 0.33791646 -0.39619589 0.85372202 -2.53367476] [ 0. 0. 0. 1. ]] SLAMing on 198.24134618399998 meters Centerline goodness : 0.846812 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.53 [[ 0.51751363 -0.67922359 -0.52041805 -1.43728085] [ 0.78607036 0.61765341 -0.02444695 -0.24551331] [ 0.33804293 -0.39643358 0.85356159 -2.5334353 ] [ 0. 0. 0. 1. ]] SLAMing on 198.27134618399998 meters Centerline goodness : 0.845451 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.53 [[ 0.51717115 -0.67911515 -0.52089981 -1.43608606] [ 0.7861955 0.61749284 -0.02447902 -0.24509828] [ 0.33827598 -0.39686925 0.85326676 -2.53291909] [ 0. 0. 0. 1. ]] SLAMing on 198.30134618399998 meters Centerline goodness : 0.847810 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.25, Z:-2.53 [[ 0.51644173 -0.67908745 -0.52165906 -1.43582214] [ 0.78664804 0.61692254 -0.02431948 -0.24566799] [ 0.33833829 -0.39780248 0.85280736 -2.53090252] [ 0. 0. 0. 1. ]] SLAMing on 198.33134618399998 meters Centerline goodness : 0.847270 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.25, Z:-2.53 [[ 0.51584544 -0.67911968 -0.52220679 -1.43468189] [ 0.78693666 0.61654882 -0.02445918 -0.24536003] [ 0.33857669 -0.39832651 0.85246807 -2.52991082] [ 0. 0. 0. 1. ]] SLAMing on 198.36134618399998 meters Centerline goodness : 0.850718 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.25, Z:-2.53 [[ 0.5154952 -0.6787244 -0.52306586 -1.43306646] [ 0.78702471 0.61644437 -0.02425769 -0.24512828] [ 0.33890529 -0.39916103 0.85194699 -2.52894638] [ 0. 0. 0. 1. ]] SLAMing on 198.39134618399999 meters Centerline goodness : 0.851351 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.51500384 -0.67914563 -0.52300311 -1.43290224] [ 0.78730433 0.61606832 -0.02473284 -0.24399218] [ 0.33900285 -0.39902511 0.85197185 -2.52914587] [ 0. 0. 0. 1. ]] SLAMing on 198.421346184 meters Centerline goodness : 0.850890 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.51465329 -0.67951738 -0.5228653 -1.4326606 ] [ 0.78744659 0.61586348 -0.02529899 -0.24246925] [ 0.33920475 -0.39870829 0.85203981 -2.52980445] [ 0. 0. 0. 1. ]] SLAMing on 198.451346184 meters Centerline goodness : 0.850157 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.51468774 -0.68017033 -0.52198165 -1.43445049] [ 0.78742232 0.61586185 -0.02608204 -0.24040726] [ 0.33920882 -0.39759589 0.85255785 -2.53167244] [ 0. 0. 0. 1. ]] SLAMing on 198.481346184 meters Centerline goodness : 0.852343 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.53 [[ 0.51493768 -0.68044335 -0.52137897 -1.43581876] [ 0.78727636 0.61603378 -0.02642574 -0.23989885] [ 0.33916827 -0.39686172 0.85291597 -2.53254402] [ 0. 0. 0. 1. ]] SLAMing on 198.511346184 meters Centerline goodness : 0.852472 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.53 [[ 0.51537087 -0.68031977 -0.52111216 -1.43624681] [ 0.78689871 0.61650729 -0.02663039 -0.23934495] [ 0.33938663 -0.39633796 0.85307265 -2.53332485] [ 0. 0. 0. 1. ]] SLAMing on 198.541346184 meters Centerline goodness : 0.855314 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.53 [[ 0.5164047 -0.68040491 -0.51997629 -1.43919283] [ 0.7862895 0.61727523 -0.02683487 -0.23949477] [ 0.33922706 -0.39499424 0.85375907 -2.53480476] [ 0. 0. 0. 1. ]] SLAMing on 198.571346184 meters Centerline goodness : 0.855677 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.54 [[ 0.51623722 -0.6806367 -0.51983921 -1.4399663 ] [ 0.78622491 0.61732806 -0.02750383 -0.2373235 ] [ 0.33963144 -0.39451204 0.85382125 -2.53566585] [ 0. 0. 0. 1. ]] SLAMing on 198.601346184 meters Centerline goodness : 0.854655 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.54 [[ 0.51610809 -0.68064295 -0.51995924 -1.43969508] [ 0.78610505 0.61745882 -0.0279903 -0.23531262] [ 0.34010481 -0.39429657 0.85373235 -2.53640276] [ 0. 0. 0. 1. ]] SLAMing on 198.631346184 meters Centerline goodness : 0.857125 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.24, Z:-2.54 [[ 0.51658322 -0.68063588 -0.51949647 -1.44035661] [ 0.78583333 0.61780371 -0.02800993 -0.23572597] [ 0.34001141 -0.39376817 0.85401339 -2.53691155] [ 0. 0. 0. 1. ]] SLAMing on 198.661346184 meters Centerline goodness : 0.858126 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.23, Z:-2.54 [[ 0.51656003 -0.68043321 -0.51978493 -1.44041746] [ 0.78568021 0.61799045 -0.02818519 -0.23463972] [ 0.34040027 -0.39382539 0.85383208 -2.53697956] [ 0. 0. 0. 1. ]] SLAMing on 198.691346184 meters Centerline goodness : 0.859573 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.23, Z:-2.54 [[ 0.51636131 -0.68025507 -0.52021537 -1.44107634] [ 0.7856078 0.61807138 -0.02842806 -0.23282926] [ 0.34086856 -0.3940061 0.85356184 -2.53700092] [ 0. 0. 0. 1. ]] SLAMing on 198.721346184 meters Centerline goodness : 0.857403 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.23, Z:-2.54 [[ 0.51587249 -0.68042164 -0.52048243 -1.44176784] [ 0.7857352 0.61788388 -0.02897771 -0.23079952] [ 0.34131477 -0.39401256 0.85338053 -2.53696272] [ 0. 0. 0. 1. ]] SLAMing on 198.751346184 meters Centerline goodness : 0.859316 Centerline is valid? [False, False] Translation: X:-1.44, Y:-0.23, Z:-2.54 [[ 0.51460152 -0.6807899 -0.52125847 -1.43871099] [ 0.78642397 0.61698542 -0.02943352 -0.22987069] [ 0.34164692 -0.39478362 0.85289113 -2.53572258] [ 0. 0. 0. 1. ]] SLAMing on 198.781346184 meters Centerline goodness : 0.859834 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.51374944 -0.68063386 -0.52230169 -1.4344734 ] [ 0.78675092 0.61656057 -0.02959814 -0.22871347] [ 0.34217613 -0.39571531 0.85224697 -2.53499906] [ 0. 0. 0. 1. ]] SLAMing on 198.811346184 meters Centerline goodness : 0.860509 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.51264855 -0.68103497 -0.52286024 -1.43219454] [ 0.78740777 0.61570507 -0.02993769 -0.22796946] [ 0.34231631 -0.3963567 0.85189254 -2.53402655] [ 0. 0. 0. 1. ]] SLAMing on 198.841346184 meters Centerline goodness : 0.860165 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.51061439 -0.68383604 -0.52119211 -1.4300103 ] [ 0.78895421 0.61361021 -0.03215207 -0.22609282] [ 0.34179555 -0.3947794 0.85283353 -2.53462319] [ 0. 0. 0. 1. ]] SLAMing on 198.871346184 meters Centerline goodness : 0.860165 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.51061439 -0.68383604 -0.52119211 -1.4300103 ] [ 0.78895421 0.61361021 -0.03215207 -0.22609282] [ 0.34179555 -0.3947794 0.85283353 -2.53462319] [ 0. 0. 0. 1. ]] SLAMing on 198.901346184 meters Centerline goodness : 0.860638 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.50661816 -0.6802262 -0.52974555 -1.43124542] [ 0.78792223 0.61473147 -0.03582992 -0.23801993] [ 0.35002371 -0.39924621 0.84739947 -2.53190253] [ 0. 0. 0. 1. ]] SLAMing on 198.931346184 meters Centerline goodness : 0.861081 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.50597648 -0.68054326 -0.52995158 -1.43060875] [ 0.78821151 0.61433018 -0.0363463 -0.23634175] [ 0.35030048 -0.39932356 0.84724865 -2.5319775 ] [ 0. 0. 0. 1. ]] SLAMing on 198.96134618399998 meters Centerline goodness : 0.862184 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.50561784 -0.68019629 -0.53073874 -1.42915015] [ 0.78806632 0.61449131 -0.03676821 -0.23317378] [ 0.35114394 -0.39966667 0.84673755 -2.53255278] [ 0. 0. 0. 1. ]] SLAMing on 198.99134618399998 meters Centerline goodness : 0.861880 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.50546825 -0.68056172 -0.53041267 -1.42965538] [ 0.78811591 0.61439754 -0.03726885 -0.23182024] [ 0.35124799 -0.39918844 0.84691997 -2.53337379] [ 0. 0. 0. 1. ]] SLAMing on 199.02134618399998 meters Centerline goodness : 0.861624 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.23, Z:-2.53 [[ 0.50657512 -0.67974141 -0.53040859 -1.42689627] [ 0.78735045 0.61541204 -0.03670547 -0.23330674] [ 0.35137005 -0.39902336 0.84694713 -2.53401007] [ 0. 0. 0. 1. ]] SLAMing on 199.05134618399998 meters Centerline goodness : 0.862882 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.54 [[ 0.50676138 -0.68158208 -0.52786245 -1.42716141] [ 0.78768465 0.61491839 -0.03779239 -0.2354948 ] [ 0.35035095 -0.39663743 0.84848864 -2.53519254] [ 0. 0. 0. 1. ]] SLAMing on 199.08134618399998 meters Centerline goodness : 0.864878 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.54 [[ 0.50628404 -0.68437465 -0.52469783 -1.42754022] [ 0.78870585 0.61351972 -0.0392 -0.23772022] [ 0.34873995 -0.39398591 0.85038553 -2.53653083] [ 0. 0. 0. 1. ]] SLAMing on 199.11134618399998 meters Centerline goodness : 0.866003 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.54 [[ 0.50579239 -0.68431084 -0.52525492 -1.4272314 ] [ 0.78887302 0.61329404 -0.03936715 -0.23694397] [ 0.34907508 -0.39444783 0.85003382 -2.53568774] [ 0. 0. 0. 1. ]] SLAMing on 199.14134618399999 meters Centerline goodness : 0.866023 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.54 [[ 0.50545214 -0.68438312 -0.52548824 -1.42819423] [ 0.78902382 0.61308934 -0.03953317 -0.23626588] [ 0.34922707 -0.39464062 0.8498819 -2.53514914] [ 0. 0. 0. 1. ]] SLAMing on 199.171346184 meters Centerline goodness : 0.866127 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.50508359 -0.68448896 -0.52570471 -1.42820734] [ 0.789264 0.61277851 -0.03955801 -0.23638283] [ 0.34921757 -0.3949397 0.84974686 -2.5343704 ] [ 0. 0. 0. 1. ]] SLAMing on 199.201346184 meters Centerline goodness : 0.866713 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.50515856 -0.68413406 -0.52609449 -1.42625964] [ 0.78918391 0.61290207 -0.03924043 -0.23745187] [ 0.34929011 -0.39536267 0.84952032 -2.5336204 ] [ 0. 0. 0. 1. ]] SLAMing on 199.231346184 meters Centerline goodness : 0.867374 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.50481966 -0.68384223 -0.52679875 -1.42469551] [ 0.7892904 0.61277462 -0.03908864 -0.23779937] [ 0.34953936 -0.39606448 0.84909078 -2.53236262] [ 0. 0. 0. 1. ]] SLAMing on 199.261346184 meters Centerline goodness : 0.869572 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.5039706 -0.6840334 -0.52736319 -1.42461533] [ 0.78977966 0.61213414 -0.03924139 -0.23706933] [ 0.34965944 -0.39672422 0.84873328 -2.531191 ] [ 0. 0. 0. 1. ]] SLAMing on 199.291346184 meters Centerline goodness : 0.868898 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.24, Z:-2.53 [[ 0.50256268 -0.68697132 -0.52488205 -1.42551958] [ 0.79103262 0.6103675 -0.04145978 -0.23615445] [ 0.34885262 -0.39436268 0.85016465 -2.53223387] [ 0. 0. 0. 1. ]] SLAMing on 199.321346184 meters Centerline goodness : 0.866618 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.25, Z:-2.53 [[ 0.5004827 -0.68167836 -0.53369625 -1.42783591] [ 0.78880851 0.61310573 -0.04338777 -0.24809498] [ 0.35678873 -0.39926931 0.8445625 -2.53195166] [ 0. 0. 0. 1. ]] SLAMing on 199.351346184 meters Centerline goodness : 0.870365 Centerline is valid? [False, False] Translation: X:-1.43, Y:-0.25, Z:-2.53 [[ 0.50045628 -0.68167284 -0.53372807 -1.42573317] [ 0.788859 0.61304726 -0.04329587 -0.24864007] [ 0.35671415 -0.3993685 0.84454711 -2.53194042] [ 0. 0. 0. 1. ]] SLAMing on 199.381346184 meters Centerline goodness : 0.870226 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.25, Z:-2.53 [[ 0.50011468 -0.68161977 -0.53411589 -1.42389988] [ 0.78888856 0.61298739 -0.04360397 -0.24748517] [ 0.35712763 -0.39955093 0.84428603 -2.53194071] [ 0. 0. 0. 1. ]] SLAMing on 199.411346184 meters Centerline goodness : 0.871161 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.25, Z:-2.53 [[ 0.49971076 -0.68198096 -0.53403289 -1.42379094] [ 0.78912952 0.61265119 -0.04396721 -0.24670242] [ 0.35716069 -0.39945023 0.8443197 -2.53202055] [ 0. 0. 0. 1. ]] SLAMing on 199.441346184 meters Centerline goodness : 0.870362 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.25, Z:-2.53 [[ 0.49938436 -0.68160972 -0.53481161 -1.42232833] [ 0.78912138 0.6126608 -0.04397937 -0.246041 ] [ 0.35763487 -0.40006867 0.84382603 -2.53119702] [ 0. 0. 0. 1. ]] SLAMing on 199.471346184 meters Centerline goodness : 0.874228 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.25, Z:-2.53 [[ 0.49895893 -0.68144508 -0.53541814 -1.42162008] [ 0.78926086 0.61247913 -0.04400699 -0.24531737] [ 0.35792078 -0.4006269 0.84343986 -2.53047729] [ 0. 0. 0. 1. ]] SLAMing on 199.501346184 meters Centerline goodness : 0.873177 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49844374 -0.68177073 -0.53548343 -1.42149813] [ 0.78949919 0.61213791 -0.04447716 -0.24414775] [ 0.35811293 -0.40059437 0.84337375 -2.53042583] [ 0. 0. 0. 1. ]] SLAMing on 199.531346184 meters Centerline goodness : 0.876842 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49823724 -0.68162839 -0.53585668 -1.42044013] [ 0.78948389 0.61214764 -0.04461442 -0.24341565] [ 0.35843386 -0.40082165 0.84312939 -2.53019857] [ 0. 0. 0. 1. ]] SLAMing on 199.561346184 meters Centerline goodness : 0.873476 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49819244 -0.68117114 -0.53647943 -1.4195906 ] [ 0.78946056 0.61220747 -0.04420446 -0.24485213] [ 0.35854752 -0.40150702 0.84275488 -2.52842556] [ 0. 0. 0. 1. ]] SLAMing on 199.591346184 meters Centerline goodness : 0.873573 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49811527 -0.68130466 -0.53638152 -1.4203703 ] [ 0.78954544 0.61209429 -0.04425591 -0.24489435] [ 0.35846783 -0.40145304 0.8428145 -2.5282484 ] [ 0. 0. 0. 1. ]] SLAMing on 199.621346184 meters Centerline goodness : 0.872255 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.4976469 -0.68136365 -0.53674122 -1.42022372] [ 0.78963429 0.61194647 -0.04471247 -0.24282853] [ 0.35892235 -0.40157825 0.84256137 -2.5283816 ] [ 0. 0. 0. 1. ]] SLAMing on 199.651346184 meters Centerline goodness : 0.873308 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49696607 -0.68203601 -0.53651803 -1.42048457] [ 0.78995015 0.61147275 -0.04560521 -0.24036176] [ 0.35917056 -0.40115826 0.84265566 -2.52914727] [ 0. 0. 0. 1. ]] SLAMing on 199.681346184 meters Centerline goodness : 0.872133 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49176765 -0.68107949 -0.54248991 -1.42337048] [ 0.78775358 0.61343518 -0.0560497 -0.24293709] [ 0.3709567 -0.39978494 0.83819039 -2.52568646] [ 0. 0. 0. 1. ]] SLAMing on 199.71134618399998 meters Centerline goodness : 0.871173 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49124378 -0.68160913 -0.54229931 -1.42186654] [ 0.78803371 0.61301977 -0.05665362 -0.24156153] [ 0.37105582 -0.3995194 0.83827312 -2.52631343] [ 0. 0. 0. 1. ]] SLAMing on 199.74134618399998 meters Centerline goodness : 0.867639 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49093911 -0.68148411 -0.54273216 -1.42040597] [ 0.78805367 0.61297706 -0.0568379 -0.24011219] [ 0.37141649 -0.39979812 0.83798046 -2.52646658] [ 0. 0. 0. 1. ]] SLAMing on 199.77134618399998 meters Centerline goodness : 0.870307 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.49021327 -0.68191476 -0.54284732 -1.42270536] [ 0.78848581 0.61238446 -0.05723117 -0.23913514] [ 0.37145804 -0.39997193 0.8378791 -2.52561048] [ 0. 0. 0. 1. ]] SLAMing on 199.80134618399998 meters Centerline goodness : 0.870663 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.52 [[ 0.48971473 -0.68200092 -0.54318895 -1.42258371] [ 0.78867758 0.61211215 -0.05750122 -0.23839329] [ 0.37170844 -0.40024175 0.83763917 -2.52488797] [ 0. 0. 0. 1. ]] SLAMing on 199.83134618399998 meters Centerline goodness : 0.872559 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.52 [[ 0.48915466 -0.68186697 -0.54386133 -1.42106049] [ 0.78878972 0.61194167 -0.05777695 -0.23702656] [ 0.3722076 -0.40073037 0.83718377 -2.52430013] [ 0. 0. 0. 1. ]] SLAMing on 199.86134618399998 meters Centerline goodness : 0.870383 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.52 [[ 0.4888579 -0.68218057 -0.54373488 -1.42139334] [ 0.78892834 0.611725 -0.05817736 -0.236003 ] [ 0.37230368 -0.40052739 0.83723818 -2.52460138] [ 0. 0. 0. 1. ]] SLAMing on 199.89134618399999 meters Centerline goodness : 0.870698 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.24, Z:-2.53 [[ 0.48903979 -0.68200102 -0.54379655 -1.42067003] [ 0.78866535 0.61204792 -0.0583464 -0.23509486] [ 0.37262185 -0.40033979 0.83718637 -2.52511742] [ 0. 0. 0. 1. ]] SLAMing on 199.921346184 meters Centerline goodness : 0.873484 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.53 [[ 0.48903297 -0.68243721 -0.54325519 -1.42132835] [ 0.78868974 0.61197395 -0.05879099 -0.2343513 ] [ 0.37257918 -0.39970906 0.83750667 -2.52594661] [ 0. 0. 0. 1. ]] SLAMing on 199.951346184 meters Centerline goodness : 0.872855 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.53 [[ 0.48900944 -0.68226852 -0.54348821 -1.42251369] [ 0.78853573 0.61215465 -0.0589754 -0.23292966] [ 0.37293589 -0.39972034 0.83734251 -2.52606572] [ 0. 0. 0. 1. ]] SLAMing on 199.981346184 meters Centerline goodness : 0.871082 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.53 [[ 0.48835062 -0.68268332 -0.54355971 -1.42260371] [ 0.78885771 0.61168745 -0.05951447 -0.23157259] [ 0.37311819 -0.39972735 0.83725794 -2.5258751 ] [ 0. 0. 0. 1. ]] SLAMing on 200.011346184 meters Centerline goodness : 0.871373 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.53 [[ 0.48798181 -0.68239386 -0.54425395 -1.42037718] [ 0.78890187 0.61162857 -0.05953438 -0.23062151] [ 0.37350716 -0.40031127 0.83680541 -2.52549924] [ 0. 0. 0. 1. ]] SLAMing on 200.041346184 meters Centerline goodness : 0.870273 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48688348 -0.68291253 -0.54458695 -1.4193062 ] [ 0.78967389 0.61061438 -0.05970954 -0.23064737] [ 0.37330901 -0.40097451 0.83657625 -2.52417221] [ 0. 0. 0. 1. ]] SLAMing on 200.071346184 meters Centerline goodness : 0.867667 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48645676 -0.68284954 -0.54504708 -1.41853229] [ 0.78986189 0.61036901 -0.05973161 -0.23043155] [ 0.37346755 -0.40145507 0.83627496 -2.52336842] [ 0. 0. 0. 1. ]] SLAMing on 200.101346184 meters Centerline goodness : 0.870539 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48586857 -0.68259347 -0.54589183 -1.41599656] [ 0.79000562 0.61017321 -0.05983117 -0.22947647] [ 0.37392893 -0.40218753 0.83571667 -2.52254019] [ 0. 0. 0. 1. ]] SLAMing on 200.131346184 meters Centerline goodness : 0.870568 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48419303 -0.68649779 -0.54247387 -1.41688969] [ 0.7919112 0.60748677 -0.06193928 -0.23098883] [ 0.37206688 -0.39960056 0.83778615 -2.52332218] [ 0. 0. 0. 1. ]] SLAMing on 200.161346184 meters Centerline goodness : 0.871870 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.23, Z:-2.52 [[ 0.48499256 -0.68274165 -0.54648519 -1.41402879] [ 0.790532 0.60948693 -0.05987349 -0.22980804] [ 0.37395371 -0.40297583 0.83532575 -2.52093651] [ 0. 0. 0. 1. ]] SLAMing on 200.191346184 meters Centerline goodness : 0.868679 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.23, Z:-2.52 [[ 0.48435876 -0.68300763 -0.54671489 -1.41464207] [ 0.79066469 0.60923952 -0.06063467 -0.22730326] [ 0.37449426 -0.40289923 0.83512051 -2.52101716] [ 0. 0. 0. 1. ]] SLAMing on 200.221346184 meters Centerline goodness : 0.873097 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48413452 -0.68297328 -0.54695637 -1.41526174] [ 0.79062033 0.60926423 -0.06096391 -0.22570013] [ 0.37487767 -0.40292009 0.8349384 -2.5210923 ] [ 0. 0. 0. 1. ]] SLAMing on 200.251346184 meters Centerline goodness : 0.869041 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.4839905 -0.68309918 -0.5469266 -1.41593394] [ 0.79073933 0.60910501 -0.06101149 -0.22573879] [ 0.37481263 -0.40294739 0.83495442 -2.52076797] [ 0. 0. 0. 1. ]] SLAMing on 200.281346184 meters Centerline goodness : 0.868879 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.23, Z:-2.52 [[ 0.48355156 -0.68350374 -0.5468094 -1.41594698] [ 0.7910048 0.60872157 -0.06139592 -0.22520349] [ 0.37481901 -0.40284077 0.83500301 -2.52062654] [ 0. 0. 0. 1. ]] SLAMing on 200.311346184 meters Centerline goodness : 0.871910 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.22, Z:-2.52 [[ 0.48398616 -0.68003643 -0.55073392 -1.41275377] [ 0.7899874 0.61025026 -0.05928351 -0.22419859] [ 0.37640046 -0.40638045 0.83257289 -2.51806462] [ 0. 0. 0. 1. ]] SLAMing on 200.341346184 meters Centerline goodness : 0.870609 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.22, Z:-2.52 [[ 0.48259092 -0.68085656 -0.55094496 -1.4147956 ] [ 0.79084561 0.60907132 -0.05996115 -0.22276206] [ 0.37638972 -0.4067757 0.83238471 -2.51670874] [ 0. 0. 0. 1. ]] SLAMing on 200.371346184 meters Centerline goodness : 0.872045 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-2.52 [[ 0.48214187 -0.68096908 -0.55119899 -1.41504104] [ 0.79095314 0.6088899 -0.06038394 -0.22119306] [ 0.37673909 -0.40685895 0.83218595 -2.51656059] [ 0. 0. 0. 1. ]] SLAMing on 200.401346184 meters Centerline goodness : 0.871421 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.22, Z:-2.51 [[ 0.48313103 -0.67762569 -0.55444372 -1.41339477] [ 0.78961371 0.61081262 -0.0584648 -0.22046911] [ 0.37827848 -0.4095502 0.83016506 -2.51481943] [ 0. 0. 0. 1. ]] SLAMing on 200.43134618399998 meters Centerline goodness : 0.871441 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-2.52 [[ 0.48354788 -0.67832921 -0.5532187 -1.41503188] [ 0.78945987 0.61095212 -0.05908156 -0.21934678] [ 0.37806689 -0.4081752 0.83093829 -2.51696869] [ 0. 0. 0. 1. ]] SLAMing on 200.46134618399998 meters Centerline goodness : 0.869173 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-2.52 [[ 0.48349038 -0.67891238 -0.5525532 -1.41578185] [ 0.78944504 0.61089873 -0.05982705 -0.21743497] [ 0.37817137 -0.40728458 0.83132767 -2.51851873] [ 0. 0. 0. 1. ]] SLAMing on 200.49134618399998 meters Centerline goodness : 0.871429 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.22, Z:-2.52 [[ 0.48317358 -0.67945184 -0.55216708 -1.41739633] [ 0.7895731 0.61066503 -0.06051903 -0.21555099] [ 0.37830889 -0.40673508 0.8315341 -2.51931206] [ 0. 0. 0. 1. ]] SLAMing on 200.52134618399998 meters Centerline goodness : 0.873217 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.21, Z:-2.52 [[ 0.48429409 -0.679655 -0.55093404 -1.42117809] [ 0.78895284 0.61144068 -0.06077591 -0.21493838] [ 0.37817014 -0.40522756 0.83233285 -2.52132423] [ 0. 0. 0. 1. ]] SLAMing on 200.55134618399998 meters Centerline goodness : 0.872121 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.21, Z:-2.52 [[ 0.48474933 -0.67977005 -0.55039146 -1.42176379] [ 0.78864185 0.61181475 -0.06104697 -0.21403915] [ 0.37823552 -0.40446926 0.83267191 -2.52272877] [ 0. 0. 0. 1. ]] SLAMing on 200.58134618399998 meters Centerline goodness : 0.874221 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.21, Z:-2.52 [[ 0.48471735 -0.68008952 -0.55002484 -1.42211156] [ 0.78857039 0.61185169 -0.06159752 -0.21246574] [ 0.37842546 -0.40387592 0.83287359 -2.52377612] [ 0. 0. 0. 1. ]] SLAMing on 200.61134618399998 meters Centerline goodness : 0.870693 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.21, Z:-2.53 [[ 0.48399099 -0.68133076 -0.5491276 -1.42355517] [ 0.78898013 0.61118668 -0.06293803 -0.20910734] [ 0.37850109 -0.40278933 0.83336527 -2.52557739] [ 0. 0. 0. 1. ]] SLAMing on 200.64134618399999 meters Centerline goodness : 0.870492 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.21, Z:-2.53 [[ 0.4834737 -0.68182273 -0.54897263 -1.42247698] [ 0.78927332 0.6107548 -0.06345236 -0.20805142] [ 0.37855093 -0.4026119 0.83342837 -2.52591026] [ 0. 0. 0. 1. ]] SLAMing on 200.671346184 meters Centerline goodness : 0.870029 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.20, Z:-2.52 [[ 0.48644572 -0.68604727 -0.54102653 -1.41721059] [ 0.78870915 0.61122233 -0.06591769 -0.19883319] [ 0.37591015 -0.39464719 0.83841824 -2.52475134] [ 0. 0. 0. 1. ]] SLAMing on 200.701346184 meters Centerline goodness : 0.873073 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.20, Z:-2.52 [[ 0.48560285 -0.68578696 -0.54211264 -1.41528825] [ 0.78896813 0.61087415 -0.06604597 -0.19744871] [ 0.37645606 -0.39563748 0.83770629 -2.52361803] [ 0. 0. 0. 1. ]] SLAMing on 200.731346184 meters Centerline goodness : 0.871900 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48492641 -0.68570581 -0.54282033 -1.41495172] [ 0.78917386 0.61058106 -0.06629769 -0.19608991] [ 0.37689652 -0.39623012 0.83722799 -2.52276021] [ 0. 0. 0. 1. ]] SLAMing on 200.761346184 meters Centerline goodness : 0.871772 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48470106 -0.68576041 -0.54295262 -1.41474436] [ 0.78930389 0.61040872 -0.06633673 -0.19607575] [ 0.37691412 -0.39640112 0.83713911 -2.52231063] [ 0. 0. 0. 1. ]] SLAMing on 200.791346184 meters Centerline goodness : 0.871772 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48470106 -0.68576041 -0.54295262 -1.41474436] [ 0.78930389 0.61040872 -0.06633673 -0.19607575] [ 0.37691412 -0.39640112 0.83713911 -2.52231063] [ 0. 0. 0. 1. ]] SLAMing on 200.821346184 meters Centerline goodness : 0.868615 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48471784 -0.68513503 -0.54372659 -1.41298597] [ 0.78910042 0.61070111 -0.06606569 -0.19610357] [ 0.37731835 -0.39703166 0.83665807 -2.52153379] [ 0. 0. 0. 1. ]] SLAMing on 200.851346184 meters Centerline goodness : 0.869415 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48422528 -0.68525108 -0.54401915 -1.40984111] [ 0.78937818 0.61033159 -0.06616221 -0.19631822] [ 0.3773698 -0.39739943 0.83646024 -2.52090209] [ 0. 0. 0. 1. ]] SLAMing on 200.881346184 meters Centerline goodness : 0.869542 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.4838833 -0.68503239 -0.54459854 -1.40816819] [ 0.78942863 0.61026125 -0.06620913 -0.19563952] [ 0.37770278 -0.39788419 0.83607941 -2.52036412] [ 0. 0. 0. 1. ]] SLAMing on 200.911346184 meters Centerline goodness : 0.869491 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.20, Z:-2.52 [[ 0.48342993 -0.68533433 -0.5446213 -1.40845344] [ 0.78968788 0.60989316 -0.06650854 -0.19500877] [ 0.37774139 -0.39792862 0.83604082 -2.52009515] [ 0. 0. 0. 1. ]] SLAMing on 200.941346184 meters Centerline goodness : 0.871102 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.52 [[ 0.48251146 -0.68538707 -0.54536892 -1.40745916] [ 0.79013644 0.60929555 -0.06665838 -0.19399009] [ 0.37797764 -0.39875243 0.83554138 -2.51898408] [ 0. 0. 0. 1. ]] SLAMing on 200.971346184 meters Centerline goodness : 0.870820 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.52 [[ 0.48046451 -0.6889753 -0.54264804 -1.40795878] [ 0.79194593 0.60667216 -0.06906912 -0.1932637 ] [ 0.37679637 -0.39656264 0.83711562 -2.51976282] [ 0. 0. 0. 1. ]] SLAMing on 201.001346184 meters Centerline goodness : 0.869528 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.52 [[ 0.4798137 -0.68896238 -0.54323995 -1.4060268 ] [ 0.79231368 0.60619926 -0.06900362 -0.1932381 ] [ 0.37685255 -0.39730756 0.83673703 -2.51872269] [ 0. 0. 0. 1. ]] SLAMing on 201.031346184 meters Centerline goodness : 0.871371 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.52 [[ 0.47908116 -0.68857057 -0.54438205 -1.40263748] [ 0.79255697 0.6058942 -0.06888876 -0.19269226] [ 0.3772727 -0.39845048 0.8360039 -2.51738404] [ 0. 0. 0. 1. ]] SLAMing on 201.061346184 meters Centerline goodness : 0.870427 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.52 [[ 0.47744632 -0.68931333 -0.54487811 -1.40019101] [ 0.7935512 0.60452931 -0.06943207 -0.19192742] [ 0.37725523 -0.39923859 0.83563571 -2.5158645 ] [ 0. 0. 0. 1. ]] SLAMing on 201.091346184 meters Centerline goodness : 0.869053 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.52 [[ 0.47694129 -0.6895918 -0.54496804 -1.40047674] [ 0.7938307 0.6041297 -0.06971464 -0.19142573] [ 0.37730602 -0.39936257 0.83555353 -2.51537691] [ 0. 0. 0. 1. ]] SLAMing on 201.121346184 meters Centerline goodness : 0.872747 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.47671554 -0.68918277 -0.54568251 -1.40020859] [ 0.79371727 0.6042715 -0.06977711 -0.19031694] [ 0.37782957 -0.3998538 0.83508188 -2.5147452 ] [ 0. 0. 0. 1. ]] SLAMing on 201.151346184 meters Centerline goodness : 0.872451 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.4767919 -0.6893872 -0.54535748 -1.40375416] [ 0.79366395 0.60431205 -0.07003195 -0.18976405] [ 0.37784523 -0.3994399 0.83527286 -2.51479962] [ 0. 0. 0. 1. ]] SLAMing on 201.18134618399998 meters Centerline goodness : 0.873883 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.47854323 -0.68515121 -0.54914861 -1.40110039] [ 0.79170678 0.60714942 -0.06760146 -0.18947686] [ 0.37973248 -0.40241446 0.8329861 -2.51306838] [ 0. 0. 0. 1. ]] SLAMing on 201.21134618399998 meters Centerline goodness : 0.873357 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.4790032 -0.68520724 -0.54867747 -1.40161202] [ 0.79142468 0.60750127 -0.06774347 -0.18944403] [ 0.37974058 -0.40178755 0.83328498 -2.51389012] [ 0. 0. 0. 1. ]] SLAMing on 201.24134618399998 meters Centerline goodness : 0.874019 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.48170898 -0.68095012 -0.55160076 -1.39932636] [ 0.78890706 0.61102635 -0.06536403 -0.18946475] [ 0.38155224 -0.40367529 0.83154323 -2.51370924] [ 0. 0. 0. 1. ]] SLAMing on 201.27134618399998 meters Centerline goodness : 0.875319 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.48217091 -0.68105511 -0.55106729 -1.40016501] [ 0.78862639 0.61136855 -0.06555093 -0.18921378] [ 0.381549 -0.40297945 0.83188216 -2.51469728] [ 0. 0. 0. 1. ]] SLAMing on 201.30134618399998 meters Centerline goodness : 0.877121 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.52 [[ 0.48258494 -0.68091307 -0.55088035 -1.40123999] [ 0.78832384 0.61175681 -0.06556776 -0.18897722] [ 0.38165075 -0.4026301 0.83200463 -2.51520447] [ 0. 0. 0. 1. ]] SLAMing on 201.33134618399998 meters Centerline goodness : 0.877533 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.48475058 -0.67706166 -0.55371868 -1.40418781] [ 0.78637953 0.61452481 -0.06298008 -0.19003834] [ 0.38291526 -0.4049034 0.83031869 -2.51349016] [ 0. 0. 0. 1. ]] SLAMing on 201.36134618399998 meters Centerline goodness : 0.878585 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.51 [[ 0.48480201 -0.67713929 -0.55357871 -1.40598488] [ 0.78635581 0.61454724 -0.06305735 -0.19015137] [ 0.38289888 -0.4047395 0.83040616 -2.51321568] [ 0. 0. 0. 1. ]] SLAMing on 201.39134618399999 meters Centerline goodness : 0.876420 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.51 [[ 0.48533646 -0.67701084 -0.55326743 -1.40613207] [ 0.78603882 0.61496107 -0.062975 -0.19075256] [ 0.38287269 -0.40432562 0.83061983 -2.5136257 ] [ 0. 0. 0. 1. ]] SLAMing on 201.421346184 meters Centerline goodness : 0.875365 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.485518 -0.67659541 -0.55361623 -1.40430761] [ 0.78574279 0.61534264 -0.06294205 -0.1900843 ] [ 0.38324998 -0.40444046 0.83038989 -2.5139295 ] [ 0. 0. 0. 1. ]] SLAMing on 201.451346184 meters Centerline goodness : 0.880282 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.52 [[ 0.48428724 -0.68044211 -0.54996764 -1.40670736] [ 0.78725506 0.61315168 -0.06537957 -0.19017224] [ 0.3817006 -0.40130231 0.83262303 -2.51583994] [ 0. 0. 0. 1. ]] SLAMing on 201.481346184 meters Centerline goodness : 0.881705 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.52 [[ 0.48428239 -0.68009576 -0.55040015 -1.40566464] [ 0.78711866 0.61333561 -0.06529657 -0.18961334] [ 0.38198793 -0.40160825 0.8323437 -2.51573032] [ 0. 0. 0. 1. ]] SLAMing on 201.511346184 meters Centerline goodness : 0.883497 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.19, Z:-2.51 [[ 0.48377859 -0.68024659 -0.55065676 -1.40536236] [ 0.78744562 0.6129109 -0.06534237 -0.1897207 ] [ 0.38195245 -0.40200101 0.83217036 -2.51483169] [ 0. 0. 0. 1. ]] SLAMing on 201.541346184 meters Centerline goodness : 0.879008 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.4829701 -0.68019468 -0.55143003 -1.40370103] [ 0.78778685 0.61245666 -0.06548839 -0.18896286] [ 0.38227185 -0.40278039 0.83164667 -2.51365032] [ 0. 0. 0. 1. ]] SLAMing on 201.571346184 meters Centerline goodness : 0.879471 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.48228171 -0.68018291 -0.5520467 -1.40179271] [ 0.78814086 0.61199861 -0.06551089 -0.18879046] [ 0.38241121 -0.40349586 0.83123568 -2.51254224] [ 0. 0. 0. 1. ]] SLAMing on 201.601346184 meters Centerline goodness : 0.878630 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.19, Z:-2.51 [[ 0.48103167 -0.68001339 -0.55334467 -1.39611955] [ 0.78883609 0.61112745 -0.06527525 -0.18896181] [ 0.38255216 -0.40509878 0.83039076 -2.51064499] [ 0. 0. 0. 1. ]] SLAMing on 201.631346184 meters Centerline goodness : 0.879717 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.19, Z:-2.51 [[ 0.48008488 -0.68026442 -0.55385813 -1.39368795] [ 0.78934174 0.61044349 -0.06556183 -0.18823149] [ 0.38269847 -0.4057081 0.83002579 -2.50979968] [ 0. 0. 0. 1. ]] SLAMing on 201.661346184 meters Centerline goodness : 0.877807 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.19, Z:-2.51 [[ 0.47933426 -0.68041875 -0.55431849 -1.39191509] [ 0.78974339 0.60990486 -0.06573773 -0.18766203] [ 0.38281072 -0.40625902 0.82970451 -2.50908431] [ 0. 0. 0. 1. ]] SLAMing on 201.691346184 meters Centerline goodness : 0.877860 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.19, Z:-2.51 [[ 0.47895461 -0.68055133 -0.55448387 -1.39108263] [ 0.78997365 0.60959687 -0.06582776 -0.18756418] [ 0.3828108 -0.40649914 0.82958685 -2.50867512] [ 0. 0. 0. 1. ]] SLAMing on 201.721346184 meters Centerline goodness : 0.878033 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.19, Z:-2.51 [[ 0.47792817 -0.68327464 -0.55201489 -1.39165558] [ 0.79102203 0.60802525 -0.06774549 -0.18741032] [ 0.38192777 -0.40427846 0.83107768 -2.50973305] [ 0. 0. 0. 1. ]] SLAMing on 201.751346184 meters Centerline goodness : 0.881226 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47565148 -0.67822237 -0.56015185 -1.39408319] [ 0.78863896 0.61086424 -0.06995337 -0.20095501] [ 0.38962067 -0.40848415 0.82543106 -2.50892105] [ 0. 0. 0. 1. ]] SLAMing on 201.781346184 meters Centerline goodness : 0.876293 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47641053 -0.67772419 -0.56010975 -1.39225103] [ 0.78829104 0.61138999 -0.06927863 -0.20335693] [ 0.38939729 -0.40852443 0.82551653 -2.50859542] [ 0. 0. 0. 1. ]] SLAMing on 201.811346184 meters Centerline goodness : 0.881256 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47669029 -0.67761373 -0.56000536 -1.39320152] [ 0.78809291 0.61164772 -0.06925766 -0.20326588] [ 0.38945594 -0.4083218 0.82558911 -2.50882251] [ 0. 0. 0. 1. ]] SLAMing on 201.841346184 meters Centerline goodness : 0.881335 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47685114 -0.67762059 -0.5598601 -1.39443757] [ 0.78798096 0.61178508 -0.06931831 -0.20306018] [ 0.38948557 -0.40810458 0.82568253 -2.50898257] [ 0. 0. 0. 1. ]] SLAMing on 201.871346184 meters Centerline goodness : 0.883355 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.20, Z:-2.51 [[ 0.47753415 -0.67721776 -0.55976534 -1.39535925] [ 0.78762129 0.61229999 -0.06885808 -0.20430383] [ 0.38937622 -0.40800102 0.82578528 -2.50894755] [ 0. 0. 0. 1. ]] SLAMing on 201.901346184 meters Centerline goodness : 0.884192 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47732621 -0.67721981 -0.55994019 -1.39458216] [ 0.78768123 0.6122101 -0.06897149 -0.20394785] [ 0.3895099 -0.40813248 0.82565726 -2.50877008] [ 0. 0. 0. 1. ]] SLAMing on 201.93134618399998 meters Centerline goodness : 0.884103 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47674863 -0.67754613 -0.56003749 -1.39345804] [ 0.78795137 0.611812 -0.06941699 -0.2028655 ] [ 0.38967087 -0.40818785 0.82555393 -2.50873584] [ 0. 0. 0. 1. ]] SLAMing on 201.96134618399998 meters Centerline goodness : 0.883673 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.20, Z:-2.51 [[ 0.47641021 -0.6776034 -0.56025615 -1.39213218] [ 0.78807644 0.61162989 -0.06960179 -0.20248191] [ 0.38983182 -0.40836566 0.82538999 -2.50841912] [ 0. 0. 0. 1. ]] SLAMing on 201.99134618399998 meters Centerline goodness : 0.878504 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-2.50 [[ 0.47366544 -0.67724017 -0.56301581 -1.39846087] [ 0.78555728 0.61390798 -0.07756765 -0.2133974 ] [ 0.39817183 -0.40554006 0.82279794 -2.50383189] [ 0. 0. 0. 1. ]] SLAMing on 202.02134618399998 meters Centerline goodness : 0.887644 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-2.50 [[ 0.4735664 -0.67644561 -0.56405336 -1.39654318] [ 0.78541117 0.61415209 -0.07711353 -0.21430704] [ 0.39857766 -0.40649544 0.82212974 -2.50205725] [ 0. 0. 0. 1. ]] SLAMing on 202.05134618399998 meters Centerline goodness : 0.882066 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-2.50 [[ 0.47302151 -0.67614387 -0.56487177 -1.39665105] [ 0.78570029 0.61382218 -0.07679437 -0.21499838] [ 0.39865487 -0.40749452 0.82159754 -2.50008097] [ 0. 0. 0. 1. ]] SLAMing on 202.08134618399998 meters Centerline goodness : 0.883119 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-2.50 [[ 0.47260446 -0.67581978 -0.56560821 -1.39651027] [ 0.78570199 0.61380655 -0.0769019 -0.21373816] [ 0.39914585 -0.40805531 0.82108066 -2.4993962 ] [ 0. 0. 0. 1. ]] SLAMing on 202.11134618399998 meters Centerline goodness : 0.882673 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.21, Z:-2.50 [[ 0.47229705 -0.67563407 -0.56608665 -1.39585749] [ 0.78560838 0.61388472 -0.07723359 -0.21229114] [ 0.39969359 -0.40824522 0.82071973 -2.4991296 ] [ 0. 0. 0. 1. ]] SLAMing on 202.14134618399999 meters Centerline goodness : 0.881134 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.21, Z:-2.50 [[ 0.4731503 -0.67519163 -0.56590198 -1.39498315] [ 0.78518908 0.61449163 -0.07666903 -0.21396717] [ 0.39950832 -0.40806408 0.8209 -2.49943813] [ 0. 0. 0. 1. ]] SLAMing on 202.171346184 meters Centerline goodness : 0.880772 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-2.50 [[ 0.47372996 -0.67435869 -0.56641 -1.39375721] [ 0.78467195 0.61521217 -0.07618344 -0.21502894] [ 0.39983729 -0.40835566 0.82059478 -2.49880267] [ 0. 0. 0. 1. ]] SLAMing on 202.201346184 meters Centerline goodness : 0.885006 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-2.50 [[ 0.47451663 -0.67343519 -0.56685008 -1.39340406] [ 0.78406 0.61606836 -0.07556248 -0.21600538] [ 0.40010483 -0.40858882 0.82034828 -2.4984654 ] [ 0. 0. 0. 1. ]] SLAMing on 202.231346184 meters Centerline goodness : 0.885256 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-2.50 [[ 0.47584356 -0.67270452 -0.56660527 -1.39698655] [ 0.78333899 0.61708112 -0.07477242 -0.21785821] [ 0.39994116 -0.40826402 0.82058976 -2.49856844] [ 0. 0. 0. 1. ]] SLAMing on 202.261346184 meters Centerline goodness : 0.886662 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-2.50 [[ 0.47617697 -0.67235582 -0.56673905 -1.39769105] [ 0.78299955 0.61751834 -0.07471815 -0.21770245] [ 0.40020894 -0.40817736 0.82050232 -2.49856474] [ 0. 0. 0. 1. ]] SLAMing on 202.291346184 meters Centerline goodness : 0.885036 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-2.50 [[ 0.47678953 -0.67207441 -0.5665578 -1.39773985] [ 0.78266615 0.61797755 -0.07441407 -0.21858653] [ 0.40013179 -0.40794576 0.82065511 -2.498885 ] [ 0. 0. 0. 1. ]] SLAMing on 202.321346184 meters Centerline goodness : 0.884539 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.22, Z:-2.50 [[ 0.47714186 -0.67167703 -0.56673241 -1.39613083] [ 0.78231487 0.61843482 -0.07430896 -0.21875857] [ 0.40039867 -0.40790727 0.82054406 -2.4989626 ] [ 0. 0. 0. 1. ]] SLAMing on 202.351346184 meters Centerline goodness : 0.884574 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-2.50 [[ 0.4777055 -0.67116221 -0.56686749 -1.39393891] [ 0.78202916 0.61886822 -0.07370562 -0.22039085] [ 0.4002847 -0.40809732 0.82050517 -2.498814 ] [ 0. 0. 0. 1. ]] SLAMing on 202.381346184 meters Centerline goodness : 0.882319 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-2.50 [[ 0.47728758 -0.67105474 -0.56734655 -1.3920912 ] [ 0.78221534 0.61863689 -0.073672 -0.22045029] [ 0.40041945 -0.40862444 0.82017701 -2.49798812] [ 0. 0. 0. 1. ]] SLAMing on 202.411346184 meters Centerline goodness : 0.884062 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.22, Z:-2.50 [[ 0.47707734 -0.67050048 -0.56817807 -1.38968265] [ 0.78221146 0.6186848 -0.07330994 -0.22141128] [ 0.40067748 -0.40946088 0.81963366 -2.49648146] [ 0. 0. 0. 1. ]] SLAMing on 202.441346184 meters Centerline goodness : 0.884094 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-2.50 [[ 0.4741664 -0.66657961 -0.57518505 -1.39312638] [ 0.78067847 0.62037058 -0.07537554 -0.23709266] [ 0.40707168 -0.41329404 0.81454324 -2.4961984 ] [ 0. 0. 0. 1. ]] SLAMing on 202.471346184 meters Centerline goodness : 0.881788 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-2.50 [[ 0.47350588 -0.66660845 -0.57569554 -1.39178237] [ 0.78100493 0.61994722 -0.07547675 -0.23692535] [ 0.40721429 -0.41388237 0.81417314 -2.49512408] [ 0. 0. 0. 1. ]] SLAMing on 202.501346184 meters Centerline goodness : 0.881976 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-2.50 [[ 0.47136797 -0.67078032 -0.57259585 -1.39248605] [ 0.78315476 0.61691576 -0.07799721 -0.23690374] [ 0.4055624 -0.41166578 0.81611913 -2.49594151] [ 0. 0. 0. 1. ]] SLAMing on 202.531346184 meters Centerline goodness : 0.884981 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.25, Z:-2.49 [[ 0.46742809 -0.66798742 -0.57905422 -1.39210045] [ 0.7823426 0.61757285 -0.08089396 -0.25382025] [ 0.41164431 -0.41520668 0.81126591 -2.49406478] [ 0. 0. 0. 1. ]] SLAMing on 202.561346184 meters Centerline goodness : 0.884751 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.26, Z:-2.49 [[ 0.46716947 -0.66740924 -0.57992896 -1.38949279] [ 0.78240303 0.61755598 -0.08043703 -0.25511216] [ 0.41182301 -0.41616045 0.81068631 -2.49231257] [ 0. 0. 0. 1. ]] SLAMing on 202.591346184 meters Centerline goodness : 0.884570 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.26, Z:-2.49 [[ 0.46568084 -0.6710079 -0.57696599 -1.39085737] [ 0.78412548 0.61509806 -0.08247184 -0.25566888] [ 0.41022992 -0.41400818 0.81259377 -2.49329077] [ 0. 0. 0. 1. ]] SLAMing on 202.621346184 meters Centerline goodness : 0.885996 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.26, Z:-2.49 [[ 0.4654078 -0.67072828 -0.57751118 -1.38977713] [ 0.78423422 0.61498881 -0.08225238 -0.25621294] [ 0.41033191 -0.41462313 0.81222866 -2.49216315] [ 0. 0. 0. 1. ]] SLAMing on 202.651346184 meters Centerline goodness : 0.884406 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.49 [[ 0.4615782 -0.66901205 -0.58255339 -1.39387073] [ 0.7815557 0.61735024 -0.08971826 -0.26635789] [ 0.41966207 -0.41388593 0.80782559 -2.48733544] [ 0. 0. 0. 1. ]] SLAMing on 202.68134618399998 meters Centerline goodness : 0.884406 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.49 [[ 0.4615782 -0.66901205 -0.58255339 -1.39387073] [ 0.7815557 0.61735024 -0.08971826 -0.26635789] [ 0.41966207 -0.41388593 0.80782559 -2.48733544] [ 0. 0. 0. 1. ]] SLAMing on 202.71134618399998 meters Centerline goodness : 0.884789 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.49 [[ 0.46175226 -0.66863147 -0.58285231 -1.39351346] [ 0.78141458 0.61757434 -0.08940462 -0.26713084] [ 0.41973337 -0.41416651 0.80764472 -2.48672376] [ 0. 0. 0. 1. ]] SLAMing on 202.74134618399998 meters Centerline goodness : 0.884060 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.49 [[ 0.46188564 -0.6683551 -0.58306356 -1.39320292] [ 0.78131105 0.61773901 -0.08917151 -0.26785933] [ 0.41977934 -0.41436696 0.80751801 -2.48616158] [ 0. 0. 0. 1. ]] SLAMing on 202.77134618399998 meters Centerline goodness : 0.883225 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.48 [[ 0.46284783 -0.66682666 -0.58404973 -1.39037065] [ 0.78074007 0.61867897 -0.08764285 -0.27229137] [ 0.41978188 -0.41542573 0.80697251 -2.48387408] [ 0. 0. 0. 1. ]] SLAMing on 202.80134618399998 meters Centerline goodness : 0.885546 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.49 [[ 0.46153208 -0.67045806 -0.58092524 -1.39107287] [ 0.78242937 0.61625782 -0.08961354 -0.2730913 ] [ 0.41808184 -0.41317344 0.80900883 -2.48521356] [ 0. 0. 0. 1. ]] SLAMing on 202.83134618399998 meters Centerline goodness : 0.884349 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.27, Z:-2.48 [[ 0.46134101 -0.67030297 -0.58125589 -1.38918214] [ 0.78245261 0.61622964 -0.08960439 -0.27300515] [ 0.4182492 -0.413467 0.80877231 -2.48482033] [ 0. 0. 0. 1. ]] SLAMing on 202.86134618399998 meters Centerline goodness : 0.884324 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.49 [[ 0.45813697 -0.6660355 -0.58864865 -1.39090301] [ 0.78049306 0.618332 -0.0921744 -0.28548892] [ 0.42537173 -0.41720769 0.80311683 -2.48621651] [ 0. 0. 0. 1. ]] SLAMing on 202.89134618399999 meters Centerline goodness : 0.882414 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.28, Z:-2.49 [[ 0.45621797 -0.67004642 -0.58557917 -1.39176827] [ 0.7824262 0.61550011 -0.09470411 -0.2849222 ] [ 0.42388019 -0.41496676 0.80506408 -2.48746988] [ 0. 0. 0. 1. ]] SLAMing on 202.921346184 meters Centerline goodness : 0.883818 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.49 [[ 0.45604393 -0.66953203 -0.58630265 -1.39022111] [ 0.78246743 0.61551516 -0.0942646 -0.28612512] [ 0.42399134 -0.41577393 0.80458896 -2.4859653 ] [ 0. 0. 0. 1. ]] SLAMing on 202.951346184 meters Centerline goodness : 0.884726 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.48 [[ 0.45644262 -0.66800553 -0.58773187 -1.38789041] [ 0.78209056 0.61619113 -0.09296691 -0.28963312] [ 0.42425758 -0.41722548 0.80369671 -2.48287731] [ 0. 0. 0. 1. ]] SLAMing on 202.981346184 meters Centerline goodness : 0.883327 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.48 [[ 0.45658699 -0.66736815 -0.5883435 -1.3872358 ] [ 0.78185722 0.61654364 -0.09259174 -0.29047576] [ 0.42453222 -0.41772443 0.80329241 -2.48174262] [ 0. 0. 0. 1. ]] SLAMing on 203.011346184 meters Centerline goodness : 0.883086 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.48 [[ 0.45664487 -0.66706418 -0.58864322 -1.38712921] [ 0.781803 0.61665371 -0.09231614 -0.29117349] [ 0.42456982 -0.41804735 0.80310453 -2.48107209] [ 0. 0. 0. 1. ]] SLAMing on 203.041346184 meters Centerline goodness : 0.882632 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.29, Z:-2.48 [[ 0.45657133 -0.66676485 -0.58903927 -1.38600529] [ 0.78164641 0.61684345 -0.09237447 -0.2906924 ] [ 0.42493706 -0.4182449 0.80280739 -2.48072358] [ 0. 0. 0. 1. ]] SLAMing on 203.071346184 meters Centerline goodness : 0.883475 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:-2.48 [[ 0.45335086 -0.6623883 -0.59641826 -1.3891664 ] [ 0.77967644 0.61896765 -0.09478239 -0.30320754] [ 0.43194636 -0.42204358 0.79705806 -2.48228024] [ 0. 0. 0. 1. ]] SLAMing on 203.101346184 meters Centerline goodness : 0.883184 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:-2.48 [[ 0.45105758 -0.66650217 -0.59356711 -1.38996893] [ 0.78177456 0.61589262 -0.09749264 -0.30199328] [ 0.43055266 -0.42006087 0.79885748 -2.48324542] [ 0. 0. 0. 1. ]] SLAMing on 203.131346184 meters Centerline goodness : 0.883647 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:-2.48 [[ 0.44893653 -0.66944968 -0.59185566 -1.38746388] [ 0.78333007 0.61354147 -0.09980416 -0.30000341] [ 0.42994186 -0.4188126 0.79984124 -2.48350172] [ 0. 0. 0. 1. ]] SLAMing on 203.161346184 meters Centerline goodness : 0.882569 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.44636974 -0.67254872 -0.59028152 -1.38401988] [ 0.78542359 0.61054609 -0.10170176 -0.30078331] [ 0.42879346 -0.41822444 0.80076493 -2.48204802] [ 0. 0. 0. 1. ]] SLAMing on 203.191346184 meters Centerline goodness : 0.885464 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.44584331 -0.67207287 -0.5912206 -1.38208702] [ 0.78550419 0.61046091 -0.10159054 -0.30101931] [ 0.42919331 -0.4191128 0.80008597 -2.48031095] [ 0. 0. 0. 1. ]] SLAMing on 203.221346184 meters Centerline goodness : 0.884635 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.4454266 -0.67154689 -0.59213167 -1.38013608] [ 0.78552331 0.61046262 -0.10143232 -0.30148217] [ 0.42959081 -0.41995258 0.79943203 -2.47853449] [ 0. 0. 0. 1. ]] SLAMing on 203.251346184 meters Centerline goodness : 0.882385 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.44558359 -0.6704739 -0.59322847 -1.3779363 ] [ 0.78530374 0.61088652 -0.10057678 -0.30324215] [ 0.42982939 -0.42104918 0.79872667 -2.47664354] [ 0. 0. 0. 1. ]] SLAMing on 203.281346184 meters Centerline goodness : 0.883276 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.44517537 -0.67110962 -0.59281597 -1.37933708] [ 0.78563506 0.61038599 -0.10102719 -0.30268356] [ 0.42964689 -0.42076219 0.79897605 -2.47685922] [ 0. 0. 0. 1. ]] SLAMing on 203.311346184 meters Centerline goodness : 0.885111 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.30, Z:-2.48 [[ 0.44484108 -0.67152408 -0.59259752 -1.3799707 ] [ 0.78568803 0.61020733 -0.1016923 -0.30102616] [ 0.42989618 -0.42035986 0.79905373 -2.47736777] [ 0. 0. 0. 1. ]] SLAMing on 203.341346184 meters Centerline goodness : 0.884515 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.30, Z:-2.48 [[ 0.44441021 -0.67711384 -0.58652913 -1.38533069] [ 0.78236785 0.61228496 -0.11405121 -0.30014309] [ 0.43634862 -0.40819601 0.80185778 -2.4774496 ] [ 0. 0. 0. 1. ]] SLAMing on 203.371346184 meters Centerline goodness : 0.882326 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.44206095 -0.67288727 -0.59313139 -1.38719861] [ 0.78009866 0.61479778 -0.11605936 -0.31553744] [ 0.44275073 -0.41139569 0.79669654 -2.47920163] [ 0. 0. 0. 1. ]] SLAMing on 203.401346184 meters Centerline goodness : 0.882737 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.31, Z:-2.48 [[ 0.44033367 -0.67549451 -0.59145027 -1.38438286] [ 0.78138666 0.6127697 -0.11810242 -0.31348957] [ 0.44220034 -0.41014688 0.79764553 -2.47987536] [ 0. 0. 0. 1. ]] SLAMing on 203.43134618399998 meters Centerline goodness : 0.885329 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.31, Z:-2.48 [[ 0.43979314 -0.67537276 -0.59199124 -1.38329372] [ 0.78161425 0.61248266 -0.1180854 -0.31370443] [ 0.44233603 -0.41077563 0.79724665 -2.47867097] [ 0. 0. 0. 1. ]] SLAMing on 203.46134618399998 meters Centerline goodness : 0.881823 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.31, Z:-2.48 [[ 0.43889736 -0.67499426 -0.59308672 -1.38184485] [ 0.78184355 0.61217906 -0.11814173 -0.31329849] [ 0.44282026 -0.41184893 0.79642368 -2.47662258] [ 0. 0. 0. 1. ]] SLAMing on 203.49134618399998 meters Centerline goodness : 0.884988 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.43706688 -0.67759206 -0.59147404 -1.390303 ] [ 0.77943718 0.61350069 -0.12686444 -0.32154831] [ 0.44883207 -0.40556861 0.79628128 -2.47740222] [ 0. 0. 0. 1. ]] SLAMing on 203.52134618399998 meters Centerline goodness : 0.885372 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.43691273 -0.67714202 -0.592103 -1.38890756] [ 0.77931756 0.61367539 -0.12675435 -0.32143517] [ 0.44918973 -0.40605567 0.79583125 -2.47656882] [ 0. 0. 0. 1. ]] SLAMing on 203.55134618399998 meters Centerline goodness : 0.883844 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.43658776 -0.67705217 -0.59244534 -1.38765328] [ 0.77942999 0.61353006 -0.12676657 -0.32157758] [ 0.4493106 -0.40642494 0.79557448 -2.47583003] [ 0. 0. 0. 1. ]] SLAMing on 203.58134618399998 meters Centerline goodness : 0.882764 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.43588381 -0.6762303 -0.59390057 -1.38197785] [ 0.77941618 0.61358198 -0.12660003 -0.32145493] [ 0.45001747 -0.40771281 0.79451529 -2.47372249] [ 0. 0. 0. 1. ]] SLAMing on 203.61134618399998 meters Centerline goodness : 0.881238 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.43362405 -0.6801487 -0.59107354 -1.38179894] [ 0.78144115 0.61046141 -0.12917659 -0.32015338] [ 0.44868688 -0.40587511 0.79620693 -2.47477915] [ 0. 0. 0. 1. ]] SLAMing on 203.64134618399999 meters Centerline goodness : 0.882546 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.4333857 -0.67957222 -0.59191083 -1.37953716] [ 0.78133425 0.61063689 -0.12899371 -0.32011014] [ 0.44910313 -0.40657617 0.79561435 -2.47367059] [ 0. 0. 0. 1. ]] SLAMing on 203.671346184 meters Centerline goodness : 0.881929 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.43314651 -0.67935115 -0.59233952 -1.37900129] [ 0.78130068 0.61066827 -0.1290485 -0.31959964] [ 0.4493922 -0.40689836 0.79528635 -2.47313796] [ 0. 0. 0. 1. ]] SLAMing on 203.701346184 meters Centerline goodness : 0.881846 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.4326811 -0.6797322 -0.59224252 -1.37989987] [ 0.78154601 0.61027105 -0.12944139 -0.31899588] [ 0.44941395 -0.40685794 0.79529474 -2.47288828] [ 0. 0. 0. 1. ]] SLAMing on 203.731346184 meters Centerline goodness : 0.881079 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.43260222 -0.67900721 -0.59313112 -1.37809962] [ 0.78139373 0.61055151 -0.12903759 -0.31972301] [ 0.44975456 -0.40764699 0.79469791 -2.47144717] [ 0. 0. 0. 1. ]] SLAMing on 203.761346184 meters Centerline goodness : 0.879129 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.32, Z:-2.47 [[ 0.43243893 -0.67869809 -0.59360381 -1.37683297] [ 0.78142678 0.61055653 -0.12881351 -0.32065455] [ 0.44985416 -0.40815394 0.79438127 -2.47029093] [ 0. 0. 0. 1. ]] SLAMing on 203.791346184 meters Centerline goodness : 0.881030 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.47 [[ 0.42858097 -0.67659087 -0.59878472 -1.38235911] [ 0.78044007 0.61114674 -0.13195818 -0.33457545] [ 0.45522703 -0.41076082 0.78996449 -2.4737734 ] [ 0. 0. 0. 1. ]] SLAMing on 203.821346184 meters Centerline goodness : 0.882124 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.47 [[ 0.42796193 -0.67703195 -0.59872893 -1.38198219] [ 0.78072629 0.61066777 -0.13248143 -0.33331678] [ 0.45531862 -0.41074641 0.7899192 -2.47380011] [ 0. 0. 0. 1. ]] SLAMing on 203.851346184 meters Centerline goodness : 0.881914 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.47 [[ 0.42737633 -0.67731678 -0.59882506 -1.38190399] [ 0.78089759 0.61033305 -0.13301324 -0.33180754] [ 0.45557482 -0.41077434 0.78975694 -2.47368076] [ 0. 0. 0. 1. ]] SLAMing on 203.881346184 meters Centerline goodness : 0.879825 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.47 [[ 0.42696722 -0.6778116 -0.59855695 -1.38279728] [ 0.78111254 0.60994706 -0.1335207 -0.33042352] [ 0.45558994 -0.41053138 0.78987454 -2.47416763] [ 0. 0. 0. 1. ]] SLAMing on 203.911346184 meters Centerline goodness : 0.879944 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.48 [[ 0.42657616 -0.67878462 -0.59773256 -1.38498154] [ 0.78137847 0.60941087 -0.13441012 -0.32816966] [ 0.45550025 -0.4097192 0.79034784 -2.47556263] [ 0. 0. 0. 1. ]] SLAMing on 203.941346184 meters Centerline goodness : 0.881579 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.48 [[ 0.42640948 -0.67896634 -0.5976451 -1.38465657] [ 0.78145647 0.60926608 -0.13461286 -0.32781307] [ 0.45552249 -0.40963343 0.79037947 -2.47562898] [ 0. 0. 0. 1. ]] SLAMing on 203.971346184 meters Centerline goodness : 0.879676 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.48 [[ 0.42623317 -0.67901276 -0.59771813 -1.38402505] [ 0.78152818 0.60915542 -0.13469738 -0.32788092] [ 0.45556448 -0.40972107 0.79030985 -2.4752908 ] [ 0. 0. 0. 1. ]] SLAMing on 204.001346184 meters Centerline goodness : 0.880606 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.33, Z:-2.48 [[ 0.42571167 -0.67976346 -0.59723631 -1.38458482] [ 0.78184832 0.60859198 -0.13538466 -0.32629978] [ 0.45550277 -0.40931338 0.79055663 -2.4760204 ] [ 0. 0. 0. 1. ]] SLAMing on 204.031346184 meters Centerline goodness : 0.879617 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.42653964 -0.67762853 -0.59906887 -1.3866671 ] [ 0.78057973 0.61038117 -0.13464813 -0.32278072] [ 0.45690177 -0.41018825 0.78929486 -2.4767171 ] [ 0. 0. 0. 1. ]] SLAMing on 204.061346184 meters Centerline goodness : 0.880407 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.42601679 -0.67805966 -0.59895307 -1.38721268] [ 0.78073983 0.61003465 -0.13528874 -0.32093317] [ 0.45711596 -0.40999125 0.78927319 -2.47704436] [ 0. 0. 0. 1. ]] SLAMing on 204.091346184 meters Centerline goodness : 0.880223 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.4256527 -0.67836972 -0.59886083 -1.38667877] [ 0.78093666 0.60971415 -0.13559715 -0.32047699] [ 0.45711892 -0.40995509 0.78929026 -2.47698946] [ 0. 0. 0. 1. ]] SLAMing on 204.121346184 meters Centerline goodness : 0.881708 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.4254196 -0.67838769 -0.5990061 -1.38657643] [ 0.78100744 0.60959925 -0.13570604 -0.32057402] [ 0.45721498 -0.41009621 0.7891613 -2.47639164] [ 0. 0. 0. 1. ]] SLAMing on 204.151346184 meters Centerline goodness : 0.881675 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.48 [[ 0.42705466 -0.67511228 -0.60153781 -1.38786589] [ 0.7794181 0.61208994 -0.13361637 -0.321362 ] [ 0.45840129 -0.41178796 0.78759059 -2.47524386] [ 0. 0. 0. 1. ]] SLAMing on 204.18134618399998 meters Centerline goodness : 0.882909 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.47 [[ 0.4278684 -0.6731693 -0.60313492 -1.39070025] [ 0.77845128 0.61354953 -0.13255409 -0.32102715] [ 0.45928449 -0.41279544 0.78654795 -2.47467636] [ 0. 0. 0. 1. ]] SLAMing on 204.21134618399998 meters Centerline goodness : 0.882884 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.32, Z:-2.47 [[ 0.42942413 -0.66925581 -0.60637578 -1.38941431] [ 0.77638199 0.6165655 -0.13068279 -0.3197497 ] [ 0.4613306 -0.41466089 0.78436626 -2.47338905] [ 0. 0. 0. 1. ]] SLAMing on 204.24134618399998 meters Centerline goodness : 0.882800 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.33, Z:-2.48 [[ 0.42704997 -0.67125484 -0.6058426 -1.3978572 ] [ 0.77319147 0.61847278 -0.14023684 -0.32559604] [ 0.46883181 -0.4085442 0.7831273 -2.4751984 ] [ 0. 0. 0. 1. ]] SLAMing on 204.27134618399998 meters Centerline goodness : 0.884359 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.33, Z:-2.47 [[ 0.4284446 -0.66772088 -0.60875614 -1.39636335] [ 0.77151544 0.62102328 -0.13818108 -0.32555665] [ 0.47031813 -0.41046183 0.78123105 -2.47381056] [ 0. 0. 0. 1. ]] SLAMing on 204.30134618399998 meters Centerline goodness : 0.882682 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.47 [[ 0.42796844 -0.66834844 -0.60840232 -1.3978204 ] [ 0.77163211 0.62068404 -0.1390511 -0.32298043] [ 0.47056019 -0.40995328 0.7813523 -2.47465958] [ 0. 0. 0. 1. ]] SLAMing on 204.33134618399998 meters Centerline goodness : 0.884659 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-2.48 [[ 0.43010717 -0.66828146 -0.60696599 -1.40937746] [ 0.76745381 0.62472279 -0.14400028 -0.32933804] [ 0.47541821 -0.40388281 0.7815729 -2.47844038] [ 0. 0. 0. 1. ]] SLAMing on 204.36134618399998 meters Centerline goodness : 0.884626 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-2.48 [[ 0.43201581 -0.6639211 -0.61038603 -1.40716464] [ 0.76522559 0.62802002 -0.14149438 -0.32961035] [ 0.47727575 -0.4059552 0.779364 -2.47670987] [ 0. 0. 0. 1. ]] SLAMing on 204.39134618399999 meters Centerline goodness : 0.882548 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.33, Z:-2.48 [[ 0.43224426 -0.66354026 -0.61063837 -1.40592843] [ 0.76491282 0.62841921 -0.14141312 -0.32934971] [ 0.47757019 -0.40596011 0.77918105 -2.47669374] [ 0. 0. 0. 1. ]] SLAMing on 204.421346184 meters Centerline goodness : 0.883541 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.33, Z:-2.48 [[ 0.43194399 -0.66376767 -0.6106037 -1.40482855] [ 0.76484863 0.62836176 -0.1420143 -0.32695823] [ 0.47794451 -0.40567718 0.77909888 -2.47743813] [ 0. 0. 0. 1. ]] SLAMing on 204.451346184 meters Centerline goodness : 0.886943 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.48 [[ 0.43133339 -0.66444023 -0.61030377 -1.40497253] [ 0.76499463 0.62796007 -0.14300125 -0.32350054] [ 0.47826219 -0.40519789 0.77915335 -2.4786115 ] [ 0. 0. 0. 1. ]] SLAMing on 204.481346184 meters Centerline goodness : 0.885840 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-2.48 [[ 0.43049751 -0.66515882 -0.61011117 -1.40535953] [ 0.76528202 0.62738133 -0.14400034 -0.32052591] [ 0.47855546 -0.40491532 0.77912018 -2.47920148] [ 0. 0. 0. 1. ]] SLAMing on 204.511346184 meters Centerline goodness : 0.884212 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.48 [[ 0.4297788 -0.66552706 -0.61021628 -1.40472914] [ 0.76542753 0.6270273 -0.1447669 -0.31805257] [ 0.47896856 -0.4048586 0.77889578 -2.47930207] [ 0. 0. 0. 1. ]] SLAMing on 204.541346184 meters Centerline goodness : 0.885103 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.48 [[ 0.43001743 -0.66240147 -0.61344055 -1.4036101 ] [ 0.7643133 0.62875342 -0.14315836 -0.31715526] [ 0.48053115 -0.40730018 0.77665718 -2.47665356] [ 0. 0. 0. 1. ]] SLAMing on 204.571346184 meters Centerline goodness : 0.884231 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.48 [[ 0.4297244 -0.66257648 -0.61345689 -1.40442648] [ 0.76437616 0.62860125 -0.14349063 -0.31615965] [ 0.48069328 -0.40725039 0.77658295 -2.47662069] [ 0. 0. 0. 1. ]] SLAMing on 204.601346184 meters Centerline goodness : 0.884231 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.32, Z:-2.48 [[ 0.4297244 -0.66257648 -0.61345689 -1.40442648] [ 0.76437616 0.62860125 -0.14349063 -0.31615965] [ 0.48069328 -0.40725039 0.77658295 -2.47662069] [ 0. 0. 0. 1. ]] SLAMing on 204.631346184 meters Centerline goodness : 0.884752 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.32, Z:-2.48 [[ 0.42962918 -0.6625625 -0.61353867 -1.40509057] [ 0.76436227 0.62859741 -0.14358139 -0.3159298 ] [ 0.48080046 -0.40727905 0.77650157 -2.47633988] [ 0. 0. 0. 1. ]] SLAMing on 204.661346184 meters Centerline goodness : 0.885500 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.31, Z:-2.48 [[ 0.42943916 -0.66324899 -0.61292967 -1.40621045] [ 0.76433449 0.62842191 -0.14449461 -0.31295431] [ 0.48101434 -0.40643164 0.77681305 -2.47793181] [ 0. 0. 0. 1. ]] SLAMing on 204.691346184 meters Centerline goodness : 0.883333 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.31, Z:-2.48 [[ 0.43048567 -0.66029298 -0.61538222 -1.40506146] [ 0.76279293 0.63062366 -0.1430411 -0.31103745] [ 0.48252362 -0.40783206 0.77514126 -2.477442 ] [ 0. 0. 0. 1. ]] SLAMing on 204.721346184 meters Centerline goodness : 0.884692 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.31, Z:-2.48 [[ 0.43149899 -0.65735616 -0.61781186 -1.40427881] [ 0.76125316 0.63280085 -0.1416217 -0.30874881] [ 0.48404777 -0.40920161 0.77346739 -2.47713961] [ 0. 0. 0. 1. ]] SLAMing on 204.751346184 meters Centerline goodness : 0.885074 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.31, Z:-2.48 [[ 0.43108408 -0.65806838 -0.61734311 -1.40578304] [ 0.76131805 0.63250154 -0.14260656 -0.30578138] [ 0.48431534 -0.40851904 0.77366068 -2.47830419] [ 0. 0. 0. 1. ]] SLAMing on 204.781346184 meters Centerline goodness : 0.884714 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:-2.48 [[ 0.43046429 -0.65991983 -0.6157973 -1.4091057 ] [ 0.76179233 0.63154999 -0.1442812 -0.30166043] [ 0.4841208 -0.40700175 0.77458158 -2.48098697] [ 0. 0. 0. 1. ]] SLAMing on 204.811346184 meters Centerline goodness : 0.883571 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:-2.48 [[ 0.42996385 -0.6601611 -0.61588831 -1.40889887] [ 0.76182799 0.63136465 -0.14490272 -0.29925589] [ 0.48450924 -0.40689802 0.77439318 -2.4812823 ] [ 0. 0. 0. 1. ]] SLAMing on 204.841346184 meters Centerline goodness : 0.883663 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:-2.48 [[ 0.42940654 -0.66115753 -0.61520789 -1.40999655] [ 0.76222246 0.63068784 -0.14577302 -0.29735619] [ 0.48438306 -0.40632938 0.7747706 -2.48224363] [ 0. 0. 0. 1. ]] SLAMing on 204.871346184 meters Centerline goodness : 0.885495 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.30, Z:-2.48 [[ 0.42859551 -0.66256897 -0.61425422 -1.41390052] [ 0.76290416 0.62961848 -0.1468258 -0.29585123] [ 0.48402802 -0.40568822 0.77532828 -2.48283655] [ 0. 0. 0. 1. ]] SLAMing on 204.901346184 meters Centerline goodness : 0.885323 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.29, Z:-2.48 [[ 0.42815797 -0.66325879 -0.61381473 -1.41553294] [ 0.76317958 0.62913458 -0.14746732 -0.29458488] [ 0.48398107 -0.40531156 0.77555455 -2.48324005] [ 0. 0. 0. 1. ]] SLAMing on 204.93134618399998 meters Centerline goodness : 0.884057 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.29, Z:-2.48 [[ 0.4277334 -0.66340275 -0.61395515 -1.41563563] [ 0.76320815 0.62899051 -0.14793329 -0.29271251] [ 0.48431131 -0.40529957 0.77535464 -2.4833107 ] [ 0. 0. 0. 1. ]] SLAMing on 204.96134618399998 meters Centerline goodness : 0.883280 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.29, Z:-2.48 [[ 0.42720281 -0.66412521 -0.61354337 -1.41583953] [ 0.76352673 0.62844223 -0.14861795 -0.29103917] [ 0.48427749 -0.40496676 0.77554964 -2.48395639] [ 0. 0. 0. 1. ]] SLAMing on 204.99134618399998 meters Centerline goodness : 0.884211 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.29, Z:-2.48 [[ 0.42771003 -0.66163159 -0.61587967 -1.4144753 ] [ 0.76233431 0.63014256 -0.14753563 -0.28821675] [ 0.48570623 -0.40640374 0.77390275 -2.48353836] [ 0. 0. 0. 1. ]] SLAMing on 205.02134618399998 meters Centerline goodness : 0.885446 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.29, Z:-2.48 [[ 0.42749618 -0.66253075 -0.61506099 -1.41672811] [ 0.76249306 0.62975073 -0.14838585 -0.28619678] [ 0.4856453 -0.40554535 0.77439113 -2.4849104 ] [ 0. 0. 0. 1. ]] SLAMing on 205.05134618399998 meters Centerline goodness : 0.885356 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.28, Z:-2.48 [[ 0.42872911 -0.65925158 -0.61772057 -1.41622414] [ 0.76081951 0.63217997 -0.14663616 -0.28493665] [ 0.48718069 -0.40710667 0.77260542 -2.48405799] [ 0. 0. 0. 1. ]] SLAMing on 205.08134618399998 meters Centerline goodness : 0.885530 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.28, Z:-2.49 [[ 0.42873114 -0.65992505 -0.61699962 -1.41752709] [ 0.76087106 0.63197703 -0.14724216 -0.28343813] [ 0.48709838 -0.40632986 0.77306611 -2.48539006] [ 0. 0. 0. 1. ]] SLAMing on 205.11134618399998 meters Centerline goodness : 0.887478 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.28, Z:-2.49 [[ 0.43031129 -0.65670113 -0.61933499 -1.41868397] [ 0.75909824 0.63453122 -0.145396 -0.28245113] [ 0.4884691 -0.40757056 0.77154661 -2.48511336] [ 0. 0. 0. 1. ]] SLAMing on 205.14134618399999 meters Centerline goodness : 0.888556 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.28, Z:-2.48 [[ 0.43131426 -0.652946 -0.62259901 -1.41722899] [ 0.75735257 0.6370569 -0.14344191 -0.28110945] [ 0.49029082 -0.40965842 0.76928206 -2.48331205] [ 0. 0. 0. 1. ]] SLAMing on 205.171346184 meters Centerline goodness : 0.887466 Centerline is valid? [False, False] Translation: X:-1.42, Y:-0.28, Z:-2.48 [[ 0.43117764 -0.65273702 -0.62291269 -1.41712506] [ 0.75721832 0.63719091 -0.14355541 -0.28050622] [ 0.49061824 -0.40978302 0.7690069 -2.48285435] [ 0. 0. 0. 1. ]] SLAMing on 205.201346184 meters Centerline goodness : 0.885944 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.27, Z:-2.48 [[ 0.43438793 -0.65556639 -0.61768911 -1.41019956] [ 0.76148572 0.6335601 -0.13689816 -0.27173267] [ 0.481089 -0.41089452 0.7744153 -2.4845401 ] [ 0. 0. 0. 1. ]] SLAMing on 205.231346184 meters Centerline goodness : 0.888286 Centerline is valid? [False, False] Translation: X:-1.41, Y:-0.27, Z:-2.48 [[ 0.43548242 -0.65130941 -0.62141058 -1.40732369] [ 0.75957892 0.6363281 -0.13463435 -0.27053834] [ 0.48310963 -0.41337949 0.7718306 -2.48242813] [ 0. 0. 0. 1. ]] SLAMing on 205.261346184 meters Centerline goodness : 0.887376 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.26, Z:-2.48 [[ 0.4385018 -0.65281144 -0.61770008 -1.40075037] [ 0.76076907 0.63554054 -0.13160032 -0.25545894] [ 0.47848364 -0.41222014 0.77532443 -2.4780414 ] [ 0. 0. 0. 1. ]] SLAMing on 205.291346184 meters Centerline goodness : 0.888417 Centerline is valid? [False, False] Translation: X:-1.40, Y:-0.25, Z:-2.48 [[ 0.43940495 -0.64915656 -0.62090181 -1.3979372 ] [ 0.7589118 0.63807708 -0.13004041 -0.25238193] [ 0.4805998 -0.41406931 0.7730268 -2.47710743] [ 0. 0. 0. 1. ]] SLAMing on 205.321346184 meters Centerline goodness : 0.886512 Centerline is valid? [False, False] Translation: X:-1.39, Y:-0.24, Z:-2.47 [[ 0.44022685 -0.64785693 -0.62167654 -1.38568877] [ 0.76017771 0.63739378 -0.1259326 -0.23548791] [ 0.47783907 -0.41714574 0.77308425 -2.47246881] [ 0. 0. 0. 1. ]] SLAMing on 205.351346184 meters Centerline goodness : 0.886176 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.22, Z:-2.47 [[ 0.44279578 -0.65224848 -0.61522664 -1.37982198] [ 0.76257606 0.63486059 -0.12421664 -0.22179147] [ 0.47160327 -0.41415451 0.77850267 -2.4695275 ] [ 0. 0. 0. 1. ]] SLAMing on 205.381346184 meters Centerline goodness : 0.888742 Centerline is valid? [False, False] Translation: X:-1.38, Y:-0.21, Z:-2.47 [[ 0.44580704 -0.6566153 -0.60836866 -1.37523603] [ 0.76487068 0.63249416 -0.12216377 -0.20818131] [ 0.46500422 -0.41086188 0.78419614 -2.46753749] [ 0. 0. 0. 1. ]] SLAMing on 205.411346184 meters Centerline goodness : 0.887794 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.20, Z:-2.47 [[ 0.44937698 -0.65589437 -0.60651703 -1.36745632] [ 0.76747581 0.63092293 -0.11365358 -0.19884713] [ 0.45721024 -0.41441385 0.7869053 -2.46847322] [ 0. 0. 0. 1. ]] SLAMing on 205.441346184 meters Centerline goodness : 0.888121 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:-2.47 [[ 0.45326383 -0.65831232 -0.60097986 -1.36286618] [ 0.76860784 0.63010083 -0.11052119 -0.18453272] [ 0.45143537 -0.41182257 0.79158592 -2.46668706] [ 0. 0. 0. 1. ]] SLAMing on 205.471346184 meters Centerline goodness : 0.885409 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:-2.47 [[ 0.45295089 -0.65878925 -0.60069311 -1.36302926] [ 0.76869877 0.62987733 -0.11116095 -0.18296215] [ 0.45159461 -0.41140161 0.79171398 -2.46726746] [ 0. 0. 0. 1. ]] SLAMing on 205.501346184 meters Centerline goodness : 0.884489 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.18, Z:-2.47 [[ 0.45209053 -0.66006865 -0.59993628 -1.36388735] [ 0.7691499 0.62908257 -0.11253244 -0.17912734] [ 0.45168859 -0.41056608 0.792094 -2.46903256] [ 0. 0. 0. 1. ]] SLAMing on 205.531346184 meters Centerline goodness : 0.883887 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.17, Z:-2.47 [[ 0.45453909 -0.66458697 -0.59305849 -1.35964851] [ 0.77168056 0.62634663 -0.11044919 -0.16525807] [ 0.44486327 -0.40744823 0.79754787 -2.46705371] [ 0. 0. 0. 1. ]] SLAMing on 205.561346184 meters Centerline goodness : 0.886290 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-2.47 [[ 0.45696544 -0.66937771 -0.5857611 -1.3559195 ] [ 0.77434343 0.62342298 -0.108333 -0.15234308] [ 0.43769263 -0.40407582 0.80321099 -2.4650881 ] [ 0. 0. 0. 1. ]] SLAMing on 205.591346184 meters Centerline goodness : 0.885248 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-2.46 [[ 0.4564381 -0.66985695 -0.58562439 -1.35699771] [ 0.77465064 0.62296033 -0.10879711 -0.15145378] [ 0.43769926 -0.40399516 0.80324795 -2.46488838] [ 0. 0. 0. 1. ]] SLAMing on 205.621346184 meters Centerline goodness : 0.884500 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-2.47 [[ 0.4561253 -0.67036688 -0.58528451 -1.35772232] [ 0.77484441 0.62263282 -0.10929091 -0.15048315] [ 0.43768235 -0.40365408 0.80342861 -2.46527053] [ 0. 0. 0. 1. ]] SLAMing on 205.651346184 meters Centerline goodness : 0.884046 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-2.47 [[ 0.45660422 -0.67114158 -0.58402188 -1.36042257] [ 0.77462559 0.62277167 -0.11004836 -0.14882359] [ 0.43757031 -0.40214975 0.80424362 -2.46756483] [ 0. 0. 0. 1. ]] SLAMing on 205.68134618399998 meters Centerline goodness : 0.886792 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.15, Z:-2.47 [[ 0.45672356 -0.67185098 -0.58311221 -1.36251331] [ 0.77455614 0.6227219 -0.11081619 -0.14714933] [ 0.43756871 -0.40104078 0.80479806 -2.46913944] [ 0. 0. 0. 1. ]] SLAMing on 205.71134618399998 meters Centerline goodness : 0.884309 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.47 [[ 0.45658708 -0.67269921 -0.58224051 -1.36451591] [ 0.77459744 0.62249822 -0.11178005 -0.14466923] [ 0.43763803 -0.39996468 0.80529573 -2.47083033] [ 0. 0. 0. 1. ]] SLAMing on 205.74134618399998 meters Centerline goodness : 0.884140 Centerline is valid? [False, False] Translation: X:-1.37, Y:-0.14, Z:-2.47 [[ 0.45630242 -0.67353256 -0.58149978 -1.366633 ] [ 0.77463529 0.62225265 -0.1128796 -0.14078784] [ 0.43786786 -0.39894302 0.80567748 -2.47298519] [ 0. 0. 0. 1. ]] SLAMing on 205.77134618399998 meters Centerline goodness : 0.884554 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.14, Z:-2.47 [[ 0.45690259 -0.66960466 -0.5855507 -1.36273828] [ 0.77312843 0.62448577 -0.11086008 -0.13886633] [ 0.43990051 -0.40205364 0.80301956 -2.47066639] [ 0. 0. 0. 1. ]] SLAMing on 205.80134618399998 meters Centerline goodness : 0.884784 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.47 [[ 0.46042067 -0.67239995 -0.57956114 -1.35681306] [ 0.77650242 0.62145165 -0.10412412 -0.1287336 ] [ 0.43018228 -0.40208973 0.80824938 -2.47458549] [ 0. 0. 0. 1. ]] SLAMing on 205.83134618399998 meters Centerline goodness : 0.884852 Centerline is valid? [False, False] Translation: X:-1.36, Y:-0.13, Z:-2.48 [[ 0.46054045 -0.67275125 -0.57905807 -1.35779659] [ 0.77638383 0.62151925 -0.10460383 -0.12762943] [ 0.4302681 -0.40139703 0.80854795 -2.47558092] [ 0. 0. 0. 1. ]] SLAMing on 205.86134618399998 meters Centerline goodness : 0.884029 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.11, Z:-2.48 [[ 0.46337347 -0.6774491 -0.57126854 -1.35425508] [ 0.77858119 0.61909434 -0.10263305 -0.11426748] [ 0.42319778 -0.39722151 0.81432101 -2.47507371] [ 0. 0. 0. 1. ]] SLAMing on 205.89134618399999 meters Centerline goodness : 0.886374 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.10, Z:-2.47 [[ 0.46689427 -0.6806545 -0.5645522 -1.35020287] [ 0.77986289 0.61790727 -0.10002236 -0.10036275] [ 0.41692158 -0.39357344 0.81931455 -2.47445728] [ 0. 0. 0. 1. ]] SLAMing on 205.921346184 meters Centerline goodness : 0.886201 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:-2.47 [[ 0.46945546 -0.68570883 -0.55625081 -1.34698938] [ 0.78225197 0.61517995 -0.09816052 -0.08765411] [ 0.40950388 -0.3890463 0.82519667 -2.47403822] [ 0. 0. 0. 1. ]] SLAMing on 205.951346184 meters Centerline goodness : 0.886969 Centerline is valid? [False, False] Translation: X:-1.35, Y:-0.09, Z:-2.47 [[ 0.46933203 -0.68582406 -0.55621291 -1.34733264] [ 0.78224282 0.61514756 -0.09843602 -0.08644264] [ 0.4096628 -0.38889438 0.8251894 -2.47448267] [ 0. 0. 0. 1. ]] SLAMing on 205.981346184 meters Centerline goodness : 0.886950 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.08, Z:-2.47 [[ 0.47141649 -0.68553282 -0.55480739 -1.34054387] [ 0.78539219 0.61249784 -0.08947347 -0.07795317] [ 0.40115533 -0.39356212 0.82715371 -2.47485749] [ 0. 0. 0. 1. ]] SLAMing on 206.011346184 meters Centerline goodness : 0.886227 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.08, Z:-2.47 [[ 0.47120041 -0.68534536 -0.5552224 -1.3404464 ] [ 0.78548322 0.61240452 -0.08931301 -0.07849349] [ 0.40123097 -0.39403355 0.82689254 -2.47376166] [ 0. 0. 0. 1. ]] SLAMing on 206.041346184 meters Centerline goodness : 0.885790 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.08, Z:-2.47 [[ 0.47086721 -0.68480014 -0.55617698 -1.33876349] [ 0.78543971 0.61248225 -0.0891625 -0.07826208] [ 0.40170702 -0.39485979 0.82626704 -2.47240736] [ 0. 0. 0. 1. ]] SLAMing on 206.071346184 meters Centerline goodness : 0.886360 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.08, Z:-2.47 [[ 0.4704893 -0.68472018 -0.55659509 -1.33769126] [ 0.78561762 0.61226056 -0.08911771 -0.07833458] [ 0.40180192 -0.39534197 0.82599028 -2.47159964] [ 0. 0. 0. 1. ]] SLAMing on 206.101346184 meters Centerline goodness : 0.885305 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:-2.47 [[ 0.46937459 -0.68460841 -0.55767269 -1.33493875] [ 0.78598613 0.61173984 -0.08944372 -0.07673281] [ 0.40238452 -0.39634039 0.82522784 -2.47029588] [ 0. 0. 0. 1. ]] SLAMing on 206.131346184 meters Centerline goodness : 0.885300 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.08, Z:-2.47 [[ 0.46915725 -0.68473616 -0.55769872 -1.33375509] [ 0.78606753 0.61160478 -0.08965168 -0.07596318] [ 0.40247895 -0.39632812 0.82518768 -2.47055368] [ 0. 0. 0. 1. ]] SLAMing on 206.161346184 meters Centerline goodness : 0.885262 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.4689618 -0.68479064 -0.55779621 -1.33208549] [ 0.78600907 0.61162256 -0.09004216 -0.07429421] [ 0.40282078 -0.39620655 0.82507927 -2.47119547] [ 0. 0. 0. 1. ]] SLAMing on 206.191346184 meters Centerline goodness : 0.885531 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46872016 -0.68545281 -0.55718565 -1.33002797] [ 0.78603383 0.6114522 -0.09097815 -0.07190178] [ 0.40305362 -0.39532348 0.82538908 -2.47303078] [ 0. 0. 0. 1. ]] SLAMing on 206.221346184 meters Centerline goodness : 0.885485 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46878146 -0.68543604 -0.55715472 -1.32935332] [ 0.78591463 0.61158163 -0.09113783 -0.07153691] [ 0.40321474 -0.39515232 0.82539234 -2.47321696] [ 0. 0. 0. 1. ]] SLAMing on 206.251346184 meters Centerline goodness : 0.887849 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.47069944 -0.68185293 -0.55992734 -1.33183639] [ 0.784176 0.61416759 -0.08869145 -0.07287447] [ 0.40436375 -0.39733457 0.82378104 -2.4713809 ] [ 0. 0. 0. 1. ]] SLAMing on 206.281346184 meters Centerline goodness : 0.889227 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.47255209 -0.67779029 -0.56328931 -1.33223455] [ 0.78216313 0.61706434 -0.08632757 -0.07262354] [ 0.40609774 -0.39978985 0.82173761 -2.46975298] [ 0. 0. 0. 1. ]] SLAMing on 206.311346184 meters Centerline goodness : 0.889047 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.47296468 -0.67785894 -0.56286025 -1.33459302] [ 0.7818935 0.61738131 -0.08650358 -0.07254891] [ 0.40613663 -0.39918364 0.82201306 -2.47012908] [ 0. 0. 0. 1. ]] SLAMing on 206.341346184 meters Centerline goodness : 0.888506 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.07, Z:-2.47 [[ 0.47228252 -0.68137452 -0.55917617 -1.33696349] [ 0.78316058 0.61548535 -0.08852842 -0.073923 ] [ 0.40448575 -0.39611431 0.82430864 -2.47183774] [ 0. 0. 0. 1. ]] SLAMing on 206.371346184 meters Centerline goodness : 0.888449 Centerline is valid? [False, False] Translation: X:-1.34, Y:-0.07, Z:-2.47 [[ 0.47194247 -0.68124669 -0.55961884 -1.33522443] [ 0.78328833 0.61532771 -0.08849406 -0.07401165] [ 0.40463527 -0.3965788 0.82401187 -2.47111049] [ 0. 0. 0. 1. ]] SLAMing on 206.401346184 meters Centerline goodness : 0.889525 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.47113113 -0.68108399 -0.56049983 -1.33224509] [ 0.78354606 0.61497489 -0.08866482 -0.07293977] [ 0.40508151 -0.39740467 0.82339449 -2.47012156] [ 0. 0. 0. 1. ]] SLAMing on 206.43134618399998 meters Centerline goodness : 0.889768 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46994705 -0.68141484 -0.56109142 -1.32949243] [ 0.78410369 0.61419087 -0.08916829 -0.07129493] [ 0.40537782 -0.39804947 0.82293708 -2.46942463] [ 0. 0. 0. 1. ]] SLAMing on 206.46134618399998 meters Centerline goodness : 0.890307 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46805576 -0.68247086 -0.56138876 -1.32843067] [ 0.78516419 0.61268339 -0.09020119 -0.06840248] [ 0.40551325 -0.39856316 0.82262167 -2.46890387] [ 0. 0. 0. 1. ]] SLAMing on 206.49134618399998 meters Centerline goodness : 0.890307 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46805576 -0.68247086 -0.56138876 -1.32843067] [ 0.78516419 0.61268339 -0.09020119 -0.06840248] [ 0.40551325 -0.39856316 0.82262167 -2.46890387] [ 0. 0. 0. 1. ]] SLAMing on 206.52134618399998 meters Centerline goodness : 0.890452 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46750879 -0.68269427 -0.56157284 -1.32909149] [ 0.78539703 0.61233206 -0.09055917 -0.06776593] [ 0.40569328 -0.39872043 0.82245667 -2.46816113] [ 0. 0. 0. 1. ]] SLAMing on 206.55134618399998 meters Centerline goodness : 0.891958 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46838616 -0.6792782 -0.56497393 -1.32626748] [ 0.7841416 0.61424826 -0.08843661 -0.06757831] [ 0.40710731 -0.40159708 0.82035567 -2.46609381] [ 0. 0. 0. 1. ]] SLAMing on 206.58134618399998 meters Centerline goodness : 0.891039 Centerline is valid? [False, False] Translation: X:-1.33, Y:-0.07, Z:-2.47 [[ 0.46829599 -0.6793429 -0.56497088 -1.32549003] [ 0.78426824 0.61409924 -0.08834844 -0.06838729] [ 0.40696707 -0.4017155 0.82036727 -2.46566089] [ 0. 0. 0. 1. ]] SLAMing on 206.61134618399998 meters Centerline goodness : 0.894781 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:-2.47 [[ 0.4684778 -0.67885343 -0.56540833 -1.32451322] [ 0.78403082 0.61443804 -0.08809977 -0.06845186] [ 0.40721522 -0.40202477 0.82009259 -2.46536287] [ 0. 0. 0. 1. ]] SLAMing on 206.64134618399999 meters Centerline goodness : 0.894041 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.07, Z:-2.47 [[ 0.4683788 -0.67884047 -0.5655059 -1.32433212] [ 0.78406207 0.61439397 -0.08812895 -0.06846867] [ 0.40726891 -0.402114 0.82002217 -2.46507084] [ 0. 0. 0. 1. ]] SLAMing on 206.671346184 meters Centerline goodness : 0.891795 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.06, Z:-2.47 [[ 0.47163197 -0.67930328 -0.56223691 -1.31716221] [ 0.7867716 0.61209528 -0.07956021 -0.06124585] [ 0.39818807 -0.40482889 0.82314023 -2.46591874] [ 0. 0. 0. 1. ]] SLAMing on 206.701346184 meters Centerline goodness : 0.896388 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.06, Z:-2.47 [[ 0.47148846 -0.67916115 -0.5625289 -1.31664788] [ 0.78674569 0.61212108 -0.07961785 -0.06058407] [ 0.39840915 -0.40502829 0.82293513 -2.46575306] [ 0. 0. 0. 1. ]] SLAMing on 206.731346184 meters Centerline goodness : 0.894324 Centerline is valid? [False, False] Translation: X:-1.32, Y:-0.06, Z:-2.47 [[ 0.47164832 -0.67909121 -0.56247932 -1.31502969] [ 0.78656169 0.61234096 -0.07974492 -0.05972914] [ 0.3985832 -0.40481313 0.82295672 -2.46661434] [ 0. 0. 0. 1. ]] SLAMing on 206.761346184 meters Centerline goodness : 0.891531 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-2.47 [[ 0.47153656 -0.67881707 -0.56290377 -1.31329271] [ 0.78653046 0.61239543 -0.07963458 -0.05968669] [ 0.39877701 -0.40519034 0.82267714 -2.4662241 ] [ 0. 0. 0. 1. ]] SLAMing on 206.791346184 meters Centerline goodness : 0.892146 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-2.47 [[ 0.47111989 -0.67844394 -0.56370193 -1.31120897] [ 0.78652048 0.61239846 -0.07970983 -0.05906644] [ 0.39928885 -0.40581022 0.82212315 -2.46520297] [ 0. 0. 0. 1. ]] SLAMing on 206.821346184 meters Centerline goodness : 0.895182 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-2.46 [[ 0.47064389 -0.67820877 -0.56438214 -1.30966202] [ 0.78666324 0.61221815 -0.07968621 -0.05874185] [ 0.39956887 -0.40647485 0.82165863 -2.46420667] [ 0. 0. 0. 1. ]] SLAMing on 206.851346184 meters Centerline goodness : 0.897507 Centerline is valid? [False, False] Translation: X:-1.31, Y:-0.06, Z:-2.46 [[ 0.47050293 -0.67750114 -0.56534875 -1.30525957] [ 0.78671091 0.6122488 -0.07897687 -0.06090757] [ 0.39964101 -0.40760718 0.82106239 -2.46235941] [ 0. 0. 0. 1. ]] SLAMing on 206.881346184 meters Centerline goodness : 0.893240 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-2.46 [[ 0.47044496 -0.67648735 -0.56660957 -1.30230253] [ 0.78647111 0.6126263 -0.07843598 -0.06134102] [ 0.40018087 -0.40872225 0.82024472 -2.46084285] [ 0. 0. 0. 1. ]] SLAMing on 206.911346184 meters Centerline goodness : 0.892717 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-2.46 [[ 0.47040023 -0.67592478 -0.56731765 -1.30069062] [ 0.78630844 0.61286389 -0.07821055 -0.0612557 ] [ 0.40055295 -0.40929639 0.81977667 -2.46009332] [ 0. 0. 0. 1. ]] SLAMing on 206.941346184 meters Centerline goodness : 0.896770 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-2.46 [[ 0.47029966 -0.6757677 -0.56758809 -1.30084074] [ 0.78631801 0.61286159 -0.07813232 -0.06151775] [ 0.40065224 -0.40955913 0.81959691 -2.45937131] [ 0. 0. 0. 1. ]] SLAMing on 206.971346184 meters Centerline goodness : 0.897084 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.06, Z:-2.46 [[ 0.47074505 -0.67419554 -0.56908652 -1.29881641] [ 0.78583038 0.61363733 -0.07694049 -0.0642617 ] [ 0.40108567 -0.41098613 0.81867008 -2.45665025] [ 0. 0. 0. 1. ]] SLAMing on 207.001346184 meters Centerline goodness : 0.895862 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.07, Z:-2.46 [[ 0.47094729 -0.67317195 -0.57012996 -1.29655272] [ 0.78548959 0.61415232 -0.07630879 -0.06553012] [ 0.40151558 -0.41189373 0.81800293 -2.45504597] [ 0. 0. 0. 1. ]] SLAMing on 207.031346184 meters Centerline goodness : 0.897223 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-2.45 [[ 0.47030429 -0.67255627 -0.57138598 -1.29299235] [ 0.78551064 0.61412481 -0.0763135 -0.06434403] [ 0.40222743 -0.4129392 0.81712564 -2.45383267] [ 0. 0. 0. 1. ]] SLAMing on 207.061346184 meters Centerline goodness : 0.897281 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-2.45 [[ 0.4696568 -0.67260198 -0.57186455 -1.29025316] [ 0.78576547 0.61376811 -0.0765593 -0.06369254] [ 0.40248616 -0.41339482 0.81676778 -2.45315432] [ 0. 0. 0. 1. ]] SLAMing on 207.091346184 meters Centerline goodness : 0.898875 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.06, Z:-2.45 [[ 0.46936571 -0.67189622 -0.5729322 -1.28654417] [ 0.78567097 0.61391952 -0.07631477 -0.06390119] [ 0.40300987 -0.41431666 0.81604212 -2.45173704] [ 0. 0. 0. 1. ]] SLAMing on 207.121346184 meters Centerline goodness : 0.894849 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.06, Z:-2.45 [[ 0.46894036 -0.6714759 -0.57377264 -1.28448002] [ 0.78580036 0.6137841 -0.07607146 -0.06446146] [ 0.40325268 -0.41519777 0.81547415 -2.45019141] [ 0. 0. 0. 1. ]] SLAMing on 207.151346184 meters Centerline goodness : 0.897269 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.06, Z:-2.45 [[ 0.46762647 -0.6717622 -0.57450939 -1.28410559] [ 0.78643182 0.61291557 -0.07654736 -0.0633533 ] [ 0.40354737 -0.41601689 0.81491071 -2.44847909] [ 0. 0. 0. 1. ]] SLAMing on 207.18134618399998 meters Centerline goodness : 0.894378 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.06, Z:-2.45 [[ 0.46697492 -0.67140811 -0.57545249 -1.28258787] [ 0.78654057 0.61276109 -0.0766667 -0.06247665] [ 0.40408954 -0.41681531 0.81423378 -2.44712811] [ 0. 0. 0. 1. ]] SLAMing on 207.21134618399998 meters Centerline goodness : 0.892310 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.08, Z:-2.45 [[ 0.46407308 -0.66664605 -0.58328314 -1.28596282] [ 0.78454329 0.61505235 -0.07875558 -0.07557329] [ 0.41125176 -0.42106253 0.80844192 -2.44729815] [ 0. 0. 0. 1. ]] SLAMing on 207.24134618399998 meters Centerline goodness : 0.893135 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.45 [[ 0.46378504 -0.66625098 -0.58396325 -1.28422064] [ 0.78447913 0.61513156 -0.07877605 -0.07512358] [ 0.41169884 -0.42157183 0.8079488 -2.44638042] [ 0. 0. 0. 1. ]] SLAMing on 207.27134618399998 meters Centerline goodness : 0.894076 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-2.45 [[ 0.46355541 -0.66625695 -0.58413874 -1.28435113] [ 0.78453507 0.61504173 -0.07892021 -0.07497207] [ 0.41185084 -0.42169343 0.80780786 -2.44582632] [ 0. 0. 0. 1. ]] SLAMing on 207.30134618399998 meters Centerline goodness : 0.897471 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-2.45 [[ 0.46357694 -0.66608163 -0.58432156 -1.28437773] [ 0.78441138 0.61519501 -0.07895493 -0.07481158] [ 0.41206214 -0.4217468 0.80767223 -2.44554151] [ 0. 0. 0. 1. ]] SLAMing on 207.33134618399998 meters Centerline goodness : 0.892060 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.07, Z:-2.44 [[ 0.46281228 -0.66611061 -0.58489439 -1.28241925] [ 0.78466002 0.61483062 -0.07932186 -0.07387225] [ 0.41244812 -0.42223211 0.80722153 -2.44460679] [ 0. 0. 0. 1. ]] SLAMing on 207.36134618399998 meters Centerline goodness : 0.891651 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.45872893 -0.6629762 -0.5916336 -1.28517849] [ 0.78316666 0.61620974 -0.0832799 -0.08510291] [ 0.41978298 -0.42514482 0.80189409 -2.44579767] [ 0. 0. 0. 1. ]] SLAMing on 207.39134618399999 meters Centerline goodness : 0.891723 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45794303 -0.66233261 -0.5929618 -1.28099208] [ 0.7831718 0.61618307 -0.08342876 -0.08353405] [ 0.42063061 -0.42618534 0.80089696 -2.44436841] [ 0. 0. 0. 1. ]] SLAMing on 207.421346184 meters Centerline goodness : 0.892321 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45667892 -0.66237352 -0.5938903 -1.27984924] [ 0.7836122 0.61555022 -0.0839633 -0.08209965] [ 0.42118437 -0.42703542 0.80015278 -2.44257313] [ 0. 0. 0. 1. ]] SLAMing on 207.451346184 meters Centerline goodness : 0.889606 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45817642 -0.65755899 -0.59807235 -1.27743901] [ 0.78171838 0.61835042 -0.08098844 -0.08359398] [ 0.42307297 -0.43041716 0.79733953 -2.43890535] [ 0. 0. 0. 1. ]] SLAMing on 207.481346184 meters Centerline goodness : 0.892633 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.45854253 -0.65718701 -0.59820062 -1.27794734] [ 0.78151342 0.61865954 -0.08060485 -0.08509158] [ 0.42305498 -0.43054106 0.79728218 -2.43810147] [ 0. 0. 0. 1. ]] SLAMing on 207.511346184 meters Centerline goodness : 0.892328 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.45963673 -0.65618627 -0.5984594 -1.27741097] [ 0.78073139 0.61973867 -0.07989043 -0.08682301] [ 0.42331144 -0.43051547 0.79715987 -2.43783336] [ 0. 0. 0. 1. ]] SLAMing on 207.541346184 meters Centerline goodness : 0.891063 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.45957216 -0.65650449 -0.59815992 -1.27786645] [ 0.78072036 0.61969849 -0.08030878 -0.08564313] [ 0.42340187 -0.43008795 0.79734259 -2.43860443] [ 0. 0. 0. 1. ]] SLAMing on 207.571346184 meters Centerline goodness : 0.891453 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45927232 -0.65689683 -0.59795944 -1.27861528] [ 0.78081737 0.61950613 -0.08084797 -0.08403961] [ 0.42354831 -0.42976588 0.79743847 -2.43918749] [ 0. 0. 0. 1. ]] SLAMing on 207.601346184 meters Centerline goodness : 0.891542 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.4590954 -0.6570416 -0.59793625 -1.279136 ] [ 0.78076221 0.61951811 -0.08128765 -0.08288763] [ 0.4238417 -0.42952724 0.79741116 -2.43930102] [ 0. 0. 0. 1. ]] SLAMing on 207.631346184 meters Centerline goodness : 0.893211 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.4583815 -0.66053618 -0.59462455 -1.2797906 ] [ 0.78214003 0.61754177 -0.08306108 -0.08440297] [ 0.42207034 -0.427006 0.79970151 -2.44103706] [ 0. 0. 0. 1. ]] SLAMing on 207.661346184 meters Centerline goodness : 0.891252 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45712094 -0.66397982 -0.59175269 -1.27995746] [ 0.78363111 0.61536579 -0.08513063 -0.08472068] [ 0.42066938 -0.42480083 0.80161183 -2.44229375] [ 0. 0. 0. 1. ]] SLAMing on 207.691346184 meters Centerline goodness : 0.885554 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.45717715 -0.66369864 -0.59202464 -1.27902984] [ 0.78354637 0.61549993 -0.08494067 -0.08517767] [ 0.42076613 -0.42504583 0.80143116 -2.44180991] [ 0. 0. 0. 1. ]] SLAMing on 207.721346184 meters Centerline goodness : 0.893023 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.45710935 -0.66358568 -0.59220358 -1.27931749] [ 0.78350447 0.61554864 -0.08497422 -0.08515702] [ 0.42091779 -0.42515164 0.80129539 -2.44131118] [ 0. 0. 0. 1. ]] SLAMing on 207.751346184 meters Centerline goodness : 0.887233 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45724232 -0.66384792 -0.59180689 -1.28168996] [ 0.78339055 0.61564521 -0.08532425 -0.08380882] [ 0.42098541 -0.42460206 0.80155123 -2.44231334] [ 0. 0. 0. 1. ]] SLAMing on 207.781346184 meters Centerline goodness : 0.887358 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45689152 -0.66411105 -0.5917826 -1.28113255] [ 0.78348295 0.61546288 -0.08578993 -0.08246796] [ 0.42119427 -0.42445488 0.80151946 -2.44262401] [ 0. 0. 0. 1. ]] SLAMing on 207.811346184 meters Centerline goodness : 0.887372 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45546829 -0.66831663 -0.58813392 -1.28157413] [ 0.78526585 0.61283665 -0.08825411 -0.08231491] [ 0.41941171 -0.42164454 0.80393389 -2.44496056] [ 0. 0. 0. 1. ]] SLAMing on 207.841346184 meters Centerline goodness : 0.887610 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45523933 -0.667564 -0.58916505 -1.28000746] [ 0.7851039 0.61307773 -0.08802024 -0.08220777] [ 0.41996311 -0.4224855 0.8032042 -2.44344109] [ 0. 0. 0. 1. ]] SLAMing on 207.871346184 meters Centerline goodness : 0.885913 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.45327586 -0.67174255 -0.58592059 -1.28240826] [ 0.7870976 0.61013867 -0.0905989 -0.08177972] [ 0.41835195 -0.4201104 0.80528808 -2.4446095 ] [ 0. 0. 0. 1. ]] SLAMing on 207.901346184 meters Centerline goodness : 0.884872 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.10, Z:-2.45 [[ 0.44893817 -0.67236666 -0.58853852 -1.29087617] [ 0.78737909 0.60907226 -0.09521103 -0.09673287] [ 0.42247921 -0.42065907 0.80284324 -2.44812205] [ 0. 0. 0. 1. ]] SLAMing on 207.93134618399998 meters Centerline goodness : 0.884673 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.10, Z:-2.45 [[ 0.44854096 -0.67209811 -0.5891478 -1.2892552 ] [ 0.78737536 0.60905544 -0.09534944 -0.09588861] [ 0.42290785 -0.42111233 0.80237981 -2.44740161] [ 0. 0. 0. 1. ]] SLAMing on 207.96134618399998 meters Centerline goodness : 0.884947 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.44797595 -0.67260791 -0.58899588 -1.28973426] [ 0.78762807 0.60862978 -0.09597821 -0.09439268] [ 0.42303614 -0.42091376 0.80241637 -2.44757771] [ 0. 0. 0. 1. ]] SLAMing on 207.99134618399998 meters Centerline goodness : 0.885272 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.44752279 -0.67316222 -0.58870703 -1.29125447] [ 0.78786983 0.60822502 -0.09655805 -0.0930813 ] [ 0.42306558 -0.42061258 0.80255877 -2.44784411] [ 0. 0. 0. 1. ]] SLAMing on 208.02134618399998 meters Centerline goodness : 0.886152 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.44739229 -0.67314607 -0.58882468 -1.29285297] [ 0.78784391 0.60823215 -0.09672453 -0.09262557] [ 0.42325184 -0.42062813 0.8024524 -2.44744159] [ 0. 0. 0. 1. ]] SLAMing on 208.05134618399998 meters Centerline goodness : 0.885938 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-2.44 [[ 0.44388226 -0.66988063 -0.59517097 -1.2977803 ] [ 0.78399609 0.61197712 -0.10408717 -0.09993079] [ 0.43395699 -0.42040926 0.79682958 -2.44322443] [ 0. 0. 0. 1. ]] SLAMing on 208.08134618399998 meters Centerline goodness : 0.885058 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-2.44 [[ 0.44395903 -0.66972588 -0.59528784 -1.29715411] [ 0.7837663 0.61223971 -0.10427334 -0.09907161] [ 0.43429341 -0.42027346 0.79671792 -2.44341075] [ 0. 0. 0. 1. ]] SLAMing on 208.11134618399998 meters Centerline goodness : 0.891027 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-2.44 [[ 0.44397953 -0.66995313 -0.5950168 -1.29784888] [ 0.78352401 0.61243743 -0.10493107 -0.09700742] [ 0.43470945 -0.4196227 0.79683404 -2.44441639] [ 0. 0. 0. 1. ]] SLAMing on 208.14134618399999 meters Centerline goodness : 0.889043 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.10, Z:-2.45 [[ 0.44407004 -0.67039115 -0.59445564 -1.29851271] [ 0.78342997 0.61246607 -0.10546466 -0.09543483] [ 0.43478648 -0.41888067 0.79718235 -2.44576747] [ 0. 0. 0. 1. ]] SLAMing on 208.171346184 meters Centerline goodness : 0.888672 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.44 [[ 0.44573597 -0.66657419 -0.59749334 -1.29638621] [ 0.78153856 0.61523908 -0.10333613 -0.094792 ] [ 0.43648245 -0.42090345 0.79518762 -2.44479794] [ 0. 0. 0. 1. ]] SLAMing on 208.201346184 meters Centerline goodness : 0.886744 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.45 [[ 0.44569175 -0.66688614 -0.59717815 -1.29707797] [ 0.78142404 0.6152879 -0.10390989 -0.09327405] [ 0.43673255 -0.42033758 0.7953496 -2.44558498] [ 0. 0. 0. 1. ]] SLAMing on 208.231346184 meters Centerline goodness : 0.890764 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.44 [[ 0.4469105 -0.66401243 -0.59946518 -1.29624867] [ 0.78018875 0.61717452 -0.10198593 -0.093643 ] [ 0.43769456 -0.4221174 0.7938768 -2.44453432] [ 0. 0. 0. 1. ]] SLAMing on 208.261346184 meters Centerline goodness : 0.889576 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.44 [[ 0.44707063 -0.663918 -0.59945037 -1.29720425] [ 0.78010033 0.6173021 -0.10189006 -0.09373842] [ 0.43768861 -0.42207938 0.79390029 -2.44454551] [ 0. 0. 0. 1. ]] SLAMing on 208.291346184 meters Centerline goodness : 0.892004 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.44 [[ 0.44689701 -0.6643458 -0.59910577 -1.29845314] [ 0.78023525 0.61707067 -0.10225825 -0.09318338] [ 0.43762543 -0.42174453 0.79411305 -2.44482635] [ 0. 0. 0. 1. ]] SLAMing on 208.321346184 meters Centerline goodness : 0.889478 Centerline is valid? [False, False] Translation: X:-1.30, Y:-0.09, Z:-2.45 [[ 0.44657718 -0.66481246 -0.59882654 -1.29705186] [ 0.78043185 0.61674869 -0.10269945 -0.09203184] [ 0.43760136 -0.42148007 0.79426671 -2.44555633] [ 0. 0. 0. 1. ]] SLAMing on 208.351346184 meters Centerline goodness : 0.886671 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.44627384 -0.66488482 -0.59897231 -1.29463643] [ 0.78051558 0.61660548 -0.10292285 -0.09116629] [ 0.43776145 -0.42157545 0.79412786 -2.44568667] [ 0. 0. 0. 1. ]] SLAMing on 208.381346184 meters Centerline goodness : 0.886737 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.4459041 -0.66490834 -0.59922152 -1.29264159] [ 0.78065294 0.61640791 -0.10306442 -0.0906131 ] [ 0.43789327 -0.42182719 0.79392147 -2.4454067 ] [ 0. 0. 0. 1. ]] SLAMing on 208.411346184 meters Centerline goodness : 0.886737 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.45 [[ 0.4459041 -0.66490834 -0.59922152 -1.29264159] [ 0.78065294 0.61640791 -0.10306442 -0.0906131 ] [ 0.43789327 -0.42182719 0.79392147 -2.4454067 ] [ 0. 0. 0. 1. ]] SLAMing on 208.441346184 meters Centerline goodness : 0.885779 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.44 [[ 0.44580362 -0.66454251 -0.59970191 -1.29040274] [ 0.78079501 0.61631704 -0.10253032 -0.09214879] [ 0.43774226 -0.42253587 0.79362784 -2.44419882] [ 0. 0. 0. 1. ]] SLAMing on 208.471346184 meters Centerline goodness : 0.887853 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.44 [[ 0.44587491 -0.66409832 -0.60014081 -1.28996093] [ 0.78072067 0.61647634 -0.10213793 -0.09280474] [ 0.43780224 -0.42300159 0.79334662 -2.4434469 ] [ 0. 0. 0. 1. ]] SLAMing on 208.501346184 meters Centerline goodness : 0.887465 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.44 [[ 0.44573554 -0.66403629 -0.60031294 -1.29011532] [ 0.78071185 0.61647249 -0.10222849 -0.09216304] [ 0.43795984 -0.42310456 0.79320471 -2.44331563] [ 0. 0. 0. 1. ]] SLAMing on 208.531346184 meters Centerline goodness : 0.886685 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.44 [[ 0.44523622 -0.66425714 -0.60043914 -1.28912862] [ 0.78079599 0.61627121 -0.10279792 -0.09027441] [ 0.43831761 -0.42305112 0.79303557 -2.44349361] [ 0. 0. 0. 1. ]] SLAMing on 208.561346184 meters Centerline goodness : 0.884718 Centerline is valid? [False, False] Translation: X:-1.29, Y:-0.09, Z:-2.44 [[ 0.44543172 -0.66325751 -0.60139842 -1.28657941] [ 0.78045147 0.61680659 -0.10220142 -0.09119344] [ 0.43873237 -0.42383853 0.79238552 -2.44210092] [ 0. 0. 0. 1. ]] SLAMing on 208.591346184 meters Centerline goodness : 0.885311 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44570963 -0.66224052 -0.60231257 -1.28425685] [ 0.78017979 0.6172867 -0.10137364 -0.09294881] [ 0.43893327 -0.42472888 0.7917973 -2.44051126] [ 0. 0. 0. 1. ]] SLAMing on 208.621346184 meters Centerline goodness : 0.886967 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44540265 -0.66194229 -0.60286723 -1.28327433] [ 0.78025458 0.61721448 -0.10123773 -0.09333143] [ 0.43911192 -0.42529836 0.79139246 -2.43923499] [ 0. 0. 0. 1. ]] SLAMing on 208.651346184 meters Centerline goodness : 0.885051 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44507182 -0.66176768 -0.60330309 -1.28231593] [ 0.78025021 0.61719422 -0.1013948 -0.09226741] [ 0.43945498 -0.42559939 0.79104012 -2.43883497] [ 0. 0. 0. 1. ]] SLAMing on 208.68134618399998 meters Centerline goodness : 0.886861 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44313129 -0.66649049 -0.59952072 -1.28290125] [ 0.78231391 0.61406912 -0.10442251 -0.09056677] [ 0.43774377 -0.42274051 0.79351802 -2.4415484 ] [ 0. 0. 0. 1. ]] SLAMing on 208.71134618399998 meters Centerline goodness : 0.888938 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44308083 -0.66537465 -0.6007961 -1.27882279] [ 0.78190606 0.61464842 -0.10406841 -0.08999662] [ 0.43852286 -0.42365539 0.7925994 -2.44033762] [ 0. 0. 0. 1. ]] SLAMing on 208.74134618399998 meters Centerline goodness : 0.885922 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44290284 -0.66578973 -0.60046741 -1.27769954] [ 0.78207677 0.61438168 -0.10436036 -0.08931326] [ 0.43839823 -0.42339011 0.79281007 -2.44098614] [ 0. 0. 0. 1. ]] SLAMing on 208.77134618399998 meters Centerline goodness : 0.884875 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44250745 -0.66631511 -0.60017609 -1.27810594] [ 0.78226313 0.61404365 -0.10495136 -0.08755202] [ 0.43846499 -0.42305386 0.79295263 -2.4416755 ] [ 0. 0. 0. 1. ]] SLAMing on 208.80134618399998 meters Centerline goodness : 0.884677 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.09, Z:-2.44 [[ 0.44213796 -0.66684053 -0.59986476 -1.27910869] [ 0.78242342 0.6137344 -0.10556361 -0.08604694] [ 0.43855173 -0.42267456 0.79310693 -2.44218468] [ 0. 0. 0. 1. ]] SLAMing on 208.83134618399998 meters Centerline goodness : 0.886253 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44179226 -0.66740884 -0.59948731 -1.28021819] [ 0.78258693 0.61341777 -0.10619007 -0.08450536] [ 0.43860836 -0.42223698 0.79330866 -2.44281194] [ 0. 0. 0. 1. ]] SLAMing on 208.86134618399998 meters Centerline goodness : 0.885609 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44147069 -0.66820606 -0.59883578 -1.28164673] [ 0.78275352 0.61306068 -0.1070212 -0.08232857] [ 0.43863488 -0.42149409 0.79368896 -2.4440813 ] [ 0. 0. 0. 1. ]] SLAMing on 208.89134618399999 meters Centerline goodness : 0.884665 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44145555 -0.66822314 -0.59882789 -1.2812748 ] [ 0.78280501 0.61300553 -0.1069604 -0.08277289] [ 0.43855822 -0.42154721 0.79370312 -2.4438268 ] [ 0. 0. 0. 1. ]] SLAMing on 208.921346184 meters Centerline goodness : 0.885591 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44144868 -0.66803025 -0.59904813 -1.28000807] [ 0.78280436 0.61303941 -0.10677092 -0.08352985] [ 0.43856631 -0.4218036 0.79356242 -2.44319737] [ 0. 0. 0. 1. ]] SLAMing on 208.951346184 meters Centerline goodness : 0.888360 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43992559 -0.6717074 -0.5960492 -1.28145092] [ 0.78443708 0.61054232 -0.10907127 -0.08314152] [ 0.43717724 -0.41957986 0.79550538 -2.44458752] [ 0. 0. 0. 1. ]] SLAMing on 208.981346184 meters Centerline goodness : 0.888008 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43867204 -0.67159235 -0.5971018 -1.27964839] [ 0.78482827 0.60996723 -0.10947398 -0.08121849] [ 0.43773442 -0.4205992 0.79466024 -2.4430488 ] [ 0. 0. 0. 1. ]] SLAMing on 209.011346184 meters Centerline goodness : 0.887274 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43791984 -0.67211478 -0.59706611 -1.27925959] [ 0.78517497 0.60940522 -0.11011605 -0.0795747 ] [ 0.43786583 -0.42057936 0.79459834 -2.44310954] [ 0. 0. 0. 1. ]] SLAMing on 209.041346184 meters Centerline goodness : 0.886502 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43739932 -0.67222551 -0.59732295 -1.27826913] [ 0.7853288 0.60914469 -0.11046005 -0.07861356] [ 0.43811017 -0.42077976 0.79435752 -2.44271104] [ 0. 0. 0. 1. ]] SLAMing on 209.071346184 meters Centerline goodness : 0.887091 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.4375886 -0.67218675 -0.59722792 -1.27804334] [ 0.78524718 0.60926385 -0.11038311 -0.0789002 ] [ 0.43806745 -0.42066915 0.79443966 -2.44284012] [ 0. 0. 0. 1. ]] SLAMing on 209.101346184 meters Centerline goodness : 0.887617 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43815499 -0.67164823 -0.5974185 -1.27814216] [ 0.78484062 0.60985386 -0.11001573 -0.07954619] [ 0.43822985 -0.42067437 0.79434733 -2.44269421] [ 0. 0. 0. 1. ]] SLAMing on 209.131346184 meters Centerline goodness : 0.888014 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.43845832 -0.67147976 -0.59738532 -1.27826141] [ 0.78467869 0.61009388 -0.10983998 -0.08029346] [ 0.43821645 -0.42059528 0.7943966 -2.44253083] [ 0. 0. 0. 1. ]] SLAMing on 209.161346184 meters Centerline goodness : 0.886969 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44058155 -0.66691216 -0.60092934 -1.27563851] [ 0.78258066 0.61330515 -0.10688454 -0.0822993 ] [ 0.43983566 -0.42318432 0.79212349 -2.44012634] [ 0. 0. 0. 1. ]] SLAMing on 209.191346184 meters Centerline goodness : 0.890044 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44262892 -0.66348016 -0.60321946 -1.27745088] [ 0.78089311 0.6158784 -0.10440185 -0.08426309] [ 0.44077839 -0.42483864 0.79071268 -2.43897516] [ 0. 0. 0. 1. ]] SLAMing on 209.221346184 meters Centerline goodness : 0.890143 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44240874 -0.66390034 -0.6029186 -1.2792044 ] [ 0.78097055 0.61569408 -0.10490854 -0.0828792 ] [ 0.44086223 -0.42444921 0.79087506 -2.4395414 ] [ 0. 0. 0. 1. ]] SLAMing on 209.251346184 meters Centerline goodness : 0.887727 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44215685 -0.66400005 -0.60299358 -1.27940396] [ 0.78096944 0.61563552 -0.10525987 -0.08178161] [ 0.44111682 -0.42437819 0.79077121 -2.43952381] [ 0. 0. 0. 1. ]] SLAMing on 209.281346184 meters Centerline goodness : 0.889511 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44099343 -0.66655871 -0.60101937 -1.27829489] [ 0.78202737 0.6139703 -0.1071152 -0.08115939] [ 0.44040661 -0.42277649 0.79202402 -2.44012894] [ 0. 0. 0. 1. ]] SLAMing on 209.311346184 meters Centerline goodness : 0.889211 Centerline is valid? [False, False] Translation: X:-1.28, Y:-0.08, Z:-2.44 [[ 0.44078743 -0.66597322 -0.60181901 -1.27574305] [ 0.78189857 0.61416297 -0.1069508 -0.08107118] [ 0.44084132 -0.42341885 0.79143882 -2.43905278] [ 0. 0. 0. 1. ]] SLAMing on 209.341346184 meters Centerline goodness : 0.890984 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.08, Z:-2.44 [[ 0.4401531 -0.66524321 -0.60308932 -1.27165448] [ 0.7819957 0.61409089 -0.10665413 -0.08123199] [ 0.44130259 -0.42466911 0.79051134 -2.43706162] [ 0. 0. 0. 1. ]] SLAMing on 209.371346184 meters Centerline goodness : 0.890666 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.08, Z:-2.44 [[ 0.43968086 -0.66523456 -0.60344322 -1.27085697] [ 0.78202219 0.61398647 -0.10706033 -0.07966797] [ 0.4417262 -0.42483361 0.79018629 -2.4368485 ] [ 0. 0. 0. 1. ]] SLAMing on 209.401346184 meters Centerline goodness : 0.890746 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.08, Z:-2.44 [[ 0.43889053 -0.66559199 -0.60362439 -1.27113262] [ 0.78209918 0.61371345 -0.10805865 -0.07630448] [ 0.44237538 -0.42466822 0.78991197 -2.43716307] [ 0. 0. 0. 1. ]] SLAMing on 209.43134618399998 meters Centerline goodness : 0.890625 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.44 [[ 0.43968888 -0.66204183 -0.60693847 -1.26909803] [ 0.78051927 0.61599577 -0.10648414 -0.07391092] [ 0.44436849 -0.42690728 0.7875829 -2.43575203] [ 0. 0. 0. 1. ]] SLAMing on 209.46134618399998 meters Centerline goodness : 0.888961 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.44 [[ 0.43949896 -0.66248966 -0.60658727 -1.26787725] [ 0.78063974 0.61576927 -0.10691029 -0.07290451] [ 0.44434476 -0.42653917 0.78779571 -2.43647696] [ 0. 0. 0. 1. ]] SLAMing on 209.49134618399998 meters Centerline goodness : 0.890073 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.44 [[ 0.43972778 -0.66184645 -0.60712334 -1.26574257] [ 0.7803265 0.61622175 -0.10658944 -0.07325877] [ 0.44466845 -0.4268841 0.78742615 -2.43591234] [ 0. 0. 0. 1. ]] SLAMing on 209.52134618399998 meters Centerline goodness : 0.889880 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.44 [[ 0.43986367 -0.66158402 -0.6073109 -1.26517215] [ 0.7802524 0.61636179 -0.10632187 -0.07426825] [ 0.44466408 -0.42708866 0.78731768 -2.43526605] [ 0. 0. 0. 1. ]] SLAMing on 209.55134618399998 meters Centerline goodness : 0.892027 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.43 [[ 0.43956501 -0.66134124 -0.60779138 -1.26559545] [ 0.78043078 0.61618259 -0.10605101 -0.07477263] [ 0.44464637 -0.42772279 0.78698337 -2.43407186] [ 0. 0. 0. 1. ]] SLAMing on 209.58134618399998 meters Centerline goodness : 0.891593 Centerline is valid? [False, False] Translation: X:-1.27, Y:-0.07, Z:-2.43 [[ 0.43859213 -0.6617731 -0.60802409 -1.2655428 ] [ 0.78084307 0.61554664 -0.10670725 -0.07320843] [ 0.44488318 -0.42797044 0.78671485 -2.43337948] [ 0. 0. 0. 1. ]] SLAMing on 209.61134618399998 meters Centerline goodness : 0.891478 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43776049 -0.66164781 -0.60875934 -1.26458444] [ 0.78103309 0.61524524 -0.10705418 -0.07165967] [ 0.44536845 -0.42859709 0.7860989 -2.43231674] [ 0. 0. 0. 1. ]] SLAMing on 209.64134618399999 meters Centerline goodness : 0.892020 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43621303 -0.66235299 -0.6091032 -1.26429635] [ 0.78188746 0.61403519 -0.10776261 -0.07043243] [ 0.44538769 -0.4292427 0.78573565 -2.43087052] [ 0. 0. 0. 1. ]] SLAMing on 209.671346184 meters Centerline goodness : 0.892960 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43578372 -0.66215416 -0.60962646 -1.26298751] [ 0.78201912 0.61387022 -0.10774715 -0.07027683] [ 0.44557675 -0.4297851 0.78533186 -2.42990354] [ 0. 0. 0. 1. ]] SLAMing on 209.701346184 meters Centerline goodness : 0.891109 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43575267 -0.66203975 -0.60977289 -1.26143425] [ 0.78205674 0.61384883 -0.10759583 -0.07088508] [ 0.4455411 -0.42999183 0.78523892 -2.42945746] [ 0. 0. 0. 1. ]] SLAMing on 209.731346184 meters Centerline goodness : 0.889409 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43437134 -0.66569856 -0.60676764 -1.26156998] [ 0.78360834 0.61146084 -0.10987996 -0.07064048] [ 0.44416158 -0.42773948 0.78724801 -2.43101042] [ 0. 0. 0. 1. ]] SLAMing on 209.761346184 meters Centerline goodness : 0.892217 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43684541 -0.66121284 -0.60988824 -1.25940732] [ 0.78127305 0.61493572 -0.10708167 -0.07147932] [ 0.44584584 -0.42971111 0.78521962 -2.43006387] [ 0. 0. 0. 1. ]] SLAMing on 209.791346184 meters Centerline goodness : 0.892934 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43674125 -0.66209452 -0.60900569 -1.26200214] [ 0.78131254 0.61472443 -0.10800271 -0.06897115] [ 0.44587868 -0.42865454 0.78577827 -2.43191676] [ 0. 0. 0. 1. ]] SLAMing on 209.821346184 meters Centerline goodness : 0.893846 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43816734 -0.65809982 -0.61230221 -1.26092171] [ 0.77944506 0.61746041 -0.10586802 -0.06827112] [ 0.4477441 -0.43086803 0.78350364 -2.4302712 ] [ 0. 0. 0. 1. ]] SLAMing on 209.851346184 meters Centerline goodness : 0.892721 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43816788 -0.65829672 -0.61209014 -1.26150935] [ 0.77947053 0.61740193 -0.1060215 -0.0680181 ] [ 0.44769923 -0.43065101 0.78364858 -2.43050081] [ 0. 0. 0. 1. ]] SLAMing on 209.881346184 meters Centerline goodness : 0.893192 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43812345 -0.65806644 -0.6123695 -1.26059827] [ 0.77960391 0.61730593 -0.10559892 -0.06972489] [ 0.44751043 -0.4311403 0.78348737 -2.4292787 ] [ 0. 0. 0. 1. ]] SLAMing on 209.911346184 meters Centerline goodness : 0.894847 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43757843 -0.65784424 -0.61299762 -1.25827498] [ 0.7797778 0.61708607 -0.10560003 -0.06958458] [ 0.44774066 -0.43179364 0.78299588 -2.42806397] [ 0. 0. 0. 1. ]] SLAMing on 209.941346184 meters Centerline goodness : 0.894084 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.07, Z:-2.43 [[ 0.43678649 -0.65807563 -0.61331397 -1.25647176] [ 0.78022141 0.61648637 -0.10582586 -0.06931123] [ 0.44774113 -0.43229738 0.78271761 -2.42713632] [ 0. 0. 0. 1. ]] SLAMing on 209.971346184 meters Centerline goodness : 0.893261 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.43 [[ 0.43382637 -0.66187827 -0.61131975 -1.25374407] [ 0.78238604 0.6132304 -0.10872245 -0.065441 ] [ 0.44684088 -0.43112137 0.78387983 -2.42798047] [ 0. 0. 0. 1. ]] SLAMing on 210.001346184 meters Centerline goodness : 0.892672 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.43288852 -0.66232296 -0.61150292 -1.25239282] [ 0.78281817 0.61257275 -0.10931755 -0.06395047] [ 0.44699355 -0.43137329 0.78365417 -2.42756156] [ 0. 0. 0. 1. ]] SLAMing on 210.031346184 meters Centerline goodness : 0.893984 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.4324615 -0.66213054 -0.61201323 -1.25092853] [ 0.78294252 0.61241342 -0.10931974 -0.06368887] [ 0.44718906 -0.4318946 0.78325538 -2.42665281] [ 0. 0. 0. 1. ]] SLAMing on 210.061346184 meters Centerline goodness : 0.892995 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.42 [[ 0.43215552 -0.66200245 -0.61236783 -1.25029532] [ 0.78333642 0.61200258 -0.10879744 -0.0659215 ] [ 0.44679487 -0.43267261 0.78305093 -2.42489602] [ 0. 0. 0. 1. ]] SLAMing on 210.091346184 meters Centerline goodness : 0.892736 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.42 [[ 0.43245466 -0.66132527 -0.61288813 -1.2491374 ] [ 0.78307792 0.61242432 -0.10828402 -0.06693669] [ 0.44695855 -0.43311123 0.78271497 -2.42405902] [ 0. 0. 0. 1. ]] SLAMing on 210.121346184 meters Centerline goodness : 0.896377 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.42 [[ 0.43281439 -0.66119995 -0.61276939 -1.24955802] [ 0.7829201 0.6126609 -0.10808678 -0.06767499] [ 0.44688682 -0.43296795 0.78283518 -2.424102 ] [ 0. 0. 0. 1. ]] SLAMing on 210.151346184 meters Centerline goodness : 0.895505 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.43 [[ 0.4336789 -0.6606822 -0.61271661 -1.25101419] [ 0.78220544 0.61359135 -0.10798285 -0.06669598] [ 0.44729996 -0.43244038 0.78289084 -2.42529271] [ 0. 0. 0. 1. ]] SLAMing on 210.18134618399998 meters Centerline goodness : 0.895287 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.07, Z:-2.43 [[ 0.4337394 -0.66064096 -0.61271825 -1.25044044] [ 0.78198996 0.61381713 -0.10826002 -0.0653169 ] [ 0.44761796 -0.43218289 0.78285127 -2.42596365] [ 0. 0. 0. 1. ]] SLAMing on 210.21134618399998 meters Centerline goodness : 0.894267 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.433735 -0.66051846 -0.61285342 -1.24997109] [ 0.78177722 0.61404333 -0.1085134 -0.06423645] [ 0.44799366 -0.43204879 0.78271037 -2.42613009] [ 0. 0. 0. 1. ]] SLAMing on 210.24134618399998 meters Centerline goodness : 0.889629 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.43370243 -0.66078186 -0.61259247 -1.25118711] [ 0.78167267 0.61409177 -0.10899149 -0.06303405] [ 0.44820759 -0.43157692 0.78284821 -2.4266017 ] [ 0. 0. 0. 1. ]] SLAMing on 210.27134618399998 meters Centerline goodness : 0.890792 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.43344308 -0.66059613 -0.61297622 -1.24972522] [ 0.78162089 0.61413023 -0.10914598 -0.06223103] [ 0.44854864 -0.43180645 0.78252623 -2.42618693] [ 0. 0. 0. 1. ]] SLAMing on 210.30134618399998 meters Centerline goodness : 0.890792 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.43344308 -0.66059613 -0.61297622 -1.24972522] [ 0.78162089 0.61413023 -0.10914598 -0.06223103] [ 0.44854864 -0.43180645 0.78252623 -2.42618693] [ 0. 0. 0. 1. ]] SLAMing on 210.33134618399998 meters Centerline goodness : 0.889614 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.43 [[ 0.4330391 -0.66017553 -0.61371444 -1.24694097] [ 0.78160777 0.61414849 -0.10913721 -0.0615575 ] [ 0.44896151 -0.43242329 0.78194863 -2.42527346] [ 0. 0. 0. 1. ]] SLAMing on 210.36134618399998 meters Centerline goodness : 0.889383 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.42 [[ 0.43237352 -0.66047355 -0.61386303 -1.24523315] [ 0.78190019 0.6136995 -0.10956736 -0.0604901 ] [ 0.44909379 -0.4326056 0.78177181 -2.42494034] [ 0. 0. 0. 1. ]] SLAMing on 210.39134618399999 meters Centerline goodness : 0.887723 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-2.42 [[ 0.43106085 -0.66049637 -0.61476101 -1.24428255] [ 0.7822935 0.61309022 -0.11016925 -0.05800878] [ 0.44967035 -0.43343389 0.7809812 -2.42365946] [ 0. 0. 0. 1. ]] SLAMing on 210.421346184 meters Centerline goodness : 0.888907 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.06, Z:-2.42 [[ 0.43044807 -0.66063206 -0.6150445 -1.24378603] [ 0.78247565 0.61278428 -0.11057706 -0.05662601] [ 0.44994035 -0.43365966 0.78070031 -2.42319637] [ 0. 0. 0. 1. ]] SLAMing on 210.451346184 meters Centerline goodness : 0.889391 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.06, Z:-2.42 [[ 0.43039172 -0.66118022 -0.61449466 -1.24569409] [ 0.78258263 0.61257266 -0.11099176 -0.05589822] [ 0.44980818 -0.43312291 0.78107435 -2.42388864] [ 0. 0. 0. 1. ]] SLAMing on 210.481346184 meters Centerline goodness : 0.889413 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-2.42 [[ 0.43044526 -0.66112548 -0.61451605 -1.24573248] [ 0.78239844 0.61276913 -0.11120553 -0.05492977] [ 0.45007727 -0.43292851 0.78102711 -2.42416672] [ 0. 0. 0. 1. ]] SLAMing on 210.511346184 meters Centerline goodness : 0.888956 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-2.42 [[ 0.43020905 -0.66119792 -0.61460352 -1.24517888] [ 0.78229087 0.61281822 -0.11169074 -0.05317977] [ 0.45048993 -0.43274836 0.78088904 -2.42446284] [ 0. 0. 0. 1. ]] SLAMing on 210.541346184 meters Centerline goodness : 0.888404 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-2.42 [[ 0.4297458 -0.6617281 -0.61435696 -1.24519153] [ 0.78245881 0.61247924 -0.1123717 -0.05143185] [ 0.45064039 -0.43241774 0.78098536 -2.42496904] [ 0. 0. 0. 1. ]] SLAMing on 210.571346184 meters Centerline goodness : 0.888324 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.05, Z:-2.43 [[ 0.42841891 -0.66307935 -0.61382653 -1.24595755] [ 0.78322073 0.61126543 -0.11366553 -0.04857079] [ 0.4505802 -0.4320652 0.78121517 -2.42545897] [ 0. 0. 0. 1. ]] SLAMing on 210.601346184 meters Centerline goodness : 0.885529 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.05, Z:-2.42 [[ 0.42738623 -0.66324051 -0.61437207 -1.24489644] [ 0.78352735 0.6107577 -0.11428003 -0.04640379] [ 0.45102762 -0.4325356 0.78069651 -2.42465773] [ 0. 0. 0. 1. ]] SLAMing on 210.631346184 meters Centerline goodness : 0.883969 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.42 [[ 0.42618576 -0.66407276 -0.61430698 -1.24429277] [ 0.78412275 0.60981627 -0.11521996 -0.04417684] [ 0.45112883 -0.43258697 0.78060956 -2.42444431] [ 0. 0. 0. 1. ]] SLAMing on 210.661346184 meters Centerline goodness : 0.884410 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.42 [[ 0.42487984 -0.66460704 -0.61463371 -1.24376104] [ 0.78461739 0.60900566 -0.11613638 -0.04152179] [ 0.45150047 -0.43290829 0.78021647 -2.42385223] [ 0. 0. 0. 1. ]] SLAMing on 210.691346184 meters Centerline goodness : 0.884566 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.42 [[ 0.42273054 -0.66561219 -0.61502789 -1.24439241] [ 0.78561267 0.60746842 -0.11745146 -0.03783415] [ 0.45178714 -0.43352339 0.77970882 -2.42276284] [ 0. 0. 0. 1. ]] SLAMing on 210.721346184 meters Centerline goodness : 0.885777 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.42 [[ 0.42176168 -0.66622383 -0.6150308 -1.24428627] [ 0.78618844 0.60662064 -0.11797941 -0.03730131] [ 0.45169107 -0.43377091 0.77962681 -2.42187499] [ 0. 0. 0. 1. ]] SLAMing on 210.751346184 meters Centerline goodness : 0.885776 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.04, Z:-2.42 [[ 0.42107915 -0.66612922 -0.6156007 -1.24255042] [ 0.78638987 0.60631946 -0.11818494 -0.03655215] [ 0.45197712 -0.43433694 0.77914575 -2.42072847] [ 0. 0. 0. 1. ]] SLAMing on 210.781346184 meters Centerline goodness : 0.884416 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-2.42 [[ 0.41960179 -0.66765952 -0.6149513 -1.24302065] [ 0.78727895 0.6048954 -0.11955503 -0.03363183] [ 0.45180327 -0.43397271 0.77944948 -2.42129678] [ 0. 0. 0. 1. ]] SLAMing on 210.811346184 meters Centerline goodness : 0.884652 Centerline is valid? [False, False] Translation: X:-1.24, Y:-0.03, Z:-2.42 [[ 0.41889004 -0.66871191 -0.6142927 -1.24428756] [ 0.7875767 0.60427046 -0.12074834 -0.0302199 ] [ 0.45194478 -0.43322234 0.77978479 -2.42280368] [ 0. 0. 0. 1. ]] SLAMing on 210.841346184 meters Centerline goodness : 0.887602 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.03, Z:-2.42 [[ 0.41843686 -0.66983377 -0.61337861 -1.24658589] [ 0.78777618 0.60377195 -0.12193488 -0.02688675] [ 0.4520169 -0.43218301 0.78031952 -2.42474444] [ 0. 0. 0. 1. ]] SLAMing on 210.871346184 meters Centerline goodness : 0.886159 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-2.43 [[ 0.41773799 -0.67106026 -0.61251376 -1.24889542] [ 0.78807978 0.60310321 -0.12327517 -0.02347215] [ 0.45213408 -0.43121299 0.78078815 -2.42634998] [ 0. 0. 0. 1. ]] SLAMing on 210.901346184 meters Centerline goodness : 0.884347 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-2.43 [[ 0.41680626 -0.67172728 -0.61241734 -1.24954779] [ 0.7881794 0.60269372 -0.12463349 -0.01833607] [ 0.4528198 -0.43074672 0.78064813 -2.42765916] [ 0. 0. 0. 1. ]] SLAMing on 210.93134618399998 meters Centerline goodness : 0.883471 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-2.43 [[ 0.41610126 -0.67247076 -0.61208073 -1.25001484] [ 0.78856626 0.60203715 -0.12535759 -0.01687406] [ 0.45279465 -0.43050477 0.78079616 -2.42787072] [ 0. 0. 0. 1. ]] SLAMing on 210.96134618399998 meters Centerline goodness : 0.884922 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.02, Z:-2.43 [[ 0.415224 -0.67318591 -0.61189032 -1.25031635] [ 0.78901882 0.60128865 -0.12610021 -0.01547934] [ 0.45281159 -0.43043315 0.78082583 -2.42769681] [ 0. 0. 0. 1. ]] SLAMing on 210.99134618399998 meters Centerline goodness : 0.883884 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-2.43 [[ 0.41364898 -0.67445254 -0.61156217 -1.25234796] [ 0.78980515 0.59996864 -0.12745765 -0.01241205] [ 0.45288226 -0.43029223 0.78086251 -2.42762145] [ 0. 0. 0. 1. ]] SLAMing on 211.02134618399998 meters Centerline goodness : 0.883849 Centerline is valid? [False, False] Translation: X:-1.25, Y:-0.01, Z:-2.43 [[ 0.41283949 -0.6753199 -0.61115185 -1.2539253 ] [ 0.79020219 0.59924925 -0.12837771 -0.01029534] [ 0.45292831 -0.42993414 0.78103302 -2.42805692] [ 0. 0. 0. 1. ]] SLAMing on 211.05134618399998 meters Centerline goodness : 0.883500 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-2.43 [[ 0.41209568 -0.67608234 -0.6108108 -1.25558991] [ 0.79054764 0.59861198 -0.12922122 -0.00840694] [ 0.45300285 -0.42962353 0.7811607 -2.42833464] [ 0. 0. 0. 1. ]] SLAMing on 211.08134618399998 meters Centerline goodness : 0.884598 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.01, Z:-2.43 [[ 0.41145806 -0.67744096 -0.60973438 -1.25922206] [ 0.79099214 0.59777334 -0.13037816 -0.00579484] [ 0.45280647 -0.42864996 0.78180913 -2.42984492] [ 0. 0. 0. 1. ]] SLAMing on 211.11134618399998 meters Centerline goodness : 0.884837 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-2.43 [[ 0.41110545 -0.67827247 -0.60904743 -1.26034477] [ 0.79115565 0.59736862 -0.13123821 -0.00352962] [ 0.45284109 -0.42789857 0.78220059 -2.43120216] [ 0. 0. 0. 1. ]] SLAMing on 211.14134618399999 meters Centerline goodness : 0.885436 Centerline is valid? [False, False] Translation: X:-1.26, Y:-0.00, Z:-2.43 [[ 4.10593794e-01 -6.79042029e-01 -6.08534846e-01 -1.26091649e+00] [ 7.91427646e-01 5.96840909e-01 -1.31997013e-01 -1.79012966e-03] [ 4.52830010e-01 -4.27414146e-01 7.82471808e-01 -2.43194127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171346184 meters Centerline goodness : 0.884561 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-2.43 [[ 4.10577387e-01 -6.80045828e-01 -6.07423971e-01 -1.26218533e+00] [ 7.91496902e-01 5.96553595e-01 -1.32877622e-01 7.32193440e-04] [ 4.52723827e-01 -4.26217644e-01 7.83185582e-01 -2.43422336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201346184 meters Centerline goodness : 0.883553 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.00, Z:-2.44 [[ 0.41023934 -0.68094937 -0.60663963 -1.26340056] [ 0.79159576 0.59619224 -0.13390653 0.00382504] [ 0.45285741 -0.42527963 0.78361815 -2.43607485] [ 0. 0. 0. 1. ]] SLAMing on 211.231346184 meters Centerline goodness : 0.882859 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-2.44 [[ 0.40950644 -0.68197328 -0.60598426 -1.26407972] [ 0.79185922 0.5955654 -0.13513261 0.00736673] [ 0.45306009 -0.42451655 0.7839147 -2.43763632] [ 0. 0. 0. 1. ]] SLAMing on 211.261346184 meters Centerline goodness : 0.882079 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-2.44 [[ 0.40867486 -0.68339522 -0.60494284 -1.26482683] [ 0.79225121 0.59470487 -0.13661672 0.01144733] [ 0.45312567 -0.42343488 0.78446162 -2.43977705] [ 0. 0. 0. 1. ]] SLAMing on 211.291346184 meters Centerline goodness : 0.881631 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.01, Z:-2.44 [[ 0.40841064 -0.6833616 -0.60515922 -1.26465389] [ 0.79212146 0.59477785 -0.13705072 0.01336255] [ 0.4535905 -0.42338663 0.78421899 -2.43991844] [ 0. 0. 0. 1. ]] SLAMing on 211.321346184 meters Centerline goodness : 0.883321 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-2.44 [[ 0.40894381 -0.68021379 -0.60833722 -1.26253608] [ 0.79091965 0.59671974 -0.1355421 0.01520426] [ 0.45520443 -0.42571675 0.78201929 -2.43807117] [ 0. 0. 0. 1. ]] SLAMing on 211.351346184 meters Centerline goodness : 0.882981 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-2.44 [[ 0.40753763 -0.68180538 -0.60749856 -1.26401539] [ 0.79166406 0.59537246 -0.13711185 0.01905911] [ 0.45517151 -0.42505654 0.78239749 -2.43928029] [ 0. 0. 0. 1. ]] SLAMing on 211.381346184 meters Centerline goodness : 0.883142 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-2.44 [[ 0.40695845 -0.68206048 -0.60760046 -1.2636621 ] [ 0.79167019 0.59518668 -0.13788081 0.02180912] [ 0.45567875 -0.42490741 0.78218321 -2.43959175] [ 0. 0. 0. 1. ]] SLAMing on 211.411346184 meters Centerline goodness : 0.882193 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.02, Z:-2.44 [[ 0.40758338 -0.67871218 -0.61092189 -1.26173244] [ 0.79024172 0.59740458 -0.13647632 0.02447314] [ 0.45759568 -0.42715049 0.77983887 -2.43803475] [ 0. 0. 0. 1. ]] SLAMing on 211.441346184 meters Centerline goodness : 0.882272 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.03, Z:-2.44 [[ 0.40718154 -0.67545476 -0.61478782 -1.25929599] [ 0.78908419 0.59912562 -0.13562685 0.03178173] [ 0.45994493 -0.4298946 0.77694356 -2.43707777] [ 0. 0. 0. 1. ]] SLAMing on 211.471346184 meters Centerline goodness : 0.880439 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.04, Z:-2.44 [[ 0.40949243 -0.6754856 -0.61321706 -1.25146652] [ 0.79234777 0.59649947 -0.12795859 0.04325142] [ 0.45221783 -0.4334831 0.77948152 -2.43832106] [ 0. 0. 0. 1. ]] SLAMing on 211.501346184 meters Centerline goodness : 0.881450 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.05, Z:-2.44 [[ 0.40880444 -0.67580545 -0.61332366 -1.25140018] [ 0.79241424 0.59623088 -0.12879598 0.04616559] [ 0.45272353 -0.43335404 0.7792597 -2.43866037] [ 0. 0. 0. 1. ]] SLAMing on 211.531346184 meters Centerline goodness : 0.881142 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.06, Z:-2.44 [[ 0.40992886 -0.67417825 -0.6143631 -1.24289165] [ 0.79536374 0.59392257 -0.12104752 0.058603 ] [ 0.44649172 -0.43902126 0.77968294 -2.43897126] [ 0. 0. 0. 1. ]] SLAMing on 211.561346184 meters Centerline goodness : 0.882864 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.07, Z:-2.44 [[ 0.41232354 -0.67882009 -0.6076122 -1.24077735] [ 0.79794473 0.59092736 -0.11869736 0.07380086] [ 0.43962882 -0.43589924 0.78531418 -2.43803121] [ 0. 0. 0. 1. ]] SLAMing on 211.591346184 meters Centerline goodness : 0.885574 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.09, Z:-2.44 [[ 0.41544335 -0.68162157 -0.60232787 -1.24245048] [ 0.79992834 0.58900938 -0.11481553 0.0910449 ] [ 0.4330375 -0.43411978 0.78994844 -2.43868848] [ 0. 0. 0. 1. ]] SLAMing on 211.621346184 meters Centerline goodness : 0.883537 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-2.44 [[ 0.4177798 -0.68696542 -0.59459108 -1.24178548] [ 0.80261991 0.58573165 -0.11278171 0.10610665] [ 0.42574795 -0.43011272 0.79607898 -2.4392554 ] [ 0. 0. 0. 1. ]] SLAMing on 211.651346184 meters Centerline goodness : 0.883496 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.11, Z:-2.44 [[ 0.41849764 -0.68424497 -0.59721734 -1.23985258] [ 0.80119315 0.58782211 -0.11204778 0.11073617] [ 0.42772569 -0.43159471 0.79421455 -2.43973503] [ 0. 0. 0. 1. ]] SLAMing on 211.68134618399998 meters Centerline goodness : 0.883384 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.13, Z:-2.44 [[ 0.42128376 -0.69060007 -0.58787034 -1.24045972] [ 0.803544 0.58477991 -0.11112825 0.12867145] [ 0.42051994 -0.42556316 0.80128583 -2.44415614] [ 0. 0. 0. 1. ]] SLAMing on 211.71134618399998 meters Centerline goodness : 0.885866 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.14, Z:-2.44 [[ 0.42515205 -0.69238837 -0.58296148 -1.23830944] [ 0.80465333 0.5840512 -0.1068514 0.14308422] [ 0.41446202 -0.42365381 0.80544316 -2.44309392] [ 0. 0. 0. 1. ]] SLAMing on 211.74134618399998 meters Centerline goodness : 0.886838 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.16, Z:-2.44 [[ 0.42900233 -0.69547845 -0.57642582 -1.23842586] [ 0.80637244 0.58244089 -0.10259678 0.15622762] [ 0.40708782 -0.42079963 0.81068315 -2.44360554] [ 0. 0. 0. 1. ]] SLAMing on 211.77134618399998 meters Centerline goodness : 0.886846 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.17, Z:-2.45 [[ 0.43352895 -0.69803272 -0.56991488 -1.24015624] [ 0.80751865 0.58162622 -0.09810487 0.17195762] [ 0.39995785 -0.4176856 0.81582625 -2.44664603] [ 0. 0. 0. 1. ]] SLAMing on 211.80134618399998 meters Centerline goodness : 0.888924 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.19, Z:-2.45 [[ 0.43667528 -0.70215462 -0.56239985 -1.239253 ] [ 0.80954967 0.5793549 -0.09474823 0.1853371 ] [ 0.39235702 -0.4139164 0.82141901 -2.44754254] [ 0. 0. 0. 1. ]] SLAMing on 211.83134618399998 meters Centerline goodness : 0.885524 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.20, Z:-2.45 [[ 0.44012303 -0.70591393 -0.55495697 -1.23835888] [ 0.81141062 0.57736383 -0.09090556 0.19816571] [ 0.38458358 -0.41028835 0.82689718 -2.44881035] [ 0. 0. 0. 1. ]] SLAMing on 211.86134618399998 meters Centerline goodness : 0.887057 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.21, Z:-2.45 [[ 0.44341013 -0.70983642 -0.54728393 -1.23824016] [ 0.8134749 0.57508408 -0.08681529 0.21057064] [ 0.37635893 -0.40670696 0.83243222 -2.45025904] [ 0. 0. 0. 1. ]] SLAMing on 211.89134618399999 meters Centerline goodness : 0.887341 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.23, Z:-2.45 [[ 0.44731212 -0.71225038 -0.54093554 -1.23977813] [ 0.81478451 0.57394321 -0.08194744 0.22512234] [ 0.36883338 -0.40408982 0.83706234 -2.45272254] [ 0. 0. 0. 1. ]] SLAMing on 211.921346184 meters Centerline goodness : 0.886313 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.24, Z:-2.45 [[ 0.44941341 -0.71651363 -0.5335127 -1.23865792] [ 0.81712311 0.57107388 -0.0786413 0.23801405] [ 0.36102273 -0.4006031 0.84212811 -2.4526028 ] [ 0. 0. 0. 1. ]] SLAMing on 211.951346184 meters Centerline goodness : 0.888636 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.25, Z:-2.45 [[ 0.45268304 -0.71907153 -0.52727052 -1.23587503] [ 0.81915339 0.5689557 -0.07264392 0.24952425] [ 0.35222974 -0.39903076 0.84658647 -2.45422446] [ 0. 0. 0. 1. ]] SLAMing on 211.981346184 meters Centerline goodness : 0.888573 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.26, Z:-2.46 [[ 0.45490899 -0.72357336 -0.51913332 -1.23827632] [ 0.82177585 0.56569527 -0.06836166 0.26233222] [ 0.34313594 -0.39551289 0.85195498 -2.45636743] [ 0. 0. 0. 1. ]] SLAMing on 212.011346184 meters Centerline goodness : 0.887914 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.27, Z:-2.46 [[ 0.45679397 -0.72839767 -0.51066242 -1.23669467] [ 0.82421075 0.56252761 -0.06511013 0.27412321] [ 0.33468777 -0.39115154 0.85731241 -2.45696305] [ 0. 0. 0. 1. ]] SLAMing on 212.041346184 meters Centerline goodness : 0.887995 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.28, Z:-2.46 [[ 0.46008347 -0.73172578 -0.50289222 -1.23305905] [ 0.8262136 0.56023019 -0.05927246 0.28476377] [ 0.32510659 -0.38822611 0.86231444 -2.46068472] [ 0. 0. 0. 1. ]] SLAMing on 212.071346184 meters Centerline goodness : 0.890928 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.30, Z:-2.46 [[ 0.4626305 -0.73509493 -0.49558901 -1.23289908] [ 0.82772307 0.55837996 -0.05555478 0.30004632] [ 0.31756501 -0.38450912 0.86677863 -2.46331739] [ 0. 0. 0. 1. ]] SLAMing on 212.101346184 meters Centerline goodness : 0.889373 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.31, Z:-2.46 [[ 0.46485143 -0.73893958 -0.48773091 -1.23190426] [ 0.82959256 0.55597465 -0.05165631 0.31268197] [ 0.30933692 -0.38060543 0.87146439 -2.464679 ] [ 0. 0. 0. 1. ]] SLAMing on 212.131346184 meters Centerline goodness : 0.890270 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.32, Z:-2.47 [[ 0.46404415 -0.73879504 -0.48871763 -1.23114637] [ 0.82962734 0.55584148 -0.05252361 0.31922364] [ 0.31045371 -0.38108023 0.87085955 -2.46685748] [ 0. 0. 0. 1. ]] SLAMing on 212.161346184 meters Centerline goodness : 0.890261 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.32, Z:-2.47 [[ 0.4632212 -0.73972159 -0.48809639 -1.2314617 ] [ 0.83007012 0.55508843 -0.05348292 0.32167366] [ 0.31049913 -0.38037981 0.87114952 -2.46811046] [ 0. 0. 0. 1. ]] SLAMing on 212.191346184 meters Centerline goodness : 0.892559 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.33, Z:-2.47 [[ 0.46460702 -0.74473184 -0.47907703 -1.23082763] [ 0.83262108 0.551584 -0.04997228 0.33356532] [ 0.30146718 -0.37567216 0.87634923 -2.46982618] [ 0. 0. 0. 1. ]] SLAMing on 212.221346184 meters Centerline goodness : 0.892559 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.33, Z:-2.47 [[ 0.46460702 -0.74473184 -0.47907703 -1.23082763] [ 0.83262108 0.551584 -0.04997228 0.33356532] [ 0.30146718 -0.37567216 0.87634923 -2.46982618] [ 0. 0. 0. 1. ]] SLAMing on 212.251346184 meters Centerline goodness : 0.889456 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.35, Z:-2.47 [[ 0.46394458 -0.74406405 -0.48075369 -1.22389608] [ 0.83517424 0.54832731 -0.04267482 0.34624635] [ 0.29536318 -0.38171435 0.87581662 -2.47332507] [ 0. 0. 0. 1. ]] SLAMing on 212.281346184 meters Centerline goodness : 0.889802 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.36, Z:-2.48 [[ 0.46524251 -0.74937842 -0.47114901 -1.22753898] [ 0.83797092 0.54436468 -0.0383646 0.35841654] [ 0.28522648 -0.37696033 0.88121891 -2.47696175] [ 0. 0. 0. 1. ]] SLAMing on 212.311346184 meters Centerline goodness : 0.891948 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.37, Z:-2.48 [[ 0.46699933 -0.75038907 -0.46779041 -1.22251331] [ 0.84035778 0.54124094 -0.02927543 0.36804291] [ 0.27515529 -0.37943971 0.88335445 -2.48203258] [ 0. 0. 0. 1. ]] SLAMing on 212.341346184 meters Centerline goodness : 0.891990 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.37, Z:-2.48 [[ 0.46745771 -0.74871523 -0.47000936 -1.2227969 ] [ 0.83972122 0.54226148 -0.02864896 0.3712595 ] [ 0.27631788 -0.38128465 0.88219637 -2.48243503] [ 0. 0. 0. 1. ]] SLAMing on 212.371346184 meters Centerline goodness : 0.892602 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.38, Z:-2.49 [[ 0.4675497 -0.74960546 -0.46849647 -1.22801577] [ 0.83957304 0.54241758 -0.03000462 0.37546905] [ 0.27661235 -0.37930835 0.88295571 -2.48549004] [ 0. 0. 0. 1. ]] SLAMing on 212.401346184 meters Centerline goodness : 0.893591 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.39, Z:-2.49 [[ 0.46977241 -0.75398175 -0.45915727 -1.22873231] [ 0.84139414 0.53981598 -0.02558524 0.38577618] [ 0.26715124 -0.374313 0.88798648 -2.48812341] [ 0. 0. 0. 1. ]] SLAMing on 212.43134618399998 meters Centerline goodness : 0.893614 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.39, Z:-2.49 [[ 0.47119219 -0.75136498 -0.46198331 -1.2281126 ] [ 0.84017188 0.54177891 -0.02422442 0.38830112] [ 0.2684942 -0.37673103 0.88655772 -2.48859697] [ 0. 0. 0. 1. ]] SLAMing on 212.46134618399998 meters Centerline goodness : 0.897520 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.39, Z:-2.49 [[ 0.47326038 -0.7487582 -0.46409673 -1.23161651] [ 0.83861552 0.5442427 -0.02288894 0.3906339 ] [ 0.26971953 -0.37836629 0.88548875 -2.48946876] [ 0. 0. 0. 1. ]] SLAMing on 212.49134618399998 meters Centerline goodness : 0.894893 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.40, Z:-2.49 [[ 0.47538432 -0.75273892 -0.45540518 -1.23231606] [ 0.84037158 0.54170683 -0.01814722 0.40142582] [ 0.26035621 -0.37408266 0.89009932 -2.49204068] [ 0. 0. 0. 1. ]] SLAMing on 212.52134618399998 meters Centerline goodness : 0.894688 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.41, Z:-2.49 [[ 0.47727405 -0.75668088 -0.44681486 -1.23276313] [ 0.8421207 0.53912076 -0.01347318 0.41200268] [ 0.25108207 -0.36984165 0.89452499 -2.49411981] [ 0. 0. 0. 1. ]] SLAMing on 212.55134618399998 meters Centerline goodness : 0.895886 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.41, Z:-2.50 [[ 0.47934982 -0.75459105 -0.4481251 -1.23561664] [ 0.84060455 0.54150159 -0.01264963 0.41489828] [ 0.25220575 -0.3706324 0.89388136 -2.49633623] [ 0. 0. 0. 1. ]] SLAMing on 212.58134618399998 meters Centerline goodness : 0.893471 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.42, Z:-2.50 [[ 0.48170738 -0.75870144 -0.43855458 -1.23510264] [ 0.8421579 0.53917528 -0.00775134 0.4242999 ] [ 0.24233874 -0.36559833 0.89867113 -2.49953154] [ 0. 0. 0. 1. ]] SLAMing on 212.61134618399998 meters Centerline goodness : 0.896088 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.43, Z:-2.50 [[ 0.48233107 -0.75769863 -0.43960156 -1.23246641] [ 0.84146657 0.54025112 -0.00792097 0.42806207] [ 0.24349694 -0.36608948 0.89815797 -2.50188688] [ 0. 0. 0. 1. ]] SLAMing on 212.64134618399999 meters Centerline goodness : 0.897368 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.44, Z:-2.51 [[ 4.85154024e-01 -7.61842385e-01 -4.29210617e-01 -1.23236020e+00] [ 8.43149079e-01 5.37678225e-01 -1.32543800e-03 4.35130548e-01] [ 2.31786977e-01 -3.61245495e-01 9.03203460e-01 -2.50771479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.671346184 meters Centerline goodness : 0.898367 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.44, Z:-2.51 [[ 4.85561419e-01 -7.59989303e-01 -4.32025888e-01 -1.22990924e+00] [ 8.42513919e-01 5.38674143e-01 -6.81284390e-04 4.38901668e-01] [ 2.33238944e-01 -3.63657018e-01 9.01860947e-01 -2.50827975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701346184 meters Centerline goodness : 0.896555 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.44, Z:-2.51 [[ 4.85552556e-01 -7.59412049e-01 -4.33049715e-01 -1.22935275e+00] [ 8.42348574e-01 5.38932741e-01 -6.17743948e-04 4.41342794e-01] [ 2.33853792e-01 -3.64478863e-01 9.01369826e-01 -2.50896218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.731346184 meters Centerline goodness : 0.895399 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.44, Z:-2.51 [[ 4.86110755e-01 -7.58451802e-01 -4.34105054e-01 -1.22716221e+00] [ 8.41807836e-01 5.39777166e-01 -4.21836584e-04 4.44208869e-01] [ 2.34639939e-01 -3.65227977e-01 9.00862156e-01 -2.51093178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761346184 meters Centerline goodness : 0.897097 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.86192695e-01 -7.57588216e-01 -4.35518954e-01 -1.22395112e+00] [ 8.41551995e-01 5.40176092e-01 -1.71310891e-04 4.46538076e-01] [ 2.35386709e-01 -3.66428554e-01 9.00179544e-01 -2.51178110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.791346184 meters Centerline goodness : 0.895797 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.85876916e-01 -7.57687802e-01 -4.35698079e-01 -1.22295071e+00] [ 8.41688742e-01 5.39962884e-01 -3.81366930e-04 4.47158204e-01] [ 2.35549749e-01 -3.66536871e-01 9.00092794e-01 -2.51177680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821346184 meters Centerline goodness : 0.894583 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.85422955e-01 -7.57496452e-01 -4.36536002e-01 -1.21980857e+00] [ 8.41886718e-01 5.39654227e-01 -2.63491271e-04 4.48996635e-01] [ 2.35778092e-01 -3.67385957e-01 8.99686751e-01 -2.51263395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.851346184 meters Centerline goodness : 0.894873 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.85005250e-01 -7.57490563e-01 -4.37010245e-01 -1.21863699e+00] [ 8.42065302e-01 5.39375457e-01 -3.79228950e-04 4.49994669e-01] [ 2.35999863e-01 -3.67807236e-01 8.99456448e-01 -2.51258974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881346184 meters Centerline goodness : 0.895301 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.84419241e-01 -7.57748264e-01 -4.37213411e-01 -1.21802784e+00] [ 8.42360402e-01 5.38914152e-01 -6.99148137e-04 4.51172841e-01] [ 2.36150273e-01 -3.67952584e-01 8.99357517e-01 -2.51261649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.911346184 meters Centerline goodness : 0.894259 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.45, Z:-2.51 [[ 4.84246959e-01 -7.57121977e-01 -4.38487393e-01 -1.21518766e+00] [ 8.42275941e-01 5.39046290e-01 -5.79786293e-04 4.53674902e-01] [ 2.36803971e-01 -3.69046622e-01 8.98737153e-01 -2.51352088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941346184 meters Centerline goodness : 0.895069 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.45, Z:-2.52 [[ 4.84225774e-01 -7.58271629e-01 -4.36519801e-01 -1.21367883e+00] [ 8.42466467e-01 5.38747187e-01 -1.31203743e-03 4.53232642e-01] [ 2.36168696e-01 -3.67117972e-01 8.99693693e-01 -2.51541741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.971346184 meters Centerline goodness : 0.893271 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.45, Z:-2.52 [[ 4.84249573e-01 -7.58167268e-01 -4.36674644e-01 -1.21183810e+00] [ 8.42453985e-01 5.38766999e-01 -1.18514054e-03 4.53487173e-01] [ 2.36164422e-01 -3.67304390e-01 8.99618725e-01 -2.51595339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001346184 meters Centerline goodness : 0.894607 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.45, Z:-2.52 [[ 4.84214122e-01 -7.58095376e-01 -4.36838741e-01 -1.21170708e+00] [ 8.42461817e-01 5.38754861e-01 -1.13465085e-03 4.53505094e-01] [ 2.36209168e-01 -3.67470545e-01 8.99539119e-01 -2.51562725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031346184 meters Centerline goodness : 0.893120 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.45, Z:-2.51 [[ 4.84466718e-01 -7.57317651e-01 -4.37906354e-01 -1.21166128e+00] [ 8.42247773e-01 5.39090375e-01 -5.06139964e-04 4.53616088e-01] [ 2.36454410e-01 -3.68580444e-01 8.99020449e-01 -2.51486594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061346184 meters Centerline goodness : 0.894439 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.51 [[ 4.85460849e-01 -7.54698724e-01 -4.41313494e-01 -1.21186943e+00] [ 8.41321838e-01 5.40533382e-01 1.10796563e-03 4.55367212e-01] [ 2.37708495e-01 -3.71824554e-01 8.97352312e-01 -2.51365748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091346184 meters Centerline goodness : 0.894950 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.51 [[ 4.85588648e-01 -7.54768844e-01 -4.41052895e-01 -1.21261443e+00] [ 8.41184809e-01 5.40747219e-01 7.49663300e-04 4.56365833e-01] [ 2.37932304e-01 -3.71371024e-01 8.97480797e-01 -2.51435875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121346184 meters Centerline goodness : 0.895682 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.85968318e-01 -7.54642383e-01 -4.40851072e-01 -1.21259076e+00] [ 8.40887247e-01 5.41210106e-01 5.09189405e-04 4.57385574e-01] [ 2.38208799e-01 -3.70953494e-01 8.97580121e-01 -2.51547870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151346184 meters Centerline goodness : 0.894601 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.86955922e-01 -7.54826100e-01 -4.39444524e-01 -1.21349988e+00] [ 8.40373687e-01 5.42007390e-01 2.35797562e-04 4.57453772e-01] [ 2.38004193e-01 -3.69412438e-01 8.98269701e-01 -2.51763451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18134618399998 meters Centerline goodness : 0.895526 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.86962651e-01 -7.55244553e-01 -4.38717497e-01 -1.21333408e+00] [ 8.40393862e-01 5.41976125e-01 -1.91680581e-04 4.57772988e-01] [ 2.37919175e-01 -3.68602150e-01 8.98625017e-01 -2.51849871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21134618399998 meters Centerline goodness : 0.896367 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.86694799e-01 -7.55568683e-01 -4.38456540e-01 -1.21284342e+00] [ 8.40558104e-01 5.41721182e-01 -4.84205791e-04 4.58555793e-01] [ 2.37887046e-01 -3.68312538e-01 8.98752262e-01 -2.51911676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24134618399998 meters Centerline goodness : 0.896913 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.86167069e-01 -7.55241922e-01 -4.39603480e-01 -1.21159602e+00] [ 8.40707746e-01 5.41488883e-01 -5.24754021e-04 4.60876822e-01] [ 2.38436714e-01 -3.69322933e-01 8.98191797e-01 -2.51928012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27134618399998 meters Centerline goodness : 0.895691 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.84779621e-01 -7.54824238e-01 -4.41847360e-01 -1.21380577e+00] [ 8.41361642e-01 5.40472523e-01 -1.96408598e-04 4.63143797e-01] [ 2.38954612e-01 -3.71658206e-01 8.97090225e-01 -2.51668796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30134618399998 meters Centerline goodness : 0.894958 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.84195438e-01 -7.54984939e-01 -4.42213206e-01 -1.21286249e+00] [ 8.41640506e-01 5.40038007e-01 -4.56948289e-04 4.64341340e-01] [ 2.39156928e-01 -3.71963295e-01 8.96909846e-01 -2.51670857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33134618399998 meters Centerline goodness : 0.895383 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.84246498e-01 -7.54972594e-01 -4.42178370e-01 -1.20986170e+00] [ 8.41587640e-01 5.40120310e-01 -5.43137844e-04 4.64845348e-01] [ 2.39239572e-01 -3.71868838e-01 8.96926973e-01 -2.51783499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36134618399998 meters Centerline goodness : 0.896818 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.84628734e-01 -7.55085331e-01 -4.41566681e-01 -1.20690070e+00] [ 8.41517482e-01 5.40229840e-01 -2.17577823e-04 4.63180471e-01] [ 2.38711787e-01 -3.71480637e-01 8.97228410e-01 -2.51858691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39134618399999 meters Centerline goodness : 0.895531 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.46, Z:-2.52 [[ 4.84364296e-01 -7.55030683e-01 -4.41950107e-01 -1.20648895e+00] [ 8.41618161e-01 5.40072953e-01 -2.75738292e-04 4.63908437e-01] [ 2.38893490e-01 -3.71819678e-01 8.97039591e-01 -2.51845197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421346184 meters Centerline goodness : 0.895271 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.47, Z:-2.52 [[ 4.84265238e-01 -7.54596199e-01 -4.42799905e-01 -1.20440346e+00] [ 8.41521879e-01 5.40222955e-01 -2.94480326e-04 4.65774955e-01] [ 2.39432887e-01 -3.72483201e-01 8.96620409e-01 -2.51914408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451346184 meters Centerline goodness : 0.896954 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.46, Z:-2.52 [[ 4.84767220e-01 -7.54167623e-01 -4.42980743e-01 -1.20140006e+00] [ 8.41291636e-01 5.40581428e-01 3.19645207e-04 4.64429353e-01] [ 2.39226097e-01 -3.72830947e-01 8.96531070e-01 -2.51941578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481346184 meters Centerline goodness : 0.897603 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.46, Z:-2.52 [[ 4.84910287e-01 -7.53737473e-01 -4.43555899e-01 -1.19994989e+00] [ 8.41213658e-01 5.40702230e-01 8.24300922e-04 4.63834495e-01] [ 2.39210357e-01 -3.73524992e-01 8.96246331e-01 -2.51895829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511346184 meters Centerline goodness : 0.900017 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.46, Z:-2.52 [[ 4.85298857e-01 -7.52522400e-01 -4.45191033e-01 -1.19905496e+00] [ 8.40984434e-01 5.41054901e-01 2.18524702e-03 4.62117459e-01] [ 2.39228343e-01 -3.75459227e-01 8.95432950e-01 -2.51680694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541346184 meters Centerline goodness : 0.899845 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.46, Z:-2.52 [[ 0.48522223 -0.75190998 -0.44630793 -1.1975163 ] [ 0.84094983 0.54110659 0.00265313 0.46222212] [ 0.23950524 -0.37660994 0.89487552 -2.515948 ] [ 0. 0. 0. 1. ]] SLAMing on 213.571346184 meters Centerline goodness : 0.901865 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.46, Z:-2.52 [[ 0.48502278 -0.75195752 -0.44644462 -1.19661479] [ 0.84109154 0.54088584 0.00274475 0.46191343] [ 0.23941163 -0.37683206 0.89480706 -2.51561777] [ 0. 0. 0. 1. ]] SLAMing on 213.601346184 meters Centerline goodness : 0.900132 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.46, Z:-2.52 [[ 0.48463552 -0.75195922 -0.44686211 -1.19441749] [ 0.84128327 0.5405877 0.00272088 0.46255529] [ 0.23952217 -0.37725625 0.89459871 -2.51579767] [ 0. 0. 0. 1. ]] SLAMing on 213.631346184 meters Centerline goodness : 0.897964 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.46, Z:-2.52 [[ 4.84444494e-01 -7.53097965e-01 -4.45148275e-01 -1.18827578e+00] [ 8.41569463e-01 5.40145023e-01 2.04779958e-03 4.61199408e-01] [ 2.38902432e-01 -3.75615240e-01 8.95454532e-01 -2.51765767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661346184 meters Centerline goodness : 0.899681 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.46, Z:-2.52 [[ 0.48466021 -0.75240398 -0.44608602 -1.18408669] [ 0.84139296 0.54041736 0.00263964 0.46028439] [ 0.23908655 -0.37661297 0.8949862 -2.51724004] [ 0. 0. 0. 1. ]] SLAMing on 213.691346184 meters Centerline goodness : 0.899498 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.46, Z:-2.52 [[ 0.4843366 -0.75139828 -0.44812798 -1.18031308] [ 0.84139368 0.54041297 0.003241 0.46087465] [ 0.23973889 -0.37862179 0.89396354 -2.51590975] [ 0. 0. 0. 1. ]] SLAMing on 213.721346184 meters Centerline goodness : 0.899598 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.46, Z:-2.51 [[ 0.48350503 -0.75048011 -0.45055799 -1.17694163] [ 0.84175502 0.53984406 0.00410725 0.46030949] [ 0.24014865 -0.38124532 0.89273772 -2.51279308] [ 0. 0. 0. 1. ]] SLAMing on 213.751346184 meters Centerline goodness : 0.899992 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.46, Z:-2.51 [[ 0.48338243 -0.74957207 -0.45219811 -1.17332405] [ 0.84165234 0.54000034 0.00457936 0.46030234] [ 0.24075457 -0.38280718 0.89190577 -2.5115167 ] [ 0. 0. 0. 1. ]] SLAMing on 213.781346184 meters Centerline goodness : 0.899797 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.46, Z:-2.51 [[ 4.80978285e-01 -7.43885877e-01 -4.63997513e-01 -1.16950204e+00] [ 8.39193936e-01 5.43828715e-01 -1.96647577e-03 4.56048809e-01] [ 2.53798004e-01 -3.88438067e-01 8.85834319e-01 -2.50627629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.811346184 meters Centerline goodness : 0.899879 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.46, Z:-2.51 [[ 4.81252001e-01 -7.43419466e-01 -4.64460988e-01 -1.16746152e+00] [ 8.39024982e-01 5.44090778e-01 -1.51837045e-03 4.55526677e-01] [ 2.53837726e-01 -3.88963653e-01 8.85592280e-01 -2.50625253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841346184 meters Centerline goodness : 0.901180 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.45, Z:-2.51 [[ 0.48047592 -0.74568908 -0.46161747 -1.16788952] [ 0.83989466 0.54274354 -0.00253191 0.45297474] [ 0.25242792 -0.38649352 0.88707548 -2.5062765 ] [ 0. 0. 0. 1. ]] SLAMing on 213.871346184 meters Centerline goodness : 0.899841 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.45, Z:-2.51 [[ 4.80150634e-01 -7.44997779e-01 -4.63069841e-01 -1.16438257e+00] [ 8.39882744e-01 5.42762809e-01 -2.34706488e-03 4.54420570e-01] [ 2.53085646e-01 -3.87797424e-01 8.86318686e-01 -2.50603830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901346184 meters Centerline goodness : 0.899335 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.45, Z:-2.51 [[ 4.79626525e-01 -7.44809670e-01 -4.63914812e-01 -1.16140433e+00] [ 8.40082336e-01 5.42453737e-01 -2.36900672e-03 4.54980220e-01] [ 2.53416783e-01 -3.88590400e-01 8.85876648e-01 -2.50549781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93134618399998 meters Centerline goodness : 0.898828 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.46, Z:-2.50 [[ 4.78990953e-01 -7.44228352e-01 -4.65501693e-01 -1.15679878e+00] [ 8.40230064e-01 5.42225128e-01 -2.31301838e-03 4.56416744e-01] [ 2.54128129e-01 -3.90020603e-01 8.85043967e-01 -2.50490174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96134618399998 meters Centerline goodness : 0.900668 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47467933 -0.74074697 -0.47536666 -1.15477674] [ 0.83894957 0.54411473 -0.0101381 0.45052422] [ 0.26616377 -0.39399631 0.87972936 -2.49832737] [ 0. 0. 0. 1. ]] SLAMing on 213.99134618399998 meters Centerline goodness : 0.899902 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.4742763 -0.74046238 -0.47621157 -1.15344871] [ 0.83907415 0.54392361 -0.01008373 0.45088815] [ 0.26648933 -0.39479435 0.87927292 -2.49732989] [ 0. 0. 0. 1. ]] SLAMing on 214.02134618399998 meters Centerline goodness : 0.901478 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47443228 -0.73994454 -0.47686066 -1.15229166] [ 0.83895401 0.5441172 -0.00962479 0.45001535] [ 0.2665899 -0.39549785 0.87892621 -2.49632476] [ 0. 0. 0. 1. ]] SLAMing on 214.05134618399998 meters Centerline goodness : 0.902539 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47442943 -0.73941613 -0.47768243 -1.15019452] [ 0.83877623 0.54439144 -0.00961242 0.45116273] [ 0.2671538 -0.39610825 0.87847999 -2.49641211] [ 0. 0. 0. 1. ]] SLAMing on 214.08134618399998 meters Centerline goodness : 0.901952 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47421853 -0.73873816 -0.47893916 -1.1475434 ] [ 0.83864024 0.54460037 -0.00964284 0.45314513] [ 0.26795398 -0.39708484 0.87779513 -2.49646372] [ 0. 0. 0. 1. ]] SLAMing on 214.11134618399998 meters Centerline goodness : 0.901952 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47421853 -0.73873816 -0.47893916 -1.1475434 ] [ 0.83864024 0.54460037 -0.00964284 0.45314513] [ 0.26795398 -0.39708484 0.87779513 -2.49646372] [ 0. 0. 0. 1. ]] SLAMing on 214.14134618399999 meters Centerline goodness : 0.901903 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.45, Z:-2.50 [[ 0.47353575 -0.73907279 -0.47909842 -1.1472291 ] [ 0.83898353 0.54406402 -0.0100485 0.45417921] [ 0.26808679 -0.39719736 0.87770367 -2.49623155] [ 0. 0. 0. 1. ]] SLAMing on 214.171346184 meters Centerline goodness : 0.901583 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.47286186 -0.73859523 -0.48049844 -1.14387522] [ 0.83912922 0.54383716 -0.01016306 0.45604588] [ 0.26881929 -0.39839456 0.87693669 -2.49576897] [ 0. 0. 0. 1. ]] SLAMing on 214.201346184 meters Centerline goodness : 0.902165 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.4727484 -0.73862992 -0.48055676 -1.14278993] [ 0.8392045 0.5437213 -0.01014706 0.45571165] [ 0.26878386 -0.39848838 0.87690492 -2.4955221 ] [ 0. 0. 0. 1. ]] SLAMing on 214.231346184 meters Centerline goodness : 0.902974 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.47239249 -0.73883953 -0.48058453 -1.14234905] [ 0.83940285 0.54341151 -0.01033388 0.45575733] [ 0.26879025 -0.39852237 0.87688752 -2.49513998] [ 0. 0. 0. 1. ]] SLAMing on 214.261346184 meters Centerline goodness : 0.893119 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.47212399 -0.73904543 -0.48053177 -1.14227652] [ 0.8395476 0.5431838 -0.01054445 0.45608328] [ 0.2688099 -0.39845101 0.87691392 -2.49507223] [ 0. 0. 0. 1. ]] SLAMing on 214.291346184 meters Centerline goodness : 0.893448 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.47228628 -0.73890995 -0.48058064 -1.14142355] [ 0.8393818 0.54343772 -0.01066009 0.45651994] [ 0.2690425 -0.39835603 0.87688574 -2.49546038] [ 0. 0. 0. 1. ]] SLAMing on 214.321346184 meters Centerline goodness : 0.902381 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.50 [[ 0.47190011 -0.73918214 -0.48054142 -1.14181231] [ 0.8395945 0.54310387 -0.0109209 0.45684964] [ 0.26905644 -0.39830636 0.87690403 -2.49511012] [ 0. 0. 0. 1. ]] SLAMing on 214.351346184 meters Centerline goodness : 0.892702 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.46, Z:-2.49 [[ 0.47172758 -0.73920913 -0.48066927 -1.14185608] [ 0.83967006 0.54298556 -0.01099376 0.45691085] [ 0.26912316 -0.39841754 0.87683305 -2.49472885] [ 0. 0. 0. 1. ]] SLAMing on 214.381346184 meters Centerline goodness : 0.890887 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.45, Z:-2.49 [[ 0.46821866 -0.73394113 -0.49203832 -1.14153931] [ 0.83738074 0.54632136 -0.01806857 0.45294053] [ 0.28207231 -0.40356337 0.87038602 -2.48808435] [ 0. 0. 0. 1. ]] SLAMing on 214.411346184 meters Centerline goodness : 0.892514 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.45, Z:-2.49 [[ 0.46799371 -0.73373619 -0.4925577 -1.13997926] [ 0.83745268 0.54621411 -0.01797654 0.4531381 ] [ 0.282232 -0.40408086 0.87009411 -2.48766856] [ 0. 0. 0. 1. ]] SLAMing on 214.441346184 meters Centerline goodness : 0.889294 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.45, Z:-2.49 [[ 0.4677587 -0.73376019 -0.49274516 -1.13917153] [ 0.83759547 0.54599645 -0.01793603 0.45276925] [ 0.28219785 -0.40433138 0.8699888 -2.48707525] [ 0. 0. 0. 1. ]] SLAMing on 214.471346184 meters Centerline goodness : 0.889552 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.45, Z:-2.49 [[ 0.4675357 -0.73342373 -0.49345719 -1.1379763 ] [ 0.83761941 0.54596275 -0.01784362 0.45316564] [ 0.28249618 -0.40498679 0.86958703 -2.4864014 ] [ 0. 0. 0. 1. ]] SLAMing on 214.501346184 meters Centerline goodness : 0.889086 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.45, Z:-2.49 [[ 0.46694045 -0.73314375 -0.49443589 -1.13523442] [ 0.83787518 0.54557511 -0.01769121 0.45377432] [ 0.28272212 -0.40601482 0.86903405 -2.48570453] [ 0. 0. 0. 1. ]] SLAMing on 214.531346184 meters Centerline goodness : 0.888678 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.45, Z:-2.49 [[ 0.46666326 -0.73313115 -0.4947162 -1.13224431] [ 0.83801083 0.54536645 -0.01769957 0.45388084] [ 0.28277773 -0.40631779 0.86887433 -2.48571228] [ 0. 0. 0. 1. ]] SLAMing on 214.561346184 meters Centerline goodness : 0.891034 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.45, Z:-2.49 [[ 0.46658996 -0.73229147 -0.49602724 -1.12740333] [ 0.8378754 0.54558711 -0.01730659 0.45440449] [ 0.28329953 -0.40753394 0.86813447 -2.48536242] [ 0. 0. 0. 1. ]] SLAMing on 214.591346184 meters Centerline goodness : 0.887181 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.49 [[ 0.46639575 -0.7333023 -0.4947148 -1.12381889] [ 0.83821215 0.54505718 -0.01769322 0.45189449] [ 0.28262234 -0.40642391 0.86887526 -2.48505872] [ 0. 0. 0. 1. ]] SLAMing on 214.621346184 meters Centerline goodness : 0.888680 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.48 [[ 0.46636176 -0.73275702 -0.49555409 -1.12243546] [ 0.83812748 0.54519659 -0.01740683 0.45169825] [ 0.28292937 -0.40721962 0.86840264 -2.48405619] [ 0. 0. 0. 1. ]] SLAMing on 214.651346184 meters Centerline goodness : 0.888575 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.48 [[ 0.46659708 -0.73187483 -0.49663508 -1.1216917 ] [ 0.83780855 0.54569809 -0.01704203 0.45173472] [ 0.28348545 -0.40813335 0.86779212 -2.48301529] [ 0. 0. 0. 1. ]] SLAMing on 214.68134618399998 meters Centerline goodness : 0.889472 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.48 [[ 0.46874692 -0.72769664 -0.50073338 -1.11917574] [ 0.83606247 0.54844577 -0.01437979 0.45075212] [ 0.28508924 -0.41190391 0.86548212 -2.48082462] [ 0. 0. 0. 1. ]] SLAMing on 214.71134618399998 meters Centerline goodness : 0.887972 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.48 [[ 0.46935473 -0.7270128 -0.50115718 -1.11753447] [ 0.83561843 0.54913149 -0.0140159 0.4501071 ] [ 0.28539093 -0.41219775 0.86524276 -2.48064028] [ 0. 0. 0. 1. ]] SLAMing on 214.74134618399998 meters Centerline goodness : 0.886844 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.48 [[ 0.46986175 -0.72629921 -0.50171645 -1.11527777] [ 0.83522207 0.54974381 -0.0136324 0.44926563] [ 0.28571672 -0.41263931 0.86492471 -2.48015728] [ 0. 0. 0. 1. ]] SLAMing on 214.77134618399998 meters Centerline goodness : 0.888368 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.45, Z:-2.48 [[ 0.47040541 -0.72557992 -0.50224748 -1.11245705] [ 0.83481338 0.55037428 -0.01322017 0.44860979] [ 0.28601638 -0.41306407 0.86462287 -2.4800384 ] [ 0. 0. 0. 1. ]] SLAMing on 214.80134618399998 meters Centerline goodness : 0.890770 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.45, Z:-2.48 [[ 0.47069727 -0.72537656 -0.50226779 -1.10990419] [ 0.83474396 0.55049077 -0.01274499 0.44620795] [ 0.2857387 -0.41326597 0.8646182 -2.47911521] [ 0. 0. 0. 1. ]] SLAMing on 214.83134618399998 meters Centerline goodness : 0.889836 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.48 [[ 0.46987907 -0.72790224 -0.4993716 -1.11119761] [ 0.83557694 0.54918762 -0.01428751 0.44480694] [ 0.28464861 -0.41054999 0.86627009 -2.47966228] [ 0. 0. 0. 1. ]] SLAMing on 214.86134618399998 meters Centerline goodness : 0.889139 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.47 [[ 0.46653072 -0.72251071 -0.51022284 -1.11011434] [ 0.83331867 0.55241983 -0.02030579 0.43865751] [ 0.29652837 -0.41570495 0.85980249 -2.47421169] [ 0. 0. 0. 1. ]] SLAMing on 214.89134618399999 meters Centerline goodness : 0.889882 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.47 [[ 0.46473134 -0.72217827 -0.51233126 -1.10638206] [ 0.83416263 0.55114734 -0.02023128 0.43958061] [ 0.29698061 -0.41796549 0.85854957 -2.47118314] [ 0. 0. 0. 1. ]] SLAMing on 214.921346184 meters Centerline goodness : 0.889047 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.47 [[ 0.46232707 -0.72586609 -0.50928587 -1.10826943] [ 0.83600554 0.54825981 -0.0224927 0.43950981] [ 0.29554766 -0.41536682 0.86030343 -2.47117245] [ 0. 0. 0. 1. ]] SLAMing on 214.951346184 meters Centerline goodness : 0.889518 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.43, Z:-2.47 [[ 0.45898255 -0.71986456 -0.52070148 -1.10667135] [ 0.83367006 0.55156856 -0.02768315 0.43268651] [ 0.30713068 -0.42138716 0.85328987 -2.46572214] [ 0. 0. 0. 1. ]] SLAMing on 214.981346184 meters Centerline goodness : 0.890020 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.43, Z:-2.47 [[ 0.45758602 -0.72222535 -0.51865747 -1.10423974] [ 0.8349168 0.5496252 -0.0287415 0.43056886] [ 0.30582506 -0.41988413 0.85449889 -2.46511319] [ 0. 0. 0. 1. ]] SLAMing on 215.011346184 meters Centerline goodness : 0.892125 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.43, Z:-2.46 [[ 0.45675578 -0.72190495 -0.51983401 -1.10000041] [ 0.83514125 0.54927143 -0.02898265 0.43199506] [ 0.30645269 -0.42089683 0.8537755 -2.46419998] [ 0. 0. 0. 1. ]] SLAMing on 215.041346184 meters Centerline goodness : 0.891708 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.43, Z:-2.46 [[ 0.45555035 -0.72218095 -0.52050797 -1.09755099] [ 0.83565265 0.54846024 -0.0295974 0.43371431] [ 0.30685261 -0.42148076 0.85334369 -2.46342194] [ 0. 0. 0. 1. ]] SLAMing on 215.071346184 meters Centerline goodness : 0.892408 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.44, Z:-2.46 [[ 0.45417593 -0.72253195 -0.52122145 -1.09617251] [ 0.83621414 0.54756021 -0.03039285 0.43602745] [ 0.30735993 -0.42204905 0.8528801 -2.46257132] [ 0. 0. 0. 1. ]] SLAMing on 215.101346184 meters Centerline goodness : 0.892181 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.46 [[ 0.45279313 -0.72199108 -0.5231704 -1.0945745 ] [ 0.83674433 0.54675207 -0.03034963 0.43724141] [ 0.30795666 -0.42401776 0.85168752 -2.45982752] [ 0. 0. 0. 1. ]] SLAMing on 215.131346184 meters Centerline goodness : 0.893337 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.46 [[ 0.4522187 -0.72134727 -0.52455348 -1.09235555] [ 0.83691063 0.54651434 -0.03004458 0.43728139] [ 0.30834857 -0.42541767 0.85084721 -2.45787478] [ 0. 0. 0. 1. ]] SLAMing on 215.161346184 meters Centerline goodness : 0.894840 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.46 [[ 0.45179246 -0.72075049 -0.52573977 -1.0895936 ] [ 0.83700364 0.54638638 -0.02977958 0.43733706] [ 0.3087207 -0.42659191 0.85012403 -2.45636559] [ 0. 0. 0. 1. ]] SLAMing on 215.191346184 meters Centerline goodness : 0.897017 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.45 [[ 0.45077672 -0.72048904 -0.52696859 -1.08641249] [ 0.83743231 0.54572876 -0.02978659 0.43737049] [ 0.30904283 -0.42787342 0.84936262 -2.45420059] [ 0. 0. 0. 1. ]] SLAMing on 215.221346184 meters Centerline goodness : 0.897769 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.45 [[ 0.45060596 -0.72045075 -0.52716694 -1.08617658] [ 0.83747999 0.54565154 -0.02986073 0.43737181] [ 0.30916264 -0.42803634 0.84923692 -2.45365575] [ 0. 0. 0. 1. ]] SLAMing on 215.251346184 meters Centerline goodness : 0.897991 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.45 [[ 0.45094689 -0.71981041 -0.52774983 -1.08504331] [ 0.8371322 0.54619569 -0.02966403 0.43754805] [ 0.30960716 -0.42841947 0.84888172 -2.45339543] [ 0. 0. 0. 1. ]] SLAMing on 215.281346184 meters Centerline goodness : 0.898516 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.44, Z:-2.45 [[ 0.45137103 -0.71958557 -0.52769385 -1.08507899] [ 0.83688536 0.54658267 -0.02950042 0.43703198] [ 0.30965639 -0.42830362 0.84892222 -2.45346752] [ 0. 0. 0. 1. ]] SLAMing on 215.311346184 meters Centerline goodness : 0.898955 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.44, Z:-2.45 [[ 0.45269652 -0.71828381 -0.52833155 -1.08398124] [ 0.83593408 0.54807071 -0.02885663 0.43628082] [ 0.3102903 -0.42858705 0.84854762 -2.45346518] [ 0. 0. 0. 1. ]] SLAMing on 215.341346184 meters Centerline goodness : 0.899181 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.43, Z:-2.45 [[ 0.44935227 -0.71380436 -0.53718327 -1.08638954] [ 0.83316396 0.55183148 -0.03632949 0.42984154] [ 0.32236679 -0.431237 0.8426828 -2.4481074 ] [ 0. 0. 0. 1. ]] SLAMing on 215.371346184 meters Centerline goodness : 0.897302 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.42, Z:-2.45 [[ 0.44945227 -0.71490777 -0.53563003 -1.09286006] [ 0.83069074 0.55501339 -0.0437383 0.42183465] [ 0.32855069 -0.42528463 0.84331929 -2.44623438] [ 0. 0. 0. 1. ]] SLAMing on 215.401346184 meters Centerline goodness : 0.898119 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.42, Z:-2.45 [[ 0.44864887 -0.71515787 -0.5359696 -1.09115227] [ 0.83108824 0.55439297 -0.04405417 0.42242552] [ 0.32864346 -0.42567318 0.84308708 -2.44555284] [ 0. 0. 0. 1. ]] SLAMing on 215.43134618399998 meters Centerline goodness : 0.898043 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.42, Z:-2.44 [[ 0.44827077 -0.71477793 -0.53679217 -1.08839744] [ 0.83114929 0.55430484 -0.04401132 0.42299179] [ 0.32900482 -0.42642545 0.84256582 -2.44482823] [ 0. 0. 0. 1. ]] SLAMing on 215.46134618399998 meters Centerline goodness : 0.897721 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.42, Z:-2.44 [[ 0.44799416 -0.71448566 -0.53741183 -1.08540317] [ 0.83120814 0.55422311 -0.0439292 0.42299828] [ 0.32923284 -0.42702106 0.84217501 -2.44410177] [ 0. 0. 0. 1. ]] SLAMing on 215.49134618399998 meters Centerline goodness : 0.899074 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.44 [[ 0.44749706 -0.71383069 -0.53869484 -1.0819602 ] [ 0.83127409 0.55413831 -0.0437506 0.42354251] [ 0.32974197 -0.4282248 0.84136422 -2.44278367] [ 0. 0. 0. 1. ]] SLAMing on 215.52134618399998 meters Centerline goodness : 0.900333 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.44 [[ 0.44461861 -0.71759461 -0.53607114 -1.08212576] [ 0.83338221 0.55077393 -0.04606697 0.42421327] [ 0.32831142 -0.42626992 0.84291492 -2.44271166] [ 0. 0. 0. 1. ]] SLAMing on 215.55134618399998 meters Centerline goodness : 0.901468 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.44 [[ 0.4402883 -0.71256508 -0.54625746 -1.08152135] [ 0.83115748 0.55358155 -0.05219878 0.41753656] [ 0.33959308 -0.43104346 0.83598928 -2.43770584] [ 0. 0. 0. 1. ]] SLAMing on 215.58134618399998 meters Centerline goodness : 0.900577 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.44 [[ 0.43872466 -0.7150198 -0.54430447 -1.07908704] [ 0.83217733 0.55185617 -0.05418175 0.419554 ] [ 0.3391188 -0.42918698 0.83713618 -2.43908254] [ 0. 0. 0. 1. ]] SLAMing on 215.61134618399998 meters Centerline goodness : 0.900680 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.42, Z:-2.44 [[ 0.43824516 -0.71412972 -0.54585706 -1.07424415] [ 0.83216771 0.55189639 -0.05391915 0.42025522] [ 0.33976181 -0.43061481 0.83614161 -2.43782227] [ 0. 0. 0. 1. ]] SLAMing on 215.64134618399999 meters Centerline goodness : 0.900898 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.42, Z:-2.44 [[ 0.43784619 -0.7139673 -0.54638944 -1.07346785] [ 0.83233689 0.55164796 -0.05384999 0.42012904] [ 0.33986175 -0.43120207 0.83579828 -2.4367542 ] [ 0. 0. 0. 1. ]] SLAMing on 215.671346184 meters Centerline goodness : 0.902399 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.42, Z:-2.44 [[ 0.43762692 -0.71314101 -0.54764274 -1.07170944] [ 0.83223617 0.55182961 -0.05354471 0.4201904 ] [ 0.34039041 -0.43233549 0.83499724 -2.43512384] [ 0. 0. 0. 1. ]] SLAMing on 215.701346184 meters Centerline goodness : 0.902652 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.42, Z:-2.43 [[ 0.43748004 -0.71296292 -0.54799187 -1.0716011 ] [ 0.83231169 0.55173281 -0.0533681 0.41946731] [ 0.34039457 -0.43275256 0.83477947 -2.4340558 ] [ 0. 0. 0. 1. ]] SLAMing on 215.731346184 meters Centerline goodness : 0.899231 Centerline is valid? [False, False] Translation: X:-1.07, Y:0.42, Z:-2.43 [[ 0.43824834 -0.71247225 -0.54801613 -1.0721621 ] [ 0.83193228 0.5523574 -0.05282031 0.41779731] [ 0.34033377 -0.43276389 0.83479838 -2.43365693] [ 0. 0. 0. 1. ]] SLAMing on 215.761346184 meters Centerline goodness : 0.903121 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.43787139 -0.71333443 -0.54719525 -1.07958561] [ 0.82897908 0.55590645 -0.06133276 0.40947981] [ 0.34794014 -0.42675755 0.83475485 -2.43221195] [ 0. 0. 0. 1. ]] SLAMing on 215.791346184 meters Centerline goodness : 0.903405 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.43808892 -0.71360027 -0.54667427 -1.07955099] [ 0.82883843 0.55607889 -0.06166946 0.41005357] [ 0.34800136 -0.42608793 0.83507133 -2.43325896] [ 0. 0. 0. 1. ]] SLAMing on 215.821346184 meters Centerline goodness : 0.904707 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.43825544 -0.71348838 -0.54668684 -1.07889393] [ 0.82858628 0.55642304 -0.06195307 0.41106563] [ 0.34839195 -0.42582594 0.8350421 -2.43386515] [ 0. 0. 0. 1. ]] SLAMing on 215.851346184 meters Centerline goodness : 0.899352 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.439889 -0.70976204 -0.55021406 -1.07668127] [ 0.82688563 0.55913964 -0.06019149 0.41215557] [ 0.35036813 -0.42848652 0.83285141 -2.43264943] [ 0. 0. 0. 1. ]] SLAMing on 215.881346184 meters Centerline goodness : 0.898086 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.43978264 -0.70988313 -0.55014286 -1.07767729] [ 0.82691163 0.55908033 -0.06038488 0.41236458] [ 0.35044026 -0.42836331 0.83288444 -2.43245955] [ 0. 0. 0. 1. ]] SLAMing on 215.911346184 meters Centerline goodness : 0.900115 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.43 [[ 0.43901615 -0.71045523 -0.55001653 -1.07942834] [ 0.8273034 0.55843507 -0.06098647 0.41344955] [ 0.35047668 -0.4282565 0.83292405 -2.43208755] [ 0. 0. 0. 1. ]] SLAMing on 215.941346184 meters Centerline goodness : 0.899628 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43848179 -0.71092618 -0.54983423 -1.07950716] [ 0.82751926 0.55804621 -0.0616141 0.41510087] [ 0.35063599 -0.42798176 0.83299821 -2.43257435] [ 0. 0. 0. 1. ]] SLAMing on 215.971346184 meters Centerline goodness : 0.900519 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43821136 -0.71074386 -0.55028535 -1.0787792 ] [ 0.82739786 0.5581777 -0.06205187 0.4172143 ] [ 0.35126 -0.42811309 0.83266776 -2.43284452] [ 0. 0. 0. 1. ]] SLAMing on 216.001346184 meters Centerline goodness : 0.898907 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43789627 -0.71100862 -0.55019415 -1.07907132] [ 0.8274997 0.55798025 -0.06246836 0.41821035] [ 0.35141301 -0.42793083 0.83269689 -2.4330287 ] [ 0. 0. 0. 1. ]] SLAMing on 216.031346184 meters Centerline goodness : 0.898907 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43789627 -0.71100862 -0.55019415 -1.07907132] [ 0.8274997 0.55798025 -0.06246836 0.41821035] [ 0.35141301 -0.42793083 0.83269689 -2.4330287 ] [ 0. 0. 0. 1. ]] SLAMing on 216.061346184 meters Centerline goodness : 0.900048 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43758134 -0.71128847 -0.55008298 -1.07921396] [ 0.82770018 0.55766065 -0.06266588 0.41832595] [ 0.35133315 -0.42788236 0.83275549 -2.4328425 ] [ 0. 0. 0. 1. ]] SLAMing on 216.091346184 meters Centerline goodness : 0.898599 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43749896 -0.71132031 -0.55010733 -1.07889822] [ 0.82771985 0.55762163 -0.06275323 0.41818955] [ 0.35138939 -0.42788029 0.83273282 -2.43253123] [ 0. 0. 0. 1. ]] SLAMing on 216.121346184 meters Centerline goodness : 0.898698 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43732678 -0.7113843 -0.55016149 -1.07901692] [ 0.82777715 0.55752062 -0.06289479 0.41806817] [ 0.35146874 -0.42790553 0.83268636 -2.43201096] [ 0. 0. 0. 1. ]] SLAMing on 216.151346184 meters Centerline goodness : 0.902895 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43703843 -0.71129405 -0.55050721 -1.07869635] [ 0.82773289 0.55754459 -0.0632636 0.41910666] [ 0.35193134 -0.4280243 0.8324299 -2.43159664] [ 0. 0. 0. 1. ]] SLAMing on 216.18134618399998 meters Centerline goodness : 0.901828 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43669378 -0.71130044 -0.5507724 -1.07908213] [ 0.82787628 0.55732124 -0.06335542 0.41928629] [ 0.35202189 -0.42830448 0.83224747 -2.43091519] [ 0. 0. 0. 1. ]] SLAMing on 216.21134618399998 meters Centerline goodness : 0.902475 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43633431 -0.71149894 -0.5508009 -1.07918912] [ 0.82805736 0.55702764 -0.06357059 0.41942341] [ 0.35204174 -0.42835671 0.8322122 -2.43043406] [ 0. 0. 0. 1. ]] SLAMing on 216.24134618399998 meters Centerline goodness : 0.903010 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.42, Z:-2.43 [[ 0.43576773 -0.71159549 -0.55112461 -1.07922414] [ 0.82832728 0.55660827 -0.06372722 0.41953219] [ 0.35210852 -0.42874128 0.83198588 -2.4293719 ] [ 0. 0. 0. 1. ]] SLAMing on 216.27134618399998 meters Centerline goodness : 0.904592 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.43 [[ 0.43312897 -0.7109741 -0.5539992 -1.08657089] [ 0.82569183 0.55945254 -0.07242829 0.410993 ] [ 0.3614309 -0.42606183 0.82936061 -2.42545361] [ 0. 0. 0. 1. ]] SLAMing on 216.30134618399998 meters Centerline goodness : 0.906360 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.43 [[ 0.43298561 -0.71099137 -0.55408911 -1.08576871] [ 0.82573907 0.55937248 -0.07250796 0.41091769] [ 0.36149474 -0.42613812 0.82929359 -2.42513216] [ 0. 0. 0. 1. ]] SLAMing on 216.33134618399998 meters Centerline goodness : 0.906700 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.42 [[ 0.43282313 -0.71095934 -0.55425712 -1.08504063] [ 0.82576311 0.55932327 -0.07261382 0.41111366] [ 0.36163438 -0.42625614 0.82917204 -2.42485101] [ 0. 0. 0. 1. ]] SLAMing on 216.36134618399998 meters Centerline goodness : 0.907278 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.42 [[ 0.43347628 -0.71046136 -0.55438522 -1.08597501] [ 0.82535835 0.55996591 -0.0722618 0.41063652] [ 0.36177604 -0.42624269 0.82911716 -2.42491682] [ 0. 0. 0. 1. ]] SLAMing on 216.39134618399999 meters Centerline goodness : 0.901758 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.42 [[ 0.4334492 -0.71051377 -0.55433923 -1.08679304] [ 0.82538108 0.55992814 -0.07229487 0.41046396] [ 0.36175663 -0.42620496 0.82914503 -2.424666 ] [ 0. 0. 0. 1. ]] SLAMing on 216.421346184 meters Centerline goodness : 0.900038 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.41, Z:-2.42 [[ 0.43329811 -0.710126 -0.55495388 -1.08578613] [ 0.82527898 0.56007578 -0.07231691 0.41119312] [ 0.36217034 -0.42665699 0.82873184 -2.42416405] [ 0. 0. 0. 1. ]] SLAMing on 216.451346184 meters Centerline goodness : 0.899551 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.42 [[ 0.43274385 -0.7102106 -0.55527801 -1.08465385] [ 0.82554457 0.55966656 -0.07245341 0.41140855] [ 0.36222772 -0.42705298 0.82850277 -2.42341399] [ 0. 0. 0. 1. ]] SLAMing on 216.481346184 meters Centerline goodness : 0.901466 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.42 [[ 0.42988573 -0.71387728 -0.55279064 -1.08323102] [ 0.82763152 0.55627159 -0.07475284 0.41207312] [ 0.36086608 -0.42537178 0.82996055 -2.42335612] [ 0. 0. 0. 1. ]] SLAMing on 216.511346184 meters Centerline goodness : 0.899475 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.42 [[ 0.42891494 -0.71407701 -0.55328654 -1.08247661] [ 0.8281712 0.55545286 -0.07486376 0.41219819] [ 0.36078308 -0.42610579 0.82962005 -2.42197151] [ 0. 0. 0. 1. ]] SLAMing on 216.541346184 meters Centerline goodness : 0.901626 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.42 [[ 0.42796681 -0.71359584 -0.55463987 -1.08050423] [ 0.82843812 0.55505089 -0.07489182 0.41290888] [ 0.36129584 -0.4274336 0.82871336 -2.41986888] [ 0. 0. 0. 1. ]] SLAMing on 216.571346184 meters Centerline goodness : 0.898638 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.41, Z:-2.42 [[ 0.42541354 -0.71413356 -0.55591058 -1.07887387] [ 0.82991564 0.55281629 -0.0750612 0.41205078] [ 0.36092015 -0.42942683 0.82784615 -2.41557143] [ 0. 0. 0. 1. ]] SLAMing on 216.601346184 meters Centerline goodness : 0.903247 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.40, Z:-2.41 [[ 0.42192074 -0.71059262 -0.56306396 -1.08204645] [ 0.82866562 0.5542148 -0.07848086 0.39901208] [ 0.3678263 -0.43347904 0.82267839 -2.41487548] [ 0. 0. 0. 1. ]] SLAMing on 216.631346184 meters Centerline goodness : 0.902271 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.40, Z:-2.41 [[ 0.4213564 -0.71018502 -0.56400003 -1.07977891] [ 0.82879137 0.55403063 -0.07845337 0.39945844] [ 0.3681897 -0.43438152 0.82203956 -2.41355065] [ 0. 0. 0. 1. ]] SLAMing on 216.661346184 meters Centerline goodness : 0.899202 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.40, Z:-2.41 [[ 0.42110127 -0.71077622 -0.56344555 -1.08098063] [ 0.82895151 0.55371724 -0.07897216 0.40046803] [ 0.36812105 -0.43381376 0.82237006 -2.41427904] [ 0. 0. 0. 1. ]] SLAMing on 216.691346184 meters Centerline goodness : 0.904231 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.40, Z:-2.41 [[ 0.4227036 -0.70736659 -0.56652818 -1.08069954] [ 0.82736654 0.55631826 -0.07729559 0.4017289 ] [ 0.36984629 -0.43605333 0.82040918 -2.4134894 ] [ 0. 0. 0. 1. ]] SLAMing on 216.721346184 meters Centerline goodness : 0.898906 Centerline is valid? [False, False] Translation: X:-1.08, Y:0.40, Z:-2.41 [[ 0.42318701 -0.70776058 -0.56567456 -1.08364288] [ 0.8271105 0.55664375 -0.07769147 0.40229283] [ 0.36986617 -0.43499735 0.82096061 -2.41474838] [ 0. 0. 0. 1. ]] SLAMing on 216.751346184 meters Centerline goodness : 0.899524 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.40, Z:-2.42 [[ 0.42519935 -0.70772477 -0.56420843 -1.08710117] [ 0.82603497 0.55823528 -0.07771489 0.40239215] [ 0.3699618 -0.43301158 0.82196669 -2.41787515] [ 0. 0. 0. 1. ]] SLAMing on 216.781346184 meters Centerline goodness : 0.899973 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.40, Z:-2.42 [[ 0.42556245 -0.70808914 -0.56347704 -1.08834621] [ 0.82580696 0.55851012 -0.07816205 0.40337587] [ 0.37005333 -0.43206043 0.82242587 -2.4193046 ] [ 0. 0. 0. 1. ]] SLAMing on 216.811346184 meters Centerline goodness : 0.900763 Centerline is valid? [False, False] Translation: X:-1.09, Y:0.40, Z:-2.42 [[ 0.42570378 -0.70824476 -0.56317462 -1.08915246] [ 0.82564577 0.55869945 -0.07851105 0.40462635] [ 0.37025039 -0.43156029 0.82259976 -2.42030756] [ 0. 0. 0. 1. ]] SLAMing on 216.841346184 meters Centerline goodness : 0.900980 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.39, Z:-2.43 [[ 0.42515339 -0.70777121 -0.56418482 -1.09952027] [ 0.82419126 0.56036007 -0.08188631 0.38992257] [ 0.37410342 -0.43018196 0.82157782 -2.42662991] [ 0. 0. 0. 1. ]] SLAMing on 216.871346184 meters Centerline goodness : 0.899470 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.39, Z:-2.43 [[ 0.42354585 -0.70866687 -0.56426959 -1.10094031] [ 0.82491719 0.55912447 -0.08301481 0.3936083 ] [ 0.37432678 -0.43031511 0.82140633 -2.42685188] [ 0. 0. 0. 1. ]] SLAMing on 216.901346184 meters Centerline goodness : 0.901256 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.40, Z:-2.43 [[ 0.4220665 -0.70939616 -0.56446165 -1.10100638] [ 0.8256885 0.55787824 -0.08372797 0.39518342] [ 0.37429717 -0.43073072 0.82120197 -2.42595531] [ 0. 0. 0. 1. ]] SLAMing on 216.93134618399998 meters Centerline goodness : 0.897703 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.40, Z:-2.42 [[ 0.42075285 -0.70948051 -0.56533569 -1.09924265] [ 0.8261888 0.55706482 -0.08420721 0.39701901] [ 0.374672 -0.43164359 0.82055146 -2.42471588] [ 0. 0. 0. 1. ]] SLAMing on 216.96134618399998 meters Centerline goodness : 0.897369 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.40, Z:-2.42 [[ 0.41845701 -0.711014 -0.5651131 -1.09982999] [ 0.82746377 0.55496761 -0.08552577 0.39984569] [ 0.37442949 -0.43182176 0.82056841 -2.42427676] [ 0. 0. 0. 1. ]] SLAMing on 216.99134618399998 meters Centerline goodness : 0.900583 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.40, Z:-2.42 [[ 0.41728321 -0.71206393 -0.56465891 -1.10048374] [ 0.828014 0.55396721 -0.0866784 0.40260561] [ 0.37452308 -0.43137604 0.82076012 -2.42496561] [ 0. 0. 0. 1. ]] SLAMing on 217.02134618399998 meters Centerline goodness : 0.899392 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.41, Z:-2.43 [[ 0.41668325 -0.71280464 -0.56416719 -1.10084442] [ 0.82823364 0.55349353 -0.08760111 0.40505658] [ 0.37470537 -0.43076032 0.82100026 -2.42613494] [ 0. 0. 0. 1. ]] SLAMing on 217.05134618399998 meters Centerline goodness : 0.897959 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.41, Z:-2.43 [[ 0.41710163 -0.71308737 -0.56350033 -1.10189076] [ 0.82788688 0.55392231 -0.08816683 0.4071148 ] [ 0.37500606 -0.42974 0.82139758 -2.4281837 ] [ 0. 0. 0. 1. ]] SLAMing on 217.08134618399998 meters Centerline goodness : 0.898180 Centerline is valid? [False, False] Translation: X:-1.10, Y:0.42, Z:-2.43 [[ 0.4220119 -0.71476734 -0.55768594 -1.10407225] [ 0.82813098 0.55425017 -0.08370086 0.42279967] [ 0.36892416 -0.42651424 0.82582114 -2.43114062] [ 0. 0. 0. 1. ]] SLAMing on 217.11134618399998 meters Centerline goodness : 0.897336 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.43, Z:-2.43 [[ 0.42214981 -0.71588108 -0.5561509 -1.10809042] [ 0.82799237 0.55426546 -0.08496137 0.42566888] [ 0.36907747 -0.42462227 0.82672713 -2.43389039] [ 0. 0. 0. 1. ]] SLAMing on 217.14134618399999 meters Centerline goodness : 0.897912 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.44 [[ 0.42499311 -0.72030206 -0.54822057 -1.10699949] [ 0.82978004 0.55202768 -0.08203975 0.44000334] [ 0.36172634 -0.42003616 0.83230024 -2.43583331] [ 0. 0. 0. 1. ]] SLAMing on 217.171346184 meters Centerline goodness : 0.897715 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.44 [[ 0.42528618 -0.72127922 -0.54670646 -1.11025205] [ 0.82963763 0.5520966 -0.08301052 0.44192216] [ 0.36170854 -0.41826502 0.83319944 -2.43837854] [ 0. 0. 0. 1. ]] SLAMing on 217.201346184 meters Centerline goodness : 0.897890 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.44, Z:-2.44 [[ 0.4250704 -0.72236063 -0.54544502 -1.11341766] [ 0.82973666 0.55177868 -0.0841271 0.44435362] [ 0.36173504 -0.41681579 0.83391388 -2.44040322] [ 0. 0. 0. 1. ]] SLAMing on 217.231346184 meters Centerline goodness : 0.895820 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.45, Z:-2.44 [[ 0.42378779 -0.72465353 -0.5433978 -1.11793761] [ 0.83041903 0.55040452 -0.08636607 0.44951103] [ 0.36167408 -0.41464699 0.8350208 -2.4436433 ] [ 0. 0. 0. 1. ]] SLAMing on 217.261346184 meters Centerline goodness : 0.895182 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.46, Z:-2.45 [[ 0.42607441 -0.72724544 -0.53812143 -1.1139334 ] [ 0.83374892 0.54653868 -0.07847428 0.45949458] [ 0.35117424 -0.41522227 0.83920624 -2.44804965] [ 0. 0. 0. 1. ]] SLAMing on 217.291346184 meters Centerline goodness : 0.897896 Centerline is valid? [False, False] Translation: X:-1.11, Y:0.47, Z:-2.45 [[ 0.42736756 -0.73234297 -0.53012332 -1.1135671 ] [ 0.83651441 0.54273333 -0.07539343 0.47255075] [ 0.34292944 -0.4112351 0.84456207 -2.44815313] [ 0. 0. 0. 1. ]] SLAMing on 217.321346184 meters Centerline goodness : 0.900247 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.49, Z:-2.45 [[ 0.42874785 -0.73728579 -0.52209668 -1.11711406] [ 0.83950732 0.53865497 -0.07126206 0.48549408] [ 0.33377048 -0.40775053 0.84990398 -2.44957247] [ 0. 0. 0. 1. ]] SLAMing on 217.351346184 meters Centerline goodness : 0.898550 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.49, Z:-2.45 [[ 0.42796721 -0.73791037 -0.52185473 -1.12011833] [ 0.83980307 0.53807728 -0.07213622 0.48817932] [ 0.33402824 -0.40738327 0.84997882 -2.45010467] [ 0. 0. 0. 1. ]] SLAMing on 217.381346184 meters Centerline goodness : 0.895674 Centerline is valid? [False, False] Translation: X:-1.12, Y:0.49, Z:-2.45 [[ 0.42725174 -0.73859412 -0.52147357 -1.12308954] [ 0.84004333 0.53756806 -0.07312861 0.49109062] [ 0.33433989 -0.40681606 0.85012795 -2.45094527] [ 0. 0. 0. 1. ]] SLAMing on 217.411346184 meters Centerline goodness : 0.898960 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.49, Z:-2.45 [[ 0.42673302 -0.73949062 -0.52062708 -1.12561298] [ 0.84023075 0.53712449 -0.0742265 0.49381905] [ 0.33453135 -0.40577198 0.85055151 -2.45242632] [ 0. 0. 0. 1. ]] SLAMing on 217.441346184 meters Centerline goodness : 0.896396 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.50, Z:-2.46 [[ 0.42684872 -0.74111004 -0.51822396 -1.12855329] [ 0.84021365 0.5369315 -0.07579968 0.49702794] [ 0.33442668 -0.40306385 0.85187929 -2.45646521] [ 0. 0. 0. 1. ]] SLAMing on 217.471346184 meters Centerline goodness : 0.897168 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.51, Z:-2.46 [[ 0.42857092 -0.74687934 -0.5084272 -1.12794733] [ 0.84271153 0.53336996 -0.07316946 0.5096384 ] [ 0.32582855 -0.39709916 0.85799068 -2.45889115] [ 0. 0. 0. 1. ]] SLAMing on 217.501346184 meters Centerline goodness : 0.898778 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.51, Z:-2.46 [[ 0.42836509 -0.74767897 -0.50742439 -1.1301574 ] [ 0.84274395 0.53317821 -0.07418652 0.51216911] [ 0.32601533 -0.39584992 0.85849685 -2.46074103] [ 0. 0. 0. 1. ]] SLAMing on 217.531346184 meters Centerline goodness : 0.898163 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.53, Z:-2.46 [[ 0.43097196 -0.75078153 -0.50058992 -1.12965483] [ 0.84460596 0.53090929 -0.06910928 0.52527717] [ 0.31765381 -0.39301707 0.86292157 -2.46301613] [ 0. 0. 0. 1. ]] SLAMing on 217.561346184 meters Centerline goodness : 0.893907 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.54, Z:-2.47 [[ 0.43261013 -0.75411104 -0.49413056 -1.13311919] [ 0.84671567 0.5281021 -0.06465871 0.54089157] [ 0.30971123 -0.39041608 0.86697995 -2.46526564] [ 0. 0. 0. 1. ]] SLAMing on 217.591346184 meters Centerline goodness : 0.894478 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.55, Z:-2.47 [[ 0.4339554 -0.75895382 -0.48546042 -1.1336263 ] [ 0.84929284 0.52442313 -0.06067998 0.55268795] [ 0.30063997 -0.38596565 0.87215029 -2.46667071] [ 0. 0. 0. 1. ]] SLAMing on 217.621346184 meters Centerline goodness : 0.895074 Centerline is valid? [False, False] Translation: X:-1.13, Y:0.56, Z:-2.47 [[ 0.43401832 -0.75715262 -0.48820898 -1.132607 ] [ 0.84881279 0.52527336 -0.06003946 0.55571656] [ 0.30190221 -0.3883398 0.87065909 -2.46621429] [ 0. 0. 0. 1. ]] SLAMing on 217.651346184 meters Centerline goodness : 0.896676 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.57, Z:-2.47 [[ 0.43346153 -0.76299549 -0.47952997 -1.1356777 ] [ 0.85230794 0.51993982 -0.05686617 0.57049082] [ 0.29271535 -0.3840579 0.87568102 -2.46813846] [ 0. 0. 0. 1. ]] SLAMing on 217.68134618399998 meters Centerline goodness : 0.895839 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.57, Z:-2.47 [[ 0.43224313 -0.76341577 -0.47996066 -1.13840569] [ 0.85277514 0.51908613 -0.05765544 0.57448271] [ 0.293156 -0.38437735 0.87539341 -2.46867626] [ 0. 0. 0. 1. ]] SLAMing on 217.71134618399998 meters Centerline goodness : 0.896357 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.58, Z:-2.47 [[ 0.43119026 -0.76376158 -0.48035738 -1.13930696] [ 0.85306654 0.51849555 -0.05865008 0.57906408] [ 0.29385785 -0.38448747 0.87510968 -2.46978268] [ 0. 0. 0. 1. ]] SLAMing on 217.74134618399998 meters Centerline goodness : 0.895567 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.59, Z:-2.47 [[ 0.4315386 -0.76985584 -0.47020892 -1.13923344] [ 0.85596678 0.51399248 -0.0559696 0.59276304] [ 0.28477238 -0.37833017 0.88077862 -2.47340309] [ 0. 0. 0. 1. ]] SLAMing on 217.77134618399998 meters Centerline goodness : 0.894367 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.59, Z:-2.47 [[ 0.43139518 -0.77032794 -0.46956689 -1.141642 ] [ 0.85600936 0.51385666 -0.05656241 0.59404836] [ 0.28486168 -0.3775529 0.88108322 -2.47412215] [ 0. 0. 0. 1. ]] SLAMing on 217.80134618399998 meters Centerline goodness : 0.897194 Centerline is valid? [False, False] Translation: X:-1.14, Y:0.60, Z:-2.48 [[ 0.43366522 -0.77328595 -0.46256169 -1.14320524] [ 0.85800291 0.51118836 -0.0501744 0.6044869 ] [ 0.27525531 -0.37512039 0.8851662 -2.47590159] [ 0. 0. 0. 1. ]] SLAMing on 217.83134618399998 meters Centerline goodness : 0.899423 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.61, Z:-2.47 [[ 0.4346122 -0.77048861 -0.46632556 -1.14536441] [ 0.85693835 0.51307739 -0.04907392 0.60808028] [ 0.277072 -0.37828413 0.88325094 -2.47499888] [ 0. 0. 0. 1. ]] SLAMing on 217.86134618399998 meters Centerline goodness : 0.895000 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.62, Z:-2.48 [[ 0.43808769 -0.77345192 -0.45809531 -1.15215107] [ 0.85854021 0.51103955 -0.04180054 0.61708111] [ 0.26643553 -0.37498094 0.88791971 -2.47950861] [ 0. 0. 0. 1. ]] SLAMing on 217.89134618399999 meters Centerline goodness : 0.898550 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.62, Z:-2.48 [[ 0.43849991 -0.77389121 -0.45695758 -1.15487468] [ 0.85829294 0.51139969 -0.04246858 0.61837256] [ 0.26655403 -0.373581 0.88847408 -2.48114432] [ 0. 0. 0. 1. ]] SLAMing on 217.921346184 meters Centerline goodness : 0.898550 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.62, Z:-2.48 [[ 0.43849991 -0.77389121 -0.45695758 -1.15487468] [ 0.85829294 0.51139969 -0.04246858 0.61837256] [ 0.26655403 -0.373581 0.88847408 -2.48114432] [ 0. 0. 0. 1. ]] SLAMing on 217.951346184 meters Centerline goodness : 0.901045 Centerline is valid? [False, False] Translation: X:-1.15, Y:0.63, Z:-2.48 [[ 0.44092625 -0.77727365 -0.44880922 -1.15483979] [ 0.85985414 0.50919045 -0.03709384 0.62940177] [ 0.25736143 -0.36955482 0.8928574 -2.48420339] [ 0. 0. 0. 1. ]] SLAMing on 217.981346184 meters Centerline goodness : 0.900358 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.63, Z:-2.49 [[ 0.4414958 -0.77848313 -0.44614512 -1.16080553] [ 0.85951494 0.50964177 -0.03872122 0.63283894] [ 0.257518 -0.36637314 0.89412259 -2.4881017 ] [ 0. 0. 0. 1. ]] SLAMing on 218.011346184 meters Centerline goodness : 0.902708 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.63, Z:-2.49 [[ 0.44129841 -0.77924498 -0.44500897 -1.16293258] [ 0.85959715 0.50943341 -0.03962744 0.63458315] [ 0.25758192 -0.36504091 0.89464892 -2.48960633] [ 0. 0. 0. 1. ]] SLAMing on 218.041346184 meters Centerline goodness : 0.901094 Centerline is valid? [False, False] Translation: X:-1.16, Y:0.64, Z:-2.49 [[ 0.44045179 -0.7785191 -0.44711322 -1.16344388] [ 0.85975953 0.5091609 -0.03960712 0.63885465] [ 0.25848747 -0.36696483 0.89360005 -2.48979076] [ 0. 0. 0. 1. ]] SLAMing on 218.071346184 meters Centerline goodness : 0.902558 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.65, Z:-2.49 [[ 0.44146083 -0.78316018 -0.43791834 -1.16771439] [ 0.86305123 0.50413076 -0.03153972 0.64508378] [ 0.24546876 -0.36402242 0.89846133 -2.49394351] [ 0. 0. 0. 1. ]] SLAMing on 218.101346184 meters Centerline goodness : 0.900106 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.66, Z:-2.50 [[ 0.43769307 -0.78287887 -0.4421826 -1.16581473] [ 0.86612337 0.49913363 -0.02638044 0.65993817] [ 0.24136089 -0.37143815 0.89653702 -2.496865 ] [ 0. 0. 0. 1. ]] SLAMing on 218.131346184 meters Centerline goodness : 0.900681 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.66, Z:-2.50 [[ 0.43636066 -0.78414598 -0.44125328 -1.16627318] [ 0.866854 0.49780821 -0.02740677 0.66220469] [ 0.24115042 -0.37054294 0.896964 -2.49808407] [ 0. 0. 0. 1. ]] SLAMing on 218.161346184 meters Centerline goodness : 0.901013 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.67, Z:-2.50 [[ 0.43680378 -0.7900653 -0.43011543 -1.16657406] [ 0.8697124 0.49304895 -0.02242934 0.6705548 ] [ 0.2297886 -0.36427951 0.90249523 -2.50181482] [ 0. 0. 0. 1. ]] SLAMing on 218.191346184 meters Centerline goodness : 0.897901 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.67, Z:-2.50 [[ 0.43605015 -0.79073409 -0.42965087 -1.16778846] [ 0.87005371 0.4924096 -0.02322353 0.67249689] [ 0.22992785 -0.36369271 0.9026964 -2.50248034] [ 0. 0. 0. 1. ]] SLAMing on 218.221346184 meters Centerline goodness : 0.899262 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.68, Z:-2.50 [[ 0.43643782 -0.78902501 -0.43239052 -1.16964079] [ 0.86944315 0.49349941 -0.02295494 0.67774912] [ 0.23149649 -0.36592057 0.9013942 -2.50374308] [ 0. 0. 0. 1. ]] SLAMing on 218.251346184 meters Centerline goodness : 0.899925 Centerline is valid? [False, False] Translation: X:-1.17, Y:0.68, Z:-2.50 [[ 0.4361737 -0.78935208 -0.43205995 -1.17272659] [ 0.86951004 0.49335379 -0.02354402 0.67939074] [ 0.23174294 -0.36541119 0.90153751 -2.50411557] [ 0. 0. 0. 1. ]] SLAMing on 218.281346184 meters Centerline goodness : 0.899812 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.69, Z:-2.51 [[ 0.43822422 -0.79294105 -0.42332497 -1.17523988] [ 0.87146464 0.49019529 -0.01606108 0.68656446] [ 0.2202474 -0.36187438 0.90583553 -2.50776178] [ 0. 0. 0. 1. ]] SLAMing on 218.311346184 meters Centerline goodness : 0.900344 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.69, Z:-2.51 [[ 0.43651175 -0.79349435 -0.42405684 -1.18071067] [ 0.87215796 0.48892536 -0.01710222 0.69190882] [ 0.22090266 -0.36237923 0.90547408 -2.50815262] [ 0. 0. 0. 1. ]] SLAMing on 218.341346184 meters Centerline goodness : 0.899091 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.70, Z:-2.51 [[ 0.43519492 -0.79458407 -0.42336926 -1.18202426] [ 0.87278135 0.4877686 -0.01828936 0.69508399] [ 0.22103867 -0.36154936 0.90577258 -2.50948694] [ 0. 0. 0. 1. ]] SLAMing on 218.371346184 meters Centerline goodness : 0.902259 Centerline is valid? [False, False] Translation: X:-1.18, Y:0.70, Z:-2.51 [[ 0.43421316 -0.79563016 -0.42241164 -1.18296215] [ 0.87325701 0.48687381 -0.01939293 0.69754158] [ 0.22109076 -0.36045326 0.90619662 -2.51090973] [ 0. 0. 0. 1. ]] SLAMing on 218.401346184 meters Centerline goodness : 0.899847 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.70, Z:-2.51 [[ 0.43400118 -0.79591965 -0.42208397 -1.18715798] [ 0.87324488 0.48686383 -0.02017415 0.70137167] [ 0.22155442 -0.35982706 0.90633224 -2.51297099] [ 0. 0. 0. 1. ]] SLAMing on 218.43134618399998 meters Centerline goodness : 0.902157 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.71, Z:-2.52 [[ 0.43592318 -0.79781208 -0.41649354 -1.18755792] [ 0.87446678 0.48489534 -0.01357769 0.71315648] [ 0.21278822 -0.35829094 0.90903728 -2.51531509] [ 0. 0. 0. 1. ]] SLAMing on 218.46134618399998 meters Centerline goodness : 0.906510 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.72, Z:-2.52 [[ 0.43707847 -0.79515869 -0.42033923 -1.18788826] [ 0.87342332 0.48679682 -0.01267117 0.71818827] [ 0.21469539 -0.3615958 0.90727855 -2.51642309] [ 0. 0. 0. 1. ]] SLAMing on 218.49134618399998 meters Centerline goodness : 0.903892 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.72, Z:-2.52 [[ 0.43814648 -0.79270117 -0.42385436 -1.18889321] [ 0.87246602 0.48853281 -0.01177907 0.72223787] [ 0.21640404 -0.36463756 0.90565376 -2.51696829] [ 0. 0. 0. 1. ]] SLAMing on 218.52134618399998 meters Centerline goodness : 0.904901 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.73, Z:-2.52 [[ 0.43815959 -0.7908245 -0.42733216 -1.19000297] [ 0.87184354 0.48963288 -0.01218506 0.73099245] [ 0.21887212 -0.36722778 0.90401258 -2.51975161] [ 0. 0. 0. 1. ]] SLAMing on 218.55134618399998 meters Centerline goodness : 0.903824 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.73, Z:-2.52 [[ 0.43682999 -0.7918065 -0.42687472 -1.19059845] [ 0.87245283 0.48851609 -0.01334504 0.73448053] [ 0.21910186 -0.36659854 0.9042123 -2.52127722] [ 0. 0. 0. 1. ]] SLAMing on 218.58134618399998 meters Centerline goodness : 0.904260 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.74, Z:-2.52 [[ 0.4353942 -0.79257826 -0.42690935 -1.19060557] [ 0.87307945 0.48736567 -0.01438644 0.7384727 ] [ 0.21946334 -0.36646201 0.90417998 -2.52276376] [ 0. 0. 0. 1. ]] SLAMing on 218.61134618399998 meters Centerline goodness : 0.906175 Centerline is valid? [False, False] Translation: X:-1.19, Y:0.74, Z:-2.52 [[ 0.43373952 -0.79322418 -0.42739377 -1.19164559] [ 0.87377432 0.48608744 -0.01540934 0.74266195] [ 0.2199738 -0.36676206 0.90393425 -2.52348598] [ 0. 0. 0. 1. ]] SLAMing on 218.64134618399999 meters Centerline goodness : 0.904358 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.75, Z:-2.52 [[ 0.43104353 -0.79312183 -0.43030134 -1.1953899 ] [ 0.87476456 0.48427303 -0.01632788 0.75048415] [ 0.22133333 -0.36937433 0.90253762 -2.52352356] [ 0. 0. 0. 1. ]] SLAMing on 218.671346184 meters Centerline goodness : 0.906004 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.76, Z:-2.52 [[ 0.42983864 -0.79290659 -0.43190031 -1.19697198] [ 0.87514801 0.48356414 -0.01678342 0.75533911] [ 0.22215919 -0.37076253 0.90176518 -2.5243023 ] [ 0. 0. 0. 1. ]] SLAMing on 218.701346184 meters Centerline goodness : 0.905574 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.76, Z:-2.53 [[ 0.42933795 -0.79208826 -0.43389528 -1.19875614] [ 0.87509555 0.48365099 -0.01701457 0.76012962] [ 0.22333092 -0.37239483 0.90080264 -2.52518964] [ 0. 0. 0. 1. ]] SLAMing on 218.731346184 meters Centerline goodness : 0.904193 Centerline is valid? [False, False] Translation: X:-1.20, Y:0.76, Z:-2.53 [[ 0.42981245 -0.79014959 -0.43694952 -1.20032778] [ 0.8744286 0.48486821 -0.01665667 0.76486481] [ 0.22502419 -0.37492191 0.89933179 -2.52585062] [ 0. 0. 0. 1. ]] SLAMing on 218.761346184 meters Centerline goodness : 0.906248 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.78, Z:-2.53 [[ 0.42989365 -0.78768148 -0.44130413 -1.2051104 ] [ 0.87361249 0.48632472 -0.01701436 0.77533802] [ 0.228019 -0.37821443 0.89719629 -2.52844265] [ 0. 0. 0. 1. ]] SLAMing on 218.791346184 meters Centerline goodness : 0.904519 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.78, Z:-2.53 [[ 0.42965337 -0.7875435 -0.44178412 -1.2067359 ] [ 0.87346076 0.48656554 -0.017896 0.7808972 ] [ 0.22905081 -0.37819202 0.89694288 -2.53143907] [ 0. 0. 0. 1. ]] SLAMing on 218.821346184 meters Centerline goodness : 0.902852 Centerline is valid? [False, False] Translation: X:-1.21, Y:0.79, Z:-2.53 [[ 0.42950752 -0.78818141 -0.4407872 -1.20964557] [ 0.87339718 0.4866334 -0.01911295 0.78513492] [ 0.22956625 -0.37677314 0.89740812 -2.53445094] [ 0. 0. 0. 1. ]] SLAMing on 218.851346184 meters Centerline goodness : 0.902688 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.79, Z:-2.54 [[ 0.42889719 -0.78752853 -0.44254494 -1.2154873 ] [ 0.87315859 0.48700823 -0.02042191 0.79451406] [ 0.23160586 -0.37765302 0.89651376 -2.53787045] [ 0. 0. 0. 1. ]] SLAMing on 218.881346184 meters Centerline goodness : 0.901922 Centerline is valid? [False, False] Translation: X:-1.22, Y:0.80, Z:-2.54 [[ 0.42825067 -0.78698308 -0.44413848 -1.21909514] [ 0.8730743 0.48712157 -0.02130366 0.80030023] [ 0.23311505 -0.37864259 0.89570484 -2.53885327] [ 0. 0. 0. 1. ]] SLAMing on 218.911346184 meters Centerline goodness : 0.900717 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.81, Z:-2.54 [[ 0.42944032 -0.79170311 -0.43449649 -1.22561486] [ 0.87540933 0.48314567 -0.01512523 0.80947749] [ 0.22189979 -0.3738669 0.90054652 -2.54336709] [ 0. 0. 0. 1. ]] SLAMing on 218.941346184 meters Centerline goodness : 0.899069 Centerline is valid? [False, False] Translation: X:-1.23, Y:0.81, Z:-2.54 [[ 0.42980499 -0.79013432 -0.43698448 -1.22852239] [ 0.87472781 0.48436805 -0.01545463 0.81474723] [ 0.22387255 -0.3756 0.89933627 -2.54410382] [ 0. 0. 0. 1. ]] SLAMing on 218.971346184 meters Centerline goodness : 0.900714 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.82, Z:-2.55 [[ 0.43131241 -0.78729045 -0.44061702 -1.23709644] [ 0.87308973 0.48729555 -0.01604272 0.82364022] [ 0.22734099 -0.37777877 0.89755182 -2.54544804] [ 0. 0. 0. 1. ]] SLAMing on 219.001346184 meters Centerline goodness : 0.902253 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.83, Z:-2.55 [[ 0.43193565 -0.78565852 -0.44291341 -1.24081696] [ 0.87229809 0.48870575 -0.01620901 0.82822007] [ 0.22918907 -0.37935128 0.89641786 -2.54598811] [ 0. 0. 0. 1. ]] SLAMing on 219.031346184 meters Centerline goodness : 0.898871 Centerline is valid? [False, False] Translation: X:-1.24, Y:0.83, Z:-2.55 [[ 0.4326362 -0.78403111 -0.44510801 -1.24397451] [ 0.87143609 0.49023164 -0.016495 0.83297138] [ 0.23113862 -0.38074685 0.89532496 -2.5467797 ] [ 0. 0. 0. 1. ]] SLAMing on 219.061346184 meters Centerline goodness : 0.895055 Centerline is valid? [False, False] Translation: X:-1.25, Y:0.85, Z:-2.55 [[ 0.43505964 -0.78721086 -0.43706084 -1.25209256] [ 0.87277062 0.4880234 -0.01022752 0.84623183] [ 0.22134714 -0.37700428 0.89937379 -2.55410351] [ 0. 0. 0. 1. ]] SLAMing on 219.091346184 meters Centerline goodness : 0.894796 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.85, Z:-2.56 [[ 0.43479928 -0.78801271 -0.43587332 -1.25636604] [ 0.87275835 0.48801304 -0.01166801 0.84922993] [ 0.22190641 -0.37533883 0.89993239 -2.55530927] [ 0. 0. 0. 1. ]] SLAMing on 219.121346184 meters Centerline goodness : 0.892636 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.85, Z:-2.56 [[ 0.43407246 -0.78820644 -0.43624731 -1.25931531] [ 0.87284839 0.48782115 -0.0128925 0.85352637] [ 0.22297261 -0.37518148 0.89973445 -2.55613546] [ 0. 0. 0. 1. ]] SLAMing on 219.151346184 meters Centerline goodness : 0.891142 Centerline is valid? [False, False] Translation: X:-1.26, Y:0.86, Z:-2.56 [[ 0.43353363 -0.78699151 -0.43896806 -1.26202393] [ 0.87269358 0.48809064 -0.01316993 0.85838947] [ 0.22462082 -0.377375 0.89840614 -2.55601522] [ 0. 0. 0. 1. ]] SLAMing on 219.18134618399998 meters Centerline goodness : 0.888102 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.87, Z:-2.55 [[ 0.43205568 -0.78450895 -0.44482986 -1.27061356] [ 0.87244815 0.48850219 -0.0141361 0.86903589] [ 0.22839026 -0.3819834 0.89550353 -2.55450355] [ 0. 0. 0. 1. ]] SLAMing on 219.21134618399998 meters Centerline goodness : 0.883588 Centerline is valid? [False, False] Translation: X:-1.27, Y:0.87, Z:-2.55 [[ 0.43164962 -0.78368275 -0.44667656 -1.27434663] [ 0.87224627 0.48884407 -0.01476211 0.87390194] [ 0.229924 -0.3832399 0.89457372 -2.55479929] [ 0. 0. 0. 1. ]] SLAMing on 219.24134618399998 meters Centerline goodness : 0.884779 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.88, Z:-2.56 [[ 0.43063511 -0.78445546 -0.44629926 -1.2775873 ] [ 0.87250903 0.4883216 -0.01643185 0.87832237] [ 0.23082762 -0.38232401 0.8947329 -2.5559914 ] [ 0. 0. 0. 1. ]] SLAMing on 219.27134618399998 meters Centerline goodness : 0.880433 Centerline is valid? [False, False] Translation: X:-1.28, Y:0.89, Z:-2.56 [[ 0.42858181 -0.7865257 -0.44462901 -1.28359431] [ 0.8731938 0.48697279 -0.01975048 0.88599941] [ 0.23205649 -0.3797826 0.89549705 -2.55847973] [ 0. 0. 0. 1. ]] SLAMing on 219.30134618399998 meters Centerline goodness : 0.884501 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.89, Z:-2.56 [[ 0.4277153 -0.78742436 -0.44387216 -1.28748064] [ 0.87345408 0.48644126 -0.02128096 0.88917348] [ 0.23267487 -0.37859976 0.89583739 -2.55895452] [ 0. 0. 0. 1. ]] SLAMing on 219.33134618399998 meters Centerline goodness : 0.874229 Centerline is valid? [False, False] Translation: X:-1.29, Y:0.89, Z:-2.56 [[ 0.4268439 -0.78673716 -0.4459248 -1.29014106] [ 0.87342893 0.48644653 -0.02217358 0.89449422] [ 0.23436335 -0.38001897 0.89479573 -2.55920207] [ 0. 0. 0. 1. ]] SLAMing on 219.36134618399998 meters Centerline goodness : 0.874283 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.90, Z:-2.56 [[ 0.42455709 -0.78710056 -0.44746395 -1.29531553] [ 0.87415469 0.48506244 -0.02383287 0.90078249] [ 0.23580682 -0.3810343 0.89398434 -2.55879982] [ 0. 0. 0. 1. ]] SLAMing on 219.39134618399999 meters Centerline goodness : 0.869931 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.90, Z:-2.56 [[ 0.42274018 -0.78828158 -0.44710501 -1.29625278] [ 0.87509201 0.48332409 -0.0247345 0.90167321] [ 0.23559437 -0.38080175 0.89413943 -2.5576999 ] [ 0. 0. 0. 1. ]] SLAMing on 219.421346184 meters Centerline goodness : 0.866772 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.90, Z:-2.56 [[ 0.41954794 -0.79103372 -0.44524733 -1.29740152] [ 0.87672679 0.4802271 -0.02705665 0.90357186] [ 0.23522255 -0.3790087 0.89499875 -2.55669863] [ 0. 0. 0. 1. ]] SLAMing on 219.451346184 meters Centerline goodness : 0.864734 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.90, Z:-2.55 [[ 0.41307736 -0.79267442 -0.44836855 -1.29710109] [ 0.87609717 0.48030248 -0.0419913 0.90395597] [ 0.24863796 -0.37546876 0.8928619 -2.54880676] [ 0. 0. 0. 1. ]] SLAMing on 219.481346184 meters Centerline goodness : 0.865450 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.90, Z:-2.55 [[ 0.41065984 -0.79568575 -0.44524452 -1.2987019 ] [ 0.8774772 0.47758144 -0.04415576 0.90419294] [ 0.24777463 -0.37255892 0.89431962 -2.54823679] [ 0. 0. 0. 1. ]] SLAMing on 219.511346184 meters Centerline goodness : 0.864642 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.55 [[ 0.40964806 -0.79623516 -0.44519438 -1.29893348] [ 0.87792403 0.47670301 -0.04476207 0.90515678] [ 0.24786664 -0.37251015 0.89431444 -2.54771054] [ 0. 0. 0. 1. ]] SLAMing on 219.541346184 meters Centerline goodness : 0.862408 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.55 [[ 0.40821843 -0.79661094 -0.44583486 -1.29964106] [ 0.87851029 0.47556633 -0.04534694 0.90607716] [ 0.24814792 -0.37315906 0.89396584 -2.54602073] [ 0. 0. 0. 1. ]] SLAMing on 219.571346184 meters Centerline goodness : 0.864683 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.54 [[ 0.40681367 -0.79686026 -0.44667255 -1.30093535] [ 0.87913253 0.47438864 -0.04562252 0.90642553] [ 0.24825116 -0.37412451 0.89353356 -2.54398098] [ 0. 0. 0. 1. ]] SLAMing on 219.601346184 meters Centerline goodness : 0.862125 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.54 [[ 0.40634935 -0.79710101 -0.44666563 -1.30194015] [ 0.87929708 0.47404431 -0.04602861 0.90692655] [ 0.24842876 -0.37404809 0.89351619 -2.54328509] [ 0. 0. 0. 1. ]] SLAMing on 219.631346184 meters Centerline goodness : 0.863765 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.54 [[ 0.40654102 -0.79720101 -0.44631261 -1.30155567] [ 0.87920149 0.47420761 -0.04617239 0.90677916] [ 0.24845351 -0.37362774 0.89368516 -2.54329146] [ 0. 0. 0. 1. ]] SLAMing on 219.661346184 meters Centerline goodness : 0.861874 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.55 [[ 0.40771874 -0.79775141 -0.44425006 -1.30142251] [ 0.8785873 0.47525479 -0.0470876 0.90817234] [ 0.24869616 -0.37111396 0.89466454 -2.546067 ] [ 0. 0. 0. 1. ]] SLAMing on 219.691346184 meters Centerline goodness : 0.862928 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.55 [[ 0.40837982 -0.79796238 -0.44326286 -1.30195971] [ 0.87824494 0.47584715 -0.04749014 0.90833552] [ 0.24882071 -0.36989935 0.8951328 -2.54684866] [ 0. 0. 0. 1. ]] SLAMing on 219.721346184 meters Centerline goodness : 0.862775 Centerline is valid? [False, False] Translation: X:-1.30, Y:0.91, Z:-2.55 [[ 0.40893678 -0.79773331 -0.44316168 -1.3034254 ] [ 0.87788691 0.47649213 -0.04764265 0.90850547] [ 0.24916918 -0.369563 0.89517479 -2.54649719] [ 0. 0. 0. 1. ]] SLAMing on 219.751346184 meters Centerline goodness : 0.862042 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.55 [[ 0.41023947 -0.79708762 -0.44311952 -1.30559241] [ 0.87722111 0.4777548 -0.04725974 0.90737589] [ 0.24937263 -0.36932599 0.89521596 -2.54573831] [ 0. 0. 0. 1. ]] SLAMing on 219.781346184 meters Centerline goodness : 0.863049 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.55 [[ 0.41044141 -0.79654399 -0.44390937 -1.30686638] [ 0.87692184 0.4782876 -0.04742426 0.90845374] [ 0.25009186 -0.36980894 0.89481585 -2.54512689] [ 0. 0. 0. 1. ]] SLAMing on 219.811346184 meters Centerline goodness : 0.864390 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.54 [[ 0.41069947 -0.7966544 -0.44347234 -1.30786892] [ 0.87680218 0.47849342 -0.04756034 0.90832417] [ 0.25008775 -0.36930451 0.89502531 -2.54490218] [ 0. 0. 0. 1. ]] SLAMing on 219.841346184 meters Centerline goodness : 0.864390 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.54 [[ 0.41069947 -0.7966544 -0.44347234 -1.30786892] [ 0.87680218 0.47849342 -0.04756034 0.90832417] [ 0.25008775 -0.36930451 0.89502531 -2.54490218] [ 0. 0. 0. 1. ]] SLAMing on 219.871346184 meters Centerline goodness : 0.865828 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.54 [[ 0.41184175 -0.79614338 -0.44333069 -1.31011747] [ 0.87614306 0.47970073 -0.04754524 0.90837851] [ 0.25051888 -0.36883999 0.89509628 -2.54490033] [ 0. 0. 0. 1. ]] SLAMing on 219.901346184 meters Centerline goodness : 0.862307 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.55 [[ 0.41230168 -0.79642347 -0.44239912 -1.31108606] [ 0.87590325 0.4800959 -0.0479731 0.90876752] [ 0.25060091 -0.36771944 0.89553425 -2.54544087] [ 0. 0. 0. 1. ]] SLAMing on 219.93134618399998 meters Centerline goodness : 0.861824 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.55 [[ 0.41298219 -0.79709385 -0.44055317 -1.31128746] [ 0.87571754 0.48040358 -0.04828246 0.90806946] [ 0.25012898 -0.36586034 0.89642719 -2.54657548] [ 0. 0. 0. 1. ]] SLAMing on 219.96134618399998 meters Centerline goodness : 0.864454 Centerline is valid? [False, False] Translation: X:-1.31, Y:0.91, Z:-2.55 [[ 0.41375389 -0.79756553 -0.43897261 -1.3112795 ] [ 0.87547246 0.48083366 -0.04844543 0.9070342 ] [ 0.24971121 -0.36426394 0.89719345 -2.54737868] [ 0. 0. 0. 1. ]] SLAMing on 219.99134618399998 meters Centerline goodness : 0.866888 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.55 [[ 0.41516825 -0.79858444 -0.43577312 -1.31604005] [ 0.8749996 0.48163687 -0.04900638 0.90390441] [ 0.24902013 -0.36095542 0.8987214 -2.5461205 ] [ 0. 0. 0. 1. ]] SLAMing on 220.02134618399998 meters Centerline goodness : 0.863543 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.55 [[ 0.41476261 -0.79875234 -0.43585167 -1.3164183 ] [ 0.87519173 0.48127321 -0.04914814 0.90408155] [ 0.24902092 -0.36106897 0.89867557 -2.54547496] [ 0. 0. 0. 1. ]] SLAMing on 220.05134618399998 meters Centerline goodness : 0.866938 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.41350581 -0.79936977 -0.43591389 -1.31665009] [ 0.87579485 0.48012187 -0.04966266 0.90456527] [ 0.24899062 -0.36123534 0.8986171 -2.54437003] [ 0. 0. 0. 1. ]] SLAMing on 220.08134618399998 meters Centerline goodness : 0.869493 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.41007384 -0.80179068 -0.43470812 -1.31774839] [ 0.87766666 0.47654719 -0.05102954 0.90423032] [ 0.24807394 -0.36060294 0.89912448 -2.54175492] [ 0. 0. 0. 1. ]] SLAMing on 220.11134618399998 meters Centerline goodness : 0.865816 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40816794 -0.8028302 -0.43458326 -1.31741759] [ 0.87862011 0.47470974 -0.05174327 0.90499033] [ 0.24784196 -0.36071365 0.89914405 -2.54072565] [ 0. 0. 0. 1. ]] SLAMing on 220.14134618399999 meters Centerline goodness : 0.863371 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40678722 -0.80418939 -0.43336312 -1.31758099] [ 0.87941631 0.47314656 -0.05252899 0.90434677] [ 0.24728752 -0.35973847 0.89968723 -2.53961012] [ 0. 0. 0. 1. ]] SLAMing on 220.171346184 meters Centerline goodness : 0.864425 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40544748 -0.80629415 -0.43069954 -1.31802482] [ 0.88028414 0.47138761 -0.05379177 0.90321544] [ 0.24639842 -0.35732823 0.90089087 -2.53908126] [ 0. 0. 0. 1. ]] SLAMing on 220.201346184 meters Centerline goodness : 0.861289 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40422705 -0.80866115 -0.42739636 -1.31816714] [ 0.88125397 0.46945938 -0.0547662 0.90122809] [ 0.24493252 -0.35450676 0.90240402 -2.53893952] [ 0. 0. 0. 1. ]] SLAMing on 220.231346184 meters Centerline goodness : 0.863262 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40442055 -0.80859909 -0.42733071 -1.31850459] [ 0.88117314 0.46962018 -0.05468815 0.90073533] [ 0.24490391 -0.35443533 0.90243984 -2.53833178] [ 0. 0. 0. 1. ]] SLAMing on 220.261346184 meters Centerline goodness : 0.861856 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40561807 -0.80803131 -0.42726968 -1.31962298] [ 0.88063683 0.47068926 -0.05413314 0.89933494] [ 0.24485252 -0.35431204 0.9025022 -2.53781943] [ 0. 0. 0. 1. ]] SLAMing on 220.291346184 meters Centerline goodness : 0.864369 Centerline is valid? [False, False] Translation: X:-1.32, Y:0.90, Z:-2.54 [[ 0.40690259 -0.8081339 -0.42585194 -1.32212556] [ 0.88012708 0.47164816 -0.05407718 0.89708227] [ 0.24455389 -0.35279968 0.90317539 -2.53710268] [ 0. 0. 0. 1. ]] SLAMing on 220.321346184 meters Centerline goodness : 0.865246 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.54 [[ 0.40987634 -0.80796284 -0.42331718 -1.32551168] [ 0.87886477 0.4740285 -0.0537931 0.89390264] [ 0.24412724 -0.34999003 0.90438314 -2.53748366] [ 0. 0. 0. 1. ]] SLAMing on 220.351346184 meters Centerline goodness : 0.867161 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.54 [[ 0.41105333 -0.80726299 -0.42351108 -1.32715284] [ 0.8781969 0.47528754 -0.05359076 0.8935592 ] [ 0.24455137 -0.34989746 0.90430437 -2.53697618] [ 0. 0. 0. 1. ]] SLAMing on 220.381346184 meters Centerline goodness : 0.869220 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.54 [[ 0.41198885 -0.80649386 -0.42406704 -1.32901795] [ 0.87766023 0.47632078 -0.05320753 0.89301489] [ 0.24490348 -0.35026586 0.90406643 -2.53589032] [ 0. 0. 0. 1. ]] SLAMing on 220.411346184 meters Centerline goodness : 0.870890 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.53 [[ 0.41139902 -0.80693999 -0.42379087 -1.33036868] [ 0.87796417 0.47572376 -0.05353331 0.89219178] [ 0.24480556 -0.35004965 0.90417669 -2.53424797] [ 0. 0. 0. 1. ]] SLAMing on 220.441346184 meters Centerline goodness : 0.869010 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.53 [[ 0.41050097 -0.80751612 -0.42356424 -1.33125028] [ 0.87841476 0.47484346 -0.05395552 0.89227858] [ 0.24469666 -0.34991629 0.90425778 -2.53333707] [ 0. 0. 0. 1. ]] SLAMing on 220.471346184 meters Centerline goodness : 0.868773 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.53 [[ 0.40925851 -0.80811584 -0.42362279 -1.33099076] [ 0.87897481 0.4737382 -0.05454716 0.89318766] [ 0.24476673 -0.35002987 0.90419486 -2.5327094 ] [ 0. 0. 0. 1. ]] SLAMing on 220.501346184 meters Centerline goodness : 0.871484 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.53 [[ 0.40741487 -0.81055712 -0.4207259 -1.33286019] [ 0.88015234 0.47139267 -0.05586423 0.89253827] [ 0.24360826 -0.34754297 0.90546612 -2.53237643] [ 0. 0. 0. 1. ]] SLAMing on 220.531346184 meters Centerline goodness : 0.870335 Centerline is valid? [False, False] Translation: X:-1.33, Y:0.89, Z:-2.53 [[ 0.40713484 -0.81090035 -0.4203354 -1.33354412] [ 0.88030636 0.47107414 -0.05612374 0.89250363] [ 0.2435199 -0.34717399 0.90563143 -2.5319683 ] [ 0. 0. 0. 1. ]] SLAMing on 220.561346184 meters Centerline goodness : 0.868599 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.89, Z:-2.53 [[ 0.407904 -0.81084951 -0.41968726 -1.33615714] [ 0.8799851 0.47168487 -0.05603219 0.89200177] [ 0.2433938 -0.34646278 0.90593764 -2.5317539 ] [ 0. 0. 0. 1. ]] SLAMing on 220.591346184 meters Centerline goodness : 0.871174 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.89, Z:-2.53 [[ 0.40815307 -0.81072979 -0.4196764 -1.33795347] [ 0.87985053 0.47193966 -0.05599993 0.89202123] [ 0.24346275 -0.34639596 0.90594466 -2.53116422] [ 0. 0. 0. 1. ]] SLAMing on 220.621346184 meters Centerline goodness : 0.871409 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.89, Z:-2.53 [[ 0.40881154 -0.81000247 -0.42043919 -1.33955239] [ 0.87943906 0.47274634 -0.05565815 0.89184117] [ 0.24384433 -0.34699696 0.90561198 -2.53024964] [ 0. 0. 0. 1. ]] SLAMing on 220.651346184 meters Centerline goodness : 0.870804 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.89, Z:-2.53 [[ 0.40902133 -0.80972908 -0.42076165 -1.34122966] [ 0.87915921 0.47321994 -0.05605329 0.89291341] [ 0.24450078 -0.34698949 0.90543783 -2.52974563] [ 0. 0. 0. 1. ]] SLAMing on 220.68134618399998 meters Centerline goodness : 0.872035 Centerline is valid? [False, False] Translation: X:-1.34, Y:0.89, Z:-2.53 [[ 0.40919054 -0.80984532 -0.42037323 -1.34410323] [ 0.87906699 0.47336723 -0.05625558 0.89331163] [ 0.24454923 -0.34651698 0.90560568 -2.52936117] [ 0. 0. 0. 1. ]] SLAMing on 220.71134618399998 meters Centerline goodness : 0.868407 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.89, Z:-2.53 [[ 0.40897465 -0.81007557 -0.42013963 -1.34503953] [ 0.87909447 0.47325629 -0.05675733 0.89411835] [ 0.24481144 -0.34613012 0.90568278 -2.52924334] [ 0. 0. 0. 1. ]] SLAMing on 220.74134618399998 meters Centerline goodness : 0.872841 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.89, Z:-2.53 [[ 0.4085472 -0.81083541 -0.41908844 -1.34608428] [ 0.87936512 0.47268866 -0.0572923 0.89432828] [ 0.24455298 -0.34512515 0.90613601 -2.52929189] [ 0. 0. 0. 1. ]] SLAMing on 220.77134618399998 meters Centerline goodness : 0.867040 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.89, Z:-2.53 [[ 0.40754903 -0.81194101 -0.41791815 -1.34838112] [ 0.87995604 0.4715091 -0.05793563 0.89469187] [ 0.24409253 -0.34413799 0.90663547 -2.52906119] [ 0. 0. 0. 1. ]] SLAMing on 220.80134618399998 meters Centerline goodness : 0.869467 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.90, Z:-2.53 [[ 0.40678558 -0.81189065 -0.41875895 -1.34966035] [ 0.8802016 0.47102033 -0.05818068 0.89583986] [ 0.24448033 -0.34492524 0.90623173 -2.5278794 ] [ 0. 0. 0. 1. ]] SLAMing on 220.83134618399998 meters Centerline goodness : 0.870207 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.90, Z:-2.53 [[ 0.40646359 -0.81174824 -0.41934728 -1.35174133] [ 0.88023744 0.4709264 -0.05839838 0.89631618] [ 0.24488649 -0.34538836 0.90594563 -2.52646212] [ 0. 0. 0. 1. ]] SLAMing on 220.86134618399998 meters Centerline goodness : 0.871374 Centerline is valid? [False, False] Translation: X:-1.35, Y:0.90, Z:-2.53 [[ 0.40708515 -0.81180912 -0.41862589 -1.35485367] [ 0.87994996 0.47144506 -0.05854591 0.89656264] [ 0.24488722 -0.34453667 0.90626968 -2.52656792] [ 0. 0. 0. 1. ]] SLAMing on 220.89134618399999 meters Centerline goodness : 0.871128 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.89, Z:-2.53 [[ 0.40776398 -0.81260594 -0.41641341 -1.35730703] [ 0.87984367 0.47161639 -0.05876306 0.89453533] [ 0.2441386 -0.34241724 0.90727437 -2.52649918] [ 0. 0. 0. 1. ]] SLAMing on 220.921346184 meters Centerline goodness : 0.868073 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.89, Z:-2.53 [[ 0.40875649 -0.81255091 -0.41554681 -1.35792899] [ 0.87939128 0.47245419 -0.0588049 0.89395104] [ 0.2441088 -0.34139136 0.9076689 -2.52689457] [ 0. 0. 0. 1. ]] SLAMing on 220.951346184 meters Centerline goodness : 0.867164 Centerline is valid? [False, False] Translation: X:-1.36, Y:0.89, Z:-2.53 [[ 0.4094965 -0.81213611 -0.41562912 -1.35845386] [ 0.87890602 0.47333709 -0.05895931 0.8946432 ] [ 0.24461567 -0.3411553 0.9076212 -2.52709458] [ 0. 0. 0. 1. ]] SLAMing on 220.981346184 meters Centerline goodness : 0.870863 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.89, Z:-2.52 [[ 0.41150669 -0.81139498 -0.41509087 -1.36627225] [ 0.87755943 0.47571044 -0.05990853 0.89404416] [ 0.24607254 -0.33961414 0.90780534 -2.52229858] [ 0. 0. 0. 1. ]] SLAMing on 221.011346184 meters Centerline goodness : 0.868055 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.90, Z:-2.52 [[ 0.41282591 -0.80925771 -0.41794344 -1.36800289] [ 0.87657115 0.47764079 -0.05901088 0.89555376] [ 0.24738184 -0.34199594 0.90655447 -2.52149769] [ 0. 0. 0. 1. ]] SLAMing on 221.041346184 meters Centerline goodness : 0.874756 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.90, Z:-2.52 [[ 0.4140479 -0.80727386 -0.42056302 -1.36983675] [ 0.87568269 0.47938347 -0.05806305 0.89683881] [ 0.24848375 -0.34423887 0.90540346 -2.52078424] [ 0. 0. 0. 1. ]] SLAMing on 221.071346184 meters Centerline goodness : 0.868285 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.90, Z:-2.52 [[ 0.41479912 -0.80673346 -0.42085962 -1.37185322] [ 0.87524342 0.48020952 -0.05785988 0.89712026] [ 0.24877829 -0.34435438 0.90527864 -2.52051467] [ 0. 0. 0. 1. ]] SLAMing on 221.101346184 meters Centerline goodness : 0.866426 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.90, Z:-2.52 [[ 0.41508172 -0.80738746 -0.41932406 -1.37332542] [ 0.87527483 0.48012978 -0.05804623 0.89656192] [ 0.24819576 -0.34292987 0.90597901 -2.52107846] [ 0. 0. 0. 1. ]] SLAMing on 221.131346184 meters Centerline goodness : 0.861491 Centerline is valid? [False, False] Translation: X:-1.37, Y:0.90, Z:-2.52 [[ 0.41401318 -0.80956402 -0.41617206 -1.37483785] [ 0.87604921 0.47854935 -0.05939953 0.89550136] [ 0.24724659 -0.33999501 0.90734366 -2.52094561] [ 0. 0. 0. 1. ]] SLAMing on 221.161346184 meters Centerline goodness : 0.861722 Centerline is valid? [False, False] Translation: X:-1.38, Y:0.90, Z:-2.52 [[ 0.41277243 -0.81171358 -0.41320694 -1.37556019] [ 0.87684054 0.47690536 -0.06092579 0.89501117] [ 0.2465149 -0.33716811 0.90859676 -2.52090623] [ 0. 0. 0. 1. ]] SLAMing on 221.191346184 meters Centerline goodness : 0.863853 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.41129688 -0.8169788 -0.40420356 -1.39251498] [ 0.87721198 0.47526335 -0.06799923 0.87858491] [ 0.24765706 -0.32660434 0.91213792 -2.51242472] [ 0. 0. 0. 1. ]] SLAMing on 221.221346184 meters Centerline goodness : 0.863454 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.41046505 -0.8172218 -0.40455775 -1.39335908] [ 0.87754019 0.47460451 -0.06836495 0.87934517] [ 0.24787426 -0.32695427 0.91195354 -2.51153302] [ 0. 0. 0. 1. ]] SLAMing on 221.251346184 meters Centerline goodness : 0.860515 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.40953555 -0.81801325 -0.40389968 -1.39286601] [ 0.87800405 0.47365039 -0.06902314 0.87944756] [ 0.24776908 -0.32635813 0.91219562 -2.51095275] [ 0. 0. 0. 1. ]] SLAMing on 221.281346184 meters Centerline goodness : 0.863642 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.40885355 -0.81839845 -0.40381029 -1.39324319] [ 0.87844126 0.47285448 -0.06891736 0.87757175] [ 0.24734537 -0.32654651 0.91224319 -2.50887964] [ 0. 0. 0. 1. ]] SLAMing on 221.311346184 meters Centerline goodness : 0.860304 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.40879824 -0.81811059 -0.40444908 -1.39295816] [ 0.87826826 0.47311941 -0.06930289 0.87773573] [ 0.24805014 -0.32688389 0.91193095 -2.50738491] [ 0. 0. 0. 1. ]] SLAMing on 221.341346184 meters Centerline goodness : 0.862271 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.40880181 -0.8177969 -0.4050794 -1.39209228] [ 0.87803869 0.47347627 -0.06977303 0.87859984] [ 0.24885565 -0.32715204 0.91161527 -2.50658047] [ 0. 0. 0. 1. ]] SLAMing on 221.371346184 meters Centerline goodness : 0.864342 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.51 [[ 0.4092551 -0.81761617 -0.40498651 -1.39253122] [ 0.87780281 0.47391992 -0.06972901 0.87727858] [ 0.24894274 -0.32696134 0.91165991 -2.50520324] [ 0. 0. 0. 1. ]] SLAMing on 221.401346184 meters Centerline goodness : 0.861628 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.50 [[ 0.40904593 -0.81718005 -0.40607659 -1.39391596] [ 0.87770674 0.47407388 -0.06989161 0.87771537] [ 0.24962433 -0.32782728 0.91116243 -2.50336218] [ 0. 0. 0. 1. ]] SLAMing on 221.43134618399998 meters Centerline goodness : 0.863801 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.50 [[ 0.40836867 -0.81705731 -0.40700415 -1.39480576] [ 0.8778808 0.47371313 -0.07015103 0.87806823] [ 0.25012062 -0.32865364 0.91072853 -2.50145691] [ 0. 0. 0. 1. ]] SLAMing on 221.46134618399998 meters Centerline goodness : 0.862159 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.88, Z:-2.50 [[ 0.40704428 -0.81852113 -0.40538636 -1.39537112] [ 0.87863744 0.47216325 -0.07112042 0.87755571] [ 0.24962211 -0.32723848 0.91137467 -2.50065821] [ 0. 0. 0. 1. ]] SLAMing on 221.49134618399998 meters Centerline goodness : 0.863538 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.88, Z:-2.50 [[ 0.40473067 -0.82059489 -0.40350603 -1.39529199] [ 0.87974291 0.46980902 -0.07301983 0.87818325] [ 0.24949047 -0.3254282 0.91205866 -2.49946436] [ 0. 0. 0. 1. ]] SLAMing on 221.52134618399998 meters Centerline goodness : 0.862942 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.88, Z:-2.50 [[ 0.40246221 -0.8229188 -0.4010347 -1.39578793] [ 0.88097041 0.46724246 -0.07467012 0.87777762] [ 0.24882788 -0.3232478 0.91301454 -2.49834746] [ 0. 0. 0. 1. ]] SLAMing on 221.55134618399998 meters Centerline goodness : 0.860065 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.88, Z:-2.50 [[ 0.39769524 -0.82626768 -0.39889876 -1.39648788] [ 0.88348016 0.46217621 -0.0765242 0.87711754] [ 0.24759099 -0.32198583 0.91379638 -2.49540944] [ 0. 0. 0. 1. ]] SLAMing on 221.58134618399998 meters Centerline goodness : 0.859039 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.88, Z:-2.49 [[ 0.3954539 -0.82718222 -0.3992315 -1.39588357] [ 0.88447558 0.46014228 -0.07727896 0.87772555] [ 0.24762707 -0.32255025 0.91358753 -2.49351489] [ 0. 0. 0. 1. ]] SLAMing on 221.61134618399998 meters Centerline goodness : 0.857284 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.48 [[ 0.39309391 -0.82379989 -0.4084494 -1.39195884] [ 0.88116934 0.4644175 -0.08863959 0.87677365] [ 0.26271233 -0.32506941 0.9084669 -2.48486709] [ 0. 0. 0. 1. ]] SLAMing on 221.64134618399999 meters Centerline goodness : 0.859416 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.88, Z:-2.48 [[ 0.39148015 -0.82479771 -0.40798534 -1.39123258] [ 0.88197668 0.46276563 -0.08924748 0.87596048] [ 0.26241271 -0.32489494 0.9086159 -2.48308172] [ 0. 0. 0. 1. ]] SLAMing on 221.671346184 meters Centerline goodness : 0.860643 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.87, Z:-2.47 [[ 0.38805914 -0.8228944 -0.41503603 -1.38935701] [ 0.87908588 0.46573718 -0.10147361 0.8721836 ] [ 0.27679977 -0.32547455 0.90412842 -2.47164863] [ 0. 0. 0. 1. ]] SLAMing on 221.701346184 meters Centerline goodness : 0.863186 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.87, Z:-2.47 [[ 0.38589974 -0.82337634 -0.41609229 -1.38849597] [ 0.87982516 0.46412601 -0.1024438 0.87393781] [ 0.27746905 -0.32655543 0.90353333 -2.46963386] [ 0. 0. 0. 1. ]] SLAMing on 221.731346184 meters Centerline goodness : 0.863186 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.87, Z:-2.47 [[ 0.38589974 -0.82337634 -0.41609229 -1.38849597] [ 0.87982516 0.46412601 -0.1024438 0.87393781] [ 0.27746905 -0.32655543 0.90353333 -2.46963386] [ 0. 0. 0. 1. ]] SLAMing on 221.761346184 meters Centerline goodness : 0.857607 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.87, Z:-2.45 [[ 0.38395089 -0.82328072 -0.41807962 -1.38963328] [ 0.87601328 0.46790599 -0.11689616 0.87232479] [ 0.29186031 -0.32136092 0.90085777 -2.45138632] [ 0. 0. 0. 1. ]] SLAMing on 221.791346184 meters Centerline goodness : 0.856970 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.87, Z:-2.45 [[ 0.38065925 -0.82611894 -0.4154829 -1.3894852 ] [ 0.87786766 0.46404145 -0.1183803 0.87075472] [ 0.29059749 -0.31967645 0.90186477 -2.44952096] [ 0. 0. 0. 1. ]] SLAMing on 221.821346184 meters Centerline goodness : 0.855722 Centerline is valid? [False, False] Translation: X:-1.39, Y:0.86, Z:-2.44 [[ 0.37951488 -0.82785958 -0.41305807 -1.39407894] [ 0.87603155 0.46513658 -0.12734473 0.86272253] [ 0.29755198 -0.31352268 0.90175737 -2.44019541] [ 0. 0. 0. 1. ]] SLAMing on 221.851346184 meters Centerline goodness : 0.858980 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.85, Z:-2.44 [[ 0.37972941 -0.82567188 -0.41721879 -1.39672502] [ 0.8726861 0.46936418 -0.1345966 0.85133434] [ 0.30696018 -0.31299075 0.89878375 -2.43565591] [ 0. 0. 0. 1. ]] SLAMing on 221.881346184 meters Centerline goodness : 0.856088 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.84, Z:-2.43 [[ 0.38038487 -0.82359556 -0.42071095 -1.40154881] [ 0.86943314 0.47353178 -0.14090308 0.84020269] [ 0.31526715 -0.31218264 0.8961856 -2.43351497] [ 0. 0. 0. 1. ]] SLAMing on 221.911346184 meters Centerline goodness : 0.855897 Centerline is valid? [False, False] Translation: X:-1.40, Y:0.83, Z:-2.43 [[ 0.38251421 -0.81801665 -0.42957146 -1.40014981] [ 0.8646142 0.48083576 -0.14573695 0.83160236] [ 0.32576857 -0.31566713 0.89119532 -2.43276287] [ 0. 0. 0. 1. ]] SLAMing on 221.941346184 meters Centerline goodness : 0.857577 Centerline is valid? [False, False] Translation: X:-1.45, Y:0.74, Z:-2.46 [[ 0.38811214 -0.8197471 -0.42116941 -1.45218883] [ 0.86199507 0.48457781 -0.14882492 0.74027876] [ 0.32608814 -0.30528519 0.89468848 -2.46408221] [ 0. 0. 0. 1. ]] SLAMing on 221.971346184 meters Centerline goodness : 0.852005 Centerline is valid? [False, False] Translation: X:-1.50, Y:0.65, Z:-2.49 [[ 0.39322877 -0.82314916 -0.40962984 -1.50289815] [ 0.85981113 0.48704635 -0.1533319 0.65170362] [ 0.32572375 -0.29190978 0.89927344 -2.49310872] [ 0. 0. 0. 1. ]] SLAMing on 222.001346184 meters Centerline goodness : 0.851813 Centerline is valid? [False, False] Translation: X:-1.56, Y:0.55, Z:-2.53 [[ 0.40077281 -0.82577152 -0.39684071 -1.56236802] [ 0.85610199 0.49180591 -0.15879651 0.5486399 ] [ 0.32629824 -0.2760948 0.90404708 -2.52875721] [ 0. 0. 0. 1. ]] SLAMing on 222.031346184 meters Centerline goodness : 0.851838 Centerline is valid? [False, False] Translation: X:-1.62, Y:0.45, Z:-2.56 [[ 0.4112059 -0.82620873 -0.3850829 -1.61797301] [ 0.85014165 0.50002882 -0.16501622 0.45296271] [ 0.32889039 -0.25951937 0.90800926 -2.56153784] [ 0. 0. 0. 1. ]] SLAMing on 222.061346184 meters Centerline goodness : 0.851026 Centerline is valid? [False, False] Translation: X:-1.67, Y:0.37, Z:-2.59 [[ 0.41830638 -0.82649787 -0.37672409 -1.66908045] [ 0.84600259 0.5054844 -0.16960289 0.36772668] [ 0.33060458 -0.24776358 0.91066669 -2.59046536] [ 0. 0. 0. 1. ]] SLAMing on 222.091346184 meters Centerline goodness : 0.848626 Centerline is valid? [False, False] Translation: X:-1.72, Y:0.28, Z:-2.62 [[ 0.4277111 -0.82602852 -0.3670696 -1.72335331] [ 0.84098083 0.5125189 -0.17342322 0.28380349] [ 0.33138263 -0.23452346 0.91388418 -2.61753918] [ 0. 0. 0. 1. ]] SLAMing on 222.121346184 meters Centerline goodness : 0.850378 Centerline is valid? [False, False] Translation: X:-1.78, Y:0.20, Z:-2.65 [[ 0.43421011 -0.82610328 -0.35918652 -1.77564548] [ 0.83773909 0.51689525 -0.17610371 0.19565285] [ 0.33114166 -0.22443858 0.91650015 -2.64863635] [ 0. 0. 0. 1. ]] SLAMing on 222.151346184 meters Centerline goodness : 0.851497 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.11, Z:-2.68 [[ 0.44082394 -0.82621882 -0.35076591 -1.82851706] [ 0.8339653 0.52151767 -0.18033635 0.11021785] [ 0.33192791 -0.21303002 0.9189353 -2.67810602] [ 0. 0. 0. 1. ]] SLAMing on 222.18134618399998 meters Centerline goodness : 0.846980 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.11, Z:-2.67 [[ 0.44161858 -0.82173729 -0.36016782 -1.82652732] [ 0.82705648 0.52845647 -0.19160202 0.11139392] [ 0.34777954 -0.21326412 0.91299935 -2.67073893] [ 0. 0. 0. 1. ]] SLAMing on 222.21134618399998 meters Centerline goodness : 0.845014 Centerline is valid? [False, False] Translation: X:-1.83, Y:0.12, Z:-2.67 [[ 0.44264953 -0.82164264 -0.35911665 -1.8261432 ] [ 0.82621475 0.52935643 -0.19274584 0.11611184] [ 0.3484689 -0.21138862 0.91317264 -2.67401818] [ 0. 0. 0. 1. ]] SLAMing on 222.24134618399998 meters Centerline goodness : 0.844244 Centerline is valid? [False, False] Translation: X:-1.82, Y:0.12, Z:-2.67 [[ 0.44217515 -0.82203521 -0.35880252 -1.82471814] [ 0.82625945 0.52896352 -0.19363088 0.11828404] [ 0.34896484 -0.21084521 0.91310889 -2.67475797] [ 0. 0. 0. 1. ]] SLAMing on 222.27134618399998 meters Centerline goodness : 0.842597 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.03, Z:-2.71 [[ 0.44796372 -0.82185758 -0.35196397 -1.87636496] [ 0.82323087 0.53273025 -0.19618721 0.03066875] [ 0.34873979 -0.20186285 0.91522235 -2.70937679] [ 0. 0. 0. 1. ]] SLAMing on 222.30134618399998 meters Centerline goodness : 0.835115 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.03, Z:-2.71 [[ 0.44644808 -0.82301328 -0.35118836 -1.8750046 ] [ 0.82386737 0.53122542 -0.19759076 0.03435026] [ 0.34918 -0.20111861 0.91521835 -2.71082623] [ 0. 0. 0. 1. ]] SLAMing on 222.33134618399998 meters Centerline goodness : 0.835490 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-2.71 [[ 0.4457837 -0.82277401 -0.35259016 -1.87428112] [ 0.82377558 0.5311975 -0.19804798 0.03769379] [ 0.35024375 -0.2021686 0.91458033 -2.7106655 ] [ 0. 0. 0. 1. ]] SLAMing on 222.36134618399998 meters Centerline goodness : 0.841278 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.04, Z:-2.71 [[ 0.44490003 -0.82267329 -0.35393872 -1.87479973] [ 0.82381816 0.53094276 -0.19855333 0.03932384] [ 0.35126572 -0.20324476 0.91394965 -2.70876891] [ 0. 0. 0. 1. ]] SLAMing on 222.39134618399999 meters Centerline goodness : 0.839478 Centerline is valid? [False, False] Translation: X:-1.87, Y:0.05, Z:-2.71 [[ 0.44398152 -0.82116322 -0.35856852 -1.87461195] [ 0.82328879 0.53179443 -0.19846979 0.04501472] [ 0.35366083 -0.20708853 0.91216137 -2.70713267] [ 0. 0. 0. 1. ]] SLAMing on 222.421346184 meters Centerline goodness : 0.836838 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:-2.71 [[ 0.44399643 -0.82026145 -0.36060827 -1.87503411] [ 0.82284184 0.53255908 -0.19827288 0.04935105] [ 0.35468081 -0.20869112 0.91139977 -2.70797461] [ 0. 0. 0. 1. ]] SLAMing on 222.451346184 meters Centerline goodness : 0.835079 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:-2.71 [[ 0.44430634 -0.82014261 -0.36049686 -1.87588615] [ 0.82247264 0.53294156 -0.19877641 0.05124017] [ 0.35514876 -0.20818118 0.91133416 -2.70832205] [ 0. 0. 0. 1. ]] SLAMing on 222.481346184 meters Centerline goodness : 0.837447 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.05, Z:-2.71 [[ 0.44409257 -0.81999652 -0.3610921 -1.87596803] [ 0.82238206 0.5330061 -0.19897799 0.05375656] [ 0.35562555 -0.20859102 0.91105448 -2.70899325] [ 0. 0. 0. 1. ]] SLAMing on 222.511346184 meters Centerline goodness : 0.836674 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.06, Z:-2.71 [[ 0.44372958 -0.81915517 -0.36344033 -1.87759656] [ 0.82165823 0.5337767 -0.19990045 0.06004091] [ 0.35774547 -0.209922 0.90991809 -2.70852174] [ 0. 0. 0. 1. ]] SLAMing on 222.541346184 meters Centerline goodness : 0.834334 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.06, Z:-2.71 [[ 0.44291465 -0.81991559 -0.36271895 -1.87906741] [ 0.82191264 0.53294456 -0.20107138 0.0632347 ] [ 0.35817065 -0.20906583 0.90994794 -2.70923098] [ 0. 0. 0. 1. ]] SLAMing on 222.571346184 meters Centerline goodness : 0.834449 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.07, Z:-2.71 [[ 0.44266848 -0.82022775 -0.36231347 -1.8794828 ] [ 0.82189825 0.53269981 -0.20177753 0.06653563] [ 0.35850784 -0.20846426 0.90995317 -2.71082491] [ 0. 0. 0. 1. ]] SLAMing on 222.601346184 meters Centerline goodness : 0.833851 Centerline is valid? [False, False] Translation: X:-1.88, Y:0.07, Z:-2.71 [[ 0.44273665 -0.820109 -0.36249896 -1.88346282] [ 0.82140674 0.53307322 -0.20279031 0.07229157] [ 0.35954864 -0.20797639 0.90965411 -2.71215801] [ 0. 0. 0. 1. ]] SLAMing on 222.631346184 meters Centerline goodness : 0.832905 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-2.71 [[ 0.44288809 -0.81978133 -0.36305468 -1.88520957] [ 0.82107832 0.53349538 -0.20301004 0.0753298 ] [ 0.36011184 -0.2081856 0.90938343 -2.71286958] [ 0. 0. 0. 1. ]] SLAMing on 222.661346184 meters Centerline goodness : 0.830403 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-2.71 [[ 0.4441238 -0.81835128 -0.36476738 -1.88720297] [ 0.81989333 0.53537655 -0.20284694 0.07818582] [ 0.36128796 -0.20898118 0.90873422 -2.71262492] [ 0. 0. 0. 1. ]] SLAMing on 222.691346184 meters Centerline goodness : 0.833137 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-2.71 [[ 0.44617939 -0.81659282 -0.36619684 -1.88959275] [ 0.81860419 0.53775556 -0.20175763 0.07815351] [ 0.36167822 -0.20975017 0.90840175 -2.71224581] [ 0. 0. 0. 1. ]] SLAMing on 222.721346184 meters Centerline goodness : 0.834119 Centerline is valid? [False, False] Translation: X:-1.89, Y:0.08, Z:-2.71 [[ 0.44668756 -0.81624974 -0.36634217 -1.89169544] [ 0.81816959 0.53835864 -0.20191212 0.07901837] [ 0.36203419 -0.20953839 0.90830882 -2.71172819] [ 0. 0. 0. 1. ]] SLAMing on 222.751346184 meters Centerline goodness : 0.832821 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-2.71 [[ 0.44547759 -0.82123977 -0.35653185 -1.89606902] [ 0.82344293 0.53214627 -0.19688089 0.08581433] [ 0.35141351 -0.20587761 0.91330332 -2.7124719 ] [ 0. 0. 0. 1. ]] SLAMing on 222.781346184 meters Centerline goodness : 0.831670 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-2.71 [[ 0.4453864 -0.82191941 -0.35507666 -1.89709484] [ 0.82352372 0.53169267 -0.19776649 0.08641599] [ 0.35133978 -0.20433155 0.91367882 -2.71281683] [ 0. 0. 0. 1. ]] SLAMing on 222.811346184 meters Centerline goodness : 0.832428 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-2.71 [[ 0.44436136 -0.82352271 -0.35263767 -1.89801127] [ 0.82414842 0.53009874 -0.19943599 0.0883038 ] [ 0.35117285 -0.20200414 0.91426033 -2.71384204] [ 0. 0. 0. 1. ]] SLAMing on 222.841346184 meters Centerline goodness : 0.829413 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-2.71 [[ 0.44358057 -0.82460529 -0.35108745 -1.89897438] [ 0.82456375 0.52899087 -0.20065715 0.08903136] [ 0.351185 -0.20048637 0.9145897 -2.71365947] [ 0. 0. 0. 1. ]] SLAMing on 222.871346184 meters Centerline goodness : 0.829297 Centerline is valid? [False, False] Translation: X:-1.90, Y:0.09, Z:-2.71 [[ 0.4434753 -0.82542601 -0.34928722 -1.90026948] [ 0.82463521 0.52844428 -0.20180043 0.08999864] [ 0.35115016 -0.19854104 0.91502733 -2.71403688] [ 0. 0. 0. 1. ]] SLAMing on 222.901346184 meters Centerline goodness : 0.829672 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.09, Z:-2.71 [[ 0.44620227 -0.82569062 -0.34516451 -1.90578319] [ 0.82359153 0.52976277 -0.20260408 0.08780277] [ 0.35014359 -0.19387217 0.91641314 -2.71402476] [ 0. 0. 0. 1. ]] SLAMing on 222.93134618399998 meters Centerline goodness : 0.834092 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.09, Z:-2.71 [[ 0.44872191 -0.82372113 -0.34660085 -1.9066335 ] [ 0.82196747 0.53262922 -0.20168192 0.08861291] [ 0.3507394 -0.19439553 0.91607437 -2.71433516] [ 0. 0. 0. 1. ]] SLAMing on 222.96134618399998 meters Centerline goodness : 0.834289 Centerline is valid? [False, False] Translation: X:-1.91, Y:0.09, Z:-2.72 [[ 0.45042819 -0.82686089 -0.33677218 -1.91252835] [ 0.82581963 0.52921155 -0.19482576 0.09233544] [ 0.33931753 -0.19035807 0.92120976 -2.71552207] [ 0. 0. 0. 1. ]] SLAMing on 222.99134618399998 meters Centerline goodness : 0.836508 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.09, Z:-2.72 [[ 0.4554761 -0.82341242 -0.33842799 -1.91578431] [ 0.82291134 0.53444992 -0.19282169 0.0917367 ] [ 0.33964459 -0.19067056 0.92102459 -2.7158925 ] [ 0. 0. 0. 1. ]] SLAMing on 223.02134618399998 meters Centerline goodness : 0.839326 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.09, Z:-2.72 [[ 0.45791997 -0.82123611 -0.34041233 -1.91708864] [ 0.82134498 0.53734207 -0.19145735 0.09195952] [ 0.34014955 -0.19192381 0.92057783 -2.71553888] [ 0. 0. 0. 1. ]] SLAMing on 223.05134618399998 meters Centerline goodness : 0.840223 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.09, Z:-2.71 [[ 0.4590305 -0.82091401 -0.33969278 -1.91859666] [ 0.8208942 0.53812923 -0.19117964 0.09052465] [ 0.33974066 -0.19109454 0.92090128 -2.71494361] [ 0. 0. 0. 1. ]] SLAMing on 223.08134618399998 meters Centerline goodness : 0.838272 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.09, Z:-2.72 [[ 0.46046597 -0.82114798 -0.33717514 -1.91947698] [ 0.82030129 0.53878191 -0.19188498 0.09041639] [ 0.33922983 -0.1882287 0.92167949 -2.71641931] [ 0. 0. 0. 1. ]] SLAMing on 223.11134618399998 meters Centerline goodness : 0.837867 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.09, Z:-2.72 [[ 0.46076376 -0.82126689 -0.33647801 -1.91988765] [ 0.81997846 0.53898653 -0.19268847 0.09153021] [ 0.33960577 -0.18712086 0.92176662 -2.71657563] [ 0. 0. 0. 1. ]] SLAMing on 223.14134618399999 meters Centerline goodness : 0.838852 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.10, Z:-2.72 [[ 0.4603473 -0.82572537 -0.32597236 -1.92471757] [ 0.82466657 0.53370288 -0.18731335 0.09536034] [ 0.32864178 -0.18258931 0.92663678 -2.7158712 ] [ 0. 0. 0. 1. ]] SLAMing on 223.171346184 meters Centerline goodness : 0.837402 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.10, Z:-2.72 [[ 0.46180676 -0.82558389 -0.32426185 -1.9263585 ] [ 0.8240042 0.53461582 -0.18762461 0.09509473] [ 0.32825538 -0.18054682 0.9271738 -2.7166207 ] [ 0. 0. 0. 1. ]] SLAMing on 223.201346184 meters Centerline goodness : 0.838183 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.46314476 -0.8254759 -0.32262436 -1.92656189] [ 0.82342975 0.53541824 -0.18785833 0.09410825] [ 0.32781149 -0.17865289 0.92769756 -2.71723176] [ 0. 0. 0. 1. ]] SLAMing on 223.231346184 meters Centerline goodness : 0.839386 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.46462803 -0.8247605 -0.32232115 -1.92753998] [ 0.82264639 0.53673068 -0.1875449 0.09306866] [ 0.32767927 -0.17801771 0.92786636 -2.71684302] [ 0. 0. 0. 1. ]] SLAMing on 223.261346184 meters Centerline goodness : 0.842935 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.4680363 -0.82191377 -0.32465331 -1.92888157] [ 0.82055032 0.54058737 -0.18564069 0.09249437] [ 0.32808412 -0.1795078 0.92743612 -2.71626186] [ 0. 0. 0. 1. ]] SLAMing on 223.291346184 meters Centerline goodness : 0.842123 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.46953551 -0.82123459 -0.32420695 -1.93024606] [ 0.81977813 0.54186556 -0.18532547 0.09124508] [ 0.32787227 -0.17876088 0.92765528 -2.71576757] [ 0. 0. 0. 1. ]] SLAMing on 223.321346184 meters Centerline goodness : 0.843833 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.47128184 -0.82090266 -0.32250931 -1.93072235] [ 0.81901045 0.54301563 -0.18535349 0.09009692] [ 0.32728476 -0.17678476 0.92824126 -2.71656738] [ 0. 0. 0. 1. ]] SLAMing on 223.351346184 meters Centerline goodness : 0.842608 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.47277577 -0.82112861 -0.31973565 -1.9312492 ] [ 0.81858397 0.54357721 -0.18559123 0.08745176] [ 0.32619528 -0.17398744 0.92915285 -2.71716403] [ 0. 0. 0. 1. ]] SLAMing on 223.381346184 meters Centerline goodness : 0.844666 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.47590999 -0.81987976 -0.31828737 -1.93285394] [ 0.81715443 0.54602833 -0.18469353 0.08526585] [ 0.32522041 -0.17219244 0.92982872 -2.71817538] [ 0. 0. 0. 1. ]] SLAMing on 223.411346184 meters Centerline goodness : 0.844156 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.09, Z:-2.72 [[ 0.47764077 -0.81885817 -0.31832468 -1.93325247] [ 0.81585243 0.54783885 -0.18508756 0.08612961] [ 0.32595108 -0.1713006 0.9297376 -2.71804783] [ 0. 0. 0. 1. ]] SLAMing on 223.441346184 meters Centerline goodness : 0.842395 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.08, Z:-2.72 [[ 0.48300396 -0.81704256 -0.31487876 -1.93507701] [ 0.81318048 0.55191542 -0.18473458 0.08444331] [ 0.32472246 -0.16682573 0.9309804 -2.72153055] [ 0. 0. 0. 1. ]] SLAMing on 223.471346184 meters Centerline goodness : 0.841257 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.08, Z:-2.72 [[ 0.4849619 -0.81653292 -0.31318677 -1.93700515] [ 0.81219273 0.55330856 -0.18491244 0.08413223] [ 0.32427602 -0.16469253 0.93151567 -2.7225416 ] [ 0. 0. 0. 1. ]] SLAMing on 223.501346184 meters Centerline goodness : 0.842616 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.08, Z:-2.72 [[ 0.48711621 -0.8155286 -0.31245945 -1.93938552] [ 0.81098656 0.55515637 -0.18466781 0.08392125] [ 0.32406574 -0.16344573 0.9318084 -2.72286482] [ 0. 0. 0. 1. ]] SLAMing on 223.531346184 meters Centerline goodness : 0.846316 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.09, Z:-2.72 [[ 0.48908433 -0.81371017 -0.31412144 -1.94104588] [ 0.80947381 0.55757512 -0.1840167 0.08539766] [ 0.32488256 -0.16427339 0.93137832 -2.72238759] [ 0. 0. 0. 1. ]] SLAMing on 223.561346184 meters Centerline goodness : 0.848595 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.09, Z:-2.72 [[ 0.49103833 -0.81242706 -0.31439406 -1.94367433] [ 0.8082207 0.55953553 -0.18357364 0.08535219] [ 0.32505484 -0.1639581 0.93137377 -2.72172975] [ 0. 0. 0. 1. ]] SLAMing on 223.591346184 meters Centerline goodness : 0.848426 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.09, Z:-2.72 [[ 0.49245393 -0.81126477 -0.31518027 -1.94480341] [ 0.80693714 0.56127584 -0.18390728 0.08700394] [ 0.32610057 -0.16376481 0.93104216 -2.72114761] [ 0. 0. 0. 1. ]] SLAMing on 223.621346184 meters Centerline goodness : 0.848098 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.09, Z:-2.72 [[ 0.49213352 -0.81142202 -0.31527591 -1.94572588] [ 0.80674877 0.56118426 -0.18500986 0.0882554 ] [ 0.32704896 -0.1632989 0.9307913 -2.71958825] [ 0. 0. 0. 1. ]] SLAMing on 223.651346184 meters Centerline goodness : 0.846584 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.09, Z:-2.72 [[ 0.49105459 -0.81206232 -0.31530966 -1.94575752] [ 0.80706609 0.56033274 -0.18620296 0.09016749] [ 0.32788674 -0.16303992 0.93054192 -2.71864953] [ 0. 0. 0. 1. ]] SLAMing on 223.68134618399998 meters Centerline goodness : 0.846584 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.09, Z:-2.72 [[ 0.49105459 -0.81206232 -0.31530966 -1.94575752] [ 0.80706609 0.56033274 -0.18620296 0.09016749] [ 0.32788674 -0.16303992 0.93054192 -2.71864953] [ 0. 0. 0. 1. ]] SLAMing on 223.71134618399998 meters Centerline goodness : 0.850246 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.09, Z:-2.72 [[ 0.48969648 -0.81321504 -0.31444976 -1.94689695] [ 0.80786195 0.55885487 -0.18719059 0.09062354] [ 0.32795798 -0.16236542 0.93063475 -2.71750981] [ 0. 0. 0. 1. ]] SLAMing on 223.74134618399998 meters Centerline goodness : 0.847263 Centerline is valid? [False, False] Translation: X:-1.95, Y:0.09, Z:-2.72 [[ 0.48605701 -0.81472361 -0.31618668 -1.94584282] [ 0.80929656 0.55616591 -0.18899353 0.09447835] [ 0.32982975 -0.16402717 0.92968136 -2.71520974] [ 0. 0. 0. 1. ]] SLAMing on 223.77134618399998 meters Centerline goodness : 0.850946 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.10, Z:-2.71 [[ 0.48416944 -0.8151405 -0.31800302 -1.94387475] [ 0.80974871 0.55512928 -0.19010129 0.09771272] [ 0.33149205 -0.1654613 0.9288356 -2.71388726] [ 0. 0. 0. 1. ]] SLAMing on 223.80134618399998 meters Centerline goodness : 0.852640 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.11, Z:-2.71 [[ 0.4819686 -0.81890404 -0.31161265 -1.94309494] [ 0.81438309 0.54988797 -0.18548156 0.1055232 ] [ 0.32324364 -0.16437578 0.93193033 -2.71208542] [ 0. 0. 0. 1. ]] SLAMing on 223.83134618399998 meters Centerline goodness : 0.852197 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.11, Z:-2.71 [[ 0.48147977 -0.81903837 -0.31201503 -1.94416684] [ 0.81463843 0.54952997 -0.18542123 0.10504538] [ 0.32332871 -0.16490286 0.9318077 -2.71044364] [ 0. 0. 0. 1. ]] SLAMing on 223.86134618399998 meters Centerline goodness : 0.851244 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.11, Z:-2.71 [[ 0.48122304 -0.81754325 -0.31630273 -1.94192776] [ 0.81385657 0.5507357 -0.1852773 0.10951797] [ 0.32567141 -0.16826535 0.93038965 -2.70950252] [ 0. 0. 0. 1. ]] SLAMing on 223.89134618399999 meters Centerline goodness : 0.854151 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.11, Z:-2.71 [[ 0.48114593 -0.81782519 -0.31569059 -1.94427363] [ 0.81397508 0.5504858 -0.18549921 0.10919693] [ 0.32548912 -0.16771208 0.93055332 -2.70852013] [ 0. 0. 0. 1. ]] SLAMing on 223.921346184 meters Centerline goodness : 0.856483 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.11, Z:-2.71 [[ 0.47681889 -0.81940117 -0.31815949 -1.93981783] [ 0.81570667 0.54734618 -0.18717579 0.11380512] [ 0.32751545 -0.17027587 0.92937601 -2.70714244] [ 0. 0. 0. 1. ]] SLAMing on 223.951346184 meters Centerline goodness : 0.855887 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.12, Z:-2.71 [[ 0.47536959 -0.81969343 -0.31957226 -1.93877158] [ 0.81593865 0.54660958 -0.18831379 0.11654584] [ 0.32904084 -0.17123271 0.92866112 -2.70558757] [ 0. 0. 0. 1. ]] SLAMing on 223.981346184 meters Centerline goodness : 0.855221 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.12, Z:-2.70 [[ 0.47280303 -0.82059536 -0.3210616 -1.93868537] [ 0.81685079 0.54481268 -0.18956247 0.11884068] [ 0.33047251 -0.17263372 0.92789305 -2.70305197] [ 0. 0. 0. 1. ]] SLAMing on 224.011346184 meters Centerline goodness : 0.857606 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.12, Z:-2.70 [[ 0.46722148 -0.82727026 -0.31197437 -1.94135987] [ 0.82395798 0.53536914 -0.18566942 0.12387031] [ 0.32062024 -0.17030503 0.93177189 -2.69908749] [ 0. 0. 0. 1. ]] SLAMing on 224.041346184 meters Centerline goodness : 0.856597 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-2.70 [[ 0.46592607 -0.82764776 -0.31290907 -1.9390981 ] [ 0.82423091 0.5345892 -0.18670243 0.12804437] [ 0.32180166 -0.1709198 0.93125191 -2.69991389] [ 0. 0. 0. 1. ]] SLAMing on 224.071346184 meters Centerline goodness : 0.857107 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.13, Z:-2.70 [[ 0.46205673 -0.82936662 -0.31409329 -1.9361243 ] [ 0.82606265 0.53135368 -0.18783974 0.13080098] [ 0.32268264 -0.17266812 0.93062433 -2.69889629] [ 0. 0. 0. 1. ]] SLAMing on 224.101346184 meters Centerline goodness : 0.855997 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.13, Z:-2.70 [[ 0.4606524 -0.82951501 -0.31575974 -1.93432323] [ 0.82637782 0.53064598 -0.18845302 0.13335429] [ 0.32388124 -0.17412551 0.92993615 -2.69793865] [ 0. 0. 0. 1. ]] SLAMing on 224.131346184 meters Centerline goodness : 0.856727 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.14, Z:-2.70 [[ 0.45942775 -0.82991083 -0.31650301 -1.93417758] [ 0.82671156 0.5298366 -0.18926485 0.13518011] [ 0.32476783 -0.17470317 0.92951851 -2.69658293] [ 0. 0. 0. 1. ]] SLAMing on 224.161346184 meters Centerline goodness : 0.857333 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.14, Z:-2.70 [[ 0.45902486 -0.83017026 -0.3164072 -1.93494139] [ 0.82683445 0.52948554 -0.18970992 0.1356724 ] [ 0.32502457 -0.1745348 0.9294604 -2.69577962] [ 0. 0. 0. 1. ]] SLAMing on 224.191346184 meters Centerline goodness : 0.858334 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-2.70 [[ 0.45827463 -0.83128669 -0.31455812 -1.93649924] [ 0.82721131 0.52836859 -0.19117554 0.13664922] [ 0.32512431 -0.17259514 0.92978767 -2.69558972] [ 0. 0. 0. 1. ]] SLAMing on 224.221346184 meters Centerline goodness : 0.859401 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-2.69 [[ 0.45717147 -0.83175404 -0.31492772 -1.93636363] [ 0.82744228 0.52760514 -0.19228126 0.13861542] [ 0.3260882 -0.172679 0.92943448 -2.69444015] [ 0. 0. 0. 1. ]] SLAMing on 224.251346184 meters Centerline goodness : 0.858480 Centerline is valid? [False, False] Translation: X:-1.94, Y:0.14, Z:-2.69 [[ 0.45667361 -0.832067 -0.31482333 -1.93628945] [ 0.82753553 0.52720333 -0.1929808 0.13949491] [ 0.32654886 -0.17239826 0.92932485 -2.69370718] [ 0. 0. 0. 1. ]] SLAMing on 224.281346184 meters Centerline goodness : 0.861382 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.14, Z:-2.69 [[ 0.45425867 -0.83264544 -0.31678168 -1.93317404] [ 0.82819089 0.52571844 -0.1942163 0.14471071] [ 0.32825128 -0.17413126 0.92840153 -2.69366528] [ 0. 0. 0. 1. ]] SLAMing on 224.311346184 meters Centerline goodness : 0.858527 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.15, Z:-2.69 [[ 0.45311828 -0.83392992 -0.31503128 -1.93189881] [ 0.82863647 0.52431866 -0.19609066 0.14662567] [ 0.32870265 -0.17219414 0.92860311 -2.69392704] [ 0. 0. 0. 1. ]] SLAMing on 224.341346184 meters Centerline goodness : 0.859009 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.15, Z:-2.69 [[ 0.45112065 -0.83512251 -0.31473887 -1.93019658] [ 0.82932144 0.52256201 -0.19787598 0.14973359] [ 0.32972126 -0.17175375 0.92832351 -2.69369044] [ 0. 0. 0. 1. ]] SLAMing on 224.371346184 meters Centerline goodness : 0.856217 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.15, Z:-2.69 [[ 0.44644863 -0.83869679 -0.31188349 -1.92794472] [ 0.83175999 0.51748558 -0.20095769 0.15301204] [ 0.32993778 -0.16969492 0.92862516 -2.69433405] [ 0. 0. 0. 1. ]] SLAMing on 224.401346184 meters Centerline goodness : 0.855266 Centerline is valid? [False, False] Translation: X:-1.93, Y:0.16, Z:-2.70 [[ 0.44423264 -0.83971727 -0.31230156 -1.92508047] [ 0.83259708 0.51565964 -0.20218119 0.15708668] [ 0.33081635 -0.17020588 0.928219 -2.69514651] [ 0. 0. 0. 1. ]] SLAMing on 224.43134618399998 meters Centerline goodness : 0.854937 Centerline is valid? [False, False] Translation: X:-1.92, Y:0.16, Z:-2.70 [[ 0.44224097 -0.84037376 -0.31336061 -1.92238645] [ 0.83320091 0.51425835 -0.20325992 0.16060408] [ 0.33196262 -0.17120248 0.92762629 -2.69516861] [ 0. 0. 0. 1. ]] SLAMing on 224.46134618399998 meters Centerline goodness : 0.855901 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.07, Z:-2.73 [[ 0.44112748 -0.8414908 -0.31192912 -1.96977571] [ 0.83536557 0.51203727 -0.19995548 0.07177396] [ 0.32798003 -0.17236899 0.92882616 -2.72984924] [ 0. 0. 0. 1. ]] SLAMing on 224.49134618399998 meters Centerline goodness : 0.856118 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.08, Z:-2.73 [[ 0.43940602 -0.84135572 -0.31471082 -1.96813334] [ 0.83570241 0.5113646 -0.20026914 0.07506186] [ 0.32942956 -0.17500513 0.92781969 -2.72836876] [ 0. 0. 0. 1. ]] SLAMing on 224.52134618399998 meters Centerline goodness : 0.857055 Centerline is valid? [False, False] Translation: X:-1.97, Y:0.08, Z:-2.73 [[ 0.4381296 -0.8418074 -0.31528202 -1.96775066] [ 0.83626116 0.51034768 -0.20053059 0.07509112] [ 0.32971159 -0.17579972 0.92756926 -2.72691785] [ 0. 0. 0. 1. ]] SLAMing on 224.55134618399998 meters Centerline goodness : 0.860773 Centerline is valid? [False, False] Translation: X:-2.01, Y:-0.00, Z:-2.76 [[ 0.44112931 -0.84191934 -0.31076801 -2.01254471] [ 0.83607707 0.51138879 -0.19863694 -0.00295924] [ 0.32615956 -0.17220143 0.92949804 -2.75506283] [ 0. 0. 0. 1. ]] SLAMing on 224.58134618399998 meters Centerline goodness : 0.860403 Centerline is valid? [False, False] Translation: X:-2.06, Y:-0.09, Z:-2.79 [[ 0.44546184 -0.84243069 -0.30310771 -2.06458702] [ 0.83425569 0.51344801 -0.20096911 -0.09136664] [ 0.3249326 -0.16334526 0.93152409 -2.7876188 ] [ 0. 0. 0. 1. ]] SLAMing on 224.61134618399998 meters Centerline goodness : 0.858822 Centerline is valid? [False, False] Translation: X:-2.11, Y:-0.17, Z:-2.82 [[ 0.44755515 -0.8424836 -0.29985959 -2.10842568] [ 0.83345566 0.51450647 -0.20158066 -0.16776419] [ 0.3241081 -0.15970121 0.93244274 -2.81542173] [ 0. 0. 0. 1. ]] SLAMing on 224.64134618399999 meters Centerline goodness : 0.858868 Centerline is valid? [False, False] Translation: X:-2.15, Y:-0.25, Z:-2.84 [[ 0.45208175 -0.84179737 -0.29495642 -2.15455559] [ 0.83217908 0.51708372 -0.20025585 -0.2461287 ] [ 0.32109201 -0.15492455 0.93429027 -2.84467163] [ 0. 0. 0. 1. ]] SLAMing on 224.671346184 meters Centerline goodness : 0.860274 Centerline is valid? [False, False] Translation: X:-2.20, Y:-0.32, Z:-2.87 [[ 0.45511312 -0.84082451 -0.29306345 -2.20003747] [ 0.83063717 0.51947284 -0.20047408 -0.32362054] [ 0.32080202 -0.15219101 0.934839 -2.87168529] [ 0. 0. 0. 1. ]] SLAMing on 224.701346184 meters Centerline goodness : 0.861731 Centerline is valid? [False, False] Translation: X:-2.25, Y:-0.41, Z:-2.90 [[ 0.45735973 -0.83999719 -0.29193628 -2.24799271] [ 0.82960137 0.52125547 -0.20013571 -0.40515764] [ 0.32028682 -0.15065672 0.93526408 -2.90031383] [ 0. 0. 0. 1. ]] SLAMing on 224.731346184 meters Centerline goodness : 0.858399 Centerline is valid? [False, False] Translation: X:-2.30, Y:-0.50, Z:-2.93 [[ 0.46380765 -0.83868962 -0.28545084 -2.30118533] [ 0.82697438 0.52543044 -0.20009055 -0.49698628] [ 0.31779842 -0.143257 0.93727349 -2.93390923] [ 0. 0. 0. 1. ]] SLAMing on 224.761346184 meters Centerline goodness : 0.859868 Centerline is valid? [False, False] Translation: X:-2.36, Y:-0.59, Z:-2.97 [[ 0.47050939 -0.83655028 -0.28072148 -2.35537127] [ 0.82441712 0.53017124 -0.19812842 -0.59223627] [ 0.31457484 -0.13821031 0.93911691 -2.97054227] [ 0. 0. 0. 1. ]] SLAMing on 224.791346184 meters Centerline goodness : 0.857496 Centerline is valid? [False, False] Translation: X:-2.41, Y:-0.69, Z:-3.01 [[ 0.4761318 -0.83501615 -0.27576538 -2.4072352 ] [ 0.82201908 0.53402522 -0.1977415 -0.68538315] [ 0.31238301 -0.13253339 0.94066559 -3.00622032] [ 0. 0. 0. 1. ]] SLAMing on 224.821346184 meters Centerline goodness : 0.857605 Centerline is valid? [False, False] Translation: X:-2.46, Y:-0.77, Z:-3.04 [[ 0.48232874 -0.83353464 -0.26940488 -2.45740202] [ 0.81922532 0.53811967 -0.19823494 -0.77478329] [ 0.31020776 -0.12508889 0.94240327 -3.03969727] [ 0. 0. 0. 1. ]] SLAMing on 224.851346184 meters Centerline goodness : 0.852206 Centerline is valid? [False, False] Translation: X:-2.51, Y:-0.87, Z:-3.08 [[ 0.48740853 -0.83257233 -0.26316581 -2.50859812] [ 0.81795312 0.54083277 -0.19609337 -0.87004457] [ 0.30559061 -0.11967971 0.94461164 -3.07665724] [ 0. 0. 0. 1. ]] SLAMing on 224.881346184 meters Centerline goodness : 0.852783 Centerline is valid? [False, False] Translation: X:-2.56, Y:-0.97, Z:-3.11 [[ 0.491817 -0.83102033 -0.2598485 -2.56269501] [ 0.81625726 0.54392713 -0.19459535 -0.9663749 ] [ 0.30305135 -0.11639792 0.94583899 -3.11348802] [ 0. 0. 0. 1. ]] SLAMing on 224.911346184 meters Centerline goodness : 0.852461 Centerline is valid? [False, False] Translation: X:-2.62, Y:-1.06, Z:-3.15 [[ 0.4961691 -0.82905559 -0.25784309 -2.61682339] [ 0.81404441 0.54748526 -0.19388549 -1.06148697] [ 0.30190714 -0.11369574 0.94653334 -3.14960214] [ 0. 0. 0. 1. ]] SLAMing on 224.941346184 meters Centerline goodness : 0.849053 Centerline is valid? [False, False] Translation: X:-2.67, Y:-1.15, Z:-3.18 [[ 0.50220862 -0.82681087 -0.25331855 -2.66942691] [ 0.81159606 0.55178077 -0.19196306 -1.15415423] [ 0.29849345 -0.10918684 0.9481455 -3.18380942] [ 0. 0. 0. 1. ]] SLAMing on 224.971346184 meters Centerline goodness : 0.848286 Centerline is valid? [False, False] Translation: X:-2.72, Y:-1.25, Z:-3.22 [[ 0.50880289 -0.82333786 -0.25146448 -2.72484434] [ 0.80867774 0.55727591 -0.18837166 -1.25059812] [ 0.29522861 -0.10750968 0.94935859 -3.2197866 ] [ 0. 0. 0. 1. ]] SLAMing on 225.001346184 meters Centerline goodness : 0.850199 Centerline is valid? [False, False] Translation: X:-2.77, Y:-1.32, Z:-3.24 [[ 0.51208193 -0.82244485 -0.24770259 -2.77363603] [ 0.80632333 0.55967134 -0.19133915 -1.32431111] [ 0.29599793 -0.10174706 0.94975405 -3.23896121] [ 0. 0. 0. 1. ]] SLAMing on 225.031346184 meters Centerline goodness : 0.850215 Centerline is valid? [False, False] Translation: X:-2.83, Y:-1.42, Z:-3.27 [[ 0.51924846 -0.81879703 -0.24485192 -2.82852144] [ 0.80268183 0.56560445 -0.18919165 -1.4166829 ] [ 0.2933989 -0.09830071 0.95092274 -3.27189511] [ 0. 0. 0. 1. ]] SLAMing on 225.061346184 meters Centerline goodness : 0.849200 Centerline is valid? [False, False] Translation: X:-2.88, Y:-1.50, Z:-3.30 [[ 0.52670468 -0.81506187 -0.24136345 -2.88093789] [ 0.79843109 0.57179678 -0.18856362 -1.5048177 ] [ 0.29170186 -0.09339474 0.95193878 -3.3029631 ] [ 0. 0. 0. 1. ]] SLAMing on 225.091346184 meters Centerline goodness : 0.846969 Centerline is valid? [False, False] Translation: X:-2.93, Y:-1.59, Z:-3.33 [[ 0.533114 -0.81205355 -0.23739945 -2.93361026] [ 0.79463959 0.57692386 -0.1889624 -1.59330286] [ 0.29040899 -0.0879085 0.95285608 -3.33365714] [ 0. 0. 0. 1. ]] SLAMing on 225.121346184 meters Centerline goodness : 0.846497 Centerline is valid? [False, False] Translation: X:-2.99, Y:-1.69, Z:-3.37 [[ 0.53838326 -0.80891264 -0.23622831 -2.99046757] [ 0.7917478 0.58154601 -0.18692153 -1.68762811] [ 0.28858082 -0.08639782 0.95354944 -3.36832753] [ 0. 0. 0. 1. ]] SLAMing on 225.151346184 meters Centerline goodness : 0.845033 Centerline is valid? [False, False] Translation: X:-3.05, Y:-1.78, Z:-3.40 [[ 0.54278912 -0.80732563 -0.23152818 -3.04654783] [ 0.7901365 0.58431488 -0.18509573 -1.77998189] [ 0.28471789 -0.08247092 0.95505721 -3.40078903] [ 0. 0. 0. 1. ]] SLAMing on 225.18134618399998 meters Centerline goodness : 0.845183 Centerline is valid? [False, False] Translation: X:-3.10, Y:-1.87, Z:-3.43 [[ 0.5478389 -0.80523742 -0.2268595 -3.10431048] [ 0.78758634 0.5878687 -0.184711 -1.87041894] [ 0.28209981 -0.07747958 0.95625133 -3.43193445] [ 0. 0. 0. 1. ]] SLAMing on 225.21134618399998 meters Centerline goodness : 0.845063 Centerline is valid? [False, False] Translation: X:-3.15, Y:-1.95, Z:-3.46 [[ 0.55087607 -0.80260565 -0.22882248 -3.15222185] [ 0.78581674 0.59116048 -0.18171774 -1.94797938] [ 0.28111849 -0.07970858 0.95635712 -3.4587546 ] [ 0. 0. 0. 1. ]] SLAMing on 225.24134618399998 meters Centerline goodness : 0.846598 Centerline is valid? [False, False] Translation: X:-3.21, Y:-2.03, Z:-3.49 [[ 0.55750194 -0.7997691 -0.22262293 -3.21007293] [ 0.7823284 0.59585176 -0.18144682 -2.03465055] [ 0.27776583 -0.07300729 0.9578706 -3.48690772] [ 0. 0. 0. 1. ]] SLAMing on 225.27134618399998 meters Centerline goodness : 0.844761 Centerline is valid? [False, False] Translation: X:-3.27, Y:-2.12, Z:-3.51 [[ 0.56442063 -0.79613508 -0.21817034 -3.26843972] [ 0.77777554 0.60143896 -0.18258252 -2.11859896] [ 0.27657649 -0.06663421 0.95867895 -3.51336016] [ 0. 0. 0. 1. ]] SLAMing on 225.30134618399998 meters Centerline goodness : 0.844676 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.21, Z:-3.55 [[ 0.57216289 -0.79072006 -0.2176957 -3.32955084] [ 0.77281925 0.60866883 -0.17964594 -2.20897896] [ 0.27455423 -0.06545269 0.9593414 -3.5453936 ] [ 0. 0. 0. 1. ]] SLAMing on 225.33134618399998 meters Centerline goodness : 0.845352 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.29, Z:-3.57 [[ 0.58355234 -0.7831524 -0.21479986 -3.3874752 ] [ 0.76472617 0.61895459 -0.17913431 -2.2885652 ] [ 0.27324083 -0.05972883 0.96008954 -3.57158036] [ 0. 0. 0. 1. ]] SLAMing on 225.36134618399998 meters Centerline goodness : 0.843901 Centerline is valid? [False, False] Translation: X:-3.45, Y:-2.37, Z:-3.60 [[ 0.59222287 -0.77688263 -0.21383512 -3.44701987] [ 0.7586806 0.62701213 -0.17680366 -2.37444015] [ 0.2714329 -0.05752539 0.9607367 -3.60223967] [ 0. 0. 0. 1. ]] SLAMing on 225.39134618399999 meters Centerline goodness : 0.849297 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.47, Z:-3.64 [[ 0.59984121 -0.77042729 -0.21594514 -3.51133292] [ 0.7530106 0.6348159 -0.17315833 -2.46504131] [ 0.27049131 -0.05874148 0.96092866 -3.63584993] [ 0. 0. 0. 1. ]] SLAMing on 225.421346184 meters Centerline goodness : 0.843736 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.46, Z:-3.63 [[ 0.6055654 -0.76305279 -0.22592253 -3.50685343] [ 0.7426499 0.6438794 -0.18409356 -2.4646296 ] [ 0.28593996 -0.05630066 0.95659217 -3.6274273 ] [ 0. 0. 0. 1. ]] SLAMing on 225.451346184 meters Centerline goodness : 0.842926 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.46, Z:-3.63 [[ 0.60705517 -0.76226835 -0.22456844 -3.50711053] [ 0.74145598 0.64498869 -0.18502059 -2.4633836 ] [ 0.28587944 -0.05418991 0.95673215 -3.62845611] [ 0. 0. 0. 1. ]] SLAMing on 225.481346184 meters Centerline goodness : 0.842673 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.46, Z:-3.63 [[ 0.60851151 -0.76115224 -0.22441257 -3.50655319] [ 0.74014601 0.64638134 -0.18540511 -2.46162455] [ 0.28617761 -0.05327692 0.95669428 -3.62937587] [ 0. 0. 0. 1. ]] SLAMing on 225.511346184 meters Centerline goodness : 0.841504 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.46, Z:-3.63 [[ 0.61055087 -0.75955581 -0.22428241 -3.50545299] [ 0.7382282 0.64836545 -0.18612193 -2.45862407] [ 0.28678696 -0.05193469 0.95658561 -3.63093075] [ 0. 0. 0. 1. ]] SLAMing on 225.541346184 meters Centerline goodness : 0.841504 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.46, Z:-3.63 [[ 0.61055087 -0.75955581 -0.22428241 -3.50545299] [ 0.7382282 0.64836545 -0.18612193 -2.45862407] [ 0.28678696 -0.05193469 0.95658561 -3.63093075] [ 0. 0. 0. 1. ]] SLAMing on 225.571346184 meters Centerline goodness : 0.843791 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.46, Z:-3.62 [[ 0.61748713 -0.75137858 -0.23267979 -3.50271333] [ 0.72689001 0.65812545 -0.19621877 -2.46195693] [ 0.30056707 -0.04797004 0.95255357 -3.62157892] [ 0. 0. 0. 1. ]] SLAMing on 225.601346184 meters Centerline goodness : 0.842622 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.46, Z:-3.62 [[ 0.62009508 -0.748458 -0.23514405 -3.50141572] [ 0.72432832 0.66133475 -0.19489697 -2.45948091] [ 0.30138113 -0.04946684 0.95221975 -3.62233624] [ 0. 0. 0. 1. ]] SLAMing on 225.631346184 meters Centerline goodness : 0.845164 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.46, Z:-3.62 [[ 0.62210494 -0.7460067 -0.23761195 -3.50127733] [ 0.72212376 0.66399247 -0.19403938 -2.45673777] [ 0.30252722 -0.05087238 0.95178216 -3.62176238] [ 0. 0. 0. 1. ]] SLAMing on 225.661346184 meters Centerline goodness : 0.848966 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.46, Z:-3.61 [[ 0.62785259 -0.73798068 -0.2473573 -3.4983653 ] [ 0.71112254 0.67308615 -0.20312498 -2.45551548] [ 0.31639509 -0.04836881 0.94739359 -3.60767567] [ 0. 0. 0. 1. ]] SLAMing on 225.691346184 meters Centerline goodness : 0.848260 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.45, Z:-3.61 [[ 0.62913266 -0.73687219 -0.24740954 -3.4987372 ] [ 0.70984523 0.67435021 -0.20339999 -2.45411771] [ 0.31672047 -0.04765691 0.94732094 -3.60751268] [ 0. 0. 0. 1. ]] SLAMing on 225.721346184 meters Centerline goodness : 0.847401 Centerline is valid? [False, False] Translation: X:-3.50, Y:-2.45, Z:-3.61 [[ 0.62977078 -0.73621475 -0.24774302 -3.49836514] [ 0.70886322 0.67511634 -0.20428132 -2.45171324] [ 0.31765029 -0.04696551 0.9470441 -3.60718859] [ 0. 0. 0. 1. ]] SLAMing on 225.751346184 meters Centerline goodness : 0.845385 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.45, Z:-3.60 [[ 0.63097002 -0.73223693 -0.25633164 -3.4935329 ] [ 0.70136792 0.67961707 -0.21495041 -2.45033484] [ 0.33160199 -0.04415552 0.94238549 -3.59764213] [ 0. 0. 0. 1. ]] SLAMing on 225.781346184 meters Centerline goodness : 0.847653 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.45, Z:-3.60 [[ 0.63017934 -0.73282128 -0.25660665 -3.49217446] [ 0.70144609 0.67902742 -0.21655289 -2.44716135] [ 0.33293751 -0.04352857 0.94194367 -3.59708658] [ 0. 0. 0. 1. ]] SLAMing on 225.811346184 meters Centerline goodness : 0.847797 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.44, Z:-3.59 [[ 0.63080698 -0.72947851 -0.26446864 -3.48602506] [ 0.69401105 0.68285536 -0.22816049 -2.44399671] [ 0.34703201 -0.03961893 0.93701608 -3.58707087] [ 0. 0. 0. 1. ]] SLAMing on 225.841346184 meters Centerline goodness : 0.848451 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.44, Z:-3.59 [[ 0.63052071 -0.73033104 -0.26279308 -3.4867125 ] [ 0.69432624 0.6820524 -0.22959877 -2.4431723 ] [ 0.34692176 -0.03769735 0.93713617 -3.5871208 ] [ 0. 0. 0. 1. ]] SLAMing on 225.871346184 meters Centerline goodness : 0.847749 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.44, Z:-3.59 [[ 0.63053325 -0.73027656 -0.26291439 -3.48560552] [ 0.69406805 0.68212915 -0.23015075 -2.44129406] [ 0.34741527 -0.03736278 0.93696673 -3.58747106] [ 0. 0. 0. 1. ]] SLAMing on 225.901346184 meters Centerline goodness : 0.849297 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.44, Z:-3.59 [[ 0.6316871 -0.72896886 -0.26377227 -3.48480162] [ 0.69262102 0.6835357 -0.23033686 -2.43924579] [ 0.34820616 -0.0371934 0.93667984 -3.5874127 ] [ 0. 0. 0. 1. ]] SLAMing on 225.93134618399998 meters Centerline goodness : 0.849406 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.44, Z:-3.59 [[ 0.6354881 -0.72453608 -0.26683766 -3.4852625 ] [ 0.68910253 0.68810651 -0.22726005 -2.43943195] [ 0.34827084 -0.03945744 0.93656315 -3.58665009] [ 0. 0. 0. 1. ]] SLAMing on 225.96134618399998 meters Centerline goodness : 0.851113 Centerline is valid? [False, False] Translation: X:-3.49, Y:-2.44, Z:-3.59 [[ 0.63642004 -0.72353749 -0.26732572 -3.48560119] [ 0.68809986 0.68915914 -0.22710848 -2.43859397] [ 0.34855146 -0.0394104 0.93646073 -3.58598855] [ 0. 0. 0. 1. ]] SLAMing on 225.99134618399998 meters Centerline goodness : 0.854275 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.44, Z:-3.59 [[ 0.63694554 -0.72261886 -0.26855608 -3.48342103] [ 0.68714211 0.6900972 -0.2271598 -2.43572949] [ 0.34947975 -0.03984777 0.93609618 -3.58670028] [ 0. 0. 0. 1. ]] SLAMing on 226.02134618399998 meters Centerline goodness : 0.856553 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.43, Z:-3.59 [[ 0.63779381 -0.7213482 -0.26995522 -3.48119833] [ 0.68572014 0.69141385 -0.2274528 -2.43272116] [ 0.35072345 -0.04004574 0.93562247 -3.58701942] [ 0. 0. 0. 1. ]] SLAMing on 226.05134618399998 meters Centerline goodness : 0.855983 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.43, Z:-3.59 [[ 0.63810058 -0.72080462 -0.27068128 -3.4793835 ] [ 0.68493404 0.69199069 -0.22806632 -2.43020814] [ 0.35170018 -0.03986957 0.93526328 -3.58728467] [ 0. 0. 0. 1. ]] SLAMing on 226.08134618399998 meters Centerline goodness : 0.855608 Centerline is valid? [False, False] Translation: X:-3.48, Y:-2.43, Z:-3.59 [[ 0.63788906 -0.72100776 -0.27063879 -3.4779122 ] [ 0.68473032 0.6918219 -0.22918734 -2.4283758 ] [ 0.3524797 -0.03911849 0.9350015 -3.58727277] [ 0. 0. 0. 1. ]] SLAMing on 226.11134618399998 meters Centerline goodness : 0.854964 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.43, Z:-3.59 [[ 0.63670911 -0.72155731 -0.27194957 -3.47457402] [ 0.68508855 0.69120512 -0.22997643 -2.42568222] [ 0.35391411 -0.03988144 0.93442724 -3.58730699] [ 0. 0. 0. 1. ]] SLAMing on 226.14134618399999 meters Centerline goodness : 0.856267 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.42, Z:-3.58 [[ 0.63508438 -0.72524421 -0.26587338 -3.47356141] [ 0.68997316 0.68736518 -0.22686152 -2.41623544] [ 0.34728211 -0.03936929 0.93693393 -3.58389675] [ 0. 0. 0. 1. ]] SLAMing on 226.171346184 meters Centerline goodness : 0.855328 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.41, Z:-3.58 [[ 0.63466923 -0.72505225 -0.26738399 -3.47235006] [ 0.68953165 0.68753878 -0.22767637 -2.4128766 ] [ 0.34891412 -0.03987053 0.93630619 -3.58301589] [ 0. 0. 0. 1. ]] SLAMing on 226.201346184 meters Centerline goodness : 0.856115 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.41, Z:-3.58 [[ 0.6340034 -0.7250515 -0.26896098 -3.46942132] [ 0.68930712 0.68750013 -0.22847159 -2.40962153] [ 0.35056438 -0.04054495 0.93566058 -3.58300485] [ 0. 0. 0. 1. ]] SLAMing on 226.231346184 meters Centerline goodness : 0.855942 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.40, Z:-3.58 [[ 0.63252828 -0.72812827 -0.26407801 -3.46372477] [ 0.69353218 0.6842408 -0.22544986 -2.39963296] [ 0.34484937 -0.04054318 0.93778205 -3.58102055] [ 0. 0. 0. 1. ]] SLAMing on 226.261346184 meters Centerline goodness : 0.856679 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.40, Z:-3.58 [[ 0.63194121 -0.72785395 -0.26623098 -3.46105329] [ 0.69323144 0.6844505 -0.22573809 -2.39620891] [ 0.34652629 -0.04190648 0.93710372 -3.58086759] [ 0. 0. 0. 1. ]] SLAMing on 226.291346184 meters Centerline goodness : 0.855380 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.39, Z:-3.58 [[ 0.63110915 -0.72793966 -0.26796472 -3.45924512] [ 0.69328187 0.68428569 -0.2260826 -2.39313081] [ 0.34793892 -0.04309228 0.93652633 -3.58025062] [ 0. 0. 0. 1. ]] SLAMing on 226.321346184 meters Centerline goodness : 0.856730 Centerline is valid? [False, False] Translation: X:-3.45, Y:-2.38, Z:-3.58 [[ 0.6293668 -0.73124923 -0.26300571 -3.4549397 ] [ 0.69801863 0.68070956 -0.22227119 -2.38286775] [ 0.34156614 -0.04369278 0.93884158 -3.57895393] [ 0. 0. 0. 1. ]] SLAMing on 226.351346184 meters Centerline goodness : 0.857261 Centerline is valid? [False, False] Translation: X:-3.45, Y:-2.38, Z:-3.58 [[ 0.62825522 -0.73150632 -0.26494128 -3.45227767] [ 0.69796964 0.68037799 -0.22343717 -2.37919464] [ 0.34370592 -0.0445454 0.93802023 -3.57796635] [ 0. 0. 0. 1. ]] SLAMing on 226.381346184 meters Centerline goodness : 0.857870 Centerline is valid? [False, False] Translation: X:-3.45, Y:-2.37, Z:-3.58 [[ 0.62657917 -0.73200828 -0.26751154 -3.44943093] [ 0.69846503 0.67970477 -0.22393757 -2.37442112] [ 0.34575302 -0.04653284 0.93717103 -3.57760026] [ 0. 0. 0. 1. ]] SLAMing on 226.411346184 meters Centerline goodness : 0.859497 Centerline is valid? [False, False] Translation: X:-3.44, Y:-2.36, Z:-3.58 [[ 0.62194973 -0.7367437 -0.26530597 -3.44348713] [ 0.70455706 0.6743596 -0.2209943 -2.36160577] [ 0.34172779 -0.04947585 0.93849574 -3.57503366] [ 0. 0. 0. 1. ]] SLAMing on 226.441346184 meters Centerline goodness : 0.860860 Centerline is valid? [False, False] Translation: X:-3.44, Y:-2.36, Z:-3.58 [[ 0.62041741 -0.7374703 -0.26687037 -3.43991499] [ 0.7050746 0.67349331 -0.22198327 -2.35802602] [ 0.34344148 -0.05044123 0.93781855 -3.57516054] [ 0. 0. 0. 1. ]] SLAMing on 226.471346184 meters Centerline goodness : 0.860260 Centerline is valid? [False, False] Translation: X:-3.44, Y:-2.35, Z:-3.57 [[ 0.6193368 -0.73802606 -0.26784223 -3.43732655] [ 0.70525735 0.67287162 -0.22328427 -2.35480501] [ 0.34501304 -0.05060953 0.93723246 -3.57494884] [ 0. 0. 0. 1. ]] SLAMing on 226.501346184 meters Centerline goodness : 0.860169 Centerline is valid? [False, False] Translation: X:-3.43, Y:-2.34, Z:-3.58 [[ 0.61664224 -0.74032124 -0.26772524 -3.42778401] [ 0.70890346 0.67007648 -0.22012132 -2.34033701] [ 0.34235688 -0.05405524 0.93801375 -3.57509713] [ 0. 0. 0. 1. ]] SLAMing on 226.531346184 meters Centerline goodness : 0.860154 Centerline is valid? [False, False] Translation: X:-3.43, Y:-2.34, Z:-3.57 [[ 0.61541479 -0.74093842 -0.26883989 -3.42552679] [ 0.70916125 0.66936828 -0.22144168 -2.33699534] [ 0.34402755 -0.05437235 0.93738396 -3.57457217] [ 0. 0. 0. 1. ]] SLAMing on 226.561346184 meters Centerline goodness : 0.862159 Centerline is valid? [False, False] Translation: X:-3.42, Y:-2.33, Z:-3.57 [[ 0.6141546 -0.74141812 -0.2703947 -3.42343703] [ 0.70944244 0.66876392 -0.2223651 -2.33362257] [ 0.34569573 -0.05526293 0.93671792 -3.5738998 ] [ 0. 0. 0. 1. ]] SLAMing on 226.591346184 meters Centerline goodness : 0.862590 Centerline is valid? [False, False] Translation: X:-3.42, Y:-2.33, Z:-3.57 [[ 0.61337471 -0.7413917 -0.27223119 -3.42077009] [ 0.70930833 0.66870414 -0.22297191 -2.33026348] [ 0.34735164 -0.05633052 0.93604151 -3.57366587] [ 0. 0. 0. 1. ]] SLAMing on 226.621346184 meters Centerline goodness : 0.863526 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.32, Z:-3.57 [[ 0.61062775 -0.74401632 -0.2712443 -3.41449927] [ 0.71408211 0.66538733 -0.21759235 -2.31869778] [ 0.34237478 -0.06082278 0.93759272 -3.57183677] [ 0. 0. 0. 1. ]] SLAMing on 226.651346184 meters Centerline goodness : 0.863418 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.32, Z:-3.57 [[ 0.60878576 -0.74438215 -0.27436312 -3.41216038] [ 0.71452912 0.66474883 -0.21807598 -2.31540804] [ 0.34471443 -0.06327889 0.93657234 -3.56961689] [ 0. 0. 0. 1. ]] SLAMing on 226.68134618399998 meters Centerline goodness : 0.865060 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.30, Z:-3.57 [[ 0.60411637 -0.74779781 -0.27539397 -3.4024395 ] [ 0.71974043 0.66035459 -0.21425574 -2.30136023] [ 0.34207765 -0.06877677 0.93715134 -3.56796695] [ 0. 0. 0. 1. ]] SLAMing on 226.71134618399998 meters Centerline goodness : 0.864602 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.30, Z:-3.57 [[ 0.60270387 -0.7487356 -0.27594029 -3.40015467] [ 0.7202891 0.6592922 -0.21567896 -2.29810517] [ 0.3434118 -0.06876624 0.93666405 -3.5680379 ] [ 0. 0. 0. 1. ]] SLAMing on 226.74134618399998 meters Centerline goodness : 0.862393 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.30, Z:-3.57 [[ 0.60182194 -0.74960058 -0.27551646 -3.39857879] [ 0.72054359 0.65842494 -0.21747077 -2.29503719] [ 0.34442312 -0.06764293 0.93637447 -3.56840283] [ 0. 0. 0. 1. ]] SLAMing on 226.77134618399998 meters Centerline goodness : 0.863886 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.29, Z:-3.57 [[ 0.59868363 -0.75175787 -0.27647425 -3.39465844] [ 0.72243273 0.65585649 -0.21895938 -2.29159407] [ 0.34593187 -0.06864665 0.93574504 -3.56815824] [ 0. 0. 0. 1. ]] SLAMing on 226.80134618399998 meters Centerline goodness : 0.865130 Centerline is valid? [False, False] Translation: X:-3.39, Y:-2.28, Z:-3.57 [[ 0.59515254 -0.75562557 -0.27353876 -3.38631161] [ 0.72796173 0.65111106 -0.2147699 -2.27895925] [ 0.34038974 -0.0713049 0.9375769 -3.56902287] [ 0. 0. 0. 1. ]] SLAMing on 226.83134618399998 meters Centerline goodness : 0.863272 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.28, Z:-3.57 [[ 0.59425603 -0.75584778 -0.27487072 -3.38417682] [ 0.7282013 0.65073837 -0.21508706 -2.27623013] [ 0.341442 -0.07234443 0.93711453 -3.56920786] [ 0. 0. 0. 1. ]] SLAMing on 226.86134618399998 meters Centerline goodness : 0.863901 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.27, Z:-3.57 [[ 0.59321543 -0.75808823 -0.27092008 -3.37924118] [ 0.73206364 0.64798388 -0.21023728 -2.26705696] [ 0.33493025 -0.07361474 0.93936287 -3.56788425] [ 0. 0. 0. 1. ]] SLAMing on 226.89134618399999 meters Centerline goodness : 0.864444 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.26, Z:-3.57 [[ 0.5938232 -0.75701169 -0.27259368 -3.3775625 ] [ 0.73086385 0.64918519 -0.21070505 -2.26318378] [ 0.33646997 -0.07410732 0.9387737 -3.56797047] [ 0. 0. 0. 1. ]] SLAMing on 226.921346184 meters Centerline goodness : 0.867971 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.26, Z:-3.57 [[ 0.59428517 -0.75820711 -0.2682296 -3.37674715] [ 0.73405868 0.64762899 -0.20429034 -2.25536469] [ 0.32860765 -0.07548955 0.94144482 -3.56565193] [ 0. 0. 0. 1. ]] SLAMing on 226.951346184 meters Centerline goodness : 0.869816 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.25, Z:-3.56 [[ 0.59439832 -0.75688952 -0.27167794 -3.37500868] [ 0.73312781 0.64886153 -0.2037212 -2.25237682] [ 0.3304758 -0.07808311 0.94057895 -3.56408005] [ 0. 0. 0. 1. ]] SLAMing on 226.981346184 meters Centerline goodness : 0.868413 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.25, Z:-3.56 [[ 0.59369375 -0.75653662 -0.27418987 -3.37314355] [ 0.73299108 0.64903203 -0.20367008 -2.24913264] [ 0.33204188 -0.08006107 0.93986085 -3.56314148] [ 0. 0. 0. 1. ]] SLAMing on 227.011346184 meters Centerline goodness : 0.867256 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.23, Z:-3.56 [[ 0.59130126 -0.75823994 -0.27465436 -3.36192591] [ 0.73563608 0.64668952 -0.20157438 -2.23438843] [ 0.33045783 -0.08285447 0.94017698 -3.56269324] [ 0. 0. 0. 1. ]] SLAMing on 227.041346184 meters Centerline goodness : 0.866512 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.23, Z:-3.56 [[ 0.58945463 -0.75946845 -0.27522885 -3.35927318] [ 0.73656921 0.64521147 -0.20289887 -2.23173902] [ 0.3316761 -0.08312542 0.93972396 -3.56234238] [ 0. 0. 0. 1. ]] SLAMing on 227.071346184 meters Centerline goodness : 0.869568 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.22, Z:-3.56 [[ 0.58774292 -0.76134244 -0.27370779 -3.35167818] [ 0.7397614 0.64270219 -0.19921587 -2.21951777] [ 0.32758409 -0.08539074 0.94095541 -3.56154353] [ 0. 0. 0. 1. ]] SLAMing on 227.101346184 meters Centerline goodness : 0.870301 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.21, Z:-3.56 [[ 0.58608842 -0.76187207 -0.27577401 -3.34921998] [ 0.74032881 0.64185318 -0.19984433 -2.21488448] [ 0.32926224 -0.087037 0.94021856 -3.56129283] [ 0. 0. 0. 1. ]] SLAMing on 227.131346184 meters Centerline goodness : 0.868453 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.20, Z:-3.56 [[ 0.58192412 -0.76554843 -0.27440831 -3.33990335] [ 0.7449146 0.63715275 -0.19783483 -2.2000022 ] [ 0.32629215 -0.0892859 0.94104275 -3.5617085 ] [ 0. 0. 0. 1. ]] SLAMing on 227.161346184 meters Centerline goodness : 0.870264 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.20, Z:-3.56 [[ 0.58016346 -0.76663373 -0.27510557 -3.33723875] [ 0.74583485 0.63576888 -0.19881728 -2.19723257] [ 0.3273236 -0.0898368 0.94063203 -3.56168563] [ 0. 0. 0. 1. ]] SLAMing on 227.191346184 meters Centerline goodness : 0.870357 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.19, Z:-3.56 [[ 0.57879334 -0.76677644 -0.2775827 -3.33441185] [ 0.74621661 0.63528716 -0.1989246 -2.19243396] [ 0.32887542 -0.09200059 0.93988129 -3.56185996] [ 0. 0. 0. 1. ]] SLAMing on 227.221346184 meters Centerline goodness : 0.872121 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.19, Z:-3.56 [[ 0.57801158 -0.76670073 -0.27941473 -3.33263354] [ 0.74633461 0.63515074 -0.19891753 -2.19046179] [ 0.32998069 -0.09356025 0.93933978 -3.56100417] [ 0. 0. 0. 1. ]] SLAMing on 227.251346184 meters Centerline goodness : 0.871147 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.19, Z:-3.56 [[ 0.57786079 -0.76602591 -0.28156919 -3.33025194] [ 0.74591216 0.63571913 -0.19868629 -2.18673609] [ 0.33119777 -0.09521287 0.9387452 -3.56147712] [ 0. 0. 0. 1. ]] SLAMing on 227.281346184 meters Centerline goodness : 0.871576 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.18, Z:-3.56 [[ 0.5763549 -0.76597481 -0.28477642 -3.32777701] [ 0.7463494 0.63532003 -0.19832051 -2.18330279] [ 0.33283268 -0.09823971 0.93785466 -3.56035815] [ 0. 0. 0. 1. ]] SLAMing on 227.311346184 meters Centerline goodness : 0.873142 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.18, Z:-3.56 [[ 0.57527177 -0.76621713 -0.28631051 -3.32570989] [ 0.74656671 0.63486398 -0.19896198 -2.17906575] [ 0.3342163 -0.09929269 0.93725153 -3.5604144 ] [ 0. 0. 0. 1. ]] SLAMing on 227.341346184 meters Centerline goodness : 0.874168 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.18, Z:-3.56 [[ 0.57366398 -0.7666317 -0.28841893 -3.32220389] [ 0.74718733 0.63405753 -0.19920378 -2.1757702 ] [ 0.33559013 -0.10122693 0.93655346 -3.56027173] [ 0. 0. 0. 1. ]] SLAMing on 227.371346184 meters Centerline goodness : 0.875225 Centerline is valid? [False, False] Translation: X:-3.32, Y:-2.17, Z:-3.56 [[ 0.57213225 -0.76717895 -0.29000197 -3.31920215] [ 0.74771768 0.63319923 -0.1999425 -2.17193338] [ 0.3370207 -0.10244605 0.93590697 -3.56020421] [ 0. 0. 0. 1. ]] SLAMing on 227.401346184 meters Centerline goodness : 0.874996 Centerline is valid? [False, False] Translation: X:-3.31, Y:-2.16, Z:-3.56 [[ 0.56710694 -0.77088742 -0.29003846 -3.30911064] [ 0.75265956 0.62805136 -0.19762357 -2.15842212] [ 0.33450457 -0.10622652 0.93638807 -3.55908399] [ 0. 0. 0. 1. ]] SLAMing on 227.43134618399998 meters Centerline goodness : 0.874000 Centerline is valid? [False, False] Translation: X:-3.30, Y:-2.14, Z:-3.56 [[ 0.56501303 -0.77156564 -0.29231273 -3.29827392] [ 0.75410366 0.62667053 -0.19649865 -2.14378254] [ 0.33479538 -0.1094098 0.93591749 -3.55801022] [ 0. 0. 0. 1. ]] SLAMing on 227.46134618399998 meters Centerline goodness : 0.874000 Centerline is valid? [False, False] Translation: X:-3.30, Y:-2.14, Z:-3.56 [[ 0.56501303 -0.77156564 -0.29231273 -3.29827392] [ 0.75410366 0.62667053 -0.19649865 -2.14378254] [ 0.33479538 -0.1094098 0.93591749 -3.55801022] [ 0. 0. 0. 1. ]] SLAMing on 227.49134618399998 meters Centerline goodness : 0.874098 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.22, Z:-3.59 [[ 0.56528735 -0.77225974 -0.28993983 -3.35217742] [ 0.754832 0.62602573 -0.19575609 -2.21850983] [ 0.33268434 -0.10819742 0.93681078 -3.59226809] [ 0. 0. 0. 1. ]] SLAMing on 227.52134618399998 meters Centerline goodness : 0.875025 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.29, Z:-3.63 [[ 0.56486297 -0.773659 -0.28702191 -3.4043544 ] [ 0.75672883 0.62436862 -0.1937145 -2.29192091] [ 0.32907644 -0.1077756 0.93813278 -3.62776857] [ 0. 0. 0. 1. ]] SLAMing on 227.55134618399998 meters Centerline goodness : 0.877978 Centerline is valid? [False, False] Translation: X:-3.47, Y:-2.38, Z:-3.67 [[ 0.5696133 -0.77213485 -0.28168857 -3.46588675] [ 0.75513862 0.62695611 -0.19155078 -2.37829806] [ 0.32450941 -0.10360404 0.94019139 -3.66916019] [ 0. 0. 0. 1. ]] SLAMing on 227.58134618399998 meters Centerline goodness : 0.878225 Centerline is valid? [False, False] Translation: X:-3.53, Y:-2.46, Z:-3.71 [[ 0.57574102 -0.769666 -0.27592848 -3.52645698] [ 0.75138961 0.63112158 -0.19261153 -2.45812506] [ 0.32239096 -0.09643543 0.94168162 -3.7050936 ] [ 0. 0. 0. 1. ]] SLAMing on 227.61134618399998 meters Centerline goodness : 0.874447 Centerline is valid? [False, False] Translation: X:-3.57, Y:-2.52, Z:-3.73 [[ 0.58075329 -0.76738154 -0.27175575 -3.57172506] [ 0.74747494 0.63489424 -0.19542396 -2.51867281] [ 0.3225009 -0.08963751 0.94231539 -3.73101917] [ 0. 0. 0. 1. ]] SLAMing on 227.64134618399999 meters Centerline goodness : 0.874518 Centerline is valid? [False, False] Translation: X:-3.62, Y:-2.59, Z:-3.76 [[ 0.58318681 -0.76656091 -0.26884478 -3.62320978] [ 0.74576935 0.63643397 -0.19692607 -2.58717154] [ 0.32205778 -0.08565151 0.94283753 -3.7598096 ] [ 0. 0. 0. 1. ]] SLAMing on 227.671346184 meters Centerline goodness : 0.873409 Centerline is valid? [False, False] Translation: X:-3.68, Y:-2.67, Z:-3.80 [[ 0.58833653 -0.76447074 -0.26352345 -3.6824104 ] [ 0.74293602 0.63969545 -0.19706802 -2.67047316] [ 0.31922749 -0.07983875 0.94430905 -3.79944653] [ 0. 0. 0. 1. ]] SLAMing on 227.701346184 meters Centerline goodness : 0.870985 Centerline is valid? [False, False] Translation: X:-3.74, Y:-2.75, Z:-3.84 [[ 0.59284094 -0.76312417 -0.25725693 -3.74007522] [ 0.7407621 0.64206413 -0.19754787 -2.75256185] [ 0.315929 -0.07345172 0.94593536 -3.83900673] [ 0. 0. 0. 1. ]] SLAMing on 227.731346184 meters Centerline goodness : 0.868318 Centerline is valid? [False, False] Translation: X:-3.79, Y:-2.83, Z:-3.87 [[ 0.59525736 -0.7604172 -0.25968128 -3.79258685] [ 0.73873767 0.64503206 -0.19544898 -2.82575765] [ 0.31612552 -0.0754939 0.9457089 -3.87178549] [ 0. 0. 0. 1. ]] SLAMing on 227.761346184 meters Centerline goodness : 0.868162 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.91, Z:-3.91 [[ 0.60146491 -0.75689432 -0.25563832 -3.85439268] [ 0.73452671 0.64976644 -0.19563765 -2.90654904] [ 0.31418223 -0.07010399 0.94677081 -3.90854787] [ 0. 0. 0. 1. ]] SLAMing on 227.791346184 meters Centerline goodness : 0.867450 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.98, Z:-3.94 [[ 0.60461652 -0.75434554 -0.25573751 -3.90342351] [ 0.73242934 0.6527128 -0.19368341 -2.97661288] [ 0.31302736 -0.07020547 0.94714575 -3.94021036] [ 0. 0. 0. 1. ]] SLAMing on 227.821346184 meters Centerline goodness : 0.868138 Centerline is valid? [False, False] Translation: X:-3.96, Y:-3.05, Z:-3.97 [[ 0.60710608 -0.75245578 -0.25540656 -3.95539787] [ 0.73066159 0.65495746 -0.19278063 -3.04756983] [ 0.31233933 -0.06957747 0.94741919 -3.9702778 ] [ 0. 0. 0. 1. ]] SLAMing on 227.851346184 meters Centerline goodness : 0.863896 Centerline is valid? [False, False] Translation: X:-4.01, Y:-3.12, Z:-4.01 [[ 0.60983022 -0.75021363 -0.25551244 -4.00726182] [ 0.72949082 0.65735814 -0.18900642 -3.11910969] [ 0.30975838 -0.07113215 0.94815081 -4.00501703] [ 0. 0. 0. 1. ]] SLAMing on 227.881346184 meters Centerline goodness : 0.867798 Centerline is valid? [False, False] Translation: X:-4.08, Y:-3.21, Z:-4.05 [[ 0.6135415 -0.7481661 -0.25261497 -4.07565353] [ 0.72808871 0.65981722 -0.18581731 -3.20927487] [ 0.30570192 -0.06991947 0.94955653 -4.04633248] [ 0. 0. 0. 1. ]] SLAMing on 227.911346184 meters Centerline goodness : 0.864958 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.30, Z:-4.09 [[ 0.61726162 -0.7463035 -0.2490365 -4.14300965] [ 0.72635897 0.66219977 -0.18410352 -3.29666495] [ 0.30230901 -0.06724986 0.95083475 -4.08566577] [ 0. 0. 0. 1. ]] SLAMing on 227.941346184 meters Centerline goodness : 0.861584 Centerline is valid? [False, False] Translation: X:-4.20, Y:-3.37, Z:-4.12 [[ 0.61838241 -0.74546906 -0.24875503 -4.19830818] [ 0.72719446 0.66280333 -0.17854961 -3.37246449] [ 0.29797887 -0.07048134 0.9519669 -4.12085226] [ 0. 0. 0. 1. ]] SLAMing on 227.971346184 meters Centerline goodness : 0.861676 Centerline is valid? [False, False] Translation: X:-4.25, Y:-3.45, Z:-4.15 [[ 0.62047256 -0.74261837 -0.25205508 -4.25423187] [ 0.72586833 0.66549381 -0.17387685 -3.44780427] [ 0.29686524 -0.07507298 0.9519638 -4.15461587] [ 0. 0. 0. 1. ]] SLAMing on 228.001346184 meters Centerline goodness : 0.859788 Centerline is valid? [False, False] Translation: X:-4.31, Y:-3.52, Z:-4.19 [[ 0.62268313 -0.7402494 -0.25356762 -4.31027941] [ 0.72443944 0.66786357 -0.17072127 -3.52026228] [ 0.29572489 -0.07738913 0.95213324 -4.18637734] [ 0. 0. 0. 1. ]] SLAMing on 228.031346184 meters Centerline goodness : 0.859892 Centerline is valid? [False, False] Translation: X:-4.37, Y:-3.60, Z:-4.22 [[ 0.62756053 -0.73824393 -0.24731291 -4.3729462 ] [ 0.72184508 0.67072955 -0.17047449 -3.59949561] [ 0.29173184 -0.07153854 0.95382114 -4.22199272] [ 0. 0. 0. 1. ]] SLAMing on 228.061346184 meters Centerline goodness : 0.855834 Centerline is valid? [False, False] Translation: X:-4.44, Y:-3.68, Z:-4.26 [[ 0.63178843 -0.73553295 -0.24461124 -4.44108006] [ 0.7188113 0.67403985 -0.17023691 -3.6822907 ] [ 0.29009258 -0.06827561 0.95455997 -4.25828067] [ 0. 0. 0. 1. ]] SLAMing on 228.091346184 meters Centerline goodness : 0.857709 Centerline is valid? [False, False] Translation: X:-4.50, Y:-3.76, Z:-4.29 [[ 0.63400549 -0.7323764 -0.24831804 -4.49952262] [ 0.71747031 0.67688269 -0.16451802 -3.75725162] [ 0.2885713 -0.07385549 0.95460566 -4.29191614] [ 0. 0. 0. 1. ]] SLAMing on 228.121346184 meters Centerline goodness : 0.856890 Centerline is valid? [False, False] Translation: X:-4.56, Y:-3.83, Z:-4.32 [[ 0.63608002 -0.72997981 -0.25006337 -4.55725229] [ 0.71618641 0.67913732 -0.1607779 -3.82861088] [ 0.28719199 -0.07682438 0.95478729 -4.32251059] [ 0. 0. 0. 1. ]] SLAMing on 228.151346184 meters Centerline goodness : 0.854232 Centerline is valid? [False, False] Translation: X:-4.61, Y:-3.90, Z:-4.35 [[ 0.63867384 -0.72735071 -0.25111087 -4.61390248] [ 0.71412656 0.68181478 -0.15859338 -3.89580882] [ 0.28656411 -0.0780355 0.95487773 -4.35310663] [ 0. 0. 0. 1. ]] SLAMing on 228.18134618399998 meters Centerline goodness : 0.852819 Centerline is valid? [False, False] Translation: X:-4.68, Y:-3.97, Z:-4.39 [[ 0.64567187 -0.72184636 -0.24908967 -4.67859118] [ 0.7077491 0.68817415 -0.15971084 -3.97111053] [ 0.28670376 -0.07317219 0.9552208 -4.38593728] [ 0. 0. 0. 1. ]] SLAMing on 228.21134618399998 meters Centerline goodness : 0.854523 Centerline is valid? [False, False] Translation: X:-4.74, Y:-4.04, Z:-4.42 [[ 0.65355917 -0.71562931 -0.24644493 -4.74184412] [ 0.70020928 0.69529497 -0.162086 -4.04207793] [ 0.28734541 -0.06663024 0.95550668 -4.41608631] [ 0. 0. 0. 1. ]] SLAMing on 228.24134618399998 meters Centerline goodness : 0.850234 Centerline is valid? [False, False] Translation: X:-4.80, Y:-4.11, Z:-4.45 [[ 0.66417378 -0.70687057 -0.24332527 -4.80156861] [ 0.69017087 0.70486561 -0.16379454 -4.10823919] [ 0.28729316 -0.05914797 0.95601473 -4.44680376] [ 0. 0. 0. 1. ]] SLAMing on 228.27134618399998 meters Centerline goodness : 0.848154 Centerline is valid? [False, False] Translation: X:-4.86, Y:-4.18, Z:-4.48 [[ 0.67266198 -0.69934555 -0.24174709 -4.86475922] [ 0.68166427 0.71276712 -0.16521761 -4.17979082] [ 0.28785358 -0.05365475 0.95617022 -4.47887746] [ 0. 0. 0. 1. ]] SLAMing on 228.30134618399998 meters Centerline goodness : 0.850418 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.25, Z:-4.51 [[ 0.68139345 -0.69182114 -0.23892776 -4.92850388] [ 0.67295675 0.72054523 -0.16716394 -4.24928498] [ 0.28780581 -0.04688363 0.95654051 -4.50990021] [ 0. 0. 0. 1. ]] SLAMing on 228.33134618399998 meters Centerline goodness : 0.849461 Centerline is valid? [False, False] Translation: X:-4.99, Y:-4.31, Z:-4.54 [[ 0.69245459 -0.68139293 -0.23708713 -4.9896626 ] [ 0.66166058 0.73078652 -0.16779849 -4.31486765] [ 0.28759679 -0.04067837 0.95688733 -4.5401566 ] [ 0. 0. 0. 1. ]] SLAMing on 228.36134618399998 meters Centerline goodness : 0.849325 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 0.70196007 -0.67183434 -0.23641208 -5.05425815] [ 0.65160458 0.73980728 -0.16762062 -4.38523122] [ 0.28751267 -0.03638421 0.9570855 -4.57276116] [ 0. 0. 0. 1. ]] SLAMing on 228.39134618399999 meters Centerline goodness : 0.847892 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.57 [[ 0.70378752 -0.6701833 -0.23566389 -5.05315486] [ 0.64961215 0.74138882 -0.16836469 -4.38299488] [ 0.28755377 -0.03459716 0.95713942 -4.57473413] [ 0. 0. 0. 1. ]] SLAMing on 228.421346184 meters Centerline goodness : 0.848247 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.70557505 -0.66858969 -0.23484394 -5.05203418] [ 0.64766753 0.74290987 -0.16914992 -4.38013387] [ 0.28755977 -0.03275283 0.9572025 -4.57722082] [ 0. 0. 0. 1. ]] SLAMing on 228.451346184 meters Centerline goodness : 0.850280 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.71025768 -0.66480267 -0.23145504 -5.05466219] [ 0.64330786 0.74648904 -0.17002678 -4.38008759] [ 0.28581291 -0.02813402 0.95787236 -4.58019069] [ 0. 0. 0. 1. ]] SLAMing on 228.481346184 meters Centerline goodness : 0.851123 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.38, Z:-4.58 [[ 0.71242115 -0.66284688 -0.23041293 -5.05580012] [ 0.64119366 0.74828441 -0.17012093 -4.37893426] [ 0.28517854 -0.02654156 0.95810686 -4.5813688 ] [ 0. 0. 0. 1. ]] SLAMing on 228.511346184 meters Centerline goodness : 0.848877 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.71497011 -0.65961628 -0.2317846 -5.05381958] [ 0.6382279 0.7511091 -0.16882022 -4.37569722] [ 0.28545209 -0.02722999 0.95800607 -4.5839187 ] [ 0. 0. 0. 1. ]] SLAMing on 228.541346184 meters Centerline goodness : 0.851812 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.72105076 -0.65031234 -0.2391227 -5.05348288] [ 0.62582316 0.75936934 -0.178055 -4.37985611] [ 0.29737381 -0.02126183 0.95452436 -4.5763402 ] [ 0. 0. 0. 1. ]] SLAMing on 228.571346184 meters Centerline goodness : 0.851293 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.72245116 -0.64925563 -0.23776343 -5.05427694] [ 0.62446494 0.76032436 -0.17874678 -4.37983831] [ 0.29682968 -0.01933911 0.95473459 -4.57686127] [ 0. 0. 0. 1. ]] SLAMing on 228.601346184 meters Centerline goodness : 0.850433 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.38, Z:-4.58 [[ 0.72405958 -0.64772337 -0.23704884 -5.05434347] [ 0.62289993 0.76165389 -0.17854701 -4.37976036] [ 0.29619824 -0.01837903 0.95494964 -4.57773771] [ 0. 0. 0. 1. ]] SLAMing on 228.631346184 meters Centerline goodness : 0.848433 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 0.72747651 -0.64127783 -0.24400957 -5.05366141] [ 0.61332025 0.76719729 -0.18774074 -4.38573724] [ 0.30759745 -0.01307903 0.95142669 -4.56855775] [ 0. 0. 0. 1. ]] SLAMing on 228.661346184 meters Centerline goodness : 0.848784 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 0.72788958 -0.64134595 -0.24259459 -5.0530829 ] [ 0.61310654 0.76716592 -0.18856518 -4.385566 ] [ 0.30704581 -0.0114817 0.95162547 -4.5698315 ] [ 0. 0. 0. 1. ]] SLAMing on 228.691346184 meters Centerline goodness : 0.849886 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 0.72811121 -0.64226906 -0.23946718 -5.05400817] [ 0.61344791 0.76643481 -0.19041885 -4.3869545 ] [ 0.30583612 -0.00825454 0.95204839 -4.57068025] [ 0. 0. 0. 1. ]] SLAMing on 228.721346184 meters Centerline goodness : 0.848452 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 0.72714263 -0.64448361 -0.23644126 -5.05352305] [ 0.61509277 0.76459855 -0.1924836 -4.38782792] [ 0.30483517 -0.00547028 0.95238941 -4.57172668] [ 0. 0. 0. 1. ]] SLAMing on 228.751346184 meters Centerline goodness : 0.848577 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 7.27222957e-01 -6.44863474e-01 -2.35154994e-01 -5.05383688e+00] [ 6.15272893e-01 7.64286115e-01 -1.93147615e-01 -4.38775656e+00] [ 3.04279539e-01 -4.22311397e-03 9.52573424e-01 -4.57230457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781346184 meters Centerline goodness : 0.849522 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 7.27745976e-01 -6.45045529e-01 -2.33028024e-01 -5.05419989e+00] [ 6.15167321e-01 7.64141175e-01 -1.94055230e-01 -4.38857161e+00] [ 3.03240766e-01 -2.12831292e-03 9.52911595e-01 -4.57350615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811346184 meters Centerline goodness : 0.849297 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 7.27582583e-01 -6.46041848e-01 -2.30767232e-01 -5.05489192e+00] [ 6.15701697e-01 7.63301943e-01 -1.95656751e-01 -4.38964759e+00] [ 3.02547526e-01 2.72667540e-04 9.53134261e-01 -4.57364531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841346184 meters Centerline goodness : 0.852223 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.57 [[ 7.27672783e-01 -6.47013563e-01 -2.27740576e-01 -5.05453219e+00] [ 6.16244040e-01 7.62472033e-01 -1.97179313e-01 -4.39265465e+00] [ 3.01223510e-01 3.13824710e-03 9.53548399e-01 -4.57449466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871346184 meters Centerline goodness : 0.851299 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.39, Z:-4.58 [[ 0.72801681 -0.64718621 -0.22614496 -5.05413544] [ 0.61606044 0.76231498 -0.19835676 -4.39310363] [ 0.30076745 0.00508809 0.95368394 -4.57530369] [ 0. 0. 0. 1. ]] SLAMing on 228.901346184 meters Centerline goodness : 0.852578 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.40, Z:-4.58 [[ 0.72959073 -0.64726998 -0.22076898 -5.0541445 ] [ 0.61552563 0.76219011 -0.2004855 -4.39568133] [ 0.29803617 0.0103834 0.9544981 -4.57925003] [ 0. 0. 0. 1. ]] SLAMing on 228.93134618399998 meters Centerline goodness : 0.854840 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.40, Z:-4.58 [[ 0.73069081 -0.64672368 -0.21872224 -5.05390472] [ 0.61468078 0.76261776 -0.20144896 -4.39686927] [ 0.29708328 0.01275254 0.95476641 -4.58066843] [ 0. 0. 0. 1. ]] SLAMing on 228.96134618399998 meters Centerline goodness : 0.854238 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.40, Z:-4.58 [[ 0.73218559 -0.64531291 -0.21788875 -5.05296267] [ 0.61325484 0.76379376 -0.2013395 -4.39814989] [ 0.29634905 0.01379655 0.95498005 -4.58196271] [ 0. 0. 0. 1. ]] SLAMing on 228.99134618399998 meters Centerline goodness : 0.855697 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.40, Z:-4.58 [[ 0.73445724 -0.64328449 -0.21623511 -5.05295899] [ 0.6112441 0.76546995 -0.20108804 -4.40019803] [ 0.29487829 0.01551813 0.9554088 -4.58394769] [ 0. 0. 0. 1. ]] SLAMing on 229.02134618399998 meters Centerline goodness : 0.860734 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.40, Z:-4.59 [[ 0.73738025 -0.63976324 -0.21673339 -5.05105111] [ 0.60785042 0.76840846 -0.2001657 -4.39979552] [ 0.29459843 0.01585675 0.95548958 -4.58610662] [ 0. 0. 0. 1. ]] SLAMing on 229.05134618399998 meters Centerline goodness : 0.862563 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.41, Z:-4.59 [[ 0.74369647 -0.63360075 -0.21322676 -5.05282693] [ 0.60216074 0.7734302 -0.19801052 -4.40514953] [ 0.29037563 0.01886294 0.95672681 -4.59091116] [ 0. 0. 0. 1. ]] SLAMing on 229.08134618399998 meters Centerline goodness : 0.865054 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.41, Z:-4.59 [[ 0.74656802 -0.63070933 -0.21175915 -5.05331567] [ 0.59945685 0.7757557 -0.19711566 -4.40732448] [ 0.28859606 0.02021977 0.95723742 -4.59312482] [ 0. 0. 0. 1. ]] SLAMing on 229.11134618399998 meters Centerline goodness : 0.865806 Centerline is valid? [False, False] Translation: X:-5.05, Y:-4.41, Z:-4.60 [[ 0.74893516 -0.62854805 -0.20981771 -5.05336654] [ 0.59737873 0.77746006 -0.19670921 -4.40955124] [ 0.28676608 0.0219818 0.95774841 -4.59573443] [ 0. 0. 0. 1. ]] SLAMing on 229.14134618399999 meters Centerline goodness : 0.872981 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.42, Z:-4.60 [[ 0.75495688 -0.62245343 -0.20637789 -5.05542071] [ 0.59186541 0.78227246 -0.19428109 -4.41639871] [ 0.28237467 0.02452591 0.95899063 -4.6000041 ] [ 0. 0. 0. 1. ]] SLAMing on 229.171346184 meters Centerline goodness : 0.874488 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.42, Z:-4.60 [[ 0.75735385 -0.61986754 -0.2053762 -5.05521906] [ 0.58960127 0.78430656 -0.19295999 -4.41869987] [ 0.28068754 0.02504892 0.95947228 -4.60218996] [ 0. 0. 0. 1. ]] SLAMing on 229.201346184 meters Centerline goodness : 0.874411 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.42, Z:-4.61 [[ 0.76242341 -0.61493021 -0.20142339 -5.05701922] [ 0.58527713 0.78810327 -0.19064083 -4.42467506] [ 0.27597324 0.02746053 0.96077297 -4.60699809] [ 0. 0. 0. 1. ]] SLAMing on 229.231346184 meters Centerline goodness : 0.875427 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.61 [[ 0.76476307 -0.61243881 -0.20014036 -5.05708414] [ 0.58293812 0.79000047 -0.18995372 -4.42610686] [ 0.274446 0.02860014 0.9611771 -4.60951948] [ 0. 0. 0. 1. ]] SLAMing on 229.261346184 meters Centerline goodness : 0.878623 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.61 [[ 0.76702071 -0.61043714 -0.19759994 -5.05747879] [ 0.58098173 0.79146495 -0.18985119 -4.42846274] [ 0.27228564 0.03081784 0.96172282 -4.61260198] [ 0. 0. 0. 1. ]] SLAMing on 229.291346184 meters Centerline goodness : 0.874683 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.62 [[ 0.77185539 -0.6049899 -0.19551593 -5.05963943] [ 0.57635588 0.79561706 -0.18656738 -4.43389379] [ 0.26842719 0.03131628 0.9627908 -4.61567104] [ 0. 0. 0. 1. ]] SLAMing on 229.321346184 meters Centerline goodness : 0.878671 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.62 [[ 0.77341928 -0.60700714 -0.18266074 -5.06338793] [ 0.57999981 0.79391715 -0.18247129 -4.43260642] [ 0.25577887 0.03518362 0.96609486 -4.61568196] [ 0. 0. 0. 1. ]] SLAMing on 229.351346184 meters Centerline goodness : 0.878671 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.62 [[ 0.77341928 -0.60700714 -0.18266074 -5.06338793] [ 0.57999981 0.79391715 -0.18247129 -4.43260642] [ 0.25577887 0.03518362 0.96609486 -4.61568196] [ 0. 0. 0. 1. ]] SLAMing on 229.381346184 meters Centerline goodness : 0.874465 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.62 [[ 0.77482279 -0.60570286 -0.18103506 -5.06399925] [ 0.57868487 0.79484254 -0.18261753 -4.43341057] [ 0.25450633 0.03673397 0.96637319 -4.61747689] [ 0. 0. 0. 1. ]] SLAMing on 229.411346184 meters Centerline goodness : 0.873082 Centerline is valid? [False, False] Translation: X:-5.06, Y:-4.43, Z:-4.62 [[ 0.77604969 -0.60457578 -0.17954112 -5.06171332] [ 0.57748876 0.79562479 -0.18299709 -4.43245119] [ 0.25348298 0.03833186 0.96658008 -4.62153542] [ 0. 0. 0. 1. ]] SLAMing on 229.441346184 meters Centerline goodness : 0.876779 Centerline is valid? [False, False] Translation: X:-5.04, Y:-4.42, Z:-4.64 [[ 0.77477861 -0.59981318 -0.19985557 -5.03661567] [ 0.57706568 0.80005357 -0.1640411 -4.41946923] [ 0.25828917 0.01176574 0.965996 -4.64384491] [ 0. 0. 0. 1. ]] SLAMing on 229.471346184 meters Centerline goodness : 0.869780 Centerline is valid? [False, False] Translation: X:-5.07, Y:-4.44, Z:-4.63 [[ 0.77616234 -0.6091421 -0.16284324 -5.06916853] [ 0.58719838 0.79238801 -0.1652855 -4.43800555] [ 0.22971739 0.03266709 0.97270899 -4.62946444] [ 0. 0. 0. 1. ]] SLAMing on 229.501346184 meters Centerline goodness : 0.867831 Centerline is valid? [False, False] Translation: X:-5.07, Y:-4.44, Z:-4.63 [[ 0.77614085 -0.60885575 -0.16401234 -5.06602934] [ 0.58701224 0.79265412 -0.16466957 -4.43654507] [ 0.23026507 0.03152953 0.97261703 -4.63103113] [ 0. 0. 0. 1. ]] SLAMing on 229.531346184 meters Centerline goodness : 0.873406 Centerline is valid? [False, False] Translation: X:-5.04, Y:-4.42, Z:-4.65 [[ 7.74039388e-01 -6.06609608e-01 -1.81349967e-01 -5.03785652e+00] [ 5.89683316e-01 7.94993287e-01 -1.42335031e-01 -4.42281991e+00] [ 2.30513803e-01 3.23387038e-03 9.73063682e-01 -4.65383254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561346184 meters Centerline goodness : 0.870214 Centerline is valid? [False, False] Translation: X:-5.04, Y:-4.42, Z:-4.65 [[ 7.73318573e-01 -6.07643398e-01 -1.80963767e-01 -5.03612608e+00] [ 5.90629419e-01 7.94201962e-01 -1.42829033e-01 -4.42425898e+00] [ 2.30510898e-01 3.56981981e-03 9.73063195e-01 -4.65401681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591346184 meters Centerline goodness : 0.866786 Centerline is valid? [False, False] Translation: X:-5.03, Y:-4.42, Z:-4.65 [[ 0.77244373 -0.6116849 -0.1707989 -5.03380594] [ 0.59558506 0.79107823 -0.13954811 -4.42108594] [ 0.22047476 0.00606779 0.97537381 -4.65357886] [ 0. 0. 0. 1. ]] SLAMing on 229.621346184 meters Centerline goodness : 0.867934 Centerline is valid? [False, False] Translation: X:-5.03, Y:-4.42, Z:-4.65 [[ 0.77129498 -0.61349024 -0.16951043 -5.03179286] [ 0.59712402 0.78966667 -0.14095908 -4.42192731] [ 0.22033375 0.00750228 0.97539569 -4.65468964] [ 0. 0. 0. 1. ]] SLAMing on 229.651346184 meters Centerline goodness : 0.861517 Centerline is valid? [False, False] Translation: X:-5.01, Y:-4.41, Z:-4.64 [[ 0.77160428 -0.61153813 -0.17506557 -5.0138557 ] [ 0.59204407 0.79107051 -0.15391972 -4.41413942] [ 0.23261699 0.01511858 0.97245091 -4.63776206] [ 0. 0. 0. 1. ]] SLAMing on 229.68134618399998 meters Centerline goodness : 0.869290 Centerline is valid? [False, False] Translation: X:-5.01, Y:-4.41, Z:-4.64 [[ 0.77121511 -0.61502484 -0.16423063 -5.01458525] [ 0.59691137 0.78832482 -0.14913347 -4.41366936] [ 0.22118787 0.01698285 0.97508333 -4.63618314] [ 0. 0. 0. 1. ]] SLAMing on 229.71134618399998 meters Centerline goodness : 0.862072 Centerline is valid? [False, False] Translation: X:-5.01, Y:-4.41, Z:-4.64 [[ 0.77089601 -0.61485363 -0.16635609 -5.01006403] [ 0.59703098 0.78850742 -0.14768231 -4.41320238] [ 0.22197602 0.01452797 0.97494389 -4.63723532] [ 0. 0. 0. 1. ]] SLAMing on 229.74134618399998 meters Centerline goodness : 0.858775 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.42, Z:-4.62 [[ 0.77176998 -0.61452022 -0.16351148 -5.00191857] [ 0.59445282 0.78852096 -0.15767227 -4.415624 ] [ 0.22582503 0.02448686 0.97386008 -4.62226808] [ 0. 0. 0. 1. ]] SLAMing on 229.77134618399998 meters Centerline goodness : 0.863200 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.42, Z:-4.62 [[ 0.77152322 -0.6178699 -0.15162024 -5.00002414] [ 0.59877503 0.78574888 -0.15513592 -4.41573971] [ 0.21498925 0.02890455 0.97618858 -4.62192511] [ 0. 0. 0. 1. ]] SLAMing on 229.80134618399998 meters Centerline goodness : 0.860325 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.42, Z:-4.62 [[ 0.77164883 -0.61797965 -0.15052982 -4.99683637] [ 0.59874264 0.78561364 -0.15594377 -4.41801073] [ 0.21462836 0.03020521 0.97622862 -4.62412558] [ 0. 0. 0. 1. ]] SLAMing on 229.83134618399998 meters Centerline goodness : 0.849507 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.43, Z:-4.62 [[ 0.77435923 -0.61625518 -0.14351769 -4.99889715] [ 0.59581203 0.7865138 -0.16249327 -4.43095509] [ 0.21301597 0.0403186 0.97621648 -4.61539719] [ 0. 0. 0. 1. ]] SLAMing on 229.86134618399998 meters Centerline goodness : 0.847980 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.44, Z:-4.62 [[ 0.77592185 -0.61435941 -0.14320544 -4.99802543] [ 0.59430119 0.78803489 -0.16064593 -4.43537916] [ 0.21154522 0.03954152 0.97656801 -4.61663186] [ 0. 0. 0. 1. ]] SLAMing on 229.89134618399999 meters Centerline goodness : 0.847599 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.44, Z:-4.62 [[ 0.77759782 -0.61216241 -0.14352286 -4.9962189 ] [ 0.59239809 0.78978603 -0.15906772 -4.43849571] [ 0.21072762 0.03866804 0.97677974 -4.61808798] [ 0. 0. 0. 1. ]] SLAMing on 229.921346184 meters Centerline goodness : 0.842934 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.45, Z:-4.62 [[ 0.78066511 -0.60892422 -0.14061752 -4.99623292] [ 0.58958996 0.79222148 -0.15738107 -4.45041314] [ 0.20723337 0.03995523 0.97747527 -4.6196994 ] [ 0. 0. 0. 1. ]] SLAMing on 229.951346184 meters Centerline goodness : 0.840470 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.46, Z:-4.62 [[ 0.78198934 -0.60759679 -0.13899212 -4.99584761] [ 0.58854917 0.79321833 -0.15625157 -4.45693837] [ 0.20518905 0.04038336 0.97788887 -4.62103441] [ 0. 0. 0. 1. ]] SLAMing on 229.981346184 meters Centerline goodness : 0.837517 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.46, Z:-4.62 [[ 0.78291359 -0.6068041 -0.13724103 -4.99595074] [ 0.58786688 0.79376862 -0.15602537 -4.46251316] [ 0.20361445 0.04147493 0.97817227 -4.62175084] [ 0. 0. 0. 1. ]] SLAMing on 230.011346184 meters Centerline goodness : 0.829097 Centerline is valid? [False, False] Translation: X:-5.00, Y:-4.47, Z:-4.62 [[ 0.78383064 -0.60643163 -0.13360466 -4.99530202] [ 0.58756138 0.7939098 -0.15645719 -4.47260716] [ 0.20095064 0.044135 0.97860663 -4.62329481] [ 0. 0. 0. 1. ]] SLAMing on 230.041346184 meters Centerline goodness : 0.826445 Centerline is valid? [False, False] Translation: X:-4.99, Y:-4.47, Z:-4.63 [[ 0.783854 -0.60672113 -0.13214529 -4.99108856] [ 0.58786233 0.79362952 -0.15674839 -4.47494966] [ 0.19997697 0.04518462 0.97875817 -4.62744589] [ 0. 0. 0. 1. ]] SLAMing on 230.071346184 meters Centerline goodness : 0.824362 Centerline is valid? [False, False] Translation: X:-4.99, Y:-4.48, Z:-4.63 [[ 0.78363353 -0.60723608 -0.13108333 -4.98812559] [ 0.58849866 0.793221 -0.15642819 -4.47936377] [ 0.19896689 0.04544001 0.97895218 -4.62946379] [ 0. 0. 0. 1. ]] SLAMing on 230.101346184 meters Centerline goodness : 0.803940 Centerline is valid? [False, False] Translation: X:-4.98, Y:-4.49, Z:-4.63 [[ 0.78299942 -0.60805075 -0.13109611 -4.98427767] [ 0.58978925 0.79271315 -0.15412497 -4.48799713] [ 0.19763742 0.04336068 0.97931573 -4.62973042] [ 0. 0. 0. 1. ]] SLAMing on 230.131346184 meters Centerline goodness : 0.800279 Centerline is valid? [False, False] Translation: X:-4.98, Y:-4.49, Z:-4.63 [[ 0.78267593 -0.60838405 -0.13148095 -4.97963 ] [ 0.59033161 0.79252263 -0.15302439 -4.49028089] [ 0.19729923 0.04215114 0.97943672 -4.63217954] [ 0. 0. 0. 1. ]] SLAMing on 230.161346184 meters Centerline goodness : 0.788331 Centerline is valid? [False, False] Translation: X:-4.98, Y:-4.50, Z:-4.64 [[ 0.78280464 -0.60866925 -0.12937789 -4.97687507] [ 0.59068544 0.79223205 -0.1531636 -4.49555964] [ 0.19572328 0.04347554 0.97969499 -4.63526166] [ 0. 0. 0. 1. ]] SLAMing on 230.191346184 meters Centerline goodness : 0.779038 Centerline is valid? [False, False] Translation: X:-4.98, Y:-4.50, Z:-4.64 [[ 0.78294961 -0.60911218 -0.12638139 -4.97648391] [ 0.59111373 0.79175844 -0.15395819 -4.5037457 ] [ 0.19384134 0.04583573 0.97996154 -4.63613781] [ 0. 0. 0. 1. ]] SLAMing on 230.221346184 meters Centerline goodness : 0.766989 Centerline is valid? [False, False] Translation: X:-4.97, Y:-4.52, Z:-4.64 [[ 0.78356549 -0.60884652 -0.12381858 -4.97112889] [ 0.59148629 0.79199265 -0.15129975 -4.51630577] [ 0.19018173 0.04531627 0.98070248 -4.64216372] [ 0. 0. 0. 1. ]] SLAMing on 230.251346184 meters Centerline goodness : 0.752189 Centerline is valid? [False, False] Translation: X:-4.97, Y:-4.52, Z:-4.65 [[ 0.78339374 -0.61145828 -0.11141371 -4.97076588] [ 0.5963929 0.78999949 -0.14218409 -4.52275143] [ 0.17495641 0.04493978 0.98355003 -4.6472984 ] [ 0. 0. 0. 1. ]] SLAMing on 230.281346184 meters Centerline goodness : 0.747966 Centerline is valid? [False, False] Translation: X:-4.97, Y:-4.53, Z:-4.65 [[ 0.78349415 -0.61175147 -0.10907357 -4.96993335] [ 0.59675952 0.78968328 -0.14240222 -4.5306944 ] [ 0.17324834 0.04648062 0.98378075 -4.64795835] [ 0. 0. 0. 1. ]] SLAMing on 230.311346184 meters Centerline goodness : 0.744986 Centerline is valid? [False, False] Translation: X:-4.96, Y:-4.54, Z:-4.65 [[ 0.78420634 -0.61029778 -0.11205816 -4.96138161] [ 0.59638048 0.79119234 -0.13544374 -4.54039093] [ 0.17132057 0.03938654 0.98442773 -4.65237739] [ 0. 0. 0. 1. ]] SLAMing on 230.341346184 meters Centerline goodness : 0.741857 Centerline is valid? [False, False] Translation: X:-4.96, Y:-4.54, Z:-4.65 [[ 0.78451124 -0.60954486 -0.11400513 -4.95640659] [ 0.59598096 0.79191789 -0.13293889 -4.54343731] [ 0.17131492 0.03634716 0.98454562 -4.65356831] [ 0. 0. 0. 1. ]] SLAMing on 230.371346184 meters Centerline goodness : 0.741110 Centerline is valid? [False, False] Translation: X:-4.95, Y:-4.55, Z:-4.66 [[ 0.78461397 -0.60911107 -0.11560548 -4.95042747] [ 0.59584156 0.79236362 -0.13089204 -4.54609457] [ 0.17132936 0.03381718 0.98463326 -4.6558969 ] [ 0. 0. 0. 1. ]] SLAMing on 230.40134618399998 meters Centerline goodness : 0.727839 Centerline is valid? [False, False] Translation: X:-4.94, Y:-4.55, Z:-4.66 [[ 0.78393789 -0.60877103 -0.12181637 -4.93575256] [ 0.59612214 0.79290859 -0.12623138 -4.54931927] [ 0.17343525 0.02634013 0.98449297 -4.66313047] [ 0. 0. 0. 1. ]] SLAMing on 230.43134618399998 meters Centerline goodness : 0.722796 Centerline is valid? [False, False] Translation: X:-4.93, Y:-4.55, Z:-4.67 [[ 0.78371173 -0.60865494 -0.12383495 -4.92956601] [ 0.5962403 0.79307752 -0.12460157 -4.55012536] [ 0.17405008 0.02381632 0.98444876 -4.66507024] [ 0. 0. 0. 1. ]] SLAMing on 230.46134618399998 meters Centerline goodness : 0.721538 Centerline is valid? [False, False] Translation: X:-4.92, Y:-4.55, Z:-4.67 [[ 0.7840468 -0.60578269 -0.13526992 -4.92183842] [ 0.59220913 0.79534628 -0.12927736 -4.55401905] [ 0.18590042 0.02125142 0.98233875 -4.66813609] [ 0. 0. 0. 1. ]] SLAMing on 230.49134618399998 meters Centerline goodness : 0.718017 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.57, Z:-4.68 [[ 0.78481317 -0.60531299 -0.13290773 -4.91431496] [ 0.59243332 0.79573644 -0.12580255 -4.56677413] [ 0.18190944 0.01999253 0.98311203 -4.6773577 ] [ 0. 0. 0. 1. ]] SLAMing on 230.52134618399998 meters Centerline goodness : 0.717153 Centerline is valid? [False, False] Translation: X:-4.91, Y:-4.57, Z:-4.68 [[ 0.78613763 -0.60075444 -0.14519548 -4.90701944] [ 0.58696994 0.7992702 -0.12897068 -4.57155035] [ 0.19353013 0.01616333 0.98096118 -4.68044823] [ 0. 0. 0. 1. ]] SLAMing on 230.55134618399998 meters Centerline goodness : 0.709873 Centerline is valid? [False, False] Translation: X:-4.90, Y:-4.57, Z:-4.68 [[ 0.78753883 -0.59851173 -0.14685465 -4.90299956] [ 0.58515495 0.80099732 -0.12647912 -4.57473187] [ 0.19332941 0.01367449 0.98103861 -4.68191227] [ 0. 0. 0. 1. ]] SLAMing on 230.58134618399998 meters Centerline goodness : 0.284334 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.58, Z:-4.69 [[ 0.79041464 -0.59350688 -0.15163866 -4.89433723] [ 0.58161064 0.80481109 -0.11835612 -4.58170099] [ 0.19228565 0.00535575 0.98132438 -4.68648093] [ 0. 0. 0. 1. ]] SLAMing on 230.61134618399998 meters Centerline goodness : 0.689134 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.59, Z:-4.69 [[ 7.91472049e-01 -5.91911986e-01 -1.52355494e-01 -4.89097176e+00] [ 5.80368387e-01 8.05994137e-01 -1.16387228e-01 -4.58546428e+00] [ 1.91688630e-01 3.69492520e-03 9.81448835e-01 -4.68815220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64134618399999 meters Centerline goodness : 0.281342 Centerline is valid? [False, False] Translation: X:-4.89, Y:-4.59, Z:-4.69 [[ 7.92622983e-01 -5.87327759e-01 -1.63691510e-01 -4.88526728e+00] [ 5.74970223e-01 8.09348709e-01 -1.19849529e-01 -4.59110301e+00] [ 2.02874467e-01 8.77747309e-04 9.79204361e-01 -4.69153108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.671346184 meters Centerline goodness : 0.278728 Centerline is valid? [False, False] Translation: X:-4.88, Y:-4.59, Z:-4.69 [[ 7.93627094e-01 -5.85860433e-01 -1.64084089e-01 -4.87992711e+00] [ 5.73804150e-01 8.10411905e-01 -1.18242723e-01 -4.59479234e+00] [ 2.02249432e-01 -3.11502564e-04 9.79333993e-01 -4.69492972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701346184 meters Centerline goodness : 0.280120 Centerline is valid? [False, False] Translation: X:-4.87, Y:-4.60, Z:-4.70 [[ 7.94822139e-01 -5.84493482e-01 -1.63172111e-01 -4.87390721e+00] [ 5.72781061e-01 8.11397879e-01 -1.16427395e-01 -4.60379038e+00] [ 2.00448558e-01 -9.22823373e-04 9.79703794e-01 -4.69915802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.731346184 meters Centerline goodness : 0.276781 Centerline is valid? [False, False] Translation: X:-4.87, Y:-4.61, Z:-4.70 [[ 7.95211384e-01 -5.83450240e-01 -1.64999007e-01 -4.87041271e+00] [ 5.72109906e-01 8.12142072e-01 -1.14522970e-01 -4.60566099e+00] [ 2.00821089e-01 -3.32759700e-03 9.79622283e-01 -4.69927991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761346184 meters Centerline goodness : 0.404135 Centerline is valid? [False, False] Translation: X:-4.86, Y:-4.61, Z:-4.70 [[ 0.79572814 -0.5818916 -0.16798478 -4.86417974] [ 0.57123645 0.81323129 -0.11110259 -4.60973297] [ 0.20126014 -0.00755158 0.97950872 -4.69956824] [ 0. 0. 0. 1. ]] SLAMing on 230.791346184 meters Centerline goodness : 0.272883 Centerline is valid? [False, False] Translation: X:-4.86, Y:-4.61, Z:-4.70 [[ 0.79556173 -0.5817709 -0.16918675 -4.85967961] [ 0.57139851 0.81329898 -0.10976569 -4.61201762] [ 0.2014579 -0.00934768 0.97945257 -4.70050562] [ 0. 0. 0. 1. ]] SLAMing on 230.821346184 meters Centerline goodness : 0.272626 Centerline is valid? [False, False] Translation: X:-4.85, Y:-4.62, Z:-4.70 [[ 0.79428765 -0.57976357 -0.18160764 -4.85319968] [ 0.56855433 0.81468754 -0.11414982 -4.61656358] [ 0.21413339 -0.01258602 0.97672334 -4.70056384] [ 0. 0. 0. 1. ]] SLAMing on 230.851346184 meters Centerline goodness : 0.275754 Centerline is valid? [False, False] Translation: X:-4.85, Y:-4.62, Z:-4.70 [[ 0.79237589 -0.58169024 -0.18378497 -4.84653955] [ 0.57077751 0.81326791 -0.11317397 -4.61726026] [ 0.21529861 -0.01522401 0.97642959 -4.70049684] [ 0. 0. 0. 1. ]] SLAMing on 230.881346184 meters Centerline goodness : 0.276365 Centerline is valid? [False, False] Translation: X:-4.83, Y:-4.61, Z:-4.70 [[ 0.78479866 -0.58866659 -0.19381102 -4.82659554] [ 0.57845006 0.80801019 -0.11187069 -4.61462555] [ 0.22245581 -0.02431403 0.97463954 -4.69869184] [ 0. 0. 0. 1. ]] SLAMing on 230.911346184 meters Centerline goodness : 0.270066 Centerline is valid? [False, False] Translation: X:-4.82, Y:-4.62, Z:-4.70 [[ 0.78058048 -0.59361577 -0.19574072 -4.81901515] [ 0.58340952 0.80432112 -0.11269813 -4.61531265] [ 0.22433779 -0.02622704 0.97415846 -4.69643301] [ 0. 0. 0. 1. ]] SLAMing on 230.941346184 meters Centerline goodness : 0.267996 Centerline is valid? [False, False] Translation: X:-4.81, Y:-4.61, Z:-4.69 [[ 0.77537541 -0.59845217 -0.20161344 -4.80634044] [ 0.5887978 0.80051698 -0.11175735 -4.61328915] [ 0.22827641 -0.03205565 0.97306851 -4.69406174] [ 0. 0. 0. 1. ]] SLAMing on 230.971346184 meters Centerline goodness : 0.754880 Centerline is valid? [False, False] Translation: X:-4.78, Y:-4.60, Z:-4.69 [[ 0.76076434 -0.61723341 -0.2006503 -4.77709199] [ 0.61111415 0.78534879 -0.09882693 -4.59730146] [ 0.21857976 -0.04743623 0.97466543 -4.69169379] [ 0. 0. 0. 1. ]] SLAMing on 231.001346184 meters Centerline goodness : 0.748523 Centerline is valid? [False, False] Translation: X:-4.76, Y:-4.59, Z:-4.69 [[ 0.75454408 -0.62450237 -0.20164328 -4.75825681] [ 0.61965212 0.77917498 -0.09443304 -4.5850573 ] [ 0.21608905 -0.0536948 0.97489609 -4.6908032 ] [ 0. 0. 0. 1. ]] SLAMing on 231.031346184 meters Centerline goodness : 0.420931 Centerline is valid? [False, False] Translation: X:-4.74, Y:-4.58, Z:-4.69 [[ 0.74901688 -0.63178104 -0.19956561 -4.74206948] [ 0.62789471 0.77301268 -0.09055177 -4.57553657] [ 0.21147564 -0.05748138 0.97569152 -4.69271255] [ 0. 0. 0. 1. ]] SLAMing on 231.061346184 meters Centerline goodness : 0.361259 Centerline is valid? [False, False] Translation: X:-4.70, Y:-4.55, Z:-4.69 [[ 0.73723651 -0.64598085 -0.19796734 -4.70252007] [ 0.64287567 0.76083348 -0.08856232 -4.54558217] [ 0.20782974 -0.06197702 0.97619959 -4.68856652] [ 0. 0. 0. 1. ]] SLAMing on 231.091346184 meters Centerline goodness : 0.387859 Centerline is valid? [False, False] Translation: X:-4.68, Y:-4.53, Z:-4.69 [[ 0.73175322 -0.65072554 -0.20271532 -4.67738151] [ 0.65071274 0.75548745 -0.07623415 -4.52536513] [ 0.20275639 -0.07612486 0.97626577 -4.69104322] [ 0. 0. 0. 1. ]] SLAMing on 231.121346184 meters Centerline goodness : 0.402420 Centerline is valid? [False, False] Translation: X:-4.65, Y:-4.50, Z:-4.69 [[ 0.72703862 -0.65408278 -0.2087835 -4.65219847] [ 0.65720024 0.75098098 -0.0641515 -4.5015972 ] [ 0.19875283 -0.09057195 0.97585554 -4.69101845] [ 0. 0. 0. 1. ]] SLAMing on 231.15134618399998 meters Centerline goodness : 0.460349 Centerline is valid? [False, False] Translation: X:-4.61, Y:-4.46, Z:-4.68 [[ 0.72509403 -0.65584903 -0.21000165 -4.61236618] [ 0.66144306 0.74814364 -0.05267038 -4.45634664] [ 0.19165521 -0.10071316 0.97628128 -4.68298659] [ 0. 0. 0. 1. ]] SLAMing on 231.18134618399998 meters Centerline goodness : 0.515433 Centerline is valid? [False, False] Translation: X:-4.59, Y:-4.43, Z:-4.68 [[ 0.72615523 -0.65501141 -0.20894647 -4.58685747] [ 0.66093201 0.74875925 -0.0502838 -4.42530033] [ 0.18938707 -0.10158556 0.97663346 -4.67582403] [ 0. 0. 0. 1. ]] SLAMing on 231.21134618399998 meters Centerline goodness : 0.321224 Centerline is valid? [False, False] Translation: X:-4.55, Y:-4.38, Z:-4.68 [[ 0.72915148 -0.65358592 -0.20288808 -4.55187067] [ 0.66036604 0.7497661 -0.04204137 -4.38035818] [ 0.17959625 -0.10332587 0.97829901 -4.67564683] [ 0. 0. 0. 1. ]] SLAMing on 231.24134618399998 meters Centerline goodness : 0.588670 Centerline is valid? [False, False] Translation: X:-4.53, Y:-4.35, Z:-4.67 [[ 0.73046411 -0.65212254 -0.2028753 -4.52697757] [ 0.65931186 0.75082757 -0.03957076 -4.34841456] [ 0.17812935 -0.10485307 0.97840471 -4.67239718] [ 0. 0. 0. 1. ]] SLAMing on 231.27134618399998 meters Centerline goodness : 0.588670 Centerline is valid? [False, False] Translation: X:-4.53, Y:-4.35, Z:-4.67 [[ 0.73046411 -0.65212254 -0.2028753 -4.52697757] [ 0.65931186 0.75082757 -0.03957076 -4.34841456] [ 0.17812935 -0.10485307 0.97840471 -4.67239718] [ 0. 0. 0. 1. ]] SLAMing on 231.30134618399998 meters Centerline goodness : 0.374294 Centerline is valid? [False, False] Translation: X:-4.50, Y:-4.32, Z:-4.67 [[ 0.73157025 -0.65066613 -0.20356462 -4.50226842] [ 0.6582321 0.75187063 -0.03769677 -4.31503639] [ 0.17758227 -0.10641493 0.97833553 -4.66824812] [ 0. 0. 0. 1. ]] SLAMing on 231.33134618399998 meters Centerline goodness : 0.385212 Centerline is valid? [False, False] Translation: X:-4.48, Y:-4.28, Z:-4.66 [[ 0.73259426 -0.64940505 -0.20390862 -4.47885711] [ 0.65736102 0.75273615 -0.03556371 -4.2817038 ] [ 0.17658464 -0.10798781 0.97834375 -4.66414374] [ 0. 0. 0. 1. ]] SLAMing on 231.36134618399998 meters Centerline goodness : 0.452146 Centerline is valid? [False, False] Translation: X:-4.46, Y:-4.25, Z:-4.66 [[ 0.73319125 -0.64883607 -0.20357394 -4.45565497] [ 0.65688633 0.75318875 -0.03474271 -4.2462794 ] [ 0.17587192 -0.10825188 0.97844294 -4.65888446] [ 0. 0. 0. 1. ]] Total time of SLAM: 13353.06 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%| | 0/7713 [00:00